cmvr-es/model/xiaoyan_description/dual_arm_collision.usda

#usda 1.0
(
    defaultPrim = "dual_arm"
    kilogramsPerUnit = 1
    metersPerUnit = 1
    subLayers = [
        @dual_arm_2/dual_arm.usda@
    ]
    upAxis = "Z"
)

over "dual_arm"
{
    over "Geometry"
    {
        over "base_link"
        {
            over "PELVIS_S"
            {
                over "L_SHOULDER_P_S"
                {
                    over "L_SHOULDER_R_S"
                    {
                        over "L_SHOULDER_Y_S"
                        {
                            over "L_ELBOW_R_S"
                            {
                                over "L_WRIST_P_S"
                                {
                                    over "L_WRIST_Y_S"
                                    {
                                        over "L_WRIST_R_S" (
                                            instanceable = false
                                        )
                                        {
                                            def Cube "AUTO_COLLISION_BOX" (
                                                prepend apiSchemas = ["PhysicsCollisionAPI"]
                                                customData = {
                                                    string collisionGenerator = "trimesh-primitives-v1"
                                                }
                                            )
                                            {
                                                custom token collision:primitiveType = "box"
                                                bool physics:collisionEnabled = 1
                                                uniform token purpose = "guide"
                                                double size = 1
                                                quatd xformOp:orient = (1, 0, 0, 0)
                                                float3 xformOp:scale = (0.11902186, 0.25356677, 0.069732234)
                                                double3 xformOp:translate = (-0.0050100889056921005, 0.11078338418155909, -0.01045313011854887)
                                                uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
                                            }
                                        }

                                        def Cube "AUTO_COLLISION_BOX" (
                                            prepend apiSchemas = ["PhysicsCollisionAPI"]
                                            customData = {
                                                string collisionGenerator = "trimesh-primitives-v1"
                                            }
                                        )
                                        {
                                            custom token collision:primitiveType = "box"
                                            bool physics:collisionEnabled = 1
                                            uniform token purpose = "guide"
                                            double size = 1
                                            quatd xformOp:orient = (0.5000000000000001, -0.5000000000000001, -0.5000000000000001, 0.5000000000000001)
                                            float3 xformOp:scale = (0.0409999, 0.053493902, 0.0595)
                                            double3 xformOp:translate = (-0.0037500001490116098, -5.408977040638672e-19, -0.03274694923311472)
                                            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
                                        }
                                    }

                                    def Cylinder "AUTO_COLLISION_CYLINDER" (
                                        prepend apiSchemas = ["PhysicsCollisionAPI"]
                                        customData = {
                                            string collisionGenerator = "trimesh-primitives-v1"
                                        }
                                    )
                                    {
                                        uniform token axis = "Z"
                                        custom token collision:primitiveType = "cylinder"
                                        double height = 0.16749374149367213
                                        bool physics:collisionEnabled = 1
                                        uniform token purpose = "guide"
                                        double radius = 0.03765367431379833
                                        quatd xformOp:orient = (0.7071067811865475, -0.7071067811865475, 0, 0)
                                        double3 xformOp:translate = (3.469446951953614e-18, 0.08874687016941607, 0.012211145890315668)
                                        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
                                    }
                                }

                                def Cube "AUTO_COLLISION_BOX" (
                                    prepend apiSchemas = ["PhysicsCollisionAPI"]
                                    customData = {
                                        string collisionGenerator = "trimesh-primitives-v1"
                                    }
                                )
                                {
                                    custom token collision:primitiveType = "box"
                                    bool physics:collisionEnabled = 1
                                    uniform token purpose = "guide"
                                    double size = 1
                                    quatd xformOp:orient = (1, 0, 0, 0)
                                    float3 xformOp:scale = (0.069, 0.1285, 0.058)
                                    double3 xformOp:translate = (-0.034500000427457156, 0.03925000037997961, 1.862645149230957e-9)
                                    uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
                                }
                            }

                            def Cube "AUTO_COLLISION_BOX" (
                                prepend apiSchemas = ["PhysicsCollisionAPI"]
                                customData = {
                                    string collisionGenerator = "trimesh-primitives-v1"
                                }
                            )
                            {
                                custom token collision:primitiveType = "box"
                                bool physics:collisionEnabled = 1
                                uniform token purpose = "guide"
                                double size = 1
                                quatd xformOp:orient = (1, 0, 0, 0)
                                float3 xformOp:scale = (0.060999997, 0.14400001, 0.062992066)
                                double3 xformOp:translate = (-0.0008999994024634361, 0.062000001315027475, 0)
                                uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
                            }
                        }

                        def Cube "AUTO_COLLISION_BOX" (
                            prepend apiSchemas = ["PhysicsCollisionAPI"]
                            customData = {
                                string collisionGenerator = "trimesh-primitives-v1"
                            }
                        )
                        {
                            custom token collision:primitiveType = "box"
                            bool physics:collisionEnabled = 1
                            uniform token purpose = "guide"
                            double size = 1
                            quatd xformOp:orient = (1, 0, 0, 0)
                            float3 xformOp:scale = (0.0785, 0.1725, 0.065)
                            double3 xformOp:translate = (-0.03925000161955211, 0.056249999441206455, 0)
                            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
                        }
                    }

                    def Cube "AUTO_COLLISION_BOX" (
                        prepend apiSchemas = ["PhysicsCollisionAPI"]
                        customData = {
                            string collisionGenerator = "trimesh-primitives-v1"
                        }
                    )
                    {
                        custom token collision:primitiveType = "box"
                        bool physics:collisionEnabled = 1
                        uniform token purpose = "guide"
                        double size = 1
                        quatd xformOp:orient = (0.000040139854472664035, -0.00004013985447262077, 0.7071067800472512, 0.7071067800472514)
                        float3 xformOp:scale = (0.07170313, 0.07299983, 0.104499996)
                        double3 xformOp:translate = (-0.004348363594192078, 0.06074999878183007, 3.992215372663401e-8)
                        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
                    }
                }

                def Cube "AUTO_COLLISION_BOX" (
                    prepend apiSchemas = ["PhysicsCollisionAPI"]
                    customData = {
                        string collisionGenerator = "trimesh-primitives-v1"
                    }
                )
                {
                    custom token collision:primitiveType = "box"
                    bool physics:collisionEnabled = 1
                    uniform token purpose = "guide"
                    double size = 1
                    quatd xformOp:orient = (1, 0, 0, 0)
                    float3 xformOp:scale = (0.07699999, 0.216, 0.0805)
                    double3 xformOp:translate = (0, 0, 0.04024999989568795)
                    uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
                }

                over "R_SHOULDER_P_S"
                {
                    def Cube "AUTO_COLLISION_BOX" (
                        prepend apiSchemas = ["PhysicsCollisionAPI"]
                        customData = {
                            string collisionGenerator = "trimesh-primitives-v1"
                        }
                    )
                    {
                        custom token collision:primitiveType = "box"
                        bool physics:collisionEnabled = 1
                        uniform token purpose = "guide"
                        double size = 1
                        quatd xformOp:orient = (0.7071067800472514, 0.7071067800472515, -0.0000401398544727094, 0.00004013985447257145)
                        float3 xformOp:scale = (0.07170313, 0.07299983, 0.104499996)
                        double3 xformOp:translate = (-0.004348363594192072, -0.06074999924749136, 3.992215372663644e-8)
                        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
                    }

                    over "R_SHOULDER_R_S"
                    {
                        def Cube "AUTO_COLLISION_BOX" (
                            prepend apiSchemas = ["PhysicsCollisionAPI"]
                            customData = {
                                string collisionGenerator = "trimesh-primitives-v1"
                            }
                        )
                        {
                            custom token collision:primitiveType = "box"
                            bool physics:collisionEnabled = 1
                            uniform token purpose = "guide"
                            double size = 1
                            quatd xformOp:orient = (1, 0, 0, 0)
                            float3 xformOp:scale = (0.0785, 0.1725, 0.065)
                            double3 xformOp:translate = (-0.03925000161954845, -0.056249999441206455, 0)
                            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
                        }

                        over "R_SHOULDER_Y_S"
                        {
                            def Cube "AUTO_COLLISION_BOX" (
                                prepend apiSchemas = ["PhysicsCollisionAPI"]
                                customData = {
                                    string collisionGenerator = "trimesh-primitives-v1"
                                }
                            )
                            {
                                custom token collision:primitiveType = "box"
                                bool physics:collisionEnabled = 1
                                uniform token purpose = "guide"
                                double size = 1
                                quatd xformOp:orient = (1, 0, 0, 0)
                                float3 xformOp:scale = (0.060999997, 0.14400001, 0.062992066)
                                double3 xformOp:translate = (-0.0008999994024634361, -0.06200000178068876, 0)
                                uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
                            }

                            over "R_ELBOW_R_S"
                            {
                                def Cube "AUTO_COLLISION_BOX" (
                                    prepend apiSchemas = ["PhysicsCollisionAPI"]
                                    customData = {
                                        string collisionGenerator = "trimesh-primitives-v1"
                                    }
                                )
                                {
                                    custom token collision:primitiveType = "box"
                                    bool physics:collisionEnabled = 1
                                    uniform token purpose = "guide"
                                    double size = 1
                                    quatd xformOp:orient = (1, 0, 0, 0)
                                    float3 xformOp:scale = (0.069, 0.1285, 0.058)
                                    double3 xformOp:translate = (-0.03450000042745616, -0.03925000037997961, 1.862645149230957e-9)
                                    uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
                                }

                                over "R_WRIST_P_S"
                                {
                                    def Cylinder "AUTO_COLLISION_CYLINDER" (
                                        prepend apiSchemas = ["PhysicsCollisionAPI"]
                                        customData = {
                                            string collisionGenerator = "trimesh-primitives-v1"
                                        }
                                    )
                                    {
                                        uniform token axis = "Z"
                                        custom token collision:primitiveType = "cylinder"
                                        double height = 0.16749374056234956
                                        bool physics:collisionEnabled = 1
                                        uniform token purpose = "guide"
                                        double radius = 0.03765373180894358
                                        quatd xformOp:orient = (0.7071067811865475, -0.7071067811865475, 0, 0)
                                        double3 xformOp:translate = (3.469446951953614e-18, -0.08874687063507736, 0.012211077787740575)
                                        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
                                    }

                                    over "R_WRIST_Y_S"
                                    {
                                        def Cube "AUTO_COLLISION_BOX" (
                                            prepend apiSchemas = ["PhysicsCollisionAPI"]
                                            customData = {
                                                string collisionGenerator = "trimesh-primitives-v1"
                                            }
                                        )
                                        {
                                            custom token collision:primitiveType = "box"
                                            bool physics:collisionEnabled = 1
                                            uniform token purpose = "guide"
                                            double size = 1
                                            quatd xformOp:orient = (0.5000000000000001, -0.5000000000000001, -0.5000000000000001, 0.5000000000000001)
                                            float3 xformOp:scale = (0.0409999, 0.053493902, 0.0595)
                                            double3 xformOp:translate = (-0.0037500001490116098, -5.408977040638672e-19, -0.03274694923311472)
                                            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
                                        }

                                        over "R_WRIST_R_S"
                                        {
                                            def Cube "AUTO_COLLISION_BOX" (
                                                prepend apiSchemas = ["PhysicsCollisionAPI"]
                                                customData = {
                                                    string collisionGenerator = "trimesh-primitives-v1"
                                                }
                                            )
                                            {
                                                custom token collision:primitiveType = "box"
                                                bool physics:collisionEnabled = 1
                                                uniform token purpose = "guide"
                                                double size = 1
                                                quatd xformOp:orient = (1, 0, 0, 0)
                                                float3 xformOp:scale = (0.11152348, 0.25179133, 0.0779598)
                                                double3 xformOp:translate = (-0.01363389752805233, -0.1093915430828929, -0.014153839088976383)
                                                uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
                                            }
                                        }
                                    }
                                }
                            }
                        }
                    }
                }
            }
        }
    }
}