sunxianghui
0b727785c6
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>
419 lines
18 KiB
Plaintext
419 lines
18 KiB
Plaintext
#usda 1.0
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(
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customLayerData = {
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string creator = "URDF USD Converter v0.1.3"
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}
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defaultPrim = "linkerhand_o6_left"
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doc = """Generated from Composed Stage of root layer /tmp/tmp43xsk_0z/linkerhand_o6_left.usdc
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Generated from Composed Stage of root layer /tmp/urdf_import_linkerhand_o6_left_7nekwe14/usdex_linkerhand_o6_left/linkerhand_o6_left.usdc
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Generated from Composed Stage of root layer /tmp/urdf_import_linkerhand_o6_left_7nekwe14/temp_linkerhand_o6_left/linkerhand_o6_left.usd
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Generated from Composed Stage of root layer /home/lxqs/mujoco_testwork/linkerhand-urdf/o6/left/linkerhand_o6_left/payloads/base.usd
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"""
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kilogramsPerUnit = 1
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metersPerUnit = 1
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subLayers = [
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@./robot.usda@
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]
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upAxis = "Z"
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)
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def Xform "linkerhand_o6_left" (
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prepend apiSchemas = ["GeomModelAPI"]
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assetInfo = {
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string name = "linkerhand_o6_left"
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}
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kind = "component"
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)
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{
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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)]
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def Scope "Materials"
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{
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}
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def Scope "Geometry"
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{
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def Xform "lh_hand_base_link"
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{
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def Xform "hand_base_link" (
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instanceable = true
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prepend references = @./instances.usda@</Instances/hand_base_link>
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)
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{
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quatd xformOp:orient = (1, 0, 0, 0)
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double3 xformOp:scale = (1, 1, 1)
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double3 xformOp:translate = (0, 0, 0)
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uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
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}
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def Xform "lh_thumb_metacarpals_base2"
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{
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quatf xformOp:orient = (1, 0, 0, 0)
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float3 xformOp:scale = (1, 1, 1)
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double3 xformOp:translate = (0.011508, -0.022975, 0.032794)
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uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
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def Xform "thumb_metacarpals_base2" (
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instanceable = true
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prepend references = @./instances.usda@</Instances/thumb_metacarpals_base2>
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)
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{
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quatd xformOp:orient = (1, 0, 0, 0)
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double3 xformOp:scale = (1, 1, 1)
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double3 xformOp:translate = (0, 0, 0)
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uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
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}
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def Xform "lh_thumb_metacarpals"
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{
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quatf xformOp:orient = (0.41919965, 0.47202873, -0.27252436, 0.7260792)
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float3 xformOp:scale = (1, 1, 1)
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double3 xformOp:translate = (0.0061649, -0.010678, -0.004891)
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uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
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def Xform "thumb_metacarpals" (
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instanceable = true
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prepend references = @./instances.usda@</Instances/thumb_metacarpals>
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)
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{
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quatd xformOp:orient = (1, 0, 0, 0)
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double3 xformOp:scale = (1, 1, 1)
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double3 xformOp:translate = (0, 0, 0)
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uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
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}
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def Xform "lh_thumb_distal"
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{
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quatf xformOp:orient = (1, 0, 0, 0)
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float3 xformOp:scale = (1, 1, 1)
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double3 xformOp:translate = (0.0037776, 0, 0.045368)
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uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
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def Xform "thumb_distal" (
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instanceable = true
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prepend references = @./instances.usda@</Instances/thumb_distal>
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)
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{
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quatd xformOp:orient = (1, 0, 0, 0)
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double3 xformOp:scale = (1, 1, 1)
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double3 xformOp:translate = (0, 0, 0)
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uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
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}
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def Xform "thumb_distal_1" (
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displayName = "thumb_distal"
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instanceable = true
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prepend references = @./instances.usda@</Instances/thumb_distal_1>
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)
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{
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quatd xformOp:orient = (1, 0, 0, 0)
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double3 xformOp:scale = (1, 1, 1)
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double3 xformOp:translate = (0, 0, 0)
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uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
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}
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}
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def Xform "thumb_metacarpals_1" (
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displayName = "thumb_metacarpals"
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instanceable = true
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prepend references = @./instances.usda@</Instances/thumb_metacarpals_1>
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)
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{
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quatd xformOp:orient = (1, 0, 0, 0)
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double3 xformOp:scale = (1, 1, 1)
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double3 xformOp:translate = (0, 0, 0)
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uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
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}
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}
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def Xform "thumb_metacarpals_base2_1" (
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displayName = "thumb_metacarpals_base2"
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instanceable = true
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prepend references = @./instances.usda@</Instances/thumb_metacarpals_base2_1>
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)
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{
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quatd xformOp:orient = (1, 0, 0, 0)
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double3 xformOp:scale = (1, 1, 1)
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double3 xformOp:translate = (0, 0, 0)
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uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
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}
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}
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def Xform "lh_index_proximal"
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{
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quatf xformOp:orient = (0.99965733, 0.026176646, 0, 0)
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float3 xformOp:scale = (1, 1, 1)
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double3 xformOp:translate = (0.0024758, -0.02419, 0.098779)
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uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
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def Xform "index_proximal" (
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instanceable = true
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prepend references = @./instances.usda@</Instances/index_proximal>
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)
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{
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quatd xformOp:orient = (1, 0, 0, 0)
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double3 xformOp:scale = (1, 1, 1)
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double3 xformOp:translate = (0, 0, 0)
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uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
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}
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def Xform "lh_index_distal"
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{
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quatf xformOp:orient = (1, 0, 0, 0)
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float3 xformOp:scale = (1, 1, 1)
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double3 xformOp:translate = (-0.0052516, 0, 0.036625)
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uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
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def Xform "index_distal" (
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instanceable = true
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prepend references = @./instances.usda@</Instances/index_distal>
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)
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{
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quatd xformOp:orient = (1, 0, 0, 0)
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double3 xformOp:scale = (1, 1, 1)
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double3 xformOp:translate = (0, 0, 0)
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uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
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}
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def Xform "index_distal_1" (
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displayName = "index_distal"
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instanceable = true
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prepend references = @./instances.usda@</Instances/index_distal_1>
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)
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{
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quatd xformOp:orient = (1, 0, 0, 0)
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double3 xformOp:scale = (1, 1, 1)
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double3 xformOp:translate = (0, 0, 0)
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uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
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}
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}
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def Xform "index_proximal_1" (
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displayName = "index_proximal"
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instanceable = true
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prepend references = @./instances.usda@</Instances/index_proximal_1>
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)
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{
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quatd xformOp:orient = (1, 0, 0, 0)
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double3 xformOp:scale = (1, 1, 1)
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double3 xformOp:translate = (0, 0, 0)
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uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
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}
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}
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def Xform "lh_middle_proximal"
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{
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quatf xformOp:orient = (1, 0, 0, 0)
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float3 xformOp:scale = (1, 1, 1)
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double3 xformOp:translate = (0.00052576, -0.00634, 0.1027)
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uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
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def Xform "middle_proximal" (
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instanceable = true
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prepend references = @./instances.usda@</Instances/middle_proximal>
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)
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{
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quatd xformOp:orient = (1, 0, 0, 0)
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double3 xformOp:scale = (1, 1, 1)
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double3 xformOp:translate = (0, 0, 0)
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uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
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}
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def Xform "lh_middle_distal"
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{
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quatf xformOp:orient = (1, 0, 0, 0)
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float3 xformOp:scale = (1, 1, 1)
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double3 xformOp:translate = (-0.0052516, 0, 0.036625)
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uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
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def Xform "middle_distal" (
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instanceable = true
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prepend references = @./instances.usda@</Instances/middle_distal>
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)
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{
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quatd xformOp:orient = (1, 0, 0, 0)
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double3 xformOp:scale = (1, 1, 1)
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double3 xformOp:translate = (0, 0, 0)
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uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
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}
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def Xform "middle_distal_1" (
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displayName = "middle_distal"
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instanceable = true
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prepend references = @./instances.usda@</Instances/middle_distal_1>
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)
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{
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quatd xformOp:orient = (1, 0, 0, 0)
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double3 xformOp:scale = (1, 1, 1)
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double3 xformOp:translate = (0, 0, 0)
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uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
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}
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}
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def Xform "middle_proximal_1" (
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displayName = "middle_proximal"
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instanceable = true
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prepend references = @./instances.usda@</Instances/middle_proximal_1>
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)
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{
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quatd xformOp:orient = (1, 0, 0, 0)
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double3 xformOp:scale = (1, 1, 1)
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double3 xformOp:translate = (0, 0, 0)
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uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
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}
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}
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def Xform "lh_ring_proximal"
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{
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quatf xformOp:orient = (0.99965733, -0.026176646, 0, 0)
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float3 xformOp:scale = (1, 1, 1)
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double3 xformOp:translate = (0.0010258, 0.011135, 0.098767)
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uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
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def Xform "ring_proximal" (
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instanceable = true
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prepend references = @./instances.usda@</Instances/ring_proximal>
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)
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{
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quatd xformOp:orient = (1, 0, 0, 0)
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double3 xformOp:scale = (1, 1, 1)
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double3 xformOp:translate = (0, 0, 0)
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uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
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}
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def Xform "lh_ring_distal"
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{
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quatf xformOp:orient = (1, 0, 0, 0)
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float3 xformOp:scale = (1, 1, 1)
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double3 xformOp:translate = (-0.0052516, 0, 0.036625)
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uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
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def Xform "ring_distal" (
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instanceable = true
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prepend references = @./instances.usda@</Instances/ring_distal>
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)
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{
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quatd xformOp:orient = (1, 0, 0, 0)
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double3 xformOp:scale = (1, 1, 1)
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double3 xformOp:translate = (0, 0, 0)
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uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
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}
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def Xform "ring_distal_1" (
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displayName = "ring_distal"
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instanceable = true
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prepend references = @./instances.usda@</Instances/ring_distal_1>
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)
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{
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quatd xformOp:orient = (1, 0, 0, 0)
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double3 xformOp:scale = (1, 1, 1)
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double3 xformOp:translate = (0, 0, 0)
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uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
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}
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}
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def Xform "ring_proximal_1" (
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displayName = "ring_proximal"
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instanceable = true
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prepend references = @./instances.usda@</Instances/ring_proximal_1>
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)
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{
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quatd xformOp:orient = (1, 0, 0, 0)
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double3 xformOp:scale = (1, 1, 1)
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double3 xformOp:translate = (0, 0, 0)
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uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
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}
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}
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def Xform "lh_pinky_proximal"
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{
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quatf xformOp:orient = (0.99904823, -0.043619126, 0, 0)
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float3 xformOp:scale = (1, 1, 1)
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double3 xformOp:translate = (0.0024758, 0.028372, 0.092741)
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uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
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def Xform "pinky_proximal" (
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instanceable = true
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prepend references = @./instances.usda@</Instances/pinky_proximal>
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)
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{
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quatd xformOp:orient = (1, 0, 0, 0)
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double3 xformOp:scale = (1, 1, 1)
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double3 xformOp:translate = (0, 0, 0)
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uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
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}
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def Xform "lh_pinky_distal"
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{
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quatf xformOp:orient = (1, 0, 0, 0)
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float3 xformOp:scale = (1, 1, 1)
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double3 xformOp:translate = (-0.0052516, 0, 0.036625)
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uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
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def Xform "pinky_distal" (
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instanceable = true
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prepend references = @./instances.usda@</Instances/pinky_distal>
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)
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{
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quatd xformOp:orient = (1, 0, 0, 0)
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double3 xformOp:scale = (1, 1, 1)
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double3 xformOp:translate = (0, 0, 0)
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uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
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}
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def Xform "pinky_distal_1" (
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displayName = "pinky_distal"
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instanceable = true
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prepend references = @./instances.usda@</Instances/pinky_distal_1>
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)
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{
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quatd xformOp:orient = (1, 0, 0, 0)
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double3 xformOp:scale = (1, 1, 1)
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double3 xformOp:translate = (0, 0, 0)
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uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
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}
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}
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def Xform "pinky_proximal_1" (
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displayName = "pinky_proximal"
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instanceable = true
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prepend references = @./instances.usda@</Instances/pinky_proximal_1>
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)
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{
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quatd xformOp:orient = (1, 0, 0, 0)
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double3 xformOp:scale = (1, 1, 1)
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double3 xformOp:translate = (0, 0, 0)
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uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
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}
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}
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def Xform "hand_base_link_1" (
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displayName = "hand_base_link"
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instanceable = true
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prepend references = @./instances.usda@</Instances/hand_base_link_1>
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)
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{
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quatd xformOp:orient = (1, 0, 0, 0)
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double3 xformOp:scale = (1, 1, 1)
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double3 xformOp:translate = (0, 0, 0)
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uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
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}
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}
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}
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def Scope "Physics"
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{
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}
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def Scope "VisualMaterials"
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{
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}
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}
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