#usda 1.0
(
    customLayerData = {
        string creator = "URDF USD Converter v0.1.3"
    }
    defaultPrim = "linkerhand_g20_left"
    doc = """Generated from Composed Stage of root layer /tmp/tmp5xni4jzi/linkerhand_g20_left.usdc


Generated from Composed Stage of root layer /tmp/urdf_import_linkerhand_g20_left_9306w6un/usdex_linkerhand_g20_left/linkerhand_g20_left.usdc


Generated from Composed Stage of root layer /tmp/urdf_import_linkerhand_g20_left_9306w6un/temp_linkerhand_g20_left/linkerhand_g20_left.usd


Generated from Composed Stage of root layer /home/lxqs/isaacsim/linkerhand/urdf/g20/left/linkerhand_g20_left/payloads/base.usd
"""
    kilogramsPerUnit = 1
    metersPerUnit = 1
    subLayers = [
        @./robot.usda@
    ]
    upAxis = "Z"
)

def Xform "linkerhand_g20_left" (
    prepend apiSchemas = ["GeomModelAPI"]
    assetInfo = {
        string name = "linkerhand_g20_left"
    }
    kind = "component"
)
{
    float3[] extentsHint = [(-0.031971373, -0.153883, -0.007755601), (0.095290326, 0.052480385, 0.25205174), (3.4028235e38, 3.4028235e38, 3.4028235e38), (-3.4028235e38, -3.4028235e38, -3.4028235e38), (3.4028235e38, 3.4028235e38, 3.4028235e38), (-3.4028235e38, -3.4028235e38, -3.4028235e38), (-0.031971373, -0.153883, -0.007755601), (0.095290326, 0.052480385, 0.25205174)]

    def Scope "Materials"
    {
    }

    def Scope "Geometry"
    {
        def Xform "hand_base_link"
        {
            def Xform "hand_base_link" (
                instanceable = true
                prepend references = @./instances.usda@</Instances/hand_base_link>
            )
            {
                quatd xformOp:orient = (1, 0, 0, 0)
                double3 xformOp:scale = (1, 1, 1)
                double3 xformOp:translate = (0, 0, 0)
                uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
            }

            def Xform "thumb_metacarpals_base1"
            {
                quatf xformOp:orient = (1, 0, 0, 0)
                float3 xformOp:scale = (1, 1, 1)
                double3 xformOp:translate = (0.01916, -0.01, 0.0436)
                uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]

                def Xform "thumb_metacarpals_base1" (
                    instanceable = true
                    prepend references = @./instances.usda@</Instances/thumb_metacarpals_base1>
                )
                {
                    quatd xformOp:orient = (1, 0, 0, 0)
                    double3 xformOp:scale = (1, 1, 1)
                    double3 xformOp:translate = (0, 0, 0)
                    uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
                }

                def Xform "thumb_metacarpals_base2"
                {
                    quatf xformOp:orient = (0.9264883, 0.3763236, 0, 0)
                    float3 xformOp:scale = (1, 1, 1)
                    double3 xformOp:translate = (0.019845, 0, 0)
                    uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]

                    def Xform "thumb_metacarpals_base2" (
                        instanceable = true
                        prepend references = @./instances.usda@</Instances/thumb_metacarpals_base2>
                    )
                    {
                        quatd xformOp:orient = (1, 0, 0, 0)
                        double3 xformOp:scale = (1, 1, 1)
                        double3 xformOp:translate = (0, 0, 0)
                        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
                    }

                    def Xform "thumb_metacarpals"
                    {
                        quatf xformOp:orient = (0.49418968, 0.41577393, -0.29111633, 0.7058044)
                        float3 xformOp:scale = (1, 1, 1)
                        double3 xformOp:translate = (0.0088218, -0.024245, 0.0005)
                        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]

                        def Xform "thumb_metacarpals" (
                            instanceable = true
                            prepend references = @./instances.usda@</Instances/thumb_metacarpals>
                        )
                        {
                            quatd xformOp:orient = (1, 0, 0, 0)
                            double3 xformOp:scale = (1, 1, 1)
                            double3 xformOp:translate = (0, 0, 0)
                            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
                        }

                        def Xform "thumb_proximal"
                        {
                            quatf xformOp:orient = (1, 0, 0, 0)
                            float3 xformOp:scale = (1, 1, 1)
                            double3 xformOp:translate = (0.0127018248047608, 0, 0.0627256157349894)
                            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]

                            def Xform "thumb_proximal" (
                                instanceable = true
                                prepend references = @./instances.usda@</Instances/thumb_proximal>
                            )
                            {
                                quatd xformOp:orient = (1, 0, 0, 0)
                                double3 xformOp:scale = (1, 1, 1)
                                double3 xformOp:translate = (0, 0, 0)
                                uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
                            }

                            def Xform "thumb_distal"
                            {
                                quatf xformOp:orient = (1, 0, 0, 0)
                                float3 xformOp:scale = (1, 1, 1)
                                double3 xformOp:translate = (-0.00483652209209624, 0, 0.0342226492098615)
                                uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]

                                def Xform "thumb_distal" (
                                    instanceable = true
                                    prepend references = @./instances.usda@</Instances/thumb_distal>
                                )
                                {
                                    quatd xformOp:orient = (1, 0, 0, 0)
                                    double3 xformOp:scale = (1, 1, 1)
                                    double3 xformOp:translate = (0, 0, 0)
                                    uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
                                }

                                def Xform "thumb_distal_1" (
                                    displayName = "thumb_distal"
                                    instanceable = true
                                    prepend references = @./instances.usda@</Instances/thumb_distal_1>
                                )
                                {
                                    quatd xformOp:orient = (1, 0, 0, 0)
                                    double3 xformOp:scale = (0.70, 0.70, 0.70)
                                    double3 xformOp:translate = (0, 0, 0)
                                    uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
                                }
                            }

                            def Xform "thumb_proximal_1" (
                                displayName = "thumb_proximal"
                                instanceable = true
                                prepend references = @./instances.usda@</Instances/thumb_proximal_1>
                            )
                            {
                                quatd xformOp:orient = (1, 0, 0, 0)
                                double3 xformOp:scale = (0.55, 0.55, 0.55)
                                double3 xformOp:translate = (0, 0, 0)
                                uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
                            }
                        }

                        def Xform "thumb_metacarpals_1" (
                            displayName = "thumb_metacarpals"
                            instanceable = true
                            prepend references = @./instances.usda@</Instances/thumb_metacarpals_1>
                        )
                        {
                            quatd xformOp:orient = (1, 0, 0, 0)
                            double3 xformOp:scale = (0.55, 0.55, 0.55)
                            double3 xformOp:translate = (0, 0, 0)
                            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
                        }
                    }

                    def Xform "thumb_metacarpals_base2_1" (
                        displayName = "thumb_metacarpals_base2"
                        instanceable = true
                        prepend references = @./instances.usda@</Instances/thumb_metacarpals_base2_1>
                    )
                    {
                        quatd xformOp:orient = (1, 0, 0, 0)
                        double3 xformOp:scale = (0.65, 0.65, 0.65)
                        double3 xformOp:translate = (0, 0, 0)
                        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
                    }
                }

                def Xform "thumb_metacarpals_base1_1" (
                    displayName = "thumb_metacarpals_base1"
                    instanceable = true
                    prepend references = @./instances.usda@</Instances/thumb_metacarpals_base1_1>
                )
                {
                    quatd xformOp:orient = (1, 0, 0, 0)
                    double3 xformOp:scale = (0.65, 0.65, 0.65)
                    double3 xformOp:translate = (0, 0, 0)
                    uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
                }
            }

            def Xform "index_metacarpals"
            {
                quatf xformOp:orient = (1, 0, 0, 0)
                float3 xformOp:scale = (1, 1, 1)
                double3 xformOp:translate = (0.0038, -0.03525, 0.1481)
                uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]

                def Xform "index_metacarpals" (
                    instanceable = true
                    prepend references = @./instances.usda@</Instances/index_metacarpals>
                )
                {
                    quatd xformOp:orient = (1, 0, 0, 0)
                    double3 xformOp:scale = (1, 1, 1)
                    double3 xformOp:translate = (0, 0, 0)
                    uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
                }

                def Xform "index_proximal"
                {
                    quatf xformOp:orient = (1, 0, 0, 0)
                    float3 xformOp:scale = (1, 1, 1)
                    double3 xformOp:translate = (-0.0021302, 0, 0)
                    uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]

                    def Xform "index_proximal" (
                        instanceable = true
                        prepend references = @./instances.usda@</Instances/index_proximal>
                    )
                    {
                        quatd xformOp:orient = (1, 0, 0, 0)
                        double3 xformOp:scale = (1, 1, 1)
                        double3 xformOp:translate = (0, 0, 0)
                        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
                    }

                    def Xform "index_middle"
                    {
                        quatf xformOp:orient = (1, 0, 0, 0)
                        float3 xformOp:scale = (1, 1, 1)
                        double3 xformOp:translate = (-0.0041946, 0, 0.044819)
                        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]

                        def Xform "index_middle" (
                            instanceable = true
                            prepend references = @./instances.usda@</Instances/index_middle>
                        )
                        {
                            quatd xformOp:orient = (1, 0, 0, 0)
                            double3 xformOp:scale = (1, 1, 1)
                            double3 xformOp:translate = (0, 0, 0)
                            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
                        }

                        def Xform "index_distal"
                        {
                            quatf xformOp:orient = (1, 0, 0, 0)
                            float3 xformOp:scale = (1, 1, 1)
                            double3 xformOp:translate = (0.0028245, 0, 0.031696)
                            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]

                            def Xform "index_distal" (
                                instanceable = true
                                prepend references = @./instances.usda@</Instances/index_distal>
                            )
                            {
                                quatd xformOp:orient = (1, 0, 0, 0)
                                double3 xformOp:scale = (1, 1, 1)
                                double3 xformOp:translate = (0, 0, 0)
                                uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
                            }

                            def Xform "index_distal_1" (
                                displayName = "index_distal"
                                instanceable = true
                                prepend references = @./instances.usda@</Instances/index_distal_1>
                            )
                            {
                                quatd xformOp:orient = (1, 0, 0, 0)
                                double3 xformOp:scale = (0.75, 0.75, 0.75)
                                double3 xformOp:translate = (0, 0, 0)
                                uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
                            }
                        }

                        def Xform "index_middle_1" (
                            displayName = "index_middle"
                            instanceable = true
                            prepend references = @./instances.usda@</Instances/index_middle_1>
                        )
                        {
                            quatd xformOp:orient = (1, 0, 0, 0)
                            double3 xformOp:scale = (0.85, 0.85, 0.85)
                            double3 xformOp:translate = (0, 0, 0)
                            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
                        }
                    }

                    def Xform "index_proximal_1" (
                        displayName = "index_proximal"
                        instanceable = true
                        prepend references = @./instances.usda@</Instances/index_proximal_1>
                    )
                    {
                        quatd xformOp:orient = (1, 0, 0, 0)
                        double3 xformOp:scale = (0.85, 0.85, 0.85)
                        double3 xformOp:translate = (0, 0, 0)
                        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
                    }
                }

                def Xform "index_metacarpals_1" (
                    displayName = "index_metacarpals"
                    instanceable = true
                    prepend references = @./instances.usda@</Instances/index_metacarpals_1>
                )
                {
                    quatd xformOp:orient = (1, 0, 0, 0)
                    double3 xformOp:scale = (0.75, 0.75, 0.75)
                    double3 xformOp:translate = (0, 0, 0)
                    uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
                }
            }

            def Xform "middle_metacarpals"
            {
                quatf xformOp:orient = (1, 0, 0, 0)
                float3 xformOp:scale = (1, 1, 1)
                double3 xformOp:translate = (0.00379999999265848, -0.0117500000029305, 0.1526)
                uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]

                def Xform "middle_metacarpals" (
                    instanceable = true
                    prepend references = @./instances.usda@</Instances/index_metacarpals_2>
                )
                {
                    quatd xformOp:orient = (1, 0, 0, 0)
                    double3 xformOp:scale = (1, 1, 1)
                    double3 xformOp:translate = (0, 0, 0)
                    uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
                }

                def Xform "middle_proximal"
                {
                    quatf xformOp:orient = (1, 0, 0, 0)
                    float3 xformOp:scale = (1, 1, 1)
                    double3 xformOp:translate = (-0.0021302, 0, 0)
                    uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]

                    def Xform "middle_proximal" (
                        instanceable = true
                        prepend references = @./instances.usda@</Instances/middle_proximal>
                    )
                    {
                        quatd xformOp:orient = (1, 0, 0, 0)
                        double3 xformOp:scale = (1, 1, 1)
                        double3 xformOp:translate = (0, 0, 0)
                        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
                    }

                    def Xform "middle_middle"
                    {
                        quatf xformOp:orient = (1, 0, 0, 0)
                        float3 xformOp:scale = (1, 1, 1)
                        double3 xformOp:translate = (-0.00419457745591796, 0, 0.0448194332262389)
                        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]

                        def Xform "middle_middle" (
                            instanceable = true
                            prepend references = @./instances.usda@</Instances/middle_middle>
                        )
                        {
                            quatd xformOp:orient = (1, 0, 0, 0)
                            double3 xformOp:scale = (1, 1, 1)
                            double3 xformOp:translate = (0, 0, 0)
                            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
                        }

                        def Xform "middle_distal"
                        {
                            quatf xformOp:orient = (1, 0, 0, 0)
                            float3 xformOp:scale = (1, 1, 1)
                            double3 xformOp:translate = (0.0028245, 0, 0.031696)
                            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]

                            def Xform "middle_distal" (
                                instanceable = true
                                prepend references = @./instances.usda@</Instances/middle_distal>
                            )
                            {
                                quatd xformOp:orient = (1, 0, 0, 0)
                                double3 xformOp:scale = (1, 1, 1)
                                double3 xformOp:translate = (0, 0, 0)
                                uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
                            }

                            def Xform "middle_distal_1" (
                                displayName = "middle_distal"
                                instanceable = true
                                prepend references = @./instances.usda@</Instances/middle_distal_1>
                            )
                            {
                                quatd xformOp:orient = (1, 0, 0, 0)
                                double3 xformOp:scale = (0.75, 0.75, 0.75)
                                double3 xformOp:translate = (0, 0, 0)
                                uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
                            }
                        }

                        def Xform "middle_middle_1" (
                            displayName = "middle_middle"
                            instanceable = true
                            prepend references = @./instances.usda@</Instances/middle_middle_1>
                        )
                        {
                            quatd xformOp:orient = (1, 0, 0, 0)
                            double3 xformOp:scale = (0.85, 0.85, 0.85)
                            double3 xformOp:translate = (0, 0, 0)
                            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
                        }
                    }

                    def Xform "middle_proximal_1" (
                        displayName = "middle_proximal"
                        instanceable = true
                        prepend references = @./instances.usda@</Instances/middle_proximal_1>
                    )
                    {
                        quatd xformOp:orient = (1, 0, 0, 0)
                        double3 xformOp:scale = (0.85, 0.85, 0.85)
                        double3 xformOp:translate = (0, 0, 0)
                        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
                    }
                }

                def Xform "middle_metacarpals_1" (
                    displayName = "middle_metacarpals"
                    instanceable = true
                    prepend references = @./instances.usda@</Instances/index_metacarpals_1>
                )
                {
                    quatd xformOp:orient = (1, 0, 0, 0)
                    double3 xformOp:scale = (0.75, 0.75, 0.75)
                    double3 xformOp:translate = (0, 0, 0)
                    uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
                }
            }

            def Xform "ring_metacarpals"
            {
                quatf xformOp:orient = (1, 0, 0, 0)
                float3 xformOp:scale = (1, 1, 1)
                double3 xformOp:translate = (0.00379999999632174, 0.0117499999970695, 0.1481)
                uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]

                def Xform "ring_metacarpals" (
                    instanceable = true
                    prepend references = @./instances.usda@</Instances/index_metacarpals_3>
                )
                {
                    quatd xformOp:orient = (1, 0, 0, 0)
                    double3 xformOp:scale = (1, 1, 1)
                    double3 xformOp:translate = (0, 0, 0)
                    uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
                }

                def Xform "ring_proximal"
                {
                    quatf xformOp:orient = (1, 0, 0, 0)
                    float3 xformOp:scale = (1, 1, 1)
                    double3 xformOp:translate = (-0.0021302, 0, 0)
                    uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]

                    def Xform "ring_proximal" (
                        instanceable = true
                        prepend references = @./instances.usda@</Instances/ring_proximal>
                    )
                    {
                        quatd xformOp:orient = (1, 0, 0, 0)
                        double3 xformOp:scale = (1, 1, 1)
                        double3 xformOp:translate = (0, 0, 0)
                        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
                    }

                    def Xform "ring_middle"
                    {
                        quatf xformOp:orient = (1, 0, 0, 0)
                        float3 xformOp:scale = (1, 1, 1)
                        double3 xformOp:translate = (-0.00419457745591796, 0, 0.0448194332262389)
                        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]

                        def Xform "ring_middle" (
                            instanceable = true
                            prepend references = @./instances.usda@</Instances/ring_middle>
                        )
                        {
                            quatd xformOp:orient = (1, 0, 0, 0)
                            double3 xformOp:scale = (1, 1, 1)
                            double3 xformOp:translate = (0, 0, 0)
                            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
                        }

                        def Xform "ring_distal"
                        {
                            quatf xformOp:orient = (1, 0, 0, 0)
                            float3 xformOp:scale = (1, 1, 1)
                            double3 xformOp:translate = (0.0028245, 0, 0.031696)
                            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]

                            def Xform "ring_distal" (
                                instanceable = true
                                prepend references = @./instances.usda@</Instances/index_distal_2>
                            )
                            {
                                quatd xformOp:orient = (1, 0, 0, 0)
                                double3 xformOp:scale = (1, 1, 1)
                                double3 xformOp:translate = (0, 0, 0)
                                uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
                            }

                            def Xform "ring_distal_1" (
                                displayName = "ring_distal"
                                instanceable = true
                                prepend references = @./instances.usda@</Instances/index_distal_1>
                            )
                            {
                                quatd xformOp:orient = (1, 0, 0, 0)
                                double3 xformOp:scale = (0.75, 0.75, 0.75)
                                double3 xformOp:translate = (0, 0, 0)
                                uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
                            }
                        }

                        def Xform "ring_middle_1" (
                            displayName = "ring_middle"
                            instanceable = true
                            prepend references = @./instances.usda@</Instances/ring_middle_1>
                        )
                        {
                            quatd xformOp:orient = (1, 0, 0, 0)
                            double3 xformOp:scale = (0.85, 0.85, 0.85)
                            double3 xformOp:translate = (0, 0, 0)
                            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
                        }
                    }

                    def Xform "ring_proximal_1" (
                        displayName = "ring_proximal"
                        instanceable = true
                        prepend references = @./instances.usda@</Instances/ring_proximal_1>
                    )
                    {
                        quatd xformOp:orient = (1, 0, 0, 0)
                        double3 xformOp:scale = (0.85, 0.85, 0.85)
                        double3 xformOp:translate = (0, 0, 0)
                        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
                    }
                }

                def Xform "ring_metacarpals_1" (
                    displayName = "ring_metacarpals"
                    instanceable = true
                    prepend references = @./instances.usda@</Instances/index_metacarpals_1>
                )
                {
                    quatd xformOp:orient = (1, 0, 0, 0)
                    double3 xformOp:scale = (0.75, 0.75, 0.75)
                    double3 xformOp:translate = (0, 0, 0)
                    uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
                }
            }

            def Xform "pinky_metacarpals"
            {
                quatf xformOp:orient = (1, 0, 0, 0)
                float3 xformOp:scale = (1, 1, 1)
                double3 xformOp:translate = (0.00379999999998499, 0.0352499999970695, 0.1436)
                uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]

                def Xform "pinky_metacarpals" (
                    instanceable = true
                    prepend references = @./instances.usda@</Instances/index_metacarpals_4>
                )
                {
                    quatd xformOp:orient = (1, 0, 0, 0)
                    double3 xformOp:scale = (1, 1, 1)
                    double3 xformOp:translate = (0, 0, 0)
                    uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
                }

                def Xform "pinky_proximal"
                {
                    quatf xformOp:orient = (1, 0, 0, 0)
                    float3 xformOp:scale = (1, 1, 1)
                    double3 xformOp:translate = (-0.0021302, 0, 0)
                    uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]

                    def Xform "pinky_proximal" (
                        instanceable = true
                        prepend references = @./instances.usda@</Instances/pinky_proximal>
                    )
                    {
                        quatd xformOp:orient = (1, 0, 0, 0)
                        double3 xformOp:scale = (1, 1, 1)
                        double3 xformOp:translate = (0, 0, 0)
                        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
                    }

                    def Xform "pinky_middle"
                    {
                        quatf xformOp:orient = (1, 0, 0, 0)
                        float3 xformOp:scale = (1, 1, 1)
                        double3 xformOp:translate = (-0.0041946, 0, 0.044819)
                        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]

                        def Xform "pinky_middle" (
                            instanceable = true
                            prepend references = @./instances.usda@</Instances/index_middle_2>
                        )
                        {
                            quatd xformOp:orient = (1, 0, 0, 0)
                            double3 xformOp:scale = (1, 1, 1)
                            double3 xformOp:translate = (0, 0, 0)
                            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
                        }

                        def Xform "pinky_distal"
                        {
                            quatf xformOp:orient = (1, 0, 0, 0)
                            float3 xformOp:scale = (1, 1, 1)
                            double3 xformOp:translate = (0.0028245, 0, 0.031696)
                            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]

                            def Xform "pinky_distal" (
                                instanceable = true
                                prepend references = @./instances.usda@</Instances/pinky_distal>
                            )
                            {
                                quatd xformOp:orient = (1, 0, 0, 0)
                                double3 xformOp:scale = (1, 1, 1)
                                double3 xformOp:translate = (0, 0, 0)
                                uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
                            }

                            def Xform "pinky_distal_1" (
                                displayName = "pinky_distal"
                                instanceable = true
                                prepend references = @./instances.usda@</Instances/pinky_distal_1>
                            )
                            {
                                quatd xformOp:orient = (1, 0, 0, 0)
                                double3 xformOp:scale = (0.75, 0.75, 0.75)
                                double3 xformOp:translate = (0, 0, 0)
                                uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
                            }
                        }

                        def Xform "pinky_middle_1" (
                            displayName = "pinky_middle"
                            instanceable = true
                            prepend references = @./instances.usda@</Instances/index_middle_1>
                        )
                        {
                            quatd xformOp:orient = (1, 0, 0, 0)
                            double3 xformOp:scale = (0.85, 0.85, 0.85)
                            double3 xformOp:translate = (0, 0, 0)
                            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
                        }
                    }

                    def Xform "pinky_proximal_1" (
                        displayName = "pinky_proximal"
                        instanceable = true
                        prepend references = @./instances.usda@</Instances/pinky_proximal_1>
                    )
                    {
                        quatd xformOp:orient = (1, 0, 0, 0)
                        double3 xformOp:scale = (0.85, 0.85, 0.85)
                        double3 xformOp:translate = (0, 0, 0)
                        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
                    }
                }

                def Xform "pinky_metacarpals_1" (
                    displayName = "pinky_metacarpals"
                    instanceable = true
                    prepend references = @./instances.usda@</Instances/index_metacarpals_1>
                )
                {
                    quatd xformOp:orient = (1, 0, 0, 0)
                    double3 xformOp:scale = (0.75, 0.75, 0.75)
                    double3 xformOp:translate = (0, 0, 0)
                    uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
                }
            }

            def Xform "hand_base_link_1" (
                displayName = "hand_base_link"
                instanceable = true
                prepend references = @./instances.usda@</Instances/hand_base_link_1>
            )
            {
                # Same visual mesh as collision source; scale 1 = match rendered palm.
                # purpose=guide on the mesh keeps this collider invisible in viewport.
                quatd xformOp:orient = (1, 0, 0, 0)
                double3 xformOp:scale = (0.90, 0.90, 0.90)
                double3 xformOp:translate = (0, 0, 0)
                uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
            }
        }
    }

    def Scope "Physics"
    {
    }

    def Scope "VisualMaterials"
    {
    }
}