lgv
4e9bd398f1
Add URDF and USD collision primitive generation, MeshCat collision visualization, configuration, documentation, and generated Isaac Sim assets for the dual-arm model.
595 lines
31 KiB
Plaintext
595 lines
31 KiB
Plaintext
#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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defaultPrim = "dual_arm"
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doc = """Generated from Composed Stage of root layer /tmp/tmpg9rhrzku/dual_arm.usdc
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Generated from Composed Stage of root layer /tmp/urdf_import_dual_arm_5_54i39n/usdex_dual_arm/dual_arm.usdc
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Generated from Composed Stage of root layer /tmp/urdf_import_dual_arm_5_54i39n/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/payloads/base.usd
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"""
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kilogramsPerUnit = 1
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metersPerUnit = 1
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subLayers = [
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@./robot.usda@
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]
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upAxis = "Z"
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)
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def Xform "dual_arm" (
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prepend apiSchemas = ["GeomModelAPI"]
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assetInfo = {
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string name = "dual_arm"
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}
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kind = "component"
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)
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{
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float3[] extentsHint = [(-0.043500002, -0.958077, -0.011133737), (0.080300845, 0.9075668, 0.12106), (3.4028235e38, 3.4028235e38, 3.4028235e38), (-3.4028235e38, -3.4028235e38, -3.4028235e38), (3.4028235e38, 3.4028235e38, 3.4028235e38), (-3.4028235e38, -3.4028235e38, -3.4028235e38), (-0.043500002, -0.959077, -0.011133737), (0.080300845, 0.9075668, 0.12206)]
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def Scope "Materials"
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{
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def Material "material_16" (
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instanceable = true
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prepend references = @./materials.usda@</Materials/material_16>
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)
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{
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}
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def Material "material_17" (
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instanceable = true
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prepend references = @./materials.usda@</Materials/material_17>
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)
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{
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}
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}
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def Scope "Geometry"
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{
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def Xform "PELVIS_S"
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{
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def Xform "PELVIS_S" (
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instanceable = true
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prepend references = @./instances.usda@</Instances/PELVIS_S>
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)
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{
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quatd xformOp:orient = (1, 0, 0, 0)
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double3 xformOp:scale = (1, 1, 1)
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double3 xformOp:translate = (0, 0, 0)
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uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
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}
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def Xform "L_SHOULDER_P_S"
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{
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quatf xformOp:orient = (1, 0, 0, 0)
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float3 xformOp:scale = (1, 1, 1)
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double3 xformOp:translate = (0, 0.0945, 0.042)
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uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
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def Xform "L_SHOULDER_P_S" (
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instanceable = true
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prepend references = @./instances.usda@</Instances/L_SHOULDER_P_S>
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)
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{
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quatd xformOp:orient = (1, 0, 0, 0)
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double3 xformOp:scale = (1, 1, 1)
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double3 xformOp:translate = (0, 0, 0)
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uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
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}
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def Xform "L_SHOULDER_R_S"
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{
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quatf xformOp:orient = (1, 0, 0, 0)
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float3 xformOp:scale = (1, 1, 1)
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double3 xformOp:translate = (0.035, 0.0765, 0)
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uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
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def Xform "L_SHOULDER_R_S" (
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instanceable = true
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prepend references = @./instances.usda@</Instances/L_SHOULDER_R_S>
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)
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{
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quatd xformOp:orient = (1, 0, 0, 0)
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double3 xformOp:scale = (1, 1, 1)
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double3 xformOp:translate = (0, 0, 0)
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uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
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}
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def Xform "L_SHOULDER_Y_S"
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{
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quatf xformOp:orient = (1, 0, 0, 0)
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float3 xformOp:scale = (1, 1, 1)
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double3 xformOp:translate = (-0.035, 0.1475, 0)
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uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
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def Xform "L_SHOULDER_Y_S" (
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instanceable = true
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prepend references = @./instances.usda@</Instances/L_SHOULDER_Y_S>
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)
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{
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quatd xformOp:orient = (1, 0, 0, 0)
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double3 xformOp:scale = (1, 1, 1)
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double3 xformOp:translate = (0, 0, 0)
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uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
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}
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def Xform "L_ELBOW_R_S"
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{
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quatf xformOp:orient = (1, 0, 0, 0)
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float3 xformOp:scale = (1, 1, 1)
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double3 xformOp:translate = (0.034, 0.1025, 0)
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uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
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def Xform "L_ELBOW_R_S" (
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instanceable = true
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prepend references = @./instances.usda@</Instances/L_ELBOW_R_S>
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)
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{
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quatd xformOp:orient = (1, 0, 0, 0)
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double3 xformOp:scale = (1, 1, 1)
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double3 xformOp:translate = (0, 0, 0)
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uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
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}
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def Xform "L_WRIST_P_S"
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{
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quatf xformOp:orient = (1, 0, 0, 0)
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float3 xformOp:scale = (1, 1, 1)
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double3 xformOp:translate = (-0.034, 0.0965, 0)
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uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
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def Xform "L_WRIST_P_S" (
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instanceable = true
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prepend references = @./instances.usda@</Instances/L_WRIST_P_S>
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)
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{
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quatd xformOp:orient = (1, 0, 0, 0)
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double3 xformOp:scale = (1, 1, 1)
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double3 xformOp:translate = (0, 0, 0)
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uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
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}
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def Xform "L_WRIST_Y_S"
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{
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quatf xformOp:orient = (1, 0, 0, 0)
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float3 xformOp:scale = (1, 1, 1)
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double3 xformOp:translate = (0, 0.1525, 0.039)
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uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
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def Xform "L_WRIST_Y_S" (
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instanceable = true
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prepend references = @./instances.usda@</Instances/L_WRIST_Y_S>
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)
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{
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quatd xformOp:orient = (1, 0, 0, 0)
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double3 xformOp:scale = (1, 1, 1)
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double3 xformOp:translate = (0, 0, 0)
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uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
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}
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def Xform "L_WRIST_R_S"
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{
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quatf xformOp:orient = (1, 0, 0, 0)
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float3 xformOp:scale = (1, 1, 1)
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double3 xformOp:translate = (0.0258, 0, -0.039)
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uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
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def Xform "L_WRIST_R_S" (
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instanceable = true
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prepend references = @./instances.usda@</Instances/L_WRIST_R_S>
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)
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{
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quatd xformOp:orient = (1, 0, 0, 0)
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double3 xformOp:scale = (1, 1, 1)
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double3 xformOp:translate = (0, 0, 0)
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uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
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}
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def Xform "L_WRIST_R_S_1" (
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displayName = "L_WRIST_R_S"
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instanceable = true
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prepend references = @./instances.usda@</Instances/L_WRIST_R_S_1>
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)
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{
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quatd xformOp:orient = (1, 0, 0, 0)
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double3 xformOp:scale = (1, 1, 1)
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double3 xformOp:translate = (0, 0, 0)
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uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
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}
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}
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def Xform "L_WRIST_Y_S_1" (
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displayName = "L_WRIST_Y_S"
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instanceable = true
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prepend references = @./instances.usda@</Instances/L_WRIST_Y_S_1>
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)
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{
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quatd xformOp:orient = (1, 0, 0, 0)
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double3 xformOp:scale = (1, 1, 1)
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double3 xformOp:translate = (0, 0, 0)
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uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
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}
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}
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def Xform "L_WRIST_P_S_1" (
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displayName = "L_WRIST_P_S"
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instanceable = true
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prepend references = @./instances.usda@</Instances/L_WRIST_P_S_1>
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)
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{
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quatd xformOp:orient = (1, 0, 0, 0)
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double3 xformOp:scale = (1, 1, 1)
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double3 xformOp:translate = (0, 0, 0)
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uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
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}
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}
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def Xform "L_ELBOW_R_S_1" (
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displayName = "L_ELBOW_R_S"
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instanceable = true
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prepend references = @./instances.usda@</Instances/L_ELBOW_R_S_1>
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)
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{
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quatd xformOp:orient = (1, 0, 0, 0)
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double3 xformOp:scale = (1, 1, 1)
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double3 xformOp:translate = (0, 0, 0)
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uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
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}
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}
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def Xform "L_SHOULDER_Y_S_1" (
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displayName = "L_SHOULDER_Y_S"
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instanceable = true
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prepend references = @./instances.usda@</Instances/L_SHOULDER_Y_S_1>
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)
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{
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quatd xformOp:orient = (1, 0, 0, 0)
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double3 xformOp:scale = (1, 1, 1)
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double3 xformOp:translate = (0, 0, 0)
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uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
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}
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}
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def Xform "L_SHOULDER_R_S_1" (
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displayName = "L_SHOULDER_R_S"
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instanceable = true
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prepend references = @./instances.usda@</Instances/L_SHOULDER_R_S_1>
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)
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{
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quatd xformOp:orient = (1, 0, 0, 0)
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double3 xformOp:scale = (1, 1, 1)
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double3 xformOp:translate = (0, 0, 0)
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uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
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}
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}
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def Xform "L_SHOULDER_P_S_1" (
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displayName = "L_SHOULDER_P_S"
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instanceable = true
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prepend references = @./instances.usda@</Instances/L_SHOULDER_P_S_1>
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)
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{
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quatd xformOp:orient = (1, 0, 0, 0)
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double3 xformOp:scale = (1, 1, 1)
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double3 xformOp:translate = (0, 0, 0)
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uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
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}
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}
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def Xform "R_SHOULDER_P_S"
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{
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quatf xformOp:orient = (1, 0, 0, 0)
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float3 xformOp:scale = (1, 1, 1)
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double3 xformOp:translate = (0, -0.0945, 0.042)
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uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
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def Xform "R_SHOULDER_P_S" (
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instanceable = true
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prepend references = @./instances.usda@</Instances/R_SHOULDER_P_S>
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)
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{
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quatd xformOp:orient = (1, 0, 0, 0)
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double3 xformOp:scale = (1, 1, 1)
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double3 xformOp:translate = (0, 0, 0)
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uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
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}
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def Xform "R_SHOULDER_R_S"
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{
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quatf xformOp:orient = (1, 0, 0, 0)
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float3 xformOp:scale = (1, 1, 1)
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double3 xformOp:translate = (0.035, -0.0765, 0)
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uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
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def Xform "R_SHOULDER_R_S" (
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instanceable = true
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prepend references = @./instances.usda@</Instances/R_SHOULDER_R_S>
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)
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{
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quatd xformOp:orient = (1, 0, 0, 0)
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double3 xformOp:scale = (1, 1, 1)
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double3 xformOp:translate = (0, 0, 0)
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uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
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}
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def Xform "R_SHOULDER_Y_S"
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{
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quatf xformOp:orient = (1, 0, 0, 0)
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float3 xformOp:scale = (1, 1, 1)
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double3 xformOp:translate = (-0.035, -0.1475, 0)
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uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
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def Xform "R_SHOULDER_Y_S" (
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instanceable = true
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prepend references = @./instances.usda@</Instances/R_SHOULDER_Y_S>
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)
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{
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quatd xformOp:orient = (1, 0, 0, 0)
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double3 xformOp:scale = (1, 1, 1)
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double3 xformOp:translate = (0, 0, 0)
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uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
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}
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def Xform "R_ELBOW_R_S"
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{
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quatf xformOp:orient = (1, 0, 0, 0)
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float3 xformOp:scale = (1, 1, 1)
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double3 xformOp:translate = (0.034, -0.1025, 0)
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uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
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def Xform "R_ELBOW_R_S" (
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instanceable = true
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prepend references = @./instances.usda@</Instances/R_ELBOW_R_S>
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)
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{
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quatd xformOp:orient = (1, 0, 0, 0)
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double3 xformOp:scale = (1, 1, 1)
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double3 xformOp:translate = (0, 0, 0)
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uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
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}
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def Xform "R_WRIST_P_S"
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{
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quatf xformOp:orient = (1, 0, 0, 0)
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float3 xformOp:scale = (1, 1, 1)
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double3 xformOp:translate = (-0.034, -0.0965, 0)
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uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
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def Xform "R_WRIST_P_S" (
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instanceable = true
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prepend references = @./instances.usda@</Instances/R_WRIST_P_S>
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)
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{
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quatd xformOp:orient = (1, 0, 0, 0)
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double3 xformOp:scale = (1, 1, 1)
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double3 xformOp:translate = (0, 0, 0)
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uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
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}
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def Xform "R_WRIST_Y_S"
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{
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quatf xformOp:orient = (1, 0, 0, 0)
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float3 xformOp:scale = (1, 1, 1)
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double3 xformOp:translate = (0, -0.1525, 0.039)
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uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
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def Xform "R_WRIST_Y_S" (
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instanceable = true
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prepend references = @./instances.usda@</Instances/R_WRIST_Y_S>
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)
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{
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quatd xformOp:orient = (1, 0, 0, 0)
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double3 xformOp:scale = (1, 1, 1)
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double3 xformOp:translate = (0, 0, 0)
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uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
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}
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def Xform "R_WRIST_R_S"
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{
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quatf xformOp:orient = (1, 0, 0, 0)
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float3 xformOp:scale = (1, 1, 1)
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double3 xformOp:translate = (0.03, 0, -0.039)
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uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
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def Xform "R_WRIST_R_S" (
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instanceable = true
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prepend references = @./instances.usda@</Instances/R_WRIST_R_S>
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)
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{
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quatd xformOp:orient = (1, 0, 0, 0)
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double3 xformOp:scale = (1, 1, 1)
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double3 xformOp:translate = (0, 0, 0)
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uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
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}
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def Xform "R_FINGER_TIP"
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{
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quatf xformOp:orient = (1, 0, 0, 0)
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float3 xformOp:scale = (1, 1, 1)
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double3 xformOp:translate = (0.00684256, -0.284077, 0.00801525)
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uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
|
|
|
|
def Sphere "sphere" (
|
|
prepend apiSchemas = ["MaterialBindingAPI"]
|
|
)
|
|
{
|
|
float3[] extent = [(-0.004, -0.004, -0.004), (0.004, 0.004, 0.004)]
|
|
rel material:binding = </dual_arm/Materials/material_16>
|
|
double radius = 0.004
|
|
quatf xformOp:orient = (1, 0, 0, 0)
|
|
float3 xformOp:scale = (1, 1, 1)
|
|
double3 xformOp:translate = (0, 0, 0)
|
|
uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
|
|
}
|
|
|
|
def Sphere "sphere_1" (
|
|
prepend apiSchemas = ["PhysicsCollisionAPI"]
|
|
displayName = "sphere"
|
|
)
|
|
{
|
|
float3[] extent = [(-0.005, -0.005, -0.005), (0.005, 0.005, 0.005)]
|
|
uniform token purpose = "guide"
|
|
double radius = 0.005
|
|
quatf xformOp:orient = (1, 0, 0, 0)
|
|
float3 xformOp:scale = (1, 1, 1)
|
|
double3 xformOp:translate = (0, 0, 0)
|
|
uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
|
|
}
|
|
}
|
|
|
|
def Xform "R_CAM"
|
|
{
|
|
quatf xformOp:orient = (-3.1746543e-11, 3.174668e-11, 0.70710677, -0.70710677)
|
|
float3 xformOp:scale = (1, 1, 1)
|
|
double3 xformOp:translate = (-0.01212, -0.17655, 0.07506)
|
|
uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
|
|
|
|
def Sphere "sphere" (
|
|
prepend apiSchemas = ["MaterialBindingAPI"]
|
|
)
|
|
{
|
|
float3[] extent = [(-0.004, -0.004, -0.004), (0.004, 0.004, 0.004)]
|
|
rel material:binding = </dual_arm/Materials/material_17>
|
|
double radius = 0.004
|
|
quatf xformOp:orient = (1, 0, 0, 0)
|
|
float3 xformOp:scale = (1, 1, 1)
|
|
double3 xformOp:translate = (0, 0, 0)
|
|
uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
|
|
}
|
|
|
|
def Sphere "sphere_1" (
|
|
prepend apiSchemas = ["PhysicsCollisionAPI"]
|
|
displayName = "sphere"
|
|
)
|
|
{
|
|
float3[] extent = [(-0.005, -0.005, -0.005), (0.005, 0.005, 0.005)]
|
|
uniform token purpose = "guide"
|
|
double radius = 0.005
|
|
quatf xformOp:orient = (1, 0, 0, 0)
|
|
float3 xformOp:scale = (1, 1, 1)
|
|
double3 xformOp:translate = (0, 0, 0)
|
|
uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
|
|
}
|
|
}
|
|
|
|
def Xform "R_WRIST_R_S_1" (
|
|
displayName = "R_WRIST_R_S"
|
|
instanceable = true
|
|
prepend references = @./instances.usda@</Instances/R_WRIST_R_S_1>
|
|
)
|
|
{
|
|
quatd xformOp:orient = (1, 0, 0, 0)
|
|
double3 xformOp:scale = (1, 1, 1)
|
|
double3 xformOp:translate = (0, 0, 0)
|
|
uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
|
|
}
|
|
}
|
|
|
|
def Xform "R_WRIST_Y_S_1" (
|
|
displayName = "R_WRIST_Y_S"
|
|
instanceable = true
|
|
prepend references = @./instances.usda@</Instances/R_WRIST_Y_S_1>
|
|
)
|
|
{
|
|
quatd xformOp:orient = (1, 0, 0, 0)
|
|
double3 xformOp:scale = (1, 1, 1)
|
|
double3 xformOp:translate = (0, 0, 0)
|
|
uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
|
|
}
|
|
}
|
|
|
|
def Xform "R_WRIST_P_S_1" (
|
|
displayName = "R_WRIST_P_S"
|
|
instanceable = true
|
|
prepend references = @./instances.usda@</Instances/R_WRIST_P_S_1>
|
|
)
|
|
{
|
|
quatd xformOp:orient = (1, 0, 0, 0)
|
|
double3 xformOp:scale = (1, 1, 1)
|
|
double3 xformOp:translate = (0, 0, 0)
|
|
uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
|
|
}
|
|
}
|
|
|
|
def Xform "R_ELBOW_R_S_1" (
|
|
displayName = "R_ELBOW_R_S"
|
|
instanceable = true
|
|
prepend references = @./instances.usda@</Instances/R_ELBOW_R_S_1>
|
|
)
|
|
{
|
|
quatd xformOp:orient = (1, 0, 0, 0)
|
|
double3 xformOp:scale = (1, 1, 1)
|
|
double3 xformOp:translate = (0, 0, 0)
|
|
uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
|
|
}
|
|
}
|
|
|
|
def Xform "R_SHOULDER_Y_S_1" (
|
|
displayName = "R_SHOULDER_Y_S"
|
|
instanceable = true
|
|
prepend references = @./instances.usda@</Instances/R_SHOULDER_Y_S_1>
|
|
)
|
|
{
|
|
quatd xformOp:orient = (1, 0, 0, 0)
|
|
double3 xformOp:scale = (1, 1, 1)
|
|
double3 xformOp:translate = (0, 0, 0)
|
|
uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
|
|
}
|
|
}
|
|
|
|
def Xform "R_SHOULDER_R_S_1" (
|
|
displayName = "R_SHOULDER_R_S"
|
|
instanceable = true
|
|
prepend references = @./instances.usda@</Instances/R_SHOULDER_R_S_1>
|
|
)
|
|
{
|
|
quatd xformOp:orient = (1, 0, 0, 0)
|
|
double3 xformOp:scale = (1, 1, 1)
|
|
double3 xformOp:translate = (0, 0, 0)
|
|
uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
|
|
}
|
|
}
|
|
|
|
def Xform "R_SHOULDER_P_S_1" (
|
|
displayName = "R_SHOULDER_P_S"
|
|
instanceable = true
|
|
prepend references = @./instances.usda@</Instances/R_SHOULDER_P_S_1>
|
|
)
|
|
{
|
|
quatd xformOp:orient = (1, 0, 0, 0)
|
|
double3 xformOp:scale = (1, 1, 1)
|
|
double3 xformOp:translate = (0, 0, 0)
|
|
uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
|
|
}
|
|
}
|
|
|
|
def Xform "PELVIS_S_1" (
|
|
displayName = "PELVIS_S"
|
|
instanceable = true
|
|
prepend references = @./instances.usda@</Instances/PELVIS_S_1>
|
|
)
|
|
{
|
|
quatd xformOp:orient = (1, 0, 0, 0)
|
|
double3 xformOp:scale = (1, 1, 1)
|
|
double3 xformOp:translate = (0, 0, 0)
|
|
uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
|
|
}
|
|
}
|
|
}
|
|
|
|
def Scope "Physics"
|
|
{
|
|
}
|
|
|
|
def Scope "VisualMaterials"
|
|
{
|
|
}
|
|
}
|
|
|