sunxianghui/isaac_linkerbot
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

Add LinkerHand Isaac Sim bridge and G20 assets.

Browse Source 
Includes G20 PLAN/cmd_u8 bridge, joint mapping, dual-hand sim scripts,
and G20/L20/O6 URDF with USD payloads for Isaac Sim integration.

Co-authored-by: Cursor <cursoragent@cursor.com>
This commit is contained in:
sunxianghui
2026-07-27 14:13:00 +08:00
commit 0b727785c6
134 changed files with 17662 additions and 0 deletions
Download Patch File Download Diff File Expand all files Collapse all files
.gitignore
+4
View File
@@ -0,0 +1,4 @@
__pycache__/
*.pyc
*.pyo
.DS_Store
docs/G20_Isaac_实现说明.md
+328
View File
@@ -0,0 +1,328 @@
# G20 左手 · Isaac Sim 仿真实现说明
本文记录 **Isaac G20 PLAN 名义弧度桥** 从 URDF 到 USD、再到可跑仿真的完整实现过程，以及相对原始 URDF / 自动转换结果的全部具体改动。
- **函数调用与逐步逻辑**：见 [`G20_Isaac_技术详解.md`](./G20_Isaac_技术详解.md)（推荐先读此文理解代码）
- **MuJoCo 对照**：`/home/lxqs/linker_hand_mujoco_ros2/docs/G20_MuJoCo_实现说明.md` / `G20_MuJoCo_技术详解.md`
---
## 1. 目标与数据流
### 1.1 目标
- 在 Isaac Sim / PhysX 中仿真 LinkerHand G20 **左手**。
- 默认兼容真机 SDK 话题：`/g20/cb_left_hand_control_cmd`（0~255）。
- 可选 PLAN 名义弧度话题（按关节名）。
- 关节名、映射、mimic、拇指上限 **1.47**、对比视角与 MuJoCo 桥对齐。
- 默认 **位置硬写**（`set_dof_positions`），可选 `--pd-drive`。
### 1.2 端到端数据流
```text
/g20/cb_left_hand_control_cmd (默认，0~255)
或 /retarget/g20/left/joint_target_nominal (--plan-nominal)
或 /cb_left_hand_control_cmd (--legacy-sdk，旧无前缀)
│
▼
joint_mapping.py
· range_to_arc / sdk_range_to_*（hand="G20", side="left"）
· SDK15：thumb_mcp = arc/1.02
· SDK16..19：*_pip = arc/0.89
· complete_g20_mimic_positions
│
▼
isaac_g20_plan_bridge.py
· Articulation 硬写 set_dof_positions（默认）
或 set_dof_position_targets（--pd-drive）
· 每 render 帧内 phys_per_render 次物理步进（默认 16）
│
▼
/sim/isaac/g20/left/joint_state
+ Omniverse 透视相机（COMPARE_*）
```
---
## 2. 关键文件路径
| 角色 | 绝对路径 |
|------|----------|
| 启动脚本 | `/home/lxqs/isaacsim/linkerhand/run_g20_plan.sh` |
| 桥主程序 | `/home/lxqs/isaacsim/linkerhand/isaac_g20_plan_bridge.py` |
| 关节映射 | `/home/lxqs/isaacsim/linkerhand/joint_mapping.py` |
| 源 URDF | `/home/lxqs/isaacsim/linkerhand/urdf/g20/left/linkerhand_g20_left.urdf` |
| 网格 | `/home/lxqs/isaacsim/linkerhand/urdf/g20/left/meshes/*.STL` |
| 默认 USD 根 | `/home/lxqs/isaacsim/linkerhand/urdf/g20/left/linkerhand_g20_left/linkerhand_g20_left.usda` |
| Isaac Python | `$ISAAC_SIM_DIR/python.sh`（默认 `/home/lxqs/isaacsim/_build/linux-x86_64/release/python.sh`） |
**旁路（非 PLAN 桥，勿混淆）：**
- `linker_hand_dual_sim.py` + `run_sim.sh`：另一套双端/稳定性仿真，默认 PD 参数不同。
---
## 3. 从 URDF 到 USD
### 3.1 URDF 来源
- SolidWorks → URDF Exporter 导出的 G20 左手。
- 与 MuJoCo 仓内 URDF/网格同源；网格与 MuJoCo 侧 **MD5 一致**。
- 当前仅有 **左手** USD；无 G20 右手资产。
### 3.2 URDF 上我们改过什么
| 改动项 | 具体内容 |
|--------|----------|
| `thumb_cmc_roll` 上限 | `upper="1.47"`（rad）；注释/映射写明相对原 **1.4** 试调 |
| mimic（URDF 内保留） | `thumb_ip` ← `thumb_mcp` × **1.02**；四指 `*_dip` ← `*_pip` × **0.89** |
| 其余限位 | 与 MuJoCo 侧同一套（见 MuJoCo 文档关节表） |
Isaac 侧 Physics USD 中对应角度上限：
- `physics:upperLimit = 84.22480`（度）= **1.47 rad**（`payloads/Physics/physics.usda` 中 `thumb_cmc_roll`）。
### 3.3 转换方式（重要）
**运行时不导入 URDF。**
桥内 `_load_g20()` 使用：
```text
stage_utils.add_reference_to_stage(usd_path=默认 .usda)
```
挂的是 **预烘焙 USD**。根层标注：
```text
creator = "URDF USD Converter v0.1.3"
```
即离线用 Isaac / URDF→USD 转换器生成，再经手改 Physics / 碰撞实例后定稿。
### 3.4 USD 资源树（转换产物结构）
```text
linkerhand_g20_left.usda # 根；默认 Physics variant = "physx"
└── payloads/
base.usda
robot.usda
geometries.usd / materials.usda
instances.usda # 碰撞实例（convexHull + 选择性开关）
Physics/
physics.usda # 关节限位等
physx.usda # PhysX articulation / 自碰等
mujoco.usda # 转换器附带的 Mjc 层（桥走 physx）
hand_body_limits.usda # 刚体线/角速度与阻尼限制
```
桥启动时显式：`set_prim_variants(..., [("Physics", "physx")])`。
### 3.5 相对「纯 URDF→USD」我们改过的 Physics / 碰撞
#### A. 自碰与求解器（`physx.usda`）
| 项 | 值 |
|----|-----|
| `physxArticulation:enabledSelfCollisions` | **1**（开） |
| solver 位置/速度迭代 | **32 / 4** |
| `sleepThreshold` | **0.005** |
| 关节 `maxJointVelocity` | **171.887** |
| 关节 `armature` | **0.05** |
#### B. 刚体限速（`hand_body_limits.usda`）
各 link 大致：
- `maxLinearVelocity = 3.0`
- `maxAngularVelocity = 360.0`
- linear/angular damping **6.0**
目的：降低 PD 握拳等场景下爆炸/乱飞。
#### C. 选择性碰撞（`instances.usda`）——核心手改
碰撞近似：`physics:approximation = "convexHull"`，`purpose = "guide"`。
注释写明策略：**掌心 + 指尖开碰撞；近端/中节多数关掉**，避免张开姿态假嵌入、以及 PD 握拳末端爆炸。
| 碰撞 | 典型 link（`physics:collisionEnabled`） |
|------|------------------------------------------|
| **ON (=1)** | `hand_base_link`（掌心）、`thumb_distal`、`index_distal`、`middle_distal`、`pinky_distal`（`ring_distal` 复用 index 远端实例，同样 ON） |
| **OFF (=0)** | CMC/掌骨近端、四指 `proximal`/`middle`、拇指 shaft 等 |
接触偏移示例：`contactOffset = 0.001`，`restOffset = -0.0005`。
说明：这与 MuJoCo 的「胶囊 + exclude + 投影」是 **不同手段**；Isaac 默认硬写时 PhysX 接触 **不能** 像 MuJoCo `collision_project` 那样在写位置前把姿态投影回去，硬写仍可能视觉穿模。
#### D. 运行时补丁（桥代码，非 USD 文件）
| 函数/常量 | 具体行为 |
|-----------|----------|
| `_patch_joint_max_forces` | RevoluteJoint angular drive `maxForce` 若 **&lt; 8.0** 则抬到 **8.0** |
| `_fix_base_to_world` | 钉住 `hand_base_link`（改 `root_joint` 或建 `WorldFixedJoint`） |
| 安装位姿 | `/World/G20Hand` 位置 **`[0.0, 0.45, 0.70]`**（`HAND_MOUNT_Y/Z`） |
| 自碰 API | 默认跟随 USD 开自碰；`--no-self-collision` 时 `set_enabled_self_collisions(False)` |
---
## 4. 关节映射 `joint_mapping.py`
与 MuJoCo `g20_joints.py` 的 G20 左手数值 **一致**（同一套 SDK 表 / MIN/MAX/DIR / OPEN / mimic / SDK15–19 规则）。
### 4.1 SDK → 关节
| SDK | 关节 |
|-----|------|
| 0 | `thumb_cmc_pitch` |
| 1–4 | `index/middle/ring/pinky_mcp_pitch` |
| 5 | `thumb_cmc_roll` |
| 6–9 | `index/middle/ring/pinky_mcp_roll` |
| 10 | `thumb_cmc_yaw` |
| 11–14 | 预留 |
| 15 | `thumb_mcp` ← 写入 `arc/1.02` |
| 16–19 | `*_pip` ← 写入 `arc/0.89` |
### 4.2 我们写入/试调过的表项
```text
# 通道5 注释：试调 1.47（原 1.4）
G20_L_MAX[5] = 1.47
# 左手侧摆 6..9：与 L20_L_DIR 不同，强制为 +1
G20_L_DIR = [-1×6, 1,1,1,1, -1, 0×4, -1×5]
DIP_MIMIC_MULTIPLIER = 0.89
THUMB_IP_MIMIC_MULTIPLIER = 1.02
```
张开预设 `G20_OPEN_CMD` 与 MuJoCo 相同：
```text
[255×6, 193, 148, 105, 42, 245, 255×4, 255×5]
```
主动 16 关节 / 从动 5 关节（mimic）划分与 MuJoCo 一致。
---
## 5. 桥节点 `isaac_g20_plan_bridge.py` 做了哪些事
### 5.1 话题
| 模式 | 订阅 | 发布 |
|------|------|------|
| 默认 | `/g20/cb_left_hand_control_cmd` | `/sim/isaac/g20/left/joint_state` |
| `--plan-nominal` | `/retarget/g20/left/joint_target_nominal` | 同上 |
| `--legacy-sdk` | `/cb_left_hand_control_cmd` | 同上 |
- 消息类型：`sensor_msgs/JointState`。
- cmd：优先按 `name` 映射到 SDK 索引；否则按下标。
- 发布：仿真 DOF 名 + 弧度（及 velocity）。
- `TOPIC_LEGACY_STATE = /cb_left_hand_state` 已定义，但当前 **未实际发布**（`legacy_pub` 恒为 `None`）。
ROS2 节点名：`isaac_g20_plan_bridge`；启用扩展：`isaacsim.ros2.bridge`。
### 5.2 写关节方式
| 模式 | API | 细节 |
|------|-----|------|
| **默认硬写** | `set_dof_positions` + `set_dof_velocities(0)` | 写 **全关节含 mimic**；gains 全 0，避免与硬写冲突；物理步进后常再钉一次 |
| **`--pd-drive`** | `set_dof_position_targets` | **仅主动关节**；mimic gains=0；拇指四关节 stiff/damp/effort ≈ **10/3/6**，其余 ≈ **15/2.5/8** |
其它：
- 物理 `dt = 1/120`；默认 `phys_per_render = 16`。
- slew：`--slew-rad`，单位是 **rad / 物理步**，默认 **`0.0`（瞬达）**（与 MuJoCo 的 rad/s 不同）。
- 限位边距：`LIMIT_MARGIN_RAD = 0.05`。
- `--hand-gravity`：仅 PD 模式下有意义。
- 检测到 NaN/Inf → 复位到张开位姿。
### 5.3 对比视角（与 MuJoCo 对齐）
| 常量 | 值 |
|------|-----|
| `COMPARE_LOOKAT_LOCAL` | `(0.04, -0.04, 0.12)` |
| `COMPARE_DISTANCE` | `0.50` |
| `COMPARE_ELEVATION_DEG` | `-12.0` |
| 方位 | 相机从 **+X** 看向 lookat（等价 MuJoCo `azimuth=180`） |
| 手世界原点 | `(0, HAND_MOUNT_Y, HAND_MOUNT_Z) = (0, 0.45, 0.70)` |
| 相机 prim | `/OmniverseKit_Persp` |
### 5.4 CLI 开关一览
`--headless`、`--g20-usd`、`--plan-nominal`、`--legacy-sdk`、`--pd-drive`、`--hand-gravity`、`--no-self-collision`、`--slew-rad`、`--phys-per-render`、`--track-test`、`--cmd-topic`、`--nominal-topic`、`--sim-state-topic`、`--max-steps`
**没有** MuJoCo 那套 `--no-collision-project`（Isaac 侧无同款投影算法）。
### 5.5 相对「只加载 URDF 默认导入」桥层额外保证
1. 固定使用预烘焙 USD + PhysX variant。
2. 基座钉世界，手抬离地面安装。
3. 驱动 maxForce 下限补丁。
4. 默认硬写零增益；PD 模式单独设拇指/四指增益。
5. 自碰默认 ON，可用 CLI 关。
6. ROS2 话题与 MuJoCo/真机协议对齐（状态话题前缀不同：`/sim/isaac/...`）。
---
## 6. 如何启动
```bash
/home/lxqs/isaacsim/linkerhand/run_g20_plan.sh
```
脚本等价于：
```bash
"$ISAAC_SIM_DIR/python.sh" /home/lxqs/isaacsim/linkerhand/isaac_g20_plan_bridge.py "$@"
```
常用：
```bash
./run_g20_plan.sh --plan-nominal
./run_g20_plan.sh --pd-drive
./run_g20_plan.sh --no-self-collision
./run_g20_plan.sh --headless --track-test
./run_g20_plan.sh --slew-rad 0.02 --phys-per-render 8
```
---
## 7. 与 MuJoCo 实现的差异（必须分清）
| 项 | Isaac（本文） | MuJoCo |
|----|---------------|--------|
| 模型 | 预烘焙 **USD** | **MJCF** |
| 运行时是否读 URDF | **否** | 否（读 MJCF；MJCF 由 URDF 转出） |
| 状态话题 | `/sim/isaac/g20/left/joint_state` | `/sim/mujoco/g20/left/joint_state` |
| 默认驱动 | `set_dof_positions` 硬写 | `qpos` 硬写 + `mj_forward` |
| 可选 PD | PhysX angular drive | MJCF `<position>` + `mj_step` |
| **collision project** | **无** | **有**（默认开） |
| 防穿模资产手段 | `instances.usda` 选择性 collider + 自碰 | visual/capsule 分层 + 28 条 exclude |
| slew | rad/**物理步**，默认 0 | rad/**秒**，默认 5.0；另有墙钟 `speed=1.35` |
| 手位姿 | 世界 `(0, 0.45, 0.70)` | 世界原点 |
| 映射 | `joint_mapping.py` | `g20_joints.py`（G20 left 同数值） |
---
## 8. 改动 chronologically（便于对照）
1. URDF + meshes 入库；离线 **URDF USD Converter v0.1.3** → `linkerhand_g20_left.usda`。
2. 手改 Physics：自碰、求解器、armature、body limits。
3. 手改 `instances.usda`：只开掌心 + 指尖等 collider。
4. `thumb_cmc_roll` 上限改为 **1.47**（URDF + Physics 度制上限 + `G20_L_MAX`）。
5. 实现 `isaac_g20_plan_bridge.py`：硬写默认、可选 PD、钉基座、maxForce 补丁、安装偏置。
6. 话题对齐 `/g20/cb_left_hand_control_cmd`；状态发 `/sim/isaac/...`。
7. 视角 `COMPARE_*` 与 MuJoCo 对齐（+X 看掌心）。
8. SDK15–19 除 mimic 与 MuJoCo/真机语义对齐（写进 `joint_mapping.py`）。
---
## 9. 已知限制
1. 默认硬写下，PhysX 接触 **推不开** 被写死的 DOF；穿模缓解主要靠选择性碰撞几何，**没有** MuJoCo 式投影。
2. 近端/中节碰撞多为 OFF：邻指中段穿模可能检不出。
3. 凸包近似与视觉 mesh 非凸外形不一致。
4. 仅左手 G20 USD。
5. `dual_sim` 与 PLAN 桥参数不同，联调时不要混用入口脚本。
docs/G20_Isaac_技术详解.md
+499
View File
@@ -0,0 +1,499 @@
# G20 左手 · Isaac Sim 技术详解
本文面向**读代码、改逻辑、排查问题**：按「程序从哪进、函数怎么调、数据怎么流」写清楚实现细节。
资产路径、URDF→USD 改动清单见 [`G20_Isaac_实现说明.md`](./G20_Isaac_实现说明.md)。
MuJoCo 对照：[`G20_MuJoCo_技术详解.md`](../../linker_hand_mujoco_ros2/docs/G20_MuJoCo_技术详解.md)（若在 mujoco 仓的 `docs/` 下阅读，则为同目录链接）。
主文件：
| 角色 | 路径 |
|------|------|
| 桥主程序 | `/home/lxqs/isaacsim/linkerhand/isaac_g20_plan_bridge.py` |
| 关节映射 | `/home/lxqs/isaacsim/linkerhand/joint_mapping.py` |
| 启动脚本 | `/home/lxqs/isaacsim/linkerhand/run_g20_plan.sh` |
| 默认 USD | `.../urdf/g20/left/linkerhand_g20_left/linkerhand_g20_left.usda` |
---
## 1. 总体结构：单线程循环（与 MuJoCo 不同）
Isaac 桥**没有**单独的 ROS daemon 线程，也**没有** `threading.Lock`。
主循环里每个物理步先 `rclpy.spin_once`，再写关节、再 `SimulationManager.step()`。
```text
┌─────────────────────────────────────────────────────────────┐
│ 模块加载期（import 顶层） │
│ parse_args() │
│ SimulationApp(...) # 必须最早启动 Isaac │
│ enable_extension(ros2.bridge) │
│ import joint_mapping / rclpy │
├─────────────────────────────────────────────────────────────┤
│ main() 初始化 │
│ create_new_stage / GroundPlane / DistantLight │
│ _load_g20(usd) → Articulation │
│ _fix_base_to_world / set_dof_gains / 自碰 │
│ G20PlanBridge(...) │
│ apply_targets() 初始 snap 到 open │
├─────────────────────────────────────────────────────────────┤
│ 主循环（每 render 帧内跑 phys_per_render 次物理步） │
│ for _ in range(phys_per_render): │
│ rclpy.spin_once(node) # 处理回调 → 改 goal │
│ bridge.apply_targets() # slew → 写 Articulation │
│ SimulationManager.step() # PhysX 一步 │
│ recover_if_invalid() │
│ bridge.publish_state() │
│ if 位置硬写: apply_targets() 再钉一次 │
│ RenderingManager.render() │
│ simulation_app.update() │
└─────────────────────────────────────────────────────────────┘
```
**核心状态变量（`G20PlanBridge`）：**
| 变量 | 类型 | 含义 |
|------|------|------|
| `goal` | `dict[str, float]` | 最新目标关节角（弧度，含 mimic） |
| `applied` | `dict[str, float]` | 本步实际写入的角（slew 后） |
| `targets` | 同 `applied` | 别名，历史兼容 |
| `track_nominal` | `dict[str, float] \| None` | 主动关节目标，供 `tracking_error()` |
| `dof_index` | `dict[str, int]` | 关节名 → Articulation DOF 下标 |
| `use_physics_drive` | `bool` | True=`--pd-drive`；False=位置硬写 |
**与 MuJoCo 的关键差异：**
| 项 | Isaac | MuJoCo |
|----|-------|--------|
| 线程模型 | 单线程 `spin_once` + 物理循环 | ROS daemon + 主仿真线程 + Lock |
| 防穿模 | USD 选择性 collider + 自碰 | `collision_project` + `mj_forward` |
| slew 单位 | **rad / 物理步**，默认 **0**（瞬达） | **rad / 秒**，默认 **5.0** |
| 写关节 API | `set_dof_positions` / `set_dof_position_targets` | `data.qpos` + `mj_forward` |
| 物理步进 | 每 render 默认 16 次 `SimulationManager.step` | 硬写模式不 `mj_step` |
---
## 2. 程序入口与加载顺序（很重要）
入口：`./run_g20_plan.sh` → `$ISAAC_SIM_DIR/python.sh isaac_g20_plan_bridge.py`。
### 2.1 为何 `parse_args` + `SimulationApp` 在顶层？
```text
# 文件顶层执行顺序（main 之前）
parse_args() # ① 先解析，因为 SimulationApp 要 headless
SimulationApp({"headless": ...}) # ② 启动 Omniverse / PhysX 运行时
... import isaacsim.* ...
from joint_mapping import ...
enable_extension("isaacsim.ros2.bridge")
simulation_app.update()
import rclpy ...
```
Isaac 要求：**先有 `SimulationApp`，才能 import 多数 isaacsim 模块**。
因此参数解析不能放在 `main()` 里才做；顶层 `args = parse_args()` 是刻意的。
`_normalize_argv`：把 `-pd-drive` 这类单横杠改成 `--pd-drive`，避免被 argparse 拆成 `-p -d ...`。
### 2.2 `main()` 调用链
```text
main()
├── stage_utils.create_new_stage()
├── GroundPlane / DistantLight
├── _compare_camera_eye_target() → set_camera_view(...)
├── hand_path = _load_g20(args.g20_usd)
│ ├── define_prim("/World/G20Hand")
│ ├── XformPrim(..., positions=[[0, 0.45, 0.70]])
│ ├── add_reference_to_stage(usd → .../hand)
│ ├── set_prim_variants(Physics=physx)
│ └── _patch_joint_max_forces(hand_path)
├── SimulationManager.set_physics_dt(1/120)
├── play → update → _fix_base_to_world → stop → play
├── art = Articulation(hand_path)
├── art.set_enabled_self_collisions(...)
├── art.set_link_enabled_gravities(...)
├── set_dof_gains / set_dof_max_efforts # 见 §5
├── rclpy.init(); Node("isaac_g20_plan_bridge")
├── G20PlanBridge(...)
├── slew=0; apply_targets(); 恢复 slew # 初始 snap open
└── while simulation_app.is_running():
for _ in range(phys_per_render): # 默认 16
spin_once → apply_targets → step → publish → [再钉]
render + update
```
---
## 3. 场景加载相关函数
### 3.1 `_load_g20(usd_path) → hand_path`
```python
mount = "/World/G20Hand"
stage_utils.define_prim(mount, "Xform")
XformPrim(mount, positions=[[0.0, HAND_MOUNT_Y, HAND_MOUNT_Z]], ...)
hand_path = f"{mount}/hand"
stage_utils.add_reference_to_stage(usd_path=..., path=hand_path)
prim_utils.set_prim_variants(hand_path, variants=[("Physics", "physx")])
_patch_joint_max_forces(hand_path)
return hand_path
```
要点：
1. **运行时不读 URDF**，只挂预烘焙 USD。
2. 手装在世界坐标 `(0, 0.45, 0.70)`，离地，避免和地面穿插。
3. Physics variant 强制 `physx`（USD 里还有 mujoco/newton 等层）。
### 3.2 `_patch_joint_max_forces(hand_path, max_force=8.0)`
遍历手下面所有 `UsdPhysics.RevoluteJoint`，取 angular DriveAPI：
```python
if maxForce < 8.0:
attr.Set(8.0)
```
防止某些关节 drive 力矩上限太小，PD 跟不上。
### 3.3 `_fix_base_to_world(hand_path)`
钉住掌心，手不会掉下去：
1. 在手 prim 树里找 `hand_base_link`（或 `base_link` / `palm`）RigidBody。
2. 若已有合法 `root_joint`：改 `LocalPos0/Rot0` 对齐当前世界位姿，Body1=base，Body0=世界。
3. 否则新建 `{hand_path}/WorldFixedJoint`（`UsdPhysics.FixedJoint`）。
调用时机：`play → update → fix → stop → play`，让 PhysX 在重建 articulation 前把固定关节写进 stage。
### 3.4 `_compare_camera_eye_target()`
与 MuJoCo `COMPARE_*` 对齐：
```python
target = hand_origin + COMPARE_LOOKAT_LOCAL # (0.04,-0.04,0.12) 相对手
eye.x = target.x + distance * cos(elev) # 从 +X 看
eye.z = target.z - distance * sin(elev) # elev=-12° 略俯视
```
`set_camera_view(eye, target, "/OmniverseKit_Persp")`；play/stop 后会再设一次，防止 viewport 被重置。
---
## 4. 映射层：`joint_mapping.py` 函数说明
与 MuJoCo `g20_joints.py` **数值一致**，但 API 多了 `hand`/`side` 参数（同一文件还服务 O6/L20）。
### 4.1 Legacy 0~255 调用链
```text
_on_cmd_u8(msg)
vals = [255]*20
优先按 msg.name → L20_SDK_TO_URDF 反查 SDK 索引填 vals
否则按下标填 vals[:20]
sdk_range_to_full_urdf_positions(vals, "G20", "left")
├── sdk_range_to_urdf_positions(...)
│ ├── range_to_arc(vals, "G20", "left")
│ └── SDK15: thumb_mcp = arc/1.02
│ SDK16..19: *_pip = arc/0.89
└── 补全 dip/ip（函数内部直接写，不等价于再调 complete_*，结果相同）
set_nominal_targets(full)
└── goal = complete_g20_mimic_positions(positions)
```
### 4.2 `range_to_arc(values, hand, side)`
```python
j_min, j_max, j_dir = _tables("G20", "left") # → G20_L_MIN/MAX/DIR
for i in 0..19:
if 11 <= i <= 14: continue
if j_dir[i] == -1:
arcs[i] = lerp(val, 0, 255, j_max[i], j_min[i])
else:
arcs[i] = lerp(val, 0, 255, j_min[i], j_max[i]) # 侧摆 6..9
```
### 4.3 `sdk_range_to_urdf_positions` vs `sdk_range_to_full_urdf_positions`
| 函数 | 输出 |
|------|------|
| `sdk_range_to_urdf_positions` | 仅主动 16 关节（已做 SDK15/16~19 除 mimic） |
| `sdk_range_to_full_urdf_positions` | 主动 + 软件解析的 `thumb_ip` / `*_dip` |
Isaac **硬写模式**写全关节（含 mimic）；**PD 模式**只写主动关节，mimic 交给 PhysX USD mimic。
### 4.4 `complete_g20_mimic_positions`
与 MuJoCo 相同：`thumb_ip = thumb_mcp * 1.02`，`*_dip = *_pip * 0.89`；已有 mimic 值不覆盖。
### 4.5 `open_hand_command("G20")`
返回 `G20_OPEN_CMD`（float 列表），与 MuJoCo `G20_OPEN_CMD` 同值。
### 4.6 PLAN 名义路径
```text
_on_nominal(msg)
incoming = {name: position}
缺主动关节 → 与旧 goal 合并
goal = complete_g20_mimic_positions(merged)
track_nominal = {主动关节: goal[...]}
```
注意：Isaac 回调里**直接改 `self.goal`**，没有 MuJoCo 的 `_set_goal_only` + Lock；因为主循环同线程 `spin_once`，不存在并发写 Articulation。
---
## 5. 驱动模式：`set_dof_gains` 与 `apply_targets`
### 5.1 初始化时增益怎么设（`main` 里）
**默认位置硬写：**
```python
art.set_dof_gains(stiffnesses=zeros(n), dampings=zeros(n))
```
零增益，避免 PD 与 `set_dof_positions` 抢控制。
**`--pd-drive`：**
```python
# 主动关节
拇指四关节: stiff/damp/effort = 10 / 3 / 6
其余主动: stiff/damp/effort = 15 / 2.5 / 8
art.set_dof_gains(...); art.set_dof_max_efforts(...)
# mimic 关节强制 0 增益 —— 否则与 PhysX mimic 冲突 → Invalid PhysX transform
art.set_dof_gains(0, 0, dof_indices=mimic_idx)
```
`--hand-gravity` 仅在 PD 下生效：`set_link_enabled_gravities(True)`。
### 5.2 `apply_targets()` — 每物理步的核心
```python
def apply_targets(self):
self._slew_applied_toward_goal() # goal → applied
if use_physics_drive:
name_iter = (n for n in applied if n in actuated) # 只主动
else:
name_iter = applied.keys() # 含 mimic
positions = [...]
if use_physics_drive:
art.set_dof_position_targets(positions, dof_indices=indices)
else:
art.set_dof_positions(positions, dof_indices=indices)
art.set_dof_velocities(zeros(...), dof_indices=indices)
```
| 模式 | API | 写哪些关节 |
|------|-----|------------|
| 位置硬写（默认） | `set_dof_positions` + `set_dof_velocities(0)` | 全部（含软件算好的 mimic） |
| PD | `set_dof_position_targets` | 仅主动 16 个 |
### 5.3 `_slew_applied_toward_goal()`
```python
max_step = self.slew_rad # 默认 0 → 每步直达 goal
margin = LIMIT_MARGIN_RAD # 0.05，离限位留边
for name, g in goal.items():
g = clip(g, lo+margin, hi-margin)
if max_step <= 0:
applied[name] = g
else:
applied[name] = a ± min(|g-a|, max_step)
applied = complete_g20_mimic_positions(applied)
```
单位是 **每物理步弧度**，不是每秒。
物理 dt=1/120，默认每 render 16 步 → 墙钟约 16/120 ≈ 0.133 s 一帧渲染。
### 5.4 为何硬写后还要「再钉一次」？
主循环：
```python
bridge.apply_targets()
SimulationManager.step() # PhysX 可能轻微挪动 DOF
bridge.publish_state()
if not use_pd:
bridge.apply_targets() # 再钉回 applied
```
接触/积分会让硬写姿态漂移；步进后再写一遍，保证跟指令贴。
---
## 6. 异常恢复与状态发布
### 6.1 `recover_if_invalid()`
```python
pos = art.get_dof_positions()
if not all finite:
goal = applied = open_full
set_dof_positions(open)
return True
```
PD 爆炸或数值坏掉时复位张开姿态。
### 6.2 `publish_state()`
每物理步调用（不是独立 50Hz 定时器）：
```python
pos = art.get_dof_positions()
vel = art.get_dof_velocities() # 失败则填 0
pub → /sim/isaac/g20/left/joint_state
```
`legacy_pub` 恒为 `None`，不会发 `/cb_left_hand_state`；
`urdf_positions_to_sdk_range` 已实现，预留反算 0~255。
### 6.3 `tracking_error()`
对 `track_nominal` 里每个主动关节：`|q_sim - q_nominal|`，返回 `(max, mean)`。
---
## 7. 自碰与防穿模（Isaac 怎么做）
**没有** MuJoCo 的 `collision_project`。手段是：
1. **USD `instances.usda`**：选择性开碰撞（掌心 + 指尖 ON，近端/中节多数 OFF）。
2. **`physx.usda`**：`enabledSelfCollisions = 1`。
3. **运行时**：`art.set_enabled_self_collisions([True])`（`--no-self-collision` 关）。
因此：
- 硬写时 PhysX **推不开** 被写死的 DOF → 仍可能视觉穿模。
- PD 模式下接触力可挡一部分，但跟手变差。
- 这与 MuJoCo「硬写前投影」是不同哲学。
---
## 8. 完整时序例子：收到半握命令后的一物理步
假设默认硬写、`slew_rad=0`。
```text
1. rclpy.spin_once
→ _on_cmd_u8 → sdk_range_to_full_urdf_positions
→ set_nominal_targets → goal = 半握全关节弧度
2. apply_targets()
→ _slew_applied_toward_goal: applied = goal（瞬达）
→ set_dof_positions(全部关节含 mimic)
→ set_dof_velocities(0)
3. SimulationManager.step()
→ PhysX 积分（硬写下姿态应贴近刚写的值）
4. recover_if_invalid() # 通常 False
5. publish_state()
→ 读 get_dof_positions → 发 /sim/isaac/...
6. apply_targets() 再钉一次（硬写模式）
```
若 `slew_rad=0.02`：每物理步每个关节最多走 0.02 rad，需多步才到 goal。
---
## 9. `--track-test` 路径
```text
max_steps 默认 480（若未指定）
每 160 物理步切换一次目标：
phase 偶: open_hand_command("G20")
phase 奇: [80.0]*20
set_nominal_targets(sdk_range_to_full_urdf_positions(...))
循环结束后再 settle 240 步:
apply_targets + SimulationManager.step
tracking_error() → max <= 0.02 → PASS，否则 exit 2
```
与 MuJoCo track-test（open→半握、关投影、slew=0）流程类似，但步进计数和切换方式不同。
---
## 10. 常用 Isaac / PhysX API 速查（本工程用到的）
| API | 用途 |
|-----|------|
| `SimulationApp` | 启动 Isaac 运行时 |
| `stage_utils.add_reference_to_stage` | 挂 USD |
| `prim_utils.set_prim_variants` | 选 Physics=physx |
| `Articulation(path)` | 包装手的 DOF |
| `set_dof_positions` / `set_dof_position_targets` | 硬写 / PD 目标 |
| `set_dof_gains` / `set_dof_max_efforts` | PD 参数 |
| `set_enabled_self_collisions` | 自碰开关 |
| `get_dof_positions` / `get_dof_velocities` / `get_dof_limits` | 读状态 |
| `SimulationManager.set_physics_dt` / `step` | 物理节拍 |
| `RenderingManager.render` | 渲染一帧 |
| `set_camera_view` | 对比视角 |
---
## 11. CLI 模式对照
| 参数 | 效果 |
|------|------|
| （默认） | 订 `/g20/cb_left_hand_control_cmd`，位置硬写，slew=0，自碰 ON |
| `--plan-nominal` | 订名义弧度话题，`use_cmd_u8=False` |
| `--legacy-sdk` | 订 `/cb_left_hand_control_cmd` |
| `--pd-drive` | `set_dof_position_targets` + 主动关节增益 |
| `--hand-gravity` | 仅 PD 下开手部重力 |
| `--no-self-collision` | 关自碰（会穿模） |
| `--slew-rad N` | 每物理步最多转 N rad |
| `--phys-per-render N` | 每渲染帧物理步数（默认 16） |
| `--track-test` | 内置跟踪验收 |
---
## 12. 改代码时最常动的位置
| 需求 | 改哪里 |
|------|--------|
| SDK→弧度、mimic、OPEN_CMD | `joint_mapping.py` |
| 默认硬写/PD 增益、拇指特殊增益 | `isaac_g20_plan_bridge.py` 顶部常量 + `main` 里 `set_dof_gains` |
| slew / 物理步 / 安装高度 | `DEFAULT_SLEW_RAD` / `DEFAULT_PHYS_PER_RENDER` / `HAND_MOUNT_*` |
| 相机 | `COMPARE_*` + `_compare_camera_eye_target` |
| 碰撞谁开谁关 | USD `payloads/instances.usda` |
| 自碰/求解器 | USD `payloads/Physics/physx.usda` |
| 话题名 | `TOPIC_*` 或 CLI |
---
## 13. 与 MuJoCo 技术详解的对照表
| 概念 | Isaac 函数/位置 | MuJoCo 函数/位置 |
|------|-----------------|------------------|
| 映射入口 | `joint_mapping.sdk_range_to_full_urdf_positions` | `g20_joints.sdk_range_to_full_urdf_positions` |
| 收命令 | `_on_cmd_u8` / `_on_nominal` | `_on_legacy_cmd` / `_on_nominal` |
| 更新目标 | `set_nominal_targets` / 直接改 `goal` | `_set_goal_only`（持锁） |
| 限速 | `_slew_applied_toward_goal`（rad/步） | `_slew_applied_unlocked`（rad/s） |
| 写入仿真 | `apply_targets` → `set_dof_*` | `_hard_write_pose_unlocked` → `mj_forward` |
| 防穿模 | USD collider + 自碰（无投影） | `_project_applied_no_penetration_unlocked` |
| 物理步进 | `SimulationManager.step` | 硬写不 step；PD 用 `mj_step` |
| 发状态 | 每物理步 `publish_state` | 50Hz timer `_publish_state` |
| 状态话题 | `/sim/isaac/g20/left/joint_state` | `/sim/mujoco/g20/left/joint_state` |
---
## 14. 读代码建议顺序
1. `run_g20_plan.sh` → 确认用的是哪份 `python.sh`
2. 文件顶层：`parse_args` → `SimulationApp` → import
3. `main()` 前半：`_load_g20` → `_fix_base` → gains
4. `G20PlanBridge.__init__` + `_on_cmd_u8`
5. `apply_targets` + 主循环里「写→step→再钉」
6. 需要改防穿模时去看 USD `instances.usda`，而不是在桥里找 project 函数
资产与改动清单仍见 [`G20_Isaac_实现说明.md`](./G20_Isaac_实现说明.md)。
hand_control_ui.py
Executable
+283
View File
@@ -0,0 +1,283 @@
#!/usr/bin/env python3
# SPDX-License-Identifier: Apache-2.0
"""LinkerHand O6 / G20 简易关节控制 UI。
向 Isaac Sim 桥接话题发布 sensor_msgs/JointState（position 为 SDK 0~255）。
依赖系统 ROS2 + tkinter（不要用 Isaac 的 python.sh 启动）。
用法:
source /opt/ros/jazzy/setup.bash
python3 linkerhand/hand_control_ui.py
# 或
bash linkerhand/run_ui.sh
"""
from __future__ import annotations
import threading
import time
import tkinter as tk
from tkinter import ttk
import rclpy
from rclpy.node import Node
from sensor_msgs.msg import JointState
# ---------------------------------------------------------------------------
# 手型配置（与仿真话题 / SDK 一致）
# ---------------------------------------------------------------------------
HANDS = {
"O6": {
"cmd": "/o6/cb_left_hand_control_cmd",
"state": "/o6/cb_left_hand_state",
"labels": [
"大拇指弯曲",
"大拇指横摆",
"食指弯曲",
"中指弯曲",
"无名指弯曲",
"小拇指弯曲",
],
"init": [250, 250, 250, 250, 250, 250],
"presets": {
"张开": [250, 250, 250, 250, 250, 250],
"握拳": [102, 18, 0, 0, 0, 0],
"点赞": [250, 79, 0, 0, 0, 0],
"OK": [139, 91, 103, 250, 250, 250],
},
},
"G20": {
"cmd": "/cb_left_hand_control_cmd",
"state": "/cb_left_hand_state",
"labels": [
"拇指根部",
"食指根部",
"中指根部",
"无名指根部",
"小指根部",
"拇指侧摆",
"食指侧摆",
"中指侧摆",
"无名指侧摆",
"小指侧摆",
"拇指横摆",
"预留11",
"预留12",
"预留13",
"预留14",
"拇指尖部",
"食指末端",
"中指末端",
"无名指末端",
"小指末端",
],
"init": [255, 255, 255, 255, 255, 255, 193, 148, 105, 42, 245, 255, 255, 255, 255, 255, 255, 255, 255, 255],
"presets": {
"张开": [255, 255, 255, 255, 255, 255, 193, 148, 105, 42, 245, 255, 255, 255, 255, 255, 255, 255, 255, 255],
"握拳": [96, 0, 0, 0, 0, 0, 193, 158, 128, 91, 132, 255, 255, 255, 255, 144, 0, 0, 0, 0],
"点赞": [255, 0, 0, 0, 0, 255, 162, 162, 144, 100, 210, 255, 255, 255, 255, 255, 0, 0, 0, 0],
"OK": [148, 110, 255, 255, 255, 44, 164, 100, 114, 127, 178, 255, 255, 255, 255, 94, 71, 255, 255, 255],
},
# 预留电机不可控
"disabled": {11, 12, 13, 14},
},
}
PUBLISH_HZ = 20.0
class HandControlNode(Node):
def __init__(self) -> None:
super().__init__("linker_hand_control_ui")
self._pubs = {
name: self.create_publisher(JointState, cfg["cmd"], 10) for name, cfg in HANDS.items()
}
self._latest_cmd: dict[str, list[float]] = {
name: list(cfg["init"]) for name, cfg in HANDS.items()
}
self._latest_state: dict[str, list[float]] = {
name: list(cfg["init"]) for name, cfg in HANDS.items()
}
for name, cfg in HANDS.items():
self.create_subscription(
JointState,
cfg["state"],
lambda msg, n=name: self._on_state(n, msg),
10,
)
self.create_timer(1.0 / PUBLISH_HZ, self._publish_all)
def _on_state(self, hand: str, msg: JointState) -> None:
if not msg.position:
return
n = len(self._latest_state[hand])
self._latest_state[hand] = [float(v) for v in msg.position[:n]]
if len(msg.position) < n:
self._latest_state[hand].extend([0.0] * (n - len(msg.position)))
def set_cmd(self, hand: str, values: list[float]) -> None:
n = len(self._latest_cmd[hand])
self._latest_cmd[hand] = [float(max(0, min(255, v))) for v in values[:n]]
def set_joint(self, hand: str, index: int, value: float) -> None:
if 0 <= index < len(self._latest_cmd[hand]):
self._latest_cmd[hand][index] = float(max(0, min(255, value)))
def get_state(self, hand: str) -> list[float]:
return list(self._latest_state[hand])
def _publish_all(self) -> None:
now = self.get_clock().now().to_msg()
for name, pub in self._pubs.items():
msg = JointState()
msg.header.stamp = now
msg.name = [f"motor_{i}" for i in range(len(self._latest_cmd[name]))]
msg.position = list(self._latest_cmd[name])
pub.publish(msg)
class HandTab(ttk.Frame):
def __init__(self, master: tk.Misc, hand: str, cfg: dict, node: HandControlNode) -> None:
super().__init__(master)
self.hand = hand
self.cfg = cfg
self.node = node
self.vars: list[tk.IntVar] = []
self.value_labels: list[ttk.Label] = []
self.state_labels: list[ttk.Label] = []
self._building = True
top = ttk.Frame(self)
top.pack(fill=tk.X, padx=8, pady=6)
ttk.Label(top, text=f"话题: {cfg['cmd']}", font=("Sans", 9)).pack(side=tk.LEFT)
self.status = ttk.Label(top, text="状态: —", foreground="#555")
self.status.pack(side=tk.RIGHT)
preset_row = ttk.Frame(self)
preset_row.pack(fill=tk.X, padx=8, pady=4)
ttk.Label(preset_row, text="预设:").pack(side=tk.LEFT)
for name, pose in cfg.get("presets", {}).items():
ttk.Button(preset_row, text=name, command=lambda p=pose: self.apply_preset(p)).pack(
side=tk.LEFT, padx=3
)
canvas = tk.Canvas(self, borderwidth=0, highlightthickness=0)
scroll = ttk.Scrollbar(self, orient=tk.VERTICAL, command=canvas.yview)
inner = ttk.Frame(canvas)
inner.bind("<Configure>", lambda e: canvas.configure(scrollregion=canvas.bbox("all")))
canvas.create_window((0, 0), window=inner, anchor="nw")
canvas.configure(yscrollcommand=scroll.set)
canvas.pack(side=tk.LEFT, fill=tk.BOTH, expand=True, padx=(8, 0), pady=4)
scroll.pack(side=tk.RIGHT, fill=tk.Y, padx=(0, 8), pady=4)
disabled = cfg.get("disabled", set())
header = ttk.Frame(inner)
header.pack(fill=tk.X, pady=(0, 4))
ttk.Label(header, text="关节", width=14).pack(side=tk.LEFT)
ttk.Label(header, text="指令", width=6).pack(side=tk.LEFT)
ttk.Label(header, text="反馈", width=6).pack(side=tk.LEFT)
for i, label in enumerate(cfg["labels"]):
row = ttk.Frame(inner)
row.pack(fill=tk.X, pady=1)
ttk.Label(row, text=f"{i:02d} {label}", width=14).pack(side=tk.LEFT)
var = tk.IntVar(value=int(cfg["init"][i]))
self.vars.append(var)
val_lbl = ttk.Label(row, text=f"{var.get():3d}", width=4)
val_lbl.pack(side=tk.LEFT)
self.value_labels.append(val_lbl)
state_lbl = ttk.Label(row, text="—", width=4, foreground="#06c")
state_lbl.pack(side=tk.LEFT)
self.state_labels.append(state_lbl)
scale = ttk.Scale(
row,
from_=0,
to=255,
orient=tk.HORIZONTAL,
variable=var,
command=lambda _v, idx=i: self._on_slide(idx),
)
scale.pack(side=tk.LEFT, fill=tk.X, expand=True, padx=4)
if i in disabled:
scale.state(["disabled"])
val_lbl.configure(foreground="#999")
self._building = False
self.after(200, self._refresh_state)
def _on_slide(self, index: int) -> None:
if self._building:
return
value = int(self.vars[index].get())
self.value_labels[index].configure(text=f"{value:3d}")
self.node.set_joint(self.hand, index, value)
def apply_preset(self, pose: list[int]) -> None:
self._building = True
for i, v in enumerate(pose):
if i >= len(self.vars):
break
if i in self.cfg.get("disabled", set()):
continue
self.vars[i].set(int(v))
self.value_labels[i].configure(text=f"{int(v):3d}")
self._building = False
self.node.set_cmd(self.hand, [float(v.get()) for v in self.vars])
def _refresh_state(self) -> None:
state = self.node.get_state(self.hand)
for i, lbl in enumerate(self.state_labels):
if i < len(state):
lbl.configure(text=f"{int(round(state[i])):3d}")
self.status.configure(text=f"状态: 已收 {len(state)} DOF @ {PUBLISH_HZ:.0f}Hz")
self.after(200, self._refresh_state)
class App(tk.Tk):
def __init__(self, node: HandControlNode) -> None:
super().__init__()
self.node = node
self.title("LinkerHand 关节控制 (默认 G20)")
self.geometry("720x780")
self.minsize(560, 480)
nb = ttk.Notebook(self)
nb.pack(fill=tk.BOTH, expand=True, padx=6, pady=6)
# 默认只展示 G20；需要 O6 时可改 HANDS 顺序或加回 O6
for hand in ("G20",):
tab = HandTab(nb, hand, HANDS[hand], node)
nb.add(tab, text=hand)
tip = ttk.Label(
self,
text="先启动仿真: bash linkerhand/run_sim.sh\n"
"（默认位置驱动：稳，拇指可达；可见轻微穿模属正常）\n"
"拖动滑条即发布；0≈弯曲，255≈张开",
justify=tk.LEFT,
foreground="#444",
)
tip.pack(fill=tk.X, padx=10, pady=(0, 8))
self.protocol("WM_DELETE_WINDOW", self._on_close)
def _on_close(self) -> None:
self.destroy()
def main() -> None:
rclpy.init()
node = HandControlNode()
spin_thread = threading.Thread(target=lambda: rclpy.spin(node), daemon=True)
spin_thread.start()
app = App(node)
try:
app.mainloop()
finally:
node.destroy_node()
if rclpy.ok():
rclpy.shutdown()
if __name__ == "__main__":
main()
isaac_g20_plan_bridge.py
Executable
+724
View File
@@ -0,0 +1,724 @@
#!/usr/bin/env python3
# SPDX-License-Identifier: Apache-2.0
"""Isaac Sim G20 实机命令桥。
默认：
订阅 /g20/cb_left_hand_control_cmd JointState（与真机相同的 0~255 cmd）
发布 /sim/isaac/g20/left/joint_state JointState（仿真 DOF 弧度）
按关节名匹配；0~255 经 joint_mapping 转为 URDF 弧度。
默认位置硬写以跟真机；``--pd-drive`` 可选。
PLAN 名义弧度：``--plan-nominal`` 订阅 /retarget/g20/left/joint_target_nominal。
"""
from __future__ import annotations
import argparse
import sys
import time
from pathlib import Path
LINKERHAND_ROOT = Path(__file__).resolve().parent
URDF_ROOT = LINKERHAND_ROOT / "urdf"
DEFAULT_G20_USD = URDF_ROOT / "g20/left/linkerhand_g20_left/linkerhand_g20_left.usda"
TOPIC_NOMINAL = "/retarget/g20/left/joint_target_nominal"
TOPIC_SIM_STATE = "/sim/isaac/g20/left/joint_state"
TOPIC_G20_CMD = "/g20/cb_left_hand_control_cmd"
TOPIC_LEGACY_CMD = "/cb_left_hand_control_cmd" # 无命名空间旧话题
TOPIC_LEGACY_STATE = "/cb_left_hand_state"
HAND_MOUNT_Y = 0.45
HAND_MOUNT_Z = 0.70
TRACK_TOL_RAD = 0.02
WARN_INTERVAL_S = 2.0
# 跟真机：默认不限速（0=每步直达 goal）；需要柔顺时用 --slew-rad
DEFAULT_SLEW_RAD = 0.0
DEFAULT_PHYS_PER_RENDER = 16
PD_STIFFNESS = 15.0
PD_DAMPING = 2.5
# 与 MuJoCo G20 共用的对比视角：正对掌心（法向约 -X）、手指朝上(+Z)
# lookat 相对手本地原点；相机从 +X 看向 -X（与 MuJoCo azimuth=180 一致）
COMPARE_LOOKAT_LOCAL = (0.04, -0.04, 0.12)
COMPARE_DISTANCE = 0.50
COMPARE_ELEVATION_DEG = -12.0
PD_MAX_EFFORT = 8.0
LIMIT_MARGIN_RAD = 0.05
THUMB_PD_STIFFNESS = 10.0
THUMB_PD_DAMPING = 3.0
THUMB_PD_MAX_EFFORT = 6.0
THUMB_ACTUATED = frozenset(
{"thumb_cmc_roll", "thumb_cmc_yaw", "thumb_cmc_pitch", "thumb_mcp"}
)
def _normalize_argv(argv: list[str]) -> list[str]:
"""把常见单横杠长选项改成双横杠，避免 ``-hand-gravity`` 被拆成 ``-h`` 等短选项。"""
aliases = {
"-hand-gravity": "--hand-gravity",
"-pd-drive": "--pd-drive",
"-legacy-sdk": "--legacy-sdk",
"-plan-nominal": "--plan-nominal",
"-track-test": "--track-test",
"-headless": "--headless",
"-no-self-collision": "--no-self-collision",
}
out: list[str] = []
for a in argv:
out.append(aliases.get(a, a))
return out
def parse_args() -> argparse.Namespace:
p = argparse.ArgumentParser(description="Isaac G20 bridge (default: /g20/cb_left_hand_control_cmd)")
p.add_argument("--headless", action="store_true")
p.add_argument("--g20-usd", type=Path, default=DEFAULT_G20_USD)
p.add_argument("--max-steps", type=int, default=0, help=">0 时跑满步数退出")
p.add_argument(
"--plan-nominal",
action="store_true",
help="订阅 PLAN 名义弧度 /retarget/g20/left/joint_target_nominal",
)
p.add_argument(
"--legacy-sdk",
action="store_true",
help="订阅旧话题 /cb_left_hand_control_cmd（无 /g20 前缀）",
)
p.add_argument(
"--pd-drive",
action="store_true",
help="PD 动力学（默认位置硬写；大跳指令仍靠 --slew-rad 限速）",
)
p.add_argument(
"--hand-gravity",
action="store_true",
help="手部重力（仅 --pd-drive 下生效）",
)
p.add_argument(
"--no-self-collision",
action="store_true",
help="关闭自碰（会穿模；默认跟随 USD 开启自碰）",
)
p.add_argument(
"--slew-rad",
type=float,
default=DEFAULT_SLEW_RAD,
help="每物理步最大目标变化(rad)；0=瞬跳跟真机。默认 0",
)
p.add_argument(
"--phys-per-render",
type=int,
default=DEFAULT_PHYS_PER_RENDER,
help="每次渲染前进的物理步数（默认 16）",
)
p.add_argument(
"--track-test",
action="store_true",
help="内置 open→半握，验收主动关节跟踪 ≤0.02rad",
)
p.add_argument("--cmd-topic", default=TOPIC_G20_CMD, help="0~255 命令话题")
p.add_argument("--nominal-topic", default=TOPIC_NOMINAL)
p.add_argument("--sim-state-topic", default=TOPIC_SIM_STATE)
args, unknown = p.parse_known_args(_normalize_argv(sys.argv[1:]))
if unknown:
print(f"[args] ignoring unknown argv: {unknown}")
sys.argv = [sys.argv[0]]
return args
args = parse_args()
from isaacsim import SimulationApp
simulation_app = SimulationApp({"headless": args.headless})
import numpy as np
import isaacsim.core.experimental.utils.app as app_utils
import isaacsim.core.experimental.utils.prim as prim_utils
import isaacsim.core.experimental.utils.stage as stage_utils
from isaacsim.core.experimental.objects import DistantLight, GroundPlane
from isaacsim.core.experimental.prims import Articulation, XformPrim
from isaacsim.core.rendering_manager import RenderingManager
from isaacsim.core.simulation_manager import SimulationManager
from isaacsim.core.utils.viewports import set_camera_view
sys.path.insert(0, str(LINKERHAND_ROOT))
from joint_mapping import (
L20_SDK_TO_URDF,
complete_g20_mimic_positions,
g20_actuated_joint_names,
g20_required_joint_names,
open_hand_command,
sdk_range_to_full_urdf_positions,
urdf_positions_to_sdk_range,
)
app_utils.enable_extension("isaacsim.ros2.bridge")
simulation_app.update()
import rclpy
from rclpy.node import Node
from sensor_msgs.msg import JointState
def _fix_base_to_world(hand_path: str) -> None:
from pxr import Gf, Usd, UsdGeom, UsdPhysics
stage = stage_utils.get_current_stage()
hand_prim = stage.GetPrimAtPath(hand_path)
if not hand_prim.IsValid():
return
base = None
first = None
for prim in Usd.PrimRange(hand_prim):
if not prim.HasAPI(UsdPhysics.RigidBodyAPI):
continue
if first is None:
first = prim
if prim.GetName() in ("hand_base_link", "base_link", "palm"):
base = prim
break
base = base or first
if base is None:
print(f"[anchor] no RigidBody under {hand_path}")
return
xf = UsdGeom.Xformable(base).ComputeLocalToWorldTransform(Usd.TimeCode.Default())
pos = xf.ExtractTranslation()
quat = xf.ExtractRotationQuat()
pos_f = Gf.Vec3f(float(pos[0]), float(pos[1]), float(pos[2]))
rot_f = Gf.Quatf(float(quat.GetReal()), *[float(v) for v in quat.GetImaginary()])
for prim in Usd.PrimRange(hand_prim):
if prim.GetName() != "root_joint" or not prim.IsA(UsdPhysics.Joint):
continue
joint = UsdPhysics.Joint(prim)
b1 = [str(t) for t in (joint.GetBody1Rel().GetTargets() or [])]
b0 = [str(t) for t in (joint.GetBody0Rel().GetTargets() or [])]
if str(base.GetPath()) not in b1 or len(b0) != 0:
prim.SetActive(False)
print(f"[anchor] disabled invalid {prim.GetPath()}")
continue
if not prim.IsActive():
prim.SetActive(True)
joint.CreateLocalPos0Attr().Set(pos_f)
joint.CreateLocalRot0Attr().Set(rot_f)
joint.CreateLocalPos1Attr().Set(Gf.Vec3f(0.0, 0.0, 0.0))
joint.CreateLocalRot1Attr().Set(Gf.Quatf(1.0, 0.0, 0.0, 0.0))
print(
f"[anchor] USD root_joint -> {base.GetPath()} @ "
f"({float(pos[0]):.3f},{float(pos[1]):.3f},{float(pos[2]):.3f})"
)
return
joint_path = f"{hand_path}/WorldFixedJoint"
if stage.GetPrimAtPath(joint_path).IsValid():
stage.RemovePrim(joint_path)
joint = UsdPhysics.FixedJoint.Define(stage, joint_path)
joint.CreateBody0Rel().SetTargets([])
joint.CreateBody1Rel().SetTargets([base.GetPath()])
joint.CreateLocalPos0Attr().Set(pos_f)
joint.CreateLocalRot0Attr().Set(rot_f)
joint.CreateLocalPos1Attr().Set(Gf.Vec3f(0.0, 0.0, 0.0))
joint.CreateLocalRot1Attr().Set(Gf.Quatf(1.0, 0.0, 0.0, 0.0))
joint.CreateExcludeFromArticulationAttr().Set(False)
print(f"[anchor] WorldFixedJoint {joint_path}")
def _patch_joint_max_forces(hand_path: str, max_force: float = 8.0) -> None:
from pxr import Usd, UsdPhysics
stage = stage_utils.get_current_stage()
hand_prim = stage.GetPrimAtPath(hand_path)
if not hand_prim.IsValid():
return
for prim in Usd.PrimRange(hand_prim):
if not prim.IsA(UsdPhysics.RevoluteJoint):
continue
drive = UsdPhysics.DriveAPI.Get(prim, "angular")
if not drive:
continue
attr = drive.GetMaxForceAttr()
if attr and float(attr.Get() or 0.0) < max_force:
attr.Set(float(max_force))
def _load_g20(usd_path: Path) -> str:
if not usd_path.is_file():
raise FileNotFoundError(f"USD 不存在: {usd_path}")
mount = "/World/G20Hand"
stage_utils.define_prim(mount, "Xform")
XformPrim(mount, positions=[[0.0, HAND_MOUNT_Y, HAND_MOUNT_Z]], reset_xform_op_properties=True)
hand_path = f"{mount}/hand"
stage_utils.add_reference_to_stage(usd_path=str(usd_path), path=hand_path)
prim_utils.set_prim_variants(hand_path, variants=[("Physics", "physx")])
_patch_joint_max_forces(hand_path)
return hand_path
def validate_g20_dof_names(dof_names: list[str]) -> None:
have = set(dof_names)
required = g20_required_joint_names()
missing = sorted(required - have)
if missing:
raise RuntimeError(
"G20 Articulation 关节名与 PLAN/URDF 规范不匹配，缺失: "
+ ", ".join(missing)
+ f" | have={sorted(have)}"
)
class G20PlanBridge:
"""订阅 cmd_u8 / PLAN 名义弧度，驱动 Articulation 并发布仿真状态。"""
def __init__(
self,
node: Node,
art: Articulation,
*,
use_cmd_u8: bool,
cmd_topic: str,
use_physics_drive: bool,
nominal_topic: str,
sim_state_topic: str,
slew_rad: float = DEFAULT_SLEW_RAD,
) -> None:
self.node = node
self.art = art
self.use_cmd_u8 = use_cmd_u8
self.use_physics_drive = use_physics_drive
self.slew_rad = max(0.0, float(slew_rad))
self.dof_names = list(art.dof_names)
validate_g20_dof_names(self.dof_names)
self.dof_index = {n: i for i, n in enumerate(self.dof_names)}
self.actuated = g20_actuated_joint_names()
self.actuated_indices = [self.dof_index[n] for n in sorted(self.actuated) if n in self.dof_index]
lower, upper = art.get_dof_limits()
self._lo = lower.numpy().flatten()
self._hi = upper.numpy().flatten()
open_full = sdk_range_to_full_urdf_positions(open_hand_command("G20"), "G20", "left")
open_full = complete_g20_mimic_positions(open_full)
self.goal: dict[str, float] = dict(open_full)
self.applied: dict[str, float] = dict(open_full)
self.targets = self.applied
self._last_warn_missing = 0.0
self._last_warn_unknown = 0.0
self.track_nominal: dict[str, float] | None = None
if use_cmd_u8:
self.sub = node.create_subscription(JointState, cmd_topic, self._on_cmd_u8, 10)
self.legacy_pub = None
node.get_logger().info(f"G20 cmd_u8: sub {cmd_topic} (0~255 → URDF rad)")
else:
self.sub = node.create_subscription(JointState, nominal_topic, self._on_nominal, 10)
self.legacy_pub = None
node.get_logger().info(f"G20 PLAN: sub {nominal_topic} (by name, rad)")
self.pub = node.create_publisher(JointState, sim_state_topic, 10)
node.get_logger().info(
f"G20: pub {sim_state_topic}, actuated={len(self.actuated_indices)}, "
f"drive={'PD' if use_physics_drive else 'position'}, "
f"slew_rad={self.slew_rad}"
)
def set_nominal_targets(self, positions: dict[str, float]) -> None:
self.goal = complete_g20_mimic_positions(positions)
self.track_nominal = {n: float(self.goal[n]) for n in self.actuated if n in self.goal}
def _on_nominal(self, msg: JointState) -> None:
if not msg.name:
self._warn_missing("empty name[]")
return
n = min(len(msg.name), len(msg.position))
incoming = {str(msg.name[i]): float(msg.position[i]) for i in range(n)}
unknown = [k for k in incoming if k not in self.dof_index]
if unknown:
self._warn_unknown(unknown)
missing_act = sorted(self.actuated - set(incoming.keys()))
if missing_act:
self._warn_missing(f"missing actuated: {missing_act}")
merged = dict(self.goal)
for k, v in incoming.items():
if k in self.dof_index:
merged[k] = v
self.goal = complete_g20_mimic_positions(merged)
else:
merged = {k: v for k, v in incoming.items() if k in self.dof_index}
self.goal = complete_g20_mimic_positions(merged)
self.track_nominal = {n: float(self.goal[n]) for n in self.actuated if n in self.goal}
def _on_cmd_u8(self, msg: JointState) -> None:
"""接收与真机相同的 0~255 JointState（优先按 name，否则按下标）。"""
vals = [255.0] * 20
name_to_sdk = {name: idx for idx, name in L20_SDK_TO_URDF.items()}
if msg.name:
n = min(len(msg.name), len(msg.position))
for i in range(n):
key = str(msg.name[i])
pos = float(msg.position[i])
if key in name_to_sdk:
vals[name_to_sdk[key]] = pos
elif key.startswith("reserved_"):
try:
vals[int(key.split("_", 1)[1])] = pos
except ValueError:
pass
elif i < 20:
vals[i] = pos
else:
for i, x in enumerate(msg.position[:20]):
vals[i] = float(x)
full = sdk_range_to_full_urdf_positions(vals, "G20", "left")
self.set_nominal_targets(full)
def _warn_missing(self, detail: str) -> None:
now = time.monotonic()
if now - self._last_warn_missing < WARN_INTERVAL_S:
return
self._last_warn_missing = now
self.node.get_logger().warn(f"nominal cmd incomplete, holding last targets ({detail})")
def _warn_unknown(self, names: list[str]) -> None:
now = time.monotonic()
if now - self._last_warn_unknown < WARN_INTERVAL_S:
return
self._last_warn_unknown = now
self.node.get_logger().warn(f"unknown joint names ignored: {names[:8]}")
def _slew_applied_toward_goal(self) -> None:
"""每步把 applied 向 goal 限速逼近，产生中间运动过程。"""
max_step = self.slew_rad
margin = LIMIT_MARGIN_RAD
for name, g in self.goal.items():
idx = self.dof_index.get(name)
if idx is None:
continue
lo = float(self._lo[idx]) + margin
hi = float(self._hi[idx]) - margin
if lo > hi:
lo = float(self._lo[idx])
hi = float(self._hi[idx])
g = float(np.clip(g, lo, hi))
a = float(self.applied.get(name, g))
if max_step <= 0.0:
a = g
else:
delta = g - a
if abs(delta) > max_step:
a = a + float(np.sign(delta) * max_step)
else:
a = g
self.applied[name] = float(np.clip(a, lo, hi))
self.applied = complete_g20_mimic_positions(self.applied)
self.targets = self.applied
def apply_targets(self) -> None:
self._slew_applied_toward_goal()
# PD：绝不能驱动 mimic（与 PhysX mimic 冲突 → Invalid PhysX transform）
# 位置硬写：写全关节（含已解析 mimic）
if self.use_physics_drive:
name_iter = (n for n in self.applied if n in self.actuated)
else:
name_iter = self.applied.keys()
names = []
vals = []
for name in name_iter:
rad = self.applied[name]
idx = self.dof_index.get(name)
if idx is None:
continue
names.append(name)
vals.append(float(rad))
if not names:
return
indices = [self.dof_index[n] for n in names]
positions = np.asarray(vals, dtype=np.float64)
if self.use_physics_drive:
self.art.set_dof_position_targets(positions, dof_indices=indices)
else:
self.art.set_dof_positions(positions, dof_indices=indices)
try:
self.art.set_dof_velocities(
np.zeros(len(indices), dtype=np.float64), dof_indices=indices
)
except Exception:
pass
def recover_if_invalid(self) -> bool:
"""若出现 NaN/Inf，复位到张开名义位姿。"""
pos = self.art.get_dof_positions().numpy().flatten()
if np.isfinite(pos).all():
return False
self.node.get_logger().warn("invalid dof state (NaN/Inf) → reset to open pose")
open_full = complete_g20_mimic_positions(
sdk_range_to_full_urdf_positions(open_hand_command("G20"), "G20", "left")
)
self.goal = dict(open_full)
self.applied = dict(open_full)
self.targets = self.applied
self.track_nominal = {n: float(open_full[n]) for n in self.actuated if n in open_full}
names = []
vals = []
for name, rad in open_full.items():
idx = self.dof_index.get(name)
if idx is None:
continue
names.append(name)
vals.append(float(np.clip(rad, float(self._lo[idx]), float(self._hi[idx]))))
if names:
indices = [self.dof_index[n] for n in names]
self.art.set_dof_positions(np.asarray(vals, dtype=np.float64), dof_indices=indices)
try:
self.art.set_dof_velocities(
np.zeros(len(indices), dtype=np.float64), dof_indices=indices
)
except Exception:
pass
return True
def publish_state(self) -> None:
pos = self.art.get_dof_positions().numpy().flatten()
try:
vel = self.art.get_dof_velocities().numpy().flatten()
except Exception:
vel = np.zeros_like(pos)
msg = JointState()
msg.header.stamp = self.node.get_clock().now().to_msg()
msg.name = list(self.dof_names)
msg.position = [float(x) for x in pos]
msg.velocity = [float(x) for x in vel]
self.pub.publish(msg)
if self.legacy_pub is not None:
by_name = {n: float(pos[i]) for i, n in enumerate(self.dof_names)}
sdk = urdf_positions_to_sdk_range(by_name, "G20", "left")
leg = JointState()
leg.header = msg.header
leg.name = [f"joint_{i}" for i in range(20)]
leg.position = [float(v) for v in sdk]
self.legacy_pub.publish(leg)
def tracking_error(self) -> tuple[float, float]:
"""Return (max_abs, mean_abs) over actuated joints vs track_nominal."""
if not self.track_nominal:
return 0.0, 0.0
pos = self.art.get_dof_positions().numpy().flatten()
errs = []
for name, tgt in self.track_nominal.items():
idx = self.dof_index.get(name)
if idx is None:
continue
errs.append(abs(float(pos[idx]) - float(tgt)))
if not errs:
return 0.0, 0.0
return float(max(errs)), float(sum(errs) / len(errs))
def _compare_camera_eye_target() -> tuple[list[float], list[float]]:
"""正对掌心的 eye/target（世界系），与 MuJoCo COMPARE_* 一致（从 +X 看）。"""
import math
ox, oy, oz = 0.0, HAND_MOUNT_Y, HAND_MOUNT_Z
lx, ly, lz = COMPARE_LOOKAT_LOCAL
target = [ox + lx, oy + ly, oz + lz]
elev = math.radians(COMPARE_ELEVATION_DEG)
# 从 +X 看向 lookat，略俯视（与 MuJoCo azimuth=180 同向）
eye = [
target[0] + COMPARE_DISTANCE * math.cos(elev),
target[1],
target[2] - COMPARE_DISTANCE * math.sin(elev),
]
return eye, target
def main() -> int:
stage_utils.create_new_stage()
stage_utils.set_stage_units(meters_per_unit=1.0)
GroundPlane("/World/GroundPlane", positions=[0.0, 0.0, 0.0])
DistantLight("/World/DistantLight").set_intensities(300.0)
eye, target = _compare_camera_eye_target()
set_camera_view(eye=eye, target=target, camera_prim_path="/OmniverseKit_Persp")
hand_path = _load_g20(args.g20_usd)
SimulationManager.set_physics_dt(1.0 / 120.0)
app_utils.play()
simulation_app.update()
_fix_base_to_world(hand_path)
app_utils.stop()
simulation_app.update()
app_utils.play()
simulation_app.update()
# play/stop 后重设，避免 viewport 被重置
eye, target = _compare_camera_eye_target()
set_camera_view(eye=eye, target=target, camera_prim_path="/OmniverseKit_Persp")
art = Articulation(hand_path)
use_pd = bool(args.pd_drive)
if args.hand_gravity and not use_pd:
print("[warn] --hand-gravity ignored without --pd-drive (PLAN default is position drive)")
# 默认跟随 USD：自碰开启（防穿模）；仅 --no-self-collision 关闭。
enable_self_col = not bool(args.no_self_collision)
try:
art.set_enabled_self_collisions([enable_self_col])
except Exception as exc:
print(f"[stabilize] self_collision set failed: {exc}")
print(f"[stabilize] self_collision={'ON' if enable_self_col else 'OFF'} (USD selective colliders)")
art.set_link_enabled_gravities(bool(args.hand_gravity) and use_pd)
if use_pd:
act = [
i
for i, n in enumerate(art.dof_names)
if n in g20_actuated_joint_names()
]
stiff = np.array(
[
THUMB_PD_STIFFNESS if art.dof_names[i] in THUMB_ACTUATED else PD_STIFFNESS
for i in act
],
dtype=float,
)
damp = np.array(
[
THUMB_PD_DAMPING if art.dof_names[i] in THUMB_ACTUATED else PD_DAMPING
for i in act
],
dtype=float,
)
effort = np.array(
[
THUMB_PD_MAX_EFFORT if art.dof_names[i] in THUMB_ACTUATED else PD_MAX_EFFORT
for i in act
],
dtype=float,
)
art.set_dof_gains(stiffnesses=stiff, dampings=damp, dof_indices=act)
art.set_dof_max_efforts(effort, dof_indices=act)
# mimic 零增益，避免与 PhysX mimic 冲突
mimic_idx = [
i
for i, n in enumerate(art.dof_names)
if n not in g20_actuated_joint_names()
]
if mimic_idx:
art.set_dof_gains(
stiffnesses=np.zeros(len(mimic_idx)),
dampings=np.zeros(len(mimic_idx)),
dof_indices=mimic_idx,
)
else:
# 位置硬写：零增益避免与 set_dof_positions 冲突
n = len(art.dof_names)
art.set_dof_gains(stiffnesses=np.zeros(n), dampings=np.zeros(n))
if not rclpy.ok():
rclpy.init()
node = Node("isaac_g20_plan_bridge")
try:
use_cmd_u8 = not bool(args.plan_nominal)
cmd_topic = TOPIC_LEGACY_CMD if args.legacy_sdk else str(args.cmd_topic)
bridge = G20PlanBridge(
node,
art,
use_cmd_u8=use_cmd_u8,
cmd_topic=cmd_topic,
use_physics_drive=use_pd,
nominal_topic=args.nominal_topic,
sim_state_topic=args.sim_state_topic,
slew_rad=float(args.slew_rad),
)
except RuntimeError as exc:
node.get_logger().error(str(exc))
node.destroy_node()
rclpy.shutdown()
simulation_app.close()
return 1
# 初始 snap 到 open（跳过 slew）
old_slew = bridge.slew_rad
bridge.slew_rad = 0.0
bridge.apply_targets()
bridge.slew_rad = old_slew
for _ in range(10):
SimulationManager.step()
simulation_app.update()
if args.plan_nominal:
mode = "PLAN nominal"
elif args.legacy_sdk:
mode = f"cmd_u8:{TOPIC_LEGACY_CMD}"
else:
mode = f"cmd_u8:{args.cmd_topic}"
drive = "PD" if use_pd else "position"
node.get_logger().info(
f"仿真就绪 [{mode}, drive={drive}, slew={args.slew_rad} rad/step, "
f"phys/render={max(1, int(args.phys_per_render))}] pub={args.sim_state_topic}"
)
track_phase = 0
track_ok = True
max_steps = int(args.max_steps)
if args.track_test and max_steps <= 0:
max_steps = 480
phys_per_render = max(1, int(args.phys_per_render))
step = 0
try:
while simulation_app.is_running():
for _ in range(phys_per_render):
rclpy.spin_once(node, timeout_sec=0.0)
if args.track_test and step % 160 == 0:
if track_phase % 2 == 0:
cmd = open_hand_command("G20")
else:
cmd = [80.0] * 20
bridge.set_nominal_targets(
sdk_range_to_full_urdf_positions(cmd, "G20", "left")
)
track_phase += 1
bridge.apply_targets()
SimulationManager.step()
if bridge.recover_if_invalid():
bridge.apply_targets()
SimulationManager.step()
bridge.publish_state()
# 位置驱动：物理步进后再钉一次
if not use_pd:
bridge.apply_targets()
step += 1
if max_steps > 0 and step >= max_steps:
break
RenderingManager.render()
simulation_app.update()
if max_steps > 0 and step >= max_steps:
break
finally:
if args.track_test:
# settle：给够 slew 走完
for _ in range(240):
bridge.apply_targets()
SimulationManager.step()
simulation_app.update()
mx, mean = bridge.tracking_error()
print(
f"[track-test] actuated max_abs={mx:.4f} rad mean_abs={mean:.4f} rad "
f"tol={TRACK_TOL_RAD}"
)
track_ok = mx <= TRACK_TOL_RAD
print("[track-test] RESULT:", "PASS" if track_ok else "FAIL")
node.destroy_node()
if rclpy.ok():
rclpy.shutdown()
simulation_app.close()
return 0 if track_ok else 2
if __name__ == "__main__":
sys.exit(main())
joint_mapping.py
+282
View File
@@ -0,0 +1,282 @@
# SPDX-License-Identifier: Apache-2.0
"""LinkerHand SDK (0~255) ↔ URDF 关节弧度映射。逻辑与 ROS2 SDK mapping.py 一致。"""
from __future__ import annotations
# O6
O6_L_MIN = [0, 0, 0, 0, 0, 0]
O6_L_MAX = [0.58, 1.36, 1.6, 1.6, 1.6, 1.6]
O6_L_DIR = [-1, -1, -1, -1, -1, -1]
O6_R_MIN = O6_L_MIN
O6_R_MAX = O6_L_MAX
O6_R_DIR = O6_L_DIR
# G20（新 linkerhand_g20_left.urdf）限位；SDK 索引语义与 L20 相同
L20_L_MIN = [0, 0, 0, 0, 0, 0.0, -0.23, -0.23, -0.23, -0.23, 0.0, 0, 0, 0, 0, 0, 0, 0, 0, 0]
# 通道5 thumb_cmc_roll max：试调 1.47（原 1.4）
L20_L_MAX = [0.84, 1.22, 1.22, 1.22, 1.22, 1.47, 0.23, 0.23, 0.23, 0.23, 1.57, 0, 0, 0, 0, 1.29, 1.55, 1.55, 1.55, 1.55]
L20_L_DIR = [-1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, 0, 0, 0, 0, -1, -1, -1, -1, -1]
L20_R_MIN = [0, 0, 0, 0, 0, 0.0, -0.23, -0.23, -0.23, -0.23, 0.0, 0, 0, 0, 0, 0, 0, 0, 0, 0]
L20_R_MAX = [0.84, 1.22, 1.22, 1.22, 1.22, 1.47, 0.23, 0.23, 0.23, 0.23, 1.57, 0, 0, 0, 0, 1.29, 1.55, 1.55, 1.55, 1.55]
L20_R_DIR = [-1, -1, -1, -1, -1, -1, 0, 0, 0, 0, -1, 0, 0, 0, 0, -1, -1, -1, -1, -1]
# 左手 G20：四指侧摆 (SDK 6..9) 与弯曲方向相反 —— SDK0→下限、255→上限（见 g20_mapping）
G20_L_MIN = L20_L_MIN
G20_L_MAX = L20_L_MAX
G20_L_DIR = [-1, -1, -1, -1, -1, -1, 1, 1, 1, 1, -1, 0, 0, 0, 0, -1, -1, -1, -1, -1]
G20_R_MIN = L20_R_MIN
G20_R_MAX = L20_R_MAX
G20_R_DIR = L20_R_DIR
O6_SDK_JOINTS = [
"thumb_cmc_pitch",
"thumb_cmc_yaw",
"index_mcp_pitch",
"middle_mcp_pitch",
"ring_mcp_pitch",
"pinky_mcp_pitch",
]
# SDK 索引 → URDF 关节名（不含 lh_/rh_ 前缀）
L20_SDK_TO_URDF = {
0: "thumb_cmc_pitch",
1: "index_mcp_pitch",
2: "middle_mcp_pitch",
3: "ring_mcp_pitch",
4: "pinky_mcp_pitch",
5: "thumb_cmc_roll",
6: "index_mcp_roll",
7: "middle_mcp_roll",
8: "ring_mcp_roll",
9: "pinky_mcp_roll",
10: "thumb_cmc_yaw",
15: "thumb_mcp",
16: "index_pip",
17: "middle_pip",
18: "ring_pip",
19: "pinky_pip",
}
# URDF dip 关节 mimic pip：dip = pip * multiplier（G20 URDF）
DIP_MIMIC_MULTIPLIER = 0.89
THUMB_IP_MIMIC_MULTIPLIER = 1.02
def scale_value(original_value: float, a_min: float, a_max: float, b_min: float, b_max: float) -> float:
if a_max == a_min:
return b_min
return (original_value - a_min) * (b_max - b_min) / (a_max - a_min) + b_min
def clamp(value: float, low: float, high: float) -> float:
return max(low, min(high, value))
def _tables(hand: str, side: str) -> tuple[list[float], list[float], list[int]]:
if hand == "O6":
if side == "left":
return O6_L_MIN, O6_L_MAX, O6_L_DIR
return O6_R_MIN, O6_R_MAX, O6_R_DIR
if hand == "G20":
if side == "left":
return G20_L_MIN, G20_L_MAX, G20_L_DIR
return G20_R_MIN, G20_R_MAX, G20_R_DIR
if side == "left":
return L20_L_MIN, L20_L_MAX, L20_L_DIR
return L20_R_MIN, L20_R_MAX, L20_R_DIR
def range_to_arc(values: list[float], hand: str, side: str) -> list[float]:
"""SDK 0~255 → 弧度（每 DOF 一条）。"""
j_min, j_max, j_dir = _tables(hand, side)
num = 6 if hand == "O6" else 20
arcs = [0.0] * num
for i in range(num):
if hand in ("L20", "G20") and 11 <= i <= 14:
continue
val = clamp(values[i] if i < len(values) else 0.0, 0.0, 255.0)
if j_dir[i] == -1:
arcs[i] = scale_value(val, 0.0, 255.0, j_max[i], j_min[i])
else:
arcs[i] = scale_value(val, 0.0, 255.0, j_min[i], j_max[i])
return arcs
def arc_to_range(arcs: list[float], hand: str, side: str) -> list[int]:
"""弧度 → SDK 0~255。"""
j_min, j_max, j_dir = _tables(hand, side)
num = 6 if hand == "O6" else 20
ranges = [0] * num
for i in range(num):
if hand in ("L20", "G20") and 11 <= i <= 14:
ranges[i] = 255
continue
val = clamp(arcs[i] if i < len(arcs) else 0.0, j_min[i], j_max[i])
if j_dir[i] == -1:
ranges[i] = int(round(scale_value(val, j_min[i], j_max[i], 255.0, 0.0)))
else:
ranges[i] = int(round(scale_value(val, j_min[i], j_max[i], 0.0, 255.0)))
return ranges
def mimic_joint_names(hand: str, side: str) -> set[str]:
"""PhysX/Newton mimic 从动关节，不可施加 position drive。"""
if hand == "O6":
prefix = "lh_" if side == "left" else "rh_"
return {
f"{prefix}thumb_ip",
f"{prefix}index_dip",
f"{prefix}middle_dip",
f"{prefix}ring_dip",
f"{prefix}pinky_dip",
}
return {"pinky_dip", "ring_dip", "middle_dip", "index_dip", "thumb_ip"}
# G20 URDF / Isaac USD 规范关节名（PLAN 名义弧度桥按名匹配）
G20_ACTUATED_JOINT_NAMES: tuple[str, ...] = tuple(
sorted({name for name in L20_SDK_TO_URDF.values()})
)
G20_MIMIC_JOINT_NAMES: tuple[str, ...] = (
"thumb_ip",
"index_dip",
"middle_dip",
"ring_dip",
"pinky_dip",
)
G20_ALL_JOINT_NAMES: tuple[str, ...] = tuple(
sorted(set(G20_ACTUATED_JOINT_NAMES) | set(G20_MIMIC_JOINT_NAMES))
)
# mimic 从动 ← (主动, 倍率)；与 G20 URDF / Physics mimic 一致
G20_MIMIC_OF: dict[str, tuple[str, float]] = {
"thumb_ip": ("thumb_mcp", THUMB_IP_MIMIC_MULTIPLIER),
"index_dip": ("index_pip", DIP_MIMIC_MULTIPLIER),
"middle_dip": ("middle_pip", DIP_MIMIC_MULTIPLIER),
"ring_dip": ("ring_pip", DIP_MIMIC_MULTIPLIER),
"pinky_dip": ("pinky_pip", DIP_MIMIC_MULTIPLIER),
}
def g20_required_joint_names() -> frozenset[str]:
"""启动校验：Articulation 必须包含的全部 G20 关节名。"""
return frozenset(G20_ALL_JOINT_NAMES)
def g20_actuated_joint_names() -> frozenset[str]:
return frozenset(G20_ACTUATED_JOINT_NAMES)
def complete_g20_mimic_positions(positions: dict[str, float]) -> dict[str, float]:
"""补全缺失的 mimic 关节；已给出的 mimic 值优先保留。"""
out = dict(positions)
for mimic, (master, ratio) in G20_MIMIC_OF.items():
if mimic in out:
continue
if master in out:
out[mimic] = float(out[master]) * float(ratio)
return out
# SDK 张开预设（与 gui_control/config/constants.py 一致）
L20_OPEN_CMD = [
255, 255, 255, 255, 255, 255, 10, 100, 180, 240, 245,
255, 255, 255, 255, 255, 255, 255, 255, 255,
]
G20_OPEN_CMD = [
255, 255, 255, 255, 255, 255, 193, 148, 105, 42, 245,
255, 255, 255, 255, 255, 255, 255, 255, 255,
]
def open_hand_command(hand: str) -> list[float]:
if hand == "O6":
return [255.0] * 6
if hand == "G20":
return [float(v) for v in G20_OPEN_CMD]
return [float(v) for v in L20_OPEN_CMD]
def _joint_prefix(side: str, hand: str) -> str:
if hand == "O6":
return "lh_" if side == "left" else "rh_"
return ""
O6_MIMIC_OF = {
"thumb_ip": ("thumb_cmc_pitch", 2.29),
"index_dip": ("index_mcp_pitch", 0.89),
"middle_dip": ("middle_mcp_pitch", 0.89),
"ring_dip": ("ring_mcp_pitch", 0.89),
"pinky_dip": ("pinky_mcp_pitch", 0.89),
}
def sdk_range_to_urdf_positions(values: list[float], hand: str, side: str) -> dict[str, float]:
"""将 SDK 指令转为 URDF 关节名 → 弧度。USD 中 mimic 关节由物理引擎跟随。"""
arcs = range_to_arc(values, hand, side)
prefix = _joint_prefix(side, hand)
out: dict[str, float] = {}
if hand == "O6":
for sdk_idx, short_name in enumerate(O6_SDK_JOINTS):
out[f"{prefix}{short_name}"] = arcs[sdk_idx]
return out
for sdk_idx, short_name in L20_SDK_TO_URDF.items():
arc = arcs[sdk_idx]
if sdk_idx == 15:
# SDK 控制指尖弧度；thumb_ip mimic thumb_mcp
out["thumb_mcp"] = arc / THUMB_IP_MIMIC_MULTIPLIER
elif sdk_idx in (16, 17, 18, 19):
# SDK 控制 DIP 电机弧度；URDF 中 dip mimic pip
out[short_name] = arc / DIP_MIMIC_MULTIPLIER
else:
out[short_name] = arc
return out
def sdk_range_to_full_urdf_positions(values: list[float], hand: str, side: str) -> dict[str, float]:
"""主动关节 + 解析 mimic 从动关节，供运动学逐帧写入。"""
out = sdk_range_to_urdf_positions(values, hand, side)
prefix = _joint_prefix(side, hand)
if hand == "O6":
for mimic_suffix, (master_suffix, ratio) in O6_MIMIC_OF.items():
master = out.get(f"{prefix}{master_suffix}")
if master is not None:
out[f"{prefix}{mimic_suffix}"] = master * ratio
return out
for finger in ("index", "middle", "ring", "pinky"):
pip = out.get(f"{finger}_pip")
if pip is not None:
out[f"{finger}_dip"] = pip * DIP_MIMIC_MULTIPLIER
thumb_mcp = out.get("thumb_mcp")
if thumb_mcp is not None:
out["thumb_ip"] = thumb_mcp * THUMB_IP_MIMIC_MULTIPLIER
return out
def urdf_positions_to_sdk_range(joint_positions: dict[str, float], hand: str, side: str) -> list[int]:
"""从 URDF 主动关节读数反算 SDK 0~255 反馈（不读 mimic 从动关节）。"""
mapping_hand = hand if hand in ("O6", "G20", "L20") else "L20"
prefix = _joint_prefix(side, mapping_hand)
arcs = [0.0] * (6 if mapping_hand == "O6" else 20)
if mapping_hand == "O6":
for sdk_idx, short_name in enumerate(O6_SDK_JOINTS):
key = f"{prefix}{short_name}"
arcs[sdk_idx] = joint_positions.get(key, 0.0)
return arc_to_range(arcs, mapping_hand, side)
for sdk_idx, short_name in L20_SDK_TO_URDF.items():
if sdk_idx == 15:
thumb_mcp = joint_positions.get("thumb_mcp", 0.0)
arcs[sdk_idx] = thumb_mcp * THUMB_IP_MIMIC_MULTIPLIER
elif sdk_idx in (16, 17, 18, 19):
pip = joint_positions.get(short_name, 0.0)
arcs[sdk_idx] = pip * DIP_MIMIC_MULTIPLIER
else:
arcs[sdk_idx] = joint_positions.get(short_name, 0.0)
return arc_to_range(arcs, mapping_hand, side)
linker_hand_dual_sim.py
+1162
View File
File diff suppressed because it is too large Load Diff
run_g20_plan.sh
Executable
+16
View File
@@ -0,0 +1,16 @@
#!/usr/bin/env bash
# Isaac G20 实机命令桥
# 默认订阅 /g20/cb_left_hand_control_cmd（与真机相同 0~255）
# 发布 /sim/isaac/g20/left/joint_state
# PLAN 名义弧度: --plan-nominal
# 旧无前缀话题: --legacy-sdk
# 跟踪自检: --track-test
set -euo pipefail
REPO_ROOT="$(cd "$(dirname "${BASH_SOURCE[0]}")/.." && pwd)"
ISAAC_DIR="${ISAAC_SIM_DIR:-$REPO_ROOT/_build/linux-x86_64/release}"
SCRIPT_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
export ISAAC_SIM_DIR="$ISAAC_DIR"
exec "$ISAAC_DIR/python.sh" "$SCRIPT_DIR/isaac_g20_plan_bridge.py" "$@"
run_sim.sh
Executable
+11
View File
@@ -0,0 +1,11 @@
#!/usr/bin/env bash
# 启动 LinkerHand Isaac Sim 仿真（默认仅 G20 + ROS2 桥）
set -euo pipefail
REPO_ROOT="$(cd "$(dirname "${BASH_SOURCE[0]}")/.." && pwd)"
ISAAC_DIR="${ISAAC_SIM_DIR:-$REPO_ROOT/_build/linux-x86_64/release}"
SCRIPT_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
export ISAAC_SIM_DIR="$ISAAC_DIR"
exec "$ISAAC_DIR/python.sh" "$SCRIPT_DIR/linker_hand_dual_sim.py" "$@"
run_ui.sh
Executable
+18
View File
@@ -0,0 +1,18 @@
#!/usr/bin/env bash
# 启动 O6/G20 关节控制 UI（系统 ROS2 + tkinter，不要用 Isaac python.sh）
set -eo pipefail
# ROS setup.bash 会读未定义变量，不能在 set -u 下 source
if [[ -f /opt/ros/jazzy/setup.bash ]]; then
# shellcheck disable=SC1091
source /opt/ros/jazzy/setup.bash
elif [[ -f /opt/ros/humble/setup.bash ]]; then
# shellcheck disable=SC1091
source /opt/ros/humble/setup.bash
else
echo "未找到 ROS2 setup.bash（jazzy/humble）" >&2
exit 1
fi
SCRIPT_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
exec python3 "$SCRIPT_DIR/hand_control_ui.py" "$@"
test_g20_stability.py
Executable
+12
View File
@@ -0,0 +1,12 @@
#!/usr/bin/env python3
"""Run built-in G20 stability test (headless)."""
import subprocess
import sys
from pathlib import Path
ISAAC = Path(__file__).resolve().parents[1] / "_build/linux-x86_64/release"
SCRIPT = Path(__file__).resolve().parent / "linker_hand_dual_sim.py"
cmd = [str(ISAAC / "python.sh"), str(SCRIPT), "--headless", "--stability-test", *sys.argv[1:]]
print("Running:", " ".join(cmd))
raise SystemExit(subprocess.call(cmd))
urdf/g20/left/linkerhand_g20_left.urdf
+1285
View File
File diff suppressed because it is too large Load Diff
urdf/g20/left/linkerhand_g20_left/linkerhand_g20_left.usda
+52
View File
@@ -0,0 +1,52 @@
#usda 1.0
(
customLayerData = {
string creator = "URDF USD Converter v0.1.3"
}
defaultPrim = "linkerhand_g20_left"
doc = """Generated from Composed Stage of root layer /tmp/tmp5xni4jzi/linkerhand_g20_left.usdc
Generated from Composed Stage of root layer /tmp/urdf_import_linkerhand_g20_left_9306w6un/usdex_linkerhand_g20_left/linkerhand_g20_left.usdc
Generated from Composed Stage of root layer /tmp/urdf_import_linkerhand_g20_left_9306w6un/temp_linkerhand_g20_left/linkerhand_g20_left.usd
Generated from Composed Stage of root layer /home/lxqs/isaacsim/linkerhand/urdf/g20/left/linkerhand_g20_left/payloads/base.usd
"""
kilogramsPerUnit = 1
metersPerUnit = 1
upAxis = "Z"
)
def Xform "linkerhand_g20_left" (
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@
) {
}
}
}
urdf/g20/left/linkerhand_g20_left/payloads/Physics/hand_body_limits.usda
+398
View File
@@ -0,0 +1,398 @@
#usda 1.0
(
defaultPrim = "linkerhand_g20_left"
metersPerUnit = 1
kilogramsPerUnit = 1
upAxis = "Z"
)
over "linkerhand_g20_left"
{
over "Geometry"
{
over "hand_base_link" (
prepend apiSchemas = ["PhysxRigidBodyAPI"]
)
{
float physxRigidBody:maxLinearVelocity = 3.0
float physxRigidBody:maxAngularVelocity = 360.0
float physxRigidBody:linearDamping = 6.0
float physxRigidBody:angularDamping = 6.0
}
over "hand_base_link"
{
over "thumb_metacarpals_base1" (
prepend apiSchemas = ["PhysxRigidBodyAPI"]
)
{
float physxRigidBody:maxLinearVelocity = 3.0
float physxRigidBody:maxAngularVelocity = 360.0
float physxRigidBody:linearDamping = 6.0
float physxRigidBody:angularDamping = 6.0
}
}
over "hand_base_link"
{
over "thumb_metacarpals_base1"
{
over "thumb_metacarpals_base2" (
prepend apiSchemas = ["PhysxRigidBodyAPI"]
)
{
float physxRigidBody:maxLinearVelocity = 3.0
float physxRigidBody:maxAngularVelocity = 360.0
float physxRigidBody:linearDamping = 6.0
float physxRigidBody:angularDamping = 6.0
}
}
}
over "hand_base_link"
{
over "thumb_metacarpals_base1"
{
over "thumb_metacarpals_base2"
{
over "thumb_metacarpals" (
prepend apiSchemas = ["PhysxRigidBodyAPI"]
)
{
float physxRigidBody:maxLinearVelocity = 3.0
float physxRigidBody:maxAngularVelocity = 360.0
float physxRigidBody:linearDamping = 6.0
float physxRigidBody:angularDamping = 6.0
}
}
}
}
over "hand_base_link"
{
over "thumb_metacarpals_base1"
{
over "thumb_metacarpals_base2"
{
over "thumb_metacarpals"
{
over "thumb_proximal" (
prepend apiSchemas = ["PhysxRigidBodyAPI"]
)
{
float physxRigidBody:maxLinearVelocity = 3.0
float physxRigidBody:maxAngularVelocity = 360.0
float physxRigidBody:linearDamping = 6.0
float physxRigidBody:angularDamping = 6.0
}
}
}
}
}
over "hand_base_link"
{
over "thumb_metacarpals_base1"
{
over "thumb_metacarpals_base2"
{
over "thumb_metacarpals"
{
over "thumb_proximal"
{
over "thumb_distal" (
prepend apiSchemas = ["PhysxRigidBodyAPI"]
)
{
float physxRigidBody:maxLinearVelocity = 3.0
float physxRigidBody:maxAngularVelocity = 360.0
float physxRigidBody:linearDamping = 6.0
float physxRigidBody:angularDamping = 6.0
}
}
}
}
}
}
over "hand_base_link"
{
over "index_metacarpals" (
prepend apiSchemas = ["PhysxRigidBodyAPI"]
)
{
float physxRigidBody:maxLinearVelocity = 3.0
float physxRigidBody:maxAngularVelocity = 360.0
float physxRigidBody:linearDamping = 6.0
float physxRigidBody:angularDamping = 6.0
}
}
over "hand_base_link"
{
over "index_metacarpals"
{
over "index_proximal" (
prepend apiSchemas = ["PhysxRigidBodyAPI"]
)
{
float physxRigidBody:maxLinearVelocity = 3.0
float physxRigidBody:maxAngularVelocity = 360.0
float physxRigidBody:linearDamping = 6.0
float physxRigidBody:angularDamping = 6.0
}
}
}
over "hand_base_link"
{
over "index_metacarpals"
{
over "index_proximal"
{
over "index_middle" (
prepend apiSchemas = ["PhysxRigidBodyAPI"]
)
{
float physxRigidBody:maxLinearVelocity = 3.0
float physxRigidBody:maxAngularVelocity = 360.0
float physxRigidBody:linearDamping = 6.0
float physxRigidBody:angularDamping = 6.0
}
}
}
}
over "hand_base_link"
{
over "index_metacarpals"
{
over "index_proximal"
{
over "index_middle"
{
over "index_distal" (
prepend apiSchemas = ["PhysxRigidBodyAPI"]
)
{
float physxRigidBody:maxLinearVelocity = 3.0
float physxRigidBody:maxAngularVelocity = 360.0
float physxRigidBody:linearDamping = 6.0
float physxRigidBody:angularDamping = 6.0
}
}
}
}
}
over "hand_base_link"
{
over "middle_metacarpals" (
prepend apiSchemas = ["PhysxRigidBodyAPI"]
)
{
float physxRigidBody:maxLinearVelocity = 3.0
float physxRigidBody:maxAngularVelocity = 360.0
float physxRigidBody:linearDamping = 6.0
float physxRigidBody:angularDamping = 6.0
}
}
over "hand_base_link"
{
over "middle_metacarpals"
{
over "middle_proximal" (
prepend apiSchemas = ["PhysxRigidBodyAPI"]
)
{
float physxRigidBody:maxLinearVelocity = 3.0
float physxRigidBody:maxAngularVelocity = 360.0
float physxRigidBody:linearDamping = 6.0
float physxRigidBody:angularDamping = 6.0
}
}
}
over "hand_base_link"
{
over "middle_metacarpals"
{
over "middle_proximal"
{
over "middle_middle" (
prepend apiSchemas = ["PhysxRigidBodyAPI"]
)
{
float physxRigidBody:maxLinearVelocity = 3.0
float physxRigidBody:maxAngularVelocity = 360.0
float physxRigidBody:linearDamping = 6.0
float physxRigidBody:angularDamping = 6.0
}
}
}
}
over "hand_base_link"
{
over "middle_metacarpals"
{
over "middle_proximal"
{
over "middle_middle"
{
over "middle_distal" (
prepend apiSchemas = ["PhysxRigidBodyAPI"]
)
{
float physxRigidBody:maxLinearVelocity = 3.0
float physxRigidBody:maxAngularVelocity = 360.0
float physxRigidBody:linearDamping = 6.0
float physxRigidBody:angularDamping = 6.0
}
}
}
}
}
over "hand_base_link"
{
over "ring_metacarpals" (
prepend apiSchemas = ["PhysxRigidBodyAPI"]
)
{
float physxRigidBody:maxLinearVelocity = 3.0
float physxRigidBody:maxAngularVelocity = 360.0
float physxRigidBody:linearDamping = 6.0
float physxRigidBody:angularDamping = 6.0
}
}
over "hand_base_link"
{
over "ring_metacarpals"
{
over "ring_proximal" (
prepend apiSchemas = ["PhysxRigidBodyAPI"]
)
{
float physxRigidBody:maxLinearVelocity = 3.0
float physxRigidBody:maxAngularVelocity = 360.0
float physxRigidBody:linearDamping = 6.0
float physxRigidBody:angularDamping = 6.0
}
}
}
over "hand_base_link"
{
over "ring_metacarpals"
{
over "ring_proximal"
{
over "ring_middle" (
prepend apiSchemas = ["PhysxRigidBodyAPI"]
)
{
float physxRigidBody:maxLinearVelocity = 3.0
float physxRigidBody:maxAngularVelocity = 360.0
float physxRigidBody:linearDamping = 6.0
float physxRigidBody:angularDamping = 6.0
}
}
}
}
over "hand_base_link"
{
over "ring_metacarpals"
{
over "ring_proximal"
{
over "ring_middle"
{
over "ring_distal" (
prepend apiSchemas = ["PhysxRigidBodyAPI"]
)
{
float physxRigidBody:maxLinearVelocity = 3.0
float physxRigidBody:maxAngularVelocity = 360.0
float physxRigidBody:linearDamping = 6.0
float physxRigidBody:angularDamping = 6.0
}
}
}
}
}
over "hand_base_link"
{
over "pinky_metacarpals" (
prepend apiSchemas = ["PhysxRigidBodyAPI"]
)
{
float physxRigidBody:maxLinearVelocity = 3.0
float physxRigidBody:maxAngularVelocity = 360.0
float physxRigidBody:linearDamping = 6.0
float physxRigidBody:angularDamping = 6.0
}
}
over "hand_base_link"
{
over "pinky_metacarpals"
{
over "pinky_proximal" (
prepend apiSchemas = ["PhysxRigidBodyAPI"]
)
{
float physxRigidBody:maxLinearVelocity = 3.0
float physxRigidBody:maxAngularVelocity = 360.0
float physxRigidBody:linearDamping = 6.0
float physxRigidBody:angularDamping = 6.0
}
}
}
over "hand_base_link"
{
over "pinky_metacarpals"
{
over "pinky_proximal"
{
over "pinky_middle" (
prepend apiSchemas = ["PhysxRigidBodyAPI"]
)
{
float physxRigidBody:maxLinearVelocity = 3.0
float physxRigidBody:maxAngularVelocity = 360.0
float physxRigidBody:linearDamping = 6.0
float physxRigidBody:angularDamping = 6.0
}
}
}
}
over "hand_base_link"
{
over "pinky_metacarpals"
{
over "pinky_proximal"
{
over "pinky_middle"
{
over "pinky_distal" (
prepend apiSchemas = ["PhysxRigidBodyAPI"]
)
{
float physxRigidBody:maxLinearVelocity = 3.0
float physxRigidBody:maxAngularVelocity = 360.0
float physxRigidBody:linearDamping = 6.0
float physxRigidBody:angularDamping = 6.0
}
}
}
}
}
}
}
urdf/g20/left/linkerhand_g20_left/payloads/Physics/mujoco.usda
+582
View File
@@ -0,0 +1,582 @@
#usda 1.0
(
customLayerData = {
string creator = "URDF USD Converter v0.1.3"
}
defaultPrim = "linkerhand_g20_left"
doc = """Generated from Composed Stage of root layer /tmp/tmp5xni4jzi/linkerhand_g20_left.usdc
Generated from Composed Stage of root layer /tmp/urdf_import_linkerhand_g20_left_9306w6un/usdex_linkerhand_g20_left/linkerhand_g20_left.usdc
Generated from Composed Stage of root layer /tmp/urdf_import_linkerhand_g20_left_9306w6un/temp_linkerhand_g20_left/linkerhand_g20_left.usd
Generated from Composed Stage of root layer /home/lxqs/isaacsim/linkerhand/urdf/g20/left/linkerhand_g20_left/payloads/base.usd
"""
kilogramsPerUnit = 1
metersPerUnit = 1
subLayers = [
@./physics.usda@
]
upAxis = "Z"
)
over "linkerhand_g20_left"
{
over "Physics"
{
def MjcActuator "thumb_cmc_roll_actuator"
{
uniform double mjc:forceRange:max = 100
uniform double mjc:forceRange:min = -100
custom rel mjc:target
prepend rel mjc:target = </linkerhand_g20_left/Physics/thumb_cmc_roll>
}
def MjcActuator "thumb_cmc_yaw_actuator"
{
uniform double mjc:forceRange:max = 100
uniform double mjc:forceRange:min = -100
custom rel mjc:target
prepend rel mjc:target = </linkerhand_g20_left/Physics/thumb_cmc_yaw>
}
def MjcActuator "thumb_cmc_pitch_actuator"
{
uniform double mjc:forceRange:max = 100
uniform double mjc:forceRange:min = -100
custom rel mjc:target
prepend rel mjc:target = </linkerhand_g20_left/Physics/thumb_cmc_pitch>
}
def MjcActuator "thumb_mcp_actuator"
{
uniform double mjc:forceRange:max = 100
uniform double mjc:forceRange:min = -100
custom rel mjc:target
prepend rel mjc:target = </linkerhand_g20_left/Physics/thumb_mcp>
}
def MjcActuator "thumb_ip_actuator"
{
uniform double mjc:forceRange:max = 100
uniform double mjc:forceRange:min = -100
custom rel mjc:target
prepend rel mjc:target = </linkerhand_g20_left/Physics/thumb_ip>
}
def MjcActuator "index_mcp_roll_actuator"
{
uniform double mjc:forceRange:max = 100
uniform double mjc:forceRange:min = -100
custom rel mjc:target
prepend rel mjc:target = </linkerhand_g20_left/Physics/index_mcp_roll>
}
def MjcActuator "index_mcp_pitch_actuator"
{
uniform double mjc:forceRange:max = 100
uniform double mjc:forceRange:min = -100
custom rel mjc:target
prepend rel mjc:target = </linkerhand_g20_left/Physics/index_mcp_pitch>
}
def MjcActuator "index_pip_actuator"
{
uniform double mjc:forceRange:max = 100
uniform double mjc:forceRange:min = -100
custom rel mjc:target
prepend rel mjc:target = </linkerhand_g20_left/Physics/index_pip>
}
def MjcActuator "index_dip_actuator"
{
uniform double mjc:forceRange:max = 100
uniform double mjc:forceRange:min = -100
custom rel mjc:target
prepend rel mjc:target = </linkerhand_g20_left/Physics/index_dip>
}
def MjcActuator "middle_mcp_roll_actuator"
{
uniform double mjc:forceRange:max = 100
uniform double mjc:forceRange:min = -100
custom rel mjc:target
prepend rel mjc:target = </linkerhand_g20_left/Physics/middle_mcp_roll>
}
def MjcActuator "middle_mcp_pitch_actuator"
{
uniform double mjc:forceRange:max = 100
uniform double mjc:forceRange:min = -100
custom rel mjc:target
prepend rel mjc:target = </linkerhand_g20_left/Physics/middle_mcp_pitch>
}
def MjcActuator "middle_pip_actuator"
{
uniform double mjc:forceRange:max = 100
uniform double mjc:forceRange:min = -100
custom rel mjc:target
prepend rel mjc:target = </linkerhand_g20_left/Physics/middle_pip>
}
def MjcActuator "middle_dip_actuator"
{
uniform double mjc:forceRange:max = 100
uniform double mjc:forceRange:min = -100
custom rel mjc:target
prepend rel mjc:target = </linkerhand_g20_left/Physics/middle_dip>
}
def MjcActuator "ring_mcp_roll_actuator"
{
uniform double mjc:forceRange:max = 100
uniform double mjc:forceRange:min = -100
custom rel mjc:target
prepend rel mjc:target = </linkerhand_g20_left/Physics/ring_mcp_roll>
}
def MjcActuator "ring_mcp_pitch_actuator"
{
uniform double mjc:forceRange:max = 100
uniform double mjc:forceRange:min = -100
custom rel mjc:target
prepend rel mjc:target = </linkerhand_g20_left/Physics/ring_mcp_pitch>
}
def MjcActuator "ring_pip_actuator"
{
uniform double mjc:forceRange:max = 100
uniform double mjc:forceRange:min = -100
custom rel mjc:target
prepend rel mjc:target = </linkerhand_g20_left/Physics/ring_pip>
}
def MjcActuator "ring_dip_actuator"
{
uniform double mjc:forceRange:max = 100
uniform double mjc:forceRange:min = -100
custom rel mjc:target
prepend rel mjc:target = </linkerhand_g20_left/Physics/ring_dip>
}
def MjcActuator "pinky_mcp_roll_actuator"
{
uniform double mjc:forceRange:max = 100
uniform double mjc:forceRange:min = -100
custom rel mjc:target
prepend rel mjc:target = </linkerhand_g20_left/Physics/pinky_mcp_roll>
}
def MjcActuator "pinky_mcp_pitch_actuator"
{
uniform double mjc:forceRange:max = 100
uniform double mjc:forceRange:min = -100
custom rel mjc:target
prepend rel mjc:target = </linkerhand_g20_left/Physics/pinky_mcp_pitch>
}
def MjcActuator "pinky_pip_actuator"
{
uniform double mjc:forceRange:max = 100
uniform double mjc:forceRange:min = -100
custom rel mjc:target
prepend rel mjc:target = </linkerhand_g20_left/Physics/pinky_pip>
}
def MjcActuator "pinky_dip_actuator"
{
uniform double mjc:forceRange:max = 100
uniform double mjc:forceRange:min = -100
custom rel mjc:target
prepend rel mjc:target = </linkerhand_g20_left/Physics/pinky_dip>
}
over "root_joint"
{
}
over "thumb_cmc_roll" (
delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
)
{
}
over "thumb_cmc_yaw" (
delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
)
{
}
over "thumb_cmc_pitch" (
delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
)
{
}
over "thumb_mcp" (
delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
)
{
}
over "thumb_ip" (
delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
)
{
}
over "index_mcp_roll" (
delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
)
{
}
over "index_mcp_pitch" (
delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
)
{
}
over "index_pip" (
delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
)
{
}
over "index_dip" (
delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
)
{
}
over "middle_mcp_roll" (
delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
)
{
}
over "middle_mcp_pitch" (
delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
)
{
}
over "middle_pip" (
delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
)
{
}
over "middle_dip" (
delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
)
{
}
over "ring_mcp_roll" (
delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
)
{
}
over "ring_mcp_pitch" (
delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
)
{
}
over "ring_pip" (
delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
)
{
}
over "ring_dip" (
delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
)
{
}
over "pinky_mcp_roll" (
delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
)
{
}
over "pinky_mcp_pitch" (
delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
)
{
}
over "pinky_pip" (
delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
)
{
}
over "pinky_dip" (
delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
)
{
}
}
over "Geometry"
{
over "hand_base_link"
{
over "thumb_metacarpals_base1"
{
over "thumb_metacarpals_base2"
{
over "thumb_metacarpals"
{
over "thumb_proximal"
{
over "thumb_distal"
{
over "thumb_distal"
{
}
over "thumb_distal_1"
{
}
}
over "thumb_proximal"
{
}
over "thumb_proximal_1"
{
}
}
over "thumb_metacarpals"
{
}
over "thumb_metacarpals_1"
{
}
}
over "thumb_metacarpals_base2"
{
}
over "thumb_metacarpals_base2_1"
{
}
}
over "thumb_metacarpals_base1"
{
}
over "thumb_metacarpals_base1_1"
{
}
}
over "index_metacarpals"
{
over "index_proximal"
{
over "index_middle"
{
over "index_distal"
{
over "index_distal"
{
}
over "index_distal_1"
{
}
}
over "index_middle"
{
}
over "index_middle_1"
{
}
}
over "index_proximal"
{
}
over "index_proximal_1"
{
}
}
over "index_metacarpals"
{
}
over "index_metacarpals_1"
{
}
}
over "middle_metacarpals"
{
over "middle_proximal"
{
over "middle_middle"
{
over "middle_distal"
{
over "middle_distal"
{
}
over "middle_distal_1"
{
}
}
over "middle_middle"
{
}
over "middle_middle_1"
{
}
}
over "middle_proximal"
{
}
over "middle_proximal_1"
{
}
}
over "middle_metacarpals"
{
}
over "middle_metacarpals_1"
{
}
}
over "ring_metacarpals"
{
over "ring_proximal"
{
over "ring_middle"
{
over "ring_distal"
{
over "ring_distal"
{
}
over "ring_distal_1"
{
}
}
over "ring_middle"
{
}
over "ring_middle_1"
{
}
}
over "ring_proximal"
{
}
over "ring_proximal_1"
{
}
}
over "ring_metacarpals"
{
}
over "ring_metacarpals_1"
{
}
}
over "pinky_metacarpals"
{
over "pinky_proximal"
{
over "pinky_middle"
{
over "pinky_distal"
{
over "pinky_distal"
{
}
over "pinky_distal_1"
{
}
}
over "pinky_middle"
{
}
over "pinky_middle_1"
{
}
}
over "pinky_proximal"
{
}
over "pinky_proximal_1"
{
}
}
over "pinky_metacarpals"
{
}
over "pinky_metacarpals_1"
{
}
}
over "hand_base_link"
{
}
over "hand_base_link_1"
{
}
}
}
over "Materials"
{
}
over "VisualMaterials"
{
}
}
urdf/g20/left/linkerhand_g20_left/payloads/Physics/physics.usda
+720
View File
@@ -0,0 +1,720 @@
#usda 1.0
(
customLayerData = {
string creator = "URDF USD Converter v0.1.3"
}
defaultPrim = "linkerhand_g20_left"
doc = """Generated from Composed Stage of root layer /tmp/tmp5xni4jzi/linkerhand_g20_left.usdc
Generated from Composed Stage of root layer /tmp/urdf_import_linkerhand_g20_left_9306w6un/usdex_linkerhand_g20_left/linkerhand_g20_left.usdc
Generated from Composed Stage of root layer /tmp/urdf_import_linkerhand_g20_left_9306w6un/temp_linkerhand_g20_left/linkerhand_g20_left.usd
Generated from Composed Stage of root layer /home/lxqs/isaacsim/linkerhand/urdf/g20/left/linkerhand_g20_left/payloads/base.usd
"""
kilogramsPerUnit = 1
metersPerUnit = 1
upAxis = "Z"
)
over "linkerhand_g20_left"
{
over "Geometry" (
prepend apiSchemas = ["PhysicsArticulationRootAPI", "NewtonArticulationRootAPI"]
)
{
bool newton:selfCollisionEnabled = 1
over "hand_base_link" (
prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"]
)
{
point3f physics:centerOfMass = (-0.000986417, 0.000268049, 0.077379845)
float3 physics:diagonalInertia = (0.0005, 0.0005, 0.0005)
float physics:mass = 0.1103735
quatf physics:principalAxes = (0.70273006, 0.038762398, 0.7092034, -0.04121172)
over "thumb_metacarpals_base1" (
prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"]
)
{
point3f physics:centerOfMass = (0.011515513, 0.0039806883, 0.00027288825)
float3 physics:diagonalInertia = (0.0005, 0.0005, 0.0005)
float physics:mass = 0.02
quatf physics:principalAxes = (0.69315267, 0.09873541, 0.69662505, -0.15653834)
over "thumb_metacarpals_base2" (
prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"]
)
{
point3f physics:centerOfMass = (0.0028671462, -0.0061572655, 0.0047260527)
float3 physics:diagonalInertia = (0.0005, 0.0005, 0.0005)
float physics:mass = 0.02
quatf physics:principalAxes = (-0.4856348, 0.6328352, 0.57746726, 0.17381014)
over "thumb_metacarpals" (
prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"]
)
{
point3f physics:centerOfMass = (0.0067065787, 0.000086075896, 0.033141293)
float3 physics:diagonalInertia = (0.0005, 0.0005, 0.0005)
float physics:mass = 0.028716035
quatf physics:principalAxes = (0.5003233, 0.49646425, 0.50234294, 0.50085074)
over "thumb_proximal" (
prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"]
)
{
point3f physics:centerOfMass = (-0.002687344, 0.00056824455, 0.011850173)
float3 physics:diagonalInertia = (0.0005, 0.0005, 0.0005)
float physics:mass = 0.02
quatf physics:principalAxes = (0.4466405, 0.44347262, 0.5443941, 0.55450827)
over "thumb_distal" (
prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"]
)
{
point3f physics:centerOfMass = (-0.0007100218, -0.0026757591, 0.012476266)
float3 physics:diagonalInertia = (0.0005, 0.0005, 0.0005)
float physics:mass = 0.02
quatf physics:principalAxes = (0.7076172, 0.49610376, 0.40506423, 0.29846585)
}
}
}
}
}
over "index_metacarpals" (
prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"]
)
{
point3f physics:centerOfMass = (-0.007942997, -2.9367396e-7, 0.0022010603)
float3 physics:diagonalInertia = (0.0005, 0.0005, 0.0005)
float physics:mass = 0.02
quatf physics:principalAxes = (0.15955442, 0.6888882, 0.68885684, -0.15953577)
over "index_proximal" (
prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"]
)
{
point3f physics:centerOfMass = (-0.0011418548, 0.000034731576, 0.02289284)
float3 physics:diagonalInertia = (0.0005, 0.0005, 0.0005)
float physics:mass = 0.02
quatf physics:principalAxes = (0.5117973, 0.51168644, 0.48817277, 0.48777848)
over "index_middle" (
prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"]
)
{
point3f physics:centerOfMass = (-0.00020699194, 0.0000026061707, 0.016706534)
float3 physics:diagonalInertia = (0.0005, 0.0005, 0.0005)
float physics:mass = 0.02
quatf physics:principalAxes = (0.7445136, -0.00005444173, 0.6676073, 0.000047438436)
over "index_distal" (
prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"]
)
{
point3f physics:centerOfMass = (-0.008162465, 0.000022705892, 0.008118065)
float3 physics:diagonalInertia = (0.0005, 0.0005, 0.0005)
float physics:mass = 0.02
quatf physics:principalAxes = (0.90243715, -0.0029940915, 0.43080872, -0.0014403827)
}
}
}
}
over "middle_metacarpals" (
prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"]
)
{
point3f physics:centerOfMass = (-0.007942996, -2.9300665e-7, 0.0022010633)
float3 physics:diagonalInertia = (0.0005, 0.0005, 0.0005)
float physics:mass = 0.02
quatf physics:principalAxes = (0.1595545, 0.6888883, 0.6888567, -0.15953599)
over "middle_proximal" (
prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"]
)
{
point3f physics:centerOfMass = (-0.0011418548, 0.000034731576, 0.02289284)
float3 physics:diagonalInertia = (0.0005, 0.0005, 0.0005)
float physics:mass = 0.02
quatf physics:principalAxes = (0.5117973, 0.51168644, 0.48817277, 0.48777848)
over "middle_middle" (
prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"]
)
{
point3f physics:centerOfMass = (-0.0002069919, 0.0000026062498, 0.016706534)
float3 physics:diagonalInertia = (0.0005, 0.0005, 0.0005)
float physics:mass = 0.02
quatf physics:principalAxes = (0.7445136, -0.000054456927, 0.6676073, 0.00004744315)
over "middle_distal" (
prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"]
)
{
point3f physics:centerOfMass = (-0.008162466, 0.000022705855, 0.008118066)
float3 physics:diagonalInertia = (0.0005, 0.0005, 0.0005)
float physics:mass = 0.02
quatf physics:principalAxes = (0.90243715, -0.0029941155, 0.4308087, -0.0014403895)
}
}
}
}
over "ring_metacarpals" (
prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"]
)
{
point3f physics:centerOfMass = (-0.007942996, -2.945131e-7, 0.0022010615)
float3 physics:diagonalInertia = (0.0005, 0.0005, 0.0005)
float physics:mass = 0.02
quatf physics:principalAxes = (0.15955459, 0.6888881, 0.68885696, -0.1595357)
over "ring_proximal" (
prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"]
)
{
point3f physics:centerOfMass = (-0.0011418548, 0.00003473158, 0.02289284)
float3 physics:diagonalInertia = (0.0005, 0.0005, 0.0005)
float physics:mass = 0.02
quatf physics:principalAxes = (0.5117973, 0.51168644, 0.48817277, 0.48777848)
over "ring_middle" (
prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"]
)
{
point3f physics:centerOfMass = (-0.00020699321, 0.0000026074692, 0.016706532)
float3 physics:diagonalInertia = (0.0005, 0.0005, 0.0005)
float physics:mass = 0.02
quatf physics:principalAxes = (0.74451363, -0.000054586842, 0.6676073, 0.000047385933)
over "ring_distal" (
prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"]
)
{
point3f physics:centerOfMass = (-0.008162466, 0.000022705732, 0.008118066)
float3 physics:diagonalInertia = (0.0005, 0.0005, 0.0005)
float physics:mass = 0.02
quatf physics:principalAxes = (0.90243715, -0.0029941578, 0.43080872, -0.0014404262)
}
}
}
}
over "pinky_metacarpals" (
prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"]
)
{
point3f physics:centerOfMass = (-0.007942996, -2.9300685e-7, 0.0022010633)
float3 physics:diagonalInertia = (0.0005, 0.0005, 0.0005)
float physics:mass = 0.02
quatf physics:principalAxes = (0.1595545, 0.6888883, 0.6888567, -0.15953599)
over "pinky_proximal" (
prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"]
)
{
point3f physics:centerOfMass = (-0.0011418548, 0.00003473158, 0.02289284)
float3 physics:diagonalInertia = (0.0005, 0.0005, 0.0005)
float physics:mass = 0.02
quatf physics:principalAxes = (0.5117973, 0.51168644, 0.48817277, 0.48777848)
over "pinky_middle" (
prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"]
)
{
point3f physics:centerOfMass = (-0.00020699325, 0.00000260749, 0.016706532)
float3 physics:diagonalInertia = (0.0005, 0.0005, 0.0005)
float physics:mass = 0.02
quatf physics:principalAxes = (0.74451363, -0.0000545887, 0.6676073, 0.000047383306)
over "pinky_distal" (
prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"]
)
{
point3f physics:centerOfMass = (-0.008162466, 0.000022705419, 0.008118066)
float3 physics:diagonalInertia = (0.0005, 0.0005, 0.0005)
float physics:mass = 0.02
quatf physics:principalAxes = (0.90243715, -0.002994122, 0.43080872, -0.001440418)
}
}
}
}
}
}
over "Physics"
{
def PhysicsRevoluteJoint "thumb_cmc_roll" (
prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
)
{
float drive:angular:physics:maxForce = 10
uniform token drive:angular:physics:type = "force"
uniform token physics:axis = "X"
custom rel physics:body0
prepend rel physics:body0 = </linkerhand_g20_left/Geometry/hand_base_link>
custom rel physics:body1
prepend rel physics:body1 = </linkerhand_g20_left/Geometry/hand_base_link/thumb_metacarpals_base1>
point3f physics:localPos0 = (0.01916, -0.01, 0.0436)
point3f physics:localPos1 = (0, 0, 0)
quatf physics:localRot0 = (0, 0, -1, 0)
quatf physics:localRot1 = (0, 0, -1, 0)
float physics:lowerLimit = 0
float physics:upperLimit = 84.22480
custom float urdf:limit:effort = 100
custom float urdf:limit:velocity = 1
}
def PhysicsRevoluteJoint "thumb_cmc_yaw" (
prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
)
{
float drive:angular:physics:maxForce = 10
uniform token drive:angular:physics:type = "force"
uniform token physics:axis = "Z"
custom rel physics:body0
prepend rel physics:body0 = </linkerhand_g20_left/Geometry/hand_base_link/thumb_metacarpals_base1>
custom rel physics:body1
prepend rel physics:body1 = </linkerhand_g20_left/Geometry/hand_base_link/thumb_metacarpals_base1/thumb_metacarpals_base2>
point3f physics:localPos0 = (0.019845, 0, 0)
point3f physics:localPos1 = (0, 0, 0)
quatf physics:localRot0 = (0.9264883, 0.3763236, 0, 0)
quatf physics:localRot1 = (1, 0, 0, 0)
float physics:lowerLimit = 0
float physics:upperLimit = 89.95438
custom float urdf:limit:effort = 100
custom float urdf:limit:velocity = 1
}
def PhysicsRevoluteJoint "thumb_cmc_pitch" (
prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
)
{
float drive:angular:physics:maxForce = 10
uniform token drive:angular:physics:type = "force"
uniform token physics:axis = "Y"
custom rel physics:body0
prepend rel physics:body0 = </linkerhand_g20_left/Geometry/hand_base_link/thumb_metacarpals_base1/thumb_metacarpals_base2>
custom rel physics:body1
prepend rel physics:body1 = </linkerhand_g20_left/Geometry/hand_base_link/thumb_metacarpals_base1/thumb_metacarpals_base2/thumb_metacarpals>
point3f physics:localPos0 = (0.0088218, -0.024245, 0.0005)
point3f physics:localPos1 = (0, 0, 0)
quatf physics:localRot0 = (0.49418968, 0.41577393, -0.29111633, 0.7058044)
quatf physics:localRot1 = (1, 0, 0, 0)
float physics:lowerLimit = 0
float physics:upperLimit = 48.128456
custom float urdf:limit:effort = 100
custom float urdf:limit:velocity = 1
}
def PhysicsRevoluteJoint "thumb_mcp" (
prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
)
{
float drive:angular:physics:maxForce = 10
uniform token drive:angular:physics:type = "force"
uniform token physics:axis = "Y"
custom rel physics:body0
prepend rel physics:body0 = </linkerhand_g20_left/Geometry/hand_base_link/thumb_metacarpals_base1/thumb_metacarpals_base2/thumb_metacarpals>
custom rel physics:body1
prepend rel physics:body1 = </linkerhand_g20_left/Geometry/hand_base_link/thumb_metacarpals_base1/thumb_metacarpals_base2/thumb_metacarpals/thumb_proximal>
point3f physics:localPos0 = (0.012701825, -6.938894e-18, 0.06272562)
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 = 72.19268
custom float urdf:limit:effort = 100
custom float urdf:limit:velocity = 1
}
def PhysicsRevoluteJoint "thumb_ip" (
prepend apiSchemas = ["NewtonMimicAPI", "PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
)
{
float drive:angular:physics:maxForce = 10
uniform token drive:angular:physics:type = "force"
float newton:mimicCoef1 = 1.02
rel newton:mimicJoint = </linkerhand_g20_left/Physics/thumb_mcp>
uniform token physics:axis = "Y"
custom rel physics:body0
prepend rel physics:body0 = </linkerhand_g20_left/Geometry/hand_base_link/thumb_metacarpals_base1/thumb_metacarpals_base2/thumb_metacarpals/thumb_proximal>
custom rel physics:body1
prepend rel physics:body1 = </linkerhand_g20_left/Geometry/hand_base_link/thumb_metacarpals_base1/thumb_metacarpals_base2/thumb_metacarpals/thumb_proximal/thumb_distal>
point3f physics:localPos0 = (-0.004836522, 1.3877788e-17, 0.034222648)
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 = 73.91155
custom float urdf:limit:effort = 100
custom float urdf:limit:velocity = 1
}
def PhysicsRevoluteJoint "index_mcp_roll" (
prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
)
{
float drive:angular:physics:maxForce = 10
uniform token drive:angular:physics:type = "force"
uniform token physics:axis = "X"
custom rel physics:body0
prepend rel physics:body0 = </linkerhand_g20_left/Geometry/hand_base_link>
custom rel physics:body1
prepend rel physics:body1 = </linkerhand_g20_left/Geometry/hand_base_link/index_metacarpals>
point3f physics:localPos0 = (0.0038, -0.03525, 0.1481)
point3f physics:localPos1 = (0, 0, 0)
quatf physics:localRot0 = (1, 0, 0, 0)
quatf physics:localRot1 = (1, 0, 0, 0)
float physics:lowerLimit = -13.178029
float physics:upperLimit = 13.178029
custom float urdf:limit:effort = 100
custom float urdf:limit:velocity = 1
}
def PhysicsRevoluteJoint "index_mcp_pitch" (
prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
)
{
float drive:angular:physics:maxForce = 10
uniform token drive:angular:physics:type = "force"
uniform token physics:axis = "Y"
custom rel physics:body0
prepend rel physics:body0 = </linkerhand_g20_left/Geometry/hand_base_link/index_metacarpals>
custom rel physics:body1
prepend rel physics:body1 = </linkerhand_g20_left/Geometry/hand_base_link/index_metacarpals/index_proximal>
point3f physics:localPos0 = (-0.0021302, 0, 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 = 69.90085
custom float urdf:limit:effort = 100
custom float urdf:limit:velocity = 1
}
def PhysicsRevoluteJoint "index_pip" (
prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
)
{
float drive:angular:physics:maxForce = 10
uniform token drive:angular:physics:type = "force"
uniform token physics:axis = "Y"
custom rel physics:body0
prepend rel physics:body0 = </linkerhand_g20_left/Geometry/hand_base_link/index_metacarpals/index_proximal>
custom rel physics:body1
prepend rel physics:body1 = </linkerhand_g20_left/Geometry/hand_base_link/index_metacarpals/index_proximal/index_middle>
point3f physics:localPos0 = (-0.0041946, 0, 0.044819)
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 = 99.69466
custom float urdf:limit:effort = 100
custom float urdf:limit:velocity = 1
}
def PhysicsRevoluteJoint "index_dip" (
prepend apiSchemas = ["NewtonMimicAPI", "PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
)
{
float drive:angular:physics:maxForce = 10
uniform token drive:angular:physics:type = "force"
float newton:mimicCoef1 = 0.89
rel newton:mimicJoint = </linkerhand_g20_left/Physics/index_pip>
uniform token physics:axis = "Y"
custom rel physics:body0
prepend rel physics:body0 = </linkerhand_g20_left/Geometry/hand_base_link/index_metacarpals/index_proximal/index_middle>
custom rel physics:body1
prepend rel physics:body1 = </linkerhand_g20_left/Geometry/hand_base_link/index_metacarpals/index_proximal/index_middle/index_distal>
point3f physics:localPos0 = (0.0028245, 0, 0.031696)
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 = 88.80846
custom float urdf:limit:effort = 100
custom float urdf:limit:velocity = 1
}
def PhysicsRevoluteJoint "middle_mcp_roll" (
prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
)
{
float drive:angular:physics:maxForce = 10
uniform token drive:angular:physics:type = "force"
uniform token physics:axis = "X"
custom rel physics:body0
prepend rel physics:body0 = </linkerhand_g20_left/Geometry/hand_base_link>
custom rel physics:body1
prepend rel physics:body1 = </linkerhand_g20_left/Geometry/hand_base_link/middle_metacarpals>
point3f physics:localPos0 = (0.0038, -0.01175, 0.1526)
point3f physics:localPos1 = (0, 0, 0)
quatf physics:localRot0 = (1, 0, 0, 0)
quatf physics:localRot1 = (1, 0, 0, 0)
float physics:lowerLimit = -13.178029
float physics:upperLimit = 13.178029
custom float urdf:limit:effort = 100
custom float urdf:limit:velocity = 1
}
def PhysicsRevoluteJoint "middle_mcp_pitch" (
prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
)
{
float drive:angular:physics:maxForce = 10
uniform token drive:angular:physics:type = "force"
uniform token physics:axis = "Y"
custom rel physics:body0
prepend rel physics:body0 = </linkerhand_g20_left/Geometry/hand_base_link/middle_metacarpals>
custom rel physics:body1
prepend rel physics:body1 = </linkerhand_g20_left/Geometry/hand_base_link/middle_metacarpals/middle_proximal>
point3f physics:localPos0 = (-0.0021302, 0, 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 = 69.90085
custom float urdf:limit:effort = 100
custom float urdf:limit:velocity = 1
}
def PhysicsRevoluteJoint "middle_pip" (
prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
)
{
float drive:angular:physics:maxForce = 10
uniform token drive:angular:physics:type = "force"
uniform token physics:axis = "Y"
custom rel physics:body0
prepend rel physics:body0 = </linkerhand_g20_left/Geometry/hand_base_link/middle_metacarpals/middle_proximal>
custom rel physics:body1
prepend rel physics:body1 = </linkerhand_g20_left/Geometry/hand_base_link/middle_metacarpals/middle_proximal/middle_middle>
point3f physics:localPos0 = (-0.004194577, 0, 0.044819433)
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 = 99.69466
custom float urdf:limit:effort = 100
custom float urdf:limit:velocity = 1
}
def PhysicsRevoluteJoint "middle_dip" (
prepend apiSchemas = ["NewtonMimicAPI", "PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
)
{
float drive:angular:physics:maxForce = 10
uniform token drive:angular:physics:type = "force"
float newton:mimicCoef1 = 0.89
rel newton:mimicJoint = </linkerhand_g20_left/Physics/middle_pip>
uniform token physics:axis = "Y"
custom rel physics:body0
prepend rel physics:body0 = </linkerhand_g20_left/Geometry/hand_base_link/middle_metacarpals/middle_proximal/middle_middle>
custom rel physics:body1
prepend rel physics:body1 = </linkerhand_g20_left/Geometry/hand_base_link/middle_metacarpals/middle_proximal/middle_middle/middle_distal>
point3f physics:localPos0 = (0.0028245, 0, 0.031696)
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 = 88.80846
custom float urdf:limit:effort = 100
custom float urdf:limit:velocity = 1
}
def PhysicsRevoluteJoint "ring_mcp_roll" (
prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
)
{
float drive:angular:physics:maxForce = 10
uniform token drive:angular:physics:type = "force"
uniform token physics:axis = "X"
custom rel physics:body0
prepend rel physics:body0 = </linkerhand_g20_left/Geometry/hand_base_link>
custom rel physics:body1
prepend rel physics:body1 = </linkerhand_g20_left/Geometry/hand_base_link/ring_metacarpals>
point3f physics:localPos0 = (0.0038, 0.01175, 0.1481)
point3f physics:localPos1 = (0, 0, 0)
quatf physics:localRot0 = (1, 0, 0, 0)
quatf physics:localRot1 = (1, 0, 0, 0)
float physics:lowerLimit = -13.178029
float physics:upperLimit = 13.178029
custom float urdf:limit:effort = 100
custom float urdf:limit:velocity = 1
}
def PhysicsRevoluteJoint "ring_mcp_pitch" (
prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
)
{
float drive:angular:physics:maxForce = 10
uniform token drive:angular:physics:type = "force"
uniform token physics:axis = "Y"
custom rel physics:body0
prepend rel physics:body0 = </linkerhand_g20_left/Geometry/hand_base_link/ring_metacarpals>
custom rel physics:body1
prepend rel physics:body1 = </linkerhand_g20_left/Geometry/hand_base_link/ring_metacarpals/ring_proximal>
point3f physics:localPos0 = (-0.0021302, 0, 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 = 69.90085
custom float urdf:limit:effort = 100
custom float urdf:limit:velocity = 1
}
def PhysicsRevoluteJoint "ring_pip" (
prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
)
{
float drive:angular:physics:maxForce = 10
uniform token drive:angular:physics:type = "force"
uniform token physics:axis = "Y"
custom rel physics:body0
prepend rel physics:body0 = </linkerhand_g20_left/Geometry/hand_base_link/ring_metacarpals/ring_proximal>
custom rel physics:body1
prepend rel physics:body1 = </linkerhand_g20_left/Geometry/hand_base_link/ring_metacarpals/ring_proximal/ring_middle>
point3f physics:localPos0 = (-0.004194577, 0, 0.044819433)
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 = 99.69466
custom float urdf:limit:effort = 100
custom float urdf:limit:velocity = 1
}
def PhysicsRevoluteJoint "ring_dip" (
prepend apiSchemas = ["NewtonMimicAPI", "PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
)
{
float drive:angular:physics:maxForce = 10
uniform token drive:angular:physics:type = "force"
float newton:mimicCoef1 = 0.89
rel newton:mimicJoint = </linkerhand_g20_left/Physics/ring_pip>
uniform token physics:axis = "Y"
custom rel physics:body0
prepend rel physics:body0 = </linkerhand_g20_left/Geometry/hand_base_link/ring_metacarpals/ring_proximal/ring_middle>
custom rel physics:body1
prepend rel physics:body1 = </linkerhand_g20_left/Geometry/hand_base_link/ring_metacarpals/ring_proximal/ring_middle/ring_distal>
point3f physics:localPos0 = (0.0028245, 0, 0.031696)
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 = 88.80846
custom float urdf:limit:effort = 100
custom float urdf:limit:velocity = 1
}
def PhysicsRevoluteJoint "pinky_mcp_roll" (
prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
)
{
float drive:angular:physics:maxForce = 10
uniform token drive:angular:physics:type = "force"
uniform token physics:axis = "X"
custom rel physics:body0
prepend rel physics:body0 = </linkerhand_g20_left/Geometry/hand_base_link>
custom rel physics:body1
prepend rel physics:body1 = </linkerhand_g20_left/Geometry/hand_base_link/pinky_metacarpals>
point3f physics:localPos0 = (0.0038, 0.03525, 0.1436)
point3f physics:localPos1 = (0, 0, 0)
quatf physics:localRot0 = (1, 0, 0, 0)
quatf physics:localRot1 = (1, 0, 0, 0)
float physics:lowerLimit = -13.178029
float physics:upperLimit = 13.178029
custom float urdf:limit:effort = 100
custom float urdf:limit:velocity = 1
}
def PhysicsRevoluteJoint "pinky_mcp_pitch" (
prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
)
{
float drive:angular:physics:maxForce = 10
uniform token drive:angular:physics:type = "force"
uniform token physics:axis = "Y"
custom rel physics:body0
prepend rel physics:body0 = </linkerhand_g20_left/Geometry/hand_base_link/pinky_metacarpals>
custom rel physics:body1
prepend rel physics:body1 = </linkerhand_g20_left/Geometry/hand_base_link/pinky_metacarpals/pinky_proximal>
point3f physics:localPos0 = (-0.0021302, 0, 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 = 69.90085
custom float urdf:limit:effort = 100
custom float urdf:limit:velocity = 1
}
def PhysicsRevoluteJoint "pinky_pip" (
prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
)
{
float drive:angular:physics:maxForce = 10
uniform token drive:angular:physics:type = "force"
uniform token physics:axis = "Y"
custom rel physics:body0
prepend rel physics:body0 = </linkerhand_g20_left/Geometry/hand_base_link/pinky_metacarpals/pinky_proximal>
custom rel physics:body1
prepend rel physics:body1 = </linkerhand_g20_left/Geometry/hand_base_link/pinky_metacarpals/pinky_proximal/pinky_middle>
point3f physics:localPos0 = (-0.0041946, 0, 0.044819)
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 = 99.69466
custom float urdf:limit:effort = 100
custom float urdf:limit:velocity = 1
}
def PhysicsRevoluteJoint "pinky_dip" (
prepend apiSchemas = ["NewtonMimicAPI", "PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
)
{
float drive:angular:physics:maxForce = 10
uniform token drive:angular:physics:type = "force"
float newton:mimicCoef1 = 0.89
rel newton:mimicJoint = </linkerhand_g20_left/Physics/pinky_pip>
uniform token physics:axis = "Y"
custom rel physics:body0
prepend rel physics:body0 = </linkerhand_g20_left/Geometry/hand_base_link/pinky_metacarpals/pinky_proximal/pinky_middle>
custom rel physics:body1
prepend rel physics:body1 = </linkerhand_g20_left/Geometry/hand_base_link/pinky_metacarpals/pinky_proximal/pinky_middle/pinky_distal>
point3f physics:localPos0 = (0.0028245, 0, 0.031696)
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 = 88.80846
custom float urdf:limit:effort = 100
custom float urdf:limit:velocity = 1
}
def PhysicsFixedJoint "root_joint"
{
# Deliverable fixed base: empty body0 = world, body1 = palm rigid body.
# Mount pose comes from the referencing Xform in the scene (not localPos0).
custom rel physics:body0
custom rel physics:body1
prepend rel physics:body1 = </linkerhand_g20_left/Geometry/hand_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)
bool physics:jointEnabled = 1
}
}
}
urdf/g20/left/linkerhand_g20_left/payloads/Physics/physx.usda
+230
View File
@@ -0,0 +1,230 @@
#usda 1.0
(
customLayerData = {
string creator = "URDF USD Converter v0.1.3"
}
defaultPrim = "linkerhand_g20_left"
doc = """Generated from Composed Stage of root layer /tmp/tmp5xni4jzi/linkerhand_g20_left.usdc
Generated from Composed Stage of root layer /tmp/urdf_import_linkerhand_g20_left_9306w6un/usdex_linkerhand_g20_left/linkerhand_g20_left.usdc
Generated from Composed Stage of root layer /tmp/urdf_import_linkerhand_g20_left_9306w6un/temp_linkerhand_g20_left/linkerhand_g20_left.usd
Generated from Composed Stage of root layer /home/lxqs/isaacsim/linkerhand/urdf/g20/left/linkerhand_g20_left/payloads/base.usd
"""
kilogramsPerUnit = 1
metersPerUnit = 1
subLayers = [
@./physics.usda@,
@./hand_body_limits.usda@
]
upAxis = "Z"
)
over "linkerhand_g20_left"
{
# Deliverable PhysX limits: prevent contact impulse blow-ups when fingertips collide
over "Geometry" (
prepend apiSchemas = ["PhysxArticulationAPI"]
)
{
bool physxArticulation:enabledSelfCollisions = 1
bool newton:selfCollisionEnabled = 1
int physxArticulation:solverPositionIterationCount = 32
int physxArticulation:solverVelocityIterationCount = 4
float physxArticulation:sleepThreshold = 0.005
over "hand_base_link" (
prepend apiSchemas = ["PhysxRigidBodyAPI"]
)
{
# Retarget/PD 稳定：限速 + 阻尼，避免握拳末端冲飞
float physxRigidBody:maxLinearVelocity = 3.0
float physxRigidBody:maxAngularVelocity = 360.0
float physxRigidBody:linearDamping = 5.0
float physxRigidBody:angularDamping = 5.0
bool physxRigidBody:disableGravity = 0
}
}
over "Physics"
{
over "thumb_cmc_roll" (
prepend apiSchemas = ["PhysxJointAPI"]
)
{
float physxJoint:maxJointVelocity = 171.887
float physxJoint:armature = 0.05
}
over "thumb_cmc_yaw" (
prepend apiSchemas = ["PhysxJointAPI"]
)
{
float physxJoint:maxJointVelocity = 171.887
float physxJoint:armature = 0.05
}
over "thumb_cmc_pitch" (
prepend apiSchemas = ["PhysxJointAPI"]
)
{
float physxJoint:maxJointVelocity = 171.887
float physxJoint:armature = 0.05
}
over "thumb_mcp" (
prepend apiSchemas = ["PhysxJointAPI"]
)
{
float physxJoint:maxJointVelocity = 171.887
float physxJoint:armature = 0.05
}
over "thumb_ip" (
prepend apiSchemas = ["PhysxJointAPI"]
)
{
float physxJoint:maxJointVelocity = 171.887
float physxJoint:armature = 0.05
}
over "index_mcp_roll" (
prepend apiSchemas = ["PhysxJointAPI"]
)
{
float physxJoint:maxJointVelocity = 171.887
float physxJoint:armature = 0.05
}
over "index_mcp_pitch" (
prepend apiSchemas = ["PhysxJointAPI"]
)
{
float physxJoint:maxJointVelocity = 171.887
float physxJoint:armature = 0.05
}
over "index_pip" (
prepend apiSchemas = ["PhysxJointAPI"]
)
{
float physxJoint:maxJointVelocity = 171.887
float physxJoint:armature = 0.05
}
over "index_dip" (
prepend apiSchemas = ["PhysxJointAPI"]
)
{
float physxJoint:maxJointVelocity = 171.887
float physxJoint:armature = 0.05
}
over "middle_mcp_roll" (
prepend apiSchemas = ["PhysxJointAPI"]
)
{
float physxJoint:maxJointVelocity = 171.887
float physxJoint:armature = 0.05
}
over "middle_mcp_pitch" (
prepend apiSchemas = ["PhysxJointAPI"]
)
{
float physxJoint:maxJointVelocity = 171.887
float physxJoint:armature = 0.05
}
over "middle_pip" (
prepend apiSchemas = ["PhysxJointAPI"]
)
{
float physxJoint:maxJointVelocity = 171.887
float physxJoint:armature = 0.05
}
over "middle_dip" (
prepend apiSchemas = ["PhysxJointAPI"]
)
{
float physxJoint:maxJointVelocity = 171.887
float physxJoint:armature = 0.05
}
over "ring_mcp_roll" (
prepend apiSchemas = ["PhysxJointAPI"]
)
{
float physxJoint:maxJointVelocity = 171.887
float physxJoint:armature = 0.05
}
over "ring_mcp_pitch" (
prepend apiSchemas = ["PhysxJointAPI"]
)
{
float physxJoint:maxJointVelocity = 171.887
float physxJoint:armature = 0.05
}
over "ring_pip" (
prepend apiSchemas = ["PhysxJointAPI"]
)
{
float physxJoint:maxJointVelocity = 171.887
float physxJoint:armature = 0.05
}
over "ring_dip" (
prepend apiSchemas = ["PhysxJointAPI"]
)
{
float physxJoint:maxJointVelocity = 171.887
float physxJoint:armature = 0.05
}
over "pinky_mcp_roll" (
prepend apiSchemas = ["PhysxJointAPI"]
)
{
float physxJoint:maxJointVelocity = 171.887
float physxJoint:armature = 0.05
}
over "pinky_mcp_pitch" (
prepend apiSchemas = ["PhysxJointAPI"]
)
{
float physxJoint:maxJointVelocity = 171.887
float physxJoint:armature = 0.05
}
over "pinky_pip" (
prepend apiSchemas = ["PhysxJointAPI"]
)
{
float physxJoint:maxJointVelocity = 171.887
float physxJoint:armature = 0.05
}
over "pinky_dip" (
prepend apiSchemas = ["PhysxJointAPI"]
)
{
float physxJoint:maxJointVelocity = 171.887
float physxJoint:armature = 0.05
}
}
}
urdf/g20/left/linkerhand_g20_left/payloads/base.usda
+730
View File
@@ -0,0 +1,730 @@
#usda 1.0
(
customLayerData = {
string creator = "URDF USD Converter v0.1.3"
}
defaultPrim = "linkerhand_g20_left"
doc = """Generated from Composed Stage of root layer /tmp/tmp5xni4jzi/linkerhand_g20_left.usdc
Generated from Composed Stage of root layer /tmp/urdf_import_linkerhand_g20_left_9306w6un/usdex_linkerhand_g20_left/linkerhand_g20_left.usdc
Generated from Composed Stage of root layer /tmp/urdf_import_linkerhand_g20_left_9306w6un/temp_linkerhand_g20_left/linkerhand_g20_left.usd
Generated from Composed Stage of root layer /home/lxqs/isaacsim/linkerhand/urdf/g20/left/linkerhand_g20_left/payloads/base.usd
"""
kilogramsPerUnit = 1
metersPerUnit = 1
subLayers = [
@./robot.usda@
]
upAxis = "Z"
)
def Xform "linkerhand_g20_left" (
prepend apiSchemas = ["GeomModelAPI"]
assetInfo = {
string name = "linkerhand_g20_left"
}
kind = "component"
)
{
float3[] extentsHint = [(-0.031971373, -0.153883, -0.007755601), (0.095290326, 0.052480385, 0.25205174), (3.4028235e38, 3.4028235e38, 3.4028235e38), (-3.4028235e38, -3.4028235e38, -3.4028235e38), (3.4028235e38, 3.4028235e38, 3.4028235e38), (-3.4028235e38, -3.4028235e38, -3.4028235e38), (-0.031971373, -0.153883, -0.007755601), (0.095290326, 0.052480385, 0.25205174)]
def Scope "Materials"
{
}
def Scope "Geometry"
{
def Xform "hand_base_link"
{
def Xform "hand_base_link" (
instanceable = true
prepend references = @./instances.usda@</Instances/hand_base_link>
)
{
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 "thumb_metacarpals_base1"
{
quatf xformOp:orient = (1, 0, 0, 0)
float3 xformOp:scale = (1, 1, 1)
double3 xformOp:translate = (0.01916, -0.01, 0.0436)
uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
def Xform "thumb_metacarpals_base1" (
instanceable = true
prepend references = @./instances.usda@</Instances/thumb_metacarpals_base1>
)
{
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 "thumb_metacarpals_base2"
{
quatf xformOp:orient = (0.9264883, 0.3763236, 0, 0)
float3 xformOp:scale = (1, 1, 1)
double3 xformOp:translate = (0.019845, 0, 0)
uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
def Xform "thumb_metacarpals_base2" (
instanceable = true
prepend references = @./instances.usda@</Instances/thumb_metacarpals_base2>
)
{
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 "thumb_metacarpals"
{
quatf xformOp:orient = (0.49418968, 0.41577393, -0.29111633, 0.7058044)
float3 xformOp:scale = (1, 1, 1)
double3 xformOp:translate = (0.0088218, -0.024245, 0.0005)
uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
def Xform "thumb_metacarpals" (
instanceable = true
prepend references = @./instances.usda@</Instances/thumb_metacarpals>
)
{
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 "thumb_proximal"
{
quatf xformOp:orient = (1, 0, 0, 0)
float3 xformOp:scale = (1, 1, 1)
double3 xformOp:translate = (0.0127018248047608, 0, 0.0627256157349894)
uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
def Xform "thumb_proximal" (
instanceable = true
prepend references = @./instances.usda@</Instances/thumb_proximal>
)
{
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 "thumb_distal"
{
quatf xformOp:orient = (1, 0, 0, 0)
float3 xformOp:scale = (1, 1, 1)
double3 xformOp:translate = (-0.00483652209209624, 0, 0.0342226492098615)
uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
def Xform "thumb_distal" (
instanceable = true
prepend references = @./instances.usda@</Instances/thumb_distal>
)
{
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 "thumb_distal_1" (
displayName = "thumb_distal"
instanceable = true
prepend references = @./instances.usda@</Instances/thumb_distal_1>
)
{
quatd xformOp:orient = (1, 0, 0, 0)
double3 xformOp:scale = (0.70, 0.70, 0.70)
double3 xformOp:translate = (0, 0, 0)
uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
}
}
def Xform "thumb_proximal_1" (
displayName = "thumb_proximal"
instanceable = true
prepend references = @./instances.usda@</Instances/thumb_proximal_1>
)
{
quatd xformOp:orient = (1, 0, 0, 0)
double3 xformOp:scale = (0.55, 0.55, 0.55)
double3 xformOp:translate = (0, 0, 0)
uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
}
}
def Xform "thumb_metacarpals_1" (
displayName = "thumb_metacarpals"
instanceable = true
prepend references = @./instances.usda@</Instances/thumb_metacarpals_1>
)
{
quatd xformOp:orient = (1, 0, 0, 0)
double3 xformOp:scale = (0.55, 0.55, 0.55)
double3 xformOp:translate = (0, 0, 0)
uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
}
}
def Xform "thumb_metacarpals_base2_1" (
displayName = "thumb_metacarpals_base2"
instanceable = true
prepend references = @./instances.usda@</Instances/thumb_metacarpals_base2_1>
)
{
quatd xformOp:orient = (1, 0, 0, 0)
double3 xformOp:scale = (0.65, 0.65, 0.65)
double3 xformOp:translate = (0, 0, 0)
uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
}
}
def Xform "thumb_metacarpals_base1_1" (
displayName = "thumb_metacarpals_base1"
instanceable = true
prepend references = @./instances.usda@</Instances/thumb_metacarpals_base1_1>
)
{
quatd xformOp:orient = (1, 0, 0, 0)
double3 xformOp:scale = (0.65, 0.65, 0.65)
double3 xformOp:translate = (0, 0, 0)
uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
}
}
def Xform "index_metacarpals"
{
quatf xformOp:orient = (1, 0, 0, 0)
float3 xformOp:scale = (1, 1, 1)
double3 xformOp:translate = (0.0038, -0.03525, 0.1481)
uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
def Xform "index_metacarpals" (
instanceable = true
prepend references = @./instances.usda@</Instances/index_metacarpals>
)
{
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 "index_proximal"
{
quatf xformOp:orient = (1, 0, 0, 0)
float3 xformOp:scale = (1, 1, 1)
double3 xformOp:translate = (-0.0021302, 0, 0)
uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
def Xform "index_proximal" (
instanceable = true
prepend references = @./instances.usda@</Instances/index_proximal>
)
{
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 "index_middle"
{
quatf xformOp:orient = (1, 0, 0, 0)
float3 xformOp:scale = (1, 1, 1)
double3 xformOp:translate = (-0.0041946, 0, 0.044819)
uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
def Xform "index_middle" (
instanceable = true
prepend references = @./instances.usda@</Instances/index_middle>
)
{
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 "index_distal"
{
quatf xformOp:orient = (1, 0, 0, 0)
float3 xformOp:scale = (1, 1, 1)
double3 xformOp:translate = (0.0028245, 0, 0.031696)
uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
def Xform "index_distal" (
instanceable = true
prepend references = @./instances.usda@</Instances/index_distal>
)
{
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 "index_distal_1" (
displayName = "index_distal"
instanceable = true
prepend references = @./instances.usda@</Instances/index_distal_1>
)
{
quatd xformOp:orient = (1, 0, 0, 0)
double3 xformOp:scale = (0.75, 0.75, 0.75)
double3 xformOp:translate = (0, 0, 0)
uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
}
}
def Xform "index_middle_1" (
displayName = "index_middle"
instanceable = true
prepend references = @./instances.usda@</Instances/index_middle_1>
)
{
quatd xformOp:orient = (1, 0, 0, 0)
double3 xformOp:scale = (0.85, 0.85, 0.85)
double3 xformOp:translate = (0, 0, 0)
uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
}
}
def Xform "index_proximal_1" (
displayName = "index_proximal"
instanceable = true
prepend references = @./instances.usda@</Instances/index_proximal_1>
)
{
quatd xformOp:orient = (1, 0, 0, 0)
double3 xformOp:scale = (0.85, 0.85, 0.85)
double3 xformOp:translate = (0, 0, 0)
uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
}
}
def Xform "index_metacarpals_1" (
displayName = "index_metacarpals"
instanceable = true
prepend references = @./instances.usda@</Instances/index_metacarpals_1>
)
{
quatd xformOp:orient = (1, 0, 0, 0)
double3 xformOp:scale = (0.75, 0.75, 0.75)
double3 xformOp:translate = (0, 0, 0)
uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
}
}
def Xform "middle_metacarpals"
{
quatf xformOp:orient = (1, 0, 0, 0)
float3 xformOp:scale = (1, 1, 1)
double3 xformOp:translate = (0.00379999999265848, -0.0117500000029305, 0.1526)
uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
def Xform "middle_metacarpals" (
instanceable = true
prepend references = @./instances.usda@</Instances/index_metacarpals_2>
)
{
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 "middle_proximal"
{
quatf xformOp:orient = (1, 0, 0, 0)
float3 xformOp:scale = (1, 1, 1)
double3 xformOp:translate = (-0.0021302, 0, 0)
uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
def Xform "middle_proximal" (
instanceable = true
prepend references = @./instances.usda@</Instances/middle_proximal>
)
{
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 "middle_middle"
{
quatf xformOp:orient = (1, 0, 0, 0)
float3 xformOp:scale = (1, 1, 1)
double3 xformOp:translate = (-0.00419457745591796, 0, 0.0448194332262389)
uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
def Xform "middle_middle" (
instanceable = true
prepend references = @./instances.usda@</Instances/middle_middle>
)
{
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 "middle_distal"
{
quatf xformOp:orient = (1, 0, 0, 0)
float3 xformOp:scale = (1, 1, 1)
double3 xformOp:translate = (0.0028245, 0, 0.031696)
uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
def Xform "middle_distal" (
instanceable = true
prepend references = @./instances.usda@</Instances/middle_distal>
)
{
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 "middle_distal_1" (
displayName = "middle_distal"
instanceable = true
prepend references = @./instances.usda@</Instances/middle_distal_1>
)
{
quatd xformOp:orient = (1, 0, 0, 0)
double3 xformOp:scale = (0.75, 0.75, 0.75)
double3 xformOp:translate = (0, 0, 0)
uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
}
}
def Xform "middle_middle_1" (
displayName = "middle_middle"
instanceable = true
prepend references = @./instances.usda@</Instances/middle_middle_1>
)
{
quatd xformOp:orient = (1, 0, 0, 0)
double3 xformOp:scale = (0.85, 0.85, 0.85)
double3 xformOp:translate = (0, 0, 0)
uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
}
}
def Xform "middle_proximal_1" (
displayName = "middle_proximal"
instanceable = true
prepend references = @./instances.usda@</Instances/middle_proximal_1>
)
{
quatd xformOp:orient = (1, 0, 0, 0)
double3 xformOp:scale = (0.85, 0.85, 0.85)
double3 xformOp:translate = (0, 0, 0)
uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
}
}
def Xform "middle_metacarpals_1" (
displayName = "middle_metacarpals"
instanceable = true
prepend references = @./instances.usda@</Instances/index_metacarpals_1>
)
{
quatd xformOp:orient = (1, 0, 0, 0)
double3 xformOp:scale = (0.75, 0.75, 0.75)
double3 xformOp:translate = (0, 0, 0)
uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
}
}
def Xform "ring_metacarpals"
{
quatf xformOp:orient = (1, 0, 0, 0)
float3 xformOp:scale = (1, 1, 1)
double3 xformOp:translate = (0.00379999999632174, 0.0117499999970695, 0.1481)
uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
def Xform "ring_metacarpals" (
instanceable = true
prepend references = @./instances.usda@</Instances/index_metacarpals_3>
)
{
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 "ring_proximal"
{
quatf xformOp:orient = (1, 0, 0, 0)
float3 xformOp:scale = (1, 1, 1)
double3 xformOp:translate = (-0.0021302, 0, 0)
uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
def Xform "ring_proximal" (
instanceable = true
prepend references = @./instances.usda@</Instances/ring_proximal>
)
{
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 "ring_middle"
{
quatf xformOp:orient = (1, 0, 0, 0)
float3 xformOp:scale = (1, 1, 1)
double3 xformOp:translate = (-0.00419457745591796, 0, 0.0448194332262389)
uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
def Xform "ring_middle" (
instanceable = true
prepend references = @./instances.usda@</Instances/ring_middle>
)
{
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 "ring_distal"
{
quatf xformOp:orient = (1, 0, 0, 0)
float3 xformOp:scale = (1, 1, 1)
double3 xformOp:translate = (0.0028245, 0, 0.031696)
uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
def Xform "ring_distal" (
instanceable = true
prepend references = @./instances.usda@</Instances/index_distal_2>
)
{
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 "ring_distal_1" (
displayName = "ring_distal"
instanceable = true
prepend references = @./instances.usda@</Instances/index_distal_1>
)
{
quatd xformOp:orient = (1, 0, 0, 0)
double3 xformOp:scale = (0.75, 0.75, 0.75)
double3 xformOp:translate = (0, 0, 0)
uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
}
}
def Xform "ring_middle_1" (
displayName = "ring_middle"
instanceable = true
prepend references = @./instances.usda@</Instances/ring_middle_1>
)
{
quatd xformOp:orient = (1, 0, 0, 0)
double3 xformOp:scale = (0.85, 0.85, 0.85)
double3 xformOp:translate = (0, 0, 0)
uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
}
}
def Xform "ring_proximal_1" (
displayName = "ring_proximal"
instanceable = true
prepend references = @./instances.usda@</Instances/ring_proximal_1>
)
{
quatd xformOp:orient = (1, 0, 0, 0)
double3 xformOp:scale = (0.85, 0.85, 0.85)
double3 xformOp:translate = (0, 0, 0)
uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
}
}
def Xform "ring_metacarpals_1" (
displayName = "ring_metacarpals"
instanceable = true
prepend references = @./instances.usda@</Instances/index_metacarpals_1>
)
{
quatd xformOp:orient = (1, 0, 0, 0)
double3 xformOp:scale = (0.75, 0.75, 0.75)
double3 xformOp:translate = (0, 0, 0)
uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
}
}
def Xform "pinky_metacarpals"
{
quatf xformOp:orient = (1, 0, 0, 0)
float3 xformOp:scale = (1, 1, 1)
double3 xformOp:translate = (0.00379999999998499, 0.0352499999970695, 0.1436)
uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
def Xform "pinky_metacarpals" (
instanceable = true
prepend references = @./instances.usda@</Instances/index_metacarpals_4>
)
{
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 "pinky_proximal"
{
quatf xformOp:orient = (1, 0, 0, 0)
float3 xformOp:scale = (1, 1, 1)
double3 xformOp:translate = (-0.0021302, 0, 0)
uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
def Xform "pinky_proximal" (
instanceable = true
prepend references = @./instances.usda@</Instances/pinky_proximal>
)
{
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 "pinky_middle"
{
quatf xformOp:orient = (1, 0, 0, 0)
float3 xformOp:scale = (1, 1, 1)
double3 xformOp:translate = (-0.0041946, 0, 0.044819)
uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
def Xform "pinky_middle" (
instanceable = true
prepend references = @./instances.usda@</Instances/index_middle_2>
)
{
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 "pinky_distal"
{
quatf xformOp:orient = (1, 0, 0, 0)
float3 xformOp:scale = (1, 1, 1)
double3 xformOp:translate = (0.0028245, 0, 0.031696)
uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
def Xform "pinky_distal" (
instanceable = true
prepend references = @./instances.usda@</Instances/pinky_distal>
)
{
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 "pinky_distal_1" (
displayName = "pinky_distal"
instanceable = true
prepend references = @./instances.usda@</Instances/pinky_distal_1>
)
{
quatd xformOp:orient = (1, 0, 0, 0)
double3 xformOp:scale = (0.75, 0.75, 0.75)
double3 xformOp:translate = (0, 0, 0)
uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
}
}
def Xform "pinky_middle_1" (
displayName = "pinky_middle"
instanceable = true
prepend references = @./instances.usda@</Instances/index_middle_1>
)
{
quatd xformOp:orient = (1, 0, 0, 0)
double3 xformOp:scale = (0.85, 0.85, 0.85)
double3 xformOp:translate = (0, 0, 0)
uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
}
}
def Xform "pinky_proximal_1" (
displayName = "pinky_proximal"
instanceable = true
prepend references = @./instances.usda@</Instances/pinky_proximal_1>
)
{
quatd xformOp:orient = (1, 0, 0, 0)
double3 xformOp:scale = (0.85, 0.85, 0.85)
double3 xformOp:translate = (0, 0, 0)
uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
}
}
def Xform "pinky_metacarpals_1" (
displayName = "pinky_metacarpals"
instanceable = true
prepend references = @./instances.usda@</Instances/index_metacarpals_1>
)
{
quatd xformOp:orient = (1, 0, 0, 0)
double3 xformOp:scale = (0.75, 0.75, 0.75)
double3 xformOp:translate = (0, 0, 0)
uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
}
}
def Xform "hand_base_link_1" (
displayName = "hand_base_link"
instanceable = true
prepend references = @./instances.usda@</Instances/hand_base_link_1>
)
{
# Same visual mesh as collision source; scale 1 = match rendered palm.
# purpose=guide on the mesh keeps this collider invisible in viewport.
quatd xformOp:orient = (1, 0, 0, 0)
double3 xformOp:scale = (0.90, 0.90, 0.90)
double3 xformOp:translate = (0, 0, 0)
uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
}
}
}
def Scope "Physics"
{
}
def Scope "VisualMaterials"
{
}
}
urdf/g20/left/linkerhand_g20_left/payloads/geometries.usd
BIN
View File
Binary file not shown.
urdf/g20/left/linkerhand_g20_left/payloads/instances.usda
+798
View File
@@ -0,0 +1,798 @@
#usda 1.0
(
customLayerData = {
string creator = "URDF USD Converter v0.1.3"
}
doc = """Generated from Composed Stage of root layer /tmp/tmp5xni4jzi/linkerhand_g20_left.usdc
Generated from Composed Stage of root layer /tmp/urdf_import_linkerhand_g20_left_9306w6un/usdex_linkerhand_g20_left/linkerhand_g20_left.usdc
Generated from Composed Stage of root layer /tmp/urdf_import_linkerhand_g20_left_9306w6un/temp_linkerhand_g20_left/linkerhand_g20_left.usd
Generated from Composed Stage of root layer /home/lxqs/isaacsim/linkerhand/urdf/g20/left/linkerhand_g20_left/payloads/base.usd
"""
kilogramsPerUnit = 1
metersPerUnit = 1
upAxis = "Z"
)
def Scope "Instances"
{
def Xform "hand_base_link" (
prepend references = @./geometries.usd@</Geometries/hand_base_link>
)
{
over "hand_base_link" (
apiSchemas = ["MaterialBindingAPI"]
)
{
custom rel material:binding
prepend rel material:binding = </Instances/hand_base_link/VisualMaterials/material_1>
}
def Scope "VisualMaterials"
{
def Material "material_1" (
instanceable = true
prepend references = @./materials.usda@</Materials/material_1>
)
{
}
}
}
def Xform "hand_base_link_1" (
prepend references = @./geometries.usd@</Geometries/hand_base_link>
)
{
over "hand_base_link" (
apiSchemas = ["PhysicsCollisionAPI", "NewtonCollisionAPI", "PhysicsMeshCollisionAPI", "NewtonMeshCollisionAPI", "PhysxCollisionAPI"]
)
{
# Self-collision ON: palm visual-mesh collider (purpose=guide).
# Mid/proximal finger hulls stay OFF to avoid PD fist-end explode.
bool physics:collisionEnabled = 1
token physics:approximation = "convexHull"
token purpose = "guide"
float physxCollision:contactOffset = 0.001
float physxCollision:restOffset = -0.0005
}
}
def Xform "thumb_metacarpals_base1" (
prepend references = @./geometries.usd@</Geometries/thumb_metacarpals_base1>
)
{
over "thumb_metacarpals_base1" (
apiSchemas = ["MaterialBindingAPI"]
)
{
custom rel material:binding
prepend rel material:binding = </Instances/thumb_metacarpals_base1/VisualMaterials/material_2>
}
def Scope "VisualMaterials"
{
def Material "material_2" (
instanceable = true
prepend references = @./materials.usda@</Materials/material_1>
)
{
}
}
}
def Xform "thumb_metacarpals_base1_1" (
prepend references = @./geometries.usd@</Geometries/thumb_metacarpals_base1>
)
{
over "thumb_metacarpals_base1" (
apiSchemas = ["PhysicsCollisionAPI", "NewtonCollisionAPI", "PhysicsMeshCollisionAPI", "NewtonMeshCollisionAPI"]
)
{
# OFF: CMC rest-pose convexHull overlaps palm.
bool physics:collisionEnabled = 0
token physics:approximation = "convexHull"
token purpose = "guide"
}
}
def Xform "thumb_metacarpals_base2" (
prepend references = @./geometries.usd@</Geometries/thumb_metacarpals_base2>
)
{
over "thumb_metacarpals_base2" (
apiSchemas = ["MaterialBindingAPI"]
)
{
custom rel material:binding
prepend rel material:binding = </Instances/thumb_metacarpals_base2/VisualMaterials/material_3>
}
def Scope "VisualMaterials"
{
def Material "material_3" (
instanceable = true
prepend references = @./materials.usda@</Materials/material_1>
)
{
}
}
}
def Xform "thumb_metacarpals_base2_1" (
prepend references = @./geometries.usd@</Geometries/thumb_metacarpals_base2>
)
{
over "thumb_metacarpals_base2" (
apiSchemas = ["PhysicsCollisionAPI", "NewtonCollisionAPI", "PhysicsMeshCollisionAPI", "NewtonMeshCollisionAPI"]
)
{
# OFF: CMC rest-pose convexHull overlaps palm.
bool physics:collisionEnabled = 0
token physics:approximation = "convexHull"
token purpose = "guide"
}
}
def Xform "thumb_metacarpals" (
prepend references = @./geometries.usd@</Geometries/thumb_metacarpals>
)
{
over "thumb_metacarpals" (
apiSchemas = ["MaterialBindingAPI"]
)
{
custom rel material:binding
prepend rel material:binding = </Instances/thumb_metacarpals/VisualMaterials/material_4>
}
def Scope "VisualMaterials"
{
def Material "material_4" (
instanceable = true
prepend references = @./materials.usda@</Materials/material_1>
)
{
}
}
}
def Xform "thumb_metacarpals_1" (
prepend references = @./geometries.usd@</Geometries/thumb_metacarpals>
)
{
over "thumb_metacarpals" (
apiSchemas = ["PhysicsCollisionAPI", "NewtonCollisionAPI", "PhysicsMeshCollisionAPI", "NewtonMeshCollisionAPI", "PhysxCollisionAPI"]
)
{
# OFF: open-pose convexHull embeds into palm → Instant NaN.
bool physics:collisionEnabled = 0
token physics:approximation = "convexHull"
token purpose = "guide"
float physxCollision:contactOffset = 0.001
float physxCollision:restOffset = -0.0005
}
}
def Xform "thumb_proximal" (
prepend references = @./geometries.usd@</Geometries/thumb_proximal>
)
{
over "thumb_proximal" (
apiSchemas = ["MaterialBindingAPI"]
)
{
custom rel material:binding
prepend rel material:binding = </Instances/thumb_proximal/VisualMaterials/material_5>
}
def Scope "VisualMaterials"
{
def Material "material_5" (
instanceable = true
prepend references = @./materials.usda@</Materials/material_1>
)
{
}
}
}
def Xform "thumb_proximal_1" (
prepend references = @./geometries.usd@</Geometries/thumb_proximal>
)
{
over "thumb_proximal" (
apiSchemas = ["PhysicsCollisionAPI", "NewtonCollisionAPI", "PhysicsMeshCollisionAPI", "NewtonMeshCollisionAPI", "PhysxCollisionAPI"]
)
{
# OFF: open-pose convexHull embeds into palm → Instant NaN.
bool physics:collisionEnabled = 0
token physics:approximation = "convexHull"
token purpose = "guide"
float physxCollision:contactOffset = 0.001
float physxCollision:restOffset = -0.0005
}
}
def Xform "thumb_distal" (
prepend references = @./geometries.usd@</Geometries/thumb_distal>
)
{
over "thumb_distal" (
apiSchemas = ["MaterialBindingAPI"]
)
{
custom rel material:binding
prepend rel material:binding = </Instances/thumb_distal/VisualMaterials/material_6>
}
def Scope "VisualMaterials"
{
def Material "material_6" (
instanceable = true
prepend references = @./materials.usda@</Materials/material_1>
)
{
}
}
}
def Xform "thumb_distal_1" (
prepend references = @./geometries.usd@</Geometries/thumb_distal>
)
{
over "thumb_distal" (
apiSchemas = ["PhysicsCollisionAPI", "NewtonCollisionAPI", "PhysicsMeshCollisionAPI", "NewtonMeshCollisionAPI", "PhysxCollisionAPI"]
)
{
# ON: tip vs palm only (shaft OFF for open-pose stability).
bool physics:collisionEnabled = 1
token physics:approximation = "convexHull"
token purpose = "guide"
float physxCollision:contactOffset = 0.001
float physxCollision:restOffset = -0.0005
}
}
def Xform "index_metacarpals" (
prepend references = @./geometries.usd@</Geometries/index_metacarpals>
)
{
over "index_metacarpals" (
apiSchemas = ["MaterialBindingAPI"]
)
{
custom rel material:binding
prepend rel material:binding = </Instances/index_metacarpals/VisualMaterials/material_7>
}
def Scope "VisualMaterials"
{
def Material "material_7" (
instanceable = true
prepend references = @./materials.usda@</Materials/material_1>
)
{
}
}
}
def Xform "index_metacarpals_1" (
prepend references = @./geometries.usd@</Geometries/index_metacarpals>
)
{
over "index_metacarpals" (
apiSchemas = ["PhysicsCollisionAPI", "NewtonCollisionAPI", "PhysicsMeshCollisionAPI", "NewtonMeshCollisionAPI"]
)
{
# OFF: fat/adjacent hulls explode under PD close-fist.
bool physics:collisionEnabled = 0
token physics:approximation = "convexHull"
token purpose = "guide"
}
}
def Xform "index_metacarpals_2" (
prepend references = @./geometries.usd@</Geometries/index_metacarpals>
)
{
over "index_metacarpals" (
apiSchemas = ["MaterialBindingAPI"]
)
{
custom rel material:binding
prepend rel material:binding = </Instances/index_metacarpals_2/VisualMaterials/material_11>
}
def Scope "VisualMaterials"
{
def Material "material_11" (
instanceable = true
prepend references = @./materials.usda@</Materials/material_1>
)
{
}
}
}
def Xform "index_metacarpals_3" (
prepend references = @./geometries.usd@</Geometries/index_metacarpals>
)
{
over "index_metacarpals" (
apiSchemas = ["MaterialBindingAPI"]
)
{
custom rel material:binding
prepend rel material:binding = </Instances/index_metacarpals_3/VisualMaterials/material_15>
}
def Scope "VisualMaterials"
{
def Material "material_15" (
instanceable = true
prepend references = @./materials.usda@</Materials/material_1>
)
{
}
}
}
def Xform "index_metacarpals_4" (
prepend references = @./geometries.usd@</Geometries/index_metacarpals>
)
{
over "index_metacarpals" (
apiSchemas = ["MaterialBindingAPI"]
)
{
custom rel material:binding
prepend rel material:binding = </Instances/index_metacarpals_4/VisualMaterials/material_19>
}
def Scope "VisualMaterials"
{
def Material "material_19" (
instanceable = true
prepend references = @./materials.usda@</Materials/material_1>
)
{
}
}
}
def Xform "index_proximal" (
prepend references = @./geometries.usd@</Geometries/index_proximal>
)
{
over "index_proximal" (
apiSchemas = ["MaterialBindingAPI"]
)
{
custom rel material:binding
prepend rel material:binding = </Instances/index_proximal/VisualMaterials/material_8>
}
def Scope "VisualMaterials"
{
def Material "material_8" (
instanceable = true
prepend references = @./materials.usda@</Materials/material_1>
)
{
}
}
}
def Xform "index_proximal_1" (
prepend references = @./geometries.usd@</Geometries/index_proximal>
)
{
over "index_proximal" (
apiSchemas = ["PhysicsCollisionAPI", "NewtonCollisionAPI", "PhysicsMeshCollisionAPI", "NewtonMeshCollisionAPI"]
)
{
# OFF: fat/adjacent hulls explode under PD close-fist.
bool physics:collisionEnabled = 0
token physics:approximation = "convexHull"
token purpose = "guide"
}
}
def Xform "index_middle" (
prepend references = @./geometries.usd@</Geometries/index_middle>
)
{
over "index_middle" (
apiSchemas = ["MaterialBindingAPI"]
)
{
custom rel material:binding
prepend rel material:binding = </Instances/index_middle/VisualMaterials/material_9>
}
def Scope "VisualMaterials"
{
def Material "material_9" (
instanceable = true
prepend references = @./materials.usda@</Materials/material_1>
)
{
}
}
}
def Xform "index_middle_1" (
prepend references = @./geometries.usd@</Geometries/index_middle>
)
{
over "index_middle" (
apiSchemas = ["PhysicsCollisionAPI", "NewtonCollisionAPI", "PhysicsMeshCollisionAPI", "NewtonMeshCollisionAPI"]
)
{
# OFF: fat/adjacent hulls explode under PD close-fist.
bool physics:collisionEnabled = 0
token physics:approximation = "convexHull"
token purpose = "guide"
}
}
def Xform "index_middle_2" (
prepend references = @./geometries.usd@</Geometries/index_middle>
)
{
over "index_middle" (
apiSchemas = ["MaterialBindingAPI"]
)
{
custom rel material:binding
prepend rel material:binding = </Instances/index_middle_2/VisualMaterials/material_21>
}
def Scope "VisualMaterials"
{
def Material "material_21" (
instanceable = true
prepend references = @./materials.usda@</Materials/material_1>
)
{
}
}
}
def Xform "index_distal" (
prepend references = @./geometries.usd@</Geometries/index_distal>
)
{
over "index_distal" (
apiSchemas = ["MaterialBindingAPI"]
)
{
custom rel material:binding
prepend rel material:binding = </Instances/index_distal/VisualMaterials/material_10>
}
def Scope "VisualMaterials"
{
def Material "material_10" (
instanceable = true
prepend references = @./materials.usda@</Materials/material_1>
)
{
}
}
}
def Xform "index_distal_1" (
prepend references = @./geometries.usd@</Geometries/index_distal>
)
{
over "index_distal" (
apiSchemas = ["PhysicsCollisionAPI", "NewtonCollisionAPI", "PhysicsMeshCollisionAPI", "NewtonMeshCollisionAPI", "PhysxCollisionAPI"]
)
{
# ON: fingertip contact under self-collision.
bool physics:collisionEnabled = 1
token physics:approximation = "convexHull"
token purpose = "guide"
float physxCollision:contactOffset = 0.001
float physxCollision:restOffset = -0.0005
}
}
def Xform "index_distal_2" (
prepend references = @./geometries.usd@</Geometries/index_distal>
)
{
over "index_distal" (
apiSchemas = ["MaterialBindingAPI"]
)
{
custom rel material:binding
prepend rel material:binding = </Instances/index_distal_2/VisualMaterials/material_18>
}
def Scope "VisualMaterials"
{
def Material "material_18" (
instanceable = true
prepend references = @./materials.usda@</Materials/material_1>
)
{
}
}
}
def Xform "middle_proximal" (
prepend references = @./geometries.usd@</Geometries/middle_proximal>
)
{
over "middle_proximal" (
apiSchemas = ["MaterialBindingAPI"]
)
{
custom rel material:binding
prepend rel material:binding = </Instances/middle_proximal/VisualMaterials/material_12>
}
def Scope "VisualMaterials"
{
def Material "material_12" (
instanceable = true
prepend references = @./materials.usda@</Materials/material_1>
)
{
}
}
}
def Xform "middle_proximal_1" (
prepend references = @./geometries.usd@</Geometries/middle_proximal>
)
{
over "middle_proximal" (
apiSchemas = ["PhysicsCollisionAPI", "NewtonCollisionAPI", "PhysicsMeshCollisionAPI", "NewtonMeshCollisionAPI"]
)
{
# OFF: fat/adjacent hulls explode under PD close-fist.
bool physics:collisionEnabled = 0
token physics:approximation = "convexHull"
token purpose = "guide"
}
}
def Xform "middle_middle" (
prepend references = @./geometries.usd@</Geometries/middle_middle>
)
{
over "middle_middle" (
apiSchemas = ["MaterialBindingAPI"]
)
{
custom rel material:binding
prepend rel material:binding = </Instances/middle_middle/VisualMaterials/material_13>
}
def Scope "VisualMaterials"
{
def Material "material_13" (
instanceable = true
prepend references = @./materials.usda@</Materials/material_1>
)
{
}
}
}
def Xform "middle_middle_1" (
prepend references = @./geometries.usd@</Geometries/middle_middle>
)
{
over "middle_middle" (
apiSchemas = ["PhysicsCollisionAPI", "NewtonCollisionAPI", "PhysicsMeshCollisionAPI", "NewtonMeshCollisionAPI"]
)
{
# OFF: fat/adjacent hulls explode under PD close-fist.
bool physics:collisionEnabled = 0
token physics:approximation = "convexHull"
token purpose = "guide"
}
}
def Xform "middle_distal" (
prepend references = @./geometries.usd@</Geometries/middle_distal>
)
{
over "middle_distal" (
apiSchemas = ["MaterialBindingAPI"]
)
{
custom rel material:binding
prepend rel material:binding = </Instances/middle_distal/VisualMaterials/material_14>
}
def Scope "VisualMaterials"
{
def Material "material_14" (
instanceable = true
prepend references = @./materials.usda@</Materials/material_1>
)
{
}
}
}
def Xform "middle_distal_1" (
prepend references = @./geometries.usd@</Geometries/middle_distal>
)
{
over "middle_distal" (
apiSchemas = ["PhysicsCollisionAPI", "NewtonCollisionAPI", "PhysicsMeshCollisionAPI", "NewtonMeshCollisionAPI", "PhysxCollisionAPI"]
)
{
# ON: fingertip contact under self-collision.
bool physics:collisionEnabled = 1
token physics:approximation = "convexHull"
token purpose = "guide"
float physxCollision:contactOffset = 0.001
float physxCollision:restOffset = -0.0005
}
}
def Xform "ring_proximal" (
prepend references = @./geometries.usd@</Geometries/ring_proximal>
)
{
over "ring_proximal" (
apiSchemas = ["MaterialBindingAPI"]
)
{
custom rel material:binding
prepend rel material:binding = </Instances/ring_proximal/VisualMaterials/material_16>
}
def Scope "VisualMaterials"
{
def Material "material_16" (
instanceable = true
prepend references = @./materials.usda@</Materials/material_1>
)
{
}
}
}
def Xform "ring_proximal_1" (
prepend references = @./geometries.usd@</Geometries/ring_proximal>
)
{
over "ring_proximal" (
apiSchemas = ["PhysicsCollisionAPI", "NewtonCollisionAPI", "PhysicsMeshCollisionAPI", "NewtonMeshCollisionAPI"]
)
{
# OFF: fat/adjacent hulls explode under PD close-fist.
bool physics:collisionEnabled = 0
token physics:approximation = "convexHull"
token purpose = "guide"
}
}
def Xform "ring_middle" (
prepend references = @./geometries.usd@</Geometries/ring_middle>
)
{
over "ring_middle" (
apiSchemas = ["MaterialBindingAPI"]
)
{
custom rel material:binding
prepend rel material:binding = </Instances/ring_middle/VisualMaterials/material_17>
}
def Scope "VisualMaterials"
{
def Material "material_17" (
instanceable = true
prepend references = @./materials.usda@</Materials/material_1>
)
{
}
}
}
def Xform "ring_middle_1" (
prepend references = @./geometries.usd@</Geometries/ring_middle>
)
{
over "ring_middle" (
apiSchemas = ["PhysicsCollisionAPI", "NewtonCollisionAPI", "PhysicsMeshCollisionAPI", "NewtonMeshCollisionAPI"]
)
{
# OFF: fat/adjacent hulls explode under PD close-fist.
bool physics:collisionEnabled = 0
token physics:approximation = "convexHull"
token purpose = "guide"
}
}
def Xform "pinky_proximal" (
prepend references = @./geometries.usd@</Geometries/pinky_proximal>
)
{
over "pinky_proximal" (
apiSchemas = ["MaterialBindingAPI"]
)
{
custom rel material:binding
prepend rel material:binding = </Instances/pinky_proximal/VisualMaterials/material_20>
}
def Scope "VisualMaterials"
{
def Material "material_20" (
instanceable = true
prepend references = @./materials.usda@</Materials/material_1>
)
{
}
}
}
def Xform "pinky_proximal_1" (
prepend references = @./geometries.usd@</Geometries/pinky_proximal>
)
{
over "pinky_proximal" (
apiSchemas = ["PhysicsCollisionAPI", "NewtonCollisionAPI", "PhysicsMeshCollisionAPI", "NewtonMeshCollisionAPI"]
)
{
# OFF: fat/adjacent hulls explode under PD close-fist.
bool physics:collisionEnabled = 0
token physics:approximation = "convexHull"
token purpose = "guide"
}
}
def Xform "pinky_distal" (
prepend references = @./geometries.usd@</Geometries/pinky_distal>
)
{
over "pinky_distal" (
apiSchemas = ["MaterialBindingAPI"]
)
{
custom rel material:binding
prepend rel material:binding = </Instances/pinky_distal/VisualMaterials/material_22>
}
def Scope "VisualMaterials"
{
def Material "material_22" (
instanceable = true
prepend references = @./materials.usda@</Materials/material_1>
)
{
}
}
}
def Xform "pinky_distal_1" (
prepend references = @./geometries.usd@</Geometries/pinky_distal>
)
{
over "pinky_distal" (
apiSchemas = ["PhysicsCollisionAPI", "NewtonCollisionAPI", "PhysicsMeshCollisionAPI", "NewtonMeshCollisionAPI", "PhysxCollisionAPI"]
)
{
# ON: fingertip contact under self-collision.
bool physics:collisionEnabled = 1
token physics:approximation = "convexHull"
token purpose = "guide"
float physxCollision:contactOffset = 0.001
float physxCollision:restOffset = -0.0005
}
}
}
urdf/g20/left/linkerhand_g20_left/payloads/materials.usda
+57
View File
@@ -0,0 +1,57 @@
#usda 1.0
(
customLayerData = {
string creator = "URDF USD Converter v0.1.3"
}
doc = """Generated from Composed Stage of root layer /tmp/tmp5xni4jzi/linkerhand_g20_left.usdc
Generated from Composed Stage of root layer /tmp/urdf_import_linkerhand_g20_left_9306w6un/usdex_linkerhand_g20_left/linkerhand_g20_left.usdc
Generated from Composed Stage of root layer /tmp/urdf_import_linkerhand_g20_left_9306w6un/temp_linkerhand_g20_left/linkerhand_g20_left.usd
Generated from Composed Stage of root layer /home/lxqs/isaacsim/linkerhand/urdf/g20/left/linkerhand_g20_left/payloads/base.usd
"""
kilogramsPerUnit = 1
metersPerUnit = 1
upAxis = "Z"
)
def Scope "Materials"
{
def Material "material_1"
{
color3f inputs:diffuseColor = (1, 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_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
}
}
}
urdf/g20/left/linkerhand_g20_left/payloads/robot.usda
+327
View File
@@ -0,0 +1,327 @@
#usda 1.0
(
customLayerData = {
string creator = "URDF USD Converter v0.1.3"
}
defaultPrim = "linkerhand_g20_left"
doc = """Generated from Composed Stage of root layer /tmp/tmp5xni4jzi/linkerhand_g20_left.usdc
Generated from Composed Stage of root layer /tmp/urdf_import_linkerhand_g20_left_9306w6un/usdex_linkerhand_g20_left/linkerhand_g20_left.usdc
Generated from Composed Stage of root layer /tmp/urdf_import_linkerhand_g20_left_9306w6un/temp_linkerhand_g20_left/linkerhand_g20_left.usd
"""
kilogramsPerUnit = 1
metersPerUnit = 1
upAxis = "Z"
)
over "linkerhand_g20_left" (
prepend apiSchemas = ["IsaacRobotAPI"]
)
{
prepend rel isaac:physics:robotJoints = [
</linkerhand_g20_left/Physics/root_joint>,
</linkerhand_g20_left/Physics/thumb_cmc_roll>,
</linkerhand_g20_left/Physics/index_mcp_roll>,
</linkerhand_g20_left/Physics/middle_mcp_roll>,
</linkerhand_g20_left/Physics/ring_mcp_roll>,
</linkerhand_g20_left/Physics/pinky_mcp_roll>,
</linkerhand_g20_left/Physics/thumb_cmc_yaw>,
</linkerhand_g20_left/Physics/thumb_cmc_pitch>,
</linkerhand_g20_left/Physics/thumb_mcp>,
</linkerhand_g20_left/Physics/thumb_ip>,
</linkerhand_g20_left/Physics/index_mcp_pitch>,
</linkerhand_g20_left/Physics/index_pip>,
</linkerhand_g20_left/Physics/index_dip>,
</linkerhand_g20_left/Physics/middle_mcp_pitch>,
</linkerhand_g20_left/Physics/middle_pip>,
</linkerhand_g20_left/Physics/middle_dip>,
</linkerhand_g20_left/Physics/ring_mcp_pitch>,
</linkerhand_g20_left/Physics/ring_pip>,
</linkerhand_g20_left/Physics/ring_dip>,
</linkerhand_g20_left/Physics/pinky_mcp_pitch>,
</linkerhand_g20_left/Physics/pinky_pip>,
</linkerhand_g20_left/Physics/pinky_dip>,
]
prepend rel isaac:physics:robotLinks = [
</linkerhand_g20_left/Geometry/hand_base_link>,
</linkerhand_g20_left/Geometry/hand_base_link/thumb_metacarpals_base1>,
</linkerhand_g20_left/Geometry/hand_base_link/thumb_metacarpals_base1/thumb_metacarpals_base2>,
</linkerhand_g20_left/Geometry/hand_base_link/thumb_metacarpals_base1/thumb_metacarpals_base2/thumb_metacarpals>,
</linkerhand_g20_left/Geometry/hand_base_link/thumb_metacarpals_base1/thumb_metacarpals_base2/thumb_metacarpals/thumb_proximal>,
</linkerhand_g20_left/Geometry/hand_base_link/thumb_metacarpals_base1/thumb_metacarpals_base2/thumb_metacarpals/thumb_proximal/thumb_distal>,
</linkerhand_g20_left/Geometry/hand_base_link/index_metacarpals>,
</linkerhand_g20_left/Geometry/hand_base_link/index_metacarpals/index_proximal>,
</linkerhand_g20_left/Geometry/hand_base_link/index_metacarpals/index_proximal/index_middle>,
</linkerhand_g20_left/Geometry/hand_base_link/index_metacarpals/index_proximal/index_middle/index_distal>,
</linkerhand_g20_left/Geometry/hand_base_link/middle_metacarpals>,
</linkerhand_g20_left/Geometry/hand_base_link/middle_metacarpals/middle_proximal>,
</linkerhand_g20_left/Geometry/hand_base_link/middle_metacarpals/middle_proximal/middle_middle>,
</linkerhand_g20_left/Geometry/hand_base_link/middle_metacarpals/middle_proximal/middle_middle/middle_distal>,
</linkerhand_g20_left/Geometry/hand_base_link/ring_metacarpals>,
</linkerhand_g20_left/Geometry/hand_base_link/ring_metacarpals/ring_proximal>,
</linkerhand_g20_left/Geometry/hand_base_link/ring_metacarpals/ring_proximal/ring_middle>,
</linkerhand_g20_left/Geometry/hand_base_link/ring_metacarpals/ring_proximal/ring_middle/ring_distal>,
</linkerhand_g20_left/Geometry/hand_base_link/pinky_metacarpals>,
</linkerhand_g20_left/Geometry/hand_base_link/pinky_metacarpals/pinky_proximal>,
</linkerhand_g20_left/Geometry/hand_base_link/pinky_metacarpals/pinky_proximal/pinky_middle>,
</linkerhand_g20_left/Geometry/hand_base_link/pinky_metacarpals/pinky_proximal/pinky_middle/pinky_distal>,
]
token isaac:robotType = "End Effector"
over "Geometry"
{
over "hand_base_link" (
prepend apiSchemas = ["IsaacLinkAPI"]
)
{
over "thumb_metacarpals_base1" (
prepend apiSchemas = ["IsaacLinkAPI"]
)
{
over "thumb_metacarpals_base2" (
prepend apiSchemas = ["IsaacLinkAPI"]
)
{
over "thumb_metacarpals" (
prepend apiSchemas = ["IsaacLinkAPI"]
)
{
over "thumb_proximal" (
prepend apiSchemas = ["IsaacLinkAPI"]
)
{
over "thumb_distal" (
prepend apiSchemas = ["IsaacLinkAPI"]
)
{
}
}
}
}
}
over "index_metacarpals" (
prepend apiSchemas = ["IsaacLinkAPI"]
)
{
over "index_proximal" (
prepend apiSchemas = ["IsaacLinkAPI"]
)
{
over "index_middle" (
prepend apiSchemas = ["IsaacLinkAPI"]
)
{
over "index_distal" (
prepend apiSchemas = ["IsaacLinkAPI"]
)
{
}
}
}
}
over "middle_metacarpals" (
prepend apiSchemas = ["IsaacLinkAPI"]
)
{
over "middle_proximal" (
prepend apiSchemas = ["IsaacLinkAPI"]
)
{
over "middle_middle" (
prepend apiSchemas = ["IsaacLinkAPI"]
)
{
over "middle_distal" (
prepend apiSchemas = ["IsaacLinkAPI"]
)
{
}
}
}
}
over "ring_metacarpals" (
prepend apiSchemas = ["IsaacLinkAPI"]
)
{
over "ring_proximal" (
prepend apiSchemas = ["IsaacLinkAPI"]
)
{
over "ring_middle" (
prepend apiSchemas = ["IsaacLinkAPI"]
)
{
over "ring_distal" (
prepend apiSchemas = ["IsaacLinkAPI"]
)
{
}
}
}
}
over "pinky_metacarpals" (
prepend apiSchemas = ["IsaacLinkAPI"]
)
{
over "pinky_proximal" (
prepend apiSchemas = ["IsaacLinkAPI"]
)
{
over "pinky_middle" (
prepend apiSchemas = ["IsaacLinkAPI"]
)
{
over "pinky_distal" (
prepend apiSchemas = ["IsaacLinkAPI"]
)
{
}
}
}
}
}
}
over "Physics"
{
over "root_joint" (
prepend apiSchemas = ["IsaacJointAPI"]
)
{
}
over "thumb_cmc_roll" (
prepend apiSchemas = ["IsaacJointAPI"]
)
{
}
over "thumb_cmc_yaw" (
prepend apiSchemas = ["IsaacJointAPI"]
)
{
}
over "thumb_cmc_pitch" (
prepend apiSchemas = ["IsaacJointAPI"]
)
{
}
over "thumb_mcp" (
prepend apiSchemas = ["IsaacJointAPI"]
)
{
}
over "thumb_ip" (
prepend apiSchemas = ["IsaacJointAPI"]
)
{
}
over "index_mcp_roll" (
prepend apiSchemas = ["IsaacJointAPI"]
)
{
}
over "index_mcp_pitch" (
prepend apiSchemas = ["IsaacJointAPI"]
)
{
}
over "index_pip" (
prepend apiSchemas = ["IsaacJointAPI"]
)
{
}
over "index_dip" (
prepend apiSchemas = ["IsaacJointAPI"]
)
{
}
over "middle_mcp_roll" (
prepend apiSchemas = ["IsaacJointAPI"]
)
{
}
over "middle_mcp_pitch" (
prepend apiSchemas = ["IsaacJointAPI"]
)
{
}
over "middle_pip" (
prepend apiSchemas = ["IsaacJointAPI"]
)
{
}
over "middle_dip" (
prepend apiSchemas = ["IsaacJointAPI"]
)
{
}
over "ring_mcp_roll" (
prepend apiSchemas = ["IsaacJointAPI"]
)
{
}
over "ring_mcp_pitch" (
prepend apiSchemas = ["IsaacJointAPI"]
)
{
}
over "ring_pip" (
prepend apiSchemas = ["IsaacJointAPI"]
)
{
}
over "ring_dip" (
prepend apiSchemas = ["IsaacJointAPI"]
)
{
}
over "pinky_mcp_roll" (
prepend apiSchemas = ["IsaacJointAPI"]
)
{
}
over "pinky_mcp_pitch" (
prepend apiSchemas = ["IsaacJointAPI"]
)
{
}
over "pinky_pip" (
prepend apiSchemas = ["IsaacJointAPI"]
)
{
}
over "pinky_dip" (
prepend apiSchemas = ["IsaacJointAPI"]
)
{
}
}
}
urdf/g20/left/meshes/hand_base_link.STL
BIN
View File
Binary file not shown.
urdf/g20/left/meshes/index_distal.STL
BIN
View File
Binary file not shown.
urdf/g20/left/meshes/index_metacarpals.STL
BIN
View File
Binary file not shown.
urdf/g20/left/meshes/index_middle.STL
BIN
View File
Binary file not shown.
urdf/g20/left/meshes/index_proximal.STL
BIN
View File
Binary file not shown.
urdf/g20/left/meshes/middle_distal.STL
BIN
View File
Binary file not shown.
urdf/g20/left/meshes/middle_metacarpals.STL
BIN
View File
Binary file not shown.
urdf/g20/left/meshes/middle_middle.STL
BIN
View File
Binary file not shown.
urdf/g20/left/meshes/middle_proximal.STL
BIN
View File
Binary file not shown.
urdf/g20/left/meshes/pinky_distal.STL
BIN
View File
Binary file not shown.
urdf/g20/left/meshes/pinky_metacarpals.STL
BIN
View File
Binary file not shown.
urdf/g20/left/meshes/pinky_middle.STL
BIN
View File
Binary file not shown.
urdf/g20/left/meshes/pinky_proximal.STL
BIN
View File
Binary file not shown.
urdf/g20/left/meshes/ring_distal.STL
BIN
View File
Binary file not shown.
urdf/g20/left/meshes/ring_metacarpals.STL
BIN
View File
Binary file not shown.
urdf/g20/left/meshes/ring_middle.STL
BIN
View File
Binary file not shown.
urdf/g20/left/meshes/ring_proximal.STL
BIN
View File
Binary file not shown.
urdf/g20/left/meshes/thumb_distal.STL
BIN
View File
Binary file not shown.
urdf/g20/left/meshes/thumb_metacarpals.STL
BIN
View File
Binary file not shown.
urdf/g20/left/meshes/thumb_metacarpals_base1.STL
BIN
View File
Binary file not shown.
urdf/g20/left/meshes/thumb_metacarpals_base2.STL
BIN
View File
Binary file not shown.
urdf/g20/left/meshes/thumb_proximal.STL
BIN
View File
Binary file not shown.
urdf/l20/left/linkerhand_l20_left.urdf
+1204
View File
File diff suppressed because it is too large Load Diff
urdf/l20/left/linkerhand_l20_left/linkerhand_l20_left.usda
+52
View File
@@ -0,0 +1,52 @@
#usda 1.0
(
customLayerData = {
string creator = "URDF USD Converter v0.1.3"
}
defaultPrim = "linkerhand_l20_left"
doc = """Generated from Composed Stage of root layer /tmp/tmp7daip3z6/linkerhand_l20_left.usdc
Generated from Composed Stage of root layer /tmp/urdf_import_linkerhand_l20_left_dqwe6zav/usdex_linkerhand_l20_left/linkerhand_l20_left.usdc
Generated from Composed Stage of root layer /tmp/urdf_import_linkerhand_l20_left_dqwe6zav/temp_linkerhand_l20_left/linkerhand_l20_left.usd
Generated from Composed Stage of root layer /home/lxqs/mujoco_testwork/linkerhand-urdf/l20/left/linkerhand_l20_left/payloads/base.usd
"""
kilogramsPerUnit = 1
metersPerUnit = 1
upAxis = "Z"
)
def Xform "linkerhand_l20_left" (
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@
) {
}
}
}
urdf/l20/left/linkerhand_l20_left/payloads/Physics/mujoco.usda
+582
View File
@@ -0,0 +1,582 @@
#usda 1.0
(
customLayerData = {
string creator = "URDF USD Converter v0.1.3"
}
defaultPrim = "linkerhand_l20_left"
doc = """Generated from Composed Stage of root layer /tmp/tmp7daip3z6/linkerhand_l20_left.usdc
Generated from Composed Stage of root layer /tmp/urdf_import_linkerhand_l20_left_dqwe6zav/usdex_linkerhand_l20_left/linkerhand_l20_left.usdc
Generated from Composed Stage of root layer /tmp/urdf_import_linkerhand_l20_left_dqwe6zav/temp_linkerhand_l20_left/linkerhand_l20_left.usd
Generated from Composed Stage of root layer /home/lxqs/mujoco_testwork/linkerhand-urdf/l20/left/linkerhand_l20_left/payloads/base.usd
"""
kilogramsPerUnit = 1
metersPerUnit = 1
subLayers = [
@./physics.usda@
]
upAxis = "Z"
)
over "linkerhand_l20_left"
{
over "Physics"
{
def MjcActuator "pinky_mcp_roll_actuator"
{
uniform double mjc:forceRange:max = 1
uniform double mjc:forceRange:min = -1
custom rel mjc:target
prepend rel mjc:target = </linkerhand_l20_left/Physics/pinky_mcp_roll>
}
def MjcActuator "pinky_mcp_pitch_actuator"
{
uniform double mjc:forceRange:max = 1
uniform double mjc:forceRange:min = -1
custom rel mjc:target
prepend rel mjc:target = </linkerhand_l20_left/Physics/pinky_mcp_pitch>
}
def MjcActuator "pinky_pip_actuator"
{
uniform double mjc:forceRange:max = 1
uniform double mjc:forceRange:min = -1
custom rel mjc:target
prepend rel mjc:target = </linkerhand_l20_left/Physics/pinky_pip>
}
def MjcActuator "pinky_dip_actuator"
{
uniform double mjc:forceRange:max = 1
uniform double mjc:forceRange:min = -1
custom rel mjc:target
prepend rel mjc:target = </linkerhand_l20_left/Physics/pinky_dip>
}
def MjcActuator "ring_mcp_roll_actuator"
{
uniform double mjc:forceRange:max = 1
uniform double mjc:forceRange:min = -1
custom rel mjc:target
prepend rel mjc:target = </linkerhand_l20_left/Physics/ring_mcp_roll>
}
def MjcActuator "ring_mcp_pitch_actuator"
{
uniform double mjc:forceRange:max = 1
uniform double mjc:forceRange:min = -1
custom rel mjc:target
prepend rel mjc:target = </linkerhand_l20_left/Physics/ring_mcp_pitch>
}
def MjcActuator "ring_pip_actuator"
{
uniform double mjc:forceRange:max = 1
uniform double mjc:forceRange:min = -1
custom rel mjc:target
prepend rel mjc:target = </linkerhand_l20_left/Physics/ring_pip>
}
def MjcActuator "ring_dip_actuator"
{
uniform double mjc:forceRange:max = 1
uniform double mjc:forceRange:min = -1
custom rel mjc:target
prepend rel mjc:target = </linkerhand_l20_left/Physics/ring_dip>
}
def MjcActuator "middle_mcp_roll_actuator"
{
uniform double mjc:forceRange:max = 1
uniform double mjc:forceRange:min = -1
custom rel mjc:target
prepend rel mjc:target = </linkerhand_l20_left/Physics/middle_mcp_roll>
}
def MjcActuator "middle_mcp_pitch_actuator"
{
uniform double mjc:forceRange:max = 1
uniform double mjc:forceRange:min = -1
custom rel mjc:target
prepend rel mjc:target = </linkerhand_l20_left/Physics/middle_mcp_pitch>
}
def MjcActuator "middle_pip_actuator"
{
uniform double mjc:forceRange:max = 1
uniform double mjc:forceRange:min = -1
custom rel mjc:target
prepend rel mjc:target = </linkerhand_l20_left/Physics/middle_pip>
}
def MjcActuator "middle_dip_actuator"
{
uniform double mjc:forceRange:max = 1
uniform double mjc:forceRange:min = -1
custom rel mjc:target
prepend rel mjc:target = </linkerhand_l20_left/Physics/middle_dip>
}
def MjcActuator "index_mcp_roll_actuator"
{
uniform double mjc:forceRange:max = 1
uniform double mjc:forceRange:min = -1
custom rel mjc:target
prepend rel mjc:target = </linkerhand_l20_left/Physics/index_mcp_roll>
}
def MjcActuator "index_mcp_pitch_actuator"
{
uniform double mjc:forceRange:max = 1
uniform double mjc:forceRange:min = -1
custom rel mjc:target
prepend rel mjc:target = </linkerhand_l20_left/Physics/index_mcp_pitch>
}
def MjcActuator "index_pip_actuator"
{
uniform double mjc:forceRange:max = 1
uniform double mjc:forceRange:min = -1
custom rel mjc:target
prepend rel mjc:target = </linkerhand_l20_left/Physics/index_pip>
}
def MjcActuator "index_dip_actuator"
{
uniform double mjc:forceRange:max = 1
uniform double mjc:forceRange:min = -1
custom rel mjc:target
prepend rel mjc:target = </linkerhand_l20_left/Physics/index_dip>
}
def MjcActuator "thumb_cmc_yaw_actuator"
{
uniform double mjc:forceRange:max = 1
uniform double mjc:forceRange:min = -1
custom rel mjc:target
prepend rel mjc:target = </linkerhand_l20_left/Physics/thumb_cmc_yaw>
}
def MjcActuator "thumb_cmc_roll_actuator"
{
uniform double mjc:forceRange:max = 1
uniform double mjc:forceRange:min = -1
custom rel mjc:target
prepend rel mjc:target = </linkerhand_l20_left/Physics/thumb_cmc_roll>
}
def MjcActuator "thumb_cmc_pitch_actuator"
{
uniform double mjc:forceRange:max = 1
uniform double mjc:forceRange:min = -1
custom rel mjc:target
prepend rel mjc:target = </linkerhand_l20_left/Physics/thumb_cmc_pitch>
}
def MjcActuator "thumb_mcp_actuator"
{
uniform double mjc:forceRange:max = 1
uniform double mjc:forceRange:min = -1
custom rel mjc:target
prepend rel mjc:target = </linkerhand_l20_left/Physics/thumb_mcp>
}
def MjcActuator "thumb_ip_actuator"
{
uniform double mjc:forceRange:max = 1
uniform double mjc:forceRange:min = -1
custom rel mjc:target
prepend rel mjc:target = </linkerhand_l20_left/Physics/thumb_ip>
}
over "root_joint"
{
}
over "pinky_mcp_roll" (
delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
)
{
}
over "pinky_mcp_pitch" (
delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
)
{
}
over "pinky_pip" (
delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
)
{
}
over "pinky_dip" (
delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
)
{
}
over "ring_mcp_roll" (
delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
)
{
}
over "ring_mcp_pitch" (
delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
)
{
}
over "ring_pip" (
delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
)
{
}
over "ring_dip" (
delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
)
{
}
over "middle_mcp_roll" (
delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
)
{
}
over "middle_mcp_pitch" (
delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
)
{
}
over "middle_pip" (
delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
)
{
}
over "middle_dip" (
delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
)
{
}
over "index_mcp_roll" (
delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
)
{
}
over "index_mcp_pitch" (
delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
)
{
}
over "index_pip" (
delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
)
{
}
over "index_dip" (
delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
)
{
}
over "thumb_cmc_yaw" (
delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
)
{
}
over "thumb_cmc_roll" (
delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
)
{
}
over "thumb_cmc_pitch" (
delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
)
{
}
over "thumb_mcp" (
delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
)
{
}
over "thumb_ip" (
delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
)
{
}
}
over "Geometry"
{
over "hand_base_link"
{
over "pinky_metacarpals"
{
over "pinky_proximal"
{
over "pinky_middle"
{
over "pinky_distal"
{
over "pinky_distal"
{
}
over "pinky_distal_1"
{
}
}
over "pinky_middle"
{
}
over "pinky_middle_1"
{
}
}
over "pinky_proximal"
{
}
over "pinky_proximal_1"
{
}
}
over "pinky_metacarpals"
{
}
over "pinky_metacarpals_1"
{
}
}
over "ring_metacarpals"
{
over "ring_proximal"
{
over "ring_middle"
{
over "ring_distal"
{
over "ring_distal"
{
}
over "ring_distal_1"
{
}
}
over "ring_middle"
{
}
over "ring_middle_1"
{
}
}
over "ring_proximal"
{
}
over "ring_proximal_1"
{
}
}
over "ring_metacarpals"
{
}
over "ring_metacarpals_1"
{
}
}
over "middle_metacarpals"
{
over "middle_proximal"
{
over "middle_middle"
{
over "middle_distal"
{
over "middle_distal"
{
}
over "middle_distal_1"
{
}
}
over "middle_middle"
{
}
over "middle_middle_1"
{
}
}
over "middle_proximal"
{
}
over "middle_proximal_1"
{
}
}
over "middle_metacarpals"
{
}
over "middle_metacarpals_1"
{
}
}
over "index_metacarpals"
{
over "index_proximal"
{
over "index_middle"
{
over "index_distal"
{
over "index_distal"
{
}
over "index_distal_1"
{
}
}
over "index_middle"
{
}
over "index_middle_1"
{
}
}
over "index_proximal"
{
}
over "index_proximal_1"
{
}
}
over "index_metacarpals"
{
}
over "index_metacarpals_1"
{
}
}
over "thumb_metacarpals_base2"
{
over "thumb_metacarpals_base1"
{
over "thumb_metacarpals"
{
over "thumb_proximal"
{
over "thumb_distal"
{
over "thumb_distal"
{
}
over "thumb_distal_1"
{
}
}
over "thumb_proximal"
{
}
over "thumb_proximal_1"
{
}
}
over "thumb_metacarpals"
{
}
over "thumb_metacarpals_1"
{
}
}
over "thumb_metacarpals_base1"
{
}
over "thumb_metacarpals_base1_1"
{
}
}
over "thumb_metacarpals_base2"
{
}
over "thumb_metacarpals_base2_1"
{
}
}
over "hand_base_link"
{
}
over "hand_base_link_1"
{
}
}
}
over "Materials"
{
}
over "VisualMaterials"
{
}
}
urdf/l20/left/linkerhand_l20_left/payloads/Physics/physics.usda
+694
View File
@@ -0,0 +1,694 @@
#usda 1.0
(
customLayerData = {
string creator = "URDF USD Converter v0.1.3"
}
defaultPrim = "linkerhand_l20_left"
doc = """Generated from Composed Stage of root layer /tmp/tmp7daip3z6/linkerhand_l20_left.usdc
Generated from Composed Stage of root layer /tmp/urdf_import_linkerhand_l20_left_dqwe6zav/usdex_linkerhand_l20_left/linkerhand_l20_left.usdc
Generated from Composed Stage of root layer /tmp/urdf_import_linkerhand_l20_left_dqwe6zav/temp_linkerhand_l20_left/linkerhand_l20_left.usd
Generated from Composed Stage of root layer /home/lxqs/mujoco_testwork/linkerhand-urdf/l20/left/linkerhand_l20_left/payloads/base.usd
"""
kilogramsPerUnit = 1
metersPerUnit = 1
upAxis = "Z"
)
over "linkerhand_l20_left"
{
over "Geometry"
{
over "hand_base_link" (
prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsArticulationRootAPI", "NewtonArticulationRootAPI", "PhysicsMassAPI"]
)
{
bool newton:selfCollisionEnabled = 0
point3f physics:centerOfMass = (-0.0116727725, 0.0023917088, 0.08717629)
float3 physics:diagonalInertia = (0.00009926712, 0.000186614, 0.00027272134)
float physics:mass = 0.10108445
quatf physics:principalAxes = (0.68135417, -0.0042015105, 0.73193634, -0.0028345578)
over "pinky_metacarpals" (
prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"]
)
{
point3f physics:centerOfMass = (0.01127336, 5.5879735e-7, 0.0022016335)
float3 physics:diagonalInertia = (2.688093e-8, 3.2323626e-8, 4.510111e-8)
float physics:mass = 0.000876741
quatf physics:principalAxes = (-0.16874419, 0.6866895, 0.68666375, 0.16874777)
over "pinky_proximal" (
prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"]
)
{
point3f physics:centerOfMass = (-0.0025991977, 0.000018026341, 0.022354048)
float3 physics:diagonalInertia = (1.075331e-7, 6.213918e-7, 6.5115984e-7)
float physics:mass = 0.0037241937
quatf physics:principalAxes = (0.48825243, 0.4883892, 0.511191, 0.511634)
over "pinky_middle" (
prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"]
)
{
point3f physics:centerOfMass = (-0.00021099352, 0.0000028486395, 0.016837623)
float3 physics:diagonalInertia = (9.68419e-8, 1.8334333e-7, 2.3855722e-7)
float physics:mass = 0.0024073792
quatf physics:principalAxes = (0.6712686, -0.0000017148097, 0.7412142, 0.0000113519045)
over "pinky_distal" (
prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"]
)
{
point3f physics:centerOfMass = (-0.00808923, 0.000019308107, 0.007983399)
float3 physics:diagonalInertia = (8.634609e-8, 1.7910685e-7, 2.0911786e-7)
float physics:mass = 0.0034042916
quatf physics:principalAxes = (0.43734092, -0.00058309664, 0.8992954, 0.0005812942)
}
}
}
}
over "ring_metacarpals" (
prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"]
)
{
point3f physics:centerOfMass = (0.01127336, 5.5879735e-7, 0.0022016335)
float3 physics:diagonalInertia = (2.688093e-8, 3.2323626e-8, 4.510111e-8)
float physics:mass = 0.000876741
quatf physics:principalAxes = (-0.16874419, 0.6866895, 0.68666375, 0.16874777)
over "ring_proximal" (
prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"]
)
{
point3f physics:centerOfMass = (-0.0025991977, 0.000018026341, 0.022354048)
float3 physics:diagonalInertia = (1.075331e-7, 6.213918e-7, 6.5115984e-7)
float physics:mass = 0.0037241937
quatf physics:principalAxes = (0.48825243, 0.4883892, 0.511191, 0.511634)
over "ring_middle" (
prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"]
)
{
point3f physics:centerOfMass = (-0.0002109929, 0.0000028491947, 0.016837623)
float3 physics:diagonalInertia = (9.6841916e-8, 1.8334333e-7, 2.3855722e-7)
float physics:mass = 0.0024073794
quatf physics:principalAxes = (0.6712686, -0.0000016942307, 0.7412142, 0.000011425998)
over "ring_distal" (
prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"]
)
{
point3f physics:centerOfMass = (-0.00808923, 0.000019308129, 0.007983399)
float3 physics:diagonalInertia = (8.634609e-8, 1.7910685e-7, 2.0911786e-7)
float physics:mass = 0.0034042916
quatf physics:principalAxes = (0.43734092, -0.0005831002, 0.8992954, 0.0005812897)
}
}
}
}
over "middle_metacarpals" (
prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"]
)
{
point3f physics:centerOfMass = (0.01127336, 5.5879735e-7, 0.0022016335)
float3 physics:diagonalInertia = (2.688093e-8, 3.2323626e-8, 4.510111e-8)
float physics:mass = 0.000876741
quatf physics:principalAxes = (-0.16874419, 0.6866895, 0.68666375, 0.16874777)
over "middle_proximal" (
prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"]
)
{
point3f physics:centerOfMass = (-0.0025991977, 0.000018026341, 0.022354048)
float3 physics:diagonalInertia = (1.075331e-7, 6.213918e-7, 6.5115984e-7)
float physics:mass = 0.0037241937
quatf physics:principalAxes = (0.48825243, 0.4883892, 0.511191, 0.511634)
over "middle_middle" (
prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"]
)
{
point3f physics:centerOfMass = (-0.00021099295, 0.000002849104, 0.016837623)
float3 physics:diagonalInertia = (9.6841916e-8, 1.8334333e-7, 2.3855722e-7)
float physics:mass = 0.0024073794
quatf physics:principalAxes = (0.6712686, -0.0000017088329, 0.7412142, 0.000011426379)
over "middle_distal" (
prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"]
)
{
point3f physics:centerOfMass = (-0.00808923, 0.000019306884, 0.007983399)
float3 physics:diagonalInertia = (8.634607e-8, 1.7910686e-7, 2.0911783e-7)
float physics:mass = 0.0034042913
quatf physics:principalAxes = (0.43734092, -0.00058307627, 0.89929545, 0.00058126054)
}
}
}
}
over "index_metacarpals" (
prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"]
)
{
point3f physics:centerOfMass = (0.01127336, 5.5879735e-7, 0.0022016335)
float3 physics:diagonalInertia = (2.688093e-8, 3.2323626e-8, 4.510111e-8)
float physics:mass = 0.000876741
quatf physics:principalAxes = (-0.16874419, 0.6866895, 0.68666375, 0.16874777)
over "index_proximal" (
prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"]
)
{
point3f physics:centerOfMass = (-0.0025991977, 0.000018026341, 0.022354048)
float3 physics:diagonalInertia = (1.075331e-7, 6.213918e-7, 6.5115984e-7)
float physics:mass = 0.0037241937
quatf physics:principalAxes = (0.48825243, 0.4883892, 0.511191, 0.511634)
over "index_middle" (
prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"]
)
{
point3f physics:centerOfMass = (-0.0002109937, 0.000002848504, 0.016837623)
float3 physics:diagonalInertia = (9.68419e-8, 1.8334332e-7, 2.3855722e-7)
float physics:mass = 0.002407379
quatf physics:principalAxes = (0.6712686, -0.0000017342365, 0.7412142, 0.000011354987)
over "index_distal" (
prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"]
)
{
point3f physics:centerOfMass = (-0.00808923, 0.000019308074, 0.007983399)
float3 physics:diagonalInertia = (8.634609e-8, 1.7910685e-7, 2.0911786e-7)
float physics:mass = 0.0034042916
quatf physics:principalAxes = (0.43734092, -0.00058310083, 0.8992954, 0.0005812904)
}
}
}
}
over "thumb_metacarpals_base2" (
prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"]
)
{
point3f physics:centerOfMass = (0.02371242, -0.0032577133, -0.0017911186)
float3 physics:diagonalInertia = (1.1234051e-8, 6.543079e-8, 6.770053e-8)
float physics:mass = 0.0009972232
quatf physics:principalAxes = (-0.35413897, 0.5960251, 0.36731312, 0.6200167)
over "thumb_metacarpals_base1" (
prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"]
)
{
point3f physics:centerOfMass = (0.0011972568, -0.006213203, 0.009803273)
float3 physics:diagonalInertia = (3.0495187e-7, 5.8936433e-7, 7.4814983e-7)
float physics:mass = 0.0045973556
quatf physics:principalAxes = (0.74903965, 0.1874994, 0.62139153, -0.13287634)
over "thumb_metacarpals" (
prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"]
)
{
point3f physics:centerOfMass = (0.003908665, -0.0010197475, 0.025965149)
float3 physics:diagonalInertia = (0.0000023184932, 0.000008088414, 0.000009564724)
float physics:mass = 0.022965211
quatf physics:principalAxes = (0.4916204, 0.49165696, 0.5082044, 0.50824314)
over "thumb_proximal" (
prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"]
)
{
point3f physics:centerOfMass = (-0.0015952424, -0.0013767378, 0.012809113)
float3 physics:diagonalInertia = (2.190736e-7, 4.8410817e-7, 6.1635996e-7)
float physics:mass = 0.005159339
quatf physics:principalAxes = (0.57155734, 0.56299645, 0.41924012, 0.42496464)
over "thumb_distal" (
prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"]
)
{
point3f physics:centerOfMass = (-0.006749175, 0.001465402, 0.01296435)
float3 physics:diagonalInertia = (8.498717e-8, 2.6375918e-7, 2.7693662e-7)
float physics:mass = 0.004089755
quatf physics:principalAxes = (0.38330695, 0.37363276, 0.5807098, 0.6133926)
}
}
}
}
}
}
}
over "Physics"
{
def PhysicsRevoluteJoint "pinky_mcp_roll" (
prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
)
{
float drive:angular:physics:maxForce = 1
uniform token physics:axis = "X"
custom rel physics:body0
prepend rel physics:body0 = </linkerhand_l20_left/Geometry/hand_base_link>
custom rel physics:body1
prepend rel physics:body1 = </linkerhand_l20_left/Geometry/hand_base_link/pinky_metacarpals>
point3f physics:localPos0 = (-0.028670534, 0.038101938, 0.1503127)
point3f physics:localPos1 = (0, 0, 0)
quatf physics:localRot0 = (1, 0, 0, 0)
quatf physics:localRot1 = (1, 0, 0, 0)
float physics:lowerLimit = -9.740282
float physics:upperLimit = 9.740282
custom float urdf:limit:effort = 1
custom float urdf:limit:velocity = 1
}
def PhysicsRevoluteJoint "pinky_mcp_pitch" (
prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
)
{
float drive:angular:physics:maxForce = 1
uniform token physics:axis = "Y"
custom rel physics:body0
prepend rel physics:body0 = </linkerhand_l20_left/Geometry/hand_base_link/pinky_metacarpals>
custom rel physics:body1
prepend rel physics:body1 = </linkerhand_l20_left/Geometry/hand_base_link/pinky_metacarpals/pinky_proximal>
point3f physics:localPos0 = (0.016769808, -0.0000126288305, 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 = 80.21409
custom float urdf:limit:effort = 1
custom float urdf:limit:velocity = 1
}
def PhysicsRevoluteJoint "pinky_pip" (
prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
)
{
float drive:angular:physics:maxForce = 1
uniform token physics:axis = "Y"
custom rel physics:body0
prepend rel physics:body0 = </linkerhand_l20_left/Geometry/hand_base_link/pinky_metacarpals/pinky_proximal>
custom rel physics:body1
prepend rel physics:body1 = </linkerhand_l20_left/Geometry/hand_base_link/pinky_metacarpals/pinky_proximal/pinky_middle>
point3f physics:localPos0 = (-0.0041945525, 0, 0.044819437)
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 = 89.95438
custom float urdf:limit:effort = 1
custom float urdf:limit:velocity = 1
}
def PhysicsRevoluteJoint "pinky_dip" (
prepend apiSchemas = ["NewtonMimicAPI", "PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
)
{
float drive:angular:physics:maxForce = 1
float newton:mimicCoef1 = 0.8917
rel newton:mimicJoint = </linkerhand_l20_left/Physics/pinky_pip>
uniform token physics:axis = "Y"
custom rel physics:body0
prepend rel physics:body0 = </linkerhand_l20_left/Geometry/hand_base_link/pinky_metacarpals/pinky_proximal/pinky_middle>
custom rel physics:body1
prepend rel physics:body1 = </linkerhand_l20_left/Geometry/hand_base_link/pinky_metacarpals/pinky_proximal/pinky_middle/pinky_distal>
point3f physics:localPos0 = (0.0027556196, 0, 0.031702425)
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 = 80.21409
custom float urdf:limit:effort = 1
custom float urdf:limit:velocity = 1
}
def PhysicsRevoluteJoint "ring_mcp_roll" (
prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
)
{
float drive:angular:physics:maxForce = 1
uniform token physics:axis = "X"
custom rel physics:body0
prepend rel physics:body0 = </linkerhand_l20_left/Geometry/hand_base_link>
custom rel physics:body1
prepend rel physics:body1 = </linkerhand_l20_left/Geometry/hand_base_link/ring_metacarpals>
point3f physics:localPos0 = (-0.0322943, 0.016501935, 0.15931144)
point3f physics:localPos1 = (0, 0, 0)
quatf physics:localRot0 = (1, 0, 0, 0)
quatf physics:localRot1 = (1, 0, 0, 0)
float physics:lowerLimit = -9.740282
float physics:upperLimit = 9.740282
custom float urdf:limit:effort = 1
custom float urdf:limit:velocity = 1
}
def PhysicsRevoluteJoint "ring_mcp_pitch" (
prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
)
{
float drive:angular:physics:maxForce = 1
uniform token physics:axis = "Y"
custom rel physics:body0
prepend rel physics:body0 = </linkerhand_l20_left/Geometry/hand_base_link/ring_metacarpals>
custom rel physics:body1
prepend rel physics:body1 = </linkerhand_l20_left/Geometry/hand_base_link/ring_metacarpals/ring_proximal>
point3f physics:localPos0 = (0.016769808, -0.0000126288305, 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 = 80.21409
custom float urdf:limit:effort = 1
custom float urdf:limit:velocity = 1
}
def PhysicsRevoluteJoint "ring_pip" (
prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
)
{
float drive:angular:physics:maxForce = 1
uniform token physics:axis = "Y"
custom rel physics:body0
prepend rel physics:body0 = </linkerhand_l20_left/Geometry/hand_base_link/ring_metacarpals/ring_proximal>
custom rel physics:body1
prepend rel physics:body1 = </linkerhand_l20_left/Geometry/hand_base_link/ring_metacarpals/ring_proximal/ring_middle>
point3f physics:localPos0 = (-0.0041945525, 0, 0.044819437)
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 = 89.95438
custom float urdf:limit:effort = 1
custom float urdf:limit:velocity = 1
}
def PhysicsRevoluteJoint "ring_dip" (
prepend apiSchemas = ["NewtonMimicAPI", "PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
)
{
float drive:angular:physics:maxForce = 1
float newton:mimicCoef1 = 0.8917
rel newton:mimicJoint = </linkerhand_l20_left/Physics/ring_pip>
uniform token physics:axis = "Y"
custom rel physics:body0
prepend rel physics:body0 = </linkerhand_l20_left/Geometry/hand_base_link/ring_metacarpals/ring_proximal/ring_middle>
custom rel physics:body1
prepend rel physics:body1 = </linkerhand_l20_left/Geometry/hand_base_link/ring_metacarpals/ring_proximal/ring_middle/ring_distal>
point3f physics:localPos0 = (0.0027556196, 0, 0.031702425)
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 = 80.21409
custom float urdf:limit:effort = 1
custom float urdf:limit:velocity = 1
}
def PhysicsRevoluteJoint "middle_mcp_roll" (
prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
)
{
float drive:angular:physics:maxForce = 1
uniform token physics:axis = "X"
custom rel physics:body0
prepend rel physics:body0 = </linkerhand_l20_left/Geometry/hand_base_link>
custom rel physics:body1
prepend rel physics:body1 = </linkerhand_l20_left/Geometry/hand_base_link/middle_metacarpals>
point3f physics:localPos0 = (-0.03459913, -0.005098064, 0.16380432)
point3f physics:localPos1 = (0, 0, 0)
quatf physics:localRot0 = (1, 0, 0, 0)
quatf physics:localRot1 = (1, 0, 0, 0)
float physics:lowerLimit = -9.740282
float physics:upperLimit = 9.740282
custom float urdf:limit:effort = 1
custom float urdf:limit:velocity = 1
}
def PhysicsRevoluteJoint "middle_mcp_pitch" (
prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
)
{
float drive:angular:physics:maxForce = 1
uniform token physics:axis = "Y"
custom rel physics:body0
prepend rel physics:body0 = </linkerhand_l20_left/Geometry/hand_base_link/middle_metacarpals>
custom rel physics:body1
prepend rel physics:body1 = </linkerhand_l20_left/Geometry/hand_base_link/middle_metacarpals/middle_proximal>
point3f physics:localPos0 = (0.016769808, -0.0000126288305, 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 = 80.21409
custom float urdf:limit:effort = 1
custom float urdf:limit:velocity = 1
}
def PhysicsRevoluteJoint "middle_pip" (
prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
)
{
float drive:angular:physics:maxForce = 1
uniform token physics:axis = "Y"
custom rel physics:body0
prepend rel physics:body0 = </linkerhand_l20_left/Geometry/hand_base_link/middle_metacarpals/middle_proximal>
custom rel physics:body1
prepend rel physics:body1 = </linkerhand_l20_left/Geometry/hand_base_link/middle_metacarpals/middle_proximal/middle_middle>
point3f physics:localPos0 = (-0.0041945525, 0, 0.044819437)
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 = 89.95438
custom float urdf:limit:effort = 1
custom float urdf:limit:velocity = 1
}
def PhysicsRevoluteJoint "middle_dip" (
prepend apiSchemas = ["NewtonMimicAPI", "PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
)
{
float drive:angular:physics:maxForce = 1
float newton:mimicCoef1 = 0.8917
rel newton:mimicJoint = </linkerhand_l20_left/Physics/middle_pip>
uniform token physics:axis = "Y"
custom rel physics:body0
prepend rel physics:body0 = </linkerhand_l20_left/Geometry/hand_base_link/middle_metacarpals/middle_proximal/middle_middle>
custom rel physics:body1
prepend rel physics:body1 = </linkerhand_l20_left/Geometry/hand_base_link/middle_metacarpals/middle_proximal/middle_middle/middle_distal>
point3f physics:localPos0 = (0.0027556196, 0, 0.031702425)
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 = 80.21409
custom float urdf:limit:effort = 1
custom float urdf:limit:velocity = 1
}
def PhysicsRevoluteJoint "index_mcp_roll" (
prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
)
{
float drive:angular:physics:maxForce = 1
uniform token physics:axis = "X"
custom rel physics:body0
prepend rel physics:body0 = </linkerhand_l20_left/Geometry/hand_base_link>
custom rel physics:body1
prepend rel physics:body1 = </linkerhand_l20_left/Geometry/hand_base_link/index_metacarpals>
point3f physics:localPos0 = (-0.02986529, -0.026698064, 0.15931144)
point3f physics:localPos1 = (0, 0, 0)
quatf physics:localRot0 = (1, 0, 0, 0)
quatf physics:localRot1 = (1, 0, 0, 0)
float physics:lowerLimit = -9.740282
float physics:upperLimit = 9.740282
custom float urdf:limit:effort = 1
custom float urdf:limit:velocity = 1
}
def PhysicsRevoluteJoint "index_mcp_pitch" (
prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
)
{
float drive:angular:physics:maxForce = 1
uniform token physics:axis = "Y"
custom rel physics:body0
prepend rel physics:body0 = </linkerhand_l20_left/Geometry/hand_base_link/index_metacarpals>
custom rel physics:body1
prepend rel physics:body1 = </linkerhand_l20_left/Geometry/hand_base_link/index_metacarpals/index_proximal>
point3f physics:localPos0 = (0.016769808, -0.0000126288305, 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 = 80.21409
custom float urdf:limit:effort = 1
custom float urdf:limit:velocity = 1
}
def PhysicsRevoluteJoint "index_pip" (
prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
)
{
float drive:angular:physics:maxForce = 1
uniform token physics:axis = "Y"
custom rel physics:body0
prepend rel physics:body0 = </linkerhand_l20_left/Geometry/hand_base_link/index_metacarpals/index_proximal>
custom rel physics:body1
prepend rel physics:body1 = </linkerhand_l20_left/Geometry/hand_base_link/index_metacarpals/index_proximal/index_middle>
point3f physics:localPos0 = (-0.0041945525, 0, 0.044819437)
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 = 89.95438
custom float urdf:limit:effort = 1
custom float urdf:limit:velocity = 1
}
def PhysicsRevoluteJoint "index_dip" (
prepend apiSchemas = ["NewtonMimicAPI", "PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
)
{
float drive:angular:physics:maxForce = 1
float newton:mimicCoef1 = 0.8917
rel newton:mimicJoint = </linkerhand_l20_left/Physics/index_pip>
uniform token physics:axis = "Y"
custom rel physics:body0
prepend rel physics:body0 = </linkerhand_l20_left/Geometry/hand_base_link/index_metacarpals/index_proximal/index_middle>
custom rel physics:body1
prepend rel physics:body1 = </linkerhand_l20_left/Geometry/hand_base_link/index_metacarpals/index_proximal/index_middle/index_distal>
point3f physics:localPos0 = (0.0027556196, 0, 0.031702425)
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 = 80.21409
custom float urdf:limit:effort = 1
custom float urdf:limit:velocity = 1
}
def PhysicsRevoluteJoint "thumb_cmc_yaw" (
prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
)
{
float drive:angular:physics:maxForce = 1
uniform token physics:axis = "X"
custom rel physics:body0
prepend rel physics:body0 = </linkerhand_l20_left/Geometry/hand_base_link>
custom rel physics:body1
prepend rel physics:body1 = </linkerhand_l20_left/Geometry/hand_base_link/thumb_metacarpals_base2>
point3f physics:localPos0 = (-0.00091528, -0.0050818, 0.057392)
point3f physics:localPos1 = (0, 0, 0)
quatf physics:localRot0 = (0, 0, -1, 0)
quatf physics:localRot1 = (0, 0, -1, 0)
float physics:lowerLimit = 0
float physics:upperLimit = 80.21409
custom float urdf:limit:effort = 1
custom float urdf:limit:velocity = 1
}
def PhysicsRevoluteJoint "thumb_cmc_roll" (
prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
)
{
float drive:angular:physics:maxForce = 1
uniform token physics:axis = "Y"
custom rel physics:body0
prepend rel physics:body0 = </linkerhand_l20_left/Geometry/hand_base_link/thumb_metacarpals_base2>
custom rel physics:body1
prepend rel physics:body1 = </linkerhand_l20_left/Geometry/hand_base_link/thumb_metacarpals_base2/thumb_metacarpals_base1>
point3f physics:localPos0 = (0.024508, -0.002864, 0.0035063)
point3f physics:localPos1 = (0, 0, 0)
quatf physics:localRot0 = (0.510268, 0.86001545, 0, 0)
quatf physics:localRot1 = (1, 0, 0, 0)
float physics:lowerLimit = 0
float physics:upperLimit = 69.90085
custom float urdf:limit:effort = 1
custom float urdf:limit:velocity = 1
}
def PhysicsRevoluteJoint "thumb_cmc_pitch" (
prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
)
{
float drive:angular:physics:maxForce = 1
uniform token physics:axis = "Y"
custom rel physics:body0
prepend rel physics:body0 = </linkerhand_l20_left/Geometry/hand_base_link/thumb_metacarpals_base2/thumb_metacarpals_base1>
custom rel physics:body1
prepend rel physics:body1 = </linkerhand_l20_left/Geometry/hand_base_link/thumb_metacarpals_base2/thumb_metacarpals_base1/thumb_metacarpals>
point3f physics:localPos0 = (-0.0011523, -0.00048559, 0.030795)
point3f physics:localPos1 = (0, 0, 0)
quatf physics:localRot0 = (-0.6851425, 0.17486598, -0.17486534, -0.685145)
quatf physics:localRot1 = (1, 0, 0, 0)
float physics:lowerLimit = 0
float physics:upperLimit = 45.263664
custom float urdf:limit:effort = 1
custom float urdf:limit:velocity = 1
}
def PhysicsRevoluteJoint "thumb_mcp" (
prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
)
{
float drive:angular:physics:maxForce = 1
uniform token physics:axis = "Y"
custom rel physics:body0
prepend rel physics:body0 = </linkerhand_l20_left/Geometry/hand_base_link/thumb_metacarpals_base2/thumb_metacarpals_base1/thumb_metacarpals>
custom rel physics:body1
prepend rel physics:body1 = </linkerhand_l20_left/Geometry/hand_base_link/thumb_metacarpals_base2/thumb_metacarpals_base1/thumb_metacarpals/thumb_proximal>
point3f physics:localPos0 = (0.0064539, 3.469447e-18, 0.055858)
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 = 60.16057
custom float urdf:limit:effort = 1
custom float urdf:limit:velocity = 1
}
def PhysicsRevoluteJoint "thumb_ip" (
prepend apiSchemas = ["NewtonMimicAPI", "PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
)
{
float drive:angular:physics:maxForce = 1
float newton:mimicCoef1 = 1.1619
rel newton:mimicJoint = </linkerhand_l20_left/Physics/thumb_mcp>
uniform token physics:axis = "Y"
custom rel physics:body0
prepend rel physics:body0 = </linkerhand_l20_left/Geometry/hand_base_link/thumb_metacarpals_base2/thumb_metacarpals_base1/thumb_metacarpals/thumb_proximal>
custom rel physics:body1
prepend rel physics:body1 = </linkerhand_l20_left/Geometry/hand_base_link/thumb_metacarpals_base2/thumb_metacarpals_base1/thumb_metacarpals/thumb_proximal/thumb_distal>
point3f physics:localPos0 = (0.0053547, 3.469447e-18, 0.034485)
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 = 69.90085
custom float urdf:limit:effort = 1
custom float urdf:limit:velocity = 1
}
def PhysicsFixedJoint "root_joint"
{
custom rel physics:body0
prepend rel physics:body0 = </linkerhand_l20_left>
custom rel physics:body1
prepend rel physics:body1 = </linkerhand_l20_left/Geometry/hand_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)
}
}
}
urdf/l20/left/linkerhand_l20_left/payloads/Physics/physx.usda
+178
View File
@@ -0,0 +1,178 @@
#usda 1.0
(
customLayerData = {
string creator = "URDF USD Converter v0.1.3"
}
defaultPrim = "linkerhand_l20_left"
doc = """Generated from Composed Stage of root layer /tmp/tmp7daip3z6/linkerhand_l20_left.usdc
Generated from Composed Stage of root layer /tmp/urdf_import_linkerhand_l20_left_dqwe6zav/usdex_linkerhand_l20_left/linkerhand_l20_left.usdc
Generated from Composed Stage of root layer /tmp/urdf_import_linkerhand_l20_left_dqwe6zav/temp_linkerhand_l20_left/linkerhand_l20_left.usd
Generated from Composed Stage of root layer /home/lxqs/mujoco_testwork/linkerhand-urdf/l20/left/linkerhand_l20_left/payloads/base.usd
"""
kilogramsPerUnit = 1
metersPerUnit = 1
subLayers = [
@./physics.usda@
]
upAxis = "Z"
)
over "linkerhand_l20_left"
{
over "Physics"
{
over "pinky_mcp_roll" (
prepend apiSchemas = ["PhysxJointAPI"]
)
{
float physxJoint:maxJointVelocity = 57.29578
}
over "pinky_mcp_pitch" (
prepend apiSchemas = ["PhysxJointAPI"]
)
{
float physxJoint:maxJointVelocity = 57.29578
}
over "pinky_pip" (
prepend apiSchemas = ["PhysxJointAPI"]
)
{
float physxJoint:maxJointVelocity = 57.29578
}
over "pinky_dip" (
prepend apiSchemas = ["PhysxJointAPI"]
)
{
float physxJoint:maxJointVelocity = 57.29578
}
over "ring_mcp_roll" (
prepend apiSchemas = ["PhysxJointAPI"]
)
{
float physxJoint:maxJointVelocity = 57.29578
}
over "ring_mcp_pitch" (
prepend apiSchemas = ["PhysxJointAPI"]
)
{
float physxJoint:maxJointVelocity = 57.29578
}
over "ring_pip" (
prepend apiSchemas = ["PhysxJointAPI"]
)
{
float physxJoint:maxJointVelocity = 57.29578
}
over "ring_dip" (
prepend apiSchemas = ["PhysxJointAPI"]
)
{
float physxJoint:maxJointVelocity = 57.29578
}
over "middle_mcp_roll" (
prepend apiSchemas = ["PhysxJointAPI"]
)
{
float physxJoint:maxJointVelocity = 57.29578
}
over "middle_mcp_pitch" (
prepend apiSchemas = ["PhysxJointAPI"]
)
{
float physxJoint:maxJointVelocity = 57.29578
}
over "middle_pip" (
prepend apiSchemas = ["PhysxJointAPI"]
)
{
float physxJoint:maxJointVelocity = 57.29578
}
over "middle_dip" (
prepend apiSchemas = ["PhysxJointAPI"]
)
{
float physxJoint:maxJointVelocity = 57.29578
}
over "index_mcp_roll" (
prepend apiSchemas = ["PhysxJointAPI"]
)
{
float physxJoint:maxJointVelocity = 57.29578
}
over "index_mcp_pitch" (
prepend apiSchemas = ["PhysxJointAPI"]
)
{
float physxJoint:maxJointVelocity = 57.29578
}
over "index_pip" (
prepend apiSchemas = ["PhysxJointAPI"]
)
{
float physxJoint:maxJointVelocity = 57.29578
}
over "index_dip" (
prepend apiSchemas = ["PhysxJointAPI"]
)
{
float physxJoint:maxJointVelocity = 57.29578
}
over "thumb_cmc_yaw" (
prepend apiSchemas = ["PhysxJointAPI"]
)
{
float physxJoint:maxJointVelocity = 57.29578
}
over "thumb_cmc_roll" (
prepend apiSchemas = ["PhysxJointAPI"]
)
{
float physxJoint:maxJointVelocity = 57.29578
}
over "thumb_cmc_pitch" (
prepend apiSchemas = ["PhysxJointAPI"]
)
{
float physxJoint:maxJointVelocity = 57.29578
}
over "thumb_mcp" (
prepend apiSchemas = ["PhysxJointAPI"]
)
{
float physxJoint:maxJointVelocity = 57.29578
}
over "thumb_ip" (
prepend apiSchemas = ["PhysxJointAPI"]
)
{
float physxJoint:maxJointVelocity = 57.29578
}
}
}
urdf/l20/left/linkerhand_l20_left/payloads/base.usda
+728
View File
@@ -0,0 +1,728 @@
#usda 1.0
(
customLayerData = {
string creator = "URDF USD Converter v0.1.3"
}
defaultPrim = "linkerhand_l20_left"
doc = """Generated from Composed Stage of root layer /tmp/tmp7daip3z6/linkerhand_l20_left.usdc
Generated from Composed Stage of root layer /tmp/urdf_import_linkerhand_l20_left_dqwe6zav/usdex_linkerhand_l20_left/linkerhand_l20_left.usdc
Generated from Composed Stage of root layer /tmp/urdf_import_linkerhand_l20_left_dqwe6zav/temp_linkerhand_l20_left/linkerhand_l20_left.usd
Generated from Composed Stage of root layer /home/lxqs/mujoco_testwork/linkerhand-urdf/l20/left/linkerhand_l20_left/payloads/base.usd
"""
kilogramsPerUnit = 1
metersPerUnit = 1
subLayers = [
@./robot.usda@
]
upAxis = "Z"
)
def Xform "linkerhand_l20_left" (
prepend apiSchemas = ["GeomModelAPI"]
assetInfo = {
string name = "linkerhand_l20_left"
}
kind = "component"
)
{
float3[] extentsHint = [(-0.03771345, -0.15657327, -1.4059577e-8), (0.038920756, 0.05546601, 0.2633897), (3.4028235e38, 3.4028235e38, 3.4028235e38), (-3.4028235e38, -3.4028235e38, -3.4028235e38), (3.4028235e38, 3.4028235e38, 3.4028235e38), (-3.4028235e38, -3.4028235e38, -3.4028235e38), (-0.03771345, -0.15657327, -1.4059577e-8), (0.038920756, 0.05546601, 0.2633897)]
def Scope "Materials"
{
}
def Scope "Geometry"
{
def Xform "hand_base_link"
{
def Xform "hand_base_link" (
instanceable = true
prepend references = @./instances.usda@</Instances/hand_base_link>
)
{
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 "pinky_metacarpals"
{
quatf xformOp:orient = (1, 0, 0, 0)
float3 xformOp:scale = (1, 1, 1)
double3 xformOp:translate = (-0.0286705351154727, 0.0381019360798378, 0.150312712339165)
uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
def Xform "pinky_metacarpals" (
instanceable = true
prepend references = @./instances.usda@</Instances/pinky_metacarpals>
)
{
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 "pinky_proximal"
{
quatf xformOp:orient = (1, 0, 0, 0)
float3 xformOp:scale = (1, 1, 1)
double3 xformOp:translate = (0.0167698082541766, -0.0000126288306181443, 0)
uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
def Xform "pinky_proximal" (
instanceable = true
prepend references = @./instances.usda@</Instances/pinky_proximal>
)
{
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 "pinky_middle"
{
quatf xformOp:orient = (1, 0, 0, 0)
float3 xformOp:scale = (1, 1, 1)
double3 xformOp:translate = (-0.00419455239160021, 0, 0.0448194355727413)
uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
def Xform "pinky_middle" (
instanceable = true
prepend references = @./instances.usda@</Instances/pinky_middle>
)
{
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 "pinky_distal"
{
quatf xformOp:orient = (1, 0, 0, 0)
float3 xformOp:scale = (1, 1, 1)
double3 xformOp:translate = (0.00275561954550002, 0, 0.0317024252339397)
uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
def Xform "pinky_distal" (
instanceable = true
prepend references = @./instances.usda@</Instances/pinky_distal>
)
{
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 "pinky_distal_1" (
displayName = "pinky_distal"
instanceable = true
prepend references = @./instances.usda@</Instances/pinky_distal_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 "pinky_middle_1" (
displayName = "pinky_middle"
instanceable = true
prepend references = @./instances.usda@</Instances/pinky_middle_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 "pinky_proximal_1" (
displayName = "pinky_proximal"
instanceable = true
prepend references = @./instances.usda@</Instances/pinky_proximal_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 "pinky_metacarpals_1" (
displayName = "pinky_metacarpals"
instanceable = true
prepend references = @./instances.usda@</Instances/pinky_metacarpals_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 "ring_metacarpals"
{
quatf xformOp:orient = (1, 0, 0, 0)
float3 xformOp:scale = (1, 1, 1)
double3 xformOp:translate = (-0.0322943001717225, 0.0165019360798537, 0.1593114381003)
uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
def Xform "ring_metacarpals" (
instanceable = true
prepend references = @./instances.usda@</Instances/pinky_metacarpals>
)
{
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 "ring_proximal"
{
quatf xformOp:orient = (1, 0, 0, 0)
float3 xformOp:scale = (1, 1, 1)
double3 xformOp:translate = (0.0167698082541766, -0.0000126288306177003, 0)
uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
def Xform "ring_proximal" (
instanceable = true
prepend references = @./instances.usda@</Instances/ring_proximal>
)
{
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 "ring_middle"
{
quatf xformOp:orient = (1, 0, 0, 0)
float3 xformOp:scale = (1, 1, 1)
double3 xformOp:translate = (-0.00419455239160021, 0, 0.0448194355727413)
uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
def Xform "ring_middle" (
instanceable = true
prepend references = @./instances.usda@</Instances/ring_middle>
)
{
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 "ring_distal"
{
quatf xformOp:orient = (1, 0, 0, 0)
float3 xformOp:scale = (1, 1, 1)
double3 xformOp:translate = (0.00275561954550363, 0, 0.0317024242175084)
uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
def Xform "ring_distal" (
instanceable = true
prepend references = @./instances.usda@</Instances/ring_distal>
)
{
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 "ring_distal_1" (
displayName = "ring_distal"
instanceable = true
prepend references = @./instances.usda@</Instances/ring_distal_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 "ring_middle_1" (
displayName = "ring_middle"
instanceable = true
prepend references = @./instances.usda@</Instances/ring_middle_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 "ring_proximal_1" (
displayName = "ring_proximal"
instanceable = true
prepend references = @./instances.usda@</Instances/ring_proximal_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 "ring_metacarpals_1" (
displayName = "ring_metacarpals"
instanceable = true
prepend references = @./instances.usda@</Instances/pinky_metacarpals_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 "middle_metacarpals"
{
quatf xformOp:orient = (1, 0, 0, 0)
float3 xformOp:scale = (1, 1, 1)
double3 xformOp:translate = (-0.0345991283789502, -0.00509806392012034, 0.163804328353988)
uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
def Xform "middle_metacarpals" (
instanceable = true
prepend references = @./instances.usda@</Instances/pinky_metacarpals>
)
{
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 "middle_proximal"
{
quatf xformOp:orient = (1, 0, 0, 0)
float3 xformOp:scale = (1, 1, 1)
double3 xformOp:translate = (0.0167698082541766, -0.0000126288306171729, 0)
uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
def Xform "middle_proximal" (
instanceable = true
prepend references = @./instances.usda@</Instances/middle_proximal>
)
{
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 "middle_middle"
{
quatf xformOp:orient = (1, 0, 0, 0)
float3 xformOp:scale = (1, 1, 1)
double3 xformOp:translate = (-0.00419455239160021, 0, 0.0448194355727413)
uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
def Xform "middle_middle" (
instanceable = true
prepend references = @./instances.usda@</Instances/middle_middle>
)
{
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 "middle_distal"
{
quatf xformOp:orient = (1, 0, 0, 0)
float3 xformOp:scale = (1, 1, 1)
double3 xformOp:translate = (0.00275561954550102, 0, 0.0317024252339387)
uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
def Xform "middle_distal" (
instanceable = true
prepend references = @./instances.usda@</Instances/middle_distal>
)
{
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 "middle_distal_1" (
displayName = "middle_distal"
instanceable = true
prepend references = @./instances.usda@</Instances/middle_distal_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 "middle_middle_1" (
displayName = "middle_middle"
instanceable = true
prepend references = @./instances.usda@</Instances/middle_middle_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 "middle_proximal_1" (
displayName = "middle_proximal"
instanceable = true
prepend references = @./instances.usda@</Instances/middle_proximal_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 "middle_metacarpals_1" (
displayName = "middle_metacarpals"
instanceable = true
prepend references = @./instances.usda@</Instances/pinky_metacarpals_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 "index_metacarpals"
{
quatf xformOp:orient = (1, 0, 0, 0)
float3 xformOp:scale = (1, 1, 1)
double3 xformOp:translate = (-0.029865288607565, -0.0266980639200853, 0.159311439204817)
uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
def Xform "index_metacarpals" (
instanceable = true
prepend references = @./instances.usda@</Instances/pinky_metacarpals>
)
{
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 "index_proximal"
{
quatf xformOp:orient = (1, 0, 0, 0)
float3 xformOp:scale = (1, 1, 1)
double3 xformOp:translate = (0.0167698082541766, -0.0000126288306177003, 0)
uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
def Xform "index_proximal" (
instanceable = true
prepend references = @./instances.usda@</Instances/index_proximal>
)
{
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 "index_middle"
{
quatf xformOp:orient = (1, 0, 0, 0)
float3 xformOp:scale = (1, 1, 1)
double3 xformOp:translate = (-0.00419455239160021, 0, 0.0448194355727413)
uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
def Xform "index_middle" (
instanceable = true
prepend references = @./instances.usda@</Instances/index_middle>
)
{
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 "index_distal"
{
quatf xformOp:orient = (1, 0, 0, 0)
float3 xformOp:scale = (1, 1, 1)
double3 xformOp:translate = (0.00275561954550102, 0, 0.0317024252339397)
uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
def Xform "index_distal" (
instanceable = true
prepend references = @./instances.usda@</Instances/index_distal>
)
{
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 "index_distal_1" (
displayName = "index_distal"
instanceable = true
prepend references = @./instances.usda@</Instances/index_distal_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 "index_middle_1" (
displayName = "index_middle"
instanceable = true
prepend references = @./instances.usda@</Instances/index_middle_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 "index_proximal_1" (
displayName = "index_proximal"
instanceable = true
prepend references = @./instances.usda@</Instances/index_proximal_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 "index_metacarpals_1" (
displayName = "index_metacarpals"
instanceable = true
prepend references = @./instances.usda@</Instances/pinky_metacarpals_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 "thumb_metacarpals_base2"
{
quatf xformOp:orient = (1, 0, 0, 0)
float3 xformOp:scale = (1, 1, 1)
double3 xformOp:translate = (-0.00091528, -0.0050818, 0.057392)
uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
def Xform "thumb_metacarpals_base2" (
instanceable = true
prepend references = @./instances.usda@</Instances/thumb_metacarpals_base2>
)
{
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 "thumb_metacarpals_base1"
{
quatf xformOp:orient = (0.510268, 0.86001545, 0, 0)
float3 xformOp:scale = (1, 1, 1)
double3 xformOp:translate = (0.024508, -0.002864, 0.0035063)
uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
def Xform "thumb_metacarpals_base1" (
instanceable = true
prepend references = @./instances.usda@</Instances/thumb_metacarpals_base1>
)
{
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 "thumb_metacarpals"
{
quatf xformOp:orient = (0.6851425, -0.17486598, 0.17486534, 0.685145)
float3 xformOp:scale = (1, 1, 1)
double3 xformOp:translate = (-0.0011523, -0.00048559, 0.030795)
uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
def Xform "thumb_metacarpals" (
instanceable = true
prepend references = @./instances.usda@</Instances/thumb_metacarpals>
)
{
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 "thumb_proximal"
{
quatf xformOp:orient = (1, 0, 0, 0)
float3 xformOp:scale = (1, 1, 1)
double3 xformOp:translate = (0.0064539, 0, 0.055858)
uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
def Xform "thumb_proximal" (
instanceable = true
prepend references = @./instances.usda@</Instances/thumb_proximal>
)
{
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 "thumb_distal"
{
quatf xformOp:orient = (1, 0, 0, 0)
float3 xformOp:scale = (1, 1, 1)
double3 xformOp:translate = (0.0053547, 0, 0.034485)
uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
def Xform "thumb_distal" (
instanceable = true
prepend references = @./instances.usda@</Instances/thumb_distal>
)
{
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 "thumb_distal_1" (
displayName = "thumb_distal"
instanceable = true
prepend references = @./instances.usda@</Instances/thumb_distal_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 "thumb_proximal_1" (
displayName = "thumb_proximal"
instanceable = true
prepend references = @./instances.usda@</Instances/thumb_proximal_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 "thumb_metacarpals_1" (
displayName = "thumb_metacarpals"
instanceable = true
prepend references = @./instances.usda@</Instances/thumb_metacarpals_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 "thumb_metacarpals_base1_1" (
displayName = "thumb_metacarpals_base1"
instanceable = true
prepend references = @./instances.usda@</Instances/thumb_metacarpals_base1_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 "thumb_metacarpals_base2_1" (
displayName = "thumb_metacarpals_base2"
instanceable = true
prepend references = @./instances.usda@</Instances/thumb_metacarpals_base2_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 "hand_base_link_1" (
displayName = "hand_base_link"
instanceable = true
prepend references = @./instances.usda@</Instances/hand_base_link_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"
{
}
}
urdf/l20/left/linkerhand_l20_left/payloads/geometries.usd
BIN
View File
Binary file not shown.
urdf/l20/left/linkerhand_l20_left/payloads/instances.usda
+708
View File
@@ -0,0 +1,708 @@
#usda 1.0
(
customLayerData = {
string creator = "URDF USD Converter v0.1.3"
}
doc = """Generated from Composed Stage of root layer /tmp/tmp7daip3z6/linkerhand_l20_left.usdc
Generated from Composed Stage of root layer /tmp/urdf_import_linkerhand_l20_left_dqwe6zav/usdex_linkerhand_l20_left/linkerhand_l20_left.usdc
Generated from Composed Stage of root layer /tmp/urdf_import_linkerhand_l20_left_dqwe6zav/temp_linkerhand_l20_left/linkerhand_l20_left.usd
Generated from Composed Stage of root layer /home/lxqs/mujoco_testwork/linkerhand-urdf/l20/left/linkerhand_l20_left/payloads/base.usd
"""
kilogramsPerUnit = 1
metersPerUnit = 1
upAxis = "Z"
)
def Scope "Instances"
{
def Xform "hand_base_link" (
prepend references = @./geometries.usd@</Geometries/hand_base_link>
)
{
over "hand_base_link" (
apiSchemas = ["MaterialBindingAPI"]
)
{
custom rel material:binding
prepend rel material:binding = </Instances/hand_base_link/VisualMaterials/silver>
}
def Scope "VisualMaterials"
{
def Material "silver" (
instanceable = true
prepend references = @./materials.usda@</Materials/silver>
)
{
}
}
}
def Xform "hand_base_link_1" (
prepend references = @./geometries.usd@</Geometries/hand_base_link>
)
{
over "hand_base_link" (
apiSchemas = ["PhysicsCollisionAPI", "NewtonCollisionAPI", "PhysicsMeshCollisionAPI", "NewtonMeshCollisionAPI"]
)
{
token physics:approximation = "convexHull"
token purpose = "guide"
}
}
def Xform "pinky_metacarpals" (
prepend references = @./geometries.usd@</Geometries/pinky_metacarpals>
)
{
over "pinky_metacarpals" (
apiSchemas = ["MaterialBindingAPI"]
)
{
custom rel material:binding
prepend rel material:binding = </Instances/pinky_metacarpals/VisualMaterials/BlackAccent>
}
def Scope "VisualMaterials"
{
def Material "BlackAccent" (
instanceable = true
prepend references = @./materials.usda@</Materials/BlackAccent>
)
{
}
}
}
def Xform "pinky_metacarpals_1" (
prepend references = @./geometries.usd@</Geometries/pinky_metacarpals>
)
{
over "pinky_metacarpals" (
apiSchemas = ["PhysicsCollisionAPI", "NewtonCollisionAPI", "PhysicsMeshCollisionAPI", "NewtonMeshCollisionAPI"]
)
{
token physics:approximation = "convexHull"
token purpose = "guide"
}
}
def Xform "pinky_proximal" (
prepend references = @./geometries.usd@</Geometries/pinky_proximal>
)
{
over "pinky_proximal" (
apiSchemas = ["MaterialBindingAPI"]
)
{
custom rel material:binding
prepend rel material:binding = </Instances/pinky_proximal/VisualMaterials/silver>
}
def Scope "VisualMaterials"
{
def Material "silver" (
instanceable = true
prepend references = @./materials.usda@</Materials/silver>
)
{
}
}
}
def Xform "pinky_proximal_1" (
prepend references = @./geometries.usd@</Geometries/pinky_proximal>
)
{
over "pinky_proximal" (
apiSchemas = ["PhysicsCollisionAPI", "NewtonCollisionAPI", "PhysicsMeshCollisionAPI", "NewtonMeshCollisionAPI"]
)
{
token physics:approximation = "convexHull"
token purpose = "guide"
}
}
def Xform "pinky_middle" (
prepend references = @./geometries.usd@</Geometries/pinky_middle>
)
{
over "pinky_middle" (
apiSchemas = ["MaterialBindingAPI"]
)
{
custom rel material:binding
prepend rel material:binding = </Instances/pinky_middle/VisualMaterials/silver>
}
def Scope "VisualMaterials"
{
def Material "silver" (
instanceable = true
prepend references = @./materials.usda@</Materials/silver>
)
{
}
}
}
def Xform "pinky_middle_1" (
prepend references = @./geometries.usd@</Geometries/pinky_middle>
)
{
over "pinky_middle" (
apiSchemas = ["PhysicsCollisionAPI", "NewtonCollisionAPI", "PhysicsMeshCollisionAPI", "NewtonMeshCollisionAPI"]
)
{
token physics:approximation = "convexHull"
token purpose = "guide"
}
}
def Xform "pinky_distal" (
prepend references = @./geometries.usd@</Geometries/pinky_distal>
)
{
over "pinky_distal" (
apiSchemas = ["MaterialBindingAPI"]
)
{
custom rel material:binding
prepend rel material:binding = </Instances/pinky_distal/VisualMaterials/silver>
}
def Scope "VisualMaterials"
{
def Material "silver" (
instanceable = true
prepend references = @./materials.usda@</Materials/silver>
)
{
}
}
}
def Xform "pinky_distal_1" (
prepend references = @./geometries.usd@</Geometries/pinky_distal>
)
{
over "pinky_distal" (
apiSchemas = ["PhysicsCollisionAPI", "NewtonCollisionAPI", "PhysicsMeshCollisionAPI", "NewtonMeshCollisionAPI"]
)
{
token physics:approximation = "convexHull"
token purpose = "guide"
}
}
def Xform "ring_proximal" (
prepend references = @./geometries.usd@</Geometries/ring_proximal>
)
{
over "ring_proximal" (
apiSchemas = ["MaterialBindingAPI"]
)
{
custom rel material:binding
prepend rel material:binding = </Instances/ring_proximal/VisualMaterials/silver>
}
def Scope "VisualMaterials"
{
def Material "silver" (
instanceable = true
prepend references = @./materials.usda@</Materials/silver>
)
{
}
}
}
def Xform "ring_proximal_1" (
prepend references = @./geometries.usd@</Geometries/ring_proximal>
)
{
over "ring_proximal" (
apiSchemas = ["PhysicsCollisionAPI", "NewtonCollisionAPI", "PhysicsMeshCollisionAPI", "NewtonMeshCollisionAPI"]
)
{
token physics:approximation = "convexHull"
token purpose = "guide"
}
}
def Xform "ring_middle" (
prepend references = @./geometries.usd@</Geometries/ring_middle>
)
{
over "ring_middle" (
apiSchemas = ["MaterialBindingAPI"]
)
{
custom rel material:binding
prepend rel material:binding = </Instances/ring_middle/VisualMaterials/silver>
}
def Scope "VisualMaterials"
{
def Material "silver" (
instanceable = true
prepend references = @./materials.usda@</Materials/silver>
)
{
}
}
}
def Xform "ring_middle_1" (
prepend references = @./geometries.usd@</Geometries/ring_middle>
)
{
over "ring_middle" (
apiSchemas = ["PhysicsCollisionAPI", "NewtonCollisionAPI", "PhysicsMeshCollisionAPI", "NewtonMeshCollisionAPI"]
)
{
token physics:approximation = "convexHull"
token purpose = "guide"
}
}
def Xform "ring_distal" (
prepend references = @./geometries.usd@</Geometries/ring_distal>
)
{
over "ring_distal" (
apiSchemas = ["MaterialBindingAPI"]
)
{
custom rel material:binding
prepend rel material:binding = </Instances/ring_distal/VisualMaterials/silver>
}
def Scope "VisualMaterials"
{
def Material "silver" (
instanceable = true
prepend references = @./materials.usda@</Materials/silver>
)
{
}
}
}
def Xform "ring_distal_1" (
prepend references = @./geometries.usd@</Geometries/ring_distal>
)
{
over "ring_distal" (
apiSchemas = ["PhysicsCollisionAPI", "NewtonCollisionAPI", "PhysicsMeshCollisionAPI", "NewtonMeshCollisionAPI"]
)
{
token physics:approximation = "convexHull"
token purpose = "guide"
}
}
def Xform "middle_proximal" (
prepend references = @./geometries.usd@</Geometries/middle_proximal>
)
{
over "middle_proximal" (
apiSchemas = ["MaterialBindingAPI"]
)
{
custom rel material:binding
prepend rel material:binding = </Instances/middle_proximal/VisualMaterials/silver>
}
def Scope "VisualMaterials"
{
def Material "silver" (
instanceable = true
prepend references = @./materials.usda@</Materials/silver>
)
{
}
}
}
def Xform "middle_proximal_1" (
prepend references = @./geometries.usd@</Geometries/middle_proximal>
)
{
over "middle_proximal" (
apiSchemas = ["PhysicsCollisionAPI", "NewtonCollisionAPI", "PhysicsMeshCollisionAPI", "NewtonMeshCollisionAPI"]
)
{
token physics:approximation = "convexHull"
token purpose = "guide"
}
}
def Xform "middle_middle" (
prepend references = @./geometries.usd@</Geometries/middle_middle>
)
{
over "middle_middle" (
apiSchemas = ["MaterialBindingAPI"]
)
{
custom rel material:binding
prepend rel material:binding = </Instances/middle_middle/VisualMaterials/silver>
}
def Scope "VisualMaterials"
{
def Material "silver" (
instanceable = true
prepend references = @./materials.usda@</Materials/silver>
)
{
}
}
}
def Xform "middle_middle_1" (
prepend references = @./geometries.usd@</Geometries/middle_middle>
)
{
over "middle_middle" (
apiSchemas = ["PhysicsCollisionAPI", "NewtonCollisionAPI", "PhysicsMeshCollisionAPI", "NewtonMeshCollisionAPI"]
)
{
token physics:approximation = "convexHull"
token purpose = "guide"
}
}
def Xform "middle_distal" (
prepend references = @./geometries.usd@</Geometries/middle_distal>
)
{
over "middle_distal" (
apiSchemas = ["MaterialBindingAPI"]
)
{
custom rel material:binding
prepend rel material:binding = </Instances/middle_distal/VisualMaterials/silver>
}
def Scope "VisualMaterials"
{
def Material "silver" (
instanceable = true
prepend references = @./materials.usda@</Materials/silver>
)
{
}
}
}
def Xform "middle_distal_1" (
prepend references = @./geometries.usd@</Geometries/middle_distal>
)
{
over "middle_distal" (
apiSchemas = ["PhysicsCollisionAPI", "NewtonCollisionAPI", "PhysicsMeshCollisionAPI", "NewtonMeshCollisionAPI"]
)
{
token physics:approximation = "convexHull"
token purpose = "guide"
}
}
def Xform "index_proximal" (
prepend references = @./geometries.usd@</Geometries/index_proximal>
)
{
over "index_proximal" (
apiSchemas = ["MaterialBindingAPI"]
)
{
custom rel material:binding
prepend rel material:binding = </Instances/index_proximal/VisualMaterials/silver>
}
def Scope "VisualMaterials"
{
def Material "silver" (
instanceable = true
prepend references = @./materials.usda@</Materials/silver>
)
{
}
}
}
def Xform "index_proximal_1" (
prepend references = @./geometries.usd@</Geometries/index_proximal>
)
{
over "index_proximal" (
apiSchemas = ["PhysicsCollisionAPI", "NewtonCollisionAPI", "PhysicsMeshCollisionAPI", "NewtonMeshCollisionAPI"]
)
{
token physics:approximation = "convexHull"
token purpose = "guide"
}
}
def Xform "index_middle" (
prepend references = @./geometries.usd@</Geometries/index_middle>
)
{
over "index_middle" (
apiSchemas = ["MaterialBindingAPI"]
)
{
custom rel material:binding
prepend rel material:binding = </Instances/index_middle/VisualMaterials/silver>
}
def Scope "VisualMaterials"
{
def Material "silver" (
instanceable = true
prepend references = @./materials.usda@</Materials/silver>
)
{
}
}
}
def Xform "index_middle_1" (
prepend references = @./geometries.usd@</Geometries/index_middle>
)
{
over "index_middle" (
apiSchemas = ["PhysicsCollisionAPI", "NewtonCollisionAPI", "PhysicsMeshCollisionAPI", "NewtonMeshCollisionAPI"]
)
{
token physics:approximation = "convexHull"
token purpose = "guide"
}
}
def Xform "index_distal" (
prepend references = @./geometries.usd@</Geometries/index_distal>
)
{
over "index_distal" (
apiSchemas = ["MaterialBindingAPI"]
)
{
custom rel material:binding
prepend rel material:binding = </Instances/index_distal/VisualMaterials/silver>
}
def Scope "VisualMaterials"
{
def Material "silver" (
instanceable = true
prepend references = @./materials.usda@</Materials/silver>
)
{
}
}
}
def Xform "index_distal_1" (
prepend references = @./geometries.usd@</Geometries/index_distal>
)
{
over "index_distal" (
apiSchemas = ["PhysicsCollisionAPI", "NewtonCollisionAPI", "PhysicsMeshCollisionAPI", "NewtonMeshCollisionAPI"]
)
{
token physics:approximation = "convexHull"
token purpose = "guide"
}
}
def Xform "thumb_metacarpals_base2" (
prepend references = @./geometries.usd@</Geometries/thumb_metacarpals_base2>
)
{
over "thumb_metacarpals_base2" (
apiSchemas = ["MaterialBindingAPI"]
)
{
custom rel material:binding
prepend rel material:binding = </Instances/thumb_metacarpals_base2/VisualMaterials/BlackAccent>
}
def Scope "VisualMaterials"
{
def Material "BlackAccent" (
instanceable = true
prepend references = @./materials.usda@</Materials/BlackAccent>
)
{
}
}
}
def Xform "thumb_metacarpals_base2_1" (
prepend references = @./geometries.usd@</Geometries/thumb_metacarpals_base2>
)
{
over "thumb_metacarpals_base2" (
apiSchemas = ["PhysicsCollisionAPI", "NewtonCollisionAPI", "PhysicsMeshCollisionAPI", "NewtonMeshCollisionAPI"]
)
{
token physics:approximation = "convexHull"
token purpose = "guide"
}
}
def Xform "thumb_metacarpals_base1" (
prepend references = @./geometries.usd@</Geometries/thumb_metacarpals_base1>
)
{
over "thumb_metacarpals_base1" (
apiSchemas = ["MaterialBindingAPI"]
)
{
custom rel material:binding
prepend rel material:binding = </Instances/thumb_metacarpals_base1/VisualMaterials/BlackAccent>
}
def Scope "VisualMaterials"
{
def Material "BlackAccent" (
instanceable = true
prepend references = @./materials.usda@</Materials/BlackAccent>
)
{
}
}
}
def Xform "thumb_metacarpals_base1_1" (
prepend references = @./geometries.usd@</Geometries/thumb_metacarpals_base1>
)
{
over "thumb_metacarpals_base1" (
apiSchemas = ["PhysicsCollisionAPI", "NewtonCollisionAPI", "PhysicsMeshCollisionAPI", "NewtonMeshCollisionAPI"]
)
{
token physics:approximation = "convexHull"
token purpose = "guide"
}
}
def Xform "thumb_metacarpals" (
prepend references = @./geometries.usd@</Geometries/thumb_metacarpals>
)
{
over "thumb_metacarpals" (
apiSchemas = ["MaterialBindingAPI"]
)
{
custom rel material:binding
prepend rel material:binding = </Instances/thumb_metacarpals/VisualMaterials/silver>
}
def Scope "VisualMaterials"
{
def Material "silver" (
instanceable = true
prepend references = @./materials.usda@</Materials/silver>
)
{
}
}
}
def Xform "thumb_metacarpals_1" (
prepend references = @./geometries.usd@</Geometries/thumb_metacarpals>
)
{
over "thumb_metacarpals" (
apiSchemas = ["PhysicsCollisionAPI", "NewtonCollisionAPI", "PhysicsMeshCollisionAPI", "NewtonMeshCollisionAPI"]
)
{
token physics:approximation = "convexHull"
token purpose = "guide"
}
}
def Xform "thumb_proximal" (
prepend references = @./geometries.usd@</Geometries/thumb_proximal>
)
{
over "thumb_proximal" (
apiSchemas = ["MaterialBindingAPI"]
)
{
custom rel material:binding
prepend rel material:binding = </Instances/thumb_proximal/VisualMaterials/silver>
}
def Scope "VisualMaterials"
{
def Material "silver" (
instanceable = true
prepend references = @./materials.usda@</Materials/silver>
)
{
}
}
}
def Xform "thumb_proximal_1" (
prepend references = @./geometries.usd@</Geometries/thumb_proximal>
)
{
over "thumb_proximal" (
apiSchemas = ["PhysicsCollisionAPI", "NewtonCollisionAPI", "PhysicsMeshCollisionAPI", "NewtonMeshCollisionAPI"]
)
{
token physics:approximation = "convexHull"
token purpose = "guide"
}
}
def Xform "thumb_distal" (
prepend references = @./geometries.usd@</Geometries/thumb_distal>
)
{
over "thumb_distal" (
apiSchemas = ["MaterialBindingAPI"]
)
{
custom rel material:binding
prepend rel material:binding = </Instances/thumb_distal/VisualMaterials/silver>
}
def Scope "VisualMaterials"
{
def Material "silver" (
instanceable = true
prepend references = @./materials.usda@</Materials/silver>
)
{
}
}
}
def Xform "thumb_distal_1" (
prepend references = @./geometries.usd@</Geometries/thumb_distal>
)
{
over "thumb_distal" (
apiSchemas = ["PhysicsCollisionAPI", "NewtonCollisionAPI", "PhysicsMeshCollisionAPI", "NewtonMeshCollisionAPI"]
)
{
token physics:approximation = "convexHull"
token purpose = "guide"
}
}
}
urdf/l20/left/linkerhand_l20_left/payloads/materials.usda
+90
View File
@@ -0,0 +1,90 @@
#usda 1.0
(
customLayerData = {
string creator = "URDF USD Converter v0.1.3"
}
doc = """Generated from Composed Stage of root layer /tmp/tmp7daip3z6/linkerhand_l20_left.usdc
Generated from Composed Stage of root layer /tmp/urdf_import_linkerhand_l20_left_dqwe6zav/usdex_linkerhand_l20_left/linkerhand_l20_left.usdc
Generated from Composed Stage of root layer /tmp/urdf_import_linkerhand_l20_left_dqwe6zav/temp_linkerhand_l20_left/linkerhand_l20_left.usd
Generated from Composed Stage of root layer /home/lxqs/mujoco_testwork/linkerhand-urdf/l20/left/linkerhand_l20_left/payloads/base.usd
"""
kilogramsPerUnit = 1
metersPerUnit = 1
upAxis = "Z"
)
def Scope "Materials"
{
def Material "silver"
{
color3f inputs:diffuseColor = (0.21404114, 0.21404114, 0.23302203)
float inputs:metallic = 0
float inputs:opacity = 1
float inputs:roughness = 0.5
token inputs:wrapMode = "repeat"
token outputs:displacement (
displayGroup = "Outputs"
)
prepend token outputs:displacement.connect = </Materials/silver/PreviewSurface.outputs:displacement>
token outputs:surface (
displayGroup = "Outputs"
)
prepend token outputs:surface.connect = </Materials/silver/PreviewSurface.outputs:surface>
token outputs:volume (
displayGroup = "Outputs"
)
def Shader "PreviewSurface" (
apiSchemas = ["NodeDefAPI"]
)
{
token info:id = "UsdPreviewSurface"
prepend color3f inputs:diffuseColor.connect = </Materials/silver.inputs:diffuseColor>
prepend float inputs:metallic.connect = </Materials/silver.inputs:metallic>
prepend float inputs:opacity.connect = </Materials/silver.inputs:opacity>
prepend float inputs:roughness.connect = </Materials/silver.inputs:roughness>
token outputs:displacement
token outputs:surface
}
}
def Material "BlackAccent"
{
color3f inputs:diffuseColor = (0.01960665, 0.01960665, 0.01960665)
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/BlackAccent/PreviewSurface.outputs:displacement>
token outputs:surface (
displayGroup = "Outputs"
)
prepend token outputs:surface.connect = </Materials/BlackAccent/PreviewSurface.outputs:surface>
token outputs:volume (
displayGroup = "Outputs"
)
def Shader "PreviewSurface" (
apiSchemas = ["NodeDefAPI"]
)
{
token info:id = "UsdPreviewSurface"
prepend color3f inputs:diffuseColor.connect = </Materials/BlackAccent.inputs:diffuseColor>
prepend float inputs:metallic.connect = </Materials/BlackAccent.inputs:metallic>
prepend float inputs:opacity.connect = </Materials/BlackAccent.inputs:opacity>
prepend float inputs:roughness.connect = </Materials/BlackAccent.inputs:roughness>
token outputs:displacement
token outputs:surface
}
}
}
urdf/l20/left/linkerhand_l20_left/payloads/robot.usda
+327
View File
@@ -0,0 +1,327 @@
#usda 1.0
(
customLayerData = {
string creator = "URDF USD Converter v0.1.3"
}
defaultPrim = "linkerhand_l20_left"
doc = """Generated from Composed Stage of root layer /tmp/tmp7daip3z6/linkerhand_l20_left.usdc
Generated from Composed Stage of root layer /tmp/urdf_import_linkerhand_l20_left_dqwe6zav/usdex_linkerhand_l20_left/linkerhand_l20_left.usdc
Generated from Composed Stage of root layer /tmp/urdf_import_linkerhand_l20_left_dqwe6zav/temp_linkerhand_l20_left/linkerhand_l20_left.usd
"""
kilogramsPerUnit = 1
metersPerUnit = 1
upAxis = "Z"
)
over "linkerhand_l20_left" (
prepend apiSchemas = ["IsaacRobotAPI"]
)
{
prepend rel isaac:physics:robotJoints = [
</linkerhand_l20_left/Physics/root_joint>,
</linkerhand_l20_left/Physics/pinky_mcp_roll>,
</linkerhand_l20_left/Physics/ring_mcp_roll>,
</linkerhand_l20_left/Physics/middle_mcp_roll>,
</linkerhand_l20_left/Physics/index_mcp_roll>,
</linkerhand_l20_left/Physics/thumb_cmc_yaw>,
</linkerhand_l20_left/Physics/pinky_mcp_pitch>,
</linkerhand_l20_left/Physics/pinky_pip>,
</linkerhand_l20_left/Physics/pinky_dip>,
</linkerhand_l20_left/Physics/ring_mcp_pitch>,
</linkerhand_l20_left/Physics/ring_pip>,
</linkerhand_l20_left/Physics/ring_dip>,
</linkerhand_l20_left/Physics/middle_mcp_pitch>,
</linkerhand_l20_left/Physics/middle_pip>,
</linkerhand_l20_left/Physics/middle_dip>,
</linkerhand_l20_left/Physics/index_mcp_pitch>,
</linkerhand_l20_left/Physics/index_pip>,
</linkerhand_l20_left/Physics/index_dip>,
</linkerhand_l20_left/Physics/thumb_cmc_roll>,
</linkerhand_l20_left/Physics/thumb_cmc_pitch>,
</linkerhand_l20_left/Physics/thumb_mcp>,
</linkerhand_l20_left/Physics/thumb_ip>,
]
prepend rel isaac:physics:robotLinks = [
</linkerhand_l20_left/Geometry/hand_base_link>,
</linkerhand_l20_left/Geometry/hand_base_link/pinky_metacarpals>,
</linkerhand_l20_left/Geometry/hand_base_link/pinky_metacarpals/pinky_proximal>,
</linkerhand_l20_left/Geometry/hand_base_link/pinky_metacarpals/pinky_proximal/pinky_middle>,
</linkerhand_l20_left/Geometry/hand_base_link/pinky_metacarpals/pinky_proximal/pinky_middle/pinky_distal>,
</linkerhand_l20_left/Geometry/hand_base_link/ring_metacarpals>,
</linkerhand_l20_left/Geometry/hand_base_link/ring_metacarpals/ring_proximal>,
</linkerhand_l20_left/Geometry/hand_base_link/ring_metacarpals/ring_proximal/ring_middle>,
</linkerhand_l20_left/Geometry/hand_base_link/ring_metacarpals/ring_proximal/ring_middle/ring_distal>,
</linkerhand_l20_left/Geometry/hand_base_link/middle_metacarpals>,
</linkerhand_l20_left/Geometry/hand_base_link/middle_metacarpals/middle_proximal>,
</linkerhand_l20_left/Geometry/hand_base_link/middle_metacarpals/middle_proximal/middle_middle>,
</linkerhand_l20_left/Geometry/hand_base_link/middle_metacarpals/middle_proximal/middle_middle/middle_distal>,
</linkerhand_l20_left/Geometry/hand_base_link/index_metacarpals>,
</linkerhand_l20_left/Geometry/hand_base_link/index_metacarpals/index_proximal>,
</linkerhand_l20_left/Geometry/hand_base_link/index_metacarpals/index_proximal/index_middle>,
</linkerhand_l20_left/Geometry/hand_base_link/index_metacarpals/index_proximal/index_middle/index_distal>,
</linkerhand_l20_left/Geometry/hand_base_link/thumb_metacarpals_base2>,
</linkerhand_l20_left/Geometry/hand_base_link/thumb_metacarpals_base2/thumb_metacarpals_base1>,
</linkerhand_l20_left/Geometry/hand_base_link/thumb_metacarpals_base2/thumb_metacarpals_base1/thumb_metacarpals>,
</linkerhand_l20_left/Geometry/hand_base_link/thumb_metacarpals_base2/thumb_metacarpals_base1/thumb_metacarpals/thumb_proximal>,
</linkerhand_l20_left/Geometry/hand_base_link/thumb_metacarpals_base2/thumb_metacarpals_base1/thumb_metacarpals/thumb_proximal/thumb_distal>,
]
token isaac:robotType = "Default"
over "Geometry"
{
over "hand_base_link" (
prepend apiSchemas = ["IsaacLinkAPI"]
)
{
over "pinky_metacarpals" (
prepend apiSchemas = ["IsaacLinkAPI"]
)
{
over "pinky_proximal" (
prepend apiSchemas = ["IsaacLinkAPI"]
)
{
over "pinky_middle" (
prepend apiSchemas = ["IsaacLinkAPI"]
)
{
over "pinky_distal" (
prepend apiSchemas = ["IsaacLinkAPI"]
)
{
}
}
}
}
over "ring_metacarpals" (
prepend apiSchemas = ["IsaacLinkAPI"]
)
{
over "ring_proximal" (
prepend apiSchemas = ["IsaacLinkAPI"]
)
{
over "ring_middle" (
prepend apiSchemas = ["IsaacLinkAPI"]
)
{
over "ring_distal" (
prepend apiSchemas = ["IsaacLinkAPI"]
)
{
}
}
}
}
over "middle_metacarpals" (
prepend apiSchemas = ["IsaacLinkAPI"]
)
{
over "middle_proximal" (
prepend apiSchemas = ["IsaacLinkAPI"]
)
{
over "middle_middle" (
prepend apiSchemas = ["IsaacLinkAPI"]
)
{
over "middle_distal" (
prepend apiSchemas = ["IsaacLinkAPI"]
)
{
}
}
}
}
over "index_metacarpals" (
prepend apiSchemas = ["IsaacLinkAPI"]
)
{
over "index_proximal" (
prepend apiSchemas = ["IsaacLinkAPI"]
)
{
over "index_middle" (
prepend apiSchemas = ["IsaacLinkAPI"]
)
{
over "index_distal" (
prepend apiSchemas = ["IsaacLinkAPI"]
)
{
}
}
}
}
over "thumb_metacarpals_base2" (
prepend apiSchemas = ["IsaacLinkAPI"]
)
{
over "thumb_metacarpals_base1" (
prepend apiSchemas = ["IsaacLinkAPI"]
)
{
over "thumb_metacarpals" (
prepend apiSchemas = ["IsaacLinkAPI"]
)
{
over "thumb_proximal" (
prepend apiSchemas = ["IsaacLinkAPI"]
)
{
over "thumb_distal" (
prepend apiSchemas = ["IsaacLinkAPI"]
)
{
}
}
}
}
}
}
}
over "Physics"
{
over "root_joint" (
prepend apiSchemas = ["IsaacJointAPI"]
)
{
}
over "pinky_mcp_roll" (
prepend apiSchemas = ["IsaacJointAPI"]
)
{
}
over "pinky_mcp_pitch" (
prepend apiSchemas = ["IsaacJointAPI"]
)
{
}
over "pinky_pip" (
prepend apiSchemas = ["IsaacJointAPI"]
)
{
}
over "pinky_dip" (
prepend apiSchemas = ["IsaacJointAPI"]
)
{
}
over "ring_mcp_roll" (
prepend apiSchemas = ["IsaacJointAPI"]
)
{
}
over "ring_mcp_pitch" (
prepend apiSchemas = ["IsaacJointAPI"]
)
{
}
over "ring_pip" (
prepend apiSchemas = ["IsaacJointAPI"]
)
{
}
over "ring_dip" (
prepend apiSchemas = ["IsaacJointAPI"]
)
{
}
over "middle_mcp_roll" (
prepend apiSchemas = ["IsaacJointAPI"]
)
{
}
over "middle_mcp_pitch" (
prepend apiSchemas = ["IsaacJointAPI"]
)
{
}
over "middle_pip" (
prepend apiSchemas = ["IsaacJointAPI"]
)
{
}
over "middle_dip" (
prepend apiSchemas = ["IsaacJointAPI"]
)
{
}
over "index_mcp_roll" (
prepend apiSchemas = ["IsaacJointAPI"]
)
{
}
over "index_mcp_pitch" (
prepend apiSchemas = ["IsaacJointAPI"]
)
{
}
over "index_pip" (
prepend apiSchemas = ["IsaacJointAPI"]
)
{
}
over "index_dip" (
prepend apiSchemas = ["IsaacJointAPI"]
)
{
}
over "thumb_cmc_yaw" (
prepend apiSchemas = ["IsaacJointAPI"]
)
{
}
over "thumb_cmc_roll" (
prepend apiSchemas = ["IsaacJointAPI"]
)
{
}
over "thumb_cmc_pitch" (
prepend apiSchemas = ["IsaacJointAPI"]
)
{
}
over "thumb_mcp" (
prepend apiSchemas = ["IsaacJointAPI"]
)
{
}
over "thumb_ip" (
prepend apiSchemas = ["IsaacJointAPI"]
)
{
}
}
}
urdf/l20/left/meshes/hand_base_link.STL
BIN
View File
Binary file not shown.
urdf/l20/left/meshes/index_distal.STL
BIN
View File
Binary file not shown.
urdf/l20/left/meshes/index_metacarpals.STL
BIN
View File
Binary file not shown.
urdf/l20/left/meshes/index_middle.STL
BIN
View File
Binary file not shown.
urdf/l20/left/meshes/index_proximal.STL
BIN
View File
Binary file not shown.
urdf/l20/left/meshes/middle_distal.STL
BIN
View File
Binary file not shown.
urdf/l20/left/meshes/middle_metacarpals.STL
BIN
View File
Binary file not shown.
urdf/l20/left/meshes/middle_middle.STL
BIN
View File
Binary file not shown.
urdf/l20/left/meshes/middle_proximal.STL
BIN
View File
Binary file not shown.
urdf/l20/left/meshes/pinky_distal.STL
BIN
View File
Binary file not shown.
urdf/l20/left/meshes/pinky_metacarpals.STL
BIN
View File
Binary file not shown.
urdf/l20/left/meshes/pinky_middle.STL
BIN
View File
Binary file not shown.
urdf/l20/left/meshes/pinky_proximal.STL
BIN
View File
Binary file not shown.
urdf/l20/left/meshes/ring_distal.STL
BIN
View File
Binary file not shown.
urdf/l20/left/meshes/ring_metacarpals.STL
BIN
View File
Binary file not shown.
urdf/l20/left/meshes/ring_middle.STL
BIN
View File
Binary file not shown.
urdf/l20/left/meshes/ring_proximal.STL
BIN
View File
Binary file not shown.
urdf/l20/left/meshes/thumb_distal.STL
BIN
View File
Binary file not shown.
urdf/l20/left/meshes/thumb_metacarpals.STL
BIN
View File
Binary file not shown.
urdf/l20/left/meshes/thumb_metacarpals_base1.STL
BIN
View File
Binary file not shown.
urdf/l20/left/meshes/thumb_metacarpals_base2.STL
BIN
View File
Binary file not shown.
urdf/l20/left/meshes/thumb_proximal.STL
BIN
View File
Binary file not shown.
urdf/l20/right/linkerhand_l20_right.urdf
+1204
View File
File diff suppressed because it is too large Load Diff
urdf/l20/right/meshes/base_link.STL
BIN
View File
Binary file not shown.
urdf/l20/right/meshes/index_distal.STL
BIN
View File
Binary file not shown.
urdf/l20/right/meshes/index_metacarpals.STL
BIN
View File
Binary file not shown.
urdf/l20/right/meshes/index_middle.STL
BIN
View File
Binary file not shown.
urdf/l20/right/meshes/index_proximal.STL
BIN
View File
Binary file not shown.
urdf/l20/right/meshes/middle_distal.STL
BIN
View File
Binary file not shown.
urdf/l20/right/meshes/middle_metacarpals.STL
BIN
View File
Binary file not shown.
urdf/l20/right/meshes/middle_middle.STL
BIN
View File
Binary file not shown.
urdf/l20/right/meshes/middle_proximal.STL
BIN
View File
Binary file not shown.
urdf/l20/right/meshes/pinky_distal.STL
BIN
View File
Binary file not shown.
urdf/l20/right/meshes/pinky_metacarpals.STL
BIN
View File
Binary file not shown.
urdf/l20/right/meshes/pinky_middle.STL
BIN
View File
Binary file not shown.
urdf/l20/right/meshes/pinky_proximal.STL
BIN
View File
Binary file not shown.
urdf/l20/right/meshes/ring_distal.STL
BIN
View File
Binary file not shown.
urdf/l20/right/meshes/ring_metacarpals.STL
BIN
View File
Binary file not shown.
urdf/l20/right/meshes/ring_middle.STL
BIN
View File
Binary file not shown.
urdf/l20/right/meshes/ring_proximal.STL
BIN
View File
Binary file not shown.
urdf/l20/right/meshes/thumb_distal.STL
BIN
View File
Binary file not shown.
urdf/l20/right/meshes/thumb_metacarpals.STL
BIN
View File
Binary file not shown.
urdf/l20/right/meshes/thumb_metacarpals_base1.STL
BIN
View File
Binary file not shown.
urdf/l20/right/meshes/thumb_metacarpals_base2.STL
BIN
View File
Binary file not shown.
urdf/l20/right/meshes/thumb_proximal.STL
BIN
View File
Binary file not shown.
urdf/o6/left/linkerhand_o6_left.urdf
+666
View File
@@ -0,0 +1,666 @@
<?xml version="1.0" encoding="utf-8"?>
<!-- This URDF was automatically created by SolidWorks to URDF Exporter! Originally created by Stephen Brawner (brawner@gmail.com)
Commit Version: 1.6.0-4-g7f85cfe Build Version: 1.6.7995.38578
For more information, please see http://wiki.ros.org/sw_urdf_exporter -->
<robot
name="linkerhand_o6_left">
<material name="silver">
<color rgba="0.5 0.5 0.52 1.0"/>
</material>
<material name="BlackAccent">
<color rgba="0.15 0.15 0.15 1.0"/>
</material>
<link
name="lh_hand_base_link">
<inertial>
<origin
xyz="-0.00157788568070457 -0.00034876725935859 0.0538452219801211"
rpy="0 0 0" />
<mass
value="0.0672935238166485" />
<inertia
ixx="5.22525212160954E-05"
ixy="3.06955729584715E-07"
ixz="-3.90341166950521E-07"
iyy="3.33522349207724E-05"
iyz="-7.76680063574627E-07"
izz="2.28469461105385E-05" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="meshes/hand_base_link.STL" />
</geometry>
<material name="silver"/>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="meshes/hand_base_link.STL" />
</geometry>
</collision>
</link>
<link
name="lh_thumb_metacarpals_base2">
<inertial>
<origin
xyz="0.00162800681276937 -0.0027668017246415 -0.00184234438641236"
rpy="0 0 0" />
<mass
value="0.00138588296544333" />
<inertia
ixx="5.26292160685909E-08"
ixy="-3.92888681640568E-09"
ixz="-2.43767371295222E-09"
iyy="4.82620491570326E-08"
iyz="3.71869784206147E-09"
izz="2.88550286112821E-08" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="meshes/thumb_metacarpals_base2.STL" />
</geometry>
<material name="BlackAccent"/>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="meshes/thumb_metacarpals_base2.STL" />
</geometry>
</collision>
</link>
<joint
name="lh_thumb_cmc_yaw"
type="revolute">
<origin
xyz="0.011508 -0.022975 0.032794"
rpy="0 0 0" />
<parent
link="lh_hand_base_link" />
<child
link="lh_thumb_metacarpals_base2" />
<axis
xyz="0 0 1" />
<limit
lower="0"
upper="1.3"
effort="100"
velocity="1" />
</joint>
<link
name="lh_thumb_metacarpals">
<inertial>
<origin
xyz="4.24816204999817E-05 1.74183907812875E-05 0.0228341640631254"
rpy="0 0 0" />
<mass
value="0.0123381586619931" />
<inertia
ixx="1.10292537368909E-06"
ixy="-5.99642232777877E-10"
ixz="-1.14233573940545E-07"
iyy="1.76757772551884E-06"
iyz="-4.03963570823777E-10"
izz="9.36347792411098E-07" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="meshes/thumb_metacarpals.STL" />
</geometry>
<material name="silver"/>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="meshes/thumb_metacarpals.STL" />
</geometry>
</collision>
</link>
<joint
name="lh_thumb_cmc_pitch"
type="revolute">
<origin
xyz="0.0061649 -0.010678 -0.004891"
rpy="0 -1.1529 2.0944" />
<parent
link="lh_thumb_metacarpals_base2" />
<child
link="lh_thumb_metacarpals" />
<axis
xyz="0 1 0" />
<limit
lower="0"
upper="0.58"
effort="100"
velocity="1" />
</joint>
<link
name="lh_thumb_distal">
<inertial>
<origin
xyz="-0.00413725702921841 -5.90704520436747E-08 0.023011401589736"
rpy="0 0 0" />
<mass
value="0.00763332957284057" />
<inertia
ixx="1.3057487813702E-06"
ixy="-1.19781508112714E-11"
ixz="-7.19551697268541E-08"
iyy="1.2248908905341E-06"
iyz="4.55347974652679E-12"
izz="2.77271910592615E-07" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="meshes/thumb_distal.STL" />
</geometry>
<material name="silver"/>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="meshes/thumb_distal.STL" />
</geometry>
</collision>
</link>
<joint
name="lh_thumb_ip"
type="revolute">
<origin
xyz="0.0037776 0 0.045368"
rpy="0 0 0" />
<parent
link="lh_thumb_metacarpals" />
<child
link="lh_thumb_distal" />
<axis
xyz="0 1 0" />
<limit
lower="0"
upper="1.08"
effort="100"
velocity="1" />
<mimic
joint="lh_thumb_cmc_pitch"
multiplier="2.29"
offset="0" />
</joint>
<link
name="lh_index_proximal">
<inertial>
<origin
xyz="-0.00208656556336452 2.53838713251686E-06 0.0172734941980264"
rpy="0 0 0" />
<mass
value="0.00253174651934627" />
<inertia
ixx="2.65988714157799E-07"
ixy="-1.67174578825824E-11"
ixz="-4.31047725546034E-08"
iyy="2.72914069166233E-07"
iyz="1.8756709532167E-10"
izz="8.56017305636748E-08" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="meshes/index_proximal.STL" />
</geometry>
<material name="silver"/>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="meshes/index_proximal.STL" />
</geometry>
</collision>
</link>
<joint
name="lh_index_mcp_pitch"
type="revolute">
<origin
xyz="0.0024758 -0.02419 0.098779"
rpy="0.05236 0 0" />
<parent
link="lh_hand_base_link" />
<child
link="lh_index_proximal" />
<axis
xyz="0 1 0" />
<limit
lower="0"
upper="1.60"
effort="100"
velocity="1" />
</joint>
<link
name="lh_index_distal">
<inertial>
<origin
xyz="0.00658986616416549 5.13855642059191E-06 0.0194393600039178"
rpy="0 0 0" />
<mass
value="0.00376951085886838" />
<inertia
ixx="3.22347106085043E-07"
ixy="1.3801788663582E-11"
ixz="1.14352857317951E-07"
iyy="3.65328133721509E-07"
iyz="-2.11505011705634E-10"
izz="1.24287996386442E-07" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="meshes/index_distal.STL" />
</geometry>
<material name="silver"/>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="meshes/index_distal.STL" />
</geometry>
</collision>
</link>
<joint
name="lh_index_dip"
type="revolute">
<origin
xyz="-0.0052516 0 0.036625"
rpy="0 0 0" />
<parent
link="lh_index_proximal" />
<child
link="lh_index_distal" />
<axis
xyz="0 1 0" />
<limit
lower="0"
upper="1.43"
effort="100"
velocity="1" />
<mimic
joint="lh_index_mcp_pitch"
multiplier="0.89"
offset="0" />
</joint>
<link
name="lh_middle_proximal">
<inertial>
<origin
xyz="-0.00208660654138235 2.56918180119303E-06 0.0172735011723351"
rpy="0 0 0" />
<mass
value="0.00253177375206983" />
<inertia
ixx="2.65989021304483E-07"
ixy="-1.69816046635662E-11"
ixz="-4.31046683215273E-08"
iyy="2.72914402745606E-07"
iyz="1.87484652324395E-10"
izz="8.5602213431865E-08" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="meshes/middle_proximal.STL" />
</geometry>
<material name="silver"/>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="meshes/middle_proximal.STL" />
</geometry>
</collision>
</link>
<joint
name="lh_middle_mcp_pitch"
type="revolute">
<origin
xyz="0.00052576 -0.00634 0.1027"
rpy="0 0 0" />
<parent
link="lh_hand_base_link" />
<child
link="lh_middle_proximal" />
<axis
xyz="0 1 0" />
<limit
lower="0"
upper="1.60"
effort="100"
velocity="1" />
</joint>
<link
name="lh_middle_distal">
<inertial>
<origin
xyz="0.00658986516319194 5.10862924271716E-06 0.0194393315699782"
rpy="0 0 0" />
<mass
value="0.00376952789210256" />
<inertia
ixx="3.22348591068053E-07"
ixy="1.37122394856588E-11"
ixz="1.1435291391668E-07"
iyy="3.65329535087755E-07"
iyz="-2.10453810291991E-10"
izz="1.24288425862546E-07" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="meshes/middle_distal.STL" />
</geometry>
<material name="silver"/>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="meshes/middle_distal.STL" />
</geometry>
</collision>
</link>
<joint
name="lh_middle_dip"
type="revolute">
<origin
xyz="-0.0052516 0 0.036625"
rpy="0 0 0" />
<parent
link="lh_middle_proximal" />
<child
link="lh_middle_distal" />
<axis
xyz="0 1 0" />
<limit
lower="0"
upper="1.43"
effort="100"
velocity="1" />
<mimic
joint="lh_middle_mcp_pitch"
multiplier="0.89"
offset="0" />
</joint>
<link
name="lh_ring_proximal">
<inertial>
<origin
xyz="-0.00208667931345812 2.63000419462034E-06 0.0172734926448377"
rpy="0 0 0" />
<mass
value="0.00253182223645066" />
<inertia
ixx="2.65989756076584E-07"
ixy="-1.74912952703656E-11"
ixz="-4.31043325594253E-08"
iyy="2.7291510093393E-07"
iyz="1.87158326740895E-10"
izz="8.56031522765909E-08" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="meshes/ring_proximal.STL" />
</geometry>
<material name="silver"/>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="meshes/ring_proximal.STL" />
</geometry>
</collision>
</link>
<joint
name="lh_ring_mcp_pitch"
type="revolute">
<origin
xyz="0.0010258 0.011135 0.098767"
rpy="-0.05236 0 0" />
<parent
link="lh_hand_base_link" />
<child
link="lh_ring_proximal" />
<axis
xyz="0 1 0" />
<limit
lower="0"
upper="1.60"
effort="100"
velocity="1" />
</joint>
<link
name="lh_ring_distal">
<inertial>
<origin
xyz="0.00658986648895491 5.05883528165163E-06 0.019439397215532"
rpy="0 0 0" />
<mass
value="0.00376949588316609" />
<inertia
ixx="3.2234524157181E-07"
ixy="1.35766976056011E-11"
ixz="1.14353011012842E-07"
iyy="3.65326570102147E-07"
iyz="-2.08672149138738E-10"
izz="1.24287770218135E-07" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="meshes/ring_distal.STL" />
</geometry>
<material name="silver"/>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="meshes/ring_distal.STL" />
</geometry>
</collision>
</link>
<joint
name="lh_ring_dip"
type="revolute">
<origin
xyz="-0.0052516 0 0.036625"
rpy="0 0 0" />
<parent
link="lh_ring_proximal" />
<child
link="lh_ring_distal" />
<axis
xyz="0 1 0" />
<limit
lower="0"
upper="1.43"
effort="100"
velocity="1" />
<mimic
joint="lh_ring_mcp_pitch"
multiplier="0.89"
offset="0" />
</joint>
<link
name="lh_pinky_proximal">
<inertial>
<origin
xyz="-0.00208673599799501 2.68062251165824E-06 0.0172734848131236"
rpy="0 0 0" />
<mass
value="0.00253185993162408" />
<inertia
ixx="2.6599033687183E-07"
ixy="-1.79030790016555E-11"
ixz="-4.31040829565781E-08"
iyy="2.72915617381577E-07"
iyz="1.86906787420486E-10"
izz="8.56039175034871E-08" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="meshes/pinky_proximal.STL" />
</geometry>
<material name="silver"/>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="meshes/pinky_proximal.STL" />
</geometry>
</collision>
</link>
<joint
name="lh_pinky_mcp_pitch"
type="revolute">
<origin
xyz="0.0024758 0.028372 0.092741"
rpy="-0.087266 0 0" />
<parent
link="lh_hand_base_link" />
<child
link="lh_pinky_proximal" />
<axis
xyz="0 1 0" />
<limit
lower="0"
upper="1.60"
effort="100"
velocity="1" />
</joint>
<link
name="lh_pinky_distal">
<inertial>
<origin
xyz="0.00658987588903027 5.03087534178825E-06 0.0194394491065091"
rpy="0 0 0" />
<mass
value="0.00376948071276134" />
<inertia
ixx="3.22343583730488E-07"
ixy="1.35768173270357E-11"
ixz="1.14353289593012E-07"
iyy="3.65325180884183E-07"
iyz="-2.0744198062439E-10"
izz="1.24287567374229E-07" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="meshes/pinky_distal.STL" />
</geometry>
<material name="silver"/>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="meshes/pinky_distal.STL" />
</geometry>
</collision>
</link>
<joint
name="lh_pinky_dip"
type="revolute">
<origin
xyz="-0.0052516 0 0.036625"
rpy="0 0 0" />
<parent
link="lh_pinky_proximal" />
<child
link="lh_pinky_distal" />
<axis
xyz="0 1 0" />
<limit
lower="0"
upper="1.43"
effort="100"
velocity="1" />
<mimic
joint="lh_pinky_mcp_pitch"
multiplier="0.89"
offset="0" />
</joint>
</robot>

Some files were not shown because too many files have changed in this diff Show More