Universal Robots SimReady assets: UR17g-1300 (ur17g_1300 2026.10.19_00)

.gitattributes

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+*.7z filter=lfs diff=lfs merge=lfs -text
+*.arrow filter=lfs diff=lfs merge=lfs -text
+*.avro filter=lfs diff=lfs merge=lfs -text
+*.bin filter=lfs diff=lfs merge=lfs -text
+*.bz2 filter=lfs diff=lfs merge=lfs -text
+*.ckpt filter=lfs diff=lfs merge=lfs -text
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+*.safetensors filter=lfs diff=lfs merge=lfs -text
+saved_model/**/* filter=lfs diff=lfs merge=lfs -text
+*.tar.* filter=lfs diff=lfs merge=lfs -text
+*.tar filter=lfs diff=lfs merge=lfs -text
+*.tflite filter=lfs diff=lfs merge=lfs -text
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+# Audio files - uncompressed
+*.pcm filter=lfs diff=lfs merge=lfs -text
+*.sam filter=lfs diff=lfs merge=lfs -text
+*.raw filter=lfs diff=lfs merge=lfs -text
+# Audio files - compressed
+*.aac filter=lfs diff=lfs merge=lfs -text
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+*.mp3 filter=lfs diff=lfs merge=lfs -text
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+# Image files - uncompressed
+*.bmp filter=lfs diff=lfs merge=lfs -text
+*.gif filter=lfs diff=lfs merge=lfs -text
+*.png filter=lfs diff=lfs merge=lfs -text
+*.tiff filter=lfs diff=lfs merge=lfs -text
+# Image files - compressed
+*.jpg filter=lfs diff=lfs merge=lfs -text
+*.jpeg filter=lfs diff=lfs merge=lfs -text
+*.webp 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
+ur17g_1300/simready_usd/payloads/geometries.usd filter=lfs diff=lfs merge=lfs -text

README.md

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+---
+license: other
+license_name: ur-graphical-documentation-and-bsd-3-clause
+license_link: https://huggingface.co/datasets/TeradyneRobotics/UniversalRobots/blob/main/ur17g_1300/NOTICE.txt
+tags:
+  - simready
+  - robotics
+  - usd
+  - isaac-sim
+---
+
+# Universal Robots SimReady assets
+
+SimReady packages of Universal Robots robot arms for NVIDIA Isaac Sim and the NVIDIA SimReady Catalog.
+
+| Asset | Robot |
+|---|---|
+| `ur17g_1300/` | Universal Robots UR17g-1300 collaborative robot arm (g-Series, 1300 mm reach) |
+
+## Licence
+
+Not CC-BY. Two licences apply, by content (see each package's `NOTICE.txt`):
+
+- **Visual geometry, materials and rendered images** derive from Universal Robots' meshes, constitutes “Graphical
+  Documentation” the use of which is subject to and governed by our “Terms and Conditions for use of Graphical
+  Documentation”, which can be found here:
+  https://www.universal-robots.com/legal/terms-and-conditions/terms_and_conditions_for_use_of_graphical_documentation.txt.
+  By accessing, storing, copying, sharing, opening, or otherwise using or disposing of this file, you accept and
+  acknowledge that you are bound by the “Terms and Conditions for use of Graphical Documentation”. © 2026 Universal Robots A/S. Use hereof is subject
+  to Universal Robots A/S' Terms and Conditions for Use of Graphical Documentation.
+- **Kinematic, joint-limit, inertial and structural data** derive from Universal Robots'
+  [Universal_Robots_ROS2_Description](https://github.com/UniversalRobots/Universal_Robots_ROS2_Description) and are
+  licensed under the BSD 3-Clause License (`LICENSE-BSD-3-Clause.txt` in each package).

ur17g_1300/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json

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+    }
+  ]
+}

ur17g_1300/.metadata/com.nvidia.simready.packaging.bom.json

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ur17g_1300/.metadata/ur17g_1300_validation.json

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+}

ur17g_1300/LICENSE-BSD-3-Clause.txt

@@ -0,0 +1,25 @@
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+
+   * Redistributions of source code must retain the above copyright
+     notice, this list of conditions and the following disclaimer.
+
+   * Redistributions in binary form must reproduce the above copyright
+     notice, this list of conditions and the following disclaimer in the
+     documentation and/or other materials provided with the distribution.
+
+   * Neither the name of the copyright holder nor the names of its
+     contributors may be used to endorse or promote products derived from
+     this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+POSSIBILITY OF SUCH DAMAGE.

ur17g_1300/LICENSE-UR-Graphical-Documentation.txt

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+TERMS AND CONDITIONS FOR USE OF GRAPHICAL DOCUMENTATION
+
+Version: 1.01 / release date: 2023-09-12
+
+These Terms and Conditions for Use of Graphical Documentation (the “T&Cs”) govern your use of graphical files and documents*, including the contents hereof, (the “Graphical Documentation”) provided or made available to you by Universal Robots A/S (“Universal Robots”) for the purposes of creating simulations, visualizations, digital representations, path planning, collision avoidance and algorithms of or for Universal Robots’ products. The T&Cs constitute a binding agreement between you and Universal Robots. By accessing, storing, copying, sharing, opening, or otherwise using or disposing of the Graphical Documentation, you acknowledge that you are bound by the T&Cs.
+
+1. PERMITTED USE OF THE GRAPHICAL DOCUMENTATION
+
+1.1. You may use the Graphical Documentation for the purposes of creating simulations, visualizations, digital representations, path planning, collision avoidance and algorithms of or for Universal Robots’ products, provided that your use does not constitute comparative advertising and is not otherwise unfair, disloyal, or disparaging to Universal Robots.
+
+1.2. Hobbyists, students and/or researchers are allowed to use the Graphical Documentation to create models or similar solely for non-commercial purposes as part of their hobby, academic studies, or research. However, no one is allowed to use the Graphical Documentation to create a physical model or similar for commercial purposes, nor to create or improve a product that is capable of competing, either directly or indirectly, with any of Universal Robots’ or its affiliates’ current or future robots.
+
+1.3. You are permitted to create a product or solution that simulates, visualizes, or digitally represents a Universal Robots product, regardless of the origin of the underlying software, and regardless of whether Universal Robots or its affiliates have released a product that competes with the underlying software. However, you may not in any way use the Graphical Documentation to create a product or solution that simulates, visualizes or represents a product that is capable of competing, either directly or indirectly, with any of Universal Robots’ or its affiliates’ current or future products without Universal Robots’ prior written permission.
+
+1.4. You may share the Graphical Documentation or any whole or partial copies thereof with a third party (i) if and to the extent it is necessary for you to do so in order for you to engage in use permitted pursuant to this Section 1, and (ii) you provide the recipient with a copy of the T&Cs. However, you may only make the Graphical Documentation or any whole or partial copies thereof available to the public via download if it is part of a downloadable software package that includes a copy of the T&Cs. If you download a software package that includes the Graphical Documentation, your use of the Graphical Documentation will be subject to and governed by the latest version of the T&Cs, which can be found here: https://www.universal-robots.com/legal/terms-and-conditions/terms_and_conditions_for_use_of_graphical_documentation.txt , regardless of whether they are included in the software package or not.
+
+1.4.1. You are not allowed to alter, obscure, remove or replace any copyright or other legal notices, trademarks, business names and/or logos embedded in, superimposed on, affixed to, or otherwise included in, the Graphical Documentation without Universal Robots’ prior written permission.
+
+1.4.2. You may show the Graphical Documentation in whole or in part to a third party or the public in the course of you engaging in the use permitted pursuant to this Section 1, provided that you display any copyright notice already contained in the Graphical Documentation, cf. also Section 1.4.1.
+
+1.4.3. You may show graphical representations of Universal Robots’ products based on the Graphical Documentation to a third party or the public in the course of you engaging in the use permitted pursuant to this Section 1, if you, to the extent possible, display the following copyright notice in connection with such use: “© 2023 Universal Robots A/S. Use hereof is subject to Universal Robots A/S’ Terms and Conditions for Use of Graphical Documentation.” If the medium that you use limits or does not support the possibility of displaying the copyright notice, you may in good faith disregard this requirement.
+
+1.5. You may under no circumstances use the Graphical Documentation for planning, construction, maintenance, operation, or use, directly or indirectly, in nuclear power plants, missile technology, chemical or biological weapons applications or flight, navigation, or communication of aircraft or ground support equipment.
+
+1.6. Any use of the Graphical Documentation that is not expressly permitted pursuant to this Section 1 constitutes a material breach of the T&Cs.
+
+1.7. If your intended use of the Graphical Documentation is not permitted pursuant to the T&Cs, you may contact Universal Robots via email at legal@universal-robots.com and request a special permission to engage in your particular intended use.
+
+
+2. INTELLECTUAL PROPERTY RIGHTS
+
+2.1. You acknowledge and agree that the Graphical Documentation and all intellectual property rights contained and/or embodied therein, including, but not limited to, rights under the Danish Marketing Practices Act or under similar rules of law, patents, utility models, copyrights and related rights, software, trademarks, semiconductors, designs, know-how, rights in databases, trade secrets, and all applications or pending applications for such in all cases, whether or not registrable in any country, and all rights and forms of protection of a similar nature or having equivalent or similar effect anywhere in the world, shall be and remain the sole property of Universal Robots. Nothing in the T&Cs shall be construed as granting you any license to such rights, including, without limitation, any licenses to use Universal Robots’ trademarks, patents, or designs, except as strictly necessary in order for you to engage in the use permitted pursuant to Section 1.
+
+2.2. If you create any derivative works based on the Graphical Documentation, Universal Robots shall own the intellectual property rights in and to such derivative works. The foregoing notwithstanding, you may use such derivative works in connection with your use of the Graphical Documentation in accordance with Section 1.
+
+
+3. NO WARRANTIES, LIMITATIONS OF LIABILITY
+
+3.1. THE GRAPHICAL DOCUMENTATION IS PROVIDED ON AN “AS IS” BASIS AND UNIVERSAL ROBOTS MAKES NO WARRANTY OF ANY KIND WITH RESPECT TO THE GRAPHICAL DOCUMENTATION AND WE HEREBY EXPRESSLY EXCLUDE ANY WARRANTIES WITH RESPECT THERETO, WHETHER EXPRESS, IMPLIED, STATUTORY OR OTHERWISE, INCLUDING BUT NOT LIMITED TO ANY IMPLIED WARRANTIES OF MERCHANTABILITY, SATISFACTORY QUALITY, FITNESS FOR A PARTICULAR PURPOSE, TITLE, NONINFRINGEMENT, ACCURACY OR ANY OTHER WARRANTIES OR GUARANTEES THAT MAY ARISE FROM COURSE OF DEALING, USAGE, OR TRADE PRACTICE. NEITHER UNIVERSAL ROBOTS NOR ITS SUPPLIERS, INCLUDING – WITHOUT LIMITATION – ITS LICENSORS, MAKE ANY REPRESENTATION, WARRANTY, OR OTHER COMMITMENT REGARDING (1) THE USE OR INABILITY TO USE THE GRAPHICAL DOCUMENTATION; OR (2) ANY RESULTS OF SUCH USE IN TERMS OF CORRECTNESS, ACCURACY, OR RELIABILITY. YOU UNDERSTAND AND AGREE THAT YOU ASSUME THE ENTIRE RISK AS TO YOUR USE OF THE GRAPHICAL DOCUMENTATION.
+
+3.2. TO THE EXTENT PERMITTED BY LAW, IN NO EVENT WILL UNIVERSAL ROBOTS BE LIABLE FOR ANY LOSSES OR DAMAGES INCURRED BY YOU, WHETHER DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY OR CONSEQUENTIAL, INCLUDING LOST OR ANTICIPATED PROFITS, SAVINGS, INTERRUPTION TO BUSINESS, LOSS OF BUSINESS OPPORTUNITIES, LOSS OF BUSINESS INFORMATION OR OTHER DATA, THE COST OF RECOVERING SUCH LOST INFORMATION OR DATA, THE COST OF SUBSTITUTE INTELLECTUAL PROPERTY OR ANY OTHER PECUNIARY LOSS ARISING FROM THE USE OF, OR THE INABILITY TO USE, THE GRAPHICAL DOCUMENTATION REGARDLESS OF WHETHER UNIVERSAL ROBOTS HAS BEEN ADVISED OF THE POSSIBILITY OF SUCH DAMAGES. THE FOREGOING LIMITATIONS APPLY REGARDLESS OF THE CAUSE OR CIRCUMSTANCES GIVING RISE TO SUCH LOSS, DAMAGE OR LIABILITY, EVEN IF SUCH LOSS, DAMAGE OR LIABILITY IS BASED ON NEGLIGENCE OR OTHER TORTS OR BREACH OF CONTRACT.
+
+
+4. INDEMNIFICATION
+
+4.1. You shall defend, indemnify, and hold Universal Robots and its affiliates, employees, and agents harmless, from and against all sums, claims, costs, duties, liabilities, losses, obligations, suits, actions, damages, penalties, awards, fines, interest, and other expenses (including investigation expenses and attorneys’ fees) that Universal Robots may incur or be obligated to pay as a result of your unauthorized use, modification, resale, transfer, shipment, or export of the Graphical Documentation.
+
+
+5. MISCELLANEOUS
+
+5.1. Entire Agreement. Except as otherwise explicitly provided for herein, the T&Cs constitute the entire agreement and supersedes all prior negotiations, promises, understandings, and agreements between the parties with respect to the subject matter hereof.
+
+5.2. Changes to the T&Cs. Universal Robots reserves the right, in its sole and absolute discretion, to change the terms of the T&Cs by providing you with ninety (90) days’ notice.
+
+5.3. Obligations on Legal Successors. The parties undertake to impose the obligations under the T&Cs on their statutory or contractual legal successors, if any.
+
+5.4. Export Laws. You agree to comply with all applicable laws and regulations, including export laws of the United States and any other applicable country or jurisdiction. You agree that the Graphical Documentation will not be shipped, transferred, or exported into any country or used in any manner prohibited by the United States Export Administration Act or any other country’s export laws, restrictions, or regulations (collectively the “Export Laws”). In addition, if the Graphical Documentation are identified as export controlled items under the Export Laws, you represent and warrant that you are not a citizen, or otherwise located within, an embargoed nation and that you are not otherwise prohibited under the Export Laws from receiving the Graphical Documentation.
+
+5.5. No Agency. The parties are independent contractors and nothing in the T&Cs shall be construed as to create an agency, joint venture, partnership, or other form of business association between the parties.
+
+5.6. Survival. If the contents of individual provisions of the T&Cs are intended to survive the termination or expiration of the T&Cs, such provisions, including but not limited to provisions governing warranties and representations and the transfer of rights, title and interest to Universal Robots, shall to this extent remain in effect and be fully enforceable also after the termination or expiration of the T&Cs for whatever reason.
+
+
+6. TERM AND TERMINATION
+
+6.1. The T&Cs shall enter into force upon your receipt of, or you accessing, the Graphical Documentation and continue to be in force until terminated in accordance with this Section 6. The T&Cs shall automatically expire at such time as you are no longer permitted to use the Graphical Documentation in accordance with Section 1.
+
+6.2. You may terminate the T&Cs for convenience at any time by deleting all copies of the Graphical Documentation in your possession. Universal Robots may terminate the T&Cs for convenience by providing you with ninety (90) days’ notice.
+
+6.3. Universal Robots may terminate the T&Cs for cause with immediate effect in case of your material breach of the T&Cs.
+
+
+7. EFFECTS OF TERMINATION
+
+7.1. Upon expiration or termination of the T&Cs, for whatever reason, you must immediately cease use of the Graphical Documentation and delete all copies of the Graphical Documentation in your possession.
+
+8. GOVERNING LAW AND VENUE
+
+8.1. The T&Cs shall be governed by and construed in accordance with the laws of Denmark, without giving effect to conflict of law provisions thereof. The parties expressly disclaim the applicability of the United Nations Convention on Contracts for the International Sale of Goods.
+
+8.2. Any and all disputes arising out of or in connection with the T&Cs shall be submitted to the International Chamber of Commerce and shall be settled under the Rules of Arbitration of the International Chamber of Commerce by one (1) arbitrator appointed in accordance with said Rules. The place of arbitration shall be Copenhagen, Denmark. The arbitration shall be conducted in the English language. The foregoing notwithstanding, Universal Robots may seek preliminary, temporary, or permanent injunctive relief and other equitable remedies in any court of competent jurisdiction prior to or during arbitration and may enforce the award of the arbitrator in any court of competent jurisdiction.
+
+
+* E.g., STEP-Files (ISO 10303-21), Collada (.dae), STL files (.stl), GLB files (.glb), GLFT files (.glft) , Jupiter Tessellation files (.jt), E-plan files (.emp), electrical schematics, CAD files, and drawings including the contents of these technical files. “Software”, as defined in Universal Robots End User Software License Agreement, does not constitute “Technical Documentation” and your use thereof is, unless otherwise agreed with Universal Robots in writing, governed by Universal Robots’ End User Software License Agreement.

ur17g_1300/NOTICE.txt

@@ -0,0 +1,22 @@
+UR17g-1300 SimReady asset - licensing
+=====================================
+
+This package is derived from Universal Robots' robot descriptions
+(https://github.com/UniversalRobots/Universal_Robots_ROS2_Description). Two licences apply,
+by content:
+
+* Visual geometry and appearance - mesh data and materials (simready_usd/payloads/geometries.usd,
+  instances.usda and materials.usda, plus any simready_usd/Textures/) and images rendered
+  from them (simready_usd/.thumbs/) - derive from Universal Robots' meshes, constitutes “Graphical Documentation” 
+  the use of which is subject to and governed by our “Terms and Conditions for use of Graphical Documentation”, 
+  which can be found here: 
+  https://www.universal-robots.com/legal/terms-and-conditions/terms_and_conditions_for_use_of_graphical_documentation.txt. 
+  By accessing, storing, copying, sharing, opening, or otherwise using or disposing of this file, you accept and acknowledge 
+  that you are bound by the “Terms and Conditions for use of Graphical Documentation”.
+
+  (c) 2026 Universal Robots A/S. Use hereof is subject to Universal Robots A/S' Terms and
+  Conditions for Use of Graphical Documentation.
+
+* Everything else - kinematics, joint limits, inertial parameters, joint/articulation structure
+  and the USD composition - derives from the description package's configuration and is
+  licensed under the BSD 3-Clause License: LICENSE-BSD-3-Clause.txt

ur17g_1300/com.nvidia.simready.packaging.json

@@ -0,0 +1,31 @@
+{
+  "format_version": "1.0",
+  "package_id": "simready.hf.TeradyneRobotics.UniversalRobots.ur17g_1300.2026.10.19_00",
+  "license": "other",
+  "metadata": [
+    {
+      "name": "com.nvidia.simready.conformance.Package-Candidate@1.0.0.json",
+      "hash": {
+        "sha256": "7bff41a182f88f36959aaa46d0f29099d3ff82ac4a45204f2154ef95f737963f"
+      }
+    },
+    {
+      "name": "com.nvidia.simready.packaging.bom.json",
+      "hash": {
+        "sha256": "1e3a7d1b011f1ed8b7d414e8a4483077572a0efacad611017c544a793f02bd68"
+      }
+    },
+    {
+      "name": "com.nvidia.simready.root_usds.json",
+      "hash": {
+        "sha256": "3e0d5f68af8c44503ae3190047400cc8092d4789cf13f825658dda454b5bf6c6"
+      }
+    }
+  ],
+  "content_hash": {
+    "sha256": "9d2c7e323727613a012ff0cee136da428ab24b300f4d8c37d71962c8c52553b7"
+  },
+  "package_hash": {
+    "sha256": "84a8042d06ceb3bb8c22b5cc958af19a52cc1ad9f3c831ec37e5b975b334886d"
+  }
+}

ur17g_1300/simready_usd/payloads/Physics/physics.usda

@@ -0,0 +1,276 @@
+#usda 1.0
+(
+    "Universal Robots UR17g-1300. Kinematic, joint-limit, inertial and structural data derived from Universal Robots' Universal_Robots_ROS2_Description (ur_description), licensed under the BSD 3-Clause License. See LICENSE-BSD-3-Clause.txt."
+    customLayerData = {
+        string creator = "URDF USD Converter v0.3.2"
+        string license = "BSD-3-Clause"
+        string license_files = "LICENSE-BSD-3-Clause.txt"
+        string license_notice = "Kinematic, joint-limit, inertial and structural data derived from Universal Robots' Universal_Robots_ROS2_Description (ur_description), licensed under the BSD 3-Clause License. See LICENSE-BSD-3-Clause.txt."
+    }
+    defaultPrim = "ur17g_1300"
+    kilogramsPerUnit = 1
+    metersPerUnit = 1
+    upAxis = "Z"
+)
+
+over "ur17g_1300"
+{
+    over "Geometry"
+    {
+        over "world"
+        {
+            over "base_link"
+            {
+                over "base_link_inertia" (
+                    prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"]
+                )
+                {
+                    point3f physics:centerOfMass = (0, 0, 0)
+                    float3 physics:diagonalInertia = (0.03223332, 0.03223332, 0.0578)
+                    float physics:mass = 4
+                    quatf physics:principalAxes = (1, 0, 0, 0)
+
+                    over "shoulder_link" (
+                        prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"]
+                    )
+                    {
+                        point3f physics:centerOfMass = (0.000024, -0.025304, -0.033309)
+                        float3 physics:diagonalInertia = (0.029906383, 0.051333707, 0.05205891)
+                        float physics:mass = 9.9883
+                        quatf physics:principalAxes = (-0.6906003, -0.15383291, -0.16818321, 0.6863826)
+
+                        over "upper_arm_link" (
+                            prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"]
+                        )
+                        {
+                            point3f physics:centerOfMass = (-0.228491, -0.000083, 0.192787)
+                            float3 physics:diagonalInertia = (0.047292504, 1.1836803, 1.1884992)
+                            float physics:mass = 14.9255
+                            quatf physics:principalAxes = (0.70876104, 0.70530677, -0.010098789, 0.00990651)
+
+                            over "forearm_link" (
+                                prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"]
+                            )
+                            {
+                                point3f physics:centerOfMass = (-0.210929, 0.000019, 0.070552)
+                                float3 physics:diagonalInertia = (0.017818023, 0.29750597, 0.303502)
+                                float physics:mass = 6.1015
+                                quatf physics:principalAxes = (0.70673466, 0.7070595, 0.017220944, -0.017216131)
+
+                                over "wrist_1_link" (
+                                    prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"]
+                                )
+                                {
+                                    point3f physics:centerOfMass = (0.000025, -0.016413, -0.019695)
+                                    float3 physics:diagonalInertia = (0.0022482492, 0.0042110677, 0.0043396833)
+                                    float physics:mass = 2.089
+                                    quatf physics:principalAxes = (0.16272259, 0.6851511, 0.11880961, 0.6999811)
+
+                                    over "wrist_2_link" (
+                                        prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"]
+                                    )
+                                    {
+                                        point3f physics:centerOfMass = (0.000025, 0.015886, -0.01996)
+                                        float3 physics:diagonalInertia = (0.0022586037, 0.0042326786, 0.004289718)
+                                        float physics:mass = 2.0869
+                                        quatf physics:principalAxes = (0.6757226, 0.19960344, 0.7046708, 0.083645105)
+
+                                        over "wrist_3_link" (
+                                            prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"]
+                                        )
+                                        {
+                                            point3f physics:centerOfMass = (-0.000018, -0.000112, -0.053397)
+                                            float3 physics:diagonalInertia = (0.0010003353, 0.0014022221, 0.0014094426)
+                                            float physics:mass = 1.0666
+                                            quatf physics:principalAxes = (-0.64493215, 0.26829278, 0.6758145, 0.2352791)
+
+                                            over "smart_panel" (
+                                                prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"]
+                                            )
+                                            {
+                                                point3f physics:centerOfMass = (0, 0, 0)
+                                                float3 physics:diagonalInertia = (0.0001, 0.0001, 0.0001)
+                                                float physics:mass = 0.1
+                                                quatf physics:principalAxes = (1, 0, 0, 0)
+                                            }
+                                        }
+                                    }
+                                }
+                            }
+                        }
+                    }
+                }
+            }
+        }
+    }
+
+    over "Physics"
+    {
+        def PhysicsRevoluteJoint "shoulder_pan_joint" (
+            prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
+        )
+        {
+            float drive:angular:physics:damping = 7.85514
+            float drive:angular:physics:maxForce = 433
+            float drive:angular:physics:stiffness = 1963.7845
+            float drive:angular:physics:targetPosition = 0
+            uniform token drive:angular:physics:type = "force"
+            uniform token physics:axis = "Z"
+            custom rel physics:body0
+            append rel physics:body0 = </ur17g_1300/Geometry/world/base_link/base_link_inertia>
+            custom rel physics:body1
+            append rel physics:body1 = </ur17g_1300/Geometry/world/base_link/base_link_inertia/shoulder_link>
+            point3f physics:localPos0 = (0, 0, 0.2186)
+            point3f physics:localPos1 = (0, 0, 0)
+            quatf physics:localRot0 = (1, 0, 0, 0)
+            quatf physics:localRot1 = (1, 0, 0, 0)
+            float physics:lowerLimit = -360
+            float physics:upperLimit = 360
+            custom float urdf:limit:effort = 433
+        }
+
+        def PhysicsRevoluteJoint "shoulder_lift_joint" (
+            prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
+        )
+        {
+            float drive:angular:physics:damping = 7.85514
+            float drive:angular:physics:maxForce = 433
+            float drive:angular:physics:stiffness = 1963.7845
+            float drive:angular:physics:targetPosition = 0
+            uniform token drive:angular:physics:type = "force"
+            uniform token physics:axis = "Z"
+            custom rel physics:body0
+            append rel physics:body0 = </ur17g_1300/Geometry/world/base_link/base_link_inertia/shoulder_link>
+            custom rel physics:body1
+            append rel physics:body1 = </ur17g_1300/Geometry/world/base_link/base_link_inertia/shoulder_link/upper_arm_link>
+            point3f physics:localPos0 = (0, 0, 0)
+            point3f physics:localPos1 = (0, 0, 0)
+            quatf physics:localRot0 = (0.70710677, 0.70710677, -1.2325952e-32, -1.7934538e-17)
+            quatf physics:localRot1 = (1, 0, 0, 0)
+            float physics:lowerLimit = -360
+            float physics:upperLimit = 360
+            custom float urdf:limit:effort = 433
+        }
+
+        def PhysicsRevoluteJoint "elbow_joint" (
+            prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
+        )
+        {
+            float drive:angular:physics:damping = 7.85514
+            float drive:angular:physics:maxForce = 204
+            float drive:angular:physics:stiffness = 1963.7845
+            float drive:angular:physics:targetPosition = 0
+            uniform token drive:angular:physics:type = "force"
+            uniform token physics:axis = "Z"
+            custom rel physics:body0
+            append rel physics:body0 = </ur17g_1300/Geometry/world/base_link/base_link_inertia/shoulder_link/upper_arm_link>
+            custom rel physics:body1
+            append rel physics:body1 = </ur17g_1300/Geometry/world/base_link/base_link_inertia/shoulder_link/upper_arm_link/forearm_link>
+            point3f physics:localPos0 = (-0.6475, 0, 0)
+            point3f physics:localPos1 = (0, 0, 0)
+            quatf physics:localRot0 = (1, 0, 0, 0)
+            quatf physics:localRot1 = (1, 0, 0, 0)
+            float physics:lowerLimit = -180
+            float physics:upperLimit = 180
+            custom float urdf:limit:effort = 204
+        }
+
+        def PhysicsRevoluteJoint "wrist_1_joint" (
+            prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
+        )
+        {
+            float drive:angular:physics:damping = 7.85514
+            float drive:angular:physics:maxForce = 70
+            float drive:angular:physics:stiffness = 1963.7845
+            float drive:angular:physics:targetPosition = 0
+            uniform token drive:angular:physics:type = "force"
+            uniform token physics:axis = "Z"
+            custom rel physics:body0
+            append rel physics:body0 = </ur17g_1300/Geometry/world/base_link/base_link_inertia/shoulder_link/upper_arm_link/forearm_link>
+            custom rel physics:body1
+            append rel physics:body1 = </ur17g_1300/Geometry/world/base_link/base_link_inertia/shoulder_link/upper_arm_link/forearm_link/wrist_1_link>
+            point3f physics:localPos0 = (-0.5164, 0, 0.1824)
+            point3f physics:localPos1 = (0, 0, 0)
+            quatf physics:localRot0 = (1, 0, 0, 0)
+            quatf physics:localRot1 = (1, 0, 0, 0)
+            float physics:lowerLimit = -360
+            float physics:upperLimit = 360
+            custom float urdf:limit:effort = 70
+        }
+
+        def PhysicsRevoluteJoint "wrist_2_joint" (
+            prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
+        )
+        {
+            float drive:angular:physics:damping = 7.85514
+            float drive:angular:physics:maxForce = 70
+            float drive:angular:physics:stiffness = 1963.7845
+            float drive:angular:physics:targetPosition = 0
+            uniform token drive:angular:physics:type = "force"
+            uniform token physics:axis = "Z"
+            custom rel physics:body0
+            append rel physics:body0 = </ur17g_1300/Geometry/world/base_link/base_link_inertia/shoulder_link/upper_arm_link/forearm_link/wrist_1_link>
+            custom rel physics:body1
+            append rel physics:body1 = </ur17g_1300/Geometry/world/base_link/base_link_inertia/shoulder_link/upper_arm_link/forearm_link/wrist_1_link/wrist_2_link>
+            point3f physics:localPos0 = (2.220446e-16, -0.1361, -2.7914587e-11)
+            point3f physics:localPos1 = (0, 0, 0)
+            quatf physics:localRot0 = (0.70710677, 0.70710677, -2.5363267e-17, -4.3297803e-17)
+            quatf physics:localRot1 = (1, 0, 0, 0)
+            float physics:lowerLimit = -360
+            float physics:upperLimit = 360
+            custom float urdf:limit:effort = 70
+        }
+
+        def PhysicsRevoluteJoint "wrist_3_joint" (
+            prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
+        )
+        {
+            float drive:angular:physics:damping = 7.85514
+            float drive:angular:physics:maxForce = 70
+            float drive:angular:physics:stiffness = 1963.7845
+            float drive:angular:physics:targetPosition = 0
+            uniform token drive:angular:physics:type = "force"
+            uniform token physics:axis = "Z"
+            custom rel physics:body0
+            append rel physics:body0 = </ur17g_1300/Geometry/world/base_link/base_link_inertia/shoulder_link/upper_arm_link/forearm_link/wrist_1_link/wrist_2_link>
+            custom rel physics:body1
+            append rel physics:body1 = </ur17g_1300/Geometry/world/base_link/base_link_inertia/shoulder_link/upper_arm_link/forearm_link/wrist_1_link/wrist_2_link/wrist_3_link>
+            point3f physics:localPos0 = (2.220446e-16, 0.1434, -2.9411806e-11)
+            point3f physics:localPos1 = (0, 0, 0)
+            quatf physics:localRot0 = (0.70710677, -0.70710677, 2.5363268e-17, 6.123234e-17)
+            quatf physics:localRot1 = (1, 0, 0, 0)
+            float physics:lowerLimit = -360
+            float physics:upperLimit = 360
+            custom float urdf:limit:effort = 70
+        }
+
+        def PhysicsFixedJoint "root_joint" (
+            prepend apiSchemas = ["PhysicsArticulationRootAPI"]
+        )
+        {
+            rel physics:body0 = </ur17g_1300/Geometry/world/base_link>
+            rel physics:body1 = </ur17g_1300/Geometry/world/base_link/base_link_inertia>
+            point3f physics:localPos0 = (0, 0, 0)
+            point3f physics:localPos1 = (0, 0, 0)
+            quatf physics:localRot0 = (6.123234e-17, 0, 0, 1)
+            quatf physics:localRot1 = (1, 0, 0, 0)
+        }
+
+        def PhysicsFixedJoint "tn__wrist_3_linksmart_panel_cY0"
+        {
+            custom rel physics:body0
+            append rel physics:body0 = </ur17g_1300/Geometry/world/base_link/base_link_inertia/shoulder_link/upper_arm_link/forearm_link/wrist_1_link/wrist_2_link/wrist_3_link>
+            custom rel physics:body1
+            append rel physics:body1 = </ur17g_1300/Geometry/world/base_link/base_link_inertia/shoulder_link/upper_arm_link/forearm_link/wrist_1_link/wrist_2_link/wrist_3_link/smart_panel>
+            point3f physics:localPos0 = (-2.220446e-16, 0, 0)
+            point3f physics:localPos1 = (0, 0, 0)
+            quatf physics:localRot0 = (1, 0, 0, 0)
+            quatf physics:localRot1 = (1, 0, 0, 0)
+        }
+    }
+}
+
+def PhysicsScene "PhysicsScene"
+{
+}
+

ur17g_1300/simready_usd/payloads/base.usda

@@ -0,0 +1,516 @@
+#usda 1.0
+(
+    "Universal Robots UR17g-1300. Visual geometry, materials and textures: © 2026 Universal Robots A/S. Use hereof is subject to Universal Robots A/S' Terms and Conditions for Use of Graphical Documentation. See LICENSE-UR-Graphical-Documentation.txt. Everything else: Kinematic, joint-limit, inertial and structural data derived from Universal Robots' Universal_Robots_ROS2_Description (ur_description), licensed under the BSD 3-Clause License. See LICENSE-BSD-3-Clause.txt. See NOTICE.txt."
+    customLayerData = {
+        string copyright = "© 2026 Universal Robots A/S"
+        string creator = "URDF USD Converter v0.3.2"
+        string license = "LicenseRef-UR-Graphical-Documentation AND BSD-3-Clause"
+        string license_files = "LICENSE-UR-Graphical-Documentation.txt, LICENSE-BSD-3-Clause.txt, NOTICE.txt"
+        string license_notice = "Visual geometry, materials and textures: © 2026 Universal Robots A/S. Use hereof is subject to Universal Robots A/S' Terms and Conditions for Use of Graphical Documentation. See LICENSE-UR-Graphical-Documentation.txt. Everything else: Kinematic, joint-limit, inertial and structural data derived from Universal Robots' Universal_Robots_ROS2_Description (ur_description), licensed under the BSD 3-Clause License. See LICENSE-BSD-3-Clause.txt. See NOTICE.txt."
+    }
+    defaultPrim = "ur17g_1300"
+    kilogramsPerUnit = 1
+    metersPerUnit = 1
+    subLayers = [
+        @./robot.usda@
+    ]
+    upAxis = "Z"
+)
+
+def Xform "ur17g_1300" (
+    prepend apiSchemas = ["GeomModelAPI"]
+    assetInfo = {
+        string name = "ur17g_1300"
+    }
+    kind = "component"
+)
+{
+    float3[] extentsHint = [(-0.102000006, -0.102004886, -7.450581e-9), (1.2130373, 0.32612693, 0.29946506), (3.4028235e38, 3.4028235e38, 3.4028235e38), (-3.4028235e38, -3.4028235e38, -3.4028235e38), (3.4028235e38, 3.4028235e38, 3.4028235e38), (-3.4028235e38, -3.4028235e38, -3.4028235e38), (-0.10045597, -0.10046086, -7.450581e-9), (1.2125198, 0.32478744, 0.2991826)]
+
+    def Scope "Materials"
+    {
+    }
+
+    def Scope "Geometry"
+    {
+        def Xform "world"
+        {
+            def Xform "base_link"
+            {
+                quatf xformOp:orient = (1, 0, 0, 0)
+                float3 xformOp:scale = (1, 1, 1)
+                double3 xformOp:translate = (0, 0, 0)
+                uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+
+                def Xform "base_link_inertia"
+                {
+                    quatf xformOp:orient = (6.123234e-17, 0, 0, 1)
+                    float3 xformOp:scale = (1, 1, 1)
+                    double3 xformOp:translate = (0, 0, 0)
+                    uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+
+                    def Xform "base" (
+                        instanceable = true
+                        prepend references = @./instances.usda@</Instances/base>
+                    )
+                    {
+                        quatd xformOp:orient = (0, 0, 0, 1)
+                        double3 xformOp:scale = (1, 1, 1)
+                        double3 xformOp:translate = (0, 0, 0)
+                        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+                    }
+
+                    def Xform "shoulder_link"
+                    {
+                        quatf xformOp:orient = (1, 0, 0, 0)
+                        float3 xformOp:scale = (1, 1, 1)
+                        double3 xformOp:translate = (0, 0, 0.2186)
+                        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+
+                        def Xform "shoulder" (
+                            instanceable = true
+                            prepend references = @./instances.usda@</Instances/shoulder>
+                        )
+                        {
+                            quatd xformOp:orient = (1, 0, 0, 0)
+                            double3 xformOp:scale = (1, 1, 1)
+                            double3 xformOp:translate = (0, 0, -0.111854)
+                            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+                        }
+
+                        def Xform "upper_arm_link"
+                        {
+                            quatf xformOp:orient = (0.70710677, 0.70710677, 0, 0)
+                            float3 xformOp:scale = (1, 1, 1)
+                            double3 xformOp:translate = (0, 0, 0)
+                            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+
+                            def Xform "upperarm"
+                            {
+                                quatf xformOp:orient = (-0.70710677, 0.70710677, 0, 0)
+                                float3 xformOp:scale = (1, 1, 1)
+                                double3 xformOp:translate = (0, 0, 0.109004)
+                                uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+
+                                def Xform "shoulder_001" (
+                                    instanceable = true
+                                    prepend references = @./instances.usda@</Instances/shoulder_001>
+                                )
+                                {
+                                    quatd xformOp:orient = (1, 0, 0, 0)
+                                    double3 xformOp:scale = (1, 1, 1)
+                                    double3 xformOp:translate = (0, 0, 0)
+                                    uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+                                }
+
+                                def Xform "tn__shoulder_pad_Logo_002002_ta0" (
+                                    displayName = "shoulder_pad_Logo_002.002"
+                                    instanceable = true
+                                    prepend references = @./instances.usda@</Instances/tn__shoulder_pad_Logo_002002_ta0>
+                                    uiHints = {
+                                        string displayName = "shoulder_pad_Logo_002.002"
+                                    }
+                                )
+                                {
+                                    quatd xformOp:orient = (1, 0, 0, 0)
+                                    double3 xformOp:scale = (1, 1, 1)
+                                    double3 xformOp:translate = (0, 0, 0)
+                                    uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+                                }
+
+                                def Xform "shoulder_pad_Logo" (
+                                    instanceable = true
+                                    prepend references = @./instances.usda@</Instances/shoulder_pad_Logo>
+                                )
+                                {
+                                    quatd xformOp:orient = (1, 0, 0, 0)
+                                    double3 xformOp:scale = (1, 1, 1)
+                                    double3 xformOp:translate = (0, 0, 0)
+                                    uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+                                }
+                            }
+
+                            def Xform "forearm_link"
+                            {
+                                quatf xformOp:orient = (1, 0, 0, 0)
+                                float3 xformOp:scale = (1, 1, 1)
+                                double3 xformOp:translate = (-0.6475, 0, 0)
+                                uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+
+                                def Xform "forearm"
+                                {
+                                    quatf xformOp:orient = (-0.70710677, 0.70710677, 0, 0)
+                                    float3 xformOp:scale = (1, 1, 1)
+                                    double3 xformOp:translate = (0, 0, 0.13425)
+                                    uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+
+                                    def Xform "elbow_001" (
+                                        instanceable = true
+                                        prepend references = @./instances.usda@</Instances/elbow_001>
+                                    )
+                                    {
+                                        quatd xformOp:orient = (1, 0, 0, 0)
+                                        double3 xformOp:scale = (1, 1, 1)
+                                        double3 xformOp:translate = (0, 0, 0)
+                                        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+                                    }
+
+                                    def Xform "tn__elbow1_pad_logo_hM" (
+                                        displayName = "elbow-1_pad_logo"
+                                        instanceable = true
+                                        prepend references = @./instances.usda@</Instances/tn__elbow1_pad_logo_hM>
+                                        uiHints = {
+                                            string displayName = "elbow-1_pad_logo"
+                                        }
+                                    )
+                                    {
+                                        quatd xformOp:orient = (1, 0, 0, 0)
+                                        double3 xformOp:scale = (1, 1, 1)
+                                        double3 xformOp:translate = (0, 0, 0)
+                                        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+                                    }
+
+                                    def Xform "elbow_pad_Logo_002" (
+                                        instanceable = true
+                                        prepend references = @./instances.usda@</Instances/elbow_pad_Logo_002>
+                                    )
+                                    {
+                                        quatd xformOp:orient = (1, 0, 0, 0)
+                                        double3 xformOp:scale = (1, 1, 1)
+                                        double3 xformOp:translate = (0, 0, 0)
+                                        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+                                    }
+                                }
+
+                                def Xform "wrist_1_link"
+                                {
+                                    quatf xformOp:orient = (1, 0, 0, 0)
+                                    float3 xformOp:scale = (1, 1, 1)
+                                    double3 xformOp:translate = (-0.5164, 0, 0.1824)
+                                    uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+
+                                    def Xform "wrist1"
+                                    {
+                                        quatf xformOp:orient = (-0.70710677, 0.70710677, 0, 0)
+                                        float3 xformOp:scale = (1, 1, 1)
+                                        double3 xformOp:translate = (0, 0, -0.0502)
+                                        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+
+                                        def Xform "tn__wrist1_001_ZF" (
+                                            displayName = "wrist-1_001"
+                                            instanceable = true
+                                            prepend references = @./instances.usda@</Instances/tn__wrist1_001_ZF>
+                                            uiHints = {
+                                                string displayName = "wrist-1_001"
+                                            }
+                                        )
+                                        {
+                                            quatd xformOp:orient = (1, 0, 0, 0)
+                                            double3 xformOp:scale = (1, 1, 1)
+                                            double3 xformOp:translate = (0, 0, 0)
+                                            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+                                        }
+
+                                        def Xform "tn__wrist1_pad_loog_001_bS" (
+                                            displayName = "wrist-1_pad_loog_001"
+                                            instanceable = true
+                                            prepend references = @./instances.usda@</Instances/tn__wrist1_pad_loog_001_bS>
+                                            uiHints = {
+                                                string displayName = "wrist-1_pad_loog_001"
+                                            }
+                                        )
+                                        {
+                                            quatd xformOp:orient = (1, 0, 0, 0)
+                                            double3 xformOp:scale = (1, 1, 1)
+                                            double3 xformOp:translate = (0, 0, 0)
+                                            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+                                        }
+                                    }
+
+                                    def Xform "wrist_2_link"
+                                    {
+                                        quatf xformOp:orient = (0.70710677, 0.70710677, 0, 0)
+                                        float3 xformOp:scale = (1, 1, 1)
+                                        double3 xformOp:translate = (0, -0.1361, -2.791457662093657e-11)
+                                        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+
+                                        def Xform "wrist2"
+                                        {
+                                            quatf xformOp:orient = (6.123234e-17, 0, 0, 1)
+                                            float3 xformOp:scale = (1, 1, 1)
+                                            double3 xformOp:translate = (0, 0, -0.064)
+                                            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+
+                                            def Xform "Band" (
+                                                instanceable = true
+                                                prepend references = @./instances.usda@</Instances/Band>
+                                            )
+                                            {
+                                                quatd xformOp:orient = (1, 0, 0, 0)
+                                                double3 xformOp:scale = (1, 1, 1)
+                                                double3 xformOp:translate = (0, 0, 0)
+                                                uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+                                            }
+
+                                            def Xform "tn__wrist2_001_ZF" (
+                                                displayName = "wrist-2_001"
+                                                instanceable = true
+                                                prepend references = @./instances.usda@</Instances/tn__wrist2_001_ZF>
+                                                uiHints = {
+                                                    string displayName = "wrist-2_001"
+                                                }
+                                            )
+                                            {
+                                                quatd xformOp:orient = (1, 0, 0, 0)
+                                                double3 xformOp:scale = (1, 1, 1)
+                                                double3 xformOp:translate = (0, 0, 0)
+                                                uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+                                            }
+                                        }
+
+                                        def Xform "wrist_3_link"
+                                        {
+                                            quatf xformOp:orient = (-0.70710677, 0.70710677, -8.6595606e-17, -1.7934538e-17)
+                                            float3 xformOp:scale = (1, 1, 1)
+                                            double3 xformOp:translate = (0, 0.1434, -2.941183164909849e-11)
+                                            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+
+                                            def Xform "wrist3"
+                                            {
+                                                quatf xformOp:orient = (1, 0, 0, 0)
+                                                float3 xformOp:scale = (1, 1, 1)
+                                                double3 xformOp:translate = (0, 0, 0)
+                                                uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+
+                                                def Xform "tn__wrist3G001_ZF7M" (
+                                                    displayName = "wrist-3-G.001"
+                                                    instanceable = true
+                                                    prepend references = @./instances.usda@</Instances/tn__wrist3G001_ZF7M>
+                                                    uiHints = {
+                                                        string displayName = "wrist-3-G.001"
+                                                    }
+                                                )
+                                                {
+                                                    quatd xformOp:orient = (1, 0, 0, 0)
+                                                    double3 xformOp:scale = (1, 1, 1)
+                                                    double3 xformOp:translate = (0, 0, 0)
+                                                    uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+                                                }
+
+                                                def Xform "tn__NoPanelprotection_gP" (
+                                                    displayName = "NoPanel-protection"
+                                                    instanceable = true
+                                                    prepend references = @./instances.usda@</Instances/tn__NoPanelprotection_gP>
+                                                    uiHints = {
+                                                        string displayName = "NoPanel-protection"
+                                                    }
+                                                )
+                                                {
+                                                    quatd xformOp:orient = (1, 0, 0, 0)
+                                                    double3 xformOp:scale = (1, 1, 1)
+                                                    double3 xformOp:translate = (0, 0, 0)
+                                                    uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+                                                }
+
+                                                def Xform "Band" (
+                                                    instanceable = true
+                                                    prepend references = @./instances.usda@</Instances/Band_1>
+                                                )
+                                                {
+                                                    quatd xformOp:orient = (1, 0, 0, 0)
+                                                    double3 xformOp:scale = (1, 1, 1)
+                                                    double3 xformOp:translate = (0, 0, 0)
+                                                    uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+                                                }
+                                            }
+
+                                            def Xform "smart_panel"
+                                            {
+                                                quatf xformOp:orient = (1, 0, 0, 0)
+                                                float3 xformOp:scale = (1, 1, 1)
+                                                double3 xformOp:translate = (0, 0, 0)
+                                                uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+
+                                                def Xform "smart_panel" (
+                                                    instanceable = true
+                                                    prepend references = @./instances.usda@</Instances/smart_panel>
+                                                )
+                                                {
+                                                    quatd xformOp:orient = (1, 0, 0, 0)
+                                                    double3 xformOp:scale = (1, 1, 1)
+                                                    double3 xformOp:translate = (0, 0, 0)
+                                                    uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+                                                }
+
+                                                def Xform "smart_panel_1" (
+                                                    displayName = "smart_panel"
+                                                    instanceable = true
+                                                    prepend references = @./instances.usda@</Instances/smart_panel_1>
+                                                    uiHints = {
+                                                        string displayName = "smart_panel"
+                                                    }
+                                                )
+                                                {
+                                                    quatd xformOp:orient = (1, 0, 0, 0)
+                                                    double3 xformOp:scale = (1, 1, 1)
+                                                    double3 xformOp:translate = (0, 0, 0)
+                                                    uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+                                                }
+                                            }
+
+                                            def Xform "wrist3_1" (
+                                                displayName = "wrist3"
+                                                instanceable = true
+                                                prepend references = @./instances.usda@</Instances/wrist3_1>
+                                                uiHints = {
+                                                    string displayName = "wrist3"
+                                                }
+                                            )
+                                            {
+                                                quatd xformOp:orient = (1, 0, 0, 0)
+                                                double3 xformOp:scale = (1, 1, 1)
+                                                double3 xformOp:translate = (0, 0, 0)
+                                                uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+                                            }
+
+                                            def Xform "ft_frame"
+                                            {
+                                                quatf xformOp:orient = (6.123234e-17, 1, 0, 0)
+                                                float3 xformOp:scale = (1, 1, 1)
+                                                double3 xformOp:translate = (0, 0, 0)
+                                                uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+                                            }
+
+                                            def Xform "flange"
+                                            {
+                                                quatf xformOp:orient = (-0.5, 0.5, 0.5, 0.5)
+                                                float3 xformOp:scale = (1, 1, 1)
+                                                double3 xformOp:translate = (0, 0, 0)
+                                                uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+
+                                                def Xform "tool0"
+                                                {
+                                                    quatf xformOp:orient = (0.5, 0.5, 0.5, 0.5)
+                                                    float3 xformOp:scale = (1, 1, 1)
+                                                    double3 xformOp:translate = (0, 0, 0)
+                                                    uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+                                                }
+                                            }
+                                        }
+
+                                        def Xform "wrist2_1" (
+                                            displayName = "wrist2"
+                                            instanceable = true
+                                            prepend references = @./instances.usda@</Instances/wrist2_1>
+                                            uiHints = {
+                                                string displayName = "wrist2"
+                                            }
+                                        )
+                                        {
+                                            quatd xformOp:orient = (0, 0, 0, 1)
+                                            double3 xformOp:scale = (1, 1, 1)
+                                            double3 xformOp:translate = (0, 0, -0.064)
+                                            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+                                        }
+                                    }
+
+                                    def Xform "wrist1_1" (
+                                        displayName = "wrist1"
+                                        instanceable = true
+                                        prepend references = @./instances.usda@</Instances/wrist1_1>
+                                        uiHints = {
+                                            string displayName = "wrist1"
+                                        }
+                                    )
+                                    {
+                                        quatd xformOp:orient = (0.7071067691, -0.7071067691, 0, 0)
+                                        double3 xformOp:scale = (1, 1, 1)
+                                        double3 xformOp:translate = (0, 0, -0.0502)
+                                        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+                                    }
+                                }
+
+                                def Xform "forearm_1" (
+                                    displayName = "forearm"
+                                    instanceable = true
+                                    prepend references = @./instances.usda@</Instances/forearm_1>
+                                    uiHints = {
+                                        string displayName = "forearm"
+                                    }
+                                )
+                                {
+                                    quatd xformOp:orient = (0.7071067691, -0.7071067691, 0, 0)
+                                    double3 xformOp:scale = (1, 1, 1)
+                                    double3 xformOp:translate = (0, 0, 0.13425)
+                                    uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+                                }
+                            }
+
+                            def Xform "upperarm_1" (
+                                displayName = "upperarm"
+                                instanceable = true
+                                prepend references = @./instances.usda@</Instances/upperarm_1>
+                                uiHints = {
+                                    string displayName = "upperarm"
+                                }
+                            )
+                            {
+                                quatd xformOp:orient = (0.7071067691, -0.7071067691, 0, 0)
+                                double3 xformOp:scale = (1, 1, 1)
+                                double3 xformOp:translate = (0, 0, 0.109004)
+                                uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+                            }
+                        }
+
+                        def Xform "shoulder_1" (
+                            displayName = "shoulder"
+                            instanceable = true
+                            prepend references = @./instances.usda@</Instances/shoulder_1>
+                            uiHints = {
+                                string displayName = "shoulder"
+                            }
+                        )
+                        {
+                            quatd xformOp:orient = (1, 0, 0, 0)
+                            double3 xformOp:scale = (1, 1, 1)
+                            double3 xformOp:translate = (0, 0, -0.111854)
+                            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+                        }
+                    }
+
+                    def Xform "base_1" (
+                        displayName = "base"
+                        instanceable = true
+                        prepend references = @./instances.usda@</Instances/base_1>
+                        uiHints = {
+                            string displayName = "base"
+                        }
+                    )
+                    {
+                        quatd xformOp:orient = (0, 0, 0, 1)
+                        double3 xformOp:scale = (1, 1, 1)
+                        double3 xformOp:translate = (0, 0, 0)
+                        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+                    }
+                }
+
+                def Xform "base"
+                {
+                    quatf xformOp:orient = (6.123234e-17, 0, 0, 1)
+                    float3 xformOp:scale = (1, 1, 1)
+                    double3 xformOp:translate = (0, 0, 0)
+                    uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+                }
+            }
+        }
+    }
+
+    def Scope "Physics"
+    {
+    }
+
+    def Scope "VisualMaterials"
+    {
+    }
+}
+

ur17g_1300/simready_usd/payloads/geometries.usd

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:52c08bb45eeff45e9319afb7ebbdfa4e60572e32a374f6d0656016f557c603fe
+size 521425

ur17g_1300/simready_usd/payloads/instances.usda

@@ -0,0 +1,698 @@
+#usda 1.0
+(
+    "Universal Robots UR17g-1300. © 2026 Universal Robots A/S. Use hereof is subject to Universal Robots A/S' Terms and Conditions for Use of Graphical Documentation. See LICENSE-UR-Graphical-Documentation.txt."
+    customLayerData = {
+        string copyright = "© 2026 Universal Robots A/S"
+        string creator = "URDF USD Converter v0.3.2"
+        string license = "LicenseRef-UR-Graphical-Documentation"
+        string license_files = "LICENSE-UR-Graphical-Documentation.txt"
+        string license_notice = "© 2026 Universal Robots A/S. Use hereof is subject to Universal Robots A/S' Terms and Conditions for Use of Graphical Documentation. See LICENSE-UR-Graphical-Documentation.txt."
+    }
+    kilogramsPerUnit = 1
+    metersPerUnit = 1
+    upAxis = "Z"
+)
+
+def Scope "Instances"
+{
+    def Xform "base" (
+        prepend references = @./geometries.usd@</Geometries/base>
+    )
+    {
+        over "base"
+        {
+            token subsetFamily:materialBind:familyType = "partition"
+
+            over "GeomSubset_001" (
+                apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                custom rel material:binding
+                prepend rel material:binding = </Instances/base/VisualMaterials/tn__Metal_Alu_Brushed007_rU>
+            }
+
+            over "GeomSubset_002" (
+                apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                custom rel material:binding
+                prepend rel material:binding = </Instances/base/VisualMaterials/tn__Rubber_Black007_ZN>
+            }
+
+            over "GeomSubset_003" (
+                apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                custom rel material:binding
+                prepend rel material:binding = </Instances/base/VisualMaterials/tn__LED003_k9>
+            }
+
+            over "GeomSubset_004" (
+                apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                custom rel material:binding
+                prepend rel material:binding = </Instances/base/VisualMaterials/tn__Metal_Alu_Brushed007_rU>
+            }
+        }
+
+        def Scope "VisualMaterials"
+        {
+            def Material "tn__Metal_Alu_Brushed007_rU" (
+                instanceable = true
+                prepend references = @./materials.usda@</Materials/tn__Metal_Alu_Brushed007_rU>
+            )
+            {
+            }
+
+            def Material "tn__Rubber_Black007_ZN" (
+                instanceable = true
+                prepend references = @./materials.usda@</Materials/tn__Rubber_Black007_ZN>
+            )
+            {
+            }
+
+            def Material "tn__LED003_k9" (
+                instanceable = true
+                prepend references = @./materials.usda@</Materials/tn__LED003_k9>
+            )
+            {
+            }
+        }
+    }
+
+    def Xform "shoulder" (
+        prepend references = @./geometries.usd@</Geometries/shoulder>
+    )
+    {
+        over "shoulder"
+        {
+            token subsetFamily:materialBind:familyType = "partition"
+
+            over "GeomSubset_001" (
+                apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                custom rel material:binding
+                prepend rel material:binding = </Instances/shoulder/VisualMaterials/tn__Metal_DarkGray007_aQ>
+            }
+
+            over "GeomSubset_002" (
+                apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                custom rel material:binding
+                prepend rel material:binding = </Instances/shoulder/VisualMaterials/tn__Rubber_Black007_1_YQ>
+            }
+        }
+
+        def Scope "VisualMaterials"
+        {
+            def Material "tn__Metal_DarkGray007_aQ" (
+                instanceable = true
+                prepend references = @./materials.usda@</Materials/tn__Metal_DarkGray007_aQ>
+            )
+            {
+            }
+
+            def Material "tn__Rubber_Black007_1_YQ" (
+                instanceable = true
+                prepend references = @./materials.usda@</Materials/tn__Rubber_Black007_ZN>
+            )
+            {
+            }
+        }
+    }
+
+    def Xform "shoulder_001" (
+        prepend references = @./geometries.usd@</Geometries/shoulder_001>
+    )
+    {
+        over "shoulder_001"
+        {
+            token subsetFamily:materialBind:familyType = "partition"
+
+            over "GeomSubset_001" (
+                apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                custom rel material:binding
+                prepend rel material:binding = </Instances/shoulder_001/VisualMaterials/tn__Metal_DarkGray007_1_ZT>
+            }
+
+            over "GeomSubset_002" (
+                apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                custom rel material:binding
+                prepend rel material:binding = </Instances/shoulder_001/VisualMaterials/tn__Metal_Alu_Brushed007_1_qX0>
+            }
+
+            over "GeomSubset_003" (
+                apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                custom rel material:binding
+                prepend rel material:binding = </Instances/shoulder_001/VisualMaterials/tn__Rubber_Black007_2_YQ>
+            }
+        }
+
+        def Scope "VisualMaterials"
+        {
+            def Material "tn__Metal_DarkGray007_1_ZT" (
+                instanceable = true
+                prepend references = @./materials.usda@</Materials/tn__Metal_DarkGray007_aQ>
+            )
+            {
+            }
+
+            def Material "tn__Metal_Alu_Brushed007_1_qX0" (
+                instanceable = true
+                prepend references = @./materials.usda@</Materials/tn__Metal_Alu_Brushed007_rU>
+            )
+            {
+            }
+
+            def Material "tn__Rubber_Black007_2_YQ" (
+                instanceable = true
+                prepend references = @./materials.usda@</Materials/tn__Rubber_Black007_ZN>
+            )
+            {
+            }
+        }
+    }
+
+    def Xform "tn__shoulder_pad_Logo_002002_ta0" (
+        prepend references = @./geometries.usd@</Geometries/tn__shoulder_pad_Logo_002002_ta0>
+    )
+    {
+        over "tn__shoulder_pad_Logo_002002_ta0" (
+            apiSchemas = ["MaterialBindingAPI"]
+        )
+        {
+            custom rel material:binding
+            prepend rel material:binding = </Instances/tn__shoulder_pad_Logo_002002_ta0/VisualMaterials/tn__Plastic_Blue001_ZN>
+        }
+
+        def Scope "VisualMaterials"
+        {
+            def Material "tn__Plastic_Blue001_ZN" (
+                instanceable = true
+                prepend references = @./materials.usda@</Materials/tn__Plastic_Blue001_ZN>
+            )
+            {
+            }
+        }
+    }
+
+    def Xform "shoulder_pad_Logo" (
+        prepend references = @./geometries.usd@</Geometries/shoulder_pad_Logo>
+    )
+    {
+        over "shoulder_pad_Logo" (
+            apiSchemas = ["MaterialBindingAPI"]
+        )
+        {
+            custom rel material:binding
+            prepend rel material:binding = </Instances/shoulder_pad_Logo/VisualMaterials/tn__Plastic_Blue001_ZN>
+        }
+
+        def Scope "VisualMaterials"
+        {
+            def Material "tn__Plastic_Blue001_ZN" (
+                instanceable = true
+                prepend references = @./materials.usda@</Materials/tn__Plastic_Blue001_ZN>
+            )
+            {
+            }
+        }
+    }
+
+    def Xform "elbow_001" (
+        prepend references = @./geometries.usd@</Geometries/elbow_001>
+    )
+    {
+        over "elbow_001"
+        {
+            token subsetFamily:materialBind:familyType = "partition"
+
+            over "GeomSubset_001" (
+                apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                custom rel material:binding
+                prepend rel material:binding = </Instances/elbow_001/VisualMaterials/tn__Metal_DarkGray007_2_ZT>
+            }
+
+            over "GeomSubset_002" (
+                apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                custom rel material:binding
+                prepend rel material:binding = </Instances/elbow_001/VisualMaterials/tn__Metal_Alu_Brushed007_2_qX0>
+            }
+
+            over "GeomSubset_003" (
+                apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                custom rel material:binding
+                prepend rel material:binding = </Instances/elbow_001/VisualMaterials/tn__Rubber_Black007_3_YQ>
+            }
+        }
+
+        def Scope "VisualMaterials"
+        {
+            def Material "tn__Metal_DarkGray007_2_ZT" (
+                instanceable = true
+                prepend references = @./materials.usda@</Materials/tn__Metal_DarkGray007_aQ>
+            )
+            {
+            }
+
+            def Material "tn__Metal_Alu_Brushed007_2_qX0" (
+                instanceable = true
+                prepend references = @./materials.usda@</Materials/tn__Metal_Alu_Brushed007_rU>
+            )
+            {
+            }
+
+            def Material "tn__Rubber_Black007_3_YQ" (
+                instanceable = true
+                prepend references = @./materials.usda@</Materials/tn__Rubber_Black007_ZN>
+            )
+            {
+            }
+        }
+    }
+
+    def Xform "tn__elbow1_pad_logo_hM" (
+        prepend references = @./geometries.usd@</Geometries/tn__elbow1_pad_logo_hM>
+    )
+    {
+        over "tn__elbow1_pad_logo_hM" (
+            apiSchemas = ["MaterialBindingAPI"]
+        )
+        {
+            custom rel material:binding
+            prepend rel material:binding = </Instances/tn__elbow1_pad_logo_hM/VisualMaterials/tn__Plastic_Blue001_1_YQ>
+        }
+
+        def Scope "VisualMaterials"
+        {
+            def Material "tn__Plastic_Blue001_1_YQ" (
+                instanceable = true
+                prepend references = @./materials.usda@</Materials/tn__Plastic_Blue001_ZN>
+            )
+            {
+            }
+        }
+    }
+
+    def Xform "elbow_pad_Logo_002" (
+        prepend references = @./geometries.usd@</Geometries/elbow_pad_Logo_002>
+    )
+    {
+        over "elbow_pad_Logo_002" (
+            apiSchemas = ["MaterialBindingAPI"]
+        )
+        {
+            custom rel material:binding
+            prepend rel material:binding = </Instances/elbow_pad_Logo_002/VisualMaterials/tn__Plastic_Blue001_1_YQ>
+        }
+
+        def Scope "VisualMaterials"
+        {
+            def Material "tn__Plastic_Blue001_1_YQ" (
+                instanceable = true
+                prepend references = @./materials.usda@</Materials/tn__Plastic_Blue001_ZN>
+            )
+            {
+            }
+        }
+    }
+
+    def Xform "tn__wrist1_001_ZF" (
+        prepend references = @./geometries.usd@</Geometries/tn__wrist1_001_ZF>
+    )
+    {
+        over "tn__wrist1_001_ZF"
+        {
+            token subsetFamily:materialBind:familyType = "partition"
+
+            over "GeomSubset_001" (
+                apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                custom rel material:binding
+                prepend rel material:binding = </Instances/tn__wrist1_001_ZF/VisualMaterials/tn__Metal_DarkGray007_3_ZT>
+            }
+
+            over "GeomSubset_002" (
+                apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                custom rel material:binding
+                prepend rel material:binding = </Instances/tn__wrist1_001_ZF/VisualMaterials/tn__Rubber_Black007_4_YQ>
+            }
+        }
+
+        def Scope "VisualMaterials"
+        {
+            def Material "tn__Metal_DarkGray007_3_ZT" (
+                instanceable = true
+                prepend references = @./materials.usda@</Materials/tn__Metal_DarkGray007_aQ>
+            )
+            {
+            }
+
+            def Material "tn__Rubber_Black007_4_YQ" (
+                instanceable = true
+                prepend references = @./materials.usda@</Materials/tn__Rubber_Black007_ZN>
+            )
+            {
+            }
+        }
+    }
+
+    def Xform "tn__wrist1_pad_loog_001_bS" (
+        prepend references = @./geometries.usd@</Geometries/tn__wrist1_pad_loog_001_bS>
+    )
+    {
+        over "tn__wrist1_pad_loog_001_bS" (
+            apiSchemas = ["MaterialBindingAPI"]
+        )
+        {
+            custom rel material:binding
+            prepend rel material:binding = </Instances/tn__wrist1_pad_loog_001_bS/VisualMaterials/tn__Plastic_Blue001_2_YQ>
+        }
+
+        def Scope "VisualMaterials"
+        {
+            def Material "tn__Plastic_Blue001_2_YQ" (
+                instanceable = true
+                prepend references = @./materials.usda@</Materials/tn__Plastic_Blue001_ZN>
+            )
+            {
+            }
+        }
+    }
+
+    def Xform "Band" (
+        prepend references = @./geometries.usd@</Geometries/Band>
+    )
+    {
+        over "Band" (
+            apiSchemas = ["MaterialBindingAPI"]
+        )
+        {
+            custom rel material:binding
+            prepend rel material:binding = </Instances/Band/VisualMaterials/tn__Rubber_Black007_5_YQ>
+        }
+
+        def Scope "VisualMaterials"
+        {
+            def Material "tn__Rubber_Black007_5_YQ" (
+                instanceable = true
+                prepend references = @./materials.usda@</Materials/tn__Rubber_Black007_ZN>
+            )
+            {
+            }
+        }
+    }
+
+    def Xform "tn__wrist2_001_ZF" (
+        prepend references = @./geometries.usd@</Geometries/tn__wrist2_001_ZF>
+    )
+    {
+        over "tn__wrist2_001_ZF" (
+            apiSchemas = ["MaterialBindingAPI"]
+        )
+        {
+            custom rel material:binding
+            prepend rel material:binding = </Instances/tn__wrist2_001_ZF/VisualMaterials/tn__Metal_DarkGray007_4_ZT>
+        }
+
+        def Scope "VisualMaterials"
+        {
+            def Material "tn__Metal_DarkGray007_4_ZT" (
+                instanceable = true
+                prepend references = @./materials.usda@</Materials/tn__Metal_DarkGray007_aQ>
+            )
+            {
+            }
+        }
+    }
+
+    def Xform "tn__wrist3G001_ZF7M" (
+        prepend references = @./geometries.usd@</Geometries/tn__wrist3G001_ZF7M>
+    )
+    {
+        over "tn__wrist3G001_ZF7M"
+        {
+            token subsetFamily:materialBind:familyType = "partition"
+
+            over "GeomSubset_001" (
+                apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                custom rel material:binding
+                prepend rel material:binding = </Instances/tn__wrist3G001_ZF7M/VisualMaterials/tn__Metal_Alu_Brushed007_3_qX0>
+            }
+
+            over "GeomSubset_002" (
+                apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                custom rel material:binding
+                prepend rel material:binding = </Instances/tn__wrist3G001_ZF7M/VisualMaterials/tn__Metal_Alu_Brushed001_rU>
+            }
+        }
+
+        def Scope "VisualMaterials"
+        {
+            def Material "tn__Metal_Alu_Brushed007_3_qX0" (
+                instanceable = true
+                prepend references = @./materials.usda@</Materials/tn__Metal_Alu_Brushed007_rU>
+            )
+            {
+            }
+
+            def Material "tn__Metal_Alu_Brushed001_rU" (
+                instanceable = true
+                prepend references = @./materials.usda@</Materials/tn__Metal_Alu_Brushed001_rU>
+            )
+            {
+            }
+        }
+    }
+
+    def Xform "tn__NoPanelprotection_gP" (
+        prepend references = @./geometries.usd@</Geometries/tn__NoPanelprotection_gP>
+    )
+    {
+        over "tn__NoPanelprotection_gP" (
+            apiSchemas = ["MaterialBindingAPI"]
+        )
+        {
+            custom rel material:binding
+            prepend rel material:binding = </Instances/tn__NoPanelprotection_gP/VisualMaterials/tn__Metal_Alu_Brushed001_rU>
+        }
+
+        def Scope "VisualMaterials"
+        {
+            def Material "tn__Metal_Alu_Brushed001_rU" (
+                instanceable = true
+                prepend references = @./materials.usda@</Materials/tn__Metal_Alu_Brushed001_rU>
+            )
+            {
+            }
+        }
+    }
+
+    def Xform "Band_1" (
+        prepend references = @./geometries.usd@</Geometries/Band_1>
+    )
+    {
+        over "Band_1" (
+            apiSchemas = ["MaterialBindingAPI"]
+        )
+        {
+            custom rel material:binding
+            prepend rel material:binding = </Instances/Band_1/VisualMaterials/tn__Rubber_Black007_6_YQ>
+        }
+
+        def Scope "VisualMaterials"
+        {
+            def Material "tn__Rubber_Black007_6_YQ" (
+                instanceable = true
+                prepend references = @./materials.usda@</Materials/tn__Rubber_Black007_ZN>
+            )
+            {
+            }
+        }
+    }
+
+    def Xform "smart_panel" (
+        prepend references = @./geometries.usd@</Geometries/smart_panel>
+    )
+    {
+        over "smart_panel"
+        {
+            token subsetFamily:materialBind:familyType = "partition"
+
+            over "GeomSubset_001" (
+                apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                custom rel material:binding
+                prepend rel material:binding = </Instances/smart_panel/VisualMaterials/tn__Rubber_Black007_7_YQ>
+            }
+
+            over "GeomSubset_002" (
+                apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                custom rel material:binding
+                prepend rel material:binding = </Instances/smart_panel/VisualMaterials/tn__Metal_Alu_Brushed001_1_qX0>
+            }
+
+            over "GeomSubset_003" (
+                apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                custom rel material:binding
+                prepend rel material:binding = </Instances/smart_panel/VisualMaterials/tn__light001_lC>
+            }
+        }
+
+        def Scope "VisualMaterials"
+        {
+            def Material "tn__Rubber_Black007_7_YQ" (
+                instanceable = true
+                prepend references = @./materials.usda@</Materials/tn__Rubber_Black007_ZN>
+            )
+            {
+            }
+
+            def Material "tn__Metal_Alu_Brushed001_1_qX0" (
+                instanceable = true
+                prepend references = @./materials.usda@</Materials/tn__Metal_Alu_Brushed001_rU>
+            )
+            {
+            }
+
+            def Material "tn__light001_lC" (
+                instanceable = true
+                prepend references = @./materials.usda@</Materials/tn__light001_lC>
+            )
+            {
+            }
+        }
+    }
+
+    def Xform "smart_panel_1" (
+        prepend references = @./geometries.usd@</Geometries/smart_panel_1>
+    )
+    {
+        over "smart_panel_1" (
+            apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"]
+        )
+        {
+            token physics:approximation = "convexHull"
+            token purpose = "guide"
+        }
+    }
+
+    def Xform "wrist3_1" (
+        prepend references = @./geometries.usd@</Geometries/wrist3_1>
+    )
+    {
+        over "wrist3_1" (
+            apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"]
+        )
+        {
+            token physics:approximation = "convexHull"
+            token purpose = "guide"
+        }
+    }
+
+    def Xform "wrist2_1" (
+        prepend references = @./geometries.usd@</Geometries/wrist2_1>
+    )
+    {
+        over "wrist2_1" (
+            apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"]
+        )
+        {
+            token physics:approximation = "convexHull"
+            token purpose = "guide"
+        }
+    }
+
+    def Xform "wrist1_1" (
+        prepend references = @./geometries.usd@</Geometries/wrist1_1>
+    )
+    {
+        over "wrist1_1" (
+            apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"]
+        )
+        {
+            token physics:approximation = "convexHull"
+            token purpose = "guide"
+        }
+    }
+
+    def Xform "forearm_1" (
+        prepend references = @./geometries.usd@</Geometries/forearm_1>
+    )
+    {
+        over "forearm_1" (
+            apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"]
+        )
+        {
+            token physics:approximation = "convexHull"
+            token purpose = "guide"
+        }
+    }
+
+    def Xform "upperarm_1" (
+        prepend references = @./geometries.usd@</Geometries/upperarm_1>
+    )
+    {
+        over "upperarm_1" (
+            apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"]
+        )
+        {
+            token physics:approximation = "convexHull"
+            token purpose = "guide"
+        }
+    }
+
+    def Xform "shoulder_1" (
+        prepend references = @./geometries.usd@</Geometries/shoulder_1>
+    )
+    {
+        over "shoulder_1" (
+            apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"]
+        )
+        {
+            token physics:approximation = "convexHull"
+            token purpose = "guide"
+        }
+    }
+
+    def Xform "base_1" (
+        prepend references = @./geometries.usd@</Geometries/base_1>
+    )
+    {
+        over "base_1" (
+            apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"]
+        )
+        {
+            token physics:approximation = "convexHull"
+            token purpose = "guide"
+        }
+    }
+}
+

ur17g_1300/simready_usd/payloads/materials.usda

@@ -0,0 +1,237 @@
+#usda 1.0
+(
+    "Universal Robots UR17g-1300. © 2026 Universal Robots A/S. Use hereof is subject to Universal Robots A/S' Terms and Conditions for Use of Graphical Documentation. See LICENSE-UR-Graphical-Documentation.txt."
+    customLayerData = {
+        string copyright = "© 2026 Universal Robots A/S"
+        string creator = "URDF USD Converter v0.3.2"
+        string license = "LicenseRef-UR-Graphical-Documentation"
+        string license_files = "LICENSE-UR-Graphical-Documentation.txt"
+        string license_notice = "© 2026 Universal Robots A/S. Use hereof is subject to Universal Robots A/S' Terms and Conditions for Use of Graphical Documentation. See LICENSE-UR-Graphical-Documentation.txt."
+    }
+    kilogramsPerUnit = 1
+    metersPerUnit = 1
+    upAxis = "Z"
+)
+
+def Scope "Materials"
+{
+    def Material "tn__Metal_Alu_Brushed007_rU"
+    {
+        color3f inputs:diffuseColor = (0.26066896, 0.260669, 0.26066896)
+        float inputs:metallic = 0
+        float inputs:opacity = 1
+        float inputs:roughness = 0.5
+        token inputs:wrapMode = "repeat"
+        token outputs:displacement (
+            displayGroup = "Outputs"
+        )
+        token outputs:surface (
+            displayGroup = "Outputs"
+        )
+        prepend token outputs:surface.connect = </Materials/tn__Metal_Alu_Brushed007_rU/PreviewSurface.outputs:surface>
+        token outputs:volume (
+            displayGroup = "Outputs"
+        )
+
+        def Shader "PreviewSurface" (
+            apiSchemas = ["NodeDefAPI"]
+        )
+        {
+            token info:id = "UsdPreviewSurface"
+            prepend color3f inputs:diffuseColor.connect = </Materials/tn__Metal_Alu_Brushed007_rU.inputs:diffuseColor>
+            prepend float inputs:metallic.connect = </Materials/tn__Metal_Alu_Brushed007_rU.inputs:metallic>
+            prepend float inputs:opacity.connect = </Materials/tn__Metal_Alu_Brushed007_rU.inputs:opacity>
+            prepend float inputs:roughness.connect = </Materials/tn__Metal_Alu_Brushed007_rU.inputs:roughness>
+            token outputs:surface
+        }
+    }
+
+    def Material "tn__Rubber_Black007_ZN"
+    {
+        color3f inputs:diffuseColor = (0, 0, 0)
+        float inputs:metallic = 0
+        float inputs:opacity = 1
+        float inputs:roughness = 0.5
+        token inputs:wrapMode = "repeat"
+        token outputs:displacement (
+            displayGroup = "Outputs"
+        )
+        token outputs:surface (
+            displayGroup = "Outputs"
+        )
+        prepend token outputs:surface.connect = </Materials/tn__Rubber_Black007_ZN/PreviewSurface.outputs:surface>
+        token outputs:volume (
+            displayGroup = "Outputs"
+        )
+
+        def Shader "PreviewSurface" (
+            apiSchemas = ["NodeDefAPI"]
+        )
+        {
+            token info:id = "UsdPreviewSurface"
+            prepend color3f inputs:diffuseColor.connect = </Materials/tn__Rubber_Black007_ZN.inputs:diffuseColor>
+            prepend float inputs:metallic.connect = </Materials/tn__Rubber_Black007_ZN.inputs:metallic>
+            prepend float inputs:opacity.connect = </Materials/tn__Rubber_Black007_ZN.inputs:opacity>
+            prepend float inputs:roughness.connect = </Materials/tn__Rubber_Black007_ZN.inputs:roughness>
+            token outputs:surface
+        }
+    }
+
+    def Material "tn__LED003_k9"
+    {
+        color3f inputs:diffuseColor = (0.60382736, 0.6038274, 0.60382736)
+        color3f inputs:emissiveColor = (0.15590139, 0.5986151, 0.81893957)
+        float inputs:metallic = 0
+        float inputs:opacity = 1
+        float inputs:roughness = 0.5
+        token inputs:wrapMode = "repeat"
+        token outputs:displacement (
+            displayGroup = "Outputs"
+        )
+        token outputs:surface (
+            displayGroup = "Outputs"
+        )
+        prepend token outputs:surface.connect = </Materials/tn__LED003_k9/PreviewSurface.outputs:surface>
+        token outputs:volume (
+            displayGroup = "Outputs"
+        )
+
+        def Shader "PreviewSurface" (
+            apiSchemas = ["NodeDefAPI"]
+        )
+        {
+            token info:id = "UsdPreviewSurface"
+            prepend color3f inputs:diffuseColor.connect = </Materials/tn__LED003_k9.inputs:diffuseColor>
+            prepend color3f inputs:emissiveColor.connect = </Materials/tn__LED003_k9.inputs:emissiveColor>
+            prepend float inputs:metallic.connect = </Materials/tn__LED003_k9.inputs:metallic>
+            prepend float inputs:opacity.connect = </Materials/tn__LED003_k9.inputs:opacity>
+            prepend float inputs:roughness.connect = </Materials/tn__LED003_k9.inputs:roughness>
+            token outputs:surface
+        }
+    }
+
+    def Material "tn__Metal_DarkGray007_aQ"
+    {
+        color3f inputs:diffuseColor = (0.06777466, 0.06777467, 0.06777466)
+        float inputs:metallic = 0
+        float inputs:opacity = 1
+        float inputs:roughness = 0.5
+        token inputs:wrapMode = "repeat"
+        token outputs:displacement (
+            displayGroup = "Outputs"
+        )
+        token outputs:surface (
+            displayGroup = "Outputs"
+        )
+        prepend token outputs:surface.connect = </Materials/tn__Metal_DarkGray007_aQ/PreviewSurface.outputs:surface>
+        token outputs:volume (
+            displayGroup = "Outputs"
+        )
+
+        def Shader "PreviewSurface" (
+            apiSchemas = ["NodeDefAPI"]
+        )
+        {
+            token info:id = "UsdPreviewSurface"
+            prepend color3f inputs:diffuseColor.connect = </Materials/tn__Metal_DarkGray007_aQ.inputs:diffuseColor>
+            prepend float inputs:metallic.connect = </Materials/tn__Metal_DarkGray007_aQ.inputs:metallic>
+            prepend float inputs:opacity.connect = </Materials/tn__Metal_DarkGray007_aQ.inputs:opacity>
+            prepend float inputs:roughness.connect = </Materials/tn__Metal_DarkGray007_aQ.inputs:roughness>
+            token outputs:surface
+        }
+    }
+
+    def Material "tn__Plastic_Blue001_ZN"
+    {
+        color3f inputs:diffuseColor = (0.010484348, 0.18220301, 0.6038544)
+        float inputs:metallic = 0
+        float inputs:opacity = 1
+        float inputs:roughness = 0.5
+        token inputs:wrapMode = "repeat"
+        token outputs:displacement (
+            displayGroup = "Outputs"
+        )
+        token outputs:surface (
+            displayGroup = "Outputs"
+        )
+        prepend token outputs:surface.connect = </Materials/tn__Plastic_Blue001_ZN/PreviewSurface.outputs:surface>
+        token outputs:volume (
+            displayGroup = "Outputs"
+        )
+
+        def Shader "PreviewSurface" (
+            apiSchemas = ["NodeDefAPI"]
+        )
+        {
+            token info:id = "UsdPreviewSurface"
+            prepend color3f inputs:diffuseColor.connect = </Materials/tn__Plastic_Blue001_ZN.inputs:diffuseColor>
+            prepend float inputs:metallic.connect = </Materials/tn__Plastic_Blue001_ZN.inputs:metallic>
+            prepend float inputs:opacity.connect = </Materials/tn__Plastic_Blue001_ZN.inputs:opacity>
+            prepend float inputs:roughness.connect = </Materials/tn__Plastic_Blue001_ZN.inputs:roughness>
+            token outputs:surface
+        }
+    }
+
+    def Material "tn__Metal_Alu_Brushed001_rU"
+    {
+        color3f inputs:diffuseColor = (0.0018923546, 0.0018923547, 0.0018923545)
+        float inputs:metallic = 0
+        float inputs:opacity = 1
+        float inputs:roughness = 0.5
+        token inputs:wrapMode = "repeat"
+        token outputs:displacement (
+            displayGroup = "Outputs"
+        )
+        token outputs:surface (
+            displayGroup = "Outputs"
+        )
+        prepend token outputs:surface.connect = </Materials/tn__Metal_Alu_Brushed001_rU/PreviewSurface.outputs:surface>
+        token outputs:volume (
+            displayGroup = "Outputs"
+        )
+
+        def Shader "PreviewSurface" (
+            apiSchemas = ["NodeDefAPI"]
+        )
+        {
+            token info:id = "UsdPreviewSurface"
+            prepend color3f inputs:diffuseColor.connect = </Materials/tn__Metal_Alu_Brushed001_rU.inputs:diffuseColor>
+            prepend float inputs:metallic.connect = </Materials/tn__Metal_Alu_Brushed001_rU.inputs:metallic>
+            prepend float inputs:opacity.connect = </Materials/tn__Metal_Alu_Brushed001_rU.inputs:opacity>
+            prepend float inputs:roughness.connect = </Materials/tn__Metal_Alu_Brushed001_rU.inputs:roughness>
+            token outputs:surface
+        }
+    }
+
+    def Material "tn__light001_lC"
+    {
+        color3f inputs:diffuseColor = (0.60382736, 0.6038274, 0.60382736)
+        float inputs:metallic = 0
+        float inputs:opacity = 1
+        float inputs:roughness = 0.5
+        token inputs:wrapMode = "repeat"
+        token outputs:displacement (
+            displayGroup = "Outputs"
+        )
+        token outputs:surface (
+            displayGroup = "Outputs"
+        )
+        prepend token outputs:surface.connect = </Materials/tn__light001_lC/PreviewSurface.outputs:surface>
+        token outputs:volume (
+            displayGroup = "Outputs"
+        )
+
+        def Shader "PreviewSurface" (
+            apiSchemas = ["NodeDefAPI"]
+        )
+        {
+            token info:id = "UsdPreviewSurface"
+            prepend color3f inputs:diffuseColor.connect = </Materials/tn__light001_lC.inputs:diffuseColor>
+            prepend float inputs:metallic.connect = </Materials/tn__light001_lC.inputs:metallic>
+            prepend float inputs:opacity.connect = </Materials/tn__light001_lC.inputs:opacity>
+            prepend float inputs:roughness.connect = </Materials/tn__light001_lC.inputs:roughness>
+            token outputs:surface
+        }
+    }
+}
+

ur17g_1300/simready_usd/payloads/robot.usda

@@ -0,0 +1,155 @@
+#usda 1.0
+(
+    "Universal Robots UR17g-1300. Kinematic, joint-limit, inertial and structural data derived from Universal Robots' Universal_Robots_ROS2_Description (ur_description), licensed under the BSD 3-Clause License. See LICENSE-BSD-3-Clause.txt."
+    customLayerData = {
+        string creator = "URDF USD Converter v0.3.2"
+        string license = "BSD-3-Clause"
+        string license_files = "LICENSE-BSD-3-Clause.txt"
+        string license_notice = "Kinematic, joint-limit, inertial and structural data derived from Universal Robots' Universal_Robots_ROS2_Description (ur_description), licensed under the BSD 3-Clause License. See LICENSE-BSD-3-Clause.txt."
+    }
+    defaultPrim = "ur17g_1300"
+    kilogramsPerUnit = 1
+    metersPerUnit = 1
+    subLayers = [
+        @./Physics/physics.usda@
+    ]
+    upAxis = "Z"
+)
+
+over "ur17g_1300" (
+    prepend apiSchemas = ["IsaacRobotAPI"]
+)
+{
+    custom rel isaac:physics:robotJoints
+    prepend rel isaac:physics:robotJoints = [
+        </ur17g_1300/Physics/root_joint>,
+        </ur17g_1300/Physics/shoulder_pan_joint>,
+        </ur17g_1300/Physics/shoulder_lift_joint>,
+        </ur17g_1300/Physics/elbow_joint>,
+        </ur17g_1300/Physics/wrist_1_joint>,
+        </ur17g_1300/Physics/wrist_2_joint>,
+        </ur17g_1300/Physics/wrist_3_joint>,
+        </ur17g_1300/Physics/tn__wrist_3_linksmart_panel_cY0>,
+    ]
+    custom rel isaac:physics:robotLinks
+    prepend rel isaac:physics:robotLinks = [
+        </ur17g_1300/Geometry/world/base_link/base_link_inertia>,
+        </ur17g_1300/Geometry/world/base_link/base_link_inertia/shoulder_link>,
+        </ur17g_1300/Geometry/world/base_link/base_link_inertia/shoulder_link/upper_arm_link>,
+        </ur17g_1300/Geometry/world/base_link/base_link_inertia/shoulder_link/upper_arm_link/forearm_link>,
+        </ur17g_1300/Geometry/world/base_link/base_link_inertia/shoulder_link/upper_arm_link/forearm_link/wrist_1_link>,
+        </ur17g_1300/Geometry/world/base_link/base_link_inertia/shoulder_link/upper_arm_link/forearm_link/wrist_1_link/wrist_2_link>,
+        </ur17g_1300/Geometry/world/base_link/base_link_inertia/shoulder_link/upper_arm_link/forearm_link/wrist_1_link/wrist_2_link/wrist_3_link>,
+        </ur17g_1300/Geometry/world/base_link/base_link_inertia/shoulder_link/upper_arm_link/forearm_link/wrist_1_link/wrist_2_link/wrist_3_link/ft_frame>,
+        </ur17g_1300/Geometry/world/base_link/base_link_inertia/shoulder_link/upper_arm_link/forearm_link/wrist_1_link/wrist_2_link/wrist_3_link/smart_panel>,
+    ]
+    token isaac:robotType = "Manipulator"
+
+    over "Physics"
+    {
+        over "root_joint" (
+            prepend apiSchemas = ["IsaacJointAPI"]
+        )
+        {
+        }
+
+        over "shoulder_pan_joint" (
+            prepend apiSchemas = ["IsaacJointAPI"]
+        )
+        {
+        }
+
+        over "shoulder_lift_joint" (
+            prepend apiSchemas = ["IsaacJointAPI"]
+        )
+        {
+        }
+
+        over "elbow_joint" (
+            prepend apiSchemas = ["IsaacJointAPI"]
+        )
+        {
+        }
+
+        over "wrist_1_joint" (
+            prepend apiSchemas = ["IsaacJointAPI"]
+        )
+        {
+        }
+
+        over "wrist_2_joint" (
+            prepend apiSchemas = ["IsaacJointAPI"]
+        )
+        {
+        }
+
+        over "wrist_3_joint" (
+            prepend apiSchemas = ["IsaacJointAPI"]
+        )
+        {
+        }
+
+        over "tn__wrist_3_linksmart_panel_cY0" (
+            prepend apiSchemas = ["IsaacJointAPI"]
+        )
+        {
+        }
+    }
+
+    over "Geometry"
+    {
+        over "world"
+        {
+            over "base_link"
+            {
+                over "base_link_inertia" (
+                    prepend apiSchemas = ["IsaacLinkAPI"]
+                )
+                {
+                    over "shoulder_link" (
+                        prepend apiSchemas = ["IsaacLinkAPI"]
+                    )
+                    {
+                        over "upper_arm_link" (
+                            prepend apiSchemas = ["IsaacLinkAPI"]
+                        )
+                        {
+                            over "forearm_link" (
+                                prepend apiSchemas = ["IsaacLinkAPI"]
+                            )
+                            {
+                                over "wrist_1_link" (
+                                    prepend apiSchemas = ["IsaacLinkAPI"]
+                                )
+                                {
+                                    over "wrist_2_link" (
+                                        prepend apiSchemas = ["IsaacLinkAPI"]
+                                    )
+                                    {
+                                        over "wrist_3_link" (
+                                            prepend apiSchemas = ["IsaacLinkAPI"]
+                                        )
+                                        {
+                                            over "smart_panel" (
+                                                prepend apiSchemas = ["IsaacLinkAPI"]
+                                            )
+                                            {
+                                            }
+
+                                            over "ft_frame" (
+                                                prepend apiSchemas = ["IsaacSiteAPI"]
+                                            )
+                                            {
+                                            }
+                                        }
+                                    }
+                                }
+                            }
+                        }
+                    }
+                }
+            }
+        }
+    }
+}
+

ur17g_1300/simready_usd/runnables/physics/newton.usda

@@ -0,0 +1,69 @@
+#usda 1.0
+(
+    "Universal Robots UR17g-1300. Kinematic, joint-limit, inertial and structural data derived from Universal Robots' Universal_Robots_ROS2_Description (ur_description), licensed under the BSD 3-Clause License. See LICENSE-BSD-3-Clause.txt."
+    customLayerData = {
+        string license = "BSD-3-Clause"
+        string license_files = "LICENSE-BSD-3-Clause.txt"
+        string license_notice = "Kinematic, joint-limit, inertial and structural data derived from Universal Robots' Universal_Robots_ROS2_Description (ur_description), licensed under the BSD 3-Clause License. See LICENSE-BSD-3-Clause.txt."
+    }
+    defaultPrim = "ur17g_1300"
+    kilogramsPerUnit = 1
+    metersPerUnit = 1
+    upAxis = "Z"
+)
+
+over "ur17g_1300"
+{
+    over "Physics"
+    {
+        over "shoulder_pan_joint" (
+            prepend apiSchemas = ["NewtonJointAPI"]
+        )
+        {
+            float newton:velocityLimit = 180
+        }
+
+        over "shoulder_lift_joint" (
+            prepend apiSchemas = ["NewtonJointAPI"]
+        )
+        {
+            float newton:velocityLimit = 180
+        }
+
+        over "elbow_joint" (
+            prepend apiSchemas = ["NewtonJointAPI"]
+        )
+        {
+            float newton:velocityLimit = 240
+        }
+
+        over "wrist_1_joint" (
+            prepend apiSchemas = ["NewtonJointAPI"]
+        )
+        {
+            float newton:velocityLimit = 300
+        }
+
+        over "wrist_2_joint" (
+            prepend apiSchemas = ["NewtonJointAPI"]
+        )
+        {
+            float newton:velocityLimit = 300
+        }
+
+        over "wrist_3_joint" (
+            prepend apiSchemas = ["NewtonJointAPI"]
+        )
+        {
+            float newton:velocityLimit = 300
+        }
+
+        over "root_joint" (
+            prepend apiSchemas = ["NewtonArticulationRootAPI"]
+        )
+        {
+            bool newton:selfCollisionEnabled = 0
+        }
+    }
+}
+

ur17g_1300/simready_usd/runnables/physics/physx.usda

@@ -0,0 +1,72 @@
+#usda 1.0
+(
+    "Universal Robots UR17g-1300. Kinematic, joint-limit, inertial and structural data derived from Universal Robots' Universal_Robots_ROS2_Description (ur_description), licensed under the BSD 3-Clause License. See LICENSE-BSD-3-Clause.txt."
+    customLayerData = {
+        string creator = "URDF USD Converter v0.3.2"
+        string license = "BSD-3-Clause"
+        string license_files = "LICENSE-BSD-3-Clause.txt"
+        string license_notice = "Kinematic, joint-limit, inertial and structural data derived from Universal Robots' Universal_Robots_ROS2_Description (ur_description), licensed under the BSD 3-Clause License. See LICENSE-BSD-3-Clause.txt."
+    }
+    defaultPrim = "ur17g_1300"
+    kilogramsPerUnit = 1
+    metersPerUnit = 1
+    upAxis = "Z"
+)
+
+over "ur17g_1300"
+{
+    over "Physics"
+    {
+        over "shoulder_pan_joint" (
+            prepend apiSchemas = ["PhysxJointAPI"]
+        )
+        {
+            float physxJoint:maxJointVelocity = 180
+        }
+
+        over "shoulder_lift_joint" (
+            prepend apiSchemas = ["PhysxJointAPI"]
+        )
+        {
+            float physxJoint:maxJointVelocity = 180
+        }
+
+        over "elbow_joint" (
+            prepend apiSchemas = ["PhysxJointAPI"]
+        )
+        {
+            float physxJoint:maxJointVelocity = 240
+        }
+
+        over "wrist_1_joint" (
+            prepend apiSchemas = ["PhysxJointAPI"]
+        )
+        {
+            float physxJoint:maxJointVelocity = 300
+        }
+
+        over "wrist_2_joint" (
+            prepend apiSchemas = ["PhysxJointAPI"]
+        )
+        {
+            float physxJoint:maxJointVelocity = 300
+        }
+
+        over "wrist_3_joint" (
+            prepend apiSchemas = ["PhysxJointAPI"]
+        )
+        {
+            float physxJoint:maxJointVelocity = 300
+        }
+
+        over "root_joint" (
+            prepend apiSchemas = ["PhysxArticulationAPI"]
+        )
+        {
+            bool physxArticulation:enabledSelfCollisions = 0
+            int physxArticulation:solverPositionIterationCount = 32
+            int physxArticulation:solverVelocityIterationCount = 1
+        }
+    }
+}
+

ur17g_1300/simready_usd/ur17g_1300.usda

@@ -0,0 +1,84 @@
+#usda 1.0
+(
+    "Universal Robots UR17g-1300. Visual geometry, materials and textures: © 2026 Universal Robots A/S. Use hereof is subject to Universal Robots A/S' Terms and Conditions for Use of Graphical Documentation. See LICENSE-UR-Graphical-Documentation.txt. Everything else: Kinematic, joint-limit, inertial and structural data derived from Universal Robots' Universal_Robots_ROS2_Description (ur_description), licensed under the BSD 3-Clause License. See LICENSE-BSD-3-Clause.txt. See NOTICE.txt."
+    customLayerData = {
+        dictionary SimReady_Metadata = {
+            dictionary Variants = {
+                dictionary Physics = {
+                    dictionary Newton = {
+                        string activateOption = "Enabled"
+                        string prim = "/ur17g_1300"
+                        string variantSetName = "Newton"
+                    }
+                    dictionary PhysX = {
+                        string activateOption = "Enabled"
+                        string prim = "/ur17g_1300"
+                        string variantSetName = "PhysX"
+                    }
+                }
+            }
+            float3 asset_extents = (1.315, 0.4281, 0.2995)
+            string asset_license = "LicenseRef-UR-Graphical-Documentation AND BSD-3-Clause"
+            string asset_name = "ur17g_1300"
+            string asset_type = "robot"
+            string author = "Universal Robots"
+            string category = "robot_arm"
+            string description = "Universal Robots UR17g-1300 collaborative robot arm (g-Series, 1300 mm reach)"
+            string display_name = "UR17g-1300"
+            double mass = 40.3578
+            string qcode = "Q5138951"
+            int rigid_body_count = 8
+            string source_file = "ur17g_1300_description/urdf/ur17g_1300.urdf"
+            string usd_date_generated = "2026-10-19"
+        }
+        string asset_name = "ur17g_1300"
+        string asset_type = "robot"
+        string copyright = "© 2026 Universal Robots A/S"
+        string license = "LicenseRef-UR-Graphical-Documentation AND BSD-3-Clause"
+        string license_files = "LICENSE-UR-Graphical-Documentation.txt, LICENSE-BSD-3-Clause.txt, NOTICE.txt"
+        string license_notice = "Visual geometry, materials and textures: © 2026 Universal Robots A/S. Use hereof is subject to Universal Robots A/S' Terms and Conditions for Use of Graphical Documentation. See LICENSE-UR-Graphical-Documentation.txt. Everything else: Kinematic, joint-limit, inertial and structural data derived from Universal Robots' Universal_Robots_ROS2_Description (ur_description), licensed under the BSD 3-Clause License. See LICENSE-BSD-3-Clause.txt. See NOTICE.txt."
+        string source_file = "ur17g_1300_description/urdf/ur17g_1300.urdf"
+        string usd_date_generated = "2026-10-19"
+    }
+    defaultPrim = "ur17g_1300"
+    kilogramsPerUnit = 1
+    metersPerUnit = 1
+    upAxis = "Z"
+)
+
+def Xform "ur17g_1300" (
+    assetInfo = {
+        string name = "UR17g-1300"
+    }
+    displayName = "UR17g-1300"
+    kind = "component"
+    prepend references = @./payloads/base.usda@
+    variants = {
+        string Newton = "Disabled"
+        string PhysX = "Disabled"
+    }
+    prepend variantSets = ["PhysX", "Newton"]
+)
+{
+    variantSet "PhysX" = {
+        "Disabled" {
+
+        }
+        "Enabled" (
+            prepend payload = @./runnables/physics/physx.usda@
+        ) {
+
+        }
+    }
+    variantSet "Newton" = {
+        "Disabled" {
+
+        }
+        "Enabled" (
+            prepend payload = @./runnables/physics/newton.usda@
+        ) {
+
+        }
+    }
+}
+