sawyer_v1.usd is converted from urdf file using python third_party/curobo/examples/isaac_sim/util/convert_urdf_to_usd.py --robot third_party/curobo/src/curobo/content/configs/robot/sawyer.yml --save_usd. The urdf file is from Haoran Lu.
sawyer_v2.usd is modified from sawyer_v1.usd by deleting some unnecessary links and collisions.
sawywer_mujoco_v1.usd is modified from sawyer_v2.usd by deleting the head, screen, and sawyer_head_camera links.
sawyer_mujoco_v2.usd is modified from sawyer_mujoco_v1.usd by deleting the gripper tip shims (right_gripper_l_finger_tip and right_gripper_r_finger_tip).