├── .clang-format ├── .editorconfig ├── .gitattributes ├── .gitignore ├── .gitlab-ci.yml ├── CONTRIBUTING.md ├── LICENSE ├── PACKAGE-INFO.yaml ├── PACKAGE-LICENSES ├── assimp-LICENSE.txt ├── 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 ├── PRODUCT_TERMS_OMNIVERSE ├── README.md ├── SECURITY.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 └── repo-deps.packman.xml~Stashed changes ├── images ├── urdf_carter.png ├── urdf_franka.png ├── urdf_importer_ui.png ├── urdf_kaya.png └── urdf_ur10.png ├── index.rst ├── materials └── textures │ ├── base_color.png │ ├── emission_map.png │ └── normal_map.png ├── premake5.lua ├── repo.bat ├── repo.sh ├── repo.toml ├── source ├── apps │ ├── exts.deps.generated.kit │ ├── isaacsim.asset.importer.urdf.app.kit │ └── isaacsim.asset.importer.urdf_streaming.kit ├── deprecated │ └── omni.importer.urdf │ │ ├── config │ │ └── extension.toml │ │ ├── data │ │ ├── icon.png │ │ └── preview.png │ │ ├── docs │ │ ├── CHANGELOG.md │ │ └── README.md │ │ ├── omni │ │ └── importer │ │ │ └── urdf │ │ │ ├── UrdfImporter.py │ │ │ ├── __init__.py │ │ │ ├── _urdf.py │ │ │ └── extension.py │ │ └── premake5.lua └── extensions │ └── isaacsim.asset.importer.urdf │ ├── PACKAGE-LICENSES │ └── franka-LICENSE.md │ ├── bindings │ └── BindingsUrdfPython.cpp │ ├── config │ └── extension.toml │ ├── data │ ├── fonts │ │ ├── NVIDIASans_Bd.ttf │ │ ├── NVIDIASans_It.ttf │ │ ├── NVIDIASans_Lt.ttf │ │ ├── NVIDIASans_Md.ttf │ │ └── NVIDIASans_Rg.ttf │ ├── icon.png │ ├── lidar_sensor_template │ │ ├── lidar_template.json │ │ └── test_sensor_basic_lidar.json │ ├── preview.png │ └── urdf │ │ ├── objects │ │ ├── ball.urdf │ │ ├── cube.urdf │ │ ├── small_ball.urdf │ │ └── square_table.urdf │ │ ├── robots │ │ ├── carter │ │ │ ├── meshes │ │ │ │ ├── caster_wheel.obj │ │ │ │ ├── chassis.obj │ │ │ │ ├── pivot.obj │ │ │ │ └── side_wheel.obj │ │ │ └── urdf │ │ │ │ └── carter.urdf │ │ ├── cartpole │ │ │ └── cartpole.urdf │ │ ├── cobotta_pro_900 │ │ │ ├── cobotta_pro_900.urdf │ │ │ ├── cobotta_pro_900_visualization │ │ │ │ ├── meshes │ │ │ │ │ ├── collision │ │ │ │ │ │ ├── J1.dae │ │ │ │ │ │ ├── J2.dae │ │ │ │ │ │ ├── J3.dae │ │ │ │ │ │ ├── J4.dae │ │ │ │ │ │ ├── J5.dae │ │ │ │ │ │ ├── J6.dae │ │ │ │ │ │ └── base_link.dae │ │ │ │ │ └── visual │ │ │ │ │ │ ├── J1.dae │ │ │ │ │ │ ├── J2.dae │ │ │ │ │ │ ├── J3.dae │ │ │ │ │ │ ├── J4.dae │ │ │ │ │ │ ├── J5.dae │ │ │ │ │ │ ├── J6.dae │ │ │ │ │ │ └── base_link.dae │ │ │ │ └── urdf │ │ │ │ │ └── cobotta_pro_900.xacro │ │ │ └── onrobot_rg6_visualization │ │ │ │ ├── images │ │ │ │ ├── collision.png │ │ │ │ └── visual.png │ │ │ │ ├── meshes │ │ │ │ ├── collision │ │ │ │ │ ├── base_link.stl │ │ │ │ │ ├── inner_finger.stl │ │ │ │ │ ├── inner_knuckle.stl │ │ │ │ │ └── outer_knuckle.stl │ │ │ │ └── visual │ │ │ │ │ ├── base_link.stl │ │ │ │ │ ├── inner_finger.stl │ │ │ │ │ ├── inner_knuckle.stl │ │ │ │ │ └── outer_knuckle.stl │ │ │ │ └── urdf │ │ │ │ ├── onrobot_rg6.xacro │ │ │ │ ├── onrobot_rg6_model.xacro │ │ │ │ ├── onrobot_rg6_model_macro.xacro │ │ │ │ └── onrobot_rg6_transmission.xacro │ │ ├── franka_description │ │ │ ├── meshes │ │ │ │ ├── collision │ │ │ │ │ ├── finger.stl │ │ │ │ │ ├── hand.stl │ │ │ │ │ ├── link0.stl │ │ │ │ │ ├── link1.stl │ │ │ │ │ ├── link2.stl │ │ │ │ │ ├── link3.stl │ │ │ │ │ ├── link4.stl │ │ │ │ │ ├── link5.stl │ │ │ │ │ ├── link6.stl │ │ │ │ │ └── link7.stl │ │ │ │ └── visual │ │ │ │ │ ├── finger.dae │ │ │ │ │ ├── hand.dae │ │ │ │ │ ├── link0.dae │ │ │ │ │ ├── link1.dae │ │ │ │ │ ├── link2.dae │ │ │ │ │ ├── link3.dae │ │ │ │ │ ├── link4.dae │ │ │ │ │ ├── link5.dae │ │ │ │ │ ├── link6.dae │ │ │ │ │ └── link7.dae │ │ │ ├── package.xml │ │ │ └── robots │ │ │ │ ├── create_urdf.sh │ │ │ │ ├── hand.urdf.xacro │ │ │ │ ├── hand.xacro │ │ │ │ ├── panda_arm.urdf │ │ │ │ ├── panda_arm.urdf.xacro │ │ │ │ ├── panda_arm.xacro │ │ │ │ ├── panda_arm_hand.urdf │ │ │ │ └── panda_arm_hand.urdf.xacro │ │ ├── kaya │ │ │ ├── meshes │ │ │ │ ├── assembly_battery.dae │ │ │ │ ├── axle.dae │ │ │ │ ├── base.dae │ │ │ │ ├── base_collision.dae │ │ │ │ ├── mx12w.dae │ │ │ │ ├── nano_chassis_base.dae │ │ │ │ ├── nano_chassis_bridge.dae │ │ │ │ ├── nano_chassis_rs_mount.dae │ │ │ │ ├── pusher.dae │ │ │ │ ├── realsense.dae │ │ │ │ ├── shock_mount.dae │ │ │ │ └── wheel_and_rollers.dae │ │ │ └── urdf │ │ │ │ ├── kaya.urdf │ │ │ │ ├── kaya.xacro │ │ │ │ └── xacro_to_urdf.sh │ │ └── ur10 │ │ │ ├── meshes │ │ │ ├── ur10_base.mtl │ │ │ ├── ur10_base.obj │ │ │ ├── ur10_forearm.mtl │ │ │ ├── ur10_forearm.obj │ │ │ ├── ur10_shoulder.mtl │ │ │ ├── ur10_shoulder.obj │ │ │ ├── ur10_upper_arm.mtl │ │ │ ├── ur10_upper_arm.obj │ │ │ ├── ur10_wrist_1.mtl │ │ │ ├── ur10_wrist_1.obj │ │ │ ├── ur10_wrist_2.mtl │ │ │ ├── ur10_wrist_2.obj │ │ │ ├── ur10_wrist_3.mtl │ │ │ └── ur10_wrist_3.obj │ │ │ └── urdf │ │ │ └── ur10.urdf │ │ └── tests │ │ ├── crash_test.urdf │ │ ├── differential_base.urdf │ │ ├── test_advanced.urdf │ │ ├── test_basic.urdf │ │ ├── test_collision_from_visuals.urdf │ │ ├── test_floating.urdf │ │ ├── test_large.urdf │ │ ├── test_limits.urdf │ │ ├── test_massless.urdf │ │ ├── test_material.urdf │ │ ├── test_merge_joints.urdf │ │ ├── test_missing.urdf │ │ ├── test_mtl.urdf │ │ ├── test_mtl │ │ ├── test_mtl.mtl │ │ └── test_mtl.obj │ │ ├── test_mtl_stl.urdf │ │ ├── test_mtl_stl │ │ └── cube.stl │ │ ├── test_names.urdf │ │ ├── test_sensor.urdf │ │ ├── test_textures_urdf │ │ ├── cube_dae.urdf │ │ ├── cube_obj.urdf │ │ └── meshes │ │ │ ├── tex_cube.dae │ │ │ ├── tex_cube.mtl │ │ │ ├── tex_cube.obj │ │ │ └── textures │ │ │ ├── base_color.png │ │ │ ├── emission_map.png │ │ │ ├── metallic_map.png │ │ │ ├── normal_map.png │ │ │ └── roughness_map.png │ │ ├── test_usd.urdf │ │ ├── test_usd │ │ ├── cylinder.usda │ │ └── torus.usd │ │ └── tests_out │ │ ├── configuration │ │ ├── test_basic_base.usd │ │ ├── test_basic_physics.usd │ │ └── test_basic_sensor.usd │ │ └── test_basic.usd │ ├── docs │ ├── CHANGELOG.md │ ├── Overview.md │ └── index.rst │ ├── icons │ ├── icoFileURDF.png │ ├── radio_off.svg │ ├── radio_on.svg │ └── sort_icon.svg │ ├── plugins │ ├── Urdf.cpp │ ├── Urdf.h │ ├── UrdfTypes.h │ ├── UsdPCH.h │ ├── core │ │ ├── PathUtils.cpp │ │ └── PathUtils.h │ ├── import │ │ ├── ImportHelpers.cpp │ │ ├── ImportHelpers.h │ │ ├── KinematicChain.cpp │ │ ├── KinematicChain.h │ │ ├── MeshImporter.cpp │ │ ├── MeshImporter.h │ │ ├── UrdfImporter.cpp │ │ └── UrdfImporter.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 │ ├── parse │ │ ├── UrdfParser.cpp │ │ └── UrdfParser.h │ └── utils │ │ ├── Path.h │ │ └── Usd.h │ ├── premake5.lua │ └── python │ ├── __init__.py │ ├── scripts │ ├── __init__.py │ ├── commands.py │ ├── extension.py │ ├── samples │ │ ├── common.py │ │ ├── import_carter.py │ │ ├── import_franka.py │ │ ├── import_kaya.py │ │ └── import_ur10.py │ └── ui │ │ ├── UrdfJointWidgetWithID.py │ │ ├── UrdfLinkWidget.py │ │ ├── UrdfOptionWidget.py │ │ ├── __init__.py │ │ ├── menu.py │ │ ├── resetable_widget.py │ │ ├── style.py │ │ └── ui_utils.py │ └── tests │ ├── __init__.py │ └── test_urdf.py └── tools ├── ci ├── autoupdate-kit-sdk │ └── step.bat ├── build_urdf.py ├── 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 │ │ 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