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Importing a Custom Robot

While OmniGibson assets includes a set of commonly-used robots, users might still want to import robot model of there own. This tutorial introduces users

Preparation

In order to import a custom robot, You will need to first prepare your robot model file. For the next section we will assume you have the URDF file for the robots ready with all the corresponding meshes and textures. If your robot file is in another format (e.g. MCJF), please convert it to URDF format. If you already have the robot model USD file, feel free to skip the next section and move onto Create the Robot Class.

Below, we will walk through each step for importing a new custom robot into OmniGibson. We use Hello Robotic's Stretch robot as an example, taken directly from their official repo.

Convert from URDF to USD

There are two ways to convert our raw robot URDF into an OmniGibson-compatible USD file. The first is by using our integrated script, while the other method is using IsaacSim's native URDF-to-USD converter via the GUI. We highly recommend our script version, as it both wraps the same functionality from the underlying IsaacSim converter as well as providing useful features such as automatic convex decomposition of collision meshes, programmatic adding of sensors, etc.

Our custom robot importer import_custom_robot.py wraps the native URDF Importer from Isaac Sim to convert our robot URDF model into USD format. Please see the following steps for running this script:

  1. All that is required is a single source config yaml file that dictates how the URDF should be post-processed when being converted into a USD. You can run import_custom_robot.py --help to see a detailed example configuration used, which is also shown below (r1_pro_source_config.yaml) for your convenience.
  2. All output files are written to <gm.DATA_PATH>/custom_dataset/objects/robot/<name>. Please move this directory to <gm.DATA_PATH>/omnigibson-robot-assets/objects/<name> so it can be imported into OmniGibson.

Some notes about the importing script:

  • The importing procedure can be summarized as follows:

  • Copy the raw URDF file + any dependencies into the gm.DATA_PATH/custom_dataset directory

  • Updates the URDF + meshes to ensure all scaling is positive
  • Generates collision meshes for each robot link (as specified by the source config)
  • Generates metadata necessary for OmniGibson
  • Converts the post-processed URDF into USD (technically, USDA) format
  • Generates relevant semantic metadata for the given object, given its category
  • Generates visual spheres, cameras, and lidars (in that order, as specified by the source config)
  • Updates wheel approximations (as specified by the source config)
  • Generates holonomic base joints (as specified by the source config)

  • Generates configuration files needed for CuRobo motion planning (as specified by the source config)

  • If merge_fixed_joints=true, all robot links that are connected to a parent link via a fixed joint will be merged directly into the parent joint. This means that the USD will not contain these links! However, this collapsing occurs during the final URDF to USD conversion, meaning that these links can be referenced beforehand (e.g.: when specifying desired per-link collision decomposition behavior)

  • CuRobo is a highly performant motion planner that is used in OmniGibson for specific use-cases, such as skills. However, CuRobo requires a manually-specified sphere representation of the robot to be defined. These values can be generated using IsaacSim's interactive GUI, and should be exported and copied into the robot source config yaml file used for importing into OmniGibson. You can see the set of values used for the R1 robot below. For more information regarding specific keys specified, please see CuRobo's Configuring a New Robot tutorial.
r1_pro_source_config.yaml

``` yaml linenums="1"

urdf_path: r1_pro_source.urdf # (str) Absolute path to robot URDF to import name: r1 # (str) Name to assign to robot headless: false # (bool) if set, run without GUI overwrite: true # (bool) if set, overwrite any existing files merge_fixed_joints: false # (bool) whether to merge fixed joints in the robot hierarchy or not base_motion: wheel_links: # (list of str): links corresponding to wheels - wheel_link1 - wheel_link2 - wheel_link3 wheel_joints: # (list of str): joints corresponding to wheel motion - servo_joint1 - servo_joint2 - servo_joint3 - wheel_joint1 - wheel_joint2 - wheel_joint3 use_sphere_wheels: true # (bool) whether to use sphere approximation for wheels (better stability) use_holonomic_joints: true # (bool) whether to use joints to approximate a holonomic base. In this case, all # wheel-related joints will be made into fixed joints, and 6 additional # "virtual" joints will be added to the robot's base capturing 6DOF movement, # with the (x,y,rz) joints being controllable by motors collision: decompose_method: coacd # (str) [coacd, convex, or null] collision decomposition method hull_count: 8 # (int) per-mesh max hull count to use during decomposition, only relevant for coacd coacd_links: [] # (list of str): links that should use CoACD to decompose collision meshes convex_links: # (list of str): links that should use convex hull to decompose collision meshes - base_link - wheel_link1 - wheel_link2 - wheel_link3 - torso_link1 - torso_link2 - torso_link3 - torso_link4 - left_arm_link1 - left_arm_link4 - left_arm_link5 - right_arm_link1 - right_arm_link4 - right_arm_link5 no_decompose_links: [] # (list of str): links that should not have any post-processing done to them no_collision_links: # (list of str) links that will have any associated collision meshes removed - servo_link1 - servo_link2 - servo_link3 eef_vis_links: # (list of dict) information for adding cameras to robot - link: left_eef_link # same format as @camera_links parent_link: left_arm_link6 offset: position: [0, 0, 0.06] orientation: [0, 0, 0, 1] - link: right_eef_link # same format as @camera_links parent_link: right_arm_link6 offset: position: [0, 0, 0.06] orientation: [0, 0, 0, 1] camera_links: # (list of dict) information for adding cameras to robot - link: eyes # (str) link name to add camera. Must exist if @parent_link is null, else will be # added as a child of the parent parent_link: torso_link4 # (str) optional parent link to use if adding new link offset: # (dict) local pos,ori offset values. if @parent_link is specified, defines offset # between @parent_link and @link specified in @parent_link's frame. # Otherwise, specifies offset of generated prim relative to @link's frame position: [0.0732, 0, 0.4525] # (3-tuple) (x,y,z) offset -- this is done BEFORE the rotation orientation: [0.4056, -0.4056, -0.5792, 0.5792] # (4-tuple) (x,y,z,w) offset - link: left_eef_link parent_link: null offset: position: [0.05, 0, -0.05] orientation: [-0.7011, -0.7011, -0.0923, -0.0923] - link: right_eef_link parent_link: null offset: position: [0.05, 0, -0.05] orientation: [-0.7011, -0.7011, -0.0923, -0.0923] lidar_links: [] # (list of dict) information for adding cameras to robot curobo: eef_to_gripper_info: # (dict) Maps EEF link name to corresponding gripper links / joints right_eef_link: links: ["right_gripper_link1", "right_gripper_link2"] joints: ["right_gripper_axis1", "right_gripper_axis2"] left_eef_link: links: ["left_gripper_link1", "left_gripper_link2"] joints: ["left_gripper_axis1", "left_gripper_axis2"] flip_joint_limits: [] # (list of str) any joints that have a negative axis specified in the # source URDF lock_joints: {} # (dict) Maps joint name to "locked" joint configuration. Any joints # specified here will not be considered active when motion planning # NOTE: All gripper joints and non-controllable holonomic joints # will automatically be added here self_collision_ignore: # (dict) Maps link name to list of other ignore links to ignore collisions # with. Note that bi-directional specification is not necessary, # e.g.: "torso_link1" does not need to be specified in # "torso_link2"'s list if "torso_link2" is already specified in # "torso_link1"'s list base_link: ["torso_link1", "wheel_link1", "wheel_link2", "wheel_link3"] torso_link1: ["torso_link2"] torso_link2: ["torso_link3", "torso_link4"] torso_link3: ["torso_link4"] torso_link4: ["left_arm_link1", "right_arm_link1", "left_arm_link2", "right_arm_link2"] left_arm_link1: ["left_arm_link2"] left_arm_link2: ["left_arm_link3"] left_arm_link3: ["left_arm_link4"] left_arm_link4: ["left_arm_link5"] left_arm_link5: ["left_arm_link6"] left_arm_link6: ["left_gripper_link1", "left_gripper_link2"] right_arm_link1: ["right_arm_link2"] right_arm_link2: ["right_arm_link3"] right_arm_link3: ["right_arm_link4"] right_arm_link4: ["right_arm_link5"] right_arm_link5: ["right_arm_link6"] right_arm_link6: ["right_gripper_link1", "right_gripper_link2"] left_gripper_link1: ["left_gripper_link2"] right_gripper_link1: ["right_gripper_link2"] collision_spheres: # (dict) Maps link name to list of collision sphere representations, # where each sphere is defined by its (x,y,z) "center" and "radius" # values. This defines the collision geometry during motion planning base_link: - "center": [-0.009, -0.094, 0.131] "radius": 0.09128 - "center": [-0.021, 0.087, 0.121] "radius": 0.0906 - "center": [0.019, 0.137, 0.198] "radius": 0.07971 - "center": [0.019, -0.14, 0.209] "radius": 0.07563 - "center": [0.007, -0.018, 0.115] "radius": 0.08448 - "center": [0.119, -0.176, 0.209] "radius": 0.05998 - "center": [0.137, 0.118, 0.208] "radius": 0.05862 - "center": [-0.152, -0.049, 0.204] "radius": 0.05454 torso_link1: - "center": [-0.001, -0.014, -0.057] "radius": 0.1 - "center": [-0.001, -0.127, -0.064] "radius": 0.07 - "center": [-0.001, -0.219, -0.064] "radius": 0.07 - "center": [-0.001, -0.29, -0.064] "radius": 0.07 - "center": [-0.001, -0.375, -0.064] "radius": 0.07 - "center": [-0.001, -0.419, -0.064] "radius": 0.07 torso_link2: - "center": [-0.001, -0.086, -0.064] "radius": 0.07 - "center": [-0.001, -0.194, -0.064] "radius": 0.07 - "center": [-0.001, -0.31, -0.064] "radius": 0.07 torso_link4: - "center": [0.005, -0.001, 0.062] "radius": 0.1 - "center": [0.005, -0.001, 0.245] "radius": 0.15 - "center": [0.005, -0.001, 0.458] "radius": 0.1 - "center": [0.002, 0.126, 0.305] "radius": 0.08 - "center": [0.002, -0.126, 0.305] "radius": 0.08 left_arm_link1: - "center": [0.001, 0.0, 0.069] "radius": 0.06 left_arm_link2: - "center": [-0.062, -0.016, -0.03] "radius": 0.06 - "center": [-0.135, -0.019, -0.03] "radius": 0.06 - "center": [-0.224, -0.019, -0.03] "radius": 0.06 - "center": [-0.31, -0.022, -0.03] "radius": 0.06 - "center": [-0.34, -0.027, -0.03] "radius": 0.06 left_arm_link3: - "center": [0.037, -0.058, -0.044] "radius": 0.05 - "center": [0.095, -0.08, -0.044] "radius": 0.03 - "center": [0.135, -0.08, -0.043] "radius": 0.03 - "center": [0.176, -0.08, -0.043] "radius": 0.03 - "center": [0.22, -0.077, -0.043] "radius": 0.03 left_arm_link4: - "center": [-0.002, 0.0, 0.276] "radius": 0.04 left_arm_link5: - "center": [0.059, -0.001, -0.021] "radius": 0.035 left_arm_link6: - "center": [0.0, 0.0, 0.04] "radius": 0.04 right_arm_link1: - "center": [0.001, 0.0, 0.069] "radius": 0.06 right_arm_link2: - "center": [-0.062, -0.016, -0.03] "radius": 0.06 - "center": [-0.135, -0.019, -0.03] "radius": 0.06 - "center": [-0.224, -0.019, -0.03] "radius": 0.06 - "center": [-0.31, -0.022, -0.03] "radius": 0.06 - "center": [-0.34, -0.027, -0.03] "radius": 0.06 right_arm_link3: - "center": [0.037, -0.058, -0.044] "radius": 0.05 - "center": [0.095, -0.08, -0.044] "radius": 0.03 - "center": [0.135, -0.08, -0.043] "radius": 0.03 - "center": [0.176, -0.08, -0.043] "radius": 0.03 - "center": [0.22, -0.077, -0.043] "radius": 0.03 right_arm_link4: - "center": [-0.002, 0.0, 0.276] "radius": 0.04 right_arm_link5: - "center": [0.059, -0.001, -0.021] "radius": 0.035 right_arm_link6: - "center": [-0.0, 0.0, 0.04] "radius": 0.035 wheel_link1: - "center": [-0.0, 0.0, -0.03] "radius": 0.06 wheel_link2: - "center": [0.0, 0.0, 0.03] "radius": 0.06 wheel_link3: - "center": [0.0, 0.0, -0.03] "radius": 0.06 left_gripper_link1: - "center": [-0.03, 0.0, -0.002] "radius": 0.008 - "center": [-0.01, 0.0, -0.003] "radius": 0.007 - "center": [0.005, 0.0, -0.005] "radius": 0.005 - "center": [0.02, 0.0, -0.007] "radius": 0.003 left_gripper_link2: - "center": [-0.03, 0.0, -0.002] "radius": 0.008 - "center": [-0.01, 0.0, -0.003] "radius": 0.007 - "center": [0.005, 0.0, -0.005] "radius": 0.005 - "center": [0.02, 0.0, -0.007] "radius": 0.003 right_gripper_link1: - "center": [-0.03, 0.0, -0.002] "radius": 0.008 - "center": [-0.01, -0.0, -0.003] "radius": 0.007 - "center": [0.005, -0.0, -0.005] "radius": 0.005 - "center": [0.02, -0.0, -0.007] "radius": 0.003 right_gripper_link2: - "center": [-0.03, 0.0, -0.002] "radius": 0.008 - "center": [-0.01, 0.0, -0.003] "radius": 0.007 - "center": [0.005, 0.0, -0.005] "radius": 0.005 - "center": [0.02, 0.0, -0.007] "radius": 0.003 default_qpos: # (list of float): Default joint configuration - 0.0 - 0.0 - 0.0 - 0.0 - 0.0 - 0.0 - 1.906 - 1.906 - -0.991 - -0.991 - 1.571 - 1.571 - 0.915 - 0.915 - -1.571 - -1.571 - 0.03 - 0.03 - 0.03 - 0.03

```

Option 2: Using IsaacSim's Native URDF-to-USD Converter

In this section, we will be using the URDF Importer in native Isaac Sim to convert our robot URDF model into USD format. Before we get started, it is strongly recommended that you read through the official URDF Importer Tutorial.

  1. Create a directory with the name of the new robot under <PATH_TO_OG_ASSET_DIR>/models. This is where all of our robot models live. In our case, we created a directory named stretch.

  2. Put your URDF file under this directory. Additional asset files such as STL, obj, mtl, and texture files should be placed under a meshes directory (see our stretch directory as an example).

  3. Launch Isaac Sim from the Omniverse Launcher. In an empty stage, open the URDF Importer via Isaac Utils -> Workflows -> URDF Importer.

  4. In the Import Options, uncheck Fix Base Link (we will have a parameter for this in OmniGibson). We also recommend that you check the Self Collision flag. You can leave the rest unchanged.

  5. In the Import section, choose the URDF file that you moved in Step 1. You can leave the Output Directory as it is (same as source). Press import to finish the conversion. If all goes well, you should see the imported robot model in the current stage. In our case, the Stretch robot model looks like the following:

Stretch Robot Import 0

Process USD Model

Now that we have the USD model, let's open it up in Isaac Sim and inspect it.

  1. In IsaacSim, begin by first Opening a New Stage. Then, Open the newly imported robot model USD file.

  2. Make sure the default prim or root link of the robot has Articulation Root property

    Select the default prim in Stage panel on the top right, go to the Property section at the bottom right, scroll down to the Physics section, you should see the Articulation Root section. Make sure the Articulation Enabled is checked. If you don't see the section, scroll to top of the Property section, and Add -> Physics -> Articulation Root

    Stretch Robot Import 2

  3. Make sure every link has visual mesh and collision mesh in the correct shape. You can visually inspect this by clicking on every link in the Stage panel and view the highlighted visual mesh in orange. To visualize all collision meshes, click on the Eye Icon at the top and select Show By Type -> Physics -> Colliders -> All. This will outline all the collision meshes in green. If any collision meshes do not look as expected, please inspect the original collision mesh referenced in the URDF. Note that IsaacSim cannot import a pre-convex-decomposed collision mesh, and so such a collision mesh must be manually split and explicitly defined as individual sub-meshes in the URDF before importing. In our case, the Stretch robot model already comes with rough cubic approximations of its meshes.

    Stretch Robot Import 3

  4. Make sure the physics is stable:

    • Create a fixed joint in the base: select the base link of the robot, then right click -> Create -> Physics -> Joint -> Fixed Joint

    • Click on the play button on the left toolbar, you should see the robot either standing still or falling down due to gravity, but there should be no abrupt movements.

    • If you observe the robot moving strangely, this suggests that there is something wrong with the robot physics. Some common issues we've observed are:

      • Self-collision is enabled, but the collision meshes are badly modeled and there are collision between robot links.

      • Some joints have bad damping/stiffness, max effort, friction, etc.

      • One or more of the robot links have off-the-scale mass values.

    At this point, there is unfortunately no better way then to manually go through each of the individual links and joints in the Stage and examine / tune the parameters to determine which aspect of the model is causing physics problems. If you experience significant difficulties, please post on our Discord channel.

  5. The robot additionally needs to be equipped with sensors, such as cameras and / or LIDARs. To add a sensor to the robot, select the link under which the sensor should be attached, and select the appropriate sensor:

    • LIDAR: From the top taskbar, select Create -> Isaac -> Sensors -> PhysX Lidar -> Rotating
    • Camera: From the top taskbar, select Create -> Camera

    You can rename the generated sensors as needed. Note that it may be necessary to rotate / offset the sensors so that the pose is unobstructed and the orientation is correct. This can be achieved by modifying the Translate and Rotate properties in the Lidar sensor, or the Translate and Orient properties in the Camera sensor. Note that the local camera convention is z-backwards, y-up. Additional default values can be specified in each sensor's respective properties, such as Clipping Range and Focal Length in the Camera sensor.

    In our case, we created a LIDAR at the laser link (offset by 0.01m in the z direction), and cameras at the camera_link link (offset by 0.005m in the x direction and -90 degrees about the y-axis) and gripper_camera_link link (offset by 0.01m in the x direction and 90 / -90 degrees about the x-axis / y-axis).

    Stretch Robot Import 5a Stretch Robot Import 5b Stretch Robot Import 5c

  6. Finally, save your USD (as a USDA file)! Note that you need to remove the fixed link created at step 4 before saving. Please save the file to <gm.DATA_PATH>/omnigibson-robot-assets/models/<name>/usd/<name>.usda.

Create the Robot Class

Now that we have the USD file for the robot, let's write our own robot class. For more information please refer to the Robot module.

  1. Create a new python file named after your robot. In our case, our file exists under omnigibson/robots and is named stretch.py.

  2. Determine which robot interfaces it should inherit. We currently support three modular interfaces that can be used together: LocomotionRobot for robots whose bases can move (and a more specific TwoWheelRobot for locomotive robots that only have two wheels), ManipulationRobot for robots equipped with one or more arms and grippers, and ActiveCameraRobot for robots with a controllable head or camera mount. In our case, our robot is a mobile manipulator with a moveable camera mount, so our Python class inherits all three interfaces.

  3. You must implement all required abstract properties defined by each respective inherited robot interface. In the most simple case, this is usually simply defining relevant metadata from the original robot source files, such as relevant joint / link names and absolute paths to the corresponding robot URDF and USD files. Please see our annotated stretch.py module below which serves as a good starting point that you can modify. Note that OmniGibson automatically looks for your robot file at <gm.DATA_PATH>/omnigibson-robot-assets/models/<name>/usd/<name>.usda, so if it exists elsewhere please specify the path via the usd_path property in the robot class.

    Optional properties

    We offer a more in-depth description of a couple of more advanced properties for ManipulationRobots below:

    • assisted_grasp_start_points, assisted_grasp_end_points: you need to implement this if you want to use sticky grasp/assisted grasp on the new robot.

      These points are omnigibson.robots.manipulation_robot.GraspingPoint that is defined by the end effector link name and the relative position of the point w.r.t. to the pose of the link. Basically when the gripper receives a close command and OmniGibson tries to perform assisted grasping, it will cast rays from every start point to every end point, and if there is one object that is hit by any rays, then we consider the object is grasped by the robot.

      In practice, for parallel grippers, naturally the start and end points should be uniformally sampled on the inner surface of the two fingers. You can refer to the Fetch class for an example of this case. For more complicated end effectors like dexterous hands, it's usually best practice to have start points at palm center and lower center, and thumb tip, and end points at each every other finger tips. You can refer to the Franka class for examples of this case.

      Best practise of setting these points is to load the robot into Isaac Sim, and create a small sphere under the target link of the end effector. Then drag the sphere to the desired location (which should be just right outside the mesh of the link) or by setting the position in the Property tab. After you get a desired relative pose to the link, write down the link name and position in the robot class.

  4. If your robot is a manipulation robot, you must additionally define a description .yaml file in order to use our CuRobo solver for end-effector motion planning. Our example description file is shown below for our R1 robot, which you can modify as needed. (Note that if you import your robot URDF using our import script, these files are automatically generated for you!). Place the curobo file under <PATH_TO_OG_ASSET_DIR>/models/<YOUR_MODEL>/curobo.

  5. In order for OmniGibson to register your new robot class internally, you must import the robot class before running the simulation. If your python module exists under omnigibson/robots, you can simply add an additional import line in omnigibson/robots/__init__.py. Otherwise, in any end use-case script, you can simply import your robot class from your python module at the top of the file.

stretch.py 
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import os
import math
import torch as th
from omnigibson.macros import gm
from omnigibson.robots.active_camera_robot import ActiveCameraRobot
from omnigibson.robots.manipulation_robot import GraspingPoint, ManipulationRobot
from omnigibson.robots.two_wheel_robot import TwoWheelRobot


class Stretch(ManipulationRobot, TwoWheelRobot, ActiveCameraRobot):
    """
    Strech Robot from Hello Robotics
    Reference: https://hello-robot.com/stretch-3-product
    """

    @property
    def discrete_action_list(self):
        raise NotImplementedError()

    def _create_discrete_action_space(self):
        raise ValueError("Stretch does not support discrete actions!")

    @property
    def _raw_controller_order(self):
        # Ordered by general robot kinematics chain
        return ["base", "camera", f"arm_{self.default_arm}", f"gripper_{self.default_arm}"]

    @property
    def _default_controllers(self):
        # Always call super first
        controllers = super()._default_controllers

        # We use multi finger gripper, differential drive, and IK controllers as default
        controllers["base"] = "DifferentialDriveController"
        controllers["camera"] = "JointController"
        controllers[f"arm_{self.default_arm}"] = "JointController"
        controllers[f"gripper_{self.default_arm}"] = "MultiFingerGripperController"

        return controllers

    @property
    def _default_joint_pos(self):
        return th.tensor([0, 0, 0.5, 0, 0, 0, 0, 0, 0, 0.0, 0, 0, math.pi / 8, math.pi / 8])

    @property
    def wheel_radius(self):
        return 0.050

    @property
    def wheel_axle_length(self):
        return 0.330

    @property
    def disabled_collision_pairs(self):
        return [
            ["link_lift", "link_arm_l3"],
            ["link_lift", "link_arm_l2"],
            ["link_lift", "link_arm_l1"],
            ["link_lift", "link_arm_l0"],
            ["link_arm_l3", "link_arm_l1"],
            ["link_arm_l0", "link_arm_l1"],
            ["link_arm_l0", "link_arm_l2"],
            ["link_arm_l0", "link_arm_l3"],
        ]

    @property
    def base_joint_names(self):
        return ["joint_left_wheel", "joint_right_wheel"]

    @property
    def camera_joint_names(self):
        return ["joint_head_pan", "joint_head_tilt"]

    @property
    def arm_link_names(self):
        return {
            self.default_arm: [
                "link_lift",
                "link_arm_l3",
                "link_arm_l2",
                "link_arm_l1",
                "link_arm_l0",
                "link_wrist_yaw",
                "link_wrist_pitch",
                "link_wrist_roll",
            ]
        }

    @property
    def arm_joint_names(self):
        return {
            self.default_arm: [
                "joint_lift",
                "joint_arm_l3",
                "joint_arm_l2",
                "joint_arm_l1",
                "joint_arm_l0",
                "joint_wrist_yaw",
                "joint_wrist_pitch",
                "joint_wrist_roll",
            ]
        }

    @property
    def eef_link_names(self):
        return {self.default_arm: "eef_link"}

    @property
    def finger_link_names(self):
        return {
            self.default_arm: [
                "link_gripper_finger_left",
                "link_gripper_finger_right",
            ]
        }

    @property
    def finger_joint_names(self):
        return {self.default_arm: ["joint_gripper_finger_right", "joint_gripper_finger_left"]}
r1_description_curobo_default.yaml 
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robot_cfg:
  base_link: base_footprint_x
  collision_link_names:
  - base_link
  - torso_link1
  - torso_link2
  - torso_link4
  - left_arm_link1
  - left_arm_link2
  - left_arm_link3
  - left_arm_link4
  - left_arm_link5
  - left_arm_link6
  - right_arm_link1
  - right_arm_link2
  - right_arm_link3
  - right_arm_link4
  - right_arm_link5
  - right_arm_link6
  - wheel_link1
  - wheel_link2
  - wheel_link3
  - left_gripper_link1
  - left_gripper_link2
  - right_gripper_link1
  - right_gripper_link2
  - attached_object_right_eef_link
  - attached_object_left_eef_link
  collision_sphere_buffer: 0.002
  collision_spheres:
    base_link:
    - center:
      - -0.009
      - -0.094
      - 0.131
      radius: 0.09128
    - center:
      - -0.021
      - 0.087
      - 0.121
      radius: 0.0906
    - center:
      - 0.019
      - 0.137
      - 0.198
      radius: 0.07971
    - center:
      - 0.019
      - -0.14
      - 0.209
      radius: 0.07563
    - center:
      - 0.007
      - -0.018
      - 0.115
      radius: 0.08448
    - center:
      - 0.119
      - -0.176
      - 0.209
      radius: 0.05998
    - center:
      - 0.137
      - 0.118
      - 0.208
      radius: 0.05862
    - center:
      - -0.152
      - -0.049
      - 0.204
      radius: 0.05454
    left_arm_link1:
    - center:
      - 0.001
      - 0.0
      - 0.069
      radius: 0.06
    left_arm_link2:
    - center:
      - -0.062
      - -0.016
      - -0.03
      radius: 0.06
    - center:
      - -0.135
      - -0.019
      - -0.03
      radius: 0.06
    - center:
      - -0.224
      - -0.019
      - -0.03
      radius: 0.06
    - center:
      - -0.31
      - -0.022
      - -0.03
      radius: 0.06
    - center:
      - -0.34
      - -0.027
      - -0.03
      radius: 0.06
    left_arm_link3:
    - center:
      - 0.037
      - -0.058
      - -0.044
      radius: 0.05
    - center:
      - 0.095
      - -0.08
      - -0.044
      radius: 0.03
    - center:
      - 0.135
      - -0.08
      - -0.043
      radius: 0.03
    - center:
      - 0.176
      - -0.08
      - -0.043
      radius: 0.03
    - center:
      - 0.22
      - -0.077
      - -0.043
      radius: 0.03
    left_arm_link4:
    - center:
      - -0.002
      - 0.0
      - 0.276
      radius: 0.04
    left_arm_link5:
    - center:
      - 0.059
      - -0.001
      - -0.021
      radius: 0.035
    left_arm_link6:
    - center:
      - 0.0
      - 0.0
      - 0.04
      radius: 0.04
    left_gripper_link1:
    - center:
      - -0.03
      - 0.0
      - -0.002
      radius: 0.008
    - center:
      - -0.01
      - 0.0
      - -0.003
      radius: 0.007
    - center:
      - 0.005
      - 0.0
      - -0.005
      radius: 0.005
    - center:
      - 0.02
      - 0.0
      - -0.007
      radius: 0.003
    left_gripper_link2:
    - center:
      - -0.03
      - 0.0
      - -0.002
      radius: 0.008
    - center:
      - -0.01
      - 0.0
      - -0.003
      radius: 0.007
    - center:
      - 0.005
      - 0.0
      - -0.005
      radius: 0.005
    - center:
      - 0.02
      - 0.0
      - -0.007
      radius: 0.003
    right_arm_link1:
    - center:
      - 0.001
      - 0.0
      - 0.069
      radius: 0.06
    right_arm_link2:
    - center:
      - -0.062
      - -0.016
      - -0.03
      radius: 0.06
    - center:
      - -0.135
      - -0.019
      - -0.03
      radius: 0.06
    - center:
      - -0.224
      - -0.019
      - -0.03
      radius: 0.06
    - center:
      - -0.31
      - -0.022
      - -0.03
      radius: 0.06
    - center:
      - -0.34
      - -0.027
      - -0.03
      radius: 0.06
    right_arm_link3:
    - center:
      - 0.037
      - -0.058
      - -0.044
      radius: 0.05
    - center:
      - 0.095
      - -0.08
      - -0.044
      radius: 0.03
    - center:
      - 0.135
      - -0.08
      - -0.043
      radius: 0.03
    - center:
      - 0.176
      - -0.08
      - -0.043
      radius: 0.03
    - center:
      - 0.22
      - -0.077
      - -0.043
      radius: 0.03
    right_arm_link4:
    - center:
      - -0.002
      - 0.0
      - 0.276
      radius: 0.04
    right_arm_link5:
    - center:
      - 0.059
      - -0.001
      - -0.021
      radius: 0.035
    right_arm_link6:
    - center:
      - -0.0
      - 0.0
      - 0.04
      radius: 0.035
    right_gripper_link1:
    - center:
      - -0.03
      - 0.0
      - -0.002
      radius: 0.008
    - center:
      - -0.01
      - -0.0
      - -0.003
      radius: 0.007
    - center:
      - 0.005
      - -0.0
      - -0.005
      radius: 0.005
    - center:
      - 0.02
      - -0.0
      - -0.007
      radius: 0.003
    right_gripper_link2:
    - center:
      - -0.03
      - 0.0
      - -0.002
      radius: 0.008
    - center:
      - -0.01
      - 0.0
      - -0.003
      radius: 0.007
    - center:
      - 0.005
      - 0.0
      - -0.005
      radius: 0.005
    - center:
      - 0.02
      - 0.0
      - -0.007
      radius: 0.003
    torso_link1:
    - center:
      - -0.001
      - -0.014
      - -0.057
      radius: 0.1
    - center:
      - -0.001
      - -0.127
      - -0.064
      radius: 0.07
    - center:
      - -0.001
      - -0.219
      - -0.064
      radius: 0.07
    - center:
      - -0.001
      - -0.29
      - -0.064
      radius: 0.07
    - center:
      - -0.001
      - -0.375
      - -0.064
      radius: 0.07
    - center:
      - -0.001
      - -0.419
      - -0.064
      radius: 0.07
    torso_link2:
    - center:
      - -0.001
      - -0.086
      - -0.064
      radius: 0.07
    - center:
      - -0.001
      - -0.194
      - -0.064
      radius: 0.07
    - center:
      - -0.001
      - -0.31
      - -0.064
      radius: 0.07
    torso_link4:
    - center:
      - 0.005
      - -0.001
      - 0.062
      radius: 0.1
    - center:
      - 0.005
      - -0.001
      - 0.245
      radius: 0.15
    - center:
      - 0.005
      - -0.001
      - 0.458
      radius: 0.1
    - center:
      - 0.002
      - 0.126
      - 0.305
      radius: 0.08
    - center:
      - 0.002
      - -0.126
      - 0.305
      radius: 0.08
    wheel_link1:
    - center:
      - -0.0
      - 0.0
      - -0.03
      radius: 0.06
    wheel_link2:
    - center:
      - 0.0
      - 0.0
      - 0.03
      radius: 0.06
    wheel_link3:
    - center:
      - 0.0
      - 0.0
      - -0.03
      radius: 0.06
  cspace:
  - base_footprint_x_joint
  - base_footprint_y_joint
  - base_footprint_z_joint
  - base_footprint_rx_joint
  - base_footprint_ry_joint
  - base_footprint_rz_joint
  - torso_joint1
  - torso_joint2
  - torso_joint3
  - torso_joint4
  - left_arm_joint1
  - right_arm_joint1
  - left_arm_joint2
  - left_arm_joint3
  - left_arm_joint4
  - left_arm_joint5
  - left_arm_joint6
  - left_gripper_axis1
  - left_gripper_axis2
  - right_arm_joint2
  - right_arm_joint3
  - right_arm_joint4
  - right_arm_joint5
  - right_arm_joint6
  - right_gripper_axis1
  - right_gripper_axis2
  cspace_distance_weight:
  - 1
  - 1
  - 1
  - 1
  - 1
  - 1
  - 1
  - 1
  - 1
  - 1
  - 1
  - 1
  - 1
  - 1
  - 1
  - 1
  - 1
  - 1
  - 1
  - 1
  - 1
  - 1
  - 1
  - 1
  - 1
  - 1
  ee_link: right_eef_link
  external_asset_path: null
  extra_collision_spheres:
    attached_object_left_eef_link: 32
    attached_object_right_eef_link: 32
  extra_links:
    attached_object_left_eef_link:
      fixed_transform:
      - 0
      - 0
      - 0
      - 1
      - 0
      - 0
      - 0
      joint_name: attached_object_left_eef_link_joint
      joint_type: FIXED
      link_name: attached_object_left_eef_link
      parent_link_name: left_eef_link
    attached_object_right_eef_link:
      fixed_transform:
      - 0
      - 0
      - 0
      - 1
      - 0
      - 0
      - 0
      joint_name: attached_object_right_eef_link_joint
      joint_type: FIXED
      link_name: attached_object_right_eef_link
      parent_link_name: right_eef_link
  link_names:
  - left_eef_link
  lock_joints:
    base_footprint_rx_joint: 0.0
    base_footprint_ry_joint: 0.0
    base_footprint_z_joint: 0.0
    left_gripper_axis1: 0.05000000074505806
    left_gripper_axis2: 0.05000000074505806
    right_gripper_axis1: 0.05000000074505806
    right_gripper_axis2: 0.05000000074505806
  max_acceleration: 15.0
  max_jerk: 500.0
  mesh_link_names:
  - base_link
  - torso_link1
  - torso_link2
  - torso_link4
  - left_arm_link1
  - left_arm_link2
  - left_arm_link3
  - left_arm_link4
  - left_arm_link5
  - left_arm_link6
  - right_arm_link1
  - right_arm_link2
  - right_arm_link3
  - right_arm_link4
  - right_arm_link5
  - right_arm_link6
  - wheel_link1
  - wheel_link2
  - wheel_link3
  - left_gripper_link1
  - left_gripper_link2
  - right_gripper_link1
  - right_gripper_link2
  - attached_object_right_eef_link
  - attached_object_left_eef_link
  null_space_weight:
  - 1
  - 1
  - 1
  - 1
  - 1
  - 1
  - 1
  - 1
  - 1
  - 1
  - 1
  - 1
  - 1
  - 1
  - 1
  - 1
  - 1
  - 1
  - 1
  - 1
  - 1
  - 1
  - 1
  - 1
  - 1
  - 1
  retract_config:
  - 0
  - 0
  - 0
  - 0
  - 0
  - 0
  - 0.0
  - 0.0
  - 0.0
  - 0.0
  - 0.0
  - 0.0
  - 1.906
  - 1.906
  - -0.991
  - -0.991
  - 1.571
  - 1.571
  - 0.915
  - 0.915
  - -1.571
  - -1.571
  - 0.03
  - 0.03
  - 0.03
  - 0.03
  self_collision_buffer:
    base_link: 0.02
  self_collision_ignore:
    base_link:
    - torso_link1
    - wheel_link1
    - wheel_link2
    - wheel_link3
    left_arm_link1:
    - left_arm_link2
    left_arm_link2:
    - left_arm_link3
    left_arm_link3:
    - left_arm_link4
    left_arm_link4:
    - left_arm_link5
    left_arm_link5:
    - left_arm_link6
    left_arm_link6:
    - left_gripper_link1
    - left_gripper_link2
    left_gripper_link1:
    - left_gripper_link2
    - attached_object_left_eef_link
    left_gripper_link2:
    - attached_object_left_eef_link
    right_arm_link1:
    - right_arm_link2
    right_arm_link2:
    - right_arm_link3
    right_arm_link3:
    - right_arm_link4
    right_arm_link4:
    - right_arm_link5
    right_arm_link5:
    - right_arm_link6
    right_arm_link6:
    - right_gripper_link1
    - right_gripper_link2
    right_gripper_link1:
    - right_gripper_link2
    - attached_object_right_eef_link
    right_gripper_link2:
    - attached_object_right_eef_link
    torso_link1:
    - torso_link2
    torso_link2:
    - torso_link3
    - torso_link4
    torso_link3:
    - torso_link4
    torso_link4:
    - left_arm_link1
    - right_arm_link1
    - left_arm_link2
    - right_arm_link2
  usd_flip_joint_limits: []
  usd_flip_joints: {}
  usd_robot_root: /r1
  use_global_cumul: true

Deploy Your Robot!

You can now try testing your custom robot! Import and control the robot by launching python omnigibson/examples/robot/robot_control_examples.py! Try different controller options and teleop the robot with your keyboard, If you observe poor joint behavior, you can inspect and tune relevant joint parameters as needed. This test also exposes other bugs that may have occurred along the way, such as missing / bad joint limits, collisions, etc. Please refer to the Franka or Fetch robots as a baseline for a common set of joint parameters that work well. This is what our newly imported Stretch robot looks like in action:

Stretch Import Test