genie_sim_robot_model

Robot descriptions for GenieSim — xacro / URDF sources, meshes (.dae, .STL, .obj), pre-baked USDs, and the mesh-prep tools that keep those assets clean enough for Isaac Sim's URDF→USD importer.

Robots shipped

Tier	Robots	What it means
Tier 1 — actively supported	Genie G2 (crs / crsB arm × omnipicker / swiftpicker gripper)	Continuously validated against every release. Physics tuning, contact compliance, mimic constraints, mobile-base pin/free behaviour are all maintained. Bug reports get triaged here first.
Tier 2 — reference only	agilex/aloha, agilex/piper, arx/x5, arx/acone, franka/fr3, universal_robots/ur5	URDF/xacro kept correct; URDF→USD import expected to work. Scene yamls and physics tuning may be stale — treat as starting points.

Bring-your-own robots are supported: drop a new xacro tree under robots/<vendor>/<model>/, generate a flat URDF, and the engine's assemble pipeline takes it from there.

Layout

robots/                               # per-robot xacro / URDF sources + meshes
├── genie/g2/                         # Tier 1
├── agilex/{aloha,piper}/             # Tier 2
├── arx/{x5,acone}/                   # Tier 2
├── franka/fr3/                       # Tier 2
└── universal_robots/ur5/             # Tier 2
urdf/                                 # generated flat URDFs (consumed by MoveIt / sim)
scripts/                              # mesh-prep / diagnostic tools
└── diagnose_urdf.py, normalize_obj_names.py, fix_dae_units.py,
    recompute_inertia.py, copy_dae_material.py, …

Mesh-prep tools

DCC exports rarely arrive in a state the Isaac Sim importer is happy with. The scripts/ tools fix the common issues:

• diagnose_urdf.py — finds links missing <inertial> blocks (the Isaac Sim 6.0 converter's is_ghost_link branch trips on these and breaks the articulation). Has a --fix mode that injects a placeholder.
• normalize_obj_names.py — rewrites every .obj's o <name> directive to match the file stem, eliminating cross-file name collisions the Isaac Sim 6.0 converter de-dupes against.
• fix_dae_units.py — scans .dae files exported in millimetres and rescales them to metres (matches the URDF / SDF / Newton / PhysX convention).
• copy_dae_material.py — copies the COLLADA material plumbing from a donor DAE into a target DAE (e.g. pick up the crsB look on a crs arm mesh exported without materials).
• recompute_inertia.py — recomputes inertial tensors from meshes under uniform density.

Run these once after every batch of DCC exports.

When you'd touch this package

• Adding a new robot — drop xacros under robots/<vendor>/<model>/.
• Fixing meshes that don't import cleanly into Isaac Sim — start with the diagnostic tools in scripts/.
• Tuning a robot's URDF (joint limits, mass, inertia, mimic constraints).
• Adding a new gripper / end-effector variant — extend the existing G2 xacro composition pattern (g2_<arm>_<gripper>.urdf.xacro).

Mechanics

See AGENTS.md for the robot composition pattern, mesh conventions per format (.dae / .obj / .STL), the Isaac Sim URDF→USD path each importer takes, and the gotchas the tools fix.

License

AgiBot-authored content is released under the Apache License 2.0. That covers the xacro dispatch layer (xacro/), the Python helpers (genie_sim_robot_model/, scripts/), the launch and rviz configs, and the Genie G2 robot description under robots/genie/g2/.

Bundled third-party robot descriptions each retain their upstream license:

Robot	Directory	License
Franka FR3	robots/franka/fr3/	Apache-2.0
Universal Robots UR5 + Robotiq	robots/universal_robots/ur5/	BSD-3-Clause; meshes under UR graphical-documentation T&Cs
Agilex Piper	robots/agilex/piper/	MIT
Agilex Aloha	robots/agilex/aloha/	no license declared upstream — contact AgileX before commercial use
ARX X5 / Acone	robots/arx/	BSD
Wuji hand	robots/genie/g2/meshes/gripper/wuji/ + wuji xacro macros	MIT (© 2025 Wuji Technology)

See THIRD_PARTY_NOTICES for the full per-robot terms and attribution requirements. Note that the Wuji hand assets sit inside the otherwise Apache-2.0 robots/genie/g2/ tree but remain under Wuji's MIT license.