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G1_120s/G1_120s.urdf

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+<?xml version="1.0" ?>
+<!-- =================================================================================== -->
+<!-- |    This document was autogenerated by xacro from urdf/genie.robot.xacro         | -->
+<!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                                 | -->
+<!-- =================================================================================== -->
+<robot name="genie">
+  <!-- Index -->
+  <!-- body: [G1, G2] -->
+  <!-- gripper: [dummy_hand, omnipicker, 120s, roh, skillhands6] -->
+  <!-- <xacro:arg name="robot_model" default="G1" />
+  <xacro:arg name="robot_model" default="G1" /> -->
+  <!-- robot -->
+  <!-- Material Definition -->
+  <material name="black">
+    <color rgba="0.0 0.0 0.0 1.0"/>
+  </material>
+  <material name="blue">
+    <color rgba="0.0 0.0 0.8 1.0"/>
+  </material>
+  <material name="green">
+    <color rgba="0.0 1.0 0.0 1.0"/>
+  </material>
+  <material name="grey">
+    <color rgba="0.2 0.2 0.2 1.0"/>
+  </material>
+  <material name="orange">
+    <color rgba="1.0 0.4235294117647059 0.0392156862745098 1.0"/>
+  </material>
+  <material name="brown">
+    <color rgba="0.8705882352941177 0.8117647058823529 0.7647058823529411 1.0"/>
+  </material>
+  <material name="red">
+    <color rgba="0.8 0.0 0.0 1.0"/>
+  </material>
+  <material name="white">
+    <color rgba="1.0 1.0 1.0 1.0"/>
+  </material>
+  <!-- transparent is not working properly -->
+  <material name="transparent">
+    <color rgba="1.0 1.0 1.0 0.999"/>
+  </material>
+  <material name="default">
+    <color rgba="0.752941176470588 0.752941176470588 0.752941176470588 1"/>
+  </material>
+  <!-- links -->
+  <link name="base_link">
+    <inertial>
+      <origin rpy="0.0 0.0 0.0" xyz="-0.0134486971267798 0.00152103941353612 -0.0320076754329413"/>
+      <mass value="23.2085382238952"/>
+      <inertia ixx="0.386955641760608" ixy="0.000135417314593726" ixz="0.00669301645720665" iyy="0.366800407621218" iyz="0.000105713634260505" izz="0.546852919828475"/>
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="package://genie_robot_description/meshes/G1/base_link.fbx"/>
+      </geometry>
+      <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
+    </visual>
+    <!-- <collision>
+        <origin
+          rpy="0.0 0.0 0.0"
+          xyz="-0.10913086 0.0 0.51171875" />
+        <geometry>
+          <box size="0.29833984 0.3376392 1.0" />
+        </geometry>
+      </collision>
+      <collision>
+        <origin
+          rpy="0.0 0.0 0.0"
+          xyz="0.0 0.0 0.15" />
+        <geometry>
+          <box size="0.5996094 0.449 0.30273438" />
+        </geometry>
+      </collision> -->
+  </link>
+  <link name="body_link1">
+    <inertial>
+      <origin rpy="0.0 0.0 0.0" xyz="0.0338351537064605 -0.00248044044451858 0.000838431095422365"/>
+      <mass value="3.26275452360108"/>
+      <inertia ixx="0.0128301877197417" ixy="8.24967996575627e-06" ixz="1.38254543337324e-05" iyy="0.006104110250297" iyz="-7.99392548994692e-06" izz="0.0111721084996867"/>
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="package://genie_robot_description/meshes/G1/body_link1.fbx"/>
+      </geometry>
+      <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
+    </visual>
+    <!-- <collision>
+        <origin
+          rpy="0.0 0.0 0.0"
+          xyz="0.10278320000000002 0.1 -0.013671875" />
+        <geometry>
+          <box size="0.16064453 0.05555534399999999 0.1328125" />
+        </geometry>
+      </collision>
+      <collision>
+        <origin
+          rpy="0.0 0.0 0.0"
+          xyz="0.10180664 -0.1 0.0" />
+        <geometry>
+          <box size="0.16259765999999998 0.04375648500000001 0.16015625" />
+        </geometry>
+      </collision> -->
+  </link>
+  <link name="body_link2">
+    <inertial>
+      <origin rpy="0.0 0.0 0.0" xyz="0.193733558855111 -0.000484180179482319 -0.00124011422952511"/>
+      <mass value="7.53199207979272"/>
+      <inertia ixx="0.016546682835947" ixy="0.000274441382484697" ixz="0.00102757387076422" iyy="0.0445441227006132" iyz="-0.000236858278708531" izz="0.0402036337794082"/>
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="package://genie_robot_description/meshes/G1/body_link2.fbx"/>
+      </geometry>
+      <origin rpy="0.0 0.0 -1.5707963267948966" xyz="0.0 0.0 0.0"/>
+    </visual>
+    <!-- <collision>
+        <origin
+          rpy="0 0 0"
+          xyz="0.0068359375 -0.00034356117 0.0" />
+        <geometry>
+          <cylinder radius="0.09662318" length="0.08697056999999997" />
+        </geometry>
+      </collision>
+      <collision>
+        <origin
+          xyz="0.0068359375 -0.00034356117 0.043485284999999985" />
+        <geometry>
+          <sphere radius="0.09662318" />
+        </geometry>
+      </collision>
+      <collision>
+        <origin
+          xyz="0.0068359375 -0.00034356117 -0.043485284999999985" />
+        <geometry>
+          <sphere radius="0.09662318" />
+        </geometry>
+      </collision>
+      <collision>
+        <origin
+          rpy="0.0 0.0 -${PI_2}"
+          xyz="0.008 -0.248 0.0" />
+        <geometry>
+          <box size="0.34570312 0.18107724 0.3125" />
+        </geometry>
+      </collision> -->
+  </link>
+  <link name="head_link1">
+    <inertial>
+      <origin rpy="0.0 0.0 0.0" xyz="0.0446068140025754 0.00241753143645124 0.0528373754603559"/>
+      <mass value="0.414342871921048"/>
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+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="package://genie_robot_description/meshes/G1/head_link1.fbx"/>
+      </geometry>
+      <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
+    </visual>
+  </link>
+  <link name="head_link2">
+    <inertial>
+      <origin rpy="0.0 0.0 0.0" xyz="0.0257009265816389 0.0316254080188787 -3.77390122592164e-05"/>
+      <mass value="0.707063977171202"/>
+      <inertia ixx="0.00205409595373573" ixy="0.000347730118005016" ixz="-2.13857752451204e-06" iyy="0.00200357281313449" iyz="5.16150600423908e-08" izz="0.00184999028444405"/>
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="package://genie_robot_description/meshes/G1/head_link2.fbx"/>
+      </geometry>
+      <origin rpy="-3.141592653589793 0.0 0.0" xyz="0.0 0.0 0.0"/>
+    </visual>
+    <!-- <collision>
+        <geometry>
+          <sphere radius="0.11257068650657154" />
+        </geometry>
+        <origin
+          xyz="0.011500973396434619 -0.0252600143348118 0.0008537154007319386"
+          rpy="0.0 0.0 0.0" />
+      </collision> -->
+  </link>
+  <link name="arm_base_link"/>
+  <link name="arm_l_base_link">
+    <inertial>
+      <origin rpy="0.0 0.0 0.0" xyz="-0.00020641 0.00057488 0.032296"/>
+      <mass value="0.37595"/>
+      <inertia ixx="0.00024335" ixy="1.2188e-06" ixz="-2.4281e-06" iyy="0.00024039" iyz="6.6932e-06" izz="0.00032195"/>
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="package://genie_robot_description/meshes/G1/arm_l_base_link.fbx"/>
+      </geometry>
+      <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
+    </visual>
+    <!-- <collision>
+        <geometry>
+          <cylinder radius="0.05426921699310094" length="0.09134995751082897" />
+        </geometry>
+        <origin
+          xyz="-0.0017106435846521925 0.0013720927967423996 0.02822502050548792"
+          rpy="0.0 0.0 0.0" />
+      </collision> -->
+  </link>
+  <link name="arm_r_base_link">
+    <inertial>
+      <origin rpy="0.0 0.0 0.0" xyz="0.00020641 -0.00057488 0.034396"/>
+      <mass value="0.37595"/>
+      <inertia ixx="0.00024335" ixy="1.2188e-06" ixz="2.4281e-06" iyy="0.00024039" iyz="-6.6932e-06" izz="0.00032195"/>
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="package://genie_robot_description/meshes/G1/arm_r_base_link.fbx"/>
+      </geometry>
+      <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
+    </visual>
+    <!-- <collision>
+        <geometry>
+          <cylinder radius="0.05447215073540005" length="0.0913499565795064" />
+        </geometry>
+        <origin
+          xyz="0.001163549527588341 -0.0020492302944608923 0.030325019266456366"
+          rpy="0.0 0.0 0.0" />
+      </collision> -->
+  </link>
+  <!-- joints waist -->
+  <joint name="idx01_body_joint1" type="prismatic">
+    <parent link="base_link"/>
+    <child link="body_link1"/>
+    <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.6485"/>
+    <axis xyz="0.0 0.0 1.0"/>
+    <limit effort="100.0" lower="0.0" upper="0.55" velocity="0.1"/>
+  </joint>
+  <joint name="idx02_body_joint2" type="revolute">
+    <parent link="body_link1"/>
+    <child link="body_link2"/>
+    <origin rpy="-1.5707963267948966 0.0 0.0" xyz="0.131 0.0 0.0"/>
+    <axis xyz="0.0 0.0 1.0"/>
+    <limit effort="100.0" lower="0.0" upper="1.5707963267948966" velocity="0.5"/>
+  </joint>
+  <!-- joints head -->
+  <joint name="idx11_head_joint1" type="revolute">
+    <parent link="body_link2"/>
+    <child link="head_link1"/>
+    <origin rpy="1.5707963267948966 0.0 0.0" xyz="0.0 -0.441 0.0"/>
+    <axis xyz="0.0 0.0 1.0"/>
+    <limit effort="50.0" lower="-1.5707963267948966" upper="1.5707963267948966" velocity="1.0"/>
+  </joint>
+  <joint name="idx12_head_joint2" type="revolute">
+    <parent link="head_link1"/>
+    <child link="head_link2"/>
+    <origin rpy="-1.5707963267948966 0.0 0.0" xyz="0.050238 0.0 0.060065"/>
+    <axis xyz="0.0 0.0 1.0"/>
+    <limit effort="50.0" lower="-0.3490658503988659" upper="0.5235987755982988" velocity="1.0"/>
+  </joint>
+  <!-- joints arm base -->
+  <joint name="idx10_arm_base_joint" type="fixed">
+    <parent link="body_link2"/>
+    <child link="arm_base_link"/>
+    <origin rpy="1.5707963267948966 0.0 0.0" xyz="0.0 -0.305 0.0"/>
+    <axis xyz="0.0 0.0 1.0"/>
+  </joint>
+  <joint name="idx11_arm_l_base_joint" type="fixed">
+    <parent link="arm_base_link"/>
+    <child link="arm_l_base_link"/>
+    <origin rpy="-1.5707963267948966 0.0 0.0" xyz="0.0 0.025 0.0"/>
+    <axis xyz="1.0 0.0 0.0"/>
+  </joint>
+  <joint name="idx12_arm_r_base_joint" type="fixed">
+    <parent link="arm_base_link"/>
+    <child link="arm_r_base_link"/>
+    <origin rpy="-1.5707963267948966 0.0 3.141592653589793" xyz="0.0 -0.025 0.0"/>
+    <axis xyz="1.0 0.0 0.0"/>
+  </joint>
+  <!-- properties -->
+  <!-- links -->
+  <link name="arm_l_link1">
+    <inertial>
+      <origin rpy="0 0 0" xyz="-0.0012655 -0.00043778 -0.018388"/>
+      <mass value="0.4936"/>
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+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://genie_robot_description/meshes/G1/arm_l_link1.fbx"/>
+      </geometry>
+      <material name="white"/>
+    </visual>
+    <collision>
+      <geometry>
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+  </link>
+  <link name="arm_l_link2">
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+      <mass value="0.46245"/>
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+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://genie_robot_description/meshes/G1/arm_l_link2.fbx"/>
+      </geometry>
+      <material name="white"/>
+    </visual>
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+      </geometry>
+    </collision>
+  </link>
+  <link name="arm_l_link3">
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+      <mass value="0.50026"/>
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+    <visual>
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+      <geometry>
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+      </geometry>
+      <material name="white"/>
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+    </collision>
+  </link>
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+    <visual>
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+      <geometry>
+        <mesh filename="package://genie_robot_description/meshes/G1/arm_l_link4.fbx"/>
+      </geometry>
+      <material name="white"/>
+    </visual>
+    <collision>
+      <origin rpy="1.5707963267948966 0 0" xyz="0.0 -0.03817895 -0.0043945312"/>
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+      </geometry>
+    </collision>
+  </link>
+  <link name="arm_l_link5">
+    <inertial>
+      <origin rpy="0 0 0" xyz="-7.9404e-07 -0.00023094 -0.024143"/>
+      <mass value="0.25139"/>
+      <inertia ixx="0.00023516" ixy="-1.3496e-09" ixz="-2.0314e-08" iyy="0.00028808" iyz="-1.2106e-05" izz="0.00013069"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://genie_robot_description/meshes/G1/arm_l_link5.fbx"/>
+      </geometry>
+      <material name="white"/>
+    </visual>
+    <collision>
+      <origin rpy="0.0 0.0 -0.6283185307179586" xyz="0.00013161953185003987 -5.835551655943335e-05 -0.033305803313851357"/>
+      <geometry>
+        <cylinder length="0.13452399894595146" radius="0.045614576801007695"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="arm_l_link6">
+    <inertial>
+      <origin rpy="0 0 0" xyz="1.769e-06 -0.086692 0.0025571"/>
+      <mass value="0.26634"/>
+      <inertia ixx="0.00031434" ixy="-2.9254e-09" ixz="1.0017e-07" iyy="0.00014464" iyz="-2.0329e-05" izz="0.0003245"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://genie_robot_description/meshes/G1/arm_l_link6.fbx"/>
+      </geometry>
+      <material name="white"/>
+    </visual>
+    <collision>
+      <origin rpy="-5.990089690983079e-19 -1.4805425285141327 -1.5677635369963552" xyz="0.0002549462426528953 -0.055477687883556816 -0.0019394332157672595"/>
+      <geometry>
+        <cylinder length="0.1816599826988493" radius="0.048507387167967514"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="arm_l_end_link">
+    <inertial>
+      <origin rpy="0 0 0" xyz="-7.5113e-05 -0.00024521 -0.016705"/>
+      <mass value="0.06158"/>
+      <inertia ixx="1.8407e-05" ixy="3.4796e-08" ixz="-3.2424e-09" iyy="1.818e-05" iyz="1.1327e-07" izz="2.8547e-05"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://genie_robot_description/meshes/G1/arm_l_link7.fbx"/>
+      </geometry>
+      <material name="white"/>
+    </visual>
+    <collision>
+      <origin rpy="3.141592653589793 -1.2246467991473532e-16 3.141592653589793" xyz="-4.552953707661759e-05 -0.002300474691790042 -0.02249999972991645"/>
+      <geometry>
+        <cylinder length="0.045999998692423105" radius="0.030799950382754494"/>
+      </geometry>
+    </collision>
+  </link>
+  <!-- joints -->
+  <joint name="idx21_arm_l_joint1" type="revolute">
+    <parent link="arm_l_base_link"/>
+    <child link="arm_l_link1"/>
+    <origin rpy="0 0 0" xyz="0.0 0.0 0.1859"/>
+    <axis xyz="0.0 0.0 1.0"/>
+    <limit effort="60.0" lower="-3.14" upper="3.14" velocity="3.14"/>
+  </joint>
+  <joint name="idx22_arm_l_joint2" type="revolute">
+    <parent link="arm_l_link1"/>
+    <child link="arm_l_link2"/>
+    <origin rpy="-1.5707963267948966 0.0 1.5707963267948966" xyz="0.0 0.0 0.0"/>
+    <axis xyz="0.0 0.0 1.0"/>
+    <limit effort="60.0" lower="-2.09" upper="1.48" velocity="3.14"/>
+  </joint>
+  <joint name="idx23_arm_l_joint3" type="revolute">
+    <parent link="arm_l_link2"/>
+    <child link="arm_l_link3"/>
+    <origin rpy="-1.5707963267948966 1.5707963267948966 3.141592653589793" xyz="0.0 -0.305 0.0"/>
+    <axis xyz="0.0 0.0 1.0"/>
+    <limit effort="60.0" lower="-3.10" upper="3.10" velocity="3.14"/>
+  </joint>
+  <joint name="idx24_arm_l_joint4" type="revolute">
+    <parent link="arm_l_link3"/>
+    <child link="arm_l_link4"/>
+    <origin rpy="-1.5707963267948966 0.0 3.141592653589793" xyz="0.0 0.0 0.0"/>
+    <axis xyz="0.0 0.0 1.0"/>
+    <limit effort="60.0" lower="-1.48" upper="1.48" velocity="3.14"/>
+  </joint>
+  <joint name="idx25_arm_l_joint5" type="revolute">
+    <parent link="arm_l_link4"/>
+    <child link="arm_l_link5"/>
+    <origin rpy="-1.5707963267948966 0.0 -3.141592653589793" xyz="0.0 -0.1975 0.0"/>
+    <axis xyz="0.0 0.0 1.0"/>
+    <limit effort="30.0" lower="-3.10" upper="3.10" velocity="3.14"/>
+  </joint>
+  <joint name="idx26_arm_l_joint6" type="revolute">
+    <parent link="arm_l_link5"/>
+    <child link="arm_l_link6"/>
+    <origin rpy="-1.5707963267948966 0.0 0.0" xyz="0.0 0.0 0.0"/>
+    <axis xyz="0.0 0.0 1.0"/>
+    <limit effort="30.0" lower="-1.74" upper="1.74" velocity="3.14"/>
+  </joint>
+  <joint name="idx27_arm_l_joint7" type="revolute">
+    <origin rpy="1.5707963267948966 0.0 0.0" xyz="0.0 -0.1805 0.0"/>
+    <parent link="arm_l_link6"/>
+    <child link="arm_l_end_link"/>
+    <axis xyz="0.0 0.0 1.0"/>
+    <limit effort="30.0" lower="-3.10" upper="3.10" velocity="3.14"/>
+  </joint>
+  <!-- properties -->
+  <!-- links -->
+  <link name="arm_r_link1">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0012679 -0.0001581 -0.018109"/>
+      <mass value="0.4936"/>
+      <inertia ixx="0.00075396" ixy="-2.4144e-06" ixz="-1.8364e-06" iyy="0.0006605" iyz="1.2174e-06" izz="0.00031553"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://genie_robot_description/meshes/G1/arm_r_link1.fbx"/>
+      </geometry>
+      <material name="white"/>
+    </visual>
+    <collision>
+      <origin rpy="-3.141592653589793 -1.2246467991473535e-16 1.2566370614359175" xyz="0.00018724019569230644 -0.002004870648449318 -0.04071185737848282"/>
+      <geometry>
+        <cylinder length="0.16642716526985168" radius="0.0548390473201415"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="arm_r_link2">
+    <inertial>
+      <origin rpy="0 0 0" xyz="-0.00044207 -0.082298 0.00019486"/>
+      <mass value="0.41662"/>
+      <inertia ixx="0.00054592" ixy="4.7265e-06" ixz="2.4946e-06" iyy="0.00039507" iyz="-2.0629e-05" izz="0.00057791"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://genie_robot_description/meshes/G1/arm_r_link2.fbx"/>
+      </geometry>
+      <material name="white"/>
+    </visual>
+    <collision>
+      <origin rpy="1.5707963267948966 0 0" xyz="0.0 -0.044062052 0.0009765625"/>
+      <geometry>
+        <cylinder length="0.18085919" radius="0.06302423"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="arm_r_link3">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0010558 4.4416e-05 -0.056128"/>
+      <mass value="0.49413"/>
+      <inertia ixx="0.0013405" ixy="-6.8527e-07" ixz="-1.3381e-05" iyy="0.00142" iyz="2.8511e-05" izz="0.00037605"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://genie_robot_description/meshes/G1/arm_r_link3.fbx"/>
+      </geometry>
+      <material name="white"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0.0006559932284637068 -2.2628975236450855e-05 -0.07219303026795387"/>
+      <geometry>
+        <cylinder length="0.22061403840780258" radius="0.05216156143823925"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="arm_r_link4">
+    <inertial>
+      <origin rpy="0 0 0" xyz="2.4212e-05 -0.06248 0.002536"/>
+      <mass value="0.27473"/>
+      <inertia ixx="0.00029283" ixy="4.5586e-07" ixz="5.8042e-08" iyy="0.00018852" iyz="-1.116e-06" izz="0.00031238"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://genie_robot_description/meshes/G1/arm_r_link4.fbx"/>
+      </geometry>
+      <material name="white"/>
+    </visual>
+    <collision>
+      <origin rpy="1.5707963267948966 0 0" xyz="0.0 -0.03817895 -0.0043945312"/>
+      <geometry>
+        <cylinder length="0.154955404" radius="0.057891708"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="arm_r_link5">
+    <inertial>
+      <origin rpy="0 0 0" xyz="2.6223e-06 -0.00023041 -0.024141"/>
+      <mass value="0.25139"/>
+      <inertia ixx="0.00023516" ixy="-6.5868e-09" ixz="-1.9428e-08" iyy="0.00028807" iyz="-1.2108e-05" izz="0.00013068"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://genie_robot_description/meshes/G1/arm_r_link5.fbx"/>
+      </geometry>
+      <material name="white"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="-0.00022255510134868567 -4.227476414728204e-05 -0.03344946540892124"/>
+      <geometry>
+        <cylinder length="0.13423806056380272" radius="0.04562028545392604"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="arm_r_link6">
+    <inertial>
+      <origin rpy="0 0 0" xyz="5.0382e-06 -0.086696 0.002556"/>
+      <mass value="0.26634"/>
+      <inertia ixx="0.00031434" ixy="-1.2113e-09" ixz="1.0011e-07" iyy="0.00014464" iyz="-2.033e-05" izz="0.00032449"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://genie_robot_description/meshes/G1/arm_r_link6.fbx"/>
+      </geometry>
+      <material name="white"/>
+    </visual>
+    <collision>
+      <origin rpy="0.0 -1.4835107730827122 -1.56897465223053" xyz="-1.7782549414354032e-05 -0.05507596972928094 -0.0017447156928267265"/>
+      <geometry>
+        <cylinder length="0.18272488500982115" radius="0.04857149291994264"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="arm_r_end_link">
+    <inertial>
+      <origin rpy="0 0 0" xyz="-7.5134e-05 -0.00024521 -0.016705"/>
+      <mass value="0.06158"/>
+      <inertia ixx="1.8407e-05" ixy="3.4818e-08" ixz="-3.2902e-09" iyy="1.818e-05" iyz="1.1326e-07" izz="2.8547e-05"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://genie_robot_description/meshes/G1/arm_r_link7.fbx"/>
+      </geometry>
+      <material name="white"/>
+    </visual>
+    <collision>
+      <origin rpy="3.141592653589793 -1.2246467991473532e-16 3.141592653589793" xyz="-4.552953707661759e-05 -0.002300474691790042 -0.02249999972991645"/>
+      <geometry>
+        <cylinder length="0.045999998692423105" radius="0.030799950382754494"/>
+      </geometry>
+    </collision>
+  </link>
+  <!-- joints -->
+  <joint name="idx61_arm_r_joint1" type="revolute">
+    <parent link="arm_r_base_link"/>
+    <child link="arm_r_link1"/>
+    <origin rpy="0 0 0" xyz="0.0 0.0 0.188"/>
+    <axis xyz="0.0 0.0 1.0"/>
+    <limit effort="60.0" lower="-3.14" upper="3.14" velocity="3.14"/>
+  </joint>
+  <joint name="idx62_arm_r_joint2" type="revolute">
+    <parent link="arm_r_link1"/>
+    <child link="arm_r_link2"/>
+    <origin rpy="-1.5707963267948966 0.0 -1.5707963267948966" xyz="0.0 0.0 0.0"/>
+    <axis xyz="0.0 0.0 1.0"/>
+    <limit effort="60.0" lower="-1.48" upper="2.09" velocity="3.14"/>
+  </joint>
+  <joint name="idx63_arm_r_joint3" type="revolute">
+    <parent link="arm_r_link2"/>
+    <child link="arm_r_link3"/>
+    <origin rpy="-1.5707963267948966 -1.5707963267948966 3.141592653589793" xyz="0.0 -0.305 0.0"/>
+    <axis xyz="0.0 0.0 1.0"/>
+    <limit effort="60.0" lower="-3.10" upper="3.10" velocity="3.14"/>
+  </joint>
+  <joint name="idx64_arm_r_joint4" type="revolute">
+    <parent link="arm_r_link3"/>
+    <child link="arm_r_link4"/>
+    <origin rpy="-1.5707963267948966 0.0 3.141592653589793" xyz="0.0 0.0 0.0"/>
+    <axis xyz="0.0 0.0 1.0"/>
+    <limit effort="60.0" lower="-1.48" upper="1.48" velocity="3.14"/>
+  </joint>
+  <joint name="idx65_arm_r_joint5" type="revolute">
+    <parent link="arm_r_link4"/>
+    <child link="arm_r_link5"/>
+    <origin rpy="-1.5707963267948966 0.0 -3.141592653589793" xyz="0.0 -0.1975 0.0"/>
+    <axis xyz="0.0 0.0 1.0"/>
+    <limit effort="30.0" lower="-3.10" upper="3.10" velocity="3.14"/>
+  </joint>
+  <joint name="idx66_arm_r_joint6" type="revolute">
+    <parent link="arm_r_link5"/>
+    <child link="arm_r_link6"/>
+    <origin rpy="-1.5707963267948966 0.0 0.0" xyz="0.0 0.0 0.0"/>
+    <axis xyz="0.0 0.0 1.0"/>
+    <limit effort="30.0" lower="-1.74" upper="1.74" velocity="3.14"/>
+  </joint>
+  <joint name="idx67_arm_r_joint7" type="revolute">
+    <origin rpy="1.5707963267948966 0.0 0.0" xyz="0.0 -0.1805 0.0"/>
+    <parent link="arm_r_link6"/>
+    <child link="arm_r_end_link"/>
+    <axis xyz="0.0 0.0 1.0"/>
+    <limit effort="30.0" lower="-3.10" upper="3.10" velocity="3.14"/>
+  </joint>
+  <link name="gripper_l_base_link">
+    <inertial>
+      <origin rpy="0 0 0" xyz="1.23989288637867E-06 3.27564415436087E-07 0.0536186975993762"/>
+      <mass value="0.443105756928829"/>
+      <inertia ixx="0.00064200574020552" ixy="-1.51180224931458E-07" ixz="7.24174172220287E-09" iyy="0.00066998312004943" iyz="2.73584170951165E-09" izz="0.000278949393571484"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://genie_robot_description/meshes/crt_120s/base_link.STL"/>
+      </geometry>
+      <material name="black"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://genie_robot_description/meshes/crt_120s/base_link.STL"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="gripper_l_outer_link1">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.00656387870913618 0.024850259757102 -9.40817030196858E-10"/>
+      <mass value="0.0112899386472626"/>
+      <inertia ixx="1.96944973967669E-06" ixy="6.42395813223716E-07" ixz="-1.07950451056367E-14" iyy="1.39704780795747E-06" iyz="-1.48209813327181E-14" izz="2.47457179553145E-06"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://genie_robot_description/meshes/crt_120s/Left_01_Link.STL"/>
+      </geometry>
+      <material name="black"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://genie_robot_description/meshes/crt_120s/Left_01_Link.STL"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="gripper_l_outer_link3">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.00656387870913618 0.024850259757102 -9.40817030196858E-10"/>
+      <mass value="0.0112899386472626"/>
+      <inertia ixx="1.96944973967669E-06" ixy="6.42395813223716E-07" ixz="-1.07950451056367E-14" iyy="1.39704780795747E-06" iyz="-1.48209813327181E-14" izz="2.47457179553145E-06"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://genie_robot_description/meshes/crt_120s/Left_00_Link.STL"/>
+      </geometry>
+      <material name="black"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://genie_robot_description/meshes/crt_120s/Left_00_Link.STL"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="gripper_l_outer_link4">
+    <inertial>
+      <origin rpy="0 0 0" xyz="-0.011970095332009 0.0238338043684485 -1.36624428992904E-06"/>
+      <mass value="0.0140092102116716"/>
+      <inertia ixx="4.13674978137002E-06" ixy="9.81573398608352E-07" ixz="-2.87921970465553E-11" iyy="1.1362453186293E-06" iyz="2.94726072168702E-11" izz="4.10226218364235E-06"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://genie_robot_description/meshes/crt_120s/Left_Support_Link.STL"/>
+      </geometry>
+      <material name="black"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://genie_robot_description/meshes/crt_120s/Left_Support_Link.STL"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="gripper_l_outer_link5">
+    <inertial>
+      <origin rpy="0 0 0" xyz="1.46688816627348E-09 0.00209017783344978 -8.17280129359337E-17"/>
+      <mass value="0.00332411394949541"/>
+      <inertia ixx="5.5867126170785E-07" ixy="2.9966962370347E-20" ixz="1.44978830317617E-23" iyy="1.45407135182096E-07" iyz="-1.60867378777053E-21" izz="4.18250297449997E-07"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://genie_robot_description/meshes/crt_120s/Left_Pad_Link.STL"/>
+      </geometry>
+      <material name="black"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://genie_robot_description/meshes/crt_120s/Left_Pad_Link.STL"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="gripper_l_outer_link2">
+    <inertial>
+      <origin rpy="0 0 0" xyz="-0.00438952959966343 0.0248815722409523 -2.55135883071891E-05"/>
+      <mass value="0.00803955821311802"/>
+      <inertia ixx="1.15079028835042E-06" ixy="1.13853775681911E-07" ixz="-1.79492796413463E-10" iyy="4.68655200337902E-07" iyz="-4.49903912976825E-10" izz="8.47367915692972E-07"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://genie_robot_description/meshes/crt_120s/Left_2_Link.STL"/>
+      </geometry>
+      <material name="black"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://genie_robot_description/meshes/crt_120s/Left_2_Link.STL"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="gripper_l_inner_link2">
+    <inertial>
+      <origin rpy="0 0 0" xyz="-0.00438952959968201 0.0248815722409522 -2.5513588307359E-05"/>
+      <mass value="0.00803955821311803"/>
+      <inertia ixx="1.15079028835042E-06" ixy="1.13853775681912E-07" ixz="-1.79492796413511E-10" iyy="4.68655200337903E-07" iyz="-4.49903912976901E-10" izz="8.47367915692974E-07"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://genie_robot_description/meshes/crt_120s/Right_2_Link.STL"/>
+      </geometry>
+      <material name="black"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://genie_robot_description/meshes/crt_120s/Right_2_Link.STL"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="gripper_l_inner_link1">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.00656387870564603 0.0248502597572661 -9.40812230336897E-10"/>
+      <mass value="0.0112899386472626"/>
+      <inertia ixx="1.96944973967663E-06" ixy="6.42395813223747E-07" ixz="-1.07950449101923E-14" iyy="1.39704780795753E-06" iyz="-1.48209815851649E-14" izz="2.47457179553146E-06"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://genie_robot_description/meshes/crt_120s/Right_01_Link.STL"/>
+      </geometry>
+      <material name="black"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://genie_robot_description/meshes/crt_120s/Right_01_Link.STL"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="gripper_l_inner_link3">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.00656387870564603 0.0248502597572661 -9.40812230336897E-10"/>
+      <mass value="0.0112899386472626"/>
+      <inertia ixx="1.96944973967663E-06" ixy="6.42395813223747E-07" ixz="-1.07950449101923E-14" iyy="1.39704780795753E-06" iyz="-1.48209815851649E-14" izz="2.47457179553146E-06"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://genie_robot_description/meshes/crt_120s/Right_00_Link.STL"/>
+      </geometry>
+      <material name="black"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://genie_robot_description/meshes/crt_120s/Right_00_Link.STL"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="gripper_l_inner_link4">
+    <inertial>
+      <origin rpy="0 0 0" xyz="-0.011970095112324 0.0238338043682057 -1.36624428997256E-06"/>
+      <mass value="0.0140092102116716"/>
+      <inertia ixx="4.13674978136988E-06" ixy="9.81573398608576E-07" ixz="-2.87921970465403E-11" iyy="1.13624531862944E-06" iyz="2.94726072165632E-11" izz="4.10226218364236E-06"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://genie_robot_description/meshes/crt_120s/Right_Support_Link.STL"/>
+      </geometry>
+      <material name="black"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://genie_robot_description/meshes/crt_120s/Right_Support_Link.STL"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="gripper_l_inner_link5">
+    <inertial>
+      <origin rpy="0 0 0" xyz="5.43457184440897E-09 0.00209017783344967 -1.21646039264426E-16"/>
+      <mass value="0.00332411394949542"/>
+      <inertia ixx="5.58671261707851E-07" ixy="3.06066210315894E-20" ixz="1.70379713307979E-23" iyy="1.45407135182096E-07" iyz="-1.65096420438087E-21" izz="4.18250297449998E-07"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://genie_robot_description/meshes/crt_120s/Right_Pad_Link.STL"/>
+      </geometry>
+      <material name="black"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://genie_robot_description/meshes/crt_120s/Right_Pad_Link.STL"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="idx41_gripper_l_outer_joint1" type="revolute">
+    <origin rpy="1.5707963267948966 0 3.141592653589793" xyz="-0.032553 0 0.10644"/>
+    <parent link="gripper_l_base_link"/>
+    <child link="gripper_l_outer_link1"/>
+    <axis xyz="0 0 -1"/>
+    <limit effort="10" lower="0" upper="1" velocity="4.1887902047863905"/>
+  </joint>
+  <joint name="idx42_gripper_l_outer_joint3" type="revolute">
+    <origin rpy="0 0 0" xyz="0.01946 0.0129 0"/>
+    <parent link="gripper_l_outer_link1"/>
+    <child link="gripper_l_outer_link3"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="10" lower="-1" upper="1" velocity="4.1887902047863905"/>
+  </joint>
+  <joint name="idx43_gripper_l_outer_joint4" type="revolute">
+    <origin rpy="0 0 0" xyz="-0.02888 0.04341 0"/>
+    <parent link="gripper_l_outer_link3"/>
+    <child link="gripper_l_outer_link4"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="10" lower="-1" upper="1" velocity="4.1887902047863905"/>
+    <mimic joint="idx41_gripper_l_outer_joint1" multiplier="1" offset="0"/>
+  </joint>
+  <joint name="idx44_gripper_l_outer_joint5" type="fixed">
+    <origin rpy="0 0 0" xyz="-0.022056 0.044306 0"/>
+    <parent link="gripper_l_outer_link4"/>
+    <child link="gripper_l_outer_link5"/>
+    <axis xyz="0 0 0"/>
+  </joint>
+  <joint name="idx49_gripper_l_outer_joint2" type="revolute">
+    <origin rpy="1.5707963267948966 0 3.141592653589793" xyz="-0.017 0 0.122"/>
+    <parent link="gripper_l_base_link"/>
+    <child link="gripper_l_outer_link2"/>
+    <axis xyz="0 0 -1"/>
+    <limit effort="10" lower="-1" upper="1" velocity="4.1887902047863905"/>
+    <mimic joint="idx41_gripper_l_outer_joint1" multiplier="1" offset="0"/>
+  </joint>
+  <joint name="idx39_gripper_l_inner_joint2" type="revolute">
+    <origin rpy="1.5707963267948966 0 0" xyz="0.017 0 0.122"/>
+    <parent link="gripper_l_base_link"/>
+    <child link="gripper_l_inner_link2"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="10" lower="-1" upper="1" velocity="4.1887902047863905"/>
+    <mimic joint="idx41_gripper_l_outer_joint1" multiplier="-1" offset="0"/>
+  </joint>
+  <joint name="idx31_gripper_l_inner_joint1" type="revolute">
+    <origin rpy="1.5707963267948966 0 0" xyz="0.032553 0 0.10644"/>
+    <parent link="gripper_l_base_link"/>
+    <child link="gripper_l_inner_link1"/>
+    <axis xyz="0 0 -1"/>
+    <limit effort="10" lower="-1" upper="1" velocity="4.1887902047863905"/>
+    <mimic joint="idx41_gripper_l_outer_joint1" multiplier="1" offset="0"/>
+  </joint>
+  <joint name="idx32_gripper_l_inner_joint3" type="revolute">
+    <origin rpy="0 0 0" xyz="0.01946 0.0129 0"/>
+    <parent link="gripper_l_inner_link1"/>
+    <child link="gripper_l_inner_link3"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="10" lower="-1" upper="1" velocity="4.1887902047863905"/>
+  </joint>
+  <joint name="idx33_gripper_l_inner_joint4" type="revolute">
+    <origin rpy="0 0 0" xyz="-0.02888 0.04341 0"/>
+    <parent link="gripper_l_inner_link3"/>
+    <child link="gripper_l_inner_link4"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="10" lower="-1" upper="1" velocity="4.1887902047863905"/>
+    <mimic joint="idx41_gripper_l_outer_joint1" multiplier="1" offset="0"/>
+  </joint>
+  <joint name="idx34_gripper_l_inner_joint5" type="fixed">
+    <origin rpy="0 0 0" xyz="-0.022056 0.044306 0"/>
+    <parent link="gripper_l_inner_link4"/>
+    <child link="gripper_l_inner_link5"/>
+    <axis xyz="0 0 0"/>
+  </joint>
+  <!-- Gripper Connector -->
+  <joint name="idx61_ee_l_joint" type="fixed">
+    <parent link="arm_l_end_link"/>
+    <child link="gripper_l_base_link"/>
+    <origin rpy="0 0 0" xyz="0 0 0"/>
+    <axis xyz="0.0 0.0 0.0"/>
+  </joint>
+  <link name="gripper_l_center_link">
+    </link>
+  <joint name="idx52_gripper_l_center_joint" type="fixed">
+    <origin rpy="0 0 -1.5707963267948966" xyz="0.0 0.0 0.1"/>
+    <parent link="gripper_l_base_link"/>
+    <child link="gripper_l_center_link"/>
+  </joint>
+  <!-- Gripper Finger Close-loop Structure -->
+  <loop_joint name="idx53_gripper_l_outer_joint0" type="spherical">
+    <link1 link="gripper_l_outer_link4" rpy="0 0 0" xyz="-0.01546 0.0156 0"/>
+    <link2 link="gripper_l_outer_link2" rpy="0 0 0" xyz="-0.00932 0.05635 0"/>
+    <axis xyz="0 0 -1"/>
+  </loop_joint>
+  <loop_joint name="idx54_gripper_l_inner_joint0" type="spherical">
+    <link1 link="gripper_l_inner_link4" rpy="0 0 0" xyz="-0.01546 0.0156 0"/>
+    <link2 link="gripper_l_inner_link2" rpy="0 0 0" xyz="-0.00932 0.05635 0"/>
+    <axis xyz="0 0 1"/>
+  </loop_joint>
+  <link name="gripper_r_base_link">
+    <inertial>
+      <origin rpy="0 0 0" xyz="1.23989288637867E-06 3.27564415436087E-07 0.0536186975993762"/>
+      <mass value="0.443105756928829"/>
+      <inertia ixx="0.00064200574020552" ixy="-1.51180224931458E-07" ixz="7.24174172220287E-09" iyy="0.00066998312004943" iyz="2.73584170951165E-09" izz="0.000278949393571484"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://genie_robot_description/meshes/crt_120s/base_link.STL"/>
+      </geometry>
+      <material name="black"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://genie_robot_description/meshes/crt_120s/base_link.STL"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="gripper_r_outer_link1">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.00656387870913618 0.024850259757102 -9.40817030196858E-10"/>
+      <mass value="0.0112899386472626"/>
+      <inertia ixx="1.96944973967669E-06" ixy="6.42395813223716E-07" ixz="-1.07950451056367E-14" iyy="1.39704780795747E-06" iyz="-1.48209813327181E-14" izz="2.47457179553145E-06"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://genie_robot_description/meshes/crt_120s/Left_01_Link.STL"/>
+      </geometry>
+      <material name="black"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://genie_robot_description/meshes/crt_120s/Left_01_Link.STL"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="gripper_r_outer_link3">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.00656387870913618 0.024850259757102 -9.40817030196858E-10"/>
+      <mass value="0.0112899386472626"/>
+      <inertia ixx="1.96944973967669E-06" ixy="6.42395813223716E-07" ixz="-1.07950451056367E-14" iyy="1.39704780795747E-06" iyz="-1.48209813327181E-14" izz="2.47457179553145E-06"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://genie_robot_description/meshes/crt_120s/Left_00_Link.STL"/>
+      </geometry>
+      <material name="black"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://genie_robot_description/meshes/crt_120s/Left_00_Link.STL"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="gripper_r_outer_link4">
+    <inertial>
+      <origin rpy="0 0 0" xyz="-0.011970095332009 0.0238338043684485 -1.36624428992904E-06"/>
+      <mass value="0.0140092102116716"/>
+      <inertia ixx="4.13674978137002E-06" ixy="9.81573398608352E-07" ixz="-2.87921970465553E-11" iyy="1.1362453186293E-06" iyz="2.94726072168702E-11" izz="4.10226218364235E-06"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://genie_robot_description/meshes/crt_120s/Left_Support_Link.STL"/>
+      </geometry>
+      <material name="black"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://genie_robot_description/meshes/crt_120s/Left_Support_Link.STL"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="gripper_r_outer_link5">
+    <inertial>
+      <origin rpy="0 0 0" xyz="1.46688816627348E-09 0.00209017783344978 -8.17280129359337E-17"/>
+      <mass value="0.00332411394949541"/>
+      <inertia ixx="5.5867126170785E-07" ixy="2.9966962370347E-20" ixz="1.44978830317617E-23" iyy="1.45407135182096E-07" iyz="-1.60867378777053E-21" izz="4.18250297449997E-07"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://genie_robot_description/meshes/crt_120s/Left_Pad_Link.STL"/>
+      </geometry>
+      <material name="black"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://genie_robot_description/meshes/crt_120s/Left_Pad_Link.STL"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="gripper_r_outer_link2">
+    <inertial>
+      <origin rpy="0 0 0" xyz="-0.00438952959966343 0.0248815722409523 -2.55135883071891E-05"/>
+      <mass value="0.00803955821311802"/>
+      <inertia ixx="1.15079028835042E-06" ixy="1.13853775681911E-07" ixz="-1.79492796413463E-10" iyy="4.68655200337902E-07" iyz="-4.49903912976825E-10" izz="8.47367915692972E-07"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://genie_robot_description/meshes/crt_120s/Left_2_Link.STL"/>
+      </geometry>
+      <material name="black"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://genie_robot_description/meshes/crt_120s/Left_2_Link.STL"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="gripper_r_inner_link2">
+    <inertial>
+      <origin rpy="0 0 0" xyz="-0.00438952959968201 0.0248815722409522 -2.5513588307359E-05"/>
+      <mass value="0.00803955821311803"/>
+      <inertia ixx="1.15079028835042E-06" ixy="1.13853775681912E-07" ixz="-1.79492796413511E-10" iyy="4.68655200337903E-07" iyz="-4.49903912976901E-10" izz="8.47367915692974E-07"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://genie_robot_description/meshes/crt_120s/Right_2_Link.STL"/>
+      </geometry>
+      <material name="black"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://genie_robot_description/meshes/crt_120s/Right_2_Link.STL"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="gripper_r_inner_link1">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.00656387870564603 0.0248502597572661 -9.40812230336897E-10"/>
+      <mass value="0.0112899386472626"/>
+      <inertia ixx="1.96944973967663E-06" ixy="6.42395813223747E-07" ixz="-1.07950449101923E-14" iyy="1.39704780795753E-06" iyz="-1.48209815851649E-14" izz="2.47457179553146E-06"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://genie_robot_description/meshes/crt_120s/Right_01_Link.STL"/>
+      </geometry>
+      <material name="black"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://genie_robot_description/meshes/crt_120s/Right_01_Link.STL"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="gripper_r_inner_link3">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.00656387870564603 0.0248502597572661 -9.40812230336897E-10"/>
+      <mass value="0.0112899386472626"/>
+      <inertia ixx="1.96944973967663E-06" ixy="6.42395813223747E-07" ixz="-1.07950449101923E-14" iyy="1.39704780795753E-06" iyz="-1.48209815851649E-14" izz="2.47457179553146E-06"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://genie_robot_description/meshes/crt_120s/Right_00_Link.STL"/>
+      </geometry>
+      <material name="black"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://genie_robot_description/meshes/crt_120s/Right_00_Link.STL"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="gripper_r_inner_link4">
+    <inertial>
+      <origin rpy="0 0 0" xyz="-0.011970095112324 0.0238338043682057 -1.36624428997256E-06"/>
+      <mass value="0.0140092102116716"/>
+      <inertia ixx="4.13674978136988E-06" ixy="9.81573398608576E-07" ixz="-2.87921970465403E-11" iyy="1.13624531862944E-06" iyz="2.94726072165632E-11" izz="4.10226218364236E-06"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://genie_robot_description/meshes/crt_120s/Right_Support_Link.STL"/>
+      </geometry>
+      <material name="black"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://genie_robot_description/meshes/crt_120s/Right_Support_Link.STL"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="gripper_r_inner_link5">
+    <inertial>
+      <origin rpy="0 0 0" xyz="5.43457184440897E-09 0.00209017783344967 -1.21646039264426E-16"/>
+      <mass value="0.00332411394949542"/>
+      <inertia ixx="5.58671261707851E-07" ixy="3.06066210315894E-20" ixz="1.70379713307979E-23" iyy="1.45407135182096E-07" iyz="-1.65096420438087E-21" izz="4.18250297449998E-07"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://genie_robot_description/meshes/crt_120s/Right_Pad_Link.STL"/>
+      </geometry>
+      <material name="black"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://genie_robot_description/meshes/crt_120s/Right_Pad_Link.STL"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="idx81_gripper_r_outer_joint1" type="revolute">
+    <origin rpy="1.5707963267948966 0 3.141592653589793" xyz="-0.032553 0 0.10644"/>
+    <parent link="gripper_r_base_link"/>
+    <child link="gripper_r_outer_link1"/>
+    <axis xyz="0 0 -1"/>
+    <limit effort="10" lower="0" upper="1" velocity="4.1887902047863905"/>
+  </joint>
+  <joint name="idx82_gripper_r_outer_joint3" type="revolute">
+    <origin rpy="0 0 0" xyz="0.01946 0.0129 0"/>
+    <parent link="gripper_r_outer_link1"/>
+    <child link="gripper_r_outer_link3"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="10" lower="-1" upper="1" velocity="4.1887902047863905"/>
+  </joint>
+  <joint name="idx83_gripper_r_outer_joint4" type="revolute">
+    <origin rpy="0 0 0" xyz="-0.02888 0.04341 0"/>
+    <parent link="gripper_r_outer_link3"/>
+    <child link="gripper_r_outer_link4"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="10" lower="-1" upper="1" velocity="4.1887902047863905"/>
+    <mimic joint="idx81_gripper_r_outer_joint1" multiplier="1" offset="0"/>
+  </joint>
+  <joint name="idx84_gripper_r_outer_joint5" type="fixed">
+    <origin rpy="0 0 0" xyz="-0.022056 0.044306 0"/>
+    <parent link="gripper_r_outer_link4"/>
+    <child link="gripper_r_outer_link5"/>
+    <axis xyz="0 0 0"/>
+  </joint>
+  <joint name="idx89_gripper_r_outer_joint2" type="revolute">
+    <origin rpy="1.5707963267948966 0 3.141592653589793" xyz="-0.017 0 0.122"/>
+    <parent link="gripper_r_base_link"/>
+    <child link="gripper_r_outer_link2"/>
+    <axis xyz="0 0 -1"/>
+    <limit effort="10" lower="-1" upper="1" velocity="4.1887902047863905"/>
+    <mimic joint="idx81_gripper_r_outer_joint1" multiplier="1" offset="0"/>
+  </joint>
+  <joint name="idx79_gripper_r_inner_joint2" type="revolute">
+    <origin rpy="1.5707963267948966 0 0" xyz="0.017 0 0.122"/>
+    <parent link="gripper_r_base_link"/>
+    <child link="gripper_r_inner_link2"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="10" lower="-1" upper="1" velocity="4.1887902047863905"/>
+    <mimic joint="idx81_gripper_r_outer_joint1" multiplier="-1" offset="0"/>
+  </joint>
+  <joint name="idx71_gripper_r_inner_joint1" type="revolute">
+    <origin rpy="1.5707963267948966 0 0" xyz="0.032553 0 0.10644"/>
+    <parent link="gripper_r_base_link"/>
+    <child link="gripper_r_inner_link1"/>
+    <axis xyz="0 0 -1"/>
+    <limit effort="10" lower="-1" upper="1" velocity="4.1887902047863905"/>
+    <mimic joint="idx81_gripper_r_outer_joint1" multiplier="1" offset="0"/>
+  </joint>
+  <joint name="idx72_gripper_r_inner_joint3" type="revolute">
+    <origin rpy="0 0 0" xyz="0.01946 0.0129 0"/>
+    <parent link="gripper_r_inner_link1"/>
+    <child link="gripper_r_inner_link3"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="10" lower="-1" upper="1" velocity="4.1887902047863905"/>
+  </joint>
+  <joint name="idx73_gripper_r_inner_joint4" type="revolute">
+    <origin rpy="0 0 0" xyz="-0.02888 0.04341 0"/>
+    <parent link="gripper_r_inner_link3"/>
+    <child link="gripper_r_inner_link4"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="10" lower="-1" upper="1" velocity="4.1887902047863905"/>
+    <mimic joint="idx81_gripper_r_outer_joint1" multiplier="1" offset="0"/>
+  </joint>
+  <joint name="idx74_gripper_r_inner_joint5" type="fixed">
+    <origin rpy="0 0 0" xyz="-0.022056 0.044306 0"/>
+    <parent link="gripper_r_inner_link4"/>
+    <child link="gripper_r_inner_link5"/>
+    <axis xyz="0 0 0"/>
+  </joint>
+  <!-- Gripper Connector -->
+  <joint name="idx91_ee_r_joint" type="fixed">
+    <parent link="arm_r_end_link"/>
+    <child link="gripper_r_base_link"/>
+    <origin rpy="0 0 3.141592653589793" xyz="0 0 0"/>
+    <axis xyz="0.0 0.0 0.0"/>
+  </joint>
+  <link name="gripper_r_center_link">
+    </link>
+  <joint name="idx92_gripper_r_center_joint" type="fixed">
+    <origin rpy="0 0 -1.5707963267948966" xyz="0.0 0.0 0.1"/>
+    <parent link="gripper_r_base_link"/>
+    <child link="gripper_r_center_link"/>
+  </joint>
+  <!-- Gripper Finger Close-loop Structure -->
+  <loop_joint name="idx93_gripper_r_outer_joint0" type="spherical">
+    <link1 link="gripper_r_outer_link4" rpy="0 0 0" xyz="-0.01546 0.0156 0"/>
+    <link2 link="gripper_r_outer_link2" rpy="0 0 0" xyz="-0.00932 0.05635 0"/>
+    <axis xyz="0 0 -1"/>
+  </loop_joint>
+  <loop_joint name="idx94_gripper_r_inner_joint0" type="spherical">
+    <link1 link="gripper_r_inner_link4" rpy="0 0 0" xyz="-0.01546 0.0156 0"/>
+    <link2 link="gripper_r_inner_link2" rpy="0 0 0" xyz="-0.00932 0.05635 0"/>
+    <axis xyz="0 0 1"/>
+  </loop_joint>
+  <!-- Eastern Eggs -->
+  <!-- All Together -->
+</robot>

G1_120s/G1_120s.usda

@@ -0,0 +1,2394 @@
+#usda 1.0
+(
+    customLayerData = {
+        dictionary cameraSettings = {
+            dictionary Front = {
+                double3 position = (5, -0.07683172954327705, 1.168593260481868)
+                double radius = 0.5424264430999756
+            }
+            dictionary Perspective = {
+                double3 position = (1.7469874280968074, -2.6438968018194466, 1.4773606397657355)
+                double3 target = (1.0935525886303759, -2.0207966844728618, 1.2215024044976608)
+            }
+            dictionary Right = {
+                double3 position = (0.21279171717907028, -5, 1.167997293724006)
+                double radius = 0.3670602798461914
+            }
+            dictionary Top = {
+                double3 position = (0.12680847351728058, 1.0273027050440338, 5)
+                double radius = 0.954525089263916
+            }
+            string boundCamera = "/OmniverseKit_Persp"
+        }
+        dictionary omni_layer = {
+            string authoring_layer = "./G1_120s.usda"
+            dictionary locked = {
+            }
+            dictionary muteness = {
+            }
+        }
+        dictionary renderSettings = {
+        }
+    }
+    defaultPrim = "G1"
+    metersPerUnit = 1
+    upAxis = "Z"
+)
+
+def Xform "G1" (
+    prepend apiSchemas = ["PhysicsArticulationRootAPI", "PhysxArticulationAPI"]
+    displayName = "G1"
+    variants = {
+        string Physics = "PhysX"
+        string Sensor = "Sensors"
+    }
+    prepend variantSets = ["Physics", "Sensor"]
+)
+{
+    bool physxArticulation:enabledSelfCollisions = 0
+    quatd xformOp:orient = (1, 0, 0, 0)
+    double3 xformOp:scale = (1, 1, 1)
+    double3 xformOp:translate = (0, 0, 0)
+    uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+
+    over "base_link" (
+        delete apiSchemas = ["PhysicsArticulationRootAPI", "PhysxArticulationAPI"]
+    )
+    {
+        def PhysicsFixedJoint "FixedJoint"
+        {
+            rel physics:body1 = </G1/base_link>
+            float physics:breakForce = inf
+            float physics:breakTorque = inf
+            point3f physics:localPos0 = (0, 0, 0)
+            point3f physics:localPos1 = (0, 0, 0)
+            quatf physics:localRot0 = (1, 0, 0, 0)
+            quatf physics:localRot1 = (1, 0, 0, 0)
+        }
+
+        over "visuals" (
+            prepend apiSchemas = ["PhysicsCollisionAPI", "PhysxCollisionAPI", "PhysxTriangleMeshCollisionAPI", "PhysicsMeshCollisionAPI"]
+        )
+        {
+            uniform token physics:approximation = "none"
+            bool physics:collisionEnabled = 0
+            quatf xformOp:orient = (1, 0, 0, 0)
+            float3 xformOp:scale = (1, 1, 1)
+            double3 xformOp:translate = (0, 0, 0.21089745953470054)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+        }
+
+        over "collisions"
+        {
+            quatf xformOp:orient = (1, 0, 0, 0)
+            float3 xformOp:scale = (1, 1, 1)
+            double3 xformOp:translate = (0, 0, 0.2109)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+        }
+
+        def Camera "Fisheye_Back_01" (
+            active = true
+        )
+        {
+            token cameraProjectionType = "fisheyePolynomial" (
+                allowedTokens = ["pinhole", "fisheyePolynomial", "fisheyeSpherical", "fisheyeKannalaBrandtK3", "fisheyeRadTanThinPrism", "omniDirectionalStereo"]
+            )
+            float2 clippingRange = (0.01, 10000000)
+            float focalLength = 18.147562
+            float focusDistance = 400
+            bool omni:kit:cameraLock = 1
+            custom uniform vector3d omni:kit:centerOfInterest = (0, 0, -400)
+            token visibility = "invisible"
+            quatd xformOp:orient = (0.49999999999999933, 0.5000000000000001, 0.5000000000000004, 0.5000000000000001)
+            double3 xformOp:scale = (1, 1, 1)
+            double3 xformOp:translate = (-0.30000000447034847, 0.057673270003865684, 1.0630543750437111)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+        }
+
+        def Camera "Fisheye_Back_02" (
+            active = true
+        )
+        {
+            token cameraProjectionType = "fisheyePolynomial" (
+                allowedTokens = ["pinhole", "fisheyePolynomial", "fisheyeSpherical", "fisheyeKannalaBrandtK3", "fisheyeRadTanThinPrism", "omniDirectionalStereo"]
+            )
+            float2 clippingRange = (0.01, 10000000)
+            float focalLength = 18.147562
+            float focusDistance = 400
+            bool omni:kit:cameraLock = 1
+            custom uniform vector3d omni:kit:centerOfInterest = (0, 0, -400)
+            token visibility = "invisible"
+            quatd xformOp:orient = (0.49999999999999933, 0.5000000000000001, 0.5000000000000004, 0.5000000000000001)
+            double3 xformOp:scale = (1, 1, 1)
+            double3 xformOp:translate = (-0.30000000447034836, -0.05767, 1.063054375043722)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+        }
+    }
+
+    over "body_link1" (
+        prepend apiSchemas = ["PhysxRigidBodyAPI"]
+    )
+    {
+        bool physxRigidBody:disableGravity = 1
+
+        over "visuals" (
+            prepend apiSchemas = ["PhysicsCollisionAPI", "PhysxCollisionAPI", "PhysxTriangleMeshCollisionAPI", "PhysicsMeshCollisionAPI"]
+        )
+        {
+            uniform token physics:approximation = "none"
+            bool physics:collisionEnabled = 0
+        }
+    }
+
+    over "body_link2" (
+        prepend apiSchemas = ["PhysxRigidBodyAPI"]
+    )
+    {
+        bool physxRigidBody:disableGravity = 1
+
+        over "visuals" (
+            prepend apiSchemas = ["PhysicsCollisionAPI", "PhysxCollisionAPI", "PhysxTriangleMeshCollisionAPI", "PhysicsMeshCollisionAPI"]
+        )
+        {
+            uniform token physics:approximation = "none"
+            bool physics:collisionEnabled = 0
+        }
+    }
+
+    over "arm_base_link" (
+        prepend apiSchemas = ["PhysxRigidBodyAPI"]
+    )
+    {
+        bool physxRigidBody:disableGravity = 1
+
+        over "visuals" (
+            prepend apiSchemas = ["PhysicsCollisionAPI", "PhysxCollisionAPI", "PhysxTriangleMeshCollisionAPI", "PhysicsMeshCollisionAPI"]
+        )
+        {
+            uniform token physics:approximation = "none"
+            bool physics:collisionEnabled = 0
+        }
+    }
+
+    over "arm_l_base_link" (
+        prepend apiSchemas = ["PhysxRigidBodyAPI"]
+    )
+    {
+        bool physxRigidBody:disableGravity = 1
+
+        over "visuals" (
+            prepend apiSchemas = ["PhysicsCollisionAPI", "PhysxCollisionAPI", "PhysxTriangleMeshCollisionAPI", "PhysicsMeshCollisionAPI"]
+        )
+        {
+            uniform token physics:approximation = "none"
+            bool physics:collisionEnabled = 0
+        }
+    }
+
+    over "arm_l_link1" (
+        prepend apiSchemas = ["PhysxRigidBodyAPI"]
+    )
+    {
+        bool physxRigidBody:disableGravity = 1
+
+        over "collisions" (
+            prepend apiSchemas = ["PhysicsCollisionAPI", "PhysxCollisionAPI", "PhysxTriangleMeshCollisionAPI", "PhysicsMeshCollisionAPI"]
+        )
+        {
+            uniform token physics:approximation = "none"
+            bool physics:collisionEnabled = 0
+        }
+
+        over "visuals" (
+            prepend apiSchemas = ["PhysicsCollisionAPI", "PhysxCollisionAPI", "PhysxTriangleMeshCollisionAPI", "PhysicsMeshCollisionAPI"]
+        )
+        {
+            uniform token physics:approximation = "none"
+            bool physics:collisionEnabled = 0
+        }
+    }
+
+    over "arm_l_link2" (
+        prepend apiSchemas = ["PhysxRigidBodyAPI"]
+    )
+    {
+        bool physxRigidBody:disableGravity = 1
+
+        over "collisions" (
+            prepend apiSchemas = ["PhysicsCollisionAPI", "PhysxCollisionAPI", "PhysxTriangleMeshCollisionAPI", "PhysicsMeshCollisionAPI"]
+        )
+        {
+            uniform token physics:approximation = "none"
+            bool physics:collisionEnabled = 0
+        }
+
+        over "visuals" (
+            prepend apiSchemas = ["PhysicsCollisionAPI", "PhysxCollisionAPI", "PhysxTriangleMeshCollisionAPI", "PhysicsMeshCollisionAPI"]
+        )
+        {
+            uniform token physics:approximation = "none"
+            bool physics:collisionEnabled = 0
+        }
+    }
+
+    over "arm_l_link3" (
+        prepend apiSchemas = ["PhysxRigidBodyAPI"]
+    )
+    {
+        bool physxRigidBody:disableGravity = 1
+
+        over "collisions" (
+            prepend apiSchemas = ["PhysicsCollisionAPI", "PhysxCollisionAPI", "PhysxTriangleMeshCollisionAPI", "PhysicsMeshCollisionAPI"]
+        )
+        {
+            uniform token physics:approximation = "none"
+            bool physics:collisionEnabled = 0
+        }
+
+        over "visuals" (
+            prepend apiSchemas = ["PhysicsCollisionAPI", "PhysxCollisionAPI", "PhysxTriangleMeshCollisionAPI", "PhysicsMeshCollisionAPI"]
+        )
+        {
+            uniform token physics:approximation = "none"
+            bool physics:collisionEnabled = 0
+        }
+    }
+
+    over "arm_l_link4" (
+        prepend apiSchemas = ["PhysxRigidBodyAPI"]
+    )
+    {
+        bool physxRigidBody:disableGravity = 1
+
+        over "collisions" (
+            prepend apiSchemas = ["PhysicsCollisionAPI", "PhysxCollisionAPI", "PhysxTriangleMeshCollisionAPI", "PhysicsMeshCollisionAPI"]
+        )
+        {
+            uniform token physics:approximation = "none"
+            bool physics:collisionEnabled = 0
+        }
+
+        over "visuals" (
+            prepend apiSchemas = ["PhysicsCollisionAPI", "PhysxCollisionAPI", "PhysxTriangleMeshCollisionAPI", "PhysicsMeshCollisionAPI"]
+        )
+        {
+            uniform token physics:approximation = "none"
+            bool physics:collisionEnabled = 0
+        }
+    }
+
+    over "arm_l_link5" (
+        prepend apiSchemas = ["PhysxRigidBodyAPI"]
+    )
+    {
+        bool physxRigidBody:disableGravity = 1
+
+        over "collisions" (
+            prepend apiSchemas = ["PhysicsCollisionAPI", "PhysxCollisionAPI", "PhysxTriangleMeshCollisionAPI", "PhysicsMeshCollisionAPI"]
+        )
+        {
+            uniform token physics:approximation = "none"
+            bool physics:collisionEnabled = 0
+        }
+
+        over "visuals" (
+            prepend apiSchemas = ["PhysicsCollisionAPI", "PhysxCollisionAPI", "PhysxTriangleMeshCollisionAPI", "PhysicsMeshCollisionAPI"]
+        )
+        {
+            uniform token physics:approximation = "none"
+            bool physics:collisionEnabled = 0
+        }
+    }
+
+    over "arm_l_link6" (
+        prepend apiSchemas = ["PhysxRigidBodyAPI"]
+    )
+    {
+        bool physxRigidBody:disableGravity = 1
+
+        over "collisions" (
+            prepend apiSchemas = ["PhysicsCollisionAPI", "PhysxCollisionAPI", "PhysxTriangleMeshCollisionAPI", "PhysicsMeshCollisionAPI"]
+        )
+        {
+            uniform token physics:approximation = "none"
+            bool physics:collisionEnabled = 0
+        }
+
+        over "visuals" (
+            prepend apiSchemas = ["PhysicsCollisionAPI", "PhysxCollisionAPI", "PhysxTriangleMeshCollisionAPI", "PhysicsMeshCollisionAPI"]
+        )
+        {
+            uniform token physics:approximation = "none"
+            bool physics:collisionEnabled = 0
+        }
+    }
+
+    over "arm_l_end_link" (
+        prepend apiSchemas = ["PhysxRigidBodyAPI"]
+    )
+    {
+        bool physxRigidBody:disableGravity = 1
+
+        over "collisions" (
+            prepend apiSchemas = ["PhysicsCollisionAPI", "PhysxCollisionAPI", "PhysxTriangleMeshCollisionAPI", "PhysicsMeshCollisionAPI"]
+        )
+        {
+            uniform token physics:approximation = "none"
+            bool physics:collisionEnabled = 0
+        }
+
+        over "visuals" (
+            prepend apiSchemas = ["PhysicsCollisionAPI", "PhysxCollisionAPI", "PhysxTriangleMeshCollisionAPI", "PhysicsMeshCollisionAPI"]
+        )
+        {
+            uniform token physics:approximation = "none"
+            bool physics:collisionEnabled = 0
+        }
+    }
+
+    over "gripper_l_base_link" (
+        prepend apiSchemas = ["PhysxRigidBodyAPI"]
+    )
+    {
+        bool physxRigidBody:disableGravity = 1
+        double3 xformOp:translate = (0.13099196553230286, 0.8965001106262207, 0.9535000324249268)
+
+        def "camera_stand" (
+            active = true
+            delete payload = @../A2D/camera_stand.usdc@
+            prepend payload = @./configuration/camera_stand.usdc@
+        )
+        {
+            quatf xformOp:orient = (0.5, -0.5, -0.5, -0.5)
+            float3 xformOp:scale = (0.1, 0.1, 0.1)
+            double3 xformOp:translate = (0, -6.569445909487825e-8, -0.023)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+
+            over "World"
+            {
+                over "Geometry"
+                {
+                    over "tn__j0rhk0xq2jmKon6saP_0"
+                    {
+                        over "_________________________GB_FASTENER_SCREWS_HSHCS_M4X8_N_1" (
+                            active = false
+                        )
+                        {
+                        }
+
+                        over "_________________________GB_FASTENER_SCREWS_HSHCS_M4X8_N_26" (
+                            active = false
+                        )
+                        {
+                        }
+
+                        over "_________________________GB_FASTENER_SCREWS_HSHCS_M4X8_N_29" (
+                            active = false
+                        )
+                        {
+                        }
+
+                        over "_________________________GB_FASTENER_SCREWS_HSHCS_M4X8_N_3" (
+                            active = false
+                        )
+                        {
+                        }
+
+                        over "_________________________GB_FASTENER_SCREWS_HSHCS_M4X8_N_30" (
+                            active = false
+                        )
+                        {
+                        }
+
+                        over "_________________________GB_FASTENER_SCREWS_HSHCS_M4X8_N_31" (
+                            active = false
+                        )
+                        {
+                        }
+
+                        over "_________________________GB_FASTENER_SCREWS_HSHCS_M4X8_N_4" (
+                            active = false
+                        )
+                        {
+                        }
+
+                        over "_________________________GB_FASTENER_SCREWS_HSHCS_M4X8_N_5" (
+                            active = false
+                        )
+                        {
+                        }
+
+                        over "_________________________GB_FASTENER_SCREWS_HSHCS_M4X8_N_6" (
+                            active = false
+                        )
+                        {
+                        }
+
+                        over "_________________________GB_FASTENER_SCREWS_HSHCS_M4X8_N_7" (
+                            active = false
+                        )
+                        {
+                        }
+
+                        over "___________________405_____27"
+                        {
+                            over "________26_28"
+                            {
+                                over "Mesh_17"
+                                {
+                                    over "Mesh_17" (
+                                        prepend apiSchemas = ["MaterialBindingAPI", "PhysicsCollisionAPI", "PhysxCollisionAPI", "PhysxConvexHullCollisionAPI", "PhysicsMeshCollisionAPI"]
+                                    )
+                                    {
+                                        rel material:binding = </G1/Looks/OmniPBR_01> (
+                                            bindMaterialAs = "weakerThanDescendants"
+                                        )
+                                        uniform token physics:approximation = "convexHull"
+                                        bool physics:collisionEnabled = 0
+                                    }
+                                }
+                            }
+                        }
+
+                        over "CTAG2F120S_0_00_______________________20241106_step_10"
+                        {
+                            over "NONE_22"
+                            {
+                                over "Mesh_13"
+                                {
+                                    over "Mesh_13" (
+                                        prepend apiSchemas = ["MaterialBindingAPI", "PhysicsCollisionAPI", "PhysxCollisionAPI", "PhysxConvexHullCollisionAPI", "PhysicsMeshCollisionAPI"]
+                                    )
+                                    {
+                                        rel material:binding = </G1/Looks/material_black> (
+                                            bindMaterialAs = "weakerThanDescendants"
+                                        )
+                                        uniform token physics:approximation = "convexHull"
+                                        bool physics:collisionEnabled = 0
+                                    }
+                                }
+                            }
+
+                            over "NONE_11"
+                            {
+                                over "Mesh_2"
+                                {
+                                    over "Mesh_2" (
+                                        prepend apiSchemas = ["MaterialBindingAPI", "PhysicsCollisionAPI", "PhysxCollisionAPI", "PhysxConvexHullCollisionAPI", "PhysicsMeshCollisionAPI"]
+                                    )
+                                    {
+                                        rel material:binding = </G1/Looks/OmniPBR_01> (
+                                            bindMaterialAs = "weakerThanDescendants"
+                                        )
+                                        uniform token physics:approximation = "convexHull"
+                                        bool physics:collisionEnabled = 0
+                                    }
+                                }
+                            }
+                        }
+
+                        over "D405____________________8"
+                        {
+                            over "NONE_9"
+                            {
+                                over "Mesh_1"
+                                {
+                                    over "Mesh_1" (
+                                        prepend apiSchemas = ["MaterialBindingAPI", "PhysicsCollisionAPI", "PhysxCollisionAPI", "PhysxConvexHullCollisionAPI", "PhysicsMeshCollisionAPI"]
+                                    )
+                                    {
+                                        rel material:binding = </G1/Looks/OmniPBR> (
+                                            bindMaterialAs = "weakerThanDescendants"
+                                        )
+                                        uniform token physics:approximation = "convexHull"
+                                        bool physics:collisionEnabled = 0
+                                    }
+                                }
+                            }
+                        }
+                    }
+                }
+            }
+        }
+
+        over "visuals" (
+            prepend apiSchemas = ["PhysicsCollisionAPI", "PhysxCollisionAPI", "PhysxTriangleMeshCollisionAPI", "PhysicsMeshCollisionAPI"]
+        )
+        {
+            uniform token physics:approximation = "none"
+            bool physics:collisionEnabled = 0
+        }
+
+        over "collisions" (
+            prepend apiSchemas = ["PhysicsCollisionAPI", "PhysxCollisionAPI", "PhysxTriangleMeshCollisionAPI", "PhysicsMeshCollisionAPI", "PhysxConvexHullCollisionAPI"]
+        )
+        {
+            uniform token physics:approximation = "convexHull"
+            bool physics:collisionEnabled = 1
+        }
+
+        def Camera "Left_Camera"
+        {
+            token cameraProjectionType = "pinhole" (
+                allowedTokens = ["pinhole", "fisheyePolynomial", "fisheyeSpherical", "fisheyeKannalaBrandtK3", "fisheyeRadTanThinPrism", "omniDirectionalStereo"]
+            )
+            float2 clippingRange = (0.01, 10000000)
+            float fisheyeResolutionBudget = 1.5
+            float focalLength = 1.93
+            float focusDistance = 400
+            float horizontalAperture = 3.48
+            bool omni:kit:cameraLock = 1
+            float p0 = -0.00036721907
+            float verticalAperture = 2.4
+            token visibility = "invisible"
+            quatd xformOp:orient = (0.2276527509665924, 0.9698432158349699, 0.06654065607906888, 0.0561311211788408)
+            double3 xformOp:scale = (1, 1, 1)
+            double3 xformOp:translate = (0.018025112504729504, -0.07, 0.08)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+        }
+    }
+
+    over "gripper_l_inner_link1" (
+        prepend apiSchemas = ["PhysxRigidBodyAPI"]
+    )
+    {
+        bool physxRigidBody:disableGravity = 1
+
+        over "visuals" (
+            prepend apiSchemas = ["PhysicsCollisionAPI", "PhysxCollisionAPI", "PhysxTriangleMeshCollisionAPI", "PhysicsMeshCollisionAPI"]
+        )
+        {
+            uniform token physics:approximation = "none"
+            bool physics:collisionEnabled = 0
+        }
+
+        over "collisions" (
+            prepend apiSchemas = ["PhysicsCollisionAPI", "PhysxCollisionAPI", "PhysxTriangleMeshCollisionAPI", "PhysicsMeshCollisionAPI", "PhysxConvexHullCollisionAPI"]
+        )
+        {
+            uniform token physics:approximation = "convexHull"
+            bool physics:collisionEnabled = 1
+        }
+    }
+
+    over "gripper_l_inner_link3" (
+        prepend apiSchemas = ["PhysxRigidBodyAPI"]
+    )
+    {
+        bool physxRigidBody:disableGravity = 1
+
+        over "visuals" (
+            prepend apiSchemas = ["PhysicsCollisionAPI", "PhysxCollisionAPI", "PhysxTriangleMeshCollisionAPI", "PhysicsMeshCollisionAPI"]
+        )
+        {
+            uniform token physics:approximation = "none"
+            bool physics:collisionEnabled = 0
+        }
+
+        over "collisions" (
+            prepend apiSchemas = ["PhysicsCollisionAPI", "PhysxCollisionAPI", "PhysxTriangleMeshCollisionAPI", "PhysicsMeshCollisionAPI", "PhysxConvexHullCollisionAPI"]
+        )
+        {
+            uniform token physics:approximation = "convexHull"
+            bool physics:collisionEnabled = 1
+        }
+    }
+
+    over "gripper_l_inner_link4" (
+        prepend apiSchemas = ["PhysxRigidBodyAPI"]
+    )
+    {
+        bool physxRigidBody:disableGravity = 1
+
+        over "visuals" (
+            prepend apiSchemas = ["PhysicsCollisionAPI", "PhysxCollisionAPI", "PhysxTriangleMeshCollisionAPI", "PhysicsMeshCollisionAPI"]
+        )
+        {
+            uniform token physics:approximation = "none"
+            bool physics:collisionEnabled = 0
+        }
+
+        over "collisions" (
+            prepend apiSchemas = ["PhysicsCollisionAPI", "PhysxCollisionAPI", "PhysxTriangleMeshCollisionAPI", "PhysicsMeshCollisionAPI", "PhysxConvexHullCollisionAPI", "PhysxConvexDecompositionCollisionAPI"]
+        )
+        {
+            uniform token physics:approximation = "convexDecomposition"
+            bool physics:collisionEnabled = 1
+        }
+    }
+
+    over "gripper_l_inner_link5" (
+        prepend apiSchemas = ["PhysxRigidBodyAPI", "PhysxContactReportAPI"]
+    )
+    {
+        float physxContactReport:threshold = 0
+        bool physxRigidBody:disableGravity = 1
+        float physxRigidBody:sleepThreshold = 0
+        double3 xformOp:scale = (0.5, 1, 1)
+        double3 xformOp:translate = (0.133, 1.100955843925476, 0.9534998536109924)
+
+        over "collisions" (
+            prepend apiSchemas = ["PhysxContactReportAPI", "MaterialBindingAPI", "PhysxConvexHullCollisionAPI"]
+            instanceable = false
+        )
+        {
+            rel material:binding = </G1/PhysicsMaterial> (
+                bindMaterialAs = "weakerThanDescendants"
+            )
+            uniform token physics:approximation = "convexHull"
+            float physxContactReport:threshold = 0
+
+            over "Right_Pad_Link" (
+                active = true
+            )
+            {
+                over "mesh" (
+                    prepend apiSchemas = ["PhysicsCollisionAPI", "PhysxCollisionAPI", "PhysxConvexHullCollisionAPI", "PhysicsMeshCollisionAPI"]
+                )
+                {
+                    uniform token physics:approximation = "convexHull"
+                    bool physics:collisionEnabled = 1
+                }
+            }
+        }
+
+        over "visuals" (
+            prepend apiSchemas = ["PhysicsCollisionAPI", "PhysxCollisionAPI", "PhysxTriangleMeshCollisionAPI", "PhysicsMeshCollisionAPI"]
+        )
+        {
+            uniform token physics:approximation = "none"
+            bool physics:collisionEnabled = 0
+        }
+    }
+
+    over "gripper_l_inner_link2" (
+        prepend apiSchemas = ["PhysxRigidBodyAPI"]
+    )
+    {
+        bool physxRigidBody:disableGravity = 1
+
+        over "visuals" (
+            prepend apiSchemas = ["PhysicsCollisionAPI", "PhysxCollisionAPI", "PhysxTriangleMeshCollisionAPI", "PhysicsMeshCollisionAPI"]
+        )
+        {
+            uniform token physics:approximation = "none"
+            bool physics:collisionEnabled = 0
+        }
+
+        over "collisions" (
+            prepend apiSchemas = ["PhysicsCollisionAPI", "PhysxCollisionAPI", "PhysxTriangleMeshCollisionAPI", "PhysicsMeshCollisionAPI", "PhysxConvexHullCollisionAPI"]
+        )
+        {
+            uniform token physics:approximation = "convexHull"
+            bool physics:collisionEnabled = 1
+        }
+    }
+
+    over "gripper_l_outer_link1" (
+        prepend apiSchemas = ["PhysxRigidBodyAPI"]
+    )
+    {
+        bool physxRigidBody:disableGravity = 1
+
+        over "visuals" (
+            prepend apiSchemas = ["PhysicsCollisionAPI", "PhysxCollisionAPI", "PhysxTriangleMeshCollisionAPI", "PhysicsMeshCollisionAPI"]
+        )
+        {
+            uniform token physics:approximation = "none"
+            bool physics:collisionEnabled = 0
+        }
+
+        over "collisions" (
+            prepend apiSchemas = ["PhysicsCollisionAPI", "PhysxCollisionAPI", "PhysxTriangleMeshCollisionAPI", "PhysicsMeshCollisionAPI", "PhysxConvexHullCollisionAPI"]
+        )
+        {
+            uniform token physics:approximation = "convexHull"
+            bool physics:collisionEnabled = 1
+        }
+    }
+
+    over "gripper_l_outer_link3" (
+        prepend apiSchemas = ["PhysxRigidBodyAPI"]
+    )
+    {
+        bool physxRigidBody:disableGravity = 1
+
+        over "visuals" (
+            prepend apiSchemas = ["PhysicsCollisionAPI", "PhysxCollisionAPI", "PhysxTriangleMeshCollisionAPI", "PhysicsMeshCollisionAPI"]
+        )
+        {
+            uniform token physics:approximation = "none"
+            bool physics:collisionEnabled = 0
+        }
+
+        over "collisions" (
+            prepend apiSchemas = ["PhysicsCollisionAPI", "PhysxCollisionAPI", "PhysxTriangleMeshCollisionAPI", "PhysicsMeshCollisionAPI", "PhysxConvexHullCollisionAPI"]
+        )
+        {
+            uniform token physics:approximation = "convexHull"
+            bool physics:collisionEnabled = 1
+        }
+    }
+
+    over "gripper_l_outer_link4" (
+        prepend apiSchemas = ["PhysxRigidBodyAPI"]
+    )
+    {
+        bool physxRigidBody:disableGravity = 1
+
+        over "visuals" (
+            prepend apiSchemas = ["PhysicsCollisionAPI", "PhysxCollisionAPI", "PhysxTriangleMeshCollisionAPI", "PhysicsMeshCollisionAPI"]
+        )
+        {
+            uniform token physics:approximation = "none"
+            bool physics:collisionEnabled = 0
+        }
+
+        over "collisions" (
+            prepend apiSchemas = ["PhysicsCollisionAPI", "PhysxCollisionAPI", "PhysxTriangleMeshCollisionAPI", "PhysicsMeshCollisionAPI", "PhysxConvexHullCollisionAPI", "PhysxConvexDecompositionCollisionAPI"]
+        )
+        {
+            uniform token physics:approximation = "convexDecomposition"
+            bool physics:collisionEnabled = 1
+        }
+    }
+
+    over "gripper_l_outer_link5" (
+        prepend apiSchemas = ["PhysxRigidBodyAPI", "PhysxContactReportAPI"]
+    )
+    {
+        float physxContactReport:threshold = 0
+        bool physxRigidBody:disableGravity = 1
+        float physxRigidBody:sleepThreshold = 0
+        double3 xformOp:scale = (0.5, 1, 1)
+        double3 xformOp:translate = (0.129, 1.100955843925476, 0.9534998536109924)
+
+        over "collisions" (
+            prepend apiSchemas = ["PhysxContactReportAPI", "MaterialBindingAPI", "PhysxConvexHullCollisionAPI"]
+            instanceable = false
+        )
+        {
+            rel material:binding = </G1/PhysicsMaterial> (
+                bindMaterialAs = "weakerThanDescendants"
+            )
+            uniform token physics:approximation = "convexHull"
+            float physxContactReport:threshold = 0
+
+            over "Left_Pad_Link" (
+                active = true
+            )
+            {
+                over "mesh" (
+                    prepend apiSchemas = ["PhysicsCollisionAPI", "PhysxCollisionAPI", "PhysxConvexHullCollisionAPI", "PhysicsMeshCollisionAPI"]
+                )
+                {
+                    uniform token physics:approximation = "convexHull"
+                    bool physics:collisionEnabled = 1
+                }
+            }
+        }
+
+        over "visuals" (
+            prepend apiSchemas = ["PhysicsCollisionAPI", "PhysxCollisionAPI", "PhysxTriangleMeshCollisionAPI", "PhysicsMeshCollisionAPI"]
+        )
+        {
+            uniform token physics:approximation = "none"
+            bool physics:collisionEnabled = 0
+        }
+    }
+
+    over "gripper_l_outer_link2" (
+        prepend apiSchemas = ["PhysxRigidBodyAPI"]
+    )
+    {
+        bool physxRigidBody:disableGravity = 1
+
+        over "visuals" (
+            prepend apiSchemas = ["PhysicsCollisionAPI", "PhysxCollisionAPI", "PhysxTriangleMeshCollisionAPI", "PhysicsMeshCollisionAPI"]
+        )
+        {
+            uniform token physics:approximation = "none"
+            bool physics:collisionEnabled = 0
+        }
+
+        over "collisions" (
+            prepend apiSchemas = ["PhysicsCollisionAPI", "PhysxCollisionAPI", "PhysxTriangleMeshCollisionAPI", "PhysicsMeshCollisionAPI", "PhysxConvexHullCollisionAPI"]
+        )
+        {
+            uniform token physics:approximation = "convexHull"
+            bool physics:collisionEnabled = 1
+        }
+    }
+
+    over "gripper_l_center_link" (
+        prepend apiSchemas = ["PhysxRigidBodyAPI"]
+    )
+    {
+        bool physxRigidBody:disableGravity = 1
+
+        over "visuals" (
+            prepend apiSchemas = ["PhysicsCollisionAPI", "PhysxCollisionAPI", "PhysxTriangleMeshCollisionAPI", "PhysicsMeshCollisionAPI"]
+        )
+        {
+            uniform token physics:approximation = "none"
+            bool physics:collisionEnabled = 0
+        }
+    }
+
+    over "arm_r_base_link" (
+        prepend apiSchemas = ["PhysxRigidBodyAPI"]
+    )
+    {
+        bool physxRigidBody:disableGravity = 1
+
+        over "visuals" (
+            prepend apiSchemas = ["PhysicsCollisionAPI", "PhysxCollisionAPI", "PhysxTriangleMeshCollisionAPI", "PhysicsMeshCollisionAPI"]
+        )
+        {
+            uniform token physics:approximation = "none"
+            bool physics:collisionEnabled = 0
+        }
+    }
+
+    over "arm_r_link1" (
+        prepend apiSchemas = ["PhysxRigidBodyAPI"]
+    )
+    {
+        bool physxRigidBody:disableGravity = 1
+
+        over "collisions" (
+            prepend apiSchemas = ["PhysicsCollisionAPI", "PhysxCollisionAPI", "PhysxTriangleMeshCollisionAPI", "PhysicsMeshCollisionAPI"]
+        )
+        {
+            uniform token physics:approximation = "none"
+            bool physics:collisionEnabled = 0
+        }
+
+        over "visuals" (
+            prepend apiSchemas = ["PhysicsCollisionAPI", "PhysxCollisionAPI", "PhysxTriangleMeshCollisionAPI", "PhysicsMeshCollisionAPI"]
+        )
+        {
+            uniform token physics:approximation = "none"
+            bool physics:collisionEnabled = 0
+        }
+    }
+
+    over "arm_r_link2" (
+        prepend apiSchemas = ["PhysxRigidBodyAPI"]
+    )
+    {
+        bool physxRigidBody:disableGravity = 1
+
+        over "collisions" (
+            prepend apiSchemas = ["PhysicsCollisionAPI", "PhysxCollisionAPI", "PhysxTriangleMeshCollisionAPI", "PhysicsMeshCollisionAPI"]
+        )
+        {
+            uniform token physics:approximation = "none"
+            bool physics:collisionEnabled = 0
+        }
+
+        over "visuals" (
+            prepend apiSchemas = ["PhysicsCollisionAPI", "PhysxCollisionAPI", "PhysxTriangleMeshCollisionAPI", "PhysicsMeshCollisionAPI"]
+        )
+        {
+            uniform token physics:approximation = "none"
+            bool physics:collisionEnabled = 0
+        }
+    }
+
+    over "arm_r_link3" (
+        prepend apiSchemas = ["PhysxRigidBodyAPI"]
+    )
+    {
+        bool physxRigidBody:disableGravity = 1
+
+        over "collisions" (
+            prepend apiSchemas = ["PhysicsCollisionAPI", "PhysxCollisionAPI", "PhysxTriangleMeshCollisionAPI", "PhysicsMeshCollisionAPI"]
+        )
+        {
+            uniform token physics:approximation = "none"
+            bool physics:collisionEnabled = 0
+        }
+
+        over "visuals" (
+            prepend apiSchemas = ["PhysicsCollisionAPI", "PhysxCollisionAPI", "PhysxTriangleMeshCollisionAPI", "PhysicsMeshCollisionAPI"]
+        )
+        {
+            uniform token physics:approximation = "none"
+            bool physics:collisionEnabled = 0
+        }
+    }
+
+    over "arm_r_link4" (
+        prepend apiSchemas = ["PhysxRigidBodyAPI"]
+    )
+    {
+        bool physxRigidBody:disableGravity = 1
+
+        over "collisions" (
+            prepend apiSchemas = ["PhysicsCollisionAPI", "PhysxCollisionAPI", "PhysxTriangleMeshCollisionAPI", "PhysicsMeshCollisionAPI"]
+        )
+        {
+            uniform token physics:approximation = "none"
+            bool physics:collisionEnabled = 0
+        }
+
+        over "visuals" (
+            prepend apiSchemas = ["PhysicsCollisionAPI", "PhysxCollisionAPI", "PhysxTriangleMeshCollisionAPI", "PhysicsMeshCollisionAPI"]
+        )
+        {
+            uniform token physics:approximation = "none"
+            bool physics:collisionEnabled = 0
+        }
+    }
+
+    over "arm_r_link5" (
+        prepend apiSchemas = ["PhysxRigidBodyAPI"]
+    )
+    {
+        bool physxRigidBody:disableGravity = 1
+
+        over "collisions" (
+            prepend apiSchemas = ["PhysicsCollisionAPI", "PhysxCollisionAPI", "PhysxTriangleMeshCollisionAPI", "PhysicsMeshCollisionAPI"]
+        )
+        {
+            uniform token physics:approximation = "none"
+            bool physics:collisionEnabled = 0
+        }
+
+        over "visuals" (
+            prepend apiSchemas = ["PhysicsCollisionAPI", "PhysxCollisionAPI", "PhysxTriangleMeshCollisionAPI", "PhysicsMeshCollisionAPI"]
+        )
+        {
+            uniform token physics:approximation = "none"
+            bool physics:collisionEnabled = 0
+        }
+    }
+
+    over "arm_r_link6" (
+        prepend apiSchemas = ["PhysxRigidBodyAPI"]
+    )
+    {
+        bool physxRigidBody:disableGravity = 1
+
+        over "collisions" (
+            prepend apiSchemas = ["PhysicsCollisionAPI", "PhysxCollisionAPI", "PhysxTriangleMeshCollisionAPI", "PhysicsMeshCollisionAPI"]
+        )
+        {
+            uniform token physics:approximation = "none"
+            bool physics:collisionEnabled = 0
+        }
+
+        over "visuals" (
+            prepend apiSchemas = ["PhysicsCollisionAPI", "PhysxCollisionAPI", "PhysxTriangleMeshCollisionAPI", "PhysicsMeshCollisionAPI"]
+        )
+        {
+            uniform token physics:approximation = "none"
+            bool physics:collisionEnabled = 0
+        }
+    }
+
+    over "arm_r_end_link" (
+        prepend apiSchemas = ["PhysxRigidBodyAPI"]
+    )
+    {
+        bool physxRigidBody:disableGravity = 1
+
+        over "collisions" (
+            prepend apiSchemas = ["PhysicsCollisionAPI", "PhysxCollisionAPI", "PhysxTriangleMeshCollisionAPI", "PhysicsMeshCollisionAPI"]
+        )
+        {
+            uniform token physics:approximation = "none"
+            bool physics:collisionEnabled = 0
+        }
+
+        over "visuals" (
+            prepend apiSchemas = ["PhysicsCollisionAPI", "PhysxCollisionAPI", "PhysxTriangleMeshCollisionAPI", "PhysicsMeshCollisionAPI"]
+        )
+        {
+            uniform token physics:approximation = "none"
+            bool physics:collisionEnabled = 0
+        }
+    }
+
+    over "gripper_r_base_link" (
+        prepend apiSchemas = ["PhysxRigidBodyAPI"]
+    )
+    {
+        bool physxRigidBody:disableGravity = 1
+
+        over "collisions" (
+            prepend apiSchemas = ["PhysicsCollisionAPI", "PhysxCollisionAPI", "PhysxTriangleMeshCollisionAPI", "PhysicsMeshCollisionAPI", "PhysxConvexHullCollisionAPI"]
+        )
+        {
+            uniform token physics:approximation = "convexHull"
+            bool physics:collisionEnabled = 1
+        }
+
+        def "camera_stand" (
+            active = true
+            delete payload = @../A2D/camera_stand.usdc@
+            prepend payload = @./configuration/camera_stand.usdc@
+        )
+        {
+            token visibility = "inherited"
+            quatf xformOp:orient = (0.5000049, 0.50000197, -0.4999964, 0.49999675)
+            float3 xformOp:scale = (0.1, 0.1, 0.1)
+            double3 xformOp:translate = (5.189190800947152e-7, 0.00000492474487956418, -0.04381786469262117)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+
+            over "World"
+            {
+                over "Geometry"
+                {
+                    over "tn__j0rhk0xq2jmKon6saP_0"
+                    {
+                        over "_________________________GB_FASTENER_SCREWS_HSHCS_M4X8_N_1" (
+                            active = false
+                        )
+                        {
+                        }
+
+                        over "_________________________GB_FASTENER_SCREWS_HSHCS_M4X8_N_26" (
+                            active = false
+                        )
+                        {
+                        }
+
+                        over "_________________________GB_FASTENER_SCREWS_HSHCS_M4X8_N_29" (
+                            active = false
+                        )
+                        {
+                        }
+
+                        over "_________________________GB_FASTENER_SCREWS_HSHCS_M4X8_N_3" (
+                            active = false
+                        )
+                        {
+                        }
+
+                        over "_________________________GB_FASTENER_SCREWS_HSHCS_M4X8_N_30" (
+                            active = false
+                        )
+                        {
+                        }
+
+                        over "_________________________GB_FASTENER_SCREWS_HSHCS_M4X8_N_31" (
+                            active = false
+                        )
+                        {
+                        }
+
+                        over "_________________________GB_FASTENER_SCREWS_HSHCS_M4X8_N_4" (
+                            active = false
+                        )
+                        {
+                        }
+
+                        over "_________________________GB_FASTENER_SCREWS_HSHCS_M4X8_N_5" (
+                            active = false
+                        )
+                        {
+                        }
+
+                        over "_________________________GB_FASTENER_SCREWS_HSHCS_M4X8_N_6" (
+                            active = false
+                        )
+                        {
+                        }
+
+                        over "_________________________GB_FASTENER_SCREWS_HSHCS_M4X8_N_7" (
+                            active = false
+                        )
+                        {
+                        }
+
+                        over "___________________405_____27"
+                        {
+                            matrix4d xformOp:transform = ( (0.0007608598306562324, -0.7101511890406217, 0.7040486979415248, 0), (-0.1736464573728907, 0.6932592348959272, 0.6994558643865088, 0), (-0.9848078481448914, -0.12278777161926381, -0.12278778660518164, 0), (998.50765308196, -21.681952752452617, 37.62800809710052, 1) )
+
+                            over "________26_28"
+                            {
+                                matrix4d xformOp:transform = ( (1.0000000001309797, 0, 0, 0), (0, 1, 0, 0), (0, 0, 0.9999999998690201, 0), (8.940696716308594e-8, 0, 0, 1) )
+
+                                over "Mesh_17"
+                                {
+                                    over "Mesh_17" (
+                                        prepend apiSchemas = ["MaterialBindingAPI", "PhysicsCollisionAPI", "PhysxCollisionAPI", "PhysxConvexHullCollisionAPI", "PhysicsMeshCollisionAPI"]
+                                    )
+                                    {
+                                        rel material:binding = </G1/Looks/OmniPBR_01> (
+                                            bindMaterialAs = "weakerThanDescendants"
+                                        )
+                                        uniform token physics:approximation = "convexHull"
+                                        bool physics:collisionEnabled = 0
+                                        quatf xformOp:orient = (1, 0, 0, 0)
+                                        float3 xformOp:scale = (1, 1, 1)
+                                        double3 xformOp:translate = (0, 0, 0)
+                                        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+                                    }
+                                }
+                            }
+                        }
+
+                        over "CTAG2F120S_0_00_______________________20241106_step_10"
+                        {
+                            matrix4d xformOp:transform = ( (0.0007607765076038081, -0.7101513750449172, 0.7040486030578254, 0), (0.9848077292466333, 0.12278764285396747, 0.12278782239022681, 0), (-0.17364642393411617, 0.6932591502577118, 0.6994560358462878, 0), (1041.2471520096708, -204.93468970400647, -57.75287712710144, 1) )
+
+                            over "NONE_22"
+                            {
+                                over "Mesh_13"
+                                {
+                                    over "Mesh_13" (
+                                        prepend apiSchemas = ["MaterialBindingAPI", "PhysicsCollisionAPI", "PhysxCollisionAPI", "PhysxConvexHullCollisionAPI", "PhysicsMeshCollisionAPI"]
+                                    )
+                                    {
+                                        rel material:binding = </G1/Looks/material_black> (
+                                            bindMaterialAs = "weakerThanDescendants"
+                                        )
+                                        uniform token physics:approximation = "convexHull"
+                                        bool physics:collisionEnabled = 0
+                                    }
+                                }
+                            }
+
+                            over "NONE_11"
+                            {
+                                over "Mesh_2"
+                                {
+                                    over "Mesh_2" (
+                                        prepend apiSchemas = ["MaterialBindingAPI", "PhysicsCollisionAPI", "PhysxCollisionAPI", "PhysxConvexHullCollisionAPI", "PhysicsMeshCollisionAPI"]
+                                    )
+                                    {
+                                        rel material:binding = </G1/Looks/OmniPBR_01> (
+                                            bindMaterialAs = "weakerThanDescendants"
+                                        )
+                                        uniform token physics:approximation = "convexHull"
+                                        bool physics:collisionEnabled = 0
+                                    }
+                                }
+                            }
+                        }
+
+                        over "D405____________________8"
+                        {
+                            matrix4d xformOp:transform = ( (0.0007608680398119594, -0.7101512607778375, 0.7040486848280502, 0), (0.5877838382814996, -0.5692706141175358, -0.5748401765355927, 0), (0.8090176655731417, 0.4142657965086494, 0.41698227456255293, 0), (1004.0982292538332, -76.8850376981319, -17.800996572086774, 1) )
+
+                            over "NONE_9"
+                            {
+                                over "Mesh_1"
+                                {
+                                    over "Mesh_1" (
+                                        prepend apiSchemas = ["MaterialBindingAPI", "PhysicsCollisionAPI", "PhysxCollisionAPI", "PhysxConvexHullCollisionAPI", "PhysicsMeshCollisionAPI"]
+                                    )
+                                    {
+                                        rel material:binding = </G1/Looks/OmniPBR> (
+                                            bindMaterialAs = "weakerThanDescendants"
+                                        )
+                                        uniform token physics:approximation = "convexHull"
+                                        bool physics:collisionEnabled = 0
+                                    }
+                                }
+                            }
+                        }
+                    }
+                }
+            }
+        }
+
+        over "visuals" (
+            prepend apiSchemas = ["PhysicsCollisionAPI", "PhysxCollisionAPI", "PhysxTriangleMeshCollisionAPI", "PhysicsMeshCollisionAPI"]
+        )
+        {
+            uniform token physics:approximation = "none"
+            bool physics:collisionEnabled = 0
+            quatf xformOp:orient = (1, 0, 0, 0)
+            float3 xformOp:scale = (1, 1, 1)
+            double3 xformOp:translate = (2.3592239273284576e-15, -2.5424107263916085e-14, 0)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+        }
+
+        def Camera "Right_Camera"
+        {
+            token cameraProjectionType = "pinhole" (
+                allowedTokens = ["pinhole", "fisheyePolynomial", "fisheyeSpherical", "fisheyeKannalaBrandtK3", "fisheyeRadTanThinPrism", "omniDirectionalStereo"]
+            )
+            float2 clippingRange = (0.01, 10000000)
+            float fisheyeResolutionBudget = 1.5
+            float focalLength = 1.93
+            float focusDistance = 400
+            float horizontalAperture = 3.48
+            bool omni:kit:cameraLock = 0
+            float p0 = -0.00036721907
+            float verticalAperture = 2.4
+            token visibility = "invisible"
+            quatd xformOp:orient = (0.056137595774663325, 0.06653778231951207, -0.9698432830075834, -0.22765170825125447)
+            double3 xformOp:scale = (1, 1, 1)
+            double3 xformOp:translate = (-0.02248, 0.08391, 0.06263)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+        }
+
+        def PhysicsFixedJoint "FixedJoint" (
+            active = false
+        )
+        {
+            rel physics:body1 = </G1/gripper_r_base_link>
+            float physics:breakForce = inf
+            float physics:breakTorque = inf
+            point3f physics:localPos0 = (0.13100028, -0.8959999, 0.9535001)
+            point3f physics:localPos1 = (0, 0, 0)
+            quatf physics:localRot0 = (0.7071068, 0.7071067, 1.6705599e-7, -2.8315927e-9)
+            quatf physics:localRot1 = (1, 0, 0, 0)
+        }
+    }
+
+    over "gripper_r_inner_link1" (
+        prepend apiSchemas = ["PhysxRigidBodyAPI"]
+    )
+    {
+        float physics:mass = 0.01
+        bool physxRigidBody:disableGravity = 1
+
+        over "visuals" (
+            prepend apiSchemas = ["PhysicsCollisionAPI", "PhysxCollisionAPI", "PhysxTriangleMeshCollisionAPI", "PhysicsMeshCollisionAPI"]
+        )
+        {
+            uniform token physics:approximation = "none"
+            bool physics:collisionEnabled = 0
+        }
+
+        over "collisions" (
+            prepend apiSchemas = ["PhysicsCollisionAPI", "PhysxCollisionAPI", "PhysxTriangleMeshCollisionAPI", "PhysicsMeshCollisionAPI", "PhysxConvexHullCollisionAPI"]
+        )
+        {
+            uniform token physics:approximation = "convexHull"
+            bool physics:collisionEnabled = 1
+        }
+    }
+
+    over "gripper_r_inner_link3" (
+        prepend apiSchemas = ["PhysxRigidBodyAPI"]
+    )
+    {
+        float physics:mass = 0.01
+        bool physxRigidBody:disableGravity = 1
+
+        over "visuals" (
+            prepend apiSchemas = ["PhysicsCollisionAPI", "PhysxCollisionAPI", "PhysxTriangleMeshCollisionAPI", "PhysicsMeshCollisionAPI"]
+        )
+        {
+            uniform token physics:approximation = "none"
+            bool physics:collisionEnabled = 0
+        }
+
+        over "collisions" (
+            prepend apiSchemas = ["PhysicsCollisionAPI", "PhysxCollisionAPI", "PhysxTriangleMeshCollisionAPI", "PhysicsMeshCollisionAPI", "PhysxConvexHullCollisionAPI"]
+        )
+        {
+            uniform token physics:approximation = "convexHull"
+            bool physics:collisionEnabled = 1
+        }
+    }
+
+    over "gripper_r_inner_link4" (
+        prepend apiSchemas = ["PhysxRigidBodyAPI"]
+    )
+    {
+        float physics:mass = 0.01
+        bool physxRigidBody:disableGravity = 1
+
+        over "visuals" (
+            prepend apiSchemas = ["PhysicsCollisionAPI", "PhysxCollisionAPI", "PhysxTriangleMeshCollisionAPI", "PhysicsMeshCollisionAPI"]
+        )
+        {
+            uniform token physics:approximation = "none"
+            bool physics:collisionEnabled = 0
+        }
+
+        over "collisions" (
+            prepend apiSchemas = ["PhysicsCollisionAPI", "PhysxCollisionAPI", "PhysxTriangleMeshCollisionAPI", "PhysicsMeshCollisionAPI", "PhysxConvexHullCollisionAPI", "PhysxConvexDecompositionCollisionAPI"]
+        )
+        {
+            uniform token physics:approximation = "convexDecomposition"
+            bool physics:collisionEnabled = 1
+        }
+    }
+
+    over "gripper_r_inner_link5" (
+        prepend apiSchemas = ["PhysxRigidBodyAPI", "PhysxContactReportAPI"]
+    )
+    {
+        float physics:mass = 0.005
+        float physxContactReport:threshold = 0
+        bool physxRigidBody:disableGravity = 1
+        float physxRigidBody:sleepThreshold = 0
+        double3 xformOp:scale = (0.5, 1, 1)
+        double3 xformOp:translate = (0.133, -1.1030553579330444, 0.9535001516342163)
+
+        over "collisions" (
+            prepend apiSchemas = ["PhysxContactReportAPI", "MaterialBindingAPI", "PhysxConvexHullCollisionAPI"]
+            instanceable = false
+        )
+        {
+            rel material:binding = </G1/PhysicsMaterial> (
+                bindMaterialAs = "weakerThanDescendants"
+            )
+            uniform token physics:approximation = "convexHull"
+            float physxContactReport:threshold = 0
+
+            over "Right_Pad_Link" (
+                active = true
+            )
+            {
+                over "mesh" (
+                    prepend apiSchemas = ["PhysicsCollisionAPI", "PhysxCollisionAPI", "PhysxConvexHullCollisionAPI", "PhysicsMeshCollisionAPI"]
+                )
+                {
+                    uniform token physics:approximation = "convexHull"
+                    bool physics:collisionEnabled = 1
+                }
+            }
+        }
+
+        over "visuals" (
+            prepend apiSchemas = ["PhysicsCollisionAPI", "PhysxCollisionAPI", "PhysxTriangleMeshCollisionAPI", "PhysicsMeshCollisionAPI"]
+        )
+        {
+            uniform token physics:approximation = "none"
+            bool physics:collisionEnabled = 0
+        }
+    }
+
+    over "gripper_r_inner_link2" (
+        prepend apiSchemas = ["PhysxRigidBodyAPI"]
+    )
+    {
+        float physics:mass = 0.01
+        bool physxRigidBody:disableGravity = 1
+
+        over "visuals" (
+            prepend apiSchemas = ["PhysicsCollisionAPI", "PhysxCollisionAPI", "PhysxTriangleMeshCollisionAPI", "PhysicsMeshCollisionAPI"]
+        )
+        {
+            uniform token physics:approximation = "none"
+            bool physics:collisionEnabled = 0
+        }
+
+        over "collisions" (
+            prepend apiSchemas = ["PhysicsCollisionAPI", "PhysxCollisionAPI", "PhysxTriangleMeshCollisionAPI", "PhysicsMeshCollisionAPI", "PhysxConvexHullCollisionAPI"]
+        )
+        {
+            uniform token physics:approximation = "convexHull"
+            bool physics:collisionEnabled = 1
+        }
+    }
+
+    over "gripper_r_outer_link1" (
+        prepend apiSchemas = ["PhysxRigidBodyAPI"]
+    )
+    {
+        float physics:mass = 0.01
+        bool physxRigidBody:disableGravity = 1
+
+        over "visuals" (
+            prepend apiSchemas = ["PhysicsCollisionAPI", "PhysxCollisionAPI", "PhysxTriangleMeshCollisionAPI", "PhysicsMeshCollisionAPI"]
+        )
+        {
+            uniform token physics:approximation = "none"
+            bool physics:collisionEnabled = 0
+        }
+
+        over "collisions" (
+            prepend apiSchemas = ["PhysicsCollisionAPI", "PhysxCollisionAPI", "PhysxTriangleMeshCollisionAPI", "PhysicsMeshCollisionAPI", "PhysxConvexHullCollisionAPI"]
+        )
+        {
+            uniform token physics:approximation = "convexHull"
+            bool physics:collisionEnabled = 1
+        }
+    }
+
+    over "gripper_r_outer_link3" (
+        prepend apiSchemas = ["PhysxRigidBodyAPI"]
+    )
+    {
+        float physics:mass = 0.01
+        bool physxRigidBody:disableGravity = 1
+
+        over "visuals" (
+            prepend apiSchemas = ["PhysicsCollisionAPI", "PhysxCollisionAPI", "PhysxTriangleMeshCollisionAPI", "PhysicsMeshCollisionAPI"]
+        )
+        {
+            uniform token physics:approximation = "none"
+            bool physics:collisionEnabled = 0
+        }
+
+        over "collisions" (
+            prepend apiSchemas = ["PhysicsCollisionAPI", "PhysxCollisionAPI", "PhysxTriangleMeshCollisionAPI", "PhysicsMeshCollisionAPI", "PhysxConvexHullCollisionAPI"]
+        )
+        {
+            uniform token physics:approximation = "convexHull"
+            bool physics:collisionEnabled = 1
+        }
+    }
+
+    over "gripper_r_outer_link4" (
+        prepend apiSchemas = ["PhysxRigidBodyAPI"]
+    )
+    {
+        float physics:mass = 0.01
+        bool physxRigidBody:disableGravity = 1
+
+        over "visuals" (
+            prepend apiSchemas = ["PhysicsCollisionAPI", "PhysxCollisionAPI", "PhysxTriangleMeshCollisionAPI", "PhysicsMeshCollisionAPI"]
+        )
+        {
+            uniform token physics:approximation = "none"
+            bool physics:collisionEnabled = 0
+        }
+
+        over "collisions" (
+            prepend apiSchemas = ["PhysicsCollisionAPI", "PhysxCollisionAPI", "PhysxTriangleMeshCollisionAPI", "PhysicsMeshCollisionAPI", "PhysxConvexHullCollisionAPI", "PhysxConvexDecompositionCollisionAPI"]
+        )
+        {
+            uniform token physics:approximation = "convexDecomposition"
+            bool physics:collisionEnabled = 1
+        }
+    }
+
+    over "gripper_r_outer_link5" (
+        prepend apiSchemas = ["PhysxRigidBodyAPI", "PhysxContactReportAPI"]
+    )
+    {
+        float physics:mass = 0.005
+        float physxContactReport:threshold = 0
+        bool physxRigidBody:disableGravity = 1
+        float physxRigidBody:sleepThreshold = 0
+        quatd xformOp:orient = (1.5645156893930741e-9, -1.73166368504932e-7, 8.934783859161806e-8, 0.999999999999981)
+        double3 xformOp:scale = (0.5, 1, 1)
+        double3 xformOp:translate = (0.129, -1.1030553579330444, 0.9535000920295715)
+        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+
+        over "collisions" (
+            prepend apiSchemas = ["PhysxContactReportAPI", "MaterialBindingAPI", "PhysxConvexHullCollisionAPI"]
+            instanceable = false
+        )
+        {
+            rel material:binding = </G1/PhysicsMaterial> (
+                bindMaterialAs = "weakerThanDescendants"
+            )
+            uniform token physics:approximation = "convexHull"
+            float physxContactReport:threshold = 0
+
+            over "Left_Pad_Link" (
+                active = true
+            )
+            {
+                over "mesh" (
+                    prepend apiSchemas = ["PhysicsCollisionAPI", "PhysxCollisionAPI", "PhysxConvexHullCollisionAPI", "PhysicsMeshCollisionAPI"]
+                )
+                {
+                    uniform token physics:approximation = "convexHull"
+                    bool physics:collisionEnabled = 1
+                }
+            }
+        }
+
+        over "visuals" (
+            prepend apiSchemas = ["PhysicsCollisionAPI", "PhysxCollisionAPI", "PhysxTriangleMeshCollisionAPI", "PhysicsMeshCollisionAPI"]
+        )
+        {
+            uniform token physics:approximation = "none"
+            bool physics:collisionEnabled = 0
+        }
+    }
+
+    over "gripper_r_outer_link2" (
+        prepend apiSchemas = ["PhysxRigidBodyAPI"]
+    )
+    {
+        float physics:mass = 0.01
+        bool physxRigidBody:disableGravity = 1
+
+        over "visuals" (
+            prepend apiSchemas = ["PhysicsCollisionAPI", "PhysxCollisionAPI", "PhysxTriangleMeshCollisionAPI", "PhysicsMeshCollisionAPI"]
+        )
+        {
+            uniform token physics:approximation = "none"
+            bool physics:collisionEnabled = 0
+        }
+
+        over "collisions" (
+            prepend apiSchemas = ["PhysicsCollisionAPI", "PhysxCollisionAPI", "PhysxTriangleMeshCollisionAPI", "PhysicsMeshCollisionAPI", "PhysxConvexHullCollisionAPI"]
+        )
+        {
+            uniform token physics:approximation = "convexHull"
+            bool physics:collisionEnabled = 1
+        }
+    }
+
+    over "gripper_r_center_link" (
+        prepend apiSchemas = ["PhysxRigidBodyAPI"]
+    )
+    {
+        bool physxRigidBody:disableGravity = 1
+
+        over "visuals" (
+            prepend apiSchemas = ["PhysicsCollisionAPI", "PhysxCollisionAPI", "PhysxTriangleMeshCollisionAPI", "PhysicsMeshCollisionAPI"]
+        )
+        {
+            uniform token physics:approximation = "none"
+            bool physics:collisionEnabled = 0
+        }
+    }
+
+    over "head_link1" (
+        prepend apiSchemas = ["PhysxRigidBodyAPI"]
+    )
+    {
+        bool physxRigidBody:disableGravity = 1
+
+        over "visuals" (
+            prepend apiSchemas = ["PhysicsCollisionAPI", "PhysxCollisionAPI", "PhysxTriangleMeshCollisionAPI", "PhysicsMeshCollisionAPI"]
+        )
+        {
+            uniform token physics:approximation = "none"
+            bool physics:collisionEnabled = 0
+        }
+    }
+
+    over "head_link2" (
+        prepend apiSchemas = ["PhysxRigidBodyAPI"]
+    )
+    {
+        bool physxRigidBody:disableGravity = 1
+        token visibility = "inherited"
+        quatd xformOp:orient = (0.7071067094802858, -0.7071068528928021, 0, 0)
+        double3 xformOp:scale = (1, 1, 1)
+        double3 xformOp:translate = (0.18124, 2.6285648768720167e-8, 1.14957)
+        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+
+        over "visuals" (
+            prepend apiSchemas = ["PhysicsCollisionAPI", "PhysxCollisionAPI", "PhysxTriangleMeshCollisionAPI", "PhysicsMeshCollisionAPI"]
+        )
+        {
+            uniform token physics:approximation = "none"
+            bool physics:collisionEnabled = 0
+            quatd xformOp:orient = (1, 0, 0, 0)
+            double3 xformOp:scale = (1, 1, 1)
+            double3 xformOp:translate = (0.04270470988363556, -0.024316554729960638, -4.931784555215874e-9)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+        }
+
+        def Camera "Head_Camera" (
+            active = true
+        )
+        {
+            token cameraSensorType = "camera" (
+                allowedTokens = ["camera", "radar", "lidar", "rtxsensor"]
+            )
+            float2 clippingRange = (0.01, 10000000)
+            float focalLength = 1.93
+            float focusDistance = 400
+            float horizontalAperture = 3.896
+            bool omni:kit:cameraLock = 1
+            float verticalAperture = 2.453
+            token visibility = "invisible"
+            quatd xformOp:orient = (-0.006392759553277411, -0.7037240047258977, 0.0019551239234661994, 0.7104419999467111)
+            double3 xformOp:scale = (1, 1, 1)
+            double3 xformOp:translate = (0.09038599998285587, -0.0354072226255131, -0.01678286722381183)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+        }
+
+        def Camera "Top_Camera" (
+            active = true
+        )
+        {
+            token cameraProjectionType = "fisheyePolynomial" (
+                allowedTokens = ["pinhole", "fisheyePolynomial", "fisheyeSpherical", "fisheyeKannalaBrandtK3", "fisheyeRadTanThinPrism", "omniDirectionalStereo"]
+            )
+            float2 clippingRange = (0.01, 10000000)
+            float focalLength = 1.93
+            float focusDistance = 400
+            float horizontalAperture = 3.896
+            bool omni:kit:cameraLock = 1
+            float verticalAperture = 2.453
+            token visibility = "invisible"
+            quatd xformOp:orient = (-0.18736826613406823, -0.6818266303164756, -0.1873654373843812, 0.681835590088221)
+            double3 xformOp:scale = (1, 1, 1)
+            double3 xformOp:translate = (0.10389557159845111, -0.08107920413021641, -0.0000015304425758569836)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+        }
+
+        def Camera "Fisheye_Camera_01" (
+            active = true
+        )
+        {
+            token cameraProjectionType = "fisheyePolynomial" (
+                allowedTokens = ["pinhole", "fisheyePolynomial", "fisheyeSpherical", "fisheyeKannalaBrandtK3", "fisheyeRadTanThinPrism", "omniDirectionalStereo"]
+            )
+            float2 clippingRange = (0.01, 10000000)
+            float focalLength = 1.93
+            float focusDistance = 400
+            float fthetaPolyB = 0.00245
+            float fthetaPolyC = 0
+            float horizontalAperture = 3.896
+            bool omni:kit:cameraLock = 1
+            float verticalAperture = 2.453
+            token visibility = "invisible"
+            quatd xformOp:orient = (0.0751616554826484, 0.9377050893657665, 0.03061320730933683, -0.33782054771858294)
+            double3 xformOp:scale = (1, 1, 1)
+            double3 xformOp:translate = (0.07625006802520964, 0.01963027862573452, 0.047878739499306)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+        }
+
+        def Camera "Fisheye_Camera_02" (
+            active = true
+        )
+        {
+            token cameraProjectionType = "fisheyePolynomial" (
+                allowedTokens = ["pinhole", "fisheyePolynomial", "fisheyeSpherical", "fisheyeKannalaBrandtK3", "fisheyeRadTanThinPrism", "omniDirectionalStereo"]
+            )
+            float2 clippingRange = (0.01, 10000000)
+            float focalLength = 1.93
+            float focusDistance = 400
+            float fthetaPolyB = 0.00245
+            float fthetaPolyC = 0
+            float horizontalAperture = 3.896
+            bool omni:kit:cameraLock = 1
+            float verticalAperture = 2.453
+            token visibility = "invisible"
+            quatd xformOp:orient = (-0.07386098599114498, -0.35900989056451804, -0.1796585020908458, 0.9128960925821419)
+            double3 xformOp:scale = (1, 1, 1)
+            double3 xformOp:translate = (0.0762488897231273, 0.019629516716955786, -0.05772210537481481)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+        }
+    }
+
+    over "joints"
+    {
+        over "idx01_body_joint1"
+        {
+            float drive:linear:physics:damping = 1000
+            float drive:linear:physics:maxForce = inf
+            float drive:linear:physics:stiffness = 10000
+            float state:linear:physics:position = 0
+            float state:linear:physics:velocity = 0
+        }
+
+        over "idx02_body_joint2"
+        {
+            float drive:angular:physics:damping = 1000
+            float drive:angular:physics:stiffness = 10000
+            float state:angular:physics:position = 0
+            float state:angular:physics:velocity = 0
+        }
+
+        over "idx11_head_joint1"
+        {
+            float drive:angular:physics:damping = 50
+            float drive:angular:physics:stiffness = 500
+            float state:angular:physics:position = 0
+            float state:angular:physics:velocity = 0
+        }
+
+        over "idx12_head_joint2"
+        {
+            float drive:angular:physics:damping = 50
+            float drive:angular:physics:stiffness = 500
+            float drive:angular:physics:targetPosition = 0
+            float physics:upperLimit = 60
+            float state:angular:physics:position = 0
+            float state:angular:physics:velocity = 0
+        }
+
+        over "idx21_arm_l_joint1"
+        {
+            float drive:angular:physics:damping = 1000
+            float drive:angular:physics:maxForce = inf
+            float drive:angular:physics:stiffness = 10000
+            float physics:lowerLimit = -180
+            float physics:upperLimit = 180
+            float physxJoint:maxJointVelocity = 1000000
+            float state:angular:physics:position = 0
+            float state:angular:physics:velocity = 0
+        }
+
+        over "idx61_arm_r_joint1"
+        {
+            float drive:angular:physics:damping = 1000
+            float drive:angular:physics:maxForce = inf
+            float drive:angular:physics:stiffness = 10000
+            uniform token drive:angular:physics:type = "force"
+            float physics:lowerLimit = -180
+            float physics:upperLimit = 180
+            float physxJoint:maxJointVelocity = 100000000
+            float state:angular:physics:position = 0
+            float state:angular:physics:velocity = 0
+        }
+
+        over "idx22_arm_l_joint2"
+        {
+            float drive:angular:physics:damping = 1000
+            float drive:angular:physics:maxForce = inf
+            float drive:angular:physics:stiffness = 10000
+            float physics:lowerLimit = -180
+            float physics:upperLimit = 180
+            float physxJoint:maxJointVelocity = 1000000
+            float state:angular:physics:position = 0
+            float state:angular:physics:velocity = 0
+        }
+
+        over "idx62_arm_r_joint2"
+        {
+            float drive:angular:physics:damping = 1000
+            float drive:angular:physics:maxForce = inf
+            float drive:angular:physics:stiffness = 10000
+            uniform token drive:angular:physics:type = "force"
+            float physics:lowerLimit = -180
+            float physics:upperLimit = 180
+            float physxJoint:maxJointVelocity = 100000000
+            float state:angular:physics:position = 0
+            float state:angular:physics:velocity = 0
+        }
+
+        over "idx23_arm_l_joint3"
+        {
+            float drive:angular:physics:damping = 1000
+            float drive:angular:physics:maxForce = inf
+            float drive:angular:physics:stiffness = 10000
+            float physics:lowerLimit = -180
+            float physics:upperLimit = 180
+            float physxJoint:maxJointVelocity = 1000000
+            float state:angular:physics:position = 0
+            float state:angular:physics:velocity = 0
+        }
+
+        over "idx63_arm_r_joint3"
+        {
+            float drive:angular:physics:damping = 1000
+            float drive:angular:physics:maxForce = inf
+            float drive:angular:physics:stiffness = 10000
+            uniform token drive:angular:physics:type = "force"
+            float physics:lowerLimit = -180
+            float physics:upperLimit = 180
+            float physxJoint:maxJointVelocity = 100000000
+            float state:angular:physics:position = 0
+            float state:angular:physics:velocity = 0
+        }
+
+        over "idx24_arm_l_joint4"
+        {
+            float drive:angular:physics:damping = 1000
+            float drive:angular:physics:maxForce = inf
+            float drive:angular:physics:stiffness = 10000
+            float physics:lowerLimit = -180
+            float physics:upperLimit = 180
+            float physxJoint:maxJointVelocity = 1000000
+            float state:angular:physics:position = 0
+            float state:angular:physics:velocity = 0
+        }
+
+        over "idx64_arm_r_joint4"
+        {
+            float drive:angular:physics:damping = 1000
+            float drive:angular:physics:maxForce = inf
+            float drive:angular:physics:stiffness = 10000
+            uniform token drive:angular:physics:type = "force"
+            float physics:lowerLimit = -180
+            float physics:upperLimit = 180
+            float physxJoint:maxJointVelocity = 100000000
+            float state:angular:physics:position = 0
+            float state:angular:physics:velocity = 0
+        }
+
+        over "idx25_arm_l_joint5"
+        {
+            float drive:angular:physics:damping = 1000
+            float drive:angular:physics:maxForce = inf
+            float drive:angular:physics:stiffness = 10000
+            float physics:lowerLimit = -180
+            float physics:upperLimit = 180
+            float physxJoint:maxJointVelocity = 1000000
+            float state:angular:physics:position = 0
+            float state:angular:physics:velocity = 0
+        }
+
+        over "idx65_arm_r_joint5"
+        {
+            float drive:angular:physics:damping = 1000
+            float drive:angular:physics:maxForce = inf
+            float drive:angular:physics:stiffness = 10000
+            uniform token drive:angular:physics:type = "force"
+            float physics:lowerLimit = -180
+            float physics:upperLimit = 180
+            float physxJoint:maxJointVelocity = 100000000
+            float state:angular:physics:position = 0
+            float state:angular:physics:velocity = 0
+        }
+
+        over "idx26_arm_l_joint6"
+        {
+            float drive:angular:physics:damping = 1000
+            float drive:angular:physics:maxForce = inf
+            float drive:angular:physics:stiffness = 10000
+            float physics:lowerLimit = -180
+            float physics:upperLimit = 180
+            float physxJoint:maxJointVelocity = 1000000
+            float state:angular:physics:position = 0
+            float state:angular:physics:velocity = 0
+        }
+
+        over "idx66_arm_r_joint6"
+        {
+            float drive:angular:physics:damping = 1000
+            float drive:angular:physics:maxForce = inf
+            float drive:angular:physics:stiffness = 10000
+            uniform token drive:angular:physics:type = "force"
+            float physics:lowerLimit = -180
+            float physics:upperLimit = 180
+            float physxJoint:maxJointVelocity = 100000000
+            float state:angular:physics:position = 0
+            float state:angular:physics:velocity = 0
+        }
+
+        over "idx27_arm_l_joint7"
+        {
+            float drive:angular:physics:damping = 1000
+            float drive:angular:physics:maxForce = inf
+            float drive:angular:physics:stiffness = 10000
+            float physics:lowerLimit = -180
+            float physics:upperLimit = 180
+            float physxJoint:maxJointVelocity = 1000000
+            float state:angular:physics:position = 0
+            float state:angular:physics:velocity = 0
+        }
+
+        over "idx67_arm_r_joint7"
+        {
+            float drive:angular:physics:damping = 1000
+            float drive:angular:physics:maxForce = inf
+            float drive:angular:physics:stiffness = 10000
+            uniform token drive:angular:physics:type = "force"
+            float physics:lowerLimit = -180
+            float physics:upperLimit = 180
+            float physxJoint:maxJointVelocity = 100000000
+            float state:angular:physics:position = 0
+            float state:angular:physics:velocity = 0
+        }
+
+        over "idx31_gripper_l_inner_joint1" (
+            delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysxMimicJointAPI:rotX"]
+            prepend apiSchemas = ["PhysxJointAPI", "PhysxMimicJointAPI:rotX"]
+        )
+        {
+            float drive:angular:physics:damping = 10
+            float drive:angular:physics:maxForce = inf
+            float drive:angular:physics:stiffness = 100
+            float drive:angular:physics:targetPosition = 0
+            point3f physics:localPos0 = (0.032553025, 0, 0.10643995)
+            point3f physics:localPos1 = (0, 0.0025, 0)
+            quatf physics:localRot0 = (6.123234e-17, -4.3297803e-17, 0.70710677, 0.70710677)
+            quatf physics:localRot1 = (6.123234e-17, -6.123234e-17, 1, 6.123234e-17)
+            float physics:lowerLimit = 0
+            float physics:upperLimit = 57.353077
+            float physxJoint:maxJointVelocity = 1000000
+            float physxMimicJoint:rotX:gearing = -1
+            rel physxMimicJoint:rotX:referenceJoint = </G1/joints/idx41_gripper_l_outer_joint1>
+            float state:angular:physics:position = 0
+            float state:angular:physics:velocity = 0
+        }
+
+        over PhysicsSphericalJoint "idx39_gripper_l_inner_joint2" (
+            delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
+            prepend apiSchemas = ["PhysxJointAPI"]
+        )
+        {
+            float drive:angular:physics:damping = 0
+            float drive:angular:physics:stiffness = 0
+            rel physics:body0 = </G1/gripper_l_inner_link2>
+            rel physics:body1 = </G1/gripper_l_base_link>
+            uniform bool physics:excludeFromArticulation = 1
+            point3f physics:localPos0 = (-0.0000015220292, 0.002738943, 0.000003110959)
+            point3f physics:localPos1 = (0.017008025, 9.0782144e-8, 0.12213885)
+            quatf physics:localRot0 = (0.99999976, 0.0005679891, -0.00027769184, 0.00027769184)
+            quatf physics:localRot1 = (0.70710653, 0.707107, -6.181726e-8, -4.6792385e-24)
+            float physxJoint:maxJointVelocity = 240
+        }
+
+        over "idx41_gripper_l_outer_joint1" (
+            prepend apiSchemas = ["PhysxJointAPI"]
+        )
+        {
+            float drive:angular:physics:damping = 10
+            float drive:angular:physics:maxForce = inf
+            float drive:angular:physics:stiffness = 100
+            float drive:angular:physics:targetPosition = 0
+            uniform token drive:angular:physics:type = "acceleration"
+            point3f physics:localPos0 = (-0.032552976, 0, 0.10659993)
+            point3f physics:localPos1 = (0, 0.0025, 0)
+            quatf physics:localRot0 = (0.70710677, 0.70710677, 0, 0)
+            quatf physics:localRot1 = (6.123234e-17, -6.123234e-17, 1, 6.123234e-17)
+            float physics:lowerLimit = 0
+            float physics:upperLimit = 57.353077
+            float physxJoint:maxJointVelocity = 180
+            float state:angular:physics:position = 0
+            float state:angular:physics:velocity = 0
+        }
+
+        over PhysicsSphericalJoint "idx49_gripper_l_outer_joint2" (
+            delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
+            prepend apiSchemas = ["PhysxJointAPI"]
+        )
+        {
+            float drive:angular:physics:damping = 0
+            float drive:angular:physics:stiffness = 0
+            rel physics:body0 = </G1/gripper_l_outer_link2>
+            rel physics:body1 = </G1/gripper_l_base_link>
+            uniform bool physics:excludeFromArticulation = 1
+            point3f physics:localPos0 = (0.000008061773, 0.002799511, -1.1970847e-7)
+            point3f physics:localPos1 = (-0.017, 0, 0.122199416)
+            quatf physics:localRot0 = (8.7255016e-11, 4.364068e-11, 1, 3.3207758e-7)
+            quatf physics:localRot1 = (0.7071068, 0.7071067, 3.081246e-8, 3.0876617e-8)
+            float physxJoint:maxJointVelocity = 240
+        }
+
+        over PhysicsRevoluteJoint "idx71_gripper_r_inner_joint1" (
+            delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular", "PhysxMimicJointAPI:rotX"]
+            prepend apiSchemas = ["PhysxJointAPI", "PhysicsJointStateAPI:angular", "PhysxMimicJointAPI:rotX"]
+        )
+        {
+            float drive:angular:physics:damping = 0
+            float drive:angular:physics:maxForce = 0
+            float drive:angular:physics:stiffness = 0
+            float drive:angular:physics:targetPosition = 0
+            uniform token drive:angular:physics:type = ""
+            float physics:lowerLimit = 0
+            float physics:upperLimit = 57.353077
+            float physxJoint:maxJointVelocity = 1000000
+            float physxMimicJoint:rotX:dampingRatio = 0
+            float physxMimicJoint:rotX:gearing = -1
+            float physxMimicJoint:rotX:naturalFrequency = 0
+            rel physxMimicJoint:rotX:referenceJoint = </G1/joints/idx81_gripper_r_outer_joint1>
+            float state:angular:physics:position = 0
+            float state:angular:physics:velocity = 0
+        }
+
+        over PhysicsSphericalJoint "idx79_gripper_r_inner_joint2" (
+            active = true
+            delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
+            prepend apiSchemas = ["PhysxJointAPI"]
+        )
+        {
+            float drive:angular:physics:damping = 0
+            float drive:angular:physics:maxForce = 0
+            float drive:angular:physics:stiffness = 0
+            rel physics:body0 = </G1/gripper_r_inner_link2>
+            rel physics:body1 = </G1/gripper_r_base_link>
+            uniform bool physics:excludeFromArticulation = 1
+            point3f physics:localPos0 = (1.4901161e-8, 0, 3.8857806e-15)
+            point3f physics:localPos1 = (0.017000005, -1.8698822e-8, 0.12199998)
+            quatf physics:localRot0 = (0.7071068, 4.3426824e-15, 1.9354809e-15, 0.7071067)
+            quatf physics:localRot1 = (0.5000002, 0.4999999, -0.49999982, 0.5000001)
+            float physics:lowerLimit = -inf
+            float physics:upperLimit = inf
+            float physxJoint:maxJointVelocity = 1000000
+        }
+
+        over "idx81_gripper_r_outer_joint1" (
+            delete apiSchemas = ["PhysxMimicJointAPI:rotX"]
+            prepend apiSchemas = ["PhysxJointAPI"]
+        )
+        {
+            float drive:angular:physics:damping = 10
+            float drive:angular:physics:maxForce = inf
+            float drive:angular:physics:stiffness = 100
+            float drive:angular:physics:targetPosition = 0
+            float drive:angular:physics:targetVelocity = 0
+            uniform token drive:angular:physics:type = "acceleration"
+            float physics:lowerLimit = 0
+            float physics:upperLimit = 57.353077
+            float physxJoint:maxJointVelocity = 180
+            float state:angular:physics:position = 0
+            float state:angular:physics:velocity = 0
+        }
+
+        over PhysicsSphericalJoint "idx89_gripper_r_outer_joint2" (
+            active = true
+            delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
+            prepend apiSchemas = ["PhysxJointAPI"]
+        )
+        {
+            float drive:angular:physics:damping = 0
+            float drive:angular:physics:maxForce = 0
+            float drive:angular:physics:stiffness = 0
+            rel physics:body0 = </G1/gripper_r_outer_link2>
+            rel physics:body1 = </G1/gripper_r_base_link>
+            uniform bool physics:excludeFromArticulation = 1
+            point3f physics:localPos0 = (8.940701e-8, 5.9604645e-7, -1.1920936e-7)
+            point3f physics:localPos1 = (-0.017000072, -1.2909713e-7, 0.122000575)
+            quatf physics:localRot0 = (-1.5412846e-15, 0.70710677, 0.70710677, -2.1260582e-15)
+            quatf physics:localRot1 = (0.5000001, 0.49999988, -0.49999985, 0.5000002)
+            float physics:lowerLimit = -inf
+            float physics:upperLimit = inf
+            float physxJoint:maxJointVelocity = 1000000
+        }
+
+        over "idx32_gripper_l_inner_joint3" (
+            prepend apiSchemas = ["PhysxJointAPI"]
+        )
+        {
+            float drive:angular:physics:damping = 0
+            float drive:angular:physics:maxForce = inf
+            float drive:angular:physics:stiffness = 0.05
+            quatf physics:localRot0 = (1, 0, 0, 0)
+            quatf physics:localRot1 = (1, 0, 0, 0)
+            float physics:lowerLimit = 0
+            float physics:upperLimit = 180
+            float physxJoint:maxJointVelocity = 1000000
+            float state:angular:physics:position = 0
+            float state:angular:physics:velocity = 0
+        }
+
+        over "idx42_gripper_l_outer_joint3" (
+            prepend apiSchemas = ["PhysxJointAPI"]
+        )
+        {
+            float drive:angular:physics:damping = 0
+            float drive:angular:physics:maxForce = inf
+            float drive:angular:physics:stiffness = 0.05
+            quatf physics:localRot0 = (1, 0, 0, 0)
+            quatf physics:localRot1 = (1, 0, 0, 0)
+            float physics:lowerLimit = 0
+            float physics:upperLimit = 180
+            float physxJoint:maxJointVelocity = 1000000
+            float state:angular:physics:position = 0
+            float state:angular:physics:velocity = 0
+        }
+
+        over "idx72_gripper_r_inner_joint3" (
+            active = true
+            delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysxMimicJointAPI:rotX"]
+            prepend apiSchemas = ["PhysxJointAPI", "PhysicsDriveAPI:angular"]
+        )
+        {
+            float drive:angular:physics:damping = 0
+            float drive:angular:physics:maxForce = inf
+            float drive:angular:physics:stiffness = 0.05
+            uniform token drive:angular:physics:type = "force"
+            float physics:lowerLimit = 0
+            float physics:upperLimit = 180
+            float physxJoint:maxJointVelocity = 1000000
+            float state:angular:physics:position = 0
+            float state:angular:physics:velocity = 0
+        }
+
+        over "idx82_gripper_r_outer_joint3" (
+            active = true
+            delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysxMimicJointAPI:rotX"]
+            prepend apiSchemas = ["PhysxJointAPI", "PhysicsDriveAPI:angular"]
+        )
+        {
+            float drive:angular:physics:damping = 0
+            float drive:angular:physics:maxForce = inf
+            float drive:angular:physics:stiffness = 0.05
+            uniform token drive:angular:physics:type = "force"
+            float physics:lowerLimit = 0
+            float physics:upperLimit = 180
+            float physxJoint:maxJointVelocity = 1000000
+            float state:angular:physics:position = 0
+            float state:angular:physics:velocity = 0
+        }
+
+        over "idx33_gripper_l_inner_joint4" (
+            delete apiSchemas = ["PhysicsDriveAPI:angular"]
+            prepend apiSchemas = ["PhysxJointAPI", "PhysxMimicJointAPI:rotX"]
+        )
+        {
+            float drive:angular:physics:damping = 0
+            float drive:angular:physics:maxForce = inf
+            float drive:angular:physics:stiffness = 0.001
+            float drive:angular:physics:targetPosition = 0
+            quatf physics:localRot0 = (0.70710677, 0, 0, 0.70710677)
+            quatf physics:localRot1 = (0.70710677, 0, 0, 0.70710677)
+            float physics:lowerLimit = 0
+            float physics:upperLimit = 57.29578
+            float physxJoint:maxJointVelocity = 1000000
+            float physxMimicJoint:rotX:gearing = -1
+            rel physxMimicJoint:rotX:referenceJoint = </G1/joints/idx31_gripper_l_inner_joint1>
+            float state:angular:physics:position = 0
+            float state:angular:physics:velocity = 0
+        }
+
+        over "idx43_gripper_l_outer_joint4" (
+            delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysxMimicJointAPI:rotX"]
+            prepend apiSchemas = ["PhysxJointAPI", "PhysxMimicJointAPI:rotX"]
+        )
+        {
+            float drive:angular:physics:damping = 0
+            float drive:angular:physics:maxForce = inf
+            float drive:angular:physics:stiffness = 0.001
+            float drive:angular:physics:targetPosition = 0
+            quatf physics:localRot0 = (0.70710677, 0, 0, 0.70710677)
+            quatf physics:localRot1 = (0.70710677, 0, 0, 0.70710677)
+            float physics:lowerLimit = 0
+            float physics:upperLimit = 57.29578
+            float physxJoint:maxJointVelocity = 1000000
+            float physxMimicJoint:rotX:gearing = -1
+            rel physxMimicJoint:rotX:referenceJoint = </G1/joints/idx41_gripper_l_outer_joint1>
+            float state:angular:physics:position = 0
+            float state:angular:physics:velocity = 0
+        }
+
+        over "idx73_gripper_r_inner_joint4" (
+            active = true
+            delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysxMimicJointAPI:rotX"]
+            prepend apiSchemas = ["PhysxJointAPI", "PhysxMimicJointAPI:rotX"]
+        )
+        {
+            float drive:angular:physics:damping = 0
+            float drive:angular:physics:maxForce = inf
+            float drive:angular:physics:stiffness = 0.001
+            float drive:angular:physics:targetPosition = 0
+            uniform token drive:angular:physics:type = "force"
+            quatf physics:localRot0 = (0.70710677, 0, 0, 0.70710677)
+            quatf physics:localRot1 = (0.70710677, 0, 0, 0.70710677)
+            float physics:lowerLimit = 0
+            float physics:upperLimit = 57.29578
+            float physxJoint:maxJointVelocity = 1000000
+            float physxMimicJoint:rotX:gearing = -1
+            rel physxMimicJoint:rotX:referenceJoint = </G1/joints/idx71_gripper_r_inner_joint1>
+            float state:angular:physics:position = 0
+            float state:angular:physics:velocity = 0
+        }
+
+        over "idx83_gripper_r_outer_joint4" (
+            active = true
+            delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysxMimicJointAPI:rotX"]
+            prepend apiSchemas = ["PhysxJointAPI", "PhysxMimicJointAPI:rotX"]
+        )
+        {
+            float drive:angular:physics:damping = 0
+            float drive:angular:physics:maxForce = inf
+            float drive:angular:physics:stiffness = 0.001
+            float drive:angular:physics:targetPosition = 0
+            uniform token drive:angular:physics:type = "force"
+            quatf physics:localRot0 = (0.70710677, 0, 0, 0.70710677)
+            quatf physics:localRot1 = (0.70710677, 0, 0, 0.70710677)
+            float physics:lowerLimit = 0
+            float physics:upperLimit = 57.29578
+            float physxJoint:maxJointVelocity = 1000000
+            float physxMimicJoint:rotX:gearing = -1
+            rel physxMimicJoint:rotX:referenceJoint = </G1/joints/idx81_gripper_r_outer_joint1>
+            float state:angular:physics:position = 0
+            float state:angular:physics:velocity = 0
+        }
+
+        over "idx34_gripper_l_inner_joint5" (
+            prepend apiSchemas = ["PhysxJointAPI"]
+        )
+        {
+            point3f physics:localPos0 = (-0.02113, 0.04430789, 2.5275142e-7)
+            point3f physics:localPos1 = (0, 0.000013734884, -0.00003832738)
+            quatf physics:localRot0 = (0.70710695, 1.7355078e-9, 0.7071066, 2.4356248e-10)
+            quatf physics:localRot1 = (0.70710695, 1.7355078e-9, 0.7071066, 2.4356248e-10)
+            float physxJoint:maxJointVelocity = 240
+        }
+
+        over "idx44_gripper_l_outer_joint5" (
+            prepend apiSchemas = ["PhysxJointAPI"]
+        )
+        {
+            point3f physics:localPos0 = (-0.02113, 0.044306, 0)
+            float physxJoint:maxJointVelocity = 240
+        }
+
+        over "idx74_gripper_r_inner_joint5" (
+            prepend apiSchemas = ["PhysxJointAPI"]
+        )
+        {
+            point3f physics:localPos0 = (-0.02113, 0.044306, 0)
+            float physxJoint:maxJointVelocity = 1000000
+        }
+
+        over "idx84_gripper_r_outer_joint5" (
+            prepend apiSchemas = ["PhysxJointAPI"]
+        )
+        {
+            point3f physics:localPos0 = (-0.02113, 0.044306, 0)
+            float physxJoint:maxJointVelocity = 1000000
+        }
+
+        over "idx92_gripper_r_center_joint" (
+            prepend apiSchemas = ["PhysxJointAPI"]
+        )
+        {
+            float physxJoint:maxJointVelocity = 240
+        }
+
+        over "idx52_gripper_l_center_joint" (
+            prepend apiSchemas = ["PhysxJointAPI"]
+        )
+        {
+            float physxJoint:maxJointVelocity = 240
+        }
+    }
+
+    def Material "PhysicsMaterial" (
+        prepend apiSchemas = ["PhysicsMaterialAPI", "PhysxMaterialAPI"]
+    )
+    {
+        float physics:dynamicFriction = 1
+        float physics:staticFriction = 1
+        uniform token physxMaterial:frictionCombineMode = "max"
+    }
+
+    over "Looks"
+    {
+        over "Black_002"
+        {
+            over "Black_002"
+            {
+                float inputs:reflection_roughness_constant = 0.29999998
+            }
+        }
+
+        def Material "OmniPBR"
+        {
+            token outputs:mdl:displacement.connect = </G1/Looks/OmniPBR/Shader.outputs:out>
+            token outputs:mdl:surface.connect = </G1/Looks/OmniPBR/Shader.outputs:out>
+            token outputs:mdl:volume.connect = </G1/Looks/OmniPBR/Shader.outputs:out>
+
+            def Shader "Shader"
+            {
+                uniform token info:implementationSource = "sourceAsset"
+                uniform asset info:mdl:sourceAsset = @OmniPBR.mdl@
+                uniform token info:mdl:sourceAsset:subIdentifier = "OmniPBR"
+                float inputs:albedo_brightness = 1
+                color3f inputs:diffuse_color_constant = (0.01930499, 0.019230453, 0.019230453)
+                float inputs:reflection_roughness_constant = 0.14
+                token outputs:out (
+                    renderType = "material"
+                )
+            }
+        }
+
+        def Material "OmniPBR_01"
+        {
+            token outputs:mdl:displacement.connect = </G1/Looks/OmniPBR_01/Shader.outputs:out>
+            token outputs:mdl:surface.connect = </G1/Looks/OmniPBR_01/Shader.outputs:out>
+            token outputs:mdl:volume.connect = </G1/Looks/OmniPBR_01/Shader.outputs:out>
+
+            def Shader "Shader"
+            {
+                uniform token info:implementationSource = "sourceAsset"
+                uniform asset info:mdl:sourceAsset = @OmniPBR.mdl@
+                uniform token info:mdl:sourceAsset:subIdentifier = "OmniPBR"
+                color3f inputs:diffuse_color_constant = (0.721, 0.721, 0.721)
+                float inputs:metallic_constant = 1
+                float inputs:reflection_roughness_constant = 0.28
+                token outputs:out (
+                    renderType = "material"
+                )
+            }
+        }
+    }
+
+    over "loop_joints"
+    {
+        over PhysicsRevoluteJoint "idx53_gripper_l_outer_joint0" (
+            prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysxJointAPI"]
+        )
+        {
+            float drive:angular:physics:maxForce = inf
+            uniform token physics:axis = "Z"
+            uniform bool physics:excludeFromArticulation = 0
+            quatf physics:localRot0 = (0.70710677, 0, 0, -0.70710677)
+            quatf physics:localRot1 = (0.70710677, 0, 0, -0.70710677)
+            float physics:lowerLimit = -180
+            float physics:upperLimit = 0
+            float physxJoint:maxJointVelocity = 1000000
+        }
+
+        over PhysicsRevoluteJoint "idx54_gripper_l_inner_joint0" (
+            prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysxJointAPI"]
+        )
+        {
+            float drive:angular:physics:maxForce = inf
+            uniform token physics:axis = "Z"
+            uniform bool physics:excludeFromArticulation = 0
+            quatf physics:localRot0 = (0.70710677, 0, 0, -0.70710677)
+            quatf physics:localRot1 = (0.70710677, 0, 0, -0.70710677)
+            float physics:lowerLimit = -180
+            float physics:upperLimit = 0
+            float physxJoint:maxJointVelocity = 1000000
+        }
+
+        over PhysicsRevoluteJoint "idx93_gripper_r_outer_joint0" (
+            active = true
+            delete apiSchemas = ["PhysicsDriveAPI:angular"]
+            prepend apiSchemas = ["PhysxJointAPI", "PhysicsDriveAPI:angular"]
+        )
+        {
+            float drive:angular:physics:maxForce = inf
+            float drive:angular:physics:stiffness = 0
+            uniform token physics:axis = "Z"
+            uniform bool physics:excludeFromArticulation = 0
+            quatf physics:localRot0 = (0.70710677, 0, 0, -0.70710677)
+            quatf physics:localRot1 = (0.70710677, 0, 0, -0.70710677)
+            float physics:lowerLimit = -180
+            float physics:upperLimit = 0
+            float physxJoint:maxJointVelocity = 1000000
+        }
+
+        over PhysicsRevoluteJoint "idx94_gripper_r_inner_joint0" (
+            active = true
+            delete apiSchemas = ["PhysicsDriveAPI:angular"]
+            prepend apiSchemas = ["PhysxJointAPI", "PhysicsDriveAPI:angular"]
+        )
+        {
+            float drive:angular:physics:maxForce = inf
+            float drive:angular:physics:stiffness = 0
+            uniform token physics:axis = "Z"
+            uniform bool physics:excludeFromArticulation = 0
+            quatf physics:localRot0 = (0.70710677, 0, 0, -0.70710677)
+            quatf physics:localRot1 = (0.70710677, 0, 0, -0.70710677)
+            float physics:lowerLimit = -180
+            float physics:upperLimit = 0
+            float physxJoint:maxJointVelocity = 1000000
+        }
+    }
+    variantSet "Physics" = {
+        "None" (
+            prepend references = @./configuration/G1_120s_base.usd@
+        ) {
+            over "joints" (
+                active = false
+            )
+            {
+            }
+
+            over "loop_joints" (
+                active = false
+            )
+            {
+            }
+
+        }
+        "PhysX" (
+            prepend payload = @./configuration/G1_120s_physics.usd@
+        ) {
+
+        }
+    }
+    variantSet "Sensor" = {
+        "None" {
+
+        }
+        "Sensors" (
+            prepend payload = @./configuration/G1_120s_sensor.usd@
+        ) {
+
+        }
+    }
+}
+

G1_120s/config.yaml

@@ -0,0 +1,23 @@
+asset_path: /home/zy/workspace/genie_ws/install/share/genie_robot_description/urdf/G1/G1_120s.urdf
+usd_dir: /home/zy/assets/G1_120s
+usd_file_name: G1_120s
+force_usd_conversion: true
+make_instanceable: true
+fix_base: false
+root_link_name: null
+link_density: 0.0
+merge_fixed_joints: false
+convert_mimic_joints_to_normal_joints: false
+joint_drive:
+  drive_type: force
+  target_type: position
+  gains:
+    stiffness: 100.0
+    damping: 1.0
+collider_type: convex_hull
+self_collision: false
+replace_cylinders_with_capsules: false
+collision_from_visuals: false
+##
+# Generated by UrdfConverter on 2025-05-21 at 12:18:42.
+##

G1_120s/configuration/G1_120s_base.usd

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:90f385a1959ebcd20038ef16d09c0990971f0615e9e8aaacd9943da9b2f4319b
+size 24031119

G1/.thumbs/256x256/A2D.usd.png → G1_120s/configuration/G1_120s_physics.usd

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:193281175c5867a18f38753e8f114ec90317d9892c7e102183987b24c7a0e809
-size 27855
+oid sha256:a43486eec6424fecc8e22d6278fc734a1beecd2a912852297ff887f7f760a4e9
+size 15052

materials/carpet/Carpet_Diamond_Olive/.thumbs/138x108/Carpet_Diamond_Olive_ORM.png.png → G1_120s/configuration/G1_120s_sensor.usd

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:560959980770cdd7f26832649d521d5eedf06d7896b63ad5896d02583c798327
-size 213
+oid sha256:343212ad7f4fbdf8cf646a4256477733deea96cdffcaac6e6d4a5f2de5217c1d
+size 645

G1_omnipicker/.asset_hash

@@ -0,0 +1 @@
+5ede3ad6e576a899583893d20f2613f3

G1_omnipicker/G1_omnipicker.urdf

@@ -0,0 +1,1185 @@
+<?xml version="1.0" ?>
+<!-- =================================================================================== -->
+<!-- |    This document was autogenerated by xacro from urdf/genie.robot.xacro         | -->
+<!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                                 | -->
+<!-- =================================================================================== -->
+<robot name="genie">
+  <!-- Index -->
+  <!-- body: [G1, G2] -->
+  <!-- gripper: [dummy_hand, omnipicker, 120s, roh, skillhands6] -->
+  <!-- <xacro:arg name="robot_model" default="G1" />
+  <xacro:arg name="robot_model" default="G1" /> -->
+  <!-- robot -->
+  <!-- Material Definition -->
+  <material name="black">
+    <color rgba="0.0 0.0 0.0 1.0"/>
+  </material>
+  <material name="blue">
+    <color rgba="0.0 0.0 0.8 1.0"/>
+  </material>
+  <material name="green">
+    <color rgba="0.0 1.0 0.0 1.0"/>
+  </material>
+  <material name="grey">
+    <color rgba="0.2 0.2 0.2 1.0"/>
+  </material>
+  <material name="orange">
+    <color rgba="1.0 0.4235294117647059 0.0392156862745098 1.0"/>
+  </material>
+  <material name="brown">
+    <color rgba="0.8705882352941177 0.8117647058823529 0.7647058823529411 1.0"/>
+  </material>
+  <material name="red">
+    <color rgba="0.8 0.0 0.0 1.0"/>
+  </material>
+  <material name="white">
+    <color rgba="1.0 1.0 1.0 1.0"/>
+  </material>
+  <!-- transparent is not working properly -->
+  <material name="transparent">
+    <color rgba="1.0 1.0 1.0 0.999"/>
+  </material>
+  <material name="default">
+    <color rgba="0.752941176470588 0.752941176470588 0.752941176470588 1"/>
+  </material>
+  <!-- links -->
+  <link name="base_link">
+    <inertial>
+      <origin rpy="0.0 0.0 0.0" xyz="-0.0134486971267798 0.00152103941353612 -0.0320076754329413"/>
+      <mass value="23.2085382238952"/>
+      <inertia ixx="0.386955641760608" ixy="0.000135417314593726" ixz="0.00669301645720665" iyy="0.366800407621218" iyz="0.000105713634260505" izz="0.546852919828475"/>
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="package://genie_robot_description/meshes/G1/base_link.fbx"/>
+      </geometry>
+      <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
+    </visual>
+    <!-- <collision>
+        <origin
+          rpy="0.0 0.0 0.0"
+          xyz="-0.10913086 0.0 0.51171875" />
+        <geometry>
+          <box size="0.29833984 0.3376392 1.0" />
+        </geometry>
+      </collision>
+      <collision>
+        <origin
+          rpy="0.0 0.0 0.0"
+          xyz="0.0 0.0 0.15" />
+        <geometry>
+          <box size="0.5996094 0.449 0.30273438" />
+        </geometry>
+      </collision> -->
+  </link>
+  <link name="body_link1">
+    <inertial>
+      <origin rpy="0.0 0.0 0.0" xyz="0.0338351537064605 -0.00248044044451858 0.000838431095422365"/>
+      <mass value="3.26275452360108"/>
+      <inertia ixx="0.0128301877197417" ixy="8.24967996575627e-06" ixz="1.38254543337324e-05" iyy="0.006104110250297" iyz="-7.99392548994692e-06" izz="0.0111721084996867"/>
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="package://genie_robot_description/meshes/G1/body_link1.fbx"/>
+      </geometry>
+      <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
+    </visual>
+    <!-- <collision>
+        <origin
+          rpy="0.0 0.0 0.0"
+          xyz="0.10278320000000002 0.1 -0.013671875" />
+        <geometry>
+          <box size="0.16064453 0.05555534399999999 0.1328125" />
+        </geometry>
+      </collision>
+      <collision>
+        <origin
+          rpy="0.0 0.0 0.0"
+          xyz="0.10180664 -0.1 0.0" />
+        <geometry>
+          <box size="0.16259765999999998 0.04375648500000001 0.16015625" />
+        </geometry>
+      </collision> -->
+  </link>
+  <link name="body_link2">
+    <inertial>
+      <origin rpy="0.0 0.0 0.0" xyz="0.193733558855111 -0.000484180179482319 -0.00124011422952511"/>
+      <mass value="7.53199207979272"/>
+      <inertia ixx="0.016546682835947" ixy="0.000274441382484697" ixz="0.00102757387076422" iyy="0.0445441227006132" iyz="-0.000236858278708531" izz="0.0402036337794082"/>
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="package://genie_robot_description/meshes/G1/body_link2.fbx"/>
+      </geometry>
+      <origin rpy="0.0 0.0 -1.5707963267948966" xyz="0.0 0.0 0.0"/>
+    </visual>
+    <!-- <collision>
+        <origin
+          rpy="0 0 0"
+          xyz="0.0068359375 -0.00034356117 0.0" />
+        <geometry>
+          <cylinder radius="0.09662318" length="0.08697056999999997" />
+        </geometry>
+      </collision>
+      <collision>
+        <origin
+          xyz="0.0068359375 -0.00034356117 0.043485284999999985" />
+        <geometry>
+          <sphere radius="0.09662318" />
+        </geometry>
+      </collision>
+      <collision>
+        <origin
+          xyz="0.0068359375 -0.00034356117 -0.043485284999999985" />
+        <geometry>
+          <sphere radius="0.09662318" />
+        </geometry>
+      </collision>
+      <collision>
+        <origin
+          rpy="0.0 0.0 -${PI_2}"
+          xyz="0.008 -0.248 0.0" />
+        <geometry>
+          <box size="0.34570312 0.18107724 0.3125" />
+        </geometry>
+      </collision> -->
+  </link>
+  <link name="head_link1">
+    <inertial>
+      <origin rpy="0.0 0.0 0.0" xyz="0.0446068140025754 0.00241753143645124 0.0528373754603559"/>
+      <mass value="0.414342871921048"/>
+      <inertia ixx="0.000158695728344024" ixy="-1.04590928109554e-06" ixz="-6.58530903139189e-06" iyy="0.000117742864399469" iyz="-2.65011299996072e-06" izz="0.000170947040827065"/>
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="package://genie_robot_description/meshes/G1/head_link1.fbx"/>
+      </geometry>
+      <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
+    </visual>
+  </link>
+  <link name="head_link2">
+    <inertial>
+      <origin rpy="0.0 0.0 0.0" xyz="0.0257009265816389 0.0316254080188787 -3.77390122592164e-05"/>
+      <mass value="0.707063977171202"/>
+      <inertia ixx="0.00205409595373573" ixy="0.000347730118005016" ixz="-2.13857752451204e-06" iyy="0.00200357281313449" iyz="5.16150600423908e-08" izz="0.00184999028444405"/>
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="package://genie_robot_description/meshes/G1/head_link2.fbx"/>
+      </geometry>
+      <origin rpy="-3.141592653589793 0.0 0.0" xyz="0.0 0.0 0.0"/>
+    </visual>
+    <!-- <collision>
+        <geometry>
+          <sphere radius="0.11257068650657154" />
+        </geometry>
+        <origin
+          xyz="0.011500973396434619 -0.0252600143348118 0.0008537154007319386"
+          rpy="0.0 0.0 0.0" />
+      </collision> -->
+  </link>
+  <link name="arm_base_link"/>
+  <link name="arm_l_base_link">
+    <inertial>
+      <origin rpy="0.0 0.0 0.0" xyz="-0.00020641 0.00057488 0.032296"/>
+      <mass value="0.37595"/>
+      <inertia ixx="0.00024335" ixy="1.2188e-06" ixz="-2.4281e-06" iyy="0.00024039" iyz="6.6932e-06" izz="0.00032195"/>
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="package://genie_robot_description/meshes/G1/arm_l_base_link.fbx"/>
+      </geometry>
+      <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
+    </visual>
+    <!-- <collision>
+        <geometry>
+          <cylinder radius="0.05426921699310094" length="0.09134995751082897" />
+        </geometry>
+        <origin
+          xyz="-0.0017106435846521925 0.0013720927967423996 0.02822502050548792"
+          rpy="0.0 0.0 0.0" />
+      </collision> -->
+  </link>
+  <link name="arm_r_base_link">
+    <inertial>
+      <origin rpy="0.0 0.0 0.0" xyz="0.00020641 -0.00057488 0.034396"/>
+      <mass value="0.37595"/>
+      <inertia ixx="0.00024335" ixy="1.2188e-06" ixz="2.4281e-06" iyy="0.00024039" iyz="-6.6932e-06" izz="0.00032195"/>
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="package://genie_robot_description/meshes/G1/arm_r_base_link.fbx"/>
+      </geometry>
+      <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
+    </visual>
+    <!-- <collision>
+        <geometry>
+          <cylinder radius="0.05447215073540005" length="0.0913499565795064" />
+        </geometry>
+        <origin
+          xyz="0.001163549527588341 -0.0020492302944608923 0.030325019266456366"
+          rpy="0.0 0.0 0.0" />
+      </collision> -->
+  </link>
+  <!-- joints waist -->
+  <joint name="idx01_body_joint1" type="prismatic">
+    <parent link="base_link"/>
+    <child link="body_link1"/>
+    <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.6485"/>
+    <axis xyz="0.0 0.0 1.0"/>
+    <limit effort="100.0" lower="0.0" upper="0.55" velocity="0.1"/>
+  </joint>
+  <joint name="idx02_body_joint2" type="revolute">
+    <parent link="body_link1"/>
+    <child link="body_link2"/>
+    <origin rpy="-1.5707963267948966 0.0 0.0" xyz="0.131 0.0 0.0"/>
+    <axis xyz="0.0 0.0 1.0"/>
+    <limit effort="100.0" lower="0.0" upper="1.5707963267948966" velocity="0.5"/>
+  </joint>
+  <!-- joints head -->
+  <joint name="idx11_head_joint1" type="revolute">
+    <parent link="body_link2"/>
+    <child link="head_link1"/>
+    <origin rpy="1.5707963267948966 0.0 0.0" xyz="0.0 -0.441 0.0"/>
+    <axis xyz="0.0 0.0 1.0"/>
+    <limit effort="50.0" lower="-1.5707963267948966" upper="1.5707963267948966" velocity="1.0"/>
+  </joint>
+  <joint name="idx12_head_joint2" type="revolute">
+    <parent link="head_link1"/>
+    <child link="head_link2"/>
+    <origin rpy="-1.5707963267948966 0.0 0.0" xyz="0.050238 0.0 0.060065"/>
+    <axis xyz="0.0 0.0 1.0"/>
+    <limit effort="50.0" lower="-0.3490658503988659" upper="0.5235987755982988" velocity="1.0"/>
+  </joint>
+  <!-- joints arm base -->
+  <joint name="idx10_arm_base_joint" type="fixed">
+    <parent link="body_link2"/>
+    <child link="arm_base_link"/>
+    <origin rpy="1.5707963267948966 0.0 0.0" xyz="0.0 -0.305 0.0"/>
+    <axis xyz="0.0 0.0 1.0"/>
+  </joint>
+  <joint name="idx11_arm_l_base_joint" type="fixed">
+    <parent link="arm_base_link"/>
+    <child link="arm_l_base_link"/>
+    <origin rpy="-1.5707963267948966 0.0 0.0" xyz="0.0 0.025 0.0"/>
+    <axis xyz="1.0 0.0 0.0"/>
+  </joint>
+  <joint name="idx12_arm_r_base_joint" type="fixed">
+    <parent link="arm_base_link"/>
+    <child link="arm_r_base_link"/>
+    <origin rpy="-1.5707963267948966 0.0 3.141592653589793" xyz="0.0 -0.025 0.0"/>
+    <axis xyz="1.0 0.0 0.0"/>
+  </joint>
+  <!-- properties -->
+  <!-- links -->
+  <link name="arm_l_link1">
+    <inertial>
+      <origin rpy="0 0 0" xyz="-0.0012655 -0.00043778 -0.018388"/>
+      <mass value="0.4936"/>
+      <inertia ixx="0.00075396" ixy="6.6935e-06" ixz="6.1141e-06" iyy="0.00065755" iyz="1.2196e-06" izz="0.00031848"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://genie_robot_description/meshes/G1/arm_l_link1.fbx"/>
+      </geometry>
+      <material name="white"/>
+    </visual>
+    <collision>
+      <geometry>
+        <cylinder length="0.16642063483595848" radius="0.05579268228774888"/>
+      </geometry>
+      <origin rpy="0.0 0.0 -1.2566370614359172" xyz="0.0026814433577366636 0.0006133775157398935 -0.04071124829351902"/>
+    </collision>
+  </link>
+  <link name="arm_l_link2">
+    <inertial>
+      <origin rpy="0 0 0" xyz="5.3037e-05 -0.078258 0.0047084"/>
+      <mass value="0.46245"/>
+      <inertia ixx="0.00065719" ixy="3.7112e-07" ixz="-3.6668e-06" iyy="0.00043459" iyz="-2.517e-05" izz="0.00072571"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://genie_robot_description/meshes/G1/arm_l_link2.fbx"/>
+      </geometry>
+      <material name="white"/>
+    </visual>
+    <collision>
+      <origin rpy="1.5707963267948966 0 0" xyz="0.0 -0.044062052 0.0009765625"/>
+      <geometry>
+        <cylinder length="0.18085919" radius="0.06302423"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="arm_l_link3">
+    <inertial>
+      <origin rpy="0 0 0" xyz="-0.0012032 0.0008714 -0.055265"/>
+      <mass value="0.50026"/>
+      <inertia ixx="0.0013016" ixy="3.1401e-06" ixz="1.4255e-05" iyy="0.001427" iyz="2.4361e-05" izz="0.00033587"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://genie_robot_description/meshes/G1/arm_l_link3.fbx"/>
+      </geometry>
+      <material name="white"/>
+    </visual>
+    <collision>
+      <origin rpy="3.141592653589793 -1.2246467991473532e-16 2.5132741228718345" xyz="-0.002745052027917949 0.000636008250640886 -0.07223940640687943"/>
+      <geometry>
+        <cylinder length="0.22069887816905975" radius="0.05423258091998755"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="arm_l_link4">
+    <inertial>
+      <origin rpy="0 0 0" xyz="3.7035e-05 -0.06248 0.0025377"/>
+      <mass value="0.27473"/>
+      <inertia ixx="0.00029284" ixy="4.6615e-07" ixz="6.2359e-08" iyy="0.00018853" iyz="-1.1062e-06" izz="0.00031238"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://genie_robot_description/meshes/G1/arm_l_link4.fbx"/>
+      </geometry>
+      <material name="white"/>
+    </visual>
+    <collision>
+      <origin rpy="1.5707963267948966 0 0" xyz="0.0 -0.03817895 -0.0043945312"/>
+      <geometry>
+        <cylinder length="0.154955404" radius="0.057891708"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="arm_l_link5">
+    <inertial>
+      <origin rpy="0 0 0" xyz="-7.9404e-07 -0.00023094 -0.024143"/>
+      <mass value="0.25139"/>
+      <inertia ixx="0.00023516" ixy="-1.3496e-09" ixz="-2.0314e-08" iyy="0.00028808" iyz="-1.2106e-05" izz="0.00013069"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://genie_robot_description/meshes/G1/arm_l_link5.fbx"/>
+      </geometry>
+      <material name="white"/>
+    </visual>
+    <collision>
+      <origin rpy="0.0 0.0 -0.6283185307179586" xyz="0.00013161953185003987 -5.835551655943335e-05 -0.033305803313851357"/>
+      <geometry>
+        <cylinder length="0.13452399894595146" radius="0.045614576801007695"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="arm_l_link6">
+    <inertial>
+      <origin rpy="0 0 0" xyz="1.769e-06 -0.086692 0.0025571"/>
+      <mass value="0.26634"/>
+      <inertia ixx="0.00031434" ixy="-2.9254e-09" ixz="1.0017e-07" iyy="0.00014464" iyz="-2.0329e-05" izz="0.0003245"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://genie_robot_description/meshes/G1/arm_l_link6.fbx"/>
+      </geometry>
+      <material name="white"/>
+    </visual>
+    <collision>
+      <origin rpy="-5.990089690983079e-19 -1.4805425285141327 -1.5677635369963552" xyz="0.0002549462426528953 -0.055477687883556816 -0.0019394332157672595"/>
+      <geometry>
+        <cylinder length="0.1816599826988493" radius="0.048507387167967514"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="arm_l_end_link">
+    <inertial>
+      <origin rpy="0 0 0" xyz="-7.5113e-05 -0.00024521 -0.016705"/>
+      <mass value="0.06158"/>
+      <inertia ixx="1.8407e-05" ixy="3.4796e-08" ixz="-3.2424e-09" iyy="1.818e-05" iyz="1.1327e-07" izz="2.8547e-05"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://genie_robot_description/meshes/G1/arm_l_link7.fbx"/>
+      </geometry>
+      <material name="white"/>
+    </visual>
+    <collision>
+      <origin rpy="3.141592653589793 -1.2246467991473532e-16 3.141592653589793" xyz="-4.552953707661759e-05 -0.002300474691790042 -0.02249999972991645"/>
+      <geometry>
+        <cylinder length="0.045999998692423105" radius="0.030799950382754494"/>
+      </geometry>
+    </collision>
+  </link>
+  <!-- joints -->
+  <joint name="idx21_arm_l_joint1" type="revolute">
+    <parent link="arm_l_base_link"/>
+    <child link="arm_l_link1"/>
+    <origin rpy="0 0 0" xyz="0.0 0.0 0.1859"/>
+    <axis xyz="0.0 0.0 1.0"/>
+    <limit effort="60.0" lower="-3.14" upper="3.14" velocity="3.14"/>
+  </joint>
+  <joint name="idx22_arm_l_joint2" type="revolute">
+    <parent link="arm_l_link1"/>
+    <child link="arm_l_link2"/>
+    <origin rpy="-1.5707963267948966 0.0 1.5707963267948966" xyz="0.0 0.0 0.0"/>
+    <axis xyz="0.0 0.0 1.0"/>
+    <limit effort="60.0" lower="-2.09" upper="1.48" velocity="3.14"/>
+  </joint>
+  <joint name="idx23_arm_l_joint3" type="revolute">
+    <parent link="arm_l_link2"/>
+    <child link="arm_l_link3"/>
+    <origin rpy="-1.5707963267948966 1.5707963267948966 3.141592653589793" xyz="0.0 -0.305 0.0"/>
+    <axis xyz="0.0 0.0 1.0"/>
+    <limit effort="60.0" lower="-3.10" upper="3.10" velocity="3.14"/>
+  </joint>
+  <joint name="idx24_arm_l_joint4" type="revolute">
+    <parent link="arm_l_link3"/>
+    <child link="arm_l_link4"/>
+    <origin rpy="-1.5707963267948966 0.0 3.141592653589793" xyz="0.0 0.0 0.0"/>
+    <axis xyz="0.0 0.0 1.0"/>
+    <limit effort="60.0" lower="-1.48" upper="1.48" velocity="3.14"/>
+  </joint>
+  <joint name="idx25_arm_l_joint5" type="revolute">
+    <parent link="arm_l_link4"/>
+    <child link="arm_l_link5"/>
+    <origin rpy="-1.5707963267948966 0.0 -3.141592653589793" xyz="0.0 -0.1975 0.0"/>
+    <axis xyz="0.0 0.0 1.0"/>
+    <limit effort="30.0" lower="-3.10" upper="3.10" velocity="3.14"/>
+  </joint>
+  <joint name="idx26_arm_l_joint6" type="revolute">
+    <parent link="arm_l_link5"/>
+    <child link="arm_l_link6"/>
+    <origin rpy="-1.5707963267948966 0.0 0.0" xyz="0.0 0.0 0.0"/>
+    <axis xyz="0.0 0.0 1.0"/>
+    <limit effort="30.0" lower="-1.74" upper="1.74" velocity="3.14"/>
+  </joint>
+  <joint name="idx27_arm_l_joint7" type="revolute">
+    <origin rpy="1.5707963267948966 0.0 0.0" xyz="0.0 -0.1805 0.0"/>
+    <parent link="arm_l_link6"/>
+    <child link="arm_l_end_link"/>
+    <axis xyz="0.0 0.0 1.0"/>
+    <limit effort="30.0" lower="-3.10" upper="3.10" velocity="3.14"/>
+  </joint>
+  <!-- properties -->
+  <!-- links -->
+  <link name="arm_r_link1">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0012679 -0.0001581 -0.018109"/>
+      <mass value="0.4936"/>
+      <inertia ixx="0.00075396" ixy="-2.4144e-06" ixz="-1.8364e-06" iyy="0.0006605" iyz="1.2174e-06" izz="0.00031553"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://genie_robot_description/meshes/G1/arm_r_link1.fbx"/>
+      </geometry>
+      <material name="white"/>
+    </visual>
+    <collision>
+      <origin rpy="-3.141592653589793 -1.2246467991473535e-16 1.2566370614359175" xyz="0.00018724019569230644 -0.002004870648449318 -0.04071185737848282"/>
+      <geometry>
+        <cylinder length="0.16642716526985168" radius="0.0548390473201415"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="arm_r_link2">
+    <inertial>
+      <origin rpy="0 0 0" xyz="-0.00044207 -0.082298 0.00019486"/>
+      <mass value="0.41662"/>
+      <inertia ixx="0.00054592" ixy="4.7265e-06" ixz="2.4946e-06" iyy="0.00039507" iyz="-2.0629e-05" izz="0.00057791"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://genie_robot_description/meshes/G1/arm_r_link2.fbx"/>
+      </geometry>
+      <material name="white"/>
+    </visual>
+    <collision>
+      <origin rpy="1.5707963267948966 0 0" xyz="0.0 -0.044062052 0.0009765625"/>
+      <geometry>
+        <cylinder length="0.18085919" radius="0.06302423"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="arm_r_link3">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0010558 4.4416e-05 -0.056128"/>
+      <mass value="0.49413"/>
+      <inertia ixx="0.0013405" ixy="-6.8527e-07" ixz="-1.3381e-05" iyy="0.00142" iyz="2.8511e-05" izz="0.00037605"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://genie_robot_description/meshes/G1/arm_r_link3.fbx"/>
+      </geometry>
+      <material name="white"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0.0006559932284637068 -2.2628975236450855e-05 -0.07219303026795387"/>
+      <geometry>
+        <cylinder length="0.22061403840780258" radius="0.05216156143823925"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="arm_r_link4">
+    <inertial>
+      <origin rpy="0 0 0" xyz="2.4212e-05 -0.06248 0.002536"/>
+      <mass value="0.27473"/>
+      <inertia ixx="0.00029283" ixy="4.5586e-07" ixz="5.8042e-08" iyy="0.00018852" iyz="-1.116e-06" izz="0.00031238"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://genie_robot_description/meshes/G1/arm_r_link4.fbx"/>
+      </geometry>
+      <material name="white"/>
+    </visual>
+    <collision>
+      <origin rpy="1.5707963267948966 0 0" xyz="0.0 -0.03817895 -0.0043945312"/>
+      <geometry>
+        <cylinder length="0.154955404" radius="0.057891708"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="arm_r_link5">
+    <inertial>
+      <origin rpy="0 0 0" xyz="2.6223e-06 -0.00023041 -0.024141"/>
+      <mass value="0.25139"/>
+      <inertia ixx="0.00023516" ixy="-6.5868e-09" ixz="-1.9428e-08" iyy="0.00028807" iyz="-1.2108e-05" izz="0.00013068"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://genie_robot_description/meshes/G1/arm_r_link5.fbx"/>
+      </geometry>
+      <material name="white"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="-0.00022255510134868567 -4.227476414728204e-05 -0.03344946540892124"/>
+      <geometry>
+        <cylinder length="0.13423806056380272" radius="0.04562028545392604"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="arm_r_link6">
+    <inertial>
+      <origin rpy="0 0 0" xyz="5.0382e-06 -0.086696 0.002556"/>
+      <mass value="0.26634"/>
+      <inertia ixx="0.00031434" ixy="-1.2113e-09" ixz="1.0011e-07" iyy="0.00014464" iyz="-2.033e-05" izz="0.00032449"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://genie_robot_description/meshes/G1/arm_r_link6.fbx"/>
+      </geometry>
+      <material name="white"/>
+    </visual>
+    <collision>
+      <origin rpy="0.0 -1.4835107730827122 -1.56897465223053" xyz="-1.7782549414354032e-05 -0.05507596972928094 -0.0017447156928267265"/>
+      <geometry>
+        <cylinder length="0.18272488500982115" radius="0.04857149291994264"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="arm_r_end_link">
+    <inertial>
+      <origin rpy="0 0 0" xyz="-7.5134e-05 -0.00024521 -0.016705"/>
+      <mass value="0.06158"/>
+      <inertia ixx="1.8407e-05" ixy="3.4818e-08" ixz="-3.2902e-09" iyy="1.818e-05" iyz="1.1326e-07" izz="2.8547e-05"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://genie_robot_description/meshes/G1/arm_r_link7.fbx"/>
+      </geometry>
+      <material name="white"/>
+    </visual>
+    <collision>
+      <origin rpy="3.141592653589793 -1.2246467991473532e-16 3.141592653589793" xyz="-4.552953707661759e-05 -0.002300474691790042 -0.02249999972991645"/>
+      <geometry>
+        <cylinder length="0.045999998692423105" radius="0.030799950382754494"/>
+      </geometry>
+    </collision>
+  </link>
+  <!-- joints -->
+  <joint name="idx61_arm_r_joint1" type="revolute">
+    <parent link="arm_r_base_link"/>
+    <child link="arm_r_link1"/>
+    <origin rpy="0 0 0" xyz="0.0 0.0 0.188"/>
+    <axis xyz="0.0 0.0 1.0"/>
+    <limit effort="60.0" lower="-3.14" upper="3.14" velocity="3.14"/>
+  </joint>
+  <joint name="idx62_arm_r_joint2" type="revolute">
+    <parent link="arm_r_link1"/>
+    <child link="arm_r_link2"/>
+    <origin rpy="-1.5707963267948966 0.0 -1.5707963267948966" xyz="0.0 0.0 0.0"/>
+    <axis xyz="0.0 0.0 1.0"/>
+    <limit effort="60.0" lower="-1.48" upper="2.09" velocity="3.14"/>
+  </joint>
+  <joint name="idx63_arm_r_joint3" type="revolute">
+    <parent link="arm_r_link2"/>
+    <child link="arm_r_link3"/>
+    <origin rpy="-1.5707963267948966 -1.5707963267948966 3.141592653589793" xyz="0.0 -0.305 0.0"/>
+    <axis xyz="0.0 0.0 1.0"/>
+    <limit effort="60.0" lower="-3.10" upper="3.10" velocity="3.14"/>
+  </joint>
+  <joint name="idx64_arm_r_joint4" type="revolute">
+    <parent link="arm_r_link3"/>
+    <child link="arm_r_link4"/>
+    <origin rpy="-1.5707963267948966 0.0 3.141592653589793" xyz="0.0 0.0 0.0"/>
+    <axis xyz="0.0 0.0 1.0"/>
+    <limit effort="60.0" lower="-1.48" upper="1.48" velocity="3.14"/>
+  </joint>
+  <joint name="idx65_arm_r_joint5" type="revolute">
+    <parent link="arm_r_link4"/>
+    <child link="arm_r_link5"/>
+    <origin rpy="-1.5707963267948966 0.0 -3.141592653589793" xyz="0.0 -0.1975 0.0"/>
+    <axis xyz="0.0 0.0 1.0"/>
+    <limit effort="30.0" lower="-3.10" upper="3.10" velocity="3.14"/>
+  </joint>
+  <joint name="idx66_arm_r_joint6" type="revolute">
+    <parent link="arm_r_link5"/>
+    <child link="arm_r_link6"/>
+    <origin rpy="-1.5707963267948966 0.0 0.0" xyz="0.0 0.0 0.0"/>
+    <axis xyz="0.0 0.0 1.0"/>
+    <limit effort="30.0" lower="-1.74" upper="1.74" velocity="3.14"/>
+  </joint>
+  <joint name="idx67_arm_r_joint7" type="revolute">
+    <origin rpy="1.5707963267948966 0.0 0.0" xyz="0.0 -0.1805 0.0"/>
+    <parent link="arm_r_link6"/>
+    <child link="arm_r_end_link"/>
+    <axis xyz="0.0 0.0 1.0"/>
+    <limit effort="30.0" lower="-3.10" upper="3.10" velocity="3.14"/>
+  </joint>
+  <!-- Gripper L-->
+  <link name="gripper_l_base_link">
+    <inertial>
+      <origin rpy="0 0 0" xyz="-0.00013356 1.5301E-05 0.03322"/>
+      <mass value="0.23588"/>
+      <inertia ixx="8.1548E-05" ixy="-1.2617E-08" ixz="-2.05E-07" iyy="5.6921E-05" iyz="6.6903E-08" izz="7.1611E-05"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://genie_robot_description/meshes/omnipicker/gripper_base_link.dae"/>
+      </geometry>
+      <!-- <material name="white" /> -->
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://genie_robot_description/meshes/omnipicker/gripper_base_link.dae"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="gripper_l_inner_link1">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0094685 0.0068806 6.5437E-05"/>
+      <mass value="0.025428"/>
+      <inertia ixx="1.9574E-06" ixy="-4.2911E-07" ixz="-3.7111E-11" iyy="2.3919E-06" iyz="-3.008E-10" izz="1.5501E-06"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://genie_robot_description/meshes/omnipicker/inner_link1.dae"/>
+      </geometry>
+      <!-- <material name="orange" /> -->
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://genie_robot_description/meshes/omnipicker/inner_link1.dae"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="idx31_gripper_l_inner_joint1" type="revolute">
+    <origin rpy="-2.9951 -1.5707963267948966 -0.15964" xyz="0 -0.0195 0.0565"/>
+    <parent link="gripper_l_base_link"/>
+    <child link="gripper_l_inner_link1"/>
+    <axis xyz="0 0 -1"/>
+    <limit effort="10" lower="-0.7853981633974483" upper="0" velocity="10"/>
+    <mimic joint="idx41_gripper_l_outer_joint1" multiplier="-1" offset="0"/>
+  </joint>
+  <link name="gripper_l_inner_link3">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0088027 -0.007035 1.6424E-05"/>
+      <mass value="0.0040132"/>
+      <inertia ixx="1.0307E-07" ixy="5.7851E-08" ixz="9.5801E-11" iyy="1.1385E-07" iyz="-2.81E-11" izz="1.7009E-07"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://genie_robot_description/meshes/omnipicker/inner_link3.dae"/>
+      </geometry>
+      <!-- <material name="green" /> -->
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://genie_robot_description/meshes/omnipicker/inner_link3.dae"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="idx32_gripper_l_inner_joint3" type="revolute">
+    <origin rpy="0 0 0" xyz="0.030852 0.018551 0"/>
+    <parent link="gripper_l_inner_link1"/>
+    <child link="gripper_l_inner_link3"/>
+    <axis xyz="0 0 -1"/>
+    <limit effort="10" lower="-2" upper="2" velocity="10"/>
+  </joint>
+  <link name="gripper_l_inner_link4">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.012508 -0.0079729 9.4339E-05"/>
+      <mass value="0.018029"/>
+      <inertia ixx="1.1403E-06" ixy="5.5159E-07" ixz="-4.0096E-13" iyy="2.5704E-06" iyz="1.0951E-12" izz="2.3252E-06"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://genie_robot_description/meshes/omnipicker/inner_link4.dae"/>
+      </geometry>
+      <!-- <material name="white" /> -->
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://genie_robot_description/meshes/omnipicker/inner_link4.dae"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="idx33_gripper_l_inner_joint4" type="revolute">
+    <origin rpy="0 0 0" xyz="0.018118 -0.01574 0"/>
+    <parent link="gripper_l_inner_link3"/>
+    <child link="gripper_l_inner_link4"/>
+    <axis xyz="0 0 -1"/>
+    <limit effort="10" lower="-2" upper="2" velocity="10"/>
+  </joint>
+  <link name="gripper_l_inner_link2">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.014869 -0.0036066 0.00029307"/>
+      <mass value="0.022591"/>
+      <inertia ixx="4.3916E-06" ixy="1.114E-07" ixz="-4.9655E-12" iyy="4.737E-06" iyz="1.7121E-11" izz="6.0445E-07"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://genie_robot_description/meshes/omnipicker/inner_link2.dae"/>
+      </geometry>
+      <!-- <material name="blue" /> -->
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://genie_robot_description/meshes/omnipicker/inner_link2.dae"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="idx39_gripper_l_inner_joint2" type="revolute">
+    <origin rpy="-2.9951 -1.5707963267948966 -0.15964" xyz="0 -0.021633 0.07387"/>
+    <parent link="gripper_l_base_link"/>
+    <child link="gripper_l_inner_link2"/>
+    <axis xyz="0 0 -1"/>
+    <limit effort="10" lower="-2" upper="2" velocity="10"/>
+  </joint>
+  <link name="gripper_l_outer_link1">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0095051 -0.0068479 6.8268E-05"/>
+      <mass value="0.025428"/>
+      <inertia ixx="1.9565E-06" ixy="4.2798E-07" ixz="2.3844E-10" iyy="2.3928E-06" iyz="-1.4454E-10" izz="1.5501E-06"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://genie_robot_description/meshes/omnipicker/outer_link1.dae"/>
+      </geometry>
+      <!-- <material name="orange" /> -->
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://genie_robot_description/meshes/omnipicker/outer_link1.dae"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="idx41_gripper_l_outer_joint1" type="revolute">
+    <origin rpy="-2.9951 -1.5707963267948966 -0.15964" xyz="0 0.0195 0.0565"/>
+    <parent link="gripper_l_base_link"/>
+    <child link="gripper_l_outer_link1"/>
+    <axis xyz="0 0 -1"/>
+    <limit effort="10" lower="0" upper="0.7853981633974483" velocity="10"/>
+  </joint>
+  <link name="gripper_l_outer_link3">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0088027 0.007035 -1.6424E-05"/>
+      <mass value="0.0040132"/>
+      <inertia ixx="1.0307E-07" ixy="-5.7851E-08" ixz="-9.58E-11" iyy="1.1385E-07" iyz="-2.81E-11" izz="1.7009E-07"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://genie_robot_description/meshes/omnipicker/outer_link3.dae"/>
+      </geometry>
+      <!-- <material name="green" /> -->
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://genie_robot_description/meshes/omnipicker/outer_link3.dae"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="idx42_gripper_l_outer_joint3" type="revolute">
+    <origin rpy="0 0 0" xyz="0.030852 -0.018551 0"/>
+    <parent link="gripper_l_outer_link1"/>
+    <child link="gripper_l_outer_link3"/>
+    <axis xyz="0 0 -1"/>
+    <limit effort="10" lower="-2" upper="2" velocity="10"/>
+  </joint>
+  <link name="gripper_l_outer_link4">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.016206 0.0094593 4.7668E-05"/>
+      <mass value="0.035835"/>
+      <inertia ixx="8.5056E-06" ixy="-1.1363E-06" ixz="-4.2908E-11" iyy="1.1235E-05" iyz="-2.9251E-11" izz="4.6309E-06"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://genie_robot_description/meshes/omnipicker/outer_link4.dae"/>
+      </geometry>
+      <!-- <material name="white" /> -->
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://genie_robot_description/meshes/omnipicker/outer_link4.dae"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="idx43_gripper_l_outer_joint4" type="revolute">
+    <origin rpy="0 0 0" xyz="0.018118 0.01574 0"/>
+    <parent link="gripper_l_outer_link3"/>
+    <child link="gripper_l_outer_link4"/>
+    <axis xyz="0 0 -1"/>
+    <limit effort="10" lower="-2" upper="2" velocity="10"/>
+  </joint>
+  <link name="gripper_l_outer_link2">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.016268 0.0040555 0.00030323"/>
+      <mass value="0.025142"/>
+      <inertia ixx="5.887E-06" ixy="-1.1234E-07" ixz="2.1954E-11" iyy="6.236E-06" iyz="-9.473E-12" izz="6.2389E-07"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://genie_robot_description/meshes/omnipicker/outer_link2.dae"/>
+      </geometry>
+      <!-- <material name="blue" /> -->
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://genie_robot_description/meshes/omnipicker/outer_link2.dae"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="idx49_gripper_l_outer_joint2" type="revolute">
+    <origin rpy="-2.9951 -1.5707963267948966 -0.15964" xyz="0 0.021633 0.07387"/>
+    <parent link="gripper_l_base_link"/>
+    <child link="gripper_l_outer_link2"/>
+    <axis xyz="0 0 -1"/>
+    <limit effort="10" lower="-2" upper="2" velocity="10"/>
+  </joint>
+  <!-- Gripper Connector -->
+  <joint name="idx51_ee_l_joint" type="fixed">
+    <origin rpy="0 0 1.5707963267948966" xyz="0 0 0"/>
+    <parent link="arm_l_end_link"/>
+    <child link="gripper_l_base_link"/>
+    <axis xyz="0 0 0"/>
+  </joint>
+  <link name="gripper_l_center_link">
+    </link>
+  <joint name="idx52_gripper_l_center_joint" type="fixed">
+    <origin rpy="0 0 -1.5707963267948966" xyz="0.0 0.0 0.14308"/>
+    <parent link="gripper_l_base_link"/>
+    <child link="gripper_l_center_link"/>
+  </joint>
+  <!-- Gripper Finger Close-loop Structure -->
+  <loop_joint name="idx53_gripper_l_outer_joint0" type="spherical">
+    <link1 link="gripper_l_outer_link2" rpy="0 0 0" xyz="0.03123003 0.010280428 0"/>
+    <link2 link="gripper_l_outer_link4" rpy="0 0 0" xyz="0 0.010280428 0"/>
+    <axis xyz="0 0 1"/>
+  </loop_joint>
+  <loop_joint name="idx54_gripper_l_inner_joint0" type="spherical">
+    <link1 link="gripper_l_inner_link2" rpy="0 0 0" xyz="0.03123003 -0.010280428 0"/>
+    <link2 link="gripper_l_inner_link4" rpy="0 0 0" xyz="0 -0.010280428 0"/>
+    <axis xyz="0 0 1"/>
+  </loop_joint>
+  <!-- Gripper R-->
+  <link name="gripper_r_base_link">
+    <inertial>
+      <origin rpy="0 0 0" xyz="-0.00013356 1.5301E-05 0.03322"/>
+      <mass value="0.23588"/>
+      <inertia ixx="8.1548E-05" ixy="-1.2617E-08" ixz="-2.05E-07" iyy="5.6921E-05" iyz="6.6903E-08" izz="7.1611E-05"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://genie_robot_description/meshes/omnipicker/gripper_base_link.dae"/>
+      </geometry>
+      <!-- <material name="white" /> -->
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://genie_robot_description/meshes/omnipicker/gripper_base_link.dae"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="gripper_r_inner_link1">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0094685 0.0068806 6.5437E-05"/>
+      <mass value="0.025428"/>
+      <inertia ixx="1.9574E-06" ixy="-4.2911E-07" ixz="-3.7111E-11" iyy="2.3919E-06" iyz="-3.008E-10" izz="1.5501E-06"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://genie_robot_description/meshes/omnipicker/inner_link1.dae"/>
+      </geometry>
+      <!-- <material name="orange" /> -->
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://genie_robot_description/meshes/omnipicker/inner_link1.dae"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="idx71_gripper_r_inner_joint1" type="revolute">
+    <origin rpy="-2.9951 -1.5707963267948966 -0.15964" xyz="0 -0.0195 0.0565"/>
+    <parent link="gripper_r_base_link"/>
+    <child link="gripper_r_inner_link1"/>
+    <axis xyz="0 0 -1"/>
+    <limit effort="10" lower="-0.7853981633974483" upper="0" velocity="10"/>
+    <mimic joint="idx81_gripper_r_outer_joint1" multiplier="-1" offset="0"/>
+  </joint>
+  <link name="gripper_r_inner_link3">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0088027 -0.007035 1.6424E-05"/>
+      <mass value="0.0040132"/>
+      <inertia ixx="1.0307E-07" ixy="5.7851E-08" ixz="9.5801E-11" iyy="1.1385E-07" iyz="-2.81E-11" izz="1.7009E-07"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://genie_robot_description/meshes/omnipicker/inner_link3.dae"/>
+      </geometry>
+      <!-- <material name="green" /> -->
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://genie_robot_description/meshes/omnipicker/inner_link3.dae"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="idx72_gripper_r_inner_joint3" type="revolute">
+    <origin rpy="0 0 0" xyz="0.030852 0.018551 0"/>
+    <parent link="gripper_r_inner_link1"/>
+    <child link="gripper_r_inner_link3"/>
+    <axis xyz="0 0 -1"/>
+    <limit effort="10" lower="-2" upper="2" velocity="10"/>
+  </joint>
+  <link name="gripper_r_inner_link4">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.012508 -0.0079729 9.4339E-05"/>
+      <mass value="0.018029"/>
+      <inertia ixx="1.1403E-06" ixy="5.5159E-07" ixz="-4.0096E-13" iyy="2.5704E-06" iyz="1.0951E-12" izz="2.3252E-06"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://genie_robot_description/meshes/omnipicker/inner_link4.dae"/>
+      </geometry>
+      <!-- <material name="white" /> -->
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://genie_robot_description/meshes/omnipicker/inner_link4.dae"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="idx73_gripper_r_inner_joint4" type="revolute">
+    <origin rpy="0 0 0" xyz="0.018118 -0.01574 0"/>
+    <parent link="gripper_r_inner_link3"/>
+    <child link="gripper_r_inner_link4"/>
+    <axis xyz="0 0 -1"/>
+    <limit effort="10" lower="-2" upper="2" velocity="10"/>
+  </joint>
+  <link name="gripper_r_inner_link2">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.014869 -0.0036066 0.00029307"/>
+      <mass value="0.022591"/>
+      <inertia ixx="4.3916E-06" ixy="1.114E-07" ixz="-4.9655E-12" iyy="4.737E-06" iyz="1.7121E-11" izz="6.0445E-07"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://genie_robot_description/meshes/omnipicker/inner_link2.dae"/>
+      </geometry>
+      <!-- <material name="blue" /> -->
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://genie_robot_description/meshes/omnipicker/inner_link2.dae"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="idx79_gripper_r_inner_joint2" type="revolute">
+    <origin rpy="-2.9951 -1.5707963267948966 -0.15964" xyz="0 -0.021633 0.07387"/>
+    <parent link="gripper_r_base_link"/>
+    <child link="gripper_r_inner_link2"/>
+    <axis xyz="0 0 -1"/>
+    <limit effort="10" lower="-2" upper="2" velocity="10"/>
+  </joint>
+  <link name="gripper_r_outer_link1">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0095051 -0.0068479 6.8268E-05"/>
+      <mass value="0.025428"/>
+      <inertia ixx="1.9565E-06" ixy="4.2798E-07" ixz="2.3844E-10" iyy="2.3928E-06" iyz="-1.4454E-10" izz="1.5501E-06"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://genie_robot_description/meshes/omnipicker/outer_link1.dae"/>
+      </geometry>
+      <!-- <material name="orange" /> -->
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://genie_robot_description/meshes/omnipicker/outer_link1.dae"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="idx81_gripper_r_outer_joint1" type="revolute">
+    <origin rpy="-2.9951 -1.5707963267948966 -0.15964" xyz="0 0.0195 0.0565"/>
+    <parent link="gripper_r_base_link"/>
+    <child link="gripper_r_outer_link1"/>
+    <axis xyz="0 0 -1"/>
+    <limit effort="10" lower="0" upper="0.7853981633974483" velocity="10"/>
+  </joint>
+  <link name="gripper_r_outer_link3">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0088027 0.007035 -1.6424E-05"/>
+      <mass value="0.0040132"/>
+      <inertia ixx="1.0307E-07" ixy="-5.7851E-08" ixz="-9.58E-11" iyy="1.1385E-07" iyz="-2.81E-11" izz="1.7009E-07"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://genie_robot_description/meshes/omnipicker/outer_link3.dae"/>
+      </geometry>
+      <!-- <material name="green" /> -->
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://genie_robot_description/meshes/omnipicker/outer_link3.dae"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="idx82_gripper_r_outer_joint3" type="revolute">
+    <origin rpy="0 0 0" xyz="0.030852 -0.018551 0"/>
+    <parent link="gripper_r_outer_link1"/>
+    <child link="gripper_r_outer_link3"/>
+    <axis xyz="0 0 -1"/>
+    <limit effort="10" lower="-2" upper="2" velocity="10"/>
+  </joint>
+  <link name="gripper_r_outer_link4">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.016206 0.0094593 4.7668E-05"/>
+      <mass value="0.035835"/>
+      <inertia ixx="8.5056E-06" ixy="-1.1363E-06" ixz="-4.2908E-11" iyy="1.1235E-05" iyz="-2.9251E-11" izz="4.6309E-06"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://genie_robot_description/meshes/omnipicker/outer_link4.dae"/>
+      </geometry>
+      <!-- <material name="white" /> -->
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://genie_robot_description/meshes/omnipicker/outer_link4.dae"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="idx83_gripper_r_outer_joint4" type="revolute">
+    <origin rpy="0 0 0" xyz="0.018118 0.01574 0"/>
+    <parent link="gripper_r_outer_link3"/>
+    <child link="gripper_r_outer_link4"/>
+    <axis xyz="0 0 -1"/>
+    <limit effort="10" lower="-2" upper="2" velocity="10"/>
+  </joint>
+  <link name="gripper_r_outer_link2">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.016268 0.0040555 0.00030323"/>
+      <mass value="0.025142"/>
+      <inertia ixx="5.887E-06" ixy="-1.1234E-07" ixz="2.1954E-11" iyy="6.236E-06" iyz="-9.473E-12" izz="6.2389E-07"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://genie_robot_description/meshes/omnipicker/outer_link2.dae"/>
+      </geometry>
+      <!-- <material name="blue" /> -->
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://genie_robot_description/meshes/omnipicker/outer_link2.dae"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="idx89_gripper_r_outer_joint2" type="revolute">
+    <origin rpy="-2.9951 -1.5707963267948966 -0.15964" xyz="0 0.021633 0.07387"/>
+    <parent link="gripper_r_base_link"/>
+    <child link="gripper_r_outer_link2"/>
+    <axis xyz="0 0 -1"/>
+    <limit effort="10" lower="-2" upper="2" velocity="10"/>
+  </joint>
+  <!-- Gripper Connector -->
+  <joint name="idx91_ee_r_joint" type="fixed">
+    <origin rpy="0 0 -1.5707963267948966" xyz="0 0 0"/>
+    <parent link="arm_r_end_link"/>
+    <child link="gripper_r_base_link"/>
+    <axis xyz="0 0 0"/>
+  </joint>
+  <link name="gripper_r_center_link">
+    </link>
+  <joint name="idx92_gripper_r_center_joint" type="fixed">
+    <origin rpy="0 0 -1.5707963267948966" xyz="0.0 0.0 0.14308"/>
+    <parent link="gripper_r_base_link"/>
+    <child link="gripper_r_center_link"/>
+  </joint>
+  <!-- Gripper Finger Close-loop Structure -->
+  <loop_joint name="idx93_gripper_r_outer_joint0" type="spherical">
+    <link1 link="gripper_r_outer_link2" rpy="0 0 0" xyz="0.03123003 0.010280428 0"/>
+    <link2 link="gripper_r_outer_link4" rpy="0 0 0" xyz="0 0.010280428 0"/>
+    <axis xyz="0 0 1"/>
+  </loop_joint>
+  <loop_joint name="idx94_gripper_r_inner_joint0" type="spherical">
+    <link1 link="gripper_r_inner_link2" rpy="0 0 0" xyz="0.03123003 -0.010280428 0"/>
+    <link2 link="gripper_r_inner_link4" rpy="0 0 0" xyz="0 -0.010280428 0"/>
+    <axis xyz="0 0 1"/>
+  </loop_joint>
+  <!-- Eastern Eggs -->
+  <!-- All Together -->
+</robot>

G1_omnipicker/G1_omnipicker.usda

@@ -0,0 +1,1441 @@
+#usda 1.0
+(
+    customLayerData = {
+        dictionary cameraSettings = {
+            dictionary Front = {
+                double3 position = (5, -0.9071989904406321, 0.9766428958999153)
+                double radius = 0.5820317268371582
+            }
+            dictionary Perspective = {
+                double3 position = (2.631522028278647, -0.5599665317912056, 4.366665793868162)
+                double3 target = (2.6287274418977584, -0.5596791074739289, 4.362502534049342)
+            }
+            dictionary Right = {
+                double3 position = (0.11860614224119401, -5, 0.9578217649499935)
+                double radius = 0.13614888191223146
+            }
+            dictionary Top = {
+                double3 position = (0.13447439087292073, -0.9009193732130296, 4.934232393991757)
+                double radius = 0.1446176290512085
+            }
+            string boundCamera = "/OmniverseKit_Persp"
+        }
+        dictionary metricsAssembler = {
+            dictionary "/G01/Cam" = {
+            }
+            int version = 1
+        }
+        dictionary omni_layer = {
+            string authoring_layer = "./G1_omnipicker.usda"
+            dictionary locked = {
+            }
+            dictionary muteness = {
+            }
+        }
+        dictionary renderSettings = {
+        }
+    }
+    defaultPrim = "G1"
+    metersPerUnit = 1
+    upAxis = "Z"
+)
+
+def Xform "G1" (
+    prepend apiSchemas = ["PhysicsArticulationRootAPI", "PhysxArticulationAPI"]
+    displayName = "G1"
+    variants = {
+        string Physics = "PhysX"
+        string Sensor = "Sensors"
+    }
+    prepend variantSets = ["Physics", "Sensor"]
+)
+{
+    bool physxArticulation:enabledSelfCollisions = 0
+    quatd xformOp:orient = (1, 0, 0, 0)
+    double3 xformOp:scale = (1, 1, 1)
+    double3 xformOp:translate = (0, 0, 0)
+    uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+
+    over "base_link" (
+        delete apiSchemas = ["PhysicsArticulationRootAPI", "PhysxArticulationAPI"]
+        prepend apiSchemas = ["PhysxRigidBodyAPI"]
+    )
+    {
+        bool physxRigidBody:disableGravity = 1
+
+        over "visuals"
+        {
+            quatf xformOp:orient = (1, 0, 0, 0)
+            float3 xformOp:scale = (1, 1, 1)
+            double3 xformOp:translate = (0, 0, 0.21113469724309647)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+        }
+
+        def Camera "Fisheye_Back_01" (
+            active = true
+        )
+        {
+            token cameraProjectionType = "fisheyePolynomial" (
+                allowedTokens = ["pinhole", "fisheyePolynomial", "fisheyeSpherical", "fisheyeKannalaBrandtK3", "fisheyeRadTanThinPrism", "omniDirectionalStereo"]
+            )
+            float2 clippingRange = (0.01, 10000000)
+            float focalLength = 18.147562
+            float focusDistance = 400
+            bool omni:kit:cameraLock = 1
+            custom uniform vector3d omni:kit:centerOfInterest = (0, 0, -400)
+            token visibility = "invisible"
+            quatd xformOp:orient = (0.49999999999999933, 0.5000000000000001, 0.5000000000000004, 0.5000000000000001)
+            double3 xformOp:scale = (1, 1, 1)
+            double3 xformOp:translate = (-0.30000000447034847, 0.057673270003865684, 1.0630543750437111)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+        }
+
+        def Camera "Fisheye_Back_02" (
+            active = true
+        )
+        {
+            token cameraProjectionType = "fisheyePolynomial" (
+                allowedTokens = ["pinhole", "fisheyePolynomial", "fisheyeSpherical", "fisheyeKannalaBrandtK3", "fisheyeRadTanThinPrism", "omniDirectionalStereo"]
+            )
+            float2 clippingRange = (0.01, 10000000)
+            float focalLength = 18.147562
+            float focusDistance = 400
+            bool omni:kit:cameraLock = 1
+            custom uniform vector3d omni:kit:centerOfInterest = (0, 0, -400)
+            token visibility = "invisible"
+            quatd xformOp:orient = (0.49999999999999933, 0.5000000000000001, 0.5000000000000004, 0.5000000000000001)
+            double3 xformOp:scale = (1, 1, 1)
+            double3 xformOp:translate = (-0.30000000447034836, -0.05767, 1.063054375043722)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+        }
+
+        def PhysicsFixedJoint "FixedJoint"
+        {
+            rel physics:body1 = </G1/base_link>
+            float physics:breakForce = inf
+            float physics:breakTorque = inf
+            point3f physics:localPos0 = (0, 0, 0)
+            point3f physics:localPos1 = (0, 0, 0)
+            quatf physics:localRot0 = (1, 0, 0, 0)
+            quatf physics:localRot1 = (1, 0, 0, 0)
+        }
+    }
+
+    over "body_link1" (
+        prepend apiSchemas = ["PhysxRigidBodyAPI"]
+    )
+    {
+        bool physxRigidBody:disableGravity = 1
+
+        over "visuals"
+        {
+            quatf xformOp:orient = (1, 0, 0, 0)
+            float3 xformOp:scale = (1, 1, 1)
+            double3 xformOp:translate = (0, 0, 0)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+        }
+    }
+
+    over "body_link2" (
+        prepend apiSchemas = ["PhysxRigidBodyAPI"]
+    )
+    {
+        bool physxRigidBody:disableGravity = 1
+    }
+
+    over "arm_base_link" (
+        prepend apiSchemas = ["PhysxRigidBodyAPI"]
+    )
+    {
+        bool physxRigidBody:disableGravity = 1
+    }
+
+    over "arm_l_base_link" (
+        prepend apiSchemas = ["PhysxRigidBodyAPI"]
+    )
+    {
+        bool physxRigidBody:disableGravity = 1
+    }
+
+    over "arm_l_link1" (
+        prepend apiSchemas = ["PhysxRigidBodyAPI"]
+    )
+    {
+        bool physxRigidBody:disableGravity = 1
+
+        over "collisions"
+        {
+            bool physics:collisionEnabled = 0
+        }
+    }
+
+    over "arm_l_link2" (
+        prepend apiSchemas = ["PhysxRigidBodyAPI"]
+    )
+    {
+        bool physxRigidBody:disableGravity = 1
+
+        over "collisions"
+        {
+            bool physics:collisionEnabled = 0
+        }
+    }
+
+    over "arm_l_link3" (
+        prepend apiSchemas = ["PhysxRigidBodyAPI"]
+    )
+    {
+        bool physxRigidBody:disableGravity = 1
+
+        over "collisions"
+        {
+            bool physics:collisionEnabled = 0
+        }
+    }
+
+    over "arm_l_link4" (
+        prepend apiSchemas = ["PhysxRigidBodyAPI"]
+    )
+    {
+        bool physxRigidBody:disableGravity = 1
+
+        over "collisions"
+        {
+            bool physics:collisionEnabled = 0
+        }
+    }
+
+    over "arm_l_link5" (
+        prepend apiSchemas = ["PhysxRigidBodyAPI"]
+    )
+    {
+        bool physxRigidBody:disableGravity = 1
+
+        over "collisions"
+        {
+            bool physics:collisionEnabled = 0
+        }
+    }
+
+    over "arm_l_link6" (
+        prepend apiSchemas = ["PhysxRigidBodyAPI"]
+    )
+    {
+        bool physxRigidBody:disableGravity = 1
+
+        over "collisions"
+        {
+            bool physics:collisionEnabled = 0
+        }
+    }
+
+    over "arm_l_end_link" (
+        prepend apiSchemas = ["PhysxRigidBodyAPI"]
+    )
+    {
+        bool physxRigidBody:disableGravity = 1
+
+        over "collisions"
+        {
+            bool physics:collisionEnabled = 0
+        }
+    }
+
+    over "gripper_l_base_link" (
+        prepend apiSchemas = ["PhysxRigidBodyAPI"]
+    )
+    {
+        bool physxRigidBody:disableGravity = 1
+
+        def Camera "Left_Camera" (
+            active = true
+        )
+        {
+            token cameraProjectionType = "pinhole" (
+                allowedTokens = ["pinhole", "fisheyePolynomial", "fisheyeSpherical", "fisheyeKannalaBrandtK3", "fisheyeRadTanThinPrism", "omniDirectionalStereo"]
+            )
+            float2 clippingRange = (0.01, 10000000)
+            float fisheyeResolutionBudget = 1.5
+            float focalLength = 1.93
+            float focusDistance = 400
+            float horizontalAperture = 3.7601311
+            bool omni:kit:cameraLock = 1
+            custom uniform vector3d omni:kit:centerOfInterest = (0, 0, -400)
+            float p0 = -0.00036721907
+            float verticalAperture = 2.1307867
+            token visibility = "invisible"
+            quatd xformOp:orient = (-0.24763401411015198, -0.6623272567663911, 0.6623272567663911, 0.24763401411015207)
+            double3 xformOp:scale = (1, 1, 1)
+            double3 xformOp:translate = (-0.08248, -0.00244, 0.04346)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+        }
+
+        def "Cam" (
+            prepend payload = @./configuration/Cam.usd@
+        )
+        {
+            quatf xformOp:orient = (6.123234e-17, 0.70710677, -4.3297803e-17, -0.70710677)
+            double xformOp:rotateX:unitsResolve = 90
+            float3 xformOp:scale = (1, 1, 1)
+            double3 xformOp:translate = (4.0169941095680173e-7, 1.5376787357301858e-7, 0)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale", "xformOp:rotateX:unitsResolve"]
+
+            over "Cam"
+            {
+                over "cam"
+                {
+                    quatf xformOp:orient = (1, 0, 0, 0)
+                    float3 xformOp:scale = (1, 1, 1.02)
+                    double3 xformOp:translate = (3.430589146091734e-14, 4.5075054799781356e-14, 0.00022551183775573747)
+                    uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+                }
+            }
+        }
+    }
+
+    over "gripper_l_inner_link1" (
+        prepend apiSchemas = ["PhysxRigidBodyAPI"]
+    )
+    {
+        vector3f physics:angularVelocity = (0, 0, 0)
+        float physics:mass = 0.025
+        bool physxRigidBody:disableGravity = 1
+    }
+
+    over "gripper_l_inner_link3" (
+        prepend apiSchemas = ["PhysxRigidBodyAPI"]
+    )
+    {
+        bool physxRigidBody:disableGravity = 1
+    }
+
+    over "gripper_l_inner_link4" (
+        prepend apiSchemas = ["PhysxRigidBodyAPI", "PhysxContactReportAPI"]
+    )
+    {
+        float physics:mass = 0.035
+        float physxContactReport:threshold = 0
+        bool physxRigidBody:disableGravity = 1
+        float physxRigidBody:sleepThreshold = 0
+
+        over "collisions" (
+            prepend apiSchemas = ["MaterialBindingAPI", "PhysxConvexDecompositionCollisionAPI", "PhysxContactReportAPI"]
+            instanceable = false
+        )
+        {
+            rel material:binding = </G1/PhysicsMaterial> (
+                bindMaterialAs = "weakerThanDescendants"
+            )
+            uniform token physics:approximation = "convexDecomposition"
+            float physxContactReport:threshold = 0
+
+            def IsaacContactSensor "Contact_Sensor"
+            {
+                float4 color = (1, 0, 0, 1)
+                bool enabled = 1
+                float radius = -1
+                float sensorPeriod = -1
+                float2 threshold = (0, 100000)
+                quatd xformOp:orient = (1, 0, 0, 0)
+                double3 xformOp:scale = (1, 1, 1)
+                double3 xformOp:translate = (0, 0, 0)
+                uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+            }
+        }
+    }
+
+    over "gripper_l_inner_link2" (
+        prepend apiSchemas = ["PhysxRigidBodyAPI"]
+    )
+    {
+        float physics:mass = 0.025
+        bool physxRigidBody:disableGravity = 1
+    }
+
+    over "gripper_l_outer_link1" (
+        prepend apiSchemas = ["PhysxRigidBodyAPI"]
+    )
+    {
+        float physics:mass = 0.025
+        bool physxRigidBody:disableGravity = 1
+    }
+
+    over "gripper_l_outer_link3" (
+        prepend apiSchemas = ["PhysxRigidBodyAPI"]
+    )
+    {
+        bool physxRigidBody:disableGravity = 1
+    }
+
+    over "gripper_l_outer_link4" (
+        prepend apiSchemas = ["PhysxRigidBodyAPI", "PhysxContactReportAPI"]
+    )
+    {
+        float physics:mass = 0.035
+        float physxContactReport:threshold = 0
+        bool physxRigidBody:disableGravity = 1
+        float physxRigidBody:sleepThreshold = 0
+
+        over "collisions" (
+            prepend apiSchemas = ["MaterialBindingAPI", "PhysxConvexDecompositionCollisionAPI", "PhysxConvexHullCollisionAPI", "PhysxContactReportAPI"]
+            instanceable = false
+        )
+        {
+            rel material:binding = </G1/PhysicsMaterial> (
+                bindMaterialAs = "weakerThanDescendants"
+            )
+            uniform token physics:approximation = "convexDecomposition"
+            float physxContactReport:threshold = 0
+
+            def IsaacContactSensor "Contact_Sensor"
+            {
+                float4 color = (1, 0, 0, 1)
+                bool enabled = 1
+                float radius = -1
+                float sensorPeriod = -1
+                float2 threshold = (0, 100000)
+                quatd xformOp:orient = (1, 0, 0, 0)
+                double3 xformOp:scale = (1, 1, 1)
+                double3 xformOp:translate = (0, 0, 0)
+                uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+            }
+        }
+    }
+
+    over "gripper_l_outer_link2" (
+        prepend apiSchemas = ["PhysxRigidBodyAPI"]
+    )
+    {
+        float physics:mass = 0.025
+        bool physxRigidBody:disableGravity = 1
+    }
+
+    over "gripper_l_center_link" (
+        prepend apiSchemas = ["PhysxRigidBodyAPI"]
+    )
+    {
+        bool physxRigidBody:disableGravity = 1
+    }
+
+    over "arm_r_base_link" (
+        prepend apiSchemas = ["PhysxRigidBodyAPI"]
+    )
+    {
+        bool physxRigidBody:disableGravity = 1
+    }
+
+    over "arm_r_link1" (
+        prepend apiSchemas = ["PhysxRigidBodyAPI"]
+    )
+    {
+        bool physxRigidBody:disableGravity = 1
+
+        over "collisions"
+        {
+            bool physics:collisionEnabled = 0
+        }
+    }
+
+    over "arm_r_link2" (
+        prepend apiSchemas = ["PhysxRigidBodyAPI"]
+    )
+    {
+        bool physxRigidBody:disableGravity = 1
+
+        over "collisions"
+        {
+            bool physics:collisionEnabled = 0
+        }
+    }
+
+    over "arm_r_link3" (
+        prepend apiSchemas = ["PhysxRigidBodyAPI"]
+    )
+    {
+        bool physxRigidBody:disableGravity = 1
+
+        over "collisions"
+        {
+            bool physics:collisionEnabled = 0
+        }
+    }
+
+    over "arm_r_link4" (
+        prepend apiSchemas = ["PhysxRigidBodyAPI"]
+    )
+    {
+        bool physxRigidBody:disableGravity = 1
+
+        over "collisions"
+        {
+            bool physics:collisionEnabled = 0
+        }
+    }
+
+    over "arm_r_link5" (
+        prepend apiSchemas = ["PhysxRigidBodyAPI"]
+    )
+    {
+        bool physxRigidBody:disableGravity = 1
+
+        over "collisions"
+        {
+            bool physics:collisionEnabled = 0
+        }
+    }
+
+    over "arm_r_link6" (
+        prepend apiSchemas = ["PhysxRigidBodyAPI"]
+    )
+    {
+        bool physxRigidBody:disableGravity = 1
+
+        over "collisions"
+        {
+            bool physics:collisionEnabled = 0
+        }
+    }
+
+    over "arm_r_end_link" (
+        prepend apiSchemas = ["PhysxRigidBodyAPI"]
+    )
+    {
+        bool physxRigidBody:disableGravity = 1
+
+        over "collisions"
+        {
+            bool physics:collisionEnabled = 0
+        }
+    }
+
+    over "gripper_r_base_link" (
+        prepend apiSchemas = ["PhysxRigidBodyAPI"]
+    )
+    {
+        bool physxRigidBody:disableGravity = 1
+
+        def Camera "Right_Camera" (
+            active = true
+        )
+        {
+            token cameraProjectionType = "pinhole" (
+                allowedTokens = ["pinhole", "fisheyePolynomial", "fisheyeSpherical", "fisheyeKannalaBrandtK3", "fisheyeRadTanThinPrism", "omniDirectionalStereo"]
+            )
+            float2 clippingRange = (0.01, 10000000)
+            float fisheyeResolutionBudget = 1.5
+            float focalLength = 1.93
+            float focusDistance = 400
+            float horizontalAperture = 3.7601311
+            bool omni:kit:cameraLock = 1
+            custom uniform vector3d omni:kit:centerOfInterest = (0, 0, -0.252056884844326)
+            float p0 = -0.00036721907
+            float verticalAperture = 2.1307867
+            token visibility = "invisible"
+            quatd xformOp:orient = (-0.24763401411015198, -0.6623272567663911, -0.6623272567663911, -0.24763401411015207)
+            double3 xformOp:scale = (1, 1, 1)
+            double3 xformOp:translate = (0.08248, -0.0024400039901093795, 0.04346)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+        }
+
+        def "Cam" (
+            prepend payload = @./configuration/Cam.usd@
+        )
+        {
+            quatf xformOp:orient = (0.70710677, 0, 0.70710677, 0)
+            double xformOp:rotateX:unitsResolve = 90
+            float3 xformOp:scale = (1, 1, 1)
+            double3 xformOp:translate = (0, 0, 0)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale", "xformOp:rotateX:unitsResolve"]
+
+            over "Cam"
+            {
+                over "cam"
+                {
+                    quatf xformOp:orient = (1, 0, 0, 0)
+                    float3 xformOp:scale = (1, 1, 1.02)
+                    double3 xformOp:translate = (3.430589146091734e-14, 4.5075054799781356e-14, 0.00022551183775573747)
+                    uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+                }
+            }
+        }
+    }
+
+    over "gripper_r_inner_link1" (
+        prepend apiSchemas = ["PhysxRigidBodyAPI"]
+    )
+    {
+        bool physxRigidBody:disableGravity = 1
+    }
+
+    over "gripper_r_inner_link3" (
+        prepend apiSchemas = ["PhysxRigidBodyAPI"]
+    )
+    {
+        bool physxRigidBody:disableGravity = 1
+    }
+
+    over "gripper_r_inner_link4" (
+        prepend apiSchemas = ["PhysxRigidBodyAPI", "PhysxContactReportAPI"]
+    )
+    {
+        float physics:mass = 0.035
+        float physxContactReport:threshold = 0
+        bool physxRigidBody:disableGravity = 1
+        float physxRigidBody:sleepThreshold = 0
+
+        over "collisions" (
+            prepend apiSchemas = ["MaterialBindingAPI", "PhysxConvexDecompositionCollisionAPI", "PhysxContactReportAPI"]
+            instanceable = false
+        )
+        {
+            rel material:binding = </G1/PhysicsMaterial> (
+                bindMaterialAs = "weakerThanDescendants"
+            )
+            uniform token physics:approximation = "convexDecomposition"
+            float physxContactReport:threshold = 0
+
+            def IsaacContactSensor "Contact_Sensor"
+            {
+                float4 color = (1, 0, 0, 1)
+                bool enabled = 1
+                float radius = -1
+                float sensorPeriod = -1
+                float2 threshold = (0, 100000)
+                quatd xformOp:orient = (1, 0, 0, 0)
+                double3 xformOp:scale = (1, 1, 1)
+                double3 xformOp:translate = (0, 0, 0)
+                uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+            }
+        }
+    }
+
+    over "gripper_r_inner_link2" (
+        prepend apiSchemas = ["PhysxRigidBodyAPI"]
+    )
+    {
+        float physics:mass = 0.025
+        bool physxRigidBody:disableGravity = 1
+    }
+
+    over "gripper_r_outer_link1" (
+        prepend apiSchemas = ["PhysxRigidBodyAPI"]
+    )
+    {
+        bool physxRigidBody:disableGravity = 1
+    }
+
+    over "gripper_r_outer_link3" (
+        prepend apiSchemas = ["PhysxRigidBodyAPI"]
+    )
+    {
+        bool physxRigidBody:disableGravity = 1
+    }
+
+    over "gripper_r_outer_link4" (
+        prepend apiSchemas = ["PhysxRigidBodyAPI", "PhysxContactReportAPI"]
+    )
+    {
+        float physics:mass = 0.035
+        float physxContactReport:threshold = 0
+        bool physxRigidBody:disableGravity = 1
+        float physxRigidBody:sleepThreshold = 0
+
+        over "collisions" (
+            prepend apiSchemas = ["MaterialBindingAPI", "PhysxConvexDecompositionCollisionAPI", "PhysxConvexHullCollisionAPI", "PhysxTriangleMeshCollisionAPI", "PhysxTriangleMeshSimplificationCollisionAPI", "PhysxSDFMeshCollisionAPI", "PhysxContactReportAPI"]
+            instanceable = false
+        )
+        {
+            rel material:binding = </G1/PhysicsMaterial> (
+                bindMaterialAs = "weakerThanDescendants"
+            )
+            uniform token physics:approximation = "convexDecomposition"
+            float physxContactReport:threshold = 0
+
+            def IsaacContactSensor "Contact_Sensor"
+            {
+                float4 color = (1, 0, 0, 1)
+                bool enabled = 1
+                float radius = -1
+                float sensorPeriod = -1
+                float2 threshold = (0, 100000)
+                quatd xformOp:orient = (1, 0, 0, 0)
+                double3 xformOp:scale = (1, 1, 1)
+                double3 xformOp:translate = (0, 0, 0)
+                uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+            }
+        }
+    }
+
+    over "gripper_r_outer_link2" (
+        prepend apiSchemas = ["PhysxRigidBodyAPI"]
+    )
+    {
+        float physics:mass = 0.025
+        bool physxRigidBody:disableGravity = 1
+    }
+
+    over "gripper_r_center_link" (
+        prepend apiSchemas = ["PhysxRigidBodyAPI"]
+    )
+    {
+        bool physxRigidBody:disableGravity = 1
+    }
+
+    over "head_link1" (
+        prepend apiSchemas = ["PhysxRigidBodyAPI"]
+    )
+    {
+        bool physxRigidBody:disableGravity = 1
+    }
+
+    over "head_link2" (
+        prepend apiSchemas = ["PhysxRigidBodyAPI"]
+    )
+    {
+        bool physxRigidBody:disableGravity = 1
+
+        over "visuals"
+        {
+            quatf xformOp:orient = (1, 0, 0, 0)
+            float3 xformOp:scale = (1, 1, 1)
+            double3 xformOp:translate = (0.039525628306619376, -0.01962560545893477, 8.262606048342261e-10)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+        }
+
+        def Camera "Head_Camera" (
+            active = true
+        )
+        {
+            token cameraSensorType = "camera" (
+                allowedTokens = ["camera", "radar", "lidar", "rtxsensor"]
+            )
+            float2 clippingRange = (0.01, 10000000)
+            float focalLength = 1.93
+            float focusDistance = 400
+            float horizontalAperture = 3.896
+            bool omni:kit:cameraLock = 1
+            float verticalAperture = 2.453
+            token visibility = "invisible"
+            quatd xformOp:orient = (6.123233995736766e-17, 0.7071067811865476, -4.329780281177467e-17, -0.7071067811865476)
+            double3 xformOp:scale = (1, 1, 1)
+            double3 xformOp:translate = (0.0858, -0.04119, 0)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+        }
+
+        def Camera "Fisheye_Camera_01" (
+            active = true
+        )
+        {
+            token cameraProjectionType = "fisheyePolynomial" (
+                allowedTokens = ["pinhole", "fisheyePolynomial", "fisheyeSpherical", "fisheyeKannalaBrandtK3", "fisheyeRadTanThinPrism", "omniDirectionalStereo"]
+            )
+            float2 clippingRange = (0.01, 10000000)
+            float focalLength = 1.93
+            float focusDistance = 400
+            float fthetaPolyB = 0.00245
+            float fthetaPolyC = 0
+            float horizontalAperture = 3.896
+            bool omni:kit:cameraLock = 1
+            float verticalAperture = 2.453
+            token visibility = "invisible"
+            quatd xformOp:orient = (0.0751616554826484, 0.9377050893657665, 0.030613207309336917, -0.33782054771858294)
+            double3 xformOp:scale = (1, 1, 1)
+            double3 xformOp:translate = (0.07625208730182864, 0.01962537929559538, 0.047878739498311895)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+        }
+
+        def Camera "Fisheye_Camera_02" (
+            active = true
+        )
+        {
+            token cameraProjectionType = "fisheyePolynomial" (
+                allowedTokens = ["pinhole", "fisheyePolynomial", "fisheyeSpherical", "fisheyeKannalaBrandtK3", "fisheyeRadTanThinPrism", "omniDirectionalStereo"]
+            )
+            float2 clippingRange = (0.01, 10000000)
+            float focalLength = 1.93
+            float focusDistance = 400
+            float fthetaPolyB = 0.00245
+            float fthetaPolyC = 0
+            float horizontalAperture = 3.896
+            bool omni:kit:cameraLock = 1
+            float verticalAperture = 2.453
+            token visibility = "invisible"
+            quatd xformOp:orient = (-0.07386098599114474, -0.35900989056451804, -0.17965850209084597, 0.9128960925821417)
+            double3 xformOp:scale = (1, 1, 1)
+            double3 xformOp:translate = (0.07625090899974629, 0.019624617386816645, -0.05772210537580889)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+        }
+
+        def Camera "Top_Camera" (
+            kind = "model"
+        )
+        {
+            token cameraProjectionType = "fisheyePolynomial" (
+                allowedTokens = ["pinhole", "fisheyePolynomial", "fisheyeSpherical", "fisheyeKannalaBrandtK3", "fisheyeRadTanThinPrism", "omniDirectionalStereo"]
+            )
+            float2 clippingRange = (0.01, 10000000)
+            float focalLength = 1.93
+            float focusDistance = 400
+            float horizontalAperture = 3.896
+            bool omni:kit:cameraLock = 1
+            float verticalAperture = 2.453
+            token visibility = "invisible"
+            quatd xformOp:orient = (0.14097441837755495, 0.6929114036896132, 0.14097441837755503, -0.6929114036896132)
+            double3 xformOp:scale = (1, 1, 1)
+            double3 xformOp:translate = (0.09148739595212874, -0.07523617103289082, -0.0000051337173225556625)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+
+            over "OmniverseKitViewportCameraMesh" (
+                always_pick_model = true
+                hide_in_stage_window = true
+                kind = "subcomponent"
+                no_delete = true
+                prepend references = @../../../sim/isaacsim/kit/resources/models/camera/camera.usd@
+            )
+            {
+                bool primvars:doNotCastShadows = 1
+                bool primvars:omni:kit:isGizmo = 1
+                token visibility
+                float3 xformOp:scale = (0.01, 0.01, 0.01)
+                uniform token[] xformOpOrder = ["xformOp:scale"]
+
+                over "CameraModel" (
+                    always_pick_model = true
+                    hide_in_stage_window = true
+                    no_delete = true
+                )
+                {
+                    float3[] extent = [(3.4028235e38, 3.4028235e38, 3.4028235e38), (-3.4028235e38, -3.4028235e38, -3.4028235e38)]
+                    bool primvars:doNotCastShadows = 1
+                    bool primvars:omni:kit:isGizmo = 1
+                }
+            }
+        }
+    }
+
+    over "joints"
+    {
+        over "idx01_body_joint1"
+        {
+            float drive:linear:physics:damping = 1000
+            float drive:linear:physics:maxForce = inf
+            float drive:linear:physics:stiffness = 10000
+            float drive:linear:physics:targetPosition = 0
+            float physxJoint:maxJointVelocity = 0.1
+            float state:linear:physics:position = 0
+            float state:linear:physics:velocity = 0
+        }
+
+        over "idx02_body_joint2"
+        {
+            float drive:angular:physics:damping = 1000
+            float drive:angular:physics:maxForce = 100
+            float drive:angular:physics:stiffness = 10000
+            float drive:angular:physics:targetPosition = 0
+            float state:angular:physics:position = 0
+            float state:angular:physics:velocity = 0
+        }
+
+        over "idx11_head_joint1"
+        {
+            float drive:angular:physics:damping = 50
+            float drive:angular:physics:stiffness = 500
+            float drive:angular:physics:targetPosition = 0
+            float state:angular:physics:position = 0
+            float state:angular:physics:velocity = 0
+        }
+
+        over "idx12_head_joint2"
+        {
+            float drive:angular:physics:damping = 50
+            float drive:angular:physics:stiffness = 500
+            float drive:angular:physics:targetPosition = 0
+            float state:angular:physics:position = 0
+            float state:angular:physics:velocity = 0
+        }
+
+        over "idx21_arm_l_joint1"
+        {
+            float drive:angular:physics:damping = 500
+            float drive:angular:physics:stiffness = 10000
+            float physics:lowerLimit = -180
+            float physics:upperLimit = 180
+            float state:angular:physics:position = 0
+            float state:angular:physics:velocity = 0
+        }
+
+        over "idx61_arm_r_joint1"
+        {
+            float drive:angular:physics:damping = 500
+            float drive:angular:physics:stiffness = 10000
+            float physics:lowerLimit = -180
+            float physics:upperLimit = 180
+            float state:angular:physics:position = 0
+            float state:angular:physics:velocity = 0
+        }
+
+        over "idx22_arm_l_joint2"
+        {
+            float drive:angular:physics:damping = 500
+            float drive:angular:physics:stiffness = 10000
+            float physics:lowerLimit = -180
+            float physics:upperLimit = 180
+            float state:angular:physics:position = 0
+            float state:angular:physics:velocity = 0
+        }
+
+        over "idx62_arm_r_joint2"
+        {
+            float drive:angular:physics:damping = 500
+            float drive:angular:physics:stiffness = 10000
+            float physics:lowerLimit = -180
+            float physics:upperLimit = 180
+            float state:angular:physics:position = 0
+            float state:angular:physics:velocity = 0
+        }
+
+        over "idx23_arm_l_joint3"
+        {
+            float drive:angular:physics:damping = 500
+            float drive:angular:physics:stiffness = 10000
+            float physics:lowerLimit = -180
+            float physics:upperLimit = 180
+            float state:angular:physics:position = 0
+            float state:angular:physics:velocity = 0
+        }
+
+        over "idx63_arm_r_joint3"
+        {
+            float drive:angular:physics:damping = 500
+            float drive:angular:physics:stiffness = 10000
+            float physics:lowerLimit = -180
+            float physics:upperLimit = 180
+            float state:angular:physics:position = 0
+            float state:angular:physics:velocity = 0
+        }
+
+        over "idx24_arm_l_joint4"
+        {
+            float drive:angular:physics:damping = 500
+            float drive:angular:physics:stiffness = 10000
+            float physics:lowerLimit = -180
+            float physics:upperLimit = 180
+            float state:angular:physics:position = 0
+            float state:angular:physics:velocity = 0
+        }
+
+        over "idx64_arm_r_joint4"
+        {
+            float drive:angular:physics:damping = 500
+            float drive:angular:physics:stiffness = 10000
+            float physics:lowerLimit = -180
+            float physics:upperLimit = 180
+            float state:angular:physics:position = 0
+            float state:angular:physics:velocity = 0
+        }
+
+        over "idx25_arm_l_joint5"
+        {
+            float drive:angular:physics:damping = 500
+            float drive:angular:physics:stiffness = 10000
+            float physics:lowerLimit = -180
+            float physics:upperLimit = 180
+            float state:angular:physics:position = 0
+            float state:angular:physics:velocity = 0
+        }
+
+        over "idx65_arm_r_joint5"
+        {
+            float drive:angular:physics:damping = 500
+            float drive:angular:physics:stiffness = 10000
+            float physics:lowerLimit = -180
+            float physics:upperLimit = 180
+            float state:angular:physics:position = 0
+            float state:angular:physics:velocity = 0
+        }
+
+        over "idx26_arm_l_joint6"
+        {
+            float drive:angular:physics:damping = 500
+            float drive:angular:physics:stiffness = 10000
+            float physics:lowerLimit = -180
+            float physics:upperLimit = 180
+            float state:angular:physics:position = 0
+            float state:angular:physics:velocity = 0
+        }
+
+        over "idx66_arm_r_joint6"
+        {
+            float drive:angular:physics:damping = 500
+            float drive:angular:physics:stiffness = 10000
+            float physics:lowerLimit = -180
+            float physics:upperLimit = 180
+            float state:angular:physics:position = 0
+            float state:angular:physics:velocity = 0
+        }
+
+        over "idx27_arm_l_joint7"
+        {
+            float drive:angular:physics:damping = 500
+            float drive:angular:physics:stiffness = 10000
+            float physics:lowerLimit = -180
+            float physics:upperLimit = 180
+            float state:angular:physics:position = 0
+            float state:angular:physics:velocity = 0
+        }
+
+        over "idx67_arm_r_joint7"
+        {
+            float drive:angular:physics:damping = 500
+            float drive:angular:physics:stiffness = 10000
+            float physics:lowerLimit = -180
+            float physics:upperLimit = 180
+            float state:angular:physics:position = 0
+            float state:angular:physics:velocity = 0
+        }
+
+        over "idx31_gripper_l_inner_joint1" (
+            delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysxMimicJointAPI:rotX"]
+            prepend apiSchemas = ["PhysxMimicJointAPI:rotX"]
+        )
+        {
+            float drive:angular:physics:damping = 0
+            float drive:angular:physics:maxForce = inf
+            float drive:angular:physics:stiffness = 0
+            float drive:angular:physics:targetPosition = 0
+            uniform token drive:angular:physics:type = "force"
+            uniform token physics:axis = "Z"
+            float physics:breakForce = 3.4028235e38
+            bool physics:jointEnabled = 1
+            float physics:JointEquivalentInertia = 0.001
+            point3f physics:localPos0 = (0, -0.019499995, 0.0565)
+            point3f physics:localPos1 = (0, 0, 0)
+            quatf physics:localRot0 = (-0.70710677, 1.04530146e-16, -0.70710677, 8.6595606e-17)
+            quatf physics:localRot1 = (6.123234e-17, 0, 0, 1)
+            float physics:lowerLimit = 0
+            float physics:upperLimit = 57.353077
+            float physxJoint:maxJointVelocity = 120
+            float physxMimicJoint:rotX:gearing = -1
+            rel physxMimicJoint:rotX:referenceJoint = </G1/joints/idx41_gripper_l_outer_joint1>
+            float state:angular:physics:position = 0
+            float state:angular:physics:velocity = 0
+        }
+
+        over PhysicsSphericalJoint "idx39_gripper_l_inner_joint2" (
+            delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
+        )
+        {
+            float drive:angular:physics:damping = 0
+            float drive:angular:physics:maxForce = 0
+            float drive:angular:physics:stiffness = 0
+            rel physics:body0 = </G1/gripper_l_inner_link2>
+            rel physics:body1 = </G1/gripper_l_base_link>
+            uniform bool physics:excludeFromArticulation = 1
+            bool physics:jointEnabled = 1
+            point3f physics:localPos0 = (2.220446e-16, 2.7755576e-17, 0)
+            point3f physics:localPos1 = (2.8028984e-8, -0.021633008, 0.07386994)
+            quatf physics:localRot0 = (-3.1429528e-10, 3.208232e-8, 1, -1.03406055e-10)
+            quatf physics:localRot1 = (-0.004648374, 0.70709157, -0.0046482733, -0.70709145)
+            float physxJoint:maxJointVelocity = 1000000
+        }
+
+        over "idx41_gripper_l_outer_joint1" (
+            delete apiSchemas = ["PhysicsDriveAPI:angular"]
+            prepend apiSchemas = ["PhysicsDriveAPI:angular"]
+        )
+        {
+            float drive:angular:physics:damping = 10
+            float drive:angular:physics:maxForce = inf
+            float drive:angular:physics:stiffness = 100
+            float drive:angular:physics:targetPosition = 0
+            float drive:angular:physics:targetVelocity = 0
+            uniform token drive:angular:physics:type = "acceleration"
+            bool physics:jointEnabled = 1
+            float physics:JointEquivalentInertia = 0.001
+            quatf physics:localRot0 = (-1.6081226e-16, -0.70710677, 0, 0.70710677)
+            float physics:upperLimit = 57.353077
+            float physxJoint:maxJointVelocity = 120
+            float state:angular:physics:position = 0
+            float state:angular:physics:velocity = 0
+        }
+
+        over PhysicsSphericalJoint "idx49_gripper_l_outer_joint2" (
+            delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
+        )
+        {
+            float drive:angular:physics:damping = 0
+            float drive:angular:physics:maxForce = 0
+            float drive:angular:physics:stiffness = 0
+            rel physics:body0 = </G1/gripper_l_outer_link2>
+            rel physics:body1 = </G1/gripper_l_base_link>
+            uniform bool physics:excludeFromArticulation = 1
+            bool physics:jointEnabled = 1
+            point3f physics:localPos0 = (1.110223e-16, 1.3877788e-17, 1.110223e-16)
+            point3f physics:localPos1 = (3.8344396e-8, 0.021632975, 0.07386994)
+            quatf physics:localRot0 = (-3.1429528e-10, 3.208232e-8, 1, -1.03406055e-10)
+            quatf physics:localRot1 = (-0.004648374, 0.70709157, -0.0046482733, -0.70709145)
+            float physxJoint:maxJointVelocity = 1000000
+        }
+
+        over "idx71_gripper_r_inner_joint1" (
+            delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysxMimicJointAPI:rotX"]
+            prepend apiSchemas = ["PhysxMimicJointAPI:rotX"]
+        )
+        {
+            float drive:angular:physics:damping = 10
+            float drive:angular:physics:maxForce = inf
+            float drive:angular:physics:stiffness = 100
+            float drive:angular:physics:targetPosition = 0
+            quatf physics:localRot0 = (0.70710677, -1.7934538e-17, 0.70710677, 0)
+            quatf physics:localRot1 = (6.123234e-17, 0, 0, 1)
+            float physics:lowerLimit = 0
+            float physics:upperLimit = 57.353077
+            float physxJoint:maxJointVelocity = 120
+            float physxMimicJoint:rotX:gearing = -1
+            rel physxMimicJoint:rotX:referenceJoint = </G1/joints/idx81_gripper_r_outer_joint1>
+            float state:angular:physics:position = 0
+            float state:angular:physics:velocity = 0
+        }
+
+        over PhysicsSphericalJoint "idx79_gripper_r_inner_joint2" (
+            delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
+        )
+        {
+            float drive:angular:physics:damping = 0
+            float drive:angular:physics:maxForce = 0
+            float drive:angular:physics:stiffness = 0
+            uniform token physics:axis = "Z"
+            rel physics:body0 = </G1/gripper_r_inner_link2>
+            rel physics:body1 = </G1/gripper_r_base_link>
+            uniform bool physics:excludeFromArticulation = 1
+            bool physics:jointEnabled = 1
+            point3f physics:localPos0 = (0, 0, 0)
+            point3f physics:localPos1 = (0, -0.02174, 0.0739)
+            quatf physics:localRot0 = (1, 0, 0, 0)
+            quatf physics:localRot1 = (-1.6081226e-16, -0.70710677, 0, 0.70710677)
+            float physxJoint:maxJointVelocity = 1000000
+        }
+
+        over "idx81_gripper_r_outer_joint1"
+        {
+            float drive:angular:physics:damping = 10
+            float drive:angular:physics:maxForce = inf
+            float drive:angular:physics:stiffness = 100
+            float drive:angular:physics:targetPosition = 0
+            uniform token drive:angular:physics:type = "acceleration"
+            quatf physics:localRot0 = (-1.6081226e-16, -0.70710677, 0, 0.70710677)
+            float physics:lowerLimit = 0
+            float physics:upperLimit = 57.353077
+            float physxJoint:maxJointVelocity = 120
+            float state:angular:physics:position = 0
+            float state:angular:physics:velocity = 0
+        }
+
+        over PhysicsSphericalJoint "idx89_gripper_r_outer_joint2" (
+            delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
+        )
+        {
+            float drive:angular:physics:damping = 0
+            float drive:angular:physics:maxForce = 0
+            float drive:angular:physics:stiffness = 0
+            uniform token physics:axis = "Z"
+            rel physics:body0 = </G1/gripper_r_outer_link2>
+            rel physics:body1 = </G1/gripper_r_base_link>
+            uniform bool physics:excludeFromArticulation = 1
+            bool physics:jointEnabled = 1
+            point3f physics:localPos0 = (0, 0, 0)
+            point3f physics:localPos1 = (0, 0.02174, 0.0739)
+            quatf physics:localRot0 = (1, 2.4653501e-10, 1.3083376e-10, -1.9890669e-8)
+            quatf physics:localRot1 = (-1.6081226e-16, 0.70710677, 0, 0.70710677)
+            float physxJoint:maxJointVelocity = 1000000
+        }
+
+        over "idx32_gripper_l_inner_joint3"
+        {
+            float drive:angular:physics:damping = 0
+            float drive:angular:physics:maxForce = inf
+            float drive:angular:physics:stiffness = 2
+            uniform token physics:axis = "Z"
+            bool physics:jointEnabled = 1
+            quatf physics:localRot0 = (6.123234e-17, 0, 0, -1)
+            quatf physics:localRot1 = (6.123234e-17, 0, 0, -1)
+            float physics:lowerLimit = 1
+            float physics:upperLimit = 180
+            float physxJoint:maxJointVelocity = 1000000
+            float state:angular:physics:position = 0
+            float state:angular:physics:velocity = 0
+        }
+
+        over "idx42_gripper_l_outer_joint3"
+        {
+            float drive:angular:physics:damping = 0
+            float drive:angular:physics:maxForce = inf
+            float drive:angular:physics:stiffness = 2
+            uniform token physics:axis = "Z"
+            bool physics:jointEnabled = 1
+            float physics:lowerLimit = 1
+            float physics:upperLimit = 180
+            float physxJoint:maxJointVelocity = 1000000
+            float state:angular:physics:position = 0
+            float state:angular:physics:velocity = 0
+        }
+
+        over "idx72_gripper_r_inner_joint3"
+        {
+            float drive:angular:physics:damping = 0
+            float drive:angular:physics:maxForce = inf
+            float drive:angular:physics:stiffness = 2
+            bool physics:jointEnabled = 1
+            float physics:lowerLimit = -180
+            float physics:upperLimit = -1
+            float physxJoint:maxJointVelocity = 1000000
+            float state:angular:physics:position = 0
+            float state:angular:physics:velocity = 0
+        }
+
+        over "idx82_gripper_r_outer_joint3"
+        {
+            float drive:angular:physics:damping = 0
+            float drive:angular:physics:maxForce = inf
+            float drive:angular:physics:stiffness = 2
+            float drive:angular:physics:targetPosition = 0
+            bool physics:jointEnabled = 1
+            float physics:lowerLimit = 1
+            float physics:upperLimit = 180
+            float physxJoint:maxJointVelocity = 1000000
+            float state:angular:physics:position = 0
+            float state:angular:physics:velocity = 0
+        }
+
+        over "idx33_gripper_l_inner_joint4"
+        {
+            float drive:angular:physics:damping = 0
+            float drive:angular:physics:maxForce = inf
+            float drive:angular:physics:stiffness = 0.001
+            bool physics:jointEnabled = 1
+            quatf physics:localRot0 = (6.123234e-17, 0, 0, 1)
+            quatf physics:localRot1 = (6.123234e-17, 0, 0, 1)
+            float physics:lowerLimit = -20
+            float physics:upperLimit = 4
+            float physxJoint:maxJointVelocity = 1000000
+            float state:angular:physics:position = 0
+            float state:angular:physics:velocity = 0
+        }
+
+        over "idx43_gripper_l_outer_joint4"
+        {
+            float drive:angular:physics:damping = 0
+            float drive:angular:physics:maxForce = inf
+            float drive:angular:physics:stiffness = 0.001
+            bool physics:jointEnabled = 1
+            float physics:lowerLimit = -20
+            float physics:upperLimit = 4
+            float physxJoint:maxJointVelocity = 1000000
+            float state:angular:physics:position = 0
+            float state:angular:physics:velocity = 0
+        }
+
+        over "idx73_gripper_r_inner_joint4" (
+            delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysxMimicJointAPI:rotX"]
+            prepend apiSchemas = ["PhysicsDriveAPI:angular"]
+        )
+        {
+            float drive:angular:physics:damping = 0
+            float drive:angular:physics:maxForce = inf
+            float drive:angular:physics:stiffness = 0.001
+            bool physics:jointEnabled = 1
+            quatf physics:localRot0 = (6.123234e-17, 0, 0, 1)
+            quatf physics:localRot1 = (6.123234e-17, 0, 0, 1)
+            float physics:lowerLimit = -20
+            float physics:upperLimit = 4
+            float physxJoint:maxJointVelocity = 1000000
+            float state:angular:physics:position = 0
+            float state:angular:physics:velocity = 0
+        }
+
+        over "idx83_gripper_r_outer_joint4" (
+            delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysxMimicJointAPI:rotX"]
+            prepend apiSchemas = ["PhysicsDriveAPI:angular"]
+        )
+        {
+            float drive:angular:physics:damping = 0
+            float drive:angular:physics:maxForce = inf
+            float drive:angular:physics:stiffness = 0.001
+            bool physics:jointEnabled = 1
+            float physics:lowerLimit = -20
+            float physics:upperLimit = 4
+            float physxJoint:maxJointVelocity = 1000000
+            float state:angular:physics:position = 0
+            float state:angular:physics:velocity = 0
+        }
+    }
+
+    over "Looks"
+    {
+        over "Black_002"
+        {
+            over "Black_002"
+            {
+                float inputs:reflection_roughness_constant = 0.35
+            }
+        }
+
+        over "material_1___Default"
+        {
+            over "material_1___Default"
+            {
+                color3f inputs:diffuse_color_constant = (0.144, 0.14221951, 0.13641113)
+                float inputs:metallic_constant = 0
+                float inputs:reflection_roughness_constant = 0.5
+            }
+        }
+
+        over "material_3___Default"
+        {
+            over "material_3___Default"
+            {
+                color3f inputs:diffuse_color_constant = (0.555, 0.4350001, 0.4350001)
+                float inputs:metallic_constant = 1
+                float inputs:reflection_roughness_constant = 0.32
+            }
+        }
+
+        over "material_7___Default"
+        {
+            over "material_7___Default"
+            {
+                color3f inputs:diffuse_color_constant = (0.155, 0.155, 0.155)
+                float inputs:metallic_constant = 1
+                float inputs:reflection_roughness_constant = 0.47
+            }
+        }
+
+        over "material_2___Default"
+        {
+            over "material_2___Default"
+            {
+                color3f inputs:diffuse_color_constant = (0.004, 0.004, 0.004)
+            }
+        }
+    }
+
+    def Material "PhysicsMaterial" (
+        prepend apiSchemas = ["PhysicsMaterialAPI", "PhysxMaterialAPI"]
+    )
+    {
+        float physics:dynamicFriction = 1
+        float physics:staticFriction = 1
+        uniform token physxMaterial:frictionCombineMode = "max"
+    }
+
+    over "loop_joints"
+    {
+        over PhysicsRevoluteJoint "idx53_gripper_l_outer_joint0" (
+            prepend apiSchemas = ["PhysicsJointStateAPI:angular", "PhysicsDriveAPI:angular"]
+        )
+        {
+            float drive:angular:physics:stiffness = 0
+            rel physics:body0 = </G1/gripper_l_outer_link4>
+            rel physics:body1 = </G1/gripper_l_outer_link2>
+            uniform bool physics:excludeFromArticulation = 0
+            bool physics:jointEnabled = 1
+            point3f physics:localPos0 = (8.553238e-10, 0.010280432, -2.7292058e-8)
+            point3f physics:localPos1 = (0.0316, 0.009602209, 0.000028008219)
+            quatf physics:localRot0 = (0.70710677, 0, 0.70710677, 0)
+            quatf physics:localRot1 = (0.70710677, 0, 0.70710677, 0)
+            float physics:lowerLimit = -180
+            float physics:upperLimit = 180
+            float state:angular:physics:position = 0
+            float state:angular:physics:velocity = 0
+        }
+
+        over PhysicsRevoluteJoint "idx54_gripper_l_inner_joint0" (
+            prepend apiSchemas = ["PhysicsJointStateAPI:angular", "PhysicsDriveAPI:angular"]
+        )
+        {
+            float drive:angular:physics:stiffness = 0
+            rel physics:body0 = </G1/gripper_l_inner_link4>
+            rel physics:body1 = </G1/gripper_l_inner_link2>
+            uniform bool physics:excludeFromArticulation = 0
+            bool physics:jointEnabled = 1
+            point3f physics:localPos0 = (-8.553229e-10, -0.010280425, 2.739001e-8)
+            point3f physics:localPos1 = (0.0316, -0.00960228, -0.000028019636)
+            quatf physics:localRot0 = (6.123234e-17, 0.70710677, 4.3297803e-17, 0.70710677)
+            quatf physics:localRot1 = (6.123234e-17, 0.70710677, 4.3297803e-17, 0.70710677)
+            float physics:lowerLimit = -180
+            float physics:upperLimit = 180
+            float state:angular:physics:position = 0
+            float state:angular:physics:velocity = 0
+        }
+
+        over PhysicsRevoluteJoint "idx93_gripper_r_outer_joint0" (
+            prepend apiSchemas = ["PhysicsJointStateAPI:angular", "PhysicsDriveAPI:angular"]
+        )
+        {
+            rel physics:body0 = </G1/gripper_r_outer_link4>
+            rel physics:body1 = </G1/gripper_r_outer_link2>
+            uniform bool physics:excludeFromArticulation = 0
+            bool physics:jointEnabled = 1
+            point3f physics:localPos0 = (0, 0.01, 0)
+            point3f physics:localPos1 = (0.0316, 0.01, 0)
+            quatf physics:localRot0 = (0.7071069, 1.6831714e-7, 0.70710665, 2.519124e-7)
+            quatf physics:localRot1 = (0.7071069, 1.6831714e-7, 0.70710665, 2.519124e-7)
+            float physics:lowerLimit = -180
+            float physics:upperLimit = 180
+            float state:angular:physics:position = 0
+            float state:angular:physics:velocity = 0
+        }
+
+        over PhysicsRevoluteJoint "idx94_gripper_r_inner_joint0" (
+            prepend apiSchemas = ["PhysicsJointStateAPI:angular", "PhysicsDriveAPI:angular"]
+        )
+        {
+            rel physics:body0 = </G1/gripper_r_inner_link4>
+            rel physics:body1 = </G1/gripper_r_inner_link2>
+            uniform bool physics:excludeFromArticulation = 0
+            bool physics:jointEnabled = 1
+            point3f physics:localPos0 = (0, -0.01, 0)
+            point3f physics:localPos1 = (0.0316, -0.01, 0)
+            quatf physics:localRot0 = (-1.7993496e-8, 0.7071067, -1.468232e-7, 0.7071068)
+            quatf physics:localRot1 = (-1.7993496e-8, 0.7071067, -1.468232e-7, 0.7071068)
+            float physics:lowerLimit = -180
+            float physics:upperLimit = 180
+            float state:angular:physics:position = 0
+            float state:angular:physics:velocity = 0
+        }
+    }
+    variantSet "Physics" = {
+        "None" (
+            prepend references = @./configuration/G1_omnipicker_base.usd@
+        ) {
+            over "joints" (
+                active = false
+            )
+            {
+            }
+
+            over "loop_joints" (
+                active = false
+            )
+            {
+            }
+
+        }
+        "PhysX" (
+            prepend payload = @./configuration/G1_omnipicker_physics.usd@
+        ) {
+
+        }
+    }
+    variantSet "Sensor" = {
+        "None" {
+
+        }
+        "Sensors" (
+            prepend payload = @./configuration/G1_omnipicker_sensor.usd@
+        ) {
+
+        }
+    }
+}
+

G1_omnipicker/config.yaml

@@ -0,0 +1,23 @@
+asset_path: /home/zy/workspace/genie_ws/install/share/genie_robot_description/urdf/G1/G1_omnipicker.urdf
+usd_dir: /home/zy/assets/G1_omnipicker
+usd_file_name: G1_omnipicker
+force_usd_conversion: true
+make_instanceable: true
+fix_base: false
+root_link_name: null
+link_density: 0.0
+merge_fixed_joints: false
+convert_mimic_joints_to_normal_joints: false
+joint_drive:
+  drive_type: force
+  target_type: position
+  gains:
+    stiffness: 100.0
+    damping: 1.0
+collider_type: convex_hull
+self_collision: false
+replace_cylinders_with_capsules: false
+collision_from_visuals: false
+##
+# Generated by UrdfConverter on 2025-05-27 at 18:50:14.
+##

G1_omnipicker/configuration/Cam.usd

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f58b881307b67f42ea849c93f4e66736c9eacd3c832ff9839f7a1d394327b6d0
+size 567636

G1_omnipicker/configuration/G1_omnipicker_base.usd

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9350e6141d072d2a3d7d78661b93da3fcbe0638c9582109b0f84088c78bb3d52
+size 34213798

G1/.thumbs/256x256/A2D_pico.usd.png → G1_omnipicker/configuration/G1_omnipicker_physics.usd

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:ea590290f905358945810d3913f489d375a0fdccc82770b3239588744310c9db
-size 42587
+oid sha256:dee7f6ab150a99602810c5a77d5c45d46c5b3ec3cc75d2adce610bd070a54f73
+size 17511

materials/carpet/Carpet_Cream/.thumbs/138x108/Carpet_Cream_ORM.png.png → G1_omnipicker/configuration/G1_omnipicker_sensor.usd

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:560959980770cdd7f26832649d521d5eedf06d7896b63ad5896d02583c798327
-size 213
+oid sha256:343212ad7f4fbdf8cf646a4256477733deea96cdffcaac6e6d4a5f2de5217c1d
+size 645

cleanup.sh

@@ -0,0 +1,30 @@
+#!/bin/bash
+
+find . -name "._*" -delete
+find . -name ".thumbs" -exec rm -v -rf {} \;
+find . -name "maps" -exec rm -v -rf {} \;
+find . -name "*.DS_Store" -delete
+find . -name "*.Spotlight-V100" -delete
+find . -name "*.Trash" -delete
+
+find . -iname "*.mtl" -type f -delete
+find . -iname "*.obj" -type f ! -path "./objects/benchmark/beverage_bottle/benchmark_beverage_bottle_004/Aligned.obj" -delete
+find . -iname "*.fbx" -type f -delete
+find . -iname "*.fbm" -type f -delete
+find . -iname "*.fbm" -type f -delete
+find . -iname "*.glb" -type f -delete
+
+find . -iname "*.tx" -type f -delete
+find . -iname "*.psd" -type f -delete
+
+find . -iname "*.npy" -type f -delete
+find . -iname "*.npz" -type f -delete
+
+find . -iname "*.zip" -type f -delete
+find . -iname "*.rar" -type f -delete
+find . -iname "*.tar" -type f -delete
+find . -iname "*.tgz" -type f -delete
+find . -iname "*.tar.gz" -type f -delete
+find . -iname "*.tmp" -delete
+find . -iname "~$*" -delete
+find . -iname "Thumbs.db" -delete