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feat(collision): add collision primitive generation tools

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Add URDF and USD collision primitive generation, MeshCat collision visualization, configuration, documentation, and generated Isaac Sim assets for the dual-arm model.
This commit is contained in:
lgv 2026-07-27 15:39:54 +08:00
parent 0257ac85ca
commit 4e9bd398f1
42 changed files with 10045 additions and 126 deletions
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6
MUJOCO_LOG.TXT Normal file
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@ -0,0 +1,6 @@
Fri Jul 24 15:39:05 2026
ERROR: could not create window
Fri Jul 24 15:40:37 2026
ERROR: could not create window

148
model/xiaoyan_description/dual_arm.urdf
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@ -8,44 +8,30 @@
<!-- </mujoco>--> <!-- </mujoco>-->
<!-- <link name="base_link">--> <link name="base_link">
<!-- <visual>--> <visual>
<!-- <origin xyz="0 0 0.6" rpy="0 0 0"/>--> <origin xyz="0 0 0.6" rpy="0 0 0"/>
<!-- <geometry>--> <geometry>
<!-- <cylinder radius="0.05" length="1.2"/>--> <cylinder radius="0.05" length="1.2"/>
<!-- </geometry>--> </geometry>
<!-- <material name="gray">--> <material name="gray">
<!-- <color rgba="0.5 0.5 0.5 1.0"/>--> <color rgba="0.5 0.5 0.5 1.0"/>
<!-- </material>--> </material>
<!-- </visual>--> </visual>
<!-- <collision>--> <collision name="base_column">
<!-- <origin xyz="0 0 0.6" rpy="0 0 0"/>--> <origin xyz="0 0 0.6" rpy="0 0 0"/>
<!-- <geometry>--> <geometry>
<!-- <cylinder radius="0.05" length="1.2"/>--> <cylinder radius="0.05" length="1.2"/>
<!-- </geometry>--> </geometry>
<!-- </collision>--> </collision>
</link>
<!-- <inertial>--> <joint name="base_fixed" type="fixed">
<origin rpy="0 0 0" xyz="0 0 1.2"/>
<!-- <origin xyz="0 0 0" rpy="0 0 0"/>--> <parent link="base_link"/>
<!-- <mass value="25.4469"/>--> <child link="PELVIS_S"/>
</joint>
<!-- <inertia-->
<!-- ixx="3.06953"-->
<!-- ixy="0.0"-->
<!-- ixz="0.0"-->
<!-- iyy="3.06953"-->
<!-- iyz="0.0"-->
<!-- izz="0.03181"/>-->
<!-- </inertial>-->
<!-- </link>-->
<!-- <joint name="base_fixed" type="fixed">-->
<!-- <origin rpy="0 0 0" xyz="0 0 1.2"/>-->
<!-- <parent link="base_link"/>-->
<!-- <child link="PELVIS_S"/>-->
<!-- </joint>-->
<link name="PELVIS_S"> <link name="PELVIS_S">
<inertial> <inertial>
@ -68,12 +54,6 @@
<color rgba="0.698039215686274 0.698039215686274 0.698039215686274 1" /> <color rgba="0.698039215686274 0.698039215686274 0.698039215686274 1" />
</material> </material>
</visual> </visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="meshes/PELVIS_S.STL" />
</geometry>
</collision>
</link> </link>
<link name="L_SHOULDER_P_S"> <link name="L_SHOULDER_P_S">
@ -97,12 +77,6 @@
<color rgba="0.898039215686275 0.917647058823529 0.929411764705882 1" /> <color rgba="0.898039215686275 0.917647058823529 0.929411764705882 1" />
</material> </material>
</visual> </visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="meshes/L_SHOULDER_P_S.STL" />
</geometry>
</collision>
</link> </link>
<joint name="L_SHOULDER_P" type="revolute"> <joint name="L_SHOULDER_P" type="revolute">
@ -134,12 +108,6 @@
<color rgba="0.890196078431372 0.890196078431372 0.913725490196078 1" /> <color rgba="0.890196078431372 0.890196078431372 0.913725490196078 1" />
</material> </material>
</visual> </visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="meshes/L_SHOULDER_R_S.STL" />
</geometry>
</collision>
</link> </link>
<joint name="L_SHOULDER_R" type="revolute"> <joint name="L_SHOULDER_R" type="revolute">
@ -172,12 +140,6 @@
<color rgba="0.890196078431372 0.890196078431372 0.913725490196078 1" /> <color rgba="0.890196078431372 0.890196078431372 0.913725490196078 1" />
</material> </material>
</visual> </visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="meshes/L_SHOULDER_Y_S.STL" />
</geometry>
</collision>
</link> </link>
<joint name="L_SHOULDER_Y" type="revolute"> <joint name="L_SHOULDER_Y" type="revolute">
@ -209,12 +171,6 @@
<color rgba="0.890196078431372 0.890196078431372 0.913725490196078 1" /> <color rgba="0.890196078431372 0.890196078431372 0.913725490196078 1" />
</material> </material>
</visual> </visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="meshes/L_ELBOW_R_S.STL" />
</geometry>
</collision>
</link> </link>
<joint name="L_ELBOW_R" type="revolute"> <joint name="L_ELBOW_R" type="revolute">
@ -246,12 +202,6 @@
<color rgba="0.698039215686274 0.698039215686274 0.698039215686274 1" /> <color rgba="0.698039215686274 0.698039215686274 0.698039215686274 1" />
</material> </material>
</visual> </visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="meshes/L_WRIST_P_S.STL" />
</geometry>
</collision>
</link> </link>
<joint name="L_WRIST_P" type="revolute"> <joint name="L_WRIST_P" type="revolute">
@ -283,12 +233,6 @@
<color rgba="0.647058823529412 0.619607843137255 0.588235294117647 1" /> <color rgba="0.647058823529412 0.619607843137255 0.588235294117647 1" />
</material> </material>
</visual> </visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="meshes/L_WRIST_Y_S.STL" />
</geometry>
</collision>
</link> </link>
<joint name="L_WRIST_Y" type="revolute"> <joint name="L_WRIST_Y" type="revolute">
@ -320,12 +264,6 @@
<color rgba="0.890196078431372 0.890196078431372 0.913725490196078 1" /> <color rgba="0.890196078431372 0.890196078431372 0.913725490196078 1" />
</material> </material>
</visual> </visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="meshes/L_WRIST_R_S.STL" />
</geometry>
</collision>
</link> </link>
<joint name="L_WRIST_R" type="revolute"> <joint name="L_WRIST_R" type="revolute">
@ -357,12 +295,6 @@
<color rgba="0.890196078431372 0.890196078431372 0.913725490196078 1" /> <color rgba="0.890196078431372 0.890196078431372 0.913725490196078 1" />
</material> </material>
</visual> </visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="meshes/R_SHOULDER_P_S.STL" />
</geometry>
</collision>
</link> </link>
<joint name="R_SHOULDER_P" type="revolute"> <joint name="R_SHOULDER_P" type="revolute">
@ -394,12 +326,6 @@
<color rgba="0.890196078431372 0.890196078431372 0.913725490196078 1" /> <color rgba="0.890196078431372 0.890196078431372 0.913725490196078 1" />
</material> </material>
</visual> </visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="meshes/R_SHOULDER_R_S.STL" />
</geometry>
</collision>
</link> </link>
<joint name="R_SHOULDER_R" type="revolute"> <joint name="R_SHOULDER_R" type="revolute">
@ -432,12 +358,6 @@
<color rgba="0.890196078431372 0.890196078431372 0.913725490196078 1" /> <color rgba="0.890196078431372 0.890196078431372 0.913725490196078 1" />
</material> </material>
</visual> </visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="meshes/R_SHOULDER_Y_S.STL" />
</geometry>
</collision>
</link> </link>
<joint name="R_SHOULDER_Y" type="revolute"> <joint name="R_SHOULDER_Y" type="revolute">
@ -469,12 +389,6 @@
<color rgba="0.890196078431372 0.890196078431372 0.913725490196078 1" /> <color rgba="0.890196078431372 0.890196078431372 0.913725490196078 1" />
</material> </material>
</visual> </visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="meshes/R_ELBOW_R_S.STL" />
</geometry>
</collision>
</link> </link>
<joint name="R_ELBOW_R" type="revolute"> <joint name="R_ELBOW_R" type="revolute">
@ -506,12 +420,6 @@
<color rgba="0.647058823529412 0.619607843137255 0.588235294117647 1" /> <color rgba="0.647058823529412 0.619607843137255 0.588235294117647 1" />
</material> </material>
</visual> </visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="meshes/R_WRIST_P_S.STL" />
</geometry>
</collision>
</link> </link>
<joint name="R_WRIST_P" type="revolute"> <joint name="R_WRIST_P" type="revolute">
@ -543,12 +451,6 @@
<color rgba="0.647058823529412 0.619607843137255 0.588235294117647 1" /> <color rgba="0.647058823529412 0.619607843137255 0.588235294117647 1" />
</material> </material>
</visual> </visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="meshes/R_WRIST_Y_S.STL" />
</geometry>
</collision>
</link> </link>
<joint name="R_WRIST_Y" type="revolute"> <joint name="R_WRIST_Y" type="revolute">
@ -581,12 +483,6 @@
<color rgba="0.890196078431372 0.890196078431372 0.913725490196078 1" /> <color rgba="0.890196078431372 0.890196078431372 0.913725490196078 1" />
</material> </material>
</visual> </visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="meshes/R_WRIST_R_S.STL" />
</geometry>
</collision>
</link> </link>
<joint name="R_WRIST_R" type="revolute"> <joint name="R_WRIST_R" type="revolute">

52
model/xiaoyan_description/dual_arm/dual_arm.usda Normal file
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@ -0,0 +1,52 @@
#usda 1.0
(
customLayerData = {
string creator = "URDF USD Converter v0.1.3"
}
defaultPrim = "dual_arm"
doc = """Generated from Composed Stage of root layer /tmp/tmpg9rhrzku/dual_arm.usdc
Generated from Composed Stage of root layer /tmp/urdf_import_dual_arm_5_54i39n/usdex_dual_arm/dual_arm.usdc
Generated from Composed Stage of root layer /tmp/urdf_import_dual_arm_5_54i39n/temp_dual_arm/dual_arm.usd
Generated from Composed Stage of root layer /home/lgv/cmvr/0-workspace/cmvr-es/model/xiaoyan_description/dual_arm/payloads/base.usd
"""
kilogramsPerUnit = 1
metersPerUnit = 1
upAxis = "Z"
)
def Xform "dual_arm" (
prepend references = @./payloads/base.usda@
variants = {
string Physics = "physx"
}
append variantSets = "Physics"
)
{
variantSet "Physics" = {
"mujoco" (
prepend payload = @./payloads/Physics/mujoco.usda@
) {
}
"none" {
}
"physics" (
prepend payload = @./payloads/Physics/physics.usda@
) {
}
"physx" (
prepend payload = @./payloads/Physics/physx.usda@
) {
}
}
}

444
model/xiaoyan_description/dual_arm/payloads/Physics/mujoco.usda Normal file
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@ -0,0 +1,444 @@
#usda 1.0
(
customLayerData = {
string creator = "URDF USD Converter v0.1.3"
}
defaultPrim = "dual_arm"
doc = """Generated from Composed Stage of root layer /tmp/tmpg9rhrzku/dual_arm.usdc
Generated from Composed Stage of root layer /tmp/urdf_import_dual_arm_5_54i39n/usdex_dual_arm/dual_arm.usdc
Generated from Composed Stage of root layer /tmp/urdf_import_dual_arm_5_54i39n/temp_dual_arm/dual_arm.usd
Generated from Composed Stage of root layer /home/lgv/cmvr/0-workspace/cmvr-es/model/xiaoyan_description/dual_arm/payloads/base.usd
"""
kilogramsPerUnit = 1
metersPerUnit = 1
subLayers = [
@./physics.usda@
]
upAxis = "Z"
)
over "dual_arm"
{
over "Physics"
{
def MjcActuator "L_SHOULDER_P_actuator"
{
uniform double mjc:forceRange:max = 120
uniform double mjc:forceRange:min = -120
custom rel mjc:target
prepend rel mjc:target = </dual_arm/Physics/L_SHOULDER_P>
}
def MjcActuator "L_SHOULDER_R_actuator"
{
uniform double mjc:forceRange:max = 120
uniform double mjc:forceRange:min = -120
custom rel mjc:target
prepend rel mjc:target = </dual_arm/Physics/L_SHOULDER_R>
}
def MjcActuator "L_SHOULDER_Y_actuator"
{
uniform double mjc:forceRange:max = 80
uniform double mjc:forceRange:min = -80
custom rel mjc:target
prepend rel mjc:target = </dual_arm/Physics/L_SHOULDER_Y>
}
def MjcActuator "L_ELBOW_R_actuator"
{
uniform double mjc:forceRange:max = 50
uniform double mjc:forceRange:min = -50
custom rel mjc:target
prepend rel mjc:target = </dual_arm/Physics/L_ELBOW_R>
}
def MjcActuator "L_WRIST_P_actuator"
{
uniform double mjc:forceRange:max = 50
uniform double mjc:forceRange:min = -50
custom rel mjc:target
prepend rel mjc:target = </dual_arm/Physics/L_WRIST_P>
}
def MjcActuator "L_WRIST_Y_actuator"
{
uniform double mjc:forceRange:max = 50
uniform double mjc:forceRange:min = -50
custom rel mjc:target
prepend rel mjc:target = </dual_arm/Physics/L_WRIST_Y>
}
def MjcActuator "L_WRIST_R_actuator"
{
uniform double mjc:forceRange:max = 50
uniform double mjc:forceRange:min = -50
custom rel mjc:target
prepend rel mjc:target = </dual_arm/Physics/L_WRIST_R>
}
def MjcActuator "R_SHOULDER_P_actuator"
{
uniform double mjc:forceRange:max = 120
uniform double mjc:forceRange:min = -120
custom rel mjc:target
prepend rel mjc:target = </dual_arm/Physics/R_SHOULDER_P>
}
def MjcActuator "R_SHOULDER_R_actuator"
{
uniform double mjc:forceRange:max = 120
uniform double mjc:forceRange:min = -120
custom rel mjc:target
prepend rel mjc:target = </dual_arm/Physics/R_SHOULDER_R>
}
def MjcActuator "R_SHOULDER_Y_actuator"
{
uniform double mjc:forceRange:max = 80
uniform double mjc:forceRange:min = -80
custom rel mjc:target
prepend rel mjc:target = </dual_arm/Physics/R_SHOULDER_Y>
}
def MjcActuator "R_ELBOW_R_actuator"
{
uniform double mjc:forceRange:max = 80
uniform double mjc:forceRange:min = -80
custom rel mjc:target
prepend rel mjc:target = </dual_arm/Physics/R_ELBOW_R>
}
def MjcActuator "R_WRIST_P_actuator"
{
uniform double mjc:forceRange:max = 50
uniform double mjc:forceRange:min = -50
custom rel mjc:target
prepend rel mjc:target = </dual_arm/Physics/R_WRIST_P>
}
def MjcActuator "R_WRIST_Y_actuator"
{
uniform double mjc:forceRange:max = 50
uniform double mjc:forceRange:min = -50
custom rel mjc:target
prepend rel mjc:target = </dual_arm/Physics/R_WRIST_Y>
}
def MjcActuator "R_WRIST_R_actuator"
{
uniform double mjc:forceRange:max = 50
uniform double mjc:forceRange:min = -50
custom rel mjc:target
prepend rel mjc:target = </dual_arm/Physics/R_WRIST_R>
}
over "root_joint"
{
}
over "L_SHOULDER_P" (
delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
)
{
}
over "L_SHOULDER_R" (
delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
)
{
}
over "L_SHOULDER_Y" (
delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
)
{
}
over "L_ELBOW_R" (
delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
)
{
}
over "L_WRIST_P" (
delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
)
{
}
over "L_WRIST_Y" (
delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
)
{
}
over "L_WRIST_R" (
delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
)
{
}
over "R_SHOULDER_P" (
delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
)
{
}
over "R_SHOULDER_R" (
delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
)
{
}
over "R_SHOULDER_Y" (
delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
)
{
}
over "R_ELBOW_R" (
delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
)
{
}
over "R_WRIST_P" (
delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
)
{
}
over "R_WRIST_Y" (
delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
)
{
}
over "R_WRIST_R" (
delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
)
{
}
over "R_FINGER_TIP_FIXED"
{
}
over "R_CAM_FIXED"
{
}
}
over "Geometry"
{
over "PELVIS_S"
{
over "L_SHOULDER_P_S"
{
over "L_SHOULDER_R_S"
{
over "L_SHOULDER_Y_S"
{
over "L_ELBOW_R_S"
{
over "L_WRIST_P_S"
{
over "L_WRIST_Y_S"
{
over "L_WRIST_R_S"
{
over "L_WRIST_R_S"
{
}
over "L_WRIST_R_S_1"
{
}
}
over "L_WRIST_Y_S"
{
}
over "L_WRIST_Y_S_1"
{
}
}
over "L_WRIST_P_S"
{
}
over "L_WRIST_P_S_1"
{
}
}
over "L_ELBOW_R_S"
{
}
over "L_ELBOW_R_S_1"
{
}
}
over "L_SHOULDER_Y_S"
{
}
over "L_SHOULDER_Y_S_1"
{
}
}
over "L_SHOULDER_R_S"
{
}
over "L_SHOULDER_R_S_1"
{
}
}
over "L_SHOULDER_P_S"
{
}
over "L_SHOULDER_P_S_1"
{
}
}
over "R_SHOULDER_P_S"
{
over "R_SHOULDER_R_S"
{
over "R_SHOULDER_Y_S"
{
over "R_ELBOW_R_S"
{
over "R_WRIST_P_S"
{
over "R_WRIST_Y_S"
{
over "R_WRIST_R_S"
{
over "R_FINGER_TIP"
{
over "sphere"
{
}
over "sphere_1"
{
}
}
over "R_CAM"
{
over "sphere"
{
}
over "sphere_1"
{
}
}
over "R_WRIST_R_S"
{
}
over "R_WRIST_R_S_1"
{
}
}
over "R_WRIST_Y_S"
{
}
over "R_WRIST_Y_S_1"
{
}
}
over "R_WRIST_P_S"
{
}
over "R_WRIST_P_S_1"
{
}
}
over "R_ELBOW_R_S"
{
}
over "R_ELBOW_R_S_1"
{
}
}
over "R_SHOULDER_Y_S"
{
}
over "R_SHOULDER_Y_S_1"
{
}
}
over "R_SHOULDER_R_S"
{
}
over "R_SHOULDER_R_S_1"
{
}
}
over "R_SHOULDER_P_S"
{
}
over "R_SHOULDER_P_S_1"
{
}
}
over "PELVIS_S"
{
}
over "PELVIS_S_1"
{
}
}
}
over "Materials"
{
over "material_16"
{
}
over "material_17"
{
}
}
over "VisualMaterials"
{
}
}

530
model/xiaoyan_description/dual_arm/payloads/Physics/physics.usda Normal file
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@ -0,0 +1,530 @@
#usda 1.0
(
customLayerData = {
string creator = "URDF USD Converter v0.1.3"
}
defaultPrim = "dual_arm"
doc = """Generated from Composed Stage of root layer /tmp/tmpg9rhrzku/dual_arm.usdc
Generated from Composed Stage of root layer /tmp/urdf_import_dual_arm_5_54i39n/usdex_dual_arm/dual_arm.usdc
Generated from Composed Stage of root layer /tmp/urdf_import_dual_arm_5_54i39n/temp_dual_arm/dual_arm.usd
Generated from Composed Stage of root layer /home/lgv/cmvr/0-workspace/cmvr-es/model/xiaoyan_description/dual_arm/payloads/base.usd
"""
kilogramsPerUnit = 1
metersPerUnit = 1
upAxis = "Z"
)
over "dual_arm"
{
over "Geometry"
{
over "PELVIS_S" (
prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsArticulationRootAPI", "NewtonArticulationRootAPI", "PhysicsMassAPI"]
)
{
bool newton:selfCollisionEnabled = 0
point3f physics:centerOfMass = (0.000037852908, 3.8178143e-7, 0.038639627)
float3 physics:diagonalInertia = (0.0013673676, 0.0016570506, 0.0016829747)
float physics:mass = 2.106246
quatf physics:principalAxes = (0.009335395, 0.7070413, 0.707049, -0.009335252)
over "L_SHOULDER_P_S" (
prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"]
)
{
point3f physics:centerOfMass = (-0.0098225875, 0.070459306, 0.0000011526188)
float3 physics:diagonalInertia = (0.0004438491, 0.00046564807, 0.00058487366)
float physics:mass = 0.88073754
quatf physics:principalAxes = (0.52669495, -0.5265165, -0.4719702, -0.471823)
over "L_SHOULDER_R_S" (
prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"]
)
{
point3f physics:centerOfMass = (-0.034602527, 0.09173933, -1.6708507e-8)
float3 physics:diagonalInertia = (0.00029429645, 0.0004076361, 0.00041477106)
float physics:mass = 0.59478843
quatf physics:principalAxes = (-0.000014568957, 0.50742036, 0.8616986, 0.00003184278)
over "L_SHOULDER_Y_S" (
prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"]
)
{
point3f physics:centerOfMass = (-0.0044097686, 0.08636205, 9.507486e-9)
float3 physics:diagonalInertia = (0.00021101937, 0.00029734103, 0.00032981517)
float physics:mass = 0.56340605
quatf physics:principalAxes = (0.53709006, -0.5370771, -0.45993194, -0.45994022)
over "L_ELBOW_R_S" (
prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"]
)
{
point3f physics:centerOfMass = (-0.033562426, 0.060319997, 2.996559e-7)
float3 physics:diagonalInertia = (0.00013903381, 0.00018104233, 0.00018907762)
float physics:mass = 0.3935719
quatf physics:principalAxes = (-0.32768953, 0.32742363, 0.62656015, 0.626766)
over "L_WRIST_P_S" (
prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"]
)
{
point3f physics:centerOfMass = (-1.3965917e-10, 0.06759726, 0.019200552)
float3 physics:diagonalInertia = (0.00009728105, 0.00047675407, 0.00048914185)
float physics:mass = 0.44233248
quatf physics:principalAxes = (0.044508155, 0.7057046, 0.7057046, 0.044508155)
over "L_WRIST_Y_S" (
prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"]
)
{
point3f physics:centerOfMass = (-0.0046413587, -5.064268e-10, -0.03412538)
float3 physics:diagonalInertia = (0.000045789966, 0.00005849702, 0.0000600636)
float physics:mass = 0.23573847
quatf physics:principalAxes = (-0.6641875, 0.6641875, 0.24260041, -0.24260041)
over "L_WRIST_R_S" (
prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"]
)
{
point3f physics:centerOfMass = (-0.016147736, 0.09550466, -0.004993925)
float3 physics:diagonalInertia = (0.00017805478, 0.00018857485, 0.00028092117)
float physics:mass = 0.50489414
quatf physics:principalAxes = (-0.020479547, 0.8394515, 0.54304194, -0.00269542)
}
}
}
}
}
}
}
over "R_SHOULDER_P_S" (
prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"]
)
{
point3f physics:centerOfMass = (-0.0098225875, -0.070459306, -0.0000011506992)
float3 physics:diagonalInertia = (0.0004438491, 0.00046564807, 0.00058487366)
float physics:mass = 0.88073754
quatf physics:principalAxes = (-0.4719702, 0.471823, 0.52669495, 0.5265165)
over "R_SHOULDER_R_S" (
prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"]
)
{
point3f physics:centerOfMass = (-0.034602527, -0.09173933, 1.8628064e-8)
float3 physics:diagonalInertia = (0.00029429645, 0.0004076361, 0.00041477106)
float physics:mass = 0.59478843
quatf physics:principalAxes = (0.00003184278, 0.8616986, 0.50742036, -0.000014568957)
over "R_SHOULDER_Y_S" (
prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"]
)
{
point3f physics:centerOfMass = (-0.0044097686, -0.08636205, -7.587919e-9)
float3 physics:diagonalInertia = (0.00021101937, 0.00029734103, 0.00032981517)
float physics:mass = 0.56340605
quatf physics:principalAxes = (-0.45993194, 0.45994022, 0.53709006, 0.5370771)
over "R_ELBOW_R_S" (
prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"]
)
{
point3f physics:centerOfMass = (-0.033562426, -0.060319997, -2.9773634e-7)
float3 physics:diagonalInertia = (0.00013903381, 0.00018104233, 0.00018907762)
float physics:mass = 0.3935719
quatf physics:principalAxes = (-0.62656015, 0.626766, 0.32768953, 0.32742363)
over "R_WRIST_P_S" (
prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"]
)
{
point3f physics:centerOfMass = (-1.3965658e-10, -0.06759726, 0.019200552)
float3 physics:diagonalInertia = (0.00009728105, 0.00047675407, 0.00048914185)
float physics:mass = 0.44233248
quatf physics:principalAxes = (-0.044508155, 0.7057046, 0.7057046, -0.044508155)
over "R_WRIST_Y_S" (
prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"]
)
{
point3f physics:centerOfMass = (-0.0046413587, -5.0642646e-10, -0.03412538)
float3 physics:diagonalInertia = (0.000045789966, 0.00005849702, 0.0000600636)
float physics:mass = 0.23573847
quatf physics:principalAxes = (-0.6641875, 0.6641875, 0.24260041, -0.24260041)
over "R_WRIST_R_S" (
prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"]
)
{
point3f physics:centerOfMass = (-0.020164223, -0.110749684, -0.0059895534)
float3 physics:diagonalInertia = (0.00013062927, 0.00018608647, 0.00027189028)
float physics:mass = 0.50436604
quatf physics:principalAxes = (0.00645075, 0.6693525, 0.7427797, -0.014283874)
over "R_FINGER_TIP" (
prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"]
)
{
point3f physics:centerOfMass = (0, 0, 0)
float3 physics:diagonalInertia = (0.000001, 0.000001, 0.000001)
float physics:mass = 0
quatf physics:principalAxes = (1, 0, 0, 0)
over "sphere_1" (
prepend apiSchemas = ["NewtonCollisionAPI"]
)
{
}
}
over "R_CAM" (
prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"]
)
{
point3f physics:centerOfMass = (0, 0, 0)
float3 physics:diagonalInertia = (0.000001, 0.000001, 0.000001)
float physics:mass = 0
quatf physics:principalAxes = (1, 0, 0, 0)
over "sphere_1" (
prepend apiSchemas = ["NewtonCollisionAPI"]
)
{
}
}
}
}
}
}
}
}
}
}
}
over "Physics"
{
def PhysicsRevoluteJoint "L_SHOULDER_P" (
prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
)
{
float drive:angular:physics:maxForce = 120
uniform token physics:axis = "Y"
custom rel physics:body0
prepend rel physics:body0 = </dual_arm/Geometry/PELVIS_S>
custom rel physics:body1
prepend rel physics:body1 = </dual_arm/Geometry/PELVIS_S/L_SHOULDER_P_S>
point3f physics:localPos0 = (0, 0.0945, 0.042)
point3f physics:localPos1 = (0, 0, 0)
quatf physics:localRot0 = (1, 0, 0, 0)
quatf physics:localRot1 = (1, 0, 0, 0)
float physics:lowerLimit = -89.95438
float physics:upperLimit = 89.95438
custom float urdf:limit:effort = 120
custom float urdf:limit:velocity = 3.351
}
def PhysicsRevoluteJoint "L_SHOULDER_R" (
prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
)
{
float drive:angular:physics:maxForce = 120
uniform token physics:axis = "X"
custom rel physics:body0
prepend rel physics:body0 = </dual_arm/Geometry/PELVIS_S/L_SHOULDER_P_S>
custom rel physics:body1
prepend rel physics:body1 = </dual_arm/Geometry/PELVIS_S/L_SHOULDER_P_S/L_SHOULDER_R_S>
point3f physics:localPos0 = (0.035, 0.0765, 0)
point3f physics:localPos1 = (0, 0, 0)
quatf physics:localRot0 = (1, 0, 0, 0)
quatf physics:localRot1 = (1, 0, 0, 0)
float physics:lowerLimit = -114.59156
float physics:upperLimit = 114.59156
custom float urdf:limit:effort = 120
custom float urdf:limit:velocity = 3.351
}
def PhysicsRevoluteJoint "L_SHOULDER_Y" (
prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
)
{
float drive:angular:physics:maxForce = 80
uniform token physics:axis = "Y"
custom rel physics:body0
prepend rel physics:body0 = </dual_arm/Geometry/PELVIS_S/L_SHOULDER_P_S/L_SHOULDER_R_S>
custom rel physics:body1
prepend rel physics:body1 = </dual_arm/Geometry/PELVIS_S/L_SHOULDER_P_S/L_SHOULDER_R_S/L_SHOULDER_Y_S>
point3f physics:localPos0 = (-0.035, 0.1475, 0)
point3f physics:localPos1 = (0, 0, 0)
quatf physics:localRot0 = (1, 0, 0, 0)
quatf physics:localRot1 = (1, 0, 0, 0)
float physics:lowerLimit = -124.9048
float physics:upperLimit = 0
custom float urdf:limit:effort = 80
custom float urdf:limit:velocity = 3.8758
}
def PhysicsRevoluteJoint "L_ELBOW_R" (
prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
)
{
float drive:angular:physics:maxForce = 50
uniform token physics:axis = "X"
custom rel physics:body0
prepend rel physics:body0 = </dual_arm/Geometry/PELVIS_S/L_SHOULDER_P_S/L_SHOULDER_R_S/L_SHOULDER_Y_S>
custom rel physics:body1
prepend rel physics:body1 = </dual_arm/Geometry/PELVIS_S/L_SHOULDER_P_S/L_SHOULDER_R_S/L_SHOULDER_Y_S/L_ELBOW_R_S>
point3f physics:localPos0 = (0.034, 0.1025, 0)
point3f physics:localPos1 = (0, 0, 0)
quatf physics:localRot0 = (1, 0, 0, 0)
quatf physics:localRot1 = (1, 0, 0, 0)
float physics:lowerLimit = -117.456345
float physics:upperLimit = 0
custom float urdf:limit:effort = 50
custom float urdf:limit:velocity = 4.71
}
def PhysicsRevoluteJoint "L_WRIST_P" (
prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
)
{
float drive:angular:physics:maxForce = 50
uniform token physics:axis = "Y"
custom rel physics:body0
prepend rel physics:body0 = </dual_arm/Geometry/PELVIS_S/L_SHOULDER_P_S/L_SHOULDER_R_S/L_SHOULDER_Y_S/L_ELBOW_R_S>
custom rel physics:body1
prepend rel physics:body1 = </dual_arm/Geometry/PELVIS_S/L_SHOULDER_P_S/L_SHOULDER_R_S/L_SHOULDER_Y_S/L_ELBOW_R_S/L_WRIST_P_S>
point3f physics:localPos0 = (-0.034, 0.0965, 0)
point3f physics:localPos1 = (0, 0, 0)
quatf physics:localRot0 = (1, 0, 0, 0)
quatf physics:localRot1 = (1, 0, 0, 0)
float physics:lowerLimit = 0
float physics:upperLimit = 179.90875
custom float urdf:limit:effort = 50
custom float urdf:limit:velocity = 4.71
}
def PhysicsRevoluteJoint "L_WRIST_Y" (
prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
)
{
float drive:angular:physics:maxForce = 50
uniform token physics:axis = "Z"
custom rel physics:body0
prepend rel physics:body0 = </dual_arm/Geometry/PELVIS_S/L_SHOULDER_P_S/L_SHOULDER_R_S/L_SHOULDER_Y_S/L_ELBOW_R_S/L_WRIST_P_S>
custom rel physics:body1
prepend rel physics:body1 = </dual_arm/Geometry/PELVIS_S/L_SHOULDER_P_S/L_SHOULDER_R_S/L_SHOULDER_Y_S/L_ELBOW_R_S/L_WRIST_P_S/L_WRIST_Y_S>
point3f physics:localPos0 = (0, 0.1525, 0.039)
point3f physics:localPos1 = (0, 0, 0)
quatf physics:localRot0 = (1, 0, 0, 0)
quatf physics:localRot1 = (1, 0, 0, 0)
float physics:lowerLimit = -44.69071
float physics:upperLimit = 44.69071
custom float urdf:limit:effort = 50
custom float urdf:limit:velocity = 0.79
}
def PhysicsRevoluteJoint "L_WRIST_R" (
prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
)
{
float drive:angular:physics:maxForce = 50
uniform token physics:axis = "X"
custom rel physics:body0
prepend rel physics:body0 = </dual_arm/Geometry/PELVIS_S/L_SHOULDER_P_S/L_SHOULDER_R_S/L_SHOULDER_Y_S/L_ELBOW_R_S/L_WRIST_P_S/L_WRIST_Y_S>
custom rel physics:body1
prepend rel physics:body1 = </dual_arm/Geometry/PELVIS_S/L_SHOULDER_P_S/L_SHOULDER_R_S/L_SHOULDER_Y_S/L_ELBOW_R_S/L_WRIST_P_S/L_WRIST_Y_S/L_WRIST_R_S>
point3f physics:localPos0 = (0.0258, 0, -0.039)
point3f physics:localPos1 = (0, 0, 0)
quatf physics:localRot0 = (1, 0, 0, 0)
quatf physics:localRot1 = (1, 0, 0, 0)
float physics:lowerLimit = -89.95438
float physics:upperLimit = 14.896903
custom float urdf:limit:effort = 50
custom float urdf:limit:velocity = 4.71
}
def PhysicsRevoluteJoint "R_SHOULDER_P" (
prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
)
{
float drive:angular:physics:maxForce = 120
uniform token physics:axis = "Y"
custom rel physics:body0
prepend rel physics:body0 = </dual_arm/Geometry/PELVIS_S>
custom rel physics:body1
prepend rel physics:body1 = </dual_arm/Geometry/PELVIS_S/R_SHOULDER_P_S>
point3f physics:localPos0 = (0, -0.0945, 0.042)
point3f physics:localPos1 = (0, 0, 0)
quatf physics:localRot0 = (0, -1, 0, 0)
quatf physics:localRot1 = (0, -1, 0, 0)
float physics:lowerLimit = -179.90875
float physics:upperLimit = 179.90875
custom float urdf:limit:effort = 120
custom float urdf:limit:velocity = 3.351
}
def PhysicsRevoluteJoint "R_SHOULDER_R" (
prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
)
{
float drive:angular:physics:maxForce = 120
uniform token physics:axis = "X"
custom rel physics:body0
prepend rel physics:body0 = </dual_arm/Geometry/PELVIS_S/R_SHOULDER_P_S>
custom rel physics:body1
prepend rel physics:body1 = </dual_arm/Geometry/PELVIS_S/R_SHOULDER_P_S/R_SHOULDER_R_S>
point3f physics:localPos0 = (0.035, -0.0765, 0)
point3f physics:localPos1 = (0, 0, 0)
quatf physics:localRot0 = (1, 0, 0, 0)
quatf physics:localRot1 = (1, 0, 0, 0)
float physics:lowerLimit = -44.69071
float physics:upperLimit = 89.95438
custom float urdf:limit:effort = 120
custom float urdf:limit:velocity = 3.351
}
def PhysicsRevoluteJoint "R_SHOULDER_Y" (
prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
)
{
float drive:angular:physics:maxForce = 80
uniform token physics:axis = "Y"
custom rel physics:body0
prepend rel physics:body0 = </dual_arm/Geometry/PELVIS_S/R_SHOULDER_P_S/R_SHOULDER_R_S>
custom rel physics:body1
prepend rel physics:body1 = </dual_arm/Geometry/PELVIS_S/R_SHOULDER_P_S/R_SHOULDER_R_S/R_SHOULDER_Y_S>
point3f physics:localPos0 = (-0.035, -0.1475, 0)
point3f physics:localPos1 = (0, 0, 0)
quatf physics:localRot0 = (0, -1, 0, 0)
quatf physics:localRot1 = (0, -1, 0, 0)
float physics:lowerLimit = -179.90875
float physics:upperLimit = 179.90875
custom float urdf:limit:effort = 80
custom float urdf:limit:velocity = 3.8758
}
def PhysicsRevoluteJoint "R_ELBOW_R" (
prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
)
{
float drive:angular:physics:maxForce = 80
uniform token physics:axis = "X"
custom rel physics:body0
prepend rel physics:body0 = </dual_arm/Geometry/PELVIS_S/R_SHOULDER_P_S/R_SHOULDER_R_S/R_SHOULDER_Y_S>
custom rel physics:body1
prepend rel physics:body1 = </dual_arm/Geometry/PELVIS_S/R_SHOULDER_P_S/R_SHOULDER_R_S/R_SHOULDER_Y_S/R_ELBOW_R_S>
point3f physics:localPos0 = (0.034, -0.1025, 0)
point3f physics:localPos1 = (0, 0, 0)
quatf physics:localRot0 = (1, 0, 0, 0)
quatf physics:localRot1 = (1, 0, 0, 0)
float physics:lowerLimit = 0
float physics:upperLimit = 117.456345
custom float urdf:limit:effort = 80
custom float urdf:limit:velocity = 3.8758
}
def PhysicsRevoluteJoint "R_WRIST_P" (
prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
)
{
float drive:angular:physics:maxForce = 50
uniform token physics:axis = "Y"
custom rel physics:body0
prepend rel physics:body0 = </dual_arm/Geometry/PELVIS_S/R_SHOULDER_P_S/R_SHOULDER_R_S/R_SHOULDER_Y_S/R_ELBOW_R_S>
custom rel physics:body1
prepend rel physics:body1 = </dual_arm/Geometry/PELVIS_S/R_SHOULDER_P_S/R_SHOULDER_R_S/R_SHOULDER_Y_S/R_ELBOW_R_S/R_WRIST_P_S>
point3f physics:localPos0 = (-0.034, -0.0965, 0)
point3f physics:localPos1 = (0, 0, 0)
quatf physics:localRot0 = (0, -1, 0, 0)
quatf physics:localRot1 = (0, -1, 0, 0)
float physics:lowerLimit = -179.90875
float physics:upperLimit = 179.90875
custom float urdf:limit:effort = 50
custom float urdf:limit:velocity = 4.71
}
def PhysicsRevoluteJoint "R_WRIST_Y" (
prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
)
{
float drive:angular:physics:maxForce = 50
uniform token physics:axis = "Z"
custom rel physics:body0
prepend rel physics:body0 = </dual_arm/Geometry/PELVIS_S/R_SHOULDER_P_S/R_SHOULDER_R_S/R_SHOULDER_Y_S/R_ELBOW_R_S/R_WRIST_P_S>
custom rel physics:body1
prepend rel physics:body1 = </dual_arm/Geometry/PELVIS_S/R_SHOULDER_P_S/R_SHOULDER_R_S/R_SHOULDER_Y_S/R_ELBOW_R_S/R_WRIST_P_S/R_WRIST_Y_S>
point3f physics:localPos0 = (0, -0.1525, 0.039)
point3f physics:localPos1 = (0, 0, 0)
quatf physics:localRot0 = (1, 0, 0, 0)
quatf physics:localRot1 = (1, 0, 0, 0)
float physics:lowerLimit = -44.69071
float physics:upperLimit = 44.69071
custom float urdf:limit:effort = 50
custom float urdf:limit:velocity = 0.79
}
def PhysicsRevoluteJoint "R_WRIST_R" (
prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
)
{
float drive:angular:physics:maxForce = 50
uniform token physics:axis = "X"
custom rel physics:body0
prepend rel physics:body0 = </dual_arm/Geometry/PELVIS_S/R_SHOULDER_P_S/R_SHOULDER_R_S/R_SHOULDER_Y_S/R_ELBOW_R_S/R_WRIST_P_S/R_WRIST_Y_S>
custom rel physics:body1
prepend rel physics:body1 = </dual_arm/Geometry/PELVIS_S/R_SHOULDER_P_S/R_SHOULDER_R_S/R_SHOULDER_Y_S/R_ELBOW_R_S/R_WRIST_P_S/R_WRIST_Y_S/R_WRIST_R_S>
point3f physics:localPos0 = (0.03, 0, -0.039)
point3f physics:localPos1 = (0, 0, 0)
quatf physics:localRot0 = (1, 0, 0, 0)
quatf physics:localRot1 = (1, 0, 0, 0)
float physics:lowerLimit = -32.658596
float physics:upperLimit = 89.95438
custom float urdf:limit:effort = 50
custom float urdf:limit:velocity = 4.71
}
def PhysicsFixedJoint "root_joint"
{
custom rel physics:body0
prepend rel physics:body0 = </dual_arm>
custom rel physics:body1
prepend rel physics:body1 = </dual_arm/Geometry/PELVIS_S>
point3f physics:localPos0 = (0, 0, 0)
point3f physics:localPos1 = (0, 0, 0)
quatf physics:localRot0 = (1, 0, 0, 0)
quatf physics:localRot1 = (1, 0, 0, 0)
}
def PhysicsFixedJoint "R_FINGER_TIP_FIXED"
{
custom rel physics:body0
prepend rel physics:body0 = </dual_arm/Geometry/PELVIS_S/R_SHOULDER_P_S/R_SHOULDER_R_S/R_SHOULDER_Y_S/R_ELBOW_R_S/R_WRIST_P_S/R_WRIST_Y_S/R_WRIST_R_S>
custom rel physics:body1
prepend rel physics:body1 = </dual_arm/Geometry/PELVIS_S/R_SHOULDER_P_S/R_SHOULDER_R_S/R_SHOULDER_Y_S/R_ELBOW_R_S/R_WRIST_P_S/R_WRIST_Y_S/R_WRIST_R_S/R_FINGER_TIP>
point3f physics:localPos0 = (0.00684256, -0.284077, 0.00801525)
point3f physics:localPos1 = (0, 0, 0)
quatf physics:localRot0 = (1, 0, 0, 0)
quatf physics:localRot1 = (1, 0, 0, 0)
}
def PhysicsFixedJoint "R_CAM_FIXED"
{
custom rel physics:body0
prepend rel physics:body0 = </dual_arm/Geometry/PELVIS_S/R_SHOULDER_P_S/R_SHOULDER_R_S/R_SHOULDER_Y_S/R_ELBOW_R_S/R_WRIST_P_S/R_WRIST_Y_S/R_WRIST_R_S>
custom rel physics:body1
prepend rel physics:body1 = </dual_arm/Geometry/PELVIS_S/R_SHOULDER_P_S/R_SHOULDER_R_S/R_SHOULDER_Y_S/R_ELBOW_R_S/R_WRIST_P_S/R_WRIST_Y_S/R_WRIST_R_S/R_CAM>
point3f physics:localPos0 = (-0.01212, -0.17655, 0.07506)
point3f physics:localPos1 = (0, 0, 0)
quatf physics:localRot0 = (-3.1746543e-11, 3.174666e-11, 0.70710677, -0.70710677)
quatf physics:localRot1 = (1, 0, 0, 0)
}
}
}

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model/xiaoyan_description/dual_arm/payloads/Physics/physx.usda Normal file
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#usda 1.0
(
customLayerData = {
string creator = "URDF USD Converter v0.1.3"
}
defaultPrim = "dual_arm"
doc = """Generated from Composed Stage of root layer /tmp/tmpg9rhrzku/dual_arm.usdc
Generated from Composed Stage of root layer /tmp/urdf_import_dual_arm_5_54i39n/usdex_dual_arm/dual_arm.usdc
Generated from Composed Stage of root layer /tmp/urdf_import_dual_arm_5_54i39n/temp_dual_arm/dual_arm.usd
Generated from Composed Stage of root layer /home/lgv/cmvr/0-workspace/cmvr-es/model/xiaoyan_description/dual_arm/payloads/base.usd
"""
kilogramsPerUnit = 1
metersPerUnit = 1
subLayers = [
@./physics.usda@
]
upAxis = "Z"
)
over "dual_arm"
{
over "Physics"
{
over "L_SHOULDER_P" (
prepend apiSchemas = ["PhysxJointAPI"]
)
{
float physxJoint:maxJointVelocity = 191.99817
}
over "L_SHOULDER_R" (
prepend apiSchemas = ["PhysxJointAPI"]
)
{
float physxJoint:maxJointVelocity = 191.99817
}
over "L_SHOULDER_Y" (
prepend apiSchemas = ["PhysxJointAPI"]
)
{
float physxJoint:maxJointVelocity = 222.06699
}
over "L_ELBOW_R" (
prepend apiSchemas = ["PhysxJointAPI"]
)
{
float physxJoint:maxJointVelocity = 269.86313
}
over "L_WRIST_P" (
prepend apiSchemas = ["PhysxJointAPI"]
)
{
float physxJoint:maxJointVelocity = 269.86313
}
over "L_WRIST_Y" (
prepend apiSchemas = ["PhysxJointAPI"]
)
{
float physxJoint:maxJointVelocity = 45.263668
}
over "L_WRIST_R" (
prepend apiSchemas = ["PhysxJointAPI"]
)
{
float physxJoint:maxJointVelocity = 269.86313
}
over "R_SHOULDER_P" (
prepend apiSchemas = ["PhysxJointAPI"]
)
{
float physxJoint:maxJointVelocity = 191.99817
}
over "R_SHOULDER_R" (
prepend apiSchemas = ["PhysxJointAPI"]
)
{
float physxJoint:maxJointVelocity = 191.99817
}
over "R_SHOULDER_Y" (
prepend apiSchemas = ["PhysxJointAPI"]
)
{
float physxJoint:maxJointVelocity = 222.06699
}
over "R_ELBOW_R" (
prepend apiSchemas = ["PhysxJointAPI"]
)
{
float physxJoint:maxJointVelocity = 222.06699
}
over "R_WRIST_P" (
prepend apiSchemas = ["PhysxJointAPI"]
)
{
float physxJoint:maxJointVelocity = 269.86313
}
over "R_WRIST_Y" (
prepend apiSchemas = ["PhysxJointAPI"]
)
{
float physxJoint:maxJointVelocity = 45.263668
}
over "R_WRIST_R" (
prepend apiSchemas = ["PhysxJointAPI"]
)
{
float physxJoint:maxJointVelocity = 269.86313
}
}
}

594
model/xiaoyan_description/dual_arm/payloads/base.usda Normal file
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@ -0,0 +1,594 @@
#usda 1.0
(
customLayerData = {
string creator = "URDF USD Converter v0.1.3"
}
defaultPrim = "dual_arm"
doc = """Generated from Composed Stage of root layer /tmp/tmpg9rhrzku/dual_arm.usdc
Generated from Composed Stage of root layer /tmp/urdf_import_dual_arm_5_54i39n/usdex_dual_arm/dual_arm.usdc
Generated from Composed Stage of root layer /tmp/urdf_import_dual_arm_5_54i39n/temp_dual_arm/dual_arm.usd
Generated from Composed Stage of root layer /home/lgv/cmvr/0-workspace/cmvr-es/model/xiaoyan_description/dual_arm/payloads/base.usd
"""
kilogramsPerUnit = 1
metersPerUnit = 1
subLayers = [
@./robot.usda@
]
upAxis = "Z"
)
def Xform "dual_arm" (
prepend apiSchemas = ["GeomModelAPI"]
assetInfo = {
string name = "dual_arm"
}
kind = "component"
)
{
float3[] extentsHint = [(-0.043500002, -0.958077, -0.011133737), (0.080300845, 0.9075668, 0.12106), (3.4028235e38, 3.4028235e38, 3.4028235e38), (-3.4028235e38, -3.4028235e38, -3.4028235e38), (3.4028235e38, 3.4028235e38, 3.4028235e38), (-3.4028235e38, -3.4028235e38, -3.4028235e38), (-0.043500002, -0.959077, -0.011133737), (0.080300845, 0.9075668, 0.12206)]
def Scope "Materials"
{
def Material "material_16" (
instanceable = true
prepend references = @./materials.usda@</Materials/material_16>
)
{
}
def Material "material_17" (
instanceable = true
prepend references = @./materials.usda@</Materials/material_17>
)
{
}
}
def Scope "Geometry"
{
def Xform "PELVIS_S"
{
def Xform "PELVIS_S" (
instanceable = true
prepend references = @./instances.usda@</Instances/PELVIS_S>
)
{
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 "L_SHOULDER_P_S"
{
quatf xformOp:orient = (1, 0, 0, 0)
float3 xformOp:scale = (1, 1, 1)
double3 xformOp:translate = (0, 0.0945, 0.042)
uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
def Xform "L_SHOULDER_P_S" (
instanceable = true
prepend references = @./instances.usda@</Instances/L_SHOULDER_P_S>
)
{
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 "L_SHOULDER_R_S"
{
quatf xformOp:orient = (1, 0, 0, 0)
float3 xformOp:scale = (1, 1, 1)
double3 xformOp:translate = (0.035, 0.0765, 0)
uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
def Xform "L_SHOULDER_R_S" (
instanceable = true
prepend references = @./instances.usda@</Instances/L_SHOULDER_R_S>
)
{
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 "L_SHOULDER_Y_S"
{
quatf xformOp:orient = (1, 0, 0, 0)
float3 xformOp:scale = (1, 1, 1)
double3 xformOp:translate = (-0.035, 0.1475, 0)
uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
def Xform "L_SHOULDER_Y_S" (
instanceable = true
prepend references = @./instances.usda@</Instances/L_SHOULDER_Y_S>
)
{
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 "L_ELBOW_R_S"
{
quatf xformOp:orient = (1, 0, 0, 0)
float3 xformOp:scale = (1, 1, 1)
double3 xformOp:translate = (0.034, 0.1025, 0)
uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
def Xform "L_ELBOW_R_S" (
instanceable = true
prepend references = @./instances.usda@</Instances/L_ELBOW_R_S>
)
{
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 "L_WRIST_P_S"
{
quatf xformOp:orient = (1, 0, 0, 0)
float3 xformOp:scale = (1, 1, 1)
double3 xformOp:translate = (-0.034, 0.0965, 0)
uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
def Xform "L_WRIST_P_S" (
instanceable = true
prepend references = @./instances.usda@</Instances/L_WRIST_P_S>
)
{
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 "L_WRIST_Y_S"
{
quatf xformOp:orient = (1, 0, 0, 0)
float3 xformOp:scale = (1, 1, 1)
double3 xformOp:translate = (0, 0.1525, 0.039)
uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
def Xform "L_WRIST_Y_S" (
instanceable = true
prepend references = @./instances.usda@</Instances/L_WRIST_Y_S>
)
{
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 "L_WRIST_R_S"
{
quatf xformOp:orient = (1, 0, 0, 0)
float3 xformOp:scale = (1, 1, 1)
double3 xformOp:translate = (0.0258, 0, -0.039)
uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
def Xform "L_WRIST_R_S" (
instanceable = true
prepend references = @./instances.usda@</Instances/L_WRIST_R_S>
)
{
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 "L_WRIST_R_S_1" (
displayName = "L_WRIST_R_S"
instanceable = true
prepend references = @./instances.usda@</Instances/L_WRIST_R_S_1>
)
{
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 "L_WRIST_Y_S_1" (
displayName = "L_WRIST_Y_S"
instanceable = true
prepend references = @./instances.usda@</Instances/L_WRIST_Y_S_1>
)
{
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 "L_WRIST_P_S_1" (
displayName = "L_WRIST_P_S"
instanceable = true
prepend references = @./instances.usda@</Instances/L_WRIST_P_S_1>
)
{
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 "L_ELBOW_R_S_1" (
displayName = "L_ELBOW_R_S"
instanceable = true
prepend references = @./instances.usda@</Instances/L_ELBOW_R_S_1>
)
{
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 "L_SHOULDER_Y_S_1" (
displayName = "L_SHOULDER_Y_S"
instanceable = true
prepend references = @./instances.usda@</Instances/L_SHOULDER_Y_S_1>
)
{
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 "L_SHOULDER_R_S_1" (
displayName = "L_SHOULDER_R_S"
instanceable = true
prepend references = @./instances.usda@</Instances/L_SHOULDER_R_S_1>
)
{
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 "L_SHOULDER_P_S_1" (
displayName = "L_SHOULDER_P_S"
instanceable = true
prepend references = @./instances.usda@</Instances/L_SHOULDER_P_S_1>
)
{
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 "R_SHOULDER_P_S"
{
quatf xformOp:orient = (1, 0, 0, 0)
float3 xformOp:scale = (1, 1, 1)
double3 xformOp:translate = (0, -0.0945, 0.042)
uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
def Xform "R_SHOULDER_P_S" (
instanceable = true
prepend references = @./instances.usda@</Instances/R_SHOULDER_P_S>
)
{
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 "R_SHOULDER_R_S"
{
quatf xformOp:orient = (1, 0, 0, 0)
float3 xformOp:scale = (1, 1, 1)
double3 xformOp:translate = (0.035, -0.0765, 0)
uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
def Xform "R_SHOULDER_R_S" (
instanceable = true
prepend references = @./instances.usda@</Instances/R_SHOULDER_R_S>
)
{
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 "R_SHOULDER_Y_S"
{
quatf xformOp:orient = (1, 0, 0, 0)
float3 xformOp:scale = (1, 1, 1)
double3 xformOp:translate = (-0.035, -0.1475, 0)
uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
def Xform "R_SHOULDER_Y_S" (
instanceable = true
prepend references = @./instances.usda@</Instances/R_SHOULDER_Y_S>
)
{
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 "R_ELBOW_R_S"
{
quatf xformOp:orient = (1, 0, 0, 0)
float3 xformOp:scale = (1, 1, 1)
double3 xformOp:translate = (0.034, -0.1025, 0)
uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
def Xform "R_ELBOW_R_S" (
instanceable = true
prepend references = @./instances.usda@</Instances/R_ELBOW_R_S>
)
{
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 "R_WRIST_P_S"
{
quatf xformOp:orient = (1, 0, 0, 0)
float3 xformOp:scale = (1, 1, 1)
double3 xformOp:translate = (-0.034, -0.0965, 0)
uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
def Xform "R_WRIST_P_S" (
instanceable = true
prepend references = @./instances.usda@</Instances/R_WRIST_P_S>
)
{
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 "R_WRIST_Y_S"
{
quatf xformOp:orient = (1, 0, 0, 0)
float3 xformOp:scale = (1, 1, 1)
double3 xformOp:translate = (0, -0.1525, 0.039)
uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
def Xform "R_WRIST_Y_S" (
instanceable = true
prepend references = @./instances.usda@</Instances/R_WRIST_Y_S>
)
{
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 "R_WRIST_R_S"
{
quatf xformOp:orient = (1, 0, 0, 0)
float3 xformOp:scale = (1, 1, 1)
double3 xformOp:translate = (0.03, 0, -0.039)
uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
def Xform "R_WRIST_R_S" (
instanceable = true
prepend references = @./instances.usda@</Instances/R_WRIST_R_S>
)
{
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 "R_FINGER_TIP"
{
quatf xformOp:orient = (1, 0, 0, 0)
float3 xformOp:scale = (1, 1, 1)
double3 xformOp:translate = (0.00684256, -0.284077, 0.00801525)
uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
def Sphere "sphere" (
prepend apiSchemas = ["MaterialBindingAPI"]
)
{
float3[] extent = [(-0.004, -0.004, -0.004), (0.004, 0.004, 0.004)]
rel material:binding = </dual_arm/Materials/material_16>
double radius = 0.004
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 Sphere "sphere_1" (
prepend apiSchemas = ["PhysicsCollisionAPI"]
displayName = "sphere"
)
{
float3[] extent = [(-0.005, -0.005, -0.005), (0.005, 0.005, 0.005)]
uniform token purpose = "guide"
double radius = 0.005
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 Xform "R_CAM"
{
quatf xformOp:orient = (-3.1746543e-11, 3.174668e-11, 0.70710677, -0.70710677)
float3 xformOp:scale = (1, 1, 1)
double3 xformOp:translate = (-0.01212, -0.17655, 0.07506)
uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
def Sphere "sphere" (
prepend apiSchemas = ["MaterialBindingAPI"]
)
{
float3[] extent = [(-0.004, -0.004, -0.004), (0.004, 0.004, 0.004)]
rel material:binding = </dual_arm/Materials/material_17>
double radius = 0.004
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 Sphere "sphere_1" (
prepend apiSchemas = ["PhysicsCollisionAPI"]
displayName = "sphere"
)
{
float3[] extent = [(-0.005, -0.005, -0.005), (0.005, 0.005, 0.005)]
uniform token purpose = "guide"
double radius = 0.005
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 Xform "R_WRIST_R_S_1" (
displayName = "R_WRIST_R_S"
instanceable = true
prepend references = @./instances.usda@</Instances/R_WRIST_R_S_1>
)
{
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 "R_WRIST_Y_S_1" (
displayName = "R_WRIST_Y_S"
instanceable = true
prepend references = @./instances.usda@</Instances/R_WRIST_Y_S_1>
)
{
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 "R_WRIST_P_S_1" (
displayName = "R_WRIST_P_S"
instanceable = true
prepend references = @./instances.usda@</Instances/R_WRIST_P_S_1>
)
{
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 "R_ELBOW_R_S_1" (
displayName = "R_ELBOW_R_S"
instanceable = true
prepend references = @./instances.usda@</Instances/R_ELBOW_R_S_1>
)
{
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 "R_SHOULDER_Y_S_1" (
displayName = "R_SHOULDER_Y_S"
instanceable = true
prepend references = @./instances.usda@</Instances/R_SHOULDER_Y_S_1>
)
{
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 "R_SHOULDER_R_S_1" (
displayName = "R_SHOULDER_R_S"
instanceable = true
prepend references = @./instances.usda@</Instances/R_SHOULDER_R_S_1>
)
{
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 "R_SHOULDER_P_S_1" (
displayName = "R_SHOULDER_P_S"
instanceable = true
prepend references = @./instances.usda@</Instances/R_SHOULDER_P_S_1>
)
{
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 "PELVIS_S_1" (
displayName = "PELVIS_S"
instanceable = true
prepend references = @./instances.usda@</Instances/PELVIS_S_1>
)
{
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 Scope "Physics"
{
}
def Scope "VisualMaterials"
{
}
}

BIN
model/xiaoyan_description/dual_arm/payloads/geometries.usd Normal file
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564
model/xiaoyan_description/dual_arm/payloads/instances.usda Normal file
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#usda 1.0
(
customLayerData = {
string creator = "URDF USD Converter v0.1.3"
}
doc = """Generated from Composed Stage of root layer /tmp/tmpg9rhrzku/dual_arm.usdc
Generated from Composed Stage of root layer /tmp/urdf_import_dual_arm_5_54i39n/usdex_dual_arm/dual_arm.usdc
Generated from Composed Stage of root layer /tmp/urdf_import_dual_arm_5_54i39n/temp_dual_arm/dual_arm.usd
Generated from Composed Stage of root layer /home/lgv/cmvr/0-workspace/cmvr-es/model/xiaoyan_description/dual_arm/payloads/base.usd
"""
kilogramsPerUnit = 1
metersPerUnit = 1
upAxis = "Z"
)
def Scope "Instances"
{
def Xform "PELVIS_S" (
prepend references = @./geometries.usd@</Geometries/PELVIS_S>
)
{
over "PELVIS_S" (
apiSchemas = ["MaterialBindingAPI"]
)
{
custom rel material:binding
prepend rel material:binding = </Instances/PELVIS_S/VisualMaterials/material_1>
}
def Scope "VisualMaterials"
{
def Material "material_1" (
instanceable = true
prepend references = @./materials.usda@</Materials/material_1>
)
{
}
}
}
def Xform "PELVIS_S_1" (
prepend references = @./geometries.usd@</Geometries/PELVIS_S>
)
{
over "PELVIS_S" (
apiSchemas = ["PhysicsCollisionAPI", "NewtonCollisionAPI", "PhysicsMeshCollisionAPI", "NewtonMeshCollisionAPI"]
)
{
token physics:approximation = "convexHull"
token purpose = "guide"
}
}
def Xform "L_SHOULDER_P_S" (
prepend references = @./geometries.usd@</Geometries/L_SHOULDER_P_S>
)
{
over "L_SHOULDER_P_S" (
apiSchemas = ["MaterialBindingAPI"]
)
{
custom rel material:binding
prepend rel material:binding = </Instances/L_SHOULDER_P_S/VisualMaterials/material_2>
}
def Scope "VisualMaterials"
{
def Material "material_2" (
instanceable = true
prepend references = @./materials.usda@</Materials/material_2>
)
{
}
}
}
def Xform "L_SHOULDER_P_S_1" (
prepend references = @./geometries.usd@</Geometries/L_SHOULDER_P_S>
)
{
over "L_SHOULDER_P_S" (
apiSchemas = ["PhysicsCollisionAPI", "NewtonCollisionAPI", "PhysicsMeshCollisionAPI", "NewtonMeshCollisionAPI"]
)
{
token physics:approximation = "convexHull"
token purpose = "guide"
}
}
def Xform "L_SHOULDER_R_S" (
prepend references = @./geometries.usd@</Geometries/L_SHOULDER_R_S>
)
{
over "L_SHOULDER_R_S" (
apiSchemas = ["MaterialBindingAPI"]
)
{
custom rel material:binding
prepend rel material:binding = </Instances/L_SHOULDER_R_S/VisualMaterials/material_3>
}
def Scope "VisualMaterials"
{
def Material "material_3" (
instanceable = true
prepend references = @./materials.usda@</Materials/material_3>
)
{
}
}
}
def Xform "L_SHOULDER_R_S_1" (
prepend references = @./geometries.usd@</Geometries/L_SHOULDER_R_S>
)
{
over "L_SHOULDER_R_S" (
apiSchemas = ["PhysicsCollisionAPI", "NewtonCollisionAPI", "PhysicsMeshCollisionAPI", "NewtonMeshCollisionAPI"]
)
{
token physics:approximation = "convexHull"
token purpose = "guide"
}
}
def Xform "L_SHOULDER_Y_S" (
prepend references = @./geometries.usd@</Geometries/L_SHOULDER_Y_S>
)
{
over "L_SHOULDER_Y_S" (
apiSchemas = ["MaterialBindingAPI"]
)
{
custom rel material:binding
prepend rel material:binding = </Instances/L_SHOULDER_Y_S/VisualMaterials/material_4>
}
def Scope "VisualMaterials"
{
def Material "material_4" (
instanceable = true
prepend references = @./materials.usda@</Materials/material_3>
)
{
}
}
}
def Xform "L_SHOULDER_Y_S_1" (
prepend references = @./geometries.usd@</Geometries/L_SHOULDER_Y_S>
)
{
over "L_SHOULDER_Y_S" (
apiSchemas = ["PhysicsCollisionAPI", "NewtonCollisionAPI", "PhysicsMeshCollisionAPI", "NewtonMeshCollisionAPI"]
)
{
token physics:approximation = "convexHull"
token purpose = "guide"
}
}
def Xform "L_ELBOW_R_S" (
prepend references = @./geometries.usd@</Geometries/L_ELBOW_R_S>
)
{
over "L_ELBOW_R_S" (
apiSchemas = ["MaterialBindingAPI"]
)
{
custom rel material:binding
prepend rel material:binding = </Instances/L_ELBOW_R_S/VisualMaterials/material_5>
}
def Scope "VisualMaterials"
{
def Material "material_5" (
instanceable = true
prepend references = @./materials.usda@</Materials/material_3>
)
{
}
}
}
def Xform "L_ELBOW_R_S_1" (
prepend references = @./geometries.usd@</Geometries/L_ELBOW_R_S>
)
{
over "L_ELBOW_R_S" (
apiSchemas = ["PhysicsCollisionAPI", "NewtonCollisionAPI", "PhysicsMeshCollisionAPI", "NewtonMeshCollisionAPI"]
)
{
token physics:approximation = "convexHull"
token purpose = "guide"
}
}
def Xform "L_WRIST_P_S" (
prepend references = @./geometries.usd@</Geometries/L_WRIST_P_S>
)
{
over "L_WRIST_P_S" (
apiSchemas = ["MaterialBindingAPI"]
)
{
custom rel material:binding
prepend rel material:binding = </Instances/L_WRIST_P_S/VisualMaterials/material_6>
}
def Scope "VisualMaterials"
{
def Material "material_6" (
instanceable = true
prepend references = @./materials.usda@</Materials/material_1>
)
{
}
}
}
def Xform "L_WRIST_P_S_1" (
prepend references = @./geometries.usd@</Geometries/L_WRIST_P_S>
)
{
over "L_WRIST_P_S" (
apiSchemas = ["PhysicsCollisionAPI", "NewtonCollisionAPI", "PhysicsMeshCollisionAPI", "NewtonMeshCollisionAPI"]
)
{
token physics:approximation = "convexHull"
token purpose = "guide"
}
}
def Xform "L_WRIST_Y_S" (
prepend references = @./geometries.usd@</Geometries/L_WRIST_Y_S>
)
{
over "L_WRIST_Y_S" (
apiSchemas = ["MaterialBindingAPI"]
)
{
custom rel material:binding
prepend rel material:binding = </Instances/L_WRIST_Y_S/VisualMaterials/material_7>
}
def Scope "VisualMaterials"
{
def Material "material_7" (
instanceable = true
prepend references = @./materials.usda@</Materials/material_7>
)
{
}
}
}
def Xform "L_WRIST_Y_S_1" (
prepend references = @./geometries.usd@</Geometries/L_WRIST_Y_S>
)
{
over "L_WRIST_Y_S" (
apiSchemas = ["PhysicsCollisionAPI", "NewtonCollisionAPI", "PhysicsMeshCollisionAPI", "NewtonMeshCollisionAPI"]
)
{
token physics:approximation = "convexHull"
token purpose = "guide"
}
}
def Xform "L_WRIST_R_S" (
prepend references = @./geometries.usd@</Geometries/L_WRIST_R_S>
)
{
over "L_WRIST_R_S" (
apiSchemas = ["MaterialBindingAPI"]
)
{
custom rel material:binding
prepend rel material:binding = </Instances/L_WRIST_R_S/VisualMaterials/material_8>
}
def Scope "VisualMaterials"
{
def Material "material_8" (
instanceable = true
prepend references = @./materials.usda@</Materials/material_3>
)
{
}
}
}
def Xform "L_WRIST_R_S_1" (
prepend references = @./geometries.usd@</Geometries/L_WRIST_R_S>
)
{
over "L_WRIST_R_S" (
apiSchemas = ["PhysicsCollisionAPI", "NewtonCollisionAPI", "PhysicsMeshCollisionAPI", "NewtonMeshCollisionAPI"]
)
{
token physics:approximation = "convexHull"
token purpose = "guide"
}
}
def Xform "R_SHOULDER_P_S" (
prepend references = @./geometries.usd@</Geometries/R_SHOULDER_P_S>
)
{
over "R_SHOULDER_P_S" (
apiSchemas = ["MaterialBindingAPI"]
)
{
custom rel material:binding
prepend rel material:binding = </Instances/R_SHOULDER_P_S/VisualMaterials/material_9>
}
def Scope "VisualMaterials"
{
def Material "material_9" (
instanceable = true
prepend references = @./materials.usda@</Materials/material_3>
)
{
}
}
}
def Xform "R_SHOULDER_P_S_1" (
prepend references = @./geometries.usd@</Geometries/R_SHOULDER_P_S>
)
{
over "R_SHOULDER_P_S" (
apiSchemas = ["PhysicsCollisionAPI", "NewtonCollisionAPI", "PhysicsMeshCollisionAPI", "NewtonMeshCollisionAPI"]
)
{
token physics:approximation = "convexHull"
token purpose = "guide"
}
}
def Xform "R_SHOULDER_R_S" (
prepend references = @./geometries.usd@</Geometries/R_SHOULDER_R_S>
)
{
over "R_SHOULDER_R_S" (
apiSchemas = ["MaterialBindingAPI"]
)
{
custom rel material:binding
prepend rel material:binding = </Instances/R_SHOULDER_R_S/VisualMaterials/material_10>
}
def Scope "VisualMaterials"
{
def Material "material_10" (
instanceable = true
prepend references = @./materials.usda@</Materials/material_3>
)
{
}
}
}
def Xform "R_SHOULDER_R_S_1" (
prepend references = @./geometries.usd@</Geometries/R_SHOULDER_R_S>
)
{
over "R_SHOULDER_R_S" (
apiSchemas = ["PhysicsCollisionAPI", "NewtonCollisionAPI", "PhysicsMeshCollisionAPI", "NewtonMeshCollisionAPI"]
)
{
token physics:approximation = "convexHull"
token purpose = "guide"
}
}
def Xform "R_SHOULDER_Y_S" (
prepend references = @./geometries.usd@</Geometries/R_SHOULDER_Y_S>
)
{
over "R_SHOULDER_Y_S" (
apiSchemas = ["MaterialBindingAPI"]
)
{
custom rel material:binding
prepend rel material:binding = </Instances/R_SHOULDER_Y_S/VisualMaterials/material_11>
}
def Scope "VisualMaterials"
{
def Material "material_11" (
instanceable = true
prepend references = @./materials.usda@</Materials/material_3>
)
{
}
}
}
def Xform "R_SHOULDER_Y_S_1" (
prepend references = @./geometries.usd@</Geometries/R_SHOULDER_Y_S>
)
{
over "R_SHOULDER_Y_S" (
apiSchemas = ["PhysicsCollisionAPI", "NewtonCollisionAPI", "PhysicsMeshCollisionAPI", "NewtonMeshCollisionAPI"]
)
{
token physics:approximation = "convexHull"
token purpose = "guide"
}
}
def Xform "R_ELBOW_R_S" (
prepend references = @./geometries.usd@</Geometries/R_ELBOW_R_S>
)
{
over "R_ELBOW_R_S" (
apiSchemas = ["MaterialBindingAPI"]
)
{
custom rel material:binding
prepend rel material:binding = </Instances/R_ELBOW_R_S/VisualMaterials/material_12>
}
def Scope "VisualMaterials"
{
def Material "material_12" (
instanceable = true
prepend references = @./materials.usda@</Materials/material_3>
)
{
}
}
}
def Xform "R_ELBOW_R_S_1" (
prepend references = @./geometries.usd@</Geometries/R_ELBOW_R_S>
)
{
over "R_ELBOW_R_S" (
apiSchemas = ["PhysicsCollisionAPI", "NewtonCollisionAPI", "PhysicsMeshCollisionAPI", "NewtonMeshCollisionAPI"]
)
{
token physics:approximation = "convexHull"
token purpose = "guide"
}
}
def Xform "R_WRIST_P_S" (
prepend references = @./geometries.usd@</Geometries/R_WRIST_P_S>
)
{
over "R_WRIST_P_S" (
apiSchemas = ["MaterialBindingAPI"]
)
{
custom rel material:binding
prepend rel material:binding = </Instances/R_WRIST_P_S/VisualMaterials/material_13>
}
def Scope "VisualMaterials"
{
def Material "material_13" (
instanceable = true
prepend references = @./materials.usda@</Materials/material_7>
)
{
}
}
}
def Xform "R_WRIST_P_S_1" (
prepend references = @./geometries.usd@</Geometries/R_WRIST_P_S>
)
{
over "R_WRIST_P_S" (
apiSchemas = ["PhysicsCollisionAPI", "NewtonCollisionAPI", "PhysicsMeshCollisionAPI", "NewtonMeshCollisionAPI"]
)
{
token physics:approximation = "convexHull"
token purpose = "guide"
}
}
def Xform "R_WRIST_Y_S" (
prepend references = @./geometries.usd@</Geometries/R_WRIST_Y_S>
)
{
over "R_WRIST_Y_S" (
apiSchemas = ["MaterialBindingAPI"]
)
{
custom rel material:binding
prepend rel material:binding = </Instances/R_WRIST_Y_S/VisualMaterials/material_14>
}
def Scope "VisualMaterials"
{
def Material "material_14" (
instanceable = true
prepend references = @./materials.usda@</Materials/material_7>
)
{
}
}
}
def Xform "R_WRIST_Y_S_1" (
prepend references = @./geometries.usd@</Geometries/R_WRIST_Y_S>
)
{
over "R_WRIST_Y_S" (
apiSchemas = ["PhysicsCollisionAPI", "NewtonCollisionAPI", "PhysicsMeshCollisionAPI", "NewtonMeshCollisionAPI"]
)
{
token physics:approximation = "convexHull"
token purpose = "guide"
}
}
def Xform "R_WRIST_R_S" (
prepend references = @./geometries.usd@</Geometries/R_WRIST_R_S>
)
{
over "R_WRIST_R_S" (
apiSchemas = ["MaterialBindingAPI"]
)
{
custom rel material:binding
prepend rel material:binding = </Instances/R_WRIST_R_S/VisualMaterials/material_15>
}
def Scope "VisualMaterials"
{
def Material "material_15" (
instanceable = true
prepend references = @./materials.usda@</Materials/material_3>
)
{
}
}
}
def Xform "R_WRIST_R_S_1" (
prepend references = @./geometries.usd@</Geometries/R_WRIST_R_S>
)
{
over "R_WRIST_R_S" (
apiSchemas = ["PhysicsCollisionAPI", "NewtonCollisionAPI", "PhysicsMeshCollisionAPI", "NewtonMeshCollisionAPI"]
)
{
token physics:approximation = "convexHull"
token purpose = "guide"
}
}
}

222
model/xiaoyan_description/dual_arm/payloads/materials.usda Normal file
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@ -0,0 +1,222 @@
#usda 1.0
(
customLayerData = {
string creator = "URDF USD Converter v0.1.3"
}
doc = """Generated from Composed Stage of root layer /tmp/tmpg9rhrzku/dual_arm.usdc
Generated from Composed Stage of root layer /tmp/urdf_import_dual_arm_5_54i39n/usdex_dual_arm/dual_arm.usdc
Generated from Composed Stage of root layer /tmp/urdf_import_dual_arm_5_54i39n/temp_dual_arm/dual_arm.usd
Generated from Composed Stage of root layer /home/lgv/cmvr/0-workspace/cmvr-es/model/xiaoyan_description/dual_arm/payloads/base.usd
"""
kilogramsPerUnit = 1
metersPerUnit = 1
upAxis = "Z"
)
def Scope "Materials"
{
def Material "material_16"
{
color3f inputs:diffuseColor = (0, 1, 1)
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/material_16/PreviewSurface.outputs:displacement>
token outputs:surface (
displayGroup = "Outputs"
)
prepend token outputs:surface.connect = </Materials/material_16/PreviewSurface.outputs:surface>
token outputs:volume (
displayGroup = "Outputs"
)
def Shader "PreviewSurface" (
apiSchemas = ["NodeDefAPI"]
)
{
token info:id = "UsdPreviewSurface"
prepend color3f inputs:diffuseColor.connect = </Materials/material_16.inputs:diffuseColor>
prepend float inputs:metallic.connect = </Materials/material_16.inputs:metallic>
prepend float inputs:opacity.connect = </Materials/material_16.inputs:opacity>
prepend float inputs:roughness.connect = </Materials/material_16.inputs:roughness>
token outputs:displacement
token outputs:surface
}
}
def Material "material_17"
{
color3f inputs:diffuseColor = (0, 1, 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/material_17/PreviewSurface.outputs:displacement>
token outputs:surface (
displayGroup = "Outputs"
)
prepend token outputs:surface.connect = </Materials/material_17/PreviewSurface.outputs:surface>
token outputs:volume (
displayGroup = "Outputs"
)
def Shader "PreviewSurface" (
apiSchemas = ["NodeDefAPI"]
)
{
token info:id = "UsdPreviewSurface"
prepend color3f inputs:diffuseColor.connect = </Materials/material_17.inputs:diffuseColor>
prepend float inputs:metallic.connect = </Materials/material_17.inputs:metallic>
prepend float inputs:opacity.connect = </Materials/material_17.inputs:opacity>
prepend float inputs:roughness.connect = </Materials/material_17.inputs:roughness>
token outputs:displacement
token outputs:surface
}
}
def Material "material_1"
{
color3f inputs:diffuseColor = (0.44520125, 0.44520125, 0.44520125)
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/material_1/PreviewSurface.outputs:displacement>
token outputs:surface (
displayGroup = "Outputs"
)
prepend token outputs:surface.connect = </Materials/material_1/PreviewSurface.outputs:surface>
token outputs:volume (
displayGroup = "Outputs"
)
def Shader "PreviewSurface" (
apiSchemas = ["NodeDefAPI"]
)
{
token info:id = "UsdPreviewSurface"
prepend color3f inputs:diffuseColor.connect = </Materials/material_1.inputs:diffuseColor>
prepend float inputs:metallic.connect = </Materials/material_1.inputs:metallic>
prepend float inputs:opacity.connect = </Materials/material_1.inputs:opacity>
prepend float inputs:roughness.connect = </Materials/material_1.inputs:roughness>
token outputs:displacement
token outputs:surface
}
}
def Material "material_2"
{
color3f inputs:diffuseColor = (0.7835379, 0.82278585, 0.8468733)
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/material_2/PreviewSurface.outputs:displacement>
token outputs:surface (
displayGroup = "Outputs"
)
prepend token outputs:surface.connect = </Materials/material_2/PreviewSurface.outputs:surface>
token outputs:volume (
displayGroup = "Outputs"
)
def Shader "PreviewSurface" (
apiSchemas = ["NodeDefAPI"]
)
{
token info:id = "UsdPreviewSurface"
prepend color3f inputs:diffuseColor.connect = </Materials/material_2.inputs:diffuseColor>
prepend float inputs:metallic.connect = </Materials/material_2.inputs:metallic>
prepend float inputs:opacity.connect = </Materials/material_2.inputs:opacity>
prepend float inputs:roughness.connect = </Materials/material_2.inputs:roughness>
token outputs:displacement
token outputs:surface
}
}
def Material "material_3"
{
color3f inputs:diffuseColor = (0.7681513, 0.7681513, 0.8148467)
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/material_3/PreviewSurface.outputs:displacement>
token outputs:surface (
displayGroup = "Outputs"
)
prepend token outputs:surface.connect = </Materials/material_3/PreviewSurface.outputs:surface>
token outputs:volume (
displayGroup = "Outputs"
)
def Shader "PreviewSurface" (
apiSchemas = ["NodeDefAPI"]
)
{
token info:id = "UsdPreviewSurface"
prepend color3f inputs:diffuseColor.connect = </Materials/material_3.inputs:diffuseColor>
prepend float inputs:metallic.connect = </Materials/material_3.inputs:metallic>
prepend float inputs:opacity.connect = </Materials/material_3.inputs:opacity>
prepend float inputs:roughness.connect = </Materials/material_3.inputs:roughness>
token outputs:displacement
token outputs:surface
}
}
def Material "material_7"
{
color3f inputs:diffuseColor = (0.37626222, 0.34191445, 0.30498737)
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/material_7/PreviewSurface.outputs:displacement>
token outputs:surface (
displayGroup = "Outputs"
)
prepend token outputs:surface.connect = </Materials/material_7/PreviewSurface.outputs:surface>
token outputs:volume (
displayGroup = "Outputs"
)
def Shader "PreviewSurface" (
apiSchemas = ["NodeDefAPI"]
)
{
token info:id = "UsdPreviewSurface"
prepend color3f inputs:diffuseColor.connect = </Materials/material_7.inputs:diffuseColor>
prepend float inputs:metallic.connect = </Materials/material_7.inputs:metallic>
prepend float inputs:opacity.connect = </Materials/material_7.inputs:opacity>
prepend float inputs:roughness.connect = </Materials/material_7.inputs:roughness>
token outputs:displacement
token outputs:surface
}
}
}

260
model/xiaoyan_description/dual_arm/payloads/robot.usda Normal file
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@ -0,0 +1,260 @@
#usda 1.0
(
customLayerData = {
string creator = "URDF USD Converter v0.1.3"
}
defaultPrim = "dual_arm"
doc = """Generated from Composed Stage of root layer /tmp/tmpg9rhrzku/dual_arm.usdc
Generated from Composed Stage of root layer /tmp/urdf_import_dual_arm_5_54i39n/usdex_dual_arm/dual_arm.usdc
Generated from Composed Stage of root layer /tmp/urdf_import_dual_arm_5_54i39n/temp_dual_arm/dual_arm.usd
"""
kilogramsPerUnit = 1
metersPerUnit = 1
upAxis = "Z"
)
over "dual_arm" (
prepend apiSchemas = ["IsaacRobotAPI"]
)
{
prepend rel isaac:physics:robotJoints = [
</dual_arm/Physics/root_joint>,
</dual_arm/Physics/L_SHOULDER_P>,
</dual_arm/Physics/R_SHOULDER_P>,
</dual_arm/Physics/L_SHOULDER_R>,
</dual_arm/Physics/L_SHOULDER_Y>,
</dual_arm/Physics/L_ELBOW_R>,
</dual_arm/Physics/L_WRIST_P>,
</dual_arm/Physics/L_WRIST_Y>,
</dual_arm/Physics/L_WRIST_R>,
</dual_arm/Physics/R_SHOULDER_R>,
</dual_arm/Physics/R_SHOULDER_Y>,
</dual_arm/Physics/R_ELBOW_R>,
</dual_arm/Physics/R_WRIST_P>,
</dual_arm/Physics/R_WRIST_Y>,
</dual_arm/Physics/R_WRIST_R>,
</dual_arm/Physics/R_FINGER_TIP_FIXED>,
</dual_arm/Physics/R_CAM_FIXED>,
]
prepend rel isaac:physics:robotLinks = [
</dual_arm/Geometry/PELVIS_S>,
</dual_arm/Geometry/PELVIS_S/L_SHOULDER_P_S>,
</dual_arm/Geometry/PELVIS_S/L_SHOULDER_P_S/L_SHOULDER_R_S>,
</dual_arm/Geometry/PELVIS_S/L_SHOULDER_P_S/L_SHOULDER_R_S/L_SHOULDER_Y_S>,
</dual_arm/Geometry/PELVIS_S/L_SHOULDER_P_S/L_SHOULDER_R_S/L_SHOULDER_Y_S/L_ELBOW_R_S>,
</dual_arm/Geometry/PELVIS_S/L_SHOULDER_P_S/L_SHOULDER_R_S/L_SHOULDER_Y_S/L_ELBOW_R_S/L_WRIST_P_S>,
</dual_arm/Geometry/PELVIS_S/L_SHOULDER_P_S/L_SHOULDER_R_S/L_SHOULDER_Y_S/L_ELBOW_R_S/L_WRIST_P_S/L_WRIST_Y_S>,
</dual_arm/Geometry/PELVIS_S/L_SHOULDER_P_S/L_SHOULDER_R_S/L_SHOULDER_Y_S/L_ELBOW_R_S/L_WRIST_P_S/L_WRIST_Y_S/L_WRIST_R_S>,
</dual_arm/Geometry/PELVIS_S/R_SHOULDER_P_S>,
</dual_arm/Geometry/PELVIS_S/R_SHOULDER_P_S/R_SHOULDER_R_S>,
</dual_arm/Geometry/PELVIS_S/R_SHOULDER_P_S/R_SHOULDER_R_S/R_SHOULDER_Y_S>,
</dual_arm/Geometry/PELVIS_S/R_SHOULDER_P_S/R_SHOULDER_R_S/R_SHOULDER_Y_S/R_ELBOW_R_S>,
</dual_arm/Geometry/PELVIS_S/R_SHOULDER_P_S/R_SHOULDER_R_S/R_SHOULDER_Y_S/R_ELBOW_R_S/R_WRIST_P_S>,
</dual_arm/Geometry/PELVIS_S/R_SHOULDER_P_S/R_SHOULDER_R_S/R_SHOULDER_Y_S/R_ELBOW_R_S/R_WRIST_P_S/R_WRIST_Y_S>,
</dual_arm/Geometry/PELVIS_S/R_SHOULDER_P_S/R_SHOULDER_R_S/R_SHOULDER_Y_S/R_ELBOW_R_S/R_WRIST_P_S/R_WRIST_Y_S/R_WRIST_R_S>,
</dual_arm/Geometry/PELVIS_S/R_SHOULDER_P_S/R_SHOULDER_R_S/R_SHOULDER_Y_S/R_ELBOW_R_S/R_WRIST_P_S/R_WRIST_Y_S/R_WRIST_R_S/R_FINGER_TIP>,
</dual_arm/Geometry/PELVIS_S/R_SHOULDER_P_S/R_SHOULDER_R_S/R_SHOULDER_Y_S/R_ELBOW_R_S/R_WRIST_P_S/R_WRIST_Y_S/R_WRIST_R_S/R_CAM>,
]
token isaac:robotType = "Default"
over "Geometry"
{
over "PELVIS_S" (
prepend apiSchemas = ["IsaacLinkAPI"]
)
{
over "L_SHOULDER_P_S" (
prepend apiSchemas = ["IsaacLinkAPI"]
)
{
over "L_SHOULDER_R_S" (
prepend apiSchemas = ["IsaacLinkAPI"]
)
{
over "L_SHOULDER_Y_S" (
prepend apiSchemas = ["IsaacLinkAPI"]
)
{
over "L_ELBOW_R_S" (
prepend apiSchemas = ["IsaacLinkAPI"]
)
{
over "L_WRIST_P_S" (
prepend apiSchemas = ["IsaacLinkAPI"]
)
{
over "L_WRIST_Y_S" (
prepend apiSchemas = ["IsaacLinkAPI"]
)
{
over "L_WRIST_R_S" (
prepend apiSchemas = ["IsaacLinkAPI"]
)
{
}
}
}
}
}
}
}
over "R_SHOULDER_P_S" (
prepend apiSchemas = ["IsaacLinkAPI"]
)
{
over "R_SHOULDER_R_S" (
prepend apiSchemas = ["IsaacLinkAPI"]
)
{
over "R_SHOULDER_Y_S" (
prepend apiSchemas = ["IsaacLinkAPI"]
)
{
over "R_ELBOW_R_S" (
prepend apiSchemas = ["IsaacLinkAPI"]
)
{
over "R_WRIST_P_S" (
prepend apiSchemas = ["IsaacLinkAPI"]
)
{
over "R_WRIST_Y_S" (
prepend apiSchemas = ["IsaacLinkAPI"]
)
{
over "R_WRIST_R_S" (
prepend apiSchemas = ["IsaacLinkAPI"]
)
{
over "R_FINGER_TIP" (
prepend apiSchemas = ["IsaacLinkAPI"]
)
{
}
over "R_CAM" (
prepend apiSchemas = ["IsaacLinkAPI"]
)
{
}
}
}
}
}
}
}
}
}
}
over "Physics"
{
over "root_joint" (
prepend apiSchemas = ["IsaacJointAPI"]
)
{
}
over "L_SHOULDER_P" (
prepend apiSchemas = ["IsaacJointAPI"]
)
{
}
over "L_SHOULDER_R" (
prepend apiSchemas = ["IsaacJointAPI"]
)
{
}
over "L_SHOULDER_Y" (
prepend apiSchemas = ["IsaacJointAPI"]
)
{
}
over "L_ELBOW_R" (
prepend apiSchemas = ["IsaacJointAPI"]
)
{
}
over "L_WRIST_P" (
prepend apiSchemas = ["IsaacJointAPI"]
)
{
}
over "L_WRIST_Y" (
prepend apiSchemas = ["IsaacJointAPI"]
)
{
}
over "L_WRIST_R" (
prepend apiSchemas = ["IsaacJointAPI"]
)
{
}
over "R_SHOULDER_P" (
prepend apiSchemas = ["IsaacJointAPI"]
)
{
}
over "R_SHOULDER_R" (
prepend apiSchemas = ["IsaacJointAPI"]
)
{
}
over "R_SHOULDER_Y" (
prepend apiSchemas = ["IsaacJointAPI"]
)
{
}
over "R_ELBOW_R" (
prepend apiSchemas = ["IsaacJointAPI"]
)
{
}
over "R_WRIST_P" (
prepend apiSchemas = ["IsaacJointAPI"]
)
{
}
over "R_WRIST_Y" (
prepend apiSchemas = ["IsaacJointAPI"]
)
{
}
over "R_WRIST_R" (
prepend apiSchemas = ["IsaacJointAPI"]
)
{
}
over "R_FINGER_TIP_FIXED" (
prepend apiSchemas = ["IsaacJointAPI"]
)
{
}
over "R_CAM_FIXED" (
prepend apiSchemas = ["IsaacJointAPI"]
)
{
}
}
}

52
model/xiaoyan_description/dual_arm_1/dual_arm.usda Normal file
View File

@ -0,0 +1,52 @@
#usda 1.0
(
customLayerData = {
string creator = "URDF USD Converter v0.1.3"
}
defaultPrim = "dual_arm"
doc = """Generated from Composed Stage of root layer /tmp/tmpya9pt0m3/dual_arm.usdc
Generated from Composed Stage of root layer /tmp/urdf_import_dual_arm_9daxnqq8/usdex_dual_arm/dual_arm.usdc
Generated from Composed Stage of root layer /tmp/urdf_import_dual_arm_9daxnqq8/temp_dual_arm/dual_arm.usd
Generated from Composed Stage of root layer /home/lgv/cmvr/0-workspace/cmvr-es/model/xiaoyan_description/dual_arm_1/payloads/base.usd
"""
kilogramsPerUnit = 1
metersPerUnit = 1
upAxis = "Z"
)
def Xform "dual_arm" (
prepend references = @./payloads/base.usda@
variants = {
string Physics = "physx"
}
append variantSets = "Physics"
)
{
variantSet "Physics" = {
"mujoco" (
prepend payload = @./payloads/Physics/mujoco.usda@
) {
}
"none" {
}
"physics" (
prepend payload = @./payloads/Physics/physics.usda@
) {
}
"physx" (
prepend payload = @./payloads/Physics/physx.usda@
) {
}
}
}

400
model/xiaoyan_description/dual_arm_1/payloads/Physics/mujoco.usda Normal file
View File

@ -0,0 +1,400 @@
#usda 1.0
(
customLayerData = {
string creator = "URDF USD Converter v0.1.3"
}
defaultPrim = "dual_arm"
doc = """Generated from Composed Stage of root layer /tmp/tmpya9pt0m3/dual_arm.usdc
Generated from Composed Stage of root layer /tmp/urdf_import_dual_arm_9daxnqq8/usdex_dual_arm/dual_arm.usdc
Generated from Composed Stage of root layer /tmp/urdf_import_dual_arm_9daxnqq8/temp_dual_arm/dual_arm.usd
Generated from Composed Stage of root layer /home/lgv/cmvr/0-workspace/cmvr-es/model/xiaoyan_description/dual_arm_1/payloads/base.usd
"""
kilogramsPerUnit = 1
metersPerUnit = 1
subLayers = [
@./physics.usda@
]
upAxis = "Z"
)
over "dual_arm"
{
over "Physics"
{
def MjcActuator "L_SHOULDER_P_actuator"
{
uniform double mjc:forceRange:max = 120
uniform double mjc:forceRange:min = -120
custom rel mjc:target
prepend rel mjc:target = </dual_arm/Physics/L_SHOULDER_P>
}
def MjcActuator "L_SHOULDER_R_actuator"
{
uniform double mjc:forceRange:max = 120
uniform double mjc:forceRange:min = -120
custom rel mjc:target
prepend rel mjc:target = </dual_arm/Physics/L_SHOULDER_R>
}
def MjcActuator "L_SHOULDER_Y_actuator"
{
uniform double mjc:forceRange:max = 80
uniform double mjc:forceRange:min = -80
custom rel mjc:target
prepend rel mjc:target = </dual_arm/Physics/L_SHOULDER_Y>
}
def MjcActuator "L_ELBOW_R_actuator"
{
uniform double mjc:forceRange:max = 50
uniform double mjc:forceRange:min = -50
custom rel mjc:target
prepend rel mjc:target = </dual_arm/Physics/L_ELBOW_R>
}
def MjcActuator "L_WRIST_P_actuator"
{
uniform double mjc:forceRange:max = 50
uniform double mjc:forceRange:min = -50
custom rel mjc:target
prepend rel mjc:target = </dual_arm/Physics/L_WRIST_P>
}
def MjcActuator "L_WRIST_Y_actuator"
{
uniform double mjc:forceRange:max = 50
uniform double mjc:forceRange:min = -50
custom rel mjc:target
prepend rel mjc:target = </dual_arm/Physics/L_WRIST_Y>
}
def MjcActuator "L_WRIST_R_actuator"
{
uniform double mjc:forceRange:max = 50
uniform double mjc:forceRange:min = -50
custom rel mjc:target
prepend rel mjc:target = </dual_arm/Physics/L_WRIST_R>
}
def MjcActuator "R_SHOULDER_P_actuator"
{
uniform double mjc:forceRange:max = 120
uniform double mjc:forceRange:min = -120
custom rel mjc:target
prepend rel mjc:target = </dual_arm/Physics/R_SHOULDER_P>
}
def MjcActuator "R_SHOULDER_R_actuator"
{
uniform double mjc:forceRange:max = 120
uniform double mjc:forceRange:min = -120
custom rel mjc:target
prepend rel mjc:target = </dual_arm/Physics/R_SHOULDER_R>
}
def MjcActuator "R_SHOULDER_Y_actuator"
{
uniform double mjc:forceRange:max = 80
uniform double mjc:forceRange:min = -80
custom rel mjc:target
prepend rel mjc:target = </dual_arm/Physics/R_SHOULDER_Y>
}
def MjcActuator "R_ELBOW_R_actuator"
{
uniform double mjc:forceRange:max = 80
uniform double mjc:forceRange:min = -80
custom rel mjc:target
prepend rel mjc:target = </dual_arm/Physics/R_ELBOW_R>
}
def MjcActuator "R_WRIST_P_actuator"
{
uniform double mjc:forceRange:max = 50
uniform double mjc:forceRange:min = -50
custom rel mjc:target
prepend rel mjc:target = </dual_arm/Physics/R_WRIST_P>
}
def MjcActuator "R_WRIST_Y_actuator"
{
uniform double mjc:forceRange:max = 50
uniform double mjc:forceRange:min = -50
custom rel mjc:target
prepend rel mjc:target = </dual_arm/Physics/R_WRIST_Y>
}
def MjcActuator "R_WRIST_R_actuator"
{
uniform double mjc:forceRange:max = 50
uniform double mjc:forceRange:min = -50
custom rel mjc:target
prepend rel mjc:target = </dual_arm/Physics/R_WRIST_R>
}
over "root_joint"
{
}
over "base_fixed"
{
}
over "L_SHOULDER_P" (
delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
)
{
}
over "L_SHOULDER_R" (
delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
)
{
}
over "L_SHOULDER_Y" (
delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
)
{
}
over "L_ELBOW_R" (
delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
)
{
}
over "L_WRIST_P" (
delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
)
{
}
over "L_WRIST_Y" (
delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
)
{
}
over "L_WRIST_R" (
delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
)
{
}
over "R_SHOULDER_P" (
delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
)
{
}
over "R_SHOULDER_R" (
delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
)
{
}
over "R_SHOULDER_Y" (
delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
)
{
}
over "R_ELBOW_R" (
delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
)
{
}
over "R_WRIST_P" (
delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
)
{
}
over "R_WRIST_Y" (
delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
)
{
}
over "R_WRIST_R" (
delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
)
{
}
over "R_FINGER_TIP_FIXED"
{
}
over "R_CAM_FIXED"
{
}
}
over "Geometry"
{
over "base_link"
{
over "PELVIS_S"
{
over "L_SHOULDER_P_S"
{
over "L_SHOULDER_R_S"
{
over "L_SHOULDER_Y_S"
{
over "L_ELBOW_R_S"
{
over "L_WRIST_P_S"
{
over "L_WRIST_Y_S"
{
over "L_WRIST_R_S"
{
}
over "L_WRIST_Y_S"
{
}
}
over "L_WRIST_P_S"
{
}
}
over "L_ELBOW_R_S"
{
}
}
over "L_SHOULDER_Y_S"
{
}
}
over "L_SHOULDER_R_S"
{
}
}
over "L_SHOULDER_P_S"
{
}
}
over "R_SHOULDER_P_S"
{
over "R_SHOULDER_R_S"
{
over "R_SHOULDER_Y_S"
{
over "R_ELBOW_R_S"
{
over "R_WRIST_P_S"
{
over "R_WRIST_Y_S"
{
over "R_WRIST_R_S"
{
over "R_FINGER_TIP"
{
over "sphere"
{
}
over "sphere_1"
{
}
}
over "R_CAM"
{
over "sphere"
{
}
over "sphere_1"
{
}
}
over "R_WRIST_R_S"
{
}
}
over "R_WRIST_Y_S"
{
}
}
over "R_WRIST_P_S"
{
}
}
over "R_ELBOW_R_S"
{
}
}
over "R_SHOULDER_Y_S"
{
}
}
over "R_SHOULDER_R_S"
{
}
}
over "R_SHOULDER_P_S"
{
}
}
over "PELVIS_S"
{
}
}
over "cylinder"
{
}
over "base_column"
{
}
}
}
over "Materials"
{
over "gray"
{
}
over "material_16"
{
}
over "material_17"
{
}
}
over "VisualMaterials"
{
}
}

554
model/xiaoyan_description/dual_arm_1/payloads/Physics/physics.usda Normal file
View File

@ -0,0 +1,554 @@
#usda 1.0
(
customLayerData = {
string creator = "URDF USD Converter v0.1.3"
}
defaultPrim = "dual_arm"
doc = """Generated from Composed Stage of root layer /tmp/tmpya9pt0m3/dual_arm.usdc
Generated from Composed Stage of root layer /tmp/urdf_import_dual_arm_9daxnqq8/usdex_dual_arm/dual_arm.usdc
Generated from Composed Stage of root layer /tmp/urdf_import_dual_arm_9daxnqq8/temp_dual_arm/dual_arm.usd
Generated from Composed Stage of root layer /home/lgv/cmvr/0-workspace/cmvr-es/model/xiaoyan_description/dual_arm_1/payloads/base.usd
"""
kilogramsPerUnit = 1
metersPerUnit = 1
upAxis = "Z"
)
over "dual_arm"
{
over "Geometry"
{
over "base_link" (
prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsArticulationRootAPI", "NewtonArticulationRootAPI"]
)
{
bool newton:selfCollisionEnabled = 0
over "PELVIS_S" (
prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"]
)
{
point3f physics:centerOfMass = (0.000037852908, 3.8178143e-7, 0.038639627)
float3 physics:diagonalInertia = (0.0013673676, 0.0016570506, 0.0016829747)
float physics:mass = 2.106246
quatf physics:principalAxes = (0.009335395, 0.7070413, 0.707049, -0.009335252)
over "L_SHOULDER_P_S" (
prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"]
)
{
point3f physics:centerOfMass = (-0.0098225875, 0.070459306, 0.0000011526188)
float3 physics:diagonalInertia = (0.0004438491, 0.00046564807, 0.00058487366)
float physics:mass = 0.88073754
quatf physics:principalAxes = (0.52669495, -0.5265165, -0.4719702, -0.471823)
over "L_SHOULDER_R_S" (
prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"]
)
{
point3f physics:centerOfMass = (-0.034602527, 0.09173933, -1.6708507e-8)
float3 physics:diagonalInertia = (0.00029429645, 0.0004076361, 0.00041477106)
float physics:mass = 0.59478843
quatf physics:principalAxes = (-0.000014568957, 0.50742036, 0.8616986, 0.00003184278)
over "L_SHOULDER_Y_S" (
prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"]
)
{
point3f physics:centerOfMass = (-0.0044097686, 0.08636205, 9.507486e-9)
float3 physics:diagonalInertia = (0.00021101937, 0.00029734103, 0.00032981517)
float physics:mass = 0.56340605
quatf physics:principalAxes = (0.53709006, -0.5370771, -0.45993194, -0.45994022)
over "L_ELBOW_R_S" (
prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"]
)
{
point3f physics:centerOfMass = (-0.033562426, 0.060319997, 2.996559e-7)
float3 physics:diagonalInertia = (0.00013903381, 0.00018104233, 0.00018907762)
float physics:mass = 0.3935719
quatf physics:principalAxes = (-0.32768953, 0.32742363, 0.62656015, 0.626766)
over "L_WRIST_P_S" (
prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"]
)
{
point3f physics:centerOfMass = (-1.3965917e-10, 0.06759726, 0.019200552)
float3 physics:diagonalInertia = (0.00009728105, 0.00047675407, 0.00048914185)
float physics:mass = 0.44233248
quatf physics:principalAxes = (0.044508155, 0.7057046, 0.7057046, 0.044508155)
over "L_WRIST_Y_S" (
prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"]
)
{
point3f physics:centerOfMass = (-0.0046413587, -5.064268e-10, -0.03412538)
float3 physics:diagonalInertia = (0.000045789966, 0.00005849702, 0.0000600636)
float physics:mass = 0.23573847
quatf physics:principalAxes = (-0.6641875, 0.6641875, 0.24260041, -0.24260041)
over "L_WRIST_R_S" (
prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"]
)
{
point3f physics:centerOfMass = (-0.016147736, 0.09550466, -0.004993925)
float3 physics:diagonalInertia = (0.00017805478, 0.00018857485, 0.00028092117)
float physics:mass = 0.50489414
quatf physics:principalAxes = (-0.020479547, 0.8394515, 0.54304194, -0.00269542)
}
}
}
}
}
}
}
over "R_SHOULDER_P_S" (
prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"]
)
{
point3f physics:centerOfMass = (-0.0098225875, -0.070459306, -0.0000011506992)
float3 physics:diagonalInertia = (0.0004438491, 0.00046564807, 0.00058487366)
float physics:mass = 0.88073754
quatf physics:principalAxes = (-0.4719702, 0.471823, 0.52669495, 0.5265165)
over "R_SHOULDER_R_S" (
prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"]
)
{
point3f physics:centerOfMass = (-0.034602527, -0.09173933, 1.8628064e-8)
float3 physics:diagonalInertia = (0.00029429645, 0.0004076361, 0.00041477106)
float physics:mass = 0.59478843
quatf physics:principalAxes = (0.00003184278, 0.8616986, 0.50742036, -0.000014568957)
over "R_SHOULDER_Y_S" (
prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"]
)
{
point3f physics:centerOfMass = (-0.0044097686, -0.08636205, -7.587919e-9)
float3 physics:diagonalInertia = (0.00021101937, 0.00029734103, 0.00032981517)
float physics:mass = 0.56340605
quatf physics:principalAxes = (-0.45993194, 0.45994022, 0.53709006, 0.5370771)
over "R_ELBOW_R_S" (
prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"]
)
{
point3f physics:centerOfMass = (-0.033562426, -0.060319997, -2.9773634e-7)
float3 physics:diagonalInertia = (0.00013903381, 0.00018104233, 0.00018907762)
float physics:mass = 0.3935719
quatf physics:principalAxes = (-0.62656015, 0.626766, 0.32768953, 0.32742363)
over "R_WRIST_P_S" (
prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"]
)
{
point3f physics:centerOfMass = (-1.3965658e-10, -0.06759726, 0.019200552)
float3 physics:diagonalInertia = (0.00009728105, 0.00047675407, 0.00048914185)
float physics:mass = 0.44233248
quatf physics:principalAxes = (-0.044508155, 0.7057046, 0.7057046, -0.044508155)
over "R_WRIST_Y_S" (
prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"]
)
{
point3f physics:centerOfMass = (-0.0046413587, -5.0642646e-10, -0.03412538)
float3 physics:diagonalInertia = (0.000045789966, 0.00005849702, 0.0000600636)
float physics:mass = 0.23573847
quatf physics:principalAxes = (-0.6641875, 0.6641875, 0.24260041, -0.24260041)
over "R_WRIST_R_S" (
prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"]
)
{
point3f physics:centerOfMass = (-0.020164223, -0.110749684, -0.0059895534)
float3 physics:diagonalInertia = (0.00013062927, 0.00018608647, 0.00027189028)
float physics:mass = 0.50436604
quatf physics:principalAxes = (0.00645075, 0.6693525, 0.7427797, -0.014283874)
over "R_FINGER_TIP" (
prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"]
)
{
point3f physics:centerOfMass = (0, 0, 0)
float3 physics:diagonalInertia = (0.000001, 0.000001, 0.000001)
float physics:mass = 0
quatf physics:principalAxes = (1, 0, 0, 0)
over "sphere_1" (
prepend apiSchemas = ["NewtonCollisionAPI"]
)
{
}
}
over "R_CAM" (
prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"]
)
{
point3f physics:centerOfMass = (0, 0, 0)
float3 physics:diagonalInertia = (0.000001, 0.000001, 0.000001)
float physics:mass = 0
quatf physics:principalAxes = (1, 0, 0, 0)
over "sphere_1" (
prepend apiSchemas = ["NewtonCollisionAPI"]
)
{
}
}
}
}
}
}
}
}
}
}
over "base_column" (
prepend apiSchemas = ["NewtonCollisionAPI"]
)
{
}
}
}
over "Physics"
{
def PhysicsRevoluteJoint "L_SHOULDER_P" (
prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
)
{
float drive:angular:physics:maxForce = 120
uniform token physics:axis = "Y"
custom rel physics:body0
prepend rel physics:body0 = </dual_arm/Geometry/base_link/PELVIS_S>
custom rel physics:body1
prepend rel physics:body1 = </dual_arm/Geometry/base_link/PELVIS_S/L_SHOULDER_P_S>
point3f physics:localPos0 = (0, 0.0945, 0.042)
point3f physics:localPos1 = (0, 0, 0)
quatf physics:localRot0 = (1, 0, 0, 0)
quatf physics:localRot1 = (1, 0, 0, 0)
float physics:lowerLimit = -89.95438
float physics:upperLimit = 89.95438
custom float urdf:limit:effort = 120
custom float urdf:limit:velocity = 3.351
}
def PhysicsRevoluteJoint "L_SHOULDER_R" (
prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
)
{
float drive:angular:physics:maxForce = 120
uniform token physics:axis = "X"
custom rel physics:body0
prepend rel physics:body0 = </dual_arm/Geometry/base_link/PELVIS_S/L_SHOULDER_P_S>
custom rel physics:body1
prepend rel physics:body1 = </dual_arm/Geometry/base_link/PELVIS_S/L_SHOULDER_P_S/L_SHOULDER_R_S>
point3f physics:localPos0 = (0.035, 0.0765, 0)
point3f physics:localPos1 = (0, 0, 0)
quatf physics:localRot0 = (1, 0, 0, 0)
quatf physics:localRot1 = (1, 0, 0, 0)
float physics:lowerLimit = -114.59156
float physics:upperLimit = 114.59156
custom float urdf:limit:effort = 120
custom float urdf:limit:velocity = 3.351
}
def PhysicsRevoluteJoint "L_SHOULDER_Y" (
prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
)
{
float drive:angular:physics:maxForce = 80
uniform token physics:axis = "Y"
custom rel physics:body0
prepend rel physics:body0 = </dual_arm/Geometry/base_link/PELVIS_S/L_SHOULDER_P_S/L_SHOULDER_R_S>
custom rel physics:body1
prepend rel physics:body1 = </dual_arm/Geometry/base_link/PELVIS_S/L_SHOULDER_P_S/L_SHOULDER_R_S/L_SHOULDER_Y_S>
point3f physics:localPos0 = (-0.035, 0.1475, 0)
point3f physics:localPos1 = (0, 0, 0)
quatf physics:localRot0 = (1, 0, 0, 0)
quatf physics:localRot1 = (1, 0, 0, 0)
float physics:lowerLimit = -124.9048
float physics:upperLimit = 0
custom float urdf:limit:effort = 80
custom float urdf:limit:velocity = 3.8758
}
def PhysicsRevoluteJoint "L_ELBOW_R" (
prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
)
{
float drive:angular:physics:maxForce = 50
uniform token physics:axis = "X"
custom rel physics:body0
prepend rel physics:body0 = </dual_arm/Geometry/base_link/PELVIS_S/L_SHOULDER_P_S/L_SHOULDER_R_S/L_SHOULDER_Y_S>
custom rel physics:body1
prepend rel physics:body1 = </dual_arm/Geometry/base_link/PELVIS_S/L_SHOULDER_P_S/L_SHOULDER_R_S/L_SHOULDER_Y_S/L_ELBOW_R_S>
point3f physics:localPos0 = (0.034, 0.1025, 0)
point3f physics:localPos1 = (0, 0, 0)
quatf physics:localRot0 = (1, 0, 0, 0)
quatf physics:localRot1 = (1, 0, 0, 0)
float physics:lowerLimit = -117.456345
float physics:upperLimit = 0
custom float urdf:limit:effort = 50
custom float urdf:limit:velocity = 4.71
}
def PhysicsRevoluteJoint "L_WRIST_P" (
prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
)
{
float drive:angular:physics:maxForce = 50
uniform token physics:axis = "Y"
custom rel physics:body0
prepend rel physics:body0 = </dual_arm/Geometry/base_link/PELVIS_S/L_SHOULDER_P_S/L_SHOULDER_R_S/L_SHOULDER_Y_S/L_ELBOW_R_S>
custom rel physics:body1
prepend rel physics:body1 = </dual_arm/Geometry/base_link/PELVIS_S/L_SHOULDER_P_S/L_SHOULDER_R_S/L_SHOULDER_Y_S/L_ELBOW_R_S/L_WRIST_P_S>
point3f physics:localPos0 = (-0.034, 0.0965, 0)
point3f physics:localPos1 = (0, 0, 0)
quatf physics:localRot0 = (1, 0, 0, 0)
quatf physics:localRot1 = (1, 0, 0, 0)
float physics:lowerLimit = 0
float physics:upperLimit = 179.90875
custom float urdf:limit:effort = 50
custom float urdf:limit:velocity = 4.71
}
def PhysicsRevoluteJoint "L_WRIST_Y" (
prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
)
{
float drive:angular:physics:maxForce = 50
uniform token physics:axis = "Z"
custom rel physics:body0
prepend rel physics:body0 = </dual_arm/Geometry/base_link/PELVIS_S/L_SHOULDER_P_S/L_SHOULDER_R_S/L_SHOULDER_Y_S/L_ELBOW_R_S/L_WRIST_P_S>
custom rel physics:body1
prepend rel physics:body1 = </dual_arm/Geometry/base_link/PELVIS_S/L_SHOULDER_P_S/L_SHOULDER_R_S/L_SHOULDER_Y_S/L_ELBOW_R_S/L_WRIST_P_S/L_WRIST_Y_S>
point3f physics:localPos0 = (0, 0.1525, 0.039)
point3f physics:localPos1 = (0, 0, 0)
quatf physics:localRot0 = (1, 0, 0, 0)
quatf physics:localRot1 = (1, 0, 0, 0)
float physics:lowerLimit = -44.69071
float physics:upperLimit = 44.69071
custom float urdf:limit:effort = 50
custom float urdf:limit:velocity = 0.79
}
def PhysicsRevoluteJoint "L_WRIST_R" (
prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
)
{
float drive:angular:physics:maxForce = 50
uniform token physics:axis = "X"
custom rel physics:body0
prepend rel physics:body0 = </dual_arm/Geometry/base_link/PELVIS_S/L_SHOULDER_P_S/L_SHOULDER_R_S/L_SHOULDER_Y_S/L_ELBOW_R_S/L_WRIST_P_S/L_WRIST_Y_S>
custom rel physics:body1
prepend rel physics:body1 = </dual_arm/Geometry/base_link/PELVIS_S/L_SHOULDER_P_S/L_SHOULDER_R_S/L_SHOULDER_Y_S/L_ELBOW_R_S/L_WRIST_P_S/L_WRIST_Y_S/L_WRIST_R_S>
point3f physics:localPos0 = (0.0258, 0, -0.039)
point3f physics:localPos1 = (0, 0, 0)
quatf physics:localRot0 = (1, 0, 0, 0)
quatf physics:localRot1 = (1, 0, 0, 0)
float physics:lowerLimit = -89.95438
float physics:upperLimit = 14.896903
custom float urdf:limit:effort = 50
custom float urdf:limit:velocity = 4.71
}
def PhysicsRevoluteJoint "R_SHOULDER_P" (
prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
)
{
float drive:angular:physics:maxForce = 120
uniform token physics:axis = "Y"
custom rel physics:body0
prepend rel physics:body0 = </dual_arm/Geometry/base_link/PELVIS_S>
custom rel physics:body1
prepend rel physics:body1 = </dual_arm/Geometry/base_link/PELVIS_S/R_SHOULDER_P_S>
point3f physics:localPos0 = (0, -0.0945, 0.042)
point3f physics:localPos1 = (0, 0, 0)
quatf physics:localRot0 = (0, -1, 0, 0)
quatf physics:localRot1 = (0, -1, 0, 0)
float physics:lowerLimit = -179.90875
float physics:upperLimit = 179.90875
custom float urdf:limit:effort = 120
custom float urdf:limit:velocity = 3.351
}
def PhysicsRevoluteJoint "R_SHOULDER_R" (
prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
)
{
float drive:angular:physics:maxForce = 120
uniform token physics:axis = "X"
custom rel physics:body0
prepend rel physics:body0 = </dual_arm/Geometry/base_link/PELVIS_S/R_SHOULDER_P_S>
custom rel physics:body1
prepend rel physics:body1 = </dual_arm/Geometry/base_link/PELVIS_S/R_SHOULDER_P_S/R_SHOULDER_R_S>
point3f physics:localPos0 = (0.035, -0.0765, 0)
point3f physics:localPos1 = (0, 0, 0)
quatf physics:localRot0 = (1, 0, 0, 0)
quatf physics:localRot1 = (1, 0, 0, 0)
float physics:lowerLimit = -44.69071
float physics:upperLimit = 89.95438
custom float urdf:limit:effort = 120
custom float urdf:limit:velocity = 3.351
}
def PhysicsRevoluteJoint "R_SHOULDER_Y" (
prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
)
{
float drive:angular:physics:maxForce = 80
uniform token physics:axis = "Y"
custom rel physics:body0
prepend rel physics:body0 = </dual_arm/Geometry/base_link/PELVIS_S/R_SHOULDER_P_S/R_SHOULDER_R_S>
custom rel physics:body1
prepend rel physics:body1 = </dual_arm/Geometry/base_link/PELVIS_S/R_SHOULDER_P_S/R_SHOULDER_R_S/R_SHOULDER_Y_S>
point3f physics:localPos0 = (-0.035, -0.1475, 0)
point3f physics:localPos1 = (0, 0, 0)
quatf physics:localRot0 = (0, -1, 0, 0)
quatf physics:localRot1 = (0, -1, 0, 0)
float physics:lowerLimit = -179.90875
float physics:upperLimit = 179.90875
custom float urdf:limit:effort = 80
custom float urdf:limit:velocity = 3.8758
}
def PhysicsRevoluteJoint "R_ELBOW_R" (
prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
)
{
float drive:angular:physics:maxForce = 80
uniform token physics:axis = "X"
custom rel physics:body0
prepend rel physics:body0 = </dual_arm/Geometry/base_link/PELVIS_S/R_SHOULDER_P_S/R_SHOULDER_R_S/R_SHOULDER_Y_S>
custom rel physics:body1
prepend rel physics:body1 = </dual_arm/Geometry/base_link/PELVIS_S/R_SHOULDER_P_S/R_SHOULDER_R_S/R_SHOULDER_Y_S/R_ELBOW_R_S>
point3f physics:localPos0 = (0.034, -0.1025, 0)
point3f physics:localPos1 = (0, 0, 0)
quatf physics:localRot0 = (1, 0, 0, 0)
quatf physics:localRot1 = (1, 0, 0, 0)
float physics:lowerLimit = 0
float physics:upperLimit = 117.456345
custom float urdf:limit:effort = 80
custom float urdf:limit:velocity = 3.8758
}
def PhysicsRevoluteJoint "R_WRIST_P" (
prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
)
{
float drive:angular:physics:maxForce = 50
uniform token physics:axis = "Y"
custom rel physics:body0
prepend rel physics:body0 = </dual_arm/Geometry/base_link/PELVIS_S/R_SHOULDER_P_S/R_SHOULDER_R_S/R_SHOULDER_Y_S/R_ELBOW_R_S>
custom rel physics:body1
prepend rel physics:body1 = </dual_arm/Geometry/base_link/PELVIS_S/R_SHOULDER_P_S/R_SHOULDER_R_S/R_SHOULDER_Y_S/R_ELBOW_R_S/R_WRIST_P_S>
point3f physics:localPos0 = (-0.034, -0.0965, 0)
point3f physics:localPos1 = (0, 0, 0)
quatf physics:localRot0 = (0, -1, 0, 0)
quatf physics:localRot1 = (0, -1, 0, 0)
float physics:lowerLimit = -179.90875
float physics:upperLimit = 179.90875
custom float urdf:limit:effort = 50
custom float urdf:limit:velocity = 4.71
}
def PhysicsRevoluteJoint "R_WRIST_Y" (
prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
)
{
float drive:angular:physics:maxForce = 50
uniform token physics:axis = "Z"
custom rel physics:body0
prepend rel physics:body0 = </dual_arm/Geometry/base_link/PELVIS_S/R_SHOULDER_P_S/R_SHOULDER_R_S/R_SHOULDER_Y_S/R_ELBOW_R_S/R_WRIST_P_S>
custom rel physics:body1
prepend rel physics:body1 = </dual_arm/Geometry/base_link/PELVIS_S/R_SHOULDER_P_S/R_SHOULDER_R_S/R_SHOULDER_Y_S/R_ELBOW_R_S/R_WRIST_P_S/R_WRIST_Y_S>
point3f physics:localPos0 = (0, -0.1525, 0.039)
point3f physics:localPos1 = (0, 0, 0)
quatf physics:localRot0 = (1, 0, 0, 0)
quatf physics:localRot1 = (1, 0, 0, 0)
float physics:lowerLimit = -44.69071
float physics:upperLimit = 44.69071
custom float urdf:limit:effort = 50
custom float urdf:limit:velocity = 0.79
}
def PhysicsRevoluteJoint "R_WRIST_R" (
prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
)
{
float drive:angular:physics:maxForce = 50
uniform token physics:axis = "X"
custom rel physics:body0
prepend rel physics:body0 = </dual_arm/Geometry/base_link/PELVIS_S/R_SHOULDER_P_S/R_SHOULDER_R_S/R_SHOULDER_Y_S/R_ELBOW_R_S/R_WRIST_P_S/R_WRIST_Y_S>
custom rel physics:body1
prepend rel physics:body1 = </dual_arm/Geometry/base_link/PELVIS_S/R_SHOULDER_P_S/R_SHOULDER_R_S/R_SHOULDER_Y_S/R_ELBOW_R_S/R_WRIST_P_S/R_WRIST_Y_S/R_WRIST_R_S>
point3f physics:localPos0 = (0.03, 0, -0.039)
point3f physics:localPos1 = (0, 0, 0)
quatf physics:localRot0 = (1, 0, 0, 0)
quatf physics:localRot1 = (1, 0, 0, 0)
float physics:lowerLimit = -32.658596
float physics:upperLimit = 89.95438
custom float urdf:limit:effort = 50
custom float urdf:limit:velocity = 4.71
}
def PhysicsFixedJoint "root_joint"
{
custom rel physics:body0
prepend rel physics:body0 = </dual_arm>
custom rel physics:body1
prepend rel physics:body1 = </dual_arm/Geometry/base_link>
point3f physics:localPos0 = (0, 0, 0)
point3f physics:localPos1 = (0, 0, 0)
quatf physics:localRot0 = (1, 0, 0, 0)
quatf physics:localRot1 = (1, 0, 0, 0)
}
def PhysicsFixedJoint "base_fixed"
{
custom rel physics:body0
prepend rel physics:body0 = </dual_arm/Geometry/base_link>
custom rel physics:body1
prepend rel physics:body1 = </dual_arm/Geometry/base_link/PELVIS_S>
point3f physics:localPos0 = (0, 0, 1.2)
point3f physics:localPos1 = (0, 0, 0)
quatf physics:localRot0 = (1, 0, 0, 0)
quatf physics:localRot1 = (1, 0, 0, 0)
}
def PhysicsFixedJoint "R_FINGER_TIP_FIXED"
{
custom rel physics:body0
prepend rel physics:body0 = </dual_arm/Geometry/base_link/PELVIS_S/R_SHOULDER_P_S/R_SHOULDER_R_S/R_SHOULDER_Y_S/R_ELBOW_R_S/R_WRIST_P_S/R_WRIST_Y_S/R_WRIST_R_S>
custom rel physics:body1
prepend rel physics:body1 = </dual_arm/Geometry/base_link/PELVIS_S/R_SHOULDER_P_S/R_SHOULDER_R_S/R_SHOULDER_Y_S/R_ELBOW_R_S/R_WRIST_P_S/R_WRIST_Y_S/R_WRIST_R_S/R_FINGER_TIP>
point3f physics:localPos0 = (0.00684256, -0.284077, 0.00801525)
point3f physics:localPos1 = (0, 0, 0)
quatf physics:localRot0 = (1, 0, 0, 0)
quatf physics:localRot1 = (1, 0, 0, 0)
}
def PhysicsFixedJoint "R_CAM_FIXED"
{
custom rel physics:body0
prepend rel physics:body0 = </dual_arm/Geometry/base_link/PELVIS_S/R_SHOULDER_P_S/R_SHOULDER_R_S/R_SHOULDER_Y_S/R_ELBOW_R_S/R_WRIST_P_S/R_WRIST_Y_S/R_WRIST_R_S>
custom rel physics:body1
prepend rel physics:body1 = </dual_arm/Geometry/base_link/PELVIS_S/R_SHOULDER_P_S/R_SHOULDER_R_S/R_SHOULDER_Y_S/R_ELBOW_R_S/R_WRIST_P_S/R_WRIST_Y_S/R_WRIST_R_S/R_CAM>
point3f physics:localPos0 = (-0.01212, -0.17655, 0.07506)
point3f physics:localPos1 = (0, 0, 0)
quatf physics:localRot0 = (-3.1746543e-11, 3.174666e-11, 0.70710677, -0.70710677)
quatf physics:localRot1 = (1, 0, 0, 0)
}
}
}

129
model/xiaoyan_description/dual_arm_1/payloads/Physics/physx.usda Normal file
View File

@ -0,0 +1,129 @@
#usda 1.0
(
customLayerData = {
string creator = "URDF USD Converter v0.1.3"
}
defaultPrim = "dual_arm"
doc = """Generated from Composed Stage of root layer /tmp/tmpya9pt0m3/dual_arm.usdc
Generated from Composed Stage of root layer /tmp/urdf_import_dual_arm_9daxnqq8/usdex_dual_arm/dual_arm.usdc
Generated from Composed Stage of root layer /tmp/urdf_import_dual_arm_9daxnqq8/temp_dual_arm/dual_arm.usd
Generated from Composed Stage of root layer /home/lgv/cmvr/0-workspace/cmvr-es/model/xiaoyan_description/dual_arm_1/payloads/base.usd
"""
kilogramsPerUnit = 1
metersPerUnit = 1
subLayers = [
@./physics.usda@
]
upAxis = "Z"
)
over "dual_arm"
{
over "Physics"
{
over "L_SHOULDER_P" (
prepend apiSchemas = ["PhysxJointAPI"]
)
{
float physxJoint:maxJointVelocity = 191.99817
}
over "L_SHOULDER_R" (
prepend apiSchemas = ["PhysxJointAPI"]
)
{
float physxJoint:maxJointVelocity = 191.99817
}
over "L_SHOULDER_Y" (
prepend apiSchemas = ["PhysxJointAPI"]
)
{
float physxJoint:maxJointVelocity = 222.06699
}
over "L_ELBOW_R" (
prepend apiSchemas = ["PhysxJointAPI"]
)
{
float physxJoint:maxJointVelocity = 269.86313
}
over "L_WRIST_P" (
prepend apiSchemas = ["PhysxJointAPI"]
)
{
float physxJoint:maxJointVelocity = 269.86313
}
over "L_WRIST_Y" (
prepend apiSchemas = ["PhysxJointAPI"]
)
{
float physxJoint:maxJointVelocity = 45.263668
}
over "L_WRIST_R" (
prepend apiSchemas = ["PhysxJointAPI"]
)
{
float physxJoint:maxJointVelocity = 269.86313
}
over "R_SHOULDER_P" (
prepend apiSchemas = ["PhysxJointAPI"]
)
{
float physxJoint:maxJointVelocity = 191.99817
}
over "R_SHOULDER_R" (
prepend apiSchemas = ["PhysxJointAPI"]
)
{
float physxJoint:maxJointVelocity = 191.99817
}
over "R_SHOULDER_Y" (
prepend apiSchemas = ["PhysxJointAPI"]
)
{
float physxJoint:maxJointVelocity = 222.06699
}
over "R_ELBOW_R" (
prepend apiSchemas = ["PhysxJointAPI"]
)
{
float physxJoint:maxJointVelocity = 222.06699
}
over "R_WRIST_P" (
prepend apiSchemas = ["PhysxJointAPI"]
)
{
float physxJoint:maxJointVelocity = 269.86313
}
over "R_WRIST_Y" (
prepend apiSchemas = ["PhysxJointAPI"]
)
{
float physxJoint:maxJointVelocity = 45.263668
}
over "R_WRIST_R" (
prepend apiSchemas = ["PhysxJointAPI"]
)
{
float physxJoint:maxJointVelocity = 269.86313
}
}
}

451
model/xiaoyan_description/dual_arm_1/payloads/base.usda Normal file
View File

@ -0,0 +1,451 @@
#usda 1.0
(
customLayerData = {
string creator = "URDF USD Converter v0.1.3"
}
defaultPrim = "dual_arm"
doc = """Generated from Composed Stage of root layer /tmp/tmpya9pt0m3/dual_arm.usdc
Generated from Composed Stage of root layer /tmp/urdf_import_dual_arm_9daxnqq8/usdex_dual_arm/dual_arm.usdc
Generated from Composed Stage of root layer /tmp/urdf_import_dual_arm_9daxnqq8/temp_dual_arm/dual_arm.usd
Generated from Composed Stage of root layer /home/lgv/cmvr/0-workspace/cmvr-es/model/xiaoyan_description/dual_arm_1/payloads/base.usd
"""
kilogramsPerUnit = 1
metersPerUnit = 1
subLayers = [
@./robot.usda@
]
upAxis = "Z"
)
def Xform "dual_arm" (
prepend apiSchemas = ["GeomModelAPI"]
assetInfo = {
string name = "dual_arm"
}
kind = "component"
)
{
float3[] extentsHint = [(-0.05, -0.958077, -2.3841858e-8), (0.080300845, 0.9075668, 1.32106), (3.4028235e38, 3.4028235e38, 3.4028235e38), (-3.4028235e38, -3.4028235e38, -3.4028235e38), (3.4028235e38, 3.4028235e38, 3.4028235e38), (-3.4028235e38, -3.4028235e38, -3.4028235e38), (-0.05, -0.959077, -2.3841858e-8), (0.05, 0.05, 1.32206)]
def Scope "Materials"
{
def Material "gray" (
instanceable = true
prepend references = @./materials.usda@</Materials/gray>
)
{
}
def Material "material_16" (
instanceable = true
prepend references = @./materials.usda@</Materials/material_16>
)
{
}
def Material "material_17" (
instanceable = true
prepend references = @./materials.usda@</Materials/material_17>
)
{
}
}
def Scope "Geometry"
{
def Xform "base_link"
{
def Cylinder "cylinder" (
prepend apiSchemas = ["MaterialBindingAPI"]
)
{
uniform token axis = "Z"
float3[] extent = [(-0.05, -0.05, -0.6), (0.05, 0.05, 0.6)]
double height = 1.2
rel material:binding = </dual_arm/Materials/gray>
double radius = 0.05
quatf xformOp:orient = (1, 0, 0, 0)
float3 xformOp:scale = (1, 1, 1)
double3 xformOp:translate = (0, 0, 0.6)
uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
}
def Xform "PELVIS_S"
{
quatf xformOp:orient = (1, 0, 0, 0)
float3 xformOp:scale = (1, 1, 1)
double3 xformOp:translate = (0, 0, 1.2)
uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
def Xform "PELVIS_S" (
instanceable = true
prepend references = @./instances.usda@</Instances/PELVIS_S>
)
{
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 "L_SHOULDER_P_S"
{
quatf xformOp:orient = (1, 0, 0, 0)
float3 xformOp:scale = (1, 1, 1)
double3 xformOp:translate = (0, 0.0945, 0.042)
uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
def Xform "L_SHOULDER_P_S" (
instanceable = true
prepend references = @./instances.usda@</Instances/L_SHOULDER_P_S>
)
{
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 "L_SHOULDER_R_S"
{
quatf xformOp:orient = (1, 0, 0, 0)
float3 xformOp:scale = (1, 1, 1)
double3 xformOp:translate = (0.035, 0.0765, 0)
uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
def Xform "L_SHOULDER_R_S" (
instanceable = true
prepend references = @./instances.usda@</Instances/L_SHOULDER_R_S>
)
{
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 "L_SHOULDER_Y_S"
{
quatf xformOp:orient = (1, 0, 0, 0)
float3 xformOp:scale = (1, 1, 1)
double3 xformOp:translate = (-0.035, 0.1475, 0)
uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
def Xform "L_SHOULDER_Y_S" (
instanceable = true
prepend references = @./instances.usda@</Instances/L_SHOULDER_Y_S>
)
{
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 "L_ELBOW_R_S"
{
quatf xformOp:orient = (1, 0, 0, 0)
float3 xformOp:scale = (1, 1, 1)
double3 xformOp:translate = (0.034, 0.1025, 0)
uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
def Xform "L_ELBOW_R_S" (
instanceable = true
prepend references = @./instances.usda@</Instances/L_ELBOW_R_S>
)
{
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 "L_WRIST_P_S"
{
quatf xformOp:orient = (1, 0, 0, 0)
float3 xformOp:scale = (1, 1, 1)
double3 xformOp:translate = (-0.034, 0.0965, 0)
uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
def Xform "L_WRIST_P_S" (
instanceable = true
prepend references = @./instances.usda@</Instances/L_WRIST_P_S>
)
{
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 "L_WRIST_Y_S"
{
quatf xformOp:orient = (1, 0, 0, 0)
float3 xformOp:scale = (1, 1, 1)
double3 xformOp:translate = (0, 0.1525, 0.039)
uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
def Xform "L_WRIST_Y_S" (
instanceable = true
prepend references = @./instances.usda@</Instances/L_WRIST_Y_S>
)
{
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 "L_WRIST_R_S" (
instanceable = true
prepend references = @./instances.usda@</Instances/L_WRIST_R_S>
)
{
quatd xformOp:orient = (1, 0, 0, 0)
double3 xformOp:scale = (1, 1, 1)
double3 xformOp:translate = (0.0258, 0, -0.039)
uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
}
}
}
}
}
}
}
def Xform "R_SHOULDER_P_S"
{
quatf xformOp:orient = (1, 0, 0, 0)
float3 xformOp:scale = (1, 1, 1)
double3 xformOp:translate = (0, -0.0945, 0.042)
uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
def Xform "R_SHOULDER_P_S" (
instanceable = true
prepend references = @./instances.usda@</Instances/R_SHOULDER_P_S>
)
{
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 "R_SHOULDER_R_S"
{
quatf xformOp:orient = (1, 0, 0, 0)
float3 xformOp:scale = (1, 1, 1)
double3 xformOp:translate = (0.035, -0.0765, 0)
uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
def Xform "R_SHOULDER_R_S" (
instanceable = true
prepend references = @./instances.usda@</Instances/R_SHOULDER_R_S>
)
{
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 "R_SHOULDER_Y_S"
{
quatf xformOp:orient = (1, 0, 0, 0)
float3 xformOp:scale = (1, 1, 1)
double3 xformOp:translate = (-0.035, -0.1475, 0)
uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
def Xform "R_SHOULDER_Y_S" (
instanceable = true
prepend references = @./instances.usda@</Instances/R_SHOULDER_Y_S>
)
{
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 "R_ELBOW_R_S"
{
quatf xformOp:orient = (1, 0, 0, 0)
float3 xformOp:scale = (1, 1, 1)
double3 xformOp:translate = (0.034, -0.1025, 0)
uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
def Xform "R_ELBOW_R_S" (
instanceable = true
prepend references = @./instances.usda@</Instances/R_ELBOW_R_S>
)
{
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 "R_WRIST_P_S"
{
quatf xformOp:orient = (1, 0, 0, 0)
float3 xformOp:scale = (1, 1, 1)
double3 xformOp:translate = (-0.034, -0.0965, 0)
uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
def Xform "R_WRIST_P_S" (
instanceable = true
prepend references = @./instances.usda@</Instances/R_WRIST_P_S>
)
{
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 "R_WRIST_Y_S"
{
quatf xformOp:orient = (1, 0, 0, 0)
float3 xformOp:scale = (1, 1, 1)
double3 xformOp:translate = (0, -0.1525, 0.039)
uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
def Xform "R_WRIST_Y_S" (
instanceable = true
prepend references = @./instances.usda@</Instances/R_WRIST_Y_S>
)
{
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 "R_WRIST_R_S"
{
quatf xformOp:orient = (1, 0, 0, 0)
float3 xformOp:scale = (1, 1, 1)
double3 xformOp:translate = (0.03, 0, -0.039)
uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
def Xform "R_WRIST_R_S" (
instanceable = true
prepend references = @./instances.usda@</Instances/R_WRIST_R_S>
)
{
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 "R_FINGER_TIP"
{
quatf xformOp:orient = (1, 0, 0, 0)
float3 xformOp:scale = (1, 1, 1)
double3 xformOp:translate = (0.00684256, -0.284077, 0.00801525)
uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
def Sphere "sphere" (
prepend apiSchemas = ["MaterialBindingAPI"]
)
{
float3[] extent = [(-0.004, -0.004, -0.004), (0.004, 0.004, 0.004)]
rel material:binding = </dual_arm/Materials/material_16>
double radius = 0.004
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 Sphere "sphere_1" (
prepend apiSchemas = ["PhysicsCollisionAPI"]
displayName = "sphere"
)
{
float3[] extent = [(-0.005, -0.005, -0.005), (0.005, 0.005, 0.005)]
uniform token purpose = "guide"
double radius = 0.005
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 Xform "R_CAM"
{
quatf xformOp:orient = (-3.1746543e-11, 3.174668e-11, 0.70710677, -0.70710677)
float3 xformOp:scale = (1, 1, 1)
double3 xformOp:translate = (-0.01212, -0.17655, 0.07506)
uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
def Sphere "sphere" (
prepend apiSchemas = ["MaterialBindingAPI"]
)
{
float3[] extent = [(-0.004, -0.004, -0.004), (0.004, 0.004, 0.004)]
rel material:binding = </dual_arm/Materials/material_17>
double radius = 0.004
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 Sphere "sphere_1" (
prepend apiSchemas = ["PhysicsCollisionAPI"]
displayName = "sphere"
)
{
float3[] extent = [(-0.005, -0.005, -0.005), (0.005, 0.005, 0.005)]
uniform token purpose = "guide"
double radius = 0.005
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 "base_column" (
prepend apiSchemas = ["PhysicsCollisionAPI"]
)
{
uniform token axis = "Z"
float3[] extent = [(-0.05, -0.05, -0.6), (0.05, 0.05, 0.6)]
double height = 1.2
uniform token purpose = "guide"
double radius = 0.05
quatf xformOp:orient = (1, 0, 0, 0)
float3 xformOp:scale = (1, 1, 1)
double3 xformOp:translate = (0, 0, 0.6)
uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
}
}
}
def Scope "Physics"
{
}
def Scope "VisualMaterials"
{
}
}

BIN
model/xiaoyan_description/dual_arm_1/payloads/geometries.usd Normal file
View File

Binary file not shown.

369
model/xiaoyan_description/dual_arm_1/payloads/instances.usda Normal file
View File

@ -0,0 +1,369 @@
#usda 1.0
(
customLayerData = {
string creator = "URDF USD Converter v0.1.3"
}
doc = """Generated from Composed Stage of root layer /tmp/tmpya9pt0m3/dual_arm.usdc
Generated from Composed Stage of root layer /tmp/urdf_import_dual_arm_9daxnqq8/usdex_dual_arm/dual_arm.usdc
Generated from Composed Stage of root layer /tmp/urdf_import_dual_arm_9daxnqq8/temp_dual_arm/dual_arm.usd
Generated from Composed Stage of root layer /home/lgv/cmvr/0-workspace/cmvr-es/model/xiaoyan_description/dual_arm_1/payloads/base.usd
"""
kilogramsPerUnit = 1
metersPerUnit = 1
upAxis = "Z"
)
def Scope "Instances"
{
def Xform "PELVIS_S" (
prepend references = @./geometries.usd@</Geometries/PELVIS_S>
)
{
over "PELVIS_S" (
apiSchemas = ["MaterialBindingAPI"]
)
{
custom rel material:binding
prepend rel material:binding = </Instances/PELVIS_S/VisualMaterials/material_1>
}
def Scope "VisualMaterials"
{
def Material "material_1" (
instanceable = true
prepend references = @./materials.usda@</Materials/material_1>
)
{
}
}
}
def Xform "L_SHOULDER_P_S" (
prepend references = @./geometries.usd@</Geometries/L_SHOULDER_P_S>
)
{
over "L_SHOULDER_P_S" (
apiSchemas = ["MaterialBindingAPI"]
)
{
custom rel material:binding
prepend rel material:binding = </Instances/L_SHOULDER_P_S/VisualMaterials/material_2>
}
def Scope "VisualMaterials"
{
def Material "material_2" (
instanceable = true
prepend references = @./materials.usda@</Materials/material_2>
)
{
}
}
}
def Xform "L_SHOULDER_R_S" (
prepend references = @./geometries.usd@</Geometries/L_SHOULDER_R_S>
)
{
over "L_SHOULDER_R_S" (
apiSchemas = ["MaterialBindingAPI"]
)
{
custom rel material:binding
prepend rel material:binding = </Instances/L_SHOULDER_R_S/VisualMaterials/material_3>
}
def Scope "VisualMaterials"
{
def Material "material_3" (
instanceable = true
prepend references = @./materials.usda@</Materials/material_3>
)
{
}
}
}
def Xform "L_SHOULDER_Y_S" (
prepend references = @./geometries.usd@</Geometries/L_SHOULDER_Y_S>
)
{
over "L_SHOULDER_Y_S" (
apiSchemas = ["MaterialBindingAPI"]
)
{
custom rel material:binding
prepend rel material:binding = </Instances/L_SHOULDER_Y_S/VisualMaterials/material_4>
}
def Scope "VisualMaterials"
{
def Material "material_4" (
instanceable = true
prepend references = @./materials.usda@</Materials/material_3>
)
{
}
}
}
def Xform "L_ELBOW_R_S" (
prepend references = @./geometries.usd@</Geometries/L_ELBOW_R_S>
)
{
over "L_ELBOW_R_S" (
apiSchemas = ["MaterialBindingAPI"]
)
{
custom rel material:binding
prepend rel material:binding = </Instances/L_ELBOW_R_S/VisualMaterials/material_5>
}
def Scope "VisualMaterials"
{
def Material "material_5" (
instanceable = true
prepend references = @./materials.usda@</Materials/material_3>
)
{
}
}
}
def Xform "L_WRIST_P_S" (
prepend references = @./geometries.usd@</Geometries/L_WRIST_P_S>
)
{
over "L_WRIST_P_S" (
apiSchemas = ["MaterialBindingAPI"]
)
{
custom rel material:binding
prepend rel material:binding = </Instances/L_WRIST_P_S/VisualMaterials/material_6>
}
def Scope "VisualMaterials"
{
def Material "material_6" (
instanceable = true
prepend references = @./materials.usda@</Materials/material_1>
)
{
}
}
}
def Xform "L_WRIST_Y_S" (
prepend references = @./geometries.usd@</Geometries/L_WRIST_Y_S>
)
{
over "L_WRIST_Y_S" (
apiSchemas = ["MaterialBindingAPI"]
)
{
custom rel material:binding
prepend rel material:binding = </Instances/L_WRIST_Y_S/VisualMaterials/material_7>
}
def Scope "VisualMaterials"
{
def Material "material_7" (
instanceable = true
prepend references = @./materials.usda@</Materials/material_7>
)
{
}
}
}
def Xform "L_WRIST_R_S" (
prepend references = @./geometries.usd@</Geometries/L_WRIST_R_S>
)
{
over "L_WRIST_R_S" (
apiSchemas = ["MaterialBindingAPI"]
)
{
custom rel material:binding
prepend rel material:binding = </Instances/L_WRIST_R_S/VisualMaterials/material_8>
}
def Scope "VisualMaterials"
{
def Material "material_8" (
instanceable = true
prepend references = @./materials.usda@</Materials/material_3>
)
{
}
}
}
def Xform "R_SHOULDER_P_S" (
prepend references = @./geometries.usd@</Geometries/R_SHOULDER_P_S>
)
{
over "R_SHOULDER_P_S" (
apiSchemas = ["MaterialBindingAPI"]
)
{
custom rel material:binding
prepend rel material:binding = </Instances/R_SHOULDER_P_S/VisualMaterials/material_9>
}
def Scope "VisualMaterials"
{
def Material "material_9" (
instanceable = true
prepend references = @./materials.usda@</Materials/material_3>
)
{
}
}
}
def Xform "R_SHOULDER_R_S" (
prepend references = @./geometries.usd@</Geometries/R_SHOULDER_R_S>
)
{
over "R_SHOULDER_R_S" (
apiSchemas = ["MaterialBindingAPI"]
)
{
custom rel material:binding
prepend rel material:binding = </Instances/R_SHOULDER_R_S/VisualMaterials/material_10>
}
def Scope "VisualMaterials"
{
def Material "material_10" (
instanceable = true
prepend references = @./materials.usda@</Materials/material_3>
)
{
}
}
}
def Xform "R_SHOULDER_Y_S" (
prepend references = @./geometries.usd@</Geometries/R_SHOULDER_Y_S>
)
{
over "R_SHOULDER_Y_S" (
apiSchemas = ["MaterialBindingAPI"]
)
{
custom rel material:binding
prepend rel material:binding = </Instances/R_SHOULDER_Y_S/VisualMaterials/material_11>
}
def Scope "VisualMaterials"
{
def Material "material_11" (
instanceable = true
prepend references = @./materials.usda@</Materials/material_3>
)
{
}
}
}
def Xform "R_ELBOW_R_S" (
prepend references = @./geometries.usd@</Geometries/R_ELBOW_R_S>
)
{
over "R_ELBOW_R_S" (
apiSchemas = ["MaterialBindingAPI"]
)
{
custom rel material:binding
prepend rel material:binding = </Instances/R_ELBOW_R_S/VisualMaterials/material_12>
}
def Scope "VisualMaterials"
{
def Material "material_12" (
instanceable = true
prepend references = @./materials.usda@</Materials/material_3>
)
{
}
}
}
def Xform "R_WRIST_P_S" (
prepend references = @./geometries.usd@</Geometries/R_WRIST_P_S>
)
{
over "R_WRIST_P_S" (
apiSchemas = ["MaterialBindingAPI"]
)
{
custom rel material:binding
prepend rel material:binding = </Instances/R_WRIST_P_S/VisualMaterials/material_13>
}
def Scope "VisualMaterials"
{
def Material "material_13" (
instanceable = true
prepend references = @./materials.usda@</Materials/material_7>
)
{
}
}
}
def Xform "R_WRIST_Y_S" (
prepend references = @./geometries.usd@</Geometries/R_WRIST_Y_S>
)
{
over "R_WRIST_Y_S" (
apiSchemas = ["MaterialBindingAPI"]
)
{
custom rel material:binding
prepend rel material:binding = </Instances/R_WRIST_Y_S/VisualMaterials/material_14>
}
def Scope "VisualMaterials"
{
def Material "material_14" (
instanceable = true
prepend references = @./materials.usda@</Materials/material_7>
)
{
}
}
}
def Xform "R_WRIST_R_S" (
prepend references = @./geometries.usd@</Geometries/R_WRIST_R_S>
)
{
over "R_WRIST_R_S" (
apiSchemas = ["MaterialBindingAPI"]
)
{
custom rel material:binding
prepend rel material:binding = </Instances/R_WRIST_R_S/VisualMaterials/material_15>
}
def Scope "VisualMaterials"
{
def Material "material_15" (
instanceable = true
prepend references = @./materials.usda@</Materials/material_3>
)
{
}
}
}
}

255
model/xiaoyan_description/dual_arm_1/payloads/materials.usda Normal file
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#usda 1.0
(
customLayerData = {
string creator = "URDF USD Converter v0.1.3"
}
doc = """Generated from Composed Stage of root layer /tmp/tmpya9pt0m3/dual_arm.usdc
Generated from Composed Stage of root layer /tmp/urdf_import_dual_arm_9daxnqq8/usdex_dual_arm/dual_arm.usdc
Generated from Composed Stage of root layer /tmp/urdf_import_dual_arm_9daxnqq8/temp_dual_arm/dual_arm.usd
Generated from Composed Stage of root layer /home/lgv/cmvr/0-workspace/cmvr-es/model/xiaoyan_description/dual_arm_1/payloads/base.usd
"""
kilogramsPerUnit = 1
metersPerUnit = 1
upAxis = "Z"
)
def Scope "Materials"
{
def Material "gray"
{
color3f inputs:diffuseColor = (0.21404114, 0.21404114, 0.21404114)
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/gray/PreviewSurface.outputs:displacement>
token outputs:surface (
displayGroup = "Outputs"
)
prepend token outputs:surface.connect = </Materials/gray/PreviewSurface.outputs:surface>
token outputs:volume (
displayGroup = "Outputs"
)
def Shader "PreviewSurface" (
apiSchemas = ["NodeDefAPI"]
)
{
token info:id = "UsdPreviewSurface"
prepend color3f inputs:diffuseColor.connect = </Materials/gray.inputs:diffuseColor>
prepend float inputs:metallic.connect = </Materials/gray.inputs:metallic>
prepend float inputs:opacity.connect = </Materials/gray.inputs:opacity>
prepend float inputs:roughness.connect = </Materials/gray.inputs:roughness>
token outputs:displacement
token outputs:surface
}
}
def Material "material_16"
{
color3f inputs:diffuseColor = (0, 1, 1)
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/material_16/PreviewSurface.outputs:displacement>
token outputs:surface (
displayGroup = "Outputs"
)
prepend token outputs:surface.connect = </Materials/material_16/PreviewSurface.outputs:surface>
token outputs:volume (
displayGroup = "Outputs"
)
def Shader "PreviewSurface" (
apiSchemas = ["NodeDefAPI"]
)
{
token info:id = "UsdPreviewSurface"
prepend color3f inputs:diffuseColor.connect = </Materials/material_16.inputs:diffuseColor>
prepend float inputs:metallic.connect = </Materials/material_16.inputs:metallic>
prepend float inputs:opacity.connect = </Materials/material_16.inputs:opacity>
prepend float inputs:roughness.connect = </Materials/material_16.inputs:roughness>
token outputs:displacement
token outputs:surface
}
}
def Material "material_17"
{
color3f inputs:diffuseColor = (0, 1, 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/material_17/PreviewSurface.outputs:displacement>
token outputs:surface (
displayGroup = "Outputs"
)
prepend token outputs:surface.connect = </Materials/material_17/PreviewSurface.outputs:surface>
token outputs:volume (
displayGroup = "Outputs"
)
def Shader "PreviewSurface" (
apiSchemas = ["NodeDefAPI"]
)
{
token info:id = "UsdPreviewSurface"
prepend color3f inputs:diffuseColor.connect = </Materials/material_17.inputs:diffuseColor>
prepend float inputs:metallic.connect = </Materials/material_17.inputs:metallic>
prepend float inputs:opacity.connect = </Materials/material_17.inputs:opacity>
prepend float inputs:roughness.connect = </Materials/material_17.inputs:roughness>
token outputs:displacement
token outputs:surface
}
}
def Material "material_1"
{
color3f inputs:diffuseColor = (0.44520125, 0.44520125, 0.44520125)
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/material_1/PreviewSurface.outputs:displacement>
token outputs:surface (
displayGroup = "Outputs"
)
prepend token outputs:surface.connect = </Materials/material_1/PreviewSurface.outputs:surface>
token outputs:volume (
displayGroup = "Outputs"
)
def Shader "PreviewSurface" (
apiSchemas = ["NodeDefAPI"]
)
{
token info:id = "UsdPreviewSurface"
prepend color3f inputs:diffuseColor.connect = </Materials/material_1.inputs:diffuseColor>
prepend float inputs:metallic.connect = </Materials/material_1.inputs:metallic>
prepend float inputs:opacity.connect = </Materials/material_1.inputs:opacity>
prepend float inputs:roughness.connect = </Materials/material_1.inputs:roughness>
token outputs:displacement
token outputs:surface
}
}
def Material "material_2"
{
color3f inputs:diffuseColor = (0.7835379, 0.82278585, 0.8468733)
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/material_2/PreviewSurface.outputs:displacement>
token outputs:surface (
displayGroup = "Outputs"
)
prepend token outputs:surface.connect = </Materials/material_2/PreviewSurface.outputs:surface>
token outputs:volume (
displayGroup = "Outputs"
)
def Shader "PreviewSurface" (
apiSchemas = ["NodeDefAPI"]
)
{
token info:id = "UsdPreviewSurface"
prepend color3f inputs:diffuseColor.connect = </Materials/material_2.inputs:diffuseColor>
prepend float inputs:metallic.connect = </Materials/material_2.inputs:metallic>
prepend float inputs:opacity.connect = </Materials/material_2.inputs:opacity>
prepend float inputs:roughness.connect = </Materials/material_2.inputs:roughness>
token outputs:displacement
token outputs:surface
}
}
def Material "material_3"
{
color3f inputs:diffuseColor = (0.7681513, 0.7681513, 0.8148467)
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/material_3/PreviewSurface.outputs:displacement>
token outputs:surface (
displayGroup = "Outputs"
)
prepend token outputs:surface.connect = </Materials/material_3/PreviewSurface.outputs:surface>
token outputs:volume (
displayGroup = "Outputs"
)
def Shader "PreviewSurface" (
apiSchemas = ["NodeDefAPI"]
)
{
token info:id = "UsdPreviewSurface"
prepend color3f inputs:diffuseColor.connect = </Materials/material_3.inputs:diffuseColor>
prepend float inputs:metallic.connect = </Materials/material_3.inputs:metallic>
prepend float inputs:opacity.connect = </Materials/material_3.inputs:opacity>
prepend float inputs:roughness.connect = </Materials/material_3.inputs:roughness>
token outputs:displacement
token outputs:surface
}
}
def Material "material_7"
{
color3f inputs:diffuseColor = (0.37626222, 0.34191445, 0.30498737)
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/material_7/PreviewSurface.outputs:displacement>
token outputs:surface (
displayGroup = "Outputs"
)
prepend token outputs:surface.connect = </Materials/material_7/PreviewSurface.outputs:surface>
token outputs:volume (
displayGroup = "Outputs"
)
def Shader "PreviewSurface" (
apiSchemas = ["NodeDefAPI"]
)
{
token info:id = "UsdPreviewSurface"
prepend color3f inputs:diffuseColor.connect = </Materials/material_7.inputs:diffuseColor>
prepend float inputs:metallic.connect = </Materials/material_7.inputs:metallic>
prepend float inputs:opacity.connect = </Materials/material_7.inputs:opacity>
prepend float inputs:roughness.connect = </Materials/material_7.inputs:roughness>
token outputs:displacement
token outputs:surface
}
}
}

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model/xiaoyan_description/dual_arm_1/payloads/robot.usda Normal file
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@ -0,0 +1,273 @@
#usda 1.0
(
customLayerData = {
string creator = "URDF USD Converter v0.1.3"
}
defaultPrim = "dual_arm"
doc = """Generated from Composed Stage of root layer /tmp/tmpya9pt0m3/dual_arm.usdc
Generated from Composed Stage of root layer /tmp/urdf_import_dual_arm_9daxnqq8/usdex_dual_arm/dual_arm.usdc
Generated from Composed Stage of root layer /tmp/urdf_import_dual_arm_9daxnqq8/temp_dual_arm/dual_arm.usd
"""
kilogramsPerUnit = 1
metersPerUnit = 1
upAxis = "Z"
)
over "dual_arm" (
prepend apiSchemas = ["IsaacRobotAPI"]
)
{
prepend rel isaac:physics:robotJoints = [
</dual_arm/Physics/root_joint>,
</dual_arm/Physics/base_fixed>,
</dual_arm/Physics/L_SHOULDER_P>,
</dual_arm/Physics/R_SHOULDER_P>,
</dual_arm/Physics/L_SHOULDER_R>,
</dual_arm/Physics/L_SHOULDER_Y>,
</dual_arm/Physics/L_ELBOW_R>,
</dual_arm/Physics/L_WRIST_P>,
</dual_arm/Physics/L_WRIST_Y>,
</dual_arm/Physics/L_WRIST_R>,
</dual_arm/Physics/R_SHOULDER_R>,
</dual_arm/Physics/R_SHOULDER_Y>,
</dual_arm/Physics/R_ELBOW_R>,
</dual_arm/Physics/R_WRIST_P>,
</dual_arm/Physics/R_WRIST_Y>,
</dual_arm/Physics/R_WRIST_R>,
</dual_arm/Physics/R_FINGER_TIP_FIXED>,
</dual_arm/Physics/R_CAM_FIXED>,
]
prepend rel isaac:physics:robotLinks = [
</dual_arm/Geometry/base_link>,
</dual_arm/Geometry/base_link/PELVIS_S>,
</dual_arm/Geometry/base_link/PELVIS_S/L_SHOULDER_P_S>,
</dual_arm/Geometry/base_link/PELVIS_S/L_SHOULDER_P_S/L_SHOULDER_R_S>,
</dual_arm/Geometry/base_link/PELVIS_S/L_SHOULDER_P_S/L_SHOULDER_R_S/L_SHOULDER_Y_S>,
</dual_arm/Geometry/base_link/PELVIS_S/L_SHOULDER_P_S/L_SHOULDER_R_S/L_SHOULDER_Y_S/L_ELBOW_R_S>,
</dual_arm/Geometry/base_link/PELVIS_S/L_SHOULDER_P_S/L_SHOULDER_R_S/L_SHOULDER_Y_S/L_ELBOW_R_S/L_WRIST_P_S>,
</dual_arm/Geometry/base_link/PELVIS_S/L_SHOULDER_P_S/L_SHOULDER_R_S/L_SHOULDER_Y_S/L_ELBOW_R_S/L_WRIST_P_S/L_WRIST_Y_S>,
</dual_arm/Geometry/base_link/PELVIS_S/L_SHOULDER_P_S/L_SHOULDER_R_S/L_SHOULDER_Y_S/L_ELBOW_R_S/L_WRIST_P_S/L_WRIST_Y_S/L_WRIST_R_S>,
</dual_arm/Geometry/base_link/PELVIS_S/R_SHOULDER_P_S>,
</dual_arm/Geometry/base_link/PELVIS_S/R_SHOULDER_P_S/R_SHOULDER_R_S>,
</dual_arm/Geometry/base_link/PELVIS_S/R_SHOULDER_P_S/R_SHOULDER_R_S/R_SHOULDER_Y_S>,
</dual_arm/Geometry/base_link/PELVIS_S/R_SHOULDER_P_S/R_SHOULDER_R_S/R_SHOULDER_Y_S/R_ELBOW_R_S>,
</dual_arm/Geometry/base_link/PELVIS_S/R_SHOULDER_P_S/R_SHOULDER_R_S/R_SHOULDER_Y_S/R_ELBOW_R_S/R_WRIST_P_S>,
</dual_arm/Geometry/base_link/PELVIS_S/R_SHOULDER_P_S/R_SHOULDER_R_S/R_SHOULDER_Y_S/R_ELBOW_R_S/R_WRIST_P_S/R_WRIST_Y_S>,
</dual_arm/Geometry/base_link/PELVIS_S/R_SHOULDER_P_S/R_SHOULDER_R_S/R_SHOULDER_Y_S/R_ELBOW_R_S/R_WRIST_P_S/R_WRIST_Y_S/R_WRIST_R_S>,
</dual_arm/Geometry/base_link/PELVIS_S/R_SHOULDER_P_S/R_SHOULDER_R_S/R_SHOULDER_Y_S/R_ELBOW_R_S/R_WRIST_P_S/R_WRIST_Y_S/R_WRIST_R_S/R_FINGER_TIP>,
</dual_arm/Geometry/base_link/PELVIS_S/R_SHOULDER_P_S/R_SHOULDER_R_S/R_SHOULDER_Y_S/R_ELBOW_R_S/R_WRIST_P_S/R_WRIST_Y_S/R_WRIST_R_S/R_CAM>,
]
token isaac:robotType = "Manipulator"
over "Geometry"
{
over "base_link" (
prepend apiSchemas = ["IsaacLinkAPI"]
)
{
over "PELVIS_S" (
prepend apiSchemas = ["IsaacLinkAPI"]
)
{
over "L_SHOULDER_P_S" (
prepend apiSchemas = ["IsaacLinkAPI"]
)
{
over "L_SHOULDER_R_S" (
prepend apiSchemas = ["IsaacLinkAPI"]
)
{
over "L_SHOULDER_Y_S" (
prepend apiSchemas = ["IsaacLinkAPI"]
)
{
over "L_ELBOW_R_S" (
prepend apiSchemas = ["IsaacLinkAPI"]
)
{
over "L_WRIST_P_S" (
prepend apiSchemas = ["IsaacLinkAPI"]
)
{
over "L_WRIST_Y_S" (
prepend apiSchemas = ["IsaacLinkAPI"]
)
{
over "L_WRIST_R_S" (
prepend apiSchemas = ["IsaacLinkAPI"]
)
{
}
}
}
}
}
}
}
over "R_SHOULDER_P_S" (
prepend apiSchemas = ["IsaacLinkAPI"]
)
{
over "R_SHOULDER_R_S" (
prepend apiSchemas = ["IsaacLinkAPI"]
)
{
over "R_SHOULDER_Y_S" (
prepend apiSchemas = ["IsaacLinkAPI"]
)
{
over "R_ELBOW_R_S" (
prepend apiSchemas = ["IsaacLinkAPI"]
)
{
over "R_WRIST_P_S" (
prepend apiSchemas = ["IsaacLinkAPI"]
)
{
over "R_WRIST_Y_S" (
prepend apiSchemas = ["IsaacLinkAPI"]
)
{
over "R_WRIST_R_S" (
prepend apiSchemas = ["IsaacLinkAPI"]
)
{
over "R_FINGER_TIP" (
prepend apiSchemas = ["IsaacLinkAPI"]
)
{
}
over "R_CAM" (
prepend apiSchemas = ["IsaacLinkAPI"]
)
{
}
}
}
}
}
}
}
}
}
}
}
over "Physics"
{
over "root_joint" (
prepend apiSchemas = ["IsaacJointAPI"]
)
{
}
over "base_fixed" (
prepend apiSchemas = ["IsaacJointAPI"]
)
{
}
over "L_SHOULDER_P" (
prepend apiSchemas = ["IsaacJointAPI"]
)
{
}
over "L_SHOULDER_R" (
prepend apiSchemas = ["IsaacJointAPI"]
)
{
}
over "L_SHOULDER_Y" (
prepend apiSchemas = ["IsaacJointAPI"]
)
{
}
over "L_ELBOW_R" (
prepend apiSchemas = ["IsaacJointAPI"]
)
{
}
over "L_WRIST_P" (
prepend apiSchemas = ["IsaacJointAPI"]
)
{
}
over "L_WRIST_Y" (
prepend apiSchemas = ["IsaacJointAPI"]
)
{
}
over "L_WRIST_R" (
prepend apiSchemas = ["IsaacJointAPI"]
)
{
}
over "R_SHOULDER_P" (
prepend apiSchemas = ["IsaacJointAPI"]
)
{
}
over "R_SHOULDER_R" (
prepend apiSchemas = ["IsaacJointAPI"]
)
{
}
over "R_SHOULDER_Y" (
prepend apiSchemas = ["IsaacJointAPI"]
)
{
}
over "R_ELBOW_R" (
prepend apiSchemas = ["IsaacJointAPI"]
)
{
}
over "R_WRIST_P" (
prepend apiSchemas = ["IsaacJointAPI"]
)
{
}
over "R_WRIST_Y" (
prepend apiSchemas = ["IsaacJointAPI"]
)
{
}
over "R_WRIST_R" (
prepend apiSchemas = ["IsaacJointAPI"]
)
{
}
over "R_FINGER_TIP_FIXED" (
prepend apiSchemas = ["IsaacJointAPI"]
)
{
}
over "R_CAM_FIXED" (
prepend apiSchemas = ["IsaacJointAPI"]
)
{
}
}
}

52
model/xiaoyan_description/dual_arm_2/dual_arm.usda Normal file
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@ -0,0 +1,52 @@
#usda 1.0
(
customLayerData = {
string creator = "URDF USD Converter v0.1.3"
}
defaultPrim = "dual_arm"
doc = """Generated from Composed Stage of root layer /tmp/tmpa433zx62/dual_arm.usdc
Generated from Composed Stage of root layer /tmp/urdf_import_dual_arm__0kvb3li/usdex_dual_arm/dual_arm.usdc
Generated from Composed Stage of root layer /tmp/urdf_import_dual_arm__0kvb3li/temp_dual_arm/dual_arm.usd
Generated from Composed Stage of root layer /home/lgv/cmvr/0-workspace/cmvr-es/model/xiaoyan_description/dual_arm_2/payloads/base.usd
"""
kilogramsPerUnit = 1
metersPerUnit = 1
upAxis = "Z"
)
def Xform "dual_arm" (
prepend references = @./payloads/base.usda@
variants = {
string Physics = "physx"
}
append variantSets = "Physics"
)
{
variantSet "Physics" = {
"mujoco" (
prepend payload = @./payloads/Physics/mujoco.usda@
) {
}
"none" {
}
"physics" (
prepend payload = @./payloads/Physics/physics.usda@
) {
}
"physx" (
prepend payload = @./payloads/Physics/physx.usda@
) {
}
}
}

400
model/xiaoyan_description/dual_arm_2/payloads/Physics/mujoco.usda Normal file
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#usda 1.0
(
customLayerData = {
string creator = "URDF USD Converter v0.1.3"
}
defaultPrim = "dual_arm"
doc = """Generated from Composed Stage of root layer /tmp/tmpa433zx62/dual_arm.usdc
Generated from Composed Stage of root layer /tmp/urdf_import_dual_arm__0kvb3li/usdex_dual_arm/dual_arm.usdc
Generated from Composed Stage of root layer /tmp/urdf_import_dual_arm__0kvb3li/temp_dual_arm/dual_arm.usd
Generated from Composed Stage of root layer /home/lgv/cmvr/0-workspace/cmvr-es/model/xiaoyan_description/dual_arm_2/payloads/base.usd
"""
kilogramsPerUnit = 1
metersPerUnit = 1
subLayers = [
@./physics.usda@
]
upAxis = "Z"
)
over "dual_arm"
{
over "Physics"
{
def MjcActuator "L_SHOULDER_P_actuator"
{
uniform double mjc:forceRange:max = 120
uniform double mjc:forceRange:min = -120
custom rel mjc:target
prepend rel mjc:target = </dual_arm/Physics/L_SHOULDER_P>
}
def MjcActuator "L_SHOULDER_R_actuator"
{
uniform double mjc:forceRange:max = 120
uniform double mjc:forceRange:min = -120
custom rel mjc:target
prepend rel mjc:target = </dual_arm/Physics/L_SHOULDER_R>
}
def MjcActuator "L_SHOULDER_Y_actuator"
{
uniform double mjc:forceRange:max = 80
uniform double mjc:forceRange:min = -80
custom rel mjc:target
prepend rel mjc:target = </dual_arm/Physics/L_SHOULDER_Y>
}
def MjcActuator "L_ELBOW_R_actuator"
{
uniform double mjc:forceRange:max = 50
uniform double mjc:forceRange:min = -50
custom rel mjc:target
prepend rel mjc:target = </dual_arm/Physics/L_ELBOW_R>
}
def MjcActuator "L_WRIST_P_actuator"
{
uniform double mjc:forceRange:max = 50
uniform double mjc:forceRange:min = -50
custom rel mjc:target
prepend rel mjc:target = </dual_arm/Physics/L_WRIST_P>
}
def MjcActuator "L_WRIST_Y_actuator"
{
uniform double mjc:forceRange:max = 50
uniform double mjc:forceRange:min = -50
custom rel mjc:target
prepend rel mjc:target = </dual_arm/Physics/L_WRIST_Y>
}
def MjcActuator "L_WRIST_R_actuator"
{
uniform double mjc:forceRange:max = 50
uniform double mjc:forceRange:min = -50
custom rel mjc:target
prepend rel mjc:target = </dual_arm/Physics/L_WRIST_R>
}
def MjcActuator "R_SHOULDER_P_actuator"
{
uniform double mjc:forceRange:max = 120
uniform double mjc:forceRange:min = -120
custom rel mjc:target
prepend rel mjc:target = </dual_arm/Physics/R_SHOULDER_P>
}
def MjcActuator "R_SHOULDER_R_actuator"
{
uniform double mjc:forceRange:max = 120
uniform double mjc:forceRange:min = -120
custom rel mjc:target
prepend rel mjc:target = </dual_arm/Physics/R_SHOULDER_R>
}
def MjcActuator "R_SHOULDER_Y_actuator"
{
uniform double mjc:forceRange:max = 80
uniform double mjc:forceRange:min = -80
custom rel mjc:target
prepend rel mjc:target = </dual_arm/Physics/R_SHOULDER_Y>
}
def MjcActuator "R_ELBOW_R_actuator"
{
uniform double mjc:forceRange:max = 80
uniform double mjc:forceRange:min = -80
custom rel mjc:target
prepend rel mjc:target = </dual_arm/Physics/R_ELBOW_R>
}
def MjcActuator "R_WRIST_P_actuator"
{
uniform double mjc:forceRange:max = 50
uniform double mjc:forceRange:min = -50
custom rel mjc:target
prepend rel mjc:target = </dual_arm/Physics/R_WRIST_P>
}
def MjcActuator "R_WRIST_Y_actuator"
{
uniform double mjc:forceRange:max = 50
uniform double mjc:forceRange:min = -50
custom rel mjc:target
prepend rel mjc:target = </dual_arm/Physics/R_WRIST_Y>
}
def MjcActuator "R_WRIST_R_actuator"
{
uniform double mjc:forceRange:max = 50
uniform double mjc:forceRange:min = -50
custom rel mjc:target
prepend rel mjc:target = </dual_arm/Physics/R_WRIST_R>
}
over "root_joint"
{
}
over "base_fixed"
{
}
over "L_SHOULDER_P" (
delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
)
{
}
over "L_SHOULDER_R" (
delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
)
{
}
over "L_SHOULDER_Y" (
delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
)
{
}
over "L_ELBOW_R" (
delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
)
{
}
over "L_WRIST_P" (
delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
)
{
}
over "L_WRIST_Y" (
delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
)
{
}
over "L_WRIST_R" (
delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
)
{
}
over "R_SHOULDER_P" (
delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
)
{
}
over "R_SHOULDER_R" (
delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
)
{
}
over "R_SHOULDER_Y" (
delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
)
{
}
over "R_ELBOW_R" (
delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
)
{
}
over "R_WRIST_P" (
delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
)
{
}
over "R_WRIST_Y" (
delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
)
{
}
over "R_WRIST_R" (
delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
)
{
}
over "R_FINGER_TIP_FIXED"
{
}
over "R_CAM_FIXED"
{
}
}
over "Geometry"
{
over "base_link"
{
over "PELVIS_S"
{
over "L_SHOULDER_P_S"
{
over "L_SHOULDER_R_S"
{
over "L_SHOULDER_Y_S"
{
over "L_ELBOW_R_S"
{
over "L_WRIST_P_S"
{
over "L_WRIST_Y_S"
{
over "L_WRIST_R_S"
{
}
over "L_WRIST_Y_S"
{
}
}
over "L_WRIST_P_S"
{
}
}
over "L_ELBOW_R_S"
{
}
}
over "L_SHOULDER_Y_S"
{
}
}
over "L_SHOULDER_R_S"
{
}
}
over "L_SHOULDER_P_S"
{
}
}
over "R_SHOULDER_P_S"
{
over "R_SHOULDER_R_S"
{
over "R_SHOULDER_Y_S"
{
over "R_ELBOW_R_S"
{
over "R_WRIST_P_S"
{
over "R_WRIST_Y_S"
{
over "R_WRIST_R_S"
{
over "R_FINGER_TIP"
{
over "sphere"
{
}
over "sphere_1"
{
}
}
over "R_CAM"
{
over "sphere"
{
}
over "sphere_1"
{
}
}
over "R_WRIST_R_S"
{
}
}
over "R_WRIST_Y_S"
{
}
}
over "R_WRIST_P_S"
{
}
}
over "R_ELBOW_R_S"
{
}
}
over "R_SHOULDER_Y_S"
{
}
}
over "R_SHOULDER_R_S"
{
}
}
over "R_SHOULDER_P_S"
{
}
}
over "PELVIS_S"
{
}
}
over "cylinder"
{
}
over "base_column"
{
}
}
}
over "Materials"
{
over "gray"
{
}
over "material_16"
{
}
over "material_17"
{
}
}
over "VisualMaterials"
{
}
}

554
model/xiaoyan_description/dual_arm_2/payloads/Physics/physics.usda Normal file
View File

@ -0,0 +1,554 @@
#usda 1.0
(
customLayerData = {
string creator = "URDF USD Converter v0.1.3"
}
defaultPrim = "dual_arm"
doc = """Generated from Composed Stage of root layer /tmp/tmpa433zx62/dual_arm.usdc
Generated from Composed Stage of root layer /tmp/urdf_import_dual_arm__0kvb3li/usdex_dual_arm/dual_arm.usdc
Generated from Composed Stage of root layer /tmp/urdf_import_dual_arm__0kvb3li/temp_dual_arm/dual_arm.usd
Generated from Composed Stage of root layer /home/lgv/cmvr/0-workspace/cmvr-es/model/xiaoyan_description/dual_arm_2/payloads/base.usd
"""
kilogramsPerUnit = 1
metersPerUnit = 1
upAxis = "Z"
)
over "dual_arm"
{
over "Geometry"
{
over "base_link" (
prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsArticulationRootAPI", "NewtonArticulationRootAPI"]
)
{
bool newton:selfCollisionEnabled = 0
over "PELVIS_S" (
prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"]
)
{
point3f physics:centerOfMass = (0.000037852908, 3.8178143e-7, 0.038639627)
float3 physics:diagonalInertia = (0.0013673676, 0.0016570506, 0.0016829747)
float physics:mass = 2.106246
quatf physics:principalAxes = (0.009335395, 0.7070413, 0.707049, -0.009335252)
over "L_SHOULDER_P_S" (
prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"]
)
{
point3f physics:centerOfMass = (-0.0098225875, 0.070459306, 0.0000011526188)
float3 physics:diagonalInertia = (0.0004438491, 0.00046564807, 0.00058487366)
float physics:mass = 0.88073754
quatf physics:principalAxes = (0.52669495, -0.5265165, -0.4719702, -0.471823)
over "L_SHOULDER_R_S" (
prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"]
)
{
point3f physics:centerOfMass = (-0.034602527, 0.09173933, -1.6708507e-8)
float3 physics:diagonalInertia = (0.00029429645, 0.0004076361, 0.00041477106)
float physics:mass = 0.59478843
quatf physics:principalAxes = (-0.000014568957, 0.50742036, 0.8616986, 0.00003184278)
over "L_SHOULDER_Y_S" (
prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"]
)
{
point3f physics:centerOfMass = (-0.0044097686, 0.08636205, 9.507486e-9)
float3 physics:diagonalInertia = (0.00021101937, 0.00029734103, 0.00032981517)
float physics:mass = 0.56340605
quatf physics:principalAxes = (0.53709006, -0.5370771, -0.45993194, -0.45994022)
over "L_ELBOW_R_S" (
prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"]
)
{
point3f physics:centerOfMass = (-0.033562426, 0.060319997, 2.996559e-7)
float3 physics:diagonalInertia = (0.00013903381, 0.00018104233, 0.00018907762)
float physics:mass = 0.3935719
quatf physics:principalAxes = (-0.32768953, 0.32742363, 0.62656015, 0.626766)
over "L_WRIST_P_S" (
prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"]
)
{
point3f physics:centerOfMass = (-1.3965917e-10, 0.06759726, 0.019200552)
float3 physics:diagonalInertia = (0.00009728105, 0.00047675407, 0.00048914185)
float physics:mass = 0.44233248
quatf physics:principalAxes = (0.044508155, 0.7057046, 0.7057046, 0.044508155)
over "L_WRIST_Y_S" (
prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"]
)
{
point3f physics:centerOfMass = (-0.0046413587, -5.064268e-10, -0.03412538)
float3 physics:diagonalInertia = (0.000045789966, 0.00005849702, 0.0000600636)
float physics:mass = 0.23573847
quatf physics:principalAxes = (-0.6641875, 0.6641875, 0.24260041, -0.24260041)
over "L_WRIST_R_S" (
prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"]
)
{
point3f physics:centerOfMass = (-0.016147736, 0.09550466, -0.004993925)
float3 physics:diagonalInertia = (0.00017805478, 0.00018857485, 0.00028092117)
float physics:mass = 0.50489414
quatf physics:principalAxes = (-0.020479547, 0.8394515, 0.54304194, -0.00269542)
}
}
}
}
}
}
}
over "R_SHOULDER_P_S" (
prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"]
)
{
point3f physics:centerOfMass = (-0.0098225875, -0.070459306, -0.0000011506992)
float3 physics:diagonalInertia = (0.0004438491, 0.00046564807, 0.00058487366)
float physics:mass = 0.88073754
quatf physics:principalAxes = (-0.4719702, 0.471823, 0.52669495, 0.5265165)
over "R_SHOULDER_R_S" (
prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"]
)
{
point3f physics:centerOfMass = (-0.034602527, -0.09173933, 1.8628064e-8)
float3 physics:diagonalInertia = (0.00029429645, 0.0004076361, 0.00041477106)
float physics:mass = 0.59478843
quatf physics:principalAxes = (0.00003184278, 0.8616986, 0.50742036, -0.000014568957)
over "R_SHOULDER_Y_S" (
prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"]
)
{
point3f physics:centerOfMass = (-0.0044097686, -0.08636205, -7.587919e-9)
float3 physics:diagonalInertia = (0.00021101937, 0.00029734103, 0.00032981517)
float physics:mass = 0.56340605
quatf physics:principalAxes = (-0.45993194, 0.45994022, 0.53709006, 0.5370771)
over "R_ELBOW_R_S" (
prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"]
)
{
point3f physics:centerOfMass = (-0.033562426, -0.060319997, -2.9773634e-7)
float3 physics:diagonalInertia = (0.00013903381, 0.00018104233, 0.00018907762)
float physics:mass = 0.3935719
quatf physics:principalAxes = (-0.62656015, 0.626766, 0.32768953, 0.32742363)
over "R_WRIST_P_S" (
prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"]
)
{
point3f physics:centerOfMass = (-1.3965658e-10, -0.06759726, 0.019200552)
float3 physics:diagonalInertia = (0.00009728105, 0.00047675407, 0.00048914185)
float physics:mass = 0.44233248
quatf physics:principalAxes = (-0.044508155, 0.7057046, 0.7057046, -0.044508155)
over "R_WRIST_Y_S" (
prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"]
)
{
point3f physics:centerOfMass = (-0.0046413587, -5.0642646e-10, -0.03412538)
float3 physics:diagonalInertia = (0.000045789966, 0.00005849702, 0.0000600636)
float physics:mass = 0.23573847
quatf physics:principalAxes = (-0.6641875, 0.6641875, 0.24260041, -0.24260041)
over "R_WRIST_R_S" (
prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"]
)
{
point3f physics:centerOfMass = (-0.020164223, -0.110749684, -0.0059895534)
float3 physics:diagonalInertia = (0.00013062927, 0.00018608647, 0.00027189028)
float physics:mass = 0.50436604
quatf physics:principalAxes = (0.00645075, 0.6693525, 0.7427797, -0.014283874)
over "R_FINGER_TIP" (
prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"]
)
{
point3f physics:centerOfMass = (0, 0, 0)
float3 physics:diagonalInertia = (0.000001, 0.000001, 0.000001)
float physics:mass = 0
quatf physics:principalAxes = (1, 0, 0, 0)
over "sphere_1" (
prepend apiSchemas = ["NewtonCollisionAPI"]
)
{
}
}
over "R_CAM" (
prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"]
)
{
point3f physics:centerOfMass = (0, 0, 0)
float3 physics:diagonalInertia = (0.000001, 0.000001, 0.000001)
float physics:mass = 0
quatf physics:principalAxes = (1, 0, 0, 0)
over "sphere_1" (
prepend apiSchemas = ["NewtonCollisionAPI"]
)
{
}
}
}
}
}
}
}
}
}
}
over "base_column" (
prepend apiSchemas = ["NewtonCollisionAPI"]
)
{
}
}
}
over "Physics"
{
def PhysicsRevoluteJoint "L_SHOULDER_P" (
prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
)
{
float drive:angular:physics:maxForce = 120
uniform token physics:axis = "Y"
custom rel physics:body0
prepend rel physics:body0 = </dual_arm/Geometry/base_link/PELVIS_S>
custom rel physics:body1
prepend rel physics:body1 = </dual_arm/Geometry/base_link/PELVIS_S/L_SHOULDER_P_S>
point3f physics:localPos0 = (0, 0.0945, 0.042)
point3f physics:localPos1 = (0, 0, 0)
quatf physics:localRot0 = (1, 0, 0, 0)
quatf physics:localRot1 = (1, 0, 0, 0)
float physics:lowerLimit = -89.95438
float physics:upperLimit = 89.95438
custom float urdf:limit:effort = 120
custom float urdf:limit:velocity = 3.351
}
def PhysicsRevoluteJoint "L_SHOULDER_R" (
prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
)
{
float drive:angular:physics:maxForce = 120
uniform token physics:axis = "X"
custom rel physics:body0
prepend rel physics:body0 = </dual_arm/Geometry/base_link/PELVIS_S/L_SHOULDER_P_S>
custom rel physics:body1
prepend rel physics:body1 = </dual_arm/Geometry/base_link/PELVIS_S/L_SHOULDER_P_S/L_SHOULDER_R_S>
point3f physics:localPos0 = (0.035, 0.0765, 0)
point3f physics:localPos1 = (0, 0, 0)
quatf physics:localRot0 = (1, 0, 0, 0)
quatf physics:localRot1 = (1, 0, 0, 0)
float physics:lowerLimit = -114.59156
float physics:upperLimit = 114.59156
custom float urdf:limit:effort = 120
custom float urdf:limit:velocity = 3.351
}
def PhysicsRevoluteJoint "L_SHOULDER_Y" (
prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
)
{
float drive:angular:physics:maxForce = 80
uniform token physics:axis = "Y"
custom rel physics:body0
prepend rel physics:body0 = </dual_arm/Geometry/base_link/PELVIS_S/L_SHOULDER_P_S/L_SHOULDER_R_S>
custom rel physics:body1
prepend rel physics:body1 = </dual_arm/Geometry/base_link/PELVIS_S/L_SHOULDER_P_S/L_SHOULDER_R_S/L_SHOULDER_Y_S>
point3f physics:localPos0 = (-0.035, 0.1475, 0)
point3f physics:localPos1 = (0, 0, 0)
quatf physics:localRot0 = (1, 0, 0, 0)
quatf physics:localRot1 = (1, 0, 0, 0)
float physics:lowerLimit = -124.9048
float physics:upperLimit = 0
custom float urdf:limit:effort = 80
custom float urdf:limit:velocity = 3.8758
}
def PhysicsRevoluteJoint "L_ELBOW_R" (
prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
)
{
float drive:angular:physics:maxForce = 50
uniform token physics:axis = "X"
custom rel physics:body0
prepend rel physics:body0 = </dual_arm/Geometry/base_link/PELVIS_S/L_SHOULDER_P_S/L_SHOULDER_R_S/L_SHOULDER_Y_S>
custom rel physics:body1
prepend rel physics:body1 = </dual_arm/Geometry/base_link/PELVIS_S/L_SHOULDER_P_S/L_SHOULDER_R_S/L_SHOULDER_Y_S/L_ELBOW_R_S>
point3f physics:localPos0 = (0.034, 0.1025, 0)
point3f physics:localPos1 = (0, 0, 0)
quatf physics:localRot0 = (1, 0, 0, 0)
quatf physics:localRot1 = (1, 0, 0, 0)
float physics:lowerLimit = -117.456345
float physics:upperLimit = 0
custom float urdf:limit:effort = 50
custom float urdf:limit:velocity = 4.71
}
def PhysicsRevoluteJoint "L_WRIST_P" (
prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
)
{
float drive:angular:physics:maxForce = 50
uniform token physics:axis = "Y"
custom rel physics:body0
prepend rel physics:body0 = </dual_arm/Geometry/base_link/PELVIS_S/L_SHOULDER_P_S/L_SHOULDER_R_S/L_SHOULDER_Y_S/L_ELBOW_R_S>
custom rel physics:body1
prepend rel physics:body1 = </dual_arm/Geometry/base_link/PELVIS_S/L_SHOULDER_P_S/L_SHOULDER_R_S/L_SHOULDER_Y_S/L_ELBOW_R_S/L_WRIST_P_S>
point3f physics:localPos0 = (-0.034, 0.0965, 0)
point3f physics:localPos1 = (0, 0, 0)
quatf physics:localRot0 = (1, 0, 0, 0)
quatf physics:localRot1 = (1, 0, 0, 0)
float physics:lowerLimit = 0
float physics:upperLimit = 179.90875
custom float urdf:limit:effort = 50
custom float urdf:limit:velocity = 4.71
}
def PhysicsRevoluteJoint "L_WRIST_Y" (
prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
)
{
float drive:angular:physics:maxForce = 50
uniform token physics:axis = "Z"
custom rel physics:body0
prepend rel physics:body0 = </dual_arm/Geometry/base_link/PELVIS_S/L_SHOULDER_P_S/L_SHOULDER_R_S/L_SHOULDER_Y_S/L_ELBOW_R_S/L_WRIST_P_S>
custom rel physics:body1
prepend rel physics:body1 = </dual_arm/Geometry/base_link/PELVIS_S/L_SHOULDER_P_S/L_SHOULDER_R_S/L_SHOULDER_Y_S/L_ELBOW_R_S/L_WRIST_P_S/L_WRIST_Y_S>
point3f physics:localPos0 = (0, 0.1525, 0.039)
point3f physics:localPos1 = (0, 0, 0)
quatf physics:localRot0 = (1, 0, 0, 0)
quatf physics:localRot1 = (1, 0, 0, 0)
float physics:lowerLimit = -44.69071
float physics:upperLimit = 44.69071
custom float urdf:limit:effort = 50
custom float urdf:limit:velocity = 0.79
}
def PhysicsRevoluteJoint "L_WRIST_R" (
prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
)
{
float drive:angular:physics:maxForce = 50
uniform token physics:axis = "X"
custom rel physics:body0
prepend rel physics:body0 = </dual_arm/Geometry/base_link/PELVIS_S/L_SHOULDER_P_S/L_SHOULDER_R_S/L_SHOULDER_Y_S/L_ELBOW_R_S/L_WRIST_P_S/L_WRIST_Y_S>
custom rel physics:body1
prepend rel physics:body1 = </dual_arm/Geometry/base_link/PELVIS_S/L_SHOULDER_P_S/L_SHOULDER_R_S/L_SHOULDER_Y_S/L_ELBOW_R_S/L_WRIST_P_S/L_WRIST_Y_S/L_WRIST_R_S>
point3f physics:localPos0 = (0.0258, 0, -0.039)
point3f physics:localPos1 = (0, 0, 0)
quatf physics:localRot0 = (1, 0, 0, 0)
quatf physics:localRot1 = (1, 0, 0, 0)
float physics:lowerLimit = -89.95438
float physics:upperLimit = 14.896903
custom float urdf:limit:effort = 50
custom float urdf:limit:velocity = 4.71
}
def PhysicsRevoluteJoint "R_SHOULDER_P" (
prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
)
{
float drive:angular:physics:maxForce = 120
uniform token physics:axis = "Y"
custom rel physics:body0
prepend rel physics:body0 = </dual_arm/Geometry/base_link/PELVIS_S>
custom rel physics:body1
prepend rel physics:body1 = </dual_arm/Geometry/base_link/PELVIS_S/R_SHOULDER_P_S>
point3f physics:localPos0 = (0, -0.0945, 0.042)
point3f physics:localPos1 = (0, 0, 0)
quatf physics:localRot0 = (0, -1, 0, 0)
quatf physics:localRot1 = (0, -1, 0, 0)
float physics:lowerLimit = -179.90875
float physics:upperLimit = 179.90875
custom float urdf:limit:effort = 120
custom float urdf:limit:velocity = 3.351
}
def PhysicsRevoluteJoint "R_SHOULDER_R" (
prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
)
{
float drive:angular:physics:maxForce = 120
uniform token physics:axis = "X"
custom rel physics:body0
prepend rel physics:body0 = </dual_arm/Geometry/base_link/PELVIS_S/R_SHOULDER_P_S>
custom rel physics:body1
prepend rel physics:body1 = </dual_arm/Geometry/base_link/PELVIS_S/R_SHOULDER_P_S/R_SHOULDER_R_S>
point3f physics:localPos0 = (0.035, -0.0765, 0)
point3f physics:localPos1 = (0, 0, 0)
quatf physics:localRot0 = (1, 0, 0, 0)
quatf physics:localRot1 = (1, 0, 0, 0)
float physics:lowerLimit = -44.69071
float physics:upperLimit = 89.95438
custom float urdf:limit:effort = 120
custom float urdf:limit:velocity = 3.351
}
def PhysicsRevoluteJoint "R_SHOULDER_Y" (
prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
)
{
float drive:angular:physics:maxForce = 80
uniform token physics:axis = "Y"
custom rel physics:body0
prepend rel physics:body0 = </dual_arm/Geometry/base_link/PELVIS_S/R_SHOULDER_P_S/R_SHOULDER_R_S>
custom rel physics:body1
prepend rel physics:body1 = </dual_arm/Geometry/base_link/PELVIS_S/R_SHOULDER_P_S/R_SHOULDER_R_S/R_SHOULDER_Y_S>
point3f physics:localPos0 = (-0.035, -0.1475, 0)
point3f physics:localPos1 = (0, 0, 0)
quatf physics:localRot0 = (0, -1, 0, 0)
quatf physics:localRot1 = (0, -1, 0, 0)
float physics:lowerLimit = -179.90875
float physics:upperLimit = 179.90875
custom float urdf:limit:effort = 80
custom float urdf:limit:velocity = 3.8758
}
def PhysicsRevoluteJoint "R_ELBOW_R" (
prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
)
{
float drive:angular:physics:maxForce = 80
uniform token physics:axis = "X"
custom rel physics:body0
prepend rel physics:body0 = </dual_arm/Geometry/base_link/PELVIS_S/R_SHOULDER_P_S/R_SHOULDER_R_S/R_SHOULDER_Y_S>
custom rel physics:body1
prepend rel physics:body1 = </dual_arm/Geometry/base_link/PELVIS_S/R_SHOULDER_P_S/R_SHOULDER_R_S/R_SHOULDER_Y_S/R_ELBOW_R_S>
point3f physics:localPos0 = (0.034, -0.1025, 0)
point3f physics:localPos1 = (0, 0, 0)
quatf physics:localRot0 = (1, 0, 0, 0)
quatf physics:localRot1 = (1, 0, 0, 0)
float physics:lowerLimit = 0
float physics:upperLimit = 117.456345
custom float urdf:limit:effort = 80
custom float urdf:limit:velocity = 3.8758
}
def PhysicsRevoluteJoint "R_WRIST_P" (
prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
)
{
float drive:angular:physics:maxForce = 50
uniform token physics:axis = "Y"
custom rel physics:body0
prepend rel physics:body0 = </dual_arm/Geometry/base_link/PELVIS_S/R_SHOULDER_P_S/R_SHOULDER_R_S/R_SHOULDER_Y_S/R_ELBOW_R_S>
custom rel physics:body1
prepend rel physics:body1 = </dual_arm/Geometry/base_link/PELVIS_S/R_SHOULDER_P_S/R_SHOULDER_R_S/R_SHOULDER_Y_S/R_ELBOW_R_S/R_WRIST_P_S>
point3f physics:localPos0 = (-0.034, -0.0965, 0)
point3f physics:localPos1 = (0, 0, 0)
quatf physics:localRot0 = (0, -1, 0, 0)
quatf physics:localRot1 = (0, -1, 0, 0)
float physics:lowerLimit = -179.90875
float physics:upperLimit = 179.90875
custom float urdf:limit:effort = 50
custom float urdf:limit:velocity = 4.71
}
def PhysicsRevoluteJoint "R_WRIST_Y" (
prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
)
{
float drive:angular:physics:maxForce = 50
uniform token physics:axis = "Z"
custom rel physics:body0
prepend rel physics:body0 = </dual_arm/Geometry/base_link/PELVIS_S/R_SHOULDER_P_S/R_SHOULDER_R_S/R_SHOULDER_Y_S/R_ELBOW_R_S/R_WRIST_P_S>
custom rel physics:body1
prepend rel physics:body1 = </dual_arm/Geometry/base_link/PELVIS_S/R_SHOULDER_P_S/R_SHOULDER_R_S/R_SHOULDER_Y_S/R_ELBOW_R_S/R_WRIST_P_S/R_WRIST_Y_S>
point3f physics:localPos0 = (0, -0.1525, 0.039)
point3f physics:localPos1 = (0, 0, 0)
quatf physics:localRot0 = (1, 0, 0, 0)
quatf physics:localRot1 = (1, 0, 0, 0)
float physics:lowerLimit = -44.69071
float physics:upperLimit = 44.69071
custom float urdf:limit:effort = 50
custom float urdf:limit:velocity = 0.79
}
def PhysicsRevoluteJoint "R_WRIST_R" (
prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
)
{
float drive:angular:physics:maxForce = 50
uniform token physics:axis = "X"
custom rel physics:body0
prepend rel physics:body0 = </dual_arm/Geometry/base_link/PELVIS_S/R_SHOULDER_P_S/R_SHOULDER_R_S/R_SHOULDER_Y_S/R_ELBOW_R_S/R_WRIST_P_S/R_WRIST_Y_S>
custom rel physics:body1
prepend rel physics:body1 = </dual_arm/Geometry/base_link/PELVIS_S/R_SHOULDER_P_S/R_SHOULDER_R_S/R_SHOULDER_Y_S/R_ELBOW_R_S/R_WRIST_P_S/R_WRIST_Y_S/R_WRIST_R_S>
point3f physics:localPos0 = (0.03, 0, -0.039)
point3f physics:localPos1 = (0, 0, 0)
quatf physics:localRot0 = (1, 0, 0, 0)
quatf physics:localRot1 = (1, 0, 0, 0)
float physics:lowerLimit = -32.658596
float physics:upperLimit = 89.95438
custom float urdf:limit:effort = 50
custom float urdf:limit:velocity = 4.71
}
def PhysicsFixedJoint "root_joint"
{
custom rel physics:body0
prepend rel physics:body0 = </dual_arm>
custom rel physics:body1
prepend rel physics:body1 = </dual_arm/Geometry/base_link>
point3f physics:localPos0 = (0, 0, 0)
point3f physics:localPos1 = (0, 0, 0)
quatf physics:localRot0 = (1, 0, 0, 0)
quatf physics:localRot1 = (1, 0, 0, 0)
}
def PhysicsFixedJoint "base_fixed"
{
custom rel physics:body0
prepend rel physics:body0 = </dual_arm/Geometry/base_link>
custom rel physics:body1
prepend rel physics:body1 = </dual_arm/Geometry/base_link/PELVIS_S>
point3f physics:localPos0 = (0, 0, 1.2)
point3f physics:localPos1 = (0, 0, 0)
quatf physics:localRot0 = (1, 0, 0, 0)
quatf physics:localRot1 = (1, 0, 0, 0)
}
def PhysicsFixedJoint "R_FINGER_TIP_FIXED"
{
custom rel physics:body0
prepend rel physics:body0 = </dual_arm/Geometry/base_link/PELVIS_S/R_SHOULDER_P_S/R_SHOULDER_R_S/R_SHOULDER_Y_S/R_ELBOW_R_S/R_WRIST_P_S/R_WRIST_Y_S/R_WRIST_R_S>
custom rel physics:body1
prepend rel physics:body1 = </dual_arm/Geometry/base_link/PELVIS_S/R_SHOULDER_P_S/R_SHOULDER_R_S/R_SHOULDER_Y_S/R_ELBOW_R_S/R_WRIST_P_S/R_WRIST_Y_S/R_WRIST_R_S/R_FINGER_TIP>
point3f physics:localPos0 = (0.00684256, -0.284077, 0.00801525)
point3f physics:localPos1 = (0, 0, 0)
quatf physics:localRot0 = (1, 0, 0, 0)
quatf physics:localRot1 = (1, 0, 0, 0)
}
def PhysicsFixedJoint "R_CAM_FIXED"
{
custom rel physics:body0
prepend rel physics:body0 = </dual_arm/Geometry/base_link/PELVIS_S/R_SHOULDER_P_S/R_SHOULDER_R_S/R_SHOULDER_Y_S/R_ELBOW_R_S/R_WRIST_P_S/R_WRIST_Y_S/R_WRIST_R_S>
custom rel physics:body1
prepend rel physics:body1 = </dual_arm/Geometry/base_link/PELVIS_S/R_SHOULDER_P_S/R_SHOULDER_R_S/R_SHOULDER_Y_S/R_ELBOW_R_S/R_WRIST_P_S/R_WRIST_Y_S/R_WRIST_R_S/R_CAM>
point3f physics:localPos0 = (-0.01212, -0.17655, 0.07506)
point3f physics:localPos1 = (0, 0, 0)
quatf physics:localRot0 = (-3.1746543e-11, 3.174666e-11, 0.70710677, -0.70710677)
quatf physics:localRot1 = (1, 0, 0, 0)
}
}
}

129
model/xiaoyan_description/dual_arm_2/payloads/Physics/physx.usda Normal file
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@ -0,0 +1,129 @@
#usda 1.0
(
customLayerData = {
string creator = "URDF USD Converter v0.1.3"
}
defaultPrim = "dual_arm"
doc = """Generated from Composed Stage of root layer /tmp/tmpa433zx62/dual_arm.usdc
Generated from Composed Stage of root layer /tmp/urdf_import_dual_arm__0kvb3li/usdex_dual_arm/dual_arm.usdc
Generated from Composed Stage of root layer /tmp/urdf_import_dual_arm__0kvb3li/temp_dual_arm/dual_arm.usd
Generated from Composed Stage of root layer /home/lgv/cmvr/0-workspace/cmvr-es/model/xiaoyan_description/dual_arm_2/payloads/base.usd
"""
kilogramsPerUnit = 1
metersPerUnit = 1
subLayers = [
@./physics.usda@
]
upAxis = "Z"
)
over "dual_arm"
{
over "Physics"
{
over "L_SHOULDER_P" (
prepend apiSchemas = ["PhysxJointAPI"]
)
{
float physxJoint:maxJointVelocity = 191.99817
}
over "L_SHOULDER_R" (
prepend apiSchemas = ["PhysxJointAPI"]
)
{
float physxJoint:maxJointVelocity = 191.99817
}
over "L_SHOULDER_Y" (
prepend apiSchemas = ["PhysxJointAPI"]
)
{
float physxJoint:maxJointVelocity = 222.06699
}
over "L_ELBOW_R" (
prepend apiSchemas = ["PhysxJointAPI"]
)
{
float physxJoint:maxJointVelocity = 269.86313
}
over "L_WRIST_P" (
prepend apiSchemas = ["PhysxJointAPI"]
)
{
float physxJoint:maxJointVelocity = 269.86313
}
over "L_WRIST_Y" (
prepend apiSchemas = ["PhysxJointAPI"]
)
{
float physxJoint:maxJointVelocity = 45.263668
}
over "L_WRIST_R" (
prepend apiSchemas = ["PhysxJointAPI"]
)
{
float physxJoint:maxJointVelocity = 269.86313
}
over "R_SHOULDER_P" (
prepend apiSchemas = ["PhysxJointAPI"]
)
{
float physxJoint:maxJointVelocity = 191.99817
}
over "R_SHOULDER_R" (
prepend apiSchemas = ["PhysxJointAPI"]
)
{
float physxJoint:maxJointVelocity = 191.99817
}
over "R_SHOULDER_Y" (
prepend apiSchemas = ["PhysxJointAPI"]
)
{
float physxJoint:maxJointVelocity = 222.06699
}
over "R_ELBOW_R" (
prepend apiSchemas = ["PhysxJointAPI"]
)
{
float physxJoint:maxJointVelocity = 222.06699
}
over "R_WRIST_P" (
prepend apiSchemas = ["PhysxJointAPI"]
)
{
float physxJoint:maxJointVelocity = 269.86313
}
over "R_WRIST_Y" (
prepend apiSchemas = ["PhysxJointAPI"]
)
{
float physxJoint:maxJointVelocity = 45.263668
}
over "R_WRIST_R" (
prepend apiSchemas = ["PhysxJointAPI"]
)
{
float physxJoint:maxJointVelocity = 269.86313
}
}
}

451
model/xiaoyan_description/dual_arm_2/payloads/base.usda Normal file
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@ -0,0 +1,451 @@
#usda 1.0
(
customLayerData = {
string creator = "URDF USD Converter v0.1.3"
}
defaultPrim = "dual_arm"
doc = """Generated from Composed Stage of root layer /tmp/tmpa433zx62/dual_arm.usdc
Generated from Composed Stage of root layer /tmp/urdf_import_dual_arm__0kvb3li/usdex_dual_arm/dual_arm.usdc
Generated from Composed Stage of root layer /tmp/urdf_import_dual_arm__0kvb3li/temp_dual_arm/dual_arm.usd
Generated from Composed Stage of root layer /home/lgv/cmvr/0-workspace/cmvr-es/model/xiaoyan_description/dual_arm_2/payloads/base.usd
"""
kilogramsPerUnit = 1
metersPerUnit = 1
subLayers = [
@./robot.usda@
]
upAxis = "Z"
)
def Xform "dual_arm" (
prepend apiSchemas = ["GeomModelAPI"]
assetInfo = {
string name = "dual_arm"
}
kind = "component"
)
{
float3[] extentsHint = [(-0.05, -0.958077, -2.3841858e-8), (0.080300845, 0.9075668, 1.32106), (3.4028235e38, 3.4028235e38, 3.4028235e38), (-3.4028235e38, -3.4028235e38, -3.4028235e38), (3.4028235e38, 3.4028235e38, 3.4028235e38), (-3.4028235e38, -3.4028235e38, -3.4028235e38), (-0.05, -0.959077, -2.3841858e-8), (0.05, 0.05, 1.32206)]
def Scope "Materials"
{
def Material "gray" (
instanceable = true
prepend references = @./materials.usda@</Materials/gray>
)
{
}
def Material "material_16" (
instanceable = true
prepend references = @./materials.usda@</Materials/material_16>
)
{
}
def Material "material_17" (
instanceable = true
prepend references = @./materials.usda@</Materials/material_17>
)
{
}
}
def Scope "Geometry"
{
def Xform "base_link"
{
def Cylinder "cylinder" (
prepend apiSchemas = ["MaterialBindingAPI"]
)
{
uniform token axis = "Z"
float3[] extent = [(-0.05, -0.05, -0.6), (0.05, 0.05, 0.6)]
double height = 1.2
rel material:binding = </dual_arm/Materials/gray>
double radius = 0.05
quatf xformOp:orient = (1, 0, 0, 0)
float3 xformOp:scale = (1, 1, 1)
double3 xformOp:translate = (0, 0, 0.6)
uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
}
def Xform "PELVIS_S"
{
quatf xformOp:orient = (1, 0, 0, 0)
float3 xformOp:scale = (1, 1, 1)
double3 xformOp:translate = (0, 0, 1.2)
uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
def Xform "PELVIS_S" (
instanceable = true
prepend references = @./instances.usda@</Instances/PELVIS_S>
)
{
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 "L_SHOULDER_P_S"
{
quatf xformOp:orient = (1, 0, 0, 0)
float3 xformOp:scale = (1, 1, 1)
double3 xformOp:translate = (0, 0.0945, 0.042)
uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
def Xform "L_SHOULDER_P_S" (
instanceable = true
prepend references = @./instances.usda@</Instances/L_SHOULDER_P_S>
)
{
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 "L_SHOULDER_R_S"
{
quatf xformOp:orient = (1, 0, 0, 0)
float3 xformOp:scale = (1, 1, 1)
double3 xformOp:translate = (0.035, 0.0765, 0)
uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
def Xform "L_SHOULDER_R_S" (
instanceable = true
prepend references = @./instances.usda@</Instances/L_SHOULDER_R_S>
)
{
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 "L_SHOULDER_Y_S"
{
quatf xformOp:orient = (1, 0, 0, 0)
float3 xformOp:scale = (1, 1, 1)
double3 xformOp:translate = (-0.035, 0.1475, 0)
uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
def Xform "L_SHOULDER_Y_S" (
instanceable = true
prepend references = @./instances.usda@</Instances/L_SHOULDER_Y_S>
)
{
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 "L_ELBOW_R_S"
{
quatf xformOp:orient = (1, 0, 0, 0)
float3 xformOp:scale = (1, 1, 1)
double3 xformOp:translate = (0.034, 0.1025, 0)
uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
def Xform "L_ELBOW_R_S" (
instanceable = true
prepend references = @./instances.usda@</Instances/L_ELBOW_R_S>
)
{
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 "L_WRIST_P_S"
{
quatf xformOp:orient = (1, 0, 0, 0)
float3 xformOp:scale = (1, 1, 1)
double3 xformOp:translate = (-0.034, 0.0965, 0)
uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
def Xform "L_WRIST_P_S" (
instanceable = true
prepend references = @./instances.usda@</Instances/L_WRIST_P_S>
)
{
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 "L_WRIST_Y_S"
{
quatf xformOp:orient = (1, 0, 0, 0)
float3 xformOp:scale = (1, 1, 1)
double3 xformOp:translate = (0, 0.1525, 0.039)
uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
def Xform "L_WRIST_Y_S" (
instanceable = true
prepend references = @./instances.usda@</Instances/L_WRIST_Y_S>
)
{
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 "L_WRIST_R_S" (
instanceable = true
prepend references = @./instances.usda@</Instances/L_WRIST_R_S>
)
{
quatd xformOp:orient = (1, 0, 0, 0)
double3 xformOp:scale = (1, 1, 1)
double3 xformOp:translate = (0.0258, 0, -0.039)
uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
}
}
}
}
}
}
}
def Xform "R_SHOULDER_P_S"
{
quatf xformOp:orient = (1, 0, 0, 0)
float3 xformOp:scale = (1, 1, 1)
double3 xformOp:translate = (0, -0.0945, 0.042)
uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
def Xform "R_SHOULDER_P_S" (
instanceable = true
prepend references = @./instances.usda@</Instances/R_SHOULDER_P_S>
)
{
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 "R_SHOULDER_R_S"
{
quatf xformOp:orient = (1, 0, 0, 0)
float3 xformOp:scale = (1, 1, 1)
double3 xformOp:translate = (0.035, -0.0765, 0)
uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
def Xform "R_SHOULDER_R_S" (
instanceable = true
prepend references = @./instances.usda@</Instances/R_SHOULDER_R_S>
)
{
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 "R_SHOULDER_Y_S"
{
quatf xformOp:orient = (1, 0, 0, 0)
float3 xformOp:scale = (1, 1, 1)
double3 xformOp:translate = (-0.035, -0.1475, 0)
uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
def Xform "R_SHOULDER_Y_S" (
instanceable = true
prepend references = @./instances.usda@</Instances/R_SHOULDER_Y_S>
)
{
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 "R_ELBOW_R_S"
{
quatf xformOp:orient = (1, 0, 0, 0)
float3 xformOp:scale = (1, 1, 1)
double3 xformOp:translate = (0.034, -0.1025, 0)
uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
def Xform "R_ELBOW_R_S" (
instanceable = true
prepend references = @./instances.usda@</Instances/R_ELBOW_R_S>
)
{
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 "R_WRIST_P_S"
{
quatf xformOp:orient = (1, 0, 0, 0)
float3 xformOp:scale = (1, 1, 1)
double3 xformOp:translate = (-0.034, -0.0965, 0)
uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
def Xform "R_WRIST_P_S" (
instanceable = true
prepend references = @./instances.usda@</Instances/R_WRIST_P_S>
)
{
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 "R_WRIST_Y_S"
{
quatf xformOp:orient = (1, 0, 0, 0)
float3 xformOp:scale = (1, 1, 1)
double3 xformOp:translate = (0, -0.1525, 0.039)
uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
def Xform "R_WRIST_Y_S" (
instanceable = true
prepend references = @./instances.usda@</Instances/R_WRIST_Y_S>
)
{
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 "R_WRIST_R_S"
{
quatf xformOp:orient = (1, 0, 0, 0)
float3 xformOp:scale = (1, 1, 1)
double3 xformOp:translate = (0.03, 0, -0.039)
uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
def Xform "R_WRIST_R_S" (
instanceable = true
prepend references = @./instances.usda@</Instances/R_WRIST_R_S>
)
{
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 "R_FINGER_TIP"
{
quatf xformOp:orient = (1, 0, 0, 0)
float3 xformOp:scale = (1, 1, 1)
double3 xformOp:translate = (0.00684256, -0.284077, 0.00801525)
uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
def Sphere "sphere" (
prepend apiSchemas = ["MaterialBindingAPI"]
)
{
float3[] extent = [(-0.004, -0.004, -0.004), (0.004, 0.004, 0.004)]
rel material:binding = </dual_arm/Materials/material_16>
double radius = 0.004
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 Sphere "sphere_1" (
prepend apiSchemas = ["PhysicsCollisionAPI"]
displayName = "sphere"
)
{
float3[] extent = [(-0.005, -0.005, -0.005), (0.005, 0.005, 0.005)]
uniform token purpose = "guide"
double radius = 0.005
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 Xform "R_CAM"
{
quatf xformOp:orient = (-3.1746543e-11, 3.174668e-11, 0.70710677, -0.70710677)
float3 xformOp:scale = (1, 1, 1)
double3 xformOp:translate = (-0.01212, -0.17655, 0.07506)
uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
def Sphere "sphere" (
prepend apiSchemas = ["MaterialBindingAPI"]
)
{
float3[] extent = [(-0.004, -0.004, -0.004), (0.004, 0.004, 0.004)]
rel material:binding = </dual_arm/Materials/material_17>
double radius = 0.004
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 Sphere "sphere_1" (
prepend apiSchemas = ["PhysicsCollisionAPI"]
displayName = "sphere"
)
{
float3[] extent = [(-0.005, -0.005, -0.005), (0.005, 0.005, 0.005)]
uniform token purpose = "guide"
double radius = 0.005
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 "base_column" (
prepend apiSchemas = ["PhysicsCollisionAPI"]
)
{
uniform token axis = "Z"
float3[] extent = [(-0.05, -0.05, -0.6), (0.05, 0.05, 0.6)]
double height = 1.2
uniform token purpose = "guide"
double radius = 0.05
quatf xformOp:orient = (1, 0, 0, 0)
float3 xformOp:scale = (1, 1, 1)
double3 xformOp:translate = (0, 0, 0.6)
uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
}
}
}
def Scope "Physics"
{
}
def Scope "VisualMaterials"
{
}
}

BIN
model/xiaoyan_description/dual_arm_2/payloads/geometries.usd Normal file
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369
model/xiaoyan_description/dual_arm_2/payloads/instances.usda Normal file
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@ -0,0 +1,369 @@
#usda 1.0
(
customLayerData = {
string creator = "URDF USD Converter v0.1.3"
}
doc = """Generated from Composed Stage of root layer /tmp/tmpa433zx62/dual_arm.usdc
Generated from Composed Stage of root layer /tmp/urdf_import_dual_arm__0kvb3li/usdex_dual_arm/dual_arm.usdc
Generated from Composed Stage of root layer /tmp/urdf_import_dual_arm__0kvb3li/temp_dual_arm/dual_arm.usd
Generated from Composed Stage of root layer /home/lgv/cmvr/0-workspace/cmvr-es/model/xiaoyan_description/dual_arm_2/payloads/base.usd
"""
kilogramsPerUnit = 1
metersPerUnit = 1
upAxis = "Z"
)
def Scope "Instances"
{
def Xform "PELVIS_S" (
prepend references = @./geometries.usd@</Geometries/PELVIS_S>
)
{
over "PELVIS_S" (
apiSchemas = ["MaterialBindingAPI"]
)
{
custom rel material:binding
prepend rel material:binding = </Instances/PELVIS_S/VisualMaterials/material_1>
}
def Scope "VisualMaterials"
{
def Material "material_1" (
instanceable = true
prepend references = @./materials.usda@</Materials/material_1>
)
{
}
}
}
def Xform "L_SHOULDER_P_S" (
prepend references = @./geometries.usd@</Geometries/L_SHOULDER_P_S>
)
{
over "L_SHOULDER_P_S" (
apiSchemas = ["MaterialBindingAPI"]
)
{
custom rel material:binding
prepend rel material:binding = </Instances/L_SHOULDER_P_S/VisualMaterials/material_2>
}
def Scope "VisualMaterials"
{
def Material "material_2" (
instanceable = true
prepend references = @./materials.usda@</Materials/material_2>
)
{
}
}
}
def Xform "L_SHOULDER_R_S" (
prepend references = @./geometries.usd@</Geometries/L_SHOULDER_R_S>
)
{
over "L_SHOULDER_R_S" (
apiSchemas = ["MaterialBindingAPI"]
)
{
custom rel material:binding
prepend rel material:binding = </Instances/L_SHOULDER_R_S/VisualMaterials/material_3>
}
def Scope "VisualMaterials"
{
def Material "material_3" (
instanceable = true
prepend references = @./materials.usda@</Materials/material_3>
)
{
}
}
}
def Xform "L_SHOULDER_Y_S" (
prepend references = @./geometries.usd@</Geometries/L_SHOULDER_Y_S>
)
{
over "L_SHOULDER_Y_S" (
apiSchemas = ["MaterialBindingAPI"]
)
{
custom rel material:binding
prepend rel material:binding = </Instances/L_SHOULDER_Y_S/VisualMaterials/material_4>
}
def Scope "VisualMaterials"
{
def Material "material_4" (
instanceable = true
prepend references = @./materials.usda@</Materials/material_3>
)
{
}
}
}
def Xform "L_ELBOW_R_S" (
prepend references = @./geometries.usd@</Geometries/L_ELBOW_R_S>
)
{
over "L_ELBOW_R_S" (
apiSchemas = ["MaterialBindingAPI"]
)
{
custom rel material:binding
prepend rel material:binding = </Instances/L_ELBOW_R_S/VisualMaterials/material_5>
}
def Scope "VisualMaterials"
{
def Material "material_5" (
instanceable = true
prepend references = @./materials.usda@</Materials/material_3>
)
{
}
}
}
def Xform "L_WRIST_P_S" (
prepend references = @./geometries.usd@</Geometries/L_WRIST_P_S>
)
{
over "L_WRIST_P_S" (
apiSchemas = ["MaterialBindingAPI"]
)
{
custom rel material:binding
prepend rel material:binding = </Instances/L_WRIST_P_S/VisualMaterials/material_6>
}
def Scope "VisualMaterials"
{
def Material "material_6" (
instanceable = true
prepend references = @./materials.usda@</Materials/material_1>
)
{
}
}
}
def Xform "L_WRIST_Y_S" (
prepend references = @./geometries.usd@</Geometries/L_WRIST_Y_S>
)
{
over "L_WRIST_Y_S" (
apiSchemas = ["MaterialBindingAPI"]
)
{
custom rel material:binding
prepend rel material:binding = </Instances/L_WRIST_Y_S/VisualMaterials/material_7>
}
def Scope "VisualMaterials"
{
def Material "material_7" (
instanceable = true
prepend references = @./materials.usda@</Materials/material_7>
)
{
}
}
}
def Xform "L_WRIST_R_S" (
prepend references = @./geometries.usd@</Geometries/L_WRIST_R_S>
)
{
over "L_WRIST_R_S" (
apiSchemas = ["MaterialBindingAPI"]
)
{
custom rel material:binding
prepend rel material:binding = </Instances/L_WRIST_R_S/VisualMaterials/material_8>
}
def Scope "VisualMaterials"
{
def Material "material_8" (
instanceable = true
prepend references = @./materials.usda@</Materials/material_3>
)
{
}
}
}
def Xform "R_SHOULDER_P_S" (
prepend references = @./geometries.usd@</Geometries/R_SHOULDER_P_S>
)
{
over "R_SHOULDER_P_S" (
apiSchemas = ["MaterialBindingAPI"]
)
{
custom rel material:binding
prepend rel material:binding = </Instances/R_SHOULDER_P_S/VisualMaterials/material_9>
}
def Scope "VisualMaterials"
{
def Material "material_9" (
instanceable = true
prepend references = @./materials.usda@</Materials/material_3>
)
{
}
}
}
def Xform "R_SHOULDER_R_S" (
prepend references = @./geometries.usd@</Geometries/R_SHOULDER_R_S>
)
{
over "R_SHOULDER_R_S" (
apiSchemas = ["MaterialBindingAPI"]
)
{
custom rel material:binding
prepend rel material:binding = </Instances/R_SHOULDER_R_S/VisualMaterials/material_10>
}
def Scope "VisualMaterials"
{
def Material "material_10" (
instanceable = true
prepend references = @./materials.usda@</Materials/material_3>
)
{
}
}
}
def Xform "R_SHOULDER_Y_S" (
prepend references = @./geometries.usd@</Geometries/R_SHOULDER_Y_S>
)
{
over "R_SHOULDER_Y_S" (
apiSchemas = ["MaterialBindingAPI"]
)
{
custom rel material:binding
prepend rel material:binding = </Instances/R_SHOULDER_Y_S/VisualMaterials/material_11>
}
def Scope "VisualMaterials"
{
def Material "material_11" (
instanceable = true
prepend references = @./materials.usda@</Materials/material_3>
)
{
}
}
}
def Xform "R_ELBOW_R_S" (
prepend references = @./geometries.usd@</Geometries/R_ELBOW_R_S>
)
{
over "R_ELBOW_R_S" (
apiSchemas = ["MaterialBindingAPI"]
)
{
custom rel material:binding
prepend rel material:binding = </Instances/R_ELBOW_R_S/VisualMaterials/material_12>
}
def Scope "VisualMaterials"
{
def Material "material_12" (
instanceable = true
prepend references = @./materials.usda@</Materials/material_3>
)
{
}
}
}
def Xform "R_WRIST_P_S" (
prepend references = @./geometries.usd@</Geometries/R_WRIST_P_S>
)
{
over "R_WRIST_P_S" (
apiSchemas = ["MaterialBindingAPI"]
)
{
custom rel material:binding
prepend rel material:binding = </Instances/R_WRIST_P_S/VisualMaterials/material_13>
}
def Scope "VisualMaterials"
{
def Material "material_13" (
instanceable = true
prepend references = @./materials.usda@</Materials/material_7>
)
{
}
}
}
def Xform "R_WRIST_Y_S" (
prepend references = @./geometries.usd@</Geometries/R_WRIST_Y_S>
)
{
over "R_WRIST_Y_S" (
apiSchemas = ["MaterialBindingAPI"]
)
{
custom rel material:binding
prepend rel material:binding = </Instances/R_WRIST_Y_S/VisualMaterials/material_14>
}
def Scope "VisualMaterials"
{
def Material "material_14" (
instanceable = true
prepend references = @./materials.usda@</Materials/material_7>
)
{
}
}
}
def Xform "R_WRIST_R_S" (
prepend references = @./geometries.usd@</Geometries/R_WRIST_R_S>
)
{
over "R_WRIST_R_S" (
apiSchemas = ["MaterialBindingAPI"]
)
{
custom rel material:binding
prepend rel material:binding = </Instances/R_WRIST_R_S/VisualMaterials/material_15>
}
def Scope "VisualMaterials"
{
def Material "material_15" (
instanceable = true
prepend references = @./materials.usda@</Materials/material_3>
)
{
}
}
}
}

255
model/xiaoyan_description/dual_arm_2/payloads/materials.usda Normal file
View File

@ -0,0 +1,255 @@
#usda 1.0
(
customLayerData = {
string creator = "URDF USD Converter v0.1.3"
}
doc = """Generated from Composed Stage of root layer /tmp/tmpa433zx62/dual_arm.usdc
Generated from Composed Stage of root layer /tmp/urdf_import_dual_arm__0kvb3li/usdex_dual_arm/dual_arm.usdc
Generated from Composed Stage of root layer /tmp/urdf_import_dual_arm__0kvb3li/temp_dual_arm/dual_arm.usd
Generated from Composed Stage of root layer /home/lgv/cmvr/0-workspace/cmvr-es/model/xiaoyan_description/dual_arm_2/payloads/base.usd
"""
kilogramsPerUnit = 1
metersPerUnit = 1
upAxis = "Z"
)
def Scope "Materials"
{
def Material "gray"
{
color3f inputs:diffuseColor = (0.21404114, 0.21404114, 0.21404114)
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/gray/PreviewSurface.outputs:displacement>
token outputs:surface (
displayGroup = "Outputs"
)
prepend token outputs:surface.connect = </Materials/gray/PreviewSurface.outputs:surface>
token outputs:volume (
displayGroup = "Outputs"
)
def Shader "PreviewSurface" (
apiSchemas = ["NodeDefAPI"]
)
{
token info:id = "UsdPreviewSurface"
prepend color3f inputs:diffuseColor.connect = </Materials/gray.inputs:diffuseColor>
prepend float inputs:metallic.connect = </Materials/gray.inputs:metallic>
prepend float inputs:opacity.connect = </Materials/gray.inputs:opacity>
prepend float inputs:roughness.connect = </Materials/gray.inputs:roughness>
token outputs:displacement
token outputs:surface
}
}
def Material "material_16"
{
color3f inputs:diffuseColor = (0, 1, 1)
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/material_16/PreviewSurface.outputs:displacement>
token outputs:surface (
displayGroup = "Outputs"
)
prepend token outputs:surface.connect = </Materials/material_16/PreviewSurface.outputs:surface>
token outputs:volume (
displayGroup = "Outputs"
)
def Shader "PreviewSurface" (
apiSchemas = ["NodeDefAPI"]
)
{
token info:id = "UsdPreviewSurface"
prepend color3f inputs:diffuseColor.connect = </Materials/material_16.inputs:diffuseColor>
prepend float inputs:metallic.connect = </Materials/material_16.inputs:metallic>
prepend float inputs:opacity.connect = </Materials/material_16.inputs:opacity>
prepend float inputs:roughness.connect = </Materials/material_16.inputs:roughness>
token outputs:displacement
token outputs:surface
}
}
def Material "material_17"
{
color3f inputs:diffuseColor = (0, 1, 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/material_17/PreviewSurface.outputs:displacement>
token outputs:surface (
displayGroup = "Outputs"
)
prepend token outputs:surface.connect = </Materials/material_17/PreviewSurface.outputs:surface>
token outputs:volume (
displayGroup = "Outputs"
)
def Shader "PreviewSurface" (
apiSchemas = ["NodeDefAPI"]
)
{
token info:id = "UsdPreviewSurface"
prepend color3f inputs:diffuseColor.connect = </Materials/material_17.inputs:diffuseColor>
prepend float inputs:metallic.connect = </Materials/material_17.inputs:metallic>
prepend float inputs:opacity.connect = </Materials/material_17.inputs:opacity>
prepend float inputs:roughness.connect = </Materials/material_17.inputs:roughness>
token outputs:displacement
token outputs:surface
}
}
def Material "material_1"
{
color3f inputs:diffuseColor = (0.44520125, 0.44520125, 0.44520125)
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/material_1/PreviewSurface.outputs:displacement>
token outputs:surface (
displayGroup = "Outputs"
)
prepend token outputs:surface.connect = </Materials/material_1/PreviewSurface.outputs:surface>
token outputs:volume (
displayGroup = "Outputs"
)
def Shader "PreviewSurface" (
apiSchemas = ["NodeDefAPI"]
)
{
token info:id = "UsdPreviewSurface"
prepend color3f inputs:diffuseColor.connect = </Materials/material_1.inputs:diffuseColor>
prepend float inputs:metallic.connect = </Materials/material_1.inputs:metallic>
prepend float inputs:opacity.connect = </Materials/material_1.inputs:opacity>
prepend float inputs:roughness.connect = </Materials/material_1.inputs:roughness>
token outputs:displacement
token outputs:surface
}
}
def Material "material_2"
{
color3f inputs:diffuseColor = (0.7835379, 0.82278585, 0.8468733)
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/material_2/PreviewSurface.outputs:displacement>
token outputs:surface (
displayGroup = "Outputs"
)
prepend token outputs:surface.connect = </Materials/material_2/PreviewSurface.outputs:surface>
token outputs:volume (
displayGroup = "Outputs"
)
def Shader "PreviewSurface" (
apiSchemas = ["NodeDefAPI"]
)
{
token info:id = "UsdPreviewSurface"
prepend color3f inputs:diffuseColor.connect = </Materials/material_2.inputs:diffuseColor>
prepend float inputs:metallic.connect = </Materials/material_2.inputs:metallic>
prepend float inputs:opacity.connect = </Materials/material_2.inputs:opacity>
prepend float inputs:roughness.connect = </Materials/material_2.inputs:roughness>
token outputs:displacement
token outputs:surface
}
}
def Material "material_3"
{
color3f inputs:diffuseColor = (0.7681513, 0.7681513, 0.8148467)
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/material_3/PreviewSurface.outputs:displacement>
token outputs:surface (
displayGroup = "Outputs"
)
prepend token outputs:surface.connect = </Materials/material_3/PreviewSurface.outputs:surface>
token outputs:volume (
displayGroup = "Outputs"
)
def Shader "PreviewSurface" (
apiSchemas = ["NodeDefAPI"]
)
{
token info:id = "UsdPreviewSurface"
prepend color3f inputs:diffuseColor.connect = </Materials/material_3.inputs:diffuseColor>
prepend float inputs:metallic.connect = </Materials/material_3.inputs:metallic>
prepend float inputs:opacity.connect = </Materials/material_3.inputs:opacity>
prepend float inputs:roughness.connect = </Materials/material_3.inputs:roughness>
token outputs:displacement
token outputs:surface
}
}
def Material "material_7"
{
color3f inputs:diffuseColor = (0.37626222, 0.34191445, 0.30498737)
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/material_7/PreviewSurface.outputs:displacement>
token outputs:surface (
displayGroup = "Outputs"
)
prepend token outputs:surface.connect = </Materials/material_7/PreviewSurface.outputs:surface>
token outputs:volume (
displayGroup = "Outputs"
)
def Shader "PreviewSurface" (
apiSchemas = ["NodeDefAPI"]
)
{
token info:id = "UsdPreviewSurface"
prepend color3f inputs:diffuseColor.connect = </Materials/material_7.inputs:diffuseColor>
prepend float inputs:metallic.connect = </Materials/material_7.inputs:metallic>
prepend float inputs:opacity.connect = </Materials/material_7.inputs:opacity>
prepend float inputs:roughness.connect = </Materials/material_7.inputs:roughness>
token outputs:displacement
token outputs:surface
}
}
}

273
model/xiaoyan_description/dual_arm_2/payloads/robot.usda Normal file
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@ -0,0 +1,273 @@
#usda 1.0
(
customLayerData = {
string creator = "URDF USD Converter v0.1.3"
}
defaultPrim = "dual_arm"
doc = """Generated from Composed Stage of root layer /tmp/tmpa433zx62/dual_arm.usdc
Generated from Composed Stage of root layer /tmp/urdf_import_dual_arm__0kvb3li/usdex_dual_arm/dual_arm.usdc
Generated from Composed Stage of root layer /tmp/urdf_import_dual_arm__0kvb3li/temp_dual_arm/dual_arm.usd
"""
kilogramsPerUnit = 1
metersPerUnit = 1
upAxis = "Z"
)
over "dual_arm" (
prepend apiSchemas = ["IsaacRobotAPI"]
)
{
prepend rel isaac:physics:robotJoints = [
</dual_arm/Physics/root_joint>,
</dual_arm/Physics/base_fixed>,
</dual_arm/Physics/L_SHOULDER_P>,
</dual_arm/Physics/R_SHOULDER_P>,
</dual_arm/Physics/L_SHOULDER_R>,
</dual_arm/Physics/L_SHOULDER_Y>,
</dual_arm/Physics/L_ELBOW_R>,
</dual_arm/Physics/L_WRIST_P>,
</dual_arm/Physics/L_WRIST_Y>,
</dual_arm/Physics/L_WRIST_R>,
</dual_arm/Physics/R_SHOULDER_R>,
</dual_arm/Physics/R_SHOULDER_Y>,
</dual_arm/Physics/R_ELBOW_R>,
</dual_arm/Physics/R_WRIST_P>,
</dual_arm/Physics/R_WRIST_Y>,
</dual_arm/Physics/R_WRIST_R>,
</dual_arm/Physics/R_FINGER_TIP_FIXED>,
</dual_arm/Physics/R_CAM_FIXED>,
]
prepend rel isaac:physics:robotLinks = [
</dual_arm/Geometry/base_link>,
</dual_arm/Geometry/base_link/PELVIS_S>,
</dual_arm/Geometry/base_link/PELVIS_S/L_SHOULDER_P_S>,
</dual_arm/Geometry/base_link/PELVIS_S/L_SHOULDER_P_S/L_SHOULDER_R_S>,
</dual_arm/Geometry/base_link/PELVIS_S/L_SHOULDER_P_S/L_SHOULDER_R_S/L_SHOULDER_Y_S>,
</dual_arm/Geometry/base_link/PELVIS_S/L_SHOULDER_P_S/L_SHOULDER_R_S/L_SHOULDER_Y_S/L_ELBOW_R_S>,
</dual_arm/Geometry/base_link/PELVIS_S/L_SHOULDER_P_S/L_SHOULDER_R_S/L_SHOULDER_Y_S/L_ELBOW_R_S/L_WRIST_P_S>,
</dual_arm/Geometry/base_link/PELVIS_S/L_SHOULDER_P_S/L_SHOULDER_R_S/L_SHOULDER_Y_S/L_ELBOW_R_S/L_WRIST_P_S/L_WRIST_Y_S>,
</dual_arm/Geometry/base_link/PELVIS_S/L_SHOULDER_P_S/L_SHOULDER_R_S/L_SHOULDER_Y_S/L_ELBOW_R_S/L_WRIST_P_S/L_WRIST_Y_S/L_WRIST_R_S>,
</dual_arm/Geometry/base_link/PELVIS_S/R_SHOULDER_P_S>,
</dual_arm/Geometry/base_link/PELVIS_S/R_SHOULDER_P_S/R_SHOULDER_R_S>,
</dual_arm/Geometry/base_link/PELVIS_S/R_SHOULDER_P_S/R_SHOULDER_R_S/R_SHOULDER_Y_S>,
</dual_arm/Geometry/base_link/PELVIS_S/R_SHOULDER_P_S/R_SHOULDER_R_S/R_SHOULDER_Y_S/R_ELBOW_R_S>,
</dual_arm/Geometry/base_link/PELVIS_S/R_SHOULDER_P_S/R_SHOULDER_R_S/R_SHOULDER_Y_S/R_ELBOW_R_S/R_WRIST_P_S>,
</dual_arm/Geometry/base_link/PELVIS_S/R_SHOULDER_P_S/R_SHOULDER_R_S/R_SHOULDER_Y_S/R_ELBOW_R_S/R_WRIST_P_S/R_WRIST_Y_S>,
</dual_arm/Geometry/base_link/PELVIS_S/R_SHOULDER_P_S/R_SHOULDER_R_S/R_SHOULDER_Y_S/R_ELBOW_R_S/R_WRIST_P_S/R_WRIST_Y_S/R_WRIST_R_S>,
</dual_arm/Geometry/base_link/PELVIS_S/R_SHOULDER_P_S/R_SHOULDER_R_S/R_SHOULDER_Y_S/R_ELBOW_R_S/R_WRIST_P_S/R_WRIST_Y_S/R_WRIST_R_S/R_FINGER_TIP>,
</dual_arm/Geometry/base_link/PELVIS_S/R_SHOULDER_P_S/R_SHOULDER_R_S/R_SHOULDER_Y_S/R_ELBOW_R_S/R_WRIST_P_S/R_WRIST_Y_S/R_WRIST_R_S/R_CAM>,
]
token isaac:robotType = "Manipulator"
over "Geometry"
{
over "base_link" (
prepend apiSchemas = ["IsaacLinkAPI"]
)
{
over "PELVIS_S" (
prepend apiSchemas = ["IsaacLinkAPI"]
)
{
over "L_SHOULDER_P_S" (
prepend apiSchemas = ["IsaacLinkAPI"]
)
{
over "L_SHOULDER_R_S" (
prepend apiSchemas = ["IsaacLinkAPI"]
)
{
over "L_SHOULDER_Y_S" (
prepend apiSchemas = ["IsaacLinkAPI"]
)
{
over "L_ELBOW_R_S" (
prepend apiSchemas = ["IsaacLinkAPI"]
)
{
over "L_WRIST_P_S" (
prepend apiSchemas = ["IsaacLinkAPI"]
)
{
over "L_WRIST_Y_S" (
prepend apiSchemas = ["IsaacLinkAPI"]
)
{
over "L_WRIST_R_S" (
prepend apiSchemas = ["IsaacLinkAPI"]
)
{
}
}
}
}
}
}
}
over "R_SHOULDER_P_S" (
prepend apiSchemas = ["IsaacLinkAPI"]
)
{
over "R_SHOULDER_R_S" (
prepend apiSchemas = ["IsaacLinkAPI"]
)
{
over "R_SHOULDER_Y_S" (
prepend apiSchemas = ["IsaacLinkAPI"]
)
{
over "R_ELBOW_R_S" (
prepend apiSchemas = ["IsaacLinkAPI"]
)
{
over "R_WRIST_P_S" (
prepend apiSchemas = ["IsaacLinkAPI"]
)
{
over "R_WRIST_Y_S" (
prepend apiSchemas = ["IsaacLinkAPI"]
)
{
over "R_WRIST_R_S" (
prepend apiSchemas = ["IsaacLinkAPI"]
)
{
over "R_FINGER_TIP" (
prepend apiSchemas = ["IsaacLinkAPI"]
)
{
}
over "R_CAM" (
prepend apiSchemas = ["IsaacLinkAPI"]
)
{
}
}
}
}
}
}
}
}
}
}
}
over "Physics"
{
over "root_joint" (
prepend apiSchemas = ["IsaacJointAPI"]
)
{
}
over "base_fixed" (
prepend apiSchemas = ["IsaacJointAPI"]
)
{
}
over "L_SHOULDER_P" (
prepend apiSchemas = ["IsaacJointAPI"]
)
{
}
over "L_SHOULDER_R" (
prepend apiSchemas = ["IsaacJointAPI"]
)
{
}
over "L_SHOULDER_Y" (
prepend apiSchemas = ["IsaacJointAPI"]
)
{
}
over "L_ELBOW_R" (
prepend apiSchemas = ["IsaacJointAPI"]
)
{
}
over "L_WRIST_P" (
prepend apiSchemas = ["IsaacJointAPI"]
)
{
}
over "L_WRIST_Y" (
prepend apiSchemas = ["IsaacJointAPI"]
)
{
}
over "L_WRIST_R" (
prepend apiSchemas = ["IsaacJointAPI"]
)
{
}
over "R_SHOULDER_P" (
prepend apiSchemas = ["IsaacJointAPI"]
)
{
}
over "R_SHOULDER_R" (
prepend apiSchemas = ["IsaacJointAPI"]
)
{
}
over "R_SHOULDER_Y" (
prepend apiSchemas = ["IsaacJointAPI"]
)
{
}
over "R_ELBOW_R" (
prepend apiSchemas = ["IsaacJointAPI"]
)
{
}
over "R_WRIST_P" (
prepend apiSchemas = ["IsaacJointAPI"]
)
{
}
over "R_WRIST_Y" (
prepend apiSchemas = ["IsaacJointAPI"]
)
{
}
over "R_WRIST_R" (
prepend apiSchemas = ["IsaacJointAPI"]
)
{
}
over "R_FINGER_TIP_FIXED" (
prepend apiSchemas = ["IsaacJointAPI"]
)
{
}
over "R_CAM_FIXED" (
prepend apiSchemas = ["IsaacJointAPI"]
)
{
}
}
}

324
model/xiaoyan_description/dual_arm_collision.usda Normal file
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@ -0,0 +1,324 @@
#usda 1.0
(
defaultPrim = "dual_arm"
kilogramsPerUnit = 1
metersPerUnit = 1
subLayers = [
@dual_arm_2/dual_arm.usda@
]
upAxis = "Z"
)
over "dual_arm"
{
over "Geometry"
{
over "base_link"
{
over "PELVIS_S"
{
over "L_SHOULDER_P_S"
{
over "L_SHOULDER_R_S"
{
over "L_SHOULDER_Y_S"
{
over "L_ELBOW_R_S"
{
over "L_WRIST_P_S"
{
over "L_WRIST_Y_S"
{
over "L_WRIST_R_S" (
instanceable = false
)
{
def Cube "AUTO_COLLISION_BOX" (
prepend apiSchemas = ["PhysicsCollisionAPI"]
customData = {
string collisionGenerator = "trimesh-primitives-v1"
}
)
{
custom token collision:primitiveType = "box"
bool physics:collisionEnabled = 1
uniform token purpose = "guide"
double size = 1
quatd xformOp:orient = (1, 0, 0, 0)
float3 xformOp:scale = (0.11902186, 0.25356677, 0.069732234)
double3 xformOp:translate = (-0.0050100889056921005, 0.11078338418155909, -0.01045313011854887)
uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
}
}
def Cube "AUTO_COLLISION_BOX" (
prepend apiSchemas = ["PhysicsCollisionAPI"]
customData = {
string collisionGenerator = "trimesh-primitives-v1"
}
)
{
custom token collision:primitiveType = "box"
bool physics:collisionEnabled = 1
uniform token purpose = "guide"
double size = 1
quatd xformOp:orient = (0.5000000000000001, -0.5000000000000001, -0.5000000000000001, 0.5000000000000001)
float3 xformOp:scale = (0.0409999, 0.053493902, 0.0595)
double3 xformOp:translate = (-0.0037500001490116098, -5.408977040638672e-19, -0.03274694923311472)
uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
}
}
def Cylinder "AUTO_COLLISION_CYLINDER" (
prepend apiSchemas = ["PhysicsCollisionAPI"]
customData = {
string collisionGenerator = "trimesh-primitives-v1"
}
)
{
uniform token axis = "Z"
custom token collision:primitiveType = "cylinder"
double height = 0.16749374149367213
bool physics:collisionEnabled = 1
uniform token purpose = "guide"
double radius = 0.03765367431379833
quatd xformOp:orient = (0.7071067811865475, -0.7071067811865475, 0, 0)
double3 xformOp:translate = (3.469446951953614e-18, 0.08874687016941607, 0.012211145890315668)
uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
}
}
def Cube "AUTO_COLLISION_BOX" (
prepend apiSchemas = ["PhysicsCollisionAPI"]
customData = {
string collisionGenerator = "trimesh-primitives-v1"
}
)
{
custom token collision:primitiveType = "box"
bool physics:collisionEnabled = 1
uniform token purpose = "guide"
double size = 1
quatd xformOp:orient = (1, 0, 0, 0)
float3 xformOp:scale = (0.069, 0.1285, 0.058)
double3 xformOp:translate = (-0.034500000427457156, 0.03925000037997961, 1.862645149230957e-9)
uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
}
}
def Cube "AUTO_COLLISION_BOX" (
prepend apiSchemas = ["PhysicsCollisionAPI"]
customData = {
string collisionGenerator = "trimesh-primitives-v1"
}
)
{
custom token collision:primitiveType = "box"
bool physics:collisionEnabled = 1
uniform token purpose = "guide"
double size = 1
quatd xformOp:orient = (1, 0, 0, 0)
float3 xformOp:scale = (0.060999997, 0.14400001, 0.062992066)
double3 xformOp:translate = (-0.0008999994024634361, 0.062000001315027475, 0)
uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
}
}
def Cube "AUTO_COLLISION_BOX" (
prepend apiSchemas = ["PhysicsCollisionAPI"]
customData = {
string collisionGenerator = "trimesh-primitives-v1"
}
)
{
custom token collision:primitiveType = "box"
bool physics:collisionEnabled = 1
uniform token purpose = "guide"
double size = 1
quatd xformOp:orient = (1, 0, 0, 0)
float3 xformOp:scale = (0.0785, 0.1725, 0.065)
double3 xformOp:translate = (-0.03925000161955211, 0.056249999441206455, 0)
uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
}
}
def Cube "AUTO_COLLISION_BOX" (
prepend apiSchemas = ["PhysicsCollisionAPI"]
customData = {
string collisionGenerator = "trimesh-primitives-v1"
}
)
{
custom token collision:primitiveType = "box"
bool physics:collisionEnabled = 1
uniform token purpose = "guide"
double size = 1
quatd xformOp:orient = (0.000040139854472664035, -0.00004013985447262077, 0.7071067800472512, 0.7071067800472514)
float3 xformOp:scale = (0.07170313, 0.07299983, 0.104499996)
double3 xformOp:translate = (-0.004348363594192078, 0.06074999878183007, 3.992215372663401e-8)
uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
}
}
def Cube "AUTO_COLLISION_BOX" (
prepend apiSchemas = ["PhysicsCollisionAPI"]
customData = {
string collisionGenerator = "trimesh-primitives-v1"
}
)
{
custom token collision:primitiveType = "box"
bool physics:collisionEnabled = 1
uniform token purpose = "guide"
double size = 1
quatd xformOp:orient = (1, 0, 0, 0)
float3 xformOp:scale = (0.07699999, 0.216, 0.0805)
double3 xformOp:translate = (0, 0, 0.04024999989568795)
uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
}
over "R_SHOULDER_P_S"
{
def Cube "AUTO_COLLISION_BOX" (
prepend apiSchemas = ["PhysicsCollisionAPI"]
customData = {
string collisionGenerator = "trimesh-primitives-v1"
}
)
{
custom token collision:primitiveType = "box"
bool physics:collisionEnabled = 1
uniform token purpose = "guide"
double size = 1
quatd xformOp:orient = (0.7071067800472514, 0.7071067800472515, -0.0000401398544727094, 0.00004013985447257145)
float3 xformOp:scale = (0.07170313, 0.07299983, 0.104499996)
double3 xformOp:translate = (-0.004348363594192072, -0.06074999924749136, 3.992215372663644e-8)
uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
}
over "R_SHOULDER_R_S"
{
def Cube "AUTO_COLLISION_BOX" (
prepend apiSchemas = ["PhysicsCollisionAPI"]
customData = {
string collisionGenerator = "trimesh-primitives-v1"
}
)
{
custom token collision:primitiveType = "box"
bool physics:collisionEnabled = 1
uniform token purpose = "guide"
double size = 1
quatd xformOp:orient = (1, 0, 0, 0)
float3 xformOp:scale = (0.0785, 0.1725, 0.065)
double3 xformOp:translate = (-0.03925000161954845, -0.056249999441206455, 0)
uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
}
over "R_SHOULDER_Y_S"
{
def Cube "AUTO_COLLISION_BOX" (
prepend apiSchemas = ["PhysicsCollisionAPI"]
customData = {
string collisionGenerator = "trimesh-primitives-v1"
}
)
{
custom token collision:primitiveType = "box"
bool physics:collisionEnabled = 1
uniform token purpose = "guide"
double size = 1
quatd xformOp:orient = (1, 0, 0, 0)
float3 xformOp:scale = (0.060999997, 0.14400001, 0.062992066)
double3 xformOp:translate = (-0.0008999994024634361, -0.06200000178068876, 0)
uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
}
over "R_ELBOW_R_S"
{
def Cube "AUTO_COLLISION_BOX" (
prepend apiSchemas = ["PhysicsCollisionAPI"]
customData = {
string collisionGenerator = "trimesh-primitives-v1"
}
)
{
custom token collision:primitiveType = "box"
bool physics:collisionEnabled = 1
uniform token purpose = "guide"
double size = 1
quatd xformOp:orient = (1, 0, 0, 0)
float3 xformOp:scale = (0.069, 0.1285, 0.058)
double3 xformOp:translate = (-0.03450000042745616, -0.03925000037997961, 1.862645149230957e-9)
uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
}
over "R_WRIST_P_S"
{
def Cylinder "AUTO_COLLISION_CYLINDER" (
prepend apiSchemas = ["PhysicsCollisionAPI"]
customData = {
string collisionGenerator = "trimesh-primitives-v1"
}
)
{
uniform token axis = "Z"
custom token collision:primitiveType = "cylinder"
double height = 0.16749374056234956
bool physics:collisionEnabled = 1
uniform token purpose = "guide"
double radius = 0.03765373180894358
quatd xformOp:orient = (0.7071067811865475, -0.7071067811865475, 0, 0)
double3 xformOp:translate = (3.469446951953614e-18, -0.08874687063507736, 0.012211077787740575)
uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
}
over "R_WRIST_Y_S"
{
def Cube "AUTO_COLLISION_BOX" (
prepend apiSchemas = ["PhysicsCollisionAPI"]
customData = {
string collisionGenerator = "trimesh-primitives-v1"
}
)
{
custom token collision:primitiveType = "box"
bool physics:collisionEnabled = 1
uniform token purpose = "guide"
double size = 1
quatd xformOp:orient = (0.5000000000000001, -0.5000000000000001, -0.5000000000000001, 0.5000000000000001)
float3 xformOp:scale = (0.0409999, 0.053493902, 0.0595)
double3 xformOp:translate = (-0.0037500001490116098, -5.408977040638672e-19, -0.03274694923311472)
uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
}
over "R_WRIST_R_S"
{
def Cube "AUTO_COLLISION_BOX" (
prepend apiSchemas = ["PhysicsCollisionAPI"]
customData = {
string collisionGenerator = "trimesh-primitives-v1"
}
)
{
custom token collision:primitiveType = "box"
bool physics:collisionEnabled = 1
uniform token purpose = "guide"
double size = 1
quatd xformOp:orient = (1, 0, 0, 0)
float3 xformOp:scale = (0.11152348, 0.25179133, 0.0779598)
double3 xformOp:translate = (-0.01363389752805233, -0.1093915430828929, -0.014153839088976383)
uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
}
}
}
}
}
}
}
}
}
}
}
}

145
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@ -0,0 +1,145 @@
# 简化碰撞体生成器
统一入口 `generate_collision_primitives.py` 根据输入和输出扩展名自动处理 URDF 或
USD。它读取机器人各个 link 的可视网格，并拟合为 box、sphere 或 cylinder；自动
模式会选择包围体积最小的几何体。
URDF 输入会生成一份包含 `<collision>` 的新 URDF；USD 输入会生成引用原 USD 的
overlay。两种流程都不会修改源文件。USD 生成器还会把长度单位、质量单位和 up axis
复制到 overlay 根层，避免使用默认的厘米制和 Y-up 坐标系。当前双臂模型使用米制、
Z-up 坐标系。
## 预览拟合结果
使用 `--dry-run` 只计算和打印拟合结果，不生成输出文件：
```bash
/home/lgv/app/isaacsim/python.sh \
scripts/isaac_sim/generate_collision_primitives.py \
--input model/xiaoyan_description/dual_arm_2/dual_arm.usda \
--config scripts/isaac_sim/dual_arm_collision.toml \
--dry-run
```
调试配置时，可使用 `--only R_ELBOW_R_S` 只拟合一个 link。
## 生成并验证 overlay USD
先生成到 `/tmp` 进行测试：
```bash
/home/lgv/app/isaacsim/python.sh \
scripts/isaac_sim/generate_collision_primitives.py \
--input model/xiaoyan_description/dual_arm_2/dual_arm.usda \
--output /tmp/dual_arm_collision_test.usda \
--config scripts/isaac_sim/dual_arm_collision.toml \
--replace \
--validate
```
在 Isaac Sim 中打开 `/tmp/dual_arm_collision_test.usda`，并在 Viewport 中启用
Guide Geometry，即可查看碰撞体。默认情况下，overlay 会停用输入 USD 中已有的
网格碰撞实例，避免旧碰撞体和新碰撞体同时生效。
确认结果后，可以生成到项目目录：
```bash
/home/lgv/app/isaacsim/python.sh \
scripts/isaac_sim/generate_collision_primitives.py \
--input model/xiaoyan_description/dual_arm_2/dual_arm.usda \
--output model/xiaoyan_description/dual_arm_collision.usda \
--config scripts/isaac_sim/dual_arm_collision.toml \
--replace \
--validate
```
## 配置单个 link
使用 link 名称编写单独配置：
```toml
[links.R_ELBOW_R_S]
primitive = "cylinder"
axis = "y"
padding = 0.002
scale = 1.0
```
`primitive` 支持以下取值：
- `auto`：自动选择包围体积最小的几何体
- `box`：盒体
- `sphere`：球体
- `cylinder`：圆柱体
盒体设置 `alignment = "link"` 后，会使用与 link 局部 XYZ 轴平行的 AABB，
不会产生自由旋转的斜包围盒。圆柱体设置 `axis = "x"`、`"y"` 或 `"z"` 后，
圆柱轴会固定到对应的 link 局部轴。
其他常用参数：
- `padding`：在碰撞体外侧增加的绝对尺寸，单位为米
- `scale`：以碰撞体中心为基准进行整体缩放
- `enabled = false`：跳过该 link
## USD 中缺少可视网格时回退到 STL
如果导入后的 USD 中缺少某个 link 的可视网格，可以使用 `mesh_file` 指向 URDF
使用的原始 STL：
```toml
[links.L_WRIST_R_S]
mesh_file = "../../model/xiaoyan_description/meshes/L_WRIST_R_S.STL"
primitive = "box"
alignment = "link"
```
相对路径以 TOML 配置文件所在目录为基准。STL 顶点必须使用该 link 的局部坐标系。
## 直接生成带简化碰撞体的 URDF
对于 URDF，统一入口会读取每个 link 的 visual mesh，应用 `<visual><origin>` 和
`<mesh scale>` 后，把拟合结果写成新的 `<collision>`。原始 URDF 不会被修改。
先只预览拟合结果：
```bash
/home/lgv/app/isaacsim/python.sh \
scripts/isaac_sim/generate_collision_primitives.py \
--input model/xiaoyan_description/dual_arm.urdf \
--config scripts/isaac_sim/dual_arm_collision.toml \
--dry-run
```
生成并验证新的 URDF：
```bash
/home/lgv/app/isaacsim/python.sh \
scripts/isaac_sim/generate_collision_primitives.py \
--input model/xiaoyan_description/dual_arm.urdf \
--output model/xiaoyan_description/dual_arm_collision.urdf \
--config scripts/isaac_sim/dual_arm_collision.toml \
--replace \
--validate
```
默认行为是：只对实际生成碰撞体的 link 删除旧 `<collision>`，然后写入一个名为
`AUTO_COLLISION_BOX`、`AUTO_COLLISION_SPHERE` 或 `AUTO_COLLISION_CYLINDER` 的新碰撞体。
配置为 `enabled = false` 的 link 完全不改动，所以当前配置会保留 `base_link` 的底座
圆柱，以及 `R_FINGER_TIP`、`R_CAM` 的原有球体。
调试时可用 `--only L_WRIST_P_S` 只处理一个 link。需要保留某个已存在碰撞体并在其后
追加自动碰撞体时，使用 `--keep-existing`。
## 使用 MeshCat 查看 URDF 碰撞体
生成后可直接启动 MeshCat 查看器。STL 按 URDF 原始材质显示，亮绿色线框是 URDF 的
`<collision>`：
```bash
conda run -n cmvr-es python \
scripts/meshcat/view_urdf_collisions.py \
--input model/xiaoyan_description/dual_arm_collision.urdf
```
完整选项和关节位置设置方法见 `scripts/meshcat/README.md`。

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# 默认配置会应用到所有未单独覆盖的 link。
[defaults]
# auto 会分别拟合 box、sphere、cylinder，并选择包围体积最小的一种。
primitive = "auto"
# auto 模式允许参与比较的碰撞体类型。
allowed_primitives = ["box", "sphere", "cylinder"]
# 碰撞体向外扩张的绝对尺寸，单位为米。0 表示不扩张。
padding = 0.0
# 以拟合中心为基准缩放碰撞体。1.0 表示保持原始拟合尺寸。
scale = 1.0
# trimesh 搜索最小包围圆柱时的方向采样密度；越大越精确，但计算越慢。
cylinder_sample_count = 6
# 圆柱方向优化的角度容差。
cylinder_angle_tol = 0.001
# 仅用于 USD：如果输入中仍有旧的 STL 网格碰撞体，在 overlay 中将其停用。
# URDF 默认替换生成 link 上的旧碰撞体；传入 --keep-existing 可改为追加。
disable_existing_mesh_collisions = true
# base_link 已在 dual_arm.urdf 中明确配置了固定圆柱碰撞体 base_column，
# 不需要根据可视模型重复生成。
[links.base_link]
enabled = false
# 指尖和相机在 dual_arm.urdf 中已经有明确的 sphere 碰撞体，跳过自动拟合。
[links.R_FINGER_TIP]
enabled = false
[links.R_CAM]
enabled = false
# 躯干使用与 PELVIS_S 局部 XYZ 轴平行的长方体。
# alignment="link" 表示使用 link-local AABB，不允许盒体自由倾斜。
[links.PELVIS_S]
primitive = "box"
alignment = "link"
# 左右长连杆在各自 link 局部坐标中主要沿 Y 轴延伸。
# 这些 link 使用轴对齐长方体，避免最小体积 OBB 出现肉眼可见的倾斜。
[links.L_SHOULDER_R_S]
primitive = "box"
alignment = "link"
[links.R_SHOULDER_R_S]
primitive = "box"
alignment = "link"
[links.L_SHOULDER_Y_S]
primitive = "box"
alignment = "link"
[links.R_SHOULDER_Y_S]
primitive = "box"
alignment = "link"
[links.L_ELBOW_R_S]
primitive = "box"
alignment = "link"
[links.R_ELBOW_R_S]
primitive = "box"
alignment = "link"
# 左右前臂使用圆柱体，圆柱轴固定为 link 局部 Y 轴。
# 如果更重视减少自碰撞误报，也可以改为 primitive="box"、alignment="link"。
[links.L_WRIST_P_S]
primitive = "cylinder"
axis = "y"
[links.R_WRIST_P_S]
primitive = "cylinder"
axis = "y"
# 最新导入的 USD 没有提供左右末端腕部的可视网格点，
# 因此回退到 URDF 使用的原始 STL。mesh_file 相对本 TOML 文件解析。
# 末端腕部外形不规则且截面不圆，使用 link 轴对齐长方体。
[links.L_WRIST_R_S]
mesh_file = "../../model/xiaoyan_description/meshes/L_WRIST_R_S.STL"
primitive = "box"
alignment = "link"
[links.R_WRIST_R_S]
mesh_file = "../../model/xiaoyan_description/meshes/R_WRIST_R_S.STL"
primitive = "box"
alignment = "link"

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#!/usr/bin/env python3
"""Fit primitive colliders to a robot's visual meshes and write URDF or USD.
The input and output formats are selected from their file extensions. URDF
output is a new complete document; USD output is an overlay of the input USD.
The source asset is never modified.
"""
from __future__ import annotations
import argparse
import os
from dataclasses import dataclass
from pathlib import Path
import sys
import tomllib
import traceback
import xml.etree.ElementTree as ET
from typing import Any
import numpy as np
import trimesh
GENERATOR_TAG = "trimesh-primitives-v1"
GENERATED_PREFIX = "AUTO_COLLISION_"
PRIMITIVE_TYPES = ("box", "sphere", "cylinder")
@dataclass(frozen=True)
class PrimitiveFit:
kind: str
transform: np.ndarray
dimensions: tuple[float, ...]
volume: float
def _points_array(points: np.ndarray) -> np.ndarray:
result = np.asarray(points, dtype=np.float64)
if result.ndim != 2 or result.shape[1] != 3 or len(result) < 4:
raise ValueError("at least four 3D points are required")
if not np.isfinite(result).all():
raise ValueError("points contain NaN or infinity")
return result
def fit_box(points: np.ndarray, padding: float = 0.0, scale: float = 1.0) -> PrimitiveFit:
points = _points_array(points)
to_box, extents = trimesh.bounds.oriented_bounds(points)
extents = np.asarray(extents, dtype=np.float64) * scale + 2.0 * padding
transform = np.linalg.inv(np.asarray(to_box, dtype=np.float64))
return PrimitiveFit("box", transform, tuple(extents), float(np.prod(extents)))
def fit_link_aligned_box(
points: np.ndarray, padding: float = 0.0, scale: float = 1.0
) -> PrimitiveFit:
points = _points_array(points)
lower = points.min(axis=0)
upper = points.max(axis=0)
extents = (upper - lower) * scale + 2.0 * padding
transform = np.eye(4)
transform[:3, 3] = (lower + upper) / 2.0
return PrimitiveFit("box", transform, tuple(extents), float(np.prod(extents)))
def fit_sphere(points: np.ndarray, padding: float = 0.0, scale: float = 1.0) -> PrimitiveFit:
points = _points_array(points)
center, radius = trimesh.nsphere.minimum_nsphere(points)
radius = float(radius) * scale + padding
transform = np.eye(4)
transform[:3, 3] = center
return PrimitiveFit("sphere", transform, (radius,), float(4.0 * np.pi * radius**3 / 3.0))
def fit_cylinder(
points: np.ndarray,
padding: float = 0.0,
scale: float = 1.0,
sample_count: int = 6,
angle_tol: float = 0.001,
) -> PrimitiveFit:
points = _points_array(points)
result = trimesh.bounds.minimum_cylinder(
points, sample_count=sample_count, angle_tol=angle_tol
)
radius = float(result["radius"]) * scale + padding
height = float(result["height"]) * scale + 2.0 * padding
transform = np.asarray(result["transform"], dtype=np.float64)
volume = float(np.pi * radius**2 * height)
return PrimitiveFit("cylinder", transform, (radius, height), volume)
def fit_axis_aligned_cylinder(
points: np.ndarray,
axis: str,
padding: float = 0.0,
scale: float = 1.0,
) -> PrimitiveFit:
points = _points_array(points)
axis = axis.lower()
if axis not in "xyz":
raise ValueError(f"cylinder axis must be x, y, or z: {axis}")
axis_index = "xyz".index(axis)
radial_indices = [index for index in range(3) if index != axis_index]
radial_center, radius = trimesh.nsphere.minimum_nsphere(
points[:, radial_indices]
)
axial_min = float(points[:, axis_index].min())
axial_max = float(points[:, axis_index].max())
center = np.zeros(3)
center[axis_index] = (axial_min + axial_max) / 2.0
center[radial_indices] = radial_center
radius = float(radius) * scale + padding
height = (axial_max - axial_min) * scale + 2.0 * padding
transform = np.eye(4)
if axis == "x":
transform[:3, :3] = np.array(
[[0.0, 0.0, 1.0], [0.0, 1.0, 0.0], [-1.0, 0.0, 0.0]]
)
elif axis == "y":
transform[:3, :3] = np.array(
[[1.0, 0.0, 0.0], [0.0, 0.0, 1.0], [0.0, -1.0, 0.0]]
)
transform[:3, 3] = center
volume = float(np.pi * radius**2 * height)
return PrimitiveFit("cylinder", transform, (radius, height), volume)
def fit_primitive(
points: np.ndarray,
kind: str,
*,
allowed: list[str],
padding: float,
scale: float,
cylinder_sample_count: int,
cylinder_angle_tol: float,
alignment: str = "oriented",
axis: str | None = None,
) -> PrimitiveFit:
def fit(candidate: str) -> PrimitiveFit:
if candidate == "box":
if alignment == "link":
return fit_link_aligned_box(points, padding, scale)
return fit_box(points, padding, scale)
if candidate == "sphere":
return fit_sphere(points, padding, scale)
if candidate == "cylinder":
if axis:
return fit_axis_aligned_cylinder(points, axis, padding, scale)
return fit_cylinder(
points,
padding,
scale,
cylinder_sample_count,
cylinder_angle_tol,
)
raise ValueError(f"unsupported primitive type: {candidate}")
if kind != "auto":
return fit(kind)
candidates: list[PrimitiveFit] = []
failures: list[str] = []
for candidate in allowed:
try:
candidates.append(fit(candidate))
except Exception as exc: # A degenerate mesh may fail one fitter only.
failures.append(f"{candidate}: {exc}")
if not candidates:
raise RuntimeError("all primitive fits failed: " + "; ".join(failures))
return min(candidates, key=lambda candidate: candidate.volume)
def load_config(path: Path | None) -> dict[str, Any]:
if path is None:
return {}
with path.open("rb") as stream:
config = tomllib.load(stream)
config["_config_dir"] = str(path.parent.resolve())
return config
def link_settings(config: dict[str, Any], link_name: str) -> dict[str, Any]:
settings = dict(config.get("defaults", {}))
settings.update(config.get("links", {}).get(link_name, {}))
return settings
def _find_robot_root(stage: Any, requested_path: str | None) -> Any:
if requested_path:
prim = stage.GetPrimAtPath(requested_path)
if not prim:
raise ValueError(f"robot root does not exist: {requested_path}")
return prim
default_prim = stage.GetDefaultPrim()
if default_prim and default_prim.GetRelationship("isaac:physics:robotLinks").IsValid():
return default_prim
for prim in stage.Traverse():
if prim.GetRelationship("isaac:physics:robotLinks").IsValid():
return prim
raise RuntimeError("could not find an Isaac robotLinks relationship; pass --robot-root")
def find_robot_links(stage: Any, robot_root_path: str | None) -> list[Any]:
root = _find_robot_root(stage, robot_root_path)
targets = root.GetRelationship("isaac:physics:robotLinks").GetTargets()
links = [stage.GetPrimAtPath(path) for path in targets]
links = [prim for prim in links if prim]
if not links:
raise RuntimeError(f"robot has no resolved links: {root.GetPath()}")
return links
def _computed_purpose(prim: Any, UsdGeom: Any) -> str:
imageable = UsdGeom.Imageable(prim)
if not imageable:
return ""
return str(imageable.ComputePurpose())
def collect_visual_points(link: Any, link_paths: set[str], Usd: Any, UsdGeom: Any, UsdPhysics: Any) -> tuple[np.ndarray, set[str]]:
"""Return visual vertices in link coordinates and direct mesh-collider roots."""
cache = UsdGeom.XformCache()
link_to_world = cache.GetLocalToWorldTransform(link)
world_to_link = np.asarray(link_to_world.GetInverse(), dtype=np.float64)
point_sets: list[np.ndarray] = []
mesh_collision_roots: set[str] = set()
for child in link.GetChildren():
if str(child.GetPath()) in link_paths or child.GetName().startswith(GENERATED_PREFIX):
continue
child_has_mesh_collision = False
for prim in Usd.PrimRange(child, Usd.TraverseInstanceProxies()):
if not prim.IsA(UsdGeom.Mesh):
continue
purpose = _computed_purpose(prim, UsdGeom)
is_collision = prim.HasAPI(UsdPhysics.CollisionAPI) or purpose == str(UsdGeom.Tokens.guide)
if is_collision:
child_has_mesh_collision = True
continue
if purpose not in ("", str(UsdGeom.Tokens.default_), str(UsdGeom.Tokens.render)):
continue
points = np.asarray(UsdGeom.Mesh(prim).GetPointsAttr().Get(), dtype=np.float64)
if not len(points):
continue
mesh_to_world = np.asarray(cache.GetLocalToWorldTransform(prim), dtype=np.float64)
mesh_to_link = mesh_to_world @ world_to_link
local_points = points @ mesh_to_link[:3, :3] + mesh_to_link[3, :3]
point_sets.append(local_points)
if child_has_mesh_collision:
mesh_collision_roots.add(str(child.GetPath()))
if not point_sets:
raise RuntimeError(f"no visual mesh vertices found below {link.GetPath()}")
return np.concatenate(point_sets), mesh_collision_roots
def collect_mesh_file_points(path: Path) -> np.ndarray:
"""Load a URDF visual mesh whose vertices are already link-local."""
if not path.is_file():
raise FileNotFoundError(path)
loaded = trimesh.load(path, force="mesh")
if isinstance(loaded, trimesh.Scene):
meshes = tuple(loaded.geometry.values())
if not meshes:
raise RuntimeError(f"mesh file has no geometry: {path}")
loaded = trimesh.util.concatenate(meshes)
return _points_array(np.asarray(loaded.vertices, dtype=np.float64))
def _set_transform(prim: Any, transform: np.ndarray, scale: tuple[float, float, float] | None, Gf: Any, UsdGeom: Any) -> None:
xformable = UsdGeom.Xformable(prim)
translation = transform[:3, 3]
quaternion = trimesh.transformations.quaternion_from_matrix(transform)
xformable.AddTranslateOp().Set(Gf.Vec3d(*translation.tolist()))
xformable.AddOrientOp(UsdGeom.XformOp.PrecisionDouble).Set(
Gf.Quatd(float(quaternion[0]), Gf.Vec3d(*quaternion[1:4].tolist()))
)
if scale is not None:
xformable.AddScaleOp().Set(Gf.Vec3d(*scale))
def prepare_authoring_links(stage: Any, link_paths: list[str]) -> None:
"""De-instance only branches that contain a link requiring a new child."""
instance_roots: set[str] = set()
for link_path in link_paths:
link = stage.GetPrimAtPath(link_path)
if not link:
continue
if link.IsInstance():
instance_roots.add(link_path)
continue
if not link.IsInstanceProxy():
continue
instance_root = link
while instance_root.IsInstanceProxy():
instance_root = instance_root.GetParent()
if not instance_root or not instance_root.IsInstance():
raise RuntimeError(f"could not find an instance root for collision link: {link_path}")
instance_roots.add(str(instance_root.GetPath()))
if not instance_roots:
return
for instance_root in instance_roots:
stage.OverridePrim(instance_root).SetInstanceable(False)
stage.GetRootLayer().Save()
stage.Reload()
still_proxies = [
link_path
for link_path in link_paths
if stage.GetPrimAtPath(link_path).IsInstanceProxy()
]
if still_proxies:
raise RuntimeError(f"links remained instance proxies: {still_proxies}")
def author_primitive(stage: Any, link_path: str, fit: PrimitiveFit, Gf: Any, Sdf: Any, UsdGeom: Any, UsdPhysics: Any) -> str:
prim_path = f"{link_path}/{GENERATED_PREFIX}{fit.kind.upper()}"
if fit.kind == "box":
shape = UsdGeom.Cube.Define(stage, prim_path)
shape.CreateSizeAttr(1.0)
scale = tuple(float(value) for value in fit.dimensions)
elif fit.kind == "sphere":
shape = UsdGeom.Sphere.Define(stage, prim_path)
shape.CreateRadiusAttr(float(fit.dimensions[0]))
scale = None
elif fit.kind == "cylinder":
shape = UsdGeom.Cylinder.Define(stage, prim_path)
shape.CreateAxisAttr(UsdGeom.Tokens.z)
shape.CreateRadiusAttr(float(fit.dimensions[0]))
shape.CreateHeightAttr(float(fit.dimensions[1]))
scale = None
else:
raise AssertionError(fit.kind)
prim = shape.GetPrim()
_set_transform(prim, fit.transform, scale, Gf, UsdGeom)
UsdPhysics.CollisionAPI.Apply(prim).CreateCollisionEnabledAttr(True)
UsdGeom.Imageable(prim).CreatePurposeAttr(UsdGeom.Tokens.guide)
prim.SetCustomDataByKey("collisionGenerator", GENERATOR_TAG)
prim.CreateAttribute("collision:primitiveType", Sdf.ValueTypeNames.Token, custom=True).Set(fit.kind)
return prim_path
def create_overlay_stage(
input_path: Path,
temporary_output: Path,
default_prim_path: str,
source_stage: Any,
Usd: Any,
) -> Any:
stage = Usd.Stage.CreateNew(str(temporary_output))
relative_input = os.path.relpath(input_path, temporary_output.parent)
stage.GetRootLayer().subLayerPaths = [relative_input]
for metadata_key in ("upAxis", "metersPerUnit", "kilogramsPerUnit"):
metadata_value = source_stage.GetMetadata(metadata_key)
if metadata_value is not None:
stage.SetMetadata(metadata_key, metadata_value)
source_default = stage.GetPrimAtPath(default_prim_path)
if not source_default:
raise RuntimeError(f"default prim did not compose into overlay: {default_prim_path}")
stage.SetDefaultPrim(source_default)
return stage
def validate_usd_output(path: Path, expected_count: int, Usd: Any, UsdGeom: Any, UsdPhysics: Any) -> None:
stage = Usd.Stage.Open(str(path))
if not stage.GetDefaultPrim():
raise RuntimeError("output USD has no default prim")
generated = [
prim
for prim in stage.Traverse()
if prim.GetCustomDataByKey("collisionGenerator") == GENERATOR_TAG
]
if len(generated) != expected_count:
raise RuntimeError(f"expected {expected_count} generated colliders, found {len(generated)}")
for prim in generated:
if prim.GetTypeName() not in ("Cube", "Sphere", "Cylinder"):
raise RuntimeError(f"generated collider is not a primitive: {prim.GetPath()}")
if not prim.HasAPI(UsdPhysics.CollisionAPI):
raise RuntimeError(f"CollisionAPI missing: {prim.GetPath()}")
if _computed_purpose(prim, UsdGeom) != str(UsdGeom.Tokens.guide):
raise RuntimeError(f"guide purpose missing: {prim.GetPath()}")
def run_usd(args: argparse.Namespace, Usd: Any, UsdGeom: Any, UsdPhysics: Any, Gf: Any, Sdf: Any) -> int:
input_path = args.input.resolve()
if not input_path.is_file():
raise FileNotFoundError(input_path)
if not args.dry_run and args.output is None:
raise ValueError("--output is required unless --dry-run is used")
config = load_config(args.config.resolve() if args.config else None)
defaults = config.get("defaults", {})
allowed = list(defaults.get("allowed_primitives", PRIMITIVE_TYPES))
invalid = set(allowed) - set(PRIMITIVE_TYPES)
if invalid:
raise ValueError(f"invalid allowed_primitives: {sorted(invalid)}")
source_stage = Usd.Stage.Open(str(input_path))
if not source_stage:
raise RuntimeError(f"could not open USD: {input_path}")
links = find_robot_links(source_stage, args.robot_root)
source_default = source_stage.GetDefaultPrim()
if not source_default:
raise RuntimeError("input USD has no default prim")
link_paths = {str(link.GetPath()) for link in links}
selected = set(args.only)
results: list[tuple[str, PrimitiveFit, set[str]]] = []
for link in links:
name = link.GetName()
if selected and name not in selected:
continue
settings = link_settings(config, name)
if not settings.get("enabled", True):
print(f"SKIP {name}: disabled by configuration")
continue
try:
points, collision_roots = collect_visual_points(
link, link_paths, Usd, UsdGeom, UsdPhysics
)
except RuntimeError as error:
mesh_file = settings.get("mesh_file")
if not mesh_file:
raise RuntimeError(
f"{error}; no mesh_file configured for link name {name!r}"
) from error
mesh_path = Path(mesh_file)
if not mesh_path.is_absolute():
mesh_path = Path(config["_config_dir"]) / mesh_path
points = collect_mesh_file_points(mesh_path.resolve())
collision_roots = set()
print(f"FALLBACK {name}: loaded {mesh_path}")
kind = str(settings.get("primitive", "auto"))
if kind not in (*PRIMITIVE_TYPES, "auto"):
raise ValueError(f"invalid primitive for {name}: {kind}")
fit = fit_primitive(
points,
kind,
allowed=list(settings.get("allowed_primitives", allowed)),
padding=float(settings.get("padding", 0.0)),
scale=float(settings.get("scale", 1.0)),
cylinder_sample_count=int(settings.get("cylinder_sample_count", defaults.get("cylinder_sample_count", 6))),
cylinder_angle_tol=float(settings.get("cylinder_angle_tol", defaults.get("cylinder_angle_tol", 0.001))),
alignment=str(settings.get("alignment", "oriented")),
axis=str(settings["axis"]) if "axis" in settings else None,
)
results.append((str(link.GetPath()), fit, collision_roots))
dimensions = ", ".join(f"{value:.6f}" for value in fit.dimensions)
print(f"FIT {name}: {fit.kind} ({dimensions}), vertices={len(points)}, volume={fit.volume:.8f}")
if selected:
found = {Path(path).name for path, _, _ in results}
missing = selected - found
if missing:
raise ValueError(f"selected links were not generated: {sorted(missing)}")
if args.dry_run:
print(f"Dry run complete: {len(results)} collider(s) fitted")
return 0
output_path = args.output.resolve()
if output_path == input_path:
raise ValueError("input and output must be different files")
if output_path.exists() and not args.replace:
raise FileExistsError(f"output exists; pass --replace: {output_path}")
output_path.parent.mkdir(parents=True, exist_ok=True)
temporary = output_path.with_name(f".{output_path.stem}.tmp{output_path.suffix}")
if temporary.exists():
temporary.unlink()
print(f"CREATE overlay: {temporary}", flush=True)
output_stage = create_overlay_stage(
input_path,
temporary,
str(source_default.GetPath()),
source_stage,
Usd,
)
print("CREATE overlay: composed", flush=True)
prepare_authoring_links(output_stage, [link_path for link_path, _, _ in results])
disable_meshes = bool(defaults.get("disable_existing_mesh_collisions", True))
for link_path, fit, collision_roots in results:
if disable_meshes:
for collision_root in collision_roots:
output_stage.OverridePrim(collision_root).SetActive(False)
authored = author_primitive(
output_stage, link_path, fit, Gf, Sdf, UsdGeom, UsdPhysics
)
print(f"WRITE {authored}")
output_stage.GetRootLayer().Save()
del output_stage
os.replace(temporary, output_path)
if args.validate:
validate_usd_output(output_path, len(results), Usd, UsdGeom, UsdPhysics)
print(f"Validated {len(results)} generated collider(s)")
print(f"Output: {output_path}")
return 0
def _parse_vector(
value: str | None, size: int, default: tuple[float, ...]
) -> np.ndarray:
if value is None:
return np.asarray(default, dtype=np.float64)
result = np.fromstring(value, sep=" ", dtype=np.float64)
if len(result) != size or not np.isfinite(result).all():
raise ValueError(f"expected {size} finite values, got {value!r}")
return result
def _urdf_origin_transform(origin: ET.Element | None) -> np.ndarray:
if origin is None:
return np.eye(4)
xyz = _parse_vector(origin.get("xyz"), 3, (0.0, 0.0, 0.0))
rpy = _parse_vector(origin.get("rpy"), 3, (0.0, 0.0, 0.0))
transform = trimesh.transformations.euler_matrix(*rpy, axes="sxyz")
transform[:3, 3] = xyz
return transform
def _resolve_urdf_mesh_path(filename: str, urdf_path: Path) -> Path:
if filename.startswith("file://"):
path = Path(filename.removeprefix("file://"))
elif filename.startswith("package://"):
package_path = Path(filename.removeprefix("package://"))
if len(package_path.parts) < 2:
raise ValueError(f"invalid package URI: {filename}")
package_name, relative_parts = package_path.parts[0], package_path.parts[1:]
candidates = [
parent / package_name / Path(*relative_parts)
for parent in (urdf_path.parent, *urdf_path.parents)
]
candidates.extend(
parent / Path(*relative_parts)
for parent in urdf_path.parents
if parent.name == package_name
)
for candidate in candidates:
if candidate.is_file():
return candidate.resolve()
raise FileNotFoundError(
f"could not resolve {filename!r} relative to {urdf_path}"
)
else:
path = Path(filename)
if not path.is_absolute():
path = urdf_path.parent / path
path = path.resolve()
if not path.is_file():
raise FileNotFoundError(path)
return path
def collect_urdf_visual_points(link: ET.Element, urdf_path: Path) -> np.ndarray:
"""Collect all visual mesh vertices in the link-local coordinate frame."""
point_sets: list[np.ndarray] = []
for visual in link.findall("visual"):
visual_transform = _urdf_origin_transform(visual.find("origin"))
geometry = visual.find("geometry")
mesh = geometry.find("mesh") if geometry is not None else None
if mesh is None:
continue
filename = mesh.get("filename")
if not filename:
raise ValueError(
f"visual mesh has no filename in link {link.get('name')!r}"
)
vertices = collect_mesh_file_points(
_resolve_urdf_mesh_path(filename, urdf_path)
)
mesh_scale = _parse_vector(mesh.get("scale"), 3, (1.0, 1.0, 1.0))
vertices = trimesh.transform_points(vertices * mesh_scale, visual_transform)
point_sets.append(vertices)
if not point_sets:
raise RuntimeError(f"no visual mesh found in link {link.get('name')!r}")
return np.concatenate(point_sets)
def _format_number(value: float) -> str:
if abs(value) < 5e-13:
value = 0.0
return f"{value:.12g}"
def _format_vector(values: np.ndarray | tuple[float, ...]) -> str:
return " ".join(_format_number(float(value)) for value in values)
def create_urdf_collision(fit: PrimitiveFit) -> ET.Element:
collision = ET.Element(
"collision", {"name": f"{GENERATED_PREFIX}{fit.kind.upper()}"}
)
translation = fit.transform[:3, 3]
rpy = trimesh.transformations.euler_from_matrix(fit.transform, axes="sxyz")
ET.SubElement(
collision,
"origin",
{"xyz": _format_vector(translation), "rpy": _format_vector(rpy)},
)
geometry = ET.SubElement(collision, "geometry")
if fit.kind == "box":
ET.SubElement(geometry, "box", {"size": _format_vector(fit.dimensions)})
elif fit.kind == "sphere":
ET.SubElement(
geometry, "sphere", {"radius": _format_number(fit.dimensions[0])}
)
elif fit.kind == "cylinder":
ET.SubElement(
geometry,
"cylinder",
{
"radius": _format_number(fit.dimensions[0]),
"length": _format_number(fit.dimensions[1]),
},
)
else:
raise AssertionError(fit.kind)
return collision
def _fit_urdf_link(
link: ET.Element,
urdf_path: Path,
config: dict[str, Any],
defaults: dict[str, Any],
allowed: list[str],
) -> tuple[PrimitiveFit, int]:
name = link.get("name", "")
settings = link_settings(config, name)
try:
points = collect_urdf_visual_points(link, urdf_path)
except RuntimeError as error:
mesh_file = settings.get("mesh_file")
if not mesh_file:
raise RuntimeError(str(error)) from error
mesh_path = Path(mesh_file)
if not mesh_path.is_absolute():
mesh_path = Path(config["_config_dir"]) / mesh_path
points = collect_mesh_file_points(mesh_path.resolve())
print(f"FALLBACK {name}: loaded {mesh_path}")
kind = str(settings.get("primitive", "auto"))
if kind not in (*PRIMITIVE_TYPES, "auto"):
raise ValueError(f"invalid primitive for {name}: {kind}")
link_allowed = list(settings.get("allowed_primitives", allowed))
invalid = set(link_allowed) - set(PRIMITIVE_TYPES)
if invalid:
raise ValueError(f"invalid allowed_primitives for {name}: {sorted(invalid)}")
fit = fit_primitive(
points,
kind,
allowed=link_allowed,
padding=float(settings.get("padding", 0.0)),
scale=float(settings.get("scale", 1.0)),
cylinder_sample_count=int(
settings.get(
"cylinder_sample_count", defaults.get("cylinder_sample_count", 6)
)
),
cylinder_angle_tol=float(
settings.get(
"cylinder_angle_tol", defaults.get("cylinder_angle_tol", 0.001)
)
),
alignment=str(settings.get("alignment", "oriented")),
axis=str(settings["axis"]) if "axis" in settings else None,
)
return fit, len(points)
def _parse_urdf(path: Path) -> ET.ElementTree:
parser = ET.XMLParser(target=ET.TreeBuilder(insert_comments=True))
tree = ET.parse(path, parser=parser)
root = tree.getroot()
if root.tag != "robot":
raise ValueError(f"URDF root must be <robot>, found <{root.tag}>")
return tree
def validate_urdf_output(path: Path, expected: dict[str, PrimitiveFit]) -> None:
root = _parse_urdf(path).getroot()
links = {link.get("name", ""): link for link in root.findall("link")}
missing = set(expected) - set(links)
if missing:
raise RuntimeError(f"output URDF is missing links: {sorted(missing)}")
for name, fit in expected.items():
generated = [
collision
for collision in links[name].findall("collision")
if collision.get("name", "").startswith(GENERATED_PREFIX)
]
if len(generated) != 1:
raise RuntimeError(
f"expected one generated collider on {name}, found {len(generated)}"
)
geometry = generated[0].find("geometry")
primitive_count = (
sum(geometry.find(kind) is not None for kind in PRIMITIVE_TYPES)
if geometry is not None
else 0
)
if primitive_count != 1:
raise RuntimeError(f"invalid generated collision geometry on {name}")
written_transform = _urdf_origin_transform(generated[0].find("origin"))
if not np.allclose(written_transform, fit.transform, atol=1e-9, rtol=1e-9):
error = float(np.max(np.abs(written_transform - fit.transform)))
raise RuntimeError(
f"generated collision transform changed on {name}: max error {error}"
)
primitive = geometry.find(fit.kind)
if primitive is None:
raise RuntimeError(f"expected {fit.kind} collision geometry on {name}")
if fit.kind == "box":
dimensions = _parse_vector(primitive.get("size"), 3, ())
elif fit.kind == "sphere":
dimensions = np.asarray([float(primitive.get("radius", "nan"))])
else:
dimensions = np.asarray(
[
float(primitive.get("radius", "nan")),
float(primitive.get("length", "nan")),
]
)
expected_dimensions = np.asarray(fit.dimensions)
if (
not np.isfinite(dimensions).all()
or (dimensions <= 0.0).any()
or not np.allclose(
dimensions, expected_dimensions, atol=1e-9, rtol=1e-9
)
):
raise RuntimeError(
f"generated collision dimensions changed on {name}: "
f"expected {expected_dimensions}, found {dimensions}"
)
def run_urdf(args: argparse.Namespace) -> int:
input_path = args.input.resolve()
if not input_path.is_file():
raise FileNotFoundError(input_path)
if not args.dry_run and args.output is None:
raise ValueError("--output is required unless --dry-run is used")
config = load_config(args.config.resolve() if args.config else None)
defaults = config.get("defaults", {})
allowed = list(defaults.get("allowed_primitives", PRIMITIVE_TYPES))
invalid = set(allowed) - set(PRIMITIVE_TYPES)
if invalid:
raise ValueError(f"invalid allowed_primitives: {sorted(invalid)}")
tree = _parse_urdf(input_path)
root = tree.getroot()
selected = set(args.only)
known_names = {link.get("name", "") for link in root.findall("link")}
unknown = selected - known_names
if unknown:
raise ValueError(f"selected links do not exist: {sorted(unknown)}")
results: list[tuple[ET.Element, PrimitiveFit]] = []
for link in root.findall("link"):
name = link.get("name", "")
if selected and name not in selected:
continue
settings = link_settings(config, name)
if not settings.get("enabled", True):
print(f"SKIP {name}: disabled by configuration")
continue
fit, vertex_count = _fit_urdf_link(
link, input_path, config, defaults, allowed
)
results.append((link, fit))
dimensions = ", ".join(f"{value:.6f}" for value in fit.dimensions)
print(
f"FIT {name}: {fit.kind} ({dimensions}), "
f"vertices={vertex_count}, volume={fit.volume:.8f}"
)
if args.dry_run:
print(f"Dry run complete: {len(results)} collider(s) fitted")
return 0
output_path = args.output.resolve()
if output_path == input_path:
raise ValueError("input and output must be different files")
if output_path.exists() and not args.replace:
raise FileExistsError(f"output exists; pass --replace: {output_path}")
expected: dict[str, PrimitiveFit] = {}
for link, fit in results:
if not args.keep_existing:
for collision in list(link.findall("collision")):
link.remove(collision)
link.append(create_urdf_collision(fit))
expected[link.get("name", "")] = fit
output_path.parent.mkdir(parents=True, exist_ok=True)
temporary = output_path.with_name(f".{output_path.stem}.tmp{output_path.suffix}")
if temporary.exists():
temporary.unlink()
ET.indent(tree, space=" ")
tree.write(temporary, encoding="utf-8", xml_declaration=True)
os.replace(temporary, output_path)
if args.validate:
validate_urdf_output(output_path, expected)
print(f"Validated {len(expected)} generated collider(s)")
print(f"Output: {output_path}")
return 0
def parse_args(argv: list[str]) -> argparse.Namespace:
parser = argparse.ArgumentParser(description=__doc__)
parser.add_argument("--input", required=True, type=Path, help="source URDF or USD")
parser.add_argument("--output", type=Path, help="generated URDF or overlay USD")
parser.add_argument("--config", type=Path, help="TOML fitting configuration")
parser.add_argument(
"--robot-root", help="USD robot root prim path, if auto-detection fails"
)
parser.add_argument(
"--only",
action="append",
default=[],
metavar="LINK",
help="generate only selected link (repeatable)",
)
parser.add_argument(
"--keep-existing",
action="store_true",
help="URDF only: append instead of replacing collisions on generated links",
)
parser.add_argument(
"--dry-run", action="store_true", help="fit and print without writing output"
)
parser.add_argument(
"--replace", action="store_true", help="atomically replace an existing output"
)
parser.add_argument(
"--validate", action="store_true", help="reopen and validate generated output"
)
return parser.parse_args(argv)
def _asset_format(path: Path) -> str:
suffix = path.suffix.lower()
if suffix == ".urdf":
return "urdf"
if suffix in (".usd", ".usda", ".usdc"):
return "usd"
raise ValueError(
f"unsupported file extension {path.suffix!r}; expected .urdf, .usd, .usda, or .usdc"
)
def _validate_format_options(args: argparse.Namespace, asset_format: str) -> None:
if args.output is not None and _asset_format(args.output) != asset_format:
raise ValueError("input and output formats must match")
if asset_format == "urdf" and args.robot_root:
raise ValueError("--robot-root is only valid for USD input")
if asset_format == "usd" and args.keep_existing:
raise ValueError("--keep-existing is only valid for URDF input")
def main(argv: list[str] | None = None) -> int:
try:
args = parse_args(sys.argv[1:] if argv is None else argv)
asset_format = _asset_format(args.input)
_validate_format_options(args, asset_format)
if asset_format == "urdf":
return run_urdf(args)
from isaacsim import SimulationApp
simulation_app = SimulationApp({"headless": True})
try:
from pxr import Gf, Sdf, Usd, UsdGeom, UsdPhysics
return run_usd(args, Usd, UsdGeom, UsdPhysics, Gf, Sdf)
finally:
simulation_app.close()
except Exception:
traceback.print_exc()
sys.stderr.flush()
return 1
if __name__ == "__main__":
raise SystemExit(main())

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# URDF 碰撞体查看器
`view_urdf_collisions.py` 使用 MeshCat 显示 URDF 中的碰撞体。默认按 Isaac Sim 风格
原样显示视觉 STL 和 URDF 材质，并用亮绿色线框显示 `<collision>`。它直接解析 URDF
的 link、joint 和 origin，不依赖 Pinocchio。
## 安装
当前 `cmvr-es` Conda 环境已经安装 MeshCat。其他环境可执行：
```bash
python -m pip install -r scripts/meshcat/requirements.txt
```
## 运行
推荐先激活 `cmvr-es` 环境，再进入项目根目录：
```bash
conda activate cmvr-es
cd /home/lgv/cmvr/0-workspace/cmvr-es
python \
scripts/meshcat/view_urdf_collisions.py \
--input model/xiaoyan_description/dual_arm_collision.urdf
```
不能在 `/home/lgv/Desktop` 等其他目录直接使用上述相对路径，否则 Python 会在当前
目录中查找 `scripts/` 和 `model/`。另外，MeshCat 安装在 `cmvr-es` 环境中，当前提示符
如果是 `(base)`，需要先执行 `conda activate cmvr-es`。
如果需要从任意目录启动，使用完整绝对路径和 `conda run`：
```bash
conda run -n cmvr-es python \
/home/lgv/cmvr/0-workspace/cmvr-es/scripts/meshcat/view_urdf_collisions.py \
--input /home/lgv/cmvr/0-workspace/cmvr-es/model/xiaoyan_description/dual_arm_collision.urdf
```
脚本会打开浏览器，并持续运行到按下 `Ctrl+C`。如果不希望自动打开浏览器，可增加
`--no-browser`，然后手动打开终端输出的 `MeshCat URL`。
需要关闭终端后继续查看，或者希望页面刷新后仍然保留场景时，导出独立 HTML：
```bash
conda run -n cmvr-es python \
scripts/meshcat/view_urdf_collisions.py \
--input model/xiaoyan_description/dual_arm_collision.urdf \
--export-html /tmp/dual_arm_collision_meshcat.html
```
独立 HTML 会嵌入视觉 STL 和碰撞体，因此文件较大，但不再依赖后台 Python 进程或
WebSocket 连接。
只显示碰撞体：
```bash
conda run -n cmvr-es python \
scripts/meshcat/view_urdf_collisions.py \
--input model/xiaoyan_description/dual_arm_collision.urdf \
--collision-only
```
设置关节位置，旋转关节的单位为弧度：
```bash
conda run -n cmvr-es python \
scripts/meshcat/view_urdf_collisions.py \
--input model/xiaoyan_description/dual_arm_collision.urdf \
--joint L_SHOULDER_P=0.5 \
--joint R_SHOULDER_P=-0.5
```
其他显示选项：
- `--solid-collisions`：把碰撞体切换为半透明实体
- `--visual-opacity 0.15`：需要透视内部时降低视觉模型透明度
- `--collision-opacity 0.8`：调整碰撞体线框或实体透明度
- `--collision-color 00ff66`：使用十六进制颜色覆盖默认绿色
- `--collision-cylinder-lines 12`：默认 12 条轴向母线，每 30° 一条

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meshcat==0.3.2
numpy>=1.24

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#!/usr/bin/env python3
"""Visualize URDF collision geometry and optional visual meshes in MeshCat."""
from __future__ import annotations
import argparse
from dataclasses import dataclass
import math
import os
from pathlib import Path
import subprocess
import sys
import time
import traceback
import webbrowser
import xml.etree.ElementTree as ET
import meshcat
import meshcat.geometry as geometry
import numpy as np
@dataclass(frozen=True)
class Joint:
name: str
kind: str
parent: str
child: str
origin: np.ndarray
axis: np.ndarray
mimic: tuple[str, float, float] | None
def parse_vector(
value: str | None, size: int, default: tuple[float, ...]
) -> np.ndarray:
if value is None:
return np.asarray(default, dtype=np.float64)
parts = value.split()
if len(parts) != size:
raise ValueError(f"expected {size} values, got {value!r}")
result = np.asarray([float(part) for part in parts], dtype=np.float64)
if not np.isfinite(result).all():
raise ValueError(f"values contain NaN or infinity: {value!r}")
return result
def rpy_rotation(rpy: np.ndarray) -> np.ndarray:
roll, pitch, yaw = rpy
cr, sr = math.cos(roll), math.sin(roll)
cp, sp = math.cos(pitch), math.sin(pitch)
cy, sy = math.cos(yaw), math.sin(yaw)
return np.array(
[
[cy * cp, cy * sp * sr - sy * cr, cy * sp * cr + sy * sr],
[sy * cp, sy * sp * sr + cy * cr, sy * sp * cr - cy * sr],
[-sp, cp * sr, cp * cr],
],
dtype=np.float64,
)
def origin_transform(origin: ET.Element | None) -> np.ndarray:
transform = np.eye(4)
if origin is None:
return transform
transform[:3, :3] = rpy_rotation(
parse_vector(origin.get("rpy"), 3, (0.0, 0.0, 0.0))
)
transform[:3, 3] = parse_vector(
origin.get("xyz"), 3, (0.0, 0.0, 0.0)
)
return transform
def axis_angle_transform(axis: np.ndarray, angle: float) -> np.ndarray:
norm = float(np.linalg.norm(axis))
if norm < 1e-12:
raise ValueError("joint axis must not be zero")
x, y, z = axis / norm
c, s = math.cos(angle), math.sin(angle)
one_minus_c = 1.0 - c
transform = np.eye(4)
transform[:3, :3] = np.array(
[
[c + x * x * one_minus_c, x * y * one_minus_c - z * s, x * z * one_minus_c + y * s],
[y * x * one_minus_c + z * s, c + y * y * one_minus_c, y * z * one_minus_c - x * s],
[z * x * one_minus_c - y * s, z * y * one_minus_c + x * s, c + z * z * one_minus_c],
],
dtype=np.float64,
)
return transform
def translation_transform(offset: np.ndarray) -> np.ndarray:
transform = np.eye(4)
transform[:3, 3] = offset
return transform
def parse_joint_values(values: list[str]) -> dict[str, float]:
result: dict[str, float] = {}
for assignment in values:
name, separator, raw_value = assignment.partition("=")
if not separator or not name or not raw_value:
raise ValueError(
f"invalid --joint value {assignment!r}; expected NAME=VALUE"
)
if name in result:
raise ValueError(f"joint value specified more than once: {name}")
value = float(raw_value)
if not math.isfinite(value):
raise ValueError(f"joint value must be finite: {assignment!r}")
result[name] = value
return result
def parse_joints(root: ET.Element) -> dict[str, Joint]:
joints: dict[str, Joint] = {}
children: set[str] = set()
for element in root.findall("joint"):
name = element.get("name")
kind = element.get("type")
parent_element = element.find("parent")
child_element = element.find("child")
if not name or not kind or parent_element is None or child_element is None:
raise ValueError("every joint needs name, type, parent, and child")
parent = parent_element.get("link")
child = child_element.get("link")
if not parent or not child:
raise ValueError(f"joint {name!r} has an empty parent or child")
if name in joints:
raise ValueError(f"duplicate joint name: {name}")
if child in children:
raise ValueError(f"link {child!r} has more than one parent joint")
axis_element = element.find("axis")
axis = parse_vector(
axis_element.get("xyz") if axis_element is not None else None,
3,
(1.0, 0.0, 0.0),
)
mimic_element = element.find("mimic")
mimic = None
if mimic_element is not None:
source = mimic_element.get("joint")
if not source:
raise ValueError(f"mimic joint {name!r} has no source joint")
mimic = (
source,
float(mimic_element.get("multiplier", "1")),
float(mimic_element.get("offset", "0")),
)
joints[name] = Joint(
name=name,
kind=kind,
parent=parent,
child=child,
origin=origin_transform(element.find("origin")),
axis=axis,
mimic=mimic,
)
children.add(child)
return joints
def resolve_joint_values(
joints: dict[str, Joint], requested: dict[str, float]
) -> dict[str, float]:
unknown = set(requested) - set(joints)
if unknown:
raise ValueError(f"unknown joints: {sorted(unknown)}")
fixed = [name for name in requested if joints[name].kind == "fixed"]
if fixed:
raise ValueError(f"fixed joints cannot be assigned: {sorted(fixed)}")
resolved: dict[str, float] = {}
def resolve(name: str, stack: set[str]) -> float:
if name in resolved:
return resolved[name]
if name in stack:
raise ValueError(f"mimic joint cycle contains {name!r}")
joint = joints[name]
if name in requested:
value = requested[name]
elif joint.mimic is not None:
source, multiplier, offset = joint.mimic
if source not in joints:
raise ValueError(
f"mimic joint {name!r} references unknown joint {source!r}"
)
value = multiplier * resolve(source, stack | {name}) + offset
else:
value = 0.0
resolved[name] = value
return value
for joint_name in joints:
resolve(joint_name, set())
return resolved
def joint_motion(joint: Joint, value: float) -> np.ndarray:
if joint.kind == "fixed":
return np.eye(4)
if joint.kind in ("revolute", "continuous"):
return axis_angle_transform(joint.axis, value)
if joint.kind == "prismatic":
norm = float(np.linalg.norm(joint.axis))
if norm < 1e-12:
raise ValueError(f"joint {joint.name!r} axis must not be zero")
axis = joint.axis / norm
return translation_transform(axis * value)
raise ValueError(
f"joint {joint.name!r} uses unsupported type {joint.kind!r}; "
"supported types are fixed, revolute, continuous, and prismatic"
)
def compute_link_transforms(
root: ET.Element, joints: dict[str, Joint], values: dict[str, float]
) -> dict[str, np.ndarray]:
links = {element.get("name") for element in root.findall("link")}
if None in links:
raise ValueError("every link needs a name")
children = {joint.child for joint in joints.values()}
roots = links - children
if not roots:
raise ValueError("URDF has no root link")
transforms = {name: np.eye(4) for name in roots}
pending = list(joints.values())
while pending:
unresolved: list[Joint] = []
for joint in pending:
if joint.parent not in links or joint.child not in links:
raise ValueError(
f"joint {joint.name!r} references a missing parent or child link"
)
if joint.parent not in transforms:
unresolved.append(joint)
continue
transforms[joint.child] = (
transforms[joint.parent]
@ joint.origin
@ joint_motion(joint, values[joint.name])
)
if len(unresolved) == len(pending):
names = [joint.name for joint in unresolved]
raise ValueError(f"joint graph is cyclic or disconnected: {names}")
pending = unresolved
return transforms
def resolve_mesh_path(filename: str, urdf_path: Path) -> Path:
if filename.startswith("file://"):
path = Path(filename.removeprefix("file://"))
elif filename.startswith("package://"):
package_path = Path(filename.removeprefix("package://"))
if len(package_path.parts) < 2:
raise ValueError(f"invalid package URI: {filename}")
package_name, relative_parts = package_path.parts[0], package_path.parts[1:]
candidates = [
parent / package_name / Path(*relative_parts)
for parent in (urdf_path.parent, *urdf_path.parents)
]
candidates.extend(
parent / Path(*relative_parts)
for parent in urdf_path.parents
if parent.name == package_name
)
for candidate in candidates:
if candidate.is_file():
return candidate.resolve()
raise FileNotFoundError(
f"could not resolve {filename!r} relative to {urdf_path}"
)
else:
path = Path(filename)
if not path.is_absolute():
path = urdf_path.parent / path
path = path.resolve()
if not path.is_file():
raise FileNotFoundError(path)
return path
def load_mesh(path: Path) -> geometry.Geometry:
suffix = path.suffix.lower()
if suffix == ".stl":
return geometry.StlMeshGeometry.from_file(str(path))
if suffix == ".obj":
return geometry.ObjMeshGeometry.from_file(str(path))
if suffix == ".dae":
return geometry.DaeMeshGeometry.from_file(str(path))
raise ValueError(
f"unsupported mesh format {path.suffix!r}: {path}; "
"MeshCat viewer supports STL, OBJ, and DAE"
)
def cylinder_dimensions(cylinder: ET.Element) -> tuple[float, float]:
radius = float(cylinder.get("radius", "nan"))
length = float(cylinder.get("length", "nan"))
if (
not math.isfinite(radius)
or not math.isfinite(length)
or radius <= 0.0
or length <= 0.0
):
raise ValueError(
f"cylinder radius and length must be positive: {radius}, {length}"
)
return radius, length
def cylinder_correction() -> np.ndarray:
correction = np.eye(4)
# Three.js cylinders use local Y; URDF cylinders use local Z.
correction[:3, :3] = rpy_rotation(np.array([math.pi / 2.0, 0.0, 0.0]))
return correction
def cylinder_wireframe(
radius: float,
length: float,
generator_count: int,
color: int,
opacity_value: float,
ring_segments: int = 64,
) -> geometry.LineSegments:
vertices: list[tuple[float, float, float]] = []
half_length = length / 2.0
# Smooth top and bottom rings, without cap triangulation spokes.
for y in (-half_length, half_length):
for index in range(ring_segments):
first = 2.0 * math.pi * index / ring_segments
second = 2.0 * math.pi * (index + 1) / ring_segments
vertices.extend(
[
(radius * math.cos(first), y, radius * math.sin(first)),
(radius * math.cos(second), y, radius * math.sin(second)),
]
)
# Sparse axial generator lines; six means one line every 60 degrees.
for index in range(generator_count):
angle = 2.0 * math.pi * index / generator_count
x = radius * math.cos(angle)
z = radius * math.sin(angle)
vertices.extend([(x, -half_length, z), (x, half_length, z)])
points = np.asarray(vertices, dtype=np.float32).T
material = geometry.LineBasicMaterial(
color=color,
transparent=opacity_value < 1.0,
opacity=opacity_value,
)
return geometry.LineSegments(geometry.PointsGeometry(points), material)
def geometry_object(
geometry_element: ET.Element, urdf_path: Path
) -> tuple[geometry.Geometry, np.ndarray]:
box = geometry_element.find("box")
sphere = geometry_element.find("sphere")
cylinder = geometry_element.find("cylinder")
mesh = geometry_element.find("mesh")
correction = np.eye(4)
if box is not None:
size = parse_vector(box.get("size"), 3, ())
if (size <= 0.0).any():
raise ValueError(f"box size must be positive: {size}")
return geometry.Box(size), correction
if sphere is not None:
radius = float(sphere.get("radius", "nan"))
if not math.isfinite(radius) or radius <= 0.0:
raise ValueError(f"sphere radius must be positive: {radius}")
return geometry.Sphere(radius), correction
if cylinder is not None:
radius, length = cylinder_dimensions(cylinder)
return geometry.Cylinder(length, radius), cylinder_correction()
if mesh is not None:
filename = mesh.get("filename")
if not filename:
raise ValueError("mesh geometry has no filename")
scale = parse_vector(mesh.get("scale"), 3, (1.0, 1.0, 1.0))
correction[:3, :3] = np.diag(scale)
return load_mesh(resolve_mesh_path(filename, urdf_path)), correction
raise ValueError("geometry must contain box, sphere, cylinder, or mesh")
def parse_rgba(value: str) -> tuple[float, float, float, float]:
rgba = parse_vector(value, 4, ())
if ((rgba < 0.0) | (rgba > 1.0)).any():
raise ValueError(f"RGBA values must be between 0 and 1: {value!r}")
return tuple(float(component) for component in rgba)
def rgb_integer(rgb: tuple[float, float, float]) -> int:
red, green, blue = (round(component * 255.0) for component in rgb)
return (red << 16) | (green << 8) | blue
def visual_rgba(
visual: ET.Element,
named_materials: dict[str, tuple[float, float, float, float]],
) -> tuple[float, float, float, float]:
material = visual.find("material")
if material is None:
return (0.65, 0.68, 0.72, 1.0)
color = material.find("color")
if color is not None and color.get("rgba"):
return parse_rgba(color.get("rgba", ""))
name = material.get("name")
if name and name in named_materials:
return named_materials[name]
return (0.65, 0.68, 0.72, 1.0)
def named_materials(
root: ET.Element,
) -> dict[str, tuple[float, float, float, float]]:
result: dict[str, tuple[float, float, float, float]] = {}
for material in root.findall("material"):
name = material.get("name")
color = material.find("color")
if name and color is not None and color.get("rgba"):
result[name] = parse_rgba(color.get("rgba", ""))
return result
def parse_color(value: str) -> int:
normalized = value.removeprefix("#").removeprefix("0x")
if len(normalized) != 6:
raise argparse.ArgumentTypeError("color must use RRGGBB format")
try:
result = int(normalized, 16)
except ValueError as error:
raise argparse.ArgumentTypeError("color must use RRGGBB format") from error
return result
def opacity(value: str) -> float:
result = float(value)
if not 0.0 <= result <= 1.0:
raise argparse.ArgumentTypeError("opacity must be between 0 and 1")
return result
def cylinder_lines(value: str) -> int:
result = int(value)
if result < 3:
raise argparse.ArgumentTypeError("cylinder line count must be at least 3")
return result
def safe_name(value: str) -> str:
return value.replace("/", "_")
def render_urdf(
viewer: meshcat.Visualizer,
root: ET.Element,
urdf_path: Path,
link_transforms: dict[str, np.ndarray],
*,
collision_only: bool,
visual_opacity: float,
collision_opacity: float,
collision_color: int,
wireframe: bool,
collision_cylinder_lines: int,
) -> tuple[int, int]:
viewer.delete()
materials = named_materials(root)
visual_count = 0
collision_count = 0
collision_material = geometry.MeshPhongMaterial(
color=collision_color,
transparent=collision_opacity < 1.0,
opacity=collision_opacity,
wireframe=wireframe,
)
for link in root.findall("link"):
link_name = link.get("name", "")
link_transform = link_transforms[link_name]
if not collision_only:
for index, visual in enumerate(link.findall("visual")):
geometry_element = visual.find("geometry")
if geometry_element is None:
raise ValueError(f"visual geometry missing on link {link_name!r}")
shape, correction = geometry_object(geometry_element, urdf_path)
rgba = visual_rgba(visual, materials)
alpha = visual_opacity * rgba[3]
material = geometry.MeshPhongMaterial(
color=rgb_integer(rgba[:3]),
transparent=alpha < 1.0,
opacity=alpha,
)
node = viewer[
f"robot/visual/{safe_name(link_name)}/visual_{index}"
]
node.set_object(shape, material)
node.set_transform(
link_transform
@ origin_transform(visual.find("origin"))
@ correction
)
visual_count += 1
for index, collision in enumerate(link.findall("collision")):
geometry_element = collision.find("geometry")
if geometry_element is None:
raise ValueError(f"collision geometry missing on link {link_name!r}")
cylinder = geometry_element.find("cylinder")
if wireframe and cylinder is not None:
radius, length = cylinder_dimensions(cylinder)
shape = cylinder_wireframe(
radius,
length,
collision_cylinder_lines,
collision_color,
collision_opacity,
)
correction = cylinder_correction()
custom_line_object = True
else:
shape, correction = geometry_object(geometry_element, urdf_path)
custom_line_object = False
node = viewer[
f"robot/collision/{safe_name(link_name)}/collision_{index}"
]
if custom_line_object:
node.set_object(shape)
else:
node.set_object(shape, collision_material)
node.set_transform(
link_transform
@ origin_transform(collision.find("origin"))
@ correction
)
collision_count += 1
return visual_count, collision_count
def close_viewer(viewer: meshcat.Visualizer) -> None:
"""Close MeshCat 0.3.x without relying on its broken Visualizer.close()."""
window = viewer.window
window.zmq_socket.close(linger=0)
server_process = window.server_proc
if server_process is None or server_process.poll() is not None:
return
server_process.terminate()
try:
server_process.wait(timeout=3.0)
except subprocess.TimeoutExpired:
server_process.kill()
server_process.wait(timeout=3.0)
def export_static_html(viewer: meshcat.Visualizer, output: Path) -> None:
output = output.resolve()
if output.suffix.lower() != ".html":
raise ValueError(f"MeshCat snapshot must use an .html extension: {output}")
output.parent.mkdir(parents=True, exist_ok=True)
temporary = output.with_name(f".{output.stem}.tmp{output.suffix}")
temporary.write_text(viewer.static_html(), encoding="utf-8")
os.replace(temporary, output)
def parse_args(argv: list[str]) -> argparse.Namespace:
parser = argparse.ArgumentParser(description=__doc__)
parser.add_argument("--input", required=True, type=Path, help="URDF to display")
parser.add_argument(
"--joint",
action="append",
default=[],
metavar="NAME=VALUE",
help="joint position in radians, or meters for prismatic joints",
)
parser.add_argument(
"--collision-only",
action="store_true",
help="hide visual geometry and display only collisions",
)
parser.add_argument(
"--visual-opacity",
type=opacity,
default=1.0,
help="visual geometry opacity (default: 1.0)",
)
parser.add_argument(
"--collision-opacity",
type=opacity,
default=1.0,
help="collision geometry opacity (default: 1.0)",
)
parser.add_argument(
"--collision-color",
type=parse_color,
default=parse_color("00ff00"),
metavar="RRGGBB",
help="collision color in hexadecimal (default: 00ff00)",
)
parser.add_argument(
"--collision-cylinder-lines",
"--collision-cylinder-segments",
dest="collision_cylinder_lines",
type=cylinder_lines,
default=12,
metavar="COUNT",
help="axial lines on collision cylinders (default: 12, every 30 degrees)",
)
collision_style = parser.add_mutually_exclusive_group()
collision_style.add_argument(
"--wireframe",
dest="wireframe",
action="store_true",
default=True,
help="draw collision geometry as wireframe (default)",
)
collision_style.add_argument(
"--solid-collisions",
dest="wireframe",
action="store_false",
help="draw collision geometry as translucent solids",
)
parser.add_argument(
"--no-browser", action="store_true", help="do not automatically open a browser"
)
parser.add_argument(
"--export-html",
type=Path,
help="write a standalone MeshCat HTML snapshot and exit",
)
parser.add_argument(
"--exit-after-load",
action="store_true",
help=argparse.SUPPRESS,
)
parser.add_argument(
"--zmq-url", help="connect to an existing MeshCat ZMQ server"
)
return parser.parse_args(argv)
def run(args: argparse.Namespace) -> int:
urdf_path = args.input.resolve()
if not urdf_path.is_file():
raise FileNotFoundError(urdf_path)
if urdf_path.suffix.lower() != ".urdf":
raise ValueError(f"input must be a .urdf file: {urdf_path}")
root = ET.parse(urdf_path).getroot()
if root.tag != "robot":
raise ValueError(f"URDF root must be <robot>, found <{root.tag}>")
joints = parse_joints(root)
requested = parse_joint_values(args.joint)
values = resolve_joint_values(joints, requested)
link_transforms = compute_link_transforms(root, joints, values)
viewer = meshcat.Visualizer(zmq_url=args.zmq_url)
visual_count, collision_count = render_urdf(
viewer,
root,
urdf_path,
link_transforms,
collision_only=args.collision_only,
visual_opacity=args.visual_opacity,
collision_opacity=args.collision_opacity,
collision_color=args.collision_color,
wireframe=args.wireframe,
collision_cylinder_lines=args.collision_cylinder_lines,
)
if collision_count == 0:
raise RuntimeError(f"URDF contains no <collision> elements: {urdf_path}")
url = viewer.url()
print(f"Loaded: {urdf_path}")
print(f"Visual geometry: {visual_count}")
print(f"Collision geometry: {collision_count}")
print(f"MeshCat URL: {url}", flush=True)
if args.export_html is not None:
export_static_html(viewer, args.export_html)
snapshot_uri = args.export_html.resolve().as_uri()
print(f"Standalone snapshot: {snapshot_uri}", flush=True)
if not args.no_browser:
webbrowser.open(snapshot_uri, new=2)
close_viewer(viewer)
return 0
if not args.no_browser:
viewer.open()
if args.exit_after_load:
close_viewer(viewer)
return 0
print("Press Ctrl+C to stop the viewer.", flush=True)
try:
while True:
time.sleep(1.0)
except KeyboardInterrupt:
print("Stopping MeshCat viewer.")
finally:
close_viewer(viewer)
return 0
def main(argv: list[str] | None = None) -> int:
try:
return run(parse_args(sys.argv[1:] if argv is None else argv))
except Exception:
traceback.print_exc()
return 1
if __name__ == "__main__":
raise SystemExit(main())