#usda 1.0
(
    customLayerData = {
        string creator = "URDF USD Converter v0.1.3"
    }
    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
    upAxis = "Z"
)

def Scope "Instances"
{

    def Xform "hand_base_link" (
        prepend references = @./geometries.usd@</Geometries/hand_base_link>
    )
    {
        over "hand_base_link" (
            apiSchemas = ["MaterialBindingAPI"]
        )
        {
            custom rel material:binding
            prepend rel material:binding = </Instances/hand_base_link/VisualMaterials/material_1>
        }

        def Scope "VisualMaterials"
        {
            def Material "material_1" (
                instanceable = true
                prepend references = @./materials.usda@</Materials/material_1>
            )
            {
            }
        }
    }

    def Xform "hand_base_link_1" (
        prepend references = @./geometries.usd@</Geometries/hand_base_link>
    )
    {
        over "hand_base_link" (
            apiSchemas = ["PhysicsCollisionAPI", "NewtonCollisionAPI", "PhysicsMeshCollisionAPI", "NewtonMeshCollisionAPI", "PhysxCollisionAPI"]
        )
        {
            # Self-collision ON: palm visual-mesh collider (purpose=guide).
            # Mid/proximal finger hulls stay OFF to avoid PD fist-end explode.
            bool physics:collisionEnabled = 1
            token physics:approximation = "convexHull"
            token purpose = "guide"
            float physxCollision:contactOffset = 0.001
            float physxCollision:restOffset = -0.0005
        }
    }

    def Xform "thumb_metacarpals_base1" (
        prepend references = @./geometries.usd@</Geometries/thumb_metacarpals_base1>
    )
    {
        over "thumb_metacarpals_base1" (
            apiSchemas = ["MaterialBindingAPI"]
        )
        {
            custom rel material:binding
            prepend rel material:binding = </Instances/thumb_metacarpals_base1/VisualMaterials/material_2>
        }

        def Scope "VisualMaterials"
        {
            def Material "material_2" (
                instanceable = true
                prepend references = @./materials.usda@</Materials/material_1>
            )
            {
            }
        }
    }

    def Xform "thumb_metacarpals_base1_1" (
        prepend references = @./geometries.usd@</Geometries/thumb_metacarpals_base1>
    )
    {
        over "thumb_metacarpals_base1" (
            apiSchemas = ["PhysicsCollisionAPI", "NewtonCollisionAPI", "PhysicsMeshCollisionAPI", "NewtonMeshCollisionAPI"]
        )
        {
            # OFF: CMC rest-pose convexHull overlaps palm.
            bool physics:collisionEnabled = 0
            token physics:approximation = "convexHull"
            token purpose = "guide"
        }
    }

    def Xform "thumb_metacarpals_base2" (
        prepend references = @./geometries.usd@</Geometries/thumb_metacarpals_base2>
    )
    {
        over "thumb_metacarpals_base2" (
            apiSchemas = ["MaterialBindingAPI"]
        )
        {
            custom rel material:binding
            prepend rel material:binding = </Instances/thumb_metacarpals_base2/VisualMaterials/material_3>
        }

        def Scope "VisualMaterials"
        {
            def Material "material_3" (
                instanceable = true
                prepend references = @./materials.usda@</Materials/material_1>
            )
            {
            }
        }
    }

    def Xform "thumb_metacarpals_base2_1" (
        prepend references = @./geometries.usd@</Geometries/thumb_metacarpals_base2>
    )
    {
        over "thumb_metacarpals_base2" (
            apiSchemas = ["PhysicsCollisionAPI", "NewtonCollisionAPI", "PhysicsMeshCollisionAPI", "NewtonMeshCollisionAPI"]
        )
        {
            # OFF: CMC rest-pose convexHull overlaps palm.
            bool physics:collisionEnabled = 0
            token physics:approximation = "convexHull"
            token purpose = "guide"
        }
    }

    def Xform "thumb_metacarpals" (
        prepend references = @./geometries.usd@</Geometries/thumb_metacarpals>
    )
    {
        over "thumb_metacarpals" (
            apiSchemas = ["MaterialBindingAPI"]
        )
        {
            custom rel material:binding
            prepend rel material:binding = </Instances/thumb_metacarpals/VisualMaterials/material_4>
        }

        def Scope "VisualMaterials"
        {
            def Material "material_4" (
                instanceable = true
                prepend references = @./materials.usda@</Materials/material_1>
            )
            {
            }
        }
    }

    def Xform "thumb_metacarpals_1" (
        prepend references = @./geometries.usd@</Geometries/thumb_metacarpals>
    )
    {
        over "thumb_metacarpals" (
            apiSchemas = ["PhysicsCollisionAPI", "NewtonCollisionAPI", "PhysicsMeshCollisionAPI", "NewtonMeshCollisionAPI", "PhysxCollisionAPI"]
        )
        {
            # OFF: open-pose convexHull embeds into palm → Instant NaN.
            bool physics:collisionEnabled = 0
            token physics:approximation = "convexHull"
            token purpose = "guide"
            float physxCollision:contactOffset = 0.001
            float physxCollision:restOffset = -0.0005
        }
    }

    def Xform "thumb_proximal" (
        prepend references = @./geometries.usd@</Geometries/thumb_proximal>
    )
    {
        over "thumb_proximal" (
            apiSchemas = ["MaterialBindingAPI"]
        )
        {
            custom rel material:binding
            prepend rel material:binding = </Instances/thumb_proximal/VisualMaterials/material_5>
        }

        def Scope "VisualMaterials"
        {
            def Material "material_5" (
                instanceable = true
                prepend references = @./materials.usda@</Materials/material_1>
            )
            {
            }
        }
    }

    def Xform "thumb_proximal_1" (
        prepend references = @./geometries.usd@</Geometries/thumb_proximal>
    )
    {
        over "thumb_proximal" (
            apiSchemas = ["PhysicsCollisionAPI", "NewtonCollisionAPI", "PhysicsMeshCollisionAPI", "NewtonMeshCollisionAPI", "PhysxCollisionAPI"]
        )
        {
            # OFF: open-pose convexHull embeds into palm → Instant NaN.
            bool physics:collisionEnabled = 0
            token physics:approximation = "convexHull"
            token purpose = "guide"
            float physxCollision:contactOffset = 0.001
            float physxCollision:restOffset = -0.0005
        }
    }

    def Xform "thumb_distal" (
        prepend references = @./geometries.usd@</Geometries/thumb_distal>
    )
    {
        over "thumb_distal" (
            apiSchemas = ["MaterialBindingAPI"]
        )
        {
            custom rel material:binding
            prepend rel material:binding = </Instances/thumb_distal/VisualMaterials/material_6>
        }

        def Scope "VisualMaterials"
        {
            def Material "material_6" (
                instanceable = true
                prepend references = @./materials.usda@</Materials/material_1>
            )
            {
            }
        }
    }

    def Xform "thumb_distal_1" (
        prepend references = @./geometries.usd@</Geometries/thumb_distal>
    )
    {
        over "thumb_distal" (
            apiSchemas = ["PhysicsCollisionAPI", "NewtonCollisionAPI", "PhysicsMeshCollisionAPI", "NewtonMeshCollisionAPI", "PhysxCollisionAPI"]
        )
        {
            # ON: tip vs palm only (shaft OFF for open-pose stability).
            bool physics:collisionEnabled = 1
            token physics:approximation = "convexHull"
            token purpose = "guide"
            float physxCollision:contactOffset = 0.001
            float physxCollision:restOffset = -0.0005
        }
    }

    def Xform "index_metacarpals" (
        prepend references = @./geometries.usd@</Geometries/index_metacarpals>
    )
    {
        over "index_metacarpals" (
            apiSchemas = ["MaterialBindingAPI"]
        )
        {
            custom rel material:binding
            prepend rel material:binding = </Instances/index_metacarpals/VisualMaterials/material_7>
        }

        def Scope "VisualMaterials"
        {
            def Material "material_7" (
                instanceable = true
                prepend references = @./materials.usda@</Materials/material_1>
            )
            {
            }
        }
    }

    def Xform "index_metacarpals_1" (
        prepend references = @./geometries.usd@</Geometries/index_metacarpals>
    )
    {
        over "index_metacarpals" (
            apiSchemas = ["PhysicsCollisionAPI", "NewtonCollisionAPI", "PhysicsMeshCollisionAPI", "NewtonMeshCollisionAPI"]
        )
        {
            # OFF: fat/adjacent hulls explode under PD close-fist.
            bool physics:collisionEnabled = 0
            token physics:approximation = "convexHull"
            token purpose = "guide"
        }
    }

    def Xform "index_metacarpals_2" (
        prepend references = @./geometries.usd@</Geometries/index_metacarpals>
    )
    {
        over "index_metacarpals" (
            apiSchemas = ["MaterialBindingAPI"]
        )
        {
            custom rel material:binding
            prepend rel material:binding = </Instances/index_metacarpals_2/VisualMaterials/material_11>
        }

        def Scope "VisualMaterials"
        {
            def Material "material_11" (
                instanceable = true
                prepend references = @./materials.usda@</Materials/material_1>
            )
            {
            }
        }
    }

    def Xform "index_metacarpals_3" (
        prepend references = @./geometries.usd@</Geometries/index_metacarpals>
    )
    {
        over "index_metacarpals" (
            apiSchemas = ["MaterialBindingAPI"]
        )
        {
            custom rel material:binding
            prepend rel material:binding = </Instances/index_metacarpals_3/VisualMaterials/material_15>
        }

        def Scope "VisualMaterials"
        {
            def Material "material_15" (
                instanceable = true
                prepend references = @./materials.usda@</Materials/material_1>
            )
            {
            }
        }
    }

    def Xform "index_metacarpals_4" (
        prepend references = @./geometries.usd@</Geometries/index_metacarpals>
    )
    {
        over "index_metacarpals" (
            apiSchemas = ["MaterialBindingAPI"]
        )
        {
            custom rel material:binding
            prepend rel material:binding = </Instances/index_metacarpals_4/VisualMaterials/material_19>
        }

        def Scope "VisualMaterials"
        {
            def Material "material_19" (
                instanceable = true
                prepend references = @./materials.usda@</Materials/material_1>
            )
            {
            }
        }
    }

    def Xform "index_proximal" (
        prepend references = @./geometries.usd@</Geometries/index_proximal>
    )
    {
        over "index_proximal" (
            apiSchemas = ["MaterialBindingAPI"]
        )
        {
            custom rel material:binding
            prepend rel material:binding = </Instances/index_proximal/VisualMaterials/material_8>
        }

        def Scope "VisualMaterials"
        {
            def Material "material_8" (
                instanceable = true
                prepend references = @./materials.usda@</Materials/material_1>
            )
            {
            }
        }
    }

    def Xform "index_proximal_1" (
        prepend references = @./geometries.usd@</Geometries/index_proximal>
    )
    {
        over "index_proximal" (
            apiSchemas = ["PhysicsCollisionAPI", "NewtonCollisionAPI", "PhysicsMeshCollisionAPI", "NewtonMeshCollisionAPI"]
        )
        {
            # OFF: fat/adjacent hulls explode under PD close-fist.
            bool physics:collisionEnabled = 0
            token physics:approximation = "convexHull"
            token purpose = "guide"
        }
    }

    def Xform "index_middle" (
        prepend references = @./geometries.usd@</Geometries/index_middle>
    )
    {
        over "index_middle" (
            apiSchemas = ["MaterialBindingAPI"]
        )
        {
            custom rel material:binding
            prepend rel material:binding = </Instances/index_middle/VisualMaterials/material_9>
        }

        def Scope "VisualMaterials"
        {
            def Material "material_9" (
                instanceable = true
                prepend references = @./materials.usda@</Materials/material_1>
            )
            {
            }
        }
    }

    def Xform "index_middle_1" (
        prepend references = @./geometries.usd@</Geometries/index_middle>
    )
    {
        over "index_middle" (
            apiSchemas = ["PhysicsCollisionAPI", "NewtonCollisionAPI", "PhysicsMeshCollisionAPI", "NewtonMeshCollisionAPI"]
        )
        {
            # OFF: fat/adjacent hulls explode under PD close-fist.
            bool physics:collisionEnabled = 0
            token physics:approximation = "convexHull"
            token purpose = "guide"
        }
    }

    def Xform "index_middle_2" (
        prepend references = @./geometries.usd@</Geometries/index_middle>
    )
    {
        over "index_middle" (
            apiSchemas = ["MaterialBindingAPI"]
        )
        {
            custom rel material:binding
            prepend rel material:binding = </Instances/index_middle_2/VisualMaterials/material_21>
        }

        def Scope "VisualMaterials"
        {
            def Material "material_21" (
                instanceable = true
                prepend references = @./materials.usda@</Materials/material_1>
            )
            {
            }
        }
    }

    def Xform "index_distal" (
        prepend references = @./geometries.usd@</Geometries/index_distal>
    )
    {
        over "index_distal" (
            apiSchemas = ["MaterialBindingAPI"]
        )
        {
            custom rel material:binding
            prepend rel material:binding = </Instances/index_distal/VisualMaterials/material_10>
        }

        def Scope "VisualMaterials"
        {
            def Material "material_10" (
                instanceable = true
                prepend references = @./materials.usda@</Materials/material_1>
            )
            {
            }
        }
    }

    def Xform "index_distal_1" (
        prepend references = @./geometries.usd@</Geometries/index_distal>
    )
    {
        over "index_distal" (
            apiSchemas = ["PhysicsCollisionAPI", "NewtonCollisionAPI", "PhysicsMeshCollisionAPI", "NewtonMeshCollisionAPI", "PhysxCollisionAPI"]
        )
        {
            # ON: fingertip contact under self-collision.
            bool physics:collisionEnabled = 1
            token physics:approximation = "convexHull"
            token purpose = "guide"
            float physxCollision:contactOffset = 0.001
            float physxCollision:restOffset = -0.0005
        }
    }

    def Xform "index_distal_2" (
        prepend references = @./geometries.usd@</Geometries/index_distal>
    )
    {
        over "index_distal" (
            apiSchemas = ["MaterialBindingAPI"]
        )
        {
            custom rel material:binding
            prepend rel material:binding = </Instances/index_distal_2/VisualMaterials/material_18>
        }

        def Scope "VisualMaterials"
        {
            def Material "material_18" (
                instanceable = true
                prepend references = @./materials.usda@</Materials/material_1>
            )
            {
            }
        }
    }

    def Xform "middle_proximal" (
        prepend references = @./geometries.usd@</Geometries/middle_proximal>
    )
    {
        over "middle_proximal" (
            apiSchemas = ["MaterialBindingAPI"]
        )
        {
            custom rel material:binding
            prepend rel material:binding = </Instances/middle_proximal/VisualMaterials/material_12>
        }

        def Scope "VisualMaterials"
        {
            def Material "material_12" (
                instanceable = true
                prepend references = @./materials.usda@</Materials/material_1>
            )
            {
            }
        }
    }

    def Xform "middle_proximal_1" (
        prepend references = @./geometries.usd@</Geometries/middle_proximal>
    )
    {
        over "middle_proximal" (
            apiSchemas = ["PhysicsCollisionAPI", "NewtonCollisionAPI", "PhysicsMeshCollisionAPI", "NewtonMeshCollisionAPI"]
        )
        {
            # OFF: fat/adjacent hulls explode under PD close-fist.
            bool physics:collisionEnabled = 0
            token physics:approximation = "convexHull"
            token purpose = "guide"
        }
    }

    def Xform "middle_middle" (
        prepend references = @./geometries.usd@</Geometries/middle_middle>
    )
    {
        over "middle_middle" (
            apiSchemas = ["MaterialBindingAPI"]
        )
        {
            custom rel material:binding
            prepend rel material:binding = </Instances/middle_middle/VisualMaterials/material_13>
        }

        def Scope "VisualMaterials"
        {
            def Material "material_13" (
                instanceable = true
                prepend references = @./materials.usda@</Materials/material_1>
            )
            {
            }
        }
    }

    def Xform "middle_middle_1" (
        prepend references = @./geometries.usd@</Geometries/middle_middle>
    )
    {
        over "middle_middle" (
            apiSchemas = ["PhysicsCollisionAPI", "NewtonCollisionAPI", "PhysicsMeshCollisionAPI", "NewtonMeshCollisionAPI"]
        )
        {
            # OFF: fat/adjacent hulls explode under PD close-fist.
            bool physics:collisionEnabled = 0
            token physics:approximation = "convexHull"
            token purpose = "guide"
        }
    }

    def Xform "middle_distal" (
        prepend references = @./geometries.usd@</Geometries/middle_distal>
    )
    {
        over "middle_distal" (
            apiSchemas = ["MaterialBindingAPI"]
        )
        {
            custom rel material:binding
            prepend rel material:binding = </Instances/middle_distal/VisualMaterials/material_14>
        }

        def Scope "VisualMaterials"
        {
            def Material "material_14" (
                instanceable = true
                prepend references = @./materials.usda@</Materials/material_1>
            )
            {
            }
        }
    }

    def Xform "middle_distal_1" (
        prepend references = @./geometries.usd@</Geometries/middle_distal>
    )
    {
        over "middle_distal" (
            apiSchemas = ["PhysicsCollisionAPI", "NewtonCollisionAPI", "PhysicsMeshCollisionAPI", "NewtonMeshCollisionAPI", "PhysxCollisionAPI"]
        )
        {
            # ON: fingertip contact under self-collision.
            bool physics:collisionEnabled = 1
            token physics:approximation = "convexHull"
            token purpose = "guide"
            float physxCollision:contactOffset = 0.001
            float physxCollision:restOffset = -0.0005
        }
    }

    def Xform "ring_proximal" (
        prepend references = @./geometries.usd@</Geometries/ring_proximal>
    )
    {
        over "ring_proximal" (
            apiSchemas = ["MaterialBindingAPI"]
        )
        {
            custom rel material:binding
            prepend rel material:binding = </Instances/ring_proximal/VisualMaterials/material_16>
        }

        def Scope "VisualMaterials"
        {
            def Material "material_16" (
                instanceable = true
                prepend references = @./materials.usda@</Materials/material_1>
            )
            {
            }
        }
    }

    def Xform "ring_proximal_1" (
        prepend references = @./geometries.usd@</Geometries/ring_proximal>
    )
    {
        over "ring_proximal" (
            apiSchemas = ["PhysicsCollisionAPI", "NewtonCollisionAPI", "PhysicsMeshCollisionAPI", "NewtonMeshCollisionAPI"]
        )
        {
            # OFF: fat/adjacent hulls explode under PD close-fist.
            bool physics:collisionEnabled = 0
            token physics:approximation = "convexHull"
            token purpose = "guide"
        }
    }

    def Xform "ring_middle" (
        prepend references = @./geometries.usd@</Geometries/ring_middle>
    )
    {
        over "ring_middle" (
            apiSchemas = ["MaterialBindingAPI"]
        )
        {
            custom rel material:binding
            prepend rel material:binding = </Instances/ring_middle/VisualMaterials/material_17>
        }

        def Scope "VisualMaterials"
        {
            def Material "material_17" (
                instanceable = true
                prepend references = @./materials.usda@</Materials/material_1>
            )
            {
            }
        }
    }

    def Xform "ring_middle_1" (
        prepend references = @./geometries.usd@</Geometries/ring_middle>
    )
    {
        over "ring_middle" (
            apiSchemas = ["PhysicsCollisionAPI", "NewtonCollisionAPI", "PhysicsMeshCollisionAPI", "NewtonMeshCollisionAPI"]
        )
        {
            # OFF: fat/adjacent hulls explode under PD close-fist.
            bool physics:collisionEnabled = 0
            token physics:approximation = "convexHull"
            token purpose = "guide"
        }
    }

    def Xform "pinky_proximal" (
        prepend references = @./geometries.usd@</Geometries/pinky_proximal>
    )
    {
        over "pinky_proximal" (
            apiSchemas = ["MaterialBindingAPI"]
        )
        {
            custom rel material:binding
            prepend rel material:binding = </Instances/pinky_proximal/VisualMaterials/material_20>
        }

        def Scope "VisualMaterials"
        {
            def Material "material_20" (
                instanceable = true
                prepend references = @./materials.usda@</Materials/material_1>
            )
            {
            }
        }
    }

    def Xform "pinky_proximal_1" (
        prepend references = @./geometries.usd@</Geometries/pinky_proximal>
    )
    {
        over "pinky_proximal" (
            apiSchemas = ["PhysicsCollisionAPI", "NewtonCollisionAPI", "PhysicsMeshCollisionAPI", "NewtonMeshCollisionAPI"]
        )
        {
            # OFF: fat/adjacent hulls explode under PD close-fist.
            bool physics:collisionEnabled = 0
            token physics:approximation = "convexHull"
            token purpose = "guide"
        }
    }

    def Xform "pinky_distal" (
        prepend references = @./geometries.usd@</Geometries/pinky_distal>
    )
    {
        over "pinky_distal" (
            apiSchemas = ["MaterialBindingAPI"]
        )
        {
            custom rel material:binding
            prepend rel material:binding = </Instances/pinky_distal/VisualMaterials/material_22>
        }

        def Scope "VisualMaterials"
        {
            def Material "material_22" (
                instanceable = true
                prepend references = @./materials.usda@</Materials/material_1>
            )
            {
            }
        }
    }

    def Xform "pinky_distal_1" (
        prepend references = @./geometries.usd@</Geometries/pinky_distal>
    )
    {
        over "pinky_distal" (
            apiSchemas = ["PhysicsCollisionAPI", "NewtonCollisionAPI", "PhysicsMeshCollisionAPI", "NewtonMeshCollisionAPI", "PhysxCollisionAPI"]
        )
        {
            # ON: fingertip contact under self-collision.
            bool physics:collisionEnabled = 1
            token physics:approximation = "convexHull"
            token purpose = "guide"
            float physxCollision:contactOffset = 0.001
            float physxCollision:restOffset = -0.0005
        }
    }

}