这是模型的Prim #usda 1.0
def "Item_00"
{
def Xform "g1_29dof_with_hand_rev_1_0" (
prepend apiSchemas = ["IsaacRobotAPI"]
variants = {
string Physics = "PhysX"
string Sensor = "Sensors"
string left_hand = "Inspire"
string right_hand = "Inspire"
}
prepend variantSets = ["Physics", "Sensor", "right_hand", "left_hand"]
)
{
string isaac:namespace (
displayName = "Namespace"
doc = "Namespace of the prim in Isaac Sim"
)
prepend rel isaac:physics:robotJoints = [
</Item_00/g1_29dof_with_hand_rev_1_0/joints/left_hip_pitch_joint>,
</Item_00/g1_29dof_with_hand_rev_1_0/joints/left_hip_roll_joint>,
</Item_00/g1_29dof_with_hand_rev_1_0/joints/left_hip_yaw_joint>,
</Item_00/g1_29dof_with_hand_rev_1_0/joints/left_knee_joint>,
</Item_00/g1_29dof_with_hand_rev_1_0/joints/left_ankle_pitch_joint>,
</Item_00/g1_29dof_with_hand_rev_1_0/joints/left_ankle_roll_joint>,
</Item_00/g1_29dof_with_hand_rev_1_0/joints/right_hip_pitch_joint>,
</Item_00/g1_29dof_with_hand_rev_1_0/joints/right_hip_roll_joint>,
</Item_00/g1_29dof_with_hand_rev_1_0/joints/right_hip_yaw_joint>,
</Item_00/g1_29dof_with_hand_rev_1_0/joints/right_knee_joint>,
</Item_00/g1_29dof_with_hand_rev_1_0/joints/right_ankle_pitch_joint>,
</Item_00/g1_29dof_with_hand_rev_1_0/joints/right_ankle_roll_joint>,
</Item_00/g1_29dof_with_hand_rev_1_0/joints/waist_yaw_joint>,
</Item_00/g1_29dof_with_hand_rev_1_0/joints/waist_roll_joint>,
</Item_00/g1_29dof_with_hand_rev_1_0/joints/waist_pitch_joint>,
</Item_00/g1_29dof_with_hand_rev_1_0/joints/left_shoulder_pitch_joint>,
</Item_00/g1_29dof_with_hand_rev_1_0/joints/left_shoulder_roll_joint>,
</Item_00/g1_29dof_with_hand_rev_1_0/joints/left_shoulder_yaw_joint>,
</Item_00/g1_29dof_with_hand_rev_1_0/joints/left_elbow_joint>,
</Item_00/g1_29dof_with_hand_rev_1_0/joints/left_wrist_roll_joint>,
</Item_00/g1_29dof_with_hand_rev_1_0/joints/left_wrist_pitch_joint>,
</Item_00/g1_29dof_with_hand_rev_1_0/joints/left_wrist_yaw_joint>,
</Item_00/g1_29dof_with_hand_rev_1_0/joints/right_shoulder_pitch_joint>,
</Item_00/g1_29dof_with_hand_rev_1_0/joints/right_shoulder_roll_joint>,
</Item_00/g1_29dof_with_hand_rev_1_0/joints/right_shoulder_yaw_joint>,
</Item_00/g1_29dof_with_hand_rev_1_0/joints/right_elbow_joint>,
</Item_00/g1_29dof_with_hand_rev_1_0/joints/right_wrist_roll_joint>,
</Item_00/g1_29dof_with_hand_rev_1_0/joints/right_wrist_pitch_joint>,
</Item_00/g1_29dof_with_hand_rev_1_0/joints/right_wrist_yaw_joint>,
]
prepend rel isaac:physics:robotLinks = [
</Item_00/g1_29dof_with_hand_rev_1_0/pelvis>,
</Item_00/g1_29dof_with_hand_rev_1_0/left_hip_pitch_link>,
</Item_00/g1_29dof_with_hand_rev_1_0/left_hip_roll_link>,
</Item_00/g1_29dof_with_hand_rev_1_0/left_hip_yaw_link>,
</Item_00/g1_29dof_with_hand_rev_1_0/left_knee_link>,
</Item_00/g1_29dof_with_hand_rev_1_0/left_ankle_pitch_link>,
</Item_00/g1_29dof_with_hand_rev_1_0/left_ankle_roll_link>,
</Item_00/g1_29dof_with_hand_rev_1_0/right_hip_pitch_link>,
</Item_00/g1_29dof_with_hand_rev_1_0/right_hip_roll_link>,
</Item_00/g1_29dof_with_hand_rev_1_0/right_hip_yaw_link>,
</Item_00/g1_29dof_with_hand_rev_1_0/right_knee_link>,
</Item_00/g1_29dof_with_hand_rev_1_0/right_ankle_pitch_link>,
</Item_00/g1_29dof_with_hand_rev_1_0/right_ankle_roll_link>,
</Item_00/g1_29dof_with_hand_rev_1_0/waist_yaw_link>,
</Item_00/g1_29dof_with_hand_rev_1_0/waist_roll_link>,
</Item_00/g1_29dof_with_hand_rev_1_0/torso_link>,
</Item_00/g1_29dof_with_hand_rev_1_0/left_shoulder_pitch_link>,
</Item_00/g1_29dof_with_hand_rev_1_0/left_shoulder_roll_link>,
</Item_00/g1_29dof_with_hand_rev_1_0/left_shoulder_yaw_link>,
</Item_00/g1_29dof_with_hand_rev_1_0/left_elbow_link>,
</Item_00/g1_29dof_with_hand_rev_1_0/left_wrist_roll_link>,
</Item_00/g1_29dof_with_hand_rev_1_0/left_wrist_pitch_link>,
</Item_00/g1_29dof_with_hand_rev_1_0/left_wrist_yaw_link>,
</Item_00/g1_29dof_with_hand_rev_1_0/right_shoulder_pitch_link>,
</Item_00/g1_29dof_with_hand_rev_1_0/right_shoulder_roll_link>,
</Item_00/g1_29dof_with_hand_rev_1_0/right_shoulder_yaw_link>,
</Item_00/g1_29dof_with_hand_rev_1_0/right_elbow_link>,
</Item_00/g1_29dof_with_hand_rev_1_0/right_wrist_roll_link>,
</Item_00/g1_29dof_with_hand_rev_1_0/right_wrist_pitch_link>,
</Item_00/g1_29dof_with_hand_rev_1_0/right_wrist_yaw_link>,
]
quatd xformOp:orient = (1, 0, 0, 0)
double3 xformOp:scale = (1, 1, 1)
double3 xformOp:translate = (0, 0, 0)
uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
over "right_wrist_pitch_link" (
prepend apiSchemas = ["IsaacLinkAPI"]
)
{
string isaac:nameOverride (
displayName = "Name Override"
doc = "Name override for prim lookup in base name search"
)
}
over "left_hand"
{
string isaac:namespace (
displayName = "Namespace"
doc = "Namespace of the prim in Isaac Sim"
)
}
over "right_hand"
{
string isaac:namespace (
displayName = "Namespace"
doc = "Namespace of the prim in Isaac Sim"
)
}
over "right_ankle_roll_link" (
prepend apiSchemas = ["IsaacLinkAPI"]
)
{
string isaac:nameOverride (
displayName = "Name Override"
doc = "Name override for prim lookup in base name search"
)
}
over "pelvis" (
prepend apiSchemas = ["IsaacLinkAPI"]
)
{
string isaac:nameOverride (
displayName = "Name Override"
doc = "Name override for prim lookup in base name search"
)
over "pelvis_contour_link" (
prepend apiSchemas = ["IsaacReferencePointAPI"]
)
{
}
over "imu_in_pelvis" (
prepend apiSchemas = ["IsaacReferencePointAPI"]
)
{
}
}
over "left_hip_pitch_link" (
prepend apiSchemas = ["IsaacLinkAPI"]
)
{
}
over "left_hip_roll_link" (
prepend apiSchemas = ["IsaacLinkAPI"]
)
{
}
over "left_hip_yaw_link" (
prepend apiSchemas = ["IsaacLinkAPI"]
)
{
string isaac:nameOverride (
displayName = "Name Override"
doc = "Name override for prim lookup in base name search"
)
}
over "left_knee_link" (
prepend apiSchemas = ["IsaacLinkAPI"]
)
{
}
over "left_ankle_pitch_link" (
prepend apiSchemas = ["IsaacLinkAPI"]
)
{
}
over "left_ankle_roll_link" (
prepend apiSchemas = ["IsaacLinkAPI"]
)
{
}
over "right_hip_pitch_link" (
prepend apiSchemas = ["IsaacLinkAPI"]
)
{
}
over "right_hip_roll_link" (
prepend apiSchemas = ["IsaacLinkAPI"]
)
{
}
over "right_hip_yaw_link" (
prepend apiSchemas = ["IsaacLinkAPI"]
)
{
}
over "right_knee_link" (
prepend apiSchemas = ["IsaacLinkAPI"]
)
{
string isaac:nameOverride (
displayName = "Name Override"
doc = "Name override for prim lookup in base name search"
)
}
over "right_ankle_pitch_link" (
prepend apiSchemas = ["IsaacLinkAPI"]
)
{
}
over "waist_yaw_link" (
prepend apiSchemas = ["IsaacLinkAPI"]
)
{
}
over "waist_roll_link" (
prepend apiSchemas = ["IsaacLinkAPI"]
)
{
}
over "torso_link" (
prepend apiSchemas = ["IsaacLinkAPI"]
)
{
over "d435_link" (
prepend apiSchemas = ["IsaacReferencePointAPI"]
)
{
}
over "head_link" (
prepend apiSchemas = ["IsaacReferencePointAPI"]
)
{
}
over "imu_in_torso" (
prepend apiSchemas = ["IsaacReferencePointAPI"]
)
{
}
over "logo_link" (
prepend apiSchemas = ["IsaacReferencePointAPI"]
)
{
}
over "mid360_link" (
prepend apiSchemas = ["IsaacReferencePointAPI"]
)
{
}
}
over "left_shoulder_pitch_link" (
prepend apiSchemas = ["IsaacLinkAPI"]
)
{
}
over "left_shoulder_roll_link" (
prepend apiSchemas = ["IsaacLinkAPI"]
)
{
}
over "left_shoulder_yaw_link" (
prepend apiSchemas = ["IsaacLinkAPI"]
)
{
}
over "left_elbow_link" (
prepend apiSchemas = ["IsaacLinkAPI"]
)
{
}
over "left_wrist_roll_link" (
prepend apiSchemas = ["IsaacLinkAPI"]
)
{
}
over "left_wrist_pitch_link" (
prepend apiSchemas = ["IsaacLinkAPI"]
)
{
}
over "left_wrist_yaw_link" (
prepend apiSchemas = ["IsaacLinkAPI"]
)
{
over "left_hand_palm_link" (
prepend apiSchemas = ["IsaacReferencePointAPI"]
)
{
}
}
over "right_shoulder_pitch_link" (
prepend apiSchemas = ["IsaacLinkAPI"]
)
{
}
over "right_shoulder_roll_link" (
prepend apiSchemas = ["IsaacLinkAPI"]
)
{
}
over "right_shoulder_yaw_link" (
prepend apiSchemas = ["IsaacLinkAPI"]
)
{
}
over "right_elbow_link" (
prepend apiSchemas = ["IsaacLinkAPI"]
)
{
}
over "right_wrist_roll_link" (
prepend apiSchemas = ["IsaacLinkAPI"]
)
{
}
over "right_wrist_yaw_link" (
prepend apiSchemas = ["IsaacLinkAPI"]
)
{
over "right_hand_palm_link" (
prepend apiSchemas = ["IsaacReferencePointAPI"]
)
{
}
}
over "joints"
{
over "left_hip_pitch_joint" (
prepend apiSchemas = ["IsaacJointAPI"]
)
{
}
over "left_hip_roll_joint" (
prepend apiSchemas = ["IsaacJointAPI"]
)
{
}
over "left_hip_yaw_joint" (
prepend apiSchemas = ["IsaacJointAPI"]
)
{
}
over "left_knee_joint" (
prepend apiSchemas = ["IsaacJointAPI"]
)
{
}
over "left_ankle_pitch_joint" (
prepend apiSchemas = ["IsaacJointAPI"]
)
{
}
over "left_ankle_roll_joint" (
prepend apiSchemas = ["IsaacJointAPI"]
)
{
}
over "right_hip_pitch_joint" (
prepend apiSchemas = ["IsaacJointAPI"]
)
{
}
over "right_hip_roll_joint" (
prepend apiSchemas = ["IsaacJointAPI"]
)
{
}
over "right_hip_yaw_joint" (
prepend apiSchemas = ["IsaacJointAPI"]
)
{
}
over "right_knee_joint" (
prepend apiSchemas = ["IsaacJointAPI"]
)
{
}
over "right_ankle_pitch_joint" (
prepend apiSchemas = ["IsaacJointAPI"]
)
{
}
over "right_ankle_roll_joint" (
prepend apiSchemas = ["IsaacJointAPI"]
)
{
}
over "waist_yaw_joint" (
prepend apiSchemas = ["IsaacJointAPI"]
)
{
}
over "waist_roll_joint" (
prepend apiSchemas = ["IsaacJointAPI"]
)
{
}
over "waist_pitch_joint" (
prepend apiSchemas = ["IsaacJointAPI"]
)
{
}
over "left_shoulder_pitch_joint" (
prepend apiSchemas = ["IsaacJointAPI"]
)
{
}
over "left_shoulder_roll_joint" (
prepend apiSchemas = ["IsaacJointAPI"]
)
{
}
over "left_shoulder_yaw_joint" (
prepend apiSchemas = ["IsaacJointAPI"]
)
{
}
over "left_elbow_joint" (
prepend apiSchemas = ["IsaacJointAPI"]
)
{
}
over "left_wrist_roll_joint" (
prepend apiSchemas = ["IsaacJointAPI"]
)
{
}
over "left_wrist_pitch_joint" (
prepend apiSchemas = ["IsaacJointAPI"]
)
{
}
over "left_wrist_yaw_joint" (
prepend apiSchemas = ["IsaacJointAPI"]
)
{
}
over "left_hand_index_0_joint" (
prepend apiSchemas = ["IsaacJointAPI"]
)
{
}
over "left_hand_index_1_joint" (
prepend apiSchemas = ["IsaacJointAPI"]
)
{
}
over "left_hand_middle_0_joint" (
prepend apiSchemas = ["IsaacJointAPI"]
)
{
}
over "left_hand_middle_1_joint" (
prepend apiSchemas = ["IsaacJointAPI"]
)
{
}
over "left_hand_thumb_0_joint" (
prepend apiSchemas = ["IsaacJointAPI"]
)
{
}
over "left_hand_thumb_1_joint" (
prepend apiSchemas = ["IsaacJointAPI"]
)
{
}
over "left_hand_thumb_2_joint" (
prepend apiSchemas = ["IsaacJointAPI"]
)
{
}
over "right_shoulder_pitch_joint" (
prepend apiSchemas = ["IsaacJointAPI"]
)
{
}
over "right_shoulder_roll_joint" (
prepend apiSchemas = ["IsaacJointAPI"]
)
{
}
over "right_shoulder_yaw_joint" (
prepend apiSchemas = ["IsaacJointAPI"]
)
{
}
over "right_elbow_joint" (
prepend apiSchemas = ["IsaacJointAPI"]
)
{
}
over "right_wrist_roll_joint" (
prepend apiSchemas = ["IsaacJointAPI"]
)
{
}
over "right_wrist_pitch_joint" (
prepend apiSchemas = ["IsaacJointAPI"]
)
{
}
over "right_wrist_yaw_joint" (
prepend apiSchemas = ["IsaacJointAPI"]
)
{
}
}
variantSet "Physics" = {
"None" (
customData = {
string[] variantPrimPaths = ["left_hand", "right_hand"]
}
prepend references = @https://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/5.0/Isaac/Robots/Unitree/G1/configuration/g1_29dof_with_hand_rev_1_0_base.usd@
) {
over "joints" (
active = false
)
{
}
over "left_hand" (
variants = {
string Physics = "None"
}
)
{
}
over "right_hand" (
variants = {
string Physics = "None"
}
)
{
}
}
"PhysX" (
customData = {
string[] variantPrimPaths = ["left_hand", "right_hand"]
}
prepend payload = @https://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/5.0/Isaac/Robots/Unitree/G1/configuration/g1_29dof_with_hand_rev_1_0_physics.usd@
) {
over "left_hand" (
variants = {
string Physics = "Physx"
}
)
{
}
over "right_hand" (
variants = {
string Physics = "Physx"
}
)
{
}
}
"SimplifiedPhysX" (
customData = {
string[] variantPrimPaths = ["left_hand", "right_hand"]
}
prepend payload = @https://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/5.0/Isaac/Robots/Unitree/G1/configuration/g1_29dof_with_hand_rev_1_0_physics_simplified.usd@
) {
over "left_hand" (
variants = {
string Physics = "Physx"
}
)
{
}
over "right_hand" (
variants = {
string Physics = "Physx"
}
)
{
}
}
}
variantSet "Sensor" = {
"None" {
}
"Sensors" (
prepend payload = @https://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/5.0/Isaac/Robots/Unitree/G1/configuration/g1_29dof_with_hand_rev_1_0_sensor.usd@
) {
}
}
variantSet "left_hand" = {
"Inspire" (
prepend payload = @https://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/5.0/Isaac/Robots/Unitree/G1/configuration/g1_left_hand_inspire_left_physics.usd@
) {
prepend rel isaac:physics:robotJoints = </Item_00/g1_29dof_with_hand_rev_1_0/inspire_left_hand>
prepend rel isaac:physics:robotLinks = </Item_00/g1_29dof_with_hand_rev_1_0/inspire_left_hand>
}
"None" {
}
"ThreeFinger" (
prepend payload = @https://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/5.0/Isaac/Robots/Unitree/G1/configuration/g1_left_hand_three_finger_hand_physics_left.usd@
) {
prepend rel isaac:physics:robotJoints = </Item_00/g1_29dof_with_hand_rev_1_0/left_hand>
prepend rel isaac:physics:robotLinks = </Item_00/g1_29dof_with_hand_rev_1_0/left_hand>
}
}
variantSet "right_hand" = {
"Inspire" (
prepend payload = @https://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/5.0/Isaac/Robots/Unitree/G1/configuration/g1_right_hand_inspire_right_physics.usd@
) {
prepend rel isaac:physics:robotJoints = </Item_00/g1_29dof_with_hand_rev_1_0/inspire_right_hand>
prepend rel isaac:physics:robotLinks = </Item_00/g1_29dof_with_hand_rev_1_0/inspire_right_hand>
}
"None" {
}
"ThreeFinger" (
prepend payload = @https://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/5.0/Isaac/Robots/Unitree/G1/configuration/g1_right_hand_three_finger_hand_physics_right.usd@
) {
prepend rel isaac:physics:robotJoints = </Item_00/g1_29dof_with_hand_rev_1_0/right_hand>
prepend rel isaac:physics:robotLinks = </Item_00/g1_29dof_with_hand_rev_1_0/right_hand>
}
}
}
}
理解HTML文档间的关系：rel与rev属性详解
本文深入探讨HTML文档间的关系属性rel与rev的作用与使用方法，包括它们如何定义链接类型以及在不同元素上的应用。同时列举了常用的属性如Alternate、Stylesheet等，并介绍了它们在网页构建中的作用。
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