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🔍 CẤU TRÚC CÂY THƯ MỤC CỦA FILE: /workspace/IsaacLab/GR-1/GR1T2_fourier_hand_6dof/GR1T2_fourier_hand_6dof.usd
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├── GR1T2_fourier_hand_6dof [Xform]
│   └─ Path: /GR1T2_fourier_hand_6dof
    ├── Looks [Scope]
    │   └─ Path: /GR1T2_fourier_hand_6dof/Looks
        ├── GR1T2_02 [Material]
        │   └─ Path: /GR1T2_fourier_hand_6dof/Looks/GR1T2_02
            ├── preview [NodeGraph]
            │   └─ Path: /GR1T2_fourier_hand_6dof/Looks/GR1T2_02/preview
                ├── previewSurface [Shader]
                │   └─ Path: /GR1T2_fourier_hand_6dof/Looks/GR1T2_02/preview/previewSurface
                ├── stReader [Shader]
                │   └─ Path: /GR1T2_fourier_hand_6dof/Looks/GR1T2_02/preview/stReader
                ├── diffuseColor_tex [Shader]
                │   └─ Path: /GR1T2_fourier_hand_6dof/Looks/GR1T2_02/preview/diffuseColor_tex
                ├── roughness_tex [Shader]
                │   └─ Path: /GR1T2_fourier_hand_6dof/Looks/GR1T2_02/preview/roughness_tex
                ├── metallic_tex [Shader]
                │   └─ Path: /GR1T2_fourier_hand_6dof/Looks/GR1T2_02/preview/metallic_tex
                ├── normal_tex [Shader]
                │   └─ Path: /GR1T2_fourier_hand_6dof/Looks/GR1T2_02/preview/normal_tex
            ├── OmniPBR [Shader]
            │   └─ Path: /GR1T2_fourier_hand_6dof/Looks/GR1T2_02/OmniPBR
    ├── joints [Scope]
    │   └─ Path: /GR1T2_fourier_hand_6dof/joints
        ├── left_hip_roll_joint [PhysicsRevoluteJoint]
        │   └─ Path: /GR1T2_fourier_hand_6dof/joints/left_hip_roll_joint
        ├── left_hip_yaw_joint [PhysicsRevoluteJoint]
        │   └─ Path: /GR1T2_fourier_hand_6dof/joints/left_hip_yaw_joint
        ├── left_hip_pitch_joint [PhysicsRevoluteJoint]
        │   └─ Path: /GR1T2_fourier_hand_6dof/joints/left_hip_pitch_joint
        ├── left_knee_pitch_joint [PhysicsRevoluteJoint]
        │   └─ Path: /GR1T2_fourier_hand_6dof/joints/left_knee_pitch_joint
        ├── left_ankle_pitch_joint [PhysicsRevoluteJoint]
        │   └─ Path: /GR1T2_fourier_hand_6dof/joints/left_ankle_pitch_joint
        ├── left_ankle_roll_joint [PhysicsRevoluteJoint]
        │   └─ Path: /GR1T2_fourier_hand_6dof/joints/left_ankle_roll_joint
        ├── right_hip_roll_joint [PhysicsRevoluteJoint]
        │   └─ Path: /GR1T2_fourier_hand_6dof/joints/right_hip_roll_joint
        ├── right_hip_yaw_joint [PhysicsRevoluteJoint]
        │   └─ Path: /GR1T2_fourier_hand_6dof/joints/right_hip_yaw_joint
        ├── right_hip_pitch_joint [PhysicsRevoluteJoint]
        │   └─ Path: /GR1T2_fourier_hand_6dof/joints/right_hip_pitch_joint
        ├── right_knee_pitch_joint [PhysicsRevoluteJoint]
        │   └─ Path: /GR1T2_fourier_hand_6dof/joints/right_knee_pitch_joint
        ├── right_ankle_pitch_joint [PhysicsRevoluteJoint]
        │   └─ Path: /GR1T2_fourier_hand_6dof/joints/right_ankle_pitch_joint
        ├── right_ankle_roll_joint [PhysicsRevoluteJoint]
        │   └─ Path: /GR1T2_fourier_hand_6dof/joints/right_ankle_roll_joint
        ├── waist_yaw_joint [PhysicsRevoluteJoint]
        │   └─ Path: /GR1T2_fourier_hand_6dof/joints/waist_yaw_joint
        ├── waist_pitch_joint [PhysicsRevoluteJoint]
        │   └─ Path: /GR1T2_fourier_hand_6dof/joints/waist_pitch_joint
        ├── waist_roll_joint [PhysicsRevoluteJoint]
        │   └─ Path: /GR1T2_fourier_hand_6dof/joints/waist_roll_joint
        ├── head_roll_joint [PhysicsRevoluteJoint]
        │   └─ Path: /GR1T2_fourier_hand_6dof/joints/head_roll_joint
        ├── head_pitch_joint [PhysicsRevoluteJoint]
        │   └─ Path: /GR1T2_fourier_hand_6dof/joints/head_pitch_joint
        ├── head_yaw_joint [PhysicsRevoluteJoint]
        │   └─ Path: /GR1T2_fourier_hand_6dof/joints/head_yaw_joint
        ├── left_shoulder_pitch_joint [PhysicsRevoluteJoint]
        │   └─ Path: /GR1T2_fourier_hand_6dof/joints/left_shoulder_pitch_joint
        ├── left_shoulder_roll_joint [PhysicsRevoluteJoint]
        │   └─ Path: /GR1T2_fourier_hand_6dof/joints/left_shoulder_roll_joint
        ├── left_shoulder_yaw_joint [PhysicsRevoluteJoint]
        │   └─ Path: /GR1T2_fourier_hand_6dof/joints/left_shoulder_yaw_joint
        ├── left_elbow_pitch_joint [PhysicsRevoluteJoint]
        │   └─ Path: /GR1T2_fourier_hand_6dof/joints/left_elbow_pitch_joint
        ├── left_wrist_yaw_joint [PhysicsRevoluteJoint]
        │   └─ Path: /GR1T2_fourier_hand_6dof/joints/left_wrist_yaw_joint
        ├── left_wrist_roll_joint [PhysicsRevoluteJoint]
        │   └─ Path: /GR1T2_fourier_hand_6dof/joints/left_wrist_roll_joint
        ├── left_wrist_pitch_joint [PhysicsRevoluteJoint]
        │   └─ Path: /GR1T2_fourier_hand_6dof/joints/left_wrist_pitch_joint
        ├── L_index_proximal_joint [PhysicsRevoluteJoint]
        │   └─ Path: /GR1T2_fourier_hand_6dof/joints/L_index_proximal_joint
        ├── L_index_intermediate_joint [PhysicsRevoluteJoint]
        │   └─ Path: /GR1T2_fourier_hand_6dof/joints/L_index_intermediate_joint
        ├── L_middle_proximal_joint [PhysicsRevoluteJoint]
        │   └─ Path: /GR1T2_fourier_hand_6dof/joints/L_middle_proximal_joint
        ├── L_middle_intermediate_joint [PhysicsRevoluteJoint]
        │   └─ Path: /GR1T2_fourier_hand_6dof/joints/L_middle_intermediate_joint
        ├── L_pinky_proximal_joint [PhysicsRevoluteJoint]
        │   └─ Path: /GR1T2_fourier_hand_6dof/joints/L_pinky_proximal_joint
        ├── L_pinky_intermediate_joint [PhysicsRevoluteJoint]
        │   └─ Path: /GR1T2_fourier_hand_6dof/joints/L_pinky_intermediate_joint
        ├── L_ring_proximal_joint [PhysicsRevoluteJoint]
        │   └─ Path: /GR1T2_fourier_hand_6dof/joints/L_ring_proximal_joint
        ├── L_ring_intermediate_joint [PhysicsRevoluteJoint]
        │   └─ Path: /GR1T2_fourier_hand_6dof/joints/L_ring_intermediate_joint
        ├── L_thumb_proximal_yaw_joint [PhysicsRevoluteJoint]
        │   └─ Path: /GR1T2_fourier_hand_6dof/joints/L_thumb_proximal_yaw_joint
        ├── L_thumb_proximal_pitch_joint [PhysicsRevoluteJoint]
        │   └─ Path: /GR1T2_fourier_hand_6dof/joints/L_thumb_proximal_pitch_joint
        ├── L_thumb_distal_joint [PhysicsRevoluteJoint]
        │   └─ Path: /GR1T2_fourier_hand_6dof/joints/L_thumb_distal_joint
        ├── right_shoulder_pitch_joint [PhysicsRevoluteJoint]
        │   └─ Path: /GR1T2_fourier_hand_6dof/joints/right_shoulder_pitch_joint
        ├── right_shoulder_roll_joint [PhysicsRevoluteJoint]
        │   └─ Path: /GR1T2_fourier_hand_6dof/joints/right_shoulder_roll_joint
        ├── right_shoulder_yaw_joint [PhysicsRevoluteJoint]
        │   └─ Path: /GR1T2_fourier_hand_6dof/joints/right_shoulder_yaw_joint
        ├── right_elbow_pitch_joint [PhysicsRevoluteJoint]
        │   └─ Path: /GR1T2_fourier_hand_6dof/joints/right_elbow_pitch_joint
        ├── right_wrist_yaw_joint [PhysicsRevoluteJoint]
        │   └─ Path: /GR1T2_fourier_hand_6dof/joints/right_wrist_yaw_joint
        ├── right_wrist_roll_joint [PhysicsRevoluteJoint]
        │   └─ Path: /GR1T2_fourier_hand_6dof/joints/right_wrist_roll_joint
        ├── right_wrist_pitch_joint [PhysicsRevoluteJoint]
        │   └─ Path: /GR1T2_fourier_hand_6dof/joints/right_wrist_pitch_joint
        ├── R_index_proximal_joint [PhysicsRevoluteJoint]
        │   └─ Path: /GR1T2_fourier_hand_6dof/joints/R_index_proximal_joint
        ├── R_index_intermediate_joint [PhysicsRevoluteJoint]
        │   └─ Path: /GR1T2_fourier_hand_6dof/joints/R_index_intermediate_joint
        ├── R_middle_proximal_joint [PhysicsRevoluteJoint]
        │   └─ Path: /GR1T2_fourier_hand_6dof/joints/R_middle_proximal_joint
        ├── R_middle_intermediate_joint [PhysicsRevoluteJoint]
        │   └─ Path: /GR1T2_fourier_hand_6dof/joints/R_middle_intermediate_joint
        ├── R_pinky_proximal_joint [PhysicsRevoluteJoint]
        │   └─ Path: /GR1T2_fourier_hand_6dof/joints/R_pinky_proximal_joint
        ├── R_pinky_intermediate_joint [PhysicsRevoluteJoint]
        │   └─ Path: /GR1T2_fourier_hand_6dof/joints/R_pinky_intermediate_joint
        ├── R_ring_proximal_joint [PhysicsRevoluteJoint]
        │   └─ Path: /GR1T2_fourier_hand_6dof/joints/R_ring_proximal_joint
        ├── R_ring_intermediate_joint [PhysicsRevoluteJoint]
        │   └─ Path: /GR1T2_fourier_hand_6dof/joints/R_ring_intermediate_joint
        ├── R_thumb_proximal_yaw_joint [PhysicsRevoluteJoint]
        │   └─ Path: /GR1T2_fourier_hand_6dof/joints/R_thumb_proximal_yaw_joint
        ├── R_thumb_proximal_pitch_joint [PhysicsRevoluteJoint]
        │   └─ Path: /GR1T2_fourier_hand_6dof/joints/R_thumb_proximal_pitch_joint
        ├── R_thumb_distal_joint [PhysicsRevoluteJoint]
        │   └─ Path: /GR1T2_fourier_hand_6dof/joints/R_thumb_distal_joint
        ├── FixedJoint [PhysicsFixedJoint]
        │   └─ Path: /GR1T2_fourier_hand_6dof/joints/FixedJoint
    ├── base_link [Xform]
    │   └─ Path: /GR1T2_fourier_hand_6dof/base_link
        ├── imu_link [Xform]
        │   └─ Path: /GR1T2_fourier_hand_6dof/base_link/imu_link
        ├── visuals [Xform]
        │   └─ Path: /GR1T2_fourier_hand_6dof/base_link/visuals
        ├── collisions [Xform]
        │   └─ Path: /GR1T2_fourier_hand_6dof/base_link/collisions
    ├── left_thigh_roll_link [Xform]
    │   └─ Path: /GR1T2_fourier_hand_6dof/left_thigh_roll_link
        ├── visuals [Xform]
        │   └─ Path: /GR1T2_fourier_hand_6dof/left_thigh_roll_link/visuals
        ├── collisions [Xform]
        │   └─ Path: /GR1T2_fourier_hand_6dof/left_thigh_roll_link/collisions
    ├── left_thigh_yaw_link [Xform]
    │   └─ Path: /GR1T2_fourier_hand_6dof/left_thigh_yaw_link
        ├── visuals [Xform]
        │   └─ Path: /GR1T2_fourier_hand_6dof/left_thigh_yaw_link/visuals
        ├── collisions [Xform]
        │   └─ Path: /GR1T2_fourier_hand_6dof/left_thigh_yaw_link/collisions
    ├── left_thigh_pitch_link [Xform]
    │   └─ Path: /GR1T2_fourier_hand_6dof/left_thigh_pitch_link
        ├── visuals [Xform]
        │   └─ Path: /GR1T2_fourier_hand_6dof/left_thigh_pitch_link/visuals
        ├── collisions [Xform]
        │   └─ Path: /GR1T2_fourier_hand_6dof/left_thigh_pitch_link/collisions
    ├── left_shank_pitch_link [Xform]
    │   └─ Path: /GR1T2_fourier_hand_6dof/left_shank_pitch_link
        ├── visuals [Xform]
        │   └─ Path: /GR1T2_fourier_hand_6dof/left_shank_pitch_link/visuals
        ├── collisions [Xform]
        │   └─ Path: /GR1T2_fourier_hand_6dof/left_shank_pitch_link/collisions
    ├── left_foot_pitch_link [Xform]
    │   └─ Path: /GR1T2_fourier_hand_6dof/left_foot_pitch_link
        ├── visuals [Xform]
        │   └─ Path: /GR1T2_fourier_hand_6dof/left_foot_pitch_link/visuals
        ├── collisions [Xform]
        │   └─ Path: /GR1T2_fourier_hand_6dof/left_foot_pitch_link/collisions
    ├── left_foot_roll_link [Xform]
    │   └─ Path: /GR1T2_fourier_hand_6dof/left_foot_roll_link
        ├── visuals [Xform]
        │   └─ Path: /GR1T2_fourier_hand_6dof/left_foot_roll_link/visuals
        ├── collisions [Xform]
        │   └─ Path: /GR1T2_fourier_hand_6dof/left_foot_roll_link/collisions
    ├── right_thigh_roll_link [Xform]
    │   └─ Path: /GR1T2_fourier_hand_6dof/right_thigh_roll_link
        ├── visuals [Xform]
        │   └─ Path: /GR1T2_fourier_hand_6dof/right_thigh_roll_link/visuals
        ├── collisions [Xform]
        │   └─ Path: /GR1T2_fourier_hand_6dof/right_thigh_roll_link/collisions
    ├── right_thigh_yaw_link [Xform]
    │   └─ Path: /GR1T2_fourier_hand_6dof/right_thigh_yaw_link
        ├── visuals [Xform]
        │   └─ Path: /GR1T2_fourier_hand_6dof/right_thigh_yaw_link/visuals
        ├── collisions [Xform]
        │   └─ Path: /GR1T2_fourier_hand_6dof/right_thigh_yaw_link/collisions
    ├── right_thigh_pitch_link [Xform]
    │   └─ Path: /GR1T2_fourier_hand_6dof/right_thigh_pitch_link
        ├── visuals [Xform]
        │   └─ Path: /GR1T2_fourier_hand_6dof/right_thigh_pitch_link/visuals
        ├── collisions [Xform]
        │   └─ Path: /GR1T2_fourier_hand_6dof/right_thigh_pitch_link/collisions
    ├── right_shank_pitch_link [Xform]
    │   └─ Path: /GR1T2_fourier_hand_6dof/right_shank_pitch_link
        ├── visuals [Xform]
        │   └─ Path: /GR1T2_fourier_hand_6dof/right_shank_pitch_link/visuals
        ├── collisions [Xform]
        │   └─ Path: /GR1T2_fourier_hand_6dof/right_shank_pitch_link/collisions
    ├── right_foot_pitch_link [Xform]
    │   └─ Path: /GR1T2_fourier_hand_6dof/right_foot_pitch_link
        ├── visuals [Xform]
        │   └─ Path: /GR1T2_fourier_hand_6dof/right_foot_pitch_link/visuals
        ├── collisions [Xform]
        │   └─ Path: /GR1T2_fourier_hand_6dof/right_foot_pitch_link/collisions
    ├── right_foot_roll_link [Xform]
    │   └─ Path: /GR1T2_fourier_hand_6dof/right_foot_roll_link
        ├── visuals [Xform]
        │   └─ Path: /GR1T2_fourier_hand_6dof/right_foot_roll_link/visuals
        ├── collisions [Xform]
        │   └─ Path: /GR1T2_fourier_hand_6dof/right_foot_roll_link/collisions
    ├── waist_yaw_link [Xform]
    │   └─ Path: /GR1T2_fourier_hand_6dof/waist_yaw_link
        ├── visuals [Xform]
        │   └─ Path: /GR1T2_fourier_hand_6dof/waist_yaw_link/visuals
        ├── collisions [Xform]
        │   └─ Path: /GR1T2_fourier_hand_6dof/waist_yaw_link/collisions
    ├── waist_pitch_link [Xform]
    │   └─ Path: /GR1T2_fourier_hand_6dof/waist_pitch_link
        ├── visuals [Xform]
        │   └─ Path: /GR1T2_fourier_hand_6dof/waist_pitch_link/visuals
        ├── collisions [Xform]
        │   └─ Path: /GR1T2_fourier_hand_6dof/waist_pitch_link/collisions
    ├── waist_roll_link [Xform]
    │   └─ Path: /GR1T2_fourier_hand_6dof/waist_roll_link
        ├── torso_link [Xform]
        │   └─ Path: /GR1T2_fourier_hand_6dof/waist_roll_link/torso_link
        ├── visuals [Xform]
        │   └─ Path: /GR1T2_fourier_hand_6dof/waist_roll_link/visuals
        ├── collisions [Xform]
        │   └─ Path: /GR1T2_fourier_hand_6dof/waist_roll_link/collisions
    ├── head_roll_link [Xform]
    │   └─ Path: /GR1T2_fourier_hand_6dof/head_roll_link
        ├── visuals [Xform]
        │   └─ Path: /GR1T2_fourier_hand_6dof/head_roll_link/visuals
        ├── collisions [Xform]
        │   └─ Path: /GR1T2_fourier_hand_6dof/head_roll_link/collisions
    ├── head_pitch_link [Xform]
    │   └─ Path: /GR1T2_fourier_hand_6dof/head_pitch_link
        ├── visuals [Xform]
        │   └─ Path: /GR1T2_fourier_hand_6dof/head_pitch_link/visuals
        ├── collisions [Xform]
        │   └─ Path: /GR1T2_fourier_hand_6dof/head_pitch_link/collisions
    ├── head_yaw_link [Xform]
    │   └─ Path: /GR1T2_fourier_hand_6dof/head_yaw_link
        ├── visuals [Xform]
        │   └─ Path: /GR1T2_fourier_hand_6dof/head_yaw_link/visuals
        ├── collisions [Xform]
        │   └─ Path: /GR1T2_fourier_hand_6dof/head_yaw_link/collisions
    ├── left_upper_arm_pitch_link [Xform]
    │   └─ Path: /GR1T2_fourier_hand_6dof/left_upper_arm_pitch_link
        ├── visuals [Xform]
        │   └─ Path: /GR1T2_fourier_hand_6dof/left_upper_arm_pitch_link/visuals
        ├── collisions [Xform]
        │   └─ Path: /GR1T2_fourier_hand_6dof/left_upper_arm_pitch_link/collisions
    ├── left_upper_arm_roll_link [Xform]
    │   └─ Path: /GR1T2_fourier_hand_6dof/left_upper_arm_roll_link
        ├── visuals [Xform]
        │   └─ Path: /GR1T2_fourier_hand_6dof/left_upper_arm_roll_link/visuals
        ├── collisions [Xform]
        │   └─ Path: /GR1T2_fourier_hand_6dof/left_upper_arm_roll_link/collisions
    ├── left_upper_arm_yaw_link [Xform]
    │   └─ Path: /GR1T2_fourier_hand_6dof/left_upper_arm_yaw_link
        ├── visuals [Xform]
        │   └─ Path: /GR1T2_fourier_hand_6dof/left_upper_arm_yaw_link/visuals
        ├── collisions [Xform]
        │   └─ Path: /GR1T2_fourier_hand_6dof/left_upper_arm_yaw_link/collisions
    ├── left_lower_arm_pitch_link [Xform]
    │   └─ Path: /GR1T2_fourier_hand_6dof/left_lower_arm_pitch_link
        ├── visuals [Xform]
        │   └─ Path: /GR1T2_fourier_hand_6dof/left_lower_arm_pitch_link/visuals
        ├── collisions [Xform]
        │   └─ Path: /GR1T2_fourier_hand_6dof/left_lower_arm_pitch_link/collisions
    ├── left_hand_yaw_link [Xform]
    │   └─ Path: /GR1T2_fourier_hand_6dof/left_hand_yaw_link
        ├── visuals [Xform]
        │   └─ Path: /GR1T2_fourier_hand_6dof/left_hand_yaw_link/visuals
        ├── collisions [Xform]
        │   └─ Path: /GR1T2_fourier_hand_6dof/left_hand_yaw_link/collisions
    ├── left_hand_roll_link [Xform]
    │   └─ Path: /GR1T2_fourier_hand_6dof/left_hand_roll_link
        ├── visuals [Xform]
        │   └─ Path: /GR1T2_fourier_hand_6dof/left_hand_roll_link/visuals
        ├── collisions [Xform]
        │   └─ Path: /GR1T2_fourier_hand_6dof/left_hand_roll_link/collisions
    ├── left_hand_pitch_link [Xform]
    │   └─ Path: /GR1T2_fourier_hand_6dof/left_hand_pitch_link
        ├── left_end_effector_link [Xform]
        │   └─ Path: /GR1T2_fourier_hand_6dof/left_hand_pitch_link/left_end_effector_link
        ├── visuals [Xform]
        │   └─ Path: /GR1T2_fourier_hand_6dof/left_hand_pitch_link/visuals
        ├── collisions [Xform]
        │   └─ Path: /GR1T2_fourier_hand_6dof/left_hand_pitch_link/collisions
    ├── L_index_proximal_link [Xform]
    │   └─ Path: /GR1T2_fourier_hand_6dof/L_index_proximal_link
        ├── visuals [Xform]
        │   └─ Path: /GR1T2_fourier_hand_6dof/L_index_proximal_link/visuals
        ├── collisions [Xform]
        │   └─ Path: /GR1T2_fourier_hand_6dof/L_index_proximal_link/collisions
    ├── L_index_intermediate_link [Xform]
    │   └─ Path: /GR1T2_fourier_hand_6dof/L_index_intermediate_link
        ├── L_index_tip_link [Xform]
        │   └─ Path: /GR1T2_fourier_hand_6dof/L_index_intermediate_link/L_index_tip_link
        ├── visuals [Xform]
        │   └─ Path: /GR1T2_fourier_hand_6dof/L_index_intermediate_link/visuals
        ├── collisions [Xform]
        │   └─ Path: /GR1T2_fourier_hand_6dof/L_index_intermediate_link/collisions
    ├── L_middle_proximal_link [Xform]
    │   └─ Path: /GR1T2_fourier_hand_6dof/L_middle_proximal_link
        ├── visuals [Xform]
        │   └─ Path: /GR1T2_fourier_hand_6dof/L_middle_proximal_link/visuals
        ├── collisions [Xform]
        │   └─ Path: /GR1T2_fourier_hand_6dof/L_middle_proximal_link/collisions
    ├── L_middle_intermediate_link [Xform]
    │   └─ Path: /GR1T2_fourier_hand_6dof/L_middle_intermediate_link
        ├── L_middle_tip_link [Xform]
        │   └─ Path: /GR1T2_fourier_hand_6dof/L_middle_intermediate_link/L_middle_tip_link
        ├── visuals [Xform]
        │   └─ Path: /GR1T2_fourier_hand_6dof/L_middle_intermediate_link/visuals
        ├── collisions [Xform]
        │   └─ Path: /GR1T2_fourier_hand_6dof/L_middle_intermediate_link/collisions
    ├── L_pinky_proximal_link [Xform]
    │   └─ Path: /GR1T2_fourier_hand_6dof/L_pinky_proximal_link
        ├── visuals [Xform]
        │   └─ Path: /GR1T2_fourier_hand_6dof/L_pinky_proximal_link/visuals
        ├── collisions [Xform]
        │   └─ Path: /GR1T2_fourier_hand_6dof/L_pinky_proximal_link/collisions
    ├── L_pinky_intermediate_link [Xform]
    │   └─ Path: /GR1T2_fourier_hand_6dof/L_pinky_intermediate_link
        ├── L_pinky_tip_link [Xform]
        │   └─ Path: /GR1T2_fourier_hand_6dof/L_pinky_intermediate_link/L_pinky_tip_link
        ├── visuals [Xform]
        │   └─ Path: /GR1T2_fourier_hand_6dof/L_pinky_intermediate_link/visuals
        ├── collisions [Xform]
        │   └─ Path: /GR1T2_fourier_hand_6dof/L_pinky_intermediate_link/collisions
    ├── L_ring_proximal_link [Xform]
    │   └─ Path: /GR1T2_fourier_hand_6dof/L_ring_proximal_link
        ├── visuals [Xform]
        │   └─ Path: /GR1T2_fourier_hand_6dof/L_ring_proximal_link/visuals
        ├── collisions [Xform]
        │   └─ Path: /GR1T2_fourier_hand_6dof/L_ring_proximal_link/collisions
    ├── L_ring_intermediate_link [Xform]
    │   └─ Path: /GR1T2_fourier_hand_6dof/L_ring_intermediate_link
        ├── L_ring_tip_link [Xform]
        │   └─ Path: /GR1T2_fourier_hand_6dof/L_ring_intermediate_link/L_ring_tip_link
        ├── visuals [Xform]
        │   └─ Path: /GR1T2_fourier_hand_6dof/L_ring_intermediate_link/visuals
        ├── collisions [Xform]
        │   └─ Path: /GR1T2_fourier_hand_6dof/L_ring_intermediate_link/collisions
    ├── L_thumb_proximal_base_link [Xform]
    │   └─ Path: /GR1T2_fourier_hand_6dof/L_thumb_proximal_base_link
        ├── visuals [Xform]
        │   └─ Path: /GR1T2_fourier_hand_6dof/L_thumb_proximal_base_link/visuals
        ├── collisions [Xform]
        │   └─ Path: /GR1T2_fourier_hand_6dof/L_thumb_proximal_base_link/collisions
    ├── L_thumb_proximal_link [Xform]
    │   └─ Path: /GR1T2_fourier_hand_6dof/L_thumb_proximal_link
        ├── visuals [Xform]
        │   └─ Path: /GR1T2_fourier_hand_6dof/L_thumb_proximal_link/visuals
        ├── collisions [Xform]
        │   └─ Path: /GR1T2_fourier_hand_6dof/L_thumb_proximal_link/collisions
    ├── L_thumb_distal_link [Xform]
    │   └─ Path: /GR1T2_fourier_hand_6dof/L_thumb_distal_link
        ├── L_thumb_tip_link [Xform]
        │   └─ Path: /GR1T2_fourier_hand_6dof/L_thumb_distal_link/L_thumb_tip_link
        ├── visuals [Xform]
        │   └─ Path: /GR1T2_fourier_hand_6dof/L_thumb_distal_link/visuals
        ├── collisions [Xform]
        │   └─ Path: /GR1T2_fourier_hand_6dof/L_thumb_distal_link/collisions
    ├── right_upper_arm_pitch_link [Xform]
    │   └─ Path: /GR1T2_fourier_hand_6dof/right_upper_arm_pitch_link
        ├── visuals [Xform]
        │   └─ Path: /GR1T2_fourier_hand_6dof/right_upper_arm_pitch_link/visuals
        ├── collisions [Xform]
        │   └─ Path: /GR1T2_fourier_hand_6dof/right_upper_arm_pitch_link/collisions
    ├── right_upper_arm_roll_link [Xform]
    │   └─ Path: /GR1T2_fourier_hand_6dof/right_upper_arm_roll_link
        ├── visuals [Xform]
        │   └─ Path: /GR1T2_fourier_hand_6dof/right_upper_arm_roll_link/visuals
        ├── collisions [Xform]
        │   └─ Path: /GR1T2_fourier_hand_6dof/right_upper_arm_roll_link/collisions
    ├── right_upper_arm_yaw_link [Xform]
    │   └─ Path: /GR1T2_fourier_hand_6dof/right_upper_arm_yaw_link
        ├── visuals [Xform]
        │   └─ Path: /GR1T2_fourier_hand_6dof/right_upper_arm_yaw_link/visuals
        ├── collisions [Xform]
        │   └─ Path: /GR1T2_fourier_hand_6dof/right_upper_arm_yaw_link/collisions
    ├── right_lower_arm_pitch_link [Xform]
    │   └─ Path: /GR1T2_fourier_hand_6dof/right_lower_arm_pitch_link
        ├── visuals [Xform]
        │   └─ Path: /GR1T2_fourier_hand_6dof/right_lower_arm_pitch_link/visuals
        ├── collisions [Xform]
        │   └─ Path: /GR1T2_fourier_hand_6dof/right_lower_arm_pitch_link/collisions
    ├── right_hand_yaw_link [Xform]
    │   └─ Path: /GR1T2_fourier_hand_6dof/right_hand_yaw_link
        ├── visuals [Xform]
        │   └─ Path: /GR1T2_fourier_hand_6dof/right_hand_yaw_link/visuals
        ├── collisions [Xform]
        │   └─ Path: /GR1T2_fourier_hand_6dof/right_hand_yaw_link/collisions
    ├── right_hand_roll_link [Xform]
    │   └─ Path: /GR1T2_fourier_hand_6dof/right_hand_roll_link
        ├── visuals [Xform]
        │   └─ Path: /GR1T2_fourier_hand_6dof/right_hand_roll_link/visuals
        ├── collisions [Xform]
        │   └─ Path: /GR1T2_fourier_hand_6dof/right_hand_roll_link/collisions
    ├── right_hand_pitch_link [Xform]
    │   └─ Path: /GR1T2_fourier_hand_6dof/right_hand_pitch_link
        ├── right_end_effector_link [Xform]
        │   └─ Path: /GR1T2_fourier_hand_6dof/right_hand_pitch_link/right_end_effector_link
        ├── visuals [Xform]
        │   └─ Path: /GR1T2_fourier_hand_6dof/right_hand_pitch_link/visuals
        ├── collisions [Xform]
        │   └─ Path: /GR1T2_fourier_hand_6dof/right_hand_pitch_link/collisions
    ├── R_index_proximal_link [Xform]
    │   └─ Path: /GR1T2_fourier_hand_6dof/R_index_proximal_link
        ├── visuals [Xform]
        │   └─ Path: /GR1T2_fourier_hand_6dof/R_index_proximal_link/visuals
        ├── collisions [Xform]
        │   └─ Path: /GR1T2_fourier_hand_6dof/R_index_proximal_link/collisions
    ├── R_index_intermediate_link [Xform]
    │   └─ Path: /GR1T2_fourier_hand_6dof/R_index_intermediate_link
        ├── R_index_tip_link [Xform]
        │   └─ Path: /GR1T2_fourier_hand_6dof/R_index_intermediate_link/R_index_tip_link
        ├── visuals [Xform]
        │   └─ Path: /GR1T2_fourier_hand_6dof/R_index_intermediate_link/visuals
        ├── collisions [Xform]
        │   └─ Path: /GR1T2_fourier_hand_6dof/R_index_intermediate_link/collisions
    ├── R_middle_proximal_link [Xform]
    │   └─ Path: /GR1T2_fourier_hand_6dof/R_middle_proximal_link
        ├── visuals [Xform]
        │   └─ Path: /GR1T2_fourier_hand_6dof/R_middle_proximal_link/visuals
        ├── collisions [Xform]
        │   └─ Path: /GR1T2_fourier_hand_6dof/R_middle_proximal_link/collisions
    ├── R_middle_intermediate_link [Xform]
    │   └─ Path: /GR1T2_fourier_hand_6dof/R_middle_intermediate_link
        ├── R_middle_tip_link [Xform]
        │   └─ Path: /GR1T2_fourier_hand_6dof/R_middle_intermediate_link/R_middle_tip_link
        ├── visuals [Xform]
        │   └─ Path: /GR1T2_fourier_hand_6dof/R_middle_intermediate_link/visuals
        ├── collisions [Xform]
        │   └─ Path: /GR1T2_fourier_hand_6dof/R_middle_intermediate_link/collisions
    ├── R_pinky_proximal_link [Xform]
    │   └─ Path: /GR1T2_fourier_hand_6dof/R_pinky_proximal_link
        ├── visuals [Xform]
        │   └─ Path: /GR1T2_fourier_hand_6dof/R_pinky_proximal_link/visuals
        ├── collisions [Xform]
        │   └─ Path: /GR1T2_fourier_hand_6dof/R_pinky_proximal_link/collisions
    ├── R_pinky_intermediate_link [Xform]
    │   └─ Path: /GR1T2_fourier_hand_6dof/R_pinky_intermediate_link
        ├── R_pinky_tip_link [Xform]
        │   └─ Path: /GR1T2_fourier_hand_6dof/R_pinky_intermediate_link/R_pinky_tip_link
        ├── visuals [Xform]
        │   └─ Path: /GR1T2_fourier_hand_6dof/R_pinky_intermediate_link/visuals
        ├── collisions [Xform]
        │   └─ Path: /GR1T2_fourier_hand_6dof/R_pinky_intermediate_link/collisions
    ├── R_ring_proximal_link [Xform]
    │   └─ Path: /GR1T2_fourier_hand_6dof/R_ring_proximal_link
        ├── visuals [Xform]
        │   └─ Path: /GR1T2_fourier_hand_6dof/R_ring_proximal_link/visuals
        ├── collisions [Xform]
        │   └─ Path: /GR1T2_fourier_hand_6dof/R_ring_proximal_link/collisions
    ├── R_ring_intermediate_link [Xform]
    │   └─ Path: /GR1T2_fourier_hand_6dof/R_ring_intermediate_link
        ├── R_ring_tip_link [Xform]
        │   └─ Path: /GR1T2_fourier_hand_6dof/R_ring_intermediate_link/R_ring_tip_link
        ├── visuals [Xform]
        │   └─ Path: /GR1T2_fourier_hand_6dof/R_ring_intermediate_link/visuals
        ├── collisions [Xform]
        │   └─ Path: /GR1T2_fourier_hand_6dof/R_ring_intermediate_link/collisions
    ├── R_thumb_proximal_base_link [Xform]
    │   └─ Path: /GR1T2_fourier_hand_6dof/R_thumb_proximal_base_link
        ├── visuals [Xform]
        │   └─ Path: /GR1T2_fourier_hand_6dof/R_thumb_proximal_base_link/visuals
        ├── collisions [Xform]
        │   └─ Path: /GR1T2_fourier_hand_6dof/R_thumb_proximal_base_link/collisions
    ├── R_thumb_proximal_link [Xform]
    │   └─ Path: /GR1T2_fourier_hand_6dof/R_thumb_proximal_link
        ├── visuals [Xform]
        │   └─ Path: /GR1T2_fourier_hand_6dof/R_thumb_proximal_link/visuals
        ├── collisions [Xform]
        │   └─ Path: /GR1T2_fourier_hand_6dof/R_thumb_proximal_link/collisions
    ├── R_thumb_distal_link [Xform]
    │   └─ Path: /GR1T2_fourier_hand_6dof/R_thumb_distal_link
        ├── R_thumb_tip_link [Xform]
        │   └─ Path: /GR1T2_fourier_hand_6dof/R_thumb_distal_link/R_thumb_tip_link
        ├── visuals [Xform]
        │   └─ Path: /GR1T2_fourier_hand_6dof/R_thumb_distal_link/visuals
        ├── collisions [Xform]
        │   └─ Path: /GR1T2_fourier_hand_6dof/R_thumb_distal_link/collisions
    ├── right_end_effector_link [Xform]
    │   └─ Path: /GR1T2_fourier_hand_6dof/right_end_effector_link
    ├── left_end_effector_link [Xform]
    │   └─ Path: /GR1T2_fourier_hand_6dof/left_end_effector_link
├── PhysicsScene [PhysicsScene]
│   └─ Path: /PhysicsScene

=========================================================