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NVIDIA-Omniverse/IsaacGymEnvs/assets/urdf/kuka_allegro_description/allegro_touch_sensor.urdf
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<?xml version="1.0" ?>
<!-- ============================================================================================== -->
<!-- | This document was originally autogenerated by xacro from lula_kuka_allegro.urdf.xacro | -->
<!-- ============================================================================================== -->
<robot name="kuka_allegro" xmlns:xacro="http://www.ros.org/wiki/xacro">
<!-- ======================== BASE PARAMS ========================= -->
<!-- ======================== FINGER PARAMS ======================== -->
<!-- full height from joint to tip. when used,
the radius of the finger tip sphere will be subtracted
and one fixed link will be added for the tip. -->
<!-- ========================= THUMB PARAMS ========================= -->
<!-- ========================= LIMITS ========================= -->
<!-- ============================================================================= -->
<!-- BASE -->
<link name="allegro_mount">
<inertial>
<mass value="0.05"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<inertia ixx="1e-4" ixy="0" ixz="0" iyy="1e-4" iyz="0" izz="1e-4"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="kuka_allegro_description/meshes/mounts/allegro_mount.obj"/>
</geometry>
<material name="color_j7"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="kuka_allegro_description/meshes/mounts/allegro_mount.obj"/>
</geometry>
</collision>
</link>
<joint name="allegro_mount_joint" type="fixed">
<origin rpy="0 -1.5708 0.785398" xyz="-0.008219 -0.02063 0.08086"/>
<parent link="allegro_mount"/>
<child link="palm_link"/>
</joint>
<link name="palm_link">
<inertial>
<mass value="0.4154"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<inertia ixx="1e-4" ixy="0" ixz="0" iyy="1e-4" iyz="0" izz="1e-4"/>
</inertial>
<visual>
<geometry>
<mesh filename="kuka_allegro_description/meshes/allegro/base_link.obj"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0 "/>
<material name="Grey">
<color rgba="0.2 0.2 0.2 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="kuka_allegro_description/meshes/allegro/base_link.obj"/>
</geometry>
</collision>
</link>
<gazebo reference="palm_link">
<material value="Gazebo/Grey"/>
</gazebo>
<link name="index_link_0">
<collision>
<geometry>
<mesh filename="kuka_allegro_description/meshes/allegro/primary_base.obj"/>
</geometry>
</collision>
<inertial>
<mass value="0.0119"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<inertia ixx="1.01666658333e-06" ixy="0.0" ixz="0.0" iyy="6.47677333333e-07" iyz="0.0" izz="1.01666658333e-06"/>
</inertial>
<visual>
<geometry>
<mesh filename="kuka_allegro_description/meshes/allegro/primary_base.obj"/>
</geometry>
<material name="Grey">
<color rgba="0.2 0.2 0.2 1"/>
</material>
</visual>
</link>
<link name="index_link_1">
<collision>
<geometry>
<mesh filename="kuka_allegro_description/meshes/allegro/primary_proximal.obj"/>
</geometry>
</collision>
<inertial>
<mass value="0.065"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<inertia ixx="7.95654166667e-05" ixy="1.7199e-05" ixz="8.75875e-06" iyy="2.47088833333e-05" iyz="2.413125e-05" izz="7.95654166667e-05"/>
</inertial>
<visual>
<geometry>
<mesh filename="kuka_allegro_description/meshes/allegro/primary_proximal.obj"/>
</geometry>
<material name="Grey">
<color rgba="0.2 0.2 0.2 1"/>
</material>
</visual>
</link>
<link name="index_link_2">
<collision>
<geometry>
<mesh filename="kuka_allegro_description/meshes/allegro/primary_medial.obj"/>
</geometry>
</collision>
<inertial>
<mass value="0.0355"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<inertia ixx="2.63979183333e-05" ixy="6.67968e-06" ixz="4.783625e-06" iyy="1.34948516667e-05" iyz="9.372e-06" izz="2.63979183333e-05"/>
</inertial>
<visual>
<geometry>
<mesh filename="kuka_allegro_description/meshes/allegro/primary_medial.obj"/>
</geometry>
<material name="Grey">
<color rgba="0.2 0.2 0.2 1"/>
</material>
</visual>
</link>
<link name="index_link_3">
<collision>
<geometry>
<mesh filename="meshes/touchsensor/collision/touch_sensor_base.obj"/>
</geometry>
</collision>
<inertial>
<mass value="0.0096"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<inertia ixx="4.701248e-06" ixy="1.255968e-06" ixz="1.2936e-06" iyy="3.649312e-06" iyz="1.7622e-06" izz="4.701248e-06"/>
</inertial>
<visual>
<geometry>
<mesh filename="meshes/touchsensor/visual/touch_sensor_base.obj"/>
</geometry>
<material name="Green">
<color rgba="0. 0.5 0. 1"/>
</material>
</visual>
</link>
<link name="index_biotac_tip">
<collision>
<geometry>
<mesh filename="meshes/touchsensor/collision/touch_sensor_tip.obj"/>
</geometry>
</collision>
<inertial>
<mass value="0.021"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<inertia ixx="9.68e-07" ixy="0" ixz="0" iyy="9.68e-07" iyz="0" izz="9.68e-07"/>
</inertial>
<visual>
<geometry>
<mesh filename="meshes/touchsensor/visual/touch_sensor_tip.obj"/>
</geometry>
<material name="Green">
<color rgba="0. 0.5 0. 1"/>
</material>
</visual>
</link>
<link name="middle_link_0">
<collision>
<geometry>
<mesh filename="kuka_allegro_description/meshes/allegro/primary_base.obj"/>
</geometry>
</collision>
<inertial>
<mass value="0.0119"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<inertia ixx="1.01666658333e-06" ixy="0.0" ixz="0.0" iyy="6.47677333333e-07" iyz="0.0" izz="1.01666658333e-06"/>
</inertial>
<visual>
<geometry>
<mesh filename="kuka_allegro_description/meshes/allegro/primary_base.obj"/>
</geometry>
<material name="Grey">
<color rgba="0.2 0.2 0.2 1"/>
</material>
</visual>
</link>
<link name="middle_link_1">
<collision>
<geometry>
<mesh filename="kuka_allegro_description/meshes/allegro/primary_proximal.obj"/>
</geometry>
</collision>
<inertial>
<mass value="0.065"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<inertia ixx="7.95654166667e-05" ixy="1.7199e-05" ixz="8.75875e-06" iyy="2.47088833333e-05" iyz="2.413125e-05" izz="7.95654166667e-05"/>
</inertial>
<visual>
<geometry>
<mesh filename="kuka_allegro_description/meshes/allegro/primary_proximal.obj"/>
</geometry>
<material name="Grey">
<color rgba="0.2 0.2 0.2 1"/>
</material>
</visual>
</link>
<link name="middle_link_2">
<collision>
<geometry>
<mesh filename="kuka_allegro_description/meshes/allegro/primary_medial.obj"/>
</geometry>
</collision>
<inertial>
<mass value="0.0355"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<inertia ixx="2.63979183333e-05" ixy="6.67968e-06" ixz="4.783625e-06" iyy="1.34948516667e-05" iyz="9.372e-06" izz="2.63979183333e-05"/>
</inertial>
<visual>
<geometry>
<mesh filename="kuka_allegro_description/meshes/allegro/primary_medial.obj"/>
</geometry>
<material name="Grey">
<color rgba="0.2 0.2 0.2 1"/>
</material>
</visual>
</link>
<link name="middle_link_3">
<collision>
<geometry>
<mesh filename="meshes/touchsensor/collision/touch_sensor_base.obj"/>
</geometry>
</collision>
<inertial>
<mass value="0.0096"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<inertia ixx="4.701248e-06" ixy="1.255968e-06" ixz="1.2936e-06" iyy="3.649312e-06" iyz="1.7622e-06" izz="4.701248e-06"/>
</inertial>
<visual>
<geometry>
<mesh filename="meshes/touchsensor/visual/touch_sensor_base.obj"/>
</geometry>
<material name="Green">
<color rgba="0 0.5 0 1"/>
</material>
</visual>
</link>
<link name="middle_biotac_tip">
<collision>
<geometry>
<mesh filename="meshes/touchsensor/collision/touch_sensor_tip.obj"/>
</geometry>
</collision>
<inertial>
<mass value="0.021"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<inertia ixx="9.68e-07" ixy="0" ixz="0" iyy="9.68e-07" iyz="0" izz="9.68e-07"/>
</inertial>
<visual>
<geometry>
<mesh filename="meshes/touchsensor/visual/touch_sensor_tip.obj"/>
</geometry>
<material name="Green">
<color rgba="0. 0.5 0. 1"/>
</material>
</visual>
</link>
<link name="ring_link_0">
<collision>
<geometry>
<mesh filename="kuka_allegro_description/meshes/allegro/primary_base.obj"/>
</geometry>
</collision>
<inertial>
<mass value="0.0119"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<inertia ixx="1.01666658333e-06" ixy="0.0" ixz="0.0" iyy="6.47677333333e-07" iyz="0.0" izz="1.01666658333e-06"/>
</inertial>
<visual>
<geometry>
<mesh filename="kuka_allegro_description/meshes/allegro/primary_base.obj"/>
</geometry>
<material name="Grey">
<color rgba="0.2 0.2 0.2 1"/>
</material>
</visual>
</link>
<link name="ring_link_1">
<collision>
<geometry>
<mesh filename="kuka_allegro_description/meshes/allegro/primary_proximal.obj"/>
</geometry>
</collision>
<inertial>
<mass value="0.065"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<inertia ixx="7.95654166667e-05" ixy="1.7199e-05" ixz="8.75875e-06" iyy="2.47088833333e-05" iyz="2.413125e-05" izz="7.95654166667e-05"/>
</inertial>
<visual>
<geometry>
<mesh filename="kuka_allegro_description/meshes/allegro/primary_proximal.obj"/>
</geometry>
<material name="Grey">
<color rgba="0.2 0.2 0.2 1"/>
</material>
</visual>
</link>
<link name="ring_link_2">
<collision>
<geometry>
<mesh filename="kuka_allegro_description/meshes/allegro/primary_medial.obj"/>
</geometry>
</collision>
<inertial>
<mass value="0.0355"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<inertia ixx="2.63979183333e-05" ixy="6.67968e-06" ixz="4.783625e-06" iyy="1.34948516667e-05" iyz="9.372e-06" izz="2.63979183333e-05"/>
</inertial>
<visual>
<geometry>
<mesh filename="kuka_allegro_description/meshes/allegro/primary_medial.obj"/>
</geometry>
<material name="Grey">
<color rgba="0.2 0.2 0.2 1"/>
</material>
</visual>
</link>
<link name="ring_link_3">
<collision>
<geometry>
<mesh filename="meshes/touchsensor/collision/touch_sensor_base.obj"/>
</geometry>
</collision>
<inertial>
<mass value="0.0096"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<inertia ixx="4.701248e-06" ixy="1.255968e-06" ixz="1.2936e-06" iyy="3.649312e-06" iyz="1.7622e-06" izz="4.701248e-06"/>
</inertial>
<visual>
<geometry>
<mesh filename="meshes/touchsensor/visual/touch_sensor_base.obj"/>
</geometry>
<material name="Green">
<color rgba="0 0.5 0 1"/>
</material>
</visual>
</link>
<link name="ring_biotac_tip">
<collision>
<geometry>
<mesh filename="meshes/touchsensor/collision/touch_sensor_tip.obj"/>
</geometry>
</collision>
<inertial>
<mass value="0.021"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<inertia ixx="9.68e-07" ixy="0" ixz="0" iyy="9.68e-07" iyz="0" izz="9.68e-07"/>
</inertial>
<visual>
<geometry>
<mesh filename="meshes/touchsensor/visual/touch_sensor_tip.obj"/>
</geometry>
<material name="Green">
<color rgba="0. 0.5 0. 1"/>
</material>
</visual>
</link>
<link name="thumb_link_0">
<collision>
<geometry>
<mesh filename="kuka_allegro_description/meshes/allegro/thumb_base.obj"/>
</geometry>
</collision>
<inertial>
<mass value="0.0176"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<inertia ixx="1.89273333333e-5" ixy="7.16716e-06" ixz="5.35568e-06" iyy="1.43008213333e-05" iyz="6.8068e-06" izz="1.89273333333e-05"/>
</inertial>
<visual>
<geometry>
<mesh filename="kuka_allegro_description/meshes/allegro/thumb_base.obj"/>
</geometry>
<material name="Grey">
<color rgba="0.2 0.2 0.2 1"/>
</material>
</visual>
</link>
<link name="thumb_link_1">
<collision>
<geometry>
<mesh filename="kuka_allegro_description/meshes/allegro/thumb_proximal.obj"/>
</geometry>
</collision>
<inertial>
<mass value="0.0119"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<inertia ixx="4.24250866667e-06" ixy="1.032087e-06" ixz="1.603525e-06" iyy="4.52362633333e-06" iyz="1.44808125e-06" izz="4.24250866667e-06"/>
</inertial>
<visual>
<geometry>
<mesh filename="kuka_allegro_description/meshes/allegro/thumb_proximal.obj"/>
</geometry>
<material name="Grey">
<color rgba="0.2 0.2 0.2 1"/>
</material>
</visual>
</link>
<link name="thumb_link_2">
<collision>
<geometry>
<mesh filename="kuka_allegro_description/meshes/allegro/thumb_medial.obj"/>
</geometry>
</collision>
<inertial>
<mass value="0.038"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<inertia ixx="4.30439933333e-05" ixy="9.57068e-06" ixz="5.1205e-06" iyy="1.44451933333e-05" iyz="1.342825e-05" izz="4.30439933333e-05"/>
</inertial>
<visual>
<geometry>
<mesh filename="kuka_allegro_description/meshes/allegro/thumb_medial.obj"/>
</geometry>
<material name="Grey">
<color rgba="0.2 0.2 0.2 1"/>
</material>
</visual>
</link>
<link name="thumb_link_3">
<collision>
<geometry>
<mesh filename="meshes/touchsensor/collision/touch_sensor_thumb_base.obj"/>
</geometry>
</collision>
<inertial>
<mass value="0.0388"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<inertia ixx="3.29223173333e-05" ixy="8.042076e-06" ixz="5.2283e-06" iyy="1.47493026667e-5" iyz="1.1283525e-5" izz="3.29223173333e-05"/>
</inertial>
<visual>
<geometry>
<mesh filename="meshes/touchsensor/visual/touch_sensor_thumb_base.obj"/>
</geometry>
<material name="Green">
<color rgba="0 0.5 0 1"/>
</material>
</visual>
</link>
<link name="thumb_biotac_tip">
<collision>
<geometry>
<mesh filename="meshes/touchsensor/collision/touch_sensor_thumb_tip.obj"/>
</geometry>
</collision>
<inertial>
<mass value="0.021"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<inertia ixx="9.68e-07" ixy="0" ixz="0" iyy="9.68e-07" iyz="0" izz="9.68e-07"/>
</inertial>
<visual>
<geometry>
<mesh filename="meshes/touchsensor/visual/touch_sensor_thumb_tip.obj"/>
</geometry>
<material name="Green">
<color rgba="0. 0.5 0. 1"/>
</material>
</visual>
</link>
<joint name="index_joint_0" type="revolute">
<axis xyz="0 0 1"/>
<limit effort="0.35" lower="-0.558488888889" upper="0.558488888889" velocity="6.283"/>
<origin rpy="3.1415 -1.57075 -0.0872638888889" xyz="0.0514302 -0.03632 -0.0113"/>
<parent link="palm_link"/>
<child link="index_link_0"/>
<dynamics damping="0.0414019" friction="0.0523963"/>
</joint>
<joint name="index_joint_1" type="revolute">
<axis xyz="0 0 1"/>
<limit effort="0.35" lower="-0.279244444444" upper="1.727825" velocity="6.283"/>
<origin rpy="3.1415 -1.57075 1.57075" xyz="0.0 0.0 0.0"/>
<parent link="index_link_0"/>
<child link="index_link_1"/>
<dynamics damping="0.00587541" friction="0.0150275"/>
</joint>
<joint name="index_joint_2" type="revolute">
<axis xyz="0 0 1"/>
<limit effort="0.35" lower="-0.279244444444" upper="1.727825" velocity="6.283"/>
<origin rpy="0.0 0.0 0.0" xyz="0.054 0.0 0.0"/>
<parent link="index_link_1"/>
<child link="index_link_2"/>
<dynamics damping="0.010638" friction="0.00616359"/>
</joint>
<joint name="index_joint_3" type="revolute">
<axis xyz="0 0 1"/>
<limit effort="0.35" lower="-0.279244444444" upper="1.727825" velocity="6.283"/>
<origin rpy="0.0 0.0 0.0" xyz="0.0384 0.0 0.0"/>
<parent link="index_link_2"/>
<child link="index_link_3"/>
<dynamics damping="0.0226948" friction="0.0227036"/>
</joint>
<joint name="index_biotac_tip_joint" type="fixed">
<origin rpy="0 0 0 " xyz="0.0 0 0"/>
<parent link="index_link_3"/>
<child link="index_biotac_tip"/>
</joint>
<joint name="middle_joint_0" type="revolute">
<axis xyz="0 0 1"/>
<limit effort="0.35" lower="-0.558488888889" upper="0.558488888889" velocity="6.283"/>
<origin rpy="3.1415 -1.57075 0" xyz="0.0537375 0.0087771 -0.0113"/>
<parent link="palm_link"/>
<child link="middle_link_0"/>
<dynamics damping="0.0414019" friction="0.0523963"/>
</joint>
<joint name="middle_joint_1" type="revolute">
<axis xyz="0 0 1"/>
<limit effort="0.35" lower="-0.279244444444" upper="1.727825" velocity="6.283"/>
<origin rpy="3.1415 -1.57075 1.57075" xyz="0.0 0.0 0.0"/>
<parent link="middle_link_0"/>
<child link="middle_link_1"/>
<dynamics damping="0.00587541" friction="0.0150275"/>
</joint>
<joint name="middle_joint_2" type="revolute">
<axis xyz="0 0 1"/>
<limit effort="0.35" lower="-0.279244444444" upper="1.727825" velocity="6.283"/>
<origin rpy="0.0 0.0 0.0" xyz="0.054 0.0 0.0"/>
<parent link="middle_link_1"/>
<child link="middle_link_2"/>
<dynamics damping="0.010638" friction="0.00616359"/>
</joint>
<joint name="middle_joint_3" type="revolute">
<axis xyz="0 0 1"/>
<limit effort="0.35" lower="-0.279244444444" upper="1.727825" velocity="6.283"/>
<origin rpy="0.0 0.0 0.0" xyz="0.0384 0.0 0.0"/>
<parent link="middle_link_2"/>
<child link="middle_link_3"/>
<dynamics damping="0.0226948" friction="0.0227036"/>
</joint>
<joint name="middle_biotac_tip_joint" type="fixed">
<origin rpy="0 0 0 " xyz="0 0 0"/>
<parent link="middle_link_3"/>
<child link="middle_biotac_tip"/>
</joint>
<joint name="ring_joint_0" type="revolute">
<axis xyz="0 0 1"/>
<limit effort="0.35" lower="-0.558488888889" upper="0.558488888889" velocity="6.283"/>
<origin rpy="3.1415 -1.57075 0.0872638888889" xyz="0.0514302 0.0538749 -0.0113"/>
<parent link="palm_link"/>
<child link="ring_link_0"/>
<dynamics damping="0.0414019" friction="0.0523963"/>
</joint>
<joint name="ring_joint_1" type="revolute">
<axis xyz="0 0 1"/>
<limit effort="0.35" lower="-0.279244444444" upper="1.727825" velocity="6.283"/>
<origin rpy="3.1415 -1.57075 1.57075" xyz="0.0 0.0 0.0"/>
<parent link="ring_link_0"/>
<child link="ring_link_1"/>
<dynamics damping="0.00587541" friction="0.0150275"/>
</joint>
<joint name="ring_joint_2" type="revolute">
<axis xyz="0 0 1"/>
<limit effort="0.35" lower="-0.279244444444" upper="1.727825" velocity="6.283"/>
<origin rpy="0.0 0.0 0.0" xyz="0.054 0.0 0.0"/>
<parent link="ring_link_1"/>
<child link="ring_link_2"/>
<dynamics damping="0.010638" friction="0.00616359"/>
</joint>
<joint name="ring_joint_3" type="revolute">
<axis xyz="0 0 1"/>
<limit effort="0.35" lower="-0.279244444444" upper="1.727825" velocity="6.283"/>
<origin rpy="0.0 0.0 0.0" xyz="0.0384 0.0 0.0"/>
<parent link="ring_link_2"/>
<child link="ring_link_3"/>
<dynamics damping="0.0226948" friction="0.0227036"/>
</joint>
<joint name="ring_biotac_tip_joint" type="fixed">
<origin rpy="0 0 0" xyz="0 0 0"/>
<parent link="ring_link_3"/>
<child link="ring_biotac_tip"/>
</joint>
<joint name="thumb_joint_0" type="revolute">
<axis xyz="0 0 1"/>
<limit effort="0.35" lower="0.279244444444" upper="1.57075" velocity="6.283"/>
<origin rpy="-1.57075 -1.57075 1.48348611111" xyz="-0.0367482 -0.0081281 -0.0295"/>
<parent link="palm_link"/>
<child link="thumb_link_0"/>
<dynamics friction="0.035"/>
</joint>
<joint name="thumb_joint_1" type="revolute">
<axis xyz="0 0 1"/>
<limit effort="0.35" lower="-0.331602777778" upper="1.15188333333" velocity="6.283"/>
<origin rpy="1.57075 0 0" xyz="0.005 0.0 0.0"/>
<parent link="thumb_link_0"/>
<child link="thumb_link_1"/>
<dynamics friction="0.035"/>
</joint>
<joint name="thumb_joint_2" type="revolute">
<axis xyz="0 0 1"/>
<limit effort="0.35" lower="-0.279244444444" upper="1.727825" velocity="6.283"/>
<origin rpy="3.1415 -1.57075 0.0" xyz="0 0 0.0554"/>
<parent link="thumb_link_1"/>
<child link="thumb_link_2"/>
<dynamics friction="0.035"/>
</joint>
<joint name="thumb_joint_3" type="revolute">
<axis xyz="0 0 1"/>
<limit effort="0.35" lower="-0.279244444444" upper="1.76273055556" velocity="6.283"/>
<origin rpy="0.0 0.0 0.0" xyz="0.0514 0.0 0.0"/>
<parent link="thumb_link_2"/>
<child link="thumb_link_3"/>
<dynamics friction="0.035"/>
</joint>
<joint name="thumb_biotac_tip_joint" type="fixed">
<origin rpy="0 0 0 " xyz="0 0 0"/>
<parent link="thumb_link_3"/>
<child link="thumb_biotac_tip"/>
</joint>
</robot>
|
NVIDIA-Omniverse/IsaacGymEnvs/assets/urdf/kuka_allegro_description/kuka.urdf
|
<?xml version="1.0" ?>
<!-- =================================================================================== -->
<!-- | This document was autogenerated by xacro from lula_kuka_allegro.urdf.xacro | -->
<!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | -->
<!-- =================================================================================== -->
<robot name="kuka_allegro" xmlns:xacro="http://www.ros.org/wiki/xacro">
<material name="Black">
<color rgba="0.0 0.0 0.0 1.0"/>
</material>
<material name="Blue">
<color rgba="0.0 0.0 0.8 1.0"/>
</material>
<material name="Green">
<color rgba="0.0 0.8 0.0 1.0"/>
</material>
<material name="Grey">
<color rgba="0.4 0.4 0.4 1.0"/>
</material>
<material name="Orange">
<color rgba="1.0 0.423529411765 0.0392156862745 1.0"/>
</material>
<material name="Brown">
<color rgba="0.870588235294 0.811764705882 0.764705882353 1.0"/>
</material>
<material name="Red">
<color rgba="0.8 0.0 0.0 1.0"/>
</material>
<material name="White">
<color rgba="1.0 1.0 1.0 1.0"/>
</material>
<link name="iiwa7_base_link"/>
<!--joint between {parent} and link_0-->
<joint name="iiwa7_base_link_iiwa7_joint" type="fixed">
<origin rpy="0 0 0" xyz="0 0 0"/>
<parent link="iiwa7_base_link"/>
<child link="iiwa7_link_0"/>
</joint>
<link name="iiwa7_link_0">
<inertial>
<origin rpy="0 0 0" xyz="-0.1 0 0.07"/>
<mass value="5"/>
<inertia ixx="0.05" ixy="0" ixz="0" iyy="0.06" iyz="0" izz="0.03"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="kuka_allegro_description/meshes/iiwa7/visual/link_0.obj"/>
</geometry>
<material name="Grey"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="kuka_allegro_description/meshes/iiwa7/collision/link_0.obj"/>
</geometry>
<material name="Grey"/>
</collision>
<self_collision_checking>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<capsule length="0.25" radius="0.15"/>
</geometry>
</self_collision_checking>
</link>
<!-- joint between link_0 and link_1 -->
<joint name="iiwa7_joint_1" type="revolute">
<parent link="iiwa7_link_0"/>
<child link="iiwa7_link_1"/>
<origin rpy="0 0 0" xyz="0 0 0.15"/>
<axis xyz="0 0 1"/>
<limit effort="300" lower="-2.96705972839" upper="2.96705972839" velocity="10"/>
<safety_controller k_position="100" k_velocity="2" soft_lower_limit="-2.93215314335" soft_upper_limit="2.93215314335"/>
<dynamics damping="0.5"/>
</joint>
<link name="iiwa7_link_1">
<inertial>
<origin rpy="0 0 0" xyz="0 -0.03 0.12"/>
<mass value="3.4525"/>
<inertia ixx="0.02183" ixy="0" ixz="0" iyy="0.007703" iyz="-0.003887" izz="0.02083"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0.0075"/>
<geometry>
<mesh filename="kuka_allegro_description/meshes/iiwa7/visual/link_1.obj"/>
</geometry>
<material name="Orange"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0.0075"/>
<geometry>
<mesh filename="kuka_allegro_description/meshes/iiwa7/collision/link_1.obj"/>
</geometry>
<material name="Orange"/>
</collision>
</link>
<joint name="iiwa7_joint_2" type="revolute">
<parent link="iiwa7_link_1"/>
<child link="iiwa7_link_2"/>
<origin rpy="1.57079632679 0 3.14159265359" xyz="0 0 0.19"/>
<axis xyz="0 0 1"/>
<limit effort="300" lower="-2.09439510239" upper="2.09439510239" velocity="10"/>
<safety_controller k_position="100" k_velocity="2" soft_lower_limit="-2.05948851735" soft_upper_limit="2.05948851735"/>
<dynamics damping="0.5"/>
</joint>
<link name="iiwa7_link_2">
<inertial>
<origin rpy="0 0 0" xyz="0.0003 0.059 0.042"/>
<mass value="3.4821"/>
<inertia ixx="0.02076" ixy="0" ixz="-0.003626" iyy="0.02179" iyz="0" izz="0.00779"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="kuka_allegro_description/meshes/iiwa7/visual/link_2.obj"/>
</geometry>
<material name="Orange"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="kuka_allegro_description/meshes/iiwa7/collision/link_2.obj"/>
</geometry>
<material name="Orange"/>
</collision>
</link>
<joint name="iiwa7_joint_3" type="revolute">
<parent link="iiwa7_link_2"/>
<child link="iiwa7_link_3"/>
<origin rpy="1.57079632679 0 3.14159265359" xyz="0 0.21 0"/>
<axis xyz="0 0 1"/>
<limit effort="300" lower="-2.96705972839" upper="2.96705972839" velocity="10"/>
<safety_controller k_position="100" k_velocity="2" soft_lower_limit="-2.93215314335" soft_upper_limit="2.93215314335"/>
<dynamics damping="0.5"/>
</joint>
<link name="iiwa7_link_3">
<inertial>
<origin rpy="0 0 0" xyz="0 0.03 0.13"/>
<mass value="4.05623"/>
<inertia ixx="0.03204" ixy="0" ixz="0" iyy="0.00972" iyz="0.006227" izz="0.03042"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 -0.026"/>
<geometry>
<mesh filename="kuka_allegro_description/meshes/iiwa7/visual/link_3.obj"/>
</geometry>
<material name="Orange"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 -0.026"/>
<geometry>
<mesh filename="kuka_allegro_description/meshes/iiwa7/collision/link_3.obj"/>
</geometry>
<material name="Orange"/>
</collision>
</link>
<joint name="iiwa7_joint_4" type="revolute">
<parent link="iiwa7_link_3"/>
<child link="iiwa7_link_4"/>
<origin rpy="1.57079632679 0 0" xyz="0 0 0.19"/>
<axis xyz="0 0 1"/>
<limit effort="300" lower="-2.09439510239" upper="2.09439510239" velocity="10"/>
<safety_controller k_position="100" k_velocity="2" soft_lower_limit="-2.05948851735" soft_upper_limit="2.05948851735"/>
<dynamics damping="0.5"/>
</joint>
<link name="iiwa7_link_4">
<inertial>
<origin rpy="0 0 0" xyz="0 0.067 0.034"/>
<mass value="3.4822"/>
<inertia ixx="0.02178" ixy="0" ixz="0" iyy="0.02075" iyz="-0.003625" izz="0.007785"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="kuka_allegro_description/meshes/iiwa7/visual/link_4.obj"/>
</geometry>
<material name="Orange"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="kuka_allegro_description/meshes/iiwa7/collision/link_4.obj"/>
</geometry>
<material name="Orange"/>
</collision>
</link>
<joint name="iiwa7_joint_5" type="revolute">
<parent link="iiwa7_link_4"/>
<child link="iiwa7_link_5"/>
<origin rpy="-1.57079632679 3.14159265359 0" xyz="0 0.21 0"/>
<axis xyz="0 0 1"/>
<limit effort="300" lower="-2.96705972839" upper="2.96705972839" velocity="10"/>
<safety_controller k_position="100" k_velocity="2" soft_lower_limit="-2.93215314335" soft_upper_limit="2.93215314335"/>
<dynamics damping="0.5"/>
</joint>
<link name="iiwa7_link_5">
<inertial>
<origin rpy="0 0 0" xyz="0.0001 0.021 0.076"/>
<mass value="2.1633"/>
<inertia ixx="0.01287" ixy="0" ixz="0" iyy="0.005708" iyz="-0.003946" izz="0.01112"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 -0.026"/>
<geometry>
<mesh filename="kuka_allegro_description/meshes/iiwa7/visual/link_5.obj"/>
</geometry>
<material name="Orange"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 -0.026"/>
<geometry>
<mesh filename="kuka_allegro_description/meshes/iiwa7/collision/link_5.obj"/>
</geometry>
<material name="Orange"/>
</collision>
</link>
<joint name="iiwa7_joint_6" type="revolute">
<parent link="iiwa7_link_5"/>
<child link="iiwa7_link_6"/>
<origin rpy="1.57079632679 0 0" xyz="0 0.06070 0.19"/>
<axis xyz="0 0 1"/>
<limit effort="300" lower="-2.09439510239" upper="2.09439510239" velocity="10"/>
<safety_controller k_position="100" k_velocity="2" soft_lower_limit="-2.05948851735" soft_upper_limit="2.05948851735"/>
<dynamics damping="0.5"/>
</joint>
<link name="iiwa7_link_6">
<inertial>
<origin rpy="0 0 0" xyz="0 0.0006 0.0004"/>
<mass value="2.3466"/>
<inertia ixx="0.006509" ixy="0" ixz="0" iyy="0.006259" iyz="0.00031891" izz="0.004527"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="kuka_allegro_description/meshes/iiwa7/visual/link_6.obj"/>
</geometry>
<material name="Orange"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="kuka_allegro_description/meshes/iiwa7/collision/link_6.obj"/>
</geometry>
<material name="Orange"/>
</collision>
</link>
<joint name="iiwa7_joint_7" type="revolute">
<parent link="iiwa7_link_6"/>
<child link="iiwa7_link_7"/>
<origin rpy="-1.57079632679 3.14159265359 0" xyz="0 0.081 0.06070"/>
<axis xyz="0 0 1"/>
<limit effort="300" lower="-3.05432619099" upper="3.05432619099" velocity="10"/>
<safety_controller k_position="100" k_velocity="2" soft_lower_limit="-3.01941960595" soft_upper_limit="3.01941960595"/>
<dynamics damping="0.5"/>
</joint>
<link name="iiwa7_link_7">
<inertial>
<origin rpy="0 0 0" xyz="0 0 0.02"/>
<mass value="3.129"/>
<inertia ixx="0.01464" ixy="0.0005912" ixz="0" iyy="0.01465" iyz="0" izz="0.002872"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 -0.0005"/>
<geometry>
<mesh filename="kuka_allegro_description/meshes/iiwa7/visual/link_7.obj"/>
</geometry>
<material name="Grey"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 -0.0005"/>
<geometry>
<mesh filename="kuka_allegro_description/meshes/iiwa7/collision/link_7.obj"/>
</geometry>
<material name="Grey"/>
</collision>
</link>
<joint name="iiwa7_joint_ee" type="fixed">
<parent link="iiwa7_link_7"/>
<child link="iiwa7_link_ee"/>
<origin rpy="0 0 0" xyz="0 0 0.071"/>
</joint>
<link name="iiwa7_link_ee">
</link>
<!-- Load Gazebo lib and set the robot namespace -->
<!-- <gazebo>
<plugin name="gazebo_ros_control" filename="libgazebo_ros_control.so">
<robotNamespace>/${robot_name}</robotNamespace>
</plugin>
</gazebo> -->
<!-- Link0 -->
<gazebo reference="iiwa7_link_0">
<material>Gazebo/Grey</material>
<mu1>0.2</mu1>
<mu2>0.2</mu2>
</gazebo>
<!-- Link1 -->
<gazebo reference="iiwa7_link_1">
<material>Gazebo/Orange</material>
<mu1>0.2</mu1>
<mu2>0.2</mu2>
</gazebo>
<!-- Link2 -->
<gazebo reference="iiwa7_link_2">
<material>Gazebo/Orange</material>
<mu1>0.2</mu1>
<mu2>0.2</mu2>
</gazebo>
<!-- Link3 -->
<gazebo reference="iiwa7_link_3">
<material>Gazebo/Orange</material>
<mu1>0.2</mu1>
<mu2>0.2</mu2>
</gazebo>
<!-- Link4 -->
<gazebo reference="iiwa7_link_4">
<material>Gazebo/Orange</material>
<mu1>0.2</mu1>
<mu2>0.2</mu2>
</gazebo>
<!-- Link5 -->
<gazebo reference="iiwa7_link_5">
<material>Gazebo/Orange</material>
<mu1>0.2</mu1>
<mu2>0.2</mu2>
</gazebo>
<!-- Link6 -->
<gazebo reference="iiwa7_link_6">
<material>Gazebo/Orange</material>
<mu1>0.2</mu1>
<mu2>0.2</mu2>
</gazebo>
<!-- Link7 -->
<gazebo reference="iiwa7_link_7">
<material>Gazebo/Grey</material>
<mu1>0.2</mu1>
<mu2>0.2</mu2>
</gazebo>
<transmission name="iiwa7_tran_1">
<robotNamespace>/iiwa7</robotNamespace>
<type>transmission_interface/SimpleTransmission</type>
<joint name="iiwa7_joint_1">
<hardwareInterface>PositionJointInterface</hardwareInterface>
</joint>
<actuator name="iiwa7_motor_1">
<hardwareInterface>PositionJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="iiwa7_tran_2">
<robotNamespace>/iiwa7</robotNamespace>
<type>transmission_interface/SimpleTransmission</type>
<joint name="iiwa7_joint_2">
<hardwareInterface>PositionJointInterface</hardwareInterface>
</joint>
<actuator name="iiwa7_motor_2">
<hardwareInterface>PositionJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="iiwa7_tran_3">
<robotNamespace>/iiwa7</robotNamespace>
<type>transmission_interface/SimpleTransmission</type>
<joint name="iiwa7_joint_3">
<hardwareInterface>PositionJointInterface</hardwareInterface>
</joint>
<actuator name="iiwa7_motor_3">
<hardwareInterface>PositionJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="iiwa7_tran_4">
<robotNamespace>/iiwa7</robotNamespace>
<type>transmission_interface/SimpleTransmission</type>
<joint name="iiwa7_joint_4">
<hardwareInterface>PositionJointInterface</hardwareInterface>
</joint>
<actuator name="iiwa7_motor_4">
<hardwareInterface>PositionJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="iiwa7_tran_5">
<robotNamespace>/iiwa7</robotNamespace>
<type>transmission_interface/SimpleTransmission</type>
<joint name="iiwa7_joint_5">
<hardwareInterface>PositionJointInterface</hardwareInterface>
</joint>
<actuator name="iiwa7_motor_5">
<hardwareInterface>PositionJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="iiwa7_tran_6">
<robotNamespace>/iiwa7</robotNamespace>
<type>transmission_interface/SimpleTransmission</type>
<joint name="iiwa7_joint_6">
<hardwareInterface>PositionJointInterface</hardwareInterface>
</joint>
<actuator name="iiwa7_motor_6">
<hardwareInterface>PositionJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="iiwa7_tran_7">
<robotNamespace>/iiwa7</robotNamespace>
<type>transmission_interface/SimpleTransmission</type>
<joint name="iiwa7_joint_7">
<hardwareInterface>PositionJointInterface</hardwareInterface>
</joint>
<actuator name="iiwa7_motor_7">
<hardwareInterface>PositionJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
</robot>
|
NVIDIA-Omniverse/IsaacGymEnvs/assets/urdf/kuka_allegro_description/kuka_allegro_touch_sensor.urdf
|
<?xml version="1.0" ?>
<!-- This file was autogenerated but we have modified quite a bit
Authors: Karl, Ankur
Karl did the dynamics compensation and obtained the following values for the index finger
Noise: 0.111576
Masses: 0.005, 0.125164, 0.131691, 0.0211922,
Rotor Inertia: 0.00386572, 0.00346965, 0.00433775, 0.00366413,
Viscous Friction: 0.0414019, 0.00587541, 0.010638, 0.0226948,
Coulomb Friction: 0.0523963, 0.0150275, 0.00616359, 0.0227036,
Mass Inertia:
5.1458e-05, 5.1458e-05, 6.125e-05, 0, 0, 0,
6.39979e-06, 8.88687e-05, 9.13751e-05, -3.26531e-06, 1.23963e-05, 2.07384e-05,
7.04217e-05, 3.95744e-05, 6.61125e-05, -9.64342e-05, 5.8796e-05, -3.62996e-05,
2.93743e-05, 7.21391e-05, 7.59731e-05, -3.51896e-05, -6.31225e-05, -9.25392e-07,
Center of Mass:
0, 0, 0,
0.027, 0, 0,
0.038, 0, 0,
0.029, 0, 0,
-->
<robot name="kuka_allegro" xmlns:xacro="http://www.ros.org/wiki/xacro">
<material name="Black">
<color rgba="0.0 0.0 0.0 1.0"/>
</material>
<material name="Blue">
<color rgba="0.0 0.0 0.8 1.0"/>
</material>
<material name="Green">
<color rgba="0.0 0.8 0.0 1.0"/>
</material>
<material name="Grey">
<color rgba="0.4 0.4 0.4 1.0"/>
</material>
<material name="Orange">
<color rgba="1.0 0.423529411765 0.0392156862745 1.0"/>
</material>
<material name="Brown">
<color rgba="0.870588235294 0.811764705882 0.764705882353 1.0"/>
</material>
<material name="Red">
<color rgba="0.8 0.0 0.0 1.0"/>
</material>
<material name="White">
<color rgba="1.0 1.0 1.0 1.0"/>
</material>
<link name="iiwa7_base_link"/>
<!--joint between {parent} and link_0-->
<joint name="iiwa7_base_link_iiwa7_joint" type="fixed">
<origin rpy="0 0 0" xyz="0 0 0"/>
<parent link="iiwa7_base_link"/>
<child link="iiwa7_link_0"/>
</joint>
<link name="iiwa7_link_0">
<inertial>
<origin rpy="0 0 0" xyz="-0.1 0 0.07"/>
<mass value="5"/>
<inertia ixx="0.05" ixy="0" ixz="0" iyy="0.06" iyz="0" izz="0.03"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="kuka_allegro_description/meshes/iiwa7/visual/link_0.obj"/>
</geometry>
<material name="Grey"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="kuka_allegro_description/meshes/iiwa7/collision/link_0.obj"/>
</geometry>
<material name="Grey"/>
</collision>
<self_collision_checking>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<capsule length="0.25" radius="0.15"/>
</geometry>
</self_collision_checking>
</link>
<!-- joint between link_0 and link_1 -->
<joint name="iiwa7_joint_1" type="revolute">
<parent link="iiwa7_link_0"/>
<child link="iiwa7_link_1"/>
<origin rpy="0 0 0" xyz="0 0 0.15"/>
<axis xyz="0 0 1"/>
<limit effort="300" lower="-2.96705972839" upper="2.96705972839" velocity="10"/>
<safety_controller k_position="100" k_velocity="2" soft_lower_limit="-2.93215314335" soft_upper_limit="2.93215314335"/>
<dynamics damping="5.5" friction="0.025"/>
</joint>
<link name="iiwa7_link_1">
<inertial>
<origin rpy="0 0 0" xyz="0 -0.03 0.12"/>
<mass value="3.4525"/>
<inertia ixx="0.02183" ixy="0" ixz="0" iyy="0.007703" iyz="-0.003887" izz="0.02083"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0.0075"/>
<geometry>
<mesh filename="kuka_allegro_description/meshes/iiwa7/visual/link_1.obj"/>
</geometry>
<material name="Orange"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0.0075"/>
<geometry>
<mesh filename="kuka_allegro_description/meshes/iiwa7/collision/link_1.obj"/>
</geometry>
<material name="Orange"/>
</collision>
</link>
<joint name="iiwa7_joint_2" type="revolute">
<parent link="iiwa7_link_1"/>
<child link="iiwa7_link_2"/>
<origin rpy="1.57079632679 0 3.14159265359" xyz="0 0 0.19"/>
<axis xyz="0 0 1"/>
<limit effort="300" lower="-2.09439510239" upper="2.09439510239" velocity="10"/>
<safety_controller k_position="100" k_velocity="2" soft_lower_limit="-2.05948851735" soft_upper_limit="2.05948851735"/>
<dynamics damping="5.55" friction="0.025"/>
</joint>
<link name="iiwa7_link_2">
<inertial>
<origin rpy="0 0 0" xyz="0.0003 0.059 0.042"/>
<mass value="3.4821"/>
<inertia ixx="0.02076" ixy="0" ixz="-0.003626" iyy="0.02179" iyz="0" izz="0.00779"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="kuka_allegro_description/meshes/iiwa7/visual/link_2.obj"/>
</geometry>
<material name="Orange"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="kuka_allegro_description/meshes/iiwa7/collision/link_2.obj"/>
</geometry>
<material name="Orange"/>
</collision>
</link>
<joint name="iiwa7_joint_3" type="revolute">
<parent link="iiwa7_link_2"/>
<child link="iiwa7_link_3"/>
<origin rpy="1.57079632679 0 3.14159265359" xyz="0 0.21 0"/>
<axis xyz="0 0 1"/>
<limit effort="300" lower="-2.96705972839" upper="2.96705972839" velocity="10"/>
<safety_controller k_position="100" k_velocity="2" soft_lower_limit="-2.93215314335" soft_upper_limit="2.93215314335"/>
<dynamics damping="5.5" friction="0.025"/>
</joint>
<link name="iiwa7_link_3">
<inertial>
<origin rpy="0 0 0" xyz="0 0.03 0.13"/>
<mass value="4.05623"/>
<inertia ixx="0.03204" ixy="0" ixz="0" iyy="0.00972" iyz="0.006227" izz="0.03042"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 -0.026"/>
<geometry>
<mesh filename="kuka_allegro_description/meshes/iiwa7/visual/link_3.obj"/>
</geometry>
<material name="Orange"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 -0.026"/>
<geometry>
<mesh filename="kuka_allegro_description/meshes/iiwa7/collision/link_3.obj"/>
</geometry>
<material name="Orange"/>
</collision>
</link>
<joint name="iiwa7_joint_4" type="revolute">
<parent link="iiwa7_link_3"/>
<child link="iiwa7_link_4"/>
<origin rpy="1.57079632679 0 0" xyz="0 0 0.19"/>
<axis xyz="0 0 1"/>
<limit effort="300" lower="-2.09439510239" upper="2.09439510239" velocity="10"/>
<safety_controller k_position="100" k_velocity="2" soft_lower_limit="-2.05948851735" soft_upper_limit="2.05948851735"/>
<dynamics damping="5.5" friction="0.025"/>
</joint>
<link name="iiwa7_link_4">
<inertial>
<origin rpy="0 0 0" xyz="0 0.067 0.034"/>
<mass value="3.4822"/>
<inertia ixx="0.02178" ixy="0" ixz="0" iyy="0.02075" iyz="-0.003625" izz="0.007785"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="kuka_allegro_description/meshes/iiwa7/visual/link_4.obj"/>
</geometry>
<material name="Orange"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="kuka_allegro_description/meshes/iiwa7/collision/link_4.obj"/>
</geometry>
<material name="Orange"/>
</collision>
</link>
<joint name="iiwa7_joint_5" type="revolute">
<parent link="iiwa7_link_4"/>
<child link="iiwa7_link_5"/>
<origin rpy="-1.57079632679 3.14159265359 0" xyz="0 0.21 0"/>
<axis xyz="0 0 1"/>
<limit effort="300" lower="-2.96705972839" upper="2.96705972839" velocity="10"/>
<safety_controller k_position="100" k_velocity="2" soft_lower_limit="-2.93215314335" soft_upper_limit="2.93215314335"/>
<dynamics damping="5.5" friction="0.025"/>
</joint>
<link name="iiwa7_link_5">
<inertial>
<origin rpy="0 0 0" xyz="0.0001 0.021 0.076"/>
<mass value="2.1633"/>
<inertia ixx="0.01287" ixy="0" ixz="0" iyy="0.005708" iyz="-0.003946" izz="0.01112"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 -0.026"/>
<geometry>
<mesh filename="kuka_allegro_description/meshes/iiwa7/visual/link_5.obj"/>
</geometry>
<material name="Orange"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 -0.026"/>
<geometry>
<mesh filename="kuka_allegro_description/meshes/iiwa7/collision/link_5.obj"/>
</geometry>
<material name="Orange"/>
</collision>
</link>
<joint name="iiwa7_joint_6" type="revolute">
<parent link="iiwa7_link_5"/>
<child link="iiwa7_link_6"/>
<origin rpy="1.57079632679 0 0" xyz="0 0.06070 0.19"/>
<axis xyz="0 0 1"/>
<limit effort="300" lower="-2.09439510239" upper="2.09439510239" velocity="10"/>
<safety_controller k_position="100" k_velocity="2" soft_lower_limit="-2.05948851735" soft_upper_limit="2.05948851735"/>
<dynamics damping="0.5" friction="0.025"/>
</joint>
<link name="iiwa7_link_6">
<inertial>
<origin rpy="0 0 0" xyz="0 0.0006 0.0004"/>
<mass value="2.3466"/>
<inertia ixx="0.006509" ixy="0" ixz="0" iyy="0.006259" iyz="0.00031891" izz="0.004527"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="kuka_allegro_description/meshes/iiwa7/visual/link_6.obj"/>
</geometry>
<material name="Orange"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="kuka_allegro_description/meshes/iiwa7/collision/link_6.obj"/>
</geometry>
<material name="Orange"/>
</collision>
</link>
<joint name="iiwa7_joint_7" type="revolute">
<parent link="iiwa7_link_6"/>
<child link="iiwa7_link_7"/>
<origin rpy="-1.57079632679 3.14159265359 0" xyz="0 0.081 0.06070"/>
<axis xyz="0 0 1"/>
<limit effort="300" lower="-3.05432619099" upper="3.05432619099" velocity="10"/>
<safety_controller k_position="100" k_velocity="2" soft_lower_limit="-3.01941960595" soft_upper_limit="3.01941960595"/>
<dynamics damping="5.5" friction="0.025"/>
</joint>
<link name="iiwa7_link_7">
<inertial>
<origin rpy="0 0 0" xyz="0 0 0.02"/>
<mass value="3.129"/>
<inertia ixx="0.01464" ixy="0.0005912" ixz="0" iyy="0.01465" iyz="0" izz="0.002872"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 -0.0005"/>
<geometry>
<mesh filename="kuka_allegro_description/meshes/iiwa7/visual/link_7.obj"/>
</geometry>
<material name="Grey"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 -0.0005"/>
<geometry>
<mesh filename="kuka_allegro_description/meshes/iiwa7/collision/link_7.obj"/>
</geometry>
<material name="Grey"/>
</collision>
</link>
<joint name="iiwa7_joint_ee" type="fixed">
<parent link="iiwa7_link_7"/>
<child link="iiwa7_link_ee"/>
<origin rpy="0 0 0" xyz="0 0 0.071"/>
<dynamics damping="5.5" friction="0.025"/>
</joint>
<link name="iiwa7_link_ee">
<inertial>
<origin rpy="0 0 0" xyz="0 0 0.0"/>
<mass value="0.1"/>
<inertia ixx="1e-3" ixy="0.0" ixz="0" iyy="1e-3" iyz="0" izz="1e-3"/>
</inertial>
</link>
<!-- Load Gazebo lib and set the robot namespace -->
<!-- <gazebo>
<plugin name="gazebo_ros_control" filename="libgazebo_ros_control.so">
<robotNamespace>/${robot_name}</robotNamespace>
</plugin>
</gazebo> -->
<!-- Link0 -->
<gazebo reference="iiwa7_link_0">
<material>Gazebo/Grey</material>
<mu1>0.2</mu1>
<mu2>0.2</mu2>
</gazebo>
<!-- Link1 -->
<gazebo reference="iiwa7_link_1">
<material>Gazebo/Orange</material>
<mu1>0.2</mu1>
<mu2>0.2</mu2>
</gazebo>
<!-- Link2 -->
<gazebo reference="iiwa7_link_2">
<material>Gazebo/Orange</material>
<mu1>0.2</mu1>
<mu2>0.2</mu2>
</gazebo>
<!-- Link3 -->
<gazebo reference="iiwa7_link_3">
<material>Gazebo/Orange</material>
<mu1>0.2</mu1>
<mu2>0.2</mu2>
</gazebo>
<!-- Link4 -->
<gazebo reference="iiwa7_link_4">
<material>Gazebo/Orange</material>
<mu1>0.2</mu1>
<mu2>0.2</mu2>
</gazebo>
<!-- Link5 -->
<gazebo reference="iiwa7_link_5">
<material>Gazebo/Orange</material>
<mu1>0.2</mu1>
<mu2>0.2</mu2>
</gazebo>
<!-- Link6 -->
<gazebo reference="iiwa7_link_6">
<material>Gazebo/Orange</material>
<mu1>0.2</mu1>
<mu2>0.2</mu2>
</gazebo>
<!-- Link7 -->
<gazebo reference="iiwa7_link_7">
<material>Gazebo/Grey</material>
<mu1>0.2</mu1>
<mu2>0.2</mu2>
</gazebo>
<transmission name="iiwa7_tran_1">
<robotNamespace>/iiwa7</robotNamespace>
<type>transmission_interface/SimpleTransmission</type>
<joint name="iiwa7_joint_1">
<hardwareInterface>PositionJointInterface</hardwareInterface>
</joint>
<actuator name="iiwa7_motor_1">
<hardwareInterface>PositionJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="iiwa7_tran_2">
<robotNamespace>/iiwa7</robotNamespace>
<type>transmission_interface/SimpleTransmission</type>
<joint name="iiwa7_joint_2">
<hardwareInterface>PositionJointInterface</hardwareInterface>
</joint>
<actuator name="iiwa7_motor_2">
<hardwareInterface>PositionJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="iiwa7_tran_3">
<robotNamespace>/iiwa7</robotNamespace>
<type>transmission_interface/SimpleTransmission</type>
<joint name="iiwa7_joint_3">
<hardwareInterface>PositionJointInterface</hardwareInterface>
</joint>
<actuator name="iiwa7_motor_3">
<hardwareInterface>PositionJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="iiwa7_tran_4">
<robotNamespace>/iiwa7</robotNamespace>
<type>transmission_interface/SimpleTransmission</type>
<joint name="iiwa7_joint_4">
<hardwareInterface>PositionJointInterface</hardwareInterface>
</joint>
<actuator name="iiwa7_motor_4">
<hardwareInterface>PositionJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="iiwa7_tran_5">
<robotNamespace>/iiwa7</robotNamespace>
<type>transmission_interface/SimpleTransmission</type>
<joint name="iiwa7_joint_5">
<hardwareInterface>PositionJointInterface</hardwareInterface>
</joint>
<actuator name="iiwa7_motor_5">
<hardwareInterface>PositionJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="iiwa7_tran_6">
<robotNamespace>/iiwa7</robotNamespace>
<type>transmission_interface/SimpleTransmission</type>
<joint name="iiwa7_joint_6">
<hardwareInterface>PositionJointInterface</hardwareInterface>
</joint>
<actuator name="iiwa7_motor_6">
<hardwareInterface>PositionJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="iiwa7_tran_7">
<robotNamespace>/iiwa7</robotNamespace>
<type>transmission_interface/SimpleTransmission</type>
<joint name="iiwa7_joint_7">
<hardwareInterface>PositionJointInterface</hardwareInterface>
</joint>
<actuator name="iiwa7_motor_7">
<hardwareInterface>PositionJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<!-- ======================== BASE PARAMS ========================= -->
<!-- ======================== FINGER PARAMS ======================== -->
<!-- full height from joint to tip. when used,
the radius of the finger tip sphere will be subtracted
and one fixed link will be added for the tip. -->
<!-- ========================= THUMB PARAMS ========================= -->
<!-- ========================= LIMITS ========================= -->
<!-- ============================================================================= -->
<!-- BASE -->
<link name="allegro_mount">
<inertial>
<mass value="0.05"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<inertia ixx="1e-4" ixy="0" ixz="0" iyy="1e-4" iyz="0" izz="1e-4"/>
</inertial>
<visual>
<!-- <origin xyz="-0.0425 -0.0425 0" rpy="0 0 0" /> -->
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="kuka_allegro_description/meshes/mounts/allegro_mount.obj"/>
</geometry>
<material name="color_j7"/>
</visual>
<collision>
<!-- <origin xyz="-0.0425 -0.0425 0" rpy="0 0 0" /> -->
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="kuka_allegro_description/meshes/mounts/allegro_mount.obj"/>
</geometry>
</collision>
</link>
<!-- <joint name="allegro_mount_joint1" type="fixed">
<origin rpy="0 0 0" xyz="-0.00 -0.0 0.0"/>
<parent link="iiwa7_link_ee"/>
<child link="allegro_mount"/>
</joint> -->
<joint name="allegro_mount_joint" type="fixed">
<!-- <origin xyz="0.065 0 0.0275" rpy="0 1.57 0" /> -->
<origin rpy="0 -1.5708 0.785398" xyz="0.008219 -0.02063 0.08086"/>
<parent link="allegro_mount"/>
<child link="palm_link"/>
</joint>
<!-- BASE -->
<link name="palm_link">
<inertial>
<mass value="0.4154"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<inertia ixx="1e-4" ixy="0" ixz="0" iyy="1e-4" iyz="0" izz="1e-4"/>
</inertial>
<visual>
<geometry>
<mesh filename="kuka_allegro_description/meshes/allegro/base_link.obj"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0 "/>
<material name="Grey">
<color rgba="0.2 0.2 0.2 1"/>
</material>
</visual>
<collision>
<origin rpy="0.0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="kuka_allegro_description/meshes/allegro/base_link.obj"/>
</geometry>
</collision>
</link>
<gazebo reference="palm_link">
<material value="Gazebo/Grey"/>
</gazebo>
<!-- ============================================================================= -->
<!-- FINGERS -->
<!-- RIGHT HAND due to which finger is number 0 -->
<!-- for LEFT HAND switch the sign of the **offset_origin_y** and **finger_angle_r** parameters-->
<!-- [LINK 0, 4, 8] -->
<link name="index_link_0">
<collision>
<geometry>
<mesh filename="kuka_allegro_description/meshes/allegro/primary_base.obj"/>
</geometry>
</collision>
<inertial>
<mass value="0.005"/>
<origin xyz="0 0 0"/>
<inertia ixx="5.1458e-05" iyy="5.1458e-05" izz="6.125e-05" ixy="0" ixz="0" iyz="0"/>
</inertial>
<visual>
<geometry>
<mesh filename="kuka_allegro_description/meshes/allegro/primary_base.obj"/>
</geometry>
<material name="Grey">
<color rgba="0.2 0.2 0.2 1"/>
</material>
</visual>
</link>
<link name="index_link_1">
<collision>
<geometry>
<mesh filename="kuka_allegro_description/meshes/allegro/primary_proximal.obj"/>
</geometry>
</collision>
<inertial>
<mass value="0.125164"/>
<origin xyz="0.027 0 0"/>
<inertia ixx="6.39979e-06" iyy="8.88687e-05" izz="9.13751e-05" ixy="-3.26531e-06" ixz="1.23963e-05" iyz="2.07384e-05"/>
</inertial>
<visual>
<geometry>
<mesh filename="kuka_allegro_description/meshes/allegro/primary_proximal.obj"/>
</geometry>
<material name="Grey">
<color rgba="0.2 0.2 0.2 1"/>
</material>
</visual>
</link>
<link name="index_link_2">
<collision>
<geometry>
<mesh filename="kuka_allegro_description/meshes/allegro/primary_medial.obj"/>
</geometry>
</collision>
<inertial>
<mass value="0.131691"/>
<origin xyz="0.039 0 0"/>
<inertia ixx="7.04217e-05" iyy="3.95744e-05" izz="6.61125e-05" ixy="-9.64342e-05" ixz="5.8796e-05" iyz="-3.62996e-05"/>
</inertial>
<visual>
<geometry>
<mesh filename="kuka_allegro_description/meshes/allegro/primary_medial.obj"/>
</geometry>
<material name="Grey">
<color rgba="0.2 0.2 0.2 1"/>
</material>
</visual>
</link>
<link name="index_link_3">
<collision>
<geometry>
<mesh filename="meshes/touchsensor/collision/touch_sensor_base.obj"/>
</geometry>
</collision>
<inertial>
<mass value="0.0211922"/>
<origin xyz="0.029 0 0"/>
<inertia ixx="2.93743e-05" iyy="7.21391e-05" izz="7.59731e-05" ixy="-3.51896e-05" ixz="-6.31225e-05" iyz="-9.25392e-07"/>
</inertial>
<visual>
<geometry>
<mesh filename="meshes/touchsensor/visual/touch_sensor_base.obj"/>
</geometry>
<material name="Green">
<color rgba="0. 0.5 0. 1"/>
</material>
</visual>
</link>
<link name="middle_link_0">
<collision>
<geometry>
<mesh filename="kuka_allegro_description/meshes/allegro/primary_base.obj"/>
</geometry>
</collision>
<inertial>
<mass value="0.005"/>
<origin xyz="0 0 0"/>
<inertia ixx="5.1458e-05" iyy="5.1458e-05" izz="6.125e-05" ixy="0" ixz="0" iyz="0"/>
</inertial>
<visual>
<geometry>
<mesh filename="kuka_allegro_description/meshes/allegro/primary_base.obj"/>
</geometry>
<material name="Grey">
<color rgba="0.2 0.2 0.2 1"/>
</material>
</visual>
</link>
<link name="middle_link_1">
<collision>
<geometry>
<mesh filename="kuka_allegro_description/meshes/allegro/primary_proximal.obj"/>
</geometry>
</collision>
<inertial>
<mass value="0.125164"/>
<origin xyz="0.027 0 0"/>
<inertia ixx="6.39979e-06" iyy="8.88687e-05" izz="9.13751e-05" ixy="-3.26531e-06" ixz="1.23963e-05" iyz="2.07384e-05"/>
</inertial>
<visual>
<geometry>
<mesh filename="kuka_allegro_description/meshes/allegro/primary_proximal.obj"/>
</geometry>
<material name="Grey">
<color rgba="0.2 0.2 0.2 1"/>
</material>
</visual>
</link>
<link name="middle_link_2">
<collision>
<geometry>
<mesh filename="kuka_allegro_description/meshes/allegro/primary_medial.obj"/>
</geometry>
</collision>
<inertial>
<mass value="0.131691"/>
<origin xyz="0.039 0 0"/>
<inertia ixx="7.04217e-05" iyy="3.95744e-05" izz="6.61125e-05" ixy="-9.64342e-05" ixz="5.8796e-05" iyz="-3.62996e-05"/>
</inertial>
<visual>
<geometry>
<mesh filename="kuka_allegro_description/meshes/allegro/primary_medial.obj"/>
</geometry>
<material name="Grey">
<color rgba="0.2 0.2 0.2 1"/>
</material>
</visual>
</link>
<link name="middle_link_3">
<collision>
<geometry>
<mesh filename="meshes/touchsensor/collision/touch_sensor_base.obj"/>
</geometry>
</collision>
<inertial>
<mass value="0.0211922"/>
<origin xyz="0.029 0 0"/>
<inertia ixx="2.93743e-05" iyy="7.21391e-05" izz="7.59731e-05" ixy="-3.51896e-05" ixz="-6.31225e-05" iyz="-9.25392e-07"/>
</inertial>
<visual>
<geometry>
<mesh filename="meshes/touchsensor/visual/touch_sensor_base.obj"/>
</geometry>
<material name="Green">
<color rgba="0 0.5 0 1"/>
</material>
</visual>
</link>
<link name="ring_link_0">
<collision>
<geometry>
<mesh filename="kuka_allegro_description/meshes/allegro/primary_base.obj"/>
</geometry>
</collision>
<inertial>
<mass value="0.005"/>
<origin xyz="0 0 0"/>
<inertia ixx="5.1458e-05" iyy="5.1458e-05" izz="6.125e-05" ixy="0" ixz="0" iyz="0"/>
</inertial>
<visual>
<geometry>
<mesh filename="kuka_allegro_description/meshes/allegro/primary_base.obj"/>
</geometry>
<material name="Grey">
<color rgba="0.2 0.2 0.2 1"/>
</material>
</visual>
</link>
<link name="ring_link_1">
<collision>
<geometry>
<mesh filename="kuka_allegro_description/meshes/allegro/primary_proximal.obj"/>
</geometry>
</collision>
<inertial>
<mass value="0.125164"/>
<origin xyz="0.027 0 0"/>
<inertia ixx="6.39979e-06" iyy="8.88687e-05" izz="9.13751e-05" ixy="-3.26531e-06" ixz="1.23963e-05" iyz="2.07384e-05"/>
</inertial>
<visual>
<geometry>
<mesh filename="kuka_allegro_description/meshes/allegro/primary_proximal.obj"/>
</geometry>
<material name="Grey">
<color rgba="0.2 0.2 0.2 1"/>
</material>
</visual>
</link>
<link name="ring_link_2">
<collision>
<geometry>
<mesh filename="kuka_allegro_description/meshes/allegro/primary_medial.obj"/>
</geometry>
</collision>
<inertial>
<mass value="0.131691"/>
<origin xyz="0.039 0 0"/>
<inertia ixx="7.04217e-05" iyy="3.95744e-05" izz="6.61125e-05" ixy="-9.64342e-05" ixz="5.8796e-05" iyz="-3.62996e-05"/>
</inertial>
<visual>
<geometry>
<mesh filename="kuka_allegro_description/meshes/allegro/primary_medial.obj"/>
</geometry>
<material name="Grey">
<color rgba="0.2 0.2 0.2 1"/>
</material>
</visual>
</link>
<link name="ring_link_3">
<collision>
<geometry>
<mesh filename="meshes/touchsensor/collision/touch_sensor_base.obj"/>
</geometry>
</collision>
<inertial>
<mass value="0.0211922"/>
<origin xyz="0.029 0 0"/>
<inertia ixx="2.93743e-05" iyy="7.21391e-05" izz="7.59731e-05" ixy="-3.51896e-05" ixz="-6.31225e-05" iyz="-9.25392e-07"/>
</inertial>
<visual>
<geometry>
<mesh filename="meshes/touchsensor/visual/touch_sensor_base.obj"/>
</geometry>
<material name="Green">
<color rgba="0 0.5 0 1"/>
</material>
</visual>
</link>
<link name="thumb_link_0">
<collision>
<geometry>
<mesh filename="kuka_allegro_description/meshes/allegro/thumb_base.obj"/>
</geometry>
</collision>
<inertial>
<mass value="0.1"/>
<inertia ixx="5.1458e-5" ixy="0" ixz="0" iyy="5.1458e-5" iyz="0" izz="6.125e-5"/>
</inertial>
<visual>
<geometry>
<mesh filename="kuka_allegro_description/meshes/allegro/thumb_base.obj"/>
</geometry>
<material name="Grey">
<color rgba="0.2 0.2 0.2 1"/>
</material>
</visual>
</link>
<link name="thumb_link_1">
<collision>
<geometry>
<mesh filename="kuka_allegro_description/meshes/allegro/thumb_proximal.obj"/>
</geometry>
</collision>
<inertial>
<mass value="0.1"/>
<inertia ixx="5.1458e-5" ixy="0" ixz="0" iyy="5.1458e-5" iyz="0" izz="6.125e-5"/>
</inertial>
<visual>
<geometry>
<mesh filename="kuka_allegro_description/meshes/allegro/thumb_proximal.obj"/>
</geometry>
<material name="Grey">
<color rgba="0.2 0.2 0.2 1"/>
</material>
</visual>
</link>
<link name="thumb_link_2">
<collision>
<geometry>
<mesh filename="kuka_allegro_description/meshes/allegro/thumb_medial.obj"/>
</geometry>
</collision>
<inertial>
<mass value="0.1"/>
<inertia ixx="5.1458e-5" ixy="0" ixz="0" iyy="5.1458e-5" iyz="0" izz="6.125e-5"/>
</inertial>
<visual>
<geometry>
<mesh filename="kuka_allegro_description/meshes/allegro/thumb_medial.obj"/>
</geometry>
<material name="Grey">
<color rgba="0.2 0.2 0.2 1"/>
</material>
</visual>
</link>
<link name="thumb_link_3">
<collision>
<geometry>
<mesh filename="meshes/touchsensor/collision/touch_sensor_thumb_base.obj"/>
</geometry>
</collision>
<inertial>
<mass value="0.1"/>
<inertia ixx="5.1458e-5" ixy="0" ixz="0" iyy="5.1458e-5" iyz="0" izz="6.125e-5"/>
</inertial>
<visual>
<geometry>
<mesh filename="meshes/touchsensor/visual/touch_sensor_thumb_base.obj"/>
</geometry>
<material name="Green">
<color rgba="0 0.5 0 1"/>
</material>
</visual>
</link>
<joint name="index_joint_0" type="revolute">
<axis xyz="0 0 1"/>
<limit effort="0.35" lower="-0.558488888889" upper="0.558488888889" velocity="6.283"/>
<origin rpy="3.1415 -1.57075 -0.0872638888889" xyz="0.0514302 -0.03632 -0.0113"/>
<parent link="palm_link"/>
<child link="index_link_0"/>
<dynamics damping="0.0414019" friction="0.0523963"/>
</joint>
<joint name="index_joint_1" type="revolute">
<axis xyz="0 0 1"/>
<limit effort="0.35" lower="-0.279244444444" upper="1.727825" velocity="6.283"/>
<origin rpy="3.1415 -1.57075 1.57075" xyz="0.0 0.0 0.0"/>
<parent link="index_link_0"/>
<child link="index_link_1"/>
<dynamics damping="0.00587541" friction="0.0150275"/>
</joint>
<joint name="index_joint_2" type="revolute">
<axis xyz="0 0 1"/>
<limit effort="0.35" lower="-0.279244444444" upper="1.727825" velocity="6.283"/>
<origin rpy="0.0 0.0 0.0" xyz="0.054 0.0 0.0"/>
<parent link="index_link_1"/>
<child link="index_link_2"/>
<dynamics damping="0.010638" friction="0.00616359"/>
</joint>
<joint name="index_joint_3" type="revolute">
<axis xyz="0 0 1"/>
<limit effort="0.35" lower="-0.279244444444" upper="1.727825" velocity="6.283"/>
<origin rpy="0.0 0.0 0.0" xyz="0.0384 0.0 0.0"/>
<parent link="index_link_2"/>
<child link="index_link_3"/>
<dynamics damping="0.0226948" friction="0.0227036"/>
</joint>
<joint name="middle_joint_0" type="revolute">
<axis xyz="0 0 1"/>
<limit effort="0.35" lower="-0.558488888889" upper="0.558488888889" velocity="6.283"/>
<origin rpy="3.1415 -1.57075 0" xyz="0.0537375 0.0087771 -0.0113"/>
<parent link="palm_link"/>
<child link="middle_link_0"/>
<dynamics damping="0.0414019" friction="0.0523963"/>
</joint>
<joint name="middle_joint_1" type="revolute">
<axis xyz="0 0 1"/>
<limit effort="0.35" lower="-0.279244444444" upper="1.727825" velocity="6.283"/>
<origin rpy="3.1415 -1.57075 1.57075" xyz="0.0 0.0 0.0"/>
<parent link="middle_link_0"/>
<child link="middle_link_1"/>
<dynamics damping="0.00587541" friction="0.0150275"/>
</joint>
<joint name="middle_joint_2" type="revolute">
<axis xyz="0 0 1"/>
<limit effort="0.35" lower="-0.279244444444" upper="1.727825" velocity="6.283"/>
<origin rpy="0.0 0.0 0.0" xyz="0.054 0.0 0.0"/>
<parent link="middle_link_1"/>
<child link="middle_link_2"/>
<dynamics damping="0.010638" friction="0.00616359"/>
</joint>
<joint name="middle_joint_3" type="revolute">
<axis xyz="0 0 1"/>
<limit effort="0.35" lower="-0.279244444444" upper="1.727825" velocity="6.283"/>
<origin rpy="0.0 0.0 0.0" xyz="0.0384 0.0 0.0"/>
<parent link="middle_link_2"/>
<child link="middle_link_3"/>
<dynamics damping="0.0226948" friction="0.0227036"/>
</joint>
<joint name="ring_joint_0" type="revolute">
<axis xyz="0 0 1"/>
<limit effort="0.35" lower="-0.558488888889" upper="0.558488888889" velocity="6.283"/>
<origin rpy="3.1415 -1.57075 0.0872638888889" xyz="0.0514302 0.0538749 -0.0113"/>
<parent link="palm_link"/>
<child link="ring_link_0"/>
<dynamics damping="0.0414019" friction="0.0523963"/>
</joint>
<joint name="ring_joint_1" type="revolute">
<axis xyz="0 0 1"/>
<limit effort="0.35" lower="-0.279244444444" upper="1.727825" velocity="6.283"/>
<origin rpy="3.1415 -1.57075 1.57075" xyz="0.0 0.0 0.0"/>
<parent link="ring_link_0"/>
<child link="ring_link_1"/>
<dynamics damping="0.00587541" friction="0.0150275"/>
</joint>
<joint name="ring_joint_2" type="revolute">
<axis xyz="0 0 1"/>
<limit effort="0.35" lower="-0.279244444444" upper="1.727825" velocity="6.283"/>
<origin rpy="0.0 0.0 0.0" xyz="0.054 0.0 0.0"/>
<parent link="ring_link_1"/>
<child link="ring_link_2"/>
<dynamics damping="0.010638" friction="0.00616359"/>
</joint>
<joint name="ring_joint_3" type="revolute">
<axis xyz="0 0 1"/>
<limit effort="0.35" lower="-0.279244444444" upper="1.727825" velocity="6.283"/>
<origin rpy="0.0 0.0 0.0" xyz="0.0384 0.0 0.0"/>
<parent link="ring_link_2"/>
<child link="ring_link_3"/>
<dynamics damping="0.0226948" friction="0.0227036"/>
</joint>
<joint name="thumb_joint_0" type="revolute">
<axis xyz="0 0 1"/>
<limit effort="0.35" lower="0.279244444444" upper="1.57075" velocity="6.283"/>
<origin rpy="-1.57075 -1.57075 1.48348611111" xyz="-0.0367482 -0.0081281 -0.0295"/>
<parent link="palm_link"/>
<child link="thumb_link_0"/>
<dynamics friction="0.035"/>
</joint>
<joint name="thumb_joint_1" type="revolute">
<axis xyz="0 0 1"/>
<limit effort="0.35" lower="-0.331602777778" upper="1.15188333333" velocity="6.283"/>
<origin rpy="1.57075 0 0" xyz="0.005 0.0 0.0"/>
<parent link="thumb_link_0"/>
<child link="thumb_link_1"/>
<dynamics friction="0.035"/>
</joint>
<joint name="thumb_joint_2" type="revolute">
<axis xyz="0 0 1"/>
<limit effort="0.35" lower="-0.279244444444" upper="1.727825" velocity="6.283"/>
<origin rpy="3.1415 -1.57075 0.0" xyz="0 0 0.0554"/>
<parent link="thumb_link_1"/>
<child link="thumb_link_2"/>
<dynamics friction="0.035"/>
</joint>
<joint name="thumb_joint_3" type="revolute">
<axis xyz="0 0 1"/>
<limit effort="0.35" lower="-0.279244444444" upper="1.76273055556" velocity="6.283"/>
<origin rpy="0.0 0.0 0.0" xyz="0.0514 0.0 0.0"/>
<parent link="thumb_link_2"/>
<child link="thumb_link_3"/>
<dynamics friction="0.035"/>
</joint>
<!-- ============================================================================= -->
<!-- Create a different *root* for the allegro hand -->
<!-- Note: this offset is just eyeballed... -->
<joint name="iiwa7_allegro" type="fixed">
<parent link="iiwa7_link_ee"/>
<child link="allegro_mount"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
</joint>
</robot>
|
NVIDIA-Omniverse/IsaacGymEnvs/assets/urdf/kuka_allegro_description/meshes/convert_stl2obj.py
|
import os
import argparse
parser = argparse.ArgumentParser()
parser.add_argument('--folder', type=str, default="./")
args = parser.parse_args()
import glob, os
os.chdir(args.folder)
for stl_fileName in glob.glob("*.stl"):
conversion_command = "meshlabserver -i " + stl_fileName + " -o " + stl_fileName[:-3] + "obj"
os.system(conversion_command)
for stl_fileName in glob.glob("*.STL"):
conversion_command = "meshlabserver -i " + stl_fileName + " -o " + stl_fileName[:-3] + "obj"
os.system(conversion_command)
|
NVIDIA-Omniverse/IsaacGymEnvs/assets/industreal/yaml/industreal_asset_info_franka_table.yaml
|
franka_hand_length: 0.0584 # distance from origin of hand to origin of finger
franka_finger_length: 0.053671 # distance from origin of finger to bottom of fingerpad
franka_fingerpad_length: 0.017608 # distance from top of inner surface of fingerpad to bottom of inner surface of fingerpad
franka_gripper_width_max: 0.080 # maximum opening width of gripper
table_depth: 1.28 # depth of table
table_width: 0.91 # width of table
table_height: 1.04 # height of table
|
NVIDIA-Omniverse/IsaacGymEnvs/assets/industreal/yaml/industreal_asset_info_gears.yaml
|
base:
height: 0.005
density: 2700.0
gears:
height: 0.025
density: 1000.0
grasp_offset: 0.017
shafts:
height: 0.020
|
NVIDIA-Omniverse/IsaacGymEnvs/assets/industreal/yaml/industreal_asset_info_pegs.yaml
|
round_peg_hole_4mm:
round_peg_4mm:
urdf_path: 'industreal_round_peg_4mm'
diameter: 0.003988
length: 0.050
density: 8000.0
friction: 1.0
grasp_offset: 0.04
plug_width: 0.004
round_hole_4mm:
urdf_path: 'industreal_round_hole_4mm'
diameter: 0.0041
height: 0.028
depth: 0.023
density: 8000.0
friction: 0.5
round_peg_hole_8mm:
round_peg_8mm:
urdf_path: 'industreal_round_peg_8mm'
diameter: 0.007986
length: 0.050
density: 8000.0
friction: 1.0
grasp_offset: 0.04
plug_width: 0.008
round_hole_8mm:
urdf_path: 'industreal_round_hole_8mm'
diameter: 0.0081
height: 0.028
depth: 0.023
density: 8000.0
friction: 0.5
round_peg_hole_12mm:
round_peg_12mm:
urdf_path: 'industreal_round_peg_12mm'
diameter: 0.011983
length: 0.050
density: 8000.0
friction: 1.0
grasp_offset: 0.04
plug_width: 0.012
round_hole_12mm:
urdf_path: 'industreal_round_hole_12mm'
diameter: 0.0122
height: 0.028
depth: 0.023
density: 8000.0
friction: 0.5
round_peg_hole_16mm:
round_peg_16mm:
urdf_path: 'industreal_round_peg_16mm'
diameter: 0.015983
length: 0.050
density: 8000.0
friction: 1.0
grasp_offset: 0.04
plug_width: 0.016
round_hole_16mm:
urdf_path: 'industreal_round_hole_16mm'
diameter: 0.0165
height: 0.028
depth: 0.023
density: 8000.0
friction: 0.5
rectangular_peg_hole_4mm:
rectangular_peg_4mm:
urdf_path: 'industreal_rectangular_peg_4mm'
width: 0.00397
depth: 0.00397
length: 0.050
density: 8000.0
friction: 1.0
grasp_offset: 0.04
plug_width: 0.004
rectangular_hole_4mm:
urdf_path: 'industreal_rectangular_hole_4mm'
width: 0.00411
height: 0.028
depth: 0.023
density: 8000.0
friction: 0.5
rectangular_peg_hole_8mm:
rectangular_peg_8mm:
urdf_path: 'industreal_rectangular_peg_8mm'
width: 0.007964
depth: 0.006910
length: 0.050
density: 8000.0
friction: 1.0
grasp_offset: 0.04
plug_width: 0.008
rectangular_hole_8mm:
urdf_path: 'industreal_rectangular_hole_8mm'
width: 0.0081444
height: 0.028
depth: 0.023
density: 8000.0
friction: 0.5
rectangular_peg_hole_12mm:
rectangular_peg_12mm:
urdf_path: 'industreal_rectangular_peg_12mm'
width: 0.011957
depth: 0.007910
length: 0.050
density: 8000.0
friction: 1.0
grasp_offset: 0.04
plug_width: 0.012
rectangular_hole_12mm:
urdf_path: 'industreal_rectangular_hole_12mm'
width: 0.0121778
height: 0.028
depth: 0.023
density: 8000.0
friction: 0.5
rectangular_peg_hole_16mm:
rectangular_peg_16mm:
urdf_path: 'industreal_rectangular_peg_16mm'
width: 0.015957
depth: 0.009910
length: 0.050
density: 8000.0
friction: 1.0
grasp_offset: 0.04
plug_width: 0.016
rectangular_hole_16mm:
urdf_path: 'industreal_rectangular_hole_16mm'
width: 0.0162182
height: 0.028
depth: 0.023
density: 8000.0
friction: 0.5
|
NVIDIA-Omniverse/IsaacGymEnvs/assets/industreal/urdf/industreal_gear_large.urdf
|
<?xml version="1.0"?>
<robot name="industreal_gear_large">
<link name="industreal_gear_large">
<visual>
<geometry>
<mesh filename="../mesh/industreal_gears/industreal_gear_large.obj"/>
</geometry>
</visual>
<collision>
<geometry>
<mesh filename="../mesh/industreal_gears/industreal_gear_large.obj"/>
</geometry>
<sdf resolution="256"/>
</collision>
</link>
</robot>
|
NVIDIA-Omniverse/IsaacGymEnvs/assets/industreal/urdf/industreal_round_peg_16mm.urdf
|
<?xml version="1.0"?>
<robot name="industreal_round_peg_16mm">
<link name="industreal_round_peg_16mm">
<visual>
<geometry>
<mesh filename="../mesh/industreal_pegs/industreal_round_peg_16mm.obj"/>
</geometry>
</visual>
<collision>
<geometry>
<mesh filename="../mesh/industreal_pegs/industreal_round_peg_16mm.obj"/>
</geometry>
<sdf resolution="256"/>
</collision>
</link>
</robot>
|
NVIDIA-Omniverse/IsaacGymEnvs/assets/industreal/urdf/industreal_round_hole_8mm.urdf
|
<?xml version="1.0"?>
<robot name="industreal_tray_insert_round_peg_8mm">
<link name="industreal_tray_insert_round_peg_8mm">
<visual>
<geometry>
<mesh filename="../mesh/industreal_pegs/industreal_tray_insert_round_peg_8mm.obj"/>
</geometry>
</visual>
<collision>
<geometry>
<mesh filename="../mesh/industreal_pegs/industreal_tray_insert_round_peg_8mm.obj"/>
</geometry>
<sdf resolution="256"/>
</collision>
</link>
</robot>
|
NVIDIA-Omniverse/IsaacGymEnvs/assets/industreal/urdf/industreal_round_peg_8mm.urdf
|
<?xml version="1.0"?>
<robot name="industreal_round_peg_8mm">
<link name="industreal_round_peg_8mm">
<visual>
<geometry>
<mesh filename="../mesh/industreal_pegs/industreal_round_peg_8mm.obj"/>
</geometry>
</visual>
<collision>
<geometry>
<mesh filename="../mesh/industreal_pegs/industreal_round_peg_8mm.obj"/>
</geometry>
<sdf resolution="256"/>
</collision>
</link>
</robot>
|
NVIDIA-Omniverse/IsaacGymEnvs/assets/industreal/urdf/industreal_round_hole_12mm.urdf
|
<?xml version="1.0"?>
<robot name="industreal_tray_insert_round_peg_12mm">
<link name="industreal_tray_insert_round_peg_12mm">
<visual>
<geometry>
<mesh filename="../mesh/industreal_pegs/industreal_tray_insert_round_peg_12mm.obj"/>
</geometry>
</visual>
<collision>
<geometry>
<mesh filename="../mesh/industreal_pegs/industreal_tray_insert_round_peg_12mm.obj"/>
</geometry>
<sdf resolution="256"/>
</collision>
</link>
</robot>
|
NVIDIA-Omniverse/IsaacGymEnvs/assets/industreal/urdf/industreal_rectangular_peg_16mm.urdf
|
<?xml version="1.0"?>
<robot name="industreal_rectangular_peg_16mm">
<link name="industreal_rectangular_peg_16mm">
<visual>
<geometry>
<mesh filename="../mesh/industreal_pegs/industreal_rectangular_peg_16mm.obj"/>
</geometry>
</visual>
<collision>
<geometry>
<mesh filename="../mesh/industreal_pegs/industreal_rectangular_peg_16mm.obj"/>
</geometry>
<sdf resolution="256"/>
</collision>
</link>
</robot>
|
NVIDIA-Omniverse/IsaacGymEnvs/assets/industreal/urdf/industreal_round_peg_4mm.urdf
|
<?xml version="1.0"?>
<robot name="industreal_round_peg_4mm">
<link name="industreal_round_peg_4mm">
<visual>
<geometry>
<mesh filename="../mesh/industreal_pegs/industreal_round_peg_4mm.obj"/>
</geometry>
</visual>
<collision>
<geometry>
<mesh filename="../mesh/industreal_pegs/industreal_round_peg_4mm.obj"/>
</geometry>
<sdf resolution="256"/>
</collision>
</link>
</robot>
|
NVIDIA-Omniverse/IsaacGymEnvs/assets/industreal/urdf/industreal_rectangular_hole_8mm.urdf
|
<?xml version="1.0"?>
<robot name="industreal_tray_insert_rectangular_peg_8mm">
<link name="industreal_tray_insert_rectangular_peg_8mm">
<visual>
<geometry>
<mesh filename="../mesh/industreal_pegs/industreal_tray_insert_rectangular_peg_8mm.obj"/>
</geometry>
</visual>
<collision>
<geometry>
<mesh filename="../mesh/industreal_pegs/industreal_tray_insert_rectangular_peg_8mm.obj"/>
</geometry>
<sdf resolution="256"/>
</collision>
</link>
</robot>
|
NVIDIA-Omniverse/IsaacGymEnvs/assets/industreal/urdf/industreal_rectangular_hole_12mm.urdf
|
<?xml version="1.0"?>
<robot name="industreal_tray_insert_rectangular_peg_12mm">
<link name="industreal_tray_insert_rectangular_peg_12mm">
<visual>
<geometry>
<mesh filename="../mesh/industreal_pegs/industreal_tray_insert_rectangular_peg_12mm.obj"/>
</geometry>
</visual>
<collision>
<geometry>
<mesh filename="../mesh/industreal_pegs/industreal_tray_insert_rectangular_peg_12mm.obj"/>
</geometry>
<sdf resolution="256"/>
</collision>
</link>
</robot>
|
NVIDIA-Omniverse/IsaacGymEnvs/assets/industreal/urdf/industreal_gear_medium.urdf
|
<?xml version="1.0"?>
<robot name="industreal_gear_medium">
<link name="industreal_gear_medium">
<visual>
<geometry>
<mesh filename="../mesh/industreal_gears/industreal_gear_medium.obj"/>
</geometry>
</visual>
<collision>
<geometry>
<mesh filename="../mesh/industreal_gears/industreal_gear_medium.obj"/>
</geometry>
<sdf resolution="256"/>
</collision>
</link>
</robot>
|
NVIDIA-Omniverse/IsaacGymEnvs/assets/industreal/urdf/industreal_franka.urdf
|
<?xml version="1.0" ?>
<robot name="panda">
<link name="panda_link0">
<visual>
<geometry>
<mesh filename="../../urdf/franka_description/meshes/visual/link0.obj"/>
</geometry>
</visual>
<collision>
<geometry>
<mesh filename="../../urdf/franka_description/meshes/collision/link0.stl"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="-0.041018 -0.00014 0.049974"/>
<mass value="0.629769"/>
<inertia ixx="0.00315" ixy="8.2904e-07" ixz="0.00015" iyy="0.00388" iyz="8.2299e-06" izz="0.004285"/>
</inertial>
</link>
<joint name="panda_joint1" type="revolute">
<origin rpy="0 0 0" xyz="0 0 0.333"/>
<parent link="panda_link0"/>
<child link="panda_link1"/>
<axis xyz="0 0 1"/>
<limit effort="87" lower="-2.8973" upper="2.8973" velocity="2.1750"/>
<dynamics damping="0.0" friction="0.0"/>
</joint>
<link name="panda_link1">
<visual>
<geometry>
<mesh filename="../../urdf/franka_description/meshes/visual/link1.obj"/>
</geometry>
</visual>
<collision>
<geometry>
<mesh filename="../../urdf/franka_description/meshes/collision/link1.stl"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0.003875 0.002081 -0.04762"/>
<mass value="4.970684"/>
<inertia ixx="0.70337" ixy="-0.000139" ixz="0.006772" iyy="0.70661" iyz="0.019169" izz="0.009117"/>
</inertial>
</link>
<joint name="panda_joint2" type="revolute">
<origin rpy="-1.5707963267948966 0 0" xyz="0 0 0"/>
<parent link="panda_link1"/>
<child link="panda_link2"/>
<axis xyz="0 0 1"/>
<limit effort="87" lower="-1.7628" upper="1.7628" velocity="2.1750"/>
<dynamics damping="0.0" friction="0.0"/>
</joint>
<link name="panda_link2">
<visual>
<geometry>
<mesh filename="../../urdf/franka_description/meshes/visual/link2.obj"/>
</geometry>
</visual>
<collision>
<geometry>
<mesh filename="../../urdf/franka_description/meshes/collision/link2.stl"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="-0.003141 -0.02872 0.003495"/>
<mass value="0.646926"/>
<inertia ixx="0.007962" ixy="-0.003925" ixz="0.010254" iyy="0.02811" iyz="0.000704" izz="0.025995"/>
</inertial>
</link>
<joint name="panda_joint3" type="revolute">
<origin rpy="1.5707963267948966 0 0" xyz="0 -0.316 0"/>
<parent link="panda_link2"/>
<child link="panda_link3"/>
<axis xyz="0 0 1"/>
<limit effort="87" lower="-2.8973" upper="2.8973" velocity="2.1750"/>
<dynamics damping="0.0" friction="0.0"/>
</joint>
<link name="panda_link3">
<visual>
<geometry>
<mesh filename="../../urdf/franka_description/meshes/visual/link3.obj"/>
</geometry>
</visual>
<collision>
<geometry>
<mesh filename="../../urdf/franka_description/meshes/collision/link3.stl"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="2.7518e-02 3.9252e-02 -6.6502e-02"/>
<mass value="3.228604"/>
<inertia ixx="0.037242" ixy="-0.004761" ixz="-0.011396" iyy="0.036155" iyz="-0.012805" izz="0.01083"/>
</inertial>
</link>
<joint name="panda_joint4" type="revolute">
<origin rpy="1.5707963267948966 0 0" xyz="0.0825 0 0"/>
<parent link="panda_link3"/>
<child link="panda_link4"/>
<axis xyz="0 0 1"/>
<limit effort="87" lower="-3.0718" upper="-0.0698" velocity="2.1750"/>
<dynamics damping="0.0" friction="0.0"/>
</joint>
<link name="panda_link4">
<visual>
<geometry>
<mesh filename="../../urdf/franka_description/meshes/visual/link4.obj"/>
</geometry>
</visual>
<collision>
<geometry>
<mesh filename="../../urdf/franka_description/meshes/collision/link4.stl"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="-5.317e-02 1.04419e-01 2.7454e-02"/>
<mass value="3.587895"/>
<inertia ixx="0.025853" ixy="0.007796" ixz="-0.001332" iyy="0.019552" iyz="0.008641" izz="0.028323"/>
</inertial>
</link>
<joint name="panda_joint5" type="revolute">
<origin rpy="-1.5707963267948966 0 0" xyz="-0.0825 0.384 0"/>
<parent link="panda_link4"/>
<child link="panda_link5"/>
<axis xyz="0 0 1"/>
<limit effort="12" lower="-2.8973" upper="2.8973" velocity="2.6100"/>
<dynamics damping="0.0" friction="0.0"/>
</joint>
<link name="panda_link5">
<visual>
<geometry>
<mesh filename="../../urdf/franka_description/meshes/visual/link5.obj"/>
</geometry>
</visual>
<collision>
<geometry>
<mesh filename="../../urdf/franka_description/meshes/collision/link5.stl"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="-1.1953e-02 4.1065e-02 -3.8437e-02"/>
<mass value="1.225946"/>
<inertia ixx="0.035549" ixy="-0.002117" ixz="-0.004037" iyy="0.029474" iyz="0.000229" izz="0.008627"/>
</inertial>
</link>
<joint name="panda_joint6" type="revolute">
<origin rpy="1.5707963267948966 0 0" xyz="0 0 0"/>
<parent link="panda_link5"/>
<child link="panda_link6"/>
<axis xyz="0 0 1"/>
<limit effort="12" lower="-0.0175" upper="3.7525" velocity="2.6100"/>
<dynamics damping="0.0" friction="0.0"/>
</joint>
<link name="panda_link6">
<visual>
<geometry>
<mesh filename="../../urdf/franka_description/meshes/visual/link6.obj"/>
</geometry>
</visual>
<collision>
<geometry>
<mesh filename="../../urdf/franka_description/meshes/collision/link6.stl"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="6.0149e-02 -1.4117e-02 -1.0517e-02"/>
<mass value="1.666555"/>
<inertia ixx="0.001964" ixy="0.000109" ixz="-0.001158" iyy="0.004354" iyz="0.000341" izz="0.005433"/>
</inertial>
</link>
<joint name="panda_joint7" type="revolute">
<origin rpy="1.5707963267948966 0 0" xyz="0.088 0 0"/>
<parent link="panda_link6"/>
<child link="panda_link7"/>
<axis xyz="0 0 1"/>
<limit effort="12" lower="-2.8973" upper="2.8973" velocity="2.6100"/>
<dynamics damping="0.0" friction="0.0"/>
</joint>
<link name="panda_link7">
<visual>
<geometry>
<mesh filename="../../urdf/franka_description/meshes/visual/link7.obj"/>
</geometry>
</visual>
<collision>
<geometry>
<mesh filename="../../urdf/franka_description/meshes/collision/link7.stl"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="1.0517e-02 -4.252e-03 6.1597e-02"/>
<mass value="0.735522"/>
<inertia ixx="0.012516" ixy="-0.000428" ixz="-0.001196" iyy="0.010027" iyz="-0.000741" izz="0.004815"/>
</inertial>
</link>
<joint name="panda_hand_joint" type="fixed">
<parent link="panda_link7"/>
<child link="panda_hand"/>
<origin rpy="0 0 -0.7853981633974483" xyz="0 0 0.107"/>
</joint>
<link name="panda_hand">
<visual>
<geometry>
<mesh filename="../../urdf/franka_description/meshes/visual/hand.obj"/>
</geometry>
</visual>
<collision>
<geometry>
<mesh filename="../../urdf/franka_description/meshes/collision/hand.stl"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="-0.01 0 0.03"/>
<mass value="0.73"/>
<inertia ixx="0.001" ixy="0" ixz="0" iyy="0.0025" iyz="0" izz="0.0017"/>
</inertial>
</link>
<joint name="panda_finger_joint1" type="prismatic">
<parent link="panda_hand"/>
<child link="panda_leftfinger"/>
<origin rpy="0 0 0" xyz="0 0 0.0584"/>
<axis xyz="0 1 0"/>
<limit effort="70" lower="0.0" upper="0.040" velocity="0.050"/>
<dynamics damping="0.0" friction="5.0"/>
</joint>
<joint name="panda_finger_joint2" type="prismatic">
<parent link="panda_hand"/>
<child link="panda_rightfinger"/>
<origin rpy="0 0 0" xyz="0 0 0.0584"/>
<axis xyz="0 -1 0"/>
<limit effort="70" lower="0.0" upper="0.040" velocity="0.050"/>
<dynamics damping="0.0" friction="5.0"/>
</joint>
<link name="panda_leftfinger">
<visual>
<geometry>
<mesh filename="../mesh/industreal_franka_table/industreal_franka_finger_rubber_viz.obj"/>
</geometry>
</visual>
<!--finger-->
<collision>
<origin rpy="0 0 0" xyz="0.0 0.0155 0.027"/>
<geometry>
<box size="0.021 0.026 0.054"/>
</geometry>
</collision>
<!--fingerpad-->
<collision>
<origin rpy="0 0 0" xyz="0.0 0.00125 0.02923232"/>
<geometry>
<box size="0.01224264 0.0025 0.04377800"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0 0.0114 0.0231"/>
<mass value="0.0297"/>
<inertia ixx="7.552e-06" ixy="0" ixz="0" iyy="7.159e-06" iyz="1.043e-6" izz="2.352e-06"/>
</inertial>
</link>
<link name="panda_rightfinger">
<visual>
<origin rpy="0 0 3.141592653589793" xyz="0 0 0"/>
<geometry>
<mesh filename="../mesh/industreal_franka_table/industreal_franka_finger_rubber_viz.obj"/>
</geometry>
</visual>
<!--finger-->
<collision>
<origin rpy="0 0 0" xyz="0.0 -0.0155 0.027"/>
<geometry>
<box size="0.021 0.026 0.054"/>
</geometry>
</collision>
<!--fingerpad-->
<collision>
<origin rpy="0 0 0" xyz="0.0 -0.00125 0.02923232"/>
<geometry>
<box size="0.01224264 0.0025 0.04377800"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 3.141592653589793" xyz="0 0.0114 0.0231"/>
<mass value="0.0297"/>
<inertia ixx="7.552e-06" ixy="0" ixz="0" iyy="7.159e-06" iyz="1.043e-6" izz="2.352e-06"/>
</inertial>
</link>
<!--Used for calculating pose and Jacobian.
Joint connects hand to dummy link located at midpoint between centers of original fingerpads (when fingers are mirrored).-->
<joint name="panda_fingertip_centered_joint" type="fixed">
<parent link="panda_hand"/>
<child link="panda_fingertip_centered"/>
<origin rpy="0 0 0" xyz="0 0 0.1034"/>
</joint>
<link name="panda_fingertip_centered">
<inertial>
<origin rpy="0 0 0" xyz="0 0 0"/>
<mass value="1.0e-6"/>
<inertia ixx="1.0e-09" ixy="0" ixz="0" iyy="1.0e-09" iyz="0" izz="1.0e-09"/>
</inertial>
</link>
</robot>
|
NVIDIA-Omniverse/IsaacGymEnvs/assets/industreal/urdf/industreal_gear_base.urdf
|
<?xml version="1.0"?>
<robot name="industreal_gear_base">
<link name="industreal_gear_base">
<visual>
<geometry>
<mesh filename="../mesh/industreal_gears/industreal_gear_base.obj"/>
</geometry>
</visual>
<collision>
<geometry>
<mesh filename="../mesh/industreal_gears/industreal_gear_base.obj"/>
</geometry>
<sdf resolution="256"/>
</collision>
</link>
</robot>
|
NVIDIA-Omniverse/IsaacGymEnvs/assets/industreal/urdf/industreal_rectangular_hole_4mm.urdf
|
<?xml version="1.0"?>
<robot name="industreal_tray_insert_rectangular_peg_4mm">
<link name="industreal_tray_insert_rectangular_peg_4mm">
<visual>
<geometry>
<mesh filename="../mesh/industreal_pegs/industreal_tray_insert_rectangular_peg_4mm.obj"/>
</geometry>
</visual>
<collision>
<geometry>
<mesh filename="../mesh/industreal_pegs/industreal_tray_insert_rectangular_peg_4mm.obj"/>
</geometry>
<sdf resolution="256"/>
</collision>
</link>
</robot>
|
NVIDIA-Omniverse/IsaacGymEnvs/assets/industreal/urdf/industreal_rectangular_peg_12mm.urdf
|
<?xml version="1.0"?>
<robot name="industreal_rectangular_peg_12mm">
<link name="industreal_rectangular_peg_12mm">
<visual>
<geometry>
<mesh filename="../mesh/industreal_pegs/industreal_rectangular_peg_12mm.obj"/>
</geometry>
</visual>
<collision>
<geometry>
<mesh filename="../mesh/industreal_pegs/industreal_rectangular_peg_12mm.obj"/>
</geometry>
<sdf resolution="256"/>
</collision>
</link>
</robot>
|
NVIDIA-Omniverse/IsaacGymEnvs/assets/industreal/urdf/industreal_rectangular_peg_8mm.urdf
|
<?xml version="1.0"?>
<robot name="industreal_rectangular_peg_8mm">
<link name="industreal_rectangular_peg_8mm">
<visual>
<geometry>
<mesh filename="../mesh/industreal_pegs/industreal_rectangular_peg_8mm.obj"/>
</geometry>
</visual>
<collision>
<geometry>
<mesh filename="../mesh/industreal_pegs/industreal_rectangular_peg_8mm.obj"/>
</geometry>
<sdf resolution="256"/>
</collision>
</link>
</robot>
|
NVIDIA-Omniverse/IsaacGymEnvs/assets/industreal/urdf/industreal_round_hole_16mm.urdf
|
<?xml version="1.0"?>
<robot name="industreal_tray_insert_round_peg_16mm">
<link name="industreal_tray_insert_round_peg_16mm">
<visual>
<geometry>
<mesh filename="../mesh/industreal_pegs/industreal_tray_insert_round_peg_16mm.obj"/>
</geometry>
</visual>
<collision>
<geometry>
<mesh filename="../mesh/industreal_pegs/industreal_tray_insert_round_peg_16mm.obj"/>
</geometry>
<sdf resolution="256"/>
</collision>
</link>
</robot>
|
NVIDIA-Omniverse/IsaacGymEnvs/assets/industreal/urdf/industreal_rectangular_hole_16mm.urdf
|
<?xml version="1.0"?>
<robot name="industreal_tray_insert_rectangular_peg_16mm">
<link name="industreal_tray_insert_rectangular_peg_16mm">
<visual>
<geometry>
<mesh filename="../mesh/industreal_pegs/industreal_tray_insert_rectangular_peg_16mm.obj"/>
</geometry>
</visual>
<collision>
<geometry>
<mesh filename="../mesh/industreal_pegs/industreal_tray_insert_rectangular_peg_16mm.obj"/>
</geometry>
<sdf resolution="256"/>
</collision>
</link>
</robot>
|
NVIDIA-Omniverse/IsaacGymEnvs/assets/industreal/urdf/industreal_round_hole_4mm.urdf
|
<?xml version="1.0"?>
<robot name="industreal_tray_insert_round_peg_4mm">
<link name="industreal_tray_insert_round_peg_4mm">
<visual>
<geometry>
<mesh filename="../mesh/industreal_pegs/industreal_tray_insert_round_peg_4mm.obj"/>
</geometry>
</visual>
<collision>
<geometry>
<mesh filename="../mesh/industreal_pegs/industreal_tray_insert_round_peg_4mm.obj"/>
</geometry>
<sdf resolution="256"/>
</collision>
</link>
</robot>
|
NVIDIA-Omniverse/IsaacGymEnvs/assets/industreal/urdf/industreal_gear_small.urdf
|
<?xml version="1.0"?>
<robot name="industreal_gear_small">
<link name="industreal_gear_small">
<visual>
<geometry>
<mesh filename="../mesh/industreal_gears/industreal_gear_small.obj"/>
</geometry>
</visual>
<collision>
<geometry>
<mesh filename="../mesh/industreal_gears/industreal_gear_small.obj"/>
</geometry>
<sdf resolution="256"/>
</collision>
</link>
</robot>
|
NVIDIA-Omniverse/IsaacGymEnvs/assets/industreal/urdf/industreal_rectangular_peg_4mm.urdf
|
<?xml version="1.0"?>
<robot name="industreal_rectangular_peg_4mm">
<link name="industreal_rectangular_peg_4mm">
<visual>
<geometry>
<mesh filename="../mesh/industreal_pegs/industreal_rectangular_peg_4mm.obj"/>
</geometry>
</visual>
<collision>
<geometry>
<mesh filename="../mesh/industreal_pegs/industreal_rectangular_peg_4mm.obj"/>
</geometry>
<sdf resolution="256"/>
</collision>
</link>
</robot>
|
NVIDIA-Omniverse/IsaacGymEnvs/assets/industreal/urdf/industreal_round_peg_12mm.urdf
|
<?xml version="1.0"?>
<robot name="industreal_round_peg_12mm">
<link name="industreal_round_peg_12mm">
<visual>
<geometry>
<mesh filename="../mesh/industreal_pegs/industreal_round_peg_12mm.obj"/>
</geometry>
</visual>
<collision>
<geometry>
<mesh filename="../mesh/industreal_pegs/industreal_round_peg_12mm.obj"/>
</geometry>
<sdf resolution="256"/>
</collision>
</link>
</robot>
|
NVIDIA-Omniverse/IsaacGymEnvs/assets/industreal/urdf/industreal_franka_urdf_changelog.txt
|
Command to generate original xacro:
xacro $(rospack find franka_description)/robots/panda/panda.urdf.xacro arm:=panda hand:=true gazebo:=true
Changes:
- Removed dummy sub-links
- Removed Gazebo fields, safety fields, and mimic fields
- For dynamics fields, kept only damping and friction parameters, which were set to 0.0
- Verified that joint limits, joint velocity limits, and torque limits match Franka spec sheet
- Reduced joint effort limits on hand to 70 (max continuous force according to Franka spec sheet)
- Reduced joint velocity limits on hand to 0.050 (max velocity according to spec sheet)
- Removed joint limit on joint 7 to allow continuous rotation for screwing tasks
- Removed link 8 (dummy link), removed joint 8 (connects joint 7 to joint 8), and modified panda_hand_joint
(connected joint 7 to hand instead of joint 8 to hand; updated transform to include offset of original joint 8)
- Renamed panda_hand_tcp joint and panda_hand_tcp link (dummy link); added finite mass and inertia
- Replaced *.dae* with *.obj*, as *.dae* files are actually never used by Gym
- Updated visual geometry (original fingers) and collision geometry (boxes) on fingers to match our custom fingertips;
updated mass, COM, and inertia based on mass measurements and Onshape COM and inertia calculations
- Added friction to gripper joints to mitigate non-mirroring artifact
|
NVIDIA-Omniverse/iot-samples/PACKAGE-INFO.yaml
|
Package : kit-extension-template-cpp
License Type : Modified Apache 2.0
|
NVIDIA-Omniverse/iot-samples/repo.bat
|
@echo off
:: Set OMNI_REPO_ROOT early so `repo` bootstrapping can target the repository
:: root when writing out Python dependencies.
set OMNI_REPO_ROOT="%~dp0"
call "%~dp0tools\packman\python.bat" "%~dp0tools\repoman\repoman.py" %*
if %errorlevel% neq 0 ( goto Error )
:Success
exit /b 0
:Error
exit /b %errorlevel%
|
NVIDIA-Omniverse/iot-samples/tar_ignore.txt
|
**/__pycache__
**/.venv
**/.classpath
**/.env
**/.git
**/.gitignore
**/.project
**/.settings
**/.toolstarget
**/.vs
**/.vscode
**/*.*proj.user
**/*.dbmdl
**/*.jfm
**/charts
**/node_modules
**/npm-debug.log
**/obj
**/secrets.dev.yaml
**/values.dev.yaml
**/_build/generated
**/_build/host-deps
**/_build/linux-aarch64
**/_build/linux-x86_64
**/_build/PACKAGE-LICENSES
**/_compiler
**/_repo
**/deps
LICENSES
README.md
|
NVIDIA-Omniverse/iot-samples/install.sh
|
#!/bin/bash
set -e
SCRIPT_DIR=$(dirname ${BASH_SOURCE})
source "$SCRIPT_DIR/repo.sh" build $@ || exit $?
|
NVIDIA-Omniverse/iot-samples/CHANGELOG.md
|
0.2
-----
* Added support for API Token authentication
0.1
-----
* Initial release with containerization sample
0.1-pre
-----
* First release
|
NVIDIA-Omniverse/iot-samples/link_app.sh
|
#!/bin/bash
set -e
SCRIPT_DIR=$(dirname ${BASH_SOURCE})
cd "$SCRIPT_DIR"
exec "tools/packman/python.sh" tools/scripts/link_app.py $@
|
NVIDIA-Omniverse/iot-samples/install.bat
|
@echo off
call "%~dp0repo" build %*
|
NVIDIA-Omniverse/iot-samples/link_app.bat
|
@echo off
call "%~dp0tools\packman\python.bat" %~dp0tools\scripts\link_app.py %*
if %errorlevel% neq 0 ( goto Error )
:Success
exit /b 0
:Error
exit /b %errorlevel%
|
NVIDIA-Omniverse/iot-samples/VERSION.md
|
105.0
|
NVIDIA-Omniverse/iot-samples/repo.sh
|
#!/bin/bash
set -e
SCRIPT_DIR=$(dirname ${BASH_SOURCE})
cd "$SCRIPT_DIR"
# Set OMNI_REPO_ROOT early so `repo` bootstrapping can target the repository
# root when writing out Python dependencies.
export OMNI_REPO_ROOT="$( cd "$(dirname "$0")" ; pwd -P )"
exec "tools/packman/python.sh" tools/repoman/repoman.py "$@"
|
NVIDIA-Omniverse/iot-samples/repo.toml
|
########################################################################################################################
# Repo tool base settings
########################################################################################################################
[repo]
# Use the Kit Template repo configuration as a base. Only override things specific to the repo.
import_configs = ["${root}/_repo/deps/repo_kit_tools/kit-template/repo.toml"]
# Repository Name
name = "iot-samples"
[repo_build]
msbuild.vs_version = "vs2019"
post_build.commands = []
[repo_docs]
name = "Kit Extension Template C++"
project = "iot-samples"
api_output_directory = "api"
use_fast_doxygen_conversion=false
sphinx_version = "4.5.0.2-py3.10-${platform}"
sphinx_exclude_patterns = [
"_build",
"tools",
"VERSION.md",
"source/extensions/*/docs/Overview.md",
"source/extensions/*/docs/CHANGELOG.md",
]
[repo_build.licensing]
enabled = false
run_by_default = false
[repo_docs.kit]
extensions = []
[repo_package.packages."platform:windows-x86_64".docs]
windows_max_path_length = 0
|
NVIDIA-Omniverse/iot-samples/premake5.lua
|
-- Shared build scripts from repo_build package.
repo_build = require("omni/repo/build")
-- Repo root
root = repo_build.get_abs_path(".")
-- Set the desired MSVC, WINSDK, and MSBUILD versions before executing the kit template premake configuration.
MSVC_VERSION = "14.27.29110"
WINSDK_VERSION = "10.0.18362.0"
MSBUILD_VERSION = "Current"
-- Execute the kit template premake configuration, which creates the solution, finds extensions, etc.
dofile("_repo/deps/repo_kit_tools/kit-template/premake5.lua")
-- Example application that runs kit with the minimal set of extensions required to use the extension browser.
--define_app("omni.app.example.extension_browser")
-- Example application that runs kit with the minimal set of extensions required to use the viewport.
--define_app("omni.app.example.viewport")
-- The default kit dev app with extensions from this repo made available.
--define_app("omni.app.kit.dev")
|
NVIDIA-Omniverse/iot-samples/requirements.txt
|
pandas
paho-mqtt
fastapi
pyjwt
|
NVIDIA-Omniverse/iot-samples/README.md
|
# IoT Samples (Beta)
# [Table of Contents](#tableofcontents)
- [Overview](#overview)
- [Architecture](#architecture)
- [Prerequisites](#prerequisites)
- [Installation](#installation)
- [App Link Setup](#app-link-setup)
- [Headless Connector](#headless-connector)
- [CSV Ingest Application](#csv-ingest-application)
- [MQTT Ingest Application](#mqtt-ingest-application)
- [Containerize Headless Connector](#containerize-headless-connector)
- [Consuming IoT data in USD](#consuming-iot-data-in-usd)
- [Using an Extension](#using-an-extension)
- [Using Action Graph](#using-actiongraph)
- [Direct to USD from headless connector](#direct-to-usd-from-headless-connector)
- [Joining a Live Session](#joining-a-live-session)
- [API Key Authentication](#api-key-authentication)
- [Using Environment Variables](#using-environment-variables)
# Overview
Note: Before you clone the repo, ensure you have Git LFS installed and enabled. [Find out more about Git LFS](https://git-lfs.com/)
Developers can build their own IoT solutions for Omniverse by following the guidelines set out in these samples.
IoT Samples guides you on how-to:
- Connect IoT data sources (CSV, message broker etc.) to Omniverse
- Incorporate IoT data in the USD model
- Visualize IoT data, using an OmniUI extension
- Perform transformations of USD geometry using IoT data
- Incorporate Omniverse OmniGraph/ActionGraph with IoT data
The repository is broken down into the following folders:
- *app* - Is a symlink to the *Omniverse Kit* based app. Note: This folder **does not exist** when the repo is first cloned. You must follow the instruction for configuring the folder which is found here: [App Link Setup](#app-link-setup).
- *content* - Contains the content data used by the samples.
- *deps* - Contains the packman dependencies required for the stand-alone data ingestion applications.
- *exts* - Contains the sample Omniverse extension.
- *source* - Contains the stand-alone python sample applications for ingesting and manipulating a USD stage with a headless connector.
- *tools* - Contains the utility code for building and packaging Omniverse native C++ client applications,
When opening the `iot-samples` folder in Visual Studio Code, you will be promted to install a number of extensions that will enhance the python experience in Visual Studio Code.
# Architecture
The architecture decouples the IoT data model from the presentation in Omniverse, allowing for a data driven approach and separation of concerns that is similar to a [Model/View/Controller (MVC) design pattern](https://en.wikipedia.org/wiki/Model%E2%80%93view%E2%80%93controller). The diagram above illustrates the key components to a solution. These are:
- **Customer Domain** - represents the data sources. Industrial IoT deployments require connecting operational technology (OT) systems, such as SCADA, PLC, to information technology (IT) systems to enable various use cases to improve efficiency, productivity, and safety in various industries. These deployments provide a data ingestion endpoint to connect OT data to IT and cloud applications. Some of the widely adopted methods for connecting OT data include MQTT and Kafka. The samples in this repository use CSV and MQTT as data sources, but you can develop your IoT project with any other connectivity method.
- **Connector** - is a stand-alone application that implements a bidirectional bridge between customer domain and USD related data. The logic implemented by a connector is use-case dependent and can be simple or complex. The [CSV Ingest Application](#csv-ingest-application) and [MQTT Ingest Application](#mqtt-ingest-application) transits the data *as is* from source to destination, whereas the [Geometry Transformation Application](#direct-to-usd-from-headless-connector) manipulates USD geometry directly. Depending on the use cases, the connector can run as a headless application locally, on-prem, at the edge, or in the cloud.
- **USD Resolver** - is a package dependency with the libraries for USD and Omniverse. [Find out more about the Omniverse USD Resolver](https://docs.omniverse.nvidia.com/kit/docs/usd_resolver/latest/index.html)
- **Nucleus** - is Omniverse's distributed file system agent that runs locally, in the cloud, or at the enterprise level. [Find out more about the Omniverse Nucleus](https://docs.omniverse.nvidia.com/nucleus/latest/index.html)
- **Consumer** - is an application that can manipulate and present the IoT data served by a Connector.
- **USD Resolver** - is a package dependency with the libraries for USD and Omniverse.
- **Fabric** - is Omniverse's sub-system for scalable, realtime communication and update of the scene graph amongst software components, the CPU and GPU, and machines across the network. [Find out more about the Omniverse Fabric](https://docs.omniverse.nvidia.com/kit/docs/usdrt/latest/docs/usd_fabric_usdrt.html)
- **Controller** - implements application or presentation logic by manipulating the flow of data from the Connector.
- **ActionGraph/OmniGraph** - is a visual scripting language that provides the ability to implement dynamic logic in response to changes made by the Connector. [Find out more about the OmniGraph Action Graph](https://docs.omniverse.nvidia.com/kit/docs/omni.graph.docs/latest/concepts/ActionGraph.html).
- **Omniverse Extension** - is a building block within Omniverse for extending application functionality. Extensions can implement any logic required to meet an application's functional requirements. [Find out more about the Omniverse Extensions](https://docs.omniverse.nvidia.com/extensions/latest/overview.html).
- **USD Stage** - is an organized hierarchy of prims (primitives) with properties. It provides a pipeline for composing and rendering the hierarchy. It is analogous to the Presentation Layer in MVC while additionally adapting to the data and runtime configuration.
Note: Connectors implement a producer/consumer pattern that is not mutually exclusive. Connectors are free to act as producer, consumer, or both. There may also be multiple Connectors and Consumers simultaneously collaborating.
# Prerequisites
Before running any of the installation a number of prerequisites are required.
Follow the [Getting Started with Omniverse ](https://www.nvidia.com/en-us/omniverse/download/) to install the latest Omniverse version.
If you've already installed Omniverse, ensure you have updated to the latest
* Python 3.10 or greater
* Kit 105.1 or greater
* USD Composer 2023.2.0 or greater
* Nucleus 2023.1 or greater
# Installation
Once you have the latest Omniverse prerequisites installed, please run the following to install the needed Omniverse USD resolver, Omni client, and related dependencies.
```
Windows
> install.bat
```
```
Linux
> ./install.sh
```
### App Link Setup
If `app` folder link doesn't exist or becomes broken it can be recreated. For a better developer experience it is recommended to create a folder link named `app` to the *Omniverse Kit* app installed from *Omniverse Launcher*. A convenience script to use is included.
Run:
```
Windows
> link_app.bat
```
```
Linux
> ./link_app.sh
```
If successful you should see an `app` folder link in the root of this repo.
If multiple Omniverse apps are installed the script will automatically select one. Or you can explicitly pass an app:
```
Windows
> link_app.bat --app create
```
```
Linux
> ./link_app.sh --app create
```
You can also pass an explicit path to the Omniverse Kit app:
```
Windows
> link_app.bat --path "%USERPROFILE%/AppData/Local/ov/pkg/create-2023.2.0"
```
```
Linux
> ./link_app.sh --path "~/.local/share/ov/pkg/create-2023.2.0"
```
# Headless Connector
Headless connectos are stand-alone applications that implements a bidirectional bridge between customer domain and USD related data. The logic implemented by a connector is use-case dependent and can be simple or complex.
There are two sample connector applications - [CSV Ingest Application](#csv-ingest-application) and [MQTT Ingest Application](#mqtt-ingest-application) - that transits the data as is from source to destination, whereas the [Geometry Transformation Application](#direct-to-usd-from-headless-connector) manipulates USD geometry directly in the connector. Depending on the use cases, a connector can run as a headless application locally, on-prem, at the edge, or in the cloud.
### CSV Ingest Application
To execute the application run the following:
```
> python source/ingest_app_csv/run_app.py
-u <user name>
-p <password>
-s <nucleus server> (optional default: localhost)
```
Or if you are using Environment Variables (see [Using Environment Variables](#using-environment-variables))
```
> python source/ingest_app_csv/run_app.py
```
Username and password are of the Nucleus instance (running on local workstation or on cloud) you will be connecting to for your IoT projects.
You should see output resembling:
```
2023-09-19 20:35:26+00:00
2023-09-19 20:35:28+00:00
2023-09-19 20:35:30+00:00
2023-09-19 20:35:32+00:00
2023-09-19 20:35:34+00:00
2023-09-19 20:35:36+00:00
2023-09-19 20:35:38+00:00
2023-09-19 20:35:40+00:00
2023-09-19 20:35:42+00:00
2023-09-19 20:35:44+00:00
```
The CSV ingest application can be found in the `./source/ingest_app_csv` folder. It will perform the following:
- Initialize the stage
- Open a connection to Nucleus.
- Copy `./content/ConveyorBelt_A08_PR_NVD_01` to `omniverse://<nucleus server>/users/<user name>/iot-samples/ConveyorBelt_A08_PR_NVD_01` if it does not already exist.Note that you can safely delete the destination folder in Nucleus and it will be recreated the next time the connector is run.
- Create or join a Live Collaboration Session named `iot_session`.
- Create a `prim` in the `.live` layer at path `/iot/A08_PR_NVD_01` and populate it with attributes that correspond to the unique field `Id` types in the CSV file `./content/A08_PR_NVD_01_iot_data.csv`.
- Playback in real-time
- Open and parse `./content/A08_PR_NVD_01_iot_data.csv`, and group the contents by `TimeStamp`.
- Loop through the data groupings.
- Update the prim attribute corresponding to the field `Id`.
- Sleep for the the duration of delta between the previous and current `TimeStamp`.
In `USD Composer` or `Kit`, open `omniverse://<nucleus server>/users/<user name>/iot-samples/ConveyorBelt_A08_PR_NVD_01/ConveyorBelt_A08_PR_NVD_01.usd` and join the `iot_session` live collaboration session. See [Joining a Live Session](#joining-a-live-session) for detailed instructions.
Once you have joined the `iot_session`, then you should see the following:
Selecting the `/iot/A08_PR_NVD_01` prim in the `Stage` panel and toggling the `Raw USD Properties` in the `Property` panel will provide real-time updates from the the data being pushed by the Python application.
### MQTT Ingest Application
To execute the application run the the following:
```
> python source/ingest_app_mqtt/run_app.py
-u <user name>
-p <password>
-s <nucleus server> (optional default: localhost)
```
Or if you are using Environment Variables (see [Using Environment Variables](#using-environment-variables))
```
> python source/ingest_app_mqtt/run_app.py
```
Username and password are of the Nucleus instance (running on local workstation or on cloud) you will be connecting to for your IoT projects.
You should see output resembling:
```
Received `{
"_ts": 176.0,
"System_Current": 0.003981236,
"System_Voltage": 107.4890366,
"Ambient_Temperature": 79.17738342,
"Ambient_Humidity": 45.49172211
"Velocity": 1.0
}` from `iot/A08_PR_NVD_01` topic
2023-09-19 20:38:24+00:00
Received `{
"_ts": 178.0,
"System_Current": 0.003981236,
"System_Voltage": 107.4890366,
"Ambient_Temperature": 79.17738342,
"Ambient_Humidity": 45.49172211
"Velocity": 1.0
}` from `iot/A08_PR_NVD_01` topic
2023-09-19 20:38:26+00:00
```
The MQTT ingest application can be found in the `./source/ingest_app_mqtt` folder. It will perform the following:
- Initialize the stage
- Open a connection to Nucleus.
- Copy `./content/ConveyorBelt_A08_PR_NVD_01` to `omniverse://<nucleus server>/users/<user name>/iot-samples/ConveyorBelt_A08_PR_NVD_01` if it does not already exist. Note that you can safely delete the destination folder in Nucleus and it will be recreated the next time the connector is run.
- Create or join a Live Collaboration Session named `iot_session`.
- Create a `prim` in the `.live` layer at path `/iot/A08_PR_NVD_01` and populate it with attributes that correspond to the unique field `Id` types in the CSV file `./content/A08_PR_NVD_01_iot_data.csv`.
- Playback in real-time
- Connect to MQTT and subscribe to MQTT topic `iot/{A08_PR_NVD_01}`
- Dispatch data to MQTT
- Open and parse `./content/A08_PR_NVD_01_iot_data.csv`, and group the contents by `TimeStamp`.
- Loop through the data groupings.
- Publish data to the MQTT topic.
- Sleep for the the duration of delta between the previous and current `TimeStamp`.
- Consume MQTT data
- Update the prim attribute corresponding to the field `Id`.
In `'USD Composer'` or `Kit`, open `omniverse://<nucleus server>/users/<user name>/iot-samples/ConveyorBelt_A08_PR_NVD_01/ConveyorBelt_A08_PR_NVD_01.usd` and join the `iot_session` live collaboration session. . See [Joining a Live Session](#joining-a-live-session) for detailed instructions.
Once you have joined the `iot_session`, then you should see the following:
Selecting the `/iot/A08_PR_NVD_01` prim in the `Stage` panel and toggling the `Raw USD Properties` in the `Property` panel will provide real-time updates from the data being pushed by the python application
### Containerize headless connector
The following is a simple example of how to deploy a headless connector application into Docker Desktop for Windows. Steps assume the use of
- WSL (comes standard with Docker Desktop installation) and
- Ubuntu Linux as the default OS.
The ollowing has to be done in **WSL environment** and *NOT* in Windows environment. Make sure you are in WSL, else you may encounter build and dependency errors.
- If you have an earlier version of the repo cloned, you may want to delete the old repo in WSL and start with a new cloned repo in WSL. Else you could end up with file mismatches and related errors.
- Before you clone the repo, ensure you have Git LFS installed and enabled. [Find out more about Git LFS](https://git-lfs.com/)
- Clone a new repo from **within WSL**
Once you have a new repo cloned, from within WSL run.
```
> ./install.sh
```
- Share the Nucleus services using a web browser by navigating to http://localhost:3080/. Click on 'Enable Sharing'. This will enable access to Nucleus services from WSL.
- Record the *WSL IP address* of the host machine for use by the container application.
```
PS C:\> ipconfig
Windows IP Configuration
...
Ethernet adapter vEthernet (WSL):
Connection-specific DNS Suffix . :
Link-local IPv6 Address . . . . . : fe80::8026:14db:524d:796f%63
IPv4 Address. . . . . . . . . . . : 172.21.208.1
Subnet Mask . . . . . . . . . . . : 255.255.240.0
Default Gateway . . . . . . . . . :
...
```
- Open a Bash prompt in **WSL** and navigate to the source repo and launch Visual Studio Code (example: `~/github/iot-samples/`). Make sure you're launching the Visual Studio Code from **WSL environment** and *not* editing the DockerFile from within Windows
```bash
code .
```
- Modify the DockerFile `ENTRYPOINT` to add the WSL IP address to connect to the Host's Nucleus Server. Also, include the username and password for your Omniverse Nucleus instance.
```docker
# For more information, please refer to https://aka.ms/vscode-docker-python
FROM python:3.10-slim
# Keeps Python from generating .pyc files in the container
ENV PYTHONDONTWRITEBYTECODE=1
# Turns off buffering for easier container logging
ENV PYTHONUNBUFFERED=1
# Install pip requirements
COPY requirements.txt .
RUN python -m pip install -r requirements.txt
WORKDIR /app
COPY . /app
# Creates a non-root user with an explicit UID and adds permission to access the /app folder
# For more info, please refer to https://aka.ms/vscode-docker-python-configure-containers
RUN adduser -u 5678 --disabled-password --gecos "" appuser && chown -R appuser /app
USER appuser
# During debugging, this entry point will be overridden. For more information, please refer to https://aka.ms/vscode-docker-python-debug
ENTRYPOINT [ "python", "source/ingest_app_csv/run_app.py", "--server", "<host IP address>", "--username", "<username>", "--password", "<password>" ]
```
- Create a docker image named `headlessapp`.
```bash
tar -czh -X tar_ignore.txt . | docker build -t headlessapp -
```
- Run a container with the lastest version of the `headlessapp` image
```
docker run -d --add-host host.docker.internal:host-gateway -p 3100:3100 -p 8891:8891 -p 8892:8892 headlessapp:latest
```
- Watch the application run in Docker Desktop.
# Consuming IoT data in USD
Consume the IoT data served by a connector by building your own application logic to visualize, animate and transform with USD stage. The application logic could use one of the following approaches or all of them;
- Extension
- Action Graph
- Direct to USD from headless connector
### Using an Extension
The sample IoT Extension uses Omniverse Extensions, which are the core building blocks of Omniverse Kit-based applications.
The IoT Extension demonstrates;
1. Visualizing IoT data
2. Animating a USD stage using IoT data
To enable the IoT Extension in USD Composer or Kit, do the following:
Open the Extensions panel by clicking on **Window** > **Extensions** in the menu and then follow the steps as shown.
1. **Visualizing IoT data**
The IoT Extension leverages the Omniverse UI Framework to visualize the IoT data as a panel. [Find out more about the Omniverse UI Framework](https://docs.omniverse.nvidia.com/kit/docs/omni.ui/latest/Overview.html)
Once you have enabled the IoT extension, you should see IoT data visualized in a Panel.
Alternatively, you can launch your app from the console with this folder added to search path and your extension enabled, e.g.:
```
> app\omni.code.bat --ext-folder exts --enable omni.iot.sample.panel
```
2. **Animating a USD stage using IoT data**
In `'USD Composer'` or `Kit`,
open `omniverse://<nucleus server>/users/<user name>/iot-samples/ConveyorBelt_A08_PR_NVD_01/ConveyorBelt_A08_PR_NVD_01.usd`.
Ensure the IoT Extension is enabled.
Click on the `play` icon on the left toolbar of the USD Composer and the extension will animate to the `Velocity` value change in the IoT data
and then run one of the following:
```
source\ingest_app_csv\run_app.py
-u <user name>
-p <password>
-s <nucleus server> (optional default: localhost)
```
or
```
source\ingest_app_mqtt\run_app.py
-u <user name>
-p <password>
-s <nucleus server> (optional default: localhost)
```
If you are using Environment Variables (see [Using Environment Variables](#using-environment-variables)) then run one of the following:
```
> python source/ingest_app_csv/run_app.py
```
or
```
> python source/ingest_app_mqtt/run_app.py
```
Username and password are for the target Nucleus instance (running on local workstation or on cloud) that you will be connecting to for your IoT projects.
You will see the following animation with the cube moving:
When the IoT velocity value changes, the extension will animate the rollers (`LiveRoller` class) as well as the cube (`LiveCube` class).
### Using ActionGraph
The `ConveyorBelt_A08_PR_NVD_01.usd` contains a simple `ActionGraph` that reads, formats, and displays an attribute from the IoT prim in the ViewPort (see [Omniverse Extensions Viewport](https://docs.omniverse.nvidia.com/extensions/latest/ext_viewport.html)).
To access the graph:
- Select the `Window/Visual Scripting/Action Graph` menu
- Select `Edit Action Graph`
- Select `/World/ActionGraph`
You should see the following:
The Graph performs the following:
- Reads the `_ts` attribute from the `/iot/A08_PR_NVD_01` prim.
- Converts the numerical value to a string.
- Prepends the string with `TimeStamp: `.
- Displays the result on the ViewPort.
### Direct to USD from Headless Connector
Sample demonstrates how to execute USD tranformations from a headless connector using arbtriary values.
To execute the application run the the following:
```
> python source/transform_geometry/run_app.py
-u <user name>
-p <password>
-s <nucleus server> (optional default: localhost)
```
Username and password are of the Nucleus instance (running on local workstation or on cloud) you will be connecting to for your IoT projects.
The sample geometry transformation application can be found in `source\transform_geometry`. It will perform the following:
- Initialize the stage
- Open a connection to Nucleus.
- Open or Create the USD stage `omniverse://<nucleus server>/users/<user name>/iot-samples/Dancing_Cubes.usd`.
- Create or join a Live Collaboration Session named `iot_session`.
- Create a `prim` in the `.live` layer at path `/World`.
- Create a `Cube` at path `/World/cube`.
- Add a `Rotation`.
- Create a `Mesh` at path `/World/cube/mesh`.
- Playback in real-time
- Loop for 20 seconds at 30 frames per second.
- Randomly rotate the `Cube` along the X, Y, and Z planes.
If you open `omniverse://<nucleus server>/users/<user name>/iot-samples/Dancing_Cubes.usd` in `Composer` or `Kit`, you should see the following:
# Joining A Live Session
Here's how-to join a live collaboration session. Click on `Join Session`
Select `iot-session` from the drop down to join the already created live session.
# API Key Authentication
To authenicate the connector application using an API Key, start Nucleus Explore from the Omniverse Launcher application and right click on the server you wish to connect to and select `API Tokens`
Provide a token name and click `Create`
Copy the token token value and store it somewhere safe.
If you are using the `run_app.py` application launcher you can do the following:
```
> python source/ingest_app_csv/run_app.py
-u $omni-api-token
-p <api token>
-s <nucleus server> (optional default: localhost)
```
Or if you are using Environment Variables (see [Using Environment Variables](#using-environment-variables)) you can do the following:
```
> python source/ingest_app_csv/run_app.py
```
# Using Environment Variables
The samples supports Nucleus authentication via Environment Variables.
For Windows Powershell with User Name/Password:
```powershell
$Env:OMNI_HOST = "<host name>"
$Env:OMNI_USER = "<user name>"
$Env:OMNI_PASS = "<password>"
```
For Windows Powershell with API Token:
```powershell
$Env:OMNI_HOST = "<host name>"
$Env:OMNI_USER = "`$omni-api-token"
$Env:OMNI_PASS = "<API Token>"
```
For Linux Bash with User Name/Password:
```bash
export OMNI_HOST=<host name>
export OMNI_USER=<user name>
export OMNI_PASS=<password>
```
For Linux Bash with API Token:
```bash
export OMNI_HOST=<host name>
export OMNI_USER=\$omni-api-token
export OMNI_PASS=<API Token>
```
|
NVIDIA-Omniverse/iot-samples/deps/repo-deps.packman.xml
|
<project toolsVersion="5.0">
<dependency name="repo_build" linkPath="../_repo/deps/repo_build">
<package name="repo_build" version="0.54.1" />
</dependency>
<dependency name="repo_changelog" linkPath="../_repo/deps/repo_changelog">
<package name="repo_changelog" version="0.3.20" />
</dependency>
<dependency name="repo_docs" linkPath="../_repo/deps/repo_docs">
<package name="repo_docs" version="0.40.2" />
</dependency>
<dependency name="repo_kit_tools" linkPath="../_repo/deps/repo_kit_tools">
<package name="repo_kit_tools" version="0.13.52" />
</dependency>
<dependency name="repo_man" linkPath="../_repo/deps/repo_man">
<package name="repo_man" version="1.46.5" />
</dependency>
<dependency name="repo_package" linkPath="../_repo/deps/repo_package">
<package name="repo_package" version="5.9.3" />
</dependency>
<dependency name="repo_format" linkPath="../_repo/deps/repo_format">
<package name="repo_format" version="2.8.0" />
</dependency>
<dependency name="repo_source" linkPath="../_repo/deps/repo_source">
<package name="repo_source" version="0.4.3" />
</dependency>
</project>
|
NVIDIA-Omniverse/iot-samples/deps/kit-sdk.packman.xml
|
<project toolsVersion="5.0">
<!-- We always depend on the release kit-sdk package, regardless of config -->
<dependency name="kit_sdk_${config}" linkPath="../_build/${platform}/${config}/kit" tags="${config} non-redist">
<package name="kit-sdk" version="105.1+release.127680.dd92291b.tc.${platform}.release" platforms="windows-x86_64 linux-x86_64" />
</dependency>
</project>
|
NVIDIA-Omniverse/iot-samples/deps/host-deps.packman.xml
|
<project toolsVersion="5.0">
<dependency name="premake" linkPath="../_build/host-deps/premake">
<package name="premake" version="5.0.0-beta2+nv1-${platform}" />
</dependency>
<dependency name="msvc" linkPath="../_build/host-deps/msvc">
<package name="msvc" version="2019-16.7.6-license" platforms="windows-x86_64" checksum="0e37c0f29899fe10dcbef6756bcd69c2c4422a3ca1101206df272dc3d295b92d" />
</dependency>
<dependency name="winsdk" linkPath="../_build/host-deps/winsdk">
<package name="winsdk" version="10.0.18362.0-license" platforms="windows-x86_64" checksum="2db7aeb2278b79c6c9fbca8f5d72b16090b3554f52b1f3e5f1c8739c5132a3d6" />
</dependency>
</project>
|
NVIDIA-Omniverse/iot-samples/deps/kit-sdk-deps.packman.xml
|
<project toolsVersion="5.0">
<!-- Import dependencies from Kit SDK to ensure we're using the same versions. -->
<import path="../_build/${platform}/${config}/kit/dev/all-deps.packman.xml">
<filter include="omni_usd_resolver" />
<filter include="omni_client_library" />
<filter include="python" />
</import>
<!-- Override the link paths to point to the correct locations. -->
<dependency name="omni_usd_resolver" linkPath="../_build/target-deps/omni_usd_resolver" />
<dependency name="omni_client_library" linkPath="../_build/target-deps/omni_client_library" />
<dependency name="python" linkPath="../_build/target-deps/python" />
</project>
|
NVIDIA-Omniverse/iot-samples/deps/ext-deps.packman.xml
|
<project toolsVersion="5.0">
<!-- Import dependencies from Kit SDK to ensure we're using the same versions. -->
<import path="../_build/${platform}/${config}/kit/dev/all-deps.packman.xml">
<filter include="nv_usd_py310_release"/>
</import>
<!-- Override the link paths to point to the correct locations. -->
<dependency name="nv_usd_py310_release" linkPath="../_build/target-deps/usd/release"/>
</project>
|
NVIDIA-Omniverse/iot-samples/tools/repoman/repoman.py
|
import os
import sys
import io
import contextlib
import packmanapi
REPO_ROOT = os.path.join(os.path.dirname(os.path.realpath(__file__)), "../..")
REPO_DEPS_FILE = os.path.join(REPO_ROOT, "deps/repo-deps.packman.xml")
def bootstrap():
"""
Bootstrap all omni.repo modules.
Pull with packman from repo.packman.xml and add them all to python sys.path to enable importing.
"""
#with contextlib.redirect_stdout(io.StringIO()):
deps = packmanapi.pull(REPO_DEPS_FILE)
for dep_path in deps.values():
if dep_path not in sys.path:
sys.path.append(dep_path)
if __name__ == "__main__":
bootstrap()
import omni.repo.man
omni.repo.man.main(REPO_ROOT)
|
NVIDIA-Omniverse/iot-samples/tools/scripts/link_app.py
|
import argparse
import json
import os
import sys
import packmanapi
import urllib3
def find_omniverse_apps():
http = urllib3.PoolManager()
try:
r = http.request("GET", "http://127.0.0.1:33480/components")
except Exception as e:
print(f"Failed retrieving apps from an Omniverse Launcher, maybe it is not installed?\nError: {e}")
sys.exit(1)
apps = {}
for x in json.loads(r.data.decode("utf-8")):
latest = x.get("installedVersions", {}).get("latest", "")
if latest:
for s in x.get("settings", []):
if s.get("version", "") == latest:
root = s.get("launch", {}).get("root", "")
apps[x["slug"]] = (x["name"], root)
break
return apps
def create_link(src, dst):
print(f"Creating a link '{src}' -> '{dst}'")
packmanapi.link(src, dst)
APP_PRIORITIES = ["code", "create", "view"]
if __name__ == "__main__":
parser = argparse.ArgumentParser(description="Create folder link to Kit App installed from Omniverse Launcher")
parser.add_argument(
"--path",
help="Path to Kit App installed from Omniverse Launcher, e.g.: 'C:/Users/bob/AppData/Local/ov/pkg/create-2021.3.4'",
required=False,
)
parser.add_argument(
"--app", help="Name of Kit App installed from Omniverse Launcher, e.g.: 'code', 'create'", required=False
)
args = parser.parse_args()
path = args.path
if not path:
print("Path is not specified, looking for Omniverse Apps...")
apps = find_omniverse_apps()
if len(apps) == 0:
print(
"Can't find any Omniverse Apps. Use Omniverse Launcher to install one. 'Code' is the recommended app for developers."
)
sys.exit(0)
print("\nFound following Omniverse Apps:")
for i, slug in enumerate(apps):
name, root = apps[slug]
print(f"{i}: {name} ({slug}) at: '{root}'")
if args.app:
selected_app = args.app.lower()
if selected_app not in apps:
choices = ", ".join(apps.keys())
print(f"Passed app: '{selected_app}' is not found. Specify one of the following found Apps: {choices}")
sys.exit(0)
else:
selected_app = next((x for x in APP_PRIORITIES if x in apps), None)
if not selected_app:
selected_app = next(iter(apps))
print(f"\nSelected app: {selected_app}")
_, path = apps[selected_app]
if not os.path.exists(path):
print(f"Provided path doesn't exist: {path}")
else:
SCRIPT_ROOT = os.path.dirname(os.path.realpath(__file__))
create_link(f"{SCRIPT_ROOT}/../../app", path)
print("Success!")
|
NVIDIA-Omniverse/iot-samples/tools/packman/python.sh
|
#!/bin/bash
# Copyright 2019-2020 NVIDIA CORPORATION
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
# http://www.apache.org/licenses/LICENSE-2.0
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.
set -e
PACKMAN_CMD="$(dirname "${BASH_SOURCE}")/packman"
if [ ! -f "$PACKMAN_CMD" ]; then
PACKMAN_CMD="${PACKMAN_CMD}.sh"
fi
source "$PACKMAN_CMD" init
export PYTHONPATH="${PM_MODULE_DIR}:${PYTHONPATH}"
if [ -z "${PYTHONNOUSERSITE:-}" ]; then
export PYTHONNOUSERSITE=1
fi
# For performance, default to unbuffered; however, allow overriding via
# PYTHONUNBUFFERED=0 since PYTHONUNBUFFERED on windows can truncate output
# when printing long strings
if [ -z "${PYTHONUNBUFFERED:-}" ]; then
export PYTHONUNBUFFERED=1
fi
# workaround for our python not shipping with certs
if [[ -z ${SSL_CERT_DIR:-} ]]; then
export SSL_CERT_DIR=/etc/ssl/certs/
fi
"${PM_PYTHON}" "$@"
|
NVIDIA-Omniverse/iot-samples/tools/packman/python.bat
|
:: Copyright 2019-2020 NVIDIA CORPORATION
::
:: Licensed under the Apache License, Version 2.0 (the "License");
:: you may not use this file except in compliance with the License.
:: You may obtain a copy of the License at
::
:: http://www.apache.org/licenses/LICENSE-2.0
::
:: Unless required by applicable law or agreed to in writing, software
:: distributed under the License is distributed on an "AS IS" BASIS,
:: WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
:: See the License for the specific language governing permissions and
:: limitations under the License.
@echo off
setlocal enableextensions
call "%~dp0\packman" init
set "PYTHONPATH=%PM_MODULE_DIR%;%PYTHONPATH%"
if not defined PYTHONNOUSERSITE (
set PYTHONNOUSERSITE=1
)
REM For performance, default to unbuffered; however, allow overriding via
REM PYTHONUNBUFFERED=0 since PYTHONUNBUFFERED on windows can truncate output
REM when printing long strings
if not defined PYTHONUNBUFFERED (
set PYTHONUNBUFFERED=1
)
"%PM_PYTHON%" %*
|
NVIDIA-Omniverse/iot-samples/tools/packman/packmanconf.py
|
# Use this file to bootstrap packman into your Python environment (3.7.x). Simply
# add the path by doing sys.insert to where packmanconf.py is located and then execute:
#
# >>> import packmanconf
# >>> packmanconf.init()
#
# It will use the configured remote(s) and the version of packman in the same folder,
# giving you full access to the packman API via the following module
#
# >> import packmanapi
# >> dir(packmanapi)
import os
import platform
import sys
def init():
"""Call this function to initialize the packman configuration.
Calls to the packman API will work after successfully calling this function.
Note:
This function only needs to be called once during the execution of your
program. Calling it repeatedly is harmless but wasteful.
Compatibility with your Python interpreter is checked and upon failure
the function will report what is required.
Example:
>>> import packmanconf
>>> packmanconf.init()
>>> import packmanapi
>>> packmanapi.set_verbosity_level(packmanapi.VERBOSITY_HIGH)
"""
major = sys.version_info[0]
minor = sys.version_info[1]
if major != 3 or minor != 10:
raise RuntimeError(
f"This version of packman requires Python 3.10.x, but {major}.{minor} was provided"
)
conf_dir = os.path.dirname(os.path.abspath(__file__))
os.environ["PM_INSTALL_PATH"] = conf_dir
packages_root = get_packages_root(conf_dir)
version = get_version(conf_dir)
module_dir = get_module_dir(conf_dir, packages_root, version)
sys.path.insert(1, module_dir)
def get_packages_root(conf_dir: str) -> str:
root = os.getenv("PM_PACKAGES_ROOT")
if not root:
platform_name = platform.system()
if platform_name == "Windows":
drive, _ = os.path.splitdrive(conf_dir)
root = os.path.join(drive, "packman-repo")
elif platform_name == "Darwin":
# macOS
root = os.path.join(
os.path.expanduser("~"), "Library/Application Support/packman-cache"
)
elif platform_name == "Linux":
try:
cache_root = os.environ["XDG_HOME_CACHE"]
except KeyError:
cache_root = os.path.join(os.path.expanduser("~"), ".cache")
return os.path.join(cache_root, "packman")
else:
raise RuntimeError(f"Unsupported platform '{platform_name}'")
# make sure the path exists:
os.makedirs(root, exist_ok=True)
return root
def get_module_dir(conf_dir, packages_root: str, version: str) -> str:
module_dir = os.path.join(packages_root, "packman-common", version)
if not os.path.exists(module_dir):
import tempfile
tf = tempfile.NamedTemporaryFile(delete=False)
target_name = tf.name
tf.close()
url = f"http://bootstrap.packman.nvidia.com/packman-common@{version}.zip"
print(f"Downloading '{url}' ...")
import urllib.request
urllib.request.urlretrieve(url, target_name)
from importlib.machinery import SourceFileLoader
# import module from path provided
script_path = os.path.join(conf_dir, "bootstrap", "install_package.py")
ip = SourceFileLoader("install_package", script_path).load_module()
print("Unpacking ...")
ip.install_package(target_name, module_dir)
os.unlink(tf.name)
return module_dir
def get_version(conf_dir: str):
path = os.path.join(conf_dir, "packman")
if not os.path.exists(path): # in dev repo fallback
path += ".sh"
with open(path, "rt", encoding="utf8") as launch_file:
for line in launch_file.readlines():
if line.startswith("PM_PACKMAN_VERSION"):
_, value = line.split("=")
return value.strip()
raise RuntimeError(f"Unable to find 'PM_PACKMAN_VERSION' in '{path}'")
|
NVIDIA-Omniverse/iot-samples/tools/packman/packman.cmd
|
:: RUN_PM_MODULE must always be at the same spot for packman update to work (batch reloads file during update!)
:: [xxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxx]
:: Reset errorlevel status (don't inherit from caller)
@call :ECHO_AND_RESET_ERROR
:: You can remove this section if you do your own manual configuration of the dev machines
call :CONFIGURE
if %errorlevel% neq 0 ( exit /b %errorlevel% )
:: Everything below is mandatory
if not defined PM_PYTHON goto :PYTHON_ENV_ERROR
if not defined PM_MODULE goto :MODULE_ENV_ERROR
set PM_VAR_PATH_ARG=
if "%1"=="pull" goto :SET_VAR_PATH
if "%1"=="install" goto :SET_VAR_PATH
:RUN_PM_MODULE
"%PM_PYTHON%" -S -s -u -E "%PM_MODULE%" %* %PM_VAR_PATH_ARG%
if %errorlevel% neq 0 ( exit /b %errorlevel% )
:: Marshall environment variables into the current environment if they have been generated and remove temporary file
if exist "%PM_VAR_PATH%" (
for /F "usebackq tokens=*" %%A in ("%PM_VAR_PATH%") do set "%%A"
)
if %errorlevel% neq 0 ( goto :VAR_ERROR )
if exist "%PM_VAR_PATH%" (
del /F "%PM_VAR_PATH%"
)
if %errorlevel% neq 0 ( goto :VAR_ERROR )
set PM_VAR_PATH=
goto :eof
:: Subroutines below
:PYTHON_ENV_ERROR
@echo User environment variable PM_PYTHON is not set! Please configure machine for packman or call configure.bat.
exit /b 1
:MODULE_ENV_ERROR
@echo User environment variable PM_MODULE is not set! Please configure machine for packman or call configure.bat.
exit /b 1
:VAR_ERROR
@echo Error while processing and setting environment variables!
exit /b 1
:: pad [xxxx]
:ECHO_AND_RESET_ERROR
@echo off
if /I "%PM_VERBOSITY%"=="debug" (
@echo on
)
exit /b 0
:SET_VAR_PATH
:: Generate temporary path for variable file
for /f "delims=" %%a in ('%PM_PYTHON% -S -s -u -E -c "import tempfile;file = tempfile.NamedTemporaryFile(mode='w+t', delete=False);print(file.name)"') do (set PM_VAR_PATH=%%a)
set PM_VAR_PATH_ARG=--var-path="%PM_VAR_PATH%"
goto :RUN_PM_MODULE
:CONFIGURE
:: Must capture and set code page to work around issue #279, powershell invocation mutates console font
:: This issue only happens in Windows CMD shell when using 65001 code page. Some Git Bash implementations
:: don't support chcp so this workaround is a bit convoluted.
:: Test for chcp:
chcp > nul 2>&1
if %errorlevel% equ 0 (
for /f "tokens=2 delims=:" %%a in ('chcp') do (set PM_OLD_CODE_PAGE=%%a)
) else (
call :ECHO_AND_RESET_ERROR
)
:: trim leading space (this is safe even when PM_OLD_CODE_PAGE has not been set)
set PM_OLD_CODE_PAGE=%PM_OLD_CODE_PAGE:~1%
if "%PM_OLD_CODE_PAGE%" equ "65001" (
chcp 437 > nul
set PM_RESTORE_CODE_PAGE=1
)
call "%~dp0\bootstrap\configure.bat"
set PM_CONFIG_ERRORLEVEL=%errorlevel%
if defined PM_RESTORE_CODE_PAGE (
:: Restore code page
chcp %PM_OLD_CODE_PAGE% > nul
)
set PM_OLD_CODE_PAGE=
set PM_RESTORE_CODE_PAGE=
exit /b %PM_CONFIG_ERRORLEVEL%
|
NVIDIA-Omniverse/iot-samples/tools/packman/config.packman.xml
|
<config remotes="cloudfront">
<remote2 name="cloudfront">
<transport actions="download" protocol="https" packageLocation="d4i3qtqj3r0z5.cloudfront.net/${name}@${version}" />
</remote2>
</config>
|
NVIDIA-Omniverse/iot-samples/tools/packman/bootstrap/generate_temp_file_name.ps1
|
<#
Copyright 2019 NVIDIA CORPORATION
Licensed under the Apache License, Version 2.0 (the "License");
you may not use this file except in compliance with the License.
You may obtain a copy of the License at
http://www.apache.org/licenses/LICENSE-2.0
Unless required by applicable law or agreed to in writing, software
distributed under the License is distributed on an "AS IS" BASIS,
WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
See the License for the specific language governing permissions and
limitations under the License.
#>
$out = [System.IO.Path]::GetTempFileName()
Write-Host $out
# SIG # Begin signature block
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# SIG # End signature block
|
NVIDIA-Omniverse/iot-samples/tools/packman/bootstrap/configure.bat
|
:: Copyright 2019-2023 NVIDIA CORPORATION
::
:: Licensed under the Apache License, Version 2.0 (the "License");
:: you may not use this file except in compliance with the License.
:: You may obtain a copy of the License at
::
:: http://www.apache.org/licenses/LICENSE-2.0
::
:: Unless required by applicable law or agreed to in writing, software
:: distributed under the License is distributed on an "AS IS" BASIS,
:: WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
:: See the License for the specific language governing permissions and
:: limitations under the License.
set PM_PACKMAN_VERSION=7.10
:: Specify where packman command is rooted
set PM_INSTALL_PATH=%~dp0..
:: The external root may already be configured and we should do minimal work in that case
if defined PM_PACKAGES_ROOT goto ENSURE_DIR
:: If the folder isn't set we assume that the best place for it is on the drive that we are currently
:: running from
set PM_DRIVE=%CD:~0,2%
set PM_PACKAGES_ROOT=%PM_DRIVE%\packman-repo
:: We use *setx* here so that the variable is persisted in the user environment
echo Setting user environment variable PM_PACKAGES_ROOT to %PM_PACKAGES_ROOT%
setx PM_PACKAGES_ROOT %PM_PACKAGES_ROOT%
if %errorlevel% neq 0 ( goto ERROR )
:: The above doesn't work properly from a build step in VisualStudio because a separate process is
:: spawned for it so it will be lost for subsequent compilation steps - VisualStudio must
:: be launched from a new process. We catch this odd-ball case here:
if defined PM_DISABLE_VS_WARNING goto ENSURE_DIR
if not defined VSLANG goto ENSURE_DIR
echo The above is a once-per-computer operation. Unfortunately VisualStudio cannot pick up environment change
echo unless *VisualStudio is RELAUNCHED*.
echo If you are launching VisualStudio from command line or command line utility make sure
echo you have a fresh launch environment (relaunch the command line or utility).
echo If you are using 'linkPath' and referring to packages via local folder links you can safely ignore this warning.
echo You can disable this warning by setting the environment variable PM_DISABLE_VS_WARNING.
echo.
:: Check for the directory that we need. Note that mkdir will create any directories
:: that may be needed in the path
:ENSURE_DIR
if not exist "%PM_PACKAGES_ROOT%" (
echo Creating packman packages cache at %PM_PACKAGES_ROOT%
mkdir "%PM_PACKAGES_ROOT%"
)
if %errorlevel% neq 0 ( goto ERROR_MKDIR_PACKAGES_ROOT )
:: The Python interpreter may already be externally configured
if defined PM_PYTHON_EXT (
set PM_PYTHON=%PM_PYTHON_EXT%
goto PACKMAN
)
set PM_PYTHON_VERSION=3.10.5-1-windows-x86_64
set PM_PYTHON_BASE_DIR=%PM_PACKAGES_ROOT%\python
set PM_PYTHON_DIR=%PM_PYTHON_BASE_DIR%\%PM_PYTHON_VERSION%
set PM_PYTHON=%PM_PYTHON_DIR%\python.exe
if exist "%PM_PYTHON%" goto PACKMAN
if not exist "%PM_PYTHON_BASE_DIR%" call :CREATE_PYTHON_BASE_DIR
set PM_PYTHON_PACKAGE=python@%PM_PYTHON_VERSION%.cab
for /f "delims=" %%a in ('powershell -ExecutionPolicy ByPass -NoLogo -NoProfile -File "%~dp0\generate_temp_file_name.ps1"') do set TEMP_FILE_NAME=%%a
set TARGET=%TEMP_FILE_NAME%.zip
call "%~dp0fetch_file_from_packman_bootstrap.cmd" %PM_PYTHON_PACKAGE% "%TARGET%"
if %errorlevel% neq 0 (
echo !!! Error fetching python from CDN !!!
goto ERROR
)
for /f "delims=" %%a in ('powershell -ExecutionPolicy ByPass -NoLogo -NoProfile -File "%~dp0\generate_temp_folder.ps1" -parentPath "%PM_PYTHON_BASE_DIR%"') do set TEMP_FOLDER_NAME=%%a
echo Unpacking Python interpreter ...
"%SystemRoot%\system32\expand.exe" -F:* "%TARGET%" "%TEMP_FOLDER_NAME%" 1> nul
del "%TARGET%"
:: Failure during extraction to temp folder name, need to clean up and abort
if %errorlevel% neq 0 (
echo !!! Error unpacking python !!!
call :CLEAN_UP_TEMP_FOLDER
goto ERROR
)
:: If python has now been installed by a concurrent process we need to clean up and then continue
if exist "%PM_PYTHON%" (
call :CLEAN_UP_TEMP_FOLDER
goto PACKMAN
) else (
if exist "%PM_PYTHON_DIR%" ( rd /s /q "%PM_PYTHON_DIR%" > nul )
)
:: Perform atomic move (allowing ovewrite, /y)
move /y "%TEMP_FOLDER_NAME%" "%PM_PYTHON_DIR%" 1> nul
:: Verify that python.exe is now where we expect
if exist "%PM_PYTHON%" goto PACKMAN
:: Wait a second and try again (can help with access denied weirdness)
timeout /t 1 /nobreak 1> nul
move /y "%TEMP_FOLDER_NAME%" "%PM_PYTHON_DIR%" 1> nul
if %errorlevel% neq 0 (
echo !!! Error moving python %TEMP_FOLDER_NAME% -> %PM_PYTHON_DIR% !!!
call :CLEAN_UP_TEMP_FOLDER
goto ERROR
)
:PACKMAN
:: The packman module may already be externally configured
if defined PM_MODULE_DIR_EXT (
set PM_MODULE_DIR=%PM_MODULE_DIR_EXT%
) else (
set PM_MODULE_DIR=%PM_PACKAGES_ROOT%\packman-common\%PM_PACKMAN_VERSION%
)
set PM_MODULE=%PM_MODULE_DIR%\run.py
if exist "%PM_MODULE%" goto END
:: Clean out broken PM_MODULE_DIR if it exists
if exist "%PM_MODULE_DIR%" ( rd /s /q "%PM_MODULE_DIR%" > nul )
set PM_MODULE_PACKAGE=packman-common@%PM_PACKMAN_VERSION%.zip
for /f "delims=" %%a in ('powershell -ExecutionPolicy ByPass -NoLogo -NoProfile -File "%~dp0\generate_temp_file_name.ps1"') do set TEMP_FILE_NAME=%%a
set TARGET=%TEMP_FILE_NAME%
call "%~dp0fetch_file_from_packman_bootstrap.cmd" %PM_MODULE_PACKAGE% "%TARGET%"
if %errorlevel% neq 0 (
echo !!! Error fetching packman from CDN !!!
goto ERROR
)
echo Unpacking ...
"%PM_PYTHON%" -S -s -u -E "%~dp0\install_package.py" "%TARGET%" "%PM_MODULE_DIR%"
if %errorlevel% neq 0 (
echo !!! Error unpacking packman !!!
goto ERROR
)
del "%TARGET%"
goto END
:ERROR_MKDIR_PACKAGES_ROOT
echo Failed to automatically create packman packages repo at %PM_PACKAGES_ROOT%.
echo Please set a location explicitly that packman has permission to write to, by issuing:
echo.
echo setx PM_PACKAGES_ROOT {path-you-choose-for-storing-packman-packages-locally}
echo.
echo Then launch a new command console for the changes to take effect and run packman command again.
exit /B %errorlevel%
:ERROR
echo !!! Failure while configuring local machine :( !!!
exit /B %errorlevel%
:CLEAN_UP_TEMP_FOLDER
rd /S /Q "%TEMP_FOLDER_NAME%"
exit /B
:CREATE_PYTHON_BASE_DIR
:: We ignore errors and clean error state - if two processes create the directory one will fail which is fine
md "%PM_PYTHON_BASE_DIR%" > nul 2>&1
exit /B 0
:END
|
NVIDIA-Omniverse/iot-samples/tools/packman/bootstrap/fetch_file_from_packman_bootstrap.cmd
|
:: Copyright 2019 NVIDIA CORPORATION
::
:: Licensed under the Apache License, Version 2.0 (the "License");
:: you may not use this file except in compliance with the License.
:: You may obtain a copy of the License at
::
:: http://www.apache.org/licenses/LICENSE-2.0
::
:: Unless required by applicable law or agreed to in writing, software
:: distributed under the License is distributed on an "AS IS" BASIS,
:: WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
:: See the License for the specific language governing permissions and
:: limitations under the License.
:: You need to specify <package-name> <target-path> as input to this command
@setlocal
@set PACKAGE_NAME=%1
@set TARGET_PATH=%2
@echo Fetching %PACKAGE_NAME% ...
@powershell -ExecutionPolicy ByPass -NoLogo -NoProfile -File "%~dp0download_file_from_url.ps1" ^
-source "http://bootstrap.packman.nvidia.com/%PACKAGE_NAME%" -output %TARGET_PATH%
:: A bug in powershell prevents the errorlevel code from being set when using the -File execution option
:: We must therefore do our own failure analysis, basically make sure the file exists:
@if not exist %TARGET_PATH% goto ERROR_DOWNLOAD_FAILED
@endlocal
@exit /b 0
:ERROR_DOWNLOAD_FAILED
@echo Failed to download file from S3
@echo Most likely because endpoint cannot be reached or file %PACKAGE_NAME% doesn't exist
@endlocal
@exit /b 1
|
NVIDIA-Omniverse/iot-samples/tools/packman/bootstrap/download_file_from_url.ps1
|
<#
Copyright 2019 NVIDIA CORPORATION
Licensed under the Apache License, Version 2.0 (the "License");
you may not use this file except in compliance with the License.
You may obtain a copy of the License at
http://www.apache.org/licenses/LICENSE-2.0
Unless required by applicable law or agreed to in writing, software
distributed under the License is distributed on an "AS IS" BASIS,
WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
See the License for the specific language governing permissions and
limitations under the License.
#>
param(
[Parameter(Mandatory=$true)][string]$source=$null,
[string]$output="out.exe"
)
$filename = $output
$triesLeft = 4
$delay = 2
do
{
$triesLeft -= 1
try
{
Write-Host "Downloading from bootstrap.packman.nvidia.com ..."
$wc = New-Object net.webclient
$wc.Downloadfile($source, $fileName)
exit 0
}
catch
{
Write-Host "Error downloading $source!"
Write-Host $_.Exception|format-list -force
if ($triesLeft)
{
Write-Host "Retrying in $delay seconds ..."
Start-Sleep -seconds $delay
}
$delay = $delay * $delay
}
} while ($triesLeft -gt 0)
# We only get here if the retries have been exhausted, remove any left-overs:
if (Test-Path $fileName)
{
Remove-Item $fileName
}
exit 1
|
NVIDIA-Omniverse/iot-samples/tools/packman/bootstrap/generate_temp_folder.ps1
|
<#
Copyright 2019 NVIDIA CORPORATION
Licensed under the Apache License, Version 2.0 (the "License");
you may not use this file except in compliance with the License.
You may obtain a copy of the License at
http://www.apache.org/licenses/LICENSE-2.0
Unless required by applicable law or agreed to in writing, software
distributed under the License is distributed on an "AS IS" BASIS,
WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
See the License for the specific language governing permissions and
limitations under the License.
#>
param(
[Parameter(Mandatory=$true)][string]$parentPath=$null
)
[string] $name = [System.Guid]::NewGuid()
$out = Join-Path $parentPath $name
New-Item -ItemType Directory -Path ($out) | Out-Null
Write-Host $out
# SIG # Begin signature block
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# SIG # End signature block
|
NVIDIA-Omniverse/iot-samples/tools/packman/bootstrap/install_package.py
|
# Copyright 2019 NVIDIA CORPORATION
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
# http://www.apache.org/licenses/LICENSE-2.0
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.
import logging
import zipfile
import tempfile
import sys
import os
import stat
import time
from typing import Any, Callable
RENAME_RETRY_COUNT = 100
RENAME_RETRY_DELAY = 0.1
logging.basicConfig(level=logging.WARNING, format="%(message)s")
logger = logging.getLogger("install_package")
def remove_directory_item(path):
if os.path.islink(path) or os.path.isfile(path):
try:
os.remove(path)
except PermissionError:
# make sure we have access and try again:
os.chmod(path, stat.S_IRWXU)
os.remove(path)
else:
# try first to delete the dir because this will work for folder junctions, otherwise we would follow the junctions and cause destruction!
clean_out_folder = False
try:
# make sure we have access preemptively - this is necessary because recursing into a directory without permissions
# will only lead to heart ache
os.chmod(path, stat.S_IRWXU)
os.rmdir(path)
except OSError:
clean_out_folder = True
if clean_out_folder:
# we should make sure the directory is empty
names = os.listdir(path)
for name in names:
fullname = os.path.join(path, name)
remove_directory_item(fullname)
# now try to again get rid of the folder - and not catch if it raises:
os.rmdir(path)
class StagingDirectory:
def __init__(self, staging_path):
self.staging_path = staging_path
self.temp_folder_path = None
os.makedirs(staging_path, exist_ok=True)
def __enter__(self):
self.temp_folder_path = tempfile.mkdtemp(prefix="ver-", dir=self.staging_path)
return self
def get_temp_folder_path(self):
return self.temp_folder_path
# this function renames the temp staging folder to folder_name, it is required that the parent path exists!
def promote_and_rename(self, folder_name):
abs_dst_folder_name = os.path.join(self.staging_path, folder_name)
os.rename(self.temp_folder_path, abs_dst_folder_name)
def __exit__(self, type, value, traceback):
# Remove temp staging folder if it's still there (something went wrong):
path = self.temp_folder_path
if os.path.isdir(path):
remove_directory_item(path)
def rename_folder(staging_dir: StagingDirectory, folder_name: str):
try:
staging_dir.promote_and_rename(folder_name)
except OSError as exc:
# if we failed to rename because the folder now exists we can assume that another packman process
# has managed to update the package before us - in all other cases we re-raise the exception
abs_dst_folder_name = os.path.join(staging_dir.staging_path, folder_name)
if os.path.exists(abs_dst_folder_name):
logger.warning(
f"Directory {abs_dst_folder_name} already present, package installation already completed"
)
else:
raise
def call_with_retry(
op_name: str, func: Callable, retry_count: int = 3, retry_delay: float = 20
) -> Any:
retries_left = retry_count
while True:
try:
return func()
except (OSError, IOError) as exc:
logger.warning(f"Failure while executing {op_name} [{str(exc)}]")
if retries_left:
retry_str = "retry" if retries_left == 1 else "retries"
logger.warning(
f"Retrying after {retry_delay} seconds"
f" ({retries_left} {retry_str} left) ..."
)
time.sleep(retry_delay)
else:
logger.error("Maximum retries exceeded, giving up")
raise
retries_left -= 1
def rename_folder_with_retry(staging_dir: StagingDirectory, folder_name):
dst_path = os.path.join(staging_dir.staging_path, folder_name)
call_with_retry(
f"rename {staging_dir.get_temp_folder_path()} -> {dst_path}",
lambda: rename_folder(staging_dir, folder_name),
RENAME_RETRY_COUNT,
RENAME_RETRY_DELAY,
)
def install_package(package_path, install_path):
staging_path, version = os.path.split(install_path)
with StagingDirectory(staging_path) as staging_dir:
output_folder = staging_dir.get_temp_folder_path()
with zipfile.ZipFile(package_path, allowZip64=True) as zip_file:
zip_file.extractall(output_folder)
# attempt the rename operation
rename_folder_with_retry(staging_dir, version)
print(f"Package successfully installed to {install_path}")
if __name__ == "__main__":
executable_paths = os.getenv("PATH")
paths_list = executable_paths.split(os.path.pathsep) if executable_paths else []
target_path_np = os.path.normpath(sys.argv[2])
target_path_np_nc = os.path.normcase(target_path_np)
for exec_path in paths_list:
if os.path.normcase(os.path.normpath(exec_path)) == target_path_np_nc:
raise RuntimeError(f"packman will not install to executable path '{exec_path}'")
install_package(sys.argv[1], target_path_np)
|
NVIDIA-Omniverse/iot-samples/tools/buildscripts/pre_build_copies.json
|
{
"linux-x86_64": {
},
"windows-x86_64": {
}
}
|
NVIDIA-Omniverse/iot-samples/exts/omni.iot.sample.panel/config/extension.toml
|
[package]
# Semantic Versioning is used: https://semver.org/
version = "1.0.0"
# Lists people or organizations that are considered the "authors" of the package.
authors = ["NVIDIA"]
# The title and description fields are primarily for displaying extension info in UI
title = "omni iot sample panel"
description="A simple python extension example to use as a starting point for your extensions."
# Path (relative to the root) or content of readme markdown file for UI.
readme = "docs/README.md"
# URL of the extension source repository.
repository = ""
# One of categories for UI.
category = "Example"
# Keywords for the extension
keywords = ["kit", "example"]
# Location of change log file in target (final) folder of extension, relative to the root.
# More info on writing changelog: https://keepachangelog.com/en/1.0.0/
changelog="docs/CHANGELOG.md"
# Preview image and icon. Folder named "data" automatically goes in git lfs (see .gitattributes file).
# Preview image is shown in "Overview" of Extensions window. Screenshot of an extension might be a good preview image.
preview_image = "data/preview.png"
# Icon is shown in Extensions window, it is recommended to be square, of size 256x256.
icon = "data/icon.png"
# Use omni.ui to build simple UI
[dependencies]
"omni.kit.uiapp" = {}
# Main python module this extension provides, it will be publicly available as "import omni.iot.sample.panel".
[[python.module]]
name = "omni.iot.sample.panel"
[[test]]
# Extra dependencies only to be used during test run
dependencies = [
"omni.kit.ui_test" # UI testing extension
]
|
NVIDIA-Omniverse/iot-samples/exts/omni.iot.sample.panel/omni/iot/sample/panel/extension.py
|
# SPDX-FileCopyrightText: Copyright (c) 2023 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
# SPDX-License-Identifier: MIT
#
# Permission is hereby granted, free of charge, to any person obtaining a
# copy of this software and associated documentation files (the "Software"),
# to deal in the Software without restriction, including without limitation
# the rights to use, copy, modify, merge, publish, distribute, sublicense,
# and/or sell copies of the Software, and to permit persons to whom the
# Software is furnished to do so, subject to the following conditions:
#
# The above copyright notice and this permission notice shall be included in
# all copies or substantial portions of the Software.
#
# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL
# THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
# FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
# DEALINGS IN THE SOFTWARE.
import omni.ext
import omni.ui as ui
import omni.kit.usd.layers as layers
from pxr import Usd, Sdf, Tf, UsdGeom
import omni.ui.color_utils as cl
TRANSLATE_OFFSET = "xformOp:translate:offset"
ROTATE_SPIN = "xformOp:rotateX:spin"
class uiTextStyles:
title = {"margin": 10, "color": 0xFFFFFFFF, "font_size": 18, "alignment": ui.Alignment.LEFT_CENTER}
title2 = {"margin": 10, "color": 0xFFFFFFFF, "font_size": 18, "alignment": ui.Alignment.LEFT_CENTER}
class uiElementStyles:
mainWindow = {"Window": {"background_color": cl.color(32, 42, 87, 100), "width": 350}}
class uiButtonStyles:
mainButton = {
"Button": {"background_color": cl.color(32, 42, 87, 125), "width": 175, "height": 80},
"Button:hovered": {"background_color": cl.color(32, 42, 87, 200)},
}
# geometry manipulation
class LiveCube:
def __init__(self, stage: Usd.Stage, path: str):
self._prim = stage.GetPrimAtPath(path)
self._op = self._prim.HasProperty(TRANSLATE_OFFSET)
if self._prim:
self._xform = UsdGeom.Xformable(self._prim)
def resume(self):
if self._xform and not self._op:
op = self._xform.AddTranslateOp(opSuffix="offset")
op.Set(time=1, value=(0, -20.0, 0))
op.Set(time=192, value=(0, -440, 0))
self._op = True
def pause(self):
if self._xform and self._op:
default_ops = []
for op in self._xform.GetOrderedXformOps():
if op.GetOpName() != TRANSLATE_OFFSET:
default_ops.append(op)
self._xform.SetXformOpOrder(default_ops)
self._prim.RemoveProperty(TRANSLATE_OFFSET)
self._op = False
class LiveRoller:
def __init__(self, stage: Usd.Stage, path: str):
self._prim = stage.GetPrimAtPath(path)
self._op = self._prim.HasProperty(ROTATE_SPIN)
if self._prim:
self._xform = UsdGeom.Xformable(self._prim)
def resume(self):
if self._xform and not self._op:
op = self._xform.AddRotateXOp(opSuffix="spin")
op.Set(time=1, value=0)
op.Set(time=192, value=1440)
self._op = True
def pause(self):
if self._xform and self._op:
default_ops = []
for op in self._xform.GetOrderedXformOps():
if op.GetOpName() != ROTATE_SPIN:
default_ops.append(op)
self._xform.SetXformOpOrder(default_ops)
self._prim.RemoveProperty(ROTATE_SPIN)
self._op = False
# Any class derived from `omni.ext.IExt` in top level module (defined in `python.modules` of `extension.toml`) will be
# instantiated when extension gets enabled and `on_startup(ext_id)` will be called. Later when extension gets disabled
# on_shutdown() is called.
class OmniIotSamplePanelExtension(omni.ext.IExt):
# ext_id is current extension id. It can be used with extension manager to query additional information, like where
# this extension is located on filesystem.
def on_startup(self, ext_id):
print("[omni.iot.sample.panel] startup")
self._iot_prim = None
self.listener = None
self._stage_event_sub = None
self._window = None
self._usd_context = omni.usd.get_context()
self._stage = self._usd_context.get_stage()
self._live_syncing = layers.get_live_syncing(self._usd_context)
self._layers = layers.get_layers(self._usd_context)
self._selected_prim = None
self._layers_event_subscription = self._layers.get_event_stream().create_subscription_to_pop_by_type(
layers.LayerEventType.LIVE_SESSION_STATE_CHANGED,
self._on_layers_event,
name=f"omni.iot.sample.panel {str(layers.LayerEventType.LIVE_SESSION_STATE_CHANGED)}",
)
self._update_ui()
def on_shutdown(self):
self._iot_prim = None
self.listener = None
self._stage_event_sub = None
self._window = None
self._layers_event_subscription = None
print("[omni.iot.sample.panel] shutdown")
def _on_velocity_changed(self, speed):
print(f"[omni.iot.sample.panel] _on_velocity_changed: {speed}")
if speed is not None and speed > 0.0:
with Sdf.ChangeBlock():
self._cube.resume()
for roller in self._rollers:
roller.resume()
else:
with Sdf.ChangeBlock():
self._cube.pause()
for roller in self._rollers:
roller.pause()
def _update_frame(self):
if self._selected_prim is not None:
self._property_stack.clear()
properties = self._selected_prim.GetProperties()
button_height = uiButtonStyles.mainButton["Button"]["height"]
self._property_stack.height.value = (round(len(properties) / 2) + 1) * button_height
x = 0
hStack = ui.HStack()
self._property_stack.add_child(hStack)
# repopulate the VStack with the IoT data attributes
for prop in properties:
if x > 0 and x % 2 == 0:
hStack = ui.HStack()
self._property_stack.add_child(hStack)
prop_name = prop.GetName()
prop_value = prop.Get()
ui_button = ui.Button(f"{prop_name}\n{str(prop_value)}", style=uiButtonStyles.mainButton)
hStack.add_child(ui_button)
if prop_name == "Velocity":
self._on_velocity_changed(prop_value)
x += 1
if x % 2 != 0:
with hStack:
ui.Button("", style=uiButtonStyles.mainButton)
def _on_selected_prim_changed(self):
print("[omni.iot.sample.panel] _on_selected_prim_changed")
selected_prim = self._usd_context.get_selection()
selected_paths = selected_prim.get_selected_prim_paths()
if selected_paths and len(selected_paths):
sdf_path = Sdf.Path(selected_paths[0])
# only handle data that resides under the /iot prim
if (
sdf_path.IsPrimPath()
and sdf_path.HasPrefix(self._iot_prim.GetPath())
and sdf_path != self._iot_prim.GetPath()
):
self._selected_prim = self._stage.GetPrimAtPath(sdf_path)
self._selected_iot_prim_label.text = str(sdf_path)
self._update_frame()
# ===================== stage events START =======================
def _on_selection_changed(self):
print("[omni.iot.sample.panel] _on_selection_changed")
if self._iot_prim:
self._on_selected_prim_changed()
def _on_asset_opened(self):
print("[omni.iot.sample.panel] on_asset_opened")
def _on_stage_event(self, event):
if event.type == int(omni.usd.StageEventType.SELECTION_CHANGED):
self._on_selection_changed()
elif event.type == int(omni.usd.StageEventType.OPENED):
self._on_asset_opened()
def _on_objects_changed(self, notice, stage):
updated_objects = []
for p in notice.GetChangedInfoOnlyPaths():
if p.IsPropertyPath() and p.GetParentPath() == self._selected_prim.GetPath():
updated_objects.append(p)
if len(updated_objects) > 0:
self._update_frame()
# ===================== stage events END =======================
def _on_layers_event(self, event):
payload = layers.get_layer_event_payload(event)
if not payload:
return
if payload.event_type == layers.LayerEventType.LIVE_SESSION_STATE_CHANGED:
if not payload.is_layer_influenced(self._usd_context.get_stage_url()):
return
self._update_ui()
def _update_ui(self):
if self._live_syncing.is_stage_in_live_session():
print("[omni.iot.sample.panel] joining live session")
if self._iot_prim is None:
self._window = ui.Window("Sample IoT Data", width=350, height=390)
self._window.frame.set_style(uiElementStyles.mainWindow)
sessionLayer = self._stage.GetSessionLayer()
sessionLayer.startTimeCode = 1
sessionLayer.endTimeCode = 192
self._iot_prim = self._stage.GetPrimAtPath("/iot")
self._cube = LiveCube(self._stage, "/World/cube")
self._rollers = []
for x in range(38):
self._rollers.append(
LiveRoller(self._stage, f"/World/Geometry/SM_ConveyorBelt_A08_Roller{x+1:02d}_01")
)
# this will capture when the select changes in the stage_selected_iot_prim_label
self._stage_event_sub = self._usd_context.get_stage_event_stream().create_subscription_to_pop(
self._on_stage_event, name="Stage Update"
)
# this will capture changes to the IoT data
self.listener = Tf.Notice.Register(Usd.Notice.ObjectsChanged, self._on_objects_changed, self._stage)
# create an simple window with empty VStack for the IoT data
with self._window.frame:
with ui.VStack():
with ui.HStack(height=22):
ui.Label("IoT Prim:", style=uiTextStyles.title, width=75)
self._selected_iot_prim_label = ui.Label(" ", style=uiTextStyles.title)
self._property_stack = ui.VStack(height=22)
if self._iot_prim:
self._on_selected_prim_changed()
else:
print("[omni.iot.sample.panel] leaving live session")
self._iot_prim = None
self.listener = None
self._stage_event_sub = None
self._property_stack = None
self._window = None
|
NVIDIA-Omniverse/iot-samples/exts/omni.iot.sample.panel/omni/iot/sample/panel/__init__.py
|
from .extension import *
|
NVIDIA-Omniverse/iot-samples/exts/omni.iot.sample.panel/omni/iot/sample/panel/tests/__init__.py
|
from .test_hello_world import *
|
NVIDIA-Omniverse/iot-samples/exts/omni.iot.sample.panel/omni/iot/sample/panel/tests/test_hello_world.py
|
# NOTE:
# omni.kit.test - std python's unittest module with additional wrapping to add suport for async/await tests
# For most things refer to unittest docs: https://docs.python.org/3/library/unittest.html
import omni.kit.test
# Extnsion for writing UI tests (simulate UI interaction)
import omni.kit.ui_test as ui_test
# Import extension python module we are testing with absolute import path, as if we are external user (other extension)
import omni.iot.sample.panel
# Having a test class dervived from omni.kit.test.AsyncTestCase declared on the root of module will make it auto-discoverable by omni.kit.test
class Test(omni.kit.test.AsyncTestCase):
# Before running each test
async def setUp(self):
pass
# After running each test
async def tearDown(self):
pass
# Actual test, notice it is "async" function, so "await" can be used if needed
@omni.kit.test.omni_test_registry(guid="f898a949-bacc-41f5-be56-b4eb8923f54e")
async def test_hello_public_function(self):
result = omni.iot.sample.panel.some_public_function(4)
self.assertEqual(result, 256)
@omni.kit.test.omni_test_registry(guid="4626d574-659f-4a85-8958-9fa8588fbce3")
async def test_window_button(self):
# Find a label in our window
label = ui_test.find("My Window//Frame/**/Label[*]")
# Find buttons in our window
add_button = ui_test.find("My Window//Frame/**/Button[*].text=='Add'")
reset_button = ui_test.find("My Window//Frame/**/Button[*].text=='Reset'")
# Click reset button
await reset_button.click()
self.assertEqual(label.widget.text, "empty")
await add_button.click()
self.assertEqual(label.widget.text, "count: 1")
await add_button.click()
self.assertEqual(label.widget.text, "count: 2")
|
NVIDIA-Omniverse/iot-samples/exts/omni.iot.sample.panel/docs/CHANGELOG.md
|
# Changelog
The format is based on [Keep a Changelog](https://keepachangelog.com/en/1.0.0/).
## [1.0.0] - 2021-04-26
- Initial version of extension UI template with a window
|
NVIDIA-Omniverse/iot-samples/exts/omni.iot.sample.panel/docs/README.md
|
# Python Extension Example [omni.iot.sample.panel]
This is an example of pure python Kit extension. It is intended to be copied and serve as a template to create new extensions.
|
NVIDIA-Omniverse/iot-samples/exts/omni.iot.sample.panel/docs/index.rst
|
omni.iot.sample.panel
#############################
Example of Python only extension
.. toctree::
:maxdepth: 1
README
CHANGELOG
.. automodule::"omni.iot.sample.panel"
:platform: Windows-x86_64, Linux-x86_64
:members:
:undoc-members:
:show-inheritance:
:imported-members:
:exclude-members: contextmanager
|
NVIDIA-Omniverse/iot-samples/content/A08_PR_NVD_01_iot_data.csv
|
TimeStamp,Id,Value
2023-09-19T20:35:26.0000000Z,System_Current,0.004049227
2023-09-19T20:35:26.0000000Z,System_Voltage,107.5656586
2023-09-19T20:35:26.0000000Z,Ambient_Temperature,79.17738342
2023-09-19T20:35:26.0000000Z,Ambient_Humidity,45.51461029
2023-09-19T20:35:26.0000000Z,Velocity,0.0
2023-09-19T20:35:28.0000000Z,System_Current,0.004049227
2023-09-19T20:35:28.0000000Z,System_Voltage,107.5656586
2023-09-19T20:35:28.0000000Z,Ambient_Temperature,79.17738342
2023-09-19T20:35:28.0000000Z,Ambient_Humidity,45.51461029
2023-09-19T20:35:30.0000000Z,System_Current,0.004049227
2023-09-19T20:35:30.0000000Z,System_Voltage,107.5656586
2023-09-19T20:35:30.0000000Z,Ambient_Temperature,79.14854431
2023-09-19T20:35:30.0000000Z,Ambient_Humidity,45.46425629
2023-09-19T20:35:30.0000000Z,Velocity,1.0
2023-09-19T20:35:32.0000000Z,System_Current,0.004049227
2023-09-19T20:35:32.0000000Z,System_Voltage,107.5656586
2023-09-19T20:35:32.0000000Z,Ambient_Temperature,79.14854431
2023-09-19T20:35:32.0000000Z,Ambient_Humidity,45.46425629
2023-09-19T20:35:34.0000000Z,System_Current,0.004049227
2023-09-19T20:35:34.0000000Z,System_Voltage,107.5656586
2023-09-19T20:35:34.0000000Z,Ambient_Temperature,79.14854431
2023-09-19T20:35:34.0000000Z,Ambient_Humidity,45.46425629
2023-09-19T20:35:36.0000000Z,System_Current,0.004049227
2023-09-19T20:35:36.0000000Z,System_Voltage,107.5656586
2023-09-19T20:35:36.0000000Z,Ambient_Temperature,79.17738342
2023-09-19T20:35:36.0000000Z,Ambient_Humidity,45.49172211
2023-09-19T20:35:38.0000000Z,System_Current,0.004049227
2023-09-19T20:35:38.0000000Z,System_Voltage,107.5656586
2023-09-19T20:35:38.0000000Z,Ambient_Temperature,79.17738342
2023-09-19T20:35:38.0000000Z,Ambient_Humidity,45.49172211
2023-09-19T20:35:38.0000000Z,Velocity,0.0
2023-09-19T20:35:40.0000000Z,System_Current,0.004049227
2023-09-19T20:35:40.0000000Z,System_Voltage,107.5656586
2023-09-19T20:35:40.0000000Z,Ambient_Temperature,79.17738342
2023-09-19T20:35:40.0000000Z,Ambient_Humidity,45.50392914
2023-09-19T20:35:42.0000000Z,System_Current,0.004049227
2023-09-19T20:35:42.0000000Z,System_Voltage,107.5656586
2023-09-19T20:35:42.0000000Z,Ambient_Temperature,79.17738342
2023-09-19T20:35:42.0000000Z,Ambient_Humidity,45.50392914
2023-09-19T20:35:44.0000000Z,System_Current,0.004049227
2023-09-19T20:35:44.0000000Z,System_Voltage,107.5656586
2023-09-19T20:35:44.0000000Z,Ambient_Temperature,79.17738342
2023-09-19T20:35:44.0000000Z,Ambient_Humidity,45.50392914
2023-09-19T20:35:46.0000000Z,System_Current,0.004077283
2023-09-19T20:35:46.0000000Z,System_Voltage,107.4767532
2023-09-19T20:35:46.0000000Z,Ambient_Temperature,79.17738342
2023-09-19T20:35:46.0000000Z,Ambient_Humidity,45.5283432
2023-09-19T20:35:46.0000000Z,Velocity,1.0
2023-09-19T20:35:48.0000000Z,System_Current,0.004077283
2023-09-19T20:35:48.0000000Z,System_Voltage,107.4767532
2023-09-19T20:35:48.0000000Z,Ambient_Temperature,79.17738342
2023-09-19T20:35:48.0000000Z,Ambient_Humidity,45.5283432
2023-09-19T20:35:50.0000000Z,System_Current,0.004077283
2023-09-19T20:35:50.0000000Z,System_Voltage,107.4767532
2023-09-19T20:35:50.0000000Z,Ambient_Temperature,79.14854431
2023-09-19T20:35:50.0000000Z,Ambient_Humidity,45.53749847
2023-09-19T20:35:52.0000000Z,System_Current,0.004077283
2023-09-19T20:35:52.0000000Z,System_Voltage,107.4767532
2023-09-19T20:35:52.0000000Z,Ambient_Temperature,79.14854431
2023-09-19T20:35:52.0000000Z,Ambient_Humidity,45.53749847
2023-09-19T20:35:54.0000000Z,System_Current,0.004077283
2023-09-19T20:35:54.0000000Z,System_Voltage,107.4767532
2023-09-19T20:35:54.0000000Z,Ambient_Temperature,79.14854431
2023-09-19T20:35:54.0000000Z,Ambient_Humidity,45.53749847
2023-09-19T20:35:56.0000000Z,System_Current,0.004077283
2023-09-19T20:35:56.0000000Z,System_Voltage,107.4767532
2023-09-19T20:35:56.0000000Z,Ambient_Temperature,79.14854431
2023-09-19T20:35:56.0000000Z,Ambient_Humidity,45.52681732
2023-09-19T20:35:58.0000000Z,System_Current,0.004077283
2023-09-19T20:35:58.0000000Z,System_Voltage,107.4767532
2023-09-19T20:35:58.0000000Z,Ambient_Temperature,79.14854431
2023-09-19T20:35:58.0000000Z,Ambient_Humidity,45.52681732
2023-09-19T20:35:58.0000000Z,Velocity,0.0
2023-09-19T20:36:00.0000000Z,System_Current,0.004077283
2023-09-19T20:36:00.0000000Z,System_Voltage,107.4767532
2023-09-19T20:36:00.0000000Z,Ambient_Temperature,79.12451172
2023-09-19T20:36:00.0000000Z,Ambient_Humidity,45.51308441
2023-09-19T20:36:02.0000000Z,System_Current,0.004077283
2023-09-19T20:36:02.0000000Z,System_Voltage,107.4767532
2023-09-19T20:36:02.0000000Z,Ambient_Temperature,79.12451172
2023-09-19T20:36:02.0000000Z,Ambient_Humidity,45.51308441
2023-09-19T20:36:04.0000000Z,System_Current,0.004077283
2023-09-19T20:36:04.0000000Z,System_Voltage,107.4767532
2023-09-19T20:36:04.0000000Z,Ambient_Temperature,79.12451172
2023-09-19T20:36:04.0000000Z,Ambient_Humidity,45.51308441
2023-09-19T20:36:04.0000000Z,Velocity,1.0
2023-09-19T20:38:08.0000000Z,System_Current,0.003981236
2023-09-19T20:38:08.0000000Z,System_Voltage,107.4890366
2023-09-19T20:38:08.0000000Z,Ambient_Temperature,79.14854431
2023-09-19T20:38:08.0000000Z,Ambient_Humidity,45.50087738
2023-09-19T20:38:10.0000000Z,System_Current,0.003981236
2023-09-19T20:38:10.0000000Z,System_Voltage,107.4890366
2023-09-19T20:38:10.0000000Z,Ambient_Temperature,79.14854431
2023-09-19T20:38:10.0000000Z,Ambient_Humidity,45.51308441
2023-09-19T20:38:10.0000000Z,Velocity,0.0
2023-09-19T20:38:12.0000000Z,System_Current,0.003981236
2023-09-19T20:38:12.0000000Z,System_Voltage,107.4890366
2023-09-19T20:38:12.0000000Z,Ambient_Temperature,79.14854431
2023-09-19T20:38:12.0000000Z,Ambient_Humidity,45.51308441
2023-09-19T20:38:14.0000000Z,System_Current,0.003981236
2023-09-19T20:38:14.0000000Z,System_Voltage,107.4890366
2023-09-19T20:38:14.0000000Z,Ambient_Temperature,79.14854431
2023-09-19T20:38:14.0000000Z,Ambient_Humidity,45.51308441
2023-09-19T20:38:16.0000000Z,System_Current,0.003981236
2023-09-19T20:38:16.0000000Z,System_Voltage,107.4890366
2023-09-19T20:38:16.0000000Z,Ambient_Temperature,79.17738342
2023-09-19T20:38:16.0000000Z,Ambient_Humidity,45.46730804
2023-09-19T20:38:18.0000000Z,System_Current,0.003981236
2023-09-19T20:38:18.0000000Z,System_Voltage,107.4890366
2023-09-19T20:38:18.0000000Z,Ambient_Temperature,79.17738342
2023-09-19T20:38:18.0000000Z,Ambient_Humidity,45.46730804
2023-09-19T20:38:18.0000000Z,Velocity,1.0
2023-09-19T20:38:20.0000000Z,System_Current,0.003981236
2023-09-19T20:38:20.0000000Z,System_Voltage,107.4890366
2023-09-19T20:38:20.0000000Z,Ambient_Temperature,79.17738342
2023-09-19T20:38:20.0000000Z,Ambient_Humidity,45.49172211
2023-09-19T20:38:22.0000000Z,System_Current,0.003981236
2023-09-19T20:38:22.0000000Z,System_Voltage,107.4890366
2023-09-19T20:38:22.0000000Z,Ambient_Temperature,79.17738342
2023-09-19T20:38:22.0000000Z,Ambient_Humidity,45.49172211
2023-09-19T20:38:24.0000000Z,System_Current,0.003981236
2023-09-19T20:38:24.0000000Z,System_Voltage,107.4890366
2023-09-19T20:38:24.0000000Z,Ambient_Temperature,79.17738342
2023-09-19T20:38:24.0000000Z,Ambient_Humidity,45.49172211
2023-09-19T20:38:26.0000000Z,System_Current,0.004154987
2023-09-19T20:38:26.0000000Z,System_Voltage,107.5282822
2023-09-19T20:38:26.0000000Z,Ambient_Temperature,79.14854431
2023-09-19T20:38:26.0000000Z,Ambient_Humidity,45.49019623
2023-09-19T20:38:26.0000000Z,Velocity,0.0
|
NVIDIA-Omniverse/iot-samples/content/ConveyorBelt_A08_PR_NVD_01/Materials/ConveyorDecal_A.mdl
|
mdl 1.6;
using m_mdl = "mdl";
import ::state::normal;
import ::OmniPBR::OmniPBR;
import ::base::mono_mode;
import ::tex::gamma_mode;
export material M_ConveyorBelt_A01_Decal(*)
= ::OmniPBR::OmniPBR(
diffuse_color_constant: color(0.200000003f, 0.200000003f, 0.200000003f),
diffuse_texture: texture_2d("./textures/T_ConveyorsBelt_A01_Decal_Albedo.png", ::tex::gamma_srgb),
albedo_desaturation: 0.f,
albedo_add: 0.f,
albedo_brightness: 1.f,
diffuse_tint: color(1.f, 1.f, 1.f),
reflection_roughness_constant: 0.5f,
reflection_roughness_texture_influence: 1.f,
reflectionroughness_texture: texture_2d(),
metallic_constant: 0.f,
metallic_texture_influence: 1.f,
metallic_texture: texture_2d(),
specular_level: 0.5f,
enable_ORM_texture: true,
ORM_texture: texture_2d("./textures/T_ConveyorsBelt_A01_Decal_ORM.png", ::tex::gamma_linear),
ao_to_diffuse: 0.f,
ao_texture: texture_2d(),
enable_emission: false,
emissive_color: color(1.f, 0.100000001f, 0.100000001f),
emissive_color_texture: texture_2d(),
emissive_mask_texture: texture_2d(),
emissive_intensity: 40.f,
enable_opacity: true,
enable_opacity_texture: true,
opacity_constant: 1.f,
opacity_texture: texture_2d("./textures/T_ConveyorsBelt_A01_Decal_Alpha.png", ::tex::gamma_linear),
opacity_mode: base::mono_average,
opacity_threshold: 0.f,
bump_factor: 1.f,
normalmap_texture: texture_2d(),
detail_bump_factor: 0.300000012f,
detail_normalmap_texture: texture_2d(),
flip_tangent_u: false,
flip_tangent_v: true,
project_uvw: false,
world_or_object: false,
uv_space_index: 0,
texture_translate: float2(0.f),
texture_rotate: 0.f,
texture_scale: float2(1.f),
detail_texture_translate: float2(0.f),
detail_texture_rotate: 0.f,
detail_texture_scale: float2(1.f));
|
NVIDIA-Omniverse/iot-samples/content/ConveyorBelt_A08_PR_NVD_01/Materials/ConveyorTrim_A.mdl
|
mdl 1.6;
using m_mdl = "mdl";
import ::state::normal;
import ::OmniPBR::OmniPBR;
import ::base::mono_mode;
import ::tex::gamma_mode;
export material M_ConveyorBelt_A01_Trim(*)
= ::OmniPBR::OmniPBR(
diffuse_color_constant: color(0.200000003f, 0.200000003f, 0.200000003f),
diffuse_texture: texture_2d("./textures/T_ConveyorBelt_A01_Trim_Albedo.png", ::tex::gamma_srgb),
albedo_desaturation: 0.f,
albedo_add: 0.f,
albedo_brightness: 1.f,
diffuse_tint: color(1.f, 1.f, 1.f),
reflection_roughness_constant: 0.5f,
reflection_roughness_texture_influence: 1.f,
reflectionroughness_texture: texture_2d(),
metallic_constant: 0.f,
metallic_texture_influence: 1.f,
metallic_texture: texture_2d(),
specular_level: 0.5f,
enable_ORM_texture: true,
ORM_texture: texture_2d("./textures/T_ConveyorBelt_A01_Trim_ORM.png", ::tex::gamma_linear),
ao_to_diffuse: 0.f,
ao_texture: texture_2d(),
enable_emission: false,
emissive_color: color(1.f, 0.100000001f, 0.100000001f),
emissive_color_texture: texture_2d(),
emissive_mask_texture: texture_2d(),
emissive_intensity: 40.f,
enable_opacity: false,
enable_opacity_texture: false,
opacity_constant: 1.f,
opacity_texture: texture_2d(),
opacity_mode: base::mono_average,
opacity_threshold: 0.f,
bump_factor: 1.f,
normalmap_texture: texture_2d("./textures/T_ConveyorBelt_A01_Trim_Normal.png", ::tex::gamma_linear),
detail_bump_factor: 0.300000012f,
detail_normalmap_texture: texture_2d(),
flip_tangent_u: false,
flip_tangent_v: true,
project_uvw: false,
world_or_object: false,
uv_space_index: 0,
texture_translate: float2(0.f),
texture_rotate: 0.f,
texture_scale: float2(1.f),
detail_texture_translate: float2(0.f),
detail_texture_rotate: 0.f,
detail_texture_scale: float2(1.f));
|
NVIDIA-Omniverse/iot-samples/content/ConveyorBelt_A08_PR_NVD_01/Materials/conveyors.material.usda
|
#usda 1.0
(
customLayerData = {
dictionary cameraSettings = {
dictionary Front = {
double3 position = (50110.207519531265, -1.112670123138565e-11, 0)
double radius = 500
}
dictionary Perspective = {
double3 position = (-65.95412785753432, -422.87374470285874, 209.66226537085583)
double3 target = (-11.898836554419162, -183.92564073362607, 120.65722104348681)
}
dictionary Right = {
double3 position = (0, -50400.29772949219, -1.1191114197449045e-11)
double radius = 500
}
dictionary Top = {
double3 position = (0, 0, 50231.09491729736)
double radius = 500
}
string boundCamera = "/OmniverseKit_Persp"
}
dictionary navmeshSettings = {
double agentHeight = 180
double agentRadius = 20
bool excludeRigidBodies = 1
int ver = 1
double voxelCeiling = 460
}
dictionary omni_layer = {
string authoring_layer = "./conveyors.material.usda"
dictionary muteness = {
}
}
dictionary renderSettings = {
float3 "rtx:debugView:pixelDebug:textColor" = (0, 1e18, 0)
float3 "rtx:fog:fogColor" = (0.75, 0.75, 0.75)
float3 "rtx:index:regionOfInterestMax" = (0, 0, 0)
float3 "rtx:index:regionOfInterestMin" = (0, 0, 0)
float3 "rtx:iray:environment_dome_ground_position" = (0, 0, 0)
float3 "rtx:iray:environment_dome_ground_reflectivity" = (0, 0, 0)
float3 "rtx:iray:environment_dome_rotation_axis" = (3.4028235e38, 3.4028235e38, 3.4028235e38)
float3 "rtx:post:backgroundZeroAlpha:backgroundDefaultColor" = (0, 0, 0)
float3 "rtx:post:colorcorr:contrast" = (1, 1, 1)
float3 "rtx:post:colorcorr:gain" = (1, 1, 1)
float3 "rtx:post:colorcorr:gamma" = (1, 1, 1)
float3 "rtx:post:colorcorr:offset" = (0, 0, 0)
float3 "rtx:post:colorcorr:saturation" = (1, 1, 1)
float3 "rtx:post:colorgrad:blackpoint" = (0, 0, 0)
float3 "rtx:post:colorgrad:contrast" = (1, 1, 1)
float3 "rtx:post:colorgrad:gain" = (1, 1, 1)
float3 "rtx:post:colorgrad:gamma" = (1, 1, 1)
float3 "rtx:post:colorgrad:lift" = (0, 0, 0)
float3 "rtx:post:colorgrad:multiply" = (1, 1, 1)
float3 "rtx:post:colorgrad:offset" = (0, 0, 0)
float3 "rtx:post:colorgrad:whitepoint" = (1, 1, 1)
float3 "rtx:post:lensDistortion:lensFocalLengthArray" = (10, 30, 50)
float3 "rtx:post:lensFlares:anisoFlareFalloffX" = (450, 475, 500)
float3 "rtx:post:lensFlares:anisoFlareFalloffY" = (10, 10, 10)
float3 "rtx:post:lensFlares:cutoffPoint" = (2, 2, 2)
float3 "rtx:post:lensFlares:haloFlareFalloff" = (10, 10, 10)
float3 "rtx:post:lensFlares:haloFlareRadius" = (75, 75, 75)
float3 "rtx:post:lensFlares:isotropicFlareFalloff" = (50, 50, 50)
float3 "rtx:post:tonemap:whitepoint" = (1, 1, 1)
float3 "rtx:raytracing:inscattering:singleScatteringAlbedo" = (0.9, 0.9, 0.9)
float3 "rtx:raytracing:inscattering:transmittanceColor" = (0.5, 0.5, 0.5)
float3 "rtx:sceneDb:ambientLightColor" = (0.1, 0.1, 0.1)
}
}
defaultPrim = "Looks"
metersPerUnit = 0.01
upAxis = "Z"
)
def Xform "Looks" (
prepend apiSchemas = ["MaterialBindingAPI"]
)
{
double3 xformOp:translate = (0, 0, 0)
uniform token[] xformOpOrder = ["xformOp:translate"]
def Material "Rubber_Black_Rough_A_ConveyorBelt_A01"
{
token outputs:mdl:displacement.connect = </Looks/Rubber_Black_Rough_A_ConveyorBelt_A01/Shader.outputs:out>
token outputs:mdl:surface.connect = </Looks/Rubber_Black_Rough_A_ConveyorBelt_A01/Shader.outputs:out>
token outputs:mdl:volume.connect = </Looks/Rubber_Black_Rough_A_ConveyorBelt_A01/Shader.outputs:out>
def Shader "Shader"
{
uniform token info:implementationSource = "sourceAsset"
uniform asset info:mdl:sourceAsset = @../Materials/Base/Rubber/Rubber_Black_Rough_A.mdl@
uniform token info:mdl:sourceAsset:subIdentifier = "Rubber_Black_Rough_A"
float inputs:bump_factor = 0.2 (
customData = {
float default = 1
dictionary omni = {
dictionary kit = {
dictionary property = {
dictionary usd = {
float2 soft_range_ui = (0, 2)
}
}
}
}
dictionary soft_range = {
float max = 1
float min = 0
}
}
displayGroup = "Normal"
displayName = "Normal Map Strength"
doc = "Strength of normal map."
hidden = false
)
token outputs:out
}
}
def Material "Acrylic_Clear_Glossy_Orange_A"
{
token outputs:mdl:displacement.connect = </Looks/Acrylic_Clear_Glossy_Orange_A/Shader.outputs:out>
token outputs:mdl:surface.connect = </Looks/Acrylic_Clear_Glossy_Orange_A/Shader.outputs:out>
token outputs:mdl:volume.connect = </Looks/Acrylic_Clear_Glossy_Orange_A/Shader.outputs:out>
def Shader "Shader"
{
uniform token info:implementationSource = "sourceAsset"
uniform asset info:mdl:sourceAsset = @OmniGlass.mdl@
uniform token info:mdl:sourceAsset:subIdentifier = "OmniGlass"
float inputs:cutout_opacity = 0.97999996 (
customData = {
float default = 1
dictionary range = {
float max = 1
float min = 0
}
}
displayGroup = "Opacity"
displayName = "Opacity Amount"
doc = "Opacity value between 0 and 1, when Opacity Map is not valid"
hidden = false
)
float inputs:frosting_roughness = 0.65999997 (
customData = {
float default = 0
dictionary range = {
float max = 1
float min = 0
}
}
displayGroup = "Roughness"
displayName = "Glass Roughness"
doc = "Sets the roughness of the glass material "
hidden = false
)
color3f inputs:glass_color = (1, 0.4549545, 0.24324322) (
customData = {
float3 default = (1, 1, 1)
dictionary range = {
float3 max = (1, 1, 1)
float3 min = (0, 0, 0)
}
}
displayGroup = "Color"
displayName = "Glass Color"
doc = "Sets the color of the glass"
hidden = false
)
asset inputs:glass_color_texture = @@ (
colorSpace = "sRGB"
customData = {
asset default = @@
}
displayGroup = "Color"
displayName = "Glass Color Texture"
doc = "Specifies the texture to be used for the glass color of the material"
hidden = false
)
float inputs:glass_ior = 1.05 (
customData = {
float default = 1.491
dictionary soft_range = {
float max = 4
float min = 1
}
}
displayGroup = "Refraction"
displayName = "Glass IOR"
doc = "Sets IOR of the glass material "
hidden = false
)
float inputs:normal_map_strength = 0.5 (
customData = {
float default = 1
dictionary soft_range = {
float max = 1
float min = 0
}
}
displayGroup = "Normal"
displayName = "Normal Map Strength"
doc = "Determines the degree of bumpiness"
hidden = false
)
asset inputs:normal_map_texture = @../Materials/Base/Plastics/Rough/T_Plastic_Rough_Black_A_Normal.png@ (
colorSpace = "raw"
customData = {
asset default = @@
}
displayGroup = "Normal"
displayName = "Normal Map Texture"
doc = "The normal map texture"
hidden = false
)
asset inputs:roughness_texture = @../Materials/Base/Plastics/Acrylic/T_Acrylic_Clear_Glossy_A_Rough.png@ (
colorSpace = "raw"
customData = {
asset default = @@
}
displayGroup = "Roughness"
displayName = "Roughness Texture"
doc = "The roughness texture"
hidden = false
)
float inputs:roughness_texture_influence = 0.29999998 (
customData = {
float default = 1
dictionary range = {
float max = 1
float min = 0
}
}
displayGroup = "Roughness"
displayName = "Roughness Texture Influence"
hidden = false
)
float2 inputs:texture_scale = (1, 3) (
customData = {
float2 default = (1, 1)
}
displayGroup = "UV"
displayName = "Texture Scale"
doc = "Larger numbers increase the size."
hidden = false
)
bool inputs:thin_walled = 0 (
customData = {
bool default = 0
}
displayGroup = "Refraction"
displayName = "Thin Walled"
doc = "When enabled, the material is considered thin-walled. Use this, when you have glass surfaces that are modeled with a single plane"
hidden = false
)
token outputs:out
}
}
def Material "M_ConveyorBeltScanningModule_A01_Decal"
{
token outputs:mdl:displacement.connect = </Looks/M_ConveyorBeltScanningModule_A01_Decal/Shader.outputs:out>
token outputs:mdl:surface.connect = </Looks/M_ConveyorBeltScanningModule_A01_Decal/Shader.outputs:out>
token outputs:mdl:volume.connect = </Looks/M_ConveyorBeltScanningModule_A01_Decal/Shader.outputs:out>
def Shader "Shader"
{
uniform token info:implementationSource = "sourceAsset"
uniform asset info:mdl:sourceAsset = @OmniPBR.mdl@
uniform token info:mdl:sourceAsset:subIdentifier = "OmniPBR"
float inputs:albedo_add = 0 (
customData = {
float default = 0
dictionary soft_range = {
float max = 1
float min = -1
}
}
displayGroup = "Albedo"
displayName = "Albedo Add"
hidden = false
)
float inputs:albedo_brightness = 1 (
customData = {
float default = 1
dictionary soft_range = {
float max = 1
float min = 0
}
}
displayGroup = "Albedo"
displayName = "Albedo Brightness"
hidden = false
)
float inputs:albedo_desaturation = 0 (
customData = {
float default = 0
dictionary soft_range = {
float max = 1
float min = 0
}
}
displayGroup = "Albedo"
displayName = "Albedo Desaturation"
hidden = false
)
asset inputs:ao_texture = @@ (
colorSpace = "raw"
customData = {
asset default = @@
}
displayGroup = "AO"
displayName = "Ambient Occlusion Map"
hidden = false
renderType = "texture_2d"
)
float inputs:ao_to_diffuse = 0 (
customData = {
float default = 0
dictionary range = {
float max = 1
float min = 0
}
}
displayGroup = "AO"
displayName = "AO to diffuse"
hidden = false
)
float inputs:bump_factor = 1 (
customData = {
float default = 1
dictionary soft_range = {
float max = 1
float min = 0
}
}
displayGroup = "Normal"
displayName = "Normal Strength"
hidden = false
)
float inputs:detail_bump_factor = 0.3 (
customData = {
float default = 0.3
dictionary soft_range = {
float max = 1
float min = 0
}
}
displayGroup = "Normal"
displayName = "Detail Normal Strength"
hidden = false
)
asset inputs:detail_normalmap_texture = @@ (
colorSpace = "raw"
customData = {
asset default = @@
}
displayGroup = "Normal"
displayName = "Detail Normal Map"
hidden = false
renderType = "texture_2d"
)
float inputs:detail_texture_rotate = 0 (
customData = {
float default = 0
}
displayGroup = "UV"
displayName = "Detail Texture Rotate"
hidden = false
)
float2 inputs:detail_texture_scale = (1, 1) (
customData = {
float2 default = (1, 1)
}
displayGroup = "UV"
displayName = "Detail Texture Tiling"
hidden = false
)
float2 inputs:detail_texture_translate = (0, 0) (
customData = {
float2 default = (0, 0)
}
displayGroup = "UV"
displayName = "Detail Texture Translate"
hidden = false
)
color3f inputs:diffuse_color_constant = (0.2, 0.2, 0.2) (
customData = {
float3 default = (0.2, 0.2, 0.2)
}
displayGroup = "Albedo"
displayName = "Albedo Color"
hidden = false
renderType = "color"
)
asset inputs:diffuse_texture = @./textures/ConveyorBeltScanningModule_A01_Decal_Albedo.png@ (
colorSpace = "sRGB"
customData = {
asset default = @@
}
displayGroup = "Albedo"
displayName = "Albedo Map"
hidden = false
renderType = "texture_2d"
)
color3f inputs:diffuse_tint = (1, 1, 1) (
customData = {
float3 default = (1, 1, 1)
}
displayGroup = "Albedo"
displayName = "Color Tint"
hidden = false
renderType = "color"
)
color3f inputs:emissive_color = (1, 0.1, 0.1) (
customData = {
float3 default = (1, 0.1, 0.1)
}
displayGroup = "Emissive"
displayName = "Emissive Color"
hidden = false
renderType = "color"
)
asset inputs:emissive_color_texture = @./textures/ConveyorBeltScanningModule_A01_Decal_Emissive.png@ (
colorSpace = "sRGB"
customData = {
asset default = @@
}
displayGroup = "Emissive"
displayName = "Emissive Color map"
hidden = false
renderType = "texture_2d"
)
float inputs:emissive_intensity = 2000 (
customData = {
float default = 40
}
displayGroup = "Emissive"
displayName = "Emissive Intensity"
hidden = false
)
asset inputs:emissive_mask_texture = @@ (
colorSpace = "raw"
customData = {
asset default = @@
}
displayGroup = "Emissive"
displayName = "Emissive Mask map"
hidden = false
renderType = "texture_2d"
)
bool inputs:enable_emission = 1 (
customData = {
bool default = 0
}
displayGroup = "Emissive"
displayName = "Enable Emission"
hidden = false
)
bool inputs:enable_opacity = 1 (
customData = {
bool default = 0
}
displayGroup = "Opacity"
displayName = "Enable Opacity"
hidden = false
)
bool inputs:enable_opacity_texture = 1 (
customData = {
bool default = 0
}
displayGroup = "Opacity"
displayName = "Enable Opacity Texture"
hidden = false
)
bool inputs:enable_ORM_texture = 1 (
customData = {
bool default = 0
}
displayGroup = "Reflectivity"
displayName = "Enable ORM Texture"
hidden = false
)
bool inputs:flip_tangent_u = 0 (
customData = {
bool default = 0
}
displayGroup = "Normal"
displayName = "Normal Map Flip U Tangent"
hidden = false
)
bool inputs:flip_tangent_v = 1 (
customData = {
bool default = 1
}
displayGroup = "Normal"
displayName = "Normal Map Flip V Tangent"
hidden = false
)
float inputs:metallic_constant = 0 (
customData = {
float default = 0
dictionary range = {
float max = 1
float min = 0
}
}
displayGroup = "Reflectivity"
displayName = "Metallic Amount"
hidden = false
)
asset inputs:metallic_texture = @@ (
colorSpace = "raw"
customData = {
asset default = @@
}
displayGroup = "Reflectivity"
displayName = "Metallic Map"
hidden = false
renderType = "texture_2d"
)
float inputs:metallic_texture_influence = 1 (
customData = {
float default = 0
dictionary range = {
float max = 1
float min = 0
}
}
displayGroup = "Reflectivity"
displayName = "Metallic Map Influence"
hidden = false
)
asset inputs:normalmap_texture = @@ (
colorSpace = "raw"
customData = {
asset default = @@
}
displayGroup = "Normal"
displayName = "Normal Map"
hidden = false
renderType = "texture_2d"
)
float inputs:opacity_constant = 1 (
customData = {
float default = 1
dictionary range = {
float max = 1
float min = 0
}
}
displayGroup = "Opacity"
displayName = "Opacity Amount"
hidden = false
)
int inputs:opacity_mode = 1 (
customData = {
int default = 1
}
displayGroup = "Opacity"
displayName = "Opacity Mono Source"
hidden = false
renderType = "mono_mode"
sdrMetadata = {
string __SDR__enum_value = "mono_average"
string options = "mono_alpha:0|mono_average:1|mono_luminance:2|mono_maximum:3"
}
)
asset inputs:opacity_texture = @./textures/ConveyorBeltScanningModule_A01_Decal_Opasity.png@ (
colorSpace = "raw"
customData = {
asset default = @@
}
displayGroup = "Opacity"
displayName = "Opacity Map"
hidden = false
renderType = "texture_2d"
)
float inputs:opacity_threshold = 0 (
customData = {
float default = 0
dictionary range = {
float max = 1
float min = 0
}
}
displayGroup = "Opacity"
displayName = "Opacity Threshold"
hidden = false
)
asset inputs:ORM_texture = @./textures/ConveyorBeltScanningModule_A01_Decal_ORM.png@ (
colorSpace = "raw"
customData = {
asset default = @@
}
displayGroup = "Reflectivity"
displayName = "ORM Map"
hidden = false
renderType = "texture_2d"
)
bool inputs:project_uvw = 0 (
customData = {
bool default = 0
}
displayGroup = "UV"
displayName = "Enable Project UVW Coordinates"
hidden = false
)
float inputs:reflection_roughness_constant = 0.5 (
customData = {
float default = 0.5
dictionary range = {
float max = 1
float min = 0
}
}
displayGroup = "Reflectivity"
displayName = "Roughness Amount"
hidden = false
)
float inputs:reflection_roughness_texture_influence = 1 (
customData = {
float default = 0
dictionary range = {
float max = 1
float min = 0
}
}
displayGroup = "Reflectivity"
displayName = "Roughness Map Influence"
hidden = false
)
asset inputs:reflectionroughness_texture = @@ (
colorSpace = "raw"
customData = {
asset default = @@
}
displayGroup = "Reflectivity"
displayName = "Roughness Map"
hidden = false
renderType = "texture_2d"
)
float inputs:specular_level = 0.5 (
customData = {
float default = 0.5
dictionary soft_range = {
float max = 1
float min = 0
}
}
displayGroup = "Reflectivity"
displayName = "Specular"
hidden = false
)
float inputs:texture_rotate = 0 (
customData = {
float default = 0
}
displayGroup = "UV"
displayName = "Texture Rotate"
hidden = false
)
float2 inputs:texture_scale = (1, 1) (
customData = {
float2 default = (1, 1)
}
displayGroup = "UV"
displayName = "Texture Tiling"
hidden = false
)
float2 inputs:texture_translate = (0, 0) (
customData = {
float2 default = (0, 0)
}
displayGroup = "UV"
displayName = "Texture Translate"
hidden = false
)
int inputs:uv_space_index = 0 (
customData = {
int default = 0
dictionary range = {
int max = 3
int min = 0
}
}
displayGroup = "UV"
displayName = "UV Space Index"
hidden = false
)
bool inputs:world_or_object = 0 (
customData = {
bool default = 0
}
displayGroup = "UV"
displayName = "Enable World Space"
hidden = false
)
token outputs:out (
renderType = "material"
)
}
}
def Material "M_ConveyorBeltScannedModule_A01_Glass"
{
token outputs:mdl:displacement.connect = </Looks/M_ConveyorBeltScannedModule_A01_Glass/Shader.outputs:out>
token outputs:mdl:surface.connect = </Looks/M_ConveyorBeltScannedModule_A01_Glass/Shader.outputs:out>
token outputs:mdl:volume.connect = </Looks/M_ConveyorBeltScannedModule_A01_Glass/Shader.outputs:out>
def Shader "Shader"
{
uniform token info:implementationSource = "sourceAsset"
uniform asset info:mdl:sourceAsset = @OmniGlass.mdl@
uniform token info:mdl:sourceAsset:subIdentifier = "OmniGlass"
color3f inputs:absorption_coeff = (0, 0, 0) (
customData = {
float3 default = (0, 0, 0)
}
hidden = true
renderType = "color"
)
float inputs:cutout_opacity = 1 (
customData = {
float default = 1
dictionary range = {
float max = 1
float min = 0
}
}
displayGroup = "Opacity"
displayName = "Opacity Amount"
hidden = false
)
int inputs:cutout_opacity_mono_source = 0 (
customData = {
int default = 0
}
displayGroup = "Opacity"
displayName = "Opacity Mono Source"
hidden = false
renderType = "mono_mode"
sdrMetadata = {
string __SDR__enum_value = "mono_alpha"
string options = "mono_alpha:0|mono_average:1|mono_luminance:2|mono_maximum:3"
}
)
asset inputs:cutout_opacity_texture = @@ (
colorSpace = "raw"
customData = {
asset default = @@
}
displayGroup = "Opacity"
displayName = "Opacity Map"
hidden = false
renderType = "texture_2d"
)
float inputs:depth = 0.001 (
customData = {
float default = 0.001
dictionary range = {
float max = 1000
float min = 0
}
dictionary soft_range = {
float max = 1
float min = 0
}
}
displayGroup = "Color"
displayName = "Volume Absorption Scale"
hidden = false
)
bool inputs:enable_opacity = 0 (
customData = {
bool default = 0
}
displayGroup = "Opacity"
displayName = "Enable Opacity"
hidden = false
)
bool inputs:flip_tangent_u = 0 (
customData = {
bool default = 0
}
displayGroup = "Normal"
displayName = "Normal Map Flip U Tangent"
hidden = false
)
bool inputs:flip_tangent_v = 1 (
customData = {
bool default = 1
}
displayGroup = "Normal"
displayName = "Normal Map Flip V Tangent"
hidden = false
)
float inputs:frosting_roughness = 0 (
customData = {
float default = 0
dictionary range = {
float max = 1
float min = 0
}
}
displayGroup = "Roughness"
displayName = "Glass Roughness"
hidden = false
)
color3f inputs:glass_color = (1, 1, 1) (
customData = {
float3 default = (1, 1, 1)
dictionary range = {
float3 max = (1, 1, 1)
float3 min = (0, 0, 0)
}
}
displayGroup = "Color"
displayName = "Glass Color"
hidden = false
renderType = "color"
)
asset inputs:glass_color_texture = @@ (
colorSpace = "auto"
customData = {
asset default = @@
}
displayGroup = "Color"
displayName = "Glass Color Texture"
hidden = false
renderType = "texture_2d"
)
float inputs:glass_ior = 1.491 (
customData = {
float default = 1.491
dictionary soft_range = {
float max = 4
float min = 1
}
}
displayGroup = "Refraction"
displayName = "Glass IOR"
hidden = false
)
float inputs:normal_map_strength = 1 (
customData = {
float default = 1
dictionary soft_range = {
float max = 1
float min = 0
}
}
displayGroup = "Normal"
displayName = "Normal Map Strength"
hidden = false
)
asset inputs:normal_map_texture = @@ (
colorSpace = "raw"
customData = {
asset default = @@
}
displayGroup = "Normal"
displayName = "Normal Map Texture"
hidden = false
renderType = "texture_2d"
)
float inputs:opacity_threshold = 0 (
customData = {
float default = 0
dictionary range = {
float max = 1
float min = 0
}
}
displayGroup = "Opacity"
displayName = "Opacity Threshold"
hidden = false
)
bool inputs:project_uvw = 0 (
customData = {
bool default = 0
}
displayGroup = "UV"
displayName = "Enable Project UVW Coordinates"
hidden = false
)
color3f inputs:reflection_color = (1, 1, 1) (
customData = {
float3 default = (1, 1, 1)
}
displayGroup = "Reflection"
displayName = "Reflection Color"
hidden = false
renderType = "color"
)
asset inputs:reflection_color_texture = @@ (
colorSpace = "auto"
customData = {
asset default = @@
}
displayGroup = "Reflection"
displayName = "Reflection Color Texture"
hidden = false
renderType = "texture_2d"
)
asset inputs:roughness_texture = @@ (
colorSpace = "raw"
customData = {
asset default = @@
}
displayGroup = "Roughness"
displayName = "Roughness Texture"
hidden = false
renderType = "texture_2d"
)
float inputs:roughness_texture_influence = 1 (
customData = {
float default = 1
dictionary range = {
float max = 1
float min = 0
}
}
displayGroup = "Roughness"
displayName = "Roughness Texture Influence"
hidden = false
)
float inputs:texture_rotate = 0 (
customData = {
float default = 0
}
displayGroup = "UV"
displayName = "Texture Rotate"
hidden = false
)
float2 inputs:texture_scale = (1, 1) (
customData = {
float2 default = (1, 1)
}
displayGroup = "UV"
displayName = "Texture Tiling"
hidden = false
)
float2 inputs:texture_translate = (0, 0) (
customData = {
float2 default = (0, 0)
}
displayGroup = "UV"
displayName = "Texture Translate"
hidden = false
)
bool inputs:thin_walled = 0 (
customData = {
bool default = 0
}
displayGroup = "Refraction"
displayName = "Thin Walled"
hidden = false
)
bool inputs:use_glass_color_texture = 0 (
customData = {
bool default = 0
}
hidden = true
)
int inputs:uv_space_index = 0 (
customData = {
int default = 0
dictionary range = {
int max = 3
int min = 0
}
}
displayGroup = "UV"
displayName = "UV Space Index"
hidden = false
)
bool inputs:world_or_object = 0 (
customData = {
bool default = 0
}
displayGroup = "UV"
displayName = "Enable World Space"
hidden = false
)
token outputs:out (
renderType = "material"
)
}
}
def Material "M_ConveyorBeltScanningModule_A01_Led_Green"
{
token outputs:mdl:displacement.connect = </Looks/M_ConveyorBeltScanningModule_A01_Led_Green/Shader.outputs:out>
token outputs:mdl:surface.connect = </Looks/M_ConveyorBeltScanningModule_A01_Led_Green/Shader.outputs:out>
token outputs:mdl:volume.connect = </Looks/M_ConveyorBeltScanningModule_A01_Led_Green/Shader.outputs:out>
def Shader "Shader"
{
uniform token info:implementationSource = "sourceAsset"
uniform asset info:mdl:sourceAsset = @OmniPBR.mdl@
uniform token info:mdl:sourceAsset:subIdentifier = "OmniPBR"
float inputs:albedo_add = 0 (
customData = {
float default = 0
dictionary soft_range = {
float max = 1
float min = -1
}
}
displayGroup = "Albedo"
displayName = "Albedo Add"
hidden = false
)
float inputs:albedo_brightness = 1 (
customData = {
float default = 1
dictionary soft_range = {
float max = 1
float min = 0
}
}
displayGroup = "Albedo"
displayName = "Albedo Brightness"
hidden = false
)
float inputs:albedo_desaturation = 0 (
customData = {
float default = 0
dictionary soft_range = {
float max = 1
float min = 0
}
}
displayGroup = "Albedo"
displayName = "Albedo Desaturation"
hidden = false
)
asset inputs:ao_texture = @@ (
colorSpace = "raw"
customData = {
asset default = @@
}
displayGroup = "AO"
displayName = "Ambient Occlusion Map"
hidden = false
renderType = "texture_2d"
)
float inputs:ao_to_diffuse = 0 (
customData = {
float default = 0
dictionary range = {
float max = 1
float min = 0
}
}
displayGroup = "AO"
displayName = "AO to diffuse"
hidden = false
)
float inputs:bump_factor = 1 (
customData = {
float default = 1
dictionary soft_range = {
float max = 1
float min = 0
}
}
displayGroup = "Normal"
displayName = "Normal Strength"
hidden = false
)
float inputs:detail_bump_factor = 0.3 (
customData = {
float default = 0.3
dictionary soft_range = {
float max = 1
float min = 0
}
}
displayGroup = "Normal"
displayName = "Detail Normal Strength"
hidden = false
)
asset inputs:detail_normalmap_texture = @@ (
colorSpace = "raw"
customData = {
asset default = @@
}
displayGroup = "Normal"
displayName = "Detail Normal Map"
hidden = false
renderType = "texture_2d"
)
float inputs:detail_texture_rotate = 0 (
customData = {
float default = 0
}
displayGroup = "UV"
displayName = "Detail Texture Rotate"
hidden = false
)
float2 inputs:detail_texture_scale = (1, 1) (
customData = {
float2 default = (1, 1)
}
displayGroup = "UV"
displayName = "Detail Texture Tiling"
hidden = false
)
float2 inputs:detail_texture_translate = (0, 0) (
customData = {
float2 default = (0, 0)
}
displayGroup = "UV"
displayName = "Detail Texture Translate"
doc = "Controls the position of the detail texture."
hidden = false
)
color3f inputs:diffuse_color_constant = (0.2, 0.2, 0.2) (
customData = {
float3 default = (0.2, 0.2, 0.2)
}
displayGroup = "Albedo"
displayName = "Albedo Color"
doc = "This is the albedo base color"
hidden = false
renderType = "color"
)
asset inputs:diffuse_texture = @@ (
colorSpace = "auto"
customData = {
asset default = @@
}
displayGroup = "Albedo"
displayName = "Albedo Map"
hidden = false
renderType = "texture_2d"
)
color3f inputs:diffuse_tint = (0.000001, 9.9999e-7, 9.9999e-7) (
customData = {
float3 default = (1, 1, 1)
}
displayGroup = "Albedo"
displayName = "Color Tint"
doc = "When enabled, this color value is multiplied over the final albedo color"
hidden = false
renderType = "color"
)
color3f inputs:emissive_color = (0, 1, 0.039215688) (
customData = {
float3 default = (1, 0.1, 0.1)
}
displayGroup = "Emissive"
displayName = "Emissive Color"
doc = "The emission color"
hidden = false
renderType = "color"
)
asset inputs:emissive_color_texture = @@ (
colorSpace = "auto"
customData = {
asset default = @@
}
displayGroup = "Emissive"
displayName = "Emissive Color map"
doc = "The emissive color texture"
hidden = false
renderType = "texture_2d"
)
float inputs:emissive_intensity = 2000 (
customData = {
float default = 40
}
displayGroup = "Emissive"
displayName = "Emissive Intensity"
doc = "Intensity of the emission"
hidden = false
)
asset inputs:emissive_mask_texture = @@ (
colorSpace = "raw"
customData = {
asset default = @@
}
displayGroup = "Emissive"
displayName = "Emissive Mask map"
doc = "The texture masking the emissive color"
hidden = false
renderType = "texture_2d"
)
bool inputs:enable_emission = 1 (
customData = {
bool default = 0
}
displayGroup = "Emissive"
displayName = "Enable Emission"
doc = "Enables the emission of light from the material"
hidden = false
)
bool inputs:enable_opacity = 0 (
customData = {
bool default = 0
}
displayGroup = "Opacity"
displayName = "Enable Opacity"
doc = "Enables the use of cutout opacity"
hidden = false
)
bool inputs:enable_opacity_texture = 0 (
customData = {
bool default = 0
}
displayGroup = "Opacity"
displayName = "Enable Opacity Texture"
doc = "Enables or disables the usage of the opacity texture map"
hidden = false
)
bool inputs:enable_ORM_texture = 0 (
customData = {
bool default = 0
}
displayGroup = "Reflectivity"
displayName = "Enable ORM Texture"
doc = "The ORM texture will be used to extract the Occlusion, Roughness and Metallic textures from R,G,B channels"
hidden = false
)
bool inputs:flip_tangent_u = 0 (
customData = {
bool default = 0
}
displayGroup = "Normal"
displayName = "Normal Map Flip U Tangent"
hidden = false
)
bool inputs:flip_tangent_v = 1 (
customData = {
bool default = 1
}
displayGroup = "Normal"
displayName = "Normal Map Flip V Tangent"
hidden = false
)
float inputs:metallic_constant = 0 (
customData = {
float default = 0
dictionary range = {
float max = 1
float min = 0
}
}
displayGroup = "Reflectivity"
displayName = "Metallic Amount"
doc = "Metallic Material"
hidden = false
)
asset inputs:metallic_texture = @@ (
colorSpace = "raw"
customData = {
asset default = @@
}
displayGroup = "Reflectivity"
displayName = "Metallic Map"
hidden = false
renderType = "texture_2d"
)
float inputs:metallic_texture_influence = 0 (
customData = {
float default = 0
dictionary range = {
float max = 1
float min = 0
}
}
displayGroup = "Reflectivity"
displayName = "Metallic Map Influence"
doc = "Blends between the constant value and the lookup of the metallic texture"
hidden = false
)
asset inputs:normalmap_texture = @@ (
colorSpace = "raw"
customData = {
asset default = @@
}
displayGroup = "Normal"
displayName = "Normal Map"
hidden = false
renderType = "texture_2d"
)
float inputs:opacity_constant = 1 (
customData = {
float default = 1
dictionary range = {
float max = 1
float min = 0
}
}
displayGroup = "Opacity"
displayName = "Opacity Amount"
doc = "Opacity value between 0 and 1, when Opacity Map is not valid"
hidden = false
)
int inputs:opacity_mode = 1 (
customData = {
int default = 1
}
displayGroup = "Opacity"
displayName = "Opacity Mono Source"
doc = "Determines how to lookup opacity from the supplied texture. mono_alpha, mono_average, mono_luminance, mono_maximum"
hidden = false
renderType = "mono_mode"
sdrMetadata = {
string __SDR__enum_value = "mono_average"
string options = "mono_alpha:0|mono_average:1|mono_luminance:2|mono_maximum:3"
}
)
asset inputs:opacity_texture = @@ (
colorSpace = "raw"
customData = {
asset default = @@
}
displayGroup = "Opacity"
displayName = "Opacity Map"
hidden = false
renderType = "texture_2d"
)
float inputs:opacity_threshold = 0 (
customData = {
float default = 0
dictionary range = {
float max = 1
float min = 0
}
}
displayGroup = "Opacity"
displayName = "Opacity Threshold"
doc = "If 0, use fractional opacity values 'as is'; if > 0, remap opacity values to 1 when >= threshold and to 0 otherwise"
hidden = false
)
asset inputs:ORM_texture = @@ (
colorSpace = "raw"
customData = {
asset default = @@
}
displayGroup = "Reflectivity"
displayName = "ORM Map"
doc = "Texture that has Occlusion, Roughness and Metallic maps stored in their respective R, G and B channels"
hidden = false
renderType = "texture_2d"
)
bool inputs:project_uvw = 0 (
customData = {
bool default = 0
}
displayGroup = "UV"
displayName = "Enable Project UVW Coordinates"
doc = "When enabled, UV coordinates will be generated by projecting them from a coordinate system"
hidden = false
)
float inputs:reflection_roughness_constant = 0.5 (
customData = {
float default = 0.5
dictionary range = {
float max = 1
float min = 0
}
}
displayGroup = "Reflectivity"
displayName = "Roughness Amount"
doc = "Higher roughness values lead to more blurry reflections"
hidden = false
)
float inputs:reflection_roughness_texture_influence = 0 (
customData = {
float default = 0
dictionary range = {
float max = 1
float min = 0
}
}
displayGroup = "Reflectivity"
displayName = "Roughness Map Influence"
doc = "Blends between the constant value and the lookup of the roughness texture"
hidden = false
)
asset inputs:reflectionroughness_texture = @@ (
colorSpace = "raw"
customData = {
asset default = @@
}
displayGroup = "Reflectivity"
displayName = "Roughness Map"
hidden = false
renderType = "texture_2d"
)
float inputs:specular_level = 0.5 (
customData = {
float default = 0.5
dictionary soft_range = {
float max = 1
float min = 0
}
}
displayGroup = "Reflectivity"
displayName = "Specular"
doc = "The specular level (intensity) of the material"
hidden = false
)
float inputs:texture_rotate = 0 (
customData = {
float default = 0
}
displayGroup = "UV"
displayName = "Texture Rotate"
doc = "Rotates angle of texture in degrees."
hidden = false
)
float2 inputs:texture_scale = (1, 1) (
customData = {
float2 default = (1, 1)
}
displayGroup = "UV"
displayName = "Texture Tiling"
doc = "Controls the repetition of the texture."
hidden = false
)
float2 inputs:texture_translate = (0, 0) (
customData = {
float2 default = (0, 0)
}
displayGroup = "UV"
displayName = "Texture Translate"
doc = "Controls position of texture."
hidden = false
)
int inputs:uv_space_index = 0 (
customData = {
int default = 0
dictionary range = {
int max = 3
int min = 0
}
}
displayGroup = "UV"
displayName = "UV Space Index"
doc = "UV Space Index."
hidden = false
)
bool inputs:world_or_object = 0 (
customData = {
bool default = 0
}
displayGroup = "UV"
displayName = "Enable World Space"
doc = "When enabled, uses world space for projection, otherwise object space is used"
hidden = false
)
token outputs:out (
renderType = "material"
)
}
}
def Material "M_ConveyorBeltScanningModule_A01_Led_Yellow"
{
token outputs:mdl:displacement.connect = </Looks/M_ConveyorBeltScanningModule_A01_Led_Yellow/Shader.outputs:out>
token outputs:mdl:surface.connect = </Looks/M_ConveyorBeltScanningModule_A01_Led_Yellow/Shader.outputs:out>
token outputs:mdl:volume.connect = </Looks/M_ConveyorBeltScanningModule_A01_Led_Yellow/Shader.outputs:out>
def Shader "Shader"
{
uniform token info:implementationSource = "sourceAsset"
uniform asset info:mdl:sourceAsset = @OmniPBR.mdl@
uniform token info:mdl:sourceAsset:subIdentifier = "OmniPBR"
float inputs:albedo_add = 0 (
customData = {
float default = 0
dictionary soft_range = {
float max = 1
float min = -1
}
}
displayGroup = "Albedo"
displayName = "Albedo Add"
doc = "Adds a constant value to the diffuse color"
hidden = false
)
float inputs:albedo_brightness = 1 (
customData = {
float default = 1
dictionary soft_range = {
float max = 1
float min = 0
}
}
displayGroup = "Albedo"
displayName = "Albedo Brightness"
doc = "Multiplier for the diffuse color"
hidden = false
)
float inputs:albedo_desaturation = 0 (
customData = {
float default = 0
dictionary soft_range = {
float max = 1
float min = 0
}
}
displayGroup = "Albedo"
displayName = "Albedo Desaturation"
doc = "Desaturates the diffuse color"
hidden = false
)
asset inputs:ao_texture = @@ (
colorSpace = "raw"
customData = {
asset default = @@
}
displayGroup = "AO"
displayName = "Ambient Occlusion Map"
doc = "The ambient occlusion texture for the material"
hidden = false
renderType = "texture_2d"
)
float inputs:ao_to_diffuse = 0 (
customData = {
float default = 0
dictionary range = {
float max = 1
float min = 0
}
}
displayGroup = "AO"
displayName = "AO to diffuse"
doc = "Controls the amount of ambient occlusion multiplied against the diffuse color channel"
hidden = false
)
float inputs:bump_factor = 1 (
customData = {
float default = 1
dictionary soft_range = {
float max = 1
float min = 0
}
}
displayGroup = "Normal"
displayName = "Normal Strength"
doc = "Strength of normal map"
hidden = false
)
float inputs:detail_bump_factor = 0.3 (
customData = {
float default = 0.3
dictionary soft_range = {
float max = 1
float min = 0
}
}
displayGroup = "Normal"
displayName = "Detail Normal Strength"
doc = "Strength of the detail normal"
hidden = false
)
asset inputs:detail_normalmap_texture = @@ (
colorSpace = "raw"
customData = {
asset default = @@
}
displayGroup = "Normal"
displayName = "Detail Normal Map"
hidden = false
renderType = "texture_2d"
)
float inputs:detail_texture_rotate = 0 (
customData = {
float default = 0
}
displayGroup = "UV"
displayName = "Detail Texture Rotate"
doc = "Rotates angle of the detail texture in degrees."
hidden = false
)
float2 inputs:detail_texture_scale = (1, 1) (
customData = {
float2 default = (1, 1)
}
displayGroup = "UV"
displayName = "Detail Texture Tiling"
doc = "Controls the repetition of the detail texture."
hidden = false
)
float2 inputs:detail_texture_translate = (0, 0) (
customData = {
float2 default = (0, 0)
}
displayGroup = "UV"
displayName = "Detail Texture Translate"
doc = "Controls the position of the detail texture."
hidden = false
)
color3f inputs:diffuse_color_constant = (0.2, 0.2, 0.2) (
customData = {
float3 default = (0.2, 0.2, 0.2)
}
displayGroup = "Albedo"
displayName = "Albedo Color"
doc = "This is the albedo base color"
hidden = false
renderType = "color"
)
asset inputs:diffuse_texture = @@ (
colorSpace = "auto"
customData = {
asset default = @@
}
displayGroup = "Albedo"
displayName = "Albedo Map"
hidden = false
renderType = "texture_2d"
)
color3f inputs:diffuse_tint = (0.000001, 9.9999e-7, 9.9999e-7) (
customData = {
float3 default = (1, 1, 1)
}
displayGroup = "Albedo"
displayName = "Color Tint"
doc = "When enabled, this color value is multiplied over the final albedo color"
hidden = false
renderType = "color"
)
color3f inputs:emissive_color = (1, 0.972549, 0) (
customData = {
float3 default = (1, 0.1, 0.1)
}
displayGroup = "Emissive"
displayName = "Emissive Color"
doc = "The emission color"
hidden = false
renderType = "color"
)
asset inputs:emissive_color_texture = @@ (
colorSpace = "auto"
customData = {
asset default = @@
}
displayGroup = "Emissive"
displayName = "Emissive Color map"
doc = "The emissive color texture"
hidden = false
renderType = "texture_2d"
)
float inputs:emissive_intensity = 2000 (
customData = {
float default = 40
}
displayGroup = "Emissive"
displayName = "Emissive Intensity"
doc = "Intensity of the emission"
hidden = false
)
asset inputs:emissive_mask_texture = @@ (
colorSpace = "raw"
customData = {
asset default = @@
}
displayGroup = "Emissive"
displayName = "Emissive Mask map"
doc = "The texture masking the emissive color"
hidden = false
renderType = "texture_2d"
)
bool inputs:enable_emission = 1 (
customData = {
bool default = 0
}
displayGroup = "Emissive"
displayName = "Enable Emission"
doc = "Enables the emission of light from the material"
hidden = false
)
bool inputs:enable_opacity = 0 (
customData = {
bool default = 0
}
displayGroup = "Opacity"
displayName = "Enable Opacity"
doc = "Enables the use of cutout opacity"
hidden = false
)
bool inputs:enable_opacity_texture = 0 (
customData = {
bool default = 0
}
displayGroup = "Opacity"
displayName = "Enable Opacity Texture"
doc = "Enables or disables the usage of the opacity texture map"
hidden = false
)
bool inputs:enable_ORM_texture = 0 (
customData = {
bool default = 0
}
displayGroup = "Reflectivity"
displayName = "Enable ORM Texture"
doc = "The ORM texture will be used to extract the Occlusion, Roughness and Metallic textures from R,G,B channels"
hidden = false
)
bool inputs:flip_tangent_u = 0 (
customData = {
bool default = 0
}
displayGroup = "Normal"
displayName = "Normal Map Flip U Tangent"
hidden = false
)
bool inputs:flip_tangent_v = 1 (
customData = {
bool default = 1
}
displayGroup = "Normal"
displayName = "Normal Map Flip V Tangent"
hidden = false
)
float inputs:metallic_constant = 0 (
customData = {
float default = 0
dictionary range = {
float max = 1
float min = 0
}
}
displayGroup = "Reflectivity"
displayName = "Metallic Amount"
doc = "Metallic Material"
hidden = false
)
asset inputs:metallic_texture = @@ (
colorSpace = "raw"
customData = {
asset default = @@
}
displayGroup = "Reflectivity"
displayName = "Metallic Map"
hidden = false
renderType = "texture_2d"
)
float inputs:metallic_texture_influence = 0 (
customData = {
float default = 0
dictionary range = {
float max = 1
float min = 0
}
}
displayGroup = "Reflectivity"
displayName = "Metallic Map Influence"
doc = "Blends between the constant value and the lookup of the metallic texture"
hidden = false
)
asset inputs:normalmap_texture = @@ (
colorSpace = "raw"
customData = {
asset default = @@
}
displayGroup = "Normal"
displayName = "Normal Map"
hidden = false
renderType = "texture_2d"
)
float inputs:opacity_constant = 1 (
customData = {
float default = 1
dictionary range = {
float max = 1
float min = 0
}
}
displayGroup = "Opacity"
displayName = "Opacity Amount"
doc = "Opacity value between 0 and 1, when Opacity Map is not valid"
hidden = false
)
int inputs:opacity_mode = 1 (
customData = {
int default = 1
}
displayGroup = "Opacity"
displayName = "Opacity Mono Source"
doc = "Determines how to lookup opacity from the supplied texture. mono_alpha, mono_average, mono_luminance, mono_maximum"
hidden = false
renderType = "mono_mode"
sdrMetadata = {
string __SDR__enum_value = "mono_average"
string options = "mono_alpha:0|mono_average:1|mono_luminance:2|mono_maximum:3"
}
)
asset inputs:opacity_texture = @@ (
colorSpace = "raw"
customData = {
asset default = @@
}
displayGroup = "Opacity"
displayName = "Opacity Map"
hidden = false
renderType = "texture_2d"
)
float inputs:opacity_threshold = 0 (
customData = {
float default = 0
dictionary range = {
float max = 1
float min = 0
}
}
displayGroup = "Opacity"
displayName = "Opacity Threshold"
doc = "If 0, use fractional opacity values 'as is'; if > 0, remap opacity values to 1 when >= threshold and to 0 otherwise"
hidden = false
)
asset inputs:ORM_texture = @@ (
colorSpace = "raw"
customData = {
asset default = @@
}
displayGroup = "Reflectivity"
displayName = "ORM Map"
doc = "Texture that has Occlusion, Roughness and Metallic maps stored in their respective R, G and B channels"
hidden = false
renderType = "texture_2d"
)
bool inputs:project_uvw = 0 (
customData = {
bool default = 0
}
displayGroup = "UV"
displayName = "Enable Project UVW Coordinates"
doc = "When enabled, UV coordinates will be generated by projecting them from a coordinate system"
hidden = false
)
float inputs:reflection_roughness_constant = 0.5 (
customData = {
float default = 0.5
dictionary range = {
float max = 1
float min = 0
}
}
displayGroup = "Reflectivity"
displayName = "Roughness Amount"
doc = "Higher roughness values lead to more blurry reflections"
hidden = false
)
float inputs:reflection_roughness_texture_influence = 0 (
customData = {
float default = 0
dictionary range = {
float max = 1
float min = 0
}
}
displayGroup = "Reflectivity"
displayName = "Roughness Map Influence"
doc = "Blends between the constant value and the lookup of the roughness texture"
hidden = false
)
asset inputs:reflectionroughness_texture = @@ (
colorSpace = "raw"
customData = {
asset default = @@
}
displayGroup = "Reflectivity"
displayName = "Roughness Map"
hidden = false
renderType = "texture_2d"
)
float inputs:specular_level = 0.5 (
customData = {
float default = 0.5
dictionary soft_range = {
float max = 1
float min = 0
}
}
displayGroup = "Reflectivity"
displayName = "Specular"
doc = "The specular level (intensity) of the material"
hidden = false
)
float inputs:texture_rotate = 0 (
customData = {
float default = 0
}
displayGroup = "UV"
displayName = "Texture Rotate"
doc = "Rotates angle of texture in degrees."
hidden = false
)
float2 inputs:texture_scale = (1, 1) (
customData = {
float2 default = (1, 1)
}
displayGroup = "UV"
displayName = "Texture Tiling"
doc = "Controls the repetition of the texture."
hidden = false
)
float2 inputs:texture_translate = (0, 0) (
customData = {
float2 default = (0, 0)
}
displayGroup = "UV"
displayName = "Texture Translate"
doc = "Controls position of texture."
hidden = false
)
int inputs:uv_space_index = 0 (
customData = {
int default = 0
dictionary range = {
int max = 3
int min = 0
}
}
displayGroup = "UV"
displayName = "UV Space Index"
doc = "UV Space Index."
hidden = false
)
bool inputs:world_or_object = 0 (
customData = {
bool default = 0
}
displayGroup = "UV"
displayName = "Enable World Space"
doc = "When enabled, uses world space for projection, otherwise object space is used"
hidden = false
)
token outputs:out (
renderType = "material"
)
}
}
def Material "M_ConveyorBeltScanningModule_A01_Led_Red"
{
token outputs:mdl:displacement.connect = </Looks/M_ConveyorBeltScanningModule_A01_Led_Red/Shader.outputs:out>
token outputs:mdl:surface.connect = </Looks/M_ConveyorBeltScanningModule_A01_Led_Red/Shader.outputs:out>
token outputs:mdl:volume.connect = </Looks/M_ConveyorBeltScanningModule_A01_Led_Red/Shader.outputs:out>
def Shader "Shader"
{
uniform token info:implementationSource = "sourceAsset"
uniform asset info:mdl:sourceAsset = @OmniPBR.mdl@
uniform token info:mdl:sourceAsset:subIdentifier = "OmniPBR"
float inputs:albedo_add = 0 (
customData = {
float default = 0
dictionary soft_range = {
float max = 1
float min = -1
}
}
displayGroup = "Albedo"
displayName = "Albedo Add"
hidden = false
)
float inputs:albedo_brightness = 1 (
customData = {
float default = 1
dictionary soft_range = {
float max = 1
float min = 0
}
}
displayGroup = "Albedo"
displayName = "Albedo Brightness"
hidden = false
)
float inputs:albedo_desaturation = 0 (
customData = {
float default = 0
dictionary soft_range = {
float max = 1
float min = 0
}
}
displayGroup = "Albedo"
displayName = "Albedo Desaturation"
hidden = false
)
asset inputs:ao_texture = @@ (
colorSpace = "raw"
customData = {
asset default = @@
}
displayGroup = "AO"
displayName = "Ambient Occlusion Map"
hidden = false
renderType = "texture_2d"
)
float inputs:ao_to_diffuse = 0 (
customData = {
float default = 0
dictionary range = {
float max = 1
float min = 0
}
}
displayGroup = "AO"
displayName = "AO to diffuse"
hidden = false
)
float inputs:bump_factor = 1 (
customData = {
float default = 1
dictionary soft_range = {
float max = 1
float min = 0
}
}
displayGroup = "Normal"
displayName = "Normal Strength"
hidden = false
)
float inputs:detail_bump_factor = 0.3 (
customData = {
float default = 0.3
dictionary soft_range = {
float max = 1
float min = 0
}
}
displayGroup = "Normal"
displayName = "Detail Normal Strength"
hidden = false
)
asset inputs:detail_normalmap_texture = @@ (
colorSpace = "raw"
customData = {
asset default = @@
}
displayGroup = "Normal"
displayName = "Detail Normal Map"
hidden = false
renderType = "texture_2d"
)
float inputs:detail_texture_rotate = 0 (
customData = {
float default = 0
}
displayGroup = "UV"
displayName = "Detail Texture Rotate"
hidden = false
)
float2 inputs:detail_texture_scale = (1, 1) (
customData = {
float2 default = (1, 1)
}
displayGroup = "UV"
displayName = "Detail Texture Tiling"
hidden = false
)
float2 inputs:detail_texture_translate = (0, 0) (
customData = {
float2 default = (0, 0)
}
displayGroup = "UV"
displayName = "Detail Texture Translate"
hidden = false
)
color3f inputs:diffuse_color_constant = (0.2, 0.2, 0.2) (
customData = {
float3 default = (0.2, 0.2, 0.2)
}
displayGroup = "Albedo"
displayName = "Albedo Color"
hidden = false
renderType = "color"
)
asset inputs:diffuse_texture = @@ (
colorSpace = "auto"
customData = {
asset default = @@
}
displayGroup = "Albedo"
displayName = "Albedo Map"
hidden = false
renderType = "texture_2d"
)
color3f inputs:diffuse_tint = (0.000001, 9.9999e-7, 9.9999e-7) (
customData = {
float3 default = (1, 1, 1)
}
displayGroup = "Albedo"
displayName = "Color Tint"
hidden = false
renderType = "color"
)
color3f inputs:emissive_color = (1, 0, 0) (
customData = {
float3 default = (1, 0.1, 0.1)
}
displayGroup = "Emissive"
displayName = "Emissive Color"
hidden = false
renderType = "color"
)
asset inputs:emissive_color_texture = @@ (
colorSpace = "auto"
customData = {
asset default = @@
}
displayGroup = "Emissive"
displayName = "Emissive Color map"
hidden = false
renderType = "texture_2d"
)
float inputs:emissive_intensity = 2000 (
customData = {
float default = 40
}
displayGroup = "Emissive"
displayName = "Emissive Intensity"
hidden = false
)
asset inputs:emissive_mask_texture = @@ (
colorSpace = "raw"
customData = {
asset default = @@
}
displayGroup = "Emissive"
displayName = "Emissive Mask map"
hidden = false
renderType = "texture_2d"
)
bool inputs:enable_emission = 1 (
customData = {
bool default = 0
}
displayGroup = "Emissive"
displayName = "Enable Emission"
hidden = false
)
bool inputs:enable_opacity = 0 (
customData = {
bool default = 0
}
displayGroup = "Opacity"
displayName = "Enable Opacity"
hidden = false
)
bool inputs:enable_opacity_texture = 0 (
customData = {
bool default = 0
}
displayGroup = "Opacity"
displayName = "Enable Opacity Texture"
hidden = false
)
bool inputs:enable_ORM_texture = 0 (
customData = {
bool default = 0
}
displayGroup = "Reflectivity"
displayName = "Enable ORM Texture"
hidden = false
)
bool inputs:flip_tangent_u = 0 (
customData = {
bool default = 0
}
displayGroup = "Normal"
displayName = "Normal Map Flip U Tangent"
hidden = false
)
bool inputs:flip_tangent_v = 1 (
customData = {
bool default = 1
}
displayGroup = "Normal"
displayName = "Normal Map Flip V Tangent"
hidden = false
)
float inputs:metallic_constant = 0 (
customData = {
float default = 0
dictionary range = {
float max = 1
float min = 0
}
}
displayGroup = "Reflectivity"
displayName = "Metallic Amount"
hidden = false
)
asset inputs:metallic_texture = @@ (
colorSpace = "raw"
customData = {
asset default = @@
}
displayGroup = "Reflectivity"
displayName = "Metallic Map"
hidden = false
renderType = "texture_2d"
)
float inputs:metallic_texture_influence = 0 (
customData = {
float default = 0
dictionary range = {
float max = 1
float min = 0
}
}
displayGroup = "Reflectivity"
displayName = "Metallic Map Influence"
hidden = false
)
asset inputs:normalmap_texture = @@ (
colorSpace = "raw"
customData = {
asset default = @@
}
displayGroup = "Normal"
displayName = "Normal Map"
hidden = false
renderType = "texture_2d"
)
float inputs:opacity_constant = 1 (
customData = {
float default = 1
dictionary range = {
float max = 1
float min = 0
}
}
displayGroup = "Opacity"
displayName = "Opacity Amount"
hidden = false
)
int inputs:opacity_mode = 1 (
customData = {
int default = 1
}
displayGroup = "Opacity"
displayName = "Opacity Mono Source"
hidden = false
renderType = "mono_mode"
sdrMetadata = {
string __SDR__enum_value = "mono_average"
string options = "mono_alpha:0|mono_average:1|mono_luminance:2|mono_maximum:3"
}
)
asset inputs:opacity_texture = @@ (
colorSpace = "raw"
customData = {
asset default = @@
}
displayGroup = "Opacity"
displayName = "Opacity Map"
hidden = false
renderType = "texture_2d"
)
float inputs:opacity_threshold = 0 (
customData = {
float default = 0
dictionary range = {
float max = 1
float min = 0
}
}
displayGroup = "Opacity"
displayName = "Opacity Threshold"
hidden = false
)
asset inputs:ORM_texture = @@ (
colorSpace = "raw"
customData = {
asset default = @@
}
displayGroup = "Reflectivity"
displayName = "ORM Map"
hidden = false
renderType = "texture_2d"
)
bool inputs:project_uvw = 0 (
customData = {
bool default = 0
}
displayGroup = "UV"
displayName = "Enable Project UVW Coordinates"
hidden = false
)
float inputs:reflection_roughness_constant = 0.5 (
customData = {
float default = 0.5
dictionary range = {
float max = 1
float min = 0
}
}
displayGroup = "Reflectivity"
displayName = "Roughness Amount"
hidden = false
)
float inputs:reflection_roughness_texture_influence = 0 (
customData = {
float default = 0
dictionary range = {
float max = 1
float min = 0
}
}
displayGroup = "Reflectivity"
displayName = "Roughness Map Influence"
hidden = false
)
asset inputs:reflectionroughness_texture = @@ (
colorSpace = "raw"
customData = {
asset default = @@
}
displayGroup = "Reflectivity"
displayName = "Roughness Map"
hidden = false
renderType = "texture_2d"
)
float inputs:specular_level = 0.5 (
customData = {
float default = 0.5
dictionary soft_range = {
float max = 1
float min = 0
}
}
displayGroup = "Reflectivity"
displayName = "Specular"
hidden = false
)
float inputs:texture_rotate = 0 (
customData = {
float default = 0
}
displayGroup = "UV"
displayName = "Texture Rotate"
hidden = false
)
float2 inputs:texture_scale = (1, 1) (
customData = {
float2 default = (1, 1)
}
displayGroup = "UV"
displayName = "Texture Tiling"
hidden = false
)
float2 inputs:texture_translate = (0, 0) (
customData = {
float2 default = (0, 0)
}
displayGroup = "UV"
displayName = "Texture Translate"
hidden = false
)
int inputs:uv_space_index = 0 (
customData = {
int default = 0
dictionary range = {
int max = 3
int min = 0
}
}
displayGroup = "UV"
displayName = "UV Space Index"
hidden = false
)
bool inputs:world_or_object = 0 (
customData = {
bool default = 0
}
displayGroup = "UV"
displayName = "Enable World Space"
hidden = false
)
token outputs:out (
renderType = "material"
)
}
}
def Material "M_ConveyorBelt_A01_Decal"
{
token outputs:mdl:displacement.connect = </Looks/M_ConveyorBelt_A01_Decal/Shader.outputs:out>
token outputs:mdl:surface.connect = </Looks/M_ConveyorBelt_A01_Decal/Shader.outputs:out>
token outputs:mdl:volume.connect = </Looks/M_ConveyorBelt_A01_Decal/Shader.outputs:out>
def Shader "Shader"
{
uniform token info:implementationSource = "sourceAsset"
uniform asset info:mdl:sourceAsset = @./ConveyorDecal_A.mdl@
uniform token info:mdl:sourceAsset:subIdentifier = "M_ConveyorBelt_A01_Decal"
asset inputs:diffuse_texture = @./textures/T_ConveyorsBelt_A01_Decal_Albedo.png@ (
colorSpace = "sRGB"
customData = {
asset default = @./textures/T_ConveyorsBelt_A01_Decal_Albedo.png@
}
displayGroup = "Albedo"
displayName = "Albedo Map"
hidden = false
)
bool inputs:enable_opacity = 1 (
customData = {
bool default = 1
}
displayGroup = "Opacity"
displayName = "Enable Opacity"
doc = "Enables the use of cutout opacity"
hidden = false
)
bool inputs:enable_opacity_texture = 1 (
customData = {
bool default = 1
}
displayGroup = "Opacity"
displayName = "Enable Opacity Texture"
doc = "Enables or disables the usage of the opacity texture map"
hidden = false
)
bool inputs:enable_ORM_texture = 1 (
customData = {
bool default = 1
}
displayGroup = "Reflectivity"
displayName = "Enable ORM Texture"
doc = "When True the ORM texture will be used to extract the Occlusion, Roughness and Metallic Map"
hidden = false
)
bool inputs:excludeFromWhiteMode = 0 (
customData = {
bool default = 0
}
displayGroup = "Material Flags"
displayName = "Exclude from White Mode"
hidden = false
)
float inputs:metallic_texture_influence = 1 (
customData = {
float default = 1
dictionary range = {
float max = 1
float min = 0
}
}
displayGroup = "Reflectivity"
displayName = "Metallic Map Influence"
doc = "Blends between the constant value and the lookup of the metallic texture"
hidden = false
)
asset inputs:opacity_texture = @./textures/T_ConveyorsBelt_A01_Decal_Alpha.png@ (
colorSpace = "raw"
customData = {
asset default = @./textures/T_ConveyorsBelt_A01_Decal_Alpha.png@
}
displayGroup = "Opacity"
displayName = "Opacity Map"
hidden = false
)
asset inputs:ORM_texture = @./textures/T_ConveyorsBelt_A01_Decal_ORM.png@ (
colorSpace = "raw"
customData = {
asset default = @./textures/T_ConveyorsBelt_A01_Decal_ORM.png@
}
displayGroup = "Reflectivity"
displayName = "ORM Map"
doc = "Texture that hae Occlusion, Roughness and Metallic map stored in the respective r, g and b channels"
hidden = false
)
float inputs:reflection_roughness_texture_influence = 1 (
customData = {
float default = 1
dictionary range = {
float max = 1
float min = 0
}
}
displayGroup = "Reflectivity"
displayName = "Roughness Map Influence"
doc = "Blends between the constant value and the lookup of the roughness texture"
hidden = false
)
token outputs:out
}
}
def Material "M_ConveyorBelt_A01_Trim"
{
token outputs:mdl:displacement.connect = </Looks/M_ConveyorBelt_A01_Trim/Shader.outputs:out>
token outputs:mdl:surface.connect = </Looks/M_ConveyorBelt_A01_Trim/Shader.outputs:out>
token outputs:mdl:volume.connect = </Looks/M_ConveyorBelt_A01_Trim/Shader.outputs:out>
def Shader "Shader"
{
uniform token info:implementationSource = "sourceAsset"
uniform asset info:mdl:sourceAsset = @./ConveyorTrim_A.mdl@
uniform token info:mdl:sourceAsset:subIdentifier = "M_ConveyorBelt_A01_Trim"
asset inputs:diffuse_texture = @./textures/T_ConveyorBelt_A01_Trim_Albedo.png@ (
colorSpace = "sRGB"
customData = {
asset default = @./textures/T_ConveyorBelt_A01_Trim_Albedo.png@
}
displayGroup = "Albedo"
displayName = "Albedo Map"
hidden = false
)
bool inputs:enable_ORM_texture = 1 (
customData = {
bool default = 1
}
displayGroup = "Reflectivity"
displayName = "Enable ORM Texture"
doc = "When True the ORM texture will be used to extract the Occlusion, Roughness and Metallic Map"
hidden = false
)
bool inputs:excludeFromWhiteMode = 0 (
customData = {
bool default = 0
}
displayGroup = "Material Flags"
displayName = "Exclude from White Mode"
hidden = false
)
float inputs:metallic_texture_influence = 1 (
customData = {
float default = 1
dictionary range = {
float max = 1
float min = 0
}
}
displayGroup = "Reflectivity"
displayName = "Metallic Map Influence"
doc = "Blends between the constant value and the lookup of the metallic texture"
hidden = false
)
asset inputs:normalmap_texture = @./textures/T_ConveyorBelt_A01_Trim_Normal.png@ (
colorSpace = "raw"
customData = {
asset default = @./textures/T_ConveyorBelt_A01_Trim_Normal.png@
}
displayGroup = "Normal"
displayName = "Normal Map"
doc = "Enables the usage of the normalmap texture"
hidden = false
)
asset inputs:ORM_texture = @./textures/T_ConveyorBelt_A01_Trim_ORM.png@ (
colorSpace = "raw"
customData = {
asset default = @./textures/T_ConveyorBelt_A01_Trim_ORM.png@
}
displayGroup = "Reflectivity"
displayName = "ORM Map"
doc = "Texture that hae Occlusion, Roughness and Metallic map stored in the respective r, g and b channels"
hidden = false
)
float inputs:reflection_roughness_texture_influence = 1 (
customData = {
float default = 1
dictionary range = {
float max = 1
float min = 0
}
}
displayGroup = "Reflectivity"
displayName = "Roughness Map Influence"
doc = "Blends between the constant value and the lookup of the roughness texture"
hidden = false
)
token outputs:out
}
}
def Material "M_ConveyorBelt_A01_Belt"
{
token outputs:mdl:displacement.connect = </Looks/M_ConveyorBelt_A01_Belt/Shader.outputs:out>
token outputs:mdl:surface.connect = </Looks/M_ConveyorBelt_A01_Belt/Shader.outputs:out>
token outputs:mdl:volume.connect = </Looks/M_ConveyorBelt_A01_Belt/Shader.outputs:out>
bool primvars:doNotCastShadows = 0
def Shader "Shader"
{
uniform token info:implementationSource = "sourceAsset"
uniform asset info:mdl:sourceAsset = @./ConveyorBelt_A.mdl@
uniform token info:mdl:sourceAsset:subIdentifier = "M_ConveyorBelt_A01_Belt"
asset inputs:diffuse_texture = @./textures/T_ConveyorBelt_A01_Belt_Albedo.png@ (
colorSpace = "sRGB"
customData = {
asset default = @./textures/T_ConveyorBelt_A01_Belt_Albedo.png@
}
displayGroup = "Albedo"
displayName = "Albedo Map"
hidden = false
)
bool inputs:enable_ORM_texture = 1 (
customData = {
bool default = 1
}
displayGroup = "Reflectivity"
displayName = "Enable ORM Texture"
doc = "When True the ORM texture will be used to extract the Occlusion, Roughness and Metallic Map"
hidden = false
)
bool inputs:excludeFromWhiteMode = 0 (
customData = {
bool default = 0
}
displayGroup = "Material Flags"
displayName = "Exclude from White Mode"
hidden = false
)
float inputs:metallic_texture_influence = 1 (
customData = {
float default = 1
dictionary range = {
float max = 1
float min = 0
}
}
displayGroup = "Reflectivity"
displayName = "Metallic Map Influence"
doc = "Blends between the constant value and the lookup of the metallic texture"
hidden = false
)
asset inputs:normalmap_texture = @./textures/T_ConveyorBelt_A01_Belt_Normal.png@ (
colorSpace = "raw"
customData = {
asset default = @./textures/T_ConveyorBelt_A01_Belt_Normal.png@
}
displayGroup = "Normal"
displayName = "Normal Map"
doc = "Enables the usage of the normalmap texture"
hidden = false
)
asset inputs:ORM_texture = @./textures/T_ConveyorBelt_A01_Belt_ORM.png@ (
colorSpace = "raw"
customData = {
asset default = @./textures/T_ConveyorBelt_A01_Belt_ORM.png@
}
displayGroup = "Reflectivity"
displayName = "ORM Map"
doc = "Texture that hae Occlusion, Roughness and Metallic map stored in the respective r, g and b channels"
hidden = false
)
float inputs:reflection_roughness_texture_influence = 1 (
customData = {
float default = 1
dictionary range = {
float max = 1
float min = 0
}
}
displayGroup = "Reflectivity"
displayName = "Roughness Map Influence"
doc = "Blends between the constant value and the lookup of the roughness texture"
hidden = false
)
token outputs:out
}
}
def Material "Steel_A"
{
token outputs:mdl:displacement.connect = </Looks/Steel_A/Shader.outputs:out>
token outputs:mdl:surface.connect = </Looks/Steel_A/Shader.outputs:out>
token outputs:mdl:volume.connect = </Looks/Steel_A/Shader.outputs:out>
bool primvars:doNotCastShadows = 0
def Shader "Shader"
{
uniform token info:implementationSource = "sourceAsset"
uniform asset info:mdl:sourceAsset = @../Materials/Base/Metals/Steel_A.mdl@
uniform token info:mdl:sourceAsset:subIdentifier = "Steel_A"
asset inputs:diffuse_texture = @../Materials/Base/Metals/Steel/T_Steel_A1_Albedo.png@ (
colorSpace = "sRGB"
customData = {
asset default = @../Materials/Base/Metals/Steel/T_Steel_A1_Albedo.png@
}
displayGroup = "Albedo"
displayName = "Albedo Map"
hidden = false
)
color3f inputs:diffuse_tint = (0.77220076, 0.772193, 0.772193) (
customData = {
float3 default = (1, 1, 1)
}
displayGroup = "Albedo"
displayName = "Color Tint"
doc = "When enabled, this color value is multiplied over the final albedo color"
hidden = false
)
bool inputs:excludeFromWhiteMode = 0 (
customData = {
bool default = 0
}
displayGroup = "Material Flags"
displayName = "Exclude from White Mode"
hidden = false
)
float inputs:reflection_roughness_constant = 0.66999996 (
customData = {
float default = 0.5
dictionary range = {
float max = 1
float min = 0
}
}
displayGroup = "Reflectivity"
displayName = "Roughness Amount"
doc = "Higher roughness values lead to more blurry reflections"
hidden = false
)
float inputs:reflection_roughness_texture_influence = 0.88 (
customData = {
float default = 1
dictionary range = {
float max = 1
float min = 0
}
}
displayGroup = "Reflectivity"
displayName = "Roughness Map Influence"
doc = "Blends between the constant value and the lookup of the roughness texture"
hidden = false
)
token outputs:out
}
}
def Material "Metal_Glossy_A"
{
token outputs:mdl:displacement.connect = </Looks/Metal_Glossy_A/Shader.outputs:out>
token outputs:mdl:surface.connect = </Looks/Metal_Glossy_A/Shader.outputs:out>
token outputs:mdl:volume.connect = </Looks/Metal_Glossy_A/Shader.outputs:out>
def Shader "Shader"
{
uniform token info:implementationSource = "sourceAsset"
uniform asset info:mdl:sourceAsset = @../Materials/Base/Metals/Metal_Glossy_A.mdl@
uniform token info:mdl:sourceAsset:subIdentifier = "Metal_Glossy_A"
bool inputs:excludeFromWhiteMode = 0 (
customData = {
bool default = 0
}
displayGroup = "Material Flags"
displayName = "Exclude from White Mode"
hidden = false
)
token outputs:out
}
}
def Material "MetalPainted_Blue_Glossy_A"
{
token outputs:mdl:displacement.connect = </Looks/MetalPainted_Blue_Glossy_A/Shader.outputs:out>
token outputs:mdl:surface.connect = </Looks/MetalPainted_Blue_Glossy_A/Shader.outputs:out>
token outputs:mdl:volume.connect = </Looks/MetalPainted_Blue_Glossy_A/Shader.outputs:out>
def Shader "Shader"
{
uniform token info:implementationSource = "sourceAsset"
uniform asset info:mdl:sourceAsset = @../Materials/Base/Metals/Metal_Painted_Blue_Glossy_A.mdl@
uniform token info:mdl:sourceAsset:subIdentifier = "Metal_Painted_Blue_Glossy_A"
float inputs:bump_factor = 0.5 (
customData = {
float default = 1
dictionary soft_range = {
float max = 1
float min = 0
}
}
displayGroup = "Normal"
displayName = "Normal Map Strength"
doc = "Strength of normal map."
hidden = false
)
color3f inputs:diffuse_tint = (0.07704117, 0.20302787, 0.5868726) (
customData = {
float3 default = (0.07704, 0.20303, 0.58686)
}
displayGroup = "Albedo"
displayName = "Color Tint"
doc = "When enabled, this color value is multiplied over the final albedo color"
hidden = false
)
bool inputs:excludeFromWhiteMode = 0 (
customData = {
bool default = 0
}
displayGroup = "Material Flags"
displayName = "Exclude from White Mode"
hidden = false
)
float2 inputs:texture_scale = (1.5, 1.5) (
customData = {
float2 default = (1.5, 1.5)
}
displayGroup = "UV"
displayName = "Texture Scale"
doc = "Larger number increases size of texture."
hidden = false
)
token outputs:out
}
}
def Material "Plastic_Rough_Black_A"
{
token outputs:mdl:displacement.connect = </Looks/Plastic_Rough_Black_A/Shader.outputs:out>
token outputs:mdl:surface.connect = </Looks/Plastic_Rough_Black_A/Shader.outputs:out>
token outputs:mdl:volume.connect = </Looks/Plastic_Rough_Black_A/Shader.outputs:out>
bool primvars:doNotCastShadows = 0
def Shader "Shader"
{
uniform token info:implementationSource = "sourceAsset"
uniform asset info:mdl:sourceAsset = @../Materials/Base/Plastics/Plastic_Rough_Black_A.mdl@
uniform token info:mdl:sourceAsset:subIdentifier = "Plastic_Rough_Black_A"
token outputs:out
}
}
def Material "Plastic_Orange_A"
{
token outputs:mdl:displacement.connect = </Looks/Plastic_Orange_A/Shader.outputs:out>
token outputs:mdl:surface.connect = </Looks/Plastic_Orange_A/Shader.outputs:out>
token outputs:mdl:volume.connect = </Looks/Plastic_Orange_A/Shader.outputs:out>
def Shader "Shader"
{
uniform token info:implementationSource = "sourceAsset"
uniform asset info:mdl:sourceAsset = @../Materials/Base/Plastics/Plastic_Orange_A.mdl@
uniform token info:mdl:sourceAsset:subIdentifier = "Plastic_Orange_A"
token outputs:out
}
}
def Material "Plastic_Gray_A"
{
token outputs:mdl:displacement.connect = </Looks/Plastic_Gray_A/Shader.outputs:out>
token outputs:mdl:surface.connect = </Looks/Plastic_Gray_A/Shader.outputs:out>
token outputs:mdl:volume.connect = </Looks/Plastic_Gray_A/Shader.outputs:out>
def Shader "Shader"
{
uniform token info:implementationSource = "sourceAsset"
uniform asset info:mdl:sourceAsset = @../Materials/Base/Plastics/Plastic_Gray_A.mdl@
uniform token info:mdl:sourceAsset:subIdentifier = "Plastic_Gray_A"
token outputs:out
}
}
def Material "Plastic_Blue_A"
{
token outputs:mdl:displacement.connect = </Looks/Plastic_Blue_A/Shader.outputs:out>
token outputs:mdl:surface.connect = </Looks/Plastic_Blue_A/Shader.outputs:out>
token outputs:mdl:volume.connect = </Looks/Plastic_Blue_A/Shader.outputs:out>
def Shader "Shader"
{
uniform token info:implementationSource = "sourceAsset"
uniform asset info:mdl:sourceAsset = @../Materials/Base/Plastics/Plastic_Blue_A.mdl@
uniform token info:mdl:sourceAsset:subIdentifier = "Plastic_Blue_A"
token outputs:out
}
}
def Material "Plastic_Yellow_A"
{
token outputs:mdl:displacement.connect = </Looks/Plastic_Yellow_A/Shader.outputs:out>
token outputs:mdl:surface.connect = </Looks/Plastic_Yellow_A/Shader.outputs:out>
token outputs:mdl:volume.connect = </Looks/Plastic_Yellow_A/Shader.outputs:out>
def Shader "Shader"
{
uniform token info:implementationSource = "sourceAsset"
uniform asset info:mdl:sourceAsset = @../Materials/Base/Plastics/Plastic_Yellow_A.mdl@
uniform token info:mdl:sourceAsset:subIdentifier = "Plastic_Yellow_A"
token outputs:out
}
}
def Material "Acrylic_Clear_Glossy_A"
{
token outputs:mdl:displacement.connect = </Looks/Acrylic_Clear_Glossy_A/Shader.outputs:out>
token outputs:mdl:surface.connect = </Looks/Acrylic_Clear_Glossy_A/Shader.outputs:out>
token outputs:mdl:volume.connect = </Looks/Acrylic_Clear_Glossy_A/Shader.outputs:out>
def Shader "Shader"
{
uniform token info:implementationSource = "sourceAsset"
uniform asset info:mdl:sourceAsset = @../Materials/Base/Plastics/Acrylic_Clear_Glossy_A.mdl@
uniform token info:mdl:sourceAsset:subIdentifier = "Acrylic_Clear_Glossy_A"
float2 inputs:texture_scale = (1, 3) (
customData = {
float2 default = (1, 1)
}
displayGroup = "UV"
displayName = "Texture Scale"
doc = "Larger numbers increase the size."
hidden = false
)
token outputs:out
}
}
def Material "MetalPainted_Yellow_Glossy_A"
{
token outputs:mdl:displacement.connect = </Looks/MetalPainted_Yellow_Glossy_A/Shader.outputs:out>
token outputs:mdl:surface.connect = </Looks/MetalPainted_Yellow_Glossy_A/Shader.outputs:out>
token outputs:mdl:volume.connect = </Looks/MetalPainted_Yellow_Glossy_A/Shader.outputs:out>
def Shader "Shader"
{
uniform token info:implementationSource = "sourceAsset"
uniform asset info:mdl:sourceAsset = @../Materials/Base/Metals/Metal_Painted_Yellow_Glossy_A.mdl@
uniform token info:mdl:sourceAsset:subIdentifier = "Metal_Painted_Yellow_Glossy_A"
float inputs:bump_factor = 0.6 (
customData = {
float default = 1
dictionary soft_range = {
float max = 1
float min = 0
}
}
displayGroup = "Normal"
displayName = "Normal Map Strength"
doc = "Strength of normal map."
hidden = false
)
color3f inputs:diffuse_tint = (0.83397686, 0.6382289, 0.07727969) (
customData = {
float3 default = (0.6666667, 0.44313726, 0.06666667)
}
displayGroup = "Albedo"
displayName = "Color Tint"
doc = "When enabled, this color value is multiplied over the final albedo color"
hidden = false
)
bool inputs:excludeFromWhiteMode = 0 (
customData = {
bool default = 0
}
displayGroup = "Material Flags"
displayName = "Exclude from White Mode"
hidden = false
)
float2 inputs:texture_scale = (1.5, 1.5) (
customData = {
float2 default = (1, 1)
}
displayGroup = "UV"
displayName = "Texture Scale"
doc = "Larger number increases size of texture."
hidden = false
)
token outputs:out
}
}
def Material "MetalPainted_Gray_Glossy_A"
{
token outputs:mdl:displacement.connect = </Looks/MetalPainted_Gray_Glossy_A/Shader.outputs:out>
token outputs:mdl:surface.connect = </Looks/MetalPainted_Gray_Glossy_A/Shader.outputs:out>
token outputs:mdl:volume.connect = </Looks/MetalPainted_Gray_Glossy_A/Shader.outputs:out>
def Shader "Shader"
{
uniform token info:implementationSource = "sourceAsset"
uniform asset info:mdl:sourceAsset = @../Materials/Base/Metals/Metal_Painted_Grey_Glossy_A.mdl@
uniform token info:mdl:sourceAsset:subIdentifier = "Metal_Painted_Grey_Glossy_A"
float inputs:bump_factor = 0.5 (
customData = {
float default = 1
dictionary soft_range = {
float max = 1
float min = 0
}
}
displayGroup = "Normal"
displayName = "Normal Map Strength"
doc = "Strength of normal map."
hidden = false
)
color3f inputs:diffuse_tint = (0.47104245, 0.46311882, 0.40556937) (
customData = {
float3 default = (0.24705882, 0.2627451, 0.2784314)
}
displayGroup = "Albedo"
displayName = "Color Tint"
doc = "When enabled, this color value is multiplied over the final albedo color"
hidden = false
)
bool inputs:excludeFromWhiteMode = 0 (
customData = {
bool default = 0
}
displayGroup = "Material Flags"
displayName = "Exclude from White Mode"
hidden = false
)
float2 inputs:texture_scale = (1.5, 1.5) (
customData = {
float2 default = (1, 1)
}
displayGroup = "UV"
displayName = "Texture Scale"
doc = "Larger number increases size of texture."
hidden = false
)
token outputs:out
}
}
def Material "Metal_Rough_A"
{
token outputs:mdl:displacement.connect = </Looks/Metal_Rough_A/Shader.outputs:out>
token outputs:mdl:surface.connect = </Looks/Metal_Rough_A/Shader.outputs:out>
token outputs:mdl:volume.connect = </Looks/Metal_Rough_A/Shader.outputs:out>
def Shader "Shader"
{
uniform token info:implementationSource = "sourceAsset"
uniform asset info:mdl:sourceAsset = @../Materials/Base/Metals/Metal_Rough_A.mdl@
uniform token info:mdl:sourceAsset:subIdentifier = "Metal_Rough_A"
bool inputs:excludeFromWhiteMode = 0 (
customData = {
bool default = 0
}
displayGroup = "Material Flags"
displayName = "Exclude from White Mode"
hidden = false
)
token outputs:out
}
}
def Material "Metal_Painted_Black_Glossy_A"
{
token outputs:mdl:displacement.connect = </Looks/Metal_Painted_Black_Glossy_A/Shader.outputs:out>
token outputs:mdl:surface.connect = </Looks/Metal_Painted_Black_Glossy_A/Shader.outputs:out>
token outputs:mdl:volume.connect = </Looks/Metal_Painted_Black_Glossy_A/Shader.outputs:out>
def Shader "Shader"
{
uniform token info:implementationSource = "sourceAsset"
uniform asset info:mdl:sourceAsset = @../Materials/Base/Metals/Metal_Painted_White_Glossy_A.mdl@
uniform token info:mdl:sourceAsset:subIdentifier = "Metal_Painted_White_Glossy_A"
float inputs:albedo_desaturation = 0 (
customData = {
float default = 0
dictionary soft_range = {
float max = 1
float min = 0
}
}
displayGroup = "Albedo"
displayName = "Albedo Desaturation"
doc = """Desaturates the diffuse color
"""
hidden = false
)
asset inputs:diffuse_texture = @../Materials/Base/Metals/Painted/T_Metal_Painted_White_Glossy_A_Albedo.png@ (
colorSpace = "sRGB"
customData = {
asset default = @../Materials/Base/Metals/Painted/T_Metal_Painted_White_Glossy_A_Albedo.png@
}
displayGroup = "Albedo"
displayName = "Albedo Map"
hidden = false
renderType = "texture_2d"
)
color3f inputs:diffuse_tint = (0.03059274, 0.030592434, 0.030592434) (
customData = {
float3 default = (1, 1, 1)
}
displayGroup = "Albedo"
displayName = "Color Tint"
doc = """When enabled, this color value is multiplied over the final albedo color
"""
hidden = false
renderType = "color"
)
asset inputs:normalmap_texture = @../Materials/Base/Metals/Painted/T_Metal_Painted_White_Glossy_A_Normal.png@ (
colorSpace = "raw"
customData = {
asset default = @../Materials/Base/Metals/Painted/T_Metal_Painted_White_Glossy_A_Normal.png@
}
displayGroup = "Normal"
displayName = "Normal Map"
doc = "Enables the usage of the normalmap texture"
hidden = false
renderType = "texture_2d"
)
asset inputs:ORM_texture = @../Materials/Base/Metals/Painted/T_Metal_Painted_White_Glossy_A_ORM.png@ (
colorSpace = "raw"
customData = {
asset default = @../Materials/Base/Metals/Painted/T_Metal_Painted_White_Glossy_A_ORM.png@
}
displayGroup = "Reflectivity"
displayName = "ORM Map"
doc = """Texture that has Occlusion, Roughness and Metallic maps stored in their respective R, G and B channels
"""
hidden = false
renderType = "texture_2d"
)
token outputs:out
}
}
def Material "Plastic_Red_B"
{
token outputs:mdl:displacement.connect = </Looks/Plastic_Red_B/Shader.outputs:out>
token outputs:mdl:surface.connect = </Looks/Plastic_Red_B/Shader.outputs:out>
token outputs:mdl:volume.connect = </Looks/Plastic_Red_B/Shader.outputs:out>
def Shader "Shader"
{
uniform token info:implementationSource = "sourceAsset"
uniform asset info:mdl:sourceAsset = @../Materials/Base/Plastics/Plastic_Red_B.mdl@
uniform token info:mdl:sourceAsset:subIdentifier = "Plastic_Red_B"
bool inputs:excludeFromWhiteMode = 0 (
customData = {
bool default = 0
}
displayGroup = "Material Flags"
displayName = "Exclude from White Mode"
hidden = false
)
token outputs:out
}
}
def Scope "Looks" (
prepend apiSchemas = ["MaterialBindingAPI"]
)
{
rel material:binding = </Looks/Plastic_Red_A> (
bindMaterialAs = "weakerThanDescendants"
)
}
def Material "Aluminium_Brushed_A"
{
token outputs:mdl:displacement.connect = </Looks/Aluminium_Brushed_A/Shader.outputs:out>
token outputs:mdl:surface.connect = </Looks/Aluminium_Brushed_A/Shader.outputs:out>
token outputs:mdl:volume.connect = </Looks/Aluminium_Brushed_A/Shader.outputs:out>
def Shader "Shader"
{
uniform token info:implementationSource = "sourceAsset"
uniform asset info:mdl:sourceAsset = @../Materials/Base/Metals/Aluminium_Brushed_A.mdl@
uniform token info:mdl:sourceAsset:subIdentifier = "Aluminium_Brushed_A"
token outputs:out (
renderType = "material"
)
}
}
def Material "Acrylic_Clear_Glossy_Blue_A"
{
token outputs:mdl:displacement.connect = </Looks/Acrylic_Clear_Glossy_Blue_A/Shader.outputs:out>
token outputs:mdl:surface.connect = </Looks/Acrylic_Clear_Glossy_Blue_A/Shader.outputs:out>
token outputs:mdl:volume.connect = </Looks/Acrylic_Clear_Glossy_Blue_A/Shader.outputs:out>
def Shader "Shader"
{
uniform token info:implementationSource = "sourceAsset"
uniform asset info:mdl:sourceAsset = @../Materials/Base/Plastics/Acrylic_Clear_Glossy_Blue_A.mdl@
uniform token info:mdl:sourceAsset:subIdentifier = "Acrylic_Clear_Glossy_Blue_A"
token outputs:out (
renderType = "material"
)
}
}
def Material "MetalPainted_Black_Glossy_A"
{
token outputs:mdl:displacement.connect = </Looks/MetalPainted_Black_Glossy_A/Shader.outputs:out>
token outputs:mdl:surface.connect = </Looks/MetalPainted_Black_Glossy_A/Shader.outputs:out>
token outputs:mdl:volume.connect = </Looks/MetalPainted_Black_Glossy_A/Shader.outputs:out>
def Shader "Shader"
{
uniform token info:implementationSource = "sourceAsset"
uniform asset info:mdl:sourceAsset = @../Materials/Base/Metals/Metal_Painted_Black_Glossy_A.mdl@
uniform token info:mdl:sourceAsset:subIdentifier = "Metal_Painted_Black_Glossy_A"
token outputs:out (
renderType = "material"
)
}
}
def Material "Metal_Painted_Green_A"
{
token outputs:mdl:displacement.connect = </Looks/Metal_Painted_Green_A/Shader.outputs:out>
token outputs:mdl:surface.connect = </Looks/Metal_Painted_Green_A/Shader.outputs:out>
token outputs:mdl:volume.connect = </Looks/Metal_Painted_Green_A/Shader.outputs:out>
def Shader "Shader"
{
uniform token info:implementationSource = "sourceAsset"
uniform asset info:mdl:sourceAsset = @../Materials/Base/Metals/Metal_Painted_Green_A.mdl@
uniform token info:mdl:sourceAsset:subIdentifier = "Metal_Painted_Green_A"
token outputs:out (
renderType = "material"
)
}
}
def Material "Plastic_Black_A"
{
token outputs:mdl:displacement.connect = </Looks/Plastic_Black_A/Shader.outputs:out>
token outputs:mdl:surface.connect = </Looks/Plastic_Black_A/Shader.outputs:out>
token outputs:mdl:volume.connect = </Looks/Plastic_Black_A/Shader.outputs:out>
def Shader "Shader"
{
uniform token info:implementationSource = "sourceAsset"
uniform asset info:mdl:sourceAsset = @../Materials/Base/Plastics/Plastic_Black_A.mdl@
uniform token info:mdl:sourceAsset:subIdentifier = "Plastic_Black_A"
token outputs:out (
renderType = "material"
)
}
}
def Material "AnodizedSteel_Orange_SemiGloss_A"
{
token outputs:mdl:displacement.connect = </Looks/AnodizedSteel_Orange_SemiGloss_A/Shader.outputs:out>
token outputs:mdl:surface.connect = </Looks/AnodizedSteel_Orange_SemiGloss_A/Shader.outputs:out>
token outputs:mdl:volume.connect = </Looks/AnodizedSteel_Orange_SemiGloss_A/Shader.outputs:out>
def Shader "Shader"
{
uniform token info:implementationSource = "sourceAsset"
uniform asset info:mdl:sourceAsset = @../Materials/Base/Metals/AnodizedSteel_Orange_SemiGloss_A.mdl@
uniform token info:mdl:sourceAsset:subIdentifier = "AnodizedSteel_Orange_SemiGloss_A"
token outputs:out (
renderType = "material"
)
}
}
def Material "FiberGlass_White_Glossy_A"
{
token outputs:mdl:displacement.connect = </Looks/FiberGlass_White_Glossy_A/Shader.outputs:out>
token outputs:mdl:surface.connect = </Looks/FiberGlass_White_Glossy_A/Shader.outputs:out>
token outputs:mdl:volume.connect = </Looks/FiberGlass_White_Glossy_A/Shader.outputs:out>
def Shader "Shader"
{
uniform token info:implementationSource = "sourceAsset"
uniform asset info:mdl:sourceAsset = @../Materials/Base/Plastics/FRP_FiberGlass_White_Glossy_A.mdl@
uniform token info:mdl:sourceAsset:subIdentifier = "FRP_FiberGlass_White_Glossy_A"
token outputs:out (
renderType = "material"
)
}
}
def Material "GlassLens_Colored_Glossy_A"
{
token outputs:mdl:displacement.connect = </Looks/GlassLens_Colored_Glossy_A/Shader.outputs:out>
token outputs:mdl:surface.connect = </Looks/GlassLens_Colored_Glossy_A/Shader.outputs:out>
token outputs:mdl:volume.connect = </Looks/GlassLens_Colored_Glossy_A/Shader.outputs:out>
def Shader "Shader"
{
uniform token info:implementationSource = "sourceAsset"
uniform asset info:mdl:sourceAsset = @../Materials/Base/Glass/GlassLens_Colored_Glossy_A.mdl@
uniform token info:mdl:sourceAsset:subIdentifier = "GlassLens_Colored_Glossy_A"
token outputs:out (
renderType = "material"
)
}
}
def Material "Plastic_Red_A"
{
token outputs:mdl:displacement.connect = </Looks/Plastic_Red_A/Shader.outputs:out>
token outputs:mdl:surface.connect = </Looks/Plastic_Red_A/Shader.outputs:out>
token outputs:mdl:volume.connect = </Looks/Plastic_Red_A/Shader.outputs:out>
def Shader "Shader"
{
uniform token info:implementationSource = "sourceAsset"
uniform asset info:mdl:sourceAsset = @../Materials/Base/Plastics/Plastic_Red_A.mdl@
uniform token info:mdl:sourceAsset:subIdentifier = "Plastic_Red_A"
token outputs:out (
renderType = "material"
)
}
}
}
|
NVIDIA-Omniverse/iot-samples/content/ConveyorBelt_A08_PR_NVD_01/Materials/ConveyorBelt_A.mdl
|
mdl 1.6;
using m_mdl = "mdl";
import ::state::normal;
import ::OmniPBR::OmniPBR;
import ::base::mono_mode;
import ::tex::gamma_mode;
export material M_ConveyorBelt_A01_Belt(*)
= ::OmniPBR::OmniPBR(
diffuse_color_constant: color(0.200000003f, 0.200000003f, 0.200000003f),
diffuse_texture: texture_2d("./textures/T_ConveyorBelt_A01_Belt_Albedo.png", ::tex::gamma_srgb),
albedo_desaturation: 0.f,
albedo_add: 0.f,
albedo_brightness: 1.f,
diffuse_tint: color(1.f, 1.f, 1.f),
reflection_roughness_constant: 0.5f,
reflection_roughness_texture_influence: 1.f,
reflectionroughness_texture: texture_2d(),
metallic_constant: 0.f,
metallic_texture_influence: 1.f,
metallic_texture: texture_2d(),
specular_level: 0.5f,
enable_ORM_texture: true,
ORM_texture: texture_2d("./textures/T_ConveyorBelt_A01_Belt_ORM.png", ::tex::gamma_linear),
ao_to_diffuse: 0.f,
ao_texture: texture_2d(),
enable_emission: false,
emissive_color: color(1.f, 0.100000001f, 0.100000001f),
emissive_color_texture: texture_2d(),
emissive_mask_texture: texture_2d(),
emissive_intensity: 40.f,
enable_opacity: false,
enable_opacity_texture: false,
opacity_constant: 1.f,
opacity_texture: texture_2d(),
opacity_mode: base::mono_average,
opacity_threshold: 0.f,
bump_factor: 1.f,
normalmap_texture: texture_2d("./textures/T_ConveyorBelt_A01_Belt_Normal.png", ::tex::gamma_linear),
detail_bump_factor: 0.300000012f,
detail_normalmap_texture: texture_2d(),
flip_tangent_u: false,
flip_tangent_v: true,
project_uvw: false,
world_or_object: false,
uv_space_index: 0,
texture_translate: float2(0.f),
texture_rotate: 0.f,
texture_scale: float2(1.f),
detail_texture_translate: float2(0.f),
detail_texture_rotate: 0.f,
detail_texture_scale: float2(1.f));
|
NVIDIA-Omniverse/iot-samples/content/ConveyorBelt_A08_PR_NVD_01/Materials/Base/Glass/GlassLens_Colored_Glossy_A.mdl
|
mdl 1.6;
using ::OmniGlass import OmniGlass;
import ::tex::gamma_mode;
import ::state::normal;
import ::base::mono_mode;
import ::anno::author;
import ::anno::description;
import ::anno::display_name;
import ::anno::key_words;
import ::anno::version;
export material GlassLens_Colored_Glossy_A(*)
[[
::anno::display_name("GlassLens_Colored_Glossy_A"),
::anno::description("Omni PBR, supports ORM textures"),
::anno::version(1, 1, 0, ""),
::anno::author("NVIDIA CORPORATION"),
::anno::key_words(string[]("omni", "PBR", "omniverse", "glass"))
]]
= OmniGlass(
absorption_coeff: color(0, 0, 0),
glass_color: color(0.99999, 1, 0.99999934),
glass_color_texture: texture_2d("./Lens/T_GlassLens_Colored_Glossy_B_Albedo.png", ::tex::gamma_srgb),
frosting_roughness: 0.0,
glass_ior: 1.491000,
thin_walled: false,
depth: 0.00100,
roughness_texture_influence: 1.0,
roughness_texture: texture_2d("./Lens/T_GlassLens_Colored_Glossy_B_Roughness.png", ::tex::gamma_linear),
reflection_color_texture: texture_2d(),
reflection_color: color(1, 1, 1),
normal_map_texture: texture_2d(),
normal_map_strength: 1.0,
flip_tangent_u: false,
flip_tangent_v: true,
enable_opacity: false,
cutout_opacity: 1.0,
cutout_opacity_texture: texture_2d(),
cutout_opacity_mono_source: base::mono_alpha,
opacity_threshold: 0.0,
project_uvw: false,
world_or_object: false,
uv_space_index: 0,
texture_translate: float2(0, 0),
texture_rotate: 0.0,
texture_scale: float2(2, 2));
|
NVIDIA-Omniverse/iot-samples/content/ConveyorBelt_A08_PR_NVD_01/Materials/Base/Metals/Metal_Painted_Grey_Glossy_A.mdl
|
mdl 1.4;
using ::OmniPBR import OmniPBR;
import ::tex::gamma_mode;
import ::state::normal;
import ::base::mono_mode;
import ::anno::author;
import ::anno::description;
import ::anno::display_name;
import ::anno::key_words;
import ::anno::version;
export material Metal_Painted_Grey_Glossy_A(*)
[[
::anno::display_name("Metal_Painted_Grey_Glossy"),
::anno::description("Omni PBR, supports ORM textures"),
::anno::version(1, 1, 0, ""),
::anno::author("NVIDIA CORPORATION"),
::anno::key_words(string[]("omni", "PBR", "omniverse", "metal", "painted", "grey", "glossy"))
]]
= OmniPBR(
diffuse_texture: texture_2d("./Painted/T_Metal_Painted_White_Glossy_A_Albedo.png", ::tex::gamma_srgb),
diffuse_tint: color(0.24705882, 0.2627451, 0.2784314),
enable_ORM_texture: true,
metallic_texture_influence: 1.0f,
specular_level: 0.85f,
normalmap_texture: texture_2d("./Painted/T_Metal_Painted_White_Glossy_A_Normal.png", ::tex::gamma_linear),
ORM_texture: texture_2d("./Painted/T_Metal_Painted_White_Glossy_A_ORM.png", ::tex::gamma_linear),
reflection_roughness_texture_influence: 1.0f);
|
NVIDIA-Omniverse/iot-samples/content/ConveyorBelt_A08_PR_NVD_01/Materials/Base/Metals/Metal_Glossy_A.mdl
|
mdl 1.4;
using ::OmniPBR import OmniPBR;
import ::tex::gamma_mode;
import ::state::normal;
import ::base::mono_mode;
import ::anno::author;
import ::anno::description;
import ::anno::display_name;
import ::anno::key_words;
import ::anno::version;
export material Metal_Glossy_A(*)
[[
::anno::display_name("Metal_Glossy"),
::anno::description("Omni PBR, supports ORM textures"),
::anno::version(1, 1, 0, ""),
::anno::author("NVIDIA CORPORATION"),
::anno::key_words(string[]("omni", "PBR", "omniverse", "metal", "glossy", "ORM"))
]]
= OmniPBR(
diffuse_texture: texture_2d("./Glossy/T_Metal_Glossy_A_Albedo.png", ::tex::gamma_srgb),
enable_ORM_texture: true,
metallic_texture_influence: 1.0f,
specular_level: 0.85f,
normalmap_texture: texture_2d("./Glossy/T_Metal_Glossy_A_Normal.png", ::tex::gamma_linear),
ORM_texture: texture_2d("./Glossy/T_Metal_Glossy_A_ORM.png", ::tex::gamma_linear),
reflection_roughness_texture_influence: 1.0,
texture_scale: float2(2, 2));
|
NVIDIA-Omniverse/iot-samples/content/ConveyorBelt_A08_PR_NVD_01/Materials/Base/Metals/Steel_A.mdl
|
mdl 1.4;
using ::OmniPBR import OmniPBR;
import ::tex::gamma_mode;
import ::state::normal;
import ::base::mono_mode;
import ::anno::author;
import ::anno::description;
import ::anno::display_name;
import ::anno::key_words;
import ::anno::version;
export material Steel_A(*)
[[
::anno::display_name("Steel"),
::anno::description("Omni PBR, supports ORM textures"),
::anno::version(1, 1, 0, ""),
::anno::author("NVIDIA CORPORATION"),
::anno::key_words(string[]("omni", "PBR", "omniverse", "metal", "steel"))
]]
= OmniPBR(
diffuse_texture: texture_2d("./Steel/T_Steel_A1_Albedo.png", ::tex::gamma_srgb),
enable_ORM_texture: true,
metallic_constant: 1.0f,
metallic_texture_influence: 1.0,
specular_level: 0.35f,
normalmap_texture: texture_2d("./Steel/T_Steel_A1_Normal.png", ::tex::gamma_linear),
ORM_texture: texture_2d("./Steel/T_Steel_A1_ORM.png", ::tex::gamma_linear),
reflection_roughness_texture_influence: 1.0);
|
NVIDIA-Omniverse/iot-samples/content/ConveyorBelt_A08_PR_NVD_01/Materials/Base/Metals/Metal_Painted_Black_Glossy_A.mdl
|
mdl 1.4;
using ::OmniPBR import OmniPBR;
import ::tex::gamma_mode;
import ::state::normal;
import ::base::mono_mode;
import ::anno::author;
import ::anno::description;
import ::anno::display_name;
import ::anno::key_words;
import ::anno::version;
export material Metal_Painted_Black_Glossy_A(*)
[[
::anno::display_name("Metal_Painted_Black_Glossy_A"),
::anno::description("Omni PBR, supports ORM textures"),
::anno::version(1, 1, 0, ""),
::anno::author("NVIDIA CORPORATION"),
::anno::key_words(string[]("omni", "PBR", "omniverse", "metal", "painted", "black", "glossy"))
]]
= OmniPBR(
diffuse_texture: texture_2d("./Painted/T_Metal_Painted_Black_A_Albedo.png", ::tex::gamma_srgb),
diffuse_tint: color(0.24705882, 0.2627451, 0.2784314),
enable_ORM_texture: true,
metallic_texture_influence: 1.0f,
specular_level: 0.85f,
normalmap_texture: texture_2d("./Painted/T_Metal_Painted_White_Glossy_A_Normal.png", ::tex::gamma_linear),
ORM_texture: texture_2d("./Painted/T_Metal_Painted_White_Glossy_A_ORM.png", ::tex::gamma_linear),
reflection_roughness_texture_influence: 1.0);
|
NVIDIA-Omniverse/iot-samples/content/ConveyorBelt_A08_PR_NVD_01/Materials/Base/Metals/Metal_Painted_Yellow_Glossy_A.mdl
|
mdl 1.4;
using ::OmniPBR import OmniPBR;
import ::tex::gamma_mode;
import ::state::normal;
import ::base::mono_mode;
import ::anno::author;
import ::anno::description;
import ::anno::display_name;
import ::anno::key_words;
import ::anno::version;
export material Metal_Painted_Yellow_Glossy_A(*)
[[
::anno::display_name("Metal_Painted_Yellow_Glossy"),
::anno::description("Omni PBR, supports ORM textures"),
::anno::version(1, 1, 0, ""),
::anno::author("NVIDIA CORPORATION"),
::anno::key_words(string[]("omni", "PBR", "omniverse", "metal", "painted", "yellow", "glossy"))
]]
= OmniPBR(
diffuse_texture: texture_2d("./Painted/T_Metal_Painted_White_Glossy_A_Albedo.png", ::tex::gamma_srgb),
diffuse_tint: color(0.6666667, 0.44313726, 0.06666667),
enable_ORM_texture: true,
metallic_texture_influence: 1.f,
specular_level: 0.85f,
normalmap_texture: texture_2d("./Painted/T_Metal_Painted_White_Glossy_A_Normal.png", ::tex::gamma_linear),
ORM_texture: texture_2d("./Painted/T_Metal_Painted_White_Glossy_A_ORM.png", ::tex::gamma_linear),
reflection_roughness_texture_influence: 1.0);
|
NVIDIA-Omniverse/iot-samples/content/ConveyorBelt_A08_PR_NVD_01/Materials/Base/Metals/Metal_Painted_Green_A.mdl
|
mdl 1.4;
using ::OmniPBR import OmniPBR;
import ::tex::gamma_mode;
import ::state::normal;
import ::base::mono_mode;
import ::anno::author;
import ::anno::description;
import ::anno::display_name;
import ::anno::key_words;
import ::anno::version;
export material Metal_Painted_Green_A(*)
[[
::anno::display_name("Metal_Painted_Green_A"),
::anno::description("Omni PBR, supports ORM textures"),
::anno::version(1, 1, 0, ""),
::anno::author("NVIDIA CORPORATION"),
::anno::key_words(string[]("omni", "PBR", "omniverse", "metal", "painted", "green"))
]]
= OmniPBR(
diffuse_color_constant: color(0.2, 0.2, 0.2),
diffuse_texture: texture_2d("./Painted/T_Metal_Painted_Green_A_Albedo.png", ::tex::gamma_srgb),
albedo_desaturation: 0.0,
albedo_add: 0.0,
albedo_brightness: 1.0,
diffuse_tint: color(1, 1, 1),
reflection_roughness_constant: 0.5,
reflection_roughness_texture_influence: 1.0,
reflectionroughness_texture: texture_2d(),
metallic_constant: 0.0,
metallic_texture_influence: 1.0,
metallic_texture: texture_2d(),
specular_level: 0.5,
enable_ORM_texture: true,
ORM_texture: texture_2d("./Painted/T_Metal_Painted_Green_A_ORM.png", ::tex::gamma_linear),
bump_factor: 1.0,
normalmap_texture: texture_2d("./Painted/T_Metal_Painted_Green_A_Normal.png", ::tex::gamma_linear),
flip_tangent_u: false,
flip_tangent_v: true,
project_uvw: false,
world_or_object: false,
uv_space_index: 0,
texture_translate: float2(0, 0),
texture_rotate: 0.0,
texture_scale: float2(2, 2),
detail_texture_translate: float2(0, 0),
detail_texture_rotate: 0.0,
detail_texture_scale: float2(1, 1));
|
NVIDIA-Omniverse/iot-samples/content/ConveyorBelt_A08_PR_NVD_01/Materials/Base/Metals/AnodizedSteel_Orange_SemiGloss_A.mdl
|
mdl 1.4;
using ::OmniPBR import OmniPBR;
import ::tex::gamma_mode;
import ::state::normal;
import ::base::mono_mode;
import ::anno::author;
import ::anno::description;
import ::anno::display_name;
import ::anno::key_words;
import ::anno::version;
export material AnodizedSteel_Orange_SemiGloss_A(*)
[[
::anno::display_name("AnodizedSteel_Orange_SemiGloss"),
::anno::description("Omni PBR, supports ORM textures"),
::anno::version(1, 1, 0, ""),
::anno::author("NVIDIA CORPORATION"),
::anno::key_words(string[]("omni", "PBR", "omniverse", "metal"))
]]
= OmniPBR(
bump_factor: 0.0,
diffuse_texture: texture_2d("./Steel/T_AnodizedSteel_Orange_SemiGloss_A_Albedo.png", ::tex::gamma_srgb),
enable_ORM_texture: true,
metallic_texture_influence: 1.0,
specular_level: 0.5f,
normalmap_texture: texture_2d("./Steel/T_AnodizedSteel_Orange_SemiGloss_A_Normal.png", ::tex::gamma_linear),
ORM_texture: texture_2d("./Steel/T_AnodizedSteel_Orange_SemiGloss_A_ORM.png", ::tex::gamma_linear),
reflection_roughness_texture_influence: 1.0);
|
NVIDIA-Omniverse/iot-samples/content/ConveyorBelt_A08_PR_NVD_01/Materials/Base/Metals/Metal_Painted_White_Glossy_A.mdl
|
mdl 1.4;
using ::OmniPBR import OmniPBR;
import ::tex::gamma_mode;
import ::state::normal;
import ::base::mono_mode;
import ::anno::author;
import ::anno::description;
import ::anno::display_name;
import ::anno::key_words;
import ::anno::version;
export material Metal_Painted_White_Glossy_A(*)
[[
::anno::display_name("Metal_Painted_White_Glossy"),
::anno::description("Omni PBR, supports ORM textures"),
::anno::version(1, 1, 0, ""),
::anno::author("NVIDIA CORPORATION"),
::anno::key_words(string[]("omni", "PBR", "omniverse", "metal", "painted", "white", "glossy"))
]]
= OmniPBR(
diffuse_texture: texture_2d("./Painted/T_Metal_Painted_White_Glossy_A_Albedo.png", ::tex::gamma_srgb),
enable_ORM_texture: true,
metallic_texture_influence: 1.f,
specular_level: 0.85f,
normalmap_texture: texture_2d("./Painted/T_Metal_Painted_White_Glossy_A_Normal.png", ::tex::gamma_linear),
ORM_texture: texture_2d("./Painted/T_Metal_Painted_White_Glossy_A_ORM.png", ::tex::gamma_linear),
reflection_roughness_texture_influence: 1.0f);
|
NVIDIA-Omniverse/iot-samples/content/ConveyorBelt_A08_PR_NVD_01/Materials/Base/Metals/Metal_Rough_A.mdl
|
mdl 1.4;
using ::OmniPBR import OmniPBR;
import ::tex::gamma_mode;
import ::state::normal;
import ::base::mono_mode;
import ::anno::author;
import ::anno::description;
import ::anno::display_name;
import ::anno::key_words;
import ::anno::version;
export material Metal_Rough_A(*)
[[
::anno::display_name("Metal_Rough"),
::anno::description("Omni PBR, supports ORM textures"),
::anno::version(1, 1, 0, ""),
::anno::author("NVIDIA CORPORATION"),
::anno::key_words(string[]("omni", "PBR", "omniverse", "generic"))
]]
= OmniPBR(
diffuse_texture: texture_2d("./Rough/T_Metal_Rough_A_Albedo.png", ::tex::gamma_srgb),
enable_ORM_texture: true,
metallic_texture_influence: 1.0,
normalmap_texture: texture_2d("./Rough/T_Metal_Rough_A_Normal.png", ::tex::gamma_linear),
ORM_texture: texture_2d("./Rough/T_Metal_Rough_A_ORM.png", ::tex::gamma_linear),
reflection_roughness_texture_influence: 1.0,
texture_scale: float2(2, 2));
|
NVIDIA-Omniverse/iot-samples/content/ConveyorBelt_A08_PR_NVD_01/Materials/Base/Metals/Metal_Painted_Blue_Glossy_A.mdl
|
mdl 1.4;
using ::OmniPBR import OmniPBR;
import ::tex::gamma_mode;
import ::state::normal;
import ::base::mono_mode;
import ::anno::author;
import ::anno::description;
import ::anno::display_name;
import ::anno::key_words;
import ::anno::version;
export material Metal_Painted_Blue_Glossy_A(*)
[[
::anno::display_name("Metal_Painted_Blue_Glossy"),
::anno::description("Omni PBR, supports ORM textures"),
::anno::version(1, 1, 0, ""),
::anno::author("NVIDIA CORPORATION"),
::anno::key_words(string[]("omni", "PBR", "omniverse", "metal", "painted", "blue", "glossy"))
]]
= OmniPBR(
diffuse_texture: texture_2d("./Painted/T_Metal_Painted_White_Glossy_A_Albedo.png", ::tex::gamma_srgb),
diffuse_tint: color(0.07704, 0.20303, 0.58686),
enable_ORM_texture: true,
texture_scale: float2(1.5, 1.5),
metallic_texture_influence: 1.0f,
specular_level: 0.85f,
normalmap_texture: texture_2d("./Painted/T_Metal_Painted_White_Glossy_A_Normal.png", ::tex::gamma_linear),
ORM_texture: texture_2d("./Painted/T_Metal_Painted_White_Glossy_A_ORM.png", ::tex::gamma_linear),
reflection_roughness_texture_influence: 1.0f);
|
NVIDIA-Omniverse/iot-samples/content/ConveyorBelt_A08_PR_NVD_01/Materials/Base/Metals/Aluminium_Brushed_A.mdl
|
mdl 1.4;
using ::OmniPBR import OmniPBR;
import ::tex::gamma_mode;
import ::state::normal;
import ::base::mono_mode;
import ::anno::author;
import ::anno::description;
import ::anno::display_name;
import ::anno::key_words;
import ::anno::version;
export material Aluminium_Brushed_A(*)
[[
::anno::display_name("Aluminium_Brushed_A"),
::anno::description("Omni PBR, supports ORM textures"),
::anno::version(1, 1, 0, ""),
::anno::author("NVIDIA CORPORATION"),
::anno::key_words(string[]("omni", "PBR", "omniverse", "metal", "aluminium", "brushed"))
]]
= OmniPBR(
detail_texture_rotate: 0.0,
diffuse_texture: texture_2d("./Aluminum/T_Aluminium_Brushed_A1_Albedo.png", ::tex::gamma_srgb),
diffuse_tint: color(0.47876447, 0.47875968, 0.47875968),
enable_ORM_texture: true,
metallic_texture_influence: 1.0,
normalmap_texture: texture_2d("./Aluminum/T_Aluminium_Brushed_A1_Normal.png", ::tex::gamma_linear),
ORM_texture: texture_2d("./Aluminum/T_Aluminium_Brushed_A1_ORM.png", ::tex::gamma_linear),
reflection_roughness_texture_influence: 1.0);
|
NVIDIA-Omniverse/iot-samples/content/ConveyorBelt_A08_PR_NVD_01/Materials/Base/Rubber/Rubber_Black_Rough_A.mdl
|
mdl 1.4;
using ::OmniPBR import OmniPBR;
import ::tex::gamma_mode;
import ::state::normal;
import ::base::mono_mode;
import ::anno::author;
import ::anno::description;
import ::anno::display_name;
import ::anno::key_words;
import ::anno::version;
export material Rubber_Black_Rough_A(*)
[[
anno::display_name("Rubber_Black_Rough"),
anno::description("OmniPBR supports ORM textures"),
anno::version(2, 1, 0, ""),
anno::author("NVIDIA CORPORATION"),
anno::key_words(string[]("omni", "PBR", "omniverse", "generic"))
]]
= OmniPBR(
albedo_add: 0.7199999690055847,
albedo_brightness: 1.0,
albedo_desaturation: 0.0,
diffuse_texture: texture_2d("./Rough/T_Rubber_Black_Rough_A_Albedo.png", ::tex::gamma_srgb),
diffuse_tint: color(0.020172894, 0.020172693, 0.020172693),
enable_ORM_texture: true,
metallic_texture_influence: 1.0,
normalmap_texture: texture_2d("./Rough/T_Rubber_Black_Rough_A_Normal.png", ::tex::gamma_linear),
ORM_texture: texture_2d("./Rough/T_Rubber_Black_Rough_A_ORM.png", ::tex::gamma_linear),
reflection_roughness_constant: 0.5,
reflection_roughness_texture_influence: 0.5,
texture_scale: float2(3, 3));
|
NVIDIA-Omniverse/iot-samples/content/ConveyorBelt_A08_PR_NVD_01/Materials/Base/Plastics/Plastic_Orange_A.mdl
|
mdl 1.4;
using ::OmniPBR import OmniPBR;
import ::tex::gamma_mode;
import ::state::normal;
import ::base::mono_mode;
import ::anno::author;
import ::anno::description;
import ::anno::display_name;
import ::anno::key_words;
import ::anno::version;
export material Plastic_Orange_A(*)
[[
anno::display_name("Plastic_Orange"),
anno::description("OmniPBR supports ORM textures"),
anno::version(2, 1, 0, ""),
anno::author("NVIDIA CORPORATION"),
anno::key_words(string[]("omni", "PBR", "omniverse", "generic"))
]]
= OmniPBR(
diffuse_color_constant: color(0.2, 0.2, 0.2),
diffuse_texture: texture_2d("./Colors/T_Plastic_Orange_A_Albedo.png", ::tex::gamma_srgb),
albedo_desaturation: 0.0,
albedo_add: 0.0,
albedo_brightness: 1.0,
diffuse_tint: color(1, 1, 1),
reflection_roughness_constant: 0.5,
reflection_roughness_texture_influence: 1.0,
reflectionroughness_texture: texture_2d(),
metallic_constant: 0.0,
metallic_texture_influence: 1.0,
metallic_texture: texture_2d(),
specular_level: 0.5,
enable_ORM_texture: true,
ORM_texture: texture_2d("./Colors/T_Plastic_Orange_A_ORM.png", ::tex::gamma_linear),
ao_to_diffuse: 0.0,
ao_texture: texture_2d(),
enable_emission: false,
emissive_color: color(1, 0.1, 0.1),
emissive_color_texture: texture_2d(),
emissive_mask_texture: texture_2d(),
emissive_intensity: 40.0,
enable_opacity: false,
enable_opacity_texture: false,
opacity_constant: 1.0,
opacity_texture: texture_2d(),
opacity_mode: ::base::mono_average,
opacity_threshold: 0.0,
bump_factor: 1.0,
normalmap_texture: texture_2d("./Colors/T_Plastic_Orange_A_Normal.png", ::tex::gamma_linear),
detail_bump_factor: 0.30f,
detail_normalmap_texture: texture_2d(),
flip_tangent_u: false,
flip_tangent_v: true,
project_uvw: false,
world_or_object: false,
uv_space_index: 0,
texture_translate: float2(0, 0),
texture_rotate: 0.0,
texture_scale: float2(3, 3),
detail_texture_translate: float2(0, 0),
detail_texture_rotate: 0.0,
detail_texture_scale: float2(1, 1));
|
NVIDIA-Omniverse/iot-samples/content/ConveyorBelt_A08_PR_NVD_01/Materials/Base/Plastics/Plastic_Red_A.mdl
|
mdl 1.4;
using ::OmniPBR import OmniPBR;
import ::tex::gamma_mode;
import ::state::normal;
import ::base::mono_mode;
import ::anno::author;
import ::anno::description;
import ::anno::display_name;
import ::anno::key_words;
import ::anno::version;
export material Plastic_Red_A(*)
[[
anno::display_name("Plastic_Red"),
anno::description("OmniPBR supports ORM textures"),
anno::version(2, 1, 0, ""),
anno::author("NVIDIA CORPORATION"),
anno::key_words(string[]("omni", "PBR", "omniverse", "generic"))
]]
= OmniPBR(
diffuse_color_constant: color(0.2, 0.2, 0.2),
diffuse_texture: texture_2d("./Colors/T_Plastic_Red_A_Albedo.png", ::tex::gamma_srgb),
albedo_desaturation: 0.0,
albedo_add: 0.0,
albedo_brightness: 1.0,
diffuse_tint: color(1, 1, 1),
reflection_roughness_constant: 0.5,
reflection_roughness_texture_influence: 1.0,
reflectionroughness_texture: texture_2d(),
metallic_constant: 0.0,
metallic_texture_influence: 1.0,
metallic_texture: texture_2d(),
specular_level: 0.5,
enable_ORM_texture: true,
ORM_texture: texture_2d("./Colors/T_Plastic_Red_A_ORM.png", ::tex::gamma_linear),
ao_to_diffuse: 0.0,
ao_texture: texture_2d(),
enable_emission: false,
emissive_color: color(1, 0.1, 0.1),
emissive_color_texture: texture_2d(),
emissive_mask_texture: texture_2d(),
emissive_intensity: 40.0,
enable_opacity: false,
enable_opacity_texture: false,
opacity_constant: 1.0,
opacity_texture: texture_2d(),
opacity_mode: ::base::mono_average,
opacity_threshold: 0.0,
bump_factor: 1.0,
normalmap_texture: texture_2d("./Colors/T_Plastic_Red_A_Normal.png", ::tex::gamma_linear),
detail_bump_factor: 0.30f,
detail_normalmap_texture: texture_2d(),
flip_tangent_u: false,
flip_tangent_v: true,
project_uvw: false,
world_or_object: false,
uv_space_index: 0,
texture_translate: float2(0, 0),
texture_rotate: 0.0,
texture_scale: float2(3, 3),
detail_texture_translate: float2(0, 0),
detail_texture_rotate: 0.0,
detail_texture_scale: float2(1, 1));
|
NVIDIA-Omniverse/iot-samples/content/ConveyorBelt_A08_PR_NVD_01/Materials/Base/Plastics/Plastic_Gray_A.mdl
|
mdl 1.4;
using ::OmniPBR import OmniPBR;
import ::tex::gamma_mode;
import ::state::normal;
import ::base::mono_mode;
import ::anno::author;
import ::anno::description;
import ::anno::display_name;
import ::anno::key_words;
import ::anno::version;
export material Plastic_Gray_A(*)
[[
anno::display_name("Plastic_Gray"),
anno::description("OmniPBR supports ORM textures"),
anno::version(2, 1, 0, ""),
anno::author("NVIDIA CORPORATION"),
anno::key_words(string[]("omni", "PBR", "omniverse", "generic"))
]]
= OmniPBR(
diffuse_color_constant: color(0.2, 0.2, 0.2),
diffuse_texture: texture_2d("./Colors/T_Plastic_Gray_A_Albedo.png", ::tex::gamma_srgb),
albedo_desaturation: 0.0,
albedo_add: 0.05,
albedo_brightness: 1.0,
diffuse_tint: color(1, 1, 1),
reflection_roughness_constant: 0.5,
reflection_roughness_texture_influence: 1.0,
reflectionroughness_texture: texture_2d(),
metallic_constant: 0.0,
metallic_texture_influence: 1.0,
metallic_texture: texture_2d(),
specular_level: 0.5,
enable_ORM_texture: true,
ORM_texture: texture_2d("./Colors/T_Plastic_Gray_A_ORM.png", ::tex::gamma_linear),
ao_to_diffuse: 0.0,
ao_texture: texture_2d(),
enable_emission: false,
emissive_color: color(1, 0.1, 0.1),
emissive_color_texture: texture_2d(),
emissive_mask_texture: texture_2d(),
emissive_intensity: 40.0,
enable_opacity: false,
enable_opacity_texture: false,
opacity_constant: 1.0,
opacity_texture: texture_2d(),
opacity_mode: ::base::mono_average,
opacity_threshold: 0.0,
bump_factor: 1.0,
normalmap_texture: texture_2d("./Colors/T_Plastic_Gray_A_Normal.png", ::tex::gamma_linear),
detail_bump_factor: 0.30f,
detail_normalmap_texture: texture_2d(),
flip_tangent_u: false,
flip_tangent_v: true,
project_uvw: false,
world_or_object: false,
uv_space_index: 0,
texture_translate: float2(0, 0),
texture_rotate: 0.0,
texture_scale: float2(3, 3),
detail_texture_translate: float2(0, 0),
detail_texture_rotate: 0.0,
detail_texture_scale: float2(1, 1));
|
NVIDIA-Omniverse/iot-samples/content/ConveyorBelt_A08_PR_NVD_01/Materials/Base/Plastics/Acrylic_Clear_Glossy_Blue_A.mdl
|
mdl 1.6;
import ::state::normal;
import ::OmniGlass::OmniGlass;
import ::base::mono_mode;
import ::tex::gamma_mode;
import ::anno::author;
import ::anno::description;
import ::anno::display_name;
import ::anno::key_words;
import ::anno::version;
export material Acrylic_Clear_Glossy_Blue_A(*)
[[
anno::display_name("Acrylic_Clear_Glossy_Blue_A"),
anno::description("OmniGlass supports ORM textures"),
anno::version(2, 1, 0, ""),
anno::author("NVIDIA CORPORATION"),
anno::key_words(string[]("omni", "PBR", "omniverse", "generic"))
]]
= ::OmniGlass::OmniGlass(
absorption_coeff: color(0.f, 0.f, 0.f),
glass_color: color(0.479181916f, 0.485455483f, 0.633204639f),
glass_color_texture: texture_2d(),
frosting_roughness: 0.17f,
glass_ior: 1.05f,
thin_walled: false,
depth: 0.001f,
enable_opacity: false,
project_uvw: false,
world_or_object: false,
uv_space_index: 0,
texture_translate: float2(0.f),
texture_rotate: 0.f,
texture_scale: float2(1.f, 3.f));
|
NVIDIA-Omniverse/iot-samples/content/ConveyorBelt_A08_PR_NVD_01/Materials/Base/Plastics/Plastic_Yellow_A.mdl
|
mdl 1.4;
using ::OmniPBR import OmniPBR;
import ::tex::gamma_mode;
import ::state::normal;
import ::base::mono_mode;
import ::anno::author;
import ::anno::description;
import ::anno::display_name;
import ::anno::key_words;
import ::anno::version;
export material Plastic_Yellow_A(*)
[[
anno::display_name("Plastic_Yellow"),
anno::description("OmniPBR supports ORM textures"),
anno::version(2, 1, 0, ""),
anno::author("NVIDIA CORPORATION"),
anno::key_words(string[]("omni", "PBR", "omniverse", "generic"))
]]
= OmniPBR(
diffuse_color_constant: color(0.2, 0.2, 0.2),
diffuse_texture: texture_2d("./Colors/T_Plastic_Yellow_A_Albedo.png", ::tex::gamma_srgb),
albedo_desaturation: 0.0,
albedo_add: 0.0,
albedo_brightness: 1.0,
diffuse_tint: color(1, 1, 1),
reflection_roughness_constant: 0.5,
reflection_roughness_texture_influence: 1.0,
reflectionroughness_texture: texture_2d(),
metallic_constant: 0.0,
metallic_texture_influence: 1.0,
metallic_texture: texture_2d(),
specular_level: 0.5,
enable_ORM_texture: true,
ORM_texture: texture_2d("./Colors/T_Plastic_Yellow_A_ORM.png", ::tex::gamma_linear),
ao_to_diffuse: 0.0,
ao_texture: texture_2d(),
enable_emission: false,
emissive_color: color(1, 0.1, 0.1),
emissive_color_texture: texture_2d(),
emissive_mask_texture: texture_2d(),
emissive_intensity: 40.0,
enable_opacity: false,
enable_opacity_texture: false,
opacity_constant: 1.0,
opacity_texture: texture_2d(),
opacity_mode: ::base::mono_average,
opacity_threshold: 0.0,
bump_factor: 1.0,
normalmap_texture: texture_2d("./Colors/T_Plastic_Yellow_A_Normal.png", ::tex::gamma_linear),
detail_bump_factor: 0.30f,
detail_normalmap_texture: texture_2d(),
flip_tangent_u: false,
flip_tangent_v: true,
project_uvw: false,
world_or_object: false,
uv_space_index: 0,
texture_translate: float2(0, 0),
texture_rotate: 0.0,
texture_scale: float2(3, 3),
detail_texture_translate: float2(0, 0),
detail_texture_rotate: 0.0,
detail_texture_scale: float2(1, 1));
|
NVIDIA-Omniverse/iot-samples/content/ConveyorBelt_A08_PR_NVD_01/Materials/Base/Plastics/Acrylic_Clear_Glossy_A.mdl
|
mdl 1.6;
import ::state::normal;
import ::OmniGlass::OmniGlass;
import ::base::mono_mode;
import ::tex::gamma_mode;
import ::anno::author;
import ::anno::description;
import ::anno::display_name;
import ::anno::key_words;
import ::anno::version;
export material Acrylic_Clear_Glossy_A(*)
[[
anno::display_name("Acrylic_Clear_Glossy_A"),
anno::description("OmniGlass supports ORM textures"),
anno::version(2, 1, 0, ""),
anno::author("NVIDIA CORPORATION"),
anno::key_words(string[]("omni", "PBR", "omniverse", "generic"))
]]
= OmniGlass::OmniGlass(
absorption_coeff: color(1.f, 1.f, 1.f),
glass_color: color(0.680f, 0.680f, 0.6800f),
glass_color_texture: texture_2d(),
frosting_roughness: 0.17f,
glass_ior: 1.460f,
thin_walled: true,
depth: 0.001f,
roughness_texture_influence: 0.32f,
roughness_texture: texture_2d("./Acrylic/T_Acrylic_Clear_Glossy_A_Rough.png", ::tex::gamma_default),
reflection_color_texture: texture_2d(),
reflection_color: color(1.f, 1.f, 1.f),
normal_map_texture: texture_2d(),
normal_map_strength: 0.33f,
flip_tangent_u: false,
flip_tangent_v: true,
enable_opacity: false,
cutout_opacity: 1.f,
cutout_opacity_texture: texture_2d(),
cutout_opacity_mono_source: base::mono_alpha,
opacity_threshold: 0.f,
project_uvw: false,
world_or_object: false,
uv_space_index: 0,
texture_translate: float2(0.f),
texture_rotate: 0.f,
texture_scale: float2(1.f));
|
NVIDIA-Omniverse/iot-samples/content/ConveyorBelt_A08_PR_NVD_01/Materials/Base/Plastics/Plastic_Black_A.mdl
|
mdl 1.4;
using ::OmniPBR import OmniPBR;
import ::tex::gamma_mode;
import ::state::normal;
import ::base::mono_mode;
import ::anno::author;
import ::anno::description;
import ::anno::display_name;
import ::anno::key_words;
import ::anno::version;
export material Plastic_Black_A(*)
[[
anno::display_name("Plastic_Black"),
anno::description("OmniPBR supports ORM textures"),
anno::version(2, 1, 0, ""),
anno::author("NVIDIA CORPORATION"),
anno::key_words(string[]("omni", "PBR", "omniverse", "generic"))
]]
= OmniPBR(
diffuse_color_constant: color(0.2, 0.2, 0.2),
diffuse_texture: texture_2d("./Colors/T_Plastic_Black_A_Albedo.png", ::tex::gamma_srgb),
albedo_desaturation: 0.0,
albedo_add: 0.0,
albedo_brightness: 1.0,
diffuse_tint: color(1, 1, 1),
reflection_roughness_constant: 0.5,
reflection_roughness_texture_influence: 1.0,
reflectionroughness_texture: texture_2d(),
metallic_constant: 0.0,
metallic_texture_influence: 1.0,
metallic_texture: texture_2d(),
specular_level: 0.5,
enable_ORM_texture: true,
ORM_texture: texture_2d("./Colors/T_Plastic_Black_A_ORM.png", ::tex::gamma_linear),
ao_to_diffuse: 0.0,
ao_texture: texture_2d(),
enable_emission: false,
emissive_color: color(1, 0.1, 0.1),
emissive_color_texture: texture_2d(),
emissive_mask_texture: texture_2d(),
emissive_intensity: 40.0,
enable_opacity: false,
enable_opacity_texture: false,
opacity_constant: 1.0,
opacity_texture: texture_2d(),
opacity_mode: ::base::mono_average,
opacity_threshold: 0.0,
bump_factor: 1.0,
normalmap_texture: texture_2d("./Colors/T_Plastic_Black_A_Normal.png", ::tex::gamma_linear),
detail_bump_factor: 0.30f,
detail_normalmap_texture: texture_2d(),
flip_tangent_u: false,
flip_tangent_v: true,
project_uvw: false,
world_or_object: false,
uv_space_index: 0,
texture_translate: float2(0, 0),
texture_rotate: 0.0,
texture_scale: float2(3, 3),
detail_texture_translate: float2(0, 0),
detail_texture_rotate: 0.0,
detail_texture_scale: float2(1, 1));
|
NVIDIA-Omniverse/iot-samples/content/ConveyorBelt_A08_PR_NVD_01/Materials/Base/Plastics/FRP_FiberGlass_White_Glossy_A.mdl
|
mdl 1.4;
using ::OmniPBR import OmniPBR;
import ::tex::gamma_mode;
import ::state::normal;
import ::base::mono_mode;
import ::anno::author;
import ::anno::description;
import ::anno::display_name;
import ::anno::key_words;
import ::anno::version;
export material FRP_FiberGlass_White_Glossy_A(*)
[[
anno::display_name("FRP_FiberGlass_White_Glossy_A"),
anno::description("OmniPBR supports ORM textures"),
anno::version(2, 1, 0, ""),
anno::author("NVIDIA CORPORATION"),
anno::key_words(string[]("omni", "PBR", "omniverse", "generic"))
]]
= OmniPBR(
diffuse_texture: texture_2d("./Fiberglass/T_Fiberglass_White_Glossy_A_Albedo.png", ::tex::gamma_srgb),
enable_ORM_texture: true,
metallic_texture_influence: 1.0,
normalmap_texture: texture_2d("./Fiberglass/T_Fiberglass_White_Glossy_A_Normal.png", ::tex::gamma_linear),
ORM_texture: texture_2d("./Fiberglass/T_Fiberglass_White_Glossy_A_ORM.png", ::tex::gamma_linear),
reflection_roughness_texture_influence: 1.0);
|
NVIDIA-Omniverse/iot-samples/content/ConveyorBelt_A08_PR_NVD_01/Materials/Base/Plastics/Plastic_Blue_A.mdl
|
mdl 1.4;
using ::OmniPBR import OmniPBR;
import ::tex::gamma_mode;
import ::state::normal;
import ::base::mono_mode;
import ::anno::author;
import ::anno::description;
import ::anno::display_name;
import ::anno::key_words;
import ::anno::version;
export material Plastic_Blue_A(*)
[[
anno::display_name("Plastic_Blue_A"),
anno::description("OmniPBR supports ORM textures"),
anno::version(2, 1, 0, ""),
anno::author("NVIDIA CORPORATION"),
anno::key_words(string[]("omni", "PBR", "omniverse", "generic"))
]]
= OmniPBR(
diffuse_color_constant: color(0.2, 0.2, 0.2),
diffuse_texture: texture_2d("./Colors/T_Plastic_Blue_A_Albedo.png", ::tex::gamma_srgb),
albedo_desaturation: 0.0,
albedo_add: 0.0,
albedo_brightness: 1.0,
diffuse_tint: color(1, 1, 1),
reflection_roughness_constant: 0.5,
reflection_roughness_texture_influence: 1.0,
reflectionroughness_texture: texture_2d(),
metallic_constant: 0.0,
metallic_texture_influence: 1.0,
metallic_texture: texture_2d(),
specular_level: 0.5,
enable_ORM_texture: true,
ORM_texture: texture_2d("./Colors/T_Plastic_Blue_A_ORM.png", ::tex::gamma_linear),
ao_to_diffuse: 0.0,
ao_texture: texture_2d(),
enable_emission: false,
emissive_color: color(1, 0.1, 0.1),
emissive_color_texture: texture_2d(),
emissive_mask_texture: texture_2d(),
emissive_intensity: 40.0,
enable_opacity: false,
enable_opacity_texture: false,
opacity_constant: 1.0,
opacity_texture: texture_2d(),
opacity_mode: ::base::mono_average,
opacity_threshold: 0.0,
bump_factor: 1.0,
normalmap_texture: texture_2d("./Colors/T_Plastic_Blue_A_Normal.png", ::tex::gamma_linear),
detail_bump_factor: 0.30f,
detail_normalmap_texture: texture_2d(),
flip_tangent_u: false,
flip_tangent_v: true,
project_uvw: false,
world_or_object: false,
uv_space_index: 0,
texture_translate: float2(0, 0),
texture_rotate: 0.0,
texture_scale: float2(3, 3),
detail_texture_translate: float2(0, 0),
detail_texture_rotate: 0.0,
detail_texture_scale: float2(1, 1));
|
NVIDIA-Omniverse/iot-samples/content/ConveyorBelt_A08_PR_NVD_01/Materials/Base/Plastics/Plastic_Rough_Black_A.mdl
|
mdl 1.4;
using ::OmniPBR import OmniPBR;
import ::tex::gamma_mode;
import ::state::normal;
import ::base::mono_mode;
import ::anno::author;
import ::anno::description;
import ::anno::display_name;
import ::anno::key_words;
import ::anno::version;
export material Plastic_Rough_Black_A(*)
[[
anno::display_name("Plastic_Rough_Black"),
anno::description("OmniPBR supports ORM textures"),
anno::version(2, 1, 0, ""),
anno::author("NVIDIA CORPORATION"),
anno::key_words(string[]("omni", "PBR", "omniverse", "generic"))
]]
= OmniPBR(
diffuse_color_constant: color(0.2, 0.2, 0.2),
diffuse_texture: texture_2d("./Rough/T_Plastic_Rough_Black_A_Albedo.png", ::tex::gamma_srgb),
albedo_desaturation: 0.0,
albedo_add: 0.0,
albedo_brightness: 1.0,
diffuse_tint: color(1, 1, 1),
reflection_roughness_constant: 0.5,
reflection_roughness_texture_influence: 1.0,
reflectionroughness_texture: texture_2d(),
metallic_constant: 0.0,
metallic_texture_influence: 1.0,
metallic_texture: texture_2d(),
specular_level: 0.5,
enable_ORM_texture: true,
ORM_texture: texture_2d("./Rough/T_Plastic_Rough_Black_A_ORM.png", ::tex::gamma_linear),
ao_to_diffuse: 0.0,
ao_texture: texture_2d(),
enable_emission: false,
emissive_color: color(1, 0.1, 0.1),
emissive_color_texture: texture_2d(),
emissive_mask_texture: texture_2d(),
emissive_intensity: 40.0,
enable_opacity: false,
enable_opacity_texture: false,
opacity_constant: 1.0,
opacity_texture: texture_2d(),
opacity_mode: ::base::mono_average,
opacity_threshold: 0.0,
bump_factor: 2.5,
normalmap_texture: texture_2d("./Rough/T_Plastic_Rough_Black_A_Normal.png", ::tex::gamma_linear),
detail_bump_factor: 0.30f,
detail_normalmap_texture: texture_2d(),
flip_tangent_u: false,
flip_tangent_v: true,
project_uvw: false,
world_or_object: false,
uv_space_index: 0,
texture_translate: float2(0, 0),
texture_rotate: 0.0,
texture_scale: float2(1, 1),
detail_texture_translate: float2(0, 0),
detail_texture_rotate: 0.0,
detail_texture_scale: float2(1, 1));
|
NVIDIA-Omniverse/iot-samples/content/ConveyorBelt_A08_PR_NVD_01/Materials/Base/Plastics/Plastic_Red_B.mdl
|
mdl 1.4;
using ::OmniPBR import OmniPBR;
import ::tex::gamma_mode;
import ::state::normal;
import ::base::mono_mode;
import ::anno::author;
import ::anno::description;
import ::anno::display_name;
import ::anno::key_words;
import ::anno::version;
export material Plastic_Red_B(*)
[[
anno::display_name("Plastic_Red"),
anno::description("OmniPBR supports ORM textures"),
anno::version(2, 1, 0, ""),
anno::author("NVIDIA CORPORATION"),
anno::key_words(string[]("omni", "PBR", "omniverse", "generic"))
]]
= OmniPBR(
diffuse_color_constant: color(0.200, 0.200, 0.200),
diffuse_texture: texture_2d("./Colors/T_Plastic_Red_A_Albedo.png", ::tex::gamma_srgb),
albedo_desaturation: 0.f,
albedo_add: 0.41f,
albedo_brightness: 0.91f,
diffuse_tint: color(0.26801151f, 0.0532933474f, 0.0532933474f),
reflection_roughness_constant: 0.5f,
reflection_roughness_texture_influence: 1.f,
reflectionroughness_texture: texture_2d(),
metallic_constant: 0.f,
metallic_texture_influence: 1.f,
metallic_texture: texture_2d(),
specular_level: 0.5f,
enable_ORM_texture: true,
ORM_texture: texture_2d("./Colors/T_Plastic_Red_A_ORM.png", ::tex::gamma_linear),
ao_to_diffuse: 0.f,
ao_texture: texture_2d(),
enable_emission: false,
emissive_color: color(1.f, 0.100f, 0.100f),
emissive_color_texture: texture_2d(),
emissive_mask_texture: texture_2d(),
emissive_intensity: 40.f,
enable_opacity: false,
enable_opacity_texture: false,
opacity_constant: 1.f,
opacity_texture: texture_2d(),
opacity_mode: base::mono_average,
opacity_threshold: 0.f,
bump_factor: 1.f,
normalmap_texture: texture_2d("./Colors/T_Plastic_Red_A_Normal.png", ::tex::gamma_linear),
detail_bump_factor: 0.30f,
detail_normalmap_texture: texture_2d(),
flip_tangent_u: false,
flip_tangent_v: true,
project_uvw: false,
world_or_object: false,
uv_space_index: 0,
texture_translate: float2(0.f),
texture_rotate: 0.f,
texture_scale: float2(3.f),
detail_texture_translate: float2(0.f),
detail_texture_rotate: 0.f,
detail_texture_scale: float2(1.f));
|
NVIDIA-Omniverse/iot-samples/source/ingest_app_mqtt/app.py
|
# SPDX-FileCopyrightText: Copyright (c) 2023 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
# SPDX-License-Identifier: MIT
#
# Permission is hereby granted, free of charge, to any person obtaining a
# copy of this software and associated documentation files (the "Software"),
# to deal in the Software without restriction, including without limitation
# the rights to use, copy, modify, merge, publish, distribute, sublicense,
# and/or sell copies of the Software, and to permit persons to whom the
# Software is furnished to do so, subject to the following conditions:
#
# The above copyright notice and this permission notice shall be included in
# all copies or substantial portions of the Software.
#
# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL
# THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
# FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
# DEALINGS IN THE SOFTWARE.
# pip install pandas
# pip install paho-mqtt
import asyncio
import os
import omni.client
from pxr import Usd, Sdf, Gf
from pathlib import Path
import pandas as pd
import time
from paho.mqtt import client as mqtt_client
import random
import json
from omni.live import LiveEditSession, LiveCube, getUserNameFromToken
OMNI_HOST = os.environ.get("OMNI_HOST", "localhost")
OMNI_USER = os.environ.get("OMNI_USER", "ov")
if OMNI_USER.lower() == "omniverse":
OMNI_USER = "ov"
elif OMNI_USER.lower() == "$omni-api-token":
OMNI_USER = getUserNameFromToken(os.environ.get("OMNI_PASS"))
BASE_FOLDER = "omniverse://" + OMNI_HOST + "/Users/" + OMNI_USER + "/iot-samples"
SCRIPT_DIR = os.path.dirname(os.path.realpath(__file__))
CONTENT_DIR = Path(SCRIPT_DIR).resolve().parents[1].joinpath("content")
messages = []
def log_handler(thread, component, level, message):
# print(message)
messages.append((thread, component, level, message))
def initialize_device_prim(live_layer, iot_topic):
iot_root = live_layer.GetPrimAtPath("/iot")
iot_spec = live_layer.GetPrimAtPath(f"/iot/{iot_topic}")
if not iot_spec:
iot_spec = Sdf.PrimSpec(iot_root, iot_topic, Sdf.SpecifierDef, "ConveyorBelt Type")
if not iot_spec:
raise Exception("Failed to create the IoT Spec.")
# clear out any attrubutes that may be on the spec
for attrib in iot_spec.attributes:
iot_spec.RemoveProperty(attrib)
IOT_TOPIC_DATA = f"{CONTENT_DIR}/{iot_topic}_iot_data.csv"
data = pd.read_csv(IOT_TOPIC_DATA)
data.head()
# create all the IoT attributes that will be written
attr = Sdf.AttributeSpec(iot_spec, "_ts", Sdf.ValueTypeNames.Double)
if not attr:
raise Exception(f"Could not define the attribute: {attrName}")
# infer the unique data points in the CSV.
# The values may be known in advance and can be hard coded
grouped = data.groupby("Id")
for attrName, group in grouped:
attr = Sdf.AttributeSpec(iot_spec, attrName, Sdf.ValueTypeNames.Double)
if not attr:
raise Exception(f"Could not define the attribute: {attrName}")
async def initialize_async(iot_topic):
# copy a the Conveyor Belt to the target nucleus server
stage_name = f"ConveyorBelt_{iot_topic}"
local_folder = f"file:{CONTENT_DIR}/{stage_name}"
stage_folder = f"{BASE_FOLDER}/{stage_name}"
stage_url = f"{stage_folder}/{stage_name}.usd"
result = await omni.client.copy_async(
local_folder,
stage_folder,
behavior=omni.client.CopyBehavior.ERROR_IF_EXISTS,
message="Copy Conveyor Belt",
)
stage = Usd.Stage.Open(stage_url)
if not stage:
raise Exception(f"Could load the stage {stage_url}.")
live_session = LiveEditSession(stage_url)
live_layer = await live_session.ensure_exists()
session_layer = stage.GetSessionLayer()
session_layer.subLayerPaths.append(live_layer.identifier)
# set the live layer as the edit target
stage.SetEditTarget(live_layer)
initialize_device_prim(live_layer, iot_topic)
# place the cube on the conveyor
live_cube = LiveCube(stage)
live_cube.scale(Gf.Vec3f(0.5))
live_cube.translate(Gf.Vec3f(100.0, -30.0, 195.0))
omni.client.live_process()
return stage, live_layer
def write_to_live(live_layer, iot_topic, msg_content):
# write the iot values to the usd prim attributes
payload = json.loads(msg_content)
with Sdf.ChangeBlock():
for i, (id, value) in enumerate(payload.items()):
attr = live_layer.GetAttributeAtPath(f"/iot/{iot_topic}.{id}")
if not attr:
raise Exception(f"Could not find attribute /iot/{iot_topic}.{id}.")
attr.default = value
omni.client.live_process()
# publish to mqtt broker
def write_to_mqtt(mqtt_client, iot_topic, group, ts):
# write the iot values to the usd prim attributes
topic = f"iot/{iot_topic}"
print(group.iloc[0]["TimeStamp"])
payload = {"_ts": ts}
for index, row in group.iterrows():
payload[row["Id"]] = row["Value"]
mqtt_client.publish(topic, json.dumps(payload, indent=2).encode("utf-8"))
# connect to mqtt broker
def connect_mqtt(iot_topic):
topic = f"iot/{iot_topic}"
# called when a message arrives
def on_message(client, userdata, msg):
msg_content = msg.payload.decode()
write_to_live(live_layer, iot_topic, msg_content)
print(f"Received `{msg_content}` from `{msg.topic}` topic")
# called when connection to mqtt broker has been established
def on_connect(client, userdata, flags, rc):
if rc == 0:
# connect to our topic
print(f"Subscribing to topic: {topic}")
client.subscribe(topic)
else:
print(f"Failed to connect, return code {rc}")
# let us know when we've subscribed
def on_subscribe(client, userdata, mid, granted_qos):
print(f"subscribed {mid} {granted_qos}")
# Set Connecting Client ID
client = mqtt_client.Client(f"python-mqtt-{random.randint(0, 1000)}")
client.on_connect = on_connect
client.on_message = on_message
client.on_subscribe = on_subscribe
client.connect("test.mosquitto.org", 1883)
client.loop_start()
return client
def run(stage, live_layer, iot_topic):
# we assume that the file contains the data for single device
IOT_TOPIC_DATA = f"{CONTENT_DIR}/{iot_topic}_iot_data.csv"
data = pd.read_csv(IOT_TOPIC_DATA)
data.head()
# Converting to DateTime Format and drop ms
data["TimeStamp"] = pd.to_datetime(data["TimeStamp"])
data["TimeStamp"] = data["TimeStamp"].dt.floor("s")
data.set_index("TimeStamp")
start_time = data.min()["TimeStamp"]
last_time = start_time
grouped = data.groupby("TimeStamp")
mqtt_client = connect_mqtt(iot_topic)
# play back the data in real-time
for next_time, group in grouped:
diff = (next_time - last_time).total_seconds()
if diff > 0:
time.sleep(diff)
write_to_mqtt(mqtt_client, iot_topic, group, (next_time - start_time).total_seconds())
last_time = next_time
mqtt_client = None
if __name__ == "__main__":
IOT_TOPIC = "A08_PR_NVD_01"
omni.client.initialize()
omni.client.set_log_level(omni.client.LogLevel.DEBUG)
omni.client.set_log_callback(log_handler)
try:
stage, live_layer = asyncio.run(initialize_async(IOT_TOPIC))
run(stage, live_layer, IOT_TOPIC)
except:
print("---- LOG MESSAGES ---")
print(*messages, sep="\n")
print("----")
finally:
omni.client.shutdown()
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