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>
729 lines
36 KiB
Plaintext
729 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_l20_left"
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doc = """Generated from Composed Stage of root layer /tmp/tmp7daip3z6/linkerhand_l20_left.usdc
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Generated from Composed Stage of root layer /tmp/urdf_import_linkerhand_l20_left_dqwe6zav/usdex_linkerhand_l20_left/linkerhand_l20_left.usdc
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Generated from Composed Stage of root layer /tmp/urdf_import_linkerhand_l20_left_dqwe6zav/temp_linkerhand_l20_left/linkerhand_l20_left.usd
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Generated from Composed Stage of root layer /home/lxqs/mujoco_testwork/linkerhand-urdf/l20/left/linkerhand_l20_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_l20_left" (
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prepend apiSchemas = ["GeomModelAPI"]
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assetInfo = {
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string name = "linkerhand_l20_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 = [(-0.03771345, -0.15657327, -1.4059577e-8), (0.038920756, 0.05546601, 0.2633897), (3.4028235e38, 3.4028235e38, 3.4028235e38), (-3.4028235e38, -3.4028235e38, -3.4028235e38), (3.4028235e38, 3.4028235e38, 3.4028235e38), (-3.4028235e38, -3.4028235e38, -3.4028235e38), (-0.03771345, -0.15657327, -1.4059577e-8), (0.038920756, 0.05546601, 0.2633897)]
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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 "pinky_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 = (-0.0286705351154727, 0.0381019360798378, 0.150312712339165)
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uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
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def Xform "pinky_metacarpals" (
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instanceable = true
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prepend references = @./instances.usda@</Instances/pinky_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 "pinky_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 = (0.0167698082541766, -0.0000126288306181443, 0)
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uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
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def Xform "pinky_proximal" (
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instanceable = true
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prepend references = @./instances.usda@</Instances/pinky_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 "pinky_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 = (-0.00419455239160021, 0, 0.0448194355727413)
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uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
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def Xform "pinky_middle" (
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instanceable = true
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prepend references = @./instances.usda@</Instances/pinky_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 "pinky_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 = (0.00275561954550002, 0, 0.0317024252339397)
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uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
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def Xform "pinky_distal" (
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instanceable = true
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prepend references = @./instances.usda@</Instances/pinky_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 "pinky_distal_1" (
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displayName = "pinky_distal"
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instanceable = true
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prepend references = @./instances.usda@</Instances/pinky_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 = (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 "pinky_middle_1" (
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displayName = "pinky_middle"
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instanceable = true
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prepend references = @./instances.usda@</Instances/pinky_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 = (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 "pinky_proximal_1" (
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displayName = "pinky_proximal"
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instanceable = true
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prepend references = @./instances.usda@</Instances/pinky_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 = (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 "pinky_metacarpals_1" (
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displayName = "pinky_metacarpals"
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instanceable = true
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prepend references = @./instances.usda@</Instances/pinky_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 = (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 "ring_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 = (-0.0322943001717225, 0.0165019360798537, 0.1593114381003)
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uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
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def Xform "ring_metacarpals" (
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instanceable = true
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prepend references = @./instances.usda@</Instances/pinky_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 "ring_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 = (0.0167698082541766, -0.0000126288306177003, 0)
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uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
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def Xform "ring_proximal" (
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instanceable = true
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prepend references = @./instances.usda@</Instances/ring_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 "ring_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 = (-0.00419455239160021, 0, 0.0448194355727413)
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uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
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def Xform "ring_middle" (
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instanceable = true
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prepend references = @./instances.usda@</Instances/ring_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 "ring_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 = (0.00275561954550363, 0, 0.0317024242175084)
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uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
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def Xform "ring_distal" (
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instanceable = true
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prepend references = @./instances.usda@</Instances/ring_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 "ring_distal_1" (
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displayName = "ring_distal"
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instanceable = true
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prepend references = @./instances.usda@</Instances/ring_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 = (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 "ring_middle_1" (
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displayName = "ring_middle"
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instanceable = true
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prepend references = @./instances.usda@</Instances/ring_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 = (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 "ring_proximal_1" (
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displayName = "ring_proximal"
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instanceable = true
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prepend references = @./instances.usda@</Instances/ring_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 = (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 "ring_metacarpals_1" (
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displayName = "ring_metacarpals"
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instanceable = true
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prepend references = @./instances.usda@</Instances/pinky_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 = (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_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 = (-0.0345991283789502, -0.00509806392012034, 0.163804328353988)
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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/pinky_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 "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 = (0.0167698082541766, -0.0000126288306171729, 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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{
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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 "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 = (-0.00419455239160021, 0, 0.0448194355727413)
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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)
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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 "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 = (0.00275561954550102, 0, 0.0317024252339387)
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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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{
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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 "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 = (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_middle_1" (
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displayName = "middle_middle"
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instanceable = true
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prepend references = @./instances.usda@</Instances/middle_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 = (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_1" (
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displayName = "middle_proximal"
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instanceable = true
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prepend references = @./instances.usda@</Instances/middle_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 = (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_metacarpals_1" (
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displayName = "middle_metacarpals"
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instanceable = true
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prepend references = @./instances.usda@</Instances/pinky_metacarpals_1>
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)
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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)
|
|
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 = (-0.029865288607565, -0.0266980639200853, 0.159311439204817)
|
|
uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
|
|
|
|
def Xform "index_metacarpals" (
|
|
instanceable = true
|
|
prepend references = @./instances.usda@</Instances/pinky_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 = (0.0167698082541766, -0.0000126288306177003, 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 = (-0.00419455239160021, 0, 0.0448194355727413)
|
|
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 = (0.00275561954550102, 0, 0.0317024252339397)
|
|
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 = (1, 1, 1)
|
|
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 = (1, 1, 1)
|
|
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 = (1, 1, 1)
|
|
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/pinky_metacarpals_1>
|
|
)
|
|
{
|
|
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 = (1, 0, 0, 0)
|
|
float3 xformOp:scale = (1, 1, 1)
|
|
double3 xformOp:translate = (-0.00091528, -0.0050818, 0.057392)
|
|
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_base1"
|
|
{
|
|
quatf xformOp:orient = (0.510268, 0.86001545, 0, 0)
|
|
float3 xformOp:scale = (1, 1, 1)
|
|
double3 xformOp:translate = (0.024508, -0.002864, 0.0035063)
|
|
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"
|
|
{
|
|
quatf xformOp:orient = (0.6851425, -0.17486598, 0.17486534, 0.685145)
|
|
float3 xformOp:scale = (1, 1, 1)
|
|
double3 xformOp:translate = (-0.0011523, -0.00048559, 0.030795)
|
|
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 = (0.0064539, 0, 0.055858)
|
|
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 = (0.0053547, 0, 0.034485)
|
|
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 = (1, 1, 1)
|
|
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 = (1, 1, 1)
|
|
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 = (1, 1, 1)
|
|
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 = (1, 1, 1)
|
|
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 = (1, 1, 1)
|
|
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>
|
|
)
|
|
{
|
|
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 Scope "Physics"
|
|
{
|
|
}
|
|
|
|
def Scope "VisualMaterials"
|
|
{
|
|
}
|
|
}
|
|
|