Add LinkerHand Isaac Sim bridge and G20 assets.

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>

urdf/g20/left/linkerhand_g20_left/linkerhand_g20_left.usda

@@ -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

@@ -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

@@ -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

@@ -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

@@ -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

@@ -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/instances.usda

@@ -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

@@ -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

@@ -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/l20/left/linkerhand_l20_left/linkerhand_l20_left.usda

@@ -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

@@ -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

@@ -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

@@ -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

@@ -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/instances.usda

@@ -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

@@ -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

@@ -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/o6/left/linkerhand_o6_left.urdf

@@ -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>

urdf/o6/left/linkerhand_o6_left/linkerhand_o6_left.usda

@@ -0,0 +1,52 @@
+#usda 1.0
+(
+    customLayerData = {
+        string creator = "URDF USD Converter v0.1.3"
+    }
+    defaultPrim = "linkerhand_o6_left"
+    doc = """Generated from Composed Stage of root layer /tmp/tmp43xsk_0z/linkerhand_o6_left.usdc
+
+
+Generated from Composed Stage of root layer /tmp/urdf_import_linkerhand_o6_left_7nekwe14/usdex_linkerhand_o6_left/linkerhand_o6_left.usdc
+
+
+Generated from Composed Stage of root layer /tmp/urdf_import_linkerhand_o6_left_7nekwe14/temp_linkerhand_o6_left/linkerhand_o6_left.usd
+
+
+Generated from Composed Stage of root layer /home/lxqs/mujoco_testwork/linkerhand-urdf/o6/left/linkerhand_o6_left/payloads/base.usd
+"""
+    kilogramsPerUnit = 1
+    metersPerUnit = 1
+    upAxis = "Z"
+)
+
+def Xform "linkerhand_o6_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/o6/left/linkerhand_o6_left/payloads/Physics/mujoco.usda

@@ -0,0 +1,332 @@
+#usda 1.0
+(
+    customLayerData = {
+        string creator = "URDF USD Converter v0.1.3"
+    }
+    defaultPrim = "linkerhand_o6_left"
+    doc = """Generated from Composed Stage of root layer /tmp/tmp43xsk_0z/linkerhand_o6_left.usdc
+
+
+Generated from Composed Stage of root layer /tmp/urdf_import_linkerhand_o6_left_7nekwe14/usdex_linkerhand_o6_left/linkerhand_o6_left.usdc
+
+
+Generated from Composed Stage of root layer /tmp/urdf_import_linkerhand_o6_left_7nekwe14/temp_linkerhand_o6_left/linkerhand_o6_left.usd
+
+
+Generated from Composed Stage of root layer /home/lxqs/mujoco_testwork/linkerhand-urdf/o6/left/linkerhand_o6_left/payloads/base.usd
+"""
+    kilogramsPerUnit = 1
+    metersPerUnit = 1
+    subLayers = [
+        @./physics.usda@
+    ]
+    upAxis = "Z"
+)
+
+over "linkerhand_o6_left"
+{
+    over "Physics"
+    {
+        def MjcActuator "lh_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_o6_left/Physics/lh_thumb_cmc_yaw>
+        }
+
+        def MjcActuator "lh_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_o6_left/Physics/lh_thumb_cmc_pitch>
+        }
+
+        def MjcActuator "lh_thumb_ip_actuator"
+        {
+            uniform double mjc:forceRange:max = 100
+            uniform double mjc:forceRange:min = -100
+            custom rel mjc:target
+            prepend rel mjc:target = </linkerhand_o6_left/Physics/lh_thumb_ip>
+        }
+
+        def MjcActuator "lh_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_o6_left/Physics/lh_index_mcp_pitch>
+        }
+
+        def MjcActuator "lh_index_dip_actuator"
+        {
+            uniform double mjc:forceRange:max = 100
+            uniform double mjc:forceRange:min = -100
+            custom rel mjc:target
+            prepend rel mjc:target = </linkerhand_o6_left/Physics/lh_index_dip>
+        }
+
+        def MjcActuator "lh_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_o6_left/Physics/lh_middle_mcp_pitch>
+        }
+
+        def MjcActuator "lh_middle_dip_actuator"
+        {
+            uniform double mjc:forceRange:max = 100
+            uniform double mjc:forceRange:min = -100
+            custom rel mjc:target
+            prepend rel mjc:target = </linkerhand_o6_left/Physics/lh_middle_dip>
+        }
+
+        def MjcActuator "lh_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_o6_left/Physics/lh_ring_mcp_pitch>
+        }
+
+        def MjcActuator "lh_ring_dip_actuator"
+        {
+            uniform double mjc:forceRange:max = 100
+            uniform double mjc:forceRange:min = -100
+            custom rel mjc:target
+            prepend rel mjc:target = </linkerhand_o6_left/Physics/lh_ring_dip>
+        }
+
+        def MjcActuator "lh_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_o6_left/Physics/lh_pinky_mcp_pitch>
+        }
+
+        def MjcActuator "lh_pinky_dip_actuator"
+        {
+            uniform double mjc:forceRange:max = 100
+            uniform double mjc:forceRange:min = -100
+            custom rel mjc:target
+            prepend rel mjc:target = </linkerhand_o6_left/Physics/lh_pinky_dip>
+        }
+
+        over "root_joint"
+        {
+        }
+
+        over "lh_thumb_cmc_yaw" (
+            delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
+        )
+        {
+        }
+
+        over "lh_thumb_cmc_pitch" (
+            delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
+        )
+        {
+        }
+
+        over "lh_thumb_ip" (
+            delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
+        )
+        {
+        }
+
+        over "lh_index_mcp_pitch" (
+            delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
+        )
+        {
+        }
+
+        over "lh_index_dip" (
+            delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
+        )
+        {
+        }
+
+        over "lh_middle_mcp_pitch" (
+            delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
+        )
+        {
+        }
+
+        over "lh_middle_dip" (
+            delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
+        )
+        {
+        }
+
+        over "lh_ring_mcp_pitch" (
+            delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
+        )
+        {
+        }
+
+        over "lh_ring_dip" (
+            delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
+        )
+        {
+        }
+
+        over "lh_pinky_mcp_pitch" (
+            delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
+        )
+        {
+        }
+
+        over "lh_pinky_dip" (
+            delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
+        )
+        {
+        }
+    }
+
+    over "Geometry"
+    {
+        over "lh_hand_base_link"
+        {
+            over "lh_thumb_metacarpals_base2"
+            {
+                over "lh_thumb_metacarpals"
+                {
+                    over "lh_thumb_distal"
+                    {
+                        over "thumb_distal"
+                        {
+                        }
+
+                        over "thumb_distal_1"
+                        {
+                        }
+                    }
+
+                    over "thumb_metacarpals"
+                    {
+                    }
+
+                    over "thumb_metacarpals_1"
+                    {
+                    }
+                }
+
+                over "thumb_metacarpals_base2"
+                {
+                }
+
+                over "thumb_metacarpals_base2_1"
+                {
+                }
+            }
+
+            over "lh_index_proximal"
+            {
+                over "lh_index_distal"
+                {
+                    over "index_distal"
+                    {
+                    }
+
+                    over "index_distal_1"
+                    {
+                    }
+                }
+
+                over "index_proximal"
+                {
+                }
+
+                over "index_proximal_1"
+                {
+                }
+            }
+
+            over "lh_middle_proximal"
+            {
+                over "lh_middle_distal"
+                {
+                    over "middle_distal"
+                    {
+                    }
+
+                    over "middle_distal_1"
+                    {
+                    }
+                }
+
+                over "middle_proximal"
+                {
+                }
+
+                over "middle_proximal_1"
+                {
+                }
+            }
+
+            over "lh_ring_proximal"
+            {
+                over "lh_ring_distal"
+                {
+                    over "ring_distal"
+                    {
+                    }
+
+                    over "ring_distal_1"
+                    {
+                    }
+                }
+
+                over "ring_proximal"
+                {
+                }
+
+                over "ring_proximal_1"
+                {
+                }
+            }
+
+            over "lh_pinky_proximal"
+            {
+                over "lh_pinky_distal"
+                {
+                    over "pinky_distal"
+                    {
+                    }
+
+                    over "pinky_distal_1"
+                    {
+                    }
+                }
+
+                over "pinky_proximal"
+                {
+                }
+
+                over "pinky_proximal_1"
+                {
+                }
+            }
+
+            over "hand_base_link"
+            {
+            }
+
+            over "hand_base_link_1"
+            {
+            }
+        }
+    }
+
+    over "Materials"
+    {
+    }
+
+    over "VisualMaterials"
+    {
+    }
+}
+

urdf/o6/left/linkerhand_o6_left/payloads/Physics/physics.usda

@@ -0,0 +1,394 @@
+#usda 1.0
+(
+    customLayerData = {
+        string creator = "URDF USD Converter v0.1.3"
+    }
+    defaultPrim = "linkerhand_o6_left"
+    doc = """Generated from Composed Stage of root layer /tmp/tmp43xsk_0z/linkerhand_o6_left.usdc
+
+
+Generated from Composed Stage of root layer /tmp/urdf_import_linkerhand_o6_left_7nekwe14/usdex_linkerhand_o6_left/linkerhand_o6_left.usdc
+
+
+Generated from Composed Stage of root layer /tmp/urdf_import_linkerhand_o6_left_7nekwe14/temp_linkerhand_o6_left/linkerhand_o6_left.usd
+
+
+Generated from Composed Stage of root layer /home/lxqs/mujoco_testwork/linkerhand-urdf/o6/left/linkerhand_o6_left/payloads/base.usd
+"""
+    kilogramsPerUnit = 1
+    metersPerUnit = 1
+    upAxis = "Z"
+)
+
+over "linkerhand_o6_left"
+{
+    over "Geometry"
+    {
+        over "lh_hand_base_link" (
+            prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsArticulationRootAPI", "NewtonArticulationRootAPI", "PhysicsMassAPI"]
+        )
+        {
+            bool newton:selfCollisionEnabled = 0
+            point3f physics:centerOfMass = (-0.0015778857, -0.00034876727, 0.053845223)
+            float3 physics:diagonalInertia = (0.000022785269, 0.000033403405, 0.00005226303)
+            float physics:mass = 0.067293525
+            quatf physics:principalAxes = (0.7112235, 0.0196564, 0.7019677, -0.031875554)
+
+            over "lh_thumb_metacarpals_base2" (
+                prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"]
+            )
+            {
+                point3f physics:centerOfMass = (0.0016280068, -0.0027668017, -0.0018423444)
+                float3 physics:diagonalInertia = (2.804746e-8, 4.6153662e-8, 5.5545172e-8)
+                float physics:mass = 0.001385883
+                quatf physics:principalAxes = (0.71651435, 0.1483551, 0.6348633, 0.2480857)
+
+                over "lh_thumb_metacarpals" (
+                    prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"]
+                )
+                {
+                    point3f physics:centerOfMass = (0.00004248162, 0.000017418392, 0.022834163)
+                    float3 physics:diagonalInertia = (8.782631e-7, 0.0000011610094, 0.0000017675784)
+                    float physics:mass = 0.012338159
+                    quatf physics:principalAxes = (0.602796, 0.6027095, 0.37003604, 0.3693936)
+
+                    over "lh_thumb_distal" (
+                        prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"]
+                    )
+                    {
+                        point3f physics:centerOfMass = (-0.004137257, -5.907045e-8, 0.023011401)
+                        float3 physics:diagonalInertia = (2.7226213e-7, 0.0000012248909, 0.0000013107585)
+                        float physics:mass = 0.0076333294
+                        quatf physics:principalAxes = (0.7312508, 0.000050898147, 0.68210864, 0.000050140923)
+                    }
+                }
+            }
+
+            over "lh_index_proximal" (
+                prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"]
+            )
+            {
+                point3f physics:centerOfMass = (-0.0020865656, 0.0000025383872, 0.017273495)
+                float3 physics:diagonalInertia = (7.583063e-8, 2.7291307e-7, 2.757608e-7)
+                float physics:mass = 0.0025317466
+                quatf physics:principalAxes = (0.78133, 0.007643632, 0.6240355, 0.0066868095)
+
+                over "lh_index_distal" (
+                    prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"]
+                )
+                {
+                    point3f physics:centerOfMass = (0.0065898662, 0.0000051385564, 0.01943936)
+                    float3 physics:diagonalInertia = (7.204472e-8, 3.6532765e-7, 3.7459085e-7)
+                    float physics:mass = 0.003769511
+                    quatf physics:principalAxes = (0.54057455, 0.0024824692, 0.84128624, 0.0032386186)
+                }
+            }
+
+            over "lh_middle_proximal" (
+                prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"]
+            )
+            {
+                point3f physics:centerOfMass = (-0.0020866066, 0.0000025691818, 0.0172735)
+                float3 physics:diagonalInertia = (7.5831146e-8, 2.7291338e-7, 2.757611e-7)
+                float physics:mass = 0.0025317736
+                quatf physics:principalAxes = (0.7813296, 0.0076768305, 0.62403536, 0.0067128767)
+
+                over "lh_middle_distal" (
+                    prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"]
+                )
+                {
+                    point3f physics:centerOfMass = (0.0065898653, 0.0000051086295, 0.019439332)
+                    float3 physics:diagonalInertia = (7.204529e-8, 3.6532907e-7, 3.745922e-7)
+                    float physics:mass = 0.003769528
+                    quatf physics:principalAxes = (0.5405751, 0.0024706838, 0.84128594, 0.003223407)
+                }
+            }
+
+            over "lh_ring_proximal" (
+                prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"]
+            )
+            {
+                point3f physics:centerOfMass = (-0.0020866792, 0.0000026300042, 0.017273493)
+                float3 physics:diagonalInertia = (7.5832226e-8, 2.7291406e-7, 2.7576172e-7)
+                float physics:mass = 0.0025318223
+                quatf physics:principalAxes = (0.78132856, 0.0077359965, 0.62403536, 0.0067587425)
+
+                over "lh_ring_distal" (
+                    prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"]
+                )
+                {
+                    point3f physics:centerOfMass = (0.0065898667, 0.000005058835, 0.019439397)
+                    float3 physics:diagonalInertia = (7.20441e-8, 3.6532612e-7, 3.7458938e-7)
+                    float physics:mass = 0.003769496
+                    quatf physics:principalAxes = (0.54057366, 0.002450255, 0.841287, 0.0031969126)
+                }
+            }
+
+            over "lh_pinky_proximal" (
+                prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"]
+            )
+            {
+                point3f physics:centerOfMass = (-0.002086736, 0.0000026806224, 0.017273486)
+                float3 physics:diagonalInertia = (7.5833086e-8, 2.7291458e-7, 2.7576223e-7)
+                float physics:mass = 0.00253186
+                quatf physics:principalAxes = (0.78132784, 0.007784023, 0.6240353, 0.0067960154)
+
+                over "lh_pinky_distal" (
+                    prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"]
+                )
+                {
+                    point3f physics:centerOfMass = (0.006589876, 0.0000050308754, 0.01943945)
+                    float3 physics:diagonalInertia = (7.2043434e-8, 3.6532472e-7, 3.7458818e-7)
+                    float physics:mass = 0.0037694806
+                    quatf physics:principalAxes = (0.54057276, 0.0024336982, 0.8412878, 0.0031746821)
+                }
+            }
+        }
+    }
+
+    over "Physics"
+    {
+        def PhysicsRevoluteJoint "lh_thumb_cmc_yaw" (
+            prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
+        )
+        {
+            float drive:angular:physics:maxForce = 100
+            uniform token physics:axis = "Z"
+            custom rel physics:body0
+            prepend rel physics:body0 = </linkerhand_o6_left/Geometry/lh_hand_base_link>
+            custom rel physics:body1
+            prepend rel physics:body1 = </linkerhand_o6_left/Geometry/lh_hand_base_link/lh_thumb_metacarpals_base2>
+            point3f physics:localPos0 = (0.011508, -0.022975, 0.032794)
+            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 = 74.48451
+            custom float urdf:limit:effort = 100
+            custom float urdf:limit:velocity = 1
+        }
+
+        def PhysicsRevoluteJoint "lh_thumb_cmc_pitch" (
+            prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
+        )
+        {
+            float drive:angular:physics:maxForce = 100
+            uniform token physics:axis = "Y"
+            custom rel physics:body0
+            prepend rel physics:body0 = </linkerhand_o6_left/Geometry/lh_hand_base_link/lh_thumb_metacarpals_base2>
+            custom rel physics:body1
+            prepend rel physics:body1 = </linkerhand_o6_left/Geometry/lh_hand_base_link/lh_thumb_metacarpals_base2/lh_thumb_metacarpals>
+            point3f physics:localPos0 = (0.0061649, -0.010678, -0.004891)
+            point3f physics:localPos1 = (0, 0, 0)
+            quatf physics:localRot0 = (0.41919965, 0.47202873, -0.27252436, 0.7260792)
+            quatf physics:localRot1 = (1, 0, 0, 0)
+            float physics:lowerLimit = 0
+            float physics:upperLimit = 33.231552
+            custom float urdf:limit:effort = 100
+            custom float urdf:limit:velocity = 1
+        }
+
+        def PhysicsRevoluteJoint "lh_thumb_ip" (
+            prepend apiSchemas = ["NewtonMimicAPI", "PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
+        )
+        {
+            float drive:angular:physics:maxForce = 100
+            float newton:mimicCoef1 = 2.29
+            rel newton:mimicJoint = </linkerhand_o6_left/Physics/lh_thumb_cmc_pitch>
+            uniform token physics:axis = "Y"
+            custom rel physics:body0
+            prepend rel physics:body0 = </linkerhand_o6_left/Geometry/lh_hand_base_link/lh_thumb_metacarpals_base2/lh_thumb_metacarpals>
+            custom rel physics:body1
+            prepend rel physics:body1 = </linkerhand_o6_left/Geometry/lh_hand_base_link/lh_thumb_metacarpals_base2/lh_thumb_metacarpals/lh_thumb_distal>
+            point3f physics:localPos0 = (0.0037776, 7.372575e-18, 0.045368)
+            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 = 61.87944
+            custom float urdf:limit:effort = 100
+            custom float urdf:limit:velocity = 1
+        }
+
+        def PhysicsRevoluteJoint "lh_index_mcp_pitch" (
+            prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
+        )
+        {
+            float drive:angular:physics:maxForce = 100
+            uniform token physics:axis = "Y"
+            custom rel physics:body0
+            prepend rel physics:body0 = </linkerhand_o6_left/Geometry/lh_hand_base_link>
+            custom rel physics:body1
+            prepend rel physics:body1 = </linkerhand_o6_left/Geometry/lh_hand_base_link/lh_index_proximal>
+            point3f physics:localPos0 = (0.0024758, -0.02419, 0.098779)
+            point3f physics:localPos1 = (0, 0, 0)
+            quatf physics:localRot0 = (0.99965733, 0.026176646, 0, 0)
+            quatf physics:localRot1 = (1, 0, 0, 0)
+            float physics:lowerLimit = 0
+            float physics:upperLimit = 91.67325
+            custom float urdf:limit:effort = 100
+            custom float urdf:limit:velocity = 1
+        }
+
+        def PhysicsRevoluteJoint "lh_index_dip" (
+            prepend apiSchemas = ["NewtonMimicAPI", "PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
+        )
+        {
+            float drive:angular:physics:maxForce = 100
+            float newton:mimicCoef1 = 0.89
+            rel newton:mimicJoint = </linkerhand_o6_left/Physics/lh_index_mcp_pitch>
+            uniform token physics:axis = "Y"
+            custom rel physics:body0
+            prepend rel physics:body0 = </linkerhand_o6_left/Geometry/lh_hand_base_link/lh_index_proximal>
+            custom rel physics:body1
+            prepend rel physics:body1 = </linkerhand_o6_left/Geometry/lh_hand_base_link/lh_index_proximal/lh_index_distal>
+            point3f physics:localPos0 = (-0.0052516, 0, 0.036625)
+            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 = 81.93297
+            custom float urdf:limit:effort = 100
+            custom float urdf:limit:velocity = 1
+        }
+
+        def PhysicsRevoluteJoint "lh_middle_mcp_pitch" (
+            prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
+        )
+        {
+            float drive:angular:physics:maxForce = 100
+            uniform token physics:axis = "Y"
+            custom rel physics:body0
+            prepend rel physics:body0 = </linkerhand_o6_left/Geometry/lh_hand_base_link>
+            custom rel physics:body1
+            prepend rel physics:body1 = </linkerhand_o6_left/Geometry/lh_hand_base_link/lh_middle_proximal>
+            point3f physics:localPos0 = (0.00052576, -0.00634, 0.1027)
+            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 = 91.67325
+            custom float urdf:limit:effort = 100
+            custom float urdf:limit:velocity = 1
+        }
+
+        def PhysicsRevoluteJoint "lh_middle_dip" (
+            prepend apiSchemas = ["NewtonMimicAPI", "PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
+        )
+        {
+            float drive:angular:physics:maxForce = 100
+            float newton:mimicCoef1 = 0.89
+            rel newton:mimicJoint = </linkerhand_o6_left/Physics/lh_middle_mcp_pitch>
+            uniform token physics:axis = "Y"
+            custom rel physics:body0
+            prepend rel physics:body0 = </linkerhand_o6_left/Geometry/lh_hand_base_link/lh_middle_proximal>
+            custom rel physics:body1
+            prepend rel physics:body1 = </linkerhand_o6_left/Geometry/lh_hand_base_link/lh_middle_proximal/lh_middle_distal>
+            point3f physics:localPos0 = (-0.0052516, 0, 0.036625)
+            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 = 81.93297
+            custom float urdf:limit:effort = 100
+            custom float urdf:limit:velocity = 1
+        }
+
+        def PhysicsRevoluteJoint "lh_ring_mcp_pitch" (
+            prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
+        )
+        {
+            float drive:angular:physics:maxForce = 100
+            uniform token physics:axis = "Y"
+            custom rel physics:body0
+            prepend rel physics:body0 = </linkerhand_o6_left/Geometry/lh_hand_base_link>
+            custom rel physics:body1
+            prepend rel physics:body1 = </linkerhand_o6_left/Geometry/lh_hand_base_link/lh_ring_proximal>
+            point3f physics:localPos0 = (0.0010258, 0.011135, 0.098767)
+            point3f physics:localPos1 = (0, 0, 0)
+            quatf physics:localRot0 = (0.99965733, -0.026176646, 0, 0)
+            quatf physics:localRot1 = (1, 0, 0, 0)
+            float physics:lowerLimit = 0
+            float physics:upperLimit = 91.67325
+            custom float urdf:limit:effort = 100
+            custom float urdf:limit:velocity = 1
+        }
+
+        def PhysicsRevoluteJoint "lh_ring_dip" (
+            prepend apiSchemas = ["NewtonMimicAPI", "PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
+        )
+        {
+            float drive:angular:physics:maxForce = 100
+            float newton:mimicCoef1 = 0.89
+            rel newton:mimicJoint = </linkerhand_o6_left/Physics/lh_ring_mcp_pitch>
+            uniform token physics:axis = "Y"
+            custom rel physics:body0
+            prepend rel physics:body0 = </linkerhand_o6_left/Geometry/lh_hand_base_link/lh_ring_proximal>
+            custom rel physics:body1
+            prepend rel physics:body1 = </linkerhand_o6_left/Geometry/lh_hand_base_link/lh_ring_proximal/lh_ring_distal>
+            point3f physics:localPos0 = (-0.0052516, 0, 0.036625)
+            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 = 81.93297
+            custom float urdf:limit:effort = 100
+            custom float urdf:limit:velocity = 1
+        }
+
+        def PhysicsRevoluteJoint "lh_pinky_mcp_pitch" (
+            prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
+        )
+        {
+            float drive:angular:physics:maxForce = 100
+            uniform token physics:axis = "Y"
+            custom rel physics:body0
+            prepend rel physics:body0 = </linkerhand_o6_left/Geometry/lh_hand_base_link>
+            custom rel physics:body1
+            prepend rel physics:body1 = </linkerhand_o6_left/Geometry/lh_hand_base_link/lh_pinky_proximal>
+            point3f physics:localPos0 = (0.0024758, 0.028372, 0.092741)
+            point3f physics:localPos1 = (0, 0, 0)
+            quatf physics:localRot0 = (0.99904823, -0.043619126, 0, 0)
+            quatf physics:localRot1 = (1, 0, 0, 0)
+            float physics:lowerLimit = 0
+            float physics:upperLimit = 91.67325
+            custom float urdf:limit:effort = 100
+            custom float urdf:limit:velocity = 1
+        }
+
+        def PhysicsRevoluteJoint "lh_pinky_dip" (
+            prepend apiSchemas = ["NewtonMimicAPI", "PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
+        )
+        {
+            float drive:angular:physics:maxForce = 100
+            float newton:mimicCoef1 = 0.89
+            rel newton:mimicJoint = </linkerhand_o6_left/Physics/lh_pinky_mcp_pitch>
+            uniform token physics:axis = "Y"
+            custom rel physics:body0
+            prepend rel physics:body0 = </linkerhand_o6_left/Geometry/lh_hand_base_link/lh_pinky_proximal>
+            custom rel physics:body1
+            prepend rel physics:body1 = </linkerhand_o6_left/Geometry/lh_hand_base_link/lh_pinky_proximal/lh_pinky_distal>
+            point3f physics:localPos0 = (-0.0052516, -3.469447e-18, 0.036625)
+            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 = 81.93297
+            custom float urdf:limit:effort = 100
+            custom float urdf:limit:velocity = 1
+        }
+
+        def PhysicsFixedJoint "root_joint"
+        {
+            custom rel physics:body0
+            prepend rel physics:body0 = </linkerhand_o6_left>
+            custom rel physics:body1
+            prepend rel physics:body1 = </linkerhand_o6_left/Geometry/lh_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/o6/left/linkerhand_o6_left/payloads/Physics/physx.usda

@@ -0,0 +1,108 @@
+#usda 1.0
+(
+    customLayerData = {
+        string creator = "URDF USD Converter v0.1.3"
+    }
+    defaultPrim = "linkerhand_o6_left"
+    doc = """Generated from Composed Stage of root layer /tmp/tmp43xsk_0z/linkerhand_o6_left.usdc
+
+
+Generated from Composed Stage of root layer /tmp/urdf_import_linkerhand_o6_left_7nekwe14/usdex_linkerhand_o6_left/linkerhand_o6_left.usdc
+
+
+Generated from Composed Stage of root layer /tmp/urdf_import_linkerhand_o6_left_7nekwe14/temp_linkerhand_o6_left/linkerhand_o6_left.usd
+
+
+Generated from Composed Stage of root layer /home/lxqs/mujoco_testwork/linkerhand-urdf/o6/left/linkerhand_o6_left/payloads/base.usd
+"""
+    kilogramsPerUnit = 1
+    metersPerUnit = 1
+    subLayers = [
+        @./physics.usda@
+    ]
+    upAxis = "Z"
+)
+
+over "linkerhand_o6_left"
+{
+    over "Physics"
+    {
+        over "lh_thumb_cmc_yaw" (
+            prepend apiSchemas = ["PhysxJointAPI"]
+        )
+        {
+            float physxJoint:maxJointVelocity = 57.29578
+        }
+
+        over "lh_thumb_cmc_pitch" (
+            prepend apiSchemas = ["PhysxJointAPI"]
+        )
+        {
+            float physxJoint:maxJointVelocity = 57.29578
+        }
+
+        over "lh_thumb_ip" (
+            prepend apiSchemas = ["PhysxJointAPI"]
+        )
+        {
+            float physxJoint:maxJointVelocity = 57.29578
+        }
+
+        over "lh_index_mcp_pitch" (
+            prepend apiSchemas = ["PhysxJointAPI"]
+        )
+        {
+            float physxJoint:maxJointVelocity = 57.29578
+        }
+
+        over "lh_index_dip" (
+            prepend apiSchemas = ["PhysxJointAPI"]
+        )
+        {
+            float physxJoint:maxJointVelocity = 57.29578
+        }
+
+        over "lh_middle_mcp_pitch" (
+            prepend apiSchemas = ["PhysxJointAPI"]
+        )
+        {
+            float physxJoint:maxJointVelocity = 57.29578
+        }
+
+        over "lh_middle_dip" (
+            prepend apiSchemas = ["PhysxJointAPI"]
+        )
+        {
+            float physxJoint:maxJointVelocity = 57.29578
+        }
+
+        over "lh_ring_mcp_pitch" (
+            prepend apiSchemas = ["PhysxJointAPI"]
+        )
+        {
+            float physxJoint:maxJointVelocity = 57.29578
+        }
+
+        over "lh_ring_dip" (
+            prepend apiSchemas = ["PhysxJointAPI"]
+        )
+        {
+            float physxJoint:maxJointVelocity = 57.29578
+        }
+
+        over "lh_pinky_mcp_pitch" (
+            prepend apiSchemas = ["PhysxJointAPI"]
+        )
+        {
+            float physxJoint:maxJointVelocity = 57.29578
+        }
+
+        over "lh_pinky_dip" (
+            prepend apiSchemas = ["PhysxJointAPI"]
+        )
+        {
+            float physxJoint:maxJointVelocity = 57.29578
+        }
+    }
+}
+

urdf/o6/left/linkerhand_o6_left/payloads/base.usda

@@ -0,0 +1,418 @@
+#usda 1.0
+(
+    customLayerData = {
+        string creator = "URDF USD Converter v0.1.3"
+    }
+    defaultPrim = "linkerhand_o6_left"
+    doc = """Generated from Composed Stage of root layer /tmp/tmp43xsk_0z/linkerhand_o6_left.usdc
+
+
+Generated from Composed Stage of root layer /tmp/urdf_import_linkerhand_o6_left_7nekwe14/usdex_linkerhand_o6_left/linkerhand_o6_left.usdc
+
+
+Generated from Composed Stage of root layer /tmp/urdf_import_linkerhand_o6_left_7nekwe14/temp_linkerhand_o6_left/linkerhand_o6_left.usd
+
+
+Generated from Composed Stage of root layer /home/lxqs/mujoco_testwork/linkerhand-urdf/o6/left/linkerhand_o6_left/payloads/base.usd
+"""
+    kilogramsPerUnit = 1
+    metersPerUnit = 1
+    subLayers = [
+        @./robot.usda@
+    ]
+    upAxis = "Z"
+)
+
+def Xform "linkerhand_o6_left" (
+    prepend apiSchemas = ["GeomModelAPI"]
+    assetInfo = {
+        string name = "linkerhand_o6_left"
+    }
+    kind = "component"
+)
+{
+    float3[] extentsHint = [(-0.02, -0.116600335, 8.4912535e-11), (0.071913876, 0.040911872, 0.17689712), (3.4028235e38, 3.4028235e38, 3.4028235e38), (-3.4028235e38, -3.4028235e38, -3.4028235e38), (3.4028235e38, 3.4028235e38, 3.4028235e38), (-3.4028235e38, -3.4028235e38, -3.4028235e38), (-0.02, -0.116600335, 8.4912535e-11), (0.071913876, 0.040911872, 0.17689712)]
+
+    def Scope "Materials"
+    {
+    }
+
+    def Scope "Geometry"
+    {
+        def Xform "lh_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 "lh_thumb_metacarpals_base2"
+            {
+                quatf xformOp:orient = (1, 0, 0, 0)
+                float3 xformOp:scale = (1, 1, 1)
+                double3 xformOp:translate = (0.011508, -0.022975, 0.032794)
+                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 "lh_thumb_metacarpals"
+                {
+                    quatf xformOp:orient = (0.41919965, 0.47202873, -0.27252436, 0.7260792)
+                    float3 xformOp:scale = (1, 1, 1)
+                    double3 xformOp:translate = (0.0061649, -0.010678, -0.004891)
+                    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 "lh_thumb_distal"
+                    {
+                        quatf xformOp:orient = (1, 0, 0, 0)
+                        float3 xformOp:scale = (1, 1, 1)
+                        double3 xformOp:translate = (0.0037776, 0, 0.045368)
+                        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_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_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 "lh_index_proximal"
+            {
+                quatf xformOp:orient = (0.99965733, 0.026176646, 0, 0)
+                float3 xformOp:scale = (1, 1, 1)
+                double3 xformOp:translate = (0.0024758, -0.02419, 0.098779)
+                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 "lh_index_distal"
+                {
+                    quatf xformOp:orient = (1, 0, 0, 0)
+                    float3 xformOp:scale = (1, 1, 1)
+                    double3 xformOp:translate = (-0.0052516, 0, 0.036625)
+                    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_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 "lh_middle_proximal"
+            {
+                quatf xformOp:orient = (1, 0, 0, 0)
+                float3 xformOp:scale = (1, 1, 1)
+                double3 xformOp:translate = (0.00052576, -0.00634, 0.1027)
+                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 "lh_middle_distal"
+                {
+                    quatf xformOp:orient = (1, 0, 0, 0)
+                    float3 xformOp:scale = (1, 1, 1)
+                    double3 xformOp:translate = (-0.0052516, 0, 0.036625)
+                    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_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 "lh_ring_proximal"
+            {
+                quatf xformOp:orient = (0.99965733, -0.026176646, 0, 0)
+                float3 xformOp:scale = (1, 1, 1)
+                double3 xformOp:translate = (0.0010258, 0.011135, 0.098767)
+                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 "lh_ring_distal"
+                {
+                    quatf xformOp:orient = (1, 0, 0, 0)
+                    float3 xformOp:scale = (1, 1, 1)
+                    double3 xformOp:translate = (-0.0052516, 0, 0.036625)
+                    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_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 "lh_pinky_proximal"
+            {
+                quatf xformOp:orient = (0.99904823, -0.043619126, 0, 0)
+                float3 xformOp:scale = (1, 1, 1)
+                double3 xformOp:translate = (0.0024758, 0.028372, 0.092741)
+                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 "lh_pinky_distal"
+                {
+                    quatf xformOp:orient = (1, 0, 0, 0)
+                    float3 xformOp:scale = (1, 1, 1)
+                    double3 xformOp:translate = (-0.0052516, 0, 0.036625)
+                    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_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 "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/o6/left/linkerhand_o6_left/payloads/instances.usda

@@ -0,0 +1,456 @@
+#usda 1.0
+(
+    customLayerData = {
+        string creator = "URDF USD Converter v0.1.3"
+    }
+    doc = """Generated from Composed Stage of root layer /tmp/tmp43xsk_0z/linkerhand_o6_left.usdc
+
+
+Generated from Composed Stage of root layer /tmp/urdf_import_linkerhand_o6_left_7nekwe14/usdex_linkerhand_o6_left/linkerhand_o6_left.usdc
+
+
+Generated from Composed Stage of root layer /tmp/urdf_import_linkerhand_o6_left_7nekwe14/temp_linkerhand_o6_left/linkerhand_o6_left.usd
+
+
+Generated from Composed Stage of root layer /home/lxqs/mujoco_testwork/linkerhand-urdf/o6/left/linkerhand_o6_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 "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" (
+        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_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"
+        }
+    }
+
+    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_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 "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_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 "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_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 "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_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"
+        }
+    }
+}
+

urdf/o6/left/linkerhand_o6_left/payloads/materials.usda

@@ -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/tmp43xsk_0z/linkerhand_o6_left.usdc
+
+
+Generated from Composed Stage of root layer /tmp/urdf_import_linkerhand_o6_left_7nekwe14/usdex_linkerhand_o6_left/linkerhand_o6_left.usdc
+
+
+Generated from Composed Stage of root layer /tmp/urdf_import_linkerhand_o6_left_7nekwe14/temp_linkerhand_o6_left/linkerhand_o6_left.usd
+
+
+Generated from Composed Stage of root layer /home/lxqs/mujoco_testwork/linkerhand-urdf/o6/left/linkerhand_o6_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/o6/left/linkerhand_o6_left/payloads/robot.usda

@@ -0,0 +1,197 @@
+#usda 1.0
+(
+    customLayerData = {
+        string creator = "URDF USD Converter v0.1.3"
+    }
+    defaultPrim = "linkerhand_o6_left"
+    doc = """Generated from Composed Stage of root layer /tmp/tmp43xsk_0z/linkerhand_o6_left.usdc
+
+
+Generated from Composed Stage of root layer /tmp/urdf_import_linkerhand_o6_left_7nekwe14/usdex_linkerhand_o6_left/linkerhand_o6_left.usdc
+
+
+Generated from Composed Stage of root layer /tmp/urdf_import_linkerhand_o6_left_7nekwe14/temp_linkerhand_o6_left/linkerhand_o6_left.usd
+"""
+    kilogramsPerUnit = 1
+    metersPerUnit = 1
+    upAxis = "Z"
+)
+
+over "linkerhand_o6_left" (
+    prepend apiSchemas = ["IsaacRobotAPI"]
+)
+{
+    prepend rel isaac:physics:robotJoints = [
+        </linkerhand_o6_left/Physics/root_joint>,
+        </linkerhand_o6_left/Physics/lh_thumb_cmc_yaw>,
+        </linkerhand_o6_left/Physics/lh_index_mcp_pitch>,
+        </linkerhand_o6_left/Physics/lh_middle_mcp_pitch>,
+        </linkerhand_o6_left/Physics/lh_ring_mcp_pitch>,
+        </linkerhand_o6_left/Physics/lh_pinky_mcp_pitch>,
+        </linkerhand_o6_left/Physics/lh_thumb_cmc_pitch>,
+        </linkerhand_o6_left/Physics/lh_thumb_ip>,
+        </linkerhand_o6_left/Physics/lh_index_dip>,
+        </linkerhand_o6_left/Physics/lh_middle_dip>,
+        </linkerhand_o6_left/Physics/lh_ring_dip>,
+        </linkerhand_o6_left/Physics/lh_pinky_dip>,
+    ]
+    prepend rel isaac:physics:robotLinks = [
+        </linkerhand_o6_left/Geometry/lh_hand_base_link>,
+        </linkerhand_o6_left/Geometry/lh_hand_base_link/lh_thumb_metacarpals_base2>,
+        </linkerhand_o6_left/Geometry/lh_hand_base_link/lh_thumb_metacarpals_base2/lh_thumb_metacarpals>,
+        </linkerhand_o6_left/Geometry/lh_hand_base_link/lh_thumb_metacarpals_base2/lh_thumb_metacarpals/lh_thumb_distal>,
+        </linkerhand_o6_left/Geometry/lh_hand_base_link/lh_index_proximal>,
+        </linkerhand_o6_left/Geometry/lh_hand_base_link/lh_index_proximal/lh_index_distal>,
+        </linkerhand_o6_left/Geometry/lh_hand_base_link/lh_middle_proximal>,
+        </linkerhand_o6_left/Geometry/lh_hand_base_link/lh_middle_proximal/lh_middle_distal>,
+        </linkerhand_o6_left/Geometry/lh_hand_base_link/lh_ring_proximal>,
+        </linkerhand_o6_left/Geometry/lh_hand_base_link/lh_ring_proximal/lh_ring_distal>,
+        </linkerhand_o6_left/Geometry/lh_hand_base_link/lh_pinky_proximal>,
+        </linkerhand_o6_left/Geometry/lh_hand_base_link/lh_pinky_proximal/lh_pinky_distal>,
+    ]
+    token isaac:robotType = "Default"
+
+    over "Geometry"
+    {
+        over "lh_hand_base_link" (
+            prepend apiSchemas = ["IsaacLinkAPI"]
+        )
+        {
+            over "lh_thumb_metacarpals_base2" (
+                prepend apiSchemas = ["IsaacLinkAPI"]
+            )
+            {
+                over "lh_thumb_metacarpals" (
+                    prepend apiSchemas = ["IsaacLinkAPI"]
+                )
+                {
+                    over "lh_thumb_distal" (
+                        prepend apiSchemas = ["IsaacLinkAPI"]
+                    )
+                    {
+                    }
+                }
+            }
+
+            over "lh_index_proximal" (
+                prepend apiSchemas = ["IsaacLinkAPI"]
+            )
+            {
+                over "lh_index_distal" (
+                    prepend apiSchemas = ["IsaacLinkAPI"]
+                )
+                {
+                }
+            }
+
+            over "lh_middle_proximal" (
+                prepend apiSchemas = ["IsaacLinkAPI"]
+            )
+            {
+                over "lh_middle_distal" (
+                    prepend apiSchemas = ["IsaacLinkAPI"]
+                )
+                {
+                }
+            }
+
+            over "lh_ring_proximal" (
+                prepend apiSchemas = ["IsaacLinkAPI"]
+            )
+            {
+                over "lh_ring_distal" (
+                    prepend apiSchemas = ["IsaacLinkAPI"]
+                )
+                {
+                }
+            }
+
+            over "lh_pinky_proximal" (
+                prepend apiSchemas = ["IsaacLinkAPI"]
+            )
+            {
+                over "lh_pinky_distal" (
+                    prepend apiSchemas = ["IsaacLinkAPI"]
+                )
+                {
+                }
+            }
+        }
+    }
+
+    over "Physics"
+    {
+        over "root_joint" (
+            prepend apiSchemas = ["IsaacJointAPI"]
+        )
+        {
+        }
+
+        over "lh_thumb_cmc_yaw" (
+            prepend apiSchemas = ["IsaacJointAPI"]
+        )
+        {
+        }
+
+        over "lh_thumb_cmc_pitch" (
+            prepend apiSchemas = ["IsaacJointAPI"]
+        )
+        {
+        }
+
+        over "lh_thumb_ip" (
+            prepend apiSchemas = ["IsaacJointAPI"]
+        )
+        {
+        }
+
+        over "lh_index_mcp_pitch" (
+            prepend apiSchemas = ["IsaacJointAPI"]
+        )
+        {
+        }
+
+        over "lh_index_dip" (
+            prepend apiSchemas = ["IsaacJointAPI"]
+        )
+        {
+        }
+
+        over "lh_middle_mcp_pitch" (
+            prepend apiSchemas = ["IsaacJointAPI"]
+        )
+        {
+        }
+
+        over "lh_middle_dip" (
+            prepend apiSchemas = ["IsaacJointAPI"]
+        )
+        {
+        }
+
+        over "lh_ring_mcp_pitch" (
+            prepend apiSchemas = ["IsaacJointAPI"]
+        )
+        {
+        }
+
+        over "lh_ring_dip" (
+            prepend apiSchemas = ["IsaacJointAPI"]
+        )
+        {
+        }
+
+        over "lh_pinky_mcp_pitch" (
+            prepend apiSchemas = ["IsaacJointAPI"]
+        )
+        {
+        }
+
+        over "lh_pinky_dip" (
+            prepend apiSchemas = ["IsaacJointAPI"]
+        )
+        {
+        }
+    }
+}
+