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>
91 lines
3.3 KiB
Plaintext
91 lines
3.3 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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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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upAxis = "Z"
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)
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def Scope "Materials"
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{
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def Material "silver"
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{
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color3f inputs:diffuseColor = (0.21404114, 0.21404114, 0.23302203)
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float inputs:metallic = 0
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float inputs:opacity = 1
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float inputs:roughness = 0.5
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token inputs:wrapMode = "repeat"
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token outputs:displacement (
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displayGroup = "Outputs"
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)
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prepend token outputs:displacement.connect = </Materials/silver/PreviewSurface.outputs:displacement>
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token outputs:surface (
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displayGroup = "Outputs"
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)
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prepend token outputs:surface.connect = </Materials/silver/PreviewSurface.outputs:surface>
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token outputs:volume (
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displayGroup = "Outputs"
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)
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def Shader "PreviewSurface" (
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apiSchemas = ["NodeDefAPI"]
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)
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{
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token info:id = "UsdPreviewSurface"
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prepend color3f inputs:diffuseColor.connect = </Materials/silver.inputs:diffuseColor>
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prepend float inputs:metallic.connect = </Materials/silver.inputs:metallic>
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prepend float inputs:opacity.connect = </Materials/silver.inputs:opacity>
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prepend float inputs:roughness.connect = </Materials/silver.inputs:roughness>
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token outputs:displacement
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token outputs:surface
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}
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}
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def Material "BlackAccent"
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{
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color3f inputs:diffuseColor = (0.01960665, 0.01960665, 0.01960665)
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float inputs:metallic = 0
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float inputs:opacity = 1
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float inputs:roughness = 0.5
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token inputs:wrapMode = "repeat"
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token outputs:displacement (
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displayGroup = "Outputs"
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)
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prepend token outputs:displacement.connect = </Materials/BlackAccent/PreviewSurface.outputs:displacement>
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token outputs:surface (
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displayGroup = "Outputs"
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)
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prepend token outputs:surface.connect = </Materials/BlackAccent/PreviewSurface.outputs:surface>
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token outputs:volume (
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displayGroup = "Outputs"
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)
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def Shader "PreviewSurface" (
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apiSchemas = ["NodeDefAPI"]
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)
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{
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token info:id = "UsdPreviewSurface"
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prepend color3f inputs:diffuseColor.connect = </Materials/BlackAccent.inputs:diffuseColor>
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prepend float inputs:metallic.connect = </Materials/BlackAccent.inputs:metallic>
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prepend float inputs:opacity.connect = </Materials/BlackAccent.inputs:opacity>
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prepend float inputs:roughness.connect = </Materials/BlackAccent.inputs:roughness>
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token outputs:displacement
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token outputs:surface
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}
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}
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}
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