├── .clang-format ├── .gitattributes ├── .gitignore ├── .gitlab-ci.yml ├── .teamcity ├── README ├── pluginData │ └── Master_Building │ │ └── plugin-settings.xml ├── pom.xml └── settings.kts ├── .vscode └── .gitignore ├── CONTRIBUTING.md ├── LICENSE ├── PACKAGE-INFO.yaml ├── PACKAGE-LICENSES ├── imgui-LICENSE.txt ├── nv-usd-license.txt ├── omni_physics-LICENSE.txt ├── physxsdk-LICENSE.txt ├── tinyxml2-LICENSE.txt ├── usd-LICENSE.txt ├── usd-ext-physics-LICENSE.txt ├── vhacd-LICENSE.txt └── zlib-LICENSE.txt ├── README.md ├── VERSION.md ├── deps ├── ext-deps.packman.xml ├── host-deps.packman.xml ├── kit-sdk-deps.packman.xml ├── kit-sdk.packman.xml ├── omni-physics.packman.xml └── repo-deps.packman.xml ├── images └── importer_mjcf_ui.png ├── index.rst ├── premake5.lua ├── repo.bat ├── repo.sh ├── repo.toml ├── source ├── apps │ ├── exts.deps.generated.kit │ └── isaacsim.asset.importer.mjcf.app.kit ├── deprecated │ └── omni.importer.mjcf │ │ ├── config │ │ └── extension.toml │ │ ├── data │ │ ├── icon.png │ │ └── preview.png │ │ ├── docs │ │ ├── CHANGELOG.md │ │ └── README.md │ │ ├── omni │ │ └── importer │ │ │ └── mjcf │ │ │ ├── __init__.py │ │ │ ├── _mjcf.py │ │ │ └── scripts │ │ │ ├── __init__.py │ │ │ └── extension.py │ │ └── premake5.lua └── extensions │ └── isaacsim.asset.importer.mjcf │ ├── PACKAGE-LICENSES │ └── omni-mjcf-importer-LICENSE.txt │ ├── bindings │ └── BindingsMjcfPython.cpp │ ├── config │ └── extension.toml │ ├── data │ ├── fonts │ │ ├── NVIDIASans_Bd.ttf │ │ ├── NVIDIASans_It.ttf │ │ ├── NVIDIASans_Lt.ttf │ │ ├── NVIDIASans_Md.ttf │ │ └── NVIDIASans_Rg.ttf │ ├── icon.png │ ├── mjcf │ │ ├── mujoco_scanned_objects │ │ │ ├── 2_of_Jenga_Classic_Game │ │ │ │ ├── model.obj │ │ │ │ ├── model.xml │ │ │ │ ├── model_collision_0.obj │ │ │ │ ├── model_collision_1.obj │ │ │ │ ├── model_collision_10.obj │ │ │ │ ├── model_collision_11.obj │ │ │ │ ├── model_collision_12.obj │ │ │ │ ├── model_collision_13.obj │ │ │ │ ├── model_collision_14.obj │ │ │ │ ├── model_collision_15.obj │ │ │ │ ├── model_collision_16.obj │ │ │ │ ├── model_collision_17.obj │ │ │ │ ├── model_collision_18.obj │ │ │ │ ├── model_collision_19.obj │ │ │ │ ├── model_collision_2.obj │ │ │ │ ├── model_collision_20.obj │ │ │ │ ├── model_collision_21.obj │ │ │ │ ├── model_collision_22.obj │ │ │ │ ├── model_collision_23.obj │ │ │ │ ├── model_collision_24.obj │ │ │ │ ├── model_collision_25.obj │ │ │ │ ├── model_collision_26.obj │ │ │ │ ├── model_collision_27.obj │ │ │ │ ├── model_collision_28.obj │ │ │ │ ├── model_collision_29.obj │ │ │ │ ├── model_collision_3.obj │ │ │ │ ├── model_collision_30.obj │ │ │ │ ├── model_collision_31.obj │ │ │ │ ├── model_collision_4.obj │ │ │ │ ├── model_collision_5.obj │ │ │ │ ├── model_collision_6.obj │ │ │ │ ├── model_collision_7.obj │ │ │ │ ├── model_collision_8.obj │ │ │ │ ├── model_collision_9.obj │ │ │ │ └── texture.png │ │ │ ├── JUICER_SET │ │ │ │ ├── model.obj │ │ │ │ ├── model.xml │ │ │ │ ├── model_collision_0.obj │ │ │ │ ├── model_collision_1.obj │ │ │ │ ├── model_collision_10.obj │ │ │ │ ├── model_collision_11.obj │ │ │ │ ├── model_collision_12.obj │ │ │ │ ├── model_collision_13.obj │ │ │ │ ├── model_collision_14.obj │ │ │ │ ├── model_collision_15.obj │ │ │ │ ├── model_collision_16.obj │ │ │ │ ├── model_collision_17.obj │ │ │ │ ├── model_collision_18.obj │ │ │ │ ├── model_collision_19.obj │ │ │ │ ├── model_collision_2.obj │ │ │ │ ├── model_collision_20.obj │ │ │ │ ├── model_collision_21.obj │ │ │ │ ├── model_collision_22.obj │ │ │ │ ├── model_collision_23.obj │ │ │ │ ├── model_collision_24.obj │ │ │ │ ├── model_collision_25.obj │ │ │ │ ├── model_collision_26.obj │ │ │ │ ├── model_collision_27.obj │ │ │ │ ├── model_collision_28.obj │ │ │ │ ├── model_collision_29.obj │ │ │ │ ├── model_collision_3.obj │ │ │ │ ├── model_collision_30.obj │ │ │ │ ├── model_collision_31.obj │ │ │ │ ├── model_collision_4.obj │ │ │ │ ├── model_collision_5.obj │ │ │ │ ├── model_collision_6.obj │ │ │ │ ├── model_collision_7.obj │ │ │ │ ├── model_collision_8.obj │ │ │ │ ├── model_collision_9.obj │ │ │ │ └── texture.png │ │ │ ├── LICENSE │ │ │ ├── Pepsi_Caffeine_Free_Diet_12_CT │ │ │ │ ├── model.obj │ │ │ │ ├── model.xml │ │ │ │ ├── model_collision_0.obj │ │ │ │ ├── model_collision_1.obj │ │ │ │ ├── model_collision_10.obj │ │ │ │ ├── model_collision_11.obj │ │ │ │ ├── model_collision_12.obj │ │ │ │ ├── model_collision_13.obj │ │ │ │ ├── model_collision_14.obj │ │ │ │ ├── model_collision_15.obj │ │ │ │ ├── model_collision_16.obj │ │ │ │ ├── model_collision_17.obj │ │ │ │ ├── model_collision_18.obj │ │ │ │ ├── model_collision_19.obj │ │ │ │ ├── model_collision_2.obj │ │ │ │ ├── model_collision_20.obj │ │ │ │ ├── model_collision_21.obj │ │ │ │ ├── model_collision_22.obj │ │ │ │ ├── model_collision_23.obj │ │ │ │ ├── model_collision_24.obj │ │ │ │ ├── model_collision_25.obj │ │ │ │ ├── model_collision_26.obj │ │ │ │ ├── model_collision_27.obj │ │ │ │ ├── model_collision_28.obj │ │ │ │ ├── model_collision_29.obj │ │ │ │ ├── model_collision_3.obj │ │ │ │ ├── model_collision_30.obj │ │ │ │ ├── model_collision_31.obj │ │ │ │ ├── model_collision_4.obj │ │ │ │ ├── model_collision_5.obj │ │ │ │ ├── model_collision_6.obj │ │ │ │ ├── model_collision_7.obj │ │ │ │ ├── model_collision_8.obj │ │ │ │ ├── model_collision_9.obj │ │ │ │ └── texture.png │ │ │ └── VERSION │ │ ├── mujoco_sim_assets │ │ │ ├── humanoid100.xml │ │ │ └── humanoid_body.xml │ │ ├── nv_ant.xml │ │ ├── nv_humanoid.xml │ │ └── open_ai_assets │ │ │ ├── fetch │ │ │ ├── pick_and_place.xml │ │ │ ├── push.xml │ │ │ ├── reach.xml │ │ │ ├── robot.xml │ │ │ ├── shared.xml │ │ │ └── slide.xml │ │ │ ├── hand │ │ │ ├── egg.xml │ │ │ ├── manipulate_block.xml │ │ │ ├── manipulate_block_touch_sensors.xml │ │ │ ├── manipulate_egg.xml │ │ │ ├── manipulate_egg_touch_sensors.xml │ │ │ ├── manipulate_pen.xml │ │ │ ├── manipulate_pen_touch_sensors.xml │ │ │ ├── pen.xml │ │ │ ├── reach.xml │ │ │ ├── robot.xml │ │ │ ├── robot_touch_sensors_92.xml │ │ │ ├── shadow_hand.xml │ │ │ ├── shared.xml │ │ │ ├── shared_asset.xml │ │ │ └── shared_touch_sensors_92.xml │ │ │ ├── stls │ │ │ ├── .get │ │ │ ├── fetch │ │ │ │ ├── base_link_collision.stl │ │ │ │ ├── bellows_link_collision.stl │ │ │ │ ├── elbow_flex_link_collision.stl │ │ │ │ ├── estop_link.stl │ │ │ │ ├── forearm_roll_link_collision.stl │ │ │ │ ├── gripper_link.stl │ │ │ │ ├── head_pan_link_collision.stl │ │ │ │ ├── head_tilt_link_collision.stl │ │ │ │ ├── l_wheel_link_collision.stl │ │ │ │ ├── laser_link.stl │ │ │ │ ├── r_wheel_link_collision.stl │ │ │ │ ├── shoulder_lift_link_collision.stl │ │ │ │ ├── shoulder_pan_link_collision.stl │ │ │ │ ├── torso_fixed_link.stl │ │ │ │ ├── torso_lift_link_collision.stl │ │ │ │ ├── upperarm_roll_link_collision.stl │ │ │ │ ├── wrist_flex_link_collision.stl │ │ │ │ └── wrist_roll_link_collision.stl │ │ │ └── hand │ │ │ │ ├── F1.stl │ │ │ │ ├── F2.stl │ │ │ │ ├── F3.stl │ │ │ │ ├── TH1_z.stl │ │ │ │ ├── TH2_z.stl │ │ │ │ ├── TH3_z.stl │ │ │ │ ├── forearm_electric.stl │ │ │ │ ├── forearm_electric_cvx.stl │ │ │ │ ├── knuckle.stl │ │ │ │ ├── lfmetacarpal.stl │ │ │ │ ├── palm.stl │ │ │ │ └── wrist.stl │ │ │ └── textures │ │ │ ├── block.png │ │ │ └── block_hidden.png │ └── preview.png │ ├── docs │ ├── CHANGELOG.md │ ├── Overview.md │ └── index.rst │ ├── icons │ ├── icoFileMJCF.png │ ├── radio_off.svg │ └── radio_on.svg │ ├── plugins │ ├── MeshImporter.h │ ├── Mjcf.cpp │ ├── Mjcf.h │ ├── MjcfImporter.cpp │ ├── MjcfImporter.h │ ├── MjcfParser.cpp │ ├── MjcfParser.h │ ├── MjcfTypes.h │ ├── MjcfUsd.cpp │ ├── MjcfUsd.h │ ├── MjcfUtils.cpp │ ├── MjcfUtils.h │ ├── UsdPCH.h │ ├── core │ │ ├── mesh.cpp │ │ ├── mesh.h │ │ ├── platform.cpp │ │ └── platform.h │ ├── math │ │ └── core │ │ │ ├── common_math.h │ │ │ ├── core.h │ │ │ ├── mat22.h │ │ │ ├── mat33.h │ │ │ ├── mat44.h │ │ │ ├── maths.h │ │ │ ├── matnn.h │ │ │ ├── point3.h │ │ │ ├── quat.h │ │ │ ├── types.h │ │ │ ├── vec2.h │ │ │ ├── vec3.h │ │ │ └── vec4.h │ └── utils │ │ ├── Path.h │ │ └── Usd.h │ ├── premake5.lua │ └── python │ ├── __init__.py │ ├── scripts │ ├── __init__.py │ ├── commands.py │ ├── extension.py │ ├── option_widget.py │ ├── style.py │ └── ui_utils.py │ └── tests │ ├── __init__.py │ └── test_mjcf.py └── tools ├── ci ├── autoupdate-kit-sdk │ └── step.bat ├── building │ ├── build-linux-aarch64 │ │ └── step.sh │ ├── build-linux-x86_64 │ │ └── step.sh │ ├── build-windows-x86_64 │ │ └── step.bat │ └── generate-build-number │ │ └── step.bat ├── publishing │ ├── publish-docs │ │ └── step.bat │ ├── publish-extensions │ │ └── step.sh │ ├── publish-launcher-packages │ │ └── step.bat │ └── sign-windows-binaries │ │ └── step.bat ├── release-new-version │ └── step.bat └── testing │ ├── test-linux-aarch64 │ └── step.sh │ ├── test-linux-x86_64 │ └── step.sh │ └── test-windows-x86_64 │ └── step.bat ├── packman ├── bootstrap │ ├── configure.bat │ ├── download_file_from_url.ps1 │ ├── fetch_file_from_packman_bootstrap.cmd │ ├── generate_temp_file_name.ps1 │ ├── 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