sunxianghui
0b727785c6
Includes G20 PLAN/cmd_u8 bridge, joint mapping, dual-hand sim scripts, and G20/L20/O6 URDF with USD payloads for Isaac Sim integration. Co-authored-by: Cursor <cursoragent@cursor.com>
731 lines
36 KiB
Plaintext
731 lines
36 KiB
Plaintext
#usda 1.0
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(
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customLayerData = {
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string creator = "URDF USD Converter v0.1.3"
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}
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defaultPrim = "linkerhand_g20_left"
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doc = """Generated from Composed Stage of root layer /tmp/tmp5xni4jzi/linkerhand_g20_left.usdc
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Generated from Composed Stage of root layer /tmp/urdf_import_linkerhand_g20_left_9306w6un/usdex_linkerhand_g20_left/linkerhand_g20_left.usdc
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Generated from Composed Stage of root layer /tmp/urdf_import_linkerhand_g20_left_9306w6un/temp_linkerhand_g20_left/linkerhand_g20_left.usd
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Generated from Composed Stage of root layer /home/lxqs/isaacsim/linkerhand/urdf/g20/left/linkerhand_g20_left/payloads/base.usd
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"""
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kilogramsPerUnit = 1
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metersPerUnit = 1
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subLayers = [
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@./robot.usda@
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]
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upAxis = "Z"
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)
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def Xform "linkerhand_g20_left" (
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prepend apiSchemas = ["GeomModelAPI"]
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assetInfo = {
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string name = "linkerhand_g20_left"
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}
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kind = "component"
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)
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{
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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)]
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def Scope "Materials"
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{
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}
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def Scope "Geometry"
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{
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def Xform "hand_base_link"
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{
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def Xform "hand_base_link" (
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instanceable = true
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prepend references = @./instances.usda@</Instances/hand_base_link>
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)
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{
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quatd xformOp:orient = (1, 0, 0, 0)
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double3 xformOp:scale = (1, 1, 1)
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double3 xformOp:translate = (0, 0, 0)
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uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
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}
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def Xform "thumb_metacarpals_base1"
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{
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quatf xformOp:orient = (1, 0, 0, 0)
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float3 xformOp:scale = (1, 1, 1)
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double3 xformOp:translate = (0.01916, -0.01, 0.0436)
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uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
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def Xform "thumb_metacarpals_base1" (
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instanceable = true
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prepend references = @./instances.usda@</Instances/thumb_metacarpals_base1>
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)
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{
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quatd xformOp:orient = (1, 0, 0, 0)
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double3 xformOp:scale = (1, 1, 1)
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double3 xformOp:translate = (0, 0, 0)
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uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
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}
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def Xform "thumb_metacarpals_base2"
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{
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quatf xformOp:orient = (0.9264883, 0.3763236, 0, 0)
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float3 xformOp:scale = (1, 1, 1)
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double3 xformOp:translate = (0.019845, 0, 0)
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uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
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def Xform "thumb_metacarpals_base2" (
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instanceable = true
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prepend references = @./instances.usda@</Instances/thumb_metacarpals_base2>
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)
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{
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quatd xformOp:orient = (1, 0, 0, 0)
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double3 xformOp:scale = (1, 1, 1)
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double3 xformOp:translate = (0, 0, 0)
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uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
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}
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def Xform "thumb_metacarpals"
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{
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quatf xformOp:orient = (0.49418968, 0.41577393, -0.29111633, 0.7058044)
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float3 xformOp:scale = (1, 1, 1)
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double3 xformOp:translate = (0.0088218, -0.024245, 0.0005)
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uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
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def Xform "thumb_metacarpals" (
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instanceable = true
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prepend references = @./instances.usda@</Instances/thumb_metacarpals>
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)
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{
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quatd xformOp:orient = (1, 0, 0, 0)
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double3 xformOp:scale = (1, 1, 1)
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double3 xformOp:translate = (0, 0, 0)
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uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
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}
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def Xform "thumb_proximal"
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{
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quatf xformOp:orient = (1, 0, 0, 0)
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float3 xformOp:scale = (1, 1, 1)
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double3 xformOp:translate = (0.0127018248047608, 0, 0.0627256157349894)
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uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
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def Xform "thumb_proximal" (
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instanceable = true
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prepend references = @./instances.usda@</Instances/thumb_proximal>
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)
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{
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quatd xformOp:orient = (1, 0, 0, 0)
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double3 xformOp:scale = (1, 1, 1)
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double3 xformOp:translate = (0, 0, 0)
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uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
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}
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def Xform "thumb_distal"
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{
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quatf xformOp:orient = (1, 0, 0, 0)
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float3 xformOp:scale = (1, 1, 1)
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double3 xformOp:translate = (-0.00483652209209624, 0, 0.0342226492098615)
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uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
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def Xform "thumb_distal" (
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instanceable = true
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prepend references = @./instances.usda@</Instances/thumb_distal>
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)
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{
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quatd xformOp:orient = (1, 0, 0, 0)
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double3 xformOp:scale = (1, 1, 1)
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double3 xformOp:translate = (0, 0, 0)
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uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
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}
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def Xform "thumb_distal_1" (
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displayName = "thumb_distal"
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instanceable = true
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prepend references = @./instances.usda@</Instances/thumb_distal_1>
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)
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{
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quatd xformOp:orient = (1, 0, 0, 0)
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double3 xformOp:scale = (0.70, 0.70, 0.70)
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double3 xformOp:translate = (0, 0, 0)
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uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
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}
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}
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def Xform "thumb_proximal_1" (
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displayName = "thumb_proximal"
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instanceable = true
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prepend references = @./instances.usda@</Instances/thumb_proximal_1>
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)
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{
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quatd xformOp:orient = (1, 0, 0, 0)
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double3 xformOp:scale = (0.55, 0.55, 0.55)
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double3 xformOp:translate = (0, 0, 0)
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uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
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}
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}
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def Xform "thumb_metacarpals_1" (
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displayName = "thumb_metacarpals"
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instanceable = true
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prepend references = @./instances.usda@</Instances/thumb_metacarpals_1>
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)
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{
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quatd xformOp:orient = (1, 0, 0, 0)
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double3 xformOp:scale = (0.55, 0.55, 0.55)
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double3 xformOp:translate = (0, 0, 0)
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uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
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}
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}
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def Xform "thumb_metacarpals_base2_1" (
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displayName = "thumb_metacarpals_base2"
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instanceable = true
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prepend references = @./instances.usda@</Instances/thumb_metacarpals_base2_1>
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)
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{
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quatd xformOp:orient = (1, 0, 0, 0)
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double3 xformOp:scale = (0.65, 0.65, 0.65)
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double3 xformOp:translate = (0, 0, 0)
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uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
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}
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}
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def Xform "thumb_metacarpals_base1_1" (
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displayName = "thumb_metacarpals_base1"
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instanceable = true
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prepend references = @./instances.usda@</Instances/thumb_metacarpals_base1_1>
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)
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{
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quatd xformOp:orient = (1, 0, 0, 0)
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double3 xformOp:scale = (0.65, 0.65, 0.65)
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double3 xformOp:translate = (0, 0, 0)
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uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
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}
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}
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def Xform "index_metacarpals"
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{
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quatf xformOp:orient = (1, 0, 0, 0)
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float3 xformOp:scale = (1, 1, 1)
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double3 xformOp:translate = (0.0038, -0.03525, 0.1481)
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uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
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def Xform "index_metacarpals" (
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instanceable = true
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prepend references = @./instances.usda@</Instances/index_metacarpals>
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)
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{
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quatd xformOp:orient = (1, 0, 0, 0)
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double3 xformOp:scale = (1, 1, 1)
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double3 xformOp:translate = (0, 0, 0)
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uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
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}
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def Xform "index_proximal"
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{
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quatf xformOp:orient = (1, 0, 0, 0)
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float3 xformOp:scale = (1, 1, 1)
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double3 xformOp:translate = (-0.0021302, 0, 0)
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uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
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def Xform "index_proximal" (
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instanceable = true
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prepend references = @./instances.usda@</Instances/index_proximal>
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)
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{
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quatd xformOp:orient = (1, 0, 0, 0)
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double3 xformOp:scale = (1, 1, 1)
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double3 xformOp:translate = (0, 0, 0)
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uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
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}
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def Xform "index_middle"
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{
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quatf xformOp:orient = (1, 0, 0, 0)
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float3 xformOp:scale = (1, 1, 1)
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double3 xformOp:translate = (-0.0041946, 0, 0.044819)
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uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
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def Xform "index_middle" (
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instanceable = true
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prepend references = @./instances.usda@</Instances/index_middle>
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)
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{
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quatd xformOp:orient = (1, 0, 0, 0)
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double3 xformOp:scale = (1, 1, 1)
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double3 xformOp:translate = (0, 0, 0)
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uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
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}
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def Xform "index_distal"
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{
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quatf xformOp:orient = (1, 0, 0, 0)
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float3 xformOp:scale = (1, 1, 1)
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double3 xformOp:translate = (0.0028245, 0, 0.031696)
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uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
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def Xform "index_distal" (
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instanceable = true
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prepend references = @./instances.usda@</Instances/index_distal>
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)
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{
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quatd xformOp:orient = (1, 0, 0, 0)
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double3 xformOp:scale = (1, 1, 1)
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double3 xformOp:translate = (0, 0, 0)
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uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
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}
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def Xform "index_distal_1" (
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displayName = "index_distal"
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instanceable = true
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prepend references = @./instances.usda@</Instances/index_distal_1>
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)
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{
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quatd xformOp:orient = (1, 0, 0, 0)
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double3 xformOp:scale = (0.75, 0.75, 0.75)
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double3 xformOp:translate = (0, 0, 0)
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uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
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}
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}
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def Xform "index_middle_1" (
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displayName = "index_middle"
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instanceable = true
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prepend references = @./instances.usda@</Instances/index_middle_1>
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)
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{
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quatd xformOp:orient = (1, 0, 0, 0)
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double3 xformOp:scale = (0.85, 0.85, 0.85)
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double3 xformOp:translate = (0, 0, 0)
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uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
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}
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}
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def Xform "index_proximal_1" (
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displayName = "index_proximal"
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instanceable = true
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prepend references = @./instances.usda@</Instances/index_proximal_1>
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)
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{
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quatd xformOp:orient = (1, 0, 0, 0)
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double3 xformOp:scale = (0.85, 0.85, 0.85)
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double3 xformOp:translate = (0, 0, 0)
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uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
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}
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}
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def Xform "index_metacarpals_1" (
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displayName = "index_metacarpals"
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instanceable = true
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prepend references = @./instances.usda@</Instances/index_metacarpals_1>
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)
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{
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quatd xformOp:orient = (1, 0, 0, 0)
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double3 xformOp:scale = (0.75, 0.75, 0.75)
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double3 xformOp:translate = (0, 0, 0)
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uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
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}
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}
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def Xform "middle_metacarpals"
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{
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quatf xformOp:orient = (1, 0, 0, 0)
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float3 xformOp:scale = (1, 1, 1)
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double3 xformOp:translate = (0.00379999999265848, -0.0117500000029305, 0.1526)
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uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
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def Xform "middle_metacarpals" (
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instanceable = true
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prepend references = @./instances.usda@</Instances/index_metacarpals_2>
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)
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{
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|
quatd xformOp:orient = (1, 0, 0, 0)
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double3 xformOp:scale = (1, 1, 1)
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|
double3 xformOp:translate = (0, 0, 0)
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uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
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}
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|
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def Xform "middle_proximal"
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{
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quatf xformOp:orient = (1, 0, 0, 0)
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float3 xformOp:scale = (1, 1, 1)
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double3 xformOp:translate = (-0.0021302, 0, 0)
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uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
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|
|
|
def Xform "middle_proximal" (
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instanceable = true
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prepend references = @./instances.usda@</Instances/middle_proximal>
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)
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{
|
|
quatd xformOp:orient = (1, 0, 0, 0)
|
|
double3 xformOp:scale = (1, 1, 1)
|
|
double3 xformOp:translate = (0, 0, 0)
|
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uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
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}
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|
|
|
def Xform "middle_middle"
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|
{
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quatf xformOp:orient = (1, 0, 0, 0)
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float3 xformOp:scale = (1, 1, 1)
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double3 xformOp:translate = (-0.00419457745591796, 0, 0.0448194332262389)
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uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
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|
|
def Xform "middle_middle" (
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instanceable = true
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prepend references = @./instances.usda@</Instances/middle_middle>
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)
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{
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|
quatd xformOp:orient = (1, 0, 0, 0)
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|
double3 xformOp:scale = (1, 1, 1)
|
|
double3 xformOp:translate = (0, 0, 0)
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uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
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}
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|
def Xform "middle_distal"
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|
{
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quatf xformOp:orient = (1, 0, 0, 0)
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float3 xformOp:scale = (1, 1, 1)
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|
double3 xformOp:translate = (0.0028245, 0, 0.031696)
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uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
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|
|
def Xform "middle_distal" (
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instanceable = true
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|
prepend references = @./instances.usda@</Instances/middle_distal>
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|
)
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{
|
|
quatd xformOp:orient = (1, 0, 0, 0)
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|
double3 xformOp:scale = (1, 1, 1)
|
|
double3 xformOp:translate = (0, 0, 0)
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uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
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}
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|
|
|
def Xform "middle_distal_1" (
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|
displayName = "middle_distal"
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instanceable = true
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|
prepend references = @./instances.usda@</Instances/middle_distal_1>
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|
)
|
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{
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|
quatd xformOp:orient = (1, 0, 0, 0)
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double3 xformOp:scale = (0.75, 0.75, 0.75)
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|
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"
|
|
{
|
|
}
|
|
}
|
|
|