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

Add LinkerHand Isaac Sim bridge and G20 assets.

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

Co-authored-by: Cursor <cursoragent@cursor.com>
This commit is contained in:
sunxianghui
2026-07-27 14:13:00 +08:00
commit 0b727785c6
134 changed files with 17662 additions and 0 deletions
Download Patch File Download Diff File Expand all files Collapse all files
urdf/o6/left/linkerhand_o6_left/payloads/robot.usda
+197
View File
@@ -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"]
)
{
}
}
}