Update Robot-Body packages to 3.0.2 (17/17)

yahboom_dofbot/materials/mdl/OmniPBR.mdl

@@ -1,396 +0,0 @@
-/*
- * 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
-);

yahboom_dofbot/materials/mdl/OmniPBRBase.mdl

@@ -1,470 +0,0 @@
-/*
- * 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
-);

yahboom_dofbot/materials/mdl/OmniPBR_ClearCoat.mdl

@@ -1,711 +0,0 @@
-/*
- * 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
-);

yahboom_dofbot/materials/mdl/license.txt

@@ -1,73 +0,0 @@
-# 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 

yahboom_dofbot/payloads/Physics/mujoco.usda

@@ -1,226 +0,0 @@
-#usda 1.0
-(
-    customLayerData = {
-    }
-    endTimeCode = 100
-    metersPerUnit = 1
-    startTimeCode = 0
-    timeCodesPerSecond = 60
-    upAxis = "Z"
-)
-
-over "arm"
-{
-    over "link5"
-    {
-        over "Finger_Left_03"
-        {
-        }
-
-        over "Finger_Right_03"
-        {
-        }
-
-        over "Finger_Left_02"
-        {
-            over "Finger_Left_02"
-            {
-            }
-
-            over "Finger_Left_02_SphericalJoint"
-            {
-            }
-        }
-
-        over "Finger_Right_02"
-        {
-            over "Finger_Right_02"
-            {
-            }
-
-            over "Finger_Right_02_SphericalJoint"
-            {
-            }
-        }
-
-        over "Wrist_Twist"
-        {
-            over "Wrist_Twist_RevoluteJoint" (
-                delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
-            )
-            {
-            }
-
-            over "Wrist_Twist"
-            {
-            }
-        }
-
-        over "Finger_Left_01"
-        {
-            over "Finger_Left_01"
-            {
-            }
-
-            over "Finger_Left_01_RevoluteJoint" (
-                delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
-            )
-            {
-            }
-        }
-
-        over "Finger_Right_01"
-        {
-            over "Finger_Right_01"
-            {
-            }
-
-            over "Finger_Right_01_RevoluteJoint" (
-                delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
-            )
-            {
-            }
-        }
-
-        over "Looks"
-        {
-        }
-    }
-
-    over "root_joint"
-    {
-    }
-
-    over "link4"
-    {
-        over "Wrist_Lift"
-        {
-        }
-
-        over "Camera"
-        {
-            over "OmniverseKitViewportCameraMesh"
-            {
-            }
-        }
-    }
-
-    over "link3"
-    {
-        over "joint4" (
-            delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
-        )
-        {
-        }
-
-        over "collisions"
-        {
-        }
-
-        over "visuals"
-        {
-        }
-    }
-
-    over "link2"
-    {
-        over "joint3" (
-            delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
-        )
-        {
-        }
-
-        over "Shoulder_Lift"
-        {
-        }
-
-        over "collisions"
-        {
-        }
-
-        over "visuals"
-        {
-        }
-    }
-
-    over "link1"
-    {
-        over "joint2" (
-            delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
-        )
-        {
-        }
-
-        over "collisions"
-        {
-        }
-
-        over "visuals"
-        {
-        }
-    }
-
-    over "base_link"
-    {
-        over "joint1" (
-            delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
-        )
-        {
-        }
-
-        over "visuals"
-        {
-        }
-
-        over "collisions"
-        {
-        }
-
-        over "PCB_01"
-        {
-        }
-
-        over "Base01_01"
-        {
-        }
-
-        over "Antennas_01"
-        {
-        }
-    }
-
-    over "Looks"
-    {
-    }
-
-    over "VisualMaterials"
-    {
-    }
-}
-
-over "World"
-{
-    over "defaultLight"
-    {
-    }
-
-    over "GroundPlane"
-    {
-        over "CollisionMesh"
-        {
-        }
-
-        over "CollisionPlane"
-        {
-        }
-    }
-
-    over "RectLight"
-    {
-    }
-}
-
-over "DR_autogenerated"
-{
-}
-

yahboom_dofbot/payloads/Physics/physics.usda

@@ -1,665 +0,0 @@
-#usda 1.0
-(
-    customLayerData = {
-    }
-    defaultPrim = "arm"
-    endTimeCode = 100
-    metersPerUnit = 1
-    startTimeCode = 0
-    timeCodesPerSecond = 60
-    upAxis = "Z"
-)
-
-over "arm" (
-    prepend apiSchemas = ["PhysicsArticulationRootAPI"]
-)
-{
-    over "base_link" (
-        prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"]
-    )
-    {
-        vector3f physics:angularVelocity = (0, 0, 0)
-        point3f physics:centerOfMass = (0, 0, 0)
-        float physics:density = 0
-        float physics:mass = 0.5
-        vector3f physics:velocity = (0, 0, 0)
-
-        def PhysicsRevoluteJoint "joint1" (
-            prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
-        )
-        {
-            float drive:angular:physics:damping = 53
-            float drive:angular:physics:maxForce = 5.2
-            float drive:angular:physics:stiffness = 1048
-            float drive:angular:physics:targetPosition = 0
-            uniform token drive:angular:physics:type = "acceleration"
-            custom string isaac:nameOverride
-            custom float[] isaac:physics:AccelerationLimit
-            custom float[] isaac:physics:JerkLimit
-            custom int isaac:physics:Rot_X:DofOffset
-            custom int isaac:physics:Rot_Y:DofOffset
-            custom int isaac:physics:Rot_Z:DofOffset
-            custom int isaac:physics:Tr_X:DofOffset
-            custom int isaac:physics:Tr_Y:DofOffset
-            custom int isaac:physics:Tr_Z:DofOffset
-            uniform token physics:axis = "X"
-            custom rel physics:body0 = </arm/base_link>
-            custom rel physics:body1 = </arm/link1>
-            float physics:breakForce = 3.4028233e36
-            float physics:breakTorque = 3.4028233e34
-            point3f physics:localPos0 = (0, 0, 0.06605)
-            point3f physics:localPos1 = (0, 0, 0)
-            quatf physics:localRot0 = (0.70709646, -0.0038201257, -0.70709646, 0.0038201257)
-            quatf physics:localRot1 = (0.70710677, 0, -0.70710677, 0)
-            float physics:lowerLimit = -90.000206
-            float physics:upperLimit = 90.000206
-        }
-
-        over "collisions" (
-            instanceable = false
-        )
-        {
-            over "visuals" (
-                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"]
-            )
-            {
-            }
-        }
-    }
-
-    over "link1" (
-        prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"]
-    )
-    {
-        vector3f physics:angularVelocity = (0, 0, 0)
-        point3f physics:centerOfMass = (0, 0, 0)
-        float physics:density = 0
-        float physics:mass = 0.1
-        vector3f physics:velocity = (0, 0, 0)
-
-        def PhysicsRevoluteJoint "joint2" (
-            prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
-        )
-        {
-            float drive:angular:physics:damping = 53
-            float drive:angular:physics:maxForce = 5.2
-            float drive:angular:physics:stiffness = 1048
-            float drive:angular:physics:targetPosition = 0
-            uniform token drive:angular:physics:type = "acceleration"
-            custom string isaac:nameOverride
-            custom float[] isaac:physics:AccelerationLimit
-            custom float[] isaac:physics:JerkLimit
-            custom int isaac:physics:Rot_X:DofOffset
-            custom int isaac:physics:Rot_Y:DofOffset
-            custom int isaac:physics:Rot_Z:DofOffset
-            custom int isaac:physics:Tr_X:DofOffset
-            custom int isaac:physics:Tr_Y:DofOffset
-            custom int isaac:physics:Tr_Z:DofOffset
-            uniform token physics:axis = "X"
-            custom rel physics:body0 = </arm/link1>
-            custom rel physics:body1 = </arm/link2>
-            float physics:breakForce = 3.4028233e36
-            float physics:breakTorque = 3.4028233e34
-            point3f physics:localPos0 = (0, -0.00031873, 0.041449998)
-            point3f physics:localPos1 = (0, 0, 0)
-            quatf physics:localRot0 = (1, 0, 0.0000017881393, 0)
-            quatf physics:localRot1 = (0.70710677, 0, -0.70710677, 0)
-            float physics:lowerLimit = -90.000206
-            float physics:upperLimit = 90.000206
-        }
-
-        over "collisions" (
-            instanceable = false
-        )
-        {
-            over "collisions" (
-                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"]
-            )
-            {
-            }
-        }
-    }
-
-    over "link2" (
-        prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"]
-    )
-    {
-        vector3f physics:angularVelocity = (0, 0, 0)
-        point3f physics:centerOfMass = (0, 0, 0)
-        float physics:density = 0
-        float physics:mass = 0.1
-        vector3f physics:velocity = (0, 0, 0)
-
-        def PhysicsRevoluteJoint "joint3" (
-            prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
-        )
-        {
-            float drive:angular:physics:damping = 53
-            float drive:angular:physics:maxForce = 5.2
-            float drive:angular:physics:stiffness = 1048
-            float drive:angular:physics:targetPosition = 0
-            uniform token drive:angular:physics:type = "acceleration"
-            custom string isaac:nameOverride
-            custom float[] isaac:physics:AccelerationLimit
-            custom float[] isaac:physics:JerkLimit
-            custom int isaac:physics:Rot_X:DofOffset
-            custom int isaac:physics:Rot_Y:DofOffset
-            custom int isaac:physics:Rot_Z:DofOffset
-            custom int isaac:physics:Tr_X:DofOffset
-            custom int isaac:physics:Tr_Y:DofOffset
-            custom int isaac:physics:Tr_Z:DofOffset
-            uniform token physics:axis = "X"
-            custom rel physics:body0 = </arm/link2>
-            custom rel physics:body1 = </arm/link3>
-            float physics:breakForce = 3.4028233e36
-            float physics:breakTorque = 3.4028233e34
-            point3f physics:localPos0 = (-0.082849994, 0, 0)
-            point3f physics:localPos1 = (0, 0, 0)
-            quatf physics:localRot0 = (0.70710677, 0, -0.70710677, 0)
-            quatf physics:localRot1 = (0.70710677, 0, -0.70710677, 0)
-            float physics:lowerLimit = -90.000206
-            float physics:upperLimit = 90.000206
-        }
-
-        over "collisions" (
-            instanceable = false
-        )
-        {
-            over "collisions_1" (
-                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"]
-            )
-            {
-            }
-        }
-    }
-
-    over "link3" (
-        prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"]
-    )
-    {
-        vector3f physics:angularVelocity = (0, 0, 0)
-        point3f physics:centerOfMass = (0, 0, 0)
-        float physics:density = 0
-        float physics:mass = 0.1
-        vector3f physics:velocity = (0, 0, 0)
-
-        def PhysicsRevoluteJoint "joint4" (
-            prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
-        )
-        {
-            float drive:angular:physics:damping = 53
-            float drive:angular:physics:maxForce = 5.2
-            float drive:angular:physics:stiffness = 1048
-            float drive:angular:physics:targetPosition = 0
-            uniform token drive:angular:physics:type = "acceleration"
-            custom string isaac:nameOverride
-            custom float[] isaac:physics:AccelerationLimit
-            custom float[] isaac:physics:JerkLimit
-            custom int isaac:physics:Rot_X:DofOffset
-            custom int isaac:physics:Rot_Y:DofOffset
-            custom int isaac:physics:Rot_Z:DofOffset
-            custom int isaac:physics:Tr_X:DofOffset
-            custom int isaac:physics:Tr_Y:DofOffset
-            custom int isaac:physics:Tr_Z:DofOffset
-            uniform token physics:axis = "X"
-            custom rel physics:body0 = </arm/link3>
-            custom rel physics:body1 = </arm/link4>
-            float physics:breakForce = 3.4028233e36
-            float physics:breakTorque = 3.4028233e34
-            point3f physics:localPos0 = (-0.082849994, 0, 0)
-            point3f physics:localPos1 = (0, 0, 0)
-            quatf physics:localRot0 = (0.70710063, 0.002937348, -0.70710063, 0.002937348)
-            quatf physics:localRot1 = (0.70710677, 0, -0.70710677, 0)
-            float physics:lowerLimit = -90.000206
-            float physics:upperLimit = 90.000206
-        }
-
-        over "collisions" (
-            instanceable = false
-        )
-        {
-            over "collisions_2" (
-                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"]
-            )
-            {
-            }
-        }
-    }
-
-    over "link4" (
-        prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"]
-    )
-    {
-        vector3f physics:angularVelocity = (0, 0, 0)
-        point3f physics:centerOfMass = (0, 0, 0)
-        float physics:density = 0
-        float physics:mass = 0.1
-        vector3f physics:velocity = (0, 0, 0)
-
-        over "Wrist_Lift" (
-            instanceable = false
-        )
-        {
-            over "Wrist_Lift" (
-                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"]
-            )
-            {
-                bool physics:collisionEnabled = 1
-            }
-        }
-    }
-
-    over "link5"
-    {
-        over "Wrist_Twist" (
-            prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"]
-        )
-        {
-            vector3f physics:angularVelocity = (0, 0, 0)
-            point3f physics:centerOfMass = (0, 0, 0)
-            bool physics:kinematicEnabled = 0
-            float physics:mass = 0.08
-            bool physics:rigidBodyEnabled = 1
-            vector3f physics:velocity = (0, 0, 0)
-
-            def PhysicsRevoluteJoint "Wrist_Twist_RevoluteJoint" (
-                prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
-            )
-            {
-                float drive:angular:physics:damping = 10
-                float drive:angular:physics:maxForce = 0.099999994
-                float drive:angular:physics:stiffness = 1000
-                float drive:angular:physics:targetPosition = 0
-                uniform token drive:angular:physics:type = "acceleration"
-                custom string isaac:nameOverride
-                custom float[] isaac:physics:AccelerationLimit
-                custom float[] isaac:physics:JerkLimit
-                custom int isaac:physics:Rot_X:DofOffset
-                custom int isaac:physics:Rot_Y:DofOffset
-                custom int isaac:physics:Rot_Z:DofOffset
-                custom int isaac:physics:Tr_X:DofOffset
-                custom int isaac:physics:Tr_Y:DofOffset
-                custom int isaac:physics:Tr_Z:DofOffset
-                uniform token physics:axis = "Z"
-                custom rel physics:body0 = </arm/link5/Wrist_Twist>
-                custom rel physics:body1 = </arm/link4>
-                float physics:breakForce = inf
-                float physics:breakTorque = inf
-                point3f physics:localPos0 = (0, 0, 0)
-                point3f physics:localPos1 = (-0.06549733, -0.0045318594, -0.00060643995)
-                quatf physics:localRot0 = (1, 0, 0, 0)
-                quatf physics:localRot1 = (-0.4988273, 0.49882996, 0.50117344, -0.50116396)
-            }
-
-            over "Wrist_Twist" (
-                instanceable = false
-            )
-            {
-                over "Wrist_Twist" (
-                    prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"]
-                )
-                {
-                    bool physics:collisionEnabled = 1
-                }
-            }
-        }
-
-        over "Finger_Left_01" (
-            prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsFilteredPairsAPI", "PhysicsMassAPI"]
-        )
-        {
-            vector3f physics:angularVelocity = (0, 0, 0)
-            point3f physics:centerOfMass = (0, 0, 0)
-            rel physics:filteredPairs = </arm/link5/Finger_Right_01/Finger_Right_01>
-            bool physics:kinematicEnabled = 0
-            float physics:mass = 0.02
-            bool physics:rigidBodyEnabled = 1
-            vector3f physics:velocity = (0, 0, 0)
-
-            def PhysicsRevoluteJoint "Finger_Left_01_RevoluteJoint" (
-                prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
-            )
-            {
-                float drive:angular:physics:damping = 1000
-                float drive:angular:physics:maxForce = 0.12
-                float drive:angular:physics:stiffness = 6000
-                float drive:angular:physics:targetPosition = 0
-                uniform token drive:angular:physics:type = "acceleration"
-                custom string isaac:nameOverride
-                custom float[] isaac:physics:AccelerationLimit
-                custom float[] isaac:physics:JerkLimit
-                custom int isaac:physics:Rot_X:DofOffset
-                custom int isaac:physics:Rot_Y:DofOffset
-                custom int isaac:physics:Rot_Z:DofOffset
-                custom int isaac:physics:Tr_X:DofOffset
-                custom int isaac:physics:Tr_Y:DofOffset
-                custom int isaac:physics:Tr_Z:DofOffset
-                uniform token physics:axis = "X"
-                custom rel physics:body0 = </arm/link5/Finger_Left_01>
-                custom rel physics:body1 = </arm/link5/Wrist_Twist/Wrist_Twist>
-                float physics:breakForce = inf
-                float physics:breakTorque = inf
-                point3f physics:localPos0 = (0, 0, 0)
-                point3f physics:localPos1 = (-0.29220235, 1.2149862, 4.1918764)
-                quatf physics:localRot0 = (1, 0, 0, 0)
-                quatf physics:localRot1 = (1, -1e-45, 6.162976e-33, -0)
-                float physics:lowerLimit = -30
-                float physics:upperLimit = 30
-            }
-
-            over "Finger_Left_01" (
-                instanceable = false
-            )
-            {
-                over "Finger_Left_01" (
-                    prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"]
-                )
-                {
-                    bool physics:collisionEnabled = 1
-                }
-            }
-        }
-
-        over "Finger_Right_01" (
-            prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"]
-        )
-        {
-            vector3f physics:angularVelocity = (0, 0, 0)
-            point3f physics:centerOfMass = (0, 0, 0)
-            bool physics:kinematicEnabled = 0
-            float physics:mass = 0.02
-            bool physics:rigidBodyEnabled = 1
-            vector3f physics:velocity = (0, 0, 0)
-
-            def PhysicsRevoluteJoint "Finger_Right_01_RevoluteJoint" (
-                prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
-            )
-            {
-                float drive:angular:physics:damping = 1000
-                float drive:angular:physics:maxForce = 0.12
-                float drive:angular:physics:stiffness = 6000
-                float drive:angular:physics:targetPosition = 0
-                uniform token drive:angular:physics:type = "acceleration"
-                custom string isaac:nameOverride
-                custom float[] isaac:physics:AccelerationLimit
-                custom float[] isaac:physics:JerkLimit
-                custom int isaac:physics:Rot_X:DofOffset
-                custom int isaac:physics:Rot_Y:DofOffset
-                custom int isaac:physics:Rot_Z:DofOffset
-                custom int isaac:physics:Tr_X:DofOffset
-                custom int isaac:physics:Tr_Y:DofOffset
-                custom int isaac:physics:Tr_Z:DofOffset
-                uniform token physics:axis = "X"
-                custom rel physics:body0 = </arm/link5/Finger_Right_01>
-                custom rel physics:body1 = </arm/link5/Wrist_Twist/Wrist_Twist>
-                float physics:breakForce = inf
-                float physics:breakTorque = inf
-                point3f physics:localPos0 = (0, 0, 0)
-                point3f physics:localPos1 = (-0.29220113, -1.240003, 4.1918764)
-                quatf physics:localRot0 = (1, 0, 0, 0)
-                quatf physics:localRot1 = (1, -1e-45, 6.162985e-33, -0)
-                float physics:lowerLimit = -30
-                float physics:upperLimit = 30
-            }
-
-            over "Finger_Right_01" (
-                instanceable = false
-            )
-            {
-                over "Finger_Right_01" (
-                    prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"]
-                )
-                {
-                    bool physics:collisionEnabled = 1
-                }
-            }
-        }
-
-        over "Finger_Left_03" (
-            prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"]
-            instanceable = false
-        )
-        {
-            vector3f physics:angularVelocity = (0, 0, 0)
-            bool physics:kinematicEnabled = 0
-            float physics:mass = 0.0033898563 (
-                customData = {
-                    dictionary agentfix = {
-                        string massConfidence = "estimate with user-authorized material guesses and aluminium fallback, not verified hardware mass"
-                        string massMethod = "CORE Artist Tools material shell estimate with source component masses retained"
-                    }
-                }
-            )
-            bool physics:rigidBodyEnabled = 1
-            vector3f physics:velocity = (0, 0, 0)
-
-            over "Finger_Left_03" (
-                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"]
-            )
-            {
-                bool physics:collisionEnabled = 1
-            }
-        }
-
-        over "Finger_Right_03" (
-            prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"]
-            instanceable = false
-        )
-        {
-            vector3f physics:angularVelocity = (0, 0, 0)
-            bool physics:kinematicEnabled = 0
-            float physics:mass = 0.003950518 (
-                customData = {
-                    dictionary agentfix = {
-                        string massConfidence = "estimate with user-authorized material guesses and aluminium fallback, not verified hardware mass"
-                        string massMethod = "CORE Artist Tools material shell estimate with source component masses retained"
-                    }
-                }
-            )
-            bool physics:rigidBodyEnabled = 1
-            vector3f physics:velocity = (0, 0, 0)
-
-            over "Finger_Right_03" (
-                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"]
-            )
-            {
-                bool physics:collisionEnabled = 1
-            }
-        }
-
-        over "Finger_Left_02" (
-            prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"]
-        )
-        {
-            vector3f physics:angularVelocity = (0, 0, 0)
-            bool physics:kinematicEnabled = 0
-            float physics:mass = 0.002549749 (
-                customData = {
-                    dictionary agentfix = {
-                        string massConfidence = "estimate with user-authorized material guesses and aluminium fallback, not verified hardware mass"
-                        string massMethod = "CORE Artist Tools material shell estimate with source component masses retained"
-                    }
-                }
-            )
-            bool physics:rigidBodyEnabled = 1
-            vector3f physics:velocity = (0, 0, 0)
-
-            def PhysicsSphericalJoint "Finger_Left_02_SphericalJoint"
-            {
-                uniform token physics:axis = "X"
-                custom rel physics:body0 = </arm/link5/Finger_Left_03/Finger_Left_03>
-                custom rel physics:body1 = </arm/link5/Finger_Left_02/Finger_Left_02>
-                float physics:breakForce = inf
-                float physics:breakTorque = inf
-                uniform bool physics:excludeFromArticulation = 1
-                point3f physics:localPos0 = (-1.4452124e-7, -0.79711, 1.83944)
-                point3f physics:localPos1 = (1.4409475e-8, 1.77985, 2.43045)
-                quatf physics:localRot0 = (1, -2.6163723e-13, 2.7813916e-11, 6.980623e-14)
-                quatf physics:localRot1 = (1, -1.12632634e-7, 9.658924e-9, -2.9698487e-8)
-            }
-
-            over "Finger_Left_02" (
-                instanceable = false
-            )
-            {
-                over "Finger_Left_02" (
-                    prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"]
-                )
-                {
-                    bool physics:collisionEnabled = 1
-                }
-            }
-        }
-
-        over "Finger_Right_02" (
-            prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"]
-        )
-        {
-            vector3f physics:angularVelocity = (0, 0, 0)
-            bool physics:kinematicEnabled = 0
-            float physics:mass = 0.002549749 (
-                customData = {
-                    dictionary agentfix = {
-                        string massConfidence = "estimate with user-authorized material guesses and aluminium fallback, not verified hardware mass"
-                        string massMethod = "CORE Artist Tools material shell estimate with source component masses retained"
-                    }
-                }
-            )
-            bool physics:rigidBodyEnabled = 1
-            vector3f physics:velocity = (0, 0, 0)
-
-            def PhysicsSphericalJoint "Finger_Right_02_SphericalJoint"
-            {
-                uniform token physics:axis = "X"
-                custom rel physics:body0 = </arm/link5/Finger_Right_03/Finger_Right_03>
-                custom rel physics:body1 = </arm/link5/Finger_Right_02/Finger_Right_02>
-                float physics:breakForce = inf
-                float physics:breakTorque = inf
-                uniform bool physics:excludeFromArticulation = 1
-                point3f physics:localPos0 = (-8.870277e-9, 0.81077, 1.81201)
-                point3f physics:localPos1 = (-2.9491831e-9, -0.01149, -0.01115)
-                quatf physics:localRot0 = (1, -1.975757e-12, 2.7470394e-11, 4.412854e-14)
-                quatf physics:localRot1 = (1, -1.9409395e-8, -1.2668238e-9, -6.4225496e-8)
-            }
-
-            over "Finger_Right_02" (
-                instanceable = false
-            )
-            {
-                over "Finger_Right_02" (
-                    prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"]
-                )
-                {
-                    bool physics:collisionEnabled = 1
-                }
-            }
-        }
-
-        def PhysicsRevoluteJoint "Finger_Left_02_RevoluteJoint" (
-            prepend apiSchemas = ["PhysicsJointStateAPI:angular", "PhysicsDriveAPI:angular"]
-        )
-        {
-            float drive:angular:physics:damping = 0
-            float drive:angular:physics:maxForce = 0.12
-            float drive:angular:physics:stiffness = 0
-            float drive:angular:physics:targetPosition = 0
-            float drive:angular:physics:targetVelocity = 0
-            uniform token drive:angular:physics:type = "acceleration"
-            token physics:axis = "X"
-            custom rel physics:body0 = </arm/link5/Finger_Left_02/Finger_Left_02>
-            custom rel physics:body1 = </arm/link5/Wrist_Twist/Wrist_Twist>
-            float physics:breakForce = inf
-            float physics:breakTorque = inf
-            point3f physics:localPos0 = (0, 0, 0)
-            point3f physics:localPos1 = (-0.16869655, 0.4503985, 5.992106)
-            quatf physics:localRot0 = (1, 0, 0, 0)
-            quatf physics:localRot1 = (1, -0.00011703074, 0.0000049658033, -3.4355e-8)
-        }
-
-        def PhysicsRevoluteJoint "Finger_Left_03_RevoluteJoint" (
-            prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
-        )
-        {
-            float drive:angular:physics:damping = 0
-            float drive:angular:physics:maxForce = 0.12
-            float drive:angular:physics:stiffness = 0
-            float drive:angular:physics:targetPosition = 0
-            float drive:angular:physics:targetVelocity = 0
-            uniform token drive:angular:physics:type = "acceleration"
-            token physics:axis = "X"
-            custom rel physics:body0 = </arm/link5/Finger_Left_03/Finger_Left_03>
-            custom rel physics:body1 = </arm/link5/Finger_Left_01/Finger_Left_01>
-            float physics:breakForce = inf
-            float physics:breakTorque = inf
-            point3f physics:localPos0 = (0, 0, 0)
-            point3f physics:localPos1 = (0.12363685, 1.8119415, 2.3910213)
-            quatf physics:localRot0 = (1, 0, 0, 0)
-            quatf physics:localRot1 = (1, 8.7435e-9, -7.463727e-10, 1.3773865e-9)
-            float physics:lowerLimit = -30
-            float physics:upperLimit = 30
-        }
-
-        def PhysicsRevoluteJoint "Finger_Right_02_RevoluteJoint" (
-            prepend apiSchemas = ["PhysicsJointStateAPI:angular", "PhysicsDriveAPI:angular"]
-        )
-        {
-            float drive:angular:physics:damping = 0
-            float drive:angular:physics:maxForce = 0.12
-            float drive:angular:physics:stiffness = 0
-            float drive:angular:physics:targetPosition = 0
-            float drive:angular:physics:targetVelocity = 0
-            uniform token drive:angular:physics:type = "acceleration"
-            token physics:axis = "X"
-            custom rel physics:body0 = </arm/link5/Finger_Right_02/Finger_Right_02>
-            custom rel physics:body1 = </arm/link5/Wrist_Twist/Wrist_Twist>
-            float physics:breakForce = inf
-            float physics:breakTorque = inf
-            point3f physics:localPos0 = (-5.173299e-7, 1.7269789, -2.4491472)
-            point3f physics:localPos1 = (-0.16868919, -0.45649478, 5.9916687)
-            quatf physics:localRot0 = (1, 1.9229503e-12, 1.4099211e-11, -1.479941e-14)
-            quatf physics:localRot1 = (1, 0.00009905596, 0.0000035586138, -3.2006255e-8)
-        }
-
-        def PhysicsRevoluteJoint "Finger_Right_03_RevoluteJoint" (
-            prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
-        )
-        {
-            float drive:angular:physics:damping = 0
-            float drive:angular:physics:maxForce = 0.12
-            float drive:angular:physics:stiffness = 0
-            float drive:angular:physics:targetPosition = 0
-            float drive:angular:physics:targetVelocity = 0
-            uniform token drive:angular:physics:type = "acceleration"
-            token physics:axis = "X"
-            custom rel physics:body0 = </arm/link5/Finger_Right_03/Finger_Right_03>
-            custom rel physics:body1 = </arm/link5/Finger_Right_01/Finger_Right_01>
-            float physics:breakForce = inf
-            float physics:breakTorque = inf
-            point3f physics:localPos0 = (0, 0, 0)
-            point3f physics:localPos1 = (0.12363637, -1.7653793, 2.4256)
-            quatf physics:localRot0 = (1, 0, 0, 0)
-            quatf physics:localRot1 = (1, 1.12872264e-7, 8.302244e-9, -1.2118254e-7)
-            float physics:lowerLimit = -30
-            float physics:upperLimit = 30
-        }
-    }
-
-    def PhysicsFixedJoint "root_joint"
-    {
-        custom rel physics:body1 = </arm/base_link>
-        float physics:breakForce = inf
-        float physics:breakTorque = inf
-        point3f physics:localPos0 = (0, 0, 0)
-        point3f physics:localPos1 = (0, 0, 0)
-    }
-}
-
-over "World"
-{
-    def PhysicsScene "physicsScene"
-    {
-        vector3f physics:gravityDirection = (0, 0, -1)
-        float physics:gravityMagnitude = 9.81
-    }
-}
-

yahboom_dofbot/payloads/Physics/physx.usda

@@ -1,242 +0,0 @@
-#usda 1.0
-(
-    customLayerData = {
-    }
-    defaultPrim = "arm"
-    endTimeCode = 100
-    metersPerUnit = 1
-    startTimeCode = 0
-    subLayers = [
-        @./physics.usda@
-    ]
-    timeCodesPerSecond = 60
-    upAxis = "Z"
-)
-
-over "arm" (
-    prepend apiSchemas = ["PhysxArticulationAPI"]
-)
-{
-    bool physxArticulation:enabledSelfCollisions = 0
-    int physxArticulation:solverVelocityIterationCount = 32
-
-    over "base_link" (
-        prepend apiSchemas = ["PhysxRigidBodyAPI"]
-    )
-    {
-        bool physxRigidBody:disableGravity = 1 (
-            allowedTokens = []
-        )
-        float physxRigidBody:maxDepenetrationVelocity = 0.049999997
-        float physxRigidBody:maxLinearVelocity = inf
-        float physxRigidBody:sleepThreshold = 5e-7
-        float physxRigidBody:stabilizationThreshold = 1e-9
-
-        over "joint1" (
-            prepend apiSchemas = ["PhysxJointAPI"]
-        )
-        {
-            float physxJoint:jointFriction = 0
-            float physxJoint:maxJointVelocity = 57.29578
-        }
-    }
-
-    over "link1" (
-        prepend apiSchemas = ["PhysxRigidBodyAPI"]
-    )
-    {
-        bool physxRigidBody:disableGravity = 1 (
-            allowedTokens = []
-        )
-        float physxRigidBody:maxDepenetrationVelocity = 0.049999997
-        float physxRigidBody:maxLinearVelocity = inf
-        float physxRigidBody:sleepThreshold = 5e-7
-        float physxRigidBody:stabilizationThreshold = 1e-9
-
-        over "joint2" (
-            prepend apiSchemas = ["PhysxJointAPI"]
-        )
-        {
-            float physxJoint:jointFriction = 0
-            float physxJoint:maxJointVelocity = 57.29578
-        }
-    }
-
-    over "link2" (
-        prepend apiSchemas = ["PhysxRigidBodyAPI"]
-    )
-    {
-        bool physxRigidBody:disableGravity = 1 (
-            allowedTokens = []
-        )
-        float physxRigidBody:maxDepenetrationVelocity = 0.049999997
-        float physxRigidBody:maxLinearVelocity = inf
-        float physxRigidBody:sleepThreshold = 5e-7
-        float physxRigidBody:stabilizationThreshold = 1e-9
-
-        over "joint3" (
-            prepend apiSchemas = ["PhysxJointAPI"]
-        )
-        {
-            float physxJoint:jointFriction = 0
-            float physxJoint:maxJointVelocity = 57.29578
-        }
-    }
-
-    over "link3" (
-        prepend apiSchemas = ["PhysxRigidBodyAPI"]
-    )
-    {
-        bool physxRigidBody:disableGravity = 1 (
-            allowedTokens = []
-        )
-        float physxRigidBody:maxDepenetrationVelocity = 0.049999997
-        float physxRigidBody:maxLinearVelocity = inf
-        float physxRigidBody:sleepThreshold = 5e-7
-        float physxRigidBody:stabilizationThreshold = 1e-9
-
-        over "joint4" (
-            prepend apiSchemas = ["PhysxJointAPI"]
-        )
-        {
-            float physxJoint:jointFriction = 0
-            float physxJoint:maxJointVelocity = 57.29578
-        }
-    }
-
-    over "link4" (
-        prepend apiSchemas = ["PhysxRigidBodyAPI"]
-    )
-    {
-        bool physxRigidBody:disableGravity = 1 (
-            allowedTokens = []
-        )
-        float physxRigidBody:maxDepenetrationVelocity = 0.049999997
-        float physxRigidBody:maxLinearVelocity = inf
-        float physxRigidBody:sleepThreshold = 5e-7
-        float physxRigidBody:stabilizationThreshold = 1e-9
-    }
-
-    over "link5"
-    {
-        bool physxArticulation:enabledSelfCollisions = 0
-        int physxArticulation:solverPositionIterationCount = 64
-        int physxArticulation:solverVelocityIterationCount = 16
-        float physxArticulation:stabilizationThreshold = 1000
-
-        over "Wrist_Twist" (
-            prepend apiSchemas = ["PhysxRigidBodyAPI"]
-        )
-        {
-            float physxRigidBody:maxAngularVelocity = 100
-            float physxRigidBody:maxContactImpulse = 100
-            float physxRigidBody:maxDepenetrationVelocity = 1
-            float physxRigidBody:maxLinearVelocity = 1 (
-                allowedTokens = []
-            )
-            float physxRigidBody:sleepThreshold = 5e-7
-            float physxRigidBody:stabilizationThreshold = 1e-9
-        }
-
-        over "Finger_Left_01" (
-            prepend apiSchemas = ["PhysxRigidBodyAPI"]
-        )
-        {
-            float physxRigidBody:maxAngularVelocity = 10
-            float physxRigidBody:maxContactImpulse = 10
-            float physxRigidBody:maxDepenetrationVelocity = 0.099999994
-            float physxRigidBody:maxLinearVelocity = 0.099999994 (
-                allowedTokens = []
-            )
-            float physxRigidBody:sleepThreshold = 5e-7
-            float physxRigidBody:stabilizationThreshold = 1e-9
-        }
-
-        over "Finger_Right_01" (
-            prepend apiSchemas = ["PhysxRigidBodyAPI"]
-        )
-        {
-            float physxRigidBody:maxAngularVelocity = 10
-            float physxRigidBody:maxContactImpulse = 10
-            float physxRigidBody:maxDepenetrationVelocity = 0.099999994
-            float physxRigidBody:maxLinearVelocity = 0.099999994 (
-                allowedTokens = []
-            )
-            float physxRigidBody:sleepThreshold = 5e-7
-            float physxRigidBody:stabilizationThreshold = 1e-9
-        }
-
-        over "Finger_Left_03" (
-            prepend apiSchemas = ["PhysxRigidBodyAPI"]
-        )
-        {
-            float physxRigidBody:maxAngularVelocity = 10
-            float physxRigidBody:maxContactImpulse = 10
-            float physxRigidBody:maxDepenetrationVelocity = 0.099999994
-            float physxRigidBody:maxLinearVelocity = 0.099999994 (
-                allowedTokens = []
-            )
-            float physxRigidBody:sleepThreshold = 5e-7
-            float physxRigidBody:stabilizationThreshold = 1e-9
-        }
-
-        over "Finger_Right_03" (
-            prepend apiSchemas = ["PhysxRigidBodyAPI"]
-        )
-        {
-            float physxRigidBody:maxAngularVelocity = 10
-            float physxRigidBody:maxContactImpulse = 10
-            float physxRigidBody:maxDepenetrationVelocity = 0.099999994
-            float physxRigidBody:maxLinearVelocity = 0.099999994 (
-                allowedTokens = []
-            )
-            float physxRigidBody:sleepThreshold = 5e-7
-            float physxRigidBody:stabilizationThreshold = 1e-9
-        }
-
-        over "Finger_Left_02" (
-            prepend apiSchemas = ["PhysxRigidBodyAPI"]
-        )
-        {
-            float physxRigidBody:maxAngularVelocity = 10
-            float physxRigidBody:maxContactImpulse = 10
-            float physxRigidBody:maxDepenetrationVelocity = 0.099999994
-            float physxRigidBody:maxLinearVelocity = 0.099999994 (
-                allowedTokens = []
-            )
-            float physxRigidBody:sleepThreshold = 5e-7
-            float physxRigidBody:stabilizationThreshold = 1e-9
-        }
-
-        over "Finger_Right_02" (
-            prepend apiSchemas = ["PhysxRigidBodyAPI"]
-        )
-        {
-            float physxRigidBody:maxAngularVelocity = 10
-            float physxRigidBody:maxContactImpulse = 10
-            float physxRigidBody:maxDepenetrationVelocity = 0.099999994
-            float physxRigidBody:maxLinearVelocity = 0.099999994 (
-                allowedTokens = []
-            )
-            float physxRigidBody:sleepThreshold = 5e-7
-            float physxRigidBody:stabilizationThreshold = 1e-9
-        }
-    }
-}
-
-over "World"
-{
-    over "physicsScene" (
-        prepend apiSchemas = ["PhysxSceneAPI"]
-    )
-    {
-        uniform token physxScene:broadphaseType = "MBP"
-        bool physxScene:enableCCD = 1
-        bool physxScene:enableGPUDynamics = 0
-        bool physxScene:enableStabilization = 1
-        float physxScene:frictionCorrelationDistance = 0.00025
-        float physxScene:frictionOffsetThreshold = 0.0004
-        uniform token physxScene:solverType = "TGS"
-    }
-}
-

yahboom_dofbot/payloads/base.usda

@@ -1,405 +0,0 @@
-#usda 1.0
-(
-    customLayerData = {
-    }
-    defaultPrim = "arm"
-    endTimeCode = 100
-    metersPerUnit = 1
-    startTimeCode = 0
-    subLayers = [
-        @./robot.usda@
-    ]
-    timeCodesPerSecond = 60
-    upAxis = "Z"
-)
-
-def Xform "arm"
-{
-    custom string isaac:description
-    custom string isaac:namespace
-    custom rel isaac:physics:robotJoints
-    prepend rel isaac:physics:robotJoints = [
-        </arm/base_link/joint1>,
-        </arm/link1/joint2>,
-        </arm/link2/joint3>,
-        </arm/link3/joint4>,
-        </arm/link5/Wrist_Twist/Wrist_Twist_RevoluteJoint>,
-        </arm/link5/Finger_Left_01/Finger_Left_01_RevoluteJoint>,
-        </arm/link5/Finger_Right_01/Finger_Right_01_RevoluteJoint>,
-        </arm/link5/Finger_Left_02/Finger_Left_02_SphericalJoint>,
-        </arm/link5/Finger_Right_02/Finger_Right_02_SphericalJoint>,
-    ]
-    custom rel isaac:physics:robotLinks
-    prepend rel isaac:physics:robotLinks = [
-        </arm/base_link>,
-        </arm/link1>,
-        </arm/link2>,
-        </arm/link3>,
-        </arm/link4>,
-        </arm/link5/Wrist_Twist>,
-        </arm/link5/Finger_Left_01>,
-        </arm/link5/Finger_Right_01>,
-        </arm/link5/Finger_Left_03>,
-        </arm/link5/Finger_Right_03>,
-        </arm/link5/Finger_Left_02>,
-        </arm/link5/Finger_Right_02>,
-    ]
-
-    def Xform "base_link"
-    {
-        custom string isaac:nameOverride
-        quatf xformOp:orient = (1, 0, 0, 0)
-        double3 xformOp:scale = (1, 1, 1)
-        float3 xformOp:translate = (1.5459954e-9, 7.4386594e-7, -5.7220456e-7)
-        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
-
-        def Xform "visuals" (
-            instanceable = true
-            prepend references = @./instances.usda@</Instances/visuals>
-        )
-        {
-        }
-
-        def Xform "collisions" (
-            instanceable = true
-            prepend references = @./instances.usda@</Instances/visuals_1>
-        )
-        {
-        }
-
-        def Xform "PCB_01" (
-            instanceable = true
-            prepend references = @./instances.usda@</Instances/PCB_01>
-        )
-        {
-            quatd xformOp:orient = (0.7071067812, 0, 0, 0.7071067812)
-            double3 xformOp:scale = (0.009999999776, 0.01000000693, 0.01000000693)
-            double3 xformOp:translate = (-1.51339915e-9, -7.247924643e-7, 5.578994626e-7)
-            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
-        }
-
-        def Xform "Base01_01" (
-            instanceable = true
-            prepend references = @./instances.usda@</Instances/Base01_01>
-        )
-        {
-            quatd xformOp:orient = (0.7071067812, 0, 0, 0.7071067812)
-            double3 xformOp:scale = (0.009999999776, 0.01000000693, 0.01000000693)
-            double3 xformOp:translate = (-1.51339915e-9, -7.247924643e-7, 5.578994626e-7)
-            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
-        }
-
-        def Xform "Antennas_01" (
-            instanceable = true
-            prepend references = @./instances.usda@</Instances/Antennas_01>
-        )
-        {
-            quatd xformOp:orient = (0.7071067812, 0, 0, 0.7071067812)
-            double3 xformOp:scale = (0.009999999776, 0.01000000693, 0.01000000693)
-            double3 xformOp:translate = (-1.51339915e-9, -7.247924643e-7, 5.578994626e-7)
-            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
-        }
-    }
-
-    def Xform "link1"
-    {
-        custom string isaac:nameOverride
-        quatf xformOp:orient = (0.9999854, -0.0054042637, 2.9373043e-8, 3.0267986e-9)
-        double3 xformOp:scale = (1, 0.999999999998871, 0.999999999998871)
-        float3 xformOp:translate = (1.5366822e-9, 1.8024816e-7, 0.066049896)
-        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
-
-        def Xform "collisions" (
-            instanceable = true
-            prepend references = @./instances.usda@</Instances/collisions>
-        )
-        {
-        }
-
-        def Xform "visuals" (
-            instanceable = true
-            prepend references = @./instances.usda@</Instances/visuals_1_1>
-        )
-        {
-            quatd xformOp:orient = (0.7070964573, 0.003821370514, -0.003821412054, 0.7070964532)
-            double3 xformOp:scale = (0.009999999776, 0.01000000335, 0.01000000335)
-            double3 xformOp:translate = (-2.0054154e-9, -0.00009151267273, 0.008449656489)
-            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
-        }
-    }
-
-    def Xform "link2"
-    {
-        custom string isaac:nameOverride
-        quatf xformOp:orient = (0.70709515, -0.0038200808, 0.70709777, -0.003820095)
-        double3 xformOp:scale = (1.0000000713880137, 1, 1.0000000713880137)
-        float3 xformOp:translate = (8.0359165e-8, 0.00012933864, 0.107500926)
-        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
-
-        def Xform "collisions" (
-            instanceable = true
-            prepend references = @./instances.usda@</Instances/collisions_1>
-        )
-        {
-        }
-
-        def Xform "Shoulder_Lift"
-        {
-            double3 xformOp:rotateXYZ = (-90, 0.0000026183336103713373, 90)
-            double3 xformOp:scale = (1.0000004768371582, 1, 1)
-            double3 xformOp:translate = (0, 0, -7.78784860728042e-8)
-            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:rotateXYZ", "xformOp:scale"]
-        }
-
-        def Xform "visuals" (
-            instanceable = true
-            prepend references = @./instances.usda@</Instances/visuals_2>
-        )
-        {
-            quatd xformOp:orient = (0.4999999886, -0.5000000114, -0.4999999886, 0.5000000114)
-            double3 xformOp:scale = (0.01000000454, 0.009999999776, 0.009999999776)
-            double3 xformOp:translate = (-3.552713599e-17, -1.38777875e-19, -7.787848607e-8)
-            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
-        }
-    }
-
-    def Xform "link3"
-    {
-        custom string isaac:nameOverride
-        quatf xformOp:orient = (0.70709515, -0.0038200254, 0.70709777, -0.003820039)
-        double3 xformOp:scale = (1.0000000713880137, 1, 1.0000000713880137)
-        float3 xformOp:translate = (3.2719225e-7, 0.0010245029, 0.19034551)
-        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
-
-        def Xform "collisions" (
-            instanceable = true
-            prepend references = @./instances.usda@</Instances/collisions_2>
-        )
-        {
-        }
-
-        def Xform "visuals" (
-            instanceable = true
-            prepend references = @./instances.usda@</Instances/visuals_3>
-        )
-        {
-            quatd xformOp:orient = (0.5, -0.5, -0.5, 0.5)
-            double3 xformOp:scale = (0.009999999776, 0.01000001408, 0.009999986067)
-            double3 xformOp:translate = (3.552709921e-17, 6.938889845e-19, 0)
-            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
-        }
-    }
-
-    def Xform "link4"
-    {
-        custom string isaac:nameOverride
-        quatf xformOp:orient = (0.7071009, -0.0008825615, 0.70711154, -0.00088266656)
-        double3 xformOp:scale = (0.9999999228219483, 0.9999999999999999, 0.9999999228219483)
-        float3 xformOp:translate = (5.00977e-7, 0.001919632, 0.27319115)
-        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
-
-        def Xform "Wrist_Lift" (
-            instanceable = true
-            prepend references = @./instances.usda@</Instances/Wrist_Lift>
-        )
-        {
-            quatd xformOp:orient = (0.5, -0.5, -0.5, 0.5)
-            double3 xformOp:scale = (0.009999999776, 0.009999999776, 0.009999999776)
-            double3 xformOp:translate = (0, 0, 0)
-            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
-        }
-
-        def Camera "Camera" (
-            hide_in_stage_window = false
-            kind = "model"
-            no_delete = false
-        )
-        {
-            float2 clippingRange = (0.01, 10000)
-            float focalLength = 0.24
-            float focusDistance = 4
-            float horizontalAperture = 0.20955
-            float horizontalApertureOffset = 0
-            float verticalAperture = 0.152908
-            float verticalApertureOffset = 0
-            double3 xformOp:rotateXYZ = (0, -90, 180)
-            double3 xformOp:scale = (1.000001311302185, 0.9999985098838806, 1.0000008344650269)
-            double3 xformOp:translate = (-0.06957090357886422, -0.04809993689687652, -0.0006000007241970178)
-            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:rotateXYZ", "xformOp:scale"]
-
-            def Xform "OmniverseKitViewportCameraMesh" (
-                always_pick_model = true
-                hide_in_stage_window = true
-                instanceable = true
-                kind = "subcomponent"
-                no_delete = true
-                prepend references = @./instances.usda@</Instances/CameraModel>
-            )
-            {
-                float3[] extent = [(3.4028235e38, 3.4028235e38, 3.4028235e38), (-3.4028235e38, -3.4028235e38, -3.4028235e38)]
-                bool primvars:doNotCastShadows = 1
-                token visibility = "invisible"
-                quatd xformOp:orient = (1, 0, 0, 0)
-                double3 xformOp:scale = (0.1422010362, 0.1422010362, 0.1422010362)
-                double3 xformOp:translate = (0, 0, 0)
-                uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
-            }
-        }
-    }
-
-    def Xform "link5" (
-        apiSchemas = None
-        instanceable = false
-    )
-    {
-        token visibility = "inherited"
-        float3 xformOp:rotateXYZ = (0, 0, 90)
-        float3 xformOp:scale = (1, 1, 1)
-        double3 xformOp:translate = (0, 0, 0)
-        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:rotateXYZ", "xformOp:scale"]
-
-        def Xform "Wrist_Twist"
-        {
-            custom string isaac:nameOverride
-            token visibility = "inherited"
-            quatf xformOp:orient = (0.9999994, 5.9269006e-8, -0.0010918181, -0.0000031299985)
-            double3 xformOp:scale = (0.999999463558197, 1, 1.0000005960464478)
-            double3 xformOp:translate = (-0.0024486922670448052, 0.000605108277385496, 0.33869979101345393)
-            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
-
-            def Xform "Wrist_Twist" (
-                instanceable = true
-                prepend references = @./instances.usda@</Instances/Wrist_Twist>
-            )
-            {
-                quatd xformOp:orient = (1, 0, 0, 0)
-                double3 xformOp:scale = (0.009999999776, 0.009999999776, 0.009999999776)
-                double3 xformOp:translate = (-2.7755575e-19, 0, -7.105427199e-17)
-                uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
-            }
-        }
-
-        def Xform "Finger_Left_01"
-        {
-            custom string isaac:nameOverride
-            token visibility = "inherited"
-            quatf xformOp:orient = (0.99999934, -0.00035134863, -0.0010898734, -0.0000032389833)
-            double3 xformOp:scale = (0.999999463558197, 1, 1.0000004768371582)
-            double3 xformOp:translate = (-0.005462167140942057, 0.01275498361688143, 0.38061209781589866)
-            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
-
-            def Xform "Finger_Left_01" (
-                instanceable = true
-                prepend references = @./instances.usda@</Instances/Finger_Left_01>
-            )
-            {
-                quatd xformOp:orient = (1, 0, 0, 0)
-                double3 xformOp:scale = (0.009999999776, 0.009999999776, 0.009999999776)
-                double3 xformOp:translate = (0, 0, 0)
-                uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
-            }
-        }
-
-        def Xform "Finger_Right_01"
-        {
-            custom string isaac:nameOverride
-            token visibility = "inherited"
-            quatf xformOp:orient = (0.99999934, 0.00038074935, -0.0010799972, -0.0000024802955)
-            double3 xformOp:scale = (1.0000008344650269, 0.9999991059303284, 1)
-            double3 xformOp:translate = (-0.005462308403947011, -0.011794907783085675, 0.38061209781589866)
-            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
-
-            def Xform "Finger_Right_01" (
-                instanceable = true
-                prepend references = @./instances.usda@</Instances/Finger_Right_01>
-            )
-            {
-                quatd xformOp:orient = (1, 0, 0, 0)
-                double3 xformOp:scale = (0.009999999776, 0.009999999776, 0.009999999776)
-                double3 xformOp:translate = (-1.110223e-18, 2.220446e-18, 0)
-                uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
-            }
-        }
-
-        def Xform "Finger_Left_03" (
-            instanceable = true
-            prepend references = @./instances.usda@</Instances/Finger_Left_03>
-        )
-        {
-            custom string isaac:nameOverride
-            token visibility = "inherited"
-            quatd xformOp:orient = (0.999999404, -0.0001229924869, -0.001084876315, -0.000002961403791)
-            double3 xformOp:scale = (0.009999994412, 0.009999999776, 0.01000000454)
-            double3 xformOp:translate = (-0.004276864135, 0.03089094808, 0.4045123964)
-            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
-        }
-
-        def Xform "Finger_Right_03" (
-            instanceable = true
-            prepend references = @./instances.usda@</Instances/Finger_Right_03>
-        )
-        {
-            custom string isaac:nameOverride
-            token visibility = "inherited"
-            quatd xformOp:orient = (0.999999404, 0.0001006576781, -0.001087176068, -0.000002961403158)
-            double3 xformOp:scale = (0.009999994412, 0.009999999776, 0.01000000454)
-            double3 xformOp:translate = (-0.004277966225, -0.02946700746, 0.4048573976)
-            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
-        }
-
-        def Xform "Finger_Left_02"
-        {
-            custom string isaac:nameOverride
-            token visibility = "inherited"
-            quatf xformOp:orient = (0.99999934, -0.0003527731, -0.0010893947, -0.0000034918837)
-            double3 xformOp:scale = (0.999999463558197, 1, 1.0000004768371582)
-            double3 xformOp:translate = (-0.004264077150879565, 0.005108910088786999, 0.39861651483290217)
-            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
-
-            def Xform "Finger_Left_02" (
-                instanceable = true
-                prepend references = @./instances.usda@</Instances/Finger_Left_02>
-            )
-            {
-                quatd xformOp:orient = (1, 0, 0, 0)
-                double3 xformOp:scale = (0.009999999776, 0.009999999776, 0.009999999776)
-                double3 xformOp:translate = (-5.551114999e-19, -1.110223e-18, 0)
-                uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
-            }
-        }
-
-        def Xform "Finger_Right_02"
-        {
-            custom string isaac:nameOverride
-            token visibility = "inherited"
-            quatf xformOp:orient = (0.99999934, 0.00038121297, -0.001079797, -0.0000026489224)
-            double3 xformOp:scale = (0.999999463558197, 1, 1.0000004768371582)
-            double3 xformOp:translate = (-0.004316289924466084, -0.021248104097363996, 0.4230906201208242)
-            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
-
-            def Xform "Finger_Right_02" (
-                instanceable = true
-                prepend references = @./instances.usda@</Instances/Finger_Right_02>
-            )
-            {
-                quatd xformOp:orient = (1, 0, 0, 0)
-                double3 xformOp:scale = (0.009999999776, 0.009999999776, 0.009999999776)
-                double3 xformOp:translate = (-5.551114999e-19, 0, -7.105427199e-17)
-                uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
-            }
-        }
-
-        def Scope "Looks"
-        {
-        }
-    }
-
-    def Scope "Looks"
-    {
-    }
-
-    def Scope "VisualMaterials"
-    {
-    }
-}
-

yahboom_dofbot/payloads/geometries.usd

@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:9debb6c209a4bdb63a30bc0d52eb527ebd06da654ef24ac20c7a46d86ef05c9b
-size 104855194

yahboom_dofbot/payloads/robot.usda

@@ -1,179 +0,0 @@
-#usda 1.0
-(
-    customLayerData = {
-    }
-    defaultPrim = "arm"
-    endTimeCode = 100
-    metersPerUnit = 1
-    startTimeCode = 0
-    timeCodesPerSecond = 60
-    upAxis = "Z"
-)
-
-over "arm" (
-    prepend apiSchemas = ["IsaacRobotAPI"]
-)
-{
-    prepend rel isaac:physics:robotJoints = [
-        </arm/link5/Wrist_Twist/Wrist_Twist_RevoluteJoint>,
-        </arm/link3/joint4>,
-        </arm/link2/joint3>,
-        </arm/link1/joint2>,
-        </arm/base_link/joint1>,
-        </arm/root_joint>,
-    ]
-    prepend rel isaac:physics:robotLinks = [
-        </arm/link5/Wrist_Twist>,
-        </arm/link4>,
-        </arm/link3>,
-        </arm/link2>,
-        </arm/link2/Shoulder_Lift>,
-        </arm/link1>,
-        </arm/base_link>,
-    ]
-    token isaac:robotType = "Manipulator"
-
-    over "link5"
-    {
-        over "Finger_Left_03"
-        {
-            over "Finger_Left_03"
-            {
-            }
-        }
-
-        over "Finger_Right_03"
-        {
-            over "Finger_Right_03"
-            {
-            }
-        }
-
-        over "Finger_Left_02"
-        {
-            over "Finger_Left_02"
-            {
-            }
-
-            over "Finger_Left_02_SphericalJoint" (
-                prepend apiSchemas = ["IsaacJointAPI"]
-            )
-            {
-                custom string isaac:nameOverride
-                float[] isaac:physics:AccelerationLimit
-                float[] isaac:physics:JerkLimit
-                custom int isaac:physics:Rot_X:DofOffset
-                custom int isaac:physics:Rot_Y:DofOffset
-                custom int isaac:physics:Rot_Z:DofOffset
-                custom int isaac:physics:Tr_X:DofOffset
-                custom int isaac:physics:Tr_Y:DofOffset
-                custom int isaac:physics:Tr_Z:DofOffset
-            }
-        }
-
-        over "Finger_Right_02"
-        {
-            over "Finger_Right_02"
-            {
-            }
-
-            over "Finger_Right_02_SphericalJoint" (
-                prepend apiSchemas = ["IsaacJointAPI"]
-            )
-            {
-                custom string isaac:nameOverride
-                float[] isaac:physics:AccelerationLimit
-                float[] isaac:physics:JerkLimit
-                custom int isaac:physics:Rot_X:DofOffset
-                custom int isaac:physics:Rot_Y:DofOffset
-                custom int isaac:physics:Rot_Z:DofOffset
-                custom int isaac:physics:Tr_X:DofOffset
-                custom int isaac:physics:Tr_Y:DofOffset
-                custom int isaac:physics:Tr_Z:DofOffset
-            }
-        }
-
-        over "Wrist_Twist" (
-            prepend apiSchemas = ["IsaacLinkAPI"]
-        )
-        {
-            over "Wrist_Twist_RevoluteJoint" (
-                prepend apiSchemas = ["IsaacJointAPI"]
-            )
-            {
-            }
-        }
-    }
-
-    over "root_joint" (
-        prepend apiSchemas = ["IsaacJointAPI"]
-    )
-    {
-        custom string isaac:nameOverride
-        float[] isaac:physics:AccelerationLimit
-        float[] isaac:physics:JerkLimit
-        custom int isaac:physics:Rot_X:DofOffset
-        custom int isaac:physics:Rot_Y:DofOffset
-        custom int isaac:physics:Rot_Z:DofOffset
-        custom int isaac:physics:Tr_X:DofOffset
-        custom int isaac:physics:Tr_Y:DofOffset
-        custom int isaac:physics:Tr_Z:DofOffset
-    }
-
-    over "link4" (
-        prepend apiSchemas = ["IsaacLinkAPI"]
-    )
-    {
-    }
-
-    over "link3" (
-        prepend apiSchemas = ["IsaacLinkAPI"]
-    )
-    {
-        over "joint4" (
-            prepend apiSchemas = ["IsaacJointAPI"]
-        )
-        {
-        }
-    }
-
-    over "link2" (
-        prepend apiSchemas = ["IsaacLinkAPI"]
-    )
-    {
-        over "joint3" (
-            prepend apiSchemas = ["IsaacJointAPI"]
-        )
-        {
-        }
-
-        over "Shoulder_Lift" (
-            prepend apiSchemas = ["IsaacSiteAPI"]
-        )
-        {
-        }
-    }
-
-    over "link1" (
-        prepend apiSchemas = ["IsaacLinkAPI"]
-    )
-    {
-        over "joint2" (
-            prepend apiSchemas = ["IsaacJointAPI"]
-        )
-        {
-        }
-    }
-
-    over "base_link" (
-        prepend apiSchemas = ["IsaacLinkAPI"]
-    )
-    {
-        over "joint1" (
-            prepend apiSchemas = ["IsaacJointAPI"]
-        )
-        {
-        }
-    }
-}
-

yahboom_dofbot/runnables/physics/mujoco.usda

@@ -1,410 +0,0 @@
-#usda 1.0
-(
-    defaultPrim = "arm"
-)
-
-def "arm"
-{
-    over "link5"
-    {
-        over "Finger_Left_03"
-        {
-            over "Finger_Left_03" (
-                prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"]
-            )
-            {
-                uniform token physics:approximation = "convexHull"
-            }
-        }
-
-        over "Finger_Right_03"
-        {
-            over "Finger_Right_03" (
-                prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"]
-            )
-            {
-                uniform token physics:approximation = "convexHull"
-            }
-        }
-
-        over "Finger_Left_02"
-        {
-            over "Finger_Left_02"
-            {
-                over "Finger_Left_02" (
-                    prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"]
-                )
-                {
-                    uniform token physics:approximation = "convexHull"
-                }
-            }
-        }
-
-        over "Finger_Right_02"
-        {
-            over "Finger_Right_02"
-            {
-                over "Finger_Right_02" (
-                    prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"]
-                )
-                {
-                    uniform token physics:approximation = "convexHull"
-                }
-            }
-        }
-
-        over "Wrist_Twist"
-        {
-            over "Wrist_Twist"
-            {
-                over "Wrist_Twist" (
-                    prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"]
-                )
-                {
-                    uniform token physics:approximation = "convexHull"
-                }
-            }
-
-            over "Wrist_Twist_RevoluteJoint" (
-                prepend apiSchemas = ["MjcJointAPI"]
-            )
-            {
-                float drive:angular:physics:damping = None
-                float drive:angular:physics:stiffness = None
-                float drive:angular:physics:targetPosition = -0
-                rel physics:body0 = </arm/link4>
-                rel physics:body1 = </arm/link5/Wrist_Twist>
-                point3f physics:localPos0 = (-0.06549733, -0.0045318594, -0.00060643995)
-                point3f physics:localPos1 = (0, 0, 0)
-                quatf physics:localRot0 = (-0.4988273, 0.49882996, 0.50117344, -0.50116396)
-                quatf physics:localRot1 = (1, 0, 0, 0)
-            }
-        }
-
-        over "Finger_Left_01"
-        {
-            over "Finger_Left_01"
-            {
-                over "Finger_Left_01" (
-                    prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"]
-                )
-                {
-                    uniform token physics:approximation = "convexHull"
-                }
-            }
-
-            over "Finger_Left_01_RevoluteJoint" (
-                prepend apiSchemas = ["MjcJointAPI"]
-            )
-            {
-                float drive:angular:physics:damping = None
-                float drive:angular:physics:stiffness = None
-                float drive:angular:physics:targetPosition = -0
-                rel physics:body0 = </arm/link5/Wrist_Twist/Wrist_Twist>
-                rel physics:body1 = </arm/link5/Finger_Left_01>
-                point3f physics:localPos0 = (-0.29220235, 1.2149862, 4.1918764)
-                point3f physics:localPos1 = (0, 0, 0)
-                quatf physics:localRot0 = (1, -1e-45, 6.162976e-33, -0)
-                quatf physics:localRot1 = (1, 0, 0, 0)
-                float physics:lowerLimit = -30
-                float physics:upperLimit = 30
-            }
-        }
-
-        over "Finger_Right_01"
-        {
-            over "Finger_Right_01"
-            {
-                over "Finger_Right_01" (
-                    prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"]
-                )
-                {
-                    uniform token physics:approximation = "convexHull"
-                }
-            }
-
-            over "Finger_Right_01_RevoluteJoint" (
-                prepend apiSchemas = ["MjcJointAPI"]
-            )
-            {
-                float drive:angular:physics:damping = None
-                float drive:angular:physics:stiffness = None
-                float drive:angular:physics:targetPosition = -0
-                rel physics:body0 = </arm/link5/Wrist_Twist/Wrist_Twist>
-                rel physics:body1 = </arm/link5/Finger_Right_01>
-                point3f physics:localPos0 = (-0.29220113, -1.240003, 4.1918764)
-                point3f physics:localPos1 = (0, 0, 0)
-                quatf physics:localRot0 = (1, -1e-45, 6.162985e-33, -0)
-                quatf physics:localRot1 = (1, 0, 0, 0)
-                float physics:lowerLimit = -30
-                float physics:upperLimit = 30
-            }
-        }
-
-        over "Finger_Left_02_RevoluteJoint" (
-            prepend apiSchemas = ["MjcJointAPI"]
-        )
-        {
-            float drive:angular:physics:targetPosition = -0
-            float drive:angular:physics:targetVelocity = -0
-            rel physics:body0 = </arm/link5/Wrist_Twist/Wrist_Twist>
-            rel physics:body1 = </arm/link5/Finger_Left_02/Finger_Left_02>
-            point3f physics:localPos0 = (-0.16869655, 0.4503985, 5.992106)
-            point3f physics:localPos1 = (0, 0, 0)
-            quatf physics:localRot0 = (1, -0.00011703074, 0.0000049658033, -3.4355e-8)
-            quatf physics:localRot1 = (1, 0, 0, 0)
-        }
-
-        over "Finger_Left_03_RevoluteJoint" (
-            prepend apiSchemas = ["MjcJointAPI"]
-        )
-        {
-            float drive:angular:physics:targetPosition = -0
-            float drive:angular:physics:targetVelocity = -0
-            rel physics:body0 = </arm/link5/Finger_Left_01/Finger_Left_01>
-            rel physics:body1 = </arm/link5/Finger_Left_03/Finger_Left_03>
-            point3f physics:localPos0 = (0.12363685, 1.8119415, 2.3910213)
-            point3f physics:localPos1 = (0, 0, 0)
-            quatf physics:localRot0 = (1, 8.7435e-9, -7.463727e-10, 1.3773865e-9)
-            quatf physics:localRot1 = (1, 0, 0, 0)
-            float physics:lowerLimit = -30
-            float physics:upperLimit = 30
-        }
-
-        over "Finger_Right_02_RevoluteJoint" (
-            prepend apiSchemas = ["MjcJointAPI"]
-        )
-        {
-            float drive:angular:physics:targetPosition = -0
-            float drive:angular:physics:targetVelocity = -0
-            rel physics:body0 = </arm/link5/Wrist_Twist/Wrist_Twist>
-            rel physics:body1 = </arm/link5/Finger_Right_02/Finger_Right_02>
-            point3f physics:localPos0 = (-0.16868919, -0.45649478, 5.9916687)
-            point3f physics:localPos1 = (-5.173299e-7, 1.7269789, -2.4491472)
-            quatf physics:localRot0 = (1, 0.00009905596, 0.0000035586138, -3.2006255e-8)
-            quatf physics:localRot1 = (1, 1.9229503e-12, 1.4099211e-11, -1.479941e-14)
-        }
-
-        over "Finger_Right_03_RevoluteJoint" (
-            prepend apiSchemas = ["MjcJointAPI"]
-        )
-        {
-            float drive:angular:physics:targetPosition = -0
-            float drive:angular:physics:targetVelocity = -0
-            rel physics:body0 = </arm/link5/Finger_Right_01/Finger_Right_01>
-            rel physics:body1 = </arm/link5/Finger_Right_03/Finger_Right_03>
-            point3f physics:localPos0 = (0.12363637, -1.7653793, 2.4256)
-            point3f physics:localPos1 = (0, 0, 0)
-            quatf physics:localRot0 = (1, 1.12872264e-7, 8.302244e-9, -1.2118254e-7)
-            quatf physics:localRot1 = (1, 0, 0, 0)
-            float physics:lowerLimit = -30
-            float physics:upperLimit = 30
-        }
-    }
-
-    over "link4"
-    {
-        over "Wrist_Lift"
-        {
-            over "Wrist_Lift" (
-                prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"]
-            )
-            {
-                uniform token physics:approximation = "convexHull"
-            }
-        }
-    }
-
-    over "link3"
-    {
-        over "collisions"
-        {
-            over "collisions_2" (
-                prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"]
-            )
-            {
-                uniform token physics:approximation = "convexHull"
-            }
-        }
-
-        over "joint4" (
-            prepend apiSchemas = ["MjcJointAPI"]
-        )
-        {
-            float drive:angular:physics:damping = None
-            float drive:angular:physics:stiffness = None
-        }
-    }
-
-    over "link2"
-    {
-        over "collisions"
-        {
-            over "collisions_1" (
-                prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"]
-            )
-            {
-                uniform token physics:approximation = "convexHull"
-            }
-        }
-
-        over "joint3" (
-            prepend apiSchemas = ["MjcJointAPI"]
-        )
-        {
-            float drive:angular:physics:damping = None
-            float drive:angular:physics:stiffness = None
-        }
-    }
-
-    over "link1"
-    {
-        over "collisions"
-        {
-            over "collisions" (
-                prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"]
-            )
-            {
-                uniform token physics:approximation = "convexHull"
-            }
-        }
-
-        over "joint2" (
-            prepend apiSchemas = ["MjcJointAPI"]
-        )
-        {
-            float drive:angular:physics:damping = None
-            float drive:angular:physics:stiffness = None
-        }
-    }
-
-    over "base_link"
-    {
-        over "collisions"
-        {
-            over "visuals" (
-                prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"]
-            )
-            {
-                uniform token physics:approximation = "convexHull"
-            }
-        }
-
-        over "joint1" (
-            prepend apiSchemas = ["MjcJointAPI"]
-        )
-        {
-            float drive:angular:physics:damping = None
-            float drive:angular:physics:stiffness = None
-        }
-    }
-
-    def "MuJoCoActuators"
-    {
-        def MjcActuator "act_arm_link5_Wrist_Twist_Wrist_Twist_RevoluteJoint" (
-            doc = "Position servo: control is joint angle in radians. Gains calibrated from source acceleration drive and MuJoCo reflected inertia at qpos0; not configuration-independent acceleration control. Original effort limit retained. Reversed wrist/finger coordinates use the opposite sign to PhysX."
-        )
-        {
-            double[] mjc:biasPrm = [0, -1.7630056406940096, -0.017630056406940098, 0, 0, 0, 0, 0, 0, 0]
-            token mjc:biasType = "affine"
-            token mjc:ctrlLimited = "false"
-            token mjc:forceLimited = "true"
-            double mjc:forceRange:max = 0.09999999403953552
-            double mjc:forceRange:min = -0.09999999403953552
-            double[] mjc:gainPrm = [1.7630056406940096, 0, 0, 0, 0, 0, 0, 0, 0, 0]
-            token mjc:gainType = "affine"
-            rel mjc:target = </arm/link5/Wrist_Twist/Wrist_Twist_RevoluteJoint>
-        }
-
-        def MjcActuator "act_arm_link5_Finger_Left_01_Finger_Left_01_RevoluteJoint" (
-            doc = "Position servo: control is joint angle in radians. Gains calibrated from source acceleration drive and MuJoCo reflected inertia at qpos0; not configuration-independent acceleration control. Original effort limit retained. Reversed wrist/finger coordinates use the opposite sign to PhysX."
-        )
-        {
-            double[] mjc:biasPrm = [0, -2.203656960666276, -0.367276160111046, 0, 0, 0, 0, 0, 0, 0]
-            token mjc:biasType = "affine"
-            token mjc:ctrlLimited = "false"
-            token mjc:forceLimited = "true"
-            double mjc:forceRange:max = 0.11999999731779099
-            double mjc:forceRange:min = -0.11999999731779099
-            double[] mjc:gainPrm = [2.203656960666276, 0, 0, 0, 0, 0, 0, 0, 0, 0]
-            token mjc:gainType = "affine"
-            rel mjc:target = </arm/link5/Finger_Left_01/Finger_Left_01_RevoluteJoint>
-        }
-
-        def MjcActuator "act_arm_link5_Finger_Right_01_Finger_Right_01_RevoluteJoint" (
-            doc = "Position servo: control is joint angle in radians. Gains calibrated from source acceleration drive and MuJoCo reflected inertia at qpos0; not configuration-independent acceleration control. Original effort limit retained. Reversed wrist/finger coordinates use the opposite sign to PhysX."
-        )
-        {
-            double[] mjc:biasPrm = [0, -1.8033460484527106, -0.3005576747421185, 0, 0, 0, 0, 0, 0, 0]
-            token mjc:biasType = "affine"
-            token mjc:ctrlLimited = "false"
-            token mjc:forceLimited = "true"
-            double mjc:forceRange:max = 0.11999999731779099
-            double mjc:forceRange:min = -0.11999999731779099
-            double[] mjc:gainPrm = [1.8033460484527106, 0, 0, 0, 0, 0, 0, 0, 0, 0]
-            token mjc:gainType = "affine"
-            rel mjc:target = </arm/link5/Finger_Right_01/Finger_Right_01_RevoluteJoint>
-        }
-
-        def MjcActuator "act_arm_link3_joint4" (
-            doc = "Position servo: control is joint angle in radians. Gains calibrated from source acceleration drive and MuJoCo reflected inertia at qpos0; not configuration-independent acceleration control. Original effort limit retained. Reversed wrist/finger coordinates use the opposite sign to PhysX."
-        )
-        {
-            double[] mjc:biasPrm = [0, -11.397692105152574, -0.5764100015010366, 0, 0, 0, 0, 0, 0, 0]
-            token mjc:biasType = "affine"
-            token mjc:ctrlLimited = "false"
-            token mjc:forceLimited = "true"
-            double mjc:forceRange:max = 5.199999809265137
-            double mjc:forceRange:min = -5.199999809265137
-            double[] mjc:gainPrm = [11.397692105152574, 0, 0, 0, 0, 0, 0, 0, 0, 0]
-            token mjc:gainType = "affine"
-            rel mjc:target = </arm/link3/joint4>
-        }
-
-        def MjcActuator "act_arm_link2_joint3" (
-            doc = "Position servo: control is joint angle in radians. Gains calibrated from source acceleration drive and MuJoCo reflected inertia at qpos0; not configuration-independent acceleration control. Original effort limit retained. Reversed wrist/finger coordinates use the opposite sign to PhysX."
-        )
-        {
-            double[] mjc:biasPrm = [0, -10.292323453745324, -0.5205087242829218, 0, 0, 0, 0, 0, 0, 0]
-            token mjc:biasType = "affine"
-            token mjc:ctrlLimited = "false"
-            token mjc:forceLimited = "true"
-            double mjc:forceRange:max = 5.199999809265137
-            double mjc:forceRange:min = -5.199999809265137
-            double[] mjc:gainPrm = [10.292323453745324, 0, 0, 0, 0, 0, 0, 0, 0, 0]
-            token mjc:gainType = "affine"
-            rel mjc:target = </arm/link2/joint3>
-        }
-
-        def MjcActuator "act_arm_link1_joint2" (
-            doc = "Position servo: control is joint angle in radians. Gains calibrated from source acceleration drive and MuJoCo reflected inertia at qpos0; not configuration-independent acceleration control. Original effort limit retained. Reversed wrist/finger coordinates use the opposite sign to PhysX."
-        )
-        {
-            double[] mjc:biasPrm = [0, -47.622095121882396, -2.4083693143700065, 0, 0, 0, 0, 0, 0, 0]
-            token mjc:biasType = "affine"
-            token mjc:ctrlLimited = "false"
-            token mjc:forceLimited = "true"
-            double mjc:forceRange:max = 5.199999809265137
-            double mjc:forceRange:min = -5.199999809265137
-            double[] mjc:gainPrm = [47.622095121882396, 0, 0, 0, 0, 0, 0, 0, 0, 0]
-            token mjc:gainType = "affine"
-            rel mjc:target = </arm/link1/joint2>
-        }
-
-        def MjcActuator "act_arm_base_link_joint1" (
-            doc = "Position servo: control is joint angle in radians. Gains calibrated from source acceleration drive and MuJoCo reflected inertia at qpos0; not configuration-independent acceleration control. Original effort limit retained. Reversed wrist/finger coordinates use the opposite sign to PhysX."
-        )
-        {
-            double[] mjc:biasPrm = [0, -7.4568307148562205, -0.37711071363299586, 0, 0, 0, 0, 0, 0, 0]
-            token mjc:biasType = "affine"
-            token mjc:ctrlLimited = "false"
-            token mjc:forceLimited = "true"
-            double mjc:forceRange:max = 5.199999809265137
-            double mjc:forceRange:min = -5.199999809265137
-            double[] mjc:gainPrm = [7.4568307148562205, 0, 0, 0, 0, 0, 0, 0, 0, 0]
-            token mjc:gainType = "affine"
-            rel mjc:target = </arm/base_link/joint1>
-        }
-    }
-}
-

yahboom_dofbot/runnables/physics/newton.usda

@@ -1,305 +0,0 @@
-#usda 1.0
-(
-    defaultPrim = "arm"
-)
-
-over "arm" (
-    prepend apiSchemas = ["NewtonArticulationRootAPI"]
-)
-{
-    bool newton:selfCollisionEnabled = 0
-
-    over "link5"
-    {
-        over "Finger_Left_03"
-        {
-            over "Finger_Left_03" (
-                prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"]
-            )
-            {
-                uniform token physics:approximation = "convexHull"
-            }
-        }
-
-        over "Finger_Right_03"
-        {
-            over "Finger_Right_03" (
-                prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"]
-            )
-            {
-                uniform token physics:approximation = "convexHull"
-            }
-        }
-
-        over "Finger_Left_02"
-        {
-            over "Finger_Left_02"
-            {
-                over "Finger_Left_02" (
-                    prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"]
-                )
-                {
-                    uniform token physics:approximation = "convexHull"
-                }
-            }
-        }
-
-        over "Finger_Right_02"
-        {
-            over "Finger_Right_02"
-            {
-                over "Finger_Right_02" (
-                    prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"]
-                )
-                {
-                    uniform token physics:approximation = "convexHull"
-                }
-            }
-        }
-
-        over "Wrist_Twist"
-        {
-            over "Wrist_Twist"
-            {
-                over "Wrist_Twist" (
-                    prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"]
-                )
-                {
-                    uniform token physics:approximation = "convexHull"
-                }
-            }
-
-            over "Wrist_Twist_RevoluteJoint" (
-                prepend apiSchemas = ["NewtonJointAPI"]
-            )
-            {
-                float drive:angular:physics:damping = 0
-                float drive:angular:physics:maxForce = 5.2
-                float drive:angular:physics:stiffness = 1.5
-                float newton:damping = 0.009076
-                custom rel physics:body0 = </arm/link4>
-                custom rel physics:body1 = </arm/link5/Wrist_Twist>
-                point3f physics:localPos0 = (-0.06549733, -0.0045318594, -0.00060643995)
-                point3f physics:localPos1 = (0, 0, 0)
-                quatf physics:localRot0 = (-0.4988273, 0.49882996, 0.50117344, -0.50116396)
-                quatf physics:localRot1 = (1, 0, 0, 0)
-            }
-        }
-
-        over "Finger_Left_01"
-        {
-            over "Finger_Left_01"
-            {
-                over "Finger_Left_01" (
-                    prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"]
-                )
-                {
-                    uniform token physics:approximation = "convexHull"
-                }
-            }
-
-            over "Finger_Left_01_RevoluteJoint" (
-                prepend apiSchemas = ["NewtonJointAPI"]
-            )
-            {
-                float drive:angular:physics:damping = 0
-                float drive:angular:physics:maxForce = 5.2
-                float drive:angular:physics:stiffness = 3.4034
-                float newton:damping = 0.009076
-                custom rel physics:body0 = </arm/link5/Wrist_Twist/Wrist_Twist>
-                custom rel physics:body1 = </arm/link5/Finger_Left_01>
-                point3f physics:localPos0 = (-0.29220235, 1.2149862, 4.1918764)
-                point3f physics:localPos1 = (0, 0, 0)
-                quatf physics:localRot0 = (1, -1e-45, 6.162976e-33, -0)
-                quatf physics:localRot1 = (1, 0, 0, 0)
-            }
-        }
-
-        over "Finger_Right_01"
-        {
-            over "Finger_Right_01"
-            {
-                over "Finger_Right_01" (
-                    prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"]
-                )
-                {
-                    uniform token physics:approximation = "convexHull"
-                }
-            }
-
-            over "Finger_Right_01_RevoluteJoint" (
-                prepend apiSchemas = ["NewtonJointAPI"]
-            )
-            {
-                float drive:angular:physics:damping = 0
-                float drive:angular:physics:maxForce = 5.2
-                float drive:angular:physics:stiffness = 3.4034
-                float newton:damping = 0.009076
-                custom rel physics:body0 = </arm/link5/Wrist_Twist/Wrist_Twist>
-                custom rel physics:body1 = </arm/link5/Finger_Right_01>
-                point3f physics:localPos0 = (-0.29220113, -1.240003, 4.1918764)
-                point3f physics:localPos1 = (0, 0, 0)
-                quatf physics:localRot0 = (1, -1e-45, 6.162985e-33, -0)
-                quatf physics:localRot1 = (1, 0, 0, 0)
-            }
-        }
-
-        over "Finger_Left_02_RevoluteJoint" (
-            prepend apiSchemas = ["NewtonJointAPI"]
-        )
-        {
-            float newton:damping = 0.002
-            custom rel physics:body0 = </arm/link5/Wrist_Twist/Wrist_Twist>
-            custom rel physics:body1 = </arm/link5/Finger_Left_02/Finger_Left_02>
-            point3f physics:localPos0 = (-0.16869655, 0.4503985, 5.992106)
-            point3f physics:localPos1 = (0, 0, 0)
-            quatf physics:localRot0 = (1, -0.00011703074, 0.0000049658033, -3.4355e-8)
-            quatf physics:localRot1 = (1, 0, 0, 0)
-        }
-
-        over "Finger_Left_03_RevoluteJoint" (
-            prepend apiSchemas = ["NewtonJointAPI"]
-        )
-        {
-            float newton:damping = 0.002
-            custom rel physics:body0 = </arm/link5/Finger_Left_01/Finger_Left_01>
-            custom rel physics:body1 = </arm/link5/Finger_Left_03/Finger_Left_03>
-            point3f physics:localPos0 = (0.12363685, 1.8119415, 2.3910213)
-            point3f physics:localPos1 = (0, 0, 0)
-            quatf physics:localRot0 = (1, 8.7435e-9, -7.463727e-10, 1.3773865e-9)
-            quatf physics:localRot1 = (1, 0, 0, 0)
-        }
-
-        over "Finger_Right_02_RevoluteJoint" (
-            prepend apiSchemas = ["NewtonJointAPI"]
-        )
-        {
-            float newton:damping = 0.002
-            custom rel physics:body0 = </arm/link5/Wrist_Twist/Wrist_Twist>
-            custom rel physics:body1 = </arm/link5/Finger_Right_02/Finger_Right_02>
-            point3f physics:localPos0 = (-0.16868919, -0.45649478, 5.9916687)
-            point3f physics:localPos1 = (-5.173299e-7, 1.7269789, -2.4491472)
-            quatf physics:localRot0 = (1, 0.00009905596, 0.0000035586138, -3.2006255e-8)
-            quatf physics:localRot1 = (1, 1.9229503e-12, 1.4099211e-11, -1.479941e-14)
-        }
-
-        over "Finger_Right_03_RevoluteJoint" (
-            prepend apiSchemas = ["NewtonJointAPI"]
-        )
-        {
-            float newton:damping = 0.002
-            custom rel physics:body0 = </arm/link5/Finger_Right_01/Finger_Right_01>
-            custom rel physics:body1 = </arm/link5/Finger_Right_03/Finger_Right_03>
-            point3f physics:localPos0 = (0.12363637, -1.7653793, 2.4256)
-            point3f physics:localPos1 = (0, 0, 0)
-            quatf physics:localRot0 = (1, 1.12872264e-7, 8.302244e-9, -1.2118254e-7)
-            quatf physics:localRot1 = (1, 0, 0, 0)
-        }
-    }
-
-    over "link4"
-    {
-        over "Wrist_Lift"
-        {
-            over "Wrist_Lift" (
-                prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"]
-            )
-            {
-                uniform token physics:approximation = "convexHull"
-            }
-        }
-    }
-
-    over "link3"
-    {
-        over "collisions"
-        {
-            over "collisions_2" (
-                prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"]
-            )
-            {
-                uniform token physics:approximation = "convexHull"
-            }
-        }
-
-        over "joint4" (
-            prepend apiSchemas = ["NewtonJointAPI"]
-        )
-        {
-            float drive:angular:physics:damping = 0
-            float drive:angular:physics:stiffness = 3.4034
-            float newton:damping = 0.113446
-            float newton:velocityLimit = 57.29578
-        }
-    }
-
-    over "link2"
-    {
-        over "collisions"
-        {
-            over "collisions_1" (
-                prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"]
-            )
-            {
-                uniform token physics:approximation = "convexHull"
-            }
-        }
-
-        over "joint3" (
-            prepend apiSchemas = ["NewtonJointAPI"]
-        )
-        {
-            float drive:angular:physics:damping = 0
-            float drive:angular:physics:stiffness = 3.4034
-            float newton:damping = 0.113446
-            float newton:velocityLimit = 57.29578
-        }
-    }
-
-    over "link1"
-    {
-        over "collisions"
-        {
-            over "collisions" (
-                prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"]
-            )
-            {
-                uniform token physics:approximation = "convexHull"
-            }
-        }
-
-        over "joint2" (
-            prepend apiSchemas = ["NewtonJointAPI"]
-        )
-        {
-            float drive:angular:physics:damping = 0
-            float drive:angular:physics:stiffness = 3.4034
-            float newton:damping = 0.113446
-            float newton:velocityLimit = 57.29578
-        }
-    }
-
-    over "base_link"
-    {
-        over "collisions"
-        {
-            over "visuals" (
-                prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"]
-            )
-            {
-                uniform token physics:approximation = "convexHull"
-            }
-        }
-
-        over "joint1" (
-            prepend apiSchemas = ["NewtonJointAPI"]
-        )
-        {
-            float drive:angular:physics:damping = 0
-            float drive:angular:physics:stiffness = 3.4034
-            float newton:damping = 0.113446
-            float newton:velocityLimit = 57.29578
-        }
-    }
-}
-

yahboom_dofbot/runnables/physics/physics.usda

@@ -1,137 +0,0 @@
-#usda 1.0
-(
-    defaultPrim = "arm"
-)
-
-over "arm"
-{
-    over "base_link"
-    {
-        over "collisions"
-        {
-            over "visuals"
-            {
-                token physics:approximation = "convexHull"
-            }
-        }
-    }
-
-    over "link1"
-    {
-        over "collisions"
-        {
-            over "collisions"
-            {
-                token physics:approximation = "convexHull"
-            }
-        }
-    }
-
-    over "link2"
-    {
-        over "collisions"
-        {
-            over "collisions_1"
-            {
-                token physics:approximation = "convexHull"
-            }
-        }
-    }
-
-    over "link3"
-    {
-        over "collisions"
-        {
-            over "collisions_2"
-            {
-                token physics:approximation = "convexHull"
-            }
-        }
-    }
-
-    over "link4"
-    {
-        over "Wrist_Lift"
-        {
-            over "Wrist_Lift"
-            {
-                token physics:approximation = "convexDecomposition"
-            }
-        }
-    }
-
-    over "link5"
-    {
-        over "Wrist_Twist"
-        {
-            over "Wrist_Twist"
-            {
-                over "Wrist_Twist"
-                {
-                    token physics:approximation = "convexHull"
-                }
-            }
-        }
-
-        over "Finger_Left_01"
-        {
-            over "Finger_Left_01"
-            {
-                over "Finger_Left_01"
-                {
-                    token physics:approximation = "convexHull"
-                }
-            }
-        }
-
-        over "Finger_Right_01"
-        {
-            over "Finger_Right_01"
-            {
-                over "Finger_Right_01"
-                {
-                    token physics:approximation = "convexHull"
-                }
-            }
-        }
-
-        over "Finger_Left_03"
-        {
-            over "Finger_Left_03"
-            {
-                token physics:approximation = "convexHull"
-            }
-        }
-
-        over "Finger_Right_03"
-        {
-            over "Finger_Right_03"
-            {
-                token physics:approximation = "convexHull"
-            }
-        }
-
-        over "Finger_Left_02"
-        {
-            over "Finger_Left_02"
-            {
-                over "Finger_Left_02"
-                {
-                    token physics:approximation = "convexHull"
-                }
-            }
-        }
-
-        over "Finger_Right_02"
-        {
-            over "Finger_Right_02"
-            {
-                over "Finger_Right_02"
-                {
-                    token physics:approximation = "convexHull"
-                }
-            }
-        }
-    }
-}
-