Add Robot-Body packages: openarm_openarm_bimanual

.gitattributes

@@ -199,3 +199,4 @@ kuka_lbr_iiwa_kuka/payloads/Physics/dependencies/geometries.usd filter=lfs diff=
 kuka_lbr_iiwa_kuka/payloads/Physics/dependencies/geometries_1.usd filter=lfs diff=lfs merge=lfs -text
 kuka_lbr_iiwa_kuka/payloads/geometries.usd filter=lfs diff=lfs merge=lfs -text
 mecademic_meca500/payloads/geometries.usd filter=lfs diff=lfs merge=lfs -text
+openarm_openarm_bimanual/payloads/geometries.usd filter=lfs diff=lfs merge=lfs -text

openarm_openarm_bimanual/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json

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+  ]
+}

openarm_openarm_bimanual/.metadata/com.nvidia.simready.packaging.bom.json

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openarm_openarm_bimanual/.metadata/com.nvidia.simready.root_usds.json

@@ -0,0 +1,6 @@
+{
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+  "entries": [
+    "openarm_bimanual.usda"
+  ]
+}

openarm_openarm_bimanual/.metadata/license.txt

@@ -0,0 +1,202 @@
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openarm_openarm_bimanual/.simready/validation.json

@@ -0,0 +1,224 @@
+{
+  "SimReady_Metadata": {
+    "validation": {
+      "profile": "Robot-Body",
+      "profile_version": "3.0.0",
+      "validated_features": {
+        "2026-10-20": {
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+            "dependencies": "['CAP000_Core.OpenUSD.0-1-0']",
+            "passed": true,
+            "version": "0-1-0"
+          },
+          "CAP000_Core.MuJoCo.0-1-0": {
+            "blocking_failure": false,
+            "dependencies": "['CAP000_Core.OpenUSD.0-1-0']",
+            "passed": true,
+            "version": "0-1-0"
+          },
+          "CAP000_Core.Newton.0-1-0": {
+            "blocking_failure": false,
+            "dependencies": "['CAP000_Core.OpenUSD.0-1-0']",
+            "passed": true,
+            "version": "0-1-0"
+          },
+          "CAP000_Core.OpenUSD.0-1-0": {
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+            "dependencies": "[]",
+            "passed": true,
+            "version": "0-1-0"
+          },
+          "CAP000_Core.PhysX.0-1-0": {
+            "blocking_failure": false,
+            "dependencies": "['CAP000_Core.OpenUSD.0-1-0']",
+            "passed": true,
+            "version": "0-1-0"
+          },
+          "CAP003_RigidBody.MuJoCo.0-1-0": {
+            "blocking_failure": false,
+            "dependencies": "[]",
+            "passed": true,
+            "version": "0-1-0"
+          },
+          "CAP004_Multibody.MuJoCo.0-1-0": {
+            "blocking_failure": false,
+            "dependencies": "['CAP003_RigidBody.MuJoCo.0-1-0']",
+            "passed": true,
+            "version": "0-1-0"
+          },
+          "CAP004_Multibody.RobotMuJoCo.0-1-0": {
+            "blocking_failure": false,
+            "dependencies": "[]",
+            "passed": true,
+            "version": "0-1-0"
+          },
+          "CAP021_RobotCore.Isaac.0-3-0": {
+            "blocking_failure": false,
+            "dependencies": "[]",
+            "passed": true,
+            "version": "0-3-0"
+          },
+          "CAP022_DrivenJoints.MuJoCo.0-1-0": {
+            "blocking_failure": false,
+            "dependencies": "['CAP004_Multibody.RobotMuJoCo.0-1-0']",
+            "optional requirements": "['com.nvidia.simready.MUJOCO.DJ.002']",
+            "passed": false,
+            "version": "0-1-0"
+          },
+          "CAP023_RobotMaterials.Isaac.0-1-0": {
+            "blocking_failure": false,
+            "dependencies": "[]",
+            "passed": true,
+            "version": "0-1-0"
+          },
+          "CAP024_BaseArticulation.MuJoCo.0-1-0": {
+            "blocking_failure": false,
+            "dependencies": "['CAP024_BaseArticulation.OpenUSD.0-1-0']",
+            "passed": true,
+            "version": "0-1-0"
+          },
+          "CAP024_BaseArticulation.Newton.0-1-0": {
+            "blocking_failure": false,
+            "dependencies": "['CAP024_BaseArticulation.OpenUSD.0-1-0']",
+            "passed": true,
+            "version": "0-1-0"
+          },
+          "CAP024_BaseArticulation.OpenUSD.0-1-0": {
+            "blocking_failure": false,
+            "dependencies": "[]",
+            "passed": true,
+            "version": "0-1-0"
+          },
+          "CAP024_BaseArticulation.PhysX.0-1-0": {
+            "blocking_failure": false,
+            "dependencies": "['CAP024_BaseArticulation.OpenUSD.0-1-0']",
+            "passed": true,
+            "version": "0-1-0"
+          },
+          "CAP025_RosBridge.Ros.0-1-0": {
+            "blocking_failure": false,
+            "dependencies": "[]",
+            "optional requirements": "['com.nvidia.simready.ROS.001']",
+            "passed": false,
+            "version": "0-1-0"
+          },
+          "CAP031_SelfContainedPackage.OpenUSD.0-1-0": {
+            "blocking_failure": false,
+            "dependencies": "[]",
+            "passed": true,
+            "version": "0-1-0"
+          },
+          "CAP033_SimReadyPackage.OpenUSD.0-4-0": {
+            "blocking_failure": false,
+            "dependencies": "['CAP031_SelfContainedPackage.OpenUSD.0-1-0']",
+            "passed": true,
+            "version": "0-4-0"
+          },
+          "CAP100_IsaacComposition.Isaac.0-3-0": {
+            "blocking_failure": false,
+            "dependencies": "[]",
+            "passed": true,
+            "version": "0-3-0"
+          },
+          "FET001_MinimalPlaceableVisual.OpenUSD.1-0-1": {
+            "blocking_failure": false,
+            "dependencies": "[]",
+            "passed": true,
+            "version": "1-0-1"
+          },
+          "FET003_RigidBody.Newton.0-1-0": {
+            "blocking_failure": false,
+            "dependencies": "[]",
+            "passed": true,
+            "version": "0-1-0"
+          },
+          "FET003_RigidBody.OpenUSD.0-2-0": {
+            "blocking_failure": false,
+            "dependencies": "[]",
+            "passed": true,
+            "version": "0-2-0"
+          },
+          "FET003_RigidBody.PhysX.0-4-0": {
+            "blocking_failure": false,
+            "dependencies": "[]",
+            "passed": true,
+            "version": "0-4-0"
+          },
+          "FET004_Multibody.Newton.0-1-0": {
+            "blocking_failure": false,
+            "dependencies": "['FET003_RigidBody.Newton.0-1-0']",
+            "passed": true,
+            "version": "0-1-0"
+          },
+          "FET004_Multibody.OpenUSD.0-2-0": {
+            "blocking_failure": false,
+            "dependencies": "['FET003_RigidBody.OpenUSD.0-2-0']",
+            "passed": true,
+            "version": "0-2-0"
+          },
+          "FET004_Multibody.PhysX.0-4-0": {
+            "blocking_failure": false,
+            "dependencies": "['FET003_RigidBody.PhysX.0-4-0']",
+            "passed": true,
+            "version": "0-4-0"
+          },
+          "FET004_Multibody.RobotNewton.0-1-0": {
+            "blocking_failure": false,
+            "dependencies": "[]",
+            "passed": true,
+            "version": "0-1-0"
+          },
+          "FET006_Materials.MDL.0-2-0": {
+            "blocking_failure": false,
+            "dependencies": "[]",
+            "passed": true,
+            "version": "0-2-0"
+          },
+          "FET006_Materials.OpenUSD.0-2-0": {
+            "blocking_failure": false,
+            "dependencies": "[]",
+            "passed": true,
+            "version": "0-2-0"
+          },
+          "FET006_Materials.Openpbr.0-1-0": {
+            "blocking_failure": false,
+            "dependencies": "[]",
+            "passed": true,
+            "version": "0-1-0"
+          },
+          "FET010_DisplayColor.OpenUSD.0-1-0": {
+            "blocking_failure": false,
+            "dependencies": "[]",
+            "passed": true,
+            "version": "0-1-0"
+          },
+          "FET022_DrivenJoints.Isaac.0-2-0": {
+            "blocking_failure": false,
+            "dependencies": "['FET022_DrivenJoints.PhysX.0-2-0']",
+            "passed": true,
+            "version": "0-2-0"
+          },
+          "FET022_DrivenJoints.Newton.0-1-0": {
+            "blocking_failure": false,
+            "dependencies": "['FET004_Multibody.RobotNewton.0-1-0']",
+            "passed": true,
+            "version": "0-1-0"
+          },
+          "FET022_DrivenJoints.OpenUSD.0-2-0": {
+            "blocking_failure": false,
+            "dependencies": "['FET004_Multibody.OpenUSD.0-2-0']",
+            "passed": true,
+            "version": "0-2-0"
+          },
+          "FET022_DrivenJoints.PhysX.0-2-0": {
+            "blocking_failure": false,
+            "dependencies": "['FET004_Multibody.PhysX.0-4-0']",
+            "passed": true,
+            "version": "0-2-0"
+          }
+        }
+      }
+    }
+  }
+}

openarm_openarm_bimanual/.thumbs/256x256/.openarm_bimanual.usda.last_generated

@@ -0,0 +1 @@
+2026-08-11 03:39:43

openarm_openarm_bimanual/com.nvidia.simready.packaging.json

@@ -0,0 +1,37 @@
+{
+  "format_version": "1.0",
+  "package_id": "openarm_openarm_bimanual.1.0.0",
+  "license": "Apache-2.0",
+  "metadata": [
+    {
+      "name": "com.nvidia.simready.conformance.Package-Candidate@1.0.0.json",
+      "hash": {
+        "sha256": "469aaf94d9e135420e82cbc957dd026ac16e3272b1ccd8fc9174650546664e47"
+      }
+    },
+    {
+      "name": "com.nvidia.simready.packaging.bom.json",
+      "hash": {
+        "sha256": "c9024e8718171e0cd8d1470a30cdcc936f8aa77a15af60c98ababc38b6dbce10"
+      }
+    },
+    {
+      "name": "com.nvidia.simready.root_usds.json",
+      "hash": {
+        "sha256": "1f08d3a69b5db1515f2c6fa9de3b25f1586f890de3e1b27ba89f9c5ff6efe88d"
+      }
+    },
+    {
+      "name": "license.txt",
+      "hash": {
+        "sha256": "cfc7749b96f63bd31c3c42b5c471bf756814053e847c10f3eb003417bc523d30"
+      }
+    }
+  ],
+  "content_hash": {
+    "sha256": "77ba6a5a830299f37a978ddc5d6902483b9fef783ddff140b8aced831dbd7eb2"
+  },
+  "package_hash": {
+    "sha256": "c4229a06c829634dc78eb8a5626f8a906a4d18c4f1057b3652992997fa50abd8"
+  }
+}

openarm_openarm_bimanual/materials/mdl/LICENSE.md

@@ -0,0 +1,73 @@
+# NVIDIA Omniverse Core Materials Licenses
+
+## Primary License
+This project is primarily licensed under the BSD-3-Clause License.
+
+```
+Copyright (c) 1986-2025 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+
+1. Redistributions of source code must retain the above copyright notice, this
+   list of conditions and the following disclaimer.
+
+2. Redistributions in binary form must reproduce the above copyright notice,
+   this list of conditions and the following disclaimer in the documentation
+   and/or other materials provided with the distribution.
+
+3. Neither the name of the copyright holder nor the names of its
+   contributors may be used to endorse or promote products derived from
+   this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+```
+
+## Third-Party Licenses
+
+### Apache License 2.0
+The following components are licensed under the Apache License 2.0:
+
+#### MaterialX Components
+Files in `/source/mdl/materialx` are licensed under Apache License 2.0 per the MaterialX project:
+https://github.com/AcademySoftwareFoundation/MaterialX/blob/main/LICENSE
+
+```
+Copyright Contributors to the MaterialX Project
+
+Licensed under the Apache License, Version 2.0 (the "License");
+you may not use this file except in compliance with the License.
+You may obtain a copy of the License at
+
+    http://www.apache.org/licenses/LICENSE-2.0
+
+Unless required by applicable law or agreed to in writing, software
+distributed under the License is distributed on an "AS IS" BASIS,
+WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+See the License for the specific language governing permissions and
+limitations under the License.
+```
+
+## SPDX License Identifiers
+Files in this project use the following SPDX license identifiers:
+- `SPDX-License-Identifier: BSD-3-Clause` - Used for NVIDIA-owned code
+- `SPDX-License-Identifier: Apache-2.0` - Used for MaterialX components
+
+## License Attribution
+This project contains code from multiple sources:
+1. NVIDIA Corporation (BSD-3-Clause) - Primary codebase
+2. Academy Software Foundation (Apache-2.0) - MaterialX components
+
+## License Scope
+- All files in the project are licensed under BSD-3-Clause unless explicitly stated otherwise
+- Files in `/source/mdl/materialx` are licensed under Apache-2.0
+- All other files are licensed under BSD-3-Clause 

openarm_openarm_bimanual/materials/mdl/OmniPBR.mdl

@@ -0,0 +1,396 @@
+/*
+ * SPDX-FileCopyrightText: Copyright (c) 2022-2025 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
+ * SPDX-License-Identifier: BSD-3-Clause
+ */
+
+mdl 1.7;
+
+import ::df::*;
+import ::state::*;
+import ::math::*;
+import ::base::*;
+import ::state::*;
+import ::tex::*;
+import ::anno::*;
+
+import ::debug::*;
+
+import core_definitions::file_texture;
+import core_definitions::normalmap_texture;
+
+import OmniPBR_ClearCoat::*;
+
+
+//  OmniPBR  //
+
+export material OmniPBR(
+
+    //  Albdeo  //
+
+	color diffuse_color_constant = color(0.2) [[
+		anno::display_name("Albedo Color"),
+		anno::description("This is the albedo base color"),
+		anno::in_group("Albedo")
+	]],
+	uniform texture_2d diffuse_texture = texture_2d() [[
+		anno::display_name("Albedo Map"),
+		anno::in_group("Albedo")
+	]],
+	float albedo_desaturation = float(0.0) [[
+		anno::display_name("Albedo Map Desaturation"),
+		anno::description("Desaturates the albedo map"),
+		anno::in_group("Albedo"),
+		anno::soft_range(float(0.0), float(1.0))
+	]],
+	float albedo_add = float(0.0) [[
+		anno::display_name("Albedo Add"),
+		anno::description("Adds a constant value to the diffuse color "),
+		anno::in_group("Albedo"),
+		anno::soft_range(float(-1.0), float(1.0))
+	]],	
+	float albedo_brightness = float(1.0) [[
+		anno::display_name("Albedo Brightness"),
+		anno::description("Multiplier for the diffuse color "),
+		anno::in_group("Albedo"),
+		anno::soft_range(float(0.0), float(1.0))
+	]],	
+	color diffuse_tint = color(1.0) [[
+		anno::display_name("Color Tint"),
+		anno::description("When enabled, this color value is multiplied over the final albedo color"),
+		anno::in_group("Albedo")
+	]],
+	
+
+	//  Reflectivity //
+	
+	float reflection_roughness_constant = float(0.5) [[
+		anno::display_name("Roughness Amount"),
+		anno::description("Higher roughness values lead to more blurry reflections"),
+		anno::in_group("Reflectivity"),
+		anno::hard_range(float(0.0), float(1.0))
+	]],
+	float reflection_roughness_texture_influence = float(0.0) [[
+		anno::display_name("Roughness Map Influence"),
+		anno::description("Blends between the constant value and the lookup of the roughness texture"),
+		anno::in_group("Reflectivity"),
+		anno::hard_range(float(0.0), float(1.0))
+	]],
+	uniform texture_2d reflectionroughness_texture = texture_2d() [[
+		anno::display_name("Roughness Map"),
+		anno::in_group("Reflectivity"),
+		anno::usage("roughness")
+	]],
+	float metallic_constant = float(0.0) [[
+		anno::display_name("Metallic Amount"),
+		anno::description("Metallic Material"),
+		anno::in_group("Reflectivity"),
+		anno::hard_range(float(0.0), float(1.0))
+	]],	
+	float metallic_texture_influence = float(0.0) [[
+		anno::display_name("Metallic Map Influence"),
+		anno::description("Blends between the constant value and the lookup of the metallic texture"),
+		anno::in_group("Reflectivity"),
+		anno::hard_range(float(0.0), float(1.0))
+	]],
+	uniform texture_2d metallic_texture = texture_2d() [[
+		anno::display_name("Metallic Map"),
+		anno::in_group("Reflectivity"),
+		anno::usage("metalness")
+	]], 
+	float specular_level = float(0.5) [[
+		anno::display_name("Specular"),
+		anno::description("The specular level (intensity) of the material"),
+		anno::in_group("Reflectivity"),
+		anno::soft_range(float(0.0), float(1.0))
+	]],
+	
+
+	//  ORM  //
+ 
+	uniform bool enable_ORM_texture = false [[
+		anno::display_name("Enable ORM Texture"),
+		anno::description("The ORM texture will be used to extract the Occlusion, Roughness and Metallic textures from R,G,B channels"),
+		anno::in_group("Reflectivity")
+	]],
+	uniform texture_2d ORM_texture = texture_2d() [[
+		anno::display_name("ORM Map"),
+		anno::description("Texture that has Occlusion, Roughness and Metallic maps stored in their respective R, G and B channels"),
+		anno::in_group("Reflectivity"),
+		anno::usage("roughness")
+	]],
+
+
+	//  AO Group  // 
+
+	float ao_to_diffuse = 0.0 [[
+		anno::display_name("AO to diffuse"),
+		anno::description("Controls the amount of ambient occlusion multiplied against the diffuse color channel"),
+		anno::in_group("AO"),
+		anno::hard_range(float(0.0), float(1.0))
+	]],
+	uniform texture_2d ao_texture = texture_2d() [[
+		anno::display_name("Ambient Occlusion Map"),
+		anno::description("The ambient occlusion texture for the material"),
+		anno::in_group("AO"),
+		anno::usage("occlusion")
+	]],
+	
+	
+	//  Emission //  
+
+	uniform bool enable_emission = false [[
+        anno::display_name("Enable Emission"),
+		anno::description("Enables the emission of light from the material"),
+		anno::in_group("Emissive")
+	]],
+	color emissive_color = color(1.0,0.1,0.1) [[
+		anno::display_name("Emissive Color"),
+		anno::description("The emission color"),
+		anno::in_group("Emissive"),
+		anno::enable_if("enable_emission == true")
+	]],
+    	uniform texture_2d emissive_color_texture = texture_2d() [[ 
+		anno::display_name("Emissive Color map"),
+        anno::in_group("Emissive"),
+		anno::description("The emissive color texture"),
+        anno::enable_if("enable_emission == true")
+    ]],	
+	uniform texture_2d emissive_mask_texture = texture_2d() [[
+		anno::display_name("Emissive Mask map"),
+		anno::description("The texture masking the emissive color"),
+		anno::in_group("Emissive"),
+		anno::enable_if("enable_emission == true"),
+	 	anno::usage("occlusion")
+	]],
+	float emissive_intensity = float(40.0) [[
+		anno::display_name("Emissive Intensity"),    
+		anno::description("Intensity of the emission"),
+		anno::in_group("Emissive"),
+		anno::enable_if("enable_emission == true")
+	]],	
+
+
+    //  Cutout Opacity  //
+	
+    uniform bool enable_opacity = false [[
+		anno::display_name("Enable Opacity"),
+		anno::description("Enables the use of cutout opacity"),
+		anno::in_group("Opacity")
+	]],
+ 	uniform texture_2d opacity_texture = texture_2d() [[
+		anno::display_name("Opacity Map"),
+		anno::in_group("Opacity"),
+		anno::usage("opacity")
+	]],
+	float opacity_constant = float(1.0) [[
+		anno::display_name("Opacity Amount"),    
+		anno::description("Opacity value between 0 and 1, when Opacity Map is not valid"),
+		anno::in_group("Opacity"),
+		anno::hard_range(float(0.0), float(1.0))
+	]],
+	uniform bool enable_opacity_texture = false [[
+		anno::display_name("Enable Opacity Texture"),
+		anno::description("Enables or disables the usage of the opacity texture map"),
+		anno::in_group("Opacity")
+	]],
+	uniform base::mono_mode opacity_mode = base::mono_average [[
+		anno::display_name("Opacity Mono Source"),
+		anno::description("Determines how to lookup opacity from the supplied texture. mono_alpha, mono_average, mono_luminance, mono_maximum"),
+		anno::in_group("Opacity")
+	]],
+	uniform float opacity_threshold = float(0.0) [[
+		anno::hard_range(0.0, 1.0),
+		anno::display_name("Opacity Threshold"),
+		anno::description("If 0, use fractional opacity values 'as is'; if > 0, remap opacity values to 1 when >= threshold and to 0 otherwise"),
+		anno::in_group("Opacity")
+	]],
+
+
+	//  Normal  // 
+	
+	uniform float geometry_normal_roughness_strength = 1.f
+	[[
+		anno::hard_range(0.0, 1.0),
+		anno::display_name("Normal map to roughness weight"),
+		anno::description("Enables and weights roughness induced by normal maps"),
+		anno::in_group("Normal")
+	]],
+	uniform float bump_factor = float(1.0) [[
+		anno::display_name("Normal Strength"),
+		anno::description("Strength of normal map"),
+		anno::in_group("Normal"),
+		anno::soft_range(float(0.0), float(1.0))
+	]],
+	uniform texture_2d normalmap_texture = texture_2d() [[
+		anno::display_name("Normal Map"),
+		anno::in_group("Normal"),
+		anno::usage("normal")
+	]], 
+	uniform float detail_bump_factor = float(0.3) [[
+		anno::display_name("Detail Normal Strength"),
+		anno::in_group("Normal"),
+		anno::description("Strength of the detail normal"),
+		anno::soft_range(float(0.0), float(1.0))
+	]],
+	uniform texture_2d detail_normalmap_texture = texture_2d() [[
+		anno::display_name("Detail Normal Map"),
+		anno::in_group("Normal"),
+		anno::usage("normal")
+	]],
+	uniform bool flip_tangent_u = false  [[
+        anno::display_name("Normal Map Flip U Tangent"),
+        anno::in_group("Normal")
+    	]],
+	uniform bool flip_tangent_v = true [[
+        anno::display_name("Normal Map Flip V Tangent"),
+        anno::in_group("Normal")
+    	]],
+
+
+	//  UVW Projection Group  //
+
+	uniform bool project_uvw = false [[
+		anno::display_name("Enable Project UVW Coordinates"),
+		anno::description("When enabled, UV coordinates will be generated by projecting them from a coordinate system"),
+		anno::in_group("UV")
+	]],
+	uniform bool world_or_object = false [[
+		anno::display_name("Enable World Space"),
+		anno::description("When enabled, uses world space for projection, otherwise object space is used"),
+		anno::in_group("UV"),
+		anno::enable_if("project_uvw == true")
+	]],
+	uniform int uv_space_index =  0 [[
+		anno::display_name("UV Space Index"),
+		anno::description("UV Space Index."),
+		anno::in_group("UV"),
+		anno::enable_if("project_uvw == true"),
+		anno::hard_range(int(0), int(3))
+	]],
+	
+
+	//  UVW Adjustments Group  //
+
+	uniform float2 texture_translate =  float2(0.0) [[
+		anno::display_name("Texture Translate"),
+		anno::description("Controls position of texture."),
+		anno::in_group("UV"),
+		anno::enable_if("project_uvw == true")
+	]],
+	uniform float texture_rotate = float(0.0) [[
+		anno::display_name("Texture Rotate"),
+		anno::description("Rotates angle of texture in degrees."),
+		anno::in_group("UV"),
+		anno::enable_if("project_uvw == true")
+	]],
+	uniform float2 texture_scale =  float2(1.0) [[
+		anno::display_name("Texture Tiling"),
+		anno::description("Controls the repetition of the texture."),
+		anno::in_group("UV"),
+		anno::enable_if("project_uvw == true")
+	]],
+	uniform float2 detail_texture_translate =  float2(0.0) [[
+		anno::display_name("Detail Texture Translate"),
+		anno::description("Controls the position of the detail texture."),
+		anno::in_group("UV"),
+		anno::enable_if("project_uvw == true")
+	]],
+	uniform float detail_texture_rotate =  float(0.0) [[
+		anno::display_name("Detail Texture Rotate"),
+		anno::description("Rotates angle of the detail texture in degrees."),
+		anno::in_group("UV"),
+		anno::enable_if("project_uvw == true")
+	]],
+	uniform float2 detail_texture_scale =  float2(1.0) [[
+		anno::display_name("Detail Texture Tiling"),
+		anno::description("Controls the repetition of the detail texture."),
+		anno::in_group("UV"),
+		anno::enable_if("project_uvw == true")
+    ]],
+    
+
+    //  Geometry  //
+
+    uniform float round_edges_radius = float(0.0) [[
+        anno::display_name("Round Edge Radius"),
+        anno::description("Influence radius around the edges in meters"),
+        anno::in_group("Geometry"),
+        anno::soft_range(0.0, 1.0)
+    ]],
+    uniform float round_edges_roundness = float(1.0) [[
+        anno::display_name("Round Edge Roundness"),
+        anno::description("Determines how round the edge will look"),
+        anno::in_group("Geometry"),
+        anno::hard_range(0.0, 1.0)
+    ]],
+    uniform bool round_edges_across_materials = false [[
+        anno::display_name("Round Edge Across Materials"),
+        anno::description("Normal smoothing happens only between facets of equal material, \n"
+                          "\t\tunless this parameter is set true, in which case the smoothing \n"
+                          "\t\thappens between facets irrespective of their materials"),
+        anno::in_group("Geometry")
+    ]]
+) 
+[[
+	anno::display_name("OmniPBR"),
+	anno::description("OmniPBR Base with support for clear coat, opacity and ORM textures."),
+    anno::in_group("Base"),
+	anno::version( 2, 1, 2),
+	anno::author("NVIDIA CORPORATION"), 
+	anno::key_words(string[]("omni", "PBR", "opacity", "omniverse", "generic"))
+]] = let {
+
+material base = OmniPBR_ClearCoat::OmniPBR_ClearCoat(
+    diffuse_color_constant: diffuse_color_constant,
+    diffuse_texture: diffuse_texture,
+    albedo_desaturation: albedo_desaturation,
+    albedo_add: albedo_add,
+    albedo_brightness: albedo_brightness,
+    diffuse_tint: diffuse_tint,
+    reflection_roughness_constant: reflection_roughness_constant,
+    reflection_roughness_texture_influence: reflection_roughness_texture_influence,
+    reflectionroughness_texture: reflectionroughness_texture,
+    metallic_constant: metallic_constant,
+    metallic_texture_influence: metallic_texture_influence,
+    metallic_texture: metallic_texture,
+    specular_level: specular_level,
+    enable_ORM_texture: enable_ORM_texture,
+    ORM_texture: ORM_texture,
+    ao_to_diffuse: ao_to_diffuse,
+    ao_texture: ao_texture,
+	enable_emission: enable_emission,
+    emissive_color: emissive_color,
+    emissive_color_texture: emissive_color_texture, 
+    emissive_mask_texture: emissive_mask_texture,
+    emissive_intensity: emissive_intensity,      
+    enable_opacity: enable_opacity,          
+    opacity_texture: opacity_texture,         
+    opacity_constant: opacity_constant,        
+    enable_opacity_texture: enable_opacity_texture,  
+    opacity_mode: opacity_mode,            
+    opacity_threshold: opacity_threshold,
+    geometry_normal_roughness_strength:     geometry_normal_roughness_strength,
+    bump_factor: bump_factor,             
+    normalmap_texture: normalmap_texture,
+    detail_bump_factor: detail_bump_factor,      
+    detail_normalmap_texture: detail_normalmap_texture,
+    flip_tangent_u: flip_tangent_u,          
+    flip_tangent_v: flip_tangent_v,                  
+	project_uvw: project_uvw,
+    world_or_object: world_or_object,         
+    uv_space_index: uv_space_index,          
+    texture_translate: texture_translate,       
+    texture_rotate: texture_rotate,          
+    texture_scale: texture_scale,           
+    detail_texture_translate: detail_texture_translate,
+    detail_texture_rotate: detail_texture_rotate, 
+    detail_texture_scale: detail_texture_scale,
+    round_edges_radius: round_edges_radius,
+    round_edges_roundness: round_edges_roundness,
+    round_edges_across_materials: round_edges_across_materials
+);
+
+} in material(
+surface:  base.surface,
+geometry: base.geometry
+);

openarm_openarm_bimanual/materials/mdl/OmniPBRBase.mdl

@@ -0,0 +1,470 @@
+/*
+ * SPDX-FileCopyrightText: Copyright (c) 2022-2025 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
+ * SPDX-License-Identifier: BSD-3-Clause
+ */
+
+mdl 1.7;
+
+import ::df::*;
+import ::state::*;
+import ::math::*;
+import ::base::*;
+import ::tex::*;
+import ::anno::*;
+import ::anno::*;
+
+export float3 HemiOctahedronToUnitVector( float2 Oct ) [[
+	anno::hidden()
+]]
+{
+    Oct = float2( Oct.x + Oct.y, Oct.x - Oct.y ) * 0.5;
+    float3 N = float3( Oct.x, Oct.y, 1.0 - math::dot( float2(1.0), math::abs(Oct) ) );
+    return math::normalize(N);
+}
+
+export struct NormalData  [[
+	anno::hidden()
+]]
+{
+	float3 normal;
+	float2 roughness;
+};
+
+export NormalData tangent_space_normal_roughness_texture(
+    uniform texture_2d texture
+        [[
+            anno::description("The input texture"),
+            anno::usage("normal")
+        ]],
+    uniform float factor = 1.0f
+        [[ anno::description("Determines the degree of bumpiness") ]],
+    uniform bool flip_tangent_u = false
+        [[ anno::description("Can be used to fix mismatches between the object's tangent space and the normal map's tangent space") ]],
+    uniform bool flip_tangent_v = false
+        [[ anno::description("Can be used to fix mismatches between the object's tangent space and the normal map's tangent space") ]],
+    base::texture_coordinate_info uvw = base::texture_coordinate_info()
+        [[ anno::description("Parameterization to be used for texture mapping. Defaults to texture channel 0.") ]],
+    uniform float2 crop_u = float2( 0.0, 1.0)
+        [[ anno::description("Restricts the texture access to sub-domain of the texture in the u direction") ]],
+    uniform float2 crop_v = float2( 0.0, 1.0)
+        [[ anno::description("Restricts the texture access to sub-domain of the texture in the v direction") ]],
+    uniform tex::wrap_mode wrap_u = tex::wrap_repeat
+        [[ anno::description("Wrapping mode in the u direction") ]],
+    uniform tex::wrap_mode wrap_v = tex::wrap_repeat
+        [[ anno::description("Wrapping mode in the v direction") ]],
+    uniform bool clip = false
+        [[
+            anno::description("deprecated, usewrap_mode=tex::wrap_clip. Defines wrap_clamp behavior. If true, lookup outside [0,1] results in no bump"),
+            anno::hidden()
+        ]],
+    uniform float scale = 1.
+        [[
+            anno::description("Scales the value red from the texture file. Can be used to adapt to different normal map formats"),
+            anno::unused()
+        ]],
+    uniform float offset = 0.
+        [[
+            anno::description("Offset applied to the value red from the texture file. Can be used to adapt to different normal map formats"),
+            anno::unused()
+        ]],
+    uniform float animation_start_time = 0.
+        [[ anno::description("When to start playing first frame of the animation ") ]],
+    uniform int2 animation_crop  = int2(0, 0)
+        [[ anno::description("If the texture is an animation, the range of frames to be played can be specified.") ]],
+    uniform tex::wrap_mode animation_wrap = tex::wrap_repeat
+        [[ anno::description("Defines what to do outside of regular animation time") ]],
+    uniform float animation_fps = 30
+        [[ anno::description("Framerate to use for animation playback") ]]
+)
+[[
+    anno::description("Interprets the color values of a bitmap as a vector in tangent space"),
+	anno::hidden(),
+    anno::noinline()
+]]
+{
+	NormalData normalData;
+	normalData.roughness = float2(0);
+	normalData.normal = state::normal();
+
+    float frame = 0.0;
+    if(animation_crop != int2(0,0)) //only if we have an animation
+    {
+        frame = (::state::animation_time()-animation_start_time) * animation_fps ; //start playing at first frame of the animation
+        switch ( animation_wrap) {
+            case tex::wrap_repeat:
+                frame=frame>0?  math::fmod(frame,animation_crop.y-animation_crop.x)+animation_crop.x:
+                                math::fmod(frame,animation_crop.y-animation_crop.x)+animation_crop.y;
+                break;
+            case tex::wrap_mirrored_repeat:
+                float animation_crop_2y = 2.0*animation_crop.y;
+                frame=frame>0?  math::fmod(frame,(animation_crop.y-animation_crop.x)*2.0)+animation_crop.x:
+                                math::fmod(frame,(animation_crop.y-animation_crop.x)*2.0)+animation_crop_2y-animation_crop.x;
+                if(frame>animation_crop.y)
+                    frame = animation_crop_2y-frame;
+                break;
+            case tex::wrap_clamp:
+                frame = math::clamp( frame+animation_crop.x, animation_crop.x, animation_crop.y);
+                break;
+            case tex::wrap_clip:
+                frame += animation_crop.x;
+                if(frame < animation_crop.x || frame > animation_crop.y) return normalData;
+                break;
+        }
+    }
+
+    if (tex::width(texture) == 0 || tex::height(texture) == 0 || // avoid division by zero in texremapu for invalid resource
+        factor == 0.0f)
+        return normalData;
+    {
+        if (clip) {
+            if (wrap_u == tex::wrap_clamp && (uvw.position.x < 0. || uvw.position.x > 1.)) {
+                return normalData;
+            }
+            if (wrap_v == tex::wrap_clamp && (uvw.position.y < 0. || uvw.position.y > 1.)) {
+                return normalData;
+            }
+        }
+        if (wrap_u == tex::wrap_clip && (uvw.position.x < 0. || uvw.position.x > 1.)) {
+            return normalData;
+        }
+        if (wrap_v == tex::wrap_clip && (uvw.position.y < 0. || uvw.position.y > 1.)) {
+            return normalData;
+        }
+    }
+    bool pixel_flip_u = flip_tangent_u;
+    bool pixel_flip_v = flip_tangent_v;
+    //if we mirror repeat a tangent space texture, tangent space needs to be flipped for every other tile
+    if (wrap_u == tex::wrap_mirrored_repeat) {
+        if( uvw.position.x > 0. && int(uvw.position.x) % 2 == 1)
+            pixel_flip_u = ! pixel_flip_u;
+        else if( uvw.position.x < 0. && int(uvw.position.x) % 2 == 0)
+            pixel_flip_u = ! pixel_flip_u;
+    }
+    if (wrap_v == tex::wrap_mirrored_repeat) {
+        if( uvw.position.y > 0. && int(uvw.position.y) % 2 == 1)
+            pixel_flip_v = ! pixel_flip_v;
+        else if( uvw.position.y < 0. && int(uvw.position.y) % 2 == 0)
+            pixel_flip_v = ! pixel_flip_v;
+    }
+
+    float3 transformed_tangent_u = uvw.tangent_u;
+    float3 transformed_tangent_v = uvw.tangent_v;
+
+    if (pixel_flip_u)
+        transformed_tangent_u=-transformed_tangent_u;
+    if (pixel_flip_v)
+        transformed_tangent_v=-transformed_tangent_v;
+
+    float3 tangent_space_normal;
+	float4 normal_raw = tex::lookup_float4(texture,float2(uvw.position.x,uvw.position.y), wrap_u, wrap_v, crop_u, crop_v, frame);
+	if(normal_raw.x > 1.5)
+	{
+		// octahedron packed by OV
+		normal_raw.x -= 2.0;
+		normal_raw.x -= 0.5;
+		normal_raw.y -= 0.5;
+		tangent_space_normal = HemiOctahedronToUnitVector(float2(normal_raw.x, normal_raw.y) * 2.0);
+		normalData.roughness = float2(normal_raw.z, normal_raw.w);
+	}
+	else
+	{
+		// regular
+		tangent_space_normal = (float3(normal_raw.x, normal_raw.y, normal_raw.z) - float3(0.5)) * 2.0;
+		normalData.roughness = float2(0);
+	}
+
+	normalData.normal =  math::normalize(
+        transformed_tangent_u * tangent_space_normal.x * factor +
+        transformed_tangent_v * tangent_space_normal.y * factor +
+        state::normal() * tangent_space_normal.z);
+
+	return normalData;
+}
+
+
+export material OmniPBRBase(
+
+	
+    //  Albdeo  //
+
+	color diffuse_reflection_color = color(0.2) [[
+		anno::display_name("Albedo Color"),
+		anno::description("This is the albedo base color"),
+		anno::in_group("Albedo")
+	]],
+	color diffuse_tint = color(1.0) [[
+		anno::display_name("Albedo Tint"),
+		anno::description("When enabled, this color value is multiplied over the final albedo color"),
+		anno::in_group("Albedo")
+	]],
+
+	
+	//  Reflecitivity //
+	
+	float specular_reflection_roughness = float(0.0) [[
+		anno::display_name("Roughness"),
+		anno::description("Higher roughness values lead to more blurry reflections"),
+		anno::in_group("Reflectivity"),
+		anno::hard_range(0.0, 1.0)
+	]],
+	float2 specular_reflection_aniso_roughness = float2(0.0, 0.0) [[
+		anno::display_name("Aniso roughness"),
+		anno::description("Higher roughness values lead to more blurry reflections"),
+		anno::in_group("Reflectivity"),
+		anno::hidden()
+	]],
+	float metalness = float(0.0) [[
+		anno::display_name("Metalness"),
+		anno::description("Bias towards pure specular reflection"),
+		anno::in_group("Reflectivity"),
+		anno::hard_range(0.0, 1.0)
+	]],	
+	float specular_level = float(0.5) [[
+		anno::display_name("Specular"),
+		anno::description("The specular level (intensity) of the material"),
+		anno::in_group("Reflectivity"),
+		anno::soft_range(0.0, 1.0)
+	]],
+
+
+	//  Emission  //
+	
+	uniform bool enable_emission = false [[
+		anno::display_name("Enable Emission"),
+		anno::description("Enables the emission of light from the material"),
+		anno::in_group("Emissive")
+	]],
+	color emission_color = color(1.0,0.1,0.1) [[
+		anno::display_name("Emissive Color"),
+		anno::description("The emission color"),
+		anno::in_group("Emissive"),
+		anno::enable_if("enable_emission == true")
+	]],
+	float emission_intensity = float(40.0) [[
+		anno::display_name("Emissive Intensity"),    
+		anno::description("Intensity of the emission"),
+		anno::in_group("Emissive"),
+		anno::soft_range(0.0, 1000.0),
+		anno::enable_if("enable_emission == true")
+	]],
+
+	
+    //  Geometry Opacity  //
+	
+    uniform bool enable_opacity = false [[
+		anno::display_name("Enable Opacity"),
+		anno::description("Enables the use of cutout opacity"),
+		anno::in_group("Opacity")
+	]],
+	float geometry_opacity = float(1.0) [[
+		anno::display_name("Opacity Amount"),    
+		anno::description("Opacity value between 0 and 1, when Opacity Map is not valid"),
+		anno::in_group("Opacity"),
+		anno::hard_range(0.0, 1.0)
+	]],
+	uniform float geometry_opacity_threshold = 0.f
+	[[
+		anno::display_name("Opacity Threshold"),
+		anno::description("If 0, use fractional opacity values 'as is'; if > 0, remap opacity values to 1 when >= threshold and to 0 otherwise"),
+		anno::in_group("Opacity"),
+		anno::hard_range(0.0, 1.0)
+	]],
+
+	
+	//  Clearcoat // 
+	
+    uniform bool enable_coat = false [[
+		anno::display_name("Enable Clearcoat Layer"),
+		anno::description("Adds a coat layer on top of the material when enabled"),
+		anno::in_group("Clearcoat")
+	]],
+	float coat_weight = float(1.0) [[
+		anno::display_name("Clearcoat Weight"),
+		anno::description("Sets the weight for coat layer"),
+		anno::in_group("Clearcoat"),
+		anno::hard_range(0.0, 1.0)
+	]],
+	color coat_color = color(1.0) [[
+		anno::display_name("Clearcoat Tint"),
+		anno::description("Clearcoat is tinted and affects the underlying material"),
+		anno::in_group("Clearcoat")
+	]],
+	float coat_transparency = float(1.0) [[
+		anno::display_name("Clearcoat Transparency"),
+		anno::description("Adjusts the transparency of the coat. Can be turned into a fully opaque coat covering the underlying layer"),
+		anno::in_group("Clearcoat"),
+		anno::hard_range(0.0, 1.0)
+	]],
+	float coat_roughness = float(0.0) [[
+		anno::display_name("Clearcoat Roughness"),
+		anno::description("Higher roughness values lead to more blurry reflections"),
+		anno::in_group("Clearcoat"),
+		anno::hard_range(0.0, 1.0)
+	]],
+	float2 coat_aniso_roughness = float2(0.0, 0.0) [[
+		anno::display_name("Clearcoat aniso roughness"),
+		anno::description("Higher roughness values lead to more blurry reflections"),
+		anno::in_group("Clearcoat"),
+		anno::hidden()
+	]],
+	float coat_ior = float(1.56) [[
+		anno::display_name("Clearcoat IOR"),
+		anno::description("Sets the Index of refraction for the coat layer"),
+		anno::in_group("Clearcoat"),
+		anno::soft_range(0.0, 4.0)
+	]],
+    float3 clearcoat_geometry_normal = state::normal() [[
+        anno::display_name("Clearcoat Normal"),
+        anno::in_group("Clearcoat"),
+        anno::usage("normal")
+    ]],
+
+
+	//  Geometry  //
+
+    uniform float round_edges_radius = float(0.0) [[
+        anno::display_name("Round Edge Radius"),
+        anno::description("Influence radius around the edges in meters"),
+        anno::in_group("Geometry"),
+        anno::soft_range(0.0, 1.0)
+    ]],
+    uniform float round_edges_roundness = float(1.0) [[
+        anno::display_name("Round Edge Roundness"),
+        anno::description("Determines how round the edge will look"),
+        anno::in_group("Geometry"),
+        anno::hard_range(0.0, 1.0)
+    ]],
+    uniform bool round_edges_across_materials = false [[
+        anno::display_name("Round Edge Across Materials"),
+        anno::description("Normal smoothing happens only between facets of equal material, \n"
+                          "\t\tunless this parameter is set true, in which case the smoothing \n"
+                          "\t\thappens between facets irrespective of their materials"),
+        anno::in_group("Geometry")
+    ]],
+    float3 geometry_normal = state::normal() [[
+        anno::display_name("Geometry Normal"),
+        anno::in_group("Geometry"),
+        anno::usage("normal")
+    ]]
+
+) 
+[[
+	anno::display_name("OmniPBR Base"),
+	anno::description("OmniPBR Base with support for clear coat, opacity and ORM textures."),
+ 	anno::in_group("Omni Materials"),
+	anno::version( 2, 1, 1),
+	anno::author("NVIDIA CORPORATION"), 
+	anno::key_words(string[]("omni", "PBR", "opacity", "omniverse", "generic"))
+]]
+ = let{
+
+    //  Diffuse Bsdf  //	
+    
+    color tinted_diffuse_color = diffuse_reflection_color * diffuse_tint;
+
+    color base_color = tinted_diffuse_color;
+
+    bsdf diffuse_bsdf = df::weighted_layer(
+		weight: 1.0,
+		layer:  df::diffuse_reflection_bsdf(
+			        tint:       base_color,
+			        roughness:  float(0.0)
+                ),
+		base:   bsdf(),
+		normal: geometry_normal
+	);
+
+	//  Glossy Reflection Bsdf  //
+
+	float roughness_u = math::clamp(specular_reflection_roughness * specular_reflection_roughness
+		+ specular_reflection_aniso_roughness.x * specular_reflection_aniso_roughness.x, 0, 1);
+	float roughness_v = math::clamp(specular_reflection_roughness * specular_reflection_roughness
+		+ specular_reflection_aniso_roughness.y * specular_reflection_aniso_roughness.y, 0, 1);
+	bsdf ggx_smith_bsdf = df::microfacet_ggx_smith_bsdf(
+		roughness_u:    roughness_u,
+		roughness_v:    roughness_v,
+		tint:           color(1.0),
+		mode:           df::scatter_reflect
+	);
+	
+	bsdf custom_curve_layer_bsdf = df::custom_curve_layer(
+		normal_reflectivity:  0.08,		
+		grazing_reflectivity: 1.0,
+		exponent:	          5.0,
+		weight:	              specular_level,
+		layer:                ggx_smith_bsdf,
+		base:	              diffuse_bsdf,
+		normal:               geometry_normal
+	);
+	
+	bsdf directional_factor_bsdf = df::tint(base_color, ggx_smith_bsdf);
+	
+	bsdf omni_PBR_bsdf = df::weighted_layer(
+        weight:     metalness,
+        layer:	    directional_factor_bsdf,
+		base:	    custom_curve_layer_bsdf,
+		normal:     geometry_normal
+	);
+	
+	//  Clear Coat  // 
+
+	float coat_roughness_u = math::clamp(coat_roughness * coat_roughness
+		+ coat_aniso_roughness.x * coat_aniso_roughness.x, 0, 1);
+	float coat_roughness_v = math::clamp(coat_roughness * coat_roughness
+		+ coat_aniso_roughness.y * coat_aniso_roughness.y, 0, 1);
+	bsdf coat_bsdf = df::microfacet_ggx_smith_bsdf(
+		roughness_u: coat_roughness_u,
+		roughness_v: coat_roughness_v,
+		tint:        color(1.0),
+		mode:        df::scatter_reflect
+	);
+	
+	bsdf opaque_coat = df::weighted_layer(
+        weight:     coat_transparency,
+		layer:	    ::df::tint( 
+					    tint: coat_color,
+					    base: omni_PBR_bsdf
+                    ),
+		base:	    ::df::diffuse_reflection_bsdf(
+					    tint: coat_color
+                    )
+	);
+	
+	bsdf omni_PBR_coated_bsdf = df::fresnel_layer(
+		ior:     coat_ior,
+		weight:  coat_weight,
+		layer:   coat_bsdf,
+		base:    opaque_coat,
+		normal:  clearcoat_geometry_normal 
+	);
+	
+    bsdf final_bsdf = enable_coat ? omni_PBR_coated_bsdf : omni_PBR_bsdf;
+                                    
+    color emission_value = enable_emission ? emission_color * color(emission_intensity) : color(0.0);
+	
+	float opacity_value = geometry_opacity;
+    float cutout_opacity = enable_opacity ? ((geometry_opacity_threshold == 0.0) ? opacity_value : ((opacity_value >= geometry_opacity_threshold) ? 1.0 : 0)) : 1.0;
+ 
+    material_emission emission = material_emission(
+                                    df::diffuse_edf(),
+                                    intensity: emission_value 
+                                    );
+
+    material_surface surface =  material_surface(
+		                            scattering: final_bsdf,
+		                            emission:   emission
+		                            );
+
+    material_geometry geometry = material_geometry(
+                                    normal: state::rounded_corner_normal(
+                                        radius: round_edges_radius,
+                                        across_materials: round_edges_across_materials,
+                                        roundness: round_edges_roundness
+                                    ),
+                                    cutout_opacity: cutout_opacity
+                                    );
+
+} in material(
+	surface: surface,
+	geometry: geometry
+);

openarm_openarm_bimanual/materials/mdl/OmniPBR_ClearCoat.mdl

@@ -0,0 +1,711 @@
+/*
+ * SPDX-FileCopyrightText: Copyright (c) 2022-2025 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
+ * SPDX-License-Identifier: BSD-3-Clause
+ */
+
+mdl 1.7;
+
+import ::df::*;
+import ::state::*;
+import ::math::*;
+import ::base::*;
+import ::state::*;
+import ::tex::*;
+import ::anno::*;
+
+import ::debug::*;
+
+import core_definitions::file_texture;
+import core_definitions::normalmap_texture;
+
+import OmniPBRBase::*;
+
+//  Functions  //
+
+
+//  Returns a matrix from R,T,S. inputs //
+
+uniform float4x4 rotation_translation_scale(
+    uniform float3 rotation = float3(0.)
+        [[ anno::description("Rotation applied to every UVW coordinate") ]],
+    uniform float3 translation = float3(0.)
+        [[ anno::description("Offset applied to every UVW coordinate") ]],
+    uniform float3 scaling = float3(1.)
+        [[ anno::description("Scale applied to every UVW coordinate") ]]
+)
+[[
+    anno::description("Construct a transformation matrix from euler rotation, translation and scale"),
+    anno::hidden()
+]]
+{
+    float4x4 scale =
+        float4x4(scaling.x         , 0.0               , 0.0               , 0.0,
+                 0.0               , scaling.y         , 0.0               , 0.0,
+                 0.0               , 0.0               , scaling.z         , 0.0,
+                 translation.x     , translation.y     , translation.z     , 1.0);
+
+    float3 s = math::sin(rotation);
+    float3 c = math::cos(rotation);
+    
+    float4x4 rotate =
+        float4x4(  c.y*c.z    , -c.x*s.z + s.x*s.y*c.z ,  s.x*s.z + c.x*s.y*c.z , 0.0,
+                   c.y*s.z    ,  c.x*c.z + s.x*s.y*s.z , -s.x*c.z + c.x*s.y*s.z , 0.0,
+                  -s.y        ,  s.x*c.y               ,  c.x*c.y               , 0.0,
+                   0.0        ,  0.0                   ,  0                     , 1.0);
+
+    return   scale * rotate;
+}
+
+//  Returns the normal n in tangent space, given n is in internal space. //
+
+float3 transform_internal_to_tangent(float3 n)
+{
+	/* flip_tangent_v */
+    return
+        n.x* float3(state::texture_tangent_u(0).x,-state::texture_tangent_v(0).x,state::normal().x)+
+        n.y* float3(state::texture_tangent_u(0).y,-state::texture_tangent_v(0).y,state::normal().y)+
+        n.z* float3(state::texture_tangent_u(0).z,-state::texture_tangent_v(0).z,state::normal().z);
+}
+
+//  Returns the normal n in internal space, given n is in tangent space.
+float3 transform_tangent_to_internal(float3 n)
+{
+    return  state::texture_tangent_u(0) * n.x -
+            state::texture_tangent_v(0) * n.y + /* flip_tangent_v */
+            state::normal() * n.z;
+}
+
+//  Returns a normal by adding a detail normal to a global normal.
+export float3 add_detail_normal(float3 nd = state::normal(), float3 n = state::normal())
+{
+    // http://blog.selfshadow.com/publications/blending-in-detail/
+    float3  n_t = transform_internal_to_tangent(n);
+    float3 nd_t = transform_internal_to_tangent(nd);
+            n_t = n_t + float3(0.,0.,1.);
+           nd_t = nd_t *  float3(-1.,-1.,1.);
+              n = n_t * math::dot(n_t, nd_t)/n_t.z - nd_t;
+    return math::normalize(transform_tangent_to_internal(n));
+}
+
+base::texture_return multiply_colors(
+    color color_1 = color(1.0, 1.0, 1.0),
+    color color_2 = color(.5, .5, .5),
+	float weight  = 1.0
+    ) 
+[[ 
+    anno::hidden() 
+]]
+{
+    return base::blend_color_layers(
+                layers: base::color_layer[](
+                    base::color_layer(
+                        layer_color:    color_2,
+                        weight:         weight,
+                        mode:           base::color_layer_multiply
+                        )),
+                base: color_1
+            );
+}
+
+
+//  OmniPBR Clearcoat  //
+
+export material OmniPBR_ClearCoat(
+
+    //  Albdeo  //
+
+	color diffuse_color_constant = color(0.2) [[
+		anno::display_name("Albedo Color"),
+		anno::description("This is the albedo base color"),
+		anno::in_group("Albedo")
+	]],
+	uniform texture_2d diffuse_texture = texture_2d() [[
+		anno::display_name("Albedo Map"),
+		anno::in_group("Albedo")
+	]],
+	float albedo_desaturation = float(0.0) [[
+		anno::display_name("Albedo Map Desaturation"),
+		anno::description("Desaturates the albedo map"),
+		anno::in_group("Albedo"),
+		anno::soft_range(float(0.0), float(1.0))
+	]],
+	float albedo_add = float(0.0) [[
+		anno::display_name("Albedo Add"),
+		anno::description("Adds a constant value to the diffuse color "),
+		anno::in_group("Albedo"),
+		anno::soft_range(float(-1.0), float(1.0))
+	]],	
+	float albedo_brightness = float(1.0) [[
+		anno::display_name("Albedo Brightness"),
+		anno::description("Multiplier for the diffuse color "),
+		anno::in_group("Albedo"),
+		anno::soft_range(float(0.0), float(1.0))
+	]],	
+	color diffuse_tint = color(1.0) [[
+		anno::display_name("Color Tint"),
+		anno::description("When enabled, this color value is multiplied over the final albedo color"),
+		anno::in_group("Albedo")
+	]],
+	
+
+	//  Reflectivity //
+	
+	float reflection_roughness_constant  = float(0.5) [[
+		anno::display_name("Roughness Amount"),
+		anno::description("Higher roughness values lead to more blurry reflections"),
+		anno::in_group("Reflectivity"),
+		anno::hard_range(float(0.0), float(1.0))
+	]],
+	float reflection_roughness_texture_influence = float(0.0) [[
+		anno::display_name("Roughness Map Influence"),
+		anno::description("Blends between the constant value and the lookup of the roughness texture"),
+		anno::in_group("Reflectivity"),
+		anno::hard_range(float(0.0), float(1.0))
+	]],
+	uniform texture_2d reflectionroughness_texture = texture_2d() [[
+		anno::display_name("Roughness Map"),
+		anno::in_group("Reflectivity"),
+		anno::usage("roughness")
+	]],
+	float metallic_constant = float(0.0) [[
+		anno::display_name("Metallic Amount"),
+		anno::description("Metallic Material"),
+		anno::in_group("Reflectivity"),
+		anno::hard_range(float(0.0), float(1.0))
+	]],	
+	float metallic_texture_influence = float(0.0) [[
+		anno::display_name("Metallic Map Influence"),
+		anno::description("Blends between the constant value and the lookup of the metallic texture"),
+		anno::in_group("Reflectivity"),
+		anno::hard_range(float(0.0), float(1.0))
+	]],
+	uniform texture_2d metallic_texture = texture_2d() [[
+		anno::display_name("Metallic Map"),
+		anno::in_group("Reflectivity"),
+		anno::usage("metalness")
+	]], 
+	float specular_level = float(0.5) [[
+		anno::display_name("Specular"),
+		anno::description("The specular level (intensity) of the material"),
+		anno::in_group("Reflectivity"),
+		anno::soft_range(float(0.0), float(1.0))
+	]],
+	
+
+	//  ORM  //
+ 
+	uniform bool enable_ORM_texture = false [[
+		anno::display_name("Enable ORM Texture"),
+		anno::description("The ORM texture will be used to extract the Occlusion, Roughness and Metallic textures from R,G,B channels"),
+		anno::in_group("Reflectivity")
+	]],
+	uniform texture_2d ORM_texture = texture_2d() [[
+		anno::display_name("ORM Map"),
+		anno::description("Texture that has Occlusion, Roughness and Metallic maps stored in their respective R, G and B channels"),
+		anno::in_group("Reflectivity"),
+		anno::usage("roughness")
+	]],
+
+
+	//  AO Group  // 
+
+	float ao_to_diffuse = 0.0 [[
+		anno::display_name("AO to diffuse"),
+		anno::description("Controls the amount of ambient occlusion multiplied against the diffuse color channel"),
+		anno::in_group("AO"),
+		anno::hard_range(float(0.0), float(1.0))
+	]],
+	uniform texture_2d ao_texture = texture_2d() [[
+		anno::display_name("Ambient Occlusion Map"),
+		anno::description("The ambient occlusion texture for the material"),
+		anno::in_group("AO"),
+		anno::usage("occlusion")
+	]],
+	
+	
+	//  Emission //  
+
+	uniform bool enable_emission = false [[
+        anno::display_name("Enable Emission"),
+		anno::description("Enables the emission of light from the material"),
+		anno::in_group("Emissive")
+	]],
+	color emissive_color = color(1.0,0.1,0.1) [[
+		anno::display_name("Emissive Color"),
+		anno::description("The emission color"),
+		anno::in_group("Emissive"),
+		anno::enable_if("enable_emission == true")
+	]],
+    	uniform texture_2d emissive_color_texture = texture_2d() [[ 
+		anno::display_name("Emissive Color map"),
+        anno::in_group("Emissive"),
+		anno::description("The emissive color texture"),
+        anno::enable_if("enable_emission == true")
+    	]],	
+	uniform texture_2d emissive_mask_texture = texture_2d() [[
+		anno::display_name("Emissive Mask map"),
+		anno::description("The texture masking the emissive color"),
+		anno::in_group("Emissive"),
+		anno::enable_if("enable_emission == true"),
+		anno::usage("occlusion")
+	]],
+	float emissive_intensity = float(40.0) [[
+		anno::display_name("Emissive Intensity"),    
+		anno::description("Intensity of the emission"),
+		anno::in_group("Emissive"),
+		anno::enable_if("enable_emission == true")
+	]],	
+
+
+    //  Cutout Opacity  //
+	
+    uniform bool enable_opacity = false [[
+		anno::display_name("Enable Opacity"),
+		anno::description("Enables the use of cutout opacity"),
+		anno::in_group("Opacity")
+	]],
+ 	uniform texture_2d opacity_texture = texture_2d() [[
+		anno::display_name("Opacity Map"),
+		anno::in_group("Opacity"),
+		anno::usage("opacity")
+	]],
+	float opacity_constant = float(1.0) [[
+		anno::display_name("Opacity Amount"),    
+		anno::description("Opacity value between 0 and 1, when Opacity Map is not valid"),
+		anno::in_group("Opacity"),
+		anno::hard_range(float(0.0), float(1.0))
+	]],
+	uniform bool enable_opacity_texture = false [[
+		anno::display_name("Enable Opacity Texture"),
+		anno::description("Enables or disables the usage of the opacity texture map"),
+		anno::in_group("Opacity")
+	]],
+	uniform base::mono_mode opacity_mode = base::mono_average [[
+		anno::display_name("Opacity Mono Source"),
+		anno::description("Determines how to lookup opacity from the supplied texture. mono_alpha, mono_average, mono_luminance, mono_maximum"),
+		anno::in_group("Opacity")
+	]],
+	uniform float opacity_threshold = float(0.0) [[
+		anno::display_name("Opacity Threshold"),
+		anno::description("If 0, use fractional opacity values 'as is'; if > 0, remap opacity values to 1 when >= threshold and to 0 otherwise"),
+		anno::in_group("Opacity"),
+		anno::hard_range(float(0.0), float(1.0))
+	]],
+
+
+	//  Clearcoat // 
+	
+	uniform bool enable_clearcoat = false [[
+		anno::display_name("Enable Clearcoat Layer"),
+		anno::description("Adds a clearcoat layer on top of the material when enabled"),
+		anno::in_group("Clearcoat")
+	]],
+	float clearcoat_weight = float(1.0) [[
+		anno::display_name("Clearcoat Weight"),
+		anno::description("Sets the weight for clearcoat layer"),
+		anno::in_group("Clearcoat"),
+		anno::hard_range(float(0.0), float(1.0))
+	]],
+	color clearcoat_tint = color(1.0) [[
+		anno::display_name("Clearcoat Tint"),
+		anno::description("Clearcoat is tinted and affects the underlying material"),
+		anno::in_group("Clearcoat")
+	]],
+	float clearcoat_transparency = float(1.0) [[
+		anno::display_name("Clearcoat Transparency"),
+		anno::description("Adjusts the transparency of the clearcoat. Can be turned into a fully opaque clearcoat covering the underlying layer"),
+		anno::in_group("Clearcoat"),
+		anno::hard_range(float(0.0), float(1.0))
+	]],
+	float clearcoat_reflection_roughness = float(0.0) [[
+		anno::display_name("Clearcoat Roughness"),
+		anno::description("Higher roughness values lead to more blurry reflections"),
+		anno::in_group("Clearcoat"),
+		anno::hard_range(float(0.0), float(1.0))
+	]],
+	float clearcoat_ior = float(1.56) [[
+		anno::display_name("Clearcoat IOR"),
+		anno::description("Sets the Index of refraction for the clearcoat layer"),
+		anno::in_group("Clearcoat"),
+		anno::soft_range(float(0.0), float(4.0))
+	]],
+	uniform float clearcoat_bump_factor = float(1.0) [[
+		anno::display_name("Clearcoat Normal Map Strength"),
+		anno::description("Strength of normal map."),
+		anno::in_group("Clearcoat"),
+		anno::soft_range(float(0.0), float(1.0))
+	]],
+	uniform texture_2d clearcoat_normalmap_texture = texture_2d() [[
+		anno::display_name("Clearcoat Normal Map"),
+		anno::description("Enables the usage of the normalmap texture"),
+		anno::in_group("Clearcoat"),
+		anno::usage("normal")
+	]], 	
+	uniform float2 clearcoat_texture_translate =  float2(0.0) [[
+		anno::display_name("Clearcoat Texture Translate"),
+		anno::description("Controls the position of the clearcoat texture"),
+		anno::ui_order(1),
+		anno::in_group("UV")
+	]],
+	uniform float clearcoat_texture_rotate = float(0.0) [[
+		anno::display_name("Clearcoat Texture Rotate"),
+		anno::description("Rotates angle of the clearcoat texture in degrees"),
+		anno::ui_order(2),
+		anno::in_group("UV")
+	]],
+	uniform float2 clearcoat_texture_scale = float2(1.0) [[
+		anno::display_name("Clearcoat Texture Tiling"),
+		anno::description("Controls the repetition of the clearcoat texture"),
+		anno::ui_order(3),
+		anno::in_group("UV")
+	]],
+	float clearcoat_flatten = float(1.0) [[
+		anno::display_name("Clearcoat Flatten"),
+		anno::description("Flattens the clearcoat to even out the underlying bump maps"),
+		anno::in_group("Clearcoat"),
+		anno::hard_range(float(0.0), float(1.0))
+	]],
+
+
+	//  Normal  // 
+	
+	uniform float geometry_normal_roughness_strength = 1.f
+	[[
+		anno::hard_range(0.0, 1.0),
+		anno::display_name("Normal map to roughness weight"),
+		anno::description("Enables and weights roughness induced by normal maps"),
+		anno::in_group("Normal")
+	]],
+	uniform float bump_factor = float(1.0) [[
+		anno::display_name("Normal Strength"),
+		anno::description("Strength of normal map"),
+		anno::in_group("Normal"),
+		anno::soft_range(float(0.0), float(1.0))
+	]],
+	uniform texture_2d normalmap_texture = texture_2d() [[
+		anno::display_name("Normal Map"),
+		anno::in_group("Normal"),
+		anno::usage("normal")
+	]], 
+	uniform float detail_bump_factor = float(0.3) [[
+		anno::display_name("Detail Normal Strength"),
+		anno::in_group("Normal"),
+		anno::description("Strength of the detail normal"),
+		anno::soft_range(float(0.0), float(1.0))
+	]],
+	uniform texture_2d detail_normalmap_texture = texture_2d() [[
+		anno::display_name("Detail Normal Map"),
+		anno::in_group("Normal"),
+		anno::usage("normal")
+	]],
+	uniform bool flip_tangent_u = false [[
+        	anno::display_name("Normal Map Flip U Tangent"),
+        	anno::in_group("Normal")
+    ]],
+	uniform bool flip_tangent_v = true [[
+        	anno::display_name("Normal Map Flip V Tangent"),
+        	anno::in_group("Normal")
+    ]],
+
+
+	//  UVW Projection Group  //
+
+	uniform bool project_uvw = false [[
+		anno::display_name("Enable Project UVW Coordinates"),
+		anno::description("When enabled, UV coordinates will be generated by projecting them from a coordinate system"),
+		anno::in_group("UV")
+	]],
+	uniform bool world_or_object = false [[
+		anno::display_name("Enable World Space"),
+		anno::description("When enabled, uses world space for projection, otherwise object space is used"),
+		anno::in_group("UV"),
+		anno::enable_if("project_uvw == true")
+	]],
+	uniform int uv_space_index =  0 [[
+		anno::display_name("UV Space Index"),
+		anno::description("UV Space Index"),
+		anno::in_group("UV"),
+		anno::enable_if("project_uvw == true"),
+		anno::hard_range(int(0), int(3))
+	]],
+	
+
+	//  UVW Adjustments Group  //
+
+	uniform float2 texture_translate = float2(0.0) [[
+		anno::display_name("Texture Translate"),
+		anno::description("Controls position of texture."),
+		anno::in_group("UV"),
+		anno::enable_if("project_uvw == true")
+	]],
+	uniform float texture_rotate = float(0.0) [[
+		anno::display_name("Texture Rotate"),
+		anno::description("Rotates angle of texture in degrees."),
+		anno::in_group("UV"),
+		anno::enable_if("project_uvw == true")
+	]],
+	uniform float2 texture_scale = float2(1.0) [[
+		anno::display_name("Texture Tiling"),
+		anno::description("Controls repetition of the texture."),
+		anno::in_group("UV"),
+		anno::enable_if("project_uvw == true")
+	]],
+	uniform float2 detail_texture_translate = float2(0.0) [[
+		anno::display_name("Detail Texture Translate"),
+		anno::description("Controls the position of the detail texture."),
+		anno::in_group("UV"),
+		anno::enable_if("project_uvw == true")
+	]],
+	uniform float detail_texture_rotate = float(0.0) [[
+		anno::display_name("Detail Texture Rotate"),
+		anno::description("Rotates angle of the detail texture in degrees."),
+		anno::in_group("UV"),
+		anno::enable_if("project_uvw == true")
+	]],
+	uniform float2 detail_texture_scale = float2(1.0) [[
+		anno::display_name("Detail Texture Tiling"),
+		anno::description("Controls repetition of the detail texture."),
+		anno::in_group("UV"),
+		anno::enable_if("project_uvw == true")
+    ]],
+
+
+    //  Geometry  //
+
+    uniform float round_edges_radius = float(0.0) [[
+        anno::display_name("Round Edge Radius"),
+        anno::description("Influence radius around the edges in meters"),
+        anno::in_group("Geometry"),
+        anno::soft_range(0.0, 1.0)
+    ]],
+    uniform float round_edges_roundness = float(1.0) [[
+        anno::display_name("Round Edge Roundness"),
+        anno::description("Determines how round the edge will look"),
+        anno::in_group("Geometry"),
+        anno::hard_range(0.0, 1.0)
+    ]],
+    uniform bool round_edges_across_materials = false [[
+        anno::display_name("Round Edge Across Materials"),
+        anno::description("Normal smoothing happens only between facets of equal material, \n"
+                          "\t\tunless this parameter is set true, in which case the smoothing \n"
+                          "\t\thappens between facets irrespective of their materials"),
+        anno::in_group("Geometry")
+    ]]
+) 
+[[
+	anno::display_name("OmniPBR ClearCoat "),
+	anno::description("OmniPBR Base with support for clear coat, opacity and ORM textures."),
+	anno::in_group("Base"),
+	anno::version( 2, 1, 1),
+	anno::author("NVIDIA CORPORATION"), 
+	anno::key_words(string[]("omni", "PBR", "opacity", "clearcoat", "omniverse", "generic"))
+]] = let {
+
+	//  UVW lookup and transformation  //
+	base::texture_coordinate_system the_system = world_or_object ? base::texture_coordinate_world : base::texture_coordinate_object;
+	
+	base::texture_coordinate_info uvw = project_uvw ?  base::coordinate_projection(
+								coordinate_system: the_system,
+								    texture_space: uv_space_index,
+								  projection_type: base::projection_cubic 
+							    ) :
+							    base::coordinate_source(
+								coordinate_system: base::texture_coordinate_uvw,
+								    texture_space: uv_space_index 
+							    );							
+	
+	base::texture_coordinate_info transformed_uvw = base::transform_coordinate(
+								  			transform: rotation_translation_scale(
+						                      scaling: float3(texture_scale.x, texture_scale.y, 1.0),
+								   			 rotation: float3(0.0, 0.0, texture_rotate/180.*math::PI ),
+							        	  translation: float3(texture_translate.x, texture_translate.y, 0.0)
+							        ),
+							        coordinate: uvw
+								);
+	
+	base::texture_coordinate_info detail_transformed_uvw = base::transform_coordinate(
+							       		  transform: rotation_translation_scale(
+								  	    	scaling: float3(detail_texture_scale.x, detail_texture_scale.y, 1.0),
+								           rotation: float3(0.0, 0.0, detail_texture_rotate/180.*math::PI ),
+								        translation: float3(detail_texture_translate.x, detail_texture_translate.y, 0.0)
+								        ),
+								        coordinate: uvw
+									);
+
+	base::texture_coordinate_info clearcoat_transformed_uvw =   base::transform_coordinate(
+									  	  transform: rotation_translation_scale(
+								            scaling: float3(clearcoat_texture_scale.x, clearcoat_texture_scale.y, 1.0),
+								           rotation: float3(0.0, 0.0, clearcoat_texture_rotate/180.*math::PI ),
+								        translation: float3(clearcoat_texture_translate.x, clearcoat_texture_translate.y, 0.f)
+									),
+									coordinate: uvw
+									);	
+
+	//  Normal calculations  //
+	OmniPBRBase::NormalData defaultData = OmniPBRBase::NormalData(state::normal(), float2(0));
+
+	OmniPBRBase::NormalData normal_data = tex::texture_isvalid(normalmap_texture) ?
+		OmniPBRBase::tangent_space_normal_roughness_texture(
+							texture:        normalmap_texture,
+							factor:         bump_factor,
+							uvw:            transformed_uvw,
+							flip_tangent_u: flip_tangent_u,
+							flip_tangent_v: flip_tangent_v	// true for dx, false for opengl
+							//flip_tangent_v: true
+
+		) : defaultData;
+	float3 the_normal = normal_data.normal;
+
+	OmniPBRBase::NormalData detail_normal_data = tex::texture_isvalid(detail_normalmap_texture) ?
+		OmniPBRBase::tangent_space_normal_roughness_texture(
+							texture:        detail_normalmap_texture,
+							factor:         detail_bump_factor,
+							uvw:            detail_transformed_uvw,
+							flip_tangent_u: flip_tangent_u,
+							flip_tangent_v: flip_tangent_v	// true for dx, false for opengl
+							) : defaultData;
+	float3 detail_normal = detail_normal_data.normal;
+
+	OmniPBRBase::NormalData clearcoat_normal_data = tex::texture_isvalid(clearcoat_normalmap_texture) ?
+		OmniPBRBase::tangent_space_normal_roughness_texture(
+								texture:        clearcoat_normalmap_texture,
+								factor:         clearcoat_bump_factor,
+								uvw:            clearcoat_transformed_uvw,
+								flip_tangent_u: flip_tangent_u,
+								flip_tangent_v: flip_tangent_v	// true for dx, false for opengl
+							) : defaultData;
+	float3 clearcoat_normal = clearcoat_normal_data.normal;
+
+
+	float3 diffuse_gloss_normal	        = tex::texture_isvalid(detail_normalmap_texture) ?  add_detail_normal(detail_normal, the_normal) : the_normal;
+	float3 flattened_clearcoat_normal   = ::math::lerp(diffuse_gloss_normal, ::state::normal(), clearcoat_flatten);
+	float3 final_clearcoat_normal       = tex::texture_isvalid(clearcoat_normalmap_texture) ? add_detail_normal(flattened_clearcoat_normal, clearcoat_normal)
+                                                                                            : flattened_clearcoat_normal;
+
+
+	//  ORM Handling  // 
+
+	float3 ORM_lookup = tex::lookup_float3( 
+                              tex: ORM_texture, 
+                            coord: float2(transformed_uvw.position.x, transformed_uvw.position.y)
+                            );
+
+	 
+	float3 roughness_lookup = tex::lookup_float3(
+					  tex: reflectionroughness_texture,
+					coord: float2(transformed_uvw.position.x, transformed_uvw.position.y)		
+					);
+	
+	float roughness_selection    = enable_ORM_texture ? ORM_lookup.y : roughness_lookup.x;
+	float reflection_roughness_s   = math::lerp(reflection_roughness_constant, roughness_selection, reflection_roughness_texture_influence);
+	float2 reflection_roughness = float2(math::sqrt(reflection_roughness_s*reflection_roughness_s + (geometry_normal_roughness_strength * normal_data.roughness.x * normal_data.roughness.x)),
+	                                     math::sqrt(reflection_roughness_s*reflection_roughness_s + (geometry_normal_roughness_strength * normal_data.roughness.y * normal_data.roughness.y)));
+
+	float2 clearcoat_reflection_roughness2 = float2(math::sqrt(clearcoat_reflection_roughness*clearcoat_reflection_roughness + (geometry_normal_roughness_strength * clearcoat_normal_data.roughness.x * clearcoat_normal_data.roughness.x)),
+												    math::sqrt(clearcoat_reflection_roughness*clearcoat_reflection_roughness + (geometry_normal_roughness_strength * clearcoat_normal_data.roughness.y * clearcoat_normal_data.roughness.y)));
+
+	//  Diffuse Color Lookup and AO  //
+	
+	base::texture_return base_lookup = base::file_texture(
+						      	  texture: diffuse_texture,
+					    	 color_offset: color(albedo_add),
+					          color_scale: color(albedo_brightness),
+					          mono_source: base::mono_luminance,
+					                  uvw: transformed_uvw,
+					                 clip: false		
+						);
+	
+	base::texture_return ao_lookup = base::file_texture(
+					 	      	  texture: ao_texture,
+					       	 color_offset: color(0.0, 0.0, 0.0),
+					          color_scale: color(1.0, 1.0, 1.0),
+					          mono_source: base::mono_average,
+					                  uvw: transformed_uvw,
+					       	         clip: false		
+						);
+
+
+	color ao_color          = enable_ORM_texture ? color(ORM_lookup.x) : ao_lookup.tint;
+	color desaturated_base  = math::lerp(base_lookup.tint, color(base_lookup.mono), albedo_desaturation);
+	color diffuse           = tex::texture_isvalid(diffuse_texture)? desaturated_base : diffuse_color_constant;
+	color tinted_diffuse    = multiply_colors(diffuse, diffuse_tint, 1.0).tint;
+	
+	color base_color = multiply_colors(
+			   	color_1: tinted_diffuse,
+				color_2: ao_color,
+				 weight: ao_to_diffuse
+				).tint;
+
+	
+	//  Metalness   //
+
+	float3 metallic_lookup = tex::lookup_float3(
+				tex: metallic_texture,
+				coord: float2(transformed_uvw.position.x, transformed_uvw.position.y)
+				);
+					
+	float metallic_selection = enable_ORM_texture ? ORM_lookup.z : metallic_lookup.x;
+	float metallic = math::lerp(metallic_constant, metallic_selection, metallic_texture_influence);
+
+
+	//  Emission   //
+
+	color emission_color_texture = tex::texture_isvalid(emissive_color_texture) ?
+                                        base::file_texture(
+												texture: emissive_color_texture,
+                                           color_offset: color(0.0, 0.0, 0.0),
+                                            color_scale: color(1.0, 1.0, 1.0),
+                                            mono_source: base::mono_average,
+						    						uvw: transformed_uvw,
+						   						   clip: false        
+                                            ).tint : emissive_color;
+
+    color emission_mask_texture = tex::texture_isvalid(emissive_mask_texture) ?
+                                        base::file_texture(
+												texture: emissive_mask_texture,
+                                           color_offset: color(0.0, 0.0, 0.0),
+                                            color_scale: color(1.0, 1.0, 1.0),
+                                            mono_source: base::mono_average,
+						    						uvw: transformed_uvw,
+						   						   clip: false        
+                                            ).tint : color(1.0);
+  
+    color final_emission_color = enable_emission ? emission_color_texture * emission_mask_texture: color(0.0);
+
+    //  Opacity   //
+	
+    float opacity_value = enable_opacity_texture ? base::file_texture(
+						    texture: opacity_texture,
+						mono_source: opacity_mode,
+								uvw: transformed_uvw
+						).mono : opacity_constant;
+
+    float cutout_opacity = enable_opacity ? ((opacity_threshold == 0.0) ? opacity_value : ((opacity_value >= opacity_threshold) ? 1.0 : 0)) : 1.0;
+
+	material base = OmniPBRBase::OmniPBRBase(
+		diffuse_reflection_color: base_color, 
+		specular_reflection_aniso_roughness: reflection_roughness, 
+		specular_level: specular_level,
+		metalness: metallic,
+		enable_emission: enable_emission,
+		emission_color: final_emission_color,
+		emission_intensity: emissive_intensity,
+		enable_coat: enable_clearcoat,
+		coat_weight: clearcoat_weight,
+		coat_color: clearcoat_tint,
+		coat_transparency: clearcoat_transparency,
+		coat_aniso_roughness: clearcoat_reflection_roughness2,
+		coat_ior: clearcoat_ior,
+		enable_opacity: enable_opacity,
+		geometry_opacity: cutout_opacity,
+		clearcoat_geometry_normal: final_clearcoat_normal,
+		round_edges_radius: round_edges_radius,
+		round_edges_roundness: round_edges_roundness,
+		round_edges_across_materials: round_edges_across_materials,
+		geometry_normal: diffuse_gloss_normal
+    );
+
+} in material(
+surface:  base.surface,
+geometry: base.geometry
+);

openarm_openarm_bimanual/openarm_bimanual.usda

@@ -0,0 +1,725 @@
+#usda 1.0
+(
+    customLayerData = {
+        dictionary SimReady_Metadata = {
+            dictionary Variants = {
+                dictionary Physics = {
+                    dictionary MuJoCo = {
+                        string activateOption = "Enabled"
+                        string prim = "/openarm"
+                        string variantSetName = "MuJoCo"
+                    }
+                    dictionary Newton = {
+                        string activateOption = "Enabled"
+                        string prim = "/openarm"
+                        string variantSetName = "Newton"
+                    }
+                    dictionary PhysX = {
+                        string activateOption = "Enabled"
+                        string prim = "/openarm"
+                        string variantSetName = "PhysX"
+                    }
+                }
+            }
+            dictionary validation = {
+                string profile = "Robot-Body"
+                string profile_version = "3.0.0"
+                dictionary validated_features = {
+                    dictionary "2026-10-20" = {
+                        dictionary "CAP000_Core.Isaac.0-1-0" = {
+                            bool blocking_failure = 0
+                            string dependencies = "['CAP000_Core.OpenUSD.0-1-0']"
+                            bool passed = 1
+                            string version = "0-1-0"
+                        }
+                        dictionary "CAP000_Core.MuJoCo.0-1-0" = {
+                            bool blocking_failure = 0
+                            string dependencies = "['CAP000_Core.OpenUSD.0-1-0']"
+                            bool passed = 1
+                            string version = "0-1-0"
+                        }
+                        dictionary "CAP000_Core.Newton.0-1-0" = {
+                            bool blocking_failure = 0
+                            string dependencies = "['CAP000_Core.OpenUSD.0-1-0']"
+                            bool passed = 1
+                            string version = "0-1-0"
+                        }
+                        dictionary "CAP000_Core.OpenUSD.0-1-0" = {
+                            bool blocking_failure = 0
+                            string dependencies = "[]"
+                            bool passed = 1
+                            string version = "0-1-0"
+                        }
+                        dictionary "CAP000_Core.PhysX.0-1-0" = {
+                            bool blocking_failure = 0
+                            string dependencies = "['CAP000_Core.OpenUSD.0-1-0']"
+                            bool passed = 1
+                            string version = "0-1-0"
+                        }
+                        dictionary "CAP003_RigidBody.MuJoCo.0-1-0" = {
+                            bool blocking_failure = 0
+                            string dependencies = "[]"
+                            bool passed = 1
+                            string version = "0-1-0"
+                        }
+                        dictionary "CAP004_Multibody.MuJoCo.0-1-0" = {
+                            bool blocking_failure = 0
+                            string dependencies = "['CAP003_RigidBody.MuJoCo.0-1-0']"
+                            bool passed = 1
+                            string version = "0-1-0"
+                        }
+                        dictionary "CAP004_Multibody.RobotMuJoCo.0-1-0" = {
+                            bool blocking_failure = 0
+                            string dependencies = "[]"
+                            bool passed = 1
+                            string version = "0-1-0"
+                        }
+                        dictionary "CAP021_RobotCore.Isaac.0-3-0" = {
+                            bool blocking_failure = 0
+                            string dependencies = "[]"
+                            bool passed = 1
+                            string version = "0-3-0"
+                        }
+                        dictionary "CAP022_DrivenJoints.MuJoCo.0-1-0" = {
+                            bool blocking_failure = 0
+                            string dependencies = "['CAP004_Multibody.RobotMuJoCo.0-1-0']"
+                            string "optional requirements" = "['com.nvidia.simready.MUJOCO.DJ.002']"
+                            bool passed = 0
+                            string version = "0-1-0"
+                        }
+                        dictionary "CAP023_RobotMaterials.Isaac.0-1-0" = {
+                            bool blocking_failure = 0
+                            string dependencies = "[]"
+                            bool passed = 1
+                            string version = "0-1-0"
+                        }
+                        dictionary "CAP024_BaseArticulation.MuJoCo.0-1-0" = {
+                            bool blocking_failure = 0
+                            string dependencies = "['CAP024_BaseArticulation.OpenUSD.0-1-0']"
+                            bool passed = 1
+                            string version = "0-1-0"
+                        }
+                        dictionary "CAP024_BaseArticulation.Newton.0-1-0" = {
+                            bool blocking_failure = 0
+                            string dependencies = "['CAP024_BaseArticulation.OpenUSD.0-1-0']"
+                            bool passed = 1
+                            string version = "0-1-0"
+                        }
+                        dictionary "CAP024_BaseArticulation.OpenUSD.0-1-0" = {
+                            bool blocking_failure = 0
+                            string dependencies = "[]"
+                            bool passed = 1
+                            string version = "0-1-0"
+                        }
+                        dictionary "CAP024_BaseArticulation.PhysX.0-1-0" = {
+                            bool blocking_failure = 0
+                            string dependencies = "['CAP024_BaseArticulation.OpenUSD.0-1-0']"
+                            bool passed = 1
+                            string version = "0-1-0"
+                        }
+                        dictionary "CAP025_RosBridge.Ros.0-1-0" = {
+                            bool blocking_failure = 0
+                            string dependencies = "[]"
+                            string "optional requirements" = "['com.nvidia.simready.ROS.001']"
+                            bool passed = 0
+                            string version = "0-1-0"
+                        }
+                        dictionary "CAP031_SelfContainedPackage.OpenUSD.0-1-0" = {
+                            bool blocking_failure = 0
+                            string dependencies = "[]"
+                            bool passed = 1
+                            string version = "0-1-0"
+                        }
+                        dictionary "CAP033_SimReadyPackage.OpenUSD.0-4-0" = {
+                            bool blocking_failure = 0
+                            string dependencies = "['CAP031_SelfContainedPackage.OpenUSD.0-1-0']"
+                            bool passed = 1
+                            string version = "0-4-0"
+                        }
+                        dictionary "CAP100_IsaacComposition.Isaac.0-3-0" = {
+                            bool blocking_failure = 0
+                            string dependencies = "[]"
+                            bool passed = 1
+                            string version = "0-3-0"
+                        }
+                        dictionary "FET001_MinimalPlaceableVisual.OpenUSD.1-0-1" = {
+                            bool blocking_failure = 0
+                            string dependencies = "[]"
+                            bool passed = 1
+                            string version = "1-0-1"
+                        }
+                        dictionary "FET003_RigidBody.Newton.0-1-0" = {
+                            bool blocking_failure = 0
+                            string dependencies = "[]"
+                            bool passed = 1
+                            string version = "0-1-0"
+                        }
+                        dictionary "FET003_RigidBody.OpenUSD.0-2-0" = {
+                            bool blocking_failure = 0
+                            string dependencies = "[]"
+                            bool passed = 1
+                            string version = "0-2-0"
+                        }
+                        dictionary "FET003_RigidBody.PhysX.0-4-0" = {
+                            bool blocking_failure = 0
+                            string dependencies = "[]"
+                            bool passed = 1
+                            string version = "0-4-0"
+                        }
+                        dictionary "FET004_Multibody.Newton.0-1-0" = {
+                            bool blocking_failure = 0
+                            string dependencies = "['FET003_RigidBody.Newton.0-1-0']"
+                            bool passed = 1
+                            string version = "0-1-0"
+                        }
+                        dictionary "FET004_Multibody.OpenUSD.0-2-0" = {
+                            bool blocking_failure = 0
+                            string dependencies = "['FET003_RigidBody.OpenUSD.0-2-0']"
+                            bool passed = 1
+                            string version = "0-2-0"
+                        }
+                        dictionary "FET004_Multibody.PhysX.0-4-0" = {
+                            bool blocking_failure = 0
+                            string dependencies = "['FET003_RigidBody.PhysX.0-4-0']"
+                            bool passed = 1
+                            string version = "0-4-0"
+                        }
+                        dictionary "FET004_Multibody.RobotNewton.0-1-0" = {
+                            bool blocking_failure = 0
+                            string dependencies = "[]"
+                            bool passed = 1
+                            string version = "0-1-0"
+                        }
+                        dictionary "FET006_Materials.MDL.0-2-0" = {
+                            bool blocking_failure = 0
+                            string dependencies = "[]"
+                            bool passed = 1
+                            string version = "0-2-0"
+                        }
+                        dictionary "FET006_Materials.OpenUSD.0-2-0" = {
+                            bool blocking_failure = 0
+                            string dependencies = "[]"
+                            bool passed = 1
+                            string version = "0-2-0"
+                        }
+                        dictionary "FET006_Materials.Openpbr.0-1-0" = {
+                            bool blocking_failure = 0
+                            string dependencies = "[]"
+                            bool passed = 1
+                            string version = "0-1-0"
+                        }
+                        dictionary "FET010_DisplayColor.OpenUSD.0-1-0" = {
+                            bool blocking_failure = 0
+                            string dependencies = "[]"
+                            bool passed = 1
+                            string version = "0-1-0"
+                        }
+                        dictionary "FET022_DrivenJoints.Isaac.0-2-0" = {
+                            bool blocking_failure = 0
+                            string dependencies = "['FET022_DrivenJoints.PhysX.0-2-0']"
+                            bool passed = 1
+                            string version = "0-2-0"
+                        }
+                        dictionary "FET022_DrivenJoints.Newton.0-1-0" = {
+                            bool blocking_failure = 0
+                            string dependencies = "['FET004_Multibody.RobotNewton.0-1-0']"
+                            bool passed = 1
+                            string version = "0-1-0"
+                        }
+                        dictionary "FET022_DrivenJoints.OpenUSD.0-2-0" = {
+                            bool blocking_failure = 0
+                            string dependencies = "['FET004_Multibody.OpenUSD.0-2-0']"
+                            bool passed = 1
+                            string version = "0-2-0"
+                        }
+                        dictionary "FET022_DrivenJoints.PhysX.0-2-0" = {
+                            bool blocking_failure = 0
+                            string dependencies = "['FET004_Multibody.PhysX.0-4-0']"
+                            bool passed = 1
+                            string version = "0-2-0"
+                        }
+                    }
+                }
+            }
+        }
+        float3 asset_extents = (0.25, 0.47512436, 0.7730018)
+        string asset_license = "Apache-2.0"
+        string asset_name = "openarm_bimanual"
+        string asset_type = "robot"
+        string author = "OpenArm"
+        string category = "robotic arm"
+        double mass = 25.690024867653847
+        string mass_basis = "Sum of positive authored masses of physical rigid bodies, in kilograms; coordinate-only frames excluded. Includes prior estimates; not a measured hardware mass."
+        string qcode = "Q40687"
+        int rigid_body_count = 19
+        string source_file = "OpenArm/openarm_bimanual/openarm_bimanual.usda"
+        string usd_date_generated = "2026-10-02"
+    }
+    defaultPrim = "openarm"
+    metersPerUnit = 1
+    upAxis = "Z"
+)
+
+def Xform "openarm" (
+    kind = "component"
+    prepend references = [
+        @./payloads/Physics/physics.usda@,
+        @./payloads/base.usda@
+    ]
+    variants = {
+        string MuJoCo = "Disabled"
+        string Newton = "Disabled"
+        string PhysX = "Disabled"
+        string Sensor = "none"
+    }
+    variantSets = ["Sensor", "PhysX", "Newton", "MuJoCo"]
+)
+{
+    prepend rel isaac:physics:robotJoints = [
+        </openarm/__fixed_base_joint>,
+        </openarm/joints/openarm_left_joint1>,
+        </openarm/joints/openarm_left_joint2>,
+        </openarm/joints/openarm_left_joint3>,
+        </openarm/joints/openarm_left_joint4>,
+        </openarm/joints/openarm_left_joint5>,
+        </openarm/joints/openarm_left_joint6>,
+        </openarm/joints/openarm_left_joint7>,
+        </openarm/joints/openarm_left_finger_joint1>,
+        </openarm/joints/openarm_left_finger_joint2>,
+        </openarm/joints/openarm_right_joint1>,
+        </openarm/joints/openarm_right_joint2>,
+        </openarm/joints/openarm_right_joint3>,
+        </openarm/joints/openarm_right_joint4>,
+        </openarm/joints/openarm_right_joint5>,
+        </openarm/joints/openarm_right_joint6>,
+        </openarm/joints/openarm_right_joint7>,
+        </openarm/joints/openarm_right_finger_joint1>,
+        </openarm/joints/openarm_right_finger_joint2>,
+        </openarm/root_joint>,
+    ]
+    color3f[] primvars:displayColor = [(0.5, 0.5, 0.5)] (
+        interpolation = "constant"
+    )
+
+    over "openarm_body_link"
+    {
+        over "collisions"
+        {
+            over "openarm_body_link0_collision" (
+                instanceable = false
+            )
+            {
+                over "mesh_2"
+                {
+                    token visibility = "invisible"
+                }
+            }
+
+            over "openarm_left_link0_collision" (
+                instanceable = false
+            )
+            {
+                over "mesh_3"
+                {
+                    token visibility = "invisible"
+                }
+            }
+
+            over "openarm_right_link0_collision" (
+                instanceable = false
+            )
+            {
+                over "mesh_3"
+                {
+                    token visibility = "invisible"
+                }
+            }
+        }
+    }
+
+    over "openarm_left_link1"
+    {
+        over "collisions"
+        {
+            over "openarm_left_link1_collision" (
+                instanceable = false
+            )
+            {
+                over "mesh_5"
+                {
+                    token visibility = "invisible"
+                }
+            }
+        }
+    }
+
+    over "openarm_left_link2"
+    {
+        over "collisions"
+        {
+            over "openarm_left_link2_collision" (
+                instanceable = false
+            )
+            {
+                over "mesh_7"
+                {
+                    token visibility = "invisible"
+                }
+            }
+        }
+    }
+
+    over "openarm_left_link3"
+    {
+        over "collisions"
+        {
+            over "openarm_left_link3_collision" (
+                instanceable = false
+            )
+            {
+                over "mesh_9"
+                {
+                    token visibility = "invisible"
+                }
+            }
+        }
+    }
+
+    over "openarm_left_link4"
+    {
+        over "collisions"
+        {
+            over "openarm_left_link4_collision" (
+                instanceable = false
+            )
+            {
+                over "mesh_11"
+                {
+                    token visibility = "invisible"
+                }
+            }
+        }
+    }
+
+    over "openarm_left_link5"
+    {
+        over "collisions"
+        {
+            over "openarm_left_link5_collision" (
+                instanceable = false
+            )
+            {
+                over "mesh_13"
+                {
+                    token visibility = "invisible"
+                }
+            }
+        }
+    }
+
+    over "openarm_left_link6"
+    {
+        over "collisions"
+        {
+            over "openarm_left_link6_collision" (
+                instanceable = false
+            )
+            {
+                over "mesh_15"
+                {
+                    token visibility = "invisible"
+                }
+            }
+        }
+    }
+
+    over "openarm_left_link7"
+    {
+        over "collisions"
+        {
+            over "openarm_left_link7_collision" (
+                instanceable = false
+            )
+            {
+                over "mesh_17"
+                {
+                    token visibility = "invisible"
+                }
+            }
+        }
+
+        over "openarm_left_ee_tcp"
+        {
+            matrix4d xformOp:transform:agentFrame = ( (1, 0, 0, 0), (0, 1, 0, 0), (0, 0, 1, 0), (0, -5.126045338199603e-9, 0.19310001284005704, 1) )
+            uniform token[] xformOpOrder = ["xformOp:transform:agentFrame"]
+        }
+
+        over "openarm_left_hand"
+        {
+            matrix4d xformOp:transform:agentFrame = ( (1, 0, 0, 0), (0, 1, 0, 0), (0, 0, 1, 0), (0, -3.5766589689956163e-10, 0.10010001063410753, 1) )
+            uniform token[] xformOpOrder = ["xformOp:transform:agentFrame"]
+        }
+    }
+
+    over "openarm_left_right_finger"
+    {
+        over "collisions"
+        {
+            over "openarm_left_right_finger_collision" (
+                instanceable = false
+            )
+            {
+                over "mesh_19"
+                {
+                    token visibility = "invisible"
+                }
+            }
+        }
+    }
+
+    over "openarm_left_left_finger"
+    {
+        over "collisions"
+        {
+            over "openarm_left_left_finger_collision" (
+                instanceable = false
+            )
+            {
+                over "mesh_19"
+                {
+                    token visibility = "invisible"
+                }
+            }
+        }
+    }
+
+    over "openarm_right_link1"
+    {
+        over "collisions"
+        {
+            over "openarm_right_link1_collision" (
+                instanceable = false
+            )
+            {
+                over "mesh_5"
+                {
+                    token visibility = "invisible"
+                }
+            }
+        }
+    }
+
+    over "openarm_right_link2"
+    {
+        over "collisions"
+        {
+            over "openarm_right_link2_collision" (
+                instanceable = false
+            )
+            {
+                over "mesh_7"
+                {
+                    token visibility = "invisible"
+                }
+            }
+        }
+    }
+
+    over "openarm_right_link3"
+    {
+        over "collisions"
+        {
+            over "openarm_right_link3_collision" (
+                instanceable = false
+            )
+            {
+                over "mesh_9"
+                {
+                    token visibility = "invisible"
+                }
+            }
+        }
+    }
+
+    over "openarm_right_link4"
+    {
+        over "collisions"
+        {
+            over "openarm_right_link4_collision" (
+                instanceable = false
+            )
+            {
+                over "mesh_11"
+                {
+                    token visibility = "invisible"
+                }
+            }
+        }
+    }
+
+    over "openarm_right_link5"
+    {
+        over "collisions"
+        {
+            over "openarm_right_link5_collision" (
+                instanceable = false
+            )
+            {
+                over "mesh_13"
+                {
+                    token visibility = "invisible"
+                }
+            }
+        }
+    }
+
+    over "openarm_right_link6"
+    {
+        over "collisions"
+        {
+            over "openarm_right_link6_collision" (
+                instanceable = false
+            )
+            {
+                over "mesh_15"
+                {
+                    token visibility = "invisible"
+                }
+            }
+        }
+    }
+
+    over "openarm_right_link7"
+    {
+        over "collisions"
+        {
+            over "openarm_right_link7_collision" (
+                instanceable = false
+            )
+            {
+                over "mesh_17"
+                {
+                    token visibility = "invisible"
+                }
+            }
+        }
+
+        over "openarm_right_ee_tcp"
+        {
+            matrix4d xformOp:transform:agentFrame = ( (1, 0, 0, 0), (0, 1, 0, 0), (0, 0, 1, 0), (0, 5.126045338199603e-9, 0.19310001284005704, 1) )
+            uniform token[] xformOpOrder = ["xformOp:transform:agentFrame"]
+        }
+
+        over "openarm_right_hand"
+        {
+            matrix4d xformOp:transform:agentFrame = ( (1, 0, 0, 0), (0, 1, 0, 0), (0, 0, 1, 0), (0, 3.5766589689956163e-10, 0.10010001063410753, 1) )
+            uniform token[] xformOpOrder = ["xformOp:transform:agentFrame"]
+        }
+    }
+
+    over "openarm_right_right_finger"
+    {
+        over "collisions"
+        {
+            over "openarm_right_right_finger_collision" (
+                instanceable = false
+            )
+            {
+                over "mesh_19"
+                {
+                    token visibility = "invisible"
+                }
+            }
+        }
+    }
+
+    over "openarm_right_left_finger"
+    {
+        over "collisions"
+        {
+            over "openarm_right_left_finger_collision" (
+                instanceable = false
+            )
+            {
+                over "mesh_19"
+                {
+                    token visibility = "invisible"
+                }
+            }
+        }
+    }
+
+    over "joints"
+    {
+        over "openarm_left_hand" (
+            active = false
+        )
+        {
+            bool physics:jointEnabled = 0
+        }
+
+        over "openarm_left_ee_tcp_joint" (
+            active = false
+        )
+        {
+            bool physics:jointEnabled = 0
+        }
+
+        over "openarm_right_hand" (
+            active = false
+        )
+        {
+            bool physics:jointEnabled = 0
+        }
+
+        over "openarm_right_ee_tcp_joint" (
+            active = false
+        )
+        {
+            bool physics:jointEnabled = 0
+        }
+    }
+    variantSet "Sensor" = {
+        "none" (
+            prepend payload = @./payloads/Sensor/none.usda@
+        ) {
+
+        }
+        "sensors" (
+            prepend payload = @./payloads/Sensor/sensors.usda@
+        ) {
+
+        }
+    }
+    variantSet "PhysX" = {
+        "Disabled" {
+
+        }
+        "Enabled" (
+            prepend payload = @./runnables/physics/physx.usda@
+        ) {
+
+        }
+    }
+    variantSet "Newton" = {
+        "Disabled" {
+
+        }
+        "Enabled" (
+            prepend payload = @./runnables/physics/newton.usda@
+        ) {
+
+        }
+    }
+    variantSet "MuJoCo" = {
+        "Disabled" {
+
+        }
+        "Enabled" (
+            prepend payload = @./runnables/physics/mujoco.usda@
+        ) {
+
+        }
+    }
+}
+

openarm_openarm_bimanual/payloads/Physics/mujoco.usda

@@ -0,0 +1,612 @@
+#usda 1.0
+(
+    customLayerData = {
+    }
+    metersPerUnit = 1
+    upAxis = "Z"
+)
+
+over "openarm"
+{
+    over "joints"
+    {
+        over "openarm_left_joint1" (
+            delete apiSchemas = ["PhysicsJointStateAPI:angular", "PhysicsDriveAPI:angular"]
+        )
+        {
+        }
+
+        over "openarm_left_joint2" (
+            delete apiSchemas = ["PhysicsJointStateAPI:angular", "PhysicsDriveAPI:angular"]
+        )
+        {
+        }
+
+        over "openarm_left_joint3" (
+            delete apiSchemas = ["PhysicsJointStateAPI:angular", "PhysicsDriveAPI:angular"]
+        )
+        {
+        }
+
+        over "openarm_left_joint4" (
+            delete apiSchemas = ["PhysicsJointStateAPI:angular", "PhysicsDriveAPI:angular"]
+        )
+        {
+        }
+
+        over "openarm_left_joint5" (
+            delete apiSchemas = ["PhysicsJointStateAPI:angular", "PhysicsDriveAPI:angular"]
+        )
+        {
+        }
+
+        over "openarm_left_joint6" (
+            delete apiSchemas = ["PhysicsJointStateAPI:angular", "PhysicsDriveAPI:angular"]
+        )
+        {
+        }
+
+        over "openarm_left_joint7" (
+            delete apiSchemas = ["PhysicsJointStateAPI:angular", "PhysicsDriveAPI:angular"]
+        )
+        {
+        }
+
+        over "openarm_left_finger_joint1" (
+            delete apiSchemas = ["PhysicsJointStateAPI:linear", "PhysicsDriveAPI:linear"]
+        )
+        {
+        }
+
+        over "openarm_left_finger_joint2" (
+            delete apiSchemas = ["PhysicsJointStateAPI:linear"]
+        )
+        {
+        }
+
+        over "openarm_left_hand" (
+            delete apiSchemas = ["PhysicsJointStateAPI:angular", "PhysicsDriveAPI:angular"]
+        )
+        {
+        }
+
+        over "openarm_left_ee_tcp_joint" (
+            delete apiSchemas = ["PhysicsJointStateAPI:angular", "PhysicsDriveAPI:angular"]
+        )
+        {
+        }
+
+        over "openarm_right_joint1" (
+            delete apiSchemas = ["PhysicsJointStateAPI:angular", "PhysicsDriveAPI:angular"]
+        )
+        {
+        }
+
+        over "openarm_right_joint2" (
+            delete apiSchemas = ["PhysicsJointStateAPI:angular", "PhysicsDriveAPI:angular"]
+        )
+        {
+        }
+
+        over "openarm_right_joint3" (
+            delete apiSchemas = ["PhysicsJointStateAPI:angular", "PhysicsDriveAPI:angular"]
+        )
+        {
+        }
+
+        over "openarm_right_joint4" (
+            delete apiSchemas = ["PhysicsJointStateAPI:angular", "PhysicsDriveAPI:angular"]
+        )
+        {
+        }
+
+        over "openarm_right_joint5" (
+            delete apiSchemas = ["PhysicsJointStateAPI:angular", "PhysicsDriveAPI:angular"]
+        )
+        {
+        }
+
+        over "openarm_right_joint6" (
+            delete apiSchemas = ["PhysicsJointStateAPI:angular", "PhysicsDriveAPI:angular"]
+        )
+        {
+        }
+
+        over "openarm_right_joint7" (
+            delete apiSchemas = ["PhysicsJointStateAPI:angular", "PhysicsDriveAPI:angular"]
+        )
+        {
+        }
+
+        over "openarm_right_finger_joint1" (
+            delete apiSchemas = ["PhysicsJointStateAPI:linear", "PhysicsDriveAPI:linear"]
+        )
+        {
+        }
+
+        over "openarm_right_finger_joint2" (
+            delete apiSchemas = ["PhysicsJointStateAPI:linear"]
+        )
+        {
+        }
+
+        over "openarm_right_hand" (
+            delete apiSchemas = ["PhysicsJointStateAPI:angular", "PhysicsDriveAPI:angular"]
+        )
+        {
+        }
+
+        over "openarm_right_ee_tcp_joint" (
+            delete apiSchemas = ["PhysicsJointStateAPI:angular", "PhysicsDriveAPI:angular"]
+        )
+        {
+        }
+    }
+
+    over "openarm_body_link"
+    {
+        over "openarm_left_link0"
+        {
+        }
+
+        over "openarm_right_link0"
+        {
+        }
+
+        over "visuals"
+        {
+            over "openarm_body_link0_visual"
+            {
+            }
+
+            over "openarm_left_link0_visual"
+            {
+            }
+
+            over "openarm_right_link0_visual"
+            {
+            }
+        }
+
+        over "collisions"
+        {
+            over "openarm_body_link0_collision"
+            {
+                over "mesh_2"
+                {
+                }
+            }
+
+            over "openarm_left_link0_collision"
+            {
+                over "mesh_3"
+                {
+                }
+            }
+
+            over "openarm_right_link0_collision"
+            {
+                over "mesh_3"
+                {
+                }
+            }
+        }
+    }
+
+    over "openarm_left_link1"
+    {
+        over "visuals"
+        {
+            over "openarm_left_link1_visual"
+            {
+            }
+        }
+
+        over "collisions"
+        {
+            over "openarm_left_link1_collision"
+            {
+                over "mesh_5"
+                {
+                }
+            }
+        }
+    }
+
+    over "openarm_left_link2"
+    {
+        over "visuals"
+        {
+            over "openarm_left_link2_visual"
+            {
+            }
+        }
+
+        over "collisions"
+        {
+            over "openarm_left_link2_collision"
+            {
+                over "mesh_7"
+                {
+                }
+            }
+        }
+    }
+
+    over "openarm_left_link3"
+    {
+        over "visuals"
+        {
+            over "openarm_left_link3_visual"
+            {
+            }
+        }
+
+        over "collisions"
+        {
+            over "openarm_left_link3_collision"
+            {
+                over "mesh_9"
+                {
+                }
+            }
+        }
+    }
+
+    over "openarm_left_link4"
+    {
+        over "visuals"
+        {
+            over "openarm_left_link4_visual"
+            {
+            }
+        }
+
+        over "collisions"
+        {
+            over "openarm_left_link4_collision"
+            {
+                over "mesh_11"
+                {
+                }
+            }
+        }
+    }
+
+    over "openarm_left_link5"
+    {
+        over "visuals"
+        {
+            over "openarm_left_link5_visual"
+            {
+            }
+        }
+
+        over "collisions"
+        {
+            over "openarm_left_link5_collision"
+            {
+                over "mesh_13"
+                {
+                }
+            }
+        }
+    }
+
+    over "openarm_left_link6"
+    {
+        over "visuals"
+        {
+            over "openarm_left_link6_visual"
+            {
+            }
+        }
+
+        over "collisions"
+        {
+            over "openarm_left_link6_collision"
+            {
+                over "mesh_15"
+                {
+                }
+            }
+        }
+    }
+
+    over "openarm_left_link7"
+    {
+        over "visuals"
+        {
+            over "openarm_left_link7_visual"
+            {
+            }
+        }
+
+        over "collisions"
+        {
+            over "openarm_left_link7_collision"
+            {
+                over "mesh_17"
+                {
+                }
+            }
+        }
+
+        over "openarm_left_ee_tcp"
+        {
+            over "visuals"
+            {
+            }
+
+            over "collisions"
+            {
+            }
+        }
+
+        over "openarm_left_hand"
+        {
+            over "visuals"
+            {
+            }
+
+            over "collisions"
+            {
+            }
+        }
+    }
+
+    over "openarm_left_right_finger"
+    {
+        over "visuals"
+        {
+            over "openarm_left_right_finger_visual"
+            {
+            }
+        }
+
+        over "collisions"
+        {
+            over "openarm_left_right_finger_collision"
+            {
+                over "mesh_19"
+                {
+                }
+            }
+        }
+    }
+
+    over "openarm_left_left_finger"
+    {
+        over "visuals"
+        {
+            over "openarm_left_left_finger_visual"
+            {
+            }
+        }
+
+        over "collisions"
+        {
+            over "openarm_left_left_finger_collision"
+            {
+                over "mesh_19"
+                {
+                }
+            }
+        }
+    }
+
+    over "openarm_right_link1"
+    {
+        over "visuals"
+        {
+            over "openarm_right_link1_visual"
+            {
+            }
+        }
+
+        over "collisions"
+        {
+            over "openarm_right_link1_collision"
+            {
+                over "mesh_5"
+                {
+                }
+            }
+        }
+    }
+
+    over "openarm_right_link2"
+    {
+        over "visuals"
+        {
+            over "openarm_right_link2_visual"
+            {
+            }
+        }
+
+        over "collisions"
+        {
+            over "openarm_right_link2_collision"
+            {
+                over "mesh_7"
+                {
+                }
+            }
+        }
+    }
+
+    over "openarm_right_link3"
+    {
+        over "visuals"
+        {
+            over "openarm_right_link3_visual"
+            {
+            }
+        }
+
+        over "collisions"
+        {
+            over "openarm_right_link3_collision"
+            {
+                over "mesh_9"
+                {
+                }
+            }
+        }
+    }
+
+    over "openarm_right_link4"
+    {
+        over "visuals"
+        {
+            over "openarm_right_link4_visual"
+            {
+            }
+        }
+
+        over "collisions"
+        {
+            over "openarm_right_link4_collision"
+            {
+                over "mesh_11"
+                {
+                }
+            }
+        }
+    }
+
+    over "openarm_right_link5"
+    {
+        over "visuals"
+        {
+            over "openarm_right_link5_visual"
+            {
+            }
+        }
+
+        over "collisions"
+        {
+            over "openarm_right_link5_collision"
+            {
+                over "mesh_13"
+                {
+                }
+            }
+        }
+    }
+
+    over "openarm_right_link6"
+    {
+        over "visuals"
+        {
+            over "openarm_right_link6_visual"
+            {
+            }
+        }
+
+        over "collisions"
+        {
+            over "openarm_right_link6_collision"
+            {
+                over "mesh_15"
+                {
+                }
+            }
+        }
+    }
+
+    over "openarm_right_link7"
+    {
+        over "visuals"
+        {
+            over "openarm_right_link7_visual"
+            {
+            }
+        }
+
+        over "collisions"
+        {
+            over "openarm_right_link7_collision"
+            {
+                over "mesh_17"
+                {
+                }
+            }
+        }
+
+        over "openarm_right_ee_tcp"
+        {
+            over "visuals"
+            {
+            }
+
+            over "collisions"
+            {
+            }
+        }
+
+        over "openarm_right_hand"
+        {
+            over "visuals"
+            {
+            }
+
+            over "collisions"
+            {
+            }
+        }
+    }
+
+    over "openarm_right_right_finger"
+    {
+        over "visuals"
+        {
+            over "openarm_right_right_finger_visual"
+            {
+            }
+        }
+
+        over "collisions"
+        {
+            over "openarm_right_right_finger_collision"
+            {
+                over "mesh_19"
+                {
+                }
+            }
+        }
+    }
+
+    over "openarm_right_left_finger"
+    {
+        over "visuals"
+        {
+            over "openarm_right_left_finger_visual"
+            {
+            }
+        }
+
+        over "collisions"
+        {
+            over "openarm_right_left_finger_collision"
+            {
+                over "mesh_19"
+                {
+                }
+            }
+        }
+    }
+
+    over "root_joint"
+    {
+    }
+
+    over "Looks"
+    {
+    }
+
+    over "VisualMaterials"
+    {
+    }
+}
+

openarm_openarm_bimanual/payloads/Physics/none.usda

@@ -0,0 +1,13 @@
+#usda 1.0
+(
+    customLayerData = {
+    }
+    defaultPrim = "openarm"
+    metersPerUnit = 1
+    upAxis = "Z"
+)
+
+def "openarm"
+{
+}
+

openarm_openarm_bimanual/payloads/Physics/physics.usda

@@ -0,0 +1,1011 @@
+#usda 1.0
+(
+    customLayerData = {
+    }
+    defaultPrim = "openarm"
+    metersPerUnit = 1
+    upAxis = "Z"
+)
+
+def "openarm"
+{
+    over "joints"
+    {
+        def PhysicsRevoluteJoint "openarm_left_joint1" (
+            prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
+        )
+        {
+            float drive:angular:physics:damping = 40
+            float drive:angular:physics:maxForce = 40
+            float drive:angular:physics:stiffness = 2000
+            float drive:angular:physics:targetPosition = 0
+            uniform token drive:angular:physics:type = "force"
+            uniform token physics:axis = "Z"
+            custom rel physics:body0 = </openarm/openarm_body_link>
+            custom rel physics:body1 = </openarm/openarm_left_link1>
+            float physics:breakForce = 3.4028235e38
+            float physics:breakTorque = 3.4028235e38
+            float physics:JointEquivalentInertia = 0.6143213
+            point3f physics:localPos0 = (0, 0.0935, 0.6979998)
+            point3f physics:localPos1 = (0, 0, 0)
+            quatf physics:localRot0 = (0.7071055, -0.7071081, 0, 0)
+            quatf physics:localRot1 = (1, 0, 0, 0)
+            float physics:lowerLimit = -200.00002
+            float physics:upperLimit = 79.99997
+            float state:angular:physics:position = 0
+            float state:angular:physics:velocity = 0
+        }
+
+        def PhysicsRevoluteJoint "openarm_left_joint2" (
+            prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
+        )
+        {
+            float drive:angular:physics:damping = 80
+            float drive:angular:physics:maxForce = 40
+            float drive:angular:physics:stiffness = 400
+            float drive:angular:physics:targetPosition = 0
+            uniform token drive:angular:physics:type = "force"
+            uniform token physics:axis = "X"
+            custom rel physics:body0 = </openarm/openarm_left_link1>
+            custom rel physics:body1 = </openarm/openarm_left_link2>
+            float physics:breakForce = 3.4028235e38
+            float physics:breakTorque = 3.4028235e38
+            float physics:JointEquivalentInertia = 0.5508471
+            point3f physics:localPos0 = (-0.0301, 0, 0.06)
+            point3f physics:localPos1 = (0, 0, 0)
+            quatf physics:localRot0 = (0, 0, 0.70710677, 0.70710677)
+            quatf physics:localRot1 = (0, 0, 0, 1)
+            float physics:lowerLimit = -189.99998
+            float physics:upperLimit = 9.999985
+            float state:angular:physics:position = 0
+            float state:angular:physics:velocity = 0
+        }
+
+        def PhysicsRevoluteJoint "openarm_left_joint3" (
+            prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
+        )
+        {
+            float drive:angular:physics:damping = 80
+            float drive:angular:physics:maxForce = 27
+            float drive:angular:physics:stiffness = 400
+            float drive:angular:physics:targetPosition = 0
+            uniform token drive:angular:physics:type = "force"
+            uniform token physics:axis = "Z"
+            custom rel physics:body0 = </openarm/openarm_left_link2>
+            custom rel physics:body1 = </openarm/openarm_left_link3>
+            float physics:breakForce = 3.4028235e38
+            float physics:breakTorque = 3.4028235e38
+            float physics:JointEquivalentInertia = 0.5397275
+            point3f physics:localPos0 = (0.0301, 0, 0.06625)
+            point3f physics:localPos1 = (0, 0, 0)
+            quatf physics:localRot0 = (1, 0, 0, 0)
+            quatf physics:localRot1 = (1, 0, 0, 0)
+            float physics:lowerLimit = -89.99998
+            float physics:upperLimit = 89.99998
+            float state:angular:physics:position = 0
+            float state:angular:physics:velocity = 0
+        }
+
+        def PhysicsRevoluteJoint "openarm_left_joint4" (
+            prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
+        )
+        {
+            float drive:angular:physics:damping = 80
+            float drive:angular:physics:maxForce = 27
+            float drive:angular:physics:stiffness = 400
+            float drive:angular:physics:targetPosition = 0
+            uniform token drive:angular:physics:type = "force"
+            uniform token physics:axis = "Y"
+            custom rel physics:body0 = </openarm/openarm_left_link3>
+            custom rel physics:body1 = </openarm/openarm_left_link4>
+            float physics:breakForce = 3.4028235e38
+            float physics:breakTorque = 3.4028235e38
+            float physics:JointEquivalentInertia = 0.35589984
+            point3f physics:localPos0 = (-0, 0.0315, 0.15375)
+            point3f physics:localPos1 = (0, 0, 0)
+            quatf physics:localRot0 = (1, 0, 0, 0)
+            quatf physics:localRot1 = (1, 0, 0, 0)
+            float physics:lowerLimit = 0
+            float physics:upperLimit = 139.99998
+            float state:angular:physics:position = 0
+            float state:angular:physics:velocity = 0
+        }
+
+        def PhysicsRevoluteJoint "openarm_left_joint5" (
+            prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
+        )
+        {
+            float drive:angular:physics:damping = 80
+            float drive:angular:physics:maxForce = 7
+            float drive:angular:physics:stiffness = 400
+            float drive:angular:physics:targetPosition = 0
+            uniform token drive:angular:physics:type = "force"
+            uniform token physics:axis = "Z"
+            custom rel physics:body0 = </openarm/openarm_left_link4>
+            custom rel physics:body1 = </openarm/openarm_left_link5>
+            float physics:breakForce = 3.4028235e38
+            float physics:breakTorque = 3.4028235e38
+            float physics:JointEquivalentInertia = 0.118156664
+            point3f physics:localPos0 = (0, -0.0315, 0.0955)
+            point3f physics:localPos1 = (0, 0, 0)
+            quatf physics:localRot0 = (1, 0, 0, 0)
+            quatf physics:localRot1 = (1, 0, 0, 0)
+            float physics:lowerLimit = -89.99998
+            float physics:upperLimit = 89.99998
+            float state:angular:physics:position = 0
+            float state:angular:physics:velocity = 0
+        }
+
+        def PhysicsRevoluteJoint "openarm_left_joint6" (
+            prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
+        )
+        {
+            float drive:angular:physics:damping = 80
+            float drive:angular:physics:maxForce = 7
+            float drive:angular:physics:stiffness = 400
+            float drive:angular:physics:targetPosition = 0
+            uniform token drive:angular:physics:type = "force"
+            uniform token physics:axis = "X"
+            custom rel physics:body0 = </openarm/openarm_left_link5>
+            custom rel physics:body1 = </openarm/openarm_left_link6>
+            float physics:breakForce = 3.4028235e38
+            float physics:breakTorque = 3.4028235e38
+            float physics:JointEquivalentInertia = 0.04134566
+            point3f physics:localPos0 = (0.0375, 0, 0.1205)
+            point3f physics:localPos1 = (0, 0, 0)
+            quatf physics:localRot0 = (1, 0, 0, 0)
+            quatf physics:localRot1 = (1, 0, 0, 0)
+            float physics:lowerLimit = -44.99999
+            float physics:upperLimit = 44.99999
+            float state:angular:physics:position = 0
+            float state:angular:physics:velocity = 0
+        }
+
+        def PhysicsRevoluteJoint "openarm_left_joint7" (
+            prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
+        )
+        {
+            float drive:angular:physics:damping = 80
+            float drive:angular:physics:maxForce = 7
+            float drive:angular:physics:stiffness = 400
+            float drive:angular:physics:targetPosition = 0
+            uniform token drive:angular:physics:type = "force"
+            uniform token physics:axis = "Y"
+            custom rel physics:body0 = </openarm/openarm_left_link6>
+            custom rel physics:body1 = </openarm/openarm_left_link7>
+            float physics:breakForce = 3.4028235e38
+            float physics:breakTorque = 3.4028235e38
+            float physics:JointEquivalentInertia = 0.006993125
+            point3f physics:localPos0 = (-0.0375, 0, 0)
+            point3f physics:localPos1 = (0, 0, 0)
+            quatf physics:localRot0 = (0, 1, 0, 0)
+            quatf physics:localRot1 = (0, 1, 0, 0)
+            float physics:lowerLimit = -89.99998
+            float physics:upperLimit = 89.99998
+            float state:angular:physics:position = 0
+            float state:angular:physics:velocity = 0
+        }
+
+        def PhysicsPrismaticJoint "openarm_left_finger_joint1" (
+            prepend apiSchemas = ["PhysicsDriveAPI:linear", "PhysicsJointStateAPI:linear"]
+        )
+        {
+            float drive:linear:physics:damping = 100
+            float drive:linear:physics:maxForce = 10
+            float drive:linear:physics:stiffness = 1000000
+            float drive:linear:physics:targetPosition = 0
+            uniform token drive:linear:physics:type = "force"
+            uniform token physics:axis = "Y"
+            custom rel physics:body0 = </openarm/openarm_left_link7>
+            custom rel physics:body1 = </openarm/openarm_left_right_finger>
+            float physics:breakForce = 3.4028235e38
+            float physics:breakTorque = 3.4028235e38
+            float physics:JointEquivalentInertia = 0.0009874682
+            point3f physics:localPos0 = (0, -0.005, 0.1151)
+            point3f physics:localPos1 = (0, 0, 0)
+            quatf physics:localRot0 = (0, 1, 0, 0)
+            quatf physics:localRot1 = (0, 1, 0, 0)
+            float physics:lowerLimit = 0
+            float physics:upperLimit = 0.044
+            float state:linear:physics:position = 0
+            float state:linear:physics:velocity = 0
+        }
+
+        def PhysicsPrismaticJoint "openarm_left_finger_joint2" (
+            prepend apiSchemas = ["PhysicsJointStateAPI:linear"]
+        )
+        {
+            uniform token physics:axis = "Y"
+            custom rel physics:body0 = </openarm/openarm_left_link7>
+            custom rel physics:body1 = </openarm/openarm_left_left_finger>
+            float physics:breakForce = 3.4028235e38
+            float physics:breakTorque = 3.4028235e38
+            float physics:JointEquivalentInertia = 0.0009870075
+            point3f physics:localPos0 = (0, 0.005, 0.1151)
+            point3f physics:localPos1 = (0, 0, 0)
+            quatf physics:localRot0 = (1, 0, 0, 0)
+            quatf physics:localRot1 = (1, 0, 0, 0)
+            float physics:lowerLimit = -0.0088
+            float physics:upperLimit = 0.0528
+        }
+
+        def PhysicsRevoluteJoint "openarm_left_hand" (
+            prepend apiSchemas = ["PhysicsDriveAPI:angular"]
+        )
+        {
+            float drive:angular:physics:damping = 0
+            float drive:angular:physics:maxForce = 3.4028235e38
+            float drive:angular:physics:stiffness = 0
+            float drive:angular:physics:targetPosition = 0
+            uniform token drive:angular:physics:type = "force"
+            uniform token physics:axis = "Z"
+            custom rel physics:body0 = </openarm/openarm_left_link7>
+            custom rel physics:body1 = </openarm/openarm_left_link7/openarm_left_hand>
+            float physics:breakForce = 3.4028235e38
+            float physics:breakTorque = 3.4028235e38
+            float physics:JointEquivalentInertia = 0
+            point3f physics:localPos0 = (0, 0, 0.1001)
+            point3f physics:localPos1 = (0, 0, 0)
+            quatf physics:localRot0 = (1, 0, 0, 0)
+            quatf physics:localRot1 = (1, 0, 0, 0)
+            float physics:lowerLimit = 0
+            float physics:upperLimit = 5.7295775e-13
+        }
+
+        def PhysicsRevoluteJoint "openarm_left_ee_tcp_joint" (
+            prepend apiSchemas = ["PhysicsDriveAPI:angular"]
+        )
+        {
+            float drive:angular:physics:damping = 0
+            float drive:angular:physics:maxForce = 3.4028235e38
+            float drive:angular:physics:stiffness = 0
+            float drive:angular:physics:targetPosition = 0
+            uniform token drive:angular:physics:type = "force"
+            uniform token physics:axis = "Z"
+            custom rel physics:body0 = </openarm/openarm_left_link7/openarm_left_hand>
+            custom rel physics:body1 = </openarm/openarm_left_link7/openarm_left_ee_tcp>
+            float physics:breakForce = 3.4028235e38
+            float physics:breakTorque = 3.4028235e38
+            float physics:JointEquivalentInertia = 0
+            point3f physics:localPos0 = (0, 0, 0.093)
+            point3f physics:localPos1 = (0, 0, 0)
+            quatf physics:localRot0 = (1, 0, 0, 0)
+            quatf physics:localRot1 = (1, 0, 0, 0)
+            float physics:lowerLimit = 0
+            float physics:upperLimit = 5.7295775e-13
+        }
+
+        def PhysicsRevoluteJoint "openarm_right_joint1" (
+            prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
+        )
+        {
+            float drive:angular:physics:damping = 40
+            float drive:angular:physics:maxForce = 40
+            float drive:angular:physics:stiffness = 2000
+            float drive:angular:physics:targetPosition = 0
+            uniform token drive:angular:physics:type = "force"
+            uniform token physics:axis = "Z"
+            custom rel physics:body0 = </openarm/openarm_body_link>
+            custom rel physics:body1 = </openarm/openarm_right_link1>
+            float physics:breakForce = 3.4028235e38
+            float physics:breakTorque = 3.4028235e38
+            float physics:JointEquivalentInertia = 0.6148356
+            point3f physics:localPos0 = (0, -0.0935, 0.6979998)
+            point3f physics:localPos1 = (0, 0, 0)
+            quatf physics:localRot0 = (0.7071055, 0.7071081, 0, 0)
+            quatf physics:localRot1 = (1, 0, 0, 0)
+            float physics:lowerLimit = -79.99997
+            float physics:upperLimit = 200.00002
+            float state:angular:physics:position = 0
+            float state:angular:physics:velocity = 0
+        }
+
+        def PhysicsRevoluteJoint "openarm_right_joint2" (
+            prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
+        )
+        {
+            float drive:angular:physics:damping = 80
+            float drive:angular:physics:maxForce = 40
+            float drive:angular:physics:stiffness = 400
+            float drive:angular:physics:targetPosition = 0
+            uniform token drive:angular:physics:type = "force"
+            uniform token physics:axis = "X"
+            custom rel physics:body0 = </openarm/openarm_right_link1>
+            custom rel physics:body1 = </openarm/openarm_right_link2>
+            float physics:breakForce = 3.4028235e38
+            float physics:breakTorque = 3.4028235e38
+            float physics:JointEquivalentInertia = 0.55110145
+            point3f physics:localPos0 = (-0.0301, 0, 0.06)
+            point3f physics:localPos1 = (0, 0, 0)
+            quatf physics:localRot0 = (0, 0, -0.70710677, 0.70710677)
+            quatf physics:localRot1 = (0, 0, 0, 1)
+            float physics:lowerLimit = -9.999985
+            float physics:upperLimit = 189.99998
+            float state:angular:physics:position = 0
+            float state:angular:physics:velocity = 0
+        }
+
+        def PhysicsRevoluteJoint "openarm_right_joint3" (
+            prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
+        )
+        {
+            float drive:angular:physics:damping = 80
+            float drive:angular:physics:maxForce = 27
+            float drive:angular:physics:stiffness = 400
+            float drive:angular:physics:targetPosition = 0
+            uniform token drive:angular:physics:type = "force"
+            uniform token physics:axis = "Z"
+            custom rel physics:body0 = </openarm/openarm_right_link2>
+            custom rel physics:body1 = </openarm/openarm_right_link3>
+            float physics:breakForce = 3.4028235e38
+            float physics:breakTorque = 3.4028235e38
+            float physics:JointEquivalentInertia = 0.53973037
+            point3f physics:localPos0 = (0.0301, 0, 0.06625)
+            point3f physics:localPos1 = (0, 0, 0)
+            quatf physics:localRot0 = (1, 0, 0, 0)
+            quatf physics:localRot1 = (1, 0, 0, 0)
+            float physics:lowerLimit = -89.99998
+            float physics:upperLimit = 89.99998
+            float state:angular:physics:position = 0
+            float state:angular:physics:velocity = 0
+        }
+
+        def PhysicsRevoluteJoint "openarm_right_joint4" (
+            prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
+        )
+        {
+            float drive:angular:physics:damping = 80
+            float drive:angular:physics:maxForce = 27
+            float drive:angular:physics:stiffness = 400
+            float drive:angular:physics:targetPosition = 0
+            uniform token drive:angular:physics:type = "force"
+            uniform token physics:axis = "Y"
+            custom rel physics:body0 = </openarm/openarm_right_link3>
+            custom rel physics:body1 = </openarm/openarm_right_link4>
+            float physics:breakForce = 3.4028235e38
+            float physics:breakTorque = 3.4028235e38
+            float physics:JointEquivalentInertia = 0.3547449
+            point3f physics:localPos0 = (-0, 0.0315, 0.15375)
+            point3f physics:localPos1 = (0, 0, 0)
+            quatf physics:localRot0 = (1, 0, 0, 0)
+            quatf physics:localRot1 = (1, 0, 0, 0)
+            float physics:lowerLimit = 0
+            float physics:upperLimit = 139.99998
+            float state:angular:physics:position = 0
+            float state:angular:physics:velocity = 0
+        }
+
+        def PhysicsRevoluteJoint "openarm_right_joint5" (
+            prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
+        )
+        {
+            float drive:angular:physics:damping = 80
+            float drive:angular:physics:maxForce = 7
+            float drive:angular:physics:stiffness = 400
+            float drive:angular:physics:targetPosition = 0
+            uniform token drive:angular:physics:type = "force"
+            uniform token physics:axis = "Z"
+            custom rel physics:body0 = </openarm/openarm_right_link4>
+            custom rel physics:body1 = </openarm/openarm_right_link5>
+            float physics:breakForce = 3.4028235e38
+            float physics:breakTorque = 3.4028235e38
+            float physics:JointEquivalentInertia = 0.11690189
+            point3f physics:localPos0 = (0, -0.0315, 0.0955)
+            point3f physics:localPos1 = (0, 0, 0)
+            quatf physics:localRot0 = (1, 0, 0, 0)
+            quatf physics:localRot1 = (1, 0, 0, 0)
+            float physics:lowerLimit = -89.99998
+            float physics:upperLimit = 89.99998
+            float state:angular:physics:position = 0
+            float state:angular:physics:velocity = 0
+        }
+
+        def PhysicsRevoluteJoint "openarm_right_joint6" (
+            prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
+        )
+        {
+            float drive:angular:physics:damping = 80
+            float drive:angular:physics:maxForce = 7
+            float drive:angular:physics:stiffness = 400
+            float drive:angular:physics:targetPosition = 0
+            uniform token drive:angular:physics:type = "force"
+            uniform token physics:axis = "X"
+            custom rel physics:body0 = </openarm/openarm_right_link5>
+            custom rel physics:body1 = </openarm/openarm_right_link6>
+            float physics:breakForce = 3.4028235e38
+            float physics:breakTorque = 3.4028235e38
+            float physics:JointEquivalentInertia = 0.04133558
+            point3f physics:localPos0 = (0.0375, 0, 0.1205)
+            point3f physics:localPos1 = (0, 0, 0)
+            quatf physics:localRot0 = (1, 0, 0, 0)
+            quatf physics:localRot1 = (1, 0, 0, 0)
+            float physics:lowerLimit = -44.99999
+            float physics:upperLimit = 44.99999
+            float state:angular:physics:position = 0
+            float state:angular:physics:velocity = 0
+        }
+
+        def PhysicsRevoluteJoint "openarm_right_joint7" (
+            prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
+        )
+        {
+            float drive:angular:physics:damping = 80
+            float drive:angular:physics:maxForce = 7
+            float drive:angular:physics:stiffness = 400
+            float drive:angular:physics:targetPosition = 0
+            uniform token drive:angular:physics:type = "force"
+            uniform token physics:axis = "Y"
+            custom rel physics:body0 = </openarm/openarm_right_link6>
+            custom rel physics:body1 = </openarm/openarm_right_link7>
+            float physics:breakForce = 3.4028235e38
+            float physics:breakTorque = 3.4028235e38
+            float physics:JointEquivalentInertia = 0.0069721467
+            point3f physics:localPos0 = (-0.0375, 0, 0)
+            point3f physics:localPos1 = (0, 0, 0)
+            quatf physics:localRot0 = (1, 0, 0, 0)
+            quatf physics:localRot1 = (1, 0, 0, 0)
+            float physics:lowerLimit = -89.99998
+            float physics:upperLimit = 89.99998
+            float state:angular:physics:position = 0
+            float state:angular:physics:velocity = 0
+        }
+
+        def PhysicsPrismaticJoint "openarm_right_finger_joint1" (
+            prepend apiSchemas = ["PhysicsDriveAPI:linear", "PhysicsJointStateAPI:linear"]
+        )
+        {
+            float drive:linear:physics:damping = 100
+            float drive:linear:physics:maxForce = 10
+            float drive:linear:physics:stiffness = 1000000
+            float drive:linear:physics:targetPosition = 0
+            uniform token drive:linear:physics:type = "force"
+            uniform token physics:axis = "Y"
+            custom rel physics:body0 = </openarm/openarm_right_link7>
+            custom rel physics:body1 = </openarm/openarm_right_right_finger>
+            float physics:breakForce = 3.4028235e38
+            float physics:breakTorque = 3.4028235e38
+            float physics:JointEquivalentInertia = 0.0009874689
+            point3f physics:localPos0 = (0, -0.005, 0.1151)
+            point3f physics:localPos1 = (0, 0, 0)
+            quatf physics:localRot0 = (0, 1, 0, 0)
+            quatf physics:localRot1 = (0, 1, 0, 0)
+            float physics:lowerLimit = 0
+            float physics:upperLimit = 0.044
+            float state:linear:physics:position = 0
+            float state:linear:physics:velocity = 0
+        }
+
+        def PhysicsPrismaticJoint "openarm_right_finger_joint2" (
+            prepend apiSchemas = ["PhysicsJointStateAPI:linear"]
+        )
+        {
+            uniform token physics:axis = "Y"
+            custom rel physics:body0 = </openarm/openarm_right_link7>
+            custom rel physics:body1 = </openarm/openarm_right_left_finger>
+            float physics:breakForce = 3.4028235e38
+            float physics:breakTorque = 3.4028235e38
+            float physics:JointEquivalentInertia = 0.0009870068
+            point3f physics:localPos0 = (0, 0.005, 0.1151)
+            point3f physics:localPos1 = (0, 0, 0)
+            quatf physics:localRot0 = (1, 0, 0, 0)
+            quatf physics:localRot1 = (1, 0, 0, 0)
+            float physics:lowerLimit = -0.0088
+            float physics:upperLimit = 0.0528
+        }
+
+        def PhysicsRevoluteJoint "openarm_right_hand" (
+            prepend apiSchemas = ["PhysicsDriveAPI:angular"]
+        )
+        {
+            float drive:angular:physics:damping = 0
+            float drive:angular:physics:maxForce = 3.4028235e38
+            float drive:angular:physics:stiffness = 0
+            float drive:angular:physics:targetPosition = 0
+            uniform token drive:angular:physics:type = "force"
+            uniform token physics:axis = "Z"
+            custom rel physics:body0 = </openarm/openarm_right_link7>
+            custom rel physics:body1 = </openarm/openarm_right_link7/openarm_right_hand>
+            float physics:breakForce = 3.4028235e38
+            float physics:breakTorque = 3.4028235e38
+            float physics:JointEquivalentInertia = 0
+            point3f physics:localPos0 = (0, 0, 0.1001)
+            point3f physics:localPos1 = (0, 0, 0)
+            quatf physics:localRot0 = (0, 0, 1, 0)
+            quatf physics:localRot1 = (0, 0, 1, 0)
+            float physics:lowerLimit = 0
+            float physics:upperLimit = 5.7295775e-13
+        }
+
+        def PhysicsRevoluteJoint "openarm_right_ee_tcp_joint" (
+            prepend apiSchemas = ["PhysicsDriveAPI:angular"]
+        )
+        {
+            float drive:angular:physics:damping = 0
+            float drive:angular:physics:maxForce = 3.4028235e38
+            float drive:angular:physics:stiffness = 0
+            float drive:angular:physics:targetPosition = 0
+            uniform token drive:angular:physics:type = "force"
+            uniform token physics:axis = "Z"
+            custom rel physics:body0 = </openarm/openarm_right_link7/openarm_right_hand>
+            custom rel physics:body1 = </openarm/openarm_right_link7/openarm_right_ee_tcp>
+            float physics:breakForce = 3.4028235e38
+            float physics:breakTorque = 3.4028235e38
+            float physics:JointEquivalentInertia = 0
+            point3f physics:localPos0 = (0, 0, 0.093)
+            point3f physics:localPos1 = (0, 0, 0)
+            quatf physics:localRot0 = (0, 0, 1, 0)
+            quatf physics:localRot1 = (0, 0, 1, 0)
+            float physics:lowerLimit = 0
+            float physics:upperLimit = 5.7295775e-13
+        }
+    }
+
+    over "openarm_body_link" (
+        prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"]
+    )
+    {
+        point3f physics:centerOfMass = (-0.00013404236, 0, 0.098658614)
+        float3 physics:diagonalInertia = (2.6204975, 2.6124587, 0.06164874)
+        float physics:mass = 16.176456
+        quatf physics:principalAxes = (1, 0.000007120055, -0.00025393663, 0.0000011506469)
+
+        over "collisions"
+        {
+            over "openarm_body_link0_collision"
+            {
+                over "mesh_2" (
+                    prepend apiSchemas = ["PhysicsMeshCollisionAPI", "PhysicsCollisionAPI"]
+                )
+                {
+                }
+            }
+
+            over "openarm_left_link0_collision"
+            {
+                over "mesh_3" (
+                    prepend apiSchemas = ["PhysicsMeshCollisionAPI", "PhysicsCollisionAPI"]
+                )
+                {
+                }
+            }
+
+            over "openarm_right_link0_collision"
+            {
+                over "mesh_3" (
+                    prepend apiSchemas = ["PhysicsMeshCollisionAPI", "PhysicsCollisionAPI"]
+                )
+                {
+                }
+            }
+        }
+    }
+
+    over "openarm_left_link1" (
+        prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"]
+    )
+    {
+        point3f physics:centerOfMass = (0.0011467658, -0.000033199878, 0.053952843)
+        float3 physics:diagonalInertia = (0.0015685259, 0.0012729999, 0.0010144745)
+        float physics:mass = 1.1416684
+        quatf physics:principalAxes = (0.99965304, 0.0017827745, 0.026215931, -0.0018256223)
+
+        over "collisions"
+        {
+            over "openarm_left_link1_collision"
+            {
+                over "mesh_5" (
+                    prepend apiSchemas = ["PhysicsMeshCollisionAPI", "PhysicsCollisionAPI"]
+                )
+                {
+                }
+            }
+        }
+    }
+
+    over "openarm_left_link2" (
+        prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"]
+    )
+    {
+        point3f physics:centerOfMass = (0.008396292, 2.0145102e-8, 0.03256649)
+        float3 physics:diagonalInertia = (0.00042165074, 0.00037600606, 0.00016934323)
+        float physics:mass = 0.27750927
+        quatf physics:principalAxes = (0.9661671, 0.0042330557, 0.25786418, 0.0030503613)
+
+        over "collisions"
+        {
+            over "openarm_left_link2_collision"
+            {
+                over "mesh_7" (
+                    prepend apiSchemas = ["PhysicsMeshCollisionAPI", "PhysicsCollisionAPI"]
+                )
+                {
+                }
+            }
+        }
+    }
+
+    over "openarm_left_link3" (
+        prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"]
+    )
+    {
+        point3f physics:centerOfMass = (-0.002104752, -0.00055490853, 0.0904747)
+        float3 physics:diagonalInertia = (0.0043720477, 0.00431934, 0.0006606131)
+        float physics:mass = 1.0738634
+        quatf physics:principalAxes = (0.999951, -0.0049327957, -0.0014414751, 0.008467595)
+
+        over "collisions"
+        {
+            over "openarm_left_link3_collision"
+            {
+                over "mesh_9" (
+                    prepend apiSchemas = ["PhysicsMeshCollisionAPI", "PhysicsCollisionAPI"]
+                )
+                {
+                }
+            }
+        }
+    }
+
+    over "openarm_left_link4" (
+        prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"]
+    )
+    {
+        point3f physics:centerOfMass = (-0.002900683, -0.030305758, 0.06339637)
+        float3 physics:diagonalInertia = (0.0006243554, 0.00051859574, 0.00032504884)
+        float physics:mass = 0.6348535
+        quatf physics:principalAxes = (0.9942824, 0.09968764, 0.032972574, -0.019435624)
+
+        over "collisions"
+        {
+            over "openarm_left_link4_collision"
+            {
+                over "mesh_11" (
+                    prepend apiSchemas = ["PhysicsMeshCollisionAPI", "PhysicsCollisionAPI"]
+                )
+                {
+                }
+            }
+        }
+    }
+
+    over "openarm_left_link5" (
+        prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"]
+    )
+    {
+        point3f physics:centerOfMass = (-0.0030496651, -0.0008866902, 0.043079805)
+        float3 physics:diagonalInertia = (0.0004205488, 0.00044806433, 0.00032338686)
+        float physics:mass = 0.6156588
+        quatf physics:principalAxes = (0.98624855, -0.027019188, -0.024186399, 0.16124167)
+
+        over "collisions"
+        {
+            over "openarm_left_link5_collision"
+            {
+                over "mesh_13" (
+                    prepend apiSchemas = ["PhysicsMeshCollisionAPI", "PhysicsCollisionAPI"]
+                )
+                {
+                }
+            }
+        }
+    }
+
+    over "openarm_left_link6" (
+        prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"]
+    )
+    {
+        point3f physics:centerOfMass = (-0.03713659, -0.0003323053, -0.00009498375)
+        float3 physics:diagonalInertia = (0.0001428754, 0.00015660639, 0.00015951821)
+        float physics:mass = 0.47520277
+        quatf physics:principalAxes = (0.9782236, -0.2028305, 0.035006385, -0.026702125)
+
+        over "collisions"
+        {
+            over "openarm_left_link6_collision"
+            {
+                over "mesh_15" (
+                    prepend apiSchemas = ["PhysicsMeshCollisionAPI", "PhysicsCollisionAPI"]
+                )
+                {
+                }
+            }
+        }
+    }
+
+    over "openarm_left_link7" (
+        prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"]
+    )
+    {
+        point3f physics:centerOfMass = (0.0000687551, -0.012661752, 0.06951945)
+        float3 physics:diagonalInertia = (0.000639018, 0.00053749647, 0.00030148553)
+        float physics:mass = 0.46597713
+        quatf physics:principalAxes = (0.97725725, 0.21195586, -0.0021006237, 0.006219682)
+
+        over "collisions"
+        {
+            over "openarm_left_link7_collision"
+            {
+                over "mesh_17" (
+                    prepend apiSchemas = ["PhysicsMeshCollisionAPI", "PhysicsCollisionAPI"]
+                )
+                {
+                }
+            }
+        }
+
+        over "openarm_left_ee_tcp"
+        {
+        }
+
+        over "openarm_left_hand"
+        {
+        }
+    }
+
+    over "openarm_left_right_finger" (
+        prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"]
+    )
+    {
+        point3f physics:centerOfMass = (0.0064528, -0.01702, 0.0219685)
+        float3 physics:diagonalInertia = (0.000003991918, 0.0000013750002, 1.3308144e-7)
+        float physics:mass = 0.036025453
+        quatf physics:principalAxes = (0.9044081, 0.078153096, -0.18867828, 0.37461808)
+
+        over "collisions"
+        {
+            over "openarm_left_right_finger_collision"
+            {
+                over "mesh_19" (
+                    prepend apiSchemas = ["PhysicsMeshCollisionAPI", "PhysicsCollisionAPI"]
+                )
+                {
+                }
+            }
+        }
+    }
+
+    over "openarm_left_left_finger" (
+        prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"]
+    )
+    {
+        point3f physics:centerOfMass = (0.0064528, 0.01702, 0.0219685)
+        float3 physics:diagonalInertia = (0.000003991918, 0.0000013750002, 1.3308144e-7)
+        float physics:mass = 0.036025453
+        quatf physics:principalAxes = (0.9044081, 0.078153096, -0.18867828, 0.37461808)
+
+        over "collisions"
+        {
+            over "openarm_left_left_finger_collision"
+            {
+                over "mesh_19" (
+                    prepend apiSchemas = ["PhysicsMeshCollisionAPI", "PhysicsCollisionAPI"]
+                )
+                {
+                }
+            }
+        }
+    }
+
+    over "openarm_right_link1" (
+        prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"]
+    )
+    {
+        point3f physics:centerOfMass = (0.0011467658, 0.000033199878, 0.053952843)
+        float3 physics:diagonalInertia = (0.0015685259, 0.0012729999, 0.0010144745)
+        float physics:mass = 1.1416684
+        quatf physics:principalAxes = (0.99965304, 0.0017827745, 0.026215931, -0.0018256223)
+
+        over "collisions"
+        {
+            over "openarm_right_link1_collision"
+            {
+                over "mesh_5" (
+                    prepend apiSchemas = ["PhysicsMeshCollisionAPI", "PhysicsCollisionAPI"]
+                )
+                {
+                }
+            }
+        }
+    }
+
+    over "openarm_right_link2" (
+        prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"]
+    )
+    {
+        point3f physics:centerOfMass = (0.008396292, -2.0145102e-8, 0.03256649)
+        float3 physics:diagonalInertia = (0.00042165074, 0.00037600606, 0.00016934323)
+        float physics:mass = 0.27750927
+        quatf physics:principalAxes = (0.9661671, 0.0042330557, 0.25786418, 0.0030503613)
+
+        over "collisions"
+        {
+            over "openarm_right_link2_collision"
+            {
+                over "mesh_7" (
+                    prepend apiSchemas = ["PhysicsMeshCollisionAPI", "PhysicsCollisionAPI"]
+                )
+                {
+                }
+            }
+        }
+    }
+
+    over "openarm_right_link3" (
+        prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"]
+    )
+    {
+        point3f physics:centerOfMass = (-0.002104752, 0.00055490853, 0.0904747)
+        float3 physics:diagonalInertia = (0.0043720477, 0.00431934, 0.0006606131)
+        float physics:mass = 1.0738634
+        quatf physics:principalAxes = (0.999951, -0.0049327957, -0.0014414751, 0.008467595)
+
+        over "collisions"
+        {
+            over "openarm_right_link3_collision"
+            {
+                over "mesh_9" (
+                    prepend apiSchemas = ["PhysicsMeshCollisionAPI", "PhysicsCollisionAPI"]
+                )
+                {
+                }
+            }
+        }
+    }
+
+    over "openarm_right_link4" (
+        prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"]
+    )
+    {
+        point3f physics:centerOfMass = (-0.002900683, -0.030305758, 0.06339637)
+        float3 physics:diagonalInertia = (0.0006243554, 0.00051859574, 0.00032504884)
+        float physics:mass = 0.6348535
+        quatf physics:principalAxes = (0.9942824, 0.09968764, 0.032972574, -0.019435624)
+
+        over "collisions"
+        {
+            over "openarm_right_link4_collision"
+            {
+                over "mesh_11" (
+                    prepend apiSchemas = ["PhysicsMeshCollisionAPI", "PhysicsCollisionAPI"]
+                )
+                {
+                }
+            }
+        }
+    }
+
+    over "openarm_right_link5" (
+        prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"]
+    )
+    {
+        point3f physics:centerOfMass = (-0.0030496651, 0.0008866902, 0.043079805)
+        float3 physics:diagonalInertia = (0.0004205488, 0.00044806433, 0.00032338686)
+        float physics:mass = 0.6156588
+        quatf physics:principalAxes = (0.98624855, -0.027019188, -0.024186399, 0.16124167)
+
+        over "collisions"
+        {
+            over "openarm_right_link5_collision"
+            {
+                over "mesh_13" (
+                    prepend apiSchemas = ["PhysicsMeshCollisionAPI", "PhysicsCollisionAPI"]
+                )
+                {
+                }
+            }
+        }
+    }
+
+    over "openarm_right_link6" (
+        prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"]
+    )
+    {
+        point3f physics:centerOfMass = (-0.03713659, 0.0003323053, -0.00009498375)
+        float3 physics:diagonalInertia = (0.0001428754, 0.00015660639, 0.00015951821)
+        float physics:mass = 0.47520277
+        quatf physics:principalAxes = (0.9782236, -0.2028305, 0.035006385, -0.026702125)
+
+        over "collisions"
+        {
+            over "openarm_right_link6_collision"
+            {
+                over "mesh_15" (
+                    prepend apiSchemas = ["PhysicsMeshCollisionAPI", "PhysicsCollisionAPI"]
+                )
+                {
+                }
+            }
+        }
+    }
+
+    over "openarm_right_link7" (
+        prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"]
+    )
+    {
+        point3f physics:centerOfMass = (0.0000687551, 0.012661752, 0.06951945)
+        float3 physics:diagonalInertia = (0.000639018, 0.00053749647, 0.00030148553)
+        float physics:mass = 0.46597713
+        quatf physics:principalAxes = (0.97725725, 0.21195586, -0.0021006237, 0.006219682)
+
+        over "collisions"
+        {
+            over "openarm_right_link7_collision"
+            {
+                over "mesh_17" (
+                    prepend apiSchemas = ["PhysicsMeshCollisionAPI", "PhysicsCollisionAPI"]
+                )
+                {
+                }
+            }
+        }
+
+        over "openarm_right_ee_tcp"
+        {
+        }
+
+        over "openarm_right_hand"
+        {
+        }
+    }
+
+    over "openarm_right_right_finger" (
+        prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"]
+    )
+    {
+        point3f physics:centerOfMass = (0.0064528, -0.01702, 0.0219685)
+        float3 physics:diagonalInertia = (0.000003991918, 0.0000013750002, 1.3308144e-7)
+        float physics:mass = 0.036025453
+        quatf physics:principalAxes = (0.9044081, 0.078153096, -0.18867828, 0.37461808)
+
+        over "collisions"
+        {
+            over "openarm_right_right_finger_collision"
+            {
+                over "mesh_19" (
+                    prepend apiSchemas = ["PhysicsMeshCollisionAPI", "PhysicsCollisionAPI"]
+                )
+                {
+                }
+            }
+        }
+    }
+
+    over "openarm_right_left_finger" (
+        prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"]
+    )
+    {
+        point3f physics:centerOfMass = (0.0064528, 0.01702, 0.0219685)
+        float3 physics:diagonalInertia = (0.000003991918, 0.0000013750002, 1.3308144e-7)
+        float physics:mass = 0.036025453
+        quatf physics:principalAxes = (0.9044081, 0.078153096, -0.18867828, 0.37461808)
+
+        over "collisions"
+        {
+            over "openarm_right_left_finger_collision"
+            {
+                over "mesh_19" (
+                    prepend apiSchemas = ["PhysicsMeshCollisionAPI", "PhysicsCollisionAPI"]
+                )
+                {
+                }
+            }
+        }
+    }
+
+    def PhysicsFixedJoint "root_joint" (
+        prepend apiSchemas = ["PhysicsArticulationRootAPI"]
+    )
+    {
+        rel physics:body1 = </openarm/openarm_body_link>
+    }
+
+    def PhysicsFixedJoint "__fixed_base_joint"
+    {
+        rel physics:body1 = </openarm/openarm_body_link>
+        point3f physics:localPos0 = (0, 0, 0)
+        point3f physics:localPos1 = (0, 0, 0)
+        quatf physics:localRot0 = (1, 0, 0, 0)
+        quatf physics:localRot1 = (1, 0, 0, 0)
+    }
+}
+

openarm_openarm_bimanual/payloads/Physics/physx.usda

@@ -0,0 +1,549 @@
+#usda 1.0
+(
+    customLayerData = {
+    }
+    defaultPrim = "openarm"
+    metersPerUnit = 1
+    subLayers = [
+        @./physics.usda@
+    ]
+    upAxis = "Z"
+)
+
+def "openarm"
+{
+    over "joints"
+    {
+        over "openarm_left_joint1" (
+            prepend apiSchemas = ["PhysxJointAPI"]
+        )
+        {
+            float physxJoint:maxJointVelocity = 959.97156
+        }
+
+        over "openarm_left_joint2" (
+            prepend apiSchemas = ["PhysxJointAPI"]
+        )
+        {
+            float physxJoint:maxJointVelocity = 959.97156
+        }
+
+        over "openarm_left_joint3" (
+            prepend apiSchemas = ["PhysxJointAPI"]
+        )
+        {
+            float physxJoint:maxJointVelocity = 311.9999
+        }
+
+        over "openarm_left_joint4" (
+            prepend apiSchemas = ["PhysxJointAPI"]
+        )
+        {
+            float physxJoint:maxJointVelocity = 311.9999
+        }
+
+        over "openarm_left_joint5" (
+            prepend apiSchemas = ["PhysxJointAPI"]
+        )
+        {
+            float physxJoint:maxJointVelocity = 1199.9996
+        }
+
+        over "openarm_left_joint6" (
+            prepend apiSchemas = ["PhysxJointAPI"]
+        )
+        {
+            float physxJoint:maxJointVelocity = 1199.9996
+        }
+
+        over "openarm_left_joint7" (
+            prepend apiSchemas = ["PhysxJointAPI"]
+        )
+        {
+            float physxJoint:maxJointVelocity = 1199.9996
+        }
+
+        over "openarm_left_finger_joint1" (
+            prepend apiSchemas = ["PhysxJointAPI"]
+        )
+        {
+            float physxJoint:maxJointVelocity = 1
+        }
+
+        over "openarm_left_finger_joint2" (
+            prepend apiSchemas = ["PhysxJointAPI", "PhysxMimicJointAPI:rotY"]
+        )
+        {
+            float physxMimicJoint:rotY:dampingRatio = 0
+            float physxMimicJoint:rotY:gearing = -1
+            float physxMimicJoint:rotY:naturalFrequency = 0
+            float physxMimicJoint:rotY:offset = 0
+            rel physxMimicJoint:rotY:referenceJoint = </openarm/joints/openarm_left_finger_joint1>
+        }
+
+        over "openarm_left_hand" (
+            prepend apiSchemas = ["PhysxJointAPI"]
+        )
+        {
+            float physxJoint:maxJointVelocity = 3.4028235e38
+        }
+
+        over "openarm_left_ee_tcp_joint" (
+            prepend apiSchemas = ["PhysxJointAPI"]
+        )
+        {
+            float physxJoint:maxJointVelocity = 3.4028235e38
+        }
+
+        over "openarm_right_joint1" (
+            prepend apiSchemas = ["PhysxJointAPI"]
+        )
+        {
+            float physxJoint:maxJointVelocity = 959.97156
+        }
+
+        over "openarm_right_joint2" (
+            prepend apiSchemas = ["PhysxJointAPI"]
+        )
+        {
+            float physxJoint:maxJointVelocity = 959.97156
+        }
+
+        over "openarm_right_joint3" (
+            prepend apiSchemas = ["PhysxJointAPI"]
+        )
+        {
+            float physxJoint:maxJointVelocity = 311.9999
+        }
+
+        over "openarm_right_joint4" (
+            prepend apiSchemas = ["PhysxJointAPI"]
+        )
+        {
+            float physxJoint:maxJointVelocity = 311.9999
+        }
+
+        over "openarm_right_joint5" (
+            prepend apiSchemas = ["PhysxJointAPI"]
+        )
+        {
+            float physxJoint:maxJointVelocity = 1199.9996
+        }
+
+        over "openarm_right_joint6" (
+            prepend apiSchemas = ["PhysxJointAPI"]
+        )
+        {
+            float physxJoint:maxJointVelocity = 1199.9996
+        }
+
+        over "openarm_right_joint7" (
+            prepend apiSchemas = ["PhysxJointAPI"]
+        )
+        {
+            float physxJoint:maxJointVelocity = 1199.9996
+        }
+
+        over "openarm_right_finger_joint1" (
+            prepend apiSchemas = ["PhysxJointAPI"]
+        )
+        {
+            float physxJoint:maxJointVelocity = 1
+        }
+
+        over "openarm_right_finger_joint2" (
+            prepend apiSchemas = ["PhysxJointAPI", "PhysxMimicJointAPI:rotY"]
+        )
+        {
+            float physxMimicJoint:rotY:dampingRatio = 0
+            float physxMimicJoint:rotY:gearing = -1
+            float physxMimicJoint:rotY:naturalFrequency = 0
+            float physxMimicJoint:rotY:offset = 0
+            rel physxMimicJoint:rotY:referenceJoint = </openarm/joints/openarm_right_finger_joint1>
+        }
+
+        over "openarm_right_hand" (
+            prepend apiSchemas = ["PhysxJointAPI"]
+        )
+        {
+            float physxJoint:maxJointVelocity = 3.4028235e38
+        }
+
+        over "openarm_right_ee_tcp_joint" (
+            prepend apiSchemas = ["PhysxJointAPI"]
+        )
+        {
+            float physxJoint:maxJointVelocity = 3.4028235e38
+        }
+    }
+
+    over "openarm_body_link"
+    {
+        over "collisions" (
+        )
+        {
+            rel collection:collisionmeshes:includes = </openarm/openarm_body_link/collisions>
+
+            over "openarm_body_link0_collision"
+            {
+                over "mesh_2" (
+                    prepend apiSchemas = ["PhysxMeshMergeCollisionAPI"]
+                )
+                {
+                }
+            }
+
+            over "openarm_left_link0_collision"
+            {
+                over "mesh_3" (
+                    prepend apiSchemas = ["PhysxMeshMergeCollisionAPI"]
+                )
+                {
+                }
+            }
+
+            over "openarm_right_link0_collision"
+            {
+                over "mesh_3" (
+                    prepend apiSchemas = ["PhysxMeshMergeCollisionAPI"]
+                )
+                {
+                }
+            }
+        }
+    }
+
+    over "openarm_left_link1"
+    {
+        over "collisions" (
+        )
+        {
+            rel collection:collisionmeshes:includes = </openarm/openarm_left_link1/collisions>
+
+            over "openarm_left_link1_collision"
+            {
+                over "mesh_5" (
+                    prepend apiSchemas = ["PhysxMeshMergeCollisionAPI"]
+                )
+                {
+                }
+            }
+        }
+    }
+
+    over "openarm_left_link2"
+    {
+        over "collisions" (
+        )
+        {
+            rel collection:collisionmeshes:includes = </openarm/openarm_left_link2/collisions>
+
+            over "openarm_left_link2_collision"
+            {
+                over "mesh_7" (
+                    prepend apiSchemas = ["PhysxMeshMergeCollisionAPI"]
+                )
+                {
+                }
+            }
+        }
+    }
+
+    over "openarm_left_link3"
+    {
+        over "collisions" (
+        )
+        {
+            rel collection:collisionmeshes:includes = </openarm/openarm_left_link3/collisions>
+
+            over "openarm_left_link3_collision"
+            {
+                over "mesh_9" (
+                    prepend apiSchemas = ["PhysxMeshMergeCollisionAPI"]
+                )
+                {
+                }
+            }
+        }
+    }
+
+    over "openarm_left_link4"
+    {
+        over "collisions" (
+        )
+        {
+            rel collection:collisionmeshes:includes = </openarm/openarm_left_link4/collisions>
+
+            over "openarm_left_link4_collision"
+            {
+                over "mesh_11" (
+                    prepend apiSchemas = ["PhysxMeshMergeCollisionAPI"]
+                )
+                {
+                }
+            }
+        }
+    }
+
+    over "openarm_left_link5"
+    {
+        over "collisions" (
+        )
+        {
+            rel collection:collisionmeshes:includes = </openarm/openarm_left_link5/collisions>
+
+            over "openarm_left_link5_collision"
+            {
+                over "mesh_13" (
+                    prepend apiSchemas = ["PhysxMeshMergeCollisionAPI"]
+                )
+                {
+                }
+            }
+        }
+    }
+
+    over "openarm_left_link6"
+    {
+        over "collisions" (
+        )
+        {
+            rel collection:collisionmeshes:includes = </openarm/openarm_left_link6/collisions>
+
+            over "openarm_left_link6_collision"
+            {
+                over "mesh_15" (
+                    prepend apiSchemas = ["PhysxMeshMergeCollisionAPI"]
+                )
+                {
+                }
+            }
+        }
+    }
+
+    over "openarm_left_link7"
+    {
+        over "collisions" (
+        )
+        {
+            rel collection:collisionmeshes:includes = </openarm/openarm_left_link7/collisions>
+
+            over "openarm_left_link7_collision"
+            {
+                over "mesh_17" (
+                    prepend apiSchemas = ["PhysxMeshMergeCollisionAPI"]
+                )
+                {
+                }
+            }
+        }
+    }
+
+    over "openarm_left_right_finger"
+    {
+        over "collisions" (
+        )
+        {
+            rel collection:collisionmeshes:includes = </openarm/openarm_left_right_finger/collisions>
+
+            over "openarm_left_right_finger_collision"
+            {
+                over "mesh_19" (
+                    prepend apiSchemas = ["PhysxTriangleMeshSimplificationCollisionAPI", "PhysxConvexDecompositionCollisionAPI", "PhysxMeshMergeCollisionAPI"]
+                )
+                {
+                }
+            }
+        }
+    }
+
+    over "openarm_left_left_finger"
+    {
+        over "collisions" (
+        )
+        {
+            rel collection:collisionmeshes:includes = </openarm/openarm_left_left_finger/collisions>
+
+            over "openarm_left_left_finger_collision"
+            {
+                over "mesh_19" (
+                    prepend apiSchemas = ["PhysxTriangleMeshSimplificationCollisionAPI", "PhysxConvexDecompositionCollisionAPI", "PhysxMeshMergeCollisionAPI"]
+                )
+                {
+                }
+            }
+        }
+    }
+
+    over "openarm_right_link1"
+    {
+        over "collisions" (
+        )
+        {
+            rel collection:collisionmeshes:includes = </openarm/openarm_right_link1/collisions>
+
+            over "openarm_right_link1_collision"
+            {
+                over "mesh_5" (
+                    prepend apiSchemas = ["PhysxMeshMergeCollisionAPI"]
+                )
+                {
+                }
+            }
+        }
+    }
+
+    over "openarm_right_link2"
+    {
+        over "collisions" (
+        )
+        {
+            rel collection:collisionmeshes:includes = </openarm/openarm_right_link2/collisions>
+
+            over "openarm_right_link2_collision"
+            {
+                over "mesh_7" (
+                    prepend apiSchemas = ["PhysxMeshMergeCollisionAPI"]
+                )
+                {
+                }
+            }
+        }
+    }
+
+    over "openarm_right_link3"
+    {
+        over "collisions" (
+        )
+        {
+            rel collection:collisionmeshes:includes = </openarm/openarm_right_link3/collisions>
+
+            over "openarm_right_link3_collision"
+            {
+                over "mesh_9" (
+                    prepend apiSchemas = ["PhysxMeshMergeCollisionAPI"]
+                )
+                {
+                }
+            }
+        }
+    }
+
+    over "openarm_right_link4"
+    {
+        over "collisions" (
+        )
+        {
+            rel collection:collisionmeshes:includes = </openarm/openarm_right_link4/collisions>
+
+            over "openarm_right_link4_collision"
+            {
+                over "mesh_11" (
+                    prepend apiSchemas = ["PhysxMeshMergeCollisionAPI"]
+                )
+                {
+                }
+            }
+        }
+    }
+
+    over "openarm_right_link5"
+    {
+        over "collisions" (
+        )
+        {
+            rel collection:collisionmeshes:includes = </openarm/openarm_right_link5/collisions>
+
+            over "openarm_right_link5_collision"
+            {
+                over "mesh_13" (
+                    prepend apiSchemas = ["PhysxMeshMergeCollisionAPI"]
+                )
+                {
+                }
+            }
+        }
+    }
+
+    over "openarm_right_link6"
+    {
+        over "collisions" (
+        )
+        {
+            rel collection:collisionmeshes:includes = </openarm/openarm_right_link6/collisions>
+
+            over "openarm_right_link6_collision"
+            {
+                over "mesh_15" (
+                    prepend apiSchemas = ["PhysxMeshMergeCollisionAPI"]
+                )
+                {
+                }
+            }
+        }
+    }
+
+    over "openarm_right_link7"
+    {
+        over "collisions" (
+        )
+        {
+            rel collection:collisionmeshes:includes = </openarm/openarm_right_link7/collisions>
+
+            over "openarm_right_link7_collision"
+            {
+                over "mesh_17" (
+                    prepend apiSchemas = ["PhysxMeshMergeCollisionAPI"]
+                )
+                {
+                }
+            }
+        }
+    }
+
+    over "openarm_right_right_finger"
+    {
+        over "collisions" (
+        )
+        {
+            rel collection:collisionmeshes:includes = </openarm/openarm_right_right_finger/collisions>
+
+            over "openarm_right_right_finger_collision"
+            {
+                over "mesh_19" (
+                    prepend apiSchemas = ["PhysxTriangleMeshSimplificationCollisionAPI", "PhysxConvexDecompositionCollisionAPI", "PhysxMeshMergeCollisionAPI"]
+                )
+                {
+                }
+            }
+        }
+    }
+
+    over "openarm_right_left_finger"
+    {
+        over "collisions" (
+        )
+        {
+            rel collection:collisionmeshes:includes = </openarm/openarm_right_left_finger/collisions>
+
+            over "openarm_right_left_finger_collision"
+            {
+                over "mesh_19" (
+                    prepend apiSchemas = ["PhysxTriangleMeshSimplificationCollisionAPI", "PhysxConvexDecompositionCollisionAPI", "PhysxMeshMergeCollisionAPI"]
+                )
+                {
+                }
+            }
+        }
+    }
+
+    over "root_joint" (
+        prepend apiSchemas = ["PhysxArticulationAPI"]
+    )
+    {
+        bool physxArticulation:enabledSelfCollisions = 0
+        int physxArticulation:solverPositionIterationCount = 32
+        int physxArticulation:solverVelocityIterationCount = 1
+    }
+}
+

openarm_openarm_bimanual/payloads/Sensor/none.usda

@@ -0,0 +1,13 @@
+#usda 1.0
+(
+    customLayerData = {
+    }
+    defaultPrim = "openarm"
+    metersPerUnit = 1
+    upAxis = "Z"
+)
+
+def "openarm"
+{
+}
+

openarm_openarm_bimanual/payloads/Sensor/sensors.usda

@@ -0,0 +1,13 @@
+#usda 1.0
+(
+    customLayerData = {
+    }
+    defaultPrim = "openarm"
+    metersPerUnit = 1
+    upAxis = "Z"
+)
+
+def Xform "openarm"
+{
+}
+

openarm_openarm_bimanual/payloads/base.usda

@@ -0,0 +1,1113 @@
+#usda 1.0
+(
+    customLayerData = {
+    }
+    defaultPrim = "openarm"
+    metersPerUnit = 1
+    subLayers = [
+        @./robot.usda@
+    ]
+    upAxis = "Z"
+)
+
+def Xform "openarm"
+{
+    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 "Looks"
+    {
+    }
+
+    def Scope "joints"
+    {
+    }
+
+    def Xform "openarm_body_link"
+    {
+        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 "openarm_left_link0"
+        {
+            quatd xformOp:orient = (0.7071055173873901, -0.7071080803871155, 0, 0)
+            double3 xformOp:scale = (1, 1, 1)
+            double3 xformOp:translate = (0, 0.03099999949336052, 0.6980000138282776)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+        }
+
+        def Xform "openarm_right_link0"
+        {
+            quatd xformOp:orient = (0.7071055173873901, 0.7071080803871155, 0, 0)
+            double3 xformOp:scale = (1, 1, 1)
+            double3 xformOp:translate = (0, -0.03099999949336052, 0.6980000138282776)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+        }
+
+        def Xform "visuals" (
+            instanceable = false
+        )
+        {
+            def Xform "openarm_body_link0_visual" (
+                instanceable = true
+                prepend references = @./instances.usda@</Instances/mesh>
+            )
+            {
+                token visibility = "inherited"
+                quatd xformOp:orient = (0.70711, 0.7071035624, 0, 0)
+                double3 xformOp:scale = (0.001000000047, 0.001000000047, 0.001000000047)
+                double3 xformOp:translate = (0, 0, 0)
+                uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+            }
+
+            def Xform "openarm_left_link0_visual" (
+                instanceable = true
+                prepend references = @./instances.usda@</Instances/mesh_1_mirrorX>
+            )
+            {
+                token visibility = "inherited"
+                quatd xformOp:orient = (0, 0, 1, 0.000002764819689)
+                double3 xformOp:scale = (0.001000000047, 0.001000000047, 0.001000000047)
+                double3 xformOp:translate = (0, 0.03099999949, 0.6980000138)
+                uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+            }
+
+            def Xform "openarm_right_link0_visual" (
+                instanceable = true
+                prepend references = @./instances.usda@</Instances/mesh_1>
+            )
+            {
+                token visibility = "inherited"
+                quatd xformOp:orient = (0.000002764819689, 1, 0, 0)
+                double3 xformOp:scale = (0.001000000047, 0.001000000047, 0.001000000047)
+                double3 xformOp:translate = (0, -0.03099999949, 0.6980000138)
+                uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+            }
+        }
+
+        def Xform "collisions" (
+            instanceable = false
+        )
+        {
+            def Xform "openarm_body_link0_collision" (
+                instanceable = true
+                prepend references = @./instances.usda@</Instances/mesh_2>
+            )
+            {
+                uniform token purpose = "guide"
+                token visibility = "inherited"
+                quatd xformOp:orient = (1, 0, 0, 0)
+                double3 xformOp:scale = (0.001000000047, 0.001000000047, 0.001000000047)
+                double3 xformOp:translate = (0, 0, 0)
+                uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+
+                over "mesh_2" (
+                    prepend apiSchemas = ["PhysicsCollisionAPI"]
+                )
+                {
+                }
+            }
+
+            def Xform "openarm_left_link0_collision" (
+                instanceable = true
+                prepend references = @./instances.usda@</Instances/mesh_3>
+            )
+            {
+                uniform token purpose = "guide"
+                token visibility = "inherited"
+                quatd xformOp:orient = (0, 0, 0.707108045, 0.7071055174)
+                double3 xformOp:scale = (-0.001000000047, 0.001000000047, 0.001000000047)
+                double3 xformOp:translate = (0, 0.03099999949, 0.6980000138)
+                uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+
+                over "mesh_3" (
+                    prepend apiSchemas = ["PhysicsCollisionAPI"]
+                )
+                {
+                }
+            }
+
+            def Xform "openarm_right_link0_collision" (
+                instanceable = true
+                prepend references = @./instances.usda@</Instances/mesh_3>
+            )
+            {
+                uniform token purpose = "guide"
+                token visibility = "inherited"
+                quatd xformOp:orient = (0.7071055174, 0.707108045, 0, 0)
+                double3 xformOp:scale = (0.001000000047, 0.001000000047, 0.001000000047)
+                double3 xformOp:translate = (0, -0.03099999949, 0.6980000138)
+                uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+
+                over "mesh_3" (
+                    prepend apiSchemas = ["PhysicsCollisionAPI"]
+                )
+                {
+                }
+            }
+        }
+    }
+
+    def Xform "openarm_left_link1"
+    {
+        quatd xformOp:orient = (0.7071055173873901, -0.7071080803871155, 0, 0)
+        double3 xformOp:scale = (1, 1, 1)
+        double3 xformOp:translate = (0, 0.09350000321865082, 0.6979997754096985)
+        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+
+        def Xform "visuals" (
+            instanceable = false
+        )
+        {
+            def Xform "openarm_left_link1_visual" (
+                instanceable = true
+                prepend references = @./instances.usda@</Instances/mesh_4_mirrorX>
+            )
+            {
+                token visibility = "inherited"
+                quatd xformOp:orient = (0, 0, 0.7071035624, 0.70711)
+                double3 xformOp:scale = (0.001000000047, 0.001000000047, 0.001000000047)
+                double3 xformOp:translate = (0, 0, -0.0625)
+                uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+            }
+        }
+
+        def Xform "collisions" (
+            instanceable = false
+        )
+        {
+            def Xform "openarm_left_link1_collision" (
+                instanceable = true
+                prepend references = @./instances.usda@</Instances/mesh_5>
+            )
+            {
+                uniform token purpose = "guide"
+                token visibility = "inherited"
+                quatd xformOp:orient = (0, 0, 0, 1)
+                double3 xformOp:scale = (-0.001000000047, 0.001000000047, 0.001000000047)
+                double3 xformOp:translate = (0, 0, -0.0625)
+                uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+
+                over "mesh_5" (
+                    prepend apiSchemas = ["PhysicsCollisionAPI"]
+                )
+                {
+                }
+            }
+        }
+    }
+
+    def Xform "openarm_left_link2"
+    {
+        quatd xformOp:orient = (-0.0000017881393432617188, -1, 0, 0)
+        double3 xformOp:scale = (1, 1, 1)
+        double3 xformOp:translate = (-0.030100001022219658, 0.1535000056028366, 0.6979995369911194)
+        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+
+        def Xform "visuals" (
+            instanceable = false
+        )
+        {
+            def Xform "openarm_left_link2_visual" (
+                instanceable = true
+                prepend references = @./instances.usda@</Instances/mesh_6_mirrorX>
+            )
+            {
+                token visibility = "inherited"
+                quatd xformOp:orient = (0, 0, 0.7071035624, 0.70711)
+                double3 xformOp:scale = (0.001000000047, 0.001000000047, 0.001000000047)
+                double3 xformOp:translate = (0.03009999916, 0, -0.1225000024)
+                uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+            }
+        }
+
+        def Xform "collisions" (
+            instanceable = false
+        )
+        {
+            def Xform "openarm_left_link2_collision" (
+                instanceable = true
+                prepend references = @./instances.usda@</Instances/mesh_7>
+            )
+            {
+                uniform token purpose = "guide"
+                token visibility = "inherited"
+                quatd xformOp:orient = (0, 0, 0, 1)
+                double3 xformOp:scale = (-0.001000000047, 0.001000000047, 0.001000000047)
+                double3 xformOp:translate = (0.03009999916, 0, -0.1225000024)
+                uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+
+                over "mesh_7" (
+                    prepend apiSchemas = ["PhysicsCollisionAPI"]
+                )
+                {
+                }
+            }
+        }
+    }
+
+    def Xform "openarm_left_link3"
+    {
+        quatd xformOp:orient = (-0.0000017881393432617188, -1, 0, 0)
+        double3 xformOp:scale = (1, 1, 1)
+        double3 xformOp:translate = (-1.862645149230957e-9, 0.1534997671842575, 0.6317495107650757)
+        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+
+        def Xform "visuals" (
+            instanceable = false
+        )
+        {
+            def Xform "openarm_left_link3_visual" (
+                instanceable = true
+                prepend references = @./instances.usda@</Instances/mesh_8_mirrorX>
+            )
+            {
+                token visibility = "inherited"
+                quatd xformOp:orient = (0, 0, 0.7071035624, 0.70711)
+                double3 xformOp:scale = (0.001000000047, 0.001000000047, 0.001000000047)
+                double3 xformOp:translate = (0, 0, -0.1887499988)
+                uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+            }
+        }
+
+        def Xform "collisions" (
+            instanceable = false
+        )
+        {
+            def Xform "openarm_left_link3_collision" (
+                instanceable = true
+                prepend references = @./instances.usda@</Instances/mesh_9>
+            )
+            {
+                uniform token purpose = "guide"
+                token visibility = "inherited"
+                quatd xformOp:orient = (0, 0, 0, 1)
+                double3 xformOp:scale = (-0.001000000047, 0.001000000047, 0.001000000047)
+                double3 xformOp:translate = (0, 0, -0.1887499988)
+                uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+
+                over "mesh_9" (
+                    prepend apiSchemas = ["PhysicsCollisionAPI"]
+                )
+                {
+                }
+            }
+        }
+    }
+
+    def Xform "openarm_left_link4"
+    {
+        quatd xformOp:orient = (-0.0000017881393432617188, -1, 0, 0)
+        double3 xformOp:scale = (1, 1, 1)
+        double3 xformOp:translate = (-1.862645149230957e-9, 0.12199921905994415, 0.47799962759017944)
+        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+
+        def Xform "visuals" (
+            instanceable = false
+        )
+        {
+            def Xform "openarm_left_link4_visual" (
+                instanceable = true
+                prepend references = @./instances.usda@</Instances/mesh_10>
+            )
+            {
+                token visibility = "inherited"
+                quatd xformOp:orient = (0.70711, 0.7071035624, 0, 0)
+                double3 xformOp:scale = (0.001000000047, 0.001000000047, 0.001000000047)
+                double3 xformOp:translate = (0, -0.03150000051, -0.3425000012)
+                uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+            }
+        }
+
+        def Xform "collisions" (
+            instanceable = false
+        )
+        {
+            def Xform "openarm_left_link4_collision" (
+                instanceable = true
+                prepend references = @./instances.usda@</Instances/mesh_11>
+            )
+            {
+                uniform token purpose = "guide"
+                token visibility = "inherited"
+                quatd xformOp:orient = (1, 0, 0, 0)
+                double3 xformOp:scale = (0.001000000047, 0.001000000047, 0.001000000047)
+                double3 xformOp:translate = (0, -0.03150000051, -0.3425000012)
+                uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+
+                over "mesh_11" (
+                    prepend apiSchemas = ["PhysicsCollisionAPI"]
+                )
+                {
+                }
+            }
+        }
+    }
+
+    def Xform "openarm_left_link5"
+    {
+        quatd xformOp:orient = (-0.0000017881393432617188, -1, 0, 0)
+        double3 xformOp:scale = (1, 1, 1)
+        double3 xformOp:translate = (-1.862645149230957e-9, 0.15349887311458588, 0.3824995160102844)
+        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+
+        def Xform "visuals" (
+            instanceable = false
+        )
+        {
+            def Xform "openarm_left_link5_visual" (
+                instanceable = true
+                prepend references = @./instances.usda@</Instances/mesh_12_mirrorX>
+            )
+            {
+                token visibility = "inherited"
+                quatd xformOp:orient = (0, 0, 0.7071035624, 0.70711)
+                double3 xformOp:scale = (0.001000000047, 0.001000000047, 0.001000000047)
+                double3 xformOp:translate = (0, 0, -0.4379999936)
+                uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+            }
+        }
+
+        def Xform "collisions" (
+            instanceable = false
+        )
+        {
+            def Xform "openarm_left_link5_collision" (
+                instanceable = true
+                prepend references = @./instances.usda@</Instances/mesh_13>
+            )
+            {
+                uniform token purpose = "guide"
+                token visibility = "inherited"
+                quatd xformOp:orient = (0, 0, 0, 1)
+                double3 xformOp:scale = (-0.001000000047, 0.001000000047, 0.001000000047)
+                double3 xformOp:translate = (0, 0, -0.4379999936)
+                uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+
+                over "mesh_13" (
+                    prepend apiSchemas = ["PhysicsCollisionAPI"]
+                )
+                {
+                }
+            }
+        }
+    }
+
+    def Xform "openarm_left_link6"
+    {
+        quatd xformOp:orient = (-0.0000017881393432617188, -1, 0, 0)
+        double3 xformOp:scale = (1, 1, 1)
+        double3 xformOp:translate = (0.03750000149011612, 0.15349844098091125, 0.2619995176792145)
+        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+
+        def Xform "visuals" (
+            instanceable = false
+        )
+        {
+            def Xform "openarm_left_link6_visual" (
+                instanceable = true
+                prepend references = @./instances.usda@</Instances/mesh_14_mirrorX>
+            )
+            {
+                token visibility = "inherited"
+                quatd xformOp:orient = (0, 0, 0.7071035624, 0.70711)
+                double3 xformOp:scale = (0.001000000047, 0.001000000047, 0.001000000047)
+                double3 xformOp:translate = (-0.03750000149, 0, -0.5584999919)
+                uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+            }
+        }
+
+        def Xform "collisions" (
+            instanceable = false
+        )
+        {
+            def Xform "openarm_left_link6_collision" (
+                instanceable = true
+                prepend references = @./instances.usda@</Instances/mesh_15>
+            )
+            {
+                uniform token purpose = "guide"
+                token visibility = "inherited"
+                quatd xformOp:orient = (0, 0, 0, 1)
+                double3 xformOp:scale = (-0.001000000047, 0.001000000047, 0.001000000047)
+                double3 xformOp:translate = (-0.03750000149, 0, -0.5584999919)
+                uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+
+                over "mesh_15" (
+                    prepend apiSchemas = ["PhysicsCollisionAPI"]
+                )
+                {
+                }
+            }
+        }
+    }
+
+    def Xform "openarm_left_link7"
+    {
+        quatd xformOp:orient = (-0.0000017881393432617188, -1, 0, 0)
+        double3 xformOp:scale = (1, 1, 1)
+        double3 xformOp:translate = (0, 0.15349844098091125, 0.2619995176792145)
+        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+
+        def Xform "visuals" (
+            instanceable = false
+        )
+        {
+            def Xform "openarm_left_link7_visual" (
+                instanceable = true
+                prepend references = @./instances.usda@</Instances/mesh_16_mirrorX>
+            )
+            {
+                token visibility = "inherited"
+                quatd xformOp:orient = (0, 0, 0.7071035624, 0.70711)
+                double3 xformOp:scale = (0.001000000047, 0.001000000047, 0.001000000047)
+                double3 xformOp:translate = (0, 0, -0.5584999919)
+                uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+            }
+        }
+
+        def Xform "collisions" (
+            instanceable = false
+        )
+        {
+            def Xform "openarm_left_link7_collision" (
+                instanceable = true
+                prepend references = @./instances.usda@</Instances/mesh_17>
+            )
+            {
+                uniform token purpose = "guide"
+                token visibility = "inherited"
+                quatd xformOp:orient = (0, 0, 0, 1)
+                double3 xformOp:scale = (-0.001000000047, 0.001000000047, 0.001000000047)
+                double3 xformOp:translate = (0, 0, -0.5584999919)
+                uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+
+                over "mesh_17" (
+                    prepend apiSchemas = ["PhysicsCollisionAPI"]
+                )
+                {
+                }
+            }
+        }
+
+        def Xform "openarm_left_ee_tcp"
+        {
+            quatd xformOp:orient = (-0.0000017881393432617188, -1, 0, 0)
+            double3 xformOp:scale = (1, 1, 1)
+            double3 xformOp:translate = (0, 0.15349775552749634, 0.06889950484037399)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+
+            def Xform "visuals" (
+                instanceable = false
+            )
+            {
+            }
+
+            def Xform "collisions"
+            {
+            }
+        }
+
+        def Xform "openarm_left_hand"
+        {
+            quatd xformOp:orient = (-0.0000017881393432617188, -1, 0, 0)
+            double3 xformOp:scale = (1, 1, 1)
+            double3 xformOp:translate = (0, 0.1534980833530426, 0.16189950704574585)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+
+            def Xform "visuals" (
+                instanceable = false
+            )
+            {
+            }
+
+            def Xform "collisions"
+            {
+            }
+        }
+    }
+
+    def Xform "openarm_left_right_finger"
+    {
+        quatd xformOp:orient = (-0.0000017881393432617188, -1, 0, 0)
+        double3 xformOp:scale = (1, 1, 1)
+        double3 xformOp:translate = (0, 0.15849803388118744, 0.1468995064496994)
+        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+
+        def Xform "visuals" (
+            instanceable = false
+        )
+        {
+            def Xform "openarm_left_right_finger_visual" (
+                instanceable = true
+                prepend references = @./instances.usda@</Instances/mesh_18_mirrorX>
+            )
+            {
+                token visibility = "inherited"
+                quatd xformOp:orient = (0, 0, 0.7071035624, 0.70711)
+                double3 xformOp:scale = (0.001000000047, 0.001000000047, 0.001000000047)
+                double3 xformOp:translate = (0, 0.05000000075, -0.6730009913)
+                uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+            }
+        }
+
+        def Xform "collisions" (
+            instanceable = false
+        )
+        {
+            def Xform "openarm_left_right_finger_collision" (
+                instanceable = true
+                prepend references = @./instances.usda@</Instances/mesh_19>
+            )
+            {
+                uniform token purpose = "guide"
+                token visibility = "inherited"
+                quatd xformOp:orient = (0, 0, 0, 1)
+                double3 xformOp:scale = (-0.001000000047, 0.001000000047, 0.001000000047)
+                double3 xformOp:translate = (0, 0.05000000075, -0.6730009913)
+                uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+
+                over "mesh_19" (
+                    prepend apiSchemas = ["PhysicsCollisionAPI"]
+                )
+                {
+                }
+            }
+        }
+    }
+
+    def Xform "openarm_left_left_finger"
+    {
+        quatd xformOp:orient = (-0.0000017881393432617188, -1, 0, 0)
+        double3 xformOp:scale = (1, 1, 1)
+        double3 xformOp:translate = (0, 0.1484980285167694, 0.1468995362520218)
+        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+
+        def Xform "visuals" (
+            instanceable = false
+        )
+        {
+            def Xform "openarm_left_left_finger_visual" (
+                instanceable = true
+                prepend references = @./instances.usda@</Instances/mesh_18>
+            )
+            {
+                token visibility = "inherited"
+                quatd xformOp:orient = (0.70711, 0.7071035624, 0, 0)
+                double3 xformOp:scale = (0.001000000047, 0.001000000047, 0.001000000047)
+                double3 xformOp:translate = (0, -0.05000000075, -0.6730009913)
+                uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+            }
+        }
+
+        def Xform "collisions" (
+            instanceable = false
+        )
+        {
+            def Xform "openarm_left_left_finger_collision" (
+                instanceable = true
+                prepend references = @./instances.usda@</Instances/mesh_19>
+            )
+            {
+                uniform token purpose = "guide"
+                token visibility = "inherited"
+                quatd xformOp:orient = (1, 0, 0, 0)
+                double3 xformOp:scale = (0.001000000047, 0.001000000047, 0.001000000047)
+                double3 xformOp:translate = (0, -0.05000000075, -0.6730009913)
+                uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+
+                over "mesh_19" (
+                    prepend apiSchemas = ["PhysicsCollisionAPI"]
+                )
+                {
+                }
+            }
+        }
+    }
+
+    def Xform "openarm_right_link1"
+    {
+        quatd xformOp:orient = (0.7071055173873901, 0.7071080803871155, 0, 0)
+        double3 xformOp:scale = (1, 1, 1)
+        double3 xformOp:translate = (0, -0.09350000321865082, 0.6979997754096985)
+        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+
+        def Xform "visuals" (
+            instanceable = false
+        )
+        {
+            def Xform "openarm_right_link1_visual" (
+                instanceable = true
+                prepend references = @./instances.usda@</Instances/mesh_4>
+            )
+            {
+                token visibility = "inherited"
+                quatd xformOp:orient = (0.70711, 0.7071035624, 0, 0)
+                double3 xformOp:scale = (0.001000000047, 0.001000000047, 0.001000000047)
+                double3 xformOp:translate = (0, 0, -0.0625)
+                uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+            }
+        }
+
+        def Xform "collisions" (
+            instanceable = false
+        )
+        {
+            def Xform "openarm_right_link1_collision" (
+                instanceable = true
+                prepend references = @./instances.usda@</Instances/mesh_5>
+            )
+            {
+                uniform token purpose = "guide"
+                token visibility = "inherited"
+                quatd xformOp:orient = (1, 0, 0, 0)
+                double3 xformOp:scale = (0.001000000047, 0.001000000047, 0.001000000047)
+                double3 xformOp:translate = (0, 0, -0.0625)
+                uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+
+                over "mesh_5" (
+                    prepend apiSchemas = ["PhysicsCollisionAPI"]
+                )
+                {
+                }
+            }
+        }
+    }
+
+    def Xform "openarm_right_link2"
+    {
+        quatd xformOp:orient = (-0.0000017881393432617188, 1, 0, 0)
+        double3 xformOp:scale = (1, 1, 1)
+        double3 xformOp:translate = (-0.030100001022219658, -0.1535000056028366, 0.6979995369911194)
+        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+
+        def Xform "visuals" (
+            instanceable = false
+        )
+        {
+            def Xform "openarm_right_link2_visual" (
+                instanceable = true
+                prepend references = @./instances.usda@</Instances/mesh_6>
+            )
+            {
+                token visibility = "inherited"
+                quatd xformOp:orient = (0.70711, 0.7071035624, 0, 0)
+                double3 xformOp:scale = (0.001000000047, 0.001000000047, 0.001000000047)
+                double3 xformOp:translate = (0.03009999916, 0, -0.1225000024)
+                uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+            }
+        }
+
+        def Xform "collisions" (
+            instanceable = false
+        )
+        {
+            def Xform "openarm_right_link2_collision" (
+                instanceable = true
+                prepend references = @./instances.usda@</Instances/mesh_7>
+            )
+            {
+                uniform token purpose = "guide"
+                token visibility = "inherited"
+                quatd xformOp:orient = (1, 0, 0, 0)
+                double3 xformOp:scale = (0.001000000047, 0.001000000047, 0.001000000047)
+                double3 xformOp:translate = (0.03009999916, 0, -0.1225000024)
+                uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+
+                over "mesh_7" (
+                    prepend apiSchemas = ["PhysicsCollisionAPI"]
+                )
+                {
+                }
+            }
+        }
+    }
+
+    def Xform "openarm_right_link3"
+    {
+        quatd xformOp:orient = (-0.0000017881393432617188, 1, 0, 0)
+        double3 xformOp:scale = (1, 1, 1)
+        double3 xformOp:translate = (-1.862645149230957e-9, -0.1534997671842575, 0.6317495107650757)
+        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+
+        def Xform "visuals" (
+            instanceable = false
+        )
+        {
+            def Xform "openarm_right_link3_visual" (
+                instanceable = true
+                prepend references = @./instances.usda@</Instances/mesh_8>
+            )
+            {
+                token visibility = "inherited"
+                quatd xformOp:orient = (0.70711, 0.7071035624, 0, 0)
+                double3 xformOp:scale = (0.001000000047, 0.001000000047, 0.001000000047)
+                double3 xformOp:translate = (0, 0, -0.1887499988)
+                uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+            }
+        }
+
+        def Xform "collisions" (
+            instanceable = false
+        )
+        {
+            def Xform "openarm_right_link3_collision" (
+                instanceable = true
+                prepend references = @./instances.usda@</Instances/mesh_9>
+            )
+            {
+                uniform token purpose = "guide"
+                token visibility = "inherited"
+                quatd xformOp:orient = (1, 0, 0, 0)
+                double3 xformOp:scale = (0.001000000047, 0.001000000047, 0.001000000047)
+                double3 xformOp:translate = (0, 0, -0.1887499988)
+                uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+
+                over "mesh_9" (
+                    prepend apiSchemas = ["PhysicsCollisionAPI"]
+                )
+                {
+                }
+            }
+        }
+    }
+
+    def Xform "openarm_right_link4"
+    {
+        quatd xformOp:orient = (-0.0000017881393432617188, 1, 0, 0)
+        double3 xformOp:scale = (1, 1, 1)
+        double3 xformOp:translate = (-1.862645149230957e-9, -0.18499921262264252, 0.47799938917160034)
+        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+
+        def Xform "visuals" (
+            instanceable = false
+        )
+        {
+            def Xform "openarm_right_link4_visual" (
+                instanceable = true
+                prepend references = @./instances.usda@</Instances/mesh_10>
+            )
+            {
+                token visibility = "inherited"
+                quatd xformOp:orient = (0.70711, 0.7071035624, 0, 0)
+                double3 xformOp:scale = (0.001000000047, 0.001000000047, 0.001000000047)
+                double3 xformOp:translate = (0, -0.03150000051, -0.3425000012)
+                uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+            }
+        }
+
+        def Xform "collisions" (
+            instanceable = false
+        )
+        {
+            def Xform "openarm_right_link4_collision" (
+                instanceable = true
+                prepend references = @./instances.usda@</Instances/mesh_11>
+            )
+            {
+                uniform token purpose = "guide"
+                token visibility = "inherited"
+                quatd xformOp:orient = (1, 0, 0, 0)
+                double3 xformOp:scale = (0.001000000047, 0.001000000047, 0.001000000047)
+                double3 xformOp:translate = (0, -0.03150000051, -0.3425000012)
+                uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+
+                over "mesh_11" (
+                    prepend apiSchemas = ["PhysicsCollisionAPI"]
+                )
+                {
+                }
+            }
+        }
+    }
+
+    def Xform "openarm_right_link5"
+    {
+        quatd xformOp:orient = (-0.0000017881393432617188, 1, 0, 0)
+        double3 xformOp:scale = (1, 1, 1)
+        double3 xformOp:translate = (-1.862645149230957e-9, -0.15349887311458588, 0.3824995160102844)
+        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+
+        def Xform "visuals" (
+            instanceable = false
+        )
+        {
+            def Xform "openarm_right_link5_visual" (
+                instanceable = true
+                prepend references = @./instances.usda@</Instances/mesh_12>
+            )
+            {
+                token visibility = "inherited"
+                quatd xformOp:orient = (0.70711, 0.7071035624, 0, 0)
+                double3 xformOp:scale = (0.001000000047, 0.001000000047, 0.001000000047)
+                double3 xformOp:translate = (0, 0, -0.4379999936)
+                uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+            }
+        }
+
+        def Xform "collisions" (
+            instanceable = false
+        )
+        {
+            def Xform "openarm_right_link5_collision" (
+                instanceable = true
+                prepend references = @./instances.usda@</Instances/mesh_13>
+            )
+            {
+                uniform token purpose = "guide"
+                token visibility = "inherited"
+                quatd xformOp:orient = (1, 0, 0, 0)
+                double3 xformOp:scale = (0.001000000047, 0.001000000047, 0.001000000047)
+                double3 xformOp:translate = (0, 0, -0.4379999936)
+                uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+
+                over "mesh_13" (
+                    prepend apiSchemas = ["PhysicsCollisionAPI"]
+                )
+                {
+                }
+            }
+        }
+    }
+
+    def Xform "openarm_right_link6"
+    {
+        quatd xformOp:orient = (-0.0000017881393432617188, 1, 0, 0)
+        double3 xformOp:scale = (1, 1, 1)
+        double3 xformOp:translate = (0.03750000149011612, -0.15349844098091125, 0.2619995176792145)
+        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+
+        def Xform "visuals" (
+            instanceable = false
+        )
+        {
+            def Xform "openarm_right_link6_visual" (
+                instanceable = true
+                prepend references = @./instances.usda@</Instances/mesh_14>
+            )
+            {
+                token visibility = "inherited"
+                quatd xformOp:orient = (0.70711, 0.7071035624, 0, 0)
+                double3 xformOp:scale = (0.001000000047, 0.001000000047, 0.001000000047)
+                double3 xformOp:translate = (-0.03750000149, 0, -0.5584999919)
+                uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+            }
+        }
+
+        def Xform "collisions" (
+            instanceable = false
+        )
+        {
+            def Xform "openarm_right_link6_collision" (
+                instanceable = true
+                prepend references = @./instances.usda@</Instances/mesh_15>
+            )
+            {
+                uniform token purpose = "guide"
+                token visibility = "inherited"
+                quatd xformOp:orient = (1, 0, 0, 0)
+                double3 xformOp:scale = (0.001000000047, 0.001000000047, 0.001000000047)
+                double3 xformOp:translate = (-0.03750000149, 0, -0.5584999919)
+                uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+
+                over "mesh_15" (
+                    prepend apiSchemas = ["PhysicsCollisionAPI"]
+                )
+                {
+                }
+            }
+        }
+    }
+
+    def Xform "openarm_right_link7"
+    {
+        quatd xformOp:orient = (-0.0000017881393432617188, 1, 0, 0)
+        double3 xformOp:scale = (1, 1, 1)
+        double3 xformOp:translate = (0, -0.15349844098091125, 0.2619995176792145)
+        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+
+        def Xform "visuals" (
+            instanceable = false
+        )
+        {
+            def Xform "openarm_right_link7_visual" (
+                instanceable = true
+                prepend references = @./instances.usda@</Instances/mesh_16>
+            )
+            {
+                token visibility = "inherited"
+                quatd xformOp:orient = (0.70711, 0.7071035624, 0, 0)
+                double3 xformOp:scale = (0.001000000047, 0.001000000047, 0.001000000047)
+                double3 xformOp:translate = (0, 0, -0.5584999919)
+                uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+            }
+        }
+
+        def Xform "collisions" (
+            instanceable = false
+        )
+        {
+            def Xform "openarm_right_link7_collision" (
+                instanceable = true
+                prepend references = @./instances.usda@</Instances/mesh_17>
+            )
+            {
+                uniform token purpose = "guide"
+                token visibility = "inherited"
+                quatd xformOp:orient = (1, 0, 0, 0)
+                double3 xformOp:scale = (0.001000000047, 0.001000000047, 0.001000000047)
+                double3 xformOp:translate = (0, 0, -0.5584999919)
+                uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+
+                over "mesh_17" (
+                    prepend apiSchemas = ["PhysicsCollisionAPI"]
+                )
+                {
+                }
+            }
+        }
+
+        def Xform "openarm_right_ee_tcp"
+        {
+            quatd xformOp:orient = (-0.0000017881393432617188, 1, 0, 0)
+            double3 xformOp:scale = (1, 1, 1)
+            double3 xformOp:translate = (0, -0.15349775552749634, 0.06889950484037399)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+
+            def Xform "visuals" (
+                instanceable = false
+            )
+            {
+            }
+
+            def Xform "collisions"
+            {
+            }
+        }
+
+        def Xform "openarm_right_hand"
+        {
+            quatd xformOp:orient = (-0.0000017881393432617188, 1, 0, 0)
+            double3 xformOp:scale = (1, 1, 1)
+            double3 xformOp:translate = (0, -0.1534980833530426, 0.16189950704574585)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+
+            def Xform "visuals" (
+                instanceable = false
+            )
+            {
+            }
+
+            def Xform "collisions"
+            {
+            }
+        }
+    }
+
+    def Xform "openarm_right_right_finger"
+    {
+        quatd xformOp:orient = (-0.0000017881393432617188, 1, 0, 0)
+        double3 xformOp:scale = (1, 1, 1)
+        double3 xformOp:translate = (0, -0.1484980285167694, 0.1468995362520218)
+        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+
+        def Xform "visuals" (
+            instanceable = false
+        )
+        {
+            def Xform "openarm_right_right_finger_visual" (
+                instanceable = true
+                prepend references = @./instances.usda@</Instances/mesh_18_mirrorX>
+            )
+            {
+                token visibility = "inherited"
+                quatd xformOp:orient = (0, 0, 0.7071035624, 0.70711)
+                double3 xformOp:scale = (0.001000000047, 0.001000000047, 0.001000000047)
+                double3 xformOp:translate = (0, 0.05000000075, -0.6730009913)
+                uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+            }
+        }
+
+        def Xform "collisions" (
+            instanceable = false
+        )
+        {
+            def Xform "openarm_right_right_finger_collision" (
+                instanceable = true
+                prepend references = @./instances.usda@</Instances/mesh_19>
+            )
+            {
+                uniform token purpose = "guide"
+                token visibility = "inherited"
+                quatd xformOp:orient = (0, 0, 0, 1)
+                double3 xformOp:scale = (-0.001000000047, 0.001000000047, 0.001000000047)
+                double3 xformOp:translate = (0, 0.05000000075, -0.6730009913)
+                uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+
+                over "mesh_19" (
+                    prepend apiSchemas = ["PhysicsCollisionAPI"]
+                )
+                {
+                }
+            }
+        }
+    }
+
+    def Xform "openarm_right_left_finger"
+    {
+        quatd xformOp:orient = (-0.0000017881393432617188, 1, 0, 0)
+        double3 xformOp:scale = (1, 1, 1)
+        double3 xformOp:translate = (0, -0.15849803388118744, 0.1468995064496994)
+        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+
+        def Xform "visuals" (
+            instanceable = false
+        )
+        {
+            def Xform "openarm_right_left_finger_visual" (
+                instanceable = true
+                prepend references = @./instances.usda@</Instances/mesh_18>
+            )
+            {
+                token visibility = "inherited"
+                quatd xformOp:orient = (0.70711, 0.7071035624, 0, 0)
+                double3 xformOp:scale = (0.001000000047, 0.001000000047, 0.001000000047)
+                double3 xformOp:translate = (0, -0.05000000075, -0.6730009913)
+                uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+            }
+        }
+
+        def Xform "collisions" (
+            instanceable = false
+        )
+        {
+            def Xform "openarm_right_left_finger_collision" (
+                instanceable = true
+                prepend references = @./instances.usda@</Instances/mesh_19>
+            )
+            {
+                uniform token purpose = "guide"
+                token visibility = "inherited"
+                quatd xformOp:orient = (1, 0, 0, 0)
+                double3 xformOp:scale = (0.001000000047, 0.001000000047, 0.001000000047)
+                double3 xformOp:translate = (0, -0.05000000075, -0.6730009913)
+                uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+
+                over "mesh_19" (
+                    prepend apiSchemas = ["PhysicsCollisionAPI"]
+                )
+                {
+                }
+            }
+        }
+    }
+
+    def Scope "VisualMaterials"
+    {
+    }
+}
+

openarm_openarm_bimanual/payloads/geometries.usd

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:534c74ea94ed208ee98aaf449a365971c502aa1a83ca9a869131dab02ab2dac2
+size 150536481

openarm_openarm_bimanual/payloads/instances.usda

@@ -0,0 +1,2544 @@
+#usda 1.0
+(
+    customLayerData = {
+    }
+    metersPerUnit = 1
+    upAxis = "Z"
+)
+
+def Scope "Instances"
+{
+    def Xform "mesh" (
+        prepend references = @./geometries.usd@</Geometries/mesh>
+    )
+    {
+        over "mesh"
+        {
+            over "mat_0_009" (
+                apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                custom rel material:binding
+                prepend rel material:binding = </Instances/mesh/VisualMaterials/mat_0_009>
+            }
+
+            over "mat_2_006" (
+                apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                custom rel material:binding
+                prepend rel material:binding = </Instances/mesh/VisualMaterials/mat_2_006>
+            }
+
+            over "mat_3_002" (
+                apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                custom rel material:binding
+                prepend rel material:binding = </Instances/mesh/VisualMaterials/mat_3_002>
+            }
+
+            over "mat_1_009" (
+                apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                custom rel material:binding
+                prepend rel material:binding = </Instances/mesh/VisualMaterials/mat_1_009>
+            }
+
+            over "mat_5" (
+                apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                custom rel material:binding
+                prepend rel material:binding = </Instances/mesh/VisualMaterials/mat_5>
+            }
+
+            over "mat_4" (
+                apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                custom rel material:binding
+                prepend rel material:binding = </Instances/mesh/VisualMaterials/mat_4>
+            }
+
+            over "mat_0_0090" (
+                apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                custom rel material:binding
+                prepend rel material:binding = </Instances/mesh/VisualMaterials/mat_0_009>
+            }
+        }
+
+        def Scope "VisualMaterials"
+        {
+            def Material "mat_0_009" (
+                instanceable = true
+                prepend references = @./materials.usda@</Materials/mat_0_009>
+            )
+            {
+                token outputs:surface.connect = </Instances/mesh/VisualMaterials/mat_0_009/SimReadyPreviewSurface.outputs:surface>
+
+                def Shader "SimReadyPreviewSurface"
+                {
+                    token info:id = "UsdPreviewSurface"
+                    color3f inputs:diffuseColor = (0.24706, 0.24706, 0.24706)
+                    float inputs:metallic = 0
+                    float inputs:opacity = 1
+                    float inputs:roughness = 0.5
+                    token outputs:surface
+                }
+
+                def Shader "SimReadyUV"
+                {
+                    token info:id = "UsdPrimvarReader_float2"
+                    token inputs:varname = "st"
+                    float2 outputs:result
+                }
+            }
+
+            def Material "mat_2_006" (
+                instanceable = true
+                prepend references = @./materials.usda@</Materials/mat_2_006>
+            )
+            {
+                token outputs:surface.connect = </Instances/mesh/VisualMaterials/mat_2_006/SimReadyPreviewSurface.outputs:surface>
+
+                def Shader "SimReadyPreviewSurface"
+                {
+                    token info:id = "UsdPreviewSurface"
+                    color3f inputs:diffuseColor = (0.9568599, 0.9568599, 0.96078)
+                    float inputs:metallic = 0
+                    float inputs:opacity = 1
+                    float inputs:roughness = 0.5
+                    token outputs:surface
+                }
+
+                def Shader "SimReadyUV"
+                {
+                    token info:id = "UsdPrimvarReader_float2"
+                    token inputs:varname = "st"
+                    float2 outputs:result
+                }
+            }
+
+            def Material "mat_3_002" (
+                instanceable = true
+                prepend references = @./materials.usda@</Materials/mat_3_002>
+            )
+            {
+                token outputs:surface.connect = </Instances/mesh/VisualMaterials/mat_3_002/SimReadyPreviewSurface.outputs:surface>
+
+                def Shader "SimReadyPreviewSurface"
+                {
+                    token info:id = "UsdPreviewSurface"
+                    color3f inputs:diffuseColor = (0.09412, 0.09412, 0.09412)
+                    float inputs:metallic = 0
+                    float inputs:opacity = 1
+                    float inputs:roughness = 0.5
+                    token outputs:surface
+                }
+
+                def Shader "SimReadyUV"
+                {
+                    token info:id = "UsdPrimvarReader_float2"
+                    token inputs:varname = "st"
+                    float2 outputs:result
+                }
+            }
+
+            def Material "mat_1_009" (
+                instanceable = true
+                prepend references = @./materials.usda@</Materials/mat_1_009>
+            )
+            {
+                token outputs:surface.connect = </Instances/mesh/VisualMaterials/mat_1_009/SimReadyPreviewSurface.outputs:surface>
+
+                def Shader "SimReadyPreviewSurface"
+                {
+                    token info:id = "UsdPreviewSurface"
+                    color3f inputs:diffuseColor = (0.62745, 0.62745, 0.62745)
+                    float inputs:metallic = 0
+                    float inputs:opacity = 1
+                    float inputs:roughness = 0.5
+                    token outputs:surface
+                }
+
+                def Shader "SimReadyUV"
+                {
+                    token info:id = "UsdPrimvarReader_float2"
+                    token inputs:varname = "st"
+                    float2 outputs:result
+                }
+            }
+
+            def Material "mat_5" (
+                instanceable = true
+                prepend references = @./materials.usda@</Materials/mat_5>
+            )
+            {
+                token outputs:surface.connect = </Instances/mesh/VisualMaterials/mat_5/SimReadyPreviewSurface.outputs:surface>
+
+                def Shader "SimReadyPreviewSurface"
+                {
+                    token info:id = "UsdPreviewSurface"
+                    color3f inputs:diffuseColor = (0.56078, 0.55294, 0.54118)
+                    float inputs:metallic = 0
+                    float inputs:opacity = 1
+                    float inputs:roughness = 0.5
+                    token outputs:surface
+                }
+
+                def Shader "SimReadyUV"
+                {
+                    token info:id = "UsdPrimvarReader_float2"
+                    token inputs:varname = "st"
+                    float2 outputs:result
+                }
+            }
+
+            def Material "mat_4" (
+                instanceable = true
+                prepend references = @./materials.usda@</Materials/mat_4>
+            )
+            {
+                token outputs:surface.connect = </Instances/mesh/VisualMaterials/mat_4/SimReadyPreviewSurface.outputs:surface>
+
+                def Shader "SimReadyPreviewSurface"
+                {
+                    token info:id = "UsdPreviewSurface"
+                    color3f inputs:diffuseColor = (0.79608, 0.79608, 0.79608)
+                    float inputs:metallic = 0
+                    float inputs:opacity = 1
+                    float inputs:roughness = 0.5
+                    token outputs:surface
+                }
+
+                def Shader "SimReadyUV"
+                {
+                    token info:id = "UsdPrimvarReader_float2"
+                    token inputs:varname = "st"
+                    float2 outputs:result
+                }
+            }
+        }
+    }
+
+    def Xform "mesh_1" (
+        prepend references = @./geometries.usd@</Geometries/mesh_1>
+    )
+    {
+        over "mesh_1"
+        {
+            over "mat_1" (
+                apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                custom rel material:binding
+                prepend rel material:binding = </Instances/mesh_1/VisualMaterials/mat_3_002>
+            }
+
+            over "mat_0" (
+                apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                custom rel material:binding
+                prepend rel material:binding = </Instances/mesh_1/VisualMaterials/mat_0>
+            }
+
+            over "mat_10" (
+                apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                custom rel material:binding
+                prepend rel material:binding = </Instances/mesh_1/VisualMaterials/mat_3_002>
+            }
+
+            over "mat_11" (
+                apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                custom rel material:binding
+                prepend rel material:binding = </Instances/mesh_1/VisualMaterials/mat_3_002>
+            }
+        }
+
+        def Scope "VisualMaterials"
+        {
+            def Material "mat_3_002" (
+                instanceable = true
+                prepend references = @./materials.usda@</Materials/mat_3_002>
+            )
+            {
+                token outputs:surface.connect = </Instances/mesh_1/VisualMaterials/mat_3_002/SimReadyPreviewSurface.outputs:surface>
+
+                def Shader "SimReadyPreviewSurface"
+                {
+                    token info:id = "UsdPreviewSurface"
+                    color3f inputs:diffuseColor = (0.09412, 0.09412, 0.09412)
+                    float inputs:metallic = 0
+                    float inputs:opacity = 1
+                    float inputs:roughness = 0.5
+                    token outputs:surface
+                }
+
+                def Shader "SimReadyUV"
+                {
+                    token info:id = "UsdPrimvarReader_float2"
+                    token inputs:varname = "st"
+                    float2 outputs:result
+                }
+            }
+
+            def Material "mat_0" (
+                instanceable = true
+                prepend references = @./materials.usda@</Materials/mat_0>
+            )
+            {
+                token outputs:surface.connect = </Instances/mesh_1/VisualMaterials/mat_0/SimReadyPreviewSurface.outputs:surface>
+
+                def Shader "SimReadyPreviewSurface"
+                {
+                    token info:id = "UsdPreviewSurface"
+                    color3f inputs:diffuseColor = (0.98431, 0.97647, 0.9568599)
+                    float inputs:metallic = 0
+                    float inputs:opacity = 1
+                    float inputs:roughness = 0.5
+                    token outputs:surface
+                }
+
+                def Shader "SimReadyUV"
+                {
+                    token info:id = "UsdPrimvarReader_float2"
+                    token inputs:varname = "st"
+                    float2 outputs:result
+                }
+            }
+        }
+    }
+
+    def Xform "mesh_2" (
+        prepend references = @./geometries.usd@</Geometries/mesh_2>
+    )
+    {
+        over "mesh_2" (
+            apiSchemas = ["MaterialBindingAPI"]
+        )
+        {
+            custom rel material:binding
+            prepend rel material:binding = </Instances/mesh_2/VisualMaterials/DefaultMaterial>
+            uniform token purpose = "guide"
+        }
+
+        def Scope "VisualMaterials"
+        {
+            def Material "DefaultMaterial" (
+                instanceable = true
+                prepend references = @./materials.usda@</Materials/DefaultMaterial>
+            )
+            {
+                token outputs:surface.connect = </Instances/mesh_2/VisualMaterials/DefaultMaterial/SimReadyPreviewSurface.outputs:surface>
+
+                def Shader "SimReadyPreviewSurface"
+                {
+                    token info:id = "UsdPreviewSurface"
+                    color3f inputs:diffuseColor = (0.627451, 0.627451, 0.627451)
+                    float inputs:metallic = 0
+                    float inputs:opacity = 1
+                    float inputs:roughness = 0.5
+                    token outputs:surface
+                }
+
+                def Shader "SimReadyUV"
+                {
+                    token info:id = "UsdPrimvarReader_float2"
+                    token inputs:varname = "st"
+                    float2 outputs:result
+                }
+            }
+        }
+    }
+
+    def Xform "mesh_3" (
+        prepend references = @./geometries.usd@</Geometries/mesh_3>
+    )
+    {
+        over "mesh_3" (
+            apiSchemas = ["MaterialBindingAPI"]
+        )
+        {
+            custom rel material:binding
+            prepend rel material:binding = </Instances/mesh_3/VisualMaterials/DefaultMaterial>
+            uniform token purpose = "guide"
+        }
+
+        def Scope "VisualMaterials"
+        {
+            def Material "DefaultMaterial" (
+                instanceable = true
+                prepend references = @./materials.usda@</Materials/DefaultMaterial>
+            )
+            {
+                token outputs:surface.connect = </Instances/mesh_3/VisualMaterials/DefaultMaterial/SimReadyPreviewSurface.outputs:surface>
+
+                def Shader "SimReadyPreviewSurface"
+                {
+                    token info:id = "UsdPreviewSurface"
+                    color3f inputs:diffuseColor = (0.627451, 0.627451, 0.627451)
+                    float inputs:metallic = 0
+                    float inputs:opacity = 1
+                    float inputs:roughness = 0.5
+                    token outputs:surface
+                }
+
+                def Shader "SimReadyUV"
+                {
+                    token info:id = "UsdPrimvarReader_float2"
+                    token inputs:varname = "st"
+                    float2 outputs:result
+                }
+            }
+        }
+    }
+
+    def Xform "mesh_4" (
+        prepend references = @./geometries.usd@</Geometries/mesh_4>
+    )
+    {
+        over "mesh_4"
+        {
+            over "mat_3_001" (
+                apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                custom rel material:binding
+                prepend rel material:binding = </Instances/mesh_4/VisualMaterials/mat_3_001>
+            }
+
+            over "mat_0_002" (
+                apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                custom rel material:binding
+                prepend rel material:binding = </Instances/mesh_4/VisualMaterials/mat_0_009>
+            }
+
+            over "mat_2_001" (
+                apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                custom rel material:binding
+                prepend rel material:binding = </Instances/mesh_4/VisualMaterials/mat_0>
+            }
+
+            over "mat_1_002" (
+                apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                custom rel material:binding
+                prepend rel material:binding = </Instances/mesh_4/VisualMaterials/mat_3_002>
+            }
+
+            over "mat_1_0020" (
+                apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                custom rel material:binding
+                prepend rel material:binding = </Instances/mesh_4/VisualMaterials/mat_3_002>
+            }
+
+            over "mat_1_0021" (
+                apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                custom rel material:binding
+                prepend rel material:binding = </Instances/mesh_4/VisualMaterials/mat_3_002>
+            }
+
+            over "mat_0_0020" (
+                apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                custom rel material:binding
+                prepend rel material:binding = </Instances/mesh_4/VisualMaterials/mat_0_009>
+            }
+        }
+
+        def Scope "VisualMaterials"
+        {
+            def Material "mat_3_001" (
+                instanceable = true
+                prepend references = @./materials.usda@</Materials/mat_3_001>
+            )
+            {
+                token outputs:surface.connect = </Instances/mesh_4/VisualMaterials/mat_3_001/SimReadyPreviewSurface.outputs:surface>
+
+                def Shader "SimReadyPreviewSurface"
+                {
+                    token info:id = "UsdPreviewSurface"
+                    color3f inputs:diffuseColor = (0, 0, 0)
+                    float inputs:metallic = 0
+                    float inputs:opacity = 1
+                    float inputs:roughness = 0.5
+                    token outputs:surface
+                }
+
+                def Shader "SimReadyUV"
+                {
+                    token info:id = "UsdPrimvarReader_float2"
+                    token inputs:varname = "st"
+                    float2 outputs:result
+                }
+            }
+
+            def Material "mat_0_009" (
+                instanceable = true
+                prepend references = @./materials.usda@</Materials/mat_0_009>
+            )
+            {
+                token outputs:surface.connect = </Instances/mesh_4/VisualMaterials/mat_0_009/SimReadyPreviewSurface.outputs:surface>
+
+                def Shader "SimReadyPreviewSurface"
+                {
+                    token info:id = "UsdPreviewSurface"
+                    color3f inputs:diffuseColor = (0.24706, 0.24706, 0.24706)
+                    float inputs:metallic = 0
+                    float inputs:opacity = 1
+                    float inputs:roughness = 0.5
+                    token outputs:surface
+                }
+
+                def Shader "SimReadyUV"
+                {
+                    token info:id = "UsdPrimvarReader_float2"
+                    token inputs:varname = "st"
+                    float2 outputs:result
+                }
+            }
+
+            def Material "mat_0" (
+                instanceable = true
+                prepend references = @./materials.usda@</Materials/mat_0>
+            )
+            {
+                token outputs:surface.connect = </Instances/mesh_4/VisualMaterials/mat_0/SimReadyPreviewSurface.outputs:surface>
+
+                def Shader "SimReadyPreviewSurface"
+                {
+                    token info:id = "UsdPreviewSurface"
+                    color3f inputs:diffuseColor = (0.98431, 0.97647, 0.9568599)
+                    float inputs:metallic = 0
+                    float inputs:opacity = 1
+                    float inputs:roughness = 0.5
+                    token outputs:surface
+                }
+
+                def Shader "SimReadyUV"
+                {
+                    token info:id = "UsdPrimvarReader_float2"
+                    token inputs:varname = "st"
+                    float2 outputs:result
+                }
+            }
+
+            def Material "mat_3_002" (
+                instanceable = true
+                prepend references = @./materials.usda@</Materials/mat_3_002>
+            )
+            {
+                token outputs:surface.connect = </Instances/mesh_4/VisualMaterials/mat_3_002/SimReadyPreviewSurface.outputs:surface>
+
+                def Shader "SimReadyPreviewSurface"
+                {
+                    token info:id = "UsdPreviewSurface"
+                    color3f inputs:diffuseColor = (0.09412, 0.09412, 0.09412)
+                    float inputs:metallic = 0
+                    float inputs:opacity = 1
+                    float inputs:roughness = 0.5
+                    token outputs:surface
+                }
+
+                def Shader "SimReadyUV"
+                {
+                    token info:id = "UsdPrimvarReader_float2"
+                    token inputs:varname = "st"
+                    float2 outputs:result
+                }
+            }
+        }
+    }
+
+    def Xform "mesh_5" (
+        prepend references = @./geometries.usd@</Geometries/mesh_5>
+    )
+    {
+        over "mesh_5" (
+            apiSchemas = ["MaterialBindingAPI"]
+        )
+        {
+            custom rel material:binding
+            prepend rel material:binding = </Instances/mesh_5/VisualMaterials/DefaultMaterial_0>
+            uniform token purpose = "guide"
+        }
+
+        def Scope "VisualMaterials"
+        {
+            def Material "DefaultMaterial_0" (
+                instanceable = true
+                prepend references = @./materials.usda@</Materials/DefaultMaterial_0>
+            )
+            {
+                token outputs:surface.connect = </Instances/mesh_5/VisualMaterials/DefaultMaterial_0/SimReadyPreviewSurface.outputs:surface>
+
+                def Shader "SimReadyPreviewSurface"
+                {
+                    token info:id = "UsdPreviewSurface"
+                    color3f inputs:diffuseColor = (1, 1, 1)
+                    float inputs:metallic = 0
+                    float inputs:opacity = 1
+                    float inputs:roughness = 0.5
+                    token outputs:surface
+                }
+
+                def Shader "SimReadyUV"
+                {
+                    token info:id = "UsdPrimvarReader_float2"
+                    token inputs:varname = "st"
+                    float2 outputs:result
+                }
+            }
+        }
+    }
+
+    def Xform "mesh_6" (
+        prepend references = @./geometries.usd@</Geometries/mesh_6>
+    )
+    {
+        over "mesh_6"
+        {
+            over "mat_2_002" (
+                apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                custom rel material:binding
+                prepend rel material:binding = </Instances/mesh_6/VisualMaterials/mat_1_009>
+            }
+
+            over "mat_0_003" (
+                apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                custom rel material:binding
+                prepend rel material:binding = </Instances/mesh_6/VisualMaterials/mat_0_009>
+            }
+
+            over "mat_1_003" (
+                apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                custom rel material:binding
+                prepend rel material:binding = </Instances/mesh_6/VisualMaterials/mat_0>
+            }
+
+            over "mat_0_0030" (
+                apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                custom rel material:binding
+                prepend rel material:binding = </Instances/mesh_6/VisualMaterials/mat_0_009>
+            }
+        }
+
+        def Scope "VisualMaterials"
+        {
+            def Material "mat_1_009" (
+                instanceable = true
+                prepend references = @./materials.usda@</Materials/mat_1_009>
+            )
+            {
+                token outputs:surface.connect = </Instances/mesh_6/VisualMaterials/mat_1_009/SimReadyPreviewSurface.outputs:surface>
+
+                def Shader "SimReadyPreviewSurface"
+                {
+                    token info:id = "UsdPreviewSurface"
+                    color3f inputs:diffuseColor = (0.62745, 0.62745, 0.62745)
+                    float inputs:metallic = 0
+                    float inputs:opacity = 1
+                    float inputs:roughness = 0.5
+                    token outputs:surface
+                }
+
+                def Shader "SimReadyUV"
+                {
+                    token info:id = "UsdPrimvarReader_float2"
+                    token inputs:varname = "st"
+                    float2 outputs:result
+                }
+            }
+
+            def Material "mat_0_009" (
+                instanceable = true
+                prepend references = @./materials.usda@</Materials/mat_0_009>
+            )
+            {
+                token outputs:surface.connect = </Instances/mesh_6/VisualMaterials/mat_0_009/SimReadyPreviewSurface.outputs:surface>
+
+                def Shader "SimReadyPreviewSurface"
+                {
+                    token info:id = "UsdPreviewSurface"
+                    color3f inputs:diffuseColor = (0.24706, 0.24706, 0.24706)
+                    float inputs:metallic = 0
+                    float inputs:opacity = 1
+                    float inputs:roughness = 0.5
+                    token outputs:surface
+                }
+
+                def Shader "SimReadyUV"
+                {
+                    token info:id = "UsdPrimvarReader_float2"
+                    token inputs:varname = "st"
+                    float2 outputs:result
+                }
+            }
+
+            def Material "mat_0" (
+                instanceable = true
+                prepend references = @./materials.usda@</Materials/mat_0>
+            )
+            {
+                token outputs:surface.connect = </Instances/mesh_6/VisualMaterials/mat_0/SimReadyPreviewSurface.outputs:surface>
+
+                def Shader "SimReadyPreviewSurface"
+                {
+                    token info:id = "UsdPreviewSurface"
+                    color3f inputs:diffuseColor = (0.98431, 0.97647, 0.9568599)
+                    float inputs:metallic = 0
+                    float inputs:opacity = 1
+                    float inputs:roughness = 0.5
+                    token outputs:surface
+                }
+
+                def Shader "SimReadyUV"
+                {
+                    token info:id = "UsdPrimvarReader_float2"
+                    token inputs:varname = "st"
+                    float2 outputs:result
+                }
+            }
+        }
+    }
+
+    def Xform "mesh_7" (
+        prepend references = @./geometries.usd@</Geometries/mesh_7>
+    )
+    {
+        over "mesh_7" (
+            apiSchemas = ["MaterialBindingAPI"]
+        )
+        {
+            custom rel material:binding
+            prepend rel material:binding = </Instances/mesh_7/VisualMaterials/DefaultMaterial_0>
+            uniform token purpose = "guide"
+        }
+
+        def Scope "VisualMaterials"
+        {
+            def Material "DefaultMaterial_0" (
+                instanceable = true
+                prepend references = @./materials.usda@</Materials/DefaultMaterial_0>
+            )
+            {
+                token outputs:surface.connect = </Instances/mesh_7/VisualMaterials/DefaultMaterial_0/SimReadyPreviewSurface.outputs:surface>
+
+                def Shader "SimReadyPreviewSurface"
+                {
+                    token info:id = "UsdPreviewSurface"
+                    color3f inputs:diffuseColor = (1, 1, 1)
+                    float inputs:metallic = 0
+                    float inputs:opacity = 1
+                    float inputs:roughness = 0.5
+                    token outputs:surface
+                }
+
+                def Shader "SimReadyUV"
+                {
+                    token info:id = "UsdPrimvarReader_float2"
+                    token inputs:varname = "st"
+                    float2 outputs:result
+                }
+            }
+        }
+    }
+
+    def Xform "mesh_8" (
+        prepend references = @./geometries.usd@</Geometries/mesh_8>
+    )
+    {
+        over "mesh_8"
+        {
+            over "mat_2_003" (
+                apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                custom rel material:binding
+                prepend rel material:binding = </Instances/mesh_8/VisualMaterials/mat_3_002>
+            }
+
+            over "mat_1_004" (
+                apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                custom rel material:binding
+                prepend rel material:binding = </Instances/mesh_8/VisualMaterials/mat_3_001>
+            }
+
+            over "mat_2_0030" (
+                apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                custom rel material:binding
+                prepend rel material:binding = </Instances/mesh_8/VisualMaterials/mat_3_002>
+            }
+
+            over "mat_0_004" (
+                apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                custom rel material:binding
+                prepend rel material:binding = </Instances/mesh_8/VisualMaterials/mat_0>
+            }
+
+            over "mat_0_0040" (
+                apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                custom rel material:binding
+                prepend rel material:binding = </Instances/mesh_8/VisualMaterials/mat_0>
+            }
+
+            over "mat_1_0040" (
+                apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                custom rel material:binding
+                prepend rel material:binding = </Instances/mesh_8/VisualMaterials/mat_3_001>
+            }
+
+            over "mat_0_0041" (
+                apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                custom rel material:binding
+                prepend rel material:binding = </Instances/mesh_8/VisualMaterials/mat_0>
+            }
+        }
+
+        def Scope "VisualMaterials"
+        {
+            def Material "mat_3_002" (
+                instanceable = true
+                prepend references = @./materials.usda@</Materials/mat_3_002>
+            )
+            {
+                token outputs:surface.connect = </Instances/mesh_8/VisualMaterials/mat_3_002/SimReadyPreviewSurface.outputs:surface>
+
+                def Shader "SimReadyPreviewSurface"
+                {
+                    token info:id = "UsdPreviewSurface"
+                    color3f inputs:diffuseColor = (0.09412, 0.09412, 0.09412)
+                    float inputs:metallic = 0
+                    float inputs:opacity = 1
+                    float inputs:roughness = 0.5
+                    token outputs:surface
+                }
+
+                def Shader "SimReadyUV"
+                {
+                    token info:id = "UsdPrimvarReader_float2"
+                    token inputs:varname = "st"
+                    float2 outputs:result
+                }
+            }
+
+            def Material "mat_3_001" (
+                instanceable = true
+                prepend references = @./materials.usda@</Materials/mat_3_001>
+            )
+            {
+                token outputs:surface.connect = </Instances/mesh_8/VisualMaterials/mat_3_001/SimReadyPreviewSurface.outputs:surface>
+
+                def Shader "SimReadyPreviewSurface"
+                {
+                    token info:id = "UsdPreviewSurface"
+                    color3f inputs:diffuseColor = (0, 0, 0)
+                    float inputs:metallic = 0
+                    float inputs:opacity = 1
+                    float inputs:roughness = 0.5
+                    token outputs:surface
+                }
+
+                def Shader "SimReadyUV"
+                {
+                    token info:id = "UsdPrimvarReader_float2"
+                    token inputs:varname = "st"
+                    float2 outputs:result
+                }
+            }
+
+            def Material "mat_0" (
+                instanceable = true
+                prepend references = @./materials.usda@</Materials/mat_0>
+            )
+            {
+                token outputs:surface.connect = </Instances/mesh_8/VisualMaterials/mat_0/SimReadyPreviewSurface.outputs:surface>
+
+                def Shader "SimReadyPreviewSurface"
+                {
+                    token info:id = "UsdPreviewSurface"
+                    color3f inputs:diffuseColor = (0.98431, 0.97647, 0.9568599)
+                    float inputs:metallic = 0
+                    float inputs:opacity = 1
+                    float inputs:roughness = 0.5
+                    token outputs:surface
+                }
+
+                def Shader "SimReadyUV"
+                {
+                    token info:id = "UsdPrimvarReader_float2"
+                    token inputs:varname = "st"
+                    float2 outputs:result
+                }
+            }
+        }
+    }
+
+    def Xform "mesh_9" (
+        prepend references = @./geometries.usd@</Geometries/mesh_9>
+    )
+    {
+        over "mesh_9" (
+            apiSchemas = ["MaterialBindingAPI"]
+        )
+        {
+            custom rel material:binding
+            prepend rel material:binding = </Instances/mesh_9/VisualMaterials/DefaultMaterial_0>
+            uniform token purpose = "guide"
+        }
+
+        def Scope "VisualMaterials"
+        {
+            def Material "DefaultMaterial_0" (
+                instanceable = true
+                prepend references = @./materials.usda@</Materials/DefaultMaterial_0>
+            )
+            {
+                token outputs:surface.connect = </Instances/mesh_9/VisualMaterials/DefaultMaterial_0/SimReadyPreviewSurface.outputs:surface>
+
+                def Shader "SimReadyPreviewSurface"
+                {
+                    token info:id = "UsdPreviewSurface"
+                    color3f inputs:diffuseColor = (1, 1, 1)
+                    float inputs:metallic = 0
+                    float inputs:opacity = 1
+                    float inputs:roughness = 0.5
+                    token outputs:surface
+                }
+
+                def Shader "SimReadyUV"
+                {
+                    token info:id = "UsdPrimvarReader_float2"
+                    token inputs:varname = "st"
+                    float2 outputs:result
+                }
+            }
+        }
+    }
+
+    def Xform "mesh_10" (
+        prepend references = @./geometries.usd@</Geometries/mesh_10>
+    )
+    {
+        over "mesh_10"
+        {
+            over "mat_2_004" (
+                apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                custom rel material:binding
+                prepend rel material:binding = </Instances/mesh_10/VisualMaterials/mat_3_002>
+            }
+
+            over "mat_0_005" (
+                apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                custom rel material:binding
+                prepend rel material:binding = </Instances/mesh_10/VisualMaterials/mat_3_001>
+            }
+
+            over "mat_1_005" (
+                apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                custom rel material:binding
+                prepend rel material:binding = </Instances/mesh_10/VisualMaterials/mat_0>
+            }
+
+            over "mat_1_0050" (
+                apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                custom rel material:binding
+                prepend rel material:binding = </Instances/mesh_10/VisualMaterials/mat_0>
+            }
+
+            over "mat_1_0051" (
+                apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                custom rel material:binding
+                prepend rel material:binding = </Instances/mesh_10/VisualMaterials/mat_0>
+            }
+
+            over "mat_0_0050" (
+                apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                custom rel material:binding
+                prepend rel material:binding = </Instances/mesh_10/VisualMaterials/mat_3_001>
+            }
+
+            over "mat_0_0051" (
+                apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                custom rel material:binding
+                prepend rel material:binding = </Instances/mesh_10/VisualMaterials/mat_3_001>
+            }
+        }
+
+        def Scope "VisualMaterials"
+        {
+            def Material "mat_3_002" (
+                instanceable = true
+                prepend references = @./materials.usda@</Materials/mat_3_002>
+            )
+            {
+                token outputs:surface.connect = </Instances/mesh_10/VisualMaterials/mat_3_002/SimReadyPreviewSurface.outputs:surface>
+
+                def Shader "SimReadyPreviewSurface"
+                {
+                    token info:id = "UsdPreviewSurface"
+                    color3f inputs:diffuseColor = (0.09412, 0.09412, 0.09412)
+                    float inputs:metallic = 0
+                    float inputs:opacity = 1
+                    float inputs:roughness = 0.5
+                    token outputs:surface
+                }
+
+                def Shader "SimReadyUV"
+                {
+                    token info:id = "UsdPrimvarReader_float2"
+                    token inputs:varname = "st"
+                    float2 outputs:result
+                }
+            }
+
+            def Material "mat_3_001" (
+                instanceable = true
+                prepend references = @./materials.usda@</Materials/mat_3_001>
+            )
+            {
+                token outputs:surface.connect = </Instances/mesh_10/VisualMaterials/mat_3_001/SimReadyPreviewSurface.outputs:surface>
+
+                def Shader "SimReadyPreviewSurface"
+                {
+                    token info:id = "UsdPreviewSurface"
+                    color3f inputs:diffuseColor = (0, 0, 0)
+                    float inputs:metallic = 0
+                    float inputs:opacity = 1
+                    float inputs:roughness = 0.5
+                    token outputs:surface
+                }
+
+                def Shader "SimReadyUV"
+                {
+                    token info:id = "UsdPrimvarReader_float2"
+                    token inputs:varname = "st"
+                    float2 outputs:result
+                }
+            }
+
+            def Material "mat_0" (
+                instanceable = true
+                prepend references = @./materials.usda@</Materials/mat_0>
+            )
+            {
+                token outputs:surface.connect = </Instances/mesh_10/VisualMaterials/mat_0/SimReadyPreviewSurface.outputs:surface>
+
+                def Shader "SimReadyPreviewSurface"
+                {
+                    token info:id = "UsdPreviewSurface"
+                    color3f inputs:diffuseColor = (0.98431, 0.97647, 0.9568599)
+                    float inputs:metallic = 0
+                    float inputs:opacity = 1
+                    float inputs:roughness = 0.5
+                    token outputs:surface
+                }
+
+                def Shader "SimReadyUV"
+                {
+                    token info:id = "UsdPrimvarReader_float2"
+                    token inputs:varname = "st"
+                    float2 outputs:result
+                }
+            }
+        }
+    }
+
+    def Xform "mesh_11" (
+        prepend references = @./geometries.usd@</Geometries/mesh_11>
+    )
+    {
+        over "mesh_11" (
+            apiSchemas = ["MaterialBindingAPI"]
+        )
+        {
+            custom rel material:binding
+            prepend rel material:binding = </Instances/mesh_11/VisualMaterials/DefaultMaterial_0>
+            uniform token purpose = "guide"
+        }
+
+        def Scope "VisualMaterials"
+        {
+            def Material "DefaultMaterial_0" (
+                instanceable = true
+                prepend references = @./materials.usda@</Materials/DefaultMaterial_0>
+            )
+            {
+                token outputs:surface.connect = </Instances/mesh_11/VisualMaterials/DefaultMaterial_0/SimReadyPreviewSurface.outputs:surface>
+
+                def Shader "SimReadyPreviewSurface"
+                {
+                    token info:id = "UsdPreviewSurface"
+                    color3f inputs:diffuseColor = (1, 1, 1)
+                    float inputs:metallic = 0
+                    float inputs:opacity = 1
+                    float inputs:roughness = 0.5
+                    token outputs:surface
+                }
+
+                def Shader "SimReadyUV"
+                {
+                    token info:id = "UsdPrimvarReader_float2"
+                    token inputs:varname = "st"
+                    float2 outputs:result
+                }
+            }
+        }
+    }
+
+    def Xform "mesh_12" (
+        prepend references = @./geometries.usd@</Geometries/mesh_12>
+    )
+    {
+        over "mesh_12"
+        {
+            over "mat_1_006" (
+                apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                custom rel material:binding
+                prepend rel material:binding = </Instances/mesh_12/VisualMaterials/mat_0>
+            }
+
+            over "mat_0_006" (
+                apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                custom rel material:binding
+                prepend rel material:binding = </Instances/mesh_12/VisualMaterials/mat_3_001>
+            }
+
+            over "mat_2_005" (
+                apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                custom rel material:binding
+                prepend rel material:binding = </Instances/mesh_12/VisualMaterials/mat_3_002>
+            }
+
+            over "mat_1_0060" (
+                apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                custom rel material:binding
+                prepend rel material:binding = </Instances/mesh_12/VisualMaterials/mat_0>
+            }
+
+            over "mat_0_0060" (
+                apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                custom rel material:binding
+                prepend rel material:binding = </Instances/mesh_12/VisualMaterials/mat_3_001>
+            }
+        }
+
+        def Scope "VisualMaterials"
+        {
+            def Material "mat_0" (
+                instanceable = true
+                prepend references = @./materials.usda@</Materials/mat_0>
+            )
+            {
+                token outputs:surface.connect = </Instances/mesh_12/VisualMaterials/mat_0/SimReadyPreviewSurface.outputs:surface>
+
+                def Shader "SimReadyPreviewSurface"
+                {
+                    token info:id = "UsdPreviewSurface"
+                    color3f inputs:diffuseColor = (0.98431, 0.97647, 0.9568599)
+                    float inputs:metallic = 0
+                    float inputs:opacity = 1
+                    float inputs:roughness = 0.5
+                    token outputs:surface
+                }
+
+                def Shader "SimReadyUV"
+                {
+                    token info:id = "UsdPrimvarReader_float2"
+                    token inputs:varname = "st"
+                    float2 outputs:result
+                }
+            }
+
+            def Material "mat_3_001" (
+                instanceable = true
+                prepend references = @./materials.usda@</Materials/mat_3_001>
+            )
+            {
+                token outputs:surface.connect = </Instances/mesh_12/VisualMaterials/mat_3_001/SimReadyPreviewSurface.outputs:surface>
+
+                def Shader "SimReadyPreviewSurface"
+                {
+                    token info:id = "UsdPreviewSurface"
+                    color3f inputs:diffuseColor = (0, 0, 0)
+                    float inputs:metallic = 0
+                    float inputs:opacity = 1
+                    float inputs:roughness = 0.5
+                    token outputs:surface
+                }
+
+                def Shader "SimReadyUV"
+                {
+                    token info:id = "UsdPrimvarReader_float2"
+                    token inputs:varname = "st"
+                    float2 outputs:result
+                }
+            }
+
+            def Material "mat_3_002" (
+                instanceable = true
+                prepend references = @./materials.usda@</Materials/mat_3_002>
+            )
+            {
+                token outputs:surface.connect = </Instances/mesh_12/VisualMaterials/mat_3_002/SimReadyPreviewSurface.outputs:surface>
+
+                def Shader "SimReadyPreviewSurface"
+                {
+                    token info:id = "UsdPreviewSurface"
+                    color3f inputs:diffuseColor = (0.09412, 0.09412, 0.09412)
+                    float inputs:metallic = 0
+                    float inputs:opacity = 1
+                    float inputs:roughness = 0.5
+                    token outputs:surface
+                }
+
+                def Shader "SimReadyUV"
+                {
+                    token info:id = "UsdPrimvarReader_float2"
+                    token inputs:varname = "st"
+                    float2 outputs:result
+                }
+            }
+        }
+    }
+
+    def Xform "mesh_13" (
+        prepend references = @./geometries.usd@</Geometries/mesh_13>
+    )
+    {
+        over "mesh_13" (
+            apiSchemas = ["MaterialBindingAPI"]
+        )
+        {
+            custom rel material:binding
+            prepend rel material:binding = </Instances/mesh_13/VisualMaterials/DefaultMaterial_0>
+            uniform token purpose = "guide"
+        }
+
+        def Scope "VisualMaterials"
+        {
+            def Material "DefaultMaterial_0" (
+                instanceable = true
+                prepend references = @./materials.usda@</Materials/DefaultMaterial_0>
+            )
+            {
+                token outputs:surface.connect = </Instances/mesh_13/VisualMaterials/DefaultMaterial_0/SimReadyPreviewSurface.outputs:surface>
+
+                def Shader "SimReadyPreviewSurface"
+                {
+                    token info:id = "UsdPreviewSurface"
+                    color3f inputs:diffuseColor = (1, 1, 1)
+                    float inputs:metallic = 0
+                    float inputs:opacity = 1
+                    float inputs:roughness = 0.5
+                    token outputs:surface
+                }
+
+                def Shader "SimReadyUV"
+                {
+                    token info:id = "UsdPrimvarReader_float2"
+                    token inputs:varname = "st"
+                    float2 outputs:result
+                }
+            }
+        }
+    }
+
+    def Xform "mesh_14" (
+        prepend references = @./geometries.usd@</Geometries/mesh_14>
+    )
+    {
+        over "mesh_14"
+        {
+            over "mat_1_007" (
+                apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                custom rel material:binding
+                prepend rel material:binding = </Instances/mesh_14/VisualMaterials/mat_3_002>
+            }
+
+            over "mat_0_007" (
+                apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                custom rel material:binding
+                prepend rel material:binding = </Instances/mesh_14/VisualMaterials/mat_0>
+            }
+        }
+
+        def Scope "VisualMaterials"
+        {
+            def Material "mat_3_002" (
+                instanceable = true
+                prepend references = @./materials.usda@</Materials/mat_3_002>
+            )
+            {
+                token outputs:surface.connect = </Instances/mesh_14/VisualMaterials/mat_3_002/SimReadyPreviewSurface.outputs:surface>
+
+                def Shader "SimReadyPreviewSurface"
+                {
+                    token info:id = "UsdPreviewSurface"
+                    color3f inputs:diffuseColor = (0.09412, 0.09412, 0.09412)
+                    float inputs:metallic = 0
+                    float inputs:opacity = 1
+                    float inputs:roughness = 0.5
+                    token outputs:surface
+                }
+
+                def Shader "SimReadyUV"
+                {
+                    token info:id = "UsdPrimvarReader_float2"
+                    token inputs:varname = "st"
+                    float2 outputs:result
+                }
+            }
+
+            def Material "mat_0" (
+                instanceable = true
+                prepend references = @./materials.usda@</Materials/mat_0>
+            )
+            {
+                token outputs:surface.connect = </Instances/mesh_14/VisualMaterials/mat_0/SimReadyPreviewSurface.outputs:surface>
+
+                def Shader "SimReadyPreviewSurface"
+                {
+                    token info:id = "UsdPreviewSurface"
+                    color3f inputs:diffuseColor = (0.98431, 0.97647, 0.9568599)
+                    float inputs:metallic = 0
+                    float inputs:opacity = 1
+                    float inputs:roughness = 0.5
+                    token outputs:surface
+                }
+
+                def Shader "SimReadyUV"
+                {
+                    token info:id = "UsdPrimvarReader_float2"
+                    token inputs:varname = "st"
+                    float2 outputs:result
+                }
+            }
+        }
+    }
+
+    def Xform "mesh_15" (
+        prepend references = @./geometries.usd@</Geometries/mesh_15>
+    )
+    {
+        over "mesh_15" (
+            apiSchemas = ["MaterialBindingAPI"]
+        )
+        {
+            custom rel material:binding
+            prepend rel material:binding = </Instances/mesh_15/VisualMaterials/DefaultMaterial_0>
+            uniform token purpose = "guide"
+        }
+
+        def Scope "VisualMaterials"
+        {
+            def Material "DefaultMaterial_0" (
+                instanceable = true
+                prepend references = @./materials.usda@</Materials/DefaultMaterial_0>
+            )
+            {
+                token outputs:surface.connect = </Instances/mesh_15/VisualMaterials/DefaultMaterial_0/SimReadyPreviewSurface.outputs:surface>
+
+                def Shader "SimReadyPreviewSurface"
+                {
+                    token info:id = "UsdPreviewSurface"
+                    color3f inputs:diffuseColor = (1, 1, 1)
+                    float inputs:metallic = 0
+                    float inputs:opacity = 1
+                    float inputs:roughness = 0.5
+                    token outputs:surface
+                }
+
+                def Shader "SimReadyUV"
+                {
+                    token info:id = "UsdPrimvarReader_float2"
+                    token inputs:varname = "st"
+                    float2 outputs:result
+                }
+            }
+        }
+    }
+
+    def Xform "mesh_16" (
+        prepend references = @./geometries.usd@</Geometries/mesh_16>
+    )
+    {
+        over "mesh_16"
+        {
+            over "mat_0_008" (
+                apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                custom rel material:binding
+                prepend rel material:binding = </Instances/mesh_16/VisualMaterials/mat_3_002>
+            }
+
+            over "mat_1_008" (
+                apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                custom rel material:binding
+                prepend rel material:binding = </Instances/mesh_16/VisualMaterials/mat_0>
+            }
+        }
+
+        def Scope "VisualMaterials"
+        {
+            def Material "mat_3_002" (
+                instanceable = true
+                prepend references = @./materials.usda@</Materials/mat_3_002>
+            )
+            {
+                token outputs:surface.connect = </Instances/mesh_16/VisualMaterials/mat_3_002/SimReadyPreviewSurface.outputs:surface>
+
+                def Shader "SimReadyPreviewSurface"
+                {
+                    token info:id = "UsdPreviewSurface"
+                    color3f inputs:diffuseColor = (0.09412, 0.09412, 0.09412)
+                    float inputs:metallic = 0
+                    float inputs:opacity = 1
+                    float inputs:roughness = 0.5
+                    token outputs:surface
+                }
+
+                def Shader "SimReadyUV"
+                {
+                    token info:id = "UsdPrimvarReader_float2"
+                    token inputs:varname = "st"
+                    float2 outputs:result
+                }
+            }
+
+            def Material "mat_0" (
+                instanceable = true
+                prepend references = @./materials.usda@</Materials/mat_0>
+            )
+            {
+                token outputs:surface.connect = </Instances/mesh_16/VisualMaterials/mat_0/SimReadyPreviewSurface.outputs:surface>
+
+                def Shader "SimReadyPreviewSurface"
+                {
+                    token info:id = "UsdPreviewSurface"
+                    color3f inputs:diffuseColor = (0.98431, 0.97647, 0.9568599)
+                    float inputs:metallic = 0
+                    float inputs:opacity = 1
+                    float inputs:roughness = 0.5
+                    token outputs:surface
+                }
+
+                def Shader "SimReadyUV"
+                {
+                    token info:id = "UsdPrimvarReader_float2"
+                    token inputs:varname = "st"
+                    float2 outputs:result
+                }
+            }
+        }
+    }
+
+    def Xform "mesh_17" (
+        prepend references = @./geometries.usd@</Geometries/mesh_17>
+    )
+    {
+        over "mesh_17" (
+            apiSchemas = ["MaterialBindingAPI"]
+        )
+        {
+            custom rel material:binding
+            prepend rel material:binding = </Instances/mesh_17/VisualMaterials/DefaultMaterial_0>
+            uniform token purpose = "guide"
+        }
+
+        def Scope "VisualMaterials"
+        {
+            def Material "DefaultMaterial_0" (
+                instanceable = true
+                prepend references = @./materials.usda@</Materials/DefaultMaterial_0>
+            )
+            {
+                token outputs:surface.connect = </Instances/mesh_17/VisualMaterials/DefaultMaterial_0/SimReadyPreviewSurface.outputs:surface>
+
+                def Shader "SimReadyPreviewSurface"
+                {
+                    token info:id = "UsdPreviewSurface"
+                    color3f inputs:diffuseColor = (1, 1, 1)
+                    float inputs:metallic = 0
+                    float inputs:opacity = 1
+                    float inputs:roughness = 0.5
+                    token outputs:surface
+                }
+
+                def Shader "SimReadyUV"
+                {
+                    token info:id = "UsdPrimvarReader_float2"
+                    token inputs:varname = "st"
+                    float2 outputs:result
+                }
+            }
+        }
+    }
+
+    def Xform "mesh_18" (
+        prepend references = @./geometries.usd@</Geometries/mesh_18>
+    )
+    {
+        over "mesh_18"
+        {
+            over "mat_0_010" (
+                apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                custom rel material:binding
+                prepend rel material:binding = </Instances/mesh_18/VisualMaterials/mat_0>
+            }
+
+            over "mat_1_010" (
+                apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                custom rel material:binding
+                prepend rel material:binding = </Instances/mesh_18/VisualMaterials/mat_3_001>
+            }
+        }
+
+        def Scope "VisualMaterials"
+        {
+            def Material "mat_0" (
+                instanceable = true
+                prepend references = @./materials.usda@</Materials/mat_0>
+            )
+            {
+                token outputs:surface.connect = </Instances/mesh_18/VisualMaterials/mat_0/SimReadyPreviewSurface.outputs:surface>
+
+                def Shader "SimReadyPreviewSurface"
+                {
+                    token info:id = "UsdPreviewSurface"
+                    color3f inputs:diffuseColor = (0.98431, 0.97647, 0.9568599)
+                    float inputs:metallic = 0
+                    float inputs:opacity = 1
+                    float inputs:roughness = 0.5
+                    token outputs:surface
+                }
+
+                def Shader "SimReadyUV"
+                {
+                    token info:id = "UsdPrimvarReader_float2"
+                    token inputs:varname = "st"
+                    float2 outputs:result
+                }
+            }
+
+            def Material "mat_3_001" (
+                instanceable = true
+                prepend references = @./materials.usda@</Materials/mat_3_001>
+            )
+            {
+                token outputs:surface.connect = </Instances/mesh_18/VisualMaterials/mat_3_001/SimReadyPreviewSurface.outputs:surface>
+
+                def Shader "SimReadyPreviewSurface"
+                {
+                    token info:id = "UsdPreviewSurface"
+                    color3f inputs:diffuseColor = (0, 0, 0)
+                    float inputs:metallic = 0
+                    float inputs:opacity = 1
+                    float inputs:roughness = 0.5
+                    token outputs:surface
+                }
+
+                def Shader "SimReadyUV"
+                {
+                    token info:id = "UsdPrimvarReader_float2"
+                    token inputs:varname = "st"
+                    float2 outputs:result
+                }
+            }
+        }
+    }
+
+    def Xform "mesh_19" (
+        prepend references = @./geometries.usd@</Geometries/mesh_19>
+    )
+    {
+        over "mesh_19" (
+            apiSchemas = ["MaterialBindingAPI"]
+        )
+        {
+            custom rel material:binding
+            prepend rel material:binding = </Instances/mesh_19/VisualMaterials/DefaultMaterial_0>
+            uniform token purpose = "guide"
+        }
+
+        def Scope "VisualMaterials"
+        {
+            def Material "DefaultMaterial_0" (
+                instanceable = true
+                prepend references = @./materials.usda@</Materials/DefaultMaterial_0>
+            )
+            {
+                token outputs:surface.connect = </Instances/mesh_19/VisualMaterials/DefaultMaterial_0/SimReadyPreviewSurface.outputs:surface>
+
+                def Shader "SimReadyPreviewSurface"
+                {
+                    token info:id = "UsdPreviewSurface"
+                    color3f inputs:diffuseColor = (1, 1, 1)
+                    float inputs:metallic = 0
+                    float inputs:opacity = 1
+                    float inputs:roughness = 0.5
+                    token outputs:surface
+                }
+
+                def Shader "SimReadyUV"
+                {
+                    token info:id = "UsdPrimvarReader_float2"
+                    token inputs:varname = "st"
+                    float2 outputs:result
+                }
+            }
+        }
+    }
+
+    def Xform "mesh_1_mirrorX" (
+        prepend references = @./geometries.usd@</Geometries/mesh_1_mirrorX>
+    )
+    {
+        over "mesh_1"
+        {
+            over "mat_1" (
+                apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                custom rel material:binding
+                prepend rel material:binding = </Instances/mesh_1_mirrorX/VisualMaterials/mat_3_002>
+            }
+
+            over "mat_0" (
+                apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                custom rel material:binding
+                prepend rel material:binding = </Instances/mesh_1_mirrorX/VisualMaterials/mat_0>
+            }
+
+            over "mat_10" (
+                apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                custom rel material:binding
+                prepend rel material:binding = </Instances/mesh_1_mirrorX/VisualMaterials/mat_3_002>
+            }
+
+            over "mat_11" (
+                apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                custom rel material:binding
+                prepend rel material:binding = </Instances/mesh_1_mirrorX/VisualMaterials/mat_3_002>
+            }
+        }
+
+        def Scope "VisualMaterials"
+        {
+            def Material "mat_3_002" (
+                instanceable = true
+                prepend references = @./materials.usda@</Materials/mat_3_002>
+            )
+            {
+                token outputs:surface.connect = </Instances/mesh_1_mirrorX/VisualMaterials/mat_3_002/SimReadyPreviewSurface.outputs:surface>
+
+                def Shader "SimReadyPreviewSurface"
+                {
+                    token info:id = "UsdPreviewSurface"
+                    color3f inputs:diffuseColor = (0.09412, 0.09412, 0.09412)
+                    float inputs:metallic = 0
+                    float inputs:opacity = 1
+                    float inputs:roughness = 0.5
+                    token outputs:surface
+                }
+
+                def Shader "SimReadyUV"
+                {
+                    token info:id = "UsdPrimvarReader_float2"
+                    token inputs:varname = "st"
+                    float2 outputs:result
+                }
+            }
+
+            def Material "mat_0" (
+                instanceable = true
+                prepend references = @./materials.usda@</Materials/mat_0>
+            )
+            {
+                token outputs:surface.connect = </Instances/mesh_1_mirrorX/VisualMaterials/mat_0/SimReadyPreviewSurface.outputs:surface>
+
+                def Shader "SimReadyPreviewSurface"
+                {
+                    token info:id = "UsdPreviewSurface"
+                    color3f inputs:diffuseColor = (0.98431, 0.97647, 0.9568599)
+                    float inputs:metallic = 0
+                    float inputs:opacity = 1
+                    float inputs:roughness = 0.5
+                    token outputs:surface
+                }
+
+                def Shader "SimReadyUV"
+                {
+                    token info:id = "UsdPrimvarReader_float2"
+                    token inputs:varname = "st"
+                    float2 outputs:result
+                }
+            }
+        }
+    }
+
+    def Xform "mesh_4_mirrorX" (
+        prepend references = @./geometries.usd@</Geometries/mesh_4_mirrorX>
+    )
+    {
+        over "mesh_4"
+        {
+            over "mat_3_001" (
+                apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                custom rel material:binding
+                prepend rel material:binding = </Instances/mesh_4_mirrorX/VisualMaterials/mat_3_001>
+            }
+
+            over "mat_0_002" (
+                apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                custom rel material:binding
+                prepend rel material:binding = </Instances/mesh_4_mirrorX/VisualMaterials/mat_0_009>
+            }
+
+            over "mat_2_001" (
+                apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                custom rel material:binding
+                prepend rel material:binding = </Instances/mesh_4_mirrorX/VisualMaterials/mat_0>
+            }
+
+            over "mat_1_002" (
+                apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                custom rel material:binding
+                prepend rel material:binding = </Instances/mesh_4_mirrorX/VisualMaterials/mat_3_002>
+            }
+
+            over "mat_1_0020" (
+                apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                custom rel material:binding
+                prepend rel material:binding = </Instances/mesh_4_mirrorX/VisualMaterials/mat_3_002>
+            }
+
+            over "mat_1_0021" (
+                apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                custom rel material:binding
+                prepend rel material:binding = </Instances/mesh_4_mirrorX/VisualMaterials/mat_3_002>
+            }
+
+            over "mat_0_0020" (
+                apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                custom rel material:binding
+                prepend rel material:binding = </Instances/mesh_4_mirrorX/VisualMaterials/mat_0_009>
+            }
+        }
+
+        def Scope "VisualMaterials"
+        {
+            def Material "mat_3_001" (
+                instanceable = true
+                prepend references = @./materials.usda@</Materials/mat_3_001>
+            )
+            {
+                token outputs:surface.connect = </Instances/mesh_4_mirrorX/VisualMaterials/mat_3_001/SimReadyPreviewSurface.outputs:surface>
+
+                def Shader "SimReadyPreviewSurface"
+                {
+                    token info:id = "UsdPreviewSurface"
+                    color3f inputs:diffuseColor = (0, 0, 0)
+                    float inputs:metallic = 0
+                    float inputs:opacity = 1
+                    float inputs:roughness = 0.5
+                    token outputs:surface
+                }
+
+                def Shader "SimReadyUV"
+                {
+                    token info:id = "UsdPrimvarReader_float2"
+                    token inputs:varname = "st"
+                    float2 outputs:result
+                }
+            }
+
+            def Material "mat_0_009" (
+                instanceable = true
+                prepend references = @./materials.usda@</Materials/mat_0_009>
+            )
+            {
+                token outputs:surface.connect = </Instances/mesh_4_mirrorX/VisualMaterials/mat_0_009/SimReadyPreviewSurface.outputs:surface>
+
+                def Shader "SimReadyPreviewSurface"
+                {
+                    token info:id = "UsdPreviewSurface"
+                    color3f inputs:diffuseColor = (0.24706, 0.24706, 0.24706)
+                    float inputs:metallic = 0
+                    float inputs:opacity = 1
+                    float inputs:roughness = 0.5
+                    token outputs:surface
+                }
+
+                def Shader "SimReadyUV"
+                {
+                    token info:id = "UsdPrimvarReader_float2"
+                    token inputs:varname = "st"
+                    float2 outputs:result
+                }
+            }
+
+            def Material "mat_0" (
+                instanceable = true
+                prepend references = @./materials.usda@</Materials/mat_0>
+            )
+            {
+                token outputs:surface.connect = </Instances/mesh_4_mirrorX/VisualMaterials/mat_0/SimReadyPreviewSurface.outputs:surface>
+
+                def Shader "SimReadyPreviewSurface"
+                {
+                    token info:id = "UsdPreviewSurface"
+                    color3f inputs:diffuseColor = (0.98431, 0.97647, 0.9568599)
+                    float inputs:metallic = 0
+                    float inputs:opacity = 1
+                    float inputs:roughness = 0.5
+                    token outputs:surface
+                }
+
+                def Shader "SimReadyUV"
+                {
+                    token info:id = "UsdPrimvarReader_float2"
+                    token inputs:varname = "st"
+                    float2 outputs:result
+                }
+            }
+
+            def Material "mat_3_002" (
+                instanceable = true
+                prepend references = @./materials.usda@</Materials/mat_3_002>
+            )
+            {
+                token outputs:surface.connect = </Instances/mesh_4_mirrorX/VisualMaterials/mat_3_002/SimReadyPreviewSurface.outputs:surface>
+
+                def Shader "SimReadyPreviewSurface"
+                {
+                    token info:id = "UsdPreviewSurface"
+                    color3f inputs:diffuseColor = (0.09412, 0.09412, 0.09412)
+                    float inputs:metallic = 0
+                    float inputs:opacity = 1
+                    float inputs:roughness = 0.5
+                    token outputs:surface
+                }
+
+                def Shader "SimReadyUV"
+                {
+                    token info:id = "UsdPrimvarReader_float2"
+                    token inputs:varname = "st"
+                    float2 outputs:result
+                }
+            }
+        }
+    }
+
+    def Xform "mesh_6_mirrorX" (
+        prepend references = @./geometries.usd@</Geometries/mesh_6_mirrorX>
+    )
+    {
+        over "mesh_6"
+        {
+            over "mat_2_002" (
+                apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                custom rel material:binding
+                prepend rel material:binding = </Instances/mesh_6_mirrorX/VisualMaterials/mat_1_009>
+            }
+
+            over "mat_0_003" (
+                apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                custom rel material:binding
+                prepend rel material:binding = </Instances/mesh_6_mirrorX/VisualMaterials/mat_0_009>
+            }
+
+            over "mat_1_003" (
+                apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                custom rel material:binding
+                prepend rel material:binding = </Instances/mesh_6_mirrorX/VisualMaterials/mat_0>
+            }
+
+            over "mat_0_0030" (
+                apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                custom rel material:binding
+                prepend rel material:binding = </Instances/mesh_6_mirrorX/VisualMaterials/mat_0_009>
+            }
+        }
+
+        def Scope "VisualMaterials"
+        {
+            def Material "mat_1_009" (
+                instanceable = true
+                prepend references = @./materials.usda@</Materials/mat_1_009>
+            )
+            {
+                token outputs:surface.connect = </Instances/mesh_6_mirrorX/VisualMaterials/mat_1_009/SimReadyPreviewSurface.outputs:surface>
+
+                def Shader "SimReadyPreviewSurface"
+                {
+                    token info:id = "UsdPreviewSurface"
+                    color3f inputs:diffuseColor = (0.62745, 0.62745, 0.62745)
+                    float inputs:metallic = 0
+                    float inputs:opacity = 1
+                    float inputs:roughness = 0.5
+                    token outputs:surface
+                }
+
+                def Shader "SimReadyUV"
+                {
+                    token info:id = "UsdPrimvarReader_float2"
+                    token inputs:varname = "st"
+                    float2 outputs:result
+                }
+            }
+
+            def Material "mat_0_009" (
+                instanceable = true
+                prepend references = @./materials.usda@</Materials/mat_0_009>
+            )
+            {
+                token outputs:surface.connect = </Instances/mesh_6_mirrorX/VisualMaterials/mat_0_009/SimReadyPreviewSurface.outputs:surface>
+
+                def Shader "SimReadyPreviewSurface"
+                {
+                    token info:id = "UsdPreviewSurface"
+                    color3f inputs:diffuseColor = (0.24706, 0.24706, 0.24706)
+                    float inputs:metallic = 0
+                    float inputs:opacity = 1
+                    float inputs:roughness = 0.5
+                    token outputs:surface
+                }
+
+                def Shader "SimReadyUV"
+                {
+                    token info:id = "UsdPrimvarReader_float2"
+                    token inputs:varname = "st"
+                    float2 outputs:result
+                }
+            }
+
+            def Material "mat_0" (
+                instanceable = true
+                prepend references = @./materials.usda@</Materials/mat_0>
+            )
+            {
+                token outputs:surface.connect = </Instances/mesh_6_mirrorX/VisualMaterials/mat_0/SimReadyPreviewSurface.outputs:surface>
+
+                def Shader "SimReadyPreviewSurface"
+                {
+                    token info:id = "UsdPreviewSurface"
+                    color3f inputs:diffuseColor = (0.98431, 0.97647, 0.9568599)
+                    float inputs:metallic = 0
+                    float inputs:opacity = 1
+                    float inputs:roughness = 0.5
+                    token outputs:surface
+                }
+
+                def Shader "SimReadyUV"
+                {
+                    token info:id = "UsdPrimvarReader_float2"
+                    token inputs:varname = "st"
+                    float2 outputs:result
+                }
+            }
+        }
+    }
+
+    def Xform "mesh_8_mirrorX" (
+        prepend references = @./geometries.usd@</Geometries/mesh_8_mirrorX>
+    )
+    {
+        over "mesh_8"
+        {
+            over "mat_2_003" (
+                apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                custom rel material:binding
+                prepend rel material:binding = </Instances/mesh_8_mirrorX/VisualMaterials/mat_3_002>
+            }
+
+            over "mat_1_004" (
+                apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                custom rel material:binding
+                prepend rel material:binding = </Instances/mesh_8_mirrorX/VisualMaterials/mat_3_001>
+            }
+
+            over "mat_2_0030" (
+                apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                custom rel material:binding
+                prepend rel material:binding = </Instances/mesh_8_mirrorX/VisualMaterials/mat_3_002>
+            }
+
+            over "mat_0_004" (
+                apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                custom rel material:binding
+                prepend rel material:binding = </Instances/mesh_8_mirrorX/VisualMaterials/mat_0>
+            }
+
+            over "mat_0_0040" (
+                apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                custom rel material:binding
+                prepend rel material:binding = </Instances/mesh_8_mirrorX/VisualMaterials/mat_0>
+            }
+
+            over "mat_1_0040" (
+                apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                custom rel material:binding
+                prepend rel material:binding = </Instances/mesh_8_mirrorX/VisualMaterials/mat_3_001>
+            }
+
+            over "mat_0_0041" (
+                apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                custom rel material:binding
+                prepend rel material:binding = </Instances/mesh_8_mirrorX/VisualMaterials/mat_0>
+            }
+        }
+
+        def Scope "VisualMaterials"
+        {
+            def Material "mat_3_002" (
+                instanceable = true
+                prepend references = @./materials.usda@</Materials/mat_3_002>
+            )
+            {
+                token outputs:surface.connect = </Instances/mesh_8_mirrorX/VisualMaterials/mat_3_002/SimReadyPreviewSurface.outputs:surface>
+
+                def Shader "SimReadyPreviewSurface"
+                {
+                    token info:id = "UsdPreviewSurface"
+                    color3f inputs:diffuseColor = (0.09412, 0.09412, 0.09412)
+                    float inputs:metallic = 0
+                    float inputs:opacity = 1
+                    float inputs:roughness = 0.5
+                    token outputs:surface
+                }
+
+                def Shader "SimReadyUV"
+                {
+                    token info:id = "UsdPrimvarReader_float2"
+                    token inputs:varname = "st"
+                    float2 outputs:result
+                }
+            }
+
+            def Material "mat_3_001" (
+                instanceable = true
+                prepend references = @./materials.usda@</Materials/mat_3_001>
+            )
+            {
+                token outputs:surface.connect = </Instances/mesh_8_mirrorX/VisualMaterials/mat_3_001/SimReadyPreviewSurface.outputs:surface>
+
+                def Shader "SimReadyPreviewSurface"
+                {
+                    token info:id = "UsdPreviewSurface"
+                    color3f inputs:diffuseColor = (0, 0, 0)
+                    float inputs:metallic = 0
+                    float inputs:opacity = 1
+                    float inputs:roughness = 0.5
+                    token outputs:surface
+                }
+
+                def Shader "SimReadyUV"
+                {
+                    token info:id = "UsdPrimvarReader_float2"
+                    token inputs:varname = "st"
+                    float2 outputs:result
+                }
+            }
+
+            def Material "mat_0" (
+                instanceable = true
+                prepend references = @./materials.usda@</Materials/mat_0>
+            )
+            {
+                token outputs:surface.connect = </Instances/mesh_8_mirrorX/VisualMaterials/mat_0/SimReadyPreviewSurface.outputs:surface>
+
+                def Shader "SimReadyPreviewSurface"
+                {
+                    token info:id = "UsdPreviewSurface"
+                    color3f inputs:diffuseColor = (0.98431, 0.97647, 0.9568599)
+                    float inputs:metallic = 0
+                    float inputs:opacity = 1
+                    float inputs:roughness = 0.5
+                    token outputs:surface
+                }
+
+                def Shader "SimReadyUV"
+                {
+                    token info:id = "UsdPrimvarReader_float2"
+                    token inputs:varname = "st"
+                    float2 outputs:result
+                }
+            }
+        }
+    }
+
+    def Xform "mesh_12_mirrorX" (
+        prepend references = @./geometries.usd@</Geometries/mesh_12_mirrorX>
+    )
+    {
+        over "mesh_12"
+        {
+            over "mat_1_006" (
+                apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                custom rel material:binding
+                prepend rel material:binding = </Instances/mesh_12_mirrorX/VisualMaterials/mat_0>
+            }
+
+            over "mat_0_006" (
+                apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                custom rel material:binding
+                prepend rel material:binding = </Instances/mesh_12_mirrorX/VisualMaterials/mat_3_001>
+            }
+
+            over "mat_2_005" (
+                apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                custom rel material:binding
+                prepend rel material:binding = </Instances/mesh_12_mirrorX/VisualMaterials/mat_3_002>
+            }
+
+            over "mat_1_0060" (
+                apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                custom rel material:binding
+                prepend rel material:binding = </Instances/mesh_12_mirrorX/VisualMaterials/mat_0>
+            }
+
+            over "mat_0_0060" (
+                apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                custom rel material:binding
+                prepend rel material:binding = </Instances/mesh_12_mirrorX/VisualMaterials/mat_3_001>
+            }
+        }
+
+        def Scope "VisualMaterials"
+        {
+            def Material "mat_0" (
+                instanceable = true
+                prepend references = @./materials.usda@</Materials/mat_0>
+            )
+            {
+                token outputs:surface.connect = </Instances/mesh_12_mirrorX/VisualMaterials/mat_0/SimReadyPreviewSurface.outputs:surface>
+
+                def Shader "SimReadyPreviewSurface"
+                {
+                    token info:id = "UsdPreviewSurface"
+                    color3f inputs:diffuseColor = (0.98431, 0.97647, 0.9568599)
+                    float inputs:metallic = 0
+                    float inputs:opacity = 1
+                    float inputs:roughness = 0.5
+                    token outputs:surface
+                }
+
+                def Shader "SimReadyUV"
+                {
+                    token info:id = "UsdPrimvarReader_float2"
+                    token inputs:varname = "st"
+                    float2 outputs:result
+                }
+            }
+
+            def Material "mat_3_001" (
+                instanceable = true
+                prepend references = @./materials.usda@</Materials/mat_3_001>
+            )
+            {
+                token outputs:surface.connect = </Instances/mesh_12_mirrorX/VisualMaterials/mat_3_001/SimReadyPreviewSurface.outputs:surface>
+
+                def Shader "SimReadyPreviewSurface"
+                {
+                    token info:id = "UsdPreviewSurface"
+                    color3f inputs:diffuseColor = (0, 0, 0)
+                    float inputs:metallic = 0
+                    float inputs:opacity = 1
+                    float inputs:roughness = 0.5
+                    token outputs:surface
+                }
+
+                def Shader "SimReadyUV"
+                {
+                    token info:id = "UsdPrimvarReader_float2"
+                    token inputs:varname = "st"
+                    float2 outputs:result
+                }
+            }
+
+            def Material "mat_3_002" (
+                instanceable = true
+                prepend references = @./materials.usda@</Materials/mat_3_002>
+            )
+            {
+                token outputs:surface.connect = </Instances/mesh_12_mirrorX/VisualMaterials/mat_3_002/SimReadyPreviewSurface.outputs:surface>
+
+                def Shader "SimReadyPreviewSurface"
+                {
+                    token info:id = "UsdPreviewSurface"
+                    color3f inputs:diffuseColor = (0.09412, 0.09412, 0.09412)
+                    float inputs:metallic = 0
+                    float inputs:opacity = 1
+                    float inputs:roughness = 0.5
+                    token outputs:surface
+                }
+
+                def Shader "SimReadyUV"
+                {
+                    token info:id = "UsdPrimvarReader_float2"
+                    token inputs:varname = "st"
+                    float2 outputs:result
+                }
+            }
+        }
+    }
+
+    def Xform "mesh_14_mirrorX" (
+        prepend references = @./geometries.usd@</Geometries/mesh_14_mirrorX>
+    )
+    {
+        over "mesh_14"
+        {
+            over "mat_1_007" (
+                apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                custom rel material:binding
+                prepend rel material:binding = </Instances/mesh_14_mirrorX/VisualMaterials/mat_3_002>
+            }
+
+            over "mat_0_007" (
+                apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                custom rel material:binding
+                prepend rel material:binding = </Instances/mesh_14_mirrorX/VisualMaterials/mat_0>
+            }
+        }
+
+        def Scope "VisualMaterials"
+        {
+            def Material "mat_3_002" (
+                instanceable = true
+                prepend references = @./materials.usda@</Materials/mat_3_002>
+            )
+            {
+                token outputs:surface.connect = </Instances/mesh_14_mirrorX/VisualMaterials/mat_3_002/SimReadyPreviewSurface.outputs:surface>
+
+                def Shader "SimReadyPreviewSurface"
+                {
+                    token info:id = "UsdPreviewSurface"
+                    color3f inputs:diffuseColor = (0.09412, 0.09412, 0.09412)
+                    float inputs:metallic = 0
+                    float inputs:opacity = 1
+                    float inputs:roughness = 0.5
+                    token outputs:surface
+                }
+
+                def Shader "SimReadyUV"
+                {
+                    token info:id = "UsdPrimvarReader_float2"
+                    token inputs:varname = "st"
+                    float2 outputs:result
+                }
+            }
+
+            def Material "mat_0" (
+                instanceable = true
+                prepend references = @./materials.usda@</Materials/mat_0>
+            )
+            {
+                token outputs:surface.connect = </Instances/mesh_14_mirrorX/VisualMaterials/mat_0/SimReadyPreviewSurface.outputs:surface>
+
+                def Shader "SimReadyPreviewSurface"
+                {
+                    token info:id = "UsdPreviewSurface"
+                    color3f inputs:diffuseColor = (0.98431, 0.97647, 0.9568599)
+                    float inputs:metallic = 0
+                    float inputs:opacity = 1
+                    float inputs:roughness = 0.5
+                    token outputs:surface
+                }
+
+                def Shader "SimReadyUV"
+                {
+                    token info:id = "UsdPrimvarReader_float2"
+                    token inputs:varname = "st"
+                    float2 outputs:result
+                }
+            }
+        }
+    }
+
+    def Xform "mesh_16_mirrorX" (
+        prepend references = @./geometries.usd@</Geometries/mesh_16_mirrorX>
+    )
+    {
+        over "mesh_16"
+        {
+            over "mat_0_008" (
+                apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                custom rel material:binding
+                prepend rel material:binding = </Instances/mesh_16_mirrorX/VisualMaterials/mat_3_002>
+            }
+
+            over "mat_1_008" (
+                apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                custom rel material:binding
+                prepend rel material:binding = </Instances/mesh_16_mirrorX/VisualMaterials/mat_0>
+            }
+        }
+
+        def Scope "VisualMaterials"
+        {
+            def Material "mat_3_002" (
+                instanceable = true
+                prepend references = @./materials.usda@</Materials/mat_3_002>
+            )
+            {
+                token outputs:surface.connect = </Instances/mesh_16_mirrorX/VisualMaterials/mat_3_002/SimReadyPreviewSurface.outputs:surface>
+
+                def Shader "SimReadyPreviewSurface"
+                {
+                    token info:id = "UsdPreviewSurface"
+                    color3f inputs:diffuseColor = (0.09412, 0.09412, 0.09412)
+                    float inputs:metallic = 0
+                    float inputs:opacity = 1
+                    float inputs:roughness = 0.5
+                    token outputs:surface
+                }
+
+                def Shader "SimReadyUV"
+                {
+                    token info:id = "UsdPrimvarReader_float2"
+                    token inputs:varname = "st"
+                    float2 outputs:result
+                }
+            }
+
+            def Material "mat_0" (
+                instanceable = true
+                prepend references = @./materials.usda@</Materials/mat_0>
+            )
+            {
+                token outputs:surface.connect = </Instances/mesh_16_mirrorX/VisualMaterials/mat_0/SimReadyPreviewSurface.outputs:surface>
+
+                def Shader "SimReadyPreviewSurface"
+                {
+                    token info:id = "UsdPreviewSurface"
+                    color3f inputs:diffuseColor = (0.98431, 0.97647, 0.9568599)
+                    float inputs:metallic = 0
+                    float inputs:opacity = 1
+                    float inputs:roughness = 0.5
+                    token outputs:surface
+                }
+
+                def Shader "SimReadyUV"
+                {
+                    token info:id = "UsdPrimvarReader_float2"
+                    token inputs:varname = "st"
+                    float2 outputs:result
+                }
+            }
+        }
+    }
+
+    def Xform "mesh_18_mirrorX" (
+        prepend references = @./geometries.usd@</Geometries/mesh_18_mirrorX>
+    )
+    {
+        over "mesh_18"
+        {
+            over "mat_0_010" (
+                apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                custom rel material:binding
+                prepend rel material:binding = </Instances/mesh_18_mirrorX/VisualMaterials/mat_0>
+            }
+
+            over "mat_1_010" (
+                apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                custom rel material:binding
+                prepend rel material:binding = </Instances/mesh_18_mirrorX/VisualMaterials/mat_3_001>
+            }
+        }
+
+        def Scope "VisualMaterials"
+        {
+            def Material "mat_0" (
+                instanceable = true
+                prepend references = @./materials.usda@</Materials/mat_0>
+            )
+            {
+                token outputs:surface.connect = </Instances/mesh_18_mirrorX/VisualMaterials/mat_0/SimReadyPreviewSurface.outputs:surface>
+
+                def Shader "SimReadyPreviewSurface"
+                {
+                    token info:id = "UsdPreviewSurface"
+                    color3f inputs:diffuseColor = (0.98431, 0.97647, 0.9568599)
+                    float inputs:metallic = 0
+                    float inputs:opacity = 1
+                    float inputs:roughness = 0.5
+                    token outputs:surface
+                }
+
+                def Shader "SimReadyUV"
+                {
+                    token info:id = "UsdPrimvarReader_float2"
+                    token inputs:varname = "st"
+                    float2 outputs:result
+                }
+            }
+
+            def Material "mat_3_001" (
+                instanceable = true
+                prepend references = @./materials.usda@</Materials/mat_3_001>
+            )
+            {
+                token outputs:surface.connect = </Instances/mesh_18_mirrorX/VisualMaterials/mat_3_001/SimReadyPreviewSurface.outputs:surface>
+
+                def Shader "SimReadyPreviewSurface"
+                {
+                    token info:id = "UsdPreviewSurface"
+                    color3f inputs:diffuseColor = (0, 0, 0)
+                    float inputs:metallic = 0
+                    float inputs:opacity = 1
+                    float inputs:roughness = 0.5
+                    token outputs:surface
+                }
+
+                def Shader "SimReadyUV"
+                {
+                    token info:id = "UsdPrimvarReader_float2"
+                    token inputs:varname = "st"
+                    float2 outputs:result
+                }
+            }
+        }
+    }
+}
+

openarm_openarm_bimanual/payloads/materials.usda

@@ -0,0 +1,1631 @@
+#usda 1.0
+(
+    customLayerData = {
+    }
+    metersPerUnit = 1
+    upAxis = "Z"
+)
+
+def Scope "Materials"
+{
+    def Material "mat_0_009"
+    {
+        custom token[] omni:simready:nonvisual:attributes = ["none"]
+        custom token omni:simready:nonvisual:base = "aluminum"
+        custom token omni:simready:nonvisual:coating = "paint"
+        token outputs:displacement (
+            displayGroup = "Outputs"
+        )
+        prepend token outputs:mdl:displacement.connect = </Materials/mat_0_009/mat_0_009.outputs:out>
+        prepend token outputs:mdl:surface.connect = </Materials/mat_0_009/mat_0_009.outputs:out>
+        prepend token outputs:mdl:volume.connect = </Materials/mat_0_009/mat_0_009.outputs:out>
+        token outputs:mtlx:surface.connect = </Materials/mat_0_009/AgentfixOpenPBRSurface.outputs:out>
+        token outputs:surface (
+            displayGroup = "Outputs"
+        )
+        token outputs:surface.connect = </Materials/mat_0_009/SimReadyPreviewSurface.outputs:surface>
+        token outputs:volume (
+            displayGroup = "Outputs"
+        )
+
+        def Shader "mat_0_009" (
+            apiSchemas = ["NodeDefAPI"]
+        )
+        {
+            token info:implementationSource = "sourceAsset"
+            asset info:mdl:sourceAsset = @../materials/mdl/OmniPBR.mdl@
+            token info:mdl:sourceAsset:subIdentifier = "OmniPBR"
+            color3f inputs:diffuse_color_constant = (0.24706, 0.24706, 0.24706) (
+                customData = {
+                    float3 default = (1, 1, 1)
+                    dictionary range = {
+                        float3 max = (1, 1, 1)
+                        float3 min = (0, 0, 0)
+                    }
+                }
+                displayGroup = "Albedo"
+            )
+            color3f inputs:emissive_color = (1, 1, 1) (
+                customData = {
+                    float3 default = (1, 1, 1)
+                    dictionary range = {
+                        float3 max = (1, 1, 1)
+                        float3 min = (0, 0, 0)
+                    }
+                }
+                displayGroup = "Emissive"
+            )
+            float inputs:emissive_intensity = 10000 (
+                customData = {
+                    double default = 10000
+                    dictionary range = {
+                        double max = 100000
+                        double min = 0
+                    }
+                }
+                displayGroup = "Emissive"
+            )
+            bool inputs:enable_emission = 0 (
+                customData = {
+                    bool default = 0
+                }
+                displayGroup = "Emissive"
+            )
+            bool inputs:enable_opacity = 0 (
+                customData = {
+                    bool default = 0
+                }
+                displayGroup = "Opacity"
+            )
+            bool inputs:enable_opacity_texture = 0 (
+                customData = {
+                    bool default = 0
+                }
+                displayGroup = "Opacity"
+            )
+            float inputs:opacity_constant = 1 (
+                customData = {
+                    double default = 1
+                    dictionary range = {
+                        double max = 1
+                        double min = 0
+                    }
+                }
+                displayGroup = "Opacity"
+            )
+            int inputs:opacity_mode = 1 (
+                customData = {
+                    int default = 1
+                    dictionary range = {
+                        int max = 3
+                        int min = 0
+                    }
+                }
+                displayGroup = "Opacity"
+                renderType = "::base::mono_mode"
+                sdrMetadata = {
+                    string __SDR__enum_value = "mono_average"
+                    string options = "mono_alpha:0|mono_average:1|mono_luminance:2|mono_maximum:3"
+                }
+            )
+            float inputs:opacity_threshold = 0 (
+                customData = {
+                    double default = 0
+                    dictionary range = {
+                        double max = 1
+                        double min = 0
+                    }
+                }
+                displayGroup = "Opacity"
+            )
+            float inputs:texture_rotate = 0 (
+                customData = {
+                    double default = 0
+                    dictionary range = {
+                        double max = 360
+                        double min = 0
+                    }
+                }
+                displayGroup = "UV"
+            )
+            float2 inputs:texture_scale = (1, 1) (
+                customData = {
+                    float2 default = (1, 1)
+                }
+                displayGroup = "UV"
+            )
+            float2 inputs:texture_translate = (0, 0) (
+                customData = {
+                    float2 default = (0, 0)
+                }
+                displayGroup = "UV"
+            )
+            token outputs:out
+        }
+
+        def Shader "SimReadyPreviewSurface"
+        {
+            token info:id = "UsdPreviewSurface"
+            color3f inputs:diffuseColor = (0.24706, 0.24706, 0.24706)
+            float inputs:metallic = 0
+            float inputs:opacity = 1
+            float inputs:roughness = 0.5
+            token outputs:surface
+        }
+
+        def Shader "SimReadyUV"
+        {
+            token info:id = "UsdPrimvarReader_float2"
+            string inputs:varname = "st"
+            float2 outputs:result
+        }
+
+        def Shader "AgentfixOpenPBRSurface"
+        {
+            uniform token info:id = "ND_open_pbr_surface_surfaceshader"
+            color3f inputs:base_color = (0.5, 0.5, 0.5)
+            float inputs:base_metalness = 0
+            float inputs:specular_roughness = 0.5
+            token outputs:out
+        }
+    }
+
+    def Material "mat_2_006"
+    {
+        custom token[] omni:simready:nonvisual:attributes = ["none"]
+        custom token omni:simready:nonvisual:base = "aluminum"
+        custom token omni:simready:nonvisual:coating = "paint"
+        token outputs:displacement (
+            displayGroup = "Outputs"
+        )
+        prepend token outputs:mdl:displacement.connect = </Materials/mat_2_006/mat_2_006.outputs:out>
+        prepend token outputs:mdl:surface.connect = </Materials/mat_2_006/mat_2_006.outputs:out>
+        prepend token outputs:mdl:volume.connect = </Materials/mat_2_006/mat_2_006.outputs:out>
+        token outputs:mtlx:surface.connect = </Materials/mat_2_006/AgentfixOpenPBRSurface.outputs:out>
+        token outputs:surface (
+            displayGroup = "Outputs"
+        )
+        token outputs:surface.connect = </Materials/mat_2_006/SimReadyPreviewSurface.outputs:surface>
+        token outputs:volume (
+            displayGroup = "Outputs"
+        )
+
+        def Shader "mat_2_006" (
+            apiSchemas = ["NodeDefAPI"]
+        )
+        {
+            token info:implementationSource = "sourceAsset"
+            asset info:mdl:sourceAsset = @../materials/mdl/OmniPBR.mdl@
+            token info:mdl:sourceAsset:subIdentifier = "OmniPBR"
+            color3f inputs:diffuse_color_constant = (0.9568599, 0.9568599, 0.96078) (
+                customData = {
+                    float3 default = (1, 1, 1)
+                    dictionary range = {
+                        float3 max = (1, 1, 1)
+                        float3 min = (0, 0, 0)
+                    }
+                }
+                displayGroup = "Albedo"
+            )
+            color3f inputs:emissive_color = (1, 1, 1) (
+                customData = {
+                    float3 default = (1, 1, 1)
+                    dictionary range = {
+                        float3 max = (1, 1, 1)
+                        float3 min = (0, 0, 0)
+                    }
+                }
+                displayGroup = "Emissive"
+            )
+            float inputs:emissive_intensity = 10000 (
+                customData = {
+                    double default = 10000
+                    dictionary range = {
+                        double max = 100000
+                        double min = 0
+                    }
+                }
+                displayGroup = "Emissive"
+            )
+            bool inputs:enable_emission = 0 (
+                customData = {
+                    bool default = 0
+                }
+                displayGroup = "Emissive"
+            )
+            bool inputs:enable_opacity = 0 (
+                customData = {
+                    bool default = 0
+                }
+                displayGroup = "Opacity"
+            )
+            bool inputs:enable_opacity_texture = 0 (
+                customData = {
+                    bool default = 0
+                }
+                displayGroup = "Opacity"
+            )
+            float inputs:opacity_constant = 1 (
+                customData = {
+                    double default = 1
+                    dictionary range = {
+                        double max = 1
+                        double min = 0
+                    }
+                }
+                displayGroup = "Opacity"
+            )
+            int inputs:opacity_mode = 1 (
+                customData = {
+                    int default = 1
+                    dictionary range = {
+                        int max = 3
+                        int min = 0
+                    }
+                }
+                displayGroup = "Opacity"
+                renderType = "::base::mono_mode"
+                sdrMetadata = {
+                    string __SDR__enum_value = "mono_average"
+                    string options = "mono_alpha:0|mono_average:1|mono_luminance:2|mono_maximum:3"
+                }
+            )
+            float inputs:opacity_threshold = 0 (
+                customData = {
+                    double default = 0
+                    dictionary range = {
+                        double max = 1
+                        double min = 0
+                    }
+                }
+                displayGroup = "Opacity"
+            )
+            float inputs:texture_rotate = 0 (
+                customData = {
+                    double default = 0
+                    dictionary range = {
+                        double max = 360
+                        double min = 0
+                    }
+                }
+                displayGroup = "UV"
+            )
+            float2 inputs:texture_scale = (1, 1) (
+                customData = {
+                    float2 default = (1, 1)
+                }
+                displayGroup = "UV"
+            )
+            float2 inputs:texture_translate = (0, 0) (
+                customData = {
+                    float2 default = (0, 0)
+                }
+                displayGroup = "UV"
+            )
+            token outputs:out
+        }
+
+        def Shader "SimReadyPreviewSurface"
+        {
+            token info:id = "UsdPreviewSurface"
+            color3f inputs:diffuseColor = (0.9568599, 0.9568599, 0.96078)
+            float inputs:metallic = 0
+            float inputs:opacity = 1
+            float inputs:roughness = 0.5
+            token outputs:surface
+        }
+
+        def Shader "SimReadyUV"
+        {
+            token info:id = "UsdPrimvarReader_float2"
+            string inputs:varname = "st"
+            float2 outputs:result
+        }
+
+        def Shader "AgentfixOpenPBRSurface"
+        {
+            uniform token info:id = "ND_open_pbr_surface_surfaceshader"
+            color3f inputs:base_color = (0.5, 0.5, 0.5)
+            float inputs:base_metalness = 0
+            float inputs:specular_roughness = 0.5
+            token outputs:out
+        }
+    }
+
+    def Material "mat_3_002"
+    {
+        custom token[] omni:simready:nonvisual:attributes = ["none"]
+        custom token omni:simready:nonvisual:base = "aluminum"
+        custom token omni:simready:nonvisual:coating = "paint"
+        token outputs:displacement (
+            displayGroup = "Outputs"
+        )
+        prepend token outputs:mdl:displacement.connect = </Materials/mat_3_002/mat_3_002.outputs:out>
+        prepend token outputs:mdl:surface.connect = </Materials/mat_3_002/mat_3_002.outputs:out>
+        prepend token outputs:mdl:volume.connect = </Materials/mat_3_002/mat_3_002.outputs:out>
+        token outputs:mtlx:surface.connect = </Materials/mat_3_002/AgentfixOpenPBRSurface.outputs:out>
+        token outputs:surface (
+            displayGroup = "Outputs"
+        )
+        token outputs:surface.connect = </Materials/mat_3_002/SimReadyPreviewSurface.outputs:surface>
+        token outputs:volume (
+            displayGroup = "Outputs"
+        )
+
+        def Shader "mat_3_002" (
+            apiSchemas = ["NodeDefAPI"]
+        )
+        {
+            token info:implementationSource = "sourceAsset"
+            asset info:mdl:sourceAsset = @../materials/mdl/OmniPBR.mdl@
+            token info:mdl:sourceAsset:subIdentifier = "OmniPBR"
+            color3f inputs:diffuse_color_constant = (0.09412, 0.09412, 0.09412) (
+                customData = {
+                    float3 default = (1, 1, 1)
+                    dictionary range = {
+                        float3 max = (1, 1, 1)
+                        float3 min = (0, 0, 0)
+                    }
+                }
+                displayGroup = "Albedo"
+            )
+            color3f inputs:emissive_color = (1, 1, 1) (
+                customData = {
+                    float3 default = (1, 1, 1)
+                    dictionary range = {
+                        float3 max = (1, 1, 1)
+                        float3 min = (0, 0, 0)
+                    }
+                }
+                displayGroup = "Emissive"
+            )
+            float inputs:emissive_intensity = 10000 (
+                customData = {
+                    double default = 10000
+                    dictionary range = {
+                        double max = 100000
+                        double min = 0
+                    }
+                }
+                displayGroup = "Emissive"
+            )
+            bool inputs:enable_emission = 0 (
+                customData = {
+                    bool default = 0
+                }
+                displayGroup = "Emissive"
+            )
+            bool inputs:enable_opacity = 0 (
+                customData = {
+                    bool default = 0
+                }
+                displayGroup = "Opacity"
+            )
+            bool inputs:enable_opacity_texture = 0 (
+                customData = {
+                    bool default = 0
+                }
+                displayGroup = "Opacity"
+            )
+            float inputs:opacity_constant = 1 (
+                customData = {
+                    double default = 1
+                    dictionary range = {
+                        double max = 1
+                        double min = 0
+                    }
+                }
+                displayGroup = "Opacity"
+            )
+            int inputs:opacity_mode = 1 (
+                customData = {
+                    int default = 1
+                    dictionary range = {
+                        int max = 3
+                        int min = 0
+                    }
+                }
+                displayGroup = "Opacity"
+                renderType = "::base::mono_mode"
+                sdrMetadata = {
+                    string __SDR__enum_value = "mono_average"
+                    string options = "mono_alpha:0|mono_average:1|mono_luminance:2|mono_maximum:3"
+                }
+            )
+            float inputs:opacity_threshold = 0 (
+                customData = {
+                    double default = 0
+                    dictionary range = {
+                        double max = 1
+                        double min = 0
+                    }
+                }
+                displayGroup = "Opacity"
+            )
+            float inputs:texture_rotate = 0 (
+                customData = {
+                    double default = 0
+                    dictionary range = {
+                        double max = 360
+                        double min = 0
+                    }
+                }
+                displayGroup = "UV"
+            )
+            float2 inputs:texture_scale = (1, 1) (
+                customData = {
+                    float2 default = (1, 1)
+                }
+                displayGroup = "UV"
+            )
+            float2 inputs:texture_translate = (0, 0) (
+                customData = {
+                    float2 default = (0, 0)
+                }
+                displayGroup = "UV"
+            )
+            token outputs:out
+        }
+
+        def Shader "SimReadyPreviewSurface"
+        {
+            token info:id = "UsdPreviewSurface"
+            color3f inputs:diffuseColor = (0.09412, 0.09412, 0.09412)
+            float inputs:metallic = 0
+            float inputs:opacity = 1
+            float inputs:roughness = 0.5
+            token outputs:surface
+        }
+
+        def Shader "SimReadyUV"
+        {
+            token info:id = "UsdPrimvarReader_float2"
+            string inputs:varname = "st"
+            float2 outputs:result
+        }
+
+        def Shader "AgentfixOpenPBRSurface"
+        {
+            uniform token info:id = "ND_open_pbr_surface_surfaceshader"
+            color3f inputs:base_color = (0.5, 0.5, 0.5)
+            float inputs:base_metalness = 0
+            float inputs:specular_roughness = 0.5
+            token outputs:out
+        }
+    }
+
+    def Material "mat_1_009"
+    {
+        custom token[] omni:simready:nonvisual:attributes = ["none"]
+        custom token omni:simready:nonvisual:base = "aluminum"
+        custom token omni:simready:nonvisual:coating = "paint"
+        token outputs:displacement (
+            displayGroup = "Outputs"
+        )
+        prepend token outputs:mdl:displacement.connect = </Materials/mat_1_009/mat_1_009.outputs:out>
+        prepend token outputs:mdl:surface.connect = </Materials/mat_1_009/mat_1_009.outputs:out>
+        prepend token outputs:mdl:volume.connect = </Materials/mat_1_009/mat_1_009.outputs:out>
+        token outputs:mtlx:surface.connect = </Materials/mat_1_009/AgentfixOpenPBRSurface.outputs:out>
+        token outputs:surface (
+            displayGroup = "Outputs"
+        )
+        token outputs:surface.connect = </Materials/mat_1_009/SimReadyPreviewSurface.outputs:surface>
+        token outputs:volume (
+            displayGroup = "Outputs"
+        )
+
+        def Shader "mat_1_009" (
+            apiSchemas = ["NodeDefAPI"]
+        )
+        {
+            token info:implementationSource = "sourceAsset"
+            asset info:mdl:sourceAsset = @../materials/mdl/OmniPBR.mdl@
+            token info:mdl:sourceAsset:subIdentifier = "OmniPBR"
+            color3f inputs:diffuse_color_constant = (0.62745, 0.62745, 0.62745) (
+                customData = {
+                    float3 default = (1, 1, 1)
+                    dictionary range = {
+                        float3 max = (1, 1, 1)
+                        float3 min = (0, 0, 0)
+                    }
+                }
+                displayGroup = "Albedo"
+            )
+            color3f inputs:emissive_color = (1, 1, 1) (
+                customData = {
+                    float3 default = (1, 1, 1)
+                    dictionary range = {
+                        float3 max = (1, 1, 1)
+                        float3 min = (0, 0, 0)
+                    }
+                }
+                displayGroup = "Emissive"
+            )
+            float inputs:emissive_intensity = 10000 (
+                customData = {
+                    double default = 10000
+                    dictionary range = {
+                        double max = 100000
+                        double min = 0
+                    }
+                }
+                displayGroup = "Emissive"
+            )
+            bool inputs:enable_emission = 0 (
+                customData = {
+                    bool default = 0
+                }
+                displayGroup = "Emissive"
+            )
+            bool inputs:enable_opacity = 0 (
+                customData = {
+                    bool default = 0
+                }
+                displayGroup = "Opacity"
+            )
+            bool inputs:enable_opacity_texture = 0 (
+                customData = {
+                    bool default = 0
+                }
+                displayGroup = "Opacity"
+            )
+            float inputs:opacity_constant = 1 (
+                customData = {
+                    double default = 1
+                    dictionary range = {
+                        double max = 1
+                        double min = 0
+                    }
+                }
+                displayGroup = "Opacity"
+            )
+            int inputs:opacity_mode = 1 (
+                customData = {
+                    int default = 1
+                    dictionary range = {
+                        int max = 3
+                        int min = 0
+                    }
+                }
+                displayGroup = "Opacity"
+                renderType = "::base::mono_mode"
+                sdrMetadata = {
+                    string __SDR__enum_value = "mono_average"
+                    string options = "mono_alpha:0|mono_average:1|mono_luminance:2|mono_maximum:3"
+                }
+            )
+            float inputs:opacity_threshold = 0 (
+                customData = {
+                    double default = 0
+                    dictionary range = {
+                        double max = 1
+                        double min = 0
+                    }
+                }
+                displayGroup = "Opacity"
+            )
+            float inputs:texture_rotate = 0 (
+                customData = {
+                    double default = 0
+                    dictionary range = {
+                        double max = 360
+                        double min = 0
+                    }
+                }
+                displayGroup = "UV"
+            )
+            float2 inputs:texture_scale = (1, 1) (
+                customData = {
+                    float2 default = (1, 1)
+                }
+                displayGroup = "UV"
+            )
+            float2 inputs:texture_translate = (0, 0) (
+                customData = {
+                    float2 default = (0, 0)
+                }
+                displayGroup = "UV"
+            )
+            token outputs:out
+        }
+
+        def Shader "SimReadyPreviewSurface"
+        {
+            token info:id = "UsdPreviewSurface"
+            color3f inputs:diffuseColor = (0.62745, 0.62745, 0.62745)
+            float inputs:metallic = 0
+            float inputs:opacity = 1
+            float inputs:roughness = 0.5
+            token outputs:surface
+        }
+
+        def Shader "SimReadyUV"
+        {
+            token info:id = "UsdPrimvarReader_float2"
+            string inputs:varname = "st"
+            float2 outputs:result
+        }
+
+        def Shader "AgentfixOpenPBRSurface"
+        {
+            uniform token info:id = "ND_open_pbr_surface_surfaceshader"
+            color3f inputs:base_color = (0.5, 0.5, 0.5)
+            float inputs:base_metalness = 0
+            float inputs:specular_roughness = 0.5
+            token outputs:out
+        }
+    }
+
+    def Material "mat_5"
+    {
+        custom token[] omni:simready:nonvisual:attributes = ["none"]
+        custom token omni:simready:nonvisual:base = "aluminum"
+        custom token omni:simready:nonvisual:coating = "paint"
+        token outputs:displacement (
+            displayGroup = "Outputs"
+        )
+        prepend token outputs:mdl:displacement.connect = </Materials/mat_5/mat_5.outputs:out>
+        prepend token outputs:mdl:surface.connect = </Materials/mat_5/mat_5.outputs:out>
+        prepend token outputs:mdl:volume.connect = </Materials/mat_5/mat_5.outputs:out>
+        token outputs:mtlx:surface.connect = </Materials/mat_5/AgentfixOpenPBRSurface.outputs:out>
+        token outputs:surface (
+            displayGroup = "Outputs"
+        )
+        token outputs:surface.connect = </Materials/mat_5/SimReadyPreviewSurface.outputs:surface>
+        token outputs:volume (
+            displayGroup = "Outputs"
+        )
+
+        def Shader "mat_5" (
+            apiSchemas = ["NodeDefAPI"]
+        )
+        {
+            token info:implementationSource = "sourceAsset"
+            asset info:mdl:sourceAsset = @../materials/mdl/OmniPBR.mdl@
+            token info:mdl:sourceAsset:subIdentifier = "OmniPBR"
+            color3f inputs:diffuse_color_constant = (0.56078, 0.55294, 0.54118) (
+                customData = {
+                    float3 default = (1, 1, 1)
+                    dictionary range = {
+                        float3 max = (1, 1, 1)
+                        float3 min = (0, 0, 0)
+                    }
+                }
+                displayGroup = "Albedo"
+            )
+            color3f inputs:emissive_color = (1, 1, 1) (
+                customData = {
+                    float3 default = (1, 1, 1)
+                    dictionary range = {
+                        float3 max = (1, 1, 1)
+                        float3 min = (0, 0, 0)
+                    }
+                }
+                displayGroup = "Emissive"
+            )
+            float inputs:emissive_intensity = 10000 (
+                customData = {
+                    double default = 10000
+                    dictionary range = {
+                        double max = 100000
+                        double min = 0
+                    }
+                }
+                displayGroup = "Emissive"
+            )
+            bool inputs:enable_emission = 0 (
+                customData = {
+                    bool default = 0
+                }
+                displayGroup = "Emissive"
+            )
+            bool inputs:enable_opacity = 0 (
+                customData = {
+                    bool default = 0
+                }
+                displayGroup = "Opacity"
+            )
+            bool inputs:enable_opacity_texture = 0 (
+                customData = {
+                    bool default = 0
+                }
+                displayGroup = "Opacity"
+            )
+            float inputs:opacity_constant = 1 (
+                customData = {
+                    double default = 1
+                    dictionary range = {
+                        double max = 1
+                        double min = 0
+                    }
+                }
+                displayGroup = "Opacity"
+            )
+            int inputs:opacity_mode = 1 (
+                customData = {
+                    int default = 1
+                    dictionary range = {
+                        int max = 3
+                        int min = 0
+                    }
+                }
+                displayGroup = "Opacity"
+                renderType = "::base::mono_mode"
+                sdrMetadata = {
+                    string __SDR__enum_value = "mono_average"
+                    string options = "mono_alpha:0|mono_average:1|mono_luminance:2|mono_maximum:3"
+                }
+            )
+            float inputs:opacity_threshold = 0 (
+                customData = {
+                    double default = 0
+                    dictionary range = {
+                        double max = 1
+                        double min = 0
+                    }
+                }
+                displayGroup = "Opacity"
+            )
+            float inputs:texture_rotate = 0 (
+                customData = {
+                    double default = 0
+                    dictionary range = {
+                        double max = 360
+                        double min = 0
+                    }
+                }
+                displayGroup = "UV"
+            )
+            float2 inputs:texture_scale = (1, 1) (
+                customData = {
+                    float2 default = (1, 1)
+                }
+                displayGroup = "UV"
+            )
+            float2 inputs:texture_translate = (0, 0) (
+                customData = {
+                    float2 default = (0, 0)
+                }
+                displayGroup = "UV"
+            )
+            token outputs:out
+        }
+
+        def Shader "SimReadyPreviewSurface"
+        {
+            token info:id = "UsdPreviewSurface"
+            color3f inputs:diffuseColor = (0.56078, 0.55294, 0.54118)
+            float inputs:metallic = 0
+            float inputs:opacity = 1
+            float inputs:roughness = 0.5
+            token outputs:surface
+        }
+
+        def Shader "SimReadyUV"
+        {
+            token info:id = "UsdPrimvarReader_float2"
+            string inputs:varname = "st"
+            float2 outputs:result
+        }
+
+        def Shader "AgentfixOpenPBRSurface"
+        {
+            uniform token info:id = "ND_open_pbr_surface_surfaceshader"
+            color3f inputs:base_color = (0.5, 0.5, 0.5)
+            float inputs:base_metalness = 0
+            float inputs:specular_roughness = 0.5
+            token outputs:out
+        }
+    }
+
+    def Material "mat_4"
+    {
+        custom token[] omni:simready:nonvisual:attributes = ["none"]
+        custom token omni:simready:nonvisual:base = "aluminum"
+        custom token omni:simready:nonvisual:coating = "paint"
+        token outputs:displacement (
+            displayGroup = "Outputs"
+        )
+        prepend token outputs:mdl:displacement.connect = </Materials/mat_4/mat_4.outputs:out>
+        prepend token outputs:mdl:surface.connect = </Materials/mat_4/mat_4.outputs:out>
+        prepend token outputs:mdl:volume.connect = </Materials/mat_4/mat_4.outputs:out>
+        token outputs:mtlx:surface.connect = </Materials/mat_4/AgentfixOpenPBRSurface.outputs:out>
+        token outputs:surface (
+            displayGroup = "Outputs"
+        )
+        token outputs:surface.connect = </Materials/mat_4/SimReadyPreviewSurface.outputs:surface>
+        token outputs:volume (
+            displayGroup = "Outputs"
+        )
+
+        def Shader "mat_4" (
+            apiSchemas = ["NodeDefAPI"]
+        )
+        {
+            token info:implementationSource = "sourceAsset"
+            asset info:mdl:sourceAsset = @../materials/mdl/OmniPBR.mdl@
+            token info:mdl:sourceAsset:subIdentifier = "OmniPBR"
+            color3f inputs:diffuse_color_constant = (0.79608, 0.79608, 0.79608) (
+                customData = {
+                    float3 default = (1, 1, 1)
+                    dictionary range = {
+                        float3 max = (1, 1, 1)
+                        float3 min = (0, 0, 0)
+                    }
+                }
+                displayGroup = "Albedo"
+            )
+            color3f inputs:emissive_color = (1, 1, 1) (
+                customData = {
+                    float3 default = (1, 1, 1)
+                    dictionary range = {
+                        float3 max = (1, 1, 1)
+                        float3 min = (0, 0, 0)
+                    }
+                }
+                displayGroup = "Emissive"
+            )
+            float inputs:emissive_intensity = 10000 (
+                customData = {
+                    double default = 10000
+                    dictionary range = {
+                        double max = 100000
+                        double min = 0
+                    }
+                }
+                displayGroup = "Emissive"
+            )
+            bool inputs:enable_emission = 0 (
+                customData = {
+                    bool default = 0
+                }
+                displayGroup = "Emissive"
+            )
+            bool inputs:enable_opacity = 0 (
+                customData = {
+                    bool default = 0
+                }
+                displayGroup = "Opacity"
+            )
+            bool inputs:enable_opacity_texture = 0 (
+                customData = {
+                    bool default = 0
+                }
+                displayGroup = "Opacity"
+            )
+            float inputs:opacity_constant = 1 (
+                customData = {
+                    double default = 1
+                    dictionary range = {
+                        double max = 1
+                        double min = 0
+                    }
+                }
+                displayGroup = "Opacity"
+            )
+            int inputs:opacity_mode = 1 (
+                customData = {
+                    int default = 1
+                    dictionary range = {
+                        int max = 3
+                        int min = 0
+                    }
+                }
+                displayGroup = "Opacity"
+                renderType = "::base::mono_mode"
+                sdrMetadata = {
+                    string __SDR__enum_value = "mono_average"
+                    string options = "mono_alpha:0|mono_average:1|mono_luminance:2|mono_maximum:3"
+                }
+            )
+            float inputs:opacity_threshold = 0 (
+                customData = {
+                    double default = 0
+                    dictionary range = {
+                        double max = 1
+                        double min = 0
+                    }
+                }
+                displayGroup = "Opacity"
+            )
+            float inputs:texture_rotate = 0 (
+                customData = {
+                    double default = 0
+                    dictionary range = {
+                        double max = 360
+                        double min = 0
+                    }
+                }
+                displayGroup = "UV"
+            )
+            float2 inputs:texture_scale = (1, 1) (
+                customData = {
+                    float2 default = (1, 1)
+                }
+                displayGroup = "UV"
+            )
+            float2 inputs:texture_translate = (0, 0) (
+                customData = {
+                    float2 default = (0, 0)
+                }
+                displayGroup = "UV"
+            )
+            token outputs:out
+        }
+
+        def Shader "SimReadyPreviewSurface"
+        {
+            token info:id = "UsdPreviewSurface"
+            color3f inputs:diffuseColor = (0.79608, 0.79608, 0.79608)
+            float inputs:metallic = 0
+            float inputs:opacity = 1
+            float inputs:roughness = 0.5
+            token outputs:surface
+        }
+
+        def Shader "SimReadyUV"
+        {
+            token info:id = "UsdPrimvarReader_float2"
+            string inputs:varname = "st"
+            float2 outputs:result
+        }
+
+        def Shader "AgentfixOpenPBRSurface"
+        {
+            uniform token info:id = "ND_open_pbr_surface_surfaceshader"
+            color3f inputs:base_color = (0.5, 0.5, 0.5)
+            float inputs:base_metalness = 0
+            float inputs:specular_roughness = 0.5
+            token outputs:out
+        }
+    }
+
+    def Material "mat_0"
+    {
+        custom token[] omni:simready:nonvisual:attributes = ["none"]
+        custom token omni:simready:nonvisual:base = "aluminum"
+        custom token omni:simready:nonvisual:coating = "paint"
+        token outputs:displacement (
+            displayGroup = "Outputs"
+        )
+        prepend token outputs:mdl:displacement.connect = </Materials/mat_0/mat_0.outputs:out>
+        prepend token outputs:mdl:surface.connect = </Materials/mat_0/mat_0.outputs:out>
+        prepend token outputs:mdl:volume.connect = </Materials/mat_0/mat_0.outputs:out>
+        token outputs:mtlx:surface.connect = </Materials/mat_0/AgentfixOpenPBRSurface.outputs:out>
+        token outputs:surface (
+            displayGroup = "Outputs"
+        )
+        token outputs:surface.connect = </Materials/mat_0/SimReadyPreviewSurface.outputs:surface>
+        token outputs:volume (
+            displayGroup = "Outputs"
+        )
+
+        def Shader "mat_0" (
+            apiSchemas = ["NodeDefAPI"]
+        )
+        {
+            token info:implementationSource = "sourceAsset"
+            asset info:mdl:sourceAsset = @../materials/mdl/OmniPBR.mdl@
+            token info:mdl:sourceAsset:subIdentifier = "OmniPBR"
+            color3f inputs:diffuse_color_constant = (0.98431, 0.97647, 0.9568599) (
+                customData = {
+                    float3 default = (1, 1, 1)
+                    dictionary range = {
+                        float3 max = (1, 1, 1)
+                        float3 min = (0, 0, 0)
+                    }
+                }
+                displayGroup = "Albedo"
+            )
+            color3f inputs:emissive_color = (1, 1, 1) (
+                customData = {
+                    float3 default = (1, 1, 1)
+                    dictionary range = {
+                        float3 max = (1, 1, 1)
+                        float3 min = (0, 0, 0)
+                    }
+                }
+                displayGroup = "Emissive"
+            )
+            float inputs:emissive_intensity = 10000 (
+                customData = {
+                    double default = 10000
+                    dictionary range = {
+                        double max = 100000
+                        double min = 0
+                    }
+                }
+                displayGroup = "Emissive"
+            )
+            bool inputs:enable_emission = 0 (
+                customData = {
+                    bool default = 0
+                }
+                displayGroup = "Emissive"
+            )
+            bool inputs:enable_opacity = 0 (
+                customData = {
+                    bool default = 0
+                }
+                displayGroup = "Opacity"
+            )
+            bool inputs:enable_opacity_texture = 0 (
+                customData = {
+                    bool default = 0
+                }
+                displayGroup = "Opacity"
+            )
+            float inputs:opacity_constant = 1 (
+                customData = {
+                    double default = 1
+                    dictionary range = {
+                        double max = 1
+                        double min = 0
+                    }
+                }
+                displayGroup = "Opacity"
+            )
+            int inputs:opacity_mode = 1 (
+                customData = {
+                    int default = 1
+                    dictionary range = {
+                        int max = 3
+                        int min = 0
+                    }
+                }
+                displayGroup = "Opacity"
+                renderType = "::base::mono_mode"
+                sdrMetadata = {
+                    string __SDR__enum_value = "mono_average"
+                    string options = "mono_alpha:0|mono_average:1|mono_luminance:2|mono_maximum:3"
+                }
+            )
+            float inputs:opacity_threshold = 0 (
+                customData = {
+                    double default = 0
+                    dictionary range = {
+                        double max = 1
+                        double min = 0
+                    }
+                }
+                displayGroup = "Opacity"
+            )
+            float inputs:texture_rotate = 0 (
+                customData = {
+                    double default = 0
+                    dictionary range = {
+                        double max = 360
+                        double min = 0
+                    }
+                }
+                displayGroup = "UV"
+            )
+            float2 inputs:texture_scale = (1, 1) (
+                customData = {
+                    float2 default = (1, 1)
+                }
+                displayGroup = "UV"
+            )
+            float2 inputs:texture_translate = (0, 0) (
+                customData = {
+                    float2 default = (0, 0)
+                }
+                displayGroup = "UV"
+            )
+            token outputs:out
+        }
+
+        def Shader "SimReadyPreviewSurface"
+        {
+            token info:id = "UsdPreviewSurface"
+            color3f inputs:diffuseColor = (0.98431, 0.97647, 0.9568599)
+            float inputs:metallic = 0
+            float inputs:opacity = 1
+            float inputs:roughness = 0.5
+            token outputs:surface
+        }
+
+        def Shader "SimReadyUV"
+        {
+            token info:id = "UsdPrimvarReader_float2"
+            string inputs:varname = "st"
+            float2 outputs:result
+        }
+
+        def Shader "AgentfixOpenPBRSurface"
+        {
+            uniform token info:id = "ND_open_pbr_surface_surfaceshader"
+            color3f inputs:base_color = (0.5, 0.5, 0.5)
+            float inputs:base_metalness = 0
+            float inputs:specular_roughness = 0.5
+            token outputs:out
+        }
+    }
+
+    def Material "DefaultMaterial"
+    {
+        custom token[] omni:simready:nonvisual:attributes = ["none"]
+        custom token omni:simready:nonvisual:base = "aluminum"
+        custom token omni:simready:nonvisual:coating = "paint"
+        token outputs:displacement (
+            displayGroup = "Outputs"
+        )
+        prepend token outputs:mdl:displacement.connect = </Materials/DefaultMaterial/DefaultMaterial.outputs:out>
+        prepend token outputs:mdl:surface.connect = </Materials/DefaultMaterial/DefaultMaterial.outputs:out>
+        prepend token outputs:mdl:volume.connect = </Materials/DefaultMaterial/DefaultMaterial.outputs:out>
+        token outputs:mtlx:surface.connect = </Materials/DefaultMaterial/AgentfixOpenPBRSurface.outputs:out>
+        token outputs:surface (
+            displayGroup = "Outputs"
+        )
+        token outputs:surface.connect = </Materials/DefaultMaterial/SimReadyPreviewSurface.outputs:surface>
+        token outputs:volume (
+            displayGroup = "Outputs"
+        )
+
+        def Shader "DefaultMaterial" (
+            apiSchemas = ["NodeDefAPI"]
+        )
+        {
+            token info:implementationSource = "sourceAsset"
+            asset info:mdl:sourceAsset = @../materials/mdl/OmniPBR.mdl@
+            token info:mdl:sourceAsset:subIdentifier = "OmniPBR"
+            color3f inputs:diffuse_color_constant = (0.627451, 0.627451, 0.627451) (
+                customData = {
+                    float3 default = (1, 1, 1)
+                    dictionary range = {
+                        float3 max = (1, 1, 1)
+                        float3 min = (0, 0, 0)
+                    }
+                }
+                displayGroup = "Albedo"
+            )
+            color3f inputs:emissive_color = (1, 1, 1) (
+                customData = {
+                    float3 default = (1, 1, 1)
+                    dictionary range = {
+                        float3 max = (1, 1, 1)
+                        float3 min = (0, 0, 0)
+                    }
+                }
+                displayGroup = "Emissive"
+            )
+            float inputs:emissive_intensity = 10000 (
+                customData = {
+                    double default = 10000
+                    dictionary range = {
+                        double max = 100000
+                        double min = 0
+                    }
+                }
+                displayGroup = "Emissive"
+            )
+            bool inputs:enable_emission = 0 (
+                customData = {
+                    bool default = 0
+                }
+                displayGroup = "Emissive"
+            )
+            bool inputs:enable_opacity = 0 (
+                customData = {
+                    bool default = 0
+                }
+                displayGroup = "Opacity"
+            )
+            bool inputs:enable_opacity_texture = 0 (
+                customData = {
+                    bool default = 0
+                }
+                displayGroup = "Opacity"
+            )
+            float inputs:opacity_constant = 1 (
+                customData = {
+                    double default = 1
+                    dictionary range = {
+                        double max = 1
+                        double min = 0
+                    }
+                }
+                displayGroup = "Opacity"
+            )
+            int inputs:opacity_mode = 1 (
+                customData = {
+                    int default = 1
+                    dictionary range = {
+                        int max = 3
+                        int min = 0
+                    }
+                }
+                displayGroup = "Opacity"
+                renderType = "::base::mono_mode"
+                sdrMetadata = {
+                    string __SDR__enum_value = "mono_average"
+                    string options = "mono_alpha:0|mono_average:1|mono_luminance:2|mono_maximum:3"
+                }
+            )
+            float inputs:opacity_threshold = 0 (
+                customData = {
+                    double default = 0
+                    dictionary range = {
+                        double max = 1
+                        double min = 0
+                    }
+                }
+                displayGroup = "Opacity"
+            )
+            float inputs:texture_rotate = 0 (
+                customData = {
+                    double default = 0
+                    dictionary range = {
+                        double max = 360
+                        double min = 0
+                    }
+                }
+                displayGroup = "UV"
+            )
+            float2 inputs:texture_scale = (1, 1) (
+                customData = {
+                    float2 default = (1, 1)
+                }
+                displayGroup = "UV"
+            )
+            float2 inputs:texture_translate = (0, 0) (
+                customData = {
+                    float2 default = (0, 0)
+                }
+                displayGroup = "UV"
+            )
+            token outputs:out
+        }
+
+        def Shader "SimReadyPreviewSurface"
+        {
+            token info:id = "UsdPreviewSurface"
+            color3f inputs:diffuseColor = (0.627451, 0.627451, 0.627451)
+            float inputs:metallic = 0
+            float inputs:opacity = 1
+            float inputs:roughness = 0.5
+            token outputs:surface
+        }
+
+        def Shader "SimReadyUV"
+        {
+            token info:id = "UsdPrimvarReader_float2"
+            string inputs:varname = "st"
+            float2 outputs:result
+        }
+
+        def Shader "AgentfixOpenPBRSurface"
+        {
+            uniform token info:id = "ND_open_pbr_surface_surfaceshader"
+            color3f inputs:base_color = (0.5, 0.5, 0.5)
+            float inputs:base_metalness = 0
+            float inputs:specular_roughness = 0.5
+            token outputs:out
+        }
+    }
+
+    def Material "mat_3_001"
+    {
+        custom token[] omni:simready:nonvisual:attributes = ["none"]
+        custom token omni:simready:nonvisual:base = "aluminum"
+        custom token omni:simready:nonvisual:coating = "paint"
+        token outputs:displacement (
+            displayGroup = "Outputs"
+        )
+        prepend token outputs:mdl:displacement.connect = </Materials/mat_3_001/mat_3_001.outputs:out>
+        prepend token outputs:mdl:surface.connect = </Materials/mat_3_001/mat_3_001.outputs:out>
+        prepend token outputs:mdl:volume.connect = </Materials/mat_3_001/mat_3_001.outputs:out>
+        token outputs:mtlx:surface.connect = </Materials/mat_3_001/AgentfixOpenPBRSurface.outputs:out>
+        token outputs:surface (
+            displayGroup = "Outputs"
+        )
+        token outputs:surface.connect = </Materials/mat_3_001/SimReadyPreviewSurface.outputs:surface>
+        token outputs:volume (
+            displayGroup = "Outputs"
+        )
+
+        def Shader "mat_3_001" (
+            apiSchemas = ["NodeDefAPI"]
+        )
+        {
+            token info:implementationSource = "sourceAsset"
+            asset info:mdl:sourceAsset = @../materials/mdl/OmniPBR.mdl@
+            token info:mdl:sourceAsset:subIdentifier = "OmniPBR"
+            color3f inputs:diffuse_color_constant = (0, 0, 0) (
+                customData = {
+                    float3 default = (1, 1, 1)
+                    dictionary range = {
+                        float3 max = (1, 1, 1)
+                        float3 min = (0, 0, 0)
+                    }
+                }
+                displayGroup = "Albedo"
+            )
+            color3f inputs:emissive_color = (1, 1, 1) (
+                customData = {
+                    float3 default = (1, 1, 1)
+                    dictionary range = {
+                        float3 max = (1, 1, 1)
+                        float3 min = (0, 0, 0)
+                    }
+                }
+                displayGroup = "Emissive"
+            )
+            float inputs:emissive_intensity = 10000 (
+                customData = {
+                    double default = 10000
+                    dictionary range = {
+                        double max = 100000
+                        double min = 0
+                    }
+                }
+                displayGroup = "Emissive"
+            )
+            bool inputs:enable_emission = 0 (
+                customData = {
+                    bool default = 0
+                }
+                displayGroup = "Emissive"
+            )
+            bool inputs:enable_opacity = 0 (
+                customData = {
+                    bool default = 0
+                }
+                displayGroup = "Opacity"
+            )
+            bool inputs:enable_opacity_texture = 0 (
+                customData = {
+                    bool default = 0
+                }
+                displayGroup = "Opacity"
+            )
+            float inputs:opacity_constant = 1 (
+                customData = {
+                    double default = 1
+                    dictionary range = {
+                        double max = 1
+                        double min = 0
+                    }
+                }
+                displayGroup = "Opacity"
+            )
+            int inputs:opacity_mode = 1 (
+                customData = {
+                    int default = 1
+                    dictionary range = {
+                        int max = 3
+                        int min = 0
+                    }
+                }
+                displayGroup = "Opacity"
+                renderType = "::base::mono_mode"
+                sdrMetadata = {
+                    string __SDR__enum_value = "mono_average"
+                    string options = "mono_alpha:0|mono_average:1|mono_luminance:2|mono_maximum:3"
+                }
+            )
+            float inputs:opacity_threshold = 0 (
+                customData = {
+                    double default = 0
+                    dictionary range = {
+                        double max = 1
+                        double min = 0
+                    }
+                }
+                displayGroup = "Opacity"
+            )
+            float inputs:texture_rotate = 0 (
+                customData = {
+                    double default = 0
+                    dictionary range = {
+                        double max = 360
+                        double min = 0
+                    }
+                }
+                displayGroup = "UV"
+            )
+            float2 inputs:texture_scale = (1, 1) (
+                customData = {
+                    float2 default = (1, 1)
+                }
+                displayGroup = "UV"
+            )
+            float2 inputs:texture_translate = (0, 0) (
+                customData = {
+                    float2 default = (0, 0)
+                }
+                displayGroup = "UV"
+            )
+            token outputs:out
+        }
+
+        def Shader "SimReadyPreviewSurface"
+        {
+            token info:id = "UsdPreviewSurface"
+            color3f inputs:diffuseColor = (0, 0, 0)
+            float inputs:metallic = 0
+            float inputs:opacity = 1
+            float inputs:roughness = 0.5
+            token outputs:surface
+        }
+
+        def Shader "SimReadyUV"
+        {
+            token info:id = "UsdPrimvarReader_float2"
+            string inputs:varname = "st"
+            float2 outputs:result
+        }
+
+        def Shader "AgentfixOpenPBRSurface"
+        {
+            uniform token info:id = "ND_open_pbr_surface_surfaceshader"
+            color3f inputs:base_color = (0.5, 0.5, 0.5)
+            float inputs:base_metalness = 0
+            float inputs:specular_roughness = 0.5
+            token outputs:out
+        }
+    }
+
+    def Material "DefaultMaterial_0"
+    {
+        custom token[] omni:simready:nonvisual:attributes = ["none"]
+        custom token omni:simready:nonvisual:base = "plastic"
+        custom token omni:simready:nonvisual:coating = "none"
+        token outputs:displacement (
+            displayGroup = "Outputs"
+        )
+        prepend token outputs:mdl:displacement.connect = </Materials/DefaultMaterial_0/DefaultMaterial.outputs:out>
+        prepend token outputs:mdl:surface.connect = </Materials/DefaultMaterial_0/DefaultMaterial.outputs:out>
+        prepend token outputs:mdl:volume.connect = </Materials/DefaultMaterial_0/DefaultMaterial.outputs:out>
+        token outputs:mtlx:surface.connect = </Materials/DefaultMaterial_0/AgentfixOpenPBRSurface.outputs:out>
+        token outputs:surface (
+            displayGroup = "Outputs"
+        )
+        token outputs:surface.connect = </Materials/DefaultMaterial_0/SimReadyPreviewSurface.outputs:surface>
+        token outputs:volume (
+            displayGroup = "Outputs"
+        )
+
+        def Shader "DefaultMaterial" (
+            apiSchemas = ["NodeDefAPI"]
+        )
+        {
+            token info:implementationSource = "sourceAsset"
+            asset info:mdl:sourceAsset = @../materials/mdl/OmniPBR.mdl@
+            token info:mdl:sourceAsset:subIdentifier = "OmniPBR"
+            color3f inputs:diffuse_color_constant = (1, 1, 1) (
+                customData = {
+                    float3 default = (1, 1, 1)
+                    dictionary range = {
+                        float3 max = (1, 1, 1)
+                        float3 min = (0, 0, 0)
+                    }
+                }
+                displayGroup = "Albedo"
+            )
+            color3f inputs:emissive_color = (1, 1, 1) (
+                customData = {
+                    float3 default = (1, 1, 1)
+                    dictionary range = {
+                        float3 max = (1, 1, 1)
+                        float3 min = (0, 0, 0)
+                    }
+                }
+                displayGroup = "Emissive"
+            )
+            float inputs:emissive_intensity = 10000 (
+                customData = {
+                    double default = 10000
+                    dictionary range = {
+                        double max = 100000
+                        double min = 0
+                    }
+                }
+                displayGroup = "Emissive"
+            )
+            bool inputs:enable_emission = 0 (
+                customData = {
+                    bool default = 0
+                }
+                displayGroup = "Emissive"
+            )
+            bool inputs:enable_opacity = 0 (
+                customData = {
+                    bool default = 0
+                }
+                displayGroup = "Opacity"
+            )
+            bool inputs:enable_opacity_texture = 0 (
+                customData = {
+                    bool default = 0
+                }
+                displayGroup = "Opacity"
+            )
+            float inputs:opacity_constant = 1 (
+                customData = {
+                    double default = 1
+                    dictionary range = {
+                        double max = 1
+                        double min = 0
+                    }
+                }
+                displayGroup = "Opacity"
+            )
+            int inputs:opacity_mode = 1 (
+                customData = {
+                    int default = 1
+                    dictionary range = {
+                        int max = 3
+                        int min = 0
+                    }
+                }
+                displayGroup = "Opacity"
+                renderType = "::base::mono_mode"
+                sdrMetadata = {
+                    string __SDR__enum_value = "mono_average"
+                    string options = "mono_alpha:0|mono_average:1|mono_luminance:2|mono_maximum:3"
+                }
+            )
+            float inputs:opacity_threshold = 0 (
+                customData = {
+                    double default = 0
+                    dictionary range = {
+                        double max = 1
+                        double min = 0
+                    }
+                }
+                displayGroup = "Opacity"
+            )
+            float inputs:texture_rotate = 0 (
+                customData = {
+                    double default = 0
+                    dictionary range = {
+                        double max = 360
+                        double min = 0
+                    }
+                }
+                displayGroup = "UV"
+            )
+            float2 inputs:texture_scale = (1, 1) (
+                customData = {
+                    float2 default = (1, 1)
+                }
+                displayGroup = "UV"
+            )
+            float2 inputs:texture_translate = (0, 0) (
+                customData = {
+                    float2 default = (0, 0)
+                }
+                displayGroup = "UV"
+            )
+            token outputs:out
+        }
+
+        def Shader "SimReadyPreviewSurface"
+        {
+            token info:id = "UsdPreviewSurface"
+            color3f inputs:diffuseColor = (1, 1, 1)
+            float inputs:metallic = 0
+            float inputs:opacity = 1
+            float inputs:roughness = 0.5
+            token outputs:surface
+        }
+
+        def Shader "SimReadyUV"
+        {
+            token info:id = "UsdPrimvarReader_float2"
+            string inputs:varname = "st"
+            float2 outputs:result
+        }
+
+        def Shader "AgentfixOpenPBRSurface"
+        {
+            uniform token info:id = "ND_open_pbr_surface_surfaceshader"
+            color3f inputs:base_color = (0.5, 0.5, 0.5)
+            float inputs:base_metalness = 0
+            float inputs:specular_roughness = 0.5
+            token outputs:out
+        }
+    }
+}
+

openarm_openarm_bimanual/payloads/robot.usda

@@ -0,0 +1,444 @@
+#usda 1.0
+(
+    customLayerData = {
+    }
+    defaultPrim = "openarm"
+    metersPerUnit = 1
+    upAxis = "Z"
+)
+
+over "openarm" (
+    prepend apiSchemas = ["IsaacRobotAPI"]
+)
+{
+    string isaac:namespace (
+        displayName = "Namespace"
+        doc = "Namespace of the prim in Isaac Sim"
+    )
+    prepend rel isaac:physics:robotJoints = [
+        </openarm/joints/openarm_left_joint1>,
+        </openarm/joints/openarm_left_joint2>,
+        </openarm/joints/openarm_left_joint3>,
+        </openarm/joints/openarm_left_joint4>,
+        </openarm/joints/openarm_left_joint5>,
+        </openarm/joints/openarm_left_joint6>,
+        </openarm/joints/openarm_left_joint7>,
+        </openarm/joints/openarm_left_finger_joint1>,
+        </openarm/joints/openarm_left_finger_joint2>,
+        </openarm/joints/openarm_right_joint1>,
+        </openarm/joints/openarm_right_joint2>,
+        </openarm/joints/openarm_right_joint3>,
+        </openarm/joints/openarm_right_joint4>,
+        </openarm/joints/openarm_right_joint5>,
+        </openarm/joints/openarm_right_joint6>,
+        </openarm/joints/openarm_right_joint7>,
+        </openarm/joints/openarm_right_finger_joint1>,
+        </openarm/joints/openarm_right_finger_joint2>,
+        </openarm/root_joint>,
+    ]
+    prepend rel isaac:physics:robotLinks = [
+        </openarm/openarm_body_link>,
+        </openarm/openarm_body_link/openarm_left_link0>,
+        </openarm/openarm_body_link/openarm_right_link0>,
+        </openarm/openarm_left_link1>,
+        </openarm/openarm_left_link2>,
+        </openarm/openarm_left_link3>,
+        </openarm/openarm_left_link4>,
+        </openarm/openarm_left_link5>,
+        </openarm/openarm_left_link6>,
+        </openarm/openarm_left_link7>,
+        </openarm/openarm_left_right_finger>,
+        </openarm/openarm_left_left_finger>,
+        </openarm/openarm_left_link7/openarm_left_hand>,
+        </openarm/openarm_left_link7/openarm_left_ee_tcp>,
+        </openarm/openarm_right_link1>,
+        </openarm/openarm_right_link2>,
+        </openarm/openarm_right_link3>,
+        </openarm/openarm_right_link4>,
+        </openarm/openarm_right_link5>,
+        </openarm/openarm_right_link6>,
+        </openarm/openarm_right_link7>,
+        </openarm/openarm_right_right_finger>,
+        </openarm/openarm_right_left_finger>,
+        </openarm/openarm_right_link7/openarm_right_hand>,
+        </openarm/openarm_right_link7/openarm_right_ee_tcp>,
+        </openarm/openarm_left_link7/openarm_left_hand/visuals>,
+        </openarm/openarm_left_link7/openarm_left_hand/collisions>,
+        </openarm/openarm_left_link7/openarm_left_ee_tcp/visuals>,
+        </openarm/openarm_left_link7/openarm_left_ee_tcp/collisions>,
+        </openarm/openarm_right_link7/openarm_right_hand/visuals>,
+        </openarm/openarm_right_link7/openarm_right_hand/collisions>,
+        </openarm/openarm_right_link7/openarm_right_ee_tcp/visuals>,
+        </openarm/openarm_right_link7/openarm_right_ee_tcp/collisions>,
+    ]
+    token isaac:robotType = "Manipulator"
+
+    over "joints"
+    {
+        over "openarm_left_joint1" (
+            delete apiSchemas = ["PhysicsJointStateAPI:angular"]
+            prepend apiSchemas = ["IsaacJointAPI"]
+        )
+        {
+        }
+
+        over "openarm_left_joint2" (
+            delete apiSchemas = ["PhysicsJointStateAPI:angular"]
+            prepend apiSchemas = ["IsaacJointAPI"]
+        )
+        {
+        }
+
+        over "openarm_left_joint3" (
+            delete apiSchemas = ["PhysicsJointStateAPI:angular"]
+            prepend apiSchemas = ["IsaacJointAPI"]
+        )
+        {
+        }
+
+        over "openarm_left_joint4" (
+            delete apiSchemas = ["PhysicsJointStateAPI:angular"]
+            prepend apiSchemas = ["IsaacJointAPI"]
+        )
+        {
+        }
+
+        over "openarm_left_joint5" (
+            delete apiSchemas = ["PhysicsJointStateAPI:angular"]
+            prepend apiSchemas = ["IsaacJointAPI"]
+        )
+        {
+        }
+
+        over "openarm_left_joint6" (
+            delete apiSchemas = ["PhysicsJointStateAPI:angular"]
+            prepend apiSchemas = ["IsaacJointAPI"]
+        )
+        {
+        }
+
+        over "openarm_left_joint7" (
+            delete apiSchemas = ["PhysicsJointStateAPI:angular"]
+            prepend apiSchemas = ["IsaacJointAPI"]
+        )
+        {
+        }
+
+        over "openarm_left_finger_joint1" (
+            delete apiSchemas = ["PhysicsJointStateAPI:linear"]
+            prepend apiSchemas = ["IsaacJointAPI"]
+        )
+        {
+        }
+
+        over "openarm_left_finger_joint2" (
+            delete apiSchemas = ["PhysicsJointStateAPI:linear"]
+            prepend apiSchemas = ["IsaacJointAPI"]
+        )
+        {
+        }
+
+        over "openarm_left_hand" (
+            prepend apiSchemas = ["IsaacJointAPI"]
+        )
+        {
+        }
+
+        over "openarm_left_ee_tcp_joint" (
+            prepend apiSchemas = ["IsaacJointAPI"]
+        )
+        {
+        }
+
+        over "openarm_right_joint1" (
+            delete apiSchemas = ["PhysicsJointStateAPI:angular"]
+            prepend apiSchemas = ["IsaacJointAPI"]
+        )
+        {
+        }
+
+        over "openarm_right_joint2" (
+            delete apiSchemas = ["PhysicsJointStateAPI:angular"]
+            prepend apiSchemas = ["IsaacJointAPI"]
+        )
+        {
+        }
+
+        over "openarm_right_joint3" (
+            delete apiSchemas = ["PhysicsJointStateAPI:angular"]
+            prepend apiSchemas = ["IsaacJointAPI"]
+        )
+        {
+        }
+
+        over "openarm_right_joint4" (
+            delete apiSchemas = ["PhysicsJointStateAPI:angular"]
+            prepend apiSchemas = ["IsaacJointAPI"]
+        )
+        {
+        }
+
+        over "openarm_right_joint5" (
+            delete apiSchemas = ["PhysicsJointStateAPI:angular"]
+            prepend apiSchemas = ["IsaacJointAPI"]
+        )
+        {
+        }
+
+        over "openarm_right_joint6" (
+            delete apiSchemas = ["PhysicsJointStateAPI:angular"]
+            prepend apiSchemas = ["IsaacJointAPI"]
+        )
+        {
+        }
+
+        over "openarm_right_joint7" (
+            delete apiSchemas = ["PhysicsJointStateAPI:angular"]
+            prepend apiSchemas = ["IsaacJointAPI"]
+        )
+        {
+        }
+
+        over "openarm_right_finger_joint1" (
+            delete apiSchemas = ["PhysicsJointStateAPI:linear"]
+            prepend apiSchemas = ["IsaacJointAPI"]
+        )
+        {
+        }
+
+        over "openarm_right_finger_joint2" (
+            delete apiSchemas = ["PhysicsJointStateAPI:linear"]
+            prepend apiSchemas = ["IsaacJointAPI"]
+        )
+        {
+        }
+
+        over "openarm_right_hand" (
+            prepend apiSchemas = ["IsaacJointAPI"]
+        )
+        {
+        }
+
+        over "openarm_right_ee_tcp_joint" (
+            prepend apiSchemas = ["IsaacJointAPI"]
+        )
+        {
+        }
+    }
+
+    over "openarm_body_link" (
+        prepend apiSchemas = ["IsaacLinkAPI"]
+    )
+    {
+        string isaac:nameOverride (
+            displayName = "Name Override"
+            doc = "Name override for prim lookup in base name search"
+        )
+
+        over "openarm_left_link0" (
+            prepend apiSchemas = ["IsaacLinkAPI", "IsaacSiteAPI"]
+        )
+        {
+        }
+
+        over "openarm_right_link0" (
+            prepend apiSchemas = ["IsaacLinkAPI", "IsaacSiteAPI"]
+        )
+        {
+        }
+    }
+
+    over "openarm_left_link1" (
+        prepend apiSchemas = ["IsaacLinkAPI"]
+    )
+    {
+    }
+
+    over "openarm_left_link2" (
+        prepend apiSchemas = ["IsaacLinkAPI"]
+    )
+    {
+        string isaac:nameOverride (
+            displayName = "Name Override"
+            doc = "Name override for prim lookup in base name search"
+        )
+    }
+
+    over "openarm_left_link3" (
+        prepend apiSchemas = ["IsaacLinkAPI"]
+    )
+    {
+        string isaac:nameOverride (
+            displayName = "Name Override"
+            doc = "Name override for prim lookup in base name search"
+        )
+    }
+
+    over "openarm_left_link4" (
+        prepend apiSchemas = ["IsaacLinkAPI"]
+    )
+    {
+    }
+
+    over "openarm_left_link5" (
+        prepend apiSchemas = ["IsaacLinkAPI"]
+    )
+    {
+    }
+
+    over "openarm_left_link6" (
+        prepend apiSchemas = ["IsaacLinkAPI"]
+    )
+    {
+    }
+
+    over "openarm_left_link7" (
+        prepend apiSchemas = ["IsaacLinkAPI"]
+    )
+    {
+        over "openarm_left_ee_tcp"
+        {
+            over "visuals" (
+                prepend apiSchemas = ["IsaacSiteAPI"]
+            )
+            {
+            }
+
+            over "collisions" (
+                prepend apiSchemas = ["IsaacSiteAPI"]
+            )
+            {
+            }
+        }
+
+        over "openarm_left_hand"
+        {
+            string isaac:nameOverride (
+                displayName = "Name Override"
+                doc = "Name override for prim lookup in base name search"
+            )
+
+            over "visuals" (
+                prepend apiSchemas = ["IsaacSiteAPI"]
+            )
+            {
+            }
+
+            over "collisions" (
+                prepend apiSchemas = ["IsaacSiteAPI"]
+            )
+            {
+            }
+        }
+    }
+
+    over "openarm_left_right_finger" (
+        prepend apiSchemas = ["IsaacLinkAPI"]
+    )
+    {
+        string isaac:nameOverride (
+            displayName = "Name Override"
+            doc = "Name override for prim lookup in base name search"
+        )
+    }
+
+    over "openarm_left_left_finger" (
+        prepend apiSchemas = ["IsaacLinkAPI"]
+    )
+    {
+    }
+
+    over "openarm_right_link1" (
+        prepend apiSchemas = ["IsaacLinkAPI"]
+    )
+    {
+    }
+
+    over "openarm_right_link2" (
+        prepend apiSchemas = ["IsaacLinkAPI"]
+    )
+    {
+    }
+
+    over "openarm_right_link3" (
+        prepend apiSchemas = ["IsaacLinkAPI"]
+    )
+    {
+    }
+
+    over "openarm_right_link4" (
+        prepend apiSchemas = ["IsaacLinkAPI"]
+    )
+    {
+    }
+
+    over "openarm_right_link5" (
+        prepend apiSchemas = ["IsaacLinkAPI"]
+    )
+    {
+    }
+
+    over "openarm_right_link6" (
+        prepend apiSchemas = ["IsaacLinkAPI"]
+    )
+    {
+    }
+
+    over "openarm_right_link7" (
+        prepend apiSchemas = ["IsaacLinkAPI"]
+    )
+    {
+        over "openarm_right_ee_tcp"
+        {
+            over "visuals" (
+                prepend apiSchemas = ["IsaacSiteAPI"]
+            )
+            {
+            }
+
+            over "collisions" (
+                prepend apiSchemas = ["IsaacSiteAPI"]
+            )
+            {
+            }
+        }
+
+        over "openarm_right_hand"
+        {
+            over "visuals" (
+                prepend apiSchemas = ["IsaacSiteAPI"]
+            )
+            {
+            }
+
+            over "collisions" (
+                prepend apiSchemas = ["IsaacSiteAPI"]
+            )
+            {
+            }
+        }
+    }
+
+    over "openarm_right_right_finger" (
+        prepend apiSchemas = ["IsaacLinkAPI"]
+    )
+    {
+        string isaac:nameOverride (
+            displayName = "Name Override"
+            doc = "Name override for prim lookup in base name search"
+        )
+    }
+
+    over "openarm_right_left_finger" (
+        prepend apiSchemas = ["IsaacLinkAPI"]
+    )
+    {
+    }
+
+    over "root_joint" (
+        prepend apiSchemas = ["IsaacJointAPI"]
+    )
+    {
+    }
+}
+

openarm_openarm_bimanual/runnables/physics/mujoco.usda

@@ -0,0 +1,686 @@
+#usda 1.0
+(
+    defaultPrim = "openarm"
+)
+
+def "openarm"
+{
+    over "openarm_body_link"
+    {
+        over "collisions"
+        {
+            over "openarm_body_link0_collision"
+            {
+                over "mesh_2" (
+                    prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"]
+                )
+                {
+                    uniform token physics:approximation = "convexHull"
+                }
+            }
+
+            over "openarm_left_link0_collision"
+            {
+                over "mesh_3" (
+                    prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"]
+                )
+                {
+                    uniform token physics:approximation = "convexHull"
+                }
+            }
+
+            over "openarm_right_link0_collision"
+            {
+                over "mesh_3" (
+                    prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"]
+                )
+                {
+                    uniform token physics:approximation = "convexHull"
+                }
+            }
+        }
+    }
+
+    over "openarm_left_link1"
+    {
+        over "collisions"
+        {
+            over "openarm_left_link1_collision"
+            {
+                over "mesh_5" (
+                    prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"]
+                )
+                {
+                    uniform token physics:approximation = "convexHull"
+                }
+            }
+        }
+    }
+
+    over "openarm_left_link2"
+    {
+        over "collisions"
+        {
+            over "openarm_left_link2_collision"
+            {
+                over "mesh_7" (
+                    prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"]
+                )
+                {
+                    uniform token physics:approximation = "convexHull"
+                }
+            }
+        }
+    }
+
+    over "openarm_left_link3"
+    {
+        over "collisions"
+        {
+            over "openarm_left_link3_collision"
+            {
+                over "mesh_9" (
+                    prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"]
+                )
+                {
+                    uniform token physics:approximation = "convexHull"
+                }
+            }
+        }
+    }
+
+    over "openarm_left_link4"
+    {
+        over "collisions"
+        {
+            over "openarm_left_link4_collision"
+            {
+                over "mesh_11" (
+                    prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"]
+                )
+                {
+                    uniform token physics:approximation = "convexHull"
+                }
+            }
+        }
+    }
+
+    over "openarm_left_link5"
+    {
+        over "collisions"
+        {
+            over "openarm_left_link5_collision"
+            {
+                over "mesh_13" (
+                    prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"]
+                )
+                {
+                    uniform token physics:approximation = "convexHull"
+                }
+            }
+        }
+    }
+
+    over "openarm_left_link6"
+    {
+        over "collisions"
+        {
+            over "openarm_left_link6_collision"
+            {
+                over "mesh_15" (
+                    prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"]
+                )
+                {
+                    uniform token physics:approximation = "convexHull"
+                }
+            }
+        }
+    }
+
+    over "openarm_left_link7"
+    {
+        over "collisions"
+        {
+            over "openarm_left_link7_collision"
+            {
+                over "mesh_17" (
+                    prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"]
+                )
+                {
+                    uniform token physics:approximation = "convexHull"
+                }
+            }
+        }
+    }
+
+    over "openarm_left_right_finger"
+    {
+        over "collisions"
+        {
+            over "openarm_left_right_finger_collision"
+            {
+                over "mesh_19" (
+                    prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"]
+                )
+                {
+                    uniform token physics:approximation = "convexHull"
+                }
+            }
+        }
+    }
+
+    over "openarm_left_left_finger"
+    {
+        over "collisions"
+        {
+            over "openarm_left_left_finger_collision"
+            {
+                over "mesh_19" (
+                    prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"]
+                )
+                {
+                    uniform token physics:approximation = "convexHull"
+                }
+            }
+        }
+    }
+
+    over "openarm_right_link1"
+    {
+        over "collisions"
+        {
+            over "openarm_right_link1_collision"
+            {
+                over "mesh_5" (
+                    prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"]
+                )
+                {
+                    uniform token physics:approximation = "convexHull"
+                }
+            }
+        }
+    }
+
+    over "openarm_right_link2"
+    {
+        over "collisions"
+        {
+            over "openarm_right_link2_collision"
+            {
+                over "mesh_7" (
+                    prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"]
+                )
+                {
+                    uniform token physics:approximation = "convexHull"
+                }
+            }
+        }
+    }
+
+    over "openarm_right_link3"
+    {
+        over "collisions"
+        {
+            over "openarm_right_link3_collision"
+            {
+                over "mesh_9" (
+                    prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"]
+                )
+                {
+                    uniform token physics:approximation = "convexHull"
+                }
+            }
+        }
+    }
+
+    over "openarm_right_link4"
+    {
+        over "collisions"
+        {
+            over "openarm_right_link4_collision"
+            {
+                over "mesh_11" (
+                    prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"]
+                )
+                {
+                    uniform token physics:approximation = "convexHull"
+                }
+            }
+        }
+    }
+
+    over "openarm_right_link5"
+    {
+        over "collisions"
+        {
+            over "openarm_right_link5_collision"
+            {
+                over "mesh_13" (
+                    prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"]
+                )
+                {
+                    uniform token physics:approximation = "convexHull"
+                }
+            }
+        }
+    }
+
+    over "openarm_right_link6"
+    {
+        over "collisions"
+        {
+            over "openarm_right_link6_collision"
+            {
+                over "mesh_15" (
+                    prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"]
+                )
+                {
+                    uniform token physics:approximation = "convexHull"
+                }
+            }
+        }
+    }
+
+    over "openarm_right_link7"
+    {
+        over "collisions"
+        {
+            over "openarm_right_link7_collision"
+            {
+                over "mesh_17" (
+                    prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"]
+                )
+                {
+                    uniform token physics:approximation = "convexHull"
+                }
+            }
+        }
+    }
+
+    over "openarm_right_right_finger"
+    {
+        over "collisions"
+        {
+            over "openarm_right_right_finger_collision"
+            {
+                over "mesh_19" (
+                    prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"]
+                )
+                {
+                    uniform token physics:approximation = "convexHull"
+                }
+            }
+        }
+    }
+
+    over "openarm_right_left_finger"
+    {
+        over "collisions"
+        {
+            over "openarm_right_left_finger_collision"
+            {
+                over "mesh_19" (
+                    prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"]
+                )
+                {
+                    uniform token physics:approximation = "convexHull"
+                }
+            }
+        }
+    }
+
+    over "joints"
+    {
+        over "openarm_left_joint1" (
+            prepend apiSchemas = ["MjcJointAPI"]
+        )
+        {
+        }
+
+        over "openarm_left_joint2" (
+            prepend apiSchemas = ["MjcJointAPI"]
+        )
+        {
+        }
+
+        over "openarm_left_joint3" (
+            prepend apiSchemas = ["MjcJointAPI"]
+        )
+        {
+        }
+
+        over "openarm_left_joint4" (
+            prepend apiSchemas = ["MjcJointAPI"]
+        )
+        {
+        }
+
+        over "openarm_left_joint5" (
+            prepend apiSchemas = ["MjcJointAPI"]
+        )
+        {
+        }
+
+        over "openarm_left_joint6" (
+            prepend apiSchemas = ["MjcJointAPI"]
+        )
+        {
+        }
+
+        over "openarm_left_joint7" (
+            prepend apiSchemas = ["MjcJointAPI"]
+        )
+        {
+        }
+
+        over "openarm_left_finger_joint1" (
+            prepend apiSchemas = ["MjcJointAPI"]
+        )
+        {
+        }
+
+        over "openarm_left_finger_joint2" (
+            prepend apiSchemas = ["MjcJointAPI"]
+        )
+        {
+        }
+
+        over "openarm_right_joint1" (
+            prepend apiSchemas = ["MjcJointAPI"]
+        )
+        {
+        }
+
+        over "openarm_right_joint2" (
+            prepend apiSchemas = ["MjcJointAPI"]
+        )
+        {
+        }
+
+        over "openarm_right_joint3" (
+            prepend apiSchemas = ["MjcJointAPI"]
+        )
+        {
+        }
+
+        over "openarm_right_joint4" (
+            prepend apiSchemas = ["MjcJointAPI"]
+        )
+        {
+        }
+
+        over "openarm_right_joint5" (
+            prepend apiSchemas = ["MjcJointAPI"]
+        )
+        {
+        }
+
+        over "openarm_right_joint6" (
+            prepend apiSchemas = ["MjcJointAPI"]
+        )
+        {
+        }
+
+        over "openarm_right_joint7" (
+            prepend apiSchemas = ["MjcJointAPI"]
+        )
+        {
+        }
+
+        over "openarm_right_finger_joint1" (
+            prepend apiSchemas = ["MjcJointAPI"]
+        )
+        {
+        }
+
+        over "openarm_right_finger_joint2" (
+            prepend apiSchemas = ["MjcJointAPI"]
+        )
+        {
+        }
+    }
+
+    def "MuJoCoActuators"
+    {
+        def MjcActuator "act_openarm_joints_openarm_left_joint1" (
+            doc = "Source-derived force-drive PD bias; control is additive effort. Zero control preserves source position and velocity targets. Standard USD drive is retained for neutral and other runtimes; MuJoCo consumers must use this actuator exclusively."
+        )
+        {
+            double[] mjc:biasPrm = [0, -114591.55902616464, -2291.831180523293]
+            token mjc:biasType = "affine"
+            token mjc:ctrlLimited = "false"
+            token mjc:forceLimited = "true"
+            double mjc:forceRange:max = 40
+            double mjc:forceRange:min = -40
+            double[] mjc:gainPrm = [1]
+            token mjc:gainType = "fixed"
+            rel mjc:target = </openarm/joints/openarm_left_joint1>
+        }
+
+        def MjcActuator "act_openarm_joints_openarm_left_joint2" (
+            doc = "Source-derived force-drive PD bias; control is additive effort. Zero control preserves source position and velocity targets. Standard USD drive is retained for neutral and other runtimes; MuJoCo consumers must use this actuator exclusively."
+        )
+        {
+            double[] mjc:biasPrm = [0, -22918.31180523293, -4583.662361046586]
+            token mjc:biasType = "affine"
+            token mjc:ctrlLimited = "false"
+            token mjc:forceLimited = "true"
+            double mjc:forceRange:max = 40
+            double mjc:forceRange:min = -40
+            double[] mjc:gainPrm = [1]
+            token mjc:gainType = "fixed"
+            rel mjc:target = </openarm/joints/openarm_left_joint2>
+        }
+
+        def MjcActuator "act_openarm_joints_openarm_left_joint3" (
+            doc = "Source-derived force-drive PD bias; control is additive effort. Zero control preserves source position and velocity targets. Standard USD drive is retained for neutral and other runtimes; MuJoCo consumers must use this actuator exclusively."
+        )
+        {
+            double[] mjc:biasPrm = [0, -22918.31180523293, -4583.662361046586]
+            token mjc:biasType = "affine"
+            token mjc:ctrlLimited = "false"
+            token mjc:forceLimited = "true"
+            double mjc:forceRange:max = 27
+            double mjc:forceRange:min = -27
+            double[] mjc:gainPrm = [1]
+            token mjc:gainType = "fixed"
+            rel mjc:target = </openarm/joints/openarm_left_joint3>
+        }
+
+        def MjcActuator "act_openarm_joints_openarm_left_joint4" (
+            doc = "Source-derived force-drive PD bias; control is additive effort. Zero control preserves source position and velocity targets. Standard USD drive is retained for neutral and other runtimes; MuJoCo consumers must use this actuator exclusively."
+        )
+        {
+            double[] mjc:biasPrm = [0, -22918.31180523293, -4583.662361046586]
+            token mjc:biasType = "affine"
+            token mjc:ctrlLimited = "false"
+            token mjc:forceLimited = "true"
+            double mjc:forceRange:max = 27
+            double mjc:forceRange:min = -27
+            double[] mjc:gainPrm = [1]
+            token mjc:gainType = "fixed"
+            rel mjc:target = </openarm/joints/openarm_left_joint4>
+        }
+
+        def MjcActuator "act_openarm_joints_openarm_left_joint5" (
+            doc = "Source-derived force-drive PD bias; control is additive effort. Zero control preserves source position and velocity targets. Standard USD drive is retained for neutral and other runtimes; MuJoCo consumers must use this actuator exclusively."
+        )
+        {
+            double[] mjc:biasPrm = [0, -22918.31180523293, -4583.662361046586]
+            token mjc:biasType = "affine"
+            token mjc:ctrlLimited = "false"
+            token mjc:forceLimited = "true"
+            double mjc:forceRange:max = 7
+            double mjc:forceRange:min = -7
+            double[] mjc:gainPrm = [1]
+            token mjc:gainType = "fixed"
+            rel mjc:target = </openarm/joints/openarm_left_joint5>
+        }
+
+        def MjcActuator "act_openarm_joints_openarm_left_joint6" (
+            doc = "Source-derived force-drive PD bias; control is additive effort. Zero control preserves source position and velocity targets. Standard USD drive is retained for neutral and other runtimes; MuJoCo consumers must use this actuator exclusively."
+        )
+        {
+            double[] mjc:biasPrm = [0, -22918.31180523293, -4583.662361046586]
+            token mjc:biasType = "affine"
+            token mjc:ctrlLimited = "false"
+            token mjc:forceLimited = "true"
+            double mjc:forceRange:max = 7
+            double mjc:forceRange:min = -7
+            double[] mjc:gainPrm = [1]
+            token mjc:gainType = "fixed"
+            rel mjc:target = </openarm/joints/openarm_left_joint6>
+        }
+
+        def MjcActuator "act_openarm_joints_openarm_left_joint7" (
+            doc = "Source-derived force-drive PD bias; control is additive effort. Zero control preserves source position and velocity targets. Standard USD drive is retained for neutral and other runtimes; MuJoCo consumers must use this actuator exclusively."
+        )
+        {
+            double[] mjc:biasPrm = [0, -22918.31180523293, -4583.662361046586]
+            token mjc:biasType = "affine"
+            token mjc:ctrlLimited = "false"
+            token mjc:forceLimited = "true"
+            double mjc:forceRange:max = 7
+            double mjc:forceRange:min = -7
+            double[] mjc:gainPrm = [1]
+            token mjc:gainType = "fixed"
+            rel mjc:target = </openarm/joints/openarm_left_joint7>
+        }
+
+        def MjcActuator "act_openarm_joints_openarm_left_finger_joint1" (
+            doc = "Source-derived force-drive PD bias; control is additive effort. Zero control preserves source position and velocity targets. Standard USD drive is retained for neutral and other runtimes; MuJoCo consumers must use this actuator exclusively."
+        )
+        {
+            double[] mjc:biasPrm = [0, -1000000, -100]
+            token mjc:biasType = "affine"
+            token mjc:ctrlLimited = "false"
+            token mjc:forceLimited = "true"
+            double mjc:forceRange:max = 10
+            double mjc:forceRange:min = -10
+            double[] mjc:gainPrm = [1]
+            token mjc:gainType = "fixed"
+            rel mjc:target = </openarm/joints/openarm_left_finger_joint1>
+        }
+
+        def MjcActuator "act_openarm_joints_openarm_right_joint1" (
+            doc = "Source-derived force-drive PD bias; control is additive effort. Zero control preserves source position and velocity targets. Standard USD drive is retained for neutral and other runtimes; MuJoCo consumers must use this actuator exclusively."
+        )
+        {
+            double[] mjc:biasPrm = [0, -114591.55902616464, -2291.831180523293]
+            token mjc:biasType = "affine"
+            token mjc:ctrlLimited = "false"
+            token mjc:forceLimited = "true"
+            double mjc:forceRange:max = 40
+            double mjc:forceRange:min = -40
+            double[] mjc:gainPrm = [1]
+            token mjc:gainType = "fixed"
+            rel mjc:target = </openarm/joints/openarm_right_joint1>
+        }
+
+        def MjcActuator "act_openarm_joints_openarm_right_joint2" (
+            doc = "Source-derived force-drive PD bias; control is additive effort. Zero control preserves source position and velocity targets. Standard USD drive is retained for neutral and other runtimes; MuJoCo consumers must use this actuator exclusively."
+        )
+        {
+            double[] mjc:biasPrm = [0, -22918.31180523293, -4583.662361046586]
+            token mjc:biasType = "affine"
+            token mjc:ctrlLimited = "false"
+            token mjc:forceLimited = "true"
+            double mjc:forceRange:max = 40
+            double mjc:forceRange:min = -40
+            double[] mjc:gainPrm = [1]
+            token mjc:gainType = "fixed"
+            rel mjc:target = </openarm/joints/openarm_right_joint2>
+        }
+
+        def MjcActuator "act_openarm_joints_openarm_right_joint3" (
+            doc = "Source-derived force-drive PD bias; control is additive effort. Zero control preserves source position and velocity targets. Standard USD drive is retained for neutral and other runtimes; MuJoCo consumers must use this actuator exclusively."
+        )
+        {
+            double[] mjc:biasPrm = [0, -22918.31180523293, -4583.662361046586]
+            token mjc:biasType = "affine"
+            token mjc:ctrlLimited = "false"
+            token mjc:forceLimited = "true"
+            double mjc:forceRange:max = 27
+            double mjc:forceRange:min = -27
+            double[] mjc:gainPrm = [1]
+            token mjc:gainType = "fixed"
+            rel mjc:target = </openarm/joints/openarm_right_joint3>
+        }
+
+        def MjcActuator "act_openarm_joints_openarm_right_joint4" (
+            doc = "Source-derived force-drive PD bias; control is additive effort. Zero control preserves source position and velocity targets. Standard USD drive is retained for neutral and other runtimes; MuJoCo consumers must use this actuator exclusively."
+        )
+        {
+            double[] mjc:biasPrm = [0, -22918.31180523293, -4583.662361046586]
+            token mjc:biasType = "affine"
+            token mjc:ctrlLimited = "false"
+            token mjc:forceLimited = "true"
+            double mjc:forceRange:max = 27
+            double mjc:forceRange:min = -27
+            double[] mjc:gainPrm = [1]
+            token mjc:gainType = "fixed"
+            rel mjc:target = </openarm/joints/openarm_right_joint4>
+        }
+
+        def MjcActuator "act_openarm_joints_openarm_right_joint5" (
+            doc = "Source-derived force-drive PD bias; control is additive effort. Zero control preserves source position and velocity targets. Standard USD drive is retained for neutral and other runtimes; MuJoCo consumers must use this actuator exclusively."
+        )
+        {
+            double[] mjc:biasPrm = [0, -22918.31180523293, -4583.662361046586]
+            token mjc:biasType = "affine"
+            token mjc:ctrlLimited = "false"
+            token mjc:forceLimited = "true"
+            double mjc:forceRange:max = 7
+            double mjc:forceRange:min = -7
+            double[] mjc:gainPrm = [1]
+            token mjc:gainType = "fixed"
+            rel mjc:target = </openarm/joints/openarm_right_joint5>
+        }
+
+        def MjcActuator "act_openarm_joints_openarm_right_joint6" (
+            doc = "Source-derived force-drive PD bias; control is additive effort. Zero control preserves source position and velocity targets. Standard USD drive is retained for neutral and other runtimes; MuJoCo consumers must use this actuator exclusively."
+        )
+        {
+            double[] mjc:biasPrm = [0, -22918.31180523293, -4583.662361046586]
+            token mjc:biasType = "affine"
+            token mjc:ctrlLimited = "false"
+            token mjc:forceLimited = "true"
+            double mjc:forceRange:max = 7
+            double mjc:forceRange:min = -7
+            double[] mjc:gainPrm = [1]
+            token mjc:gainType = "fixed"
+            rel mjc:target = </openarm/joints/openarm_right_joint6>
+        }
+
+        def MjcActuator "act_openarm_joints_openarm_right_joint7" (
+            doc = "Source-derived force-drive PD bias; control is additive effort. Zero control preserves source position and velocity targets. Standard USD drive is retained for neutral and other runtimes; MuJoCo consumers must use this actuator exclusively."
+        )
+        {
+            double[] mjc:biasPrm = [0, -22918.31180523293, -4583.662361046586]
+            token mjc:biasType = "affine"
+            token mjc:ctrlLimited = "false"
+            token mjc:forceLimited = "true"
+            double mjc:forceRange:max = 7
+            double mjc:forceRange:min = -7
+            double[] mjc:gainPrm = [1]
+            token mjc:gainType = "fixed"
+            rel mjc:target = </openarm/joints/openarm_right_joint7>
+        }
+
+        def MjcActuator "act_openarm_joints_openarm_right_finger_joint1" (
+            doc = "Source-derived force-drive PD bias; control is additive effort. Zero control preserves source position and velocity targets. Standard USD drive is retained for neutral and other runtimes; MuJoCo consumers must use this actuator exclusively."
+        )
+        {
+            double[] mjc:biasPrm = [0, -1000000, -100]
+            token mjc:biasType = "affine"
+            token mjc:ctrlLimited = "false"
+            token mjc:forceLimited = "true"
+            double mjc:forceRange:max = 10
+            double mjc:forceRange:min = -10
+            double[] mjc:gainPrm = [1]
+            token mjc:gainType = "fixed"
+            rel mjc:target = </openarm/joints/openarm_right_finger_joint1>
+        }
+    }
+}
+

openarm_openarm_bimanual/runnables/physics/newton.usda

@@ -0,0 +1,541 @@
+#usda 1.0
+(
+    defaultPrim = "openarm"
+)
+
+over "openarm"
+{
+    over "openarm_body_link"
+    {
+        over "collisions"
+        {
+            over "openarm_body_link0_collision"
+            {
+                over "mesh_2" (
+                    prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"]
+                )
+                {
+                    uniform token physics:approximation = "convexHull"
+                }
+            }
+
+            over "openarm_left_link0_collision"
+            {
+                double3 xformOp:scale = (0.001000000047, 0.001000000047, 0.001000000047)
+
+                over "mesh_3" (
+                    prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"]
+                )
+                {
+                    uniform token physics:approximation = "convexHull"
+                }
+            }
+
+            over "openarm_right_link0_collision"
+            {
+                over "mesh_3" (
+                    prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"]
+                )
+                {
+                    uniform token physics:approximation = "convexHull"
+                }
+            }
+        }
+    }
+
+    over "openarm_left_link1"
+    {
+        over "collisions"
+        {
+            over "openarm_left_link1_collision"
+            {
+                double3 xformOp:scale = (0.001000000047, 0.001000000047, 0.001000000047)
+
+                over "mesh_5" (
+                    prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"]
+                )
+                {
+                    uniform token physics:approximation = "convexHull"
+                }
+            }
+        }
+    }
+
+    over "openarm_left_link2"
+    {
+        over "collisions"
+        {
+            over "openarm_left_link2_collision"
+            {
+                double3 xformOp:scale = (0.001000000047, 0.001000000047, 0.001000000047)
+
+                over "mesh_7" (
+                    prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"]
+                )
+                {
+                    uniform token physics:approximation = "convexHull"
+                }
+            }
+        }
+    }
+
+    over "openarm_left_link3"
+    {
+        over "collisions"
+        {
+            over "openarm_left_link3_collision"
+            {
+                double3 xformOp:scale = (0.001000000047, 0.001000000047, 0.001000000047)
+
+                over "mesh_9" (
+                    prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"]
+                )
+                {
+                    uniform token physics:approximation = "convexHull"
+                }
+            }
+        }
+    }
+
+    over "openarm_left_link4"
+    {
+        over "collisions"
+        {
+            over "openarm_left_link4_collision"
+            {
+                over "mesh_11" (
+                    prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"]
+                )
+                {
+                    uniform token physics:approximation = "convexHull"
+                }
+            }
+        }
+    }
+
+    over "openarm_left_link5"
+    {
+        over "collisions"
+        {
+            over "openarm_left_link5_collision"
+            {
+                double3 xformOp:scale = (0.001000000047, 0.001000000047, 0.001000000047)
+
+                over "mesh_13" (
+                    prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"]
+                )
+                {
+                    uniform token physics:approximation = "convexHull"
+                }
+            }
+        }
+    }
+
+    over "openarm_left_link6"
+    {
+        over "collisions"
+        {
+            over "openarm_left_link6_collision"
+            {
+                double3 xformOp:scale = (0.001000000047, 0.001000000047, 0.001000000047)
+
+                over "mesh_15" (
+                    prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"]
+                )
+                {
+                    uniform token physics:approximation = "convexHull"
+                }
+            }
+        }
+    }
+
+    over "openarm_left_link7"
+    {
+        over "collisions"
+        {
+            over "openarm_left_link7_collision"
+            {
+                double3 xformOp:scale = (0.001000000047, 0.001000000047, 0.001000000047)
+
+                over "mesh_17" (
+                    prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"]
+                )
+                {
+                    uniform token physics:approximation = "convexHull"
+                }
+            }
+        }
+    }
+
+    over "openarm_left_right_finger"
+    {
+        over "collisions"
+        {
+            over "openarm_left_right_finger_collision"
+            {
+                double3 xformOp:scale = (0.001000000047, 0.001000000047, 0.001000000047)
+
+                over "mesh_19" (
+                    prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"]
+                )
+                {
+                    uniform token physics:approximation = "convexHull"
+                }
+            }
+        }
+    }
+
+    over "openarm_left_left_finger"
+    {
+        over "collisions"
+        {
+            over "openarm_left_left_finger_collision"
+            {
+                over "mesh_19" (
+                    prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"]
+                )
+                {
+                    uniform token physics:approximation = "convexHull"
+                }
+            }
+        }
+    }
+
+    over "openarm_right_link1"
+    {
+        over "collisions"
+        {
+            over "openarm_right_link1_collision"
+            {
+                over "mesh_5" (
+                    prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"]
+                )
+                {
+                    uniform token physics:approximation = "convexHull"
+                }
+            }
+        }
+    }
+
+    over "openarm_right_link2"
+    {
+        over "collisions"
+        {
+            over "openarm_right_link2_collision"
+            {
+                over "mesh_7" (
+                    prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"]
+                )
+                {
+                    uniform token physics:approximation = "convexHull"
+                }
+            }
+        }
+    }
+
+    over "openarm_right_link3"
+    {
+        over "collisions"
+        {
+            over "openarm_right_link3_collision"
+            {
+                over "mesh_9" (
+                    prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"]
+                )
+                {
+                    uniform token physics:approximation = "convexHull"
+                }
+            }
+        }
+    }
+
+    over "openarm_right_link4"
+    {
+        over "collisions"
+        {
+            over "openarm_right_link4_collision"
+            {
+                over "mesh_11" (
+                    prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"]
+                )
+                {
+                    uniform token physics:approximation = "convexHull"
+                }
+            }
+        }
+    }
+
+    over "openarm_right_link5"
+    {
+        over "collisions"
+        {
+            over "openarm_right_link5_collision"
+            {
+                over "mesh_13" (
+                    prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"]
+                )
+                {
+                    uniform token physics:approximation = "convexHull"
+                }
+            }
+        }
+    }
+
+    over "openarm_right_link6"
+    {
+        over "collisions"
+        {
+            over "openarm_right_link6_collision"
+            {
+                over "mesh_15" (
+                    prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"]
+                )
+                {
+                    uniform token physics:approximation = "convexHull"
+                }
+            }
+        }
+    }
+
+    over "openarm_right_link7"
+    {
+        over "collisions"
+        {
+            over "openarm_right_link7_collision"
+            {
+                over "mesh_17" (
+                    prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"]
+                )
+                {
+                    uniform token physics:approximation = "convexHull"
+                }
+            }
+        }
+    }
+
+    over "openarm_right_right_finger"
+    {
+        over "collisions"
+        {
+            over "openarm_right_right_finger_collision"
+            {
+                double3 xformOp:scale = (0.001000000047, 0.001000000047, 0.001000000047)
+
+                over "mesh_19" (
+                    prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"]
+                )
+                {
+                    uniform token physics:approximation = "convexHull"
+                }
+            }
+        }
+    }
+
+    over "openarm_right_left_finger"
+    {
+        over "collisions"
+        {
+            over "openarm_right_left_finger_collision"
+            {
+                over "mesh_19" (
+                    prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"]
+                )
+                {
+                    uniform token physics:approximation = "convexHull"
+                }
+            }
+        }
+    }
+
+    over "root_joint" (
+        prepend apiSchemas = ["NewtonArticulationRootAPI"]
+    )
+    {
+        bool newton:selfCollisionEnabled = 0
+        bool physics:jointEnabled = 0
+    }
+
+    over "joints"
+    {
+        over "openarm_left_joint1" (
+            prepend apiSchemas = ["NewtonJointAPI"]
+        )
+        {
+            float drive:angular:physics:damping = 0
+            float drive:angular:physics:stiffness = 1.5625
+            float newton:damping = 0.052085
+            float newton:velocityLimit = 959.97156
+        }
+
+        over "openarm_left_joint2" (
+            prepend apiSchemas = ["NewtonJointAPI"]
+        )
+        {
+            float drive:angular:physics:damping = 0
+            float drive:angular:physics:stiffness = 1.5625
+            float newton:damping = 0.052085
+            float newton:velocityLimit = 959.97156
+        }
+
+        over "openarm_left_joint3" (
+            prepend apiSchemas = ["NewtonJointAPI"]
+        )
+        {
+            float drive:angular:physics:damping = 0
+            float drive:angular:physics:stiffness = 3.2452
+            float newton:damping = 0.108173
+            float newton:velocityLimit = 311.9999
+        }
+
+        over "openarm_left_joint4" (
+            prepend apiSchemas = ["NewtonJointAPI"]
+        )
+        {
+            float drive:angular:physics:damping = 0
+            float drive:angular:physics:stiffness = 3.2452
+            float newton:damping = 0.108173
+            float newton:velocityLimit = 311.9999
+        }
+
+        over "openarm_left_joint5" (
+            prepend apiSchemas = ["NewtonJointAPI"]
+        )
+        {
+            float drive:angular:physics:damping = 0
+            float drive:angular:physics:stiffness = 0.2188
+            float newton:damping = 0.007292
+            float newton:velocityLimit = 1199.9996
+        }
+
+        over "openarm_left_joint6" (
+            prepend apiSchemas = ["NewtonJointAPI"]
+        )
+        {
+            float drive:angular:physics:damping = 0
+            float drive:angular:physics:stiffness = 0.2188
+            float newton:damping = 0.007292
+            float newton:velocityLimit = 1199.9996
+        }
+
+        over "openarm_left_joint7" (
+            prepend apiSchemas = ["NewtonJointAPI"]
+        )
+        {
+            float drive:angular:physics:damping = 0
+            float drive:angular:physics:stiffness = 0.2188
+            float newton:damping = 0.007292
+            float newton:velocityLimit = 1199.9996
+        }
+
+        over "openarm_left_finger_joint1" (
+            prepend apiSchemas = ["NewtonJointAPI"]
+        )
+        {
+            float drive:linear:physics:damping = 0
+            float drive:linear:physics:stiffness = 375
+            float newton:damping = 12.5
+            float newton:velocityLimit = 1
+        }
+
+        over "openarm_left_finger_joint2" (
+            prepend apiSchemas = ["NewtonMimicAPI"]
+        )
+        {
+            float newton:mimicCoef0 = -0
+            float newton:mimicCoef1 = 1
+            bool newton:mimicEnabled = 1
+            rel newton:mimicJoint = </openarm/joints/openarm_left_finger_joint1>
+        }
+
+        over "openarm_right_joint1" (
+            prepend apiSchemas = ["NewtonJointAPI"]
+        )
+        {
+            float drive:angular:physics:damping = 0
+            float drive:angular:physics:stiffness = 1.5625
+            float newton:damping = 0.052085
+            float newton:velocityLimit = 959.97156
+        }
+
+        over "openarm_right_joint2" (
+            prepend apiSchemas = ["NewtonJointAPI"]
+        )
+        {
+            float drive:angular:physics:damping = 0
+            float drive:angular:physics:stiffness = 1.5625
+            float newton:damping = 0.052085
+            float newton:velocityLimit = 959.97156
+        }
+
+        over "openarm_right_joint3" (
+            prepend apiSchemas = ["NewtonJointAPI"]
+        )
+        {
+            float drive:angular:physics:damping = 0
+            float drive:angular:physics:stiffness = 3.2452
+            float newton:damping = 0.108173
+            float newton:velocityLimit = 311.9999
+        }
+
+        over "openarm_right_joint4" (
+            prepend apiSchemas = ["NewtonJointAPI"]
+        )
+        {
+            float drive:angular:physics:damping = 0
+            float drive:angular:physics:stiffness = 3.2452
+            float newton:damping = 0.108173
+            float newton:velocityLimit = 311.9999
+        }
+
+        over "openarm_right_joint5" (
+            prepend apiSchemas = ["NewtonJointAPI"]
+        )
+        {
+            float drive:angular:physics:damping = 0
+            float drive:angular:physics:stiffness = 0.2188
+            float newton:damping = 0.007292
+            float newton:velocityLimit = 1199.9996
+        }
+
+        over "openarm_right_joint6" (
+            prepend apiSchemas = ["NewtonJointAPI"]
+        )
+        {
+            float drive:angular:physics:damping = 0
+            float drive:angular:physics:stiffness = 0.2188
+            float newton:damping = 0.007292
+            float newton:velocityLimit = 1199.9996
+        }
+
+        over "openarm_right_joint7" (
+            prepend apiSchemas = ["NewtonJointAPI"]
+        )
+        {
+            float drive:angular:physics:damping = 0
+            float drive:angular:physics:stiffness = 0.2188
+            float newton:damping = 0.007292
+            float newton:velocityLimit = 1199.9996
+        }
+
+        over "openarm_right_finger_joint1" (
+            prepend apiSchemas = ["NewtonJointAPI"]
+        )
+        {
+            float drive:linear:physics:damping = 0
+            float drive:linear:physics:stiffness = 375
+            float newton:damping = 12.5
+            float newton:velocityLimit = 1
+        }
+
+        over "openarm_right_finger_joint2" (
+            prepend apiSchemas = ["NewtonMimicAPI"]
+        )
+        {
+            float newton:mimicCoef0 = -0
+            float newton:mimicCoef1 = 1
+            bool newton:mimicEnabled = 1
+            rel newton:mimicJoint = </openarm/joints/openarm_right_finger_joint1>
+        }
+    }
+}
+

openarm_openarm_bimanual/runnables/physics/physx.usda

@@ -0,0 +1,514 @@
+#usda 1.0
+(
+    customLayerData = {
+    }
+    defaultPrim = "openarm"
+    metersPerUnit = 1
+    upAxis = "Z"
+)
+
+over "openarm"
+{
+    over "joints"
+    {
+        over "openarm_left_joint1" (
+            prepend apiSchemas = ["PhysxJointAPI", "PhysicsJointStateAPI:angular", "PhysicsDriveAPI:angular"]
+        )
+        {
+            float physxJoint:maxJointVelocity = 959.97156
+        }
+
+        over "openarm_left_joint2" (
+            prepend apiSchemas = ["PhysxJointAPI", "PhysicsJointStateAPI:angular", "PhysicsDriveAPI:angular"]
+        )
+        {
+            float physxJoint:maxJointVelocity = 959.97156
+        }
+
+        over "openarm_left_joint3" (
+            prepend apiSchemas = ["PhysxJointAPI", "PhysicsJointStateAPI:angular", "PhysicsDriveAPI:angular"]
+        )
+        {
+            float physxJoint:maxJointVelocity = 311.9999
+        }
+
+        over "openarm_left_joint4" (
+            prepend apiSchemas = ["PhysxJointAPI", "PhysicsJointStateAPI:angular", "PhysicsDriveAPI:angular"]
+        )
+        {
+            float physxJoint:maxJointVelocity = 311.9999
+        }
+
+        over "openarm_left_joint5" (
+            prepend apiSchemas = ["PhysxJointAPI", "PhysicsJointStateAPI:angular", "PhysicsDriveAPI:angular"]
+        )
+        {
+            float physxJoint:maxJointVelocity = 1199.9996
+        }
+
+        over "openarm_left_joint6" (
+            prepend apiSchemas = ["PhysxJointAPI", "PhysicsJointStateAPI:angular", "PhysicsDriveAPI:angular"]
+        )
+        {
+            float physxJoint:maxJointVelocity = 1199.9996
+        }
+
+        over "openarm_left_joint7" (
+            prepend apiSchemas = ["PhysxJointAPI", "PhysicsJointStateAPI:angular", "PhysicsDriveAPI:angular"]
+        )
+        {
+            float physxJoint:maxJointVelocity = 1199.9996
+        }
+
+        over "openarm_left_finger_joint1" (
+            prepend apiSchemas = ["PhysxJointAPI", "PhysicsJointStateAPI:linear", "PhysicsDriveAPI:linear"]
+        )
+        {
+            float physxJoint:maxJointVelocity = 1
+        }
+
+        over "openarm_left_finger_joint2" (
+            prepend apiSchemas = ["PhysxJointAPI", "PhysxMimicJointAPI:rotY", "PhysicsJointStateAPI:linear"]
+        )
+        {
+            float physxMimicJoint:rotY:dampingRatio = 0
+            float physxMimicJoint:rotY:gearing = -1
+            float physxMimicJoint:rotY:naturalFrequency = 20
+            float physxMimicJoint:rotY:offset = 0
+            rel physxMimicJoint:rotY:referenceJoint = </openarm/joints/openarm_left_finger_joint1>
+        }
+
+        over "openarm_left_hand" (
+            prepend apiSchemas = ["PhysxJointAPI", "PhysicsJointStateAPI:angular"]
+        )
+        {
+            float physxJoint:maxJointVelocity = 3.4028235e38
+        }
+
+        over "openarm_left_ee_tcp_joint" (
+            prepend apiSchemas = ["PhysxJointAPI", "PhysicsJointStateAPI:angular"]
+        )
+        {
+            float physxJoint:maxJointVelocity = 3.4028235e38
+        }
+
+        over "openarm_right_joint1" (
+            prepend apiSchemas = ["PhysxJointAPI", "PhysicsJointStateAPI:angular", "PhysicsDriveAPI:angular"]
+        )
+        {
+            float physxJoint:maxJointVelocity = 959.97156
+        }
+
+        over "openarm_right_joint2" (
+            prepend apiSchemas = ["PhysxJointAPI", "PhysicsJointStateAPI:angular", "PhysicsDriveAPI:angular"]
+        )
+        {
+            float physxJoint:maxJointVelocity = 959.97156
+        }
+
+        over "openarm_right_joint3" (
+            prepend apiSchemas = ["PhysxJointAPI", "PhysicsJointStateAPI:angular", "PhysicsDriveAPI:angular"]
+        )
+        {
+            float physxJoint:maxJointVelocity = 311.9999
+        }
+
+        over "openarm_right_joint4" (
+            prepend apiSchemas = ["PhysxJointAPI", "PhysicsJointStateAPI:angular", "PhysicsDriveAPI:angular"]
+        )
+        {
+            float physxJoint:maxJointVelocity = 311.9999
+        }
+
+        over "openarm_right_joint5" (
+            prepend apiSchemas = ["PhysxJointAPI", "PhysicsJointStateAPI:angular", "PhysicsDriveAPI:angular"]
+        )
+        {
+            float physxJoint:maxJointVelocity = 1199.9996
+        }
+
+        over "openarm_right_joint6" (
+            prepend apiSchemas = ["PhysxJointAPI", "PhysicsJointStateAPI:angular", "PhysicsDriveAPI:angular"]
+        )
+        {
+            float physxJoint:maxJointVelocity = 1199.9996
+        }
+
+        over "openarm_right_joint7" (
+            prepend apiSchemas = ["PhysxJointAPI", "PhysicsJointStateAPI:angular", "PhysicsDriveAPI:angular"]
+        )
+        {
+            float physxJoint:maxJointVelocity = 1199.9996
+        }
+
+        over "openarm_right_finger_joint1" (
+            prepend apiSchemas = ["PhysxJointAPI", "PhysicsJointStateAPI:linear", "PhysicsDriveAPI:linear"]
+        )
+        {
+            float physxJoint:maxJointVelocity = 1
+        }
+
+        over "openarm_right_finger_joint2" (
+            prepend apiSchemas = ["PhysxJointAPI", "PhysxMimicJointAPI:rotY", "PhysicsJointStateAPI:linear"]
+        )
+        {
+            float physxMimicJoint:rotY:dampingRatio = 0
+            float physxMimicJoint:rotY:gearing = -1
+            float physxMimicJoint:rotY:naturalFrequency = 20
+            float physxMimicJoint:rotY:offset = 0
+            rel physxMimicJoint:rotY:referenceJoint = </openarm/joints/openarm_right_finger_joint1>
+        }
+
+        over "openarm_right_hand" (
+            prepend apiSchemas = ["PhysxJointAPI", "PhysicsJointStateAPI:angular"]
+        )
+        {
+            float physxJoint:maxJointVelocity = 3.4028235e38
+        }
+
+        over "openarm_right_ee_tcp_joint" (
+            prepend apiSchemas = ["PhysxJointAPI", "PhysicsJointStateAPI:angular"]
+        )
+        {
+            float physxJoint:maxJointVelocity = 3.4028235e38
+        }
+    }
+
+    over "openarm_body_link"
+    {
+        over "collisions"
+        {
+            rel collection:collisionmeshes:includes = </openarm/openarm_body_link/collisions>
+
+            over "openarm_body_link0_collision"
+            {
+                over "mesh_2"
+                {
+                    uniform token physics:approximation = "convexDecomposition"
+                }
+            }
+
+            over "openarm_left_link0_collision"
+            {
+                over "mesh_3"
+                {
+                    uniform token physics:approximation = "convexDecomposition"
+                }
+            }
+
+            over "openarm_right_link0_collision"
+            {
+                over "mesh_3"
+                {
+                    uniform token physics:approximation = "convexDecomposition"
+                }
+            }
+        }
+    }
+
+    over "openarm_left_link1"
+    {
+        over "collisions"
+        {
+            rel collection:collisionmeshes:includes = </openarm/openarm_left_link1/collisions>
+
+            over "openarm_left_link1_collision"
+            {
+                over "mesh_5"
+                {
+                    uniform token physics:approximation = "convexDecomposition"
+                }
+            }
+        }
+    }
+
+    over "openarm_left_link2"
+    {
+        over "collisions"
+        {
+            rel collection:collisionmeshes:includes = </openarm/openarm_left_link2/collisions>
+
+            over "openarm_left_link2_collision"
+            {
+                over "mesh_7"
+                {
+                    uniform token physics:approximation = "convexDecomposition"
+                }
+            }
+        }
+    }
+
+    over "openarm_left_link3"
+    {
+        over "collisions"
+        {
+            rel collection:collisionmeshes:includes = </openarm/openarm_left_link3/collisions>
+
+            over "openarm_left_link3_collision"
+            {
+                over "mesh_9"
+                {
+                    uniform token physics:approximation = "convexDecomposition"
+                }
+            }
+        }
+    }
+
+    over "openarm_left_link4"
+    {
+        over "collisions"
+        {
+            rel collection:collisionmeshes:includes = </openarm/openarm_left_link4/collisions>
+
+            over "openarm_left_link4_collision"
+            {
+                over "mesh_11"
+                {
+                    uniform token physics:approximation = "convexDecomposition"
+                }
+            }
+        }
+    }
+
+    over "openarm_left_link5"
+    {
+        over "collisions"
+        {
+            rel collection:collisionmeshes:includes = </openarm/openarm_left_link5/collisions>
+
+            over "openarm_left_link5_collision"
+            {
+                over "mesh_13"
+                {
+                    uniform token physics:approximation = "convexDecomposition"
+                }
+            }
+        }
+    }
+
+    over "openarm_left_link6"
+    {
+        over "collisions"
+        {
+            rel collection:collisionmeshes:includes = </openarm/openarm_left_link6/collisions>
+
+            over "openarm_left_link6_collision"
+            {
+                over "mesh_15"
+                {
+                    uniform token physics:approximation = "convexDecomposition"
+                }
+            }
+        }
+    }
+
+    over "openarm_left_link7"
+    {
+        over "collisions"
+        {
+            rel collection:collisionmeshes:includes = </openarm/openarm_left_link7/collisions>
+
+            over "openarm_left_link7_collision"
+            {
+                over "mesh_17"
+                {
+                    uniform token physics:approximation = "convexDecomposition"
+                }
+            }
+        }
+    }
+
+    over "openarm_left_right_finger"
+    {
+        over "collisions"
+        {
+            rel collection:collisionmeshes:includes = </openarm/openarm_left_right_finger/collisions>
+
+            over "openarm_left_right_finger_collision"
+            {
+                over "mesh_19" (
+                    prepend apiSchemas = ["PhysxTriangleMeshSimplificationCollisionAPI", "PhysxConvexDecompositionCollisionAPI"]
+                )
+                {
+                    uniform token physics:approximation = "convexDecomposition"
+                }
+            }
+        }
+    }
+
+    over "openarm_left_left_finger"
+    {
+        over "collisions"
+        {
+            rel collection:collisionmeshes:includes = </openarm/openarm_left_left_finger/collisions>
+
+            over "openarm_left_left_finger_collision"
+            {
+                over "mesh_19" (
+                    prepend apiSchemas = ["PhysxTriangleMeshSimplificationCollisionAPI", "PhysxConvexDecompositionCollisionAPI"]
+                )
+                {
+                    uniform token physics:approximation = "convexDecomposition"
+                }
+            }
+        }
+    }
+
+    over "openarm_right_link1"
+    {
+        over "collisions"
+        {
+            rel collection:collisionmeshes:includes = </openarm/openarm_right_link1/collisions>
+
+            over "openarm_right_link1_collision"
+            {
+                over "mesh_5"
+                {
+                    uniform token physics:approximation = "convexDecomposition"
+                }
+            }
+        }
+    }
+
+    over "openarm_right_link2"
+    {
+        over "collisions"
+        {
+            rel collection:collisionmeshes:includes = </openarm/openarm_right_link2/collisions>
+
+            over "openarm_right_link2_collision"
+            {
+                over "mesh_7"
+                {
+                    uniform token physics:approximation = "convexDecomposition"
+                }
+            }
+        }
+    }
+
+    over "openarm_right_link3"
+    {
+        over "collisions"
+        {
+            rel collection:collisionmeshes:includes = </openarm/openarm_right_link3/collisions>
+
+            over "openarm_right_link3_collision"
+            {
+                over "mesh_9"
+                {
+                    uniform token physics:approximation = "convexDecomposition"
+                }
+            }
+        }
+    }
+
+    over "openarm_right_link4"
+    {
+        over "collisions"
+        {
+            rel collection:collisionmeshes:includes = </openarm/openarm_right_link4/collisions>
+
+            over "openarm_right_link4_collision"
+            {
+                over "mesh_11"
+                {
+                    uniform token physics:approximation = "convexDecomposition"
+                }
+            }
+        }
+    }
+
+    over "openarm_right_link5"
+    {
+        over "collisions"
+        {
+            rel collection:collisionmeshes:includes = </openarm/openarm_right_link5/collisions>
+
+            over "openarm_right_link5_collision"
+            {
+                over "mesh_13"
+                {
+                    uniform token physics:approximation = "convexDecomposition"
+                }
+            }
+        }
+    }
+
+    over "openarm_right_link6"
+    {
+        over "collisions"
+        {
+            rel collection:collisionmeshes:includes = </openarm/openarm_right_link6/collisions>
+
+            over "openarm_right_link6_collision"
+            {
+                over "mesh_15"
+                {
+                    uniform token physics:approximation = "convexDecomposition"
+                }
+            }
+        }
+    }
+
+    over "openarm_right_link7"
+    {
+        over "collisions"
+        {
+            rel collection:collisionmeshes:includes = </openarm/openarm_right_link7/collisions>
+
+            over "openarm_right_link7_collision"
+            {
+                over "mesh_17"
+                {
+                    uniform token physics:approximation = "convexDecomposition"
+                }
+            }
+        }
+    }
+
+    over "openarm_right_right_finger"
+    {
+        over "collisions"
+        {
+            rel collection:collisionmeshes:includes = </openarm/openarm_right_right_finger/collisions>
+
+            over "openarm_right_right_finger_collision"
+            {
+                over "mesh_19" (
+                    prepend apiSchemas = ["PhysxTriangleMeshSimplificationCollisionAPI", "PhysxConvexDecompositionCollisionAPI"]
+                )
+                {
+                    uniform token physics:approximation = "convexDecomposition"
+                }
+            }
+        }
+    }
+
+    over "openarm_right_left_finger"
+    {
+        over "collisions"
+        {
+            rel collection:collisionmeshes:includes = </openarm/openarm_right_left_finger/collisions>
+
+            over "openarm_right_left_finger_collision"
+            {
+                over "mesh_19" (
+                    prepend apiSchemas = ["PhysxTriangleMeshSimplificationCollisionAPI", "PhysxConvexDecompositionCollisionAPI"]
+                )
+                {
+                    uniform token physics:approximation = "convexDecomposition"
+                }
+            }
+        }
+    }
+
+    over "root_joint" (
+        prepend apiSchemas = ["PhysxArticulationAPI"]
+    )
+    {
+        bool physxArticulation:enabledSelfCollisions = 0
+        int physxArticulation:solverPositionIterationCount = 32
+        int physxArticulation:solverVelocityIterationCount = 1
+    }
+}
+