isaac_linkerbot/urdf/l20/left/linkerhand_l20_left/payloads/instances.usda

#usda 1.0
(
    customLayerData = {
        string creator = "URDF USD Converter v0.1.3"
    }
    doc = """Generated from Composed Stage of root layer /tmp/tmp7daip3z6/linkerhand_l20_left.usdc


Generated from Composed Stage of root layer /tmp/urdf_import_linkerhand_l20_left_dqwe6zav/usdex_linkerhand_l20_left/linkerhand_l20_left.usdc


Generated from Composed Stage of root layer /tmp/urdf_import_linkerhand_l20_left_dqwe6zav/temp_linkerhand_l20_left/linkerhand_l20_left.usd


Generated from Composed Stage of root layer /home/lxqs/mujoco_testwork/linkerhand-urdf/l20/left/linkerhand_l20_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/silver>
        }

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

    def Xform "hand_base_link_1" (
        prepend references = @./geometries.usd@</Geometries/hand_base_link>
    )
    {
        over "hand_base_link" (
            apiSchemas = ["PhysicsCollisionAPI", "NewtonCollisionAPI", "PhysicsMeshCollisionAPI", "NewtonMeshCollisionAPI"]
        )
        {
            token physics:approximation = "convexHull"
            token purpose = "guide"
        }
    }

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

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

    def Xform "pinky_metacarpals_1" (
        prepend references = @./geometries.usd@</Geometries/pinky_metacarpals>
    )
    {
        over "pinky_metacarpals" (
            apiSchemas = ["PhysicsCollisionAPI", "NewtonCollisionAPI", "PhysicsMeshCollisionAPI", "NewtonMeshCollisionAPI"]
        )
        {
            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/silver>
        }

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

    def Xform "pinky_proximal_1" (
        prepend references = @./geometries.usd@</Geometries/pinky_proximal>
    )
    {
        over "pinky_proximal" (
            apiSchemas = ["PhysicsCollisionAPI", "NewtonCollisionAPI", "PhysicsMeshCollisionAPI", "NewtonMeshCollisionAPI"]
        )
        {
            token physics:approximation = "convexHull"
            token purpose = "guide"
        }
    }

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

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

    def Xform "pinky_middle_1" (
        prepend references = @./geometries.usd@</Geometries/pinky_middle>
    )
    {
        over "pinky_middle" (
            apiSchemas = ["PhysicsCollisionAPI", "NewtonCollisionAPI", "PhysicsMeshCollisionAPI", "NewtonMeshCollisionAPI"]
        )
        {
            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/silver>
        }

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

    def Xform "pinky_distal_1" (
        prepend references = @./geometries.usd@</Geometries/pinky_distal>
    )
    {
        over "pinky_distal" (
            apiSchemas = ["PhysicsCollisionAPI", "NewtonCollisionAPI", "PhysicsMeshCollisionAPI", "NewtonMeshCollisionAPI"]
        )
        {
            token physics:approximation = "convexHull"
            token purpose = "guide"
        }
    }

    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/silver>
        }

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

    def Xform "ring_proximal_1" (
        prepend references = @./geometries.usd@</Geometries/ring_proximal>
    )
    {
        over "ring_proximal" (
            apiSchemas = ["PhysicsCollisionAPI", "NewtonCollisionAPI", "PhysicsMeshCollisionAPI", "NewtonMeshCollisionAPI"]
        )
        {
            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/silver>
        }

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

    def Xform "ring_middle_1" (
        prepend references = @./geometries.usd@</Geometries/ring_middle>
    )
    {
        over "ring_middle" (
            apiSchemas = ["PhysicsCollisionAPI", "NewtonCollisionAPI", "PhysicsMeshCollisionAPI", "NewtonMeshCollisionAPI"]
        )
        {
            token physics:approximation = "convexHull"
            token purpose = "guide"
        }
    }

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

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

    def Xform "ring_distal_1" (
        prepend references = @./geometries.usd@</Geometries/ring_distal>
    )
    {
        over "ring_distal" (
            apiSchemas = ["PhysicsCollisionAPI", "NewtonCollisionAPI", "PhysicsMeshCollisionAPI", "NewtonMeshCollisionAPI"]
        )
        {
            token physics:approximation = "convexHull"
            token purpose = "guide"
        }
    }

    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/silver>
        }

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

    def Xform "middle_proximal_1" (
        prepend references = @./geometries.usd@</Geometries/middle_proximal>
    )
    {
        over "middle_proximal" (
            apiSchemas = ["PhysicsCollisionAPI", "NewtonCollisionAPI", "PhysicsMeshCollisionAPI", "NewtonMeshCollisionAPI"]
        )
        {
            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/silver>
        }

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

    def Xform "middle_middle_1" (
        prepend references = @./geometries.usd@</Geometries/middle_middle>
    )
    {
        over "middle_middle" (
            apiSchemas = ["PhysicsCollisionAPI", "NewtonCollisionAPI", "PhysicsMeshCollisionAPI", "NewtonMeshCollisionAPI"]
        )
        {
            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/silver>
        }

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

    def Xform "middle_distal_1" (
        prepend references = @./geometries.usd@</Geometries/middle_distal>
    )
    {
        over "middle_distal" (
            apiSchemas = ["PhysicsCollisionAPI", "NewtonCollisionAPI", "PhysicsMeshCollisionAPI", "NewtonMeshCollisionAPI"]
        )
        {
            token physics:approximation = "convexHull"
            token purpose = "guide"
        }
    }

    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/silver>
        }

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

    def Xform "index_proximal_1" (
        prepend references = @./geometries.usd@</Geometries/index_proximal>
    )
    {
        over "index_proximal" (
            apiSchemas = ["PhysicsCollisionAPI", "NewtonCollisionAPI", "PhysicsMeshCollisionAPI", "NewtonMeshCollisionAPI"]
        )
        {
            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/silver>
        }

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

    def Xform "index_middle_1" (
        prepend references = @./geometries.usd@</Geometries/index_middle>
    )
    {
        over "index_middle" (
            apiSchemas = ["PhysicsCollisionAPI", "NewtonCollisionAPI", "PhysicsMeshCollisionAPI", "NewtonMeshCollisionAPI"]
        )
        {
            token physics:approximation = "convexHull"
            token purpose = "guide"
        }
    }

    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/silver>
        }

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

    def Xform "index_distal_1" (
        prepend references = @./geometries.usd@</Geometries/index_distal>
    )
    {
        over "index_distal" (
            apiSchemas = ["PhysicsCollisionAPI", "NewtonCollisionAPI", "PhysicsMeshCollisionAPI", "NewtonMeshCollisionAPI"]
        )
        {
            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/BlackAccent>
        }

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

    def Xform "thumb_metacarpals_base2_1" (
        prepend references = @./geometries.usd@</Geometries/thumb_metacarpals_base2>
    )
    {
        over "thumb_metacarpals_base2" (
            apiSchemas = ["PhysicsCollisionAPI", "NewtonCollisionAPI", "PhysicsMeshCollisionAPI", "NewtonMeshCollisionAPI"]
        )
        {
            token physics:approximation = "convexHull"
            token purpose = "guide"
        }
    }

    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/BlackAccent>
        }

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

    def Xform "thumb_metacarpals_base1_1" (
        prepend references = @./geometries.usd@</Geometries/thumb_metacarpals_base1>
    )
    {
        over "thumb_metacarpals_base1" (
            apiSchemas = ["PhysicsCollisionAPI", "NewtonCollisionAPI", "PhysicsMeshCollisionAPI", "NewtonMeshCollisionAPI"]
        )
        {
            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/silver>
        }

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

    def Xform "thumb_metacarpals_1" (
        prepend references = @./geometries.usd@</Geometries/thumb_metacarpals>
    )
    {
        over "thumb_metacarpals" (
            apiSchemas = ["PhysicsCollisionAPI", "NewtonCollisionAPI", "PhysicsMeshCollisionAPI", "NewtonMeshCollisionAPI"]
        )
        {
            token physics:approximation = "convexHull"
            token purpose = "guide"
        }
    }

    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/silver>
        }

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

    def Xform "thumb_proximal_1" (
        prepend references = @./geometries.usd@</Geometries/thumb_proximal>
    )
    {
        over "thumb_proximal" (
            apiSchemas = ["PhysicsCollisionAPI", "NewtonCollisionAPI", "PhysicsMeshCollisionAPI", "NewtonMeshCollisionAPI"]
        )
        {
            token physics:approximation = "convexHull"
            token purpose = "guide"
        }
    }

    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/silver>
        }

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

    def Xform "thumb_distal_1" (
        prepend references = @./geometries.usd@</Geometries/thumb_distal>
    )
    {
        over "thumb_distal" (
            apiSchemas = ["PhysicsCollisionAPI", "NewtonCollisionAPI", "PhysicsMeshCollisionAPI", "NewtonMeshCollisionAPI"]
        )
        {
            token physics:approximation = "convexHull"
            token purpose = "guide"
        }
    }
}