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4

GenieSimAssets

#4
by seemeno - opened
base: refs/heads/main
←
from: refs/pr/4
Discussion Files changed
+52416
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This view is limited to 50 files because it contains too many changes. See the raw diff here.
Files changed (50) hide show
  1. .gitignore +0 -32
  2. .pre-commit-config.yaml +61 -0
  3. {robot/G1_120s → G1_120s}/.asset_hash +0 -0
  4. G1_120s/G1_120s.urdf +1295 -0
  5. robot/G1_120s/robot.usda → G1_120s/G1_120s.usda +0 -0
  6. G1_120s/config.yaml +23 -0
  7. {robot/G1_120s → G1_120s}/configuration/G1_120s_base.usd +0 -0
  8. {robot/G1_120s → G1_120s}/configuration/G1_120s_physics.usd +0 -0
  9. {robot/G1_120s → G1_120s}/configuration/G1_120s_sensor.usd +0 -0
  10. {robot/G1_120s → G1_120s}/configuration/camera_stand.usdc +0 -0
  11. G1_omnipicker/.asset_hash +1 -0
  12. {robot/curobo_robot/assets/robot/G1 → G1_omnipicker}/G1_omnipicker.urdf +9 -9
  13. G1_omnipicker/G1_omnipicker.usda +1593 -0
  14. G1_omnipicker/config.yaml +23 -0
  15. {robot/G1_omnipicker → G1_omnipicker}/configuration/Cam.usd +0 -0
  16. {robot/G1_omnipicker → G1_omnipicker}/configuration/G1_omnipicker_base.usd +0 -0
  17. {robot/G1_omnipicker → G1_omnipicker}/configuration/G1_omnipicker_physics.usd +0 -0
  18. {robot/G1_omnipicker → G1_omnipicker}/configuration/G1_omnipicker_sensor.usd +0 -0
  19. LICENSE +0 -438
  20. README.md +49 -35
  21. __init__.py +0 -119
  22. background/common/HDR/810-hdri-skies-com.hdr +0 -3
  23. background/common/HDR/982960.hdr +0 -3
  24. background/common/HDR/HDR_RESTAURANT.hdr +0 -3
  25. background/common/HDR/Hdr.hdr +0 -3
  26. background/common/HDR/leadenhall_market_16k.hdr +0 -3
  27. background/common/Tex/2.jpg +0 -3
  28. background/common/Tex/3.jpg +0 -3
  29. background/common/Tex/JJI54551245009.jpg +0 -3
  30. background/common/air_freshener/benchmark_air_freshener_000/Aligned.usd +0 -3
  31. background/common/air_freshener/benchmark_air_freshener_000/Aligned.usda +0 -36
  32. background/common/air_freshener/benchmark_air_freshener_000/item.py +0 -24
  33. background/common/air_freshener/benchmark_air_freshener_000/object_parameters.json +0 -17
  34. background/common/air_freshener/benchmark_air_freshener_000/textures/benchmark_air_freshener_000_Met.jpg +0 -3
  35. background/common/air_freshener/benchmark_air_freshener_000/textures/benchmark_air_freshener_000_Rgh.jpg +0 -3
  36. background/common/bathroom_vanity/benchmark_bathroom_vanity_000/Aligned.usd +0 -3
  37. background/common/bathroom_vanity/benchmark_bathroom_vanity_000/Aligned.usda +0 -36
  38. background/common/bathroom_vanity/benchmark_bathroom_vanity_000/item.py +0 -24
  39. background/common/bathroom_vanity/benchmark_bathroom_vanity_000/object_parameters.json +0 -17
  40. background/common/bathroom_vanity/benchmark_bathroom_vanity_000/textures/benchmark_bathroom_vanity_000_Alb.jpg +0 -3
  41. background/common/bathroom_vanity/benchmark_bathroom_vanity_000/textures/benchmark_bathroom_vanity_000_Met.jpg +0 -3
  42. background/common/bathroom_vanity/benchmark_bathroom_vanity_000/textures/benchmark_bathroom_vanity_000_Nor.jpg +0 -3
  43. background/common/bathroom_vanity/benchmark_bathroom_vanity_000/textures/benchmark_bathroom_vanity_000_Rgh.jpg +0 -3
  44. background/common/bed/benchmark_bed_000/Aligned.usd +0 -3
  45. background/common/bed/benchmark_bed_000/Aligned.usda +0 -36
  46. background/common/bed/benchmark_bed_000/item.py +0 -24
  47. background/common/bed/benchmark_bed_000/object_parameters.json +0 -17
  48. background/common/bed/benchmark_bed_000/textures/benchmark_bed_000_Alb.jpg +0 -3
  49. background/common/bed/benchmark_bed_000/textures/benchmark_bed_000_Met.jpg +0 -3
  50. background/common/bed/benchmark_bed_000/textures/benchmark_bed_000_Nor.jpg +0 -3
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{robot/G1_120s → G1_120s}/.asset_hash RENAMED
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G1_120s/G1_120s.urdf ADDED
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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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+ <!-- =================================================================================== -->
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+ <robot name="genie">
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+ <!-- Index -->
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+ <!-- body: [G1, G2] -->
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+ <!-- gripper: [dummy_hand, omnipicker, 120s, roh, skillhands6] -->
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+ <!-- <xacro:arg name="robot_model" default="G1" />
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+ <xacro:arg name="robot_model" default="G1" /> -->
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+ <!-- Material Definition -->
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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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+ <color rgba="0.752941176470588 0.752941176470588 0.752941176470588 1"/>
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+ <!-- links -->
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+ <link name="base_link">
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+ <origin
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+ 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>
robot/G1_120s/robot.usda → G1_120s/G1_120s.usda RENAMED
File without changes
G1_120s/config.yaml ADDED
@@ -0,0 +1,23 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ 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
3
+ usd_file_name: G1_120s
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 2025-05-21 at 12:18:42.
23
+ ##
{robot/G1_120s → G1_120s}/configuration/G1_120s_base.usd RENAMED
File without changes
{robot/G1_120s → G1_120s}/configuration/G1_120s_physics.usd RENAMED
File without changes
{robot/G1_120s → G1_120s}/configuration/G1_120s_sensor.usd RENAMED
File without changes
{robot/G1_120s → G1_120s}/configuration/camera_stand.usdc RENAMED
File without changes
G1_omnipicker/.asset_hash ADDED
@@ -0,0 +1 @@
 
 
1
+ 5ede3ad6e576a899583893d20f2613f3
{robot/curobo_robot/assets/robot/G1 → G1_omnipicker}/G1_omnipicker.urdf RENAMED
@@ -6,7 +6,7 @@
6
  <robot name="genie">
7
  <!-- Index -->
8
  <!-- body: [G1, G2] -->
9
- <!-- gripper: [omnipicker] -->
10
  <!-- <xacro:arg name="robot_model" default="G1" />
11
  <xacro:arg name="robot_model" default="G1" /> -->
12
  <!-- robot -->
@@ -392,7 +392,7 @@
392
  </geometry>
393
  </collision>
394
  </link>
395
- <link name="arm_l_link7">
396
  <inertial>
397
  <origin rpy="0 0 0" xyz="-7.5113e-05 -0.00024521 -0.016705"/>
398
  <mass value="0.06158"/>
@@ -458,7 +458,7 @@
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_link7"/>
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>
@@ -584,7 +584,7 @@
584
  </geometry>
585
  </collision>
586
  </link>
587
- <link name="arm_r_link7">
588
  <inertial>
589
  <origin rpy="0 0 0" xyz="-7.5134e-05 -0.00024521 -0.016705"/>
590
  <mass value="0.06158"/>
@@ -650,7 +650,7 @@
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_link7"/>
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>
@@ -754,7 +754,7 @@
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">
@@ -895,7 +895,7 @@
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_link7"/>
899
  <child link="gripper_l_base_link"/>
900
  <axis xyz="0 0 0"/>
901
  </joint>
@@ -1017,7 +1017,7 @@
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">
@@ -1158,7 +1158,7 @@
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_link7"/>
1162
  <child link="gripper_r_base_link"/>
1163
  <axis xyz="0 0 0"/>
1164
  </joint>
 
6
  <robot name="genie">
7
  <!-- Index -->
8
  <!-- body: [G1, G2] -->
9
+ <!-- gripper: [dummy_hand, omnipicker, 120s, roh, skillhands6] -->
10
  <!-- <xacro:arg name="robot_model" default="G1" />
11
  <xacro:arg name="robot_model" default="G1" /> -->
12
  <!-- robot -->
 
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"/>
 
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>
 
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"/>
 
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>
 
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">
 
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>
 
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">
 
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>
G1_omnipicker/G1_omnipicker.usda ADDED
@@ -0,0 +1,1593 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
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 ADDED
@@ -0,0 +1,23 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
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
+ ##
{robot/G1_omnipicker → G1_omnipicker}/configuration/Cam.usd RENAMED
File without changes
{robot/G1_omnipicker → G1_omnipicker}/configuration/G1_omnipicker_base.usd RENAMED
File without changes
{robot/G1_omnipicker → G1_omnipicker}/configuration/G1_omnipicker_physics.usd RENAMED
File without changes
{robot/G1_omnipicker → G1_omnipicker}/configuration/G1_omnipicker_sensor.usd RENAMED
File without changes
LICENSE DELETED
@@ -1,438 +0,0 @@
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README.md CHANGED
@@ -43,53 +43,70 @@ extra_gated_button_content: Submit
43
  viewer: false
44
  ---
45
 
46
- ![geniesim.jpg](geniesim.jpg)
 
47
  <div align="center">
48
- <a href="https://arxiv.org/abs/2601.02078">
49
- <img src='https://img.shields.io/badge/arXiv-Paper-red?logo=arxiv&logoColor=white' alt='arXiv'>
50
- </a>
51
  <a href="https://github.com/AgibotTech/genie_sim">
52
  <img src="https://img.shields.io/badge/GitHub-grey?logo=GitHub" alt="GitHub">
53
  </a>
54
- <!-- <a href="https://huggingface.co/datasets/agibot-world/GenieSimAssets">
55
  <img src="https://img.shields.io/badge/HuggingFace-yellow?logo=HuggingFace" alt="HuggingFace">
56
- </a> -->
57
- <a href="http://agibot-world.com/genie-sim">
58
- <img src="https://img.shields.io/badge/Webpage-green?" alt="Webpage">
59
  </a>
60
- <a href="https://modelscope.cn/datasets/agibot_world/GenieSim3.0-Dataset">
61
- <img src="https://img.shields.io/badge/Modelscope-blue" alt="Genie Studio">
 
 
 
62
  </a>
63
  </div>
64
 
65
  # Key Features 🔑
66
- - **5000+** objects 1:1 replicated from real-life
 
 
67
 
68
 
69
  # Get started 🔥
70
- ## Download the Assets
71
- To download the full assets, please refer to the official Hugging Face/Modelscope documentation.
 
 
 
 
 
 
 
 
 
 
 
72
 
73
 
74
  ## Assets Structure
75
  ### Folder hierarchy
76
  ```
77
  assets
78
- ├── background # Background environments
79
- │ └── ...
80
- ├── robot # Robot models
81
- │ ├── G1_120s
82
- │ ├── G1_omnipicker
83
- │ ├── G2_omnipicker
84
- │ └── curobo_robot
85
- ├── objects # Object assets
86
- │ └── ...
87
- ├── interaction # Interaction data
88
- ├── real2sim # Real-to-sim assets
89
- │ └── ...
90
- ├── external # External assets
 
 
 
91
  ├── README.md
92
- └── ...
 
 
 
93
  ```
94
 
95
 
@@ -97,13 +114,10 @@ assets
97
  All the data and code within this repo are under [CC BY-NC-SA 4.0](https://creativecommons.org/licenses/by-nc-sa/4.0/). Please consider citing our project if it helps your research.
98
 
99
  ```BibTeX
100
- @misc{yin2026geniesim30,
101
- title={Genie Sim 3.0 : A High-Fidelity Comprehensive Simulation Platform for Humanoid Robot},
102
- author={Chenghao Yin and Da Huang and Di Yang and Jichao Wang and Nanshu Zhao and Chen Xu and Wenjun Sun and Linjie Hou and Zhijun Li and Junhui Wu and Zhaobo Liu and Zhen Xiao and Sheng Zhang and Lei Bao and Rui Feng and Zhenquan Pang and Jiayu Li and Qian Wang and Maoqing Yao},
103
- year={2026},
104
- eprint={2601.02078},
105
- archivePrefix={arXiv},
106
- primaryClass={cs.RO},
107
- url={https://arxiv.org/abs/2601.02078},
108
  }
109
  ```
 
43
  viewer: false
44
  ---
45
 
46
+ <img src="geniesim.jpg" alt="Image Alt Text" width="80%" style="display: block; margin-left: auto; margin-right: auto;" />
47
+
48
  <div align="center">
 
 
 
49
  <a href="https://github.com/AgibotTech/genie_sim">
50
  <img src="https://img.shields.io/badge/GitHub-grey?logo=GitHub" alt="GitHub">
51
  </a>
52
+ <a href="https://huggingface.co/datasets/agibot-world/GenieSimAssets">
53
  <img src="https://img.shields.io/badge/HuggingFace-yellow?logo=HuggingFace" alt="HuggingFace">
 
 
 
54
  </a>
55
+ <a href="https://agibot-world.com/sim-evaluation">
56
+ <img src="https://img.shields.io/badge/Genie%20Sim%20Benchmark-blue?style=plastic" alt="Genie Sim Benchmark">
57
+ </a>
58
+ <a href="https://genie.agibot.com/en/geniestudio">
59
+ <img src="https://img.shields.io/badge/Genie_Studio-green?style=flat" alt="Genie Studio">
60
  </a>
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
 
69
  # Get started 🔥
70
+ ## Download the Simulation Assets
71
+ To download the full assets, you can use the following code. If you encounter any issues, please refer to the official Hugging Face documentation.
72
+ ```
73
+ # Make sure you have git-lfs installed (https://git-lfs.com)
74
+ git lfs install
75
+
76
+ # When prompted for a password, use an access token with write permissions.
77
+ # Generate one from your settings: https://huggingface.co/settings/tokens
78
+ git clone https://huggingface.co/datasets/agibot-world/GenieSimAssets
79
+
80
+ # If you want to clone without large files - just their pointers
81
+ GIT_LFS_SKIP_SMUDGE=1 git clone https://huggingface.co/datasets/agibot-world/GenieSimAssets
82
+ ```
83
 
84
 
85
  ## Assets Structure
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
97
+ │   ├── hdri
98
+ │   ├── stone
99
+ │   └── wood
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
 
 
114
  All the data and code within this repo are under [CC BY-NC-SA 4.0](https://creativecommons.org/licenses/by-nc-sa/4.0/). Please consider citing our project if it helps your research.
115
 
116
  ```BibTeX
117
+ @misc{contributors2025geniesimrepo,
118
+ title={Genie Sim Assets},
119
+ author={Genie Sim Team},
120
+ howpublished={https://github.com/AgibotTech/genie_sim},
121
+ year={2025}
 
 
 
122
  }
123
  ```
__init__.py DELETED
@@ -1,119 +0,0 @@
1
- import os, ast, hashlib
2
- from pathlib import Path
3
- import json
4
-
5
- ASSETS_PATH = Path(__file__).parent
6
- ASSETS_PATH_ABS = Path(__file__).parent.resolve()
7
-
8
-
9
- def extract_item_dict(file_path):
10
- try:
11
- with open(file_path, "r", encoding="utf-8") as f:
12
- content = f.read()
13
-
14
- tree = ast.parse(content)
15
-
16
- if len(tree.body) == 1 and isinstance(tree.body[0], ast.Expr) and isinstance(tree.body[0].value, ast.Dict):
17
- return ast.literal_eval(tree.body[0].value)
18
-
19
- return None
20
-
21
- except Exception as e:
22
- print(f"Error processing {file_path}: {e}")
23
- return None
24
-
25
-
26
- def collect_all_items(item_file_list, base_path="."):
27
- """Collect ITEM dicts from all item.py files"""
28
-
29
- combined_dict = {}
30
- num = 0
31
- visualization_path = ASSETS_PATH / "extra" / "visualization"
32
- has_visualization = visualization_path.exists()
33
- for item_path in item_file_list:
34
- # Assuming item_path is a file path like "objects/carton/benchmark_carton_003/item.py"
35
- file_path = Path(base_path) / item_path
36
- usda_path = (Path(item_path).parent / "Aligned.usda").relative_to(ASSETS_PATH).as_posix()
37
- desc_path = (Path(base_path) / item_path).parent / "description.py"
38
-
39
- # Use the directory name as key, or customize as needed
40
- key = file_path.parent.name
41
- interaction_path = ASSETS_PATH / "interaction" / key / "interaction.json"
42
- # visualization paths (similar to interaction)
43
- visualization_video_path = visualization_path / key / "video" / "merged.mp4"
44
- visualization_snapshot_dir_path = visualization_path / key / "snapshot"
45
- if file_path.exists():
46
- item_dict = extract_item_dict(file_path)
47
- if item_dict:
48
- if key in combined_dict:
49
- print("ERROR!!! Duplicated object detected!", file_path)
50
- print(" ", usda_path)
51
- combined_dict[key] = item_dict
52
- combined_dict[key]["url"] = str(usda_path)
53
- if desc_path.exists():
54
- desc_dict = extract_item_dict(desc_path)
55
- if desc_dict:
56
- combined_dict[key]["description"] = desc_dict
57
- else:
58
- combined_dict[key]["description"] = {}
59
- print("WARN !!! Empty LLM description!", file_path)
60
- # video path - from visualization folder
61
- if visualization_video_path.exists():
62
- combined_dict[key]["video"] = str(visualization_video_path)
63
- else:
64
- combined_dict[key]["video"] = ""
65
- if has_visualization:
66
- print("WARN !!! Empty video!", visualization_video_path)
67
- # snapshot dir path - from visualization folder
68
- if visualization_snapshot_dir_path.exists():
69
- snapshot_files = list(visualization_snapshot_dir_path.glob("*"))
70
- combined_dict[key]["snapshot"] = snapshot_files
71
- else:
72
- combined_dict[key]["snapshot"] = []
73
- if len(combined_dict[key]["snapshot"]) == 0:
74
- if has_visualization:
75
- print("WARN !!! Empty snapshot!", visualization_snapshot_dir_path)
76
- # interaction
77
- if interaction_path.exists():
78
- try:
79
- interaction_dict = json.load(open(interaction_path))
80
- combined_dict[key]["interaction"] = interaction_dict["interaction"]
81
- except Exception as e:
82
- # print(f"Error loading interaction.json: {e}")
83
- combined_dict[key]["interaction"] = {}
84
- else:
85
- combined_dict[key]["interaction"] = {}
86
- # print("WARN !!! Empty interaction.json!", interaction_path)
87
- else:
88
- print(f"No ITEM dict found in {file_path}")
89
- else:
90
- print(f"File not found: {file_path}")
91
-
92
- num += 1
93
-
94
- if num != len(combined_dict):
95
- error = f"ERROR! there're items using the same name!!! {num} != {len(combined_dict)}"
96
- print(error)
97
- # raise Exception(error)
98
-
99
- return combined_dict
100
-
101
-
102
- def find_all_items():
103
- base = Path(__file__).parent / "objects"
104
- for root, dirs, files in os.walk(base, followlinks=True):
105
- if "object_parameters.json" in files:
106
- yield Path(root) / "item.py"
107
-
108
-
109
- ########
110
-
111
- print(f"Initializing GenieSim Asset Lib at", Path(__file__).parent)
112
-
113
- # Collect all ITEM dicts
114
- ASSETS_INDEX = collect_all_items(find_all_items())
115
- ASSETS_PAYLOAD = "".join(f"{k}={v}\n" for k, v in sorted(ASSETS_INDEX.items())).encode("utf-8")
116
- ASSETS_INDEX_HASH = hashlib.sha256(ASSETS_PAYLOAD).hexdigest()
117
-
118
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- print(f"Initialized GenieSim Asset Lib, Found {len(ASSETS_INDEX)} items, hash: {ASSETS_INDEX_HASH}")
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
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Git LFS Details

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Git LFS Details

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Git LFS Details

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Git LFS Details

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Git LFS Details

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Git LFS Details

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