diff --git a/.gitattributes b/.gitattributes index bed0738c7eeb449bca98b5d2f33c89a1ee56349a..4d7621713231488f6639f64d9e30820a3fb93182 100644 --- a/.gitattributes +++ b/.gitattributes @@ -58,3 +58,10 @@ saved_model/**/* filter=lfs diff=lfs merge=lfs -text # Video files - compressed *.mp4 filter=lfs diff=lfs merge=lfs -text *.webm filter=lfs diff=lfs merge=lfs -text +assets/desk_lamp/desk_lamp.usd filter=lfs diff=lfs merge=lfs -text +assets/faucet_kitchen/faucet_kitchen.usd filter=lfs diff=lfs merge=lfs -text +assets/garlic_press/garlic_press.usd filter=lfs diff=lfs merge=lfs -text +assets/industrial_pipe_valve/industrial_pipe_valve.usd filter=lfs diff=lfs merge=lfs -text +assets/industrial_shears/industrial_shears.usd filter=lfs diff=lfs merge=lfs -text +assets/meat_slicer/meat_slicer.usd filter=lfs diff=lfs merge=lfs -text +assets/utility_knife/utility_knife.usd filter=lfs diff=lfs merge=lfs -text diff --git a/GET_MORE.md b/GET_MORE.md new file mode 100644 index 0000000000000000000000000000000000000000..71c6aeade83bfa38be7ba8ad605cc471db10874e --- /dev/null +++ b/GET_MORE.md @@ -0,0 +1,12 @@ +# Want more assets like this? + +This is part of a free sample from **projectsim by Kaedim**: sim-ready, +articulated 3D assets for robot learning (OpenUSD, NVIDIA Isaac Sim). + +We have **100,000+ more assets like these**, and we can build sets of your own objects. + +- Request them: https://www.projectsim.ai/access?dataset=other&utm_source=hf_dataset&utm_medium=get_more_file&utm_content=articulated-objects-sample +- Or email: team@projectsim.ai +- The full free sample: https://huggingface.co/datasets/projectsim/articulated-objects-sample + +License: CC BY 4.0. Credit "projectsim by Kaedim". diff --git a/README.md b/README.md new file mode 100644 index 0000000000000000000000000000000000000000..dc62018f7cf2070600fc1597cdeb270262638a79 --- /dev/null +++ b/README.md @@ -0,0 +1,103 @@ +--- +license: cc-by-4.0 +pretty_name: Sim-Ready Articulated Objects (Free Sample) +task_categories: +- robotics +tags: +- robotics +- simulation +- sim-ready +- articulated-objects +- manipulation +- usd +- openusd +- isaac-sim +- physx +- 3d +size_categories: +- n<1K +configs: +- config_name: default + data_files: + - split: train + path: assets/metadata.jsonl +--- + +# Sim-Ready Articulated Objects (Free Sample) + +Free sample of 7 sim-ready, articulated 3D objects for robot learning (OpenUSD, NVIDIA Isaac Sim). +We have 100,000+ more assets like these. Request them at https://www.projectsim.ai/access?dataset=other&utm_source=hf_dataset&utm_medium=card_top&utm_content=articulated-objects-sample or email team@projectsim.ai. + +The 7 objects in this sample, plus a tile: 100,000+ more assets like these + +Every object has real joints with limits (hinges and sliders), a mass for every +moving part, per-part colliders, and 4K PBR textures. Open the `.usd` in Isaac Sim +and it moves. + +## What's included + +| Object | Folder | What it is | Joints | Mass | +| ------ | ------ | ---------- | ------ | ---- | +| Utility knife | `utility_knife` | Snap-off box cutter with a sliding blade | 1 (1 prismatic) | 0.19 kg | +| Industrial shears | `industrial_shears` | Heavy cutting shears with a jaw pivot and a locking latch | 2 (2 revolute) | 4.28 kg | +| Meat slicer | `meat_slicer` | Flywheel meat slicer: crank, carriage, pusher, clamp and thickness knob | 7 (5 revolute, 2 prismatic) | 469.73 kg | +| Pipe valve | `industrial_pipe_valve` | Flanged pipe valve: the handwheel turns and the stem rises | 2 (1 revolute, 1 prismatic) | 89.15 kg | +| Desk lamp | `desk_lamp` | Balanced-arm desk lamp with a swivel base and tilting shade | 5 (5 revolute) | 1.69 kg | +| Kitchen faucet | `faucet_kitchen` | Kitchen tap: swivel spout, pull-out spray, flow and temperature levers; fixed to the world | 4 (3 revolute, 1 prismatic) | 1.57 kg | +| Garlic press | `garlic_press` | Hinged garlic press | 1 (1 revolute) | 0.55 kg | + +## Want more? + +This sample is a small slice of what we make. We can deliver: + +- **More of these:** thousands to millions of variants of these and other objects +- **Your own objects:** send photos, get sim-ready assets back +- **Your simulator:** Isaac Sim, MuJoCo, Genesis, SAPIEN, Unreal / Unity + +**[Request assets →](https://www.projectsim.ai/access?dataset=other&utm_source=hf_dataset&utm_medium=want_more&utm_content=articulated-objects-sample)** or email `team@projectsim.ai`. + +## Download + +```bash +hf download projectsim/articulated-objects-sample --repo-type dataset --local-dir articulated-objects-sample +``` + +One object only: + +```bash +hf download projectsim/articulated-objects-sample --repo-type dataset --include "assets/desk_lamp/*" --local-dir articulated-objects-sample +``` + +Open it with USD's Python API, or File > Open in Isaac Sim: + +```python +from pxr import Usd +stage = Usd.Stage.Open("articulated-objects-sample/assets/desk_lamp/desk_lamp.usd") +``` + +`assets/metadata.jsonl` lists every object with its joints, mass and file paths, +so `datasets.load_dataset("projectsim/articulated-objects-sample")` gives you the catalogue without the 300 MB of files. + +## Files + +``` +assets// +├── .usd OpenUSD (binary), textures referenced as ./textures/*.png +├── physics.json joints, limits, per-link mass and colliders, as authored in the USD +├── preview.png render of the object +├── textures/ base_color, normal, roughness, metallic (4K) +└── GET_MORE.md how to get more assets like this one +``` + +## Physics + +- Units are meters, Z up. Engine: PhysX (Isaac Sim). +- Each moving part is its own rigid link with its own collider (convex decomposition). +- Joint limits, friction and the parent/child links are listed per joint in `physics.json`. +- Masses are estimated per part from the object's materials and are a starting point, not a measurement. + +## License + +CC BY 4.0: free to use, share and adapt, including commercially. Credit "projectsim by Kaedim". + +Questions: open a Discussion on this repo, or email `team@projectsim.ai`. diff --git a/assets/desk_lamp/GET_MORE.md b/assets/desk_lamp/GET_MORE.md new file mode 100644 index 0000000000000000000000000000000000000000..b67be121fef7789740ed0ab0fe8076ef440e8db8 --- /dev/null +++ b/assets/desk_lamp/GET_MORE.md @@ -0,0 +1,12 @@ +# Want more assets like this? + +This is part of a free sample from **projectsim by Kaedim**: sim-ready, +articulated 3D assets for robot learning (OpenUSD, NVIDIA Isaac Sim). + +We have **100,000+ more assets like these**, and we can build sets of your own objects. + +- Request them: https://www.projectsim.ai/access?dataset=other&utm_source=hf_dataset&utm_medium=asset_folder&utm_content=articulated-objects-sample +- Or email: team@projectsim.ai +- The full free sample: https://huggingface.co/datasets/projectsim/articulated-objects-sample + +License: CC BY 4.0. Credit "projectsim by Kaedim". diff --git a/assets/desk_lamp/desk_lamp.usd b/assets/desk_lamp/desk_lamp.usd new file mode 100644 index 0000000000000000000000000000000000000000..c51615518b4f8cb1e3ac53e8fe3899a17597dfd4 --- /dev/null +++ b/assets/desk_lamp/desk_lamp.usd @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6dd4f338bcd34da1d64ba41a684b95c92d92fc5f74dbd2adaa1b64d95478a025 +size 6209097 diff --git a/assets/desk_lamp/physics.json b/assets/desk_lamp/physics.json new file mode 100644 index 0000000000000000000000000000000000000000..abf61eabc2d5255c64a4d1551690123e0719df66 --- /dev/null +++ b/assets/desk_lamp/physics.json @@ -0,0 +1,646 @@ +{ + "physics": { + "articulation": { + "schema_version": "articulation/2", + "root_link": "base", + "base_mode": "free", + "world_joint": null, + "behavior_sleep_threshold": null, + "handoff_base_mode": "free", + "base_mode_source": "handoff", + "collision_filter": { + "mode": "adjacent", + "explicit_excluded_link_pairs": [], + "handoff_excluded_link_pairs": [ + [ + "base", + "swivel" + ], + [ + "lower_arm", + "swivel" + ], + [ + "lower_arm", + "upper_arm" + ], + [ + "shade", + "shade_yoke" + ], + [ + "shade_yoke", + "upper_arm" + ] + ], + "excluded_link_pairs": [ + [ + "base", + "swivel" + ], + [ + "lower_arm", + "swivel" + ], + [ + "lower_arm", + "upper_arm" + ], + [ + "shade", + "shade_yoke" + ], + [ + "shade_yoke", + "upper_arm" + ] + ], + "representation": "UsdPhysics.FilteredPairsAPI plus joint collisionEnabled", + "external_contacts": "enabled", + "other_engine_validation": "not_run" + }, + "collider_aggregation": "link", + "joint_count": 5, + "joint_types": { + "revolute": 5 + }, + "axis_rule": "physics:axis X; both joint frames rotated by the quaternion mapping +X onto the contract axis", + "links": { + "base": { + "prim": "/desk_lamp/base", + "mass_kg": 1.1004, + "mass_source": "VLM per-part estimate, 3 of 3 meshes", + "colliders": 1, + "collision": [ + { + "prim": "/desk_lamp/base/Collisions/link_collision", + "approximation": "convexDecomposition", + "basis": "combined rigid link; bounded concave cook", + "source_mesh_count": 3, + "source_meshes": [ + "/desk_lamp/base/base__visual_000/Weighted_circular_foot_001", + "/desk_lamp/base/base__visual_002/Cylinder_043", + "/desk_lamp/base/base__visual_001/Cylinder_042" + ], + "aggregation": "link", + "boolean_union": false, + "cooked_shape_count": null + } + ] + }, + "swivel": { + "prim": "/desk_lamp/swivel", + "mass_kg": 0.0501, + "mass_source": "VLM per-part estimate, 4 of 4 meshes", + "colliders": 1, + "collision": [ + { + "prim": "/desk_lamp/swivel/Collisions/link_collision", + "approximation": "convexDecomposition", + "basis": "combined rigid link; bounded concave cook", + "source_mesh_count": 4, + "source_meshes": [ + "/desk_lamp/swivel/swivel__visual_000/Cylinder_044", + "/desk_lamp/swivel/swivel__visual_003/Cylinder_045", + "/desk_lamp/swivel/swivel__visual_001/Cube_020", + "/desk_lamp/swivel/swivel__visual_002/Cube_021" + ], + "aggregation": "link", + "boolean_union": false, + "cooked_shape_count": null + } + ] + }, + "lower_arm": { + "prim": "/desk_lamp/lower_arm", + "mass_kg": 0.176, + "mass_source": "VLM per-part estimate, 24 of 24 meshes", + "colliders": 1, + "collision": [ + { + "prim": "/desk_lamp/lower_arm/Collisions/link_collision", + "approximation": "convexDecomposition", + "basis": "combined rigid link; bounded concave cook", + "source_mesh_count": 24, + "source_meshes": [ + "/desk_lamp/lower_arm/lower_arm__visual_004/Coiled_counterbalance_spring_004", + "/desk_lamp/lower_arm/lower_arm__visual_008/Cylinder_049", + "/desk_lamp/lower_arm/lower_arm__visual_016/Cylinder_056", + "/desk_lamp/lower_arm/lower_arm__visual_001/Cube_023", + "/desk_lamp/lower_arm/lower_arm__visual_021/Cylinder_060", + "/desk_lamp/lower_arm/lower_arm__visual_018/Cylinder_058", + "/desk_lamp/lower_arm/lower_arm__visual_012/Coiled_counterbalance_spring_005", + "/desk_lamp/lower_arm/lower_arm__visual_015/Cylinder_055", + "/desk_lamp/lower_arm/lower_arm__visual_019/Cylinder_059", + "/desk_lamp/lower_arm/lower_arm__visual_010/Cylinder_051", + "/desk_lamp/lower_arm/lower_arm__visual_013/Cylinder_053", + "/desk_lamp/lower_arm/lower_arm__visual_022/Cylinder_061", + "/desk_lamp/lower_arm/lower_arm__visual_014/Cylinder_054", + "/desk_lamp/lower_arm/lower_arm__visual_005/Cylinder_046", + "/desk_lamp/lower_arm/lower_arm__visual_000/Cube_022", + "/desk_lamp/lower_arm/lower_arm__visual_023/Cylinder_062", + "/desk_lamp/lower_arm/lower_arm__visual_009/Cylinder_050", + "/desk_lamp/lower_arm/lower_arm__visual_006/Cylinder_047", + "/desk_lamp/lower_arm/lower_arm__visual_002/Cube_024", + "/desk_lamp/lower_arm/lower_arm__visual_007/Cylinder_048", + "/desk_lamp/lower_arm/lower_arm__visual_020/Elbow_slack_power_lead_001", + "/desk_lamp/lower_arm/lower_arm__visual_011/Cylinder_052", + "/desk_lamp/lower_arm/lower_arm__visual_003/Cube_025", + "/desk_lamp/lower_arm/lower_arm__visual_017/Cylinder_057" + ], + "aggregation": "link", + "boolean_union": false, + "cooked_shape_count": null + } + ] + }, + "upper_arm": { + "prim": "/desk_lamp/upper_arm", + "mass_kg": 0.137, + "mass_source": "VLM per-part estimate, 20 of 20 meshes", + "colliders": 1, + "collision": [ + { + "prim": "/desk_lamp/upper_arm/Collisions/link_collision", + "approximation": "convexDecomposition", + "basis": "combined rigid link; bounded concave cook", + "source_mesh_count": 20, + "source_meshes": [ + "/desk_lamp/upper_arm/upper_arm__visual_016/Cylinder_073", + "/desk_lamp/upper_arm/upper_arm__visual_007/Cylinder_065", + "/desk_lamp/upper_arm/upper_arm__visual_002/Cube_028", + "/desk_lamp/upper_arm/upper_arm__visual_011/Cylinder_069", + "/desk_lamp/upper_arm/upper_arm__visual_003/Cube_029", + "/desk_lamp/upper_arm/upper_arm__visual_019/Cylinder_076", + "/desk_lamp/upper_arm/upper_arm__visual_015/Cylinder_072", + "/desk_lamp/upper_arm/upper_arm__visual_012/Coiled_counterbalance_spring_007", + "/desk_lamp/upper_arm/upper_arm__visual_000/Cube_026", + "/desk_lamp/upper_arm/upper_arm__visual_018/Cylinder_075", + "/desk_lamp/upper_arm/upper_arm__visual_004/Coiled_counterbalance_spring_006", + "/desk_lamp/upper_arm/upper_arm__visual_010/Cylinder_068", + "/desk_lamp/upper_arm/upper_arm__visual_008/Cylinder_066", + "/desk_lamp/upper_arm/upper_arm__visual_013/Cylinder_070", + "/desk_lamp/upper_arm/upper_arm__visual_009/Cylinder_067", + "/desk_lamp/upper_arm/upper_arm__visual_006/Cylinder_064", + "/desk_lamp/upper_arm/upper_arm__visual_014/Cylinder_071", + "/desk_lamp/upper_arm/upper_arm__visual_005/Cylinder_063", + "/desk_lamp/upper_arm/upper_arm__visual_017/Cylinder_074", + "/desk_lamp/upper_arm/upper_arm__visual_001/Cube_027" + ], + "aggregation": "link", + "boolean_union": false, + "cooked_shape_count": null + } + ] + }, + "shade_yoke": { + "prim": "/desk_lamp/shade_yoke", + "mass_kg": 0.043, + "mass_source": "VLM per-part estimate, 4 of 4 meshes", + "colliders": 1, + "collision": [ + { + "prim": "/desk_lamp/shade_yoke/Collisions/link_collision", + "approximation": "convexDecomposition", + "basis": "combined rigid link; bounded concave cook", + "source_mesh_count": 4, + "source_meshes": [ + "/desk_lamp/shade_yoke/shade_yoke__visual_000/Cylinder_077", + "/desk_lamp/shade_yoke/shade_yoke__visual_003/Cylinder_079", + "/desk_lamp/shade_yoke/shade_yoke__visual_002/Stamped_hanger_001", + "/desk_lamp/shade_yoke/shade_yoke__visual_001/Cylinder_078" + ], + "aggregation": "link", + "boolean_union": false, + "cooked_shape_count": null + } + ] + }, + "shade": { + "prim": "/desk_lamp/shade", + "mass_kg": 0.1791, + "mass_source": "VLM per-part estimate, 7 of 7 meshes", + "colliders": 1, + "collision": [ + { + "prim": "/desk_lamp/shade/Collisions/link_collision", + "approximation": "convexDecomposition", + "basis": "combined rigid link; bounded concave cook", + "source_mesh_count": 7, + "source_meshes": [ + "/desk_lamp/shade/shade__visual_002/Cylinder_080", + "/desk_lamp/shade/shade__visual_005/Sphere_001", + "/desk_lamp/shade/shade__visual_006/Curved_head_power_lead_003", + "/desk_lamp/shade/shade__visual_000/Flared_hollow_reflector_001", + "/desk_lamp/shade/shade__visual_004/Cylinder_082", + "/desk_lamp/shade/shade__visual_003/Cylinder_081", + "/desk_lamp/shade/shade__visual_001/Socket_housing_001" + ], + "aggregation": "link", + "boolean_union": false, + "cooked_shape_count": null + } + ] + } + }, + "joints": { + "base_swivel": { + "path": "/desk_lamp/Joints/base_swivel", + "type": "revolute", + "parent": "base", + "child": "swivel", + "axis_contract": [ + 0.0, + 0.0, + 1.0 + ], + "axis_token": "X", + "frame_alignment_wxyz": [ + 0.707106781, + 0.0, + -0.707106781, + 0.0 + ], + "limits": { + "lower": -148.969027, + "upper": 148.969027, + "unit": "deg" + }, + "drive": { + "type": "force", + "stiffness": 0.0, + "damping": 0.0, + "damping_si": 0.0, + "stiffness_si": 0.0, + "max_force": 0.0, + "target_position": 0.0, + "target_velocity": 0.0, + "damping_unit": "N*m*s/deg", + "damping_si_unit": "N*m*s/rad" + }, + "behavior": { + "recipe_version": "joint-behavior/1", + "intent": { + "confidence": "medium", + "mode": "hold_position", + "reason": "Hand turns the turret; inferred friction retains its direction after release." + }, + "status": "resolved", + "simulator_status": "not_run", + "effective_mass_or_inertia_si": 0.25032790113370895, + "gravity_bound_si": 3.218161704889255, + "gravity_at_rest_si": 0.0, + "effort_unit": "N*m", + "assumptions": "Earth gravity; own descendant masses; no external payload; nominal downstream q=0 for interior spring balance", + "warnings": [ + "Interaction must exceed the reported resistance; viewport dragging is not universally guaranteed." + ], + "stiffness_si": 0.0, + "damping_si": 0.0, + "target_position_si": 0.0, + "max_effort_si": 0.0, + "static_friction_si": 4.827242557333882, + "dynamic_friction_si": 4.0227021311115685, + "required_capability": "PhysxJointAxisAPI", + "supported_links": { + "swivel": { + "mass_kg": 0.0501, + "mass_properties": "mesh integrals scaled to resolved mass" + }, + "lower_arm": { + "mass_kg": 0.176, + "mass_properties": "mesh integrals scaled to resolved mass" + }, + "upper_arm": { + "mass_kg": 0.137, + "mass_properties": "mesh integrals scaled to resolved mass" + }, + "shade_yoke": { + "mass_kg": 0.043, + "mass_properties": "bounding-box mass-property estimate (unreliable mesh integrals)" + }, + "shade": { + "mass_kg": 0.1791, + "mass_properties": "bounding-box mass-property estimate (unreliable mesh integrals)" + } + } + } + }, + "shoulder": { + "path": "/desk_lamp/Joints/shoulder", + "type": "revolute", + "parent": "swivel", + "child": "lower_arm", + "axis_contract": [ + 0.0, + 1.0, + 0.0 + ], + "axis_token": "X", + "frame_alignment_wxyz": [ + 0.707106781, + 0.0, + -0.0, + 0.707106781 + ], + "limits": { + "lower": -34.377468, + "upper": 25.783101, + "unit": "deg" + }, + "drive": { + "type": "force", + "stiffness": 0.0, + "damping": 0.0, + "damping_si": 0.0, + "stiffness_si": 0.0, + "max_force": 0.0, + "target_position": 0.0, + "target_velocity": 0.0, + "damping_unit": "N*m*s/deg", + "damping_si_unit": "N*m*s/rad" + }, + "behavior": { + "recipe_version": "joint-behavior/1", + "intent": { + "confidence": "high", + "mode": "hold_position", + "reason": "Hand positioning yields against visible spring counterbalance and pivot friction; stays where released." + }, + "status": "resolved", + "simulator_status": "not_run", + "effective_mass_or_inertia_si": 0.231148552993673, + "gravity_bound_si": 3.050297219436395, + "gravity_at_rest_si": -0.4149131051246455, + "effort_unit": "N*m", + "assumptions": "Earth gravity; own descendant masses; no external payload; nominal downstream q=0 for interior spring balance", + "warnings": [ + "Interaction must exceed the reported resistance; viewport dragging is not universally guaranteed." + ], + "stiffness_si": 0.0, + "damping_si": 0.0, + "target_position_si": 0.0, + "max_effort_si": 0.0, + "static_friction_si": 4.575445829154592, + "dynamic_friction_si": 3.8128715242954936, + "required_capability": "PhysxJointAxisAPI", + "supported_links": { + "lower_arm": { + "mass_kg": 0.176, + "mass_properties": "mesh integrals scaled to resolved mass" + }, + "upper_arm": { + "mass_kg": 0.137, + "mass_properties": "mesh integrals scaled to resolved mass" + }, + "shade_yoke": { + "mass_kg": 0.043, + "mass_properties": "bounding-box mass-property estimate (unreliable mesh integrals)" + }, + "shade": { + "mass_kg": 0.1791, + "mass_properties": "bounding-box mass-property estimate (unreliable mesh integrals)" + } + } + } + }, + "elbow": { + "path": "/desk_lamp/Joints/elbow", + "type": "revolute", + "parent": "lower_arm", + "child": "upper_arm", + "axis_contract": [ + 0.0, + 1.0, + 0.0 + ], + "axis_token": "X", + "frame_alignment_wxyz": [ + 0.707106781, + 0.0, + -0.0, + 0.707106781 + ], + "limits": { + "lower": -51.566202, + "upper": 51.566202, + "unit": "deg" + }, + "drive": { + "type": "force", + "stiffness": 0.0, + "damping": 0.0, + "damping_si": 0.0, + "stiffness_si": 0.0, + "max_force": 0.0, + "target_position": 0.0, + "target_velocity": 0.0, + "damping_unit": "N*m*s/deg", + "damping_si_unit": "N*m*s/rad" + }, + "behavior": { + "recipe_version": "joint-behavior/1", + "intent": { + "confidence": "high", + "mode": "hold_position", + "reason": "Hand changes reach; visible springs and friction are approximated by holding the released position." + }, + "status": "resolved", + "simulator_status": "not_run", + "effective_mass_or_inertia_si": 0.056462339283912526, + "gravity_bound_si": 1.258135308061397, + "gravity_at_rest_si": -1.053595162470959, + "effort_unit": "N*m", + "assumptions": "Earth gravity; own descendant masses; no external payload; nominal downstream q=0 for interior spring balance", + "warnings": [ + "Interaction must exceed the reported resistance; viewport dragging is not universally guaranteed." + ], + "stiffness_si": 0.0, + "damping_si": 0.0, + "target_position_si": 0.0, + "max_effort_si": 0.0, + "static_friction_si": 1.8872029620920956, + "dynamic_friction_si": 1.5726691350767463, + "required_capability": "PhysxJointAxisAPI", + "supported_links": { + "upper_arm": { + "mass_kg": 0.137, + "mass_properties": "mesh integrals scaled to resolved mass" + }, + "shade_yoke": { + "mass_kg": 0.043, + "mass_properties": "bounding-box mass-property estimate (unreliable mesh integrals)" + }, + "shade": { + "mass_kg": 0.1791, + "mass_properties": "bounding-box mass-property estimate (unreliable mesh integrals)" + } + } + } + }, + "shade_tilt": { + "path": "/desk_lamp/Joints/shade_tilt", + "type": "revolute", + "parent": "upper_arm", + "child": "shade_yoke", + "axis_contract": [ + 0.0, + 1.0, + 0.0 + ], + "axis_token": "X", + "frame_alignment_wxyz": [ + 0.707106781, + 0.0, + -0.0, + 0.707106781 + ], + "limits": { + "lower": -45.836624, + "upper": 45.836624, + "unit": "deg" + }, + "drive": { + "type": "force", + "stiffness": 0.0, + "damping": 0.0, + "damping_si": 0.0, + "stiffness_si": 0.0, + "max_force": 0.0, + "target_position": 0.0, + "target_velocity": 0.0, + "damping_unit": "N*m*s/deg", + "damping_si_unit": "N*m*s/rad" + }, + "behavior": { + "recipe_version": "joint-behavior/1", + "intent": { + "confidence": "high", + "mode": "hold_position", + "reason": "Hand aims the shade; friction pivot holds its angle after release." + }, + "status": "resolved", + "simulator_status": "not_run", + "effective_mass_or_inertia_si": 0.004229555819075782, + "gravity_bound_si": 0.23826998573031227, + "gravity_at_rest_si": -0.16098669737476856, + "effort_unit": "N*m", + "assumptions": "Earth gravity; own descendant masses; no external payload; nominal downstream q=0 for interior spring balance", + "warnings": [ + "Interaction must exceed the reported resistance; viewport dragging is not universally guaranteed." + ], + "stiffness_si": 0.0, + "damping_si": 0.0, + "target_position_si": 0.0, + "max_effort_si": 0.0, + "static_friction_si": 0.35740497859546844, + "dynamic_friction_si": 0.29783748216289035, + "required_capability": "PhysxJointAxisAPI", + "supported_links": { + "shade_yoke": { + "mass_kg": 0.043, + "mass_properties": "bounding-box mass-property estimate (unreliable mesh integrals)" + }, + "shade": { + "mass_kg": 0.1791, + "mass_properties": "bounding-box mass-property estimate (unreliable mesh integrals)" + } + } + } + }, + "shade_swivel": { + "path": "/desk_lamp/Joints/shade_swivel", + "type": "revolute", + "parent": "shade_yoke", + "child": "shade", + "axis_contract": [ + 1.0, + 0.0, + 0.0 + ], + "axis_token": "X", + "frame_alignment_wxyz": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "limits": { + "lower": -57.29578, + "upper": 68.754935, + "unit": "deg" + }, + "drive": { + "type": "force", + "stiffness": 0.0, + "damping": 0.0, + "damping_si": 0.0, + "stiffness_si": 0.0, + "max_force": 0.0, + "target_position": 0.0, + "target_velocity": 0.0, + "damping_unit": "N*m*s/deg", + "damping_si_unit": "N*m*s/rad" + }, + "behavior": { + "recipe_version": "joint-behavior/1", + "intent": { + "confidence": "low", + "mode": "hold_position", + "reason": "Hand swivels the head; an inferred friction fitting holds the released aim. The second axis is uncertain in the single view." + }, + "status": "resolved", + "simulator_status": "not_run", + "effective_mass_or_inertia_si": 0.0020186803950416527, + "gravity_bound_si": 0.11922159569674627, + "gravity_at_rest_si": 0.0, + "effort_unit": "N*m", + "assumptions": "Earth gravity; own descendant masses; no external payload; nominal downstream q=0 for interior spring balance", + "warnings": [ + "Interaction must exceed the reported resistance; viewport dragging is not universally guaranteed." + ], + "stiffness_si": 0.0, + "damping_si": 0.0, + "target_position_si": 0.0, + "max_effort_si": 0.0, + "static_friction_si": 0.1788323935451194, + "dynamic_friction_si": 0.14902699462093283, + "required_capability": "PhysxJointAxisAPI", + "supported_links": { + "shade": { + "mass_kg": 0.1791, + "mass_properties": "bounding-box mass-property estimate (unreliable mesh integrals)" + } + } + } + } + }, + "preview_controls": [], + "reference_pose": { + "base_swivel": 0.0, + "elbow": 0.0, + "shade_swivel": 0.0, + "shade_tilt": 0.0, + "shoulder": 0.0 + }, + "provenance": { + "base_mode_reason": "Freestanding desk lamp with a weighted round base and no clamp or bolt-down visible; it can be lifted and moved, so the base is free.", + "base_mode_source": "author_explicit", + "contract_revision": "2.0", + "producer": "articulated-asset-generation", + "producer_version": "0.1.0" + } + }, + "mass_kg": 1.6856, + "colliders": 6, + "status": "articulated_body", + "material_class": "metal_steel", + "engine": "physx", + "multipart_physx": false, + "static_friction": 0.6, + "dynamic_friction": 0.45, + "restitution": 0.25, + "friction_model": "legacy", + "friction_convention": "pair_value_on_steel_dry" + } +} \ No newline at end of file diff --git a/assets/desk_lamp/preview.png b/assets/desk_lamp/preview.png new file mode 100644 index 0000000000000000000000000000000000000000..93ec9f1ec9a79ef34e48b0da67572d2ccdfe074e --- /dev/null +++ b/assets/desk_lamp/preview.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:24c407c3d99c45bd4cb6e31bc9e277708e9a228e21bff17f0ae43672dd578a5e +size 970837 diff --git a/assets/desk_lamp/textures/base_color.png b/assets/desk_lamp/textures/base_color.png new file mode 100644 index 0000000000000000000000000000000000000000..74487de8bf8785843e071f9720a7752a36b07496 --- /dev/null +++ b/assets/desk_lamp/textures/base_color.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b8c6be1fc35f1b5230d7e730a2c6294550e2b533786db316d122d5b3d54da0fe +size 16226965 diff --git a/assets/desk_lamp/textures/metallic.png b/assets/desk_lamp/textures/metallic.png new file mode 100644 index 0000000000000000000000000000000000000000..2de47e58d62fa9ebe38c8dd7c5f0895ecb0a5ec6 --- /dev/null +++ b/assets/desk_lamp/textures/metallic.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:df2576a2653f0ef0ce7439b442f3e0ed978e0dd1f2bd019a159202f9d7c2b102 +size 629416 diff --git a/assets/desk_lamp/textures/normal.png b/assets/desk_lamp/textures/normal.png new file mode 100644 index 0000000000000000000000000000000000000000..ce8c7825bd32f448eae9418449f394ec70e1ddea --- /dev/null +++ b/assets/desk_lamp/textures/normal.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a37b7a3a6e825d6ebe4706aa6f313d90ec25a4a76e98106dcb1cad934ddc718d +size 13458826 diff --git a/assets/desk_lamp/textures/roughness.png b/assets/desk_lamp/textures/roughness.png new file mode 100644 index 0000000000000000000000000000000000000000..68b6d3f6848c99263f6a6440a7ce7faa53b59152 --- /dev/null +++ b/assets/desk_lamp/textures/roughness.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:58ff886f61bddec2985dd8690203aac1ebc35f13a104f2089618b7859d31a88e +size 1076014 diff --git a/assets/faucet_kitchen/GET_MORE.md b/assets/faucet_kitchen/GET_MORE.md new file mode 100644 index 0000000000000000000000000000000000000000..b67be121fef7789740ed0ab0fe8076ef440e8db8 --- /dev/null +++ b/assets/faucet_kitchen/GET_MORE.md @@ -0,0 +1,12 @@ +# Want more assets like this? + +This is part of a free sample from **projectsim by Kaedim**: sim-ready, +articulated 3D assets for robot learning (OpenUSD, NVIDIA Isaac Sim). + +We have **100,000+ more assets like these**, and we can build sets of your own objects. + +- Request them: https://www.projectsim.ai/access?dataset=other&utm_source=hf_dataset&utm_medium=asset_folder&utm_content=articulated-objects-sample +- Or email: team@projectsim.ai +- The full free sample: https://huggingface.co/datasets/projectsim/articulated-objects-sample + +License: CC BY 4.0. Credit "projectsim by Kaedim". diff --git a/assets/faucet_kitchen/faucet_kitchen.usd b/assets/faucet_kitchen/faucet_kitchen.usd new file mode 100644 index 0000000000000000000000000000000000000000..9ba9050be125ac870a19278b927f5115da904b48 --- /dev/null +++ b/assets/faucet_kitchen/faucet_kitchen.usd @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7dcd467eec228cb2c34dee9ea9dae730bb9b69ae106e7f80832f57dc27325bdc +size 1776631 diff --git a/assets/faucet_kitchen/physics.json b/assets/faucet_kitchen/physics.json new file mode 100644 index 0000000000000000000000000000000000000000..635ca0345cb8c6cc79bde9d5b646537fe67a150f --- /dev/null +++ b/assets/faucet_kitchen/physics.json @@ -0,0 +1,470 @@ +{ + "physics": { + "articulation": { + "schema_version": "articulation/2", + "root_link": "faucet_body", + "base_mode": "fixed", + "world_joint": "/faucet_kitchen/Joints/world_to_faucet_body", + "behavior_sleep_threshold": 9.999999974752427e-07, + "handoff_base_mode": "fixed", + "base_mode_source": "handoff", + "collision_filter": { + "mode": "adjacent", + "explicit_excluded_link_pairs": [], + "handoff_excluded_link_pairs": [ + [ + "faucet_body", + "lever_hub" + ], + [ + "faucet_body", + "spout" + ], + [ + "lever", + "lever_hub" + ], + [ + "spout", + "spray_head" + ] + ], + "excluded_link_pairs": [ + [ + "faucet_body", + "lever_hub" + ], + [ + "faucet_body", + "spout" + ], + [ + "lever", + "lever_hub" + ], + [ + "spout", + "spray_head" + ] + ], + "representation": "UsdPhysics.FilteredPairsAPI plus joint collisionEnabled", + "external_contacts": "enabled", + "other_engine_validation": "not_run" + }, + "collider_aggregation": "link", + "joint_count": 4, + "joint_types": { + "revolute": 3, + "prismatic": 1 + }, + "axis_rule": "physics:axis X; both joint frames rotated by the quaternion mapping +X onto the contract axis", + "links": { + "faucet_body": { + "prim": "/faucet_kitchen/faucet_body", + "mass_kg": 0.8622, + "mass_source": "VLM per-part estimate, 2 of 2 meshes", + "colliders": 1, + "collision": [ + { + "prim": "/faucet_kitchen/faucet_body/Collisions/link_collision", + "approximation": "convexDecomposition", + "basis": "combined rigid link; bounded concave cook", + "source_mesh_count": 2, + "source_meshes": [ + "/faucet_kitchen/faucet_body/faucet_body__visual_000/Cylinder_016", + "/faucet_kitchen/faucet_body/faucet_body__visual_001/Cylinder_017" + ], + "aggregation": "link", + "boolean_union": false, + "cooked_shape_count": null + } + ] + }, + "spout": { + "prim": "/faucet_kitchen/spout", + "mass_kg": 0.3598, + "mass_source": "VLM per-part estimate, 1 of 1 meshes", + "colliders": 1, + "collision": [ + { + "prim": "/faucet_kitchen/spout/Collisions/link_collision", + "approximation": "convexDecomposition", + "basis": "auto-convex: convex decomposition instead of sdf", + "source_mesh_count": 1, + "source_meshes": [ + "/faucet_kitchen/spout/spout__visual_000/Continuous_bent_tubular_spout_001" + ], + "aggregation": "link", + "boolean_union": false, + "cooked_shape_count": null + } + ] + }, + "spray_head": { + "prim": "/faucet_kitchen/spray_head", + "mass_kg": 0.2061, + "mass_source": "VLM per-part estimate, 3 of 3 meshes", + "colliders": 1, + "collision": [ + { + "prim": "/faucet_kitchen/spray_head/Collisions/link_collision", + "approximation": "convexDecomposition", + "basis": "combined rigid link; bounded concave cook", + "source_mesh_count": 3, + "source_meshes": [ + "/faucet_kitchen/spray_head/spray_head__visual_000/Cylinder_018", + "/faucet_kitchen/spray_head/spray_head__visual_001/Cylinder_019", + "/faucet_kitchen/spray_head/spray_head__visual_002/Cylinder_020" + ], + "aggregation": "link", + "boolean_union": false, + "cooked_shape_count": null + } + ] + }, + "lever_hub": { + "prim": "/faucet_kitchen/lever_hub", + "mass_kg": 0.105, + "mass_source": "VLM per-part estimate, 1 of 1 meshes", + "colliders": 1, + "collision": [ + { + "prim": "/faucet_kitchen/lever_hub/Collisions/link_collision", + "approximation": "convexDecomposition", + "basis": "auto-convex: convex decomposition instead of sdf", + "source_mesh_count": 1, + "source_meshes": [ + "/faucet_kitchen/lever_hub/lever_hub__visual_000/Cylinder_021" + ], + "aggregation": "link", + "boolean_union": false, + "cooked_shape_count": null + } + ] + }, + "lever": { + "prim": "/faucet_kitchen/lever", + "mass_kg": 0.0412, + "mass_source": "VLM per-part estimate, 1 of 1 meshes", + "colliders": 1, + "collision": [ + { + "prim": "/faucet_kitchen/lever/Collisions/link_collision", + "approximation": "convexDecomposition", + "basis": "auto-convex: convex decomposition instead of sdf", + "source_mesh_count": 1, + "source_meshes": [ + "/faucet_kitchen/lever/lever__visual_000/Cylinder_022" + ], + "aggregation": "link", + "boolean_union": false, + "cooked_shape_count": null + } + ] + } + }, + "joints": { + "spout_swivel": { + "path": "/faucet_kitchen/Joints/spout_swivel", + "type": "revolute", + "parent": "faucet_body", + "child": "spout", + "axis_contract": [ + 0.0, + 0.0, + 1.0 + ], + "axis_token": "X", + "frame_alignment_wxyz": [ + 0.707106781, + 0.0, + -0.707106781, + 0.0 + ], + "limits": { + "lower": -120.321137, + "upper": 120.321137, + "unit": "deg" + }, + "drive": { + "type": "force", + "stiffness": 0.0, + "damping": 0.0, + "damping_si": 0.0, + "stiffness_si": 0.0, + "max_force": 0.0, + "target_position": 0.0, + "target_velocity": 0.0, + "damping_unit": "N*m*s/deg", + "damping_si_unit": "N*m*s/rad" + }, + "behavior": { + "recipe_version": "joint-behavior/1", + "intent": { + "confidence": "medium", + "mode": "hold_position", + "reason": "The spout is swung by hand and stays where released through inferred O-ring swivel friction." + }, + "status": "resolved", + "simulator_status": "not_run", + "effective_mass_or_inertia_si": 0.10572721256261707, + "gravity_bound_si": 1.909757397100467, + "gravity_at_rest_si": 0.0, + "effort_unit": "N*m", + "assumptions": "Earth gravity; own descendant masses; no external payload; nominal downstream q=0 for interior spring balance", + "warnings": [ + "Interaction must exceed the reported resistance; viewport dragging is not universally guaranteed." + ], + "stiffness_si": 0.0, + "damping_si": 0.0, + "target_position_si": 0.0, + "max_effort_si": 0.0, + "static_friction_si": 2.8646360956507007, + "dynamic_friction_si": 2.387196746375584, + "required_capability": "PhysxJointAxisAPI", + "supported_links": { + "spout": { + "mass_kg": 0.3598, + "mass_properties": "mesh integrals scaled to resolved mass" + }, + "spray_head": { + "mass_kg": 0.2061, + "mass_properties": "mesh integrals scaled to resolved mass" + } + } + } + }, + "spray_pullout": { + "path": "/faucet_kitchen/Joints/spray_pullout", + "type": "prismatic", + "parent": "spout", + "child": "spray_head", + "axis_contract": [ + -1.0, + 0.0, + 0.0 + ], + "axis_token": "X", + "frame_alignment_wxyz": [ + 0.0, + 0.0, + 0.0, + 1.0 + ], + "limits": { + "lower": 0.0, + "upper": 0.35, + "unit": "m" + }, + "drive": { + "type": "force", + "stiffness": 0.7810182571411133, + "damping": 0.8024160265922546, + "damping_si": 0.8024159999999999, + "stiffness_si": 0.7810182399999999, + "max_force": 1.0, + "target_position": -0.3200949430465698, + "target_velocity": 0.0, + "damping_unit": "N*s/m", + "damping_si_unit": "N*s/m" + }, + "behavior": { + "recipe_version": "joint-behavior/1", + "intent": { + "confidence": "medium", + "mode": "gentle_close", + "reason": "Pull the head to extend it; an inferred hose counterweight and docking magnet gently return it after release. The straight slide approximates hose extension.", + "rest_position": 0.0 + }, + "status": "resolved", + "simulator_status": "not_run", + "effective_mass_or_inertia_si": 0.2061, + "gravity_bound_si": 2.021841, + "gravity_at_rest_si": -0.0, + "effort_unit": "N", + "assumptions": "Earth gravity; own descendant masses; no external payload; nominal downstream q=0 for interior spring balance", + "warnings": [ + "Interaction must exceed the reported resistance; viewport dragging is not universally guaranteed.", + "Gentle effort cap cannot guarantee return or gravity support for this load." + ], + "stiffness_si": 0.7810182399999999, + "damping_si": 0.8024159999999999, + "target_position_si": -0.32009495706527935, + "max_effort_si": 1.0, + "static_friction_si": 0.0, + "dynamic_friction_si": 0.0, + "nominal_settling_seconds": 3.0, + "rest_position_si": 0.0, + "supported_links": { + "spray_head": { + "mass_kg": 0.2061, + "mass_properties": "mesh integrals scaled to resolved mass" + } + } + } + }, + "lever_temperature": { + "path": "/faucet_kitchen/Joints/lever_temperature", + "type": "revolute", + "parent": "faucet_body", + "child": "lever_hub", + "axis_contract": [ + 1.0, + 0.0, + 0.0 + ], + "axis_token": "X", + "frame_alignment_wxyz": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "limits": { + "lower": -45.836624, + "upper": 45.836624, + "unit": "deg" + }, + "drive": { + "type": "force", + "stiffness": 0.0, + "damping": 0.0, + "damping_si": 0.0, + "stiffness_si": 0.0, + "max_force": 0.0, + "target_position": 0.0, + "target_velocity": 0.0, + "damping_unit": "N*m*s/deg", + "damping_si_unit": "N*m*s/rad" + }, + "behavior": { + "recipe_version": "joint-behavior/1", + "intent": { + "confidence": "medium", + "mode": "hold_position", + "reason": "Rotate the cap and pin to adjust temperature; inferred cartridge friction maintains the setting after release." + }, + "status": "resolved", + "simulator_status": "not_run", + "effective_mass_or_inertia_si": 0.0002675130190969413, + "gravity_bound_si": 0.039558028243412466, + "gravity_at_rest_si": 4.897381855112149e-10, + "effort_unit": "N*m", + "assumptions": "Earth gravity; own descendant masses; no external payload; nominal downstream q=0 for interior spring balance", + "warnings": [ + "Interaction must exceed the reported resistance; viewport dragging is not universally guaranteed." + ], + "stiffness_si": 0.0, + "damping_si": 0.0, + "target_position_si": 0.0, + "max_effort_si": 0.0, + "static_friction_si": 0.0593370423651187, + "dynamic_friction_si": 0.049447535304265586, + "required_capability": "PhysxJointAxisAPI", + "supported_links": { + "lever_hub": { + "mass_kg": 0.105, + "mass_properties": "mesh integrals scaled to resolved mass" + }, + "lever": { + "mass_kg": 0.0412, + "mass_properties": "mesh integrals scaled to resolved mass" + } + } + } + }, + "lever_flow": { + "path": "/faucet_kitchen/Joints/lever_flow", + "type": "revolute", + "parent": "lever_hub", + "child": "lever", + "axis_contract": [ + 0.0, + 1.0, + 0.0 + ], + "axis_token": "X", + "frame_alignment_wxyz": [ + 0.707106781, + 0.0, + -0.0, + 0.707106781 + ], + "limits": { + "lower": 0.0, + "upper": 28.64789, + "unit": "deg" + }, + "drive": { + "type": "force", + "stiffness": 0.0, + "damping": 0.0, + "damping_si": 0.0, + "stiffness_si": 0.0, + "max_force": 0.0, + "target_position": 0.0, + "target_velocity": 0.0, + "damping_unit": "N*m*s/deg", + "damping_si_unit": "N*m*s/rad" + }, + "behavior": { + "recipe_version": "joint-behavior/1", + "intent": { + "confidence": "low", + "mode": "hold_position", + "reason": "Tilt the pin outward to set flow; inferred ceramic cartridge friction holds the selected position after release. Exact concealed tilt geometry is uncertain." + }, + "status": "resolved", + "simulator_status": "not_run", + "effective_mass_or_inertia_si": 9.201687693079187e-05, + "gravity_bound_si": 0.016470009519288755, + "gravity_at_rest_si": 4.120351969416625e-11, + "effort_unit": "N*m", + "assumptions": "Earth gravity; own descendant masses; no external payload; nominal downstream q=0 for interior spring balance", + "warnings": [ + "Interaction must exceed the reported resistance; viewport dragging is not universally guaranteed." + ], + "stiffness_si": 0.0, + "damping_si": 0.0, + "target_position_si": 0.0, + "max_effort_si": 0.0, + "static_friction_si": 0.024705014278933134, + "dynamic_friction_si": 0.020587511899110945, + "required_capability": "PhysxJointAxisAPI", + "supported_links": { + "lever": { + "mass_kg": 0.0412, + "mass_properties": "mesh integrals scaled to resolved mass" + } + } + } + } + }, + "preview_controls": [], + "reference_pose": { + "lever_flow": 0.0, + "lever_temperature": 0.0, + "spout_swivel": 0.0, + "spray_pullout": 0.0 + }, + "provenance": { + "base_mode_reason": "This is a deck-mounted kitchen mixer. The flanged base ring sits on a sink or countertop, and a faucet is normally bolted through the deck, so the body is anchored to the world.", + "base_mode_source": "author_explicit", + "contract_revision": "2.0", + "producer": "articulated-asset-generation", + "producer_version": "0.1.0" + } + }, + "mass_kg": 1.5743, + "colliders": 5, + "status": "articulated_body", + "material_class": "metal_steel", + "engine": "physx", + "multipart_physx": false, + "static_friction": 0.6, + "dynamic_friction": 0.45, + "restitution": 0.25, + "friction_model": "legacy", + "friction_convention": "pair_value_on_steel_dry" + } +} \ No newline at end of file diff --git a/assets/faucet_kitchen/preview.png b/assets/faucet_kitchen/preview.png new file mode 100644 index 0000000000000000000000000000000000000000..d09cf2635eae194ef85f0b4e220c6f496fcef869 --- /dev/null +++ b/assets/faucet_kitchen/preview.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:fb98ea93b82f5bd54e1ae091957d4ba3017eabf0d56e0ce9def17dab9bd97c48 +size 973464 diff --git a/assets/faucet_kitchen/textures/base_color.png b/assets/faucet_kitchen/textures/base_color.png new file mode 100644 index 0000000000000000000000000000000000000000..df405fc468c89bc264bdd4c6e3ff29a05ab79301 --- /dev/null +++ b/assets/faucet_kitchen/textures/base_color.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5548a8cc42daccc11201d9ecb603ac15608ab0b1853c115a93c0c79a09b01ee5 +size 20160815 diff --git a/assets/faucet_kitchen/textures/metallic.png b/assets/faucet_kitchen/textures/metallic.png new file mode 100644 index 0000000000000000000000000000000000000000..b7880a0c7b4a07d0f1af4c301e37e0539b5ba253 --- /dev/null +++ b/assets/faucet_kitchen/textures/metallic.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:953e90549108d36af8a4895787711bbbd243faa9d66ef7730cf1ca1b41f0a2cb +size 808773 diff --git a/assets/faucet_kitchen/textures/normal.png b/assets/faucet_kitchen/textures/normal.png new file mode 100644 index 0000000000000000000000000000000000000000..ac58c65b14364702f2cecc35d6b0e00e82b806f6 --- /dev/null +++ b/assets/faucet_kitchen/textures/normal.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:bf89c438b5db231d191064ec17a8edc746cebc234dac2135ea61cd05afc9d6d6 +size 14993396 diff --git a/assets/faucet_kitchen/textures/roughness.png b/assets/faucet_kitchen/textures/roughness.png new file mode 100644 index 0000000000000000000000000000000000000000..65aa1f539c31da6013b232176c995f4f259bb647 --- /dev/null +++ b/assets/faucet_kitchen/textures/roughness.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:91b51518ad54982879faf9b90d672f57736faa1bd05ee95d52624b6ca1f0c256 +size 815532 diff --git a/assets/garlic_press/GET_MORE.md b/assets/garlic_press/GET_MORE.md new file mode 100644 index 0000000000000000000000000000000000000000..b67be121fef7789740ed0ab0fe8076ef440e8db8 --- /dev/null +++ b/assets/garlic_press/GET_MORE.md @@ -0,0 +1,12 @@ +# Want more assets like this? + +This is part of a free sample from **projectsim by Kaedim**: sim-ready, +articulated 3D assets for robot learning (OpenUSD, NVIDIA Isaac Sim). + +We have **100,000+ more assets like these**, and we can build sets of your own objects. + +- Request them: https://www.projectsim.ai/access?dataset=other&utm_source=hf_dataset&utm_medium=asset_folder&utm_content=articulated-objects-sample +- Or email: team@projectsim.ai +- The full free sample: https://huggingface.co/datasets/projectsim/articulated-objects-sample + +License: CC BY 4.0. Credit "projectsim by Kaedim". diff --git a/assets/garlic_press/garlic_press.usd b/assets/garlic_press/garlic_press.usd new file mode 100644 index 0000000000000000000000000000000000000000..10ef99fe154c00bf76d6d2a14d2d8cc49120670b --- /dev/null +++ b/assets/garlic_press/garlic_press.usd @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d21551d436ea724e953dcdeeb85bfd0be1218dd084e5e25ba17338ffd4bb1a4a +size 4244047 diff --git a/assets/garlic_press/physics.json b/assets/garlic_press/physics.json new file mode 100644 index 0000000000000000000000000000000000000000..935b185c7228c88a9d94f47cca37cc3c80cbcda9 --- /dev/null +++ b/assets/garlic_press/physics.json @@ -0,0 +1,156 @@ +{ + "physics": { + "articulation": { + "schema_version": "articulation/2", + "root_link": "lower_handle_body", + "base_mode": "free", + "world_joint": null, + "behavior_sleep_threshold": null, + "handoff_base_mode": "free", + "base_mode_source": "handoff", + "collision_filter": { + "mode": "adjacent", + "explicit_excluded_link_pairs": [], + "handoff_excluded_link_pairs": [ + [ + "lower_handle_body", + "upper_handle" + ] + ], + "excluded_link_pairs": [ + [ + "lower_handle_body", + "upper_handle" + ] + ], + "representation": "UsdPhysics.FilteredPairsAPI plus joint collisionEnabled", + "external_contacts": "enabled", + "other_engine_validation": "not_run" + }, + "collider_aggregation": "link", + "joint_count": 1, + "joint_types": { + "revolute": 1 + }, + "axis_rule": "physics:axis X; both joint frames rotated by the quaternion mapping +X onto the contract axis", + "links": { + "lower_handle_body": { + "prim": "/garlic_press/lower_handle_body", + "mass_kg": 0.2572, + "mass_source": "VLM per-part estimate, 7 of 7 meshes", + "colliders": 1, + "collision": [ + { + "prim": "/garlic_press/lower_handle_body/Collisions/link_collision", + "approximation": "convexDecomposition", + "basis": "combined rigid link; bounded concave cook", + "source_mesh_count": 7, + "source_meshes": [ + "/garlic_press/lower_handle_body/lower_handle_body__visual_000/Deep_rounded_perforated_basket_003", + "/garlic_press/lower_handle_body/lower_handle_body__visual_005/Cylinder_065", + "/garlic_press/lower_handle_body/lower_handle_body__visual_003/Front_pivot_support_003", + "/garlic_press/lower_handle_body/lower_handle_body__visual_004/Cylinder_064", + "/garlic_press/lower_handle_body/lower_handle_body__visual_002/Front_pivot_support_002", + "/garlic_press/lower_handle_body/lower_handle_body__visual_001/Lower_tapered_solid_grip_001", + "/garlic_press/lower_handle_body/lower_handle_body__visual_006/Cylinder_066" + ], + "aggregation": "link", + "boolean_union": false, + "cooked_shape_count": null + } + ] + }, + "upper_handle": { + "prim": "/garlic_press/upper_handle", + "mass_kg": 0.2879, + "mass_source": "VLM per-part estimate, 6 of 6 meshes", + "colliders": 1, + "collision": [ + { + "prim": "/garlic_press/upper_handle/Collisions/link_collision", + "approximation": "convexDecomposition", + "basis": "combined rigid link; bounded concave cook", + "source_mesh_count": 6, + "source_meshes": [ + "/garlic_press/upper_handle/upper_handle__visual_001/Cylinder_067", + "/garlic_press/upper_handle/upper_handle__visual_002/Cylinder_068", + "/garlic_press/upper_handle/upper_handle__visual_005/Cylinder_071", + "/garlic_press/upper_handle/upper_handle__visual_000/Upper_long_lever_grip_001", + "/garlic_press/upper_handle/upper_handle__visual_004/Cylinder_070", + "/garlic_press/upper_handle/upper_handle__visual_003/Cylinder_069" + ], + "aggregation": "link", + "boolean_union": false, + "cooked_shape_count": null + } + ] + } + }, + "joints": { + "upper_handle_hinge": { + "path": "/garlic_press/Joints/upper_handle_hinge", + "type": "revolute", + "parent": "lower_handle_body", + "child": "upper_handle", + "axis_contract": [ + 0.0, + -1.0, + 0.0 + ], + "axis_token": "X", + "frame_alignment_wxyz": [ + 0.707106781, + 0.0, + -0.0, + -0.707106781 + ], + "limits": { + "lower": -5.729578, + "upper": 91.673247, + "unit": "deg" + }, + "drive": { + "type": "force", + "stiffness": 0.0, + "damping": 0.0017453292519943296, + "damping_unit": "N*m*s/deg", + "damping_si": 0.1, + "damping_si_unit": "N*m*s/rad", + "note": "passive joint: damping only; no actuation authored" + }, + "behavior": { + "intent": { + "confidence": "medium", + "mode": "none", + "reason": "User squeezes or lifts the lever; after release it is passive under gravity. No spring is visible or inferred for this hand press." + }, + "status": "passive", + "simulator_status": "not_run" + } + } + }, + "preview_controls": [], + "reference_pose": { + "upper_handle_hinge": 0.0 + }, + "provenance": { + "base_mode_reason": "Handheld kitchen garlic press with no mounting hardware; it is a freestanding movable tool, so the base is free.", + "base_mode_source": "author_explicit", + "contract_revision": "2.0", + "producer": "articulated-asset-generation", + "producer_version": "0.1.0" + } + }, + "mass_kg": 0.5451, + "colliders": 2, + "status": "articulated_body", + "material_class": "metal_aluminum", + "engine": "physx", + "multipart_physx": false, + "static_friction": 0.45, + "dynamic_friction": 0.35, + "restitution": 0.25, + "friction_model": "legacy", + "friction_convention": "pair_value_on_steel_dry" + } +} \ No newline at end of file diff --git a/assets/garlic_press/preview.png b/assets/garlic_press/preview.png new file mode 100644 index 0000000000000000000000000000000000000000..16dcce10ea6df5d02059e0baa1aab8bcc6ecaad3 --- /dev/null +++ b/assets/garlic_press/preview.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:dda169d672baf040710abcbfb0f82c720c695190ab30e57f0975047646196f1f +size 1021795 diff --git a/assets/garlic_press/textures/base_color.png b/assets/garlic_press/textures/base_color.png new file mode 100644 index 0000000000000000000000000000000000000000..032b84b4401ec4c92137d95365ce516c424c47ac --- /dev/null +++ b/assets/garlic_press/textures/base_color.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e8800444ca02df28adb9138a270b57122d3b87c313dccf3b519c40d23483898b +size 14139894 diff --git a/assets/garlic_press/textures/metallic.png b/assets/garlic_press/textures/metallic.png new file mode 100644 index 0000000000000000000000000000000000000000..318794d2dc892c0edcc98d03d1daa9e26a221dc7 --- /dev/null +++ b/assets/garlic_press/textures/metallic.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:53305e406fd42ff6b67a81dfed6eb797d9cf4cb9762862a1a4262b4170c86d41 +size 936181 diff --git a/assets/garlic_press/textures/normal.png b/assets/garlic_press/textures/normal.png new file mode 100644 index 0000000000000000000000000000000000000000..8405cdbefbdc4866641db9c31b0a6b01f9a484f0 --- /dev/null +++ b/assets/garlic_press/textures/normal.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a68083bbe3fc6a38b4bfdcb76d9a8fec696e5bb5972e4c1751f19b12dfeb5cae +size 11537445 diff --git a/assets/garlic_press/textures/roughness.png b/assets/garlic_press/textures/roughness.png new file mode 100644 index 0000000000000000000000000000000000000000..891a0df082e828f7d9ecb39d01f3f9036c586a99 --- /dev/null +++ b/assets/garlic_press/textures/roughness.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9f23b6b4466d1efe23a47be97e06fd06e7e864c070752c80a4b41f2fb7efc437 +size 1018390 diff --git a/assets/industrial_pipe_valve/GET_MORE.md b/assets/industrial_pipe_valve/GET_MORE.md new file mode 100644 index 0000000000000000000000000000000000000000..b67be121fef7789740ed0ab0fe8076ef440e8db8 --- /dev/null +++ b/assets/industrial_pipe_valve/GET_MORE.md @@ -0,0 +1,12 @@ +# Want more assets like this? + +This is part of a free sample from **projectsim by Kaedim**: sim-ready, +articulated 3D assets for robot learning (OpenUSD, NVIDIA Isaac Sim). + +We have **100,000+ more assets like these**, and we can build sets of your own objects. + +- Request them: https://www.projectsim.ai/access?dataset=other&utm_source=hf_dataset&utm_medium=asset_folder&utm_content=articulated-objects-sample +- Or email: team@projectsim.ai +- The full free sample: https://huggingface.co/datasets/projectsim/articulated-objects-sample + +License: CC BY 4.0. Credit "projectsim by Kaedim". diff --git a/assets/industrial_pipe_valve/industrial_pipe_valve.usd b/assets/industrial_pipe_valve/industrial_pipe_valve.usd new file mode 100644 index 0000000000000000000000000000000000000000..bb7072cd9771fbb89222ef5c942e1569154f0e0c --- /dev/null +++ b/assets/industrial_pipe_valve/industrial_pipe_valve.usd @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ca6f53233d74e8752513c668488e80f9b5871370d9446a9bff2800e2cef23ce5 +size 8383247 diff --git a/assets/industrial_pipe_valve/physics.json b/assets/industrial_pipe_valve/physics.json new file mode 100644 index 0000000000000000000000000000000000000000..dd372468f24e210084e09790cf44887640f2cee5 --- /dev/null +++ b/assets/industrial_pipe_valve/physics.json @@ -0,0 +1,296 @@ +{ + "physics": { + "articulation": { + "schema_version": "articulation/2", + "root_link": "valve_body", + "base_mode": "free", + "world_joint": null, + "behavior_sleep_threshold": null, + "handoff_base_mode": "free", + "base_mode_source": "handoff", + "collision_filter": { + "mode": "adjacent", + "explicit_excluded_link_pairs": [], + "handoff_excluded_link_pairs": [ + [ + "handwheel", + "valve_body" + ], + [ + "stem", + "valve_body" + ] + ], + "excluded_link_pairs": [ + [ + "handwheel", + "valve_body" + ], + [ + "stem", + "valve_body" + ] + ], + "representation": "UsdPhysics.FilteredPairsAPI plus joint collisionEnabled", + "external_contacts": "enabled", + "other_engine_validation": "not_run" + }, + "collider_aggregation": "link", + "joint_count": 2, + "joint_types": { + "revolute": 1, + "prismatic": 1 + }, + "axis_rule": "physics:axis X; both joint frames rotated by the quaternion mapping +X onto the contract axis", + "links": { + "valve_body": { + "prim": "/industrial_pipe_valve/valve_body", + "mass_kg": 77.9868, + "mass_source": "VLM per-part estimate, 30 of 30 meshes", + "colliders": 1, + "collision": [ + { + "prim": "/industrial_pipe_valve/valve_body/Collisions/link_collision", + "approximation": "convexDecomposition", + "basis": "combined rigid link; bounded concave cook", + "source_mesh_count": 30, + "source_meshes": [ + "/industrial_pipe_valve/valve_body/valve_body__visual_001/Cylinder_074", + "/industrial_pipe_valve/valve_body/valve_body__visual_026/Yoke_mesh_001", + "/industrial_pipe_valve/valve_body/valve_body__visual_018/Cylinder_090", + "/industrial_pipe_valve/valve_body/valve_body__visual_010/Cylinder_083", + "/industrial_pipe_valve/valve_body/valve_body__visual_021/Cylinder_093", + "/industrial_pipe_valve/valve_body/valve_body__visual_003/Cylinder_076", + "/industrial_pipe_valve/valve_body/valve_body__visual_020/Cylinder_092", + "/industrial_pipe_valve/valve_body/valve_body__visual_029/Cylinder_100", + "/industrial_pipe_valve/valve_body/valve_body__visual_016/Cylinder_088", + "/industrial_pipe_valve/valve_body/valve_body__visual_015/Cylinder_087", + "/industrial_pipe_valve/valve_body/valve_body__visual_009/Cylinder_082", + "/industrial_pipe_valve/valve_body/valve_body__visual_022/Cylinder_094", + "/industrial_pipe_valve/valve_body/valve_body__visual_025/Cylinder_097", + "/industrial_pipe_valve/valve_body/valve_body__visual_012/Cylinder_085", + "/industrial_pipe_valve/valve_body/valve_body__visual_005/Cylinder_078", + "/industrial_pipe_valve/valve_body/valve_body__visual_014/Cylinder_086", + "/industrial_pipe_valve/valve_body/valve_body__visual_013/Cone_001", + "/industrial_pipe_valve/valve_body/valve_body__visual_023/Cylinder_095", + "/industrial_pipe_valve/valve_body/valve_body__visual_004/Cylinder_077", + "/industrial_pipe_valve/valve_body/valve_body__visual_019/Cylinder_091", + "/industrial_pipe_valve/valve_body/valve_body__visual_027/Cylinder_098", + "/industrial_pipe_valve/valve_body/valve_body__visual_006/Cylinder_079", + "/industrial_pipe_valve/valve_body/valve_body__visual_002/Cylinder_075", + "/industrial_pipe_valve/valve_body/valve_body__visual_011/Cylinder_084", + "/industrial_pipe_valve/valve_body/valve_body__visual_024/Cylinder_096", + "/industrial_pipe_valve/valve_body/valve_body__visual_000/Sphere_001", + "/industrial_pipe_valve/valve_body/valve_body__visual_007/Cylinder_080", + "/industrial_pipe_valve/valve_body/valve_body__visual_008/Cylinder_081", + "/industrial_pipe_valve/valve_body/valve_body__visual_028/Cylinder_099", + "/industrial_pipe_valve/valve_body/valve_body__visual_017/Cylinder_089" + ], + "aggregation": "link", + "boolean_union": false, + "cooked_shape_count": null + } + ] + }, + "handwheel": { + "prim": "/industrial_pipe_valve/handwheel", + "mass_kg": 8.9074, + "mass_source": "VLM per-part estimate, 1 of 1 meshes", + "colliders": 1, + "collision": [ + { + "prim": "/industrial_pipe_valve/handwheel/Collisions/link_collision", + "approximation": "convexDecomposition", + "basis": "auto-convex: convex decomposition instead of sdf", + "source_mesh_count": 1, + "source_meshes": [ + "/industrial_pipe_valve/handwheel/handwheel__visual_000/Torus_005" + ], + "aggregation": "link", + "boolean_union": false, + "cooked_shape_count": null + } + ] + }, + "stem": { + "prim": "/industrial_pipe_valve/stem", + "mass_kg": 2.2589, + "mass_source": "VLM per-part estimate, 2 of 2 meshes", + "colliders": 1, + "collision": [ + { + "prim": "/industrial_pipe_valve/stem/Collisions/link_collision", + "approximation": "convexDecomposition", + "basis": "combined rigid link; bounded concave cook", + "source_mesh_count": 2, + "source_meshes": [ + "/industrial_pipe_valve/stem/stem__visual_000/Cylinder_101", + "/industrial_pipe_valve/stem/stem__visual_001/Helical_thread_001" + ], + "aggregation": "link", + "boolean_union": false, + "cooked_shape_count": null + } + ] + } + }, + "joints": { + "handwheel_spin": { + "path": "/industrial_pipe_valve/Joints/handwheel_spin", + "type": "revolute", + "parent": "valve_body", + "child": "handwheel", + "axis_contract": [ + 0.0, + 0.0, + 1.0 + ], + "axis_token": "X", + "frame_alignment_wxyz": [ + 0.707106781, + 0.0, + -0.707106781, + 0.0 + ], + "limits": { + "lower": 0.0, + "upper": 1799.087477, + "unit": "deg" + }, + "drive": { + "type": "force", + "stiffness": 0.0, + "damping": 0.0, + "damping_si": 0.0, + "stiffness_si": 0.0, + "max_force": 0.0, + "target_position": 0.0, + "target_velocity": 0.0, + "damping_unit": "N*m*s/deg", + "damping_si_unit": "N*m*s/rad" + }, + "behavior": { + "recipe_version": "joint-behavior/1", + "intent": { + "confidence": "high", + "mode": "hold_position", + "reason": "Turn the rim to adjust the valve; self-locking screw and packing friction are inferred to hold the chosen rotation after release." + }, + "status": "resolved", + "simulator_status": "not_run", + "effective_mass_or_inertia_si": 0.18860216003565333, + "gravity_bound_si": 0.040345499817357834, + "gravity_at_rest_si": 0.0, + "effort_unit": "N*m", + "assumptions": "Earth gravity; own descendant masses; no external payload; nominal downstream q=0 for interior spring balance", + "warnings": [ + "Interaction must exceed the reported resistance; viewport dragging is not universally guaranteed." + ], + "stiffness_si": 0.0, + "damping_si": 0.0, + "target_position_si": 0.0, + "max_effort_si": 0.0, + "static_friction_si": 0.060518249726036755, + "dynamic_friction_si": 0.05043187477169729, + "required_capability": "PhysxJointAxisAPI", + "supported_links": { + "handwheel": { + "mass_kg": 8.9074, + "mass_properties": "mesh integrals scaled to resolved mass" + } + } + } + }, + "stem_lift": { + "path": "/industrial_pipe_valve/Joints/stem_lift", + "type": "prismatic", + "parent": "valve_body", + "child": "stem", + "axis_contract": [ + 0.0, + 0.0, + 1.0 + ], + "axis_token": "X", + "frame_alignment_wxyz": [ + 0.707106781, + 0.0, + -0.707106781, + 0.0 + ], + "limits": { + "lower": 0.0, + "upper": 0.04, + "unit": "m" + }, + "drive": { + "type": "force", + "stiffness": 0.0, + "damping": 0.0, + "damping_si": 0.0, + "stiffness_si": 0.0, + "max_force": 0.0, + "target_position": 0.0, + "target_velocity": 0.0, + "damping_unit": "N*s/m", + "damping_si_unit": "N*s/m" + }, + "behavior": { + "recipe_version": "joint-behavior/1", + "intent": { + "confidence": "medium", + "mode": "hold_position", + "reason": "Axial adjustment remains at the released height through inferred self-locking screw and packing friction." + }, + "status": "resolved", + "simulator_status": "not_run", + "effective_mass_or_inertia_si": 2.2589, + "gravity_bound_si": 22.159809000000003, + "gravity_at_rest_si": -22.159809000000003, + "effort_unit": "N", + "assumptions": "Earth gravity; own descendant masses; no external payload; nominal downstream q=0 for interior spring balance", + "warnings": [ + "Interaction must exceed the reported resistance; viewport dragging is not universally guaranteed." + ], + "stiffness_si": 0.0, + "damping_si": 0.0, + "target_position_si": 0.0, + "max_effort_si": 0.0, + "static_friction_si": 33.23971350000001, + "dynamic_friction_si": 27.69976125, + "required_capability": "PhysxJointAxisAPI", + "supported_links": { + "stem": { + "mass_kg": 2.2589, + "mass_properties": "mesh integrals scaled to resolved mass" + } + } + } + } + }, + "preview_controls": [], + "reference_pose": { + "handwheel_spin": 0.0, + "stem_lift": 0.0 + }, + "provenance": { + "base_mode_reason": "Loose flanged valve with empty bolt holes and no pipe or mounting visible; treated as a freestanding object. In service it would be bolted into a pipeline, but no such mount is visible.", + "base_mode_source": "author_explicit", + "contract_revision": "2.0", + "producer": "articulated-asset-generation", + "producer_version": "0.1.0" + } + }, + "mass_kg": 89.1531, + "colliders": 3, + "status": "articulated_body", + "material_class": "metal_steel", + "engine": "physx", + "multipart_physx": false, + "static_friction": 0.6, + "dynamic_friction": 0.45, + "restitution": 0.25, + "friction_model": "legacy", + "friction_convention": "pair_value_on_steel_dry" + } +} \ No newline at end of file diff --git a/assets/industrial_pipe_valve/preview.png b/assets/industrial_pipe_valve/preview.png new file mode 100644 index 0000000000000000000000000000000000000000..ebc5ffa21c809332aff5efec0a4898313c8b4ad1 --- /dev/null +++ b/assets/industrial_pipe_valve/preview.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a4b969c9eb702b9e7d493e9214bc2a2f1c024b81b1a5e245b284f0a74bb710d5 +size 1396932 diff --git a/assets/industrial_pipe_valve/textures/base_color.png b/assets/industrial_pipe_valve/textures/base_color.png new file mode 100644 index 0000000000000000000000000000000000000000..1bb6b7d7acd9b015fd31ab5786b4f5124a38a966 --- /dev/null +++ b/assets/industrial_pipe_valve/textures/base_color.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9f555a9004eee2c8e5b2892fe6e855ebd7bbe4c40564751e6597a7832ce014d5 +size 18083056 diff --git a/assets/industrial_pipe_valve/textures/metallic.png b/assets/industrial_pipe_valve/textures/metallic.png new file mode 100644 index 0000000000000000000000000000000000000000..2111950eb91eecb4d0e7cd111e20beb37a25818f --- /dev/null +++ b/assets/industrial_pipe_valve/textures/metallic.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:952a5c636249be17776330ea58b7b417002eb3c48922af9aaf39b3c14db9ec4d +size 798750 diff --git a/assets/industrial_pipe_valve/textures/normal.png b/assets/industrial_pipe_valve/textures/normal.png new file mode 100644 index 0000000000000000000000000000000000000000..d40e8f0d014ca93490159309f072a940b1211f09 --- /dev/null +++ b/assets/industrial_pipe_valve/textures/normal.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f4da8f3c6618edb79b829e7d49e1ec8a918e8f395e2ac24326ad80297106286e +size 15039799 diff --git a/assets/industrial_pipe_valve/textures/roughness.png b/assets/industrial_pipe_valve/textures/roughness.png new file mode 100644 index 0000000000000000000000000000000000000000..9961ad1f2abce60282d63c3ff693178594d50a58 --- /dev/null +++ b/assets/industrial_pipe_valve/textures/roughness.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:205e7a32202823d150e31e30657f4e3ece325cbfb1b5386e9c6674a91ed9c264 +size 1452962 diff --git a/assets/industrial_shears/GET_MORE.md b/assets/industrial_shears/GET_MORE.md new file mode 100644 index 0000000000000000000000000000000000000000..b67be121fef7789740ed0ab0fe8076ef440e8db8 --- /dev/null +++ b/assets/industrial_shears/GET_MORE.md @@ -0,0 +1,12 @@ +# Want more assets like this? + +This is part of a free sample from **projectsim by Kaedim**: sim-ready, +articulated 3D assets for robot learning (OpenUSD, NVIDIA Isaac Sim). + +We have **100,000+ more assets like these**, and we can build sets of your own objects. + +- Request them: https://www.projectsim.ai/access?dataset=other&utm_source=hf_dataset&utm_medium=asset_folder&utm_content=articulated-objects-sample +- Or email: team@projectsim.ai +- The full free sample: https://huggingface.co/datasets/projectsim/articulated-objects-sample + +License: CC BY 4.0. Credit "projectsim by Kaedim". diff --git a/assets/industrial_shears/industrial_shears.usd b/assets/industrial_shears/industrial_shears.usd new file mode 100644 index 0000000000000000000000000000000000000000..5e5f267ebe6efa32205cfaae2aa168afc54d32cc --- /dev/null +++ b/assets/industrial_shears/industrial_shears.usd @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:cb75be99be241883221c544d1ca7932e751e5c7c9dc7cc086e0b6338d61e3d76 +size 5423468 diff --git a/assets/industrial_shears/physics.json b/assets/industrial_shears/physics.json new file mode 100644 index 0000000000000000000000000000000000000000..b2fc5a8d390be128dc2a600a80a3f9fbfce69511 --- /dev/null +++ b/assets/industrial_shears/physics.json @@ -0,0 +1,285 @@ +{ + "physics": { + "articulation": { + "schema_version": "articulation/2", + "root_link": "upper_arm", + "base_mode": "free", + "world_joint": null, + "behavior_sleep_threshold": 9.999999974752427e-07, + "handoff_base_mode": "free", + "base_mode_source": "handoff", + "collision_filter": { + "mode": "adjacent", + "explicit_excluded_link_pairs": [], + "handoff_excluded_link_pairs": [ + [ + "latch_hook", + "lower_arm" + ], + [ + "lower_arm", + "upper_arm" + ] + ], + "excluded_link_pairs": [ + [ + "latch_hook", + "lower_arm" + ], + [ + "lower_arm", + "upper_arm" + ] + ], + "representation": "UsdPhysics.FilteredPairsAPI plus joint collisionEnabled", + "external_contacts": "enabled", + "other_engine_validation": "not_run" + }, + "collider_aggregation": "link", + "joint_count": 2, + "joint_types": { + "revolute": 2 + }, + "axis_rule": "physics:axis X; both joint frames rotated by the quaternion mapping +X onto the contract axis", + "links": { + "upper_arm": { + "prim": "/industrial_shears/upper_arm", + "mass_kg": 2.8543, + "mass_source": "VLM per-part estimate, 9 of 9 meshes", + "colliders": 1, + "collision": [ + { + "prim": "/industrial_shears/upper_arm/Collisions/link_collision", + "approximation": "convexDecomposition", + "basis": "combined rigid link; bounded concave cook", + "source_mesh_count": 9, + "source_meshes": [ + "/industrial_shears/upper_arm/upper_arm__visual_004/Cylinder_010", + "/industrial_shears/upper_arm/upper_arm__visual_007/Upper_grip_001", + "/industrial_shears/upper_arm/upper_arm__visual_001/Lower_jaw_with_upper_handle_tang_001", + "/industrial_shears/upper_arm/upper_arm__visual_003/Cylinder_009", + "/industrial_shears/upper_arm/upper_arm__visual_006/Cylinder_012", + "/industrial_shears/upper_arm/upper_arm__visual_000/Upper_tang_sleeve_001", + "/industrial_shears/upper_arm/upper_arm__visual_002/Cylinder_008", + "/industrial_shears/upper_arm/upper_arm__visual_005/Cylinder_011", + "/industrial_shears/upper_arm/upper_arm__visual_008/Upper_grip_diamond_knurl_001" + ], + "aggregation": "link", + "boolean_union": false, + "cooked_shape_count": null + } + ] + }, + "lower_arm": { + "prim": "/industrial_shears/lower_arm", + "mass_kg": 1.3737, + "mass_source": "VLM per-part estimate, 5 of 5 meshes", + "colliders": 1, + "collision": [ + { + "prim": "/industrial_shears/lower_arm/Collisions/link_collision", + "approximation": "convexDecomposition", + "basis": "combined rigid link; bounded concave cook", + "source_mesh_count": 5, + "source_meshes": [ + "/industrial_shears/lower_arm/lower_arm__visual_001/Ground_blade_bevel_001", + "/industrial_shears/lower_arm/lower_arm__visual_004/Cylinder_013", + "/industrial_shears/lower_arm/lower_arm__visual_002/Lower_grip_001", + "/industrial_shears/lower_arm/lower_arm__visual_000/Upper_blade_with_lower_handle_tang_001", + "/industrial_shears/lower_arm/lower_arm__visual_003/Lower_grip_diamond_knurl_001" + ], + "aggregation": "link", + "boolean_union": false, + "cooked_shape_count": null + } + ] + }, + "latch_hook": { + "prim": "/industrial_shears/latch_hook", + "mass_kg": 0.0481, + "mass_source": "VLM per-part estimate, 3 of 3 meshes", + "colliders": 1, + "collision": [ + { + "prim": "/industrial_shears/latch_hook/Collisions/link_collision", + "approximation": "convexDecomposition", + "basis": "combined rigid link; bounded concave cook", + "source_mesh_count": 3, + "source_meshes": [ + "/industrial_shears/latch_hook/latch_hook__visual_000/Cylinder_014", + "/industrial_shears/latch_hook/latch_hook__visual_002/Cylinder_015", + "/industrial_shears/latch_hook/latch_hook__visual_001/Curved_storage_latch_001" + ], + "aggregation": "link", + "boolean_union": false, + "cooked_shape_count": null + } + ] + } + }, + "joints": { + "jaw_pivot": { + "path": "/industrial_shears/Joints/jaw_pivot", + "type": "revolute", + "parent": "upper_arm", + "child": "lower_arm", + "axis_contract": [ + 0.0, + -1.0, + 0.0 + ], + "axis_token": "X", + "frame_alignment_wxyz": [ + 0.707106781, + 0.0, + -0.0, + -0.707106781 + ], + "limits": { + "lower": -2.864789, + "upper": 20.053523, + "unit": "deg" + }, + "drive": { + "type": "force", + "stiffness": 0.03119048662483692, + "damping": 0.008626492694020271, + "damping_si": 0.49426159678437276, + "stiffness_si": 1.787083224283236, + "max_force": 2.958813117527109, + "target_position": 34.92682647705078, + "target_velocity": 0.0, + "damping_unit": "N*m*s/deg", + "damping_si_unit": "N*m*s/rad" + }, + "behavior": { + "recipe_version": "joint-behavior/1", + "intent": { + "confidence": "medium", + "mode": "spring_return", + "reason": "Squeezing closes the jaws; releasing returns to the photographed open pose. A concealed return spring is inferred from this tool type and storage latch, not directly observed.", + "rest_position": 0.0 + }, + "status": "resolved", + "simulator_status": "not_run", + "effective_mass_or_inertia_si": 0.03417503487474956, + "gravity_bound_si": 1.191388816188824, + "gravity_at_rest_si": -1.0893847377255204, + "effort_unit": "N*m", + "assumptions": "Earth gravity; own descendant masses; no external payload; nominal downstream q=0 for interior spring balance", + "warnings": [ + "Interaction must exceed the reported resistance; viewport dragging is not universally guaranteed." + ], + "stiffness_si": 1.787083224283236, + "damping_si": 0.49426159678437276, + "target_position_si": 0.6095881394457447, + "max_effort_si": 2.958813117527109, + "static_friction_si": 0.0, + "dynamic_friction_si": 0.0, + "nominal_settling_seconds": 1.0, + "rest_position_si": 0.0, + "supported_links": { + "lower_arm": { + "mass_kg": 1.3737, + "mass_properties": "mesh integrals scaled to resolved mass" + }, + "latch_hook": { + "mass_kg": 0.0481, + "mass_properties": "mesh integrals scaled to resolved mass" + } + } + } + }, + "latch_pivot": { + "path": "/industrial_shears/Joints/latch_pivot", + "type": "revolute", + "parent": "lower_arm", + "child": "latch_hook", + "axis_contract": [ + 0.0, + 1.0, + 0.0 + ], + "axis_token": "X", + "frame_alignment_wxyz": [ + 0.707106781, + 0.0, + -0.0, + 0.707106781 + ], + "limits": { + "lower": -17.188734, + "upper": 68.754935, + "unit": "deg" + }, + "drive": { + "type": "force", + "stiffness": 0.0, + "damping": 0.0, + "damping_si": 0.0, + "stiffness_si": 0.0, + "max_force": 0.0, + "target_position": 0.0, + "target_velocity": 0.0, + "damping_unit": "N*m*s/deg", + "damping_si_unit": "N*m*s/rad" + }, + "behavior": { + "recipe_version": "joint-behavior/1", + "intent": { + "confidence": "low", + "mode": "hold_position", + "reason": "The user flips the storage hook; assumed rivet friction keeps it where released. Engagement is not modeled as a constraint." + }, + "status": "resolved", + "simulator_status": "not_run", + "effective_mass_or_inertia_si": 8.229282973590835e-05, + "gravity_bound_si": 0.015227504965178586, + "gravity_at_rest_si": -0.0011557810370623604, + "effort_unit": "N*m", + "assumptions": "Earth gravity; own descendant masses; no external payload; nominal downstream q=0 for interior spring balance", + "warnings": [ + "Interaction must exceed the reported resistance; viewport dragging is not universally guaranteed." + ], + "stiffness_si": 0.0, + "damping_si": 0.0, + "target_position_si": 0.0, + "max_effort_si": 0.0, + "static_friction_si": 0.02284125744776788, + "dynamic_friction_si": 0.01903438120647323, + "required_capability": "PhysxJointAxisAPI", + "supported_links": { + "latch_hook": { + "mass_kg": 0.0481, + "mass_properties": "mesh integrals scaled to resolved mass" + } + } + } + } + }, + "preview_controls": [], + "reference_pose": { + "jaw_pivot": 0.0, + "latch_pivot": 0.0 + }, + "provenance": { + "base_mode_reason": "This is a handheld cutting tool with no mounting to the world. It is a freestanding object that gets picked up and carried, so it uses a free base.", + "base_mode_source": "author_explicit", + "contract_revision": "2.0", + "producer": "articulated-asset-generation", + "producer_version": "0.1.0" + } + }, + "mass_kg": 4.2761, + "colliders": 3, + "status": "articulated_body", + "material_class": "metal_steel", + "engine": "physx", + "multipart_physx": false, + "static_friction": 0.6, + "dynamic_friction": 0.45, + "restitution": 0.25, + "friction_model": "legacy", + "friction_convention": "pair_value_on_steel_dry" + } +} \ No newline at end of file diff --git a/assets/industrial_shears/preview.png b/assets/industrial_shears/preview.png new file mode 100644 index 0000000000000000000000000000000000000000..45137c3e3d41ef8020c9dd2f443673a090416327 --- /dev/null +++ b/assets/industrial_shears/preview.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3fb682dd97840875bfa6d13811376bb6156a94ec482205ce7c846b5c7d0c654b +size 1104031 diff --git a/assets/industrial_shears/textures/base_color.png b/assets/industrial_shears/textures/base_color.png new file mode 100644 index 0000000000000000000000000000000000000000..2c89c092b6b38aff143b1ef0700d147ed5f029fa --- /dev/null +++ b/assets/industrial_shears/textures/base_color.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:46c15e530db3e870351065350b6aec4a95d66af18ea23b9d9c1ea8d1f6bd9034 +size 10792953 diff --git a/assets/industrial_shears/textures/metallic.png b/assets/industrial_shears/textures/metallic.png new file mode 100644 index 0000000000000000000000000000000000000000..c8c3fa54d830c079e534dec862570906a78b38c2 --- /dev/null +++ b/assets/industrial_shears/textures/metallic.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9d8324dc8e320ec80b9b94b1cb1ee60e679197046ec5f60a0fded4cdbcd9831e +size 1240264 diff --git a/assets/industrial_shears/textures/normal.png b/assets/industrial_shears/textures/normal.png new file mode 100644 index 0000000000000000000000000000000000000000..bf3b32caff791d0259973925459d2ee565967eb1 --- /dev/null +++ b/assets/industrial_shears/textures/normal.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5eed7081fc35af0651b20f07c131b45b22738fe1f7016f0a8e0103e0767c5f51 +size 12645376 diff --git a/assets/industrial_shears/textures/roughness.png b/assets/industrial_shears/textures/roughness.png new file mode 100644 index 0000000000000000000000000000000000000000..28743334408c07af2746a06de954cb5743bfcc45 --- /dev/null +++ b/assets/industrial_shears/textures/roughness.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4f51571286fb0468aa3f7bfb1f28df0e2fa572259fa96c86187de826ab4e0ebf +size 1168767 diff --git a/assets/meat_slicer/GET_MORE.md b/assets/meat_slicer/GET_MORE.md new file mode 100644 index 0000000000000000000000000000000000000000..b67be121fef7789740ed0ab0fe8076ef440e8db8 --- /dev/null +++ b/assets/meat_slicer/GET_MORE.md @@ -0,0 +1,12 @@ +# Want more assets like this? + +This is part of a free sample from **projectsim by Kaedim**: sim-ready, +articulated 3D assets for robot learning (OpenUSD, NVIDIA Isaac Sim). + +We have **100,000+ more assets like these**, and we can build sets of your own objects. + +- Request them: https://www.projectsim.ai/access?dataset=other&utm_source=hf_dataset&utm_medium=asset_folder&utm_content=articulated-objects-sample +- Or email: team@projectsim.ai +- The full free sample: https://huggingface.co/datasets/projectsim/articulated-objects-sample + +License: CC BY 4.0. Credit "projectsim by Kaedim". diff --git a/assets/meat_slicer/meat_slicer.usd b/assets/meat_slicer/meat_slicer.usd new file mode 100644 index 0000000000000000000000000000000000000000..4f25a71682d24cd64249b234da6ef44e647e6048 --- /dev/null +++ b/assets/meat_slicer/meat_slicer.usd @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:37acb0545469b29ac644bc958294029ec2dbe7c136756f69e890d448608b762d +size 10552230 diff --git a/assets/meat_slicer/physics.json b/assets/meat_slicer/physics.json new file mode 100644 index 0000000000000000000000000000000000000000..73d2dedcdcd7b092afb2fbca7108744a0a61f6cc --- /dev/null +++ b/assets/meat_slicer/physics.json @@ -0,0 +1,775 @@ +{ + "physics": { + "articulation": { + "schema_version": "articulation/2", + "root_link": "base", + "base_mode": "free", + "world_joint": null, + "behavior_sleep_threshold": null, + "handoff_base_mode": "free", + "base_mode_source": "handoff", + "collision_filter": { + "mode": "adjacent", + "explicit_excluded_link_pairs": [], + "handoff_excluded_link_pairs": [ + [ + "base", + "blade" + ], + [ + "base", + "carriage" + ], + [ + "base", + "flywheel" + ], + [ + "base", + "thickness_knob" + ], + [ + "carriage", + "pusher" + ], + [ + "clamp_arm", + "pusher" + ], + [ + "crank_grip", + "flywheel" + ] + ], + "excluded_link_pairs": [ + [ + "base", + "blade" + ], + [ + "base", + "carriage" + ], + [ + "base", + "flywheel" + ], + [ + "base", + "thickness_knob" + ], + [ + "carriage", + "pusher" + ], + [ + "clamp_arm", + "pusher" + ], + [ + "crank_grip", + "flywheel" + ] + ], + "representation": "UsdPhysics.FilteredPairsAPI plus joint collisionEnabled", + "external_contacts": "enabled", + "other_engine_validation": "not_run" + }, + "collider_aggregation": "link", + "joint_count": 7, + "joint_types": { + "revolute": 5, + "prismatic": 2 + }, + "axis_rule": "physics:axis X; 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/dev/null +++ b/assets/metadata.jsonl @@ -0,0 +1,7 @@ +{"name": "utility_knife", "title": "Utility knife", "description": "Snap-off box cutter with a sliding blade", "joint_count": 1, "joint_types": {"prismatic": 1}, "joints": ["blade_extend (prismatic, 0 to 0.04 m)"], "links": 2, "mass_kg": 0.19, "base": "free", "usd": "assets/utility_knife/utility_knife.usd", "physics": "assets/utility_knife/physics.json", "preview": "assets/utility_knife/preview.png", "more_like_this": "https://www.projectsim.ai/access?dataset=other&utm_source=hf_dataset&utm_medium=metadata&utm_content=articulated-objects-sample"} +{"name": "industrial_shears", "title": "Industrial shears", "description": "Heavy cutting shears with a jaw pivot and a locking latch", "joint_count": 2, "joint_types": {"revolute": 2}, "joints": ["jaw_pivot (revolute, -2.86 to 20.0535 deg)", "latch_pivot (revolute, -17.1887 to 68.7549 deg)"], "links": 3, "mass_kg": 4.28, "base": "free", "usd": "assets/industrial_shears/industrial_shears.usd", "physics": "assets/industrial_shears/physics.json", "preview": "assets/industrial_shears/preview.png", "more_like_this": "https://www.projectsim.ai/access?dataset=other&utm_source=hf_dataset&utm_medium=metadata&utm_content=articulated-objects-sample"} +{"name": "meat_slicer", "title": "Meat slicer", "description": "Flywheel meat slicer: crank, carriage, pusher, clamp and thickness knob", "joint_count": 7, "joint_types": {"revolute": 5, "prismatic": 2}, "joints": ["flywheel_spin (revolute, -180 to 180 deg)", "crank_grip_spin (revolute, -180 to 180 deg)", "blade_spin (revolute, -180 to 180 deg)", "carriage_slide (prismatic, -0.1 to 0 m)", "pusher_feed (prismatic, 0 to 0.04 m)", "clamp_arm_hinge (revolute, 0 to 68.7549 deg)", "thickness_knob_turn (revolute, -171.887 to 171.887 deg)"], "links": 8, "mass_kg": 469.73, "base": "free", "usd": "assets/meat_slicer/meat_slicer.usd", "physics": "assets/meat_slicer/physics.json", "preview": "assets/meat_slicer/preview.png", "more_like_this": "https://www.projectsim.ai/access?dataset=other&utm_source=hf_dataset&utm_medium=metadata&utm_content=articulated-objects-sample"} +{"name": "industrial_pipe_valve", "title": "Pipe valve", "description": "Flanged pipe valve: the handwheel turns and the stem rises", "joint_count": 2, "joint_types": {"revolute": 1, "prismatic": 1}, "joints": ["handwheel_spin (revolute, 0 to 1799.09 deg)", "stem_lift (prismatic, 0 to 0.04 m)"], "links": 3, "mass_kg": 89.15, "base": "free", "usd": "assets/industrial_pipe_valve/industrial_pipe_valve.usd", "physics": "assets/industrial_pipe_valve/physics.json", "preview": "assets/industrial_pipe_valve/preview.png", "more_like_this": "https://www.projectsim.ai/access?dataset=other&utm_source=hf_dataset&utm_medium=metadata&utm_content=articulated-objects-sample"} +{"name": "desk_lamp", "title": "Desk lamp", "description": "Balanced-arm desk lamp with a swivel base and tilting shade", "joint_count": 5, "joint_types": {"revolute": 5}, "joints": ["base_swivel (revolute, -148.969 to 148.969 deg)", "shoulder (revolute, -34.3775 to 25.7831 deg)", "elbow (revolute, -51.5662 to 51.5662 deg)", "shade_tilt (revolute, -45.8366 to 45.8366 deg)", "shade_swivel (revolute, -57.2958 to 68.7549 deg)"], "links": 6, "mass_kg": 1.69, "base": "free", "usd": "assets/desk_lamp/desk_lamp.usd", "physics": "assets/desk_lamp/physics.json", "preview": "assets/desk_lamp/preview.png", "more_like_this": "https://www.projectsim.ai/access?dataset=other&utm_source=hf_dataset&utm_medium=metadata&utm_content=articulated-objects-sample"} +{"name": "faucet_kitchen", "title": "Kitchen faucet", "description": "Kitchen tap: swivel spout, pull-out spray, flow and temperature levers; fixed to the world", "joint_count": 4, "joint_types": {"revolute": 3, "prismatic": 1}, "joints": ["spout_swivel (revolute, -120.321 to 120.321 deg)", "spray_pullout (prismatic, 0 to 0.35 m)", "lever_temperature (revolute, -45.8366 to 45.8366 deg)", "lever_flow (revolute, 0 to 28.6479 deg)"], "links": 5, "mass_kg": 1.57, "base": "fixed", "usd": "assets/faucet_kitchen/faucet_kitchen.usd", "physics": "assets/faucet_kitchen/physics.json", "preview": "assets/faucet_kitchen/preview.png", "more_like_this": "https://www.projectsim.ai/access?dataset=other&utm_source=hf_dataset&utm_medium=metadata&utm_content=articulated-objects-sample"} +{"name": "garlic_press", "title": "Garlic press", "description": "Hinged garlic press", "joint_count": 1, "joint_types": {"revolute": 1}, "joints": ["upper_handle_hinge (revolute, -5.73 to 91.6732 deg)"], "links": 2, "mass_kg": 0.55, "base": "free", "usd": "assets/garlic_press/garlic_press.usd", "physics": "assets/garlic_press/physics.json", "preview": "assets/garlic_press/preview.png", "more_like_this": "https://www.projectsim.ai/access?dataset=other&utm_source=hf_dataset&utm_medium=metadata&utm_content=articulated-objects-sample"} diff --git a/assets/utility_knife/GET_MORE.md b/assets/utility_knife/GET_MORE.md new file mode 100644 index 0000000000000000000000000000000000000000..b67be121fef7789740ed0ab0fe8076ef440e8db8 --- /dev/null +++ b/assets/utility_knife/GET_MORE.md @@ -0,0 +1,12 @@ +# Want more assets like this? + +This is part of a free sample from **projectsim by Kaedim**: sim-ready, +articulated 3D assets for robot learning (OpenUSD, NVIDIA Isaac Sim). + +We have **100,000+ more assets like these**, and we can build sets of your own objects. + +- Request them: https://www.projectsim.ai/access?dataset=other&utm_source=hf_dataset&utm_medium=asset_folder&utm_content=articulated-objects-sample +- Or email: team@projectsim.ai +- The full free sample: https://huggingface.co/datasets/projectsim/articulated-objects-sample + +License: CC BY 4.0. Credit "projectsim by Kaedim". diff --git a/assets/utility_knife/physics.json b/assets/utility_knife/physics.json new file mode 100644 index 0000000000000000000000000000000000000000..635e04e2ac4a23b3019e8729eaf4eede61b18f5d --- /dev/null +++ b/assets/utility_knife/physics.json @@ -0,0 +1,205 @@ +{ + "physics": { + "articulation": { + "schema_version": "articulation/2", + "root_link": "handle_body", + "base_mode": "free", + "world_joint": null, + "behavior_sleep_threshold": null, + "handoff_base_mode": "free", + "base_mode_source": "handoff", + "collision_filter": { + "mode": "adjacent", + "explicit_excluded_link_pairs": [], + "handoff_excluded_link_pairs": [ + [ + "blade_slider", + "handle_body" + ] + ], + "excluded_link_pairs": [ + [ + "blade_slider", + "handle_body" + ] + ], + "representation": "UsdPhysics.FilteredPairsAPI plus joint collisionEnabled", + "external_contacts": "enabled", + "other_engine_validation": "not_run" + }, + "collider_aggregation": "link", + "joint_count": 1, + "joint_types": { + "prismatic": 1 + }, + "axis_rule": "physics:axis X; both joint frames rotated by the quaternion mapping +X onto the contract axis", + "links": { + "handle_body": { + "prim": "/gen_1_1792063940462/handle_body", + "mass_kg": 0.1673, + "mass_source": "VLM per-part estimate, 33 of 33 meshes", + "colliders": 1, + "collision": [ + { + "prim": "/gen_1_1792063940462/handle_body/Collisions/link_collision", + "approximation": "convexDecomposition", + "basis": "combined rigid link; bounded concave cook", + "source_mesh_count": 33, + "source_meshes": [ + "/gen_1_1792063940462/handle_body/handle_body__visual_001/Upper_cast_grip_shell_003", + "/gen_1_1792063940462/handle_body/handle_body__visual_014/Track_ratchet_tooth_03_001", + "/gen_1_1792063940462/handle_body/handle_body__visual_010/Rear_guide_rail_shoulder_003", + "/gen_1_1792063940462/handle_body/handle_body__visual_007/Folded_guide_side_003", + "/gen_1_1792063940462/handle_body/handle_body__visual_032/Cylinder_009", + "/gen_1_1792063940462/handle_body/handle_body__visual_005/Rear_guide_rail_002", + "/gen_1_1792063940462/handle_body/handle_body__visual_028/Track_ratchet_tooth_17_001", + "/gen_1_1792063940462/handle_body/handle_body__visual_015/Track_ratchet_tooth_04_001", + "/gen_1_1792063940462/handle_body/handle_body__visual_025/Track_ratchet_tooth_14_001", + "/gen_1_1792063940462/handle_body/handle_body__visual_030/Rear_removable_cap_001", + "/gen_1_1792063940462/handle_body/handle_body__visual_029/Track_ratchet_tooth_18_001", + "/gen_1_1792063940462/handle_body/handle_body__visual_013/Track_ratchet_tooth_02_001", + "/gen_1_1792063940462/handle_body/handle_body__visual_016/Track_ratchet_tooth_05_001", + "/gen_1_1792063940462/handle_body/handle_body__visual_031/Cylinder_008", + "/gen_1_1792063940462/handle_body/handle_body__visual_009/Rear_guide_rail_003", + "/gen_1_1792063940462/handle_body/handle_body__visual_020/Track_ratchet_tooth_09_001", + "/gen_1_1792063940462/handle_body/handle_body__visual_019/Track_ratchet_tooth_08_001", + "/gen_1_1792063940462/handle_body/handle_body__visual_026/Track_ratchet_tooth_15_001", + "/gen_1_1792063940462/handle_body/handle_body__visual_012/Track_ratchet_tooth_01_001", + "/gen_1_1792063940462/handle_body/handle_body__visual_000/Lower_cast_grip_shell_001", + "/gen_1_1792063940462/handle_body/handle_body__visual_021/Track_ratchet_tooth_10_001", + "/gen_1_1792063940462/handle_body/handle_body__visual_017/Track_ratchet_tooth_06_001", + "/gen_1_1792063940462/handle_body/handle_body__visual_024/Track_ratchet_tooth_13_001", + "/gen_1_1792063940462/handle_body/handle_body__visual_018/Track_ratchet_tooth_07_001", + "/gen_1_1792063940462/handle_body/handle_body__visual_002/Guide_bed_001", + "/gen_1_1792063940462/handle_body/handle_body__visual_011/Track_ratchet_tooth_00_001", + "/gen_1_1792063940462/handle_body/handle_body__visual_003/Folded_guide_side_002", + "/gen_1_1792063940462/handle_body/handle_body__visual_027/Track_ratchet_tooth_16_001", + "/gen_1_1792063940462/handle_body/handle_body__visual_008/Overhanging_guide_lip_003", + "/gen_1_1792063940462/handle_body/handle_body__visual_004/Overhanging_guide_lip_002", + "/gen_1_1792063940462/handle_body/handle_body__visual_022/Track_ratchet_tooth_11_001", + "/gen_1_1792063940462/handle_body/handle_body__visual_023/Track_ratchet_tooth_12_001", + "/gen_1_1792063940462/handle_body/handle_body__visual_006/Rear_guide_rail_shoulder_002" + ], + "aggregation": "link", + "boolean_union": false, + "cooked_shape_count": null + } + ] + }, + "blade_slider": { + "prim": "/gen_1_1792063940462/blade_slider", + "mass_kg": 0.0202, + "mass_source": "VLM per-part estimate, 4 of 4 meshes", + "colliders": 1, + "collision": [ + { + "prim": "/gen_1_1792063940462/blade_slider/Collisions/link_collision", + "approximation": "convexDecomposition", + "basis": "combined rigid link; bounded concave cook", + "source_mesh_count": 4, + "source_meshes": [ + "/gen_1_1792063940462/blade_slider/blade_slider__visual_000/Segmented_steel_blade_001", + "/gen_1_1792063940462/blade_slider/blade_slider__visual_001/ground_edge_001", + "/gen_1_1792063940462/blade_slider/blade_slider__visual_003/Thumb_slider_pad_001", + "/gen_1_1792063940462/blade_slider/blade_slider__visual_002/Internal_slider_stem_001" + ], + "aggregation": "link", + "boolean_union": false, + "cooked_shape_count": null + } + ] + } + }, + "joints": { + "blade_extend": { + "path": "/gen_1_1792063940462/Joints/blade_extend", + "type": "prismatic", + "parent": "handle_body", + "child": "blade_slider", + "axis_contract": [ + 0.0, + -1.0, + 0.0 + ], + "axis_token": "X", + "frame_alignment_wxyz": [ + 0.707106781, + 0.0, + -0.0, + -0.707106781 + ], + "limits": { + "lower": 0.0, + "upper": 0.04, + "unit": "m" + }, + "drive": { + "type": "force", + "stiffness": 0.0, + "damping": 0.0, + "damping_si": 0.0, + "stiffness_si": 0.0, + "max_force": 0.0, + "target_position": 0.0, + "target_velocity": 0.0, + "damping_unit": "N*s/m", + "damping_si_unit": "N*s/m" + }, + "behavior": { + "recipe_version": "joint-behavior/1", + "intent": { + "confidence": "high", + "mode": "hold_position", + "reason": "Push the thumb slider to extend or retract the blade; it stays where released. Visible ratchet teeth imply a concealed detent. Continuous friction holding approximates those indexed positions." + }, + "status": "resolved", + "simulator_status": "not_run", + "effective_mass_or_inertia_si": 0.0202, + "gravity_bound_si": 0.198162, + "gravity_at_rest_si": -0.0, + "effort_unit": "N", + "assumptions": "Earth gravity; own descendant masses; no external payload; nominal downstream q=0 for interior spring balance", + "warnings": [ + "Interaction must exceed the reported resistance; viewport dragging is not universally guaranteed." + ], + "stiffness_si": 0.0, + "damping_si": 0.0, + "target_position_si": 0.0, + "max_effort_si": 0.0, + "static_friction_si": 0.29724300000000003, + "dynamic_friction_si": 0.2477025, + "required_capability": "PhysxJointAxisAPI", + "supported_links": { + "blade_slider": { + "mass_kg": 0.0202, + "mass_properties": "mesh integrals scaled to resolved mass" + } + } + } + } + }, + "preview_controls": [], + "reference_pose": { + "blade_extend": 0.032 + }, + "provenance": { + "base_mode_reason": "Handheld utility knife resting on a surface with no mounting evidence; it is a freestanding movable object, so the base is free.", + "base_mode_source": "author_explicit", + "contract_revision": "2.0", + "producer": "articulated-asset-generation", + "producer_version": "0.1.0" + } + }, + "mass_kg": 0.1875, + "colliders": 2, + "status": "articulated_body", + "material_class": "metal_aluminum", + "engine": "physx", + "multipart_physx": false, + "static_friction": 0.45, + "dynamic_friction": 0.35, + "restitution": 0.25, + "friction_model": "legacy", + "friction_convention": "pair_value_on_steel_dry" + } +} \ No newline at end of file diff --git a/assets/utility_knife/preview.png b/assets/utility_knife/preview.png new file mode 100644 index 0000000000000000000000000000000000000000..3315644669fb818131a703fbf08fb3dc84e324b9 --- /dev/null +++ b/assets/utility_knife/preview.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:832e79cd649925a0dae5ef32d6b40a0f9f1ae46e088121e67fb52c19910de82c +size 965005 diff --git a/assets/utility_knife/textures/base_color.png b/assets/utility_knife/textures/base_color.png new file mode 100644 index 0000000000000000000000000000000000000000..a3be96f3327c891326124c2d50d8750b2ea25962 --- /dev/null +++ b/assets/utility_knife/textures/base_color.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:85c9bd08e66db483cea2079dcae369396bd647a1295b9906251a1b756058e1eb +size 6430481 diff --git a/assets/utility_knife/textures/metallic.png b/assets/utility_knife/textures/metallic.png new file mode 100644 index 0000000000000000000000000000000000000000..cd8a8217230ffc384cc76811af765ffb1544aa26 --- /dev/null +++ b/assets/utility_knife/textures/metallic.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:038b6a9cda5853d621fe27b7f768a1495524b52f3c89bd2ad9e8531801743a4a +size 407264 diff --git a/assets/utility_knife/textures/normal.png b/assets/utility_knife/textures/normal.png new file mode 100644 index 0000000000000000000000000000000000000000..34682eb52769e882ca59aefda354ab299dfe29ff --- /dev/null +++ b/assets/utility_knife/textures/normal.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:196d00dd904e2de48b97e0188fcf475042abffeea5cedf224603253a12ef62ab +size 5251805 diff --git a/assets/utility_knife/textures/roughness.png b/assets/utility_knife/textures/roughness.png new file mode 100644 index 0000000000000000000000000000000000000000..f1993afbde9eeba06058b51f9e7e13d00935cd6c --- /dev/null +++ b/assets/utility_knife/textures/roughness.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3cedd894bd53ec93f2627d37569fc132a42a9f5a2d352536d71f559cd760fd43 +size 449675 diff --git a/assets/utility_knife/utility_knife.usd b/assets/utility_knife/utility_knife.usd new file mode 100644 index 0000000000000000000000000000000000000000..3ac9f34fa38dafb9c0e33be62afdb85cbc832960 --- /dev/null +++ b/assets/utility_knife/utility_knife.usd @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:76aaa02a60f179e18850216e28cf8a62a699abc2fc15c77f683f21130d6fd3fb +size 1940082 diff --git a/preview_grid.jpg b/preview_grid.jpg new file mode 100644 index 0000000000000000000000000000000000000000..00ee2af861600c7b2854beda2e6557e050559217 --- /dev/null +++ b/preview_grid.jpg @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:bab98b60eeea46e087dfb3eeca0a9fce74b96b93f4ae55dc2dd0ebea801384a4 +size 130282