Add SimReady package: tmrv0_2

.gitattributes

@@ -62,3 +62,4 @@ fr3v2_1/simready_usd/payloads/geometries.usd filter=lfs diff=lfs merge=lfs -text
 fr3_duo/simready_usd/payloads/geometries.usd filter=lfs diff=lfs merge=lfs -text
 franka_mobile_sensors/simready_usd/payloads/geometries.usd filter=lfs diff=lfs merge=lfs -text
 mobile_fr3_duo_v0_2/simready_usd/payloads/geometries.usd filter=lfs diff=lfs merge=lfs -text
+tmrv0_2/simready_usd/payloads/geometries.usd filter=lfs diff=lfs merge=lfs -text

tmrv0_2/.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": "2026-10-12T10:16:41",
+  "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"
+                }
+              }
+            ]
+          }
+        }
+      ]
+    }
+  ]
+}

tmrv0_2/.metadata/com.nvidia.simready.packaging.bom.json

@@ -0,0 +1,94 @@
+{
+  "format_version": "1.0",
+  "items": [
+    {
+      "relative_path": "simready_usd/.thumbs/256x256/tmrv0_2.usda.png",
+      "size": 28253,
+      "hash": {
+        "sha256-flat-1mb": "f8d6568cfb42559769fc14fb17f4a5cca9922c2a7db239de5bc9271831c823e6",
+        "sha256": "1b5a06a4fe44b05e295279e60c9670cde83a4f4116c86fddecd3db5b53fe3ee1"
+      }
+    },
+    {
+      "relative_path": "simready_usd/payloads/Physics/physics.usda",
+      "size": 21140,
+      "hash": {
+        "sha256-flat-1mb": "5a747e3ef8002487ac7ea8eb3a4c89dadafe9fd6774579fff9ce46c2c6ddb93c",
+        "sha256": "506f1489bcdf730ea07b7dbbfe15563cd4c55a598191cd8c11a4e5c0c5c0dd3e"
+      }
+    },
+    {
+      "relative_path": "simready_usd/payloads/base.usda",
+      "size": 691783,
+      "hash": {
+        "sha256-flat-1mb": "947dd342e3f6c7081aeebb8c3218e0cee4a342d9fe029cbc2f53a69799f7a99b",
+        "sha256": "7c700e7077862195e0652a81d6b59fbc9c74df517f6212c389a8ba0a1ba9990b"
+      }
+    },
+    {
+      "relative_path": "simready_usd/payloads/geometries.usd",
+      "size": 5614462,
+      "hash": {
+        "sha256-flat-1mb": "0066d763742bf4435b0abbad153950e264a6bd217c554598e0073aedd0d54dd7",
+        "sha256": "85cef2d5a22bc2c6d145368ada653795c8243208daddc60bb99daac32681d73b",
+        "sha256-first1m": "f20046db39856be8b9fec35b49c60d2bef031b28731b3237bcb5d74cb7272049"
+      }
+    },
+    {
+      "relative_path": "simready_usd/payloads/instances.usda",
+      "size": 901204,
+      "hash": {
+        "sha256-flat-1mb": "2ddcf7bcb5e0408a12ecbbb3904d5dc46848379ace4d75e3ebbecd5cc135a442",
+        "sha256": "c3ab1ff4818c549782114beab2315ce9cac95cef678cc4b5de4bc7f65fa7aa5b"
+      }
+    },
+    {
+      "relative_path": "simready_usd/payloads/materials.usda",
+      "size": 12920,
+      "hash": {
+        "sha256-flat-1mb": "496db4f9ccbde62a0caf187fb2c85cd07f8675671c739b3077821c013dcbfac6",
+        "sha256": "e6076d5f879a4b100bdb4793e668a346efe5b069b019707cd9d397d5d03377d3"
+      }
+    },
+    {
+      "relative_path": "simready_usd/payloads/robot.usda",
+      "size": 7753,
+      "hash": {
+        "sha256-flat-1mb": "6905248e2e160f0a890ff156b1e6a93bea6223735dfac7744f6689a4a97bcbe3",
+        "sha256": "350f1928ae306f5c60f1c5485ff534b39e1783d2e98a6eab6fd706989f0c557c"
+      }
+    },
+    {
+      "relative_path": "simready_usd/runnables/physics/mujoco.usda",
+      "size": 96915,
+      "hash": {
+        "sha256-flat-1mb": "6522b0862f17a317b00330337d26aaccd80b3f0a06e26ed2cbaa09bb11cb04f6",
+        "sha256": "285993da55e7936d97c0834fa5103db0fee8ecdecb9e23954caef04c4d1a0ed4"
+      }
+    },
+    {
+      "relative_path": "simready_usd/runnables/physics/newton.usda",
+      "size": 3241,
+      "hash": {
+        "sha256-flat-1mb": "ebddabc838120cca368190542faa951a5626b966119a685e9e66321e39e3f1fc",
+        "sha256": "0759fa8f305ef18f27a443bdad84f04c291a74f72b616ef24b359c8a556be559"
+      }
+    },
+    {
+      "relative_path": "simready_usd/runnables/physics/physx.usda",
+      "size": 2486,
+      "hash": {
+        "sha256-flat-1mb": "7b943798dbede6e111027e2d2b5d86ad9a84db6e6c0262e6107e8b448e6e37cd",
+        "sha256": "8304b05c314c70dd74bc5eec32a2b45e8db9009d64c2349d7a007b161c685324"
+      }
+    },
+    {
+      "relative_path": "simready_usd/tmrv0_2.usda",
+      "size": 2833,
+      "hash": {
+        "sha256-flat-1mb": "479da7c32658f43867e67598f38d4861cbac672cefeda02030bf557aae9e3414",
+        "sha256": "d1ebdc248fb8493c56ce570c9232b2ebe0cfa7750a25a2cbaa68bb46124dc482"
+      }
+    }
+  ]
+}

tmrv0_2/.metadata/tmrv0_2_validation.json

@@ -0,0 +1,228 @@
+{
+    "simready_usd/tmrv0_2.usda": {
+        "features_summary": {
+            "FET_000_ISAAC": {
+                "blocking_failure": false,
+                "dependencies": "[{'FET_000_STANDARD': {'version': '0.1.0'}}]",
+                "passed": true,
+                "version": "0.1.0"
+            },
+            "FET_000_MUJOCO": {
+                "blocking_failure": false,
+                "dependencies": "[{'FET_000_STANDARD': {'version': '0.1.0'}}]",
+                "passed": true,
+                "version": "0.1.0"
+            },
+            "FET_000_NEWTON": {
+                "blocking_failure": false,
+                "dependencies": "[{'FET_000_STANDARD': {'version': '0.1.0'}}]",
+                "passed": true,
+                "version": "0.1.0"
+            },
+            "FET_000_PHYSX": {
+                "blocking_failure": false,
+                "dependencies": "[{'FET_000_STANDARD': {'version': '0.1.0'}}]",
+                "passed": true,
+                "version": "0.1.0"
+            },
+            "FET_000_STANDARD": {
+                "blocking_failure": false,
+                "dependencies": "[]",
+                "passed": true,
+                "version": "0.1.0"
+            },
+            "FET_001_STANDARD": {
+                "blocking_failure": false,
+                "dependencies": "[]",
+                "passed": true,
+                "version": "1.0.1"
+            },
+            "FET_003_MUJOCO": {
+                "blocking_failure": false,
+                "dependencies": "[]",
+                "passed": true,
+                "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'}}]",
+                "passed": true,
+                "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": "[]",
+                "passed": true,
+                "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": "[]",
+                "passed": true,
+                "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.DJ.001', 'com.nvidia.simready.MUJOCO.DJ.002']",
+                "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'}}]",
+                "passed": true,
+                "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"
+        }
+    }
+}

tmrv0_2/com.nvidia.simready.packaging.json

@@ -0,0 +1,31 @@
+{
+  "format_version": "1.0",
+  "package_id": "simready.hf.frankarobotics.simready-assets.tmrv0_2.2026.10.12_00",
+  "license": "cc-by-4.0",
+  "metadata": [
+    {
+      "name": "com.nvidia.simready.conformance.Package-Candidate@1.0.0.json",
+      "hash": {
+        "sha256": "00aa8261a1d3656a047aea42a2b35c1b6af42a8077570cd5b4ee6b9df8144de2"
+      }
+    },
+    {
+      "name": "com.nvidia.simready.packaging.bom.json",
+      "hash": {
+        "sha256": "0e8a91d2293577f56381c439b8e968d2530993d1f47179600836950e72a4417f"
+      }
+    },
+    {
+      "name": "com.nvidia.simready.root_usds.json",
+      "hash": {
+        "sha256": "42a6ccd49ef6272b87140b6299f76d9b835a18d1bb184f8116cf3265f171fe67"
+      }
+    }
+  ],
+  "content_hash": {
+    "sha256": "5842e26b5d62a7e034ec4c99181041e970f93184a877f5e9b7a004bddf428a08"
+  },
+  "package_hash": {
+    "sha256": "72b149da011f0071535a7784c5fb52c38b5cc37aaabcbb97f963376e72857518"
+  }
+}

tmrv0_2/simready_usd/payloads/Physics/physics.usda

@@ -0,0 +1,462 @@
+#usda 1.0
+(
+    customLayerData = {
+        string creator = "URDF USD Converter v0.1.2"
+    }
+    defaultPrim = "tmrv0_2"
+    doc = """Generated from Composed Stage of root layer /tmp/tmpi3igjb01/tmrv0_2.usdc
+
+
+Generated from Composed Stage of root layer /tmp/urdf_import_tmrv0_2_mjs4hyuc/usdex_tmrv0_2/tmrv0_2.usdc
+
+
+Generated from Composed Stage of root layer /tmp/urdf_import_tmrv0_2_mjs4hyuc/temp_tmrv0_2/tmrv0_2.usd
+
+
+Generated from Composed Stage of root layer /home/franka/isaacsim6_artifacts/release-final-20260807/models/tmrv0_2/usd/tmrv0_2/payloads/base.usd
+"""
+    kilogramsPerUnit = 1
+    metersPerUnit = 1
+    upAxis = "Z"
+)
+
+over "tmrv0_2"
+{
+    over "Geometry"
+    {
+        over "base_link" (
+            prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsArticulationRootAPI", "PhysicsMassAPI", "PhysicsFilteredPairsAPI"]
+        )
+        {
+            point3f physics:centerOfMass = (0.006619, -0.00221, 0.184355)
+            float3 physics:diagonalInertia = (3.2385178, 4.162343, 5.8485074)
+            rel physics:filteredPairs = [
+                </tmrv0_2/Geometry/base_link/argo_drive_front_fixed_link/argo_drive_front_steering_link/argo_drive_front_link>,
+                </tmrv0_2/Geometry/base_link/caster_front_left_fixed_link/caster_front_left_steering_link/caster_front_left_link>,
+                </tmrv0_2/Geometry/base_link/rocker_arm_link/argo_drive_rear_fixed_link>,
+                </tmrv0_2/Geometry/base_link/rocker_arm_link/argo_drive_rear_fixed_link/argo_drive_rear_steering_link/argo_drive_rear_link>,
+                </tmrv0_2/Geometry/base_link/rocker_arm_link/caster_rear_right_fixed_link>,
+                </tmrv0_2/Geometry/base_link/rocker_arm_link/caster_rear_right_fixed_link/caster_rear_right_steering_link/caster_rear_right_link>,
+            ]
+            float physics:mass = 88.954185
+            quatf physics:principalAxes = (0.9996548, -0.003387399, 0.02582692, 0.0034287767)
+
+            over "caster_front_left_fixed_link" (
+                prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"]
+            )
+            {
+                point3f physics:centerOfMass = (-0.02365, 0.00005, -0.03651)
+                float3 physics:diagonalInertia = (0.00028060647, 0.00069918315, 0.0007043262)
+                float physics:mass = 0.3
+                quatf physics:principalAxes = (0.29193678, 0.25660628, 0.6921609, 0.6081443)
+
+                over "caster_front_left_steering_link" (
+                    prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"]
+                )
+                {
+                    point3f physics:centerOfMass = (0, 0, 0)
+                    float3 physics:diagonalInertia = (0.0001, 0.0001, 0.0001)
+                    float physics:mass = 0.2
+                    quatf physics:principalAxes = (1, 0, 0, 0)
+
+                    over "caster_front_left_link" (
+                        prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"]
+                    )
+                    {
+                        point3f physics:centerOfMass = (0, 0, 0)
+                        float3 physics:diagonalInertia = (0.0001, 0.0001, 0.0001)
+                        float physics:mass = 0.2
+                        quatf physics:principalAxes = (1, 0, 0, 0)
+
+                        over "cylinder_1"
+                        {
+                        }
+                    }
+                }
+
+                over "box_1"
+                {
+                }
+            }
+
+            over "argo_drive_front_fixed_link" (
+                prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"]
+            )
+            {
+                point3f physics:centerOfMass = (-0.00019, 0.04522, 0.02947)
+                float3 physics:diagonalInertia = (0.03422342, 0.07060642, 0.08937675)
+                float physics:mass = 7
+                quatf physics:principalAxes = (-0.017477399, 0.7093334, 0.7045058, -0.014567895)
+
+                over "argo_drive_front_steering_link" (
+                    prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"]
+                )
+                {
+                    point3f physics:centerOfMass = (0, 0, 0)
+                    float3 physics:diagonalInertia = (0.001, 0.001, 0.001)
+                    float physics:mass = 2
+                    quatf physics:principalAxes = (1, 0, 0, 0)
+
+                    over "argo_drive_front_link" (
+                        prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"]
+                    )
+                    {
+                        float3 physics:diagonalInertia = (0.0018958333, 0.0018958333, 0.003125)
+                        float physics:mass = 2.5
+                        quatf physics:principalAxes = (1, 0, 0, 0)
+
+                        over "cylinder_1"
+                        {
+                        }
+                    }
+                }
+
+                over "box_1"
+                {
+                }
+            }
+
+            over "rocker_arm_link" (
+                prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"]
+            )
+            {
+                point3f physics:centerOfMass = (-0.000344, -0.021232, 0.038239)
+                float3 physics:diagonalInertia = (0.022245476, 0.06708764, 0.08201594)
+                float physics:mass = 5.183973
+                quatf physics:principalAxes = (-0.04195314, 0.70651484, 0.7051198, -0.04339154)
+
+                over "caster_rear_right_fixed_link" (
+                    prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"]
+                )
+                {
+                    point3f physics:centerOfMass = (-0.02365, 0.00005, -0.03651)
+                    float3 physics:diagonalInertia = (0.00028060647, 0.00069918315, 0.0007043262)
+                    float physics:mass = 0.3
+                    quatf physics:principalAxes = (0.29193678, 0.25660628, 0.6921609, 0.6081443)
+
+                    over "caster_rear_right_steering_link" (
+                        prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"]
+                    )
+                    {
+                        point3f physics:centerOfMass = (0, 0, 0)
+                        float3 physics:diagonalInertia = (0.0001, 0.0001, 0.0001)
+                        float physics:mass = 0.2
+                        quatf physics:principalAxes = (1, 0, 0, 0)
+
+                        over "caster_rear_right_link" (
+                            prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"]
+                        )
+                        {
+                            point3f physics:centerOfMass = (0, 0, 0)
+                            float3 physics:diagonalInertia = (0.0001, 0.0001, 0.0001)
+                            float physics:mass = 0.2
+                            quatf physics:principalAxes = (1, 0, 0, 0)
+
+                            over "cylinder_1"
+                            {
+                            }
+                        }
+                    }
+
+                    over "box_1"
+                    {
+                    }
+                }
+
+                over "argo_drive_rear_fixed_link" (
+                    prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"]
+                )
+                {
+                    point3f physics:centerOfMass = (-0.00019, -0.04522, 0.02947)
+                    float3 physics:diagonalInertia = (0.03422342, 0.07060642, 0.08937675)
+                    float physics:mass = 7
+                    quatf physics:principalAxes = (0.017477399, 0.7093334, 0.7045058, 0.014567895)
+
+                    over "argo_drive_rear_steering_link" (
+                        prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"]
+                    )
+                    {
+                        point3f physics:centerOfMass = (0, 0, 0)
+                        float3 physics:diagonalInertia = (0.001, 0.001, 0.001)
+                        float physics:mass = 2
+                        quatf physics:principalAxes = (1, 0, 0, 0)
+
+                        over "argo_drive_rear_link" (
+                            prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"]
+                        )
+                        {
+                            float3 physics:diagonalInertia = (0.0018958333, 0.0018958333, 0.003125)
+                            float physics:mass = 2.5
+                            quatf physics:principalAxes = (1, 0, 0, 0)
+
+                            over "cylinder_1"
+                            {
+                            }
+                        }
+                    }
+
+                    over "box_1"
+                    {
+                    }
+                }
+            }
+
+            over "base_inertia"
+            {
+            }
+
+            over "tmrv0_2_1"
+            {
+                over "tmrv0_2_1" (
+                    prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"]
+                )
+                {
+                    token physics:approximation = "convexHull"
+                }
+            }
+        }
+    }
+
+    over "Physics"
+    {
+        def PhysicsRevoluteJoint "caster_front_left_steering_joint" (
+            prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
+        )
+        {
+            float drive:angular:physics:damping = 0.003
+            float drive:angular:physics:maxForce = 500
+            uniform token physics:axis = "Z"
+            custom rel physics:body0
+            prepend rel physics:body0 = </tmrv0_2/Geometry/base_link/caster_front_left_fixed_link>
+            custom rel physics:body1
+            prepend rel physics:body1 = </tmrv0_2/Geometry/base_link/caster_front_left_fixed_link/caster_front_left_steering_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)
+            custom float urdf:dynamics:damping = 0.003
+            custom float urdf:dynamics:friction = 0
+            custom float urdf:limit:effort = 500
+            custom float urdf:limit:velocity = 20
+        }
+
+        def PhysicsRevoluteJoint "caster_front_left_joint" (
+            prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
+        )
+        {
+            float drive:angular:physics:damping = 0.003
+            float drive:angular:physics:maxForce = 500
+            uniform token physics:axis = "Y"
+            custom rel physics:body0
+            prepend rel physics:body0 = </tmrv0_2/Geometry/base_link/caster_front_left_fixed_link/caster_front_left_steering_link>
+            custom rel physics:body1
+            prepend rel physics:body1 = </tmrv0_2/Geometry/base_link/caster_front_left_fixed_link/caster_front_left_steering_link/caster_front_left_link>
+            point3f physics:localPos0 = (-0.035, 0, -0.05)
+            point3f physics:localPos1 = (0, 0, 0)
+            quatf physics:localRot0 = (1, 0, 0, 0)
+            quatf physics:localRot1 = (1, 0, 0, 0)
+            custom float urdf:dynamics:damping = 0.003
+            custom float urdf:dynamics:friction = 0
+            custom float urdf:limit:effort = 500
+            custom float urdf:limit:velocity = 20
+        }
+
+        def PhysicsRevoluteJoint "tmrv0_2_joint_0" (
+            prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
+        )
+        {
+            float drive:angular:physics:damping = 20
+            float drive:angular:physics:maxForce = 500
+            uniform token physics:axis = "Z"
+            custom rel physics:body0
+            prepend rel physics:body0 = </tmrv0_2/Geometry/base_link/argo_drive_front_fixed_link>
+            custom rel physics:body1
+            prepend rel physics:body1 = </tmrv0_2/Geometry/base_link/argo_drive_front_fixed_link/argo_drive_front_steering_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)
+            custom float urdf:dynamics:damping = 20
+            custom float urdf:dynamics:friction = 5
+            custom float urdf:limit:effort = 500
+            custom float urdf:limit:velocity = 20
+        }
+
+        def PhysicsRevoluteJoint "tmrv0_2_joint_1" (
+            prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
+        )
+        {
+            float drive:angular:physics:damping = 5
+            float drive:angular:physics:maxForce = 500
+            uniform token physics:axis = "Y"
+            custom rel physics:body0
+            prepend rel physics:body0 = </tmrv0_2/Geometry/base_link/argo_drive_front_fixed_link/argo_drive_front_steering_link>
+            custom rel physics:body1
+            prepend rel physics:body1 = </tmrv0_2/Geometry/base_link/argo_drive_front_fixed_link/argo_drive_front_steering_link/argo_drive_front_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)
+            custom float urdf:dynamics:damping = 5
+            custom float urdf:dynamics:friction = 1
+            custom float urdf:limit:effort = 500
+            custom float urdf:limit:velocity = 20
+        }
+
+        def PhysicsRevoluteJoint "rocker_arm_joint" (
+            prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
+        )
+        {
+            float drive:angular:physics:damping = 0.003
+            float drive:angular:physics:maxForce = 500
+            uniform token physics:axis = "X"
+            custom rel physics:body0
+            prepend rel physics:body0 = </tmrv0_2/Geometry/base_link>
+            custom rel physics:body1
+            prepend rel physics:body1 = </tmrv0_2/Geometry/base_link/rocker_arm_link>
+            point3f physics:localPos0 = (-0.3, 0, 0.0845)
+            point3f physics:localPos1 = (0, 0, 0)
+            quatf physics:localRot0 = (1, 0, 0, 0)
+            quatf physics:localRot1 = (1, 0, 0, 0)
+            float physics:lowerLimit = -9.167325
+            float physics:upperLimit = 10.31324
+            custom float urdf:dynamics:damping = 0.003
+            custom float urdf:dynamics:friction = 0
+            custom float urdf:limit:effort = 500
+            custom float urdf:limit:velocity = 20
+        }
+
+        def PhysicsRevoluteJoint "caster_rear_right_steering_joint" (
+            prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
+        )
+        {
+            float drive:angular:physics:damping = 0.003
+            float drive:angular:physics:maxForce = 500
+            uniform token physics:axis = "Z"
+            custom rel physics:body0
+            prepend rel physics:body0 = </tmrv0_2/Geometry/base_link/rocker_arm_link/caster_rear_right_fixed_link>
+            custom rel physics:body1
+            prepend rel physics:body1 = </tmrv0_2/Geometry/base_link/rocker_arm_link/caster_rear_right_fixed_link/caster_rear_right_steering_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)
+            custom float urdf:dynamics:damping = 0.003
+            custom float urdf:dynamics:friction = 0
+            custom float urdf:limit:effort = 500
+            custom float urdf:limit:velocity = 20
+        }
+
+        def PhysicsRevoluteJoint "caster_rear_right_joint" (
+            prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
+        )
+        {
+            float drive:angular:physics:damping = 0.003
+            float drive:angular:physics:maxForce = 500
+            uniform token physics:axis = "Y"
+            custom rel physics:body0
+            prepend rel physics:body0 = </tmrv0_2/Geometry/base_link/rocker_arm_link/caster_rear_right_fixed_link/caster_rear_right_steering_link>
+            custom rel physics:body1
+            prepend rel physics:body1 = </tmrv0_2/Geometry/base_link/rocker_arm_link/caster_rear_right_fixed_link/caster_rear_right_steering_link/caster_rear_right_link>
+            point3f physics:localPos0 = (-0.035, 0, -0.05)
+            point3f physics:localPos1 = (0, 0, 0)
+            quatf physics:localRot0 = (1, 0, 0, 0)
+            quatf physics:localRot1 = (1, 0, 0, 0)
+            custom float urdf:dynamics:damping = 0.003
+            custom float urdf:dynamics:friction = 0
+            custom float urdf:limit:effort = 500
+            custom float urdf:limit:velocity = 20
+        }
+
+        def PhysicsRevoluteJoint "tmrv0_2_joint_2" (
+            prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
+        )
+        {
+            float drive:angular:physics:damping = 20
+            float drive:angular:physics:maxForce = 500
+            uniform token physics:axis = "Z"
+            custom rel physics:body0
+            prepend rel physics:body0 = </tmrv0_2/Geometry/base_link/rocker_arm_link/argo_drive_rear_fixed_link>
+            custom rel physics:body1
+            prepend rel physics:body1 = </tmrv0_2/Geometry/base_link/rocker_arm_link/argo_drive_rear_fixed_link/argo_drive_rear_steering_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)
+            custom float urdf:dynamics:damping = 20
+            custom float urdf:dynamics:friction = 5
+            custom float urdf:limit:effort = 500
+            custom float urdf:limit:velocity = 20
+        }
+
+        def PhysicsRevoluteJoint "tmrv0_2_joint_3" (
+            prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
+        )
+        {
+            float drive:angular:physics:damping = 5
+            float drive:angular:physics:maxForce = 500
+            uniform token physics:axis = "Y"
+            custom rel physics:body0
+            prepend rel physics:body0 = </tmrv0_2/Geometry/base_link/rocker_arm_link/argo_drive_rear_fixed_link/argo_drive_rear_steering_link>
+            custom rel physics:body1
+            prepend rel physics:body1 = </tmrv0_2/Geometry/base_link/rocker_arm_link/argo_drive_rear_fixed_link/argo_drive_rear_steering_link/argo_drive_rear_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)
+            custom float urdf:dynamics:damping = 5
+            custom float urdf:dynamics:friction = 1
+            custom float urdf:limit:effort = 500
+            custom float urdf:limit:velocity = 20
+        }
+
+        def PhysicsFixedJoint "caster_front_left_fixed_joint"
+        {
+            custom rel physics:body0
+            prepend rel physics:body0 = </tmrv0_2/Geometry/base_link>
+            custom rel physics:body1
+            prepend rel physics:body1 = </tmrv0_2/Geometry/base_link/caster_front_left_fixed_link>
+            point3f physics:localPos0 = (0.3, 0.2, 0.08)
+            point3f physics:localPos1 = (0, 0, 0)
+            quatf physics:localRot0 = (1, 0, 0, 0)
+            quatf physics:localRot1 = (1, 0, 0, 0)
+        }
+
+        def PhysicsFixedJoint "argo_drive_front_fixed_joint"
+        {
+            custom rel physics:body0
+            prepend rel physics:body0 = </tmrv0_2/Geometry/base_link>
+            custom rel physics:body1
+            prepend rel physics:body1 = </tmrv0_2/Geometry/base_link/argo_drive_front_fixed_link>
+            point3f physics:localPos0 = (0.3, -0.2, 0.05)
+            point3f physics:localPos1 = (0, 0, 0)
+            quatf physics:localRot0 = (1, 0, 0, 0)
+            quatf physics:localRot1 = (1, 0, 0, 0)
+        }
+
+        def PhysicsFixedJoint "caster_rear_right_fixed_joint"
+        {
+            custom rel physics:body0
+            prepend rel physics:body0 = </tmrv0_2/Geometry/base_link/rocker_arm_link>
+            custom rel physics:body1
+            prepend rel physics:body1 = </tmrv0_2/Geometry/base_link/rocker_arm_link/caster_rear_right_fixed_link>
+            point3f physics:localPos0 = (0, -0.2, -0.0045)
+            point3f physics:localPos1 = (0, 0, 0)
+            quatf physics:localRot0 = (1, 0, 0, 0)
+            quatf physics:localRot1 = (1, 0, 0, 0)
+        }
+
+        def PhysicsFixedJoint "argo_drive_rear_fixed_joint"
+        {
+            custom rel physics:body0
+            prepend rel physics:body0 = </tmrv0_2/Geometry/base_link/rocker_arm_link>
+            custom rel physics:body1
+            prepend rel physics:body1 = </tmrv0_2/Geometry/base_link/rocker_arm_link/argo_drive_rear_fixed_link>
+            point3f physics:localPos0 = (0, 0.2, -0.0345)
+            point3f physics:localPos1 = (0, 0, 0)
+            quatf physics:localRot0 = (1, 0, 0, 0)
+            quatf physics:localRot1 = (1, 0, 0, 0)
+        }
+    }
+}
+

tmrv0_2/simready_usd/payloads/geometries.usd

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:85cef2d5a22bc2c6d145368ada653795c8243208daddc60bb99daac32681d73b
+size 5614462

tmrv0_2/simready_usd/payloads/materials.usda

@@ -0,0 +1,321 @@
+#usda 1.0
+(
+    customLayerData = {
+        string creator = "URDF USD Converter v0.1.2"
+    }
+    doc = """Generated from Composed Stage of root layer /tmp/tmpi3igjb01/tmrv0_2.usdc
+
+
+Generated from Composed Stage of root layer /tmp/urdf_import_tmrv0_2_mjs4hyuc/usdex_tmrv0_2/tmrv0_2.usdc
+
+
+Generated from Composed Stage of root layer /tmp/urdf_import_tmrv0_2_mjs4hyuc/temp_tmrv0_2/tmrv0_2.usd
+
+
+Generated from Composed Stage of root layer /home/franka/isaacsim6_artifacts/release-final-20260807/models/tmrv0_2/usd/tmrv0_2/payloads/base.usd
+"""
+    kilogramsPerUnit = 1
+    metersPerUnit = 1
+    upAxis = "Z"
+)
+
+def Scope "Materials"
+{
+    def Material "white"
+    {
+        color3f inputs:diffuseColor = (1, 1, 1)
+        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/white/PreviewSurface.outputs:displacement>
+        token outputs:surface (
+            displayGroup = "Outputs"
+        )
+        prepend token outputs:surface.connect = </Materials/white/PreviewSurface.outputs:surface>
+        token outputs:volume (
+            displayGroup = "Outputs"
+        )
+
+        def Shader "PreviewSurface" (
+            apiSchemas = ["NodeDefAPI"]
+        )
+        {
+            token info:id = "UsdPreviewSurface"
+            prepend color3f inputs:diffuseColor.connect = </Materials/white.inputs:diffuseColor>
+            prepend float inputs:metallic.connect = </Materials/white.inputs:metallic>
+            prepend float inputs:opacity.connect = </Materials/white.inputs:opacity>
+            prepend float inputs:roughness.connect = </Materials/white.inputs:roughness>
+            token outputs:displacement
+            token outputs:surface
+        }
+    }
+
+    def Material "darkgrey"
+    {
+        color3f inputs:diffuseColor = (0.07323897, 0.07323897, 0.07323897)
+        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/darkgrey/PreviewSurface.outputs:displacement>
+        token outputs:surface (
+            displayGroup = "Outputs"
+        )
+        prepend token outputs:surface.connect = </Materials/darkgrey/PreviewSurface.outputs:surface>
+        token outputs:volume (
+            displayGroup = "Outputs"
+        )
+
+        def Shader "PreviewSurface" (
+            apiSchemas = ["NodeDefAPI"]
+        )
+        {
+            token info:id = "UsdPreviewSurface"
+            prepend color3f inputs:diffuseColor.connect = </Materials/darkgrey.inputs:diffuseColor>
+            prepend float inputs:metallic.connect = </Materials/darkgrey.inputs:metallic>
+            prepend float inputs:opacity.connect = </Materials/darkgrey.inputs:opacity>
+            prepend float inputs:roughness.connect = </Materials/darkgrey.inputs:roughness>
+            token outputs:displacement
+            token outputs:surface
+        }
+    }
+
+    def Material "orange"
+    {
+        color3f inputs:diffuseColor = (1, 0.21404114, 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/orange/PreviewSurface.outputs:displacement>
+        token outputs:surface (
+            displayGroup = "Outputs"
+        )
+        prepend token outputs:surface.connect = </Materials/orange/PreviewSurface.outputs:surface>
+        token outputs:volume (
+            displayGroup = "Outputs"
+        )
+
+        def Shader "PreviewSurface" (
+            apiSchemas = ["NodeDefAPI"]
+        )
+        {
+            token info:id = "UsdPreviewSurface"
+            prepend color3f inputs:diffuseColor.connect = </Materials/orange.inputs:diffuseColor>
+            prepend float inputs:metallic.connect = </Materials/orange.inputs:metallic>
+            prepend float inputs:opacity.connect = </Materials/orange.inputs:opacity>
+            prepend float inputs:roughness.connect = </Materials/orange.inputs:roughness>
+            token outputs:displacement
+            token outputs:surface
+        }
+    }
+
+    def Material "yellowish_brown"
+    {
+        color3f inputs:diffuseColor = (0.6038274, 0.31854683, 0.033104762)
+        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/yellowish_brown/PreviewSurface.outputs:displacement>
+        token outputs:surface (
+            displayGroup = "Outputs"
+        )
+        prepend token outputs:surface.connect = </Materials/yellowish_brown/PreviewSurface.outputs:surface>
+        token outputs:volume (
+            displayGroup = "Outputs"
+        )
+
+        def Shader "PreviewSurface" (
+            apiSchemas = ["NodeDefAPI"]
+        )
+        {
+            token info:id = "UsdPreviewSurface"
+            prepend color3f inputs:diffuseColor.connect = </Materials/yellowish_brown.inputs:diffuseColor>
+            prepend float inputs:metallic.connect = </Materials/yellowish_brown.inputs:metallic>
+            prepend float inputs:opacity.connect = </Materials/yellowish_brown.inputs:opacity>
+            prepend float inputs:roughness.connect = </Materials/yellowish_brown.inputs:roughness>
+            token outputs:displacement
+            token outputs:surface
+        }
+    }
+
+    def Material "tn__MaterialPlastic__4__eS"
+    {
+        color3f inputs:diffuseColor = (0.5149177, 0.5149177, 0.5149177)
+        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__MaterialPlastic__4__eS/PreviewSurface.outputs:displacement>
+        token outputs:surface (
+            displayGroup = "Outputs"
+        )
+        prepend token outputs:surface.connect = </Materials/tn__MaterialPlastic__4__eS/PreviewSurface.outputs:surface>
+        token outputs:volume (
+            displayGroup = "Outputs"
+        )
+
+        def Shader "PreviewSurface" (
+            apiSchemas = ["NodeDefAPI"]
+        )
+        {
+            token info:id = "UsdPreviewSurface"
+            prepend color3f inputs:diffuseColor.connect = </Materials/tn__MaterialPlastic__4__eS.inputs:diffuseColor>
+            prepend float inputs:metallic.connect = </Materials/tn__MaterialPlastic__4__eS.inputs:metallic>
+            prepend float inputs:opacity.connect = </Materials/tn__MaterialPlastic__4__eS.inputs:opacity>
+            prepend float inputs:roughness.connect = </Materials/tn__MaterialPlastic__4__eS.inputs:roughness>
+            token outputs:displacement
+            token outputs:surface
+        }
+    }
+
+    def Material "tn__MaterialMetal_nJ"
+    {
+        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__MaterialMetal_nJ/PreviewSurface.outputs:displacement>
+        token outputs:surface (
+            displayGroup = "Outputs"
+        )
+        prepend token outputs:surface.connect = </Materials/tn__MaterialMetal_nJ/PreviewSurface.outputs:surface>
+        token outputs:volume (
+            displayGroup = "Outputs"
+        )
+
+        def Shader "PreviewSurface" (
+            apiSchemas = ["NodeDefAPI"]
+        )
+        {
+            token info:id = "UsdPreviewSurface"
+            prepend color3f inputs:diffuseColor.connect = </Materials/tn__MaterialMetal_nJ.inputs:diffuseColor>
+            prepend float inputs:metallic.connect = </Materials/tn__MaterialMetal_nJ.inputs:metallic>
+            prepend float inputs:opacity.connect = </Materials/tn__MaterialMetal_nJ.inputs:opacity>
+            prepend float inputs:roughness.connect = </Materials/tn__MaterialMetal_nJ.inputs:roughness>
+            token outputs:displacement
+            token outputs:surface
+        }
+    }
+
+    def Material "tn__MaterialWhite_nJ"
+    {
+        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__MaterialWhite_nJ/PreviewSurface.outputs:displacement>
+        token outputs:surface (
+            displayGroup = "Outputs"
+        )
+        prepend token outputs:surface.connect = </Materials/tn__MaterialWhite_nJ/PreviewSurface.outputs:surface>
+        token outputs:volume (
+            displayGroup = "Outputs"
+        )
+
+        def Shader "PreviewSurface" (
+            apiSchemas = ["NodeDefAPI"]
+        )
+        {
+            token info:id = "UsdPreviewSurface"
+            prepend color3f inputs:diffuseColor.connect = </Materials/tn__MaterialWhite_nJ.inputs:diffuseColor>
+            prepend float inputs:metallic.connect = </Materials/tn__MaterialWhite_nJ.inputs:metallic>
+            prepend float inputs:opacity.connect = </Materials/tn__MaterialWhite_nJ.inputs:opacity>
+            prepend float inputs:roughness.connect = </Materials/tn__MaterialWhite_nJ.inputs:roughness>
+            token outputs:displacement
+            token outputs:surface
+        }
+    }
+
+    def Material "tn__MaterialPlastic_kM"
+    {
+        color3f inputs:diffuseColor = (0.5149177, 0.031895906, 0.031895906)
+        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__MaterialPlastic_kM/PreviewSurface.outputs:displacement>
+        token outputs:surface (
+            displayGroup = "Outputs"
+        )
+        prepend token outputs:surface.connect = </Materials/tn__MaterialPlastic_kM/PreviewSurface.outputs:surface>
+        token outputs:volume (
+            displayGroup = "Outputs"
+        )
+
+        def Shader "PreviewSurface" (
+            apiSchemas = ["NodeDefAPI"]
+        )
+        {
+            token info:id = "UsdPreviewSurface"
+            prepend color3f inputs:diffuseColor.connect = </Materials/tn__MaterialPlastic_kM.inputs:diffuseColor>
+            prepend float inputs:metallic.connect = </Materials/tn__MaterialPlastic_kM.inputs:metallic>
+            prepend float inputs:opacity.connect = </Materials/tn__MaterialPlastic_kM.inputs:opacity>
+            prepend float inputs:roughness.connect = </Materials/tn__MaterialPlastic_kM.inputs:roughness>
+            token outputs:displacement
+            token outputs:surface
+        }
+    }
+
+    def Material "tn__MaterialPlastic__3__eS"
+    {
+        color3f inputs:diffuseColor = (0.8631576, 0.8631576, 0.02028852)
+        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__MaterialPlastic__3__eS/PreviewSurface.outputs:displacement>
+        token outputs:surface (
+            displayGroup = "Outputs"
+        )
+        prepend token outputs:surface.connect = </Materials/tn__MaterialPlastic__3__eS/PreviewSurface.outputs:surface>
+        token outputs:volume (
+            displayGroup = "Outputs"
+        )
+
+        def Shader "PreviewSurface" (
+            apiSchemas = ["NodeDefAPI"]
+        )
+        {
+            token info:id = "UsdPreviewSurface"
+            prepend color3f inputs:diffuseColor.connect = </Materials/tn__MaterialPlastic__3__eS.inputs:diffuseColor>
+            prepend float inputs:metallic.connect = </Materials/tn__MaterialPlastic__3__eS.inputs:metallic>
+            prepend float inputs:opacity.connect = </Materials/tn__MaterialPlastic__3__eS.inputs:opacity>
+            prepend float inputs:roughness.connect = </Materials/tn__MaterialPlastic__3__eS.inputs:roughness>
+            token outputs:displacement
+            token outputs:surface
+        }
+    }
+}
+

tmrv0_2/simready_usd/payloads/robot.usda

@@ -0,0 +1,261 @@
+#usda 1.0
+(
+    customLayerData = {
+        string creator = "URDF USD Converter v0.1.2"
+    }
+    defaultPrim = "tmrv0_2"
+    doc = """Generated from Composed Stage of root layer /tmp/tmpi3igjb01/tmrv0_2.usdc
+
+
+Generated from Composed Stage of root layer /tmp/urdf_import_tmrv0_2_mjs4hyuc/usdex_tmrv0_2/tmrv0_2.usdc
+
+
+Generated from Composed Stage of root layer /tmp/urdf_import_tmrv0_2_mjs4hyuc/temp_tmrv0_2/tmrv0_2.usd
+"""
+    kilogramsPerUnit = 1
+    metersPerUnit = 1
+    upAxis = "Z"
+)
+
+over "tmrv0_2" (
+    prepend apiSchemas = ["IsaacRobotAPI"]
+)
+{
+    prepend rel isaac:physics:robotJoints = [
+        </tmrv0_2/Physics/caster_front_left_fixed_joint>,
+        </tmrv0_2/Physics/argo_drive_front_fixed_joint>,
+        </tmrv0_2/Physics/rocker_arm_joint>,
+        </tmrv0_2/Physics/caster_front_left_steering_joint>,
+        </tmrv0_2/Physics/caster_front_left_joint>,
+        </tmrv0_2/Physics/tmrv0_2_joint_0>,
+        </tmrv0_2/Physics/tmrv0_2_joint_1>,
+        </tmrv0_2/Physics/caster_rear_right_fixed_joint>,
+        </tmrv0_2/Physics/argo_drive_rear_fixed_joint>,
+        </tmrv0_2/Physics/caster_rear_right_steering_joint>,
+        </tmrv0_2/Physics/caster_rear_right_joint>,
+        </tmrv0_2/Physics/tmrv0_2_joint_2>,
+        </tmrv0_2/Physics/tmrv0_2_joint_3>,
+    ]
+    prepend rel isaac:physics:robotLinks = [
+        </tmrv0_2/Geometry/base_link>,
+        </tmrv0_2/Geometry/base_link/caster_front_left_fixed_link>,
+        </tmrv0_2/Geometry/base_link/caster_front_left_fixed_link/caster_front_left_steering_link>,
+        </tmrv0_2/Geometry/base_link/caster_front_left_fixed_link/caster_front_left_steering_link/caster_front_left_link>,
+        </tmrv0_2/Geometry/base_link/argo_drive_front_fixed_link>,
+        </tmrv0_2/Geometry/base_link/argo_drive_front_fixed_link/argo_drive_front_steering_link>,
+        </tmrv0_2/Geometry/base_link/argo_drive_front_fixed_link/argo_drive_front_steering_link/argo_drive_front_link>,
+        </tmrv0_2/Geometry/base_link/rocker_arm_link>,
+        </tmrv0_2/Geometry/base_link/rocker_arm_link/caster_rear_right_fixed_link>,
+        </tmrv0_2/Geometry/base_link/rocker_arm_link/caster_rear_right_fixed_link/caster_rear_right_steering_link>,
+        </tmrv0_2/Geometry/base_link/rocker_arm_link/caster_rear_right_fixed_link/caster_rear_right_steering_link/caster_rear_right_link>,
+        </tmrv0_2/Geometry/base_link/rocker_arm_link/argo_drive_rear_fixed_link>,
+        </tmrv0_2/Geometry/base_link/rocker_arm_link/argo_drive_rear_fixed_link/argo_drive_rear_steering_link>,
+        </tmrv0_2/Geometry/base_link/rocker_arm_link/argo_drive_rear_fixed_link/argo_drive_rear_steering_link/argo_drive_rear_link>,
+    ]
+    token isaac:robotType = "Holonomic"
+
+    over "Geometry"
+    {
+        over "base_link" (
+            prepend apiSchemas = ["IsaacLinkAPI"]
+        )
+        {
+            over "caster_front_left_fixed_link" (
+                prepend apiSchemas = ["IsaacLinkAPI"]
+            )
+            {
+                over "caster_front_left_steering_link" (
+                    prepend apiSchemas = ["IsaacLinkAPI"]
+                )
+                {
+                    over "caster_front_left_link" (
+                        prepend apiSchemas = ["IsaacLinkAPI"]
+                    )
+                    {
+                    }
+                }
+            }
+
+            over "argo_drive_front_fixed_link" (
+                prepend apiSchemas = ["IsaacLinkAPI"]
+            )
+            {
+                over "argo_drive_front_steering_link" (
+                    prepend apiSchemas = ["IsaacLinkAPI"]
+                )
+                {
+                    over "argo_drive_front_link" (
+                        prepend apiSchemas = ["IsaacLinkAPI"]
+                    )
+                    {
+                    }
+                }
+            }
+
+            over "rocker_arm_link" (
+                prepend apiSchemas = ["IsaacLinkAPI"]
+            )
+            {
+                over "caster_rear_right_fixed_link" (
+                    prepend apiSchemas = ["IsaacLinkAPI"]
+                )
+                {
+                    over "caster_rear_right_steering_link" (
+                        prepend apiSchemas = ["IsaacLinkAPI"]
+                    )
+                    {
+                        over "caster_rear_right_link" (
+                            prepend apiSchemas = ["IsaacLinkAPI"]
+                        )
+                        {
+                        }
+                    }
+                }
+
+                over "argo_drive_rear_fixed_link" (
+                    prepend apiSchemas = ["IsaacLinkAPI"]
+                )
+                {
+                    over "argo_drive_rear_steering_link" (
+                        prepend apiSchemas = ["IsaacLinkAPI"]
+                    )
+                    {
+                        over "argo_drive_rear_link" (
+                            prepend apiSchemas = ["IsaacLinkAPI"]
+                        )
+                        {
+                        }
+                    }
+                }
+            }
+
+            over "base_inertia"
+            {
+            }
+
+            over "imu_mounting_point" (
+                prepend apiSchemas = ["IsaacSiteAPI"]
+            )
+            {
+            }
+
+            over "front_mounting_point" (
+                prepend apiSchemas = ["IsaacSiteAPI"]
+            )
+            {
+            }
+
+            over "rear_mounting_point" (
+                prepend apiSchemas = ["IsaacSiteAPI"]
+            )
+            {
+            }
+
+            over "right_mounting_point" (
+                prepend apiSchemas = ["IsaacSiteAPI"]
+            )
+            {
+            }
+
+            over "left_mounting_point" (
+                prepend apiSchemas = ["IsaacSiteAPI"]
+            )
+            {
+            }
+
+            over "lidar_front_mounting_point" (
+                prepend apiSchemas = ["IsaacSiteAPI"]
+            )
+            {
+            }
+
+            over "lidar_rear_mounting_point" (
+                prepend apiSchemas = ["IsaacSiteAPI"]
+            )
+            {
+            }
+        }
+    }
+
+    over "Physics"
+    {
+        over "caster_front_left_fixed_joint" (
+            prepend apiSchemas = ["IsaacJointAPI"]
+        )
+        {
+        }
+
+        over "caster_front_left_steering_joint" (
+            prepend apiSchemas = ["IsaacJointAPI"]
+        )
+        {
+        }
+
+        over "caster_front_left_joint" (
+            prepend apiSchemas = ["IsaacJointAPI"]
+        )
+        {
+        }
+
+        over "argo_drive_front_fixed_joint" (
+            prepend apiSchemas = ["IsaacJointAPI"]
+        )
+        {
+        }
+
+        over "tmrv0_2_joint_0" (
+            prepend apiSchemas = ["IsaacJointAPI"]
+        )
+        {
+        }
+
+        over "tmrv0_2_joint_1" (
+            prepend apiSchemas = ["IsaacJointAPI"]
+        )
+        {
+        }
+
+        over "rocker_arm_joint" (
+            prepend apiSchemas = ["IsaacJointAPI"]
+        )
+        {
+        }
+
+        over "caster_rear_right_fixed_joint" (
+            prepend apiSchemas = ["IsaacJointAPI"]
+        )
+        {
+        }
+
+        over "caster_rear_right_steering_joint" (
+            prepend apiSchemas = ["IsaacJointAPI"]
+        )
+        {
+        }
+
+        over "caster_rear_right_joint" (
+            prepend apiSchemas = ["IsaacJointAPI"]
+        )
+        {
+        }
+
+        over "argo_drive_rear_fixed_joint" (
+            prepend apiSchemas = ["IsaacJointAPI"]
+        )
+        {
+        }
+
+        over "tmrv0_2_joint_2" (
+            prepend apiSchemas = ["IsaacJointAPI"]
+        )
+        {
+        }
+
+        over "tmrv0_2_joint_3" (
+            prepend apiSchemas = ["IsaacJointAPI"]
+        )
+        {
+        }
+    }
+}
+

tmrv0_2/simready_usd/runnables/physics/newton.usda

@@ -0,0 +1,118 @@
+#usda 1.0
+(
+    defaultPrim = "tmrv0_2"
+    doc = "Newton overrides for tmrv0_2.usda"
+    kilogramsPerUnit = 1
+    metersPerUnit = 1
+    upAxis = "Z"
+)
+
+over "tmrv0_2"
+{
+    over "Geometry"
+    {
+        over "base_link" (
+            prepend apiSchemas = ["NewtonArticulationRootAPI"]
+        )
+        {
+            bool newton:selfCollisionEnabled = 0
+
+            over "caster_front_left_fixed_link"
+            {
+                over "caster_front_left_steering_link"
+                {
+                    over "caster_front_left_link"
+                    {
+                        over "cylinder_1" (
+                            prepend apiSchemas = ["NewtonCollisionAPI"]
+                        )
+                        {
+                        }
+                    }
+                }
+
+                over "box_1" (
+                    prepend apiSchemas = ["NewtonCollisionAPI"]
+                )
+                {
+                }
+            }
+
+            over "argo_drive_front_fixed_link"
+            {
+                over "argo_drive_front_steering_link"
+                {
+                    over "argo_drive_front_link"
+                    {
+                        over "cylinder_1" (
+                            prepend apiSchemas = ["NewtonCollisionAPI"]
+                        )
+                        {
+                        }
+                    }
+                }
+
+                over "box_1" (
+                    prepend apiSchemas = ["NewtonCollisionAPI"]
+                )
+                {
+                }
+            }
+
+            over "rocker_arm_link"
+            {
+                over "caster_rear_right_fixed_link"
+                {
+                    over "caster_rear_right_steering_link"
+                    {
+                        over "caster_rear_right_link"
+                        {
+                            over "cylinder_1" (
+                                prepend apiSchemas = ["NewtonCollisionAPI"]
+                            )
+                            {
+                            }
+                        }
+                    }
+
+                    over "box_1" (
+                        prepend apiSchemas = ["NewtonCollisionAPI"]
+                    )
+                    {
+                    }
+                }
+
+                over "argo_drive_rear_fixed_link"
+                {
+                    over "argo_drive_rear_steering_link"
+                    {
+                        over "argo_drive_rear_link"
+                        {
+                            over "cylinder_1" (
+                                prepend apiSchemas = ["NewtonCollisionAPI"]
+                            )
+                            {
+                            }
+                        }
+                    }
+
+                    over "box_1" (
+                        prepend apiSchemas = ["NewtonCollisionAPI"]
+                    )
+                    {
+                    }
+                }
+            }
+
+            over "tmrv0_2_1"
+            {
+                over "tmrv0_2_1" (
+                    prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI"]
+                )
+                {
+                }
+            }
+        }
+    }
+}
+

tmrv0_2/simready_usd/runnables/physics/physx.usda

@@ -0,0 +1,95 @@
+#usda 1.0
+(
+    customLayerData = {
+        string creator = "URDF USD Converter v0.1.2"
+    }
+    defaultPrim = "tmrv0_2"
+    doc = """Generated from Composed Stage of root layer /tmp/tmpi3igjb01/tmrv0_2.usdc
+
+
+Generated from Composed Stage of root layer /tmp/urdf_import_tmrv0_2_mjs4hyuc/usdex_tmrv0_2/tmrv0_2.usdc
+
+
+Generated from Composed Stage of root layer /tmp/urdf_import_tmrv0_2_mjs4hyuc/temp_tmrv0_2/tmrv0_2.usd
+
+
+Generated from Composed Stage of root layer /home/franka/isaacsim6_artifacts/release-final-20260807/models/tmrv0_2/usd/tmrv0_2/payloads/base.usd
+"""
+    kilogramsPerUnit = 1
+    metersPerUnit = 1
+    upAxis = "Z"
+)
+
+over "tmrv0_2"
+{
+    over "Physics"
+    {
+        over "caster_front_left_steering_joint" (
+            prepend apiSchemas = ["PhysxJointAPI"]
+        )
+        {
+            float physxJoint:maxJointVelocity = 1145.9156
+        }
+
+        over "caster_front_left_joint" (
+            prepend apiSchemas = ["PhysxJointAPI"]
+        )
+        {
+            float physxJoint:maxJointVelocity = 1145.9156
+        }
+
+        over "tmrv0_2_joint_0" (
+            prepend apiSchemas = ["PhysxJointAPI"]
+        )
+        {
+            float physxJoint:jointFriction = 5
+            float physxJoint:maxJointVelocity = 1145.9156
+        }
+
+        over "tmrv0_2_joint_1" (
+            prepend apiSchemas = ["PhysxJointAPI"]
+        )
+        {
+            float physxJoint:jointFriction = 1
+            float physxJoint:maxJointVelocity = 1145.9156
+        }
+
+        over "rocker_arm_joint" (
+            prepend apiSchemas = ["PhysxJointAPI"]
+        )
+        {
+            float physxJoint:maxJointVelocity = 1145.9156
+        }
+
+        over "caster_rear_right_steering_joint" (
+            prepend apiSchemas = ["PhysxJointAPI"]
+        )
+        {
+            float physxJoint:maxJointVelocity = 1145.9156
+        }
+
+        over "caster_rear_right_joint" (
+            prepend apiSchemas = ["PhysxJointAPI"]
+        )
+        {
+            float physxJoint:maxJointVelocity = 1145.9156
+        }
+
+        over "tmrv0_2_joint_2" (
+            prepend apiSchemas = ["PhysxJointAPI"]
+        )
+        {
+            float physxJoint:jointFriction = 5
+            float physxJoint:maxJointVelocity = 1145.9156
+        }
+
+        over "tmrv0_2_joint_3" (
+            prepend apiSchemas = ["PhysxJointAPI"]
+        )
+        {
+            float physxJoint:jointFriction = 1
+            float physxJoint:maxJointVelocity = 1145.9156
+        }
+    }
+}
+

tmrv0_2/simready_usd/tmrv0_2.usda

@@ -0,0 +1,96 @@
+#usda 1.0
+(
+    customLayerData = {
+        dictionary SimReady_Metadata = {
+            dictionary Variants = {
+                dictionary Physics = {
+                    dictionary MuJoCo = {
+                        string activateOption = "Enabled"
+                        string prim = "/tmrv0_2"
+                        string variantSetName = "MuJoCo"
+                    }
+                    dictionary Newton = {
+                        string activateOption = "Enabled"
+                        string prim = "/tmrv0_2"
+                        string variantSetName = "Newton"
+                    }
+                    dictionary PhysX = {
+                        string activateOption = "Enabled"
+                        string prim = "/tmrv0_2"
+                        string variantSetName = "PhysX"
+                    }
+                }
+            }
+            float3 asset_extents = (0.80075, 0.5830137, 0.35000002)
+            string asset_license = "CC-BY-4.0"
+            string author = "Franka Robotics GmbH"
+            string category = "mobile_robot"
+            double mass = 118.5381583571434
+            string qcode = "Q4810574"
+            int rigid_body_count = 14
+        }
+        string asset_name = "tmrv0_2"
+        string asset_type = "robot"
+        string creator = "URDF USD Converter v0.1.2"
+        string source_file = "franka_simulation v0.1.0 tmrv0_2-isaacsim6.tar.gz (generated from franka_description URDF)"
+        string usd_date_generated = "2026-08-07"
+    }
+    defaultPrim = "tmrv0_2"
+    doc = """Generated from Composed Stage of root layer /tmp/tmpi3igjb01/tmrv0_2.usdc
+
+
+Generated from Composed Stage of root layer /tmp/urdf_import_tmrv0_2_mjs4hyuc/usdex_tmrv0_2/tmrv0_2.usdc
+
+
+Generated from Composed Stage of root layer /tmp/urdf_import_tmrv0_2_mjs4hyuc/temp_tmrv0_2/tmrv0_2.usd
+
+
+Generated from Composed Stage of root layer /home/franka/isaacsim6_artifacts/release-final-20260807/models/tmrv0_2/usd/tmrv0_2/payloads/base.usd
+"""
+    kilogramsPerUnit = 1
+    metersPerUnit = 1
+    upAxis = "Z"
+)
+
+def Xform "tmrv0_2" (
+    prepend references = @./payloads/base.usda@
+    variants = {
+        string MuJoCo = "Disabled"
+        string Newton = "Disabled"
+        string PhysX = "Disabled"
+    }
+    prepend variantSets = ["PhysX", "Newton", "MuJoCo"]
+)
+{
+    variantSet "PhysX" = {
+        "Disabled" {
+
+        }
+        "Enabled" (
+            prepend payload = @./runnables/physics/physx.usda@
+        ) {
+
+        }
+    }
+    variantSet "Newton" = {
+        "Disabled" {
+
+        }
+        "Enabled" (
+            prepend payload = @./runnables/physics/newton.usda@
+        ) {
+
+        }
+    }
+    variantSet "MuJoCo" = {
+        "Disabled" {
+
+        }
+        "Enabled" (
+            prepend payload = @./runnables/physics/mujoco.usda@
+        ) {
+
+        }
+    }
+}
+