| `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`). | |