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#2
by nick1118 - opened
base: refs/heads/main
←
from: refs/pr/2
Discussion Files changed
+997
-54724
This view is limited to 50 files because it contains too many changes.  See the raw diff here.
Files changed (50) hide show
  1. .gitattributes +0 -1
  2. .gitignore +0 -2
  3. .pre-commit-config.yaml +0 -61
  4. G1_omnipicker/configuration/G1_omnipicker_physics.usd → G1/.thumbs/256x256/A2D.usd.png +2 -2
  5. G1_120s/configuration/G1_120s_physics.usd → G1/.thumbs/256x256/A2D_pico.usd.png +2 -2
  6. G1/.thumbs/256x256/G1.usd.png +3 -0
  7. G1/.thumbs/256x256/G1_pico.usd.png +3 -0
  8. G1_120s/configuration/G1_120s_base.usd → G1/G1.usd +2 -2
  9. G1/G1_pico.usd +3 -0
  10. G1/base_link.usd +3 -0
  11. {G1_120s/configuration → G1}/camera_stand.usdc +0 -0
  12. G1_omnipicker/configuration/Cam.usd → G1/l/Link1_l.usd +2 -2
  13. G1/l/Link2_l.usd +3 -0
  14. G1/l/Link3_l.usd +3 -0
  15. objects/iros/carton/iros_carton_001/Aligned.usd → G1/l/Link4_l.usd +2 -2
  16. G1/l/Link5_l.usd +3 -0
  17. G1/l/Link6_l.usd +3 -0
  18. G1/l/Link7_l.usd +3 -0
  19. G1/l/base_link_l.usd +3 -0
  20. G1/link_pitch_head.usd +3 -0
  21. G1/r/Link1_r.usd +3 -0
  22. G1/r/Link2_r.usd +3 -0
  23. G1/r/Link3_r.usd +3 -0
  24. G1/r/Link4_r.usd +3 -0
  25. G1/r/Link5_r.usd +3 -0
  26. G1/r/Link6_r.usd +3 -0
  27. G1/r/Link7_r.usd +3 -0
  28. G1/r/base_link_r.usd +3 -0
  29. G1/shangbanshen.usd +3 -0
  30. G1_120s/.asset_hash +0 -1
  31. G1_120s/G1_120s.urdf +0 -1295
  32. G1_120s/G1_120s.usda +0 -0
  33. G1_120s/config.yaml +0 -23
  34. G1_omnipicker/.asset_hash +0 -1
  35. G1_omnipicker/G1_omnipicker.urdf +0 -1185
  36. G1_omnipicker/G1_omnipicker.usda +0 -1593
  37. G1_omnipicker/config.yaml +0 -23
  38. G1_omnipicker/configuration/G1_omnipicker_base.usd +0 -3
  39. README.md +6 -10
  40. materials/carpet/Carpet_Cream/.thumbs/138x108/Carpet_Cream_BaseColor.png.png +3 -0
  41. objects/benchmark/conveyor_belt/benchmark_conveyor_belt_000/textures/part_00_Met.png → materials/carpet/Carpet_Cream/.thumbs/138x108/Carpet_Cream_H.png.png +2 -2
  42. materials/carpet/Carpet_Cream/.thumbs/138x108/Carpet_Cream_Normal.png.png +3 -0
  43. objects/iros/snack/iros_snack_038/textures/body_Met.jpg → materials/carpet/Carpet_Cream/.thumbs/138x108/Carpet_Cream_ORM.png.png +2 -2
  44. materials/carpet/Carpet_Cream/.thumbs/256x256/Carpet_Cream_BaseColor.png.png +3 -0
  45. materials/carpet/Carpet_Cream/.thumbs/256x256/Carpet_Cream_H.png.png +3 -0
  46. materials/carpet/Carpet_Cream/.thumbs/256x256/Carpet_Cream_Normal.png.png +3 -0
  47. G1_120s/configuration/G1_120s_sensor.usd → materials/carpet/Carpet_Cream/.thumbs/256x256/Carpet_Cream_ORM.png.png +2 -2
  48. materials/carpet/Carpet_Diamond_Olive/.thumbs/138x108/Carpet_Diamond_Olive_BaseColor.png.png +3 -0
  49. objects/iros/microwave_oven/benchmark_microwave_oven_001/textures/oven_Rgh.png → materials/carpet/Carpet_Diamond_Olive/.thumbs/138x108/Carpet_Diamond_Olive_H.png.png +2 -2
  50. materials/carpet/Carpet_Diamond_Olive/.thumbs/138x108/Carpet_Diamond_Olive_Normal.png.png +3 -0
.gitattributes CHANGED
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- <!-- | This document was autogenerated by xacro from urdf/genie.robot.xacro | -->
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- <!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | -->
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- <!-- =================================================================================== -->
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- <robot name="genie">
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- <!-- Index -->
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- <!-- body: [G1, G2] -->
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- <!-- links -->
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118
- rpy="0 0 0"
119
- xyz="0.0068359375 -0.00034356117 0.0" />
120
- <geometry>
121
- <cylinder radius="0.09662318" length="0.08697056999999997" />
122
- </geometry>
123
- </collision>
124
- <collision>
125
- <origin
126
- xyz="0.0068359375 -0.00034356117 0.043485284999999985" />
127
- <geometry>
128
- <sphere radius="0.09662318" />
129
- </geometry>
130
- </collision>
131
- <collision>
132
- <origin
133
- xyz="0.0068359375 -0.00034356117 -0.043485284999999985" />
134
- <geometry>
135
- <sphere radius="0.09662318" />
136
- </geometry>
137
- </collision>
138
- <collision>
139
- <origin
140
- rpy="0.0 0.0 -${PI_2}"
141
- xyz="0.008 -0.248 0.0" />
142
- <geometry>
143
- <box size="0.34570312 0.18107724 0.3125" />
144
- </geometry>
145
- </collision> -->
146
- </link>
147
- <link name="head_link1">
148
- <inertial>
149
- <origin rpy="0.0 0.0 0.0" xyz="0.0446068140025754 0.00241753143645124 0.0528373754603559"/>
150
- <mass value="0.414342871921048"/>
151
- <inertia ixx="0.000158695728344024" ixy="-1.04590928109554e-06" ixz="-6.58530903139189e-06" iyy="0.000117742864399469" iyz="-2.65011299996072e-06" izz="0.000170947040827065"/>
152
- </inertial>
153
- <visual>
154
- <geometry>
155
- <mesh filename="package://genie_robot_description/meshes/G1/head_link1.fbx"/>
156
- </geometry>
157
- <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
158
- </visual>
159
- </link>
160
- <link name="head_link2">
161
- <inertial>
162
- <origin rpy="0.0 0.0 0.0" xyz="0.0257009265816389 0.0316254080188787 -3.77390122592164e-05"/>
163
- <mass value="0.707063977171202"/>
164
- <inertia ixx="0.00205409595373573" ixy="0.000347730118005016" ixz="-2.13857752451204e-06" iyy="0.00200357281313449" iyz="5.16150600423908e-08" izz="0.00184999028444405"/>
165
- </inertial>
166
- <visual>
167
- <geometry>
168
- <mesh filename="package://genie_robot_description/meshes/G1/head_link2.fbx"/>
169
- </geometry>
170
- <origin rpy="-3.141592653589793 0.0 0.0" xyz="0.0 0.0 0.0"/>
171
- </visual>
172
- <!-- <collision>
173
- <geometry>
174
- <sphere radius="0.11257068650657154" />
175
- </geometry>
176
- <origin
177
- xyz="0.011500973396434619 -0.0252600143348118 0.0008537154007319386"
178
- rpy="0.0 0.0 0.0" />
179
- </collision> -->
180
- </link>
181
- <link name="arm_base_link"/>
182
- <link name="arm_l_base_link">
183
- <inertial>
184
- <origin rpy="0.0 0.0 0.0" xyz="-0.00020641 0.00057488 0.032296"/>
185
- <mass value="0.37595"/>
186
- <inertia ixx="0.00024335" ixy="1.2188e-06" ixz="-2.4281e-06" iyy="0.00024039" iyz="6.6932e-06" izz="0.00032195"/>
187
- </inertial>
188
- <visual>
189
- <geometry>
190
- <mesh filename="package://genie_robot_description/meshes/G1/arm_l_base_link.fbx"/>
191
- </geometry>
192
- <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
193
- </visual>
194
- <!-- <collision>
195
- <geometry>
196
- <cylinder radius="0.05426921699310094" length="0.09134995751082897" />
197
- </geometry>
198
- <origin
199
- xyz="-0.0017106435846521925 0.0013720927967423996 0.02822502050548792"
200
- rpy="0.0 0.0 0.0" />
201
- </collision> -->
202
- </link>
203
- <link name="arm_r_base_link">
204
- <inertial>
205
- <origin rpy="0.0 0.0 0.0" xyz="0.00020641 -0.00057488 0.034396"/>
206
- <mass value="0.37595"/>
207
- <inertia ixx="0.00024335" ixy="1.2188e-06" ixz="2.4281e-06" iyy="0.00024039" iyz="-6.6932e-06" izz="0.00032195"/>
208
- </inertial>
209
- <visual>
210
- <geometry>
211
- <mesh filename="package://genie_robot_description/meshes/G1/arm_r_base_link.fbx"/>
212
- </geometry>
213
- <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
214
- </visual>
215
- <!-- <collision>
216
- <geometry>
217
- <cylinder radius="0.05447215073540005" length="0.0913499565795064" />
218
- </geometry>
219
- <origin
220
- xyz="0.001163549527588341 -0.0020492302944608923 0.030325019266456366"
221
- rpy="0.0 0.0 0.0" />
222
- </collision> -->
223
- </link>
224
- <!-- joints waist -->
225
- <joint name="idx01_body_joint1" type="prismatic">
226
- <parent link="base_link"/>
227
- <child link="body_link1"/>
228
- <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.6485"/>
229
- <axis xyz="0.0 0.0 1.0"/>
230
- <limit effort="100.0" lower="0.0" upper="0.55" velocity="0.1"/>
231
- </joint>
232
- <joint name="idx02_body_joint2" type="revolute">
233
- <parent link="body_link1"/>
234
- <child link="body_link2"/>
235
- <origin rpy="-1.5707963267948966 0.0 0.0" xyz="0.131 0.0 0.0"/>
236
- <axis xyz="0.0 0.0 1.0"/>
237
- <limit effort="100.0" lower="0.0" upper="1.5707963267948966" velocity="0.5"/>
238
- </joint>
239
- <!-- joints head -->
240
- <joint name="idx11_head_joint1" type="revolute">
241
- <parent link="body_link2"/>
242
- <child link="head_link1"/>
243
- <origin rpy="1.5707963267948966 0.0 0.0" xyz="0.0 -0.441 0.0"/>
244
- <axis xyz="0.0 0.0 1.0"/>
245
- <limit effort="50.0" lower="-1.5707963267948966" upper="1.5707963267948966" velocity="1.0"/>
246
- </joint>
247
- <joint name="idx12_head_joint2" type="revolute">
248
- <parent link="head_link1"/>
249
- <child link="head_link2"/>
250
- <origin rpy="-1.5707963267948966 0.0 0.0" xyz="0.050238 0.0 0.060065"/>
251
- <axis xyz="0.0 0.0 1.0"/>
252
- <limit effort="50.0" lower="-0.3490658503988659" upper="0.5235987755982988" velocity="1.0"/>
253
- </joint>
254
- <!-- joints arm base -->
255
- <joint name="idx10_arm_base_joint" type="fixed">
256
- <parent link="body_link2"/>
257
- <child link="arm_base_link"/>
258
- <origin rpy="1.5707963267948966 0.0 0.0" xyz="0.0 -0.305 0.0"/>
259
- <axis xyz="0.0 0.0 1.0"/>
260
- </joint>
261
- <joint name="idx11_arm_l_base_joint" type="fixed">
262
- <parent link="arm_base_link"/>
263
- <child link="arm_l_base_link"/>
264
- <origin rpy="-1.5707963267948966 0.0 0.0" xyz="0.0 0.025 0.0"/>
265
- <axis xyz="1.0 0.0 0.0"/>
266
- </joint>
267
- <joint name="idx12_arm_r_base_joint" type="fixed">
268
- <parent link="arm_base_link"/>
269
- <child link="arm_r_base_link"/>
270
- <origin rpy="-1.5707963267948966 0.0 3.141592653589793" xyz="0.0 -0.025 0.0"/>
271
- <axis xyz="1.0 0.0 0.0"/>
272
- </joint>
273
- <!-- properties -->
274
- <!-- links -->
275
- <link name="arm_l_link1">
276
- <inertial>
277
- <origin rpy="0 0 0" xyz="-0.0012655 -0.00043778 -0.018388"/>
278
- <mass value="0.4936"/>
279
- <inertia ixx="0.00075396" ixy="6.6935e-06" ixz="6.1141e-06" iyy="0.00065755" iyz="1.2196e-06" izz="0.00031848"/>
280
- </inertial>
281
- <visual>
282
- <origin rpy="0 0 0" xyz="0 0 0"/>
283
- <geometry>
284
- <mesh filename="package://genie_robot_description/meshes/G1/arm_l_link1.fbx"/>
285
- </geometry>
286
- <material name="white"/>
287
- </visual>
288
- <collision>
289
- <geometry>
290
- <cylinder length="0.16642063483595848" radius="0.05579268228774888"/>
291
- </geometry>
292
- <origin rpy="0.0 0.0 -1.2566370614359172" xyz="0.0026814433577366636 0.0006133775157398935 -0.04071124829351902"/>
293
- </collision>
294
- </link>
295
- <link name="arm_l_link2">
296
- <inertial>
297
- <origin rpy="0 0 0" xyz="5.3037e-05 -0.078258 0.0047084"/>
298
- <mass value="0.46245"/>
299
- <inertia ixx="0.00065719" ixy="3.7112e-07" ixz="-3.6668e-06" iyy="0.00043459" iyz="-2.517e-05" izz="0.00072571"/>
300
- </inertial>
301
- <visual>
302
- <origin rpy="0 0 0" xyz="0 0 0"/>
303
- <geometry>
304
- <mesh filename="package://genie_robot_description/meshes/G1/arm_l_link2.fbx"/>
305
- </geometry>
306
- <material name="white"/>
307
- </visual>
308
- <collision>
309
- <origin rpy="1.5707963267948966 0 0" xyz="0.0 -0.044062052 0.0009765625"/>
310
- <geometry>
311
- <cylinder length="0.18085919" radius="0.06302423"/>
312
- </geometry>
313
- </collision>
314
- </link>
315
- <link name="arm_l_link3">
316
- <inertial>
317
- <origin rpy="0 0 0" xyz="-0.0012032 0.0008714 -0.055265"/>
318
- <mass value="0.50026"/>
319
- <inertia ixx="0.0013016" ixy="3.1401e-06" ixz="1.4255e-05" iyy="0.001427" iyz="2.4361e-05" izz="0.00033587"/>
320
- </inertial>
321
- <visual>
322
- <origin rpy="0 0 0" xyz="0 0 0"/>
323
- <geometry>
324
- <mesh filename="package://genie_robot_description/meshes/G1/arm_l_link3.fbx"/>
325
- </geometry>
326
- <material name="white"/>
327
- </visual>
328
- <collision>
329
- <origin rpy="3.141592653589793 -1.2246467991473532e-16 2.5132741228718345" xyz="-0.002745052027917949 0.000636008250640886 -0.07223940640687943"/>
330
- <geometry>
331
- <cylinder length="0.22069887816905975" radius="0.05423258091998755"/>
332
- </geometry>
333
- </collision>
334
- </link>
335
- <link name="arm_l_link4">
336
- <inertial>
337
- <origin rpy="0 0 0" xyz="3.7035e-05 -0.06248 0.0025377"/>
338
- <mass value="0.27473"/>
339
- <inertia ixx="0.00029284" ixy="4.6615e-07" ixz="6.2359e-08" iyy="0.00018853" iyz="-1.1062e-06" izz="0.00031238"/>
340
- </inertial>
341
- <visual>
342
- <origin rpy="0 0 0" xyz="0 0 0"/>
343
- <geometry>
344
- <mesh filename="package://genie_robot_description/meshes/G1/arm_l_link4.fbx"/>
345
- </geometry>
346
- <material name="white"/>
347
- </visual>
348
- <collision>
349
- <origin rpy="1.5707963267948966 0 0" xyz="0.0 -0.03817895 -0.0043945312"/>
350
- <geometry>
351
- <cylinder length="0.154955404" radius="0.057891708"/>
352
- </geometry>
353
- </collision>
354
- </link>
355
- <link name="arm_l_link5">
356
- <inertial>
357
- <origin rpy="0 0 0" xyz="-7.9404e-07 -0.00023094 -0.024143"/>
358
- <mass value="0.25139"/>
359
- <inertia ixx="0.00023516" ixy="-1.3496e-09" ixz="-2.0314e-08" iyy="0.00028808" iyz="-1.2106e-05" izz="0.00013069"/>
360
- </inertial>
361
- <visual>
362
- <origin rpy="0 0 0" xyz="0 0 0"/>
363
- <geometry>
364
- <mesh filename="package://genie_robot_description/meshes/G1/arm_l_link5.fbx"/>
365
- </geometry>
366
- <material name="white"/>
367
- </visual>
368
- <collision>
369
- <origin rpy="0.0 0.0 -0.6283185307179586" xyz="0.00013161953185003987 -5.835551655943335e-05 -0.033305803313851357"/>
370
- <geometry>
371
- <cylinder length="0.13452399894595146" radius="0.045614576801007695"/>
372
- </geometry>
373
- </collision>
374
- </link>
375
- <link name="arm_l_link6">
376
- <inertial>
377
- <origin rpy="0 0 0" xyz="1.769e-06 -0.086692 0.0025571"/>
378
- <mass value="0.26634"/>
379
- <inertia ixx="0.00031434" ixy="-2.9254e-09" ixz="1.0017e-07" iyy="0.00014464" iyz="-2.0329e-05" izz="0.0003245"/>
380
- </inertial>
381
- <visual>
382
- <origin rpy="0 0 0" xyz="0 0 0"/>
383
- <geometry>
384
- <mesh filename="package://genie_robot_description/meshes/G1/arm_l_link6.fbx"/>
385
- </geometry>
386
- <material name="white"/>
387
- </visual>
388
- <collision>
389
- <origin rpy="-5.990089690983079e-19 -1.4805425285141327 -1.5677635369963552" xyz="0.0002549462426528953 -0.055477687883556816 -0.0019394332157672595"/>
390
- <geometry>
391
- <cylinder length="0.1816599826988493" radius="0.048507387167967514"/>
392
- </geometry>
393
- </collision>
394
- </link>
395
- <link name="arm_l_end_link">
396
- <inertial>
397
- <origin rpy="0 0 0" xyz="-7.5113e-05 -0.00024521 -0.016705"/>
398
- <mass value="0.06158"/>
399
- <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"/>
400
- </inertial>
401
- <visual>
402
- <origin rpy="0 0 0" xyz="0 0 0"/>
403
- <geometry>
404
- <mesh filename="package://genie_robot_description/meshes/G1/arm_l_link7.fbx"/>
405
- </geometry>
406
- <material name="white"/>
407
- </visual>
408
- <collision>
409
- <origin rpy="3.141592653589793 -1.2246467991473532e-16 3.141592653589793" xyz="-4.552953707661759e-05 -0.002300474691790042 -0.02249999972991645"/>
410
- <geometry>
411
- <cylinder length="0.045999998692423105" radius="0.030799950382754494"/>
412
- </geometry>
413
- </collision>
414
- </link>
415
- <!-- joints -->
416
- <joint name="idx21_arm_l_joint1" type="revolute">
417
- <parent link="arm_l_base_link"/>
418
- <child link="arm_l_link1"/>
419
- <origin rpy="0 0 0" xyz="0.0 0.0 0.1859"/>
420
- <axis xyz="0.0 0.0 1.0"/>
421
- <limit effort="60.0" lower="-3.14" upper="3.14" velocity="3.14"/>
422
- </joint>
423
- <joint name="idx22_arm_l_joint2" type="revolute">
424
- <parent link="arm_l_link1"/>
425
- <child link="arm_l_link2"/>
426
- <origin rpy="-1.5707963267948966 0.0 1.5707963267948966" xyz="0.0 0.0 0.0"/>
427
- <axis xyz="0.0 0.0 1.0"/>
428
- <limit effort="60.0" lower="-2.09" upper="1.48" velocity="3.14"/>
429
- </joint>
430
- <joint name="idx23_arm_l_joint3" type="revolute">
431
- <parent link="arm_l_link2"/>
432
- <child link="arm_l_link3"/>
433
- <origin rpy="-1.5707963267948966 1.5707963267948966 3.141592653589793" xyz="0.0 -0.305 0.0"/>
434
- <axis xyz="0.0 0.0 1.0"/>
435
- <limit effort="60.0" lower="-3.10" upper="3.10" velocity="3.14"/>
436
- </joint>
437
- <joint name="idx24_arm_l_joint4" type="revolute">
438
- <parent link="arm_l_link3"/>
439
- <child link="arm_l_link4"/>
440
- <origin rpy="-1.5707963267948966 0.0 3.141592653589793" xyz="0.0 0.0 0.0"/>
441
- <axis xyz="0.0 0.0 1.0"/>
442
- <limit effort="60.0" lower="-1.48" upper="1.48" velocity="3.14"/>
443
- </joint>
444
- <joint name="idx25_arm_l_joint5" type="revolute">
445
- <parent link="arm_l_link4"/>
446
- <child link="arm_l_link5"/>
447
- <origin rpy="-1.5707963267948966 0.0 -3.141592653589793" xyz="0.0 -0.1975 0.0"/>
448
- <axis xyz="0.0 0.0 1.0"/>
449
- <limit effort="30.0" lower="-3.10" upper="3.10" velocity="3.14"/>
450
- </joint>
451
- <joint name="idx26_arm_l_joint6" type="revolute">
452
- <parent link="arm_l_link5"/>
453
- <child link="arm_l_link6"/>
454
- <origin rpy="-1.5707963267948966 0.0 0.0" xyz="0.0 0.0 0.0"/>
455
- <axis xyz="0.0 0.0 1.0"/>
456
- <limit effort="30.0" lower="-1.74" upper="1.74" velocity="3.14"/>
457
- </joint>
458
- <joint name="idx27_arm_l_joint7" type="revolute">
459
- <origin rpy="1.5707963267948966 0.0 0.0" xyz="0.0 -0.1805 0.0"/>
460
- <parent link="arm_l_link6"/>
461
- <child link="arm_l_end_link"/>
462
- <axis xyz="0.0 0.0 1.0"/>
463
- <limit effort="30.0" lower="-3.10" upper="3.10" velocity="3.14"/>
464
- </joint>
465
- <!-- properties -->
466
- <!-- links -->
467
- <link name="arm_r_link1">
468
- <inertial>
469
- <origin rpy="0 0 0" xyz="0.0012679 -0.0001581 -0.018109"/>
470
- <mass value="0.4936"/>
471
- <inertia ixx="0.00075396" ixy="-2.4144e-06" ixz="-1.8364e-06" iyy="0.0006605" iyz="1.2174e-06" izz="0.00031553"/>
472
- </inertial>
473
- <visual>
474
- <origin rpy="0 0 0" xyz="0 0 0"/>
475
- <geometry>
476
- <mesh filename="package://genie_robot_description/meshes/G1/arm_r_link1.fbx"/>
477
- </geometry>
478
- <material name="white"/>
479
- </visual>
480
- <collision>
481
- <origin rpy="-3.141592653589793 -1.2246467991473535e-16 1.2566370614359175" xyz="0.00018724019569230644 -0.002004870648449318 -0.04071185737848282"/>
482
- <geometry>
483
- <cylinder length="0.16642716526985168" radius="0.0548390473201415"/>
484
- </geometry>
485
- </collision>
486
- </link>
487
- <link name="arm_r_link2">
488
- <inertial>
489
- <origin rpy="0 0 0" xyz="-0.00044207 -0.082298 0.00019486"/>
490
- <mass value="0.41662"/>
491
- <inertia ixx="0.00054592" ixy="4.7265e-06" ixz="2.4946e-06" iyy="0.00039507" iyz="-2.0629e-05" izz="0.00057791"/>
492
- </inertial>
493
- <visual>
494
- <origin rpy="0 0 0" xyz="0 0 0"/>
495
- <geometry>
496
- <mesh filename="package://genie_robot_description/meshes/G1/arm_r_link2.fbx"/>
497
- </geometry>
498
- <material name="white"/>
499
- </visual>
500
- <collision>
501
- <origin rpy="1.5707963267948966 0 0" xyz="0.0 -0.044062052 0.0009765625"/>
502
- <geometry>
503
- <cylinder length="0.18085919" radius="0.06302423"/>
504
- </geometry>
505
- </collision>
506
- </link>
507
- <link name="arm_r_link3">
508
- <inertial>
509
- <origin rpy="0 0 0" xyz="0.0010558 4.4416e-05 -0.056128"/>
510
- <mass value="0.49413"/>
511
- <inertia ixx="0.0013405" ixy="-6.8527e-07" ixz="-1.3381e-05" iyy="0.00142" iyz="2.8511e-05" izz="0.00037605"/>
512
- </inertial>
513
- <visual>
514
- <origin rpy="0 0 0" xyz="0 0 0"/>
515
- <geometry>
516
- <mesh filename="package://genie_robot_description/meshes/G1/arm_r_link3.fbx"/>
517
- </geometry>
518
- <material name="white"/>
519
- </visual>
520
- <collision>
521
- <origin rpy="0 0 0" xyz="0.0006559932284637068 -2.2628975236450855e-05 -0.07219303026795387"/>
522
- <geometry>
523
- <cylinder length="0.22061403840780258" radius="0.05216156143823925"/>
524
- </geometry>
525
- </collision>
526
- </link>
527
- <link name="arm_r_link4">
528
- <inertial>
529
- <origin rpy="0 0 0" xyz="2.4212e-05 -0.06248 0.002536"/>
530
- <mass value="0.27473"/>
531
- <inertia ixx="0.00029283" ixy="4.5586e-07" ixz="5.8042e-08" iyy="0.00018852" iyz="-1.116e-06" izz="0.00031238"/>
532
- </inertial>
533
- <visual>
534
- <origin rpy="0 0 0" xyz="0 0 0"/>
535
- <geometry>
536
- <mesh filename="package://genie_robot_description/meshes/G1/arm_r_link4.fbx"/>
537
- </geometry>
538
- <material name="white"/>
539
- </visual>
540
- <collision>
541
- <origin rpy="1.5707963267948966 0 0" xyz="0.0 -0.03817895 -0.0043945312"/>
542
- <geometry>
543
- <cylinder length="0.154955404" radius="0.057891708"/>
544
- </geometry>
545
- </collision>
546
- </link>
547
- <link name="arm_r_link5">
548
- <inertial>
549
- <origin rpy="0 0 0" xyz="2.6223e-06 -0.00023041 -0.024141"/>
550
- <mass value="0.25139"/>
551
- <inertia ixx="0.00023516" ixy="-6.5868e-09" ixz="-1.9428e-08" iyy="0.00028807" iyz="-1.2108e-05" izz="0.00013068"/>
552
- </inertial>
553
- <visual>
554
- <origin rpy="0 0 0" xyz="0 0 0"/>
555
- <geometry>
556
- <mesh filename="package://genie_robot_description/meshes/G1/arm_r_link5.fbx"/>
557
- </geometry>
558
- <material name="white"/>
559
- </visual>
560
- <collision>
561
- <origin rpy="0 0 0" xyz="-0.00022255510134868567 -4.227476414728204e-05 -0.03344946540892124"/>
562
- <geometry>
563
- <cylinder length="0.13423806056380272" radius="0.04562028545392604"/>
564
- </geometry>
565
- </collision>
566
- </link>
567
- <link name="arm_r_link6">
568
- <inertial>
569
- <origin rpy="0 0 0" xyz="5.0382e-06 -0.086696 0.002556"/>
570
- <mass value="0.26634"/>
571
- <inertia ixx="0.00031434" ixy="-1.2113e-09" ixz="1.0011e-07" iyy="0.00014464" iyz="-2.033e-05" izz="0.00032449"/>
572
- </inertial>
573
- <visual>
574
- <origin rpy="0 0 0" xyz="0 0 0"/>
575
- <geometry>
576
- <mesh filename="package://genie_robot_description/meshes/G1/arm_r_link6.fbx"/>
577
- </geometry>
578
- <material name="white"/>
579
- </visual>
580
- <collision>
581
- <origin rpy="0.0 -1.4835107730827122 -1.56897465223053" xyz="-1.7782549414354032e-05 -0.05507596972928094 -0.0017447156928267265"/>
582
- <geometry>
583
- <cylinder length="0.18272488500982115" radius="0.04857149291994264"/>
584
- </geometry>
585
- </collision>
586
- </link>
587
- <link name="arm_r_end_link">
588
- <inertial>
589
- <origin rpy="0 0 0" xyz="-7.5134e-05 -0.00024521 -0.016705"/>
590
- <mass value="0.06158"/>
591
- <inertia ixx="1.8407e-05" ixy="3.4818e-08" ixz="-3.2902e-09" iyy="1.818e-05" iyz="1.1326e-07" izz="2.8547e-05"/>
592
- </inertial>
593
- <visual>
594
- <origin rpy="0 0 0" xyz="0 0 0"/>
595
- <geometry>
596
- <mesh filename="package://genie_robot_description/meshes/G1/arm_r_link7.fbx"/>
597
- </geometry>
598
- <material name="white"/>
599
- </visual>
600
- <collision>
601
- <origin rpy="3.141592653589793 -1.2246467991473532e-16 3.141592653589793" xyz="-4.552953707661759e-05 -0.002300474691790042 -0.02249999972991645"/>
602
- <geometry>
603
- <cylinder length="0.045999998692423105" radius="0.030799950382754494"/>
604
- </geometry>
605
- </collision>
606
- </link>
607
- <!-- joints -->
608
- <joint name="idx61_arm_r_joint1" type="revolute">
609
- <parent link="arm_r_base_link"/>
610
- <child link="arm_r_link1"/>
611
- <origin rpy="0 0 0" xyz="0.0 0.0 0.188"/>
612
- <axis xyz="0.0 0.0 1.0"/>
613
- <limit effort="60.0" lower="-3.14" upper="3.14" velocity="3.14"/>
614
- </joint>
615
- <joint name="idx62_arm_r_joint2" type="revolute">
616
- <parent link="arm_r_link1"/>
617
- <child link="arm_r_link2"/>
618
- <origin rpy="-1.5707963267948966 0.0 -1.5707963267948966" xyz="0.0 0.0 0.0"/>
619
- <axis xyz="0.0 0.0 1.0"/>
620
- <limit effort="60.0" lower="-1.48" upper="2.09" velocity="3.14"/>
621
- </joint>
622
- <joint name="idx63_arm_r_joint3" type="revolute">
623
- <parent link="arm_r_link2"/>
624
- <child link="arm_r_link3"/>
625
- <origin rpy="-1.5707963267948966 -1.5707963267948966 3.141592653589793" xyz="0.0 -0.305 0.0"/>
626
- <axis xyz="0.0 0.0 1.0"/>
627
- <limit effort="60.0" lower="-3.10" upper="3.10" velocity="3.14"/>
628
- </joint>
629
- <joint name="idx64_arm_r_joint4" type="revolute">
630
- <parent link="arm_r_link3"/>
631
- <child link="arm_r_link4"/>
632
- <origin rpy="-1.5707963267948966 0.0 3.141592653589793" xyz="0.0 0.0 0.0"/>
633
- <axis xyz="0.0 0.0 1.0"/>
634
- <limit effort="60.0" lower="-1.48" upper="1.48" velocity="3.14"/>
635
- </joint>
636
- <joint name="idx65_arm_r_joint5" type="revolute">
637
- <parent link="arm_r_link4"/>
638
- <child link="arm_r_link5"/>
639
- <origin rpy="-1.5707963267948966 0.0 -3.141592653589793" xyz="0.0 -0.1975 0.0"/>
640
- <axis xyz="0.0 0.0 1.0"/>
641
- <limit effort="30.0" lower="-3.10" upper="3.10" velocity="3.14"/>
642
- </joint>
643
- <joint name="idx66_arm_r_joint6" type="revolute">
644
- <parent link="arm_r_link5"/>
645
- <child link="arm_r_link6"/>
646
- <origin rpy="-1.5707963267948966 0.0 0.0" xyz="0.0 0.0 0.0"/>
647
- <axis xyz="0.0 0.0 1.0"/>
648
- <limit effort="30.0" lower="-1.74" upper="1.74" velocity="3.14"/>
649
- </joint>
650
- <joint name="idx67_arm_r_joint7" type="revolute">
651
- <origin rpy="1.5707963267948966 0.0 0.0" xyz="0.0 -0.1805 0.0"/>
652
- <parent link="arm_r_link6"/>
653
- <child link="arm_r_end_link"/>
654
- <axis xyz="0.0 0.0 1.0"/>
655
- <limit effort="30.0" lower="-3.10" upper="3.10" velocity="3.14"/>
656
- </joint>
657
- <link name="gripper_l_base_link">
658
- <inertial>
659
- <origin rpy="0 0 0" xyz="1.23989288637867E-06 3.27564415436087E-07 0.0536186975993762"/>
660
- <mass value="0.443105756928829"/>
661
- <inertia ixx="0.00064200574020552" ixy="-1.51180224931458E-07" ixz="7.24174172220287E-09" iyy="0.00066998312004943" iyz="2.73584170951165E-09" izz="0.000278949393571484"/>
662
- </inertial>
663
- <visual>
664
- <origin rpy="0 0 0" xyz="0 0 0"/>
665
- <geometry>
666
- <mesh filename="package://genie_robot_description/meshes/crt_120s/base_link.STL"/>
667
- </geometry>
668
- <material name="black"/>
669
- </visual>
670
- <collision>
671
- <origin rpy="0 0 0" xyz="0 0 0"/>
672
- <geometry>
673
- <mesh filename="package://genie_robot_description/meshes/crt_120s/base_link.STL"/>
674
- </geometry>
675
- </collision>
676
- </link>
677
- <link name="gripper_l_outer_link1">
678
- <inertial>
679
- <origin rpy="0 0 0" xyz="0.00656387870913618 0.024850259757102 -9.40817030196858E-10"/>
680
- <mass value="0.0112899386472626"/>
681
- <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"/>
682
- </inertial>
683
- <visual>
684
- <origin rpy="0 0 0" xyz="0 0 0"/>
685
- <geometry>
686
- <mesh filename="package://genie_robot_description/meshes/crt_120s/Left_01_Link.STL"/>
687
- </geometry>
688
- <material name="black"/>
689
- </visual>
690
- <collision>
691
- <origin rpy="0 0 0" xyz="0 0 0"/>
692
- <geometry>
693
- <mesh filename="package://genie_robot_description/meshes/crt_120s/Left_01_Link.STL"/>
694
- </geometry>
695
- </collision>
696
- </link>
697
- <link name="gripper_l_outer_link3">
698
- <inertial>
699
- <origin rpy="0 0 0" xyz="0.00656387870913618 0.024850259757102 -9.40817030196858E-10"/>
700
- <mass value="0.0112899386472626"/>
701
- <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"/>
702
- </inertial>
703
- <visual>
704
- <origin rpy="0 0 0" xyz="0 0 0"/>
705
- <geometry>
706
- <mesh filename="package://genie_robot_description/meshes/crt_120s/Left_00_Link.STL"/>
707
- </geometry>
708
- <material name="black"/>
709
- </visual>
710
- <collision>
711
- <origin rpy="0 0 0" xyz="0 0 0"/>
712
- <geometry>
713
- <mesh filename="package://genie_robot_description/meshes/crt_120s/Left_00_Link.STL"/>
714
- </geometry>
715
- </collision>
716
- </link>
717
- <link name="gripper_l_outer_link4">
718
- <inertial>
719
- <origin rpy="0 0 0" xyz="-0.011970095332009 0.0238338043684485 -1.36624428992904E-06"/>
720
- <mass value="0.0140092102116716"/>
721
- <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"/>
722
- </inertial>
723
- <visual>
724
- <origin rpy="0 0 0" xyz="0 0 0"/>
725
- <geometry>
726
- <mesh filename="package://genie_robot_description/meshes/crt_120s/Left_Support_Link.STL"/>
727
- </geometry>
728
- <material name="black"/>
729
- </visual>
730
- <collision>
731
- <origin rpy="0 0 0" xyz="0 0 0"/>
732
- <geometry>
733
- <mesh filename="package://genie_robot_description/meshes/crt_120s/Left_Support_Link.STL"/>
734
- </geometry>
735
- </collision>
736
- </link>
737
- <link name="gripper_l_outer_link5">
738
- <inertial>
739
- <origin rpy="0 0 0" xyz="1.46688816627348E-09 0.00209017783344978 -8.17280129359337E-17"/>
740
- <mass value="0.00332411394949541"/>
741
- <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"/>
742
- </inertial>
743
- <visual>
744
- <origin rpy="0 0 0" xyz="0 0 0"/>
745
- <geometry>
746
- <mesh filename="package://genie_robot_description/meshes/crt_120s/Left_Pad_Link.STL"/>
747
- </geometry>
748
- <material name="black"/>
749
- </visual>
750
- <collision>
751
- <origin rpy="0 0 0" xyz="0 0 0"/>
752
- <geometry>
753
- <mesh filename="package://genie_robot_description/meshes/crt_120s/Left_Pad_Link.STL"/>
754
- </geometry>
755
- </collision>
756
- </link>
757
- <link name="gripper_l_outer_link2">
758
- <inertial>
759
- <origin rpy="0 0 0" xyz="-0.00438952959966343 0.0248815722409523 -2.55135883071891E-05"/>
760
- <mass value="0.00803955821311802"/>
761
- <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"/>
762
- </inertial>
763
- <visual>
764
- <origin rpy="0 0 0" xyz="0 0 0"/>
765
- <geometry>
766
- <mesh filename="package://genie_robot_description/meshes/crt_120s/Left_2_Link.STL"/>
767
- </geometry>
768
- <material name="black"/>
769
- </visual>
770
- <collision>
771
- <origin rpy="0 0 0" xyz="0 0 0"/>
772
- <geometry>
773
- <mesh filename="package://genie_robot_description/meshes/crt_120s/Left_2_Link.STL"/>
774
- </geometry>
775
- </collision>
776
- </link>
777
- <link name="gripper_l_inner_link2">
778
- <inertial>
779
- <origin rpy="0 0 0" xyz="-0.00438952959968201 0.0248815722409522 -2.5513588307359E-05"/>
780
- <mass value="0.00803955821311803"/>
781
- <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"/>
782
- </inertial>
783
- <visual>
784
- <origin rpy="0 0 0" xyz="0 0 0"/>
785
- <geometry>
786
- <mesh filename="package://genie_robot_description/meshes/crt_120s/Right_2_Link.STL"/>
787
- </geometry>
788
- <material name="black"/>
789
- </visual>
790
- <collision>
791
- <origin rpy="0 0 0" xyz="0 0 0"/>
792
- <geometry>
793
- <mesh filename="package://genie_robot_description/meshes/crt_120s/Right_2_Link.STL"/>
794
- </geometry>
795
- </collision>
796
- </link>
797
- <link name="gripper_l_inner_link1">
798
- <inertial>
799
- <origin rpy="0 0 0" xyz="0.00656387870564603 0.0248502597572661 -9.40812230336897E-10"/>
800
- <mass value="0.0112899386472626"/>
801
- <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"/>
802
- </inertial>
803
- <visual>
804
- <origin rpy="0 0 0" xyz="0 0 0"/>
805
- <geometry>
806
- <mesh filename="package://genie_robot_description/meshes/crt_120s/Right_01_Link.STL"/>
807
- </geometry>
808
- <material name="black"/>
809
- </visual>
810
- <collision>
811
- <origin rpy="0 0 0" xyz="0 0 0"/>
812
- <geometry>
813
- <mesh filename="package://genie_robot_description/meshes/crt_120s/Right_01_Link.STL"/>
814
- </geometry>
815
- </collision>
816
- </link>
817
- <link name="gripper_l_inner_link3">
818
- <inertial>
819
- <origin rpy="0 0 0" xyz="0.00656387870564603 0.0248502597572661 -9.40812230336897E-10"/>
820
- <mass value="0.0112899386472626"/>
821
- <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"/>
822
- </inertial>
823
- <visual>
824
- <origin rpy="0 0 0" xyz="0 0 0"/>
825
- <geometry>
826
- <mesh filename="package://genie_robot_description/meshes/crt_120s/Right_00_Link.STL"/>
827
- </geometry>
828
- <material name="black"/>
829
- </visual>
830
- <collision>
831
- <origin rpy="0 0 0" xyz="0 0 0"/>
832
- <geometry>
833
- <mesh filename="package://genie_robot_description/meshes/crt_120s/Right_00_Link.STL"/>
834
- </geometry>
835
- </collision>
836
- </link>
837
- <link name="gripper_l_inner_link4">
838
- <inertial>
839
- <origin rpy="0 0 0" xyz="-0.011970095112324 0.0238338043682057 -1.36624428997256E-06"/>
840
- <mass value="0.0140092102116716"/>
841
- <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"/>
842
- </inertial>
843
- <visual>
844
- <origin rpy="0 0 0" xyz="0 0 0"/>
845
- <geometry>
846
- <mesh filename="package://genie_robot_description/meshes/crt_120s/Right_Support_Link.STL"/>
847
- </geometry>
848
- <material name="black"/>
849
- </visual>
850
- <collision>
851
- <origin rpy="0 0 0" xyz="0 0 0"/>
852
- <geometry>
853
- <mesh filename="package://genie_robot_description/meshes/crt_120s/Right_Support_Link.STL"/>
854
- </geometry>
855
- </collision>
856
- </link>
857
- <link name="gripper_l_inner_link5">
858
- <inertial>
859
- <origin rpy="0 0 0" xyz="5.43457184440897E-09 0.00209017783344967 -1.21646039264426E-16"/>
860
- <mass value="0.00332411394949542"/>
861
- <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"/>
862
- </inertial>
863
- <visual>
864
- <origin rpy="0 0 0" xyz="0 0 0"/>
865
- <geometry>
866
- <mesh filename="package://genie_robot_description/meshes/crt_120s/Right_Pad_Link.STL"/>
867
- </geometry>
868
- <material name="black"/>
869
- </visual>
870
- <collision>
871
- <origin rpy="0 0 0" xyz="0 0 0"/>
872
- <geometry>
873
- <mesh filename="package://genie_robot_description/meshes/crt_120s/Right_Pad_Link.STL"/>
874
- </geometry>
875
- </collision>
876
- </link>
877
- <joint name="idx41_gripper_l_outer_joint1" type="revolute">
878
- <origin rpy="1.5707963267948966 0 3.141592653589793" xyz="-0.032553 0 0.10644"/>
879
- <parent link="gripper_l_base_link"/>
880
- <child link="gripper_l_outer_link1"/>
881
- <axis xyz="0 0 -1"/>
882
- <limit effort="10" lower="0" upper="1" velocity="4.1887902047863905"/>
883
- </joint>
884
- <joint name="idx42_gripper_l_outer_joint3" type="revolute">
885
- <origin rpy="0 0 0" xyz="0.01946 0.0129 0"/>
886
- <parent link="gripper_l_outer_link1"/>
887
- <child link="gripper_l_outer_link3"/>
888
- <axis xyz="0 0 1"/>
889
- <limit effort="10" lower="-1" upper="1" velocity="4.1887902047863905"/>
890
- </joint>
891
- <joint name="idx43_gripper_l_outer_joint4" type="revolute">
892
- <origin rpy="0 0 0" xyz="-0.02888 0.04341 0"/>
893
- <parent link="gripper_l_outer_link3"/>
894
- <child link="gripper_l_outer_link4"/>
895
- <axis xyz="0 0 1"/>
896
- <limit effort="10" lower="-1" upper="1" velocity="4.1887902047863905"/>
897
- <mimic joint="idx41_gripper_l_outer_joint1" multiplier="1" offset="0"/>
898
- </joint>
899
- <joint name="idx44_gripper_l_outer_joint5" type="fixed">
900
- <origin rpy="0 0 0" xyz="-0.022056 0.044306 0"/>
901
- <parent link="gripper_l_outer_link4"/>
902
- <child link="gripper_l_outer_link5"/>
903
- <axis xyz="0 0 0"/>
904
- </joint>
905
- <joint name="idx49_gripper_l_outer_joint2" type="revolute">
906
- <origin rpy="1.5707963267948966 0 3.141592653589793" xyz="-0.017 0 0.122"/>
907
- <parent link="gripper_l_base_link"/>
908
- <child link="gripper_l_outer_link2"/>
909
- <axis xyz="0 0 -1"/>
910
- <limit effort="10" lower="-1" upper="1" velocity="4.1887902047863905"/>
911
- <mimic joint="idx41_gripper_l_outer_joint1" multiplier="1" offset="0"/>
912
- </joint>
913
- <joint name="idx39_gripper_l_inner_joint2" type="revolute">
914
- <origin rpy="1.5707963267948966 0 0" xyz="0.017 0 0.122"/>
915
- <parent link="gripper_l_base_link"/>
916
- <child link="gripper_l_inner_link2"/>
917
- <axis xyz="0 0 1"/>
918
- <limit effort="10" lower="-1" upper="1" velocity="4.1887902047863905"/>
919
- <mimic joint="idx41_gripper_l_outer_joint1" multiplier="-1" offset="0"/>
920
- </joint>
921
- <joint name="idx31_gripper_l_inner_joint1" type="revolute">
922
- <origin rpy="1.5707963267948966 0 0" xyz="0.032553 0 0.10644"/>
923
- <parent link="gripper_l_base_link"/>
924
- <child link="gripper_l_inner_link1"/>
925
- <axis xyz="0 0 -1"/>
926
- <limit effort="10" lower="-1" upper="1" velocity="4.1887902047863905"/>
927
- <mimic joint="idx41_gripper_l_outer_joint1" multiplier="1" offset="0"/>
928
- </joint>
929
- <joint name="idx32_gripper_l_inner_joint3" type="revolute">
930
- <origin rpy="0 0 0" xyz="0.01946 0.0129 0"/>
931
- <parent link="gripper_l_inner_link1"/>
932
- <child link="gripper_l_inner_link3"/>
933
- <axis xyz="0 0 1"/>
934
- <limit effort="10" lower="-1" upper="1" velocity="4.1887902047863905"/>
935
- </joint>
936
- <joint name="idx33_gripper_l_inner_joint4" type="revolute">
937
- <origin rpy="0 0 0" xyz="-0.02888 0.04341 0"/>
938
- <parent link="gripper_l_inner_link3"/>
939
- <child link="gripper_l_inner_link4"/>
940
- <axis xyz="0 0 1"/>
941
- <limit effort="10" lower="-1" upper="1" velocity="4.1887902047863905"/>
942
- <mimic joint="idx41_gripper_l_outer_joint1" multiplier="1" offset="0"/>
943
- </joint>
944
- <joint name="idx34_gripper_l_inner_joint5" type="fixed">
945
- <origin rpy="0 0 0" xyz="-0.022056 0.044306 0"/>
946
- <parent link="gripper_l_inner_link4"/>
947
- <child link="gripper_l_inner_link5"/>
948
- <axis xyz="0 0 0"/>
949
- </joint>
950
- <!-- Gripper Connector -->
951
- <joint name="idx61_ee_l_joint" type="fixed">
952
- <parent link="arm_l_end_link"/>
953
- <child link="gripper_l_base_link"/>
954
- <origin rpy="0 0 0" xyz="0 0 0"/>
955
- <axis xyz="0.0 0.0 0.0"/>
956
- </joint>
957
- <link name="gripper_l_center_link">
958
- </link>
959
- <joint name="idx52_gripper_l_center_joint" type="fixed">
960
- <origin rpy="0 0 -1.5707963267948966" xyz="0.0 0.0 0.1"/>
961
- <parent link="gripper_l_base_link"/>
962
- <child link="gripper_l_center_link"/>
963
- </joint>
964
- <!-- Gripper Finger Close-loop Structure -->
965
- <loop_joint name="idx53_gripper_l_outer_joint0" type="spherical">
966
- <link1 link="gripper_l_outer_link4" rpy="0 0 0" xyz="-0.01546 0.0156 0"/>
967
- <link2 link="gripper_l_outer_link2" rpy="0 0 0" xyz="-0.00932 0.05635 0"/>
968
- <axis xyz="0 0 -1"/>
969
- </loop_joint>
970
- <loop_joint name="idx54_gripper_l_inner_joint0" type="spherical">
971
- <link1 link="gripper_l_inner_link4" rpy="0 0 0" xyz="-0.01546 0.0156 0"/>
972
- <link2 link="gripper_l_inner_link2" rpy="0 0 0" xyz="-0.00932 0.05635 0"/>
973
- <axis xyz="0 0 1"/>
974
- </loop_joint>
975
- <link name="gripper_r_base_link">
976
- <inertial>
977
- <origin rpy="0 0 0" xyz="1.23989288637867E-06 3.27564415436087E-07 0.0536186975993762"/>
978
- <mass value="0.443105756928829"/>
979
- <inertia ixx="0.00064200574020552" ixy="-1.51180224931458E-07" ixz="7.24174172220287E-09" iyy="0.00066998312004943" iyz="2.73584170951165E-09" izz="0.000278949393571484"/>
980
- </inertial>
981
- <visual>
982
- <origin rpy="0 0 0" xyz="0 0 0"/>
983
- <geometry>
984
- <mesh filename="package://genie_robot_description/meshes/crt_120s/base_link.STL"/>
985
- </geometry>
986
- <material name="black"/>
987
- </visual>
988
- <collision>
989
- <origin rpy="0 0 0" xyz="0 0 0"/>
990
- <geometry>
991
- <mesh filename="package://genie_robot_description/meshes/crt_120s/base_link.STL"/>
992
- </geometry>
993
- </collision>
994
- </link>
995
- <link name="gripper_r_outer_link1">
996
- <inertial>
997
- <origin rpy="0 0 0" xyz="0.00656387870913618 0.024850259757102 -9.40817030196858E-10"/>
998
- <mass value="0.0112899386472626"/>
999
- <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"/>
1000
- </inertial>
1001
- <visual>
1002
- <origin rpy="0 0 0" xyz="0 0 0"/>
1003
- <geometry>
1004
- <mesh filename="package://genie_robot_description/meshes/crt_120s/Left_01_Link.STL"/>
1005
- </geometry>
1006
- <material name="black"/>
1007
- </visual>
1008
- <collision>
1009
- <origin rpy="0 0 0" xyz="0 0 0"/>
1010
- <geometry>
1011
- <mesh filename="package://genie_robot_description/meshes/crt_120s/Left_01_Link.STL"/>
1012
- </geometry>
1013
- </collision>
1014
- </link>
1015
- <link name="gripper_r_outer_link3">
1016
- <inertial>
1017
- <origin rpy="0 0 0" xyz="0.00656387870913618 0.024850259757102 -9.40817030196858E-10"/>
1018
- <mass value="0.0112899386472626"/>
1019
- <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"/>
1020
- </inertial>
1021
- <visual>
1022
- <origin rpy="0 0 0" xyz="0 0 0"/>
1023
- <geometry>
1024
- <mesh filename="package://genie_robot_description/meshes/crt_120s/Left_00_Link.STL"/>
1025
- </geometry>
1026
- <material name="black"/>
1027
- </visual>
1028
- <collision>
1029
- <origin rpy="0 0 0" xyz="0 0 0"/>
1030
- <geometry>
1031
- <mesh filename="package://genie_robot_description/meshes/crt_120s/Left_00_Link.STL"/>
1032
- </geometry>
1033
- </collision>
1034
- </link>
1035
- <link name="gripper_r_outer_link4">
1036
- <inertial>
1037
- <origin rpy="0 0 0" xyz="-0.011970095332009 0.0238338043684485 -1.36624428992904E-06"/>
1038
- <mass value="0.0140092102116716"/>
1039
- <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"/>
1040
- </inertial>
1041
- <visual>
1042
- <origin rpy="0 0 0" xyz="0 0 0"/>
1043
- <geometry>
1044
- <mesh filename="package://genie_robot_description/meshes/crt_120s/Left_Support_Link.STL"/>
1045
- </geometry>
1046
- <material name="black"/>
1047
- </visual>
1048
- <collision>
1049
- <origin rpy="0 0 0" xyz="0 0 0"/>
1050
- <geometry>
1051
- <mesh filename="package://genie_robot_description/meshes/crt_120s/Left_Support_Link.STL"/>
1052
- </geometry>
1053
- </collision>
1054
- </link>
1055
- <link name="gripper_r_outer_link5">
1056
- <inertial>
1057
- <origin rpy="0 0 0" xyz="1.46688816627348E-09 0.00209017783344978 -8.17280129359337E-17"/>
1058
- <mass value="0.00332411394949541"/>
1059
- <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"/>
1060
- </inertial>
1061
- <visual>
1062
- <origin rpy="0 0 0" xyz="0 0 0"/>
1063
- <geometry>
1064
- <mesh filename="package://genie_robot_description/meshes/crt_120s/Left_Pad_Link.STL"/>
1065
- </geometry>
1066
- <material name="black"/>
1067
- </visual>
1068
- <collision>
1069
- <origin rpy="0 0 0" xyz="0 0 0"/>
1070
- <geometry>
1071
- <mesh filename="package://genie_robot_description/meshes/crt_120s/Left_Pad_Link.STL"/>
1072
- </geometry>
1073
- </collision>
1074
- </link>
1075
- <link name="gripper_r_outer_link2">
1076
- <inertial>
1077
- <origin rpy="0 0 0" xyz="-0.00438952959966343 0.0248815722409523 -2.55135883071891E-05"/>
1078
- <mass value="0.00803955821311802"/>
1079
- <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"/>
1080
- </inertial>
1081
- <visual>
1082
- <origin rpy="0 0 0" xyz="0 0 0"/>
1083
- <geometry>
1084
- <mesh filename="package://genie_robot_description/meshes/crt_120s/Left_2_Link.STL"/>
1085
- </geometry>
1086
- <material name="black"/>
1087
- </visual>
1088
- <collision>
1089
- <origin rpy="0 0 0" xyz="0 0 0"/>
1090
- <geometry>
1091
- <mesh filename="package://genie_robot_description/meshes/crt_120s/Left_2_Link.STL"/>
1092
- </geometry>
1093
- </collision>
1094
- </link>
1095
- <link name="gripper_r_inner_link2">
1096
- <inertial>
1097
- <origin rpy="0 0 0" xyz="-0.00438952959968201 0.0248815722409522 -2.5513588307359E-05"/>
1098
- <mass value="0.00803955821311803"/>
1099
- <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"/>
1100
- </inertial>
1101
- <visual>
1102
- <origin rpy="0 0 0" xyz="0 0 0"/>
1103
- <geometry>
1104
- <mesh filename="package://genie_robot_description/meshes/crt_120s/Right_2_Link.STL"/>
1105
- </geometry>
1106
- <material name="black"/>
1107
- </visual>
1108
- <collision>
1109
- <origin rpy="0 0 0" xyz="0 0 0"/>
1110
- <geometry>
1111
- <mesh filename="package://genie_robot_description/meshes/crt_120s/Right_2_Link.STL"/>
1112
- </geometry>
1113
- </collision>
1114
- </link>
1115
- <link name="gripper_r_inner_link1">
1116
- <inertial>
1117
- <origin rpy="0 0 0" xyz="0.00656387870564603 0.0248502597572661 -9.40812230336897E-10"/>
1118
- <mass value="0.0112899386472626"/>
1119
- <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"/>
1120
- </inertial>
1121
- <visual>
1122
- <origin rpy="0 0 0" xyz="0 0 0"/>
1123
- <geometry>
1124
- <mesh filename="package://genie_robot_description/meshes/crt_120s/Right_01_Link.STL"/>
1125
- </geometry>
1126
- <material name="black"/>
1127
- </visual>
1128
- <collision>
1129
- <origin rpy="0 0 0" xyz="0 0 0"/>
1130
- <geometry>
1131
- <mesh filename="package://genie_robot_description/meshes/crt_120s/Right_01_Link.STL"/>
1132
- </geometry>
1133
- </collision>
1134
- </link>
1135
- <link name="gripper_r_inner_link3">
1136
- <inertial>
1137
- <origin rpy="0 0 0" xyz="0.00656387870564603 0.0248502597572661 -9.40812230336897E-10"/>
1138
- <mass value="0.0112899386472626"/>
1139
- <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"/>
1140
- </inertial>
1141
- <visual>
1142
- <origin rpy="0 0 0" xyz="0 0 0"/>
1143
- <geometry>
1144
- <mesh filename="package://genie_robot_description/meshes/crt_120s/Right_00_Link.STL"/>
1145
- </geometry>
1146
- <material name="black"/>
1147
- </visual>
1148
- <collision>
1149
- <origin rpy="0 0 0" xyz="0 0 0"/>
1150
- <geometry>
1151
- <mesh filename="package://genie_robot_description/meshes/crt_120s/Right_00_Link.STL"/>
1152
- </geometry>
1153
- </collision>
1154
- </link>
1155
- <link name="gripper_r_inner_link4">
1156
- <inertial>
1157
- <origin rpy="0 0 0" xyz="-0.011970095112324 0.0238338043682057 -1.36624428997256E-06"/>
1158
- <mass value="0.0140092102116716"/>
1159
- <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"/>
1160
- </inertial>
1161
- <visual>
1162
- <origin rpy="0 0 0" xyz="0 0 0"/>
1163
- <geometry>
1164
- <mesh filename="package://genie_robot_description/meshes/crt_120s/Right_Support_Link.STL"/>
1165
- </geometry>
1166
- <material name="black"/>
1167
- </visual>
1168
- <collision>
1169
- <origin rpy="0 0 0" xyz="0 0 0"/>
1170
- <geometry>
1171
- <mesh filename="package://genie_robot_description/meshes/crt_120s/Right_Support_Link.STL"/>
1172
- </geometry>
1173
- </collision>
1174
- </link>
1175
- <link name="gripper_r_inner_link5">
1176
- <inertial>
1177
- <origin rpy="0 0 0" xyz="5.43457184440897E-09 0.00209017783344967 -1.21646039264426E-16"/>
1178
- <mass value="0.00332411394949542"/>
1179
- <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"/>
1180
- </inertial>
1181
- <visual>
1182
- <origin rpy="0 0 0" xyz="0 0 0"/>
1183
- <geometry>
1184
- <mesh filename="package://genie_robot_description/meshes/crt_120s/Right_Pad_Link.STL"/>
1185
- </geometry>
1186
- <material name="black"/>
1187
- </visual>
1188
- <collision>
1189
- <origin rpy="0 0 0" xyz="0 0 0"/>
1190
- <geometry>
1191
- <mesh filename="package://genie_robot_description/meshes/crt_120s/Right_Pad_Link.STL"/>
1192
- </geometry>
1193
- </collision>
1194
- </link>
1195
- <joint name="idx81_gripper_r_outer_joint1" type="revolute">
1196
- <origin rpy="1.5707963267948966 0 3.141592653589793" xyz="-0.032553 0 0.10644"/>
1197
- <parent link="gripper_r_base_link"/>
1198
- <child link="gripper_r_outer_link1"/>
1199
- <axis xyz="0 0 -1"/>
1200
- <limit effort="10" lower="0" upper="1" velocity="4.1887902047863905"/>
1201
- </joint>
1202
- <joint name="idx82_gripper_r_outer_joint3" type="revolute">
1203
- <origin rpy="0 0 0" xyz="0.01946 0.0129 0"/>
1204
- <parent link="gripper_r_outer_link1"/>
1205
- <child link="gripper_r_outer_link3"/>
1206
- <axis xyz="0 0 1"/>
1207
- <limit effort="10" lower="-1" upper="1" velocity="4.1887902047863905"/>
1208
- </joint>
1209
- <joint name="idx83_gripper_r_outer_joint4" type="revolute">
1210
- <origin rpy="0 0 0" xyz="-0.02888 0.04341 0"/>
1211
- <parent link="gripper_r_outer_link3"/>
1212
- <child link="gripper_r_outer_link4"/>
1213
- <axis xyz="0 0 1"/>
1214
- <limit effort="10" lower="-1" upper="1" velocity="4.1887902047863905"/>
1215
- <mimic joint="idx81_gripper_r_outer_joint1" multiplier="1" offset="0"/>
1216
- </joint>
1217
- <joint name="idx84_gripper_r_outer_joint5" type="fixed">
1218
- <origin rpy="0 0 0" xyz="-0.022056 0.044306 0"/>
1219
- <parent link="gripper_r_outer_link4"/>
1220
- <child link="gripper_r_outer_link5"/>
1221
- <axis xyz="0 0 0"/>
1222
- </joint>
1223
- <joint name="idx89_gripper_r_outer_joint2" type="revolute">
1224
- <origin rpy="1.5707963267948966 0 3.141592653589793" xyz="-0.017 0 0.122"/>
1225
- <parent link="gripper_r_base_link"/>
1226
- <child link="gripper_r_outer_link2"/>
1227
- <axis xyz="0 0 -1"/>
1228
- <limit effort="10" lower="-1" upper="1" velocity="4.1887902047863905"/>
1229
- <mimic joint="idx81_gripper_r_outer_joint1" multiplier="1" offset="0"/>
1230
- </joint>
1231
- <joint name="idx79_gripper_r_inner_joint2" type="revolute">
1232
- <origin rpy="1.5707963267948966 0 0" xyz="0.017 0 0.122"/>
1233
- <parent link="gripper_r_base_link"/>
1234
- <child link="gripper_r_inner_link2"/>
1235
- <axis xyz="0 0 1"/>
1236
- <limit effort="10" lower="-1" upper="1" velocity="4.1887902047863905"/>
1237
- <mimic joint="idx81_gripper_r_outer_joint1" multiplier="-1" offset="0"/>
1238
- </joint>
1239
- <joint name="idx71_gripper_r_inner_joint1" type="revolute">
1240
- <origin rpy="1.5707963267948966 0 0" xyz="0.032553 0 0.10644"/>
1241
- <parent link="gripper_r_base_link"/>
1242
- <child link="gripper_r_inner_link1"/>
1243
- <axis xyz="0 0 -1"/>
1244
- <limit effort="10" lower="-1" upper="1" velocity="4.1887902047863905"/>
1245
- <mimic joint="idx81_gripper_r_outer_joint1" multiplier="1" offset="0"/>
1246
- </joint>
1247
- <joint name="idx72_gripper_r_inner_joint3" type="revolute">
1248
- <origin rpy="0 0 0" xyz="0.01946 0.0129 0"/>
1249
- <parent link="gripper_r_inner_link1"/>
1250
- <child link="gripper_r_inner_link3"/>
1251
- <axis xyz="0 0 1"/>
1252
- <limit effort="10" lower="-1" upper="1" velocity="4.1887902047863905"/>
1253
- </joint>
1254
- <joint name="idx73_gripper_r_inner_joint4" type="revolute">
1255
- <origin rpy="0 0 0" xyz="-0.02888 0.04341 0"/>
1256
- <parent link="gripper_r_inner_link3"/>
1257
- <child link="gripper_r_inner_link4"/>
1258
- <axis xyz="0 0 1"/>
1259
- <limit effort="10" lower="-1" upper="1" velocity="4.1887902047863905"/>
1260
- <mimic joint="idx81_gripper_r_outer_joint1" multiplier="1" offset="0"/>
1261
- </joint>
1262
- <joint name="idx74_gripper_r_inner_joint5" type="fixed">
1263
- <origin rpy="0 0 0" xyz="-0.022056 0.044306 0"/>
1264
- <parent link="gripper_r_inner_link4"/>
1265
- <child link="gripper_r_inner_link5"/>
1266
- <axis xyz="0 0 0"/>
1267
- </joint>
1268
- <!-- Gripper Connector -->
1269
- <joint name="idx91_ee_r_joint" type="fixed">
1270
- <parent link="arm_r_end_link"/>
1271
- <child link="gripper_r_base_link"/>
1272
- <origin rpy="0 0 3.141592653589793" xyz="0 0 0"/>
1273
- <axis xyz="0.0 0.0 0.0"/>
1274
- </joint>
1275
- <link name="gripper_r_center_link">
1276
- </link>
1277
- <joint name="idx92_gripper_r_center_joint" type="fixed">
1278
- <origin rpy="0 0 -1.5707963267948966" xyz="0.0 0.0 0.1"/>
1279
- <parent link="gripper_r_base_link"/>
1280
- <child link="gripper_r_center_link"/>
1281
- </joint>
1282
- <!-- Gripper Finger Close-loop Structure -->
1283
- <loop_joint name="idx93_gripper_r_outer_joint0" type="spherical">
1284
- <link1 link="gripper_r_outer_link4" rpy="0 0 0" xyz="-0.01546 0.0156 0"/>
1285
- <link2 link="gripper_r_outer_link2" rpy="0 0 0" xyz="-0.00932 0.05635 0"/>
1286
- <axis xyz="0 0 -1"/>
1287
- </loop_joint>
1288
- <loop_joint name="idx94_gripper_r_inner_joint0" type="spherical">
1289
- <link1 link="gripper_r_inner_link4" rpy="0 0 0" xyz="-0.01546 0.0156 0"/>
1290
- <link2 link="gripper_r_inner_link2" rpy="0 0 0" xyz="-0.00932 0.05635 0"/>
1291
- <axis xyz="0 0 1"/>
1292
- </loop_joint>
1293
- <!-- Eastern Eggs -->
1294
- <!-- All Together -->
1295
- </robot>
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
G1_120s/G1_120s.usda DELETED
The diff for this file is too large to render. See raw diff
 
G1_120s/config.yaml DELETED
@@ -1,23 +0,0 @@
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- asset_path: /home/zy/workspace/genie_ws/install/share/genie_robot_description/urdf/G1/G1_120s.urdf
2
- usd_dir: /home/zy/assets/G1_120s
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- usd_file_name: G1_120s
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- force_usd_conversion: true
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- make_instanceable: true
6
- fix_base: false
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- root_link_name: null
8
- link_density: 0.0
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- merge_fixed_joints: false
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- convert_mimic_joints_to_normal_joints: false
11
- joint_drive:
12
- drive_type: force
13
- target_type: position
14
- gains:
15
- stiffness: 100.0
16
- damping: 1.0
17
- collider_type: convex_hull
18
- self_collision: false
19
- replace_cylinders_with_capsules: false
20
- collision_from_visuals: false
21
- ##
22
- # Generated by UrdfConverter on 2025-05-21 at 12:18:42.
23
- ##
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
G1_omnipicker/.asset_hash DELETED
@@ -1 +0,0 @@
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- 5ede3ad6e576a899583893d20f2613f3
 
 
G1_omnipicker/G1_omnipicker.urdf DELETED
@@ -1,1185 +0,0 @@
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- <?xml version="1.0" ?>
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- <!-- =================================================================================== -->
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- <!-- | This document was autogenerated by xacro from urdf/genie.robot.xacro | -->
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- <!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | -->
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- <!-- =================================================================================== -->
6
- <robot name="genie">
7
- <!-- Index -->
8
- <!-- body: [G1, G2] -->
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- <!-- gripper: [dummy_hand, omnipicker, 120s, roh, skillhands6] -->
10
- <!-- <xacro:arg name="robot_model" default="G1" />
11
- <xacro:arg name="robot_model" default="G1" /> -->
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- <!-- robot -->
13
- <!-- Material Definition -->
14
- <material name="black">
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- <color rgba="0.0 0.0 0.0 1.0"/>
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- </material>
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- <material name="blue">
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- <color rgba="0.0 0.0 0.8 1.0"/>
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- </material>
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- <material name="green">
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- <color rgba="0.0 1.0 0.0 1.0"/>
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- </material>
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- <material name="grey">
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- <color rgba="0.2 0.2 0.2 1.0"/>
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- </material>
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- <material name="orange">
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- <color rgba="1.0 0.4235294117647059 0.0392156862745098 1.0"/>
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- </material>
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- <material name="brown">
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- <color rgba="0.8705882352941177 0.8117647058823529 0.7647058823529411 1.0"/>
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- </material>
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- <material name="red">
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- <color rgba="0.8 0.0 0.0 1.0"/>
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- </material>
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- <material name="white">
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- <color rgba="1.0 1.0 1.0 1.0"/>
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- </material>
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- <!-- transparent is not working properly -->
39
- <material name="transparent">
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- <color rgba="1.0 1.0 1.0 0.999"/>
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- </material>
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- <material name="default">
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- <color rgba="0.752941176470588 0.752941176470588 0.752941176470588 1"/>
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- </material>
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- <!-- links -->
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- <link name="base_link">
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- <inertial>
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- <origin rpy="0.0 0.0 0.0" xyz="-0.0134486971267798 0.00152103941353612 -0.0320076754329413"/>
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- <mass value="23.2085382238952"/>
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- <inertia ixx="0.386955641760608" ixy="0.000135417314593726" ixz="0.00669301645720665" iyy="0.366800407621218" iyz="0.000105713634260505" izz="0.546852919828475"/>
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- </inertial>
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- <visual>
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- <mesh filename="package://genie_robot_description/meshes/G1/base_link.fbx"/>
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- </geometry>
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- <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
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- </visual>
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- <!-- <collision>
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- <origin
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- rpy="0.0 0.0 0.0"
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- xyz="-0.10913086 0.0 0.51171875" />
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- rpy="0.0 0.0 0.0"
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- xyz="0.0 0.0 0.15" />
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- <box size="0.5996094 0.449 0.30273438" />
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- <origin rpy="0.0 0.0 0.0" xyz="0.0338351537064605 -0.00248044044451858 0.000838431095422365"/>
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- <mass value="3.26275452360108"/>
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- <inertia ixx="0.0128301877197417" ixy="8.24967996575627e-06" ixz="1.38254543337324e-05" iyy="0.006104110250297" iyz="-7.99392548994692e-06" izz="0.0111721084996867"/>
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- </inertial>
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- <visual>
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- <geometry>
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- <mesh filename="package://genie_robot_description/meshes/G1/body_link1.fbx"/>
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- </geometry>
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- <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
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- </visual>
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- <!-- <collision>
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- <origin
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- rpy="0.0 0.0 0.0"
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- xyz="0.10278320000000002 0.1 -0.013671875" />
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- <geometry>
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- <box size="0.16064453 0.05555534399999999 0.1328125" />
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- </link>
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- <link name="body_link2">
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- <origin rpy="0.0 0.0 0.0" xyz="0.193733558855111 -0.000484180179482319 -0.00124011422952511"/>
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- <mass value="7.53199207979272"/>
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- </inertial>
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- <visual>
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- <mesh filename="package://genie_robot_description/meshes/G1/body_link2.fbx"/>
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- </geometry>
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- <origin rpy="0.0 0.0 -1.5707963267948966" xyz="0.0 0.0 0.0"/>
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- </visual>
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- <!-- <collision>
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- <origin
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- rpy="0 0 0"
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- xyz="0.0068359375 -0.00034356117 0.0" />
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- <geometry>
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- xyz="0.0068359375 -0.00034356117 0.043485284999999985" />
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- xyz="0.0068359375 -0.00034356117 -0.043485284999999985" />
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- <geometry>
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- <sphere radius="0.09662318" />
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- </geometry>
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- </collision>
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- <collision>
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- <origin
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- rpy="0.0 0.0 -${PI_2}"
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- xyz="0.008 -0.248 0.0" />
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- <geometry>
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- <box size="0.34570312 0.18107724 0.3125" />
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- </geometry>
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- </collision> -->
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- </link>
147
- <link name="head_link1">
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- <inertial>
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- <origin rpy="0.0 0.0 0.0" xyz="0.0446068140025754 0.00241753143645124 0.0528373754603559"/>
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- <mass value="0.414342871921048"/>
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- <inertia ixx="0.000158695728344024" ixy="-1.04590928109554e-06" ixz="-6.58530903139189e-06" iyy="0.000117742864399469" iyz="-2.65011299996072e-06" izz="0.000170947040827065"/>
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- </inertial>
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- <visual>
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- <geometry>
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- <mesh filename="package://genie_robot_description/meshes/G1/head_link1.fbx"/>
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- </geometry>
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- <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
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- </visual>
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- </link>
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- <link name="head_link2">
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- <inertial>
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- <origin rpy="0.0 0.0 0.0" xyz="0.0257009265816389 0.0316254080188787 -3.77390122592164e-05"/>
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- <mass value="0.707063977171202"/>
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- <inertia ixx="0.00205409595373573" ixy="0.000347730118005016" ixz="-2.13857752451204e-06" iyy="0.00200357281313449" iyz="5.16150600423908e-08" izz="0.00184999028444405"/>
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- </inertial>
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- <visual>
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- <geometry>
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- <mesh filename="package://genie_robot_description/meshes/G1/head_link2.fbx"/>
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- </geometry>
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- <origin rpy="-3.141592653589793 0.0 0.0" xyz="0.0 0.0 0.0"/>
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- </visual>
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- <!-- <collision>
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- <geometry>
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- <sphere radius="0.11257068650657154" />
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- </geometry>
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- <origin
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- xyz="0.011500973396434619 -0.0252600143348118 0.0008537154007319386"
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- rpy="0.0 0.0 0.0" />
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- </collision> -->
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- </link>
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- <link name="arm_base_link"/>
182
- <link name="arm_l_base_link">
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- <inertial>
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- <origin rpy="0.0 0.0 0.0" xyz="-0.00020641 0.00057488 0.032296"/>
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- <mass value="0.37595"/>
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- <inertia ixx="0.00024335" ixy="1.2188e-06" ixz="-2.4281e-06" iyy="0.00024039" iyz="6.6932e-06" izz="0.00032195"/>
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- </inertial>
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- <visual>
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- <geometry>
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- <mesh filename="package://genie_robot_description/meshes/G1/arm_l_base_link.fbx"/>
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- </geometry>
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- <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
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- </visual>
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- <!-- <collision>
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- <geometry>
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- <cylinder radius="0.05426921699310094" length="0.09134995751082897" />
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- </geometry>
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- <origin
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- xyz="-0.0017106435846521925 0.0013720927967423996 0.02822502050548792"
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- rpy="0.0 0.0 0.0" />
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- </collision> -->
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- </link>
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- <link name="arm_r_base_link">
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- <inertial>
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- <origin rpy="0.0 0.0 0.0" xyz="0.00020641 -0.00057488 0.034396"/>
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- <mass value="0.37595"/>
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- <inertia ixx="0.00024335" ixy="1.2188e-06" ixz="2.4281e-06" iyy="0.00024039" iyz="-6.6932e-06" izz="0.00032195"/>
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- </inertial>
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- <visual>
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- <geometry>
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- <mesh filename="package://genie_robot_description/meshes/G1/arm_r_base_link.fbx"/>
212
- </geometry>
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- <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
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- </visual>
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- <!-- <collision>
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- <geometry>
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- <cylinder radius="0.05447215073540005" length="0.0913499565795064" />
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- </geometry>
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- <origin
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- xyz="0.001163549527588341 -0.0020492302944608923 0.030325019266456366"
221
- rpy="0.0 0.0 0.0" />
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- </collision> -->
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- </link>
224
- <!-- joints waist -->
225
- <joint name="idx01_body_joint1" type="prismatic">
226
- <parent link="base_link"/>
227
- <child link="body_link1"/>
228
- <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.6485"/>
229
- <axis xyz="0.0 0.0 1.0"/>
230
- <limit effort="100.0" lower="0.0" upper="0.55" velocity="0.1"/>
231
- </joint>
232
- <joint name="idx02_body_joint2" type="revolute">
233
- <parent link="body_link1"/>
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- <child link="body_link2"/>
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- <origin rpy="-1.5707963267948966 0.0 0.0" xyz="0.131 0.0 0.0"/>
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- <axis xyz="0.0 0.0 1.0"/>
237
- <limit effort="100.0" lower="0.0" upper="1.5707963267948966" velocity="0.5"/>
238
- </joint>
239
- <!-- joints head -->
240
- <joint name="idx11_head_joint1" type="revolute">
241
- <parent link="body_link2"/>
242
- <child link="head_link1"/>
243
- <origin rpy="1.5707963267948966 0.0 0.0" xyz="0.0 -0.441 0.0"/>
244
- <axis xyz="0.0 0.0 1.0"/>
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- <limit effort="50.0" lower="-1.5707963267948966" upper="1.5707963267948966" velocity="1.0"/>
246
- </joint>
247
- <joint name="idx12_head_joint2" type="revolute">
248
- <parent link="head_link1"/>
249
- <child link="head_link2"/>
250
- <origin rpy="-1.5707963267948966 0.0 0.0" xyz="0.050238 0.0 0.060065"/>
251
- <axis xyz="0.0 0.0 1.0"/>
252
- <limit effort="50.0" lower="-0.3490658503988659" upper="0.5235987755982988" velocity="1.0"/>
253
- </joint>
254
- <!-- joints arm base -->
255
- <joint name="idx10_arm_base_joint" type="fixed">
256
- <parent link="body_link2"/>
257
- <child link="arm_base_link"/>
258
- <origin rpy="1.5707963267948966 0.0 0.0" xyz="0.0 -0.305 0.0"/>
259
- <axis xyz="0.0 0.0 1.0"/>
260
- </joint>
261
- <joint name="idx11_arm_l_base_joint" type="fixed">
262
- <parent link="arm_base_link"/>
263
- <child link="arm_l_base_link"/>
264
- <origin rpy="-1.5707963267948966 0.0 0.0" xyz="0.0 0.025 0.0"/>
265
- <axis xyz="1.0 0.0 0.0"/>
266
- </joint>
267
- <joint name="idx12_arm_r_base_joint" type="fixed">
268
- <parent link="arm_base_link"/>
269
- <child link="arm_r_base_link"/>
270
- <origin rpy="-1.5707963267948966 0.0 3.141592653589793" xyz="0.0 -0.025 0.0"/>
271
- <axis xyz="1.0 0.0 0.0"/>
272
- </joint>
273
- <!-- properties -->
274
- <!-- links -->
275
- <link name="arm_l_link1">
276
- <inertial>
277
- <origin rpy="0 0 0" xyz="-0.0012655 -0.00043778 -0.018388"/>
278
- <mass value="0.4936"/>
279
- <inertia ixx="0.00075396" ixy="6.6935e-06" ixz="6.1141e-06" iyy="0.00065755" iyz="1.2196e-06" izz="0.00031848"/>
280
- </inertial>
281
- <visual>
282
- <origin rpy="0 0 0" xyz="0 0 0"/>
283
- <geometry>
284
- <mesh filename="package://genie_robot_description/meshes/G1/arm_l_link1.fbx"/>
285
- </geometry>
286
- <material name="white"/>
287
- </visual>
288
- <collision>
289
- <geometry>
290
- <cylinder length="0.16642063483595848" radius="0.05579268228774888"/>
291
- </geometry>
292
- <origin rpy="0.0 0.0 -1.2566370614359172" xyz="0.0026814433577366636 0.0006133775157398935 -0.04071124829351902"/>
293
- </collision>
294
- </link>
295
- <link name="arm_l_link2">
296
- <inertial>
297
- <origin rpy="0 0 0" xyz="5.3037e-05 -0.078258 0.0047084"/>
298
- <mass value="0.46245"/>
299
- <inertia ixx="0.00065719" ixy="3.7112e-07" ixz="-3.6668e-06" iyy="0.00043459" iyz="-2.517e-05" izz="0.00072571"/>
300
- </inertial>
301
- <visual>
302
- <origin rpy="0 0 0" xyz="0 0 0"/>
303
- <geometry>
304
- <mesh filename="package://genie_robot_description/meshes/G1/arm_l_link2.fbx"/>
305
- </geometry>
306
- <material name="white"/>
307
- </visual>
308
- <collision>
309
- <origin rpy="1.5707963267948966 0 0" xyz="0.0 -0.044062052 0.0009765625"/>
310
- <geometry>
311
- <cylinder length="0.18085919" radius="0.06302423"/>
312
- </geometry>
313
- </collision>
314
- </link>
315
- <link name="arm_l_link3">
316
- <inertial>
317
- <origin rpy="0 0 0" xyz="-0.0012032 0.0008714 -0.055265"/>
318
- <mass value="0.50026"/>
319
- <inertia ixx="0.0013016" ixy="3.1401e-06" ixz="1.4255e-05" iyy="0.001427" iyz="2.4361e-05" izz="0.00033587"/>
320
- </inertial>
321
- <visual>
322
- <origin rpy="0 0 0" xyz="0 0 0"/>
323
- <geometry>
324
- <mesh filename="package://genie_robot_description/meshes/G1/arm_l_link3.fbx"/>
325
- </geometry>
326
- <material name="white"/>
327
- </visual>
328
- <collision>
329
- <origin rpy="3.141592653589793 -1.2246467991473532e-16 2.5132741228718345" xyz="-0.002745052027917949 0.000636008250640886 -0.07223940640687943"/>
330
- <geometry>
331
- <cylinder length="0.22069887816905975" radius="0.05423258091998755"/>
332
- </geometry>
333
- </collision>
334
- </link>
335
- <link name="arm_l_link4">
336
- <inertial>
337
- <origin rpy="0 0 0" xyz="3.7035e-05 -0.06248 0.0025377"/>
338
- <mass value="0.27473"/>
339
- <inertia ixx="0.00029284" ixy="4.6615e-07" ixz="6.2359e-08" iyy="0.00018853" iyz="-1.1062e-06" izz="0.00031238"/>
340
- </inertial>
341
- <visual>
342
- <origin rpy="0 0 0" xyz="0 0 0"/>
343
- <geometry>
344
- <mesh filename="package://genie_robot_description/meshes/G1/arm_l_link4.fbx"/>
345
- </geometry>
346
- <material name="white"/>
347
- </visual>
348
- <collision>
349
- <origin rpy="1.5707963267948966 0 0" xyz="0.0 -0.03817895 -0.0043945312"/>
350
- <geometry>
351
- <cylinder length="0.154955404" radius="0.057891708"/>
352
- </geometry>
353
- </collision>
354
- </link>
355
- <link name="arm_l_link5">
356
- <inertial>
357
- <origin rpy="0 0 0" xyz="-7.9404e-07 -0.00023094 -0.024143"/>
358
- <mass value="0.25139"/>
359
- <inertia ixx="0.00023516" ixy="-1.3496e-09" ixz="-2.0314e-08" iyy="0.00028808" iyz="-1.2106e-05" izz="0.00013069"/>
360
- </inertial>
361
- <visual>
362
- <origin rpy="0 0 0" xyz="0 0 0"/>
363
- <geometry>
364
- <mesh filename="package://genie_robot_description/meshes/G1/arm_l_link5.fbx"/>
365
- </geometry>
366
- <material name="white"/>
367
- </visual>
368
- <collision>
369
- <origin rpy="0.0 0.0 -0.6283185307179586" xyz="0.00013161953185003987 -5.835551655943335e-05 -0.033305803313851357"/>
370
- <geometry>
371
- <cylinder length="0.13452399894595146" radius="0.045614576801007695"/>
372
- </geometry>
373
- </collision>
374
- </link>
375
- <link name="arm_l_link6">
376
- <inertial>
377
- <origin rpy="0 0 0" xyz="1.769e-06 -0.086692 0.0025571"/>
378
- <mass value="0.26634"/>
379
- <inertia ixx="0.00031434" ixy="-2.9254e-09" ixz="1.0017e-07" iyy="0.00014464" iyz="-2.0329e-05" izz="0.0003245"/>
380
- </inertial>
381
- <visual>
382
- <origin rpy="0 0 0" xyz="0 0 0"/>
383
- <geometry>
384
- <mesh filename="package://genie_robot_description/meshes/G1/arm_l_link6.fbx"/>
385
- </geometry>
386
- <material name="white"/>
387
- </visual>
388
- <collision>
389
- <origin rpy="-5.990089690983079e-19 -1.4805425285141327 -1.5677635369963552" xyz="0.0002549462426528953 -0.055477687883556816 -0.0019394332157672595"/>
390
- <geometry>
391
- <cylinder length="0.1816599826988493" radius="0.048507387167967514"/>
392
- </geometry>
393
- </collision>
394
- </link>
395
- <link name="arm_l_end_link">
396
- <inertial>
397
- <origin rpy="0 0 0" xyz="-7.5113e-05 -0.00024521 -0.016705"/>
398
- <mass value="0.06158"/>
399
- <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"/>
400
- </inertial>
401
- <visual>
402
- <origin rpy="0 0 0" xyz="0 0 0"/>
403
- <geometry>
404
- <mesh filename="package://genie_robot_description/meshes/G1/arm_l_link7.fbx"/>
405
- </geometry>
406
- <material name="white"/>
407
- </visual>
408
- <collision>
409
- <origin rpy="3.141592653589793 -1.2246467991473532e-16 3.141592653589793" xyz="-4.552953707661759e-05 -0.002300474691790042 -0.02249999972991645"/>
410
- <geometry>
411
- <cylinder length="0.045999998692423105" radius="0.030799950382754494"/>
412
- </geometry>
413
- </collision>
414
- </link>
415
- <!-- joints -->
416
- <joint name="idx21_arm_l_joint1" type="revolute">
417
- <parent link="arm_l_base_link"/>
418
- <child link="arm_l_link1"/>
419
- <origin rpy="0 0 0" xyz="0.0 0.0 0.1859"/>
420
- <axis xyz="0.0 0.0 1.0"/>
421
- <limit effort="60.0" lower="-3.14" upper="3.14" velocity="3.14"/>
422
- </joint>
423
- <joint name="idx22_arm_l_joint2" type="revolute">
424
- <parent link="arm_l_link1"/>
425
- <child link="arm_l_link2"/>
426
- <origin rpy="-1.5707963267948966 0.0 1.5707963267948966" xyz="0.0 0.0 0.0"/>
427
- <axis xyz="0.0 0.0 1.0"/>
428
- <limit effort="60.0" lower="-2.09" upper="1.48" velocity="3.14"/>
429
- </joint>
430
- <joint name="idx23_arm_l_joint3" type="revolute">
431
- <parent link="arm_l_link2"/>
432
- <child link="arm_l_link3"/>
433
- <origin rpy="-1.5707963267948966 1.5707963267948966 3.141592653589793" xyz="0.0 -0.305 0.0"/>
434
- <axis xyz="0.0 0.0 1.0"/>
435
- <limit effort="60.0" lower="-3.10" upper="3.10" velocity="3.14"/>
436
- </joint>
437
- <joint name="idx24_arm_l_joint4" type="revolute">
438
- <parent link="arm_l_link3"/>
439
- <child link="arm_l_link4"/>
440
- <origin rpy="-1.5707963267948966 0.0 3.141592653589793" xyz="0.0 0.0 0.0"/>
441
- <axis xyz="0.0 0.0 1.0"/>
442
- <limit effort="60.0" lower="-1.48" upper="1.48" velocity="3.14"/>
443
- </joint>
444
- <joint name="idx25_arm_l_joint5" type="revolute">
445
- <parent link="arm_l_link4"/>
446
- <child link="arm_l_link5"/>
447
- <origin rpy="-1.5707963267948966 0.0 -3.141592653589793" xyz="0.0 -0.1975 0.0"/>
448
- <axis xyz="0.0 0.0 1.0"/>
449
- <limit effort="30.0" lower="-3.10" upper="3.10" velocity="3.14"/>
450
- </joint>
451
- <joint name="idx26_arm_l_joint6" type="revolute">
452
- <parent link="arm_l_link5"/>
453
- <child link="arm_l_link6"/>
454
- <origin rpy="-1.5707963267948966 0.0 0.0" xyz="0.0 0.0 0.0"/>
455
- <axis xyz="0.0 0.0 1.0"/>
456
- <limit effort="30.0" lower="-1.74" upper="1.74" velocity="3.14"/>
457
- </joint>
458
- <joint name="idx27_arm_l_joint7" type="revolute">
459
- <origin rpy="1.5707963267948966 0.0 0.0" xyz="0.0 -0.1805 0.0"/>
460
- <parent link="arm_l_link6"/>
461
- <child link="arm_l_end_link"/>
462
- <axis xyz="0.0 0.0 1.0"/>
463
- <limit effort="30.0" lower="-3.10" upper="3.10" velocity="3.14"/>
464
- </joint>
465
- <!-- properties -->
466
- <!-- links -->
467
- <link name="arm_r_link1">
468
- <inertial>
469
- <origin rpy="0 0 0" xyz="0.0012679 -0.0001581 -0.018109"/>
470
- <mass value="0.4936"/>
471
- <inertia ixx="0.00075396" ixy="-2.4144e-06" ixz="-1.8364e-06" iyy="0.0006605" iyz="1.2174e-06" izz="0.00031553"/>
472
- </inertial>
473
- <visual>
474
- <origin rpy="0 0 0" xyz="0 0 0"/>
475
- <geometry>
476
- <mesh filename="package://genie_robot_description/meshes/G1/arm_r_link1.fbx"/>
477
- </geometry>
478
- <material name="white"/>
479
- </visual>
480
- <collision>
481
- <origin rpy="-3.141592653589793 -1.2246467991473535e-16 1.2566370614359175" xyz="0.00018724019569230644 -0.002004870648449318 -0.04071185737848282"/>
482
- <geometry>
483
- <cylinder length="0.16642716526985168" radius="0.0548390473201415"/>
484
- </geometry>
485
- </collision>
486
- </link>
487
- <link name="arm_r_link2">
488
- <inertial>
489
- <origin rpy="0 0 0" xyz="-0.00044207 -0.082298 0.00019486"/>
490
- <mass value="0.41662"/>
491
- <inertia ixx="0.00054592" ixy="4.7265e-06" ixz="2.4946e-06" iyy="0.00039507" iyz="-2.0629e-05" izz="0.00057791"/>
492
- </inertial>
493
- <visual>
494
- <origin rpy="0 0 0" xyz="0 0 0"/>
495
- <geometry>
496
- <mesh filename="package://genie_robot_description/meshes/G1/arm_r_link2.fbx"/>
497
- </geometry>
498
- <material name="white"/>
499
- </visual>
500
- <collision>
501
- <origin rpy="1.5707963267948966 0 0" xyz="0.0 -0.044062052 0.0009765625"/>
502
- <geometry>
503
- <cylinder length="0.18085919" radius="0.06302423"/>
504
- </geometry>
505
- </collision>
506
- </link>
507
- <link name="arm_r_link3">
508
- <inertial>
509
- <origin rpy="0 0 0" xyz="0.0010558 4.4416e-05 -0.056128"/>
510
- <mass value="0.49413"/>
511
- <inertia ixx="0.0013405" ixy="-6.8527e-07" ixz="-1.3381e-05" iyy="0.00142" iyz="2.8511e-05" izz="0.00037605"/>
512
- </inertial>
513
- <visual>
514
- <origin rpy="0 0 0" xyz="0 0 0"/>
515
- <geometry>
516
- <mesh filename="package://genie_robot_description/meshes/G1/arm_r_link3.fbx"/>
517
- </geometry>
518
- <material name="white"/>
519
- </visual>
520
- <collision>
521
- <origin rpy="0 0 0" xyz="0.0006559932284637068 -2.2628975236450855e-05 -0.07219303026795387"/>
522
- <geometry>
523
- <cylinder length="0.22061403840780258" radius="0.05216156143823925"/>
524
- </geometry>
525
- </collision>
526
- </link>
527
- <link name="arm_r_link4">
528
- <inertial>
529
- <origin rpy="0 0 0" xyz="2.4212e-05 -0.06248 0.002536"/>
530
- <mass value="0.27473"/>
531
- <inertia ixx="0.00029283" ixy="4.5586e-07" ixz="5.8042e-08" iyy="0.00018852" iyz="-1.116e-06" izz="0.00031238"/>
532
- </inertial>
533
- <visual>
534
- <origin rpy="0 0 0" xyz="0 0 0"/>
535
- <geometry>
536
- <mesh filename="package://genie_robot_description/meshes/G1/arm_r_link4.fbx"/>
537
- </geometry>
538
- <material name="white"/>
539
- </visual>
540
- <collision>
541
- <origin rpy="1.5707963267948966 0 0" xyz="0.0 -0.03817895 -0.0043945312"/>
542
- <geometry>
543
- <cylinder length="0.154955404" radius="0.057891708"/>
544
- </geometry>
545
- </collision>
546
- </link>
547
- <link name="arm_r_link5">
548
- <inertial>
549
- <origin rpy="0 0 0" xyz="2.6223e-06 -0.00023041 -0.024141"/>
550
- <mass value="0.25139"/>
551
- <inertia ixx="0.00023516" ixy="-6.5868e-09" ixz="-1.9428e-08" iyy="0.00028807" iyz="-1.2108e-05" izz="0.00013068"/>
552
- </inertial>
553
- <visual>
554
- <origin rpy="0 0 0" xyz="0 0 0"/>
555
- <geometry>
556
- <mesh filename="package://genie_robot_description/meshes/G1/arm_r_link5.fbx"/>
557
- </geometry>
558
- <material name="white"/>
559
- </visual>
560
- <collision>
561
- <origin rpy="0 0 0" xyz="-0.00022255510134868567 -4.227476414728204e-05 -0.03344946540892124"/>
562
- <geometry>
563
- <cylinder length="0.13423806056380272" radius="0.04562028545392604"/>
564
- </geometry>
565
- </collision>
566
- </link>
567
- <link name="arm_r_link6">
568
- <inertial>
569
- <origin rpy="0 0 0" xyz="5.0382e-06 -0.086696 0.002556"/>
570
- <mass value="0.26634"/>
571
- <inertia ixx="0.00031434" ixy="-1.2113e-09" ixz="1.0011e-07" iyy="0.00014464" iyz="-2.033e-05" izz="0.00032449"/>
572
- </inertial>
573
- <visual>
574
- <origin rpy="0 0 0" xyz="0 0 0"/>
575
- <geometry>
576
- <mesh filename="package://genie_robot_description/meshes/G1/arm_r_link6.fbx"/>
577
- </geometry>
578
- <material name="white"/>
579
- </visual>
580
- <collision>
581
- <origin rpy="0.0 -1.4835107730827122 -1.56897465223053" xyz="-1.7782549414354032e-05 -0.05507596972928094 -0.0017447156928267265"/>
582
- <geometry>
583
- <cylinder length="0.18272488500982115" radius="0.04857149291994264"/>
584
- </geometry>
585
- </collision>
586
- </link>
587
- <link name="arm_r_end_link">
588
- <inertial>
589
- <origin rpy="0 0 0" xyz="-7.5134e-05 -0.00024521 -0.016705"/>
590
- <mass value="0.06158"/>
591
- <inertia ixx="1.8407e-05" ixy="3.4818e-08" ixz="-3.2902e-09" iyy="1.818e-05" iyz="1.1326e-07" izz="2.8547e-05"/>
592
- </inertial>
593
- <visual>
594
- <origin rpy="0 0 0" xyz="0 0 0"/>
595
- <geometry>
596
- <mesh filename="package://genie_robot_description/meshes/G1/arm_r_link7.fbx"/>
597
- </geometry>
598
- <material name="white"/>
599
- </visual>
600
- <collision>
601
- <origin rpy="3.141592653589793 -1.2246467991473532e-16 3.141592653589793" xyz="-4.552953707661759e-05 -0.002300474691790042 -0.02249999972991645"/>
602
- <geometry>
603
- <cylinder length="0.045999998692423105" radius="0.030799950382754494"/>
604
- </geometry>
605
- </collision>
606
- </link>
607
- <!-- joints -->
608
- <joint name="idx61_arm_r_joint1" type="revolute">
609
- <parent link="arm_r_base_link"/>
610
- <child link="arm_r_link1"/>
611
- <origin rpy="0 0 0" xyz="0.0 0.0 0.188"/>
612
- <axis xyz="0.0 0.0 1.0"/>
613
- <limit effort="60.0" lower="-3.14" upper="3.14" velocity="3.14"/>
614
- </joint>
615
- <joint name="idx62_arm_r_joint2" type="revolute">
616
- <parent link="arm_r_link1"/>
617
- <child link="arm_r_link2"/>
618
- <origin rpy="-1.5707963267948966 0.0 -1.5707963267948966" xyz="0.0 0.0 0.0"/>
619
- <axis xyz="0.0 0.0 1.0"/>
620
- <limit effort="60.0" lower="-1.48" upper="2.09" velocity="3.14"/>
621
- </joint>
622
- <joint name="idx63_arm_r_joint3" type="revolute">
623
- <parent link="arm_r_link2"/>
624
- <child link="arm_r_link3"/>
625
- <origin rpy="-1.5707963267948966 -1.5707963267948966 3.141592653589793" xyz="0.0 -0.305 0.0"/>
626
- <axis xyz="0.0 0.0 1.0"/>
627
- <limit effort="60.0" lower="-3.10" upper="3.10" velocity="3.14"/>
628
- </joint>
629
- <joint name="idx64_arm_r_joint4" type="revolute">
630
- <parent link="arm_r_link3"/>
631
- <child link="arm_r_link4"/>
632
- <origin rpy="-1.5707963267948966 0.0 3.141592653589793" xyz="0.0 0.0 0.0"/>
633
- <axis xyz="0.0 0.0 1.0"/>
634
- <limit effort="60.0" lower="-1.48" upper="1.48" velocity="3.14"/>
635
- </joint>
636
- <joint name="idx65_arm_r_joint5" type="revolute">
637
- <parent link="arm_r_link4"/>
638
- <child link="arm_r_link5"/>
639
- <origin rpy="-1.5707963267948966 0.0 -3.141592653589793" xyz="0.0 -0.1975 0.0"/>
640
- <axis xyz="0.0 0.0 1.0"/>
641
- <limit effort="30.0" lower="-3.10" upper="3.10" velocity="3.14"/>
642
- </joint>
643
- <joint name="idx66_arm_r_joint6" type="revolute">
644
- <parent link="arm_r_link5"/>
645
- <child link="arm_r_link6"/>
646
- <origin rpy="-1.5707963267948966 0.0 0.0" xyz="0.0 0.0 0.0"/>
647
- <axis xyz="0.0 0.0 1.0"/>
648
- <limit effort="30.0" lower="-1.74" upper="1.74" velocity="3.14"/>
649
- </joint>
650
- <joint name="idx67_arm_r_joint7" type="revolute">
651
- <origin rpy="1.5707963267948966 0.0 0.0" xyz="0.0 -0.1805 0.0"/>
652
- <parent link="arm_r_link6"/>
653
- <child link="arm_r_end_link"/>
654
- <axis xyz="0.0 0.0 1.0"/>
655
- <limit effort="30.0" lower="-3.10" upper="3.10" velocity="3.14"/>
656
- </joint>
657
- <!-- Gripper L-->
658
- <link name="gripper_l_base_link">
659
- <inertial>
660
- <origin rpy="0 0 0" xyz="-0.00013356 1.5301E-05 0.03322"/>
661
- <mass value="0.23588"/>
662
- <inertia ixx="8.1548E-05" ixy="-1.2617E-08" ixz="-2.05E-07" iyy="5.6921E-05" iyz="6.6903E-08" izz="7.1611E-05"/>
663
- </inertial>
664
- <visual>
665
- <origin rpy="0 0 0" xyz="0 0 0"/>
666
- <geometry>
667
- <mesh filename="package://genie_robot_description/meshes/omnipicker/gripper_base_link.dae"/>
668
- </geometry>
669
- <!-- <material name="white" /> -->
670
- </visual>
671
- <collision>
672
- <origin rpy="0 0 0" xyz="0 0 0"/>
673
- <geometry>
674
- <mesh filename="package://genie_robot_description/meshes/omnipicker/gripper_base_link.dae"/>
675
- </geometry>
676
- </collision>
677
- </link>
678
- <link name="gripper_l_inner_link1">
679
- <inertial>
680
- <origin rpy="0 0 0" xyz="0.0094685 0.0068806 6.5437E-05"/>
681
- <mass value="0.025428"/>
682
- <inertia ixx="1.9574E-06" ixy="-4.2911E-07" ixz="-3.7111E-11" iyy="2.3919E-06" iyz="-3.008E-10" izz="1.5501E-06"/>
683
- </inertial>
684
- <visual>
685
- <origin rpy="0 0 0" xyz="0 0 0"/>
686
- <geometry>
687
- <mesh filename="package://genie_robot_description/meshes/omnipicker/inner_link1.dae"/>
688
- </geometry>
689
- <!-- <material name="orange" /> -->
690
- </visual>
691
- <collision>
692
- <origin rpy="0 0 0" xyz="0 0 0"/>
693
- <geometry>
694
- <mesh filename="package://genie_robot_description/meshes/omnipicker/inner_link1.dae"/>
695
- </geometry>
696
- </collision>
697
- </link>
698
- <joint name="idx31_gripper_l_inner_joint1" type="revolute">
699
- <origin rpy="-2.9951 -1.5707963267948966 -0.15964" xyz="0 -0.0195 0.0565"/>
700
- <parent link="gripper_l_base_link"/>
701
- <child link="gripper_l_inner_link1"/>
702
- <axis xyz="0 0 -1"/>
703
- <limit effort="10" lower="-0.7853981633974483" upper="0" velocity="10"/>
704
- <mimic joint="idx41_gripper_l_outer_joint1" multiplier="-1" offset="0"/>
705
- </joint>
706
- <link name="gripper_l_inner_link3">
707
- <inertial>
708
- <origin rpy="0 0 0" xyz="0.0088027 -0.007035 1.6424E-05"/>
709
- <mass value="0.0040132"/>
710
- <inertia ixx="1.0307E-07" ixy="5.7851E-08" ixz="9.5801E-11" iyy="1.1385E-07" iyz="-2.81E-11" izz="1.7009E-07"/>
711
- </inertial>
712
- <visual>
713
- <origin rpy="0 0 0" xyz="0 0 0"/>
714
- <geometry>
715
- <mesh filename="package://genie_robot_description/meshes/omnipicker/inner_link3.dae"/>
716
- </geometry>
717
- <!-- <material name="green" /> -->
718
- </visual>
719
- <collision>
720
- <origin rpy="0 0 0" xyz="0 0 0"/>
721
- <geometry>
722
- <mesh filename="package://genie_robot_description/meshes/omnipicker/inner_link3.dae"/>
723
- </geometry>
724
- </collision>
725
- </link>
726
- <joint name="idx32_gripper_l_inner_joint3" type="revolute">
727
- <origin rpy="0 0 0" xyz="0.030852 0.018551 0"/>
728
- <parent link="gripper_l_inner_link1"/>
729
- <child link="gripper_l_inner_link3"/>
730
- <axis xyz="0 0 -1"/>
731
- <limit effort="10" lower="-2" upper="2" velocity="10"/>
732
- </joint>
733
- <link name="gripper_l_inner_link4">
734
- <inertial>
735
- <origin rpy="0 0 0" xyz="0.012508 -0.0079729 9.4339E-05"/>
736
- <mass value="0.018029"/>
737
- <inertia ixx="1.1403E-06" ixy="5.5159E-07" ixz="-4.0096E-13" iyy="2.5704E-06" iyz="1.0951E-12" izz="2.3252E-06"/>
738
- </inertial>
739
- <visual>
740
- <origin rpy="0 0 0" xyz="0 0 0"/>
741
- <geometry>
742
- <mesh filename="package://genie_robot_description/meshes/omnipicker/inner_link4.dae"/>
743
- </geometry>
744
- <!-- <material name="white" /> -->
745
- </visual>
746
- <collision>
747
- <origin rpy="0 0 0" xyz="0 0 0"/>
748
- <geometry>
749
- <mesh filename="package://genie_robot_description/meshes/omnipicker/inner_link4.dae"/>
750
- </geometry>
751
- </collision>
752
- </link>
753
- <joint name="idx33_gripper_l_inner_joint4" type="revolute">
754
- <origin rpy="0 0 0" xyz="0.018118 -0.01574 0"/>
755
- <parent link="gripper_l_inner_link3"/>
756
- <child link="gripper_l_inner_link4"/>
757
- <axis xyz="0 0 -1"/>
758
- <limit effort="10" lower="-2" upper="2" velocity="10"/>
759
- </joint>
760
- <link name="gripper_l_inner_link2">
761
- <inertial>
762
- <origin rpy="0 0 0" xyz="0.014869 -0.0036066 0.00029307"/>
763
- <mass value="0.022591"/>
764
- <inertia ixx="4.3916E-06" ixy="1.114E-07" ixz="-4.9655E-12" iyy="4.737E-06" iyz="1.7121E-11" izz="6.0445E-07"/>
765
- </inertial>
766
- <visual>
767
- <origin rpy="0 0 0" xyz="0 0 0"/>
768
- <geometry>
769
- <mesh filename="package://genie_robot_description/meshes/omnipicker/inner_link2.dae"/>
770
- </geometry>
771
- <!-- <material name="blue" /> -->
772
- </visual>
773
- <collision>
774
- <origin rpy="0 0 0" xyz="0 0 0"/>
775
- <geometry>
776
- <mesh filename="package://genie_robot_description/meshes/omnipicker/inner_link2.dae"/>
777
- </geometry>
778
- </collision>
779
- </link>
780
- <joint name="idx39_gripper_l_inner_joint2" type="revolute">
781
- <origin rpy="-2.9951 -1.5707963267948966 -0.15964" xyz="0 -0.021633 0.07387"/>
782
- <parent link="gripper_l_base_link"/>
783
- <child link="gripper_l_inner_link2"/>
784
- <axis xyz="0 0 -1"/>
785
- <limit effort="10" lower="-2" upper="2" velocity="10"/>
786
- </joint>
787
- <link name="gripper_l_outer_link1">
788
- <inertial>
789
- <origin rpy="0 0 0" xyz="0.0095051 -0.0068479 6.8268E-05"/>
790
- <mass value="0.025428"/>
791
- <inertia ixx="1.9565E-06" ixy="4.2798E-07" ixz="2.3844E-10" iyy="2.3928E-06" iyz="-1.4454E-10" izz="1.5501E-06"/>
792
- </inertial>
793
- <visual>
794
- <origin rpy="0 0 0" xyz="0 0 0"/>
795
- <geometry>
796
- <mesh filename="package://genie_robot_description/meshes/omnipicker/outer_link1.dae"/>
797
- </geometry>
798
- <!-- <material name="orange" /> -->
799
- </visual>
800
- <collision>
801
- <origin rpy="0 0 0" xyz="0 0 0"/>
802
- <geometry>
803
- <mesh filename="package://genie_robot_description/meshes/omnipicker/outer_link1.dae"/>
804
- </geometry>
805
- </collision>
806
- </link>
807
- <joint name="idx41_gripper_l_outer_joint1" type="revolute">
808
- <origin rpy="-2.9951 -1.5707963267948966 -0.15964" xyz="0 0.0195 0.0565"/>
809
- <parent link="gripper_l_base_link"/>
810
- <child link="gripper_l_outer_link1"/>
811
- <axis xyz="0 0 -1"/>
812
- <limit effort="10" lower="0" upper="0.7853981633974483" velocity="10"/>
813
- </joint>
814
- <link name="gripper_l_outer_link3">
815
- <inertial>
816
- <origin rpy="0 0 0" xyz="0.0088027 0.007035 -1.6424E-05"/>
817
- <mass value="0.0040132"/>
818
- <inertia ixx="1.0307E-07" ixy="-5.7851E-08" ixz="-9.58E-11" iyy="1.1385E-07" iyz="-2.81E-11" izz="1.7009E-07"/>
819
- </inertial>
820
- <visual>
821
- <origin rpy="0 0 0" xyz="0 0 0"/>
822
- <geometry>
823
- <mesh filename="package://genie_robot_description/meshes/omnipicker/outer_link3.dae"/>
824
- </geometry>
825
- <!-- <material name="green" /> -->
826
- </visual>
827
- <collision>
828
- <origin rpy="0 0 0" xyz="0 0 0"/>
829
- <geometry>
830
- <mesh filename="package://genie_robot_description/meshes/omnipicker/outer_link3.dae"/>
831
- </geometry>
832
- </collision>
833
- </link>
834
- <joint name="idx42_gripper_l_outer_joint3" type="revolute">
835
- <origin rpy="0 0 0" xyz="0.030852 -0.018551 0"/>
836
- <parent link="gripper_l_outer_link1"/>
837
- <child link="gripper_l_outer_link3"/>
838
- <axis xyz="0 0 -1"/>
839
- <limit effort="10" lower="-2" upper="2" velocity="10"/>
840
- </joint>
841
- <link name="gripper_l_outer_link4">
842
- <inertial>
843
- <origin rpy="0 0 0" xyz="0.016206 0.0094593 4.7668E-05"/>
844
- <mass value="0.035835"/>
845
- <inertia ixx="8.5056E-06" ixy="-1.1363E-06" ixz="-4.2908E-11" iyy="1.1235E-05" iyz="-2.9251E-11" izz="4.6309E-06"/>
846
- </inertial>
847
- <visual>
848
- <origin rpy="0 0 0" xyz="0 0 0"/>
849
- <geometry>
850
- <mesh filename="package://genie_robot_description/meshes/omnipicker/outer_link4.dae"/>
851
- </geometry>
852
- <!-- <material name="white" /> -->
853
- </visual>
854
- <collision>
855
- <origin rpy="0 0 0" xyz="0 0 0"/>
856
- <geometry>
857
- <mesh filename="package://genie_robot_description/meshes/omnipicker/outer_link4.dae"/>
858
- </geometry>
859
- </collision>
860
- </link>
861
- <joint name="idx43_gripper_l_outer_joint4" type="revolute">
862
- <origin rpy="0 0 0" xyz="0.018118 0.01574 0"/>
863
- <parent link="gripper_l_outer_link3"/>
864
- <child link="gripper_l_outer_link4"/>
865
- <axis xyz="0 0 -1"/>
866
- <limit effort="10" lower="-2" upper="2" velocity="10"/>
867
- </joint>
868
- <link name="gripper_l_outer_link2">
869
- <inertial>
870
- <origin rpy="0 0 0" xyz="0.016268 0.0040555 0.00030323"/>
871
- <mass value="0.025142"/>
872
- <inertia ixx="5.887E-06" ixy="-1.1234E-07" ixz="2.1954E-11" iyy="6.236E-06" iyz="-9.473E-12" izz="6.2389E-07"/>
873
- </inertial>
874
- <visual>
875
- <origin rpy="0 0 0" xyz="0 0 0"/>
876
- <geometry>
877
- <mesh filename="package://genie_robot_description/meshes/omnipicker/outer_link2.dae"/>
878
- </geometry>
879
- <!-- <material name="blue" /> -->
880
- </visual>
881
- <collision>
882
- <origin rpy="0 0 0" xyz="0 0 0"/>
883
- <geometry>
884
- <mesh filename="package://genie_robot_description/meshes/omnipicker/outer_link2.dae"/>
885
- </geometry>
886
- </collision>
887
- </link>
888
- <joint name="idx49_gripper_l_outer_joint2" type="revolute">
889
- <origin rpy="-2.9951 -1.5707963267948966 -0.15964" xyz="0 0.021633 0.07387"/>
890
- <parent link="gripper_l_base_link"/>
891
- <child link="gripper_l_outer_link2"/>
892
- <axis xyz="0 0 -1"/>
893
- <limit effort="10" lower="-2" upper="2" velocity="10"/>
894
- </joint>
895
- <!-- Gripper Connector -->
896
- <joint name="idx51_ee_l_joint" type="fixed">
897
- <origin rpy="0 0 1.5707963267948966" xyz="0 0 0"/>
898
- <parent link="arm_l_end_link"/>
899
- <child link="gripper_l_base_link"/>
900
- <axis xyz="0 0 0"/>
901
- </joint>
902
- <link name="gripper_l_center_link">
903
- </link>
904
- <joint name="idx52_gripper_l_center_joint" type="fixed">
905
- <origin rpy="0 0 -1.5707963267948966" xyz="0.0 0.0 0.14308"/>
906
- <parent link="gripper_l_base_link"/>
907
- <child link="gripper_l_center_link"/>
908
- </joint>
909
- <!-- Gripper Finger Close-loop Structure -->
910
- <loop_joint name="idx53_gripper_l_outer_joint0" type="spherical">
911
- <link1 link="gripper_l_outer_link2" rpy="0 0 0" xyz="0.03123003 0.010280428 0"/>
912
- <link2 link="gripper_l_outer_link4" rpy="0 0 0" xyz="0 0.010280428 0"/>
913
- <axis xyz="0 0 1"/>
914
- </loop_joint>
915
- <loop_joint name="idx54_gripper_l_inner_joint0" type="spherical">
916
- <link1 link="gripper_l_inner_link2" rpy="0 0 0" xyz="0.03123003 -0.010280428 0"/>
917
- <link2 link="gripper_l_inner_link4" rpy="0 0 0" xyz="0 -0.010280428 0"/>
918
- <axis xyz="0 0 1"/>
919
- </loop_joint>
920
- <!-- Gripper R-->
921
- <link name="gripper_r_base_link">
922
- <inertial>
923
- <origin rpy="0 0 0" xyz="-0.00013356 1.5301E-05 0.03322"/>
924
- <mass value="0.23588"/>
925
- <inertia ixx="8.1548E-05" ixy="-1.2617E-08" ixz="-2.05E-07" iyy="5.6921E-05" iyz="6.6903E-08" izz="7.1611E-05"/>
926
- </inertial>
927
- <visual>
928
- <origin rpy="0 0 0" xyz="0 0 0"/>
929
- <geometry>
930
- <mesh filename="package://genie_robot_description/meshes/omnipicker/gripper_base_link.dae"/>
931
- </geometry>
932
- <!-- <material name="white" /> -->
933
- </visual>
934
- <collision>
935
- <origin rpy="0 0 0" xyz="0 0 0"/>
936
- <geometry>
937
- <mesh filename="package://genie_robot_description/meshes/omnipicker/gripper_base_link.dae"/>
938
- </geometry>
939
- </collision>
940
- </link>
941
- <link name="gripper_r_inner_link1">
942
- <inertial>
943
- <origin rpy="0 0 0" xyz="0.0094685 0.0068806 6.5437E-05"/>
944
- <mass value="0.025428"/>
945
- <inertia ixx="1.9574E-06" ixy="-4.2911E-07" ixz="-3.7111E-11" iyy="2.3919E-06" iyz="-3.008E-10" izz="1.5501E-06"/>
946
- </inertial>
947
- <visual>
948
- <origin rpy="0 0 0" xyz="0 0 0"/>
949
- <geometry>
950
- <mesh filename="package://genie_robot_description/meshes/omnipicker/inner_link1.dae"/>
951
- </geometry>
952
- <!-- <material name="orange" /> -->
953
- </visual>
954
- <collision>
955
- <origin rpy="0 0 0" xyz="0 0 0"/>
956
- <geometry>
957
- <mesh filename="package://genie_robot_description/meshes/omnipicker/inner_link1.dae"/>
958
- </geometry>
959
- </collision>
960
- </link>
961
- <joint name="idx71_gripper_r_inner_joint1" type="revolute">
962
- <origin rpy="-2.9951 -1.5707963267948966 -0.15964" xyz="0 -0.0195 0.0565"/>
963
- <parent link="gripper_r_base_link"/>
964
- <child link="gripper_r_inner_link1"/>
965
- <axis xyz="0 0 -1"/>
966
- <limit effort="10" lower="-0.7853981633974483" upper="0" velocity="10"/>
967
- <mimic joint="idx81_gripper_r_outer_joint1" multiplier="-1" offset="0"/>
968
- </joint>
969
- <link name="gripper_r_inner_link3">
970
- <inertial>
971
- <origin rpy="0 0 0" xyz="0.0088027 -0.007035 1.6424E-05"/>
972
- <mass value="0.0040132"/>
973
- <inertia ixx="1.0307E-07" ixy="5.7851E-08" ixz="9.5801E-11" iyy="1.1385E-07" iyz="-2.81E-11" izz="1.7009E-07"/>
974
- </inertial>
975
- <visual>
976
- <origin rpy="0 0 0" xyz="0 0 0"/>
977
- <geometry>
978
- <mesh filename="package://genie_robot_description/meshes/omnipicker/inner_link3.dae"/>
979
- </geometry>
980
- <!-- <material name="green" /> -->
981
- </visual>
982
- <collision>
983
- <origin rpy="0 0 0" xyz="0 0 0"/>
984
- <geometry>
985
- <mesh filename="package://genie_robot_description/meshes/omnipicker/inner_link3.dae"/>
986
- </geometry>
987
- </collision>
988
- </link>
989
- <joint name="idx72_gripper_r_inner_joint3" type="revolute">
990
- <origin rpy="0 0 0" xyz="0.030852 0.018551 0"/>
991
- <parent link="gripper_r_inner_link1"/>
992
- <child link="gripper_r_inner_link3"/>
993
- <axis xyz="0 0 -1"/>
994
- <limit effort="10" lower="-2" upper="2" velocity="10"/>
995
- </joint>
996
- <link name="gripper_r_inner_link4">
997
- <inertial>
998
- <origin rpy="0 0 0" xyz="0.012508 -0.0079729 9.4339E-05"/>
999
- <mass value="0.018029"/>
1000
- <inertia ixx="1.1403E-06" ixy="5.5159E-07" ixz="-4.0096E-13" iyy="2.5704E-06" iyz="1.0951E-12" izz="2.3252E-06"/>
1001
- </inertial>
1002
- <visual>
1003
- <origin rpy="0 0 0" xyz="0 0 0"/>
1004
- <geometry>
1005
- <mesh filename="package://genie_robot_description/meshes/omnipicker/inner_link4.dae"/>
1006
- </geometry>
1007
- <!-- <material name="white" /> -->
1008
- </visual>
1009
- <collision>
1010
- <origin rpy="0 0 0" xyz="0 0 0"/>
1011
- <geometry>
1012
- <mesh filename="package://genie_robot_description/meshes/omnipicker/inner_link4.dae"/>
1013
- </geometry>
1014
- </collision>
1015
- </link>
1016
- <joint name="idx73_gripper_r_inner_joint4" type="revolute">
1017
- <origin rpy="0 0 0" xyz="0.018118 -0.01574 0"/>
1018
- <parent link="gripper_r_inner_link3"/>
1019
- <child link="gripper_r_inner_link4"/>
1020
- <axis xyz="0 0 -1"/>
1021
- <limit effort="10" lower="-2" upper="2" velocity="10"/>
1022
- </joint>
1023
- <link name="gripper_r_inner_link2">
1024
- <inertial>
1025
- <origin rpy="0 0 0" xyz="0.014869 -0.0036066 0.00029307"/>
1026
- <mass value="0.022591"/>
1027
- <inertia ixx="4.3916E-06" ixy="1.114E-07" ixz="-4.9655E-12" iyy="4.737E-06" iyz="1.7121E-11" izz="6.0445E-07"/>
1028
- </inertial>
1029
- <visual>
1030
- <origin rpy="0 0 0" xyz="0 0 0"/>
1031
- <geometry>
1032
- <mesh filename="package://genie_robot_description/meshes/omnipicker/inner_link2.dae"/>
1033
- </geometry>
1034
- <!-- <material name="blue" /> -->
1035
- </visual>
1036
- <collision>
1037
- <origin rpy="0 0 0" xyz="0 0 0"/>
1038
- <geometry>
1039
- <mesh filename="package://genie_robot_description/meshes/omnipicker/inner_link2.dae"/>
1040
- </geometry>
1041
- </collision>
1042
- </link>
1043
- <joint name="idx79_gripper_r_inner_joint2" type="revolute">
1044
- <origin rpy="-2.9951 -1.5707963267948966 -0.15964" xyz="0 -0.021633 0.07387"/>
1045
- <parent link="gripper_r_base_link"/>
1046
- <child link="gripper_r_inner_link2"/>
1047
- <axis xyz="0 0 -1"/>
1048
- <limit effort="10" lower="-2" upper="2" velocity="10"/>
1049
- </joint>
1050
- <link name="gripper_r_outer_link1">
1051
- <inertial>
1052
- <origin rpy="0 0 0" xyz="0.0095051 -0.0068479 6.8268E-05"/>
1053
- <mass value="0.025428"/>
1054
- <inertia ixx="1.9565E-06" ixy="4.2798E-07" ixz="2.3844E-10" iyy="2.3928E-06" iyz="-1.4454E-10" izz="1.5501E-06"/>
1055
- </inertial>
1056
- <visual>
1057
- <origin rpy="0 0 0" xyz="0 0 0"/>
1058
- <geometry>
1059
- <mesh filename="package://genie_robot_description/meshes/omnipicker/outer_link1.dae"/>
1060
- </geometry>
1061
- <!-- <material name="orange" /> -->
1062
- </visual>
1063
- <collision>
1064
- <origin rpy="0 0 0" xyz="0 0 0"/>
1065
- <geometry>
1066
- <mesh filename="package://genie_robot_description/meshes/omnipicker/outer_link1.dae"/>
1067
- </geometry>
1068
- </collision>
1069
- </link>
1070
- <joint name="idx81_gripper_r_outer_joint1" type="revolute">
1071
- <origin rpy="-2.9951 -1.5707963267948966 -0.15964" xyz="0 0.0195 0.0565"/>
1072
- <parent link="gripper_r_base_link"/>
1073
- <child link="gripper_r_outer_link1"/>
1074
- <axis xyz="0 0 -1"/>
1075
- <limit effort="10" lower="0" upper="0.7853981633974483" velocity="10"/>
1076
- </joint>
1077
- <link name="gripper_r_outer_link3">
1078
- <inertial>
1079
- <origin rpy="0 0 0" xyz="0.0088027 0.007035 -1.6424E-05"/>
1080
- <mass value="0.0040132"/>
1081
- <inertia ixx="1.0307E-07" ixy="-5.7851E-08" ixz="-9.58E-11" iyy="1.1385E-07" iyz="-2.81E-11" izz="1.7009E-07"/>
1082
- </inertial>
1083
- <visual>
1084
- <origin rpy="0 0 0" xyz="0 0 0"/>
1085
- <geometry>
1086
- <mesh filename="package://genie_robot_description/meshes/omnipicker/outer_link3.dae"/>
1087
- </geometry>
1088
- <!-- <material name="green" /> -->
1089
- </visual>
1090
- <collision>
1091
- <origin rpy="0 0 0" xyz="0 0 0"/>
1092
- <geometry>
1093
- <mesh filename="package://genie_robot_description/meshes/omnipicker/outer_link3.dae"/>
1094
- </geometry>
1095
- </collision>
1096
- </link>
1097
- <joint name="idx82_gripper_r_outer_joint3" type="revolute">
1098
- <origin rpy="0 0 0" xyz="0.030852 -0.018551 0"/>
1099
- <parent link="gripper_r_outer_link1"/>
1100
- <child link="gripper_r_outer_link3"/>
1101
- <axis xyz="0 0 -1"/>
1102
- <limit effort="10" lower="-2" upper="2" velocity="10"/>
1103
- </joint>
1104
- <link name="gripper_r_outer_link4">
1105
- <inertial>
1106
- <origin rpy="0 0 0" xyz="0.016206 0.0094593 4.7668E-05"/>
1107
- <mass value="0.035835"/>
1108
- <inertia ixx="8.5056E-06" ixy="-1.1363E-06" ixz="-4.2908E-11" iyy="1.1235E-05" iyz="-2.9251E-11" izz="4.6309E-06"/>
1109
- </inertial>
1110
- <visual>
1111
- <origin rpy="0 0 0" xyz="0 0 0"/>
1112
- <geometry>
1113
- <mesh filename="package://genie_robot_description/meshes/omnipicker/outer_link4.dae"/>
1114
- </geometry>
1115
- <!-- <material name="white" /> -->
1116
- </visual>
1117
- <collision>
1118
- <origin rpy="0 0 0" xyz="0 0 0"/>
1119
- <geometry>
1120
- <mesh filename="package://genie_robot_description/meshes/omnipicker/outer_link4.dae"/>
1121
- </geometry>
1122
- </collision>
1123
- </link>
1124
- <joint name="idx83_gripper_r_outer_joint4" type="revolute">
1125
- <origin rpy="0 0 0" xyz="0.018118 0.01574 0"/>
1126
- <parent link="gripper_r_outer_link3"/>
1127
- <child link="gripper_r_outer_link4"/>
1128
- <axis xyz="0 0 -1"/>
1129
- <limit effort="10" lower="-2" upper="2" velocity="10"/>
1130
- </joint>
1131
- <link name="gripper_r_outer_link2">
1132
- <inertial>
1133
- <origin rpy="0 0 0" xyz="0.016268 0.0040555 0.00030323"/>
1134
- <mass value="0.025142"/>
1135
- <inertia ixx="5.887E-06" ixy="-1.1234E-07" ixz="2.1954E-11" iyy="6.236E-06" iyz="-9.473E-12" izz="6.2389E-07"/>
1136
- </inertial>
1137
- <visual>
1138
- <origin rpy="0 0 0" xyz="0 0 0"/>
1139
- <geometry>
1140
- <mesh filename="package://genie_robot_description/meshes/omnipicker/outer_link2.dae"/>
1141
- </geometry>
1142
- <!-- <material name="blue" /> -->
1143
- </visual>
1144
- <collision>
1145
- <origin rpy="0 0 0" xyz="0 0 0"/>
1146
- <geometry>
1147
- <mesh filename="package://genie_robot_description/meshes/omnipicker/outer_link2.dae"/>
1148
- </geometry>
1149
- </collision>
1150
- </link>
1151
- <joint name="idx89_gripper_r_outer_joint2" type="revolute">
1152
- <origin rpy="-2.9951 -1.5707963267948966 -0.15964" xyz="0 0.021633 0.07387"/>
1153
- <parent link="gripper_r_base_link"/>
1154
- <child link="gripper_r_outer_link2"/>
1155
- <axis xyz="0 0 -1"/>
1156
- <limit effort="10" lower="-2" upper="2" velocity="10"/>
1157
- </joint>
1158
- <!-- Gripper Connector -->
1159
- <joint name="idx91_ee_r_joint" type="fixed">
1160
- <origin rpy="0 0 -1.5707963267948966" xyz="0 0 0"/>
1161
- <parent link="arm_r_end_link"/>
1162
- <child link="gripper_r_base_link"/>
1163
- <axis xyz="0 0 0"/>
1164
- </joint>
1165
- <link name="gripper_r_center_link">
1166
- </link>
1167
- <joint name="idx92_gripper_r_center_joint" type="fixed">
1168
- <origin rpy="0 0 -1.5707963267948966" xyz="0.0 0.0 0.14308"/>
1169
- <parent link="gripper_r_base_link"/>
1170
- <child link="gripper_r_center_link"/>
1171
- </joint>
1172
- <!-- Gripper Finger Close-loop Structure -->
1173
- <loop_joint name="idx93_gripper_r_outer_joint0" type="spherical">
1174
- <link1 link="gripper_r_outer_link2" rpy="0 0 0" xyz="0.03123003 0.010280428 0"/>
1175
- <link2 link="gripper_r_outer_link4" rpy="0 0 0" xyz="0 0.010280428 0"/>
1176
- <axis xyz="0 0 1"/>
1177
- </loop_joint>
1178
- <loop_joint name="idx94_gripper_r_inner_joint0" type="spherical">
1179
- <link1 link="gripper_r_inner_link2" rpy="0 0 0" xyz="0.03123003 -0.010280428 0"/>
1180
- <link2 link="gripper_r_inner_link4" rpy="0 0 0" xyz="0 -0.010280428 0"/>
1181
- <axis xyz="0 0 1"/>
1182
- </loop_joint>
1183
- <!-- Eastern Eggs -->
1184
- <!-- All Together -->
1185
- </robot>
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
G1_omnipicker/G1_omnipicker.usda DELETED
@@ -1,1593 +0,0 @@
1
- #usda 1.0
2
- (
3
- customLayerData = {
4
- dictionary cameraSettings = {
5
- dictionary Front = {
6
- double3 position = (5, -0.9071989904406321, 0.9766428958999153)
7
- double radius = 0.5820317268371582
8
- }
9
- dictionary Perspective = {
10
- double3 position = (0.10037280277694209, 1.1475395939183257, 1.089754152735402)
11
- double3 target = (0.10008539664568462, 1.145969035139312, 1.0884105251240632)
12
- }
13
- dictionary Right = {
14
- double3 position = (0.11860614224119401, -5, 0.9578217649499935)
15
- double radius = 0.13614888191223146
16
- }
17
- dictionary Top = {
18
- double3 position = (0.13447439087292073, -0.9009193732130296, 4.934232393991757)
19
- double radius = 0.1446176290512085
20
- }
21
- string boundCamera = "/OmniverseKit_Persp"
22
- }
23
- dictionary omni_layer = {
24
- string authoring_layer = "./G1_omnipicker.usda"
25
- }
26
- dictionary renderSettings = {
27
- }
28
- }
29
- defaultPrim = "G1"
30
- metersPerUnit = 1
31
- upAxis = "Z"
32
- )
33
-
34
- def Xform "G1" (
35
- prepend apiSchemas = ["PhysicsArticulationRootAPI", "PhysxArticulationAPI"]
36
- displayName = "G1"
37
- variants = {
38
- string Physics = "PhysX"
39
- string Sensor = "Sensors"
40
- }
41
- prepend variantSets = ["Physics", "Sensor"]
42
- )
43
- {
44
- bool physxArticulation:enabledSelfCollisions = 0
45
- quatd xformOp:orient = (1, 0, 0, 0)
46
- double3 xformOp:scale = (1, 1, 1)
47
- double3 xformOp:translate = (0, 0, 0)
48
- uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
49
-
50
- over "base_link" (
51
- delete apiSchemas = ["PhysicsArticulationRootAPI", "PhysxArticulationAPI"]
52
- prepend apiSchemas = ["PhysxRigidBodyAPI"]
53
- )
54
- {
55
- bool physxRigidBody:disableGravity = 1
56
-
57
- over "visuals"
58
- {
59
- quatf xformOp:orient = (1, 0, 0, 0)
60
- float3 xformOp:scale = (1, 1, 1)
61
- double3 xformOp:translate = (0, 0, 0.21113469724309647)
62
- uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
63
- }
64
-
65
- def Camera "Fisheye_Back_01" (
66
- active = true
67
- )
68
- {
69
- token cameraProjectionType = "fisheyePolynomial" (
70
- allowedTokens = ["pinhole", "fisheyePolynomial", "fisheyeSpherical", "fisheyeKannalaBrandtK3", "fisheyeRadTanThinPrism", "omniDirectionalStereo"]
71
- )
72
- float2 clippingRange = (0.01, 10000000)
73
- float focalLength = 18.147562
74
- float focusDistance = 400
75
- bool omni:kit:cameraLock = 1
76
- custom uniform vector3d omni:kit:centerOfInterest = (0, 0, -400)
77
- token visibility = "invisible"
78
- quatd xformOp:orient = (0.49999999999999933, 0.5000000000000001, 0.5000000000000004, 0.5000000000000001)
79
- double3 xformOp:scale = (1, 1, 1)
80
- double3 xformOp:translate = (-0.30000000447034847, 0.057673270003865684, 1.0630543750437111)
81
- uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
82
- }
83
-
84
- def Camera "Fisheye_Back_02" (
85
- active = true
86
- )
87
- {
88
- token cameraProjectionType = "fisheyePolynomial" (
89
- allowedTokens = ["pinhole", "fisheyePolynomial", "fisheyeSpherical", "fisheyeKannalaBrandtK3", "fisheyeRadTanThinPrism", "omniDirectionalStereo"]
90
- )
91
- float2 clippingRange = (0.01, 10000000)
92
- float focalLength = 18.147562
93
- float focusDistance = 400
94
- bool omni:kit:cameraLock = 1
95
- custom uniform vector3d omni:kit:centerOfInterest = (0, 0, -400)
96
- token visibility = "invisible"
97
- quatd xformOp:orient = (0.49999999999999933, 0.5000000000000001, 0.5000000000000004, 0.5000000000000001)
98
- double3 xformOp:scale = (1, 1, 1)
99
- double3 xformOp:translate = (-0.30000000447034836, -0.05767, 1.063054375043722)
100
- uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
101
- }
102
-
103
- def PhysicsFixedJoint "FixedJoint"
104
- {
105
- rel physics:body1 = </G1/base_link>
106
- float physics:breakForce = inf
107
- float physics:breakTorque = inf
108
- point3f physics:localPos0 = (0, 0, 0)
109
- point3f physics:localPos1 = (0, 0, 0)
110
- quatf physics:localRot0 = (1, 0, 0, 0)
111
- quatf physics:localRot1 = (1, 0, 0, 0)
112
- }
113
- }
114
-
115
- over "body_link1" (
116
- prepend apiSchemas = ["PhysxRigidBodyAPI"]
117
- )
118
- {
119
- bool physxRigidBody:disableGravity = 1
120
-
121
- over "visuals"
122
- {
123
- quatf xformOp:orient = (1, 0, 0, 0)
124
- float3 xformOp:scale = (1, 1, 1)
125
- double3 xformOp:translate = (0, 0, 0)
126
- uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
127
- }
128
- }
129
-
130
- over "body_link2" (
131
- prepend apiSchemas = ["PhysxRigidBodyAPI"]
132
- )
133
- {
134
- bool physxRigidBody:disableGravity = 1
135
- }
136
-
137
- over "arm_base_link" (
138
- prepend apiSchemas = ["PhysxRigidBodyAPI"]
139
- )
140
- {
141
- bool physxRigidBody:disableGravity = 1
142
- }
143
-
144
- over "arm_l_base_link" (
145
- prepend apiSchemas = ["PhysxRigidBodyAPI"]
146
- )
147
- {
148
- bool physxRigidBody:disableGravity = 1
149
- }
150
-
151
- over "arm_l_link1" (
152
- prepend apiSchemas = ["PhysxRigidBodyAPI"]
153
- )
154
- {
155
- bool physxRigidBody:disableGravity = 1
156
-
157
- over "collisions"
158
- {
159
- bool physics:collisionEnabled = 0
160
- }
161
- }
162
-
163
- over "arm_l_link2" (
164
- prepend apiSchemas = ["PhysxRigidBodyAPI"]
165
- )
166
- {
167
- bool physxRigidBody:disableGravity = 1
168
-
169
- over "collisions"
170
- {
171
- bool physics:collisionEnabled = 0
172
- }
173
- }
174
-
175
- over "arm_l_link3" (
176
- prepend apiSchemas = ["PhysxRigidBodyAPI"]
177
- )
178
- {
179
- bool physxRigidBody:disableGravity = 1
180
-
181
- over "collisions"
182
- {
183
- bool physics:collisionEnabled = 0
184
- }
185
- }
186
-
187
- over "arm_l_link4" (
188
- prepend apiSchemas = ["PhysxRigidBodyAPI"]
189
- )
190
- {
191
- bool physxRigidBody:disableGravity = 1
192
-
193
- over "collisions"
194
- {
195
- bool physics:collisionEnabled = 0
196
- }
197
- }
198
-
199
- over "arm_l_link5" (
200
- prepend apiSchemas = ["PhysxRigidBodyAPI"]
201
- )
202
- {
203
- bool physxRigidBody:disableGravity = 1
204
-
205
- over "collisions"
206
- {
207
- bool physics:collisionEnabled = 0
208
- }
209
- }
210
-
211
- over "arm_l_link6" (
212
- prepend apiSchemas = ["PhysxRigidBodyAPI"]
213
- )
214
- {
215
- bool physxRigidBody:disableGravity = 1
216
-
217
- over "collisions"
218
- {
219
- bool physics:collisionEnabled = 0
220
- }
221
- }
222
-
223
- over "arm_l_end_link" (
224
- prepend apiSchemas = ["PhysxRigidBodyAPI"]
225
- )
226
- {
227
- bool physxRigidBody:disableGravity = 1
228
-
229
- over "collisions"
230
- {
231
- bool physics:collisionEnabled = 0
232
- }
233
- }
234
-
235
- over "gripper_l_base_link" (
236
- prepend apiSchemas = ["PhysxRigidBodyAPI"]
237
- )
238
- {
239
- bool physxRigidBody:disableGravity = 1
240
-
241
- def Camera "Left_Camera" (
242
- active = true
243
- )
244
- {
245
- token cameraProjectionType = "pinhole" (
246
- allowedTokens = ["pinhole", "fisheyePolynomial", "fisheyeSpherical", "fisheyeKannalaBrandtK3", "fisheyeRadTanThinPrism", "omniDirectionalStereo"]
247
- )
248
- float2 clippingRange = (0.01, 10000000)
249
- float fisheyeResolutionBudget = 1.5
250
- float focalLength = 1.93
251
- float focusDistance = 400
252
- float horizontalAperture = 3.7601311
253
- bool omni:kit:cameraLock = 1
254
- custom uniform vector3d omni:kit:centerOfInterest = (0, 0, -400)
255
- float p0 = -0.00036721907
256
- float verticalAperture = 2.1307867
257
- token visibility = "invisible"
258
- quatd xformOp:orient = (-0.24763401411015198, -0.6623272567663911, 0.6623272567663911, 0.24763401411015207)
259
- double3 xformOp:scale = (1, 1, 1)
260
- double3 xformOp:translate = (-0.08248, -0.00244, 0.04346)
261
- uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
262
- }
263
-
264
- def "Cam" (
265
- prepend payload = @./configuration/Cam.usd@
266
- )
267
- {
268
- quatf xformOp:orient = (6.123234e-17, 0.70710677, -4.3297803e-17, -0.70710677)
269
- double xformOp:rotateX:unitsResolve = 90
270
- float3 xformOp:scale = (1, 1, 1)
271
- double3 xformOp:translate = (4.0169941095680173e-7, 1.5376787357301858e-7, 0)
272
- uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale", "xformOp:rotateX:unitsResolve"]
273
-
274
- over "Cam"
275
- {
276
- over "cam"
277
- {
278
- quatf xformOp:orient = (1, 0, 0, 0)
279
- float3 xformOp:scale = (1, 1, 1.02)
280
- double3 xformOp:translate = (3.430589146091734e-14, 4.5075054799781356e-14, 0.00022551183775573747)
281
- uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
282
- }
283
- }
284
- }
285
-
286
- over "collisions" (
287
- prepend apiSchemas = ["MaterialBindingAPI"]
288
- )
289
- {
290
- rel material:binding:physics = </G1/GripperMaterial> (
291
- bindMaterialAs = "weakerThanDescendants"
292
- )
293
- }
294
- }
295
-
296
- over "gripper_l_inner_link1" (
297
- prepend apiSchemas = ["PhysxRigidBodyAPI"]
298
- )
299
- {
300
- vector3f physics:angularVelocity = (0, 0, 0)
301
- float physics:mass = 0.025
302
- bool physxRigidBody:disableGravity = 1
303
-
304
- over "collisions" (
305
- prepend apiSchemas = ["MaterialBindingAPI"]
306
- )
307
- {
308
- rel material:binding:physics = </G1/GripperMaterial> (
309
- bindMaterialAs = "weakerThanDescendants"
310
- )
311
- }
312
- }
313
-
314
- over "gripper_l_inner_link3" (
315
- prepend apiSchemas = ["PhysxRigidBodyAPI"]
316
- )
317
- {
318
- bool physxRigidBody:disableGravity = 1
319
-
320
- over "collisions" (
321
- prepend apiSchemas = ["MaterialBindingAPI"]
322
- )
323
- {
324
- rel material:binding:physics = </G1/GripperMaterial> (
325
- bindMaterialAs = "weakerThanDescendants"
326
- )
327
- }
328
- }
329
-
330
- over "gripper_l_inner_link4" (
331
- prepend apiSchemas = ["PhysxRigidBodyAPI", "PhysxContactReportAPI", "MaterialBindingAPI"]
332
- )
333
- {
334
- rel material:binding = </G1/GripperMaterial> (
335
- bindMaterialAs = "weakerThanDescendants"
336
- )
337
- float physics:mass = 0.035
338
- float physxContactReport:threshold = 0
339
- bool physxRigidBody:disableGravity = 1
340
- float physxRigidBody:sleepThreshold = 0
341
-
342
- over "collisions" (
343
- prepend apiSchemas = ["MaterialBindingAPI", "PhysxConvexDecompositionCollisionAPI", "PhysxContactReportAPI", "PhysxTriangleMeshCollisionAPI", "PhysxSDFMeshCollisionAPI"]
344
- instanceable = false
345
- )
346
- {
347
- rel material:binding = </G1/PhysicsMaterial> (
348
- bindMaterialAs = "weakerThanDescendants"
349
- )
350
- uniform token physics:approximation = "none"
351
- float physxContactReport:threshold = 0
352
- int physxConvexDecompositionCollision:hullVertexLimit = 64
353
- int physxConvexDecompositionCollision:maxConvexHulls = 32
354
- int physxConvexDecompositionCollision:voxelResolution = 500000
355
- uniform int physxSDFMeshCollision:sdfResolution = 256
356
-
357
- def IsaacContactSensor "Contact_Sensor"
358
- {
359
- float4 color = (1, 0, 0, 1)
360
- bool enabled = 1
361
- float radius = -1
362
- float sensorPeriod = -1
363
- float2 threshold = (0, 100000)
364
- quatd xformOp:orient = (1, 0, 0, 0)
365
- double3 xformOp:scale = (1, 1, 1)
366
- double3 xformOp:translate = (0, 0, 0)
367
- uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
368
- }
369
- }
370
- }
371
-
372
- over "gripper_l_inner_link2" (
373
- prepend apiSchemas = ["PhysxRigidBodyAPI"]
374
- )
375
- {
376
- float physics:mass = 0.025
377
- bool physxRigidBody:disableGravity = 1
378
-
379
- over "collisions" (
380
- prepend apiSchemas = ["MaterialBindingAPI", "PhysxConvexDecompositionCollisionAPI"]
381
- )
382
- {
383
- rel material:binding:physics = </G1/GripperMaterial> (
384
- bindMaterialAs = "weakerThanDescendants"
385
- )
386
- uniform token physics:approximation = "convexDecomposition"
387
- }
388
- }
389
-
390
- over "gripper_l_outer_link1" (
391
- prepend apiSchemas = ["PhysxRigidBodyAPI"]
392
- )
393
- {
394
- float physics:mass = 0.025
395
- bool physxRigidBody:disableGravity = 1
396
-
397
- over "collisions" (
398
- prepend apiSchemas = ["MaterialBindingAPI"]
399
- )
400
- {
401
- rel material:binding:physics = </G1/GripperMaterial> (
402
- bindMaterialAs = "weakerThanDescendants"
403
- )
404
- }
405
- }
406
-
407
- over "gripper_l_outer_link3" (
408
- prepend apiSchemas = ["PhysxRigidBodyAPI"]
409
- )
410
- {
411
- bool physxRigidBody:disableGravity = 1
412
-
413
- over "collisions" (
414
- prepend apiSchemas = ["MaterialBindingAPI"]
415
- )
416
- {
417
- rel material:binding:physics = </G1/GripperMaterial> (
418
- bindMaterialAs = "weakerThanDescendants"
419
- )
420
- }
421
- }
422
-
423
- over "gripper_l_outer_link4" (
424
- prepend apiSchemas = ["PhysxRigidBodyAPI", "PhysxContactReportAPI", "MaterialBindingAPI"]
425
- )
426
- {
427
- rel material:binding = </G1/GripperMaterial> (
428
- bindMaterialAs = "weakerThanDescendants"
429
- )
430
- float physics:mass = 0.035
431
- float physxContactReport:threshold = 0
432
- bool physxRigidBody:disableGravity = 1
433
- float physxRigidBody:sleepThreshold = 0
434
-
435
- over "collisions" (
436
- prepend apiSchemas = ["MaterialBindingAPI", "PhysxConvexDecompositionCollisionAPI", "PhysxConvexHullCollisionAPI", "PhysxContactReportAPI", "PhysxTriangleMeshCollisionAPI", "PhysxSDFMeshCollisionAPI"]
437
- instanceable = false
438
- )
439
- {
440
- rel material:binding = </G1/PhysicsMaterial> (
441
- bindMaterialAs = "weakerThanDescendants"
442
- )
443
- uniform token physics:approximation = "none"
444
- float physxContactReport:threshold = 0
445
- int physxConvexDecompositionCollision:hullVertexLimit = 64
446
- int physxConvexDecompositionCollision:maxConvexHulls = 32
447
- int physxConvexDecompositionCollision:voxelResolution = 500000
448
- uniform int physxSDFMeshCollision:sdfResolution = 256
449
-
450
- def IsaacContactSensor "Contact_Sensor"
451
- {
452
- float4 color = (1, 0, 0, 1)
453
- bool enabled = 1
454
- float radius = -1
455
- float sensorPeriod = -1
456
- float2 threshold = (0, 100000)
457
- quatd xformOp:orient = (1, 0, 0, 0)
458
- double3 xformOp:scale = (1, 1, 1)
459
- double3 xformOp:translate = (0, 0, 0)
460
- uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
461
- }
462
- }
463
- }
464
-
465
- over "gripper_l_outer_link2" (
466
- prepend apiSchemas = ["PhysxRigidBodyAPI"]
467
- )
468
- {
469
- float physics:mass = 0.025
470
- bool physxRigidBody:disableGravity = 1
471
-
472
- over "collisions" (
473
- prepend apiSchemas = ["MaterialBindingAPI", "PhysxConvexDecompositionCollisionAPI"]
474
- )
475
- {
476
- rel material:binding:physics = </G1/GripperMaterial> (
477
- bindMaterialAs = "weakerThanDescendants"
478
- )
479
- uniform token physics:approximation = "convexDecomposition"
480
- }
481
- }
482
-
483
- over "gripper_l_center_link" (
484
- prepend apiSchemas = ["PhysxRigidBodyAPI"]
485
- )
486
- {
487
- bool physxRigidBody:disableGravity = 1
488
- }
489
-
490
- over "arm_r_base_link" (
491
- prepend apiSchemas = ["PhysxRigidBodyAPI"]
492
- )
493
- {
494
- bool physxRigidBody:disableGravity = 1
495
- }
496
-
497
- over "arm_r_link1" (
498
- prepend apiSchemas = ["PhysxRigidBodyAPI"]
499
- )
500
- {
501
- bool physxRigidBody:disableGravity = 1
502
-
503
- over "collisions"
504
- {
505
- bool physics:collisionEnabled = 0
506
- }
507
- }
508
-
509
- over "arm_r_link2" (
510
- prepend apiSchemas = ["PhysxRigidBodyAPI"]
511
- )
512
- {
513
- bool physxRigidBody:disableGravity = 1
514
-
515
- over "collisions"
516
- {
517
- bool physics:collisionEnabled = 0
518
- }
519
- }
520
-
521
- over "arm_r_link3" (
522
- prepend apiSchemas = ["PhysxRigidBodyAPI"]
523
- )
524
- {
525
- bool physxRigidBody:disableGravity = 1
526
-
527
- over "collisions"
528
- {
529
- bool physics:collisionEnabled = 0
530
- }
531
- }
532
-
533
- over "arm_r_link4" (
534
- prepend apiSchemas = ["PhysxRigidBodyAPI"]
535
- )
536
- {
537
- bool physxRigidBody:disableGravity = 1
538
-
539
- over "collisions"
540
- {
541
- bool physics:collisionEnabled = 0
542
- }
543
- }
544
-
545
- over "arm_r_link5" (
546
- prepend apiSchemas = ["PhysxRigidBodyAPI"]
547
- )
548
- {
549
- bool physxRigidBody:disableGravity = 1
550
-
551
- over "collisions"
552
- {
553
- bool physics:collisionEnabled = 0
554
- }
555
- }
556
-
557
- over "arm_r_link6" (
558
- prepend apiSchemas = ["PhysxRigidBodyAPI"]
559
- )
560
- {
561
- bool physxRigidBody:disableGravity = 1
562
-
563
- over "collisions"
564
- {
565
- bool physics:collisionEnabled = 0
566
- }
567
- }
568
-
569
- over "arm_r_end_link" (
570
- prepend apiSchemas = ["PhysxRigidBodyAPI"]
571
- )
572
- {
573
- bool physxRigidBody:disableGravity = 1
574
-
575
- over "collisions"
576
- {
577
- bool physics:collisionEnabled = 0
578
- }
579
- }
580
-
581
- over "gripper_r_base_link" (
582
- prepend apiSchemas = ["PhysxRigidBodyAPI"]
583
- )
584
- {
585
- bool physxRigidBody:disableGravity = 1
586
-
587
- def Camera "Right_Camera" (
588
- active = true
589
- )
590
- {
591
- token cameraProjectionType = "pinhole" (
592
- allowedTokens = ["pinhole", "fisheyePolynomial", "fisheyeSpherical", "fisheyeKannalaBrandtK3", "fisheyeRadTanThinPrism", "omniDirectionalStereo"]
593
- )
594
- float2 clippingRange = (0.01, 10000000)
595
- float fisheyeResolutionBudget = 1.5
596
- float focalLength = 1.93
597
- float focusDistance = 400
598
- float horizontalAperture = 3.7601311
599
- bool omni:kit:cameraLock = 1
600
- custom uniform vector3d omni:kit:centerOfInterest = (0, 0, -0.252056884844326)
601
- float p0 = -0.00036721907
602
- float verticalAperture = 2.1307867
603
- token visibility = "invisible"
604
- quatd xformOp:orient = (-0.24763401411015198, -0.6623272567663911, -0.6623272567663911, -0.24763401411015207)
605
- double3 xformOp:scale = (1, 1, 1)
606
- double3 xformOp:translate = (0.08248, -0.0024400039901093795, 0.04346)
607
- uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
608
- }
609
-
610
- def "Cam" (
611
- prepend payload = @./configuration/Cam.usd@
612
- )
613
- {
614
- quatf xformOp:orient = (0.70710677, 0, 0.70710677, 0)
615
- double xformOp:rotateX:unitsResolve = 90
616
- float3 xformOp:scale = (1, 1, 1)
617
- double3 xformOp:translate = (0, 0, 0)
618
- uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale", "xformOp:rotateX:unitsResolve"]
619
-
620
- over "Cam"
621
- {
622
- over "cam"
623
- {
624
- quatf xformOp:orient = (1, 0, 0, 0)
625
- float3 xformOp:scale = (1, 1, 1.02)
626
- double3 xformOp:translate = (3.430589146091734e-14, 4.5075054799781356e-14, 0.00022551183775573747)
627
- uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
628
- }
629
- }
630
- }
631
-
632
- over "collisions" (
633
- prepend apiSchemas = ["MaterialBindingAPI"]
634
- )
635
- {
636
- rel material:binding:physics = </G1/GripperMaterial> (
637
- bindMaterialAs = "weakerThanDescendants"
638
- )
639
- }
640
- }
641
-
642
- over "gripper_r_inner_link1" (
643
- prepend apiSchemas = ["PhysxRigidBodyAPI"]
644
- )
645
- {
646
- bool physxRigidBody:disableGravity = 1
647
-
648
- over "collisions" (
649
- prepend apiSchemas = ["MaterialBindingAPI"]
650
- )
651
- {
652
- rel material:binding:physics = </G1/GripperMaterial> (
653
- bindMaterialAs = "weakerThanDescendants"
654
- )
655
- }
656
- }
657
-
658
- over "gripper_r_inner_link3" (
659
- prepend apiSchemas = ["PhysxRigidBodyAPI"]
660
- )
661
- {
662
- bool physxRigidBody:disableGravity = 1
663
-
664
- over "collisions" (
665
- prepend apiSchemas = ["MaterialBindingAPI"]
666
- )
667
- {
668
- rel material:binding:physics = </G1/GripperMaterial> (
669
- bindMaterialAs = "weakerThanDescendants"
670
- )
671
- }
672
- }
673
-
674
- over "gripper_r_inner_link4" (
675
- prepend apiSchemas = ["PhysxRigidBodyAPI", "PhysxContactReportAPI", "MaterialBindingAPI"]
676
- )
677
- {
678
- rel material:binding = </G1/GripperMaterial> (
679
- bindMaterialAs = "weakerThanDescendants"
680
- )
681
- float physics:mass = 0.035
682
- float physxContactReport:threshold = 0
683
- bool physxRigidBody:disableGravity = 1
684
- float physxRigidBody:sleepThreshold = 0
685
-
686
- over "collisions" (
687
- prepend apiSchemas = ["MaterialBindingAPI", "PhysxConvexDecompositionCollisionAPI", "PhysxContactReportAPI", "PhysxTriangleMeshCollisionAPI"]
688
- instanceable = false
689
- )
690
- {
691
- rel material:binding = </G1/PhysicsMaterial> (
692
- bindMaterialAs = "weakerThanDescendants"
693
- )
694
- uniform token physics:approximation = "none"
695
- float physxContactReport:threshold = 0
696
-
697
- def IsaacContactSensor "Contact_Sensor"
698
- {
699
- float4 color = (1, 0, 0, 1)
700
- bool enabled = 1
701
- float radius = -1
702
- float sensorPeriod = -1
703
- float2 threshold = (0, 100000)
704
- quatd xformOp:orient = (1, 0, 0, 0)
705
- double3 xformOp:scale = (1, 1, 1)
706
- double3 xformOp:translate = (0, 0, 0)
707
- uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
708
- }
709
- }
710
- }
711
-
712
- over "gripper_r_inner_link2" (
713
- prepend apiSchemas = ["PhysxRigidBodyAPI"]
714
- )
715
- {
716
- float physics:mass = 0.025
717
- bool physxRigidBody:disableGravity = 1
718
-
719
- over "collisions" (
720
- prepend apiSchemas = ["MaterialBindingAPI", "PhysxConvexDecompositionCollisionAPI"]
721
- )
722
- {
723
- rel material:binding:physics = </G1/GripperMaterial> (
724
- bindMaterialAs = "weakerThanDescendants"
725
- )
726
- uniform token physics:approximation = "convexDecomposition"
727
- }
728
- }
729
-
730
- over "gripper_r_outer_link1" (
731
- prepend apiSchemas = ["PhysxRigidBodyAPI"]
732
- )
733
- {
734
- bool physxRigidBody:disableGravity = 1
735
-
736
- over "collisions" (
737
- prepend apiSchemas = ["MaterialBindingAPI"]
738
- )
739
- {
740
- rel material:binding:physics = </G1/GripperMaterial> (
741
- bindMaterialAs = "weakerThanDescendants"
742
- )
743
- }
744
- }
745
-
746
- over "gripper_r_outer_link3" (
747
- prepend apiSchemas = ["PhysxRigidBodyAPI"]
748
- )
749
- {
750
- bool physxRigidBody:disableGravity = 1
751
-
752
- over "collisions" (
753
- prepend apiSchemas = ["MaterialBindingAPI"]
754
- )
755
- {
756
- rel material:binding:physics = </G1/GripperMaterial> (
757
- bindMaterialAs = "weakerThanDescendants"
758
- )
759
- }
760
- }
761
-
762
- over "gripper_r_outer_link4" (
763
- prepend apiSchemas = ["PhysxRigidBodyAPI", "PhysxContactReportAPI", "MaterialBindingAPI"]
764
- )
765
- {
766
- rel material:binding = </G1/GripperMaterial> (
767
- bindMaterialAs = "weakerThanDescendants"
768
- )
769
- float physics:mass = 0.035
770
- float physxContactReport:threshold = 0
771
- bool physxRigidBody:disableGravity = 1
772
- float physxRigidBody:sleepThreshold = 0
773
-
774
- over "collisions" (
775
- prepend apiSchemas = ["MaterialBindingAPI", "PhysxConvexDecompositionCollisionAPI", "PhysxConvexHullCollisionAPI", "PhysxTriangleMeshCollisionAPI", "PhysxTriangleMeshSimplificationCollisionAPI", "PhysxSDFMeshCollisionAPI", "PhysxContactReportAPI"]
776
- instanceable = false
777
- )
778
- {
779
- rel material:binding = </G1/PhysicsMaterial> (
780
- bindMaterialAs = "weakerThanDescendants"
781
- )
782
- uniform token physics:approximation = "none"
783
- float physxContactReport:threshold = 0
784
-
785
- def IsaacContactSensor "Contact_Sensor"
786
- {
787
- float4 color = (1, 0, 0, 1)
788
- bool enabled = 1
789
- float radius = -1
790
- float sensorPeriod = -1
791
- float2 threshold = (0, 100000)
792
- quatd xformOp:orient = (1, 0, 0, 0)
793
- double3 xformOp:scale = (1, 1, 1)
794
- double3 xformOp:translate = (0, 0, 0)
795
- uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
796
- }
797
- }
798
- }
799
-
800
- over "gripper_r_outer_link2" (
801
- prepend apiSchemas = ["PhysxRigidBodyAPI"]
802
- )
803
- {
804
- float physics:mass = 0.025
805
- bool physxRigidBody:disableGravity = 1
806
-
807
- over "collisions" (
808
- prepend apiSchemas = ["MaterialBindingAPI", "PhysxConvexDecompositionCollisionAPI"]
809
- )
810
- {
811
- rel material:binding:physics = </G1/GripperMaterial> (
812
- bindMaterialAs = "weakerThanDescendants"
813
- )
814
- uniform token physics:approximation = "convexDecomposition"
815
- }
816
- }
817
-
818
- over "gripper_r_center_link" (
819
- prepend apiSchemas = ["PhysxRigidBodyAPI"]
820
- )
821
- {
822
- bool physxRigidBody:disableGravity = 1
823
- }
824
-
825
- over "head_link1" (
826
- prepend apiSchemas = ["PhysxRigidBodyAPI"]
827
- )
828
- {
829
- bool physxRigidBody:disableGravity = 1
830
- }
831
-
832
- over "head_link2" (
833
- prepend apiSchemas = ["PhysxRigidBodyAPI"]
834
- )
835
- {
836
- bool physxRigidBody:disableGravity = 1
837
-
838
- over "visuals"
839
- {
840
- quatf xformOp:orient = (1, 0, 0, 0)
841
- float3 xformOp:scale = (1, 1, 1)
842
- double3 xformOp:translate = (0.039525628306619376, -0.01962560545893477, 8.262606048342261e-10)
843
- uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
844
- }
845
-
846
- def Camera "Head_Camera" (
847
- active = true
848
- )
849
- {
850
- token cameraSensorType = "camera" (
851
- allowedTokens = ["camera", "radar", "lidar", "rtxsensor"]
852
- )
853
- float2 clippingRange = (0.01, 10000000)
854
- float focalLength = 1.93
855
- float focusDistance = 400
856
- float horizontalAperture = 3.896
857
- bool omni:kit:cameraLock = 1
858
- float verticalAperture = 2.453
859
- token visibility = "invisible"
860
- quatd xformOp:orient = (6.123233995736766e-17, 0.7071067811865476, -4.329780281177467e-17, -0.7071067811865476)
861
- double3 xformOp:scale = (1, 1, 1)
862
- double3 xformOp:translate = (0.0858, -0.04119, 0)
863
- uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
864
- }
865
-
866
- def Camera "Fisheye_Camera_01" (
867
- active = true
868
- )
869
- {
870
- token cameraProjectionType = "fisheyePolynomial" (
871
- allowedTokens = ["pinhole", "fisheyePolynomial", "fisheyeSpherical", "fisheyeKannalaBrandtK3", "fisheyeRadTanThinPrism", "omniDirectionalStereo"]
872
- )
873
- float2 clippingRange = (0.01, 10000000)
874
- float focalLength = 1.93
875
- float focusDistance = 400
876
- float fthetaPolyB = 0.00245
877
- float fthetaPolyC = 0
878
- float horizontalAperture = 3.896
879
- bool omni:kit:cameraLock = 1
880
- float verticalAperture = 2.453
881
- token visibility = "invisible"
882
- quatd xformOp:orient = (0.0751616554826484, 0.9377050893657665, 0.030613207309336917, -0.33782054771858294)
883
- double3 xformOp:scale = (1, 1, 1)
884
- double3 xformOp:translate = (0.07625208730182864, 0.01962537929559538, 0.047878739498311895)
885
- uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
886
- }
887
-
888
- def Camera "Fisheye_Camera_02" (
889
- active = true
890
- )
891
- {
892
- token cameraProjectionType = "fisheyePolynomial" (
893
- allowedTokens = ["pinhole", "fisheyePolynomial", "fisheyeSpherical", "fisheyeKannalaBrandtK3", "fisheyeRadTanThinPrism", "omniDirectionalStereo"]
894
- )
895
- float2 clippingRange = (0.01, 10000000)
896
- float focalLength = 1.93
897
- float focusDistance = 400
898
- float fthetaPolyB = 0.00245
899
- float fthetaPolyC = 0
900
- float horizontalAperture = 3.896
901
- bool omni:kit:cameraLock = 1
902
- float verticalAperture = 2.453
903
- token visibility = "invisible"
904
- quatd xformOp:orient = (-0.07386098599114474, -0.35900989056451804, -0.17965850209084597, 0.9128960925821417)
905
- double3 xformOp:scale = (1, 1, 1)
906
- double3 xformOp:translate = (0.07625090899974629, 0.019624617386816645, -0.05772210537580889)
907
- uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
908
- }
909
-
910
- def Camera "Top_Camera" (
911
- kind = "model"
912
- )
913
- {
914
- token cameraProjectionType = "fisheyePolynomial" (
915
- allowedTokens = ["pinhole", "fisheyePolynomial", "fisheyeSpherical", "fisheyeKannalaBrandtK3", "fisheyeRadTanThinPrism", "omniDirectionalStereo"]
916
- )
917
- float2 clippingRange = (0.01, 10000000)
918
- float focalLength = 1.93
919
- float focusDistance = 400
920
- float horizontalAperture = 3.896
921
- bool omni:kit:cameraLock = 1
922
- float verticalAperture = 2.453
923
- token visibility = "invisible"
924
- quatd xformOp:orient = (0.14097441837755495, 0.6929114036896132, 0.14097441837755503, -0.6929114036896132)
925
- double3 xformOp:scale = (1, 1, 1)
926
- double3 xformOp:translate = (0.09148739595212874, -0.07523617103289082, -0.0000051337173225556625)
927
- uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
928
-
929
- over "OmniverseKitViewportCameraMesh" (
930
- always_pick_model = true
931
- hide_in_stage_window = true
932
- kind = "subcomponent"
933
- no_delete = true
934
- prepend references = @../../../sim/isaacsim/kit/resources/models/camera/camera.usd@
935
- )
936
- {
937
- bool primvars:doNotCastShadows = 1
938
- bool primvars:omni:kit:isGizmo = 1
939
- token visibility
940
- float3 xformOp:scale = (0.01, 0.01, 0.01)
941
- uniform token[] xformOpOrder = ["xformOp:scale"]
942
-
943
- over "CameraModel" (
944
- always_pick_model = true
945
- hide_in_stage_window = true
946
- no_delete = true
947
- )
948
- {
949
- float3[] extent = [(3.4028235e38, 3.4028235e38, 3.4028235e38), (-3.4028235e38, -3.4028235e38, -3.4028235e38)]
950
- bool primvars:doNotCastShadows = 1
951
- bool primvars:omni:kit:isGizmo = 1
952
- }
953
- }
954
- }
955
- }
956
-
957
- over "joints"
958
- {
959
- over "idx01_body_joint1"
960
- {
961
- float drive:linear:physics:damping = 1000
962
- float drive:linear:physics:maxForce = inf
963
- float drive:linear:physics:stiffness = 10000
964
- float drive:linear:physics:targetPosition = 0
965
- float physxJoint:maxJointVelocity = 0.1
966
- float state:linear:physics:position = 0
967
- float state:linear:physics:velocity = 0
968
- }
969
-
970
- over "idx02_body_joint2"
971
- {
972
- float drive:angular:physics:damping = 1000
973
- float drive:angular:physics:maxForce = 100
974
- float drive:angular:physics:stiffness = 10000
975
- float drive:angular:physics:targetPosition = 0
976
- float state:angular:physics:position = 0
977
- float state:angular:physics:velocity = 0
978
- }
979
-
980
- over "idx11_head_joint1"
981
- {
982
- float drive:angular:physics:damping = 50
983
- float drive:angular:physics:stiffness = 500
984
- float drive:angular:physics:targetPosition = 0
985
- float state:angular:physics:position = 0
986
- float state:angular:physics:velocity = 0
987
- }
988
-
989
- over "idx12_head_joint2"
990
- {
991
- float drive:angular:physics:damping = 50
992
- float drive:angular:physics:stiffness = 500
993
- float drive:angular:physics:targetPosition = 0
994
- float state:angular:physics:position = 0
995
- float state:angular:physics:velocity = 0
996
- }
997
-
998
- over "idx21_arm_l_joint1"
999
- {
1000
- float drive:angular:physics:damping = 500
1001
- float drive:angular:physics:stiffness = 10000
1002
- float physics:lowerLimit = -180
1003
- float physics:upperLimit = 180
1004
- float state:angular:physics:position = 0
1005
- float state:angular:physics:velocity = 0
1006
- }
1007
-
1008
- over "idx61_arm_r_joint1"
1009
- {
1010
- float drive:angular:physics:damping = 500
1011
- float drive:angular:physics:stiffness = 10000
1012
- float physics:lowerLimit = -180
1013
- float physics:upperLimit = 180
1014
- float state:angular:physics:position = 0
1015
- float state:angular:physics:velocity = 0
1016
- }
1017
-
1018
- over "idx22_arm_l_joint2"
1019
- {
1020
- float drive:angular:physics:damping = 500
1021
- float drive:angular:physics:stiffness = 10000
1022
- float physics:lowerLimit = -180
1023
- float physics:upperLimit = 180
1024
- float state:angular:physics:position = 0
1025
- float state:angular:physics:velocity = 0
1026
- }
1027
-
1028
- over "idx62_arm_r_joint2"
1029
- {
1030
- float drive:angular:physics:damping = 500
1031
- float drive:angular:physics:stiffness = 10000
1032
- float physics:lowerLimit = -180
1033
- float physics:upperLimit = 180
1034
- float state:angular:physics:position = 0
1035
- float state:angular:physics:velocity = 0
1036
- }
1037
-
1038
- over "idx23_arm_l_joint3"
1039
- {
1040
- float drive:angular:physics:damping = 500
1041
- float drive:angular:physics:stiffness = 10000
1042
- float physics:lowerLimit = -180
1043
- float physics:upperLimit = 180
1044
- float state:angular:physics:position = 0
1045
- float state:angular:physics:velocity = 0
1046
- }
1047
-
1048
- over "idx63_arm_r_joint3"
1049
- {
1050
- float drive:angular:physics:damping = 500
1051
- float drive:angular:physics:stiffness = 10000
1052
- float physics:lowerLimit = -180
1053
- float physics:upperLimit = 180
1054
- float state:angular:physics:position = 0
1055
- float state:angular:physics:velocity = 0
1056
- }
1057
-
1058
- over "idx24_arm_l_joint4"
1059
- {
1060
- float drive:angular:physics:damping = 500
1061
- float drive:angular:physics:stiffness = 10000
1062
- float physics:lowerLimit = -180
1063
- float physics:upperLimit = 180
1064
- float state:angular:physics:position = 0
1065
- float state:angular:physics:velocity = 0
1066
- }
1067
-
1068
- over "idx64_arm_r_joint4"
1069
- {
1070
- float drive:angular:physics:damping = 500
1071
- float drive:angular:physics:stiffness = 10000
1072
- float physics:lowerLimit = -180
1073
- float physics:upperLimit = 180
1074
- float state:angular:physics:position = 0
1075
- float state:angular:physics:velocity = 0
1076
- }
1077
-
1078
- over "idx25_arm_l_joint5"
1079
- {
1080
- float drive:angular:physics:damping = 500
1081
- float drive:angular:physics:stiffness = 10000
1082
- float physics:lowerLimit = -180
1083
- float physics:upperLimit = 180
1084
- float state:angular:physics:position = 0
1085
- float state:angular:physics:velocity = 0
1086
- }
1087
-
1088
- over "idx65_arm_r_joint5"
1089
- {
1090
- float drive:angular:physics:damping = 500
1091
- float drive:angular:physics:stiffness = 10000
1092
- float physics:lowerLimit = -180
1093
- float physics:upperLimit = 180
1094
- float state:angular:physics:position = 0
1095
- float state:angular:physics:velocity = 0
1096
- }
1097
-
1098
- over "idx26_arm_l_joint6"
1099
- {
1100
- float drive:angular:physics:damping = 500
1101
- float drive:angular:physics:stiffness = 10000
1102
- float physics:lowerLimit = -180
1103
- float physics:upperLimit = 180
1104
- float state:angular:physics:position = 0
1105
- float state:angular:physics:velocity = 0
1106
- }
1107
-
1108
- over "idx66_arm_r_joint6"
1109
- {
1110
- float drive:angular:physics:damping = 500
1111
- float drive:angular:physics:stiffness = 10000
1112
- float physics:lowerLimit = -180
1113
- float physics:upperLimit = 180
1114
- float state:angular:physics:position = 0
1115
- float state:angular:physics:velocity = 0
1116
- }
1117
-
1118
- over "idx27_arm_l_joint7"
1119
- {
1120
- float drive:angular:physics:damping = 500
1121
- float drive:angular:physics:stiffness = 10000
1122
- float physics:lowerLimit = -180
1123
- float physics:upperLimit = 180
1124
- float state:angular:physics:position = 0
1125
- float state:angular:physics:velocity = 0
1126
- }
1127
-
1128
- over "idx67_arm_r_joint7"
1129
- {
1130
- float drive:angular:physics:damping = 500
1131
- float drive:angular:physics:stiffness = 10000
1132
- float physics:lowerLimit = -180
1133
- float physics:upperLimit = 180
1134
- float state:angular:physics:position = 0
1135
- float state:angular:physics:velocity = 0
1136
- }
1137
-
1138
- over "idx31_gripper_l_inner_joint1" (
1139
- delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysxMimicJointAPI:rotX"]
1140
- prepend apiSchemas = ["PhysxMimicJointAPI:rotX"]
1141
- )
1142
- {
1143
- float drive:angular:physics:damping = 0
1144
- float drive:angular:physics:maxForce = inf
1145
- float drive:angular:physics:stiffness = 0
1146
- float drive:angular:physics:targetPosition = 0
1147
- uniform token drive:angular:physics:type = "force"
1148
- uniform token physics:axis = "Z"
1149
- float physics:breakForce = 3.4028235e38
1150
- bool physics:jointEnabled = 1
1151
- float physics:JointEquivalentInertia = 0.001
1152
- point3f physics:localPos0 = (0, -0.019499995, 0.0565)
1153
- point3f physics:localPos1 = (0, 0, 0)
1154
- quatf physics:localRot0 = (-0.70710677, 1.04530146e-16, -0.70710677, 8.6595606e-17)
1155
- quatf physics:localRot1 = (6.123234e-17, 0, 0, 1)
1156
- float physics:lowerLimit = 0
1157
- float physics:upperLimit = 57.353077
1158
- float physxJoint:maxJointVelocity = 120
1159
- float physxMimicJoint:rotX:gearing = -1
1160
- rel physxMimicJoint:rotX:referenceJoint = </G1/joints/idx41_gripper_l_outer_joint1>
1161
- float state:angular:physics:position = 0
1162
- float state:angular:physics:velocity = 0
1163
- }
1164
-
1165
- over PhysicsSphericalJoint "idx39_gripper_l_inner_joint2" (
1166
- delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
1167
- )
1168
- {
1169
- float drive:angular:physics:damping = 0
1170
- float drive:angular:physics:maxForce = 0
1171
- float drive:angular:physics:stiffness = 0
1172
- rel physics:body0 = </G1/gripper_l_inner_link2>
1173
- rel physics:body1 = </G1/gripper_l_base_link>
1174
- uniform bool physics:excludeFromArticulation = 1
1175
- bool physics:jointEnabled = 1
1176
- point3f physics:localPos0 = (2.220446e-16, 2.7755576e-17, 0)
1177
- point3f physics:localPos1 = (2.8028984e-8, -0.021633008, 0.07386994)
1178
- quatf physics:localRot0 = (-3.1429528e-10, 3.208232e-8, 1, -1.03406055e-10)
1179
- quatf physics:localRot1 = (-0.004648374, 0.70709157, -0.0046482733, -0.70709145)
1180
- float physxJoint:maxJointVelocity = 1000000
1181
- }
1182
-
1183
- over "idx41_gripper_l_outer_joint1" (
1184
- delete apiSchemas = ["PhysicsDriveAPI:angular"]
1185
- prepend apiSchemas = ["PhysicsDriveAPI:angular"]
1186
- )
1187
- {
1188
- float drive:angular:physics:damping = 10
1189
- float drive:angular:physics:maxForce = inf
1190
- float drive:angular:physics:stiffness = 100
1191
- float drive:angular:physics:targetPosition = 0
1192
- float drive:angular:physics:targetVelocity = 0
1193
- uniform token drive:angular:physics:type = "acceleration"
1194
- bool physics:jointEnabled = 1
1195
- float physics:JointEquivalentInertia = 0.001
1196
- quatf physics:localRot0 = (-1.6081226e-16, -0.70710677, 0, 0.70710677)
1197
- float physics:upperLimit = 57.353077
1198
- float physxJoint:maxJointVelocity = 120
1199
- float state:angular:physics:position = 0
1200
- float state:angular:physics:velocity = 0
1201
- }
1202
-
1203
- over PhysicsSphericalJoint "idx49_gripper_l_outer_joint2" (
1204
- delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
1205
- )
1206
- {
1207
- float drive:angular:physics:damping = 0
1208
- float drive:angular:physics:maxForce = 0
1209
- float drive:angular:physics:stiffness = 0
1210
- rel physics:body0 = </G1/gripper_l_outer_link2>
1211
- rel physics:body1 = </G1/gripper_l_base_link>
1212
- uniform bool physics:excludeFromArticulation = 1
1213
- bool physics:jointEnabled = 1
1214
- point3f physics:localPos0 = (1.110223e-16, 1.3877788e-17, 1.110223e-16)
1215
- point3f physics:localPos1 = (3.8344396e-8, 0.021632975, 0.07386994)
1216
- quatf physics:localRot0 = (-3.1429528e-10, 3.208232e-8, 1, -1.03406055e-10)
1217
- quatf physics:localRot1 = (-0.004648374, 0.70709157, -0.0046482733, -0.70709145)
1218
- float physxJoint:maxJointVelocity = 1000000
1219
- }
1220
-
1221
- over "idx71_gripper_r_inner_joint1" (
1222
- delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysxMimicJointAPI:rotX"]
1223
- prepend apiSchemas = ["PhysxMimicJointAPI:rotX"]
1224
- )
1225
- {
1226
- float drive:angular:physics:damping = 10
1227
- float drive:angular:physics:maxForce = inf
1228
- float drive:angular:physics:stiffness = 100
1229
- float drive:angular:physics:targetPosition = 0
1230
- quatf physics:localRot0 = (0.70710677, -1.7934538e-17, 0.70710677, 0)
1231
- quatf physics:localRot1 = (6.123234e-17, 0, 0, 1)
1232
- float physics:lowerLimit = 0
1233
- float physics:upperLimit = 57.353077
1234
- float physxJoint:maxJointVelocity = 120
1235
- float physxMimicJoint:rotX:gearing = -1
1236
- rel physxMimicJoint:rotX:referenceJoint = </G1/joints/idx81_gripper_r_outer_joint1>
1237
- float state:angular:physics:position = 0
1238
- float state:angular:physics:velocity = 0
1239
- }
1240
-
1241
- over PhysicsSphericalJoint "idx79_gripper_r_inner_joint2" (
1242
- delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
1243
- )
1244
- {
1245
- float drive:angular:physics:damping = 0
1246
- float drive:angular:physics:maxForce = 0
1247
- float drive:angular:physics:stiffness = 0
1248
- uniform token physics:axis = "Z"
1249
- rel physics:body0 = </G1/gripper_r_inner_link2>
1250
- rel physics:body1 = </G1/gripper_r_base_link>
1251
- uniform bool physics:excludeFromArticulation = 1
1252
- bool physics:jointEnabled = 1
1253
- point3f physics:localPos0 = (0, 0, 0)
1254
- point3f physics:localPos1 = (0, -0.02174, 0.0739)
1255
- quatf physics:localRot0 = (1, 0, 0, 0)
1256
- quatf physics:localRot1 = (-1.6081226e-16, -0.70710677, 0, 0.70710677)
1257
- float physxJoint:maxJointVelocity = 1000000
1258
- }
1259
-
1260
- over "idx81_gripper_r_outer_joint1"
1261
- {
1262
- float drive:angular:physics:damping = 10
1263
- float drive:angular:physics:maxForce = inf
1264
- float drive:angular:physics:stiffness = 100
1265
- float drive:angular:physics:targetPosition = 0
1266
- uniform token drive:angular:physics:type = "acceleration"
1267
- quatf physics:localRot0 = (-1.6081226e-16, -0.70710677, 0, 0.70710677)
1268
- float physics:lowerLimit = 0
1269
- float physics:upperLimit = 57.353077
1270
- float physxJoint:maxJointVelocity = 120
1271
- float state:angular:physics:position = 0
1272
- float state:angular:physics:velocity = 0
1273
- }
1274
-
1275
- over PhysicsSphericalJoint "idx89_gripper_r_outer_joint2" (
1276
- delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
1277
- )
1278
- {
1279
- float drive:angular:physics:damping = 0
1280
- float drive:angular:physics:maxForce = 0
1281
- float drive:angular:physics:stiffness = 0
1282
- uniform token physics:axis = "Z"
1283
- rel physics:body0 = </G1/gripper_r_outer_link2>
1284
- rel physics:body1 = </G1/gripper_r_base_link>
1285
- uniform bool physics:excludeFromArticulation = 1
1286
- bool physics:jointEnabled = 1
1287
- point3f physics:localPos0 = (0, 0, 0)
1288
- point3f physics:localPos1 = (0, 0.02174, 0.0739)
1289
- quatf physics:localRot0 = (1, 2.4653501e-10, 1.3083376e-10, -1.9890669e-8)
1290
- quatf physics:localRot1 = (-1.6081226e-16, 0.70710677, 0, 0.70710677)
1291
- float physxJoint:maxJointVelocity = 1000000
1292
- }
1293
-
1294
- over "idx32_gripper_l_inner_joint3"
1295
- {
1296
- float drive:angular:physics:damping = 0
1297
- float drive:angular:physics:maxForce = inf
1298
- float drive:angular:physics:stiffness = 2
1299
- uniform token physics:axis = "Z"
1300
- bool physics:jointEnabled = 1
1301
- quatf physics:localRot0 = (6.123234e-17, 0, 0, -1)
1302
- quatf physics:localRot1 = (6.123234e-17, 0, 0, -1)
1303
- float physics:lowerLimit = 1
1304
- float physics:upperLimit = 180
1305
- float physxJoint:maxJointVelocity = 1000000
1306
- float state:angular:physics:position = 0
1307
- float state:angular:physics:velocity = 0
1308
- }
1309
-
1310
- over "idx42_gripper_l_outer_joint3"
1311
- {
1312
- float drive:angular:physics:damping = 0
1313
- float drive:angular:physics:maxForce = inf
1314
- float drive:angular:physics:stiffness = 2
1315
- uniform token physics:axis = "Z"
1316
- bool physics:jointEnabled = 1
1317
- float physics:lowerLimit = 1
1318
- float physics:upperLimit = 180
1319
- float physxJoint:maxJointVelocity = 1000000
1320
- float state:angular:physics:position = 0
1321
- float state:angular:physics:velocity = 0
1322
- }
1323
-
1324
- over "idx72_gripper_r_inner_joint3"
1325
- {
1326
- float drive:angular:physics:damping = 0
1327
- float drive:angular:physics:maxForce = inf
1328
- float drive:angular:physics:stiffness = 2
1329
- bool physics:jointEnabled = 1
1330
- float physics:lowerLimit = -180
1331
- float physics:upperLimit = -1
1332
- float physxJoint:maxJointVelocity = 1000000
1333
- float state:angular:physics:position = 0
1334
- float state:angular:physics:velocity = 0
1335
- }
1336
-
1337
- over "idx82_gripper_r_outer_joint3"
1338
- {
1339
- float drive:angular:physics:damping = 0
1340
- float drive:angular:physics:maxForce = inf
1341
- float drive:angular:physics:stiffness = 2
1342
- float drive:angular:physics:targetPosition = 0
1343
- bool physics:jointEnabled = 1
1344
- float physics:lowerLimit = 1
1345
- float physics:upperLimit = 180
1346
- float physxJoint:maxJointVelocity = 1000000
1347
- float state:angular:physics:position = 0
1348
- float state:angular:physics:velocity = 0
1349
- }
1350
-
1351
- over "idx33_gripper_l_inner_joint4"
1352
- {
1353
- float drive:angular:physics:damping = 0
1354
- float drive:angular:physics:maxForce = inf
1355
- float drive:angular:physics:stiffness = 0.001
1356
- bool physics:jointEnabled = 1
1357
- quatf physics:localRot0 = (6.123234e-17, 0, 0, 1)
1358
- quatf physics:localRot1 = (6.123234e-17, 0, 0, 1)
1359
- float physics:lowerLimit = -20
1360
- float physics:upperLimit = 4
1361
- float physxJoint:maxJointVelocity = 1000000
1362
- float state:angular:physics:position = 0
1363
- float state:angular:physics:velocity = 0
1364
- }
1365
-
1366
- over "idx43_gripper_l_outer_joint4"
1367
- {
1368
- float drive:angular:physics:damping = 0
1369
- float drive:angular:physics:maxForce = inf
1370
- float drive:angular:physics:stiffness = 0.001
1371
- bool physics:jointEnabled = 1
1372
- float physics:lowerLimit = -20
1373
- float physics:upperLimit = 4
1374
- float physxJoint:maxJointVelocity = 1000000
1375
- float state:angular:physics:position = 0
1376
- float state:angular:physics:velocity = 0
1377
- }
1378
-
1379
- over "idx73_gripper_r_inner_joint4" (
1380
- delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysxMimicJointAPI:rotX"]
1381
- prepend apiSchemas = ["PhysicsDriveAPI:angular"]
1382
- )
1383
- {
1384
- float drive:angular:physics:damping = 0
1385
- float drive:angular:physics:maxForce = inf
1386
- float drive:angular:physics:stiffness = 0.001
1387
- bool physics:jointEnabled = 1
1388
- quatf physics:localRot0 = (6.123234e-17, 0, 0, 1)
1389
- quatf physics:localRot1 = (6.123234e-17, 0, 0, 1)
1390
- float physics:lowerLimit = -20
1391
- float physics:upperLimit = 4
1392
- float physxJoint:maxJointVelocity = 1000000
1393
- float state:angular:physics:position = 0
1394
- float state:angular:physics:velocity = 0
1395
- }
1396
-
1397
- over "idx83_gripper_r_outer_joint4" (
1398
- delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysxMimicJointAPI:rotX"]
1399
- prepend apiSchemas = ["PhysicsDriveAPI:angular"]
1400
- )
1401
- {
1402
- float drive:angular:physics:damping = 0
1403
- float drive:angular:physics:maxForce = inf
1404
- float drive:angular:physics:stiffness = 0.001
1405
- bool physics:jointEnabled = 1
1406
- float physics:lowerLimit = -20
1407
- float physics:upperLimit = 4
1408
- float physxJoint:maxJointVelocity = 1000000
1409
- float state:angular:physics:position = 0
1410
- float state:angular:physics:velocity = 0
1411
- }
1412
- }
1413
-
1414
- over "Looks"
1415
- {
1416
- over "Black_002"
1417
- {
1418
- over "Black_002"
1419
- {
1420
- float inputs:reflection_roughness_constant = 0.35
1421
- }
1422
- }
1423
-
1424
- over "material_1___Default"
1425
- {
1426
- over "material_1___Default"
1427
- {
1428
- color3f inputs:diffuse_color_constant = (0.144, 0.14221951, 0.13641113)
1429
- float inputs:metallic_constant = 0
1430
- float inputs:reflection_roughness_constant = 0.5
1431
- }
1432
- }
1433
-
1434
- over "material_3___Default"
1435
- {
1436
- over "material_3___Default"
1437
- {
1438
- color3f inputs:diffuse_color_constant = (0.555, 0.4350001, 0.4350001)
1439
- float inputs:metallic_constant = 1
1440
- float inputs:reflection_roughness_constant = 0.32
1441
- }
1442
- }
1443
-
1444
- over "material_7___Default"
1445
- {
1446
- over "material_7___Default"
1447
- {
1448
- color3f inputs:diffuse_color_constant = (0.155, 0.155, 0.155)
1449
- float inputs:metallic_constant = 1
1450
- float inputs:reflection_roughness_constant = 0.47
1451
- }
1452
- }
1453
-
1454
- over "material_2___Default"
1455
- {
1456
- over "material_2___Default"
1457
- {
1458
- color3f inputs:diffuse_color_constant = (0.004, 0.004, 0.004)
1459
- }
1460
- }
1461
- }
1462
-
1463
- def Material "PhysicsMaterial" (
1464
- prepend apiSchemas = ["PhysicsMaterialAPI", "PhysxMaterialAPI"]
1465
- )
1466
- {
1467
- float physics:dynamicFriction = 1
1468
- float physics:restitution = 0.1
1469
- float physics:staticFriction = 1
1470
- uniform token physxMaterial:frictionCombineMode = "max"
1471
- }
1472
-
1473
- over "loop_joints"
1474
- {
1475
- over PhysicsRevoluteJoint "idx53_gripper_l_outer_joint0" (
1476
- prepend apiSchemas = ["PhysicsJointStateAPI:angular", "PhysicsDriveAPI:angular"]
1477
- )
1478
- {
1479
- float drive:angular:physics:stiffness = 0
1480
- rel physics:body0 = </G1/gripper_l_outer_link4>
1481
- rel physics:body1 = </G1/gripper_l_outer_link2>
1482
- uniform bool physics:excludeFromArticulation = 0
1483
- bool physics:jointEnabled = 1
1484
- point3f physics:localPos0 = (8.553238e-10, 0.010280432, -2.7292058e-8)
1485
- point3f physics:localPos1 = (0.0316, 0.009602209, 0.000028008219)
1486
- quatf physics:localRot0 = (0.70710677, 0, 0.70710677, 0)
1487
- quatf physics:localRot1 = (0.70710677, 0, 0.70710677, 0)
1488
- float physics:lowerLimit = -180
1489
- float physics:upperLimit = 180
1490
- float state:angular:physics:position = 0
1491
- float state:angular:physics:velocity = 0
1492
- }
1493
-
1494
- over PhysicsRevoluteJoint "idx54_gripper_l_inner_joint0" (
1495
- prepend apiSchemas = ["PhysicsJointStateAPI:angular", "PhysicsDriveAPI:angular"]
1496
- )
1497
- {
1498
- float drive:angular:physics:stiffness = 0
1499
- rel physics:body0 = </G1/gripper_l_inner_link4>
1500
- rel physics:body1 = </G1/gripper_l_inner_link2>
1501
- uniform bool physics:excludeFromArticulation = 0
1502
- bool physics:jointEnabled = 1
1503
- point3f physics:localPos0 = (-8.553229e-10, -0.010280425, 2.739001e-8)
1504
- point3f physics:localPos1 = (0.0316, -0.00960228, -0.000028019636)
1505
- quatf physics:localRot0 = (6.123234e-17, 0.70710677, 4.3297803e-17, 0.70710677)
1506
- quatf physics:localRot1 = (6.123234e-17, 0.70710677, 4.3297803e-17, 0.70710677)
1507
- float physics:lowerLimit = -180
1508
- float physics:upperLimit = 180
1509
- float state:angular:physics:position = 0
1510
- float state:angular:physics:velocity = 0
1511
- }
1512
-
1513
- over PhysicsRevoluteJoint "idx93_gripper_r_outer_joint0" (
1514
- prepend apiSchemas = ["PhysicsJointStateAPI:angular", "PhysicsDriveAPI:angular"]
1515
- )
1516
- {
1517
- rel physics:body0 = </G1/gripper_r_outer_link4>
1518
- rel physics:body1 = </G1/gripper_r_outer_link2>
1519
- uniform bool physics:excludeFromArticulation = 0
1520
- bool physics:jointEnabled = 1
1521
- point3f physics:localPos0 = (0, 0.01, 0)
1522
- point3f physics:localPos1 = (0.0316, 0.01, 0)
1523
- quatf physics:localRot0 = (0.7071069, 1.6831714e-7, 0.70710665, 2.519124e-7)
1524
- quatf physics:localRot1 = (0.7071069, 1.6831714e-7, 0.70710665, 2.519124e-7)
1525
- float physics:lowerLimit = -180
1526
- float physics:upperLimit = 180
1527
- float state:angular:physics:position = 0
1528
- float state:angular:physics:velocity = 0
1529
- }
1530
-
1531
- over PhysicsRevoluteJoint "idx94_gripper_r_inner_joint0" (
1532
- prepend apiSchemas = ["PhysicsJointStateAPI:angular", "PhysicsDriveAPI:angular"]
1533
- )
1534
- {
1535
- rel physics:body0 = </G1/gripper_r_inner_link4>
1536
- rel physics:body1 = </G1/gripper_r_inner_link2>
1537
- uniform bool physics:excludeFromArticulation = 0
1538
- bool physics:jointEnabled = 1
1539
- point3f physics:localPos0 = (0, -0.01, 0)
1540
- point3f physics:localPos1 = (0.0316, -0.01, 0)
1541
- quatf physics:localRot0 = (-1.7993496e-8, 0.7071067, -1.468232e-7, 0.7071068)
1542
- quatf physics:localRot1 = (-1.7993496e-8, 0.7071067, -1.468232e-7, 0.7071068)
1543
- float physics:lowerLimit = -180
1544
- float physics:upperLimit = 180
1545
- float state:angular:physics:position = 0
1546
- float state:angular:physics:velocity = 0
1547
- }
1548
- }
1549
-
1550
- def Material "GripperMaterial" (
1551
- prepend apiSchemas = ["PhysicsMaterialAPI", "PhysxMaterialAPI"]
1552
- )
1553
- {
1554
- float physics:dynamicFriction = 1
1555
- float physics:restitution = 0.1
1556
- float physics:staticFriction = 1
1557
- uniform token physxMaterial:frictionCombineMode = "max"
1558
- }
1559
- variantSet "Physics" = {
1560
- "None" (
1561
- prepend references = @./configuration/G1_omnipicker_base.usd@
1562
- ) {
1563
- over "joints" (
1564
- active = false
1565
- )
1566
- {
1567
- }
1568
-
1569
- over "loop_joints" (
1570
- active = false
1571
- )
1572
- {
1573
- }
1574
-
1575
- }
1576
- "PhysX" (
1577
- prepend payload = @./configuration/G1_omnipicker_physics.usd@
1578
- ) {
1579
-
1580
- }
1581
- }
1582
- variantSet "Sensor" = {
1583
- "None" {
1584
-
1585
- }
1586
- "Sensors" (
1587
- prepend payload = @./configuration/G1_omnipicker_sensor.usd@
1588
- ) {
1589
-
1590
- }
1591
- }
1592
- }
1593
-
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
G1_omnipicker/config.yaml DELETED
@@ -1,23 +0,0 @@
1
- asset_path: /home/zy/workspace/genie_ws/install/share/genie_robot_description/urdf/G1/G1_omnipicker.urdf
2
- usd_dir: /home/zy/assets/G1_omnipicker
3
- usd_file_name: G1_omnipicker
4
- force_usd_conversion: true
5
- make_instanceable: true
6
- fix_base: false
7
- root_link_name: null
8
- link_density: 0.0
9
- merge_fixed_joints: false
10
- convert_mimic_joints_to_normal_joints: false
11
- joint_drive:
12
- drive_type: force
13
- target_type: position
14
- gains:
15
- stiffness: 100.0
16
- damping: 1.0
17
- collider_type: convex_hull
18
- self_collision: false
19
- replace_cylinders_with_capsules: false
20
- collision_from_visuals: false
21
- ##
22
- # Generated by UrdfConverter on 2025-05-27 at 18:50:14.
23
- ##
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
G1_omnipicker/configuration/G1_omnipicker_base.usd DELETED
@@ -1,3 +0,0 @@
1
- version https://git-lfs.github.com/spec/v1
2
- oid sha256:9350e6141d072d2a3d7d78661b93da3fcbe0638c9582109b0f84088c78bb3d52
3
- size 34213798
 
 
 
 
README.md CHANGED
@@ -61,8 +61,8 @@ viewer: false
61
  </div>
62
 
63
  # Key Features 🔑
64
- - **22 scenarios** including supermarket, cafeteria and home
65
- - **600+** objects 1:1 replicated from real-life
66
 
67
 
68
 
@@ -86,11 +86,9 @@ GIT_LFS_SKIP_SMUDGE=1 git clone https://huggingface.co/datasets/agibot-world/Gen
86
  ### Folder hierarchy
87
  ```
88
  assets
89
- ├── G1_120s # G1_120s Robot
90
- │   ├── G1_120s.usda
91
- │   └── ...
92
- ├── G1_omnipicker # G1_omnipicker Robot
93
- │   ├── G1_omnipicker.usda
94
  │   └── ...
95
  ├── materials # materials
96
  │   ├── carpet
@@ -100,13 +98,11 @@ assets
100
  ├── objects # objects
101
  │   ├── benchmark
102
  │   ├── genie
103
- │   ├── iros
104
  │   └── lightwheelai
105
  ├── README.md
106
  └── scenes # scenes
107
  ├── genie
108
- ├── guanglun
109
- └── iros
110
  ```
111
 
112
 
 
61
  </div>
62
 
63
  # Key Features 🔑
64
+ - **12 scenarios** including supermarket, cafeteria and home
65
+ - **550+** objects 1:1 replicated from real-life
66
 
67
 
68
 
 
86
  ### Folder hierarchy
87
  ```
88
  assets
89
+ ├── G1 # G1 Robot
90
+ │   ├── G1_pico.usd
91
+ │   ├── G1.usd
 
 
92
  │   └── ...
93
  ├── materials # materials
94
  │   ├── carpet
 
98
  ├── objects # objects
99
  │   ├── benchmark
100
  │   ├── genie
 
101
  │   └── lightwheelai
102
  ├── README.md
103
  └── scenes # scenes
104
  ├── genie
105
+ └── guanglun
 
106
  ```
107
 
108
 
materials/carpet/Carpet_Cream/.thumbs/138x108/Carpet_Cream_BaseColor.png.png ADDED

Git LFS Details

  • SHA256: 9a54c4562288d27af6aef86cdb6daeb768f5e96cd7fd620c8edee088afecb534
  • Pointer size: 130 Bytes
  • Size of remote file: 16.6 kB
objects/benchmark/conveyor_belt/benchmark_conveyor_belt_000/textures/part_00_Met.png → materials/carpet/Carpet_Cream/.thumbs/138x108/Carpet_Cream_H.png.png RENAMED
File without changes
materials/carpet/Carpet_Cream/.thumbs/138x108/Carpet_Cream_Normal.png.png ADDED

Git LFS Details

  • SHA256: 094d0bec3445a1e966629cdb711d775bb30d538360f9d71f7bbc76ea9536167a
  • Pointer size: 130 Bytes
  • Size of remote file: 20.3 kB
objects/iros/snack/iros_snack_038/textures/body_Met.jpg → materials/carpet/Carpet_Cream/.thumbs/138x108/Carpet_Cream_ORM.png.png RENAMED
File without changes
materials/carpet/Carpet_Cream/.thumbs/256x256/Carpet_Cream_BaseColor.png.png ADDED

Git LFS Details

  • SHA256: 8f98bf5a756b2874f42e658d0d182e1dd62af94c4cbe506d0bdac5c3c6ee868b
  • Pointer size: 130 Bytes
  • Size of remote file: 57.3 kB
materials/carpet/Carpet_Cream/.thumbs/256x256/Carpet_Cream_H.png.png ADDED

Git LFS Details

  • SHA256: b4c2096fa6fb28eb706729ff46575fab73562a1d41411242cc5d55c55d1e6a3d
  • Pointer size: 130 Bytes
  • Size of remote file: 19.7 kB
materials/carpet/Carpet_Cream/.thumbs/256x256/Carpet_Cream_Normal.png.png ADDED

Git LFS Details

  • SHA256: 60e17f7dd61dc7017835133ccfee0afe9d4d954b10f6f047eb8a0d7c5889d955
  • Pointer size: 131 Bytes
  • Size of remote file: 156 kB
G1_120s/configuration/G1_120s_sensor.usd → materials/carpet/Carpet_Cream/.thumbs/256x256/Carpet_Cream_ORM.png.png RENAMED
File without changes
materials/carpet/Carpet_Diamond_Olive/.thumbs/138x108/Carpet_Diamond_Olive_BaseColor.png.png ADDED

Git LFS Details

  • SHA256: 0ca3f49a1cada6864efb5e0638de0c8e9853a35a6f07e6a6381db212a6f1830c
  • Pointer size: 130 Bytes
  • Size of remote file: 20 kB
objects/iros/microwave_oven/benchmark_microwave_oven_001/textures/oven_Rgh.png → materials/carpet/Carpet_Diamond_Olive/.thumbs/138x108/Carpet_Diamond_Olive_H.png.png RENAMED
File without changes
materials/carpet/Carpet_Diamond_Olive/.thumbs/138x108/Carpet_Diamond_Olive_Normal.png.png ADDED

Git LFS Details

  • SHA256: 094d0bec3445a1e966629cdb711d775bb30d538360f9d71f7bbc76ea9536167a
  • Pointer size: 130 Bytes
  • Size of remote file: 20.3 kB