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>
2026-07-27 14:13:00 +08:00
commit 0b727785c6
134 changed files with 17662 additions and 0 deletions
@@ -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@
+        ) {
+
+        }
+    }
+}
+
@@ -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"
+    {
+    }
+}
+
@@ -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)
+        }
+    }
+}
+
@@ -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
+        }
+    }
+}
+
@@ -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"
+    {
+    }
+}
+
@@ -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"
+        }
+    }
+}
+
@@ -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
+        }
+    }
+}
+
@@ -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"]
+        )
+        {
+        }
+    }
+}
+