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
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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 "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
+        }
+    }
+}
+