geniesim3.0.3

.gitignore

@@ -1,2 +1,30 @@
+
+._*
+
 */.thumbs
 .thumbs
+
+**/__pycache__
+
+*.zip
+*.rar
+*.tar
+*.tgz
+*.tar.gz
+*.tmp
+
+*.psd
+
+*.npy
+*.npz
+
+*.mtl
+*.obj
+*.bin
+*.pkl
+
+interaction.json
+recorder.usda
+
+!interaction/**/*.json
+!interaction/**/*.pkl

.pre-commit-config.yaml

@@ -1,61 +0,0 @@
-repos:
-  - repo: https://github.com/psf/black-pre-commit-mirror
-    rev: 25.1.0 # Use the latest Black version
-    hooks:
-      - id: black
-        args: ["--diff", "--line-length", "120"] # --check to Enforce check-only mode (no auto-formatting)
-        types: [python] # Target Python files
-        exclude: .*_pb2.*\.py
-
-  - repo: https://github.com/Lucas-C/pre-commit-hooks
-    rev: v1.5.5
-    hooks:
-      - id: insert-license
-        files: \.py$
-        args:
-          # - "--remove-header" # Remove existing license headers. Useful when updating license.
-          - "--license-filepath"
-          - ".github/LICENSE_HEADER.txt"
-          - "--use-current-year"
-        exclude: |
-          (?x)^(
-              server/source/genie.sim.lab/genie/sim/lab/app/app_launcher.py|
-              server/source/genie.sim.lab/genie/sim/lab/app/ui_builder.py|
-              server/source/genie.sim.lab/genie/sim/lab/controllers/parallel_gripper.py|
-              robot/isaac_sim/aimdk/
-          )$
-
-
-  - repo: https://github.com/pre-commit/pre-commit-hooks
-    rev: v5.0.0 # Use the ref you want to point at
-    hooks:
-      - id: trailing-whitespace
-      - id: check-added-large-files
-      - id: check-ast
-      - id: check-json
-      - id: check-xml
-      - id: check-yaml
-      - id: requirements-txt-fixer
-      - id: sort-simple-yaml
-      - id: pretty-format-json
-        args: [--autofix]
-      - id: mixed-line-ending
-      - id: detect-private-key
-      - id: debug-statements
-      - id: check-merge-conflict
-      - id: check-docstring-first
-      - id: check-byte-order-marker # Forbid UTF-8 byte-order markers
-      - id: end-of-file-fixer
-
-  # https://blogs.halodoc.io/code-version-best-practices-with-clean-commit-formats/
-  - repo: https://github.com/commitizen-tools/commitizen
-    rev: v4.2.0
-    hooks:
-      - id: commitizen
-        stages: [commit-msg]
-        args:
-          [
-            --allowed-prefixes,
-            "add,dev,chore,ci,perf,update,fix,feat,docs,refactor,revert,test,format",
-            --min-length=10,
-          ]

G1_120s/G1_120s.urdf

@@ -1,1295 +0,0 @@
-<?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>
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-      </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"/>
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-  <!-- joints -->
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-    <child link="arm_l_link1"/>
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-  <joint name="idx22_arm_l_joint2" type="revolute">
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-  <joint name="idx23_arm_l_joint3" type="revolute">
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-  <joint name="idx24_arm_l_joint4" type="revolute">
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-    <child link="arm_l_link4"/>
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-  <joint name="idx25_arm_l_joint5" type="revolute">
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-  <!-- properties -->
-  <!-- links -->
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-  <!-- joints -->
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-      <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/config.yaml

@@ -1,23 +0,0 @@
-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_omnipicker/.asset_hash

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

G1_omnipicker/G1_omnipicker.usda

@@ -1,1593 +0,0 @@
-#usda 1.0
-(
-    customLayerData = {
-        dictionary cameraSettings = {
-            dictionary Front = {
-                double3 position = (5, -0.9071989904406321, 0.9766428958999153)
-                double radius = 0.5820317268371582
-            }
-            dictionary Perspective = {
-                double3 position = (0.10037280277694209, 1.1475395939183257, 1.089754152735402)
-                double3 target = (0.10008539664568462, 1.145969035139312, 1.0884105251240632)
-            }
-            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 omni_layer = {
-            string authoring_layer = "./G1_omnipicker.usda"
-        }
-        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 "collisions" (
-            prepend apiSchemas = ["MaterialBindingAPI"]
-        )
-        {
-            rel material:binding:physics = </G1/GripperMaterial> (
-                bindMaterialAs = "weakerThanDescendants"
-            )
-        }
-    }
-
-    over "gripper_l_inner_link1" (
-        prepend apiSchemas = ["PhysxRigidBodyAPI"]
-    )
-    {
-        vector3f physics:angularVelocity = (0, 0, 0)
-        float physics:mass = 0.025
-        bool physxRigidBody:disableGravity = 1
-
-        over "collisions" (
-            prepend apiSchemas = ["MaterialBindingAPI"]
-        )
-        {
-            rel material:binding:physics = </G1/GripperMaterial> (
-                bindMaterialAs = "weakerThanDescendants"
-            )
-        }
-    }
-
-    over "gripper_l_inner_link3" (
-        prepend apiSchemas = ["PhysxRigidBodyAPI"]
-    )
-    {
-        bool physxRigidBody:disableGravity = 1
-
-        over "collisions" (
-            prepend apiSchemas = ["MaterialBindingAPI"]
-        )
-        {
-            rel material:binding:physics = </G1/GripperMaterial> (
-                bindMaterialAs = "weakerThanDescendants"
-            )
-        }
-    }
-
-    over "gripper_l_inner_link4" (
-        prepend apiSchemas = ["PhysxRigidBodyAPI", "PhysxContactReportAPI", "MaterialBindingAPI"]
-    )
-    {
-        rel material:binding = </G1/GripperMaterial> (
-            bindMaterialAs = "weakerThanDescendants"
-        )
-        float physics:mass = 0.035
-        float physxContactReport:threshold = 0
-        bool physxRigidBody:disableGravity = 1
-        float physxRigidBody:sleepThreshold = 0
-
-        over "collisions" (
-            prepend apiSchemas = ["MaterialBindingAPI", "PhysxConvexDecompositionCollisionAPI", "PhysxContactReportAPI", "PhysxTriangleMeshCollisionAPI", "PhysxSDFMeshCollisionAPI"]
-            instanceable = false
-        )
-        {
-            rel material:binding = </G1/PhysicsMaterial> (
-                bindMaterialAs = "weakerThanDescendants"
-            )
-            uniform token physics:approximation = "none"
-            float physxContactReport:threshold = 0
-            int physxConvexDecompositionCollision:hullVertexLimit = 64
-            int physxConvexDecompositionCollision:maxConvexHulls = 32
-            int physxConvexDecompositionCollision:voxelResolution = 500000
-            uniform int physxSDFMeshCollision:sdfResolution = 256
-
-            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 "collisions" (
-            prepend apiSchemas = ["MaterialBindingAPI", "PhysxConvexDecompositionCollisionAPI"]
-        )
-        {
-            rel material:binding:physics = </G1/GripperMaterial> (
-                bindMaterialAs = "weakerThanDescendants"
-            )
-            uniform token physics:approximation = "convexDecomposition"
-        }
-    }
-
-    over "gripper_l_outer_link1" (
-        prepend apiSchemas = ["PhysxRigidBodyAPI"]
-    )
-    {
-        float physics:mass = 0.025
-        bool physxRigidBody:disableGravity = 1
-
-        over "collisions" (
-            prepend apiSchemas = ["MaterialBindingAPI"]
-        )
-        {
-            rel material:binding:physics = </G1/GripperMaterial> (
-                bindMaterialAs = "weakerThanDescendants"
-            )
-        }
-    }
-
-    over "gripper_l_outer_link3" (
-        prepend apiSchemas = ["PhysxRigidBodyAPI"]
-    )
-    {
-        bool physxRigidBody:disableGravity = 1
-
-        over "collisions" (
-            prepend apiSchemas = ["MaterialBindingAPI"]
-        )
-        {
-            rel material:binding:physics = </G1/GripperMaterial> (
-                bindMaterialAs = "weakerThanDescendants"
-            )
-        }
-    }
-
-    over "gripper_l_outer_link4" (
-        prepend apiSchemas = ["PhysxRigidBodyAPI", "PhysxContactReportAPI", "MaterialBindingAPI"]
-    )
-    {
-        rel material:binding = </G1/GripperMaterial> (
-            bindMaterialAs = "weakerThanDescendants"
-        )
-        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", "PhysxTriangleMeshCollisionAPI", "PhysxSDFMeshCollisionAPI"]
-            instanceable = false
-        )
-        {
-            rel material:binding = </G1/PhysicsMaterial> (
-                bindMaterialAs = "weakerThanDescendants"
-            )
-            uniform token physics:approximation = "none"
-            float physxContactReport:threshold = 0
-            int physxConvexDecompositionCollision:hullVertexLimit = 64
-            int physxConvexDecompositionCollision:maxConvexHulls = 32
-            int physxConvexDecompositionCollision:voxelResolution = 500000
-            uniform int physxSDFMeshCollision:sdfResolution = 256
-
-            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 "collisions" (
-            prepend apiSchemas = ["MaterialBindingAPI", "PhysxConvexDecompositionCollisionAPI"]
-        )
-        {
-            rel material:binding:physics = </G1/GripperMaterial> (
-                bindMaterialAs = "weakerThanDescendants"
-            )
-            uniform token physics:approximation = "convexDecomposition"
-        }
-    }
-
-    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 "collisions" (
-            prepend apiSchemas = ["MaterialBindingAPI"]
-        )
-        {
-            rel material:binding:physics = </G1/GripperMaterial> (
-                bindMaterialAs = "weakerThanDescendants"
-            )
-        }
-    }
-
-    over "gripper_r_inner_link1" (
-        prepend apiSchemas = ["PhysxRigidBodyAPI"]
-    )
-    {
-        bool physxRigidBody:disableGravity = 1
-
-        over "collisions" (
-            prepend apiSchemas = ["MaterialBindingAPI"]
-        )
-        {
-            rel material:binding:physics = </G1/GripperMaterial> (
-                bindMaterialAs = "weakerThanDescendants"
-            )
-        }
-    }
-
-    over "gripper_r_inner_link3" (
-        prepend apiSchemas = ["PhysxRigidBodyAPI"]
-    )
-    {
-        bool physxRigidBody:disableGravity = 1
-
-        over "collisions" (
-            prepend apiSchemas = ["MaterialBindingAPI"]
-        )
-        {
-            rel material:binding:physics = </G1/GripperMaterial> (
-                bindMaterialAs = "weakerThanDescendants"
-            )
-        }
-    }
-
-    over "gripper_r_inner_link4" (
-        prepend apiSchemas = ["PhysxRigidBodyAPI", "PhysxContactReportAPI", "MaterialBindingAPI"]
-    )
-    {
-        rel material:binding = </G1/GripperMaterial> (
-            bindMaterialAs = "weakerThanDescendants"
-        )
-        float physics:mass = 0.035
-        float physxContactReport:threshold = 0
-        bool physxRigidBody:disableGravity = 1
-        float physxRigidBody:sleepThreshold = 0
-
-        over "collisions" (
-            prepend apiSchemas = ["MaterialBindingAPI", "PhysxConvexDecompositionCollisionAPI", "PhysxContactReportAPI", "PhysxTriangleMeshCollisionAPI"]
-            instanceable = false
-        )
-        {
-            rel material:binding = </G1/PhysicsMaterial> (
-                bindMaterialAs = "weakerThanDescendants"
-            )
-            uniform token physics:approximation = "none"
-            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 "collisions" (
-            prepend apiSchemas = ["MaterialBindingAPI", "PhysxConvexDecompositionCollisionAPI"]
-        )
-        {
-            rel material:binding:physics = </G1/GripperMaterial> (
-                bindMaterialAs = "weakerThanDescendants"
-            )
-            uniform token physics:approximation = "convexDecomposition"
-        }
-    }
-
-    over "gripper_r_outer_link1" (
-        prepend apiSchemas = ["PhysxRigidBodyAPI"]
-    )
-    {
-        bool physxRigidBody:disableGravity = 1
-
-        over "collisions" (
-            prepend apiSchemas = ["MaterialBindingAPI"]
-        )
-        {
-            rel material:binding:physics = </G1/GripperMaterial> (
-                bindMaterialAs = "weakerThanDescendants"
-            )
-        }
-    }
-
-    over "gripper_r_outer_link3" (
-        prepend apiSchemas = ["PhysxRigidBodyAPI"]
-    )
-    {
-        bool physxRigidBody:disableGravity = 1
-
-        over "collisions" (
-            prepend apiSchemas = ["MaterialBindingAPI"]
-        )
-        {
-            rel material:binding:physics = </G1/GripperMaterial> (
-                bindMaterialAs = "weakerThanDescendants"
-            )
-        }
-    }
-
-    over "gripper_r_outer_link4" (
-        prepend apiSchemas = ["PhysxRigidBodyAPI", "PhysxContactReportAPI", "MaterialBindingAPI"]
-    )
-    {
-        rel material:binding = </G1/GripperMaterial> (
-            bindMaterialAs = "weakerThanDescendants"
-        )
-        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 = "none"
-            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 "collisions" (
-            prepend apiSchemas = ["MaterialBindingAPI", "PhysxConvexDecompositionCollisionAPI"]
-        )
-        {
-            rel material:binding:physics = </G1/GripperMaterial> (
-                bindMaterialAs = "weakerThanDescendants"
-            )
-            uniform token physics:approximation = "convexDecomposition"
-        }
-    }
-
-    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:restitution = 0.1
-        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
-        }
-    }
-
-    def Material "GripperMaterial" (
-        prepend apiSchemas = ["PhysicsMaterialAPI", "PhysxMaterialAPI"]
-    )
-    {
-        float physics:dynamicFriction = 1
-        float physics:restitution = 0.1
-        float physics:staticFriction = 1
-        uniform token physxMaterial:frictionCombineMode = "max"
-    }
-    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

@@ -1,23 +0,0 @@
-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/G1_omnipicker_base.usd

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

G1_omnipicker/configuration/G1_omnipicker_physics.usd

@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:dee7f6ab150a99602810c5a77d5c45d46c5b3ec3cc75d2adce610bd070a54f73
-size 17511

G1_omnipicker/configuration/G1_omnipicker_sensor.usd

@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:343212ad7f4fbdf8cf646a4256477733deea96cdffcaac6e6d4a5f2de5217c1d
-size 645

LICENSE

@@ -0,0 +1,438 @@
+Attribution-NonCommercial-ShareAlike 4.0 International
+
+=======================================================================
+
+Creative Commons Corporation ("Creative Commons") is not a law firm and
+does not provide legal services or legal advice. Distribution of
+Creative Commons public licenses does not create a lawyer-client or
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+warranties regarding its licenses, any material licensed under their
+terms and conditions, or any related information. Creative Commons
+disclaims all liability for damages resulting from their use to the
+fullest extent possible.
+
+Using Creative Commons Public Licenses
+
+Creative Commons public licenses provide a standard set of terms and
+conditions that creators and other rights holders may use to share
+original works of authorship and other material subject to copyright
+and certain other rights specified in the public license below. The
+following considerations are for informational purposes only, are not
+exhaustive, and do not form part of our licenses.
+
+     Considerations for licensors: Our public licenses are
+     intended for use by those authorized to give the public
+     permission to use material in ways otherwise restricted by
+     copyright and certain other rights. Our licenses are
+     irrevocable. Licensors should read and understand the terms
+     and conditions of the license they choose before applying it.
+     Licensors should also secure all rights necessary before
+     applying our licenses so that the public can reuse the
+     material as expected. Licensors should clearly mark any
+     material not subject to the license. This includes other CC-
+     licensed material, or material used under an exception or
+     limitation to copyright. More considerations for licensors:
+    wiki.creativecommons.org/Considerations_for_licensors
+
+     Considerations for the public: By using one of our public
+     licenses, a licensor grants the public permission to use the
+     licensed material under specified terms and conditions. If
+     the licensor's permission is not necessary for any reason--for
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+     licenses grant only permissions under copyright and certain
+     other rights that a licensor has authority to grant. Use of
+     the licensed material may still be restricted for other
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+    wiki.creativecommons.org/Considerations_for_licensees
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+=======================================================================
+
+Creative Commons Attribution-NonCommercial-ShareAlike 4.0 International
+Public License
+
+By exercising the Licensed Rights (defined below), You accept and agree
+to be bound by the terms and conditions of this Creative Commons
+Attribution-NonCommercial-ShareAlike 4.0 International Public License
+("Public License"). To the extent this Public License may be
+interpreted as a contract, You are granted the Licensed Rights in
+consideration of Your acceptance of these terms and conditions, and the
+Licensor grants You such rights in consideration of benefits the
+Licensor receives from making the Licensed Material available under
+these terms and conditions.
+
+
+Section 1 -- Definitions.
+
+  a. Adapted Material means material subject to Copyright and Similar
+     Rights that is derived from or based upon the Licensed Material
+     and in which the Licensed Material is translated, altered,
+     arranged, transformed, or otherwise modified in a manner requiring
+     permission under the Copyright and Similar Rights held by the
+     Licensor. For purposes of this Public License, where the Licensed
+     Material is a musical work, performance, or sound recording,
+     Adapted Material is always produced where the Licensed Material is
+     synched in timed relation with a moving image.
+
+  b. Adapter's License means the license You apply to Your Copyright
+     and Similar Rights in Your contributions to Adapted Material in
+     accordance with the terms and conditions of this Public License.
+
+  c. BY-NC-SA Compatible License means a license listed at
+     creativecommons.org/compatiblelicenses, approved by Creative
+     Commons as essentially the equivalent of this Public License.
+
+  d. Copyright and Similar Rights means copyright and/or similar rights
+     closely related to copyright including, without limitation,
+     performance, broadcast, sound recording, and Sui Generis Database
+     Rights, without regard to how the rights are labeled or
+     categorized. For purposes of this Public License, the rights
+     specified in Section 2(b)(1)-(2) are not Copyright and Similar
+     Rights.
+
+  e. Effective Technological Measures means those measures that, in the
+     absence of proper authority, may not be circumvented under laws
+     fulfilling obligations under Article 11 of the WIPO Copyright
+     Treaty adopted on December 20, 1996, and/or similar international
+     agreements.
+
+  f. Exceptions and Limitations means fair use, fair dealing, and/or
+     any other exception or limitation to Copyright and Similar Rights
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+public licenses.
+
+Creative Commons may be contacted at creativecommons.org.
+

README.md

@@ -43,70 +43,53 @@ extra_gated_button_content: Submit
 viewer: false
 ---
 
-<img src="geniesim.jpg" alt="Image Alt Text" width="80%" style="display: block; margin-left: auto; margin-right: auto;" />
-
+![geniesim.jpg](geniesim.jpg)
 <div align="center">
+  <a href="https://arxiv.org/abs/2601.02078">
+    <img src='https://img.shields.io/badge/arXiv-Paper-red?logo=arxiv&logoColor=white' alt='arXiv'>
+  </a>
   <a href="https://github.com/AgibotTech/genie_sim">
     <img src="https://img.shields.io/badge/GitHub-grey?logo=GitHub" alt="GitHub">
   </a>
-  <a href="https://huggingface.co/datasets/agibot-world/GenieSimAssets">
+  <!-- <a href="https://huggingface.co/datasets/agibot-world/GenieSimAssets">
     <img src="https://img.shields.io/badge/HuggingFace-yellow?logo=HuggingFace" alt="HuggingFace">
+  </a> -->
+  <a href="http://agibot-world.com/genie-sim">
+    <img src="https://img.shields.io/badge/Webpage-green?" alt="Webpage">
   </a>
-  <a href="https://agibot-world.com/sim-evaluation">
-    <img src="https://img.shields.io/badge/Genie%20Sim%20Benchmark-blue?style=plastic" alt="Genie Sim Benchmark">
-  </a>
-  <a href="https://genie.agibot.com/en/geniestudio">
-    <img src="https://img.shields.io/badge/Genie_Studio-green?style=flat" alt="Genie Studio">
+  <a href="https://modelscope.cn/datasets/agibot_world/GenieSim3.0-Dataset">
+    <img src="https://img.shields.io/badge/Modelscope-blue" alt="Genie Studio">
   </a>
 </div>
 
 # Key Features 🔑
-- **22 scenarios** including supermarket, cafeteria and home
-- **600+** objects 1:1 replicated from real-life
-
+- **5000+** objects 1:1 replicated from real-life
 
 
 # Get started 🔥
-## Download the Simulation Assets
-To download the full assets, you can use the following code. If you encounter any issues, please refer to the official Hugging Face documentation.
-```
-# Make sure you have git-lfs installed (https://git-lfs.com)
-git lfs install
-
-# When prompted for a password, use an access token with write permissions.
-# Generate one from your settings: https://huggingface.co/settings/tokens
-git clone https://huggingface.co/datasets/agibot-world/GenieSimAssets
-
-# If you want to clone without large files - just their pointers
-GIT_LFS_SKIP_SMUDGE=1 git clone https://huggingface.co/datasets/agibot-world/GenieSimAssets
-```
+## Download the Assets
+To download the full assets, please refer to the official Hugging Face/Modelscope documentation.
 
 
 ## Assets Structure
 ### Folder hierarchy
 ```
 assets
-├── G1_120s # G1_120s Robot
-│   ├── G1_120s.usda
-│   └── ...
-├── G1_omnipicker # G1_omnipicker Robot
-│   ├── G1_omnipicker.usda
-│   └── ...
-├── materials # materials
-│   ├── carpet
-│   ├── hdri
-│   ├── stone
-│   └── wood
-├── objects # objects
-│   ├── benchmark
-│   ├── genie
-│   ├── iros
-│   └── lightwheelai
+├── background # Background environments
+│   └── ...
+├── robot # Robot models
+│   ├── G1_120s
+│   ├── G1_omnipicker
+│   ├── G2_omnipicker
+│   └── curobo_robot
+├── objects # Object assets
+│   └── ...
+├── interaction # Interaction data
+├── real2sim # Real-to-sim assets
+│   └── ...
+├── external # External assets
 ├── README.md
-└── scenes # scenes
-    ├── genie
-    ├── guanglun
-    └── iros
+└── ...
 ```
 
 
@@ -114,10 +97,13 @@ assets
 All the data and code within this repo are under [CC BY-NC-SA 4.0](https://creativecommons.org/licenses/by-nc-sa/4.0/). Please consider citing our project if it helps your research.
 
 ```BibTeX
-@misc{contributors2025geniesimrepo,
-  title={Genie Sim Assets},
-  author={Genie Sim Team},
-  howpublished={https://github.com/AgibotTech/genie_sim},
-  year={2025}
+@misc{yin2026geniesim30,
+  title={Genie Sim 3.0 : A High-Fidelity Comprehensive Simulation Platform for Humanoid Robot}, 
+  author={Chenghao Yin and Da Huang and Di Yang and Jichao Wang and Nanshu Zhao and Chen Xu and Wenjun Sun and Linjie Hou and Zhijun Li and Junhui Wu and Zhaobo Liu and Zhen Xiao and Sheng Zhang and Lei Bao and Rui Feng and Zhenquan Pang and Jiayu Li and Qian Wang and Maoqing Yao},
+  year={2026},
+  eprint={2601.02078},
+  archivePrefix={arXiv},
+  primaryClass={cs.RO},
+  url={https://arxiv.org/abs/2601.02078}, 
 }
 ```

__init__.py

@@ -0,0 +1,119 @@
+import os, ast, hashlib
+from pathlib import Path
+import json
+
+ASSETS_PATH = Path(__file__).parent
+ASSETS_PATH_ABS = Path(__file__).parent.resolve()
+
+
+def extract_item_dict(file_path):
+    try:
+        with open(file_path, "r", encoding="utf-8") as f:
+            content = f.read()
+
+        tree = ast.parse(content)
+
+        if len(tree.body) == 1 and isinstance(tree.body[0], ast.Expr) and isinstance(tree.body[0].value, ast.Dict):
+            return ast.literal_eval(tree.body[0].value)
+
+        return None
+
+    except Exception as e:
+        print(f"Error processing {file_path}: {e}")
+        return None
+
+
+def collect_all_items(item_file_list, base_path="."):
+    """Collect ITEM dicts from all item.py files"""
+
+    combined_dict = {}
+    num = 0
+    visualization_path = ASSETS_PATH / "extra" / "visualization"
+    has_visualization = visualization_path.exists()
+    for item_path in item_file_list:
+        # Assuming item_path is a file path like "objects/carton/benchmark_carton_003/item.py"
+        file_path = Path(base_path) / item_path
+        usda_path = (Path(item_path).parent / "Aligned.usda").relative_to(ASSETS_PATH).as_posix()
+        desc_path = (Path(base_path) / item_path).parent / "description.py"
+
+        # Use the directory name as key, or customize as needed
+        key = file_path.parent.name
+        interaction_path = ASSETS_PATH / "interaction" / key / "interaction.json"
+        # visualization paths (similar to interaction)
+        visualization_video_path = visualization_path / key / "video" / "merged.mp4"
+        visualization_snapshot_dir_path = visualization_path / key / "snapshot"
+        if file_path.exists():
+            item_dict = extract_item_dict(file_path)
+            if item_dict:
+                if key in combined_dict:
+                    print("ERROR!!! Duplicated object detected!", file_path)
+                    print("                                    ", usda_path)
+                combined_dict[key] = item_dict
+                combined_dict[key]["url"] = str(usda_path)
+                if desc_path.exists():
+                    desc_dict = extract_item_dict(desc_path)
+                    if desc_dict:
+                        combined_dict[key]["description"] = desc_dict
+                else:
+                    combined_dict[key]["description"] = {}
+                    print("WARN !!! Empty LLM description!", file_path)
+                # video path - from visualization folder
+                if visualization_video_path.exists():
+                    combined_dict[key]["video"] = str(visualization_video_path)
+                else:
+                    combined_dict[key]["video"] = ""
+                    if has_visualization:
+                        print("WARN !!! Empty video!", visualization_video_path)
+                # snapshot dir path - from visualization folder
+                if visualization_snapshot_dir_path.exists():
+                    snapshot_files = list(visualization_snapshot_dir_path.glob("*"))
+                    combined_dict[key]["snapshot"] = snapshot_files
+                else:
+                    combined_dict[key]["snapshot"] = []
+                if len(combined_dict[key]["snapshot"]) == 0:
+                    if has_visualization:
+                        print("WARN !!! Empty snapshot!", visualization_snapshot_dir_path)
+                # interaction
+                if interaction_path.exists():
+                    try:
+                        interaction_dict = json.load(open(interaction_path))
+                        combined_dict[key]["interaction"] = interaction_dict["interaction"]
+                    except Exception as e:
+                        # print(f"Error loading interaction.json: {e}")
+                        combined_dict[key]["interaction"] = {}
+                else:
+                    combined_dict[key]["interaction"] = {}
+                    # print("WARN !!! Empty interaction.json!", interaction_path)
+            else:
+                print(f"No ITEM dict found in {file_path}")
+        else:
+            print(f"File not found: {file_path}")
+
+        num += 1
+
+    if num != len(combined_dict):
+        error = f"ERROR! there're items using the same name!!! {num} != {len(combined_dict)}"
+        print(error)
+        # raise Exception(error)
+
+    return combined_dict
+
+
+def find_all_items():
+    base = Path(__file__).parent / "objects"
+    for root, dirs, files in os.walk(base, followlinks=True):
+        if "object_parameters.json" in files:
+            yield Path(root) / "item.py"
+
+
+########
+
+print(f"Initializing GenieSim Asset Lib at", Path(__file__).parent)
+
+# Collect all ITEM dicts
+ASSETS_INDEX = collect_all_items(find_all_items())
+ASSETS_PAYLOAD = "".join(f"{k}={v}\n" for k, v in sorted(ASSETS_INDEX.items())).encode("utf-8")
+ASSETS_INDEX_HASH = hashlib.sha256(ASSETS_PAYLOAD).hexdigest()
+
+
+print(f"Initialized GenieSim Asset Lib, Found {len(ASSETS_INDEX)} items, hash: {ASSETS_INDEX_HASH}")

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+size 80828978

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+oid sha256:d5460ee8f42fb41ebfffc916f7aa19c48907b20a28f00ed0faad54ef5eb4c64e
+size 405082382

background/common/air_freshener/benchmark_air_freshener_000/Aligned.usd

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+version https://git-lfs.github.com/spec/v1
+oid sha256:3c635951c874c22574a427759d53e2e1341b6d075fdc5f77e987338fbba02147
+size 625126

background/common/air_freshener/benchmark_air_freshener_000/Aligned.usda

@@ -0,0 +1,36 @@
+#usda 1.0
+(
+    defaultPrim = "World"
+    metersPerUnit = 1
+    upAxis = "Z"
+)
+
+def Xform "World"
+{
+    quatf xformOp:orient = (1, 0, 0, 0)
+    uniform token[] xformOpOrder = ["xformOp:orient"]
+
+    def Xform "entity" (
+        prepend payload = @./Aligned.usd@
+    )
+    {
+        quatf xformOp:orient = (0.70711, 0.70711, 0, 0)
+        uniform token[] xformOpOrder = ["xformOp:orient"]
+    }
+
+    def Xform "lowpoly"
+    {
+        uniform token[] xformOpOrder = []
+
+        def Cube "bbox"
+        {
+            double size = 1
+            token visibility = "invisible"
+            quatf xformOp:orient = (0.70711, 0.70710355, 0, 0)
+            float3 xformOp:scale = (0.06832378, 0.052315652, 0.068286255)
+            double3 xformOp:translate = (0, -7.450580596617401e-9, 6.757312491682965e-14)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+        }
+    }
+}
+

background/common/air_freshener/benchmark_air_freshener_000/item.py

@@ -0,0 +1,24 @@
+ITEM = {
+    "description": {},
+    "id": "benchmark_air_freshener_000",
+    "shapes": [
+        {
+            "name": "bbox",
+            "position": [0.0, -0.0, 0.0],
+            "quaternion": [0.707104, 0.0, 0.0, 0.70711],
+            "scale": [0.068, 0.052, 0.068],
+            "size": [0.068, 0.052, 0.068],
+            "type": "cube",
+        },
+        {
+            "name": "origin",
+            "position": [0, 0, 0],
+            "quaternion": [0, 0, 0, 1],
+            "scale": [0.001, 0.001, 0.001],
+            "size": [0.001, 0.001, 0.001],
+            "type": "sphere",
+        },
+    ],
+    "size": [],
+    "url": "objects/temp/USDA_1215/air_freshener/benchmark_air_freshener_000/Aligned.usda",
+}

background/common/air_freshener/benchmark_air_freshener_000/object_parameters.json

@@ -0,0 +1,17 @@
+{
+    "object_id": "benchmark_air_freshener_000",
+    "materialOptions": [],
+    "size": [
+        0.0683237835764885,
+        0.05231565237045288,
+        0.06828625500202179
+    ],
+    "scale": 1,
+    "unit": "m",
+    "model_path": "objects\\benchmark\\benchmark\\air_freshener\\benchmark_air_freshener_000\\Aligned.usd",
+    "upAxis": [
+        "y"
+    ],
+    "mass": 0.01,
+    "original_model_path": ""
+}

background/common/bathroom_vanity/benchmark_bathroom_vanity_000/Aligned.usd

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:030fe57c3ff2e12ec80948f58437c2f782accedbedc357a3c9b78da725470b2a
+size 2550557

background/common/bathroom_vanity/benchmark_bathroom_vanity_000/Aligned.usda

@@ -0,0 +1,36 @@
+#usda 1.0
+(
+    defaultPrim = "World"
+    metersPerUnit = 1
+    upAxis = "Z"
+)
+
+def Xform "World"
+{
+    quatf xformOp:orient = (1, 0, 0, 0)
+    uniform token[] xformOpOrder = ["xformOp:orient"]
+
+    def Xform "entity" (
+        prepend payload = @./Aligned.usd@
+    )
+    {
+        quatf xformOp:orient = (0.70711, 0.70711, 0, 0)
+        uniform token[] xformOpOrder = ["xformOp:orient"]
+    }
+
+    def Xform "lowpoly"
+    {
+        uniform token[] xformOpOrder = []
+
+        def Cube "bbox"
+        {
+            double size = 1
+            token visibility = "invisible"
+            quatf xformOp:orient = (0.70711, 0.70710355, 0, 0)
+            float3 xformOp:scale = (0.50103444, 1.4864326, 0.80036354)
+            double3 xformOp:translate = (0, -5.364415326639532e-7, 2.9807187651463615e-8)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+        }
+    }
+}
+

background/common/bathroom_vanity/benchmark_bathroom_vanity_000/item.py

@@ -0,0 +1,24 @@
+ITEM = {
+    "description": {},
+    "id": "benchmark_bathroom_vanity_000",
+    "shapes": [
+        {
+            "name": "bbox",
+            "position": [0.0, -0.0, 0.0],
+            "quaternion": [0.707104, 0.0, 0.0, 0.70711],
+            "scale": [0.501, 1.486, 0.8],
+            "size": [0.501, 1.486, 0.8],
+            "type": "cube",
+        },
+        {
+            "name": "origin",
+            "position": [0, 0, 0],
+            "quaternion": [0, 0, 0, 1],
+            "scale": [0.001, 0.001, 0.001],
+            "size": [0.001, 0.001, 0.001],
+            "type": "sphere",
+        },
+    ],
+    "size": [],
+    "url": "objects/temp/USDA/bathroom_vanity/benchmark_bathroom_vanity_000/Aligned.usda",
+}

background/common/bathroom_vanity/benchmark_bathroom_vanity_000/object_parameters.json

@@ -0,0 +1,17 @@
+{
+    "object_id": "benchmark_bathroom_vanity_000",
+    "materialOptions": [],
+    "size": [
+        0.5010344386100769,
+        1.4864324927330017,
+        0.8003635406494141
+    ],
+    "scale": 1,
+    "unit": "m",
+    "model_path": "objects\\benchmark\\bathroom_vanity\\benchmark_bathroom_vanity_000\\Aligned.usd",
+    "upAxis": [
+        "y"
+    ],
+    "mass": 0.01,
+    "original_model_path": ""
+}

background/common/bed/benchmark_bed_000/Aligned.usd

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c3ec279a343a4375ca2b2a9e2f4028648e1fdc1652b42e9adbbd625319b5e75b
+size 26695033

background/common/bed/benchmark_bed_000/Aligned.usda

@@ -0,0 +1,36 @@
+#usda 1.0
+(
+    defaultPrim = "World"
+    metersPerUnit = 1
+    upAxis = "Z"
+)
+
+def Xform "World"
+{
+    quatf xformOp:orient = (1, 0, 0, 0)
+    uniform token[] xformOpOrder = ["xformOp:orient"]
+
+    def Xform "entity" (
+        prepend payload = @./Aligned.usd@
+    )
+    {
+        quatf xformOp:orient = (0.70711, 0.70711, 0, 0)
+        uniform token[] xformOpOrder = ["xformOp:orient"]
+    }
+
+    def Xform "lowpoly"
+    {
+        uniform token[] xformOpOrder = []
+
+        def Cube "bbox"
+        {
+            double size = 1
+            token visibility = "invisible"
+            quatf xformOp:orient = (0.70711, 0.70710355, 0, 0)
+            float3 xformOp:scale = (1.4528167, 0.77376103, 2.2762704)
+            double3 xformOp:translate = (-0.10601338744163513, -0.3321003148703871, -0.07699744208379214)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+        }
+    }
+}
+

background/common/bed/benchmark_bed_000/item.py

@@ -0,0 +1,24 @@
+ITEM = {
+    "description": {},
+    "id": "benchmark_bed_000",
+    "shapes": [
+        {
+            "name": "bbox",
+            "position": [-0.106, -0.332, -0.077],
+            "quaternion": [0.707104, 0.0, 0.0, 0.70711],
+            "scale": [1.453, 0.774, 2.276],
+            "size": [1.453, 0.774, 2.276],
+            "type": "cube",
+        },
+        {
+            "name": "origin",
+            "position": [0, 0, 0],
+            "quaternion": [0, 0, 0, 1],
+            "scale": [0.001, 0.001, 0.001],
+            "size": [0.001, 0.001, 0.001],
+            "type": "sphere",
+        },
+    ],
+    "size": [],
+    "url": "objects/temp/USDA/bed/benchmark_bed_000/Aligned.usda",
+}

background/common/bed/benchmark_bed_000/object_parameters.json

@@ -0,0 +1,17 @@
+{
+    "object_id": "benchmark_bed_000",
+    "materialOptions": [],
+    "size": [
+        1.452816665172577,
+        0.7737610042095184,
+        2.276270270347595
+    ],
+    "scale": 1,
+    "unit": "m",
+    "model_path": "objects\\benchmark\\bed\\benchmark_bed_000\\Aligned.usd",
+    "upAxis": [
+        "y"
+    ],
+    "mass": 0.01,
+    "original_model_path": ""
+}

background/common/bed/benchmark_bed_003/Aligned.usd

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:17ca437d3fe98b091379b7373f20c775a0cf09c40ae8a8ac367967819e517dd3
+size 17309113

background/common/bed/benchmark_bed_003/object_parameters.json

@@ -0,0 +1,18 @@
+{
+    "object_id": "benchmark_bed_003",
+    "materialOptions": [],
+    "size": [
+        2.129182815551758,
+        1.41922926902771,
+        1.7400007247924805
+    ],
+    "scale": 1,
+    "unit": "m",
+    "model_path": "objects\\benchmark\\bed\\benchmark_bed_003\\Aligned.usd",
+    "upAxis": [
+        "y"
+    ],
+    "mass": 0.01,
+    "original_model_path": "",
+    "semantic_name": "bed"
+}