Add SimReady package: DR02-std

.gitattributes

@@ -76,3 +76,7 @@ S10/simready_usd/configuration/S10_base.usd filter=lfs diff=lfs merge=lfs -text
 M20_Piper/simready_usd/M20_Piper.usd filter=lfs diff=lfs merge=lfs -text
 M20_Piper/simready_usd/configuration/M20_Piper_base.usd filter=lfs diff=lfs merge=lfs -text
 M20_Piper/simready_usd/configuration/M20_Piper_physics.usd filter=lfs diff=lfs merge=lfs -text
+DR02-std/simready_usd/alternatives/original/payloads/geometries.usd filter=lfs diff=lfs merge=lfs -text
+DR02-std/simready_usd/payloads/flat-mujoco.usdc filter=lfs diff=lfs merge=lfs -text
+DR02-std/simready_usd/payloads/flat-physics.usdc filter=lfs diff=lfs merge=lfs -text
+DR02-std/simready_usd/payloads/flat-physx.usdc filter=lfs diff=lfs merge=lfs -text

DR02-std/.metadata/DR02-std_validation.json

@@ -0,0 +1,238 @@
+{
+    "simready_usd/DR02-std.usd": {
+        "features_summary": {
+            "FET_000_ISAAC": {
+                "blocking_failure": false,
+                "dependencies": "[{'FET_000_STANDARD': {'version': '0.1.0'}}]",
+                "optional requirements": "['com.nvidia.simready.RC.001', 'com.nvidia.simready.RC.005', 'com.nvidia.simready.SR.001']",
+                "passed": false,
+                "version": "0.1.0"
+            },
+            "FET_000_MUJOCO": {
+                "blocking_failure": false,
+                "dependencies": "[{'FET_000_STANDARD': {'version': '0.1.0'}}]",
+                "optional requirements": "['com.nvidia.simready.RV.007', 'com.nvidia.simready.SR.001']",
+                "passed": false,
+                "version": "0.1.0"
+            },
+            "FET_000_NEWTON": {
+                "blocking_failure": false,
+                "dependencies": "[{'FET_000_STANDARD': {'version': '0.1.0'}}]",
+                "optional requirements": "['com.nvidia.simready.RV.004', 'com.nvidia.simready.SR.001']",
+                "passed": false,
+                "version": "0.1.0"
+            },
+            "FET_000_PHYSX": {
+                "blocking_failure": false,
+                "dependencies": "[{'FET_000_STANDARD': {'version': '0.1.0'}}]",
+                "optional requirements": "['com.nvidia.simready.RV.001', 'com.nvidia.simready.SR.001']",
+                "passed": false,
+                "version": "0.1.0"
+            },
+            "FET_000_STANDARD": {
+                "blocking_failure": false,
+                "dependencies": "[]",
+                "optional requirements": "['com.nvidia.simready.SR.001']",
+                "passed": false,
+                "version": "0.1.0"
+            },
+            "FET_001_STANDARD": {
+                "blocking_failure": false,
+                "dependencies": "[]",
+                "passed": true,
+                "version": "1.0.1"
+            },
+            "FET_003_MUJOCO": {
+                "blocking_failure": false,
+                "dependencies": "[]",
+                "optional requirements": "['com.nvidia.simready.MUJOCO.COL.001']",
+                "passed": false,
+                "version": "0.1.0"
+            },
+            "FET_003_NEWTON": {
+                "blocking_failure": false,
+                "dependencies": "[]",
+                "passed": true,
+                "version": "0.1.0"
+            },
+            "FET_003_PHYSX": {
+                "blocking_failure": false,
+                "dependencies": "[]",
+                "passed": true,
+                "version": "0.4.0"
+            },
+            "FET_003_STANDARD": {
+                "blocking_failure": false,
+                "dependencies": "[]",
+                "passed": true,
+                "version": "0.2.0"
+            },
+            "FET_004_MUJOCO": {
+                "blocking_failure": false,
+                "dependencies": "[{'FET_003_MUJOCO': {'version': '0.1.0'}}]",
+                "optional requirements": "['com.nvidia.simready.MUJOCO.COL.001']",
+                "passed": false,
+                "version": "0.1.0"
+            },
+            "FET_004_NEWTON": {
+                "blocking_failure": false,
+                "dependencies": "[{'FET_003_NEWTON': {'version': '0.1.0'}}]",
+                "passed": true,
+                "version": "0.1.0"
+            },
+            "FET_004_PHYSX": {
+                "blocking_failure": false,
+                "dependencies": "[{'FET_003_PHYSX': {'version': '0.4.0'}}]",
+                "passed": true,
+                "version": "0.4.0"
+            },
+            "FET_004_ROBOT_MUJOCO": {
+                "blocking_failure": false,
+                "dependencies": "[]",
+                "optional requirements": "['com.nvidia.simready.MUJOCO.COL.001']",
+                "passed": false,
+                "version": "0.1.0"
+            },
+            "FET_004_ROBOT_NEWTON": {
+                "blocking_failure": false,
+                "dependencies": "[]",
+                "passed": true,
+                "version": "0.1.0"
+            },
+            "FET_004_STANDARD": {
+                "blocking_failure": false,
+                "dependencies": "[{'FET_003_STANDARD': {'version': '0.2.0'}}]",
+                "passed": true,
+                "version": "0.2.0"
+            },
+            "FET_006_MDL": {
+                "blocking_failure": false,
+                "dependencies": "[]",
+                "optional requirements": "['com.nvidia.simready.VM.MDL.003']",
+                "passed": false,
+                "version": "0.2.0"
+            },
+            "FET_006_OPENPBR": {
+                "blocking_failure": false,
+                "dependencies": "[]",
+                "optional requirements": "['com.nvidia.simready.VM.PBR.001']",
+                "passed": false,
+                "version": "0.1.0"
+            },
+            "FET_006_STANDARD": {
+                "blocking_failure": false,
+                "dependencies": "[]",
+                "passed": true,
+                "version": "0.2.0"
+            },
+            "FET_010_STANDARD": {
+                "blocking_failure": false,
+                "dependencies": "[]",
+                "optional requirements": "['com.nvidia.simready.DISP.001']",
+                "passed": false,
+                "version": "0.1.0"
+            },
+            "FET_021_ISAAC": {
+                "blocking_failure": false,
+                "dependencies": "[]",
+                "passed": true,
+                "version": "0.3.0"
+            },
+            "FET_022_ISAAC": {
+                "blocking_failure": false,
+                "dependencies": "[{'FET_022_PHYSX': {'version': '0.2.0'}}]",
+                "passed": true,
+                "version": "0.2.0"
+            },
+            "FET_022_MUJOCO": {
+                "blocking_failure": false,
+                "dependencies": "[{'FET_004_ROBOT_MUJOCO': {'version': '0.1.0'}}]",
+                "optional requirements": "['com.nvidia.simready.MUJOCO.COL.001', 'com.nvidia.simready.MUJOCO.DJ.001']",
+                "passed": false,
+                "version": "0.1.0"
+            },
+            "FET_022_NEWTON": {
+                "blocking_failure": false,
+                "dependencies": "[{'FET_004_ROBOT_NEWTON': {'version': '0.1.0'}}]",
+                "passed": true,
+                "version": "0.1.0"
+            },
+            "FET_022_PHYSX": {
+                "blocking_failure": false,
+                "dependencies": "[{'FET_004_PHYSX': {'version': '0.4.0'}}]",
+                "passed": true,
+                "version": "0.2.0"
+            },
+            "FET_022_STANDARD": {
+                "blocking_failure": false,
+                "dependencies": "[{'FET_004_STANDARD': {'version': '0.2.0'}}]",
+                "passed": true,
+                "version": "0.2.0"
+            },
+            "FET_023_ISAAC": {
+                "blocking_failure": false,
+                "dependencies": "[]",
+                "passed": true,
+                "version": "0.1.0"
+            },
+            "FET_024_MUJOCO": {
+                "blocking_failure": false,
+                "dependencies": "[{'FET_024_STANDARD': {'version': '0.1.0'}}]",
+                "passed": true,
+                "version": "0.1.0"
+            },
+            "FET_024_NEWTON": {
+                "blocking_failure": false,
+                "dependencies": "[{'FET_024_STANDARD': {'version': '0.1.0'}}]",
+                "passed": true,
+                "version": "0.1.0"
+            },
+            "FET_024_PHYSX": {
+                "blocking_failure": false,
+                "dependencies": "[{'FET_024_STANDARD': {'version': '0.1.0'}}]",
+                "passed": true,
+                "version": "0.1.0"
+            },
+            "FET_024_STANDARD": {
+                "blocking_failure": false,
+                "dependencies": "[]",
+                "passed": true,
+                "version": "0.1.0"
+            },
+            "FET_025_ROS": {
+                "blocking_failure": false,
+                "dependencies": "[]",
+                "optional requirements": "['com.nvidia.simready.ROS.001']",
+                "passed": false,
+                "version": "0.1.0"
+            },
+            "FET_031_STANDARD": {
+                "blocking_failure": false,
+                "dependencies": "[]",
+                "passed": true,
+                "version": "0.1.0"
+            },
+            "FET_033_STANDARD": {
+                "blocking_failure": false,
+                "dependencies": "[{'FET_031_STANDARD': {'version': '0.1.0'}}]",
+                "passed": true,
+                "version": "0.4.0"
+            },
+            "FET_100_ISAAC": {
+                "blocking_failure": false,
+                "dependencies": "[{'FET_003_PHYSX': {'version': '0.4.0'}}]",
+                "optional requirements": "['com.nvidia.simready.ISA.001']",
+                "passed": false,
+                "version": "0.3.0"
+            }
+        },
+        "profile_id": "Robot-Body",
+        "profile_version": "3.0.0",
+        "simready_validate_version": "2026.8.0",
+        "tier_versions": {
+            "sensors": "2026.8.0",
+            "tier_aif": "2026.8.0",
+            "tier_core": "2026.8.0"
+        }
+    }
+}

DR02-std/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json

@@ -0,0 +1,35 @@
+{
+  "format_version": "1.0",
+  "profile": "Package",
+  "profile_version": "1.0.0",
+  "timestamp": "2026-10-22T14:49:30",
+  "assets": [
+    {
+      "asset": "com.nvidia.simready.packaging.json",
+      "features": [
+        {
+          "FET_030_STANDARD": {
+            "version": "0.1.0",
+            "passed": true,
+            "failing_requirements": [],
+            "dependencies": []
+          }
+        },
+        {
+          "FET_032_STANDARD": {
+            "version": "0.1.0",
+            "passed": true,
+            "failing_requirements": [],
+            "dependencies": [
+              {
+                "FET_030_STANDARD": {
+                  "version": "0.1.0"
+                }
+              }
+            ]
+          }
+        }
+      ]
+    }
+  ]
+}

DR02-std/.metadata/com.nvidia.simready.packaging.bom.json

@@ -0,0 +1,177 @@
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+}

DR02-std/com.nvidia.simready.packaging.json

@@ -0,0 +1,31 @@
+{
+  "format_version": "1.0",
+  "package_id": "simready.hf.deeproboticslab.simready-assets.DR02-std.2026.10.22_00",
+  "license": "cc-by-4.0",
+  "metadata": [
+    {
+      "name": "com.nvidia.simready.conformance.Package-Candidate@1.0.0.json",
+      "hash": {
+        "sha256": "3560a5dcf37812c324851f1633581165aadbb523cfcc180d718370ceb945b573"
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+    {
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+      "hash": {
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+  "package_hash": {
+    "sha256": "a0f2c8da27183bc8051c7f46bc7242e6b48eabbea6f5871fa6b89072de8d915c"
+  }
+}

DR02-std/simready_usd/SOURCE_LICENSE.txt

@@ -0,0 +1,28 @@
+BSD 3-Clause License
+
+Copyright (c) 2024, DeepRoboticsLab
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+
+1. Redistributions of source code must retain the above copyright notice, this
+   list of conditions and the following disclaimer.
+
+2. 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.
+
+3. 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.

DR02-std/simready_usd/alternatives/original/SOURCE_LICENSE.txt

@@ -0,0 +1,28 @@
+BSD 3-Clause License
+
+Copyright (c) 2024, DeepRoboticsLab
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+
+1. Redistributions of source code must retain the above copyright notice, this
+   list of conditions and the following disclaimer.
+
+2. 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.
+
+3. 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.

DR02-std/simready_usd/alternatives/original/payloads/Physics/mujoco.usda

@@ -0,0 +1,337 @@
+#usda 1.0
+(
+    customLayerData = {
+        string creator = "URDF USD Converter v0.3.2"
+    }
+    defaultPrim = "tn__DR02STD_sA"
+    endTimeCode = 1000000
+    kilogramsPerUnit = 1
+    metersPerUnit = 1
+    startTimeCode = 0
+    subLayers = [
+        @./physics.usda@
+    ]
+    upAxis = "Z"
+)
+
+over "tn__DR02STD_sA"
+{
+    over "Physics"
+    {
+        over "waist_z_joint" (
+            delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
+            prepend apiSchemas = ["MjcJointAPI"]
+        )
+        {
+        }
+
+        over "left_shoulder_y_joint" (
+            delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
+            prepend apiSchemas = ["MjcJointAPI"]
+        )
+        {
+        }
+
+        over "left_shoulder_x_joint" (
+            delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
+            prepend apiSchemas = ["MjcJointAPI"]
+        )
+        {
+        }
+
+        over "left_shoulder_z_joint" (
+            delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
+            prepend apiSchemas = ["MjcJointAPI"]
+        )
+        {
+        }
+
+        over "left_elbow_joint" (
+            delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
+            prepend apiSchemas = ["MjcJointAPI"]
+        )
+        {
+        }
+
+        over "right_shoulder_y_joint" (
+            delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
+            prepend apiSchemas = ["MjcJointAPI"]
+        )
+        {
+        }
+
+        over "right_shoulder_x_joint" (
+            delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
+            prepend apiSchemas = ["MjcJointAPI"]
+        )
+        {
+        }
+
+        over "right_shoulder_z_joint" (
+            delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
+            prepend apiSchemas = ["MjcJointAPI"]
+        )
+        {
+        }
+
+        over "right_elbow_joint" (
+            delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
+            prepend apiSchemas = ["MjcJointAPI"]
+        )
+        {
+        }
+
+        over "left_hip_y_joint" (
+            delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
+            prepend apiSchemas = ["MjcJointAPI"]
+        )
+        {
+        }
+
+        over "left_hip_x_joint" (
+            delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
+            prepend apiSchemas = ["MjcJointAPI"]
+        )
+        {
+        }
+
+        over "left_hip_z_joint" (
+            delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
+            prepend apiSchemas = ["MjcJointAPI"]
+        )
+        {
+        }
+
+        over "left_knee_joint" (
+            delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
+            prepend apiSchemas = ["MjcJointAPI"]
+        )
+        {
+        }
+
+        over "left_ankle_y_joint" (
+            delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
+            prepend apiSchemas = ["MjcJointAPI"]
+        )
+        {
+        }
+
+        over "left_ankle_x_joint" (
+            delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
+            prepend apiSchemas = ["MjcJointAPI"]
+        )
+        {
+        }
+
+        over "right_hip_y_joint" (
+            delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
+            prepend apiSchemas = ["MjcJointAPI"]
+        )
+        {
+        }
+
+        over "right_hip_x_joint" (
+            delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
+            prepend apiSchemas = ["MjcJointAPI"]
+        )
+        {
+        }
+
+        over "right_hip_z_joint" (
+            delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
+            prepend apiSchemas = ["MjcJointAPI"]
+        )
+        {
+        }
+
+        over "right_knee_joint" (
+            delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
+            prepend apiSchemas = ["MjcJointAPI"]
+        )
+        {
+        }
+
+        over "right_ankle_y_joint" (
+            delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
+            prepend apiSchemas = ["MjcJointAPI"]
+        )
+        {
+        }
+
+        over "right_ankle_x_joint" (
+            delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
+            prepend apiSchemas = ["MjcJointAPI"]
+        )
+        {
+        }
+
+        def MjcActuator "waist_z_joint_actuator"
+        {
+            uniform double mjc:forceRange:max = 137
+            uniform double mjc:forceRange:min = -137
+            custom rel mjc:target
+            append rel mjc:target = </tn__DR02STD_sA/Physics/waist_z_joint>
+        }
+
+        def MjcActuator "left_shoulder_y_joint_actuator"
+        {
+            uniform double mjc:forceRange:max = 137
+            uniform double mjc:forceRange:min = -137
+            custom rel mjc:target
+            append rel mjc:target = </tn__DR02STD_sA/Physics/left_shoulder_y_joint>
+        }
+
+        def MjcActuator "left_shoulder_x_joint_actuator"
+        {
+            uniform double mjc:forceRange:max = 137
+            uniform double mjc:forceRange:min = -137
+            custom rel mjc:target
+            append rel mjc:target = </tn__DR02STD_sA/Physics/left_shoulder_x_joint>
+        }
+
+        def MjcActuator "left_shoulder_z_joint_actuator"
+        {
+            uniform double mjc:forceRange:max = 137
+            uniform double mjc:forceRange:min = -137
+            custom rel mjc:target
+            append rel mjc:target = </tn__DR02STD_sA/Physics/left_shoulder_z_joint>
+        }
+
+        def MjcActuator "left_elbow_joint_actuator"
+        {
+            uniform double mjc:forceRange:max = 137
+            uniform double mjc:forceRange:min = -137
+            custom rel mjc:target
+            append rel mjc:target = </tn__DR02STD_sA/Physics/left_elbow_joint>
+        }
+
+        def MjcActuator "right_shoulder_y_joint_actuator"
+        {
+            uniform double mjc:forceRange:max = 137
+            uniform double mjc:forceRange:min = -137
+            custom rel mjc:target
+            append rel mjc:target = </tn__DR02STD_sA/Physics/right_shoulder_y_joint>
+        }
+
+        def MjcActuator "right_shoulder_x_joint_actuator"
+        {
+            uniform double mjc:forceRange:max = 137
+            uniform double mjc:forceRange:min = -137
+            custom rel mjc:target
+            append rel mjc:target = </tn__DR02STD_sA/Physics/right_shoulder_x_joint>
+        }
+
+        def MjcActuator "right_shoulder_z_joint_actuator"
+        {
+            uniform double mjc:forceRange:max = 137
+            uniform double mjc:forceRange:min = -137
+            custom rel mjc:target
+            append rel mjc:target = </tn__DR02STD_sA/Physics/right_shoulder_z_joint>
+        }
+
+        def MjcActuator "right_elbow_joint_actuator"
+        {
+            uniform double mjc:forceRange:max = 137
+            uniform double mjc:forceRange:min = -137
+            custom rel mjc:target
+            append rel mjc:target = </tn__DR02STD_sA/Physics/right_elbow_joint>
+        }
+
+        def MjcActuator "left_hip_y_joint_actuator"
+        {
+            uniform double mjc:forceRange:max = 363
+            uniform double mjc:forceRange:min = -363
+            custom rel mjc:target
+            append rel mjc:target = </tn__DR02STD_sA/Physics/left_hip_y_joint>
+        }
+
+        def MjcActuator "left_hip_x_joint_actuator"
+        {
+            uniform double mjc:forceRange:max = 363
+            uniform double mjc:forceRange:min = -363
+            custom rel mjc:target
+            append rel mjc:target = </tn__DR02STD_sA/Physics/left_hip_x_joint>
+        }
+
+        def MjcActuator "left_hip_z_joint_actuator"
+        {
+            uniform double mjc:forceRange:max = 137
+            uniform double mjc:forceRange:min = -137
+            custom rel mjc:target
+            append rel mjc:target = </tn__DR02STD_sA/Physics/left_hip_z_joint>
+        }
+
+        def MjcActuator "left_knee_joint_actuator"
+        {
+            uniform double mjc:forceRange:max = 363
+            uniform double mjc:forceRange:min = -363
+            custom rel mjc:target
+            append rel mjc:target = </tn__DR02STD_sA/Physics/left_knee_joint>
+        }
+
+        def MjcActuator "left_ankle_y_joint_actuator"
+        {
+            uniform double mjc:forceRange:max = 137
+            uniform double mjc:forceRange:min = -137
+            custom rel mjc:target
+            append rel mjc:target = </tn__DR02STD_sA/Physics/left_ankle_y_joint>
+        }
+
+        def MjcActuator "left_ankle_x_joint_actuator"
+        {
+            uniform double mjc:forceRange:max = 50
+            uniform double mjc:forceRange:min = -50
+            custom rel mjc:target
+            append rel mjc:target = </tn__DR02STD_sA/Physics/left_ankle_x_joint>
+        }
+
+        def MjcActuator "right_hip_y_joint_actuator"
+        {
+            uniform double mjc:forceRange:max = 363
+            uniform double mjc:forceRange:min = -363
+            custom rel mjc:target
+            append rel mjc:target = </tn__DR02STD_sA/Physics/right_hip_y_joint>
+        }
+
+        def MjcActuator "right_hip_x_joint_actuator"
+        {
+            uniform double mjc:forceRange:max = 363
+            uniform double mjc:forceRange:min = -363
+            custom rel mjc:target
+            append rel mjc:target = </tn__DR02STD_sA/Physics/right_hip_x_joint>
+        }
+
+        def MjcActuator "right_hip_z_joint_actuator"
+        {
+            uniform double mjc:forceRange:max = 137
+            uniform double mjc:forceRange:min = -137
+            custom rel mjc:target
+            append rel mjc:target = </tn__DR02STD_sA/Physics/right_hip_z_joint>
+        }
+
+        def MjcActuator "right_knee_joint_actuator"
+        {
+            uniform double mjc:forceRange:max = 363
+            uniform double mjc:forceRange:min = -363
+            custom rel mjc:target
+            append rel mjc:target = </tn__DR02STD_sA/Physics/right_knee_joint>
+        }
+
+        def MjcActuator "right_ankle_y_joint_actuator"
+        {
+            uniform double mjc:forceRange:max = 137
+            uniform double mjc:forceRange:min = -137
+            custom rel mjc:target
+            append rel mjc:target = </tn__DR02STD_sA/Physics/right_ankle_y_joint>
+        }
+
+        def MjcActuator "right_ankle_x_joint_actuator"
+        {
+            uniform double mjc:forceRange:max = 50
+            uniform double mjc:forceRange:min = -50
+            custom rel mjc:target
+            append rel mjc:target = </tn__DR02STD_sA/Physics/right_ankle_x_joint>
+        }
+    }
+}
+

DR02-std/simready_usd/alternatives/original/payloads/Physics/physics.usda

@@ -0,0 +1,865 @@
+#usda 1.0
+(
+    customLayerData = {
+        string creator = "URDF USD Converter v0.3.2"
+    }
+    defaultPrim = "tn__DR02STD_sA"
+    endTimeCode = 1000000
+    kilogramsPerUnit = 1
+    metersPerUnit = 1
+    startTimeCode = 0
+    upAxis = "Z"
+)
+
+over "tn__DR02STD_sA"
+{
+    over "Geometry"
+    {
+        over "base_link" (
+            prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsArticulationRootAPI", "NewtonArticulationRootAPI", "PhysicsMassAPI", "NewtonMassAPI"]
+        )
+        {
+            double[] newton:inertia = [0.047801, 0.034616, 0.038003, 0.000012, -0.000497, -0.000003]
+            bool newton:selfCollisionEnabled = 0
+            point3f physics:centerOfMass = (0.000093, 0.000006, 0.013442)
+            float3 physics:diagonalInertia = (0.034615986, 0.037977856, 0.047826156)
+            float physics:mass = 8.06269
+            quatf physics:principalAxes = (0.48679492, 0.51243526, 0.5125186, 0.48761207)
+
+            over "body" (
+                prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI", "NewtonMassAPI"]
+            )
+            {
+                double[] newton:inertia = [0.556188, 0.598136, 0.184687, 0.001211, 0.007316, -0.007763]
+                point3f physics:centerOfMass = (-0.02277, 0.004208, 0.185037)
+                float3 physics:diagonalInertia = (0.18439649, 0.55630535, 0.59830916)
+                float physics:mass = 21.33722
+                quatf physics:principalAxes = (-0.48393583, 0.5059054, 0.503203, 0.5066089)
+
+                over "left_shoulder_y_link" (
+                    prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI", "NewtonMassAPI"]
+                )
+                {
+                    double[] newton:inertia = [0.001991, 0.001019, 0.001997, 0.000033, 0.000001, -0.000002]
+                    point3f physics:centerOfMass = (0.001479, -0.014833, 0.000165)
+                    float3 physics:diagonalInertia = (0.0010178767, 0.0019919474, 0.0019971759)
+                    float physics:mass = 1.400436
+                    quatf physics:principalAxes = (-0.06396946, 0.69207, 0.7160743, -0.06468832)
+
+                    over "left_shoulder_x_link" (
+                        prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI", "NewtonMassAPI"]
+                    )
+                    {
+                        double[] newton:inertia = [0.001572, 0.002243, 0.001601, 0, -0.000004, 0]
+                        point3f physics:centerOfMass = (0.000432, 0, -0.048362)
+                        float3 physics:diagonalInertia = (0.0015714584, 0.0016015416, 0.002243)
+                        float physics:mass = 0.697075
+                        quatf physics:principalAxes = (0.70550644, 0.70550644, -0.047546636, 0.047546636)
+
+                        over "left_shoulder_z_link" (
+                            prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI", "NewtonMassAPI"]
+                        )
+                        {
+                            double[] newton:inertia = [0.00612, 0.005808, 0.001952, 0.000004, 0.000286, 0.000054]
+                            point3f physics:centerOfMass = (-0.00426, -0.0003, 0.094408)
+                            float3 physics:diagonalInertia = (0.0019317255, 0.0058085634, 0.006139711)
+                            float physics:mass = 1.720926
+                            quatf physics:principalAxes = (-0.6824795, -0.0129593, 0.73078024, -0.0037465312)
+
+                            over "left_elbow_link" (
+                                prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI", "NewtonMassAPI"]
+                            )
+                            {
+                                double[] newton:inertia = [0.035402, 0.035398, 0.001296, 0.000012, 0.000011, 0.000089]
+                                point3f physics:centerOfMass = (0.000055, 0.000466, -0.101685)
+                                float3 physics:diagonalInertia = (0.0012957642, 0.03538794, 0.035412293)
+                                float physics:mass = 1.710969
+                                quatf physics:principalAxes = (-0.6628776, -0.24583016, 0.6637303, -0.24417794)
+
+                                over "cylinder" (
+                                    prepend apiSchemas = ["NewtonCollisionAPI"]
+                                )
+                                {
+                                }
+
+                                over "cylinder_1" (
+                                    prepend apiSchemas = ["NewtonCollisionAPI"]
+                                )
+                                {
+                                }
+
+                                over "sphere" (
+                                    prepend apiSchemas = ["NewtonCollisionAPI"]
+                                )
+                                {
+                                }
+                            }
+
+                            over "cylinder" (
+                                prepend apiSchemas = ["NewtonCollisionAPI"]
+                            )
+                            {
+                            }
+                        }
+
+                        over "cylinder" (
+                            prepend apiSchemas = ["NewtonCollisionAPI"]
+                        )
+                        {
+                        }
+
+                        over "cylinder_1" (
+                            prepend apiSchemas = ["NewtonCollisionAPI"]
+                        )
+                        {
+                        }
+                    }
+                }
+
+                over "right_shoulder_y_link" (
+                    prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI", "NewtonMassAPI"]
+                )
+                {
+                    double[] newton:inertia = [0.001991, 0.001019, 0.001997, -0.000033, -0.000001, -0.000002]
+                    point3f physics:centerOfMass = (0.001479, 0.014833, -0.000165)
+                    float3 physics:diagonalInertia = (0.0010178767, 0.0019919474, 0.0019971759)
+                    float physics:mass = 1.400436
+                    quatf physics:principalAxes = (0.06468832, 0.7160743, 0.69207, 0.06396946)
+
+                    over "right_shoulder_x_link" (
+                        prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI", "NewtonMassAPI"]
+                    )
+                    {
+                        double[] newton:inertia = [0.001572, 0.002243, 0.001601, 0, -0.000004, 0]
+                        point3f physics:centerOfMass = (0.000432, 0, -0.048362)
+                        float3 physics:diagonalInertia = (0.0015714584, 0.0016015416, 0.002243)
+                        float physics:mass = 0.697075
+                        quatf physics:principalAxes = (0.70550644, 0.70550644, -0.047546636, 0.047546636)
+
+                        over "right_shoulder_z_link" (
+                            prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI", "NewtonMassAPI"]
+                        )
+                        {
+                            double[] newton:inertia = [0.00612, 0.005808, 0.001952, 0.000004, 0.000286, 0.000054]
+                            point3f physics:centerOfMass = (-0.00426, -0.0003, 0.094408)
+                            float3 physics:diagonalInertia = (0.0019317255, 0.0058085634, 0.006139711)
+                            float physics:mass = 1.720926
+                            quatf physics:principalAxes = (-0.6824795, -0.0129593, 0.73078024, -0.0037465312)
+
+                            over "right_elbow_link" (
+                                prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI", "NewtonMassAPI"]
+                            )
+                            {
+                                double[] newton:inertia = [0.035402, 0.035398, 0.001296, 0.000012, 0.000011, 0.000089]
+                                point3f physics:centerOfMass = (0.000055, 0.000466, -0.101685)
+                                float3 physics:diagonalInertia = (0.0012957642, 0.03538794, 0.035412293)
+                                float physics:mass = 1.710969
+                                quatf physics:principalAxes = (-0.6628776, -0.24583016, 0.6637303, -0.24417794)
+
+                                over "cylinder" (
+                                    prepend apiSchemas = ["NewtonCollisionAPI"]
+                                )
+                                {
+                                }
+
+                                over "cylinder_1" (
+                                    prepend apiSchemas = ["NewtonCollisionAPI"]
+                                )
+                                {
+                                }
+
+                                over "sphere" (
+                                    prepend apiSchemas = ["NewtonCollisionAPI"]
+                                )
+                                {
+                                }
+                            }
+
+                            over "cylinder" (
+                                prepend apiSchemas = ["NewtonCollisionAPI"]
+                            )
+                            {
+                            }
+                        }
+
+                        over "cylinder" (
+                            prepend apiSchemas = ["NewtonCollisionAPI"]
+                        )
+                        {
+                        }
+
+                        over "cylinder_1" (
+                            prepend apiSchemas = ["NewtonCollisionAPI"]
+                        )
+                        {
+                        }
+                    }
+                }
+
+                over "box" (
+                    prepend apiSchemas = ["NewtonCollisionAPI"]
+                )
+                {
+                }
+
+                over "box_1" (
+                    prepend apiSchemas = ["NewtonCollisionAPI"]
+                )
+                {
+                }
+
+                over "box_2" (
+                    prepend apiSchemas = ["NewtonCollisionAPI"]
+                )
+                {
+                }
+
+                over "cylinder" (
+                    prepend apiSchemas = ["NewtonCollisionAPI"]
+                )
+                {
+                }
+
+                over "sphere" (
+                    prepend apiSchemas = ["NewtonCollisionAPI"]
+                )
+                {
+                }
+            }
+
+            over "left_hip_y_link" (
+                prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI", "NewtonMassAPI"]
+            )
+            {
+                double[] newton:inertia = [0.005574, 0.005409, 0.005665, 0.000149, -0.000057, -0.000149]
+                point3f physics:centerOfMass = (0.004243, -0.007887, 0.001484)
+                float3 physics:diagonalInertia = (0.0052913753, 0.0055575455, 0.005799079)
+                float physics:mass = 2.633192
+                quatf physics:principalAxes = (0.06933423, 0.5427859, 0.755698, 0.35985652)
+
+                over "left_hip_x_link" (
+                    prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI", "NewtonMassAPI"]
+                )
+                {
+                    double[] newton:inertia = [0.004145, 0.005869, 0.003914, 0.00001, 0.000131, -0.000028]
+                    point3f physics:centerOfMass = (0.001042, 0.00317, -0.074161)
+                    float3 physics:diagonalInertia = (0.003854418, 0.0042041424, 0.0058694393)
+                    float physics:mass = 1.131509
+                    quatf physics:principalAxes = (-0.3795003, 0.38768357, 0.597245, 0.5907448)
+
+                    over "left_hip_z_link" (
+                        prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI", "NewtonMassAPI"]
+                    )
+                    {
+                        double[] newton:inertia = [0.030123, 0.028514, 0.007636, 0.000088, -0.001323, 0.001236]
+                        point3f physics:centerOfMass = (0.008747, -0.002664, -0.111374)
+                        float3 physics:diagonalInertia = (0.0074854246, 0.028586857, 0.030200718)
+                        float physics:mass = 2.684372
+                        quatf physics:principalAxes = (0.7271001, 0.023674263, -0.685884, -0.018115632)
+
+                        over "left_knee_link" (
+                            prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI", "NewtonMassAPI"]
+                        )
+                        {
+                            double[] newton:inertia = [0.087826, 0.087013, 0.009313, 0.000053, 0.002385, -0.001498]
+                            point3f physics:centerOfMass = (-0.004924, -0.001316, -0.092649)
+                            float3 physics:diagonalInertia = (0.0092117395, 0.08704181, 0.08789845)
+                            float physics:mass = 4.246652
+                            quatf physics:principalAxes = (-0.6962898, 0.0038519087, 0.7176827, -0.009861928)
+
+                            over "left_ankle_y_link" (
+                                prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI", "NewtonMassAPI"]
+                            )
+                            {
+                                double[] newton:inertia = [0.001529, 0.001772, 0.001906, -0.000012, 0.000002, -0.000003]
+                                point3f physics:centerOfMass = (0.000479, 0.003282, 0.000327)
+                                float3 physics:diagonalInertia = (0.0015283998, 0.0017725194, 0.0019060808)
+                                float physics:mass = 1.377835
+                                quatf physics:principalAxes = (0.9996285, 0.011525436, 0.0027338045, 0.024547908)
+
+                                over "left_ankle_x_link" (
+                                    prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI", "NewtonMassAPI"]
+                                )
+                                {
+                                    double[] newton:inertia = [0.002428, 0.008621, 0.008077, 0.000004, 0.000496, 0.000002]
+                                    point3f physics:centerOfMass = (0.046836, 0.000068, -0.032705)
+                                    float3 physics:diagonalInertia = (0.0023847779, 0.008120209, 0.008621014)
+                                    float physics:mass = 1.484752
+                                    quatf physics:principalAxes = (0.7047964, 0.708078, 0.0304318, -0.031007063)
+
+                                    over "box" (
+                                        prepend apiSchemas = ["NewtonCollisionAPI"]
+                                    )
+                                    {
+                                    }
+                                }
+
+                                over "cylinder" (
+                                    prepend apiSchemas = ["NewtonCollisionAPI"]
+                                )
+                                {
+                                }
+                            }
+
+                            over "cylinder" (
+                                prepend apiSchemas = ["NewtonCollisionAPI"]
+                            )
+                            {
+                            }
+
+                            over "cylinder_1" (
+                                prepend apiSchemas = ["NewtonCollisionAPI"]
+                            )
+                            {
+                            }
+                        }
+
+                        over "cylinder" (
+                            prepend apiSchemas = ["NewtonCollisionAPI"]
+                        )
+                        {
+                        }
+                    }
+                }
+
+                over "cylinder" (
+                    prepend apiSchemas = ["NewtonCollisionAPI"]
+                )
+                {
+                }
+            }
+
+            over "right_hip_y_link" (
+                prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI", "NewtonMassAPI"]
+            )
+            {
+                double[] newton:inertia = [0.005574, 0.005409, 0.005665, 0.000149, 0.000057, 0.000149]
+                point3f physics:centerOfMass = (-0.004243, 0.007887, 0.001484)
+                float3 physics:diagonalInertia = (0.0052913753, 0.0055575455, 0.005799079)
+                float physics:mass = 2.633192
+                quatf physics:principalAxes = (-0.06933423, 0.5427859, 0.755698, -0.35985652)
+
+                over "right_hip_x_link" (
+                    prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI", "NewtonMassAPI"]
+                )
+                {
+                    double[] newton:inertia = [0.004145, 0.005869, 0.003914, 0.00001, -0.000131, 0.000028]
+                    point3f physics:centerOfMass = (-0.001042, -0.00317, -0.074161)
+                    float3 physics:diagonalInertia = (0.003854418, 0.0042041424, 0.0058694393)
+                    float physics:mass = 1.131509
+                    quatf physics:principalAxes = (0.597245, -0.5907448, -0.3795003, -0.38768357)
+
+                    over "right_hip_z_link" (
+                        prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI", "NewtonMassAPI"]
+                    )
+                    {
+                        double[] newton:inertia = [0.030123, 0.028514, 0.007636, 0.000088, -0.001323, 0.001236]
+                        point3f physics:centerOfMass = (0.008747, -0.002664, -0.111374)
+                        float3 physics:diagonalInertia = (0.0074854246, 0.028586857, 0.030200718)
+                        float physics:mass = 2.684372
+                        quatf physics:principalAxes = (0.7271001, 0.023674263, -0.685884, -0.018115632)
+
+                        over "right_knee_link" (
+                            prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI", "NewtonMassAPI"]
+                        )
+                        {
+                            double[] newton:inertia = [0.087826, 0.087013, 0.009313, 0.000053, 0.002385, -0.001498]
+                            point3f physics:centerOfMass = (-0.004924, -0.001316, -0.092649)
+                            float3 physics:diagonalInertia = (0.0092117395, 0.08704181, 0.08789845)
+                            float physics:mass = 4.246652
+                            quatf physics:principalAxes = (-0.6962898, 0.0038519087, 0.7176827, -0.009861928)
+
+                            over "right_ankle_y_link" (
+                                prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI", "NewtonMassAPI"]
+                            )
+                            {
+                                double[] newton:inertia = [0.001529, 0.001772, 0.001906, -0.000012, 0.000002, -0.000003]
+                                point3f physics:centerOfMass = (0.000479, 0.003282, 0.000327)
+                                float3 physics:diagonalInertia = (0.0015283998, 0.0017725194, 0.0019060808)
+                                float physics:mass = 1.377835
+                                quatf physics:principalAxes = (0.9996285, 0.011525436, 0.0027338045, 0.024547908)
+
+                                over "right_ankle_x_link" (
+                                    prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI", "NewtonMassAPI"]
+                                )
+                                {
+                                    double[] newton:inertia = [0.002428, 0.008621, 0.008077, 0.000004, 0.000496, 0.000002]
+                                    point3f physics:centerOfMass = (0.046836, 0.000068, -0.032705)
+                                    float3 physics:diagonalInertia = (0.0023847779, 0.008120209, 0.008621014)
+                                    float physics:mass = 1.484752
+                                    quatf physics:principalAxes = (0.7047964, 0.708078, 0.0304318, -0.031007063)
+
+                                    over "box" (
+                                        prepend apiSchemas = ["NewtonCollisionAPI"]
+                                    )
+                                    {
+                                    }
+                                }
+
+                                over "cylinder" (
+                                    prepend apiSchemas = ["NewtonCollisionAPI"]
+                                )
+                                {
+                                }
+                            }
+
+                            over "cylinder" (
+                                prepend apiSchemas = ["NewtonCollisionAPI"]
+                            )
+                            {
+                            }
+
+                            over "cylinder_1" (
+                                prepend apiSchemas = ["NewtonCollisionAPI"]
+                            )
+                            {
+                            }
+                        }
+
+                        over "cylinder" (
+                            prepend apiSchemas = ["NewtonCollisionAPI"]
+                        )
+                        {
+                        }
+                    }
+                }
+
+                over "cylinder" (
+                    prepend apiSchemas = ["NewtonCollisionAPI"]
+                )
+                {
+                }
+            }
+
+            over "cylinder" (
+                prepend apiSchemas = ["NewtonCollisionAPI"]
+            )
+            {
+            }
+        }
+    }
+
+    over "Physics"
+    {
+        def PhysicsRevoluteJoint "waist_z_joint" (
+            prepend apiSchemas = ["NewtonJointAPI", "PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
+        )
+        {
+            float drive:angular:physics:maxForce = 137
+            float newton:velocityLimit = 1110.3922
+            uniform token physics:axis = "Z"
+            custom rel physics:body0
+            append rel physics:body0 = </tn__DR02STD_sA/Geometry/base_link>
+            custom rel physics:body1
+            append rel physics:body1 = </tn__DR02STD_sA/Geometry/base_link/body>
+            point3f physics:localPos0 = (0, 0, 0.29)
+            point3f physics:localPos1 = (0, 0, 0)
+            quatf physics:localRot0 = (1, 0, 0, 0)
+            quatf physics:localRot1 = (1, 0, 0, 0)
+            float physics:lowerLimit = -99.99832
+            float physics:upperLimit = 210.00049
+            custom float urdf:limit:effort = 137
+        }
+
+        def PhysicsRevoluteJoint "left_shoulder_y_joint" (
+            prepend apiSchemas = ["NewtonJointAPI", "PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
+        )
+        {
+            float drive:angular:physics:maxForce = 137
+            float newton:velocityLimit = 1110.3922
+            uniform token physics:axis = "Y"
+            custom rel physics:body0
+            append rel physics:body0 = </tn__DR02STD_sA/Geometry/base_link/body>
+            custom rel physics:body1
+            append rel physics:body1 = </tn__DR02STD_sA/Geometry/base_link/body/left_shoulder_y_link>
+            point3f physics:localPos0 = (-0.02, 0.22315, 0.2349)
+            point3f physics:localPos1 = (0, 0, 0)
+            quatf physics:localRot0 = (1, 0, 0, 0)
+            quatf physics:localRot1 = (1, 0, 0, 0)
+            float physics:lowerLimit = -219.99861
+            float physics:upperLimit = 90.00021
+            custom float urdf:limit:effort = 137
+        }
+
+        def PhysicsRevoluteJoint "left_shoulder_x_joint" (
+            prepend apiSchemas = ["NewtonJointAPI", "PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
+        )
+        {
+            float drive:angular:physics:maxForce = 137
+            float newton:velocityLimit = 1110.3922
+            uniform token physics:axis = "X"
+            custom rel physics:body0
+            append rel physics:body0 = </tn__DR02STD_sA/Geometry/base_link/body/left_shoulder_y_link>
+            custom rel physics:body1
+            append rel physics:body1 = </tn__DR02STD_sA/Geometry/base_link/body/left_shoulder_y_link/left_shoulder_x_link>
+            point3f physics:localPos0 = (0, 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 = -20.000008
+            float physics:upperLimit = 200.00009
+            custom float urdf:limit:effort = 137
+        }
+
+        def PhysicsRevoluteJoint "left_shoulder_z_joint" (
+            prepend apiSchemas = ["NewtonJointAPI", "PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
+        )
+        {
+            float drive:angular:physics:maxForce = 137
+            float newton:velocityLimit = 1110.3922
+            uniform token physics:axis = "Z"
+            custom rel physics:body0
+            append rel physics:body0 = </tn__DR02STD_sA/Geometry/base_link/body/left_shoulder_y_link/left_shoulder_x_link>
+            custom rel physics:body1
+            append rel physics:body1 = </tn__DR02STD_sA/Geometry/base_link/body/left_shoulder_y_link/left_shoulder_x_link/left_shoulder_z_link>
+            point3f physics:localPos0 = (0, 0, -0.265)
+            point3f physics:localPos1 = (0, 0, 0)
+            quatf physics:localRot0 = (1, 0, 0, 0)
+            quatf physics:localRot1 = (1, 0, 0, 0)
+            float physics:lowerLimit = -170.0023
+            float physics:upperLimit = 170.0023
+            custom float urdf:limit:effort = 137
+        }
+
+        def PhysicsRevoluteJoint "left_elbow_joint" (
+            prepend apiSchemas = ["NewtonJointAPI", "PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
+        )
+        {
+            float drive:angular:physics:maxForce = 137
+            float newton:velocityLimit = 1110.3922
+            uniform token physics:axis = "Y"
+            custom rel physics:body0
+            append rel physics:body0 = </tn__DR02STD_sA/Geometry/base_link/body/left_shoulder_y_link/left_shoulder_x_link/left_shoulder_z_link>
+            custom rel physics:body1
+            append rel physics:body1 = </tn__DR02STD_sA/Geometry/base_link/body/left_shoulder_y_link/left_shoulder_x_link/left_shoulder_z_link/left_elbow_link>
+            point3f physics:localPos0 = (0, 0, 0)
+            point3f physics:localPos1 = (0, 0, 0)
+            quatf physics:localRot0 = (-0.70710546, 0, 0.7071081, 0)
+            quatf physics:localRot1 = (1, 0, 0, 0)
+            float physics:lowerLimit = -44.000008
+            float physics:upperLimit = 100.000046
+            custom float urdf:limit:effort = 137
+        }
+
+        def PhysicsRevoluteJoint "right_shoulder_y_joint" (
+            prepend apiSchemas = ["NewtonJointAPI", "PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
+        )
+        {
+            float drive:angular:physics:maxForce = 137
+            float newton:velocityLimit = 1110.3922
+            uniform token physics:axis = "Y"
+            custom rel physics:body0
+            append rel physics:body0 = </tn__DR02STD_sA/Geometry/base_link/body>
+            custom rel physics:body1
+            append rel physics:body1 = </tn__DR02STD_sA/Geometry/base_link/body/right_shoulder_y_link>
+            point3f physics:localPos0 = (-0.02, -0.22315, 0.2349)
+            point3f physics:localPos1 = (0, 0, 0)
+            quatf physics:localRot0 = (1, 0, 0, 0)
+            quatf physics:localRot1 = (1, 0, 0, 0)
+            float physics:lowerLimit = -219.99861
+            float physics:upperLimit = 90.00021
+            custom float urdf:limit:effort = 137
+        }
+
+        def PhysicsRevoluteJoint "right_shoulder_x_joint" (
+            prepend apiSchemas = ["NewtonJointAPI", "PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
+        )
+        {
+            float drive:angular:physics:maxForce = 137
+            float newton:velocityLimit = 1110.3922
+            uniform token physics:axis = "X"
+            custom rel physics:body0
+            append rel physics:body0 = </tn__DR02STD_sA/Geometry/base_link/body/right_shoulder_y_link>
+            custom rel physics:body1
+            append rel physics:body1 = </tn__DR02STD_sA/Geometry/base_link/body/right_shoulder_y_link/right_shoulder_x_link>
+            point3f physics:localPos0 = (0, 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 = -200.00009
+            float physics:upperLimit = 20.000008
+            custom float urdf:limit:effort = 137
+        }
+
+        def PhysicsRevoluteJoint "right_shoulder_z_joint" (
+            prepend apiSchemas = ["NewtonJointAPI", "PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
+        )
+        {
+            float drive:angular:physics:maxForce = 137
+            float newton:velocityLimit = 1110.3922
+            uniform token physics:axis = "Z"
+            custom rel physics:body0
+            append rel physics:body0 = </tn__DR02STD_sA/Geometry/base_link/body/right_shoulder_y_link/right_shoulder_x_link>
+            custom rel physics:body1
+            append rel physics:body1 = </tn__DR02STD_sA/Geometry/base_link/body/right_shoulder_y_link/right_shoulder_x_link/right_shoulder_z_link>
+            point3f physics:localPos0 = (0, 0, -0.265)
+            point3f physics:localPos1 = (0, 0, 0)
+            quatf physics:localRot0 = (1, 0, 0, 0)
+            quatf physics:localRot1 = (1, 0, 0, 0)
+            float physics:lowerLimit = -170.0023
+            float physics:upperLimit = 170.0023
+            custom float urdf:limit:effort = 137
+        }
+
+        def PhysicsRevoluteJoint "right_elbow_joint" (
+            prepend apiSchemas = ["NewtonJointAPI", "PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
+        )
+        {
+            float drive:angular:physics:maxForce = 137
+            float newton:velocityLimit = 1110.3922
+            uniform token physics:axis = "Y"
+            custom rel physics:body0
+            append rel physics:body0 = </tn__DR02STD_sA/Geometry/base_link/body/right_shoulder_y_link/right_shoulder_x_link/right_shoulder_z_link>
+            custom rel physics:body1
+            append rel physics:body1 = </tn__DR02STD_sA/Geometry/base_link/body/right_shoulder_y_link/right_shoulder_x_link/right_shoulder_z_link/right_elbow_link>
+            point3f physics:localPos0 = (0, 0, 0)
+            point3f physics:localPos1 = (0, 0, 0)
+            quatf physics:localRot0 = (-0.70710546, 0, 0.7071081, 0)
+            quatf physics:localRot1 = (1, 0, 0, 0)
+            float physics:lowerLimit = -44.000008
+            float physics:upperLimit = 100.000046
+            custom float urdf:limit:effort = 137
+        }
+
+        def PhysicsRevoluteJoint "left_hip_y_joint" (
+            prepend apiSchemas = ["NewtonJointAPI", "PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
+        )
+        {
+            float drive:angular:physics:maxForce = 363
+            float newton:velocityLimit = 1145.9156
+            uniform token physics:axis = "Y"
+            custom rel physics:body0
+            append rel physics:body0 = </tn__DR02STD_sA/Geometry/base_link>
+            custom rel physics:body1
+            append rel physics:body1 = </tn__DR02STD_sA/Geometry/base_link/left_hip_y_link>
+            point3f physics:localPos0 = (0, 0.1614, 0)
+            point3f physics:localPos1 = (0, 0, 0)
+            quatf physics:localRot0 = (1, 0, 0, 0)
+            quatf physics:localRot1 = (1, 0, 0, 0)
+            float physics:lowerLimit = -159.99846
+            float physics:upperLimit = 90.00021
+            custom float urdf:limit:effort = 363
+        }
+
+        def PhysicsRevoluteJoint "left_hip_x_joint" (
+            prepend apiSchemas = ["NewtonJointAPI", "PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
+        )
+        {
+            float drive:angular:physics:maxForce = 363
+            float newton:velocityLimit = 1145.9156
+            uniform token physics:axis = "X"
+            custom rel physics:body0
+            append rel physics:body0 = </tn__DR02STD_sA/Geometry/base_link/left_hip_y_link>
+            custom rel physics:body1
+            append rel physics:body1 = </tn__DR02STD_sA/Geometry/base_link/left_hip_y_link/left_hip_x_link>
+            point3f physics:localPos0 = (0, 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 = -20.000008
+            float physics:upperLimit = 150.00035
+            custom float urdf:limit:effort = 363
+        }
+
+        def PhysicsRevoluteJoint "left_hip_z_joint" (
+            prepend apiSchemas = ["NewtonJointAPI", "PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
+        )
+        {
+            float drive:angular:physics:maxForce = 137
+            float newton:velocityLimit = 1110.3922
+            uniform token physics:axis = "Z"
+            custom rel physics:body0
+            append rel physics:body0 = </tn__DR02STD_sA/Geometry/base_link/left_hip_y_link/left_hip_x_link>
+            custom rel physics:body1
+            append rel physics:body1 = </tn__DR02STD_sA/Geometry/base_link/left_hip_y_link/left_hip_x_link/left_hip_z_link>
+            point3f physics:localPos0 = (0, 0, -0.1282)
+            point3f physics:localPos1 = (0, 0, 0)
+            quatf physics:localRot0 = (1, 0, 0, 0)
+            quatf physics:localRot1 = (1, 0, 0, 0)
+            float physics:lowerLimit = -30.00007
+            float physics:upperLimit = 210.00049
+            custom float urdf:limit:effort = 137
+        }
+
+        def PhysicsRevoluteJoint "left_knee_joint" (
+            prepend apiSchemas = ["NewtonJointAPI", "PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
+        )
+        {
+            float drive:angular:physics:maxForce = 363
+            float newton:velocityLimit = 1145.9156
+            uniform token physics:axis = "Y"
+            custom rel physics:body0
+            append rel physics:body0 = </tn__DR02STD_sA/Geometry/base_link/left_hip_y_link/left_hip_x_link/left_hip_z_link>
+            custom rel physics:body1
+            append rel physics:body1 = </tn__DR02STD_sA/Geometry/base_link/left_hip_y_link/left_hip_x_link/left_hip_z_link/left_knee_link>
+            point3f physics:localPos0 = (0, 0, -0.2912)
+            point3f physics:localPos1 = (0, 0, 0)
+            quatf physics:localRot0 = (1, 0, 0, 0)
+            quatf physics:localRot1 = (1, 0, 0, 0)
+            float physics:lowerLimit = -9.999832
+            float physics:upperLimit = 142.99881
+            custom float urdf:limit:effort = 363
+        }
+
+        def PhysicsRevoluteJoint "left_ankle_y_joint" (
+            prepend apiSchemas = ["NewtonJointAPI", "PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
+        )
+        {
+            float drive:angular:physics:maxForce = 137
+            float newton:velocityLimit = 1110.3922
+            uniform token physics:axis = "Y"
+            custom rel physics:body0
+            append rel physics:body0 = </tn__DR02STD_sA/Geometry/base_link/left_hip_y_link/left_hip_x_link/left_hip_z_link/left_knee_link>
+            custom rel physics:body1
+            append rel physics:body1 = </tn__DR02STD_sA/Geometry/base_link/left_hip_y_link/left_hip_x_link/left_hip_z_link/left_knee_link/left_ankle_y_link>
+            point3f physics:localPos0 = (0, 0, -0.41)
+            point3f physics:localPos1 = (0, 0, 0)
+            quatf physics:localRot0 = (1, 0, 0, 0)
+            quatf physics:localRot1 = (1, 0, 0, 0)
+            float physics:lowerLimit = -60.00014
+            float physics:upperLimit = 45.000107
+            custom float urdf:limit:effort = 137
+        }
+
+        def PhysicsRevoluteJoint "left_ankle_x_joint" (
+            prepend apiSchemas = ["NewtonJointAPI", "PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
+        )
+        {
+            float drive:angular:physics:maxForce = 50
+            float newton:velocityLimit = 1361.3478
+            uniform token physics:axis = "X"
+            custom rel physics:body0
+            append rel physics:body0 = </tn__DR02STD_sA/Geometry/base_link/left_hip_y_link/left_hip_x_link/left_hip_z_link/left_knee_link/left_ankle_y_link>
+            custom rel physics:body1
+            append rel physics:body1 = </tn__DR02STD_sA/Geometry/base_link/left_hip_y_link/left_hip_x_link/left_hip_z_link/left_knee_link/left_ankle_y_link/left_ankle_x_link>
+            point3f physics:localPos0 = (0, 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 = -35.000275
+            float physics:upperLimit = 35.000275
+            custom float urdf:limit:effort = 50
+        }
+
+        def PhysicsRevoluteJoint "right_hip_y_joint" (
+            prepend apiSchemas = ["NewtonJointAPI", "PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
+        )
+        {
+            float drive:angular:physics:maxForce = 363
+            float newton:velocityLimit = 1145.9156
+            uniform token physics:axis = "Y"
+            custom rel physics:body0
+            append rel physics:body0 = </tn__DR02STD_sA/Geometry/base_link>
+            custom rel physics:body1
+            append rel physics:body1 = </tn__DR02STD_sA/Geometry/base_link/right_hip_y_link>
+            point3f physics:localPos0 = (0, -0.1614, 0)
+            point3f physics:localPos1 = (0, 0, 0)
+            quatf physics:localRot0 = (1, 0, 0, 0)
+            quatf physics:localRot1 = (1, 0, 0, 0)
+            float physics:lowerLimit = -159.99846
+            float physics:upperLimit = 90.00021
+            custom float urdf:limit:effort = 363
+        }
+
+        def PhysicsRevoluteJoint "right_hip_x_joint" (
+            prepend apiSchemas = ["NewtonJointAPI", "PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
+        )
+        {
+            float drive:angular:physics:maxForce = 363
+            float newton:velocityLimit = 1145.9156
+            uniform token physics:axis = "X"
+            custom rel physics:body0
+            append rel physics:body0 = </tn__DR02STD_sA/Geometry/base_link/right_hip_y_link>
+            custom rel physics:body1
+            append rel physics:body1 = </tn__DR02STD_sA/Geometry/base_link/right_hip_y_link/right_hip_x_link>
+            point3f physics:localPos0 = (0, 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 = -150.00035
+            float physics:upperLimit = 20.000008
+            custom float urdf:limit:effort = 363
+        }
+
+        def PhysicsRevoluteJoint "right_hip_z_joint" (
+            prepend apiSchemas = ["NewtonJointAPI", "PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
+        )
+        {
+            float drive:angular:physics:maxForce = 137
+            float newton:velocityLimit = 1110.3922
+            uniform token physics:axis = "Z"
+            custom rel physics:body0
+            append rel physics:body0 = </tn__DR02STD_sA/Geometry/base_link/right_hip_y_link/right_hip_x_link>
+            custom rel physics:body1
+            append rel physics:body1 = </tn__DR02STD_sA/Geometry/base_link/right_hip_y_link/right_hip_x_link/right_hip_z_link>
+            point3f physics:localPos0 = (0, 0, -0.1282)
+            point3f physics:localPos1 = (0, 0, 0)
+            quatf physics:localRot0 = (1, 0, 0, 0)
+            quatf physics:localRot1 = (1, 0, 0, 0)
+            float physics:lowerLimit = -210.00049
+            float physics:upperLimit = 30.00007
+            custom float urdf:limit:effort = 137
+        }
+
+        def PhysicsRevoluteJoint "right_knee_joint" (
+            prepend apiSchemas = ["NewtonJointAPI", "PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
+        )
+        {
+            float drive:angular:physics:maxForce = 363
+            float newton:velocityLimit = 1145.9156
+            uniform token physics:axis = "Y"
+            custom rel physics:body0
+            append rel physics:body0 = </tn__DR02STD_sA/Geometry/base_link/right_hip_y_link/right_hip_x_link/right_hip_z_link>
+            custom rel physics:body1
+            append rel physics:body1 = </tn__DR02STD_sA/Geometry/base_link/right_hip_y_link/right_hip_x_link/right_hip_z_link/right_knee_link>
+            point3f physics:localPos0 = (0, 0, -0.2912)
+            point3f physics:localPos1 = (0, 0, 0)
+            quatf physics:localRot0 = (1, 0, 0, 0)
+            quatf physics:localRot1 = (1, 0, 0, 0)
+            float physics:lowerLimit = -9.999832
+            float physics:upperLimit = 142.99881
+            custom float urdf:limit:effort = 363
+        }
+
+        def PhysicsRevoluteJoint "right_ankle_y_joint" (
+            prepend apiSchemas = ["NewtonJointAPI", "PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
+        )
+        {
+            float drive:angular:physics:maxForce = 137
+            float newton:velocityLimit = 1110.3922
+            uniform token physics:axis = "Y"
+            custom rel physics:body0
+            append rel physics:body0 = </tn__DR02STD_sA/Geometry/base_link/right_hip_y_link/right_hip_x_link/right_hip_z_link/right_knee_link>
+            custom rel physics:body1
+            append rel physics:body1 = </tn__DR02STD_sA/Geometry/base_link/right_hip_y_link/right_hip_x_link/right_hip_z_link/right_knee_link/right_ankle_y_link>
+            point3f physics:localPos0 = (0, 0, -0.41)
+            point3f physics:localPos1 = (0, 0, 0)
+            quatf physics:localRot0 = (1, 0, 0, 0)
+            quatf physics:localRot1 = (1, 0, 0, 0)
+            float physics:lowerLimit = -60.00014
+            float physics:upperLimit = 45.000107
+            custom float urdf:limit:effort = 137
+        }
+
+        def PhysicsRevoluteJoint "right_ankle_x_joint" (
+            prepend apiSchemas = ["NewtonJointAPI", "PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
+        )
+        {
+            float drive:angular:physics:maxForce = 50
+            float newton:velocityLimit = 1361.3478
+            uniform token physics:axis = "X"
+            custom rel physics:body0
+            append rel physics:body0 = </tn__DR02STD_sA/Geometry/base_link/right_hip_y_link/right_hip_x_link/right_hip_z_link/right_knee_link/right_ankle_y_link>
+            custom rel physics:body1
+            append rel physics:body1 = </tn__DR02STD_sA/Geometry/base_link/right_hip_y_link/right_hip_x_link/right_hip_z_link/right_knee_link/right_ankle_y_link/right_ankle_x_link>
+            point3f physics:localPos0 = (0, 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 = -35.000275
+            float physics:upperLimit = 35.000275
+            custom float urdf:limit:effort = 50
+        }
+    }
+}
+

DR02-std/simready_usd/alternatives/original/payloads/Physics/physx.usda

@@ -0,0 +1,148 @@
+#usda 1.0
+(
+    customLayerData = {
+        string creator = "URDF USD Converter v0.3.2"
+    }
+    defaultPrim = "tn__DR02STD_sA"
+    endTimeCode = 1000000
+    kilogramsPerUnit = 1
+    metersPerUnit = 1
+    startTimeCode = 0
+    subLayers = [
+        @./physics.usda@
+    ]
+    upAxis = "Z"
+)
+
+over "tn__DR02STD_sA"
+{
+    over "Physics"
+    {
+        over "waist_z_joint" (
+            prepend apiSchemas = ["PhysxJointAPI"]
+        )
+        {
+        }
+
+        over "left_shoulder_y_joint" (
+            prepend apiSchemas = ["PhysxJointAPI"]
+        )
+        {
+        }
+
+        over "left_shoulder_x_joint" (
+            prepend apiSchemas = ["PhysxJointAPI"]
+        )
+        {
+        }
+
+        over "left_shoulder_z_joint" (
+            prepend apiSchemas = ["PhysxJointAPI"]
+        )
+        {
+        }
+
+        over "left_elbow_joint" (
+            prepend apiSchemas = ["PhysxJointAPI"]
+        )
+        {
+        }
+
+        over "right_shoulder_y_joint" (
+            prepend apiSchemas = ["PhysxJointAPI"]
+        )
+        {
+        }
+
+        over "right_shoulder_x_joint" (
+            prepend apiSchemas = ["PhysxJointAPI"]
+        )
+        {
+        }
+
+        over "right_shoulder_z_joint" (
+            prepend apiSchemas = ["PhysxJointAPI"]
+        )
+        {
+        }
+
+        over "right_elbow_joint" (
+            prepend apiSchemas = ["PhysxJointAPI"]
+        )
+        {
+        }
+
+        over "left_hip_y_joint" (
+            prepend apiSchemas = ["PhysxJointAPI"]
+        )
+        {
+        }
+
+        over "left_hip_x_joint" (
+            prepend apiSchemas = ["PhysxJointAPI"]
+        )
+        {
+        }
+
+        over "left_hip_z_joint" (
+            prepend apiSchemas = ["PhysxJointAPI"]
+        )
+        {
+        }
+
+        over "left_knee_joint" (
+            prepend apiSchemas = ["PhysxJointAPI"]
+        )
+        {
+        }
+
+        over "left_ankle_y_joint" (
+            prepend apiSchemas = ["PhysxJointAPI"]
+        )
+        {
+        }
+
+        over "left_ankle_x_joint" (
+            prepend apiSchemas = ["PhysxJointAPI"]
+        )
+        {
+        }
+
+        over "right_hip_y_joint" (
+            prepend apiSchemas = ["PhysxJointAPI"]
+        )
+        {
+        }
+
+        over "right_hip_x_joint" (
+            prepend apiSchemas = ["PhysxJointAPI"]
+        )
+        {
+        }
+
+        over "right_hip_z_joint" (
+            prepend apiSchemas = ["PhysxJointAPI"]
+        )
+        {
+        }
+
+        over "right_knee_joint" (
+            prepend apiSchemas = ["PhysxJointAPI"]
+        )
+        {
+        }
+
+        over "right_ankle_y_joint" (
+            prepend apiSchemas = ["PhysxJointAPI"]
+        )
+        {
+        }
+
+        over "right_ankle_x_joint" (
+            prepend apiSchemas = ["PhysxJointAPI"]
+        )
+        {
+        }
+    }
+}
+

DR02-std/simready_usd/alternatives/original/payloads/geometries.usd

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5575ac21ee7b74e7de041fc7dfc63d5e5c1857f2549a4c509963d144c21dc892
+size 28564892

DR02-std/simready_usd/alternatives/original/payloads/materials.usda

@@ -0,0 +1,417 @@
+#usda 1.0
+(
+    customLayerData = {
+        string creator = "URDF USD Converter v0.3.2"
+    }
+    endTimeCode = 1000000
+    kilogramsPerUnit = 1
+    metersPerUnit = 1
+    startTimeCode = 0
+    upAxis = "Z"
+)
+
+def Scope "Materials"
+{
+    def Material "material_1"
+    {
+        color3f inputs:diffuseColor = (0.5271134, 0.5271134, 0.5271134)
+        float inputs:metallic = 0
+        float inputs:opacity = 1
+        float inputs:roughness = 0.5
+        token inputs:wrapMode = "repeat"
+        token outputs:displacement (
+            displayGroup = "Outputs"
+        )
+        prepend token outputs:displacement.connect = </Materials/material_1/PreviewSurface.outputs:displacement>
+        token outputs:surface (
+            displayGroup = "Outputs"
+        )
+        prepend token outputs:surface.connect = </Materials/material_1/PreviewSurface.outputs:surface>
+        token outputs:volume (
+            displayGroup = "Outputs"
+        )
+
+        def Shader "PreviewSurface" (
+            apiSchemas = ["NodeDefAPI"]
+        )
+        {
+            token info:id = "UsdPreviewSurface"
+            prepend color3f inputs:diffuseColor.connect = </Materials/material_1.inputs:diffuseColor>
+            prepend float inputs:metallic.connect = </Materials/material_1.inputs:metallic>
+            prepend float inputs:opacity.connect = </Materials/material_1.inputs:opacity>
+            prepend float inputs:roughness.connect = </Materials/material_1.inputs:roughness>
+            token outputs:displacement
+            token outputs:surface
+        }
+    }
+
+    def Material "material_8"
+    {
+        color3f inputs:diffuseColor = (0.5271152, 0.5271152, 0.5271152)
+        float inputs:metallic = 0
+        float inputs:opacity = 1
+        float inputs:roughness = 0.5
+        token inputs:wrapMode = "repeat"
+        token outputs:displacement (
+            displayGroup = "Outputs"
+        )
+        prepend token outputs:displacement.connect = </Materials/material_8/PreviewSurface.outputs:displacement>
+        token outputs:surface (
+            displayGroup = "Outputs"
+        )
+        prepend token outputs:surface.connect = </Materials/material_8/PreviewSurface.outputs:surface>
+        token outputs:volume (
+            displayGroup = "Outputs"
+        )
+
+        def Shader "PreviewSurface" (
+            apiSchemas = ["NodeDefAPI"]
+        )
+        {
+            token info:id = "UsdPreviewSurface"
+            prepend color3f inputs:diffuseColor.connect = </Materials/material_8.inputs:diffuseColor>
+            prepend float inputs:metallic.connect = </Materials/material_8.inputs:metallic>
+            prepend float inputs:opacity.connect = </Materials/material_8.inputs:opacity>
+            prepend float inputs:roughness.connect = </Materials/material_8.inputs:roughness>
+            token outputs:displacement
+            token outputs:surface
+        }
+    }
+
+    def Material "tn__dbee04a4f8c9453fa529089126e4bc37_al0DIN"
+    {
+        color3f inputs:diffuseColor = (0.078187466, 0.1094618, 0.14702739)
+        float inputs:metallic = 0
+        float inputs:opacity = 1
+        float inputs:roughness = 0.5
+        token inputs:wrapMode = "repeat"
+        token outputs:displacement (
+            displayGroup = "Outputs"
+        )
+        prepend token outputs:displacement.connect = </Materials/tn__dbee04a4f8c9453fa529089126e4bc37_al0DIN/PreviewSurface.outputs:displacement>
+        token outputs:surface (
+            displayGroup = "Outputs"
+        )
+        prepend token outputs:surface.connect = </Materials/tn__dbee04a4f8c9453fa529089126e4bc37_al0DIN/PreviewSurface.outputs:surface>
+        token outputs:volume (
+            displayGroup = "Outputs"
+        )
+
+        def Shader "PreviewSurface" (
+            apiSchemas = ["NodeDefAPI"]
+        )
+        {
+            token info:id = "UsdPreviewSurface"
+            prepend color3f inputs:diffuseColor.connect = </Materials/tn__dbee04a4f8c9453fa529089126e4bc37_al0DIN.inputs:diffuseColor>
+            prepend float inputs:metallic.connect = </Materials/tn__dbee04a4f8c9453fa529089126e4bc37_al0DIN.inputs:metallic>
+            prepend float inputs:opacity.connect = </Materials/tn__dbee04a4f8c9453fa529089126e4bc37_al0DIN.inputs:opacity>
+            prepend float inputs:roughness.connect = </Materials/tn__dbee04a4f8c9453fa529089126e4bc37_al0DIN.inputs:roughness>
+            token outputs:displacement
+            token outputs:surface
+        }
+    }
+
+    def Material "tn__af6876042c7b44f793ff9914118aa853_al0DIN"
+    {
+        color3f inputs:diffuseColor = (0.046665203, 0.06847814, 0.09305903)
+        float inputs:metallic = 0
+        float inputs:opacity = 1
+        float inputs:roughness = 0.5
+        token inputs:wrapMode = "repeat"
+        token outputs:displacement (
+            displayGroup = "Outputs"
+        )
+        prepend token outputs:displacement.connect = </Materials/tn__af6876042c7b44f793ff9914118aa853_al0DIN/PreviewSurface.outputs:displacement>
+        token outputs:surface (
+            displayGroup = "Outputs"
+        )
+        prepend token outputs:surface.connect = </Materials/tn__af6876042c7b44f793ff9914118aa853_al0DIN/PreviewSurface.outputs:surface>
+        token outputs:volume (
+            displayGroup = "Outputs"
+        )
+
+        def Shader "PreviewSurface" (
+            apiSchemas = ["NodeDefAPI"]
+        )
+        {
+            token info:id = "UsdPreviewSurface"
+            prepend color3f inputs:diffuseColor.connect = </Materials/tn__af6876042c7b44f793ff9914118aa853_al0DIN.inputs:diffuseColor>
+            prepend float inputs:metallic.connect = </Materials/tn__af6876042c7b44f793ff9914118aa853_al0DIN.inputs:metallic>
+            prepend float inputs:opacity.connect = </Materials/tn__af6876042c7b44f793ff9914118aa853_al0DIN.inputs:opacity>
+            prepend float inputs:roughness.connect = </Materials/tn__af6876042c7b44f793ff9914118aa853_al0DIN.inputs:roughness>
+            token outputs:displacement
+            token outputs:surface
+        }
+    }
+
+    def Material "tn__aa589af066ca4eebb167784af01b98f6_al0DIN"
+    {
+        color3f inputs:diffuseColor = (0, 0, 0)
+        color3f inputs:emissiveColor = (0.7454036, 0.21223061, 0.045186155)
+        float inputs:metallic = 0
+        float inputs:opacity = 1
+        float inputs:roughness = 0.5
+        token inputs:wrapMode = "repeat"
+        token outputs:displacement (
+            displayGroup = "Outputs"
+        )
+        prepend token outputs:displacement.connect = </Materials/tn__aa589af066ca4eebb167784af01b98f6_al0DIN/PreviewSurface.outputs:displacement>
+        token outputs:surface (
+            displayGroup = "Outputs"
+        )
+        prepend token outputs:surface.connect = </Materials/tn__aa589af066ca4eebb167784af01b98f6_al0DIN/PreviewSurface.outputs:surface>
+        token outputs:volume (
+            displayGroup = "Outputs"
+        )
+
+        def Shader "PreviewSurface" (
+            apiSchemas = ["NodeDefAPI"]
+        )
+        {
+            token info:id = "UsdPreviewSurface"
+            prepend color3f inputs:diffuseColor.connect = </Materials/tn__aa589af066ca4eebb167784af01b98f6_al0DIN.inputs:diffuseColor>
+            prepend color3f inputs:emissiveColor.connect = </Materials/tn__aa589af066ca4eebb167784af01b98f6_al0DIN.inputs:emissiveColor>
+            prepend float inputs:metallic.connect = </Materials/tn__aa589af066ca4eebb167784af01b98f6_al0DIN.inputs:metallic>
+            prepend float inputs:opacity.connect = </Materials/tn__aa589af066ca4eebb167784af01b98f6_al0DIN.inputs:opacity>
+            prepend float inputs:roughness.connect = </Materials/tn__aa589af066ca4eebb167784af01b98f6_al0DIN.inputs:roughness>
+            token outputs:displacement
+            token outputs:surface
+        }
+    }
+
+    def Material "tn__a3033b20194e4e65b2243409c75fb4e3_al0DIN"
+    {
+        color3f inputs:diffuseColor = (0.70110214, 0.6938711, 0.7454036)
+        float inputs:metallic = 0
+        float inputs:opacity = 1
+        float inputs:roughness = 0.5
+        token inputs:wrapMode = "repeat"
+        token outputs:displacement (
+            displayGroup = "Outputs"
+        )
+        prepend token outputs:displacement.connect = </Materials/tn__a3033b20194e4e65b2243409c75fb4e3_al0DIN/PreviewSurface.outputs:displacement>
+        token outputs:surface (
+            displayGroup = "Outputs"
+        )
+        prepend token outputs:surface.connect = </Materials/tn__a3033b20194e4e65b2243409c75fb4e3_al0DIN/PreviewSurface.outputs:surface>
+        token outputs:volume (
+            displayGroup = "Outputs"
+        )
+
+        def Shader "PreviewSurface" (
+            apiSchemas = ["NodeDefAPI"]
+        )
+        {
+            token info:id = "UsdPreviewSurface"
+            prepend color3f inputs:diffuseColor.connect = </Materials/tn__a3033b20194e4e65b2243409c75fb4e3_al0DIN.inputs:diffuseColor>
+            prepend float inputs:metallic.connect = </Materials/tn__a3033b20194e4e65b2243409c75fb4e3_al0DIN.inputs:metallic>
+            prepend float inputs:opacity.connect = </Materials/tn__a3033b20194e4e65b2243409c75fb4e3_al0DIN.inputs:opacity>
+            prepend float inputs:roughness.connect = </Materials/tn__a3033b20194e4e65b2243409c75fb4e3_al0DIN.inputs:roughness>
+            token outputs:displacement
+            token outputs:surface
+        }
+    }
+
+    def Material "tn__a0000000000000000000000000000000_al0DIN"
+    {
+        color3f inputs:diffuseColor = (0.95597297, 0.95597297, 0.95597297)
+        float inputs:metallic = 0
+        float inputs:opacity = 1
+        float inputs:roughness = 0.5
+        token inputs:wrapMode = "repeat"
+        token outputs:displacement (
+            displayGroup = "Outputs"
+        )
+        prepend token outputs:displacement.connect = </Materials/tn__a0000000000000000000000000000000_al0DIN/PreviewSurface.outputs:displacement>
+        token outputs:surface (
+            displayGroup = "Outputs"
+        )
+        prepend token outputs:surface.connect = </Materials/tn__a0000000000000000000000000000000_al0DIN/PreviewSurface.outputs:surface>
+        token outputs:volume (
+            displayGroup = "Outputs"
+        )
+
+        def Shader "PreviewSurface" (
+            apiSchemas = ["NodeDefAPI"]
+        )
+        {
+            token info:id = "UsdPreviewSurface"
+            prepend color3f inputs:diffuseColor.connect = </Materials/tn__a0000000000000000000000000000000_al0DIN.inputs:diffuseColor>
+            prepend float inputs:metallic.connect = </Materials/tn__a0000000000000000000000000000000_al0DIN.inputs:metallic>
+            prepend float inputs:opacity.connect = </Materials/tn__a0000000000000000000000000000000_al0DIN.inputs:opacity>
+            prepend float inputs:roughness.connect = </Materials/tn__a0000000000000000000000000000000_al0DIN.inputs:roughness>
+            token outputs:displacement
+            token outputs:surface
+        }
+    }
+
+    def Material "tn__aeb942ccada043f4bbd549d24bd1ff9a_al0DIN"
+    {
+        color3f inputs:diffuseColor = (0, 0, 0)
+        color3f inputs:emissiveColor = (0, 0.16826953, 0.6172064)
+        float inputs:metallic = 0
+        float inputs:opacity = 1
+        float inputs:roughness = 0.5
+        token inputs:wrapMode = "repeat"
+        token outputs:displacement (
+            displayGroup = "Outputs"
+        )
+        prepend token outputs:displacement.connect = </Materials/tn__aeb942ccada043f4bbd549d24bd1ff9a_al0DIN/PreviewSurface.outputs:displacement>
+        token outputs:surface (
+            displayGroup = "Outputs"
+        )
+        prepend token outputs:surface.connect = </Materials/tn__aeb942ccada043f4bbd549d24bd1ff9a_al0DIN/PreviewSurface.outputs:surface>
+        token outputs:volume (
+            displayGroup = "Outputs"
+        )
+
+        def Shader "PreviewSurface" (
+            apiSchemas = ["NodeDefAPI"]
+        )
+        {
+            token info:id = "UsdPreviewSurface"
+            prepend color3f inputs:diffuseColor.connect = </Materials/tn__aeb942ccada043f4bbd549d24bd1ff9a_al0DIN.inputs:diffuseColor>
+            prepend color3f inputs:emissiveColor.connect = </Materials/tn__aeb942ccada043f4bbd549d24bd1ff9a_al0DIN.inputs:emissiveColor>
+            prepend float inputs:metallic.connect = </Materials/tn__aeb942ccada043f4bbd549d24bd1ff9a_al0DIN.inputs:metallic>
+            prepend float inputs:opacity.connect = </Materials/tn__aeb942ccada043f4bbd549d24bd1ff9a_al0DIN.inputs:opacity>
+            prepend float inputs:roughness.connect = </Materials/tn__aeb942ccada043f4bbd549d24bd1ff9a_al0DIN.inputs:roughness>
+            token outputs:displacement
+            token outputs:surface
+        }
+    }
+
+    def Material "tn__b4f92e2119de4a3ab1e5d5c07f5a88da_al0DIN"
+    {
+        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"
+        )
+        prepend token outputs:displacement.connect = </Materials/tn__b4f92e2119de4a3ab1e5d5c07f5a88da_al0DIN/PreviewSurface.outputs:displacement>
+        token outputs:surface (
+            displayGroup = "Outputs"
+        )
+        prepend token outputs:surface.connect = </Materials/tn__b4f92e2119de4a3ab1e5d5c07f5a88da_al0DIN/PreviewSurface.outputs:surface>
+        token outputs:volume (
+            displayGroup = "Outputs"
+        )
+
+        def Shader "PreviewSurface" (
+            apiSchemas = ["NodeDefAPI"]
+        )
+        {
+            token info:id = "UsdPreviewSurface"
+            prepend color3f inputs:diffuseColor.connect = </Materials/tn__b4f92e2119de4a3ab1e5d5c07f5a88da_al0DIN.inputs:diffuseColor>
+            prepend float inputs:metallic.connect = </Materials/tn__b4f92e2119de4a3ab1e5d5c07f5a88da_al0DIN.inputs:metallic>
+            prepend float inputs:opacity.connect = </Materials/tn__b4f92e2119de4a3ab1e5d5c07f5a88da_al0DIN.inputs:opacity>
+            prepend float inputs:roughness.connect = </Materials/tn__b4f92e2119de4a3ab1e5d5c07f5a88da_al0DIN.inputs:roughness>
+            token outputs:displacement
+            token outputs:surface
+        }
+    }
+
+    def Material "tn__e0f24eee2d6346a79fbfb4dc6e415617_al0DIN"
+    {
+        color3f inputs:diffuseColor = (0.6444791, 0.6444791, 0.6583757)
+        float inputs:metallic = 0
+        float inputs:opacity = 1
+        float inputs:roughness = 0.5
+        token inputs:wrapMode = "repeat"
+        token outputs:displacement (
+            displayGroup = "Outputs"
+        )
+        prepend token outputs:displacement.connect = </Materials/tn__e0f24eee2d6346a79fbfb4dc6e415617_al0DIN/PreviewSurface.outputs:displacement>
+        token outputs:surface (
+            displayGroup = "Outputs"
+        )
+        prepend token outputs:surface.connect = </Materials/tn__e0f24eee2d6346a79fbfb4dc6e415617_al0DIN/PreviewSurface.outputs:surface>
+        token outputs:volume (
+            displayGroup = "Outputs"
+        )
+
+        def Shader "PreviewSurface" (
+            apiSchemas = ["NodeDefAPI"]
+        )
+        {
+            token info:id = "UsdPreviewSurface"
+            prepend color3f inputs:diffuseColor.connect = </Materials/tn__e0f24eee2d6346a79fbfb4dc6e415617_al0DIN.inputs:diffuseColor>
+            prepend float inputs:metallic.connect = </Materials/tn__e0f24eee2d6346a79fbfb4dc6e415617_al0DIN.inputs:metallic>
+            prepend float inputs:opacity.connect = </Materials/tn__e0f24eee2d6346a79fbfb4dc6e415617_al0DIN.inputs:opacity>
+            prepend float inputs:roughness.connect = </Materials/tn__e0f24eee2d6346a79fbfb4dc6e415617_al0DIN.inputs:roughness>
+            token outputs:displacement
+            token outputs:surface
+        }
+    }
+
+    def Material "tn__bae46850908a486085f9a3fcdaac48fb_al0DIN"
+    {
+        color3f inputs:diffuseColor = (0.6583757, 0.028426114, 0.023153396)
+        float inputs:metallic = 0
+        float inputs:opacity = 1
+        float inputs:roughness = 0.5
+        token inputs:wrapMode = "repeat"
+        token outputs:displacement (
+            displayGroup = "Outputs"
+        )
+        prepend token outputs:displacement.connect = </Materials/tn__bae46850908a486085f9a3fcdaac48fb_al0DIN/PreviewSurface.outputs:displacement>
+        token outputs:surface (
+            displayGroup = "Outputs"
+        )
+        prepend token outputs:surface.connect = </Materials/tn__bae46850908a486085f9a3fcdaac48fb_al0DIN/PreviewSurface.outputs:surface>
+        token outputs:volume (
+            displayGroup = "Outputs"
+        )
+
+        def Shader "PreviewSurface" (
+            apiSchemas = ["NodeDefAPI"]
+        )
+        {
+            token info:id = "UsdPreviewSurface"
+            prepend color3f inputs:diffuseColor.connect = </Materials/tn__bae46850908a486085f9a3fcdaac48fb_al0DIN.inputs:diffuseColor>
+            prepend float inputs:metallic.connect = </Materials/tn__bae46850908a486085f9a3fcdaac48fb_al0DIN.inputs:metallic>
+            prepend float inputs:opacity.connect = </Materials/tn__bae46850908a486085f9a3fcdaac48fb_al0DIN.inputs:opacity>
+            prepend float inputs:roughness.connect = </Materials/tn__bae46850908a486085f9a3fcdaac48fb_al0DIN.inputs:roughness>
+            token outputs:displacement
+            token outputs:surface
+        }
+    }
+
+    def Material "tn__b91991b3179349829d9bb187d6a98c35_al0DIN"
+    {
+        color3f inputs:diffuseColor = (0, 0, 0)
+        color3f inputs:emissiveColor = (0.07618522, 0.28744084, 0.7230557)
+        float inputs:metallic = 0
+        float inputs:opacity = 1
+        float inputs:roughness = 0.5
+        token inputs:wrapMode = "repeat"
+        token outputs:displacement (
+            displayGroup = "Outputs"
+        )
+        prepend token outputs:displacement.connect = </Materials/tn__b91991b3179349829d9bb187d6a98c35_al0DIN/PreviewSurface.outputs:displacement>
+        token outputs:surface (
+            displayGroup = "Outputs"
+        )
+        prepend token outputs:surface.connect = </Materials/tn__b91991b3179349829d9bb187d6a98c35_al0DIN/PreviewSurface.outputs:surface>
+        token outputs:volume (
+            displayGroup = "Outputs"
+        )
+
+        def Shader "PreviewSurface" (
+            apiSchemas = ["NodeDefAPI"]
+        )
+        {
+            token info:id = "UsdPreviewSurface"
+            prepend color3f inputs:diffuseColor.connect = </Materials/tn__b91991b3179349829d9bb187d6a98c35_al0DIN.inputs:diffuseColor>
+            prepend color3f inputs:emissiveColor.connect = </Materials/tn__b91991b3179349829d9bb187d6a98c35_al0DIN.inputs:emissiveColor>
+            prepend float inputs:metallic.connect = </Materials/tn__b91991b3179349829d9bb187d6a98c35_al0DIN.inputs:metallic>
+            prepend float inputs:opacity.connect = </Materials/tn__b91991b3179349829d9bb187d6a98c35_al0DIN.inputs:opacity>
+            prepend float inputs:roughness.connect = </Materials/tn__b91991b3179349829d9bb187d6a98c35_al0DIN.inputs:roughness>
+            token outputs:displacement
+            token outputs:surface
+        }
+    }
+}
+

DR02-std/simready_usd/alternatives/original/payloads/robot.usda

@@ -0,0 +1,325 @@
+#usda 1.0
+(
+    customLayerData = {
+        string creator = "URDF USD Converter v0.3.2"
+    }
+    defaultPrim = "tn__DR02STD_sA"
+    endTimeCode = 1000000
+    kilogramsPerUnit = 1
+    metersPerUnit = 1
+    startTimeCode = 0
+    upAxis = "Z"
+)
+
+over "tn__DR02STD_sA" (
+    prepend apiSchemas = ["IsaacRobotAPI"]
+)
+{
+    prepend rel isaac:physics:robotJoints = [
+        </tn__DR02STD_sA/Physics/waist_z_joint>,
+        </tn__DR02STD_sA/Physics/left_hip_y_joint>,
+        </tn__DR02STD_sA/Physics/right_hip_y_joint>,
+        </tn__DR02STD_sA/Physics/left_shoulder_y_joint>,
+        </tn__DR02STD_sA/Physics/right_shoulder_y_joint>,
+        </tn__DR02STD_sA/Physics/left_shoulder_x_joint>,
+        </tn__DR02STD_sA/Physics/left_shoulder_z_joint>,
+        </tn__DR02STD_sA/Physics/left_elbow_joint>,
+        </tn__DR02STD_sA/Physics/right_shoulder_x_joint>,
+        </tn__DR02STD_sA/Physics/right_shoulder_z_joint>,
+        </tn__DR02STD_sA/Physics/right_elbow_joint>,
+        </tn__DR02STD_sA/Physics/left_hip_x_joint>,
+        </tn__DR02STD_sA/Physics/left_hip_z_joint>,
+        </tn__DR02STD_sA/Physics/left_knee_joint>,
+        </tn__DR02STD_sA/Physics/left_ankle_y_joint>,
+        </tn__DR02STD_sA/Physics/left_ankle_x_joint>,
+        </tn__DR02STD_sA/Physics/right_hip_x_joint>,
+        </tn__DR02STD_sA/Physics/right_hip_z_joint>,
+        </tn__DR02STD_sA/Physics/right_knee_joint>,
+        </tn__DR02STD_sA/Physics/right_ankle_y_joint>,
+        </tn__DR02STD_sA/Physics/right_ankle_x_joint>,
+    ]
+    prepend rel isaac:physics:robotLinks = [
+        </tn__DR02STD_sA/Geometry/base_link>,
+        </tn__DR02STD_sA/Geometry/base_link/body>,
+        </tn__DR02STD_sA/Geometry/base_link/body/left_shoulder_y_link>,
+        </tn__DR02STD_sA/Geometry/base_link/body/left_shoulder_y_link/left_shoulder_x_link>,
+        </tn__DR02STD_sA/Geometry/base_link/body/left_shoulder_y_link/left_shoulder_x_link/left_shoulder_z_link>,
+        </tn__DR02STD_sA/Geometry/base_link/body/left_shoulder_y_link/left_shoulder_x_link/left_shoulder_z_link/left_elbow_link>,
+        </tn__DR02STD_sA/Geometry/base_link/body/right_shoulder_y_link>,
+        </tn__DR02STD_sA/Geometry/base_link/body/right_shoulder_y_link/right_shoulder_x_link>,
+        </tn__DR02STD_sA/Geometry/base_link/body/right_shoulder_y_link/right_shoulder_x_link/right_shoulder_z_link>,
+        </tn__DR02STD_sA/Geometry/base_link/body/right_shoulder_y_link/right_shoulder_x_link/right_shoulder_z_link/right_elbow_link>,
+        </tn__DR02STD_sA/Geometry/base_link/left_hip_y_link>,
+        </tn__DR02STD_sA/Geometry/base_link/left_hip_y_link/left_hip_x_link>,
+        </tn__DR02STD_sA/Geometry/base_link/left_hip_y_link/left_hip_x_link/left_hip_z_link>,
+        </tn__DR02STD_sA/Geometry/base_link/left_hip_y_link/left_hip_x_link/left_hip_z_link/left_knee_link>,
+        </tn__DR02STD_sA/Geometry/base_link/left_hip_y_link/left_hip_x_link/left_hip_z_link/left_knee_link/left_ankle_y_link>,
+        </tn__DR02STD_sA/Geometry/base_link/left_hip_y_link/left_hip_x_link/left_hip_z_link/left_knee_link/left_ankle_y_link/left_ankle_x_link>,
+        </tn__DR02STD_sA/Geometry/base_link/right_hip_y_link>,
+        </tn__DR02STD_sA/Geometry/base_link/right_hip_y_link/right_hip_x_link>,
+        </tn__DR02STD_sA/Geometry/base_link/right_hip_y_link/right_hip_x_link/right_hip_z_link>,
+        </tn__DR02STD_sA/Geometry/base_link/right_hip_y_link/right_hip_x_link/right_hip_z_link/right_knee_link>,
+        </tn__DR02STD_sA/Geometry/base_link/right_hip_y_link/right_hip_x_link/right_hip_z_link/right_knee_link/right_ankle_y_link>,
+        </tn__DR02STD_sA/Geometry/base_link/right_hip_y_link/right_hip_x_link/right_hip_z_link/right_knee_link/right_ankle_y_link/right_ankle_x_link>,
+    ]
+    token isaac:robotType = "Humanoid"
+
+    over "Geometry"
+    {
+        over "base_link" (
+            prepend apiSchemas = ["IsaacLinkAPI"]
+        )
+        {
+            over "body" (
+                prepend apiSchemas = ["IsaacLinkAPI"]
+            )
+            {
+                over "left_shoulder_y_link" (
+                    prepend apiSchemas = ["IsaacLinkAPI"]
+                )
+                {
+                    over "left_shoulder_x_link" (
+                        prepend apiSchemas = ["IsaacLinkAPI"]
+                    )
+                    {
+                        over "left_shoulder_z_link" (
+                            prepend apiSchemas = ["IsaacLinkAPI"]
+                        )
+                        {
+                            over "left_elbow_link" (
+                                prepend apiSchemas = ["IsaacLinkAPI"]
+                            )
+                            {
+                            }
+                        }
+                    }
+                }
+
+                over "right_shoulder_y_link" (
+                    prepend apiSchemas = ["IsaacLinkAPI"]
+                )
+                {
+                    over "right_shoulder_x_link" (
+                        prepend apiSchemas = ["IsaacLinkAPI"]
+                    )
+                    {
+                        over "right_shoulder_z_link" (
+                            prepend apiSchemas = ["IsaacLinkAPI"]
+                        )
+                        {
+                            over "right_elbow_link" (
+                                prepend apiSchemas = ["IsaacLinkAPI"]
+                            )
+                            {
+                            }
+                        }
+                    }
+                }
+
+                over "imu_head_link" (
+                    prepend apiSchemas = ["IsaacSiteAPI"]
+                )
+                {
+                }
+
+                over "imu_base_link" (
+                    prepend apiSchemas = ["IsaacSiteAPI"]
+                )
+                {
+                }
+            }
+
+            over "left_hip_y_link" (
+                prepend apiSchemas = ["IsaacLinkAPI"]
+            )
+            {
+                over "left_hip_x_link" (
+                    prepend apiSchemas = ["IsaacLinkAPI"]
+                )
+                {
+                    over "left_hip_z_link" (
+                        prepend apiSchemas = ["IsaacLinkAPI"]
+                    )
+                    {
+                        over "left_knee_link" (
+                            prepend apiSchemas = ["IsaacLinkAPI"]
+                        )
+                        {
+                            over "left_ankle_y_link" (
+                                prepend apiSchemas = ["IsaacLinkAPI"]
+                            )
+                            {
+                                over "left_ankle_x_link" (
+                                    prepend apiSchemas = ["IsaacLinkAPI"]
+                                )
+                                {
+                                }
+                            }
+                        }
+                    }
+                }
+            }
+
+            over "right_hip_y_link" (
+                prepend apiSchemas = ["IsaacLinkAPI"]
+            )
+            {
+                over "right_hip_x_link" (
+                    prepend apiSchemas = ["IsaacLinkAPI"]
+                )
+                {
+                    over "right_hip_z_link" (
+                        prepend apiSchemas = ["IsaacLinkAPI"]
+                    )
+                    {
+                        over "right_knee_link" (
+                            prepend apiSchemas = ["IsaacLinkAPI"]
+                        )
+                        {
+                            over "right_ankle_y_link" (
+                                prepend apiSchemas = ["IsaacLinkAPI"]
+                            )
+                            {
+                                over "right_ankle_x_link" (
+                                    prepend apiSchemas = ["IsaacLinkAPI"]
+                                )
+                                {
+                                }
+                            }
+                        }
+                    }
+                }
+            }
+        }
+    }
+
+    over "Physics"
+    {
+        over "waist_z_joint" (
+            prepend apiSchemas = ["IsaacJointAPI"]
+        )
+        {
+        }
+
+        over "left_shoulder_y_joint" (
+            prepend apiSchemas = ["IsaacJointAPI"]
+        )
+        {
+        }
+
+        over "left_shoulder_x_joint" (
+            prepend apiSchemas = ["IsaacJointAPI"]
+        )
+        {
+        }
+
+        over "left_shoulder_z_joint" (
+            prepend apiSchemas = ["IsaacJointAPI"]
+        )
+        {
+        }
+
+        over "left_elbow_joint" (
+            prepend apiSchemas = ["IsaacJointAPI"]
+        )
+        {
+        }
+
+        over "right_shoulder_y_joint" (
+            prepend apiSchemas = ["IsaacJointAPI"]
+        )
+        {
+        }
+
+        over "right_shoulder_x_joint" (
+            prepend apiSchemas = ["IsaacJointAPI"]
+        )
+        {
+        }
+
+        over "right_shoulder_z_joint" (
+            prepend apiSchemas = ["IsaacJointAPI"]
+        )
+        {
+        }
+
+        over "right_elbow_joint" (
+            prepend apiSchemas = ["IsaacJointAPI"]
+        )
+        {
+        }
+
+        over "left_hip_y_joint" (
+            prepend apiSchemas = ["IsaacJointAPI"]
+        )
+        {
+        }
+
+        over "left_hip_x_joint" (
+            prepend apiSchemas = ["IsaacJointAPI"]
+        )
+        {
+        }
+
+        over "left_hip_z_joint" (
+            prepend apiSchemas = ["IsaacJointAPI"]
+        )
+        {
+        }
+
+        over "left_knee_joint" (
+            prepend apiSchemas = ["IsaacJointAPI"]
+        )
+        {
+        }
+
+        over "left_ankle_y_joint" (
+            prepend apiSchemas = ["IsaacJointAPI"]
+        )
+        {
+        }
+
+        over "left_ankle_x_joint" (
+            prepend apiSchemas = ["IsaacJointAPI"]
+        )
+        {
+        }
+
+        over "right_hip_y_joint" (
+            prepend apiSchemas = ["IsaacJointAPI"]
+        )
+        {
+        }
+
+        over "right_hip_x_joint" (
+            prepend apiSchemas = ["IsaacJointAPI"]
+        )
+        {
+        }
+
+        over "right_hip_z_joint" (
+            prepend apiSchemas = ["IsaacJointAPI"]
+        )
+        {
+        }
+
+        over "right_knee_joint" (
+            prepend apiSchemas = ["IsaacJointAPI"]
+        )
+        {
+        }
+
+        over "right_ankle_y_joint" (
+            prepend apiSchemas = ["IsaacJointAPI"]
+        )
+        {
+        }
+
+        over "right_ankle_x_joint" (
+            prepend apiSchemas = ["IsaacJointAPI"]
+        )
+        {
+        }
+    }
+}
+

DR02-std/simready_usd/payloads/flat-mujoco.usdc

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:491a298d18e0aba6c0fff2cfc151cadd811f15e201b2431217999964035c7eb4
+size 28587659

DR02-std/simready_usd/payloads/flat-physics.usdc

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a5bd622623d3160e5bf15a2680d44d84140e8590a43e6befa71c5e11001c43d9
+size 28586261

DR02-std/simready_usd/payloads/flat-physx.usdc

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f0311255a6a6a23937db908d1345020bd9fae86974ec4abeb92069e6e13b1417
+size 28586434