Locomanipulation with Inspire 5-Finger Hand - Mobile Base USD Compatibility Issue

Omniverse XR & Spatial Computing
1

Hi,

I have successfully set up the fixed base pick and place task using “G1_INSPIRE_FTP_CFG” with “g1_29dof_inspire_hand.usd” and Apple Vision Pro hand tracking via CloudXR. I am now trying to combine this with the locomanipulation setup from “Isaac-PickPlace-Locomanipulation-G1-Abs-v0”, replacing the TriHands with Inspire 5-finger hands while keeping the Agile locomotion policy for the lower body.

The issue is that “g1_29dof_inspire_hand.usd” has “fix_root_link=True” and “disable_gravity=True” baked into the USD itself, which prevents mobile base use even when overriding in the Python config.

I also tried the local USD from the unitree_ros package (g1_29dof_rev_1_0_with_inspire_hand_DFQ.usd) and removed the mimic joint attributes and fixed root joint, but the URDF generated from this USD has different link naming conventions that are incompatible with the Pink IK controller frame names.

Could you advise:

  1. Is there a mobile base compatible version of the Inspire hand USD available?

  2. Is there a recommended approach for combining the Agile locomotion policy with Inspire hand teleoperation?

Thank you.