| #usda 1.0 |
| ( |
| customLayerData = { |
| dictionary cameraSettings = { |
| dictionary Front = { |
| double3 position = (5, 0, 0) |
| double radius = 5 |
| } |
| dictionary Perspective = { |
| double3 position = (5, 5, 5) |
| double3 target = (-3.978038431995401e-8, -3.978038254359717e-8, 7.956076863990802e-8) |
| } |
| dictionary Right = { |
| double3 position = (0, -5, 0) |
| double radius = 5 |
| } |
| dictionary Top = { |
| double3 position = (0, 0, 5) |
| double radius = 5 |
| } |
| string boundCamera = "/OmniverseKit_Persp" |
| } |
| dictionary omni_layer = { |
| dictionary locked = { |
| } |
| dictionary muteness = { |
| } |
| } |
| dictionary renderSettings = { |
| } |
| } |
| defaultPrim = "right_sharpa_wave" |
| metersPerUnit = 1 |
| upAxis = "Z" |
| ) |
|
|
| def Xform "right_sharpa_wave" ( |
| variants = { |
| string Physics = "PhysX" |
| string Robot = "Robot" |
| string Sensor = "Sensors" |
| } |
| prepend variantSets = ["Physics", "Sensor", "Robot"] |
| ) |
| { |
| over "joints" |
| { |
| over "right_index_MCP_FE" |
| { |
| float drive:angular:physics:damping = 0.003194 |
| float drive:angular:physics:stiffness = 0.083078 |
| float drive:angular:physics:targetPosition = -0.8 |
| string isaac:nameOverride ( |
| displayName = "Name Override" |
| doc = "Name override for prim lookup in base name search" |
| ) |
| float physics:lowerLimit = -10 |
| float physics:upperLimit = 90.000206 |
| float physxJoint:armature = 0.00265 |
| float physxJoint:jointFriction = 0.104 |
| float physxJoint:maxJointVelocity = 921.14 |
| float state:angular:physics:position = -0.79999834 |
| float state:angular:physics:velocity = 0 |
| } |
|
|
| over "right_middle_MCP_FE" |
| { |
| float drive:angular:physics:damping = 0.003194 |
| float drive:angular:physics:stiffness = 0.083078 |
| string isaac:nameOverride ( |
| displayName = "Name Override" |
| doc = "Name override for prim lookup in base name search" |
| ) |
| float physics:lowerLimit = -10 |
| float physics:upperLimit = 90.000206 |
| float physxJoint:armature = 0.00265 |
| float physxJoint:jointFriction = 0.104 |
| float physxJoint:maxJointVelocity = 921.14 |
| float state:angular:physics:position = 0 |
| float state:angular:physics:velocity = 0 |
| } |
|
|
| over "right_pinky_CMC" |
| { |
| float drive:angular:physics:damping = 0.000685 |
| float drive:angular:physics:stiffness = 0.02409 |
| float physics:lowerLimit = 0 |
| float physics:upperLimit = 15.000033 |
| float physxJoint:armature = 0.00012 |
| float physxJoint:jointFriction = 0.013 |
| float physxJoint:maxJointVelocity = 2009.6014 |
| float state:angular:physics:position = 0 |
| float state:angular:physics:velocity = 0 |
| } |
|
|
| over "right_ring_MCP_FE" |
| { |
| float drive:angular:physics:damping = 0.003194 |
| float drive:angular:physics:stiffness = 0.083078 |
| string isaac:nameOverride ( |
| displayName = "Name Override" |
| doc = "Name override for prim lookup in base name search" |
| ) |
| float physics:lowerLimit = -10 |
| float physics:upperLimit = 90.000206 |
| float physxJoint:armature = 0.00265 |
| float physxJoint:jointFriction = 0.104 |
| float physxJoint:maxJointVelocity = 921.14 |
| float state:angular:physics:position = 0 |
| float state:angular:physics:velocity = 0 |
| } |
|
|
| over "right_thumb_CMC_FE" |
| { |
| float drive:angular:physics:damping = 0.004206 |
| float drive:angular:physics:stiffness = 0.12138 |
| float physics:lowerLimit = -9.998114 |
| float physics:upperLimit = 110.00216 |
| float physxJoint:armature = 0.0032 |
| float physxJoint:jointFriction = 0.132 |
| float physxJoint:maxJointVelocity = 678.426 |
| float state:angular:physics:position = 0.41161048 |
| float state:angular:physics:velocity = 0 |
| } |
|
|
| over "right_index_MCP_AA" |
| { |
| float drive:angular:physics:damping = 0.00363 |
| float drive:angular:physics:stiffness = 0.11557 |
| float drive:angular:physics:targetPosition = -0.90000004 |
| string isaac:nameOverride ( |
| displayName = "Name Override" |
| doc = "Name override for prim lookup in base name search" |
| ) |
| float physics:lowerLimit = -20.001955 |
| float physics:upperLimit = 20.001955 |
| float physxJoint:armature = 0.00265 |
| float physxJoint:jointFriction = 0.104 |
| float physxJoint:maxJointVelocity = 921.14 |
| float state:angular:physics:position = -0.9 |
| float state:angular:physics:velocity = 0 |
| } |
|
|
| over "right_middle_MCP_AA" |
| { |
| float drive:angular:physics:damping = 0.00363 |
| float drive:angular:physics:stiffness = 0.11557 |
| float physics:lowerLimit = -20.001955 |
| float physics:upperLimit = 20.001955 |
| float physxJoint:armature = 0.00265 |
| float physxJoint:jointFriction = 0.104 |
| float physxJoint:maxJointVelocity = 921.14 |
| float state:angular:physics:position = 0 |
| float state:angular:physics:velocity = 0 |
| } |
|
|
| over "right_pinky_MCP_FE" |
| { |
| float drive:angular:physics:damping = 0.003194 |
| float drive:angular:physics:stiffness = 0.083078 |
| string isaac:nameOverride ( |
| displayName = "Name Override" |
| doc = "Name override for prim lookup in base name search" |
| ) |
| float physics:lowerLimit = -10 |
| float physics:upperLimit = 90.000206 |
| float physxJoint:armature = 0.00265 |
| float physxJoint:jointFriction = 0.104 |
| float physxJoint:maxJointVelocity = 921.14 |
| float state:angular:physics:position = 0 |
| float state:angular:physics:velocity = 0 |
| } |
|
|
| over "right_ring_MCP_AA" |
| { |
| float drive:angular:physics:damping = 0.00363 |
| float drive:angular:physics:stiffness = 0.11557 |
| float physics:lowerLimit = -20.001955 |
| float physics:upperLimit = 20.001955 |
| float physxJoint:armature = 0.00265 |
| float physxJoint:jointFriction = 0.104 |
| float physxJoint:maxJointVelocity = 921.14 |
| float state:angular:physics:position = 0 |
| float state:angular:physics:velocity = 0 |
| } |
|
|
| over "right_thumb_CMC_AA" |
| { |
| float drive:angular:physics:damping = 0.0078826 |
| float drive:angular:physics:stiffness = 0.2304 |
| float physics:lowerLimit = -20.001955 |
| float physics:upperLimit = 20.001955 |
| float physxJoint:armature = 0.0032 |
| float physxJoint:jointFriction = 0.132 |
| float physxJoint:maxJointVelocity = 678.426 |
| float state:angular:physics:position = -3.2539024 |
| float state:angular:physics:velocity = 0 |
| } |
|
|
| over "right_index_PIP" |
| { |
| float drive:angular:physics:damping = 0.000698 |
| float drive:angular:physics:stiffness = 0.01584 |
| float drive:angular:physics:targetPosition = 0 |
| string isaac:nameOverride ( |
| displayName = "Name Override" |
| doc = "Name override for prim lookup in base name search" |
| ) |
| float physics:lowerLimit = 0 |
| float physics:upperLimit = 99.99832 |
| float physxJoint:armature = 0.00061 |
| float physxJoint:jointFriction = 0.02476 |
| float physxJoint:maxJointVelocity = 665.6805 |
| float state:angular:physics:position = 0.0004472393 |
| float state:angular:physics:velocity = 0 |
| } |
|
|
| over "right_middle_PIP" |
| { |
| float drive:angular:physics:damping = 0.000698 |
| float drive:angular:physics:stiffness = 0.01584 |
| string isaac:nameOverride ( |
| displayName = "Name Override" |
| doc = "Name override for prim lookup in base name search" |
| ) |
| float physics:lowerLimit = 0 |
| float physics:upperLimit = 99.99832 |
| float physxJoint:armature = 0.00061 |
| float physxJoint:jointFriction = 0.02476 |
| float physxJoint:maxJointVelocity = 665.6805 |
| float state:angular:physics:position = 0 |
| float state:angular:physics:velocity = 0 |
| } |
|
|
| over "right_pinky_MCP_AA" |
| { |
| float drive:angular:physics:damping = 0.00363 |
| float drive:angular:physics:stiffness = 0.11557 |
| float physics:lowerLimit = -20.001955 |
| float physics:upperLimit = 20.001955 |
| float physxJoint:armature = 0.00265 |
| float physxJoint:jointFriction = 0.104 |
| float physxJoint:maxJointVelocity = 921.14 |
| float state:angular:physics:position = 0 |
| float state:angular:physics:velocity = 0 |
| } |
|
|
| over "right_ring_PIP" |
| { |
| float drive:angular:physics:damping = 0.000698 |
| float drive:angular:physics:stiffness = 0.01584 |
| float physics:lowerLimit = 0 |
| float physics:upperLimit = 99.99832 |
| float physxJoint:armature = 0.00061 |
| float physxJoint:jointFriction = 0.02476 |
| float physxJoint:maxJointVelocity = 665.6805 |
| float state:angular:physics:position = 0 |
| float state:angular:physics:velocity = 0 |
| } |
|
|
| over "right_thumb_MCP_FE" |
| { |
| float drive:angular:physics:damping = 0.003194 |
| float drive:angular:physics:stiffness = 0.083078 |
| float physics:lowerLimit = -30.000067 |
| float physics:upperLimit = 80.00209 |
| float physxJoint:armature = 0.00265 |
| float physxJoint:jointFriction = 0.104 |
| float physxJoint:maxJointVelocity = 921.14 |
| float state:angular:physics:position = -0.000015151084 |
| float state:angular:physics:velocity = 0 |
| } |
|
|
| over "right_index_DIP" |
| { |
| float drive:angular:physics:damping = 0.00055 |
| float drive:angular:physics:stiffness = 0.01578 |
| float physics:lowerLimit = 0 |
| float physics:upperLimit = 80.00209 |
| float physxJoint:armature = 0.00042 |
| float physxJoint:jointFriction = 0.000418 |
| float physxJoint:maxJointVelocity = 840.2969 |
| float state:angular:physics:position = 8.924762e-8 |
| float state:angular:physics:velocity = 0 |
| } |
|
|
| over "right_middle_DIP" |
| { |
| float drive:angular:physics:damping = 0.00055 |
| float drive:angular:physics:stiffness = 0.01578 |
| string isaac:nameOverride ( |
| displayName = "Name Override" |
| doc = "Name override for prim lookup in base name search" |
| ) |
| float physics:lowerLimit = 0 |
| float physics:upperLimit = 80.00209 |
| float physxJoint:armature = 0.00042 |
| float physxJoint:jointFriction = 0.000418 |
| float physxJoint:maxJointVelocity = 840.2969 |
| float state:angular:physics:position = 0 |
| float state:angular:physics:velocity = 0 |
| } |
|
|
| over "right_pinky_PIP" |
| { |
| float drive:angular:physics:damping = 0.000698 |
| float drive:angular:physics:stiffness = 0.01584 |
| float physics:lowerLimit = 0 |
| float physics:upperLimit = 99.99832 |
| float physxJoint:armature = 0.00061 |
| float physxJoint:jointFriction = 0.02476 |
| float physxJoint:maxJointVelocity = 665.6805 |
| float state:angular:physics:position = 0 |
| float state:angular:physics:velocity = 0 |
| } |
|
|
| over "right_ring_DIP" |
| { |
| float drive:angular:physics:damping = 0.00055 |
| float drive:angular:physics:stiffness = 0.01578 |
| float physics:lowerLimit = 0 |
| float physics:upperLimit = 80.00209 |
| float physxJoint:armature = 0.00042 |
| float physxJoint:jointFriction = 0.000418 |
| float physxJoint:maxJointVelocity = 840.2969 |
| float state:angular:physics:position = 0 |
| float state:angular:physics:velocity = 0 |
| } |
|
|
| over "right_thumb_MCP_AA" |
| { |
| float drive:angular:physics:damping = 0.00363 |
| float drive:angular:physics:stiffness = 0.11557 |
| float physics:lowerLimit = -20.001955 |
| float physics:upperLimit = 20.001955 |
| float physxJoint:armature = 0.00265 |
| float physxJoint:jointFriction = 0.104 |
| float physxJoint:maxJointVelocity = 921.14 |
| float state:angular:physics:position = -0.0000028634383 |
| float state:angular:physics:velocity = 0 |
| } |
|
|
| over "right_pinky_DIP" |
| { |
| float drive:angular:physics:damping = 0.00055 |
| float drive:angular:physics:stiffness = 0.01578 |
| string isaac:nameOverride ( |
| displayName = "Name Override" |
| doc = "Name override for prim lookup in base name search" |
| ) |
| float physics:lowerLimit = 0 |
| float physics:upperLimit = 80.00209 |
| float physxJoint:armature = 0.00042 |
| float physxJoint:jointFriction = 0.000418 |
| float physxJoint:maxJointVelocity = 840.2969 |
| float state:angular:physics:position = 0 |
| float state:angular:physics:velocity = 0 |
| } |
|
|
| over "right_thumb_IP" |
| { |
| float drive:angular:physics:damping = 0.000698 |
| float drive:angular:physics:stiffness = 0.01584 |
| float physics:lowerLimit = 0 |
| float physics:upperLimit = 100 |
| float physxJoint:armature = 0.00061 |
| float physxJoint:jointFriction = 0.02476 |
| float state:angular:physics:position = -2.8107083e-8 |
| float state:angular:physics:velocity = 0 |
| } |
| } |
|
|
| over "right_hand_C_MC" ( |
| prepend apiSchemas = ["PhysicsFilteredPairsAPI"] |
| ) |
| { |
| string isaac:nameOverride ( |
| displayName = "Name Override" |
| doc = "Name override for prim lookup in base name search" |
| ) |
| rel physics:filteredPairs = [ |
| </right_sharpa_wave/right_thumb_MC>, |
| </right_sharpa_wave/right_index_PP>, |
| </right_sharpa_wave/right_middle_PP>, |
| </right_sharpa_wave/right_ring_PP>, |
| </right_sharpa_wave/right_pinky_PP>, |
| ] |
|
|
| over "visuals" ( |
| instanceable = false |
| ) |
| { |
| } |
|
|
| over "collisions" ( |
| instanceable = false |
| ) |
| { |
| over "right_hand_C_MC" ( |
| instanceable = false |
| ) |
| { |
| over "mesh" ( |
| prepend apiSchemas = ["PhysicsFilteredPairsAPI"] |
| ) |
| { |
| rel physics:filteredPairs = [ |
| </right_sharpa_wave/right_thumb_MC/collisions/right_thumb_MC/mesh>, |
| </right_sharpa_wave/right_index_PP/collisions/right_PP/mesh>, |
| </right_sharpa_wave/right_middle_PP/collisions/right_PP/mesh>, |
| </right_sharpa_wave/right_ring_PP/collisions/right_PP/mesh>, |
| </right_sharpa_wave/right_pinky_PP/collisions/right_PP/mesh>, |
| ] |
| } |
| } |
| } |
| } |
|
|
| over "right_pinky_MC" ( |
| prepend apiSchemas = ["PhysicsFilteredPairsAPI"] |
| ) |
| { |
| string isaac:nameOverride ( |
| displayName = "Name Override" |
| doc = "Name override for prim lookup in base name search" |
| ) |
| rel physics:filteredPairs = </right_sharpa_wave/right_pinky_PP> |
|
|
| over "visuals" ( |
| instanceable = false |
| ) |
| { |
| } |
|
|
| over "collisions" ( |
| instanceable = false |
| ) |
| { |
| over "right_pinky_MC" ( |
| instanceable = false |
| ) |
| { |
| over "mesh" ( |
| prepend apiSchemas = ["PhysicsFilteredPairsAPI"] |
| ) |
| { |
| rel physics:filteredPairs = </right_sharpa_wave/right_pinky_PP/collisions/right_PP/mesh> |
| } |
| } |
| } |
| } |
|
|
| over "right_thumb_MC" ( |
| prepend apiSchemas = ["PhysicsFilteredPairsAPI"] |
| ) |
| { |
| string isaac:nameOverride ( |
| displayName = "Name Override" |
| doc = "Name override for prim lookup in base name search" |
| ) |
| rel physics:filteredPairs = </right_sharpa_wave/right_thumb_PP> |
|
|
| over "visuals" ( |
| instanceable = false |
| ) |
| { |
| } |
|
|
| over "collisions" ( |
| instanceable = false |
| ) |
| { |
| over "right_thumb_MC" ( |
| instanceable = false |
| ) |
| { |
| over "mesh" ( |
| prepend apiSchemas = ["PhysicsFilteredPairsAPI"] |
| ) |
| { |
| rel physics:filteredPairs = </right_sharpa_wave/right_thumb_PP/collisions/right_thumb_PP/mesh> |
| } |
| } |
| } |
| } |
|
|
| over "Looks" |
| { |
| over "DefaultMaterial" |
| { |
| over "DefaultMaterial" |
| { |
| color3f inputs:diffuse_color_constant = (0.7, 0.7, 0.7) |
| float inputs:metallic_constant = 0.91999996 |
| } |
| } |
|
|
| over "material_CAD1EE" |
| { |
| over "Shader" |
| { |
| color3f inputs:diffuse_color_constant = (0.7, 0.7, 0.7) |
| color3f inputs:diffuse_tint = (1, 1, 1) |
| float inputs:metallic_constant = 0.92 |
| } |
| } |
|
|
| over "DefaultMaterial_0" |
| { |
| over "DefaultMaterial" |
| { |
| color3f inputs:diffuse_color_constant = (0.7, 0.7, 0.7) |
| float inputs:metallic_constant = 0.92 |
| } |
| } |
|
|
| over "material_3310033" |
| { |
| over "Shader" |
| { |
| color3f inputs:diffuse_color_constant = (0.3, 0.3, 0.3) |
| } |
| } |
|
|
| over "material_1910033" |
| { |
| over "Shader" |
| { |
| color3f inputs:diffuse_color_constant = (0.3, 0.3, 0.3) |
| } |
| } |
|
|
| over "material_E3E3E9" |
| { |
| over "Shader" |
| { |
| color3f inputs:diffuse_color_constant = (0.7, 0.7, 0.7) |
| float inputs:metallic_constant = 0.92 |
| } |
| } |
| } |
|
|
| over "right_index_MCP_VL" |
| { |
| over "visuals" ( |
| instanceable = false |
| ) |
| { |
| } |
|
|
| over "collisions" ( |
| instanceable = false |
| ) |
| { |
| } |
| } |
|
|
| over "right_index_PP" |
| { |
| over "visuals" ( |
| instanceable = false |
| ) |
| { |
| } |
|
|
| over "collisions" ( |
| instanceable = false |
| ) |
| { |
| } |
| } |
|
|
| over "right_index_MP" |
| { |
| over "visuals" ( |
| instanceable = false |
| ) |
| { |
| } |
|
|
| over "collisions" ( |
| instanceable = false |
| ) |
| { |
| } |
| } |
|
|
| over "right_index_DP" |
| { |
| over "visuals" ( |
| instanceable = false |
| ) |
| { |
| } |
|
|
| over "collisions" ( |
| instanceable = false |
| ) |
| { |
| } |
| } |
|
|
| over "right_index_elastomer" |
| { |
| over "visuals" ( |
| instanceable = false |
| ) |
| { |
| } |
|
|
| over "collisions" ( |
| instanceable = false |
| ) |
| { |
| } |
| } |
|
|
| over "right_index_fingertip" |
| { |
| over "visuals" ( |
| instanceable = false |
| ) |
| { |
| } |
| } |
|
|
| over "right_middle_MCP_VL" |
| { |
| over "visuals" ( |
| instanceable = false |
| ) |
| { |
| } |
|
|
| over "collisions" ( |
| instanceable = false |
| ) |
| { |
| } |
| } |
|
|
| over "right_middle_PP" |
| { |
| over "visuals" ( |
| instanceable = false |
| ) |
| { |
| } |
|
|
| over "collisions" ( |
| instanceable = false |
| ) |
| { |
| } |
| } |
|
|
| over "right_middle_MP" |
| { |
| over "visuals" ( |
| instanceable = false |
| ) |
| { |
| } |
|
|
| over "collisions" ( |
| instanceable = false |
| ) |
| { |
| } |
| } |
|
|
| over "right_middle_DP" |
| { |
| over "visuals" ( |
| instanceable = false |
| ) |
| { |
| } |
|
|
| over "collisions" ( |
| instanceable = false |
| ) |
| { |
| } |
| } |
|
|
| over "right_middle_elastomer" |
| { |
| over "visuals" ( |
| instanceable = false |
| ) |
| { |
| } |
|
|
| over "collisions" ( |
| instanceable = false |
| ) |
| { |
| } |
| } |
|
|
| over "right_middle_fingertip" |
| { |
| over "visuals" ( |
| instanceable = false |
| ) |
| { |
| } |
| } |
|
|
| over "right_pinky_MCP_VL" |
| { |
| over "visuals" ( |
| instanceable = false |
| ) |
| { |
| } |
|
|
| over "collisions" ( |
| instanceable = false |
| ) |
| { |
| } |
| } |
|
|
| over "right_pinky_PP" |
| { |
| over "visuals" ( |
| instanceable = false |
| ) |
| { |
| } |
|
|
| over "collisions" ( |
| instanceable = false |
| ) |
| { |
| } |
| } |
|
|
| over "right_pinky_MP" |
| { |
| over "visuals" ( |
| instanceable = false |
| ) |
| { |
| } |
|
|
| over "collisions" ( |
| instanceable = false |
| ) |
| { |
| } |
| } |
|
|
| over "right_pinky_DP" |
| { |
| over "visuals" ( |
| instanceable = false |
| ) |
| { |
| } |
|
|
| over "collisions" ( |
| instanceable = false |
| ) |
| { |
| } |
| } |
|
|
| over "right_pinky_elastomer" |
| { |
| over "visuals" ( |
| instanceable = false |
| ) |
| { |
| } |
|
|
| over "collisions" ( |
| instanceable = false |
| ) |
| { |
| } |
| } |
|
|
| over "right_pinky_fingertip" |
| { |
| over "visuals" ( |
| instanceable = false |
| ) |
| { |
| } |
| } |
|
|
| over "right_ring_MCP_VL" |
| { |
| over "visuals" ( |
| instanceable = false |
| ) |
| { |
| } |
|
|
| over "collisions" ( |
| instanceable = false |
| ) |
| { |
| } |
| } |
|
|
| over "right_ring_PP" |
| { |
| over "visuals" ( |
| instanceable = false |
| ) |
| { |
| } |
|
|
| over "collisions" ( |
| instanceable = false |
| ) |
| { |
| } |
| } |
|
|
| over "right_ring_MP" |
| { |
| over "visuals" ( |
| instanceable = false |
| ) |
| { |
| } |
|
|
| over "collisions" ( |
| instanceable = false |
| ) |
| { |
| } |
| } |
|
|
| over "right_ring_DP" |
| { |
| over "visuals" ( |
| instanceable = false |
| ) |
| { |
| } |
|
|
| over "collisions" ( |
| instanceable = false |
| ) |
| { |
| } |
| } |
|
|
| over "right_ring_elastomer" |
| { |
| over "visuals" ( |
| instanceable = false |
| ) |
| { |
| } |
|
|
| over "collisions" ( |
| instanceable = false |
| ) |
| { |
| } |
| } |
|
|
| over "right_ring_fingertip" |
| { |
| over "visuals" ( |
| instanceable = false |
| ) |
| { |
| } |
| } |
|
|
| over "right_thumb_CMC_VL" |
| { |
| over "visuals" ( |
| instanceable = false |
| ) |
| { |
| } |
| } |
|
|
| over "right_thumb_MCP_VL" |
| { |
| over "visuals" ( |
| instanceable = false |
| ) |
| { |
| } |
| } |
|
|
| over "right_thumb_PP" |
| { |
| over "visuals" ( |
| instanceable = false |
| ) |
| { |
| } |
|
|
| over "collisions" ( |
| instanceable = false |
| ) |
| { |
| } |
| } |
|
|
| over "right_thumb_DP" |
| { |
| over "visuals" ( |
| instanceable = false |
| ) |
| { |
| } |
|
|
| over "collisions" ( |
| instanceable = false |
| ) |
| { |
| } |
| } |
|
|
| over "right_thumb_elastomer" |
| { |
| over "visuals" ( |
| instanceable = false |
| ) |
| { |
| } |
|
|
| over "collisions" ( |
| instanceable = false |
| ) |
| { |
| } |
| } |
|
|
| over "right_thumb_fingertip" |
| { |
| over "visuals" ( |
| instanceable = false |
| ) |
| { |
| } |
| } |
| variantSet "Physics" = { |
| "None" ( |
| prepend references = @./right_sharpa_wave/configuration/right_sharpa_wave_base.usd@ |
| ) { |
| over "joints" ( |
| active = false |
| ) |
| { |
| } |
|
|
| } |
| "PhysX" ( |
| prepend payload = @./right_sharpa_wave/configuration/right_sharpa_wave_physics.usd@ |
| ) { |
|
|
| } |
| } |
| variantSet "Sensor" = { |
| "None" { |
|
|
| } |
| "Sensors" ( |
| prepend payload = @./right_sharpa_wave/configuration/right_sharpa_wave_sensor.usd@ |
| ) { |
|
|
| } |
| } |
| variantSet "Robot" = { |
| "None" { |
|
|
| } |
| "Robot" ( |
| prepend payload = @./right_sharpa_wave/configuration/right_sharpa_wave_robot.usd@ |
| ) { |
|
|
| } |
| } |
| } |
|
|
| def "Render" ( |
| hide_in_stage_window = true |
| no_delete = true |
| ) |
| { |
| def "OmniverseKit" |
| { |
| def "HydraTextures" ( |
| hide_in_stage_window = true |
| no_delete = true |
| ) |
| { |
| def RenderProduct "omni_kit_widget_viewport_ViewportTexture_0" ( |
| prepend apiSchemas = ["OmniRtxSettingsCommonAdvancedAPI_1", "OmniRtxSettingsRtAdvancedAPI_1", "OmniRtxSettingsPtAdvancedAPI_1", "OmniRtxPostColorGradingAPI_1", "OmniRtxPostChromaticAberrationAPI_1", "OmniRtxPostBloomPhysicalAPI_1", "OmniRtxPostMatteObjectAPI_1", "OmniRtxPostCompositingAPI_1", "OmniRtxPostDofAPI_1", "OmniRtxPostMotionBlurAPI_1", "OmniRtxPostTvNoiseAPI_1", "OmniRtxPostTonemapIrayReinhardAPI_1", "OmniRtxPostDebugSettingsAPI_1", "OmniRtxDebugSettingsAPI_1"] |
| hide_in_stage_window = true |
| no_delete = true |
| ) |
| { |
| rel camera = </OmniverseKit_Persp> |
| token omni:rtx:background:source:texture:textureMode = "repeatMirrored" |
| token omni:rtx:background:source:type = "domeLight" |
| bool omni:rtx:post:registeredCompositing:invertColorCorrection = 1 |
| bool omni:rtx:post:registeredCompositing:invertToneMap = 1 |
| rel orderedVars = </Render/Vars/LdrColor> |
| custom bool overrideClipRange = 0 |
| uniform int2 resolution = (1280, 720) |
| } |
| } |
| } |
|
|
| def RenderSettings "OmniverseGlobalRenderSettings" ( |
| prepend apiSchemas = ["OmniRtxSettingsGlobalRtAdvancedAPI_1", "OmniRtxSettingsGlobalPtAdvancedAPI_1"] |
| no_delete = true |
| ) |
| { |
| rel products = </Render/OmniverseKit/HydraTextures/omni_kit_widget_viewport_ViewportTexture_0> |
| } |
|
|
| def "Vars" |
| { |
| def RenderVar "LdrColor" ( |
| hide_in_stage_window = true |
| no_delete = true |
| ) |
| { |
| uniform string sourceName = "LdrColor" |
| } |
| } |
| } |
|
|
|
|
