lgv
4e9bd398f1
Add URDF and USD collision primitive generation, MeshCat collision visualization, configuration, documentation, and generated Isaac Sim assets for the dual-arm model.
53 lines
1.2 KiB
Plaintext
53 lines
1.2 KiB
Plaintext
#usda 1.0
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(
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customLayerData = {
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string creator = "URDF USD Converter v0.1.3"
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}
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defaultPrim = "dual_arm"
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doc = """Generated from Composed Stage of root layer /tmp/tmpa433zx62/dual_arm.usdc
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Generated from Composed Stage of root layer /tmp/urdf_import_dual_arm__0kvb3li/usdex_dual_arm/dual_arm.usdc
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Generated from Composed Stage of root layer /tmp/urdf_import_dual_arm__0kvb3li/temp_dual_arm/dual_arm.usd
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Generated from Composed Stage of root layer /home/lgv/cmvr/0-workspace/cmvr-es/model/xiaoyan_description/dual_arm_2/payloads/base.usd
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"""
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kilogramsPerUnit = 1
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metersPerUnit = 1
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upAxis = "Z"
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)
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def Xform "dual_arm" (
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prepend references = @./payloads/base.usda@
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variants = {
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string Physics = "physx"
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}
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append variantSets = "Physics"
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)
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{
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variantSet "Physics" = {
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"mujoco" (
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prepend payload = @./payloads/Physics/mujoco.usda@
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) {
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}
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"none" {
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}
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"physics" (
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prepend payload = @./payloads/Physics/physics.usda@
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) {
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}
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"physx" (
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prepend payload = @./payloads/Physics/physx.usda@
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) {
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}
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}
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}
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