From c269f148070dbfeb29b96548c281d3d9633fb831 Mon Sep 17 00:00:00 2001 From: Kourosh Darvish Date: Thu, 4 Dec 2025 18:36:56 -0500 Subject: [PATCH 01/12] adding the robotiq gripper --- robots/robotiq/robotiq_2f140/2f140_instanceable.usd | 3 +++ robots/robotiq/robotiq_2f140/Props/instanceable_meshes.usd | 3 +++ 2 files changed, 6 insertions(+) create mode 100644 robots/robotiq/robotiq_2f140/2f140_instanceable.usd create mode 100644 robots/robotiq/robotiq_2f140/Props/instanceable_meshes.usd diff --git a/robots/robotiq/robotiq_2f140/2f140_instanceable.usd b/robots/robotiq/robotiq_2f140/2f140_instanceable.usd new file mode 100644 index 0000000..0103188 --- /dev/null +++ b/robots/robotiq/robotiq_2f140/2f140_instanceable.usd @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:11985cd86258028a9dde1d90f9d94dfef328e0530319c38ea602c4c37b2c1098 +size 20788 diff --git a/robots/robotiq/robotiq_2f140/Props/instanceable_meshes.usd b/robots/robotiq/robotiq_2f140/Props/instanceable_meshes.usd new file mode 100644 index 0000000..c35a45a --- /dev/null +++ b/robots/robotiq/robotiq_2f140/Props/instanceable_meshes.usd @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:558ab6f2fb09fbdbf926f2b4834bb75d3e6648fbeef5f10a8d47b2420771b63b +size 2034016 From 28bf0c1f16e43946c36dfd6a8649839aabb38f69 Mon Sep 17 00:00:00 2001 From: Adam Heins Date: Fri, 5 Dec 2025 09:33:36 -0500 Subject: [PATCH 02/12] Add UR5e USD. --- robots/ur5e/configuration/ur5e_base.usd | 3 +++ robots/ur5e/configuration/ur5e_physics.usd | 3 +++ robots/ur5e/configuration/ur5e_robot_schema.usd | 3 +++ robots/ur5e/configuration/ur5e_sensor.usd | 3 +++ robots/ur5e/ur5e.usd | 3 +++ 5 files changed, 15 insertions(+) create mode 100644 robots/ur5e/configuration/ur5e_base.usd create mode 100644 robots/ur5e/configuration/ur5e_physics.usd create mode 100644 robots/ur5e/configuration/ur5e_robot_schema.usd create mode 100644 robots/ur5e/configuration/ur5e_sensor.usd create mode 100644 robots/ur5e/ur5e.usd diff --git a/robots/ur5e/configuration/ur5e_base.usd b/robots/ur5e/configuration/ur5e_base.usd new file mode 100644 index 0000000..c143572 --- /dev/null +++ b/robots/ur5e/configuration/ur5e_base.usd @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:12347912499e3ead2c0fa1ba782dee8b87fa9255397baeba94d99480b01e3ea8 +size 6422847 diff --git a/robots/ur5e/configuration/ur5e_physics.usd b/robots/ur5e/configuration/ur5e_physics.usd new file mode 100644 index 0000000..591b822 --- /dev/null +++ b/robots/ur5e/configuration/ur5e_physics.usd @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4d1a1045809d2d2abd9f0dc88922a7bbcfc84b731f96baf986d0959546fd054b +size 6197 diff --git a/robots/ur5e/configuration/ur5e_robot_schema.usd b/robots/ur5e/configuration/ur5e_robot_schema.usd new file mode 100644 index 0000000..620ba42 --- /dev/null +++ b/robots/ur5e/configuration/ur5e_robot_schema.usd @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1bee266ccaa15fc78bfca1ecd5aa740e1823ad8731000746124d93920287c226 +size 2268 diff --git a/robots/ur5e/configuration/ur5e_sensor.usd b/robots/ur5e/configuration/ur5e_sensor.usd new file mode 100644 index 0000000..1f8507b --- /dev/null +++ b/robots/ur5e/configuration/ur5e_sensor.usd @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3d589a64b5a80d8fe923fd29ca1cba8c9c37468e026ef7f39f37913797c78dfe +size 602 diff --git a/robots/ur5e/ur5e.usd b/robots/ur5e/ur5e.usd new file mode 100644 index 0000000..9c990ef --- /dev/null +++ b/robots/ur5e/ur5e.usd @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d7a290e94f3de151fdf660007f6a53448cbda8cf558d83fd04a91c00eda5bbc7 +size 4830 From ad426e699ba8940af5f2d2a360507c5df523fe4d Mon Sep 17 00:00:00 2001 From: Kourosh Darvish Date: Fri, 5 Dec 2025 17:31:22 -0500 Subject: [PATCH 03/12] adding the ur5e with the robotiq gripper --- robots/{ => ur}/ur5e/configuration/ur5e_base.usd | 0 robots/{ => ur}/ur5e/configuration/ur5e_physics.usd | 0 robots/{ => ur}/ur5e/configuration/ur5e_robot_schema.usd | 0 robots/{ => ur}/ur5e/configuration/ur5e_sensor.usd | 0 robots/ur/ur5e/ur5e.usd | 3 +++ robots/ur/ur5e_robotiq2f140/configuration/ur5e_base.usd | 3 +++ robots/ur/ur5e_robotiq2f140/configuration/ur5e_physics.usd | 3 +++ .../ur/ur5e_robotiq2f140/configuration/ur5e_robot_schema.usd | 3 +++ robots/ur/ur5e_robotiq2f140/configuration/ur5e_sensor.usd | 3 +++ .../ur/ur5e_robotiq2f140/robotiq_2f140/2f140_instanceable.usd | 3 +++ .../robotiq_2f140/Props/instanceable_meshes.usd | 3 +++ robots/ur/ur5e_robotiq2f140/ur5e_robotiq2f140.usd | 3 +++ robots/ur5e/ur5e.usd | 3 --- 13 files changed, 24 insertions(+), 3 deletions(-) rename robots/{ => ur}/ur5e/configuration/ur5e_base.usd (100%) rename robots/{ => ur}/ur5e/configuration/ur5e_physics.usd (100%) rename robots/{ => ur}/ur5e/configuration/ur5e_robot_schema.usd (100%) rename robots/{ => ur}/ur5e/configuration/ur5e_sensor.usd (100%) create mode 100644 robots/ur/ur5e/ur5e.usd create mode 100644 robots/ur/ur5e_robotiq2f140/configuration/ur5e_base.usd create mode 100644 robots/ur/ur5e_robotiq2f140/configuration/ur5e_physics.usd create mode 100644 robots/ur/ur5e_robotiq2f140/configuration/ur5e_robot_schema.usd create mode 100644 robots/ur/ur5e_robotiq2f140/configuration/ur5e_sensor.usd create mode 100644 robots/ur/ur5e_robotiq2f140/robotiq_2f140/2f140_instanceable.usd create mode 100644 robots/ur/ur5e_robotiq2f140/robotiq_2f140/Props/instanceable_meshes.usd create mode 100644 robots/ur/ur5e_robotiq2f140/ur5e_robotiq2f140.usd delete mode 100644 robots/ur5e/ur5e.usd diff --git a/robots/ur5e/configuration/ur5e_base.usd b/robots/ur/ur5e/configuration/ur5e_base.usd similarity index 100% rename from robots/ur5e/configuration/ur5e_base.usd rename to robots/ur/ur5e/configuration/ur5e_base.usd diff --git a/robots/ur5e/configuration/ur5e_physics.usd b/robots/ur/ur5e/configuration/ur5e_physics.usd similarity index 100% rename from robots/ur5e/configuration/ur5e_physics.usd rename to robots/ur/ur5e/configuration/ur5e_physics.usd diff --git a/robots/ur5e/configuration/ur5e_robot_schema.usd b/robots/ur/ur5e/configuration/ur5e_robot_schema.usd similarity index 100% rename from robots/ur5e/configuration/ur5e_robot_schema.usd rename to robots/ur/ur5e/configuration/ur5e_robot_schema.usd diff --git a/robots/ur5e/configuration/ur5e_sensor.usd b/robots/ur/ur5e/configuration/ur5e_sensor.usd similarity index 100% rename from robots/ur5e/configuration/ur5e_sensor.usd rename to robots/ur/ur5e/configuration/ur5e_sensor.usd diff --git a/robots/ur/ur5e/ur5e.usd b/robots/ur/ur5e/ur5e.usd new file mode 100644 index 0000000..28bf760 --- /dev/null +++ b/robots/ur/ur5e/ur5e.usd @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:95c152ff9125d57c3456fda403242f6e4becc59adf3b20f0a97f7361aa8c7a2e +size 9527 diff --git a/robots/ur/ur5e_robotiq2f140/configuration/ur5e_base.usd b/robots/ur/ur5e_robotiq2f140/configuration/ur5e_base.usd new file mode 100644 index 0000000..c143572 --- /dev/null +++ b/robots/ur/ur5e_robotiq2f140/configuration/ur5e_base.usd @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:12347912499e3ead2c0fa1ba782dee8b87fa9255397baeba94d99480b01e3ea8 +size 6422847 diff --git a/robots/ur/ur5e_robotiq2f140/configuration/ur5e_physics.usd b/robots/ur/ur5e_robotiq2f140/configuration/ur5e_physics.usd new file mode 100644 index 0000000..591b822 --- /dev/null +++ b/robots/ur/ur5e_robotiq2f140/configuration/ur5e_physics.usd @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4d1a1045809d2d2abd9f0dc88922a7bbcfc84b731f96baf986d0959546fd054b +size 6197 diff --git a/robots/ur/ur5e_robotiq2f140/configuration/ur5e_robot_schema.usd b/robots/ur/ur5e_robotiq2f140/configuration/ur5e_robot_schema.usd new file mode 100644 index 0000000..620ba42 --- /dev/null +++ b/robots/ur/ur5e_robotiq2f140/configuration/ur5e_robot_schema.usd @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1bee266ccaa15fc78bfca1ecd5aa740e1823ad8731000746124d93920287c226 +size 2268 diff --git a/robots/ur/ur5e_robotiq2f140/configuration/ur5e_sensor.usd b/robots/ur/ur5e_robotiq2f140/configuration/ur5e_sensor.usd new file mode 100644 index 0000000..1f8507b --- /dev/null +++ b/robots/ur/ur5e_robotiq2f140/configuration/ur5e_sensor.usd @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3d589a64b5a80d8fe923fd29ca1cba8c9c37468e026ef7f39f37913797c78dfe +size 602 diff --git a/robots/ur/ur5e_robotiq2f140/robotiq_2f140/2f140_instanceable.usd b/robots/ur/ur5e_robotiq2f140/robotiq_2f140/2f140_instanceable.usd new file mode 100644 index 0000000..0103188 --- /dev/null +++ b/robots/ur/ur5e_robotiq2f140/robotiq_2f140/2f140_instanceable.usd @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:11985cd86258028a9dde1d90f9d94dfef328e0530319c38ea602c4c37b2c1098 +size 20788 diff --git a/robots/ur/ur5e_robotiq2f140/robotiq_2f140/Props/instanceable_meshes.usd b/robots/ur/ur5e_robotiq2f140/robotiq_2f140/Props/instanceable_meshes.usd new file mode 100644 index 0000000..c35a45a --- /dev/null +++ b/robots/ur/ur5e_robotiq2f140/robotiq_2f140/Props/instanceable_meshes.usd @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:558ab6f2fb09fbdbf926f2b4834bb75d3e6648fbeef5f10a8d47b2420771b63b +size 2034016 diff --git a/robots/ur/ur5e_robotiq2f140/ur5e_robotiq2f140.usd b/robots/ur/ur5e_robotiq2f140/ur5e_robotiq2f140.usd new file mode 100644 index 0000000..fb52892 --- /dev/null +++ b/robots/ur/ur5e_robotiq2f140/ur5e_robotiq2f140.usd @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:aa30ac9c379342ea091811e1ce727b73f98a216fe4c8b15991c8572243ce5603 +size 14139 diff --git a/robots/ur5e/ur5e.usd b/robots/ur5e/ur5e.usd deleted file mode 100644 index 9c990ef..0000000 --- a/robots/ur5e/ur5e.usd +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:d7a290e94f3de151fdf660007f6a53448cbda8cf558d83fd04a91c00eda5bbc7 -size 4830 From 235ba9946cbe43bb5d7a645434999273aebd6a4a Mon Sep 17 00:00:00 2001 From: Kourosh Darvish Date: Sun, 7 Dec 2025 21:09:54 -0500 Subject: [PATCH 04/12] fixing the issue with ur5e with robotiq; adding robotiq 2f140 instanceable --- robots/robotiq/robotiq_2f140/2f140_instanceable.usd | 3 --- robots/robotiq/robotiq_2f140/robotiq-2f140-inst.usd | 3 +++ robots/ur/ur5e_robotiq2f140/ur5e_robotiq2f140.usd | 4 ++-- 3 files changed, 5 insertions(+), 5 deletions(-) delete mode 100644 robots/robotiq/robotiq_2f140/2f140_instanceable.usd create mode 100644 robots/robotiq/robotiq_2f140/robotiq-2f140-inst.usd diff --git a/robots/robotiq/robotiq_2f140/2f140_instanceable.usd b/robots/robotiq/robotiq_2f140/2f140_instanceable.usd deleted file mode 100644 index 0103188..0000000 --- a/robots/robotiq/robotiq_2f140/2f140_instanceable.usd +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:11985cd86258028a9dde1d90f9d94dfef328e0530319c38ea602c4c37b2c1098 -size 20788 diff --git a/robots/robotiq/robotiq_2f140/robotiq-2f140-inst.usd b/robots/robotiq/robotiq_2f140/robotiq-2f140-inst.usd new file mode 100644 index 0000000..12b62e6 --- /dev/null +++ b/robots/robotiq/robotiq_2f140/robotiq-2f140-inst.usd @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6cb587d72a16b8ce4a99db3a8d9bca819de1180dd828e9a2ea2e0b65f3c2fc0a +size 22276 diff --git a/robots/ur/ur5e_robotiq2f140/ur5e_robotiq2f140.usd b/robots/ur/ur5e_robotiq2f140/ur5e_robotiq2f140.usd index fb52892..6269fe6 100644 --- a/robots/ur/ur5e_robotiq2f140/ur5e_robotiq2f140.usd +++ b/robots/ur/ur5e_robotiq2f140/ur5e_robotiq2f140.usd @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:aa30ac9c379342ea091811e1ce727b73f98a216fe4c8b15991c8572243ce5603 -size 14139 +oid sha256:b9fee53e57d83f962c7b66364e7ab21f4bba9513524119a06c67502cd0c11546 +size 37431 From a48c945fefc19084c767f4eaccb919b48af14cf4 Mon Sep 17 00:00:00 2001 From: kevin Date: Sun, 1 Mar 2026 03:02:37 -0500 Subject: [PATCH 05/12] added IKA from another previous commit --- equipment/balance-heater-stirrer/IKA-plate-inst.usda | 3 +++ equipment/balance-heater-stirrer/Scale-IKA.usdz | 3 +++ equipment/balance-heater-stirrer/scale-IKA.usd | 3 +++ equipment/balance-heater-stirrer/scale-IKA.usda | 3 +++ equipment/balance-heater-stirrer/scale-IKA_inst_mat.usda | 3 +++ equipment/balance-heater-stirrer/scale-IKA_inst_mesh.usda | 3 +++ labware/bottle/bottle.usda | 3 +++ 7 files changed, 21 insertions(+) create mode 100644 equipment/balance-heater-stirrer/IKA-plate-inst.usda create mode 100644 equipment/balance-heater-stirrer/Scale-IKA.usdz create mode 100644 equipment/balance-heater-stirrer/scale-IKA.usd create mode 100644 equipment/balance-heater-stirrer/scale-IKA.usda create mode 100644 equipment/balance-heater-stirrer/scale-IKA_inst_mat.usda create mode 100644 equipment/balance-heater-stirrer/scale-IKA_inst_mesh.usda create mode 100644 labware/bottle/bottle.usda diff --git a/equipment/balance-heater-stirrer/IKA-plate-inst.usda b/equipment/balance-heater-stirrer/IKA-plate-inst.usda new file mode 100644 index 0000000..5b53c7c --- /dev/null +++ b/equipment/balance-heater-stirrer/IKA-plate-inst.usda @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:077cc86e8976bec75855603b35f029976bd39ebca96dae62cda6f5af4b045cd8 +size 30001042 diff --git a/equipment/balance-heater-stirrer/Scale-IKA.usdz b/equipment/balance-heater-stirrer/Scale-IKA.usdz new file mode 100644 index 0000000..5e0860b --- /dev/null +++ b/equipment/balance-heater-stirrer/Scale-IKA.usdz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:585661fd74cfe7aa1f613e44c269d18c762d7b85d0ff50312ebf0e6040563228 +size 2911831 diff --git a/equipment/balance-heater-stirrer/scale-IKA.usd b/equipment/balance-heater-stirrer/scale-IKA.usd new file mode 100644 index 0000000..467b6f8 --- /dev/null +++ b/equipment/balance-heater-stirrer/scale-IKA.usd @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9ef7d3dd1f47debccda3b22809dadfa38442b6ae6705ac7d2082798df3442a7d +size 1003475 diff --git a/equipment/balance-heater-stirrer/scale-IKA.usda b/equipment/balance-heater-stirrer/scale-IKA.usda new file mode 100644 index 0000000..a7abcc1 --- /dev/null +++ b/equipment/balance-heater-stirrer/scale-IKA.usda @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:514804c982b399cc9d214924b18e62ccaa88c717aec8e400f7e67ed47827f6e8 +size 3131410 diff --git a/equipment/balance-heater-stirrer/scale-IKA_inst_mat.usda b/equipment/balance-heater-stirrer/scale-IKA_inst_mat.usda new file mode 100644 index 0000000..2b5b579 --- /dev/null +++ b/equipment/balance-heater-stirrer/scale-IKA_inst_mat.usda @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:44f8300161bc7e3dc60ad1af07beeae9fcdf3614d466ac9aa5ebaec864edd0f4 +size 2289 diff --git a/equipment/balance-heater-stirrer/scale-IKA_inst_mesh.usda b/equipment/balance-heater-stirrer/scale-IKA_inst_mesh.usda new file mode 100644 index 0000000..4492919 --- /dev/null +++ b/equipment/balance-heater-stirrer/scale-IKA_inst_mesh.usda @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3bcf99ad86bbbc6acaa8f4c737372397f3cf3656eaea36638f815fa0d5713df8 +size 3129051 diff --git a/labware/bottle/bottle.usda b/labware/bottle/bottle.usda new file mode 100644 index 0000000..3fc20b5 --- /dev/null +++ b/labware/bottle/bottle.usda @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2b7831f73458fe7423d04a20d09725bce1ac939b841c0a773be458024b827025 +size 47860905 From 2cf5b57bff5ec7d2afa5ed318611e986f3ad64e5 Mon Sep 17 00:00:00 2001 From: kevin Date: Sun, 15 Mar 2026 13:36:28 -0400 Subject: [PATCH 06/12] updated bottle asset to include colliders and high friction material --- labware/bottle/bottle.usda | 4 ++-- labware/bottle/bottle_collider.usda | 3 +++ labware/bottle/bottle_new.usda | 3 +++ labware/bottle/bottle_old.usda | 3 +++ 4 files changed, 11 insertions(+), 2 deletions(-) create mode 100644 labware/bottle/bottle_collider.usda create mode 100644 labware/bottle/bottle_new.usda create mode 100644 labware/bottle/bottle_old.usda diff --git a/labware/bottle/bottle.usda b/labware/bottle/bottle.usda index 3fc20b5..78b8c23 100644 --- a/labware/bottle/bottle.usda +++ b/labware/bottle/bottle.usda @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:2b7831f73458fe7423d04a20d09725bce1ac939b841c0a773be458024b827025 -size 47860905 +oid sha256:4f5d4ec63dfb7a0c343d62e0da6d704a72be99df714ececdad5591cd71b4b9f5 +size 47863105 diff --git a/labware/bottle/bottle_collider.usda b/labware/bottle/bottle_collider.usda new file mode 100644 index 0000000..54a72ec --- /dev/null +++ b/labware/bottle/bottle_collider.usda @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:16eae605d72ae9252ba6454cda4b11e80913b531ec0b3763456e9922561c39ea +size 47865243 diff --git a/labware/bottle/bottle_new.usda b/labware/bottle/bottle_new.usda new file mode 100644 index 0000000..3677ece --- /dev/null +++ b/labware/bottle/bottle_new.usda @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d67071d5fa1a012d70ed0b2929a44a76b438c5f3656744112ac8cbb947b895d2 +size 47865721 diff --git a/labware/bottle/bottle_old.usda b/labware/bottle/bottle_old.usda new file mode 100644 index 0000000..3fc20b5 --- /dev/null +++ b/labware/bottle/bottle_old.usda @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2b7831f73458fe7423d04a20d09725bce1ac939b841c0a773be458024b827025 +size 47860905 From 0d526935b883e99d5aadaaa9ee3ebec549cc5d8f Mon Sep 17 00:00:00 2001 From: kevin Date: Wed, 22 Apr 2026 23:12:57 -0400 Subject: [PATCH 07/12] added asset for 2f85, fixed 2f140 gripper --- labware/bottle/bottle_new.usda | 4 ++-- .../ur/ur5e_robotiq2f140/robotiq_2f140/2f140_instanceable.usd | 4 ++-- .../robotiq_2f140/Props/instanceable_meshes.usd | 4 ++-- robots/ur/ur5e_robotiq2f140/ur5e_robotiq2f140.usd | 4 ++-- robots/ur/ur5e_robotiq2f140/ur5e_robotiq2f140_isaac.usd | 3 +++ .../ur5e_robotiq_gripper_d415_mount_safety_calibrated.usd | 3 +++ 6 files changed, 14 insertions(+), 8 deletions(-) create mode 100644 robots/ur/ur5e_robotiq2f140/ur5e_robotiq2f140_isaac.usd create mode 100644 robots/ur/ur5e_robotiq2f85/ur5e_robotiq_gripper_d415_mount_safety_calibrated.usd diff --git a/labware/bottle/bottle_new.usda b/labware/bottle/bottle_new.usda index 3677ece..39f0cc0 100644 --- a/labware/bottle/bottle_new.usda +++ b/labware/bottle/bottle_new.usda @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:d67071d5fa1a012d70ed0b2929a44a76b438c5f3656744112ac8cbb947b895d2 -size 47865721 +oid sha256:60fe21ed20659812e38802a0a495e523d6719313a1408002b0f1189aaea50932 +size 47866705 diff --git a/robots/ur/ur5e_robotiq2f140/robotiq_2f140/2f140_instanceable.usd b/robots/ur/ur5e_robotiq2f140/robotiq_2f140/2f140_instanceable.usd index 0103188..108fdab 100644 --- a/robots/ur/ur5e_robotiq2f140/robotiq_2f140/2f140_instanceable.usd +++ b/robots/ur/ur5e_robotiq2f140/robotiq_2f140/2f140_instanceable.usd @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:11985cd86258028a9dde1d90f9d94dfef328e0530319c38ea602c4c37b2c1098 -size 20788 +oid sha256:6855db567a99f55c4f0b38bb33acd9130ab37593f5ed7991ff478cbcd013de53 +size 23725 diff --git a/robots/ur/ur5e_robotiq2f140/robotiq_2f140/Props/instanceable_meshes.usd b/robots/ur/ur5e_robotiq2f140/robotiq_2f140/Props/instanceable_meshes.usd index c35a45a..e973e1d 100644 --- a/robots/ur/ur5e_robotiq2f140/robotiq_2f140/Props/instanceable_meshes.usd +++ b/robots/ur/ur5e_robotiq2f140/robotiq_2f140/Props/instanceable_meshes.usd @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:558ab6f2fb09fbdbf926f2b4834bb75d3e6648fbeef5f10a8d47b2420771b63b -size 2034016 +oid sha256:fb16acc2ff95b1ed03c02af8976bfab85a67342a08e74fc4f450f9c315f1bdd2 +size 2056710 diff --git a/robots/ur/ur5e_robotiq2f140/ur5e_robotiq2f140.usd b/robots/ur/ur5e_robotiq2f140/ur5e_robotiq2f140.usd index 6269fe6..3a59471 100644 --- a/robots/ur/ur5e_robotiq2f140/ur5e_robotiq2f140.usd +++ b/robots/ur/ur5e_robotiq2f140/ur5e_robotiq2f140.usd @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:b9fee53e57d83f962c7b66364e7ab21f4bba9513524119a06c67502cd0c11546 -size 37431 +oid sha256:276284b1e0c5b2627506b854ba45e46ad911ec00b955efd81980bcfb1123b06f +size 47661 diff --git a/robots/ur/ur5e_robotiq2f140/ur5e_robotiq2f140_isaac.usd b/robots/ur/ur5e_robotiq2f140/ur5e_robotiq2f140_isaac.usd new file mode 100644 index 0000000..ea0600f --- /dev/null +++ b/robots/ur/ur5e_robotiq2f140/ur5e_robotiq2f140_isaac.usd @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1736e3e7459454e743a0883f76c5bcf7b5b2f3304a57d39bbb8d8b61c35ebe28 +size 140680 diff --git a/robots/ur/ur5e_robotiq2f85/ur5e_robotiq_gripper_d415_mount_safety_calibrated.usd b/robots/ur/ur5e_robotiq2f85/ur5e_robotiq_gripper_d415_mount_safety_calibrated.usd new file mode 100644 index 0000000..f7ff5c9 --- /dev/null +++ b/robots/ur/ur5e_robotiq2f85/ur5e_robotiq_gripper_d415_mount_safety_calibrated.usd @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:88e72878dc44065c12a73f60bc791f2fc8f8fee4178a44ad11b4f8bc49cd5378 +size 16633309 From c536858bb508758e6187265c1ce7f54582db03a9 Mon Sep 17 00:00:00 2001 From: kevin Date: Wed, 29 Apr 2026 15:42:15 -0400 Subject: [PATCH 08/12] Revert "merged from add/bottle" This reverts commit 90eadd74b3572309c031c68c387553d44dfec1be, reversing changes made to 0d856a0572d3e0823204264fd3d2700e15a43f4b. --- labware/bottle/bottle_new.usda | 3 --- robots/robotiq/robotiq_2f140/Props/instanceable_meshes.usd | 3 --- robots/robotiq/robotiq_2f140/robotiq-2f140-inst.usd | 3 --- robots/ur/ur5e/configuration/ur5e_base.usd | 3 --- robots/ur/ur5e/configuration/ur5e_physics.usd | 3 --- robots/ur/ur5e/configuration/ur5e_robot_schema.usd | 3 --- robots/ur/ur5e/configuration/ur5e_sensor.usd | 3 --- robots/ur/ur5e/ur5e.usd | 3 --- robots/ur/ur5e_robotiq2f140/configuration/ur5e_base.usd | 3 --- robots/ur/ur5e_robotiq2f140/configuration/ur5e_physics.usd | 3 --- .../ur/ur5e_robotiq2f140/configuration/ur5e_robot_schema.usd | 3 --- robots/ur/ur5e_robotiq2f140/configuration/ur5e_sensor.usd | 3 --- .../ur/ur5e_robotiq2f140/robotiq_2f140/2f140_instanceable.usd | 3 --- .../robotiq_2f140/Props/instanceable_meshes.usd | 3 --- robots/ur/ur5e_robotiq2f140/ur5e_robotiq2f140.usd | 3 --- robots/ur/ur5e_robotiq2f140/ur5e_robotiq2f140_isaac.usd | 3 --- .../ur5e_robotiq_gripper_d415_mount_safety_calibrated.usd | 3 --- .../configuration/yam_ultra_urdf_with_linear_gripper_base.usd | 3 --- .../yam_ultra_urdf_with_linear_gripper_physics.usd | 3 --- .../yam_ultra_urdf_with_linear_gripper_sensor.usd | 3 --- robots/yam/ultra/yam_ultra_urdf_with_linear_gripper.usd | 3 --- 21 files changed, 63 deletions(-) delete mode 100644 labware/bottle/bottle_new.usda delete mode 100644 robots/robotiq/robotiq_2f140/Props/instanceable_meshes.usd delete mode 100644 robots/robotiq/robotiq_2f140/robotiq-2f140-inst.usd delete mode 100644 robots/ur/ur5e/configuration/ur5e_base.usd delete mode 100644 robots/ur/ur5e/configuration/ur5e_physics.usd delete mode 100644 robots/ur/ur5e/configuration/ur5e_robot_schema.usd delete mode 100644 robots/ur/ur5e/configuration/ur5e_sensor.usd delete mode 100644 robots/ur/ur5e/ur5e.usd delete mode 100644 robots/ur/ur5e_robotiq2f140/configuration/ur5e_base.usd delete mode 100644 robots/ur/ur5e_robotiq2f140/configuration/ur5e_physics.usd delete mode 100644 robots/ur/ur5e_robotiq2f140/configuration/ur5e_robot_schema.usd delete mode 100644 robots/ur/ur5e_robotiq2f140/configuration/ur5e_sensor.usd delete mode 100644 robots/ur/ur5e_robotiq2f140/robotiq_2f140/2f140_instanceable.usd delete mode 100644 robots/ur/ur5e_robotiq2f140/robotiq_2f140/Props/instanceable_meshes.usd delete mode 100644 robots/ur/ur5e_robotiq2f140/ur5e_robotiq2f140.usd delete mode 100644 robots/ur/ur5e_robotiq2f140/ur5e_robotiq2f140_isaac.usd delete mode 100644 robots/ur/ur5e_robotiq2f85/ur5e_robotiq_gripper_d415_mount_safety_calibrated.usd delete mode 100644 robots/yam/ultra/configuration/yam_ultra_urdf_with_linear_gripper_base.usd delete mode 100644 robots/yam/ultra/configuration/yam_ultra_urdf_with_linear_gripper_physics.usd delete mode 100644 robots/yam/ultra/configuration/yam_ultra_urdf_with_linear_gripper_sensor.usd delete mode 100644 robots/yam/ultra/yam_ultra_urdf_with_linear_gripper.usd diff --git a/labware/bottle/bottle_new.usda b/labware/bottle/bottle_new.usda deleted file mode 100644 index 39f0cc0..0000000 --- a/labware/bottle/bottle_new.usda +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:60fe21ed20659812e38802a0a495e523d6719313a1408002b0f1189aaea50932 -size 47866705 diff --git a/robots/robotiq/robotiq_2f140/Props/instanceable_meshes.usd b/robots/robotiq/robotiq_2f140/Props/instanceable_meshes.usd deleted file mode 100644 index c35a45a..0000000 --- a/robots/robotiq/robotiq_2f140/Props/instanceable_meshes.usd +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:558ab6f2fb09fbdbf926f2b4834bb75d3e6648fbeef5f10a8d47b2420771b63b -size 2034016 diff --git a/robots/robotiq/robotiq_2f140/robotiq-2f140-inst.usd b/robots/robotiq/robotiq_2f140/robotiq-2f140-inst.usd deleted file mode 100644 index 12b62e6..0000000 --- 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a/robots/ur/ur5e/configuration/ur5e_robot_schema.usd b/robots/ur/ur5e/configuration/ur5e_robot_schema.usd deleted file mode 100644 index 620ba42..0000000 --- a/robots/ur/ur5e/configuration/ur5e_robot_schema.usd +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:1bee266ccaa15fc78bfca1ecd5aa740e1823ad8731000746124d93920287c226 -size 2268 diff --git a/robots/ur/ur5e/configuration/ur5e_sensor.usd b/robots/ur/ur5e/configuration/ur5e_sensor.usd deleted file mode 100644 index 1f8507b..0000000 --- a/robots/ur/ur5e/configuration/ur5e_sensor.usd +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:3d589a64b5a80d8fe923fd29ca1cba8c9c37468e026ef7f39f37913797c78dfe -size 602 diff --git a/robots/ur/ur5e/ur5e.usd b/robots/ur/ur5e/ur5e.usd deleted file mode 100644 index 28bf760..0000000 --- a/robots/ur/ur5e/ur5e.usd +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:95c152ff9125d57c3456fda403242f6e4becc59adf3b20f0a97f7361aa8c7a2e -size 9527 diff --git a/robots/ur/ur5e_robotiq2f140/configuration/ur5e_base.usd b/robots/ur/ur5e_robotiq2f140/configuration/ur5e_base.usd deleted file mode 100644 index c143572..0000000 --- a/robots/ur/ur5e_robotiq2f140/configuration/ur5e_base.usd +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:12347912499e3ead2c0fa1ba782dee8b87fa9255397baeba94d99480b01e3ea8 -size 6422847 diff --git a/robots/ur/ur5e_robotiq2f140/configuration/ur5e_physics.usd b/robots/ur/ur5e_robotiq2f140/configuration/ur5e_physics.usd deleted file mode 100644 index 591b822..0000000 --- a/robots/ur/ur5e_robotiq2f140/configuration/ur5e_physics.usd +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:4d1a1045809d2d2abd9f0dc88922a7bbcfc84b731f96baf986d0959546fd054b -size 6197 diff --git a/robots/ur/ur5e_robotiq2f140/configuration/ur5e_robot_schema.usd b/robots/ur/ur5e_robotiq2f140/configuration/ur5e_robot_schema.usd deleted file mode 100644 index 620ba42..0000000 --- a/robots/ur/ur5e_robotiq2f140/configuration/ur5e_robot_schema.usd +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:1bee266ccaa15fc78bfca1ecd5aa740e1823ad8731000746124d93920287c226 -size 2268 diff --git a/robots/ur/ur5e_robotiq2f140/configuration/ur5e_sensor.usd b/robots/ur/ur5e_robotiq2f140/configuration/ur5e_sensor.usd deleted file mode 100644 index 1f8507b..0000000 --- a/robots/ur/ur5e_robotiq2f140/configuration/ur5e_sensor.usd +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:3d589a64b5a80d8fe923fd29ca1cba8c9c37468e026ef7f39f37913797c78dfe -size 602 diff --git a/robots/ur/ur5e_robotiq2f140/robotiq_2f140/2f140_instanceable.usd b/robots/ur/ur5e_robotiq2f140/robotiq_2f140/2f140_instanceable.usd deleted file mode 100644 index 108fdab..0000000 --- a/robots/ur/ur5e_robotiq2f140/robotiq_2f140/2f140_instanceable.usd +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:6855db567a99f55c4f0b38bb33acd9130ab37593f5ed7991ff478cbcd013de53 -size 23725 diff --git a/robots/ur/ur5e_robotiq2f140/robotiq_2f140/Props/instanceable_meshes.usd b/robots/ur/ur5e_robotiq2f140/robotiq_2f140/Props/instanceable_meshes.usd deleted file mode 100644 index e973e1d..0000000 --- a/robots/ur/ur5e_robotiq2f140/robotiq_2f140/Props/instanceable_meshes.usd +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:fb16acc2ff95b1ed03c02af8976bfab85a67342a08e74fc4f450f9c315f1bdd2 -size 2056710 diff --git a/robots/ur/ur5e_robotiq2f140/ur5e_robotiq2f140.usd b/robots/ur/ur5e_robotiq2f140/ur5e_robotiq2f140.usd deleted file mode 100644 index 3a59471..0000000 --- a/robots/ur/ur5e_robotiq2f140/ur5e_robotiq2f140.usd +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:276284b1e0c5b2627506b854ba45e46ad911ec00b955efd81980bcfb1123b06f -size 47661 diff --git a/robots/ur/ur5e_robotiq2f140/ur5e_robotiq2f140_isaac.usd b/robots/ur/ur5e_robotiq2f140/ur5e_robotiq2f140_isaac.usd deleted file mode 100644 index ea0600f..0000000 --- a/robots/ur/ur5e_robotiq2f140/ur5e_robotiq2f140_isaac.usd +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:1736e3e7459454e743a0883f76c5bcf7b5b2f3304a57d39bbb8d8b61c35ebe28 -size 140680 diff --git a/robots/ur/ur5e_robotiq2f85/ur5e_robotiq_gripper_d415_mount_safety_calibrated.usd b/robots/ur/ur5e_robotiq2f85/ur5e_robotiq_gripper_d415_mount_safety_calibrated.usd deleted file mode 100644 index f7ff5c9..0000000 --- a/robots/ur/ur5e_robotiq2f85/ur5e_robotiq_gripper_d415_mount_safety_calibrated.usd +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:88e72878dc44065c12a73f60bc791f2fc8f8fee4178a44ad11b4f8bc49cd5378 -size 16633309 diff --git a/robots/yam/ultra/configuration/yam_ultra_urdf_with_linear_gripper_base.usd b/robots/yam/ultra/configuration/yam_ultra_urdf_with_linear_gripper_base.usd deleted file mode 100644 index b35a53c..0000000 --- a/robots/yam/ultra/configuration/yam_ultra_urdf_with_linear_gripper_base.usd +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:5ca94ca476767a7efab5897d00264c53985143833a3c7a14901cb03dfd45de91 -size 14552020 diff --git a/robots/yam/ultra/configuration/yam_ultra_urdf_with_linear_gripper_physics.usd b/robots/yam/ultra/configuration/yam_ultra_urdf_with_linear_gripper_physics.usd deleted file mode 100644 index a450cc4..0000000 --- a/robots/yam/ultra/configuration/yam_ultra_urdf_with_linear_gripper_physics.usd +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:eb4d10d3249d86d45fa3666a89d2c844713ac35781d7e1ed5d96f8a6a9dbb4d7 -size 5679 diff --git a/robots/yam/ultra/configuration/yam_ultra_urdf_with_linear_gripper_sensor.usd b/robots/yam/ultra/configuration/yam_ultra_urdf_with_linear_gripper_sensor.usd deleted file mode 100644 index e975c32..0000000 --- a/robots/yam/ultra/configuration/yam_ultra_urdf_with_linear_gripper_sensor.usd +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:d02369445a00c5e7fb8307d0121d857f379c192542343f230ce7d763b0948209 -size 646 diff --git a/robots/yam/ultra/yam_ultra_urdf_with_linear_gripper.usd b/robots/yam/ultra/yam_ultra_urdf_with_linear_gripper.usd deleted file mode 100644 index 1f24f1e..0000000 --- a/robots/yam/ultra/yam_ultra_urdf_with_linear_gripper.usd +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:6f860e74c59174986b273d89e69123aef2740004aaeee3dfb1cec85c0e7deceb -size 6623 From 188ef78f9a78388921aefb928782eb08f2a00a57 Mon Sep 17 00:00:00 2001 From: kevin Date: Wed, 29 Apr 2026 15:46:29 -0400 Subject: [PATCH 09/12] Reapply "merged from add/bottle" This reverts commit c536858bb508758e6187265c1ce7f54582db03a9. --- labware/bottle/bottle_new.usda | 3 +++ robots/robotiq/robotiq_2f140/Props/instanceable_meshes.usd | 3 +++ robots/robotiq/robotiq_2f140/robotiq-2f140-inst.usd | 3 +++ robots/ur/ur5e/configuration/ur5e_base.usd | 3 +++ robots/ur/ur5e/configuration/ur5e_physics.usd | 3 +++ robots/ur/ur5e/configuration/ur5e_robot_schema.usd | 3 +++ robots/ur/ur5e/configuration/ur5e_sensor.usd | 3 +++ robots/ur/ur5e/ur5e.usd | 3 +++ robots/ur/ur5e_robotiq2f140/configuration/ur5e_base.usd | 3 +++ robots/ur/ur5e_robotiq2f140/configuration/ur5e_physics.usd | 3 +++ .../ur/ur5e_robotiq2f140/configuration/ur5e_robot_schema.usd | 3 +++ robots/ur/ur5e_robotiq2f140/configuration/ur5e_sensor.usd | 3 +++ .../ur/ur5e_robotiq2f140/robotiq_2f140/2f140_instanceable.usd | 3 +++ .../robotiq_2f140/Props/instanceable_meshes.usd | 3 +++ robots/ur/ur5e_robotiq2f140/ur5e_robotiq2f140.usd | 3 +++ robots/ur/ur5e_robotiq2f140/ur5e_robotiq2f140_isaac.usd | 3 +++ .../ur5e_robotiq_gripper_d415_mount_safety_calibrated.usd | 3 +++ .../configuration/yam_ultra_urdf_with_linear_gripper_base.usd | 3 +++ .../yam_ultra_urdf_with_linear_gripper_physics.usd | 3 +++ .../yam_ultra_urdf_with_linear_gripper_sensor.usd | 3 +++ robots/yam/ultra/yam_ultra_urdf_with_linear_gripper.usd | 3 +++ 21 files changed, 63 insertions(+) create mode 100644 labware/bottle/bottle_new.usda create mode 100644 robots/robotiq/robotiq_2f140/Props/instanceable_meshes.usd create mode 100644 robots/robotiq/robotiq_2f140/robotiq-2f140-inst.usd create mode 100644 robots/ur/ur5e/configuration/ur5e_base.usd create mode 100644 robots/ur/ur5e/configuration/ur5e_physics.usd create mode 100644 robots/ur/ur5e/configuration/ur5e_robot_schema.usd create mode 100644 robots/ur/ur5e/configuration/ur5e_sensor.usd create mode 100644 robots/ur/ur5e/ur5e.usd create mode 100644 robots/ur/ur5e_robotiq2f140/configuration/ur5e_base.usd create mode 100644 robots/ur/ur5e_robotiq2f140/configuration/ur5e_physics.usd create mode 100644 robots/ur/ur5e_robotiq2f140/configuration/ur5e_robot_schema.usd create mode 100644 robots/ur/ur5e_robotiq2f140/configuration/ur5e_sensor.usd create mode 100644 robots/ur/ur5e_robotiq2f140/robotiq_2f140/2f140_instanceable.usd create mode 100644 robots/ur/ur5e_robotiq2f140/robotiq_2f140/Props/instanceable_meshes.usd create mode 100644 robots/ur/ur5e_robotiq2f140/ur5e_robotiq2f140.usd create mode 100644 robots/ur/ur5e_robotiq2f140/ur5e_robotiq2f140_isaac.usd create mode 100644 robots/ur/ur5e_robotiq2f85/ur5e_robotiq_gripper_d415_mount_safety_calibrated.usd create mode 100644 robots/yam/ultra/configuration/yam_ultra_urdf_with_linear_gripper_base.usd create mode 100644 robots/yam/ultra/configuration/yam_ultra_urdf_with_linear_gripper_physics.usd create mode 100644 robots/yam/ultra/configuration/yam_ultra_urdf_with_linear_gripper_sensor.usd create mode 100644 robots/yam/ultra/yam_ultra_urdf_with_linear_gripper.usd diff --git a/labware/bottle/bottle_new.usda b/labware/bottle/bottle_new.usda new file mode 100644 index 0000000..39f0cc0 --- /dev/null +++ b/labware/bottle/bottle_new.usda @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:60fe21ed20659812e38802a0a495e523d6719313a1408002b0f1189aaea50932 +size 47866705 diff --git a/robots/robotiq/robotiq_2f140/Props/instanceable_meshes.usd b/robots/robotiq/robotiq_2f140/Props/instanceable_meshes.usd new file mode 100644 index 0000000..c35a45a --- /dev/null +++ b/robots/robotiq/robotiq_2f140/Props/instanceable_meshes.usd @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:558ab6f2fb09fbdbf926f2b4834bb75d3e6648fbeef5f10a8d47b2420771b63b +size 2034016 diff --git a/robots/robotiq/robotiq_2f140/robotiq-2f140-inst.usd b/robots/robotiq/robotiq_2f140/robotiq-2f140-inst.usd new file mode 100644 index 0000000..12b62e6 --- /dev/null +++ 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b/robots/ur/ur5e/configuration/ur5e_robot_schema.usd new file mode 100644 index 0000000..620ba42 --- /dev/null +++ b/robots/ur/ur5e/configuration/ur5e_robot_schema.usd @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1bee266ccaa15fc78bfca1ecd5aa740e1823ad8731000746124d93920287c226 +size 2268 diff --git a/robots/ur/ur5e/configuration/ur5e_sensor.usd b/robots/ur/ur5e/configuration/ur5e_sensor.usd new file mode 100644 index 0000000..1f8507b --- /dev/null +++ b/robots/ur/ur5e/configuration/ur5e_sensor.usd @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3d589a64b5a80d8fe923fd29ca1cba8c9c37468e026ef7f39f37913797c78dfe +size 602 diff --git a/robots/ur/ur5e/ur5e.usd b/robots/ur/ur5e/ur5e.usd new file mode 100644 index 0000000..28bf760 --- /dev/null +++ b/robots/ur/ur5e/ur5e.usd @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:95c152ff9125d57c3456fda403242f6e4becc59adf3b20f0a97f7361aa8c7a2e +size 9527 diff --git a/robots/ur/ur5e_robotiq2f140/configuration/ur5e_base.usd b/robots/ur/ur5e_robotiq2f140/configuration/ur5e_base.usd new file mode 100644 index 0000000..c143572 --- /dev/null +++ b/robots/ur/ur5e_robotiq2f140/configuration/ur5e_base.usd @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:12347912499e3ead2c0fa1ba782dee8b87fa9255397baeba94d99480b01e3ea8 +size 6422847 diff --git a/robots/ur/ur5e_robotiq2f140/configuration/ur5e_physics.usd b/robots/ur/ur5e_robotiq2f140/configuration/ur5e_physics.usd new file mode 100644 index 0000000..591b822 --- /dev/null +++ b/robots/ur/ur5e_robotiq2f140/configuration/ur5e_physics.usd @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4d1a1045809d2d2abd9f0dc88922a7bbcfc84b731f96baf986d0959546fd054b +size 6197 diff --git a/robots/ur/ur5e_robotiq2f140/configuration/ur5e_robot_schema.usd b/robots/ur/ur5e_robotiq2f140/configuration/ur5e_robot_schema.usd new file mode 100644 index 0000000..620ba42 --- /dev/null +++ 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b/robots/ur/ur5e_robotiq2f140/ur5e_robotiq2f140_isaac.usd new file mode 100644 index 0000000..ea0600f --- /dev/null +++ b/robots/ur/ur5e_robotiq2f140/ur5e_robotiq2f140_isaac.usd @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1736e3e7459454e743a0883f76c5bcf7b5b2f3304a57d39bbb8d8b61c35ebe28 +size 140680 diff --git a/robots/ur/ur5e_robotiq2f85/ur5e_robotiq_gripper_d415_mount_safety_calibrated.usd b/robots/ur/ur5e_robotiq2f85/ur5e_robotiq_gripper_d415_mount_safety_calibrated.usd new file mode 100644 index 0000000..f7ff5c9 --- /dev/null +++ b/robots/ur/ur5e_robotiq2f85/ur5e_robotiq_gripper_d415_mount_safety_calibrated.usd @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:88e72878dc44065c12a73f60bc791f2fc8f8fee4178a44ad11b4f8bc49cd5378 +size 16633309 diff --git a/robots/yam/ultra/configuration/yam_ultra_urdf_with_linear_gripper_base.usd b/robots/yam/ultra/configuration/yam_ultra_urdf_with_linear_gripper_base.usd new file mode 100644 index 0000000..b35a53c --- /dev/null +++ b/robots/yam/ultra/configuration/yam_ultra_urdf_with_linear_gripper_base.usd @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5ca94ca476767a7efab5897d00264c53985143833a3c7a14901cb03dfd45de91 +size 14552020 diff --git a/robots/yam/ultra/configuration/yam_ultra_urdf_with_linear_gripper_physics.usd b/robots/yam/ultra/configuration/yam_ultra_urdf_with_linear_gripper_physics.usd new file mode 100644 index 0000000..a450cc4 --- /dev/null +++ b/robots/yam/ultra/configuration/yam_ultra_urdf_with_linear_gripper_physics.usd @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:eb4d10d3249d86d45fa3666a89d2c844713ac35781d7e1ed5d96f8a6a9dbb4d7 +size 5679 diff --git a/robots/yam/ultra/configuration/yam_ultra_urdf_with_linear_gripper_sensor.usd b/robots/yam/ultra/configuration/yam_ultra_urdf_with_linear_gripper_sensor.usd new file mode 100644 index 0000000..e975c32 --- /dev/null +++ b/robots/yam/ultra/configuration/yam_ultra_urdf_with_linear_gripper_sensor.usd @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d02369445a00c5e7fb8307d0121d857f379c192542343f230ce7d763b0948209 +size 646 diff --git a/robots/yam/ultra/yam_ultra_urdf_with_linear_gripper.usd b/robots/yam/ultra/yam_ultra_urdf_with_linear_gripper.usd new file mode 100644 index 0000000..1f24f1e --- /dev/null +++ b/robots/yam/ultra/yam_ultra_urdf_with_linear_gripper.usd @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6f860e74c59174986b273d89e69123aef2740004aaeee3dfb1cec85c0e7deceb +size 6623 From 49a67b0f6a887143f54b05f6ae311a7899ce6cc0 Mon Sep 17 00:00:00 2001 From: kevin Date: Wed, 29 Apr 2026 15:48:25 -0400 Subject: [PATCH 10/12] excluded unready assets --- .../configuration/yam_ultra_urdf_with_linear_gripper_base.usd | 3 --- .../yam_ultra_urdf_with_linear_gripper_physics.usd | 3 --- .../yam_ultra_urdf_with_linear_gripper_sensor.usd | 3 --- robots/yam/ultra/yam_ultra_urdf_with_linear_gripper.usd | 3 --- 4 files changed, 12 deletions(-) delete mode 100644 robots/yam/ultra/configuration/yam_ultra_urdf_with_linear_gripper_base.usd delete mode 100644 robots/yam/ultra/configuration/yam_ultra_urdf_with_linear_gripper_physics.usd delete mode 100644 robots/yam/ultra/configuration/yam_ultra_urdf_with_linear_gripper_sensor.usd delete mode 100644 robots/yam/ultra/yam_ultra_urdf_with_linear_gripper.usd diff --git a/robots/yam/ultra/configuration/yam_ultra_urdf_with_linear_gripper_base.usd b/robots/yam/ultra/configuration/yam_ultra_urdf_with_linear_gripper_base.usd deleted file mode 100644 index b35a53c..0000000 --- a/robots/yam/ultra/configuration/yam_ultra_urdf_with_linear_gripper_base.usd +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:5ca94ca476767a7efab5897d00264c53985143833a3c7a14901cb03dfd45de91 -size 14552020 diff --git a/robots/yam/ultra/configuration/yam_ultra_urdf_with_linear_gripper_physics.usd b/robots/yam/ultra/configuration/yam_ultra_urdf_with_linear_gripper_physics.usd deleted file mode 100644 index a450cc4..0000000 --- a/robots/yam/ultra/configuration/yam_ultra_urdf_with_linear_gripper_physics.usd +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:eb4d10d3249d86d45fa3666a89d2c844713ac35781d7e1ed5d96f8a6a9dbb4d7 -size 5679 diff --git a/robots/yam/ultra/configuration/yam_ultra_urdf_with_linear_gripper_sensor.usd b/robots/yam/ultra/configuration/yam_ultra_urdf_with_linear_gripper_sensor.usd deleted file mode 100644 index e975c32..0000000 --- a/robots/yam/ultra/configuration/yam_ultra_urdf_with_linear_gripper_sensor.usd +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:d02369445a00c5e7fb8307d0121d857f379c192542343f230ce7d763b0948209 -size 646 diff --git a/robots/yam/ultra/yam_ultra_urdf_with_linear_gripper.usd b/robots/yam/ultra/yam_ultra_urdf_with_linear_gripper.usd deleted file mode 100644 index 1f24f1e..0000000 --- a/robots/yam/ultra/yam_ultra_urdf_with_linear_gripper.usd +++ /dev/null @@ -1,3 +0,0 @@ -version https://git-lfs.github.com/spec/v1 -oid sha256:6f860e74c59174986b273d89e69123aef2740004aaeee3dfb1cec85c0e7deceb -size 6623 From a5bdb149afcc3b67328dca65e86ad151fd8947fa Mon Sep 17 00:00:00 2001 From: Kourosh Darvish Date: Thu, 30 Apr 2026 19:31:27 -0400 Subject: [PATCH 11/12] fix: bottle: update the mesh fully; robot: update fingertip collider --- labware/bottle/bottle6.usdc | 3 +++ robots/ur/ur5e_robotiq2f140/ur5e_robotiq2f140_fixed.usd | 3 +++ 2 files changed, 6 insertions(+) create mode 100644 labware/bottle/bottle6.usdc create mode 100644 robots/ur/ur5e_robotiq2f140/ur5e_robotiq2f140_fixed.usd diff --git a/labware/bottle/bottle6.usdc b/labware/bottle/bottle6.usdc new file mode 100644 index 0000000..5ebb1ee --- /dev/null +++ b/labware/bottle/bottle6.usdc @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9188db18d828e322a664e3ff47fcd0ec1851a548304efc0c1b507ab04678ac2d +size 11635402 diff --git a/robots/ur/ur5e_robotiq2f140/ur5e_robotiq2f140_fixed.usd b/robots/ur/ur5e_robotiq2f140/ur5e_robotiq2f140_fixed.usd new file mode 100644 index 0000000..31438e5 --- /dev/null +++ b/robots/ur/ur5e_robotiq2f140/ur5e_robotiq2f140_fixed.usd @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:87d2b879860914df81df0ba05dbc8e48784bd75d66c12145430176340854aaf4 +size 142775 From 42c06bae6901ac3bfcc6bc5d5ee74691e3a06a34 Mon Sep 17 00:00:00 2001 From: Kourosh Darvish Date: Sun, 10 May 2026 22:20:41 -0400 Subject: [PATCH 12/12] adding the bottle with simplified mesh --- labware/bottle/bottle9.usdc | 3 +++ 1 file changed, 3 insertions(+) create mode 100644 labware/bottle/bottle9.usdc diff --git a/labware/bottle/bottle9.usdc b/labware/bottle/bottle9.usdc new file mode 100644 index 0000000..4450f9d --- /dev/null +++ b/labware/bottle/bottle9.usdc @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c88fe3935bf212947ab0f8f18c50d3305e2a51b0c1fa1f26b6f397be5ba20454 +size 1667993