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new file mode 100644
index 0000000..4463273
--- /dev/null
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diff --git a/robots/genie/G1/robot_center.usda b/robots/genie/G1/robot_center.usda
new file mode 100644
index 0000000..3ee8044
--- /dev/null
+++ b/robots/genie/G1/robot_center.usda
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 95616
diff --git a/robots/genie/G1_120s/.asset_hash b/robots/genie/G1_120s/.asset_hash
new file mode 100644
index 0000000..c7cd460
--- /dev/null
+++ b/robots/genie/G1_120s/.asset_hash
@@ -0,0 +1 @@
+5923290cf5cc13edcc98b9ab020a3c74
\ No newline at end of file
diff --git a/robots/genie/G1_120s/config.yaml b/robots/genie/G1_120s/config.yaml
new file mode 100644
index 0000000..4ff70fd
--- /dev/null
+++ b/robots/genie/G1_120s/config.yaml
@@ -0,0 +1,23 @@
+asset_path: null
+usd_dir: null
+usd_file_name: G1_120s
+force_usd_conversion: true
+make_instanceable: true
+fix_base: false
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+link_density: 0.0
+merge_fixed_joints: false
+convert_mimic_joints_to_normal_joints: false
+joint_drive:
+ drive_type: force
+ target_type: position
+ gains:
+ stiffness: 100.0
+ damping: 1.0
+collider_type: convex_hull
+self_collision: false
+replace_cylinders_with_capsules: false
+collision_from_visuals: false
+##
+# Generated by UrdfConverter on 2025-05-21 at 12:18:42.
+##
diff --git a/robots/genie/G1_120s/configuration/G1_120s_base.usd b/robots/genie/G1_120s/configuration/G1_120s_base.usd
new file mode 100644
index 0000000..93245ea
--- /dev/null
+++ b/robots/genie/G1_120s/configuration/G1_120s_base.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 24031119
diff --git a/robots/genie/G1_120s/configuration/G1_120s_physics.usd b/robots/genie/G1_120s/configuration/G1_120s_physics.usd
new file mode 100644
index 0000000..55dd811
--- /dev/null
+++ b/robots/genie/G1_120s/configuration/G1_120s_physics.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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--- /dev/null
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+version https://git-lfs.github.com/spec/v1
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+size 645
diff --git a/robots/genie/G1_120s/configuration/camera_stand.usdc b/robots/genie/G1_120s/configuration/camera_stand.usdc
new file mode 100644
index 0000000..c7d4a51
--- /dev/null
+++ b/robots/genie/G1_120s/configuration/camera_stand.usdc
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/robots/genie/G1_120s/robot.usda b/robots/genie/G1_120s/robot.usda
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--- /dev/null
+++ b/robots/genie/G1_120s/robot.usda
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+version https://git-lfs.github.com/spec/v1
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diff --git a/robots/genie/G1_omnipicker/.asset_hash b/robots/genie/G1_omnipicker/.asset_hash
new file mode 100644
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diff --git a/robots/genie/G1_omnipicker/config.yaml b/robots/genie/G1_omnipicker/config.yaml
new file mode 100644
index 0000000..a5d4d05
--- /dev/null
+++ b/robots/genie/G1_omnipicker/config.yaml
@@ -0,0 +1,23 @@
+asset_path: null
+usd_dir: null
+usd_file_name: robot
+force_usd_conversion: true
+make_instanceable: true
+fix_base: false
+root_link_name: null
+link_density: 0.0
+merge_fixed_joints: false
+convert_mimic_joints_to_normal_joints: false
+joint_drive:
+ drive_type: force
+ target_type: position
+ gains:
+ stiffness: 100.0
+ damping: 1.0
+collider_type: convex_hull
+self_collision: false
+replace_cylinders_with_capsules: false
+collision_from_visuals: false
+##
+# Generated by UrdfConverter on 2025-09-23 at 10:55:29.
+##
diff --git a/robots/genie/G1_omnipicker/configuration/Cam.usd b/robots/genie/G1_omnipicker/configuration/Cam.usd
new file mode 100644
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new file mode 100644
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@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/robots/genie/G1_omnipicker/configuration/G1_omnipicker_physics.usd b/robots/genie/G1_omnipicker/configuration/G1_omnipicker_physics.usd
new file mode 100644
index 0000000..bcbdbdb
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+++ b/robots/genie/G1_omnipicker/configuration/G1_omnipicker_physics.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/robots/genie/G1_omnipicker/configuration/G1_omnipicker_sensor.usd b/robots/genie/G1_omnipicker/configuration/G1_omnipicker_sensor.usd
new file mode 100644
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new file mode 100644
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--- /dev/null
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+version https://git-lfs.github.com/spec/v1
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diff --git a/robots/genie/G1_omnipicker/configuration/robot_physics.usd b/robots/genie/G1_omnipicker/configuration/robot_physics.usd
new file mode 100644
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--- /dev/null
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@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/robots/genie/G1_omnipicker/configuration/robot_robot.usd b/robots/genie/G1_omnipicker/configuration/robot_robot.usd
new file mode 100644
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--- /dev/null
+++ b/robots/genie/G1_omnipicker/configuration/robot_robot.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 3074
diff --git a/robots/genie/G1_omnipicker/configuration/robot_sensor.usd b/robots/genie/G1_omnipicker/configuration/robot_sensor.usd
new file mode 100644
index 0000000..7631f65
--- /dev/null
+++ b/robots/genie/G1_omnipicker/configuration/robot_sensor.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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new file mode 100644
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--- /dev/null
+++ b/robots/genie/G1_omnipicker/robot.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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new file mode 100644
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+version https://git-lfs.github.com/spec/v1
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diff --git a/robots/genie/G2/G2_omnipicker_fixed_dual.urdf b/robots/genie/G2/G2_omnipicker_fixed_dual.urdf
new file mode 100644
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--- /dev/null
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diff --git a/robots/genie/G2/config.yaml b/robots/genie/G2/config.yaml
new file mode 100644
index 0000000..40d4395
--- /dev/null
+++ b/robots/genie/G2/config.yaml
@@ -0,0 +1,23 @@
+asset_path: null
+usd_dir: null
+usd_file_name: robot
+force_usd_conversion: true
+make_instanceable: true
+fix_base: false
+root_link_name: null
+link_density: 0.0
+merge_fixed_joints: false
+convert_mimic_joints_to_normal_joints: false
+joint_drive:
+ drive_type: force
+ target_type: position
+ gains:
+ stiffness: 100.0
+ damping: 1.0
+collider_type: convex_hull
+self_collision: false
+replace_cylinders_with_capsules: false
+collision_from_visuals: false
+##
+# Generated by UrdfConverter on 2025-10-27 at 10:20:02.
+##
\ No newline at end of file
diff --git a/robots/genie/G2/configuration/Cam.usd b/robots/genie/G2/configuration/Cam.usd
new file mode 100644
index 0000000..7c571b2
--- /dev/null
+++ b/robots/genie/G2/configuration/Cam.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f58b881307b67f42ea849c93f4e66736c9eacd3c832ff9839f7a1d394327b6d0
+size 567636
diff --git a/robots/genie/G2/configuration/robot_base.usd b/robots/genie/G2/configuration/robot_base.usd
new file mode 100644
index 0000000..01b2bd5
--- /dev/null
+++ b/robots/genie/G2/configuration/robot_base.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6abf3888859bc2385bd084bcdeec8fe464891110d61d3fa9ef1c7efd5a690488
+size 57619915
diff --git a/robots/genie/G2/configuration/robot_physics.usd b/robots/genie/G2/configuration/robot_physics.usd
new file mode 100644
index 0000000..8348c4f
--- /dev/null
+++ b/robots/genie/G2/configuration/robot_physics.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1680e1dc7ea75a2585144eee33b1224284a80f5d25c9dacfd0caa0b9170040f2
+size 15953
diff --git a/robots/genie/G2/configuration/robot_robot.usd b/robots/genie/G2/configuration/robot_robot.usd
new file mode 100644
index 0000000..2185f3d
--- /dev/null
+++ b/robots/genie/G2/configuration/robot_robot.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a7f5238b029832980a6fd82a224a822781e7a121c15e4fcc29c8b71c32b4cae4
+size 3701
diff --git a/robots/genie/G2/configuration/robot_sensor.usd b/robots/genie/G2/configuration/robot_sensor.usd
new file mode 100644
index 0000000..7631f65
--- /dev/null
+++ b/robots/genie/G2/configuration/robot_sensor.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d32e25c7daf3f7fdd008086f37e7f95dd2198a1bf94068c72defd7fdf81053f3
+size 645
diff --git a/robots/genie/G2/robot.usd b/robots/genie/G2/robot.usd
new file mode 100644
index 0000000..a9651ac
--- /dev/null
+++ b/robots/genie/G2/robot.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1c9fc8b4f245f38730b00a8e327d0dfe5f391e789e3df93a66fd7e9f15b1cc4c
+size 1478
diff --git a/robots/genie/G2/robot.usda b/robots/genie/G2/robot.usda
new file mode 100644
index 0000000..f87b694
--- /dev/null
+++ b/robots/genie/G2/robot.usda
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:094625655c3182d9433c7311197db5d0bb312a924ad57b86997064a586e9cd3b
+size 1092255
diff --git a/robots/genie/G2/robot_fix.usda b/robots/genie/G2/robot_fix.usda
new file mode 100644
index 0000000..333d318
--- /dev/null
+++ b/robots/genie/G2/robot_fix.usda
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e4ea6060e32d64b18df154e9a326a882c899b1c59b0a52a3850dabbebba7639b
+size 1117736
diff --git a/robots/genie/G2_90d/.asset_hash b/robots/genie/G2_90d/.asset_hash
new file mode 100644
index 0000000..883577f
--- /dev/null
+++ b/robots/genie/G2_90d/.asset_hash
@@ -0,0 +1 @@
+2a6cd3ae73c67f1cb2d17379ea4aee18
\ No newline at end of file
diff --git a/robots/genie/G2_90d/config.yaml b/robots/genie/G2_90d/config.yaml
new file mode 100644
index 0000000..ed7ae97
--- /dev/null
+++ b/robots/genie/G2_90d/config.yaml
@@ -0,0 +1,23 @@
+asset_path: null
+usd_dir: null
+usd_file_name: robot
+force_usd_conversion: true
+make_instanceable: true
+fix_base: false
+root_link_name: null
+link_density: 0.0
+merge_fixed_joints: false
+convert_mimic_joints_to_normal_joints: false
+joint_drive:
+ drive_type: force
+ target_type: position
+ gains:
+ stiffness: 100.0
+ damping: 1.0
+collider_type: convex_hull
+self_collision: false
+replace_cylinders_with_capsules: false
+collision_from_visuals: false
+##
+# Generated by UrdfConverter on 2026-02-24 at 19:29:20.
+##
diff --git a/robots/genie/G2_90d/configuration/robot_base.usd b/robots/genie/G2_90d/configuration/robot_base.usd
new file mode 100644
index 0000000..1f45fac
--- /dev/null
+++ b/robots/genie/G2_90d/configuration/robot_base.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4100bec3a79691de76eb5bd3d95045a1011993a320ef1e74c656d53617fbaa1a
+size 45629111
diff --git a/robots/genie/G2_90d/configuration/robot_physics.usd b/robots/genie/G2_90d/configuration/robot_physics.usd
new file mode 100644
index 0000000..57d57e8
--- /dev/null
+++ b/robots/genie/G2_90d/configuration/robot_physics.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:68150d5af49bdcfc2831dfb11dd63a4d56fb5fbd224b180b4536ec88efdb00ec
+size 13733
diff --git a/robots/genie/G2_90d/configuration/robot_robot.usd b/robots/genie/G2_90d/configuration/robot_robot.usd
new file mode 100644
index 0000000..06f78c5
--- /dev/null
+++ b/robots/genie/G2_90d/configuration/robot_robot.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f11f3724be5fcb5df17458f438e1487208975ce22665274b3cc2901d16ca3a91
+size 3638
diff --git a/robots/genie/G2_90d/configuration/robot_sensor.usd b/robots/genie/G2_90d/configuration/robot_sensor.usd
new file mode 100644
index 0000000..7631f65
--- /dev/null
+++ b/robots/genie/G2_90d/configuration/robot_sensor.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d32e25c7daf3f7fdd008086f37e7f95dd2198a1bf94068c72defd7fdf81053f3
+size 645
diff --git a/robots/genie/G2_90d/robot.usd b/robots/genie/G2_90d/robot.usd
new file mode 100644
index 0000000..454f4da
--- /dev/null
+++ b/robots/genie/G2_90d/robot.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9f7bfdec590be64c80e3af90543ddace7634526d080a38235cb34d91dacf43c2
+size 1454
diff --git a/robots/genie/G2_90d/robot.usda b/robots/genie/G2_90d/robot.usda
new file mode 100644
index 0000000..9530f5f
--- /dev/null
+++ b/robots/genie/G2_90d/robot.usda
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d0ee280cd54370b71d1d4f985743b99684e5fd144f56e0d618c0276836aa705d
+size 170247
diff --git a/robots/genie/G2_90d/robot_fixed.usda b/robots/genie/G2_90d/robot_fixed.usda
new file mode 100644
index 0000000..a190d7a
--- /dev/null
+++ b/robots/genie/G2_90d/robot_fixed.usda
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0753670fe7cb3e4fe72c81e17bd0de0bdb2bcf5acde4a9b779600ead7f507504
+size 172649
diff --git a/robots/genie/G2_90d/robot_gipper_90.usda b/robots/genie/G2_90d/robot_gipper_90.usda
new file mode 100644
index 0000000..3ab2128
--- /dev/null
+++ b/robots/genie/G2_90d/robot_gipper_90.usda
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1e3b3db9cc9782e59e5cc4ac3fb2d17d0bec070f561f8991553cb5be548aa985
+size 176362
diff --git a/robots/genie/G2_90d/robot_scoop.usda b/robots/genie/G2_90d/robot_scoop.usda
new file mode 100644
index 0000000..0151bb6
--- /dev/null
+++ b/robots/genie/G2_90d/robot_scoop.usda
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+##
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