update neosim assets and third party dependencies

.gitattributes

@@ -58,3 +58,62 @@ saved_model/**/* filter=lfs diff=lfs merge=lfs -text
 # Video files - compressed
 *.mp4 filter=lfs diff=lfs merge=lfs -text
 *.webm filter=lfs diff=lfs merge=lfs -text
+assets/objects/BOWL.usd filter=lfs diff=lfs merge=lfs -text
+assets/objects/BOWL_STACK.usd filter=lfs diff=lfs merge=lfs -text
+assets/objects/Bar_CircleShell.usd filter=lfs diff=lfs merge=lfs -text
+assets/objects/Bar_Cubehole.usd filter=lfs diff=lfs merge=lfs -text
+assets/objects/Bar_Cylinder.usd filter=lfs diff=lfs merge=lfs -text
+assets/objects/Bar_Hemisphere.usd filter=lfs diff=lfs merge=lfs -text
+assets/objects/Bar_S.usd filter=lfs diff=lfs merge=lfs -text
+assets/objects/Bar_Sphere.usd filter=lfs diff=lfs merge=lfs -text
+assets/objects/Bar_Torus.usd filter=lfs diff=lfs merge=lfs -text
+assets/objects/BottleLift.usd filter=lfs diff=lfs merge=lfs -text
+assets/objects/CHIP.usd filter=lfs diff=lfs merge=lfs -text
+assets/objects/CUP.usd filter=lfs diff=lfs merge=lfs -text
+assets/objects/Can_d4cm.usd filter=lfs diff=lfs merge=lfs -text
+assets/objects/Can_d5cm.usd filter=lfs diff=lfs merge=lfs -text
+assets/objects/Can_d6cm.usd filter=lfs diff=lfs merge=lfs -text
+assets/objects/HDMISlot.usd filter=lfs diff=lfs merge=lfs -text
+assets/objects/Key.usd filter=lfs diff=lfs merge=lfs -text
+assets/objects/KeySlot.usd filter=lfs diff=lfs merge=lfs -text
+assets/objects/PHONE_PLUG.usd filter=lfs diff=lfs merge=lfs -text
+assets/objects/PHONE_SOCKET_BASE.usd filter=lfs diff=lfs merge=lfs -text
+assets/objects/PLATE_STACK.usd filter=lfs diff=lfs merge=lfs -text
+assets/objects/RoughPrism.usd filter=lfs diff=lfs merge=lfs -text
+assets/objects/TestTube.usd filter=lfs diff=lfs merge=lfs -text
+assets/objects/TestTubeBase.usd filter=lfs diff=lfs merge=lfs -text
+assets/objects/TestTubeHoleSlot.usd filter=lfs diff=lfs merge=lfs -text
+assets/objects/TestTubeSlot.usd filter=lfs diff=lfs merge=lfs -text
+assets/objects/USB.usd filter=lfs diff=lfs merge=lfs -text
+assets/objects/USBSlot.usd filter=lfs diff=lfs merge=lfs -text
+assets/scene/base0.exr filter=lfs diff=lfs merge=lfs -text
+assets/scene/gridroom_curved.usd filter=lfs diff=lfs merge=lfs -text
+tacex_data/Props/ball_wood.usd filter=lfs diff=lfs merge=lfs -text
+tacex_data/Props/tactile_test_shapes/curved_surface.usd filter=lfs diff=lfs merge=lfs -text
+tacex_data/Props/tactile_test_shapes/dots.usd filter=lfs diff=lfs merge=lfs -text
+tacex_data/Props/tactile_test_shapes/sphere2.usd filter=lfs diff=lfs merge=lfs -text
+tacex_data/Props/tactile_test_shapes/torus.usd filter=lfs diff=lfs merge=lfs -text
+tacex_data/Robots/Franka/GF225/panda_arm_hand/instanceable_meshes.usd filter=lfs diff=lfs merge=lfs -text
+tacex_data/Robots/Franka/GF225/panda_arm_two_gipc_gelpads.usd filter=lfs diff=lfs merge=lfs -text
+tacex_data/Robots/Franka/GF225/panda_arm_two_gsmini_gipc.usd filter=lfs diff=lfs merge=lfs -text
+tacex_data/Robots/Franka/GelSight_Mini/Gripper/WristCamera.usd filter=lfs diff=lfs merge=lfs -text
+tacex_data/Robots/Franka/GelSight_Mini/Gripper/panda_arm_hand/instanceable_meshes.usd filter=lfs diff=lfs merge=lfs -text
+tacex_data/Robots/Franka/GelSight_Mini/Gripper/panda_arm_two_gipc_gelpads.usd filter=lfs diff=lfs merge=lfs -text
+tacex_data/Robots/Franka/GelSight_Mini/Gripper/panda_arm_two_gsmini_gipc.usd filter=lfs diff=lfs merge=lfs -text
+tacex_data/Robots/Franka/GelSight_Mini/Gripper/uipc_gelpads_high_res.usd filter=lfs diff=lfs merge=lfs -text
+tacex_data/Robots/Franka/GelSight_Mini/Gripper/uipc_gelpads_high_res_wrist.usd filter=lfs diff=lfs merge=lfs -text
+tacex_data/Robots/Franka/GelSight_Mini/Single_Adapter/meshes/collision/hand.stl filter=lfs diff=lfs merge=lfs -text
+tacex_data/Robots/Franka/GelSight_Mini/Single_Adapter/panda_arm_hand/instanceable_meshes.usd filter=lfs diff=lfs merge=lfs -text
+tacex_data/Robots/Franka/GelSight_Mini/Single_Adapter/physx_rigid_gelpad.usd filter=lfs diff=lfs merge=lfs -text
+tacex_data/Robots/Franka/GelSight_Mini/Single_Adapter/physx_soft_gelpad.usd filter=lfs diff=lfs merge=lfs -text
+tacex_data/Robots/Franka/GelSight_Mini/Single_Adapter/uipc_gelpad.usd filter=lfs diff=lfs merge=lfs -text
+tacex_data/Robots/Franka/XenseWS/WristCamera.usda filter=lfs diff=lfs merge=lfs -text
+tacex_data/Robots/Franka/XenseWS/panda_arm_hand/instanceable_meshes.usd filter=lfs diff=lfs merge=lfs -text
+tacex_data/Robots/Franka/XenseWS/panda_arm_two_gipc_gelpads.usd filter=lfs diff=lfs merge=lfs -text
+tacex_data/Robots/Franka/XenseWS/panda_arm_two_gsmini_gipc.usd filter=lfs diff=lfs merge=lfs -text
+tacex_data/Robots/allegro_hand_gsmini.usd filter=lfs diff=lfs merge=lfs -text
+tacex_data/Sensors/GF225/Case.usd filter=lfs diff=lfs merge=lfs -text
+tacex_data/Sensors/GelSight_Mini/Case.usd filter=lfs diff=lfs merge=lfs -text
+tacex_data/Sensors/GelSight_Mini/Gelpad_mid_res.usd filter=lfs diff=lfs merge=lfs -text
+tacex_data/Sensors/GelSight_Mini/Sensor.usd filter=lfs diff=lfs merge=lfs -text
+tacex_data/Sensors/XenseWS/Case.usd filter=lfs diff=lfs merge=lfs -text

assets/embodiments/franka/collision_franka.yml

@@ -0,0 +1,134 @@
+##
+## Copyright (c) 2023 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
+##
+## NVIDIA CORPORATION, its affiliates and licensors retain all intellectual
+## property and proprietary rights in and to this material, related
+## documentation and any modifications thereto. Any use, reproduction,
+## disclosure or distribution of this material and related documentation
+## without an express license agreement from NVIDIA CORPORATION or
+## its affiliates is strictly prohibited.
+##
+collision_spheres:
+    panda_link0:
+        - "center": [0.0, 0.0, 0.085]
+          "radius": 0.03 #0.07
+        - "center": [-0.1, -0.0, 0.085]
+          "radius": 0.03 #0.07
+    panda_link1:
+        - "center": [0.0, -0.08, 0.0]
+          "radius": 0.055
+        - "center": [0.0, -0.03, 0.0]
+          "radius": 0.06
+        - "center": [0.0, 0.0, -0.12]
+          "radius": 0.06
+        - "center": [0.0, 0.0, -0.17]
+          "radius": 0.06
+    panda_link2:
+        - "center": [0.0, 0.0, 0.03]
+          "radius": 0.055
+        - "center": [0.0, 0.0, 0.08]
+          "radius": 0.055
+        - "center": [0.0, -0.12, 0.0]
+          "radius": 0.055
+        - "center": [0.0, -0.17, 0.0]
+          "radius": 0.055
+    panda_link3:
+        - "center": [0.0, 0.0, -0.06]
+          "radius": 0.05
+        - "center": [0.0, 0.0, -0.1]
+          "radius": 0.06
+        - "center": [0.08, 0.06, 0.0]
+          "radius": 0.052
+        - "center": [0.08, 0.02, 0.0]
+          "radius": 0.052
+    panda_link4:
+        - "center": [0.0, 0.0, 0.02]
+          "radius": 0.052
+        - "center": [0.0, 0.0, 0.06]
+          "radius": 0.052
+        - "center": [-0.08, 0.095, 0.0]
+          "radius": 0.055
+        - "center": [-0.08, 0.06, 0.0]
+          "radius": 0.052
+    panda_link5:
+        - "center": [0.0, 0.03, 0.0]
+          "radius": 0.05
+        - "center": [0.0, 0.082, 0.0]
+          "radius": 0.05
+        - "center": [0.0, 0.000, -0.22]
+          "radius": 0.05
+        - "center": [0.0, 0.052, -0.18]
+          "radius": 0.04
+        - "center": [0.01, 0.08, -0.14]
+          "radius": 0.022
+        - "center": [0.01, 0.085, -0.11]
+          "radius": 0.022
+        - "center": [0.01, 0.09, -0.08]
+          "radius": 0.022
+        - "center": [0.01, 0.095, -0.05]
+          "radius": 0.022
+        - "center": [-0.01, 0.08, -0.14]
+          "radius": 0.022
+        - "center": [-0.01, 0.085, -0.11]
+          "radius": 0.022
+        - "center": [-0.01, 0.09, -0.08]
+          "radius": 0.022
+        - "center": [-0.01, 0.095, -0.05]
+          "radius": 0.022
+        - "center": [0.0, -0.009, 0.0]
+          "radius": 0.05
+    panda_link6:
+        - "center": [0.085, 0.035, 0.0]
+          "radius": 0.045 
+        - "center": [0.085, 0.0, 0.0]
+          "radius": 0.045 
+        - "center": [0.085, -0.015, 0.0]
+          "radius": 0.045 
+    panda_link7:
+        - "center": [0.0, 0.0, 0.07]
+          "radius": 0.045
+        - "center": [0.02, 0.04, 0.08]
+          "radius": 0.024
+        - "center": [0.04, 0.02, 0.08]
+          "radius": 0.024
+        - "center": [0.04, 0.06, 0.085]
+          "radius": 0.02
+        - "center": [0.06, 0.04, 0.085]
+          "radius": 0.02
+    panda_hand:
+        - "center": [0.0, -0.075, 0.01]
+          "radius": 0.023
+        - "center": [0.0, -0.045, 0.01]
+          "radius": 0.023
+        - "center": [0.0, -0.015, 0.01]
+          "radius": 0.023
+        - "center": [0.0, 0.015, 0.01]
+          "radius": 0.023
+        - "center": [0.0, 0.045, 0.01]
+          "radius": 0.023
+        - "center": [0.0, 0.075, 0.01]
+          "radius": 0.023
+        - "center": [0.0, -0.08, 0.03]
+          "radius": 0.022
+        - "center": [0.0, -0.045, 0.03]
+          "radius": 0.022
+        - "center": [0.0, -0.015, 0.03]
+          "radius": 0.022
+        - "center": [0.0, 0.015, 0.03]
+          "radius": 0.022
+        - "center": [0.0, 0.045, 0.03]
+          "radius": 0.022
+        - "center": [0.0, 0.08, 0.03]
+          "radius": 0.022
+        - "center": [0.0, -0.08, 0.045]
+          "radius": 0.022
+        - "center": [0.0, -0.045, 0.045]
+          "radius": 0.022
+        - "center": [0.0, -0.015, 0.045]
+          "radius": 0.022
+        - "center": [0.0, 0.015, 0.045]
+          "radius": 0.022
+        - "center": [0.0, 0.045, 0.045]
+          "radius": 0.022
+        - "center": [0.0, 0.08, 0.045]
+          "radius": 0.022

assets/embodiments/franka/curobo.yml

@@ -0,0 +1,98 @@
+##
+## Copyright (c) 2023 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
+##
+## NVIDIA CORPORATION, its affiliates and licensors retain all intellectual
+## property and proprietary rights in and to this material, related
+## documentation and any modifications thereto. Any use, reproduction,
+## disclosure or distribution of this material and related documentation
+## without an express license agreement from NVIDIA CORPORATION or
+## its affiliates is strictly prohibited.
+##
+
+robot_cfg:
+  kinematics:
+    use_usd_kinematics: False
+    # isaac_usd_path: "/Isaac/Robots/Franka/franka.usd"
+    # usd_path: "robot/non_shipping/franka/franka_panda_meters.usda"
+    # usd_robot_root: "/panda"
+    # usd_flip_joints: ["panda_joint1","panda_joint2","panda_joint3","panda_joint4", "panda_joint5",
+    #   "panda_joint6","panda_joint7","panda_finger_joint1", "panda_finger_joint2"]
+    # usd_flip_joints: {
+    # "panda_joint1": "Z",
+    # "panda_joint2": "Z",
+    # "panda_joint3": "Z",
+    # "panda_joint4": "Z",
+    #  "panda_joint5": "Z",
+    # "panda_joint6": "Z",
+    # "panda_joint7": "Z",
+    # "panda_finger_joint1": "Y",
+    #  "panda_finger_joint2":  "Y",
+    # }
+
+    # usd_flip_joint_limits: ["panda_finger_joint2"]
+    urdf_path: panda.urdf
+    asset_root_path: null #"robot/franka_description"
+    base_link: "panda_link0"
+    ee_link: "panda_hand"
+    collision_link_names:
+      [
+        "panda_link1",
+        "panda_link2",
+        "panda_link3",
+        "panda_link4",
+        "panda_link5",
+        "panda_link6",
+        "panda_link7",
+        "panda_hand"
+      ]
+    collision_spheres: collision_franka.yml
+    collision_sphere_buffer: 0.004 # 0.0025
+    use_global_cumul: True
+    self_collision_ignore:
+      {
+        "panda_link0": ["panda_link1", "panda_link2"],
+        "panda_link1": ["panda_link2", "panda_link3", "panda_link4"],
+        "panda_link2": ["panda_link3", "panda_link4"],
+        "panda_link3": ["panda_link4", "panda_link6"],
+        "panda_link4":
+          ["panda_link5", "panda_link6", "panda_link7", "panda_link8"],
+        "panda_link5": ["panda_link6", "panda_link7", "panda_hand"],
+        "panda_link6": ["panda_link7", "panda_hand"],
+        "panda_link7": ["panda_hand"],
+        "panda_hand": [],
+      }
+
+    self_collision_buffer:
+      {
+        "panda_link0": 0.1,
+        "panda_link1": 0.05,
+        "panda_link2": 0.0,
+        "panda_link3": 0.0,
+        "panda_link4": 0.0,
+        "panda_link5": 0.0,
+        "panda_link6": 0.0,
+        "panda_link7": 0.0,
+        "panda_hand": 0.02,
+      }
+    #link_names: ["panda_link4"]
+    mesh_link_names:
+      [
+        "panda_link0",
+        "panda_link1",
+        "panda_link2",
+        "panda_link3",
+        "panda_link4",
+        "panda_link5",
+        "panda_link6",
+        "panda_link7",
+        "panda_hand",
+      ]
+    cspace:
+      joint_names: ["panda_joint1","panda_joint2","panda_joint3","panda_joint4", "panda_joint5", "panda_joint6","panda_joint7"]
+      retract_config: [0.2200, -1.4012, -0.0406, -1.4901,  0.3050,  0.4521,  0.2099]
+      null_space_weight: [1,1,1,1,1,1,1]
+      cspace_distance_weight: [1,1,1,1,1,1,1]
+      max_acceleration: 15.0
+      max_jerk: 500.0
+planner:
+  frame_bias: [0., 0., 0.]

assets/embodiments/franka/panda.urdf

@@ -0,0 +1,342 @@
+<?xml version="1.0" ?>
+<!-- =================================================================================== -->
+<!-- |    This document was autogenerated by xacro from panda_arm_hand.urdf.xacro      | -->
+<!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                                 | -->
+<!-- =================================================================================== -->
+<robot name="panda" xmlns:xacro="http://www.ros.org/wiki/xacro">
+  <link name="panda_link0">
+    <visual>
+      <geometry>
+        <mesh filename="meshes/visual/link0.dae"/>
+      </geometry>
+      <material name="panda_white">
+    		<color rgba="1. 1. 1. 1."/>
+  		</material>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="meshes/collision/link0.stl"/>
+      </geometry>
+      <material name="panda_white"/>
+    </collision>
+  </link>
+  <link name="panda_link1">
+  	<inertial>
+      <origin rpy="0 0 0" xyz="0 -0.04 -0.05"/>
+       <mass value="2.7"/>
+       <inertia ixx="0.1" ixy="0" ixz="0" iyy="0.1" iyz="0" izz="0.1"/>
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="meshes/visual/link1.dae"/>
+      </geometry>
+      <material name="panda_white"/>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="meshes/collision/link1.stl"/>
+      </geometry>
+      <material name="panda_white"/>
+    </collision>
+  </link>
+  <joint name="panda_joint1" type="revolute">
+    <safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-2.8973" soft_upper_limit="2.8973"/>
+    <origin rpy="0 0 0" xyz="0 0 0.333"/>
+    <parent link="panda_link0"/>
+    <child link="panda_link1"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="87" lower="-2.8973" upper="2.8973" velocity="2.1750"/>
+  </joint>
+  <link name="panda_link2">
+  	<inertial>
+      <origin rpy="0 0 0" xyz="0 -0.04 0.06"/>
+       <mass value="2.73"/>
+       <inertia ixx="0.1" ixy="0" ixz="0" iyy="0.1" iyz="0" izz="0.1"/>
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="meshes/visual/link2.dae"/>
+      </geometry>
+      <material name="panda_white"/>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="meshes/collision/link2.stl"/>
+      </geometry>
+      <material name="panda_white"/>
+    </collision>
+  </link>
+  <joint name="panda_joint2" type="revolute">
+    <safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-1.7628" soft_upper_limit="1.7628"/>
+    <origin rpy="-1.57079632679 0 0" xyz="0 0 0"/>
+    <parent link="panda_link1"/>
+    <child link="panda_link2"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="87" lower="-1.7628" upper="1.7628" velocity="2.1750"/>
+  </joint>
+  <link name="panda_link3">
+	  <inertial>
+      <origin rpy="0 0 0" xyz="0.01 0.01 -0.05"/>
+       <mass value="2.04"/>
+       <inertia ixx="0.1" ixy="0" ixz="0" iyy="0.1" iyz="0" izz="0.1"/>
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="meshes/visual/link3.dae"/>
+      </geometry>
+      <material name="panda_red">
+    		<color rgba="1. 1. 1. 1."/>
+  		</material>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="meshes/collision/link3.stl"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="panda_joint3" type="revolute">
+    <safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-2.8973" soft_upper_limit="2.8973"/>
+    <origin rpy="1.57079632679 0 0" xyz="0 -0.316 0"/>
+    <parent link="panda_link2"/>
+    <child link="panda_link3"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="87" lower="-2.8973" upper="2.8973" velocity="2.1750"/>
+  </joint>
+  <link name="panda_link4">
+  	<inertial>
+      <origin rpy="0 0 0" xyz="-0.03 0.03 0.02"/>
+       <mass value="2.08"/>
+       <inertia ixx="0.1" ixy="0" ixz="0" iyy="0.1" iyz="0" izz="0.1"/>
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="meshes/visual/link4.dae"/>
+      </geometry>
+      <material name="panda_white"/>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="meshes/collision/link4.stl"/>
+      </geometry>
+      <material name="panda_white"/>
+    </collision>
+  </link>
+  <joint name="panda_joint4" type="revolute">
+    <safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-3.0718" soft_upper_limit="-0.0698"/>
+    <origin rpy="1.57079632679 0 0" xyz="0.0825 0 0"/>
+    <parent link="panda_link3"/>
+    <child link="panda_link4"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="87" lower="-3.0718" upper="-0.0698" velocity="2.1750"/>
+  </joint>
+  <link name="panda_link5">
+  	<inertial>
+      <origin rpy="0 0 0" xyz="0 0.04 -0.12"/>
+       <mass value="3"/>
+       <inertia ixx="0.1" ixy="0" ixz="0" iyy="0.1" iyz="0" izz="0.1"/>
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="meshes/visual/link5.dae"/>
+      </geometry>
+      <material name="panda_white"/>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="meshes/collision/link5.stl"/>
+      </geometry>
+      <material name="panda_white"/>
+    </collision>
+  </link>
+  <joint name="panda_joint5" type="revolute">
+    <safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-2.8975" soft_upper_limit="2.8975"/>
+    <origin rpy="-1.57079632679 0 0" xyz="-0.0825 0.384 0"/>
+    <parent link="panda_link4"/>
+    <child link="panda_link5"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="12" lower="-2.8975" upper="2.8975" velocity="2.6100"/>
+  </joint>
+  <link name="panda_link6">
+  	<inertial>
+      <origin rpy="0 0 0" xyz="0.04 0 0"/>
+       <mass value="1.3"/>
+       <inertia ixx="0.1" ixy="0" ixz="0" iyy="0.1" iyz="0" izz="0.1"/>
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="meshes/visual/link6.dae"/>
+      </geometry>
+      <material name="panda_white"/>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="meshes/collision/link6.stl"/>
+      </geometry>
+      <material name="panda_white"/>
+    </collision>
+  </link>
+  <joint name="panda_joint6" type="revolute">
+    <safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-0.0175" soft_upper_limit="3.7525"/>
+    <origin rpy="1.57079632679 0 0" xyz="0 0 0"/>
+    <parent link="panda_link5"/>
+    <child link="panda_link6"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="12" lower="-0.0175" upper="3.7525" velocity="2.6100"/>
+  </joint>
+  <link name="panda_link7">
+  	<inertial>
+      <origin rpy="0 0 0" xyz="0 0 0.08"/>
+       <mass value=".2"/>
+       <inertia ixx="0.1" ixy="0" ixz="0" iyy="0.1" iyz="0" izz="0.1"/>
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="meshes/visual/link7.dae"/>
+      </geometry>
+      <material name="panda_white"/>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="meshes/collision/link7.stl"/>
+      </geometry>
+      <material name="panda_white"/>
+    </collision>
+  </link>
+  <joint name="panda_joint7" type="revolute">
+    <safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-2.8973" soft_upper_limit="2.8973"/>
+    <origin rpy="1.57079632679 0 0" xyz="0.088 0 0"/>
+    <parent link="panda_link6"/>
+    <child link="panda_link7"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="12" lower="-2.8973" upper="2.8973" velocity="2.6100"/>
+  </joint>
+  <link name="panda_link8">
+  	 <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+       <mass value="0.0"/>
+       <inertia ixx="0.1" ixy="0" ixz="0" iyy="0.1" iyz="0" izz="0.1"/>
+    </inertial>
+  </link>
+  <joint name="panda_joint8" type="fixed">
+    <origin rpy="0 0 0" xyz="0 0 0.107"/>
+    <parent link="panda_link7"/>
+    <child link="panda_link8"/>
+    <axis xyz="0 0 0"/>
+  </joint>
+  <joint name="panda_hand_joint" type="fixed">
+    <parent link="panda_link8"/>
+    <child link="panda_hand"/>
+    <origin rpy="0 0 -0.785398163397" xyz="0 0 0"/>
+  </joint>
+  <link name="panda_hand">
+  	<inertial>
+      <origin rpy="0 0 0" xyz="0 0 0.04"/>
+       <mass value=".81"/>
+       <inertia ixx="0.1" ixy="0" ixz="0" iyy="0.1" iyz="0" izz="0.1"/>
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="meshes/visual/hand.dae"/>
+      </geometry>
+      <material name="panda_white"/>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="meshes/collision/hand.stl"/>
+      </geometry>
+      <material name="panda_white"/>
+    </collision>
+  </link>
+  <link name="panda_leftfinger">
+       <contact>
+      <friction_anchor/>
+      <stiffness value="30000.0"/>
+      <damping value="1000.0"/>
+      <spinning_friction value="0.1"/>
+      <lateral_friction value="1.0"/>
+    </contact>
+  	<inertial>
+      <origin rpy="0 0 0" xyz="0 0.01 0.02"/>
+       <mass value="0.1"/>
+       <inertia ixx="0.1" ixy="0" ixz="0" iyy="0.1" iyz="0" izz="0.1"/>
+    </inertial>
+    <visual>
+      <geometry>
+        <mesh filename="meshes/visual/finger.dae"/>
+      </geometry>
+      <material name="panda_white"/>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="meshes/collision/finger.stl"/>
+      </geometry>
+      <material name="panda_white"/>
+    </collision>
+  </link>
+  <link name="panda_rightfinger">
+        <contact>
+      <friction_anchor/>
+      <stiffness value="30000.0"/>
+      <damping value="1000.0"/>
+      <spinning_friction value="0.1"/>
+      <lateral_friction value="1.0"/>
+    </contact>
+
+  	<inertial>
+      <origin rpy="0 0 0" xyz="0 -0.01 0.02"/>
+       <mass value="0.1"/>
+       <inertia ixx="0.1" ixy="0" ixz="0" iyy="0.1" iyz="0" izz="0.1"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 3.14159265359" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/visual/finger.dae"/>
+      </geometry>
+      <material name="panda_white"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 3.14159265359" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="meshes/collision/finger.stl"/>
+      </geometry>
+      <material name="panda_white"/>
+    </collision>
+  </link>
+  <joint name="panda_finger_joint1" type="fixed">
+    <parent link="panda_hand"/>
+    <child link="panda_leftfinger"/>
+    <origin rpy="0 0 0" xyz="0 0.04 0.0584"/>
+  </joint>
+  <joint name="panda_finger_joint2" type="fixed">
+    <parent link="panda_hand"/>
+    <child link="panda_rightfinger"/>
+    <origin rpy="0 0 0" xyz="0 -0.04 0.0584"/>
+  </joint>
+  <link name="right_gripper">
+    <inertial>
+      <!-- Dummy inertial parameters to avoid link lumping-->
+      <mass value="0.01"/>
+      <inertia ixx="0.0001" ixy="0.0" ixz="0.0" iyy="0.0001" iyz="0.0" izz="0.0001"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+    </inertial>
+  </link>
+  <joint name="right_gripper" type="fixed">
+    <origin rpy="0 0 2.35619449019" xyz="0 0 0.1"/>
+      <axis xyz="0 0 1"/>
+    <parent link="panda_link8"/>
+    <child link="right_gripper"/>
+  </joint>
+   <link name="panda_grasptarget">
+ <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+       <mass value="0.0"/>
+       <inertia ixx="0.1" ixy="0" ixz="0" iyy="0.1" iyz="0" izz="0.1"/>
+    </inertial>
+   </link>
+   <joint name="panda_grasptarget_hand" type="fixed">
+    <parent link="panda_hand"/>
+    <child link="panda_grasptarget"/>
+    <origin rpy="0 0 0" xyz="0 0 0.105"/>
+  </joint>
+
+</robot>

assets/embodiments/ur5e/collision_ur5e.yml

@@ -0,0 +1,61 @@
+collision_spheres:
+  shoulder_link:
+    - center: [0.0, 0.0, 0.0]
+      radius: 0.0001
+  upper_arm_link:
+    - center: [-0.416, 0.0, 0.143]
+      radius: 0.0078
+    - center: [-0.015, 0.0, 0.134]
+      radius: 0.0077
+    - center: [-0.14, 0.0, 0.138]
+      radius: 0.0062
+    - center: [-0.285, -0.001, 0.139]
+      radius: 0.0061
+    - center: [-0.376, 0.001, 0.138]
+      radius: 0.0077
+    - center: [-0.222, 0.001, 0.139]
+      radius: 0.0061
+    - center: [-0.055, 0.008, 0.14]
+      radius: 0.007
+    - center: [-0.001, -0.002, 0.143]
+      radius: 0.0076
+  forearm_link:
+    - center: [-0.01, 0.002, 0.031]
+      radius: 0.0072
+    - center: [-0.387, 0.0, 0.014]
+      radius: 0.0057
+    - center: [-0.121, 0.0, 0.006]
+      radius: 0.0057
+    - center: [-0.206, 0.001, 0.007]
+      radius: 0.0057
+    - center: [-0.312, -0.001, 0.006]
+      radius: 0.0056
+    - center: [-0.057, 0.003, 0.008]
+      radius: 0.0065
+    - center: [-0.266, 0.0, 0.006]
+      radius: 0.0057
+    - center: [-0.397, -0.001, -0.018]
+      radius: 0.0052
+    - center: [-0.164, 0.0, 0.007]
+      radius: 0.0057
+  wrist_1_link:
+    - center: [0.0, 0.0, -0.009]
+      radius: 0.0047
+    - center: [0.0, 0.0, -0.052]
+      radius: 0.0047
+    - center: [-0.002, 0.027, -0.001]
+      radius: 0.0045
+    - center: [0.001, -0.01, 0.0]
+      radius: 0.0046
+  wrist_2_link:
+    - center: [0.0, -0.01, -0.001]
+      radius: 0.0047
+    - center: [0.0, 0.008, -0.001]
+      radius: 0.0047
+    - center: [0.001, -0.001, -0.036]
+      radius: 0.0047
+    - center: [0.001, -0.03, 0.0]
+      radius: 0.0047
+  wrist_3_link:
+    - center: [0.001, 0.001, -0.029]
+      radius: 0.0043

assets/embodiments/ur5e/curobo.yml

@@ -0,0 +1,47 @@
+robot_cfg:
+  kinematics:
+    use_usd_kinematics: False
+    usd_path: null
+    usd_robot_root: null
+    isaac_usd_path: ""
+    usd_flip_joints: {}
+    usd_flip_joint_limits: []
+
+    urdf_path: "ur5e.urdf"
+    asset_root_path: ""
+
+    base_link: "base_link"
+    ee_link: "gripper_base"
+    link_names: null
+    lock_joints: null
+    extra_links: null
+
+    collision_link_names: ["shoulder_link", "upper_arm_link", "forearm_link", "wrist_1_link", "wrist_2_link", "wrist_3_link"]
+    collision_spheres: "collision_ur5e.yml"
+    collision_sphere_buffer: 0.005
+    extra_collision_spheres: {}
+    self_collision_ignore: 
+      "upper_arm_link": ["forearm_link", "shoulder_link"]
+      "forearm_link": ["wrist_1_link", "wrist_2_link", "wrist_3_link"]
+      "wrist_1_link": ["wrist_2_link","wrist_3_link"]
+      "wrist_2_link": ["wrist_3_link"]
+    self_collision_buffer: 
+      'upper_arm_link': 0
+      'forearm_link': 0
+      'wrist_1_link': 0
+      'wrist_2_link': 0
+      'wrist_3_link': 0
+
+    use_global_cumul: True
+    mesh_link_names: null
+
+    cspace:
+      joint_names: ['shoulder_pan_joint', 'shoulder_lift_joint', 'elbow_joint', 'wrist_1_joint', 'wrist_2_joint', 'wrist_3_joint']
+      retract_config: [0.0, -1.57, 2.618, -0.873, 1.57, 0.0]
+      null_space_weight: [1.0, 1.0, 1.0, 1.0, 1.0, 1.0]
+      cspace_distance_weight: [1.0, 1.0, 1.0, 1.0, 1.0, 1.0]
+      max_jerk: 500.0
+      max_acceleration: 15.0
+
+planner:
+  frame_bias: [0., 0., 0.]

assets/embodiments/ur5e/ur5e.urdf

@@ -0,0 +1,317 @@
+<?xml version="1.0"?>
+<robot name="ur5e">
+  <!-- Base link -->
+  <link name="base_link">
+    <inertial>
+      <mass value="5.0"/>
+      <inertia ixx="0.05" ixy="0.0" ixz="0.0" iyy="0.05" iyz="0.0" izz="0.05"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ur_description/meshes/ur5e/collision/base.dae"/>
+      </geometry>
+      <material name="LightGrey">
+        <color rgba="0.7 0.7 0.7 1.0"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ur_description/meshes/ur5e/collision/base.dae"/>
+      </geometry>
+    </collision>
+  </link>
+
+  <!-- Shoulder pan joint -->
+  <joint name="shoulder_pan_joint" type="revolute">
+    <origin xyz="0 0 0.089159" rpy="0 0 0"/>
+    <parent link="base_link"/>
+    <child link="shoulder_link"/>
+    <axis xyz="0 0 1"/>
+    <limit lower="-6.28319" upper="6.28319" effort="330" velocity="3.15"/>
+    <dynamics damping="400.0" friction="0.0"/>
+  </joint>
+
+  <!-- Shoulder link -->
+  <link name="shoulder_link">
+    <inertial>
+      <mass value="3.70061"/>
+      <inertia ixx="0.015097" ixy="0.00004" ixz="0.00003" iyy="0.015097" iyz="-0.00003" izz="0.005169"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ur_description/meshes/ur5e/collision/shoulder.dae"/>
+      </geometry>
+      <material name="DarkGrey">
+        <color rgba="0.3 0.3 0.3 1.0"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ur_description/meshes/ur5e/collision/shoulder.dae"/>
+      </geometry>
+    </collision>
+  </link>
+
+  <!-- Shoulder lift joint -->
+  <joint name="shoulder_lift_joint" type="revolute">
+    <origin xyz="0 -0.1379999965429306 0" rpy="0 0 0"/>
+    <parent link="shoulder_link"/>
+    <child link="upper_arm_link"/>
+    <axis xyz="0 1 0"/>
+    <limit lower="-6.28319" upper="6.28319" effort="330" velocity="3.15"/>
+    <dynamics damping="400.0" friction="0.0"/>
+  </joint>
+
+  <!-- Upper arm link -->
+  <link name="upper_arm_link">
+    <inertial>
+      <mass value="8.393"/>
+      <inertia ixx="0.22632" ixy="0.0" ixz="0.0" iyy="0.22632" iyz="0.0" izz="0.01976"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ur_description/meshes/ur5e/collision/upperarm.dae"/>
+      </geometry>
+      <material name="URBlue">
+        <color rgba="0.0 0.3 0.6 1.0"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ur_description/meshes/ur5e/collision/upperarm.dae"/>
+      </geometry>
+    </collision>
+  </link>
+
+  <!-- Elbow joint -->
+  <joint name="elbow_joint" type="revolute">
+    <origin xyz="0 -0.007000000216066837 0.4249999964237213" rpy="0 0 0"/>
+    <parent link="upper_arm_link"/>
+    <child link="forearm_link"/>
+    <axis xyz="0 1 0"/>
+    <limit lower="-3.14159" upper="3.14159" effort="150" velocity="3.15"/>
+    <dynamics damping="400.0" friction="0.0"/>
+  </joint>
+
+  <!-- Forearm link -->
+  <link name="forearm_link">
+    <inertial>
+      <mass value="2.275"/>
+      <inertia ixx="0.04923" ixy="0.0" ixz="0.0" iyy="0.04923" iyz="0.0" izz="0.00471"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ur_description/meshes/ur5e/collision/forearm.dae"/>
+      </geometry>
+      <material name="URBlue">
+        <color rgba="0.0 0.3 0.6 1.0"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ur_description/meshes/ur5e/collision/forearm.dae"/>
+      </geometry>
+    </collision>
+  </link>
+
+  <!-- Wrist 1 joint -->
+  <joint name="wrist_1_joint" type="revolute">
+    <origin xyz="0 -0.0000000000000001 -0.12700000405311584" rpy="0 0 0"/>
+    <parent link="forearm_link"/>
+    <child link="wrist_1_link"/>
+    <axis xyz="0 0 1"/>
+    <limit lower="-6.28319" upper="6.28319" effort="54" velocity="6.28"/>
+    <dynamics damping="400.0" friction="0.0"/>
+  </joint>
+
+  <!-- Wrist 1 link -->
+  <link name="wrist_1_link">
+    <inertial>
+      <mass value="1.219"/>
+      <inertia ixx="0.00211" ixy="0.0" ixz="0.0" iyy="0.00211" iyz="0.0" izz="0.00211"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ur_description/meshes/ur5e/collision/wrist1.dae"/>
+      </geometry>
+      <material name="DarkGrey">
+        <color rgba="0.3 0.3 0.3 1.0"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ur_description/meshes/ur5e/collision/wrist1.dae"/>
+      </geometry>
+    </collision>
+  </link>
+
+  <!-- Wrist 2 joint -->
+  <joint name="wrist_2_joint" type="revolute">
+    <origin xyz="0 0 -0.09969999641180038" rpy="0 0 0"/>
+    <parent link="wrist_1_link"/>
+    <child link="wrist_2_link"/>
+    <axis xyz="0 1 0"/>
+    <limit lower="-6.28319" upper="6.28319" effort="54" velocity="6.28"/>
+    <dynamics damping="400.0" friction="0.0"/>
+  </joint>
+
+  <!-- Wrist 2 link -->
+  <link name="wrist_2_link">
+    <inertial>
+      <mass value="1.219"/>
+      <inertia ixx="0.00211" ixy="0.0" ixz="0.0" iyy="0.00211" iyz="0.0" izz="0.00211"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ur_description/meshes/ur5e/collision/wrist2.dae"/>
+      </geometry>
+      <material name="URBlue">
+        <color rgba="0.0 0.3 0.6 1.0"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ur_description/meshes/ur5e/collision/wrist2.dae"/>
+      </geometry>
+    </collision>
+  </link>
+
+  <!-- Wrist 3 joint -->
+  <joint name="wrist_3_joint" type="revolute">
+    <origin xyz="0 0 -0.09889999777078629" rpy="0 0 0"/>
+    <parent link="wrist_2_link"/>
+    <child link="wrist_3_link"/>
+    <axis xyz="0 0 1"/>
+    <limit lower="-6.28319" upper="6.28319" effort="54" velocity="6.28"/>
+    <dynamics damping="400.0" friction="0.0"/>
+  </joint>
+
+  <!-- Wrist 3 link -->
+  <link name="wrist_3_link">
+    <inertial>
+      <mass value="0.1879"/>
+      <inertia ixx="0.00025" ixy="0.0" ixz="0.0" iyy="0.00025" iyz="0.0" izz="0.00025"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ur_description/meshes/ur5e/collision/wrist3.dae"/>
+      </geometry>
+      <material name="DarkGrey">
+        <color rgba="0.3 0.3 0.3 1.0"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ur_description/meshes/ur5e/collision/wrist3.dae"/>
+      </geometry>
+    </collision>
+  </link>
+
+  <!-- Robot gripper joint -->
+  <joint name="robot_gripper_joint" type="fixed">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <parent link="wrist_3_link"/>
+    <child link="gripper_base"/>
+  </joint>
+
+  <!-- Gripper base -->
+  <link name="gripper_base">
+    <inertial>
+      <mass value="0.5"/>
+      <inertia ixx="0.001" ixy="0.0" ixz="0.0" iyy="0.001" iyz="0.0" izz="0.001"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ur_description/meshes/ur5e/collision/gripper_base.dae"/>
+      </geometry>
+      <material name="Grey">
+        <color rgba="0.5 0.5 0.5 1.0"/>
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ur_description/meshes/ur5e/collision/gripper_base.dae"/>
+      </geometry>
+    </collision>
+  </link>
+
+  <!-- Left finger joint -->
+  <joint name="left_finger_joint" type="prismatic">
+    <origin xyz="0 0.08663 0.023" rpy="0 0 0"/>
+    <parent link="gripper_base"/>
+    <child link="left_finger"/>
+    <axis xyz="0 0 1"/>
+    <limit lower="0" upper="0.025" effort="150" velocity="1.0"/>
+  </joint>
+
+  <!-- Left finger -->
+  <link name="left_finger">
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