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"/cpfs/shared/simulation/maojian/benchmark_use_processed/apple/e1f96691aaf648b885d927f5c3f5be61/usd/textures/e1f96691aaf648b885d927f5c3f5be61_texture2.png", + "source_hash": "7230d1ca0861e6aa26c584cbf1f20ca3096cd294", + "target_url": "./SubUSDs/textures/e1f96691aaf648b885d927f5c3f5be61_texture2.png", + "target_hash": "8c6fbb1c721ed60cc6faa88ad4c474e6abef0a2d" + }, + { + "source_url": "/cpfs/shared/simulation/maojian/benchmark_use_processed/apple/e1f96691aaf648b885d927f5c3f5be61/usd/textures/e1f96691aaf648b885d927f5c3f5be61_texture3.png", + "source_hash": "bca5d600e9beaa7ea5ce50d0d353b79619718417", + "target_url": "./SubUSDs/textures/e1f96691aaf648b885d927f5c3f5be61_texture3.png", + "target_hash": "578d2eafaffafd89547625844d390b3e92cbf827" + } + ] +} \ No newline at end of file diff --git a/assets/object_usds/custom_usd/ebench_usds/apple/ready/e1f96691aaf648b885d927f5c3f5be61/e1f96691aaf648b885d927f5c3f5be61_annotation.json b/assets/object_usds/custom_usd/ebench_usds/apple/ready/e1f96691aaf648b885d927f5c3f5be61/e1f96691aaf648b885d927f5c3f5be61_annotation.json new file mode 100644 index 0000000000000000000000000000000000000000..d5efa2d4f7815fcfc0598c6a50f7495ce1cf097b --- /dev/null +++ b/assets/object_usds/custom_usd/ebench_usds/apple/ready/e1f96691aaf648b885d927f5c3f5be61/e1f96691aaf648b885d927f5c3f5be61_annotation.json @@ -0,0 +1,18 @@ +{ + "uid": "e1f96691aaf648b885d927f5c3f5be61", + "category": "apple", + "description": "Round, shiny, pinkish-red skin, smooth texture, slight curvature, stem, subtle color variations, engraved symbol.", + "material": "skin, flesh, stem", + "dimensions": "0.08 * 0.08 * 0.08", + "mass": 0.15, + "placement": [ + "OnFloor", + "OnObject", + "OnTable" + ], + "asset_type": "rigid", + "glb_size": 1.66, + "usd_size": 2.05, + "usd_material_softlink": false, + "source": "holodeck" +} \ No newline at end of file diff --git a/assets/object_usds/custom_usd/ebench_usds/salt_new/GRScenes_assets/bottle/0309dcb2f1cff82e56b5928b8258b489/0309dcb2f1cff82e56b5928b8258b489_annotation.json b/assets/object_usds/custom_usd/ebench_usds/salt_new/GRScenes_assets/bottle/0309dcb2f1cff82e56b5928b8258b489/0309dcb2f1cff82e56b5928b8258b489_annotation.json new file mode 100644 index 0000000000000000000000000000000000000000..43b13f1269c4027c6811b8ba84a344284bd454d7 --- /dev/null +++ b/assets/object_usds/custom_usd/ebench_usds/salt_new/GRScenes_assets/bottle/0309dcb2f1cff82e56b5928b8258b489/0309dcb2f1cff82e56b5928b8258b489_annotation.json @@ -0,0 +1,17 @@ +{ + "uid": "0309dcb2f1cff82e56b5928b8258b489", + "category": "bottle", + "description": "The object appears to be a cylindrical container with a textured lid. The container has a smooth, transparent surface, suggesting to be be made of plastic or glass. The lid is covered with a rough, granular material, possibly cork or a similar natural fiber. The container seems to be have a consistent diameter throughout its length, suggesting to be be a standard size for storage containers. The container is currently empty, suggesting to be be used for storing dry goods such as grains or seeds. The lid's texture provides a non-slip grip and may help to seal the contents securely.", + "material": "The container's body is likely made of plastic or glass, with the lid potentially being made of cork or a similar material.", + "dimensions": "0.15 * 0.15 * 0.25", + "mass": "0.2", + "placement": [ + "OnTable" + ], + "asset_type": "rigid", + "glb_size": 6.861549377441406, + "usd_size": 7.550846099853516, + "urdf_size": null, + "orientation": 0, + "usd_material_softlink": true +} \ No newline at end of file diff --git a/assets/object_usds/custom_usd/ebench_usds/salt_new/GRScenes_assets/bottle/173e246d5eb10f81265e2c174de2101d/173e246d5eb10f81265e2c174de2101d_annotation.json b/assets/object_usds/custom_usd/ebench_usds/salt_new/GRScenes_assets/bottle/173e246d5eb10f81265e2c174de2101d/173e246d5eb10f81265e2c174de2101d_annotation.json new file mode 100644 index 0000000000000000000000000000000000000000..5beec511ec5e906a311287dbd0ce38e015647f80 --- /dev/null +++ b/assets/object_usds/custom_usd/ebench_usds/salt_new/GRScenes_assets/bottle/173e246d5eb10f81265e2c174de2101d/173e246d5eb10f81265e2c174de2101d_annotation.json @@ -0,0 +1,17 @@ +{ + "uid": "173e246d5eb10f81265e2c174de2101d", + "category": "bottle", + "description": "The object appears to be a cylindrical container with a lid. It has a white smooth surface with a matte finish. The container's body is white white white with black abstract patterns printed on it. The lid is made of wood with visible grain patterns, suggesting a natural texture. The proportions suggest a compact size, suitable for storing small items. The container is currently closed, serving a functional purpose of preserving contents within.", + "material": "The container's body is made of ceramic, evident from its the smooth, uniform surface and the printed pattern. The lid is constructed from wood, identifiable by the visible grain and texture.", + "dimensions": "0.15 * 0.15 * 0.10", + "mass": "0.2", + "placement": [ + "OnTable" + ], + "asset_type": "rigid", + "glb_size": 3.0636863708496094, + "usd_size": 3.423457145690918, + "urdf_size": null, + "orientation": 0, + "usd_material_softlink": true +} \ No newline at end of file diff --git a/assets/object_usds/custom_usd/ebench_usds/salt_new/GRScenes_assets/bottle/1a900e94264d9104f45200db6e0b5e5c/1a900e94264d9104f45200db6e0b5e5c_annotation.json b/assets/object_usds/custom_usd/ebench_usds/salt_new/GRScenes_assets/bottle/1a900e94264d9104f45200db6e0b5e5c/1a900e94264d9104f45200db6e0b5e5c_annotation.json new file mode 100644 index 0000000000000000000000000000000000000000..16f341808a24f9588375de67a8ada064126a1c89 --- /dev/null +++ b/assets/object_usds/custom_usd/ebench_usds/salt_new/GRScenes_assets/bottle/1a900e94264d9104f45200db6e0b5e5c/1a900e94264d9104f45200db6e0b5e5c_annotation.json @@ -0,0 +1,17 @@ +{ + "uid": "1a900e94264d9104f45200db6e0b5e5c", + "category": "bottle", + "description": "The object is a cylindrical glass jar with a textured wooden lid secured by a black metal clasp. The jar appears to be made of clear glass, allowing visibility into its contents. The lid has a natural wood grain pattern, suggesting to be be crafted from a single piece of wood, possibly oak or maple. The clasp is metallic, likely made of steel or iron, providing a sturdy closure mechanism. The jar's proportions suggest a medium-sized container, suitable for storing dry goods or preservesable items. The current appears to be in in a closed state, ready for use use.", + "material": "Glass Body, Wood Lid, Metal Clasp", + "dimensions": "0.15 * 0.15 * 0.20", + "mass": "0.5", + "placement": [ + "OnTable" + ], + "asset_type": "rigid", + "glb_size": 12.887805938720703, + "usd_size": 12.890887260437012, + "urdf_size": null, + "orientation": 0, + "usd_material_softlink": true +} \ No newline at end of file diff --git a/assets/object_usds/custom_usd/ebench_usds/salt_new/GRScenes_assets/bottle/23f1d3ecc9f811bdcd7b4f9a169f9f9f/23f1d3ecc9f811bdcd7b4f9a169f9f9f_annotation.json b/assets/object_usds/custom_usd/ebench_usds/salt_new/GRScenes_assets/bottle/23f1d3ecc9f811bdcd7b4f9a169f9f9f/23f1d3ecc9f811bdcd7b4f9a169f9f9f_annotation.json new file mode 100644 index 0000000000000000000000000000000000000000..139b0c676406f1bc635a59377bd412cb53506873 --- /dev/null +++ b/assets/object_usds/custom_usd/ebench_usds/salt_new/GRScenes_assets/bottle/23f1d3ecc9f811bdcd7b4f9a169f9f9f/23f1d3ecc9f811bdcd7b4f9a169f9f9f_annotation.json @@ -0,0 +1,17 @@ +{ + "uid": "23f1d3ecc9f811bdcd7b4f9a169f9f9f", + "category": "bottle", + "description": "The object appears to be a bottle with a cylindrical neck and a square-shaped body filled with a golden liquid. The surface of the liquid has a textured appearance resembling small cream or a thick gel. The bottle's cap is black and smooth, suggesting like made from plastic or rubber. The bottle's body seems to be made from a transparent material, possibly glass or plastic, allowing visibility of the contents. The bottle's overall shape is simple and functional, designed for holding liquids.", + "material": "The bottle's body is likely made from glass or clear plastic, the cap is probably made from black plastic or rubber, and the liquid inside could be a thick gel or cream-like substance.", + "dimensions": "0.15 * 0.15 * 0.25", + "mass": "0.2", + "placement": [ + "OnTable" + ], + "asset_type": "rigid", + "glb_size": 7.597206115722656, + "usd_size": 7.562780380249023, + "urdf_size": null, + "orientation": 0, + "usd_material_softlink": true +} \ No newline at end of file diff --git a/assets/object_usds/custom_usd/ebench_usds/salt_new/GRScenes_assets/bottle/2475b1d276562a0152bb481253b15d9a/2475b1d276562a0152bb481253b15d9a_annotation.json b/assets/object_usds/custom_usd/ebench_usds/salt_new/GRScenes_assets/bottle/2475b1d276562a0152bb481253b15d9a/2475b1d276562a0152bb481253b15d9a_annotation.json new file mode 100644 index 0000000000000000000000000000000000000000..12f657c475fea19083cf9d5b685886de1b1f2176 --- /dev/null +++ b/assets/object_usds/custom_usd/ebench_usds/salt_new/GRScenes_assets/bottle/2475b1d276562a0152bb481253b15d9a/2475b1d276562a0152bb481253b15d9a_annotation.json @@ -0,0 +1,17 @@ +{ + "uid": "2475b1d276562a0152bb481253b15d9a", + "category": "bottle", + "description": "The object appears to be a cylindrical container with a textured surface resembling a woven pattern on its top. The body of the container is transparent, allowing visibility into the contents inside, which seem to be be a granular substance. The lid is made of a cork-like material, providing a natural and rustic appearance. The container has a simple yet functional design, suitable for storing dry goods like grains or seeds. The proportions suggest a medium-sized container, neither too small nor too large for everyday use.", + "material": "The container's body is made of a clear plastic material, likely polycarbonate or acrylic, given its transparency and durability. The lid is crafted from a cork material, known for its its natural texture and ability to seal containers effectively.", + "dimensions": "0.15 * 0.15 * 0.25", + "mass": "0.2", + "placement": [ + "OnTable" + ], + "asset_type": "rigid", + "glb_size": 6.108814239501953, + "usd_size": 7.101225852966309, + "urdf_size": null, + "orientation": 0, + "usd_material_softlink": true +} \ No newline at end of file diff --git a/assets/object_usds/custom_usd/ebench_usds/salt_new/GRScenes_assets/bottle/45d5b1701028fc00adc75c5c76042cde/45d5b1701028fc00adc75c5c76042cde_annotation.json b/assets/object_usds/custom_usd/ebench_usds/salt_new/GRScenes_assets/bottle/45d5b1701028fc00adc75c5c76042cde/45d5b1701028fc00adc75c5c76042cde_annotation.json new file mode 100644 index 0000000000000000000000000000000000000000..6006ab95c51d66163093baf0ffda6594fab95906 --- /dev/null +++ b/assets/object_usds/custom_usd/ebench_usds/salt_new/GRScenes_assets/bottle/45d5b1701028fc00adc75c5c76042cde/45d5b1701028fc00adc75c5c76042cde_annotation.json @@ -0,0 +1,17 @@ +{ + "uid": "45d5b1701028fc00adc75c5c76042cde", + "category": "bottle", + "description": "The object appears to be a glass jar with a wooden lid and a metal clamp. The jar has a smooth, transparent surface with a slight reflection, suggesting a glass material. The lid is made of wood with a natural grain pattern and a matte finish, suggesting a wood material. The clamp is black and has a metallic sheen, suggesting a metal material. The jar's shape is cylindrical with a slightly wider top than the bottom, giving it a rounded form. The lid fits snugly over the jar's opening, and the clamp secures the lid in place. The jar seems to be be designed for storing dry goods or other other food items, given its its size and shape.", + "material": "Glass (jar), Wood (lid), Metal (clamp)", + "dimensions": "0.15 * 0.15 * 0.20", + "mass": "0.2", + "placement": [ + "OnTable" + ], + "asset_type": "rigid", + "glb_size": 12.887821197509766, + "usd_size": 12.882529258728027, + "urdf_size": null, + "orientation": 0, + "usd_material_softlink": true +} \ No newline at end of file diff --git a/assets/object_usds/custom_usd/ebench_usds/salt_new/GRScenes_assets/bottle/471d4d7acbc09edb085f4bfdac8bb2cc/471d4d7acbc09edb085f4bfdac8bb2cc_annotation.json b/assets/object_usds/custom_usd/ebench_usds/salt_new/GRScenes_assets/bottle/471d4d7acbc09edb085f4bfdac8bb2cc/471d4d7acbc09edb085f4bfdac8bb2cc_annotation.json new file mode 100644 index 0000000000000000000000000000000000000000..0a2c211dc500bb5c17c70b2a2e4d07c22620a234 --- /dev/null +++ b/assets/object_usds/custom_usd/ebench_usds/salt_new/GRScenes_assets/bottle/471d4d7acbc09edb085f4bfdac8bb2cc/471d4d7acbc09edb085f4bfdac8bb2cc_annotation.json @@ -0,0 +1,17 @@ +{ + "uid": "471d4d7acbc09edb085f4bfdac8bb2cc", + "category": "bottle", + "description": "The object appears to be a simple, cylindrical cup with a slightly conical shape towards the bottom. It has a smooth, matte surface with a uniform gray color on the lower half and a white gradient to white at the top. The cup seems to be have a consistent diameter throughout its length, suggesting it is likely designed for holding liquids. The current top is flat and even, suggesting it could be used for drinking or serving beverages. The cup's design is minimalistic, with no visible handles or decorative elements.", + "material": "The cup's body appears to be made of a single material, likely ceramic or porcelain, given its smooth surface and uniform coloration. The top part, which is white white, could be made of a different material such as plastic or painted metal, but the exact material cannot be determined from the images alone.", + "dimensions": "0.15 * 0.15 * 0.10", + "mass": "0.2", + "placement": [ + "OnTable" + ], + "asset_type": "rigid", + "glb_size": 0.24395751953125, + "usd_size": 0.27880859375, + "urdf_size": null, + "orientation": 0, + "usd_material_softlink": true +} \ No newline at end of file diff --git a/assets/object_usds/custom_usd/ebench_usds/salt_new/GRScenes_assets/bottle/501a5ac3cbdae92226c51c349e4e6a17/501a5ac3cbdae92226c51c349e4e6a17_annotation.json b/assets/object_usds/custom_usd/ebench_usds/salt_new/GRScenes_assets/bottle/501a5ac3cbdae92226c51c349e4e6a17/501a5ac3cbdae92226c51c349e4e6a17_annotation.json new file mode 100644 index 0000000000000000000000000000000000000000..5d7afe4686804e7ba2dc7d6865d54f5a71dca25d --- /dev/null +++ b/assets/object_usds/custom_usd/ebench_usds/salt_new/GRScenes_assets/bottle/501a5ac3cbdae92226c51c349e4e6a17/501a5ac3cbdae92226c51c349e4e6a17_annotation.json @@ -0,0 +1,17 @@ +{ + "uid": "501a5ac3cbdae92226c51c349e4e6a17", + "category": "bottle", + "description": "The object appears to be a bottle with a cylindrical shape tapering towards the top. It has a dark, possibly black, cap on the upper end. The body of the bottle seems to have a textured surface, resembling a rough or granular material, possibly indicating a material like sand or gravel. The bottle's lower section is wider than the top, creating a slight hourglass shape. The overall appearance suggests a functional purpose, likely for storing liquids, given its the cap and the shape typical of bottles designed to prevent spillage. The bottle's design includes a distinctive feature at the middle, a horizontal band with a lighter color, possibly indicating a label or an embossed design, adding a decorative element to the otherwise utilitarian form.", + "material": "The bottle's body seems to be made of a material like a glass or a transparent plastic, indicated by the reflective quality and the clarity of the contents within. The cap appears to be made of a different material, possibly a plastic or a rubber, given its the smooth and non a darker color contrasting with the lighter body of the bottle. The band around the middle could be made of a different material, possibly a sticker or a label, adhered to the bottle's surface.", + "dimensions": "0.15 * 0.05 * 0.10", + "mass": "0.2", + "placement": [ + "OnTable" + ], + "asset_type": "rigid", + "glb_size": 6.755847930908203, + "usd_size": 6.6764421463012695, + "urdf_size": null, + "orientation": 0, + "usd_material_softlink": true +} \ No newline at end of file diff --git a/assets/object_usds/custom_usd/ebench_usds/salt_new/GRScenes_assets/bottle/55c75d1633a577833010793d58dfee58/55c75d1633a577833010793d58dfee58_annotation.json b/assets/object_usds/custom_usd/ebench_usds/salt_new/GRScenes_assets/bottle/55c75d1633a577833010793d58dfee58/55c75d1633a577833010793d58dfee58_annotation.json new file mode 100644 index 0000000000000000000000000000000000000000..e01019df6cec21609c1c096366e224ea0ec99174 --- /dev/null +++ b/assets/object_usds/custom_usd/ebench_usds/salt_new/GRScenes_assets/bottle/55c75d1633a577833010793d58dfee58/55c75d1633a577833010793d58dfee58_annotation.json @@ -0,0 +1,17 @@ +{ + "uid": "55c75d1633a577833010793d58dfee58", + "category": "bottle", + "description": "The object appears to be a cylindrical container with a textured lid that resembles a cork. The container has a transparent body, allowing visibility into its the contents inside, which seem to be be small, granular particles. The lid is slightly wider than the body, suggesting providing a snug fit when closed. The container's surface texture suggests a matte finish, with no reflective qualities. The proportions indicate a tall, slender shape, suitable for holding dry goods like grains or seeds. The container is currently sealed with the lid on, indicating preventing contents from spilling out. The functional purpose is storage, likely for food items such as cereals or spices. Distinctive design feature includes the textured lid, which adds an aesthetic element while also also serving a practical purpose.", + "material": "The container's body seems to be made of plastic, evident by its the translucency and slight sheen. The lid appears to be made of cork, identifiable by its the granular texture and warm brown color. The cork lid provides a natural, organic contrast to the synthetic body.", + "dimensions": "0.15 * 0.15 * 0.25", + "mass": "0.2", + "placement": [ + "OnTable" + ], + "asset_type": "rigid", + "glb_size": 6.333808898925781, + "usd_size": 7.075676918029785, + "urdf_size": null, + "orientation": 0, + "usd_material_softlink": true +} \ No newline at end of file diff --git a/assets/object_usds/custom_usd/ebench_usds/salt_new/GRScenes_assets/bottle/7218c60ede56775d76d74bf9a709cd7e/7218c60ede56775d76d74bf9a709cd7e_annotation.json b/assets/object_usds/custom_usd/ebench_usds/salt_new/GRScenes_assets/bottle/7218c60ede56775d76d74bf9a709cd7e/7218c60ede56775d76d74bf9a709cd7e_annotation.json new file mode 100644 index 0000000000000000000000000000000000000000..c10ebfd818e3b60f8328ee74a07048460f8b60f0 --- /dev/null +++ b/assets/object_usds/custom_usd/ebench_usds/salt_new/GRScenes_assets/bottle/7218c60ede56775d76d74bf9a709cd7e/7218c60ede56775d76d74bf9a709cd7e_annotation.json @@ -0,0 +1,17 @@ +{ + "uid": "7218c60ede56775d76d74bf9a709cd7e", + "category": "bottle", + "description": "The object appears to be a cylindrical container with a textured lid. The container has a smooth, transparent surface suggesting, possibly made of glass or plastic, allowing visibility into its contents. The lid is covered with a rough, granular material resembling cork or a similar natural substance, providing a tactile contrast to the smooth body. The container's proportions suggest it is designed for holding dry goods, such as grains or seeds, given the lid's texture and the container's shape. 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a/assets/scene_usds/ebench/teleop_tasks/flip_cup_collect_cookies/GRSceneUSD_dexterous/task2/Collected_scene/gaoning/GenManip-Sim/saved/assets/miscs/home_scenes/Materials/DayMaterial.mdl b/assets/scene_usds/ebench/teleop_tasks/flip_cup_collect_cookies/GRSceneUSD_dexterous/task2/Collected_scene/gaoning/GenManip-Sim/saved/assets/miscs/home_scenes/Materials/DayMaterial.mdl new file mode 100644 index 0000000000000000000000000000000000000000..c799566b1b509c2f02ea4dc7710a06f8dfdf6a1b --- /dev/null +++ b/assets/scene_usds/ebench/teleop_tasks/flip_cup_collect_cookies/GRSceneUSD_dexterous/task2/Collected_scene/gaoning/GenManip-Sim/saved/assets/miscs/home_scenes/Materials/DayMaterial.mdl @@ -0,0 +1,67 @@ +mdl 1.6; + +import ::math::*; +import ::state::*; +import ::tex::*; +import ::anno::*; +using OmniUe4Function import *; +using OmniUe4Translucent import *; + +export annotation sampler_color(); +export annotation sampler_normal(); +export annotation sampler_grayscale(); +export annotation sampler_alpha(); +export annotation sampler_masks(); +export annotation sampler_distancefield(); +export annotation dither_masked_off(); +export annotation world_space_normal(); + +export material DayMaterial( + float Flat = 1.0 + [[ + anno::display_name("Flat"), + anno::ui_order(32) + ]], + uniform texture_2d img = texture_2d("./Textures/white.png",::tex::gamma_srgb) + [[ + anno::display_name("img"), + anno::ui_order(32), + sampler_color() + ]], + int MaxTexCoordIndex = 3 + [[ + anno::hidden() + ]]) + = + let { + float3 WorldPositionOffset_mdl = float3(0.0,0.0,0.0); + float2 CustomizedUV0_mdl = float2(state::texture_coordinate(math::min(0,MaxTexCoordIndex)).x,1.0-state::texture_coordinate(math::min(0,MaxTexCoordIndex)).y); + + + float3 Normal_mdl = float3(0.0,0.0,1.0); + + float4 Local0 = tex::lookup_float4(img,float2(CustomizedUV0_mdl.x,1.0-CustomizedUV0_mdl.y),tex::wrap_repeat,tex::wrap_repeat); + float3 Local1 = (Flat * float3(Local0.x,Local0.y,Local0.z)); + + float3 EmissiveColor_mdl = Local1; + float Opacity_mdl = Local0.w; + float OpacityMask_mdl = (math::saturate(Local0.w) - 1.0f / 255.0f) < 0.0f ? 0.0f : 1.0f; + float3 BaseColor_mdl = float3(0.0,0.0,0.0); + float Metallic_mdl = 0.0; + float Specular_mdl = 0.5; + float Roughness_mdl = 0.5; + float2 Refraction_mdl = float2(float2(1.0,0.0).x,float2(1.0,0.0).x); + + } in + ::OmniUe4Translucent( + base_color: BaseColor_mdl, + metallic: Metallic_mdl, + roughness: Roughness_mdl, + specular: Specular_mdl, + normal: Normal_mdl, + opacity: Opacity_mdl, + opacity_mask: OpacityMask_mdl, + emissive_color: EmissiveColor_mdl, + displacement: WorldPositionOffset_mdl, + refraction: Refraction_mdl.x, + two_sided: false); diff --git a/assets/scene_usds/ebench/teleop_tasks/flip_cup_collect_cookies/GRSceneUSD_dexterous/task2/Collected_scene/gaoning/GenManip-Sim/saved/assets/miscs/home_scenes/Materials/Num5e5507e87d6a6300013c8091.mdl b/assets/scene_usds/ebench/teleop_tasks/flip_cup_collect_cookies/GRSceneUSD_dexterous/task2/Collected_scene/gaoning/GenManip-Sim/saved/assets/miscs/home_scenes/Materials/Num5e5507e87d6a6300013c8091.mdl new file mode 100644 index 0000000000000000000000000000000000000000..aeb7dcdc009e7ab1585cdda1e9e73fe6fc461a01 --- /dev/null +++ b/assets/scene_usds/ebench/teleop_tasks/flip_cup_collect_cookies/GRSceneUSD_dexterous/task2/Collected_scene/gaoning/GenManip-Sim/saved/assets/miscs/home_scenes/Materials/Num5e5507e87d6a6300013c8091.mdl @@ -0,0 +1,284 @@ +mdl 1.6; + +import ::math::*; +import ::state::*; +import ::tex::*; +import ::anno::*; +using OmniUe4Function import *; +using OmniUe4Base import *; + +export annotation sampler_color(); +export annotation sampler_normal(); +export annotation sampler_grayscale(); +export annotation sampler_alpha(); +export annotation sampler_masks(); +export annotation sampler_distancefield(); +export annotation dither_masked_off(); +export annotation world_space_normal(); + +export material Num5e5507e87d6a6300013c8091( + uniform texture_2d Normal_Tex = texture_2d("./Textures/normal.png",::tex::gamma_linear) + [[ + anno::display_name("Normal_Tex"), + anno::ui_order(32), + anno::in_group("Normal"), + sampler_normal() + ]], + float4 Normal_UVA = float4(1.0,1.0,0.0,0.0) + [[ + anno::display_name("Normal_UVA"), + anno::ui_order(32), + anno::in_group("Normal") + ]], + float EmissiveIntensity = 0.0 + [[ + anno::display_name("EmissiveIntensity"), + anno::ui_order(32), + anno::in_group("EmissiveColor") + ]], + float IsEmissiveTex = 0.0 + [[ + anno::display_name("IsEmissiveTex"), + anno::in_group("EmissiveColor") + ]], + float4 Emissive_Color = float4(1.0,1.0,1.0,1.0) + [[ + anno::display_name("Emissive_Color"), + anno::ui_order(32), + anno::in_group("EmissiveColor") + ]], + uniform texture_2d Emissive_Tex = texture_2d("./Textures/white.png",::tex::gamma_srgb) + [[ + anno::display_name("Emissive_Tex"), + anno::ui_order(32), + anno::in_group("EmissiveColor"), + sampler_color() + ]], + float4 Emissive_UVA = float4(1.0,1.0,0.0,0.0) + [[ + anno::display_name("Emissive_UVA"), + anno::ui_order(32), + anno::in_group("EmissiveColor") + ]], + float IsBaseColorTex = 0.0 + [[ + anno::display_name("IsBaseColorTex"), + anno::in_group("BaseColor") + ]], + float4 BaseColor_Color = float4(1.0,1.0,1.0,1.0) + [[ + anno::display_name("BaseColor_Color"), + anno::ui_order(32), + anno::in_group("BaseColor") + ]], + uniform texture_2d BaseColor_Tex = texture_2d("./Textures/white.png",::tex::gamma_srgb) + [[ + anno::display_name("BaseColor_Tex"), + anno::ui_order(32), + anno::in_group("BaseColor"), + sampler_color() + ]], + float4 BaseColor_UVA = float4(1.0,1.0,0.0,0.0) + [[ + anno::display_name("BaseColor_UVA"), + anno::ui_order(32), + anno::in_group("BaseColor") + ]], + float IsMetallicTex = 0.0 + [[ + anno::display_name("IsMetallicTex"), + anno::in_group("Metallic") + ]], + float4 Metallic_Color = float4(0.0,0.0,0.0,1.0) + [[ + anno::display_name("Metallic_Color"), + anno::ui_order(32), + anno::in_group("Metallic") + ]], + uniform texture_2d Metallic_Tex = texture_2d("./Textures/black.png",::tex::gamma_srgb) + [[ + anno::display_name("Metallic_Tex"), + anno::ui_order(32), + anno::in_group("Metallic"), + sampler_color() + ]], + float4 Metallic_UVA = float4(1.0,1.0,0.0,0.0) + [[ + anno::display_name("Metallic_UVA"), + anno::ui_order(32), + anno::in_group("Metallic") + ]], + float IsSpecularTex = 0.0 + [[ + anno::display_name("IsSpecularTex"), + anno::in_group("Specular") + ]], + float4 Specular_Color = float4(1.0,1.0,1.0,1.0) + [[ + anno::display_name("Specular_Color"), + anno::ui_order(32), + anno::in_group("Specular") + ]], + uniform texture_2d Specular_Tex = texture_2d("./Textures/white.png",::tex::gamma_srgb) + [[ + anno::display_name("Specular_Tex"), + anno::ui_order(32), + anno::in_group("Specular"), + sampler_color() + ]], + float4 Specular_UVA = float4(1.0,1.0,0.0,0.0) + [[ + anno::display_name("Specular_UVA"), + anno::ui_order(32), + anno::in_group("Specular") + ]], + float IsGlossTex = 0.0 + [[ + anno::display_name("IsGlossTex"), + anno::in_group("Roughness") + ]], + float4 Gloss_Color = float4(0.1,0.1,0.1,1.0) + [[ + anno::display_name("Gloss_Color"), + anno::ui_order(32), + anno::in_group("Roughness") + ]], + uniform texture_2d Gloss_Tex = texture_2d("./Textures/white.png",::tex::gamma_srgb) + [[ + anno::display_name("Gloss_Tex"), + anno::ui_order(32), + anno::in_group("Roughness"), + sampler_color() + ]], + float4 Gloss_UVA = float4(1.0,1.0,0.0,0.0) + [[ + anno::display_name("Gloss_UVA"), + anno::ui_order(32), + anno::in_group("Roughness") + ]], + float PolygonOffset = 0.0 + [[ + anno::display_name("PolygonOffset"), + anno::ui_order(32), + anno::in_group("WorldPosition") + ]], + int MaxTexCoordIndex = 3 + [[ + anno::hidden() + ]]) + = + let { + float3 Local82 = ::camera_position(); + float3 Local83 = (Local82 - (::convert_to_left_hand(state::transform_point(state::coordinate_internal,state::coordinate_world,state::position()), true)*state::meters_per_scene_unit()*100.0)); + float Local84 = math::dot(Local83, Local83); + float Local85 = math::sqrt(Local84); + float3 Local86 = (Local83 / Local85); + float3 Local87 = (Local86 * PolygonOffset); + + float3 WorldPositionOffset_mdl = Local87; + float2 CustomizedUV0_mdl = float2(state::texture_coordinate(math::min(0,MaxTexCoordIndex)).x,1.0-state::texture_coordinate(math::min(0,MaxTexCoordIndex)).y); + + float2 Local0 = (float2(0.5,0.5) * -1.0); + float Local1 = (CustomizedUV0_mdl.x * float3(Normal_UVA.x,Normal_UVA.y,Normal_UVA.z).x); + float Local2 = (CustomizedUV0_mdl.y * float3(Normal_UVA.x,Normal_UVA.y,Normal_UVA.z).y); + float2 Local3 = (Local0 + float2(Local1,Local2)); + float Local4 = (3.141592 * -2.0); + float Local5 = (float3(Normal_UVA.x,Normal_UVA.y,Normal_UVA.z).z / Local4); + float Local6 = (Local5 * 6.283185); + float Local7 = math::cos(Local6); + float Local8 = math::sin(Local6); + float Local9 = (Local8 * -1.0); + float Local10 = math::dot(Local3, float2(Local7,Local9)); + float Local11 = math::dot(Local3, float2(Local8,Local7)); + float2 Local12 = (float2(0.5,0.5) + float2(Local10,Local11)); + float4 Local13 = ::unpack_normal_map(tex::lookup_float4(Normal_Tex,float2(Local12.x,1.0-Local12.y),tex::wrap_repeat,tex::wrap_repeat)); + float3 Local14 = ((math::abs(1.0 - 1.0) > 0.00001) ? (float3(0.0,0.0,0.0)) : float3(Local13.x,Local13.y,Local13.z)); + + float3 Normal_mdl = Local14; + + float Local15 = (CustomizedUV0_mdl.x * float3(Emissive_UVA.x,Emissive_UVA.y,Emissive_UVA.z).x); + float Local16 = (CustomizedUV0_mdl.y * float3(Emissive_UVA.x,Emissive_UVA.y,Emissive_UVA.z).y); + float2 Local17 = (Local0 + float2(Local15,Local16)); + float Local18 = (float3(Emissive_UVA.x,Emissive_UVA.y,Emissive_UVA.z).z / Local4); + float Local19 = (Local18 * 6.283185); + float Local20 = math::cos(Local19); + float Local21 = math::sin(Local19); + float Local22 = (Local21 * -1.0); + float Local23 = math::dot(Local17, float2(Local20,Local22)); + float Local24 = math::dot(Local17, float2(Local21,Local20)); + float2 Local25 = (float2(0.5,0.5) + float2(Local23,Local24)); + float4 Local26 = tex::lookup_float4(Emissive_Tex,float2(Local25.x,1.0-Local25.y),tex::wrap_repeat,tex::wrap_repeat); + float3 Local27 = ((math::abs(IsEmissiveTex - 1.0) > 0.00001) ? (float3(Emissive_Color.x,Emissive_Color.y,Emissive_Color.z)) : float3(Local26.x,Local26.y,Local26.z)); + float3 Local28 = (EmissiveIntensity * Local27); + float Local29 = (CustomizedUV0_mdl.x * float3(BaseColor_UVA.x,BaseColor_UVA.y,BaseColor_UVA.z).x); + float Local30 = (CustomizedUV0_mdl.y * float3(BaseColor_UVA.x,BaseColor_UVA.y,BaseColor_UVA.z).y); + float2 Local31 = (Local0 + float2(Local29,Local30)); + float Local32 = (float3(BaseColor_UVA.x,BaseColor_UVA.y,BaseColor_UVA.z).z / Local4); + float Local33 = (Local32 * 6.283185); + float Local34 = math::cos(Local33); + float Local35 = math::sin(Local33); + float Local36 = (Local35 * -1.0); + float Local37 = math::dot(Local31, float2(Local34,Local36)); + float Local38 = math::dot(Local31, float2(Local35,Local34)); + float2 Local39 = (float2(0.5,0.5) + float2(Local37,Local38)); + float4 Local40 = tex::lookup_float4(BaseColor_Tex,float2(Local39.x,1.0-Local39.y),tex::wrap_repeat,tex::wrap_repeat); + float3 Local41 = ((math::abs(IsBaseColorTex - 1.0) > 0.00001) ? (float3(BaseColor_Color.x,BaseColor_Color.y,BaseColor_Color.z)) : float3(Local40.x,Local40.y,Local40.z)); + float Local42 = (CustomizedUV0_mdl.x * float3(Metallic_UVA.x,Metallic_UVA.y,Metallic_UVA.z).x); + float Local43 = (CustomizedUV0_mdl.y * float3(Metallic_UVA.x,Metallic_UVA.y,Metallic_UVA.z).y); + float2 Local44 = (Local0 + float2(Local42,Local43)); + float Local45 = (float3(Metallic_UVA.x,Metallic_UVA.y,Metallic_UVA.z).z / Local4); + float Local46 = (Local45 * 6.283185); + float Local47 = math::cos(Local46); + float Local48 = math::sin(Local46); + float Local49 = (Local48 * -1.0); + float Local50 = math::dot(Local44, float2(Local47,Local49)); + float Local51 = math::dot(Local44, float2(Local48,Local47)); + float2 Local52 = (float2(0.5,0.5) + float2(Local50,Local51)); + float4 Local53 = tex::lookup_float4(Metallic_Tex,float2(Local52.x,1.0-Local52.y),tex::wrap_repeat,tex::wrap_repeat); + float3 Local54 = ((math::abs(IsMetallicTex - 1.0) > 0.00001) ? (float3(Metallic_Color.x,Metallic_Color.y,Metallic_Color.z)) : float3(Local53.x,Local53.y,Local53.z)); + float Local55 = (CustomizedUV0_mdl.x * float3(Specular_UVA.x,Specular_UVA.y,Specular_UVA.z).x); + float Local56 = (CustomizedUV0_mdl.y * float3(Specular_UVA.x,Specular_UVA.y,Specular_UVA.z).y); + float2 Local57 = (Local0 + float2(Local55,Local56)); + float Local58 = (float3(Specular_UVA.x,Specular_UVA.y,Specular_UVA.z).z / Local4); + float Local59 = (Local58 * 6.283185); + float Local60 = math::cos(Local59); + float Local61 = math::sin(Local59); + float Local62 = (Local61 * -1.0); + float Local63 = math::dot(Local57, float2(Local60,Local62)); + float Local64 = math::dot(Local57, float2(Local61,Local60)); + float2 Local65 = (float2(0.5,0.5) + float2(Local63,Local64)); + float4 Local66 = tex::lookup_float4(Specular_Tex,float2(Local65.x,1.0-Local65.y),tex::wrap_repeat,tex::wrap_repeat); + float3 Local67 = ((math::abs(IsSpecularTex - 1.0) > 0.00001) ? (float3(Specular_Color.x,Specular_Color.y,Specular_Color.z)) : float3(Local66.x,Local66.y,Local66.z)); + float Local68 = (CustomizedUV0_mdl.x * float3(Gloss_UVA.x,Gloss_UVA.y,Gloss_UVA.z).x); + float Local69 = (CustomizedUV0_mdl.y * float3(Gloss_UVA.x,Gloss_UVA.y,Gloss_UVA.z).y); + float2 Local70 = (Local0 + float2(Local68,Local69)); + float Local71 = (float3(Gloss_UVA.x,Gloss_UVA.y,Gloss_UVA.z).z / Local4); + float Local72 = (Local71 * 6.283185); + float Local73 = math::cos(Local72); + float Local74 = math::sin(Local72); + float Local75 = (Local74 * -1.0); + float Local76 = math::dot(Local70, float2(Local73,Local75)); + float Local77 = math::dot(Local70, float2(Local74,Local73)); + float2 Local78 = (float2(0.5,0.5) + float2(Local76,Local77)); + float4 Local79 = tex::lookup_float4(Gloss_Tex,float2(Local78.x,1.0-Local78.y),tex::wrap_repeat,tex::wrap_repeat); + float3 Local80 = ((math::abs(IsGlossTex - 1.0) > 0.00001) ? (float3(Gloss_Color.x,Gloss_Color.y,Gloss_Color.z)) : float3(Local79.x,Local79.y,Local79.z)); + float3 Local81 = (1.0 - Local80); + + float3 EmissiveColor_mdl = Local28; + float OpacityMask_mdl = 1.0; + float3 BaseColor_mdl = Local41; + float Metallic_mdl = Local54.x; + float Specular_mdl = Local67.x; + float Roughness_mdl = Local81.x; + + } in + ::OmniUe4Base( + base_color: BaseColor_mdl, + metallic: Metallic_mdl, + roughness: Roughness_mdl, + specular: Specular_mdl, + normal: Normal_mdl, + opacity: OpacityMask_mdl, + emissive_color: EmissiveColor_mdl, + displacement: WorldPositionOffset_mdl, + two_sided: false); diff --git a/assets/scene_usds/ebench/teleop_tasks/flip_cup_collect_cookies/GRSceneUSD_dexterous/task2/Collected_scene/gaoning/GenManip-Sim/saved/assets/miscs/home_scenes/Materials/Num652802e61ea6be000148b7cd.mdl b/assets/scene_usds/ebench/teleop_tasks/flip_cup_collect_cookies/GRSceneUSD_dexterous/task2/Collected_scene/gaoning/GenManip-Sim/saved/assets/miscs/home_scenes/Materials/Num652802e61ea6be000148b7cd.mdl new file mode 100644 index 0000000000000000000000000000000000000000..4a101f8ed6052d8da26c95f0b90bc39a3d856605 --- /dev/null +++ b/assets/scene_usds/ebench/teleop_tasks/flip_cup_collect_cookies/GRSceneUSD_dexterous/task2/Collected_scene/gaoning/GenManip-Sim/saved/assets/miscs/home_scenes/Materials/Num652802e61ea6be000148b7cd.mdl @@ -0,0 +1,307 @@ +mdl 1.6; + +import ::math::*; +import ::state::*; +import ::tex::*; +import ::anno::*; +using OmniUe4Function import *; +using OmniUe4Translucent import *; + +export annotation sampler_color(); +export annotation sampler_normal(); +export annotation sampler_grayscale(); +export annotation sampler_alpha(); +export annotation sampler_masks(); +export annotation sampler_distancefield(); +export annotation dither_masked_off(); +export annotation world_space_normal(); + +export material Num652802e61ea6be000148b7cd( + uniform texture_2d Normal_Tex = texture_2d("./Textures/normal.png",::tex::gamma_linear) + [[ + anno::display_name("Normal_Tex"), + anno::ui_order(32), + anno::in_group("Normal"), + sampler_normal() + ]], + float4 Normal_UVA = float4(1.0,1.0,0.0,0.0) + [[ + anno::display_name("Normal_UVA"), + anno::ui_order(32), + anno::in_group("Normal") + ]], + float EmissiveIntensity = 0.0 + [[ + anno::display_name("EmissiveIntensity"), + anno::ui_order(32), + anno::in_group("EmissiveColor") + ]], + float IsEmissiveTex = 0.0 + [[ + anno::display_name("IsEmissiveTex"), + anno::in_group("EmissiveColor") + ]], + float4 Emissive_Color = float4(1.0,1.0,1.0,1.0) + [[ + anno::display_name("Emissive_Color"), + anno::ui_order(32), + anno::in_group("EmissiveColor") + ]], + uniform texture_2d Emissive_Tex = texture_2d("./Textures/white.png",::tex::gamma_srgb) + [[ + anno::display_name("Emissive_Tex"), + anno::ui_order(32), + anno::in_group("EmissiveColor"), + sampler_color() + ]], + float4 Emissive_UVA = float4(1.0,1.0,0.0,0.0) + [[ + anno::display_name("Emissive_UVA"), + anno::ui_order(32), + anno::in_group("EmissiveColor") + ]], + float IsBaseColorTex = 0.0 + [[ + anno::display_name("IsBaseColorTex"), + anno::in_group("BaseColor") + ]], + float4 BaseColor_Color = float4(1.0,1.0,1.0,1.0) + [[ + anno::display_name("BaseColor_Color"), + anno::ui_order(32), + anno::in_group("BaseColor") + ]], + uniform texture_2d BaseColor_Tex = texture_2d("./Textures/white.png",::tex::gamma_srgb) + [[ + anno::display_name("BaseColor_Tex"), + anno::ui_order(32), + anno::in_group("BaseColor"), + sampler_color() + ]], + float4 BaseColor_UVA = float4(1.0,1.0,0.0,0.0) + [[ + anno::display_name("BaseColor_UVA"), + anno::ui_order(32), + anno::in_group("BaseColor") + ]], + float IsMetallicTex = 0.0 + [[ + anno::display_name("IsMetallicTex"), + anno::in_group("Metallic") + ]], + float4 Metallic_Color = float4(0.0,0.0,0.0,1.0) + [[ + anno::display_name("Metallic_Color"), + anno::ui_order(32), + anno::in_group("Metallic") + ]], + uniform texture_2d Metallic_Tex = texture_2d("./Textures/black.png",::tex::gamma_srgb) + [[ + anno::display_name("Metallic_Tex"), + anno::ui_order(32), + anno::in_group("Metallic"), + sampler_color() + ]], + float4 Metallic_UVA = float4(1.0,1.0,0.0,0.0) + [[ + anno::display_name("Metallic_UVA"), + anno::ui_order(32), + anno::in_group("Metallic") + ]], + float IsSpecularTex = 0.0 + [[ + anno::display_name("IsSpecularTex"), + anno::in_group("Specular") + ]], + float4 Specular_Color = float4(1.0,1.0,1.0,1.0) + [[ + anno::display_name("Specular_Color"), + anno::ui_order(32), + anno::in_group("Specular") + ]], + uniform texture_2d Specular_Tex = texture_2d("./Textures/white.png",::tex::gamma_srgb) + [[ + anno::display_name("Specular_Tex"), + anno::ui_order(32), + anno::in_group("Specular"), + sampler_color() + ]], + float4 Specular_UVA = float4(1.0,1.0,0.0,0.0) + [[ + anno::display_name("Specular_UVA"), + anno::ui_order(32), + anno::in_group("Specular") + ]], + float IsGlossTex = 0.0 + [[ + anno::display_name("IsGlossTex"), + anno::in_group("Roughness") + ]], + float4 Gloss_Color = float4(0.1,0.1,0.1,1.0) + [[ + anno::display_name("Gloss_Color"), + anno::ui_order(32), + anno::in_group("Roughness") + ]], + uniform texture_2d Gloss_Tex = texture_2d("./Textures/white.png",::tex::gamma_srgb) + [[ + anno::display_name("Gloss_Tex"), + anno::ui_order(32), + anno::in_group("Roughness"), + sampler_color() + ]], + float4 Gloss_UVA = float4(1.0,1.0,0.0,0.0) + [[ + anno::display_name("Gloss_UVA"), + anno::ui_order(32), + anno::in_group("Roughness") + ]], + float Opacity = 0.5 + [[ + anno::display_name("Opacity"), + anno::ui_order(32), + anno::in_group("Translucent") + ]], + float PolygonOffset = 0.0 + [[ + anno::display_name("PolygonOffset"), + anno::ui_order(32), + anno::in_group("WorldPosition") + ]], + uniform float SwitchRefraction = 0.0 + [[ + anno::display_name("SwitchRefraction"), + anno::ui_order(32), + anno::in_group("Refraction") + ]], + uniform float FresnelB = 1.517 + [[ + anno::display_name("FresnelB"), + anno::ui_order(32), + anno::in_group("Refraction") + ]], + int MaxTexCoordIndex = 3 + [[ + anno::hidden() + ]]) + = + let { + float3 Local82 = ::camera_position(); + float3 Local83 = (Local82 - (::convert_to_left_hand(state::transform_point(state::coordinate_internal,state::coordinate_world,state::position()), true)*state::meters_per_scene_unit()*100.0)); + float Local84 = math::dot(Local83, Local83); + float Local85 = math::sqrt(Local84); + float3 Local86 = (Local83 / Local85); + float3 Local87 = (Local86 * PolygonOffset); + + float3 WorldPositionOffset_mdl = Local87; + float2 CustomizedUV0_mdl = float2(state::texture_coordinate(math::min(0,MaxTexCoordIndex)).x,1.0-state::texture_coordinate(math::min(0,MaxTexCoordIndex)).y); + + float2 Local0 = (float2(0.5,0.5) * -1.0); + float Local1 = (CustomizedUV0_mdl.x * float3(Normal_UVA.x,Normal_UVA.y,Normal_UVA.z).x); + float Local2 = (CustomizedUV0_mdl.y * float3(Normal_UVA.x,Normal_UVA.y,Normal_UVA.z).y); + float2 Local3 = (Local0 + float2(Local1,Local2)); + float Local4 = (3.141592 * -2.0); + float Local5 = (float3(Normal_UVA.x,Normal_UVA.y,Normal_UVA.z).z / Local4); + float Local6 = (Local5 * 6.283185); + float Local7 = math::cos(Local6); + float Local8 = math::sin(Local6); + float Local9 = (Local8 * -1.0); + float Local10 = math::dot(Local3, float2(Local7,Local9)); + float Local11 = math::dot(Local3, float2(Local8,Local7)); + float2 Local12 = (float2(0.5,0.5) + float2(Local10,Local11)); + float4 Local13 = ::unpack_normal_map(tex::lookup_float4(Normal_Tex,float2(Local12.x,1.0-Local12.y),tex::wrap_repeat,tex::wrap_repeat)); + float3 Local14 = ((math::abs(1.0 - 1.0) > 0.00001) ? (float3(0.0,0.0,0.0)) : float3(Local13.x,Local13.y,Local13.z)); + + float3 Normal_mdl = Local14; + + float Local15 = (CustomizedUV0_mdl.x * float3(Emissive_UVA.x,Emissive_UVA.y,Emissive_UVA.z).x); + float Local16 = (CustomizedUV0_mdl.y * float3(Emissive_UVA.x,Emissive_UVA.y,Emissive_UVA.z).y); + float2 Local17 = (Local0 + float2(Local15,Local16)); + float Local18 = (float3(Emissive_UVA.x,Emissive_UVA.y,Emissive_UVA.z).z / Local4); + float Local19 = (Local18 * 6.283185); + float Local20 = math::cos(Local19); + float Local21 = math::sin(Local19); + float Local22 = (Local21 * -1.0); + float Local23 = math::dot(Local17, float2(Local20,Local22)); + float Local24 = math::dot(Local17, float2(Local21,Local20)); + float2 Local25 = (float2(0.5,0.5) + float2(Local23,Local24)); + float4 Local26 = tex::lookup_float4(Emissive_Tex,float2(Local25.x,1.0-Local25.y),tex::wrap_repeat,tex::wrap_repeat); + float3 Local27 = ((math::abs(IsEmissiveTex - 1.0) > 0.00001) ? (float3(Emissive_Color.x,Emissive_Color.y,Emissive_Color.z)) : float3(Local26.x,Local26.y,Local26.z)); + float3 Local28 = (EmissiveIntensity * Local27); + float Local29 = (CustomizedUV0_mdl.x * float3(BaseColor_UVA.x,BaseColor_UVA.y,BaseColor_UVA.z).x); + float Local30 = (CustomizedUV0_mdl.y * float3(BaseColor_UVA.x,BaseColor_UVA.y,BaseColor_UVA.z).y); + float2 Local31 = (Local0 + float2(Local29,Local30)); + float Local32 = (float3(BaseColor_UVA.x,BaseColor_UVA.y,BaseColor_UVA.z).z / Local4); + float Local33 = (Local32 * 6.283185); + float Local34 = math::cos(Local33); + float Local35 = math::sin(Local33); + float Local36 = (Local35 * -1.0); + float Local37 = math::dot(Local31, float2(Local34,Local36)); + float Local38 = math::dot(Local31, float2(Local35,Local34)); + float2 Local39 = (float2(0.5,0.5) + float2(Local37,Local38)); + float4 Local40 = tex::lookup_float4(BaseColor_Tex,float2(Local39.x,1.0-Local39.y),tex::wrap_repeat,tex::wrap_repeat); + float3 Local41 = ((math::abs(IsBaseColorTex - 1.0) > 0.00001) ? (float3(BaseColor_Color.x,BaseColor_Color.y,BaseColor_Color.z)) : float3(Local40.x,Local40.y,Local40.z)); + float Local42 = (CustomizedUV0_mdl.x * float3(Metallic_UVA.x,Metallic_UVA.y,Metallic_UVA.z).x); + float Local43 = (CustomizedUV0_mdl.y * float3(Metallic_UVA.x,Metallic_UVA.y,Metallic_UVA.z).y); + float2 Local44 = (Local0 + float2(Local42,Local43)); + float Local45 = (float3(Metallic_UVA.x,Metallic_UVA.y,Metallic_UVA.z).z / Local4); + float Local46 = (Local45 * 6.283185); + float Local47 = math::cos(Local46); + float Local48 = math::sin(Local46); + float Local49 = (Local48 * -1.0); + float Local50 = math::dot(Local44, float2(Local47,Local49)); + float Local51 = math::dot(Local44, float2(Local48,Local47)); + float2 Local52 = (float2(0.5,0.5) + float2(Local50,Local51)); + float4 Local53 = tex::lookup_float4(Metallic_Tex,float2(Local52.x,1.0-Local52.y),tex::wrap_repeat,tex::wrap_repeat); + float3 Local54 = ((math::abs(IsMetallicTex - 1.0) > 0.00001) ? (float3(Metallic_Color.x,Metallic_Color.y,Metallic_Color.z)) : float3(Local53.x,Local53.y,Local53.z)); + float Local55 = (CustomizedUV0_mdl.x * float3(Specular_UVA.x,Specular_UVA.y,Specular_UVA.z).x); + float Local56 = (CustomizedUV0_mdl.y * float3(Specular_UVA.x,Specular_UVA.y,Specular_UVA.z).y); + float2 Local57 = (Local0 + float2(Local55,Local56)); + float Local58 = (float3(Specular_UVA.x,Specular_UVA.y,Specular_UVA.z).z / Local4); + float Local59 = (Local58 * 6.283185); + float Local60 = math::cos(Local59); + float Local61 = math::sin(Local59); + float Local62 = (Local61 * -1.0); + float Local63 = math::dot(Local57, float2(Local60,Local62)); + float Local64 = math::dot(Local57, float2(Local61,Local60)); + float2 Local65 = (float2(0.5,0.5) + float2(Local63,Local64)); + float4 Local66 = tex::lookup_float4(Specular_Tex,float2(Local65.x,1.0-Local65.y),tex::wrap_repeat,tex::wrap_repeat); + float3 Local67 = ((math::abs(IsSpecularTex - 1.0) > 0.00001) ? (float3(Specular_Color.x,Specular_Color.y,Specular_Color.z)) : float3(Local66.x,Local66.y,Local66.z)); + float Local68 = (CustomizedUV0_mdl.x * float3(Gloss_UVA.x,Gloss_UVA.y,Gloss_UVA.z).x); + float Local69 = (CustomizedUV0_mdl.y * float3(Gloss_UVA.x,Gloss_UVA.y,Gloss_UVA.z).y); + float2 Local70 = (Local0 + float2(Local68,Local69)); + float Local71 = (float3(Gloss_UVA.x,Gloss_UVA.y,Gloss_UVA.z).z / Local4); + float Local72 = (Local71 * 6.283185); + float Local73 = math::cos(Local72); + float Local74 = math::sin(Local72); + float Local75 = (Local74 * -1.0); + float Local76 = math::dot(Local70, float2(Local73,Local75)); + float Local77 = math::dot(Local70, float2(Local74,Local73)); + float2 Local78 = (float2(0.5,0.5) + float2(Local76,Local77)); + float4 Local79 = tex::lookup_float4(Gloss_Tex,float2(Local78.x,1.0-Local78.y),tex::wrap_repeat,tex::wrap_repeat); + float3 Local80 = ((math::abs(IsGlossTex - 1.0) > 0.00001) ? (float3(Gloss_Color.x,Gloss_Color.y,Gloss_Color.z)) : float3(Local79.x,Local79.y,Local79.z)); + float3 Local81 = (1.0 - Local80); + float Local89 = ((math::abs(SwitchRefraction - 1.0) > 0.01) ? (1.0) : FresnelB); + + float3 EmissiveColor_mdl = Local28; + float Opacity_mdl = Opacity; + float OpacityMask_mdl = (math::saturate(Opacity) - 1.0f / 255.0f) < 0.0f ? 0.0f : 1.0f; + float3 BaseColor_mdl = Local41; + float Metallic_mdl = Local54.x; + float Specular_mdl = Local67.x; + float Roughness_mdl = Local81.x; + float2 Refraction_mdl = float2(Local89,Local89); + + } in + ::OmniUe4Translucent( + base_color: BaseColor_mdl, + metallic: Metallic_mdl, + roughness: Roughness_mdl, + specular: Specular_mdl, + normal: Normal_mdl, + opacity: Opacity_mdl, + opacity_mask: OpacityMask_mdl, + emissive_color: EmissiveColor_mdl, + displacement: WorldPositionOffset_mdl, + refraction: Refraction_mdl.x, + two_sided: false); diff --git a/assets/scene_usds/ebench/teleop_tasks/flip_cup_collect_cookies/GRSceneUSD_dexterous/task2/Collected_scene/gaoning/GenManip-Sim/saved/assets/miscs/home_scenes/Materials/OmniUe4Base.mdl b/assets/scene_usds/ebench/teleop_tasks/flip_cup_collect_cookies/GRSceneUSD_dexterous/task2/Collected_scene/gaoning/GenManip-Sim/saved/assets/miscs/home_scenes/Materials/OmniUe4Base.mdl new file mode 100644 index 0000000000000000000000000000000000000000..a441fbaf28040302c7aaabfbcf14b24a85bdf643 --- /dev/null +++ b/assets/scene_usds/ebench/teleop_tasks/flip_cup_collect_cookies/GRSceneUSD_dexterous/task2/Collected_scene/gaoning/GenManip-Sim/saved/assets/miscs/home_scenes/Materials/OmniUe4Base.mdl @@ -0,0 +1,224 @@ +/*************************************************************************************************** + * Copyright 2020 NVIDIA Corporation. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + **************************************************************************************************/ + +//* 1.0.0 - first version +//* 1.0.1 - merge unlit template +//* 1.0.2 - Fix EDF in the back side: the EDF contained in surface is only used for the front side and not for the back side +//* 1.0.3 - UE4 normal mapping: Geometry normal shouldn't be changed +//* 1.0.4 - using absolute import paths when importing standard modules + +mdl 1.3; + +import ::df::*; +import ::state::*; +import ::math::*; +import ::tex::*; +import ::anno::*; + +float emissive_multiplier() +[[ + anno::description("the multiplier to convert UE4 emissive to raw data"), + anno::noinline() +]] +{ + return 20.0f * 128.0f; +} + +float3 tangent_space_normal( + float3 normal = float3(0.0,0.0,1.0), + float3 tangent_u = state::texture_tangent_u(0), + float3 tangent_v = state::texture_tangent_v(0) +) +[[ + anno::description("Interprets the vector in tangent space"), + anno::noinline() +]] +{ + return math::normalize( + tangent_u * normal.x - /* flip_tangent_v */ + tangent_v * normal.y + + state::normal() * (normal.z)); +} + +float3 world_space_normal( + float3 normal = float3(0.0,0.0,1.0), + float3 tangent_u = state::texture_tangent_u(0), + float3 tangent_v = state::texture_tangent_v(0) +) +[[ + anno::description("Interprets the vector in world space"), + anno::noinline() +]] +{ + return tangent_space_normal( + math::normalize( + normal.x * float3(tangent_u.x, tangent_v.x, state::normal().x) - + normal.y * float3(tangent_u.y, tangent_v.y, state::normal().y) + + normal.z * float3(tangent_u.z, tangent_v.z, state::normal().z)), + tangent_u, + tangent_v + ); +} + +export material OmniUe4Base( + float3 base_color = float3(0.0, 0.0, 0.0), + float metallic = 0.0, + float roughness = 0.5, + float specular = 0.5, + float3 normal = float3(0.0,0.0,1.0), + float clearcoat_weight = 0.0, + float clearcoat_roughness = 0.0, + float3 clearcoat_normal = float3(0.0,0.0,1.0), + uniform bool enable_opacity = true, + float opacity = 1.0, + float3 emissive_color = float3(0.0, 0.0, 0.0), + float3 displacement = float3(0.0), + uniform bool is_tangent_space_normal = true, + uniform bool two_sided = false, + uniform bool is_unlit = false +) +[[ + anno::display_name("Omni UE4 Base"), + anno::description("Omni UE4 Base, supports UE4 default lit and clearcoat shading model"), + anno::version( 1, 0, 0), + anno::author("NVIDIA CORPORATION"), + anno::key_words(string[]("omni", "UE4", "omniverse", "lit", "clearcoat", "generic")) +]] + = let { + color final_base_color = math::saturate(base_color); + float final_metallic = math::saturate(metallic); + float final_roughness = math::saturate(roughness); + float final_specular = math::saturate(specular); + color final_emissive_color = math::max(emissive_color, 0.0f) * emissive_multiplier(); /*factor for converting ue4 emissive to raw value*/ + float final_clearcoat_weight = math::saturate(clearcoat_weight); + float final_clearcoat_roughness = math::saturate(clearcoat_roughness); + float3 final_normal = math::normalize(normal); + float3 final_clearcoat_normal = math::normalize(clearcoat_normal); + + // - compute final roughness by squaring the "roughness" parameter + float alpha = final_roughness * final_roughness; + // reduce the reflectivity at grazing angles to avoid "dark edges" for high roughness due to the layering + float grazing_refl = math::max((1.0 - final_roughness), 0.0); + + float3 the_normal = is_unlit ? state::normal() : + (is_tangent_space_normal ? + tangent_space_normal( + normal: final_normal, + tangent_u: state::texture_tangent_u(0), + tangent_v: state::texture_tangent_v(0) + ) : world_space_normal( + normal: final_normal, + tangent_u: state::texture_tangent_u(0), + tangent_v: state::texture_tangent_v(0) + )); + + // for the dielectric component we layer the glossy component on top of the diffuse one, + // the glossy layer has no color tint + + bsdf dielectric_component = df::custom_curve_layer( + weight: final_specular, + normal_reflectivity: 0.08, + grazing_reflectivity: grazing_refl, + layer: df::microfacet_ggx_smith_bsdf(roughness_u: alpha), + base: df::diffuse_reflection_bsdf(tint: final_base_color), + normal: the_normal); + + // the metallic component doesn't have a diffuse component, it's only glossy + // base_color is applied to tint it + bsdf metallic_component = df::microfacet_ggx_smith_bsdf(tint: final_base_color, roughness_u: alpha); + + // final BSDF is a linear blend between dielectric and metallic component + bsdf dielectric_metal_mix = + df::normalized_mix( + components: + df::bsdf_component[]( + df::bsdf_component( + component: metallic_component, + weight: final_metallic), + df::bsdf_component( + component: dielectric_component, + weight: 1.0-final_metallic) + ) + ); + + // clearcoat layer + float clearcoat_grazing_refl = math::max((1.0 - final_clearcoat_roughness), 0.0); + float clearcoat_alpha = final_clearcoat_roughness * final_clearcoat_roughness; + + float3 the_clearcoat_normal = is_tangent_space_normal ? tangent_space_normal( + normal: final_clearcoat_normal, + tangent_u: state::texture_tangent_u(0), + tangent_v: state::texture_tangent_v(0) + ) : world_space_normal( + normal: final_clearcoat_normal, + tangent_u: state::texture_tangent_u(0), + tangent_v: state::texture_tangent_v(0) + ); + + + bsdf clearcoat = + df::custom_curve_layer( + base: df::weighted_layer( + layer: dielectric_metal_mix, + weight: 1.0, + normal: final_clearcoat_weight == 0.0 ? state::normal() : the_normal + ), + layer: df::microfacet_ggx_smith_bsdf( + roughness_u: clearcoat_alpha, + tint: color(1.0) + ), + normal_reflectivity: 0.04, + grazing_reflectivity: clearcoat_grazing_refl, + normal: the_clearcoat_normal, + weight: final_clearcoat_weight + ); + bsdf surface = is_unlit ? bsdf() : clearcoat; +} +in material( + thin_walled: two_sided, // Graphene? + surface: material_surface( + scattering: surface, + emission: + material_emission ( + emission: df::diffuse_edf (), + intensity: final_emissive_color + ) + ), + backface: material_surface( + emission: + material_emission ( + emission: df::diffuse_edf (), + intensity: final_emissive_color + ) + ), + geometry: material_geometry( + displacement: displacement, + normal: final_clearcoat_weight == 0.0 ? the_normal : state::normal(), + cutout_opacity: enable_opacity ? opacity : 1.0 + ) +); diff --git a/assets/scene_usds/ebench/teleop_tasks/flip_cup_collect_cookies/GRSceneUSD_dexterous/task2/Collected_scene/gaoning/GenManip-Sim/saved/assets/miscs/home_scenes/Materials/OmniUe4Function.mdl b/assets/scene_usds/ebench/teleop_tasks/flip_cup_collect_cookies/GRSceneUSD_dexterous/task2/Collected_scene/gaoning/GenManip-Sim/saved/assets/miscs/home_scenes/Materials/OmniUe4Function.mdl new file mode 100644 index 0000000000000000000000000000000000000000..f0801afff6f0870ea2574c9e9b6e2043e79e9a79 --- /dev/null +++ b/assets/scene_usds/ebench/teleop_tasks/flip_cup_collect_cookies/GRSceneUSD_dexterous/task2/Collected_scene/gaoning/GenManip-Sim/saved/assets/miscs/home_scenes/Materials/OmniUe4Function.mdl @@ -0,0 +1,1413 @@ +/*************************************************************************************************** + * Copyright 2020 NVIDIA Corporation. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + **************************************************************************************************/ + +//* 1.0.1 - using absolute import paths when importing standard modules + +mdl 1.6; + +import ::df::*; +import ::state::*; +import ::math::*; +import ::tex::*; +import ::anno::*; + + +export float3 convert_to_left_hand(float3 vec3, uniform bool up_z = true, uniform bool is_position = true) +[[ + anno::description("convert from RH to LH"), + anno::noinline() +]] +{ + float4x4 ZupConversion = float4x4( + 1.0f, 0.0f, 0.0f, 0.0f, + 0.0f, -1.0f, 0.0f, 0.0f, + 0.0f, 0.0f, 1.0f, 0.0f, + 0.0f, 0.0f, 0.0f, 1.0f + ); + + float4x4 YupConversion = float4x4( + 1.0f, 0.0f, 0.0f, 0.0f, + 0.0f, 0.0f, 1.0f, 0.0f, + 0.0f, 1.0f, 0.0f, 0.0f, + 0.0f, 0.0f, 0.0f, 1.0f + ); + + float4 vec4 = float4(vec3.x, vec3.y, vec3.z, is_position ? 1.0f : 0.0f); + + vec4 = vec4 * (up_z ? ZupConversion : YupConversion); + + return float3(vec4.x, vec4.y, vec4.z); +} + +export float3 transform_vector_from_tangent_to_world(float3 vector, + uniform bool up_z = true, + float3 tangent_u = state::texture_tangent_u(0), + float3 tangent_v = state::texture_tangent_v(0)) +[[ + anno::description("Transform vector from tangent space to world space"), + anno::noinline() +]] +{ + /* flip_tangent_v */ + return convert_to_left_hand( + tangent_u * vector.x - tangent_v * vector.y + state::normal() * vector.z, + up_z, false); +} + +export float3 transform_vector_from_world_to_tangent(float3 vector, + uniform bool up_z = true, + float3 tangent_u = state::texture_tangent_u(0), + float3 tangent_v = state::texture_tangent_v(0)) +[[ + anno::description("Transform vector from world space to tangent space"), + anno::noinline() +]] +{ + float3 vecRH = convert_to_left_hand(vector, up_z, false); + /* flip_tangent_v */ + return vecRH.x * float3(tangent_u.x, -tangent_v.x, state::normal().x) + + vecRH.y * float3(tangent_u.y, -tangent_v.y, state::normal().y) + + vecRH.z * float3(tangent_u.z, -tangent_v.z, state::normal().z); +} + +export float4 unpack_normal_map( + float4 texture_sample = float4(0.0, 0.0, 1.0, 1.0) + ) +[[ + anno::description("Unpack a normal stored in a normal map"), + anno::noinline() +]] +{ + float2 normal_xy = float2(texture_sample.x, texture_sample.y); + + normal_xy = normal_xy * float2(2.0,2.0) - float2(1.0,1.0); + float normal_z = math::sqrt( math::saturate( 1.0 - math::dot( normal_xy, normal_xy ) ) ); + return float4( normal_xy.x, normal_xy.y, normal_z, 1.0 ); +} + +// for get color value from normal. +export float4 pack_normal_map( + float4 texture_sample = float4(0.0, 0.0, 1.0, 1.0) + ) +[[ + anno::description("Pack to color from a normal") +]] +{ + float2 return_xy = float2(texture_sample.x, texture_sample.y); + + return_xy = (return_xy + float2(1.0,1.0)) / float2(2.0,2.0); + + return float4( return_xy.x, return_xy.y, 0.0, 1.0 ); +} + +export float4 greyscale_texture_lookup( + float4 texture_sample = float4(0.0, 0.0, 0.0, 1.0) + ) +[[ + anno::description("Sampling a greyscale texture"), + anno::noinline() +]] +{ + return float4(texture_sample.x, texture_sample.x, texture_sample.x, texture_sample.x); +} + +export float3 pixel_normal_world_space(uniform bool up_z = true) +[[ + anno::description("Pixel normal in world space"), + anno::noinline() +]] +{ + return convert_to_left_hand(state::transform_normal(state::coordinate_internal,state::coordinate_world,state::normal()), up_z, false); +} + +export float3 vertex_normal_world_space(uniform bool up_z = true) +[[ + anno::description("Vertex normal in world space"), + anno::noinline() +]] +{ + return convert_to_left_hand(state::transform_normal(state::coordinate_internal,state::coordinate_world,state::normal()), up_z, false); +} + +export float3 landscape_normal_world_space(uniform bool up_z = true) +[[ + anno::description("Landscape normal in world space") +]] +{ + float3 normalFromNormalmap = math::floor((::vertex_normal_world_space(up_z) * 0.5 + 0.5) * 255.0) / 255.0 * 2.0 - 1.0; + + float2 normalXY = float2(normalFromNormalmap.x, normalFromNormalmap.y); + return float3(normalXY.x, normalXY.y, math::sqrt(math::saturate(1.0 - math::dot(normalXY, normalXY)))); +} + +// Different implementation specific between mdl and hlsl for smoothstep +export float smoothstep(float a, float b, float l) +{ + if (a < b) + { + return math::smoothstep(a, b, l); + } + else if (a > b) + { + return 1.0 - math::smoothstep(b, a, l); + } + else + { + return l <= a ? 0.0 : 1.0; + } +} + +export float2 smoothstep(float2 a, float2 b, float2 l) +{ + return float2(smoothstep(a.x, b.x, l.x), smoothstep(a.y, b.y, l.y)); +} + +export float3 smoothstep(float3 a, float3 b, float3 l) +{ + return float3(smoothstep(a.x, b.x, l.x), smoothstep(a.y, b.y, l.y), smoothstep(a.z, b.z, l.z)); +} + +export float4 smoothstep(float4 a, float4 b, float4 l) +{ + return float4(smoothstep(a.x, b.x, l.x), smoothstep(a.y, b.y, l.y), smoothstep(a.z, b.z, l.z), smoothstep(a.w, b.w, l.w)); +} + +export float2 smoothstep(float2 a, float2 b, float l) +{ + return float2(smoothstep(a.x, b.x, l), smoothstep(a.y, b.y, l)); +} + +export float3 smoothstep(float3 a, float3 b, float l) +{ + return float3(smoothstep(a.x, b.x, l), smoothstep(a.y, b.y, l), smoothstep(a.z, b.z, l)); +} + +export float4 smoothstep(float4 a, float4 b, float l) +{ + return float4(smoothstep(a.x, b.x, l), smoothstep(a.y, b.y, l), smoothstep(a.z, b.z, l), smoothstep(a.w, b.w, l)); +} + +export float2 smoothstep(float a, float b, float2 l) +{ + return float2(smoothstep(a, b, l.x), smoothstep(a, b, l.y)); +} + +export float3 smoothstep(float a, float b, float3 l) +{ + return float3(smoothstep(a, b, l.x), smoothstep(a, b, l.y), smoothstep(a, b, l.z)); +} + +export float4 smoothstep(float a, float b, float4 l) +{ + return float4(smoothstep(a, b, l.x), smoothstep(a, b, l.y), smoothstep(a, b, l.z), smoothstep(a, b, l.w)); +} + +//------------------ Random from UE4 ----------------------- +float length2(float3 v) +{ + return math::dot(v, v); +} + +float3 GetPerlinNoiseGradientTextureAt(uniform texture_2d PerlinNoiseGradientTexture, float3 v) +{ + const float2 ZShear = float2(17.0f, 89.0f); + + float2 OffsetA = v.z * ZShear; + float2 TexA = (float2(v.x, v.y) + OffsetA + 0.5f) / 128.0f; + float4 PerlinNoise = tex::lookup_float4(PerlinNoiseGradientTexture,float2(TexA.x,1.0-TexA.y),tex::wrap_repeat,tex::wrap_repeat); + return float3(PerlinNoise.x, PerlinNoise.y, PerlinNoise.z) * 2.0 - 1.0; +} + +float3 SkewSimplex(float3 In) +{ + return In + math::dot(In, float3(1.0 / 3.0f) ); +} +float3 UnSkewSimplex(float3 In) +{ + return In - math::dot(In, float3(1.0 / 6.0f) ); +} + +// 3D random number generator inspired by PCGs (permuted congruential generator) +// Using a **simple** Feistel cipher in place of the usual xor shift permutation step +// @param v = 3D integer coordinate +// @return three elements w/ 16 random bits each (0-0xffff). +// ~8 ALU operations for result.x (7 mad, 1 >>) +// ~10 ALU operations for result.xy (8 mad, 2 >>) +// ~12 ALU operations for result.xyz (9 mad, 3 >>) + +//TODO: uint3 +int3 Rand3DPCG16(int3 p) +{ + // taking a signed int then reinterpreting as unsigned gives good behavior for negatives + //TODO: uint3 + int3 v = int3(p); + + // Linear congruential step. These LCG constants are from Numerical Recipies + // For additional #'s, PCG would do multiple LCG steps and scramble each on output + // So v here is the RNG state + v = v * 1664525 + 1013904223; + + // PCG uses xorshift for the final shuffle, but it is expensive (and cheap + // versions of xorshift have visible artifacts). Instead, use simple MAD Feistel steps + // + // Feistel ciphers divide the state into separate parts (usually by bits) + // then apply a series of permutation steps one part at a time. The permutations + // use a reversible operation (usually ^) to part being updated with the result of + // a permutation function on the other parts and the key. + // + // In this case, I'm using v.x, v.y and v.z as the parts, using + instead of ^ for + // the combination function, and just multiplying the other two parts (no key) for + // the permutation function. + // + // That gives a simple mad per round. + v.x += v.y*v.z; + v.y += v.z*v.x; + v.z += v.x*v.y; + v.x += v.y*v.z; + v.y += v.z*v.x; + v.z += v.x*v.y; + + // only top 16 bits are well shuffled + return v >> 16; +} + +// Wraps noise for tiling texture creation +// @param v = unwrapped texture parameter +// @param bTiling = true to tile, false to not tile +// @param RepeatSize = number of units before repeating +// @return either original or wrapped coord +float3 NoiseTileWrap(float3 v, bool bTiling, float RepeatSize) +{ + return bTiling ? (math::frac(v / RepeatSize) * RepeatSize) : v; +} + +// Evaluate polynomial to get smooth transitions for Perlin noise +// only needed by Perlin functions in this file +// scalar(per component): 2 add, 5 mul +float4 PerlinRamp(float4 t) +{ + return t * t * t * (t * (t * 6 - 15) + 10); +} + +// Blum-Blum-Shub-inspired pseudo random number generator +// http://www.umbc.edu/~olano/papers/mNoise.pdf +// real BBS uses ((s*s) mod M) with bignums and M as the product of two huge Blum primes +// instead, we use a single prime M just small enough not to overflow +// note that the above paper used 61, which fits in a half, but is unusably bad +// @param Integer valued floating point seed +// @return random number in range [0,1) +// ~8 ALU operations (5 *, 3 frac) +float RandBBSfloat(float seed) +{ + float BBS_PRIME24 = 4093.0; + float s = math::frac(seed / BBS_PRIME24); + s = math::frac(s * s * BBS_PRIME24); + s = math::frac(s * s * BBS_PRIME24); + return s; +} + +// Modified noise gradient term +// @param seed - random seed for integer lattice position +// @param offset - [-1,1] offset of evaluation point from lattice point +// @return gradient direction (xyz) and contribution (w) from this lattice point +float4 MGradient(int seed, float3 offset) +{ + //TODO uint + int rand = Rand3DPCG16(int3(seed,0,0)).x; + int3 MGradientMask = int3(0x8000, 0x4000, 0x2000); + float3 MGradientScale = float3(1.0 / 0x4000, 1.0 / 0x2000, 1.0 / 0x1000); + float3 direction = float3(int3(rand, rand, rand) & MGradientMask) * MGradientScale - 1; + return float4(direction.x, direction.y, direction.z, math::dot(direction, offset)); +} + +// compute Perlin and related noise corner seed values +// @param v = 3D noise argument, use float3(x,y,0) for 2D or float3(x,0,0) for 1D +// @param bTiling = true to return seed values for a repeating noise pattern +// @param RepeatSize = integer units before tiling in each dimension +// @param seed000-seed111 = hash function seeds for the eight corners +// @return fractional part of v +struct SeedValue +{ + float3 fv = float3(0); + float seed000 = 0; + float seed001 = 0; + float seed010 = 0; + float seed011 = 0; + float seed100 = 0; + float seed101 = 0; + float seed110 = 0; + float seed111 = 0; +}; + +SeedValue NoiseSeeds(float3 v, bool bTiling, float RepeatSize) +{ + SeedValue seeds; + seeds.fv = math::frac(v); + float3 iv = math::floor(v); + + const float3 primes = float3(19, 47, 101); + + if (bTiling) + { // can't algebraically combine with primes + seeds.seed000 = math::dot(primes, NoiseTileWrap(iv, true, RepeatSize)); + seeds.seed100 = math::dot(primes, NoiseTileWrap(iv + float3(1, 0, 0), true, RepeatSize)); + seeds.seed010 = math::dot(primes, NoiseTileWrap(iv + float3(0, 1, 0), true, RepeatSize)); + seeds.seed110 = math::dot(primes, NoiseTileWrap(iv + float3(1, 1, 0), true, RepeatSize)); + seeds.seed001 = math::dot(primes, NoiseTileWrap(iv + float3(0, 0, 1), true, RepeatSize)); + seeds.seed101 = math::dot(primes, NoiseTileWrap(iv + float3(1, 0, 1), true, RepeatSize)); + seeds.seed011 = math::dot(primes, NoiseTileWrap(iv + float3(0, 1, 1), true, RepeatSize)); + seeds.seed111 = math::dot(primes, NoiseTileWrap(iv + float3(1, 1, 1), true, RepeatSize)); + } + else + { // get to combine offsets with multiplication by primes in this case + seeds.seed000 = math::dot(iv, primes); + seeds.seed100 = seeds.seed000 + primes.x; + seeds.seed010 = seeds.seed000 + primes.y; + seeds.seed110 = seeds.seed100 + primes.y; + seeds.seed001 = seeds.seed000 + primes.z; + seeds.seed101 = seeds.seed100 + primes.z; + seeds.seed011 = seeds.seed010 + primes.z; + seeds.seed111 = seeds.seed110 + primes.z; + } + + return seeds; +} + +struct SimplexWeights +{ + float4 Result = float4(0); + float3 PosA = float3(0); + float3 PosB = float3(0); + float3 PosC = float3(0); + float3 PosD = float3(0); +}; + +// Computed weights and sample positions for simplex interpolation +// @return float4(a,b,c, d) Barycentric coordinate defined as Filtered = Tex(PosA) * a + Tex(PosB) * b + Tex(PosC) * c + Tex(PosD) * d +SimplexWeights ComputeSimplexWeights3D(float3 OrthogonalPos) +{ + SimplexWeights weights; + float3 OrthogonalPosFloor = math::floor(OrthogonalPos); + + weights.PosA = OrthogonalPosFloor; + weights.PosB = weights.PosA + float3(1, 1, 1); + + OrthogonalPos -= OrthogonalPosFloor; + + float Largest = math::max(OrthogonalPos.x, math::max(OrthogonalPos.y, OrthogonalPos.z)); + float Smallest = math::min(OrthogonalPos.x, math::min(OrthogonalPos.y, OrthogonalPos.z)); + + weights.PosC = weights.PosA + float3(Largest == OrthogonalPos.x, Largest == OrthogonalPos.y, Largest == OrthogonalPos.z); + weights.PosD = weights.PosA + float3(Smallest != OrthogonalPos.x, Smallest != OrthogonalPos.y, Smallest != OrthogonalPos.z); + + float RG = OrthogonalPos.x - OrthogonalPos.y; + float RB = OrthogonalPos.x - OrthogonalPos.z; + float GB = OrthogonalPos.y - OrthogonalPos.z; + + weights.Result.z = + math::min(math::max(0, RG), math::max(0, RB)) // X + + math::min(math::max(0, -RG), math::max(0, GB)) // Y + + math::min(math::max(0, -RB), math::max(0, -GB)); // Z + + weights.Result.w = + math::min(math::max(0, -RG), math::max(0, -RB)) // X + + math::min(math::max(0, RG), math::max(0, -GB)) // Y + + math::min(math::max(0, RB), math::max(0, GB)); // Z + + weights.Result.y = Smallest; + weights.Result.x = 1.0f - weights.Result.y - weights.Result.z - weights.Result.w; + + return weights; +} + +// filtered 3D gradient simple noise (few texture lookups, high quality) +// @param v >0 +// @return random number in the range -1 .. 1 +float SimplexNoise3D_TEX(uniform texture_2d PerlinNoiseGradientTexture, float3 EvalPos) +{ + float3 OrthogonalPos = SkewSimplex(EvalPos); + + SimplexWeights Weights = ComputeSimplexWeights3D(OrthogonalPos); + + // can be optimized to 1 or 2 texture lookups (4 or 8 channel encoded in 32 bit) + float3 A = GetPerlinNoiseGradientTextureAt(PerlinNoiseGradientTexture, Weights.PosA); + float3 B = GetPerlinNoiseGradientTextureAt(PerlinNoiseGradientTexture, Weights.PosB); + float3 C = GetPerlinNoiseGradientTextureAt(PerlinNoiseGradientTexture, Weights.PosC); + float3 D = GetPerlinNoiseGradientTextureAt(PerlinNoiseGradientTexture, Weights.PosD); + + Weights.PosA = UnSkewSimplex(Weights.PosA); + Weights.PosB = UnSkewSimplex(Weights.PosB); + Weights.PosC = UnSkewSimplex(Weights.PosC); + Weights.PosD = UnSkewSimplex(Weights.PosD); + + float DistanceWeight; + + DistanceWeight = math::saturate(0.6f - length2(EvalPos - Weights.PosA)); DistanceWeight *= DistanceWeight; DistanceWeight *= DistanceWeight; + float a = math::dot(A, EvalPos - Weights.PosA) * DistanceWeight; + DistanceWeight = math::saturate(0.6f - length2(EvalPos - Weights.PosB)); DistanceWeight *= DistanceWeight; DistanceWeight *= DistanceWeight; + float b = math::dot(B, EvalPos - Weights.PosB) * DistanceWeight; + DistanceWeight = math::saturate(0.6f - length2(EvalPos - Weights.PosC)); DistanceWeight *= DistanceWeight; DistanceWeight *= DistanceWeight; + float c = math::dot(C, EvalPos - Weights.PosC) * DistanceWeight; + DistanceWeight = math::saturate(0.6f - length2(EvalPos - Weights.PosD)); DistanceWeight *= DistanceWeight; DistanceWeight *= DistanceWeight; + float d = math::dot(D, EvalPos - Weights.PosD) * DistanceWeight; + + return 32 * (a + b + c + d); +} + +// filtered 3D noise, can be optimized +// @param v = 3D noise argument, use float3(x,y,0) for 2D or float3(x,0,0) for 1D +// @param bTiling = repeat noise pattern +// @param RepeatSize = integer units before tiling in each dimension +// @return random number in the range -1 .. 1 +float GradientNoise3D_TEX(uniform texture_2d PerlinNoiseGradientTexture, float3 v, bool bTiling, float RepeatSize) +{ + bTiling = true; + float3 fv = math::frac(v); + float3 iv0 = NoiseTileWrap(math::floor(v), bTiling, RepeatSize); + float3 iv1 = NoiseTileWrap(iv0 + 1, bTiling, RepeatSize); + + const int2 ZShear = int2(17, 89); + + float2 OffsetA = iv0.z * ZShear; + float2 OffsetB = OffsetA + ZShear; // non-tiling, use relative offset + if (bTiling) // tiling, have to compute from wrapped coordinates + { + OffsetB = iv1.z * ZShear; + } + + // Texture size scale factor + float ts = 1 / 128.0f; + + // texture coordinates for iv0.xy, as offset for both z slices + float2 TexA0 = (float2(iv0.x, iv0.y) + OffsetA + 0.5f) * ts; + float2 TexB0 = (float2(iv0.x, iv0.y) + OffsetB + 0.5f) * ts; + + // texture coordinates for iv1.xy, as offset for both z slices + float2 TexA1 = TexA0 + ts; // for non-tiling, can compute relative to existing coordinates + float2 TexB1 = TexB0 + ts; + if (bTiling) // for tiling, need to compute from wrapped coordinates + { + TexA1 = (float2(iv1.x, iv1.y) + OffsetA + 0.5f) * ts; + TexB1 = (float2(iv1.x, iv1.y) + OffsetB + 0.5f) * ts; + } + + + // can be optimized to 1 or 2 texture lookups (4 or 8 channel encoded in 8, 16 or 32 bit) + float4 PerlinNoise = tex::lookup_float4(PerlinNoiseGradientTexture,float2(TexA0.x,1.0-TexA0.y),tex::wrap_repeat,tex::wrap_repeat); + float3 PerlinNoiseColor = float3(PerlinNoise.x, PerlinNoise.y, PerlinNoise.z); + float3 A = PerlinNoiseColor * 2 - 1; + PerlinNoise = tex::lookup_float4(PerlinNoiseGradientTexture,float2(TexA1.x,1.0-TexA0.y),tex::wrap_repeat,tex::wrap_repeat); + PerlinNoiseColor = float3(PerlinNoise.x, PerlinNoise.y, PerlinNoise.z); + float3 B = PerlinNoiseColor * 2 - 1; + PerlinNoise = tex::lookup_float4(PerlinNoiseGradientTexture,float2(TexA0.x,1.0-TexA1.y),tex::wrap_repeat,tex::wrap_repeat); + PerlinNoiseColor = float3(PerlinNoise.x, PerlinNoise.y, PerlinNoise.z); + float3 C = PerlinNoiseColor * 2 - 1; + PerlinNoise = tex::lookup_float4(PerlinNoiseGradientTexture,float2(TexA1.x,1.0-TexA1.y),tex::wrap_repeat,tex::wrap_repeat); + PerlinNoiseColor = float3(PerlinNoise.x, PerlinNoise.y, PerlinNoise.z); + float3 D = PerlinNoiseColor * 2 - 1; + PerlinNoise = tex::lookup_float4(PerlinNoiseGradientTexture,float2(TexB0.x,1.0-TexB0.y),tex::wrap_repeat,tex::wrap_repeat); + PerlinNoiseColor = float3(PerlinNoise.x, PerlinNoise.y, PerlinNoise.z); + float3 E = PerlinNoiseColor * 2 - 1; + PerlinNoise = tex::lookup_float4(PerlinNoiseGradientTexture,float2(TexB1.x,1.0-TexB0.y),tex::wrap_repeat,tex::wrap_repeat); + PerlinNoiseColor = float3(PerlinNoise.x, PerlinNoise.y, PerlinNoise.z); + float3 F = PerlinNoiseColor * 2 - 1; + PerlinNoise = tex::lookup_float4(PerlinNoiseGradientTexture,float2(TexB0.x,1.0-TexB1.y),tex::wrap_repeat,tex::wrap_repeat); + PerlinNoiseColor = float3(PerlinNoise.x, PerlinNoise.y, PerlinNoise.z); + float3 G = PerlinNoiseColor * 2 - 1; + PerlinNoise = tex::lookup_float4(PerlinNoiseGradientTexture,float2(TexB1.x,1.0-TexB1.y),tex::wrap_repeat,tex::wrap_repeat); + PerlinNoiseColor = float3(PerlinNoise.x, PerlinNoise.y, PerlinNoise.z); + float3 H = PerlinNoiseColor * 2 - 1; + + float a = math::dot(A, fv - float3(0, 0, 0)); + float b = math::dot(B, fv - float3(1, 0, 0)); + float c = math::dot(C, fv - float3(0, 1, 0)); + float d = math::dot(D, fv - float3(1, 1, 0)); + float e = math::dot(E, fv - float3(0, 0, 1)); + float f = math::dot(F, fv - float3(1, 0, 1)); + float g = math::dot(G, fv - float3(0, 1, 1)); + float h = math::dot(H, fv - float3(1, 1, 1)); + + float4 Weights = PerlinRamp(math::frac(float4(fv.x, fv.y, fv.z, 0))); + + float i = math::lerp(math::lerp(a, b, Weights.x), math::lerp(c, d, Weights.x), Weights.y); + float j = math::lerp(math::lerp(e, f, Weights.x), math::lerp(g, h, Weights.x), Weights.y); + + return math::lerp(i, j, Weights.z); +} + +// @return random number in the range -1 .. 1 +// scalar: 6 frac, 31 mul/mad, 15 add, +float FastGradientPerlinNoise3D_TEX(uniform texture_3d PerlinNoise3DTexture, float3 xyz) +{ + // needs to be the same value when creating the PerlinNoise3D texture + float Extent = 16; + + // last texel replicated and needed for filtering + // scalar: 3 frac, 6 mul + xyz = math::frac(xyz / (Extent - 1)) * (Extent - 1); + + // scalar: 3 frac + float3 uvw = math::frac(xyz); + // = floor(xyz); + // scalar: 3 add + float3 p0 = xyz - uvw; +// float3 f = math::pow(uvw, 2) * 3.0f - math::pow(uvw, 3) * 2.0f; // original perlin hermite (ok when used without bump mapping) + // scalar: 2*3 add 5*3 mul + float4 pr = PerlinRamp(float4(uvw.x, uvw.y, uvw.z, 0)); + float3 f = float3(pr.x, pr.y, pr.z); // new, better with continues second derivative for bump mapping + // scalar: 3 add + float3 p = p0 + f; + // scalar: 3 mad + // TODO: need reverse??? + float4 NoiseSample = tex::lookup_float4(PerlinNoise3DTexture, p / Extent + 0.5f / Extent); // +0.5f to get rid of bilinear offset + + // reconstruct from 8bit (using mad with 2 constants and dot4 was same instruction count) + // scalar: 4 mad, 3 mul, 3 add + float3 n = float3(NoiseSample.x, NoiseSample.y, NoiseSample.z) * 255.0f / 127.0f - 1.0f; + float d = NoiseSample.w * 255.f - 127; + return math::dot(xyz, n) - d; +} + +// Perlin-style "Modified Noise" +// http://www.umbc.edu/~olano/papers/index.html#mNoise +// @param v = 3D noise argument, use float3(x,y,0) for 2D or float3(x,0,0) for 1D +// @param bTiling = repeat noise pattern +// @param RepeatSize = integer units before tiling in each dimension +// @return random number in the range -1 .. 1 +float GradientNoise3D_ALU(float3 v, bool bTiling, float RepeatSize) +{ + SeedValue seeds = NoiseSeeds(v, bTiling, RepeatSize); + + float rand000 = MGradient(int(seeds.seed000), seeds.fv - float3(0, 0, 0)).w; + float rand100 = MGradient(int(seeds.seed100), seeds.fv - float3(1, 0, 0)).w; + float rand010 = MGradient(int(seeds.seed010), seeds.fv - float3(0, 1, 0)).w; + float rand110 = MGradient(int(seeds.seed110), seeds.fv - float3(1, 1, 0)).w; + float rand001 = MGradient(int(seeds.seed001), seeds.fv - float3(0, 0, 1)).w; + float rand101 = MGradient(int(seeds.seed101), seeds.fv - float3(1, 0, 1)).w; + float rand011 = MGradient(int(seeds.seed011), seeds.fv - float3(0, 1, 1)).w; + float rand111 = MGradient(int(seeds.seed111), seeds.fv - float3(1, 1, 1)).w; + + float4 Weights = PerlinRamp(float4(seeds.fv.x, seeds.fv.y, seeds.fv.z, 0)); + + float i = math::lerp(math::lerp(rand000, rand100, Weights.x), math::lerp(rand010, rand110, Weights.x), Weights.y); + float j = math::lerp(math::lerp(rand001, rand101, Weights.x), math::lerp(rand011, rand111, Weights.x), Weights.y); + return math::lerp(i, j, Weights.z); +} + +// 3D value noise - used to be incorrectly called Perlin noise +// @param v = 3D noise argument, use float3(x,y,0) for 2D or float3(x,0,0) for 1D +// @param bTiling = repeat noise pattern +// @param RepeatSize = integer units before tiling in each dimension +// @return random number in the range -1 .. 1 +float ValueNoise3D_ALU(float3 v, bool bTiling, float RepeatSize) +{ + SeedValue seeds = NoiseSeeds(v, bTiling, RepeatSize); + + float rand000 = RandBBSfloat(seeds.seed000) * 2 - 1; + float rand100 = RandBBSfloat(seeds.seed100) * 2 - 1; + float rand010 = RandBBSfloat(seeds.seed010) * 2 - 1; + float rand110 = RandBBSfloat(seeds.seed110) * 2 - 1; + float rand001 = RandBBSfloat(seeds.seed001) * 2 - 1; + float rand101 = RandBBSfloat(seeds.seed101) * 2 - 1; + float rand011 = RandBBSfloat(seeds.seed011) * 2 - 1; + float rand111 = RandBBSfloat(seeds.seed111) * 2 - 1; + + float4 Weights = PerlinRamp(float4(seeds.fv.x, seeds.fv.y, seeds.fv.z, 0)); + + float i = math::lerp(math::lerp(rand000, rand100, Weights.x), math::lerp(rand010, rand110, Weights.x), Weights.y); + float j = math::lerp(math::lerp(rand001, rand101, Weights.x), math::lerp(rand011, rand111, Weights.x), Weights.y); + return math::lerp(i, j, Weights.z); +} + +// 3D jitter offset within a voronoi noise cell +// @param pos - integer lattice corner +// @return random offsets vector +float3 VoronoiCornerSample(float3 pos, int Quality) +{ + // random values in [-0.5, 0.5] + float3 noise = float3(Rand3DPCG16(int3(pos))) / 0xffff - 0.5; + + // quality level 1 or 2: searches a 2x2x2 neighborhood with points distributed on a sphere + // scale factor to guarantee jittered points will be found within a 2x2x2 search + if (Quality <= 2) + { + return math::normalize(noise) * 0.2588; + } + + // quality level 3: searches a 3x3x3 neighborhood with points distributed on a sphere + // scale factor to guarantee jittered points will be found within a 3x3x3 search + if (Quality == 3) + { + return math::normalize(noise) * 0.3090; + } + + // quality level 4: jitter to anywhere in the cell, needs 4x4x4 search + return noise; +} + +// compare previous best with a new candidate +// not producing point locations makes it easier for compiler to eliminate calculations when they're not needed +// @param minval = location and distance of best candidate seed point before the new one +// @param candidate = candidate seed point +// @param offset = 3D offset to new candidate seed point +// @param bDistanceOnly = if true, only set maxval.w with distance, otherwise maxval.w is distance and maxval.xyz is position +// @return position (if bDistanceOnly is false) and distance to closest seed point so far +float4 VoronoiCompare(float4 minval, float3 candidate, float3 offset, bool bDistanceOnly) +{ + if (bDistanceOnly) + { + return float4(0, 0, 0, math::min(minval.w, math::dot(offset, offset))); + } + else + { + float newdist = math::dot(offset, offset); + return newdist > minval.w ? minval : float4(candidate.x, candidate.y, candidate.z, newdist); + } +} + +// 220 instruction Worley noise +float4 VoronoiNoise3D_ALU(float3 v, int Quality, bool bTiling, float RepeatSize, bool bDistanceOnly) +{ + float3 fv = math::frac(v), fv2 = math::frac(v + 0.5); + float3 iv = math::floor(v), iv2 = math::floor(v + 0.5); + + // with initial minimum distance = infinity (or at least bigger than 4), first min is optimized away + float4 mindist = float4(0,0,0,100); + float3 p, offset; + + // quality level 3: do a 3x3x3 search + if (Quality == 3) + { + int offset_x; + int offset_y; + int offset_z; + for (offset_x = -1; offset_x <= 1; ++offset_x) + { + for (offset_y = -1; offset_y <= 1; ++offset_y) + { + for (offset_z = -1; offset_z <= 1; ++offset_z) + { + offset = float3(offset_x, offset_y, offset_z); + p = offset + VoronoiCornerSample(NoiseTileWrap(iv2 + offset, bTiling, RepeatSize), Quality); + mindist = VoronoiCompare(mindist, iv2 + p, fv2 - p, bDistanceOnly); + } + } + } + } + + // everybody else searches a base 2x2x2 neighborhood + else + { + int offset_x; + int offset_y; + int offset_z; + for (offset_x = 0; offset_x <= 1; ++offset_x) + { + for (offset_y = 0; offset_y <= 1; ++offset_y) + { + for (offset_z = 0; offset_z <= 1; ++offset_z) + { + offset = float3(offset_x, offset_y, offset_z); + p = offset + VoronoiCornerSample(NoiseTileWrap(iv + offset, bTiling, RepeatSize), Quality); + mindist = VoronoiCompare(mindist, iv + p, fv - p, bDistanceOnly); + + // quality level 2, do extra set of points, offset by half a cell + if (Quality == 2) + { + // 467 is just an offset to a different area in the random number field to avoid similar neighbor artifacts + p = offset + VoronoiCornerSample(NoiseTileWrap(iv2 + offset, bTiling, RepeatSize) + 467, Quality); + mindist = VoronoiCompare(mindist, iv2 + p, fv2 - p, bDistanceOnly); + } + } + } + } + } + + // quality level 4: add extra sets of four cells in each direction + if (Quality >= 4) + { + int offset_x; + int offset_y; + int offset_z; + for (offset_x = -1; offset_x <= 2; offset_x += 3) + { + for (offset_y = 0; offset_y <= 1; ++offset_y) + { + for (offset_z = 0; offset_z <= 1; ++offset_z) + { + offset = float3(offset_x, offset_y, offset_z); + // along x axis + p = offset + VoronoiCornerSample(NoiseTileWrap(iv + offset, bTiling, RepeatSize), Quality); + mindist = VoronoiCompare(mindist, iv + p, fv - p, bDistanceOnly); + + // along y axis + p = float3(offset.y, offset.z, offset.x) + VoronoiCornerSample(NoiseTileWrap(iv + float3(offset.y, offset.z, offset.x), bTiling, RepeatSize), Quality); + mindist = VoronoiCompare(mindist, iv + p, fv - p, bDistanceOnly); + + // along z axis + p = float3(offset.z, offset.x, offset.y) + VoronoiCornerSample(NoiseTileWrap(iv + float3(offset.z, offset.x, offset.y), bTiling, RepeatSize), Quality); + mindist = VoronoiCompare(mindist, iv + p, fv - p, bDistanceOnly); + } + } + } + } + + // transform squared distance to real distance + return float4(mindist.x, mindist.y, mindist.z, math::sqrt(mindist.w)); +} + +// Coordinates for corners of a Simplex tetrahedron +// Based on McEwan et al., Efficient computation of noise in GLSL, JGT 2011 +// @param v = 3D noise argument +// @return 4 corner locations +float4x3 SimplexCorners(float3 v) +{ + // find base corner by skewing to tetrahedral space and back + float3 tet = math::floor(v + v.x/3 + v.y/3 + v.z/3); + float3 base = tet - tet.x/6 - tet.y/6 - tet.z/6; + float3 f = v - base; + + // Find offsets to other corners (McEwan did this in tetrahedral space, + // but since skew is along x=y=z axis, this works in Euclidean space too.) + float3 g = math::step(float3(f.y,f.z,f.x), float3(f.x,f.y,f.z)), h = 1 - float3(g.z, g.x, g.y); + float3 a1 = math::min(g, h) - 1.0 / 6.0, a2 = math::max(g, h) - 1.0 / 3.0; + + // four corners + return float4x3(base, base + a1, base + a2, base + 0.5); +} + +// Improved smoothing function for simplex noise +// @param f = fractional distance to four tetrahedral corners +// @return weight for each corner +float4 SimplexSmooth(float4x3 f) +{ + const float scale = 1024. / 375.; // scale factor to make noise -1..1 + float4 d = float4(math::dot(f[0], f[0]), math::dot(f[1], f[1]), math::dot(f[2], f[2]), math::dot(f[3], f[3])); + float4 s = math::saturate(2 * d); + return (1 * scale + s*(-3 * scale + s*(3 * scale - s*scale))); +} + +// Derivative of simplex noise smoothing function +// @param f = fractional distanc eto four tetrahedral corners +// @return derivative of smoothing function for each corner by x, y and z +float3x4 SimplexDSmooth(float4x3 f) +{ + const float scale = 1024. / 375.; // scale factor to make noise -1..1 + float4 d = float4(math::dot(f[0], f[0]), math::dot(f[1], f[1]), math::dot(f[2], f[2]), math::dot(f[3], f[3])); + float4 s = math::saturate(2 * d); + s = -12 * scale + s*(24 * scale - s * 12 * scale); + + return float3x4( + s * float4(f[0][0], f[1][0], f[2][0], f[3][0]), + s * float4(f[0][1], f[1][1], f[2][1], f[3][1]), + s * float4(f[0][2], f[1][2], f[2][2], f[3][2])); +} + +// Simplex noise and its Jacobian derivative +// @param v = 3D noise argument +// @param bTiling = whether to repeat noise pattern +// @param RepeatSize = integer units before tiling in each dimension, must be a multiple of 3 +// @return float3x3 Jacobian in J[*].xyz, vector noise in J[*].w +// J[0].w, J[1].w, J[2].w is a Perlin-style simplex noise with vector output, e.g. (Nx, Ny, Nz) +// J[i].x is X derivative of the i'th component of the noise so J[2].x is dNz/dx +// You can use this to compute the noise, gradient, curl, or divergence: +// float3x4 J = JacobianSimplex_ALU(...); +// float3 VNoise = float3(J[0].w, J[1].w, J[2].w); // 3D noise +// float3 Grad = J[0].xyz; // gradient of J[0].w +// float3 Curl = float3(J[1][2]-J[2][1], J[2][0]-J[0][2], J[0][1]-J[1][2]); +// float Div = J[0][0]+J[1][1]+J[2][2]; +// All of these are confirmed to compile out all unneeded terms. +// So Grad of X doesn't compute Y or Z components, and VNoise doesn't do any of the derivative computation. +float3x4 JacobianSimplex_ALU(float3 v, bool bTiling, float RepeatSize) +{ + int3 MGradientMask = int3(0x8000, 0x4000, 0x2000); + float3 MGradientScale = float3(1. / 0x4000, 1. / 0x2000, 1. / 0x1000); + + // corners of tetrahedron + float4x3 T = SimplexCorners(v); + // TODO: uint3 + int3 rand = int3(0); + float4x3 gvec0 = float4x3(1.0); + float4x3 gvec1 = float4x3(1.0); + float4x3 gvec2 = float4x3(1.0); + float4x3 fv = float4x3(1.0); + float3x4 grad = float3x4(1.0); + + // processing of tetrahedral vertices, unrolled + // to compute gradient at each corner + fv[0] = v - T[0]; + rand = Rand3DPCG16(int3(math::floor(NoiseTileWrap(6 * T[0] + 0.5, bTiling, RepeatSize)))); + gvec0[0] = float3(int3(rand.x,rand.x,rand.x) & MGradientMask) * MGradientScale - 1; + gvec1[0] = float3(int3(rand.y,rand.y,rand.y) & MGradientMask) * MGradientScale - 1; + gvec2[0] = float3(int3(rand.z,rand.z,rand.z) & MGradientMask) * MGradientScale - 1; + grad[0][0] = math::dot(gvec0[0], fv[0]); + grad[1][0] = math::dot(gvec1[0], fv[0]); + grad[2][0] = math::dot(gvec2[0], fv[0]); + + fv[1] = v - T[1]; + rand = Rand3DPCG16(int3(math::floor(NoiseTileWrap(6 * T[1] + 0.5, bTiling, RepeatSize)))); + gvec0[1] = float3(int3(rand.x,rand.x,rand.x) & MGradientMask) * MGradientScale - 1; + gvec1[1] = float3(int3(rand.y,rand.y,rand.y) & MGradientMask) * MGradientScale - 1; + gvec1[1] = float3(int3(rand.z,rand.z,rand.z) & MGradientMask) * MGradientScale - 1; + grad[0][1] = math::dot(gvec0[1], fv[1]); + grad[1][1] = math::dot(gvec1[1], fv[1]); + grad[2][1] = math::dot(gvec2[1], fv[1]); + + fv[2] = v - T[2]; + rand = Rand3DPCG16(int3(math::floor(NoiseTileWrap(6 * T[2] + 0.5, bTiling, RepeatSize)))); + gvec0[2] = float3(int3(rand.x,rand.x,rand.x) & MGradientMask) * MGradientScale - 1; + gvec1[2] = float3(int3(rand.y,rand.y,rand.y) & MGradientMask) * MGradientScale - 1; + gvec2[2] = float3(int3(rand.z,rand.z,rand.z) & MGradientMask) * MGradientScale - 1; + grad[0][2] = math::dot(gvec0[2], fv[2]); + grad[1][2] = math::dot(gvec1[2], fv[2]); + grad[2][2] = math::dot(gvec2[2], fv[2]); + + fv[3] = v - T[3]; + rand = Rand3DPCG16(int3(math::floor(NoiseTileWrap(6 * T[3] + 0.5, bTiling, RepeatSize)))); + gvec0[3] = float3(int3(rand.x,rand.x,rand.x) & MGradientMask) * MGradientScale - 1; + gvec1[3] = float3(int3(rand.y,rand.y,rand.y) & MGradientMask) * MGradientScale - 1; + gvec2[3] = float3(int3(rand.z,rand.z,rand.z) & MGradientMask) * MGradientScale - 1; + grad[0][3] = math::dot(gvec0[3], fv[3]); + grad[1][3] = math::dot(gvec1[3], fv[3]); + grad[2][3] = math::dot(gvec2[3], fv[3]); + + // blend gradients + float4 sv = SimplexSmooth(fv); + float3x4 ds = SimplexDSmooth(fv); + + float3x4 jacobian = float3x4(1.0); + float3 vec0 = gvec0*sv + grad[0]*ds; // NOTE: mdl is column major, convert from UE4 (row major) + jacobian[0] = float4(vec0.x, vec0.y, vec0.z, math::dot(sv, grad[0])); + float3 vec1 = gvec1*sv + grad[1]*ds; + jacobian[1] = float4(vec1.x, vec1.y, vec1.z, math::dot(sv, grad[1])); + float3 vec2 = gvec2*sv + grad[2]*ds; + jacobian[2] = float4(vec2.x, vec2.y, vec2.z, math::dot(sv, grad[2])); + + return jacobian; +} + +// While RepeatSize is a float here, the expectation is that it would be largely integer values coming in from the UI. The downstream logic assumes +// floats for all called functions (NoiseTileWrap) and this prevents any float-to-int conversion errors from automatic type conversion. +float Noise3D_Multiplexer(uniform texture_2d PerlinNoiseGradientTexture, uniform texture_3d PerlinNoise3DTexture, int Function, float3 Position, int Quality, bool bTiling, float RepeatSize) +{ + // verified, HLSL compiled out the switch if Function is a constant + switch(Function) + { + case 0: + return SimplexNoise3D_TEX(PerlinNoiseGradientTexture, Position); + case 1: + return GradientNoise3D_TEX(PerlinNoiseGradientTexture, Position, bTiling, RepeatSize); + case 2: + return FastGradientPerlinNoise3D_TEX(PerlinNoise3DTexture, Position); + case 3: + return GradientNoise3D_ALU(Position, bTiling, RepeatSize); + case 4: + return ValueNoise3D_ALU(Position, bTiling, RepeatSize); + case 5: + return VoronoiNoise3D_ALU(Position, Quality, bTiling, RepeatSize, true).w * 2.0 - 1.0; + } + return 0; +} +//---------------------------------------------------------- + +export float noise(uniform texture_2d PerlinNoiseGradientTexture, uniform texture_3d PerlinNoise3DTexture, float3 Position, float Scale, float Quality, float Function, float Turbulence, float Levels, float OutputMin, float OutputMax, float LevelScale, float FilterWidth, float Tiling, float RepeatSize) +[[ + anno::description("Noise"), + anno::noinline() +]] +{ + Position *= Scale; + FilterWidth *= Scale; + + float Out = 0.0f; + float OutScale = 1.0f; + float InvLevelScale = 1.0f / LevelScale; + + int iFunction(Function); + int iQuality(Quality); + int iLevels(Levels); + bool bTurbulence(Turbulence); + bool bTiling(Tiling); + + for(int i = 0; i < iLevels; ++i) + { + // fade out noise level that are too high frequent (not done through dynamic branching as it usually requires gradient instructions) + OutScale *= math::saturate(1.0 - FilterWidth); + + if(bTurbulence) + { + Out += math::abs(Noise3D_Multiplexer(PerlinNoiseGradientTexture, PerlinNoise3DTexture, iFunction, Position, iQuality, bTiling, RepeatSize)) * OutScale; + } + else + { + Out += Noise3D_Multiplexer(PerlinNoiseGradientTexture, PerlinNoise3DTexture, iFunction, Position, iQuality, bTiling, RepeatSize) * OutScale; + } + + Position *= LevelScale; + RepeatSize *= LevelScale; + OutScale *= InvLevelScale; + FilterWidth *= LevelScale; + } + + if(!bTurbulence) + { + // bring -1..1 to 0..1 range + Out = Out * 0.5f + 0.5f; + } + + // Out is in 0..1 range + return math::lerp(OutputMin, OutputMax, Out); +} + +// Material node for noise functions returning a vector value +// @param LevelScale usually 2 but higher values allow efficient use of few levels +// @return in user defined range (OutputMin..OutputMax) +export float4 vector4_noise(float3 Position, float Quality, float Function, float Tiling, float TileSize) +[[ + anno::description("Vector Noise"), + anno::noinline() +]] +{ + float4 result = float4(0,0,0,1); + float3 ret = float3(0); + int iQuality = int(Quality); + int iFunction = int(Function); + bool bTiling = Tiling > 0.0; + + float3x4 Jacobian = JacobianSimplex_ALU(Position, bTiling, TileSize); // compiled out if not used + + // verified, HLSL compiled out the switch if Function is a constant + switch (iFunction) + { + case 0: // Cellnoise + ret = float3(Rand3DPCG16(int3(math::floor(NoiseTileWrap(Position, bTiling, TileSize))))) / 0xffff; + result = float4(ret.x, ret.y, ret.z, 1); + break; + case 1: // Color noise + ret = float3(Jacobian[0].w, Jacobian[1].w, Jacobian[2].w); + result = float4(ret.x, ret.y, ret.z, 1); + break; + case 2: // Gradient + result = Jacobian[0]; + break; + case 3: // Curl + ret = float3(Jacobian[2][1] - Jacobian[1][2], Jacobian[0][2] - Jacobian[2][0], Jacobian[1][0] - Jacobian[0][1]); + result = float4(ret.x, ret.y, ret.z, 1); + break; + case 4: // Voronoi + result = VoronoiNoise3D_ALU(Position, iQuality, bTiling, TileSize, false); + break; + } + return result; +} + +export float3 vector3_noise(float3 Position, float Quality, float Function, float Tiling, float TileSize) +[[ + anno::description("Vector Noise float3 version"), + anno::noinline() +]] +{ + float4 noise = vector4_noise(Position, Quality, Function, Tiling, TileSize); + return float3(noise.x, noise.y, noise.z); +} + + +// workaround for ue4 fresnel (without supporting for camera vector) : replacing it with 0.0, means facing to the view +export float fresnel(float exponent [[anno::unused()]], float base_reflect_fraction [[anno::unused()]], float3 normal [[anno::unused()]]) +[[ + anno::description("Fresnel"), + anno::noinline() +]] +{ + return 0.0; +} + +export float fresnel_function(float3 normal_vector [[anno::unused()]], float3 camera_vector [[anno::unused()]], + bool invert_fresnel [[anno::unused()]], float power [[anno::unused()]], + bool use_cheap_contrast [[anno::unused()]], float cheap_contrast_dark [[anno::unused()]], float cheap_contrast_bright [[anno::unused()]], + bool clamp_fresnel_dot_product [[anno::unused()]]) +[[ + anno::description("Fresnel Function"), + anno::noinline() +]] +{ + return 0.0; +} + +export float3 camera_vector(uniform bool up_z = true) +[[ + anno::description("Camera Vector"), + anno::noinline() +]] +{ + // assume camera postion is 0,0,0 + return math::normalize(float3(0) - convert_to_left_hand(state::transform_point(state::coordinate_internal,state::coordinate_world,state::position()), up_z)); +} + +export float pixel_depth() +[[ + anno::description("Pixel Depth"), + anno::noinline() +]] +{ + return 256.0f; +} + +export float scene_depth() +[[ + anno::description("Scene Depth") +]] +{ + return 65500.0f; +} + +export float3 scene_color() +[[ + anno::description("Scene Color") +]] +{ + return float3(1.0f); +} + +export float4 vertex_color() +[[ + anno::description("Vertex Color"), + anno::noinline() +]] +{ + return float4(1.0f); +} + +export float4 vertex_color_from_coordinate(int VertexColorCoordinateIndex) +[[ + anno::description("Vertex Color for float2 PrimVar"), + anno::noinline() +]] +{ + // Kit only supports 4 uv sets, 2 uvs are available to vertex color. if vertex color index is invalid, output the constant WHITE color intead + return (VertexColorCoordinateIndex > 2) ? float4(1.0f) : float4(state::texture_coordinate(VertexColorCoordinateIndex).x, state::texture_coordinate(VertexColorCoordinateIndex).y, state::texture_coordinate(VertexColorCoordinateIndex+1).x, state::texture_coordinate(VertexColorCoordinateIndex+1).y); +} + +export float3 camera_position() +[[ + anno::description("Camera Position"), + anno::noinline() +]] +{ + return float3(1000.0f, 0, 0); +} + +export float3 rotate_about_axis(float4 NormalizedRotationAxisAndAngle, float3 PositionOnAxis, float3 Position) +[[ + anno::description("Rotates Position about the given axis by the given angle") +]] +{ + // Project Position onto the rotation axis and find the closest point on the axis to Position + float3 NormalizedRotationAxis = float3(NormalizedRotationAxisAndAngle.x,NormalizedRotationAxisAndAngle.y,NormalizedRotationAxisAndAngle.z); + float3 ClosestPointOnAxis = PositionOnAxis + NormalizedRotationAxis * math::dot(NormalizedRotationAxis, Position - PositionOnAxis); + // Construct orthogonal axes in the plane of the rotation + float3 UAxis = Position - ClosestPointOnAxis; + float3 VAxis = math::cross(NormalizedRotationAxis, UAxis); + float[2] SinCosAngle = math::sincos(NormalizedRotationAxisAndAngle.w); + // Rotate using the orthogonal axes + float3 R = UAxis * SinCosAngle[1] + VAxis * SinCosAngle[0]; + // Reconstruct the rotated world space position + float3 RotatedPosition = ClosestPointOnAxis + R; + // Convert from position to a position offset + return RotatedPosition - Position; +} + +export float2 rotate_scale_offset_texcoords(float2 InTexCoords, float4 InRotationScale, float2 InOffset) +[[ + anno::description("Returns a float2 texture coordinate after 2x2 transform and offset applied") +]] +{ + return float2(math::dot(InTexCoords, float2(InRotationScale.x, InRotationScale.y)), math::dot(InTexCoords, float2(InRotationScale.z, InRotationScale.w))) + InOffset; +} + +export float3 reflection_custom_world_normal(float3 WorldNormal, bool bNormalizeInputNormal, uniform bool up_z = true) +[[ + anno::description("Reflection vector about the specified world space normal") +]] +{ + if (bNormalizeInputNormal) + { + WorldNormal = math::normalize(WorldNormal); + } + + return -camera_vector(up_z) + WorldNormal * math::dot(WorldNormal, camera_vector(up_z)) * 2.0; +} + +export float3 reflection_vector(uniform bool up_z = true) +[[ + anno::description("Reflection Vector"), + anno::noinline() +]] +{ + float3 normal = convert_to_left_hand(state::transform_normal(state::coordinate_internal,state::coordinate_world,state::normal()), up_z, false); + return reflection_custom_world_normal(normal, false, up_z); +} + +export float dither_temporalAA(float AlphaThreshold = 0.5f, float Random = 1.0f [[anno::unused()]]) +[[ + anno::description("Dither TemporalAA"), + anno::noinline() +]] +{ + return AlphaThreshold; +} + +export float3 black_body( float Temp ) +[[ + anno::description("Black Body"), + anno::noinline() +]] +{ + float u = ( 0.860117757f + 1.54118254e-4f * Temp + 1.28641212e-7f * Temp*Temp ) / ( 1.0f + 8.42420235e-4f * Temp + 7.08145163e-7f * Temp*Temp ); + float v = ( 0.317398726f + 4.22806245e-5f * Temp + 4.20481691e-8f * Temp*Temp ) / ( 1.0f - 2.89741816e-5f * Temp + 1.61456053e-7f * Temp*Temp ); + + float x = 3*u / ( 2*u - 8*v + 4 ); + float y = 2*v / ( 2*u - 8*v + 4 ); + float z = 1 - x - y; + + float Y = 1; + float X = Y/y * x; + float Z = Y/y * z; + + float3x3 XYZtoRGB = float3x3( + float3(3.2404542, -1.5371385, -0.4985314), + float3(-0.9692660, 1.8760108, 0.0415560), + float3(0.0556434, -0.2040259, 1.0572252) + ); + + return XYZtoRGB * float3( X, Y, Z ) * math::pow( 0.0004 * Temp, 4 ); +} + +export float per_instance_random(uniform texture_2d PerlinNoiseGradientTexture, int NumberInstances) +[[ + anno::description("Per Instance Random"), + anno::noinline() +]] +{ + float weight = state::object_id() / float(NumberInstances); + return NumberInstances == 0 ? 0.0 : tex::lookup_float4(PerlinNoiseGradientTexture, float2(weight, 1.0 - weight), tex::wrap_repeat, tex::wrap_repeat).x; +} + +//------------------ Hair from UE4 ----------------------- +float3 hair_absorption_to_color(float3 A) +{ + const float B = 0.3f; + float b2 = B * B; + float b3 = B * b2; + float b4 = b2 * b2; + float b5 = B * b4; + float D = (5.969f - 0.215f * B + 2.532f * b2 - 10.73f * b3 + 5.574f * b4 + 0.245f * b5); + return math::exp(-math::sqrt(A) * D); +} + +float3 hair_color_to_absorption(float3 C) +{ + const float B = 0.3f; + float b2 = B * B; + float b3 = B * b2; + float b4 = b2 * b2; + float b5 = B * b4; + float D = (5.969f - 0.215f * B + 2.532f * b2 - 10.73f * b3 + 5.574f * b4 + 0.245f * b5); + return math::pow(math::log(C) / D, 2.0f); +} + +export float3 get_hair_color_from_melanin(float InMelanin, float InRedness, float3 InDyeColor) +[[ + anno::description("Hair Color") +]] +{ + InMelanin = math::saturate(InMelanin); + InRedness = math::saturate(InRedness); + float Melanin = -math::log(math::max(1 - InMelanin, 0.0001f)); + float Eumelanin = Melanin * (1 - InRedness); + float Pheomelanin = Melanin * InRedness; + + float3 DyeAbsorption = hair_color_to_absorption(math::saturate(InDyeColor)); + float3 Absorption = Eumelanin * float3(0.506f, 0.841f, 1.653f) + Pheomelanin * float3(0.343f, 0.733f, 1.924f); + + return hair_absorption_to_color(Absorption + DyeAbsorption); +} + +export float3 local_object_bounds_min() +[[ + anno::description("Local Object Bounds Min"), + anno::noinline() +]] +{ + return float3(0.0); +} + +export float3 local_object_bounds_max() +[[ + anno::description("Local Object Bounds Max"), + anno::noinline() +]] +{ + return float3(100.0); +} + +export float3 object_bounds() +[[ + anno::description("Object Bounds"), + anno::noinline() +]] +{ + return float3(100.0); +} + +export float object_radius() +[[ + anno::description("Object Radius"), + anno::noinline() +]] +{ + return 100.0f; +} + +export float3 object_world_position(uniform bool up_z = true) +[[ + anno::description("Object World Position"), + anno::noinline() +]] +{ + return convert_to_left_hand(state::transform_point(state::coordinate_internal,state::coordinate_world,state::position()), up_z)*state::meters_per_scene_unit()*100.0; +} + +export float3 object_orientation() +[[ + anno::description("Object Orientation"), + anno::noinline() +]] +{ + return float3(0); +} + +export float rcp(float x) +[[ + anno::description("hlsl rcp"), + anno::noinline() +]] +{ + return 1.0f / x; +} + +export float2 rcp(float2 x) +[[ + anno::description("hlsl rcp"), + anno::noinline() +]] +{ + return 1.0f / x; +} + +export float3 rcp(float3 x) +[[ + anno::description("hlsl rcp"), + anno::noinline() +]] +{ + return 1.0f / x; +} + +export float4 rcp(float4 x) +[[ + anno::description("hlsl rcp"), + anno::noinline() +]] +{ + return 1.0f / x; +} + +export int BitFieldExtractI32(int Data, int Size, int Offset) +[[ + anno::description("BitFieldExtractI32 int"), + anno::noinline() +]] +{ + Size &= 3; + Offset &= 3; + + if (Size == 0) + return 0; + else if (Offset + Size < 32) + return (Data << (32 - Size - Offset)) >> (32 - Size); + else + return Data >> Offset; +} + +export int BitFieldExtractI32(float Data, float Size, float Offset) +[[ + anno::description("BitFieldExtractI32 float"), + anno::noinline() +]] +{ + return BitFieldExtractI32(int(Data), int(Size), int(Offset)); +} + +export int BitFieldExtractU32(float Data, float Size, float Offset) +[[ + anno::description("BitFieldExtractU32 float"), + anno::noinline() +]] +{ + return BitFieldExtractI32(Data, Size, Offset); +} + +export int BitFieldExtractU32(int Data, int Size, int Offset) +[[ + anno::description("BitFieldExtractU32 int"), + anno::noinline() +]] +{ + return BitFieldExtractI32(Data, Size, Offset); +} + +export float3 EyeAdaptationInverseLookup(float3 LightValue, float Alpha) +[[ + anno::description("EyeAdaptationInverseLookup"), + anno::noinline() +]] +{ + float Adaptation = 1.0f; + + // When Alpha=0.0, we want to multiply by 1.0. when Alpha = 1.0, we want to multiply by 1/Adaptation. + // So the lerped value is: + // LerpLogScale = Lerp(log(1),log(1/Adaptaiton),T) + // Which is simplified as: + // LerpLogScale = Lerp(0,-log(Adaptation),T) + // LerpLogScale = -T * logAdaptation; + + float LerpLogScale = -Alpha * math::log(Adaptation); + float Scale = math::exp(LerpLogScale); + return LightValue * Scale; +} diff --git a/assets/scene_usds/ebench/teleop_tasks/flip_cup_collect_cookies/GRSceneUSD_dexterous/task2/Collected_scene/gaoning/GenManip-Sim/saved/assets/miscs/home_scenes/Materials/OmniUe4Translucent.mdl b/assets/scene_usds/ebench/teleop_tasks/flip_cup_collect_cookies/GRSceneUSD_dexterous/task2/Collected_scene/gaoning/GenManip-Sim/saved/assets/miscs/home_scenes/Materials/OmniUe4Translucent.mdl new file mode 100644 index 0000000000000000000000000000000000000000..483a83004b8f7d5bf820a7905d06ea2d7d5894af --- /dev/null +++ b/assets/scene_usds/ebench/teleop_tasks/flip_cup_collect_cookies/GRSceneUSD_dexterous/task2/Collected_scene/gaoning/GenManip-Sim/saved/assets/miscs/home_scenes/Materials/OmniUe4Translucent.mdl @@ -0,0 +1,233 @@ +/*************************************************************************************************** + * Copyright 2020 NVIDIA Corporation. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of NVIDIA CORPORATION nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR + * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR + * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, + * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, + * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR + * PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY + * OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + **************************************************************************************************/ + +//* 1.0.0 - first version +//* 1.0.1 - Emissive color affected by opacity +// - Support opacity mask +//* 1.0.2 - Unlit translucent +//* 1.0.3 - specular bsdf instead of microfacet ggx smith bsdf +//* 1.0.4 - using absolute import paths when importing standard modules + +mdl 1.3; + +import ::df::*; +import ::state::*; +import ::math::*; +import ::tex::*; +import ::anno::*; + +float emissive_multiplier() +[[ + anno::description("the multiplier to convert UE4 emissive to raw data"), + anno::noinline() +]] +{ + return 20.0f * 128.0f; +} + +color get_translucent_tint(color base_color, float opacity) +[[ + anno::description("base color of UE4 translucent"), + anno::noinline() +]] +{ + return math::lerp(color(1.0), base_color, opacity); +} + +// Just for UE4 distilling +float get_translucent_opacity(float opacity) +[[ + anno::noinline() +]] +{ + return opacity; +} + +color get_emissive_intensity(color emissive, float opacity) +[[ + anno::description("emissive color of UE4 translucent"), + anno::noinline() +]] +{ + return emissive * opacity; +} + +float3 tangent_space_normal( + float3 normal = float3(0.0,0.0,1.0), + float3 tangent_u = state::texture_tangent_u(0), + float3 tangent_v = state::texture_tangent_v(0) +) +[[ + anno::description("Interprets the vector in tangent space"), + anno::noinline() +]] +{ + return math::normalize( + tangent_u * normal.x - + tangent_v * normal.y + /* flip_tangent_v */ + state::normal() * (normal.z)); +} + +float3 world_space_normal( + float3 normal = float3(0.0,0.0,1.0), + float3 tangent_u = state::texture_tangent_u(0), + float3 tangent_v = state::texture_tangent_v(0) +) +[[ + anno::description("Interprets the vector in world space"), + anno::noinline() +]] +{ + return tangent_space_normal( + math::normalize( + normal.x * float3(tangent_u.x, tangent_v.x, state::normal().x) - + normal.y * float3(tangent_u.y, tangent_v.y, state::normal().y) + + normal.z * float3(tangent_u.z, tangent_v.z, state::normal().z)), + tangent_u, + tangent_v + ); +} + +export material OmniUe4Translucent( + float3 base_color = float3(0.0, 0.0, 0.0), + float metallic = 0.0, + float roughness = 0.5, + float specular = 0.5, + float3 normal = float3(0.0,0.0,1.0), + uniform bool enable_opacity = true, + float opacity = 1.0, + float opacity_mask = 1.0, + float3 emissive_color = float3(0.0, 0.0, 0.0), + float3 displacement = float3(0.0), + uniform float refraction = 1.0, + uniform bool two_sided = false, + uniform bool is_tangent_space_normal = true, + uniform bool is_unlit = false +) +[[ + anno::display_name("Omni UE4 Translucent"), + anno::description("Omni UE4 Translucent, supports UE4 Translucent shading model"), + anno::version( 1, 0, 0), + anno::author("NVIDIA CORPORATION"), + anno::key_words(string[]("omni", "UE4", "omniverse", "translucent")) +]] + = let { + color final_base_color = math::saturate(base_color); + float final_metallic = math::min(math::max(metallic, 0.0f), 0.99f); + float final_roughness = math::saturate(roughness); + float final_specular = math::saturate(specular); + color final_emissive_color = math::max(emissive_color, 0.0f) * emissive_multiplier(); /*factor for converting ue4 emissive to raw value*/ + float final_opacity = math::saturate(opacity); + float3 final_normal = math::normalize(normal); + + + // - compute final roughness by squaring the "roughness" parameter + float alpha = final_roughness * final_roughness; + // reduce the reflectivity at grazing angles to avoid "dark edges" for high roughness due to the layering + float grazing_refl = math::max((1.0 - final_roughness), 0.0); + + float3 the_normal = is_unlit ? state::normal() : + (is_tangent_space_normal ? + tangent_space_normal( + normal: final_normal, + tangent_u: state::texture_tangent_u(0), + tangent_v: state::texture_tangent_v(0) + ) : world_space_normal( + normal: final_normal, + tangent_u: state::texture_tangent_u(0), + tangent_v: state::texture_tangent_v(0) + )); + + // for the dielectric component we layer the glossy component on top of the diffuse one, + // the glossy layer has no color tint + + bsdf dielectric_component = df::custom_curve_layer( + weight: final_specular, + normal_reflectivity: 0.08, + grazing_reflectivity: grazing_refl, + layer: df::microfacet_ggx_smith_bsdf(roughness_u: alpha), + base: df::diffuse_reflection_bsdf(tint: final_base_color)); + + // the metallic component doesn't have a diffuse component, it's only glossy + // base_color is applied to tint it + bsdf metallic_component = df::microfacet_ggx_smith_bsdf(tint: final_base_color, roughness_u: alpha); + + // final BSDF is a linear blend between dielectric and metallic component + bsdf dielectric_metal_mix = + df::normalized_mix( + components: + df::bsdf_component[]( + df::bsdf_component( + component: metallic_component, + weight: final_metallic), + df::bsdf_component( + component: dielectric_component, + weight: 1.0-final_metallic) + ) + ); + + bsdf frosted_bsdf = df::specular_bsdf( + tint: color(1), + mode: df::scatter_reflect_transmit + ); + + bsdf final_mix_bsdf = + is_unlit ? df::specular_bsdf( + tint: get_translucent_tint(base_color: final_base_color, opacity: final_opacity), + mode: df::scatter_reflect_transmit + ) + : df::normalized_mix( + components: + df::bsdf_component[]( + df::bsdf_component( + component: dielectric_metal_mix, + weight: get_translucent_opacity(final_opacity)), + df::bsdf_component( + component: frosted_bsdf, + weight: 1.0-get_translucent_opacity(final_opacity)) + ) + ); +} +in material( + thin_walled: two_sided, // Graphene? + ior: color(refraction), //refraction + surface: material_surface( + scattering: final_mix_bsdf, + emission: + material_emission ( + emission: df::diffuse_edf (), + intensity: get_emissive_intensity(emissive: final_emissive_color, opacity: final_opacity) + ) + ), + + geometry: material_geometry( + displacement: displacement, + normal: the_normal, + cutout_opacity: enable_opacity ? opacity_mask : 1.0 + ) +); diff --git a/assets/scene_usds/ebench/teleop_tasks/flip_cup_collect_cookies/GRSceneUSD_dexterous/task2/Collected_scene/gaoning/GenManip-Sim/saved/assets/miscs/home_scenes/Materials/WorldGridMaterial.mdl b/assets/scene_usds/ebench/teleop_tasks/flip_cup_collect_cookies/GRSceneUSD_dexterous/task2/Collected_scene/gaoning/GenManip-Sim/saved/assets/miscs/home_scenes/Materials/WorldGridMaterial.mdl new file mode 100644 index 0000000000000000000000000000000000000000..3c7aab22109afff78c0327f69bfa229e2ddcc4d1 --- /dev/null +++ b/assets/scene_usds/ebench/teleop_tasks/flip_cup_collect_cookies/GRSceneUSD_dexterous/task2/Collected_scene/gaoning/GenManip-Sim/saved/assets/miscs/home_scenes/Materials/WorldGridMaterial.mdl @@ -0,0 +1,75 @@ +mdl 1.6; + +import ::math::*; +import ::state::*; +import ::tex::*; +import ::anno::*; +using OmniUe4Function import *; +using OmniUe4Base import *; + +export annotation sampler_color(); +export annotation sampler_normal(); +export annotation sampler_grayscale(); +export annotation sampler_alpha(); +export annotation sampler_masks(); +export annotation sampler_distancefield(); +export annotation dither_masked_off(); +export annotation world_space_normal(); + +export material WorldGridMaterial( + int MaxTexCoordIndex = 3 + [[ + anno::hidden() + ]]) + = + let { + float3 WorldPositionOffset_mdl = float3(0.0,0.0,0.0); + float2 CustomizedUV0_mdl = float2(state::texture_coordinate(math::min(0,MaxTexCoordIndex)).x,1.0-state::texture_coordinate(math::min(0,MaxTexCoordIndex)).y); + + float2 Local0 = (CustomizedUV0_mdl / 2.0); + float2 Local1 = (Local0 / 0.05); + float4 Local2 = ::unpack_normal_map(tex::lookup_float4(texture_2d("./Textures/T_Default_Material_Grid_N.png",::tex::gamma_linear),float2(Local1.x,1.0-Local1.y),tex::wrap_repeat,tex::wrap_repeat)); + float3 Local3 = (float3(Local2.x,Local2.y,Local2.z) * float3(0.3,0.3,1.0)); + + float3 Normal_mdl = Local3; + + float2 Local4 = (CustomizedUV0_mdl * 20.0); + float4 Local5 = tex::lookup_float4(texture_2d("./Textures/T_Default_Material_Grid_M.png",::tex::gamma_linear),float2(Local4.x,1.0-Local4.y),tex::wrap_repeat,tex::wrap_repeat); + float Local6 = math::lerp(0.4,1.0,Local5.x); + float Local7 = (1.0 - Local6); + float2 Local8 = (Local0 / 0.1); + float4 Local9 = tex::lookup_float4(texture_2d("./Textures/T_Default_Material_Grid_M.png",::tex::gamma_linear),float2(Local8.x,1.0-Local8.y),tex::wrap_repeat,tex::wrap_repeat); + float Local10 = math::lerp(Local9.y,1.0,0.0); + float Local11 = math::lerp(Local6,Local7,Local10); + float4 Local12 = tex::lookup_float4(texture_2d("./Textures/T_Default_Material_Grid_M.png",::tex::gamma_linear),float2(Local0.x,1.0-Local0.y),tex::wrap_repeat,tex::wrap_repeat); + float Local13 = math::lerp(Local9.y,0.0,0.0); + float Local14 = (Local12.y + Local13); + float Local15 = math::lerp(Local14,0.5,0.5); + float Local16 = math::lerp(0.295,0.66,Local15); + float Local17 = (Local16 * 0.5); + float Local18 = (Local11 * Local17); + float Local19 = math::lerp(0.0,0.5,Local12.y); + float Local20 = math::lerp(0.7,1.0,Local9.y); + float Local21 = math::lerp(Local20,1.0,0.0); + float Local22 = (Local21 * 1.0); + float Local23 = (Local19 + Local22); + float Local24 = math::min(math::max(Local23,0.0),1.0); + + float3 EmissiveColor_mdl = float3(0.0,0.0,0.0); + float OpacityMask_mdl = 1.0; + float3 BaseColor_mdl = float3(Local18,Local18,Local18); + float Metallic_mdl = 0.0; + float Specular_mdl = 0.5; + float Roughness_mdl = Local24; + + } in + ::OmniUe4Base( + base_color: BaseColor_mdl, + metallic: Metallic_mdl, + roughness: Roughness_mdl, + specular: Specular_mdl, + normal: Normal_mdl, + opacity: OpacityMask_mdl, + emissive_color: EmissiveColor_mdl, + displacement: WorldPositionOffset_mdl, + two_sided: false); diff --git a/assets/scene_usds/ebench/teleop_tasks/install_gear/merge_usd/0009/Materials/Bronze.mdl b/assets/scene_usds/ebench/teleop_tasks/install_gear/merge_usd/0009/Materials/Bronze.mdl new file mode 100644 index 0000000000000000000000000000000000000000..0555bb44b56b381ed27c32afc14f81cc98eb6e1d --- /dev/null +++ b/assets/scene_usds/ebench/teleop_tasks/install_gear/merge_usd/0009/Materials/Bronze.mdl @@ -0,0 +1,104 @@ +///\authors: Auto-generated by vray_to_mdl_export.ms script. +///\description: Translated VRay material. + +mdl 1.6; + +// Import +import ::anno::*; +import ::base::transform_coordinate; +import ::base::rotation_translation_scale; +import ::base::file_texture; +import ::base::mono_mode; +import ::base::texture_coordinate_info; +import ::base::texture_return; +import ::state::normal; +import ::state::texture_coordinate; +import ::state::texture_tangent_u; +import ::state::texture_tangent_v; +import ::tex::gamma_mode; +import ::tex::wrap_mode; +import templates::ad_3dsmax_materials::*; +import templates::ad_3dsmax_maps::*; +import templates::vray_materials::*; +import templates::vray_maps::*; + +// Body +export material Bronze() +[[ + anno::display_name("Bronze") +]] += ::templates::vray_materials::VRayMtl( + Diffuse : ::templates::ad_3dsmax_maps::ad_3dsmax_bitmap( + filename : texture_2d("./Bronze/13313.jpg", ::tex::gamma_srgb), + cliph : 1.0f, + clipu : 0.0f, + clipv : 0.0f, + clipw : 1.0f, + mapChannel : 1, + U_angle : 0.0f, + U_Mirror : false, + U_Offset : 0.0f, + U_Tile : true, + U_Tiling : 1.0f, + UVW_Type : 0, + V_angle : 0.0f, + V_Mirror : false, + V_Offset : 0.0f, + V_Tile : true, + V_Tiling : 1.0f, + W_angle : 0.0f, + alphaFromRGB : false, + bump_amount : 1.0f, + clamp : false, + invert : false, + output_amount : 1.0f, + rgb_level : 1.0f, + rgb_offset : 0.0f + ).tint, + diffuse_roughness : 0.0f, + Reflection : color(0.509804,0.419608,0.207843), + reflection_glossiness : ::templates::ad_3dsmax_maps::ad_3dsmax_falloff( + color1 : base::texture_return(tint:color(1.0,1.0,1.0), mono:1), + color2 : base::texture_return(tint:color(0.0,0.0,0.0), mono:1), + falloff_type : ::templates::ad_3dsmax_maps::Perpendicular_Parallel, + falloff_direction : ::templates::ad_3dsmax_maps::View, + nearDistance : 0.0f, + farDistance : 100.0f + ).mono, + reflection_fresnel : false, + reflection_ior : 1.6f, + reflection_lockIOR : true, + invert_reflection_ior : false, + reflection_metalness : 0.0f, + Refraction : color(0.0,0.0,0.0), + refraction_glossiness : 1.0f, + refraction_ior : 1.6f, + invert_refraction_ior : false, + refraction_dispersion_on : false, + refraction_dispersion : 50.0f, + refraction_fogColor : color(1.0,1.0,1.0), + refraction_fogBias : 0.0f, + refraction_fogMult : 1.0f, + translucency_on : ::templates::vray_materials::translucency_none, + translucency_scatterCoeff : 0.0f, + translucency_fbCoeff : 0.5f, + translucency_color : color(1.0,1.0,1.0), + self_illumination : color(0.0,0.0,0.0), + self_illumination_multiplier : 1.0f, + coat_amount : 0.0f, + coat_color : color(1.0,1.0,1.0), + coat_glossiness : 1.0f, + coat_ior : 1.6f, + invert_coat_ior : false, + coat_bump_lock : false, + sheen_color : color(0.0,0.0,0.0), + sheen_glossiness : 0.8f, + brdf_type : ::templates::vray_materials::brdf_ward, + brdf_useRoughness : ::templates::vray_materials::brdf_glossiness, + anisotropy : 0.0f, + anisotropy_rotation : 0.0f, + anisotropy_channel : 1, + texmap_opacity : 1.0f +); + + diff --git a/assets/scene_usds/ebench/teleop_tasks/install_gear/merge_usd/0009/Materials/Gold.mdl b/assets/scene_usds/ebench/teleop_tasks/install_gear/merge_usd/0009/Materials/Gold.mdl new file mode 100644 index 0000000000000000000000000000000000000000..25027e9b11272201d3cb5e0558052338ad6f6fd4 --- /dev/null +++ b/assets/scene_usds/ebench/teleop_tasks/install_gear/merge_usd/0009/Materials/Gold.mdl @@ -0,0 +1,71 @@ +///\authors: Auto-generated by vray_to_mdl_export.ms script. +///\description: Translated VRay material. + +mdl 1.6; + +// Import +import ::anno::*; +import ::base::transform_coordinate; +import ::base::rotation_translation_scale; +import ::base::file_texture; +import ::base::mono_mode; +import ::base::texture_coordinate_info; +import ::base::texture_return; +import ::state::normal; +import ::state::texture_coordinate; +import ::state::texture_tangent_u; +import ::state::texture_tangent_v; +import ::tex::gamma_mode; +import ::tex::wrap_mode; +import templates::ad_3dsmax_materials::*; +import templates::ad_3dsmax_maps::*; +import templates::vray_materials::*; +import templates::vray_maps::*; + +// Body +export material Gold() +[[ + anno::display_name("Gold") +]] += ::templates::vray_materials::VRayMtl( + Diffuse : color(0.0,0.0,0.0), + diffuse_roughness : 0.0f, + Reflection : color(0.917647,0.682353,0.4), + reflection_glossiness : 0.75f, + reflection_fresnel : false, + reflection_ior : 1.6f, + reflection_lockIOR : true, + invert_reflection_ior : false, + reflection_metalness : 0.0f, + Refraction : color(0.0,0.0,0.0), + refraction_glossiness : 1.0f, + refraction_ior : 1.6f, + invert_refraction_ior : false, + refraction_dispersion_on : false, + refraction_dispersion : 50.0f, + refraction_fogColor : color(1.0,1.0,1.0), + refraction_fogBias : 0.0f, + refraction_fogMult : 1.0f, + translucency_on : ::templates::vray_materials::translucency_none, + translucency_scatterCoeff : 0.0f, + translucency_fbCoeff : 1.0f, + translucency_color : color(1.0,1.0,1.0), + self_illumination : color(0.0,0.0,0.0), + self_illumination_multiplier : 1.0f, + coat_amount : 0.0f, + coat_color : color(1.0,1.0,1.0), + coat_glossiness : 1.0f, + coat_ior : 1.6f, + invert_coat_ior : false, + coat_bump_lock : false, + sheen_color : color(0.0,0.0,0.0), + sheen_glossiness : 0.8f, + brdf_type : ::templates::vray_materials::brdf_blinn, + brdf_useRoughness : ::templates::vray_materials::brdf_glossiness, + anisotropy : 0.0f, + anisotropy_rotation : 0.0f, + anisotropy_channel : 1, + texmap_opacity : 1.0f +); + + diff --git a/assets/scene_usds/ebench/teleop_tasks/install_gear/merge_usd/0009/Materials/Gold1.mdl b/assets/scene_usds/ebench/teleop_tasks/install_gear/merge_usd/0009/Materials/Gold1.mdl new file mode 100644 index 0000000000000000000000000000000000000000..8412874ead6157d9f4ba33a242b9ab5da0a815e1 --- /dev/null +++ b/assets/scene_usds/ebench/teleop_tasks/install_gear/merge_usd/0009/Materials/Gold1.mdl @@ -0,0 +1,71 @@ +///\authors: Auto-generated by vray_to_mdl_export.ms script. +///\description: Translated VRay material. + +mdl 1.6; + +// Import +import ::anno::*; +import ::base::transform_coordinate; +import ::base::rotation_translation_scale; +import ::base::file_texture; +import ::base::mono_mode; +import ::base::texture_coordinate_info; +import ::base::texture_return; +import ::state::normal; +import ::state::texture_coordinate; +import ::state::texture_tangent_u; +import ::state::texture_tangent_v; +import ::tex::gamma_mode; +import ::tex::wrap_mode; +import templates::ad_3dsmax_materials::*; +import templates::ad_3dsmax_maps::*; +import templates::vray_materials::*; +import templates::vray_maps::*; + +// Body +export material Gold1() +[[ + anno::display_name("Gold1") +]] += ::templates::vray_materials::VRayMtl( + Diffuse : color(0.0,0.0,0.0), + diffuse_roughness : 0.0f, + Reflection : color(0.917647,0.682353,0.4), + reflection_glossiness : 0.75f, + reflection_fresnel : false, + reflection_ior : 1.6f, + reflection_lockIOR : true, + invert_reflection_ior : false, + reflection_metalness : 0.0f, + Refraction : color(0.0,0.0,0.0), + refraction_glossiness : 1.0f, + refraction_ior : 1.6f, + invert_refraction_ior : false, + refraction_dispersion_on : false, + refraction_dispersion : 50.0f, + refraction_fogColor : color(1.0,1.0,1.0), + refraction_fogBias : 0.0f, + refraction_fogMult : 1.0f, + translucency_on : ::templates::vray_materials::translucency_none, + translucency_scatterCoeff : 0.0f, + translucency_fbCoeff : 1.0f, + translucency_color : color(1.0,1.0,1.0), + self_illumination : color(0.0,0.0,0.0), + self_illumination_multiplier : 1.0f, + coat_amount : 0.0f, + coat_color : color(1.0,1.0,1.0), + coat_glossiness : 1.0f, + coat_ior : 1.6f, + invert_coat_ior : false, + coat_bump_lock : false, + sheen_color : color(0.0,0.0,0.0), + sheen_glossiness : 0.8f, + brdf_type : ::templates::vray_materials::brdf_blinn, + brdf_useRoughness : ::templates::vray_materials::brdf_glossiness, + anisotropy : 0.0f, + anisotropy_rotation : 0.0f, + anisotropy_channel : 1, + texmap_opacity : 1.0f +); + + diff --git a/assets/scene_usds/ebench/teleop_tasks/install_gear/merge_usd/0009/Materials/Material__247.mdl b/assets/scene_usds/ebench/teleop_tasks/install_gear/merge_usd/0009/Materials/Material__247.mdl new file mode 100644 index 0000000000000000000000000000000000000000..5b59a550e303f784df36776b4743c489a4c8659f --- /dev/null +++ b/assets/scene_usds/ebench/teleop_tasks/install_gear/merge_usd/0009/Materials/Material__247.mdl @@ -0,0 +1,67 @@ +mdl 1.8; + +import ::state::normal; +import ::OmniPBR::OmniPBR; +import ::anno::author; +import ::anno::description; +import ::anno::display_name; +import ::anno::in_group; +import ::anno::key_words; +import ::anno::version; +import ::base::mono_mode; +import ::tex::gamma_mode; + +export material Material__247(*) +[[ + anno::display_name("OmniPBR"), + anno::description("OmniPBR Base with support for clear coat, opacity and ORM textures."), + anno::in_group("Base", false), + anno::version(2, 1, 2, ""), + anno::author("NVIDIA CORPORATION"), + anno::key_words(string[]("omni", "PBR", "opacity", "omniverse", "generic")) +]] + = OmniPBR::OmniPBR( + diffuse_color_constant: color(0.5f, 0.5f, 0.5f), + diffuse_texture: texture_2d(), + 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.f, + reflection_roughness_texture_influence: 0.f, + reflectionroughness_texture: texture_2d(), + metallic_constant: 0.f, + metallic_texture_influence: 0.f, + metallic_texture: texture_2d(), + specular_level: 0.5f, + enable_ORM_texture: false, + ORM_texture: texture_2d(), + ao_to_diffuse: 0.f, + ao_texture: texture_2d(), + enable_emission: true, + emissive_color: color(0.f, 0.f, 0.f), + emissive_color_texture: texture_2d(), + emissive_mask_texture: texture_2d(), + emissive_intensity: 3250.f, + enable_opacity: false, + opacity_texture: texture_2d(), + opacity_constant: 1.f, + enable_opacity_texture: false, + opacity_mode: base::mono_average, + opacity_threshold: 0.00100000005f, + geometry_normal_roughness_strength: 1.f, + bump_factor: 0.300000012f, + 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)); diff --git a/assets/scene_usds/ebench/teleop_tasks/install_gear/merge_usd/0009/Materials/Material__25.mdl b/assets/scene_usds/ebench/teleop_tasks/install_gear/merge_usd/0009/Materials/Material__25.mdl new file mode 100644 index 0000000000000000000000000000000000000000..dd9f07aec6891e7ffee93a41ad8b22d0d68021d1 --- /dev/null +++ b/assets/scene_usds/ebench/teleop_tasks/install_gear/merge_usd/0009/Materials/Material__25.mdl @@ -0,0 +1,71 @@ +///\authors: Auto-generated by vray_to_mdl_export.ms script. +///\description: Translated VRay material. + +mdl 1.6; + +// Import +import ::anno::*; +import ::base::transform_coordinate; +import ::base::rotation_translation_scale; +import ::base::file_texture; +import ::base::mono_mode; +import ::base::texture_coordinate_info; +import ::base::texture_return; +import ::state::normal; +import ::state::texture_coordinate; +import ::state::texture_tangent_u; +import ::state::texture_tangent_v; +import ::tex::gamma_mode; +import ::tex::wrap_mode; +import templates::ad_3dsmax_materials::*; +import templates::ad_3dsmax_maps::*; +import templates::vray_materials::*; +import templates::vray_maps::*; + +// Body +export material Material__25() +[[ + anno::display_name("Material__25") +]] += ::templates::vray_materials::VRayMtl( + Diffuse : color(0.835294,0.854902,0.858824), + diffuse_roughness : 0.0f, + Reflection : color(0.0,0.0,0.0), + reflection_glossiness : 1.0f, + reflection_fresnel : true, + reflection_ior : 1.6f, + reflection_lockIOR : true, + invert_reflection_ior : false, + reflection_metalness : 0.0f, + Refraction : color(0.0,0.0,0.0), + refraction_glossiness : 1.0f, + refraction_ior : 1.6f, + invert_refraction_ior : false, + refraction_dispersion_on : false, + refraction_dispersion : 50.0f, + refraction_fogColor : color(1.0,1.0,1.0), + refraction_fogBias : 0.0f, + refraction_fogMult : 1.0f, + translucency_on : ::templates::vray_materials::translucency_none, + translucency_scatterCoeff : 0.0f, + translucency_fbCoeff : 1.0f, + translucency_color : color(1.0,1.0,1.0), + self_illumination : color(0.0,0.0,0.0), + self_illumination_multiplier : 1.0f, + coat_amount : 0.0f, + coat_color : color(1.0,1.0,1.0), + coat_glossiness : 1.0f, + coat_ior : 1.6f, + invert_coat_ior : false, + coat_bump_lock : false, + sheen_color : color(0.0,0.0,0.0), + sheen_glossiness : 0.8f, + brdf_type : ::templates::vray_materials::brdf_blinn, + brdf_useRoughness : ::templates::vray_materials::brdf_glossiness, + anisotropy : 0.0f, + anisotropy_rotation : 0.0f, + anisotropy_channel : 1, + texmap_opacity : 1.0f +); + + diff --git a/assets/scene_usds/ebench/teleop_tasks/install_gear/merge_usd/0009/Materials/Material__332.mdl b/assets/scene_usds/ebench/teleop_tasks/install_gear/merge_usd/0009/Materials/Material__332.mdl new file mode 100644 index 0000000000000000000000000000000000000000..4b9ebdaa5d24fc01e6872d12aa6e582f2ed58931 --- /dev/null +++ b/assets/scene_usds/ebench/teleop_tasks/install_gear/merge_usd/0009/Materials/Material__332.mdl @@ -0,0 +1,162 @@ +///\authors: Auto-generated by vray_to_mdl_export.ms script. +///\description: Translated VRay material. + +mdl 1.6; + +// Import +import ::anno::*; +import ::base::transform_coordinate; +import ::base::rotation_translation_scale; +import ::base::file_texture; +import ::base::mono_mode; +import ::base::texture_coordinate_info; +import ::base::texture_return; +import ::state::normal; +import ::state::texture_coordinate; +import ::state::texture_tangent_u; +import ::state::texture_tangent_v; +import ::tex::gamma_mode; +import ::tex::wrap_mode; +import templates::ad_3dsmax_materials::*; +import templates::ad_3dsmax_maps::*; +import templates::vray_materials::*; +import templates::vray_maps::*; + +// Body +export material black_main1() +[[ + anno::display_name("black_main1") +]] += ::templates::vray_materials::VRayMtl( + Diffuse : color(0.0,0.0,0.0), + diffuse_roughness : 0.5f, + Reflection : ::templates::ad_3dsmax_maps::ad_3dsmax_falloff( + color1 : base::texture_return(tint:color(0.0,0.0,0.0), mono:1), + color2 : base::texture_return(tint:color(0.454902,0.454902,0.454902), mono:1), + falloff_type : ::templates::ad_3dsmax_maps::Fresnel, + falloff_direction : ::templates::ad_3dsmax_maps::View, + nearDistance : 0.0f, + farDistance : 100.0f + ).tint, + reflection_glossiness : 0.8f, + reflection_fresnel : false, + reflection_ior : 1.6f, + reflection_lockIOR : true, + invert_reflection_ior : false, + reflection_metalness : 0.0f, + Refraction : color(0.0,0.0,0.0), + refraction_glossiness : 1.0f, + refraction_ior : 1.6f, + invert_refraction_ior : false, + refraction_dispersion_on : false, + refraction_dispersion : 50.0f, + refraction_fogColor : color(1.0,1.0,1.0), + refraction_fogBias : 0.0f, + refraction_fogMult : 1.0f, + translucency_on : ::templates::vray_materials::translucency_none, + translucency_scatterCoeff : 0.0f, + translucency_fbCoeff : 1.0f, + translucency_color : color(1.0,1.0,1.0), + self_illumination : color(0.0,0.0,0.0), + self_illumination_multiplier : 1.0f, + coat_amount : 0.0f, + coat_color : color(1.0,1.0,1.0), + coat_glossiness : 1.0f, + coat_ior : 1.6f, + invert_coat_ior : false, + coat_bump_lock : false, + sheen_color : color(0.0,0.0,0.0), + sheen_glossiness : 0.8f, + brdf_type : ::templates::vray_materials::brdf_blinn, + brdf_useRoughness : ::templates::vray_materials::brdf_glossiness, + anisotropy : 0.0f, + anisotropy_rotation : 0.0f, + anisotropy_channel : 1, + texmap_opacity : 1.0f +); + +export material wite1() +[[ + anno::display_name("wite1") +]] += ::templates::vray_materials::VRayMtl( + Diffuse : color(1.0,1.0,1.0), + diffuse_roughness : 0.0f, + Reflection : color(0.564706,0.564706,0.564706), + reflection_glossiness : 0.8f, + reflection_fresnel : true, + reflection_ior : 1.6f, + reflection_lockIOR : true, + invert_reflection_ior : false, + reflection_metalness : 0.0f, + Refraction : color(0.0,0.0,0.0), + refraction_glossiness : 1.0f, + refraction_ior : 1.6f, + invert_refraction_ior : false, + refraction_dispersion_on : false, + refraction_dispersion : 50.0f, + refraction_fogColor : color(1.0,1.0,1.0), + refraction_fogBias : 0.0f, + refraction_fogMult : 1.0f, + translucency_on : ::templates::vray_materials::translucency_none, + translucency_scatterCoeff : 0.0f, + translucency_fbCoeff : 1.0f, + translucency_color : color(1.0,1.0,1.0), + self_illumination : color(0.0,0.0,0.0), + self_illumination_multiplier : 1.0f, + coat_amount : 0.0f, + coat_color : color(1.0,1.0,1.0), + coat_glossiness : 1.0f, + coat_ior : 1.6f, + invert_coat_ior : false, + coat_bump_lock : false, + sheen_color : color(0.0,0.0,0.0), + sheen_glossiness : 0.8f, + brdf_type : ::templates::vray_materials::brdf_blinn, + brdf_useRoughness : ::templates::vray_materials::brdf_glossiness, + anisotropy : 0.0f, + anisotropy_rotation : 0.0f, + anisotropy_channel : 1, + texmap_opacity : 1.0f +); + +export material Material__332() +[[ + anno::display_name("Material__332") +]] += ::templates::ad_3dsmax_materials::ad_3dsmax_blend( + material1 : black_main1(), + material2 : wite1(), + mixAmount : ::templates::ad_3dsmax_maps::ad_3dsmax_bitmap( + filename : texture_2d("./Material__332/13319.jpg", ::tex::gamma_srgb), + cliph : 1.0f, + clipu : 0.0f, + clipv : 0.0f, + clipw : 1.0f, + mapChannel : 1, + U_angle : 0.0f, + U_Mirror : false, + U_Offset : 0.0f, + U_Tile : true, + U_Tiling : 1.0f, + UVW_Type : 0, + V_angle : 0.0f, + V_Mirror : false, + V_Offset : 0.0f, + V_Tile : true, + V_Tiling : 1.0f, + W_angle : 0.0f, + alphaFromRGB : false, + bump_amount : 1.0f, + clamp : false, + invert : false, + output_amount : 1.0f, + rgb_level : 1.0f, + rgb_offset : 0.0f + ).mono, + useCurve : false, + lower : 0.25f, + upper : 0.75f +); + + diff --git a/assets/scene_usds/ebench/teleop_tasks/install_gear/merge_usd/0009/Materials/Material__3321.mdl b/assets/scene_usds/ebench/teleop_tasks/install_gear/merge_usd/0009/Materials/Material__3321.mdl new file mode 100644 index 0000000000000000000000000000000000000000..4a0d740ba603c897da5a25e31623623445362d28 --- /dev/null +++ b/assets/scene_usds/ebench/teleop_tasks/install_gear/merge_usd/0009/Materials/Material__3321.mdl @@ -0,0 +1,162 @@ +///\authors: Auto-generated by vray_to_mdl_export.ms script. +///\description: Translated VRay material. + +mdl 1.6; + +// Import +import ::anno::*; +import ::base::transform_coordinate; +import ::base::rotation_translation_scale; +import ::base::file_texture; +import ::base::mono_mode; +import ::base::texture_coordinate_info; +import ::base::texture_return; +import ::state::normal; +import ::state::texture_coordinate; +import ::state::texture_tangent_u; +import ::state::texture_tangent_v; +import ::tex::gamma_mode; +import ::tex::wrap_mode; +import templates::ad_3dsmax_materials::*; +import templates::ad_3dsmax_maps::*; +import templates::vray_materials::*; +import templates::vray_maps::*; + +// Body +export material black_polshed() +[[ + anno::display_name("black_polshed") +]] += ::templates::vray_materials::VRayMtl( + Diffuse : color(0.0,0.0,0.0), + diffuse_roughness : 0.0f, + Reflection : ::templates::ad_3dsmax_maps::ad_3dsmax_falloff( + color1 : base::texture_return(tint:color(0.0,0.0,0.0), mono:1), + color2 : base::texture_return(tint:color(1.0,1.0,1.0), mono:1), + falloff_type : ::templates::ad_3dsmax_maps::Fresnel, + falloff_direction : ::templates::ad_3dsmax_maps::View, + nearDistance : 0.0f, + farDistance : 100.0f + ).tint, + reflection_glossiness : 0.9f, + reflection_fresnel : false, + reflection_ior : 1.6f, + reflection_lockIOR : true, + invert_reflection_ior : false, + reflection_metalness : 0.0f, + Refraction : color(0.0,0.0,0.0), + refraction_glossiness : 1.0f, + refraction_ior : 1.6f, + invert_refraction_ior : false, + refraction_dispersion_on : false, + refraction_dispersion : 50.0f, + refraction_fogColor : color(1.0,1.0,1.0), + refraction_fogBias : 0.0f, + refraction_fogMult : 1.0f, + translucency_on : ::templates::vray_materials::translucency_none, + translucency_scatterCoeff : 0.0f, + translucency_fbCoeff : 1.0f, + translucency_color : color(1.0,1.0,1.0), + self_illumination : color(0.0,0.0,0.0), + self_illumination_multiplier : 1.0f, + coat_amount : 0.0f, + coat_color : color(1.0,1.0,1.0), + coat_glossiness : 1.0f, + coat_ior : 1.6f, + invert_coat_ior : false, + coat_bump_lock : false, + sheen_color : color(0.0,0.0,0.0), + sheen_glossiness : 0.8f, + brdf_type : ::templates::vray_materials::brdf_blinn, + brdf_useRoughness : ::templates::vray_materials::brdf_glossiness, + anisotropy : 0.0f, + anisotropy_rotation : 0.0f, + anisotropy_channel : 1, + texmap_opacity : 1.0f +); + +export material Aluminium() +[[ + anno::display_name("Aluminium") +]] += ::templates::vray_materials::VRayMtl( + Diffuse : color(0.5,0.5,0.5), + diffuse_roughness : 0.0f, + Reflection : color(0.815686,0.815686,0.815686), + reflection_glossiness : 0.6f, + reflection_fresnel : false, + reflection_ior : 1.6f, + reflection_lockIOR : true, + invert_reflection_ior : false, + reflection_metalness : 0.0f, + Refraction : color(0.0,0.0,0.0), + refraction_glossiness : 1.0f, + refraction_ior : 1.6f, + invert_refraction_ior : false, + refraction_dispersion_on : false, + refraction_dispersion : 50.0f, + refraction_fogColor : color(1.0,1.0,1.0), + refraction_fogBias : 0.0f, + refraction_fogMult : 1.0f, + translucency_on : ::templates::vray_materials::translucency_none, + translucency_scatterCoeff : 0.0f, + translucency_fbCoeff : 1.0f, + translucency_color : color(1.0,1.0,1.0), + self_illumination : color(0.0,0.0,0.0), + self_illumination_multiplier : 1.0f, + coat_amount : 0.0f, + coat_color : color(1.0,1.0,1.0), + coat_glossiness : 1.0f, + coat_ior : 1.6f, + invert_coat_ior : false, + coat_bump_lock : false, + sheen_color : color(0.0,0.0,0.0), + sheen_glossiness : 0.8f, + brdf_type : ::templates::vray_materials::brdf_blinn, + brdf_useRoughness : ::templates::vray_materials::brdf_glossiness, + anisotropy : 0.0f, + anisotropy_rotation : 0.0f, + anisotropy_channel : 1, + texmap_opacity : 1.0f +); + +export material Material__3321() +[[ + anno::display_name("Material__3321") +]] += ::templates::ad_3dsmax_materials::ad_3dsmax_blend( + material1 : black_polshed(), + material2 : Aluminium(), + mixAmount : ::templates::ad_3dsmax_maps::ad_3dsmax_bitmap( + filename : texture_2d("./Material__3321/13321.jpg", ::tex::gamma_srgb), + cliph : 1.0f, + clipu : 0.0f, + clipv : 0.0f, + clipw : 1.0f, + mapChannel : 1, + U_angle : 0.0f, + U_Mirror : false, + U_Offset : 0.0f, + U_Tile : true, + U_Tiling : 1.0f, + UVW_Type : 0, + V_angle : 0.0f, + V_Mirror : false, + V_Offset : 0.0f, + V_Tile : true, + V_Tiling : 1.0f, + W_angle : 0.0f, + alphaFromRGB : false, + bump_amount : 1.0f, + clamp : false, + invert : false, + output_amount : 1.0f, + rgb_level : 1.0f, + rgb_offset : 0.0f + ).mono, + useCurve : false, + lower : 0.25f, + upper : 0.75f +); + + diff --git a/assets/scene_usds/ebench/teleop_tasks/install_gear/merge_usd/0009/Materials/Material__3326.mdl b/assets/scene_usds/ebench/teleop_tasks/install_gear/merge_usd/0009/Materials/Material__3326.mdl new file mode 100644 index 0000000000000000000000000000000000000000..d2fe48a683d0b1f20298388afcc4ca132d0b57da --- /dev/null +++ b/assets/scene_usds/ebench/teleop_tasks/install_gear/merge_usd/0009/Materials/Material__3326.mdl @@ -0,0 +1,155 @@ +///\authors: Auto-generated by vray_to_mdl_export.ms script. +///\description: Translated VRay material. + +mdl 1.6; + +// Import +import ::anno::*; +import ::base::transform_coordinate; +import ::base::rotation_translation_scale; +import ::base::file_texture; +import ::base::mono_mode; +import ::base::texture_coordinate_info; +import ::base::texture_return; +import ::state::normal; +import ::state::texture_coordinate; +import ::state::texture_tangent_u; +import ::state::texture_tangent_v; +import ::tex::gamma_mode; +import ::tex::wrap_mode; +import templates::ad_3dsmax_materials::*; +import templates::ad_3dsmax_maps::*; +import templates::vray_materials::*; +import templates::vray_maps::*; + +// Body +export material red_button() +[[ + anno::display_name("red_button") +]] += ::templates::vray_materials::VRayMtl( + Diffuse : color(0.678431,0.109804,0.0), + diffuse_roughness : 0.5f, + Reflection : color(0.564706,0.564706,0.564706), + reflection_glossiness : 0.75f, + reflection_fresnel : true, + reflection_ior : 1.6f, + reflection_lockIOR : true, + invert_reflection_ior : false, + reflection_metalness : 0.0f, + Refraction : color(0.0,0.0,0.0), + refraction_glossiness : 1.0f, + refraction_ior : 1.6f, + invert_refraction_ior : false, + refraction_dispersion_on : false, + refraction_dispersion : 50.0f, + refraction_fogColor : color(1.0,1.0,1.0), + refraction_fogBias : 0.0f, + refraction_fogMult : 1.0f, + translucency_on : ::templates::vray_materials::translucency_none, + translucency_scatterCoeff : 0.0f, + translucency_fbCoeff : 1.0f, + translucency_color : color(1.0,1.0,1.0), + self_illumination : color(0.0,0.0,0.0), + self_illumination_multiplier : 1.0f, + coat_amount : 0.0f, + coat_color : color(1.0,1.0,1.0), + coat_glossiness : 1.0f, + coat_ior : 1.6f, + invert_coat_ior : false, + coat_bump_lock : false, + sheen_color : color(0.0,0.0,0.0), + sheen_glossiness : 0.8f, + brdf_type : ::templates::vray_materials::brdf_blinn, + brdf_useRoughness : ::templates::vray_materials::brdf_glossiness, + anisotropy : 0.0f, + anisotropy_rotation : 0.0f, + anisotropy_channel : 1, + texmap_opacity : 1.0f +); + +export material wite1() +[[ + anno::display_name("wite1") +]] += ::templates::vray_materials::VRayMtl( + Diffuse : color(1.0,1.0,1.0), + diffuse_roughness : 0.0f, + Reflection : color(0.564706,0.564706,0.564706), + reflection_glossiness : 0.8f, + reflection_fresnel : true, + reflection_ior : 1.6f, + reflection_lockIOR : true, + invert_reflection_ior : false, + reflection_metalness : 0.0f, + Refraction : color(0.0,0.0,0.0), + refraction_glossiness : 1.0f, + refraction_ior : 1.6f, + invert_refraction_ior : false, + refraction_dispersion_on : false, + refraction_dispersion : 50.0f, + refraction_fogColor : color(1.0,1.0,1.0), + refraction_fogBias : 0.0f, + refraction_fogMult : 1.0f, + translucency_on : ::templates::vray_materials::translucency_none, + translucency_scatterCoeff : 0.0f, + translucency_fbCoeff : 1.0f, + translucency_color : color(1.0,1.0,1.0), + self_illumination : color(0.0,0.0,0.0), + self_illumination_multiplier : 1.0f, + coat_amount : 0.0f, + coat_color : color(1.0,1.0,1.0), + coat_glossiness : 1.0f, + coat_ior : 1.6f, + invert_coat_ior : false, + coat_bump_lock : false, + sheen_color : color(0.0,0.0,0.0), + sheen_glossiness : 0.8f, + brdf_type : ::templates::vray_materials::brdf_blinn, + brdf_useRoughness : ::templates::vray_materials::brdf_glossiness, + anisotropy : 0.0f, + anisotropy_rotation : 0.0f, + anisotropy_channel : 1, + texmap_opacity : 1.0f +); + +export material Material__3326() +[[ + anno::display_name("Material__3326") +]] += ::templates::ad_3dsmax_materials::ad_3dsmax_blend( + material1 : red_button(), + material2 : wite1(), + mixAmount : ::templates::ad_3dsmax_maps::ad_3dsmax_bitmap( + filename : texture_2d("./Material__3326/13319.jpg", ::tex::gamma_srgb), + cliph : 1.0f, + clipu : 0.0f, + clipv : 0.0f, + clipw : 1.0f, + mapChannel : 1, + U_angle : 0.0f, + U_Mirror : false, + U_Offset : 0.0f, + U_Tile : true, + U_Tiling : 1.0f, + UVW_Type : 0, + V_angle : 0.0f, + V_Mirror : false, + V_Offset : 0.0f, + V_Tile : true, + V_Tiling : 1.0f, + W_angle : 0.0f, + alphaFromRGB : false, + bump_amount : 1.0f, + clamp : false, + invert : false, + output_amount : 1.0f, + rgb_level : 1.0f, + rgb_offset : 0.0f + ).mono, + useCurve : false, + lower : 0.25f, + upper : 0.75f +); + + diff --git a/assets/scene_usds/ebench/teleop_tasks/install_gear/merge_usd/0009/Materials/Material__342.mdl b/assets/scene_usds/ebench/teleop_tasks/install_gear/merge_usd/0009/Materials/Material__342.mdl new file mode 100644 index 0000000000000000000000000000000000000000..b5421374e22581705afc63c6289852a7e2aedb21 --- /dev/null +++ b/assets/scene_usds/ebench/teleop_tasks/install_gear/merge_usd/0009/Materials/Material__342.mdl @@ -0,0 +1,67 @@ +mdl 1.8; + +import ::state::normal; +import ::OmniPBR::OmniPBR; +import ::anno::author; +import ::anno::description; +import ::anno::display_name; +import ::anno::in_group; +import ::anno::key_words; +import ::anno::version; +import ::base::mono_mode; +import ::tex::gamma_mode; + +export material Material__342(*) +[[ + anno::display_name("OmniPBR"), + anno::description("OmniPBR Base with support for clear coat, opacity and ORM textures."), + anno::in_group("Base", false), + anno::version(2, 1, 2, ""), + anno::author("NVIDIA CORPORATION"), + anno::key_words(string[]("omni", "PBR", "opacity", "omniverse", "generic")) +]] + = OmniPBR::OmniPBR( + diffuse_color_constant: color(0.5f, 0.5f, 0.5f), + diffuse_texture: texture_2d(), + 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.f, + reflection_roughness_texture_influence: 0.f, + reflectionroughness_texture: texture_2d(), + metallic_constant: 0.f, + metallic_texture_influence: 0.f, + metallic_texture: texture_2d(), + specular_level: 0.5f, + enable_ORM_texture: false, + ORM_texture: texture_2d(), + ao_to_diffuse: 0.f, + ao_texture: texture_2d(), + enable_emission: true, + emissive_color: color(0.f, 0.f, 0.f), + emissive_color_texture: texture_2d(), + emissive_mask_texture: texture_2d(), + emissive_intensity: 3250.f, + enable_opacity: false, + opacity_texture: texture_2d(), + opacity_constant: 1.f, + enable_opacity_texture: false, + opacity_mode: base::mono_average, + opacity_threshold: 0.00100000005f, + geometry_normal_roughness_strength: 1.f, + bump_factor: 0.300000012f, + 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)); diff --git a/assets/scene_usds/ebench/teleop_tasks/install_gear/merge_usd/0009/Materials/Material__361.mdl b/assets/scene_usds/ebench/teleop_tasks/install_gear/merge_usd/0009/Materials/Material__361.mdl new file mode 100644 index 0000000000000000000000000000000000000000..1b9f5944e0f2ff4367bd9981d709294187114282 --- /dev/null +++ b/assets/scene_usds/ebench/teleop_tasks/install_gear/merge_usd/0009/Materials/Material__361.mdl @@ -0,0 +1,71 @@ +///\authors: Auto-generated by vray_to_mdl_export.ms script. +///\description: Translated VRay material. + +mdl 1.6; + +// Import +import ::anno::*; +import ::base::transform_coordinate; +import ::base::rotation_translation_scale; +import ::base::file_texture; +import ::base::mono_mode; +import ::base::texture_coordinate_info; +import ::base::texture_return; +import ::state::normal; +import ::state::texture_coordinate; +import ::state::texture_tangent_u; +import ::state::texture_tangent_v; +import ::tex::gamma_mode; +import ::tex::wrap_mode; +import templates::ad_3dsmax_materials::*; +import templates::ad_3dsmax_maps::*; +import templates::vray_materials::*; +import templates::vray_maps::*; + +// Body +export material Material__361() +[[ + anno::display_name("Material__361") +]] += ::templates::vray_materials::VRayMtl( + Diffuse : color(0.74902,0.74902,0.74902), + diffuse_roughness : 0.0f, + Reflection : color(0.67451,0.67451,0.67451), + reflection_glossiness : 0.8f, + reflection_fresnel : true, + reflection_ior : 1.6f, + reflection_lockIOR : true, + invert_reflection_ior : false, + reflection_metalness : 0.0f, + Refraction : color(0.0,0.0,0.0), + refraction_glossiness : 1.0f, + refraction_ior : 1.6f, + invert_refraction_ior : false, + refraction_dispersion_on : false, + refraction_dispersion : 50.0f, + refraction_fogColor : color(1.0,1.0,1.0), + refraction_fogBias : 0.0f, + refraction_fogMult : 1.0f, + translucency_on : ::templates::vray_materials::translucency_none, + translucency_scatterCoeff : 0.0f, + translucency_fbCoeff : 1.0f, + translucency_color : color(1.0,1.0,1.0), + self_illumination : color(0.0,0.0,0.0), + self_illumination_multiplier : 1.0f, + coat_amount : 0.0f, + coat_color : color(1.0,1.0,1.0), + coat_glossiness : 1.0f, + coat_ior : 1.6f, + invert_coat_ior : false, + coat_bump_lock : false, + sheen_color : color(0.0,0.0,0.0), + sheen_glossiness : 0.8f, + brdf_type : ::templates::vray_materials::brdf_blinn, + brdf_useRoughness : ::templates::vray_materials::brdf_glossiness, + anisotropy : 0.0f, + anisotropy_rotation : 0.0f, + anisotropy_channel : 1, + texmap_opacity : 1.0f +); + + diff --git a/assets/scene_usds/ebench/teleop_tasks/install_gear/merge_usd/0009/Materials/Material__37.mdl b/assets/scene_usds/ebench/teleop_tasks/install_gear/merge_usd/0009/Materials/Material__37.mdl new file mode 100644 index 0000000000000000000000000000000000000000..22160714223b5a731307660f5a2010f571b504e2 --- /dev/null +++ b/assets/scene_usds/ebench/teleop_tasks/install_gear/merge_usd/0009/Materials/Material__37.mdl @@ -0,0 +1,71 @@ +///\authors: Auto-generated by vray_to_mdl_export.ms script. +///\description: Translated VRay material. + +mdl 1.6; + +// Import +import ::anno::*; +import ::base::transform_coordinate; +import ::base::rotation_translation_scale; +import ::base::file_texture; +import ::base::mono_mode; +import ::base::texture_coordinate_info; +import ::base::texture_return; +import ::state::normal; +import ::state::texture_coordinate; +import ::state::texture_tangent_u; +import ::state::texture_tangent_v; +import ::tex::gamma_mode; +import ::tex::wrap_mode; +import templates::ad_3dsmax_materials::*; +import templates::ad_3dsmax_maps::*; +import templates::vray_materials::*; +import templates::vray_maps::*; + +// Body +export material Material__37() +[[ + anno::display_name("Material__37") +]] += ::templates::vray_materials::VRayMtl( + Diffuse : color(0.368627,0.368627,0.368627), + diffuse_roughness : 0.0f, + Reflection : color(0.901961,0.901961,0.901961), + reflection_glossiness : 0.6f, + reflection_fresnel : false, + reflection_ior : 1.6f, + reflection_lockIOR : true, + invert_reflection_ior : false, + reflection_metalness : 0.0f, + Refraction : color(0.0,0.0,0.0), + refraction_glossiness : 1.0f, + refraction_ior : 1.6f, + invert_refraction_ior : false, + refraction_dispersion_on : false, + refraction_dispersion : 50.0f, + refraction_fogColor : color(1.0,1.0,1.0), + refraction_fogBias : 0.0f, + refraction_fogMult : 1.0f, + translucency_on : ::templates::vray_materials::translucency_none, + translucency_scatterCoeff : 0.0f, + translucency_fbCoeff : 1.0f, + translucency_color : color(1.0,1.0,1.0), + self_illumination : color(0.0,0.0,0.0), + self_illumination_multiplier : 1.0f, + coat_amount : 0.0f, + coat_color : color(1.0,1.0,1.0), + coat_glossiness : 1.0f, + coat_ior : 1.6f, + invert_coat_ior : false, + coat_bump_lock : false, + sheen_color : color(0.0,0.0,0.0), + sheen_glossiness : 0.8f, + brdf_type : ::templates::vray_materials::brdf_ward, + brdf_useRoughness : ::templates::vray_materials::brdf_glossiness, + anisotropy : 0.4f, + anisotropy_rotation : 0.0f, + anisotropy_channel : 1, + texmap_opacity : 1.0f +); + + diff --git a/assets/scene_usds/ebench/teleop_tasks/install_gear/merge_usd/0009/Materials/Material__435060.mdl b/assets/scene_usds/ebench/teleop_tasks/install_gear/merge_usd/0009/Materials/Material__435060.mdl new file mode 100644 index 0000000000000000000000000000000000000000..6b237c01222e58da19fbff7dbe325f6174099d9b --- /dev/null +++ b/assets/scene_usds/ebench/teleop_tasks/install_gear/merge_usd/0009/Materials/Material__435060.mdl @@ -0,0 +1,67 @@ +mdl 1.8; + +import ::state::normal; +import ::OmniPBR::OmniPBR; +import ::anno::author; +import ::anno::description; +import ::anno::display_name; +import ::anno::in_group; +import ::anno::key_words; +import ::anno::version; +import ::base::mono_mode; +import ::tex::gamma_mode; + +export material Material__435060(*) +[[ + anno::display_name("OmniPBR"), + anno::description("OmniPBR Base with support for clear coat, opacity and ORM textures."), + anno::in_group("Base", false), + anno::version(2, 1, 2, ""), + anno::author("NVIDIA CORPORATION"), + anno::key_words(string[]("omni", "PBR", "opacity", "omniverse", "generic")) +]] + = OmniPBR::OmniPBR( + diffuse_color_constant: color(0.5f, 0.5f, 0.5f), + diffuse_texture: texture_2d(), + 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.f, + reflection_roughness_texture_influence: 0.f, + reflectionroughness_texture: texture_2d(), + metallic_constant: 0.f, + metallic_texture_influence: 0.f, + metallic_texture: texture_2d(), + specular_level: 0.5f, + enable_ORM_texture: false, + ORM_texture: texture_2d(), + ao_to_diffuse: 0.f, + ao_texture: texture_2d(), + enable_emission: true, + emissive_color: color(0.f, 0.f, 0.f), + emissive_color_texture: texture_2d(), + emissive_mask_texture: texture_2d(), + emissive_intensity: 3250.f, + enable_opacity: false, + opacity_texture: texture_2d(), + opacity_constant: 1.f, + enable_opacity_texture: false, + opacity_mode: base::mono_average, + opacity_threshold: 0.00100000005f, + geometry_normal_roughness_strength: 1.f, + bump_factor: 0.300000012f, + 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)); diff --git a/assets/scene_usds/ebench/teleop_tasks/install_gear/merge_usd/0009/Materials/Material__435072.mdl b/assets/scene_usds/ebench/teleop_tasks/install_gear/merge_usd/0009/Materials/Material__435072.mdl new file mode 100644 index 0000000000000000000000000000000000000000..9b1b8fe60259df559661c798338cb68f58b6211e --- /dev/null +++ b/assets/scene_usds/ebench/teleop_tasks/install_gear/merge_usd/0009/Materials/Material__435072.mdl @@ -0,0 +1,67 @@ +mdl 1.8; + +import ::state::normal; +import ::OmniPBR::OmniPBR; +import ::anno::author; +import ::anno::description; +import ::anno::display_name; +import ::anno::in_group; +import ::anno::key_words; +import ::anno::version; +import ::base::mono_mode; +import ::tex::gamma_mode; + +export material Material__435072(*) +[[ + anno::display_name("OmniPBR"), + anno::description("OmniPBR Base with support for clear coat, opacity and ORM textures."), + anno::in_group("Base", false), + anno::version(2, 1, 2, ""), + anno::author("NVIDIA CORPORATION"), + anno::key_words(string[]("omni", "PBR", "opacity", "omniverse", "generic")) +]] + = OmniPBR::OmniPBR( + diffuse_color_constant: color(0.5f, 0.5f, 0.5f), + diffuse_texture: texture_2d(), + 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.f, + reflection_roughness_texture_influence: 0.f, + reflectionroughness_texture: texture_2d(), + metallic_constant: 0.f, + metallic_texture_influence: 0.f, + metallic_texture: texture_2d(), + specular_level: 0.5f, + enable_ORM_texture: false, + ORM_texture: texture_2d(), + ao_to_diffuse: 0.f, + ao_texture: texture_2d(), + enable_emission: true, + emissive_color: color(0.f, 0.f, 0.f), + emissive_color_texture: texture_2d(), + emissive_mask_texture: texture_2d(), + emissive_intensity: 3250.f, + enable_opacity: false, + opacity_texture: texture_2d(), + opacity_constant: 1.f, + enable_opacity_texture: false, + opacity_mode: base::mono_average, + opacity_threshold: 0.00100000005f, + geometry_normal_roughness_strength: 1.f, + bump_factor: 0.300000012f, + 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)); diff --git a/assets/scene_usds/ebench/teleop_tasks/install_gear/merge_usd/0009/Materials/Red_Plastic.mdl b/assets/scene_usds/ebench/teleop_tasks/install_gear/merge_usd/0009/Materials/Red_Plastic.mdl new file mode 100644 index 0000000000000000000000000000000000000000..351b9b012cfdba7a470cb71aa8dda67f11efadab --- /dev/null +++ b/assets/scene_usds/ebench/teleop_tasks/install_gear/merge_usd/0009/Materials/Red_Plastic.mdl @@ -0,0 +1,104 @@ +///\authors: Auto-generated by vray_to_mdl_export.ms script. +///\description: Translated VRay material. + +mdl 1.6; + +// Import +import ::anno::*; +import ::base::transform_coordinate; +import ::base::rotation_translation_scale; +import ::base::file_texture; +import ::base::mono_mode; +import ::base::texture_coordinate_info; +import ::base::texture_return; +import ::state::normal; +import ::state::texture_coordinate; +import ::state::texture_tangent_u; +import ::state::texture_tangent_v; +import ::tex::gamma_mode; +import ::tex::wrap_mode; +import templates::ad_3dsmax_materials::*; +import templates::ad_3dsmax_maps::*; +import templates::vray_materials::*; +import templates::vray_maps::*; + +// Body +export material Red_Plastic() +[[ + anno::display_name("Red_Plastic") +]] += ::templates::vray_materials::VRayMtl( + Diffuse : ::templates::ad_3dsmax_maps::ad_3dsmax_bitmap( + filename : texture_2d("./Red_Plastic/13313.jpg", ::tex::gamma_srgb), + cliph : 1.0f, + clipu : 0.0f, + clipv : 0.0f, + clipw : 1.0f, + mapChannel : 1, + U_angle : 0.0f, + U_Mirror : false, + U_Offset : 0.0f, + U_Tile : true, + U_Tiling : 1.0f, + UVW_Type : 0, + V_angle : 0.0f, + V_Mirror : false, + V_Offset : 0.0f, + V_Tile : true, + V_Tiling : 1.0f, + W_angle : 0.0f, + alphaFromRGB : false, + bump_amount : 1.0f, + clamp : false, + invert : false, + output_amount : 1.0f, + rgb_level : 1.0f, + rgb_offset : 0.0f + ).tint, + diffuse_roughness : 0.0f, + Reflection : ::templates::ad_3dsmax_maps::ad_3dsmax_falloff( + color1 : base::texture_return(tint:color(0.00784314,0.0,0.0), mono:1), + color2 : base::texture_return(tint:color(0.796079,0.12549,0.12549), mono:1), + falloff_type : ::templates::ad_3dsmax_maps::Perpendicular_Parallel, + falloff_direction : ::templates::ad_3dsmax_maps::View, + nearDistance : 0.0f, + farDistance : 100.0f + ).tint, + reflection_glossiness : 0.95f, + reflection_fresnel : false, + reflection_ior : 1.6f, + reflection_lockIOR : true, + invert_reflection_ior : false, + reflection_metalness : 0.0f, + Refraction : color(0.0,0.0,0.0), + refraction_glossiness : 1.0f, + refraction_ior : 1.6f, + invert_refraction_ior : false, + refraction_dispersion_on : false, + refraction_dispersion : 50.0f, + refraction_fogColor : color(1.0,1.0,1.0), + refraction_fogBias : 0.0f, + refraction_fogMult : 1.0f, + translucency_on : ::templates::vray_materials::translucency_none, + translucency_scatterCoeff : 0.0f, + translucency_fbCoeff : 1.0f, + translucency_color : color(1.0,1.0,1.0), + self_illumination : color(0.0,0.0,0.0), + self_illumination_multiplier : 1.0f, + coat_amount : 0.0f, + coat_color : color(1.0,1.0,1.0), + coat_glossiness : 1.0f, + coat_ior : 1.6f, + invert_coat_ior : false, + coat_bump_lock : false, + sheen_color : color(0.0,0.0,0.0), + sheen_glossiness : 0.8f, + brdf_type : ::templates::vray_materials::brdf_phong, + brdf_useRoughness : ::templates::vray_materials::brdf_glossiness, + anisotropy : 0.0f, + anisotropy_rotation : 0.0f, + anisotropy_channel : 1, + texmap_opacity : 1.0f +); + + diff --git a/assets/scene_usds/ebench/teleop_tasks/install_gear/merge_usd/0009/Materials/Rubber.mdl b/assets/scene_usds/ebench/teleop_tasks/install_gear/merge_usd/0009/Materials/Rubber.mdl new file mode 100644 index 0000000000000000000000000000000000000000..8e2ce23d72ad9b2f3566f352fcbb0e9c20a29ebf --- /dev/null +++ b/assets/scene_usds/ebench/teleop_tasks/install_gear/merge_usd/0009/Materials/Rubber.mdl @@ -0,0 +1,97 @@ +///\authors: Auto-generated by vray_to_mdl_export.ms script. +///\description: Translated VRay material. + +mdl 1.6; + +// Import +import ::anno::*; +import ::base::transform_coordinate; +import ::base::rotation_translation_scale; +import ::base::file_texture; +import ::base::mono_mode; +import ::base::texture_coordinate_info; +import ::base::texture_return; +import ::state::normal; +import ::state::texture_coordinate; +import ::state::texture_tangent_u; +import ::state::texture_tangent_v; +import ::tex::gamma_mode; +import ::tex::wrap_mode; +import templates::ad_3dsmax_materials::*; +import templates::ad_3dsmax_maps::*; +import templates::vray_materials::*; +import templates::vray_maps::*; + +// Body +export material Rubber() +[[ + anno::display_name("Rubber") +]] += ::templates::vray_materials::VRayMtl( + Diffuse : ::templates::ad_3dsmax_maps::ad_3dsmax_bitmap( + filename : texture_2d("./Rubber/13313.jpg", ::tex::gamma_srgb), + cliph : 1.0f, + clipu : 0.0f, + clipv : 0.0f, + clipw : 1.0f, + mapChannel : 1, + U_angle : 0.0f, + U_Mirror : false, + U_Offset : 0.0f, + U_Tile : true, + U_Tiling : 1.0f, + UVW_Type : 0, + V_angle : 0.0f, + V_Mirror : false, + V_Offset : 0.0f, + V_Tile : true, + V_Tiling : 1.0f, + W_angle : 0.0f, + alphaFromRGB : false, + bump_amount : 1.0f, + clamp : false, + invert : false, + output_amount : 1.0f, + rgb_level : 1.0f, + rgb_offset : 0.0f + ).tint, + diffuse_roughness : 0.0f, + Reflection : color(0.0980392,0.0980392,0.0980392), + reflection_glossiness : 0.7f, + reflection_fresnel : false, + reflection_ior : 1.6f, + reflection_lockIOR : true, + invert_reflection_ior : false, + reflection_metalness : 0.0f, + Refraction : color(0.0,0.0,0.0), + refraction_glossiness : 1.0f, + refraction_ior : 1.6f, + invert_refraction_ior : false, + refraction_dispersion_on : false, + refraction_dispersion : 50.0f, + refraction_fogColor : color(1.0,1.0,1.0), + refraction_fogBias : 0.0f, + refraction_fogMult : 1.0f, + translucency_on : ::templates::vray_materials::translucency_none, + translucency_scatterCoeff : 0.0f, + translucency_fbCoeff : 1.0f, + translucency_color : color(1.0,1.0,1.0), + self_illumination : color(0.0,0.0,0.0), + self_illumination_multiplier : 1.0f, + coat_amount : 0.0f, + coat_color : color(1.0,1.0,1.0), + coat_glossiness : 1.0f, + coat_ior : 1.6f, + invert_coat_ior : false, + coat_bump_lock : false, + sheen_color : color(0.0,0.0,0.0), + sheen_glossiness : 0.8f, + brdf_type : ::templates::vray_materials::brdf_ward, + brdf_useRoughness : ::templates::vray_materials::brdf_glossiness, + anisotropy : 0.0f, + anisotropy_rotation : 0.0f, + anisotropy_channel : 1, + texmap_opacity : 1.0f +); + + diff --git a/assets/scene_usds/ebench/teleop_tasks/install_gear/merge_usd/0009/Materials/Steel.mdl b/assets/scene_usds/ebench/teleop_tasks/install_gear/merge_usd/0009/Materials/Steel.mdl new file mode 100644 index 0000000000000000000000000000000000000000..b03b43f3b59a98083740f21669c5c48d875cd189 --- /dev/null +++ b/assets/scene_usds/ebench/teleop_tasks/install_gear/merge_usd/0009/Materials/Steel.mdl @@ -0,0 +1,97 @@ +///\authors: Auto-generated by vray_to_mdl_export.ms script. +///\description: Translated VRay material. + +mdl 1.6; + +// Import +import ::anno::*; +import ::base::transform_coordinate; +import ::base::rotation_translation_scale; +import ::base::file_texture; +import ::base::mono_mode; +import ::base::texture_coordinate_info; +import ::base::texture_return; +import ::state::normal; +import ::state::texture_coordinate; +import ::state::texture_tangent_u; +import ::state::texture_tangent_v; +import ::tex::gamma_mode; +import ::tex::wrap_mode; +import templates::ad_3dsmax_materials::*; +import templates::ad_3dsmax_maps::*; +import templates::vray_materials::*; +import templates::vray_maps::*; + +// Body +export material Steel() +[[ + anno::display_name("Steel") +]] += ::templates::vray_materials::VRayMtl( + Diffuse : ::templates::ad_3dsmax_maps::ad_3dsmax_bitmap( + filename : texture_2d("./Steel/13313.jpg", ::tex::gamma_srgb), + cliph : 1.0f, + clipu : 0.0f, + clipv : 0.0f, + clipw : 1.0f, + mapChannel : 1, + U_angle : 0.0f, + U_Mirror : false, + U_Offset : 0.0f, + U_Tile : true, + U_Tiling : 1.0f, + UVW_Type : 0, + V_angle : 0.0f, + V_Mirror : false, + V_Offset : 0.0f, + V_Tile : true, + V_Tiling : 1.0f, + W_angle : 0.0f, + alphaFromRGB : false, + bump_amount : 1.0f, + clamp : false, + invert : false, + output_amount : 1.0f, + rgb_level : 1.0f, + rgb_offset : 0.0f + ).tint, + diffuse_roughness : 0.0f, + Reflection : color(1.0,1.0,1.0), + reflection_glossiness : 0.95f, + reflection_fresnel : true, + reflection_ior : 10.0f, + reflection_lockIOR : false, + invert_reflection_ior : false, + reflection_metalness : 0.0f, + Refraction : color(0.0,0.0,0.0), + refraction_glossiness : 1.0f, + refraction_ior : 1.6f, + invert_refraction_ior : false, + refraction_dispersion_on : false, + refraction_dispersion : 50.0f, + refraction_fogColor : color(1.0,1.0,1.0), + refraction_fogBias : 0.0f, + refraction_fogMult : 1.0f, + translucency_on : ::templates::vray_materials::translucency_none, + translucency_scatterCoeff : 0.0f, + translucency_fbCoeff : 1.0f, + translucency_color : color(1.0,1.0,1.0), + self_illumination : color(0.0,0.0,0.0), + self_illumination_multiplier : 1.0f, + coat_amount : 0.0f, + coat_color : color(1.0,1.0,1.0), + coat_glossiness : 1.0f, + coat_ior : 1.6f, + invert_coat_ior : false, + coat_bump_lock : false, + sheen_color : color(0.0,0.0,0.0), + sheen_glossiness : 0.8f, + brdf_type : ::templates::vray_materials::brdf_ward, + brdf_useRoughness : ::templates::vray_materials::brdf_glossiness, + anisotropy : 0.3f, + anisotropy_rotation : 0.0f, + anisotropy_channel : 1, + texmap_opacity : 1.0f +); + + diff --git a/assets/scene_usds/ebench/teleop_tasks/install_gear/merge_usd/0009/Materials/VR_lambert2.mdl b/assets/scene_usds/ebench/teleop_tasks/install_gear/merge_usd/0009/Materials/VR_lambert2.mdl new file mode 100644 index 0000000000000000000000000000000000000000..d414da7dc5790baa59d8b7f5e1704aedcef1f871 --- /dev/null +++ b/assets/scene_usds/ebench/teleop_tasks/install_gear/merge_usd/0009/Materials/VR_lambert2.mdl @@ -0,0 +1,71 @@ +///\authors: Auto-generated by vray_to_mdl_export.ms script. +///\description: Translated VRay material. + +mdl 1.6; + +// Import +import ::anno::*; +import ::base::transform_coordinate; +import ::base::rotation_translation_scale; +import ::base::file_texture; +import ::base::mono_mode; +import ::base::texture_coordinate_info; +import ::base::texture_return; +import ::state::normal; +import ::state::texture_coordinate; +import ::state::texture_tangent_u; +import ::state::texture_tangent_v; +import ::tex::gamma_mode; +import ::tex::wrap_mode; +import templates::ad_3dsmax_materials::*; +import templates::ad_3dsmax_maps::*; +import templates::vray_materials::*; +import templates::vray_maps::*; + +// Body +export material VR_lambert2() +[[ + anno::display_name("VR_lambert2") +]] += ::templates::vray_materials::VRayMtl( + Diffuse : color(0.952941,0.952941,0.952941), + diffuse_roughness : 0.0f, + Reflection : color(0.235294,0.235294,0.235294), + reflection_glossiness : 0.9f, + reflection_fresnel : false, + reflection_ior : 1.6f, + reflection_lockIOR : true, + invert_reflection_ior : false, + reflection_metalness : 0.0f, + Refraction : color(0.0,0.0,0.0), + refraction_glossiness : 1.0f, + refraction_ior : 1.6f, + invert_refraction_ior : false, + refraction_dispersion_on : false, + refraction_dispersion : 50.0f, + refraction_fogColor : color(1.0,1.0,1.0), + refraction_fogBias : 0.0f, + refraction_fogMult : 1.0f, + translucency_on : ::templates::vray_materials::translucency_none, + translucency_scatterCoeff : 0.0f, + translucency_fbCoeff : 1.0f, + translucency_color : color(1.0,1.0,1.0), + self_illumination : color(0.0,0.0,0.0), + self_illumination_multiplier : 1.0f, + coat_amount : 0.0f, + coat_color : color(1.0,1.0,1.0), + coat_glossiness : 1.0f, + coat_ior : 1.6f, + invert_coat_ior : false, + coat_bump_lock : false, + sheen_color : color(0.0,0.0,0.0), + sheen_glossiness : 0.8f, + brdf_type : ::templates::vray_materials::brdf_phong, + brdf_useRoughness : ::templates::vray_materials::brdf_glossiness, + anisotropy : 0.0f, + anisotropy_rotation : 0.0f, + anisotropy_channel : 1, + texmap_opacity : 1.0f +); + + diff --git a/assets/scene_usds/ebench/teleop_tasks/install_gear/merge_usd/0009/Materials/White_paint_2.mdl b/assets/scene_usds/ebench/teleop_tasks/install_gear/merge_usd/0009/Materials/White_paint_2.mdl new file mode 100644 index 0000000000000000000000000000000000000000..3c37e19632ffcd106971133fc760983b1d0c9e72 --- /dev/null +++ b/assets/scene_usds/ebench/teleop_tasks/install_gear/merge_usd/0009/Materials/White_paint_2.mdl @@ -0,0 +1,97 @@ +///\authors: Auto-generated by vray_to_mdl_export.ms script. +///\description: Translated VRay material. + +mdl 1.6; + +// Import +import ::anno::*; +import ::base::transform_coordinate; +import ::base::rotation_translation_scale; +import ::base::file_texture; +import ::base::mono_mode; +import ::base::texture_coordinate_info; +import ::base::texture_return; +import ::state::normal; +import ::state::texture_coordinate; +import ::state::texture_tangent_u; +import ::state::texture_tangent_v; +import ::tex::gamma_mode; +import ::tex::wrap_mode; +import templates::ad_3dsmax_materials::*; +import templates::ad_3dsmax_maps::*; +import templates::vray_materials::*; +import templates::vray_maps::*; + +// Body +export material White_paint_2() +[[ + anno::display_name("White_paint_2") +]] += ::templates::vray_materials::VRayMtl( + Diffuse : ::templates::ad_3dsmax_maps::ad_3dsmax_bitmap( + filename : texture_2d("./White_paint_2/13313.jpg", ::tex::gamma_srgb), + cliph : 1.0f, + clipu : 0.0f, + clipv : 0.0f, + clipw : 1.0f, + mapChannel : 1, + U_angle : 0.0f, + U_Mirror : false, + U_Offset : 0.0f, + U_Tile : true, + U_Tiling : 1.0f, + UVW_Type : 0, + V_angle : 0.0f, + V_Mirror : false, + V_Offset : 0.0f, + V_Tile : true, + V_Tiling : 1.0f, + W_angle : 0.0f, + alphaFromRGB : false, + bump_amount : 1.0f, + clamp : false, + invert : false, + output_amount : 1.0f, + rgb_level : 1.0f, + rgb_offset : 0.0f + ).tint, + diffuse_roughness : 0.0f, + Reflection : color(0.027451,0.027451,0.027451), + reflection_glossiness : 0.9f, + reflection_fresnel : false, + reflection_ior : 1.6f, + reflection_lockIOR : true, + invert_reflection_ior : false, + reflection_metalness : 0.0f, + Refraction : color(0.0,0.0,0.0), + refraction_glossiness : 1.0f, + refraction_ior : 1.6f, + invert_refraction_ior : false, + refraction_dispersion_on : false, + refraction_dispersion : 50.0f, + refraction_fogColor : color(1.0,1.0,1.0), + refraction_fogBias : 0.0f, + refraction_fogMult : 1.0f, + translucency_on : ::templates::vray_materials::translucency_none, + translucency_scatterCoeff : 0.0f, + translucency_fbCoeff : 1.0f, + translucency_color : color(1.0,1.0,1.0), + self_illumination : color(0.0,0.0,0.0), + self_illumination_multiplier : 1.0f, + coat_amount : 0.0f, + coat_color : color(1.0,1.0,1.0), + coat_glossiness : 1.0f, + coat_ior : 1.6f, + invert_coat_ior : false, + coat_bump_lock : false, + sheen_color : color(0.0,0.0,0.0), + sheen_glossiness : 0.8f, + brdf_type : ::templates::vray_materials::brdf_blinn, + brdf_useRoughness : ::templates::vray_materials::brdf_glossiness, + anisotropy : 0.0f, + anisotropy_rotation : 0.0f, + anisotropy_channel : 1, + texmap_opacity : 1.0f +); + + diff --git a/assets/scene_usds/ebench/teleop_tasks/install_gear/merge_usd/0009/Materials/a01.mdl b/assets/scene_usds/ebench/teleop_tasks/install_gear/merge_usd/0009/Materials/a01.mdl new file mode 100644 index 0000000000000000000000000000000000000000..a25d08e94a5586469ce8087ce3c949e355ae2b85 --- /dev/null +++ b/assets/scene_usds/ebench/teleop_tasks/install_gear/merge_usd/0009/Materials/a01.mdl @@ -0,0 +1,71 @@ +///\authors: Auto-generated by vray_to_mdl_export.ms script. +///\description: Translated VRay material. + +mdl 1.6; + +// Import +import ::anno::*; +import ::base::transform_coordinate; +import ::base::rotation_translation_scale; +import ::base::file_texture; +import ::base::mono_mode; +import ::base::texture_coordinate_info; +import ::base::texture_return; +import ::state::normal; +import ::state::texture_coordinate; +import ::state::texture_tangent_u; +import ::state::texture_tangent_v; +import ::tex::gamma_mode; +import ::tex::wrap_mode; +import templates::ad_3dsmax_materials::*; +import templates::ad_3dsmax_maps::*; +import templates::vray_materials::*; +import templates::vray_maps::*; + +// Body +export material a01() +[[ + anno::display_name("_01") +]] += ::templates::vray_materials::VRayMtl( + Diffuse : color(0.0666667,0.0588235,0.0588235), + diffuse_roughness : 0.0f, + Reflection : color(0.67451,0.67451,0.67451), + reflection_glossiness : 0.77f, + reflection_fresnel : true, + reflection_ior : 1.6f, + reflection_lockIOR : true, + invert_reflection_ior : false, + reflection_metalness : 0.0f, + Refraction : color(0.0,0.0,0.0), + refraction_glossiness : 1.0f, + refraction_ior : 1.6f, + invert_refraction_ior : false, + refraction_dispersion_on : false, + refraction_dispersion : 50.0f, + refraction_fogColor : color(1.0,1.0,1.0), + refraction_fogBias : 0.0f, + refraction_fogMult : 1.0f, + translucency_on : ::templates::vray_materials::translucency_none, + translucency_scatterCoeff : 0.0f, + translucency_fbCoeff : 1.0f, + translucency_color : color(1.0,1.0,1.0), + self_illumination : color(0.0,0.0,0.0), + self_illumination_multiplier : 1.0f, + coat_amount : 0.0f, + coat_color : color(1.0,1.0,1.0), + coat_glossiness : 1.0f, + coat_ior : 1.6f, + invert_coat_ior : false, + coat_bump_lock : false, + sheen_color : color(0.0,0.0,0.0), + sheen_glossiness : 0.8f, + brdf_type : ::templates::vray_materials::brdf_blinn, + brdf_useRoughness : ::templates::vray_materials::brdf_glossiness, + anisotropy : 0.0f, + anisotropy_rotation : 0.0f, + anisotropy_channel : 1, + texmap_opacity : 1.0f +); + + diff --git a/assets/scene_usds/ebench/teleop_tasks/install_gear/merge_usd/0009/Materials/a02____________123.mdl b/assets/scene_usds/ebench/teleop_tasks/install_gear/merge_usd/0009/Materials/a02____________123.mdl new file mode 100644 index 0000000000000000000000000000000000000000..e63bf51c28f9c5366fd5183c7c249bbe0dc4bbb6 --- /dev/null +++ b/assets/scene_usds/ebench/teleop_tasks/install_gear/merge_usd/0009/Materials/a02____________123.mdl @@ -0,0 +1,71 @@ +///\authors: Auto-generated by vray_to_mdl_export.ms script. +///\description: Translated VRay material. + +mdl 1.6; + +// Import +import ::anno::*; +import ::base::transform_coordinate; +import ::base::rotation_translation_scale; +import ::base::file_texture; +import ::base::mono_mode; +import ::base::texture_coordinate_info; +import ::base::texture_return; +import ::state::normal; +import ::state::texture_coordinate; +import ::state::texture_tangent_u; +import ::state::texture_tangent_v; +import ::tex::gamma_mode; +import ::tex::wrap_mode; +import templates::ad_3dsmax_materials::*; +import templates::ad_3dsmax_maps::*; +import templates::vray_materials::*; +import templates::vray_maps::*; + +// Body +export material a02____________123() +[[ + anno::display_name("_02____________123") +]] += ::templates::vray_materials::VRayMtl( + Diffuse : color(0.145098,0.145098,0.145098), + diffuse_roughness : 0.0f, + Reflection : color(0.301961,0.301961,0.301961), + reflection_glossiness : 0.85f, + reflection_fresnel : false, + reflection_ior : 1.6f, + reflection_lockIOR : true, + invert_reflection_ior : false, + reflection_metalness : 0.0f, + Refraction : color(0.0,0.0,0.0), + refraction_glossiness : 1.0f, + refraction_ior : 1.6f, + invert_refraction_ior : false, + refraction_dispersion_on : false, + refraction_dispersion : 50.0f, + refraction_fogColor : color(1.0,1.0,1.0), + refraction_fogBias : 0.0f, + refraction_fogMult : 1.0f, + translucency_on : ::templates::vray_materials::translucency_none, + translucency_scatterCoeff : 0.0f, + translucency_fbCoeff : 1.0f, + translucency_color : color(1.0,1.0,1.0), + self_illumination : color(0.0,0.0,0.0), + self_illumination_multiplier : 1.0f, + coat_amount : 0.0f, + coat_color : color(1.0,1.0,1.0), + coat_glossiness : 1.0f, + coat_ior : 1.6f, + invert_coat_ior : false, + coat_bump_lock : false, + sheen_color : color(0.0,0.0,0.0), + sheen_glossiness : 0.8f, + brdf_type : ::templates::vray_materials::brdf_ward, + brdf_useRoughness : ::templates::vray_materials::brdf_glossiness, + anisotropy : -0.5f, + anisotropy_rotation : 0.0f, + anisotropy_channel : 1, + texmap_opacity : 1.0f +); + + diff --git a/assets/scene_usds/ebench/teleop_tasks/install_gear/merge_usd/0009/Materials/a06___Default.mdl b/assets/scene_usds/ebench/teleop_tasks/install_gear/merge_usd/0009/Materials/a06___Default.mdl new file mode 100644 index 0000000000000000000000000000000000000000..fe6057f88b83e1dd73bfd1afcd1da6862f3ea82a --- /dev/null +++ b/assets/scene_usds/ebench/teleop_tasks/install_gear/merge_usd/0009/Materials/a06___Default.mdl @@ -0,0 +1,78 @@ +///\authors: Auto-generated by vray_to_mdl_export.ms script. +///\description: Translated VRay material. + +mdl 1.6; + +// Import +import ::anno::*; +import ::base::transform_coordinate; +import ::base::rotation_translation_scale; +import ::base::file_texture; +import ::base::mono_mode; +import ::base::texture_coordinate_info; +import ::base::texture_return; +import ::state::normal; +import ::state::texture_coordinate; +import ::state::texture_tangent_u; +import ::state::texture_tangent_v; +import ::tex::gamma_mode; +import ::tex::wrap_mode; +import templates::ad_3dsmax_materials::*; +import templates::ad_3dsmax_maps::*; +import templates::vray_materials::*; +import templates::vray_maps::*; + +// Body +export material a06___Default() +[[ + anno::display_name("_06___Default") +]] += ::templates::vray_materials::VRayMtl( + Diffuse : color(0.862745,0.862745,0.862745), + diffuse_roughness : 0.0f, + Reflection : ::templates::ad_3dsmax_maps::ad_3dsmax_falloff( + color1 : base::texture_return(tint:color(0.0980392,0.0980392,0.0980392), mono:1), + color2 : base::texture_return(tint:color(0.34902,0.34902,0.34902), mono:1), + falloff_type : ::templates::ad_3dsmax_maps::Fresnel, + falloff_direction : ::templates::ad_3dsmax_maps::View, + nearDistance : 0.0f, + farDistance : 100.0f + ).tint, + reflection_glossiness : 0.55f, + reflection_fresnel : false, + reflection_ior : 1.6f, + reflection_lockIOR : true, + invert_reflection_ior : false, + reflection_metalness : 0.0f, + Refraction : color(0.0,0.0,0.0), + refraction_glossiness : 1.0f, + refraction_ior : 1.6f, + invert_refraction_ior : false, + refraction_dispersion_on : false, + refraction_dispersion : 50.0f, + refraction_fogColor : color(1.0,1.0,1.0), + refraction_fogBias : 0.0f, + refraction_fogMult : 1.0f, + translucency_on : ::templates::vray_materials::translucency_none, + translucency_scatterCoeff : 0.0f, + translucency_fbCoeff : 1.0f, + translucency_color : color(1.0,1.0,1.0), + self_illumination : color(0.0,0.0,0.0), + self_illumination_multiplier : 1.0f, + coat_amount : 0.0f, + coat_color : color(1.0,1.0,1.0), + coat_glossiness : 1.0f, + coat_ior : 1.6f, + invert_coat_ior : false, + coat_bump_lock : false, + sheen_color : color(0.0,0.0,0.0), + sheen_glossiness : 0.8f, + brdf_type : ::templates::vray_materials::brdf_blinn, + brdf_useRoughness : ::templates::vray_materials::brdf_glossiness, + anisotropy : 0.0f, + anisotropy_rotation : 0.0f, + anisotropy_channel : 1, + texmap_opacity : 1.0f +); + + diff --git a/assets/scene_usds/ebench/teleop_tasks/install_gear/merge_usd/0009/Materials/a13340.mdl b/assets/scene_usds/ebench/teleop_tasks/install_gear/merge_usd/0009/Materials/a13340.mdl new file mode 100644 index 0000000000000000000000000000000000000000..2a05164030b401c7841c059b8a931c71568225e6 --- /dev/null +++ b/assets/scene_usds/ebench/teleop_tasks/install_gear/merge_usd/0009/Materials/a13340.mdl @@ -0,0 +1,67 @@ +mdl 1.8; + +import ::state::normal; +import ::OmniPBR::OmniPBR; +import ::anno::author; +import ::anno::description; +import ::anno::display_name; +import ::anno::in_group; +import ::anno::key_words; +import ::anno::version; +import ::base::mono_mode; +import ::tex::gamma_mode; + +export material a13340(*) +[[ + anno::display_name("OmniPBR"), + anno::description("OmniPBR Base with support for clear coat, opacity and ORM textures."), + anno::in_group("Base", false), + anno::version(2, 1, 2, ""), + anno::author("NVIDIA CORPORATION"), + anno::key_words(string[]("omni", "PBR", "opacity", "omniverse", "generic")) +]] + = OmniPBR::OmniPBR( + diffuse_color_constant: color(0.5f, 0.5f, 0.5f), + diffuse_texture: texture_2d(), + 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.f, + reflection_roughness_texture_influence: 0.f, + reflectionroughness_texture: texture_2d(), + metallic_constant: 0.f, + metallic_texture_influence: 0.f, + metallic_texture: texture_2d(), + specular_level: 0.5f, + enable_ORM_texture: false, + ORM_texture: texture_2d(), + ao_to_diffuse: 0.f, + ao_texture: texture_2d(), + enable_emission: true, + emissive_color: color(0.f, 0.f, 0.f), + emissive_color_texture: texture_2d(), + emissive_mask_texture: texture_2d(), + emissive_intensity: 3250.f, + enable_opacity: false, + opacity_texture: texture_2d(), + opacity_constant: 1.f, + enable_opacity_texture: false, + opacity_mode: base::mono_average, + opacity_threshold: 0.00100000005f, + geometry_normal_roughness_strength: 1.f, + bump_factor: 0.300000012f, + 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)); diff --git a/assets/scene_usds/ebench/teleop_tasks/install_gear/merge_usd/0009/Materials/a13341.mdl b/assets/scene_usds/ebench/teleop_tasks/install_gear/merge_usd/0009/Materials/a13341.mdl new file mode 100644 index 0000000000000000000000000000000000000000..208edac2d9a28929d283f659650e7eb37bbe405d --- /dev/null +++ b/assets/scene_usds/ebench/teleop_tasks/install_gear/merge_usd/0009/Materials/a13341.mdl @@ -0,0 +1,71 @@ +///\authors: Auto-generated by vray_to_mdl_export.ms script. +///\description: Translated VRay material. + +mdl 1.6; + +// Import +import ::anno::*; +import ::base::transform_coordinate; +import ::base::rotation_translation_scale; +import ::base::file_texture; +import ::base::mono_mode; +import ::base::texture_coordinate_info; +import ::base::texture_return; +import ::state::normal; +import ::state::texture_coordinate; +import ::state::texture_tangent_u; +import ::state::texture_tangent_v; +import ::tex::gamma_mode; +import ::tex::wrap_mode; +import templates::ad_3dsmax_materials::*; +import templates::ad_3dsmax_maps::*; +import templates::vray_materials::*; +import templates::vray_maps::*; + +// Body +export material a13341() +[[ + anno::display_name("_13341") +]] += ::templates::vray_materials::VRayMtl( + Diffuse : color(0.803922,0.803922,0.803922), + diffuse_roughness : 0.0f, + Reflection : color(0.301961,0.301961,0.301961), + reflection_glossiness : 0.85f, + reflection_fresnel : false, + reflection_ior : 1.6f, + reflection_lockIOR : true, + invert_reflection_ior : false, + reflection_metalness : 0.0f, + Refraction : color(0.0,0.0,0.0), + refraction_glossiness : 1.0f, + refraction_ior : 1.6f, + invert_refraction_ior : false, + refraction_dispersion_on : false, + refraction_dispersion : 50.0f, + refraction_fogColor : color(1.0,1.0,1.0), + refraction_fogBias : 0.0f, + refraction_fogMult : 1.0f, + translucency_on : ::templates::vray_materials::translucency_none, + translucency_scatterCoeff : 0.0f, + translucency_fbCoeff : 1.0f, + translucency_color : color(1.0,1.0,1.0), + self_illumination : color(0.0,0.0,0.0), + self_illumination_multiplier : 1.0f, + coat_amount : 0.0f, + coat_color : color(1.0,1.0,1.0), + coat_glossiness : 1.0f, + coat_ior : 1.6f, + invert_coat_ior : false, + coat_bump_lock : false, + sheen_color : color(0.0,0.0,0.0), + sheen_glossiness : 0.8f, + brdf_type : ::templates::vray_materials::brdf_phong, + brdf_useRoughness : ::templates::vray_materials::brdf_glossiness, + anisotropy : 0.0f, + anisotropy_rotation : 0.0f, + anisotropy_channel : 1, + texmap_opacity : 1.0f +); + + diff --git a/assets/scene_usds/ebench/teleop_tasks/install_gear/merge_usd/0009/Materials/a13349.mdl b/assets/scene_usds/ebench/teleop_tasks/install_gear/merge_usd/0009/Materials/a13349.mdl new file mode 100644 index 0000000000000000000000000000000000000000..73e9316683482d282e619fe02beb3824028083fe --- /dev/null +++ b/assets/scene_usds/ebench/teleop_tasks/install_gear/merge_usd/0009/Materials/a13349.mdl @@ -0,0 +1,71 @@ +///\authors: Auto-generated by vray_to_mdl_export.ms script. +///\description: Translated VRay material. + +mdl 1.6; + +// Import +import ::anno::*; +import ::base::transform_coordinate; +import ::base::rotation_translation_scale; +import ::base::file_texture; +import ::base::mono_mode; +import ::base::texture_coordinate_info; +import ::base::texture_return; +import ::state::normal; +import ::state::texture_coordinate; +import ::state::texture_tangent_u; +import ::state::texture_tangent_v; +import ::tex::gamma_mode; +import ::tex::wrap_mode; +import templates::ad_3dsmax_materials::*; +import templates::ad_3dsmax_maps::*; +import templates::vray_materials::*; +import templates::vray_maps::*; + +// Body +export material a13349() +[[ + anno::display_name("_13349") +]] += ::templates::vray_materials::VRayMtl( + Diffuse : color(0.501961,0.501961,0.501961), + diffuse_roughness : 0.0f, + Reflection : color(0.196078,0.196078,0.196078), + reflection_glossiness : 1.0f, + reflection_fresnel : false, + reflection_ior : 1.6f, + reflection_lockIOR : true, + invert_reflection_ior : false, + reflection_metalness : 0.0f, + Refraction : color(0.0,0.0,0.0), + refraction_glossiness : 1.0f, + refraction_ior : 1.6f, + invert_refraction_ior : false, + refraction_dispersion_on : false, + refraction_dispersion : 50.0f, + refraction_fogColor : color(1.0,1.0,1.0), + refraction_fogBias : 0.0f, + refraction_fogMult : 1.0f, + translucency_on : ::templates::vray_materials::translucency_none, + translucency_scatterCoeff : 0.0f, + translucency_fbCoeff : 1.0f, + translucency_color : color(1.0,1.0,1.0), + self_illumination : color(0.0,0.0,0.0), + self_illumination_multiplier : 1.0f, + coat_amount : 0.0f, + coat_color : color(1.0,1.0,1.0), + coat_glossiness : 1.0f, + coat_ior : 1.6f, + invert_coat_ior : false, + coat_bump_lock : false, + sheen_color : color(0.0,0.0,0.0), + sheen_glossiness : 0.8f, + brdf_type : ::templates::vray_materials::brdf_blinn, + brdf_useRoughness : ::templates::vray_materials::brdf_glossiness, + anisotropy : 0.0f, + anisotropy_rotation : 0.0f, + anisotropy_channel : 1, + texmap_opacity : 1.0f +); + + diff --git a/assets/scene_usds/ebench/teleop_tasks/install_gear/merge_usd/0009/Materials/a13350.mdl b/assets/scene_usds/ebench/teleop_tasks/install_gear/merge_usd/0009/Materials/a13350.mdl new file mode 100644 index 0000000000000000000000000000000000000000..169b69327d3424e7cd2b146abb7690ec61455cd5 --- /dev/null +++ b/assets/scene_usds/ebench/teleop_tasks/install_gear/merge_usd/0009/Materials/a13350.mdl @@ -0,0 +1,71 @@ +///\authors: Auto-generated by vray_to_mdl_export.ms script. +///\description: Translated VRay material. + +mdl 1.6; + +// Import +import ::anno::*; +import ::base::transform_coordinate; +import ::base::rotation_translation_scale; +import ::base::file_texture; +import ::base::mono_mode; +import ::base::texture_coordinate_info; +import ::base::texture_return; +import ::state::normal; +import ::state::texture_coordinate; +import ::state::texture_tangent_u; +import ::state::texture_tangent_v; +import ::tex::gamma_mode; +import ::tex::wrap_mode; +import templates::ad_3dsmax_materials::*; +import templates::ad_3dsmax_maps::*; +import templates::vray_materials::*; +import templates::vray_maps::*; + +// Body +export material a13350() +[[ + anno::display_name("_13350") +]] += ::templates::vray_materials::VRayMtl( + Diffuse : color(0.223529,0.392157,0.364706), + diffuse_roughness : 0.0f, + Reflection : color(0.0784314,0.0784314,0.0784314), + reflection_glossiness : 0.7f, + reflection_fresnel : true, + reflection_ior : 1.6f, + reflection_lockIOR : true, + invert_reflection_ior : false, + reflection_metalness : 0.0f, + Refraction : color(0.0,0.0,0.0), + refraction_glossiness : 1.0f, + refraction_ior : 1.6f, + invert_refraction_ior : false, + refraction_dispersion_on : false, + refraction_dispersion : 50.0f, + refraction_fogColor : color(1.0,1.0,1.0), + refraction_fogBias : 0.0f, + refraction_fogMult : 1.0f, + translucency_on : ::templates::vray_materials::translucency_none, + translucency_scatterCoeff : 0.0f, + translucency_fbCoeff : 1.0f, + translucency_color : color(1.0,1.0,1.0), + self_illumination : color(0.0,0.0,0.0), + self_illumination_multiplier : 1.0f, + coat_amount : 0.0f, + coat_color : color(1.0,1.0,1.0), + coat_glossiness : 1.0f, + coat_ior : 1.6f, + invert_coat_ior : false, + coat_bump_lock : false, + sheen_color : color(0.0,0.0,0.0), + sheen_glossiness : 0.8f, + brdf_type : ::templates::vray_materials::brdf_blinn, + brdf_useRoughness : ::templates::vray_materials::brdf_glossiness, + anisotropy : 0.0f, + anisotropy_rotation : 0.0f, + anisotropy_channel : 1, + texmap_opacity : 1.0f +); + + diff --git a/assets/scene_usds/ebench/teleop_tasks/install_gear/merge_usd/0009/Materials/a13352.mdl b/assets/scene_usds/ebench/teleop_tasks/install_gear/merge_usd/0009/Materials/a13352.mdl new file mode 100644 index 0000000000000000000000000000000000000000..df4366d1052a1b2ef7f7928ac4c2c9b9a538b41c --- /dev/null +++ b/assets/scene_usds/ebench/teleop_tasks/install_gear/merge_usd/0009/Materials/a13352.mdl @@ -0,0 +1,71 @@ +///\authors: Auto-generated by vray_to_mdl_export.ms script. +///\description: Translated VRay material. + +mdl 1.6; + +// Import +import ::anno::*; +import ::base::transform_coordinate; +import ::base::rotation_translation_scale; +import ::base::file_texture; +import ::base::mono_mode; +import ::base::texture_coordinate_info; +import ::base::texture_return; +import ::state::normal; +import ::state::texture_coordinate; +import ::state::texture_tangent_u; +import ::state::texture_tangent_v; +import ::tex::gamma_mode; +import ::tex::wrap_mode; +import templates::ad_3dsmax_materials::*; +import templates::ad_3dsmax_maps::*; +import templates::vray_materials::*; +import templates::vray_maps::*; + +// Body +export material a13352() +[[ + anno::display_name("_13352") +]] += ::templates::vray_materials::VRayMtl( + Diffuse : color(0.898039,0.901961,0.905882), + diffuse_roughness : 0.0f, + Reflection : color(0.0588235,0.0588235,0.0588235), + reflection_glossiness : 1.0f, + reflection_fresnel : false, + reflection_ior : 1.6f, + reflection_lockIOR : true, + invert_reflection_ior : false, + reflection_metalness : 0.0f, + Refraction : color(0.0,0.0,0.0), + refraction_glossiness : 1.0f, + refraction_ior : 1.6f, + invert_refraction_ior : false, + refraction_dispersion_on : false, + refraction_dispersion : 50.0f, + refraction_fogColor : color(1.0,1.0,1.0), + refraction_fogBias : 0.0f, + refraction_fogMult : 1.0f, + translucency_on : ::templates::vray_materials::translucency_none, + translucency_scatterCoeff : 0.0f, + translucency_fbCoeff : 1.0f, + translucency_color : color(1.0,1.0,1.0), + self_illumination : color(0.0,0.0,0.0), + self_illumination_multiplier : 1.0f, + coat_amount : 0.0f, + coat_color : color(1.0,1.0,1.0), + coat_glossiness : 1.0f, + coat_ior : 1.6f, + invert_coat_ior : false, + coat_bump_lock : false, + sheen_color : color(0.0,0.0,0.0), + sheen_glossiness : 0.8f, + brdf_type : ::templates::vray_materials::brdf_phong, + brdf_useRoughness : ::templates::vray_materials::brdf_glossiness, + anisotropy : 0.0f, + anisotropy_rotation : 0.0f, + anisotropy_channel : 1, + texmap_opacity : 1.0f +); + + diff --git a/assets/scene_usds/ebench/teleop_tasks/install_gear/merge_usd/0009/Materials/a13354.mdl b/assets/scene_usds/ebench/teleop_tasks/install_gear/merge_usd/0009/Materials/a13354.mdl new file mode 100644 index 0000000000000000000000000000000000000000..4355becfbd2778392362573622e492c86dd6f579 --- /dev/null +++ b/assets/scene_usds/ebench/teleop_tasks/install_gear/merge_usd/0009/Materials/a13354.mdl @@ -0,0 +1,71 @@ +///\authors: Auto-generated by vray_to_mdl_export.ms script. +///\description: Translated VRay material. + +mdl 1.6; + +// Import +import ::anno::*; +import ::base::transform_coordinate; +import ::base::rotation_translation_scale; +import ::base::file_texture; +import ::base::mono_mode; +import ::base::texture_coordinate_info; +import ::base::texture_return; +import ::state::normal; +import ::state::texture_coordinate; +import ::state::texture_tangent_u; +import ::state::texture_tangent_v; +import ::tex::gamma_mode; +import ::tex::wrap_mode; +import templates::ad_3dsmax_materials::*; +import templates::ad_3dsmax_maps::*; +import templates::vray_materials::*; +import templates::vray_maps::*; + +// Body +export material a13354() +[[ + anno::display_name("_13354") +]] += ::templates::vray_materials::VRayMtl( + Diffuse : color(0.756863,0.756863,0.756863), + diffuse_roughness : 0.0f, + Reflection : color(0.105882,0.105882,0.105882), + reflection_glossiness : 0.8f, + reflection_fresnel : false, + reflection_ior : 1.6f, + reflection_lockIOR : true, + invert_reflection_ior : false, + reflection_metalness : 0.0f, + Refraction : color(0.0,0.0,0.0), + refraction_glossiness : 1.0f, + refraction_ior : 1.6f, + invert_refraction_ior : false, + refraction_dispersion_on : false, + refraction_dispersion : 50.0f, + refraction_fogColor : color(1.0,1.0,1.0), + refraction_fogBias : 0.0f, + refraction_fogMult : 1.0f, + translucency_on : ::templates::vray_materials::translucency_none, + translucency_scatterCoeff : 0.0f, + translucency_fbCoeff : 1.0f, + translucency_color : color(1.0,1.0,1.0), + self_illumination : color(0.0,0.0,0.0), + self_illumination_multiplier : 1.0f, + coat_amount : 0.0f, + coat_color : color(1.0,1.0,1.0), + coat_glossiness : 1.0f, + coat_ior : 1.6f, + invert_coat_ior : false, + coat_bump_lock : false, + sheen_color : color(0.0,0.0,0.0), + sheen_glossiness : 0.8f, + brdf_type : ::templates::vray_materials::brdf_blinn, + brdf_useRoughness : ::templates::vray_materials::brdf_glossiness, + anisotropy : 0.0f, + anisotropy_rotation : 0.0f, + anisotropy_channel : 1, + texmap_opacity : 1.0f +); + + diff --git a/assets/scene_usds/ebench/teleop_tasks/install_gear/merge_usd/0009/Materials/a13358.mdl b/assets/scene_usds/ebench/teleop_tasks/install_gear/merge_usd/0009/Materials/a13358.mdl new file mode 100644 index 0000000000000000000000000000000000000000..635cdf0af92fb417a9f12e58029680751c87b03e --- /dev/null +++ b/assets/scene_usds/ebench/teleop_tasks/install_gear/merge_usd/0009/Materials/a13358.mdl @@ -0,0 +1,71 @@ +///\authors: Auto-generated by vray_to_mdl_export.ms script. +///\description: Translated VRay material. + +mdl 1.6; + +// Import +import ::anno::*; +import ::base::transform_coordinate; +import ::base::rotation_translation_scale; +import ::base::file_texture; +import ::base::mono_mode; +import ::base::texture_coordinate_info; +import ::base::texture_return; +import ::state::normal; +import ::state::texture_coordinate; +import ::state::texture_tangent_u; +import ::state::texture_tangent_v; +import ::tex::gamma_mode; +import ::tex::wrap_mode; +import templates::ad_3dsmax_materials::*; +import templates::ad_3dsmax_maps::*; +import templates::vray_materials::*; +import templates::vray_maps::*; + +// Body +export material a13358() +[[ + anno::display_name("_13358") +]] += ::templates::vray_materials::VRayMtl( + Diffuse : color(0.5,0.5,0.5), + diffuse_roughness : 0.0f, + Reflection : color(0.0,0.0,0.0), + reflection_glossiness : 1.0f, + reflection_fresnel : false, + reflection_ior : 1.6f, + reflection_lockIOR : true, + invert_reflection_ior : false, + reflection_metalness : 0.0f, + Refraction : color(0.0,0.0,0.0), + refraction_glossiness : 1.0f, + refraction_ior : 1.6f, + invert_refraction_ior : false, + refraction_dispersion_on : false, + refraction_dispersion : 50.0f, + refraction_fogColor : color(1.0,1.0,1.0), + refraction_fogBias : 0.0f, + refraction_fogMult : 1.0f, + translucency_on : ::templates::vray_materials::translucency_none, + translucency_scatterCoeff : 0.0f, + translucency_fbCoeff : 1.0f, + translucency_color : color(1.0,1.0,1.0), + self_illumination : color(0.0,0.0,0.0), + self_illumination_multiplier : 1.0f, + coat_amount : 0.0f, + coat_color : color(1.0,1.0,1.0), + coat_glossiness : 1.0f, + coat_ior : 1.6f, + invert_coat_ior : false, + coat_bump_lock : false, + sheen_color : color(0.0,0.0,0.0), + sheen_glossiness : 0.8f, + brdf_type : ::templates::vray_materials::brdf_blinn, + brdf_useRoughness : ::templates::vray_materials::brdf_glossiness, + anisotropy : 0.0f, + anisotropy_rotation : 0.0f, + anisotropy_channel : 1, + texmap_opacity : 1.0f +); + + diff --git a/assets/scene_usds/ebench/teleop_tasks/install_gear/merge_usd/0009/Materials/a13360.mdl b/assets/scene_usds/ebench/teleop_tasks/install_gear/merge_usd/0009/Materials/a13360.mdl new file mode 100644 index 0000000000000000000000000000000000000000..8f576f5d94a23db638af4261b5d112f36895403a --- /dev/null +++ b/assets/scene_usds/ebench/teleop_tasks/install_gear/merge_usd/0009/Materials/a13360.mdl @@ -0,0 +1,71 @@ +///\authors: Auto-generated by vray_to_mdl_export.ms script. +///\description: Translated VRay material. + +mdl 1.6; + +// Import +import ::anno::*; +import ::base::transform_coordinate; +import ::base::rotation_translation_scale; +import ::base::file_texture; +import ::base::mono_mode; +import ::base::texture_coordinate_info; +import ::base::texture_return; +import ::state::normal; +import ::state::texture_coordinate; +import ::state::texture_tangent_u; +import ::state::texture_tangent_v; +import ::tex::gamma_mode; +import ::tex::wrap_mode; +import templates::ad_3dsmax_materials::*; +import templates::ad_3dsmax_maps::*; +import templates::vray_materials::*; +import templates::vray_maps::*; + +// Body +export material a13360() +[[ + anno::display_name("_13360") +]] += ::templates::vray_materials::VRayMtl( + Diffuse : color(0.815686,0.815686,0.815686), + diffuse_roughness : 0.0f, + Reflection : color(0.0,0.0,0.0), + reflection_glossiness : 0.0f, + reflection_fresnel : false, + reflection_ior : 1.6f, + reflection_lockIOR : true, + invert_reflection_ior : false, + reflection_metalness : 0.0f, + Refraction : color(0.0,0.0,0.0), + refraction_glossiness : 0.0f, + refraction_ior : 1.6f, + invert_refraction_ior : false, + refraction_dispersion_on : false, + refraction_dispersion : 50.0f, + refraction_fogColor : color(1.0,1.0,1.0), + refraction_fogBias : 0.0f, + refraction_fogMult : 1.0f, + translucency_on : ::templates::vray_materials::translucency_none, + translucency_scatterCoeff : 0.0f, + translucency_fbCoeff : 1.0f, + translucency_color : color(1.0,1.0,1.0), + self_illumination : color(0.0,0.0,0.0), + self_illumination_multiplier : 1.0f, + coat_amount : 0.0f, + coat_color : color(1.0,1.0,1.0), + coat_glossiness : 1.0f, + coat_ior : 1.6f, + invert_coat_ior : false, + coat_bump_lock : false, + sheen_color : color(0.0,0.0,0.0), + sheen_glossiness : 0.8f, + brdf_type : ::templates::vray_materials::brdf_blinn, + brdf_useRoughness : ::templates::vray_materials::brdf_glossiness, + anisotropy : 0.0f, + anisotropy_rotation : 0.0f, + anisotropy_channel : 1, + texmap_opacity : 1.0f +); + + diff --git a/assets/scene_usds/ebench/teleop_tasks/install_gear/merge_usd/0009/Materials/a13369.mdl b/assets/scene_usds/ebench/teleop_tasks/install_gear/merge_usd/0009/Materials/a13369.mdl new file mode 100644 index 0000000000000000000000000000000000000000..7e166812e7e649dfa39c88d1fb54c2c45b99eea7 --- /dev/null +++ b/assets/scene_usds/ebench/teleop_tasks/install_gear/merge_usd/0009/Materials/a13369.mdl @@ -0,0 +1,71 @@ +///\authors: Auto-generated by vray_to_mdl_export.ms script. +///\description: Translated VRay material. + +mdl 1.6; + +// Import +import ::anno::*; +import ::base::transform_coordinate; +import ::base::rotation_translation_scale; +import ::base::file_texture; +import ::base::mono_mode; +import ::base::texture_coordinate_info; +import ::base::texture_return; +import ::state::normal; +import ::state::texture_coordinate; +import ::state::texture_tangent_u; +import ::state::texture_tangent_v; +import ::tex::gamma_mode; +import ::tex::wrap_mode; +import templates::ad_3dsmax_materials::*; +import templates::ad_3dsmax_maps::*; +import templates::vray_materials::*; +import templates::vray_maps::*; + +// Body +export material a13369() +[[ + anno::display_name("_13369") +]] += ::templates::vray_materials::VRayMtl( + Diffuse : color(0.345098,0.619608,0.862745), + diffuse_roughness : 0.0f, + Reflection : color(0.223529,0.223529,0.223529), + reflection_glossiness : 0.95f, + reflection_fresnel : false, + reflection_ior : 1.6f, + reflection_lockIOR : true, + invert_reflection_ior : false, + reflection_metalness : 0.0f, + Refraction : color(0.521569,0.521569,0.521569), + refraction_glossiness : 1.0f, + refraction_ior : 1.6f, + invert_refraction_ior : false, + refraction_dispersion_on : false, + refraction_dispersion : 50.0f, + refraction_fogColor : color(1.0,1.0,1.0), + refraction_fogBias : 0.0f, + refraction_fogMult : 1.0f, + translucency_on : ::templates::vray_materials::translucency_none, + translucency_scatterCoeff : 0.0f, + translucency_fbCoeff : 1.0f, + translucency_color : color(1.0,1.0,1.0), + self_illumination : color(0.0,0.0,0.0), + self_illumination_multiplier : 1.0f, + coat_amount : 0.0f, + coat_color : color(1.0,1.0,1.0), + coat_glossiness : 1.0f, + coat_ior : 1.6f, + invert_coat_ior : false, + coat_bump_lock : false, + sheen_color : color(0.0,0.0,0.0), + sheen_glossiness : 0.8f, + brdf_type : ::templates::vray_materials::brdf_blinn, + brdf_useRoughness : ::templates::vray_materials::brdf_glossiness, + anisotropy : 0.0f, + anisotropy_rotation : 0.0f, + anisotropy_channel : 1, + texmap_opacity : 1.0f +); + + diff --git a/assets/scene_usds/ebench/teleop_tasks/install_gear/merge_usd/0009/Materials/a13374.mdl b/assets/scene_usds/ebench/teleop_tasks/install_gear/merge_usd/0009/Materials/a13374.mdl new file mode 100644 index 0000000000000000000000000000000000000000..2d5df0efb5c40046542b233ff7db94a6abc89b95 --- /dev/null +++ b/assets/scene_usds/ebench/teleop_tasks/install_gear/merge_usd/0009/Materials/a13374.mdl @@ -0,0 +1,40 @@ +///\authors: Auto-generated by vray_to_mdl_export.ms script. +///\description: Translated VRay material. + +mdl 1.6; + +// Import +import ::anno::*; +import ::base::transform_coordinate; +import ::base::rotation_translation_scale; +import ::base::file_texture; +import ::base::mono_mode; +import ::base::texture_coordinate_info; +import ::base::texture_return; +import ::state::normal; +import ::state::texture_coordinate; +import ::state::texture_tangent_u; +import ::state::texture_tangent_v; +import ::tex::gamma_mode; +import ::tex::wrap_mode; +import templates::ad_3dsmax_materials::*; +import templates::ad_3dsmax_maps::*; +import templates::vray_materials::*; +import templates::vray_maps::*; + +// Body +export material a13374() +[[ + anno::display_name("_13374") +]] += ::templates::vray_materials::VRayLightMtl( + emission : color(0.2,0.494118,1.0), + emission_mult : 1500.0f, + opacity : color(1.0,1.0,1.0), + emit_on_backside : false, + mult_emission_by_opacity : false, + displacement : 0.0f, + displace_amnt : 1.0f +); + + diff --git a/assets/scene_usds/ebench/teleop_tasks/install_gear/merge_usd/0009/Materials/a13375.mdl b/assets/scene_usds/ebench/teleop_tasks/install_gear/merge_usd/0009/Materials/a13375.mdl new file mode 100644 index 0000000000000000000000000000000000000000..ede93ec247806857a627b66dbbd7242861f5cbfe --- /dev/null +++ b/assets/scene_usds/ebench/teleop_tasks/install_gear/merge_usd/0009/Materials/a13375.mdl @@ -0,0 +1,71 @@ +///\authors: Auto-generated by vray_to_mdl_export.ms script. +///\description: Translated VRay material. + +mdl 1.6; + +// Import +import ::anno::*; +import ::base::transform_coordinate; +import ::base::rotation_translation_scale; +import ::base::file_texture; +import ::base::mono_mode; +import ::base::texture_coordinate_info; +import ::base::texture_return; +import ::state::normal; +import ::state::texture_coordinate; +import ::state::texture_tangent_u; +import ::state::texture_tangent_v; +import ::tex::gamma_mode; +import ::tex::wrap_mode; +import templates::ad_3dsmax_materials::*; +import templates::ad_3dsmax_maps::*; +import templates::vray_materials::*; +import templates::vray_maps::*; + +// Body +export material a13375() +[[ + anno::display_name("_13375") +]] += ::templates::vray_materials::VRayMtl( + Diffuse : color(0.0,0.0,0.0), + diffuse_roughness : 0.0f, + Reflection : color(0.588235,0.588235,0.588235), + reflection_glossiness : 0.9775f, + reflection_fresnel : false, + reflection_ior : 1.6f, + reflection_lockIOR : true, + invert_reflection_ior : false, + reflection_metalness : 0.0f, + Refraction : color(0.0,0.0,0.0), + refraction_glossiness : 1.0f, + refraction_ior : 2.97f, + invert_refraction_ior : false, + refraction_dispersion_on : false, + refraction_dispersion : 50.0f, + refraction_fogColor : color(1.0,1.0,1.0), + refraction_fogBias : 0.0f, + refraction_fogMult : 1.0f, + translucency_on : ::templates::vray_materials::translucency_none, + translucency_scatterCoeff : 0.0f, + translucency_fbCoeff : 0.5f, + translucency_color : color(1.0,1.0,1.0), + self_illumination : color(0.0,0.0,0.0), + self_illumination_multiplier : 1.0f, + coat_amount : 0.0f, + coat_color : color(1.0,1.0,1.0), + coat_glossiness : 1.0f, + coat_ior : 1.6f, + invert_coat_ior : false, + coat_bump_lock : false, + sheen_color : color(0.0,0.0,0.0), + sheen_glossiness : 0.8f, + brdf_type : ::templates::vray_materials::brdf_ward, + brdf_useRoughness : ::templates::vray_materials::brdf_glossiness, + anisotropy : 0.0f, + anisotropy_rotation : 0.0f, + anisotropy_channel : 1, + texmap_opacity : 1.0f +); + + diff --git a/assets/scene_usds/ebench/teleop_tasks/install_gear/merge_usd/0009/Materials/a13376.mdl b/assets/scene_usds/ebench/teleop_tasks/install_gear/merge_usd/0009/Materials/a13376.mdl new file mode 100644 index 0000000000000000000000000000000000000000..96a622275938c8c4dbd5106c1337345a89ea50f8 --- /dev/null +++ b/assets/scene_usds/ebench/teleop_tasks/install_gear/merge_usd/0009/Materials/a13376.mdl @@ -0,0 +1,71 @@ +///\authors: Auto-generated by vray_to_mdl_export.ms script. +///\description: Translated VRay material. + +mdl 1.6; + +// Import +import ::anno::*; +import ::base::transform_coordinate; +import ::base::rotation_translation_scale; +import ::base::file_texture; +import ::base::mono_mode; +import ::base::texture_coordinate_info; +import ::base::texture_return; +import ::state::normal; +import ::state::texture_coordinate; +import ::state::texture_tangent_u; +import ::state::texture_tangent_v; +import ::tex::gamma_mode; +import ::tex::wrap_mode; +import templates::ad_3dsmax_materials::*; +import templates::ad_3dsmax_maps::*; +import templates::vray_materials::*; +import templates::vray_maps::*; + +// Body +export material a13376() +[[ + anno::display_name("_13376") +]] += ::templates::vray_materials::VRayMtl( + Diffuse : color(0.960784,0.960784,0.960784), + diffuse_roughness : 0.0f, + Reflection : color(0.0,0.0,0.0), + reflection_glossiness : 1.0f, + reflection_fresnel : false, + reflection_ior : 1.6f, + reflection_lockIOR : true, + invert_reflection_ior : false, + reflection_metalness : 0.0f, + Refraction : color(0.0,0.0,0.0), + refraction_glossiness : 1.0f, + refraction_ior : 1.6f, + invert_refraction_ior : false, + refraction_dispersion_on : false, + refraction_dispersion : 50.0f, + refraction_fogColor : color(1.0,1.0,1.0), + refraction_fogBias : 0.0f, + refraction_fogMult : 1.0f, + translucency_on : ::templates::vray_materials::translucency_none, + translucency_scatterCoeff : 0.0f, + translucency_fbCoeff : 1.0f, + translucency_color : color(1.0,1.0,1.0), + self_illumination : color(0.0,0.0,0.0), + self_illumination_multiplier : 1.0f, + coat_amount : 0.0f, + coat_color : color(1.0,1.0,1.0), + coat_glossiness : 1.0f, + coat_ior : 1.6f, + invert_coat_ior : false, + coat_bump_lock : false, + sheen_color : color(0.0,0.0,0.0), + sheen_glossiness : 0.8f, + brdf_type : ::templates::vray_materials::brdf_blinn, + brdf_useRoughness : ::templates::vray_materials::brdf_glossiness, + anisotropy : 0.0f, + anisotropy_rotation : 0.0f, + anisotropy_channel : 1, + texmap_opacity : 1.0f +); + + diff --git a/assets/scene_usds/ebench/teleop_tasks/install_gear/merge_usd/0009/Materials/a13382.mdl b/assets/scene_usds/ebench/teleop_tasks/install_gear/merge_usd/0009/Materials/a13382.mdl new file mode 100644 index 0000000000000000000000000000000000000000..9b4628eca82043cd764721d79745c2b57a158260 --- /dev/null +++ b/assets/scene_usds/ebench/teleop_tasks/install_gear/merge_usd/0009/Materials/a13382.mdl @@ -0,0 +1,71 @@ +///\authors: Auto-generated by vray_to_mdl_export.ms script. +///\description: Translated VRay material. + +mdl 1.6; + +// Import +import ::anno::*; +import ::base::transform_coordinate; +import ::base::rotation_translation_scale; +import ::base::file_texture; +import ::base::mono_mode; +import ::base::texture_coordinate_info; +import ::base::texture_return; +import ::state::normal; +import ::state::texture_coordinate; +import ::state::texture_tangent_u; +import ::state::texture_tangent_v; +import ::tex::gamma_mode; +import ::tex::wrap_mode; +import templates::ad_3dsmax_materials::*; +import templates::ad_3dsmax_maps::*; +import templates::vray_materials::*; +import templates::vray_maps::*; + +// Body +export material a13382() +[[ + anno::display_name("_13382") +]] += ::templates::vray_materials::VRayMtl( + Diffuse : color(0.909804,0.909804,0.909804), + diffuse_roughness : 0.0f, + Reflection : color(0.0509804,0.0509804,0.0509804), + reflection_glossiness : 0.8f, + reflection_fresnel : false, + reflection_ior : 1.6f, + reflection_lockIOR : true, + invert_reflection_ior : false, + reflection_metalness : 0.0f, + Refraction : color(0.0,0.0,0.0), + refraction_glossiness : 1.0f, + refraction_ior : 1.6f, + invert_refraction_ior : false, + refraction_dispersion_on : false, + refraction_dispersion : 50.0f, + refraction_fogColor : color(1.0,1.0,1.0), + refraction_fogBias : 0.0f, + refraction_fogMult : 1.0f, + translucency_on : ::templates::vray_materials::translucency_none, + translucency_scatterCoeff : 0.0f, + translucency_fbCoeff : 1.0f, + translucency_color : color(1.0,1.0,1.0), + self_illumination : color(0.0,0.0,0.0), + self_illumination_multiplier : 1.0f, + coat_amount : 0.0f, + coat_color : color(1.0,1.0,1.0), + coat_glossiness : 1.0f, + coat_ior : 1.6f, + invert_coat_ior : false, + coat_bump_lock : false, + sheen_color : color(0.0,0.0,0.0), + sheen_glossiness : 0.8f, + brdf_type : ::templates::vray_materials::brdf_blinn, + brdf_useRoughness : ::templates::vray_materials::brdf_glossiness, + anisotropy : 0.0f, + anisotropy_rotation : 0.0f, + anisotropy_channel : 1, + texmap_opacity : 1.0f +); + + diff --git a/assets/scene_usds/ebench/teleop_tasks/install_gear/merge_usd/0009/Materials/a13392.mdl b/assets/scene_usds/ebench/teleop_tasks/install_gear/merge_usd/0009/Materials/a13392.mdl new file mode 100644 index 0000000000000000000000000000000000000000..4eb6ab4d342d083d3d5e43692c1acb64e48ff827 --- /dev/null +++ b/assets/scene_usds/ebench/teleop_tasks/install_gear/merge_usd/0009/Materials/a13392.mdl @@ -0,0 +1,71 @@ +///\authors: Auto-generated by vray_to_mdl_export.ms script. +///\description: Translated VRay material. + +mdl 1.6; + +// Import +import ::anno::*; +import ::base::transform_coordinate; +import ::base::rotation_translation_scale; +import ::base::file_texture; +import ::base::mono_mode; +import ::base::texture_coordinate_info; +import ::base::texture_return; +import ::state::normal; +import ::state::texture_coordinate; +import ::state::texture_tangent_u; +import ::state::texture_tangent_v; +import ::tex::gamma_mode; +import ::tex::wrap_mode; +import templates::ad_3dsmax_materials::*; +import templates::ad_3dsmax_maps::*; +import templates::vray_materials::*; +import templates::vray_maps::*; + +// Body +export material a13392() +[[ + anno::display_name("_13392") +]] += ::templates::vray_materials::VRayMtl( + Diffuse : color(0.388235,0.0705882,0.0705882), + diffuse_roughness : 0.0f, + Reflection : color(0.0901961,0.0901961,0.0901961), + reflection_glossiness : 0.65f, + reflection_fresnel : false, + reflection_ior : 1.6f, + reflection_lockIOR : true, + invert_reflection_ior : false, + reflection_metalness : 0.0f, + Refraction : color(0.0,0.0,0.0), + refraction_glossiness : 1.0f, + refraction_ior : 1.6f, + invert_refraction_ior : false, + refraction_dispersion_on : false, + refraction_dispersion : 50.0f, + refraction_fogColor : color(1.0,1.0,1.0), + refraction_fogBias : 0.0f, + refraction_fogMult : 1.0f, + translucency_on : ::templates::vray_materials::translucency_none, + translucency_scatterCoeff : 0.0f, + translucency_fbCoeff : 1.0f, + translucency_color : color(1.0,1.0,1.0), + self_illumination : color(0.0,0.0,0.0), + self_illumination_multiplier : 1.0f, + coat_amount : 0.0f, + coat_color : color(1.0,1.0,1.0), + coat_glossiness : 1.0f, + coat_ior : 1.6f, + invert_coat_ior : false, + coat_bump_lock : false, + sheen_color : color(0.0,0.0,0.0), + sheen_glossiness : 0.8f, + brdf_type : ::templates::vray_materials::brdf_blinn, + brdf_useRoughness : ::templates::vray_materials::brdf_glossiness, + anisotropy : 0.0f, + anisotropy_rotation : 0.0f, + anisotropy_channel : 1, + texmap_opacity : 1.0f +); + + diff --git a/assets/scene_usds/ebench/teleop_tasks/install_gear/merge_usd/0009/Materials/a13397.mdl b/assets/scene_usds/ebench/teleop_tasks/install_gear/merge_usd/0009/Materials/a13397.mdl new file mode 100644 index 0000000000000000000000000000000000000000..1b885108bb0687db77f944332a443d9dfafd963d --- /dev/null +++ b/assets/scene_usds/ebench/teleop_tasks/install_gear/merge_usd/0009/Materials/a13397.mdl @@ -0,0 +1,71 @@ +///\authors: Auto-generated by vray_to_mdl_export.ms script. +///\description: Translated VRay material. + +mdl 1.6; + +// Import +import ::anno::*; +import ::base::transform_coordinate; +import ::base::rotation_translation_scale; +import ::base::file_texture; +import ::base::mono_mode; +import ::base::texture_coordinate_info; +import ::base::texture_return; +import ::state::normal; +import ::state::texture_coordinate; +import ::state::texture_tangent_u; +import ::state::texture_tangent_v; +import ::tex::gamma_mode; +import ::tex::wrap_mode; +import templates::ad_3dsmax_materials::*; +import templates::ad_3dsmax_maps::*; +import templates::vray_materials::*; +import templates::vray_maps::*; + +// Body +export material a13397() +[[ + anno::display_name("_13397") +]] += ::templates::vray_materials::VRayMtl( + Diffuse : color(0.0392157,0.262745,0.0666667), + diffuse_roughness : 0.0f, + Reflection : color(0.0392157,0.0392157,0.0392157), + reflection_glossiness : 1.0f, + reflection_fresnel : false, + reflection_ior : 1.6f, + reflection_lockIOR : true, + invert_reflection_ior : false, + reflection_metalness : 0.0f, + Refraction : color(0.0,0.0,0.0), + refraction_glossiness : 1.0f, + refraction_ior : 1.6f, + invert_refraction_ior : false, + refraction_dispersion_on : false, + refraction_dispersion : 50.0f, + refraction_fogColor : color(1.0,1.0,1.0), + refraction_fogBias : 0.0f, + refraction_fogMult : 1.0f, + translucency_on : ::templates::vray_materials::translucency_none, + translucency_scatterCoeff : 0.0f, + translucency_fbCoeff : 1.0f, + translucency_color : color(1.0,1.0,1.0), + self_illumination : color(0.0,0.0,0.0), + self_illumination_multiplier : 1.0f, + coat_amount : 0.0f, + coat_color : color(1.0,1.0,1.0), + coat_glossiness : 1.0f, + coat_ior : 1.6f, + invert_coat_ior : false, + coat_bump_lock : false, + sheen_color : color(0.0,0.0,0.0), + sheen_glossiness : 0.8f, + brdf_type : ::templates::vray_materials::brdf_blinn, + brdf_useRoughness : ::templates::vray_materials::brdf_glossiness, + anisotropy : 0.0f, + anisotropy_rotation : 0.0f, + anisotropy_channel : 1, + texmap_opacity : 1.0f +); + + diff --git a/assets/scene_usds/ebench/teleop_tasks/install_gear/merge_usd/0009/Materials/a13399.mdl b/assets/scene_usds/ebench/teleop_tasks/install_gear/merge_usd/0009/Materials/a13399.mdl new file mode 100644 index 0000000000000000000000000000000000000000..a5f5839a02ca0072716abd228516e24c4f2494b8 --- /dev/null +++ b/assets/scene_usds/ebench/teleop_tasks/install_gear/merge_usd/0009/Materials/a13399.mdl @@ -0,0 +1,78 @@ +///\authors: Auto-generated by vray_to_mdl_export.ms script. +///\description: Translated VRay material. + +mdl 1.6; + +// Import +import ::anno::*; +import ::base::transform_coordinate; +import ::base::rotation_translation_scale; +import ::base::file_texture; +import ::base::mono_mode; +import ::base::texture_coordinate_info; +import ::base::texture_return; +import ::state::normal; +import ::state::texture_coordinate; +import ::state::texture_tangent_u; +import ::state::texture_tangent_v; +import ::tex::gamma_mode; +import ::tex::wrap_mode; +import templates::ad_3dsmax_materials::*; +import templates::ad_3dsmax_maps::*; +import templates::vray_materials::*; +import templates::vray_maps::*; + +// Body +export material a13399() +[[ + anno::display_name("_13399") +]] += ::templates::vray_materials::VRayMtl( + Diffuse : color(1.0,1.0,1.0), + diffuse_roughness : 0.0f, + Reflection : ::templates::ad_3dsmax_maps::ad_3dsmax_falloff( + color1 : base::texture_return(tint:color(0.0,0.0,0.0), mono:1), + color2 : base::texture_return(tint:color(1.0,1.0,1.0), mono:1), + falloff_type : ::templates::ad_3dsmax_maps::Fresnel, + falloff_direction : ::templates::ad_3dsmax_maps::View, + nearDistance : 0.0f, + farDistance : 100.0f + ).tint, + reflection_glossiness : 0.8f, + reflection_fresnel : false, + reflection_ior : 1.6f, + reflection_lockIOR : true, + invert_reflection_ior : false, + reflection_metalness : 0.0f, + Refraction : color(0.0,0.0,0.0), + refraction_glossiness : 1.0f, + refraction_ior : 1.6f, + invert_refraction_ior : false, + refraction_dispersion_on : false, + refraction_dispersion : 50.0f, + refraction_fogColor : color(1.0,1.0,1.0), + refraction_fogBias : 0.0f, + refraction_fogMult : 1.0f, + translucency_on : ::templates::vray_materials::translucency_none, + translucency_scatterCoeff : 0.0f, + translucency_fbCoeff : 1.0f, + translucency_color : color(1.0,1.0,1.0), + self_illumination : color(0.0,0.0,0.0), + self_illumination_multiplier : 1.0f, + coat_amount : 0.0f, + coat_color : color(1.0,1.0,1.0), + coat_glossiness : 1.0f, + coat_ior : 1.6f, + invert_coat_ior : false, + coat_bump_lock : false, + sheen_color : color(0.0,0.0,0.0), + sheen_glossiness : 0.8f, + brdf_type : ::templates::vray_materials::brdf_phong, + brdf_useRoughness : ::templates::vray_materials::brdf_glossiness, + anisotropy : 0.0f, + anisotropy_rotation : 0.0f, + anisotropy_channel : 1, + texmap_opacity : 1.0f +); + + diff --git a/assets/scene_usds/ebench/teleop_tasks/install_gear/merge_usd/0009/Materials/a13400.mdl b/assets/scene_usds/ebench/teleop_tasks/install_gear/merge_usd/0009/Materials/a13400.mdl new file mode 100644 index 0000000000000000000000000000000000000000..fb0c3948aacfe21cc96f21317755bb989ecf19f2 --- /dev/null +++ b/assets/scene_usds/ebench/teleop_tasks/install_gear/merge_usd/0009/Materials/a13400.mdl @@ -0,0 +1,71 @@ +///\authors: Auto-generated by vray_to_mdl_export.ms script. +///\description: Translated VRay material. + +mdl 1.6; + +// Import +import ::anno::*; +import ::base::transform_coordinate; +import ::base::rotation_translation_scale; +import ::base::file_texture; +import ::base::mono_mode; +import ::base::texture_coordinate_info; +import ::base::texture_return; +import ::state::normal; +import ::state::texture_coordinate; +import ::state::texture_tangent_u; +import ::state::texture_tangent_v; +import ::tex::gamma_mode; +import ::tex::wrap_mode; +import templates::ad_3dsmax_materials::*; +import templates::ad_3dsmax_maps::*; +import templates::vray_materials::*; +import templates::vray_maps::*; + +// Body +export material a13400() +[[ + anno::display_name("_13400") +]] += ::templates::vray_materials::VRayMtl( + Diffuse : color(0.00784314,0.00784314,0.00784314), + diffuse_roughness : 0.0f, + Reflection : color(0.65098,0.65098,0.65098), + reflection_glossiness : 0.95f, + reflection_fresnel : true, + reflection_ior : 3.0f, + reflection_lockIOR : false, + invert_reflection_ior : false, + reflection_metalness : 0.0f, + Refraction : color(0.0,0.0,0.0), + refraction_glossiness : 1.0f, + refraction_ior : 1.6f, + invert_refraction_ior : false, + refraction_dispersion_on : false, + refraction_dispersion : 50.0f, + refraction_fogColor : color(1.0,1.0,1.0), + refraction_fogBias : 0.0f, + refraction_fogMult : 1.0f, + translucency_on : ::templates::vray_materials::translucency_none, + translucency_scatterCoeff : 0.0f, + translucency_fbCoeff : 1.0f, + translucency_color : color(1.0,1.0,1.0), + self_illumination : color(0.0,0.0,0.0), + self_illumination_multiplier : 1.0f, + coat_amount : 0.0f, + coat_color : color(1.0,1.0,1.0), + coat_glossiness : 1.0f, + coat_ior : 1.6f, + invert_coat_ior : false, + coat_bump_lock : false, + sheen_color : color(0.0,0.0,0.0), + sheen_glossiness : 0.8f, + brdf_type : ::templates::vray_materials::brdf_blinn, + brdf_useRoughness : ::templates::vray_materials::brdf_glossiness, + anisotropy : 0.0f, + anisotropy_rotation : 0.0f, + anisotropy_channel : 1, + texmap_opacity : 1.0f +); + + diff --git a/assets/scene_usds/ebench/teleop_tasks/install_gear/merge_usd/0009/Materials/a13408.mdl b/assets/scene_usds/ebench/teleop_tasks/install_gear/merge_usd/0009/Materials/a13408.mdl new file mode 100644 index 0000000000000000000000000000000000000000..78d5c5195eb33ac64f3c2d7833f8940dd0aaf108 --- /dev/null +++ b/assets/scene_usds/ebench/teleop_tasks/install_gear/merge_usd/0009/Materials/a13408.mdl @@ -0,0 +1,71 @@ +///\authors: Auto-generated by vray_to_mdl_export.ms script. +///\description: Translated VRay material. + +mdl 1.6; + +// Import +import ::anno::*; +import ::base::transform_coordinate; +import ::base::rotation_translation_scale; +import ::base::file_texture; +import ::base::mono_mode; +import ::base::texture_coordinate_info; +import ::base::texture_return; +import ::state::normal; +import ::state::texture_coordinate; +import ::state::texture_tangent_u; +import ::state::texture_tangent_v; +import ::tex::gamma_mode; +import ::tex::wrap_mode; +import templates::ad_3dsmax_materials::*; +import templates::ad_3dsmax_maps::*; +import templates::vray_materials::*; +import templates::vray_maps::*; + +// Body +export material a13408() +[[ + anno::display_name("_13408") +]] += ::templates::vray_materials::VRayMtl( + Diffuse : color(0.121569,0.0470588,0.0), + diffuse_roughness : 0.0f, + Reflection : color(0.694118,0.537255,0.235294), + reflection_glossiness : 0.7f, + reflection_fresnel : false, + reflection_ior : 1.6f, + reflection_lockIOR : true, + invert_reflection_ior : false, + reflection_metalness : 0.0f, + Refraction : color(0.0,0.0,0.0), + refraction_glossiness : 1.0f, + refraction_ior : 1.6f, + invert_refraction_ior : false, + refraction_dispersion_on : false, + refraction_dispersion : 50.0f, + refraction_fogColor : color(1.0,1.0,1.0), + refraction_fogBias : 0.0f, + refraction_fogMult : 1.0f, + translucency_on : ::templates::vray_materials::translucency_none, + translucency_scatterCoeff : 0.0f, + translucency_fbCoeff : 1.0f, + translucency_color : color(1.0,1.0,1.0), + self_illumination : color(0.0,0.0,0.0), + self_illumination_multiplier : 1.0f, + coat_amount : 0.0f, + coat_color : color(1.0,1.0,1.0), + coat_glossiness : 1.0f, + coat_ior : 1.6f, + invert_coat_ior : false, + coat_bump_lock : false, + sheen_color : color(0.0,0.0,0.0), + sheen_glossiness : 0.8f, + brdf_type : ::templates::vray_materials::brdf_phong, + brdf_useRoughness : ::templates::vray_materials::brdf_glossiness, + anisotropy : 0.0f, + anisotropy_rotation : 0.0f, + anisotropy_channel : 1, + texmap_opacity : 1.0f +); + + diff --git a/assets/scene_usds/ebench/teleop_tasks/install_gear/merge_usd/0009/Materials/a13409.mdl b/assets/scene_usds/ebench/teleop_tasks/install_gear/merge_usd/0009/Materials/a13409.mdl new file mode 100644 index 0000000000000000000000000000000000000000..bd42d52dbb361521c4790a9d1cad78884c06d670 --- /dev/null +++ b/assets/scene_usds/ebench/teleop_tasks/install_gear/merge_usd/0009/Materials/a13409.mdl @@ -0,0 +1,78 @@ +///\authors: Auto-generated by vray_to_mdl_export.ms script. +///\description: Translated VRay material. + +mdl 1.6; + +// Import +import ::anno::*; +import ::base::transform_coordinate; +import ::base::rotation_translation_scale; +import ::base::file_texture; +import ::base::mono_mode; +import ::base::texture_coordinate_info; +import ::base::texture_return; +import ::state::normal; +import ::state::texture_coordinate; +import ::state::texture_tangent_u; +import ::state::texture_tangent_v; +import ::tex::gamma_mode; +import ::tex::wrap_mode; +import templates::ad_3dsmax_materials::*; +import templates::ad_3dsmax_maps::*; +import templates::vray_materials::*; +import templates::vray_maps::*; + +// Body +export material a13409() +[[ + anno::display_name("_13409") +]] += ::templates::vray_materials::VRayMtl( + Diffuse : color(0.733333,0.72549,0.678431), + diffuse_roughness : 0.0f, + Reflection : ::templates::ad_3dsmax_maps::ad_3dsmax_falloff( + color1 : base::texture_return(tint:color(0.0,0.0,0.0), mono:1), + color2 : base::texture_return(tint:color(0.32549,0.32549,0.32549), mono:1), + falloff_type : ::templates::ad_3dsmax_maps::Perpendicular_Parallel, + falloff_direction : ::templates::ad_3dsmax_maps::View, + nearDistance : 0.0f, + farDistance : 100.0f + ).tint, + reflection_glossiness : 1.0f, + reflection_fresnel : false, + reflection_ior : 1.6f, + reflection_lockIOR : true, + invert_reflection_ior : false, + reflection_metalness : 0.0f, + Refraction : color(0.0,0.0,0.0), + refraction_glossiness : 1.0f, + refraction_ior : 1.6f, + invert_refraction_ior : false, + refraction_dispersion_on : false, + refraction_dispersion : 50.0f, + refraction_fogColor : color(1.0,1.0,1.0), + refraction_fogBias : 0.0f, + refraction_fogMult : 1.0f, + translucency_on : ::templates::vray_materials::translucency_none, + translucency_scatterCoeff : 0.0f, + translucency_fbCoeff : 1.0f, + translucency_color : color(1.0,1.0,1.0), + self_illumination : color(0.0,0.0,0.0), + self_illumination_multiplier : 1.0f, + coat_amount : 0.0f, + coat_color : color(1.0,1.0,1.0), + coat_glossiness : 1.0f, + coat_ior : 1.6f, + invert_coat_ior : false, + coat_bump_lock : false, + sheen_color : color(0.0,0.0,0.0), + sheen_glossiness : 0.8f, + brdf_type : ::templates::vray_materials::brdf_phong, + brdf_useRoughness : ::templates::vray_materials::brdf_glossiness, + anisotropy : 0.0f, + anisotropy_rotation : 0.0f, + anisotropy_channel : 1, + texmap_opacity : 1.0f +); + + diff --git a/assets/scene_usds/ebench/teleop_tasks/install_gear/merge_usd/0009/Materials/a13416.mdl b/assets/scene_usds/ebench/teleop_tasks/install_gear/merge_usd/0009/Materials/a13416.mdl new file mode 100644 index 0000000000000000000000000000000000000000..dc671ffe0468b3cda9bd6a20fbe2320c43975dc9 --- /dev/null +++ b/assets/scene_usds/ebench/teleop_tasks/install_gear/merge_usd/0009/Materials/a13416.mdl @@ -0,0 +1,96 @@ +///\authors: Auto-generated by vray_to_mdl_export.ms script. +///\description: Translated VRay material. + +mdl 1.6; + +// Import +import ::anno::*; +import ::base::transform_coordinate; +import ::base::rotation_translation_scale; +import ::base::file_texture; +import ::base::mono_mode; +import ::base::texture_coordinate_info; +import ::base::texture_return; +import ::state::normal; +import ::state::texture_coordinate; +import ::state::texture_tangent_u; +import ::state::texture_tangent_v; +import ::tex::gamma_mode; +import ::tex::wrap_mode; +import templates::ad_3dsmax_materials::*; +import templates::ad_3dsmax_maps::*; +import templates::vray_materials::*; +import templates::vray_maps::*; + +// Body +export material a13416() +[[ + anno::display_name("_13416") +]] += ::templates::vray_materials::VRayMtl( + Diffuse : color(0.321569,0.321569,0.321569) * 0.2 + color(0.321569,0.321569,0.321569) * 0.8, + diffuse_roughness : 0.0f, + Reflection : color(0.768628,0.768628,0.768628), + reflection_glossiness : 1.0f, + reflection_fresnel : false, + reflection_ior : 1.6f, + reflection_lockIOR : false, + invert_reflection_ior : false, + reflection_metalness : 0.0f, + Refraction : color(0.0,0.0,0.0), + refraction_glossiness : 1.0f, + refraction_ior : 1.6f, + invert_refraction_ior : false, + refraction_dispersion_on : false, + refraction_dispersion : 50.0f, + refraction_fogColor : color(0.0,0.0,0.0), + refraction_fogBias : 0.0f, + refraction_fogMult : 1.0f, + translucency_on : ::templates::vray_materials::translucency_none, + translucency_scatterCoeff : 0.0f, + translucency_fbCoeff : 1.0f, + translucency_color : color(1.0,1.0,1.0), + self_illumination : color(0.0,0.0,0.0), + self_illumination_multiplier : 1.0f, + coat_amount : 0.0f, + coat_color : color(1.0,1.0,1.0), + coat_glossiness : 1.0f, + coat_ior : 1.6f, + invert_coat_ior : false, + coat_bump_lock : false, + sheen_color : color(0.0,0.0,0.0), + sheen_glossiness : 0.8f, + brdf_type : ::templates::vray_materials::brdf_phong, + brdf_useRoughness : ::templates::vray_materials::brdf_glossiness, + anisotropy : 0.0f, + anisotropy_rotation : 0.0f, + anisotropy_channel : 1, + texmap_bump : ::templates::ad_3dsmax_maps::ad_3dsmax_noise_bump( + color1 : color(0.0,0.0,0.0), + color2 : color(1.0,1.0,1.0), + size : 0.005f, + phase : 0.0f, + levels : 3.0f, + thresholdLow : 0.0f, + thresholdHigh : 1.0f, + type : 1, + blur : 1.0f, + offset : float3(0.0f,0.0f,0.0f), + tiling : float3(0.0393701f,0.0f,0.0393701f), + angle : float3(0.0f,0.0f,0.0f), + blur_Offset : 0.0f, + coordType : 0, + mapChannel : 1, + alphaFromRGB : false, + bump_amount : 1.0f, + clamp : false, + invert : false, + output_amount : 1.0f, + rgb_level : 1.0f, + rgb_offset : 0.0f, + factor : 0.3f + ), + texmap_opacity : 1.0f +); + + diff --git a/assets/scene_usds/ebench/teleop_tasks/install_gear/merge_usd/0009/Materials/a13418.mdl b/assets/scene_usds/ebench/teleop_tasks/install_gear/merge_usd/0009/Materials/a13418.mdl new file mode 100644 index 0000000000000000000000000000000000000000..9680c13830e96785427263f725bd649456f71947 --- /dev/null +++ b/assets/scene_usds/ebench/teleop_tasks/install_gear/merge_usd/0009/Materials/a13418.mdl @@ -0,0 +1,71 @@ +///\authors: Auto-generated by vray_to_mdl_export.ms script. +///\description: Translated VRay material. + +mdl 1.6; + +// Import +import ::anno::*; +import ::base::transform_coordinate; +import ::base::rotation_translation_scale; +import ::base::file_texture; +import ::base::mono_mode; +import ::base::texture_coordinate_info; +import ::base::texture_return; +import ::state::normal; +import ::state::texture_coordinate; +import ::state::texture_tangent_u; +import ::state::texture_tangent_v; +import ::tex::gamma_mode; +import ::tex::wrap_mode; +import templates::ad_3dsmax_materials::*; +import templates::ad_3dsmax_maps::*; +import templates::vray_materials::*; +import templates::vray_maps::*; + +// Body +export material a13418() +[[ + anno::display_name("_13418") +]] += ::templates::vray_materials::VRayMtl( + Diffuse : color(0.513726,0.513726,0.513726), + diffuse_roughness : 0.0f, + Reflection : color(0.243137,0.243137,0.243137), + reflection_glossiness : 1.0f, + reflection_fresnel : false, + reflection_ior : 1.6f, + reflection_lockIOR : true, + invert_reflection_ior : false, + reflection_metalness : 0.0f, + Refraction : color(0.0,0.0,0.0), + refraction_glossiness : 1.0f, + refraction_ior : 1.6f, + invert_refraction_ior : false, + refraction_dispersion_on : false, + refraction_dispersion : 50.0f, + refraction_fogColor : color(1.0,1.0,1.0), + refraction_fogBias : 0.0f, + refraction_fogMult : 1.0f, + translucency_on : ::templates::vray_materials::translucency_none, + translucency_scatterCoeff : 0.0f, + translucency_fbCoeff : 1.0f, + translucency_color : color(1.0,1.0,1.0), + self_illumination : color(0.0,0.0,0.0), + self_illumination_multiplier : 1.0f, + coat_amount : 0.0f, + coat_color : color(1.0,1.0,1.0), + coat_glossiness : 1.0f, + coat_ior : 1.6f, + invert_coat_ior : false, + coat_bump_lock : false, + sheen_color : color(0.0,0.0,0.0), + sheen_glossiness : 0.8f, + brdf_type : ::templates::vray_materials::brdf_blinn, + brdf_useRoughness : ::templates::vray_materials::brdf_glossiness, + anisotropy : 0.0f, + anisotropy_rotation : 0.0f, + anisotropy_channel : 1, + texmap_opacity : 1.0f +); + + diff --git a/assets/scene_usds/ebench/teleop_tasks/install_gear/merge_usd/0009/Materials/a13420.mdl b/assets/scene_usds/ebench/teleop_tasks/install_gear/merge_usd/0009/Materials/a13420.mdl new file mode 100644 index 0000000000000000000000000000000000000000..a815a167924decb923ff8cb390ac1c5ba3c482bd --- /dev/null +++ b/assets/scene_usds/ebench/teleop_tasks/install_gear/merge_usd/0009/Materials/a13420.mdl @@ -0,0 +1,71 @@ +///\authors: Auto-generated by vray_to_mdl_export.ms script. +///\description: Translated VRay material. + +mdl 1.6; + +// Import +import ::anno::*; +import ::base::transform_coordinate; +import ::base::rotation_translation_scale; +import ::base::file_texture; +import ::base::mono_mode; +import ::base::texture_coordinate_info; +import ::base::texture_return; +import ::state::normal; +import ::state::texture_coordinate; +import ::state::texture_tangent_u; +import ::state::texture_tangent_v; +import ::tex::gamma_mode; +import ::tex::wrap_mode; +import templates::ad_3dsmax_materials::*; +import templates::ad_3dsmax_maps::*; +import templates::vray_materials::*; +import templates::vray_maps::*; + +// Body +export material a13420() +[[ + anno::display_name("_13420") +]] += ::templates::vray_materials::VRayMtl( + Diffuse : color(0.160784,0.141176,0.129412), + diffuse_roughness : 0.0f, + Reflection : color(0.67451,0.67451,0.67451), + reflection_glossiness : 0.8f, + reflection_fresnel : true, + reflection_ior : 1.6f, + reflection_lockIOR : true, + invert_reflection_ior : false, + reflection_metalness : 0.0f, + Refraction : color(0.0,0.0,0.0), + refraction_glossiness : 1.0f, + refraction_ior : 1.6f, + invert_refraction_ior : false, + refraction_dispersion_on : false, + refraction_dispersion : 50.0f, + refraction_fogColor : color(1.0,1.0,1.0), + refraction_fogBias : 0.0f, + refraction_fogMult : 1.0f, + translucency_on : ::templates::vray_materials::translucency_none, + translucency_scatterCoeff : 0.0f, + translucency_fbCoeff : 1.0f, + translucency_color : color(1.0,1.0,1.0), + self_illumination : color(0.0,0.0,0.0), + self_illumination_multiplier : 1.0f, + coat_amount : 0.0f, + coat_color : color(1.0,1.0,1.0), + coat_glossiness : 1.0f, + coat_ior : 1.6f, + invert_coat_ior : false, + coat_bump_lock : false, + sheen_color : color(0.0,0.0,0.0), + sheen_glossiness : 0.8f, + brdf_type : ::templates::vray_materials::brdf_blinn, + brdf_useRoughness : ::templates::vray_materials::brdf_glossiness, + anisotropy : 0.0f, + anisotropy_rotation : 0.0f, + anisotropy_channel : 1, + texmap_opacity : 1.0f +); + + diff --git a/assets/scene_usds/ebench/teleop_tasks/install_gear/merge_usd/0009/Materials/a13421.mdl b/assets/scene_usds/ebench/teleop_tasks/install_gear/merge_usd/0009/Materials/a13421.mdl new file mode 100644 index 0000000000000000000000000000000000000000..4a2c63f9486ee3c5ba97d58c116f6cbd7c2e6e37 --- /dev/null +++ b/assets/scene_usds/ebench/teleop_tasks/install_gear/merge_usd/0009/Materials/a13421.mdl @@ -0,0 +1,71 @@ +///\authors: Auto-generated by vray_to_mdl_export.ms script. +///\description: Translated VRay material. + +mdl 1.6; + +// Import +import ::anno::*; +import ::base::transform_coordinate; +import ::base::rotation_translation_scale; +import ::base::file_texture; +import ::base::mono_mode; +import ::base::texture_coordinate_info; +import ::base::texture_return; +import ::state::normal; +import ::state::texture_coordinate; +import ::state::texture_tangent_u; +import ::state::texture_tangent_v; +import ::tex::gamma_mode; +import ::tex::wrap_mode; +import templates::ad_3dsmax_materials::*; +import templates::ad_3dsmax_maps::*; +import templates::vray_materials::*; +import templates::vray_maps::*; + +// Body +export material a13421() +[[ + anno::display_name("_13421") +]] += ::templates::vray_materials::VRayMtl( + Diffuse : color(0.5,0.5,0.5), + diffuse_roughness : 0.0f, + Reflection : color(0.0,0.0,0.0), + reflection_glossiness : 1.0f, + reflection_fresnel : false, + reflection_ior : 1.6f, + reflection_lockIOR : true, + invert_reflection_ior : false, + reflection_metalness : 0.0f, + Refraction : color(0.0,0.0,0.0), + refraction_glossiness : 1.0f, + refraction_ior : 1.6f, + invert_refraction_ior : false, + refraction_dispersion_on : false, + refraction_dispersion : 50.0f, + refraction_fogColor : color(1.0,1.0,1.0), + refraction_fogBias : 0.0f, + refraction_fogMult : 1.0f, + translucency_on : ::templates::vray_materials::translucency_none, + translucency_scatterCoeff : 0.0f, + translucency_fbCoeff : 1.0f, + translucency_color : color(1.0,1.0,1.0), + self_illumination : color(0.0,0.0,0.0), + self_illumination_multiplier : 1.0f, + coat_amount : 0.0f, + coat_color : color(1.0,1.0,1.0), + coat_glossiness : 1.0f, + coat_ior : 1.6f, + invert_coat_ior : false, + coat_bump_lock : false, + sheen_color : color(0.0,0.0,0.0), + sheen_glossiness : 0.8f, + brdf_type : ::templates::vray_materials::brdf_blinn, + brdf_useRoughness : ::templates::vray_materials::brdf_glossiness, + anisotropy : 0.0f, + anisotropy_rotation : 0.0f, + anisotropy_channel : 1, + texmap_opacity : 1.0f +); + + diff --git a/assets/scene_usds/ebench/teleop_tasks/install_gear/merge_usd/0009/Materials/a13428.mdl b/assets/scene_usds/ebench/teleop_tasks/install_gear/merge_usd/0009/Materials/a13428.mdl new file mode 100644 index 0000000000000000000000000000000000000000..d769fcc611cca4623b45257ddd31c7ac764a4d11 --- /dev/null +++ b/assets/scene_usds/ebench/teleop_tasks/install_gear/merge_usd/0009/Materials/a13428.mdl @@ -0,0 +1,67 @@ +mdl 1.8; + +import ::state::normal; +import ::OmniPBR::OmniPBR; +import ::anno::author; +import ::anno::description; +import ::anno::display_name; +import ::anno::in_group; +import ::anno::key_words; +import ::anno::version; +import ::base::mono_mode; +import ::tex::gamma_mode; + +export material a13428(*) +[[ + anno::display_name("OmniPBR"), + anno::description("OmniPBR Base with support for clear coat, opacity and ORM textures."), + anno::in_group("Base", false), + anno::version(2, 1, 2, ""), + anno::author("NVIDIA CORPORATION"), + anno::key_words(string[]("omni", "PBR", "opacity", "omniverse", "generic")) +]] + = OmniPBR::OmniPBR( + diffuse_color_constant: color(0.5f, 0.5f, 0.5f), + diffuse_texture: texture_2d(), + 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.f, + reflection_roughness_texture_influence: 0.f, + reflectionroughness_texture: texture_2d(), + metallic_constant: 0.f, + metallic_texture_influence: 0.f, + metallic_texture: texture_2d(), + specular_level: 0.5f, + enable_ORM_texture: false, + ORM_texture: texture_2d(), + ao_to_diffuse: 0.f, + ao_texture: texture_2d(), + enable_emission: true, + emissive_color: color(0.f, 0.f, 0.f), + emissive_color_texture: texture_2d(), + emissive_mask_texture: texture_2d(), + emissive_intensity: 3250.f, + enable_opacity: false, + opacity_texture: texture_2d(), + opacity_constant: 1.f, + enable_opacity_texture: false, + opacity_mode: base::mono_average, + opacity_threshold: 0.00100000005f, + geometry_normal_roughness_strength: 1.f, + bump_factor: 0.300000012f, + 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)); diff --git a/assets/scene_usds/ebench/teleop_tasks/install_gear/merge_usd/0009/Materials/a13433.mdl b/assets/scene_usds/ebench/teleop_tasks/install_gear/merge_usd/0009/Materials/a13433.mdl new file mode 100644 index 0000000000000000000000000000000000000000..4444f38e129ae378a116ea0fe1ae52acde5fd46c --- /dev/null +++ b/assets/scene_usds/ebench/teleop_tasks/install_gear/merge_usd/0009/Materials/a13433.mdl @@ -0,0 +1,71 @@ +///\authors: Auto-generated by vray_to_mdl_export.ms script. +///\description: Translated VRay material. + +mdl 1.6; + +// Import +import ::anno::*; +import ::base::transform_coordinate; +import ::base::rotation_translation_scale; +import ::base::file_texture; +import ::base::mono_mode; +import ::base::texture_coordinate_info; +import ::base::texture_return; +import ::state::normal; +import ::state::texture_coordinate; +import ::state::texture_tangent_u; +import ::state::texture_tangent_v; +import ::tex::gamma_mode; +import ::tex::wrap_mode; +import templates::ad_3dsmax_materials::*; +import templates::ad_3dsmax_maps::*; +import templates::vray_materials::*; +import templates::vray_maps::*; + +// Body +export material a13433() +[[ + anno::display_name("_13433") +]] += ::templates::vray_materials::VRayMtl( + Diffuse : color(0.678431,0.678431,0.678431), + diffuse_roughness : 0.0f, + Reflection : color(0.0392157,0.0392157,0.0392157), + reflection_glossiness : 1.0f, + reflection_fresnel : false, + reflection_ior : 1.6f, + reflection_lockIOR : true, + invert_reflection_ior : false, + reflection_metalness : 0.0f, + Refraction : color(0.431373,0.431373,0.431373), + refraction_glossiness : 0.8f, + refraction_ior : 1.6f, + invert_refraction_ior : false, + refraction_dispersion_on : false, + refraction_dispersion : 50.0f, + refraction_fogColor : color(1.0,1.0,1.0), + refraction_fogBias : 0.0f, + refraction_fogMult : 1.0f, + translucency_on : ::templates::vray_materials::translucency_none, + translucency_scatterCoeff : 0.0f, + translucency_fbCoeff : 1.0f, + translucency_color : color(1.0,1.0,1.0), + self_illumination : color(0.0,0.0,0.0), + self_illumination_multiplier : 1.0f, + coat_amount : 0.0f, + coat_color : color(1.0,1.0,1.0), + coat_glossiness : 1.0f, + coat_ior : 1.6f, + invert_coat_ior : false, + coat_bump_lock : false, + sheen_color : color(0.0,0.0,0.0), + sheen_glossiness : 0.8f, + brdf_type : ::templates::vray_materials::brdf_blinn, + brdf_useRoughness : ::templates::vray_materials::brdf_glossiness, + anisotropy : 0.0f, + anisotropy_rotation : 0.0f, + anisotropy_channel : 1, + texmap_opacity : 1.0f +); + + diff --git a/assets/scene_usds/ebench/teleop_tasks/install_gear/merge_usd/0009/Materials/a13435.mdl b/assets/scene_usds/ebench/teleop_tasks/install_gear/merge_usd/0009/Materials/a13435.mdl new file mode 100644 index 0000000000000000000000000000000000000000..7f3c12b0dad85e27569a5c013cbc6a4a2861c457 --- /dev/null +++ b/assets/scene_usds/ebench/teleop_tasks/install_gear/merge_usd/0009/Materials/a13435.mdl @@ -0,0 +1,71 @@ +///\authors: Auto-generated by vray_to_mdl_export.ms script. +///\description: Translated VRay material. + +mdl 1.6; + +// Import +import ::anno::*; +import ::base::transform_coordinate; +import ::base::rotation_translation_scale; +import ::base::file_texture; +import ::base::mono_mode; +import ::base::texture_coordinate_info; +import ::base::texture_return; +import ::state::normal; +import ::state::texture_coordinate; +import ::state::texture_tangent_u; +import ::state::texture_tangent_v; +import ::tex::gamma_mode; +import ::tex::wrap_mode; +import templates::ad_3dsmax_materials::*; +import templates::ad_3dsmax_maps::*; +import templates::vray_materials::*; +import templates::vray_maps::*; + +// Body +export material a13435() +[[ + anno::display_name("_13435") +]] += ::templates::vray_materials::VRayMtl( + Diffuse : color(0.607843,0.596078,0.529412), + diffuse_roughness : 0.0f, + Reflection : color(0.0901961,0.0901961,0.0901961), + reflection_glossiness : 0.5f, + reflection_fresnel : false, + reflection_ior : 1.6f, + reflection_lockIOR : true, + invert_reflection_ior : false, + reflection_metalness : 0.0f, + Refraction : color(0.0,0.0,0.0), + refraction_glossiness : 1.0f, + refraction_ior : 1.6f, + invert_refraction_ior : false, + refraction_dispersion_on : false, + refraction_dispersion : 50.0f, + refraction_fogColor : color(1.0,1.0,1.0), + refraction_fogBias : 0.0f, + refraction_fogMult : 1.0f, + translucency_on : ::templates::vray_materials::translucency_none, + translucency_scatterCoeff : 0.0f, + translucency_fbCoeff : 1.0f, + translucency_color : color(1.0,1.0,1.0), + self_illumination : color(0.0,0.0,0.0), + self_illumination_multiplier : 1.0f, + coat_amount : 0.0f, + coat_color : color(1.0,1.0,1.0), + coat_glossiness : 1.0f, + coat_ior : 1.6f, + invert_coat_ior : false, + coat_bump_lock : false, + sheen_color : color(0.0,0.0,0.0), + sheen_glossiness : 0.8f, + brdf_type : ::templates::vray_materials::brdf_blinn, + brdf_useRoughness : ::templates::vray_materials::brdf_glossiness, + anisotropy : 0.0f, + anisotropy_rotation : 0.0f, + anisotropy_channel : 1, + texmap_opacity : 1.0f +); + + diff --git a/assets/scene_usds/ebench/teleop_tasks/install_gear/merge_usd/0009/Materials/a13440.mdl b/assets/scene_usds/ebench/teleop_tasks/install_gear/merge_usd/0009/Materials/a13440.mdl new file mode 100644 index 0000000000000000000000000000000000000000..31c3c8019df80c0bcace937977367b2af8a4feda --- /dev/null +++ b/assets/scene_usds/ebench/teleop_tasks/install_gear/merge_usd/0009/Materials/a13440.mdl @@ -0,0 +1,71 @@ +///\authors: Auto-generated by vray_to_mdl_export.ms script. +///\description: Translated VRay material. + +mdl 1.6; + +// Import +import ::anno::*; +import ::base::transform_coordinate; +import ::base::rotation_translation_scale; +import ::base::file_texture; +import ::base::mono_mode; +import ::base::texture_coordinate_info; +import ::base::texture_return; +import ::state::normal; +import ::state::texture_coordinate; +import ::state::texture_tangent_u; +import ::state::texture_tangent_v; +import ::tex::gamma_mode; +import ::tex::wrap_mode; +import templates::ad_3dsmax_materials::*; +import templates::ad_3dsmax_maps::*; +import templates::vray_materials::*; +import templates::vray_maps::*; + +// Body +export material a13440() +[[ + anno::display_name("_13440") +]] += ::templates::vray_materials::VRayMtl( + Diffuse : color(0.5,0.5,0.5), + diffuse_roughness : 0.0f, + Reflection : color(0.0,0.0,0.0), + reflection_glossiness : 1.0f, + reflection_fresnel : false, + reflection_ior : 1.6f, + reflection_lockIOR : true, + invert_reflection_ior : false, + reflection_metalness : 0.0f, + Refraction : color(1.0,1.0,1.0), + refraction_glossiness : 1.0f, + refraction_ior : 1.517f, + invert_refraction_ior : false, + refraction_dispersion_on : false, + refraction_dispersion : 50.0f, + refraction_fogColor : color(1.0,1.0,1.0), + refraction_fogBias : 0.0f, + refraction_fogMult : 1.0f, + translucency_on : ::templates::vray_materials::translucency_none, + translucency_scatterCoeff : 0.0f, + translucency_fbCoeff : 1.0f, + translucency_color : color(1.0,1.0,1.0), + self_illumination : color(0.0,0.0,0.0), + self_illumination_multiplier : 1.0f, + coat_amount : 0.0f, + coat_color : color(1.0,1.0,1.0), + coat_glossiness : 1.0f, + coat_ior : 1.6f, + invert_coat_ior : false, + coat_bump_lock : false, + sheen_color : color(0.0,0.0,0.0), + sheen_glossiness : 0.8f, + brdf_type : ::templates::vray_materials::brdf_blinn, + brdf_useRoughness : ::templates::vray_materials::brdf_glossiness, + anisotropy : 0.0f, + anisotropy_rotation : 0.0f, + anisotropy_channel : 1, + texmap_opacity : 1.0f +); + + diff --git a/assets/scene_usds/ebench/teleop_tasks/install_gear/merge_usd/0009/Materials/a13442.mdl b/assets/scene_usds/ebench/teleop_tasks/install_gear/merge_usd/0009/Materials/a13442.mdl new file mode 100644 index 0000000000000000000000000000000000000000..b2bda074863bcc6f904b3be1117047396b7075f8 --- /dev/null +++ b/assets/scene_usds/ebench/teleop_tasks/install_gear/merge_usd/0009/Materials/a13442.mdl @@ -0,0 +1,67 @@ +mdl 1.8; + +import ::state::normal; +import ::OmniPBR::OmniPBR; +import ::anno::author; +import ::anno::description; +import ::anno::display_name; +import ::anno::in_group; +import ::anno::key_words; +import ::anno::version; +import ::base::mono_mode; +import ::tex::gamma_mode; + +export material a13442(*) +[[ + anno::display_name("OmniPBR"), + anno::description("OmniPBR Base with support for clear coat, opacity and ORM textures."), + anno::in_group("Base", false), + anno::version(2, 1, 2, ""), + anno::author("NVIDIA CORPORATION"), + anno::key_words(string[]("omni", "PBR", "opacity", "omniverse", "generic")) +]] + = OmniPBR::OmniPBR( + diffuse_color_constant: color(0.5f, 0.5f, 0.5f), + diffuse_texture: texture_2d(), + 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.f, + reflection_roughness_texture_influence: 0.f, + reflectionroughness_texture: texture_2d(), + metallic_constant: 0.f, + metallic_texture_influence: 0.f, + metallic_texture: texture_2d(), + specular_level: 0.5f, + enable_ORM_texture: false, + ORM_texture: texture_2d(), + ao_to_diffuse: 0.f, + ao_texture: texture_2d(), + enable_emission: true, + emissive_color: color(0.f, 0.f, 0.f), + emissive_color_texture: texture_2d(), + emissive_mask_texture: texture_2d(), + emissive_intensity: 3250.f, + enable_opacity: false, + opacity_texture: texture_2d(), + opacity_constant: 1.f, + enable_opacity_texture: false, + opacity_mode: base::mono_average, + opacity_threshold: 0.00100000005f, + geometry_normal_roughness_strength: 1.f, + bump_factor: 0.300000012f, + 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)); diff --git a/assets/scene_usds/ebench/teleop_tasks/install_gear/merge_usd/0009/Materials/a13443.mdl b/assets/scene_usds/ebench/teleop_tasks/install_gear/merge_usd/0009/Materials/a13443.mdl new file mode 100644 index 0000000000000000000000000000000000000000..c41270f36882f472d434dd48c0e6c80b19b1ea00 --- /dev/null +++ b/assets/scene_usds/ebench/teleop_tasks/install_gear/merge_usd/0009/Materials/a13443.mdl @@ -0,0 +1,71 @@ +///\authors: Auto-generated by vray_to_mdl_export.ms script. +///\description: Translated VRay material. + +mdl 1.6; + +// Import +import ::anno::*; +import ::base::transform_coordinate; +import ::base::rotation_translation_scale; +import ::base::file_texture; +import ::base::mono_mode; +import ::base::texture_coordinate_info; +import ::base::texture_return; +import ::state::normal; +import ::state::texture_coordinate; +import ::state::texture_tangent_u; +import ::state::texture_tangent_v; +import ::tex::gamma_mode; +import ::tex::wrap_mode; +import templates::ad_3dsmax_materials::*; +import templates::ad_3dsmax_maps::*; +import templates::vray_materials::*; +import templates::vray_maps::*; + +// Body +export material a13443() +[[ + anno::display_name("_13443") +]] += ::templates::vray_materials::VRayMtl( + Diffuse : color(0.909804,0.909804,0.909804), + diffuse_roughness : 0.0f, + Reflection : color(0.580392,0.580392,0.580392), + reflection_glossiness : 0.8f, + reflection_fresnel : false, + reflection_ior : 1.6f, + reflection_lockIOR : true, + invert_reflection_ior : false, + reflection_metalness : 0.0f, + Refraction : color(0.0,0.0,0.0), + refraction_glossiness : 1.0f, + refraction_ior : 1.6f, + invert_refraction_ior : false, + refraction_dispersion_on : false, + refraction_dispersion : 50.0f, + refraction_fogColor : color(1.0,1.0,1.0), + refraction_fogBias : 0.0f, + refraction_fogMult : 1.0f, + translucency_on : ::templates::vray_materials::translucency_none, + translucency_scatterCoeff : 0.0f, + translucency_fbCoeff : 1.0f, + translucency_color : color(1.0,1.0,1.0), + self_illumination : color(0.0,0.0,0.0), + self_illumination_multiplier : 1.0f, + coat_amount : 0.0f, + coat_color : color(1.0,1.0,1.0), + coat_glossiness : 1.0f, + coat_ior : 1.6f, + invert_coat_ior : false, + coat_bump_lock : false, + sheen_color : color(0.0,0.0,0.0), + sheen_glossiness : 0.8f, + brdf_type : ::templates::vray_materials::brdf_blinn, + brdf_useRoughness : ::templates::vray_materials::brdf_glossiness, + anisotropy : 0.0f, + anisotropy_rotation : 0.0f, + anisotropy_channel : 1, + texmap_opacity : 1.0f +); + + diff --git a/assets/scene_usds/ebench/teleop_tasks/install_gear/merge_usd/0009/Materials/a13444.mdl b/assets/scene_usds/ebench/teleop_tasks/install_gear/merge_usd/0009/Materials/a13444.mdl new file mode 100644 index 0000000000000000000000000000000000000000..8e39e49f9964cb885c1a7ea8e165ce51918da740 --- /dev/null +++ b/assets/scene_usds/ebench/teleop_tasks/install_gear/merge_usd/0009/Materials/a13444.mdl @@ -0,0 +1,71 @@ +///\authors: Auto-generated by vray_to_mdl_export.ms script. +///\description: Translated VRay material. + +mdl 1.6; + +// Import +import ::anno::*; +import ::base::transform_coordinate; +import ::base::rotation_translation_scale; +import ::base::file_texture; +import ::base::mono_mode; +import ::base::texture_coordinate_info; +import ::base::texture_return; +import ::state::normal; +import ::state::texture_coordinate; +import ::state::texture_tangent_u; +import ::state::texture_tangent_v; +import ::tex::gamma_mode; +import ::tex::wrap_mode; +import templates::ad_3dsmax_materials::*; +import templates::ad_3dsmax_maps::*; +import templates::vray_materials::*; +import templates::vray_maps::*; + +// Body +export material a13444() +[[ + anno::display_name("_13444") +]] += ::templates::vray_materials::VRayMtl( + Diffuse : color(0.909804,0.909804,0.909804), + diffuse_roughness : 0.0f, + Reflection : color(0.0,0.0,0.0), + reflection_glossiness : 1.0f, + reflection_fresnel : false, + reflection_ior : 1.6f, + reflection_lockIOR : true, + invert_reflection_ior : false, + reflection_metalness : 0.0f, + Refraction : color(0.0,0.0,0.0), + refraction_glossiness : 1.0f, + refraction_ior : 1.6f, + invert_refraction_ior : false, + refraction_dispersion_on : false, + refraction_dispersion : 50.0f, + refraction_fogColor : color(1.0,1.0,1.0), + refraction_fogBias : 0.0f, + refraction_fogMult : 1.0f, + translucency_on : ::templates::vray_materials::translucency_none, + translucency_scatterCoeff : 0.0f, + translucency_fbCoeff : 1.0f, + translucency_color : color(1.0,1.0,1.0), + self_illumination : color(0.0,0.0,0.0), + self_illumination_multiplier : 1.0f, + coat_amount : 0.0f, + coat_color : color(1.0,1.0,1.0), + coat_glossiness : 1.0f, + coat_ior : 1.6f, + invert_coat_ior : false, + coat_bump_lock : false, + sheen_color : color(0.0,0.0,0.0), + sheen_glossiness : 0.8f, + brdf_type : ::templates::vray_materials::brdf_blinn, + brdf_useRoughness : ::templates::vray_materials::brdf_glossiness, + anisotropy : 0.0f, + anisotropy_rotation : 0.0f, + anisotropy_channel : 1, + texmap_opacity : 1.0f +); + + diff --git a/assets/scene_usds/ebench/teleop_tasks/install_gear/merge_usd/0009/Materials/a13446.mdl b/assets/scene_usds/ebench/teleop_tasks/install_gear/merge_usd/0009/Materials/a13446.mdl new file mode 100644 index 0000000000000000000000000000000000000000..f09b429059070cc434b3a1701881ce86723b2e73 --- /dev/null +++ b/assets/scene_usds/ebench/teleop_tasks/install_gear/merge_usd/0009/Materials/a13446.mdl @@ -0,0 +1,67 @@ +mdl 1.8; + +import ::state::normal; +import ::OmniPBR::OmniPBR; +import ::anno::author; +import ::anno::description; +import ::anno::display_name; +import ::anno::in_group; +import ::anno::key_words; +import ::anno::version; +import ::base::mono_mode; +import ::tex::gamma_mode; + +export material a13446(*) +[[ + anno::display_name("OmniPBR"), + anno::description("OmniPBR Base with support for clear coat, opacity and ORM textures."), + anno::in_group("Base", false), + anno::version(2, 1, 2, ""), + anno::author("NVIDIA CORPORATION"), + anno::key_words(string[]("omni", "PBR", "opacity", "omniverse", "generic")) +]] + = OmniPBR::OmniPBR( + diffuse_color_constant: color(0.5f, 0.5f, 0.5f), + diffuse_texture: texture_2d(), + 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.f, + reflection_roughness_texture_influence: 0.f, + reflectionroughness_texture: texture_2d(), + metallic_constant: 0.f, + metallic_texture_influence: 0.f, + metallic_texture: texture_2d(), + specular_level: 0.5f, + enable_ORM_texture: false, + ORM_texture: texture_2d(), + ao_to_diffuse: 0.f, + ao_texture: texture_2d(), + enable_emission: true, + emissive_color: color(0.f, 0.f, 0.f), + emissive_color_texture: texture_2d(), + emissive_mask_texture: texture_2d(), + emissive_intensity: 3250.f, + enable_opacity: false, + opacity_texture: texture_2d(), + opacity_constant: 1.f, + enable_opacity_texture: false, + opacity_mode: base::mono_average, + opacity_threshold: 0.00100000005f, + geometry_normal_roughness_strength: 1.f, + bump_factor: 0.300000012f, + 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)); diff --git a/assets/scene_usds/ebench/teleop_tasks/install_gear/merge_usd/0009/Materials/a13449.mdl b/assets/scene_usds/ebench/teleop_tasks/install_gear/merge_usd/0009/Materials/a13449.mdl new file mode 100644 index 0000000000000000000000000000000000000000..7887179863e07f195adec5b896bd9ff19be2b3ec --- /dev/null +++ b/assets/scene_usds/ebench/teleop_tasks/install_gear/merge_usd/0009/Materials/a13449.mdl @@ -0,0 +1,67 @@ +mdl 1.8; + +import ::state::normal; +import ::OmniPBR::OmniPBR; +import ::anno::author; +import ::anno::description; +import ::anno::display_name; +import ::anno::in_group; +import ::anno::key_words; +import ::anno::version; +import ::base::mono_mode; +import ::tex::gamma_mode; + +export material a13449(*) +[[ + anno::display_name("OmniPBR"), + anno::description("OmniPBR Base with support for clear coat, opacity and ORM textures."), + anno::in_group("Base", false), + anno::version(2, 1, 2, ""), + anno::author("NVIDIA CORPORATION"), + anno::key_words(string[]("omni", "PBR", "opacity", "omniverse", "generic")) +]] + = OmniPBR::OmniPBR( + diffuse_color_constant: color(0.5f, 0.5f, 0.5f), + diffuse_texture: texture_2d(), + 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.f, + reflection_roughness_texture_influence: 0.f, + reflectionroughness_texture: texture_2d(), + metallic_constant: 0.f, + metallic_texture_influence: 0.f, + metallic_texture: texture_2d(), + specular_level: 0.5f, + enable_ORM_texture: false, + ORM_texture: texture_2d(), + ao_to_diffuse: 0.f, + ao_texture: texture_2d(), + enable_emission: true, + emissive_color: color(0.f, 0.f, 0.f), + emissive_color_texture: texture_2d(), + emissive_mask_texture: texture_2d(), + emissive_intensity: 3250.f, + enable_opacity: false, + opacity_texture: texture_2d(), + opacity_constant: 1.f, + enable_opacity_texture: false, + opacity_mode: base::mono_average, + opacity_threshold: 0.00100000005f, + geometry_normal_roughness_strength: 1.f, + bump_factor: 0.300000012f, + 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)); diff --git a/assets/scene_usds/ebench/teleop_tasks/install_gear/merge_usd/0009/Materials/a13452.mdl b/assets/scene_usds/ebench/teleop_tasks/install_gear/merge_usd/0009/Materials/a13452.mdl new file mode 100644 index 0000000000000000000000000000000000000000..4ca2a9278b9c2f268052387f8866f513a5febde2 --- /dev/null +++ b/assets/scene_usds/ebench/teleop_tasks/install_gear/merge_usd/0009/Materials/a13452.mdl @@ -0,0 +1,67 @@ +mdl 1.8; + +import ::state::normal; +import ::OmniPBR::OmniPBR; +import ::anno::author; +import ::anno::description; +import ::anno::display_name; +import ::anno::in_group; +import ::anno::key_words; +import ::anno::version; +import ::base::mono_mode; +import ::tex::gamma_mode; + +export material a13452(*) +[[ + anno::display_name("OmniPBR"), + anno::description("OmniPBR Base with support for clear coat, opacity and ORM textures."), + anno::in_group("Base", false), + anno::version(2, 1, 2, ""), + anno::author("NVIDIA CORPORATION"), + anno::key_words(string[]("omni", "PBR", "opacity", "omniverse", "generic")) +]] + = OmniPBR::OmniPBR( + diffuse_color_constant: color(0.5f, 0.5f, 0.5f), + diffuse_texture: texture_2d(), + 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.f, + reflection_roughness_texture_influence: 0.f, + reflectionroughness_texture: texture_2d(), + metallic_constant: 0.f, + metallic_texture_influence: 0.f, + metallic_texture: texture_2d(), + specular_level: 0.5f, + enable_ORM_texture: false, + ORM_texture: texture_2d(), + ao_to_diffuse: 0.f, + ao_texture: texture_2d(), + enable_emission: true, + emissive_color: color(0.f, 0.f, 0.f), + emissive_color_texture: texture_2d(), + emissive_mask_texture: texture_2d(), + emissive_intensity: 3250.f, + enable_opacity: false, + opacity_texture: texture_2d(), + opacity_constant: 1.f, + enable_opacity_texture: false, + opacity_mode: base::mono_average, + opacity_threshold: 0.00100000005f, + geometry_normal_roughness_strength: 1.f, + bump_factor: 0.300000012f, + 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)); diff --git a/assets/scene_usds/ebench/teleop_tasks/install_gear/merge_usd/0009/Materials/a13454.mdl b/assets/scene_usds/ebench/teleop_tasks/install_gear/merge_usd/0009/Materials/a13454.mdl new file mode 100644 index 0000000000000000000000000000000000000000..184acc9174f3e913f39ea9f6567ff3607def34ef --- /dev/null +++ b/assets/scene_usds/ebench/teleop_tasks/install_gear/merge_usd/0009/Materials/a13454.mdl @@ -0,0 +1,67 @@ +mdl 1.8; + +import ::state::normal; +import ::OmniPBR::OmniPBR; +import ::anno::author; +import ::anno::description; +import ::anno::display_name; +import ::anno::in_group; +import ::anno::key_words; +import ::anno::version; +import ::base::mono_mode; +import ::tex::gamma_mode; + +export material a13454(*) +[[ + anno::display_name("OmniPBR"), + anno::description("OmniPBR Base with support for clear coat, opacity and ORM textures."), + anno::in_group("Base", false), + anno::version(2, 1, 2, ""), + anno::author("NVIDIA CORPORATION"), + anno::key_words(string[]("omni", "PBR", "opacity", "omniverse", "generic")) +]] + = OmniPBR::OmniPBR( + diffuse_color_constant: color(0.5f, 0.5f, 0.5f), + diffuse_texture: texture_2d(), + 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.f, + reflection_roughness_texture_influence: 0.f, + reflectionroughness_texture: texture_2d(), + metallic_constant: 0.f, + metallic_texture_influence: 0.f, + metallic_texture: texture_2d(), + specular_level: 0.5f, + enable_ORM_texture: false, + ORM_texture: texture_2d(), + ao_to_diffuse: 0.f, + ao_texture: texture_2d(), + enable_emission: true, + emissive_color: color(0.f, 0.f, 0.f), + emissive_color_texture: texture_2d(), + emissive_mask_texture: texture_2d(), + emissive_intensity: 3250.f, + enable_opacity: false, + opacity_texture: texture_2d(), + opacity_constant: 1.f, + enable_opacity_texture: false, + opacity_mode: base::mono_average, + opacity_threshold: 0.00100000005f, + geometry_normal_roughness_strength: 1.f, + bump_factor: 0.300000012f, + 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)); diff --git a/assets/scene_usds/ebench/teleop_tasks/install_gear/merge_usd/0009/Materials/a13457.mdl b/assets/scene_usds/ebench/teleop_tasks/install_gear/merge_usd/0009/Materials/a13457.mdl new file mode 100644 index 0000000000000000000000000000000000000000..381801e998ddefc180014048d8efe9aff93b198a --- /dev/null +++ b/assets/scene_usds/ebench/teleop_tasks/install_gear/merge_usd/0009/Materials/a13457.mdl @@ -0,0 +1,71 @@ +///\authors: Auto-generated by vray_to_mdl_export.ms script. +///\description: Translated VRay material. + +mdl 1.6; + +// Import +import ::anno::*; +import ::base::transform_coordinate; +import ::base::rotation_translation_scale; +import ::base::file_texture; +import ::base::mono_mode; +import ::base::texture_coordinate_info; +import ::base::texture_return; +import ::state::normal; +import ::state::texture_coordinate; +import ::state::texture_tangent_u; +import ::state::texture_tangent_v; +import ::tex::gamma_mode; +import ::tex::wrap_mode; +import templates::ad_3dsmax_materials::*; +import templates::ad_3dsmax_maps::*; +import templates::vray_materials::*; +import templates::vray_maps::*; + +// Body +export material a13457() +[[ + anno::display_name("_13457") +]] += ::templates::vray_materials::VRayMtl( + Diffuse : color(0.678431,0.678431,0.678431), + diffuse_roughness : 0.0f, + Reflection : color(0.0392157,0.0392157,0.0392157), + reflection_glossiness : 1.0f, + reflection_fresnel : false, + reflection_ior : 1.6f, + reflection_lockIOR : true, + invert_reflection_ior : false, + reflection_metalness : 0.0f, + Refraction : color(0.431373,0.431373,0.431373), + refraction_glossiness : 0.8f, + refraction_ior : 1.6f, + invert_refraction_ior : false, + refraction_dispersion_on : false, + refraction_dispersion : 50.0f, + refraction_fogColor : color(1.0,1.0,1.0), + refraction_fogBias : 0.0f, + refraction_fogMult : 1.0f, + translucency_on : ::templates::vray_materials::translucency_none, + translucency_scatterCoeff : 0.0f, + translucency_fbCoeff : 1.0f, + translucency_color : color(1.0,1.0,1.0), + self_illumination : color(0.0,0.0,0.0), + self_illumination_multiplier : 1.0f, + coat_amount : 0.0f, + coat_color : color(1.0,1.0,1.0), + coat_glossiness : 1.0f, + coat_ior : 1.6f, + invert_coat_ior : false, + coat_bump_lock : false, + sheen_color : color(0.0,0.0,0.0), + sheen_glossiness : 0.8f, + brdf_type : ::templates::vray_materials::brdf_blinn, + brdf_useRoughness : ::templates::vray_materials::brdf_glossiness, + anisotropy : 0.0f, + anisotropy_rotation : 0.0f, + anisotropy_channel : 1, + texmap_opacity : 1.0f +); + + diff --git a/assets/scene_usds/ebench/teleop_tasks/install_gear/merge_usd/0009/Materials/a13461.mdl b/assets/scene_usds/ebench/teleop_tasks/install_gear/merge_usd/0009/Materials/a13461.mdl new file mode 100644 index 0000000000000000000000000000000000000000..02a2365d2247589ee303372cd3c869e3ec5d7771 --- /dev/null +++ b/assets/scene_usds/ebench/teleop_tasks/install_gear/merge_usd/0009/Materials/a13461.mdl @@ -0,0 +1,71 @@ +///\authors: Auto-generated by vray_to_mdl_export.ms script. +///\description: Translated VRay material. + +mdl 1.6; + +// Import +import ::anno::*; +import ::base::transform_coordinate; +import ::base::rotation_translation_scale; +import ::base::file_texture; +import ::base::mono_mode; +import ::base::texture_coordinate_info; +import ::base::texture_return; +import ::state::normal; +import ::state::texture_coordinate; +import ::state::texture_tangent_u; +import ::state::texture_tangent_v; +import ::tex::gamma_mode; +import ::tex::wrap_mode; +import templates::ad_3dsmax_materials::*; +import templates::ad_3dsmax_maps::*; +import templates::vray_materials::*; +import templates::vray_maps::*; + +// Body +export material a13461() +[[ + anno::display_name("_13461") +]] += ::templates::vray_materials::VRayMtl( + Diffuse : color(0.607843,0.596078,0.529412), + diffuse_roughness : 0.0f, + Reflection : color(0.0901961,0.0901961,0.0901961), + reflection_glossiness : 0.5f, + reflection_fresnel : false, + reflection_ior : 1.6f, + reflection_lockIOR : true, + invert_reflection_ior : false, + reflection_metalness : 0.0f, + Refraction : color(0.0,0.0,0.0), + refraction_glossiness : 1.0f, + refraction_ior : 1.6f, + invert_refraction_ior : false, + refraction_dispersion_on : false, + refraction_dispersion : 50.0f, + refraction_fogColor : color(1.0,1.0,1.0), + refraction_fogBias : 0.0f, + refraction_fogMult : 1.0f, + translucency_on : ::templates::vray_materials::translucency_none, + translucency_scatterCoeff : 0.0f, + translucency_fbCoeff : 1.0f, + translucency_color : color(1.0,1.0,1.0), + self_illumination : color(0.0,0.0,0.0), + self_illumination_multiplier : 1.0f, + coat_amount : 0.0f, + coat_color : color(1.0,1.0,1.0), + coat_glossiness : 1.0f, + coat_ior : 1.6f, + invert_coat_ior : false, + coat_bump_lock : false, + sheen_color : color(0.0,0.0,0.0), + sheen_glossiness : 0.8f, + brdf_type : ::templates::vray_materials::brdf_blinn, + brdf_useRoughness : ::templates::vray_materials::brdf_glossiness, + anisotropy : 0.0f, + anisotropy_rotation : 0.0f, + anisotropy_channel : 1, + texmap_opacity : 1.0f +); + + diff --git a/assets/scene_usds/ebench/teleop_tasks/install_gear/merge_usd/0009/Materials/a13463.mdl b/assets/scene_usds/ebench/teleop_tasks/install_gear/merge_usd/0009/Materials/a13463.mdl new file mode 100644 index 0000000000000000000000000000000000000000..7527f7a5a6af1a943237e7d03e98c8f1f00c6c32 --- /dev/null +++ b/assets/scene_usds/ebench/teleop_tasks/install_gear/merge_usd/0009/Materials/a13463.mdl @@ -0,0 +1,97 @@ +///\authors: Auto-generated by vray_to_mdl_export.ms script. +///\description: Translated VRay material. + +mdl 1.6; + +// Import +import ::anno::*; +import ::base::transform_coordinate; +import ::base::rotation_translation_scale; +import ::base::file_texture; +import ::base::mono_mode; +import ::base::texture_coordinate_info; +import ::base::texture_return; +import ::state::normal; +import ::state::texture_coordinate; +import ::state::texture_tangent_u; +import ::state::texture_tangent_v; +import ::tex::gamma_mode; +import ::tex::wrap_mode; +import templates::ad_3dsmax_materials::*; +import templates::ad_3dsmax_maps::*; +import templates::vray_materials::*; +import templates::vray_maps::*; + +// Body +export material a13463() +[[ + anno::display_name("_13463") +]] += ::templates::vray_materials::VRayMtl( + Diffuse : ::templates::ad_3dsmax_maps::ad_3dsmax_bitmap( + filename : texture_2d("./a13463/13314.jpg", ::tex::gamma_srgb), + cliph : 1.0f, + clipu : 0.0f, + clipv : 0.0f, + clipw : 1.0f, + mapChannel : 1, + U_angle : 0.0f, + U_Mirror : false, + U_Offset : 0.0f, + U_Tile : true, + U_Tiling : 1.0f, + UVW_Type : 0, + V_angle : 0.0f, + V_Mirror : false, + V_Offset : 0.0f, + V_Tile : true, + V_Tiling : 1.0f, + W_angle : 0.0f, + alphaFromRGB : false, + bump_amount : 1.0f, + clamp : false, + invert : false, + output_amount : 1.0f, + rgb_level : 1.0f, + rgb_offset : 0.0f + ).tint, + diffuse_roughness : 0.0f, + Reflection : color(0.0901961,0.0901961,0.0901961), + reflection_glossiness : 0.8f, + reflection_fresnel : false, + reflection_ior : 1.6f, + reflection_lockIOR : true, + invert_reflection_ior : false, + reflection_metalness : 0.0f, + Refraction : color(0.0,0.0,0.0), + refraction_glossiness : 1.0f, + refraction_ior : 1.6f, + invert_refraction_ior : false, + refraction_dispersion_on : false, + refraction_dispersion : 50.0f, + refraction_fogColor : color(1.0,1.0,1.0), + refraction_fogBias : 0.0f, + refraction_fogMult : 1.0f, + translucency_on : ::templates::vray_materials::translucency_none, + translucency_scatterCoeff : 0.0f, + translucency_fbCoeff : 1.0f, + translucency_color : color(1.0,1.0,1.0), + self_illumination : color(0.0,0.0,0.0), + self_illumination_multiplier : 1.0f, + coat_amount : 0.0f, + coat_color : color(1.0,1.0,1.0), + coat_glossiness : 1.0f, + coat_ior : 1.6f, + invert_coat_ior : false, + coat_bump_lock : false, + sheen_color : color(0.0,0.0,0.0), + sheen_glossiness : 0.8f, + brdf_type : ::templates::vray_materials::brdf_blinn, + brdf_useRoughness : ::templates::vray_materials::brdf_glossiness, + anisotropy : 0.0f, + anisotropy_rotation : 0.0f, + anisotropy_channel : 1, + texmap_opacity : 1.0f +); + + diff --git a/assets/scene_usds/ebench/teleop_tasks/install_gear/merge_usd/0009/Materials/a13464.mdl b/assets/scene_usds/ebench/teleop_tasks/install_gear/merge_usd/0009/Materials/a13464.mdl new file mode 100644 index 0000000000000000000000000000000000000000..418fe6cd2c346b2151cc7b50166713a67fe6495c --- /dev/null +++ b/assets/scene_usds/ebench/teleop_tasks/install_gear/merge_usd/0009/Materials/a13464.mdl @@ -0,0 +1,71 @@ +///\authors: Auto-generated by vray_to_mdl_export.ms script. +///\description: Translated VRay material. + +mdl 1.6; + +// Import +import ::anno::*; +import ::base::transform_coordinate; +import ::base::rotation_translation_scale; +import ::base::file_texture; +import ::base::mono_mode; +import ::base::texture_coordinate_info; +import ::base::texture_return; +import ::state::normal; +import ::state::texture_coordinate; +import ::state::texture_tangent_u; +import ::state::texture_tangent_v; +import ::tex::gamma_mode; +import ::tex::wrap_mode; +import templates::ad_3dsmax_materials::*; +import templates::ad_3dsmax_maps::*; +import templates::vray_materials::*; +import templates::vray_maps::*; + +// Body +export material a13464() +[[ + anno::display_name("_13464") +]] += ::templates::vray_materials::VRayMtl( + Diffuse : color(0.121569,0.109804,0.0862745), + diffuse_roughness : 0.0f, + Reflection : color(0.0,0.0,0.0), + reflection_glossiness : 1.0f, + reflection_fresnel : false, + reflection_ior : 1.6f, + reflection_lockIOR : true, + invert_reflection_ior : false, + reflection_metalness : 0.0f, + Refraction : color(0.0,0.0,0.0), + refraction_glossiness : 1.0f, + refraction_ior : 1.6f, + invert_refraction_ior : false, + refraction_dispersion_on : false, + refraction_dispersion : 50.0f, + refraction_fogColor : color(1.0,1.0,1.0), + refraction_fogBias : 0.0f, + refraction_fogMult : 1.0f, + translucency_on : ::templates::vray_materials::translucency_none, + translucency_scatterCoeff : 0.0f, + translucency_fbCoeff : 1.0f, + translucency_color : color(1.0,1.0,1.0), + self_illumination : color(0.0,0.0,0.0), + self_illumination_multiplier : 1.0f, + coat_amount : 0.0f, + coat_color : color(1.0,1.0,1.0), + coat_glossiness : 1.0f, + coat_ior : 1.6f, + invert_coat_ior : false, + coat_bump_lock : false, + sheen_color : color(0.0,0.0,0.0), + sheen_glossiness : 0.8f, + brdf_type : ::templates::vray_materials::brdf_blinn, + brdf_useRoughness : ::templates::vray_materials::brdf_glossiness, + anisotropy : 0.0f, + anisotropy_rotation : 0.0f, + anisotropy_channel : 1, + texmap_opacity : 1.0f +); + + diff --git a/assets/scene_usds/ebench/teleop_tasks/install_gear/merge_usd/0009/Materials/a13466.mdl b/assets/scene_usds/ebench/teleop_tasks/install_gear/merge_usd/0009/Materials/a13466.mdl new file mode 100644 index 0000000000000000000000000000000000000000..1fec1bab2f211a39a15d0591e8b5908f4f7d75fd --- /dev/null +++ b/assets/scene_usds/ebench/teleop_tasks/install_gear/merge_usd/0009/Materials/a13466.mdl @@ -0,0 +1,97 @@ +///\authors: Auto-generated by vray_to_mdl_export.ms script. +///\description: Translated VRay material. + +mdl 1.6; + +// Import +import ::anno::*; +import ::base::transform_coordinate; +import ::base::rotation_translation_scale; +import ::base::file_texture; +import ::base::mono_mode; +import ::base::texture_coordinate_info; +import ::base::texture_return; +import ::state::normal; +import ::state::texture_coordinate; +import ::state::texture_tangent_u; +import ::state::texture_tangent_v; +import ::tex::gamma_mode; +import ::tex::wrap_mode; +import templates::ad_3dsmax_materials::*; +import templates::ad_3dsmax_maps::*; +import templates::vray_materials::*; +import templates::vray_maps::*; + +// Body +export material a13466() +[[ + anno::display_name("_13466") +]] += ::templates::vray_materials::VRayMtl( + Diffuse : ::templates::ad_3dsmax_maps::ad_3dsmax_bitmap( + filename : texture_2d("./a13466/13331.jpg", ::tex::gamma_srgb), + cliph : 1.0f, + clipu : 0.0f, + clipv : 0.0f, + clipw : 1.0f, + mapChannel : 1, + U_angle : 0.0f, + U_Mirror : false, + U_Offset : 0.0f, + U_Tile : true, + U_Tiling : 1.0f, + UVW_Type : 0, + V_angle : 0.0f, + V_Mirror : false, + V_Offset : 0.0f, + V_Tile : true, + V_Tiling : 1.0f, + W_angle : 0.0f, + alphaFromRGB : false, + bump_amount : 1.0f, + clamp : false, + invert : false, + output_amount : 1.0f, + rgb_level : 1.0f, + rgb_offset : 0.0f + ).tint, + diffuse_roughness : 0.0f, + Reflection : color(0.0392157,0.0392157,0.0392157), + reflection_glossiness : 0.8f, + reflection_fresnel : false, + reflection_ior : 1.6f, + reflection_lockIOR : true, + invert_reflection_ior : false, + reflection_metalness : 0.0f, + Refraction : color(0.0,0.0,0.0), + refraction_glossiness : 1.0f, + refraction_ior : 1.6f, + invert_refraction_ior : false, + refraction_dispersion_on : false, + refraction_dispersion : 50.0f, + refraction_fogColor : color(1.0,1.0,1.0), + refraction_fogBias : 0.0f, + refraction_fogMult : 1.0f, + translucency_on : ::templates::vray_materials::translucency_none, + translucency_scatterCoeff : 0.0f, + translucency_fbCoeff : 1.0f, + translucency_color : color(1.0,1.0,1.0), + self_illumination : color(0.0,0.0,0.0), + self_illumination_multiplier : 1.0f, + coat_amount : 0.0f, + coat_color : color(1.0,1.0,1.0), + coat_glossiness : 1.0f, + coat_ior : 1.6f, + invert_coat_ior : false, + coat_bump_lock : false, + sheen_color : color(0.0,0.0,0.0), + sheen_glossiness : 0.8f, + brdf_type : ::templates::vray_materials::brdf_blinn, + brdf_useRoughness : ::templates::vray_materials::brdf_glossiness, + anisotropy : 0.0f, + anisotropy_rotation : 0.0f, + anisotropy_channel : 1, + texmap_opacity : 1.0f +); + + diff --git a/assets/scene_usds/ebench/teleop_tasks/install_gear/merge_usd/0009/Materials/a13471.mdl b/assets/scene_usds/ebench/teleop_tasks/install_gear/merge_usd/0009/Materials/a13471.mdl new file mode 100644 index 0000000000000000000000000000000000000000..a587de8a0a96fb6fe380de0fd17ecff77a360e2e --- /dev/null +++ b/assets/scene_usds/ebench/teleop_tasks/install_gear/merge_usd/0009/Materials/a13471.mdl @@ -0,0 +1,71 @@ +///\authors: Auto-generated by vray_to_mdl_export.ms script. +///\description: Translated VRay material. + +mdl 1.6; + +// Import +import ::anno::*; +import ::base::transform_coordinate; +import ::base::rotation_translation_scale; +import ::base::file_texture; +import ::base::mono_mode; +import ::base::texture_coordinate_info; +import ::base::texture_return; +import ::state::normal; +import ::state::texture_coordinate; +import ::state::texture_tangent_u; +import ::state::texture_tangent_v; +import ::tex::gamma_mode; +import ::tex::wrap_mode; +import templates::ad_3dsmax_materials::*; +import templates::ad_3dsmax_maps::*; +import templates::vray_materials::*; +import templates::vray_maps::*; + +// Body +export material a13471() +[[ + anno::display_name("_13471") +]] += ::templates::vray_materials::VRayMtl( + Diffuse : color(0.784314,0.694118,0.192157), + diffuse_roughness : 0.0f, + Reflection : color(0.67451,0.67451,0.67451), + reflection_glossiness : 0.8f, + reflection_fresnel : true, + reflection_ior : 1.6f, + reflection_lockIOR : true, + invert_reflection_ior : false, + reflection_metalness : 0.0f, + Refraction : color(0.0,0.0,0.0), + refraction_glossiness : 1.0f, + refraction_ior : 1.6f, + invert_refraction_ior : false, + refraction_dispersion_on : false, + refraction_dispersion : 50.0f, + refraction_fogColor : color(1.0,1.0,1.0), + refraction_fogBias : 0.0f, + refraction_fogMult : 1.0f, + translucency_on : ::templates::vray_materials::translucency_none, + translucency_scatterCoeff : 0.0f, + translucency_fbCoeff : 1.0f, + translucency_color : color(1.0,1.0,1.0), + self_illumination : color(0.0,0.0,0.0), + self_illumination_multiplier : 1.0f, + coat_amount : 0.0f, + coat_color : color(1.0,1.0,1.0), + coat_glossiness : 1.0f, + coat_ior : 1.6f, + invert_coat_ior : false, + coat_bump_lock : false, + sheen_color : color(0.0,0.0,0.0), + sheen_glossiness : 0.8f, + brdf_type : ::templates::vray_materials::brdf_blinn, + brdf_useRoughness : ::templates::vray_materials::brdf_glossiness, + anisotropy : 0.0f, + anisotropy_rotation : 0.0f, + anisotropy_channel : 1, + texmap_opacity : 1.0f +); + + diff --git a/assets/scene_usds/ebench/teleop_tasks/install_gear/merge_usd/0009/Materials/a13479.mdl b/assets/scene_usds/ebench/teleop_tasks/install_gear/merge_usd/0009/Materials/a13479.mdl new file mode 100644 index 0000000000000000000000000000000000000000..d56f21d92874c430bd11405db04df3080b714c8a --- /dev/null +++ b/assets/scene_usds/ebench/teleop_tasks/install_gear/merge_usd/0009/Materials/a13479.mdl @@ -0,0 +1,71 @@ +///\authors: Auto-generated by vray_to_mdl_export.ms script. +///\description: Translated VRay material. + +mdl 1.6; + +// Import +import ::anno::*; +import ::base::transform_coordinate; +import ::base::rotation_translation_scale; +import ::base::file_texture; +import ::base::mono_mode; +import ::base::texture_coordinate_info; +import ::base::texture_return; +import ::state::normal; +import ::state::texture_coordinate; +import ::state::texture_tangent_u; +import ::state::texture_tangent_v; +import ::tex::gamma_mode; +import ::tex::wrap_mode; +import templates::ad_3dsmax_materials::*; +import templates::ad_3dsmax_maps::*; +import templates::vray_materials::*; +import templates::vray_maps::*; + +// Body +export material a13479() +[[ + anno::display_name("_13479") +]] += ::templates::vray_materials::VRayMtl( + Diffuse : color(0.156863,0.156863,0.156863), + diffuse_roughness : 0.0f, + Reflection : color(0.843137,0.843137,0.843137), + reflection_glossiness : 0.8f, + reflection_fresnel : false, + reflection_ior : 1.6f, + reflection_lockIOR : true, + invert_reflection_ior : false, + reflection_metalness : 0.0f, + Refraction : color(0.0,0.0,0.0), + refraction_glossiness : 1.0f, + refraction_ior : 1.6f, + invert_refraction_ior : false, + refraction_dispersion_on : false, + refraction_dispersion : 50.0f, + refraction_fogColor : color(1.0,1.0,1.0), + refraction_fogBias : 0.0f, + refraction_fogMult : 1.0f, + translucency_on : ::templates::vray_materials::translucency_none, + translucency_scatterCoeff : 0.0f, + translucency_fbCoeff : 1.0f, + translucency_color : color(1.0,1.0,1.0), + self_illumination : color(0.0,0.0,0.0), + self_illumination_multiplier : 1.0f, + coat_amount : 0.0f, + coat_color : color(1.0,1.0,1.0), + coat_glossiness : 1.0f, + coat_ior : 1.6f, + invert_coat_ior : false, + coat_bump_lock : false, + sheen_color : color(0.0,0.0,0.0), + sheen_glossiness : 0.8f, + brdf_type : ::templates::vray_materials::brdf_blinn, + brdf_useRoughness : ::templates::vray_materials::brdf_glossiness, + anisotropy : 0.0f, + anisotropy_rotation : 0.0f, + anisotropy_channel : 1, + texmap_opacity : 1.0f +); + + diff --git a/assets/scene_usds/ebench/teleop_tasks/install_gear/merge_usd/0009/Materials/a13481.mdl b/assets/scene_usds/ebench/teleop_tasks/install_gear/merge_usd/0009/Materials/a13481.mdl new file mode 100644 index 0000000000000000000000000000000000000000..d4f0568e2df89865728e0c7a9c97688a4c09d7b3 --- /dev/null +++ b/assets/scene_usds/ebench/teleop_tasks/install_gear/merge_usd/0009/Materials/a13481.mdl @@ -0,0 +1,71 @@ +///\authors: Auto-generated by vray_to_mdl_export.ms script. +///\description: Translated VRay material. + +mdl 1.6; + +// Import +import ::anno::*; +import ::base::transform_coordinate; +import ::base::rotation_translation_scale; +import ::base::file_texture; +import ::base::mono_mode; +import ::base::texture_coordinate_info; +import ::base::texture_return; +import ::state::normal; +import ::state::texture_coordinate; +import ::state::texture_tangent_u; +import ::state::texture_tangent_v; +import ::tex::gamma_mode; +import ::tex::wrap_mode; +import templates::ad_3dsmax_materials::*; +import templates::ad_3dsmax_maps::*; +import templates::vray_materials::*; +import templates::vray_maps::*; + +// Body +export material a13481() +[[ + anno::display_name("_13481") +]] += ::templates::vray_materials::VRayMtl( + Diffuse : color(0.501961,0.509804,0.517647), + diffuse_roughness : 0.0f, + Reflection : color(0.933333,0.933333,0.933333), + reflection_glossiness : 1.0f, + reflection_fresnel : true, + reflection_ior : 1.6f, + reflection_lockIOR : true, + invert_reflection_ior : false, + reflection_metalness : 0.0f, + Refraction : color(0.0,0.0,0.0), + refraction_glossiness : 1.0f, + refraction_ior : 1.6f, + invert_refraction_ior : false, + refraction_dispersion_on : false, + refraction_dispersion : 50.0f, + refraction_fogColor : color(1.0,1.0,1.0), + refraction_fogBias : 0.0f, + refraction_fogMult : 1.0f, + translucency_on : ::templates::vray_materials::translucency_none, + translucency_scatterCoeff : 0.0f, + translucency_fbCoeff : 1.0f, + translucency_color : color(1.0,1.0,1.0), + self_illumination : color(0.0,0.0,0.0), + self_illumination_multiplier : 1.0f, + coat_amount : 0.0f, + coat_color : color(1.0,1.0,1.0), + coat_glossiness : 1.0f, + coat_ior : 1.6f, + invert_coat_ior : false, + coat_bump_lock : false, + sheen_color : color(0.0,0.0,0.0), + sheen_glossiness : 0.8f, + brdf_type : ::templates::vray_materials::brdf_phong, + brdf_useRoughness : ::templates::vray_materials::brdf_glossiness, + anisotropy : 0.0f, + anisotropy_rotation : 0.0f, + anisotropy_channel : 1, + texmap_opacity : 1.0f +); + + diff --git a/assets/scene_usds/ebench/teleop_tasks/install_gear/merge_usd/0009/Materials/a13483.mdl b/assets/scene_usds/ebench/teleop_tasks/install_gear/merge_usd/0009/Materials/a13483.mdl new file mode 100644 index 0000000000000000000000000000000000000000..b6708aa5a5c9aad3922d67c5ccfa16782f5cda5a --- /dev/null +++ b/assets/scene_usds/ebench/teleop_tasks/install_gear/merge_usd/0009/Materials/a13483.mdl @@ -0,0 +1,71 @@ +///\authors: Auto-generated by vray_to_mdl_export.ms script. +///\description: Translated VRay material. + +mdl 1.6; + +// Import +import ::anno::*; +import ::base::transform_coordinate; +import ::base::rotation_translation_scale; +import ::base::file_texture; +import ::base::mono_mode; +import ::base::texture_coordinate_info; +import ::base::texture_return; +import ::state::normal; +import ::state::texture_coordinate; +import ::state::texture_tangent_u; +import ::state::texture_tangent_v; +import ::tex::gamma_mode; +import ::tex::wrap_mode; +import templates::ad_3dsmax_materials::*; +import templates::ad_3dsmax_maps::*; +import templates::vray_materials::*; +import templates::vray_maps::*; + +// Body +export material a13483() +[[ + anno::display_name("_13483") +]] += ::templates::vray_materials::VRayMtl( + Diffuse : color(0.0,0.0,0.0), + diffuse_roughness : 0.0f, + Reflection : color(0.27451,0.27451,0.27451), + reflection_glossiness : 0.85f, + reflection_fresnel : true, + reflection_ior : 1.6f, + reflection_lockIOR : true, + invert_reflection_ior : false, + reflection_metalness : 0.0f, + Refraction : color(0.0,0.0,0.0), + refraction_glossiness : 1.0f, + refraction_ior : 1.6f, + invert_refraction_ior : false, + refraction_dispersion_on : false, + refraction_dispersion : 50.0f, + refraction_fogColor : color(1.0,1.0,1.0), + refraction_fogBias : 0.0f, + refraction_fogMult : 1.0f, + translucency_on : ::templates::vray_materials::translucency_none, + translucency_scatterCoeff : 0.0f, + translucency_fbCoeff : 1.0f, + translucency_color : color(1.0,1.0,1.0), + self_illumination : color(0.0,0.0,0.0), + self_illumination_multiplier : 1.0f, + coat_amount : 0.0f, + coat_color : color(1.0,1.0,1.0), + coat_glossiness : 1.0f, + coat_ior : 1.6f, + invert_coat_ior : false, + coat_bump_lock : false, + sheen_color : color(0.0,0.0,0.0), + sheen_glossiness : 0.8f, + brdf_type : ::templates::vray_materials::brdf_blinn, + brdf_useRoughness : ::templates::vray_materials::brdf_glossiness, + anisotropy : 0.0f, + anisotropy_rotation : 0.0f, + anisotropy_channel : 1, + texmap_opacity : 1.0f +); + + diff --git a/assets/scene_usds/ebench/teleop_tasks/install_gear/merge_usd/0009/Materials/a13485.mdl b/assets/scene_usds/ebench/teleop_tasks/install_gear/merge_usd/0009/Materials/a13485.mdl new file mode 100644 index 0000000000000000000000000000000000000000..e4d726ac5d259ec79d7dff5606e2076cf75e4ae3 --- /dev/null +++ b/assets/scene_usds/ebench/teleop_tasks/install_gear/merge_usd/0009/Materials/a13485.mdl @@ -0,0 +1,67 @@ +mdl 1.8; + +import ::state::normal; +import ::OmniPBR::OmniPBR; +import ::anno::author; +import ::anno::description; +import ::anno::display_name; +import ::anno::in_group; +import ::anno::key_words; +import ::anno::version; +import ::base::mono_mode; +import ::tex::gamma_mode; + +export material a13485(*) +[[ + anno::display_name("OmniPBR"), + anno::description("OmniPBR Base with support for clear coat, opacity and ORM textures."), + anno::in_group("Base", false), + anno::version(2, 1, 2, ""), + anno::author("NVIDIA CORPORATION"), + anno::key_words(string[]("omni", "PBR", "opacity", "omniverse", "generic")) +]] + = OmniPBR::OmniPBR( + diffuse_color_constant: color(0.5f, 0.5f, 0.5f), + diffuse_texture: texture_2d(), + 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.f, + reflection_roughness_texture_influence: 0.f, + reflectionroughness_texture: texture_2d(), + metallic_constant: 0.f, + metallic_texture_influence: 0.f, + metallic_texture: texture_2d(), + specular_level: 0.5f, + enable_ORM_texture: false, + ORM_texture: texture_2d(), + ao_to_diffuse: 0.f, + ao_texture: texture_2d(), + enable_emission: true, + emissive_color: color(0.f, 0.f, 0.f), + emissive_color_texture: texture_2d(), + emissive_mask_texture: texture_2d(), + emissive_intensity: 3250.f, + enable_opacity: false, + opacity_texture: texture_2d(), + opacity_constant: 1.f, + enable_opacity_texture: false, + opacity_mode: base::mono_average, + opacity_threshold: 0.00100000005f, + geometry_normal_roughness_strength: 1.f, + bump_factor: 0.300000012f, + 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)); diff --git a/assets/scene_usds/ebench/teleop_tasks/install_gear/merge_usd/0009/Materials/a13494.mdl b/assets/scene_usds/ebench/teleop_tasks/install_gear/merge_usd/0009/Materials/a13494.mdl new file mode 100644 index 0000000000000000000000000000000000000000..adfd26dfdc163cc97847f580a8fcf8ea70574968 --- /dev/null +++ b/assets/scene_usds/ebench/teleop_tasks/install_gear/merge_usd/0009/Materials/a13494.mdl @@ -0,0 +1,67 @@ +mdl 1.8; + +import ::state::normal; +import ::OmniPBR::OmniPBR; +import ::anno::author; +import ::anno::description; +import ::anno::display_name; +import ::anno::in_group; +import ::anno::key_words; +import ::anno::version; +import ::base::mono_mode; +import ::tex::gamma_mode; + +export material a13494(*) +[[ + anno::display_name("OmniPBR"), + anno::description("OmniPBR Base with support for clear coat, opacity and ORM textures."), + anno::in_group("Base", false), + anno::version(2, 1, 2, ""), + anno::author("NVIDIA CORPORATION"), + anno::key_words(string[]("omni", "PBR", "opacity", "omniverse", "generic")) +]] + = OmniPBR::OmniPBR( + diffuse_color_constant: color(0.5f, 0.5f, 0.5f), + diffuse_texture: texture_2d(), + 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.f, + reflection_roughness_texture_influence: 0.f, + reflectionroughness_texture: texture_2d(), + metallic_constant: 0.f, + metallic_texture_influence: 0.f, + metallic_texture: texture_2d(), + specular_level: 0.5f, + enable_ORM_texture: false, + ORM_texture: texture_2d(), + ao_to_diffuse: 0.f, + ao_texture: texture_2d(), + enable_emission: true, + emissive_color: color(0.f, 0.f, 0.f), + emissive_color_texture: texture_2d(), + emissive_mask_texture: texture_2d(), + emissive_intensity: 3250.f, + enable_opacity: false, + opacity_texture: texture_2d(), + opacity_constant: 1.f, + enable_opacity_texture: false, + opacity_mode: base::mono_average, + opacity_threshold: 0.00100000005f, + geometry_normal_roughness_strength: 1.f, + bump_factor: 0.300000012f, + 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)); diff --git a/assets/scene_usds/ebench/teleop_tasks/install_gear/merge_usd/0009/Materials/a13497.mdl b/assets/scene_usds/ebench/teleop_tasks/install_gear/merge_usd/0009/Materials/a13497.mdl new file mode 100644 index 0000000000000000000000000000000000000000..fc36d0f3e95c7b6172b14c55d81603bc4c94e324 --- /dev/null +++ b/assets/scene_usds/ebench/teleop_tasks/install_gear/merge_usd/0009/Materials/a13497.mdl @@ -0,0 +1,97 @@ +///\authors: Auto-generated by vray_to_mdl_export.ms script. +///\description: Translated VRay material. + +mdl 1.6; + +// Import +import ::anno::*; +import ::base::transform_coordinate; +import ::base::rotation_translation_scale; +import ::base::file_texture; +import ::base::mono_mode; +import ::base::texture_coordinate_info; +import ::base::texture_return; +import ::state::normal; +import ::state::texture_coordinate; +import ::state::texture_tangent_u; +import ::state::texture_tangent_v; +import ::tex::gamma_mode; +import ::tex::wrap_mode; +import templates::ad_3dsmax_materials::*; +import templates::ad_3dsmax_maps::*; +import templates::vray_materials::*; +import templates::vray_maps::*; + +// Body +export material a13497() +[[ + anno::display_name("_13497") +]] += ::templates::vray_materials::VRayMtl( + Diffuse : ::templates::ad_3dsmax_maps::ad_3dsmax_bitmap( + filename : texture_2d("./a13497/13335.jpg", ::tex::gamma_srgb), + cliph : 1.0f, + clipu : 0.0f, + clipv : 0.0f, + clipw : 1.0f, + mapChannel : 1, + U_angle : 0.0f, + U_Mirror : false, + U_Offset : 0.0f, + U_Tile : true, + U_Tiling : 1.0f, + UVW_Type : 0, + V_angle : 0.0f, + V_Mirror : false, + V_Offset : 0.0f, + V_Tile : true, + V_Tiling : 1.0f, + W_angle : 0.0f, + alphaFromRGB : false, + bump_amount : 1.0f, + clamp : false, + invert : false, + output_amount : 1.0f, + rgb_level : 1.0f, + rgb_offset : 0.0f + ).tint, + diffuse_roughness : 0.0f, + Reflection : color(0.0392157,0.0392157,0.0392157), + reflection_glossiness : 1.0f, + reflection_fresnel : true, + reflection_ior : 1.6f, + reflection_lockIOR : true, + invert_reflection_ior : false, + reflection_metalness : 0.0f, + Refraction : color(0.0,0.0,0.0), + refraction_glossiness : 1.0f, + refraction_ior : 1.6f, + invert_refraction_ior : false, + refraction_dispersion_on : false, + refraction_dispersion : 50.0f, + refraction_fogColor : color(1.0,1.0,1.0), + refraction_fogBias : 0.0f, + refraction_fogMult : 1.0f, + translucency_on : ::templates::vray_materials::translucency_none, + translucency_scatterCoeff : 0.0f, + translucency_fbCoeff : 1.0f, + translucency_color : color(1.0,1.0,1.0), + self_illumination : color(0.0,0.0,0.0), + self_illumination_multiplier : 1.0f, + coat_amount : 0.0f, + coat_color : color(1.0,1.0,1.0), + coat_glossiness : 1.0f, + coat_ior : 1.6f, + invert_coat_ior : false, + coat_bump_lock : false, + sheen_color : color(0.0,0.0,0.0), + sheen_glossiness : 0.8f, + brdf_type : ::templates::vray_materials::brdf_blinn, + brdf_useRoughness : ::templates::vray_materials::brdf_glossiness, + anisotropy : 0.0f, + anisotropy_rotation : 0.0f, + anisotropy_channel : 1, + texmap_opacity : 1.0f +); + + diff --git a/assets/scene_usds/ebench/teleop_tasks/install_gear/merge_usd/0009/Materials/a13498.mdl b/assets/scene_usds/ebench/teleop_tasks/install_gear/merge_usd/0009/Materials/a13498.mdl new file mode 100644 index 0000000000000000000000000000000000000000..2917423df05ffb967d4e01cea5a559b35b5a568e --- /dev/null +++ b/assets/scene_usds/ebench/teleop_tasks/install_gear/merge_usd/0009/Materials/a13498.mdl @@ -0,0 +1,71 @@ +///\authors: Auto-generated by vray_to_mdl_export.ms script. +///\description: Translated VRay material. + +mdl 1.6; + +// Import +import ::anno::*; +import ::base::transform_coordinate; +import ::base::rotation_translation_scale; +import ::base::file_texture; +import ::base::mono_mode; +import ::base::texture_coordinate_info; +import ::base::texture_return; +import ::state::normal; +import ::state::texture_coordinate; +import ::state::texture_tangent_u; +import ::state::texture_tangent_v; +import ::tex::gamma_mode; +import ::tex::wrap_mode; +import templates::ad_3dsmax_materials::*; +import templates::ad_3dsmax_maps::*; +import templates::vray_materials::*; +import templates::vray_maps::*; + +// Body +export material a13498() +[[ + anno::display_name("_13498") +]] += ::templates::vray_materials::VRayMtl( + Diffuse : color(0.909804,0.909804,0.909804), + diffuse_roughness : 0.0f, + Reflection : color(0.0509804,0.0509804,0.0509804), + reflection_glossiness : 1.0f, + reflection_fresnel : false, + reflection_ior : 1.6f, + reflection_lockIOR : true, + invert_reflection_ior : false, + reflection_metalness : 0.0f, + Refraction : color(0.0,0.0,0.0), + refraction_glossiness : 1.0f, + refraction_ior : 1.6f, + invert_refraction_ior : false, + refraction_dispersion_on : false, + refraction_dispersion : 50.0f, + refraction_fogColor : color(1.0,1.0,1.0), + refraction_fogBias : 0.0f, + refraction_fogMult : 1.0f, + translucency_on : ::templates::vray_materials::translucency_none, + translucency_scatterCoeff : 0.0f, + translucency_fbCoeff : 1.0f, + translucency_color : color(1.0,1.0,1.0), + self_illumination : color(0.0,0.0,0.0), + self_illumination_multiplier : 1.0f, + coat_amount : 0.0f, + coat_color : color(1.0,1.0,1.0), + coat_glossiness : 1.0f, + coat_ior : 1.6f, + invert_coat_ior : false, + coat_bump_lock : false, + sheen_color : color(0.0,0.0,0.0), + sheen_glossiness : 0.8f, + brdf_type : ::templates::vray_materials::brdf_blinn, + brdf_useRoughness : ::templates::vray_materials::brdf_glossiness, + anisotropy : 0.0f, + anisotropy_rotation : 0.0f, + anisotropy_channel : 1, + texmap_opacity : 1.0f +); + + diff --git a/assets/scene_usds/ebench/teleop_tasks/install_gear/merge_usd/0009/Materials/a13501.mdl b/assets/scene_usds/ebench/teleop_tasks/install_gear/merge_usd/0009/Materials/a13501.mdl new file mode 100644 index 0000000000000000000000000000000000000000..f82026dfa951e4b66179a0f47e6a6541434965fa --- /dev/null +++ b/assets/scene_usds/ebench/teleop_tasks/install_gear/merge_usd/0009/Materials/a13501.mdl @@ -0,0 +1,71 @@ +///\authors: Auto-generated by vray_to_mdl_export.ms script. +///\description: Translated VRay material. + +mdl 1.6; + +// Import +import ::anno::*; +import ::base::transform_coordinate; +import ::base::rotation_translation_scale; +import ::base::file_texture; +import ::base::mono_mode; +import ::base::texture_coordinate_info; +import ::base::texture_return; +import ::state::normal; +import ::state::texture_coordinate; +import ::state::texture_tangent_u; +import ::state::texture_tangent_v; +import ::tex::gamma_mode; +import ::tex::wrap_mode; +import templates::ad_3dsmax_materials::*; +import templates::ad_3dsmax_maps::*; +import templates::vray_materials::*; +import templates::vray_maps::*; + +// Body +export material a13501() +[[ + anno::display_name("_13501") +]] += ::templates::vray_materials::VRayMtl( + Diffuse : color(0.0431373,0.184314,0.552941), + diffuse_roughness : 0.0f, + Reflection : color(0.0588235,0.0588235,0.0588235), + reflection_glossiness : 0.7f, + reflection_fresnel : false, + reflection_ior : 1.6f, + reflection_lockIOR : true, + invert_reflection_ior : false, + reflection_metalness : 0.0f, + Refraction : color(0.0196078,0.0196078,0.0196078), + refraction_glossiness : 1.0f, + refraction_ior : 1.6f, + invert_refraction_ior : false, + refraction_dispersion_on : false, + refraction_dispersion : 50.0f, + refraction_fogColor : color(1.0,1.0,1.0), + refraction_fogBias : 0.0f, + refraction_fogMult : 1.0f, + translucency_on : ::templates::vray_materials::translucency_none, + translucency_scatterCoeff : 0.0f, + translucency_fbCoeff : 1.0f, + translucency_color : color(1.0,1.0,1.0), + self_illumination : color(0.0,0.0,0.0), + self_illumination_multiplier : 1.0f, + coat_amount : 0.0f, + coat_color : color(1.0,1.0,1.0), + coat_glossiness : 1.0f, + coat_ior : 1.6f, + invert_coat_ior : false, + coat_bump_lock : false, + sheen_color : color(0.0,0.0,0.0), + sheen_glossiness : 0.8f, + brdf_type : ::templates::vray_materials::brdf_blinn, + brdf_useRoughness : ::templates::vray_materials::brdf_glossiness, + anisotropy : 0.0f, + anisotropy_rotation : 0.0f, + anisotropy_channel : 1, + texmap_opacity : 1.0f +); + + diff --git a/assets/scene_usds/ebench/teleop_tasks/install_gear/merge_usd/0009/Materials/a13508.mdl b/assets/scene_usds/ebench/teleop_tasks/install_gear/merge_usd/0009/Materials/a13508.mdl new file mode 100644 index 0000000000000000000000000000000000000000..aee9682077f83754329800ebff3f732ca0d9981e --- /dev/null +++ b/assets/scene_usds/ebench/teleop_tasks/install_gear/merge_usd/0009/Materials/a13508.mdl @@ -0,0 +1,71 @@ +///\authors: Auto-generated by vray_to_mdl_export.ms script. +///\description: Translated VRay material. + +mdl 1.6; + +// Import +import ::anno::*; +import ::base::transform_coordinate; +import ::base::rotation_translation_scale; +import ::base::file_texture; +import ::base::mono_mode; +import ::base::texture_coordinate_info; +import ::base::texture_return; +import ::state::normal; +import ::state::texture_coordinate; +import ::state::texture_tangent_u; +import ::state::texture_tangent_v; +import ::tex::gamma_mode; +import ::tex::wrap_mode; +import templates::ad_3dsmax_materials::*; +import templates::ad_3dsmax_maps::*; +import templates::vray_materials::*; +import templates::vray_maps::*; + +// Body +export material a13508() +[[ + anno::display_name("_13508") +]] += ::templates::vray_materials::VRayMtl( + Diffuse : color(0.85098,0.85098,0.839216), + diffuse_roughness : 0.0f, + Reflection : color(0.0588235,0.0588235,0.0588235), + reflection_glossiness : 0.73f, + reflection_fresnel : false, + reflection_ior : 1.6f, + reflection_lockIOR : true, + invert_reflection_ior : false, + reflection_metalness : 0.0f, + Refraction : color(0.0,0.0,0.0), + refraction_glossiness : 1.0f, + refraction_ior : 1.6f, + invert_refraction_ior : false, + refraction_dispersion_on : false, + refraction_dispersion : 50.0f, + refraction_fogColor : color(1.0,1.0,1.0), + refraction_fogBias : 0.0f, + refraction_fogMult : 1.0f, + translucency_on : ::templates::vray_materials::translucency_none, + translucency_scatterCoeff : 0.0f, + translucency_fbCoeff : 1.0f, + translucency_color : color(1.0,1.0,1.0), + self_illumination : color(0.0,0.0,0.0), + self_illumination_multiplier : 1.0f, + coat_amount : 0.0f, + coat_color : color(1.0,1.0,1.0), + coat_glossiness : 1.0f, + coat_ior : 1.6f, + invert_coat_ior : false, + coat_bump_lock : false, + sheen_color : color(0.0,0.0,0.0), + sheen_glossiness : 0.8f, + brdf_type : ::templates::vray_materials::brdf_blinn, + brdf_useRoughness : ::templates::vray_materials::brdf_glossiness, + anisotropy : 0.0f, + anisotropy_rotation : 0.0f, + anisotropy_channel : 1, + texmap_opacity : 1.0f +); + + diff --git a/assets/scene_usds/ebench/teleop_tasks/install_gear/merge_usd/0009/Materials/a13510.mdl b/assets/scene_usds/ebench/teleop_tasks/install_gear/merge_usd/0009/Materials/a13510.mdl new file mode 100644 index 0000000000000000000000000000000000000000..94f630559843d6876dbc5c27f50a16be788aeff9 --- /dev/null +++ b/assets/scene_usds/ebench/teleop_tasks/install_gear/merge_usd/0009/Materials/a13510.mdl @@ -0,0 +1,71 @@ +///\authors: Auto-generated by vray_to_mdl_export.ms script. +///\description: Translated VRay material. + +mdl 1.6; + +// Import +import ::anno::*; +import ::base::transform_coordinate; +import ::base::rotation_translation_scale; +import ::base::file_texture; +import ::base::mono_mode; +import ::base::texture_coordinate_info; +import ::base::texture_return; +import ::state::normal; +import ::state::texture_coordinate; +import ::state::texture_tangent_u; +import ::state::texture_tangent_v; +import ::tex::gamma_mode; +import ::tex::wrap_mode; +import templates::ad_3dsmax_materials::*; +import templates::ad_3dsmax_maps::*; +import templates::vray_materials::*; +import templates::vray_maps::*; + +// Body +export material a13510() +[[ + anno::display_name("_13510") +]] += ::templates::vray_materials::VRayMtl( + Diffuse : color(0.301961,0.301961,0.301961), + diffuse_roughness : 0.0f, + Reflection : color(0.67451,0.67451,0.67451), + reflection_glossiness : 0.77f, + reflection_fresnel : true, + reflection_ior : 1.6f, + reflection_lockIOR : true, + invert_reflection_ior : false, + reflection_metalness : 0.0f, + Refraction : color(0.0,0.0,0.0), + refraction_glossiness : 1.0f, + refraction_ior : 1.6f, + invert_refraction_ior : false, + refraction_dispersion_on : false, + refraction_dispersion : 50.0f, + refraction_fogColor : color(1.0,1.0,1.0), + refraction_fogBias : 0.0f, + refraction_fogMult : 1.0f, + translucency_on : ::templates::vray_materials::translucency_none, + translucency_scatterCoeff : 0.0f, + translucency_fbCoeff : 1.0f, + translucency_color : color(1.0,1.0,1.0), + self_illumination : color(0.0,0.0,0.0), + self_illumination_multiplier : 1.0f, + coat_amount : 0.0f, + coat_color : color(1.0,1.0,1.0), + coat_glossiness : 1.0f, + coat_ior : 1.6f, + invert_coat_ior : false, + coat_bump_lock : false, + sheen_color : color(0.0,0.0,0.0), + sheen_glossiness : 0.8f, + brdf_type : ::templates::vray_materials::brdf_blinn, + brdf_useRoughness : ::templates::vray_materials::brdf_glossiness, + anisotropy : 0.0f, + anisotropy_rotation : 0.0f, + anisotropy_channel : 1, + texmap_opacity : 1.0f +); + + diff --git a/assets/scene_usds/ebench/teleop_tasks/install_gear/merge_usd/0009/Materials/a13512.mdl b/assets/scene_usds/ebench/teleop_tasks/install_gear/merge_usd/0009/Materials/a13512.mdl new file mode 100644 index 0000000000000000000000000000000000000000..325fc0aca48354c7c8137d52fa5204bd6446ad52 --- /dev/null +++ b/assets/scene_usds/ebench/teleop_tasks/install_gear/merge_usd/0009/Materials/a13512.mdl @@ -0,0 +1,71 @@ +///\authors: Auto-generated by vray_to_mdl_export.ms script. +///\description: Translated VRay material. + +mdl 1.6; + +// Import +import ::anno::*; +import ::base::transform_coordinate; +import ::base::rotation_translation_scale; +import ::base::file_texture; +import ::base::mono_mode; +import ::base::texture_coordinate_info; +import ::base::texture_return; +import ::state::normal; +import ::state::texture_coordinate; +import ::state::texture_tangent_u; +import ::state::texture_tangent_v; +import ::tex::gamma_mode; +import ::tex::wrap_mode; +import templates::ad_3dsmax_materials::*; +import templates::ad_3dsmax_maps::*; +import templates::vray_materials::*; +import templates::vray_maps::*; + +// Body +export material a13512() +[[ + anno::display_name("_13512") +]] += ::templates::vray_materials::VRayMtl( + Diffuse : color(0.0588235,0.0588235,0.0588235), + diffuse_roughness : 0.0f, + Reflection : color(0.0,0.0,0.0), + reflection_glossiness : 1.0f, + reflection_fresnel : false, + reflection_ior : 1.6f, + reflection_lockIOR : true, + invert_reflection_ior : false, + reflection_metalness : 0.0f, + Refraction : color(0.356863,0.356863,0.356863), + refraction_glossiness : 1.0f, + refraction_ior : 1.6f, + invert_refraction_ior : false, + refraction_dispersion_on : false, + refraction_dispersion : 50.0f, + refraction_fogColor : color(1.0,1.0,1.0), + refraction_fogBias : 0.0f, + refraction_fogMult : 1.0f, + translucency_on : ::templates::vray_materials::translucency_none, + translucency_scatterCoeff : 0.0f, + translucency_fbCoeff : 1.0f, + translucency_color : color(1.0,1.0,1.0), + self_illumination : color(0.0,0.0,0.0), + self_illumination_multiplier : 1.0f, + coat_amount : 0.0f, + coat_color : color(1.0,1.0,1.0), + coat_glossiness : 1.0f, + coat_ior : 1.6f, + invert_coat_ior : false, + coat_bump_lock : false, + sheen_color : color(0.0,0.0,0.0), + sheen_glossiness : 0.8f, + brdf_type : ::templates::vray_materials::brdf_blinn, + brdf_useRoughness : ::templates::vray_materials::brdf_glossiness, + anisotropy : 0.0f, + anisotropy_rotation : 0.0f, + anisotropy_channel : 1, + texmap_opacity : 1.0f +); + + diff --git a/assets/scene_usds/ebench/teleop_tasks/install_gear/merge_usd/0009/Materials/a13516.mdl b/assets/scene_usds/ebench/teleop_tasks/install_gear/merge_usd/0009/Materials/a13516.mdl new file mode 100644 index 0000000000000000000000000000000000000000..b1115093d078379974dccc0822adb880bb56e2e3 --- /dev/null +++ b/assets/scene_usds/ebench/teleop_tasks/install_gear/merge_usd/0009/Materials/a13516.mdl @@ -0,0 +1,71 @@ +///\authors: Auto-generated by vray_to_mdl_export.ms script. +///\description: Translated VRay material. + +mdl 1.6; + +// Import +import ::anno::*; +import ::base::transform_coordinate; +import ::base::rotation_translation_scale; +import ::base::file_texture; +import ::base::mono_mode; +import ::base::texture_coordinate_info; +import ::base::texture_return; +import ::state::normal; +import ::state::texture_coordinate; +import ::state::texture_tangent_u; +import ::state::texture_tangent_v; +import ::tex::gamma_mode; +import ::tex::wrap_mode; +import templates::ad_3dsmax_materials::*; +import templates::ad_3dsmax_maps::*; +import templates::vray_materials::*; +import templates::vray_maps::*; + +// Body +export material a13516() +[[ + anno::display_name("_13516") +]] += ::templates::vray_materials::VRayMtl( + Diffuse : color(0.815686,0.815686,0.815686), + diffuse_roughness : 0.0f, + Reflection : color(0.0,0.0,0.0), + reflection_glossiness : 0.0f, + reflection_fresnel : false, + reflection_ior : 1.6f, + reflection_lockIOR : true, + invert_reflection_ior : false, + reflection_metalness : 0.0f, + Refraction : color(0.0,0.0,0.0), + refraction_glossiness : 0.0f, + refraction_ior : 1.6f, + invert_refraction_ior : false, + refraction_dispersion_on : false, + refraction_dispersion : 50.0f, + refraction_fogColor : color(1.0,1.0,1.0), + refraction_fogBias : 0.0f, + refraction_fogMult : 1.0f, + translucency_on : ::templates::vray_materials::translucency_none, + translucency_scatterCoeff : 0.0f, + translucency_fbCoeff : 1.0f, + translucency_color : color(1.0,1.0,1.0), + self_illumination : color(0.0,0.0,0.0), + self_illumination_multiplier : 1.0f, + coat_amount : 0.0f, + coat_color : color(1.0,1.0,1.0), + coat_glossiness : 1.0f, + coat_ior : 1.6f, + invert_coat_ior : false, + coat_bump_lock : false, + sheen_color : color(0.0,0.0,0.0), + sheen_glossiness : 0.8f, + brdf_type : ::templates::vray_materials::brdf_blinn, + brdf_useRoughness : ::templates::vray_materials::brdf_glossiness, + anisotropy : 0.0f, + anisotropy_rotation : 0.0f, + anisotropy_channel : 1, + texmap_opacity : 1.0f +); + + diff --git a/assets/scene_usds/ebench/teleop_tasks/install_gear/merge_usd/0009/Materials/a13518.mdl b/assets/scene_usds/ebench/teleop_tasks/install_gear/merge_usd/0009/Materials/a13518.mdl new file mode 100644 index 0000000000000000000000000000000000000000..8b5a5861954ec956939d27bad660fc1862408e8f --- /dev/null +++ b/assets/scene_usds/ebench/teleop_tasks/install_gear/merge_usd/0009/Materials/a13518.mdl @@ -0,0 +1,97 @@ +///\authors: Auto-generated by vray_to_mdl_export.ms script. +///\description: Translated VRay material. + +mdl 1.6; + +// Import +import ::anno::*; +import ::base::transform_coordinate; +import ::base::rotation_translation_scale; +import ::base::file_texture; +import ::base::mono_mode; +import ::base::texture_coordinate_info; +import ::base::texture_return; +import ::state::normal; +import ::state::texture_coordinate; +import ::state::texture_tangent_u; +import ::state::texture_tangent_v; +import ::tex::gamma_mode; +import ::tex::wrap_mode; +import templates::ad_3dsmax_materials::*; +import templates::ad_3dsmax_maps::*; +import templates::vray_materials::*; +import templates::vray_maps::*; + +// Body +export material a13518() +[[ + anno::display_name("_13518") +]] += ::templates::vray_materials::VRayMtl( + Diffuse : ::templates::ad_3dsmax_maps::ad_3dsmax_bitmap( + filename : texture_2d("./a13518/13308.jpg", ::tex::gamma_srgb), + cliph : 1.0f, + clipu : 0.0f, + clipv : 0.0f, + clipw : 1.0f, + mapChannel : 1, + U_angle : 0.0f, + U_Mirror : false, + U_Offset : 0.0f, + U_Tile : true, + U_Tiling : 1.0f, + UVW_Type : 0, + V_angle : 0.0f, + V_Mirror : false, + V_Offset : 0.0f, + V_Tile : true, + V_Tiling : 1.0f, + W_angle : 0.0f, + alphaFromRGB : false, + bump_amount : 1.0f, + clamp : false, + invert : false, + output_amount : 1.0f, + rgb_level : 1.0f, + rgb_offset : 0.0f + ).tint, + diffuse_roughness : 0.0f, + Reflection : color(0.0,0.0,0.0), + reflection_glossiness : 0.0f, + reflection_fresnel : false, + reflection_ior : 1.6f, + reflection_lockIOR : true, + invert_reflection_ior : false, + reflection_metalness : 0.0f, + Refraction : color(0.0,0.0,0.0), + refraction_glossiness : 0.0f, + refraction_ior : 1.6f, + invert_refraction_ior : false, + refraction_dispersion_on : false, + refraction_dispersion : 50.0f, + refraction_fogColor : color(1.0,1.0,1.0), + refraction_fogBias : 0.0f, + refraction_fogMult : 1.0f, + translucency_on : ::templates::vray_materials::translucency_none, + translucency_scatterCoeff : 0.0f, + translucency_fbCoeff : 1.0f, + translucency_color : color(1.0,1.0,1.0), + self_illumination : color(0.0,0.0,0.0), + self_illumination_multiplier : 1.0f, + coat_amount : 0.0f, + coat_color : color(1.0,1.0,1.0), + coat_glossiness : 1.0f, + coat_ior : 1.6f, + invert_coat_ior : false, + coat_bump_lock : false, + sheen_color : color(0.0,0.0,0.0), + sheen_glossiness : 0.8f, + brdf_type : ::templates::vray_materials::brdf_blinn, + brdf_useRoughness : ::templates::vray_materials::brdf_glossiness, + anisotropy : 0.0f, + anisotropy_rotation : 0.0f, + anisotropy_channel : 1, + texmap_opacity : 1.0f +); + + diff --git a/assets/scene_usds/ebench/teleop_tasks/install_gear/merge_usd/0009/Materials/a13524.mdl b/assets/scene_usds/ebench/teleop_tasks/install_gear/merge_usd/0009/Materials/a13524.mdl new file mode 100644 index 0000000000000000000000000000000000000000..d084109ef24b5edbeb50fbf3a7872a48b2274971 --- /dev/null +++ b/assets/scene_usds/ebench/teleop_tasks/install_gear/merge_usd/0009/Materials/a13524.mdl @@ -0,0 +1,67 @@ +mdl 1.8; + +import ::state::normal; +import ::OmniPBR::OmniPBR; +import ::anno::author; +import ::anno::description; +import ::anno::display_name; +import ::anno::in_group; +import ::anno::key_words; +import ::anno::version; +import ::base::mono_mode; +import ::tex::gamma_mode; + +export material a13524(*) +[[ + anno::display_name("OmniPBR"), + anno::description("OmniPBR Base with support for clear coat, opacity and ORM textures."), + anno::in_group("Base", false), + anno::version(2, 1, 2, ""), + anno::author("NVIDIA CORPORATION"), + anno::key_words(string[]("omni", "PBR", "opacity", "omniverse", "generic")) +]] + = OmniPBR::OmniPBR( + diffuse_color_constant: color(0.5f, 0.5f, 0.5f), + diffuse_texture: texture_2d(), + 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.f, + reflection_roughness_texture_influence: 0.f, + reflectionroughness_texture: texture_2d(), + metallic_constant: 0.f, + metallic_texture_influence: 0.f, + metallic_texture: texture_2d(), + specular_level: 0.5f, + enable_ORM_texture: false, + ORM_texture: texture_2d(), + ao_to_diffuse: 0.f, + ao_texture: texture_2d(), + enable_emission: true, + emissive_color: color(0.f, 0.f, 0.f), + emissive_color_texture: texture_2d(), + emissive_mask_texture: texture_2d(), + emissive_intensity: 3250.f, + enable_opacity: false, + opacity_texture: texture_2d(), + opacity_constant: 1.f, + enable_opacity_texture: false, + opacity_mode: base::mono_average, + opacity_threshold: 0.00100000005f, + geometry_normal_roughness_strength: 1.f, + bump_factor: 0.300000012f, + 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)); diff --git a/assets/scene_usds/ebench/teleop_tasks/install_gear/merge_usd/0009/Materials/a13527.mdl b/assets/scene_usds/ebench/teleop_tasks/install_gear/merge_usd/0009/Materials/a13527.mdl new file mode 100644 index 0000000000000000000000000000000000000000..f8de7f16422b084776c88d4a5c76a6a0e3447064 --- /dev/null +++ b/assets/scene_usds/ebench/teleop_tasks/install_gear/merge_usd/0009/Materials/a13527.mdl @@ -0,0 +1,67 @@ +mdl 1.8; + +import ::state::normal; +import ::OmniPBR::OmniPBR; +import ::anno::author; +import ::anno::description; +import ::anno::display_name; +import ::anno::in_group; +import ::anno::key_words; +import ::anno::version; +import ::base::mono_mode; +import ::tex::gamma_mode; + +export material a13527(*) +[[ + anno::display_name("OmniPBR"), + anno::description("OmniPBR Base with support for clear coat, opacity and ORM textures."), + anno::in_group("Base", false), + anno::version(2, 1, 2, ""), + anno::author("NVIDIA CORPORATION"), + anno::key_words(string[]("omni", "PBR", "opacity", "omniverse", "generic")) +]] + = OmniPBR::OmniPBR( + diffuse_color_constant: color(0.5f, 0.5f, 0.5f), + diffuse_texture: texture_2d(), + 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.f, + reflection_roughness_texture_influence: 0.f, + reflectionroughness_texture: texture_2d(), + metallic_constant: 0.f, + metallic_texture_influence: 0.f, + metallic_texture: texture_2d(), + specular_level: 0.5f, + enable_ORM_texture: false, + ORM_texture: texture_2d(), + ao_to_diffuse: 0.f, + ao_texture: texture_2d(), + enable_emission: true, + emissive_color: color(0.f, 0.f, 0.f), + emissive_color_texture: texture_2d(), + emissive_mask_texture: texture_2d(), + emissive_intensity: 3250.f, + enable_opacity: false, + opacity_texture: texture_2d(), + opacity_constant: 1.f, + enable_opacity_texture: false, + opacity_mode: base::mono_average, + opacity_threshold: 0.00100000005f, + geometry_normal_roughness_strength: 1.f, + bump_factor: 0.300000012f, + 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)); diff --git a/assets/scene_usds/ebench/teleop_tasks/install_gear/merge_usd/0009/Materials/a13543.mdl b/assets/scene_usds/ebench/teleop_tasks/install_gear/merge_usd/0009/Materials/a13543.mdl new file mode 100644 index 0000000000000000000000000000000000000000..601f4fa7be782b4ea041d230c5fe19cf25b6b15c --- /dev/null +++ b/assets/scene_usds/ebench/teleop_tasks/install_gear/merge_usd/0009/Materials/a13543.mdl @@ -0,0 +1,71 @@ +///\authors: Auto-generated by vray_to_mdl_export.ms script. +///\description: Translated VRay material. + +mdl 1.6; + +// Import +import ::anno::*; +import ::base::transform_coordinate; +import ::base::rotation_translation_scale; +import ::base::file_texture; +import ::base::mono_mode; +import ::base::texture_coordinate_info; +import ::base::texture_return; +import ::state::normal; +import ::state::texture_coordinate; +import ::state::texture_tangent_u; +import ::state::texture_tangent_v; +import ::tex::gamma_mode; +import ::tex::wrap_mode; +import templates::ad_3dsmax_materials::*; +import templates::ad_3dsmax_maps::*; +import templates::vray_materials::*; +import templates::vray_maps::*; + +// Body +export material a13543() +[[ + anno::display_name("_13543") +]] += ::templates::vray_materials::VRayMtl( + Diffuse : color(0.65098,0.654902,0.658824), + diffuse_roughness : 0.0f, + Reflection : color(0.811765,0.772549,0.607843), + reflection_glossiness : 0.94f, + reflection_fresnel : false, + reflection_ior : 1.6f, + reflection_lockIOR : true, + invert_reflection_ior : false, + reflection_metalness : 0.0f, + Refraction : color(0.0,0.0,0.0), + refraction_glossiness : 1.0f, + refraction_ior : 1.6f, + invert_refraction_ior : false, + refraction_dispersion_on : false, + refraction_dispersion : 50.0f, + refraction_fogColor : color(1.0,1.0,1.0), + refraction_fogBias : 0.0f, + refraction_fogMult : 1.0f, + translucency_on : ::templates::vray_materials::translucency_none, + translucency_scatterCoeff : 0.0f, + translucency_fbCoeff : 1.0f, + translucency_color : color(1.0,1.0,1.0), + self_illumination : color(0.0,0.0,0.0), + self_illumination_multiplier : 1.0f, + coat_amount : 0.0f, + coat_color : color(1.0,1.0,1.0), + coat_glossiness : 1.0f, + coat_ior : 1.6f, + invert_coat_ior : false, + coat_bump_lock : false, + sheen_color : color(0.0,0.0,0.0), + sheen_glossiness : 0.8f, + brdf_type : ::templates::vray_materials::brdf_ward, + brdf_useRoughness : ::templates::vray_materials::brdf_glossiness, + anisotropy : 0.0f, + anisotropy_rotation : 0.0f, + anisotropy_channel : 1, + texmap_opacity : 1.0f +); + + diff --git a/assets/scene_usds/ebench/teleop_tasks/install_gear/merge_usd/0009/Materials/a13553.mdl b/assets/scene_usds/ebench/teleop_tasks/install_gear/merge_usd/0009/Materials/a13553.mdl new file mode 100644 index 0000000000000000000000000000000000000000..2a63730f89c7107868885547f1aa9f6fbbed9735 --- /dev/null +++ b/assets/scene_usds/ebench/teleop_tasks/install_gear/merge_usd/0009/Materials/a13553.mdl @@ -0,0 +1,71 @@ +///\authors: Auto-generated by vray_to_mdl_export.ms script. +///\description: Translated VRay material. + +mdl 1.6; + +// Import +import ::anno::*; +import ::base::transform_coordinate; +import ::base::rotation_translation_scale; +import ::base::file_texture; +import ::base::mono_mode; +import ::base::texture_coordinate_info; +import ::base::texture_return; +import ::state::normal; +import ::state::texture_coordinate; +import ::state::texture_tangent_u; +import ::state::texture_tangent_v; +import ::tex::gamma_mode; +import ::tex::wrap_mode; +import templates::ad_3dsmax_materials::*; +import templates::ad_3dsmax_maps::*; +import templates::vray_materials::*; +import templates::vray_maps::*; + +// Body +export material a13553() +[[ + anno::display_name("_13553") +]] += ::templates::vray_materials::VRayMtl( + Diffuse : color(0.678431,0.678431,0.678431), + diffuse_roughness : 0.0f, + Reflection : color(0.243137,0.243137,0.243137), + reflection_glossiness : 1.0f, + reflection_fresnel : false, + reflection_ior : 1.6f, + reflection_lockIOR : true, + invert_reflection_ior : false, + reflection_metalness : 0.0f, + Refraction : color(0.0,0.0,0.0), + refraction_glossiness : 1.0f, + refraction_ior : 1.6f, + invert_refraction_ior : false, + refraction_dispersion_on : false, + refraction_dispersion : 50.0f, + refraction_fogColor : color(1.0,1.0,1.0), + refraction_fogBias : 0.0f, + refraction_fogMult : 1.0f, + translucency_on : ::templates::vray_materials::translucency_none, + translucency_scatterCoeff : 0.0f, + translucency_fbCoeff : 1.0f, + translucency_color : color(1.0,1.0,1.0), + self_illumination : color(0.0,0.0,0.0), + self_illumination_multiplier : 1.0f, + coat_amount : 0.0f, + coat_color : color(1.0,1.0,1.0), + coat_glossiness : 1.0f, + coat_ior : 1.6f, + invert_coat_ior : false, + coat_bump_lock : false, + sheen_color : color(0.0,0.0,0.0), + sheen_glossiness : 0.8f, + brdf_type : ::templates::vray_materials::brdf_blinn, + brdf_useRoughness : ::templates::vray_materials::brdf_glossiness, + anisotropy : 0.0f, + anisotropy_rotation : 0.0f, + anisotropy_channel : 1, + texmap_opacity : 1.0f +); + + diff --git a/assets/scene_usds/ebench/teleop_tasks/install_gear/merge_usd/0009/Materials/a13554.mdl b/assets/scene_usds/ebench/teleop_tasks/install_gear/merge_usd/0009/Materials/a13554.mdl new file mode 100644 index 0000000000000000000000000000000000000000..ae961815faeee0eb8efe45359762a2b151330819 --- /dev/null +++ b/assets/scene_usds/ebench/teleop_tasks/install_gear/merge_usd/0009/Materials/a13554.mdl @@ -0,0 +1,71 @@ +///\authors: Auto-generated by vray_to_mdl_export.ms script. +///\description: Translated VRay material. + +mdl 1.6; + +// Import +import ::anno::*; +import ::base::transform_coordinate; +import ::base::rotation_translation_scale; +import ::base::file_texture; +import ::base::mono_mode; +import ::base::texture_coordinate_info; +import ::base::texture_return; +import ::state::normal; +import ::state::texture_coordinate; +import ::state::texture_tangent_u; +import ::state::texture_tangent_v; +import ::tex::gamma_mode; +import ::tex::wrap_mode; +import templates::ad_3dsmax_materials::*; +import templates::ad_3dsmax_maps::*; +import templates::vray_materials::*; +import templates::vray_maps::*; + +// Body +export material a13554() +[[ + anno::display_name("_13554") +]] += ::templates::vray_materials::VRayMtl( + Diffuse : color(0.5,0.5,0.5), + diffuse_roughness : 0.0f, + Reflection : color(0.0,0.0,0.0), + reflection_glossiness : 1.0f, + reflection_fresnel : false, + reflection_ior : 1.6f, + reflection_lockIOR : true, + invert_reflection_ior : false, + reflection_metalness : 0.0f, + Refraction : color(0.0,0.0,0.0), + refraction_glossiness : 1.0f, + refraction_ior : 1.6f, + invert_refraction_ior : false, + refraction_dispersion_on : false, + refraction_dispersion : 50.0f, + refraction_fogColor : color(1.0,1.0,1.0), + refraction_fogBias : 0.0f, + refraction_fogMult : 1.0f, + translucency_on : ::templates::vray_materials::translucency_none, + translucency_scatterCoeff : 0.0f, + translucency_fbCoeff : 1.0f, + translucency_color : color(1.0,1.0,1.0), + self_illumination : color(0.0,0.0,0.0), + self_illumination_multiplier : 1.0f, + coat_amount : 0.0f, + coat_color : color(1.0,1.0,1.0), + coat_glossiness : 1.0f, + coat_ior : 1.6f, + invert_coat_ior : false, + coat_bump_lock : false, + sheen_color : color(0.0,0.0,0.0), + sheen_glossiness : 0.8f, + brdf_type : ::templates::vray_materials::brdf_blinn, + brdf_useRoughness : ::templates::vray_materials::brdf_glossiness, + anisotropy : 0.0f, + anisotropy_rotation : 0.0f, + anisotropy_channel : 1, + texmap_opacity : 1.0f +); + + diff --git a/assets/scene_usds/ebench/teleop_tasks/install_gear/merge_usd/0009/Materials/a13555.mdl b/assets/scene_usds/ebench/teleop_tasks/install_gear/merge_usd/0009/Materials/a13555.mdl new file mode 100644 index 0000000000000000000000000000000000000000..52e5ecf8316ae6cbf5df5df8997713b7366d3ca1 --- /dev/null +++ b/assets/scene_usds/ebench/teleop_tasks/install_gear/merge_usd/0009/Materials/a13555.mdl @@ -0,0 +1,71 @@ +///\authors: Auto-generated by vray_to_mdl_export.ms script. +///\description: Translated VRay material. + +mdl 1.6; + +// Import +import ::anno::*; +import ::base::transform_coordinate; +import ::base::rotation_translation_scale; +import ::base::file_texture; +import ::base::mono_mode; +import ::base::texture_coordinate_info; +import ::base::texture_return; +import ::state::normal; +import ::state::texture_coordinate; +import ::state::texture_tangent_u; +import ::state::texture_tangent_v; +import ::tex::gamma_mode; +import ::tex::wrap_mode; +import templates::ad_3dsmax_materials::*; +import templates::ad_3dsmax_maps::*; +import templates::vray_materials::*; +import templates::vray_maps::*; + +// Body +export material a13555() +[[ + anno::display_name("_13555") +]] += ::templates::vray_materials::VRayMtl( + Diffuse : color(0.5,0.5,0.5), + diffuse_roughness : 0.0f, + Reflection : color(0.0,0.0,0.0), + reflection_glossiness : 1.0f, + reflection_fresnel : false, + reflection_ior : 1.6f, + reflection_lockIOR : true, + invert_reflection_ior : false, + reflection_metalness : 0.0f, + Refraction : color(0.0,0.0,0.0), + refraction_glossiness : 1.0f, + refraction_ior : 1.6f, + invert_refraction_ior : false, + refraction_dispersion_on : false, + refraction_dispersion : 50.0f, + refraction_fogColor : color(1.0,1.0,1.0), + refraction_fogBias : 0.0f, + refraction_fogMult : 1.0f, + translucency_on : ::templates::vray_materials::translucency_none, + translucency_scatterCoeff : 0.0f, + translucency_fbCoeff : 1.0f, + translucency_color : color(1.0,1.0,1.0), + self_illumination : color(0.0,0.0,0.0), + self_illumination_multiplier : 1.0f, + coat_amount : 0.0f, + coat_color : color(1.0,1.0,1.0), + coat_glossiness : 1.0f, + coat_ior : 1.6f, + invert_coat_ior : false, + coat_bump_lock : false, + sheen_color : color(0.0,0.0,0.0), + sheen_glossiness : 0.8f, + brdf_type : ::templates::vray_materials::brdf_blinn, + brdf_useRoughness : ::templates::vray_materials::brdf_glossiness, + anisotropy : 0.0f, + anisotropy_rotation : 0.0f, + anisotropy_channel : 1, + texmap_opacity : 1.0f +); + + diff --git a/assets/scene_usds/ebench/teleop_tasks/install_gear/merge_usd/0009/Materials/a13556.mdl b/assets/scene_usds/ebench/teleop_tasks/install_gear/merge_usd/0009/Materials/a13556.mdl new file mode 100644 index 0000000000000000000000000000000000000000..328cf145f814cdbc1ce8d294fa24c159648e6e7e --- /dev/null +++ b/assets/scene_usds/ebench/teleop_tasks/install_gear/merge_usd/0009/Materials/a13556.mdl @@ -0,0 +1,71 @@ +///\authors: Auto-generated by vray_to_mdl_export.ms script. +///\description: Translated VRay material. + +mdl 1.6; + +// Import +import ::anno::*; +import ::base::transform_coordinate; +import ::base::rotation_translation_scale; +import ::base::file_texture; +import ::base::mono_mode; +import ::base::texture_coordinate_info; +import ::base::texture_return; +import ::state::normal; +import ::state::texture_coordinate; +import ::state::texture_tangent_u; +import ::state::texture_tangent_v; +import ::tex::gamma_mode; +import ::tex::wrap_mode; +import templates::ad_3dsmax_materials::*; +import templates::ad_3dsmax_maps::*; +import templates::vray_materials::*; +import templates::vray_maps::*; + +// Body +export material a13556() +[[ + anno::display_name("_13556") +]] += ::templates::vray_materials::VRayMtl( + Diffuse : color(0.5,0.5,0.5), + diffuse_roughness : 0.0f, + Reflection : color(0.0,0.0,0.0), + reflection_glossiness : 1.0f, + reflection_fresnel : false, + reflection_ior : 1.6f, + reflection_lockIOR : true, + invert_reflection_ior : false, + reflection_metalness : 0.0f, + Refraction : color(0.0,0.0,0.0), + refraction_glossiness : 1.0f, + refraction_ior : 1.6f, + invert_refraction_ior : false, + refraction_dispersion_on : false, + refraction_dispersion : 50.0f, + refraction_fogColor : color(1.0,1.0,1.0), + refraction_fogBias : 0.0f, + refraction_fogMult : 1.0f, + translucency_on : ::templates::vray_materials::translucency_none, + translucency_scatterCoeff : 0.0f, + translucency_fbCoeff : 1.0f, + translucency_color : color(1.0,1.0,1.0), + self_illumination : color(0.0,0.0,0.0), + self_illumination_multiplier : 1.0f, + coat_amount : 0.0f, + coat_color : color(1.0,1.0,1.0), + coat_glossiness : 1.0f, + coat_ior : 1.6f, + invert_coat_ior : false, + coat_bump_lock : false, + sheen_color : color(0.0,0.0,0.0), + sheen_glossiness : 0.8f, + brdf_type : ::templates::vray_materials::brdf_blinn, + brdf_useRoughness : ::templates::vray_materials::brdf_glossiness, + anisotropy : 0.0f, + anisotropy_rotation : 0.0f, + anisotropy_channel : 1, + texmap_opacity : 1.0f +); + + diff --git a/assets/scene_usds/ebench/teleop_tasks/install_gear/merge_usd/0009/Materials/a13563.mdl b/assets/scene_usds/ebench/teleop_tasks/install_gear/merge_usd/0009/Materials/a13563.mdl new file mode 100644 index 0000000000000000000000000000000000000000..548b5bdbfccba6622e03d32453fbd15d848f2a90 --- /dev/null +++ b/assets/scene_usds/ebench/teleop_tasks/install_gear/merge_usd/0009/Materials/a13563.mdl @@ -0,0 +1,71 @@ +///\authors: Auto-generated by vray_to_mdl_export.ms script. +///\description: Translated VRay material. + +mdl 1.6; + +// Import +import ::anno::*; +import ::base::transform_coordinate; +import ::base::rotation_translation_scale; +import ::base::file_texture; +import ::base::mono_mode; +import ::base::texture_coordinate_info; +import ::base::texture_return; +import ::state::normal; +import ::state::texture_coordinate; +import ::state::texture_tangent_u; +import ::state::texture_tangent_v; +import ::tex::gamma_mode; +import ::tex::wrap_mode; +import templates::ad_3dsmax_materials::*; +import templates::ad_3dsmax_maps::*; +import templates::vray_materials::*; +import templates::vray_maps::*; + +// Body +export material a13563() +[[ + anno::display_name("_13563") +]] += ::templates::vray_materials::VRayMtl( + Diffuse : color(0.968628,0.705882,0.0), + diffuse_roughness : 0.0f, + Reflection : color(0.0,0.0,0.0), + reflection_glossiness : 1.0f, + reflection_fresnel : false, + reflection_ior : 1.6f, + reflection_lockIOR : true, + invert_reflection_ior : false, + reflection_metalness : 0.0f, + Refraction : color(0.0,0.0,0.0), + refraction_glossiness : 1.0f, + refraction_ior : 1.6f, + invert_refraction_ior : false, + refraction_dispersion_on : false, + refraction_dispersion : 50.0f, + refraction_fogColor : color(1.0,1.0,1.0), + refraction_fogBias : 0.0f, + refraction_fogMult : 1.0f, + translucency_on : ::templates::vray_materials::translucency_none, + translucency_scatterCoeff : 0.0f, + translucency_fbCoeff : 1.0f, + translucency_color : color(1.0,1.0,1.0), + self_illumination : color(0.0,0.0,0.0), + self_illumination_multiplier : 1.0f, + coat_amount : 0.0f, + coat_color : color(1.0,1.0,1.0), + coat_glossiness : 1.0f, + coat_ior : 1.6f, + invert_coat_ior : false, + coat_bump_lock : false, + sheen_color : color(0.0,0.0,0.0), + sheen_glossiness : 0.8f, + brdf_type : ::templates::vray_materials::brdf_blinn, + brdf_useRoughness : ::templates::vray_materials::brdf_glossiness, + anisotropy : 0.0f, + anisotropy_rotation : 0.0f, + anisotropy_channel : 1, + texmap_opacity : 1.0f +); + + diff --git a/assets/scene_usds/ebench/teleop_tasks/install_gear/merge_usd/0009/Materials/a54445.mdl b/assets/scene_usds/ebench/teleop_tasks/install_gear/merge_usd/0009/Materials/a54445.mdl new file mode 100644 index 0000000000000000000000000000000000000000..0b4de2e733a138619771263eb5ec54cb0b44cc95 --- /dev/null +++ b/assets/scene_usds/ebench/teleop_tasks/install_gear/merge_usd/0009/Materials/a54445.mdl @@ -0,0 +1,71 @@ +///\authors: Auto-generated by vray_to_mdl_export.ms script. +///\description: Translated VRay material. + +mdl 1.6; + +// Import +import ::anno::*; +import ::base::transform_coordinate; +import ::base::rotation_translation_scale; +import ::base::file_texture; +import ::base::mono_mode; +import ::base::texture_coordinate_info; +import ::base::texture_return; +import ::state::normal; +import ::state::texture_coordinate; +import ::state::texture_tangent_u; +import ::state::texture_tangent_v; +import ::tex::gamma_mode; +import ::tex::wrap_mode; +import templates::ad_3dsmax_materials::*; +import templates::ad_3dsmax_maps::*; +import templates::vray_materials::*; +import templates::vray_maps::*; + +// Body +export material a54445() +[[ + anno::display_name("_54445") +]] += ::templates::vray_materials::VRayMtl( + Diffuse : color(0.0901961,0.0901961,0.0901961), + diffuse_roughness : 0.0f, + Reflection : color(0.0392157,0.0392157,0.0392157), + reflection_glossiness : 0.7f, + reflection_fresnel : true, + reflection_ior : 1.6f, + reflection_lockIOR : true, + invert_reflection_ior : false, + reflection_metalness : 0.0f, + Refraction : color(0.0,0.0,0.0), + refraction_glossiness : 1.0f, + refraction_ior : 1.6f, + invert_refraction_ior : false, + refraction_dispersion_on : false, + refraction_dispersion : 50.0f, + refraction_fogColor : color(1.0,1.0,1.0), + refraction_fogBias : 0.0f, + refraction_fogMult : 1.0f, + translucency_on : ::templates::vray_materials::translucency_none, + translucency_scatterCoeff : 0.0f, + translucency_fbCoeff : 1.0f, + translucency_color : color(1.0,1.0,1.0), + self_illumination : color(0.0,0.0,0.0), + self_illumination_multiplier : 1.0f, + coat_amount : 0.0f, + coat_color : color(1.0,1.0,1.0), + coat_glossiness : 1.0f, + coat_ior : 1.6f, + invert_coat_ior : false, + coat_bump_lock : false, + sheen_color : color(0.0,0.0,0.0), + sheen_glossiness : 0.8f, + brdf_type : ::templates::vray_materials::brdf_blinn, + brdf_useRoughness : ::templates::vray_materials::brdf_glossiness, + anisotropy : 0.0f, + anisotropy_rotation : 0.0f, + anisotropy_channel : 1, + texmap_opacity : 1.0f +); + + diff --git a/assets/scene_usds/ebench/teleop_tasks/install_gear/merge_usd/0009/Materials/a_____2.mdl b/assets/scene_usds/ebench/teleop_tasks/install_gear/merge_usd/0009/Materials/a_____2.mdl new file mode 100644 index 0000000000000000000000000000000000000000..8324c5e45251c774655dd9f105b2a3752cc56c08 --- /dev/null +++ b/assets/scene_usds/ebench/teleop_tasks/install_gear/merge_usd/0009/Materials/a_____2.mdl @@ -0,0 +1,104 @@ +///\authors: Auto-generated by vray_to_mdl_export.ms script. +///\description: Translated VRay material. + +mdl 1.6; + +// Import +import ::anno::*; +import ::base::transform_coordinate; +import ::base::rotation_translation_scale; +import ::base::file_texture; +import ::base::mono_mode; +import ::base::texture_coordinate_info; +import ::base::texture_return; +import ::state::normal; +import ::state::texture_coordinate; +import ::state::texture_tangent_u; +import ::state::texture_tangent_v; +import ::tex::gamma_mode; +import ::tex::wrap_mode; +import templates::ad_3dsmax_materials::*; +import templates::ad_3dsmax_maps::*; +import templates::vray_materials::*; +import templates::vray_maps::*; + +// Body +export material a_____2() +[[ + anno::display_name("______2") +]] += ::templates::vray_materials::VRayMtl( + Diffuse : ::templates::ad_3dsmax_maps::ad_3dsmax_bitmap( + filename : texture_2d("./a_____2/13306.jpg", ::tex::gamma_srgb), + cliph : 1.0f, + clipu : 0.0f, + clipv : 0.0f, + clipw : 1.0f, + mapChannel : 1, + U_angle : 0.0f, + U_Mirror : false, + U_Offset : 0.0f, + U_Tile : true, + U_Tiling : 1.0f, + UVW_Type : 0, + V_angle : 0.0f, + V_Mirror : false, + V_Offset : 0.0f, + V_Tile : true, + V_Tiling : 1.0f, + W_angle : 0.0f, + alphaFromRGB : false, + bump_amount : 1.0f, + clamp : false, + invert : false, + output_amount : 1.0f, + rgb_level : 1.0f, + rgb_offset : 0.0f + ).tint, + diffuse_roughness : 0.0f, + Reflection : ::templates::ad_3dsmax_maps::ad_3dsmax_falloff( + color1 : base::texture_return(tint:color(0.0,0.0,0.0), mono:1), + color2 : base::texture_return(tint:color(1.0,1.0,1.0), mono:1), + falloff_type : ::templates::ad_3dsmax_maps::Fresnel, + falloff_direction : ::templates::ad_3dsmax_maps::View, + nearDistance : 0.0f, + farDistance : 100.0f + ).tint, + reflection_glossiness : 0.85f, + reflection_fresnel : false, + reflection_ior : 1.6f, + reflection_lockIOR : true, + invert_reflection_ior : false, + reflection_metalness : 0.0f, + Refraction : color(0.0,0.0,0.0), + refraction_glossiness : 1.0f, + refraction_ior : 1.6f, + invert_refraction_ior : false, + refraction_dispersion_on : false, + refraction_dispersion : 50.0f, + refraction_fogColor : color(1.0,1.0,1.0), + refraction_fogBias : 0.0f, + refraction_fogMult : 1.0f, + translucency_on : ::templates::vray_materials::translucency_none, + translucency_scatterCoeff : 0.0f, + translucency_fbCoeff : 1.0f, + translucency_color : color(1.0,1.0,1.0), + self_illumination : color(0.0,0.0,0.0), + self_illumination_multiplier : 1.0f, + coat_amount : 0.0f, + coat_color : color(1.0,1.0,1.0), + coat_glossiness : 1.0f, + coat_ior : 1.6f, + invert_coat_ior : false, + coat_bump_lock : false, + sheen_color : color(0.0,0.0,0.0), + sheen_glossiness : 0.8f, + brdf_type : ::templates::vray_materials::brdf_blinn, + brdf_useRoughness : ::templates::vray_materials::brdf_glossiness, + anisotropy : 0.0f, + anisotropy_rotation : 0.0f, + anisotropy_channel : 1, + texmap_opacity : 1.0f +); + + diff --git a/assets/scene_usds/ebench/teleop_tasks/install_gear/merge_usd/0009/Materials/a________1.mdl b/assets/scene_usds/ebench/teleop_tasks/install_gear/merge_usd/0009/Materials/a________1.mdl new file mode 100644 index 0000000000000000000000000000000000000000..53290ebbe34013b353d274538da59629a770dbbc --- /dev/null +++ b/assets/scene_usds/ebench/teleop_tasks/install_gear/merge_usd/0009/Materials/a________1.mdl @@ -0,0 +1,71 @@ +///\authors: Auto-generated by vray_to_mdl_export.ms script. +///\description: Translated VRay material. + +mdl 1.6; + +// Import +import ::anno::*; +import ::base::transform_coordinate; +import ::base::rotation_translation_scale; +import ::base::file_texture; +import ::base::mono_mode; +import ::base::texture_coordinate_info; +import ::base::texture_return; +import ::state::normal; +import ::state::texture_coordinate; +import ::state::texture_tangent_u; +import ::state::texture_tangent_v; +import ::tex::gamma_mode; +import ::tex::wrap_mode; +import templates::ad_3dsmax_materials::*; +import templates::ad_3dsmax_maps::*; +import templates::vray_materials::*; +import templates::vray_maps::*; + +// Body +export material a________1() +[[ + anno::display_name("_________1") +]] += ::templates::vray_materials::VRayMtl( + Diffuse : color(0.368627,0.368627,0.368627), + diffuse_roughness : 0.0f, + Reflection : color(0.901961,0.901961,0.901961), + reflection_glossiness : 0.6f, + reflection_fresnel : false, + reflection_ior : 1.6f, + reflection_lockIOR : true, + invert_reflection_ior : false, + reflection_metalness : 0.0f, + Refraction : color(0.0,0.0,0.0), + refraction_glossiness : 1.0f, + refraction_ior : 1.6f, + invert_refraction_ior : false, + refraction_dispersion_on : false, + refraction_dispersion : 50.0f, + refraction_fogColor : color(1.0,1.0,1.0), + refraction_fogBias : 0.0f, + refraction_fogMult : 1.0f, + translucency_on : ::templates::vray_materials::translucency_none, + translucency_scatterCoeff : 0.0f, + translucency_fbCoeff : 1.0f, + translucency_color : color(1.0,1.0,1.0), + self_illumination : color(0.0,0.0,0.0), + self_illumination_multiplier : 1.0f, + coat_amount : 0.0f, + coat_color : color(1.0,1.0,1.0), + coat_glossiness : 1.0f, + coat_ior : 1.6f, + invert_coat_ior : false, + coat_bump_lock : false, + sheen_color : color(0.0,0.0,0.0), + sheen_glossiness : 0.8f, + brdf_type : ::templates::vray_materials::brdf_ward, + brdf_useRoughness : ::templates::vray_materials::brdf_glossiness, + anisotropy : 0.4f, + anisotropy_rotation : 0.0f, + anisotropy_channel : 1, + texmap_opacity : 1.0f +); + + diff --git a/assets/scene_usds/ebench/teleop_tasks/install_gear/merge_usd/0009/Materials/a___________4.mdl b/assets/scene_usds/ebench/teleop_tasks/install_gear/merge_usd/0009/Materials/a___________4.mdl new file mode 100644 index 0000000000000000000000000000000000000000..813c963e8104e005413b312fd7cd675b9cae4789 --- /dev/null +++ b/assets/scene_usds/ebench/teleop_tasks/install_gear/merge_usd/0009/Materials/a___________4.mdl @@ -0,0 +1,71 @@ +///\authors: Auto-generated by vray_to_mdl_export.ms script. +///\description: Translated VRay material. + +mdl 1.6; + +// Import +import ::anno::*; +import ::base::transform_coordinate; +import ::base::rotation_translation_scale; +import ::base::file_texture; +import ::base::mono_mode; +import ::base::texture_coordinate_info; +import ::base::texture_return; +import ::state::normal; +import ::state::texture_coordinate; +import ::state::texture_tangent_u; +import ::state::texture_tangent_v; +import ::tex::gamma_mode; +import ::tex::wrap_mode; +import templates::ad_3dsmax_materials::*; +import templates::ad_3dsmax_maps::*; +import templates::vray_materials::*; +import templates::vray_maps::*; + +// Body +export material a___________4() +[[ + anno::display_name("____________4") +]] += ::templates::vray_materials::VRayMtl( + Diffuse : color(0.784314,0.694118,0.192157), + diffuse_roughness : 0.0f, + Reflection : color(0.67451,0.67451,0.67451), + reflection_glossiness : 0.8f, + reflection_fresnel : true, + reflection_ior : 1.6f, + reflection_lockIOR : true, + invert_reflection_ior : false, + reflection_metalness : 0.0f, + Refraction : color(0.0,0.0,0.0), + refraction_glossiness : 1.0f, + refraction_ior : 1.6f, + invert_refraction_ior : false, + refraction_dispersion_on : false, + refraction_dispersion : 50.0f, + refraction_fogColor : color(1.0,1.0,1.0), + refraction_fogBias : 0.0f, + refraction_fogMult : 1.0f, + translucency_on : ::templates::vray_materials::translucency_none, + translucency_scatterCoeff : 0.0f, + translucency_fbCoeff : 1.0f, + translucency_color : color(1.0,1.0,1.0), + self_illumination : color(0.0,0.0,0.0), + self_illumination_multiplier : 1.0f, + coat_amount : 0.0f, + coat_color : color(1.0,1.0,1.0), + coat_glossiness : 1.0f, + coat_ior : 1.6f, + invert_coat_ior : false, + coat_bump_lock : false, + sheen_color : color(0.0,0.0,0.0), + sheen_glossiness : 0.8f, + brdf_type : ::templates::vray_materials::brdf_blinn, + brdf_useRoughness : ::templates::vray_materials::brdf_glossiness, + anisotropy : 0.0f, + anisotropy_rotation : 0.0f, + anisotropy_channel : 1, + texmap_opacity : 1.0f +); + + diff --git a/assets/scene_usds/ebench/teleop_tasks/install_gear/merge_usd/0009/Materials/a___________5.mdl b/assets/scene_usds/ebench/teleop_tasks/install_gear/merge_usd/0009/Materials/a___________5.mdl new file mode 100644 index 0000000000000000000000000000000000000000..d176e272464cc883f07442176c39007422f92996 --- /dev/null +++ b/assets/scene_usds/ebench/teleop_tasks/install_gear/merge_usd/0009/Materials/a___________5.mdl @@ -0,0 +1,71 @@ +///\authors: Auto-generated by vray_to_mdl_export.ms script. +///\description: Translated VRay material. + +mdl 1.6; + +// Import +import ::anno::*; +import ::base::transform_coordinate; +import ::base::rotation_translation_scale; +import ::base::file_texture; +import ::base::mono_mode; +import ::base::texture_coordinate_info; +import ::base::texture_return; +import ::state::normal; +import ::state::texture_coordinate; +import ::state::texture_tangent_u; +import ::state::texture_tangent_v; +import ::tex::gamma_mode; +import ::tex::wrap_mode; +import templates::ad_3dsmax_materials::*; +import templates::ad_3dsmax_maps::*; +import templates::vray_materials::*; +import templates::vray_maps::*; + +// Body +export material a___________5() +[[ + anno::display_name("____________5") +]] += ::templates::vray_materials::VRayMtl( + Diffuse : color(0.784314,0.694118,0.192157), + diffuse_roughness : 0.0f, + Reflection : color(0.67451,0.67451,0.67451), + reflection_glossiness : 0.8f, + reflection_fresnel : true, + reflection_ior : 1.6f, + reflection_lockIOR : true, + invert_reflection_ior : false, + reflection_metalness : 0.0f, + Refraction : color(0.0,0.0,0.0), + refraction_glossiness : 1.0f, + refraction_ior : 1.6f, + invert_refraction_ior : false, + refraction_dispersion_on : false, + refraction_dispersion : 50.0f, + refraction_fogColor : color(1.0,1.0,1.0), + refraction_fogBias : 0.0f, + refraction_fogMult : 1.0f, + translucency_on : ::templates::vray_materials::translucency_none, + translucency_scatterCoeff : 0.0f, + translucency_fbCoeff : 1.0f, + translucency_color : color(1.0,1.0,1.0), + self_illumination : color(0.0,0.0,0.0), + self_illumination_multiplier : 1.0f, + coat_amount : 0.0f, + coat_color : color(1.0,1.0,1.0), + coat_glossiness : 1.0f, + coat_ior : 1.6f, + invert_coat_ior : false, + coat_bump_lock : false, + sheen_color : color(0.0,0.0,0.0), + sheen_glossiness : 0.8f, + brdf_type : ::templates::vray_materials::brdf_blinn, + brdf_useRoughness : ::templates::vray_materials::brdf_glossiness, + anisotropy : 0.0f, + anisotropy_rotation : 0.0f, + anisotropy_channel : 1, + texmap_opacity : 1.0f +); + + diff --git a/assets/scene_usds/ebench/teleop_tasks/install_gear/merge_usd/0009/Materials/a___________7.mdl b/assets/scene_usds/ebench/teleop_tasks/install_gear/merge_usd/0009/Materials/a___________7.mdl new file mode 100644 index 0000000000000000000000000000000000000000..efd043557fb74e37584f40b16ac36b29a936207f --- /dev/null +++ b/assets/scene_usds/ebench/teleop_tasks/install_gear/merge_usd/0009/Materials/a___________7.mdl @@ -0,0 +1,71 @@ +///\authors: Auto-generated by vray_to_mdl_export.ms script. +///\description: Translated VRay material. + +mdl 1.6; + +// Import +import ::anno::*; +import ::base::transform_coordinate; +import ::base::rotation_translation_scale; +import ::base::file_texture; +import ::base::mono_mode; +import ::base::texture_coordinate_info; +import ::base::texture_return; +import ::state::normal; +import ::state::texture_coordinate; +import ::state::texture_tangent_u; +import ::state::texture_tangent_v; +import ::tex::gamma_mode; +import ::tex::wrap_mode; +import templates::ad_3dsmax_materials::*; +import templates::ad_3dsmax_maps::*; +import templates::vray_materials::*; +import templates::vray_maps::*; + +// Body +export material a___________7() +[[ + anno::display_name("____________7") +]] += ::templates::vray_materials::VRayMtl( + Diffuse : color(0.784314,0.694118,0.192157), + diffuse_roughness : 0.0f, + Reflection : color(0.67451,0.67451,0.67451), + reflection_glossiness : 0.8f, + reflection_fresnel : true, + reflection_ior : 1.6f, + reflection_lockIOR : true, + invert_reflection_ior : false, + reflection_metalness : 0.0f, + Refraction : color(0.0,0.0,0.0), + refraction_glossiness : 1.0f, + refraction_ior : 1.6f, + invert_refraction_ior : false, + refraction_dispersion_on : false, + refraction_dispersion : 50.0f, + refraction_fogColor : color(1.0,1.0,1.0), + refraction_fogBias : 0.0f, + refraction_fogMult : 1.0f, + translucency_on : ::templates::vray_materials::translucency_none, + translucency_scatterCoeff : 0.0f, + translucency_fbCoeff : 1.0f, + translucency_color : color(1.0,1.0,1.0), + self_illumination : color(0.0,0.0,0.0), + self_illumination_multiplier : 1.0f, + coat_amount : 0.0f, + coat_color : color(1.0,1.0,1.0), + coat_glossiness : 1.0f, + coat_ior : 1.6f, + invert_coat_ior : false, + coat_bump_lock : false, + sheen_color : color(0.0,0.0,0.0), + sheen_glossiness : 0.8f, + brdf_type : ::templates::vray_materials::brdf_blinn, + brdf_useRoughness : ::templates::vray_materials::brdf_glossiness, + anisotropy : 0.0f, + anisotropy_rotation : 0.0f, + anisotropy_channel : 1, + texmap_opacity : 1.0f +); + + diff --git a/assets/scene_usds/ebench/teleop_tasks/install_gear/merge_usd/0009/Materials/a_________________3.mdl b/assets/scene_usds/ebench/teleop_tasks/install_gear/merge_usd/0009/Materials/a_________________3.mdl new file mode 100644 index 0000000000000000000000000000000000000000..95fea7058210fe8010d063a11822c0d27e55103f --- /dev/null +++ b/assets/scene_usds/ebench/teleop_tasks/install_gear/merge_usd/0009/Materials/a_________________3.mdl @@ -0,0 +1,71 @@ +///\authors: Auto-generated by vray_to_mdl_export.ms script. +///\description: Translated VRay material. + +mdl 1.6; + +// Import +import ::anno::*; +import ::base::transform_coordinate; +import ::base::rotation_translation_scale; +import ::base::file_texture; +import ::base::mono_mode; +import ::base::texture_coordinate_info; +import ::base::texture_return; +import ::state::normal; +import ::state::texture_coordinate; +import ::state::texture_tangent_u; +import ::state::texture_tangent_v; +import ::tex::gamma_mode; +import ::tex::wrap_mode; +import templates::ad_3dsmax_materials::*; +import templates::ad_3dsmax_maps::*; +import templates::vray_materials::*; +import templates::vray_maps::*; + +// Body +export material a_________________3() +[[ + anno::display_name("__________________3") +]] += ::templates::vray_materials::VRayMtl( + Diffuse : color(0.113725,0.113725,0.113725), + diffuse_roughness : 0.0f, + Reflection : color(0.67451,0.67451,0.67451), + reflection_glossiness : 0.8f, + reflection_fresnel : true, + reflection_ior : 1.6f, + reflection_lockIOR : true, + invert_reflection_ior : false, + reflection_metalness : 0.0f, + Refraction : color(0.0,0.0,0.0), + refraction_glossiness : 1.0f, + refraction_ior : 1.6f, + invert_refraction_ior : false, + refraction_dispersion_on : false, + refraction_dispersion : 50.0f, + refraction_fogColor : color(1.0,1.0,1.0), + refraction_fogBias : 0.0f, + refraction_fogMult : 1.0f, + translucency_on : ::templates::vray_materials::translucency_none, + translucency_scatterCoeff : 0.0f, + translucency_fbCoeff : 1.0f, + translucency_color : color(1.0,1.0,1.0), + self_illumination : color(0.0,0.0,0.0), + self_illumination_multiplier : 1.0f, + coat_amount : 0.0f, + coat_color : color(1.0,1.0,1.0), + coat_glossiness : 1.0f, + coat_ior : 1.6f, + invert_coat_ior : false, + coat_bump_lock : false, + sheen_color : color(0.0,0.0,0.0), + sheen_glossiness : 0.8f, + brdf_type : ::templates::vray_materials::brdf_blinn, + brdf_useRoughness : ::templates::vray_materials::brdf_glossiness, + anisotropy : 0.0f, + anisotropy_rotation : 0.0f, + anisotropy_channel : 1, + texmap_opacity : 1.0f +); + + diff --git a/assets/scene_usds/ebench/teleop_tasks/install_gear/merge_usd/0009/Materials/a___________chazuo.mdl b/assets/scene_usds/ebench/teleop_tasks/install_gear/merge_usd/0009/Materials/a___________chazuo.mdl new file mode 100644 index 0000000000000000000000000000000000000000..b55db0299c9ba19765c7053221df7f71155e85d3 --- /dev/null +++ b/assets/scene_usds/ebench/teleop_tasks/install_gear/merge_usd/0009/Materials/a___________chazuo.mdl @@ -0,0 +1,78 @@ +///\authors: Auto-generated by vray_to_mdl_export.ms script. +///\description: Translated VRay material. + +mdl 1.6; + +// Import +import ::anno::*; +import ::base::transform_coordinate; +import ::base::rotation_translation_scale; +import ::base::file_texture; +import ::base::mono_mode; +import ::base::texture_coordinate_info; +import ::base::texture_return; +import ::state::normal; +import ::state::texture_coordinate; +import ::state::texture_tangent_u; +import ::state::texture_tangent_v; +import ::tex::gamma_mode; +import ::tex::wrap_mode; +import templates::ad_3dsmax_materials::*; +import templates::ad_3dsmax_maps::*; +import templates::vray_materials::*; +import templates::vray_maps::*; + +// Body +export material a___________chazuo() +[[ + anno::display_name("____________chazuo") +]] += ::templates::vray_materials::VRayMtl( + Diffuse : color(0.898039,0.901961,0.905882), + diffuse_roughness : 0.0f, + Reflection : ::templates::ad_3dsmax_maps::ad_3dsmax_falloff( + color1 : base::texture_return(tint:color(0.0,0.0,0.0), mono:1), + color2 : base::texture_return(tint:color(0.32549,0.32549,0.32549), mono:1), + falloff_type : ::templates::ad_3dsmax_maps::Perpendicular_Parallel, + falloff_direction : ::templates::ad_3dsmax_maps::View, + nearDistance : 0.0f, + farDistance : 100.0f + ).tint, + reflection_glossiness : 1.0f, + reflection_fresnel : false, + reflection_ior : 1.6f, + reflection_lockIOR : true, + invert_reflection_ior : false, + reflection_metalness : 0.0f, + Refraction : color(0.0,0.0,0.0), + refraction_glossiness : 1.0f, + refraction_ior : 1.6f, + invert_refraction_ior : false, + refraction_dispersion_on : false, + refraction_dispersion : 50.0f, + refraction_fogColor : color(1.0,1.0,1.0), + refraction_fogBias : 0.0f, + refraction_fogMult : 1.0f, + translucency_on : ::templates::vray_materials::translucency_none, + translucency_scatterCoeff : 0.0f, + translucency_fbCoeff : 1.0f, + translucency_color : color(1.0,1.0,1.0), + self_illumination : color(0.0,0.0,0.0), + self_illumination_multiplier : 1.0f, + coat_amount : 0.0f, + coat_color : color(1.0,1.0,1.0), + coat_glossiness : 1.0f, + coat_ior : 1.6f, + invert_coat_ior : false, + coat_bump_lock : false, + sheen_color : color(0.0,0.0,0.0), + sheen_glossiness : 0.8f, + brdf_type : ::templates::vray_materials::brdf_phong, + brdf_useRoughness : ::templates::vray_materials::brdf_glossiness, + anisotropy : 0.0f, + anisotropy_rotation : 0.0f, + anisotropy_channel : 1, + texmap_opacity : 1.0f +); + + diff --git a/assets/scene_usds/ebench/teleop_tasks/install_gear/merge_usd/0009/Materials/baiseyouqi.mdl b/assets/scene_usds/ebench/teleop_tasks/install_gear/merge_usd/0009/Materials/baiseyouqi.mdl new file mode 100644 index 0000000000000000000000000000000000000000..559eb5ca01fb11ef02c1fa05d3651091ca77a2b9 --- /dev/null +++ b/assets/scene_usds/ebench/teleop_tasks/install_gear/merge_usd/0009/Materials/baiseyouqi.mdl @@ -0,0 +1,71 @@ +///\authors: Auto-generated by vray_to_mdl_export.ms script. +///\description: Translated VRay material. + +mdl 1.6; + +// Import +import ::anno::*; +import ::base::transform_coordinate; +import ::base::rotation_translation_scale; +import ::base::file_texture; +import ::base::mono_mode; +import ::base::texture_coordinate_info; +import ::base::texture_return; +import ::state::normal; +import ::state::texture_coordinate; +import ::state::texture_tangent_u; +import ::state::texture_tangent_v; +import ::tex::gamma_mode; +import ::tex::wrap_mode; +import templates::ad_3dsmax_materials::*; +import templates::ad_3dsmax_maps::*; +import templates::vray_materials::*; +import templates::vray_maps::*; + +// Body +export material baiseyouqi() +[[ + anno::display_name("baiseyouqi") +]] += ::templates::vray_materials::VRayMtl( + Diffuse : color(0.85098,0.85098,0.839216), + diffuse_roughness : 0.0f, + Reflection : color(0.0470588,0.0470588,0.0470588), + reflection_glossiness : 0.73f, + reflection_fresnel : false, + reflection_ior : 1.6f, + reflection_lockIOR : true, + invert_reflection_ior : false, + reflection_metalness : 0.0f, + Refraction : color(0.0,0.0,0.0), + refraction_glossiness : 1.0f, + refraction_ior : 1.6f, + invert_refraction_ior : false, + refraction_dispersion_on : false, + refraction_dispersion : 50.0f, + refraction_fogColor : color(1.0,1.0,1.0), + refraction_fogBias : 0.0f, + refraction_fogMult : 1.0f, + translucency_on : ::templates::vray_materials::translucency_none, + translucency_scatterCoeff : 0.0f, + translucency_fbCoeff : 1.0f, + translucency_color : color(1.0,1.0,1.0), + self_illumination : color(0.0,0.0,0.0), + self_illumination_multiplier : 1.0f, + coat_amount : 0.0f, + coat_color : color(1.0,1.0,1.0), + coat_glossiness : 1.0f, + coat_ior : 1.6f, + invert_coat_ior : false, + coat_bump_lock : false, + sheen_color : color(0.0,0.0,0.0), + sheen_glossiness : 0.8f, + brdf_type : ::templates::vray_materials::brdf_blinn, + brdf_useRoughness : ::templates::vray_materials::brdf_glossiness, + anisotropy : 0.0f, + anisotropy_rotation : 0.0f, + anisotropy_channel : 1, + texmap_opacity : 1.0f +); + + diff --git a/assets/scene_usds/ebench/teleop_tasks/install_gear/merge_usd/0009/Materials/black_main.mdl b/assets/scene_usds/ebench/teleop_tasks/install_gear/merge_usd/0009/Materials/black_main.mdl new file mode 100644 index 0000000000000000000000000000000000000000..a23d21b9fddb723fe998be111cc04628b71d7078 --- /dev/null +++ b/assets/scene_usds/ebench/teleop_tasks/install_gear/merge_usd/0009/Materials/black_main.mdl @@ -0,0 +1,78 @@ +///\authors: Auto-generated by vray_to_mdl_export.ms script. +///\description: Translated VRay material. + +mdl 1.6; + +// Import +import ::anno::*; +import ::base::transform_coordinate; +import ::base::rotation_translation_scale; +import ::base::file_texture; +import ::base::mono_mode; +import ::base::texture_coordinate_info; +import ::base::texture_return; +import ::state::normal; +import ::state::texture_coordinate; +import ::state::texture_tangent_u; +import ::state::texture_tangent_v; +import ::tex::gamma_mode; +import ::tex::wrap_mode; +import templates::ad_3dsmax_materials::*; +import templates::ad_3dsmax_maps::*; +import templates::vray_materials::*; +import templates::vray_maps::*; + +// Body +export material black_main() +[[ + anno::display_name("black_main") +]] += ::templates::vray_materials::VRayMtl( + Diffuse : color(0.0,0.0,0.0), + diffuse_roughness : 0.5f, + Reflection : ::templates::ad_3dsmax_maps::ad_3dsmax_falloff( + color1 : base::texture_return(tint:color(0.0,0.0,0.0), mono:1), + color2 : base::texture_return(tint:color(0.454902,0.454902,0.454902), mono:1), + falloff_type : ::templates::ad_3dsmax_maps::Fresnel, + falloff_direction : ::templates::ad_3dsmax_maps::View, + nearDistance : 0.0f, + farDistance : 100.0f + ).tint, + reflection_glossiness : 0.8f, + reflection_fresnel : false, + reflection_ior : 1.6f, + reflection_lockIOR : true, + invert_reflection_ior : false, + reflection_metalness : 0.0f, + Refraction : color(0.0,0.0,0.0), + refraction_glossiness : 1.0f, + refraction_ior : 1.6f, + invert_refraction_ior : false, + refraction_dispersion_on : false, + refraction_dispersion : 50.0f, + refraction_fogColor : color(1.0,1.0,1.0), + refraction_fogBias : 0.0f, + refraction_fogMult : 1.0f, + translucency_on : ::templates::vray_materials::translucency_none, + translucency_scatterCoeff : 0.0f, + translucency_fbCoeff : 1.0f, + translucency_color : color(1.0,1.0,1.0), + self_illumination : color(0.0,0.0,0.0), + self_illumination_multiplier : 1.0f, + coat_amount : 0.0f, + coat_color : color(1.0,1.0,1.0), + coat_glossiness : 1.0f, + coat_ior : 1.6f, + invert_coat_ior : false, + coat_bump_lock : false, + sheen_color : color(0.0,0.0,0.0), + sheen_glossiness : 0.8f, + brdf_type : ::templates::vray_materials::brdf_blinn, + brdf_useRoughness : ::templates::vray_materials::brdf_glossiness, + anisotropy : 0.0f, + anisotropy_rotation : 0.0f, + anisotropy_channel : 1, + texmap_opacity : 1.0f +); + + diff --git a/assets/scene_usds/ebench/teleop_tasks/install_gear/merge_usd/0009/Materials/cover1.mdl b/assets/scene_usds/ebench/teleop_tasks/install_gear/merge_usd/0009/Materials/cover1.mdl new file mode 100644 index 0000000000000000000000000000000000000000..7da886847e86c317b594a05c8852172347038548 --- /dev/null +++ b/assets/scene_usds/ebench/teleop_tasks/install_gear/merge_usd/0009/Materials/cover1.mdl @@ -0,0 +1,97 @@ +///\authors: Auto-generated by vray_to_mdl_export.ms script. +///\description: Translated VRay material. + +mdl 1.6; + +// Import +import ::anno::*; +import ::base::transform_coordinate; +import ::base::rotation_translation_scale; +import ::base::file_texture; +import ::base::mono_mode; +import ::base::texture_coordinate_info; +import ::base::texture_return; +import ::state::normal; +import ::state::texture_coordinate; +import ::state::texture_tangent_u; +import ::state::texture_tangent_v; +import ::tex::gamma_mode; +import ::tex::wrap_mode; +import templates::ad_3dsmax_materials::*; +import templates::ad_3dsmax_maps::*; +import templates::vray_materials::*; +import templates::vray_maps::*; + +// Body +export material cover1() +[[ + anno::display_name("cover1") +]] += ::templates::vray_materials::VRayMtl( + Diffuse : ::templates::ad_3dsmax_maps::ad_3dsmax_bitmap( + filename : texture_2d("./cover1/13333.jpg", ::tex::gamma_srgb), + cliph : 1.0f, + clipu : 0.0f, + clipv : 0.0f, + clipw : 1.0f, + mapChannel : 1, + U_angle : 0.0f, + U_Mirror : false, + U_Offset : 0.0f, + U_Tile : true, + U_Tiling : 1.0f, + UVW_Type : 0, + V_angle : 0.0f, + V_Mirror : false, + V_Offset : 0.0f, + V_Tile : true, + V_Tiling : 1.0f, + W_angle : 0.0f, + alphaFromRGB : false, + bump_amount : 1.0f, + clamp : false, + invert : false, + output_amount : 1.0f, + rgb_level : 1.0f, + rgb_offset : 0.0f + ).tint, + diffuse_roughness : 0.0f, + Reflection : color(0.980392,0.980392,0.980392), + reflection_glossiness : 0.8f, + reflection_fresnel : true, + reflection_ior : 1.6f, + reflection_lockIOR : true, + invert_reflection_ior : false, + reflection_metalness : 0.0f, + Refraction : color(0.0,0.0,0.0), + refraction_glossiness : 1.0f, + refraction_ior : 1.6f, + invert_refraction_ior : false, + refraction_dispersion_on : false, + refraction_dispersion : 50.0f, + refraction_fogColor : color(1.0,1.0,1.0), + refraction_fogBias : 0.0f, + refraction_fogMult : 1.0f, + translucency_on : ::templates::vray_materials::translucency_none, + translucency_scatterCoeff : 0.0f, + translucency_fbCoeff : 1.0f, + translucency_color : color(1.0,1.0,1.0), + self_illumination : color(0.0,0.0,0.0), + self_illumination_multiplier : 1.0f, + coat_amount : 0.0f, + coat_color : color(1.0,1.0,1.0), + coat_glossiness : 1.0f, + coat_ior : 1.6f, + invert_coat_ior : false, + coat_bump_lock : false, + sheen_color : color(0.0,0.0,0.0), + sheen_glossiness : 0.8f, + brdf_type : ::templates::vray_materials::brdf_blinn, + brdf_useRoughness : ::templates::vray_materials::brdf_glossiness, + anisotropy : 0.0f, + anisotropy_rotation : 0.0f, + anisotropy_channel : 1, + texmap_opacity : 1.0f +); + + diff --git a/assets/scene_usds/ebench/teleop_tasks/install_gear/merge_usd/0009/Materials/dfdf421.mdl b/assets/scene_usds/ebench/teleop_tasks/install_gear/merge_usd/0009/Materials/dfdf421.mdl new file mode 100644 index 0000000000000000000000000000000000000000..d43aed3d96702d377ca8d37ad2db51d438ef5663 --- /dev/null +++ b/assets/scene_usds/ebench/teleop_tasks/install_gear/merge_usd/0009/Materials/dfdf421.mdl @@ -0,0 +1,71 @@ +///\authors: Auto-generated by vray_to_mdl_export.ms script. +///\description: Translated VRay material. + +mdl 1.6; + +// Import +import ::anno::*; +import ::base::transform_coordinate; +import ::base::rotation_translation_scale; +import ::base::file_texture; +import ::base::mono_mode; +import ::base::texture_coordinate_info; +import ::base::texture_return; +import ::state::normal; +import ::state::texture_coordinate; +import ::state::texture_tangent_u; +import ::state::texture_tangent_v; +import ::tex::gamma_mode; +import ::tex::wrap_mode; +import templates::ad_3dsmax_materials::*; +import templates::ad_3dsmax_maps::*; +import templates::vray_materials::*; +import templates::vray_maps::*; + +// Body +export material dfdf421() +[[ + anno::display_name("dfdf421") +]] += ::templates::vray_materials::VRayMtl( + Diffuse : color(0.427451,0.521569,0.831373), + diffuse_roughness : 0.0f, + Reflection : color(0.67451,0.67451,0.67451), + reflection_glossiness : 0.9f, + reflection_fresnel : true, + reflection_ior : 1.6f, + reflection_lockIOR : true, + invert_reflection_ior : false, + reflection_metalness : 0.0f, + Refraction : color(0.0,0.0,0.0), + refraction_glossiness : 1.0f, + refraction_ior : 1.6f, + invert_refraction_ior : false, + refraction_dispersion_on : false, + refraction_dispersion : 50.0f, + refraction_fogColor : color(1.0,1.0,1.0), + refraction_fogBias : 0.0f, + refraction_fogMult : 1.0f, + translucency_on : ::templates::vray_materials::translucency_none, + translucency_scatterCoeff : 0.0f, + translucency_fbCoeff : 1.0f, + translucency_color : color(1.0,1.0,1.0), + self_illumination : color(0.0,0.0,0.0), + self_illumination_multiplier : 1.0f, + coat_amount : 0.0f, + coat_color : color(1.0,1.0,1.0), + coat_glossiness : 1.0f, + coat_ior : 1.6f, + invert_coat_ior : false, + coat_bump_lock : false, + sheen_color : color(0.0,0.0,0.0), + sheen_glossiness : 0.8f, + brdf_type : ::templates::vray_materials::brdf_blinn, + brdf_useRoughness : ::templates::vray_materials::brdf_glossiness, + anisotropy : 0.0f, + anisotropy_rotation : 0.0f, + anisotropy_channel : 1, + texmap_opacity : 1.0f +); + + diff --git a/assets/scene_usds/ebench/teleop_tasks/install_gear/merge_usd/0009/Materials/dfdf422.mdl b/assets/scene_usds/ebench/teleop_tasks/install_gear/merge_usd/0009/Materials/dfdf422.mdl new file mode 100644 index 0000000000000000000000000000000000000000..381702c148a8dd143fcf55f4a4eba19a2462ebd7 --- /dev/null +++ b/assets/scene_usds/ebench/teleop_tasks/install_gear/merge_usd/0009/Materials/dfdf422.mdl @@ -0,0 +1,71 @@ +///\authors: Auto-generated by vray_to_mdl_export.ms script. +///\description: Translated VRay material. + +mdl 1.6; + +// Import +import ::anno::*; +import ::base::transform_coordinate; +import ::base::rotation_translation_scale; +import ::base::file_texture; +import ::base::mono_mode; +import ::base::texture_coordinate_info; +import ::base::texture_return; +import ::state::normal; +import ::state::texture_coordinate; +import ::state::texture_tangent_u; +import ::state::texture_tangent_v; +import ::tex::gamma_mode; +import ::tex::wrap_mode; +import templates::ad_3dsmax_materials::*; +import templates::ad_3dsmax_maps::*; +import templates::vray_materials::*; +import templates::vray_maps::*; + +// Body +export material dfdf422() +[[ + anno::display_name("dfdf422") +]] += ::templates::vray_materials::VRayMtl( + Diffuse : color(0.278431,0.12549,0.12549), + diffuse_roughness : 0.0f, + Reflection : color(0.67451,0.67451,0.67451), + reflection_glossiness : 0.9f, + reflection_fresnel : true, + reflection_ior : 1.6f, + reflection_lockIOR : true, + invert_reflection_ior : false, + reflection_metalness : 0.0f, + Refraction : color(0.0,0.0,0.0), + refraction_glossiness : 1.0f, + refraction_ior : 1.6f, + invert_refraction_ior : false, + refraction_dispersion_on : false, + refraction_dispersion : 50.0f, + refraction_fogColor : color(1.0,1.0,1.0), + refraction_fogBias : 0.0f, + refraction_fogMult : 1.0f, + translucency_on : ::templates::vray_materials::translucency_none, + translucency_scatterCoeff : 0.0f, + translucency_fbCoeff : 1.0f, + translucency_color : color(1.0,1.0,1.0), + self_illumination : color(0.0,0.0,0.0), + self_illumination_multiplier : 1.0f, + coat_amount : 0.0f, + coat_color : color(1.0,1.0,1.0), + coat_glossiness : 1.0f, + coat_ior : 1.6f, + invert_coat_ior : false, + coat_bump_lock : false, + sheen_color : color(0.0,0.0,0.0), + sheen_glossiness : 0.8f, + brdf_type : ::templates::vray_materials::brdf_blinn, + brdf_useRoughness : ::templates::vray_materials::brdf_glossiness, + anisotropy : 0.0f, + anisotropy_rotation : 0.0f, + anisotropy_channel : 1, + texmap_opacity : 1.0f +); + + diff --git a/assets/scene_usds/ebench/teleop_tasks/install_gear/merge_usd/0009/Materials/list.mdl b/assets/scene_usds/ebench/teleop_tasks/install_gear/merge_usd/0009/Materials/list.mdl new file mode 100644 index 0000000000000000000000000000000000000000..577170ca429b25e0f0e09774071b817be61c9445 --- /dev/null +++ b/assets/scene_usds/ebench/teleop_tasks/install_gear/merge_usd/0009/Materials/list.mdl @@ -0,0 +1,71 @@ +///\authors: Auto-generated by vray_to_mdl_export.ms script. +///\description: Translated VRay material. + +mdl 1.6; + +// Import +import ::anno::*; +import ::base::transform_coordinate; +import ::base::rotation_translation_scale; +import ::base::file_texture; +import ::base::mono_mode; +import ::base::texture_coordinate_info; +import ::base::texture_return; +import ::state::normal; +import ::state::texture_coordinate; +import ::state::texture_tangent_u; +import ::state::texture_tangent_v; +import ::tex::gamma_mode; +import ::tex::wrap_mode; +import templates::ad_3dsmax_materials::*; +import templates::ad_3dsmax_maps::*; +import templates::vray_materials::*; +import templates::vray_maps::*; + +// Body +export material list() +[[ + anno::display_name("list") +]] += ::templates::vray_materials::VRayMtl( + Diffuse : color(1.0,1.0,1.0), + diffuse_roughness : 0.0f, + Reflection : color(0.0,0.0,0.0), + reflection_glossiness : 1.0f, + reflection_fresnel : false, + reflection_ior : 1.6f, + reflection_lockIOR : true, + invert_reflection_ior : false, + reflection_metalness : 0.0f, + Refraction : color(0.0,0.0,0.0), + refraction_glossiness : 1.0f, + refraction_ior : 1.6f, + invert_refraction_ior : false, + refraction_dispersion_on : false, + refraction_dispersion : 50.0f, + refraction_fogColor : color(1.0,1.0,1.0), + refraction_fogBias : 0.0f, + refraction_fogMult : 1.0f, + translucency_on : ::templates::vray_materials::translucency_none, + translucency_scatterCoeff : 0.0f, + translucency_fbCoeff : 1.0f, + translucency_color : color(1.0,1.0,1.0), + self_illumination : color(0.0,0.0,0.0), + self_illumination_multiplier : 1.0f, + coat_amount : 0.0f, + coat_color : color(1.0,1.0,1.0), + coat_glossiness : 1.0f, + coat_ior : 1.6f, + invert_coat_ior : false, + coat_bump_lock : false, + sheen_color : color(0.0,0.0,0.0), + sheen_glossiness : 0.8f, + brdf_type : ::templates::vray_materials::brdf_blinn, + brdf_useRoughness : ::templates::vray_materials::brdf_glossiness, + anisotropy : 0.0f, + anisotropy_rotation : 0.0f, + anisotropy_channel : 1, + texmap_opacity : 1.0f +); + + diff --git a/assets/scene_usds/ebench/teleop_tasks/install_gear/merge_usd/0009/Materials/paizi.mdl b/assets/scene_usds/ebench/teleop_tasks/install_gear/merge_usd/0009/Materials/paizi.mdl new file mode 100644 index 0000000000000000000000000000000000000000..bebdc0e88b64da6bd56f3df8dd0fa48397093768 --- /dev/null +++ b/assets/scene_usds/ebench/teleop_tasks/install_gear/merge_usd/0009/Materials/paizi.mdl @@ -0,0 +1,71 @@ +///\authors: Auto-generated by vray_to_mdl_export.ms script. +///\description: Translated VRay material. + +mdl 1.6; + +// Import +import ::anno::*; +import ::base::transform_coordinate; +import ::base::rotation_translation_scale; +import ::base::file_texture; +import ::base::mono_mode; +import ::base::texture_coordinate_info; +import ::base::texture_return; +import ::state::normal; +import ::state::texture_coordinate; +import ::state::texture_tangent_u; +import ::state::texture_tangent_v; +import ::tex::gamma_mode; +import ::tex::wrap_mode; +import templates::ad_3dsmax_materials::*; +import templates::ad_3dsmax_maps::*; +import templates::vray_materials::*; +import templates::vray_maps::*; + +// Body +export material paizi() +[[ + anno::display_name("paizi") +]] += ::templates::vray_materials::VRayMtl( + Diffuse : color(0.772549,0.780392,0.729412), + diffuse_roughness : 0.0f, + Reflection : color(0.235294,0.235294,0.235294), + reflection_glossiness : 0.9f, + reflection_fresnel : false, + reflection_ior : 1.6f, + reflection_lockIOR : true, + invert_reflection_ior : false, + reflection_metalness : 0.0f, + Refraction : color(0.0,0.0,0.0), + refraction_glossiness : 1.0f, + refraction_ior : 1.6f, + invert_refraction_ior : false, + refraction_dispersion_on : false, + refraction_dispersion : 50.0f, + refraction_fogColor : color(1.0,1.0,1.0), + refraction_fogBias : 0.0f, + refraction_fogMult : 1.0f, + translucency_on : ::templates::vray_materials::translucency_none, + translucency_scatterCoeff : 0.0f, + translucency_fbCoeff : 1.0f, + translucency_color : color(1.0,1.0,1.0), + self_illumination : color(0.0,0.0,0.0), + self_illumination_multiplier : 1.0f, + coat_amount : 0.0f, + coat_color : color(1.0,1.0,1.0), + coat_glossiness : 1.0f, + coat_ior : 1.6f, + invert_coat_ior : false, + coat_bump_lock : false, + sheen_color : color(0.0,0.0,0.0), + sheen_glossiness : 0.8f, + brdf_type : ::templates::vray_materials::brdf_blinn, + brdf_useRoughness : ::templates::vray_materials::brdf_glossiness, + anisotropy : 0.0f, + anisotropy_rotation : 0.0f, + anisotropy_channel : 1, + texmap_opacity : 1.0f +); + + diff --git a/assets/scene_usds/ebench/teleop_tasks/install_gear/merge_usd/0009/Materials/vray_07___Default.mdl b/assets/scene_usds/ebench/teleop_tasks/install_gear/merge_usd/0009/Materials/vray_07___Default.mdl new file mode 100644 index 0000000000000000000000000000000000000000..40efc5ab211c6d2f7bb731205ab90bcbe0d260be --- /dev/null +++ b/assets/scene_usds/ebench/teleop_tasks/install_gear/merge_usd/0009/Materials/vray_07___Default.mdl @@ -0,0 +1,71 @@ +///\authors: Auto-generated by vray_to_mdl_export.ms script. +///\description: Translated VRay material. + +mdl 1.6; + +// Import +import ::anno::*; +import ::base::transform_coordinate; +import ::base::rotation_translation_scale; +import ::base::file_texture; +import ::base::mono_mode; +import ::base::texture_coordinate_info; +import ::base::texture_return; +import ::state::normal; +import ::state::texture_coordinate; +import ::state::texture_tangent_u; +import ::state::texture_tangent_v; +import ::tex::gamma_mode; +import ::tex::wrap_mode; +import templates::ad_3dsmax_materials::*; +import templates::ad_3dsmax_maps::*; +import templates::vray_materials::*; +import templates::vray_maps::*; + +// Body +export material vray_07___Default() +[[ + anno::display_name("vray_07___Default") +]] += ::templates::vray_materials::VRayMtl( + Diffuse : color(0.5,0.5,0.5), + diffuse_roughness : 0.0f, + Reflection : color(0.0,0.0,0.0), + reflection_glossiness : 1.0f, + reflection_fresnel : false, + reflection_ior : 1.6f, + reflection_lockIOR : true, + invert_reflection_ior : false, + reflection_metalness : 0.0f, + Refraction : color(0.0,0.0,0.0), + refraction_glossiness : 1.0f, + refraction_ior : 1.6f, + invert_refraction_ior : false, + refraction_dispersion_on : false, + refraction_dispersion : 50.0f, + refraction_fogColor : color(1.0,1.0,1.0), + refraction_fogBias : 0.0f, + refraction_fogMult : 1.0f, + translucency_on : ::templates::vray_materials::translucency_none, + translucency_scatterCoeff : 0.0f, + translucency_fbCoeff : 1.0f, + translucency_color : color(1.0,1.0,1.0), + self_illumination : color(0.0,0.0,0.0), + self_illumination_multiplier : 1.0f, + coat_amount : 0.0f, + coat_color : color(1.0,1.0,1.0), + coat_glossiness : 1.0f, + coat_ior : 1.6f, + invert_coat_ior : false, + coat_bump_lock : false, + sheen_color : color(0.0,0.0,0.0), + sheen_glossiness : 0.8f, + brdf_type : ::templates::vray_materials::brdf_blinn, + brdf_useRoughness : ::templates::vray_materials::brdf_glossiness, + anisotropy : 0.0f, + anisotropy_rotation : 0.0f, + anisotropy_channel : 1, + texmap_opacity : 1.0f +); + + diff --git a/assets/scene_usds/ebench/teleop_tasks/install_gear/merge_usd/0009/Materials/wite1.mdl b/assets/scene_usds/ebench/teleop_tasks/install_gear/merge_usd/0009/Materials/wite1.mdl new file mode 100644 index 0000000000000000000000000000000000000000..3bb30ce7dbaa5d4ddfd544274e7752bd7de89dd1 --- /dev/null +++ b/assets/scene_usds/ebench/teleop_tasks/install_gear/merge_usd/0009/Materials/wite1.mdl @@ -0,0 +1,71 @@ +///\authors: Auto-generated by vray_to_mdl_export.ms script. +///\description: Translated VRay material. + +mdl 1.6; + +// Import +import ::anno::*; +import ::base::transform_coordinate; +import ::base::rotation_translation_scale; +import ::base::file_texture; +import ::base::mono_mode; +import ::base::texture_coordinate_info; +import ::base::texture_return; +import ::state::normal; +import ::state::texture_coordinate; +import ::state::texture_tangent_u; +import ::state::texture_tangent_v; +import ::tex::gamma_mode; +import ::tex::wrap_mode; +import templates::ad_3dsmax_materials::*; +import templates::ad_3dsmax_maps::*; +import templates::vray_materials::*; +import templates::vray_maps::*; + +// Body +export material wite1() +[[ + anno::display_name("wite1") +]] += ::templates::vray_materials::VRayMtl( + Diffuse : color(1.0,1.0,1.0), + diffuse_roughness : 0.0f, + Reflection : color(0.564706,0.564706,0.564706), + reflection_glossiness : 0.8f, + reflection_fresnel : true, + reflection_ior : 1.6f, + reflection_lockIOR : true, + invert_reflection_ior : false, + reflection_metalness : 0.0f, + Refraction : color(0.0,0.0,0.0), + refraction_glossiness : 1.0f, + refraction_ior : 1.6f, + invert_refraction_ior : false, + refraction_dispersion_on : false, + refraction_dispersion : 50.0f, + refraction_fogColor : color(1.0,1.0,1.0), + refraction_fogBias : 0.0f, + refraction_fogMult : 1.0f, + translucency_on : ::templates::vray_materials::translucency_none, + translucency_scatterCoeff : 0.0f, + translucency_fbCoeff : 1.0f, + translucency_color : color(1.0,1.0,1.0), + self_illumination : color(0.0,0.0,0.0), + self_illumination_multiplier : 1.0f, + coat_amount : 0.0f, + coat_color : color(1.0,1.0,1.0), + coat_glossiness : 1.0f, + coat_ior : 1.6f, + invert_coat_ior : false, + coat_bump_lock : false, + sheen_color : color(0.0,0.0,0.0), + sheen_glossiness : 0.8f, + brdf_type : ::templates::vray_materials::brdf_blinn, + brdf_useRoughness : ::templates::vray_materials::brdf_glossiness, + anisotropy : 0.0f, + anisotropy_rotation : 0.0f, + anisotropy_channel : 1, + texmap_opacity : 1.0f +); + + diff --git a/assets/scene_usds/ebench/teleop_tasks/tighten_nut/merge_usd/0013/Materials/Cover_12.mdl b/assets/scene_usds/ebench/teleop_tasks/tighten_nut/merge_usd/0013/Materials/Cover_12.mdl new file mode 100644 index 0000000000000000000000000000000000000000..8f5818ce47b8ea6e9dad6936ad0b76bb36728ff5 --- /dev/null +++ b/assets/scene_usds/ebench/teleop_tasks/tighten_nut/merge_usd/0013/Materials/Cover_12.mdl @@ -0,0 +1,123 @@ +///\authors: Auto-generated by vray_to_mdl_export.ms script. +///\description: Translated VRay material. + +mdl 1.6; + +// Import +import ::anno::*; +import ::base::transform_coordinate; +import ::base::rotation_translation_scale; +import ::base::file_texture; +import ::base::mono_mode; +import ::base::texture_coordinate_info; +import ::base::texture_return; +import ::state::normal; +import ::state::texture_coordinate; +import ::state::texture_tangent_u; +import ::state::texture_tangent_v; +import ::tex::gamma_mode; +import ::tex::wrap_mode; +import templates::ad_3dsmax_materials::*; +import templates::ad_3dsmax_maps::*; +import templates::vray_materials::*; +import templates::vray_maps::*; + +// Body +export material Cover_12() +[[ + anno::display_name("Cover_12") +]] += ::templates::vray_materials::VRayMtl( + Diffuse : ::templates::ad_3dsmax_maps::ad_3dsmax_bitmap( + filename : texture_2d("./Cover_12/3d66Model-515679-14-5.JPG", ::tex::gamma_srgb), + cliph : 1.0f, + clipu : 0.0f, + clipv : 0.0f, + clipw : 1.0f, + mapChannel : 1, + U_angle : 0.0f, + U_Mirror : false, + U_Offset : 0.0f, + U_Tile : true, + U_Tiling : 1.0f, + UVW_Type : 0, + V_angle : 0.0f, + V_Mirror : false, + V_Offset : 0.0f, + V_Tile : true, + V_Tiling : 1.0f, + W_angle : 0.0f, + alphaFromRGB : false, + bump_amount : 1.0f, + clamp : false, + invert : false, + output_amount : 1.0f, + rgb_level : 1.0f, + rgb_offset : 0.0f + ).tint, + diffuse_roughness : 0.0f, + Reflection : ::templates::ad_3dsmax_maps::ad_3dsmax_bitmap( + filename : texture_2d("./Cover_12/3d66Model-515679-2-5.JPG", ::tex::gamma_srgb), + cliph : 1.0f, + clipu : 0.0f, + clipv : 0.0f, + clipw : 1.0f, + mapChannel : 1, + U_angle : 0.0f, + U_Mirror : false, + U_Offset : 0.0f, + U_Tile : true, + U_Tiling : 1.0f, + UVW_Type : 0, + V_angle : 0.0f, + V_Mirror : false, + V_Offset : 0.0f, + V_Tile : true, + V_Tiling : 1.0f, + W_angle : 0.0f, + alphaFromRGB : false, + bump_amount : 1.0f, + clamp : false, + invert : false, + output_amount : 1.0f, + rgb_level : 1.0f, + rgb_offset : 0.0f + ).tint, + reflection_glossiness : 0.8f, + reflection_fresnel : true, + reflection_ior : 1.6f, + reflection_lockIOR : true, + invert_reflection_ior : false, + reflection_metalness : 0.0f, + Refraction : color(0.0,0.0,0.0), + refraction_glossiness : 1.0f, + refraction_ior : 1.6f, + invert_refraction_ior : false, + refraction_dispersion_on : false, + refraction_dispersion : 50.0f, + refraction_fogColor : color(1.0,1.0,1.0), + refraction_fogBias : 0.0f, + refraction_fogMult : 1.0f, + translucency_on : ::templates::vray_materials::translucency_none, + translucency_scatterCoeff : 0.0f, + translucency_fbCoeff : 1.0f, + translucency_color : color(1.0,1.0,1.0), + self_illumination : color(0.0,0.0,0.0), + self_illumination_multiplier : 1.0f, + coat_amount : 0.0f, + coat_color : color(1.0,1.0,1.0), + coat_glossiness : 1.0f, + coat_ior : 1.6f, + invert_coat_ior : false, + coat_bump_lock : false, + sheen_color : color(0.0,0.0,0.0), + sheen_glossiness : 0.8f, + brdf_type : ::templates::vray_materials::brdf_blinn, + brdf_useRoughness : ::templates::vray_materials::brdf_glossiness, + anisotropy : 0.0f, + anisotropy_rotation : 0.0f, + anisotropy_channel : 1, + texmap_opacity : 1.0f +); + + diff --git a/assets/scene_usds/ebench/teleop_tasks/tighten_nut/merge_usd/0013/Materials/Cover_24.mdl b/assets/scene_usds/ebench/teleop_tasks/tighten_nut/merge_usd/0013/Materials/Cover_24.mdl new file mode 100644 index 0000000000000000000000000000000000000000..a49ad52fa47b42d03ef96ef795d546094c914a40 --- /dev/null +++ b/assets/scene_usds/ebench/teleop_tasks/tighten_nut/merge_usd/0013/Materials/Cover_24.mdl @@ -0,0 +1,123 @@ +///\authors: Auto-generated by vray_to_mdl_export.ms script. +///\description: Translated VRay material. + +mdl 1.6; + +// Import +import ::anno::*; +import ::base::transform_coordinate; +import ::base::rotation_translation_scale; +import ::base::file_texture; +import ::base::mono_mode; +import ::base::texture_coordinate_info; +import ::base::texture_return; +import ::state::normal; +import ::state::texture_coordinate; +import ::state::texture_tangent_u; +import ::state::texture_tangent_v; +import ::tex::gamma_mode; +import ::tex::wrap_mode; +import templates::ad_3dsmax_materials::*; +import templates::ad_3dsmax_maps::*; +import templates::vray_materials::*; +import templates::vray_maps::*; + +// Body +export material Cover_24() +[[ + anno::display_name("Cover_24") +]] += ::templates::vray_materials::VRayMtl( + Diffuse : ::templates::ad_3dsmax_maps::ad_3dsmax_bitmap( + filename : texture_2d("./Cover_24/3d66Model-515679-26-5.JPG", ::tex::gamma_srgb), + cliph : 1.0f, + clipu : 0.0f, + clipv : 0.0f, + clipw : 1.0f, + mapChannel : 1, + U_angle : 0.0f, + U_Mirror : false, + U_Offset : 0.0f, + U_Tile : true, + U_Tiling : 1.0f, + UVW_Type : 0, + V_angle : 0.0f, + V_Mirror : false, + V_Offset : 0.0f, + V_Tile : true, + V_Tiling : 1.0f, + W_angle : 0.0f, + alphaFromRGB : false, + bump_amount : 1.0f, + clamp : false, + invert : false, + output_amount : 1.0f, + rgb_level : 1.0f, + rgb_offset : 0.0f + ).tint, + diffuse_roughness : 0.0f, + Reflection : ::templates::ad_3dsmax_maps::ad_3dsmax_bitmap( + filename : texture_2d("./Cover_24/3d66Model-515679-13-5.JPG", ::tex::gamma_srgb), + cliph : 1.0f, + clipu : 0.0f, + clipv : 0.0f, + clipw : 1.0f, + mapChannel : 1, + U_angle : 0.0f, + U_Mirror : false, + U_Offset : 0.0f, + U_Tile : true, + U_Tiling : 1.0f, + UVW_Type : 0, + V_angle : 0.0f, + V_Mirror : false, + V_Offset : 0.0f, + V_Tile : true, + V_Tiling : 1.0f, + W_angle : 0.0f, + alphaFromRGB : false, + bump_amount : 1.0f, + clamp : false, + invert : false, + output_amount : 1.0f, + rgb_level : 1.0f, + rgb_offset : 0.0f + ).tint, + reflection_glossiness : 0.7f, + reflection_fresnel : true, + reflection_ior : 1.6f, + reflection_lockIOR : true, + invert_reflection_ior : false, + reflection_metalness : 0.0f, + Refraction : color(0.0,0.0,0.0), + refraction_glossiness : 1.0f, + refraction_ior : 1.6f, + invert_refraction_ior : false, + refraction_dispersion_on : false, + refraction_dispersion : 50.0f, + refraction_fogColor : color(1.0,1.0,1.0), + refraction_fogBias : 0.0f, + refraction_fogMult : 1.0f, + translucency_on : ::templates::vray_materials::translucency_none, + translucency_scatterCoeff : 0.0f, + translucency_fbCoeff : 1.0f, + translucency_color : color(1.0,1.0,1.0), + self_illumination : color(0.0,0.0,0.0), + self_illumination_multiplier : 1.0f, + coat_amount : 0.0f, + coat_color : color(1.0,1.0,1.0), + coat_glossiness : 1.0f, + coat_ior : 1.6f, + invert_coat_ior : false, + coat_bump_lock : false, + sheen_color : color(0.0,0.0,0.0), + sheen_glossiness : 0.8f, + brdf_type : ::templates::vray_materials::brdf_blinn, + brdf_useRoughness : ::templates::vray_materials::brdf_glossiness, + anisotropy : 0.0f, + anisotropy_rotation : 0.0f, + anisotropy_channel : 1, + texmap_opacity : 1.0f +); + + diff --git a/assets/scene_usds/ebench/teleop_tasks/tighten_nut/merge_usd/0013/Materials/Cover_25.mdl b/assets/scene_usds/ebench/teleop_tasks/tighten_nut/merge_usd/0013/Materials/Cover_25.mdl new file mode 100644 index 0000000000000000000000000000000000000000..57e5642a61600ed2ab6f1d3feff784c3be040e58 --- /dev/null +++ b/assets/scene_usds/ebench/teleop_tasks/tighten_nut/merge_usd/0013/Materials/Cover_25.mdl @@ -0,0 +1,123 @@ +///\authors: Auto-generated by vray_to_mdl_export.ms script. +///\description: Translated VRay material. + +mdl 1.6; + +// Import +import ::anno::*; +import ::base::transform_coordinate; +import ::base::rotation_translation_scale; +import ::base::file_texture; +import ::base::mono_mode; +import ::base::texture_coordinate_info; +import ::base::texture_return; +import ::state::normal; +import ::state::texture_coordinate; +import ::state::texture_tangent_u; +import ::state::texture_tangent_v; +import ::tex::gamma_mode; +import ::tex::wrap_mode; +import templates::ad_3dsmax_materials::*; +import templates::ad_3dsmax_maps::*; +import templates::vray_materials::*; +import templates::vray_maps::*; + +// Body +export material Cover_25() +[[ + anno::display_name("Cover_25") +]] += ::templates::vray_materials::VRayMtl( + Diffuse : ::templates::ad_3dsmax_maps::ad_3dsmax_bitmap( + filename : texture_2d("./Cover_25/3d66Model-515679-27-5.JPG", ::tex::gamma_srgb), + cliph : 1.0f, + clipu : 0.0f, + clipv : 0.0f, + clipw : 1.0f, + mapChannel : 1, + U_angle : 0.0f, + U_Mirror : false, + U_Offset : 0.0f, + U_Tile : true, + U_Tiling : 1.0f, + UVW_Type : 0, + V_angle : 0.0f, + V_Mirror : false, + V_Offset : 0.0f, + V_Tile : true, + V_Tiling : 1.0f, + W_angle : 0.0f, + alphaFromRGB : false, + bump_amount : 1.0f, + clamp : false, + invert : false, + output_amount : 1.0f, + rgb_level : 1.0f, + rgb_offset : 0.0f + ).tint, + diffuse_roughness : 0.0f, + Reflection : ::templates::ad_3dsmax_maps::ad_3dsmax_bitmap( + filename : texture_2d("./Cover_25/3d66Model-515679-2-5.JPG", ::tex::gamma_srgb), + cliph : 1.0f, + clipu : 0.0f, + clipv : 0.0f, + clipw : 1.0f, + mapChannel : 1, + U_angle : 0.0f, + U_Mirror : false, + U_Offset : 0.0f, + U_Tile : true, + U_Tiling : 1.0f, + UVW_Type : 0, + V_angle : 0.0f, + V_Mirror : false, + V_Offset : 0.0f, + V_Tile : true, + V_Tiling : 1.0f, + W_angle : 0.0f, + alphaFromRGB : false, + bump_amount : 1.0f, + clamp : false, + invert : false, + output_amount : 1.0f, + rgb_level : 1.0f, + rgb_offset : 0.0f + ).tint, + reflection_glossiness : 0.8f, + reflection_fresnel : true, + reflection_ior : 1.6f, + reflection_lockIOR : true, + invert_reflection_ior : false, + reflection_metalness : 0.0f, + Refraction : color(0.0,0.0,0.0), + refraction_glossiness : 1.0f, + refraction_ior : 1.6f, + invert_refraction_ior : false, + refraction_dispersion_on : false, + refraction_dispersion : 50.0f, + refraction_fogColor : color(1.0,1.0,1.0), + refraction_fogBias : 0.0f, + refraction_fogMult : 1.0f, + translucency_on : ::templates::vray_materials::translucency_none, + translucency_scatterCoeff : 0.0f, + translucency_fbCoeff : 1.0f, + translucency_color : color(1.0,1.0,1.0), + self_illumination : color(0.0,0.0,0.0), + self_illumination_multiplier : 1.0f, + coat_amount : 0.0f, + coat_color : color(1.0,1.0,1.0), + coat_glossiness : 1.0f, + coat_ior : 1.6f, + invert_coat_ior : false, + coat_bump_lock : false, + sheen_color : color(0.0,0.0,0.0), + sheen_glossiness : 0.8f, + brdf_type : ::templates::vray_materials::brdf_blinn, + brdf_useRoughness : ::templates::vray_materials::brdf_glossiness, + anisotropy : 0.0f, + anisotropy_rotation : 0.0f, + anisotropy_channel : 1, + texmap_opacity : 1.0f +); + + diff --git a/assets/scene_usds/ebench/teleop_tasks/tighten_nut/merge_usd/0013/Materials/Cover_9.mdl b/assets/scene_usds/ebench/teleop_tasks/tighten_nut/merge_usd/0013/Materials/Cover_9.mdl new file mode 100644 index 0000000000000000000000000000000000000000..54f0e4b2914457186914547553d1528a8ba4fda0 --- /dev/null +++ b/assets/scene_usds/ebench/teleop_tasks/tighten_nut/merge_usd/0013/Materials/Cover_9.mdl @@ -0,0 +1,123 @@ +///\authors: Auto-generated by vray_to_mdl_export.ms script. +///\description: Translated VRay material. + +mdl 1.6; + +// Import +import ::anno::*; +import ::base::transform_coordinate; +import ::base::rotation_translation_scale; +import ::base::file_texture; +import ::base::mono_mode; +import ::base::texture_coordinate_info; +import ::base::texture_return; +import ::state::normal; +import ::state::texture_coordinate; +import ::state::texture_tangent_u; +import ::state::texture_tangent_v; +import ::tex::gamma_mode; +import ::tex::wrap_mode; +import templates::ad_3dsmax_materials::*; +import templates::ad_3dsmax_maps::*; +import templates::vray_materials::*; +import templates::vray_maps::*; + +// Body +export material Cover_9() +[[ + anno::display_name("Cover_9") +]] += ::templates::vray_materials::VRayMtl( + Diffuse : ::templates::ad_3dsmax_maps::ad_3dsmax_bitmap( + filename : texture_2d("./Cover_9/3d66Model-515679-10-5.JPG", ::tex::gamma_srgb), + cliph : 1.0f, + clipu : 0.0f, + clipv : 0.0f, + clipw : 1.0f, + mapChannel : 1, + U_angle : 0.0f, + U_Mirror : false, + U_Offset : 0.0f, + U_Tile : true, + U_Tiling : 1.0f, + UVW_Type : 0, + V_angle : 0.0f, + V_Mirror : false, + V_Offset : 0.0f, + V_Tile : true, + V_Tiling : 1.0f, + W_angle : 0.0f, + alphaFromRGB : false, + bump_amount : 1.0f, + clamp : false, + invert : false, + output_amount : 1.0f, + rgb_level : 1.0f, + rgb_offset : 0.0f + ).tint, + diffuse_roughness : 0.0f, + Reflection : ::templates::ad_3dsmax_maps::ad_3dsmax_bitmap( + filename : texture_2d("./Cover_9/3d66Model-515679-2-5.JPG", ::tex::gamma_srgb), + cliph : 1.0f, + clipu : 0.0f, + clipv : 0.0f, + clipw : 1.0f, + mapChannel : 1, + U_angle : 0.0f, + U_Mirror : false, + U_Offset : 0.0f, + U_Tile : true, + U_Tiling : 1.0f, + UVW_Type : 0, + V_angle : 0.0f, + V_Mirror : false, + V_Offset : 0.0f, + V_Tile : true, + V_Tiling : 1.0f, + W_angle : 0.0f, + alphaFromRGB : false, + bump_amount : 1.0f, + clamp : false, + invert : false, + output_amount : 1.0f, + rgb_level : 1.0f, + rgb_offset : 0.0f + ).tint, + reflection_glossiness : 0.8f, + reflection_fresnel : true, + reflection_ior : 1.6f, + reflection_lockIOR : true, + invert_reflection_ior : false, + reflection_metalness : 0.0f, + Refraction : color(0.0,0.0,0.0), + refraction_glossiness : 1.0f, + refraction_ior : 1.6f, + invert_refraction_ior : false, + refraction_dispersion_on : false, + refraction_dispersion : 50.0f, + refraction_fogColor : color(1.0,1.0,1.0), + refraction_fogBias : 0.0f, + refraction_fogMult : 1.0f, + translucency_on : ::templates::vray_materials::translucency_none, + translucency_scatterCoeff : 0.0f, + translucency_fbCoeff : 1.0f, + translucency_color : color(1.0,1.0,1.0), + self_illumination : color(0.0,0.0,0.0), + self_illumination_multiplier : 1.0f, + coat_amount : 0.0f, + coat_color : color(1.0,1.0,1.0), + coat_glossiness : 1.0f, + coat_ior : 1.6f, + invert_coat_ior : false, + coat_bump_lock : false, + sheen_color : color(0.0,0.0,0.0), + sheen_glossiness : 0.8f, + brdf_type : ::templates::vray_materials::brdf_blinn, + brdf_useRoughness : ::templates::vray_materials::brdf_glossiness, + anisotropy : 0.0f, + anisotropy_rotation : 0.0f, + anisotropy_channel : 1, + texmap_opacity : 1.0f +); + + diff --git a/assets/scene_usds/ebench/teleop_tasks/tighten_nut/merge_usd/0013/Materials/Mat3d66_1036652_15_5725.mdl b/assets/scene_usds/ebench/teleop_tasks/tighten_nut/merge_usd/0013/Materials/Mat3d66_1036652_15_5725.mdl new file mode 100644 index 0000000000000000000000000000000000000000..cbffbe8b27e9b5044335a83901b877faf8840bf0 --- /dev/null +++ b/assets/scene_usds/ebench/teleop_tasks/tighten_nut/merge_usd/0013/Materials/Mat3d66_1036652_15_5725.mdl @@ -0,0 +1,145 @@ +///\authors: Auto-generated by vray_to_mdl_export.ms script. +///\description: Translated VRay material. + +mdl 1.6; + +// Import +import ::anno::*; +import ::base::transform_coordinate; +import ::base::rotation_translation_scale; +import ::base::file_texture; +import ::base::mono_mode; +import ::base::texture_coordinate_info; +import ::base::texture_return; +import ::state::normal; +import ::state::texture_coordinate; +import ::state::texture_tangent_u; +import ::state::texture_tangent_v; +import ::tex::gamma_mode; +import ::tex::wrap_mode; +import templates::ad_3dsmax_materials::*; +import templates::ad_3dsmax_maps::*; +import templates::vray_materials::*; +import templates::vray_maps::*; + +// Body +export material Mat3d66_1036652_15_5725() +[[ + anno::display_name("Mat3d66_1036652_15_5725") +]] += ::templates::vray_materials::VRayMtl( + Diffuse : ::templates::vray_maps::VRayColor( + color_mode : ::templates::vray_maps::mode_color, + temperature : 6500.0f, + red : 0.117647f, + green : 0.203922f, + blue : 0.431373f, + rgb_multiplier : 1.0f, + alpha : 1.0f, + color_gamma : 1.0f, + rgb_primaries : ::templates::vray_maps::primaries_none + ).tint, + diffuse_roughness : 0.0f, + Reflection : ::templates::vray_maps::VRayColor( + color_mode : ::templates::vray_maps::mode_color, + temperature : 6500.0f, + red : 0.117647f, + green : 0.203922f, + blue : 0.431373f, + rgb_multiplier : 1.0f, + alpha : 1.0f, + color_gamma : 1.0f, + rgb_primaries : ::templates::vray_maps::primaries_none + ).tint, + reflection_glossiness : ::templates::ad_3dsmax_maps::ad_3dsmax_bitmap( + filename : texture_2d("./Mat3d66_1036652_15_5725/3d66Model-1036652-files-2.jpg", ::tex::gamma_srgb), + cliph : 1.0f, + clipu : 0.0f, + clipv : 0.0f, + clipw : 1.0f, + mapChannel : 1, + U_angle : 0.0f, + U_Mirror : false, + U_Offset : 0.0f, + U_Tile : true, + U_Tiling : 1.0f, + UVW_Type : 0, + V_angle : 0.0f, + V_Mirror : false, + V_Offset : 0.0f, + V_Tile : true, + V_Tiling : 1.0f, + W_angle : 0.0f, + alphaFromRGB : false, + bump_amount : 1.0f, + clamp : false, + invert : false, + output_amount : 1.0f, + rgb_level : 1.0f, + rgb_offset : 0.0f + ).mono * 0.2 + 0.855f * 0.8, + reflection_fresnel : true, + reflection_ior : 20.0f, + reflection_lockIOR : false, + invert_reflection_ior : false, + reflection_metalness : 0.0f, + Refraction : color(0.0,0.0,0.0), + refraction_glossiness : 1.0f, + refraction_ior : 1.6f, + invert_refraction_ior : false, + refraction_dispersion_on : false, + refraction_dispersion : 50.0f, + refraction_fogColor : color(1.0,1.0,1.0), + refraction_fogBias : 0.0f, + refraction_fogMult : 1.0f, + translucency_on : ::templates::vray_materials::translucency_none, + translucency_scatterCoeff : 0.0f, + translucency_fbCoeff : 1.0f, + translucency_color : color(1.0,1.0,1.0), + self_illumination : color(0.0,0.0,0.0), + self_illumination_multiplier : 1.0f, + coat_amount : 0.0f, + coat_color : color(1.0,1.0,1.0), + coat_glossiness : 1.0f, + coat_ior : 1.6f, + invert_coat_ior : false, + coat_bump_lock : false, + sheen_color : color(0.0,0.0,0.0), + sheen_glossiness : 0.8f, + brdf_type : ::templates::vray_materials::brdf_ward, + brdf_useRoughness : ::templates::vray_materials::brdf_glossiness, + anisotropy : 0.0f, + anisotropy_rotation : 0.0f, + anisotropy_channel : 1, + texmap_bump : ::templates::ad_3dsmax_maps::ad_3dsmax_bitmap_bump( + filename : texture_2d("./Mat3d66_1036652_15_5725/3d66Model-1036652-files-1.jpg", ::tex::gamma_srgb), + cliph : 1.0f, + clipu : 0.0f, + clipv : 0.0f, + clipw : 1.0f, + mapChannel : 1, + U_angle : 0.0f, + U_Mirror : false, + U_Offset : 0.0f, + U_Tile : true, + U_Tiling : 2.0f, + UVW_Type : 0, + V_angle : 0.0f, + V_Mirror : false, + V_Offset : 0.0f, + V_Tile : true, + V_Tiling : 2.0f, + W_angle : 0.0f, + alphaFromRGB : false, + bump_amount : 1.0f, + clamp : false, + invert : false, + output_amount : 1.0f, + rgb_level : 1.0f, + rgb_offset : 0.0f, + factor : 0.12f + ), + texmap_opacity : 1.0f +); + + diff --git a/assets/scene_usds/ebench/teleop_tasks/tighten_nut/merge_usd/0013/Materials/Mat3d66_542102_13_9487.mdl b/assets/scene_usds/ebench/teleop_tasks/tighten_nut/merge_usd/0013/Materials/Mat3d66_542102_13_9487.mdl new file mode 100644 index 0000000000000000000000000000000000000000..d5f0cfbeb570241cf480a856dec09a69f00a74b5 --- /dev/null +++ b/assets/scene_usds/ebench/teleop_tasks/tighten_nut/merge_usd/0013/Materials/Mat3d66_542102_13_9487.mdl @@ -0,0 +1,71 @@ +///\authors: Auto-generated by vray_to_mdl_export.ms script. +///\description: Translated VRay material. + +mdl 1.6; + +// Import +import ::anno::*; +import ::base::transform_coordinate; +import ::base::rotation_translation_scale; +import ::base::file_texture; +import ::base::mono_mode; +import ::base::texture_coordinate_info; +import ::base::texture_return; +import ::state::normal; +import ::state::texture_coordinate; +import ::state::texture_tangent_u; +import ::state::texture_tangent_v; +import ::tex::gamma_mode; +import ::tex::wrap_mode; +import templates::ad_3dsmax_materials::*; +import templates::ad_3dsmax_maps::*; +import templates::vray_materials::*; +import templates::vray_maps::*; + +// Body +export material Mat3d66_542102_13_9487() +[[ + anno::display_name("Mat3d66_542102_13_9487") +]] += ::templates::vray_materials::VRayMtl( + Diffuse : color(0.0,0.0,0.0), + diffuse_roughness : 0.0f, + Reflection : color(0.941177,0.972549,1.0), + reflection_glossiness : 0.7f, + reflection_fresnel : true, + reflection_ior : 10.0f, + reflection_lockIOR : false, + invert_reflection_ior : false, + reflection_metalness : 0.0f, + Refraction : color(0.0,0.0,0.0), + refraction_glossiness : 1.0f, + refraction_ior : 1.52f, + invert_refraction_ior : false, + refraction_dispersion_on : false, + refraction_dispersion : 50.0f, + refraction_fogColor : color(0.5,0.5,0.5), + refraction_fogBias : 0.0f, + refraction_fogMult : 0.0f, + translucency_on : ::templates::vray_materials::translucency_none, + translucency_scatterCoeff : 0.0f, + translucency_fbCoeff : 1.0f, + translucency_color : color(1.0,1.0,1.0), + self_illumination : color(0.0,0.0,0.0), + self_illumination_multiplier : 0.0f, + coat_amount : 0.0f, + coat_color : color(1.0,1.0,1.0), + coat_glossiness : 1.0f, + coat_ior : 1.6f, + invert_coat_ior : false, + coat_bump_lock : false, + sheen_color : color(0.0,0.0,0.0), + sheen_glossiness : 0.8f, + brdf_type : ::templates::vray_materials::brdf_blinn, + brdf_useRoughness : ::templates::vray_materials::brdf_glossiness, + anisotropy : 0.2f, + anisotropy_rotation : 90.0f, + anisotropy_channel : 1, + texmap_opacity : 1.0f +); + + diff --git a/assets/scene_usds/ebench/teleop_tasks/tighten_nut/merge_usd/0013/Materials/Mat3d66_717112_6_4880.mdl b/assets/scene_usds/ebench/teleop_tasks/tighten_nut/merge_usd/0013/Materials/Mat3d66_717112_6_4880.mdl new file mode 100644 index 0000000000000000000000000000000000000000..a483dab1de1d29ec113057b510606b19d533526b --- /dev/null +++ b/assets/scene_usds/ebench/teleop_tasks/tighten_nut/merge_usd/0013/Materials/Mat3d66_717112_6_4880.mdl @@ -0,0 +1,67 @@ +mdl 1.8; + +import ::state::normal; +import ::OmniPBR::OmniPBR; +import ::anno::author; +import ::anno::description; +import ::anno::display_name; +import ::anno::in_group; +import ::anno::key_words; +import ::anno::version; +import ::base::mono_mode; +import ::tex::gamma_mode; + +export material Mat3d66_717112_6_4880(*) +[[ + anno::display_name("OmniPBR"), + anno::description("OmniPBR Base with support for clear coat, opacity and ORM textures."), + anno::in_group("Base", false), + anno::version(2, 1, 2, ""), + anno::author("NVIDIA CORPORATION"), + anno::key_words(string[]("omni", "PBR", "opacity", "omniverse", "generic")) +]] + = OmniPBR::OmniPBR( + diffuse_color_constant: color(0.5f, 0.5f, 0.5f), + diffuse_texture: texture_2d(), + 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.f, + reflection_roughness_texture_influence: 0.f, + reflectionroughness_texture: texture_2d(), + metallic_constant: 0.f, + metallic_texture_influence: 0.f, + metallic_texture: texture_2d(), + specular_level: 0.5f, + enable_ORM_texture: false, + ORM_texture: texture_2d(), + ao_to_diffuse: 0.f, + ao_texture: texture_2d(), + enable_emission: true, + emissive_color: color(0.f, 0.f, 0.f), + emissive_color_texture: texture_2d(), + emissive_mask_texture: texture_2d(), + emissive_intensity: 3250.f, + enable_opacity: false, + opacity_texture: texture_2d(), + opacity_constant: 1.f, + enable_opacity_texture: false, + opacity_mode: base::mono_average, + opacity_threshold: 0.00100000005f, + geometry_normal_roughness_strength: 1.f, + bump_factor: 0.300000012f, + 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)); diff --git a/assets/scene_usds/ebench/teleop_tasks/tighten_nut/merge_usd/0013/Materials/Material__2097628185.mdl b/assets/scene_usds/ebench/teleop_tasks/tighten_nut/merge_usd/0013/Materials/Material__2097628185.mdl new file mode 100644 index 0000000000000000000000000000000000000000..6479eb42625fa986c24b95fbb3f0990797815f80 --- /dev/null +++ b/assets/scene_usds/ebench/teleop_tasks/tighten_nut/merge_usd/0013/Materials/Material__2097628185.mdl @@ -0,0 +1,71 @@ +///\authors: Auto-generated by vray_to_mdl_export.ms script. +///\description: Translated VRay material. + +mdl 1.6; + +// Import +import ::anno::*; +import ::base::transform_coordinate; +import ::base::rotation_translation_scale; +import ::base::file_texture; +import ::base::mono_mode; +import ::base::texture_coordinate_info; +import ::base::texture_return; +import ::state::normal; +import ::state::texture_coordinate; +import ::state::texture_tangent_u; +import ::state::texture_tangent_v; +import ::tex::gamma_mode; +import ::tex::wrap_mode; +import templates::ad_3dsmax_materials::*; +import templates::ad_3dsmax_maps::*; +import templates::vray_materials::*; +import templates::vray_maps::*; + +// Body +export material Material__2097628185() +[[ + anno::display_name("Material__2097628185") +]] += ::templates::vray_materials::VRayMtl( + Diffuse : color(0.0666667,0.0666667,0.0666667), + diffuse_roughness : 0.0f, + Reflection : color(0.901961,0.901961,0.901961), + reflection_glossiness : 0.97f, + reflection_fresnel : false, + reflection_ior : 1.6f, + reflection_lockIOR : true, + invert_reflection_ior : false, + reflection_metalness : 0.0f, + Refraction : color(0.0,0.0,0.0), + refraction_glossiness : 1.0f, + refraction_ior : 1.6f, + invert_refraction_ior : false, + refraction_dispersion_on : false, + refraction_dispersion : 50.0f, + refraction_fogColor : color(1.0,1.0,1.0), + refraction_fogBias : 0.0f, + refraction_fogMult : 1.0f, + translucency_on : ::templates::vray_materials::translucency_none, + translucency_scatterCoeff : 0.0f, + translucency_fbCoeff : 1.0f, + translucency_color : color(1.0,1.0,1.0), + self_illumination : color(0.0,0.0,0.0), + self_illumination_multiplier : 1.0f, + coat_amount : 0.0f, + coat_color : color(1.0,1.0,1.0), + coat_glossiness : 1.0f, + coat_ior : 1.6f, + invert_coat_ior : false, + coat_bump_lock : false, + sheen_color : color(0.0,0.0,0.0), + sheen_glossiness : 0.8f, + brdf_type : ::templates::vray_materials::brdf_ward, + brdf_useRoughness : ::templates::vray_materials::brdf_glossiness, + anisotropy : 0.0f, + anisotropy_rotation : 0.0f, + anisotropy_channel : 1, + texmap_opacity : 1.0f +); + + diff --git a/assets/scene_usds/ebench/teleop_tasks/tighten_nut/merge_usd/0013/Materials/Material__2130437124.mdl b/assets/scene_usds/ebench/teleop_tasks/tighten_nut/merge_usd/0013/Materials/Material__2130437124.mdl new file mode 100644 index 0000000000000000000000000000000000000000..b138ce0b184859c8696d26f88ab0dc3c62b7b587 --- /dev/null +++ b/assets/scene_usds/ebench/teleop_tasks/tighten_nut/merge_usd/0013/Materials/Material__2130437124.mdl @@ -0,0 +1,71 @@ +///\authors: Auto-generated by vray_to_mdl_export.ms script. +///\description: Translated VRay material. + +mdl 1.6; + +// Import +import ::anno::*; +import ::base::transform_coordinate; +import ::base::rotation_translation_scale; +import ::base::file_texture; +import ::base::mono_mode; +import ::base::texture_coordinate_info; +import ::base::texture_return; +import ::state::normal; +import ::state::texture_coordinate; +import ::state::texture_tangent_u; +import ::state::texture_tangent_v; +import ::tex::gamma_mode; +import ::tex::wrap_mode; +import templates::ad_3dsmax_materials::*; +import templates::ad_3dsmax_maps::*; +import templates::vray_materials::*; +import templates::vray_maps::*; + +// Body +export material Material__2130437124() +[[ + anno::display_name("Material__2130437124") +]] += ::templates::vray_materials::VRayMtl( + Diffuse : color(0.152941,0.152941,0.152941), + diffuse_roughness : 0.0f, + Reflection : color(0.933333,0.933333,0.933333), + reflection_glossiness : 0.96f, + reflection_fresnel : false, + reflection_ior : 1.6f, + reflection_lockIOR : true, + invert_reflection_ior : false, + reflection_metalness : 0.0f, + Refraction : color(0.0,0.0,0.0), + refraction_glossiness : 1.0f, + refraction_ior : 1.6f, + invert_refraction_ior : false, + refraction_dispersion_on : false, + refraction_dispersion : 50.0f, + refraction_fogColor : color(1.0,1.0,1.0), + refraction_fogBias : 0.0f, + refraction_fogMult : 1.0f, + translucency_on : ::templates::vray_materials::translucency_none, + translucency_scatterCoeff : 0.0f, + translucency_fbCoeff : 1.0f, + translucency_color : color(1.0,1.0,1.0), + self_illumination : color(0.0,0.0,0.0), + self_illumination_multiplier : 1.0f, + coat_amount : 0.0f, + coat_color : color(1.0,1.0,1.0), + coat_glossiness : 1.0f, + coat_ior : 1.6f, + invert_coat_ior : false, + coat_bump_lock : false, + sheen_color : color(0.0,0.0,0.0), + sheen_glossiness : 0.8f, + brdf_type : ::templates::vray_materials::brdf_blinn, + brdf_useRoughness : ::templates::vray_materials::brdf_glossiness, + anisotropy : 0.0f, + anisotropy_rotation : 0.0f, + anisotropy_channel : 1, + texmap_opacity : 1.0f +); + + diff --git a/assets/scene_usds/ebench/teleop_tasks/tighten_nut/merge_usd/0013/Materials/Material__4.mdl b/assets/scene_usds/ebench/teleop_tasks/tighten_nut/merge_usd/0013/Materials/Material__4.mdl new file mode 100644 index 0000000000000000000000000000000000000000..25f3c7090444fca1ca067b867941e472c9606148 --- /dev/null +++ b/assets/scene_usds/ebench/teleop_tasks/tighten_nut/merge_usd/0013/Materials/Material__4.mdl @@ -0,0 +1,96 @@ +///\authors: Auto-generated by vray_to_mdl_export.ms script. +///\description: Translated VRay material. + +mdl 1.6; + +// Import +import ::anno::*; +import ::base::transform_coordinate; +import ::base::rotation_translation_scale; +import ::base::file_texture; +import ::base::mono_mode; +import ::base::texture_coordinate_info; +import ::base::texture_return; +import ::state::normal; +import ::state::texture_coordinate; +import ::state::texture_tangent_u; +import ::state::texture_tangent_v; +import ::tex::gamma_mode; +import ::tex::wrap_mode; +import templates::ad_3dsmax_materials::*; +import templates::ad_3dsmax_maps::*; +import templates::vray_materials::*; +import templates::vray_maps::*; + +// Body +export material Material__4() +[[ + anno::display_name("Material__4") +]] += ::templates::vray_materials::VRayMtl( + Diffuse : color(0.72549,0.72549,0.72549) * 0.2 + color(0.72549,0.72549,0.72549) * 0.8, + diffuse_roughness : 0.0f, + Reflection : color(0.768628,0.768628,0.768628), + reflection_glossiness : 0.75f, + reflection_fresnel : false, + reflection_ior : 1.6f, + reflection_lockIOR : false, + invert_reflection_ior : false, + reflection_metalness : 0.0f, + Refraction : color(0.0,0.0,0.0), + refraction_glossiness : 1.0f, + refraction_ior : 1.6f, + invert_refraction_ior : false, + refraction_dispersion_on : false, + refraction_dispersion : 50.0f, + refraction_fogColor : color(0.0,0.0,0.0), + refraction_fogBias : 0.0f, + refraction_fogMult : 1.0f, + translucency_on : ::templates::vray_materials::translucency_none, + translucency_scatterCoeff : 0.0f, + translucency_fbCoeff : 1.0f, + translucency_color : color(1.0,1.0,1.0), + self_illumination : color(0.0,0.0,0.0), + self_illumination_multiplier : 1.0f, + coat_amount : 0.0f, + coat_color : color(1.0,1.0,1.0), + coat_glossiness : 1.0f, + coat_ior : 1.6f, + invert_coat_ior : false, + coat_bump_lock : false, + sheen_color : color(0.0,0.0,0.0), + sheen_glossiness : 0.8f, + brdf_type : ::templates::vray_materials::brdf_phong, + brdf_useRoughness : ::templates::vray_materials::brdf_glossiness, + anisotropy : 0.0f, + anisotropy_rotation : 0.0f, + anisotropy_channel : 1, + texmap_bump : ::templates::ad_3dsmax_maps::ad_3dsmax_noise_bump( + color1 : color(0.0,0.0,0.0), + color2 : color(1.0,1.0,1.0), + size : 0.005f, + phase : 0.0f, + levels : 3.0f, + thresholdLow : 0.0f, + thresholdHigh : 1.0f, + type : 1, + blur : 1.0f, + offset : float3(0.0f,0.0f,0.0f), + tiling : float3(0.0393701f,0.0f,0.0393701f), + angle : float3(0.0f,0.0f,0.0f), + blur_Offset : 0.0f, + coordType : 0, + mapChannel : 1, + alphaFromRGB : false, + bump_amount : 1.0f, + clamp : false, + invert : false, + output_amount : 1.0f, + rgb_level : 1.0f, + rgb_offset : 0.0f, + factor : 0.3f + ), + texmap_opacity : 1.0f +); + + diff --git a/assets/scene_usds/ebench/teleop_tasks/tighten_nut/merge_usd/0013/Materials/Material__542.mdl b/assets/scene_usds/ebench/teleop_tasks/tighten_nut/merge_usd/0013/Materials/Material__542.mdl new file mode 100644 index 0000000000000000000000000000000000000000..d45af7ca39ad5f0c3a702ba762f757a485cb284f --- /dev/null +++ b/assets/scene_usds/ebench/teleop_tasks/tighten_nut/merge_usd/0013/Materials/Material__542.mdl @@ -0,0 +1,71 @@ +///\authors: Auto-generated by vray_to_mdl_export.ms script. +///\description: Translated VRay material. + +mdl 1.6; + +// Import +import ::anno::*; +import ::base::transform_coordinate; +import ::base::rotation_translation_scale; +import ::base::file_texture; +import ::base::mono_mode; +import ::base::texture_coordinate_info; +import ::base::texture_return; +import ::state::normal; +import ::state::texture_coordinate; +import ::state::texture_tangent_u; +import ::state::texture_tangent_v; +import ::tex::gamma_mode; +import ::tex::wrap_mode; +import templates::ad_3dsmax_materials::*; +import templates::ad_3dsmax_maps::*; +import templates::vray_materials::*; +import templates::vray_maps::*; + +// Body +export material Material__542() +[[ + anno::display_name("Material__542") +]] += ::templates::vray_materials::VRayMtl( + Diffuse : color(1.0,0.964706,0.0), + diffuse_roughness : 0.0f, + Reflection : color(0.152941,0.152941,0.152941), + reflection_glossiness : 0.85f, + reflection_fresnel : true, + reflection_ior : 1.6f, + reflection_lockIOR : true, + invert_reflection_ior : false, + reflection_metalness : 0.0f, + Refraction : color(0.0,0.0,0.0), + refraction_glossiness : 1.0f, + refraction_ior : 1.6f, + invert_refraction_ior : false, + refraction_dispersion_on : false, + refraction_dispersion : 50.0f, + refraction_fogColor : color(1.0,1.0,1.0), + refraction_fogBias : 0.0f, + refraction_fogMult : 1.0f, + translucency_on : ::templates::vray_materials::translucency_none, + translucency_scatterCoeff : 0.0f, + translucency_fbCoeff : 1.0f, + translucency_color : color(1.0,1.0,1.0), + self_illumination : color(0.0,0.0,0.0), + self_illumination_multiplier : 1.0f, + coat_amount : 0.0f, + coat_color : color(1.0,1.0,1.0), + coat_glossiness : 1.0f, + coat_ior : 1.6f, + invert_coat_ior : false, + coat_bump_lock : false, + sheen_color : color(0.0,0.0,0.0), + sheen_glossiness : 0.8f, + brdf_type : ::templates::vray_materials::brdf_blinn, + brdf_useRoughness : ::templates::vray_materials::brdf_glossiness, + anisotropy : 0.0f, + anisotropy_rotation : 0.0f, + anisotropy_channel : 1, + texmap_opacity : 1.0f +); + + diff --git a/assets/scene_usds/ebench/teleop_tasks/tighten_nut/merge_usd/0013/Materials/a01___Default.mdl b/assets/scene_usds/ebench/teleop_tasks/tighten_nut/merge_usd/0013/Materials/a01___Default.mdl new file mode 100644 index 0000000000000000000000000000000000000000..3ed5ca290593fcc7ed8780c271f7356ac4db6bd7 --- /dev/null +++ b/assets/scene_usds/ebench/teleop_tasks/tighten_nut/merge_usd/0013/Materials/a01___Default.mdl @@ -0,0 +1,71 @@ +///\authors: Auto-generated by vray_to_mdl_export.ms script. +///\description: Translated VRay material. + +mdl 1.6; + +// Import +import ::anno::*; +import ::base::transform_coordinate; +import ::base::rotation_translation_scale; +import ::base::file_texture; +import ::base::mono_mode; +import ::base::texture_coordinate_info; +import ::base::texture_return; +import ::state::normal; +import ::state::texture_coordinate; +import ::state::texture_tangent_u; +import ::state::texture_tangent_v; +import ::tex::gamma_mode; +import ::tex::wrap_mode; +import templates::ad_3dsmax_materials::*; +import templates::ad_3dsmax_maps::*; +import templates::vray_materials::*; +import templates::vray_maps::*; + +// Body +export material a01___Default() +[[ + anno::display_name("_01___Default") +]] += ::templates::vray_materials::VRayMtl( + Diffuse : color(1.0,1.0,1.0), + diffuse_roughness : 0.0f, + Reflection : color(0.0,0.0,0.0), + reflection_glossiness : 1.0f, + reflection_fresnel : false, + reflection_ior : 1.6f, + reflection_lockIOR : true, + invert_reflection_ior : false, + reflection_metalness : 0.0f, + Refraction : color(0.0,0.0,0.0), + refraction_glossiness : 1.0f, + refraction_ior : 1.6f, + invert_refraction_ior : false, + refraction_dispersion_on : false, + refraction_dispersion : 50.0f, + refraction_fogColor : color(1.0,1.0,1.0), + refraction_fogBias : 0.0f, + refraction_fogMult : 1.0f, + translucency_on : ::templates::vray_materials::translucency_none, + translucency_scatterCoeff : 0.0f, + translucency_fbCoeff : 1.0f, + translucency_color : color(1.0,1.0,1.0), + self_illumination : color(0.0,0.0,0.0), + self_illumination_multiplier : 1.0f, + coat_amount : 0.0f, + coat_color : color(1.0,1.0,1.0), + coat_glossiness : 1.0f, + coat_ior : 1.6f, + invert_coat_ior : false, + coat_bump_lock : false, + sheen_color : color(0.0,0.0,0.0), + sheen_glossiness : 0.8f, + brdf_type : ::templates::vray_materials::brdf_blinn, + brdf_useRoughness : ::templates::vray_materials::brdf_glossiness, + anisotropy : 0.0f, + anisotropy_rotation : 0.0f, + anisotropy_channel : 1, + texmap_opacity : 1.0f +); + + diff --git a/assets/scene_usds/ebench/teleop_tasks/tighten_nut/merge_usd/0013/Materials/a01___Defaultrqwe.mdl b/assets/scene_usds/ebench/teleop_tasks/tighten_nut/merge_usd/0013/Materials/a01___Defaultrqwe.mdl new file mode 100644 index 0000000000000000000000000000000000000000..0d53fe1493db7e314694f50069fd0b15c877392e --- /dev/null +++ b/assets/scene_usds/ebench/teleop_tasks/tighten_nut/merge_usd/0013/Materials/a01___Defaultrqwe.mdl @@ -0,0 +1,71 @@ +///\authors: Auto-generated by vray_to_mdl_export.ms script. +///\description: Translated VRay material. + +mdl 1.6; + +// Import +import ::anno::*; +import ::base::transform_coordinate; +import ::base::rotation_translation_scale; +import ::base::file_texture; +import ::base::mono_mode; +import ::base::texture_coordinate_info; +import ::base::texture_return; +import ::state::normal; +import ::state::texture_coordinate; +import ::state::texture_tangent_u; +import ::state::texture_tangent_v; +import ::tex::gamma_mode; +import ::tex::wrap_mode; +import templates::ad_3dsmax_materials::*; +import templates::ad_3dsmax_maps::*; +import templates::vray_materials::*; +import templates::vray_maps::*; + +// Body +export material a01___Defaultrqwe() +[[ + anno::display_name("_01___Defaultrqwe") +]] += ::templates::vray_materials::VRayMtl( + Diffuse : color(0.223529,0.223529,0.223529), + diffuse_roughness : 0.0f, + Reflection : color(1.0,1.0,1.0), + reflection_glossiness : 0.9f, + reflection_fresnel : false, + reflection_ior : 1.6f, + reflection_lockIOR : true, + invert_reflection_ior : false, + reflection_metalness : 0.0f, + Refraction : color(0.0,0.0,0.0), + refraction_glossiness : 1.0f, + refraction_ior : 1.6f, + invert_refraction_ior : false, + refraction_dispersion_on : false, + refraction_dispersion : 50.0f, + refraction_fogColor : color(1.0,1.0,1.0), + refraction_fogBias : 0.0f, + refraction_fogMult : 1.0f, + translucency_on : ::templates::vray_materials::translucency_none, + translucency_scatterCoeff : 0.0f, + translucency_fbCoeff : 1.0f, + translucency_color : color(1.0,1.0,1.0), + self_illumination : color(0.0,0.0,0.0), + self_illumination_multiplier : 1.0f, + coat_amount : 0.0f, + coat_color : color(1.0,1.0,1.0), + coat_glossiness : 1.0f, + coat_ior : 1.6f, + invert_coat_ior : false, + coat_bump_lock : false, + sheen_color : color(0.0,0.0,0.0), + sheen_glossiness : 0.8f, + brdf_type : ::templates::vray_materials::brdf_blinn, + brdf_useRoughness : ::templates::vray_materials::brdf_glossiness, + anisotropy : 0.0f, + anisotropy_rotation : 0.0f, + anisotropy_channel : 1, + texmap_opacity : 1.0f +); + + diff --git a/assets/scene_usds/ebench/teleop_tasks/tighten_nut/merge_usd/0013/Materials/a02___Default.mdl b/assets/scene_usds/ebench/teleop_tasks/tighten_nut/merge_usd/0013/Materials/a02___Default.mdl new file mode 100644 index 0000000000000000000000000000000000000000..71988dde583d15ef074164b48397d5c07a82a1a6 --- /dev/null +++ b/assets/scene_usds/ebench/teleop_tasks/tighten_nut/merge_usd/0013/Materials/a02___Default.mdl @@ -0,0 +1,71 @@ +///\authors: Auto-generated by vray_to_mdl_export.ms script. +///\description: Translated VRay material. + +mdl 1.6; + +// Import +import ::anno::*; +import ::base::transform_coordinate; +import ::base::rotation_translation_scale; +import ::base::file_texture; +import ::base::mono_mode; +import ::base::texture_coordinate_info; +import ::base::texture_return; +import ::state::normal; +import ::state::texture_coordinate; +import ::state::texture_tangent_u; +import ::state::texture_tangent_v; +import ::tex::gamma_mode; +import ::tex::wrap_mode; +import templates::ad_3dsmax_materials::*; +import templates::ad_3dsmax_maps::*; +import templates::vray_materials::*; +import templates::vray_maps::*; + +// Body +export material a02___Default() +[[ + anno::display_name("_02___Default") +]] += ::templates::vray_materials::VRayMtl( + Diffuse : color(0.882353,0.882353,0.882353), + diffuse_roughness : 0.0f, + Reflection : color(0.835294,0.835294,0.835294), + reflection_glossiness : 1.0f, + reflection_fresnel : false, + reflection_ior : 1.6f, + reflection_lockIOR : true, + invert_reflection_ior : false, + reflection_metalness : 0.0f, + Refraction : color(0.0,0.0,0.0), + refraction_glossiness : 1.0f, + refraction_ior : 1.6f, + invert_refraction_ior : false, + refraction_dispersion_on : false, + refraction_dispersion : 50.0f, + refraction_fogColor : color(1.0,1.0,1.0), + refraction_fogBias : 0.0f, + refraction_fogMult : 1.0f, + translucency_on : ::templates::vray_materials::translucency_none, + translucency_scatterCoeff : 0.0f, + translucency_fbCoeff : 1.0f, + translucency_color : color(1.0,1.0,1.0), + self_illumination : color(0.0,0.0,0.0), + self_illumination_multiplier : 1.0f, + coat_amount : 0.0f, + coat_color : color(1.0,1.0,1.0), + coat_glossiness : 1.0f, + coat_ior : 1.6f, + invert_coat_ior : false, + coat_bump_lock : false, + sheen_color : color(0.0,0.0,0.0), + sheen_glossiness : 0.8f, + brdf_type : ::templates::vray_materials::brdf_blinn, + brdf_useRoughness : ::templates::vray_materials::brdf_glossiness, + anisotropy : 0.0f, + anisotropy_rotation : 0.0f, + anisotropy_channel : 1, + texmap_opacity : 1.0f +); + + diff --git a/assets/scene_usds/ebench/teleop_tasks/tighten_nut/merge_usd/0013/Materials/a03___Default.mdl b/assets/scene_usds/ebench/teleop_tasks/tighten_nut/merge_usd/0013/Materials/a03___Default.mdl new file mode 100644 index 0000000000000000000000000000000000000000..925a47b30110a03796e791693e4547fbbde798d0 --- /dev/null +++ b/assets/scene_usds/ebench/teleop_tasks/tighten_nut/merge_usd/0013/Materials/a03___Default.mdl @@ -0,0 +1,71 @@ +///\authors: Auto-generated by vray_to_mdl_export.ms script. +///\description: Translated VRay material. + +mdl 1.6; + +// Import +import ::anno::*; +import ::base::transform_coordinate; +import ::base::rotation_translation_scale; +import ::base::file_texture; +import ::base::mono_mode; +import ::base::texture_coordinate_info; +import ::base::texture_return; +import ::state::normal; +import ::state::texture_coordinate; +import ::state::texture_tangent_u; +import ::state::texture_tangent_v; +import ::tex::gamma_mode; +import ::tex::wrap_mode; +import templates::ad_3dsmax_materials::*; +import templates::ad_3dsmax_maps::*; +import templates::vray_materials::*; +import templates::vray_maps::*; + +// Body +export material a03___Default() +[[ + anno::display_name("_03___Default") +]] += ::templates::vray_materials::VRayMtl( + Diffuse : color(0.0901961,0.0901961,0.0901961), + diffuse_roughness : 0.0f, + Reflection : color(0.105882,0.105882,0.105882), + reflection_glossiness : 1.0f, + reflection_fresnel : false, + reflection_ior : 1.6f, + reflection_lockIOR : true, + invert_reflection_ior : false, + reflection_metalness : 0.0f, + Refraction : color(1.0,1.0,1.0), + refraction_glossiness : 1.0f, + refraction_ior : 1.6f, + invert_refraction_ior : false, + refraction_dispersion_on : false, + refraction_dispersion : 50.0f, + refraction_fogColor : color(1.0,1.0,1.0), + refraction_fogBias : 0.0f, + refraction_fogMult : 1.0f, + translucency_on : ::templates::vray_materials::translucency_none, + translucency_scatterCoeff : 0.0f, + translucency_fbCoeff : 1.0f, + translucency_color : color(1.0,1.0,1.0), + self_illumination : color(0.0,0.0,0.0), + self_illumination_multiplier : 1.0f, + coat_amount : 0.0f, + coat_color : color(1.0,1.0,1.0), + coat_glossiness : 1.0f, + coat_ior : 1.6f, + invert_coat_ior : false, + coat_bump_lock : false, + sheen_color : color(0.0,0.0,0.0), + sheen_glossiness : 0.8f, + brdf_type : ::templates::vray_materials::brdf_blinn, + brdf_useRoughness : ::templates::vray_materials::brdf_glossiness, + anisotropy : 0.0f, + anisotropy_rotation : 0.0f, + anisotropy_channel : 1, + texmap_opacity : 1.0f +); + + diff --git a/assets/scene_usds/ebench/teleop_tasks/tighten_nut/merge_usd/0013/Materials/a03___Default1.mdl b/assets/scene_usds/ebench/teleop_tasks/tighten_nut/merge_usd/0013/Materials/a03___Default1.mdl new file mode 100644 index 0000000000000000000000000000000000000000..29807f572d62ef0c0bfd6b236e0f399b1d3a00c7 --- /dev/null +++ b/assets/scene_usds/ebench/teleop_tasks/tighten_nut/merge_usd/0013/Materials/a03___Default1.mdl @@ -0,0 +1,41 @@ +///\authors: Auto-generated by vray_to_mdl_export.ms script. +///\description: Translated VRay material. + +mdl 1.6; + +// Import +import ::anno::*; +import ::base::transform_coordinate; +import ::base::rotation_translation_scale; +import ::base::file_texture; +import ::base::mono_mode; +import ::base::texture_coordinate_info; +import ::base::texture_return; +import ::state::normal; +import ::state::texture_coordinate; +import ::state::texture_tangent_u; +import ::state::texture_tangent_v; +import ::tex::gamma_mode; +import ::tex::wrap_mode; +import templates::ad_3dsmax_materials::*; +import templates::ad_3dsmax_maps::*; +import templates::vray_materials::*; +import templates::vray_maps::*; +//Error: [Unknown] parm: emission + +// Body +export material a03___Default1() +[[ + anno::display_name("_03___Default1") +]] += ::templates::vray_materials::VRayLightMtl( + emission : color(1.0,1.0,1.0), + emission_mult : 4500.0f, + opacity : color(1.0,1.0,1.0), + emit_on_backside : true, + mult_emission_by_opacity : false, + displacement : 0.0f, + displace_amnt : 1.0f +); + + diff --git a/assets/scene_usds/ebench/teleop_tasks/tighten_nut/merge_usd/0013/Materials/a24___Defsdffault.mdl b/assets/scene_usds/ebench/teleop_tasks/tighten_nut/merge_usd/0013/Materials/a24___Defsdffault.mdl new file mode 100644 index 0000000000000000000000000000000000000000..da621b8875d72532dc99f833f2a883ff7d33290f --- /dev/null +++ b/assets/scene_usds/ebench/teleop_tasks/tighten_nut/merge_usd/0013/Materials/a24___Defsdffault.mdl @@ -0,0 +1,40 @@ +///\authors: Auto-generated by vray_to_mdl_export.ms script. +///\description: Translated VRay material. + +mdl 1.6; + +// Import +import ::anno::*; +import ::base::transform_coordinate; +import ::base::rotation_translation_scale; +import ::base::file_texture; +import ::base::mono_mode; +import ::base::texture_coordinate_info; +import ::base::texture_return; +import ::state::normal; +import ::state::texture_coordinate; +import ::state::texture_tangent_u; +import ::state::texture_tangent_v; +import ::tex::gamma_mode; +import ::tex::wrap_mode; +import templates::ad_3dsmax_materials::*; +import templates::ad_3dsmax_maps::*; +import templates::vray_materials::*; +import templates::vray_maps::*; + +// Body +export material a24___Defsdffault() +[[ + anno::display_name("_24___Defsdffault") +]] += ::templates::vray_materials::VRayLightMtl( + emission : color(1.0,1.0,1.0), + emission_mult : 3000.0f, + opacity : color(1.0,1.0,1.0), + emit_on_backside : false, + mult_emission_by_opacity : false, + displacement : 0.0f, + displace_amnt : 1.0f +); + + diff --git a/assets/scene_usds/ebench/teleop_tasks/tighten_nut/merge_usd/0013/Materials/a24__dd_Default_78_78.mdl b/assets/scene_usds/ebench/teleop_tasks/tighten_nut/merge_usd/0013/Materials/a24__dd_Default_78_78.mdl new file mode 100644 index 0000000000000000000000000000000000000000..b6cf5d0331b2045cde625900e62c28bee76194e8 --- /dev/null +++ b/assets/scene_usds/ebench/teleop_tasks/tighten_nut/merge_usd/0013/Materials/a24__dd_Default_78_78.mdl @@ -0,0 +1,66 @@ +///\authors: Auto-generated by vray_to_mdl_export.ms script. +///\description: Translated VRay material. + +mdl 1.6; + +// Import +import ::anno::*; +import ::base::transform_coordinate; +import ::base::rotation_translation_scale; +import ::base::file_texture; +import ::base::mono_mode; +import ::base::texture_coordinate_info; +import ::base::texture_return; +import ::state::normal; +import ::state::texture_coordinate; +import ::state::texture_tangent_u; +import ::state::texture_tangent_v; +import ::tex::gamma_mode; +import ::tex::wrap_mode; +import templates::ad_3dsmax_materials::*; +import templates::ad_3dsmax_maps::*; +import templates::vray_materials::*; +import templates::vray_maps::*; + +// Body +export material a24__dd_Default_78_78() +[[ + anno::display_name("_24__dd_Default_78_78") +]] += ::templates::vray_materials::VRayLightMtl( + emission : ::templates::ad_3dsmax_maps::ad_3dsmax_bitmap( + filename : texture_2d("./a24__dd_Default_78_78/u=2553809242,674748695&fm=23&gp=0.jpg", ::tex::gamma_srgb), + cliph : 1.0f, + clipu : 0.264828f, + clipv : 0.0f, + clipw : 0.307586f, + mapChannel : 1, + U_angle : 0.0f, + U_Mirror : false, + U_Offset : 0.0f, + U_Tile : true, + U_Tiling : -1.0f, + UVW_Type : 0, + V_angle : 0.0f, + V_Mirror : false, + V_Offset : 0.0f, + V_Tile : true, + V_Tiling : 1.0f, + W_angle : 0.0f, + alphaFromRGB : false, + bump_amount : 1.0f, + clamp : false, + invert : false, + output_amount : 1.0f, + rgb_level : 1.0f, + rgb_offset : 0.0f + ).tint, + emission_mult : 3000.0f, + opacity : color(1.0,1.0,1.0), + emit_on_backside : false, + mult_emission_by_opacity : false, + displacement : 0.0f, + displace_amnt : 1.0f +); + + diff --git a/assets/scene_usds/ebench/teleop_tasks/tighten_nut/merge_usd/0013/Materials/a_____1.mdl b/assets/scene_usds/ebench/teleop_tasks/tighten_nut/merge_usd/0013/Materials/a_____1.mdl new file mode 100644 index 0000000000000000000000000000000000000000..b74c2b3859e7eb39f31e93a19c7f00bc7a543c83 --- /dev/null +++ b/assets/scene_usds/ebench/teleop_tasks/tighten_nut/merge_usd/0013/Materials/a_____1.mdl @@ -0,0 +1,125 @@ +///\authors: Auto-generated by vray_to_mdl_export.ms script. +///\description: Translated VRay material. + +mdl 1.6; + +// Import +import ::anno::*; +import ::base::transform_coordinate; +import ::base::rotation_translation_scale; +import ::base::file_texture; +import ::base::mono_mode; +import ::base::texture_coordinate_info; +import ::base::texture_return; +import ::state::normal; +import ::state::texture_coordinate; +import ::state::texture_tangent_u; +import ::state::texture_tangent_v; +import ::tex::gamma_mode; +import ::tex::wrap_mode; +import templates::ad_3dsmax_materials::*; +import templates::ad_3dsmax_maps::*; +import templates::vray_materials::*; +import templates::vray_maps::*; + +// Body +export material a_____1() +[[ + anno::display_name("______1") +]] += ::templates::vray_materials::VRayMtl( + Diffuse : color(0.537255,0.54902,0.564706), + diffuse_roughness : 0.0f, + Reflection : color(0.192157,0.192157,0.192157), + reflection_glossiness : ::templates::ad_3dsmax_maps::ad_3dsmax_bitmap( + filename : texture_2d("./a_____1/3d66Model-1036652-files-2.jpg", ::tex::gamma_srgb), + cliph : 1.0f, + clipu : 0.0f, + clipv : 0.0f, + clipw : 1.0f, + mapChannel : 1, + U_angle : 0.0f, + U_Mirror : false, + U_Offset : 0.0f, + U_Tile : true, + U_Tiling : 0.75f, + UVW_Type : 0, + V_angle : 0.0f, + V_Mirror : false, + V_Offset : 0.0f, + V_Tile : true, + V_Tiling : 0.75f, + W_angle : 0.0f, + alphaFromRGB : false, + bump_amount : 1.0f, + clamp : false, + invert : false, + output_amount : 1.0f, + rgb_level : 1.0f, + rgb_offset : 0.0f + ).mono * 0.27 + 0.79f * 0.73, + reflection_fresnel : true, + reflection_ior : 2.2f, + reflection_lockIOR : false, + invert_reflection_ior : false, + reflection_metalness : 0.0f, + Refraction : color(0.0,0.0,0.0), + refraction_glossiness : 1.0f, + refraction_ior : 1.6f, + invert_refraction_ior : false, + refraction_dispersion_on : false, + refraction_dispersion : 50.0f, + refraction_fogColor : color(1.0,1.0,1.0), + refraction_fogBias : 0.0f, + refraction_fogMult : 1.0f, + translucency_on : ::templates::vray_materials::translucency_none, + translucency_scatterCoeff : 0.0f, + translucency_fbCoeff : 1.0f, + translucency_color : color(1.0,1.0,1.0), + self_illumination : color(0.0,0.0,0.0), + self_illumination_multiplier : 1.0f, + coat_amount : 0.0f, + coat_color : color(1.0,1.0,1.0), + coat_glossiness : 1.0f, + coat_ior : 1.6f, + invert_coat_ior : false, + coat_bump_lock : false, + sheen_color : color(0.0,0.0,0.0), + sheen_glossiness : 0.8f, + brdf_type : ::templates::vray_materials::brdf_blinn, + brdf_useRoughness : ::templates::vray_materials::brdf_glossiness, + anisotropy : 0.0f, + anisotropy_rotation : 0.0f, + anisotropy_channel : 1, + texmap_bump : ::templates::ad_3dsmax_maps::ad_3dsmax_bitmap_bump( + filename : texture_2d("./a_____1/3d66Model-1036652-files-2.jpg", ::tex::gamma_srgb), + cliph : 1.0f, + clipu : 0.0f, + clipv : 0.0f, + clipw : 1.0f, + mapChannel : 1, + U_angle : 0.0f, + U_Mirror : false, + U_Offset : 0.0f, + U_Tile : true, + U_Tiling : 0.75f, + UVW_Type : 0, + V_angle : 0.0f, + V_Mirror : false, + V_Offset : 0.0f, + V_Tile : true, + V_Tiling : 0.75f, + W_angle : 0.0f, + alphaFromRGB : false, + bump_amount : 1.0f, + clamp : false, + invert : false, + output_amount : 1.0f, + rgb_level : 1.0f, + rgb_offset : 0.0f, + factor : 0.06f + ), + texmap_opacity : 1.0f +); + + diff --git a/assets/scene_usds/ebench/teleop_tasks/tighten_nut/merge_usd/0013/Materials/a_____Yss.mdl b/assets/scene_usds/ebench/teleop_tasks/tighten_nut/merge_usd/0013/Materials/a_____Yss.mdl new file mode 100644 index 0000000000000000000000000000000000000000..4fbebad791ebdbef31d0c125a2e00175cfb5070a --- /dev/null +++ b/assets/scene_usds/ebench/teleop_tasks/tighten_nut/merge_usd/0013/Materials/a_____Yss.mdl @@ -0,0 +1,67 @@ +mdl 1.8; + +import ::state::normal; +import ::OmniPBR::OmniPBR; +import ::anno::author; +import ::anno::description; +import ::anno::display_name; +import ::anno::in_group; +import ::anno::key_words; +import ::anno::version; +import ::base::mono_mode; +import ::tex::gamma_mode; + +export material a_____Yss(*) +[[ + anno::display_name("OmniPBR"), + anno::description("OmniPBR Base with support for clear coat, opacity and ORM textures."), + anno::in_group("Base", false), + anno::version(2, 1, 2, ""), + anno::author("NVIDIA CORPORATION"), + anno::key_words(string[]("omni", "PBR", "opacity", "omniverse", "generic")) +]] + = OmniPBR::OmniPBR( + diffuse_color_constant: color(0.5f, 0.5f, 0.5f), + diffuse_texture: texture_2d(), + 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.f, + reflection_roughness_texture_influence: 0.f, + reflectionroughness_texture: texture_2d(), + metallic_constant: 0.f, + metallic_texture_influence: 0.f, + metallic_texture: texture_2d(), + specular_level: 0.5f, + enable_ORM_texture: false, + ORM_texture: texture_2d(), + ao_to_diffuse: 0.f, + ao_texture: texture_2d(), + enable_emission: true, + emissive_color: color(0.f, 0.f, 0.f), + emissive_color_texture: texture_2d(), + emissive_mask_texture: texture_2d(), + emissive_intensity: 3250.f, + enable_opacity: false, + opacity_texture: texture_2d(), + opacity_constant: 1.f, + enable_opacity_texture: false, + opacity_mode: base::mono_average, + opacity_threshold: 0.00100000005f, + geometry_normal_roughness_strength: 1.f, + bump_factor: 0.300000012f, + 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)); diff --git a/assets/scene_usds/ebench/teleop_tasks/tighten_nut/merge_usd/0013/Materials/a____________1.mdl b/assets/scene_usds/ebench/teleop_tasks/tighten_nut/merge_usd/0013/Materials/a____________1.mdl new file mode 100644 index 0000000000000000000000000000000000000000..ba6b42bc365ce6c9db048b0ed2e1b79cefeeef6f --- /dev/null +++ b/assets/scene_usds/ebench/teleop_tasks/tighten_nut/merge_usd/0013/Materials/a____________1.mdl @@ -0,0 +1,71 @@ +///\authors: Auto-generated by vray_to_mdl_export.ms script. +///\description: Translated VRay material. + +mdl 1.6; + +// Import +import ::anno::*; +import ::base::transform_coordinate; +import ::base::rotation_translation_scale; +import ::base::file_texture; +import ::base::mono_mode; +import ::base::texture_coordinate_info; +import ::base::texture_return; +import ::state::normal; +import ::state::texture_coordinate; +import ::state::texture_tangent_u; +import ::state::texture_tangent_v; +import ::tex::gamma_mode; +import ::tex::wrap_mode; +import templates::ad_3dsmax_materials::*; +import templates::ad_3dsmax_maps::*; +import templates::vray_materials::*; +import templates::vray_maps::*; + +// Body +export material a____________1() +[[ + anno::display_name("_____________1") +]] += ::templates::vray_materials::VRayMtl( + Diffuse : color(1.0,1.0,1.0), + diffuse_roughness : 0.0f, + Reflection : color(0.25098,0.25098,0.25098), + reflection_glossiness : 1.0f, + reflection_fresnel : false, + reflection_ior : 1.6f, + reflection_lockIOR : true, + invert_reflection_ior : false, + reflection_metalness : 0.0f, + Refraction : color(1.0,1.0,1.0), + refraction_glossiness : 1.0f, + refraction_ior : 1.57f, + invert_refraction_ior : false, + refraction_dispersion_on : false, + refraction_dispersion : 50.0f, + refraction_fogColor : color(0.996078,1.0,1.0), + refraction_fogBias : 0.0f, + refraction_fogMult : 0.6f, + translucency_on : ::templates::vray_materials::translucency_none, + translucency_scatterCoeff : 0.0f, + translucency_fbCoeff : 1.0f, + translucency_color : color(1.0,1.0,1.0), + self_illumination : color(0.0,0.0,0.0), + self_illumination_multiplier : 1.0f, + coat_amount : 0.0f, + coat_color : color(1.0,1.0,1.0), + coat_glossiness : 1.0f, + coat_ior : 1.6f, + invert_coat_ior : false, + coat_bump_lock : false, + sheen_color : color(0.0,0.0,0.0), + sheen_glossiness : 0.8f, + brdf_type : ::templates::vray_materials::brdf_ward, + brdf_useRoughness : ::templates::vray_materials::brdf_glossiness, + anisotropy : 0.0f, + anisotropy_rotation : 0.0f, + anisotropy_channel : 1, + texmap_opacity : 1.0f +); + + diff --git a/assets/scene_usds/ebench/teleop_tasks/tighten_nut/merge_usd/0013/Materials/a____________22asda1.mdl b/assets/scene_usds/ebench/teleop_tasks/tighten_nut/merge_usd/0013/Materials/a____________22asda1.mdl new file mode 100644 index 0000000000000000000000000000000000000000..397032a74d6f7917c61fcae21bfe75d0b66f1c48 --- /dev/null +++ b/assets/scene_usds/ebench/teleop_tasks/tighten_nut/merge_usd/0013/Materials/a____________22asda1.mdl @@ -0,0 +1,71 @@ +///\authors: Auto-generated by vray_to_mdl_export.ms script. +///\description: Translated VRay material. + +mdl 1.6; + +// Import +import ::anno::*; +import ::base::transform_coordinate; +import ::base::rotation_translation_scale; +import ::base::file_texture; +import ::base::mono_mode; +import ::base::texture_coordinate_info; +import ::base::texture_return; +import ::state::normal; +import ::state::texture_coordinate; +import ::state::texture_tangent_u; +import ::state::texture_tangent_v; +import ::tex::gamma_mode; +import ::tex::wrap_mode; +import templates::ad_3dsmax_materials::*; +import templates::ad_3dsmax_maps::*; +import templates::vray_materials::*; +import templates::vray_maps::*; + +// Body +export material a____________22asda1() +[[ + anno::display_name("_____________22asda1") +]] += ::templates::vray_materials::VRayMtl( + Diffuse : color(1.0,0.992157,0.980392), + diffuse_roughness : 0.0f, + Reflection : color(0.0431373,0.0431373,0.0431373), + reflection_glossiness : 0.98f, + reflection_fresnel : false, + reflection_ior : 1.6f, + reflection_lockIOR : true, + invert_reflection_ior : false, + reflection_metalness : 0.0f, + Refraction : color(0.0,0.0,0.0), + refraction_glossiness : 1.0f, + refraction_ior : 1.6f, + invert_refraction_ior : false, + refraction_dispersion_on : false, + refraction_dispersion : 50.0f, + refraction_fogColor : color(1.0,1.0,1.0), + refraction_fogBias : 0.0f, + refraction_fogMult : 1.0f, + translucency_on : ::templates::vray_materials::translucency_none, + translucency_scatterCoeff : 0.0f, + translucency_fbCoeff : 1.0f, + translucency_color : color(1.0,1.0,1.0), + self_illumination : color(0.0,0.0,0.0), + self_illumination_multiplier : 1.0f, + coat_amount : 0.0f, + coat_color : color(1.0,1.0,1.0), + coat_glossiness : 1.0f, + coat_ior : 1.6f, + invert_coat_ior : false, + coat_bump_lock : false, + sheen_color : color(0.0,0.0,0.0), + sheen_glossiness : 0.8f, + brdf_type : ::templates::vray_materials::brdf_blinn, + brdf_useRoughness : ::templates::vray_materials::brdf_glossiness, + anisotropy : 0.0f, + anisotropy_rotation : 0.0f, + anisotropy_channel : 1, + texmap_opacity : 1.0f +); + + diff --git a/assets/scene_usds/ebench/teleop_tasks/tighten_nut/merge_usd/0013/Materials/a______________.mdl b/assets/scene_usds/ebench/teleop_tasks/tighten_nut/merge_usd/0013/Materials/a______________.mdl new file mode 100644 index 0000000000000000000000000000000000000000..e38cc11119598786caa2267a024e4b327ce4b4b8 --- /dev/null +++ b/assets/scene_usds/ebench/teleop_tasks/tighten_nut/merge_usd/0013/Materials/a______________.mdl @@ -0,0 +1,78 @@ +///\authors: Auto-generated by vray_to_mdl_export.ms script. +///\description: Translated VRay material. + +mdl 1.6; + +// Import +import ::anno::*; +import ::base::transform_coordinate; +import ::base::rotation_translation_scale; +import ::base::file_texture; +import ::base::mono_mode; +import ::base::texture_coordinate_info; +import ::base::texture_return; +import ::state::normal; +import ::state::texture_coordinate; +import ::state::texture_tangent_u; +import ::state::texture_tangent_v; +import ::tex::gamma_mode; +import ::tex::wrap_mode; +import templates::ad_3dsmax_materials::*; +import templates::ad_3dsmax_maps::*; +import templates::vray_materials::*; +import templates::vray_maps::*; + +// Body +export material a______________() +[[ + anno::display_name("_______________") +]] += ::templates::vray_materials::VRayMtl( + Diffuse : color(0.188235,0.188235,0.188235), + diffuse_roughness : 0.0f, + Reflection : ::templates::ad_3dsmax_maps::ad_3dsmax_falloff( + color1 : base::texture_return(tint:color(0.0,0.0,0.0), mono:1), + color2 : base::texture_return(tint:color(0.796079,0.796079,0.796079), mono:1), + falloff_type : ::templates::ad_3dsmax_maps::Fresnel, + falloff_direction : ::templates::ad_3dsmax_maps::View, + nearDistance : 0.0f, + farDistance : 100.0f + ).tint, + reflection_glossiness : 0.85f, + reflection_fresnel : false, + reflection_ior : 1.6f, + reflection_lockIOR : true, + invert_reflection_ior : false, + reflection_metalness : 0.0f, + Refraction : color(0.0,0.0,0.0), + refraction_glossiness : 1.0f, + refraction_ior : 1.6f, + invert_refraction_ior : false, + refraction_dispersion_on : false, + refraction_dispersion : 50.0f, + refraction_fogColor : color(1.0,1.0,1.0), + refraction_fogBias : 0.0f, + refraction_fogMult : 1.0f, + translucency_on : ::templates::vray_materials::translucency_none, + translucency_scatterCoeff : 0.0f, + translucency_fbCoeff : 1.0f, + translucency_color : color(1.0,1.0,1.0), + self_illumination : color(0.0,0.0,0.0), + self_illumination_multiplier : 1.0f, + coat_amount : 0.0f, + coat_color : color(1.0,1.0,1.0), + coat_glossiness : 1.0f, + coat_ior : 1.6f, + invert_coat_ior : false, + coat_bump_lock : false, + sheen_color : color(0.0,0.0,0.0), + sheen_glossiness : 0.8f, + brdf_type : ::templates::vray_materials::brdf_blinn, + brdf_useRoughness : ::templates::vray_materials::brdf_glossiness, + anisotropy : 0.0f, + anisotropy_rotation : 0.0f, + anisotropy_channel : 1, + texmap_opacity : 1.0f +); + + diff --git a/assets/scene_usds/ebench/teleop_tasks/tighten_nut/merge_usd/0013/Materials/a_________________werd3.mdl b/assets/scene_usds/ebench/teleop_tasks/tighten_nut/merge_usd/0013/Materials/a_________________werd3.mdl new file mode 100644 index 0000000000000000000000000000000000000000..0cef61603c8c275f5883ed78e0de4064775c4ed0 --- /dev/null +++ b/assets/scene_usds/ebench/teleop_tasks/tighten_nut/merge_usd/0013/Materials/a_________________werd3.mdl @@ -0,0 +1,71 @@ +///\authors: Auto-generated by vray_to_mdl_export.ms script. +///\description: Translated VRay material. + +mdl 1.6; + +// Import +import ::anno::*; +import ::base::transform_coordinate; +import ::base::rotation_translation_scale; +import ::base::file_texture; +import ::base::mono_mode; +import ::base::texture_coordinate_info; +import ::base::texture_return; +import ::state::normal; +import ::state::texture_coordinate; +import ::state::texture_tangent_u; +import ::state::texture_tangent_v; +import ::tex::gamma_mode; +import ::tex::wrap_mode; +import templates::ad_3dsmax_materials::*; +import templates::ad_3dsmax_maps::*; +import templates::vray_materials::*; +import templates::vray_maps::*; + +// Body +export material a_________________werd3() +[[ + anno::display_name("__________________werd3") +]] += ::templates::vray_materials::VRayMtl( + Diffuse : color(0.203922,0.0117647,0.0), + diffuse_roughness : 0.0f, + Reflection : color(0.137255,0.137255,0.137255), + reflection_glossiness : 0.8f, + reflection_fresnel : false, + reflection_ior : 1.6f, + reflection_lockIOR : true, + invert_reflection_ior : false, + reflection_metalness : 0.0f, + Refraction : color(0.0392157,0.0392157,0.0392157), + refraction_glossiness : 0.65f, + refraction_ior : 1.6f, + invert_refraction_ior : false, + refraction_dispersion_on : false, + refraction_dispersion : 50.0f, + refraction_fogColor : color(1.0,1.0,1.0), + refraction_fogBias : 0.0f, + refraction_fogMult : 1.0f, + translucency_on : ::templates::vray_materials::translucency_none, + translucency_scatterCoeff : 0.0f, + translucency_fbCoeff : 1.0f, + translucency_color : color(1.0,1.0,1.0), + self_illumination : color(0.0,0.0,0.0), + self_illumination_multiplier : 1.0f, + coat_amount : 0.0f, + coat_color : color(1.0,1.0,1.0), + coat_glossiness : 1.0f, + coat_ior : 1.6f, + invert_coat_ior : false, + coat_bump_lock : false, + sheen_color : color(0.0,0.0,0.0), + sheen_glossiness : 0.8f, + brdf_type : ::templates::vray_materials::brdf_blinn, + brdf_useRoughness : ::templates::vray_materials::brdf_glossiness, + anisotropy : 0.0f, + anisotropy_rotation : 0.0f, + anisotropy_channel : 1, + texmap_opacity : 1.0f +); + + diff --git a/assets/scene_usds/ebench/teleop_tasks/tighten_nut/merge_usd/0013/Materials/a_________________werwr.mdl b/assets/scene_usds/ebench/teleop_tasks/tighten_nut/merge_usd/0013/Materials/a_________________werwr.mdl new file mode 100644 index 0000000000000000000000000000000000000000..4b81fc516c606ed48107e15191e4a31954aa9c09 --- /dev/null +++ b/assets/scene_usds/ebench/teleop_tasks/tighten_nut/merge_usd/0013/Materials/a_________________werwr.mdl @@ -0,0 +1,97 @@ +///\authors: Auto-generated by vray_to_mdl_export.ms script. +///\description: Translated VRay material. + +mdl 1.6; + +// Import +import ::anno::*; +import ::base::transform_coordinate; +import ::base::rotation_translation_scale; +import ::base::file_texture; +import ::base::mono_mode; +import ::base::texture_coordinate_info; +import ::base::texture_return; +import ::state::normal; +import ::state::texture_coordinate; +import ::state::texture_tangent_u; +import ::state::texture_tangent_v; +import ::tex::gamma_mode; +import ::tex::wrap_mode; +import templates::ad_3dsmax_materials::*; +import templates::ad_3dsmax_maps::*; +import templates::vray_materials::*; +import templates::vray_maps::*; + +// Body +export material a_________________werwr() +[[ + anno::display_name("__________________werwr") +]] += ::templates::vray_materials::VRayMtl( + Diffuse : ::templates::ad_3dsmax_maps::ad_3dsmax_bitmap( + filename : texture_2d("./a_________________werwr/微信图片2313_20190227151831.jpg", ::tex::gamma_srgb), + cliph : 0.4375f, + clipu : 0.314583f, + clipv : 0.314655f, + clipw : 0.204167f, + mapChannel : 1, + U_angle : 0.0f, + U_Mirror : false, + U_Offset : 0.0f, + U_Tile : true, + U_Tiling : 1.0f, + UVW_Type : 0, + V_angle : 0.0f, + V_Mirror : false, + V_Offset : 0.0f, + V_Tile : true, + V_Tiling : 1.0f, + W_angle : 0.0f, + alphaFromRGB : false, + bump_amount : 1.0f, + clamp : false, + invert : false, + output_amount : 1.0f, + rgb_level : 1.0f, + rgb_offset : 0.0f + ).tint, + diffuse_roughness : 0.0f, + Reflection : color(0.137255,0.137255,0.137255), + reflection_glossiness : 0.8f, + reflection_fresnel : false, + reflection_ior : 1.6f, + reflection_lockIOR : true, + invert_reflection_ior : false, + reflection_metalness : 0.0f, + Refraction : color(0.0,0.0,0.0), + refraction_glossiness : 0.65f, + refraction_ior : 1.6f, + invert_refraction_ior : false, + refraction_dispersion_on : false, + refraction_dispersion : 50.0f, + refraction_fogColor : color(1.0,1.0,1.0), + refraction_fogBias : 0.0f, + refraction_fogMult : 1.0f, + translucency_on : ::templates::vray_materials::translucency_none, + translucency_scatterCoeff : 0.0f, + translucency_fbCoeff : 1.0f, + translucency_color : color(1.0,1.0,1.0), + self_illumination : color(0.0,0.0,0.0), + self_illumination_multiplier : 1.0f, + coat_amount : 0.0f, + coat_color : color(1.0,1.0,1.0), + coat_glossiness : 1.0f, + coat_ior : 1.6f, + invert_coat_ior : false, + coat_bump_lock : false, + sheen_color : color(0.0,0.0,0.0), + sheen_glossiness : 0.8f, + brdf_type : ::templates::vray_materials::brdf_blinn, + brdf_useRoughness : ::templates::vray_materials::brdf_glossiness, + anisotropy : 0.0f, + anisotropy_rotation : 0.0f, + anisotropy_channel : 1, + texmap_opacity : 1.0f +); + + diff --git a/assets/scene_usds/ebench/teleop_tasks/tighten_nut/merge_usd/0013/Materials/dfdffault.mdl b/assets/scene_usds/ebench/teleop_tasks/tighten_nut/merge_usd/0013/Materials/dfdffault.mdl new file mode 100644 index 0000000000000000000000000000000000000000..4dd1c29e4351c28dbcc6168191ef0ad6df0470df --- /dev/null +++ b/assets/scene_usds/ebench/teleop_tasks/tighten_nut/merge_usd/0013/Materials/dfdffault.mdl @@ -0,0 +1,71 @@ +///\authors: Auto-generated by vray_to_mdl_export.ms script. +///\description: Translated VRay material. + +mdl 1.6; + +// Import +import ::anno::*; +import ::base::transform_coordinate; +import ::base::rotation_translation_scale; +import ::base::file_texture; +import ::base::mono_mode; +import ::base::texture_coordinate_info; +import ::base::texture_return; +import ::state::normal; +import ::state::texture_coordinate; +import ::state::texture_tangent_u; +import ::state::texture_tangent_v; +import ::tex::gamma_mode; +import ::tex::wrap_mode; +import templates::ad_3dsmax_materials::*; +import templates::ad_3dsmax_maps::*; +import templates::vray_materials::*; +import templates::vray_maps::*; + +// Body +export material dfdffault() +[[ + anno::display_name("dfdffault") +]] += ::templates::vray_materials::VRayMtl( + Diffuse : color(0.5,0.5,0.5), + diffuse_roughness : 0.0f, + Reflection : color(0.627451,0.627451,0.627451), + reflection_glossiness : 0.85f, + reflection_fresnel : false, + reflection_ior : 1.6f, + reflection_lockIOR : true, + invert_reflection_ior : false, + reflection_metalness : 0.0f, + Refraction : color(0.0,0.0,0.0), + refraction_glossiness : 1.0f, + refraction_ior : 1.6f, + invert_refraction_ior : false, + refraction_dispersion_on : false, + refraction_dispersion : 50.0f, + refraction_fogColor : color(1.0,1.0,1.0), + refraction_fogBias : 0.0f, + refraction_fogMult : 1.0f, + translucency_on : ::templates::vray_materials::translucency_none, + translucency_scatterCoeff : 0.0f, + translucency_fbCoeff : 1.0f, + translucency_color : color(1.0,1.0,1.0), + self_illumination : color(0.0,0.0,0.0), + self_illumination_multiplier : 1.0f, + coat_amount : 0.0f, + coat_color : color(1.0,1.0,1.0), + coat_glossiness : 1.0f, + coat_ior : 1.6f, + invert_coat_ior : false, + coat_bump_lock : false, + sheen_color : color(0.0,0.0,0.0), + sheen_glossiness : 0.8f, + brdf_type : ::templates::vray_materials::brdf_blinn, + brdf_useRoughness : ::templates::vray_materials::brdf_glossiness, + anisotropy : 0.0f, + anisotropy_rotation : 0.0f, + anisotropy_channel : 1, + texmap_opacity : 1.0f +); + + diff --git a/assets/scene_usds/ebench/teleop_tasks/tighten_nut/merge_usd/0013/Materials/fdgault1.mdl b/assets/scene_usds/ebench/teleop_tasks/tighten_nut/merge_usd/0013/Materials/fdgault1.mdl new file mode 100644 index 0000000000000000000000000000000000000000..eafbd33db997977fe8356d609f2cb6bda06fc1f3 --- /dev/null +++ b/assets/scene_usds/ebench/teleop_tasks/tighten_nut/merge_usd/0013/Materials/fdgault1.mdl @@ -0,0 +1,71 @@ +///\authors: Auto-generated by vray_to_mdl_export.ms script. +///\description: Translated VRay material. + +mdl 1.6; + +// Import +import ::anno::*; +import ::base::transform_coordinate; +import ::base::rotation_translation_scale; +import ::base::file_texture; +import ::base::mono_mode; +import ::base::texture_coordinate_info; +import ::base::texture_return; +import ::state::normal; +import ::state::texture_coordinate; +import ::state::texture_tangent_u; +import ::state::texture_tangent_v; +import ::tex::gamma_mode; +import ::tex::wrap_mode; +import templates::ad_3dsmax_materials::*; +import templates::ad_3dsmax_maps::*; +import templates::vray_materials::*; +import templates::vray_maps::*; + +// Body +export material fdgault1() +[[ + anno::display_name("fdgault1") +]] += ::templates::vray_materials::VRayMtl( + Diffuse : color(0.0509804,0.0509804,0.0509804), + diffuse_roughness : 0.0f, + Reflection : color(0.662745,0.662745,0.662745), + reflection_glossiness : 0.97f, + reflection_fresnel : false, + reflection_ior : 1.6f, + reflection_lockIOR : true, + invert_reflection_ior : false, + reflection_metalness : 0.0f, + Refraction : color(0.0,0.0,0.0), + refraction_glossiness : 1.0f, + refraction_ior : 1.6f, + invert_refraction_ior : false, + refraction_dispersion_on : false, + refraction_dispersion : 50.0f, + refraction_fogColor : color(1.0,1.0,1.0), + refraction_fogBias : 0.0f, + refraction_fogMult : 1.0f, + translucency_on : ::templates::vray_materials::translucency_none, + translucency_scatterCoeff : 0.0f, + translucency_fbCoeff : 1.0f, + translucency_color : color(1.0,1.0,1.0), + self_illumination : color(0.0,0.0,0.0), + self_illumination_multiplier : 1.0f, + coat_amount : 0.0f, + coat_color : color(1.0,1.0,1.0), + coat_glossiness : 1.0f, + coat_ior : 1.6f, + invert_coat_ior : false, + coat_bump_lock : false, + sheen_color : color(0.0,0.0,0.0), + sheen_glossiness : 0.8f, + brdf_type : ::templates::vray_materials::brdf_blinn, + brdf_useRoughness : ::templates::vray_materials::brdf_glossiness, + anisotropy : 0.0f, + anisotropy_rotation : 0.0f, + anisotropy_channel : 1, + texmap_opacity : 1.0f +); + + diff --git a/assets/scene_usds/ebench/teleop_tasks/tighten_nut/merge_usd/0013/Materials/fdsafast.mdl b/assets/scene_usds/ebench/teleop_tasks/tighten_nut/merge_usd/0013/Materials/fdsafast.mdl new file mode 100644 index 0000000000000000000000000000000000000000..36111769a89c52f0b5309acf142654cae742040f --- /dev/null +++ b/assets/scene_usds/ebench/teleop_tasks/tighten_nut/merge_usd/0013/Materials/fdsafast.mdl @@ -0,0 +1,40 @@ +///\authors: Auto-generated by vray_to_mdl_export.ms script. +///\description: Translated VRay material. + +mdl 1.6; + +// Import +import ::anno::*; +import ::base::transform_coordinate; +import ::base::rotation_translation_scale; +import ::base::file_texture; +import ::base::mono_mode; +import ::base::texture_coordinate_info; +import ::base::texture_return; +import ::state::normal; +import ::state::texture_coordinate; +import ::state::texture_tangent_u; +import ::state::texture_tangent_v; +import ::tex::gamma_mode; +import ::tex::wrap_mode; +import templates::ad_3dsmax_materials::*; +import templates::ad_3dsmax_maps::*; +import templates::vray_materials::*; +import templates::vray_maps::*; + +// Body +export material fdsafast() +[[ + anno::display_name("fdsafast") +]] += ::templates::vray_materials::VRayLightMtl( + emission : color(1.0,1.0,1.0), + emission_mult : 4500.0f, + opacity : color(1.0,1.0,1.0), + emit_on_backside : false, + mult_emission_by_opacity : false, + displacement : 0.0f, + displace_amnt : 1.0f +); + + diff --git a/assets/scene_usds/ebench/teleop_tasks/tighten_nut/merge_usd/0013/Materials/pages_3.mdl b/assets/scene_usds/ebench/teleop_tasks/tighten_nut/merge_usd/0013/Materials/pages_3.mdl new file mode 100644 index 0000000000000000000000000000000000000000..b5e960a189b76c366663a50137a34704d6da4613 --- /dev/null +++ b/assets/scene_usds/ebench/teleop_tasks/tighten_nut/merge_usd/0013/Materials/pages_3.mdl @@ -0,0 +1,97 @@ +///\authors: Auto-generated by vray_to_mdl_export.ms script. +///\description: Translated VRay material. + +mdl 1.6; + +// Import +import ::anno::*; +import ::base::transform_coordinate; +import ::base::rotation_translation_scale; +import ::base::file_texture; +import ::base::mono_mode; +import ::base::texture_coordinate_info; +import ::base::texture_return; +import ::state::normal; +import ::state::texture_coordinate; +import ::state::texture_tangent_u; +import ::state::texture_tangent_v; +import ::tex::gamma_mode; +import ::tex::wrap_mode; +import templates::ad_3dsmax_materials::*; +import templates::ad_3dsmax_maps::*; +import templates::vray_materials::*; +import templates::vray_maps::*; + +// Body +export material pages_3() +[[ + anno::display_name("pages_3") +]] += ::templates::vray_materials::VRayMtl( + Diffuse : ::templates::ad_3dsmax_maps::ad_3dsmax_bitmap( + filename : texture_2d("./pages_3/3d66Model-515679-30-5.JPG", ::tex::gamma_srgb), + cliph : 1.0f, + clipu : 0.0f, + clipv : 0.0f, + clipw : 1.0f, + mapChannel : 1, + U_angle : 0.0f, + U_Mirror : false, + U_Offset : 0.0f, + U_Tile : true, + U_Tiling : 1.0f, + UVW_Type : 0, + V_angle : 0.0f, + V_Mirror : false, + V_Offset : 0.0f, + V_Tile : true, + V_Tiling : 1.0f, + W_angle : 0.0f, + alphaFromRGB : false, + bump_amount : 1.0f, + clamp : false, + invert : false, + output_amount : 1.0f, + rgb_level : 1.0f, + rgb_offset : 0.0f + ).tint, + diffuse_roughness : 0.0f, + Reflection : color(0.0,0.0,0.0), + reflection_glossiness : 1.0f, + reflection_fresnel : false, + reflection_ior : 1.6f, + reflection_lockIOR : true, + invert_reflection_ior : false, + reflection_metalness : 0.0f, + Refraction : color(0.0,0.0,0.0), + refraction_glossiness : 1.0f, + refraction_ior : 1.6f, + invert_refraction_ior : false, + refraction_dispersion_on : false, + refraction_dispersion : 50.0f, + refraction_fogColor : color(1.0,1.0,1.0), + refraction_fogBias : 0.0f, + refraction_fogMult : 1.0f, + translucency_on : ::templates::vray_materials::translucency_none, + translucency_scatterCoeff : 0.0f, + translucency_fbCoeff : 1.0f, + translucency_color : color(1.0,1.0,1.0), + self_illumination : color(0.0,0.0,0.0), + self_illumination_multiplier : 1.0f, + coat_amount : 0.0f, + coat_color : color(1.0,1.0,1.0), + coat_glossiness : 1.0f, + coat_ior : 1.6f, + invert_coat_ior : false, + coat_bump_lock : false, + sheen_color : color(0.0,0.0,0.0), + sheen_glossiness : 0.8f, + brdf_type : ::templates::vray_materials::brdf_blinn, + brdf_useRoughness : ::templates::vray_materials::brdf_glossiness, + anisotropy : 0.0f, + anisotropy_rotation : 0.0f, + anisotropy_channel : 1, + texmap_opacity : 1.0f +); + + diff --git a/assets/scene_usds/ebench/teleop_tasks/tighten_nut/merge_usd/0013/Materials/ssss11sds11ssEssff.mdl b/assets/scene_usds/ebench/teleop_tasks/tighten_nut/merge_usd/0013/Materials/ssss11sds11ssEssff.mdl new file mode 100644 index 0000000000000000000000000000000000000000..1d1ae65d72b909befaf7799f927f92b7f74000b8 --- /dev/null +++ b/assets/scene_usds/ebench/teleop_tasks/tighten_nut/merge_usd/0013/Materials/ssss11sds11ssEssff.mdl @@ -0,0 +1,97 @@ +///\authors: Auto-generated by vray_to_mdl_export.ms script. +///\description: Translated VRay material. + +mdl 1.6; + +// Import +import ::anno::*; +import ::base::transform_coordinate; +import ::base::rotation_translation_scale; +import ::base::file_texture; +import ::base::mono_mode; +import ::base::texture_coordinate_info; +import ::base::texture_return; +import ::state::normal; +import ::state::texture_coordinate; +import ::state::texture_tangent_u; +import ::state::texture_tangent_v; +import ::tex::gamma_mode; +import ::tex::wrap_mode; +import templates::ad_3dsmax_materials::*; +import templates::ad_3dsmax_maps::*; +import templates::vray_materials::*; +import templates::vray_maps::*; + +// Body +export material ssss11sds11ssEssff() +[[ + anno::display_name("ssss11sds11ssEssff") +]] += ::templates::vray_materials::VRayMtl( + Diffuse : ::templates::ad_3dsmax_maps::ad_3dsmax_bitmap( + filename : texture_2d("./ssss11sds11ssEssff/u=42624830,2232020750&fm=26&gp=0.jpg", ::tex::gamma_srgb), + cliph : 0.439328f, + clipu : 0.0377778f, + clipv : 0.54f, + clipw : 0.440222f, + mapChannel : 1, + U_angle : 0.0f, + U_Mirror : false, + U_Offset : 0.0f, + U_Tile : true, + U_Tiling : 1.0f, + UVW_Type : 0, + V_angle : 0.0f, + V_Mirror : false, + V_Offset : 0.0f, + V_Tile : true, + V_Tiling : 1.0f, + W_angle : 0.0f, + alphaFromRGB : false, + bump_amount : 1.0f, + clamp : false, + invert : false, + output_amount : 1.0f, + rgb_level : 1.0f, + rgb_offset : 0.0f + ).tint, + diffuse_roughness : 0.0f, + Reflection : color(0.0588235,0.0588235,0.0588235), + reflection_glossiness : 0.75f, + reflection_fresnel : false, + reflection_ior : 1.6f, + reflection_lockIOR : true, + invert_reflection_ior : false, + reflection_metalness : 0.0f, + Refraction : color(0.0,0.0,0.0), + refraction_glossiness : 1.0f, + refraction_ior : 1.6f, + invert_refraction_ior : false, + refraction_dispersion_on : false, + refraction_dispersion : 50.0f, + refraction_fogColor : color(1.0,1.0,1.0), + refraction_fogBias : 0.0f, + refraction_fogMult : 1.0f, + translucency_on : ::templates::vray_materials::translucency_none, + translucency_scatterCoeff : 0.0f, + translucency_fbCoeff : 1.0f, + translucency_color : color(1.0,1.0,1.0), + self_illumination : color(0.0,0.0,0.0), + self_illumination_multiplier : 1.0f, + coat_amount : 0.0f, + coat_color : color(1.0,1.0,1.0), + coat_glossiness : 1.0f, + coat_ior : 1.6f, + invert_coat_ior : false, + coat_bump_lock : false, + sheen_color : color(0.0,0.0,0.0), + sheen_glossiness : 0.8f, + brdf_type : ::templates::vray_materials::brdf_blinn, + brdf_useRoughness : ::templates::vray_materials::brdf_glossiness, + anisotropy : 0.0f, + anisotropy_rotation : 0.0f, + anisotropy_channel : 1, + texmap_opacity : 1.0f +); + + diff --git a/assets/scene_usds/ebench/teleop_tasks/tighten_nut/merge_usd/0013/Materials/templates/ad_3dsmax_maps.mdl b/assets/scene_usds/ebench/teleop_tasks/tighten_nut/merge_usd/0013/Materials/templates/ad_3dsmax_maps.mdl new file mode 100644 index 0000000000000000000000000000000000000000..2335faa6461beac39ae2c5235c9285b2b0cb8596 --- /dev/null +++ b/assets/scene_usds/ebench/teleop_tasks/tighten_nut/merge_usd/0013/Materials/templates/ad_3dsmax_maps.mdl @@ -0,0 +1,4128 @@ +// Copyright 2023 NVIDIA Corporation. All rights reserved. +// +// NVIDIA CORPORATION and its licensors retain all intellectual property +// and proprietary rights in and to this software, related documentation +// and any modifications thereto. Any use, reproduction, disclosure or +// distribution of this software and related documentation without an express +// license agreement from NVIDIA CORPORATION is strictly prohibited. + +mdl 1.6; + +import ::anno::*; +import ::base::*; +import ::limits::*; +import ::math::*; +import ::state::*; +import ::tex::*; + +export using ::base import color_layer_mode; +export using ::base import texture_return; + +// Helper functions +// Returns the normal n in tangent space, given n is in internal space. +float3 transform_internal_to_tangent(float3 n) +{ + return + n.x * float3(state::texture_tangent_u(0).x, state::texture_tangent_v(0).x, state::normal().x) + + n.y * float3(state::texture_tangent_u(0).y, state::texture_tangent_v(0).y, state::normal().y) + + n.z * float3(state::texture_tangent_u(0).z, state::texture_tangent_v(0).z, state::normal().z); +} + +// Returns the normal n in internal space, given n is in tangent space. +float3 transform_tangent_to_internal(float3 n) +{ + return state::texture_tangent_u(0) * n.x + + state::texture_tangent_v(0) * n.y + + state::normal() * n.z ; +} + +// Returns a normal as a weighted combination of two normals. +export float3 combine_normals( + float w1 = 1.f, float3 n1 = state::normal(), + float w2 = 1.f, float3 n2 = state::normal()) +{ + // http://blog.selfshadow.com/publications/blending-in-detail/ + float3 n1_t = transform_internal_to_tangent(n1); + float3 n2_t = transform_internal_to_tangent(n2); + + n1_t = math::lerp(float3(0.f, 0.f, 1.f), n1_t, w1); + n2_t = math::lerp(float3(0.f, 0.f, 1.f), n2_t, w2); + + n1_t = n1_t + float3(0.f, 0.f, 1.f); + n2_t = n2_t * float3(-1.f, -1.f, 1.f); + + float3 n = n1_t*math::dot(n1_t, n2_t)/n1_t.z - n2_t; + + // alternative way of combining the 2 normals + // float3 n = float3(n1_t.x + n2_t.x,n1_t.y + n2_t.y, n1_t.z*n2_t.z); + + return math::normalize(transform_tangent_to_internal(n)); +} + +// 3dsmax Bitmap Transformation Matrix +uniform float4x4 max_rotation_translation_scale +( + uniform float3 rotation = float3(0.) + [[ anno::description("Rotation applied to every UVW coordinate") ]], + uniform float3 translation = float3(0.) + [[ anno::description("Offset applied to every UVW coordinate") ]], + uniform float3 scaling = float3(1.) + [[ anno::description("Scale applied to every UVW coordinate") ]], + uniform bool u_mirror = false + [[ anno::description("Mirror repeat has twice the number of textures in the same space") ]], + uniform bool v_mirror = false + [[ anno::description("Mirror repeat has twice the number of textures in the same space") ]] +) +[[ + anno::description("Construct transformation matrix from Euler rotation, translation and scale") +]] +{ + float4x4 scale = + float4x4(u_mirror?scaling.x*2.:scaling.x , 0. , 0. , 0., + 0. , v_mirror?scaling.y*2.:scaling.y , 0. , 0., + 0. , 0. , scaling.z , 0., + u_mirror?1.:.5 , v_mirror?1.:.5 , .5 , 1.); + + float4x4 translate = + float4x4(1. , 0. , 0. , 0., + 0. , 1. , 0. , 0., + 0. , 0. , 1. , 0., + -0.5-translation.x, -0.5-translation.y, -0.5-translation.z, 1.); + + + // Euler rotation matrix xyz order + float3 s = math::sin(rotation); + float3 c = math::cos(rotation); + float4x4 rotate = + float4x4( c.y*c.z , c.y*s.z , -s.y , 0.0, + -c.x*s.z + s.x*s.y*c.z, c.x*c.z + s.x*s.y*s.z , s.x*c.y , 0.0, + s.x*s.z + c.x*s.y*c.z , -s.x*c.z + c.x*s.y*s.z, c.x*c.y , 0.0, + 0. , 0. , 0. , 1.); + return scale *rotate*translate; +} + +// 3dsmax Mono Output +export enum ad_3dsmax_mono_output +[[ + anno::hidden() +]] +{ + mono_output_rgb_intensity, + mono_output_alpha +}; + +// 3dsmax RGB Output +export enum ad_3dsmax_rgb_output +[[ + anno::hidden() +]] +{ + rgb_output_rgb, + rgb_output_alpha +}; + +// 3dsmax Alpha Source +export enum ad_3dsmax_alpha_source +[[ + anno::hidden() +]] +{ + alpha_source_alpha, + alpha_source_rgb_intensity, + alpha_source_none +}; + +// 3dsmax Bitmap map +export texture_return ad_3dsmax_bitmap +( + uniform int mapChannel=1 + [[ + anno::in_group("Coordinates"), + anno::display_name("Map channel") + ]], + uniform float U_Offset = 0.f + [[ + anno::in_group("Coordinates"), + anno::display_name("U Offset") + ]], + uniform float V_Offset = 0.f + [[ + anno::in_group("Coordinates"), + anno::display_name("V Offset") + ]], + uniform float U_Tiling = 1.f + [[ + anno::in_group("Coordinates"), + anno::display_name("U Tiling") + ]], + uniform float V_Tiling = 1.f + [[ + anno::in_group("Coordinates"), + anno::display_name("V Tiling") + ]], + uniform bool U_Tile=true //it is actually an error if both mirror and tile are true + [[ + anno::in_group("Coordinates"), + anno::display_name("U Tile") + ]], + uniform bool U_Mirror=false + [[ + anno::in_group("Coordinates"), + anno::display_name("U Mirror") + ]], + uniform bool V_Tile=true + [[ + anno::in_group("Coordinates"), + anno::display_name("V Tile") + ]], + uniform bool V_Mirror=false + [[ + anno::in_group("Coordinates"), + anno::display_name("V Mirror") + ]], + uniform float U_angle = 0.f + [[ + anno::in_group("Coordinates"), + anno::display_name("U Angle") + ]], + uniform float V_angle = 0.f + [[ + anno::in_group("Coordinates"), + anno::display_name("V Angle") + ]], + uniform float W_angle = 0.f + [[ + anno::in_group("Coordinates"), + anno::display_name("W Angle") + ]], + uniform int UVW_Type = 0 //enum? + [[ + anno::in_group("Coordinates"), + anno::display_name("UVW Type"), + anno::unused(), + anno::hidden() + ]], + uniform texture_2d filename = texture_2d() + [[ + anno::in_group("Bitmap parameters"), + anno::display_name("Bitmap") + ]], + uniform float clipu = 0.f //u+w and v+h are always <=1.0 + [[ + anno::in_group("Bitmap parameters"), + anno::display_name("U Clip"), + anno::hard_range(0.f, 1.f) + ]], + uniform float clipw = 1.0 + [[ + anno::in_group("Bitmap parameters"), + anno::display_name("W Clip"), + anno::hard_range(0.f, 1.f) + ]], + uniform float clipv = 0.0 + [[ + anno::in_group("Bitmap parameters"), + anno::display_name("V Clip"), + anno::hard_range(0.f, 1.f) + ]], + uniform float cliph = 1.0 + [[ + anno::in_group("Bitmap parameters"), + anno::display_name("H Clip"), + anno::hard_range(0.f, 1.f) + ]], + uniform ad_3dsmax_mono_output mono_output = mono_output_rgb_intensity + [[ + anno::in_group("Mono Output"), + anno::display_name("Mono Output") + ]], + uniform ad_3dsmax_rgb_output rgb_output = rgb_output_rgb + [[ + anno::in_group("RGB Output"), + anno::display_name("RGB Output") + ]], + uniform ad_3dsmax_alpha_source alpha_source = alpha_source_none + [[ + anno::in_group("Alpha Source"), + anno::display_name("Alpha Source") + ]], + uniform float bump_amount = 1.f + [[ + anno::in_group("Output"), + anno::display_name("Bump amount"), + anno::unused(), + anno::hidden() + ]], + uniform bool clamp = false + [[ + anno::in_group("Output"), + anno::display_name("Clamp"), + anno::unused(), + anno::hidden() + ]], + uniform bool invert = false + [[ + anno::in_group("Output"), + anno::display_name("Invert") + ]], + uniform bool alphaFromRGB = false + [[ + anno::in_group("Output"), + anno::display_name("Alpha from RGB intensity"), + anno::unused(), + anno::hidden() + ]], + uniform float output_amount = 1.f + [[ + anno::in_group("Output"), + anno::display_name("Output amount") + ]], + uniform float rgb_level = 1.f + [[ + anno::in_group("Output"), + anno::display_name("RGB level") + ]], + uniform float rgb_offset = 0.f + [[ + anno::in_group("Output"), + anno::display_name("RGB Offset") + ]] +) +[[ + anno::author("NVIDIA Corporation") +]] +{ + texture_return result = base::file_texture + ( + texture: filename, + mono_source: (alpha_source == alpha_source_alpha) ? base::mono_alpha : base::mono_average, + crop_u: float2(clipu, clipw+clipu), + crop_v: float2(1.-clipv-cliph, 1.-clipv), + uvw: base::transform_coordinate( + transform: max_rotation_translation_scale( + scaling: float3(U_Tiling,V_Tiling,1.0), + rotation: float3(U_angle,V_angle,W_angle)/180.*math::PI, + translation: float3(U_Offset,V_Offset,0.0),u_mirror: U_Mirror,v_mirror: V_Mirror + ), + coordinate: base::coordinate_source(texture_space: mapChannel-1) + ), + wrap_u: U_Tile?tex::wrap_repeat:U_Mirror?tex::wrap_mirrored_repeat:tex::wrap_clip, + wrap_v: V_Tile?tex::wrap_repeat:V_Mirror?tex::wrap_mirrored_repeat:tex::wrap_clip + ); + + result.tint = invert ? result.tint * (-rgb_level * output_amount ) + (1.f - rgb_offset) : result.tint * (rgb_level * output_amount ) + rgb_offset; + + float alpha = (alpha_source != alpha_source_none) ? result.mono : 1.f; + result.tint = result.tint*alpha; + + // determinate mono output + if(mono_output == mono_output_alpha) + result.mono = alpha; + else + result.mono = math::average(result.tint); + + // determinate rgb output + if(rgb_output == rgb_output_alpha) + result.tint = color(alpha); + + return result; +} +// 3dsmax Bitmap Map for Bump +export float3 ad_3dsmax_bitmap_bump +( + uniform int mapChannel=1 + [[ + anno::in_group("Coordinates"), + anno::display_name("Map channel") + ]], + uniform bool U_Tile=true + [[ + anno::in_group("Coordinates"), + anno::display_name("U Tile") + ]], + uniform bool U_Mirror=false + [[ + anno::in_group("Coordinates"), + anno::display_name("U Mirror") + ]], + uniform bool V_Tile=true + [[ + anno::in_group("Coordinates"), + anno::display_name("V Tile") + ]], + uniform bool V_Mirror=false + [[ + anno::in_group("Coordinates"), + anno::display_name("V Mirror") + ]], + uniform float U_angle = 0.f + [[ + anno::in_group("Coordinates"), + anno::display_name("U Angle") + ]], + uniform float V_angle = 0.f + [[ + anno::in_group("Coordinates"), + anno::display_name("V Angle") + ]], + uniform float W_angle = 0.f + [[ + anno::in_group("Coordinates"), + anno::display_name("W Angle") + ]], + uniform float U_Offset = 0.f + [[ + anno::in_group("Coordinates"), + anno::display_name("U Offset") + ]], + uniform float V_Offset = 0.f + [[ + anno::in_group("Coordinates"), + anno::display_name("V Offset") + ]], + uniform float U_Tiling = 1.f + [[ + anno::in_group("Coordinates"), + anno::display_name("U Tiling") + ]], + uniform float V_Tiling = 1. + [[ + anno::in_group("Coordinates"), + anno::display_name("V Tiling") + ]], + uniform int UVW_Type = 0 //enum? + [[ + anno::in_group("Coordinates"), + anno::display_name("UVW Type"), + anno::unused() + ]], + uniform texture_2d filename = texture_2d() + [[ + anno::in_group("Bitmap parameters"), + anno::display_name("Bitmap") + ]], + uniform float clipu = 0.f + [[ + anno::in_group("Bitmap parameters"), + anno::display_name("U Clip"), + anno::hard_range(0.f, 1.f) + ]], + uniform float clipw = 1.f + [[ + anno::in_group("Bitmap parameters"), + anno::display_name("W Clip"), + anno::hard_range(0.f, 1.f) + ]], + uniform float clipv = 0.f + [[ + anno::in_group("Bitmap parameters"), + anno::display_name("V Clip"), + anno::hard_range(0.f, 1.f) + ]], + uniform float cliph = 1.f + [[ + anno::in_group("Bitmap parameters"), + anno::display_name("H Clip"), + anno::hard_range(0.f, 1.f) + ]], + uniform float factor = 1.f + [[ + anno::in_group("Bitmap parameters"), + anno::display_name("Bump amount") + ]], + uniform float bump_amount = 1.f + [[ + anno::in_group("Output"), + anno::display_name("Bump output") + ]], + uniform bool clamp = false + [[ + anno::in_group("Output"), + anno::display_name("Clamp"), + anno::unused() + ]], + uniform bool invert = false + [[ + anno::in_group("Output"), + anno::display_name("Invert") + ]], + uniform bool alphaFromRGB = false + [[ + anno::in_group("Output"), + anno::display_name("Alpha from RGB intensity"), + anno::unused() + ]], + uniform float output_amount = 1.f + [[ + anno::in_group("Output"), + anno::display_name("Output amount"), + anno::unused() + ]], + uniform float rgb_level = 1.f + [[ + anno::in_group("Output"), + anno::display_name("RGB level"), + anno::unused() + ]], + uniform float rgb_offset = 0.f + [[ + anno::in_group("Output"), + anno::display_name("RGB Offset"), + anno::unused() + ]] +) +[[ + anno::author("NVIDIA Corporation") +]] +{ + return base::file_bump_texture + ( + texture : filename, + crop_u : float2(clipu, clipw + clipu), + crop_v : float2(1.f - clipv - cliph, 1.f - clipv), + uvw : base::transform_coordinate + ( + transform: max_rotation_translation_scale + ( + scaling : float3(U_Tiling, V_Tiling, 1.f), + rotation : float3(U_angle, V_angle, W_angle)/(180.f*math::PI), + translation : float3(U_Offset, V_Offset, 0.f), + u_mirror : U_Mirror, + v_mirror : V_Mirror + ), + coordinate: base::coordinate_source(texture_space: mapChannel - 1) + ), + wrap_u : U_Tile ? tex::wrap_repeat : U_Mirror ? tex::wrap_mirrored_repeat : tex::wrap_clip, + wrap_v : V_Tile ? tex::wrap_repeat : V_Mirror ? tex::wrap_mirrored_repeat : tex::wrap_clip, + factor : invert ? -10.f*factor*bump_amount : 10.f*factor*bump_amount + ); +} + +// 3dsmax Bitmap Normal Map +export float3 ad_3dsmax_bitmap_normalmap +( + uniform int mapChannel=1 + [[ + anno::in_group("Coordinates"), + anno::display_name("Map channel") + ]], + uniform bool U_Tile=true + [[ + anno::in_group("Coordinates"), + anno::display_name("U Tile") + ]], + uniform bool U_Mirror=false + [[ + anno::in_group("Coordinates"), + anno::display_name("U Mirror") + ]], + uniform bool V_Tile=true + [[ + anno::in_group("Coordinates"), + anno::display_name("V Tile") + ]], + uniform bool V_Mirror=false + [[ + anno::in_group("Coordinates"), + anno::display_name("V Mirror") + ]], + uniform float U_angle = 0.f + [[ + anno::in_group("Coordinates"), + anno::display_name("U Angle") + ]], + uniform float V_angle = 0.f + [[ + anno::in_group("Coordinates"), + anno::display_name("V Angle") + ]], + uniform float W_angle = 0.f + [[ + anno::in_group("Coordinates"), + anno::display_name("W Angle") + ]], + uniform float U_Offset = 0.f + [[ + anno::in_group("Coordinates"), + anno::display_name("U Offset") + ]], + uniform float V_Offset = 0.f + [[ + anno::in_group("Coordinates"), + anno::display_name("V Offset") + ]], + uniform float U_Tiling = 1.f + [[ + anno::in_group("Coordinates"), + anno::display_name("U Tiling") + ]], + uniform float V_Tiling = 1.f + [[ + anno::in_group("Coordinates"), + anno::display_name("V Tiling") + ]], + uniform int UVW_Type = 0 //enum? + [[ + anno::in_group("Coordinates"), + anno::display_name("UVW type"), + anno::unused() + ]], + uniform texture_2d filename = texture_2d() + [[ + anno::in_group("Bitmap parameters"), + anno::display_name("Bitmap") + ]], + uniform float clipu = 0.f + [[ + anno::in_group("Bitmap parameters"), + anno::display_name("U Clip"), + anno::hard_range(0.f, 1.f) + ]], + uniform float clipw = 1.f + [[ + anno::in_group("Bitmap parameters"), + anno::display_name("W Clip"), + anno::hard_range(0.f, 1.f) + ]], + uniform float clipv = 0.f + [[ + anno::in_group("Bitmap parameters"), + anno::display_name("V Clip"), + anno::hard_range(0.f, 1.f) + ]], + uniform float cliph = 1.f + [[ + anno::in_group("Bitmap parameters"), + anno::display_name("H Clip"), + anno::hard_range(0.f, 1.f) + ]], + uniform float factor = 1.f + [[ + anno::in_group("Bitmap parameters"), + anno::display_name("Strength") + ]], + uniform float bump_amount = 1.f + [[ + anno::in_group("Output"), + anno::display_name("Bump Amount"), + anno::unused(), + anno::hidden() + ]], + uniform bool clamp = false + [[ + anno::in_group("Output"), + anno::display_name("Clamp"), + anno::unused(), + anno::hidden() + ]], + uniform bool invert = false + [[ + anno::in_group("Output"), + anno::display_name("Invert") + ]], + uniform bool alphaFromRGB = false + [[ + anno::in_group("Output"), + anno::display_name("Alpha from RGB intensity"), + anno::unused(), + anno::hidden() + ]], + uniform float output_amount = 1.f + [[ + anno::in_group("Output"), + anno::display_name("Output Amount") + ]], + uniform float rgb_level = 1.f + [[ + anno::in_group("Output"), + anno::display_name("RGB level") + ]], + uniform float rgb_offset = 0.0 + [[ + anno::in_group("Output"), + anno::display_name("RGB offset"), + anno::unused(), + anno::hidden() + ]], + uniform float mult_spin = 1.f + [[ + anno::in_group("Parameters"), + anno::display_name("Normal map mult") + ]], + uniform bool swap_rg = false + [[ + anno::in_group("Parameters"), + anno::display_name("Swap red & green"), + anno::unused(), + anno::hidden() + ]], + uniform bool flipred = false + [[ + anno::in_group("Parameters"), + anno::display_name("Flip red") + ]], + uniform bool flipgreen = false + [[ + anno::in_group("Parameters"), + anno::display_name("Flip green") + ]], + + uniform int method = 0 + [[ + anno::in_group("Parameters"), + anno::display_name("Method"), + anno::unused(), + anno::hidden() + ]], + float3 bump_map = state::normal() + [[ + anno::in_group("Parameters"), + anno::display_name("Bump map"), + anno::unused(), + anno::hidden() + ]] +) +[[ + anno::author("NVIDIA Corporation") +]] +{ + return base::tangent_space_normal_texture( + texture: filename, + crop_u: float2(clipu, clipw + clipu), + crop_v: float2(1.f - clipv - cliph, 1.f - clipv), + factor: factor*mult_spin*rgb_level*output_amount, + flip_tangent_u: invert ? !flipred : flipred, + flip_tangent_v: invert ? flipgreen : !flipgreen, + uvw: base::transform_coordinate( + transform: max_rotation_translation_scale( + scaling: float3(U_Tiling, V_Tiling, 1.f), + rotation: float3(U_angle, V_angle, W_angle)/180.f*math::PI , + translation: float3(U_Offset, V_Offset, 0.f), + u_mirror: U_Mirror, + v_mirror: V_Mirror + ), + coordinate: base::coordinate_source(texture_space: mapChannel - 1) + ), + wrap_u: U_Tile ? tex::wrap_repeat : U_Mirror ? tex::wrap_mirrored_repeat : tex::wrap_clip, + wrap_v: V_Tile ? tex::wrap_repeat : V_Mirror ? tex::wrap_mirrored_repeat : tex::wrap_clip + ); +} + +// 3dsmax Color Correction RGB Channels +export enum ad_3dsmax_channel +[[ + anno::hidden() +]] +{ + channel_red, + channel_green, + channel_blue, + channel_alpha, + channel_inverse_red, + channel_inverse_green, + channel_inverse_blue, + channel_inverse_alpha, + channel_mono, + channel_one, + channel_zero +}; + +// 3dsmax Color Correction Lightness Mode +export enum ad_3dsmax_lightness_mode +[[ + anno::hidden() +]] +{ + Standard, + Advanced +}; + +// 3dsmax Color Correction Map +export texture_return ad_3dsmax_color_correction +( + texture_return map = texture_return() + [[ + anno::in_group("Basic parameters"), + anno::display_name("Color") + ]], + uniform ad_3dsmax_channel rewireR = channel_red + [[ + anno::in_group("Channels"), + anno::display_name("Red") + ]], + uniform ad_3dsmax_channel rewireG = channel_green + [[ + anno::in_group("Channels"), + anno::display_name("Green") + ]], + uniform ad_3dsmax_channel rewireB = channel_blue + [[ + anno::in_group("Channels"), + anno::display_name("Blue") + ]], + uniform ad_3dsmax_channel rewireA = channel_alpha + [[ + anno::in_group("Channels"), + anno::display_name("Alpha") + ]], + uniform float hue_shift = 0.f + [[ + anno::in_group("Color"), + anno::display_name("Hue shift"), + anno::hard_range(-180.f, 180.f) + ]], + uniform float saturation = 0.f + [[ + anno::in_group("Color"), + anno::display_name("Saturation"), + anno::hard_range(-100.f, 100.f) + ]], + uniform float hue_tint = 0.f + [[ + anno::in_group("Color"), + anno::display_name("Hue tint"), + anno::hard_range(0.f, 360.f) + ]], + uniform float hue_tint_amnt = 0.f + [[ + anno::in_group("Color"), + anno::display_name("Strength"), + anno::hard_range(0.f, 100.f) + ]], + uniform ad_3dsmax_lightness_mode lightness_mode = Standard + [[ + anno::in_group("Lightness"), + anno::display_name("Lightness mode") + ]], + uniform float brightness = 0.f + [[ + anno::in_group("Lightness"), + anno::display_name("Brightness"), + anno::hard_range(-100.f, 100.f) + ]], + uniform float contrast = 0.f + [[ + anno::in_group("Lightness"), + anno::display_name("Contrast"), + anno::hard_range(-100.f, 100.f) + ]], + uniform float rgb_gamma = 1.f + [[ + anno::in_group("Lightness"), + anno::display_name("RGB gamma"), + anno::hard_range(0.01f, 10000.f) + ]] +) +[[ + anno::author("NVIDIA Corporation") +]] +{ + // channel rewiring + float3 rgb = float3(map.tint); + texture_return result = (rewireB == channel_blue) && (rewireG == channel_green) && (rewireR == channel_red) && (rewireA == channel_alpha) ? + texture_return(color(rgb), map.mono) : + texture_return(color( + rewireR == channel_red ? rgb.x : + rewireR == channel_green ? rgb.y : + rewireR == channel_blue ? rgb.z : + rewireR == channel_alpha ? map.mono : + rewireR == channel_inverse_red ? 1.f - rgb.x : + rewireR == channel_inverse_green ? 1.f - rgb.y : + rewireR == channel_inverse_blue ? 1.f - rgb.z : + rewireR == channel_inverse_alpha ? 1.f - map.mono : + rewireR == channel_mono ? math::luminance(map.tint) : + rewireR == channel_one ? 1.f : 0.f, + rewireG == channel_red ? rgb.x : + rewireG == channel_green ? rgb.y : + rewireG == channel_blue ? rgb.z : + rewireG == channel_alpha ? map.mono : + rewireG == channel_inverse_red ? 1.f - rgb.x : + rewireG == channel_inverse_green ? 1.f - rgb.y : + rewireG == channel_inverse_blue ? 1.f - rgb.z : + rewireG == channel_inverse_alpha ? 1.f - map.mono : + rewireG == channel_mono ? math::luminance(map.tint) : + rewireG == channel_one ? 1.f : 0.f, + rewireB == channel_red ? rgb.x : + rewireB == channel_green ? rgb.y : + rewireB == channel_blue ? rgb.z : + rewireB == channel_alpha ? map.mono : + rewireB == channel_inverse_red ? 1.f - rgb.x : + rewireB == channel_inverse_green ? 1.f - rgb.y : + rewireB == channel_inverse_blue ? 1.f - rgb.z : + rewireB == channel_inverse_alpha ? 1.f - map.mono : + rewireB == channel_mono ? math::luminance(map.tint) : + rewireB == channel_one ? 1.f : 0.f + ), + rewireA == channel_red ? rgb.x : + rewireA == channel_green ? rgb.y : + rewireA == channel_blue ? rgb.z : + rewireA == channel_alpha ? map.mono : + rewireA == channel_inverse_red ? 1.f - rgb.x : + rewireA == channel_inverse_green ? 1.f - rgb.y : + rewireA == channel_inverse_blue ? 1.f - rgb.z : + rewireA == channel_inverse_alpha ? 1.f - map.mono : + rewireA == channel_mono ? math::luminance(map.tint) : + rewireA == channel_one ? 1.f : 0.f); + + rgb = float3(result.tint); + + // chroma correction + if(hue_shift != 0.f || saturation != 0.f || hue_tint_amnt != 0.f) + { + // RGB to HSV + float min = math::min_value(rgb); + float max = math::max_value(rgb); + float h = 0.f, s = 0.f, v = max; + float delta = max - min; + + if(min != max) + { + if(max == rgb.x) + h = math::fmod(((60.f*((rgb.y - rgb.z)/delta)) + 360.f), 360.f); + else if(max == rgb.y) + h = math::fmod(((60.f*((rgb.z - rgb.x)/delta)) + 120.f), 360.f); + else // max == rgb.z + h = math::fmod(((60.f*((rgb.x - rgb.y)/delta)) + 240.f), 360.f); + } + + if(max > 0.f) + { + s = delta / max; + + if(saturation >= 0.f) + s += saturation*saturation*0.0001f; + else + s -= saturation*saturation*0.0001f; + + if(s < 0.f) + s = 0.f; + else if (s > 1.f) + s = 1.f; + } + + // apply cromatic corrections + h += hue_shift; + h += (hue_tint - h)*(hue_tint_amnt*0.01f); + + if(h < 0.f) + h += 360.f; + else if(h >= 360.f) + h -= 360.f; + + + // HSV to RGB + float sv = s*v; + h = math::fmod(h / 60.f, 6.f); + int idx = int(h); + float x = sv * (1.f - math::abs(math::fmod(h, 2.f) - 1.f)); + float m = v - sv; + + float r=0.f, g=0.f, b=0.f; + + switch(idx) + { + case 0: + r = sv, g = x; + break; + case 1: + r = x, g = sv; + break; + case 2: + g = sv, b = x; + break; + case 3: + g = x, b = sv; + break; + case 4: + r = x, b = sv; + break; + case 5: + r = sv, b = x; + break; + } + + rgb = float3(r+m, g+m, b+m); + } + + // lightness correction + if(lightness_mode == Advanced) // advanced exposure + { + if(rgb_gamma != 1.f) + rgb = math::pow(rgb, 1.f/rgb_gamma); + } + else // basic exposure + { + if(contrast != 0.f) + { + float c = contrast*2.55f; + float f = (259.f * (c + 255.f))/(255.f * (259.f - c)); + float3 grey(0.5f); + rgb = math::clamp((rgb - grey)*f + grey, 0.f, 1.f); + } + + if(brightness != 0.f) + { + rgb = math::clamp(rgb + float3(brightness*0.01), 0.f, 1.f); + } + } + + result.tint = color(rgb); + return result; +} + +// 3dsmax Color Correction Map for Bump +export float3 ad_3dsmax_color_correction_bump( + float3 map = state::normal() + [[ + anno::in_group("Basic parameters"), + anno::display_name("Bump map") + ]], + uniform ad_3dsmax_channel rewireR = channel_red + [[ + anno::in_group("Channels"), + anno::display_name("Red"), + anno::unused(), + anno::hidden() + ]], + uniform ad_3dsmax_channel rewireG = channel_green + [[ + anno::in_group("Channels"), + anno::display_name("Green"), + anno::unused(), + anno::hidden() + ]], + uniform ad_3dsmax_channel rewireB = channel_blue + [[ + anno::in_group("Channels"), + anno::display_name("Blue"), + anno::unused(), + anno::hidden() + ]], + uniform ad_3dsmax_channel rewireA = channel_alpha + [[ + anno::in_group("Channels"), + anno::display_name("Alpha"), + anno::unused(), + anno::hidden() + ]], + uniform float hue_shift = 0.f + [[ + anno::in_group("Color"), + anno::display_name("Hue shift"), + anno::hard_range(-180.f, 180.f), + anno::unused(), + anno::hidden() + ]], + uniform float saturation = 0.f + [[ + anno::in_group("Color"), + anno::display_name("Saturation"), + anno::hard_range(-100.f, 100.f), + anno::unused(), + anno::hidden() + ]], + uniform float hue_tint = 0.f + [[ + anno::in_group("Color"), + anno::display_name("Hue tint"), + anno::hard_range(0.f, 360.f), + anno::unused(), + anno::hidden() + ]], + uniform float hue_tint_amnt = 0.f + [[ + anno::in_group("Color"), + anno::display_name("Strength"), + anno::hard_range(0.f, 100.f), + anno::unused(), + anno::hidden() + ]], + uniform ad_3dsmax_lightness_mode lightness_mode = Standard + [[ + anno::in_group("Lightness"), + anno::display_name("Lightness mode"), + anno::unused(), + anno::hidden() + ]], + uniform float brightness = 0.f + [[ + anno::in_group("Lightness"), + anno::display_name("Brightness"), + anno::hard_range(-100.f, 100.f), + anno::unused(), + anno::hidden() + + ]], + uniform float contrast = 0.f + [[ + anno::in_group("Lightness"), + anno::display_name("Contrast"), + anno::hard_range(-100.f, 100.f), + anno::unused(), + anno::hidden() + ]], + uniform float rgb_gamma = 1.f + [[ + anno::in_group("Lightness"), + anno::display_name("RGB gamma"), + anno::hard_range(0.01f, 10000.f), + anno::unused(), + anno::hidden() + ]], + uniform float bump_amount = 1.f + [[ + anno::in_group("Bump"), + anno::display_name("Bump amount"), + anno::hard_range(0.f, 1.f) + ]] +) +[[ + anno::author("NVIDIA Corporation") +]] +{ + return math::normalize(math::lerp(state::normal(), map, bump_amount)); + // return combine_normals(bump_amount, map, 1.f - bump_amount, state::normal()); + + // EXPERIMENTAL CODE + // if(bump_amount <= 0.f) + // return state::normal(); + + // // normal xyz to spherical + // float disc = math::sqrt(map.x*map.x + map.y*map.y); + // float theta = math::atan(disc/map.z); + // float phi = math::atan2(map.y, map.x); + + // float t = math::clamp(1.f - theta/math::HALF_PI, 0.f, 1.f); // [0, PI/2] --> [1, 0] mapping + + + // // lightness corrections + // if(lightness_mode = Advanced) + // { + // if(rgb_gamma != 1.f) + // t = math::pow(t, 1.f/rgb_gamma); + // } + // else // basic exposure + // { + // if(contrast != 0.f) + // { + // float c = contrast*2.55f; + // float f = (259.f * (c + 255.f))/(255.f * (259.f - c)); + // t = math::clamp((t - 0.5f)*f + 0.5f, 0.f, 1.f); + // } + + // if(brightness != 0.f) + // { + // t = math::clamp(t + (brightness*0.01), 0.f, 1.f); + // } + // } + + // theta = (1.f - t)*math::HALF_PI; // [1, 0] --> [0, PI/2] mapping + + // // normal spherical to xyz + // float3 bump_normal(math::sin(theta)*math::cos(phi), math::sin(theta)*math::sin(phi), math::cos(theta)); + + // if(bump_amount >= 1.f) + // return bump_normal; + // else + // return combine_normals(bump_amount, bump_normal, 1.f - bump_amount, state::normal()); +} + +// 3dsmax Composite Layer Mask Mode +uniform color_layer_mode ad_3dsmax_mapmode(uniform int m) +{ + return + m == 0 ? base::color_layer_blend: + m == 1 ? base::color_layer_average: + m == 2 ? base::color_layer_add: + m == 3 ? base::color_layer_add: //but factor is negative to get subtract!! + m == 4 ? base::color_layer_darken: + m == 5 ? base::color_layer_multiply: + m == 6 ? base::color_layer_colorburn: + m == 7 ? base::color_layer_linearburn: + m == 8 ? base::color_layer_lighten: + m == 9 ? base::color_layer_screen: + m == 10 ? base::color_layer_colordodge: + m == 11 ? base::color_layer_lineardodge: + m == 12 ? base::color_layer_spotlight: + m == 13 ? base::color_layer_spotlightblend: + m == 14 ? base::color_layer_overlay: + m == 15 ? base::color_layer_softlight: + m == 16 ? base::color_layer_hardlight: + m == 17 ? base::color_layer_pinlight: + m == 18 ? base::color_layer_hardmix: + m == 19 ? base::color_layer_difference: + m == 20 ? base::color_layer_exclusion: + m == 21 ? base::color_layer_hue: + m == 22 ? base::color_layer_saturation: + m == 23 ? base::color_layer_color: + m == 24 ? base::color_layer_brightness: + base::color_layer_blend; +} + +// 3dsmax Composite Map +export texture_return ad_3dsmax_composite +( + // layer 1 + uniform int blendMode1 = 0 + [[ + anno::in_group("Composite Layers"), + anno::display_name("1: Blend Mode (unused)"), + anno::unused(), + anno::hidden() + ]], + texture_return map1 = texture_return() + [[ + anno::in_group("Composite Layers"), + anno::display_name("1: Map") + ]], + texture_return mask1 = texture_return(color(1.f), 1.f) + [[ + anno::in_group("Composite Layers"), + anno::display_name("1: Mask") + ]], + uniform float opacity1 = 0.f + [[ + anno::in_group("Composite Layers"), + anno::display_name("1: Opacity"), + anno::hard_range(0.f, 100.f) + ]], + // layer2 + uniform int blendMode2 = 0 + [[ + anno::in_group("Composite Layers"), + anno::display_name("2: Blend Mode") + ]], + texture_return map2 = texture_return() + [[ + anno::in_group("Composite Layers"), + anno::display_name("2: Map") + ]], + texture_return mask2 = texture_return(color(1.f), 1.f) + [[ + anno::in_group("Composite Layers"), + anno::display_name("2: Mask") + ]], + uniform float opacity2 = 0.f + [[ + anno::in_group("Composite Layers"), + anno::display_name("2: Opacity"), + anno::hard_range(0.f, 100.f) + ]], + // layer3 + uniform int blendMode3 = 0 + [[ + anno::in_group("Composite Layers"), + anno::display_name("3: Blend Mode") + ]], + texture_return map3 = texture_return() + [[ + anno::in_group("Composite Layers"), + anno::display_name("3: Map") + ]], + texture_return mask3 = texture_return(color(1.f), 1.f) + [[ + anno::in_group("Composite Layers"), + anno::display_name("3: Mask") + ]], + uniform float opacity3 = 0.f + [[ + anno::in_group("Composite Layers"), + anno::display_name("3: Opacity"), + anno::hard_range(0.f, 100.f) + ]], + // Layer4 + uniform int blendMode4 = 0 + [[ + anno::in_group("Composite Layers"), + anno::display_name("4: Blend Mode") + ]], + texture_return map4 = texture_return() + [[ + anno::in_group("Composite Layers"), + anno::display_name("4: Map") + ]], + texture_return mask4 = texture_return(color(1.f), 1.f) + [[ + anno::in_group("Composite Layers"), + anno::display_name("4: Mask") + ]], + uniform float opacity4 = 0.f + [[ + anno::in_group("Composite Layers"), + anno::display_name("3: Opacity"), + anno::hard_range(0.f, 100.f) + ]] +) +[[ + anno::author("NVIDIA Corporation") +]] +{ + opacity1 *= mask1.mono*0.01f; + texture_return t1 = opacity1 > 0.f ? + base::blend_color_layers + ( + layers: base::color_layer[] + ( + base::color_layer + ( + layer_color: map1.tint, + weight: opacity1, + mode: base::color_layer_blend + ) + ), + base: color(0.f) + ) + : texture_return(color(0.f), 0.f); + + opacity2 *= mask2.mono*0.01f; + texture_return t2 = opacity2 > 0.f ? + base::blend_color_layers + ( + layers: base::color_layer[] + ( + base::color_layer + ( + layer_color: map2.tint, + weight: blendMode2 == 3 ? -opacity2 : opacity2, + mode: ad_3dsmax_mapmode(blendMode2) + ) + ), + base: t1.tint + ) + : t1; + + opacity3 *= mask3.mono*0.01f; + texture_return t3 = opacity3 > 0.f ? + base::blend_color_layers + ( + layers: base::color_layer[] + ( + base::color_layer + ( + layer_color: map3.tint, + weight: blendMode3 == 3 ? -opacity3 : opacity3, + mode: ad_3dsmax_mapmode(blendMode3) + ) + ), + base: t2.tint + ) + : t2; + + opacity4 *= mask4.mono*0.01f; + texture_return t4 = opacity4 > 0.f ? + base::blend_color_layers + ( + layers: base::color_layer[] + ( + base::color_layer + ( + layer_color: map4.tint, + weight: blendMode4 == 3 ? -opacity4 : opacity4, + mode: ad_3dsmax_mapmode(blendMode4) + ) + ), + base: t3.tint + ): + t3; + + return t4; +} + +// 3dsmax Composite Map for Bump +export float3 ad_3dsmax_composite_bump +( + // Layer1 + uniform int blendMode1 = 0 + [[ + anno::in_group("Composite Layers"), + anno::display_name("1: Blend Mode"), + anno::unused(), + anno::hidden() + ]], + float3 map1 = state::normal() + [[ + anno::in_group("Composite Layers"), + anno::display_name("1: Bump Map") + ]], + texture_return mask1 = texture_return(color(1.f), 1.f) + [[ + anno::in_group("Composite Layers"), + anno::display_name("1: Mask") + ]], + uniform float opacity1 = 0.f + [[ + anno::in_group("Composite Layers"), + anno::display_name("1: Opacity"), + anno::hard_range(0.f, 100.f) + ]], + // Layer2 + uniform int blendMode2 = 0 + [[ + anno::in_group("Composite Layers"), + anno::display_name("2: Blend Mode"), + anno::unused(), + anno::hidden() + ]], + float3 map2 = state::normal() + [[ + anno::in_group("Composite Layers"), + anno::display_name("2: Bump Map") + ]], + texture_return mask2 = texture_return(color(1.f), 1.f) + [[ + anno::in_group("Composite Layers"), + anno::display_name("2: Mask") + ]], + uniform float opacity2 = 0.f + [[ + anno::in_group("Composite Layers"), + anno::display_name("2: Opacity"), + anno::hard_range(0.f, 100.f) + ]], + // Layer3 + uniform int blendMode3 = 0 + [[ + anno::in_group("Composite Layers"), + anno::display_name("3: Blend Mode"), + anno::unused(), + anno::hidden() + ]], + float3 map3 = state::normal() + [[ + anno::in_group("Composite Layers"), + anno::display_name("3: Bump Map") + ]], + texture_return mask3 = texture_return(color(1.f), 1.f) + [[ + anno::in_group("Composite Layers"), + anno::display_name("3: Mask") + ]], + uniform float opacity3 = 0.f + [[ + anno::in_group("Composite Layers"), + anno::display_name("3: Opacity"), + anno::hard_range(0.f, 100.f) + ]], + // Layer4 + uniform int blendMode4 = 0 + [[ + anno::in_group("Composite Layers"), + anno::display_name("4: Blend Mode"), + anno::unused(), + anno::hidden() + ]], + float3 map4 = state::normal() + [[ + anno::in_group("Composite Layers"), + anno::display_name("4: Bump Map") + ]], + texture_return mask4 = texture_return(color(1.f), 1.f) + [[ + anno::in_group("Composite Layers"), + anno::display_name("4: Mask") + ]], + uniform float opacity4 = 0.f + [[ + anno::in_group("Composite Layers"), + anno::display_name("4: Opacity"), + anno::hard_range(0.f, 100.f) + ]], + uniform float factor = 1.f + [[ + anno::in_group("Composite Layers"), + anno::display_name("Bump amount") + ]] +) +[[ + anno::author("NVIDIA Corporation") +]] +{ + float3 n1 = opacity1 > 0.f ? + combine_normals(1.f - (opacity1/100.f*mask1.mono), state::normal(), opacity1/100.f*factor*mask1.mono, map1) + : state::normal(); + + float3 n2 = opacity2 > 0.f ? + combine_normals(1.f - (opacity2/100.f*mask2.mono), n1, opacity2/100.f*factor*mask2.mono, map2) + : n1; + + float3 n3 = opacity3 > 0.f ? + combine_normals(1.f - (opacity3/100.f*mask3.mono), n2, opacity3/100.f*factor*mask3.mono, map3) + : n2; + + float3 n4 = opacity4 > 0.f ? + combine_normals(1.f - (opacity4/100.f*mask4.mono), n3, opacity4/100.f*factor*mask4.mono, map4) + : n3; + + return n4; +} + +// 3dsmax Dent Map +export texture_return ad_3dsmax_dent +( + // Dent Params + color color1 = color(0.f) + [[ + anno::in_group("Dent Parameters"), + anno::display_name("Color #1") + ]], + color color2 = color(1.f) + [[ + anno::in_group("Dent Parameters"), + anno::display_name("Color #2") + ]], + uniform float size = 200.f + [[ + anno::in_group("Dent Parameters"), + anno::display_name("Size") + ]], + uniform float strength = 20.f + [[ + anno::in_group("Dent Parameters"), + anno::display_name("Strength") + ]], + uniform int iterations = 2 + [[ + anno::in_group("Dent Parameters"), + anno::display_name("Iterations") + ]], + + // Coords + uniform float blur = 1.f + [[ + anno::in_group("Coordinates"), + anno::display_name("Blur"), + anno::unused() + ]], + uniform float3 offset = float3(0.f) + [[ + anno::in_group("Coordinates"), + anno::display_name("Offset") + ]], + uniform float3 tiling = float3(1.f) + [[ + anno::in_group("Coordinates"), + anno::display_name("Tiling") + ]], + uniform float3 angle = float3(0.f) + [[ + anno::in_group("Coordinates"), + anno::display_name("Angle") + ]], + uniform float blur_Offset = 1.f + [[ + anno::in_group("Coordinates"), + anno::display_name("Blur Offset"), + anno::unused(), + anno::hidden() + ]], + // coordType: Object XYZ = 0, World XYZ = 1, Explicit Map Channel = 2, Vertex Color Channel = 3 + uniform int coordType = 0 + [[ + anno::in_group("Coordinates"), + anno::display_name("Source") + ]], + uniform int mapChannel = 1 + [[ + anno::in_group("Coordinates"), + anno::display_name("Map Channel") + ]] +) +[[ + anno::author("NVIDIA Corporation") +]] +{ + return base::perlin_noise_texture + ( + color1: color1, + color2: color2, + size: size / 30.0, // Experimental factor to improve the match + noise_levels: iterations, + absolute_noise: true, // Dent is absolute noise + noise_threshold_high: (strength != 0 ? 1/(strength) : 1), // Match seems rather close + apply_dent: true, + uvw: base::transform_coordinate + ( + transform: base::rotation_translation_scale + ( + scaling: tiling, + translation: offset, + rotation: float3(angle.x,angle.y,angle.z)/180.*math::PI + ), + coordinate: + ( + coordType == 0 ? // Object XYZ + base::coordinate_source(coordinate_system: base::texture_coordinate_object): + ( + coordType == 1 ? // World XYZ + base::coordinate_source(coordinate_system: base::texture_coordinate_world): + ( + // coordType == 2 ? // Explicit Map Channel + // base::coordinate_source(texture_space: mapChannel-1): + base::coordinate_source(texture_space: mapChannel-1) // No support for Vertex Color Channel, fallback to UVs + ) + ) + ) + ) + ); +} + +// 3dsmax Dent Map for Bump +export float3 ad_3dsmax_dent_bump +( + // Dent Params + color color1 = color(0.f) + [[ + anno::in_group("Dent Parameters"), + anno::display_name("Color #1") + ]], + color color2 = color(1.f) + [[ + anno::in_group("Dent Parameters"), + anno::display_name("Color #2") + ]], + uniform float size = 200.f + [[ + anno::in_group("Dent Parameters"), + anno::display_name("Size") + ]], + uniform float strength = 20.f + [[ + anno::in_group("Dent Parameters"), + anno::display_name("Strength") + ]], + uniform int iterations = 2 + [[ + anno::in_group("Dent Parameters"), + anno::display_name("Iterations") + ]], + + // Bump + uniform float factor = 1.f + [[ + anno::in_group("Dent Parameters"), + anno::display_name("Bump amount") + ]], + + // Coords + uniform float blur = 1.f + [[ + anno::in_group("Coordinates"), + anno::display_name("Blur"), + anno::unused(), + anno::hidden() + ]], + uniform float3 offset = float3(0.f) + [[ + anno::in_group("Coordinates"), + anno::display_name("Offset") + ]], + uniform float3 tiling = float3(1.f) + [[ + anno::in_group("Coordinates"), + anno::display_name("Tiling") + ]], + uniform float3 angle = float3(0.f) + [[ + anno::in_group("Coordinates"), + anno::display_name("Angle") + ]], + uniform float blur_Offset = 1.f + [[ + anno::in_group("Coordinates"), + anno::display_name("Blur Offset"), + anno::unused(), + anno::hidden() + ]], + // coordType: Object XYZ = 0, World XYZ = 1, Explicit Map Channel = 2, Vertex Color Channel = 3 + uniform int coordType = 0 + [[ + anno::in_group("Coordinates"), + anno::display_name("Source") + ]], + uniform int mapChannel = 1 + [[ + anno::in_group("Coordinates"), + anno::display_name("Map Channel") + ]] +) +[[ + anno::author("NVIDIA Corporation") +]] +{ + float3 perlin_normal = base::perlin_noise_bump_texture + ( + factor: factor * (strength / 100.f), // Experimental + size: size / 30.f, // Experimental factor to improve the match + noise_levels: iterations, + absolute_noise: true, // Dent is absolute noise + apply_dent: true, + uvw: base::transform_coordinate + ( + transform: base::rotation_translation_scale + ( + scaling: tiling, + translation: offset, + rotation: float3(angle.x,angle.y,angle.z)/180.f*math::PI + ), + coordinate: + ( + coordType == 0 ? // Object XYZ + base::coordinate_source(coordinate_system: base::texture_coordinate_object): + ( + coordType == 1 ? // World XYZ + base::coordinate_source(coordinate_system: base::texture_coordinate_world): + ( + // coordType == 2 ? // Explicit Map Channel + // base::coordinate_source(texture_space: mapChannel-1): + base::coordinate_source(texture_space: mapChannel-1) // No support for Vertex Color Channel, fallback to UVs + ) + ) + ) + ) + ); + float f = math::average(color1 - color2) * factor; + return combine_normals( f, perlin_normal, 1.f - f, state::normal() ); +} + +// 3dsmax Gradient Ramp Map +export enum ad_3dsmax_gradient_interpolation +{ + custom = 0, + easy_in, + easy_in_out, + easy_out, + linear, + solid +}; + + +export texture_return ad_3dsmax_gradient_ramp +( + // Gradient Params + uniform float[] gradient_keys = float[](0.f, 50.f, 100.f) + [[ + anno::in_group("Gradient Parameters"), + anno::display_name("Gradient Keys") + ]], + uniform float3[] gradient_colors = float3[](float3(0.f, 0.f, 0.f), float3(0.5f, 0.5f, 0.5f), float3(1.f, 1.f, 1.f)) + [[ + anno::in_group("Gradient Parameters"), + anno::display_name("Gradient Colors") + ]], + uniform int gradient_type = 4 + [[ + anno::in_group("Gradient Parameters"), + anno::display_name("Gradient Type"), + anno::unused(), + anno::hidden() + ]], + uniform ad_3dsmax_gradient_interpolation gradient_interpolation = linear + [[ + anno::in_group("Gradient Parameters"), + anno::display_name("Interpolation") + ]], + + // Noise Params + uniform float amount = 1.f + [[ + anno::in_group("Noise Parameters"), + anno::display_name("Amount"), + anno::hard_range(0.f, 1.f) + ]], + // type: regular = 0, fractal = 1, turbulence = 2 + // 0- Regular (Generates plain noise. Basically the same as fractal noise with levels at 1.) + // 1- Fractal (Generates noise using a fractal algorithm. levels sets the number of iterations for the fractal noise.) + // 2- Turbulence (Generates fractal noise with an absolute value function applied to it to make fault lines.) + uniform int type = 0 + [[ + anno::in_group("Noise Parameters"), + anno::display_name("Noise Type") + ]], + uniform float size = 1.f + [[ + anno::in_group("Noise Parameters"), + anno::display_name("Size") + ]], + uniform float phase = 0.f + [[ + anno::in_group("Noise Parameters"), + anno::display_name("Phase") + ]], + uniform float levels = 4.f + [[ + anno::in_group("Noise Parameters"), + anno::display_name("Levels") + ]], + uniform float threshold_low = 0.f + [[ + anno::in_group("Noise Parameters"), + anno::display_name("Threshold Low") + ]], + uniform float threshold_high = 1.f + [[ + anno::in_group("Noise Parameters"), + anno::display_name("Threshold High") + ]], + uniform float threshold_smooth = 0.f + [[ + anno::in_group("Noise Parameters"), + anno::display_name("Threshold Smooth"), + anno::unused(), + anno::hidden() + ]], + + // Coords + uniform int map_channel = 1 + [[ + anno::in_group("Coordinates"), + anno::display_name("Map Channel") + ]], + uniform float3 offset = float3(0.f) + [[ + anno::in_group("Coordinates"), + anno::display_name("Offset") + ]], + uniform float3 tiling = float3(1.f) + [[ + anno::in_group("Coordinates"), + anno::display_name("Tiling") + ]], + uniform float3 angle = float3(0.f) + [[ + anno::in_group("Coordinates"), + anno::display_name("Angle") + ]], + uniform bool u_tile = true + [[ + anno::in_group("Coordinates"), + anno::display_name("U Tile"), + anno::unused(), + anno::hidden() + ]], + uniform bool v_tile = true + [[ + anno::in_group("Coordinates"), + anno::display_name("V Tile"), + anno::unused(), + anno::hidden() + ]], + uniform bool u_mirror = false + [[ + anno::in_group("Coordinates"), + anno::display_name("U Mirror") + ]], + uniform bool v_mirror = false + [[ + anno::in_group("Coordinates"), + anno::display_name("V Mirror") + ]], + uniform float blur_Offset = 1.f + [[ + anno::in_group("Coordinates"), + anno::display_name("Blur Offset"), + anno::unused(), + anno::hidden() + ]], + uniform int UVW_Type = 0 + [[ + anno::in_group("Coordinates"), + anno::display_name("UVW_Type"), + anno::unused(), + anno::hidden() + ]], + + // Output + uniform bool alpha_from_RGB = false + [[ + anno::in_group("Output"), + anno::display_name("Alpha from RGB Intensity"), + anno::unused(), + anno::hidden() + ]], + uniform float bump_amount = 1.f + [[ + anno::in_group("Output"), + anno::display_name("Bump Amount"), + anno::unused(), + anno::hidden() + ]], + uniform bool clamp = false + [[ + anno::in_group("Output"), + anno::display_name("Clamp"), + anno::unused(), + anno::hidden() + ]], + uniform bool invert = false + [[ + anno::in_group("Output"), + anno::display_name("Invert"), + anno::unused(), + anno::hidden() + ]], + uniform float output_amount = 1.f + [[ + anno::in_group("Output"), + anno::display_name("Output Amount"), + anno::unused(), + anno::hidden() + ]], + uniform float rgb_level = 1.f + [[ + anno::in_group("Output"), + anno::display_name("RGB Level"), + anno::unused(), + anno::hidden() + ]], + uniform float rgb_offset = 0.f + [[ + anno::in_group("Output"), + anno::display_name("RGB Offset"), + anno::unused(), + anno::hidden() + ]] +) +[[ + anno::author("NVIDIA Corporation") +]] +{ + texture_return noise; + + if(amount > 0.f) + { + noise = base::perlin_noise_texture + ( + size: size/30.f, + noise_phase: phase, + noise_levels: (type == 0 ? 1 : int(levels)), // Levels only used for fractal and turbulence noise types + absolute_noise: type == 2, // If set to true, the appearance of the pattern will be more "billowing" and "turbulent" + noise_threshold_high: threshold_high, + noise_threshold_low: threshold_low, + uvw: base::transform_coordinate + ( + transform: max_rotation_translation_scale + ( + scaling: tiling, + rotation: angle/180.f*math::PI , + translation: offset, + u_mirror: u_mirror, + v_mirror: v_mirror + ), + coordinate: base::coordinate_source(texture_space: map_channel-1) + ) + ); + } + + float3 position = state::texture_coordinate(0); + + float t = position.x + noise.mono*amount; + + t = t - int(t); + if( t < 0.f) + t += 1.f; + else if( t > 1.f) + t -= 1.f; + + t *= 100.f; + + int idx=0; + for(int i=0; i= t) + { + idx = i; + break; + } + } + + color c; + switch(gradient_interpolation) + { + case easy_in: + t = (t - gradient_keys[idx])/(gradient_keys[idx+1] - gradient_keys[idx]); + c = color(math::lerp( gradient_colors[idx], gradient_colors[idx+1], t*t)); + break; + case easy_in_out: + t = (t - gradient_keys[idx])/(gradient_keys[idx+1] - gradient_keys[idx]); + c = color(math::lerp( gradient_colors[idx], gradient_colors[idx+1], t*t*(3.f - 2.f*t))); + break; + case easy_out: + t = (t - gradient_keys[idx])/(gradient_keys[idx+1] - gradient_keys[idx]); + c = color(math::lerp( gradient_colors[idx], gradient_colors[idx+1], math::sqrt(t))); + break; + default: + case linear: + t = (t - gradient_keys[idx])/(gradient_keys[idx+1] - gradient_keys[idx]); + c = color(math::lerp( gradient_colors[idx], gradient_colors[idx+1], t)); + break; + case solid: + c = color(gradient_colors[idx]); + break; + } + + return texture_return(c, math::average(c)); +} + +// 3dsmax Gradient Ramp Map for Bump +export float3 ad_3dsmax_gradient_ramp_bump +( + // Gradient Params + uniform float[] gradient_keys = float[](0.f, 50.f, 100.f) + [[ + anno::in_group("Gradient Parameters"), + anno::display_name("Gradient Keys"), + anno::unused(), + anno::hidden() + + ]], + uniform float3[] gradient_colors = float3[](float3(0.f, 0.f, 0.f), float3(0.5f, 0.5f, 0.5f), float3(1.f, 1.f, 1.f)) + [[ + anno::in_group("Gradient Parameters"), + anno::display_name("Gradient Colors"), + anno::unused(), + anno::hidden() + ]], + uniform int gradient_type = 5 + [[ + anno::in_group("Gradient Parameters"), + anno::display_name("Gradient Type"), + anno::unused(), + anno::hidden() + ]], + uniform ad_3dsmax_gradient_interpolation gradient_interpolation = linear + [[ + anno::in_group("Gradient Parameters"), + anno::display_name("Interpolation"), + anno::unused(), + anno::hidden() + ]], + + // Noise Params + uniform float amount = 1.f + [[ + anno::in_group("Noise Parameters"), + anno::display_name("Amount"), + anno::hard_range(0.f, 1.f) + ]], + // type: regular = 0, fractal = 1, turbulence = 2 + // 0- Regular (Generates plain noise. Basically the same as fractal noise with levels at 1.) + // 1- Fractal (Generates noise using a fractal algorithm. levels sets the number of iterations for the fractal noise.) + // 2- Turbulence (Generates fractal noise with an absolute value function applied to it to make fault lines.) + uniform int type = 0 + [[ + anno::in_group("Noise Parameters"), + anno::display_name("Noise Type") + ]], + uniform float size = 1.f + [[ + anno::in_group("Noise Parameters"), + anno::display_name("Size") + ]], + uniform float phase = 0.f + [[ + anno::in_group("Noise Parameters"), + anno::display_name("Phase") + ]], + uniform float levels = 4.f + [[ + anno::in_group("Noise Parameters"), + anno::display_name("Levels") + ]], + uniform float threshold_low = 0.f + [[ + anno::in_group("Noise Parameters"), + anno::display_name("Threshold Low") + ]], + uniform float threshold_high = 1.f + [[ + anno::in_group("Noise Parameters"), + anno::display_name("Threshold High") + ]], + uniform float threshold_smooth = 0.f + [[ + anno::in_group("Noise Parameters"), + anno::display_name("Threshold Smooth"), + anno::unused(), + anno::hidden() + ]], + + // Bump + uniform float factor = 1.f + [[ + anno::in_group("Bump Parameters"), + anno::display_name("Bump factor") + ]], + + // Coords + uniform int map_channel = 1 + [[ + anno::in_group("Coordinates"), + anno::display_name("Map Channel") + ]], + uniform float3 offset = float3(0.f) + [[ + anno::in_group("Coordinates"), + anno::display_name("Offset") + ]], + uniform float3 tiling = float3(1.f) + [[ + anno::in_group("Coordinates"), + anno::display_name("Tiling") + ]], + uniform float3 angle = float3(0.f) + [[ + anno::in_group("Coordinates"), + anno::display_name("Angle") + ]], + uniform bool u_tile = true + [[ + anno::in_group("Coordinates"), + anno::display_name("U Tile"), + anno::unused(), + anno::hidden() + ]], + uniform bool v_tile = true + [[ + anno::in_group("Coordinates"), + anno::display_name("V Tile"), + anno::unused(), + anno::hidden() + ]], + uniform bool u_mirror = false + [[ + anno::in_group("Coordinates"), + anno::display_name("U Mirror") + ]], + uniform bool v_mirror = false + [[ + anno::in_group("Coordinates"), + anno::display_name("V Mirror") + ]], + uniform float blur_Offset = 1.f + [[ + anno::in_group("Coordinates"), + anno::display_name("Blur Offset"), + anno::unused(), + anno::hidden() + ]], + uniform int UVW_Type = 0 + [[ + anno::in_group("Coordinates"), + anno::display_name("UVW_Type"), + anno::unused(), + anno::hidden() + ]], + + // Output + uniform bool alpha_from_RGB = false + [[ + anno::in_group("Output"), + anno::display_name("Alpha from RGB Intensity"), + anno::unused(), + anno::hidden() + ]], + uniform float bump_amount = 1.f + [[ + anno::in_group("Output"), + anno::display_name("Bump Amount"), + anno::unused(), + anno::hidden() + ]], + uniform bool clamp = false + [[ + anno::in_group("Output"), + anno::display_name("Clamp"), + anno::unused(), + anno::hidden() + ]], + uniform bool invert = false + [[ + anno::in_group("Output"), + anno::display_name("Invert"), + anno::unused(), + anno::hidden() + ]], + uniform float output_amount = 1.f + [[ + anno::in_group("Output"), + anno::display_name("Output Amount"), + anno::unused(), + anno::hidden() + ]], + uniform float rgb_level = 1.f + [[ + anno::in_group("Output"), + anno::display_name("RGB Level"), + anno::unused(), + anno::hidden() + ]], + uniform float rgb_offset = 0.f + [[ + anno::in_group("Output"), + anno::display_name("RGB Offset"), + anno::unused(), + anno::hidden() + ]] +) +[[ + anno::author("NVIDIA Corporation") +]] +{ + float3 perlin_normal = base::perlin_noise_bump_texture + ( + factor: factor, + size: size/30.f, + noise_phase: phase, + noise_levels: (type == 0 ? 1 : int(levels)), // Levels only used for fractal and turbulence noise types + absolute_noise: type == 2, // If set to true, the appearance of the pattern will be more "billowing" and "turbulent" + noise_threshold_high: threshold_high, + noise_threshold_low: threshold_low, + uvw: base::transform_coordinate + ( + transform: max_rotation_translation_scale + ( + scaling: tiling, + rotation: angle/180.f*math::PI , + translation: offset, + u_mirror: u_mirror, + v_mirror: v_mirror + ), + coordinate: base::coordinate_source(texture_space: map_channel-1) + ) + ); + // return combine_normals( factor, perlin_normal, 1.f-factor, state::normal() ); + + return math::normalize(math::lerp(state::normal(), perlin_normal, factor*amount)); + +} + + +// 3dsmax Falloff Map Type +export enum ad_3dsmax_falloff_Type +[[ + anno::hidden() +]] +{ + Towards_Away, + Perpendicular_Parallel, + Fresnel, + Shadow_Light, + Distance_Blend +}; + +// 3dsmax Falloff Map directions +export enum ad_3dsmax_falloff_direction +[[ + anno::hidden() +]] +{ + View, + Camera_X, + Camera_Y, + Object, + Local_X, + Local_Y, + Local_Z, + World_X, + World_Y, + World_Z +}; + +// 3dsmax Falloff Map +export texture_return ad_3dsmax_falloff +( + texture_return color1 = texture_return() + [[ + anno::in_group("Falloff"), + anno::display_name("Color #1") + ]], + texture_return color2 = texture_return() + [[ + anno::in_group("Falloff"), + anno::display_name("Color #1"), + anno::unused(), + anno::hidden() + ]], + uniform ad_3dsmax_falloff_Type falloff_type = Perpendicular_Parallel + [[ + anno::in_group("Falloff"), + anno::display_name("Falloff type"), + anno::unused(), + anno::hidden() + ]], + uniform ad_3dsmax_falloff_direction falloff_direction = View + [[ + anno::in_group("Falloff"), + anno::display_name("Falloff direction"), + anno::unused(), + anno::hidden() + ]], + float4x4 node = float4x4() + [[ + anno::in_group("Falloff"), + anno::display_name("Node"), + anno::unused(), + anno::hidden() + ]], + uniform float nearDistance = 0.f + [[ + anno::in_group("Falloff"), + anno::display_name("Near distance"), + anno::unused(), + anno::hidden() + ]], + uniform float farDistance = 1000000.f + [[ + anno::in_group("Falloff"), + anno::display_name("Far distance"), + anno::unused(), + anno::hidden() + ]] +) +[[ + anno::author("NVIDIA Corporation") +]] +{ + return color1; +} + +// 3dsmax Mix Map +export texture_return ad_3dsmax_mix +( + texture_return color1 = texture_return() + [[ + anno::in_group("Mix parameters"), + anno::display_name("Color #1") + ]], + texture_return color2 = texture_return() + [[ + anno::in_group("Mix parameters"), + anno::display_name("Color #2") + ]], + float mixAmount = 0.f + [[ + anno::in_group("Mix parameters"), + anno::display_name("Mix amount"), + anno::hard_range(0.f, 1.f) + ]], + uniform bool useCurve = false + [[ + anno::in_group("Mix parameters"), + anno::display_name("Use curve") + ]], + uniform float lower = 0.3f + [[ + anno::in_group("Mix parameters"), + anno::display_name("Lower"), + anno::hard_range(0.f, 1.f) + ]], + uniform float upper = .7f + [[ + anno::in_group("Mix parameters"), + anno::display_name("Upper"), + anno::hard_range(0.f, 1.f) + ]] +) +[[ + anno::author("NVIDIA Corporation") +]] +{ + float t = useCurve ? math::smoothstep(lower, upper, mixAmount) : math::smoothstep(0.0, 1.0, mixAmount); + + return texture_return( + math::lerp(color1.tint,color2.tint, t), + math::lerp(color1.mono,color2.mono, t)); +} + +// 3dsmax Mix Map for Bump +export float3 ad_3dsmax_mix_bump +( + float3 color1 = state::normal() + [[ + anno::in_group("Mix parameters"), + anno::display_name("Bump Map #1") + ]], + float3 color2 = state::normal() + [[ + anno::in_group("Mix parameters"), + anno::display_name("Bump Map #2") + ]], + float mixAmount = 0.f + [[ + anno::in_group("Mix parameters"), + anno::display_name("Mix amount"), + anno::hard_range(0.f, 1.f) + ]], + uniform bool useCurve = false + [[ + anno::in_group("Mix parameters"), + anno::display_name("Use Curve") + ]], + uniform float lower = 0.3f + [[ + anno::in_group("Mix parameters"), + anno::display_name("Lower"), + anno::hard_range(0.f, 1.f) + ]], + uniform float upper = .7f + [[ + anno::in_group("Mix parameters"), + anno::display_name("Upper"), + anno::hard_range(0.f, 1.f) + ]], + + // Bump + uniform float bump_amount = 1.f + [[ + anno::in_group("Dent Parameters"), + anno::display_name("Bump amount") + ]] +) +[[ + anno::author("NVIDIA Corporation") +]] +{ + float t = useCurve ? math::smoothstep(lower, upper, mixAmount) : math::smoothstep(0.0, 1.0, mixAmount); + float3 mix_normal = math::normalize(math::lerp(color1, color2, t)); + + return math::normalize(math::lerp(state::normal(), mix_normal, bump_amount)); +} + +// 3dsmax Noise Map +export texture_return ad_3dsmax_noise +( + // Noise Params + color color1 = color(0.f) + [[ + anno::in_group("Noise Parameters"), + anno::display_name("Color #1") + ]], + color color2 = color(1.f) + [[ + anno::in_group("Noise Parameters"), + anno::display_name("Color #2") + ]], + uniform float size = 25.f + [[ + anno::in_group("Noise Parameters"), + anno::display_name("Size") + ]], + uniform float phase = 0.f + [[ + anno::in_group("Noise Parameters"), + anno::display_name("Phase") + ]], + uniform float levels = 3.f + [[ + anno::in_group("Noise Parameters"), + anno::display_name("Levels") + ]], + uniform float thresholdLow = 0.f + [[ + anno::in_group("Noise Parameters"), + anno::display_name("Noise Threshold Low") + ]], + uniform float thresholdHigh = 1.f + [[ + anno::in_group("Noise Parameters"), + anno::display_name("Noise Threshold High") + ]], + // type: regular = 0, fractal = 1, turbulence = 2 + // 0- Regular (Generates plain noise. Basically the same as fractal noise with levels at 1.) + // 1- Fractal (Generates noise using a fractal algorithm. levels sets the number of iterations for the fractal noise.) + // 2- Turbulence (Generates fractal noise with an absolute value function applied to it to make fault lines.) + uniform int type = 1 + [[ + anno::in_group("Noise Parameters"), + anno::display_name("Noise Type") + ]], + + // Coords + uniform float blur = 1.f + [[ + anno::in_group("Coordinates"), + anno::display_name("Blur"), + anno::unused(), + anno::hidden() + ]], + uniform float3 offset = float3(0.f) + [[ + anno::in_group("Coordinates"), + anno::display_name("Offset") + ]], + uniform float3 tiling = float3(1.f) + [[ + anno::in_group("Coordinates"), + anno::display_name("Tiling") + ]], + uniform float3 angle = float3(0.f) + [[ + anno::in_group("Coordinates"), + anno::display_name("Angle") + ]], + uniform float blur_Offset = 1.f + [[ + anno::in_group("Coordinates"), + anno::display_name("Blur Offset"), + anno::unused(), + anno::hidden() + ]], + // coordType: Object XYZ = 0, World XYZ = 1, Explicit Map Channel = 2, Vertex Color Channel = 3 + uniform int coordType = 0 + [[ + anno::in_group("Coordinates"), + anno::display_name("Source") + ]], + uniform int mapChannel = 1 + [[ + anno::in_group("Coordinates"), + anno::display_name("Map Channel") + ]], + + // Output + uniform bool alphaFromRGB = false + [[ + anno::in_group("Output"), + anno::display_name("Alpha from RGB Intensity"), + anno::unused(), + anno::hidden() + ]], + uniform float bump_amount = 1.f + [[ + anno::in_group("Output"), + anno::display_name("Bump Amount"), + anno::unused(), + anno::hidden() + ]], + uniform bool clamp = false + [[ + anno::in_group("Output"), + anno::display_name("Clamp"), + anno::unused(), + anno::hidden() + ]], + uniform bool invert = false + [[ + anno::in_group("Output"), + anno::display_name("Invert"), + anno::unused(), + anno::hidden() + ]], + uniform float output_amount = 1.f + [[ + anno::in_group("Output"), + anno::display_name("Output Amount"), + anno::unused(), + anno::hidden() + ]], + uniform float rgb_level = 1.f + [[ + anno::in_group("Output"), + anno::display_name("RGB Level"), + anno::unused(), + anno::hidden() + ]], + uniform float rgb_offset = 0.f + [[ + anno::in_group("Output"), + anno::display_name("RGB Offset"), + anno::unused(), + anno::hidden() + ]] +) +[[ + anno::author("NVIDIA Corporation") +]] +{ + return base::perlin_noise_texture + ( + color1: color1, + color2: color2, + size: size/30.f, + noise_phase: phase, + noise_levels: (type == 0 ? 1 : int(levels)), // Levels only used for fractal and turbulence noise types + absolute_noise: type == 2, // If set to true, the appearance of the pattern will be more "billowing" and "turbulent" + noise_threshold_high: thresholdHigh, + noise_threshold_low: thresholdLow, + uvw: base::transform_coordinate + ( + transform: base::rotation_translation_scale + ( + scaling: tiling, + translation: offset, + rotation: float3(angle.x,angle.y,angle.z)/180.*math::PI + ), + coordinate: + ( + coordType == 0 ? // Object XYZ + base::coordinate_source(coordinate_system: base::texture_coordinate_object): + ( + coordType == 1 ? // World XYZ + base::coordinate_source(coordinate_system: base::texture_coordinate_world): + ( + // coordType == 2 ? // Explicit Map Channel + // base::coordinate_source(texture_space: mapChannel-1): + base::coordinate_source(texture_space: mapChannel-1) // No support for Vertex Color Channel, fallback to UVs + ) + ) + ) + ) + ); +} + +// 3dsmax Noise Map for Bump +export float3 ad_3dsmax_noise_bump +( + // Noise Params + color color1 = color(0.f) + [[ + anno::in_group("Noise Parameters"), + anno::display_name("Color #1") + ]], + color color2 = color(1.f) + [[ + anno::in_group("Noise Parameters"), + anno::display_name("Color #2") + ]], + uniform float size = 25.f + [[ + anno::in_group("Noise Parameters"), + anno::display_name("Size") + ]], + uniform float phase = 0.f + [[ + anno::in_group("Noise Parameters"), + anno::display_name("Phase") + ]], + uniform float levels = 3.f + [[ + anno::in_group("Noise Parameters"), + anno::display_name("Levels") + ]], + uniform float thresholdLow = 0.f + [[ + anno::in_group("Noise Parameters"), + anno::display_name("Noise Threshold Low") + ]], + uniform float thresholdHigh = 1.f + [[ + anno::in_group("Noise Parameters"), + anno::display_name("Noise Threshold High") + ]], + // type: regular = 0, fractal = 1, turbulence = 2 + // 0- Regular (Generates plain noise. Basically the same as fractal noise with levels at 1.) + // 1- Fractal (Generates noise using a fractal algorithm. levels sets the number of iterations for the fractal noise.) + // 2- Turbulence (Generates fractal noise with an absolute value function applied to it to make fault lines.) + uniform int type = 1 + [[ + anno::in_group("Noise Parameters"), + anno::display_name("Noise Type") + ]], + + // Bump + uniform float factor = 1.f + [[ + anno::in_group("Noise Parameters"), + anno::display_name("Bump amount") + ]], + + // Coords + uniform float blur = 1.f + [[ + anno::in_group("Coordinates"), + anno::display_name("Blur"), + anno::unused(), + anno::hidden() + ]], + uniform float3 offset = float3(0.f) + [[ + anno::in_group("Coordinates"), + anno::display_name("Offset") + ]], + uniform float3 tiling = float3(1.f) + [[ + anno::in_group("Coordinates"), + anno::display_name("Tiling") + ]], + uniform float3 angle = float3(0.f) + [[ + anno::in_group("Coordinates"), + anno::display_name("Angle") + ]], + uniform float blur_Offset = 1.f + [[ + anno::in_group("Coordinates"), + anno::display_name("Blur Offset"), + anno::unused(), + anno::hidden() + ]], + // coordType: Object XYZ = 0, World XYZ = 1, Explicit Map Channel = 2, Vertex Color Channel = 3 + uniform int coordType = 0 + [[ + anno::in_group("Coordinates"), + anno::display_name("Source") + ]], + uniform int mapChannel = 1 + [[ + anno::in_group("Coordinates"), + anno::display_name("Map Channel") + ]], + + // Output + uniform bool alphaFromRGB = false + [[ + anno::in_group("Output"), + anno::display_name("Alpha from RGB Intensity"), + anno::unused(), + anno::hidden() + ]], + uniform float bump_amount = 1.0 + [[ + anno::in_group("Output"), + anno::display_name("Bump Amount"), + anno::unused(), + anno::hidden() + ]], + uniform bool clamp = false + [[ + anno::in_group("Output"), + anno::display_name("Clamp"), + anno::unused(), + anno::hidden() + ]], + uniform bool invert = false + [[ + anno::in_group("Output"), + anno::display_name("Invert"), + anno::unused(), + anno::hidden() + ]], + uniform float output_amount = 1.0 + [[ + anno::in_group("Output"), + anno::display_name("Output Amount"), + anno::unused(), + anno::hidden() + ]], + uniform float rgb_level = 1.0 + [[ + anno::in_group("Output"), + anno::display_name("RGB Level"), + anno::unused(), + anno::hidden() + ]], + uniform float rgb_offset = 0.0 + [[ + anno::in_group("Output"), + anno::display_name("RGB Offset"), + anno::unused(), + anno::hidden() + ]] +) +[[ + anno::author("NVIDIA Corporation") +]] +{ + float3 perlin_normal = base::perlin_noise_bump_texture + ( + factor: factor, + size: size/30.f, + noise_phase: phase, + noise_levels: (type == 0 ? 1 : int(levels)), // Levels only used for fractal and turbulence noise types + absolute_noise: type == 2, // If set to true, the appearance of the pattern will be more "billowing" and "turbulent" + noise_threshold_high: thresholdHigh, + noise_threshold_low: thresholdLow, + uvw: base::transform_coordinate + ( + transform: base::rotation_translation_scale + ( + scaling: tiling, + translation: offset, + rotation: float3(angle.x,angle.y,angle.z)/180.*math::PI + ), + coordinate: + ( + coordType == 0 ? // Object XYZ + base::coordinate_source(coordinate_system: base::texture_coordinate_object): + ( + coordType == 1 ? // World XYZ + base::coordinate_source(coordinate_system: base::texture_coordinate_world): + ( + // coordType == 2 ? // Explicit Map Channel + // base::coordinate_source(texture_space: mapChannel-1): + base::coordinate_source(texture_space: mapChannel-1) // No support for Vertex Color Channel, fallback to UVs + ) + ) + ) + ) + ); + float f = math::average(color1 - color2) * factor; + return combine_normals( f, perlin_normal, 1-f, state::normal() ); +} + +// 3dsmax Output Map +export texture_return ad_3dsmax_output +( + texture_return MAP1 = texture_return() + [[ + anno::in_group("Output Parameters"), + anno::display_name("Map") + ]], + uniform float bump_amount = 1.f + [[ + anno::in_group("Output Parameters"), + anno::display_name("Bump amount"), + anno::unused() + ]], + uniform bool clamp = false + [[ + anno::in_group("Output Parameters"), + anno::display_name("Clamp") + ]], + uniform bool invert = false + [[ + anno::in_group("Output Parameters"), + anno::display_name("Invert") + ]], + uniform bool alphaFromRGB = false + [[ + anno::in_group("Output Parameters"), + anno::display_name("Alpha from RGB intensity") + ]], + uniform float output_amount = 1.f + [[ + anno::in_group("Output Parameters"), + anno::display_name("Output amount"), + anno::unused() + ]], + uniform float rgb_level = 1.f + [[ + anno::in_group("Output Parameters"), + anno::display_name("RGB level") + ]], + uniform float rgb_offset = 0.f + [[ + anno::in_group("Output Parameters"), + anno::display_name("RGB offset") + ]] +) +[[ + anno::author("NVIDIA Corporation") +]] +{ + color rgb(MAP1.tint*rgb_level + rgb_offset); + + if(clamp || invert) + rgb = math::clamp(rgb, 0.f, 1.f); + + if(invert) + rgb = color(1.f) - rgb; + + return texture_return(rgb, alphaFromRGB ? math::luminance(rgb) : MAP1.mono); + +} + +// 3dsmax Output Map for Bump +export float3 ad_3dsmax_output_bump +( + float3 MAP1 = state::normal() + [[ + anno::in_group("Output Parameters"), + anno::display_name("Map") + ]], + uniform float bump_amount = 1.f + [[ + anno::in_group("Output Parameters"), + anno::display_name("Bump amount") + ]], + uniform bool clamp = false + [[ + anno::in_group("Output Parameters"), + anno::display_name("Clamp"), + anno::unused() + ]], + uniform bool invert = false + [[ + anno::in_group("Output Parameters"), + anno::display_name("Invert") + ]], + uniform bool alphaFromRGB = false + [[ + anno::in_group("Output Parameters"), + anno::display_name("Alpha from RGB intensity"), + anno::unused() + ]], + uniform float output_amount = 1.f + [[ + anno::in_group("Output Parameters"), + anno::display_name("Output amount"), + anno::unused() + ]], + uniform float rgb_level = 1.f + [[ + anno::in_group("Output Parameters"), + anno::display_name("RGB level"), + anno::unused() + ]], + uniform float rgb_offset = 0.f + [[ + anno::in_group("Output Parameters"), + anno::display_name("RGB offset"), + anno::unused() + ]], + uniform float base_bump_amount = 1.f + [[ + anno::in_group("Bump"), + anno::display_name("Base bump amount"), + anno::hard_range(0.f, 1.f) + ]] + +) +[[ + anno::author("NVIDIA Corporation") +]] +{ + float3 normal = MAP1; + if(invert) + { + normal = transform_internal_to_tangent(normal); + normal = float3(-normal.x, -normal.y, normal.z); + normal = transform_tangent_to_internal(normal); + } + + return math::normalize(math::lerp(state::normal(), normal, bump_amount*base_bump_amount)); +} + +int rnd_next(int seed) { + // xorshift32 using signed int + seed ^= seed << 13; + seed ^= seed >>> 17; + seed ^= seed << 5; + return seed; +} + +float rnd_value(int seed) +{ + return math::abs(float(seed) * 4.6566e-10f); +} + +// Convert from the HSV color model to the RGB color model +float3 hsv_to_rgb(float3 hsv) +{ + // grayscale? + if(hsv.y < limits::FLOAT_MIN) + return float3(hsv.z); + + float h_prime = (hsv.x < 1.0f) ? hsv.x * 6.0f : 0.0f; // H * 360.0/60.0 + float h_floor = math::floor(h_prime); + float f = h_prime - h_floor; + float zy = hsv.z*hsv.y; + float a = hsv.z - zy; + float b = hsv.z - zy*f; + float c = a + zy*f; + + switch(int(h_floor)) + { + default: + // hue out of [0,1] range... + // fall through... + case 0: + return float3(hsv.z, c, a); + case 1: + return float3(b, hsv.z, a); + case 2: + return float3(a, hsv.z, c); + case 3: + return float3(a, b, hsv.z); + case 4: + return float3(c, a, hsv.z); + case 5: + return float3(hsv.z, a, b); + } +} + +// Convert from the RGB color model to the HSV color model +export float3 rgb_to_hsv(float3 rgb) +{ + float max = math::max(rgb.x, math::max(rgb.y, rgb.z)); + float min = math::min(rgb.x, math::min(rgb.y, rgb.z)); + float range = max - min; + + if(range > limits::FLOAT_MIN) + { + float inv_range = (1.0f/6.0f)/range; + + float saturation = (max > limits::FLOAT_MIN) ? (range / max) : 0.0f; + float hue = (saturation != 0.0f) ? + ((max == rgb.x) ? ((rgb.y-rgb.z)*inv_range) // R is max + : (max == rgb.y) ? ((2.0f/6.0f) + (rgb.z-rgb.x)*inv_range) // G is max + : ((4.0f/6.0f) + (rgb.x-rgb.y)*inv_range)) // B is max + : 0.0f; // hue is undefined (assume 0) + + return float3((hue >= 0.0f) ? hue : (hue + 1.0f), saturation, max); + + } + else // grayscale + { + return float3(0.f, 0.f, max); + } +} + +// 3dsmax Tiles map +export texture_return ad_3dsmax_tiles +( + // Coordinates + uniform int map_channel = 1 + [[ + anno::in_group("Coordinates"), + anno::display_name("Map channel") + ]], + uniform float U_Offset = 0.f + [[ + anno::in_group("Coordinates"), + anno::display_name("U Offset") + ]], + uniform float V_Offset = 0.f + [[ + anno::in_group("Coordinates"), + anno::display_name("V Offset") + ]], + uniform float U_Tiling = 1.f + [[ + anno::in_group("Coordinates"), + anno::display_name("U Tiling") + ]], + uniform float V_Tiling = 1.f + [[ + anno::in_group("Coordinates"), + anno::display_name("V Tiling") + ]], + uniform bool U_Tile = true //it is actually an error if both mirror and tile are true + [[ + anno::in_group("Coordinates"), + anno::display_name("U Tile"), + anno::unused(), + anno::hidden() + ]], + uniform bool U_Mirror = false + [[ + anno::in_group("Coordinates"), + anno::display_name("U Mirror") + ]], + uniform bool V_Tile = true + [[ + anno::in_group("Coordinates"), + anno::display_name("V Tile"), + anno::unused(), + anno::hidden() + ]], + uniform bool V_Mirror = false + [[ + anno::in_group("Coordinates"), + anno::display_name("V Mirror") + ]], + uniform float U_angle = 0.f + [[ + anno::in_group("Coordinates"), + anno::display_name("U Angle") + ]], + uniform float V_angle = 0.f + [[ + anno::in_group("Coordinates"), + anno::display_name("V Angle") + ]], + uniform float W_angle = 0.f + [[ + anno::in_group("Coordinates"), + anno::display_name("W Angle"), + anno::unused(), + anno::hidden() + ]], + uniform int UVW_Type = 0 //enum? + [[ + anno::in_group("Coordinates"), + anno::display_name("UVW Type"), + anno::unused(), + anno::hidden() + ]], + + // Noise + uniform bool use_noise = false + [[ + anno::in_group("Noise"), + anno::display_name("Use Noise") + ]], + uniform float noise_amount = 1.f + [[ + anno::in_group("Noise"), + anno::display_name("Amount"), + anno::hard_range(0.f, 100.f), + anno::enable_if("use_noise") + ]], + uniform int noise_levels = 1 + [[ + anno::in_group("Noise"), + anno::display_name("Levels"), + anno::hard_range(1, 10), + anno::enable_if("use_noise") + ]], + uniform float noise_size = 1.f + [[ + anno::in_group("Noise"), + anno::display_name("Size"), + anno::hard_range(0.001f, 100.f), + anno::enable_if("use_noise") + ]], + uniform float noise_phase = 0.f + [[ + anno::in_group("Noise"), + anno::display_name("Phase"), + anno::hard_range(0.f, 100.f), + anno::enable_if("use_noise") + ]], + +// Standard Controls + uniform int preset_type = 5 + [[ + anno::in_group("Standard Controls"), + anno::display_name("Preset type"), + anno::hard_range(0, 7) + ]], + +// Advanced Controls + color tiles_color = color(0.6f) + [[ + anno::in_group("Advanced Controls"), + anno::display_name("Tiles texture") + ]], + uniform float tiles_horizontal_count = 4.f + [[ + anno::in_group("Advanced Controls"), + anno::display_name("Horizontal count"), + anno::hard_range(0.f, 100.f) + ]], + uniform float tiles_vertical_count = 4.f + [[ + anno::in_group("Advanced Controls"), + anno::display_name("Vertical count"), + anno::hard_range(0.f, 100.f) + ]], + uniform float tiles_color_variance = 0.f + [[ + anno::in_group("Advanced Controls"), + anno::display_name("Color variance"), + anno::hard_range(0.f, 100.f) + ]], + uniform float tiles_fade_variance = 0.05f + [[ + anno::in_group("Advanced Controls"), + anno::display_name("Fade variance"), + anno::hard_range(0.f, 100.f) + ]], + color grout_color = color(0.2f) + [[ + anno::in_group("Advanced Controls"), + anno::display_name("Grout texture") + ]], + uniform bool grout_lock_gap_simetry = true + [[ + anno::in_group("Advanced Controls"), + anno::display_name("Gap simetry") + ]], + uniform float grout_horizontal_gap = 0.5f + [[ + anno::in_group("Advanced Controls"), + anno::display_name("Horizontal gap"), + anno::hard_range(0.f, 100.f) + ]], + uniform float grout_vertical_gap = 0.5f + [[ + anno::in_group("Advanced Controls"), + anno::display_name("Vertical gap"), + anno::hard_range(0.f, 100.f), + anno::enable_if("!grout_lock_gap_simetry") + ]], + uniform float grout_percent_holes = 0.f + [[ + anno::in_group("Advanced Controls"), + anno::display_name("Percent holes"), + anno::hard_range(0.f, 100.f) + ]], + uniform float grout_rought = 0.f + [[ + anno::in_group("Advanced Controls"), + anno::display_name("Rough"), + anno::hard_range(0.f, 200.f) + ]], + uniform int random_seed = 1444 + [[ + anno::in_group("Advanced Controls"), + anno::display_name("Random seed"), + anno::hard_range(0, 65535) + ]], + uniform float line_shift = 0.5f + [[ + anno::in_group("Advanced Controls"), + anno::display_name("Line shift"), + anno::hard_range(0.f, 100.f), + anno::unused(), + anno::hidden() + ]], + uniform float random_shift = 0.f + [[ + anno::in_group("Advanced Controls"), + anno::display_name("Random shift"), + anno::hard_range(0.f, 100.f), + anno::unused(), + anno::hidden() + ]], + uniform bool row_modify = false + [[ + anno::in_group("Advanced Controls"), + anno::display_name("Row modify"), + anno::unused(), + anno::hidden() + ]], + uniform int per_row = 2 + [[ + anno::in_group("Advanced Controls"), + anno::display_name("Per row"), + anno::hard_range(0, 50), + anno::unused(), + anno::hidden() + ]], + uniform float per_row_change = 1.f + [[ + anno::in_group("Advanced Controls"), + anno::display_name("Change"), + anno::hard_range(0.f, 5.f), + anno::unused(), + anno::hidden() + ]], + uniform bool column_modify = false + [[ + anno::in_group("Advanced Controls"), + anno::display_name("Column modify"), + anno::unused(), + anno::hidden() + ]], + uniform int per_column = 2 + [[ + anno::in_group("Advanced Controls"), + anno::display_name("Per column"), + anno::hard_range(0, 50), + anno::unused(), + anno::hidden() + ]], + uniform float per_column_change = 1.f + [[ + anno::in_group("Advanced Controls"), + anno::display_name("Change"), + anno::hard_range(0.f, 5.f), + anno::unused(), + anno::hidden() + ]] +) +[[ + anno::author("NVIDIA Corporation") +]] +{ + float3 uvw = state::texture_coordinate(0); + float2 uv(0.f, 0.f); + + // use noise? + if(use_noise && noise_amount > 0.f) + { + texture_return nx = base::perlin_noise_texture + ( + size: noise_size/30.f, + noise_phase: noise_phase*0.01f, + noise_levels: noise_levels, + uvw: base::transform_coordinate + ( + transform: max_rotation_translation_scale + ( + scaling: float3(U_Tiling), + rotation: float3(U_angle/180.f*math::PI), + translation: float3(U_Offset), + u_mirror: U_Mirror, + v_mirror: V_Mirror + ), + coordinate: base::coordinate_source(texture_space: map_channel-1) + ) + ); + + texture_return ny = base::perlin_noise_texture + ( + size: noise_size/30.f, + noise_phase: noise_phase*0.01f + 0.5f, + noise_levels: noise_levels, + uvw: base::transform_coordinate + ( + transform: max_rotation_translation_scale + ( + scaling: float3(V_Tiling), + rotation: float3(V_angle/180.f*math::PI), + translation: float3(V_Offset), + u_mirror: U_Mirror, + v_mirror: V_Mirror + ), + coordinate: base::coordinate_source(texture_space: map_channel-1) + ) + ); + + uv.x += nx.mono*noise_amount*0.01f; + uv.y += ny.mono*noise_amount*0.01f; + } + + if(grout_rought > 0.f) + { + base::texture_coordinate_info tci; + + tci.position *= 30.f; + tci.position.z = 1.f; + texture_return nx = base::perlin_noise_texture + ( + uvw: tci, + noise_levels: 1, + absolute_noise: true + ); + + tci.position.z = 2.f; + texture_return ny = base::perlin_noise_texture + ( + uvw: tci, + noise_levels: 1, + absolute_noise: true + ); + + uv.x += nx.mono*grout_rought*0.001f; + uv.y += ny.mono*grout_rought*0.001f; + } + + uv += float2((uvw.x - U_Offset)*U_Tiling, (uvw.y - V_Offset)*V_Tiling); + uv = float2(uv.x*tiles_horizontal_count, uv.y*tiles_vertical_count); + + bool is_grout; + + float gap_u = grout_horizontal_gap*0.01f; + float gap_v = grout_lock_gap_simetry ? gap_u : grout_vertical_gap*0.01f; + + gap_u *= tiles_horizontal_count; + gap_v *= tiles_vertical_count; + + int tile_idx = random_seed; + + switch(preset_type) + { + case 1: // running bond + { + if(math::fmod(math::floor(uv.y), 2) > 0.f) + uv.x -= 0.5f; + + tile_idx *= int(math::floor(uv.y)*tiles_vertical_count + math::floor(uv.x)); + + uv -= math::floor(uv); + + is_grout = + (uv.x < gap_u) || ((1.f - uv.x) < gap_u) || + (uv.y < gap_v) || ((1.f - uv.y) < gap_v); + + } + break; + + case 2: // common flemish bond + { + bool odd_row = math::fmod(math::floor(uv.y), 2) > 0.f; + if(odd_row) + { + uv.x = (uv.x + 0.25f)*0.5f; + + tile_idx *= int(math::floor(uv.y)*tiles_vertical_count + math::floor(uv.x)); + + uv -= math::floor(uv); + gap_u *= 0.5f; + + if(math::abs(uv.x) > 0.375f) + tile_idx *= 13; + else if(math::abs(uv.x) > 0.75f) + tile_idx *= 17; + + + is_grout = + (uv.x < gap_u) || ((1.f - uv.x) < gap_u) || + ((uv.x - 0.375f) > -gap_u) && ((uv.x - 0.375f) <= gap_u) || + ((uv.x - 0.75f) > -gap_u) && ((uv.x - 0.75f) <= gap_u) || + (uv.y < gap_v) || ((1.f - uv.y) < gap_v); + } + else + { + tile_idx *= int(math::floor(uv.y)*tiles_vertical_count + math::floor(uv.x)); + + uv -= math::floor(uv); + + is_grout = + (uv.x < gap_u) || ((1.f - uv.x) < gap_u) || + (uv.y < gap_v) || ((1.f - uv.y) < gap_v); + } + } + break; + + case 3: // english bond + { + bool odd_row = math::fmod(math::floor(uv.y), 2) > 0.f; + + if(odd_row) + uv.x = uv.x*2.f - 0.5f; + + tile_idx *= int(math::floor(uv.y)*tiles_vertical_count + math::floor(uv.x)); + + uv -= math::floor(uv); + + if(odd_row) + gap_u *= 2.f; + + is_grout = + (uv.x < gap_u) || ((1.f - uv.x) < gap_u) || + (uv.y < gap_v) || ((1.f - uv.y) < gap_v); + + } + break; + + case 4: // 1/2 running bond + { + if(math::fmod(math::floor(uv.y), 2) > 0.f) + uv.x -= 0.25f; + + tile_idx *= int(math::floor(uv.y)*tiles_vertical_count + math::floor(uv.x)); + + uv -= math::floor(uv); + + is_grout = + (uv.x < gap_u) || ((1.f - uv.x) < gap_u) || + (uv.y < gap_v) || ((1.f - uv.y) < gap_v); + + } + break; + + case 5: // stack bond + { + tile_idx *= int(math::floor(uv.y)*tiles_vertical_count + math::floor(uv.x)); + + uv -= math::floor(uv); + + is_grout = + (uv.x < gap_u) || ((1.f - uv.x) < gap_u) || + (uv.y < gap_v) || ((1.f - uv.y) < gap_v); + + } + break; + + case 6: // fine running bond + { + bool odd_row = math::fmod(math::floor(uv.y), 2) > 0.f; + + if(odd_row) + { + uv *= 2.f; + if(math::fmod(math::floor(uv.y), 2) > 0.f) + uv.x -= 0.5f; + } + + tile_idx *= int(math::floor(uv.y)*tiles_vertical_count + math::floor(uv.x)); + + uv -= math::floor(uv); + + if(odd_row) + { + gap_u *= 2.f; + gap_v *= 2.f; + } + + is_grout = + (uv.x < gap_u) || ((1.f - uv.x) < gap_u) || + (uv.y < gap_v) || ((1.f - uv.y) < gap_v); + + } + break; + + case 7: // fine stack bond + { + bool odd_row = math::fmod(math::floor(uv.y), 2) > 0.f; + + if(odd_row) + uv *= 2.f; + + tile_idx *= int(math::floor(uv.y)*tiles_vertical_count + math::floor(uv.x)); + + uv -= math::floor(uv); + + if(odd_row) + { + gap_u *= 2.f; + gap_v *= 2.f; + } + + is_grout = + (uv.x < gap_u) || ((1.f - uv.x) < gap_u) || + (uv.y < gap_v) || ((1.f - uv.y) < gap_v); + + } + break; + + default: // checker + is_grout = (math::frac(uv.x) < 0.5f) == (math::frac(uv.y) < 0.5f); + break; + } + + int tile_idx_seed = rnd_next(tile_idx); + float rnd = (rnd_value(tile_idx_seed) - 0.5f); + + // % holes + if(!is_grout) + is_grout = rnd_value(rnd_next(tile_idx_seed)) < grout_percent_holes*0.01f; + + // color variance, fade variance + color tc = tiles_color; + + if(!is_grout && (tiles_color_variance > 0.f || tiles_fade_variance > 0.f)) + { + float3 hsv = rgb_to_hsv(float3(tc)); + + // color variance + if(tiles_color_variance > 0.f) + { + float t = rnd*tiles_color_variance*0.25f; + + if(t < 0.f) + { + hsv.y = math::clamp(hsv.y + t, 0.f, 1.f); + } + else + { + t = math::clamp(t, 0.f, 1.f); + + hsv.y += (0.f - hsv.y)*t; + hsv.z += (0.5f - hsv.z)*t; + } + } + + // fade variance + if(tiles_fade_variance > 0.f) + { + hsv.z += rnd*tiles_fade_variance*0.5f; + if(hsv.z < 0.f) + { + hsv.z = 0.f; + } + else if(hsv.z > 1.f) + { + hsv.y -= (hsv.z -1.f); + if(hsv.y < 0.f) + hsv.y = 0.f; + hsv.z = 1.f; + } + } + + tc = color(hsv_to_rgb(hsv)); + } + + texture_return result; + result.tint = is_grout ? grout_color : tc; + result.mono = math::average(result.tint); + + return result; +} + + +// 3dsmax Tiles map for bump +export float3 ad_3dsmax_tiles_bump +( + // Coordinates + uniform int map_channel = 1 + [[ + anno::in_group("Coordinates"), + anno::display_name("Map channel") + ]], + uniform float U_Offset = 0.f + [[ + anno::in_group("Coordinates"), + anno::display_name("U Offset") + ]], + uniform float V_Offset = 0.f + [[ + anno::in_group("Coordinates"), + anno::display_name("V Offset") + ]], + uniform float U_Tiling = 1.f + [[ + anno::in_group("Coordinates"), + anno::display_name("U Tiling") + ]], + uniform float V_Tiling = 1.f + [[ + anno::in_group("Coordinates"), + anno::display_name("V Tiling") + ]], + uniform bool U_Tile = true //it is actually an error if both mirror and tile are true + [[ + anno::in_group("Coordinates"), + anno::display_name("U Tile"), + anno::unused(), + anno::hidden() + ]], + uniform bool U_Mirror = false + [[ + anno::in_group("Coordinates"), + anno::display_name("U Mirror") + ]], + uniform bool V_Tile = true + [[ + anno::in_group("Coordinates"), + anno::display_name("V Tile"), + anno::unused(), + anno::hidden() + ]], + uniform bool V_Mirror = false + [[ + anno::in_group("Coordinates"), + anno::display_name("V Mirror") + ]], + uniform float U_angle = 0.f + [[ + anno::in_group("Coordinates"), + anno::display_name("U Angle") + ]], + uniform float V_angle = 0.f + [[ + anno::in_group("Coordinates"), + anno::display_name("V Angle") + ]], + uniform float W_angle = 0.f + [[ + anno::in_group("Coordinates"), + anno::display_name("W Angle"), + anno::unused(), + anno::hidden() + ]], + uniform int UVW_Type = 0 //enum? + [[ + anno::in_group("Coordinates"), + anno::display_name("UVW Type"), + anno::unused(), + anno::hidden() + ]], + + // Noise + uniform bool use_noise = false + [[ + anno::in_group("Noise"), + anno::display_name("Use Noise") + ]], + uniform float noise_amount = 1.f + [[ + anno::in_group("Noise"), + anno::display_name("Amount"), + anno::hard_range(0.f, 100.f), + anno::enable_if("use_noise") + ]], + uniform int noise_levels = 1 + [[ + anno::in_group("Noise"), + anno::display_name("Levels"), + anno::hard_range(1, 10), + anno::enable_if("use_noise") + ]], + uniform float noise_size = 1.f + [[ + anno::in_group("Noise"), + anno::display_name("Size"), + anno::hard_range(0.001f, 100.f), + anno::enable_if("use_noise") + ]], + uniform float noise_phase = 0.f + [[ + anno::in_group("Noise"), + anno::display_name("Phase"), + anno::hard_range(0.f, 100.f), + anno::enable_if("use_noise") + ]], + +// Standard Controls + uniform int preset_type = 5 + [[ + anno::in_group("Standard Controls"), + anno::display_name("Preset type"), + anno::hard_range(0, 7) + ]], + +// Advanced Controls + float3 tiles_color = state::normal() + [[ + anno::in_group("Advanced Controls"), + anno::display_name("Tiles texture") + ]], + uniform float tiles_horizontal_count = 4.f + [[ + anno::in_group("Advanced Controls"), + anno::display_name("Horizontal count"), + anno::hard_range(0.f, 100.f) + ]], + uniform float tiles_vertical_count = 4.f + [[ + anno::in_group("Advanced Controls"), + anno::display_name("Vertical count"), + anno::hard_range(0.f, 100.f) + ]], + uniform float tiles_color_variance = 0.f + [[ + anno::in_group("Advanced Controls"), + anno::display_name("Color variance"), + anno::hard_range(0.f, 100.f), + anno::unused(), + anno::hidden() + ]], + uniform float tiles_fade_variance = 0.05f + [[ + anno::in_group("Advanced Controls"), + anno::display_name("Fade variance"), + anno::hard_range(0.f, 100.f), + anno::unused(), + anno::hidden() + ]], + float3 grout_color = state::normal() + [[ + anno::in_group("Advanced Controls"), + anno::display_name("Grout texture") + ]], + uniform bool grout_lock_gap_simetry = true + [[ + anno::in_group("Advanced Controls"), + anno::display_name("Gap simetry") + ]], + uniform float grout_horizontal_gap = 0.5f + [[ + anno::in_group("Advanced Controls"), + anno::display_name("Horizontal gap"), + anno::hard_range(0.f, 100.f) + ]], + uniform float grout_vertical_gap = 0.5f + [[ + anno::in_group("Advanced Controls"), + anno::display_name("Vertical gap"), + anno::hard_range(0.f, 100.f), + anno::enable_if("!grout_lock_gap_simetry") + ]], + uniform float grout_percent_holes = 0.f + [[ + anno::in_group("Advanced Controls"), + anno::display_name("Percent holes"), + anno::hard_range(0.f, 100.f) + ]], + uniform float grout_rought = 0.f + [[ + anno::in_group("Advanced Controls"), + anno::display_name("Rough"), + anno::hard_range(0.f, 200.f) + ]], + uniform int random_seed = 1444 + [[ + anno::in_group("Advanced Controls"), + anno::display_name("Random seed"), + anno::hard_range(0, 65535) + ]], + uniform float line_shift = 0.5f + [[ + anno::in_group("Advanced Controls"), + anno::display_name("Line shift"), + anno::hard_range(0.f, 100.f), + anno::unused(), + anno::hidden() + ]], + uniform float random_shift = 0.f + [[ + anno::in_group("Advanced Controls"), + anno::display_name("Random shift"), + anno::hard_range(0.f, 100.f), + anno::unused(), + anno::hidden() + ]], + uniform bool row_modify = false + [[ + anno::in_group("Advanced Controls"), + anno::display_name("Row modify"), + anno::unused(), + anno::hidden() + ]], + uniform int per_row = 2 + [[ + anno::in_group("Advanced Controls"), + anno::display_name("Per row"), + anno::hard_range(0, 50), + anno::unused(), + anno::hidden() + ]], + uniform float per_row_change = 1.f + [[ + anno::in_group("Advanced Controls"), + anno::display_name("Change"), + anno::hard_range(0.f, 5.f), + anno::unused(), + anno::hidden() + ]], + uniform bool column_modify = false + [[ + anno::in_group("Advanced Controls"), + anno::display_name("Column modify"), + anno::unused(), + anno::hidden() + ]], + uniform int per_column = 2 + [[ + anno::in_group("Advanced Controls"), + anno::display_name("Per column"), + anno::hard_range(0, 50), + anno::unused(), + anno::hidden() + ]], + uniform float per_column_change = 1.f + [[ + anno::in_group("Advanced Controls"), + anno::display_name("Change"), + anno::hard_range(0.f, 5.f), + anno::unused(), + anno::hidden() + ]], + uniform float bump_amount = 1.f + [[ + anno::in_group("Bump"), + anno::display_name("Bump amount"), + anno::hard_range(0.f, 1.f) + ]] +) +[[ + anno::author("NVIDIA Corporation") +]] +{ + float3 uvw = state::texture_coordinate(0); + float2 uv(0.f, 0.f); + + // use noise? + if(use_noise && noise_amount > 0.f) + { + texture_return nx = base::perlin_noise_texture + ( + size: noise_size/30.f, + noise_phase: noise_phase*0.01f, + noise_levels: noise_levels, + uvw: base::transform_coordinate + ( + transform: max_rotation_translation_scale + ( + scaling: float3(U_Tiling), + rotation: float3(U_angle/180.f*math::PI), + translation: float3(U_Offset), + u_mirror: U_Mirror, + v_mirror: V_Mirror + ), + coordinate: base::coordinate_source(texture_space: map_channel-1) + ) + ); + + texture_return ny = base::perlin_noise_texture + ( + size: noise_size/30.f, + noise_phase: noise_phase*0.01f + 0.5f, + noise_levels: noise_levels, + uvw: base::transform_coordinate + ( + transform: max_rotation_translation_scale + ( + scaling: float3(V_Tiling), + rotation: float3(V_angle/180.f*math::PI), + translation: float3(V_Offset), + u_mirror: U_Mirror, + v_mirror: V_Mirror + ), + coordinate: base::coordinate_source(texture_space: map_channel-1) + ) + ); + + uv.x += nx.mono*noise_amount*0.01f; + uv.y += ny.mono*noise_amount*0.01f; + } + + if(grout_rought > 0.f) + { + base::texture_coordinate_info tci; + + tci.position *= 30.f; + tci.position.z = 1.f; + texture_return nx = base::perlin_noise_texture + ( + uvw: tci, + noise_levels: 1, + absolute_noise: true + ); + + tci.position.z = 2.f; + texture_return ny = base::perlin_noise_texture + ( + uvw: tci, + noise_levels: 1, + absolute_noise: true + ); + + uv.x += nx.mono*grout_rought*0.001f; + uv.y += ny.mono*grout_rought*0.001f; + } + + uv += float2((uvw.x - U_Offset)*U_Tiling, (uvw.y - V_Offset)*V_Tiling); + uv = float2(uv.x*tiles_horizontal_count, uv.y*tiles_vertical_count); + + bool is_grout = false; + bool odd_row; + + float du = 0.f, dv = 0.f; + + float gap_u = grout_horizontal_gap*0.01f; + float gap_v = grout_lock_gap_simetry ? gap_u : grout_vertical_gap*0.01f; + + gap_u *= tiles_horizontal_count; + gap_v *= tiles_vertical_count; + + float tile_edge_u = 0.5f*0.01f; + float tile_edge_v = 0.5f*0.01f; + + int tile_idx = random_seed; + + switch(preset_type) + { + case 1: // running bond + { + if(math::fmod(math::floor(uv.y), 2) > 0.f) + uv.x -= 0.5f; + + tile_idx *= int(math::floor(uv.y)*tiles_vertical_count + math::floor(uv.x)); + + uv -= math::floor(uv); + + is_grout = + (uv.x < gap_u) || ((1.f - uv.x) < gap_u) || + (uv.y < gap_v) || ((1.f - uv.y) < gap_v); + } + break; + + case 2: // common flemish bond + { + odd_row = math::fmod(math::floor(uv.y), 2) > 0.f; + if(odd_row) + { + uv.x = (uv.x + 0.25f)*0.5f; + + tile_idx *= int(math::floor(uv.y)*tiles_vertical_count + math::floor(uv.x)); + + uv -= math::floor(uv); + gap_u *= 0.5f; + tile_edge_u *= 0.5f; + + if(uv.x > 0.375f) + tile_idx *= 13; + else if(uv.x > 0.75f) + tile_idx *= 17; + + is_grout = + (uv.x < gap_u) || ((1.f - uv.x) < gap_u) || + ((uv.x - 0.375f) > -gap_u) && ((uv.x - 0.375f) <= gap_u) || + ((uv.x - 0.75f) > -gap_u) && ((uv.x - 0.75f) <= gap_u) || + (uv.y < gap_v) || ((1.f - uv.y) < gap_v); + } + else + { + tile_idx *= int(math::floor(uv.y)*tiles_vertical_count + math::floor(uv.x)); + + uv -= math::floor(uv); + + is_grout = + (uv.x < gap_u) || ((1.f - uv.x) < gap_u) || + (uv.y < gap_v) || ((1.f - uv.y) < gap_v); + } + } + break; + + case 3: // english bond + { + odd_row = math::fmod(math::floor(uv.y), 2) > 0.f; + + if(odd_row) + uv.x = uv.x*2.f - 0.5f; + + tile_idx *= int(math::floor(uv.y)*tiles_vertical_count + math::floor(uv.x)); + + uv -= math::floor(uv); + + if(odd_row) + { + gap_u *= 2.f; + tile_edge_u *= 2.f; + } + + is_grout = + (uv.x < gap_u) || ((1.f - uv.x) < gap_u) || + (uv.y < gap_v) || ((1.f - uv.y) < gap_v); + } + break; + + case 4: // 1/2 running bond + { + if(math::fmod(math::floor(uv.y), 2) > 0.f) + uv.x -= 0.25f; + + tile_idx *= int(math::floor(uv.y)*tiles_vertical_count + math::floor(uv.x)); + + uv -= math::floor(uv); + + is_grout = + (uv.x < gap_u) || ((1.f - uv.x) < gap_u) || + (uv.y < gap_v) || ((1.f - uv.y) < gap_v); + + } + break; + + case 5: // stack bond + { + tile_idx *= int(math::floor(uv.y)*tiles_vertical_count + math::floor(uv.x)); + + uv -= math::floor(uv); + + is_grout = + (uv.x < gap_u) || ((1.f - uv.x) < gap_u) || + (uv.y < gap_v) || ((1.f - uv.y) < gap_v); + + } + break; + + case 6: // fine running bond + { + odd_row = math::fmod(math::floor(uv.y), 2) > 0.f; + + if(odd_row) + { + uv *= 2.f; + if(math::fmod(math::floor(uv.y), 2) > 0.f) + uv.x -= 0.5f; + } + + tile_idx *= int(math::floor(uv.y)*tiles_vertical_count + math::floor(uv.x)); + + uv -= math::floor(uv); + + if(odd_row) + { + gap_u *= 2.f; + gap_v *= 2.f; + tile_edge_u *= 2.f; + tile_edge_v *= 2.f; + } + + is_grout = + (uv.x < gap_u) || ((1.f - uv.x) < gap_u) || + (uv.y < gap_v) || ((1.f - uv.y) < gap_v); + + } + break; + + case 7: // fine stack bond + { + odd_row = math::fmod(math::floor(uv.y), 2) > 0.f; + + if(odd_row) + uv *= 2.f; + + tile_idx *= int(math::floor(uv.y)*tiles_vertical_count + math::floor(uv.x)); + + uv -= math::floor(uv); + + if(odd_row) + { + gap_u *= 2.f; + gap_v *= 2.f; + tile_edge_u *= 2.f; + tile_edge_v *= 2.f; + } + + is_grout = + (uv.x < gap_u) || ((1.f - uv.x) < gap_u) || + (uv.y < gap_v) || ((1.f - uv.y) < gap_v); + + } + break; + + default: // checker + is_grout = (math::frac(uv.x) < 0.5f) == (math::frac(uv.y) < 0.5f); + break; + } + + // calculate tangential vectors for tile edges. + if(!is_grout) + { + if(preset_type == 2 && odd_row) // common flemish bond + { + if(uv.x < 0.375f) + { + if(uv.x < gap_u + tile_edge_u) + du = -(uv.x - gap_u)/tile_edge_u; + else if((0.375f - uv.x) < gap_u + tile_edge_u) + du = (0.375f - uv.x + gap_u)/tile_edge_u; + } + else if (uv.x < 0.75f) + { + if((uv.x - 0.375f) < gap_u + tile_edge_u) + du = -((uv.x - 0.375f) - gap_u)/tile_edge_u; + else if((0.75f - uv.x) < gap_u + tile_edge_u) + du = (0.75f - uv.x + gap_u)/tile_edge_u; + } + else + { + if((uv.x - 0.75f) < gap_u + tile_edge_u) + du = -((uv.x - 0.75f) - gap_u)/tile_edge_u; + else if((1.f - uv.x) < gap_u + tile_edge_u) + du = (1.f - uv.x + gap_u)/tile_edge_u; + } + } + else // everything else + { + if(uv.x < gap_u + tile_edge_u) + du = -(uv.x - gap_u)/tile_edge_u; + else if((1.f - uv.x) < gap_u + tile_edge_u) + du = (1.f - uv.x + gap_u)/tile_edge_u; + } + + if(uv.y < gap_v + tile_edge_v) + dv = -(uv.y - gap_v)/tile_edge_v; + else if((1.f - uv.y) < gap_v + tile_edge_v) + dv = (1.f - uv.y + gap_v)/tile_edge_v; + } + + int tile_idx_seed = rnd_next(tile_idx); + // float rnd = (rnd_value(tile_idx_seed) - 0.5f); + + // % holes + if(!is_grout) + is_grout = rnd_value(rnd_next(tile_idx_seed)) < grout_percent_holes*0.01f; + + if(is_grout) + { + return grout_color; + } + else + { + float3 tiles_normal = + state::texture_tangent_u(0) * du + + state::texture_tangent_v(0) * dv + + tiles_color * 1.f; + + return math::normalize(math::normalize(math::lerp(state::normal(), tiles_normal, bump_amount))); + } + +} \ No newline at end of file diff --git a/assets/scene_usds/ebench/teleop_tasks/tighten_nut/merge_usd/0013/Materials/templates/ad_3dsmax_materials.mdl b/assets/scene_usds/ebench/teleop_tasks/tighten_nut/merge_usd/0013/Materials/templates/ad_3dsmax_materials.mdl new file mode 100644 index 0000000000000000000000000000000000000000..aaac9d18ad3be8b6d242c3ebdc7945d1690895a5 --- /dev/null +++ b/assets/scene_usds/ebench/teleop_tasks/tighten_nut/merge_usd/0013/Materials/templates/ad_3dsmax_materials.mdl @@ -0,0 +1,740 @@ +// Copyright 2023 NVIDIA Corporation. All rights reserved. +// +// NVIDIA CORPORATION and its licensors retain all intellectual property +// and proprietary rights in and to this software, related documentation +// and any modifications thereto. Any use, reproduction, disclosure or +// distribution of this software and related documentation without an express +// license agreement from NVIDIA CORPORATION is strictly prohibited. + +mdl 1.6; + +import ::anno::*; +import ::base::*; +import ::df::*; +import ::math::*; +import ::state::*; + +// 3dsmax Architectutal Material +export material ad_3dsmax_architectural( + float3 bumpMap = state::normal(), + float cutoutMap = 1., + color Diffuse = color(.5), + float displacementMap = 0., + uniform float ior = 1.5, + float luminance = 0., + float shininess = 1., // In the range [0..100], inverse of the roughness + float translucency = 0., + float transparency = 0. +) + = let +{ + bsdf diffuseLayer = df::diffuse_reflection_bsdf + ( + tint: Diffuse + ); + + bsdf reflectionLayer = df::simple_glossy_bsdf + ( + tint: color(1), + roughness_u: 1 - (shininess/100), + mode: df::scatter_reflect + ); + + bsdf translucentLayer = df::diffuse_transmission_bsdf + ( + tint: Diffuse + ); + + bsdf transparentLayer = df::simple_glossy_bsdf + ( + tint: color(1), + roughness_u: 0, + mode: df::scatter_transmit + ); + + bsdf transparentTranslucentMixer = df::weighted_layer + ( + weight: (translucency/100), + layer: translucentLayer, + base: transparentLayer + ); + + bsdf transparentDiffuseMixer = df::weighted_layer + ( + weight: (transparency/100), + layer: transparentTranslucentMixer, + base: diffuseLayer + ); + + bsdf glossyMixer = df::fresnel_layer + ( + ior: ior, + layer: reflectionLayer, + base: transparentDiffuseMixer + ); + + bsdf surface_bsdf = glossyMixer; +} +in material +( + ior: color(ior), + surface: material_surface + ( + scattering: surface_bsdf, + emission: material_emission + ( + emission: df::diffuse_edf(), + intensity: color(luminance), + mode: intensity_power + ) + ), + geometry: material_geometry + ( + cutout_opacity: cutoutMap, + normal: bumpMap, + displacement: displacementMap * state::normal() * state::scene_units_per_meter() + ) +); + +// 3dsmax Blend Material +export material ad_3dsmax_blend +( + material material1 = material() + [[ + anno::in_group("Blend parameters"), + anno::display_name("Material 1") + ]], + material material2 = material() + [[ + anno::in_group("Blend parameters"), + anno::display_name("Material 2") + ]], + float mixAmount = 0.f + [[ + anno::in_group("Blend parameters"), + anno::display_name("Mix amount"), + anno::hard_range(0.f, 1.f) + ]], + uniform bool useCurve = false + [[ + anno::in_group("Blend parameters"), + anno::display_name("Use curve") + ]], + uniform float lower = 0.3f + [[ + anno::in_group("Blend parameters"), + anno::display_name("Lower"), + anno::hard_range(0.f, 1.f) + ]], + uniform float upper = .7f + [[ + anno::in_group("Blend parameters"), + anno::display_name("Upper"), + anno::hard_range(0.f, 1.f) + ]] +) +[[ + anno::author("NVIDIA Corporation") +]] += let +{ + float t = useCurve ? math::smoothstep(lower, upper, mixAmount) : math::smoothstep(0.f, 1.f, mixAmount); + float3 normal_mix = math::normalize(material1.geometry.normal*t + material2.geometry.normal*(1.f - t)); + + bsdf bsdf_mix = + df::normalized_mix + ( + components: df::bsdf_component[] + ( + df::bsdf_component + ( + weight: 1.f - t, + component: material1.surface.scattering + ), + df::bsdf_component + ( + weight: t, + component: material2.surface.scattering + ) + ) + ); +} +in material +( + ior : material1.ior, + surface : material_surface(scattering: bsdf_mix), + geometry : material_geometry + ( + normal : normal_mix + ) +); + + +// 3dsmax Double Sided Material +export material ad_3dsmax_double_sided( + material material1 = material(), + material material2 = material1 +)= material( + ior: material1.ior, + thin_walled: true, + geometry: material1.geometry, + volume: material1.volume, + surface: material1.surface, + backface: material2.surface +); + +// 3dsmax Physical Material +export material ad_3dsmax_physical_material +( + //====================================================================== + // Base Color + // + color base_color = color(.5) + [[ + anno::display_name("Color"), + anno::in_group("Base Color") + ]], + float base_weight = 1. + [[ + anno::display_name("Weight"), + anno::hard_range(0,1), + anno::in_group("Base Color") + ]], + float diff_roughness = 0. + [[ + anno::display_name("Roughness"), + anno::hard_range(0,1), + anno::in_group("Base Color") + ]], + // + //====================================================================== + + //====================================================================== + // Reflections + // + float reflectivity = 1. + [[ + anno::display_name("Reflectivity"), + anno::hard_range(0,1), + anno::in_group("Reflections") + ]], + color refl_color = color(1.) + [[ + anno::display_name("Color"), + anno::in_group("Reflections") + ]], + float roughness = 0. + [[ + anno::display_name("Roughness"), + anno::hard_range(0,1), + anno::in_group("Reflections") + ]], + uniform bool roughness_inv = false + [[ + anno::display_name("Inverse Roughness"), + anno::in_group("Reflections") + ]], + float metalness = 0. + [[ + anno::display_name("Metalness"), + anno::hard_range(0,1), + anno::in_group("Reflections") + ]], + uniform float trans_ior = 1.52 + [[ + anno::display_name("IOR"), + anno::hard_range(0.1,50), + anno::in_group("Reflections") + ]], + // + //====================================================================== + + //====================================================================== + // Transparency + // + float transparency = 0. + [[ + anno::display_name("Transparency"), + anno::hard_range(0,1), + anno::in_group("Transparency") + ]], + color trans_color = color(1.) + [[ + anno::display_name("Color"), + anno::in_group("Transparency") + ]], + float trans_depth = 1. + [[ + anno::display_name("Depth"), + anno::unused(), + anno::hidden(), + anno::in_group("Transparency") + ]], + float trans_roughness = 0. + [[ + anno::display_name("Roughness"), + anno::hard_range(0,1), + anno::in_group("Transparency") + ]], + uniform bool thin_walled = false + [[ + anno::display_name("Thin-walled"), + anno::in_group("Transparency") + ]], + uniform bool trans_roughness_inv = false + [[ + anno::display_name("Inverse Roughness"), + anno::in_group("Transparency") + ]], + uniform bool trans_roughness_lock = true + [[ + anno::display_name("Lock Roughness"), + anno::unused(), + anno::hidden(), + anno::in_group("Transparency") + ]], + // + //====================================================================== + + //====================================================================== + // Sub-surface scattering + // + uniform float scattering = 0. + [[ + anno::display_name(""), + anno::in_group("Transparency") + ]], + uniform color sss_color = color(1.) + [[ + anno::display_name(""), + anno::in_group("Transparency") + ]], + uniform float sss_depth = 1. + [[ + anno::display_name(""), + anno::in_group("Transparency") + ]], + uniform float sss_scale = 1. + [[ + anno::display_name(""), + anno::in_group("Transparency"), + anno::unused(), + anno::hidden() + ]], + uniform color sss_scatter_color = color(1.) + [[ + anno::display_name(""), + anno::in_group("Transparency"), + anno::unused(), + anno::hidden() + ]], + // + //====================================================================== + + float anisotropy = 0. + [[ + anno::display_name(""), + anno::in_group("Transparency"), + anno::unused(), + anno::hidden() + ]], + float anisoangle = 0. + [[ + anno::display_name(""), + anno::in_group("Transparency"), + anno::unused(), + anno::hidden() + ]], + uniform float brdf_curve = 5. + [[ + anno::display_name(""), + anno::in_group("Transparency"), + anno::unused(), + anno::hidden() + ]], + uniform float brdf_high = 1. + [[ + anno::display_name(""), + anno::in_group("Transparency"), + anno::unused(), + anno::hidden() + ]], + uniform float brdf_low = 0.04 + [[ + anno::display_name(""), + anno::in_group("Transparency"), + anno::unused(), + anno::hidden() + ]], + uniform bool brdf_mode = false + [[ + anno::display_name(""), + anno::in_group("Transparency"), + anno::unused(), + anno::hidden() + ]], + float3 bump_map = state::normal() + [[ + anno::display_name(""), + anno::in_group("Transparency"), + anno::hidden() + ]], + uniform float coat_affect_color = 0. + [[ + anno::display_name(""), + anno::in_group("Transparency"), + anno::unused(), + anno::hidden() + ]], + uniform float coat_affect_roughness = 0. + [[ + anno::display_name(""), + anno::in_group("Transparency"), + anno::unused(), + anno::hidden() + ]], + float3 coat_bump_map = state::normal() + [[ + anno::display_name(""), + anno::in_group("Transparency"), + anno::unused(), + anno::hidden() + ]], + color coat_color = color(1.) + [[ + anno::display_name(""), + anno::in_group("Transparency"), + anno::unused(), + anno::hidden() + ]], + uniform float coat_ior = 1.5 + [[ + anno::display_name(""), + anno::in_group("Transparency"), + anno::unused(), + anno::hidden() + ]], + float coat_roughness = 0. + [[ + anno::display_name(""), + anno::in_group("Transparency"), + anno::unused(), + anno::hidden() + ]], + uniform bool coat_roughness_inv = false + [[ + anno::display_name(""), + anno::in_group("Transparency"), + anno::unused(), + anno::hidden() + ]], + float coating = 1. + [[ + anno::display_name(""), + anno::in_group("Transparency"), + anno::unused(), + anno::hidden() + ]], + float cutout_map = 1. + [[ + anno::display_name(""), + anno::in_group("Transparency"), + anno::unused(), + anno::hidden() + ]], + float displacement = 0. + [[ + anno::display_name(""), + anno::in_group("Transparency"), + anno::unused(), + anno::hidden() + ]], + float emission = 0. + [[ + anno::display_name(""), + anno::in_group("Transparency"), + anno::unused(), + anno::hidden() + ]], + color emit_color = color(0.) + [[ + anno::display_name(""), + anno::in_group("Transparency"), + anno::unused(), + anno::hidden() + ]], + uniform int material_mode = 0 + [[ + anno::display_name(""), + anno::in_group("Transparency"), + anno::unused(), + anno::hidden() + ]] +) + = let +{ + //====================================================================== + // Base color + // + bsdf baseColor = df::diffuse_reflection_bsdf + ( + tint: base_color, + roughness: diff_roughness + ); + + bsdf diffuseLayer = df::weighted_layer + ( + weight: base_weight, + layer: baseColor, + base: df::diffuse_reflection_bsdf(tint:color(0)) + ); + // + //====================================================================== + + //====================================================================== + // Transparency + // + float transparencyRoughnessVal = trans_roughness_inv ? 1 - trans_roughness : trans_roughness; + + bsdf transparentLayer = df::simple_glossy_bsdf + ( + tint: trans_color, + roughness_u: transparencyRoughnessVal, + mode: df::scatter_transmit + ); + + bsdf transparentDiffuseMixer = df::weighted_layer + ( + weight: transparency, + layer: transparentLayer, + base: diffuseLayer + ); + // + //====================================================================== + + //====================================================================== + // Reflections Non Metal and Metal + // + float roughnessVal = roughness_inv ? 1 - roughness : roughness; + + bsdf reflections = df::simple_glossy_bsdf + ( + tint: refl_color, + roughness_u: roughnessVal, + mode: df::scatter_reflect + ); + + // Not reflective when roughness is 0 + // float reflectivityVal = (roughness == 0) ? 0 : reflectivity; + float reflectivityVal = reflectivity; + + bsdf reflectivity_layer = df::weighted_layer // Non-metal + ( + weight: reflectivityVal, + layer: reflections, + base: df::diffuse_reflection_bsdf(tint:color(1)) + ); + + bsdf reflectionLayerNonMetal = df::fresnel_layer + ( + ior: trans_ior, + layer: reflectivity_layer, + base: transparentDiffuseMixer + ); + + bsdf reflectionLayerMetal = df::fresnel_layer + ( + ior: trans_ior, + layer: reflectivity_layer, + base: diffuseLayer + ); + + // Metalness value. + // It mixes two shading modes. + // At 0, a non-metal diffuse model is used where the Base Color is taken as the diffuse color, with reflections added on top, with sub-surface scattering and transparency. + // At 1, a solely reflective metallic surface is rendered, reflecting the Base Color for facing angles, and the Reflection color (typically white) at the edges. + bsdf reflectionLayer = df::weighted_layer + ( + weight: metalness, + layer: reflectionLayerMetal, + base: reflectionLayerNonMetal + ); + // + //====================================================================== + + //====================================================================== + // Sub-surface scattering + // + float sss_scattering = scattering * (1 - transparency); // Ensure sss_scattering + transparency <= 1 + + material_volume materialVolume = material_volume( + scattering_coefficient: (sss_depth <= 0) ? color(0) : - math::log(color(1 - sss_scattering)) / sss_depth, + absorption_coefficient: (sss_depth <= 0) ? color(0) : - math::log(sss_color) / sss_depth + ); + // + //====================================================================== + + bsdf surface_bsdf = reflectionLayer; +} +in material +( + ior: color(trans_ior), + thin_walled: thin_walled, + surface: material_surface + ( + scattering: surface_bsdf + ), + volume: materialVolume, + geometry: material_geometry + ( + normal: bump_map + ) +); + +// 3dsmax Standard Material +export material ad_3dsmax_std_material( + color Diffuse = color(.9), + uniform bool dsLock = false + [[ + anno::unused() + ]], + color FilterColor = color(1.0) + [[ + anno::unused() + ]], + float glossiness = .9 + [[ + anno::unused() + ]], + uniform float ior = 1.5, + uniform float opacity = 1.0 + [[ + anno::unused() + ]], + uniform float opacityFallOff = 0. + [[ + anno::unused() + ]], + uniform int opacityFallOffType = 0 + [[ + anno::unused() + ]], + uniform int opacityType = 0 + [[ + anno::unused() + ]], + color selfIllumColor = color(0.) + [[ + anno::unused() + ]], + uniform float selfIllumAmount = 1. + [[ + anno::unused() + ]], + uniform int shaderType = 0 + [[ + anno::unused() + ]], + color Specular = color(1.) + [[ + anno::unused() + ]], + uniform float specularLevel = 1. + [[ + anno::unused() + ]], + float3 bump = state::normal() +) = material( + ior: color(ior), + surface: material_surface( + scattering: df::diffuse_reflection_bsdf(tint: Diffuse) + ), + geometry: material_geometry( + normal: bump + ) +); + +// 3dsmax Top/Bottom Material +export material ad_3dsmax_top_bottom +( + material top_material = material() + [[ + anno::in_group("Top/Bottom Parameters"), + anno::display_name("Top material") + ]], + material bottom_material = top_material + [[ + anno::in_group("Top/Bottom Parameters"), + anno::display_name("Bottom material") + ]], + uniform bool use_top_material = true + [[ + anno::in_group("Top/Bottom Parameters"), + anno::display_name("Use top material") + ]], + uniform bool use_bottom_material = true + [[ + anno::in_group("Top/Bottom Parameters"), + anno::display_name("Use bottom material") + ]], + uniform float blend = 0.f + [[ + anno::in_group("Top/Bottom Parameters"), + anno::display_name("Blend"), + anno::hard_range(0.f, 100.f) + ]], + uniform float position = 50.f + [[ + anno::in_group("Top/Bottom Parameters"), + anno::display_name("Position"), + anno::hard_range(0.f, 100.f), + anno::unused(), + anno::hidden() + ]], + uniform int coordinates = 0 + [[ + anno::in_group("Top/Bottom Parameters"), + anno::display_name("Coordinates"), + anno::hard_range(0, 1), + anno::unused(), + anno::hidden() + ]] +) += let +{ + float t = blend*0.01f; + + float3 normal_mix = math::normalize + ( + (use_top_material ? top_material.geometry.normal : state::normal())*t + + (use_bottom_material ? bottom_material.geometry.normal : state::normal())*(1.f - t) + ); + + bsdf bsdf_mix = + df::normalized_mix + ( + components: df::bsdf_component[] + ( + df::bsdf_component + ( + weight: 1.f - t, + component: use_top_material ? top_material.surface.scattering : bsdf() + ), + df::bsdf_component + ( + weight: t, + component: use_bottom_material ? bottom_material.surface.scattering : bsdf() + ) + ) + ); +} +in material +( + ior : use_top_material ? top_material.ior : color(1.f), + surface : material_surface(scattering: bsdf_mix), + geometry : material_geometry + ( + normal : normal_mix + ) +); + diff --git a/assets/scene_usds/ebench/teleop_tasks/tighten_nut/merge_usd/0013/Materials/templates/vray_maps.mdl b/assets/scene_usds/ebench/teleop_tasks/tighten_nut/merge_usd/0013/Materials/templates/vray_maps.mdl new file mode 100644 index 0000000000000000000000000000000000000000..bb998de737e52ead3f83feae53df9cf6a2f1a2cc --- /dev/null +++ b/assets/scene_usds/ebench/teleop_tasks/tighten_nut/merge_usd/0013/Materials/templates/vray_maps.mdl @@ -0,0 +1,943 @@ +// Copyright 2023 NVIDIA Corporation. All rights reserved. +// +// NVIDIA CORPORATION and its licensors retain all intellectual property +// and proprietary rights in and to this software, related documentation +// and any modifications thereto. Any use, reproduction, disclosure or +// distribution of this software and related documentation without an express +// license agreement from NVIDIA CORPORATION is strictly prohibited. + +mdl 1.6; + +import ::anno::*; +import ::base::*; +import ::math::*; +import ::state::*; +import ::tex::*; + +export using ::base import texture_return; + +// Returns the normal n in tangent space, given n is in internal space. +float3 transform_internal_to_tangent(float3 n) +{ + return + n.x * float3(state::texture_tangent_u(0).x, state::texture_tangent_v(0).x, state::normal().x) + + n.y * float3(state::texture_tangent_u(0).y, state::texture_tangent_v(0).y, state::normal().y) + + n.z * float3(state::texture_tangent_u(0).z, state::texture_tangent_v(0).z, state::normal().z); +} + +// 3dsmax Bitmap Transformation Matrix +uniform float4x4 max_rotation_translation_scale +( + uniform float3 rotation = float3(0.) + [[ anno::description("Rotation applied to every UVW coordinate") ]], + uniform float3 translation = float3(0.) + [[ anno::description("Offset applied to every UVW coordinate") ]], + uniform float3 scaling = float3(1.) + [[ anno::description("Scale applied to every UVW coordinate") ]], + uniform bool u_mirror = false + [[ anno::description("Mirror repeat has twice the number of textures in the same space") ]], + uniform bool v_mirror = false + [[ anno::description("Mirror repeat has twice the number of textures in the same space") ]] +) +[[ + anno::description("Construct transformation matrix from Euler rotation, translation and scale") +]] +{ + float4x4 scale = + float4x4(u_mirror?scaling.x*2.:scaling.x , 0. , 0. , 0., + 0. , v_mirror?scaling.y*2.:scaling.y , 0. , 0., + 0. , 0. , scaling.z , 0., + u_mirror?1.:.5 , v_mirror?1.:.5 , .5 , 1.); + + float4x4 translate = + float4x4(1. , 0. , 0. , 0., + 0. , 1. , 0. , 0., + 0. , 0. , 1. , 0., + -0.5-translation.x, -0.5-translation.y, -0.5-translation.z, 1.); + + + // Euler rotation matrix xyz order + float3 s = math::sin(rotation); + float3 c = math::cos(rotation); + float4x4 rotate = + float4x4( c.y*c.z , c.y*s.z , -s.y , 0.0, + -c.x*s.z + s.x*s.y*c.z, c.x*c.z + s.x*s.y*s.z , s.x*c.y , 0.0, + s.x*s.z + c.x*s.y*c.z , -s.x*c.z + c.x*s.y*s.z, c.x*c.y , 0.0, + 0. , 0. , 0. , 1.); + return scale *rotate*translate; +} + +export enum vray_color_mode +[[ + anno::hidden() +]] +{ + mode_color, + mode_temperature +}; + +export enum vray_color_primaries +[[ + anno::hidden() +]] +{ + primaries_none, + primaries_sRGB, + primaries_ACEScg +}; + +export enum vray_bitmap_primaries +[[ + anno::hidden() +]] +{ + bm_primaries_default, + bm_primaries_sRGB, + bm_primaries_ACEScg, + bm_primaries_raw +}; + +export enum vray_rgb_output +[[ + anno::hidden() +]] +{ + rgb_output_rgb_color, + rgb_output_alpha_as_grey, + rgb_output_intensity_as_grey +}; + +export enum vray_mono_output +[[ + anno::hidden() +]] +{ + mono_output_rgb_intensity, + mono_output_alpha +}; + +export enum vray_alpha_source +[[ + anno::hidden() +]] +{ + alpha_source_image_alpha, + alpha_source_intensity, + alpha_source_opaque +}; + +// VRayBitmap map +export texture_return VRayBitmap +( + // UVW Coordinates + uniform int mapChannel=1 + [[ + anno::in_group("Coordinates"), + anno::display_name("Map channel") + ]], + uniform float U_Offset = 0.f + [[ + anno::in_group("Coordinates"), + anno::display_name("U Offset") + ]], + uniform float V_Offset = 0.f + [[ + anno::in_group("Coordinates"), + anno::display_name("V Offset") + ]], + uniform float U_Tiling = 1.f + [[ + anno::in_group("Coordinates"), + anno::display_name("U Tiling") + ]], + uniform float V_Tiling = 1.f + [[ + anno::in_group("Coordinates"), + anno::display_name("V Tiling") + ]], + uniform bool U_Tile=true //it is actually an error if both mirror and tile are true + [[ + anno::in_group("Coordinates"), + anno::display_name("U Tile") + ]], + uniform bool U_Mirror=false + [[ + anno::in_group("Coordinates"), + anno::display_name("U Mirror") + ]], + uniform bool V_Tile=true + [[ + anno::in_group("Coordinates"), + anno::display_name("V Tile") + ]], + uniform bool V_Mirror=false + [[ + anno::in_group("Coordinates"), + anno::display_name("V Mirror") + ]], + uniform float U_angle = 0.f + [[ + anno::in_group("Coordinates"), + anno::display_name("U Angle") + ]], + uniform float V_angle = 0.f + [[ + anno::in_group("Coordinates"), + anno::display_name("V Angle") + ]], + uniform float W_angle = 0.f + [[ + anno::in_group("Coordinates"), + anno::display_name("W Angle") + ]], + uniform int UVW_Type = 0 //enum? + [[ + anno::in_group("Coordinates"), + anno::display_name("UVW Type"), + anno::unused(), + anno::hidden() + ]], + + // Bitmap + uniform texture_2d filename = texture_2d() + [[ + anno::in_group("Bitmap parameters"), + anno::display_name("Bitmap") + ]], + uniform float multiplier = 1.f + [[ + anno::in_group("Bitmap parameters"), + anno::display_name("Overall multiplier") + ]], + uniform vray_rgb_output rgb_output = rgb_output_rgb_color + [[ + anno::in_group("Bitmap parameters"), + anno::display_name("RGB output") + ]], + uniform vray_mono_output mono_output = mono_output_rgb_intensity + [[ + anno::in_group("Bitmap parameters"), + anno::display_name("Mono output") + ]], + uniform vray_alpha_source alpha_source = alpha_source_image_alpha + [[ + anno::in_group("Bitmap parameters"), + anno::display_name("Alpha source") + ]], + uniform vray_bitmap_primaries rgb_primaries = bm_primaries_raw + [[ + anno::in_group("Bitmap parameters"), + anno::display_name("RGB primaries"), + anno::unused(), + anno::hidden() + ]], + uniform bool crop_enable = false + [[ + anno::in_group("Bitmap parameters"), + anno::display_name("Crop") + ]], + uniform float crop_u = 0.f //u+w and v+h are always <=1.0 + [[ + anno::in_group("Bitmap parameters"), + anno::display_name("U Crop"), + anno::hard_range(0.f, 1.f) + ]], + uniform float crop_w = 1.f + [[ + anno::in_group("Bitmap parameters"), + anno::display_name("W Crop"), + anno::hard_range(0.f, 1.f) + ]], + uniform float crop_v = 0.f + [[ + anno::in_group("Bitmap parameters"), + anno::display_name("V Crop"), + anno::hard_range(0.f, 1.f) + ]], + uniform float crop_h = 1.f + [[ + anno::in_group("Bitmap parameters"), + anno::display_name("H Crop"), + anno::hard_range(0.f, 1.f) + ]], + + // Output + uniform float bump_amount = 1.f + [[ + anno::in_group("Output"), + anno::display_name("Bump amount"), + anno::unused(), + anno::hidden() + ]], + uniform bool clamp = false + [[ + anno::in_group("Output"), + anno::display_name("Clamp"), + anno::unused(), + anno::hidden() + ]], + uniform bool invert = false + [[ + anno::in_group("Output"), + anno::display_name("Invert") + ]], + uniform bool alphaFromRGB = false + [[ + anno::in_group("Output"), + anno::display_name("Alpha from RGB intensity"), + anno::unused(), + anno::hidden() + ]], + uniform float output_amount = 1.f + [[ + anno::in_group("Output"), + anno::display_name("Output amount") + ]], + uniform float rgb_level = 1.f + [[ + anno::in_group("Output"), + anno::display_name("RGB level") + ]], + uniform float rgb_offset = 0.f + [[ + anno::in_group("Output"), + anno::display_name("RGB Offset") + ]] +) +[[ + anno::author("NVIDIA Corporation") +]] +{ + uniform float clip_u = crop_enable ? crop_u : 0.f; + uniform float clip_w = crop_enable ? crop_w : 1.f; + uniform float clip_v = crop_enable ? crop_v : 0.f; + uniform float clip_h = crop_enable ? crop_h : 1.f; + + texture_return bitmap_sample = base::file_texture + ( + texture : filename, + mono_source : (alpha_source == alpha_source_image_alpha) ? base::mono_alpha : base::mono_average, + crop_u : float2(clip_u, clip_w + clip_u), + crop_v : float2(1.f - clip_v - clip_h, 1.f - clip_v), + uvw : base::transform_coordinate + ( + transform : max_rotation_translation_scale + ( + scaling : float3(U_Tiling, V_Tiling, 1.f), + rotation : float3(U_angle, V_angle, W_angle)/180.f*math::PI , + translation : float3(U_Offset, V_Offset, 0.f), u_mirror : U_Mirror, v_mirror : V_Mirror + ), + coordinate : base::coordinate_source(texture_space: mapChannel-1) + ), + wrap_u : U_Tile ? tex::wrap_repeat : U_Mirror ? tex::wrap_mirrored_repeat : tex::wrap_clip, + wrap_v : V_Tile ? tex::wrap_repeat : V_Mirror ? tex::wrap_mirrored_repeat : tex::wrap_clip + ); + + bitmap_sample.tint = invert ? + bitmap_sample.tint * (-rgb_level * output_amount * multiplier ) + (1.f - rgb_offset) : + bitmap_sample.tint * (rgb_level * output_amount * multiplier) + rgb_offset; + + float alpha = (alpha_source != alpha_source_opaque) ? bitmap_sample.mono : 1.f; + bitmap_sample.tint = bitmap_sample.tint*alpha; + + // determinate mono output + if(mono_output == mono_output_alpha) + bitmap_sample.mono = alpha; + else + bitmap_sample.mono = math::average(bitmap_sample.tint); + + // determinate rgb output + if(rgb_output == rgb_output_alpha_as_grey) + bitmap_sample.tint = color(alpha); + else if(rgb_output == rgb_output_intensity_as_grey) + bitmap_sample.tint = color(math::average(bitmap_sample.tint)); + + return bitmap_sample; +} +// VRayBitmap Map for Bump +export float3 VRayBitmap_bump +( + // UVW Coordinates + uniform int mapChannel=1 + [[ + anno::in_group("Coordinates"), + anno::display_name("Map channel") + ]], + uniform bool U_Tile=true + [[ + anno::in_group("Coordinates"), + anno::display_name("U Tile") + ]], + uniform bool U_Mirror=false + [[ + anno::in_group("Coordinates"), + anno::display_name("U Mirror") + ]], + uniform bool V_Tile=true + [[ + anno::in_group("Coordinates"), + anno::display_name("V Tile") + ]], + uniform bool V_Mirror=false + [[ + anno::in_group("Coordinates"), + anno::display_name("V Mirror") + ]], + uniform float U_angle = 0.f + [[ + anno::in_group("Coordinates"), + anno::display_name("U Angle") + ]], + uniform float V_angle = 0.f + [[ + anno::in_group("Coordinates"), + anno::display_name("V Angle") + ]], + uniform float W_angle = 0.f + [[ + anno::in_group("Coordinates"), + anno::display_name("W Angle") + ]], + uniform float U_Offset = 0.f + [[ + anno::in_group("Coordinates"), + anno::display_name("U Offset") + ]], + uniform float V_Offset = 0.f + [[ + anno::in_group("Coordinates"), + anno::display_name("V Offset") + ]], + uniform float U_Tiling = 1.f + [[ + anno::in_group("Coordinates"), + anno::display_name("U Tiling") + ]], + uniform float V_Tiling = 1. + [[ + anno::in_group("Coordinates"), + anno::display_name("V Tiling") + ]], + uniform int UVW_Type = 0 //enum? + [[ + anno::in_group("Coordinates"), + anno::display_name("UVW Type"), + anno::unused() + ]], + + // Bitmap + uniform texture_2d filename = texture_2d() + [[ + anno::in_group("Bitmap parameters"), + anno::display_name("Bitmap") + ]], + uniform bool crop_enable = false + [[ + anno::in_group("Bitmap parameters"), + anno::display_name("Crop") + ]], + uniform float crop_u = 0.f //u+w and v+h are always <=1.0 + [[ + anno::in_group("Bitmap parameters"), + anno::display_name("U Crop"), + anno::hard_range(0.f, 1.f) + ]], + uniform float crop_w = 1.f + [[ + anno::in_group("Bitmap parameters"), + anno::display_name("W Crop"), + anno::hard_range(0.f, 1.f) + ]], + uniform float crop_v = 0.f + [[ + anno::in_group("Bitmap parameters"), + anno::display_name("V Crop"), + anno::hard_range(0.f, 1.f) + ]], + uniform float crop_h = 1.f + [[ + anno::in_group("Bitmap parameters"), + anno::display_name("H Crop"), + anno::hard_range(0.f, 1.f) + ]], + uniform float factor = 1.f + [[ + anno::in_group("Bitmap parameters"), + anno::display_name("Bump amount") + ]], + + // Output + uniform float bump_amount = 1.f + [[ + anno::in_group("Output"), + anno::display_name("Bump output") + ]], + uniform bool clamp = false + [[ + anno::in_group("Output"), + anno::display_name("Clamp"), + anno::unused() + ]], + uniform bool invert = false + [[ + anno::in_group("Output"), + anno::display_name("Invert") + ]], + uniform bool alphaFromRGB = false + [[ + anno::in_group("Output"), + anno::display_name("Alpha from RGB intensity"), + anno::unused() + ]], + uniform float output_amount = 1.f + [[ + anno::in_group("Output"), + anno::display_name("Output amount"), + anno::unused() + ]], + uniform float rgb_level = 1.f + [[ + anno::in_group("Output"), + anno::display_name("RGB level"), + anno::unused() + ]], + uniform float rgb_offset = 0.f + [[ + anno::in_group("Output"), + anno::display_name("RGB Offset"), + anno::unused() + ]] +) +[[ + anno::author("NVIDIA Corporation") +]] +{ + uniform float clip_u = crop_enable ? crop_u : 0.f; + uniform float clip_w = crop_enable ? crop_w : 1.f; + uniform float clip_v = crop_enable ? crop_v : 0.f; + uniform float clip_h = crop_enable ? crop_h : 1.f; + + return base::file_bump_texture + ( + texture : filename, + crop_u : float2(clip_u, clip_w + clip_u), + crop_v : float2(1.f - clip_v - clip_h, 1.f - clip_v), + uvw : base::transform_coordinate + ( + transform : max_rotation_translation_scale + ( + scaling : float3(U_Tiling, V_Tiling, 1.f), + rotation : float3(U_angle, V_angle,W_angle)/(180.*math::PI), + translation : float3(U_Offset, V_Offset, 0.f), u_mirror : U_Mirror, v_mirror : V_Mirror + ), + coordinate : base::coordinate_source(texture_space: mapChannel - 1) + ), + wrap_u : U_Tile ? tex::wrap_repeat : U_Mirror ? tex::wrap_mirrored_repeat : tex::wrap_clip, + wrap_v : V_Tile ? tex::wrap_repeat : V_Mirror ? tex::wrap_mirrored_repeat : tex::wrap_clip, + factor : invert ? -10.f*factor*bump_amount : 10.f*factor*bump_amount + ); +} + +// VRayBump2Normal Map for Bump +export enum vray_bump2normal_mode +[[ + anno::hidden() +]] +{ + b2n_tangent_space, + b2n_local_XYZ, + b2n_screen_space, + b2n_world_space +}; + +export texture_return VRayBump2Normal +( + float3 bump_map = state::normal() + [[ + anno::in_group("Parameters"), + anno::display_name("Bump map") + ]], + uniform float bump_map_mult = 100.f + [[ + anno::in_group("Parameters"), + anno::display_name("Bump map multiplier"), + anno::hard_range(0.f, 100.f) + ]], + uniform vray_bump2normal_mode mode = b2n_tangent_space + [[ + anno::in_group("Parameters"), + anno::display_name("Mode"), + anno::unused(), + anno::hidden() + ]], + uniform int map_channel=1 + [[ + anno::in_group("Coordinates"), + anno::display_name("Map channel"), + anno::unused(), + anno::hidden() + ]] +) +[[ + anno::author("NVIDIA Corporation") +]] +{ + texture_return normal_tex; + + float3 normal_tangent_space = + transform_internal_to_tangent(math::normalize(state::normal() + (bump_map - state::normal())*(bump_map_mult*0.01f))); + + normal_tex.tint = color( (normal_tangent_space + float3(1.f))*0.5f ); + normal_tex.mono = 1.f; + return normal_tex; +} + +// VRayColor Map +export texture_return VRayColor +( + uniform vray_color_mode color_mode = mode_color + [[ + anno::in_group("VRayColor Parameters"), + anno::display_name("Color mode") + ]], + uniform float temperature = 6500.f + [[ + anno::in_group("VRayColor Parameters"), + anno::display_name("Temperature"), + anno::hard_range(350.f, 1000000000.f) + ]], + uniform float red = 0.5f + [[ + anno::in_group("VRayColor Parameters"), + anno::display_name("Red"), + anno::soft_range(0.f, 1.f) + ]], + uniform float green = 0.5f + [[ + anno::in_group("VRayColor Parameters"), + anno::display_name("Green"), + anno::soft_range(0.f, 1.f) + ]], + uniform float blue = 0.5f + [[ + anno::in_group("VRayColor Parameters"), + anno::display_name("Blue"), + anno::soft_range(0.f, 1.f) + ]], + uniform float rgb_multiplier = 1.f + [[ + anno::in_group("VRayColor Parameters"), + anno::display_name("RGB Multiplier") + ]], + uniform float alpha = 1.f + [[ + anno::in_group("VRayColor Parameters"), + anno::display_name("Alpha"), + anno::hard_range(0.f, 1.f) + ]], + uniform float color_gamma = 1.0f + [[ + anno::in_group("VRayColor Parameters"), + anno::display_name("Color gamma"), + anno::hard_range(0.05f, 20.f) + ]], + uniform vray_color_primaries rgb_primaries = primaries_none + [[ + anno::in_group("VRayColor Parameters"), + anno::display_name("RGB primaries"), + anno::unused(), + anno::hidden() + ]] +) +[[ + anno::author("NVIDIA Corporation") +]] +{ + float3 rgb(red, green, blue); + + // using temperature?. Then convert from Kelvin to RGB + if(color_mode == mode_temperature) + { + float k = temperature*0.01f; + + // red + if (temperature < 6600.f) + { + rgb.x = 1.f; + } + else + { + float r = k - 55.f; + r = (351.9769f + 0.1142f * r - 40.2537f * math::log(r))/255.f; + rgb.x = math::clamp(r, 0.f, 1.f); + } + + // green + if (temperature < 6600.f) + { + float g = k - 2.f; + g = (-155.2549f - 0.4460f * g + 104.4922f * math::log(g))/255.f; + rgb.y = math::clamp(g, 0.f, 1.f); + + } + else + { + float g = k - 50.f; + g = (325.4494f + 0.0794f * g - 28.0853f * math::log(g))/255.f; + rgb.y = math::clamp(g, 0.f, 1.f); + } + + // blue + if (temperature >= 6600.f) + { + rgb.z = 1.f; + } + else if (temperature <= 2000.f) + { + rgb.z = 0.f; + } + else + { + float b = k - 10.f; + b = (-254.7694f + 0.8274f * blue + 115.6799f * math::log(b))/255.f; + rgb.z = math::clamp(b, 0.f, 1.f); + } + } + + // apply gamma + if(color_gamma != 1.f) + rgb = math::pow(rgb, 1.f/color_gamma); + + // apply multiplier + rgb *= rgb_multiplier; + + // fix ranges and return + rgb = math::clamp(rgb, 0.f, 1.f); + return texture_return(color(rgb), alpha); +} + +// VRayColor Map for Bump +export float3 VRayColor_bump +( +) +[[ + anno::author("NVIDIA Corporation") +]] +{ + return state::normal(); +} + +// VRayColor2Bump Map for Bump +export float3 VRayColor2Bump_bump +( + float3 map = state::normal() + [[ + anno::in_group("Parameters"), + anno::display_name("Bump map") + ]], + uniform float height = 2.0f + [[ + anno::in_group("Parameters"), + anno::display_name("Height"), + anno::unused(), + anno::hidden() + ]], + uniform float bump_delta_scale = 1.0f + [[ + anno::in_group("Parameters"), + anno::display_name("Bump delta scale"), + anno::unused(), + anno::hidden(), + anno::hard_range(0.f, 1.f) + ]] +) +[[ + anno::author("NVIDIA Corporation") +]] +{ + return map; +} + +// VRay Dirt Map +export texture_return VRayDirt +( + float radius = 10.f + [[ + anno::in_group("VRayDirt Parameters"), + anno::display_name("Radius"), + anno::unused(), + anno::hidden() + ]], + color occluded_color = color(0.f) + [[ + anno::in_group("VRayDirt Parameters"), + anno::display_name("Occluded color"), + anno::unused(), + anno::hidden() + ]], + color unoccluded_color = color(1.f) + [[ + anno::in_group("VRayDirt Parameters"), + anno::display_name("Unoccluded color") + ]] +) +[[ + anno::author("NVIDIA Corporation") +]] +{ + return texture_return(unoccluded_color, 1.f); +} + +// VRay Edges Tex Map +export texture_return VRayEdgesTex +( + color edges_color = color(1.f) + [[ + anno::in_group("VRayEdgesTex params"), + anno::display_name("Color") + ]] +) +[[ + anno::author("NVIDIA Corporation") +]] +{ + return texture_return(edges_color, 1.f); +} + +// VRay Edges Tex Map for bump +export float3 VRayEdgesTex_bump +( + color edges_color = color(1.f) + [[ + anno::in_group("VRayEdgesTex params"), + anno::display_name("Color"), + anno::unused(), + anno::hidden() + ]], + uniform float radius = 0.1f + [[ + anno::in_group("VRayEdgesTex params"), + anno::display_name("Radius"), + anno::hard_range(0.f, 100.f) + + ]], + uniform bool same_object_only = true + [[ + anno::in_group("VRayEdgesTex params"), + anno::display_name("Consider same object only") + ]], + uniform int corners_mode = 0 + [[ + anno::in_group("VRayEdgesTex params"), + anno::display_name("Corners"), + anno::unused(), + anno::hidden() + ]], + float multiplier = 1.f + [[ + anno::in_group("VRayEdgesTex params"), + anno::display_name("Multiplier"), + anno::unused(), + anno::hidden() + ]] +) +[[ + anno::author("NVIDIA Corporation") +]] +{ + return state::rounded_corner_normal(radius*state::meters_per_scene_unit(), !same_object_only); +} + +// VRay Normap Map for bump +export float3 VRayNormalMap_bump +( + texture_return normal_map = texture_return() + [[ + anno::in_group("VRayNormalMap Parameters"), + anno::display_name("Normal map") + ]], + float3 bump_map = state::normal() + [[ + anno::in_group("VRayNormalMap Parameters"), + anno::display_name("Bump map") + ]], + uniform float normal_amount = 1.f + [[ + anno::in_group("VRayNormalMap Parameters"), + anno::display_name("Normal amount"), + anno::hard_range(-1000.f, 1000.f) + ]], + uniform float bump_amount = 1.f + [[ + anno::in_group("VRayNormalMap Parameters"), + anno::display_name("Bump amount"), + anno::hard_range(-1000.f, 1000.f) + ]], + uniform bool flip_red = false + [[ + anno::in_group("VRayNormalMap Parameters"), + anno::display_name("Flip red") + ]], + uniform bool flip_green = false + [[ + anno::in_group("VRayNormalMap Parameters"), + anno::display_name("Flip green") + ]], + uniform bool swap_rg = false + [[ + anno::in_group("VRayNormalMap Parameters"), + anno::display_name("Swap red and green") + ]], + uniform int map_channel = 1 + [[ + anno::in_group("VRayNormalMap Parameters"), + anno::display_name("Map channel"), + anno::hidden(), + anno::unused() + ]], + uniform float map_rotation = 0.f + [[ + anno::in_group("VRayNormalMap Parameters"), + anno::display_name("Map rotation"), + anno::hard_range(0.f, 360.f), + anno::hidden(), + anno::unused() + ]], + uniform float normal_map_amount = 1.0f + [[ + anno::in_group("VRayNormalMap Parameters"), + anno::display_name("Map amount"), + anno::hard_range(-10.f, 10.f) + ]] +) +[[ + anno::author("NVIDIA Corporation") +]] +{ + float3 tangent_space_normal = float3(normal_map.tint); + + if(flip_red) + tangent_space_normal.x = 1.f - tangent_space_normal.x; + + if(flip_green) + tangent_space_normal.y = 1.f - tangent_space_normal.y; + + if(swap_rg) + { + float tmp = tangent_space_normal.x; + tangent_space_normal.x = tangent_space_normal.y; + tangent_space_normal.y = tmp; + } + + float normal_factor = normal_amount*(normal_map_amount); + tangent_space_normal = (tangent_space_normal - float3(0.5f))*(2.f*normal_factor); + + float3 mapped_normal = math::normalize( + state::texture_tangent_u(0) * tangent_space_normal.x + + state::texture_tangent_v(0) * tangent_space_normal.y + + state::normal() * (tangent_space_normal.z + (1.f - normal_factor))); + + float3 bumped_normal = math::normalize(math::lerp(state::normal(), bump_map, bump_amount*normal_map_amount)); + + return math::normalize(mapped_normal + bumped_normal); +} diff --git a/assets/scene_usds/ebench/teleop_tasks/tighten_nut/merge_usd/0013/Materials/templates/vray_materials.mdl b/assets/scene_usds/ebench/teleop_tasks/tighten_nut/merge_usd/0013/Materials/templates/vray_materials.mdl new file mode 100644 index 0000000000000000000000000000000000000000..675352a72d64f7202b476d08e87ac34f5e8f34b6 --- /dev/null +++ b/assets/scene_usds/ebench/teleop_tasks/tighten_nut/merge_usd/0013/Materials/templates/vray_materials.mdl @@ -0,0 +1,1723 @@ +// Copyright 2023 NVIDIA Corporation. All rights reserved. +// +// NVIDIA CORPORATION and its licensors retain all intellectual property +// and proprietary rights in and to this software, related documentation +// and any modifications thereto. Any use, reproduction, disclosure or +// distribution of this software and related documentation without an express +// license agreement from NVIDIA CORPORATION is strictly prohibited. + +mdl 1.6; + +import ::anno::*; +import ::df::*; +import ::df::color_weighted_layer; +import ::math::*; +import ::state::*; + +// VRay 2-Sided Material +export material VRay2SidedMtl +( + material frontMtl = material() + [[ + anno::in_group("Parameters"), + anno::display_name("Front material") + ]], + material backMtl = frontMtl + [[ + anno::in_group("Parameters"), + anno::display_name("Back material") + ]], + uniform bool use_backMtl = false + [[ + anno::in_group("Parameters"), + anno::display_name("Use back material") + ]], + color translucency = color(.5f) + [[ + anno::in_group("Basic parameters"), + anno::display_name("Translucency") + ]], + color front_tint = color(1.f) + [[ + anno::in_group("Parameters"), + anno::display_name("Front tint"), + anno::hidden() + ]], + color back_tint = color(1.f) + [[ + anno::in_group("Parameters"), + anno::display_name("Back tint"), + anno::hidden() + ]], + uniform bool multiply_by_front_diffuse = false + [[ + anno::in_group("Basic parameters"), + anno::display_name("Multiply by front diffuse"), + anno::unused(), + anno::hidden() + ]] +) +[[ + anno::author("NVIDIA Corporation") +]] += let +{ + bsdf transmission_bsdf = + df::diffuse_transmission_bsdf(tint: (front_tint + back_tint)*0.5f); + + + bsdf front_bsdf = + df::color_weighted_layer + ( + weight : translucency, + layer : transmission_bsdf, + base : frontMtl.surface.scattering + ); + + bsdf back_bsdf = + df::color_weighted_layer + ( + weight : translucency, + layer : transmission_bsdf, + base : backMtl.surface.scattering + ); + +} +in material +( + ior: frontMtl.ior, + thin_walled: true, + geometry: frontMtl.geometry, + volume: frontMtl.volume, + surface: material_surface(scattering: front_bsdf), + backface: material_surface(scattering: use_backMtl ? back_bsdf : front_bsdf) +); + +// VRay Blend - Default clear material for unused coat slots +export material clear_material() += material +( + ior : color(1.0), + surface : material_surface(df::specular_bsdf(mode: df::scatter_transmit)), + geometry: material_geometry(cutout_opacity: 0.0) +); + +// VRay Blend Material +export material VRayBlendMtl( + material base_mtl = clear_material() + [[ + anno::in_group("Parameters"), + anno::display_name("Base material") + ]], + + uniform bool enabled1 = false + [[ + anno::in_group("Parameters"), + anno::display_name("1: Enable") + ]], + material coat_mtl1 = clear_material() + [[ + anno::in_group("Parameters"), + anno::display_name("1: Coat material") + ]], + color blend_amount1 = color(.5) + [[ + anno::in_group("Parameters"), + anno::display_name("1: Blend amount") + ]], + + uniform bool enabled2 = false + [[ + anno::in_group("Parameters"), + anno::display_name("2: Enable") + ]], + material coat_mtl2 = clear_material() + [[ + anno::in_group("Parameters"), + anno::display_name("2: Coat material") + ]], + color blend_amount2 = color(.5) + [[ + anno::in_group("Parameters"), + anno::display_name("2: Blend amount") + ]], + + uniform bool enabled3 = false + [[ + anno::in_group("Parameters"), + anno::display_name("3: Enable") + ]], + material coat_mtl3 = clear_material() + [[ + anno::in_group("Parameters"), + anno::display_name("3: Coat material") + ]], + color blend_amount3 = color(.5) + [[ + anno::in_group("Parameters"), + anno::display_name("3: Blend amount") + ]], + + uniform bool enabled4 = false + [[ + anno::in_group("Parameters"), + anno::display_name("4: Enable") + ]], + material coat_mtl4 = clear_material() + [[ + anno::in_group("Parameters"), + anno::display_name("4: Coat material") + ]], + color blend_amount4 = color(.5) + [[ + anno::in_group("Parameters"), + anno::display_name("4: Blend amount") + ]], + + uniform bool enabled5 = false + [[ + anno::in_group("Parameters"), + anno::display_name("5: Enable") + ]], + material coat_mtl5 = clear_material() + [[ + anno::in_group("Parameters"), + anno::display_name("5: Coat material") + ]], + color blend_amount5 = color(.5) + [[ + anno::in_group("Parameters"), + anno::display_name("5: Blend amount") + ]], + + uniform bool enabled6 = false + [[ + anno::in_group("Parameters"), + anno::display_name("6: Enable") + ]], + material coat_mtl6 = clear_material() + [[ + anno::in_group("Parameters"), + anno::display_name("6: Coat material") + ]], + color blend_amount6 = color(.5) + [[ + anno::in_group("Parameters"), + anno::display_name("6: Blend amount") + ]], + + uniform bool enabled7 = false + [[ + anno::in_group("Parameters"), + anno::display_name("7: Enable") + ]], + material coat_mtl7 = clear_material() + [[ + anno::in_group("Parameters"), + anno::display_name("7: Coat material") + ]], + color blend_amount7 = color(.5) + [[ + anno::in_group("Parameters"), + anno::display_name("7: Blend amount") + ]], + + uniform bool enabled8 = false + [[ + anno::in_group("Parameters"), + anno::display_name("8: Enable") + ]], + material coat_mtl8 = clear_material() + [[ + anno::in_group("Parameters"), + anno::display_name("8: Coat material") + ]], + color blend_amount8 = color(.5) + [[ + anno::in_group("Parameters"), + anno::display_name("8: Blend amount") + ]], + + uniform bool enabled9 = false + [[ + anno::in_group("Parameters"), + anno::display_name("9: Enable") + ]], + material coat_mtl9 = clear_material() + [[ + anno::in_group("Parameters"), + anno::display_name("9: Coat material") + ]], + color blend_amount9 = color(.5) + [[ + anno::in_group("Parameters"), + anno::display_name("9: Blend amount") + ]], + + uniform bool additive = false + [[ + anno::in_group("Parameters"), + anno::display_name("Additive mode") + ]] +) +[[ + anno::author("NVIDIA Corporation") +]] += let +{ + color white(1.0); + color black(0.0); + + bsdf additive_bsdf = + df::color_normalized_mix + ( + components: df::color_bsdf_component[] + ( + df::color_bsdf_component + ( + weight: white, + component: base_mtl.surface.scattering + ), + df::color_bsdf_component + ( + weight: enabled1 ? blend_amount1 * coat_mtl1.geometry.cutout_opacity : black, + component: coat_mtl1.surface.scattering + ), + df::color_bsdf_component + ( + weight: enabled2 ? blend_amount2 * coat_mtl2.geometry.cutout_opacity : black, + component: coat_mtl2.surface.scattering + ), + df::color_bsdf_component + ( + weight: enabled3 ? blend_amount3 * coat_mtl3.geometry.cutout_opacity : black, + component: coat_mtl3.surface.scattering + ), + df::color_bsdf_component + ( + weight: enabled4 ? blend_amount4 * coat_mtl4.geometry.cutout_opacity : black, + component: coat_mtl4.surface.scattering + ), + df::color_bsdf_component + ( + weight: enabled5 ? blend_amount5 * coat_mtl5.geometry.cutout_opacity : black, + component: coat_mtl5.surface.scattering + ), + df::color_bsdf_component + ( + weight: enabled6 ? blend_amount6 * coat_mtl6.geometry.cutout_opacity : black, + component: coat_mtl6.surface.scattering + ), + df::color_bsdf_component + ( + weight: enabled7 ? blend_amount7 * coat_mtl7.geometry.cutout_opacity : black, + component: coat_mtl7.surface.scattering + ), + df::color_bsdf_component + ( + weight: enabled8 ? blend_amount8 * coat_mtl8.geometry.cutout_opacity : black, + component: coat_mtl8.surface.scattering + ), + df::color_bsdf_component + ( + weight: enabled9 ? blend_amount9 * coat_mtl9.geometry.cutout_opacity : black, + component: coat_mtl9.surface.scattering + ) + ) + ); + + bsdf blend_bsdf = + df::color_weighted_layer + ( + weight: enabled9 ? blend_amount9 * coat_mtl9.geometry.cutout_opacity : black, + layer: coat_mtl9.surface.scattering, + base: df::color_weighted_layer + ( + weight: enabled8 ? blend_amount8 * coat_mtl8.geometry.cutout_opacity : black, + layer: coat_mtl8.surface.scattering, + base: df::color_weighted_layer + ( + weight: enabled7 ? blend_amount7 * coat_mtl7.geometry.cutout_opacity : black, + layer: coat_mtl7.surface.scattering, + base: df::color_weighted_layer + ( + weight: enabled6 ? blend_amount6 * coat_mtl6.geometry.cutout_opacity : black, + layer: coat_mtl6.surface.scattering, + base: df::color_weighted_layer + ( + weight: enabled5 ? blend_amount5 * coat_mtl5.geometry.cutout_opacity : black, + layer: coat_mtl5.surface.scattering, + base: df::color_weighted_layer + ( + weight: enabled4 ? blend_amount4 * coat_mtl4.geometry.cutout_opacity : black, + layer: coat_mtl4.surface.scattering, + base: df::color_weighted_layer + ( + weight: enabled3 ? blend_amount3 * coat_mtl3.geometry.cutout_opacity : black, + layer: coat_mtl3.surface.scattering, + base: df::color_weighted_layer + ( + weight: enabled2 ? blend_amount2 * coat_mtl2.geometry.cutout_opacity : black, + layer: coat_mtl2.surface.scattering, + base: df::color_weighted_layer + ( + weight: enabled1 ? blend_amount1 * coat_mtl1.geometry.cutout_opacity : black, + layer: coat_mtl1.surface.scattering, + base: base_mtl.surface.scattering + ) + ) + ) + ) + ) + ) + ) + ) + ); + + bsdf surface_bsdf = additive ? additive_bsdf : blend_bsdf; + +} in material +( + ior : base_mtl.ior, + surface : material_surface(scattering: surface_bsdf) +); + +// VRay Car Paint + +// constants for numerical fitted curve to observed flake noise density behavior +// 1. no jitter, maximum flake diameter +const float4 ABCD = float4(-26.19771808f, 26.39663835f, 85.53857017f, -102.35069432f); +const float2 EF = float2(-101.42634862f, 118.45082288f); +// 2. jitter scale of 0.5f, maximum flake diameter +const float4 ABCD_J = float4(-0.87962159f, 0.91006603f, 0.76088203f, -0.24953308f); +const float2 EF_J = float2(-3.11456809f, 2.63430594f); + +// +// flake noise utilities +// +int hash(int seed, int i) +{ + return (i ^ seed) * 1075385539; +} + +int rnd_init(int3 pos) +{ + return hash(hash(hash(0, pos.x), pos.y), pos.z); +} + +int rnd_next(int seed) +{ + // xorshift32 using signed int + seed ^= seed << 13; + seed ^= seed >>> 17; + seed ^= seed << 5; + return seed; +} + +float rnd_value(int seed) +{ + return math::abs(float(seed) * 4.6566e-10f); +} + +struct flake_noise_value +{ + // flake priority (in [0..1], 0: no flake, flakes with higher priority shadow flakes "below" them) + float priority; + + // current pseudo random number generator seed + int rnd_seed; +}; + +// apply random rotation (using "Fast Random Rotation Matrices" by James Arvo) +float3 rotate_pos(float3 pos, float3 xi) +{ + float theta = math::PI * 2.0f * xi.x; + float phi = math::PI * 2.0f * xi.y; + float z = xi.z * 2.0f; + + float r = math::sqrt(z); + float[2] sp_cp = math::sincos(phi); + float Vx = sp_cp[0] * r; + float Vy = sp_cp[1] * r; + float Vz = math::sqrt(2.0f - z); + + float[2] st_ct = math::sincos(theta); + float Sx = Vx * st_ct[1] - Vy * st_ct[0]; + float Sy = Vx * st_ct[0] + Vy * st_ct[1]; + + float3x3 M( + Vx * Sx - st_ct[1], Vx * Sy - st_ct[0], Vx * Vz, + Vy * Sx + st_ct[0], Vy * Sy - st_ct[1], Vy * Vz, + Vz * Sx, Vz * Sy, 1.0f - z); + + return M * pos; +} + +// create a flake normal by importance sampling the Beckmann distribution with given roughness +float3 flake_normal +( + flake_noise_value val, + float spread +) +{ + if (val.priority <= 0.0f) + return state::normal(); + + int seed0 = rnd_next(val.rnd_seed); + float xi0 = rnd_value(seed0); + float xi1 = rnd_value(rnd_next(seed0)); + + float phi = math::PI * 2.0f * xi0; + + float roughness = spread * spread; + + float tantheta = math::sqrt(-roughness * roughness * math::log(1.0f - xi1)); + float sintheta = tantheta / math::sqrt(1.0f + tantheta * tantheta); + float costheta = math::sqrt(1.0f - sintheta * sintheta); + + float[2] scphi = math::sincos(phi); + return + state::texture_tangent_u(0) * scphi[1] * sintheta + + state::texture_tangent_v(0) * scphi[0] * sintheta + + state::normal() * costheta; +} + +// compute a flake probability for a given flake coverage density x +float density_to_probability +( + float4 abcd, + float2 ef, + float x +) +{ + float xx = x * x; + return (abcd.x * xx + abcd.y * x) / (abcd.z * xx * x + abcd.w * xx + ef.x * x + ef.y); +} + +// Flake noise function with controllable regularity, flake size, and probability +flake_noise_value flake_noise +( + float3 pos, + float jitter_scale = 1.0f, + float flake_diameter = 0.75f, + float flake_probability = 1.0f, + int seed_offset = 1 +) +{ + float3 base_pos = math::floor(pos); + int3 base_pos_i = int3(base_pos); + + // limit the flake size to the allowed maximum (such that looking at all neighbors is sufficient) + flake_diameter = math::min(flake_diameter, (3.f - 0.5f * jitter_scale) / math::sqrt(3.0f)); + + flake_noise_value val(0.0f, 0); + + for (int i = -1; i < 2; ++i) + { + for (int j = -1; j < 2; ++j) + { + for (int k = -1; k < 2; ++k) + { + int seed = rnd_init((base_pos_i + int3(i, j, k)) + seed_offset); + + seed = rnd_next(seed); + if (rnd_value(seed) > flake_probability) + continue; + + seed = rnd_next(seed); + float priority = rnd_value(seed); + if (priority < val.priority) + continue; + + float3 flake_pos = base_pos + float3(i, j, k) + float3(0.5f); + + if (jitter_scale > 0.0f) + { + seed = rnd_next(seed); + flake_pos.x += (rnd_value(seed) - 0.5f) * jitter_scale; + seed = rnd_next(seed); + flake_pos.y += (rnd_value(seed) - 0.5f) * jitter_scale; + seed = rnd_next(seed); + flake_pos.z += (rnd_value(seed) - 0.5f) * jitter_scale; + } + + float3 p = pos - flake_pos; + if (math::dot(p, p) >= flake_diameter * flake_diameter * 4.0f) + continue; + + float3 xi_rot; + seed = rnd_next(seed); + xi_rot.x = rnd_value(seed); + seed = rnd_next(seed); + xi_rot.y = rnd_value(seed); + seed = rnd_next(seed); + xi_rot.z = rnd_value(seed); + p = rotate_pos(p, xi_rot); + + if (math::abs(p.x) <= flake_diameter && + math::abs(p.y) <= flake_diameter && + math::abs(p.z) <= flake_diameter) + { + val.priority = priority; + val.rnd_seed = seed; + } + } + } + } + + return val; +} + +// Statistically controlled (area/volume coverage density) flake noise +flake_noise_value flake_noise +( + float3 position, + float diameter, + float density = 0.5f, + int seed_offset = 1, + bool jittered = false +) +{ + float probability = density_to_probability(jittered ? ABCD_J : ABCD, jittered ? EF_J : EF, density); + + return flake_noise + ( + pos : position, + jitter_scale : jittered ? 0.5f : 0.0f, + flake_diameter : (jittered ? 2.5f*diameter : 3.0f*diameter) / math::sqrt(3.0f), + flake_probability : probability, + seed_offset : seed_offset + ); +} + +export material VRayCarPaintMtl +( + // Base layer + color base_color = color(0.3f, 0.4f, 0.5f) + [[ + anno::in_group("Base layer parameters"), + anno::display_name("Base color") + ]], + float base_reflection = 0.5f + [[ + anno::in_group("Base layer parameters"), + anno::display_name("Base reflection"), + anno::hard_range(0.f, 1.f) + ]], + float base_glossiness = 0.6f + [[ + anno::in_group("Base layer parameters"), + anno::display_name("Base glossiness"), + anno::hard_range(0.f, 1.f) + ]], + uniform bool base_trace_reflections = true + [[ + anno::in_group("Base layer parameters"), + anno::display_name("Base trace reflections"), + anno::unused(), + anno::hidden() + ]], + + // Flake layer + color flake_color = color(0.3f, 0.4f, 0.8f) + [[ + anno::in_group("Flake layer parameters"), + anno::display_name("Flake color") + ]], + float flake_glossiness = 0.8f + [[ + anno::in_group("Flake layer parameters"), + anno::display_name("Flake glossiness"), + anno::hard_range(0.f, 1.f) + ]], + float flake_orientation = 0.3f + [[ + anno::in_group("Flake layer parameters"), + anno::display_name("Flake orientation"), + anno::hard_range(0.f, 1.f) + ]], + uniform float flake_density = 0.5f + [[ + anno::in_group("Flake layer parameters"), + anno::display_name("Flake density"), + anno::hard_range(0.f, 4.f) + ]], + uniform float flake_scale = 0.01f + [[ + anno::in_group("Flake layer parameters"), + anno::display_name("Flake scale"), + anno::hard_range(0.f, 1.0e10f) + ]], + uniform float flake_size = 0.5f + [[ + anno::in_group("Flake layer parameters"), + anno::display_name("Flake size"), + anno::hard_range(0.f, 1.0e10f) + ]], + uniform int flake_seed = 1 + [[ + anno::in_group("Flake layer parameters"), + anno::display_name("Flake seed"), + anno::hard_range(1, 65535) + ]], + uniform int flake_filtering = 1 + [[ + anno::in_group("Flake layer parameters"), + anno::display_name("Flake filtering"), + anno::unused(), + anno::hidden() + ]], + uniform int flake_map_size = 1024 + [[ + anno::in_group("Flake layer parameters"), + anno::display_name("Flake map size"), + anno::unused(), + anno::hidden() + ]], + uniform int flake_mapping_type = 0 + [[ + anno::in_group("Flake layer parameters"), + anno::display_name("Flake mapping type") + ]], + uniform int flake_map_channel = 1 + [[ + anno::in_group("Flake layer parameters"), + anno::display_name("Flake map channel") + ]], + uniform bool flake_trace_reflections = true + [[ + anno::in_group("Flake layer parameters"), + anno::display_name("Flake trace reflections"), + anno::unused(), + anno::hidden() + ]], + + + // Coat layer + color coat_color = color(1.0f) + [[ + anno::in_group("Coat layer parameters"), + anno::display_name("Coat color") + ]], + float coat_strength = 0.05f + [[ + anno::in_group("Coat layer parameters"), + anno::display_name("Coat strength"), + anno::hard_range(0.f, 1.f) + ]], + float coat_glossiness = 1.0f + [[ + anno::in_group("Coat layer parameters"), + anno::display_name("Coat glossiness"), + anno::hard_range(0.f, 1.f) + ]], + uniform bool coat_trace_reflections = true + [[ + anno::in_group("Coat layer parameters"), + anno::display_name("Coat trace reflections"), + anno::unused(), + anno::hidden() + ]], + + // Options + uniform bool double_sided = true + [[ + anno::in_group("Options"), + anno::display_name("Double sided") + ]], + + // Maps + float3 base_bump_map = state::normal() + [[ + anno::in_group("Maps"), + anno::display_name("Bump Map") + ]], + float3 coat_bump_map = state::normal() + [[ + anno::in_group("Maps"), + anno::display_name("Coat Map") + ]], + + float displacement_map = 0.f + [[ + anno::in_group("Maps"), + anno::display_name("Displacement map") + ]] + +) +[[ + anno::author("NVIDIA Corporation") +]] += let +{ + // sample flake distribution + flake_noise_value val = (flake_mapping_type == 1) ? + flake_noise(state::position() / flake_scale, flake_size*0.5f, flake_density/8.f, flake_seed, true) : + flake_noise(state::texture_coordinate(flake_map_channel - 1) / flake_scale, flake_size*0.5f, flake_density/2.f, flake_seed, true); + + bool is_flake = (flake_mapping_type == 1) ? + flake_density/8.f >= 1.0f || val.priority > 0.0f : + flake_density/2.f >= 1.0f || val.priority > 0.0f; + + // Base layer BSDF + bsdf base_bsdf = + df::fresnel_layer + ( + ior : 1.5f, + weight : base_reflection, + layer : df::microfacet_ggx_smith_bsdf + ( + roughness_u : (1.f - base_glossiness)*(1.f - base_glossiness) + ), + base : df::diffuse_reflection_bsdf + ( + tint : base_color + ), + normal : base_bump_map + ); + + // Flakes BSDF + bsdf flake_bsdf = + df::microfacet_ggx_smith_bsdf + ( + tint : flake_color, + roughness_u : (1.f - flake_glossiness)*(1.f - flake_glossiness) + ); + + bsdf surface_bsdf = + df::weighted_layer + ( + weight : is_flake ? 1.0f : 0.0f, + normal : flake_normal(val, flake_orientation*0.5f), + layer : flake_bsdf, + base : base_bsdf + ); + + + // Coat layer bsdf + bsdf coat_bsdf = + df::color_custom_curve_layer + ( + normal_reflectivity : coat_color*coat_strength, + grazing_reflectivity: coat_color, + layer : df::microfacet_ggx_smith_bsdf + ( + roughness_u : (1.f - coat_glossiness)*(1.f - coat_glossiness) + ), + base : surface_bsdf, + normal : coat_bump_map + ); + +} in material +( + thin_walled : double_sided, + surface : material_surface(scattering : coat_bsdf), + backface : double_sided ? material_surface(scattering: coat_bsdf) : material_surface(), + geometry : material_geometry(displacement: state::normal()*(displacement_map)) +); + +export material VRayCarPaintMtl2 +( + // Base layer + color base_color = color(0.3f, 0.4f, 0.5f) + [[ + anno::in_group("Base layer parameters"), + anno::display_name("Base color") + ]], + float base_reflection = 0.5f + [[ + anno::in_group("Base layer parameters"), + anno::display_name("Base reflection"), + anno::hard_range(0.f, 1.f) + ]], + float base_glossiness = 0.4f + [[ + anno::in_group("Base layer parameters"), + anno::display_name("Base glossiness"), + anno::hard_range(0.f, 1.f) + ]], + float base_glossiness_tail = 2.0f + [[ + anno::in_group("Base layer parameters"), + anno::display_name("Base glossiness tail"), + anno::hard_range(0.001f, 1000.f), + anno::unused(), + anno::hidden() + ]], + uniform bool base_trace_reflections = true + [[ + anno::in_group("Base layer parameters"), + anno::display_name("Base trace reflections"), + anno::unused(), + anno::hidden() + ]], + + // Flake layer + color flake_color = color(0.3f, 0.4f, 0.8f) + [[ + anno::in_group("Flake layer parameters"), + anno::display_name("Flake color") + ]], + color flake_random_color = color(0.3f, 0.4f, 0.8f) + [[ + anno::in_group("Flake layer parameters"), + anno::display_name("Flake random color"), + anno::unused(), + anno::hidden() + ]], + float flake_orientation = 0.05f + [[ + anno::in_group("Flake layer parameters"), + anno::display_name("Flake orientation"), + anno::hard_range(0.f, 1.f) + ]], + uniform float flake_orientation_tail = 2.0f + [[ + anno::in_group("Flake layer parameters"), + anno::display_name("Flake orientation tail"), + anno::hard_range(0.01f, 1000.f), + anno::unused(), + anno::hidden() + ]], + uniform float flake_glossiness = 0.9f + [[ + anno::in_group("Flake layer parameters"), + anno::display_name("Flake glossiness"), + anno::hard_range(0.f, 1.f) + ]], + uniform float flake_density = 4.0f + [[ + anno::in_group("Flake layer parameters"), + anno::display_name("Flake density"), + anno::hard_range(0.f, 7.f) + ]], + uniform float flake_uvw_scale = 1.0f + [[ + anno::in_group("Flake layer parameters"), + anno::display_name("Flake UVW scale"), + anno::hard_range(0.f, 1.0e10f), + anno::enable_if("flake_mapping_type == 0") + ]], + uniform float flake_object_xyz_scale = 1.0f + [[ + anno::in_group("Flake layer parameters"), + anno::display_name("Flake Object XYZ scale"), + anno::hard_range(0.f, 1.0e10f), + anno::enable_if("flake_mapping_type == 1") + ]], + uniform float flake_size = 0.5f + [[ + anno::in_group("Flake layer parameters"), + anno::display_name("Flake size"), + anno::hard_range(0.f, 1.0e10f) + ]], + uniform int flake_seed = 1 + [[ + anno::in_group("Flake layer parameters"), + anno::display_name("Flake seed"), + anno::hard_range(1, 65535) + ]], + uniform int flake_map_size = 2048 + [[ + anno::in_group("Flake layer parameters"), + anno::display_name("Flake map size"), + anno::unused(), + anno::hidden() + ]], + uniform int flake_mapping_type = 0 + [[ + anno::in_group("Flake layer parameters"), + anno::display_name("Flake mapping type"), + anno::hard_range(0, 1) + ]], + uniform int flake_map_channel = 1 + [[ + anno::in_group("Flake layer parameters"), + anno::display_name("Flake map channel") + ]], + uniform bool flake_trace_reflections = true + [[ + anno::in_group("Flake layer parameters"), + anno::display_name("Flake trace reflections"), + anno::unused(), + anno::hidden() + ]], + + // Coat layer + color coat_color = color(1.0f) + [[ + anno::in_group("Coat layer parameters"), + anno::display_name("Coat color") + ]], + float coat_amount = 1.0f + [[ + anno::in_group("Coat layer parameters"), + anno::display_name("Coat amount"), + anno::hard_range(0.f, 1.f) + ]], + float coat_ior = 1.5f + [[ + anno::in_group("Coat layer parameters"), + anno::display_name("Coat IOR"), + anno::hard_range(0.f, 100.f) + ]], + float coat_glossiness = 1.0f + [[ + anno::in_group("Coat layer parameters"), + anno::display_name("Coat glossiness"), + anno::hard_range(0.f, 1.f) + ]], + uniform bool coat_trace_reflections = true + [[ + anno::in_group("Coat layer parameters"), + anno::display_name("Coat trace reflections"), + anno::unused(), + anno::hidden() + ]], + + // Options + uniform bool double_sided = true + [[ + anno::in_group("Options"), + anno::display_name("Double sided") + ]], + + // Maps + float3 base_bump_map = state::normal() + [[ + anno::in_group("Maps"), + anno::display_name("Bump Map") + ]], + float3 coat_bump_map = state::normal() + [[ + anno::in_group("Maps"), + anno::display_name("Coat Map") + ]], + + float displacement_map = 0.f + [[ + anno::in_group("Maps"), + anno::display_name("Displacement map") + ]] + +) +[[ + anno::author("NVIDIA Corporation") +]] += let +{ + // sample flake distribution + flake_noise_value val = (flake_mapping_type == 1) ? + // Object XYZ + flake_noise(state::position() / flake_object_xyz_scale*2.f, flake_size*0.8f, flake_density/7.f, flake_seed, true) : + // UVW + flake_noise(state::texture_coordinate(flake_map_channel - 1) / flake_uvw_scale*2000.0f, flake_size*0.8f, flake_density/7.f, flake_seed, true); + + bool is_flake = flake_density/7.f >= 1.0f || val.priority > 0.0f; + + // Base layer BSDF + bsdf base_bsdf = + df::fresnel_layer + ( + ior : 1.5f, + weight : base_reflection, + layer : df::microfacet_ggx_smith_bsdf + ( + roughness_u : (1.f - base_glossiness)*(1.f - base_glossiness) + ), + base : df::diffuse_reflection_bsdf + ( + tint : base_color + ), + normal : base_bump_map + ); + + // Flakes BSDF + bsdf flake_bsdf = + df::microfacet_ggx_smith_bsdf + ( + tint : flake_color, + roughness_u : (1.f - flake_glossiness)*(1.f - flake_glossiness) + ); + + bsdf surface_bsdf = + df::weighted_layer + ( + weight : is_flake ? 1.0f : 0.0f, + normal : flake_normal(val, flake_orientation*0.5f), + layer : flake_bsdf, + base : base_bsdf + ); + + bsdf coat_bsdf = + df::fresnel_layer + ( + ior : coat_ior, + // ior : invert_coat_ior ? 1.f/(coat_ior + 0.01f) : coat_ior, + weight : coat_amount, + layer : df::simple_glossy_bsdf + ( + tint : color(1.0f), + roughness_u : (1.f - coat_glossiness)*(1.f - coat_glossiness), + mode : df::scatter_reflect + ), + //base : surface_bsdf, + base : df::tint + ( + tint : coat_color,//math::lerp(color(1.f), coat_color, coat_amount), + base : surface_bsdf + ), + normal : coat_bump_map + ); + +} in material +( + thin_walled : double_sided, + surface : material_surface(scattering : coat_bsdf), + backface : double_sided ? material_surface(scattering: coat_bsdf) : material_surface(), + geometry : material_geometry(displacement: state::normal()*(displacement_map)) +); + +// VRay Light Material +export material VRayLightMtl +( + color emission = color(1.0) + [[ + anno::in_group("Parameters"), + anno::display_name("Emission") + ]], + uniform float emission_mult = 1.0 + [[ + anno::in_group("Parameters"), + anno::display_name("Mutliplier") + ]], + color opacity = color(1.0) + [[ + anno::in_group("Parameters"), + anno::display_name("Opacity") + ]], + uniform bool emit_on_backside = false + [[ + anno::in_group("Parameters"), + anno::display_name("Emit light on back side") + ]], + uniform bool mult_emission_by_opacity = false + [[ + anno::in_group("Parameters"), + anno::display_name("Mutliply emission by opacity") + ]], + float displacement = 0.f + [[ + anno::in_group("Parameters"), + anno::display_name("Displacement") + ]], + uniform float displace_amnt = 1.f + [[ + anno::in_group("Parameters"), + anno::display_name("Displacement amount") + ]] +) +[[ + anno::author("NVIDIA Corporation") +]] += let +{ + color emission_color = mult_emission_by_opacity ? + (emission*opacity*opacity)*emission_mult : + (emission*opacity)*emission_mult; + + bsdf surface_bsdf = + df::simple_glossy_bsdf + ( + mode: df::scatter_transmit, + tint: color(1.f) - opacity, + roughness_u: 0 + ); + + material_surface emit_surface = material_surface( + scattering: surface_bsdf, + emission: material_emission( + emission: df::diffuse_edf(), + intensity: emission_color)); +} in material +( + ior : color(1.0), + thin_walled : emit_on_backside, + surface : emit_surface, + backface : emit_on_backside ? emit_surface : material_surface(), + geometry : material_geometry( + displacement: state::normal()*(displacement*displace_amnt)) +); + +// VRay Material - Translucency Mode +export enum VRay_translucency_mode +[[ + anno::hidden() +]] +{ + translucency_none, + translucency_hard,//all modes will likely trigger the same mdl code but value might be usefull for other means + translucency_soft, + translucency_hybrid +}; + +// VRay Material - BRDF Mode +export enum VRay_brdf_mode +[[ + anno::hidden() +]] +{ + brdf_phong, + brdf_blinn, + brdf_ward, + brdf_ggx +}; + +// VRay Material - Glossy Mode +export enum VRay_brdf_glossy_mode +[[ + anno::hidden() +]] +{ + brdf_roughness, + brdf_glossiness +}; + +// VRay Material +export material VRayMtl( + color Diffuse = color(0.5f) + [[ + anno::in_group("Diffuse Parameters"), + anno::display_name("Diffuse") + ]], + uniform float diffuse_roughness = 0.f + [[ + anno::in_group("Diffuse Parameters"), + anno::display_name("Roughness"), + anno::hard_range(0.f, 1.f) + ]], + + color Reflection = color(0.f) + [[ + anno::in_group("Reflections"), + anno::display_name("Reflect") + ]], + float reflection_glossiness = 1.f + [[ + anno::in_group("Reflections"), + anno::display_name("Glossiness"), + anno::hard_range(0.f, 1.f) + ]], + uniform bool reflection_fresnel = true + [[ + anno::in_group("Reflections"), + anno::display_name("Fresnel reflections") + ]], + float reflection_ior = 1.6f + [[ + anno::in_group("Reflections"), + anno::display_name("Fresnel IOR"), + anno::soft_range(0.2f, 5.f), + anno::hard_range(1.e-6f, 100.f) + ]], + uniform bool reflection_lockIOR = true + [[ + anno::in_group("Reflections"), + anno::display_name("Lock IOR") + ]], + uniform bool invert_reflection_ior = false + [[ + anno::in_group("Reflections"), + anno::hidden() + ]], + float reflection_metalness = 0.f + [[ + anno::in_group("Reflections"), + anno::display_name("Metalness"), + anno::hard_range(0.f, 1.f) + ]], + + color Refraction = color(0.f) + [[ + anno::in_group("Refractions"), + anno::display_name("Refract") + ]], + float refraction_glossiness = 1.f + [[ + anno::in_group("Refractions"), + anno::display_name("Glossiness"), + anno::hard_range(0.f, 1.f) + ]], + uniform float refraction_ior = 1.6f // not textureable to be physically plausible + [[ + anno::in_group("Refractions"), + anno::display_name("IOR"), + anno::soft_range(0.2,5.), + anno::hard_range(1.e-6f, 100.f) + ]], + uniform bool invert_refraction_ior = false + [[ + anno::in_group("Refractions"), + anno::hidden() + ]], + uniform bool refraction_dispersion_on = false + [[ + anno::in_group("Refractions"), + anno::display_name("Enable dispersion"), + anno::unused(), + anno::hidden() + ]], + uniform float refraction_dispersion = 50.f + [[ + anno::in_group("Refractions"), + anno::display_name("Abbe number"), + anno::soft_range(10.f, 100.f), + anno::hard_range(1.f, 150.f), + anno::unused(), + anno::hidden() + ]], + + color refraction_fogColor = color(1.f) + [[ + anno::in_group("Fog"), + anno::display_name("Color"), + anno::unused(), + anno::hidden() + ]], + uniform float refraction_fogBias = 0.f + [[ + anno::in_group("Fog"), + anno::display_name("Bias"), + anno::unused(), + anno::hidden() + ]], + uniform float refraction_fogMult = 1.f + [[ + anno::in_group("Fog"), + anno::display_name("Multiplier"), + anno::unused(), + anno::hidden() + ]], + + uniform VRay_translucency_mode translucency_on = translucency_none + [[ + anno::in_group("Translucency"), + anno::display_name("Enable translucency"), + anno::unused(), + anno::hidden() + ]], + uniform float translucency_scatterCoeff = 0.f + [[ + anno::in_group("Translucency"), + anno::display_name("Scatter coeff"), + anno::unused(), + anno::hidden() + ]], + uniform float translucency_fbCoeff = 1.f + [[ + anno::in_group("Translucency"), + anno::display_name("Fwd/Bck coeff"), + anno::unused(), + anno::hidden() + ]], + uniform color translucency_color = color(1.f) + [[ + anno::in_group("Translucency"), + anno::display_name("Back-side color"), + anno::unused(), + anno::hidden() + ]], + + color self_illumination = color(0.f) + [[ + anno::in_group("Self-Illumination"), + anno::display_name("Self-illumination") + ]], + uniform float self_illumination_multiplier = 1.f + [[ + anno::in_group("Self-Illumination"), + anno::display_name("Multiplier") + ]], + + float coat_amount = 0.f + [[ + anno::in_group("Coat Parameters"), + anno::display_name("Coat amount"), + anno::hard_range(0.f, 1.f) + ]], + color coat_color = color(1.f) + [[ + anno::in_group("Coat Parameters"), + anno::display_name("Coat color") + ]], + float coat_glossiness = 1.f + [[ + anno::in_group("Coat Parameters"), + anno::display_name("Coat glossiness"), + anno::hard_range(0.f, 1.f) + ]], + float coat_ior = 1.6f + [[ + anno::in_group("Coat Parameters"), + anno::display_name("Coat IOR"), + anno::soft_range(0.2,5.), + anno::hard_range(1.e-6f, 100.f) + ]], + uniform bool invert_coat_ior = false + [[ + anno::in_group("Coat Parameters"), + anno::hidden() + ]], + bool coat_bump_lock = false + [[ + anno::in_group("Coat Parameters"), + anno::display_name("lock coat bump to base bump") + ]], + + color sheen_color = color(0.f) + [[ + anno::in_group("Sheen Parameters"), + anno::display_name("Sheen color"), + anno::unused(), + anno::hidden() + ]], + float sheen_glossiness = 0.8f + [[ + anno::in_group("Sheen Parameters"), + anno::display_name("Sheen glossiness"), + anno::hard_range(0.f, 1.f), + anno::unused(), + anno::hidden() + ]], + + uniform VRay_brdf_mode brdf_type = brdf_ggx + [[ + anno::in_group("BRDF"), + anno::display_name("BRDF type"), + anno::unused(), + anno::hidden() + ]], + uniform VRay_brdf_glossy_mode brdf_useRoughness = brdf_glossiness + [[ + anno::in_group("BRDF"), + anno::display_name("BRDF glossiness"), + anno::hidden() + ]], + float anisotropy = 0.f + [[ + anno::in_group("BRDF"), + anno::display_name("Anisotropy"), + anno::hard_range(-1.f, 1.f), + anno::unused(), + anno::hidden() + ]], + float anisotropy_rotation = 0.f + [[ + anno::in_group("BRDF"), + anno::display_name("Rotation"), + anno::hard_range(-10000.f, 10000.f), + anno::unused(), + anno::hidden() + ]], + uniform int anisotropy_channel = 0 //=1 in max + [[ + anno::in_group("BRDF"), + anno::display_name("Map channel"), + anno::unused(), + anno::hidden() + ]], + + float3 texmap_bump = state::normal() + [[ + anno::in_group("Maps"), + anno::display_name("Bump Map") + ]], + float3 texmap_coat_bump = state::normal() + [[ + anno::in_group("Maps"), + anno::display_name("Coat Map") + ]], + float texmap_opacity = 1.0f + [[ + anno::in_group("Maps"), + anno::display_name("Opacity Map") + ]], + + uniform bool thin_walled = false + [[ + anno::in_group("Options"), + anno::hidden() + ]] +) +[[ + anno::author("NVIDIA Corporation") +]] + = let + { + float reflection_roughness = brdf_useRoughness == brdf_roughness ? + reflection_glossiness : math::pow((1.f - reflection_glossiness), 2.f); + + float refraction_roughness = brdf_useRoughness == brdf_roughness ? + refraction_glossiness : math::pow((1.f - refraction_glossiness), 2.f); + + + float refl_ior = invert_reflection_ior ? 1.f/(reflection_ior + 0.01f) : reflection_ior; + float refr_ior = invert_refraction_ior ? 1.f/(refraction_ior + 0.01f) : refraction_ior; + + float fresnel_ior = reflection_lockIOR ? refr_ior : refl_ior; + float R0 = math::pow((1.f - fresnel_ior)/(1.f + fresnel_ior), 2.f); + + // diffuse + bsdf diffuse_bsdf = + df::weighted_layer + ( + weight : 1.f, + layer : df::diffuse_reflection_bsdf + ( + tint : Diffuse, + roughness : diffuse_roughness + ), + normal : texmap_bump + ); + + // transmission + bsdf glossy_transmission_bsdf = + df::simple_glossy_bsdf( + mode: df::scatter_transmit, + tint: color(1.f), + roughness_u: refraction_roughness + ); + + // reflection + bsdf glossy_reflection_bsdf = + df::simple_glossy_bsdf( + mode: df::scatter_reflect, + tint: reflection_fresnel ? Reflection : color(1.f), + roughness_u: reflection_roughness + ); + + // diffuse glossy reflection + bsdf diffuse_glossy_reflection_bsdf = + df::simple_glossy_bsdf( + mode: df::scatter_reflect, + tint: Diffuse, + roughness_u: reflection_roughness + ); + + // surface + bsdf surface_bsdf = + df::color_custom_curve_layer + ( + normal_reflectivity : reflection_fresnel ? color(R0) : Reflection, + grazing_reflectivity: reflection_fresnel ? color(1.f) : Reflection, + layer : glossy_reflection_bsdf, + base : + df::weighted_layer + ( + weight : reflection_metalness, + layer : diffuse_glossy_reflection_bsdf, + base : + df::color_weighted_layer + ( + weight : Refraction, + layer : glossy_transmission_bsdf, + base : diffuse_bsdf, + normal : texmap_bump + ), + normal : texmap_bump + ), + normal : texmap_bump + ); + + // coat + bsdf coat_bsdf = + df::fresnel_layer + ( + ior : invert_coat_ior ? 1.f/(coat_ior + 0.01f) : coat_ior, + weight : coat_amount, + layer : df::simple_glossy_bsdf + ( + tint : color(1.f), + roughness_u : math::pow((1.f - coat_glossiness), 2.f), + mode : df::scatter_reflect + ), + base : df::tint + ( + tint : math::lerp(color(1.f), coat_color, coat_amount), + base : surface_bsdf + ), + normal : coat_bump_lock ? texmap_bump : texmap_coat_bump + ); + +} +in material +( + ior : color(refr_ior), + thin_walled : thin_walled, + surface : material_surface + ( + scattering : coat_bsdf, + emission : material_emission + ( + emission : df::diffuse_edf(), + intensity : self_illumination*self_illumination_multiplier + ) + ), + geometry : material_geometry + ( + cutout_opacity: texmap_opacity + ) +); + +// VRay-Fast-SSS-2 Material +export material VRayFastSSS2 +( + // General parameters + uniform float scale = 1.f + [[ + anno::in_group("General Parameters"), + anno::display_name("Scale"), + anno::hard_range(0.f, 10000.f) + ]], + uniform float ior = 1.3f + [[ + anno::in_group("General Parameters"), + anno::display_name("IOR"), + anno::hard_range(0.f, 100.f) + ]], + + // Diffuse and SSS Layers + color overall_color = color(1.f) + [[ + anno::in_group("Diffuse and SSS Layers"), + anno::display_name("Overall color") + ]], + color diffuse_color = color(0.5f) + [[ + anno::in_group("Diffuse and SSS Layers"), + anno::display_name("Diffuse color") + ]], + float diffuse_amnt = 0.f + [[ + anno::in_group("Diffuse and SSS Layers"), + anno::display_name("Diffuse amount"), + anno::hard_range(0.f, 1.f) + ]], + uniform int color_mode = 0 + [[ + anno::in_group("Diffuse and SSS Layers"), + anno::display_name("Color mode"), + anno::unused(), + anno::hidden() + ]], + color sub_surface_color = color(0.5f) + [[ + anno::in_group("Diffuse and SSS Layers"), + anno::display_name("Sub-surface color") + ]], + color scatter_color = color(0.5f) + [[ + anno::in_group("Diffuse and SSS Layers"), + anno::display_name("Scatter color") + ]], + float scatter_radius = 1.f + [[ + anno::in_group("Diffuse and SSS Layers"), + anno::display_name("Scatter radius") + ]], + uniform float phase_function = 0.f + [[ + anno::in_group("Diffuse and SSS Layers"), + anno::display_name("Phase function"), + anno::hard_range(-1.f, 1.f) + ]], + + // Specular Layer + color specular_color = color(1.f) + [[ + anno::in_group("Specular Layer"), + anno::display_name("Specular color") + ]], + float specular_amnt = 1.f + [[ + anno::in_group("Specular Layer"), + anno::display_name("Specular color"), + anno::hard_range(0.f, 1.f) + ]], + float specular_glossiness = 0.6f + [[ + anno::in_group("Specular Layer"), + anno::display_name("Specular glossiness"), + anno::hard_range(0.f, 1.f) + ]], + + // Bump + float3 texmap_bump = state::normal() + [[ + anno::in_group("Maps"), + anno::display_name("Bump Map") + ]] +) +[[ + anno::author("NVIDIA Corporation") +]] += let +{ + float inv_radius = -100.f/(scatter_radius*scale); + float inv_div = 1.f/(1.f + math::max_value(scatter_color)); + color extinction = math::log(sub_surface_color*inv_div)*inv_radius; + color s = color(4.09712f) + 4.20863f*scatter_color - math::sqrt(9.59217f + 41.6808f*scatter_color + 17.7126f*scatter_color*scatter_color); + color ss_albedo = s*s; + + color absorption = extinction*ss_albedo; + color scattering = extinction - absorption; + + bsdf diffuse_sss_bsdf = df::weighted_layer + ( + weight : diffuse_amnt, + layer : df::diffuse_reflection_bsdf + ( + tint : diffuse_color + ), + base : df::diffuse_transmission_bsdf() + ); + + bsdf specular_bsdf = df::simple_glossy_bsdf + ( + mode : df::scatter_reflect, + tint : specular_color*specular_amnt, + roughness_u : 1.f - specular_glossiness + ); + + bsdf overall_bsdf = df::tint + ( + tint : overall_color, + base : df::fresnel_layer + ( + ior : ior, + layer : specular_bsdf, + base : diffuse_sss_bsdf + ) + + ); + +} +in material +( + ior : color(ior), + surface : material_surface + ( + scattering : overall_bsdf + ), + volume : material_volume + ( + scattering : df::anisotropic_vdf(phase_function), + absorption_coefficient : absorption, + scattering_coefficient : scattering + ), + geometry: material_geometry + ( + normal: texmap_bump + ) + +); diff --git a/assets/scene_usds/ebench/teleop_tasks/tighten_nut/merge_usd/0013/Materials/w.mdl b/assets/scene_usds/ebench/teleop_tasks/tighten_nut/merge_usd/0013/Materials/w.mdl new file mode 100644 index 0000000000000000000000000000000000000000..d16d7a6555ae703aa03213efd26241cbcab8eeae --- /dev/null +++ b/assets/scene_usds/ebench/teleop_tasks/tighten_nut/merge_usd/0013/Materials/w.mdl @@ -0,0 +1,78 @@ +///\authors: Auto-generated by vray_to_mdl_export.ms script. +///\description: Translated VRay material. + +mdl 1.6; + +// Import +import ::anno::*; +import ::base::transform_coordinate; +import ::base::rotation_translation_scale; +import ::base::file_texture; +import ::base::mono_mode; +import ::base::texture_coordinate_info; +import ::base::texture_return; +import ::state::normal; +import ::state::texture_coordinate; +import ::state::texture_tangent_u; +import ::state::texture_tangent_v; +import ::tex::gamma_mode; +import ::tex::wrap_mode; +import templates::ad_3dsmax_materials::*; +import templates::ad_3dsmax_maps::*; +import templates::vray_materials::*; +import templates::vray_maps::*; + +// Body +export material w() +[[ + anno::display_name("w") +]] += ::templates::vray_materials::VRayMtl( + Diffuse : color(1.0,1.0,1.0), + diffuse_roughness : 0.0f, + Reflection : ::templates::ad_3dsmax_maps::ad_3dsmax_falloff( + color1 : base::texture_return(tint:color(0.0,0.0,0.0), mono:1), + color2 : base::texture_return(tint:color(1.0,1.0,1.0), mono:1), + falloff_type : ::templates::ad_3dsmax_maps::Fresnel, + falloff_direction : ::templates::ad_3dsmax_maps::View, + nearDistance : 0.0f, + farDistance : 100.0f + ).tint, + reflection_glossiness : 0.85f, + reflection_fresnel : false, + reflection_ior : 1.6f, + reflection_lockIOR : true, + invert_reflection_ior : false, + reflection_metalness : 0.0f, + Refraction : color(0.0,0.0,0.0), + refraction_glossiness : 1.0f, + refraction_ior : 1.6f, + invert_refraction_ior : false, + refraction_dispersion_on : false, + refraction_dispersion : 50.0f, + refraction_fogColor : color(1.0,1.0,1.0), + refraction_fogBias : 0.0f, + refraction_fogMult : 1.0f, + translucency_on : ::templates::vray_materials::translucency_none, + translucency_scatterCoeff : 0.0f, + translucency_fbCoeff : 1.0f, + translucency_color : color(1.0,1.0,1.0), + self_illumination : color(0.0,0.0,0.0), + self_illumination_multiplier : 1.0f, + coat_amount : 0.0f, + coat_color : color(1.0,1.0,1.0), + coat_glossiness : 1.0f, + coat_ior : 1.6f, + invert_coat_ior : false, + coat_bump_lock : false, + sheen_color : color(0.0,0.0,0.0), + sheen_glossiness : 0.8f, + brdf_type : ::templates::vray_materials::brdf_blinn, + brdf_useRoughness : ::templates::vray_materials::brdf_glossiness, + anisotropy : 0.0f, + anisotropy_rotation : 0.0f, + anisotropy_channel : 1, + texmap_opacity : 1.0f +); + + diff --git a/tasks/ebench/table_top_manip/collect_coffee_beans_test_mini/000/lmdb/info.json b/tasks/ebench/table_top_manip/collect_coffee_beans_test_mini/000/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..bc87f6fd4738137ce835d4745204c8c510c20fb5 --- /dev/null +++ b/tasks/ebench/table_top_manip/collect_coffee_beans_test_mini/000/lmdb/info.json @@ -0,0 +1 @@ +{"observation/object_prim_path_map": {"00000000000000000000000000000000": "/World/_scene/obj_table", "01": "/World/_scene/obj_01", "02": "/World/_scene/obj_02", "03": "/World/_scene/obj_03", "04": "/World/_scene/obj_04", "05": "/World/_scene/obj_05", "06": "/World/_scene/obj_06", "07": "/World/_scene/obj_07", "08": "/World/_scene/obj_08", "10": "/World/_scene/obj_10", "_13": "/World/_scene/obj__13", "_14": "/World/_scene/obj__14"}, "observation/robot_joint_prim_path_map": {"base_link": "/World/_scene/lift2/lift2/lift2/base_link", "wheel1": "/World/_scene/lift2/lift2/lift2/wheel1", "wheel2": "/World/_scene/lift2/lift2/lift2/wheel2", "wheel3": "/World/_scene/lift2/lift2/lift2/wheel3", "body4": "/World/_scene/lift2/lift2/lift2/body4", "h_link5": "/World/_scene/lift2/lift2/lift2/h_link5", "fr_base_link": "/World/_scene/lift2/lift2/lift2/fr/base_link", "fl_base_link": "/World/_scene/lift2/lift2/lift2/fl/base_link", "h_link6": "/World/_scene/lift2/lift2/lift2/h_link6", "fl_link1": "/World/_scene/lift2/lift2/lift2/fl/link1", "fl_link2": "/World/_scene/lift2/lift2/lift2/fl/link2", "fl_link3": "/World/_scene/lift2/lift2/lift2/fl/link3", "fl_link4": "/World/_scene/lift2/lift2/lift2/fl/link4", "fl_link5": "/World/_scene/lift2/lift2/lift2/fl/link5", "fl_link6": "/World/_scene/lift2/lift2/lift2/fl/link6", "fl_link7": "/World/_scene/lift2/lift2/lift2/fl/link7", "fl_link8": "/World/_scene/lift2/lift2/lift2/fl/link8", "fr_link1": "/World/_scene/lift2/lift2/lift2/fr/link1", "fr_link2": "/World/_scene/lift2/lift2/lift2/fr/link2", "fr_link3": "/World/_scene/lift2/lift2/lift2/fr/link3", "fr_link4": "/World/_scene/lift2/lift2/lift2/fr/link4", "fr_link5": "/World/_scene/lift2/lift2/lift2/fr/link5", "fr_link6": "/World/_scene/lift2/lift2/lift2/fr/link6", "fr_link7": "/World/_scene/lift2/lift2/lift2/fr/link7", "fr_link8": "/World/_scene/lift2/lift2/lift2/fr/link8", "dummy_base_x": "/World/_scene/lift2/lift2/lift2/dummy_base_x", "dummy_base_y": "/World/_scene/lift2/lift2/lift2/dummy_base_y", "dummy_base_rotate": "/World/_scene/lift2/lift2/lift2/dummy_base_rotate"}, "observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/table_top_manip/collect_coffee_beans_test_mini/000/lmdb/lock.mdb b/tasks/ebench/table_top_manip/collect_coffee_beans_test_mini/000/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..9f790d40bf7bc60d094a559364985e2eb1ff93ad Binary files /dev/null and b/tasks/ebench/table_top_manip/collect_coffee_beans_test_mini/000/lmdb/lock.mdb differ diff --git a/tasks/ebench/table_top_manip/collect_coffee_beans_test_mini/001/lmdb/info.json b/tasks/ebench/table_top_manip/collect_coffee_beans_test_mini/001/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..bc87f6fd4738137ce835d4745204c8c510c20fb5 --- /dev/null +++ b/tasks/ebench/table_top_manip/collect_coffee_beans_test_mini/001/lmdb/info.json @@ -0,0 +1 @@ +{"observation/object_prim_path_map": {"00000000000000000000000000000000": "/World/_scene/obj_table", "01": "/World/_scene/obj_01", "02": "/World/_scene/obj_02", "03": "/World/_scene/obj_03", "04": "/World/_scene/obj_04", "05": "/World/_scene/obj_05", "06": "/World/_scene/obj_06", "07": "/World/_scene/obj_07", "08": "/World/_scene/obj_08", "10": "/World/_scene/obj_10", "_13": "/World/_scene/obj__13", "_14": "/World/_scene/obj__14"}, "observation/robot_joint_prim_path_map": {"base_link": "/World/_scene/lift2/lift2/lift2/base_link", "wheel1": "/World/_scene/lift2/lift2/lift2/wheel1", "wheel2": "/World/_scene/lift2/lift2/lift2/wheel2", "wheel3": "/World/_scene/lift2/lift2/lift2/wheel3", "body4": "/World/_scene/lift2/lift2/lift2/body4", "h_link5": "/World/_scene/lift2/lift2/lift2/h_link5", "fr_base_link": "/World/_scene/lift2/lift2/lift2/fr/base_link", "fl_base_link": "/World/_scene/lift2/lift2/lift2/fl/base_link", "h_link6": "/World/_scene/lift2/lift2/lift2/h_link6", "fl_link1": "/World/_scene/lift2/lift2/lift2/fl/link1", "fl_link2": "/World/_scene/lift2/lift2/lift2/fl/link2", "fl_link3": "/World/_scene/lift2/lift2/lift2/fl/link3", "fl_link4": "/World/_scene/lift2/lift2/lift2/fl/link4", "fl_link5": "/World/_scene/lift2/lift2/lift2/fl/link5", "fl_link6": "/World/_scene/lift2/lift2/lift2/fl/link6", "fl_link7": "/World/_scene/lift2/lift2/lift2/fl/link7", "fl_link8": "/World/_scene/lift2/lift2/lift2/fl/link8", "fr_link1": "/World/_scene/lift2/lift2/lift2/fr/link1", "fr_link2": "/World/_scene/lift2/lift2/lift2/fr/link2", "fr_link3": "/World/_scene/lift2/lift2/lift2/fr/link3", "fr_link4": "/World/_scene/lift2/lift2/lift2/fr/link4", "fr_link5": "/World/_scene/lift2/lift2/lift2/fr/link5", "fr_link6": "/World/_scene/lift2/lift2/lift2/fr/link6", "fr_link7": "/World/_scene/lift2/lift2/lift2/fr/link7", "fr_link8": "/World/_scene/lift2/lift2/lift2/fr/link8", "dummy_base_x": "/World/_scene/lift2/lift2/lift2/dummy_base_x", "dummy_base_y": "/World/_scene/lift2/lift2/lift2/dummy_base_y", "dummy_base_rotate": "/World/_scene/lift2/lift2/lift2/dummy_base_rotate"}, "observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/table_top_manip/collect_coffee_beans_test_mini/001/lmdb/lock.mdb b/tasks/ebench/table_top_manip/collect_coffee_beans_test_mini/001/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..9f790d40bf7bc60d094a559364985e2eb1ff93ad Binary files /dev/null and b/tasks/ebench/table_top_manip/collect_coffee_beans_test_mini/001/lmdb/lock.mdb differ diff --git a/tasks/ebench/table_top_manip/collect_coffee_beans_test_mini/002/lmdb/info.json b/tasks/ebench/table_top_manip/collect_coffee_beans_test_mini/002/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..bc87f6fd4738137ce835d4745204c8c510c20fb5 --- /dev/null +++ b/tasks/ebench/table_top_manip/collect_coffee_beans_test_mini/002/lmdb/info.json @@ -0,0 +1 @@ +{"observation/object_prim_path_map": {"00000000000000000000000000000000": "/World/_scene/obj_table", "01": "/World/_scene/obj_01", "02": "/World/_scene/obj_02", "03": "/World/_scene/obj_03", "04": "/World/_scene/obj_04", "05": "/World/_scene/obj_05", "06": "/World/_scene/obj_06", "07": "/World/_scene/obj_07", "08": "/World/_scene/obj_08", "10": "/World/_scene/obj_10", "_13": "/World/_scene/obj__13", "_14": "/World/_scene/obj__14"}, "observation/robot_joint_prim_path_map": {"base_link": "/World/_scene/lift2/lift2/lift2/base_link", "wheel1": "/World/_scene/lift2/lift2/lift2/wheel1", "wheel2": "/World/_scene/lift2/lift2/lift2/wheel2", "wheel3": "/World/_scene/lift2/lift2/lift2/wheel3", "body4": "/World/_scene/lift2/lift2/lift2/body4", "h_link5": "/World/_scene/lift2/lift2/lift2/h_link5", "fr_base_link": "/World/_scene/lift2/lift2/lift2/fr/base_link", "fl_base_link": "/World/_scene/lift2/lift2/lift2/fl/base_link", "h_link6": "/World/_scene/lift2/lift2/lift2/h_link6", "fl_link1": "/World/_scene/lift2/lift2/lift2/fl/link1", "fl_link2": "/World/_scene/lift2/lift2/lift2/fl/link2", "fl_link3": "/World/_scene/lift2/lift2/lift2/fl/link3", "fl_link4": "/World/_scene/lift2/lift2/lift2/fl/link4", "fl_link5": "/World/_scene/lift2/lift2/lift2/fl/link5", "fl_link6": "/World/_scene/lift2/lift2/lift2/fl/link6", "fl_link7": "/World/_scene/lift2/lift2/lift2/fl/link7", "fl_link8": "/World/_scene/lift2/lift2/lift2/fl/link8", "fr_link1": "/World/_scene/lift2/lift2/lift2/fr/link1", "fr_link2": "/World/_scene/lift2/lift2/lift2/fr/link2", "fr_link3": "/World/_scene/lift2/lift2/lift2/fr/link3", "fr_link4": "/World/_scene/lift2/lift2/lift2/fr/link4", "fr_link5": "/World/_scene/lift2/lift2/lift2/fr/link5", "fr_link6": "/World/_scene/lift2/lift2/lift2/fr/link6", "fr_link7": "/World/_scene/lift2/lift2/lift2/fr/link7", "fr_link8": "/World/_scene/lift2/lift2/lift2/fr/link8", "dummy_base_x": "/World/_scene/lift2/lift2/lift2/dummy_base_x", "dummy_base_y": "/World/_scene/lift2/lift2/lift2/dummy_base_y", "dummy_base_rotate": "/World/_scene/lift2/lift2/lift2/dummy_base_rotate"}, "observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/table_top_manip/collect_coffee_beans_test_mini/002/lmdb/lock.mdb b/tasks/ebench/table_top_manip/collect_coffee_beans_test_mini/002/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..9f790d40bf7bc60d094a559364985e2eb1ff93ad Binary files /dev/null and b/tasks/ebench/table_top_manip/collect_coffee_beans_test_mini/002/lmdb/lock.mdb differ diff --git a/tasks/ebench/table_top_manip/collect_coffee_beans_test_mini/003/lmdb/info.json b/tasks/ebench/table_top_manip/collect_coffee_beans_test_mini/003/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..bc87f6fd4738137ce835d4745204c8c510c20fb5 --- /dev/null +++ b/tasks/ebench/table_top_manip/collect_coffee_beans_test_mini/003/lmdb/info.json @@ -0,0 +1 @@ +{"observation/object_prim_path_map": {"00000000000000000000000000000000": "/World/_scene/obj_table", "01": "/World/_scene/obj_01", "02": "/World/_scene/obj_02", "03": "/World/_scene/obj_03", "04": "/World/_scene/obj_04", "05": "/World/_scene/obj_05", "06": "/World/_scene/obj_06", "07": "/World/_scene/obj_07", "08": "/World/_scene/obj_08", "10": "/World/_scene/obj_10", "_13": "/World/_scene/obj__13", "_14": "/World/_scene/obj__14"}, "observation/robot_joint_prim_path_map": {"base_link": "/World/_scene/lift2/lift2/lift2/base_link", "wheel1": "/World/_scene/lift2/lift2/lift2/wheel1", "wheel2": "/World/_scene/lift2/lift2/lift2/wheel2", "wheel3": "/World/_scene/lift2/lift2/lift2/wheel3", "body4": "/World/_scene/lift2/lift2/lift2/body4", "h_link5": "/World/_scene/lift2/lift2/lift2/h_link5", "fr_base_link": "/World/_scene/lift2/lift2/lift2/fr/base_link", "fl_base_link": "/World/_scene/lift2/lift2/lift2/fl/base_link", "h_link6": "/World/_scene/lift2/lift2/lift2/h_link6", "fl_link1": "/World/_scene/lift2/lift2/lift2/fl/link1", "fl_link2": "/World/_scene/lift2/lift2/lift2/fl/link2", "fl_link3": "/World/_scene/lift2/lift2/lift2/fl/link3", "fl_link4": "/World/_scene/lift2/lift2/lift2/fl/link4", "fl_link5": "/World/_scene/lift2/lift2/lift2/fl/link5", "fl_link6": "/World/_scene/lift2/lift2/lift2/fl/link6", "fl_link7": "/World/_scene/lift2/lift2/lift2/fl/link7", "fl_link8": "/World/_scene/lift2/lift2/lift2/fl/link8", "fr_link1": "/World/_scene/lift2/lift2/lift2/fr/link1", "fr_link2": "/World/_scene/lift2/lift2/lift2/fr/link2", "fr_link3": "/World/_scene/lift2/lift2/lift2/fr/link3", "fr_link4": "/World/_scene/lift2/lift2/lift2/fr/link4", "fr_link5": "/World/_scene/lift2/lift2/lift2/fr/link5", "fr_link6": "/World/_scene/lift2/lift2/lift2/fr/link6", "fr_link7": "/World/_scene/lift2/lift2/lift2/fr/link7", "fr_link8": "/World/_scene/lift2/lift2/lift2/fr/link8", "dummy_base_x": "/World/_scene/lift2/lift2/lift2/dummy_base_x", "dummy_base_y": "/World/_scene/lift2/lift2/lift2/dummy_base_y", "dummy_base_rotate": "/World/_scene/lift2/lift2/lift2/dummy_base_rotate"}, "observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/table_top_manip/collect_coffee_beans_test_mini/003/lmdb/lock.mdb b/tasks/ebench/table_top_manip/collect_coffee_beans_test_mini/003/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..9f790d40bf7bc60d094a559364985e2eb1ff93ad Binary files /dev/null and b/tasks/ebench/table_top_manip/collect_coffee_beans_test_mini/003/lmdb/lock.mdb differ diff --git a/tasks/ebench/table_top_manip/collect_coffee_beans_test_mini/004/lmdb/info.json b/tasks/ebench/table_top_manip/collect_coffee_beans_test_mini/004/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..bc87f6fd4738137ce835d4745204c8c510c20fb5 --- /dev/null +++ b/tasks/ebench/table_top_manip/collect_coffee_beans_test_mini/004/lmdb/info.json @@ -0,0 +1 @@ +{"observation/object_prim_path_map": {"00000000000000000000000000000000": "/World/_scene/obj_table", "01": "/World/_scene/obj_01", "02": "/World/_scene/obj_02", "03": "/World/_scene/obj_03", "04": "/World/_scene/obj_04", "05": "/World/_scene/obj_05", "06": "/World/_scene/obj_06", "07": "/World/_scene/obj_07", "08": "/World/_scene/obj_08", "10": "/World/_scene/obj_10", "_13": "/World/_scene/obj__13", "_14": "/World/_scene/obj__14"}, "observation/robot_joint_prim_path_map": {"base_link": "/World/_scene/lift2/lift2/lift2/base_link", "wheel1": "/World/_scene/lift2/lift2/lift2/wheel1", "wheel2": "/World/_scene/lift2/lift2/lift2/wheel2", "wheel3": "/World/_scene/lift2/lift2/lift2/wheel3", "body4": "/World/_scene/lift2/lift2/lift2/body4", "h_link5": "/World/_scene/lift2/lift2/lift2/h_link5", "fr_base_link": "/World/_scene/lift2/lift2/lift2/fr/base_link", "fl_base_link": "/World/_scene/lift2/lift2/lift2/fl/base_link", "h_link6": "/World/_scene/lift2/lift2/lift2/h_link6", "fl_link1": "/World/_scene/lift2/lift2/lift2/fl/link1", "fl_link2": "/World/_scene/lift2/lift2/lift2/fl/link2", "fl_link3": "/World/_scene/lift2/lift2/lift2/fl/link3", "fl_link4": "/World/_scene/lift2/lift2/lift2/fl/link4", "fl_link5": "/World/_scene/lift2/lift2/lift2/fl/link5", "fl_link6": "/World/_scene/lift2/lift2/lift2/fl/link6", "fl_link7": "/World/_scene/lift2/lift2/lift2/fl/link7", "fl_link8": "/World/_scene/lift2/lift2/lift2/fl/link8", "fr_link1": "/World/_scene/lift2/lift2/lift2/fr/link1", "fr_link2": "/World/_scene/lift2/lift2/lift2/fr/link2", "fr_link3": "/World/_scene/lift2/lift2/lift2/fr/link3", "fr_link4": "/World/_scene/lift2/lift2/lift2/fr/link4", "fr_link5": "/World/_scene/lift2/lift2/lift2/fr/link5", "fr_link6": "/World/_scene/lift2/lift2/lift2/fr/link6", "fr_link7": "/World/_scene/lift2/lift2/lift2/fr/link7", "fr_link8": "/World/_scene/lift2/lift2/lift2/fr/link8", "dummy_base_x": "/World/_scene/lift2/lift2/lift2/dummy_base_x", "dummy_base_y": "/World/_scene/lift2/lift2/lift2/dummy_base_y", "dummy_base_rotate": "/World/_scene/lift2/lift2/lift2/dummy_base_rotate"}, "observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/table_top_manip/collect_coffee_beans_test_mini/004/lmdb/lock.mdb b/tasks/ebench/table_top_manip/collect_coffee_beans_test_mini/004/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..9f790d40bf7bc60d094a559364985e2eb1ff93ad Binary files /dev/null and b/tasks/ebench/table_top_manip/collect_coffee_beans_test_mini/004/lmdb/lock.mdb differ diff --git a/tasks/ebench/table_top_manip/collect_coffee_beans_test_mini/005/lmdb/info.json b/tasks/ebench/table_top_manip/collect_coffee_beans_test_mini/005/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..bc87f6fd4738137ce835d4745204c8c510c20fb5 --- /dev/null +++ b/tasks/ebench/table_top_manip/collect_coffee_beans_test_mini/005/lmdb/info.json @@ -0,0 +1 @@ +{"observation/object_prim_path_map": {"00000000000000000000000000000000": "/World/_scene/obj_table", "01": "/World/_scene/obj_01", "02": "/World/_scene/obj_02", "03": "/World/_scene/obj_03", "04": "/World/_scene/obj_04", "05": "/World/_scene/obj_05", "06": "/World/_scene/obj_06", "07": "/World/_scene/obj_07", "08": "/World/_scene/obj_08", "10": "/World/_scene/obj_10", "_13": "/World/_scene/obj__13", "_14": "/World/_scene/obj__14"}, "observation/robot_joint_prim_path_map": {"base_link": "/World/_scene/lift2/lift2/lift2/base_link", "wheel1": "/World/_scene/lift2/lift2/lift2/wheel1", "wheel2": "/World/_scene/lift2/lift2/lift2/wheel2", "wheel3": "/World/_scene/lift2/lift2/lift2/wheel3", "body4": "/World/_scene/lift2/lift2/lift2/body4", "h_link5": "/World/_scene/lift2/lift2/lift2/h_link5", "fr_base_link": "/World/_scene/lift2/lift2/lift2/fr/base_link", "fl_base_link": "/World/_scene/lift2/lift2/lift2/fl/base_link", "h_link6": "/World/_scene/lift2/lift2/lift2/h_link6", "fl_link1": "/World/_scene/lift2/lift2/lift2/fl/link1", "fl_link2": "/World/_scene/lift2/lift2/lift2/fl/link2", "fl_link3": "/World/_scene/lift2/lift2/lift2/fl/link3", "fl_link4": "/World/_scene/lift2/lift2/lift2/fl/link4", "fl_link5": "/World/_scene/lift2/lift2/lift2/fl/link5", "fl_link6": "/World/_scene/lift2/lift2/lift2/fl/link6", "fl_link7": "/World/_scene/lift2/lift2/lift2/fl/link7", "fl_link8": "/World/_scene/lift2/lift2/lift2/fl/link8", "fr_link1": "/World/_scene/lift2/lift2/lift2/fr/link1", "fr_link2": "/World/_scene/lift2/lift2/lift2/fr/link2", "fr_link3": "/World/_scene/lift2/lift2/lift2/fr/link3", 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a/tasks/ebench/table_top_manip/collect_coffee_beans_test_mini/006/lmdb/info.json b/tasks/ebench/table_top_manip/collect_coffee_beans_test_mini/006/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..bc87f6fd4738137ce835d4745204c8c510c20fb5 --- /dev/null +++ b/tasks/ebench/table_top_manip/collect_coffee_beans_test_mini/006/lmdb/info.json @@ -0,0 +1 @@ +{"observation/object_prim_path_map": {"00000000000000000000000000000000": "/World/_scene/obj_table", "01": "/World/_scene/obj_01", "02": "/World/_scene/obj_02", "03": "/World/_scene/obj_03", "04": "/World/_scene/obj_04", "05": "/World/_scene/obj_05", "06": "/World/_scene/obj_06", "07": "/World/_scene/obj_07", "08": "/World/_scene/obj_08", "10": "/World/_scene/obj_10", "_13": "/World/_scene/obj__13", "_14": "/World/_scene/obj__14"}, "observation/robot_joint_prim_path_map": {"base_link": "/World/_scene/lift2/lift2/lift2/base_link", "wheel1": "/World/_scene/lift2/lift2/lift2/wheel1", "wheel2": 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a/tasks/ebench/table_top_manip/collect_coffee_beans_test_mini/007/lmdb/info.json b/tasks/ebench/table_top_manip/collect_coffee_beans_test_mini/007/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..bc87f6fd4738137ce835d4745204c8c510c20fb5 --- /dev/null +++ b/tasks/ebench/table_top_manip/collect_coffee_beans_test_mini/007/lmdb/info.json @@ -0,0 +1 @@ +{"observation/object_prim_path_map": {"00000000000000000000000000000000": "/World/_scene/obj_table", "01": "/World/_scene/obj_01", "02": "/World/_scene/obj_02", "03": "/World/_scene/obj_03", "04": "/World/_scene/obj_04", "05": "/World/_scene/obj_05", "06": "/World/_scene/obj_06", "07": "/World/_scene/obj_07", "08": "/World/_scene/obj_08", "10": "/World/_scene/obj_10", "_13": "/World/_scene/obj__13", "_14": "/World/_scene/obj__14"}, "observation/robot_joint_prim_path_map": {"base_link": "/World/_scene/lift2/lift2/lift2/base_link", "wheel1": "/World/_scene/lift2/lift2/lift2/wheel1", "wheel2": 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a/tasks/ebench/table_top_manip/collect_coffee_beans_test_mini/008/lmdb/info.json b/tasks/ebench/table_top_manip/collect_coffee_beans_test_mini/008/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..bc87f6fd4738137ce835d4745204c8c510c20fb5 --- /dev/null +++ b/tasks/ebench/table_top_manip/collect_coffee_beans_test_mini/008/lmdb/info.json @@ -0,0 +1 @@ +{"observation/object_prim_path_map": {"00000000000000000000000000000000": "/World/_scene/obj_table", "01": "/World/_scene/obj_01", "02": "/World/_scene/obj_02", "03": "/World/_scene/obj_03", "04": "/World/_scene/obj_04", "05": "/World/_scene/obj_05", "06": "/World/_scene/obj_06", "07": "/World/_scene/obj_07", "08": "/World/_scene/obj_08", "10": "/World/_scene/obj_10", "_13": "/World/_scene/obj__13", "_14": "/World/_scene/obj__14"}, "observation/robot_joint_prim_path_map": {"base_link": "/World/_scene/lift2/lift2/lift2/base_link", "wheel1": "/World/_scene/lift2/lift2/lift2/wheel1", "wheel2": 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a/tasks/ebench/table_top_manip/collect_coffee_beans_test_mini/009/lmdb/info.json b/tasks/ebench/table_top_manip/collect_coffee_beans_test_mini/009/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..bc87f6fd4738137ce835d4745204c8c510c20fb5 --- /dev/null +++ b/tasks/ebench/table_top_manip/collect_coffee_beans_test_mini/009/lmdb/info.json @@ -0,0 +1 @@ +{"observation/object_prim_path_map": {"00000000000000000000000000000000": "/World/_scene/obj_table", "01": "/World/_scene/obj_01", "02": "/World/_scene/obj_02", "03": "/World/_scene/obj_03", "04": "/World/_scene/obj_04", "05": "/World/_scene/obj_05", "06": "/World/_scene/obj_06", "07": "/World/_scene/obj_07", "08": "/World/_scene/obj_08", "10": "/World/_scene/obj_10", "_13": "/World/_scene/obj__13", "_14": "/World/_scene/obj__14"}, "observation/robot_joint_prim_path_map": {"base_link": "/World/_scene/lift2/lift2/lift2/base_link", "wheel1": "/World/_scene/lift2/lift2/lift2/wheel1", "wheel2": 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a/tasks/ebench/table_top_manip/collect_coffee_beans_test_mini/010/lmdb/info.json b/tasks/ebench/table_top_manip/collect_coffee_beans_test_mini/010/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..bc87f6fd4738137ce835d4745204c8c510c20fb5 --- /dev/null +++ b/tasks/ebench/table_top_manip/collect_coffee_beans_test_mini/010/lmdb/info.json @@ -0,0 +1 @@ +{"observation/object_prim_path_map": {"00000000000000000000000000000000": "/World/_scene/obj_table", "01": "/World/_scene/obj_01", "02": "/World/_scene/obj_02", "03": "/World/_scene/obj_03", "04": "/World/_scene/obj_04", "05": "/World/_scene/obj_05", "06": "/World/_scene/obj_06", "07": "/World/_scene/obj_07", "08": "/World/_scene/obj_08", "10": "/World/_scene/obj_10", "_13": "/World/_scene/obj__13", "_14": "/World/_scene/obj__14"}, "observation/robot_joint_prim_path_map": {"base_link": "/World/_scene/lift2/lift2/lift2/base_link", "wheel1": "/World/_scene/lift2/lift2/lift2/wheel1", "wheel2": 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a/tasks/ebench/table_top_manip/collect_coffee_beans_test_mini/011/lmdb/info.json b/tasks/ebench/table_top_manip/collect_coffee_beans_test_mini/011/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..bc87f6fd4738137ce835d4745204c8c510c20fb5 --- /dev/null +++ b/tasks/ebench/table_top_manip/collect_coffee_beans_test_mini/011/lmdb/info.json @@ -0,0 +1 @@ +{"observation/object_prim_path_map": {"00000000000000000000000000000000": "/World/_scene/obj_table", "01": "/World/_scene/obj_01", "02": "/World/_scene/obj_02", "03": "/World/_scene/obj_03", "04": "/World/_scene/obj_04", "05": "/World/_scene/obj_05", "06": "/World/_scene/obj_06", "07": "/World/_scene/obj_07", "08": "/World/_scene/obj_08", "10": "/World/_scene/obj_10", "_13": "/World/_scene/obj__13", "_14": "/World/_scene/obj__14"}, "observation/robot_joint_prim_path_map": {"base_link": "/World/_scene/lift2/lift2/lift2/base_link", "wheel1": "/World/_scene/lift2/lift2/lift2/wheel1", "wheel2": 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a/tasks/ebench/table_top_manip/collect_coffee_beans_test_mini/012/lmdb/info.json b/tasks/ebench/table_top_manip/collect_coffee_beans_test_mini/012/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..bc87f6fd4738137ce835d4745204c8c510c20fb5 --- /dev/null +++ b/tasks/ebench/table_top_manip/collect_coffee_beans_test_mini/012/lmdb/info.json @@ -0,0 +1 @@ +{"observation/object_prim_path_map": {"00000000000000000000000000000000": "/World/_scene/obj_table", "01": "/World/_scene/obj_01", "02": "/World/_scene/obj_02", "03": "/World/_scene/obj_03", "04": "/World/_scene/obj_04", "05": "/World/_scene/obj_05", "06": "/World/_scene/obj_06", "07": "/World/_scene/obj_07", "08": "/World/_scene/obj_08", "10": "/World/_scene/obj_10", "_13": "/World/_scene/obj__13", "_14": "/World/_scene/obj__14"}, "observation/robot_joint_prim_path_map": {"base_link": "/World/_scene/lift2/lift2/lift2/base_link", "wheel1": "/World/_scene/lift2/lift2/lift2/wheel1", "wheel2": 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a/tasks/ebench/table_top_manip/collect_coffee_beans_test_mini/013/lmdb/info.json b/tasks/ebench/table_top_manip/collect_coffee_beans_test_mini/013/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..bc87f6fd4738137ce835d4745204c8c510c20fb5 --- /dev/null +++ b/tasks/ebench/table_top_manip/collect_coffee_beans_test_mini/013/lmdb/info.json @@ -0,0 +1 @@ +{"observation/object_prim_path_map": {"00000000000000000000000000000000": "/World/_scene/obj_table", "01": "/World/_scene/obj_01", "02": "/World/_scene/obj_02", "03": "/World/_scene/obj_03", "04": "/World/_scene/obj_04", "05": "/World/_scene/obj_05", "06": "/World/_scene/obj_06", "07": "/World/_scene/obj_07", "08": "/World/_scene/obj_08", "10": "/World/_scene/obj_10", "_13": "/World/_scene/obj__13", "_14": "/World/_scene/obj__14"}, "observation/robot_joint_prim_path_map": {"base_link": "/World/_scene/lift2/lift2/lift2/base_link", "wheel1": "/World/_scene/lift2/lift2/lift2/wheel1", "wheel2": 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a/tasks/ebench/table_top_manip/collect_coffee_beans_test_mini/014/lmdb/info.json b/tasks/ebench/table_top_manip/collect_coffee_beans_test_mini/014/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..bc87f6fd4738137ce835d4745204c8c510c20fb5 --- /dev/null +++ b/tasks/ebench/table_top_manip/collect_coffee_beans_test_mini/014/lmdb/info.json @@ -0,0 +1 @@ +{"observation/object_prim_path_map": {"00000000000000000000000000000000": "/World/_scene/obj_table", "01": "/World/_scene/obj_01", "02": "/World/_scene/obj_02", "03": "/World/_scene/obj_03", "04": "/World/_scene/obj_04", "05": "/World/_scene/obj_05", "06": "/World/_scene/obj_06", "07": "/World/_scene/obj_07", "08": "/World/_scene/obj_08", "10": "/World/_scene/obj_10", "_13": "/World/_scene/obj__13", "_14": "/World/_scene/obj__14"}, "observation/robot_joint_prim_path_map": {"base_link": "/World/_scene/lift2/lift2/lift2/base_link", "wheel1": "/World/_scene/lift2/lift2/lift2/wheel1", "wheel2": 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a/tasks/ebench/table_top_manip/collect_coffee_beans_test_mini/015/lmdb/info.json b/tasks/ebench/table_top_manip/collect_coffee_beans_test_mini/015/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..bc87f6fd4738137ce835d4745204c8c510c20fb5 --- /dev/null +++ b/tasks/ebench/table_top_manip/collect_coffee_beans_test_mini/015/lmdb/info.json @@ -0,0 +1 @@ +{"observation/object_prim_path_map": {"00000000000000000000000000000000": "/World/_scene/obj_table", "01": "/World/_scene/obj_01", "02": "/World/_scene/obj_02", "03": "/World/_scene/obj_03", "04": "/World/_scene/obj_04", "05": "/World/_scene/obj_05", "06": "/World/_scene/obj_06", "07": "/World/_scene/obj_07", "08": "/World/_scene/obj_08", "10": "/World/_scene/obj_10", "_13": "/World/_scene/obj__13", "_14": "/World/_scene/obj__14"}, "observation/robot_joint_prim_path_map": {"base_link": "/World/_scene/lift2/lift2/lift2/base_link", "wheel1": "/World/_scene/lift2/lift2/lift2/wheel1", "wheel2": 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a/tasks/ebench/table_top_manip/collect_coffee_beans_test_mini/016/lmdb/info.json b/tasks/ebench/table_top_manip/collect_coffee_beans_test_mini/016/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..bc87f6fd4738137ce835d4745204c8c510c20fb5 --- /dev/null +++ b/tasks/ebench/table_top_manip/collect_coffee_beans_test_mini/016/lmdb/info.json @@ -0,0 +1 @@ +{"observation/object_prim_path_map": {"00000000000000000000000000000000": "/World/_scene/obj_table", "01": "/World/_scene/obj_01", "02": "/World/_scene/obj_02", "03": "/World/_scene/obj_03", "04": "/World/_scene/obj_04", "05": "/World/_scene/obj_05", "06": "/World/_scene/obj_06", "07": "/World/_scene/obj_07", "08": "/World/_scene/obj_08", "10": "/World/_scene/obj_10", "_13": "/World/_scene/obj__13", "_14": "/World/_scene/obj__14"}, "observation/robot_joint_prim_path_map": {"base_link": "/World/_scene/lift2/lift2/lift2/base_link", "wheel1": "/World/_scene/lift2/lift2/lift2/wheel1", "wheel2": 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a/tasks/ebench/table_top_manip/collect_coffee_beans_test_mini/017/lmdb/info.json b/tasks/ebench/table_top_manip/collect_coffee_beans_test_mini/017/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..bc87f6fd4738137ce835d4745204c8c510c20fb5 --- /dev/null +++ b/tasks/ebench/table_top_manip/collect_coffee_beans_test_mini/017/lmdb/info.json @@ -0,0 +1 @@ +{"observation/object_prim_path_map": {"00000000000000000000000000000000": "/World/_scene/obj_table", "01": "/World/_scene/obj_01", "02": "/World/_scene/obj_02", "03": "/World/_scene/obj_03", "04": "/World/_scene/obj_04", "05": "/World/_scene/obj_05", "06": "/World/_scene/obj_06", "07": "/World/_scene/obj_07", "08": "/World/_scene/obj_08", "10": "/World/_scene/obj_10", "_13": "/World/_scene/obj__13", "_14": "/World/_scene/obj__14"}, "observation/robot_joint_prim_path_map": {"base_link": "/World/_scene/lift2/lift2/lift2/base_link", "wheel1": "/World/_scene/lift2/lift2/lift2/wheel1", "wheel2": 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a/tasks/ebench/table_top_manip/collect_coffee_beans_test_mini/019/lmdb/info.json b/tasks/ebench/table_top_manip/collect_coffee_beans_test_mini/019/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..bc87f6fd4738137ce835d4745204c8c510c20fb5 --- /dev/null +++ b/tasks/ebench/table_top_manip/collect_coffee_beans_test_mini/019/lmdb/info.json @@ -0,0 +1 @@ +{"observation/object_prim_path_map": {"00000000000000000000000000000000": "/World/_scene/obj_table", "01": "/World/_scene/obj_01", "02": "/World/_scene/obj_02", "03": "/World/_scene/obj_03", "04": "/World/_scene/obj_04", "05": "/World/_scene/obj_05", "06": "/World/_scene/obj_06", "07": "/World/_scene/obj_07", "08": "/World/_scene/obj_08", "10": "/World/_scene/obj_10", "_13": "/World/_scene/obj__13", "_14": "/World/_scene/obj__14"}, "observation/robot_joint_prim_path_map": {"base_link": "/World/_scene/lift2/lift2/lift2/base_link", "wheel1": "/World/_scene/lift2/lift2/lift2/wheel1", "wheel2": 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a/tasks/ebench/table_top_manip/collect_coffee_beans_val_train_20p/000/lmdb/info.json b/tasks/ebench/table_top_manip/collect_coffee_beans_val_train_20p/000/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..bc87f6fd4738137ce835d4745204c8c510c20fb5 --- /dev/null +++ b/tasks/ebench/table_top_manip/collect_coffee_beans_val_train_20p/000/lmdb/info.json @@ -0,0 +1 @@ +{"observation/object_prim_path_map": {"00000000000000000000000000000000": "/World/_scene/obj_table", "01": "/World/_scene/obj_01", "02": "/World/_scene/obj_02", "03": "/World/_scene/obj_03", "04": "/World/_scene/obj_04", "05": "/World/_scene/obj_05", "06": "/World/_scene/obj_06", "07": "/World/_scene/obj_07", "08": "/World/_scene/obj_08", "10": "/World/_scene/obj_10", "_13": "/World/_scene/obj__13", "_14": "/World/_scene/obj__14"}, "observation/robot_joint_prim_path_map": {"base_link": "/World/_scene/lift2/lift2/lift2/base_link", "wheel1": "/World/_scene/lift2/lift2/lift2/wheel1", "wheel2": 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a/tasks/ebench/table_top_manip/collect_coffee_beans_val_train_20p/001/lmdb/info.json b/tasks/ebench/table_top_manip/collect_coffee_beans_val_train_20p/001/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..bc87f6fd4738137ce835d4745204c8c510c20fb5 --- /dev/null +++ b/tasks/ebench/table_top_manip/collect_coffee_beans_val_train_20p/001/lmdb/info.json @@ -0,0 +1 @@ +{"observation/object_prim_path_map": {"00000000000000000000000000000000": "/World/_scene/obj_table", "01": "/World/_scene/obj_01", "02": "/World/_scene/obj_02", "03": "/World/_scene/obj_03", "04": "/World/_scene/obj_04", "05": "/World/_scene/obj_05", "06": "/World/_scene/obj_06", "07": "/World/_scene/obj_07", "08": "/World/_scene/obj_08", "10": "/World/_scene/obj_10", "_13": "/World/_scene/obj__13", "_14": "/World/_scene/obj__14"}, "observation/robot_joint_prim_path_map": {"base_link": "/World/_scene/lift2/lift2/lift2/base_link", "wheel1": "/World/_scene/lift2/lift2/lift2/wheel1", "wheel2": 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a/tasks/ebench/table_top_manip/collect_coffee_beans_val_train_20p/002/lmdb/info.json b/tasks/ebench/table_top_manip/collect_coffee_beans_val_train_20p/002/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..bc87f6fd4738137ce835d4745204c8c510c20fb5 --- /dev/null +++ b/tasks/ebench/table_top_manip/collect_coffee_beans_val_train_20p/002/lmdb/info.json @@ -0,0 +1 @@ +{"observation/object_prim_path_map": {"00000000000000000000000000000000": "/World/_scene/obj_table", "01": "/World/_scene/obj_01", "02": "/World/_scene/obj_02", "03": "/World/_scene/obj_03", "04": "/World/_scene/obj_04", "05": "/World/_scene/obj_05", "06": "/World/_scene/obj_06", "07": "/World/_scene/obj_07", "08": "/World/_scene/obj_08", "10": "/World/_scene/obj_10", "_13": "/World/_scene/obj__13", "_14": "/World/_scene/obj__14"}, "observation/robot_joint_prim_path_map": {"base_link": "/World/_scene/lift2/lift2/lift2/base_link", "wheel1": "/World/_scene/lift2/lift2/lift2/wheel1", "wheel2": 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a/tasks/ebench/table_top_manip/collect_coffee_beans_val_train_20p/003/lmdb/info.json b/tasks/ebench/table_top_manip/collect_coffee_beans_val_train_20p/003/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..bc87f6fd4738137ce835d4745204c8c510c20fb5 --- /dev/null +++ b/tasks/ebench/table_top_manip/collect_coffee_beans_val_train_20p/003/lmdb/info.json @@ -0,0 +1 @@ +{"observation/object_prim_path_map": {"00000000000000000000000000000000": "/World/_scene/obj_table", "01": "/World/_scene/obj_01", "02": "/World/_scene/obj_02", "03": "/World/_scene/obj_03", "04": "/World/_scene/obj_04", "05": "/World/_scene/obj_05", "06": "/World/_scene/obj_06", "07": "/World/_scene/obj_07", "08": "/World/_scene/obj_08", "10": "/World/_scene/obj_10", "_13": "/World/_scene/obj__13", "_14": "/World/_scene/obj__14"}, "observation/robot_joint_prim_path_map": {"base_link": "/World/_scene/lift2/lift2/lift2/base_link", "wheel1": "/World/_scene/lift2/lift2/lift2/wheel1", "wheel2": 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a/tasks/ebench/table_top_manip/collect_coffee_beans_val_train_20p/007/lmdb/info.json b/tasks/ebench/table_top_manip/collect_coffee_beans_val_train_20p/007/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..bc87f6fd4738137ce835d4745204c8c510c20fb5 --- /dev/null +++ b/tasks/ebench/table_top_manip/collect_coffee_beans_val_train_20p/007/lmdb/info.json @@ -0,0 +1 @@ +{"observation/object_prim_path_map": {"00000000000000000000000000000000": "/World/_scene/obj_table", "01": "/World/_scene/obj_01", "02": "/World/_scene/obj_02", "03": "/World/_scene/obj_03", "04": "/World/_scene/obj_04", "05": "/World/_scene/obj_05", "06": "/World/_scene/obj_06", "07": "/World/_scene/obj_07", "08": "/World/_scene/obj_08", "10": "/World/_scene/obj_10", "_13": "/World/_scene/obj__13", "_14": "/World/_scene/obj__14"}, "observation/robot_joint_prim_path_map": {"base_link": "/World/_scene/lift2/lift2/lift2/base_link", "wheel1": "/World/_scene/lift2/lift2/lift2/wheel1", "wheel2": 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a/tasks/ebench/table_top_manip/collect_coffee_beans_val_train_20p/008/lmdb/info.json b/tasks/ebench/table_top_manip/collect_coffee_beans_val_train_20p/008/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..bc87f6fd4738137ce835d4745204c8c510c20fb5 --- /dev/null +++ b/tasks/ebench/table_top_manip/collect_coffee_beans_val_train_20p/008/lmdb/info.json @@ -0,0 +1 @@ +{"observation/object_prim_path_map": {"00000000000000000000000000000000": "/World/_scene/obj_table", "01": "/World/_scene/obj_01", "02": "/World/_scene/obj_02", "03": "/World/_scene/obj_03", "04": "/World/_scene/obj_04", "05": "/World/_scene/obj_05", "06": "/World/_scene/obj_06", "07": "/World/_scene/obj_07", "08": "/World/_scene/obj_08", "10": "/World/_scene/obj_10", "_13": "/World/_scene/obj__13", "_14": "/World/_scene/obj__14"}, "observation/robot_joint_prim_path_map": {"base_link": "/World/_scene/lift2/lift2/lift2/base_link", "wheel1": "/World/_scene/lift2/lift2/lift2/wheel1", "wheel2": 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{"00000000000000000000000000000000": "/World/_scene/obj_table", "_01": "/World/_scene/obj__01", "_04": "/World/_scene/obj__04", "_07": "/World/_scene/obj__07", "_08": "/World/_scene/obj__08", "_09": "/World/_scene/obj__09", "_10": "/World/_scene/obj__10", "_14": "/World/_scene/obj__14", "_16": "/World/_scene/obj__16", "_17": "/World/_scene/obj__17"}, "observation/robot_joint_prim_path_map": {"base_link": "/World/_scene/lift2/lift2/lift2/base_link", "wheel1": "/World/_scene/lift2/lift2/lift2/wheel1", "wheel2": "/World/_scene/lift2/lift2/lift2/wheel2", "wheel3": "/World/_scene/lift2/lift2/lift2/wheel3", "body4": "/World/_scene/lift2/lift2/lift2/body4", "h_link5": "/World/_scene/lift2/lift2/lift2/h_link5", "fr_base_link": "/World/_scene/lift2/lift2/lift2/fr/base_link", "fl_base_link": "/World/_scene/lift2/lift2/lift2/fl/base_link", "h_link6": "/World/_scene/lift2/lift2/lift2/h_link6", "fl_link1": "/World/_scene/lift2/lift2/lift2/fl/link1", "fl_link2": 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a/tasks/ebench/table_top_manip/frame_against_pen_holder_test_mini/001/lmdb/info.json b/tasks/ebench/table_top_manip/frame_against_pen_holder_test_mini/001/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..d0d47316bf6e9f26879819cd16a04ec8b82eedd1 --- /dev/null +++ b/tasks/ebench/table_top_manip/frame_against_pen_holder_test_mini/001/lmdb/info.json @@ -0,0 +1 @@ +{"observation/object_prim_path_map": {"00000000000000000000000000000000": "/World/_scene/obj_table", "00": "/World/_scene/obj_00", "01": "/World/_scene/obj_01", "02": "/World/_scene/obj_02", "03": "/World/_scene/obj_03", "05": "/World/_scene/obj_05"}, "observation/robot_joint_prim_path_map": {"base_link": "/World/_scene/lift2/lift2/lift2/base_link", "wheel1": "/World/_scene/lift2/lift2/lift2/wheel1", "wheel2": "/World/_scene/lift2/lift2/lift2/wheel2", "wheel3": "/World/_scene/lift2/lift2/lift2/wheel3", "body4": "/World/_scene/lift2/lift2/lift2/body4", "h_link5": 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b/tasks/ebench/table_top_manip/frame_against_pen_holder_test_mini/002/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..d0d47316bf6e9f26879819cd16a04ec8b82eedd1 --- /dev/null +++ b/tasks/ebench/table_top_manip/frame_against_pen_holder_test_mini/002/lmdb/info.json @@ -0,0 +1 @@ +{"observation/object_prim_path_map": {"00000000000000000000000000000000": "/World/_scene/obj_table", "00": "/World/_scene/obj_00", "01": "/World/_scene/obj_01", "02": "/World/_scene/obj_02", "03": "/World/_scene/obj_03", "05": "/World/_scene/obj_05"}, "observation/robot_joint_prim_path_map": {"base_link": "/World/_scene/lift2/lift2/lift2/base_link", "wheel1": "/World/_scene/lift2/lift2/lift2/wheel1", "wheel2": "/World/_scene/lift2/lift2/lift2/wheel2", "wheel3": "/World/_scene/lift2/lift2/lift2/wheel3", "body4": "/World/_scene/lift2/lift2/lift2/body4", "h_link5": "/World/_scene/lift2/lift2/lift2/h_link5", "fr_base_link": "/World/_scene/lift2/lift2/lift2/fr/base_link", 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0000000000000000000000000000000000000000..d0d47316bf6e9f26879819cd16a04ec8b82eedd1 --- /dev/null +++ b/tasks/ebench/table_top_manip/frame_against_pen_holder_test_mini/004/lmdb/info.json @@ -0,0 +1 @@ +{"observation/object_prim_path_map": {"00000000000000000000000000000000": "/World/_scene/obj_table", "00": "/World/_scene/obj_00", "01": "/World/_scene/obj_01", "02": "/World/_scene/obj_02", "03": "/World/_scene/obj_03", "05": "/World/_scene/obj_05"}, "observation/robot_joint_prim_path_map": {"base_link": "/World/_scene/lift2/lift2/lift2/base_link", "wheel1": "/World/_scene/lift2/lift2/lift2/wheel1", "wheel2": "/World/_scene/lift2/lift2/lift2/wheel2", "wheel3": "/World/_scene/lift2/lift2/lift2/wheel3", "body4": "/World/_scene/lift2/lift2/lift2/body4", "h_link5": "/World/_scene/lift2/lift2/lift2/h_link5", "fr_base_link": "/World/_scene/lift2/lift2/lift2/fr/base_link", "fl_base_link": "/World/_scene/lift2/lift2/lift2/fl/base_link", "h_link6": "/World/_scene/lift2/lift2/lift2/h_link6", 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"/World/_scene/lift2/lift2/lift2/dummy_base_y", "dummy_base_rotate": "/World/_scene/lift2/lift2/lift2/dummy_base_rotate"}, "observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/table_top_manip/frame_against_pen_holder_test_mini/004/lmdb/lock.mdb b/tasks/ebench/table_top_manip/frame_against_pen_holder_test_mini/004/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..9f790d40bf7bc60d094a559364985e2eb1ff93ad Binary files /dev/null and b/tasks/ebench/table_top_manip/frame_against_pen_holder_test_mini/004/lmdb/lock.mdb differ diff --git a/tasks/ebench/table_top_manip/frame_against_pen_holder_test_mini/005/lmdb/info.json b/tasks/ebench/table_top_manip/frame_against_pen_holder_test_mini/005/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..d0d47316bf6e9f26879819cd16a04ec8b82eedd1 --- /dev/null +++ b/tasks/ebench/table_top_manip/frame_against_pen_holder_test_mini/005/lmdb/info.json @@ -0,0 +1 @@ +{"observation/object_prim_path_map": {"00000000000000000000000000000000": "/World/_scene/obj_table", "00": "/World/_scene/obj_00", "01": "/World/_scene/obj_01", "02": "/World/_scene/obj_02", "03": "/World/_scene/obj_03", "05": "/World/_scene/obj_05"}, "observation/robot_joint_prim_path_map": {"base_link": "/World/_scene/lift2/lift2/lift2/base_link", "wheel1": "/World/_scene/lift2/lift2/lift2/wheel1", "wheel2": "/World/_scene/lift2/lift2/lift2/wheel2", "wheel3": "/World/_scene/lift2/lift2/lift2/wheel3", "body4": "/World/_scene/lift2/lift2/lift2/body4", "h_link5": "/World/_scene/lift2/lift2/lift2/h_link5", "fr_base_link": "/World/_scene/lift2/lift2/lift2/fr/base_link", "fl_base_link": "/World/_scene/lift2/lift2/lift2/fl/base_link", "h_link6": "/World/_scene/lift2/lift2/lift2/h_link6", "fl_link1": "/World/_scene/lift2/lift2/lift2/fl/link1", "fl_link2": "/World/_scene/lift2/lift2/lift2/fl/link2", "fl_link3": "/World/_scene/lift2/lift2/lift2/fl/link3", "fl_link4": 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a/tasks/ebench/table_top_manip/frame_against_pen_holder_test_mini/005/lmdb/lock.mdb b/tasks/ebench/table_top_manip/frame_against_pen_holder_test_mini/005/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..9f790d40bf7bc60d094a559364985e2eb1ff93ad Binary files /dev/null and b/tasks/ebench/table_top_manip/frame_against_pen_holder_test_mini/005/lmdb/lock.mdb differ diff --git a/tasks/ebench/table_top_manip/frame_against_pen_holder_test_mini/006/lmdb/info.json b/tasks/ebench/table_top_manip/frame_against_pen_holder_test_mini/006/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..d0d47316bf6e9f26879819cd16a04ec8b82eedd1 --- /dev/null +++ b/tasks/ebench/table_top_manip/frame_against_pen_holder_test_mini/006/lmdb/info.json @@ -0,0 +1 @@ +{"observation/object_prim_path_map": {"00000000000000000000000000000000": "/World/_scene/obj_table", "00": "/World/_scene/obj_00", "01": "/World/_scene/obj_01", "02": "/World/_scene/obj_02", 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0000000000000000000000000000000000000000..9f790d40bf7bc60d094a559364985e2eb1ff93ad Binary files /dev/null and b/tasks/ebench/table_top_manip/frame_against_pen_holder_test_mini/006/lmdb/lock.mdb differ diff --git a/tasks/ebench/table_top_manip/frame_against_pen_holder_test_mini/007/lmdb/info.json b/tasks/ebench/table_top_manip/frame_against_pen_holder_test_mini/007/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..d0d47316bf6e9f26879819cd16a04ec8b82eedd1 --- /dev/null +++ b/tasks/ebench/table_top_manip/frame_against_pen_holder_test_mini/007/lmdb/info.json @@ -0,0 +1 @@ +{"observation/object_prim_path_map": {"00000000000000000000000000000000": "/World/_scene/obj_table", "00": "/World/_scene/obj_00", "01": "/World/_scene/obj_01", "02": "/World/_scene/obj_02", "03": "/World/_scene/obj_03", "05": "/World/_scene/obj_05"}, "observation/robot_joint_prim_path_map": {"base_link": "/World/_scene/lift2/lift2/lift2/base_link", "wheel1": 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b/tasks/ebench/table_top_manip/frame_against_pen_holder_test_mini/007/lmdb/lock.mdb differ diff --git a/tasks/ebench/table_top_manip/frame_against_pen_holder_test_mini/010/lmdb/info.json b/tasks/ebench/table_top_manip/frame_against_pen_holder_test_mini/010/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..d0d47316bf6e9f26879819cd16a04ec8b82eedd1 --- /dev/null +++ b/tasks/ebench/table_top_manip/frame_against_pen_holder_test_mini/010/lmdb/info.json @@ -0,0 +1 @@ +{"observation/object_prim_path_map": {"00000000000000000000000000000000": "/World/_scene/obj_table", "00": "/World/_scene/obj_00", "01": "/World/_scene/obj_01", "02": "/World/_scene/obj_02", "03": "/World/_scene/obj_03", "05": "/World/_scene/obj_05"}, "observation/robot_joint_prim_path_map": {"base_link": "/World/_scene/lift2/lift2/lift2/base_link", "wheel1": "/World/_scene/lift2/lift2/lift2/wheel1", "wheel2": "/World/_scene/lift2/lift2/lift2/wheel2", "wheel3": 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"fr_link5": "/World/_scene/lift2/lift2/lift2/fr/link5", "fr_link6": "/World/_scene/lift2/lift2/lift2/fr/link6", "fr_link7": "/World/_scene/lift2/lift2/lift2/fr/link7", "fr_link8": "/World/_scene/lift2/lift2/lift2/fr/link8", "dummy_base_x": "/World/_scene/lift2/lift2/lift2/dummy_base_x", "dummy_base_y": "/World/_scene/lift2/lift2/lift2/dummy_base_y", "dummy_base_rotate": "/World/_scene/lift2/lift2/lift2/dummy_base_rotate"}, "observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/table_top_manip/frame_against_pen_holder_test_mini/010/lmdb/lock.mdb b/tasks/ebench/table_top_manip/frame_against_pen_holder_test_mini/010/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..9f790d40bf7bc60d094a559364985e2eb1ff93ad Binary files /dev/null and b/tasks/ebench/table_top_manip/frame_against_pen_holder_test_mini/010/lmdb/lock.mdb differ diff --git a/tasks/ebench/table_top_manip/frame_against_pen_holder_test_mini/011/lmdb/info.json b/tasks/ebench/table_top_manip/frame_against_pen_holder_test_mini/011/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..d0d47316bf6e9f26879819cd16a04ec8b82eedd1 --- /dev/null +++ b/tasks/ebench/table_top_manip/frame_against_pen_holder_test_mini/011/lmdb/info.json @@ -0,0 +1 @@ +{"observation/object_prim_path_map": {"00000000000000000000000000000000": "/World/_scene/obj_table", "00": "/World/_scene/obj_00", "01": "/World/_scene/obj_01", "02": "/World/_scene/obj_02", "03": "/World/_scene/obj_03", "05": "/World/_scene/obj_05"}, "observation/robot_joint_prim_path_map": {"base_link": "/World/_scene/lift2/lift2/lift2/base_link", "wheel1": "/World/_scene/lift2/lift2/lift2/wheel1", "wheel2": "/World/_scene/lift2/lift2/lift2/wheel2", "wheel3": "/World/_scene/lift2/lift2/lift2/wheel3", "body4": "/World/_scene/lift2/lift2/lift2/body4", "h_link5": "/World/_scene/lift2/lift2/lift2/h_link5", "fr_base_link": "/World/_scene/lift2/lift2/lift2/fr/base_link", 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0000000000000000000000000000000000000000..d0d47316bf6e9f26879819cd16a04ec8b82eedd1 --- /dev/null +++ b/tasks/ebench/table_top_manip/frame_against_pen_holder_test_mini/012/lmdb/info.json @@ -0,0 +1 @@ +{"observation/object_prim_path_map": {"00000000000000000000000000000000": "/World/_scene/obj_table", "00": "/World/_scene/obj_00", "01": "/World/_scene/obj_01", "02": "/World/_scene/obj_02", "03": "/World/_scene/obj_03", "05": "/World/_scene/obj_05"}, "observation/robot_joint_prim_path_map": {"base_link": "/World/_scene/lift2/lift2/lift2/base_link", "wheel1": "/World/_scene/lift2/lift2/lift2/wheel1", "wheel2": "/World/_scene/lift2/lift2/lift2/wheel2", "wheel3": "/World/_scene/lift2/lift2/lift2/wheel3", "body4": "/World/_scene/lift2/lift2/lift2/body4", "h_link5": "/World/_scene/lift2/lift2/lift2/h_link5", "fr_base_link": "/World/_scene/lift2/lift2/lift2/fr/base_link", "fl_base_link": "/World/_scene/lift2/lift2/lift2/fl/base_link", "h_link6": "/World/_scene/lift2/lift2/lift2/h_link6", 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"/World/_scene/lift2/lift2/lift2/dummy_base_y", "dummy_base_rotate": "/World/_scene/lift2/lift2/lift2/dummy_base_rotate"}, "observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/table_top_manip/frame_against_pen_holder_test_mini/012/lmdb/lock.mdb b/tasks/ebench/table_top_manip/frame_against_pen_holder_test_mini/012/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..9f790d40bf7bc60d094a559364985e2eb1ff93ad Binary files /dev/null and b/tasks/ebench/table_top_manip/frame_against_pen_holder_test_mini/012/lmdb/lock.mdb differ diff --git a/tasks/ebench/table_top_manip/frame_against_pen_holder_test_mini/013/lmdb/info.json b/tasks/ebench/table_top_manip/frame_against_pen_holder_test_mini/013/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..d0d47316bf6e9f26879819cd16a04ec8b82eedd1 --- /dev/null +++ b/tasks/ebench/table_top_manip/frame_against_pen_holder_test_mini/013/lmdb/info.json @@ -0,0 +1 @@ +{"observation/object_prim_path_map": {"00000000000000000000000000000000": "/World/_scene/obj_table", "00": "/World/_scene/obj_00", "01": "/World/_scene/obj_01", "02": "/World/_scene/obj_02", "03": "/World/_scene/obj_03", "05": "/World/_scene/obj_05"}, "observation/robot_joint_prim_path_map": {"base_link": "/World/_scene/lift2/lift2/lift2/base_link", "wheel1": "/World/_scene/lift2/lift2/lift2/wheel1", "wheel2": "/World/_scene/lift2/lift2/lift2/wheel2", "wheel3": "/World/_scene/lift2/lift2/lift2/wheel3", "body4": "/World/_scene/lift2/lift2/lift2/body4", "h_link5": "/World/_scene/lift2/lift2/lift2/h_link5", "fr_base_link": "/World/_scene/lift2/lift2/lift2/fr/base_link", "fl_base_link": "/World/_scene/lift2/lift2/lift2/fl/base_link", "h_link6": "/World/_scene/lift2/lift2/lift2/h_link6", "fl_link1": "/World/_scene/lift2/lift2/lift2/fl/link1", "fl_link2": "/World/_scene/lift2/lift2/lift2/fl/link2", "fl_link3": "/World/_scene/lift2/lift2/lift2/fl/link3", "fl_link4": 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a/tasks/ebench/table_top_manip/frame_against_pen_holder_test_mini/013/lmdb/lock.mdb b/tasks/ebench/table_top_manip/frame_against_pen_holder_test_mini/013/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..9f790d40bf7bc60d094a559364985e2eb1ff93ad Binary files /dev/null and b/tasks/ebench/table_top_manip/frame_against_pen_holder_test_mini/013/lmdb/lock.mdb differ diff --git a/tasks/ebench/table_top_manip/frame_against_pen_holder_test_mini/015/lmdb/info.json b/tasks/ebench/table_top_manip/frame_against_pen_holder_test_mini/015/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..d0d47316bf6e9f26879819cd16a04ec8b82eedd1 --- /dev/null +++ b/tasks/ebench/table_top_manip/frame_against_pen_holder_test_mini/015/lmdb/info.json @@ -0,0 +1 @@ +{"observation/object_prim_path_map": {"00000000000000000000000000000000": "/World/_scene/obj_table", "00": "/World/_scene/obj_00", "01": "/World/_scene/obj_01", "02": "/World/_scene/obj_02", "03": "/World/_scene/obj_03", "05": "/World/_scene/obj_05"}, "observation/robot_joint_prim_path_map": {"base_link": "/World/_scene/lift2/lift2/lift2/base_link", "wheel1": "/World/_scene/lift2/lift2/lift2/wheel1", "wheel2": "/World/_scene/lift2/lift2/lift2/wheel2", "wheel3": "/World/_scene/lift2/lift2/lift2/wheel3", "body4": "/World/_scene/lift2/lift2/lift2/body4", "h_link5": "/World/_scene/lift2/lift2/lift2/h_link5", "fr_base_link": "/World/_scene/lift2/lift2/lift2/fr/base_link", "fl_base_link": "/World/_scene/lift2/lift2/lift2/fl/base_link", "h_link6": "/World/_scene/lift2/lift2/lift2/h_link6", "fl_link1": "/World/_scene/lift2/lift2/lift2/fl/link1", "fl_link2": "/World/_scene/lift2/lift2/lift2/fl/link2", "fl_link3": "/World/_scene/lift2/lift2/lift2/fl/link3", "fl_link4": "/World/_scene/lift2/lift2/lift2/fl/link4", "fl_link5": "/World/_scene/lift2/lift2/lift2/fl/link5", "fl_link6": "/World/_scene/lift2/lift2/lift2/fl/link6", "fl_link7": "/World/_scene/lift2/lift2/lift2/fl/link7", 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0000000000000000000000000000000000000000..9f790d40bf7bc60d094a559364985e2eb1ff93ad Binary files /dev/null and b/tasks/ebench/table_top_manip/frame_against_pen_holder_test_mini/015/lmdb/lock.mdb differ diff --git a/tasks/ebench/table_top_manip/frame_against_pen_holder_test_mini/016/lmdb/info.json b/tasks/ebench/table_top_manip/frame_against_pen_holder_test_mini/016/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..d0d47316bf6e9f26879819cd16a04ec8b82eedd1 --- /dev/null +++ b/tasks/ebench/table_top_manip/frame_against_pen_holder_test_mini/016/lmdb/info.json @@ -0,0 +1 @@ +{"observation/object_prim_path_map": {"00000000000000000000000000000000": "/World/_scene/obj_table", "00": "/World/_scene/obj_00", "01": "/World/_scene/obj_01", "02": "/World/_scene/obj_02", "03": "/World/_scene/obj_03", "05": "/World/_scene/obj_05"}, "observation/robot_joint_prim_path_map": {"base_link": "/World/_scene/lift2/lift2/lift2/base_link", "wheel1": 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b/tasks/ebench/table_top_manip/frame_against_pen_holder_test_mini/016/lmdb/lock.mdb differ diff --git a/tasks/ebench/table_top_manip/frame_against_pen_holder_test_mini/018/lmdb/info.json b/tasks/ebench/table_top_manip/frame_against_pen_holder_test_mini/018/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..d0d47316bf6e9f26879819cd16a04ec8b82eedd1 --- /dev/null +++ b/tasks/ebench/table_top_manip/frame_against_pen_holder_test_mini/018/lmdb/info.json @@ -0,0 +1 @@ +{"observation/object_prim_path_map": {"00000000000000000000000000000000": "/World/_scene/obj_table", "00": "/World/_scene/obj_00", "01": "/World/_scene/obj_01", "02": "/World/_scene/obj_02", "03": "/World/_scene/obj_03", "05": "/World/_scene/obj_05"}, "observation/robot_joint_prim_path_map": {"base_link": "/World/_scene/lift2/lift2/lift2/base_link", "wheel1": "/World/_scene/lift2/lift2/lift2/wheel1", "wheel2": "/World/_scene/lift2/lift2/lift2/wheel2", "wheel3": 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b/tasks/ebench/table_top_manip/frame_against_pen_holder_test_mini/019/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..d0d47316bf6e9f26879819cd16a04ec8b82eedd1 --- /dev/null +++ b/tasks/ebench/table_top_manip/frame_against_pen_holder_test_mini/019/lmdb/info.json @@ -0,0 +1 @@ +{"observation/object_prim_path_map": {"00000000000000000000000000000000": "/World/_scene/obj_table", "00": "/World/_scene/obj_00", "01": "/World/_scene/obj_01", "02": "/World/_scene/obj_02", "03": "/World/_scene/obj_03", "05": "/World/_scene/obj_05"}, "observation/robot_joint_prim_path_map": {"base_link": "/World/_scene/lift2/lift2/lift2/base_link", "wheel1": "/World/_scene/lift2/lift2/lift2/wheel1", "wheel2": "/World/_scene/lift2/lift2/lift2/wheel2", "wheel3": "/World/_scene/lift2/lift2/lift2/wheel3", "body4": "/World/_scene/lift2/lift2/lift2/body4", "h_link5": "/World/_scene/lift2/lift2/lift2/h_link5", "fr_base_link": "/World/_scene/lift2/lift2/lift2/fr/base_link", 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b/tasks/ebench/table_top_manip/install_gear/001/lmdb/info.json @@ -0,0 +1 @@ +{"observation/object_prim_path_map": {"00000000000000000000000000000000": "/World/_scene/obj_table", "01": "/World/_scene/obj_01", "02": "/World/_scene/obj_02", "03": "/World/_scene/obj_03", "04": "/World/_scene/obj_04"}, "observation/robot_joint_prim_path_map": {"base_link": "/World/_scene/lift2/lift2/lift2/base_link", "wheel1": "/World/_scene/lift2/lift2/lift2/wheel1", "wheel2": "/World/_scene/lift2/lift2/lift2/wheel2", "wheel3": "/World/_scene/lift2/lift2/lift2/wheel3", "body4": "/World/_scene/lift2/lift2/lift2/body4", "h_link5": "/World/_scene/lift2/lift2/lift2/h_link5", "fr_base_link": "/World/_scene/lift2/lift2/lift2/fr/base_link", "fl_base_link": "/World/_scene/lift2/lift2/lift2/fl/base_link", "h_link6": "/World/_scene/lift2/lift2/lift2/h_link6", "fl_link1": "/World/_scene/lift2/lift2/lift2/fl/link1", "fl_link2": "/World/_scene/lift2/lift2/lift2/fl/link2", "fl_link3": 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"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/table_top_manip/install_gear/001/lmdb/lock.mdb b/tasks/ebench/table_top_manip/install_gear/001/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..9f790d40bf7bc60d094a559364985e2eb1ff93ad Binary files /dev/null and b/tasks/ebench/table_top_manip/install_gear/001/lmdb/lock.mdb differ diff --git a/tasks/ebench/table_top_manip/install_gear/006/lmdb/info.json b/tasks/ebench/table_top_manip/install_gear/006/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..7725f575ac14755d788e69fb2713367501bc9962 --- /dev/null +++ b/tasks/ebench/table_top_manip/install_gear/006/lmdb/info.json @@ -0,0 +1 @@ +{"observation/object_prim_path_map": {"00000000000000000000000000000000": "/World/_scene/obj_table", "01": "/World/_scene/obj_01", "02": "/World/_scene/obj_02", "03": "/World/_scene/obj_03", "04": "/World/_scene/obj_04"}, 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b/tasks/ebench/table_top_manip/install_gear/006/lmdb/lock.mdb differ diff --git a/tasks/ebench/table_top_manip/install_gear/007/lmdb/info.json b/tasks/ebench/table_top_manip/install_gear/007/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..7725f575ac14755d788e69fb2713367501bc9962 --- /dev/null +++ b/tasks/ebench/table_top_manip/install_gear/007/lmdb/info.json @@ -0,0 +1 @@ +{"observation/object_prim_path_map": {"00000000000000000000000000000000": "/World/_scene/obj_table", "01": "/World/_scene/obj_01", "02": "/World/_scene/obj_02", "03": "/World/_scene/obj_03", "04": "/World/_scene/obj_04"}, "observation/robot_joint_prim_path_map": {"base_link": "/World/_scene/lift2/lift2/lift2/base_link", "wheel1": "/World/_scene/lift2/lift2/lift2/wheel1", "wheel2": "/World/_scene/lift2/lift2/lift2/wheel2", "wheel3": "/World/_scene/lift2/lift2/lift2/wheel3", "body4": "/World/_scene/lift2/lift2/lift2/body4", "h_link5": "/World/_scene/lift2/lift2/lift2/h_link5", 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b/tasks/ebench/table_top_manip/install_gear/010/lmdb/info.json @@ -0,0 +1 @@ +{"observation/object_prim_path_map": {"00000000000000000000000000000000": "/World/_scene/obj_table", "01": "/World/_scene/obj_01", "02": "/World/_scene/obj_02", "03": "/World/_scene/obj_03", "04": "/World/_scene/obj_04"}, "observation/robot_joint_prim_path_map": {"base_link": "/World/_scene/lift2/lift2/lift2/base_link", "wheel1": "/World/_scene/lift2/lift2/lift2/wheel1", "wheel2": "/World/_scene/lift2/lift2/lift2/wheel2", "wheel3": "/World/_scene/lift2/lift2/lift2/wheel3", "body4": "/World/_scene/lift2/lift2/lift2/body4", "h_link5": "/World/_scene/lift2/lift2/lift2/h_link5", "fr_base_link": "/World/_scene/lift2/lift2/lift2/fr/base_link", "fl_base_link": "/World/_scene/lift2/lift2/lift2/fl/base_link", "h_link6": "/World/_scene/lift2/lift2/lift2/h_link6", "fl_link1": "/World/_scene/lift2/lift2/lift2/fl/link1", "fl_link2": "/World/_scene/lift2/lift2/lift2/fl/link2", "fl_link3": 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b/tasks/ebench/table_top_manip/install_gear/012/lmdb/lock.mdb differ diff --git a/tasks/ebench/table_top_manip/install_gear/013/lmdb/info.json b/tasks/ebench/table_top_manip/install_gear/013/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..7725f575ac14755d788e69fb2713367501bc9962 --- /dev/null +++ b/tasks/ebench/table_top_manip/install_gear/013/lmdb/info.json @@ -0,0 +1 @@ +{"observation/object_prim_path_map": {"00000000000000000000000000000000": "/World/_scene/obj_table", "01": "/World/_scene/obj_01", "02": "/World/_scene/obj_02", "03": "/World/_scene/obj_03", "04": "/World/_scene/obj_04"}, "observation/robot_joint_prim_path_map": {"base_link": "/World/_scene/lift2/lift2/lift2/base_link", "wheel1": "/World/_scene/lift2/lift2/lift2/wheel1", "wheel2": "/World/_scene/lift2/lift2/lift2/wheel2", "wheel3": "/World/_scene/lift2/lift2/lift2/wheel3", "body4": "/World/_scene/lift2/lift2/lift2/body4", "h_link5": "/World/_scene/lift2/lift2/lift2/h_link5", 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b/tasks/ebench/table_top_manip/install_gear/016/lmdb/lock.mdb differ diff --git a/tasks/ebench/table_top_manip/install_gear/020/lmdb/info.json b/tasks/ebench/table_top_manip/install_gear/020/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..7725f575ac14755d788e69fb2713367501bc9962 --- /dev/null +++ b/tasks/ebench/table_top_manip/install_gear/020/lmdb/info.json @@ -0,0 +1 @@ +{"observation/object_prim_path_map": {"00000000000000000000000000000000": "/World/_scene/obj_table", "01": "/World/_scene/obj_01", "02": "/World/_scene/obj_02", "03": "/World/_scene/obj_03", "04": "/World/_scene/obj_04"}, "observation/robot_joint_prim_path_map": {"base_link": "/World/_scene/lift2/lift2/lift2/base_link", "wheel1": "/World/_scene/lift2/lift2/lift2/wheel1", "wheel2": "/World/_scene/lift2/lift2/lift2/wheel2", "wheel3": "/World/_scene/lift2/lift2/lift2/wheel3", "body4": "/World/_scene/lift2/lift2/lift2/body4", "h_link5": "/World/_scene/lift2/lift2/lift2/h_link5", 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b/tasks/ebench/table_top_manip/install_gear/022/lmdb/lock.mdb differ diff --git a/tasks/ebench/table_top_manip/install_gear/023/lmdb/info.json b/tasks/ebench/table_top_manip/install_gear/023/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..7725f575ac14755d788e69fb2713367501bc9962 --- /dev/null +++ b/tasks/ebench/table_top_manip/install_gear/023/lmdb/info.json @@ -0,0 +1 @@ +{"observation/object_prim_path_map": {"00000000000000000000000000000000": "/World/_scene/obj_table", "01": "/World/_scene/obj_01", "02": "/World/_scene/obj_02", "03": "/World/_scene/obj_03", "04": "/World/_scene/obj_04"}, "observation/robot_joint_prim_path_map": {"base_link": "/World/_scene/lift2/lift2/lift2/base_link", "wheel1": "/World/_scene/lift2/lift2/lift2/wheel1", "wheel2": "/World/_scene/lift2/lift2/lift2/wheel2", "wheel3": "/World/_scene/lift2/lift2/lift2/wheel3", "body4": "/World/_scene/lift2/lift2/lift2/body4", "h_link5": "/World/_scene/lift2/lift2/lift2/h_link5", 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b/tasks/ebench/table_top_manip/install_gear/027/lmdb/lock.mdb differ diff --git a/tasks/ebench/table_top_manip/install_gear/029/lmdb/info.json b/tasks/ebench/table_top_manip/install_gear/029/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..7725f575ac14755d788e69fb2713367501bc9962 --- /dev/null +++ b/tasks/ebench/table_top_manip/install_gear/029/lmdb/info.json @@ -0,0 +1 @@ +{"observation/object_prim_path_map": {"00000000000000000000000000000000": "/World/_scene/obj_table", "01": "/World/_scene/obj_01", "02": "/World/_scene/obj_02", "03": "/World/_scene/obj_03", "04": "/World/_scene/obj_04"}, "observation/robot_joint_prim_path_map": {"base_link": "/World/_scene/lift2/lift2/lift2/base_link", "wheel1": "/World/_scene/lift2/lift2/lift2/wheel1", "wheel2": "/World/_scene/lift2/lift2/lift2/wheel2", "wheel3": "/World/_scene/lift2/lift2/lift2/wheel3", "body4": "/World/_scene/lift2/lift2/lift2/body4", "h_link5": "/World/_scene/lift2/lift2/lift2/h_link5", 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"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/table_top_manip/install_gear/031/lmdb/lock.mdb b/tasks/ebench/table_top_manip/install_gear/031/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..9f790d40bf7bc60d094a559364985e2eb1ff93ad Binary files /dev/null and b/tasks/ebench/table_top_manip/install_gear/031/lmdb/lock.mdb differ diff --git a/tasks/ebench/table_top_manip/install_gear/035/lmdb/info.json b/tasks/ebench/table_top_manip/install_gear/035/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..7725f575ac14755d788e69fb2713367501bc9962 --- /dev/null +++ b/tasks/ebench/table_top_manip/install_gear/035/lmdb/info.json @@ -0,0 +1 @@ +{"observation/object_prim_path_map": {"00000000000000000000000000000000": "/World/_scene/obj_table", "01": "/World/_scene/obj_01", "02": "/World/_scene/obj_02", "03": "/World/_scene/obj_03", "04": "/World/_scene/obj_04"}, 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b/tasks/ebench/table_top_manip/install_gear/035/lmdb/lock.mdb differ diff --git a/tasks/ebench/table_top_manip/install_gear/036/lmdb/info.json b/tasks/ebench/table_top_manip/install_gear/036/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..7725f575ac14755d788e69fb2713367501bc9962 --- /dev/null +++ b/tasks/ebench/table_top_manip/install_gear/036/lmdb/info.json @@ -0,0 +1 @@ +{"observation/object_prim_path_map": {"00000000000000000000000000000000": "/World/_scene/obj_table", "01": "/World/_scene/obj_01", "02": "/World/_scene/obj_02", "03": "/World/_scene/obj_03", "04": "/World/_scene/obj_04"}, "observation/robot_joint_prim_path_map": {"base_link": "/World/_scene/lift2/lift2/lift2/base_link", "wheel1": "/World/_scene/lift2/lift2/lift2/wheel1", "wheel2": "/World/_scene/lift2/lift2/lift2/wheel2", "wheel3": "/World/_scene/lift2/lift2/lift2/wheel3", "body4": "/World/_scene/lift2/lift2/lift2/body4", "h_link5": "/World/_scene/lift2/lift2/lift2/h_link5", 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b/tasks/ebench/table_top_manip/install_gear/040/lmdb/lock.mdb differ diff --git a/tasks/ebench/table_top_manip/install_gear/045/lmdb/info.json b/tasks/ebench/table_top_manip/install_gear/045/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..7725f575ac14755d788e69fb2713367501bc9962 --- /dev/null +++ b/tasks/ebench/table_top_manip/install_gear/045/lmdb/info.json @@ -0,0 +1 @@ +{"observation/object_prim_path_map": {"00000000000000000000000000000000": "/World/_scene/obj_table", "01": "/World/_scene/obj_01", "02": "/World/_scene/obj_02", "03": "/World/_scene/obj_03", "04": "/World/_scene/obj_04"}, "observation/robot_joint_prim_path_map": {"base_link": "/World/_scene/lift2/lift2/lift2/base_link", "wheel1": "/World/_scene/lift2/lift2/lift2/wheel1", "wheel2": "/World/_scene/lift2/lift2/lift2/wheel2", "wheel3": "/World/_scene/lift2/lift2/lift2/wheel3", "body4": "/World/_scene/lift2/lift2/lift2/body4", "h_link5": "/World/_scene/lift2/lift2/lift2/h_link5", 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"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/table_top_manip/install_gear/051/lmdb/lock.mdb b/tasks/ebench/table_top_manip/install_gear/051/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..9f790d40bf7bc60d094a559364985e2eb1ff93ad Binary files /dev/null and b/tasks/ebench/table_top_manip/install_gear/051/lmdb/lock.mdb differ diff --git a/tasks/ebench/table_top_manip/install_gear/053/lmdb/info.json b/tasks/ebench/table_top_manip/install_gear/053/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..7725f575ac14755d788e69fb2713367501bc9962 --- /dev/null +++ b/tasks/ebench/table_top_manip/install_gear/053/lmdb/info.json @@ -0,0 +1 @@ +{"observation/object_prim_path_map": {"00000000000000000000000000000000": "/World/_scene/obj_table", "01": "/World/_scene/obj_01", "02": "/World/_scene/obj_02", "03": "/World/_scene/obj_03", "04": "/World/_scene/obj_04"}, 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b/tasks/ebench/table_top_manip/install_gear/053/lmdb/lock.mdb differ diff --git a/tasks/ebench/table_top_manip/install_gear/055/lmdb/info.json b/tasks/ebench/table_top_manip/install_gear/055/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..7725f575ac14755d788e69fb2713367501bc9962 --- /dev/null +++ b/tasks/ebench/table_top_manip/install_gear/055/lmdb/info.json @@ -0,0 +1 @@ +{"observation/object_prim_path_map": {"00000000000000000000000000000000": "/World/_scene/obj_table", "01": "/World/_scene/obj_01", "02": "/World/_scene/obj_02", "03": "/World/_scene/obj_03", "04": "/World/_scene/obj_04"}, "observation/robot_joint_prim_path_map": {"base_link": "/World/_scene/lift2/lift2/lift2/base_link", "wheel1": "/World/_scene/lift2/lift2/lift2/wheel1", "wheel2": "/World/_scene/lift2/lift2/lift2/wheel2", "wheel3": "/World/_scene/lift2/lift2/lift2/wheel3", "body4": "/World/_scene/lift2/lift2/lift2/body4", "h_link5": "/World/_scene/lift2/lift2/lift2/h_link5", 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b/tasks/ebench/table_top_manip/install_gear/058/lmdb/info.json @@ -0,0 +1 @@ +{"observation/object_prim_path_map": {"00000000000000000000000000000000": "/World/_scene/obj_table", "01": "/World/_scene/obj_01", "02": "/World/_scene/obj_02", "03": "/World/_scene/obj_03", "04": "/World/_scene/obj_04"}, "observation/robot_joint_prim_path_map": {"base_link": "/World/_scene/lift2/lift2/lift2/base_link", "wheel1": "/World/_scene/lift2/lift2/lift2/wheel1", "wheel2": "/World/_scene/lift2/lift2/lift2/wheel2", "wheel3": "/World/_scene/lift2/lift2/lift2/wheel3", "body4": "/World/_scene/lift2/lift2/lift2/body4", "h_link5": "/World/_scene/lift2/lift2/lift2/h_link5", "fr_base_link": "/World/_scene/lift2/lift2/lift2/fr/base_link", "fl_base_link": "/World/_scene/lift2/lift2/lift2/fl/base_link", "h_link6": "/World/_scene/lift2/lift2/lift2/h_link6", "fl_link1": "/World/_scene/lift2/lift2/lift2/fl/link1", "fl_link2": "/World/_scene/lift2/lift2/lift2/fl/link2", "fl_link3": 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"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/table_top_manip/install_gear/058/lmdb/lock.mdb b/tasks/ebench/table_top_manip/install_gear/058/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..9f790d40bf7bc60d094a559364985e2eb1ff93ad Binary files /dev/null and b/tasks/ebench/table_top_manip/install_gear/058/lmdb/lock.mdb differ diff --git a/tasks/ebench/table_top_manip/install_gear/059/lmdb/info.json b/tasks/ebench/table_top_manip/install_gear/059/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..7725f575ac14755d788e69fb2713367501bc9962 --- /dev/null +++ b/tasks/ebench/table_top_manip/install_gear/059/lmdb/info.json @@ -0,0 +1 @@ +{"observation/object_prim_path_map": {"00000000000000000000000000000000": "/World/_scene/obj_table", "01": "/World/_scene/obj_01", "02": "/World/_scene/obj_02", "03": "/World/_scene/obj_03", "04": "/World/_scene/obj_04"}, 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b/tasks/ebench/table_top_manip/install_gear/059/lmdb/lock.mdb differ diff --git a/tasks/ebench/table_top_manip/install_gear_test_mini/001/lmdb/info.json b/tasks/ebench/table_top_manip/install_gear_test_mini/001/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..7725f575ac14755d788e69fb2713367501bc9962 --- /dev/null +++ b/tasks/ebench/table_top_manip/install_gear_test_mini/001/lmdb/info.json @@ -0,0 +1 @@ +{"observation/object_prim_path_map": {"00000000000000000000000000000000": "/World/_scene/obj_table", "01": "/World/_scene/obj_01", "02": "/World/_scene/obj_02", "03": "/World/_scene/obj_03", "04": "/World/_scene/obj_04"}, "observation/robot_joint_prim_path_map": {"base_link": "/World/_scene/lift2/lift2/lift2/base_link", "wheel1": "/World/_scene/lift2/lift2/lift2/wheel1", "wheel2": "/World/_scene/lift2/lift2/lift2/wheel2", "wheel3": "/World/_scene/lift2/lift2/lift2/wheel3", "body4": "/World/_scene/lift2/lift2/lift2/body4", "h_link5": 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0000000000000000000000000000000000000000..7725f575ac14755d788e69fb2713367501bc9962 --- /dev/null +++ b/tasks/ebench/table_top_manip/install_gear_test_mini/010/lmdb/info.json @@ -0,0 +1 @@ +{"observation/object_prim_path_map": {"00000000000000000000000000000000": "/World/_scene/obj_table", "01": "/World/_scene/obj_01", "02": "/World/_scene/obj_02", "03": "/World/_scene/obj_03", "04": "/World/_scene/obj_04"}, "observation/robot_joint_prim_path_map": {"base_link": "/World/_scene/lift2/lift2/lift2/base_link", "wheel1": "/World/_scene/lift2/lift2/lift2/wheel1", "wheel2": "/World/_scene/lift2/lift2/lift2/wheel2", "wheel3": "/World/_scene/lift2/lift2/lift2/wheel3", "body4": "/World/_scene/lift2/lift2/lift2/body4", "h_link5": "/World/_scene/lift2/lift2/lift2/h_link5", "fr_base_link": "/World/_scene/lift2/lift2/lift2/fr/base_link", "fl_base_link": "/World/_scene/lift2/lift2/lift2/fl/base_link", "h_link6": "/World/_scene/lift2/lift2/lift2/h_link6", "fl_link1": 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a/tasks/ebench/table_top_manip/install_gear_test_mini/016/lmdb/lock.mdb b/tasks/ebench/table_top_manip/install_gear_test_mini/016/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..9f790d40bf7bc60d094a559364985e2eb1ff93ad Binary files /dev/null and b/tasks/ebench/table_top_manip/install_gear_test_mini/016/lmdb/lock.mdb differ diff --git a/tasks/ebench/table_top_manip/peg_in_hole_test_mini/000/lmdb/info.json b/tasks/ebench/table_top_manip/peg_in_hole_test_mini/000/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..fb3a9802d1caf62044eacee7ae57e88ec7ca07cc --- /dev/null +++ b/tasks/ebench/table_top_manip/peg_in_hole_test_mini/000/lmdb/info.json @@ -0,0 +1 @@ +{"observation/object_prim_path_map": {"base": "/World/_scene/obj_base", "hole": "/World/_scene/obj_hole", "peg": "/World/_scene/obj_peg"}, "observation/robot_joint_prim_path_map": {"base_link": "/World/_scene/lift2/lift2/lift2/base_link", "wheel1": 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a/tasks/ebench/table_top_manip/peg_in_hole_test_mini/002/lmdb/info.json b/tasks/ebench/table_top_manip/peg_in_hole_test_mini/002/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..fb3a9802d1caf62044eacee7ae57e88ec7ca07cc --- /dev/null +++ b/tasks/ebench/table_top_manip/peg_in_hole_test_mini/002/lmdb/info.json @@ -0,0 +1 @@ +{"observation/object_prim_path_map": {"base": "/World/_scene/obj_base", "hole": "/World/_scene/obj_hole", "peg": "/World/_scene/obj_peg"}, "observation/robot_joint_prim_path_map": {"base_link": "/World/_scene/lift2/lift2/lift2/base_link", "wheel1": "/World/_scene/lift2/lift2/lift2/wheel1", "wheel2": "/World/_scene/lift2/lift2/lift2/wheel2", "wheel3": "/World/_scene/lift2/lift2/lift2/wheel3", "body4": "/World/_scene/lift2/lift2/lift2/body4", "h_link5": "/World/_scene/lift2/lift2/lift2/h_link5", "fr_base_link": "/World/_scene/lift2/lift2/lift2/fr/base_link", "fl_base_link": "/World/_scene/lift2/lift2/lift2/fl/base_link", "h_link6": 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"/World/_scene/lift2/lift2/lift2/dummy_base_x", "dummy_base_y": "/World/_scene/lift2/lift2/lift2/dummy_base_y", "dummy_base_rotate": "/World/_scene/lift2/lift2/lift2/dummy_base_rotate"}, "observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/table_top_manip/peg_in_hole_test_mini/002/lmdb/lock.mdb b/tasks/ebench/table_top_manip/peg_in_hole_test_mini/002/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..9f790d40bf7bc60d094a559364985e2eb1ff93ad Binary files /dev/null and b/tasks/ebench/table_top_manip/peg_in_hole_test_mini/002/lmdb/lock.mdb differ diff --git a/tasks/ebench/table_top_manip/peg_in_hole_test_mini/003/lmdb/info.json b/tasks/ebench/table_top_manip/peg_in_hole_test_mini/003/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..fb3a9802d1caf62044eacee7ae57e88ec7ca07cc --- /dev/null +++ b/tasks/ebench/table_top_manip/peg_in_hole_test_mini/003/lmdb/info.json @@ -0,0 +1 @@ +{"observation/object_prim_path_map": {"base": "/World/_scene/obj_base", "hole": "/World/_scene/obj_hole", "peg": "/World/_scene/obj_peg"}, "observation/robot_joint_prim_path_map": {"base_link": "/World/_scene/lift2/lift2/lift2/base_link", "wheel1": "/World/_scene/lift2/lift2/lift2/wheel1", "wheel2": "/World/_scene/lift2/lift2/lift2/wheel2", "wheel3": "/World/_scene/lift2/lift2/lift2/wheel3", "body4": "/World/_scene/lift2/lift2/lift2/body4", "h_link5": "/World/_scene/lift2/lift2/lift2/h_link5", "fr_base_link": "/World/_scene/lift2/lift2/lift2/fr/base_link", "fl_base_link": "/World/_scene/lift2/lift2/lift2/fl/base_link", "h_link6": "/World/_scene/lift2/lift2/lift2/h_link6", "fl_link1": "/World/_scene/lift2/lift2/lift2/fl/link1", "fl_link2": "/World/_scene/lift2/lift2/lift2/fl/link2", "fl_link3": "/World/_scene/lift2/lift2/lift2/fl/link3", "fl_link4": "/World/_scene/lift2/lift2/lift2/fl/link4", "fl_link5": "/World/_scene/lift2/lift2/lift2/fl/link5", "fl_link6": "/World/_scene/lift2/lift2/lift2/fl/link6", "fl_link7": "/World/_scene/lift2/lift2/lift2/fl/link7", "fl_link8": "/World/_scene/lift2/lift2/lift2/fl/link8", "fr_link1": "/World/_scene/lift2/lift2/lift2/fr/link1", "fr_link2": "/World/_scene/lift2/lift2/lift2/fr/link2", "fr_link3": "/World/_scene/lift2/lift2/lift2/fr/link3", "fr_link4": "/World/_scene/lift2/lift2/lift2/fr/link4", "fr_link5": "/World/_scene/lift2/lift2/lift2/fr/link5", "fr_link6": "/World/_scene/lift2/lift2/lift2/fr/link6", "fr_link7": "/World/_scene/lift2/lift2/lift2/fr/link7", "fr_link8": "/World/_scene/lift2/lift2/lift2/fr/link8", "dummy_base_x": "/World/_scene/lift2/lift2/lift2/dummy_base_x", "dummy_base_y": "/World/_scene/lift2/lift2/lift2/dummy_base_y", "dummy_base_rotate": "/World/_scene/lift2/lift2/lift2/dummy_base_rotate"}, "observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/table_top_manip/peg_in_hole_test_mini/003/lmdb/lock.mdb b/tasks/ebench/table_top_manip/peg_in_hole_test_mini/003/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..9f790d40bf7bc60d094a559364985e2eb1ff93ad Binary files /dev/null and b/tasks/ebench/table_top_manip/peg_in_hole_test_mini/003/lmdb/lock.mdb differ diff --git a/tasks/ebench/table_top_manip/peg_in_hole_test_mini/004/lmdb/info.json b/tasks/ebench/table_top_manip/peg_in_hole_test_mini/004/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..fb3a9802d1caf62044eacee7ae57e88ec7ca07cc --- /dev/null +++ b/tasks/ebench/table_top_manip/peg_in_hole_test_mini/004/lmdb/info.json @@ -0,0 +1 @@ +{"observation/object_prim_path_map": {"base": "/World/_scene/obj_base", "hole": "/World/_scene/obj_hole", "peg": "/World/_scene/obj_peg"}, "observation/robot_joint_prim_path_map": {"base_link": "/World/_scene/lift2/lift2/lift2/base_link", "wheel1": "/World/_scene/lift2/lift2/lift2/wheel1", "wheel2": "/World/_scene/lift2/lift2/lift2/wheel2", "wheel3": "/World/_scene/lift2/lift2/lift2/wheel3", "body4": "/World/_scene/lift2/lift2/lift2/body4", "h_link5": "/World/_scene/lift2/lift2/lift2/h_link5", "fr_base_link": "/World/_scene/lift2/lift2/lift2/fr/base_link", "fl_base_link": "/World/_scene/lift2/lift2/lift2/fl/base_link", "h_link6": "/World/_scene/lift2/lift2/lift2/h_link6", "fl_link1": "/World/_scene/lift2/lift2/lift2/fl/link1", "fl_link2": "/World/_scene/lift2/lift2/lift2/fl/link2", "fl_link3": "/World/_scene/lift2/lift2/lift2/fl/link3", "fl_link4": "/World/_scene/lift2/lift2/lift2/fl/link4", "fl_link5": "/World/_scene/lift2/lift2/lift2/fl/link5", "fl_link6": "/World/_scene/lift2/lift2/lift2/fl/link6", "fl_link7": "/World/_scene/lift2/lift2/lift2/fl/link7", "fl_link8": "/World/_scene/lift2/lift2/lift2/fl/link8", "fr_link1": "/World/_scene/lift2/lift2/lift2/fr/link1", "fr_link2": "/World/_scene/lift2/lift2/lift2/fr/link2", "fr_link3": "/World/_scene/lift2/lift2/lift2/fr/link3", "fr_link4": "/World/_scene/lift2/lift2/lift2/fr/link4", "fr_link5": "/World/_scene/lift2/lift2/lift2/fr/link5", "fr_link6": "/World/_scene/lift2/lift2/lift2/fr/link6", "fr_link7": "/World/_scene/lift2/lift2/lift2/fr/link7", "fr_link8": "/World/_scene/lift2/lift2/lift2/fr/link8", "dummy_base_x": "/World/_scene/lift2/lift2/lift2/dummy_base_x", "dummy_base_y": "/World/_scene/lift2/lift2/lift2/dummy_base_y", "dummy_base_rotate": "/World/_scene/lift2/lift2/lift2/dummy_base_rotate"}, "observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/table_top_manip/peg_in_hole_test_mini/004/lmdb/lock.mdb b/tasks/ebench/table_top_manip/peg_in_hole_test_mini/004/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..9f790d40bf7bc60d094a559364985e2eb1ff93ad Binary files /dev/null and b/tasks/ebench/table_top_manip/peg_in_hole_test_mini/004/lmdb/lock.mdb differ diff --git a/tasks/ebench/table_top_manip/peg_in_hole_test_mini/005/lmdb/info.json b/tasks/ebench/table_top_manip/peg_in_hole_test_mini/005/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..fb3a9802d1caf62044eacee7ae57e88ec7ca07cc --- /dev/null +++ b/tasks/ebench/table_top_manip/peg_in_hole_test_mini/005/lmdb/info.json @@ -0,0 +1 @@ +{"observation/object_prim_path_map": {"base": "/World/_scene/obj_base", "hole": "/World/_scene/obj_hole", "peg": "/World/_scene/obj_peg"}, "observation/robot_joint_prim_path_map": {"base_link": "/World/_scene/lift2/lift2/lift2/base_link", "wheel1": "/World/_scene/lift2/lift2/lift2/wheel1", "wheel2": "/World/_scene/lift2/lift2/lift2/wheel2", "wheel3": "/World/_scene/lift2/lift2/lift2/wheel3", "body4": "/World/_scene/lift2/lift2/lift2/body4", "h_link5": "/World/_scene/lift2/lift2/lift2/h_link5", "fr_base_link": "/World/_scene/lift2/lift2/lift2/fr/base_link", "fl_base_link": "/World/_scene/lift2/lift2/lift2/fl/base_link", "h_link6": "/World/_scene/lift2/lift2/lift2/h_link6", "fl_link1": "/World/_scene/lift2/lift2/lift2/fl/link1", "fl_link2": "/World/_scene/lift2/lift2/lift2/fl/link2", "fl_link3": "/World/_scene/lift2/lift2/lift2/fl/link3", "fl_link4": "/World/_scene/lift2/lift2/lift2/fl/link4", "fl_link5": "/World/_scene/lift2/lift2/lift2/fl/link5", "fl_link6": "/World/_scene/lift2/lift2/lift2/fl/link6", "fl_link7": "/World/_scene/lift2/lift2/lift2/fl/link7", "fl_link8": "/World/_scene/lift2/lift2/lift2/fl/link8", "fr_link1": "/World/_scene/lift2/lift2/lift2/fr/link1", "fr_link2": "/World/_scene/lift2/lift2/lift2/fr/link2", "fr_link3": "/World/_scene/lift2/lift2/lift2/fr/link3", "fr_link4": "/World/_scene/lift2/lift2/lift2/fr/link4", "fr_link5": "/World/_scene/lift2/lift2/lift2/fr/link5", "fr_link6": "/World/_scene/lift2/lift2/lift2/fr/link6", "fr_link7": "/World/_scene/lift2/lift2/lift2/fr/link7", "fr_link8": "/World/_scene/lift2/lift2/lift2/fr/link8", "dummy_base_x": "/World/_scene/lift2/lift2/lift2/dummy_base_x", "dummy_base_y": "/World/_scene/lift2/lift2/lift2/dummy_base_y", "dummy_base_rotate": "/World/_scene/lift2/lift2/lift2/dummy_base_rotate"}, "observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/table_top_manip/peg_in_hole_test_mini/005/lmdb/lock.mdb b/tasks/ebench/table_top_manip/peg_in_hole_test_mini/005/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..9f790d40bf7bc60d094a559364985e2eb1ff93ad Binary files /dev/null and b/tasks/ebench/table_top_manip/peg_in_hole_test_mini/005/lmdb/lock.mdb differ diff --git a/tasks/ebench/table_top_manip/peg_in_hole_test_mini/006/lmdb/info.json b/tasks/ebench/table_top_manip/peg_in_hole_test_mini/006/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..fb3a9802d1caf62044eacee7ae57e88ec7ca07cc --- /dev/null +++ b/tasks/ebench/table_top_manip/peg_in_hole_test_mini/006/lmdb/info.json @@ -0,0 +1 @@ +{"observation/object_prim_path_map": {"base": "/World/_scene/obj_base", "hole": "/World/_scene/obj_hole", "peg": "/World/_scene/obj_peg"}, "observation/robot_joint_prim_path_map": {"base_link": "/World/_scene/lift2/lift2/lift2/base_link", "wheel1": "/World/_scene/lift2/lift2/lift2/wheel1", "wheel2": "/World/_scene/lift2/lift2/lift2/wheel2", "wheel3": "/World/_scene/lift2/lift2/lift2/wheel3", "body4": "/World/_scene/lift2/lift2/lift2/body4", "h_link5": "/World/_scene/lift2/lift2/lift2/h_link5", "fr_base_link": "/World/_scene/lift2/lift2/lift2/fr/base_link", "fl_base_link": "/World/_scene/lift2/lift2/lift2/fl/base_link", "h_link6": "/World/_scene/lift2/lift2/lift2/h_link6", "fl_link1": "/World/_scene/lift2/lift2/lift2/fl/link1", "fl_link2": "/World/_scene/lift2/lift2/lift2/fl/link2", "fl_link3": "/World/_scene/lift2/lift2/lift2/fl/link3", "fl_link4": "/World/_scene/lift2/lift2/lift2/fl/link4", "fl_link5": "/World/_scene/lift2/lift2/lift2/fl/link5", "fl_link6": "/World/_scene/lift2/lift2/lift2/fl/link6", "fl_link7": "/World/_scene/lift2/lift2/lift2/fl/link7", "fl_link8": "/World/_scene/lift2/lift2/lift2/fl/link8", "fr_link1": "/World/_scene/lift2/lift2/lift2/fr/link1", "fr_link2": "/World/_scene/lift2/lift2/lift2/fr/link2", "fr_link3": "/World/_scene/lift2/lift2/lift2/fr/link3", "fr_link4": "/World/_scene/lift2/lift2/lift2/fr/link4", "fr_link5": "/World/_scene/lift2/lift2/lift2/fr/link5", "fr_link6": "/World/_scene/lift2/lift2/lift2/fr/link6", "fr_link7": "/World/_scene/lift2/lift2/lift2/fr/link7", "fr_link8": "/World/_scene/lift2/lift2/lift2/fr/link8", "dummy_base_x": "/World/_scene/lift2/lift2/lift2/dummy_base_x", "dummy_base_y": "/World/_scene/lift2/lift2/lift2/dummy_base_y", "dummy_base_rotate": "/World/_scene/lift2/lift2/lift2/dummy_base_rotate"}, "observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/table_top_manip/peg_in_hole_test_mini/006/lmdb/lock.mdb b/tasks/ebench/table_top_manip/peg_in_hole_test_mini/006/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..9f790d40bf7bc60d094a559364985e2eb1ff93ad Binary files /dev/null and b/tasks/ebench/table_top_manip/peg_in_hole_test_mini/006/lmdb/lock.mdb differ diff --git a/tasks/ebench/table_top_manip/peg_in_hole_test_mini/008/lmdb/info.json b/tasks/ebench/table_top_manip/peg_in_hole_test_mini/008/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..fb3a9802d1caf62044eacee7ae57e88ec7ca07cc --- /dev/null +++ b/tasks/ebench/table_top_manip/peg_in_hole_test_mini/008/lmdb/info.json @@ -0,0 +1 @@ +{"observation/object_prim_path_map": {"base": "/World/_scene/obj_base", "hole": "/World/_scene/obj_hole", "peg": "/World/_scene/obj_peg"}, "observation/robot_joint_prim_path_map": {"base_link": "/World/_scene/lift2/lift2/lift2/base_link", "wheel1": "/World/_scene/lift2/lift2/lift2/wheel1", "wheel2": "/World/_scene/lift2/lift2/lift2/wheel2", "wheel3": "/World/_scene/lift2/lift2/lift2/wheel3", "body4": "/World/_scene/lift2/lift2/lift2/body4", "h_link5": "/World/_scene/lift2/lift2/lift2/h_link5", "fr_base_link": "/World/_scene/lift2/lift2/lift2/fr/base_link", "fl_base_link": "/World/_scene/lift2/lift2/lift2/fl/base_link", "h_link6": "/World/_scene/lift2/lift2/lift2/h_link6", "fl_link1": "/World/_scene/lift2/lift2/lift2/fl/link1", "fl_link2": "/World/_scene/lift2/lift2/lift2/fl/link2", "fl_link3": "/World/_scene/lift2/lift2/lift2/fl/link3", "fl_link4": "/World/_scene/lift2/lift2/lift2/fl/link4", "fl_link5": "/World/_scene/lift2/lift2/lift2/fl/link5", "fl_link6": "/World/_scene/lift2/lift2/lift2/fl/link6", "fl_link7": "/World/_scene/lift2/lift2/lift2/fl/link7", "fl_link8": "/World/_scene/lift2/lift2/lift2/fl/link8", "fr_link1": "/World/_scene/lift2/lift2/lift2/fr/link1", "fr_link2": "/World/_scene/lift2/lift2/lift2/fr/link2", "fr_link3": "/World/_scene/lift2/lift2/lift2/fr/link3", "fr_link4": "/World/_scene/lift2/lift2/lift2/fr/link4", "fr_link5": "/World/_scene/lift2/lift2/lift2/fr/link5", "fr_link6": "/World/_scene/lift2/lift2/lift2/fr/link6", "fr_link7": "/World/_scene/lift2/lift2/lift2/fr/link7", "fr_link8": "/World/_scene/lift2/lift2/lift2/fr/link8", "dummy_base_x": "/World/_scene/lift2/lift2/lift2/dummy_base_x", "dummy_base_y": "/World/_scene/lift2/lift2/lift2/dummy_base_y", "dummy_base_rotate": "/World/_scene/lift2/lift2/lift2/dummy_base_rotate"}, "observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/table_top_manip/peg_in_hole_test_mini/008/lmdb/lock.mdb b/tasks/ebench/table_top_manip/peg_in_hole_test_mini/008/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..9f790d40bf7bc60d094a559364985e2eb1ff93ad Binary files /dev/null and b/tasks/ebench/table_top_manip/peg_in_hole_test_mini/008/lmdb/lock.mdb differ diff --git a/tasks/ebench/table_top_manip/peg_in_hole_test_mini/009/lmdb/info.json b/tasks/ebench/table_top_manip/peg_in_hole_test_mini/009/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..fb3a9802d1caf62044eacee7ae57e88ec7ca07cc --- /dev/null +++ b/tasks/ebench/table_top_manip/peg_in_hole_test_mini/009/lmdb/info.json @@ -0,0 +1 @@ +{"observation/object_prim_path_map": {"base": "/World/_scene/obj_base", "hole": "/World/_scene/obj_hole", "peg": "/World/_scene/obj_peg"}, "observation/robot_joint_prim_path_map": {"base_link": "/World/_scene/lift2/lift2/lift2/base_link", "wheel1": "/World/_scene/lift2/lift2/lift2/wheel1", "wheel2": "/World/_scene/lift2/lift2/lift2/wheel2", "wheel3": "/World/_scene/lift2/lift2/lift2/wheel3", "body4": "/World/_scene/lift2/lift2/lift2/body4", "h_link5": "/World/_scene/lift2/lift2/lift2/h_link5", "fr_base_link": "/World/_scene/lift2/lift2/lift2/fr/base_link", "fl_base_link": "/World/_scene/lift2/lift2/lift2/fl/base_link", "h_link6": "/World/_scene/lift2/lift2/lift2/h_link6", "fl_link1": "/World/_scene/lift2/lift2/lift2/fl/link1", "fl_link2": "/World/_scene/lift2/lift2/lift2/fl/link2", "fl_link3": "/World/_scene/lift2/lift2/lift2/fl/link3", "fl_link4": "/World/_scene/lift2/lift2/lift2/fl/link4", "fl_link5": "/World/_scene/lift2/lift2/lift2/fl/link5", "fl_link6": "/World/_scene/lift2/lift2/lift2/fl/link6", "fl_link7": "/World/_scene/lift2/lift2/lift2/fl/link7", "fl_link8": "/World/_scene/lift2/lift2/lift2/fl/link8", "fr_link1": "/World/_scene/lift2/lift2/lift2/fr/link1", "fr_link2": "/World/_scene/lift2/lift2/lift2/fr/link2", "fr_link3": "/World/_scene/lift2/lift2/lift2/fr/link3", "fr_link4": "/World/_scene/lift2/lift2/lift2/fr/link4", "fr_link5": "/World/_scene/lift2/lift2/lift2/fr/link5", "fr_link6": "/World/_scene/lift2/lift2/lift2/fr/link6", "fr_link7": "/World/_scene/lift2/lift2/lift2/fr/link7", "fr_link8": "/World/_scene/lift2/lift2/lift2/fr/link8", "dummy_base_x": "/World/_scene/lift2/lift2/lift2/dummy_base_x", "dummy_base_y": "/World/_scene/lift2/lift2/lift2/dummy_base_y", "dummy_base_rotate": "/World/_scene/lift2/lift2/lift2/dummy_base_rotate"}, "observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/table_top_manip/peg_in_hole_test_mini/009/lmdb/lock.mdb b/tasks/ebench/table_top_manip/peg_in_hole_test_mini/009/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..9f790d40bf7bc60d094a559364985e2eb1ff93ad Binary files /dev/null and b/tasks/ebench/table_top_manip/peg_in_hole_test_mini/009/lmdb/lock.mdb differ diff --git a/tasks/ebench/table_top_manip/peg_in_hole_test_mini/011/lmdb/info.json b/tasks/ebench/table_top_manip/peg_in_hole_test_mini/011/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..fb3a9802d1caf62044eacee7ae57e88ec7ca07cc --- /dev/null +++ b/tasks/ebench/table_top_manip/peg_in_hole_test_mini/011/lmdb/info.json @@ -0,0 +1 @@ +{"observation/object_prim_path_map": {"base": "/World/_scene/obj_base", "hole": "/World/_scene/obj_hole", "peg": "/World/_scene/obj_peg"}, "observation/robot_joint_prim_path_map": {"base_link": "/World/_scene/lift2/lift2/lift2/base_link", "wheel1": "/World/_scene/lift2/lift2/lift2/wheel1", "wheel2": "/World/_scene/lift2/lift2/lift2/wheel2", "wheel3": "/World/_scene/lift2/lift2/lift2/wheel3", "body4": "/World/_scene/lift2/lift2/lift2/body4", "h_link5": "/World/_scene/lift2/lift2/lift2/h_link5", "fr_base_link": "/World/_scene/lift2/lift2/lift2/fr/base_link", "fl_base_link": "/World/_scene/lift2/lift2/lift2/fl/base_link", "h_link6": "/World/_scene/lift2/lift2/lift2/h_link6", "fl_link1": "/World/_scene/lift2/lift2/lift2/fl/link1", "fl_link2": "/World/_scene/lift2/lift2/lift2/fl/link2", "fl_link3": "/World/_scene/lift2/lift2/lift2/fl/link3", "fl_link4": "/World/_scene/lift2/lift2/lift2/fl/link4", "fl_link5": "/World/_scene/lift2/lift2/lift2/fl/link5", "fl_link6": "/World/_scene/lift2/lift2/lift2/fl/link6", "fl_link7": "/World/_scene/lift2/lift2/lift2/fl/link7", "fl_link8": "/World/_scene/lift2/lift2/lift2/fl/link8", "fr_link1": "/World/_scene/lift2/lift2/lift2/fr/link1", "fr_link2": "/World/_scene/lift2/lift2/lift2/fr/link2", "fr_link3": "/World/_scene/lift2/lift2/lift2/fr/link3", "fr_link4": "/World/_scene/lift2/lift2/lift2/fr/link4", "fr_link5": "/World/_scene/lift2/lift2/lift2/fr/link5", "fr_link6": "/World/_scene/lift2/lift2/lift2/fr/link6", "fr_link7": "/World/_scene/lift2/lift2/lift2/fr/link7", "fr_link8": "/World/_scene/lift2/lift2/lift2/fr/link8", "dummy_base_x": "/World/_scene/lift2/lift2/lift2/dummy_base_x", "dummy_base_y": "/World/_scene/lift2/lift2/lift2/dummy_base_y", "dummy_base_rotate": "/World/_scene/lift2/lift2/lift2/dummy_base_rotate"}, "observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/table_top_manip/peg_in_hole_test_mini/011/lmdb/lock.mdb b/tasks/ebench/table_top_manip/peg_in_hole_test_mini/011/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..9f790d40bf7bc60d094a559364985e2eb1ff93ad Binary files /dev/null and b/tasks/ebench/table_top_manip/peg_in_hole_test_mini/011/lmdb/lock.mdb differ diff --git a/tasks/ebench/table_top_manip/peg_in_hole_test_mini/012/lmdb/info.json b/tasks/ebench/table_top_manip/peg_in_hole_test_mini/012/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..fb3a9802d1caf62044eacee7ae57e88ec7ca07cc --- /dev/null +++ b/tasks/ebench/table_top_manip/peg_in_hole_test_mini/012/lmdb/info.json @@ -0,0 +1 @@ +{"observation/object_prim_path_map": {"base": "/World/_scene/obj_base", "hole": "/World/_scene/obj_hole", "peg": "/World/_scene/obj_peg"}, "observation/robot_joint_prim_path_map": {"base_link": "/World/_scene/lift2/lift2/lift2/base_link", "wheel1": "/World/_scene/lift2/lift2/lift2/wheel1", "wheel2": "/World/_scene/lift2/lift2/lift2/wheel2", "wheel3": "/World/_scene/lift2/lift2/lift2/wheel3", "body4": 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"/World/_scene/lift2/lift2/lift2/fr/link5", "fr_link6": "/World/_scene/lift2/lift2/lift2/fr/link6", "fr_link7": "/World/_scene/lift2/lift2/lift2/fr/link7", "fr_link8": "/World/_scene/lift2/lift2/lift2/fr/link8", "dummy_base_x": "/World/_scene/lift2/lift2/lift2/dummy_base_x", "dummy_base_y": "/World/_scene/lift2/lift2/lift2/dummy_base_y", "dummy_base_rotate": "/World/_scene/lift2/lift2/lift2/dummy_base_rotate"}, "observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/table_top_manip/peg_in_hole_test_mini/013/lmdb/info.json b/tasks/ebench/table_top_manip/peg_in_hole_test_mini/013/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..fb3a9802d1caf62044eacee7ae57e88ec7ca07cc --- /dev/null +++ b/tasks/ebench/table_top_manip/peg_in_hole_test_mini/013/lmdb/info.json @@ -0,0 +1 @@ +{"observation/object_prim_path_map": {"base": "/World/_scene/obj_base", "hole": "/World/_scene/obj_hole", "peg": "/World/_scene/obj_peg"}, "observation/robot_joint_prim_path_map": {"base_link": "/World/_scene/lift2/lift2/lift2/base_link", "wheel1": "/World/_scene/lift2/lift2/lift2/wheel1", "wheel2": "/World/_scene/lift2/lift2/lift2/wheel2", "wheel3": "/World/_scene/lift2/lift2/lift2/wheel3", "body4": "/World/_scene/lift2/lift2/lift2/body4", "h_link5": "/World/_scene/lift2/lift2/lift2/h_link5", "fr_base_link": "/World/_scene/lift2/lift2/lift2/fr/base_link", "fl_base_link": "/World/_scene/lift2/lift2/lift2/fl/base_link", "h_link6": "/World/_scene/lift2/lift2/lift2/h_link6", "fl_link1": "/World/_scene/lift2/lift2/lift2/fl/link1", "fl_link2": "/World/_scene/lift2/lift2/lift2/fl/link2", "fl_link3": "/World/_scene/lift2/lift2/lift2/fl/link3", "fl_link4": "/World/_scene/lift2/lift2/lift2/fl/link4", "fl_link5": "/World/_scene/lift2/lift2/lift2/fl/link5", "fl_link6": "/World/_scene/lift2/lift2/lift2/fl/link6", "fl_link7": "/World/_scene/lift2/lift2/lift2/fl/link7", "fl_link8": "/World/_scene/lift2/lift2/lift2/fl/link8", "fr_link1": "/World/_scene/lift2/lift2/lift2/fr/link1", "fr_link2": "/World/_scene/lift2/lift2/lift2/fr/link2", "fr_link3": "/World/_scene/lift2/lift2/lift2/fr/link3", "fr_link4": "/World/_scene/lift2/lift2/lift2/fr/link4", "fr_link5": "/World/_scene/lift2/lift2/lift2/fr/link5", "fr_link6": "/World/_scene/lift2/lift2/lift2/fr/link6", "fr_link7": "/World/_scene/lift2/lift2/lift2/fr/link7", "fr_link8": "/World/_scene/lift2/lift2/lift2/fr/link8", "dummy_base_x": "/World/_scene/lift2/lift2/lift2/dummy_base_x", "dummy_base_y": "/World/_scene/lift2/lift2/lift2/dummy_base_y", "dummy_base_rotate": "/World/_scene/lift2/lift2/lift2/dummy_base_rotate"}, "observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/table_top_manip/peg_in_hole_test_mini/013/lmdb/lock.mdb b/tasks/ebench/table_top_manip/peg_in_hole_test_mini/013/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..9f790d40bf7bc60d094a559364985e2eb1ff93ad Binary files /dev/null and b/tasks/ebench/table_top_manip/peg_in_hole_test_mini/013/lmdb/lock.mdb differ diff --git a/tasks/ebench/table_top_manip/peg_in_hole_test_mini/014/lmdb/info.json b/tasks/ebench/table_top_manip/peg_in_hole_test_mini/014/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..fb3a9802d1caf62044eacee7ae57e88ec7ca07cc --- /dev/null +++ b/tasks/ebench/table_top_manip/peg_in_hole_test_mini/014/lmdb/info.json @@ -0,0 +1 @@ +{"observation/object_prim_path_map": {"base": "/World/_scene/obj_base", "hole": "/World/_scene/obj_hole", "peg": "/World/_scene/obj_peg"}, "observation/robot_joint_prim_path_map": {"base_link": "/World/_scene/lift2/lift2/lift2/base_link", "wheel1": "/World/_scene/lift2/lift2/lift2/wheel1", "wheel2": "/World/_scene/lift2/lift2/lift2/wheel2", "wheel3": "/World/_scene/lift2/lift2/lift2/wheel3", "body4": "/World/_scene/lift2/lift2/lift2/body4", "h_link5": "/World/_scene/lift2/lift2/lift2/h_link5", "fr_base_link": "/World/_scene/lift2/lift2/lift2/fr/base_link", "fl_base_link": "/World/_scene/lift2/lift2/lift2/fl/base_link", "h_link6": "/World/_scene/lift2/lift2/lift2/h_link6", "fl_link1": "/World/_scene/lift2/lift2/lift2/fl/link1", "fl_link2": "/World/_scene/lift2/lift2/lift2/fl/link2", "fl_link3": "/World/_scene/lift2/lift2/lift2/fl/link3", "fl_link4": "/World/_scene/lift2/lift2/lift2/fl/link4", "fl_link5": "/World/_scene/lift2/lift2/lift2/fl/link5", "fl_link6": "/World/_scene/lift2/lift2/lift2/fl/link6", "fl_link7": "/World/_scene/lift2/lift2/lift2/fl/link7", "fl_link8": "/World/_scene/lift2/lift2/lift2/fl/link8", "fr_link1": "/World/_scene/lift2/lift2/lift2/fr/link1", "fr_link2": "/World/_scene/lift2/lift2/lift2/fr/link2", "fr_link3": "/World/_scene/lift2/lift2/lift2/fr/link3", "fr_link4": "/World/_scene/lift2/lift2/lift2/fr/link4", "fr_link5": "/World/_scene/lift2/lift2/lift2/fr/link5", "fr_link6": "/World/_scene/lift2/lift2/lift2/fr/link6", "fr_link7": "/World/_scene/lift2/lift2/lift2/fr/link7", "fr_link8": "/World/_scene/lift2/lift2/lift2/fr/link8", "dummy_base_x": "/World/_scene/lift2/lift2/lift2/dummy_base_x", "dummy_base_y": "/World/_scene/lift2/lift2/lift2/dummy_base_y", "dummy_base_rotate": "/World/_scene/lift2/lift2/lift2/dummy_base_rotate"}, "observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/table_top_manip/peg_in_hole_test_mini/014/lmdb/lock.mdb b/tasks/ebench/table_top_manip/peg_in_hole_test_mini/014/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..9f790d40bf7bc60d094a559364985e2eb1ff93ad Binary files /dev/null and b/tasks/ebench/table_top_manip/peg_in_hole_test_mini/014/lmdb/lock.mdb differ diff --git a/tasks/ebench/table_top_manip/peg_in_hole_test_mini/015/lmdb/info.json b/tasks/ebench/table_top_manip/peg_in_hole_test_mini/015/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..fb3a9802d1caf62044eacee7ae57e88ec7ca07cc --- /dev/null +++ b/tasks/ebench/table_top_manip/peg_in_hole_test_mini/015/lmdb/info.json @@ -0,0 +1 @@ +{"observation/object_prim_path_map": {"base": "/World/_scene/obj_base", "hole": "/World/_scene/obj_hole", "peg": "/World/_scene/obj_peg"}, "observation/robot_joint_prim_path_map": {"base_link": "/World/_scene/lift2/lift2/lift2/base_link", "wheel1": "/World/_scene/lift2/lift2/lift2/wheel1", "wheel2": "/World/_scene/lift2/lift2/lift2/wheel2", "wheel3": "/World/_scene/lift2/lift2/lift2/wheel3", "body4": "/World/_scene/lift2/lift2/lift2/body4", "h_link5": "/World/_scene/lift2/lift2/lift2/h_link5", "fr_base_link": "/World/_scene/lift2/lift2/lift2/fr/base_link", "fl_base_link": "/World/_scene/lift2/lift2/lift2/fl/base_link", "h_link6": "/World/_scene/lift2/lift2/lift2/h_link6", "fl_link1": "/World/_scene/lift2/lift2/lift2/fl/link1", "fl_link2": "/World/_scene/lift2/lift2/lift2/fl/link2", "fl_link3": "/World/_scene/lift2/lift2/lift2/fl/link3", "fl_link4": "/World/_scene/lift2/lift2/lift2/fl/link4", "fl_link5": "/World/_scene/lift2/lift2/lift2/fl/link5", "fl_link6": "/World/_scene/lift2/lift2/lift2/fl/link6", "fl_link7": "/World/_scene/lift2/lift2/lift2/fl/link7", "fl_link8": "/World/_scene/lift2/lift2/lift2/fl/link8", "fr_link1": "/World/_scene/lift2/lift2/lift2/fr/link1", "fr_link2": "/World/_scene/lift2/lift2/lift2/fr/link2", "fr_link3": "/World/_scene/lift2/lift2/lift2/fr/link3", "fr_link4": "/World/_scene/lift2/lift2/lift2/fr/link4", "fr_link5": "/World/_scene/lift2/lift2/lift2/fr/link5", "fr_link6": "/World/_scene/lift2/lift2/lift2/fr/link6", "fr_link7": "/World/_scene/lift2/lift2/lift2/fr/link7", "fr_link8": "/World/_scene/lift2/lift2/lift2/fr/link8", "dummy_base_x": "/World/_scene/lift2/lift2/lift2/dummy_base_x", "dummy_base_y": "/World/_scene/lift2/lift2/lift2/dummy_base_y", "dummy_base_rotate": "/World/_scene/lift2/lift2/lift2/dummy_base_rotate"}, "observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/table_top_manip/peg_in_hole_test_mini/015/lmdb/lock.mdb b/tasks/ebench/table_top_manip/peg_in_hole_test_mini/015/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..9f790d40bf7bc60d094a559364985e2eb1ff93ad Binary files /dev/null and b/tasks/ebench/table_top_manip/peg_in_hole_test_mini/015/lmdb/lock.mdb differ diff --git a/tasks/ebench/table_top_manip/peg_in_hole_test_mini/017/lmdb/info.json b/tasks/ebench/table_top_manip/peg_in_hole_test_mini/017/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..fb3a9802d1caf62044eacee7ae57e88ec7ca07cc --- /dev/null +++ b/tasks/ebench/table_top_manip/peg_in_hole_test_mini/017/lmdb/info.json @@ -0,0 +1 @@ +{"observation/object_prim_path_map": {"base": "/World/_scene/obj_base", "hole": "/World/_scene/obj_hole", "peg": "/World/_scene/obj_peg"}, "observation/robot_joint_prim_path_map": {"base_link": "/World/_scene/lift2/lift2/lift2/base_link", "wheel1": "/World/_scene/lift2/lift2/lift2/wheel1", "wheel2": "/World/_scene/lift2/lift2/lift2/wheel2", "wheel3": "/World/_scene/lift2/lift2/lift2/wheel3", "body4": "/World/_scene/lift2/lift2/lift2/body4", "h_link5": "/World/_scene/lift2/lift2/lift2/h_link5", "fr_base_link": "/World/_scene/lift2/lift2/lift2/fr/base_link", "fl_base_link": "/World/_scene/lift2/lift2/lift2/fl/base_link", "h_link6": "/World/_scene/lift2/lift2/lift2/h_link6", "fl_link1": "/World/_scene/lift2/lift2/lift2/fl/link1", "fl_link2": "/World/_scene/lift2/lift2/lift2/fl/link2", "fl_link3": "/World/_scene/lift2/lift2/lift2/fl/link3", "fl_link4": "/World/_scene/lift2/lift2/lift2/fl/link4", "fl_link5": "/World/_scene/lift2/lift2/lift2/fl/link5", "fl_link6": "/World/_scene/lift2/lift2/lift2/fl/link6", "fl_link7": "/World/_scene/lift2/lift2/lift2/fl/link7", "fl_link8": "/World/_scene/lift2/lift2/lift2/fl/link8", "fr_link1": "/World/_scene/lift2/lift2/lift2/fr/link1", "fr_link2": "/World/_scene/lift2/lift2/lift2/fr/link2", "fr_link3": "/World/_scene/lift2/lift2/lift2/fr/link3", "fr_link4": "/World/_scene/lift2/lift2/lift2/fr/link4", "fr_link5": "/World/_scene/lift2/lift2/lift2/fr/link5", "fr_link6": "/World/_scene/lift2/lift2/lift2/fr/link6", "fr_link7": "/World/_scene/lift2/lift2/lift2/fr/link7", "fr_link8": "/World/_scene/lift2/lift2/lift2/fr/link8", "dummy_base_x": "/World/_scene/lift2/lift2/lift2/dummy_base_x", "dummy_base_y": "/World/_scene/lift2/lift2/lift2/dummy_base_y", "dummy_base_rotate": "/World/_scene/lift2/lift2/lift2/dummy_base_rotate"}, "observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/table_top_manip/peg_in_hole_test_mini/017/lmdb/lock.mdb b/tasks/ebench/table_top_manip/peg_in_hole_test_mini/017/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..9f790d40bf7bc60d094a559364985e2eb1ff93ad Binary files /dev/null and b/tasks/ebench/table_top_manip/peg_in_hole_test_mini/017/lmdb/lock.mdb differ diff --git a/tasks/ebench/table_top_manip/peg_in_hole_test_mini/018/lmdb/info.json b/tasks/ebench/table_top_manip/peg_in_hole_test_mini/018/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..fb3a9802d1caf62044eacee7ae57e88ec7ca07cc --- /dev/null +++ b/tasks/ebench/table_top_manip/peg_in_hole_test_mini/018/lmdb/info.json @@ -0,0 +1 @@ +{"observation/object_prim_path_map": {"base": "/World/_scene/obj_base", "hole": "/World/_scene/obj_hole", "peg": "/World/_scene/obj_peg"}, "observation/robot_joint_prim_path_map": {"base_link": "/World/_scene/lift2/lift2/lift2/base_link", "wheel1": "/World/_scene/lift2/lift2/lift2/wheel1", "wheel2": "/World/_scene/lift2/lift2/lift2/wheel2", "wheel3": "/World/_scene/lift2/lift2/lift2/wheel3", "body4": "/World/_scene/lift2/lift2/lift2/body4", "h_link5": "/World/_scene/lift2/lift2/lift2/h_link5", "fr_base_link": "/World/_scene/lift2/lift2/lift2/fr/base_link", "fl_base_link": "/World/_scene/lift2/lift2/lift2/fl/base_link", "h_link6": "/World/_scene/lift2/lift2/lift2/h_link6", "fl_link1": "/World/_scene/lift2/lift2/lift2/fl/link1", "fl_link2": "/World/_scene/lift2/lift2/lift2/fl/link2", "fl_link3": "/World/_scene/lift2/lift2/lift2/fl/link3", "fl_link4": "/World/_scene/lift2/lift2/lift2/fl/link4", "fl_link5": "/World/_scene/lift2/lift2/lift2/fl/link5", "fl_link6": "/World/_scene/lift2/lift2/lift2/fl/link6", "fl_link7": "/World/_scene/lift2/lift2/lift2/fl/link7", "fl_link8": "/World/_scene/lift2/lift2/lift2/fl/link8", "fr_link1": "/World/_scene/lift2/lift2/lift2/fr/link1", "fr_link2": "/World/_scene/lift2/lift2/lift2/fr/link2", "fr_link3": "/World/_scene/lift2/lift2/lift2/fr/link3", "fr_link4": "/World/_scene/lift2/lift2/lift2/fr/link4", "fr_link5": "/World/_scene/lift2/lift2/lift2/fr/link5", "fr_link6": "/World/_scene/lift2/lift2/lift2/fr/link6", "fr_link7": "/World/_scene/lift2/lift2/lift2/fr/link7", "fr_link8": "/World/_scene/lift2/lift2/lift2/fr/link8", "dummy_base_x": "/World/_scene/lift2/lift2/lift2/dummy_base_x", "dummy_base_y": "/World/_scene/lift2/lift2/lift2/dummy_base_y", "dummy_base_rotate": "/World/_scene/lift2/lift2/lift2/dummy_base_rotate"}, "observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/table_top_manip/peg_in_hole_test_mini/018/lmdb/lock.mdb b/tasks/ebench/table_top_manip/peg_in_hole_test_mini/018/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..9f790d40bf7bc60d094a559364985e2eb1ff93ad Binary files /dev/null and b/tasks/ebench/table_top_manip/peg_in_hole_test_mini/018/lmdb/lock.mdb differ diff --git a/tasks/ebench/table_top_manip/peg_in_hole_test_mini/019/lmdb/info.json b/tasks/ebench/table_top_manip/peg_in_hole_test_mini/019/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..fb3a9802d1caf62044eacee7ae57e88ec7ca07cc --- /dev/null +++ b/tasks/ebench/table_top_manip/peg_in_hole_test_mini/019/lmdb/info.json @@ -0,0 +1 @@ +{"observation/object_prim_path_map": {"base": "/World/_scene/obj_base", "hole": "/World/_scene/obj_hole", "peg": "/World/_scene/obj_peg"}, "observation/robot_joint_prim_path_map": {"base_link": "/World/_scene/lift2/lift2/lift2/base_link", "wheel1": "/World/_scene/lift2/lift2/lift2/wheel1", "wheel2": "/World/_scene/lift2/lift2/lift2/wheel2", "wheel3": "/World/_scene/lift2/lift2/lift2/wheel3", "body4": "/World/_scene/lift2/lift2/lift2/body4", "h_link5": "/World/_scene/lift2/lift2/lift2/h_link5", "fr_base_link": "/World/_scene/lift2/lift2/lift2/fr/base_link", "fl_base_link": "/World/_scene/lift2/lift2/lift2/fl/base_link", "h_link6": "/World/_scene/lift2/lift2/lift2/h_link6", "fl_link1": "/World/_scene/lift2/lift2/lift2/fl/link1", "fl_link2": "/World/_scene/lift2/lift2/lift2/fl/link2", "fl_link3": 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"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/table_top_manip/peg_in_hole_test_mini/019/lmdb/lock.mdb b/tasks/ebench/table_top_manip/peg_in_hole_test_mini/019/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..9f790d40bf7bc60d094a559364985e2eb1ff93ad Binary files /dev/null and b/tasks/ebench/table_top_manip/peg_in_hole_test_mini/019/lmdb/lock.mdb differ diff --git a/tasks/ebench/table_top_manip/put_glass_in_glassbox_test_mini/000/lmdb/info.json b/tasks/ebench/table_top_manip/put_glass_in_glassbox_test_mini/000/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..ca61d9d598b9d0496d68add7911f00ebdb3da20a --- /dev/null +++ b/tasks/ebench/table_top_manip/put_glass_in_glassbox_test_mini/000/lmdb/info.json @@ -0,0 +1 @@ +{"observation/object_prim_path_map": {"glass": "/World/_scene/obj_glass", "glassbox": "/World/_scene/obj_glassbox"}, "observation/robot_joint_prim_path_map": {"base_link": "/World/_scene/lift2/lift2/lift2/base_link", "wheel1": "/World/_scene/lift2/lift2/lift2/wheel1", "wheel2": "/World/_scene/lift2/lift2/lift2/wheel2", "wheel3": "/World/_scene/lift2/lift2/lift2/wheel3", "body4": "/World/_scene/lift2/lift2/lift2/body4", "h_link5": "/World/_scene/lift2/lift2/lift2/h_link5", "fr_base_link": "/World/_scene/lift2/lift2/lift2/fr/base_link", "fl_base_link": "/World/_scene/lift2/lift2/lift2/fl/base_link", "h_link6": "/World/_scene/lift2/lift2/lift2/h_link6", "fl_link1": "/World/_scene/lift2/lift2/lift2/fl/link1", "fl_link2": "/World/_scene/lift2/lift2/lift2/fl/link2", "fl_link3": "/World/_scene/lift2/lift2/lift2/fl/link3", "fl_link4": "/World/_scene/lift2/lift2/lift2/fl/link4", "fl_link5": "/World/_scene/lift2/lift2/lift2/fl/link5", "fl_link6": "/World/_scene/lift2/lift2/lift2/fl/link6", "fl_link7": "/World/_scene/lift2/lift2/lift2/fl/link7", "fl_link8": "/World/_scene/lift2/lift2/lift2/fl/link8", "fr_link1": 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0000000000000000000000000000000000000000..ca61d9d598b9d0496d68add7911f00ebdb3da20a --- /dev/null +++ b/tasks/ebench/table_top_manip/put_glass_in_glassbox_test_mini/001/lmdb/info.json @@ -0,0 +1 @@ +{"observation/object_prim_path_map": {"glass": "/World/_scene/obj_glass", "glassbox": "/World/_scene/obj_glassbox"}, "observation/robot_joint_prim_path_map": {"base_link": "/World/_scene/lift2/lift2/lift2/base_link", "wheel1": "/World/_scene/lift2/lift2/lift2/wheel1", "wheel2": "/World/_scene/lift2/lift2/lift2/wheel2", "wheel3": "/World/_scene/lift2/lift2/lift2/wheel3", "body4": "/World/_scene/lift2/lift2/lift2/body4", "h_link5": "/World/_scene/lift2/lift2/lift2/h_link5", "fr_base_link": "/World/_scene/lift2/lift2/lift2/fr/base_link", "fl_base_link": "/World/_scene/lift2/lift2/lift2/fl/base_link", "h_link6": "/World/_scene/lift2/lift2/lift2/h_link6", "fl_link1": "/World/_scene/lift2/lift2/lift2/fl/link1", "fl_link2": "/World/_scene/lift2/lift2/lift2/fl/link2", "fl_link3": 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"observation/articulation_mapping": {"glassbox/group_2": {"articulation_id": "glassbox", "part_name": "group_2", "prim_path": "/World/_scene/obj_glassbox/Instance/group_2"}, "glassbox/group_1": {"articulation_id": "glassbox", "part_name": "group_1", "prim_path": "/World/_scene/obj_glassbox/Instance/group_1"}, "glass/base": {"articulation_id": "glass", "part_name": "base", "prim_path": "/World/_scene/obj_glass/Instance/base"}, "glass/link_0": {"articulation_id": "glass", "part_name": "link_0", "prim_path": "/World/_scene/obj_glass/Instance/link_0"}, "glass/link_1": {"articulation_id": "glass", "part_name": "link_1", "prim_path": "/World/_scene/obj_glass/Instance/link_1"}}} \ No newline at end of file diff --git a/tasks/ebench/table_top_manip/put_glass_in_glassbox_test_mini/001/lmdb/lock.mdb b/tasks/ebench/table_top_manip/put_glass_in_glassbox_test_mini/001/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..9f790d40bf7bc60d094a559364985e2eb1ff93ad Binary files /dev/null and b/tasks/ebench/table_top_manip/put_glass_in_glassbox_test_mini/001/lmdb/lock.mdb differ diff --git a/tasks/ebench/table_top_manip/put_glass_in_glassbox_test_mini/002/lmdb/info.json b/tasks/ebench/table_top_manip/put_glass_in_glassbox_test_mini/002/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..ca61d9d598b9d0496d68add7911f00ebdb3da20a --- /dev/null +++ b/tasks/ebench/table_top_manip/put_glass_in_glassbox_test_mini/002/lmdb/info.json @@ -0,0 +1 @@ +{"observation/object_prim_path_map": {"glass": "/World/_scene/obj_glass", "glassbox": "/World/_scene/obj_glassbox"}, "observation/robot_joint_prim_path_map": {"base_link": "/World/_scene/lift2/lift2/lift2/base_link", "wheel1": "/World/_scene/lift2/lift2/lift2/wheel1", "wheel2": "/World/_scene/lift2/lift2/lift2/wheel2", "wheel3": "/World/_scene/lift2/lift2/lift2/wheel3", "body4": "/World/_scene/lift2/lift2/lift2/body4", "h_link5": "/World/_scene/lift2/lift2/lift2/h_link5", "fr_base_link": 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end of file diff --git a/tasks/ebench/table_top_manip/put_glass_in_glassbox_test_mini/002/lmdb/lock.mdb b/tasks/ebench/table_top_manip/put_glass_in_glassbox_test_mini/002/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..9f790d40bf7bc60d094a559364985e2eb1ff93ad Binary files /dev/null and b/tasks/ebench/table_top_manip/put_glass_in_glassbox_test_mini/002/lmdb/lock.mdb differ diff --git a/tasks/ebench/table_top_manip/put_glass_in_glassbox_test_mini/003/lmdb/info.json b/tasks/ebench/table_top_manip/put_glass_in_glassbox_test_mini/003/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..ca61d9d598b9d0496d68add7911f00ebdb3da20a --- /dev/null +++ b/tasks/ebench/table_top_manip/put_glass_in_glassbox_test_mini/003/lmdb/info.json @@ -0,0 +1 @@ +{"observation/object_prim_path_map": {"glass": "/World/_scene/obj_glass", "glassbox": "/World/_scene/obj_glassbox"}, "observation/robot_joint_prim_path_map": {"base_link": "/World/_scene/lift2/lift2/lift2/base_link", "wheel1": "/World/_scene/lift2/lift2/lift2/wheel1", "wheel2": "/World/_scene/lift2/lift2/lift2/wheel2", "wheel3": "/World/_scene/lift2/lift2/lift2/wheel3", "body4": "/World/_scene/lift2/lift2/lift2/body4", "h_link5": "/World/_scene/lift2/lift2/lift2/h_link5", "fr_base_link": "/World/_scene/lift2/lift2/lift2/fr/base_link", "fl_base_link": "/World/_scene/lift2/lift2/lift2/fl/base_link", "h_link6": "/World/_scene/lift2/lift2/lift2/h_link6", "fl_link1": "/World/_scene/lift2/lift2/lift2/fl/link1", "fl_link2": "/World/_scene/lift2/lift2/lift2/fl/link2", "fl_link3": "/World/_scene/lift2/lift2/lift2/fl/link3", "fl_link4": "/World/_scene/lift2/lift2/lift2/fl/link4", "fl_link5": "/World/_scene/lift2/lift2/lift2/fl/link5", "fl_link6": "/World/_scene/lift2/lift2/lift2/fl/link6", "fl_link7": "/World/_scene/lift2/lift2/lift2/fl/link7", "fl_link8": "/World/_scene/lift2/lift2/lift2/fl/link8", "fr_link1": "/World/_scene/lift2/lift2/lift2/fr/link1", "fr_link2": "/World/_scene/lift2/lift2/lift2/fr/link2", "fr_link3": "/World/_scene/lift2/lift2/lift2/fr/link3", "fr_link4": "/World/_scene/lift2/lift2/lift2/fr/link4", "fr_link5": "/World/_scene/lift2/lift2/lift2/fr/link5", "fr_link6": "/World/_scene/lift2/lift2/lift2/fr/link6", "fr_link7": "/World/_scene/lift2/lift2/lift2/fr/link7", "fr_link8": "/World/_scene/lift2/lift2/lift2/fr/link8", "dummy_base_x": "/World/_scene/lift2/lift2/lift2/dummy_base_x", "dummy_base_y": "/World/_scene/lift2/lift2/lift2/dummy_base_y", "dummy_base_rotate": "/World/_scene/lift2/lift2/lift2/dummy_base_rotate"}, "observation/articulation_mapping": {"glassbox/group_2": {"articulation_id": "glassbox", "part_name": "group_2", "prim_path": "/World/_scene/obj_glassbox/Instance/group_2"}, "glassbox/group_1": {"articulation_id": "glassbox", "part_name": "group_1", "prim_path": "/World/_scene/obj_glassbox/Instance/group_1"}, "glass/base": {"articulation_id": "glass", "part_name": "base", "prim_path": 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0000000000000000000000000000000000000000..ca61d9d598b9d0496d68add7911f00ebdb3da20a --- /dev/null +++ b/tasks/ebench/table_top_manip/put_glass_in_glassbox_test_mini/004/lmdb/info.json @@ -0,0 +1 @@ +{"observation/object_prim_path_map": {"glass": "/World/_scene/obj_glass", "glassbox": "/World/_scene/obj_glassbox"}, "observation/robot_joint_prim_path_map": {"base_link": "/World/_scene/lift2/lift2/lift2/base_link", "wheel1": "/World/_scene/lift2/lift2/lift2/wheel1", "wheel2": "/World/_scene/lift2/lift2/lift2/wheel2", "wheel3": "/World/_scene/lift2/lift2/lift2/wheel3", "body4": "/World/_scene/lift2/lift2/lift2/body4", "h_link5": "/World/_scene/lift2/lift2/lift2/h_link5", "fr_base_link": "/World/_scene/lift2/lift2/lift2/fr/base_link", "fl_base_link": "/World/_scene/lift2/lift2/lift2/fl/base_link", "h_link6": "/World/_scene/lift2/lift2/lift2/h_link6", "fl_link1": "/World/_scene/lift2/lift2/lift2/fl/link1", "fl_link2": "/World/_scene/lift2/lift2/lift2/fl/link2", "fl_link3": 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files /dev/null and b/tasks/ebench/table_top_manip/put_glass_in_glassbox_test_mini/004/lmdb/lock.mdb differ diff --git a/tasks/ebench/table_top_manip/put_glass_in_glassbox_test_mini/005/lmdb/info.json b/tasks/ebench/table_top_manip/put_glass_in_glassbox_test_mini/005/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..ca61d9d598b9d0496d68add7911f00ebdb3da20a --- /dev/null +++ b/tasks/ebench/table_top_manip/put_glass_in_glassbox_test_mini/005/lmdb/info.json @@ -0,0 +1 @@ +{"observation/object_prim_path_map": {"glass": "/World/_scene/obj_glass", "glassbox": "/World/_scene/obj_glassbox"}, "observation/robot_joint_prim_path_map": {"base_link": "/World/_scene/lift2/lift2/lift2/base_link", "wheel1": "/World/_scene/lift2/lift2/lift2/wheel1", "wheel2": "/World/_scene/lift2/lift2/lift2/wheel2", "wheel3": "/World/_scene/lift2/lift2/lift2/wheel3", "body4": "/World/_scene/lift2/lift2/lift2/body4", "h_link5": "/World/_scene/lift2/lift2/lift2/h_link5", "fr_base_link": 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end of file diff --git a/tasks/ebench/table_top_manip/put_glass_in_glassbox_test_mini/005/lmdb/lock.mdb b/tasks/ebench/table_top_manip/put_glass_in_glassbox_test_mini/005/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..9f790d40bf7bc60d094a559364985e2eb1ff93ad Binary files /dev/null and b/tasks/ebench/table_top_manip/put_glass_in_glassbox_test_mini/005/lmdb/lock.mdb differ diff --git a/tasks/ebench/table_top_manip/put_glass_in_glassbox_test_mini/006/lmdb/info.json b/tasks/ebench/table_top_manip/put_glass_in_glassbox_test_mini/006/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..ca61d9d598b9d0496d68add7911f00ebdb3da20a --- /dev/null +++ b/tasks/ebench/table_top_manip/put_glass_in_glassbox_test_mini/006/lmdb/info.json @@ -0,0 +1 @@ +{"observation/object_prim_path_map": {"glass": "/World/_scene/obj_glass", "glassbox": "/World/_scene/obj_glassbox"}, "observation/robot_joint_prim_path_map": {"base_link": "/World/_scene/lift2/lift2/lift2/base_link", "wheel1": "/World/_scene/lift2/lift2/lift2/wheel1", "wheel2": "/World/_scene/lift2/lift2/lift2/wheel2", "wheel3": "/World/_scene/lift2/lift2/lift2/wheel3", "body4": "/World/_scene/lift2/lift2/lift2/body4", "h_link5": "/World/_scene/lift2/lift2/lift2/h_link5", "fr_base_link": "/World/_scene/lift2/lift2/lift2/fr/base_link", "fl_base_link": "/World/_scene/lift2/lift2/lift2/fl/base_link", "h_link6": "/World/_scene/lift2/lift2/lift2/h_link6", "fl_link1": "/World/_scene/lift2/lift2/lift2/fl/link1", "fl_link2": "/World/_scene/lift2/lift2/lift2/fl/link2", "fl_link3": "/World/_scene/lift2/lift2/lift2/fl/link3", "fl_link4": "/World/_scene/lift2/lift2/lift2/fl/link4", "fl_link5": "/World/_scene/lift2/lift2/lift2/fl/link5", "fl_link6": "/World/_scene/lift2/lift2/lift2/fl/link6", "fl_link7": "/World/_scene/lift2/lift2/lift2/fl/link7", "fl_link8": "/World/_scene/lift2/lift2/lift2/fl/link8", "fr_link1": "/World/_scene/lift2/lift2/lift2/fr/link1", 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0000000000000000000000000000000000000000..ca61d9d598b9d0496d68add7911f00ebdb3da20a --- /dev/null +++ b/tasks/ebench/table_top_manip/put_glass_in_glassbox_test_mini/007/lmdb/info.json @@ -0,0 +1 @@ +{"observation/object_prim_path_map": {"glass": "/World/_scene/obj_glass", "glassbox": "/World/_scene/obj_glassbox"}, "observation/robot_joint_prim_path_map": {"base_link": "/World/_scene/lift2/lift2/lift2/base_link", "wheel1": "/World/_scene/lift2/lift2/lift2/wheel1", "wheel2": "/World/_scene/lift2/lift2/lift2/wheel2", "wheel3": "/World/_scene/lift2/lift2/lift2/wheel3", "body4": "/World/_scene/lift2/lift2/lift2/body4", "h_link5": "/World/_scene/lift2/lift2/lift2/h_link5", "fr_base_link": "/World/_scene/lift2/lift2/lift2/fr/base_link", "fl_base_link": "/World/_scene/lift2/lift2/lift2/fl/base_link", "h_link6": "/World/_scene/lift2/lift2/lift2/h_link6", "fl_link1": "/World/_scene/lift2/lift2/lift2/fl/link1", "fl_link2": "/World/_scene/lift2/lift2/lift2/fl/link2", "fl_link3": 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"observation/articulation_mapping": {"glassbox/group_2": {"articulation_id": "glassbox", "part_name": "group_2", "prim_path": "/World/_scene/obj_glassbox/Instance/group_2"}, "glassbox/group_1": {"articulation_id": "glassbox", "part_name": "group_1", "prim_path": "/World/_scene/obj_glassbox/Instance/group_1"}, "glass/base": {"articulation_id": "glass", "part_name": "base", "prim_path": "/World/_scene/obj_glass/Instance/base"}, "glass/link_0": {"articulation_id": "glass", "part_name": "link_0", "prim_path": "/World/_scene/obj_glass/Instance/link_0"}, "glass/link_1": {"articulation_id": "glass", "part_name": "link_1", "prim_path": "/World/_scene/obj_glass/Instance/link_1"}}} \ No newline at end of file diff --git a/tasks/ebench/table_top_manip/put_glass_in_glassbox_test_mini/007/lmdb/lock.mdb b/tasks/ebench/table_top_manip/put_glass_in_glassbox_test_mini/007/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..9f790d40bf7bc60d094a559364985e2eb1ff93ad Binary files /dev/null and b/tasks/ebench/table_top_manip/put_glass_in_glassbox_test_mini/007/lmdb/lock.mdb differ diff --git a/tasks/ebench/table_top_manip/put_glass_in_glassbox_test_mini/008/lmdb/info.json b/tasks/ebench/table_top_manip/put_glass_in_glassbox_test_mini/008/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..ca61d9d598b9d0496d68add7911f00ebdb3da20a --- /dev/null +++ b/tasks/ebench/table_top_manip/put_glass_in_glassbox_test_mini/008/lmdb/info.json @@ -0,0 +1 @@ +{"observation/object_prim_path_map": {"glass": "/World/_scene/obj_glass", "glassbox": "/World/_scene/obj_glassbox"}, "observation/robot_joint_prim_path_map": {"base_link": "/World/_scene/lift2/lift2/lift2/base_link", "wheel1": "/World/_scene/lift2/lift2/lift2/wheel1", "wheel2": "/World/_scene/lift2/lift2/lift2/wheel2", "wheel3": "/World/_scene/lift2/lift2/lift2/wheel3", "body4": "/World/_scene/lift2/lift2/lift2/body4", "h_link5": "/World/_scene/lift2/lift2/lift2/h_link5", "fr_base_link": 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end of file diff --git a/tasks/ebench/table_top_manip/put_glass_in_glassbox_test_mini/008/lmdb/lock.mdb b/tasks/ebench/table_top_manip/put_glass_in_glassbox_test_mini/008/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..9f790d40bf7bc60d094a559364985e2eb1ff93ad Binary files /dev/null and b/tasks/ebench/table_top_manip/put_glass_in_glassbox_test_mini/008/lmdb/lock.mdb differ diff --git a/tasks/ebench/table_top_manip/put_glass_in_glassbox_test_mini/009/lmdb/info.json b/tasks/ebench/table_top_manip/put_glass_in_glassbox_test_mini/009/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..ca61d9d598b9d0496d68add7911f00ebdb3da20a --- /dev/null +++ b/tasks/ebench/table_top_manip/put_glass_in_glassbox_test_mini/009/lmdb/info.json @@ -0,0 +1 @@ +{"observation/object_prim_path_map": {"glass": "/World/_scene/obj_glass", "glassbox": "/World/_scene/obj_glassbox"}, "observation/robot_joint_prim_path_map": {"base_link": "/World/_scene/lift2/lift2/lift2/base_link", "wheel1": "/World/_scene/lift2/lift2/lift2/wheel1", "wheel2": "/World/_scene/lift2/lift2/lift2/wheel2", "wheel3": "/World/_scene/lift2/lift2/lift2/wheel3", "body4": "/World/_scene/lift2/lift2/lift2/body4", "h_link5": "/World/_scene/lift2/lift2/lift2/h_link5", "fr_base_link": "/World/_scene/lift2/lift2/lift2/fr/base_link", "fl_base_link": "/World/_scene/lift2/lift2/lift2/fl/base_link", "h_link6": "/World/_scene/lift2/lift2/lift2/h_link6", "fl_link1": "/World/_scene/lift2/lift2/lift2/fl/link1", "fl_link2": "/World/_scene/lift2/lift2/lift2/fl/link2", "fl_link3": "/World/_scene/lift2/lift2/lift2/fl/link3", "fl_link4": "/World/_scene/lift2/lift2/lift2/fl/link4", "fl_link5": "/World/_scene/lift2/lift2/lift2/fl/link5", "fl_link6": "/World/_scene/lift2/lift2/lift2/fl/link6", "fl_link7": "/World/_scene/lift2/lift2/lift2/fl/link7", "fl_link8": "/World/_scene/lift2/lift2/lift2/fl/link8", "fr_link1": "/World/_scene/lift2/lift2/lift2/fr/link1", "fr_link2": "/World/_scene/lift2/lift2/lift2/fr/link2", "fr_link3": "/World/_scene/lift2/lift2/lift2/fr/link3", "fr_link4": "/World/_scene/lift2/lift2/lift2/fr/link4", "fr_link5": "/World/_scene/lift2/lift2/lift2/fr/link5", "fr_link6": "/World/_scene/lift2/lift2/lift2/fr/link6", "fr_link7": "/World/_scene/lift2/lift2/lift2/fr/link7", "fr_link8": "/World/_scene/lift2/lift2/lift2/fr/link8", "dummy_base_x": "/World/_scene/lift2/lift2/lift2/dummy_base_x", "dummy_base_y": "/World/_scene/lift2/lift2/lift2/dummy_base_y", "dummy_base_rotate": "/World/_scene/lift2/lift2/lift2/dummy_base_rotate"}, "observation/articulation_mapping": {"glassbox/group_2": {"articulation_id": "glassbox", "part_name": "group_2", "prim_path": "/World/_scene/obj_glassbox/Instance/group_2"}, "glassbox/group_1": {"articulation_id": "glassbox", "part_name": "group_1", "prim_path": "/World/_scene/obj_glassbox/Instance/group_1"}, "glass/base": {"articulation_id": "glass", "part_name": "base", "prim_path": 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0000000000000000000000000000000000000000..ca61d9d598b9d0496d68add7911f00ebdb3da20a --- /dev/null +++ b/tasks/ebench/table_top_manip/put_glass_in_glassbox_test_mini/010/lmdb/info.json @@ -0,0 +1 @@ +{"observation/object_prim_path_map": {"glass": "/World/_scene/obj_glass", "glassbox": "/World/_scene/obj_glassbox"}, "observation/robot_joint_prim_path_map": {"base_link": "/World/_scene/lift2/lift2/lift2/base_link", "wheel1": "/World/_scene/lift2/lift2/lift2/wheel1", "wheel2": "/World/_scene/lift2/lift2/lift2/wheel2", "wheel3": "/World/_scene/lift2/lift2/lift2/wheel3", "body4": "/World/_scene/lift2/lift2/lift2/body4", "h_link5": "/World/_scene/lift2/lift2/lift2/h_link5", "fr_base_link": "/World/_scene/lift2/lift2/lift2/fr/base_link", "fl_base_link": "/World/_scene/lift2/lift2/lift2/fl/base_link", "h_link6": "/World/_scene/lift2/lift2/lift2/h_link6", "fl_link1": "/World/_scene/lift2/lift2/lift2/fl/link1", "fl_link2": "/World/_scene/lift2/lift2/lift2/fl/link2", "fl_link3": 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files /dev/null and b/tasks/ebench/table_top_manip/put_glass_in_glassbox_test_mini/010/lmdb/lock.mdb differ diff --git a/tasks/ebench/table_top_manip/put_glass_in_glassbox_test_mini/011/lmdb/info.json b/tasks/ebench/table_top_manip/put_glass_in_glassbox_test_mini/011/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..ca61d9d598b9d0496d68add7911f00ebdb3da20a --- /dev/null +++ b/tasks/ebench/table_top_manip/put_glass_in_glassbox_test_mini/011/lmdb/info.json @@ -0,0 +1 @@ +{"observation/object_prim_path_map": {"glass": "/World/_scene/obj_glass", "glassbox": "/World/_scene/obj_glassbox"}, "observation/robot_joint_prim_path_map": {"base_link": "/World/_scene/lift2/lift2/lift2/base_link", "wheel1": "/World/_scene/lift2/lift2/lift2/wheel1", "wheel2": "/World/_scene/lift2/lift2/lift2/wheel2", "wheel3": "/World/_scene/lift2/lift2/lift2/wheel3", "body4": "/World/_scene/lift2/lift2/lift2/body4", "h_link5": "/World/_scene/lift2/lift2/lift2/h_link5", "fr_base_link": 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end of file diff --git a/tasks/ebench/table_top_manip/put_glass_in_glassbox_test_mini/011/lmdb/lock.mdb b/tasks/ebench/table_top_manip/put_glass_in_glassbox_test_mini/011/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..9f790d40bf7bc60d094a559364985e2eb1ff93ad Binary files /dev/null and b/tasks/ebench/table_top_manip/put_glass_in_glassbox_test_mini/011/lmdb/lock.mdb differ diff --git a/tasks/ebench/table_top_manip/put_glass_in_glassbox_test_mini/012/lmdb/info.json b/tasks/ebench/table_top_manip/put_glass_in_glassbox_test_mini/012/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..ca61d9d598b9d0496d68add7911f00ebdb3da20a --- /dev/null +++ b/tasks/ebench/table_top_manip/put_glass_in_glassbox_test_mini/012/lmdb/info.json @@ -0,0 +1 @@ +{"observation/object_prim_path_map": {"glass": "/World/_scene/obj_glass", "glassbox": "/World/_scene/obj_glassbox"}, "observation/robot_joint_prim_path_map": {"base_link": "/World/_scene/lift2/lift2/lift2/base_link", "wheel1": "/World/_scene/lift2/lift2/lift2/wheel1", "wheel2": "/World/_scene/lift2/lift2/lift2/wheel2", "wheel3": "/World/_scene/lift2/lift2/lift2/wheel3", "body4": "/World/_scene/lift2/lift2/lift2/body4", "h_link5": "/World/_scene/lift2/lift2/lift2/h_link5", "fr_base_link": "/World/_scene/lift2/lift2/lift2/fr/base_link", "fl_base_link": "/World/_scene/lift2/lift2/lift2/fl/base_link", "h_link6": "/World/_scene/lift2/lift2/lift2/h_link6", "fl_link1": "/World/_scene/lift2/lift2/lift2/fl/link1", "fl_link2": "/World/_scene/lift2/lift2/lift2/fl/link2", "fl_link3": "/World/_scene/lift2/lift2/lift2/fl/link3", "fl_link4": "/World/_scene/lift2/lift2/lift2/fl/link4", "fl_link5": "/World/_scene/lift2/lift2/lift2/fl/link5", "fl_link6": "/World/_scene/lift2/lift2/lift2/fl/link6", "fl_link7": "/World/_scene/lift2/lift2/lift2/fl/link7", "fl_link8": "/World/_scene/lift2/lift2/lift2/fl/link8", "fr_link1": "/World/_scene/lift2/lift2/lift2/fr/link1", 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0000000000000000000000000000000000000000..ca61d9d598b9d0496d68add7911f00ebdb3da20a --- /dev/null +++ b/tasks/ebench/table_top_manip/put_glass_in_glassbox_test_mini/013/lmdb/info.json @@ -0,0 +1 @@ +{"observation/object_prim_path_map": {"glass": "/World/_scene/obj_glass", "glassbox": "/World/_scene/obj_glassbox"}, "observation/robot_joint_prim_path_map": {"base_link": "/World/_scene/lift2/lift2/lift2/base_link", "wheel1": "/World/_scene/lift2/lift2/lift2/wheel1", "wheel2": "/World/_scene/lift2/lift2/lift2/wheel2", "wheel3": "/World/_scene/lift2/lift2/lift2/wheel3", "body4": "/World/_scene/lift2/lift2/lift2/body4", "h_link5": "/World/_scene/lift2/lift2/lift2/h_link5", "fr_base_link": "/World/_scene/lift2/lift2/lift2/fr/base_link", "fl_base_link": "/World/_scene/lift2/lift2/lift2/fl/base_link", "h_link6": "/World/_scene/lift2/lift2/lift2/h_link6", "fl_link1": "/World/_scene/lift2/lift2/lift2/fl/link1", "fl_link2": "/World/_scene/lift2/lift2/lift2/fl/link2", "fl_link3": 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"observation/articulation_mapping": {"glassbox/group_2": {"articulation_id": "glassbox", "part_name": "group_2", "prim_path": "/World/_scene/obj_glassbox/Instance/group_2"}, "glassbox/group_1": {"articulation_id": "glassbox", "part_name": "group_1", "prim_path": "/World/_scene/obj_glassbox/Instance/group_1"}, "glass/base": {"articulation_id": "glass", "part_name": "base", "prim_path": "/World/_scene/obj_glass/Instance/base"}, "glass/link_0": {"articulation_id": "glass", "part_name": "link_0", "prim_path": "/World/_scene/obj_glass/Instance/link_0"}, "glass/link_1": {"articulation_id": "glass", "part_name": "link_1", "prim_path": "/World/_scene/obj_glass/Instance/link_1"}}} \ No newline at end of file diff --git a/tasks/ebench/table_top_manip/put_glass_in_glassbox_test_mini/013/lmdb/lock.mdb b/tasks/ebench/table_top_manip/put_glass_in_glassbox_test_mini/013/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..9f790d40bf7bc60d094a559364985e2eb1ff93ad Binary files /dev/null and b/tasks/ebench/table_top_manip/put_glass_in_glassbox_test_mini/013/lmdb/lock.mdb differ diff --git a/tasks/ebench/table_top_manip/put_glass_in_glassbox_test_mini/014/lmdb/info.json b/tasks/ebench/table_top_manip/put_glass_in_glassbox_test_mini/014/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..ca61d9d598b9d0496d68add7911f00ebdb3da20a --- /dev/null +++ b/tasks/ebench/table_top_manip/put_glass_in_glassbox_test_mini/014/lmdb/info.json @@ -0,0 +1 @@ +{"observation/object_prim_path_map": {"glass": "/World/_scene/obj_glass", "glassbox": "/World/_scene/obj_glassbox"}, "observation/robot_joint_prim_path_map": {"base_link": "/World/_scene/lift2/lift2/lift2/base_link", "wheel1": "/World/_scene/lift2/lift2/lift2/wheel1", "wheel2": "/World/_scene/lift2/lift2/lift2/wheel2", "wheel3": "/World/_scene/lift2/lift2/lift2/wheel3", "body4": "/World/_scene/lift2/lift2/lift2/body4", "h_link5": "/World/_scene/lift2/lift2/lift2/h_link5", "fr_base_link": 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end of file diff --git a/tasks/ebench/table_top_manip/put_glass_in_glassbox_test_mini/014/lmdb/lock.mdb b/tasks/ebench/table_top_manip/put_glass_in_glassbox_test_mini/014/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..9f790d40bf7bc60d094a559364985e2eb1ff93ad Binary files /dev/null and b/tasks/ebench/table_top_manip/put_glass_in_glassbox_test_mini/014/lmdb/lock.mdb differ diff --git a/tasks/ebench/table_top_manip/put_glass_in_glassbox_test_mini/015/lmdb/info.json b/tasks/ebench/table_top_manip/put_glass_in_glassbox_test_mini/015/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..ca61d9d598b9d0496d68add7911f00ebdb3da20a --- /dev/null +++ b/tasks/ebench/table_top_manip/put_glass_in_glassbox_test_mini/015/lmdb/info.json @@ -0,0 +1 @@ +{"observation/object_prim_path_map": {"glass": "/World/_scene/obj_glass", "glassbox": "/World/_scene/obj_glassbox"}, "observation/robot_joint_prim_path_map": {"base_link": "/World/_scene/lift2/lift2/lift2/base_link", "wheel1": "/World/_scene/lift2/lift2/lift2/wheel1", "wheel2": "/World/_scene/lift2/lift2/lift2/wheel2", "wheel3": "/World/_scene/lift2/lift2/lift2/wheel3", "body4": "/World/_scene/lift2/lift2/lift2/body4", "h_link5": "/World/_scene/lift2/lift2/lift2/h_link5", "fr_base_link": "/World/_scene/lift2/lift2/lift2/fr/base_link", "fl_base_link": "/World/_scene/lift2/lift2/lift2/fl/base_link", "h_link6": "/World/_scene/lift2/lift2/lift2/h_link6", "fl_link1": "/World/_scene/lift2/lift2/lift2/fl/link1", "fl_link2": "/World/_scene/lift2/lift2/lift2/fl/link2", "fl_link3": "/World/_scene/lift2/lift2/lift2/fl/link3", "fl_link4": "/World/_scene/lift2/lift2/lift2/fl/link4", "fl_link5": "/World/_scene/lift2/lift2/lift2/fl/link5", "fl_link6": "/World/_scene/lift2/lift2/lift2/fl/link6", "fl_link7": "/World/_scene/lift2/lift2/lift2/fl/link7", "fl_link8": "/World/_scene/lift2/lift2/lift2/fl/link8", "fr_link1": "/World/_scene/lift2/lift2/lift2/fr/link1", 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0000000000000000000000000000000000000000..ca61d9d598b9d0496d68add7911f00ebdb3da20a --- /dev/null +++ b/tasks/ebench/table_top_manip/put_glass_in_glassbox_test_mini/016/lmdb/info.json @@ -0,0 +1 @@ +{"observation/object_prim_path_map": {"glass": "/World/_scene/obj_glass", "glassbox": "/World/_scene/obj_glassbox"}, "observation/robot_joint_prim_path_map": {"base_link": "/World/_scene/lift2/lift2/lift2/base_link", "wheel1": "/World/_scene/lift2/lift2/lift2/wheel1", "wheel2": "/World/_scene/lift2/lift2/lift2/wheel2", "wheel3": "/World/_scene/lift2/lift2/lift2/wheel3", "body4": "/World/_scene/lift2/lift2/lift2/body4", "h_link5": "/World/_scene/lift2/lift2/lift2/h_link5", "fr_base_link": "/World/_scene/lift2/lift2/lift2/fr/base_link", "fl_base_link": "/World/_scene/lift2/lift2/lift2/fl/base_link", "h_link6": "/World/_scene/lift2/lift2/lift2/h_link6", "fl_link1": "/World/_scene/lift2/lift2/lift2/fl/link1", "fl_link2": "/World/_scene/lift2/lift2/lift2/fl/link2", "fl_link3": 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files /dev/null and b/tasks/ebench/table_top_manip/put_glass_in_glassbox_test_mini/016/lmdb/lock.mdb differ diff --git a/tasks/ebench/table_top_manip/put_glass_in_glassbox_test_mini/017/lmdb/info.json b/tasks/ebench/table_top_manip/put_glass_in_glassbox_test_mini/017/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..ca61d9d598b9d0496d68add7911f00ebdb3da20a --- /dev/null +++ b/tasks/ebench/table_top_manip/put_glass_in_glassbox_test_mini/017/lmdb/info.json @@ -0,0 +1 @@ +{"observation/object_prim_path_map": {"glass": "/World/_scene/obj_glass", "glassbox": "/World/_scene/obj_glassbox"}, "observation/robot_joint_prim_path_map": {"base_link": "/World/_scene/lift2/lift2/lift2/base_link", "wheel1": "/World/_scene/lift2/lift2/lift2/wheel1", "wheel2": "/World/_scene/lift2/lift2/lift2/wheel2", "wheel3": "/World/_scene/lift2/lift2/lift2/wheel3", "body4": "/World/_scene/lift2/lift2/lift2/body4", "h_link5": "/World/_scene/lift2/lift2/lift2/h_link5", "fr_base_link": 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end of file diff --git a/tasks/ebench/table_top_manip/put_glass_in_glassbox_test_mini/017/lmdb/lock.mdb b/tasks/ebench/table_top_manip/put_glass_in_glassbox_test_mini/017/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..9f790d40bf7bc60d094a559364985e2eb1ff93ad Binary files /dev/null and b/tasks/ebench/table_top_manip/put_glass_in_glassbox_test_mini/017/lmdb/lock.mdb differ diff --git a/tasks/ebench/table_top_manip/put_glass_in_glassbox_test_mini/018/lmdb/info.json b/tasks/ebench/table_top_manip/put_glass_in_glassbox_test_mini/018/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..ca61d9d598b9d0496d68add7911f00ebdb3da20a --- /dev/null +++ b/tasks/ebench/table_top_manip/put_glass_in_glassbox_test_mini/018/lmdb/info.json @@ -0,0 +1 @@ +{"observation/object_prim_path_map": {"glass": "/World/_scene/obj_glass", "glassbox": "/World/_scene/obj_glassbox"}, "observation/robot_joint_prim_path_map": {"base_link": "/World/_scene/lift2/lift2/lift2/base_link", "wheel1": "/World/_scene/lift2/lift2/lift2/wheel1", "wheel2": "/World/_scene/lift2/lift2/lift2/wheel2", "wheel3": "/World/_scene/lift2/lift2/lift2/wheel3", "body4": "/World/_scene/lift2/lift2/lift2/body4", "h_link5": "/World/_scene/lift2/lift2/lift2/h_link5", "fr_base_link": "/World/_scene/lift2/lift2/lift2/fr/base_link", "fl_base_link": "/World/_scene/lift2/lift2/lift2/fl/base_link", "h_link6": "/World/_scene/lift2/lift2/lift2/h_link6", "fl_link1": "/World/_scene/lift2/lift2/lift2/fl/link1", "fl_link2": "/World/_scene/lift2/lift2/lift2/fl/link2", "fl_link3": "/World/_scene/lift2/lift2/lift2/fl/link3", "fl_link4": "/World/_scene/lift2/lift2/lift2/fl/link4", "fl_link5": "/World/_scene/lift2/lift2/lift2/fl/link5", "fl_link6": "/World/_scene/lift2/lift2/lift2/fl/link6", "fl_link7": "/World/_scene/lift2/lift2/lift2/fl/link7", "fl_link8": "/World/_scene/lift2/lift2/lift2/fl/link8", "fr_link1": "/World/_scene/lift2/lift2/lift2/fr/link1", "fr_link2": "/World/_scene/lift2/lift2/lift2/fr/link2", "fr_link3": "/World/_scene/lift2/lift2/lift2/fr/link3", "fr_link4": "/World/_scene/lift2/lift2/lift2/fr/link4", "fr_link5": "/World/_scene/lift2/lift2/lift2/fr/link5", "fr_link6": "/World/_scene/lift2/lift2/lift2/fr/link6", "fr_link7": "/World/_scene/lift2/lift2/lift2/fr/link7", "fr_link8": "/World/_scene/lift2/lift2/lift2/fr/link8", "dummy_base_x": "/World/_scene/lift2/lift2/lift2/dummy_base_x", "dummy_base_y": "/World/_scene/lift2/lift2/lift2/dummy_base_y", "dummy_base_rotate": "/World/_scene/lift2/lift2/lift2/dummy_base_rotate"}, "observation/articulation_mapping": {"glassbox/group_2": {"articulation_id": "glassbox", "part_name": "group_2", "prim_path": "/World/_scene/obj_glassbox/Instance/group_2"}, "glassbox/group_1": {"articulation_id": "glassbox", "part_name": "group_1", "prim_path": "/World/_scene/obj_glassbox/Instance/group_1"}, "glass/base": {"articulation_id": "glass", "part_name": "base", "prim_path": 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0000000000000000000000000000000000000000..ca61d9d598b9d0496d68add7911f00ebdb3da20a --- /dev/null +++ b/tasks/ebench/table_top_manip/put_glass_in_glassbox_test_mini/019/lmdb/info.json @@ -0,0 +1 @@ +{"observation/object_prim_path_map": {"glass": "/World/_scene/obj_glass", "glassbox": "/World/_scene/obj_glassbox"}, "observation/robot_joint_prim_path_map": {"base_link": "/World/_scene/lift2/lift2/lift2/base_link", "wheel1": "/World/_scene/lift2/lift2/lift2/wheel1", "wheel2": "/World/_scene/lift2/lift2/lift2/wheel2", "wheel3": "/World/_scene/lift2/lift2/lift2/wheel3", "body4": "/World/_scene/lift2/lift2/lift2/body4", "h_link5": "/World/_scene/lift2/lift2/lift2/h_link5", "fr_base_link": "/World/_scene/lift2/lift2/lift2/fr/base_link", "fl_base_link": "/World/_scene/lift2/lift2/lift2/fl/base_link", "h_link6": "/World/_scene/lift2/lift2/lift2/h_link6", "fl_link1": "/World/_scene/lift2/lift2/lift2/fl/link1", "fl_link2": "/World/_scene/lift2/lift2/lift2/fl/link2", "fl_link3": 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"observation/articulation_mapping": {"glassbox/group_2": {"articulation_id": "glassbox", "part_name": "group_2", "prim_path": "/World/_scene/obj_glassbox/Instance/group_2"}, "glassbox/group_1": {"articulation_id": "glassbox", "part_name": "group_1", "prim_path": "/World/_scene/obj_glassbox/Instance/group_1"}, "glass/base": {"articulation_id": "glass", "part_name": "base", "prim_path": "/World/_scene/obj_glass/Instance/base"}, "glass/link_0": {"articulation_id": "glass", "part_name": "link_0", "prim_path": "/World/_scene/obj_glass/Instance/link_0"}, "glass/link_1": {"articulation_id": "glass", "part_name": "link_1", "prim_path": "/World/_scene/obj_glass/Instance/link_1"}}} \ No newline at end of file diff --git a/tasks/ebench/table_top_manip/put_glass_in_glassbox_test_mini/019/lmdb/lock.mdb b/tasks/ebench/table_top_manip/put_glass_in_glassbox_test_mini/019/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..9f790d40bf7bc60d094a559364985e2eb1ff93ad Binary files /dev/null and b/tasks/ebench/table_top_manip/put_glass_in_glassbox_test_mini/019/lmdb/lock.mdb differ diff --git a/tasks/ebench/table_top_manip/put_glass_in_glassbox_val_unseen/000/lmdb/info.json b/tasks/ebench/table_top_manip/put_glass_in_glassbox_val_unseen/000/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..ca61d9d598b9d0496d68add7911f00ebdb3da20a --- /dev/null +++ b/tasks/ebench/table_top_manip/put_glass_in_glassbox_val_unseen/000/lmdb/info.json @@ -0,0 +1 @@ +{"observation/object_prim_path_map": {"glass": "/World/_scene/obj_glass", "glassbox": "/World/_scene/obj_glassbox"}, "observation/robot_joint_prim_path_map": {"base_link": "/World/_scene/lift2/lift2/lift2/base_link", "wheel1": "/World/_scene/lift2/lift2/lift2/wheel1", "wheel2": "/World/_scene/lift2/lift2/lift2/wheel2", "wheel3": "/World/_scene/lift2/lift2/lift2/wheel3", "body4": "/World/_scene/lift2/lift2/lift2/body4", "h_link5": "/World/_scene/lift2/lift2/lift2/h_link5", "fr_base_link": "/World/_scene/lift2/lift2/lift2/fr/base_link", "fl_base_link": "/World/_scene/lift2/lift2/lift2/fl/base_link", "h_link6": "/World/_scene/lift2/lift2/lift2/h_link6", "fl_link1": "/World/_scene/lift2/lift2/lift2/fl/link1", "fl_link2": "/World/_scene/lift2/lift2/lift2/fl/link2", "fl_link3": "/World/_scene/lift2/lift2/lift2/fl/link3", "fl_link4": "/World/_scene/lift2/lift2/lift2/fl/link4", "fl_link5": "/World/_scene/lift2/lift2/lift2/fl/link5", "fl_link6": "/World/_scene/lift2/lift2/lift2/fl/link6", "fl_link7": "/World/_scene/lift2/lift2/lift2/fl/link7", "fl_link8": "/World/_scene/lift2/lift2/lift2/fl/link8", "fr_link1": "/World/_scene/lift2/lift2/lift2/fr/link1", "fr_link2": "/World/_scene/lift2/lift2/lift2/fr/link2", "fr_link3": "/World/_scene/lift2/lift2/lift2/fr/link3", "fr_link4": "/World/_scene/lift2/lift2/lift2/fr/link4", "fr_link5": "/World/_scene/lift2/lift2/lift2/fr/link5", "fr_link6": "/World/_scene/lift2/lift2/lift2/fr/link6", "fr_link7": "/World/_scene/lift2/lift2/lift2/fr/link7", "fr_link8": "/World/_scene/lift2/lift2/lift2/fr/link8", "dummy_base_x": "/World/_scene/lift2/lift2/lift2/dummy_base_x", "dummy_base_y": "/World/_scene/lift2/lift2/lift2/dummy_base_y", "dummy_base_rotate": "/World/_scene/lift2/lift2/lift2/dummy_base_rotate"}, "observation/articulation_mapping": {"glassbox/group_2": {"articulation_id": "glassbox", "part_name": "group_2", "prim_path": "/World/_scene/obj_glassbox/Instance/group_2"}, "glassbox/group_1": {"articulation_id": "glassbox", "part_name": "group_1", "prim_path": "/World/_scene/obj_glassbox/Instance/group_1"}, "glass/base": {"articulation_id": "glass", "part_name": "base", "prim_path": "/World/_scene/obj_glass/Instance/base"}, "glass/link_0": {"articulation_id": "glass", "part_name": "link_0", "prim_path": "/World/_scene/obj_glass/Instance/link_0"}, "glass/link_1": {"articulation_id": "glass", "part_name": "link_1", "prim_path": "/World/_scene/obj_glass/Instance/link_1"}}} \ No newline at end of file diff --git a/tasks/ebench/table_top_manip/put_glass_in_glassbox_val_unseen/000/lmdb/lock.mdb b/tasks/ebench/table_top_manip/put_glass_in_glassbox_val_unseen/000/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..9f790d40bf7bc60d094a559364985e2eb1ff93ad Binary files /dev/null and b/tasks/ebench/table_top_manip/put_glass_in_glassbox_val_unseen/000/lmdb/lock.mdb differ diff --git a/tasks/ebench/table_top_manip/put_glass_in_glassbox_val_unseen/001/lmdb/info.json b/tasks/ebench/table_top_manip/put_glass_in_glassbox_val_unseen/001/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..ca61d9d598b9d0496d68add7911f00ebdb3da20a --- /dev/null +++ b/tasks/ebench/table_top_manip/put_glass_in_glassbox_val_unseen/001/lmdb/info.json @@ -0,0 +1 @@ +{"observation/object_prim_path_map": {"glass": "/World/_scene/obj_glass", "glassbox": "/World/_scene/obj_glassbox"}, "observation/robot_joint_prim_path_map": {"base_link": "/World/_scene/lift2/lift2/lift2/base_link", "wheel1": "/World/_scene/lift2/lift2/lift2/wheel1", "wheel2": "/World/_scene/lift2/lift2/lift2/wheel2", "wheel3": "/World/_scene/lift2/lift2/lift2/wheel3", "body4": "/World/_scene/lift2/lift2/lift2/body4", "h_link5": "/World/_scene/lift2/lift2/lift2/h_link5", "fr_base_link": "/World/_scene/lift2/lift2/lift2/fr/base_link", "fl_base_link": "/World/_scene/lift2/lift2/lift2/fl/base_link", "h_link6": "/World/_scene/lift2/lift2/lift2/h_link6", "fl_link1": "/World/_scene/lift2/lift2/lift2/fl/link1", "fl_link2": "/World/_scene/lift2/lift2/lift2/fl/link2", "fl_link3": "/World/_scene/lift2/lift2/lift2/fl/link3", "fl_link4": "/World/_scene/lift2/lift2/lift2/fl/link4", "fl_link5": "/World/_scene/lift2/lift2/lift2/fl/link5", "fl_link6": "/World/_scene/lift2/lift2/lift2/fl/link6", "fl_link7": "/World/_scene/lift2/lift2/lift2/fl/link7", "fl_link8": "/World/_scene/lift2/lift2/lift2/fl/link8", "fr_link1": "/World/_scene/lift2/lift2/lift2/fr/link1", 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0000000000000000000000000000000000000000..ca61d9d598b9d0496d68add7911f00ebdb3da20a --- /dev/null +++ b/tasks/ebench/table_top_manip/put_glass_in_glassbox_val_unseen/002/lmdb/info.json @@ -0,0 +1 @@ +{"observation/object_prim_path_map": {"glass": "/World/_scene/obj_glass", "glassbox": "/World/_scene/obj_glassbox"}, "observation/robot_joint_prim_path_map": {"base_link": "/World/_scene/lift2/lift2/lift2/base_link", "wheel1": "/World/_scene/lift2/lift2/lift2/wheel1", "wheel2": "/World/_scene/lift2/lift2/lift2/wheel2", "wheel3": "/World/_scene/lift2/lift2/lift2/wheel3", "body4": "/World/_scene/lift2/lift2/lift2/body4", "h_link5": "/World/_scene/lift2/lift2/lift2/h_link5", "fr_base_link": "/World/_scene/lift2/lift2/lift2/fr/base_link", "fl_base_link": "/World/_scene/lift2/lift2/lift2/fl/base_link", "h_link6": "/World/_scene/lift2/lift2/lift2/h_link6", "fl_link1": "/World/_scene/lift2/lift2/lift2/fl/link1", "fl_link2": "/World/_scene/lift2/lift2/lift2/fl/link2", "fl_link3": 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files /dev/null and b/tasks/ebench/table_top_manip/put_glass_in_glassbox_val_unseen/002/lmdb/lock.mdb differ diff --git a/tasks/ebench/table_top_manip/put_glass_in_glassbox_val_unseen/003/lmdb/info.json b/tasks/ebench/table_top_manip/put_glass_in_glassbox_val_unseen/003/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..ca61d9d598b9d0496d68add7911f00ebdb3da20a --- /dev/null +++ b/tasks/ebench/table_top_manip/put_glass_in_glassbox_val_unseen/003/lmdb/info.json @@ -0,0 +1 @@ +{"observation/object_prim_path_map": {"glass": "/World/_scene/obj_glass", "glassbox": "/World/_scene/obj_glassbox"}, "observation/robot_joint_prim_path_map": {"base_link": "/World/_scene/lift2/lift2/lift2/base_link", "wheel1": "/World/_scene/lift2/lift2/lift2/wheel1", "wheel2": "/World/_scene/lift2/lift2/lift2/wheel2", "wheel3": "/World/_scene/lift2/lift2/lift2/wheel3", "body4": "/World/_scene/lift2/lift2/lift2/body4", "h_link5": "/World/_scene/lift2/lift2/lift2/h_link5", 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end of file diff --git a/tasks/ebench/table_top_manip/put_glass_in_glassbox_val_unseen/003/lmdb/lock.mdb b/tasks/ebench/table_top_manip/put_glass_in_glassbox_val_unseen/003/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..9f790d40bf7bc60d094a559364985e2eb1ff93ad Binary files /dev/null and b/tasks/ebench/table_top_manip/put_glass_in_glassbox_val_unseen/003/lmdb/lock.mdb differ diff --git a/tasks/ebench/table_top_manip/put_glass_in_glassbox_val_unseen/004/lmdb/info.json b/tasks/ebench/table_top_manip/put_glass_in_glassbox_val_unseen/004/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..ca61d9d598b9d0496d68add7911f00ebdb3da20a --- /dev/null +++ b/tasks/ebench/table_top_manip/put_glass_in_glassbox_val_unseen/004/lmdb/info.json @@ -0,0 +1 @@ +{"observation/object_prim_path_map": {"glass": "/World/_scene/obj_glass", "glassbox": "/World/_scene/obj_glassbox"}, "observation/robot_joint_prim_path_map": {"base_link": "/World/_scene/lift2/lift2/lift2/base_link", "wheel1": "/World/_scene/lift2/lift2/lift2/wheel1", "wheel2": "/World/_scene/lift2/lift2/lift2/wheel2", "wheel3": "/World/_scene/lift2/lift2/lift2/wheel3", "body4": "/World/_scene/lift2/lift2/lift2/body4", "h_link5": "/World/_scene/lift2/lift2/lift2/h_link5", "fr_base_link": "/World/_scene/lift2/lift2/lift2/fr/base_link", "fl_base_link": "/World/_scene/lift2/lift2/lift2/fl/base_link", "h_link6": "/World/_scene/lift2/lift2/lift2/h_link6", "fl_link1": "/World/_scene/lift2/lift2/lift2/fl/link1", "fl_link2": "/World/_scene/lift2/lift2/lift2/fl/link2", "fl_link3": "/World/_scene/lift2/lift2/lift2/fl/link3", "fl_link4": "/World/_scene/lift2/lift2/lift2/fl/link4", "fl_link5": "/World/_scene/lift2/lift2/lift2/fl/link5", "fl_link6": "/World/_scene/lift2/lift2/lift2/fl/link6", "fl_link7": "/World/_scene/lift2/lift2/lift2/fl/link7", "fl_link8": "/World/_scene/lift2/lift2/lift2/fl/link8", "fr_link1": "/World/_scene/lift2/lift2/lift2/fr/link1", 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0000000000000000000000000000000000000000..ca61d9d598b9d0496d68add7911f00ebdb3da20a --- /dev/null +++ b/tasks/ebench/table_top_manip/put_glass_in_glassbox_val_unseen/005/lmdb/info.json @@ -0,0 +1 @@ +{"observation/object_prim_path_map": {"glass": "/World/_scene/obj_glass", "glassbox": "/World/_scene/obj_glassbox"}, "observation/robot_joint_prim_path_map": {"base_link": "/World/_scene/lift2/lift2/lift2/base_link", "wheel1": "/World/_scene/lift2/lift2/lift2/wheel1", "wheel2": "/World/_scene/lift2/lift2/lift2/wheel2", "wheel3": "/World/_scene/lift2/lift2/lift2/wheel3", "body4": "/World/_scene/lift2/lift2/lift2/body4", "h_link5": "/World/_scene/lift2/lift2/lift2/h_link5", "fr_base_link": "/World/_scene/lift2/lift2/lift2/fr/base_link", "fl_base_link": "/World/_scene/lift2/lift2/lift2/fl/base_link", "h_link6": "/World/_scene/lift2/lift2/lift2/h_link6", "fl_link1": "/World/_scene/lift2/lift2/lift2/fl/link1", "fl_link2": "/World/_scene/lift2/lift2/lift2/fl/link2", "fl_link3": 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"observation/articulation_mapping": {"glassbox/group_2": {"articulation_id": "glassbox", "part_name": "group_2", "prim_path": "/World/_scene/obj_glassbox/Instance/group_2"}, "glassbox/group_1": {"articulation_id": "glassbox", "part_name": "group_1", "prim_path": "/World/_scene/obj_glassbox/Instance/group_1"}, "glass/base": {"articulation_id": "glass", "part_name": "base", "prim_path": "/World/_scene/obj_glass/Instance/base"}, "glass/link_0": {"articulation_id": "glass", "part_name": "link_0", "prim_path": "/World/_scene/obj_glass/Instance/link_0"}, "glass/link_1": {"articulation_id": "glass", "part_name": "link_1", "prim_path": "/World/_scene/obj_glass/Instance/link_1"}}} \ No newline at end of file diff --git a/tasks/ebench/table_top_manip/put_glass_in_glassbox_val_unseen/005/lmdb/lock.mdb b/tasks/ebench/table_top_manip/put_glass_in_glassbox_val_unseen/005/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..9f790d40bf7bc60d094a559364985e2eb1ff93ad Binary files /dev/null and b/tasks/ebench/table_top_manip/put_glass_in_glassbox_val_unseen/005/lmdb/lock.mdb differ diff --git a/tasks/ebench/table_top_manip/tighten_nut/000/lmdb/info.json b/tasks/ebench/table_top_manip/tighten_nut/000/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..5d43edf2c0ff99d33888532d8467ff24556af793 --- /dev/null +++ b/tasks/ebench/table_top_manip/tighten_nut/000/lmdb/info.json @@ -0,0 +1 @@ +{"observation/object_prim_path_map": {"00000000000000000000000000000000": "/World/_scene/obj_table", "00": "/World/_scene/obj_00", "01": "/World/_scene/obj_01"}, "observation/robot_joint_prim_path_map": {"base_link": "/World/_scene/lift2/lift2/lift2/base_link", "wheel1": "/World/_scene/lift2/lift2/lift2/wheel1", "wheel2": "/World/_scene/lift2/lift2/lift2/wheel2", "wheel3": "/World/_scene/lift2/lift2/lift2/wheel3", "body4": "/World/_scene/lift2/lift2/lift2/body4", "h_link5": "/World/_scene/lift2/lift2/lift2/h_link5", "fr_base_link": 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b/tasks/ebench/table_top_manip/tighten_nut/001/lmdb/info.json @@ -0,0 +1 @@ +{"observation/object_prim_path_map": {"00000000000000000000000000000000": "/World/_scene/obj_table", "00": "/World/_scene/obj_00", "01": "/World/_scene/obj_01"}, "observation/robot_joint_prim_path_map": {"base_link": "/World/_scene/lift2/lift2/lift2/base_link", "wheel1": "/World/_scene/lift2/lift2/lift2/wheel1", "wheel2": "/World/_scene/lift2/lift2/lift2/wheel2", "wheel3": "/World/_scene/lift2/lift2/lift2/wheel3", "body4": "/World/_scene/lift2/lift2/lift2/body4", "h_link5": "/World/_scene/lift2/lift2/lift2/h_link5", "fr_base_link": "/World/_scene/lift2/lift2/lift2/fr/base_link", "fl_base_link": "/World/_scene/lift2/lift2/lift2/fl/base_link", "h_link6": "/World/_scene/lift2/lift2/lift2/h_link6", "fl_link1": "/World/_scene/lift2/lift2/lift2/fl/link1", "fl_link2": "/World/_scene/lift2/lift2/lift2/fl/link2", "fl_link3": "/World/_scene/lift2/lift2/lift2/fl/link3", "fl_link4": 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a/tasks/ebench/table_top_manip/tighten_nut/001/lmdb/lock.mdb b/tasks/ebench/table_top_manip/tighten_nut/001/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..9f790d40bf7bc60d094a559364985e2eb1ff93ad Binary files /dev/null and b/tasks/ebench/table_top_manip/tighten_nut/001/lmdb/lock.mdb differ diff --git a/tasks/ebench/table_top_manip/tighten_nut/002/lmdb/info.json b/tasks/ebench/table_top_manip/tighten_nut/002/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..5d43edf2c0ff99d33888532d8467ff24556af793 --- /dev/null +++ b/tasks/ebench/table_top_manip/tighten_nut/002/lmdb/info.json @@ -0,0 +1 @@ +{"observation/object_prim_path_map": {"00000000000000000000000000000000": "/World/_scene/obj_table", "00": "/World/_scene/obj_00", "01": "/World/_scene/obj_01"}, "observation/robot_joint_prim_path_map": {"base_link": "/World/_scene/lift2/lift2/lift2/base_link", "wheel1": "/World/_scene/lift2/lift2/lift2/wheel1", "wheel2": 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"fr_link4": "/World/_scene/lift2/lift2/lift2/fr/link4", "fr_link5": "/World/_scene/lift2/lift2/lift2/fr/link5", "fr_link6": "/World/_scene/lift2/lift2/lift2/fr/link6", "fr_link7": "/World/_scene/lift2/lift2/lift2/fr/link7", "fr_link8": "/World/_scene/lift2/lift2/lift2/fr/link8", "dummy_base_x": "/World/_scene/lift2/lift2/lift2/dummy_base_x", "dummy_base_y": "/World/_scene/lift2/lift2/lift2/dummy_base_y", "dummy_base_rotate": "/World/_scene/lift2/lift2/lift2/dummy_base_rotate"}, "observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/table_top_manip/tighten_nut/002/lmdb/lock.mdb b/tasks/ebench/table_top_manip/tighten_nut/002/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..9f790d40bf7bc60d094a559364985e2eb1ff93ad Binary files /dev/null and b/tasks/ebench/table_top_manip/tighten_nut/002/lmdb/lock.mdb differ diff --git a/tasks/ebench/table_top_manip/tighten_nut/003/lmdb/info.json b/tasks/ebench/table_top_manip/tighten_nut/003/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..5d43edf2c0ff99d33888532d8467ff24556af793 --- /dev/null +++ b/tasks/ebench/table_top_manip/tighten_nut/003/lmdb/info.json @@ -0,0 +1 @@ +{"observation/object_prim_path_map": {"00000000000000000000000000000000": "/World/_scene/obj_table", "00": "/World/_scene/obj_00", "01": "/World/_scene/obj_01"}, "observation/robot_joint_prim_path_map": {"base_link": "/World/_scene/lift2/lift2/lift2/base_link", "wheel1": "/World/_scene/lift2/lift2/lift2/wheel1", "wheel2": "/World/_scene/lift2/lift2/lift2/wheel2", "wheel3": "/World/_scene/lift2/lift2/lift2/wheel3", "body4": "/World/_scene/lift2/lift2/lift2/body4", "h_link5": "/World/_scene/lift2/lift2/lift2/h_link5", "fr_base_link": "/World/_scene/lift2/lift2/lift2/fr/base_link", "fl_base_link": "/World/_scene/lift2/lift2/lift2/fl/base_link", "h_link6": "/World/_scene/lift2/lift2/lift2/h_link6", "fl_link1": 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"/World/_scene/lift2/lift2/lift2/dummy_base_y", "dummy_base_rotate": "/World/_scene/lift2/lift2/lift2/dummy_base_rotate"}, "observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/table_top_manip/tighten_nut/003/lmdb/lock.mdb b/tasks/ebench/table_top_manip/tighten_nut/003/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..9f790d40bf7bc60d094a559364985e2eb1ff93ad Binary files /dev/null and b/tasks/ebench/table_top_manip/tighten_nut/003/lmdb/lock.mdb differ diff --git a/tasks/ebench/table_top_manip/tighten_nut/004/lmdb/info.json b/tasks/ebench/table_top_manip/tighten_nut/004/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..5d43edf2c0ff99d33888532d8467ff24556af793 --- /dev/null +++ b/tasks/ebench/table_top_manip/tighten_nut/004/lmdb/info.json @@ -0,0 +1 @@ +{"observation/object_prim_path_map": {"00000000000000000000000000000000": "/World/_scene/obj_table", "00": "/World/_scene/obj_00", "01": "/World/_scene/obj_01"}, "observation/robot_joint_prim_path_map": {"base_link": "/World/_scene/lift2/lift2/lift2/base_link", "wheel1": "/World/_scene/lift2/lift2/lift2/wheel1", "wheel2": "/World/_scene/lift2/lift2/lift2/wheel2", "wheel3": "/World/_scene/lift2/lift2/lift2/wheel3", "body4": "/World/_scene/lift2/lift2/lift2/body4", "h_link5": "/World/_scene/lift2/lift2/lift2/h_link5", "fr_base_link": "/World/_scene/lift2/lift2/lift2/fr/base_link", "fl_base_link": "/World/_scene/lift2/lift2/lift2/fl/base_link", "h_link6": "/World/_scene/lift2/lift2/lift2/h_link6", "fl_link1": "/World/_scene/lift2/lift2/lift2/fl/link1", "fl_link2": "/World/_scene/lift2/lift2/lift2/fl/link2", "fl_link3": "/World/_scene/lift2/lift2/lift2/fl/link3", "fl_link4": "/World/_scene/lift2/lift2/lift2/fl/link4", "fl_link5": "/World/_scene/lift2/lift2/lift2/fl/link5", "fl_link6": "/World/_scene/lift2/lift2/lift2/fl/link6", "fl_link7": "/World/_scene/lift2/lift2/lift2/fl/link7", "fl_link8": 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0000000000000000000000000000000000000000..9f790d40bf7bc60d094a559364985e2eb1ff93ad Binary files /dev/null and b/tasks/ebench/table_top_manip/tighten_nut/004/lmdb/lock.mdb differ diff --git a/tasks/ebench/table_top_manip/tighten_nut/005/lmdb/info.json b/tasks/ebench/table_top_manip/tighten_nut/005/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..5d43edf2c0ff99d33888532d8467ff24556af793 --- /dev/null +++ b/tasks/ebench/table_top_manip/tighten_nut/005/lmdb/info.json @@ -0,0 +1 @@ +{"observation/object_prim_path_map": {"00000000000000000000000000000000": "/World/_scene/obj_table", "00": "/World/_scene/obj_00", "01": "/World/_scene/obj_01"}, "observation/robot_joint_prim_path_map": {"base_link": "/World/_scene/lift2/lift2/lift2/base_link", "wheel1": "/World/_scene/lift2/lift2/lift2/wheel1", "wheel2": "/World/_scene/lift2/lift2/lift2/wheel2", "wheel3": "/World/_scene/lift2/lift2/lift2/wheel3", "body4": "/World/_scene/lift2/lift2/lift2/body4", "h_link5": 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"/World/_scene/lift2/lift2/lift2/fr/link6", "fr_link7": "/World/_scene/lift2/lift2/lift2/fr/link7", "fr_link8": "/World/_scene/lift2/lift2/lift2/fr/link8", "dummy_base_x": "/World/_scene/lift2/lift2/lift2/dummy_base_x", "dummy_base_y": "/World/_scene/lift2/lift2/lift2/dummy_base_y", "dummy_base_rotate": "/World/_scene/lift2/lift2/lift2/dummy_base_rotate"}, "observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/table_top_manip/tighten_nut/005/lmdb/lock.mdb b/tasks/ebench/table_top_manip/tighten_nut/005/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..9f790d40bf7bc60d094a559364985e2eb1ff93ad Binary files /dev/null and b/tasks/ebench/table_top_manip/tighten_nut/005/lmdb/lock.mdb differ diff --git a/tasks/ebench/table_top_manip/tighten_nut/006/lmdb/info.json b/tasks/ebench/table_top_manip/tighten_nut/006/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..5d43edf2c0ff99d33888532d8467ff24556af793 --- /dev/null +++ b/tasks/ebench/table_top_manip/tighten_nut/006/lmdb/info.json @@ -0,0 +1 @@ +{"observation/object_prim_path_map": {"00000000000000000000000000000000": "/World/_scene/obj_table", "00": "/World/_scene/obj_00", "01": "/World/_scene/obj_01"}, "observation/robot_joint_prim_path_map": {"base_link": "/World/_scene/lift2/lift2/lift2/base_link", "wheel1": "/World/_scene/lift2/lift2/lift2/wheel1", "wheel2": "/World/_scene/lift2/lift2/lift2/wheel2", "wheel3": "/World/_scene/lift2/lift2/lift2/wheel3", "body4": "/World/_scene/lift2/lift2/lift2/body4", "h_link5": "/World/_scene/lift2/lift2/lift2/h_link5", "fr_base_link": "/World/_scene/lift2/lift2/lift2/fr/base_link", "fl_base_link": "/World/_scene/lift2/lift2/lift2/fl/base_link", "h_link6": "/World/_scene/lift2/lift2/lift2/h_link6", "fl_link1": "/World/_scene/lift2/lift2/lift2/fl/link1", "fl_link2": "/World/_scene/lift2/lift2/lift2/fl/link2", 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"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/table_top_manip/tighten_nut/006/lmdb/lock.mdb b/tasks/ebench/table_top_manip/tighten_nut/006/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..9f790d40bf7bc60d094a559364985e2eb1ff93ad Binary files /dev/null and b/tasks/ebench/table_top_manip/tighten_nut/006/lmdb/lock.mdb differ diff --git a/tasks/ebench/table_top_manip/tighten_nut/007/lmdb/info.json b/tasks/ebench/table_top_manip/tighten_nut/007/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..5d43edf2c0ff99d33888532d8467ff24556af793 --- /dev/null +++ b/tasks/ebench/table_top_manip/tighten_nut/007/lmdb/info.json @@ -0,0 +1 @@ +{"observation/object_prim_path_map": {"00000000000000000000000000000000": "/World/_scene/obj_table", "00": "/World/_scene/obj_00", "01": "/World/_scene/obj_01"}, "observation/robot_joint_prim_path_map": {"base_link": 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diff --git a/tasks/ebench/table_top_manip/tighten_nut/008/lmdb/info.json b/tasks/ebench/table_top_manip/tighten_nut/008/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..5d43edf2c0ff99d33888532d8467ff24556af793 --- /dev/null +++ b/tasks/ebench/table_top_manip/tighten_nut/008/lmdb/info.json @@ -0,0 +1 @@ +{"observation/object_prim_path_map": {"00000000000000000000000000000000": "/World/_scene/obj_table", "00": "/World/_scene/obj_00", "01": "/World/_scene/obj_01"}, "observation/robot_joint_prim_path_map": {"base_link": "/World/_scene/lift2/lift2/lift2/base_link", "wheel1": "/World/_scene/lift2/lift2/lift2/wheel1", "wheel2": "/World/_scene/lift2/lift2/lift2/wheel2", "wheel3": "/World/_scene/lift2/lift2/lift2/wheel3", "body4": "/World/_scene/lift2/lift2/lift2/body4", "h_link5": "/World/_scene/lift2/lift2/lift2/h_link5", "fr_base_link": "/World/_scene/lift2/lift2/lift2/fr/base_link", "fl_base_link": "/World/_scene/lift2/lift2/lift2/fl/base_link", "h_link6": 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{"00000000000000000000000000000000": "/World/_scene/obj_table", "00": "/World/_scene/obj_00", "01": "/World/_scene/obj_01"}, "observation/robot_joint_prim_path_map": {"base_link": "/World/_scene/lift2/lift2/lift2/base_link", "wheel1": "/World/_scene/lift2/lift2/lift2/wheel1", "wheel2": "/World/_scene/lift2/lift2/lift2/wheel2", "wheel3": "/World/_scene/lift2/lift2/lift2/wheel3", "body4": "/World/_scene/lift2/lift2/lift2/body4", "h_link5": "/World/_scene/lift2/lift2/lift2/h_link5", "fr_base_link": "/World/_scene/lift2/lift2/lift2/fr/base_link", "fl_base_link": "/World/_scene/lift2/lift2/lift2/fl/base_link", "h_link6": "/World/_scene/lift2/lift2/lift2/h_link6", "fl_link1": "/World/_scene/lift2/lift2/lift2/fl/link1", "fl_link2": "/World/_scene/lift2/lift2/lift2/fl/link2", "fl_link3": "/World/_scene/lift2/lift2/lift2/fl/link3", "fl_link4": "/World/_scene/lift2/lift2/lift2/fl/link4", "fl_link5": "/World/_scene/lift2/lift2/lift2/fl/link5", "fl_link6": 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b/tasks/ebench/table_top_manip/tighten_nut/009/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..9f790d40bf7bc60d094a559364985e2eb1ff93ad Binary files /dev/null and b/tasks/ebench/table_top_manip/tighten_nut/009/lmdb/lock.mdb differ diff --git a/tasks/ebench/table_top_manip/tighten_nut/010/lmdb/info.json b/tasks/ebench/table_top_manip/tighten_nut/010/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..5d43edf2c0ff99d33888532d8467ff24556af793 --- /dev/null +++ b/tasks/ebench/table_top_manip/tighten_nut/010/lmdb/info.json @@ -0,0 +1 @@ +{"observation/object_prim_path_map": {"00000000000000000000000000000000": "/World/_scene/obj_table", "00": "/World/_scene/obj_00", "01": "/World/_scene/obj_01"}, "observation/robot_joint_prim_path_map": {"base_link": "/World/_scene/lift2/lift2/lift2/base_link", "wheel1": "/World/_scene/lift2/lift2/lift2/wheel1", "wheel2": "/World/_scene/lift2/lift2/lift2/wheel2", "wheel3": 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0000000000000000000000000000000000000000..5d43edf2c0ff99d33888532d8467ff24556af793 --- /dev/null +++ b/tasks/ebench/table_top_manip/tighten_nut/011/lmdb/info.json @@ -0,0 +1 @@ +{"observation/object_prim_path_map": {"00000000000000000000000000000000": "/World/_scene/obj_table", "00": "/World/_scene/obj_00", "01": "/World/_scene/obj_01"}, "observation/robot_joint_prim_path_map": {"base_link": "/World/_scene/lift2/lift2/lift2/base_link", "wheel1": "/World/_scene/lift2/lift2/lift2/wheel1", "wheel2": "/World/_scene/lift2/lift2/lift2/wheel2", "wheel3": "/World/_scene/lift2/lift2/lift2/wheel3", "body4": "/World/_scene/lift2/lift2/lift2/body4", "h_link5": "/World/_scene/lift2/lift2/lift2/h_link5", "fr_base_link": "/World/_scene/lift2/lift2/lift2/fr/base_link", "fl_base_link": "/World/_scene/lift2/lift2/lift2/fl/base_link", "h_link6": "/World/_scene/lift2/lift2/lift2/h_link6", "fl_link1": "/World/_scene/lift2/lift2/lift2/fl/link1", "fl_link2": "/World/_scene/lift2/lift2/lift2/fl/link2", 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"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/table_top_manip/tighten_nut/011/lmdb/lock.mdb b/tasks/ebench/table_top_manip/tighten_nut/011/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..9f790d40bf7bc60d094a559364985e2eb1ff93ad Binary files /dev/null and b/tasks/ebench/table_top_manip/tighten_nut/011/lmdb/lock.mdb differ diff --git a/tasks/ebench/table_top_manip/tighten_nut/012/lmdb/info.json b/tasks/ebench/table_top_manip/tighten_nut/012/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..5d43edf2c0ff99d33888532d8467ff24556af793 --- /dev/null +++ b/tasks/ebench/table_top_manip/tighten_nut/012/lmdb/info.json @@ -0,0 +1 @@ +{"observation/object_prim_path_map": {"00000000000000000000000000000000": "/World/_scene/obj_table", "00": "/World/_scene/obj_00", "01": "/World/_scene/obj_01"}, "observation/robot_joint_prim_path_map": {"base_link": 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diff --git a/tasks/ebench/table_top_manip/tighten_nut/013/lmdb/info.json b/tasks/ebench/table_top_manip/tighten_nut/013/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..5d43edf2c0ff99d33888532d8467ff24556af793 --- /dev/null +++ b/tasks/ebench/table_top_manip/tighten_nut/013/lmdb/info.json @@ -0,0 +1 @@ +{"observation/object_prim_path_map": {"00000000000000000000000000000000": "/World/_scene/obj_table", "00": "/World/_scene/obj_00", "01": "/World/_scene/obj_01"}, "observation/robot_joint_prim_path_map": {"base_link": "/World/_scene/lift2/lift2/lift2/base_link", "wheel1": "/World/_scene/lift2/lift2/lift2/wheel1", "wheel2": "/World/_scene/lift2/lift2/lift2/wheel2", "wheel3": "/World/_scene/lift2/lift2/lift2/wheel3", "body4": "/World/_scene/lift2/lift2/lift2/body4", "h_link5": "/World/_scene/lift2/lift2/lift2/h_link5", "fr_base_link": "/World/_scene/lift2/lift2/lift2/fr/base_link", "fl_base_link": "/World/_scene/lift2/lift2/lift2/fl/base_link", "h_link6": 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{"00000000000000000000000000000000": "/World/_scene/obj_table", "00": "/World/_scene/obj_00", "01": "/World/_scene/obj_01"}, "observation/robot_joint_prim_path_map": {"base_link": "/World/_scene/lift2/lift2/lift2/base_link", "wheel1": "/World/_scene/lift2/lift2/lift2/wheel1", "wheel2": "/World/_scene/lift2/lift2/lift2/wheel2", "wheel3": "/World/_scene/lift2/lift2/lift2/wheel3", "body4": "/World/_scene/lift2/lift2/lift2/body4", "h_link5": "/World/_scene/lift2/lift2/lift2/h_link5", "fr_base_link": "/World/_scene/lift2/lift2/lift2/fr/base_link", "fl_base_link": "/World/_scene/lift2/lift2/lift2/fl/base_link", "h_link6": "/World/_scene/lift2/lift2/lift2/h_link6", "fl_link1": "/World/_scene/lift2/lift2/lift2/fl/link1", "fl_link2": "/World/_scene/lift2/lift2/lift2/fl/link2", "fl_link3": "/World/_scene/lift2/lift2/lift2/fl/link3", "fl_link4": "/World/_scene/lift2/lift2/lift2/fl/link4", "fl_link5": "/World/_scene/lift2/lift2/lift2/fl/link5", "fl_link6": 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0000000000000000000000000000000000000000..5d43edf2c0ff99d33888532d8467ff24556af793 --- /dev/null +++ b/tasks/ebench/table_top_manip/tighten_nut/016/lmdb/info.json @@ -0,0 +1 @@ +{"observation/object_prim_path_map": {"00000000000000000000000000000000": "/World/_scene/obj_table", "00": "/World/_scene/obj_00", "01": "/World/_scene/obj_01"}, "observation/robot_joint_prim_path_map": {"base_link": "/World/_scene/lift2/lift2/lift2/base_link", "wheel1": "/World/_scene/lift2/lift2/lift2/wheel1", "wheel2": "/World/_scene/lift2/lift2/lift2/wheel2", "wheel3": "/World/_scene/lift2/lift2/lift2/wheel3", "body4": "/World/_scene/lift2/lift2/lift2/body4", "h_link5": "/World/_scene/lift2/lift2/lift2/h_link5", "fr_base_link": "/World/_scene/lift2/lift2/lift2/fr/base_link", "fl_base_link": "/World/_scene/lift2/lift2/lift2/fl/base_link", "h_link6": "/World/_scene/lift2/lift2/lift2/h_link6", "fl_link1": "/World/_scene/lift2/lift2/lift2/fl/link1", "fl_link2": "/World/_scene/lift2/lift2/lift2/fl/link2", 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"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/table_top_manip/tighten_nut/016/lmdb/lock.mdb b/tasks/ebench/table_top_manip/tighten_nut/016/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..9f790d40bf7bc60d094a559364985e2eb1ff93ad Binary files /dev/null and b/tasks/ebench/table_top_manip/tighten_nut/016/lmdb/lock.mdb differ diff --git a/tasks/ebench/table_top_manip/tighten_nut/017/lmdb/info.json b/tasks/ebench/table_top_manip/tighten_nut/017/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..5d43edf2c0ff99d33888532d8467ff24556af793 --- /dev/null +++ b/tasks/ebench/table_top_manip/tighten_nut/017/lmdb/info.json @@ -0,0 +1 @@ +{"observation/object_prim_path_map": {"00000000000000000000000000000000": "/World/_scene/obj_table", "00": "/World/_scene/obj_00", "01": "/World/_scene/obj_01"}, "observation/robot_joint_prim_path_map": {"base_link": 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diff --git a/tasks/ebench/table_top_manip/tighten_nut/018/lmdb/info.json b/tasks/ebench/table_top_manip/tighten_nut/018/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..5d43edf2c0ff99d33888532d8467ff24556af793 --- /dev/null +++ b/tasks/ebench/table_top_manip/tighten_nut/018/lmdb/info.json @@ -0,0 +1 @@ +{"observation/object_prim_path_map": {"00000000000000000000000000000000": "/World/_scene/obj_table", "00": "/World/_scene/obj_00", "01": "/World/_scene/obj_01"}, "observation/robot_joint_prim_path_map": {"base_link": "/World/_scene/lift2/lift2/lift2/base_link", "wheel1": "/World/_scene/lift2/lift2/lift2/wheel1", "wheel2": "/World/_scene/lift2/lift2/lift2/wheel2", "wheel3": "/World/_scene/lift2/lift2/lift2/wheel3", "body4": "/World/_scene/lift2/lift2/lift2/body4", "h_link5": "/World/_scene/lift2/lift2/lift2/h_link5", "fr_base_link": "/World/_scene/lift2/lift2/lift2/fr/base_link", "fl_base_link": "/World/_scene/lift2/lift2/lift2/fl/base_link", "h_link6": 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{"00000000000000000000000000000000": "/World/_scene/obj_table", "00": "/World/_scene/obj_00", "01": "/World/_scene/obj_01"}, "observation/robot_joint_prim_path_map": {"base_link": "/World/_scene/lift2/lift2/lift2/base_link", "wheel1": "/World/_scene/lift2/lift2/lift2/wheel1", "wheel2": "/World/_scene/lift2/lift2/lift2/wheel2", "wheel3": "/World/_scene/lift2/lift2/lift2/wheel3", "body4": "/World/_scene/lift2/lift2/lift2/body4", "h_link5": "/World/_scene/lift2/lift2/lift2/h_link5", "fr_base_link": "/World/_scene/lift2/lift2/lift2/fr/base_link", "fl_base_link": "/World/_scene/lift2/lift2/lift2/fl/base_link", "h_link6": "/World/_scene/lift2/lift2/lift2/h_link6", "fl_link1": "/World/_scene/lift2/lift2/lift2/fl/link1", "fl_link2": "/World/_scene/lift2/lift2/lift2/fl/link2", "fl_link3": "/World/_scene/lift2/lift2/lift2/fl/link3", "fl_link4": "/World/_scene/lift2/lift2/lift2/fl/link4", "fl_link5": "/World/_scene/lift2/lift2/lift2/fl/link5", "fl_link6": 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b/tasks/ebench/table_top_manip/tighten_nut/019/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..9f790d40bf7bc60d094a559364985e2eb1ff93ad Binary files /dev/null and b/tasks/ebench/table_top_manip/tighten_nut/019/lmdb/lock.mdb differ diff --git a/tasks/ebench/table_top_manip/tighten_nut/020/lmdb/info.json b/tasks/ebench/table_top_manip/tighten_nut/020/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..5d43edf2c0ff99d33888532d8467ff24556af793 --- /dev/null +++ b/tasks/ebench/table_top_manip/tighten_nut/020/lmdb/info.json @@ -0,0 +1 @@ +{"observation/object_prim_path_map": {"00000000000000000000000000000000": "/World/_scene/obj_table", "00": "/World/_scene/obj_00", "01": "/World/_scene/obj_01"}, "observation/robot_joint_prim_path_map": {"base_link": "/World/_scene/lift2/lift2/lift2/base_link", "wheel1": "/World/_scene/lift2/lift2/lift2/wheel1", "wheel2": "/World/_scene/lift2/lift2/lift2/wheel2", "wheel3": 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0000000000000000000000000000000000000000..5d43edf2c0ff99d33888532d8467ff24556af793 --- /dev/null +++ b/tasks/ebench/table_top_manip/tighten_nut/021/lmdb/info.json @@ -0,0 +1 @@ +{"observation/object_prim_path_map": {"00000000000000000000000000000000": "/World/_scene/obj_table", "00": "/World/_scene/obj_00", "01": "/World/_scene/obj_01"}, "observation/robot_joint_prim_path_map": {"base_link": "/World/_scene/lift2/lift2/lift2/base_link", "wheel1": "/World/_scene/lift2/lift2/lift2/wheel1", "wheel2": "/World/_scene/lift2/lift2/lift2/wheel2", "wheel3": "/World/_scene/lift2/lift2/lift2/wheel3", "body4": "/World/_scene/lift2/lift2/lift2/body4", "h_link5": "/World/_scene/lift2/lift2/lift2/h_link5", "fr_base_link": "/World/_scene/lift2/lift2/lift2/fr/base_link", "fl_base_link": "/World/_scene/lift2/lift2/lift2/fl/base_link", "h_link6": "/World/_scene/lift2/lift2/lift2/h_link6", "fl_link1": "/World/_scene/lift2/lift2/lift2/fl/link1", "fl_link2": "/World/_scene/lift2/lift2/lift2/fl/link2", 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"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/table_top_manip/tighten_nut/021/lmdb/lock.mdb b/tasks/ebench/table_top_manip/tighten_nut/021/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..9f790d40bf7bc60d094a559364985e2eb1ff93ad Binary files /dev/null and b/tasks/ebench/table_top_manip/tighten_nut/021/lmdb/lock.mdb differ diff --git a/tasks/ebench/table_top_manip/tighten_nut/022/lmdb/info.json b/tasks/ebench/table_top_manip/tighten_nut/022/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..5d43edf2c0ff99d33888532d8467ff24556af793 --- /dev/null +++ b/tasks/ebench/table_top_manip/tighten_nut/022/lmdb/info.json @@ -0,0 +1 @@ +{"observation/object_prim_path_map": {"00000000000000000000000000000000": "/World/_scene/obj_table", "00": "/World/_scene/obj_00", "01": "/World/_scene/obj_01"}, "observation/robot_joint_prim_path_map": {"base_link": 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diff --git a/tasks/ebench/table_top_manip/tighten_nut/023/lmdb/info.json b/tasks/ebench/table_top_manip/tighten_nut/023/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..5d43edf2c0ff99d33888532d8467ff24556af793 --- /dev/null +++ b/tasks/ebench/table_top_manip/tighten_nut/023/lmdb/info.json @@ -0,0 +1 @@ +{"observation/object_prim_path_map": {"00000000000000000000000000000000": "/World/_scene/obj_table", "00": "/World/_scene/obj_00", "01": "/World/_scene/obj_01"}, "observation/robot_joint_prim_path_map": {"base_link": "/World/_scene/lift2/lift2/lift2/base_link", "wheel1": "/World/_scene/lift2/lift2/lift2/wheel1", "wheel2": "/World/_scene/lift2/lift2/lift2/wheel2", "wheel3": "/World/_scene/lift2/lift2/lift2/wheel3", "body4": "/World/_scene/lift2/lift2/lift2/body4", "h_link5": "/World/_scene/lift2/lift2/lift2/h_link5", "fr_base_link": "/World/_scene/lift2/lift2/lift2/fr/base_link", "fl_base_link": "/World/_scene/lift2/lift2/lift2/fl/base_link", "h_link6": 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{"00000000000000000000000000000000": "/World/_scene/obj_table", "00": "/World/_scene/obj_00", "01": "/World/_scene/obj_01"}, "observation/robot_joint_prim_path_map": {"base_link": "/World/_scene/lift2/lift2/lift2/base_link", "wheel1": "/World/_scene/lift2/lift2/lift2/wheel1", "wheel2": "/World/_scene/lift2/lift2/lift2/wheel2", "wheel3": "/World/_scene/lift2/lift2/lift2/wheel3", "body4": "/World/_scene/lift2/lift2/lift2/body4", "h_link5": "/World/_scene/lift2/lift2/lift2/h_link5", "fr_base_link": "/World/_scene/lift2/lift2/lift2/fr/base_link", "fl_base_link": "/World/_scene/lift2/lift2/lift2/fl/base_link", "h_link6": "/World/_scene/lift2/lift2/lift2/h_link6", "fl_link1": "/World/_scene/lift2/lift2/lift2/fl/link1", "fl_link2": "/World/_scene/lift2/lift2/lift2/fl/link2", "fl_link3": "/World/_scene/lift2/lift2/lift2/fl/link3", "fl_link4": "/World/_scene/lift2/lift2/lift2/fl/link4", "fl_link5": "/World/_scene/lift2/lift2/lift2/fl/link5", "fl_link6": 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b/tasks/ebench/table_top_manip/tighten_nut/024/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..9f790d40bf7bc60d094a559364985e2eb1ff93ad Binary files /dev/null and b/tasks/ebench/table_top_manip/tighten_nut/024/lmdb/lock.mdb differ diff --git a/tasks/ebench/table_top_manip/tighten_nut/025/lmdb/info.json b/tasks/ebench/table_top_manip/tighten_nut/025/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..5d43edf2c0ff99d33888532d8467ff24556af793 --- /dev/null +++ b/tasks/ebench/table_top_manip/tighten_nut/025/lmdb/info.json @@ -0,0 +1 @@ +{"observation/object_prim_path_map": {"00000000000000000000000000000000": "/World/_scene/obj_table", "00": "/World/_scene/obj_00", "01": "/World/_scene/obj_01"}, "observation/robot_joint_prim_path_map": {"base_link": "/World/_scene/lift2/lift2/lift2/base_link", "wheel1": "/World/_scene/lift2/lift2/lift2/wheel1", "wheel2": "/World/_scene/lift2/lift2/lift2/wheel2", "wheel3": 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0000000000000000000000000000000000000000..5d43edf2c0ff99d33888532d8467ff24556af793 --- /dev/null +++ b/tasks/ebench/table_top_manip/tighten_nut/026/lmdb/info.json @@ -0,0 +1 @@ +{"observation/object_prim_path_map": {"00000000000000000000000000000000": "/World/_scene/obj_table", "00": "/World/_scene/obj_00", "01": "/World/_scene/obj_01"}, "observation/robot_joint_prim_path_map": {"base_link": "/World/_scene/lift2/lift2/lift2/base_link", "wheel1": "/World/_scene/lift2/lift2/lift2/wheel1", "wheel2": "/World/_scene/lift2/lift2/lift2/wheel2", "wheel3": "/World/_scene/lift2/lift2/lift2/wheel3", "body4": "/World/_scene/lift2/lift2/lift2/body4", "h_link5": "/World/_scene/lift2/lift2/lift2/h_link5", "fr_base_link": "/World/_scene/lift2/lift2/lift2/fr/base_link", "fl_base_link": "/World/_scene/lift2/lift2/lift2/fl/base_link", "h_link6": "/World/_scene/lift2/lift2/lift2/h_link6", "fl_link1": "/World/_scene/lift2/lift2/lift2/fl/link1", "fl_link2": "/World/_scene/lift2/lift2/lift2/fl/link2", 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"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/table_top_manip/tighten_nut/026/lmdb/lock.mdb b/tasks/ebench/table_top_manip/tighten_nut/026/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..9f790d40bf7bc60d094a559364985e2eb1ff93ad Binary files /dev/null and b/tasks/ebench/table_top_manip/tighten_nut/026/lmdb/lock.mdb differ diff --git a/tasks/ebench/table_top_manip/tighten_nut/027/lmdb/info.json b/tasks/ebench/table_top_manip/tighten_nut/027/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..5d43edf2c0ff99d33888532d8467ff24556af793 --- /dev/null +++ b/tasks/ebench/table_top_manip/tighten_nut/027/lmdb/info.json @@ -0,0 +1 @@ +{"observation/object_prim_path_map": {"00000000000000000000000000000000": "/World/_scene/obj_table", "00": "/World/_scene/obj_00", "01": "/World/_scene/obj_01"}, "observation/robot_joint_prim_path_map": {"base_link": 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diff --git a/tasks/ebench/table_top_manip/tighten_nut/028/lmdb/info.json b/tasks/ebench/table_top_manip/tighten_nut/028/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..5d43edf2c0ff99d33888532d8467ff24556af793 --- /dev/null +++ b/tasks/ebench/table_top_manip/tighten_nut/028/lmdb/info.json @@ -0,0 +1 @@ +{"observation/object_prim_path_map": {"00000000000000000000000000000000": "/World/_scene/obj_table", "00": "/World/_scene/obj_00", "01": "/World/_scene/obj_01"}, "observation/robot_joint_prim_path_map": {"base_link": "/World/_scene/lift2/lift2/lift2/base_link", "wheel1": "/World/_scene/lift2/lift2/lift2/wheel1", "wheel2": "/World/_scene/lift2/lift2/lift2/wheel2", "wheel3": "/World/_scene/lift2/lift2/lift2/wheel3", "body4": "/World/_scene/lift2/lift2/lift2/body4", "h_link5": "/World/_scene/lift2/lift2/lift2/h_link5", "fr_base_link": "/World/_scene/lift2/lift2/lift2/fr/base_link", "fl_base_link": "/World/_scene/lift2/lift2/lift2/fl/base_link", "h_link6": 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{"00000000000000000000000000000000": "/World/_scene/obj_table", "00": "/World/_scene/obj_00", "01": "/World/_scene/obj_01"}, "observation/robot_joint_prim_path_map": {"base_link": "/World/_scene/lift2/lift2/lift2/base_link", "wheel1": "/World/_scene/lift2/lift2/lift2/wheel1", "wheel2": "/World/_scene/lift2/lift2/lift2/wheel2", "wheel3": "/World/_scene/lift2/lift2/lift2/wheel3", "body4": "/World/_scene/lift2/lift2/lift2/body4", "h_link5": "/World/_scene/lift2/lift2/lift2/h_link5", "fr_base_link": "/World/_scene/lift2/lift2/lift2/fr/base_link", "fl_base_link": "/World/_scene/lift2/lift2/lift2/fl/base_link", "h_link6": "/World/_scene/lift2/lift2/lift2/h_link6", "fl_link1": "/World/_scene/lift2/lift2/lift2/fl/link1", "fl_link2": "/World/_scene/lift2/lift2/lift2/fl/link2", "fl_link3": "/World/_scene/lift2/lift2/lift2/fl/link3", "fl_link4": "/World/_scene/lift2/lift2/lift2/fl/link4", "fl_link5": "/World/_scene/lift2/lift2/lift2/fl/link5", "fl_link6": 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b/tasks/ebench/table_top_manip/tighten_nut/029/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..9f790d40bf7bc60d094a559364985e2eb1ff93ad Binary files /dev/null and b/tasks/ebench/table_top_manip/tighten_nut/029/lmdb/lock.mdb differ diff --git a/tasks/ebench/table_top_manip/tighten_nut/030/lmdb/info.json b/tasks/ebench/table_top_manip/tighten_nut/030/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..5d43edf2c0ff99d33888532d8467ff24556af793 --- /dev/null +++ b/tasks/ebench/table_top_manip/tighten_nut/030/lmdb/info.json @@ -0,0 +1 @@ +{"observation/object_prim_path_map": {"00000000000000000000000000000000": "/World/_scene/obj_table", "00": "/World/_scene/obj_00", "01": "/World/_scene/obj_01"}, "observation/robot_joint_prim_path_map": {"base_link": "/World/_scene/lift2/lift2/lift2/base_link", "wheel1": "/World/_scene/lift2/lift2/lift2/wheel1", "wheel2": "/World/_scene/lift2/lift2/lift2/wheel2", "wheel3": 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0000000000000000000000000000000000000000..5d43edf2c0ff99d33888532d8467ff24556af793 --- /dev/null +++ b/tasks/ebench/table_top_manip/tighten_nut/031/lmdb/info.json @@ -0,0 +1 @@ +{"observation/object_prim_path_map": {"00000000000000000000000000000000": "/World/_scene/obj_table", "00": "/World/_scene/obj_00", "01": "/World/_scene/obj_01"}, "observation/robot_joint_prim_path_map": {"base_link": "/World/_scene/lift2/lift2/lift2/base_link", "wheel1": "/World/_scene/lift2/lift2/lift2/wheel1", "wheel2": "/World/_scene/lift2/lift2/lift2/wheel2", "wheel3": "/World/_scene/lift2/lift2/lift2/wheel3", "body4": "/World/_scene/lift2/lift2/lift2/body4", "h_link5": "/World/_scene/lift2/lift2/lift2/h_link5", "fr_base_link": "/World/_scene/lift2/lift2/lift2/fr/base_link", "fl_base_link": "/World/_scene/lift2/lift2/lift2/fl/base_link", "h_link6": "/World/_scene/lift2/lift2/lift2/h_link6", "fl_link1": "/World/_scene/lift2/lift2/lift2/fl/link1", "fl_link2": "/World/_scene/lift2/lift2/lift2/fl/link2", 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"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/table_top_manip/tighten_nut/031/lmdb/lock.mdb b/tasks/ebench/table_top_manip/tighten_nut/031/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..9f790d40bf7bc60d094a559364985e2eb1ff93ad Binary files /dev/null and b/tasks/ebench/table_top_manip/tighten_nut/031/lmdb/lock.mdb differ diff --git a/tasks/ebench/table_top_manip/tighten_nut/032/lmdb/info.json b/tasks/ebench/table_top_manip/tighten_nut/032/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..5d43edf2c0ff99d33888532d8467ff24556af793 --- /dev/null +++ b/tasks/ebench/table_top_manip/tighten_nut/032/lmdb/info.json @@ -0,0 +1 @@ +{"observation/object_prim_path_map": {"00000000000000000000000000000000": "/World/_scene/obj_table", "00": "/World/_scene/obj_00", "01": "/World/_scene/obj_01"}, "observation/robot_joint_prim_path_map": {"base_link": 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diff --git a/tasks/ebench/table_top_manip/tighten_nut/033/lmdb/info.json b/tasks/ebench/table_top_manip/tighten_nut/033/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..5d43edf2c0ff99d33888532d8467ff24556af793 --- /dev/null +++ b/tasks/ebench/table_top_manip/tighten_nut/033/lmdb/info.json @@ -0,0 +1 @@ +{"observation/object_prim_path_map": {"00000000000000000000000000000000": "/World/_scene/obj_table", "00": "/World/_scene/obj_00", "01": "/World/_scene/obj_01"}, "observation/robot_joint_prim_path_map": {"base_link": "/World/_scene/lift2/lift2/lift2/base_link", "wheel1": "/World/_scene/lift2/lift2/lift2/wheel1", "wheel2": "/World/_scene/lift2/lift2/lift2/wheel2", "wheel3": "/World/_scene/lift2/lift2/lift2/wheel3", "body4": "/World/_scene/lift2/lift2/lift2/body4", "h_link5": "/World/_scene/lift2/lift2/lift2/h_link5", "fr_base_link": "/World/_scene/lift2/lift2/lift2/fr/base_link", "fl_base_link": "/World/_scene/lift2/lift2/lift2/fl/base_link", "h_link6": 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{"00000000000000000000000000000000": "/World/_scene/obj_table", "00": "/World/_scene/obj_00", "01": "/World/_scene/obj_01"}, "observation/robot_joint_prim_path_map": {"base_link": "/World/_scene/lift2/lift2/lift2/base_link", "wheel1": "/World/_scene/lift2/lift2/lift2/wheel1", "wheel2": "/World/_scene/lift2/lift2/lift2/wheel2", "wheel3": "/World/_scene/lift2/lift2/lift2/wheel3", "body4": "/World/_scene/lift2/lift2/lift2/body4", "h_link5": "/World/_scene/lift2/lift2/lift2/h_link5", "fr_base_link": "/World/_scene/lift2/lift2/lift2/fr/base_link", "fl_base_link": "/World/_scene/lift2/lift2/lift2/fl/base_link", "h_link6": "/World/_scene/lift2/lift2/lift2/h_link6", "fl_link1": "/World/_scene/lift2/lift2/lift2/fl/link1", "fl_link2": "/World/_scene/lift2/lift2/lift2/fl/link2", "fl_link3": "/World/_scene/lift2/lift2/lift2/fl/link3", "fl_link4": "/World/_scene/lift2/lift2/lift2/fl/link4", "fl_link5": "/World/_scene/lift2/lift2/lift2/fl/link5", "fl_link6": 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b/tasks/ebench/table_top_manip/tighten_nut/034/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..9f790d40bf7bc60d094a559364985e2eb1ff93ad Binary files /dev/null and b/tasks/ebench/table_top_manip/tighten_nut/034/lmdb/lock.mdb differ diff --git a/tasks/ebench/table_top_manip/tighten_nut/035/lmdb/info.json b/tasks/ebench/table_top_manip/tighten_nut/035/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..5d43edf2c0ff99d33888532d8467ff24556af793 --- /dev/null +++ b/tasks/ebench/table_top_manip/tighten_nut/035/lmdb/info.json @@ -0,0 +1 @@ +{"observation/object_prim_path_map": {"00000000000000000000000000000000": "/World/_scene/obj_table", "00": "/World/_scene/obj_00", "01": "/World/_scene/obj_01"}, "observation/robot_joint_prim_path_map": {"base_link": "/World/_scene/lift2/lift2/lift2/base_link", "wheel1": "/World/_scene/lift2/lift2/lift2/wheel1", "wheel2": "/World/_scene/lift2/lift2/lift2/wheel2", "wheel3": 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0000000000000000000000000000000000000000..5d43edf2c0ff99d33888532d8467ff24556af793 --- /dev/null +++ b/tasks/ebench/table_top_manip/tighten_nut/036/lmdb/info.json @@ -0,0 +1 @@ +{"observation/object_prim_path_map": {"00000000000000000000000000000000": "/World/_scene/obj_table", "00": "/World/_scene/obj_00", "01": "/World/_scene/obj_01"}, "observation/robot_joint_prim_path_map": {"base_link": "/World/_scene/lift2/lift2/lift2/base_link", "wheel1": "/World/_scene/lift2/lift2/lift2/wheel1", "wheel2": "/World/_scene/lift2/lift2/lift2/wheel2", "wheel3": "/World/_scene/lift2/lift2/lift2/wheel3", "body4": "/World/_scene/lift2/lift2/lift2/body4", "h_link5": "/World/_scene/lift2/lift2/lift2/h_link5", "fr_base_link": "/World/_scene/lift2/lift2/lift2/fr/base_link", "fl_base_link": "/World/_scene/lift2/lift2/lift2/fl/base_link", "h_link6": "/World/_scene/lift2/lift2/lift2/h_link6", "fl_link1": "/World/_scene/lift2/lift2/lift2/fl/link1", "fl_link2": "/World/_scene/lift2/lift2/lift2/fl/link2", 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"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/table_top_manip/tighten_nut/036/lmdb/lock.mdb b/tasks/ebench/table_top_manip/tighten_nut/036/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..9f790d40bf7bc60d094a559364985e2eb1ff93ad Binary files /dev/null and b/tasks/ebench/table_top_manip/tighten_nut/036/lmdb/lock.mdb differ diff --git a/tasks/ebench/table_top_manip/tighten_nut/037/lmdb/info.json b/tasks/ebench/table_top_manip/tighten_nut/037/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..5d43edf2c0ff99d33888532d8467ff24556af793 --- /dev/null +++ b/tasks/ebench/table_top_manip/tighten_nut/037/lmdb/info.json @@ -0,0 +1 @@ +{"observation/object_prim_path_map": {"00000000000000000000000000000000": "/World/_scene/obj_table", "00": "/World/_scene/obj_00", "01": "/World/_scene/obj_01"}, "observation/robot_joint_prim_path_map": {"base_link": 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diff --git a/tasks/ebench/table_top_manip/tighten_nut/038/lmdb/info.json b/tasks/ebench/table_top_manip/tighten_nut/038/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..5d43edf2c0ff99d33888532d8467ff24556af793 --- /dev/null +++ b/tasks/ebench/table_top_manip/tighten_nut/038/lmdb/info.json @@ -0,0 +1 @@ +{"observation/object_prim_path_map": {"00000000000000000000000000000000": "/World/_scene/obj_table", "00": "/World/_scene/obj_00", "01": "/World/_scene/obj_01"}, "observation/robot_joint_prim_path_map": {"base_link": "/World/_scene/lift2/lift2/lift2/base_link", "wheel1": "/World/_scene/lift2/lift2/lift2/wheel1", "wheel2": "/World/_scene/lift2/lift2/lift2/wheel2", "wheel3": "/World/_scene/lift2/lift2/lift2/wheel3", "body4": "/World/_scene/lift2/lift2/lift2/body4", "h_link5": "/World/_scene/lift2/lift2/lift2/h_link5", "fr_base_link": "/World/_scene/lift2/lift2/lift2/fr/base_link", "fl_base_link": "/World/_scene/lift2/lift2/lift2/fl/base_link", "h_link6": 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b/tasks/ebench/table_top_manip/tighten_nut/039/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..9f790d40bf7bc60d094a559364985e2eb1ff93ad Binary files /dev/null and b/tasks/ebench/table_top_manip/tighten_nut/039/lmdb/lock.mdb differ diff --git a/tasks/ebench/table_top_manip/tighten_nut/040/lmdb/info.json b/tasks/ebench/table_top_manip/tighten_nut/040/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..5d43edf2c0ff99d33888532d8467ff24556af793 --- /dev/null +++ b/tasks/ebench/table_top_manip/tighten_nut/040/lmdb/info.json @@ -0,0 +1 @@ +{"observation/object_prim_path_map": {"00000000000000000000000000000000": "/World/_scene/obj_table", "00": "/World/_scene/obj_00", "01": "/World/_scene/obj_01"}, "observation/robot_joint_prim_path_map": {"base_link": "/World/_scene/lift2/lift2/lift2/base_link", "wheel1": "/World/_scene/lift2/lift2/lift2/wheel1", "wheel2": "/World/_scene/lift2/lift2/lift2/wheel2", "wheel3": 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0000000000000000000000000000000000000000..5d43edf2c0ff99d33888532d8467ff24556af793 --- /dev/null +++ b/tasks/ebench/table_top_manip/tighten_nut/041/lmdb/info.json @@ -0,0 +1 @@ +{"observation/object_prim_path_map": {"00000000000000000000000000000000": "/World/_scene/obj_table", "00": "/World/_scene/obj_00", "01": "/World/_scene/obj_01"}, "observation/robot_joint_prim_path_map": {"base_link": "/World/_scene/lift2/lift2/lift2/base_link", "wheel1": "/World/_scene/lift2/lift2/lift2/wheel1", "wheel2": "/World/_scene/lift2/lift2/lift2/wheel2", "wheel3": "/World/_scene/lift2/lift2/lift2/wheel3", "body4": "/World/_scene/lift2/lift2/lift2/body4", "h_link5": "/World/_scene/lift2/lift2/lift2/h_link5", "fr_base_link": "/World/_scene/lift2/lift2/lift2/fr/base_link", "fl_base_link": "/World/_scene/lift2/lift2/lift2/fl/base_link", "h_link6": "/World/_scene/lift2/lift2/lift2/h_link6", "fl_link1": "/World/_scene/lift2/lift2/lift2/fl/link1", "fl_link2": "/World/_scene/lift2/lift2/lift2/fl/link2", 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"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/table_top_manip/tighten_nut/041/lmdb/lock.mdb b/tasks/ebench/table_top_manip/tighten_nut/041/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..9f790d40bf7bc60d094a559364985e2eb1ff93ad Binary files /dev/null and b/tasks/ebench/table_top_manip/tighten_nut/041/lmdb/lock.mdb differ diff --git a/tasks/ebench/table_top_manip/tighten_nut/042/lmdb/info.json b/tasks/ebench/table_top_manip/tighten_nut/042/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..5d43edf2c0ff99d33888532d8467ff24556af793 --- /dev/null +++ b/tasks/ebench/table_top_manip/tighten_nut/042/lmdb/info.json @@ -0,0 +1 @@ +{"observation/object_prim_path_map": {"00000000000000000000000000000000": "/World/_scene/obj_table", "00": "/World/_scene/obj_00", "01": "/World/_scene/obj_01"}, "observation/robot_joint_prim_path_map": {"base_link": 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diff --git a/tasks/ebench/table_top_manip/tighten_nut/043/lmdb/info.json b/tasks/ebench/table_top_manip/tighten_nut/043/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..5d43edf2c0ff99d33888532d8467ff24556af793 --- /dev/null +++ b/tasks/ebench/table_top_manip/tighten_nut/043/lmdb/info.json @@ -0,0 +1 @@ +{"observation/object_prim_path_map": {"00000000000000000000000000000000": "/World/_scene/obj_table", "00": "/World/_scene/obj_00", "01": "/World/_scene/obj_01"}, "observation/robot_joint_prim_path_map": {"base_link": "/World/_scene/lift2/lift2/lift2/base_link", "wheel1": "/World/_scene/lift2/lift2/lift2/wheel1", "wheel2": "/World/_scene/lift2/lift2/lift2/wheel2", "wheel3": "/World/_scene/lift2/lift2/lift2/wheel3", "body4": "/World/_scene/lift2/lift2/lift2/body4", "h_link5": "/World/_scene/lift2/lift2/lift2/h_link5", "fr_base_link": "/World/_scene/lift2/lift2/lift2/fr/base_link", "fl_base_link": "/World/_scene/lift2/lift2/lift2/fl/base_link", "h_link6": 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b/tasks/ebench/table_top_manip/tighten_nut/044/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..9f790d40bf7bc60d094a559364985e2eb1ff93ad Binary files /dev/null and b/tasks/ebench/table_top_manip/tighten_nut/044/lmdb/lock.mdb differ diff --git a/tasks/ebench/table_top_manip/tighten_nut/045/lmdb/info.json b/tasks/ebench/table_top_manip/tighten_nut/045/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..5d43edf2c0ff99d33888532d8467ff24556af793 --- /dev/null +++ b/tasks/ebench/table_top_manip/tighten_nut/045/lmdb/info.json @@ -0,0 +1 @@ +{"observation/object_prim_path_map": {"00000000000000000000000000000000": "/World/_scene/obj_table", "00": "/World/_scene/obj_00", "01": "/World/_scene/obj_01"}, "observation/robot_joint_prim_path_map": {"base_link": "/World/_scene/lift2/lift2/lift2/base_link", "wheel1": "/World/_scene/lift2/lift2/lift2/wheel1", "wheel2": "/World/_scene/lift2/lift2/lift2/wheel2", "wheel3": 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0000000000000000000000000000000000000000..5d43edf2c0ff99d33888532d8467ff24556af793 --- /dev/null +++ b/tasks/ebench/table_top_manip/tighten_nut/046/lmdb/info.json @@ -0,0 +1 @@ +{"observation/object_prim_path_map": {"00000000000000000000000000000000": "/World/_scene/obj_table", "00": "/World/_scene/obj_00", "01": "/World/_scene/obj_01"}, "observation/robot_joint_prim_path_map": {"base_link": "/World/_scene/lift2/lift2/lift2/base_link", "wheel1": "/World/_scene/lift2/lift2/lift2/wheel1", "wheel2": "/World/_scene/lift2/lift2/lift2/wheel2", "wheel3": "/World/_scene/lift2/lift2/lift2/wheel3", "body4": "/World/_scene/lift2/lift2/lift2/body4", "h_link5": "/World/_scene/lift2/lift2/lift2/h_link5", "fr_base_link": "/World/_scene/lift2/lift2/lift2/fr/base_link", "fl_base_link": "/World/_scene/lift2/lift2/lift2/fl/base_link", "h_link6": "/World/_scene/lift2/lift2/lift2/h_link6", "fl_link1": "/World/_scene/lift2/lift2/lift2/fl/link1", "fl_link2": "/World/_scene/lift2/lift2/lift2/fl/link2", 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"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/table_top_manip/tighten_nut/046/lmdb/lock.mdb b/tasks/ebench/table_top_manip/tighten_nut/046/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..9f790d40bf7bc60d094a559364985e2eb1ff93ad Binary files /dev/null and b/tasks/ebench/table_top_manip/tighten_nut/046/lmdb/lock.mdb differ diff --git a/tasks/ebench/table_top_manip/tighten_nut/047/lmdb/info.json b/tasks/ebench/table_top_manip/tighten_nut/047/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..5d43edf2c0ff99d33888532d8467ff24556af793 --- /dev/null +++ b/tasks/ebench/table_top_manip/tighten_nut/047/lmdb/info.json @@ -0,0 +1 @@ +{"observation/object_prim_path_map": {"00000000000000000000000000000000": "/World/_scene/obj_table", "00": "/World/_scene/obj_00", "01": "/World/_scene/obj_01"}, "observation/robot_joint_prim_path_map": {"base_link": 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diff --git a/tasks/ebench/table_top_manip/tighten_nut/048/lmdb/info.json b/tasks/ebench/table_top_manip/tighten_nut/048/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..5d43edf2c0ff99d33888532d8467ff24556af793 --- /dev/null +++ b/tasks/ebench/table_top_manip/tighten_nut/048/lmdb/info.json @@ -0,0 +1 @@ +{"observation/object_prim_path_map": {"00000000000000000000000000000000": "/World/_scene/obj_table", "00": "/World/_scene/obj_00", "01": "/World/_scene/obj_01"}, "observation/robot_joint_prim_path_map": {"base_link": "/World/_scene/lift2/lift2/lift2/base_link", "wheel1": "/World/_scene/lift2/lift2/lift2/wheel1", "wheel2": "/World/_scene/lift2/lift2/lift2/wheel2", "wheel3": "/World/_scene/lift2/lift2/lift2/wheel3", "body4": "/World/_scene/lift2/lift2/lift2/body4", "h_link5": "/World/_scene/lift2/lift2/lift2/h_link5", "fr_base_link": "/World/_scene/lift2/lift2/lift2/fr/base_link", "fl_base_link": "/World/_scene/lift2/lift2/lift2/fl/base_link", "h_link6": 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{"00000000000000000000000000000000": "/World/_scene/obj_table", "00": "/World/_scene/obj_00", "01": "/World/_scene/obj_01"}, "observation/robot_joint_prim_path_map": {"base_link": "/World/_scene/lift2/lift2/lift2/base_link", "wheel1": "/World/_scene/lift2/lift2/lift2/wheel1", "wheel2": "/World/_scene/lift2/lift2/lift2/wheel2", "wheel3": "/World/_scene/lift2/lift2/lift2/wheel3", "body4": "/World/_scene/lift2/lift2/lift2/body4", "h_link5": "/World/_scene/lift2/lift2/lift2/h_link5", "fr_base_link": "/World/_scene/lift2/lift2/lift2/fr/base_link", "fl_base_link": "/World/_scene/lift2/lift2/lift2/fl/base_link", "h_link6": "/World/_scene/lift2/lift2/lift2/h_link6", "fl_link1": "/World/_scene/lift2/lift2/lift2/fl/link1", "fl_link2": "/World/_scene/lift2/lift2/lift2/fl/link2", "fl_link3": "/World/_scene/lift2/lift2/lift2/fl/link3", "fl_link4": "/World/_scene/lift2/lift2/lift2/fl/link4", "fl_link5": "/World/_scene/lift2/lift2/lift2/fl/link5", "fl_link6": 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0000000000000000000000000000000000000000..5d43edf2c0ff99d33888532d8467ff24556af793 --- /dev/null +++ b/tasks/ebench/table_top_manip/tighten_nut/051/lmdb/info.json @@ -0,0 +1 @@ +{"observation/object_prim_path_map": {"00000000000000000000000000000000": "/World/_scene/obj_table", "00": "/World/_scene/obj_00", "01": "/World/_scene/obj_01"}, "observation/robot_joint_prim_path_map": {"base_link": "/World/_scene/lift2/lift2/lift2/base_link", "wheel1": "/World/_scene/lift2/lift2/lift2/wheel1", "wheel2": "/World/_scene/lift2/lift2/lift2/wheel2", "wheel3": "/World/_scene/lift2/lift2/lift2/wheel3", "body4": "/World/_scene/lift2/lift2/lift2/body4", "h_link5": "/World/_scene/lift2/lift2/lift2/h_link5", "fr_base_link": "/World/_scene/lift2/lift2/lift2/fr/base_link", "fl_base_link": "/World/_scene/lift2/lift2/lift2/fl/base_link", "h_link6": "/World/_scene/lift2/lift2/lift2/h_link6", "fl_link1": "/World/_scene/lift2/lift2/lift2/fl/link1", "fl_link2": "/World/_scene/lift2/lift2/lift2/fl/link2", 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"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/table_top_manip/tighten_nut/051/lmdb/lock.mdb b/tasks/ebench/table_top_manip/tighten_nut/051/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..9f790d40bf7bc60d094a559364985e2eb1ff93ad Binary files /dev/null and b/tasks/ebench/table_top_manip/tighten_nut/051/lmdb/lock.mdb differ diff --git a/tasks/ebench/table_top_manip/tighten_nut/052/lmdb/info.json b/tasks/ebench/table_top_manip/tighten_nut/052/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..5d43edf2c0ff99d33888532d8467ff24556af793 --- /dev/null +++ b/tasks/ebench/table_top_manip/tighten_nut/052/lmdb/info.json @@ -0,0 +1 @@ +{"observation/object_prim_path_map": {"00000000000000000000000000000000": "/World/_scene/obj_table", "00": "/World/_scene/obj_00", "01": "/World/_scene/obj_01"}, "observation/robot_joint_prim_path_map": {"base_link": 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diff --git a/tasks/ebench/table_top_manip/tighten_nut/053/lmdb/info.json b/tasks/ebench/table_top_manip/tighten_nut/053/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..5d43edf2c0ff99d33888532d8467ff24556af793 --- /dev/null +++ b/tasks/ebench/table_top_manip/tighten_nut/053/lmdb/info.json @@ -0,0 +1 @@ +{"observation/object_prim_path_map": {"00000000000000000000000000000000": "/World/_scene/obj_table", "00": "/World/_scene/obj_00", "01": "/World/_scene/obj_01"}, "observation/robot_joint_prim_path_map": {"base_link": "/World/_scene/lift2/lift2/lift2/base_link", "wheel1": "/World/_scene/lift2/lift2/lift2/wheel1", "wheel2": "/World/_scene/lift2/lift2/lift2/wheel2", "wheel3": "/World/_scene/lift2/lift2/lift2/wheel3", "body4": "/World/_scene/lift2/lift2/lift2/body4", "h_link5": "/World/_scene/lift2/lift2/lift2/h_link5", "fr_base_link": "/World/_scene/lift2/lift2/lift2/fr/base_link", "fl_base_link": "/World/_scene/lift2/lift2/lift2/fl/base_link", "h_link6": 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{"00000000000000000000000000000000": "/World/_scene/obj_table", "00": "/World/_scene/obj_00", "01": "/World/_scene/obj_01"}, "observation/robot_joint_prim_path_map": {"base_link": "/World/_scene/lift2/lift2/lift2/base_link", "wheel1": "/World/_scene/lift2/lift2/lift2/wheel1", "wheel2": "/World/_scene/lift2/lift2/lift2/wheel2", "wheel3": "/World/_scene/lift2/lift2/lift2/wheel3", "body4": "/World/_scene/lift2/lift2/lift2/body4", "h_link5": "/World/_scene/lift2/lift2/lift2/h_link5", "fr_base_link": "/World/_scene/lift2/lift2/lift2/fr/base_link", "fl_base_link": "/World/_scene/lift2/lift2/lift2/fl/base_link", "h_link6": "/World/_scene/lift2/lift2/lift2/h_link6", "fl_link1": "/World/_scene/lift2/lift2/lift2/fl/link1", "fl_link2": "/World/_scene/lift2/lift2/lift2/fl/link2", "fl_link3": "/World/_scene/lift2/lift2/lift2/fl/link3", "fl_link4": "/World/_scene/lift2/lift2/lift2/fl/link4", "fl_link5": "/World/_scene/lift2/lift2/lift2/fl/link5", "fl_link6": 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b/tasks/ebench/table_top_manip/tighten_nut/054/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..9f790d40bf7bc60d094a559364985e2eb1ff93ad Binary files /dev/null and b/tasks/ebench/table_top_manip/tighten_nut/054/lmdb/lock.mdb differ diff --git a/tasks/ebench/table_top_manip/tighten_nut/055/lmdb/info.json b/tasks/ebench/table_top_manip/tighten_nut/055/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..5d43edf2c0ff99d33888532d8467ff24556af793 --- /dev/null +++ b/tasks/ebench/table_top_manip/tighten_nut/055/lmdb/info.json @@ -0,0 +1 @@ +{"observation/object_prim_path_map": {"00000000000000000000000000000000": "/World/_scene/obj_table", "00": "/World/_scene/obj_00", "01": "/World/_scene/obj_01"}, "observation/robot_joint_prim_path_map": {"base_link": "/World/_scene/lift2/lift2/lift2/base_link", "wheel1": "/World/_scene/lift2/lift2/lift2/wheel1", "wheel2": "/World/_scene/lift2/lift2/lift2/wheel2", "wheel3": 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0000000000000000000000000000000000000000..5d43edf2c0ff99d33888532d8467ff24556af793 --- /dev/null +++ b/tasks/ebench/table_top_manip/tighten_nut/056/lmdb/info.json @@ -0,0 +1 @@ +{"observation/object_prim_path_map": {"00000000000000000000000000000000": "/World/_scene/obj_table", "00": "/World/_scene/obj_00", "01": "/World/_scene/obj_01"}, "observation/robot_joint_prim_path_map": {"base_link": "/World/_scene/lift2/lift2/lift2/base_link", "wheel1": "/World/_scene/lift2/lift2/lift2/wheel1", "wheel2": "/World/_scene/lift2/lift2/lift2/wheel2", "wheel3": "/World/_scene/lift2/lift2/lift2/wheel3", "body4": "/World/_scene/lift2/lift2/lift2/body4", "h_link5": "/World/_scene/lift2/lift2/lift2/h_link5", "fr_base_link": "/World/_scene/lift2/lift2/lift2/fr/base_link", "fl_base_link": "/World/_scene/lift2/lift2/lift2/fl/base_link", "h_link6": "/World/_scene/lift2/lift2/lift2/h_link6", "fl_link1": "/World/_scene/lift2/lift2/lift2/fl/link1", "fl_link2": "/World/_scene/lift2/lift2/lift2/fl/link2", 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"observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/table_top_manip/tighten_nut/056/lmdb/lock.mdb b/tasks/ebench/table_top_manip/tighten_nut/056/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..9f790d40bf7bc60d094a559364985e2eb1ff93ad Binary files /dev/null and b/tasks/ebench/table_top_manip/tighten_nut/056/lmdb/lock.mdb differ diff --git a/tasks/ebench/table_top_manip/tighten_nut/057/lmdb/info.json b/tasks/ebench/table_top_manip/tighten_nut/057/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..5d43edf2c0ff99d33888532d8467ff24556af793 --- /dev/null +++ b/tasks/ebench/table_top_manip/tighten_nut/057/lmdb/info.json @@ -0,0 +1 @@ +{"observation/object_prim_path_map": {"00000000000000000000000000000000": "/World/_scene/obj_table", "00": "/World/_scene/obj_00", "01": "/World/_scene/obj_01"}, "observation/robot_joint_prim_path_map": {"base_link": 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diff --git a/tasks/ebench/table_top_manip/tighten_nut/058/lmdb/info.json b/tasks/ebench/table_top_manip/tighten_nut/058/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..5d43edf2c0ff99d33888532d8467ff24556af793 --- /dev/null +++ b/tasks/ebench/table_top_manip/tighten_nut/058/lmdb/info.json @@ -0,0 +1 @@ +{"observation/object_prim_path_map": {"00000000000000000000000000000000": "/World/_scene/obj_table", "00": "/World/_scene/obj_00", "01": "/World/_scene/obj_01"}, "observation/robot_joint_prim_path_map": {"base_link": "/World/_scene/lift2/lift2/lift2/base_link", "wheel1": "/World/_scene/lift2/lift2/lift2/wheel1", "wheel2": "/World/_scene/lift2/lift2/lift2/wheel2", "wheel3": "/World/_scene/lift2/lift2/lift2/wheel3", "body4": "/World/_scene/lift2/lift2/lift2/body4", "h_link5": "/World/_scene/lift2/lift2/lift2/h_link5", "fr_base_link": "/World/_scene/lift2/lift2/lift2/fr/base_link", "fl_base_link": "/World/_scene/lift2/lift2/lift2/fl/base_link", "h_link6": 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{"00000000000000000000000000000000": "/World/_scene/obj_table", "00": "/World/_scene/obj_00", "01": "/World/_scene/obj_01"}, "observation/robot_joint_prim_path_map": {"base_link": "/World/_scene/lift2/lift2/lift2/base_link", "wheel1": "/World/_scene/lift2/lift2/lift2/wheel1", "wheel2": "/World/_scene/lift2/lift2/lift2/wheel2", "wheel3": "/World/_scene/lift2/lift2/lift2/wheel3", "body4": "/World/_scene/lift2/lift2/lift2/body4", "h_link5": "/World/_scene/lift2/lift2/lift2/h_link5", "fr_base_link": "/World/_scene/lift2/lift2/lift2/fr/base_link", "fl_base_link": "/World/_scene/lift2/lift2/lift2/fl/base_link", "h_link6": "/World/_scene/lift2/lift2/lift2/h_link6", "fl_link1": "/World/_scene/lift2/lift2/lift2/fl/link1", "fl_link2": "/World/_scene/lift2/lift2/lift2/fl/link2", "fl_link3": "/World/_scene/lift2/lift2/lift2/fl/link3", "fl_link4": "/World/_scene/lift2/lift2/lift2/fl/link4", "fl_link5": "/World/_scene/lift2/lift2/lift2/fl/link5", "fl_link6": 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b/tasks/ebench/table_top_manip/tighten_nut/059/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..9f790d40bf7bc60d094a559364985e2eb1ff93ad Binary files /dev/null and b/tasks/ebench/table_top_manip/tighten_nut/059/lmdb/lock.mdb differ diff --git a/tasks/ebench/table_top_manip/tighten_nut_val_train/000/lmdb/info.json b/tasks/ebench/table_top_manip/tighten_nut_val_train/000/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..5d43edf2c0ff99d33888532d8467ff24556af793 --- /dev/null +++ b/tasks/ebench/table_top_manip/tighten_nut_val_train/000/lmdb/info.json @@ -0,0 +1 @@ +{"observation/object_prim_path_map": {"00000000000000000000000000000000": "/World/_scene/obj_table", "00": "/World/_scene/obj_00", "01": "/World/_scene/obj_01"}, "observation/robot_joint_prim_path_map": {"base_link": "/World/_scene/lift2/lift2/lift2/base_link", "wheel1": "/World/_scene/lift2/lift2/lift2/wheel1", "wheel2": 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"fr_link4": "/World/_scene/lift2/lift2/lift2/fr/link4", "fr_link5": "/World/_scene/lift2/lift2/lift2/fr/link5", "fr_link6": "/World/_scene/lift2/lift2/lift2/fr/link6", "fr_link7": "/World/_scene/lift2/lift2/lift2/fr/link7", "fr_link8": "/World/_scene/lift2/lift2/lift2/fr/link8", "dummy_base_x": "/World/_scene/lift2/lift2/lift2/dummy_base_x", "dummy_base_y": "/World/_scene/lift2/lift2/lift2/dummy_base_y", "dummy_base_rotate": "/World/_scene/lift2/lift2/lift2/dummy_base_rotate"}, "observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/table_top_manip/tighten_nut_val_train/000/lmdb/lock.mdb b/tasks/ebench/table_top_manip/tighten_nut_val_train/000/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..9f790d40bf7bc60d094a559364985e2eb1ff93ad Binary files /dev/null and b/tasks/ebench/table_top_manip/tighten_nut_val_train/000/lmdb/lock.mdb differ diff --git a/tasks/ebench/table_top_manip/tighten_nut_val_train/001/lmdb/info.json b/tasks/ebench/table_top_manip/tighten_nut_val_train/001/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..5d43edf2c0ff99d33888532d8467ff24556af793 --- /dev/null +++ b/tasks/ebench/table_top_manip/tighten_nut_val_train/001/lmdb/info.json @@ -0,0 +1 @@ +{"observation/object_prim_path_map": {"00000000000000000000000000000000": "/World/_scene/obj_table", "00": "/World/_scene/obj_00", "01": "/World/_scene/obj_01"}, "observation/robot_joint_prim_path_map": {"base_link": "/World/_scene/lift2/lift2/lift2/base_link", "wheel1": "/World/_scene/lift2/lift2/lift2/wheel1", "wheel2": "/World/_scene/lift2/lift2/lift2/wheel2", "wheel3": "/World/_scene/lift2/lift2/lift2/wheel3", "body4": "/World/_scene/lift2/lift2/lift2/body4", "h_link5": "/World/_scene/lift2/lift2/lift2/h_link5", "fr_base_link": "/World/_scene/lift2/lift2/lift2/fr/base_link", "fl_base_link": "/World/_scene/lift2/lift2/lift2/fl/base_link", "h_link6": "/World/_scene/lift2/lift2/lift2/h_link6", "fl_link1": "/World/_scene/lift2/lift2/lift2/fl/link1", "fl_link2": "/World/_scene/lift2/lift2/lift2/fl/link2", "fl_link3": "/World/_scene/lift2/lift2/lift2/fl/link3", "fl_link4": "/World/_scene/lift2/lift2/lift2/fl/link4", "fl_link5": "/World/_scene/lift2/lift2/lift2/fl/link5", "fl_link6": "/World/_scene/lift2/lift2/lift2/fl/link6", "fl_link7": "/World/_scene/lift2/lift2/lift2/fl/link7", "fl_link8": "/World/_scene/lift2/lift2/lift2/fl/link8", "fr_link1": "/World/_scene/lift2/lift2/lift2/fr/link1", "fr_link2": "/World/_scene/lift2/lift2/lift2/fr/link2", "fr_link3": "/World/_scene/lift2/lift2/lift2/fr/link3", "fr_link4": "/World/_scene/lift2/lift2/lift2/fr/link4", "fr_link5": "/World/_scene/lift2/lift2/lift2/fr/link5", "fr_link6": "/World/_scene/lift2/lift2/lift2/fr/link6", "fr_link7": "/World/_scene/lift2/lift2/lift2/fr/link7", "fr_link8": "/World/_scene/lift2/lift2/lift2/fr/link8", "dummy_base_x": "/World/_scene/lift2/lift2/lift2/dummy_base_x", "dummy_base_y": "/World/_scene/lift2/lift2/lift2/dummy_base_y", "dummy_base_rotate": "/World/_scene/lift2/lift2/lift2/dummy_base_rotate"}, "observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/table_top_manip/tighten_nut_val_train/001/lmdb/lock.mdb b/tasks/ebench/table_top_manip/tighten_nut_val_train/001/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..9f790d40bf7bc60d094a559364985e2eb1ff93ad Binary files /dev/null and b/tasks/ebench/table_top_manip/tighten_nut_val_train/001/lmdb/lock.mdb differ diff --git a/tasks/ebench/table_top_manip/tighten_nut_val_train/002/lmdb/info.json b/tasks/ebench/table_top_manip/tighten_nut_val_train/002/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..5d43edf2c0ff99d33888532d8467ff24556af793 --- /dev/null +++ b/tasks/ebench/table_top_manip/tighten_nut_val_train/002/lmdb/info.json @@ -0,0 +1 @@ +{"observation/object_prim_path_map": {"00000000000000000000000000000000": "/World/_scene/obj_table", "00": "/World/_scene/obj_00", "01": "/World/_scene/obj_01"}, "observation/robot_joint_prim_path_map": {"base_link": "/World/_scene/lift2/lift2/lift2/base_link", "wheel1": "/World/_scene/lift2/lift2/lift2/wheel1", "wheel2": "/World/_scene/lift2/lift2/lift2/wheel2", "wheel3": "/World/_scene/lift2/lift2/lift2/wheel3", "body4": "/World/_scene/lift2/lift2/lift2/body4", "h_link5": "/World/_scene/lift2/lift2/lift2/h_link5", "fr_base_link": "/World/_scene/lift2/lift2/lift2/fr/base_link", "fl_base_link": "/World/_scene/lift2/lift2/lift2/fl/base_link", "h_link6": "/World/_scene/lift2/lift2/lift2/h_link6", "fl_link1": "/World/_scene/lift2/lift2/lift2/fl/link1", "fl_link2": "/World/_scene/lift2/lift2/lift2/fl/link2", "fl_link3": "/World/_scene/lift2/lift2/lift2/fl/link3", "fl_link4": "/World/_scene/lift2/lift2/lift2/fl/link4", "fl_link5": "/World/_scene/lift2/lift2/lift2/fl/link5", "fl_link6": "/World/_scene/lift2/lift2/lift2/fl/link6", "fl_link7": "/World/_scene/lift2/lift2/lift2/fl/link7", "fl_link8": "/World/_scene/lift2/lift2/lift2/fl/link8", "fr_link1": "/World/_scene/lift2/lift2/lift2/fr/link1", "fr_link2": "/World/_scene/lift2/lift2/lift2/fr/link2", "fr_link3": "/World/_scene/lift2/lift2/lift2/fr/link3", "fr_link4": "/World/_scene/lift2/lift2/lift2/fr/link4", "fr_link5": "/World/_scene/lift2/lift2/lift2/fr/link5", "fr_link6": "/World/_scene/lift2/lift2/lift2/fr/link6", "fr_link7": "/World/_scene/lift2/lift2/lift2/fr/link7", "fr_link8": "/World/_scene/lift2/lift2/lift2/fr/link8", "dummy_base_x": "/World/_scene/lift2/lift2/lift2/dummy_base_x", "dummy_base_y": "/World/_scene/lift2/lift2/lift2/dummy_base_y", "dummy_base_rotate": "/World/_scene/lift2/lift2/lift2/dummy_base_rotate"}, "observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/table_top_manip/tighten_nut_val_train/002/lmdb/lock.mdb b/tasks/ebench/table_top_manip/tighten_nut_val_train/002/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..9f790d40bf7bc60d094a559364985e2eb1ff93ad Binary files /dev/null and b/tasks/ebench/table_top_manip/tighten_nut_val_train/002/lmdb/lock.mdb differ diff --git a/tasks/ebench/table_top_manip/tighten_nut_val_train/003/lmdb/info.json b/tasks/ebench/table_top_manip/tighten_nut_val_train/003/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..5d43edf2c0ff99d33888532d8467ff24556af793 --- /dev/null +++ b/tasks/ebench/table_top_manip/tighten_nut_val_train/003/lmdb/info.json @@ -0,0 +1 @@ +{"observation/object_prim_path_map": {"00000000000000000000000000000000": "/World/_scene/obj_table", "00": "/World/_scene/obj_00", "01": "/World/_scene/obj_01"}, "observation/robot_joint_prim_path_map": {"base_link": "/World/_scene/lift2/lift2/lift2/base_link", "wheel1": "/World/_scene/lift2/lift2/lift2/wheel1", "wheel2": "/World/_scene/lift2/lift2/lift2/wheel2", "wheel3": "/World/_scene/lift2/lift2/lift2/wheel3", "body4": "/World/_scene/lift2/lift2/lift2/body4", "h_link5": "/World/_scene/lift2/lift2/lift2/h_link5", "fr_base_link": "/World/_scene/lift2/lift2/lift2/fr/base_link", "fl_base_link": "/World/_scene/lift2/lift2/lift2/fl/base_link", "h_link6": "/World/_scene/lift2/lift2/lift2/h_link6", "fl_link1": "/World/_scene/lift2/lift2/lift2/fl/link1", "fl_link2": "/World/_scene/lift2/lift2/lift2/fl/link2", "fl_link3": "/World/_scene/lift2/lift2/lift2/fl/link3", "fl_link4": "/World/_scene/lift2/lift2/lift2/fl/link4", "fl_link5": "/World/_scene/lift2/lift2/lift2/fl/link5", "fl_link6": "/World/_scene/lift2/lift2/lift2/fl/link6", "fl_link7": "/World/_scene/lift2/lift2/lift2/fl/link7", "fl_link8": "/World/_scene/lift2/lift2/lift2/fl/link8", "fr_link1": "/World/_scene/lift2/lift2/lift2/fr/link1", "fr_link2": "/World/_scene/lift2/lift2/lift2/fr/link2", "fr_link3": "/World/_scene/lift2/lift2/lift2/fr/link3", "fr_link4": "/World/_scene/lift2/lift2/lift2/fr/link4", "fr_link5": "/World/_scene/lift2/lift2/lift2/fr/link5", "fr_link6": "/World/_scene/lift2/lift2/lift2/fr/link6", "fr_link7": "/World/_scene/lift2/lift2/lift2/fr/link7", "fr_link8": "/World/_scene/lift2/lift2/lift2/fr/link8", "dummy_base_x": "/World/_scene/lift2/lift2/lift2/dummy_base_x", "dummy_base_y": "/World/_scene/lift2/lift2/lift2/dummy_base_y", "dummy_base_rotate": "/World/_scene/lift2/lift2/lift2/dummy_base_rotate"}, "observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/table_top_manip/tighten_nut_val_train/003/lmdb/lock.mdb b/tasks/ebench/table_top_manip/tighten_nut_val_train/003/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..9f790d40bf7bc60d094a559364985e2eb1ff93ad Binary files /dev/null and b/tasks/ebench/table_top_manip/tighten_nut_val_train/003/lmdb/lock.mdb differ diff --git a/tasks/ebench/table_top_manip/tighten_nut_val_train/004/lmdb/info.json b/tasks/ebench/table_top_manip/tighten_nut_val_train/004/lmdb/info.json new file mode 100644 index 0000000000000000000000000000000000000000..5d43edf2c0ff99d33888532d8467ff24556af793 --- /dev/null +++ b/tasks/ebench/table_top_manip/tighten_nut_val_train/004/lmdb/info.json @@ -0,0 +1 @@ +{"observation/object_prim_path_map": {"00000000000000000000000000000000": "/World/_scene/obj_table", "00": "/World/_scene/obj_00", "01": "/World/_scene/obj_01"}, "observation/robot_joint_prim_path_map": {"base_link": "/World/_scene/lift2/lift2/lift2/base_link", "wheel1": "/World/_scene/lift2/lift2/lift2/wheel1", "wheel2": "/World/_scene/lift2/lift2/lift2/wheel2", "wheel3": "/World/_scene/lift2/lift2/lift2/wheel3", "body4": "/World/_scene/lift2/lift2/lift2/body4", "h_link5": "/World/_scene/lift2/lift2/lift2/h_link5", "fr_base_link": "/World/_scene/lift2/lift2/lift2/fr/base_link", "fl_base_link": "/World/_scene/lift2/lift2/lift2/fl/base_link", "h_link6": "/World/_scene/lift2/lift2/lift2/h_link6", "fl_link1": "/World/_scene/lift2/lift2/lift2/fl/link1", "fl_link2": "/World/_scene/lift2/lift2/lift2/fl/link2", "fl_link3": "/World/_scene/lift2/lift2/lift2/fl/link3", "fl_link4": "/World/_scene/lift2/lift2/lift2/fl/link4", "fl_link5": "/World/_scene/lift2/lift2/lift2/fl/link5", "fl_link6": "/World/_scene/lift2/lift2/lift2/fl/link6", "fl_link7": "/World/_scene/lift2/lift2/lift2/fl/link7", "fl_link8": "/World/_scene/lift2/lift2/lift2/fl/link8", "fr_link1": "/World/_scene/lift2/lift2/lift2/fr/link1", "fr_link2": "/World/_scene/lift2/lift2/lift2/fr/link2", "fr_link3": "/World/_scene/lift2/lift2/lift2/fr/link3", "fr_link4": "/World/_scene/lift2/lift2/lift2/fr/link4", "fr_link5": "/World/_scene/lift2/lift2/lift2/fr/link5", "fr_link6": "/World/_scene/lift2/lift2/lift2/fr/link6", "fr_link7": "/World/_scene/lift2/lift2/lift2/fr/link7", "fr_link8": "/World/_scene/lift2/lift2/lift2/fr/link8", "dummy_base_x": "/World/_scene/lift2/lift2/lift2/dummy_base_x", "dummy_base_y": "/World/_scene/lift2/lift2/lift2/dummy_base_y", "dummy_base_rotate": "/World/_scene/lift2/lift2/lift2/dummy_base_rotate"}, "observation/articulation_mapping": {}} \ No newline at end of file diff --git a/tasks/ebench/table_top_manip/tighten_nut_val_train/004/lmdb/lock.mdb b/tasks/ebench/table_top_manip/tighten_nut_val_train/004/lmdb/lock.mdb new file mode 100644 index 0000000000000000000000000000000000000000..9f790d40bf7bc60d094a559364985e2eb1ff93ad Binary files /dev/null and b/tasks/ebench/table_top_manip/tighten_nut_val_train/004/lmdb/lock.mdb differ