256 lines
9.6 KiB
Plaintext
256 lines
9.6 KiB
Plaintext
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#usda 1.0
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(
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customLayerData = {
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string creator = "URDF USD Converter v0.1.3"
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}
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doc = """Generated from Composed Stage of root layer /tmp/tmpa433zx62/dual_arm.usdc
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Generated from Composed Stage of root layer /tmp/urdf_import_dual_arm__0kvb3li/usdex_dual_arm/dual_arm.usdc
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Generated from Composed Stage of root layer /tmp/urdf_import_dual_arm__0kvb3li/temp_dual_arm/dual_arm.usd
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Generated from Composed Stage of root layer /home/lgv/cmvr/0-workspace/cmvr-es/model/xiaoyan_description/dual_arm_2/payloads/base.usd
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"""
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kilogramsPerUnit = 1
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metersPerUnit = 1
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upAxis = "Z"
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)
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def Scope "Materials"
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{
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def Material "gray"
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{
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color3f inputs:diffuseColor = (0.21404114, 0.21404114, 0.21404114)
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float inputs:metallic = 0
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float inputs:opacity = 1
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float inputs:roughness = 0.5
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token inputs:wrapMode = "repeat"
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token outputs:displacement (
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displayGroup = "Outputs"
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)
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prepend token outputs:displacement.connect = </Materials/gray/PreviewSurface.outputs:displacement>
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token outputs:surface (
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displayGroup = "Outputs"
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)
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prepend token outputs:surface.connect = </Materials/gray/PreviewSurface.outputs:surface>
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token outputs:volume (
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displayGroup = "Outputs"
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)
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def Shader "PreviewSurface" (
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apiSchemas = ["NodeDefAPI"]
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)
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{
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token info:id = "UsdPreviewSurface"
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prepend color3f inputs:diffuseColor.connect = </Materials/gray.inputs:diffuseColor>
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prepend float inputs:metallic.connect = </Materials/gray.inputs:metallic>
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prepend float inputs:opacity.connect = </Materials/gray.inputs:opacity>
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prepend float inputs:roughness.connect = </Materials/gray.inputs:roughness>
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token outputs:displacement
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token outputs:surface
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}
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}
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def Material "material_16"
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{
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color3f inputs:diffuseColor = (0, 1, 1)
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float inputs:metallic = 0
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float inputs:opacity = 1
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float inputs:roughness = 0.5
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token inputs:wrapMode = "repeat"
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token outputs:displacement (
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displayGroup = "Outputs"
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)
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prepend token outputs:displacement.connect = </Materials/material_16/PreviewSurface.outputs:displacement>
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token outputs:surface (
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displayGroup = "Outputs"
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)
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prepend token outputs:surface.connect = </Materials/material_16/PreviewSurface.outputs:surface>
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token outputs:volume (
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displayGroup = "Outputs"
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)
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def Shader "PreviewSurface" (
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apiSchemas = ["NodeDefAPI"]
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)
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{
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token info:id = "UsdPreviewSurface"
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prepend color3f inputs:diffuseColor.connect = </Materials/material_16.inputs:diffuseColor>
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prepend float inputs:metallic.connect = </Materials/material_16.inputs:metallic>
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prepend float inputs:opacity.connect = </Materials/material_16.inputs:opacity>
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prepend float inputs:roughness.connect = </Materials/material_16.inputs:roughness>
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token outputs:displacement
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token outputs:surface
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}
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}
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def Material "material_17"
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{
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color3f inputs:diffuseColor = (0, 1, 0)
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float inputs:metallic = 0
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float inputs:opacity = 1
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float inputs:roughness = 0.5
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token inputs:wrapMode = "repeat"
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token outputs:displacement (
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displayGroup = "Outputs"
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)
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prepend token outputs:displacement.connect = </Materials/material_17/PreviewSurface.outputs:displacement>
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token outputs:surface (
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displayGroup = "Outputs"
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)
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prepend token outputs:surface.connect = </Materials/material_17/PreviewSurface.outputs:surface>
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token outputs:volume (
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displayGroup = "Outputs"
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)
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def Shader "PreviewSurface" (
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apiSchemas = ["NodeDefAPI"]
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)
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{
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token info:id = "UsdPreviewSurface"
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prepend color3f inputs:diffuseColor.connect = </Materials/material_17.inputs:diffuseColor>
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prepend float inputs:metallic.connect = </Materials/material_17.inputs:metallic>
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prepend float inputs:opacity.connect = </Materials/material_17.inputs:opacity>
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prepend float inputs:roughness.connect = </Materials/material_17.inputs:roughness>
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token outputs:displacement
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token outputs:surface
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}
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}
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def Material "material_1"
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{
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color3f inputs:diffuseColor = (0.44520125, 0.44520125, 0.44520125)
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float inputs:metallic = 0
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float inputs:opacity = 1
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float inputs:roughness = 0.5
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token inputs:wrapMode = "repeat"
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token outputs:displacement (
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displayGroup = "Outputs"
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)
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prepend token outputs:displacement.connect = </Materials/material_1/PreviewSurface.outputs:displacement>
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token outputs:surface (
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displayGroup = "Outputs"
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)
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prepend token outputs:surface.connect = </Materials/material_1/PreviewSurface.outputs:surface>
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token outputs:volume (
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displayGroup = "Outputs"
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)
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def Shader "PreviewSurface" (
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apiSchemas = ["NodeDefAPI"]
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)
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{
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token info:id = "UsdPreviewSurface"
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prepend color3f inputs:diffuseColor.connect = </Materials/material_1.inputs:diffuseColor>
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prepend float inputs:metallic.connect = </Materials/material_1.inputs:metallic>
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prepend float inputs:opacity.connect = </Materials/material_1.inputs:opacity>
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prepend float inputs:roughness.connect = </Materials/material_1.inputs:roughness>
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token outputs:displacement
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token outputs:surface
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}
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}
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def Material "material_2"
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{
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color3f inputs:diffuseColor = (0.7835379, 0.82278585, 0.8468733)
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float inputs:metallic = 0
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float inputs:opacity = 1
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float inputs:roughness = 0.5
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token inputs:wrapMode = "repeat"
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token outputs:displacement (
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displayGroup = "Outputs"
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)
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prepend token outputs:displacement.connect = </Materials/material_2/PreviewSurface.outputs:displacement>
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token outputs:surface (
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displayGroup = "Outputs"
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)
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prepend token outputs:surface.connect = </Materials/material_2/PreviewSurface.outputs:surface>
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token outputs:volume (
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displayGroup = "Outputs"
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)
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def Shader "PreviewSurface" (
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apiSchemas = ["NodeDefAPI"]
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)
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{
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token info:id = "UsdPreviewSurface"
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prepend color3f inputs:diffuseColor.connect = </Materials/material_2.inputs:diffuseColor>
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prepend float inputs:metallic.connect = </Materials/material_2.inputs:metallic>
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prepend float inputs:opacity.connect = </Materials/material_2.inputs:opacity>
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prepend float inputs:roughness.connect = </Materials/material_2.inputs:roughness>
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token outputs:displacement
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token outputs:surface
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}
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}
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def Material "material_3"
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{
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color3f inputs:diffuseColor = (0.7681513, 0.7681513, 0.8148467)
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float inputs:metallic = 0
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float inputs:opacity = 1
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float inputs:roughness = 0.5
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token inputs:wrapMode = "repeat"
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token outputs:displacement (
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displayGroup = "Outputs"
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)
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prepend token outputs:displacement.connect = </Materials/material_3/PreviewSurface.outputs:displacement>
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token outputs:surface (
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displayGroup = "Outputs"
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)
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prepend token outputs:surface.connect = </Materials/material_3/PreviewSurface.outputs:surface>
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token outputs:volume (
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displayGroup = "Outputs"
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)
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def Shader "PreviewSurface" (
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apiSchemas = ["NodeDefAPI"]
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)
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{
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token info:id = "UsdPreviewSurface"
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prepend color3f inputs:diffuseColor.connect = </Materials/material_3.inputs:diffuseColor>
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prepend float inputs:metallic.connect = </Materials/material_3.inputs:metallic>
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prepend float inputs:opacity.connect = </Materials/material_3.inputs:opacity>
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prepend float inputs:roughness.connect = </Materials/material_3.inputs:roughness>
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token outputs:displacement
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token outputs:surface
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}
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}
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def Material "material_7"
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{
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color3f inputs:diffuseColor = (0.37626222, 0.34191445, 0.30498737)
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float inputs:metallic = 0
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float inputs:opacity = 1
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float inputs:roughness = 0.5
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token inputs:wrapMode = "repeat"
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token outputs:displacement (
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displayGroup = "Outputs"
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)
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prepend token outputs:displacement.connect = </Materials/material_7/PreviewSurface.outputs:displacement>
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token outputs:surface (
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displayGroup = "Outputs"
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)
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prepend token outputs:surface.connect = </Materials/material_7/PreviewSurface.outputs:surface>
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token outputs:volume (
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displayGroup = "Outputs"
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)
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def Shader "PreviewSurface" (
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apiSchemas = ["NodeDefAPI"]
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)
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{
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token info:id = "UsdPreviewSurface"
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prepend color3f inputs:diffuseColor.connect = </Materials/material_7.inputs:diffuseColor>
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prepend float inputs:metallic.connect = </Materials/material_7.inputs:metallic>
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prepend float inputs:opacity.connect = </Materials/material_7.inputs:opacity>
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prepend float inputs:roughness.connect = </Materials/material_7.inputs:roughness>
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token outputs:displacement
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token outputs:surface
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}
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}
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}
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