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Add LinkerHand Isaac Sim bridge and G20 assets.

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

Co-authored-by: Cursor <cursoragent@cursor.com>
This commit is contained in:
sunxianghui
2026-07-27 14:13:00 +08:00
commit 0b727785c6
134 changed files with 17662 additions and 0 deletions
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urdf/o6/left/linkerhand_o6_left/payloads/instances.usda
+456
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#usda 1.0
(
customLayerData = {
string creator = "URDF USD Converter v0.1.3"
}
doc = """Generated from Composed Stage of root layer /tmp/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"
}
}
}