Add SimReady package: X30

.gitattributes

@@ -68,3 +68,7 @@ M20/simready_usd/alternatives/original/payloads/geometries.usd filter=lfs diff=l
 M20/simready_usd/payloads/flat-mujoco.usdc filter=lfs diff=lfs merge=lfs -text
 M20/simready_usd/payloads/flat-physics.usdc filter=lfs diff=lfs merge=lfs -text
 M20/simready_usd/payloads/flat-physx.usdc filter=lfs diff=lfs merge=lfs -text
+X30/simready_usd/alternatives/original/payloads/geometries.usd filter=lfs diff=lfs merge=lfs -text
+X30/simready_usd/payloads/flat-mujoco.usdc filter=lfs diff=lfs merge=lfs -text
+X30/simready_usd/payloads/flat-physics.usdc filter=lfs diff=lfs merge=lfs -text
+X30/simready_usd/payloads/flat-physx.usdc filter=lfs diff=lfs merge=lfs -text

X30/.metadata/X30_validation.json

@@ -0,0 +1,238 @@
+{
+    "simready_usd/X30.usd": {
+        "features_summary": {
+            "FET_000_ISAAC": {
+                "blocking_failure": false,
+                "dependencies": "[{'FET_000_STANDARD': {'version': '0.1.0'}}]",
+                "optional requirements": "['com.nvidia.simready.RC.001', 'com.nvidia.simready.RC.005', 'com.nvidia.simready.SR.001']",
+                "passed": false,
+                "version": "0.1.0"
+            },
+            "FET_000_MUJOCO": {
+                "blocking_failure": false,
+                "dependencies": "[{'FET_000_STANDARD': {'version': '0.1.0'}}]",
+                "optional requirements": "['com.nvidia.simready.RV.007', 'com.nvidia.simready.SR.001']",
+                "passed": false,
+                "version": "0.1.0"
+            },
+            "FET_000_NEWTON": {
+                "blocking_failure": false,
+                "dependencies": "[{'FET_000_STANDARD': {'version': '0.1.0'}}]",
+                "optional requirements": "['com.nvidia.simready.RV.004', 'com.nvidia.simready.SR.001']",
+                "passed": false,
+                "version": "0.1.0"
+            },
+            "FET_000_PHYSX": {
+                "blocking_failure": false,
+                "dependencies": "[{'FET_000_STANDARD': {'version': '0.1.0'}}]",
+                "optional requirements": "['com.nvidia.simready.RV.001', 'com.nvidia.simready.SR.001']",
+                "passed": false,
+                "version": "0.1.0"
+            },
+            "FET_000_STANDARD": {
+                "blocking_failure": false,
+                "dependencies": "[]",
+                "optional requirements": "['com.nvidia.simready.SR.001']",
+                "passed": false,
+                "version": "0.1.0"
+            },
+            "FET_001_STANDARD": {
+                "blocking_failure": false,
+                "dependencies": "[]",
+                "passed": true,
+                "version": "1.0.1"
+            },
+            "FET_003_MUJOCO": {
+                "blocking_failure": false,
+                "dependencies": "[]",
+                "optional requirements": "['com.nvidia.simready.MUJOCO.COL.001']",
+                "passed": false,
+                "version": "0.1.0"
+            },
+            "FET_003_NEWTON": {
+                "blocking_failure": false,
+                "dependencies": "[]",
+                "passed": true,
+                "version": "0.1.0"
+            },
+            "FET_003_PHYSX": {
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+                "dependencies": "[]",
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+                "version": "0.4.0"
+            },
+            "FET_003_STANDARD": {
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+                "dependencies": "[]",
+                "passed": true,
+                "version": "0.2.0"
+            },
+            "FET_004_MUJOCO": {
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+                "dependencies": "[{'FET_003_MUJOCO': {'version': '0.1.0'}}]",
+                "optional requirements": "['com.nvidia.simready.MUJOCO.COL.001']",
+                "passed": false,
+                "version": "0.1.0"
+            },
+            "FET_004_NEWTON": {
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+                "dependencies": "[{'FET_003_NEWTON': {'version': '0.1.0'}}]",
+                "passed": true,
+                "version": "0.1.0"
+            },
+            "FET_004_PHYSX": {
+                "blocking_failure": false,
+                "dependencies": "[{'FET_003_PHYSX': {'version': '0.4.0'}}]",
+                "passed": true,
+                "version": "0.4.0"
+            },
+            "FET_004_ROBOT_MUJOCO": {
+                "blocking_failure": false,
+                "dependencies": "[]",
+                "optional requirements": "['com.nvidia.simready.MUJOCO.COL.001']",
+                "passed": false,
+                "version": "0.1.0"
+            },
+            "FET_004_ROBOT_NEWTON": {
+                "blocking_failure": false,
+                "dependencies": "[]",
+                "passed": true,
+                "version": "0.1.0"
+            },
+            "FET_004_STANDARD": {
+                "blocking_failure": false,
+                "dependencies": "[{'FET_003_STANDARD': {'version': '0.2.0'}}]",
+                "passed": true,
+                "version": "0.2.0"
+            },
+            "FET_006_MDL": {
+                "blocking_failure": false,
+                "dependencies": "[]",
+                "optional requirements": "['com.nvidia.simready.VM.MDL.003']",
+                "passed": false,
+                "version": "0.2.0"
+            },
+            "FET_006_OPENPBR": {
+                "blocking_failure": false,
+                "dependencies": "[]",
+                "optional requirements": "['com.nvidia.simready.VM.PBR.001']",
+                "passed": false,
+                "version": "0.1.0"
+            },
+            "FET_006_STANDARD": {
+                "blocking_failure": false,
+                "dependencies": "[]",
+                "passed": true,
+                "version": "0.2.0"
+            },
+            "FET_010_STANDARD": {
+                "blocking_failure": false,
+                "dependencies": "[]",
+                "optional requirements": "['com.nvidia.simready.DISP.001']",
+                "passed": false,
+                "version": "0.1.0"
+            },
+            "FET_021_ISAAC": {
+                "blocking_failure": false,
+                "dependencies": "[]",
+                "passed": true,
+                "version": "0.3.0"
+            },
+            "FET_022_ISAAC": {
+                "blocking_failure": false,
+                "dependencies": "[{'FET_022_PHYSX': {'version': '0.2.0'}}]",
+                "passed": true,
+                "version": "0.2.0"
+            },
+            "FET_022_MUJOCO": {
+                "blocking_failure": false,
+                "dependencies": "[{'FET_004_ROBOT_MUJOCO': {'version': '0.1.0'}}]",
+                "optional requirements": "['com.nvidia.simready.MUJOCO.COL.001', 'com.nvidia.simready.MUJOCO.DJ.001']",
+                "passed": false,
+                "version": "0.1.0"
+            },
+            "FET_022_NEWTON": {
+                "blocking_failure": false,
+                "dependencies": "[{'FET_004_ROBOT_NEWTON': {'version': '0.1.0'}}]",
+                "passed": true,
+                "version": "0.1.0"
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+            "FET_022_PHYSX": {
+                "blocking_failure": false,
+                "dependencies": "[{'FET_004_PHYSX': {'version': '0.4.0'}}]",
+                "passed": true,
+                "version": "0.2.0"
+            },
+            "FET_022_STANDARD": {
+                "blocking_failure": false,
+                "dependencies": "[{'FET_004_STANDARD': {'version': '0.2.0'}}]",
+                "passed": true,
+                "version": "0.2.0"
+            },
+            "FET_023_ISAAC": {
+                "blocking_failure": false,
+                "dependencies": "[]",
+                "passed": true,
+                "version": "0.1.0"
+            },
+            "FET_024_MUJOCO": {
+                "blocking_failure": false,
+                "dependencies": "[{'FET_024_STANDARD': {'version': '0.1.0'}}]",
+                "passed": true,
+                "version": "0.1.0"
+            },
+            "FET_024_NEWTON": {
+                "blocking_failure": false,
+                "dependencies": "[{'FET_024_STANDARD': {'version': '0.1.0'}}]",
+                "passed": true,
+                "version": "0.1.0"
+            },
+            "FET_024_PHYSX": {
+                "blocking_failure": false,
+                "dependencies": "[{'FET_024_STANDARD': {'version': '0.1.0'}}]",
+                "passed": true,
+                "version": "0.1.0"
+            },
+            "FET_024_STANDARD": {
+                "blocking_failure": false,
+                "dependencies": "[]",
+                "passed": true,
+                "version": "0.1.0"
+            },
+            "FET_025_ROS": {
+                "blocking_failure": false,
+                "dependencies": "[]",
+                "optional requirements": "['com.nvidia.simready.ROS.001']",
+                "passed": false,
+                "version": "0.1.0"
+            },
+            "FET_031_STANDARD": {
+                "blocking_failure": false,
+                "dependencies": "[]",
+                "passed": true,
+                "version": "0.1.0"
+            },
+            "FET_033_STANDARD": {
+                "blocking_failure": false,
+                "dependencies": "[{'FET_031_STANDARD': {'version': '0.1.0'}}]",
+                "passed": true,
+                "version": "0.4.0"
+            },
+            "FET_100_ISAAC": {
+                "blocking_failure": false,
+                "dependencies": "[{'FET_003_PHYSX': {'version': '0.4.0'}}]",
+                "optional requirements": "['com.nvidia.simready.ISA.001']",
+                "passed": false,
+                "version": "0.3.0"
+            }
+        },
+        "profile_id": "Robot-Body",
+        "profile_version": "3.0.0",
+        "simready_validate_version": "2026.8.0",
+        "tier_versions": {
+            "sensors": "2026.8.0",
+            "tier_aif": "2026.8.0",
+            "tier_core": "2026.8.0"
+        }
+    }
+}

X30/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json

@@ -0,0 +1,35 @@
+{
+  "format_version": "1.0",
+  "profile": "Package",
+  "profile_version": "1.0.0",
+  "timestamp": "2026-10-22T13:18:07",
+  "assets": [
+    {
+      "asset": "com.nvidia.simready.packaging.json",
+      "features": [
+        {
+          "FET_030_STANDARD": {
+            "version": "0.1.0",
+            "passed": true,
+            "failing_requirements": [],
+            "dependencies": []
+          }
+        },
+        {
+          "FET_032_STANDARD": {
+            "version": "0.1.0",
+            "passed": true,
+            "failing_requirements": [],
+            "dependencies": [
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+                  "version": "0.1.0"
+                }
+              }
+            ]
+          }
+        }
+      ]
+    }
+  ]
+}

X30/.metadata/com.nvidia.simready.packaging.bom.json

@@ -0,0 +1,177 @@
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+}

X30/com.nvidia.simready.packaging.json

@@ -0,0 +1,31 @@
+{
+  "format_version": "1.0",
+  "package_id": "simready.hf.deeproboticslab.simready-assets.X30.2026.10.22_00",
+  "license": "cc-by-4.0",
+  "metadata": [
+    {
+      "name": "com.nvidia.simready.conformance.Package-Candidate@1.0.0.json",
+      "hash": {
+        "sha256": "7b1db4aa97800972e6bba7e1a79caf0864a14099e99b3b0cca2e93bad7ba5d21"
+      }
+    },
+    {
+      "name": "com.nvidia.simready.packaging.bom.json",
+      "hash": {
+        "sha256": "bf4beed839370d716a8fe4f6c6e26d2b8452ceb29680f0ded0b527f46829d89f"
+      }
+    },
+    {
+      "name": "com.nvidia.simready.root_usds.json",
+      "hash": {
+        "sha256": "e0d5710ac519dbf4cf35381c7b361d4427789df9674d8fceabe651bff5f65440"
+      }
+    }
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+  "content_hash": {
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+  "package_hash": {
+    "sha256": "5a89ecfe6564fedc143ba049a91e4414f72b9369217c9a7ab40cf5c21e5e162e"
+  }
+}

X30/simready_usd/SOURCE_LICENSE.txt

@@ -0,0 +1,28 @@
+BSD 3-Clause License
+
+Copyright (c) 2024, DeepRoboticsLab
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+
+1. Redistributions of source code must retain the above copyright notice, this
+   list of conditions and the following disclaimer.
+
+2. Redistributions in binary form must reproduce the above copyright notice,
+   this list of conditions and the following disclaimer in the documentation
+   and/or other materials provided with the distribution.
+
+3. Neither the name of the copyright holder nor the names of its
+   contributors may be used to endorse or promote products derived from
+   this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

X30/simready_usd/alternatives/original/SOURCE_LICENSE.txt

@@ -0,0 +1,28 @@
+BSD 3-Clause License
+
+Copyright (c) 2024, DeepRoboticsLab
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+
+1. Redistributions of source code must retain the above copyright notice, this
+   list of conditions and the following disclaimer.
+
+2. Redistributions in binary form must reproduce the above copyright notice,
+   this list of conditions and the following disclaimer in the documentation
+   and/or other materials provided with the distribution.
+
+3. Neither the name of the copyright holder nor the names of its
+   contributors may be used to endorse or promote products derived from
+   this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

X30/simready_usd/alternatives/original/payloads/Physics/mujoco.usda

@@ -0,0 +1,202 @@
+#usda 1.0
+(
+    customLayerData = {
+        string creator = "URDF USD Converter v0.3.2"
+    }
+    defaultPrim = "X30"
+    endTimeCode = 1000000
+    kilogramsPerUnit = 1
+    metersPerUnit = 1
+    startTimeCode = 0
+    subLayers = [
+        @./physics.usda@
+    ]
+    upAxis = "Z"
+)
+
+over "X30"
+{
+    over "Physics"
+    {
+        over "FL_HipX_joint" (
+            delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
+            prepend apiSchemas = ["MjcJointAPI"]
+        )
+        {
+        }
+
+        over "FL_HipY_joint" (
+            delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
+            prepend apiSchemas = ["MjcJointAPI"]
+        )
+        {
+        }
+
+        over "FL_Knee_joint" (
+            delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
+            prepend apiSchemas = ["MjcJointAPI"]
+        )
+        {
+        }
+
+        over "FR_HipX_joint" (
+            delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
+            prepend apiSchemas = ["MjcJointAPI"]
+        )
+        {
+        }
+
+        over "FR_HipY_joint" (
+            delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
+            prepend apiSchemas = ["MjcJointAPI"]
+        )
+        {
+        }
+
+        over "FR_Knee_joint" (
+            delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
+            prepend apiSchemas = ["MjcJointAPI"]
+        )
+        {
+        }
+
+        over "HL_HipX_joint" (
+            delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
+            prepend apiSchemas = ["MjcJointAPI"]
+        )
+        {
+        }
+
+        over "HL_HipY_joint" (
+            delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
+            prepend apiSchemas = ["MjcJointAPI"]
+        )
+        {
+        }
+
+        over "HL_Knee_joint" (
+            delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
+            prepend apiSchemas = ["MjcJointAPI"]
+        )
+        {
+        }
+
+        over "HR_HipX_joint" (
+            delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
+            prepend apiSchemas = ["MjcJointAPI"]
+        )
+        {
+        }
+
+        over "HR_HipY_joint" (
+            delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
+            prepend apiSchemas = ["MjcJointAPI"]
+        )
+        {
+        }
+
+        over "HR_Knee_joint" (
+            delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
+            prepend apiSchemas = ["MjcJointAPI"]
+        )
+        {
+        }
+
+        def MjcActuator "FL_HipX_joint_actuator"
+        {
+            uniform double mjc:forceRange:max = 84
+            uniform double mjc:forceRange:min = -84
+            custom rel mjc:target
+            append rel mjc:target = </X30/Physics/FL_HipX_joint>
+        }
+
+        def MjcActuator "FL_HipY_joint_actuator"
+        {
+            uniform double mjc:forceRange:max = 84
+            uniform double mjc:forceRange:min = -84
+            custom rel mjc:target
+            append rel mjc:target = </X30/Physics/FL_HipY_joint>
+        }
+
+        def MjcActuator "FL_Knee_joint_actuator"
+        {
+            uniform double mjc:forceRange:max = 150
+            uniform double mjc:forceRange:min = -150
+            custom rel mjc:target
+            append rel mjc:target = </X30/Physics/FL_Knee_joint>
+        }
+
+        def MjcActuator "FR_HipX_joint_actuator"
+        {
+            uniform double mjc:forceRange:max = 84
+            uniform double mjc:forceRange:min = -84
+            custom rel mjc:target
+            append rel mjc:target = </X30/Physics/FR_HipX_joint>
+        }
+
+        def MjcActuator "FR_HipY_joint_actuator"
+        {
+            uniform double mjc:forceRange:max = 84
+            uniform double mjc:forceRange:min = -84
+            custom rel mjc:target
+            append rel mjc:target = </X30/Physics/FR_HipY_joint>
+        }
+
+        def MjcActuator "FR_Knee_joint_actuator"
+        {
+            uniform double mjc:forceRange:max = 150
+            uniform double mjc:forceRange:min = -150
+            custom rel mjc:target
+            append rel mjc:target = </X30/Physics/FR_Knee_joint>
+        }
+
+        def MjcActuator "HL_HipX_joint_actuator"
+        {
+            uniform double mjc:forceRange:max = 84
+            uniform double mjc:forceRange:min = -84
+            custom rel mjc:target
+            append rel mjc:target = </X30/Physics/HL_HipX_joint>
+        }
+
+        def MjcActuator "HL_HipY_joint_actuator"
+        {
+            uniform double mjc:forceRange:max = 84
+            uniform double mjc:forceRange:min = -84
+            custom rel mjc:target
+            append rel mjc:target = </X30/Physics/HL_HipY_joint>
+        }
+
+        def MjcActuator "HL_Knee_joint_actuator"
+        {
+            uniform double mjc:forceRange:max = 150
+            uniform double mjc:forceRange:min = -150
+            custom rel mjc:target
+            append rel mjc:target = </X30/Physics/HL_Knee_joint>
+        }
+
+        def MjcActuator "HR_HipX_joint_actuator"
+        {
+            uniform double mjc:forceRange:max = 84
+            uniform double mjc:forceRange:min = -84
+            custom rel mjc:target
+            append rel mjc:target = </X30/Physics/HR_HipX_joint>
+        }
+
+        def MjcActuator "HR_HipY_joint_actuator"
+        {
+            uniform double mjc:forceRange:max = 84
+            uniform double mjc:forceRange:min = -84
+            custom rel mjc:target
+            append rel mjc:target = </X30/Physics/HR_HipY_joint>
+        }
+
+        def MjcActuator "HR_Knee_joint_actuator"
+        {
+            uniform double mjc:forceRange:max = 150
+            uniform double mjc:forceRange:min = -150
+            custom rel mjc:target
+            append rel mjc:target = </X30/Physics/HR_Knee_joint>
+        }
+    }
+}
+

X30/simready_usd/alternatives/original/payloads/Physics/physics.usda

@@ -0,0 +1,623 @@
+#usda 1.0
+(
+    customLayerData = {
+        string creator = "URDF USD Converter v0.3.2"
+    }
+    defaultPrim = "X30"
+    endTimeCode = 1000000
+    kilogramsPerUnit = 1
+    metersPerUnit = 1
+    startTimeCode = 0
+    upAxis = "Z"
+)
+
+over "X30"
+{
+    over "Geometry"
+    {
+        over "TORSO" (
+            prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsArticulationRootAPI", "NewtonArticulationRootAPI", "PhysicsMassAPI", "NewtonMassAPI"]
+        )
+        {
+            double[] newton:inertia = [0.364306, 0.597627, 0.757267, 0.00018421, 0.00027469, 0.00026784]
+            bool newton:selfCollisionEnabled = 0
+            float3 physics:diagonalInertia = (0.36430568, 0.5976267, 0.75726765)
+            float physics:mass = 30.7
+            quatf physics:principalAxes = (0.9999995, -0.00083942467, 0.00034957472, -0.00039406162)
+
+            over "FL_HIP" (
+                prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI", "NewtonMassAPI"]
+            )
+            {
+                double[] newton:inertia = [0.0014068, 0.0026782, 0.0015918, -0.000018545, 0.0000027664, 0.0000021221]
+                point3f physics:centerOfMass = (-0.0018591, -0.011377, 0.00027039)
+                float3 physics:diagonalInertia = (0.0014064873, 0.0015918382, 0.0026784744)
+                float physics:mass = 1.43
+                quatf physics:principalAxes = (0.7064292, 0.7077058, 0.010499859, -0.00018187075)
+
+                over "FL_THIGH" (
+                    prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI", "NewtonMassAPI"]
+                )
+                {
+                    double[] newton:inertia = [0.012604, 0.0164, 0.0061084, 0.00020291, -0.00030875, 0.00036593]
+                    point3f physics:centerOfMass = (-0.0087581, -0.023554, -0.055162)
+                    float3 physics:diagonalInertia = (0.0060801143, 0.012609631, 0.016422655)
+                    float physics:mass = 4.0809
+                    quatf physics:principalAxes = (-0.5083581, 0.51551616, 0.46614325, 0.5084541)
+
+                    over "FL_SHANK" (
+                        prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI", "NewtonMassAPI"]
+                    )
+                    {
+                        double[] newton:inertia = [0.0093039, 0.0096272, 0.00041542, 1.7693e-7, 0.00034843, -0.0000037717]
+                        point3f physics:centerOfMass = (0.014851, 0.000020685, -0.12283)
+                        float3 physics:diagonalInertia = (0.00040178085, 0.009317538, 0.009627202)
+                        float physics:mass = 0.71386
+                        quatf physics:principalAxes = (-0.48999745, 0.4902524, 0.50975996, 0.50960755)
+
+                        over "cylinder" (
+                            prepend apiSchemas = ["NewtonCollisionAPI"]
+                        )
+                        {
+                        }
+
+                        over "cylinder_1" (
+                            prepend apiSchemas = ["NewtonCollisionAPI"]
+                        )
+                        {
+                        }
+
+                        over "cylinder_2" (
+                            prepend apiSchemas = ["NewtonCollisionAPI"]
+                        )
+                        {
+                        }
+
+                        over "FL_FOOT" (
+                            prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI", "NewtonMassAPI"]
+                        )
+                        {
+                            double[] newton:inertia = [1e-12, 1e-12, 1e-12, 0, 0, 0]
+                            float3 physics:diagonalInertia = (1e-12, 1e-12, 1e-12)
+                            float physics:mass = 0.06
+                            quatf physics:principalAxes = (1, 0, 0, 0)
+
+                            over "sphere" (
+                                prepend apiSchemas = ["NewtonCollisionAPI"]
+                            )
+                            {
+                            }
+                        }
+                    }
+
+                    over "cylinder" (
+                        prepend apiSchemas = ["NewtonCollisionAPI"]
+                    )
+                    {
+                    }
+                }
+            }
+
+            over "FR_HIP" (
+                prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI", "NewtonMassAPI"]
+            )
+            {
+                double[] newton:inertia = [0.0014068, 0.0026782000375645282, 0.0015917999624354721, -0.000018544988990986732, 0.000004148749210808111, 0.000007076617139948811]
+                point3f physics:centerOfMass = (-0.0018591, 0.011377, -0.000027675)
+                float3 physics:diagonalInertia = (0.001406432, 0.0015918522, 0.0026785159)
+                float physics:mass = 1.43
+                quatf physics:principalAxes = (-0.70926076, 0.70481455, -0.0029518264, -0.013299224)
+
+                over "FR_THIGH" (
+                    prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI", "NewtonMassAPI"]
+                )
+                {
+                    double[] newton:inertia = [0.012604, 0.0164, 0.0061086, -0.00020374, -0.0003086, -0.00036585]
+                    point3f physics:centerOfMass = (-0.0087433, 0.023551, -0.055154)
+                    float3 physics:diagonalInertia = (0.006080331, 0.012609535, 0.016422734)
+                    float physics:mass = 4.0809
+                    quatf physics:principalAxes = (0.5155684, -0.5082969, -0.5085086, -0.46609274)
+
+                    over "FR_SHANK" (
+                        prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI", "NewtonMassAPI"]
+                    )
+                    {
+                        double[] newton:inertia = [0.0093039, 0.0096272, 0.00041542, 1.7692e-7, 0.00034843, -0.0000037714]
+                        point3f physics:centerOfMass = (0.014851, 0.000020687, -0.12283)
+                        float3 physics:diagonalInertia = (0.00040178085, 0.009317538, 0.009627202)
+                        float physics:mass = 0.71386
+                        quatf physics:principalAxes = (-0.48999745, 0.49025238, 0.50975996, 0.50960755)
+
+                        over "cylinder" (
+                            prepend apiSchemas = ["NewtonCollisionAPI"]
+                        )
+                        {
+                        }
+
+                        over "cylinder_1" (
+                            prepend apiSchemas = ["NewtonCollisionAPI"]
+                        )
+                        {
+                        }
+
+                        over "cylinder_2" (
+                            prepend apiSchemas = ["NewtonCollisionAPI"]
+                        )
+                        {
+                        }
+
+                        over "FR_FOOT" (
+                            prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI", "NewtonMassAPI"]
+                        )
+                        {
+                            double[] newton:inertia = [1e-12, 1e-12, 1e-12, 0, 0, 0]
+                            float3 physics:diagonalInertia = (1e-12, 1e-12, 1e-12)
+                            float physics:mass = 0.06
+                            quatf physics:principalAxes = (1, 0, 0, 0)
+
+                            over "sphere" (
+                                prepend apiSchemas = ["NewtonCollisionAPI"]
+                            )
+                            {
+                            }
+                        }
+                    }
+
+                    over "cylinder" (
+                        prepend apiSchemas = ["NewtonCollisionAPI"]
+                    )
+                    {
+                    }
+                }
+            }
+
+            over "HL_HIP" (
+                prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI", "NewtonMassAPI"]
+            )
+            {
+                double[] newton:inertia = [0.0014067999779834067, 0.0026782, 0.0015918000220165934, -0.00001854501878602365, 0.0000041482090858298045, 0.000007079450789152357]
+                point3f physics:centerOfMass = (0.0018591, -0.011377, -0.000027675)
+                float3 physics:diagonalInertia = (0.001406432, 0.0015918522, 0.0026785159)
+                float physics:mass = 1.43
+                quatf physics:principalAxes = (-0.0029508676, -0.013298293, 0.7092617, -0.7048136)
+
+                over "HL_THIGH" (
+                    prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI", "NewtonMassAPI"]
+                )
+                {
+                    double[] newton:inertia = [0.012604, 0.0164, 0.0061084, 0.00020291, -0.00030875, 0.00036593]
+                    point3f physics:centerOfMass = (-0.0087581, -0.023554, -0.055162)
+                    float3 physics:diagonalInertia = (0.0060801143, 0.012609631, 0.016422655)
+                    float physics:mass = 4.0809
+                    quatf physics:principalAxes = (-0.5083581, 0.51551616, 0.46614325, 0.5084541)
+
+                    over "HL_SHANK" (
+                        prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI", "NewtonMassAPI"]
+                    )
+                    {
+                        double[] newton:inertia = [0.0093039, 0.0096272, 0.00041542, 1.7692e-7, 0.00034843, -0.0000037714]
+                        point3f physics:centerOfMass = (0.014851, 0.000020679, -0.12283)
+                        float3 physics:diagonalInertia = (0.00040178085, 0.009317538, 0.009627202)
+                        float physics:mass = 0.71386
+                        quatf physics:principalAxes = (-0.48999745, 0.49025238, 0.50975996, 0.50960755)
+
+                        over "cylinder" (
+                            prepend apiSchemas = ["NewtonCollisionAPI"]
+                        )
+                        {
+                        }
+
+                        over "cylinder_1" (
+                            prepend apiSchemas = ["NewtonCollisionAPI"]
+                        )
+                        {
+                        }
+
+                        over "cylinder_2" (
+                            prepend apiSchemas = ["NewtonCollisionAPI"]
+                        )
+                        {
+                        }
+
+                        over "HL_FOOT" (
+                            prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI", "NewtonMassAPI"]
+                        )
+                        {
+                            double[] newton:inertia = [1e-12, 1e-12, 1e-12, 0, 0, 0]
+                            float3 physics:diagonalInertia = (1e-12, 1e-12, 1e-12)
+                            float physics:mass = 0.06
+                            quatf physics:principalAxes = (1, 0, 0, 0)
+
+                            over "sphere" (
+                                prepend apiSchemas = ["NewtonCollisionAPI"]
+                            )
+                            {
+                            }
+                        }
+                    }
+
+                    over "cylinder" (
+                        prepend apiSchemas = ["NewtonCollisionAPI"]
+                    )
+                    {
+                    }
+                }
+            }
+
+            over "HR_HIP" (
+                prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI", "NewtonMassAPI"]
+            )
+            {
+                double[] newton:inertia = [0.0014067999853197822, 0.0026781999887299846, 0.0015918000259502335, -0.000018545012979593165, 0.0000027658598749869094, 0.000002124933649071924]
+                point3f physics:centerOfMass = (0.0018591, 0.011377, 0.00027039)
+                float3 physics:diagonalInertia = (0.0014064873, 0.0015918382, 0.0026784744)
+                float physics:mass = 1.43
+                quatf physics:principalAxes = (0.010498922, -0.00018091785, -0.70642823, -0.70770675)
+
+                over "HR_THIGH" (
+                    prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI", "NewtonMassAPI"]
+                )
+                {
+                    double[] newton:inertia = [0.012604, 0.0164, 0.0061086, -0.00020374, -0.0003086, -0.00036585]
+                    point3f physics:centerOfMass = (-0.0087433, 0.023551, -0.055154)
+                    float3 physics:diagonalInertia = (0.006080331, 0.012609535, 0.016422734)
+                    float physics:mass = 4.0809
+                    quatf physics:principalAxes = (0.5155684, -0.5082969, -0.5085086, -0.46609274)
+
+                    over "HR_SHANK" (
+                        prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI", "NewtonMassAPI"]
+                    )
+                    {
+                        double[] newton:inertia = [0.0093039, 0.0096272, 0.00041542, 1.7692e-7, 0.00034843, -0.0000037714]
+                        point3f physics:centerOfMass = (0.014851, 0.000020679, -0.12283)
+                        float3 physics:diagonalInertia = (0.00040178085, 0.009317538, 0.009627202)
+                        float physics:mass = 0.71386
+                        quatf physics:principalAxes = (-0.48999745, 0.49025238, 0.50975996, 0.50960755)
+
+                        over "cylinder" (
+                            prepend apiSchemas = ["NewtonCollisionAPI"]
+                        )
+                        {
+                        }
+
+                        over "cylinder_1" (
+                            prepend apiSchemas = ["NewtonCollisionAPI"]
+                        )
+                        {
+                        }
+
+                        over "cylinder_2" (
+                            prepend apiSchemas = ["NewtonCollisionAPI"]
+                        )
+                        {
+                        }
+
+                        over "HR_FOOT" (
+                            prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI", "NewtonMassAPI"]
+                        )
+                        {
+                            double[] newton:inertia = [1e-12, 1e-12, 1e-12, 0, 0, 0]
+                            float3 physics:diagonalInertia = (1e-12, 1e-12, 1e-12)
+                            float physics:mass = 0.06
+                            quatf physics:principalAxes = (1, 0, 0, 0)
+
+                            over "sphere" (
+                                prepend apiSchemas = ["NewtonCollisionAPI"]
+                            )
+                            {
+                            }
+                        }
+                    }
+
+                    over "cylinder" (
+                        prepend apiSchemas = ["NewtonCollisionAPI"]
+                    )
+                    {
+                    }
+                }
+            }
+
+            over "box" (
+                prepend apiSchemas = ["NewtonCollisionAPI"]
+            )
+            {
+            }
+        }
+    }
+
+    over "Physics"
+    {
+        def PhysicsRevoluteJoint "FL_HipX_joint" (
+            prepend apiSchemas = ["NewtonJointAPI", "PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
+        )
+        {
+            float drive:angular:physics:maxForce = 84
+            float newton:velocityLimit = 1002.67615
+            uniform token physics:axis = "X"
+            custom rel physics:body0
+            append rel physics:body0 = </X30/Geometry/TORSO>
+            custom rel physics:body1
+            append rel physics:body1 = </X30/Geometry/TORSO/FL_HIP>
+            point3f physics:localPos0 = (0.291, 0.08, 0)
+            point3f physics:localPos1 = (0, 0, 0)
+            quatf physics:localRot0 = (0, 0, -1, 0)
+            quatf physics:localRot1 = (0, 0, -1, 0)
+            float physics:lowerLimit = -18.506536
+            float physics:upperLimit = 33.518032
+            custom float urdf:limit:effort = 84
+        }
+
+        def PhysicsRevoluteJoint "FL_HipY_joint" (
+            prepend apiSchemas = ["NewtonJointAPI", "PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
+        )
+        {
+            float drive:angular:physics:maxForce = 84
+            float newton:velocityLimit = 1002.67615
+            uniform token physics:axis = "Y"
+            custom rel physics:body0
+            append rel physics:body0 = </X30/Geometry/TORSO/FL_HIP>
+            custom rel physics:body1
+            append rel physics:body1 = </X30/Geometry/TORSO/FL_HIP/FL_THIGH>
+            point3f physics:localPos0 = (0, 0.11675, 0)
+            point3f physics:localPos1 = (0, 0, 0)
+            quatf physics:localRot0 = (0, -1, 0, 0)
+            quatf physics:localRot1 = (0, -1, 0, 0)
+            float physics:lowerLimit = -169.99658
+            float physics:upperLimit = 15.011495
+            custom float urdf:limit:effort = 84
+        }
+
+        def PhysicsRevoluteJoint "FL_Knee_joint" (
+            prepend apiSchemas = ["NewtonJointAPI", "PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
+        )
+        {
+            float drive:angular:physics:maxForce = 150
+            float newton:velocityLimit = 922.46204
+            uniform token physics:axis = "Y"
+            custom rel physics:body0
+            append rel physics:body0 = </X30/Geometry/TORSO/FL_HIP/FL_THIGH>
+            custom rel physics:body1
+            append rel physics:body1 = </X30/Geometry/TORSO/FL_HIP/FL_THIGH/FL_SHANK>
+            point3f physics:localPos0 = (0, 0, -0.3)
+            point3f physics:localPos1 = (0, 0, 0)
+            quatf physics:localRot0 = (0, -1, 0, 0)
+            quatf physics:localRot1 = (0, -1, 0, 0)
+            float physics:lowerLimit = 19.996227
+            float physics:upperLimit = 145.01562
+            custom float urdf:limit:effort = 150
+        }
+
+        def PhysicsRevoluteJoint "FR_HipX_joint" (
+            prepend apiSchemas = ["NewtonJointAPI", "PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
+        )
+        {
+            float drive:angular:physics:maxForce = 84
+            float newton:velocityLimit = 1002.67615
+            uniform token physics:axis = "X"
+            custom rel physics:body0
+            append rel physics:body0 = </X30/Geometry/TORSO>
+            custom rel physics:body1
+            append rel physics:body1 = </X30/Geometry/TORSO/FR_HIP>
+            point3f physics:localPos0 = (0.291, -0.08, 0)
+            point3f physics:localPos1 = (0, 0, 0)
+            quatf physics:localRot0 = (0, 0, -1, 0)
+            quatf physics:localRot1 = (0, 0, -1, 0)
+            float physics:lowerLimit = -33.518032
+            float physics:upperLimit = 18.506536
+            custom float urdf:limit:effort = 84
+        }
+
+        def PhysicsRevoluteJoint "FR_HipY_joint" (
+            prepend apiSchemas = ["NewtonJointAPI", "PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
+        )
+        {
+            float drive:angular:physics:maxForce = 84
+            float newton:velocityLimit = 1002.67615
+            uniform token physics:axis = "Y"
+            custom rel physics:body0
+            append rel physics:body0 = </X30/Geometry/TORSO/FR_HIP>
+            custom rel physics:body1
+            append rel physics:body1 = </X30/Geometry/TORSO/FR_HIP/FR_THIGH>
+            point3f physics:localPos0 = (0, -0.11675, 0)
+            point3f physics:localPos1 = (0, 0, 0)
+            quatf physics:localRot0 = (0, -1, 0, 0)
+            quatf physics:localRot1 = (0, -1, 0, 0)
+            float physics:lowerLimit = -169.99658
+            float physics:upperLimit = 15.011495
+            custom float urdf:limit:effort = 84
+        }
+
+        def PhysicsRevoluteJoint "FR_Knee_joint" (
+            prepend apiSchemas = ["NewtonJointAPI", "PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
+        )
+        {
+            float drive:angular:physics:maxForce = 150
+            float newton:velocityLimit = 922.46204
+            uniform token physics:axis = "Y"
+            custom rel physics:body0
+            append rel physics:body0 = </X30/Geometry/TORSO/FR_HIP/FR_THIGH>
+            custom rel physics:body1
+            append rel physics:body1 = </X30/Geometry/TORSO/FR_HIP/FR_THIGH/FR_SHANK>
+            point3f physics:localPos0 = (0, 0, -0.3)
+            point3f physics:localPos1 = (0, 0, 0)
+            quatf physics:localRot0 = (0, -1, 0, 0)
+            quatf physics:localRot1 = (0, -1, 0, 0)
+            float physics:lowerLimit = 19.996227
+            float physics:upperLimit = 145.01562
+            custom float urdf:limit:effort = 150
+        }
+
+        def PhysicsRevoluteJoint "HL_HipX_joint" (
+            prepend apiSchemas = ["NewtonJointAPI", "PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
+        )
+        {
+            float drive:angular:physics:maxForce = 84
+            float newton:velocityLimit = 1002.67615
+            uniform token physics:axis = "X"
+            custom rel physics:body0
+            append rel physics:body0 = </X30/Geometry/TORSO>
+            custom rel physics:body1
+            append rel physics:body1 = </X30/Geometry/TORSO/HL_HIP>
+            point3f physics:localPos0 = (-0.291, 0.08, 0)
+            point3f physics:localPos1 = (0, 0, 0)
+            quatf physics:localRot0 = (0, 0, -1, 0)
+            quatf physics:localRot1 = (0, 0, -1, 0)
+            float physics:lowerLimit = -18.506536
+            float physics:upperLimit = 33.518032
+            custom float urdf:limit:effort = 84
+        }
+
+        def PhysicsRevoluteJoint "HL_HipY_joint" (
+            prepend apiSchemas = ["NewtonJointAPI", "PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
+        )
+        {
+            float drive:angular:physics:maxForce = 84
+            float newton:velocityLimit = 1002.67615
+            uniform token physics:axis = "Y"
+            custom rel physics:body0
+            append rel physics:body0 = </X30/Geometry/TORSO/HL_HIP>
+            custom rel physics:body1
+            append rel physics:body1 = </X30/Geometry/TORSO/HL_HIP/HL_THIGH>
+            point3f physics:localPos0 = (0, 0.11675, 0)
+            point3f physics:localPos1 = (0, 0, 0)
+            quatf physics:localRot0 = (0, -1, 0, 0)
+            quatf physics:localRot1 = (0, -1, 0, 0)
+            float physics:lowerLimit = -169.99658
+            float physics:upperLimit = 15.011495
+            custom float urdf:limit:effort = 84
+        }
+
+        def PhysicsRevoluteJoint "HL_Knee_joint" (
+            prepend apiSchemas = ["NewtonJointAPI", "PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
+        )
+        {
+            float drive:angular:physics:maxForce = 150
+            float newton:velocityLimit = 922.46204
+            uniform token physics:axis = "Y"
+            custom rel physics:body0
+            append rel physics:body0 = </X30/Geometry/TORSO/HL_HIP/HL_THIGH>
+            custom rel physics:body1
+            append rel physics:body1 = </X30/Geometry/TORSO/HL_HIP/HL_THIGH/HL_SHANK>
+            point3f physics:localPos0 = (0, 0, -0.3)
+            point3f physics:localPos1 = (0, 0, 0)
+            quatf physics:localRot0 = (0, -1, 0, 0)
+            quatf physics:localRot1 = (0, -1, 0, 0)
+            float physics:lowerLimit = 19.996227
+            float physics:upperLimit = 145.01562
+            custom float urdf:limit:effort = 150
+        }
+
+        def PhysicsRevoluteJoint "HR_HipX_joint" (
+            prepend apiSchemas = ["NewtonJointAPI", "PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
+        )
+        {
+            float drive:angular:physics:maxForce = 84
+            float newton:velocityLimit = 1002.67615
+            uniform token physics:axis = "X"
+            custom rel physics:body0
+            append rel physics:body0 = </X30/Geometry/TORSO>
+            custom rel physics:body1
+            append rel physics:body1 = </X30/Geometry/TORSO/HR_HIP>
+            point3f physics:localPos0 = (-0.291, -0.08, 0)
+            point3f physics:localPos1 = (0, 0, 0)
+            quatf physics:localRot0 = (0, 0, -1, 0)
+            quatf physics:localRot1 = (0, 0, -1, 0)
+            float physics:lowerLimit = -33.518032
+            float physics:upperLimit = 18.506536
+            custom float urdf:limit:effort = 84
+        }
+
+        def PhysicsRevoluteJoint "HR_HipY_joint" (
+            prepend apiSchemas = ["NewtonJointAPI", "PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
+        )
+        {
+            float drive:angular:physics:maxForce = 84
+            float newton:velocityLimit = 1002.67615
+            uniform token physics:axis = "Y"
+            custom rel physics:body0
+            append rel physics:body0 = </X30/Geometry/TORSO/HR_HIP>
+            custom rel physics:body1
+            append rel physics:body1 = </X30/Geometry/TORSO/HR_HIP/HR_THIGH>
+            point3f physics:localPos0 = (0, -0.11675, 0)
+            point3f physics:localPos1 = (0, 0, 0)
+            quatf physics:localRot0 = (0, -1, 0, 0)
+            quatf physics:localRot1 = (0, -1, 0, 0)
+            float physics:lowerLimit = -169.99658
+            float physics:upperLimit = 15.011495
+            custom float urdf:limit:effort = 84
+        }
+
+        def PhysicsRevoluteJoint "HR_Knee_joint" (
+            prepend apiSchemas = ["NewtonJointAPI", "PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
+        )
+        {
+            float drive:angular:physics:maxForce = 150
+            float newton:velocityLimit = 922.46204
+            uniform token physics:axis = "Y"
+            custom rel physics:body0
+            append rel physics:body0 = </X30/Geometry/TORSO/HR_HIP/HR_THIGH>
+            custom rel physics:body1
+            append rel physics:body1 = </X30/Geometry/TORSO/HR_HIP/HR_THIGH/HR_SHANK>
+            point3f physics:localPos0 = (0, 0, -0.3)
+            point3f physics:localPos1 = (0, 0, 0)
+            quatf physics:localRot0 = (0, -1, 0, 0)
+            quatf physics:localRot1 = (0, -1, 0, 0)
+            float physics:lowerLimit = 19.996227
+            float physics:upperLimit = 145.01562
+            custom float urdf:limit:effort = 150
+        }
+
+        def PhysicsFixedJoint "FL_Ankle"
+        {
+            custom rel physics:body0
+            append rel physics:body0 = </X30/Geometry/TORSO/FL_HIP/FL_THIGH/FL_SHANK>
+            custom rel physics:body1
+            append rel physics:body1 = </X30/Geometry/TORSO/FL_HIP/FL_THIGH/FL_SHANK/FL_FOOT>
+            point3f physics:localPos0 = (0, 0, -0.31)
+            point3f physics:localPos1 = (0, 0, 0)
+            quatf physics:localRot0 = (1, 0, 0, 0)
+            quatf physics:localRot1 = (1, 0, 0, 0)
+            custom string urdf:dont_collapse = "true"
+        }
+
+        def PhysicsFixedJoint "FR_Ankle"
+        {
+            custom rel physics:body0
+            append rel physics:body0 = </X30/Geometry/TORSO/FR_HIP/FR_THIGH/FR_SHANK>
+            custom rel physics:body1
+            append rel physics:body1 = </X30/Geometry/TORSO/FR_HIP/FR_THIGH/FR_SHANK/FR_FOOT>
+            point3f physics:localPos0 = (0, 0, -0.31)
+            point3f physics:localPos1 = (0, 0, 0)
+            quatf physics:localRot0 = (1, 0, 0, 0)
+            quatf physics:localRot1 = (1, 0, 0, 0)
+            custom string urdf:dont_collapse = "true"
+        }
+
+        def PhysicsFixedJoint "HL_Ankle"
+        {
+            custom rel physics:body0
+            append rel physics:body0 = </X30/Geometry/TORSO/HL_HIP/HL_THIGH/HL_SHANK>
+            custom rel physics:body1
+            append rel physics:body1 = </X30/Geometry/TORSO/HL_HIP/HL_THIGH/HL_SHANK/HL_FOOT>
+            point3f physics:localPos0 = (0, 0, -0.31)
+            point3f physics:localPos1 = (0, 0, 0)
+            quatf physics:localRot0 = (1, 0, 0, 0)
+            quatf physics:localRot1 = (1, 0, 0, 0)
+            custom string urdf:dont_collapse = "true"
+        }
+
+        def PhysicsFixedJoint "HR_Ankle"
+        {
+            custom rel physics:body0
+            append rel physics:body0 = </X30/Geometry/TORSO/HR_HIP/HR_THIGH/HR_SHANK>
+            custom rel physics:body1
+            append rel physics:body1 = </X30/Geometry/TORSO/HR_HIP/HR_THIGH/HR_SHANK/HR_FOOT>
+            point3f physics:localPos0 = (0, 0, -0.31)
+            point3f physics:localPos1 = (0, 0, 0)
+            quatf physics:localRot0 = (1, 0, 0, 0)
+            quatf physics:localRot1 = (1, 0, 0, 0)
+            custom string urdf:dont_collapse = "true"
+        }
+    }
+}
+

X30/simready_usd/alternatives/original/payloads/Physics/physx.usda

@@ -0,0 +1,94 @@
+#usda 1.0
+(
+    customLayerData = {
+        string creator = "URDF USD Converter v0.3.2"
+    }
+    defaultPrim = "X30"
+    endTimeCode = 1000000
+    kilogramsPerUnit = 1
+    metersPerUnit = 1
+    startTimeCode = 0
+    subLayers = [
+        @./physics.usda@
+    ]
+    upAxis = "Z"
+)
+
+over "X30"
+{
+    over "Physics"
+    {
+        over "FL_HipX_joint" (
+            prepend apiSchemas = ["PhysxJointAPI"]
+        )
+        {
+        }
+
+        over "FL_HipY_joint" (
+            prepend apiSchemas = ["PhysxJointAPI"]
+        )
+        {
+        }
+
+        over "FL_Knee_joint" (
+            prepend apiSchemas = ["PhysxJointAPI"]
+        )
+        {
+        }
+
+        over "FR_HipX_joint" (
+            prepend apiSchemas = ["PhysxJointAPI"]
+        )
+        {
+        }
+
+        over "FR_HipY_joint" (
+            prepend apiSchemas = ["PhysxJointAPI"]
+        )
+        {
+        }
+
+        over "FR_Knee_joint" (
+            prepend apiSchemas = ["PhysxJointAPI"]
+        )
+        {
+        }
+
+        over "HL_HipX_joint" (
+            prepend apiSchemas = ["PhysxJointAPI"]
+        )
+        {
+        }
+
+        over "HL_HipY_joint" (
+            prepend apiSchemas = ["PhysxJointAPI"]
+        )
+        {
+        }
+
+        over "HL_Knee_joint" (
+            prepend apiSchemas = ["PhysxJointAPI"]
+        )
+        {
+        }
+
+        over "HR_HipX_joint" (
+            prepend apiSchemas = ["PhysxJointAPI"]
+        )
+        {
+        }
+
+        over "HR_HipY_joint" (
+            prepend apiSchemas = ["PhysxJointAPI"]
+        )
+        {
+        }
+
+        over "HR_Knee_joint" (
+            prepend apiSchemas = ["PhysxJointAPI"]
+        )
+        {
+        }
+    }
+}
+

X30/simready_usd/alternatives/original/payloads/base.usda

@@ -0,0 +1,630 @@
+#usda 1.0
+(
+    customLayerData = {
+        string creator = "URDF USD Converter v0.3.2"
+    }
+    defaultPrim = "X30"
+    doc = "Generated from the source robot description using the NVIDIA asset transformer."
+    endTimeCode = 1000000
+    kilogramsPerUnit = 1
+    metersPerUnit = 1
+    startTimeCode = 0
+    subLayers = [
+        @./robot.usda@
+    ]
+    upAxis = "Z"
+)
+
+def Xform "X30" (
+    prepend apiSchemas = ["GeomModelAPI"]
+    assetInfo = {
+        string name = "X30"
+    }
+    kind = "component"
+)
+{
+    float3[] extentsHint = [(-0.493021, -0.22695696, -0.649002), (0.486837, 0.22695696, 0.135394), (3.4028235e38, 3.4028235e38, 3.4028235e38), (-3.4028235e38, -3.4028235e38, -3.4028235e38), (3.4028235e38, 3.4028235e38, 3.4028235e38), (-3.4028235e38, -3.4028235e38, -3.4028235e38), (-0.351, -0.23674999, -0.646), (0.35349745, 0.23674999, 0.09)]
+
+    def Scope "Materials"
+    {
+    }
+
+    def Scope "Geometry"
+    {
+        def Xform "TORSO"
+        {
+            def Xform "torso" (
+                instanceable = true
+                prepend references = @./instances.usda@</Instances/torso>
+            )
+            {
+                quatd xformOp:orient = (1, 0, 0, 0)
+                double3 xformOp:scale = (1, 1, 1)
+                double3 xformOp:translate = (0, 0, 0)
+                uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+            }
+
+            def Xform "FL_HIP"
+            {
+                quatf xformOp:orient = (1, 0, 0, 0)
+                float3 xformOp:scale = (1, 1, 1)
+                double3 xformOp:translate = (0.291, 0.08, 0)
+                uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+
+                def Xform "hip" (
+                    instanceable = true
+                    prepend references = @./instances.usda@</Instances/hip>
+                )
+                {
+                    quatd xformOp:orient = (1, 0, 0, 0)
+                    double3 xformOp:scale = (1, 1, 1)
+                    double3 xformOp:translate = (0, 0, 0)
+                    uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+                }
+
+                def Xform "FL_THIGH"
+                {
+                    quatf xformOp:orient = (1, 0, 0, 0)
+                    float3 xformOp:scale = (1, 1, 1)
+                    double3 xformOp:translate = (0, 0.11675, 0)
+                    uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+
+                    def Xform "thigh" (
+                        instanceable = true
+                        prepend references = @./instances.usda@</Instances/thigh>
+                    )
+                    {
+                        quatd xformOp:orient = (1, 0, 0, 0)
+                        double3 xformOp:scale = (1, 1, 1)
+                        double3 xformOp:translate = (0, 0, 0)
+                        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+                    }
+
+                    def Xform "FL_SHANK"
+                    {
+                        quatf xformOp:orient = (1, 0, 0, 0)
+                        float3 xformOp:scale = (1, 1, 1)
+                        double3 xformOp:translate = (0, 0, -0.3)
+                        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+
+                        def Xform "shank" (
+                            instanceable = true
+                            prepend references = @./instances.usda@</Instances/shank>
+                        )
+                        {
+                            quatd xformOp:orient = (1, 0, 0, 0)
+                            double3 xformOp:scale = (1, 1, 1)
+                            double3 xformOp:translate = (0, 0, 0)
+                            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+                        }
+
+                        def Cylinder "cylinder" (
+                            prepend apiSchemas = ["PhysicsCollisionAPI"]
+                        )
+                        {
+                            uniform token axis = "Z"
+                            float3[] extent = [(-0.025, -0.025, -0.05), (0.025, 0.025, 0.05)]
+                            double height = 0.1
+                            uniform token purpose = "guide"
+                            double radius = 0.025
+                            quatf xformOp:orient = (0.9800666, 0, -0.19866924, 0)
+                            float3 xformOp:scale = (1, 1, 1)
+                            double3 xformOp:translate = (0.02, 0, -0.046)
+                            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+                        }
+
+                        def Cylinder "cylinder_1" (
+                            prepend apiSchemas = ["PhysicsCollisionAPI"]
+                            displayName = "cylinder"
+                        )
+                        {
+                            uniform token axis = "Z"
+                            float3[] extent = [(-0.015, -0.015, -0.05), (0.015, 0.015, 0.05)]
+                            double height = 0.1
+                            uniform token purpose = "guide"
+                            double radius = 0.015
+                            quatf xformOp:orient = (1, 0, 0, 0)
+                            float3 xformOp:scale = (1, 1, 1)
+                            double3 xformOp:translate = (0.045, 0, -0.1421)
+                            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+                        }
+
+                        def Cylinder "cylinder_2" (
+                            prepend apiSchemas = ["PhysicsCollisionAPI"]
+                            displayName = "cylinder"
+                        )
+                        {
+                            uniform token axis = "Z"
+                            float3[] extent = [(-0.015, -0.015, -0.04), (0.015, 0.015, 0.04)]
+                            double height = 0.08
+                            uniform token purpose = "guide"
+                            double radius = 0.015
+                            quatf xformOp:orient = (0.9800666, 0, 0.19866924, 0)
+                            float3 xformOp:scale = (1, 1, 1)
+                            double3 xformOp:translate = (0.02, 0, -0.246)
+                            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+                        }
+
+                        def Xform "FL_FOOT"
+                        {
+                            quatf xformOp:orient = (1, 0, 0, 0)
+                            float3 xformOp:scale = (1, 1, 1)
+                            double3 xformOp:translate = (0, 0, -0.31)
+                            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+
+                            def Sphere "sphere" (
+                                prepend apiSchemas = ["PhysicsCollisionAPI"]
+                            )
+                            {
+                                float3[] extent = [(-0.036, -0.036, -0.036), (0.036, 0.036, 0.036)]
+                                uniform token purpose = "guide"
+                                double radius = 0.036
+                                quatf xformOp:orient = (1, 0, 0, 0)
+                                float3 xformOp:scale = (1, 1, 1)
+                                double3 xformOp:translate = (0, 0, 0)
+                                uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+                            }
+                        }
+                    }
+
+                    def Cylinder "cylinder" (
+                        prepend apiSchemas = ["PhysicsCollisionAPI"]
+                    )
+                    {
+                        uniform token axis = "Z"
+                        float3[] extent = [(-0.04, -0.04, -0.125), (0.04, 0.04, 0.125)]
+                        double height = 0.25
+                        uniform token purpose = "guide"
+                        double radius = 0.04
+                        quatf xformOp:orient = (1, 0, 0, 0)
+                        float3 xformOp:scale = (1, 1, 1)
+                        double3 xformOp:translate = (-0.02, 0, -0.13)
+                        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+                    }
+                }
+            }
+
+            def Xform "FR_HIP"
+            {
+                quatf xformOp:orient = (1, 0, 0, 0)
+                float3 xformOp:scale = (1, 1, 1)
+                double3 xformOp:translate = (0.291, -0.08, 0)
+                uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+
+                def Xform "hip" (
+                    instanceable = true
+                    prepend references = @./instances.usda@</Instances/hip>
+                )
+                {
+                    quatd xformOp:orient = (1, 0, 0, 0)
+                    double3 xformOp:scale = (1, -1, 1)
+                    double3 xformOp:translate = (0, 0, 0)
+                    uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+                }
+
+                def Xform "FR_THIGH"
+                {
+                    quatf xformOp:orient = (1, 0, 0, 0)
+                    float3 xformOp:scale = (1, 1, 1)
+                    double3 xformOp:translate = (0, -0.11675, 0)
+                    uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+
+                    def Xform "thigh" (
+                        instanceable = true
+                        prepend references = @./instances.usda@</Instances/thigh>
+                    )
+                    {
+                        quatd xformOp:orient = (1, 0, 0, 0)
+                        double3 xformOp:scale = (1, -1, 1)
+                        double3 xformOp:translate = (0, 0, 0)
+                        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+                    }
+
+                    def Xform "FR_SHANK"
+                    {
+                        quatf xformOp:orient = (1, 0, 0, 0)
+                        float3 xformOp:scale = (1, 1, 1)
+                        double3 xformOp:translate = (0, 0, -0.3)
+                        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+
+                        def Xform "shank" (
+                            instanceable = true
+                            prepend references = @./instances.usda@</Instances/shank>
+                        )
+                        {
+                            quatd xformOp:orient = (1, 0, 0, 0)
+                            double3 xformOp:scale = (1, 1, 1)
+                            double3 xformOp:translate = (0, 0, 0)
+                            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+                        }
+
+                        def Cylinder "cylinder" (
+                            prepend apiSchemas = ["PhysicsCollisionAPI"]
+                        )
+                        {
+                            uniform token axis = "Z"
+                            float3[] extent = [(-0.025, -0.025, -0.05), (0.025, 0.025, 0.05)]
+                            double height = 0.1
+                            uniform token purpose = "guide"
+                            double radius = 0.025
+                            quatf xformOp:orient = (0.9800666, 0, -0.19866924, 0)
+                            float3 xformOp:scale = (1, 1, 1)
+                            double3 xformOp:translate = (0.02, 0, -0.046)
+                            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+                        }
+
+                        def Cylinder "cylinder_1" (
+                            prepend apiSchemas = ["PhysicsCollisionAPI"]
+                            displayName = "cylinder"
+                        )
+                        {
+                            uniform token axis = "Z"
+                            float3[] extent = [(-0.015, -0.015, -0.05), (0.015, 0.015, 0.05)]
+                            double height = 0.1
+                            uniform token purpose = "guide"
+                            double radius = 0.015
+                            quatf xformOp:orient = (1, 0, 0, 0)
+                            float3 xformOp:scale = (1, 1, 1)
+                            double3 xformOp:translate = (0.045, 0, -0.1421)
+                            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+                        }
+
+                        def Cylinder "cylinder_2" (
+                            prepend apiSchemas = ["PhysicsCollisionAPI"]
+                            displayName = "cylinder"
+                        )
+                        {
+                            uniform token axis = "Z"
+                            float3[] extent = [(-0.015, -0.015, -0.04), (0.015, 0.015, 0.04)]
+                            double height = 0.08
+                            uniform token purpose = "guide"
+                            double radius = 0.015
+                            quatf xformOp:orient = (0.9800666, 0, 0.19866924, 0)
+                            float3 xformOp:scale = (1, 1, 1)
+                            double3 xformOp:translate = (0.02, 0, -0.246)
+                            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+                        }
+
+                        def Xform "FR_FOOT"
+                        {
+                            quatf xformOp:orient = (1, 0, 0, 0)
+                            float3 xformOp:scale = (1, 1, 1)
+                            double3 xformOp:translate = (0, 0, -0.31)
+                            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+
+                            def Sphere "sphere" (
+                                prepend apiSchemas = ["PhysicsCollisionAPI"]
+                            )
+                            {
+                                float3[] extent = [(-0.036, -0.036, -0.036), (0.036, 0.036, 0.036)]
+                                uniform token purpose = "guide"
+                                double radius = 0.036
+                                quatf xformOp:orient = (1, 0, 0, 0)
+                                float3 xformOp:scale = (1, 1, 1)
+                                double3 xformOp:translate = (0, 0, 0)
+                                uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+                            }
+                        }
+                    }
+
+                    def Cylinder "cylinder" (
+                        prepend apiSchemas = ["PhysicsCollisionAPI"]
+                    )
+                    {
+                        uniform token axis = "Z"
+                        float3[] extent = [(-0.04, -0.04, -0.125), (0.04, 0.04, 0.125)]
+                        double height = 0.25
+                        uniform token purpose = "guide"
+                        double radius = 0.04
+                        quatf xformOp:orient = (1, 0, 0, 0)
+                        float3 xformOp:scale = (1, 1, 1)
+                        double3 xformOp:translate = (-0.02, 0, -0.13)
+                        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+                    }
+                }
+            }
+
+            def Xform "HL_HIP"
+            {
+                quatf xformOp:orient = (1, 0, 0, 0)
+                float3 xformOp:scale = (1, 1, 1)
+                double3 xformOp:translate = (-0.291, 0.08, 0)
+                uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+
+                def Xform "hip" (
+                    instanceable = true
+                    prepend references = @./instances.usda@</Instances/hip>
+                )
+                {
+                    quatd xformOp:orient = (1, 0, 0, 0)
+                    double3 xformOp:scale = (-1, 1, 1)
+                    double3 xformOp:translate = (0, 0, 0)
+                    uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+                }
+
+                def Xform "HL_THIGH"
+                {
+                    quatf xformOp:orient = (1, 0, 0, 0)
+                    float3 xformOp:scale = (1, 1, 1)
+                    double3 xformOp:translate = (0, 0.11675, 0)
+                    uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+
+                    def Xform "thigh" (
+                        instanceable = true
+                        prepend references = @./instances.usda@</Instances/thigh>
+                    )
+                    {
+                        quatd xformOp:orient = (1, 0, 0, 0)
+                        double3 xformOp:scale = (1, 1, 1)
+                        double3 xformOp:translate = (0, 0, 0)
+                        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+                    }
+
+                    def Xform "HL_SHANK"
+                    {
+                        quatf xformOp:orient = (1, 0, 0, 0)
+                        float3 xformOp:scale = (1, 1, 1)
+                        double3 xformOp:translate = (0, 0, -0.3)
+                        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+
+                        def Xform "shank" (
+                            instanceable = true
+                            prepend references = @./instances.usda@</Instances/shank>
+                        )
+                        {
+                            quatd xformOp:orient = (1, 0, 0, 0)
+                            double3 xformOp:scale = (1, 1, 1)
+                            double3 xformOp:translate = (0, 0, 0)
+                            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+                        }
+
+                        def Cylinder "cylinder" (
+                            prepend apiSchemas = ["PhysicsCollisionAPI"]
+                        )
+                        {
+                            uniform token axis = "Z"
+                            float3[] extent = [(-0.025, -0.025, -0.05), (0.025, 0.025, 0.05)]
+                            double height = 0.1
+                            uniform token purpose = "guide"
+                            double radius = 0.025
+                            quatf xformOp:orient = (0.9800666, 0, -0.19866924, 0)
+                            float3 xformOp:scale = (1, 1, 1)
+                            double3 xformOp:translate = (0.02, 0, -0.046)
+                            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+                        }
+
+                        def Cylinder "cylinder_1" (
+                            prepend apiSchemas = ["PhysicsCollisionAPI"]
+                            displayName = "cylinder"
+                        )
+                        {
+                            uniform token axis = "Z"
+                            float3[] extent = [(-0.015, -0.015, -0.05), (0.015, 0.015, 0.05)]
+                            double height = 0.1
+                            uniform token purpose = "guide"
+                            double radius = 0.015
+                            quatf xformOp:orient = (1, 0, 0, 0)
+                            float3 xformOp:scale = (1, 1, 1)
+                            double3 xformOp:translate = (0.045, 0, -0.1421)
+                            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+                        }
+
+                        def Cylinder "cylinder_2" (
+                            prepend apiSchemas = ["PhysicsCollisionAPI"]
+                            displayName = "cylinder"
+                        )
+                        {
+                            uniform token axis = "Z"
+                            float3[] extent = [(-0.015, -0.015, -0.04), (0.015, 0.015, 0.04)]
+                            double height = 0.08
+                            uniform token purpose = "guide"
+                            double radius = 0.015
+                            quatf xformOp:orient = (0.9800666, 0, 0.19866924, 0)
+                            float3 xformOp:scale = (1, 1, 1)
+                            double3 xformOp:translate = (0.02, 0, -0.246)
+                            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+                        }
+
+                        def Xform "HL_FOOT"
+                        {
+                            quatf xformOp:orient = (1, 0, 0, 0)
+                            float3 xformOp:scale = (1, 1, 1)
+                            double3 xformOp:translate = (0, 0, -0.31)
+                            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+
+                            def Sphere "sphere" (
+                                prepend apiSchemas = ["PhysicsCollisionAPI"]
+                            )
+                            {
+                                float3[] extent = [(-0.036, -0.036, -0.036), (0.036, 0.036, 0.036)]
+                                uniform token purpose = "guide"
+                                double radius = 0.036
+                                quatf xformOp:orient = (1, 0, 0, 0)
+                                float3 xformOp:scale = (1, 1, 1)
+                                double3 xformOp:translate = (0, 0, 0)
+                                uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+                            }
+                        }
+                    }
+
+                    def Cylinder "cylinder" (
+                        prepend apiSchemas = ["PhysicsCollisionAPI"]
+                    )
+                    {
+                        uniform token axis = "Z"
+                        float3[] extent = [(-0.04, -0.04, -0.125), (0.04, 0.04, 0.125)]
+                        double height = 0.25
+                        uniform token purpose = "guide"
+                        double radius = 0.04
+                        quatf xformOp:orient = (1, 0, 0, 0)
+                        float3 xformOp:scale = (1, 1, 1)
+                        double3 xformOp:translate = (-0.02, 0, -0.13)
+                        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+                    }
+                }
+            }
+
+            def Xform "HR_HIP"
+            {
+                quatf xformOp:orient = (1, 0, 0, 0)
+                float3 xformOp:scale = (1, 1, 1)
+                double3 xformOp:translate = (-0.291, -0.08, 0)
+                uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+
+                def Xform "hip" (
+                    instanceable = true
+                    prepend references = @./instances.usda@</Instances/hip>
+                )
+                {
+                    quatd xformOp:orient = (1, 0, 0, 0)
+                    double3 xformOp:scale = (-1, -1, 1)
+                    double3 xformOp:translate = (0, 0, 0)
+                    uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+                }
+
+                def Xform "HR_THIGH"
+                {
+                    quatf xformOp:orient = (1, 0, 0, 0)
+                    float3 xformOp:scale = (1, 1, 1)
+                    double3 xformOp:translate = (0, -0.11675, 0)
+                    uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+
+                    def Xform "thigh" (
+                        instanceable = true
+                        prepend references = @./instances.usda@</Instances/thigh>
+                    )
+                    {
+                        quatd xformOp:orient = (1, 0, 0, 0)
+                        double3 xformOp:scale = (1, -1, 1)
+                        double3 xformOp:translate = (0, 0, 0)
+                        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+                    }
+
+                    def Xform "HR_SHANK"
+                    {
+                        quatf xformOp:orient = (1, 0, 0, 0)
+                        float3 xformOp:scale = (1, 1, 1)
+                        double3 xformOp:translate = (0, 0, -0.3)
+                        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+
+                        def Xform "shank" (
+                            instanceable = true
+                            prepend references = @./instances.usda@</Instances/shank>
+                        )
+                        {
+                            quatd xformOp:orient = (1, 0, 0, 0)
+                            double3 xformOp:scale = (1, 1, 1)
+                            double3 xformOp:translate = (0, 0, 0)
+                            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+                        }
+
+                        def Cylinder "cylinder" (
+                            prepend apiSchemas = ["PhysicsCollisionAPI"]
+                        )
+                        {
+                            uniform token axis = "Z"
+                            float3[] extent = [(-0.025, -0.025, -0.05), (0.025, 0.025, 0.05)]
+                            double height = 0.1
+                            uniform token purpose = "guide"
+                            double radius = 0.025
+                            quatf xformOp:orient = (0.9800666, 0, -0.19866924, 0)
+                            float3 xformOp:scale = (1, 1, 1)
+                            double3 xformOp:translate = (0.02, 0, -0.046)
+                            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+                        }
+
+                        def Cylinder "cylinder_1" (
+                            prepend apiSchemas = ["PhysicsCollisionAPI"]
+                            displayName = "cylinder"
+                        )
+                        {
+                            uniform token axis = "Z"
+                            float3[] extent = [(-0.015, -0.015, -0.05), (0.015, 0.015, 0.05)]
+                            double height = 0.1
+                            uniform token purpose = "guide"
+                            double radius = 0.015
+                            quatf xformOp:orient = (1, 0, 0, 0)
+                            float3 xformOp:scale = (1, 1, 1)
+                            double3 xformOp:translate = (0.045, 0, -0.1421)
+                            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+                        }
+
+                        def Cylinder "cylinder_2" (
+                            prepend apiSchemas = ["PhysicsCollisionAPI"]
+                            displayName = "cylinder"
+                        )
+                        {
+                            uniform token axis = "Z"
+                            float3[] extent = [(-0.015, -0.015, -0.04), (0.015, 0.015, 0.04)]
+                            double height = 0.08
+                            uniform token purpose = "guide"
+                            double radius = 0.015
+                            quatf xformOp:orient = (0.9800666, 0, 0.19866924, 0)
+                            float3 xformOp:scale = (1, 1, 1)
+                            double3 xformOp:translate = (0.02, 0, -0.246)
+                            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+                        }
+
+                        def Xform "HR_FOOT"
+                        {
+                            quatf xformOp:orient = (1, 0, 0, 0)
+                            float3 xformOp:scale = (1, 1, 1)
+                            double3 xformOp:translate = (0, 0, -0.31)
+                            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+
+                            def Sphere "sphere" (
+                                prepend apiSchemas = ["PhysicsCollisionAPI"]
+                            )
+                            {
+                                float3[] extent = [(-0.036, -0.036, -0.036), (0.036, 0.036, 0.036)]
+                                uniform token purpose = "guide"
+                                double radius = 0.036
+                                quatf xformOp:orient = (1, 0, 0, 0)
+                                float3 xformOp:scale = (1, 1, 1)
+                                double3 xformOp:translate = (0, 0, 0)
+                                uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+                            }
+                        }
+                    }
+
+                    def Cylinder "cylinder" (
+                        prepend apiSchemas = ["PhysicsCollisionAPI"]
+                    )
+                    {
+                        uniform token axis = "Z"
+                        float3[] extent = [(-0.04, -0.04, -0.125), (0.04, 0.04, 0.125)]
+                        double height = 0.25
+                        uniform token purpose = "guide"
+                        double radius = 0.04
+                        quatf xformOp:orient = (1, 0, 0, 0)
+                        float3 xformOp:scale = (1, 1, 1)
+                        double3 xformOp:translate = (-0.02, 0, -0.13)
+                        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+                    }
+                }
+            }
+
+            def Cube "box" (
+                prepend apiSchemas = ["PhysicsCollisionAPI"]
+            )
+            {
+                float3[] extent = [(-0.5, -0.5, -0.5), (0.5, 0.5, 0.5)]
+                uniform token purpose = "guide"
+                double size = 1
+                quatf xformOp:orient = (1, 0, 0, 0)
+                float3 xformOp:scale = (0.46, 0.26, 0.18)
+                double3 xformOp:translate = (0, 0, 0)
+                uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+            }
+        }
+    }
+
+    def Scope "Physics"
+    {
+    }
+
+    def Scope "VisualMaterials"
+    {
+    }
+}
+

X30/simready_usd/alternatives/original/payloads/geometries.usd

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2dc2d961412ca4cb1bdc8e24f79df6df664144187303b35706cdfd9dd2476cfe
+size 17591265

X30/simready_usd/alternatives/original/payloads/instances.usda

@@ -0,0 +1,197 @@
+#usda 1.0
+(
+    customLayerData = {
+        string creator = "URDF USD Converter v0.3.2"
+    }
+    endTimeCode = 1000000
+    kilogramsPerUnit = 1
+    metersPerUnit = 1
+    startTimeCode = 0
+    upAxis = "Z"
+)
+
+def Scope "Instances"
+{
+    def Xform "torso" (
+        prepend references = @./geometries.usd@</Geometries/torso>
+    )
+    {
+        over "torso"
+        {
+            token subsetFamily:materialBind:familyType = "partition"
+
+            over "GeomSubset_001" (
+                apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                custom rel material:binding
+                prepend rel material:binding = </Instances/torso/VisualMaterials/white>
+            }
+
+            over "GeomSubset_002" (
+                apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                custom rel material:binding
+                prepend rel material:binding = </Instances/torso/VisualMaterials/black>
+            }
+
+            over "GeomSubset_003" (
+                apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                custom rel material:binding
+                prepend rel material:binding = </Instances/torso/VisualMaterials/lidar_blue>
+            }
+
+            over "GeomSubset_004" (
+                apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                custom rel material:binding
+                prepend rel material:binding = </Instances/torso/VisualMaterials/blue>
+            }
+        }
+
+        def Scope "VisualMaterials"
+        {
+            def Material "white" (
+                instanceable = true
+                prepend references = @./materials.usda@</Materials/white>
+            )
+            {
+            }
+
+            def Material "black" (
+                instanceable = true
+                prepend references = @./materials.usda@</Materials/black>
+            )
+            {
+            }
+
+            def Material "lidar_blue" (
+                instanceable = true
+                prepend references = @./materials.usda@</Materials/lidar_blue>
+            )
+            {
+            }
+
+            def Material "blue" (
+                instanceable = true
+                prepend references = @./materials.usda@</Materials/blue>
+            )
+            {
+            }
+        }
+    }
+
+    def Xform "hip" (
+        prepend references = @./geometries.usd@</Geometries/hip>
+    )
+    {
+        over "hip" (
+            apiSchemas = ["MaterialBindingAPI"]
+        )
+        {
+            custom rel material:binding
+            prepend rel material:binding = </Instances/hip/VisualMaterials/white_1>
+        }
+
+        def Scope "VisualMaterials"
+        {
+            def Material "white_1" (
+                instanceable = true
+                prepend references = @./materials.usda@</Materials/white>
+            )
+            {
+            }
+        }
+    }
+
+    def Xform "thigh" (
+        prepend references = @./geometries.usd@</Geometries/thigh>
+    )
+    {
+        over "thigh"
+        {
+            token subsetFamily:materialBind:familyType = "partition"
+
+            over "GeomSubset_001" (
+                apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                custom rel material:binding
+                prepend rel material:binding = </Instances/thigh/VisualMaterials/white_2>
+            }
+
+            over "GeomSubset_002" (
+                apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                custom rel material:binding
+                prepend rel material:binding = </Instances/thigh/VisualMaterials/blue_1>
+            }
+        }
+
+        def Scope "VisualMaterials"
+        {
+            def Material "white_2" (
+                instanceable = true
+                prepend references = @./materials.usda@</Materials/white>
+            )
+            {
+            }
+
+            def Material "blue_1" (
+                instanceable = true
+                prepend references = @./materials.usda@</Materials/blue>
+            )
+            {
+            }
+        }
+    }
+
+    def Xform "shank" (
+        prepend references = @./geometries.usd@</Geometries/shank>
+    )
+    {
+        over "shank"
+        {
+            token subsetFamily:materialBind:familyType = "partition"
+
+            over "GeomSubset_001" (
+                apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                custom rel material:binding
+                prepend rel material:binding = </Instances/shank/VisualMaterials/silver>
+            }
+
+            over "GeomSubset_002" (
+                apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                custom rel material:binding
+                prepend rel material:binding = </Instances/shank/VisualMaterials/rubber>
+            }
+        }
+
+        def Scope "VisualMaterials"
+        {
+            def Material "silver" (
+                instanceable = true
+                prepend references = @./materials.usda@</Materials/silver>
+            )
+            {
+            }
+
+            def Material "rubber" (
+                instanceable = true
+                prepend references = @./materials.usda@</Materials/blue>
+            )
+            {
+            }
+        }
+    }
+}
+

X30/simready_usd/alternatives/original/payloads/materials.usda

@@ -0,0 +1,180 @@
+#usda 1.0
+(
+    customLayerData = {
+        string creator = "URDF USD Converter v0.3.2"
+    }
+    endTimeCode = 1000000
+    kilogramsPerUnit = 1
+    metersPerUnit = 1
+    startTimeCode = 0
+    upAxis = "Z"
+)
+
+def Scope "Materials"
+{
+    def Material "white"
+    {
+        color3f inputs:diffuseColor = (0.78741235, 0.78741235, 0.78741235)
+        float inputs:metallic = 0
+        float inputs:opacity = 1
+        float inputs:roughness = 0.5
+        token inputs:wrapMode = "repeat"
+        token outputs:displacement (
+            displayGroup = "Outputs"
+        )
+        prepend token outputs:displacement.connect = </Materials/white/PreviewSurface.outputs:displacement>
+        token outputs:surface (
+            displayGroup = "Outputs"
+        )
+        prepend token outputs:surface.connect = </Materials/white/PreviewSurface.outputs:surface>
+        token outputs:volume (
+            displayGroup = "Outputs"
+        )
+
+        def Shader "PreviewSurface" (
+            apiSchemas = ["NodeDefAPI"]
+        )
+        {
+            token info:id = "UsdPreviewSurface"
+            prepend color3f inputs:diffuseColor.connect = </Materials/white.inputs:diffuseColor>
+            prepend float inputs:metallic.connect = </Materials/white.inputs:metallic>
+            prepend float inputs:opacity.connect = </Materials/white.inputs:opacity>
+            prepend float inputs:roughness.connect = </Materials/white.inputs:roughness>
+            token outputs:displacement
+            token outputs:surface
+        }
+    }
+
+    def Material "black"
+    {
+        color3f inputs:diffuseColor = (0, 0, 0)
+        float inputs:metallic = 0
+        float inputs:opacity = 1
+        float inputs:roughness = 0.5
+        token inputs:wrapMode = "repeat"
+        token outputs:displacement (
+            displayGroup = "Outputs"
+        )
+        prepend token outputs:displacement.connect = </Materials/black/PreviewSurface.outputs:displacement>
+        token outputs:surface (
+            displayGroup = "Outputs"
+        )
+        prepend token outputs:surface.connect = </Materials/black/PreviewSurface.outputs:surface>
+        token outputs:volume (
+            displayGroup = "Outputs"
+        )
+
+        def Shader "PreviewSurface" (
+            apiSchemas = ["NodeDefAPI"]
+        )
+        {
+            token info:id = "UsdPreviewSurface"
+            prepend color3f inputs:diffuseColor.connect = </Materials/black.inputs:diffuseColor>
+            prepend float inputs:metallic.connect = </Materials/black.inputs:metallic>
+            prepend float inputs:opacity.connect = </Materials/black.inputs:opacity>
+            prepend float inputs:roughness.connect = </Materials/black.inputs:roughness>
+            token outputs:displacement
+            token outputs:surface
+        }
+    }
+
+    def Material "lidar_blue"
+    {
+        color3f inputs:diffuseColor = (0.0040511624, 0.0064764484, 0.024064029)
+        float inputs:metallic = 0
+        float inputs:opacity = 1
+        float inputs:roughness = 0.5
+        token inputs:wrapMode = "repeat"
+        token outputs:displacement (
+            displayGroup = "Outputs"
+        )
+        prepend token outputs:displacement.connect = </Materials/lidar_blue/PreviewSurface.outputs:displacement>
+        token outputs:surface (
+            displayGroup = "Outputs"
+        )
+        prepend token outputs:surface.connect = </Materials/lidar_blue/PreviewSurface.outputs:surface>
+        token outputs:volume (
+            displayGroup = "Outputs"
+        )
+
+        def Shader "PreviewSurface" (
+            apiSchemas = ["NodeDefAPI"]
+        )
+        {
+            token info:id = "UsdPreviewSurface"
+            prepend color3f inputs:diffuseColor.connect = </Materials/lidar_blue.inputs:diffuseColor>
+            prepend float inputs:metallic.connect = </Materials/lidar_blue.inputs:metallic>
+            prepend float inputs:opacity.connect = </Materials/lidar_blue.inputs:opacity>
+            prepend float inputs:roughness.connect = </Materials/lidar_blue.inputs:roughness>
+            token outputs:displacement
+            token outputs:surface
+        }
+    }
+
+    def Material "blue"
+    {
+        color3f inputs:diffuseColor = (0.13286833, 0.16264722, 0.19599415)
+        float inputs:metallic = 0
+        float inputs:opacity = 1
+        float inputs:roughness = 0.5
+        token inputs:wrapMode = "repeat"
+        token outputs:displacement (
+            displayGroup = "Outputs"
+        )
+        prepend token outputs:displacement.connect = </Materials/blue/PreviewSurface.outputs:displacement>
+        token outputs:surface (
+            displayGroup = "Outputs"
+        )
+        prepend token outputs:surface.connect = </Materials/blue/PreviewSurface.outputs:surface>
+        token outputs:volume (
+            displayGroup = "Outputs"
+        )
+
+        def Shader "PreviewSurface" (
+            apiSchemas = ["NodeDefAPI"]
+        )
+        {
+            token info:id = "UsdPreviewSurface"
+            prepend color3f inputs:diffuseColor.connect = </Materials/blue.inputs:diffuseColor>
+            prepend float inputs:metallic.connect = </Materials/blue.inputs:metallic>
+            prepend float inputs:opacity.connect = </Materials/blue.inputs:opacity>
+            prepend float inputs:roughness.connect = </Materials/blue.inputs:roughness>
+            token outputs:displacement
+            token outputs:surface
+        }
+    }
+
+    def Material "silver"
+    {
+        color3f inputs:diffuseColor = (0.44798842, 0.44798842, 0.44798842)
+        float inputs:metallic = 0
+        float inputs:opacity = 1
+        float inputs:roughness = 0.5
+        token inputs:wrapMode = "repeat"
+        token outputs:displacement (
+            displayGroup = "Outputs"
+        )
+        prepend token outputs:displacement.connect = </Materials/silver/PreviewSurface.outputs:displacement>
+        token outputs:surface (
+            displayGroup = "Outputs"
+        )
+        prepend token outputs:surface.connect = </Materials/silver/PreviewSurface.outputs:surface>
+        token outputs:volume (
+            displayGroup = "Outputs"
+        )
+
+        def Shader "PreviewSurface" (
+            apiSchemas = ["NodeDefAPI"]
+        )
+        {
+            token info:id = "UsdPreviewSurface"
+            prepend color3f inputs:diffuseColor.connect = </Materials/silver.inputs:diffuseColor>
+            prepend float inputs:metallic.connect = </Materials/silver.inputs:metallic>
+            prepend float inputs:opacity.connect = </Materials/silver.inputs:opacity>
+            prepend float inputs:roughness.connect = </Materials/silver.inputs:roughness>
+            token outputs:displacement
+            token outputs:surface
+        }
+    }
+}
+

X30/simready_usd/alternatives/original/payloads/robot.usda

@@ -0,0 +1,248 @@
+#usda 1.0
+(
+    customLayerData = {
+        string creator = "URDF USD Converter v0.3.2"
+    }
+    defaultPrim = "X30"
+    endTimeCode = 1000000
+    kilogramsPerUnit = 1
+    metersPerUnit = 1
+    startTimeCode = 0
+    upAxis = "Z"
+)
+
+over "X30" (
+    prepend apiSchemas = ["IsaacRobotAPI"]
+)
+{
+    prepend rel isaac:physics:robotJoints = [
+        </X30/Physics/FL_HipX_joint>,
+        </X30/Physics/FR_HipX_joint>,
+        </X30/Physics/HL_HipX_joint>,
+        </X30/Physics/HR_HipX_joint>,
+        </X30/Physics/FL_HipY_joint>,
+        </X30/Physics/FL_Knee_joint>,
+        </X30/Physics/FL_Ankle>,
+        </X30/Physics/FR_HipY_joint>,
+        </X30/Physics/FR_Knee_joint>,
+        </X30/Physics/FR_Ankle>,
+        </X30/Physics/HL_HipY_joint>,
+        </X30/Physics/HL_Knee_joint>,
+        </X30/Physics/HL_Ankle>,
+        </X30/Physics/HR_HipY_joint>,
+        </X30/Physics/HR_Knee_joint>,
+        </X30/Physics/HR_Ankle>,
+    ]
+    prepend rel isaac:physics:robotLinks = [
+        </X30/Geometry/TORSO>,
+        </X30/Geometry/TORSO/FL_HIP>,
+        </X30/Geometry/TORSO/FL_HIP/FL_THIGH>,
+        </X30/Geometry/TORSO/FL_HIP/FL_THIGH/FL_SHANK>,
+        </X30/Geometry/TORSO/FL_HIP/FL_THIGH/FL_SHANK/FL_FOOT>,
+        </X30/Geometry/TORSO/FR_HIP>,
+        </X30/Geometry/TORSO/FR_HIP/FR_THIGH>,
+        </X30/Geometry/TORSO/FR_HIP/FR_THIGH/FR_SHANK>,
+        </X30/Geometry/TORSO/FR_HIP/FR_THIGH/FR_SHANK/FR_FOOT>,
+        </X30/Geometry/TORSO/HL_HIP>,
+        </X30/Geometry/TORSO/HL_HIP/HL_THIGH>,
+        </X30/Geometry/TORSO/HL_HIP/HL_THIGH/HL_SHANK>,
+        </X30/Geometry/TORSO/HL_HIP/HL_THIGH/HL_SHANK/HL_FOOT>,
+        </X30/Geometry/TORSO/HR_HIP>,
+        </X30/Geometry/TORSO/HR_HIP/HR_THIGH>,
+        </X30/Geometry/TORSO/HR_HIP/HR_THIGH/HR_SHANK>,
+        </X30/Geometry/TORSO/HR_HIP/HR_THIGH/HR_SHANK/HR_FOOT>,
+    ]
+    token isaac:robotType = "Quadruped"
+
+    over "Geometry"
+    {
+        over "TORSO" (
+            prepend apiSchemas = ["IsaacLinkAPI"]
+        )
+        {
+            over "FL_HIP" (
+                prepend apiSchemas = ["IsaacLinkAPI"]
+            )
+            {
+                over "FL_THIGH" (
+                    prepend apiSchemas = ["IsaacLinkAPI"]
+                )
+                {
+                    over "FL_SHANK" (
+                        prepend apiSchemas = ["IsaacLinkAPI"]
+                    )
+                    {
+                        over "FL_FOOT" (
+                            prepend apiSchemas = ["IsaacLinkAPI"]
+                        )
+                        {
+                        }
+                    }
+                }
+            }
+
+            over "FR_HIP" (
+                prepend apiSchemas = ["IsaacLinkAPI"]
+            )
+            {
+                over "FR_THIGH" (
+                    prepend apiSchemas = ["IsaacLinkAPI"]
+                )
+                {
+                    over "FR_SHANK" (
+                        prepend apiSchemas = ["IsaacLinkAPI"]
+                    )
+                    {
+                        over "FR_FOOT" (
+                            prepend apiSchemas = ["IsaacLinkAPI"]
+                        )
+                        {
+                        }
+                    }
+                }
+            }
+
+            over "HL_HIP" (
+                prepend apiSchemas = ["IsaacLinkAPI"]
+            )
+            {
+                over "HL_THIGH" (
+                    prepend apiSchemas = ["IsaacLinkAPI"]
+                )
+                {
+                    over "HL_SHANK" (
+                        prepend apiSchemas = ["IsaacLinkAPI"]
+                    )
+                    {
+                        over "HL_FOOT" (
+                            prepend apiSchemas = ["IsaacLinkAPI"]
+                        )
+                        {
+                        }
+                    }
+                }
+            }
+
+            over "HR_HIP" (
+                prepend apiSchemas = ["IsaacLinkAPI"]
+            )
+            {
+                over "HR_THIGH" (
+                    prepend apiSchemas = ["IsaacLinkAPI"]
+                )
+                {
+                    over "HR_SHANK" (
+                        prepend apiSchemas = ["IsaacLinkAPI"]
+                    )
+                    {
+                        over "HR_FOOT" (
+                            prepend apiSchemas = ["IsaacLinkAPI"]
+                        )
+                        {
+                        }
+                    }
+                }
+            }
+        }
+    }
+
+    over "Physics"
+    {
+        over "FL_HipX_joint" (
+            prepend apiSchemas = ["IsaacJointAPI"]
+        )
+        {
+        }
+
+        over "FL_HipY_joint" (
+            prepend apiSchemas = ["IsaacJointAPI"]
+        )
+        {
+        }
+
+        over "FL_Knee_joint" (
+            prepend apiSchemas = ["IsaacJointAPI"]
+        )
+        {
+        }
+
+        over "FL_Ankle" (
+            prepend apiSchemas = ["IsaacJointAPI"]
+        )
+        {
+        }
+
+        over "FR_HipX_joint" (
+            prepend apiSchemas = ["IsaacJointAPI"]
+        )
+        {
+        }
+
+        over "FR_HipY_joint" (
+            prepend apiSchemas = ["IsaacJointAPI"]
+        )
+        {
+        }
+
+        over "FR_Knee_joint" (
+            prepend apiSchemas = ["IsaacJointAPI"]
+        )
+        {
+        }
+
+        over "FR_Ankle" (
+            prepend apiSchemas = ["IsaacJointAPI"]
+        )
+        {
+        }
+
+        over "HL_HipX_joint" (
+            prepend apiSchemas = ["IsaacJointAPI"]
+        )
+        {
+        }
+
+        over "HL_HipY_joint" (
+            prepend apiSchemas = ["IsaacJointAPI"]
+        )
+        {
+        }
+
+        over "HL_Knee_joint" (
+            prepend apiSchemas = ["IsaacJointAPI"]
+        )
+        {
+        }
+
+        over "HL_Ankle" (
+            prepend apiSchemas = ["IsaacJointAPI"]
+        )
+        {
+        }
+
+        over "HR_HipX_joint" (
+            prepend apiSchemas = ["IsaacJointAPI"]
+        )
+        {
+        }
+
+        over "HR_HipY_joint" (
+            prepend apiSchemas = ["IsaacJointAPI"]
+        )
+        {
+        }
+
+        over "HR_Knee_joint" (
+            prepend apiSchemas = ["IsaacJointAPI"]
+        )
+        {
+        }
+
+        over "HR_Ankle" (
+            prepend apiSchemas = ["IsaacJointAPI"]
+        )
+        {
+        }
+    }
+}
+

X30/simready_usd/payloads/flat-mujoco.usdc

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4f3c656da5e88d88568ac45a77f1171fbb0a08f6cca068cc82f780c98bd449e6
+size 17605947

X30/simready_usd/payloads/flat-physics.usdc

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f0afd39b95f741674d387e528ca62f5390d72571cd9dcc59e544fbc728704bbe
+size 17605393

X30/simready_usd/payloads/flat-physx.usdc

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:013361614e501d481253b78f5f540feb1addd9021a62fa42841e7a3d850140b3
+size 17605376