#usda 1.0
(
    customLayerData = {
        dictionary cameraSettings = {
            dictionary Front = {
                double3 position = (5, 0, 0)
                double radius = 5
            }
            dictionary Perspective = {
                double3 position = (1.601189474977934, 0.7713899234320026, 1.5827485871298796)
                double3 target = (-8.311055492711684, -4.579373441534393, -0.9677396742358384)
            }
            dictionary Right = {
                double3 position = (0, -5, 0)
                double radius = 5
            }
            dictionary Top = {
                double3 position = (0.13713646536831908, -1.0767821162688664, 5)
                double radius = 0.31787638664245604
            }
            string boundCamera = "/OmniverseKit_Persp"
        }
        dictionary omni_layer = {
            string authoring_layer = "./robot_fixed.usda"
            dictionary locked = {
            }
            dictionary muteness = {
            }
        }
        int refinementOverrideImplVersion = 0
        dictionary renderSettings = {
        }
    }
    defaultPrim = "genie"
    metersPerUnit = 1
    upAxis = "Z"
)

def Xform "genie" (
    prepend apiSchemas = ["PhysicsArticulationRootAPI", "PhysxArticulationAPI"]
    variants = {
        string Physics = "PhysX"
        string Robot = "Robot"
        string Sensor = "Sensors"
    }
    prepend variantSets = ["Physics", "Sensor", "Robot"]
)
{
    string isaac:namespace (
        displayName = "Namespace"
        doc = "Namespace of the prim in Isaac Sim"
    )
    bool physxArticulation:enabledSelfCollisions = 0
    quatd xformOp:orient = (1, 0, 0, 0)
    double3 xformOp:scale = (1, 1, 1)
    double3 xformOp:translate = (0, 0, 0.04)
    uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]

    over "base_link" (
        delete apiSchemas = ["PhysicsArticulationRootAPI", "PhysxArticulationAPI"]
        prepend apiSchemas = ["PhysxRigidBodyAPI"]
    )
    {
        string isaac:nameOverride (
            displayName = "Name Override"
            doc = "Name override for prim lookup in base name search"
        )
        bool physxRigidBody:disableGravity = 0
        token visibility = "inherited"

        over "collisions" (
            active = false
            instanceable = false
        )
        {
            over "base_link_coarse_0"
            {
                token visibility = "inherited"

                over "box"
                {
                    bool physics:collisionEnabled = 0
                    quatf xformOp:orient = (1, 0, 0, 0)
                    float3 xformOp:scale = (1, 1, 1)
                    double3 xformOp:translate = (0, 0, -0.129429132658485)
                    uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
                }
            }

            over "base_link_coarse_1"
            {
                over "box"
                {
                    bool physics:collisionEnabled = 0
                    quatf xformOp:orient = (1, 0, 0, 0)
                    float3 xformOp:scale = (1, 1, 1)
                    double3 xformOp:translate = (3.469446951953614e-18, 2.220446049250313e-16, -0.12943)
                    uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
                }
            }

            over "base_link_coarse_2"
            {
                over "box"
                {
                    bool physics:collisionEnabled = 0
                }
            }
        }

        over "visuals" (
            instanceable = false
        )
        {
            over "base_link" (
                prepend apiSchemas = ["MaterialBindingAPI"]
            )
            {
                rel material:binding = None
            }
        }

        def PhysicsFixedJoint "FixedJoint" (
            active = true
        )
        {
            rel physics:body1 = </genie/base_link>
            float physics:breakForce = 3.4028235e38
            float physics:breakTorque = 3.4028235e38
            point3f physics:localPos0 = (0, 0, 0.04)
            point3f physics:localPos1 = (0, 0, -8.9406965e-10)
            quatf physics:localRot0 = (1, 0, 0, 0)
            quatf physics:localRot1 = (1, 0, 0, 0)
        }
    }

    over "body_link1" (
        prepend apiSchemas = ["PhysxRigidBodyAPI"]
    )
    {
        string isaac:nameOverride (
            displayName = "Name Override"
            doc = "Name override for prim lookup in base name search"
        )
        bool physxRigidBody:disableGravity = 1
        token visibility = "inherited"

        over "collisions" (
            instanceable = false
        )
        {
            over "body_link1_convex_0"
            {
                over "mesh"
                {
                    bool physics:collisionEnabled = 0
                }
            }

            over "Cube_002"
            {
                over "box"
                {
                    bool physics:collisionEnabled = 0
                }
            }

            over "Cube_001"
            {
                over "box"
                {
                    bool physics:collisionEnabled = 0
                }
            }

            over "Cube"
            {
                over "box"
                {
                    bool physics:collisionEnabled = 0
                }
            }

            over "Cylinder_001"
            {
                over "cylinder"
                {
                    bool physics:collisionEnabled = 0
                }
            }

            over "Cylinder"
            {
                over "cylinder"
                {
                    bool physics:collisionEnabled = 0
                }
            }
        }

        over "visuals" (
            instanceable = false
        )
        {
            over "body_link1" (
                prepend apiSchemas = ["MaterialBindingAPI"]
            )
            {
                rel material:binding = None
            }
        }
    }

    over "joints"
    {
        token visibility = "inherited"

        over "idx21_arm_l_joint1" (
            active = true
        )
        {
            float drive:angular:physics:damping = 1000
            float drive:angular:physics:maxForce = 60
            float drive:angular:physics:stiffness = 10000
            string isaac:nameOverride (
                displayName = "Name Override"
                doc = "Name override for prim lookup in base name search"
            )
            float state:angular:physics:position = 0
            float state:angular:physics:velocity = 0
        }

        over "idx61_arm_r_joint1" (
            active = true
        )
        {
            float drive:angular:physics:damping = 1000
            float drive:angular:physics:maxForce = 60
            float drive:angular:physics:stiffness = 10000
            string isaac:nameOverride (
                displayName = "Name Override"
                doc = "Name override for prim lookup in base name search"
            )
            float state:angular:physics:position = 0
            float state:angular:physics:velocity = 0
        }

        over "idx05_body_joint5"
        {
            float drive:angular:physics:damping = 10000
            float drive:angular:physics:maxForce = 100
            float drive:angular:physics:stiffness = 100000
            string isaac:nameOverride (
                displayName = "Name Override"
                doc = "Name override for prim lookup in base name search"
            )
            float physxJoint:armature = 0
            float physxJoint:maxJointVelocity = 1000000
            float state:angular:physics:position = 0
            float state:angular:physics:velocity = 0
        }

        over "idx11_head_joint1"
        {
            float drive:angular:physics:damping = 50
            float drive:angular:physics:maxForce = 50
            float drive:angular:physics:stiffness = 500
            float drive:angular:physics:targetPosition = 0
            string isaac:nameOverride (
                displayName = "Name Override"
                doc = "Name override for prim lookup in base name search"
            )
            float physxJoint:maxJointVelocity = 10000
            float state:angular:physics:position = 0
            float state:angular:physics:velocity = 0
        }

        over "idx22_arm_l_joint2" (
            active = true
        )
        {
            float drive:angular:physics:damping = 1000
            float drive:angular:physics:maxForce = 60
            float drive:angular:physics:stiffness = 10000
            string isaac:nameOverride (
                displayName = "Name Override"
                doc = "Name override for prim lookup in base name search"
            )
            float state:angular:physics:position = 0
            float state:angular:physics:velocity = 0
        }

        over "idx62_arm_r_joint2" (
            active = true
        )
        {
            float drive:angular:physics:damping = 1000
            float drive:angular:physics:maxForce = 60
            float drive:angular:physics:stiffness = 10000
            float state:angular:physics:position = 0
            float state:angular:physics:velocity = 0
        }

        over "idx04_body_joint4"
        {
            float drive:angular:physics:damping = 10000
            float drive:angular:physics:maxForce = 100
            float drive:angular:physics:stiffness = 100000
            string isaac:nameOverride (
                displayName = "Name Override"
                doc = "Name override for prim lookup in base name search"
            )
            float physxJoint:armature = 0
            float physxJoint:maxJointVelocity = 1000000
            float state:angular:physics:position = 0
            float state:angular:physics:velocity = 0
        }

        over "idx12_head_joint2"
        {
            float drive:angular:physics:damping = 50
            float drive:angular:physics:maxForce = 50
            float drive:angular:physics:stiffness = 500
            float drive:angular:physics:targetPosition = 0
            string isaac:nameOverride (
                displayName = "Name Override"
                doc = "Name override for prim lookup in base name search"
            )
            float physxJoint:maxJointVelocity = 10000
            float state:angular:physics:position = 0
            float state:angular:physics:velocity = 0
        }

        over "idx23_arm_l_joint3" (
            active = true
        )
        {
            float drive:angular:physics:damping = 1000
            float drive:angular:physics:maxForce = 60
            float drive:angular:physics:stiffness = 10000
            string isaac:nameOverride (
                displayName = "Name Override"
                doc = "Name override for prim lookup in base name search"
            )
            float state:angular:physics:position = 0
            float state:angular:physics:velocity = 0
        }

        over "idx63_arm_r_joint3" (
            active = true
        )
        {
            float drive:angular:physics:damping = 1000
            float drive:angular:physics:maxForce = 60
            float drive:angular:physics:stiffness = 10000
            float state:angular:physics:position = 0
            float state:angular:physics:velocity = 0
        }

        over "idx03_body_joint3"
        {
            float drive:angular:physics:damping = 10000
            float drive:angular:physics:maxForce = 100
            float drive:angular:physics:stiffness = 100000
            string isaac:nameOverride (
                displayName = "Name Override"
                doc = "Name override for prim lookup in base name search"
            )
            float physxJoint:armature = 0
            float physxJoint:maxJointVelocity = 1000000
            float state:angular:physics:position = 0
            float state:angular:physics:velocity = 0
        }

        over "idx13_head_joint3"
        {
            float drive:angular:physics:damping = 50
            float drive:angular:physics:maxForce = 50
            float drive:angular:physics:stiffness = 500
            float drive:angular:physics:targetPosition = 0
            string isaac:nameOverride (
                displayName = "Name Override"
                doc = "Name override for prim lookup in base name search"
            )
            float physxJoint:maxJointVelocity = 10000
            float state:angular:physics:position = 0
            float state:angular:physics:velocity = 0
        }

        over "idx24_arm_l_joint4" (
            active = true
        )
        {
            float drive:angular:physics:damping = 1000
            float drive:angular:physics:maxForce = 60
            float drive:angular:physics:stiffness = 10000
            float state:angular:physics:position = 0
            float state:angular:physics:velocity = 0
        }

        over "idx64_arm_r_joint4" (
            active = true
        )
        {
            float drive:angular:physics:damping = 1000
            float drive:angular:physics:maxForce = 60
            float drive:angular:physics:stiffness = 10000
            float state:angular:physics:position = 0
            float state:angular:physics:velocity = 0
        }

        over "idx02_body_joint2"
        {
            float drive:angular:physics:damping = 10000
            float drive:angular:physics:maxForce = 100
            float drive:angular:physics:stiffness = 100000
            float drive:angular:physics:targetPosition = 0
            string isaac:nameOverride (
                displayName = "Name Override"
                doc = "Name override for prim lookup in base name search"
            )
            float physxJoint:armature = 0
            float physxJoint:maxJointVelocity = 1000000
            float state:angular:physics:position = 0
            float state:angular:physics:velocity = 0
        }

        over "idx25_arm_l_joint5" (
            active = true
        )
        {
            float drive:angular:physics:damping = 1000
            float drive:angular:physics:maxForce = 60
            float drive:angular:physics:stiffness = 10000
            float state:angular:physics:position = 0
            float state:angular:physics:velocity = 0
        }

        over "idx65_arm_r_joint5" (
            active = true
        )
        {
            float drive:angular:physics:damping = 1000
            float drive:angular:physics:maxForce = 60
            float drive:angular:physics:stiffness = 10000
            float state:angular:physics:position = 0
            float state:angular:physics:velocity = 0
        }

        over "idx01_body_joint1"
        {
            float drive:angular:physics:damping = 10000
            float drive:angular:physics:maxForce = 100
            float drive:angular:physics:stiffness = 100000
            float drive:angular:physics:targetPosition = 0
            string isaac:nameOverride (
                displayName = "Name Override"
                doc = "Name override for prim lookup in base name search"
            )
            float physxJoint:armature = 0
            float physxJoint:maxJointVelocity = 1000000
            float state:angular:physics:position = 0
            float state:angular:physics:velocity = 0
        }

        over "idx26_arm_l_joint6" (
            active = true
        )
        {
            float drive:angular:physics:damping = 1000
            float drive:angular:physics:maxForce = 60
            float drive:angular:physics:stiffness = 10000
            float state:angular:physics:position = 0
            float state:angular:physics:velocity = 0
        }

        over "idx66_arm_r_joint6" (
            active = true
        )
        {
            float drive:angular:physics:damping = 1000
            float drive:angular:physics:maxForce = 60
            float drive:angular:physics:stiffness = 10000
            float state:angular:physics:position = 0
            float state:angular:physics:velocity = 0
        }

        over "idx27_arm_l_joint7" (
            active = true
        )
        {
            float drive:angular:physics:damping = 1000
            float drive:angular:physics:maxForce = 60
            float drive:angular:physics:stiffness = 10000
            float state:angular:physics:position = 0
            float state:angular:physics:velocity = 0
        }

        over "idx67_arm_r_joint7" (
            active = true
        )
        {
            float drive:angular:physics:damping = 1000
            float drive:angular:physics:maxForce = 60
            float drive:angular:physics:stiffness = 10000
            float state:angular:physics:position = 0
            float state:angular:physics:velocity = 0
        }

        over "idx111_chassis_lwheel_front_joint1" (
            active = true
        )
        {
            float drive:angular:physics:damping = 10000
            float drive:angular:physics:maxForce = inf
            float drive:angular:physics:stiffness = 100000
            float drive:angular:physics:targetPosition = 0
            string isaac:nameOverride (
                displayName = "Name Override"
                doc = "Name override for prim lookup in base name search"
            )
            float state:angular:physics:position = 0
            float state:angular:physics:velocity = 0
        }

        over "idx121_chassis_lwheel_rear_joint1" (
            active = true
        )
        {
            float drive:angular:physics:damping = 10000
            float drive:angular:physics:maxForce = inf
            float drive:angular:physics:stiffness = 100000
            float drive:angular:physics:targetPosition = 0
            string isaac:nameOverride (
                displayName = "Name Override"
                doc = "Name override for prim lookup in base name search"
            )
            float state:angular:physics:position = 0
            float state:angular:physics:velocity = 0
        }

        over "idx131_chassis_rwheel_front_joint1" (
            active = true
        )
        {
            float drive:angular:physics:damping = 10000
            float drive:angular:physics:maxForce = inf
            float drive:angular:physics:stiffness = 100000
            float drive:angular:physics:targetPosition = 0
            string isaac:nameOverride (
                displayName = "Name Override"
                doc = "Name override for prim lookup in base name search"
            )
            float state:angular:physics:position = 0
            float state:angular:physics:velocity = 0
        }

        over "idx141_chassis_rwheel_rear_joint1" (
            active = true
        )
        {
            float drive:angular:physics:damping = 10000
            float drive:angular:physics:maxForce = inf
            float drive:angular:physics:stiffness = 100000
            float drive:angular:physics:targetPosition = 0
            float state:angular:physics:position = 0
            float state:angular:physics:velocity = 0
        }

        over "idx31_gripper_l_inner_joint1" (
            active = true
            delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysxMimicJointAPI:rotX"]
            prepend apiSchemas = ["PhysxMimicJointAPI:rotX"]
        )
        {
            float drive:angular:physics:damping = 20
            float drive:angular:physics:maxForce = 15
            float drive:angular:physics:stiffness = 100
            float drive:angular:physics:targetPosition = -60
            string isaac:nameOverride (
                displayName = "Name Override"
                doc = "Name override for prim lookup in base name search"
            )
            point3f physics:localPos1 = (0, 0, 0)
            float physxJoint:armature = 0.001
            float physxJoint:maxJointVelocity = 10000
            float physxMimicJoint:rotX:gearing = -1
            rel physxMimicJoint:rotX:referenceJoint = </genie/joints/idx32_gripper_l_outer_joint1>
            float state:angular:physics:position = 0
            float state:angular:physics:velocity = 0
        }

        over "idx41_gripper_l_outer_joint1" (
            active = true
        )
        {
            float drive:angular:physics:damping = 20
            float drive:angular:physics:maxForce = 15
            float drive:angular:physics:stiffness = 100
            string isaac:nameOverride (
                displayName = "Name Override"
                doc = "Name override for prim lookup in base name search"
            )
            point3f physics:localPos0 = (0, 0.0195, 0.0565)
            point3f physics:localPos1 = (0, 0, 0)
            float physxJoint:armature = 0.001
            float physxJoint:maxJointVelocity = 10000
            float state:angular:physics:position = 0
            float state:angular:physics:velocity = 0
        }

        over "idx71_gripper_r_inner_joint1" (
            active = true
            delete apiSchemas = ["PhysicsDriveAPI:angular"]
            prepend apiSchemas = ["PhysxMimicJointAPI:rotX"]
        )
        {
            string isaac:nameOverride (
                displayName = "Name Override"
                doc = "Name override for prim lookup in base name search"
            )
            float physxJoint:armature = 0.001
            float physxJoint:maxJointVelocity = 10000
            float physxMimicJoint:rotX:gearing = -1
            rel physxMimicJoint:rotX:referenceJoint = </genie/joints/idx72_gripper_r_outer_joint1>
            float state:angular:physics:position = 0
            float state:angular:physics:velocity = 0
        }

        over "idx81_gripper_r_outer_joint1" (
            active = true
        )
        {
            float drive:angular:physics:damping = 20
            float drive:angular:physics:maxForce = 15
            float drive:angular:physics:stiffness = 100
            string isaac:nameOverride (
                displayName = "Name Override"
                doc = "Name override for prim lookup in base name search"
            )
            float physxJoint:armature = 0.001
            float physxJoint:maxJointVelocity = 10000
            float state:angular:physics:position = 0
            float state:angular:physics:velocity = 0
        }

        over "idx32_gripper_l_inner_joint3" (
            active = true
            delete apiSchemas = ["PhysicsDriveAPI:angular"]
        )
        {
            string isaac:nameOverride (
                displayName = "Name Override"
                doc = "Name override for prim lookup in base name search"
            )
            float physics:lowerLimit = -10
            float physics:upperLimit = 10
            float physxJoint:armature = 0.001
            float physxJoint:maxJointVelocity = 10000
            float state:angular:physics:position = 0
            float state:angular:physics:velocity = 0
        }

        over "idx42_gripper_l_outer_joint3" (
            active = true
            delete apiSchemas = ["PhysicsDriveAPI:angular"]
        )
        {
            string isaac:nameOverride (
                displayName = "Name Override"
                doc = "Name override for prim lookup in base name search"
            )
            float physics:lowerLimit = -10
            float physics:upperLimit = 10
            float physxJoint:armature = 0.001
            float physxJoint:maxJointVelocity = 10000
            float state:angular:physics:position = 0
            float state:angular:physics:velocity = 0
        }

        over "idx72_gripper_r_inner_joint3" (
            active = true
            delete apiSchemas = ["PhysicsDriveAPI:angular"]
        )
        {
            string isaac:nameOverride (
                displayName = "Name Override"
                doc = "Name override for prim lookup in base name search"
            )
            float physics:lowerLimit = -10
            float physics:upperLimit = 10
            float physxJoint:armature = 0.001
            float physxJoint:maxJointVelocity = 10000
            float state:angular:physics:position = 0
            float state:angular:physics:velocity = 0
        }

        over "idx82_gripper_r_outer_joint3" (
            active = true
            delete apiSchemas = ["PhysicsDriveAPI:angular"]
        )
        {
            float physics:lowerLimit = -10
            float physics:upperLimit = 10
            float physxJoint:armature = 0.001
            float physxJoint:maxJointVelocity = 10000
            float state:angular:physics:position = 0
            float state:angular:physics:velocity = 0
        }

        over "idx33_gripper_l_inner_joint4" (
            active = true
            delete apiSchemas = ["PhysicsDriveAPI:angular"]
        )
        {
            string isaac:nameOverride (
                displayName = "Name Override"
                doc = "Name override for prim lookup in base name search"
            )
            float physics:lowerLimit = -2
            float physics:upperLimit = 2
            float physxJoint:armature = 0.001
            float physxJoint:maxJointVelocity = 10000
            float state:angular:physics:position = 0
            float state:angular:physics:velocity = 0
        }

        over "idx43_gripper_l_outer_joint4" (
            active = true
            delete apiSchemas = ["PhysicsDriveAPI:angular"]
        )
        {
            float physics:lowerLimit = -2
            float physics:upperLimit = 2
            float physxJoint:armature = 0.001
            float physxJoint:maxJointVelocity = 10000
            float state:angular:physics:position = 0
            float state:angular:physics:velocity = 0
        }

        over "idx73_gripper_r_inner_joint4" (
            active = true
            delete apiSchemas = ["PhysicsDriveAPI:angular"]
        )
        {
            string isaac:nameOverride (
                displayName = "Name Override"
                doc = "Name override for prim lookup in base name search"
            )
            float physics:lowerLimit = -2
            float physics:upperLimit = 2
            float physxJoint:armature = 0.001
            float physxJoint:maxJointVelocity = 10000
            float state:angular:physics:position = 0
            float state:angular:physics:velocity = 0
        }

        over "idx83_gripper_r_outer_joint4" (
            active = true
            delete apiSchemas = ["PhysicsDriveAPI:angular"]
        )
        {
            float physics:lowerLimit = -2
            float physics:upperLimit = 2
            float physxJoint:armature = 0.001
            float physxJoint:maxJointVelocity = 10000
            float state:angular:physics:position = 0
            float state:angular:physics:velocity = 0
        }

        over "idx39_gripper_l_inner_joint0" (
            active = true
            delete apiSchemas = ["PhysicsDriveAPI:angular"]
        )
        {
            float physxJoint:armature = 0.001
            float physxJoint:maxJointVelocity = 10000
            float state:angular:physics:position = 0
            float state:angular:physics:velocity = 0
        }

        over "idx49_gripper_l_outer_joint0" (
            active = true
            delete apiSchemas = ["PhysicsDriveAPI:angular"]
        )
        {
            string isaac:nameOverride (
                displayName = "Name Override"
                doc = "Name override for prim lookup in base name search"
            )
            float physxJoint:armature = 0.001
            float physxJoint:maxJointVelocity = 10000
            float state:angular:physics:position = 0
            float state:angular:physics:velocity = 0
        }

        over "idx79_gripper_r_inner_joint0" (
            active = true
            delete apiSchemas = ["PhysicsDriveAPI:angular"]
        )
        {
            string isaac:nameOverride (
                displayName = "Name Override"
                doc = "Name override for prim lookup in base name search"
            )
            float physxJoint:armature = 0.001
            float physxJoint:maxJointVelocity = 10000
            float state:angular:physics:position = 0
            float state:angular:physics:velocity = 0
        }

        over "idx89_gripper_r_outer_joint0" (
            active = true
            delete apiSchemas = ["PhysicsDriveAPI:angular"]
        )
        {
            string isaac:nameOverride (
                displayName = "Name Override"
                doc = "Name override for prim lookup in base name search"
            )
            float physxJoint:armature = 0.001
            float physxJoint:maxJointVelocity = 10000
            float state:angular:physics:position = 0
            float state:angular:physics:velocity = 0
        }

        over "idx10_head_base_joint"
        {
            string isaac:nameOverride (
                displayName = "Name Override"
                doc = "Name override for prim lookup in base name search"
            )
        }

        over "idx20_arm_base_joint" (
            active = true
        )
        {
            string isaac:nameOverride (
                displayName = "Name Override"
                doc = "Name override for prim lookup in base name search"
            )
        }

        over "arm_l_end_joint" (
            active = true
        )
        {
            string isaac:nameOverride (
                displayName = "Name Override"
                doc = "Name override for prim lookup in base name search"
            )
        }

        over "idx51_ee_l_joint" (
            active = true
        )
        {
            string isaac:nameOverride (
                displayName = "Name Override"
                doc = "Name override for prim lookup in base name search"
            )
            point3f physics:localPos0 = (0, 0, 0)
            point3f physics:localPos1 = (0, 0, -0.00537)
            quatf physics:localRot0 = (0.49999997, -0.49999997, 0.49999997, 0.49999997)
            quatf physics:localRot1 = (0.70710677, 0, 0.70710677, 0)
        }

        over "arm_r_end_joint" (
            active = true
        )
        {
            string isaac:nameOverride (
                displayName = "Name Override"
                doc = "Name override for prim lookup in base name search"
            )
        }

        over "idx91_ee_r_joint" (
            active = true
        )
        {
            string isaac:nameOverride (
                displayName = "Name Override"
                doc = "Name override for prim lookup in base name search"
            )
            point3f physics:localPos1 = (0, 0, -0.00537)
        }

        over "idx100_chassis_base_joint"
        {
            string isaac:nameOverride (
                displayName = "Name Override"
                doc = "Name override for prim lookup in base name search"
            )
        }

        over "idx52_gripper_l_center_joint" (
            active = true
        )
        {
            string isaac:nameOverride (
                displayName = "Name Override"
                doc = "Name override for prim lookup in base name search"
            )
        }

        over "idx92_gripper_r_center_joint" (
            active = true
        )
        {
            string isaac:nameOverride (
                displayName = "Name Override"
                doc = "Name override for prim lookup in base name search"
            )
        }

        over "idx112_chassis_lwheel_front_joint2"
        {
            float drive:angular:physics:damping = 10000
            float drive:angular:physics:maxForce = inf
            float drive:angular:physics:stiffness = 100000
            float drive:angular:physics:targetPosition = 0
            float drive:angular:physics:targetVelocity = 0
            string isaac:nameOverride (
                displayName = "Name Override"
                doc = "Name override for prim lookup in base name search"
            )
            uniform token physics:axis = "Y"
            float physics:lowerLimit = -inf
            float physics:upperLimit = inf
            float physxJoint:maxJointVelocity = 1000000
        }

        over "idx122_chassis_lwheel_rear_joint2"
        {
            float drive:angular:physics:damping = 10000
            float drive:angular:physics:maxForce = inf
            float drive:angular:physics:stiffness = 100000
            float drive:angular:physics:targetPosition = 0
            float drive:angular:physics:targetVelocity = 0
            string isaac:nameOverride (
                displayName = "Name Override"
                doc = "Name override for prim lookup in base name search"
            )
            uniform token physics:axis = "Y"
            float physics:lowerLimit = -inf
            float physics:upperLimit = inf
            float physxJoint:maxJointVelocity = 1000000
        }

        over "idx132_chassis_rwheel_front_joint2"
        {
            float drive:angular:physics:damping = 10000
            float drive:angular:physics:maxForce = inf
            float drive:angular:physics:stiffness = 100000
            float drive:angular:physics:targetPosition = 0
            float drive:angular:physics:targetVelocity = 0
            string isaac:nameOverride (
                displayName = "Name Override"
                doc = "Name override for prim lookup in base name search"
            )
            uniform token physics:axis = "Y"
            float physics:lowerLimit = -inf
            float physics:upperLimit = inf
            float physxJoint:maxJointVelocity = 1000000
        }

        over "idx142_chassis_rwheel_rear_joint2"
        {
            float drive:angular:physics:damping = 10000
            float drive:angular:physics:maxForce = inf
            float drive:angular:physics:stiffness = 100000
            float drive:angular:physics:targetPosition = 0
            float drive:angular:physics:targetVelocity = 0
            string isaac:nameOverride (
                displayName = "Name Override"
                doc = "Name override for prim lookup in base name search"
            )
            uniform token physics:axis = "Y"
            float physics:lowerLimit = -inf
            float physics:upperLimit = inf
            float physxJoint:maxJointVelocity = 1000000
        }

        over "idx32_gripper_l_outer_joint1"
        {
            float drive:angular:physics:damping = 20
            float drive:angular:physics:maxForce = 15
            float drive:angular:physics:stiffness = 100
            float drive:angular:physics:targetPosition = 42.8
            string isaac:nameOverride (
                displayName = "Name Override"
                doc = "Name override for prim lookup in base name search"
            )
            float physxJoint:armature = 0.001
            float physxJoint:maxJointVelocity = 10000
            float state:angular:physics:position = 0
            float state:angular:physics:velocity = 0
        }

        over "idx34_gripper_l_inner_joint2" (
            delete apiSchemas = ["PhysicsDriveAPI:angular"]
            prepend apiSchemas = ["PhysxMimicJointAPI:rotX"]
        )
        {
            string isaac:nameOverride (
                displayName = "Name Override"
                doc = "Name override for prim lookup in base name search"
            )
            float physxJoint:armature = 0.001
            float physxJoint:maxJointVelocity = 10000
            float physxMimicJoint:rotX:gearing = -1
            rel physxMimicJoint:rotX:referenceJoint = </genie/joints/idx35_gripper_l_outer_joint2>
            float state:angular:physics:position = -1.313568e-8
            float state:angular:physics:velocity = 0.00000384503
        }

        over "idx35_gripper_l_outer_joint2" (
            delete apiSchemas = ["PhysicsDriveAPI:angular"]
            prepend apiSchemas = ["PhysxMimicJointAPI:rotX"]
        )
        {
            string isaac:nameOverride (
                displayName = "Name Override"
                doc = "Name override for prim lookup in base name search"
            )
            float physxJoint:armature = 0.001
            float physxJoint:maxJointVelocity = 10000
            float physxMimicJoint:rotX:gearing = 1
            rel physxMimicJoint:rotX:referenceJoint = </genie/joints/idx32_gripper_l_outer_joint1>
            float state:angular:physics:position = 0
            float state:angular:physics:velocity = 0
        }

        over "idx72_gripper_r_outer_joint1"
        {
            float drive:angular:physics:damping = 20
            float drive:angular:physics:maxForce = 15
            float drive:angular:physics:stiffness = 100
            float drive:angular:physics:targetPosition = 0
            string isaac:nameOverride (
                displayName = "Name Override"
                doc = "Name override for prim lookup in base name search"
            )
            float physxJoint:armature = 0.001
            float physxJoint:maxJointVelocity = 10000
            float state:angular:physics:position = 0
            float state:angular:physics:velocity = 0
        }

        over "idx74_gripper_r_inner_joint2" (
            delete apiSchemas = ["PhysicsDriveAPI:angular"]
            prepend apiSchemas = ["PhysxMimicJointAPI:rotX"]
        )
        {
            string isaac:nameOverride (
                displayName = "Name Override"
                doc = "Name override for prim lookup in base name search"
            )
            float physxJoint:armature = 0.001
            float physxJoint:maxJointVelocity = 10000
            float physxMimicJoint:rotX:gearing = -1
            rel physxMimicJoint:rotX:referenceJoint = </genie/joints/idx75_gripper_r_outer_joint2>
            float state:angular:physics:position = 0
            float state:angular:physics:velocity = 0
        }

        over "idx75_gripper_r_outer_joint2" (
            delete apiSchemas = ["PhysicsDriveAPI:angular"]
            prepend apiSchemas = ["PhysxMimicJointAPI:rotX"]
        )
        {
            string isaac:nameOverride (
                displayName = "Name Override"
                doc = "Name override for prim lookup in base name search"
            )
            float physxJoint:armature = 0.001
            float physxJoint:maxJointVelocity = 10000
            rel physxMimicJoint:rotX:referenceJoint = </genie/joints/idx72_gripper_r_outer_joint1>
            float state:angular:physics:position = 0
            float state:angular:physics:velocity = 0
        }

        over "idx33_gripper_l_left_support_joint" (
            delete apiSchemas = ["PhysicsDriveAPI:angular"]
            prepend apiSchemas = ["PhysxMimicJointAPI:rotX"]
        )
        {
            float drive:angular:physics:damping = 0
            float drive:angular:physics:maxForce = inf
            float drive:angular:physics:stiffness = 0
            float drive:angular:physics:targetPosition = 0
            string isaac:nameOverride (
                displayName = "Name Override"
                doc = "Name override for prim lookup in base name search"
            )
            float physxJoint:armature = 0.001
            float physxJoint:maxJointVelocity = 10000
            rel physxMimicJoint:rotX:referenceJoint = </genie/joints/idx32_gripper_l_outer_joint1>
            float state:angular:physics:position = 0
            float state:angular:physics:velocity = 0
        }

        over "idx36_gripper_l_right_support_joint" (
            delete apiSchemas = ["PhysicsDriveAPI:angular"]
            prepend apiSchemas = ["PhysxMimicJointAPI:rotX"]
        )
        {
            string isaac:nameOverride (
                displayName = "Name Override"
                doc = "Name override for prim lookup in base name search"
            )
            float physxJoint:armature = 0.001
            float physxJoint:maxJointVelocity = 10000
            float physxMimicJoint:rotX:gearing = -1
            rel physxMimicJoint:rotX:referenceJoint = </genie/joints/idx35_gripper_l_outer_joint2>
            float state:angular:physics:position = 3.67356e-8
            float state:angular:physics:velocity = -0.0000033525969
        }

        over "idx73_gripper_r_left_support_joint" (
            delete apiSchemas = ["PhysicsDriveAPI:angular"]
            prepend apiSchemas = ["PhysxMimicJointAPI:rotX"]
        )
        {
            string isaac:nameOverride (
                displayName = "Name Override"
                doc = "Name override for prim lookup in base name search"
            )
            float physxJoint:armature = 0.001
            float physxJoint:maxJointVelocity = 10000
            rel physxMimicJoint:rotX:referenceJoint = </genie/joints/idx72_gripper_r_outer_joint1>
            float state:angular:physics:position = 0
            float state:angular:physics:velocity = 0
        }

        over "idx76_gripper_r_right_support_joint" (
            delete apiSchemas = ["PhysicsDriveAPI:angular"]
            prepend apiSchemas = ["PhysxMimicJointAPI:rotX"]
        )
        {
            string isaac:nameOverride (
                displayName = "Name Override"
                doc = "Name override for prim lookup in base name search"
            )
            float physxJoint:armature = 0.001
            float physxJoint:maxJointVelocity = 10000
            float physxMimicJoint:rotX:gearing = -1
            rel physxMimicJoint:rotX:referenceJoint = </genie/joints/idx75_gripper_r_outer_joint2>
            float state:angular:physics:position = 0
            float state:angular:physics:velocity = 0
        }

        over "idx30_gripper_l_camera_joint"
        {
            string isaac:nameOverride (
                displayName = "Name Override"
                doc = "Name override for prim lookup in base name search"
            )
        }

        over "idx51_gripper_l_base_joint"
        {
            string isaac:nameOverride (
                displayName = "Name Override"
                doc = "Name override for prim lookup in base name search"
            )
            token visibility = "inherited"
        }

        over "idx91_gripper_r_base_joint"
        {
            string isaac:nameOverride (
                displayName = "Name Override"
                doc = "Name override for prim lookup in base name search"
            )
        }

        over "idx70_gripper_r_camera_joint"
        {
            string isaac:nameOverride (
                displayName = "Name Override"
                doc = "Name override for prim lookup in base name search"
            )
        }
    }

    over "body_link2" (
        prepend apiSchemas = ["PhysxRigidBodyAPI"]
    )
    {
        string isaac:nameOverride (
            displayName = "Name Override"
            doc = "Name override for prim lookup in base name search"
        )
        bool physxRigidBody:disableGravity = 1
        token visibility = "inherited"

        over "collisions" (
            instanceable = false
        )
        {
            over "body_link2_convex_0"
            {
                over "mesh"
                {
                    bool physics:collisionEnabled = 0
                }
            }
        }

        over "visuals" (
            instanceable = false
        )
        {
            over "body_link2" (
                prepend apiSchemas = ["MaterialBindingAPI"]
            )
            {
                rel material:binding = None
            }
        }
    }

    over "body_link3" (
        prepend apiSchemas = ["PhysxRigidBodyAPI"]
    )
    {
        string isaac:nameOverride (
            displayName = "Name Override"
            doc = "Name override for prim lookup in base name search"
        )
        bool physxRigidBody:disableGravity = 1
        token visibility = "inherited"

        over "collisions" (
            instanceable = false
        )
        {
            over "body_link3_convex_0"
            {
                over "mesh"
                {
                    bool physics:collisionEnabled = 0
                }
            }
        }

        over "visuals" (
            instanceable = false
        )
        {
            over "body_link3" (
                prepend apiSchemas = ["MaterialBindingAPI"]
            )
            {
                rel material:binding = None
            }
        }
    }

    over "body_link4" (
        prepend apiSchemas = ["PhysxRigidBodyAPI"]
    )
    {
        string isaac:nameOverride (
            displayName = "Name Override"
            doc = "Name override for prim lookup in base name search"
        )
        bool physxRigidBody:disableGravity = 1
        token visibility = "inherited"

        over "collisions" (
            instanceable = false
        )
        {
            over "body_link4_convex_0"
            {
                over "mesh"
                {
                    bool physics:collisionEnabled = 0
                }
            }

            over "body_link4_convex_1"
            {
                over "mesh"
                {
                    bool physics:collisionEnabled = 0
                }
            }

            over "body_link4_convex_2"
            {
                over "mesh"
                {
                    bool physics:collisionEnabled = 0
                }
            }

            over "body_link4_convex_3"
            {
                over "mesh"
                {
                    bool physics:collisionEnabled = 0
                }
            }
        }

        over "visuals" (
            instanceable = false
        )
        {
            over "body_link4" (
                prepend apiSchemas = ["MaterialBindingAPI"]
            )
            {
                rel material:binding = None

                over "mesh"
                {
                    over "subset_1___Default" (
                        prepend apiSchemas = ["MaterialBindingAPI"]
                    )
                    {
                        rel material:binding = </genie/Looks/material_1___Default> (
                            bindMaterialAs = "weakerThanDescendants"
                        )
                    }

                    over "subset_2___Default" (
                        prepend apiSchemas = ["MaterialBindingAPI"]
                    )
                    {
                        rel material:binding = </genie/Looks/material_2___Default> (
                            bindMaterialAs = "weakerThanDescendants"
                        )
                    }
                }
            }
        }
    }

    over "body_link5" (
        prepend apiSchemas = ["PhysxRigidBodyAPI"]
    )
    {
        string isaac:nameOverride (
            displayName = "Name Override"
            doc = "Name override for prim lookup in base name search"
        )
        bool physxRigidBody:disableGravity = 1
        token visibility = "inherited"

        over "collisions" (
            instanceable = false
        )
        {
            over "body_link5_convex_0"
            {
                over "mesh"
                {
                    bool physics:collisionEnabled = 0
                }
            }
        }

        over "visuals" (
            instanceable = false
        )
        {
            over "body_link5" (
                prepend apiSchemas = ["MaterialBindingAPI"]
            )
            {
                rel material:binding = None

                over "mesh"
                {
                    over "subset_3___Default" (
                        prepend apiSchemas = ["MaterialBindingAPI"]
                    )
                    {
                        rel material:binding = </genie/Looks/material_7___Default> (
                            bindMaterialAs = "weakerThanDescendants"
                        )
                    }

                    over "subset_7___Default" (
                        prepend apiSchemas = ["MaterialBindingAPI"]
                    )
                    {
                        rel material:binding = </genie/Looks/material_3___Default> (
                            bindMaterialAs = "weakerThanDescendants"
                        )
                    }

                    over "subset_1___Default" (
                        prepend apiSchemas = ["MaterialBindingAPI"]
                    )
                    {
                        rel material:binding = </genie/Looks/material_2___Default> (
                            bindMaterialAs = "weakerThanDescendants"
                        )
                    }

                    over "subset_2___Default" (
                        prepend apiSchemas = ["MaterialBindingAPI"]
                    )
                    {
                        rel material:binding = </genie/Looks/material_1___Default> (
                            bindMaterialAs = "weakerThanDescendants"
                        )
                    }
                }
            }
        }
    }

    over "head_base_link" (
        prepend apiSchemas = ["PhysxRigidBodyAPI"]
    )
    {
        string isaac:nameOverride (
            displayName = "Name Override"
            doc = "Name override for prim lookup in base name search"
        )
        bool physxRigidBody:disableGravity = 1
        token visibility = "inherited"
    }

    over "head_link1" (
        prepend apiSchemas = ["PhysxRigidBodyAPI"]
    )
    {
        string isaac:nameOverride (
            displayName = "Name Override"
            doc = "Name override for prim lookup in base name search"
        )
        bool physxRigidBody:disableGravity = 1
        token visibility = "inherited"

        over "collisions" (
            instanceable = false
        )
        {
            over "head_link1_convex_0"
            {
                over "mesh"
                {
                    bool physics:collisionEnabled = 0
                }
            }
        }

        over "visuals" (
            instanceable = false
        )
        {
            over "head_link1" (
                prepend apiSchemas = ["MaterialBindingAPI"]
            )
            {
                rel material:binding = None (
                    bindMaterialAs = "weakerThanDescendants"
                )

                over "mesh" (
                    prepend apiSchemas = ["MaterialBindingAPI"]
                )
                {
                    rel material:binding = </genie/Looks/material_1___Default> (
                        bindMaterialAs = "weakerThanDescendants"
                    )
                }
            }
        }
    }

    over "head_link2" (
        prepend apiSchemas = ["PhysxRigidBodyAPI"]
    )
    {
        bool physxRigidBody:disableGravity = 1
        token visibility = "inherited"

        over "collisions" (
            instanceable = false
        )
        {
            over "head_link2_convex_0"
            {
                over "mesh"
                {
                    bool physics:collisionEnabled = 0
                }
            }
        }

        over "visuals" (
            instanceable = false
        )
        {
            over "head_link2" (
                prepend apiSchemas = ["MaterialBindingAPI"]
            )
            {
                rel material:binding = None (
                    bindMaterialAs = "weakerThanDescendants"
                )

                over "mesh" (
                    prepend apiSchemas = ["MaterialBindingAPI"]
                )
                {
                    rel material:binding = </genie/Looks/material_1___Default> (
                        bindMaterialAs = "weakerThanDescendants"
                    )
                }
            }
        }
    }

    over "head_link3" (
        prepend apiSchemas = ["PhysxRigidBodyAPI"]
    )
    {
        string isaac:nameOverride (
            displayName = "Name Override"
            doc = "Name override for prim lookup in base name search"
        )
        bool physxRigidBody:disableGravity = 1
        token visibility = "inherited"

        over "collisions" (
            instanceable = false
        )
        {
            over "head_link3_convex_0"
            {
                over "mesh"
                {
                    bool physics:collisionEnabled = 0
                }
            }
        }

        over "visuals" (
            instanceable = false
        )
        {
            over "head_link3"
            {
                over "mesh"
                {
                    over "subset_3___Default" (
                        prepend apiSchemas = ["MaterialBindingAPI"]
                    )
                    {
                        rel material:binding = </genie/Looks/material_7___Default> (
                            bindMaterialAs = "weakerThanDescendants"
                        )
                    }

                    over "subset_2___Default" (
                        prepend apiSchemas = ["MaterialBindingAPI"]
                    )
                    {
                        rel material:binding = </genie/Looks/material_1___Default> (
                            bindMaterialAs = "weakerThanDescendants"
                        )
                    }

                    over "subset_3___Default0" (
                        prepend apiSchemas = ["MaterialBindingAPI"]
                    )
                    {
                        rel material:binding = </genie/Looks/material_2___Default_1> (
                            bindMaterialAs = "weakerThanDescendants"
                        )
                    }

                    over "subset_8___Default" (
                        prepend apiSchemas = ["MaterialBindingAPI"]
                    )
                    {
                        rel material:binding = </genie/Looks/material_8___Default> (
                            bindMaterialAs = "weakerThanDescendants"
                        )
                    }

                    over "subset_7___Default" (
                        prepend apiSchemas = ["MaterialBindingAPI"]
                    )
                    {
                        rel material:binding = </genie/Looks/material_3___Default> (
                            bindMaterialAs = "weakerThanDescendants"
                        )
                    }
                }
            }
        }

        def Camera "head_back_fisheye" (
            active = true
            prepend apiSchemas = ["OmniLensDistortionOpenCvFisheyeAPI"]
        )
        {
            token cameraProjectionType = "fisheyePolynomial" (
                allowedTokens = ["pinhole", "pinholeOpenCV", "fisheyePolynomial", "fisheyeSpherical", "fisheyeKannalaBrandtK3", "fisheyeOpenCV", "fisheyeRadTanThinPrism", "omniDirectionalStereo", "generalizedProjection"]
            )
            token cameraSensorType = "camera" (
                allowedTokens = ["camera", "radar", "lidar", "rtxsensor"]
            )
            float2 clippingRange = (0.01, 10000000)
            float exposure = 0
            float focalLength = 1.93
            float focusDistance = 400
            float horizontalAperture = 3.896
            bool omni:kit:cameraLock = 1
            float omni:lensdistortion:opencvFisheye:cx = 959.092
            float omni:lensdistortion:opencvFisheye:cy = 773.0736
            float omni:lensdistortion:opencvFisheye:fx = 472.0711
            float omni:lensdistortion:opencvFisheye:fy = 472.0898
            int2 omni:lensdistortion:opencvFisheye:imageSize = (1920, 1536)
            float omni:lensdistortion:opencvFisheye:k1 = 0.09882692
            float omni:lensdistortion:opencvFisheye:k2 = -0.04507293
            float omni:lensdistortion:opencvFisheye:k3 = 0.01256462
            float omni:lensdistortion:opencvFisheye:k4 = -0.001565
            float verticalAperture = 2.453
            token visibility = "invisible"
            quatd xformOp:orient = (0.541675220419702, 0.45451947767204365, 0.45451947767204365, 0.5416752204197018)
            double3 xformOp:scale = (1, 1, 1)
            double3 xformOp:translate = (-0.08333, 2.711709361697228e-31, 0.07544)
            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
        }

        def Camera "head_left_fisheye" (
            active = true
            prepend apiSchemas = ["OmniLensDistortionOpenCvFisheyeAPI"]
        )
        {
            token cameraProjectionType = "fisheyePolynomial" (
                allowedTokens = ["pinhole", "pinholeOpenCV", "fisheyePolynomial", "fisheyeSpherical", "fisheyeKannalaBrandtK3", "fisheyeOpenCV", "fisheyeRadTanThinPrism", "omniDirectionalStereo", "generalizedProjection"]
            )
            token cameraSensorType = "camera" (
                allowedTokens = ["camera", "radar", "lidar", "rtxsensor"]
            )
            float2 clippingRange = (0.01, 10000000)
            float exposure = 0
            float focalLength = 1.93
            float focusDistance = 400
            float horizontalAperture = 3.896
            bool isLeftEye = 1
            bool omni:kit:cameraLock = 1
            float omni:lensdistortion:opencvFisheye:cx = 963.23737
            float omni:lensdistortion:opencvFisheye:cy = 767.6746
            float omni:lensdistortion:opencvFisheye:fx = 471.61615
            float omni:lensdistortion:opencvFisheye:fy = 471.3613
            int2 omni:lensdistortion:opencvFisheye:imageSize = (1920, 1536)
            float omni:lensdistortion:opencvFisheye:k1 = 0.09948669
            float omni:lensdistortion:opencvFisheye:k2 = -0.04559498
            float omni:lensdistortion:opencvFisheye:k3 = 0.01246827
            float omni:lensdistortion:opencvFisheye:k4 = -0.00149617
            float verticalAperture = 2.453
            token visibility = "invisible"
            quatd xformOp:orient = (0.7605593181450164, 0.6405664629098521, 0.06890451666478999, 0.08047544818850189)
            double3 xformOp:scale = (1, 1, 1)
            double3 xformOp:translate = (0.04679, 0.07897, 0.00139)
            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
        }

        def Camera "head_right_fisheye" (
            active = true
            prepend apiSchemas = ["OmniLensDistortionOpenCvFisheyeAPI"]
        )
        {
            token cameraProjectionType = "fisheyePolynomial" (
                allowedTokens = ["pinhole", "pinholeOpenCV", "fisheyePolynomial", "fisheyeSpherical", "fisheyeKannalaBrandtK3", "fisheyeOpenCV", "fisheyeRadTanThinPrism", "omniDirectionalStereo", "generalizedProjection"]
            )
            token cameraSensorType = "camera" (
                allowedTokens = ["camera", "radar", "lidar", "rtxsensor"]
            )
            float2 clippingRange = (0.01, 10000000)
            float exposure = 0
            float focalLength = 1.93
            float focusDistance = 400
            float horizontalAperture = 3.896
            bool omni:kit:cameraLock = 1
            float omni:lensdistortion:opencvFisheye:cx = 960.3891
            float omni:lensdistortion:opencvFisheye:cy = 766.29974
            float omni:lensdistortion:opencvFisheye:fx = 473.52005
            float omni:lensdistortion:opencvFisheye:fy = 473.6283
            int2 omni:lensdistortion:opencvFisheye:imageSize = (1920, 1536)
            float omni:lensdistortion:opencvFisheye:k1 = 0.09829894
            float omni:lensdistortion:opencvFisheye:k2 = -0.04353402
            float omni:lensdistortion:opencvFisheye:k3 = 0.01143048
            float omni:lensdistortion:opencvFisheye:k4 = -0.00125427
            float verticalAperture = 2.453
            token visibility = "invisible"
            quatd xformOp:orient = (0.08047544818850304, 0.06890451666479087, 0.640566462909852, 0.7605593181450164)
            double3 xformOp:scale = (1, 1, 1)
            double3 xformOp:translate = (0.04679, -0.07896, 0.00139)
            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
        }

        def Camera "head_left_Camera" (
            active = true
            prepend apiSchemas = ["OmniLensDistortionOpenCvPinholeAPI"]
        )
        {
            token cameraProjectionType = "pinhole" (
                allowedTokens = ["pinhole", "pinholeOpenCV", "fisheyePolynomial", "fisheyeSpherical", "fisheyeKannalaBrandtK3", "fisheyeOpenCV", "fisheyeRadTanThinPrism", "omniDirectionalStereo", "generalizedProjection"]
            )
            token cameraSensorType = "camera" (
                allowedTokens = ["camera", "radar", "lidar", "rtxsensor"]
            )
            float2 clippingRange = (0.01, 10000000)
            float focalLength = 1.93
            float focusDistance = 400
            float fthetaCx = 970.94244
            float fthetaHeight = 1216
            float fthetaWidth = 1936
            float horizontalAperture = 3.896
            bool isLeftEye = 1
            bool omni:kit:cameraLock = 1
            float omni:lensdistortion:opencvPinhole:cx = 966.0522
            float omni:lensdistortion:opencvPinhole:cy = 759.7833
            float omni:lensdistortion:opencvPinhole:fx = 1009.3406
            float omni:lensdistortion:opencvPinhole:fy = 1009.3251
            int2 omni:lensdistortion:opencvPinhole:imageSize = (1920, 1536)
            float omni:lensdistortion:opencvPinhole:k1 = 0.5665085
            float omni:lensdistortion:opencvPinhole:k2 = 0.052772887
            float omni:lensdistortion:opencvPinhole:k3 = 0.000859201
            float omni:lensdistortion:opencvPinhole:k4 = 0.9570824
            float omni:lensdistortion:opencvPinhole:k5 = 0.18405308
            float omni:lensdistortion:opencvPinhole:k6 = 0.007236881
            float omni:lensdistortion:opencvPinhole:p1 = -0.0000163652
            float omni:lensdistortion:opencvPinhole:p2 = -0.0000176206
            float verticalAperture = 2.453
            token visibility = "invisible"
            quatd xformOp:orient = (0.5609855267969304, 0.43045933457687974, -0.43045933457688007, -0.5609855267969309)
            double3 xformOp:scale = (1, 1, 1)
            double3 xformOp:translate = (0.1019, 0.030000000000004225, -0.04954)
            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
        }

        def Camera "head_right_Camera" (
            active = true
            delete apiSchemas = ["OmniLensDistortionOpenCvPinholeAPI"]
            prepend apiSchemas = ["OmniLensDistortionOpenCvPinholeAPI"]
        )
        {
            token cameraProjectionType = "pinhole" (
                allowedTokens = ["pinhole", "pinholeOpenCV", "fisheyePolynomial", "fisheyeSpherical", "fisheyeKannalaBrandtK3", "fisheyeOpenCV", "fisheyeRadTanThinPrism", "omniDirectionalStereo", "generalizedProjection"]
            )
            token cameraSensorType = "camera" (
                allowedTokens = ["camera", "radar", "lidar", "rtxsensor"]
            )
            float2 clippingRange = (0.01, 10000000)
            float focalLength = 1.93
            float focusDistance = 400
            float fthetaCx = 970.94244
            float fthetaHeight = 1216
            float fthetaWidth = 1936
            float horizontalAperture = 3.896
            bool isLeftEye = 1
            bool omni:kit:cameraLock = 1
            float omni:lensdistortion:opencvPinhole:cx = 966.16113
            float omni:lensdistortion:opencvPinhole:cy = 762.5069
            float omni:lensdistortion:opencvPinhole:fx = 1012.0495
            float omni:lensdistortion:opencvPinhole:fy = 1012.0235
            int2 omni:lensdistortion:opencvPinhole:imageSize = (1920, 1536)
            float omni:lensdistortion:opencvPinhole:k1 = 0.35314646
            float omni:lensdistortion:opencvPinhole:k2 = -0.0488
            float omni:lensdistortion:opencvPinhole:k3 = -0.002592828
            float omni:lensdistortion:opencvPinhole:k4 = 0.743941
            float omni:lensdistortion:opencvPinhole:k5 = -0.001471582
            float omni:lensdistortion:opencvPinhole:k6 = -0.01653668
            float omni:lensdistortion:opencvPinhole:p1 = -0.000008576
            float omni:lensdistortion:opencvPinhole:p2 = 0.0000738924
            float verticalAperture = 2.453
            token visibility = "invisible"
            quatd xformOp:orient = (0.5609855267969304, 0.43045933457687974, -0.43045933457688007, -0.5609855267969309)
            double3 xformOp:scale = (1, 1, 1)
            double3 xformOp:translate = (0.1019, -0.02999999999999477, -0.04954)
            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
        }

        def Camera "head_front_Camera" (
            active = true
            delete apiSchemas = ["OmniLensDistortionOpenCvPinholeAPI"]
            prepend apiSchemas = ["OmniLensDistortionOpenCvPinholeAPI"]
        )
        {
            token cameraProjectionType = "pinhole" (
                allowedTokens = ["pinhole", "pinholeOpenCV", "fisheyePolynomial", "fisheyeSpherical", "fisheyeKannalaBrandtK3", "fisheyeOpenCV", "fisheyeRadTanThinPrism", "omniDirectionalStereo", "generalizedProjection"]
            )
            token cameraSensorType = "camera" (
                allowedTokens = ["camera", "radar", "lidar", "rtxsensor"]
            )
            float2 clippingRange = (0.01, 10000000)
            float focalLength = 1.93
            float focusDistance = 400
            float fthetaCx = 970.94244
            float fthetaHeight = 1216
            float fthetaWidth = 1936
            float horizontalAperture = 3.896
            bool isLeftEye = 1
            bool omni:kit:cameraLock = 1
            float omni:lensdistortion:opencvPinhole:cx = 319.90094
            float omni:lensdistortion:opencvPinhole:cy = 201.29141
            float omni:lensdistortion:opencvPinhole:fx = 306.6911
            float omni:lensdistortion:opencvPinhole:fy = 306.55075
            int2 omni:lensdistortion:opencvPinhole:imageSize = (640, 400)
            float omni:lensdistortion:opencvPinhole:k1 = -0.031128239
            float omni:lensdistortion:opencvPinhole:k2 = 0.032714073
            float omni:lensdistortion:opencvPinhole:k3 = -0.011283846
            float omni:lensdistortion:opencvPinhole:k4 = 0
            float omni:lensdistortion:opencvPinhole:k5 = 0
            float omni:lensdistortion:opencvPinhole:k6 = 0
            float omni:lensdistortion:opencvPinhole:p1 = 0.0002466687
            float omni:lensdistortion:opencvPinhole:p2 = 0.0000032654
            float verticalAperture = 2.453
            token visibility = "invisible"
            quatd xformOp:orient = (0.5945104121873723, 0.3868316461705512, -0.3787291472834019, -0.5945442627086477)
            double3 xformOp:scale = (1, 1, 1)
            double3 xformOp:translate = (0.10237, 0.02375, 0.10256)
            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
        }
    }

    over "arm_base_link" (
        prepend apiSchemas = ["PhysxRigidBodyAPI"]
    )
    {
        string isaac:nameOverride (
            displayName = "Name Override"
            doc = "Name override for prim lookup in base name search"
        )
        bool physxRigidBody:disableGravity = 1
        token visibility = "inherited"
    }

    over "arm_l_link1" (
        prepend apiSchemas = ["PhysxRigidBodyAPI"]
    )
    {
        string isaac:nameOverride (
            displayName = "Name Override"
            doc = "Name override for prim lookup in base name search"
        )
        bool physxRigidBody:disableGravity = 1
        token visibility = "inherited"

        over "collisions" (
            instanceable = false
        )
        {
            over "arm_l_link1_convex_0"
            {
                over "mesh"
                {
                    bool physics:collisionEnabled = 0
                }
            }
        }

        over "visuals" (
            instanceable = false
        )
        {
            over "default_visual"
            {
                over "mesh" (
                    prepend apiSchemas = ["MaterialBindingAPI"]
                )
                {
                    rel material:binding = </genie/Looks/material_1___Default> (
                        bindMaterialAs = "weakerThanDescendants"
                    )
                }
            }
        }
    }

    over "arm_l_link2" (
        prepend apiSchemas = ["PhysxRigidBodyAPI"]
    )
    {
        string isaac:nameOverride (
            displayName = "Name Override"
            doc = "Name override for prim lookup in base name search"
        )
        bool physxRigidBody:disableGravity = 1
        token visibility = "inherited"

        over "collisions" (
            instanceable = false
        )
        {
            over "arm_l_link2_convex_0"
            {
                over "mesh"
                {
                    bool physics:collisionEnabled = 0
                }
            }
        }

        over "visuals" (
            instanceable = false
        )
        {
            over "default_visual"
            {
                over "mesh"
                {
                    over "PBR_________31_" (
                        prepend apiSchemas = ["MaterialBindingAPI"]
                    )
                    {
                        rel material:binding = </genie/Looks/material_1___Default> (
                            bindMaterialAs = "weakerThanDescendants"
                        )
                    }

                    over "PBR_________30_" (
                        prepend apiSchemas = ["MaterialBindingAPI"]
                    )
                    {
                        rel material:binding = </genie/Looks/material_2___Default> (
                            bindMaterialAs = "weakerThanDescendants"
                        )
                    }
                }
            }
        }
    }

    over "arm_l_link3" (
        prepend apiSchemas = ["PhysxRigidBodyAPI"]
    )
    {
        bool physxRigidBody:disableGravity = 1
        token visibility = "inherited"

        over "collisions" (
            instanceable = false
        )
        {
            over "arm_l_link3_convex_0"
            {
                over "mesh"
                {
                    bool physics:collisionEnabled = 0
                }
            }
        }

        over "visuals" (
            instanceable = false
        )
        {
            over "default_visual"
            {
                over "mesh" (
                    prepend apiSchemas = ["MaterialBindingAPI"]
                )
                {
                    rel material:binding = </genie/Looks/material_2___Default> (
                        bindMaterialAs = "weakerThanDescendants"
                    )
                }
            }
        }
    }

    over "arm_l_link4" (
        prepend apiSchemas = ["PhysxRigidBodyAPI"]
    )
    {
        string isaac:nameOverride (
            displayName = "Name Override"
            doc = "Name override for prim lookup in base name search"
        )
        bool physxRigidBody:disableGravity = 1
        token visibility = "inherited"

        over "collisions" (
            instanceable = false
        )
        {
            over "arm_l_link4_convex_0"
            {
                over "mesh"
                {
                    bool physics:collisionEnabled = 0
                }
            }
        }

        over "visuals" (
            instanceable = false
        )
        {
            over "default_visual"
            {
                over "mesh" (
                    prepend apiSchemas = ["MaterialBindingAPI"]
                )
                {
                    rel material:binding = </genie/Looks/material_2___Default> (
                        bindMaterialAs = "weakerThanDescendants"
                    )
                }
            }
        }
    }

    over "arm_l_link5" (
        prepend apiSchemas = ["PhysxRigidBodyAPI"]
    )
    {
        string isaac:nameOverride (
            displayName = "Name Override"
            doc = "Name override for prim lookup in base name search"
        )
        bool physxRigidBody:disableGravity = 1
        token visibility = "inherited"

        over "collisions" (
            instanceable = false
        )
        {
            over "arm_l_link5_convex_0"
            {
                over "mesh"
                {
                    bool physics:collisionEnabled = 0
                }
            }
        }

        over "visuals" (
            instanceable = false
        )
        {
            over "default_visual"
            {
                over "mesh" (
                    prepend apiSchemas = ["MaterialBindingAPI"]
                )
                {
                    rel material:binding = </genie/Looks/material_2___Default> (
                        bindMaterialAs = "weakerThanDescendants"
                    )
                }
            }
        }
    }

    over "arm_l_link6" (
        prepend apiSchemas = ["PhysxRigidBodyAPI"]
    )
    {
        string isaac:nameOverride (
            displayName = "Name Override"
            doc = "Name override for prim lookup in base name search"
        )
        bool physxRigidBody:disableGravity = 1
        token visibility = "inherited"

        over "collisions" (
            instanceable = false
        )
        {
            over "arm_l_link6_convex_0"
            {
                over "mesh"
                {
                    bool physics:collisionEnabled = 0
                }
            }
        }

        over "visuals" (
            instanceable = false
        )
        {
            over "default_visual"
            {
                over "mesh" (
                    prepend apiSchemas = ["MaterialBindingAPI"]
                )
                {
                    rel material:binding = </genie/Looks/material_1___Default> (
                        bindMaterialAs = "weakerThanDescendants"
                    )
                }
            }
        }
    }

    over "arm_l_link7" (
        prepend apiSchemas = ["PhysxRigidBodyAPI"]
    )
    {
        string isaac:nameOverride (
            displayName = "Name Override"
            doc = "Name override for prim lookup in base name search"
        )
        bool physxRigidBody:disableGravity = 1
        token visibility = "inherited"

        over "collisions" (
            instanceable = false
        )
        {
            over "arm_l_link7_convex_0"
            {
                over "mesh"
                {
                    bool physics:collisionEnabled = 0
                }
            }
        }

        over "visuals" (
            instanceable = false
        )
        {
            over "default_visual"
            {
                over "mesh" (
                    prepend apiSchemas = ["MaterialBindingAPI"]
                )
                {
                    rel material:binding = </genie/Looks/material_1___Default> (
                        bindMaterialAs = "weakerThanDescendants"
                    )
                }
            }
        }
    }

    over "arm_l_end_link" (
        prepend apiSchemas = ["PhysxRigidBodyAPI"]
    )
    {
        string isaac:nameOverride (
            displayName = "Name Override"
            doc = "Name override for prim lookup in base name search"
        )
        bool physxRigidBody:disableGravity = 1
        token visibility = "inherited"
    }

    over "gripper_l_base_link" (
        active = true
        prepend apiSchemas = ["PhysxRigidBodyAPI"]
    )
    {
        string isaac:nameOverride (
            displayName = "Name Override"
            doc = "Name override for prim lookup in base name search"
        )
        bool physxRigidBody:disableGravity = 1
        token visibility = "inherited"
        quatd xformOp:orient = (0.5000017881400535, -0.49999640384204114, 0.49999819198251894, 0.5000036160029124)
        double3 xformOp:scale = (1, 1, 1)
        double3 xformOp:translate = (0.1020350456237793, 0.9465004205703735, 1.3414997673034668)
        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]

        over "visuals" (
            instanceable = false
        )
        {
            over "gripper_base_link"
            {
                over "mesh"
                {
                    over "subset_1___Default" (
                        prepend apiSchemas = ["MaterialBindingAPI"]
                    )
                    {
                        rel material:binding = </genie/Looks/material_1___Default_2> (
                            bindMaterialAs = "weakerThanDescendants"
                        )
                    }

                    over "subset_3___Default" (
                        prepend apiSchemas = ["MaterialBindingAPI"]
                    )
                    {
                        rel material:binding = </genie/Looks/material_3___Default_1> (
                            bindMaterialAs = "weakerThanDescendants"
                        )
                    }

                    over "subset_7___Default" (
                        prepend apiSchemas = ["MaterialBindingAPI"]
                    )
                    {
                        rel material:binding = </genie/Looks/material_7___Default_0> (
                            bindMaterialAs = "weakerThanDescendants"
                        )
                    }

                    over "subset_2___Default" (
                        prepend apiSchemas = ["MaterialBindingAPI"]
                    )
                    {
                        rel material:binding = </genie/Looks/material_1___Default> (
                            bindMaterialAs = "weakerThanDescendants"
                        )
                    }
                }
            }

            over "base_link" (
                prepend apiSchemas = ["MaterialBindingAPI"]
            )
            {
                rel material:binding = None

                over "mesh" (
                    prepend apiSchemas = ["PhysicsCollisionAPI", "PhysxCollisionAPI", "PhysxConvexHullCollisionAPI", "PhysicsMeshCollisionAPI", "PhysxConvexDecompositionCollisionAPI", "MaterialBindingAPI"]
                )
                {
                    rel material:binding = </genie/Looks/material_1___Default> (
                        bindMaterialAs = "weakerThanDescendants"
                    )
                    uniform token physics:approximation = "convexDecomposition"
                    bool physics:collisionEnabled = 1

                    over "subset_2___Default" (
                        prepend apiSchemas = ["MaterialBindingAPI"]
                    )
                    {
                        rel material:binding = </genie/Looks/material_2___Default> (
                            bindMaterialAs = "weakerThanDescendants"
                        )
                    }

                    over "subset_1___Default" (
                        prepend apiSchemas = ["MaterialBindingAPI"]
                    )
                    {
                        rel material:binding = </genie/Looks/material_1___Default> (
                            bindMaterialAs = "weakerThanDescendants"
                        )
                    }
                }
            }
        }

        over "collisions" (
            active = false
            instanceable = false
        )
        {
            over "gripper_l_base_link_coarse_0"
            {
                over "mesh" (
                    prepend apiSchemas = ["PhysxConvexDecompositionCollisionAPI"]
                )
                {
                    uniform token physics:approximation = "convexDecomposition"
                }
            }
        }
    }

    over "gripper_l_inner_link1" (
        prepend apiSchemas = ["PhysxRigidBodyAPI"]
    )
    {
        string isaac:nameOverride (
            displayName = "Name Override"
            doc = "Name override for prim lookup in base name search"
        )
        bool physxRigidBody:disableGravity = 1
        token visibility = "inherited"
        quatd xformOp:orient = (0.7070915102958679, -0.004643171651865398, -0.004650731196594945, 0.707091512976826)
        double3 xformOp:scale = (1, 1, 1)
        double3 xformOp:translate = (0.12149995565414429, 0.99437, 1.3414998054504337)
        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]

        over "collisions" (
            active = false
            instanceable = false
        )
        {
            over "gripper_l_inner_link1_convex_0"
            {
                over "mesh" (
                    prepend apiSchemas = ["PhysxConvexDecompositionCollisionAPI", "PhysxSDFMeshCollisionAPI"]
                )
                {
                    uniform token physics:approximation = "sdf"
                    bool physics:collisionEnabled = 0
                }
            }
        }

        over "visuals" (
            instanceable = false
        )
        {
            over "inner_link1"
            {
                over "mesh" (
                    prepend apiSchemas = ["PhysicsCollisionAPI", "PhysxCollisionAPI", "PhysxConvexHullCollisionAPI", "PhysicsMeshCollisionAPI", "PhysxConvexDecompositionCollisionAPI", "MaterialBindingAPI"]
                )
                {
                    rel material:binding:physics = </genie/PhysicsMaterial> (
                        bindMaterialAs = "weakerThanDescendants"
                    )
                    uniform token physics:approximation = "convexHull"
                    bool physics:collisionEnabled = 1
                }
            }
        }
    }

    over "gripper_l_inner_link3" (
        prepend apiSchemas = ["PhysxRigidBodyAPI"]
    )
    {
        string isaac:nameOverride (
            displayName = "Name Override"
            doc = "Name override for prim lookup in base name search"
        )
        bool physxRigidBody:disableGravity = 1
        token visibility = "inherited"
        quatd xformOp:orient = (0.004643141292035376, 0.7070914820341563, 0.7070915416387987, 0.004650700651489994)
        double3 xformOp:scale = (1, 1, 1)
        double3 xformOp:translate = (0.14004907011985687, 1.02522, 1.341745138168242)
        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]

        over "collisions" (
            active = false
            instanceable = false
        )
        {
            over "gripper_l_inner_link3_convex_0"
            {
                over "mesh" (
                    prepend apiSchemas = ["PhysxConvexDecompositionCollisionAPI", "PhysxSDFMeshCollisionAPI"]
                )
                {
                    uniform token physics:approximation = "sdf"
                    bool physics:collisionEnabled = 0
                }
            }
        }

        over "visuals" (
            instanceable = false
        )
        {
            over "inner_link3"
            {
                over "mesh" (
                    prepend apiSchemas = ["PhysicsCollisionAPI", "PhysxCollisionAPI", "PhysxConvexHullCollisionAPI", "PhysicsMeshCollisionAPI", "PhysxConvexDecompositionCollisionAPI", "MaterialBindingAPI"]
                )
                {
                    rel material:binding:physics = </genie/PhysicsMaterial> (
                        bindMaterialAs = "weakerThanDescendants"
                    )
                    uniform token physics:approximation = "convexHull"
                    bool physics:collisionEnabled = 1
                }
            }
        }
    }

    over "gripper_l_inner_link4" (
        prepend apiSchemas = ["PhysxRigidBodyAPI"]
    )
    {
        string isaac:nameOverride (
            displayName = "Name Override"
            doc = "Name override for prim lookup in base name search"
        )
        bool physxRigidBody:disableGravity = 1
        token visibility = "inherited"
        quatd xformOp:orient = (0.004643141292035376, 0.7070914820341563, 0.7070915416387987, 0.004650700651489994)
        double3 xformOp:scale = (1, 1, 1)
        double3 xformOp:translate = (0.1243104264140126, 1.04334, 1.3415384292601962)
        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]

        over "collisions" (
            active = false
            instanceable = false
        )
        {
            over "inner_link4"
            {
                over "mesh" (
                    prepend apiSchemas = ["PhysxConvexDecompositionCollisionAPI", "MaterialBindingAPI"]
                )
                {
                    rel material:binding:physics = </genie/PhysicsMaterial> (
                        bindMaterialAs = "weakerThanDescendants"
                    )
                    uniform token physics:approximation = "convexDecomposition"
                }
            }

            over "gripper_l_inner_link4_convex_0"
            {
                over "mesh" (
                    prepend apiSchemas = ["PhysxConvexDecompositionCollisionAPI", "PhysxSDFMeshCollisionAPI"]
                )
                {
                    uniform token physics:approximation = "sdf"
                    bool physics:collisionEnabled = 0
                }
            }
        }

        over "visuals" (
            instanceable = false
        )
        {
            over "inner_link4"
            {
                over "mesh" (
                    prepend apiSchemas = ["PhysicsCollisionAPI", "PhysxCollisionAPI", "PhysxConvexHullCollisionAPI", "PhysicsMeshCollisionAPI", "PhysxConvexDecompositionCollisionAPI", "MaterialBindingAPI"]
                )
                {
                    rel material:binding:physics = </genie/PhysicsMaterial> (
                        bindMaterialAs = "weakerThanDescendants"
                    )
                    uniform token physics:approximation = "convexDecomposition"
                    bool physics:collisionEnabled = 1
                }
            }
        }
    }

    over "gripper_l_inner_link2" (
        prepend apiSchemas = ["PhysxRigidBodyAPI"]
    )
    {
        string isaac:nameOverride (
            displayName = "Name Override"
            doc = "Name override for prim lookup in base name search"
        )
        bool physxRigidBody:disableGravity = 1
        token visibility = "inherited"
        quatd xformOp:orient = (0.004643141292035376, 0.7070914820341563, 0.7070915416387987, 0.004650700651489994)
        double3 xformOp:scale = (1, 1, 1)
        double3 xformOp:translate = (0.1143112927675202, 1.04334, 1.341406941413785)
        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]

        over "collisions" (
            active = false
            instanceable = false
        )
        {
            over "gripper_l_inner_link2_convex_0"
            {
                over "mesh" (
                    prepend apiSchemas = ["PhysxConvexDecompositionCollisionAPI", "PhysxSDFMeshCollisionAPI"]
                )
                {
                    uniform token physics:approximation = "sdf"
                    bool physics:collisionEnabled = 0
                }
            }
        }

        over "visuals" (
            instanceable = false
        )
        {
            over "inner_link2"
            {
                over "mesh" (
                    prepend apiSchemas = ["PhysicsCollisionAPI", "PhysxCollisionAPI", "PhysxConvexHullCollisionAPI", "PhysicsMeshCollisionAPI", "PhysxConvexDecompositionCollisionAPI", "MaterialBindingAPI"]
                )
                {
                    rel material:binding:physics = </genie/PhysicsMaterial> (
                        bindMaterialAs = "weakerThanDescendants"
                    )
                    uniform token physics:approximation = "convexDecomposition"
                    bool physics:collisionEnabled = 1
                }
            }
        }
    }

    over "gripper_l_outer_link1" (
        prepend apiSchemas = ["PhysxRigidBodyAPI"]
    )
    {
        string isaac:nameOverride (
            displayName = "Name Override"
            doc = "Name override for prim lookup in base name search"
        )
        bool physxRigidBody:disableGravity = 1
        token visibility = "inherited"
        quatd xformOp:orient = (0.7070915102958679, -0.004643171651865398, -0.004650731196594945, 0.707091512976826)
        double3 xformOp:scale = (1, 1, 1)
        double3 xformOp:translate = (0.08249967545270842, 0.99437, 1.341501116752554)
        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]

        over "collisions" (
            active = false
            instanceable = false
        )
        {
            over "gripper_l_outer_link1_convex_0"
            {
                over "mesh" (
                    prepend apiSchemas = ["PhysxConvexDecompositionCollisionAPI", "PhysxSDFMeshCollisionAPI"]
                )
                {
                    uniform token physics:approximation = "sdf"
                    bool physics:collisionEnabled = 0
                }
            }
        }

        over "visuals" (
            instanceable = false
        )
        {
            over "outer_link1"
            {
                over "mesh" (
                    prepend apiSchemas = ["PhysicsCollisionAPI", "PhysxCollisionAPI", "PhysxConvexHullCollisionAPI", "PhysicsMeshCollisionAPI", "PhysxConvexDecompositionCollisionAPI", "MaterialBindingAPI"]
                )
                {
                    rel material:binding:physics = </genie/PhysicsMaterial> (
                        bindMaterialAs = "weakerThanDescendants"
                    )
                    uniform token physics:approximation = "convexHull"
                    bool physics:collisionEnabled = 1
                }
            }
        }
    }

    over "gripper_l_outer_link3" (
        prepend apiSchemas = ["PhysxRigidBodyAPI"]
    )
    {
        string isaac:nameOverride (
            displayName = "Name Override"
            doc = "Name override for prim lookup in base name search"
        )
        bool physxRigidBody:disableGravity = 1
        token visibility = "inherited"
        quatd xformOp:orient = (0.004643141292035376, 0.7070914820341563, 0.7070915416387987, 0.004650700651489994)
        double3 xformOp:scale = (1, 1, 1)
        double3 xformOp:translate = (0.06395027041435417, 1.025221, 1.3412575721740154)
        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]

        over "collisions" (
            active = false
            instanceable = false
        )
        {
            over "gripper_l_outer_link3_convex_0"
            {
                over "mesh" (
                    prepend apiSchemas = ["PhysxConvexDecompositionCollisionAPI", "PhysxSDFMeshCollisionAPI"]
                )
                {
                    uniform token physics:approximation = "sdf"
                    bool physics:collisionEnabled = 0
                }
            }
        }

        over "visuals" (
            instanceable = false
        )
        {
            over "outer_link3"
            {
                over "mesh" (
                    prepend apiSchemas = ["PhysicsCollisionAPI", "PhysxCollisionAPI", "PhysxConvexHullCollisionAPI", "PhysicsMeshCollisionAPI", "PhysxConvexDecompositionCollisionAPI", "MaterialBindingAPI"]
                )
                {
                    rel material:binding:physics = </genie/PhysicsMaterial> (
                        bindMaterialAs = "weakerThanDescendants"
                    )
                    uniform token physics:approximation = "convexHull"
                    bool physics:collisionEnabled = 1
                }
            }
        }
    }

    over "gripper_l_outer_link4" (
        prepend apiSchemas = ["PhysxRigidBodyAPI"]
    )
    {
        string isaac:nameOverride (
            displayName = "Name Override"
            doc = "Name override for prim lookup in base name search"
        )
        bool physxRigidBody:disableGravity = 1
        token visibility = "inherited"
        quatd xformOp:orient = (0.004643141292035376, 0.7070914820341563, 0.7070915416387987, 0.004650700651489994)
        double3 xformOp:scale = (1, 1, 1)
        double3 xformOp:translate = (0.07968890666961717, 1.04334, 1.3414646387099711)
        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]

        over "collisions" (
            active = false
            instanceable = false
        )
        {
            over "outer_link4"
            {
                over "mesh" (
                    prepend apiSchemas = ["PhysxConvexDecompositionCollisionAPI", "MaterialBindingAPI"]
                )
                {
                    rel material:binding:physics = </genie/PhysicsMaterial> (
                        bindMaterialAs = "weakerThanDescendants"
                    )
                    uniform token physics:approximation = "convexDecomposition"
                }
            }

            over "gripper_l_outer_link4_convex_0"
            {
                over "mesh" (
                    prepend apiSchemas = ["PhysxConvexDecompositionCollisionAPI", "PhysxSDFMeshCollisionAPI"]
                )
                {
                    uniform token physics:approximation = "sdf"
                    bool physics:collisionEnabled = 0
                }
            }
        }

        over "visuals" (
            instanceable = false
        )
        {
            over "outer_link4"
            {
                over "mesh" (
                    prepend apiSchemas = ["PhysicsCollisionAPI", "PhysxCollisionAPI", "PhysxConvexHullCollisionAPI", "PhysicsMeshCollisionAPI", "PhysxConvexDecompositionCollisionAPI", "MaterialBindingAPI"]
                )
                {
                    rel material:binding:physics = </genie/PhysicsMaterial> (
                        bindMaterialAs = "weakerThanDescendants"
                    )
                    uniform token physics:approximation = "convexDecomposition"
                    bool physics:collisionEnabled = 1
                }
            }
        }
    }

    over "gripper_l_outer_link2" (
        prepend apiSchemas = ["PhysxRigidBodyAPI"]
    )
    {
        string isaac:nameOverride (
            displayName = "Name Override"
            doc = "Name override for prim lookup in base name search"
        )
        bool physxRigidBody:disableGravity = 1
        token visibility = "inherited"
        quatd xformOp:orient = (0.004643141292035376, 0.7070914820341563, 0.7070915416387987, 0.004650700651489994)
        double3 xformOp:scale = (1, 1, 1)
        double3 xformOp:translate = (0.08968804031610536, 1.04334, 1.3415961265563756)
        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]

        over "collisions" (
            active = false
            instanceable = false
        )
        {
            over "gripper_l_outer_link2_convex_0"
            {
                over "mesh" (
                    prepend apiSchemas = ["PhysxConvexDecompositionCollisionAPI", "PhysxSDFMeshCollisionAPI"]
                )
                {
                    uniform token physics:approximation = "sdf"
                    bool physics:collisionEnabled = 0
                }
            }
        }

        over "visuals" (
            instanceable = false
        )
        {
            over "outer_link2"
            {
                over "mesh" (
                    prepend apiSchemas = ["PhysicsCollisionAPI", "PhysxCollisionAPI", "PhysxConvexHullCollisionAPI", "PhysicsMeshCollisionAPI", "PhysxConvexDecompositionCollisionAPI", "MaterialBindingAPI"]
                )
                {
                    rel material:binding:physics = </genie/PhysicsMaterial> (
                        bindMaterialAs = "weakerThanDescendants"
                    )
                    uniform token physics:approximation = "convexDecomposition"
                    bool physics:collisionEnabled = 1
                }
            }
        }
    }

    over "gripper_l_center_link" (
        active = true
        prepend apiSchemas = ["PhysxRigidBodyAPI"]
    )
    {
        string isaac:nameOverride (
            displayName = "Name Override"
            doc = "Name override for prim lookup in base name search"
        )
        bool physxRigidBody:disableGravity = 1
        token visibility = "inherited"
        quatd xformOp:orient = (0.707110643386841, -0.7071029189627218, 0.000001251697266553254, 0.000001370906530034516)
        double3 xformOp:scale = (1, 1, 1)
        double3 xformOp:translate = (0.10199967026710802, 1.08095, 1.3415019512176)
        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
    }

    over "arm_r_link1" (
        prepend apiSchemas = ["PhysxRigidBodyAPI"]
    )
    {
        string isaac:nameOverride (
            displayName = "Name Override"
            doc = "Name override for prim lookup in base name search"
        )
        bool physxRigidBody:disableGravity = 1
        token visibility = "inherited"

        over "collisions" (
            instanceable = false
        )
        {
            over "arm_r_link1_convex_0"
            {
                over "mesh"
                {
                    bool physics:collisionEnabled = 0
                }
            }
        }

        over "visuals" (
            instanceable = false
        )
        {
            over "default_visual"
            {
                over "mesh" (
                    prepend apiSchemas = ["MaterialBindingAPI"]
                )
                {
                    rel material:binding = </genie/Looks/material_1___Default> (
                        bindMaterialAs = "weakerThanDescendants"
                    )
                }
            }
        }
    }

    over "arm_r_link2" (
        prepend apiSchemas = ["PhysxRigidBodyAPI"]
    )
    {
        string isaac:nameOverride (
            displayName = "Name Override"
            doc = "Name override for prim lookup in base name search"
        )
        bool physxRigidBody:disableGravity = 1
        token visibility = "inherited"

        over "collisions" (
            instanceable = false
        )
        {
            over "arm_r_link2_convex_0"
            {
                over "mesh"
                {
                    bool physics:collisionEnabled = 0
                }
            }
        }

        over "visuals" (
            instanceable = false
        )
        {
            over "default_visual"
            {
                over "mesh"
                {
                    over "PBR_________31_" (
                        prepend apiSchemas = ["MaterialBindingAPI"]
                    )
                    {
                        rel material:binding = </genie/Looks/material_1___Default> (
                            bindMaterialAs = "weakerThanDescendants"
                        )
                    }

                    over "PBR_________30_" (
                        prepend apiSchemas = ["MaterialBindingAPI"]
                    )
                    {
                        rel material:binding = </genie/Looks/material_2___Default> (
                            bindMaterialAs = "weakerThanDescendants"
                        )
                    }
                }
            }
        }
    }

    over "arm_r_link3" (
        prepend apiSchemas = ["PhysxRigidBodyAPI"]
    )
    {
        string isaac:nameOverride (
            displayName = "Name Override"
            doc = "Name override for prim lookup in base name search"
        )
        bool physxRigidBody:disableGravity = 1
        token visibility = "inherited"

        over "collisions" (
            instanceable = false
        )
        {
            over "arm_r_link3_convex_0"
            {
                over "mesh"
                {
                    bool physics:collisionEnabled = 0
                }
            }
        }

        over "visuals" (
            instanceable = false
        )
        {
            over "default_visual"
            {
                over "mesh" (
                    prepend apiSchemas = ["MaterialBindingAPI"]
                )
                {
                    rel material:binding = </genie/Looks/material_2___Default> (
                        bindMaterialAs = "weakerThanDescendants"
                    )
                }
            }
        }
    }

    over "arm_r_link4" (
        prepend apiSchemas = ["PhysxRigidBodyAPI"]
    )
    {
        string isaac:nameOverride (
            displayName = "Name Override"
            doc = "Name override for prim lookup in base name search"
        )
        bool physxRigidBody:disableGravity = 1
        token visibility = "inherited"

        over "collisions" (
            instanceable = false
        )
        {
            over "arm_r_link4_convex_0"
            {
                over "mesh"
                {
                    bool physics:collisionEnabled = 0
                }
            }
        }

        over "visuals" (
            instanceable = false
        )
        {
            over "default_visual"
            {
                over "mesh" (
                    prepend apiSchemas = ["MaterialBindingAPI"]
                )
                {
                    rel material:binding = </genie/Looks/material_2___Default> (
                        bindMaterialAs = "weakerThanDescendants"
                    )
                }
            }
        }
    }

    over "arm_r_link5" (
        prepend apiSchemas = ["PhysxRigidBodyAPI"]
    )
    {
        string isaac:nameOverride (
            displayName = "Name Override"
            doc = "Name override for prim lookup in base name search"
        )
        bool physxRigidBody:disableGravity = 1
        token visibility = "inherited"

        over "collisions" (
            instanceable = false
        )
        {
            over "arm_r_link5_convex_0"
            {
                over "mesh"
                {
                    bool physics:collisionEnabled = 0
                }
            }
        }

        over "visuals" (
            instanceable = false
        )
        {
            over "default_visual"
            {
                over "mesh" (
                    prepend apiSchemas = ["MaterialBindingAPI"]
                )
                {
                    rel material:binding = </genie/Looks/material_2___Default> (
                        bindMaterialAs = "weakerThanDescendants"
                    )
                }
            }
        }
    }

    over "arm_r_link6" (
        prepend apiSchemas = ["PhysxRigidBodyAPI"]
    )
    {
        string isaac:nameOverride (
            displayName = "Name Override"
            doc = "Name override for prim lookup in base name search"
        )
        bool physxRigidBody:disableGravity = 1
        token visibility = "inherited"

        over "collisions" (
            instanceable = false
        )
        {
            over "arm_r_link6_convex_0"
            {
                over "mesh"
                {
                    bool physics:collisionEnabled = 0
                }
            }
        }

        over "visuals" (
            instanceable = false
        )
        {
            over "default_visual"
            {
                over "mesh" (
                    prepend apiSchemas = ["MaterialBindingAPI"]
                )
                {
                    rel material:binding = </genie/Looks/material_1___Default> (
                        bindMaterialAs = "weakerThanDescendants"
                    )
                }
            }
        }
    }

    over "arm_r_link7" (
        prepend apiSchemas = ["PhysxRigidBodyAPI"]
    )
    {
        string isaac:nameOverride (
            displayName = "Name Override"
            doc = "Name override for prim lookup in base name search"
        )
        bool physxRigidBody:disableGravity = 1
        token visibility = "inherited"

        over "collisions" (
            instanceable = false
        )
        {
            over "arm_r_link7_convex_0"
            {
                over "mesh"
                {
                    bool physics:collisionEnabled = 0
                }
            }
        }

        over "visuals" (
            instanceable = false
        )
        {
            over "default_visual"
            {
                over "mesh" (
                    prepend apiSchemas = ["MaterialBindingAPI"]
                )
                {
                    rel material:binding = </genie/Looks/material_1___Default> (
                        bindMaterialAs = "weakerThanDescendants"
                    )
                }
            }
        }
    }

    over "arm_r_end_link" (
        prepend apiSchemas = ["PhysxRigidBodyAPI"]
    )
    {
        string isaac:nameOverride (
            displayName = "Name Override"
            doc = "Name override for prim lookup in base name search"
        )
        bool physxRigidBody:disableGravity = 1
        token visibility = "inherited"
    }

    over "gripper_r_base_link" (
        active = true
        prepend apiSchemas = ["PhysxRigidBodyAPI"]
    )
    {
        string isaac:nameOverride (
            displayName = "Name Override"
            doc = "Name override for prim lookup in base name search"
        )
        bool physxRigidBody:disableGravity = 1
        token visibility = "inherited"
        quatd xformOp:orient = (0.5000000672571828, 0.49999993274277427, -0.49999985326996876, 0.5000001467300224)
        double3 xformOp:scale = (1, 1, 1)
        double3 xformOp:translate = (0.10202107578516006, -0.9464993476867676, 1.3414752101898193)
        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]

        over "visuals" (
            instanceable = false
        )
        {
            over "gripper_base_link"
            {
                over "mesh"
                {
                    over "subset_2___Default" (
                        prepend apiSchemas = ["MaterialBindingAPI"]
                    )
                    {
                        rel material:binding = </genie/Looks/material_1___Default> (
                            bindMaterialAs = "weakerThanDescendants"
                        )
                    }
                }
            }

            over "base_link" (
                prepend apiSchemas = ["MaterialBindingAPI"]
            )
            {
                rel material:binding = None

                over "mesh" (
                    prepend apiSchemas = ["PhysicsCollisionAPI", "PhysxCollisionAPI", "PhysxConvexHullCollisionAPI", "PhysicsMeshCollisionAPI", "PhysxConvexDecompositionCollisionAPI", "MaterialBindingAPI"]
                )
                {
                    rel material:binding = </genie/Looks/material_1___Default> (
                        bindMaterialAs = "weakerThanDescendants"
                    )
                    uniform token physics:approximation = "convexDecomposition"
                    bool physics:collisionEnabled = 1

                    over "subset_2___Default" (
                        prepend apiSchemas = ["MaterialBindingAPI"]
                    )
                    {
                        rel material:binding = </genie/Looks/material_2___Default> (
                            bindMaterialAs = "weakerThanDescendants"
                        )
                    }

                    over "subset_1___Default" (
                        prepend apiSchemas = ["MaterialBindingAPI"]
                    )
                    {
                        rel material:binding = </genie/Looks/material_1___Default> (
                            bindMaterialAs = "weakerThanDescendants"
                        )
                    }
                }
            }
        }

        over "collisions" (
            active = false
        )
        {
        }
    }

    over "gripper_r_inner_link1" (
        prepend apiSchemas = ["PhysxRigidBodyAPI"]
    )
    {
        string isaac:nameOverride (
            displayName = "Name Override"
            doc = "Name override for prim lookup in base name search"
        )
        bool physxRigidBody:disableGravity = 1
        token visibility = "inherited"
        quatd xformOp:orient = (0.004648172296583025, 0.7070915030274062, -0.7070915030274059, -0.0046483531695645074)
        double3 xformOp:scale = (1, 1, 1)
        double3 xformOp:translate = (0.12149995565414429, -0.9943673836603083, 1.3414998054504337)
        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]

        over "collisions" (
            active = false
        )
        {
        }

        over "visuals" (
            instanceable = false
        )
        {
            over "inner_link1"
            {
                over "mesh" (
                    prepend apiSchemas = ["PhysicsCollisionAPI", "PhysxCollisionAPI", "PhysxConvexHullCollisionAPI", "PhysicsMeshCollisionAPI", "MaterialBindingAPI"]
                )
                {
                    rel material:binding:physics = </genie/PhysicsMaterial> (
                        bindMaterialAs = "weakerThanDescendants"
                    )
                    uniform token physics:approximation = "convexHull"
                    bool physics:collisionEnabled = 1
                }
            }
        }
    }

    over "gripper_r_inner_link3" (
        prepend apiSchemas = ["PhysxRigidBodyAPI"]
    )
    {
        string isaac:nameOverride (
            displayName = "Name Override"
            doc = "Name override for prim lookup in base name search"
        )
        bool physxRigidBody:disableGravity = 1
        token visibility = "inherited"
        quatd xformOp:orient = (0.7070913314819336, -0.004648143820792599, 0.004648323566136812, -0.7070916749546355)
        double3 xformOp:scale = (1, 1, 1)
        double3 xformOp:translate = (0.14004932343959808, -1.0252193438424966, 1.3412559032440188)
        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]

        over "collisions" (
            active = false
        )
        {
        }

        over "visuals" (
            instanceable = false
        )
        {
            over "inner_link3"
            {
                over "mesh" (
                    prepend apiSchemas = ["PhysicsCollisionAPI", "PhysxCollisionAPI", "PhysxConvexHullCollisionAPI", "PhysicsMeshCollisionAPI", "MaterialBindingAPI"]
                )
                {
                    rel material:binding:physics = </genie/PhysicsMaterial> (
                        bindMaterialAs = "weakerThanDescendants"
                    )
                    uniform token physics:approximation = "convexHull"
                    bool physics:collisionEnabled = 1
                }
            }
        }
    }

    over "gripper_r_inner_link4" (
        prepend apiSchemas = ["PhysxRigidBodyAPI"]
    )
    {
        string isaac:nameOverride (
            displayName = "Name Override"
            doc = "Name override for prim lookup in base name search"
        )
        bool physxRigidBody:disableGravity = 1
        token visibility = "inherited"
        quatd xformOp:orient = (0.7070913314819336, -0.004648143820792599, 0.004648323566136812, -0.7070916749546355)
        double3 xformOp:scale = (1, 1, 1)
        double3 xformOp:translate = (0.1243106797337532, -1.043337367714871, 1.3414628505706752)
        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]

        over "collisions" (
            active = false
            instanceable = false
        )
        {
            over "inner_link4"
            {
                over "mesh" (
                    prepend apiSchemas = ["PhysxConvexDecompositionCollisionAPI", "MaterialBindingAPI"]
                )
                {
                    rel material:binding:physics = </genie/PhysicsMaterial> (
                        bindMaterialAs = "weakerThanDescendants"
                    )
                    uniform token physics:approximation = "convexDecomposition"
                }
            }
        }

        over "visuals" (
            instanceable = false
        )
        {
            over "inner_link4"
            {
                over "mesh" (
                    prepend apiSchemas = ["PhysicsCollisionAPI", "PhysxCollisionAPI", "PhysxConvexHullCollisionAPI", "PhysicsMeshCollisionAPI", "MaterialBindingAPI", "PhysxConvexDecompositionCollisionAPI"]
                )
                {
                    rel material:binding:physics = </genie/PhysicsMaterial> (
                        bindMaterialAs = "weakerThanDescendants"
                    )
                    uniform token physics:approximation = "convexDecomposition"
                    bool physics:collisionEnabled = 1
                }
            }
        }
    }

    over "gripper_r_inner_link2" (
        prepend apiSchemas = ["PhysxRigidBodyAPI"]
    )
    {
        string isaac:nameOverride (
            displayName = "Name Override"
            doc = "Name override for prim lookup in base name search"
        )
        bool physxRigidBody:disableGravity = 1
        token visibility = "inherited"
        quatd xformOp:orient = (0.7070913314819336, -0.004648143820792599, 0.004648323566136812, -0.7070916749546355)
        double3 xformOp:scale = (1, 1, 1)
        double3 xformOp:translate = (0.11431154608726501, -1.043337367714871, 1.3415943384170497)
        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]

        over "collisions" (
            active = false
        )
        {
        }

        over "visuals" (
            instanceable = false
        )
        {
            over "inner_link2"
            {
                over "mesh" (
                    prepend apiSchemas = ["PhysicsCollisionAPI", "PhysxCollisionAPI", "PhysxConvexHullCollisionAPI", "PhysicsMeshCollisionAPI", "MaterialBindingAPI", "PhysxConvexDecompositionCollisionAPI"]
                )
                {
                    rel material:binding:physics = </genie/PhysicsMaterial> (
                        bindMaterialAs = "weakerThanDescendants"
                    )
                    uniform token physics:approximation = "convexDecomposition"
                    bool physics:collisionEnabled = 1
                }
            }
        }
    }

    over "gripper_r_outer_link1" (
        prepend apiSchemas = ["PhysxRigidBodyAPI"]
    )
    {
        string isaac:nameOverride (
            displayName = "Name Override"
            doc = "Name override for prim lookup in base name search"
        )
        bool physxRigidBody:disableGravity = 1
        token visibility = "inherited"
        quatd xformOp:orient = (0.004648172296583025, 0.7070915030274062, -0.7070915030274059, -0.0046483531695645074)
        double3 xformOp:scale = (1, 1, 1)
        double3 xformOp:translate = (0.08249998092651367, -0.9943673836603083, 1.3414998054504337)
        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]

        over "collisions" (
            active = false
        )
        {
        }

        over "visuals" (
            instanceable = false
        )
        {
            over "outer_link1"
            {
                over "mesh" (
                    prepend apiSchemas = ["PhysicsCollisionAPI", "PhysxCollisionAPI", "PhysxConvexHullCollisionAPI", "PhysicsMeshCollisionAPI", "MaterialBindingAPI"]
                )
                {
                    rel material:binding:physics = </genie/PhysicsMaterial> (
                        bindMaterialAs = "weakerThanDescendants"
                    )
                    uniform token physics:approximation = "convexHull"
                    bool physics:collisionEnabled = 1
                }
            }
        }
    }

    over "gripper_r_outer_link3" (
        prepend apiSchemas = ["PhysxRigidBodyAPI"]
    )
    {
        string isaac:nameOverride (
            displayName = "Name Override"
            doc = "Name override for prim lookup in base name search"
        )
        bool physxRigidBody:disableGravity = 1
        token visibility = "inherited"
        quatd xformOp:orient = (0.7070913314819336, -0.004648143820792599, 0.004648323566136812, -0.7070916749546355)
        double3 xformOp:scale = (1, 1, 1)
        double3 xformOp:translate = (0.06395057588815689, -1.0252193438424901, 1.3417437076568606)
        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]

        over "collisions" (
            active = false
        )
        {
        }

        over "visuals" (
            instanceable = false
        )
        {
            over "outer_link3"
            {
                over "mesh" (
                    prepend apiSchemas = ["PhysicsCollisionAPI", "PhysxCollisionAPI", "PhysxConvexHullCollisionAPI", "PhysicsMeshCollisionAPI", "MaterialBindingAPI"]
                )
                {
                    rel material:binding:physics = </genie/PhysicsMaterial> (
                        bindMaterialAs = "weakerThanDescendants"
                    )
                    uniform token physics:approximation = "convexHull"
                    bool physics:collisionEnabled = 1
                }
            }
        }
    }

    over "gripper_r_outer_link4" (
        prepend apiSchemas = ["PhysxRigidBodyAPI"]
    )
    {
        string isaac:nameOverride (
            displayName = "Name Override"
            doc = "Name override for prim lookup in base name search"
        )
        bool physxRigidBody:disableGravity = 1
        token visibility = "inherited"
        quatd xformOp:orient = (0.7070913314819336, -0.004648143820792599, 0.004648323566136812, -0.7070916749546355)
        double3 xformOp:scale = (1, 1, 1)
        double3 xformOp:translate = (0.07968919724225998, -1.0433373677148803, 1.3415367603301973)
        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]

        over "collisions" (
            active = false
            instanceable = false
        )
        {
            over "outer_link4"
            {
                over "mesh" (
                    prepend apiSchemas = ["PhysxConvexDecompositionCollisionAPI", "MaterialBindingAPI"]
                )
                {
                    rel material:binding:physics = </genie/PhysicsMaterial> (
                        bindMaterialAs = "weakerThanDescendants"
                    )
                    uniform token physics:approximation = "convexDecomposition"
                }
            }
        }

        over "visuals" (
            instanceable = false
        )
        {
            over "outer_link4"
            {
                over "mesh" (
                    prepend apiSchemas = ["PhysicsCollisionAPI", "PhysxCollisionAPI", "PhysxConvexHullCollisionAPI", "PhysicsMeshCollisionAPI", "MaterialBindingAPI", "PhysxConvexDecompositionCollisionAPI"]
                )
                {
                    rel material:binding:physics = </genie/PhysicsMaterial> (
                        bindMaterialAs = "weakerThanDescendants"
                    )
                    uniform token physics:approximation = "convexDecomposition"
                    bool physics:collisionEnabled = 1
                }
            }
        }
    }

    over "gripper_r_outer_link2" (
        prepend apiSchemas = ["PhysxRigidBodyAPI"]
    )
    {
        string isaac:nameOverride (
            displayName = "Name Override"
            doc = "Name override for prim lookup in base name search"
        )
        bool physxRigidBody:disableGravity = 1
        token visibility = "inherited"
        quatd xformOp:orient = (0.7070913314819336, -0.004648143820792599, 0.004648323566136812, -0.7070916749546355)
        double3 xformOp:scale = (1, 1, 1)
        double3 xformOp:translate = (0.08968833088874817, -1.043337367714871, 1.3414052724838221)
        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]

        over "collisions" (
            active = false
        )
        {
        }

        over "visuals" (
            instanceable = false
        )
        {
            over "outer_link2"
            {
                over "mesh" (
                    prepend apiSchemas = ["PhysicsCollisionAPI", "PhysxCollisionAPI", "PhysxConvexHullCollisionAPI", "PhysicsMeshCollisionAPI", "MaterialBindingAPI", "PhysxConvexDecompositionCollisionAPI"]
                )
                {
                    rel material:binding:physics = </genie/PhysicsMaterial> (
                        bindMaterialAs = "weakerThanDescendants"
                    )
                    uniform token physics:approximation = "convexDecomposition"
                    bool physics:collisionEnabled = 1
                }
            }
        }
    }

    over "gripper_r_center_link" (
        active = true
        prepend apiSchemas = ["PhysxRigidBodyAPI"]
    )
    {
        string isaac:nameOverride (
            displayName = "Name Override"
            doc = "Name override for prim lookup in base name search"
        )
        bool physxRigidBody:disableGravity = 1
        token visibility = "inherited"
        quatd xformOp:orient = (0.7071065306663515, 0.7071070317066548, 0, 0)
        double3 xformOp:scale = (1, 1, 1)
        double3 xformOp:translate = (0.10199996829032898, -1.0809474217309882, 1.34149968624115)
        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]

        over "collisions" (
            active = false
        )
        {
        }
    }

    over "chassis_link" (
        prepend apiSchemas = ["PhysxRigidBodyAPI"]
    )
    {
        string isaac:nameOverride (
            displayName = "Name Override"
            doc = "Name override for prim lookup in base name search"
        )
        bool physxRigidBody:disableGravity = 1
        token visibility = "inherited"
    }

    over "chassis_lwheel_front_link1" (
        prepend apiSchemas = ["PhysxRigidBodyAPI"]
    )
    {
        string isaac:nameOverride (
            displayName = "Name Override"
            doc = "Name override for prim lookup in base name search"
        )
        bool physxRigidBody:disableGravity = 1
        token visibility = "inherited"

        over "visuals" (
            instanceable = false
        )
        {
            over "chassis_lwheel_front_link1" (
                prepend apiSchemas = ["MaterialBindingAPI"]
            )
            {
                rel material:binding = None

                over "mesh" (
                    prepend apiSchemas = ["MaterialBindingAPI"]
                )
                {
                    rel material:binding = </genie/Looks/material_1___Default> (
                        bindMaterialAs = "weakerThanDescendants"
                    )
                }
            }
        }
    }

    over "chassis_lwheel_front_link2" (
        prepend apiSchemas = ["PhysxRigidBodyAPI"]
    )
    {
        string isaac:nameOverride (
            displayName = "Name Override"
            doc = "Name override for prim lookup in base name search"
        )
        bool physxRigidBody:disableGravity = 1
        token visibility = "inherited"

        over "visuals" (
            instanceable = false
        )
        {
            over "chassis_lwheel_front_link2" (
                prepend apiSchemas = ["MaterialBindingAPI"]
            )
            {
                rel material:binding = None

                over "mesh" (
                    prepend apiSchemas = ["MaterialBindingAPI"]
                )
                {
                    rel material:binding = </genie/Looks/material_1___Default> (
                        bindMaterialAs = "weakerThanDescendants"
                    )
                }
            }
        }

        over "collisions" (
            active = false
        )
        {
            def Cylinder "Cylinder" (
                delete apiSchemas = ["PhysicsRigidBodyAPI", "PhysxRigidBodyAPI"]
                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysxCollisionAPI", "MaterialBindingAPI"]
            )
            {
                uniform token axis = "Z"
                float3[] extent = [(-0.5, -0.5, -0.5), (0.5, 0.5, 0.5)]
                double height = 1
                rel material:binding:physics = </genie/PhysicsMaterial> (
                    bindMaterialAs = "weakerThanDescendants"
                )
                bool physics:collisionEnabled = 1
                double radius = 0.5
                custom bool refinementEnableOverride = 1
                custom int refinementLevel = 2
                quatd xformOp:orient = (0.7071067811865475, 0.7071067811865476, 0, 0)
                double3 xformOp:scale = (0.14, 0.14000000000000004, 0.04599999999999964)
                double3 xformOp:translate = (0, 0, 0)
                uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
            }
        }
    }

    over "chassis_lwheel_rear_link1" (
        prepend apiSchemas = ["PhysxRigidBodyAPI"]
    )
    {
        string isaac:nameOverride (
            displayName = "Name Override"
            doc = "Name override for prim lookup in base name search"
        )
        bool physxRigidBody:disableGravity = 1
        token visibility = "inherited"

        over "visuals" (
            instanceable = false
        )
        {
            over "chassis_lwheel_rear_link1" (
                prepend apiSchemas = ["MaterialBindingAPI"]
            )
            {
                rel material:binding = None

                over "mesh" (
                    prepend apiSchemas = ["MaterialBindingAPI"]
                )
                {
                    rel material:binding = </genie/Looks/material_1___Default> (
                        bindMaterialAs = "weakerThanDescendants"
                    )
                }
            }
        }
    }

    over "chassis_lwheel_rear_link2" (
        prepend apiSchemas = ["PhysxRigidBodyAPI"]
    )
    {
        string isaac:nameOverride (
            displayName = "Name Override"
            doc = "Name override for prim lookup in base name search"
        )
        bool physxRigidBody:disableGravity = 1
        token visibility = "inherited"

        over "visuals" (
            instanceable = false
        )
        {
            over "chassis_lwheel_rear_link2" (
                prepend apiSchemas = ["MaterialBindingAPI"]
            )
            {
                rel material:binding = None

                over "mesh" (
                    prepend apiSchemas = ["MaterialBindingAPI"]
                )
                {
                    rel material:binding = </genie/Looks/material_1___Default> (
                        bindMaterialAs = "weakerThanDescendants"
                    )
                }
            }
        }

        over "collisions" (
            active = false
        )
        {
            def Cylinder "Cylinder" (
                delete apiSchemas = ["PhysicsRigidBodyAPI", "PhysxRigidBodyAPI"]
                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysxCollisionAPI", "MaterialBindingAPI"]
            )
            {
                uniform token axis = "Z"
                float3[] extent = [(-0.5, -0.5, -0.5), (0.5, 0.5, 0.5)]
                double height = 1
                rel material:binding:physics = </genie/PhysicsMaterial> (
                    bindMaterialAs = "weakerThanDescendants"
                )
                bool physics:collisionEnabled = 1
                double radius = 0.5
                custom bool refinementEnableOverride = 1
                custom int refinementLevel = 2
                quatd xformOp:orient = (0.7071067811865475, 0.7071067811865476, 0, 0)
                double3 xformOp:scale = (0.14000000059604645, 0.14000000059604645, 0.04600000008940697)
                double3 xformOp:translate = (0, 0, -3.469446951953614e-18)
                uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
            }
        }
    }

    over "chassis_rwheel_front_link1" (
        prepend apiSchemas = ["PhysxRigidBodyAPI"]
    )
    {
        string isaac:nameOverride (
            displayName = "Name Override"
            doc = "Name override for prim lookup in base name search"
        )
        bool physxRigidBody:disableGravity = 1
        token visibility = "inherited"

        over "visuals" (
            instanceable = false
        )
        {
            over "chassis_rwheel_front_link1" (
                prepend apiSchemas = ["MaterialBindingAPI"]
            )
            {
                rel material:binding = None

                over "mesh" (
                    prepend apiSchemas = ["MaterialBindingAPI"]
                )
                {
                    rel material:binding = </genie/Looks/material_1___Default> (
                        bindMaterialAs = "weakerThanDescendants"
                    )
                }
            }
        }
    }

    over "chassis_rwheel_front_link2" (
        prepend apiSchemas = ["PhysxRigidBodyAPI"]
    )
    {
        string isaac:nameOverride (
            displayName = "Name Override"
            doc = "Name override for prim lookup in base name search"
        )
        bool physxRigidBody:disableGravity = 1
        token visibility = "inherited"

        over "visuals" (
            instanceable = false
        )
        {
            over "chassis_rwheel_front_link2" (
                prepend apiSchemas = ["MaterialBindingAPI"]
            )
            {
                rel material:binding = None

                over "mesh" (
                    prepend apiSchemas = ["MaterialBindingAPI"]
                )
                {
                    rel material:binding = </genie/Looks/material_1___Default> (
                        bindMaterialAs = "weakerThanDescendants"
                    )
                }
            }
        }

        over "collisions" (
            active = false
        )
        {
            def Cylinder "Cylinder" (
                delete apiSchemas = ["PhysicsRigidBodyAPI", "PhysxRigidBodyAPI"]
                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysxCollisionAPI", "MaterialBindingAPI"]
            )
            {
                uniform token axis = "Z"
                float3[] extent = [(-0.5, -0.5, -0.5), (0.5, 0.5, 0.5)]
                double height = 1
                rel material:binding:physics = </genie/PhysicsMaterial> (
                    bindMaterialAs = "weakerThanDescendants"
                )
                bool physics:collisionEnabled = 1
                double radius = 0.5
                custom bool refinementEnableOverride = 1
                custom int refinementLevel = 2
                quatd xformOp:orient = (0.7071067811865475, 0.7071067811865476, 0, 0)
                double3 xformOp:scale = (0.14000000059604645, 0.14000000059604645, 0.04600000008940697)
                double3 xformOp:translate = (0, 0, 0)
                uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
            }
        }
    }

    over "chassis_rwheel_rear_link1" (
        prepend apiSchemas = ["PhysxRigidBodyAPI"]
    )
    {
        bool physxRigidBody:disableGravity = 1
        token visibility = "inherited"

        over "visuals" (
            instanceable = false
        )
        {
            over "chassis_rwheel_rear_link1" (
                prepend apiSchemas = ["MaterialBindingAPI"]
            )
            {
                rel material:binding = None

                over "mesh" (
                    prepend apiSchemas = ["MaterialBindingAPI"]
                )
                {
                    rel material:binding = </genie/Looks/material_1___Default> (
                        bindMaterialAs = "weakerThanDescendants"
                    )
                }
            }
        }
    }

    over "chassis_rwheel_rear_link2" (
        prepend apiSchemas = ["PhysxRigidBodyAPI"]
    )
    {
        string isaac:nameOverride (
            displayName = "Name Override"
            doc = "Name override for prim lookup in base name search"
        )
        bool physxRigidBody:disableGravity = 1
        token visibility = "inherited"

        over "visuals" (
            instanceable = false
        )
        {
            over "chassis_rwheel_rear_link2" (
                prepend apiSchemas = ["MaterialBindingAPI"]
            )
            {
                rel material:binding = None

                over "mesh" (
                    prepend apiSchemas = ["MaterialBindingAPI"]
                )
                {
                    rel material:binding = </genie/Looks/material_1___Default> (
                        bindMaterialAs = "weakerThanDescendants"
                    )
                }
            }
        }

        over "collisions" (
            active = false
        )
        {
            def Cylinder "Cylinder" (
                delete apiSchemas = ["PhysicsRigidBodyAPI", "PhysxRigidBodyAPI"]
                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysxCollisionAPI", "MaterialBindingAPI"]
            )
            {
                uniform token axis = "Z"
                float3[] extent = [(-0.5, -0.5, -0.5), (0.5, 0.5, 0.5)]
                double height = 1
                rel material:binding:physics = </genie/PhysicsMaterial> (
                    bindMaterialAs = "weakerThanDescendants"
                )
                bool physics:collisionEnabled = 1
                double radius = 0.5
                custom bool refinementEnableOverride = 1
                custom int refinementLevel = 2
                quatd xformOp:orient = (0.7071067811865475, 0.7071067811865476, 0, 0)
                double3 xformOp:scale = (0.14000000059604645, 0.14000000059604645, 0.04600000008940697)
                double3 xformOp:translate = (0, 0, 0)
                uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
            }
        }
    }

    over "Looks"
    {
        over "material_3___Default"
        {
            over "material_3___Default"
            {
                float inputs:albedo_brightness = 1
                float inputs:metallic_constant = 0
                float inputs:reflection_roughness_constant = 0.1
            }
        }

        over "material_2___Default"
        {
            over "material_2___Default"
            {
                float inputs:albedo_brightness = 1
                color3f inputs:diffuse_color_constant = (0.766, 0.766, 0.766)
                float inputs:metallic_constant = 0.65999997
                float inputs:reflection_roughness_constant = 0.62
            }
        }

        over "material_1___Default"
        {
            over "material_1___Default"
            {
                color3f inputs:diffuse_color_constant = (0.000001, 9.9999e-7, 9.9999e-7)
                float inputs:reflection_roughness_constant = 0.45
            }
        }

        over "material_black" (
            active = false
        )
        {
        }

        over "material_blue" (
            active = false
        )
        {
        }

        over "material_brown" (
            active = false
        )
        {
        }

        over "material_default" (
            active = false
        )
        {
        }

        over "material_green" (
            active = false
        )
        {
        }

        over "material_grey" (
            active = false
        )
        {
        }

        over "material_metacarpals" (
            active = false
        )
        {
        }

        over "material_orange" (
            active = false
        )
        {
        }

        over "material_red" (
            active = false
        )
        {
        }

        over "material_silver" (
            active = true
        )
        {
            over "Shader"
            {
                color3f inputs:diffuse_color_constant = (0.871, 0.871, 0.871)
                float inputs:metallic_constant = 1
            }
        }

        over "material_tips" (
            active = false
        )
        {
        }

        over "material_transparent" (
            active = false
        )
        {
        }

        over "material_white" (
            active = false
        )
        {
        }

        over "material_8___Default"
        {
            over "material_8___Default"
            {
                color3f inputs:diffuse_color_constant = (0.00772202, 0.007721943, 0.007721943)
                float inputs:reflection_roughness_constant = 0.7
            }
        }

        over "material_2___Default_1"
        {
            over "material_2___Default"
            {
                color3f inputs:diffuse_color_constant = (0.004, 0.004, 0.004)
                float inputs:reflection_roughness_constant = 0.26
            }
        }
    }

    over "loop_joints"
    {
        over "idx53_gripper_l_outer_joint2" (
            prepend apiSchemas = ["PhysxJointAPI"]
        )
        {
            uniform token physics:axis = "Z"
            point3f physics:localPos0 = (0, 0.022, 0.073)
            point3f physics:localPos1 = (-0.032, -0.01, 0)
            float physxJoint:armature = 0.001
            float physxJoint:maxJointVelocity = 10000
        }

        over "idx54_gripper_l_inner_joint2" (
            prepend apiSchemas = ["PhysxJointAPI"]
        )
        {
            uniform token physics:axis = "Z"
            point3f physics:localPos0 = (0, -0.022, 0.073)
            point3f physics:localPos1 = (-0.032, 0.01, 0)
            float physxJoint:armature = 0.001
            float physxJoint:maxJointVelocity = 10000
        }

        over "idx93_gripper_r_outer_joint2" (
            prepend apiSchemas = ["PhysxJointAPI"]
        )
        {
            uniform token physics:axis = "Z"
            point3f physics:localPos0 = (0, 0.022, 0.073)
            point3f physics:localPos1 = (-0.032, -0.01, 0)
            float physxJoint:armature = 0.001
            float physxJoint:maxJointVelocity = 10000
        }

        over "idx94_gripper_r_inner_joint2" (
            prepend apiSchemas = ["PhysxJointAPI"]
        )
        {
            uniform token physics:axis = "Z"
            point3f physics:localPos0 = (0, -0.022, 0.073)
            point3f physics:localPos1 = (-0.032, 0.01, 0)
            float physxJoint:armature = 0.001
            float physxJoint:maxJointVelocity = 10000
        }
    }

    def Material "PhysicsMaterial" (
        prepend apiSchemas = ["PhysicsMaterialAPI", "PhysxMaterialAPI"]
    )
    {
        float physics:dynamicFriction = 1
        float physics:restitution = 0.1
        float physics:staticFriction = 1
        uniform token physxMaterial:frictionCombineMode = "max"
    }

    over "gripper_l_camera_link" (
        active = true
    )
    {
        string isaac:nameOverride (
            displayName = "Name Override"
            doc = "Name override for prim lookup in base name search"
        )
        token visibility = "inherited"

        over "visuals" (
            instanceable = false
        )
        {
            over "camera_link" (
                prepend apiSchemas = ["MaterialBindingAPI"]
            )
            {
                rel material:binding = None

                over "mesh" (
                    prepend apiSchemas = ["PhysicsCollisionAPI", "PhysxCollisionAPI", "PhysxConvexHullCollisionAPI", "PhysicsMeshCollisionAPI", "PhysxSDFMeshCollisionAPI", "PhysxConvexDecompositionCollisionAPI"]
                )
                {
                    uniform token physics:approximation = "convexDecomposition"
                    bool physics:collisionEnabled = 1

                    over "subset_1___Default" (
                        prepend apiSchemas = ["MaterialBindingAPI"]
                    )
                    {
                        rel material:binding = </genie/Looks/material_1___Default> (
                            bindMaterialAs = "weakerThanDescendants"
                        )
                    }

                    over "Material__2337" (
                        prepend apiSchemas = ["MaterialBindingAPI"]
                    )
                    {
                        rel material:binding = </genie/Looks/material_silver> (
                            bindMaterialAs = "weakerThanDescendants"
                        )
                    }
                }
            }
        }

        over "collisions" (
            active = false
            instanceable = false
        )
        {
            over "gripper_l_camera_link_coarse_0"
            {
                over "mesh" (
                    prepend apiSchemas = ["PhysxConvexDecompositionCollisionAPI", "PhysxSDFMeshCollisionAPI"]
                )
                {
                    uniform token physics:approximation = "sdf"
                    bool physics:collisionEnabled = 1
                }
            }
        }

        def Camera "Left_Camera" (
            active = true
            prepend apiSchemas = ["OmniLensDistortionOpenCvPinholeAPI"]
        )
        {
            token cameraProjectionType = "pinhole" (
                allowedTokens = ["pinhole", "fisheyePolynomial", "fisheyeSpherical", "fisheyeKannalaBrandtK3", "fisheyeRadTanThinPrism", "omniDirectionalStereo"]
            )
            float2 clippingRange = (0.01, 10000000)
            float fisheyeResolutionBudget = 1.5
            float focalLength = 1.93
            float focusDistance = 400
            float horizontalAperture = 3.7601311
            bool omni:kit:cameraLock = 1
            custom uniform vector3d omni:kit:centerOfInterest = (0, 0, -400)
            float omni:lensdistortion:opencvPinhole:cx = 614.31964
            float omni:lensdistortion:opencvPinhole:cy = 529.99976
            float omni:lensdistortion:opencvPinhole:fx = 486.13733
            float omni:lensdistortion:opencvPinhole:fy = 485.94153
            int2 omni:lensdistortion:opencvPinhole:imageSize = (1280, 1056)
            float omni:lensdistortion:opencvPinhole:k1 = -0.03113
            float omni:lensdistortion:opencvPinhole:k2 = -0.011465538
            float omni:lensdistortion:opencvPinhole:k3 = 0.0022110296
            float omni:lensdistortion:opencvPinhole:p1 = 0.0003371886
            float omni:lensdistortion:opencvPinhole:p2 = -0.00019672631
            float p0 = -0.00036721907
            float verticalAperture = 2.1307867
            token visibility = "invisible"
            quatd xformOp:orient = (0.25881904510252074, 0.9659258262890683, 0, 0)
            double3 xformOp:scale = (1, 1, 1)
            double3 xformOp:translate = (0.00048322500061481755, -0.07295094701131039, 0.09705782707972666)
            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
        }
    }

    over "gripper_l_left_inner_link" (
        active = true
    )
    {
        string isaac:nameOverride (
            displayName = "Name Override"
            doc = "Name override for prim lookup in base name search"
        )
        token visibility = "inherited"

        over "collisions" (
            active = false
        )
        {
        }

        over "visuals" (
            instanceable = false
        )
        {
            over "left_inner_link" (
                prepend apiSchemas = ["MaterialBindingAPI"]
            )
            {
                rel material:binding = None

                over "mesh" (
                    prepend apiSchemas = ["MaterialBindingAPI", "PhysicsCollisionAPI", "PhysxCollisionAPI", "PhysxConvexHullCollisionAPI", "PhysicsMeshCollisionAPI"]
                )
                {
                    rel material:binding = </genie/Looks/material_1___Default> (
                        bindMaterialAs = "weakerThanDescendants"
                    )
                    uniform token physics:approximation = "convexHull"
                    bool physics:collisionEnabled = 1
                }
            }
        }
    }

    over "gripper_l_left_outer_link" (
        active = true
    )
    {
        string isaac:nameOverride (
            displayName = "Name Override"
            doc = "Name override for prim lookup in base name search"
        )
        token visibility = "inherited"

        over "collisions" (
            active = false
        )
        {
        }

        over "visuals" (
            instanceable = false
        )
        {
            over "left_outer_link" (
                prepend apiSchemas = ["MaterialBindingAPI"]
            )
            {
                rel material:binding = None

                over "mesh" (
                    prepend apiSchemas = ["MaterialBindingAPI", "PhysicsCollisionAPI", "PhysxCollisionAPI", "PhysxConvexHullCollisionAPI", "PhysicsMeshCollisionAPI"]
                )
                {
                    rel material:binding = </genie/Looks/material_1___Default> (
                        bindMaterialAs = "weakerThanDescendants"
                    )
                    uniform token physics:approximation = "convexHull"
                    bool physics:collisionEnabled = 1
                }
            }
        }
    }

    over "gripper_l_left_support_link" (
        active = true
    )
    {
        string isaac:nameOverride (
            displayName = "Name Override"
            doc = "Name override for prim lookup in base name search"
        )
        token visibility = "inherited"

        over "collisions" (
            active = false
        )
        {
        }

        over "visuals" (
            instanceable = false
        )
        {
            over "left_support_link" (
                prepend apiSchemas = ["MaterialBindingAPI"]
            )
            {
                rel material:binding = None

                over "mesh" (
                    prepend apiSchemas = ["MaterialBindingAPI", "PhysicsCollisionAPI", "PhysxCollisionAPI", "PhysxConvexHullCollisionAPI", "PhysicsMeshCollisionAPI", "PhysxSDFMeshCollisionAPI"]
                )
                {
                    rel material:binding = </genie/Looks/material_1___Default> (
                        bindMaterialAs = "weakerThanDescendants"
                    )
                    rel material:binding:physics = </G2/PhysicsMaterial> (
                        bindMaterialAs = "weakerThanDescendants"
                    )
                    uniform token physics:approximation = "sdf"
                    bool physics:collisionEnabled = 1
                }
            }
        }
    }

    over "gripper_l_right_inner_link" (
        active = true
    )
    {
        string isaac:nameOverride (
            displayName = "Name Override"
            doc = "Name override for prim lookup in base name search"
        )
        token visibility = "inherited"

        over "collisions" (
            active = false
        )
        {
        }

        over "visuals" (
            instanceable = false
        )
        {
            over "right_inner_link" (
                prepend apiSchemas = ["MaterialBindingAPI"]
            )
            {
                rel material:binding = None

                over "mesh" (
                    prepend apiSchemas = ["MaterialBindingAPI", "PhysicsCollisionAPI", "PhysxCollisionAPI", "PhysxConvexHullCollisionAPI", "PhysicsMeshCollisionAPI"]
                )
                {
                    rel material:binding = </genie/Looks/material_1___Default> (
                        bindMaterialAs = "weakerThanDescendants"
                    )
                    uniform token physics:approximation = "convexHull"
                    bool physics:collisionEnabled = 1
                }
            }
        }
    }

    over "gripper_l_right_outer_link" (
        active = true
    )
    {
        token visibility = "inherited"

        over "collisions" (
            active = false
        )
        {
        }

        over "visuals" (
            instanceable = false
        )
        {
            over "right_outer_link" (
                prepend apiSchemas = ["MaterialBindingAPI"]
            )
            {
                rel material:binding = None

                over "mesh" (
                    prepend apiSchemas = ["MaterialBindingAPI", "PhysicsCollisionAPI", "PhysxCollisionAPI", "PhysxConvexHullCollisionAPI", "PhysicsMeshCollisionAPI"]
                )
                {
                    rel material:binding = </genie/Looks/material_1___Default> (
                        bindMaterialAs = "weakerThanDescendants"
                    )
                    uniform token physics:approximation = "convexHull"
                    bool physics:collisionEnabled = 1
                }
            }
        }
    }

    over "gripper_l_right_support_link" (
        active = true
    )
    {
        token visibility = "inherited"

        over "collisions" (
            active = false
        )
        {
        }

        over "visuals" (
            instanceable = false
        )
        {
            over "right_support_link" (
                prepend apiSchemas = ["MaterialBindingAPI"]
            )
            {
                rel material:binding = None

                over "mesh" (
                    prepend apiSchemas = ["MaterialBindingAPI", "PhysicsCollisionAPI", "PhysxCollisionAPI", "PhysxConvexHullCollisionAPI", "PhysicsMeshCollisionAPI", "PhysxSDFMeshCollisionAPI"]
                )
                {
                    rel material:binding = </genie/Looks/material_1___Default> (
                        bindMaterialAs = "weakerThanDescendants"
                    )
                    rel material:binding:physics = </G2/PhysicsMaterial> (
                        bindMaterialAs = "weakerThanDescendants"
                    )
                    uniform token physics:approximation = "sdf"
                    bool physics:collisionEnabled = 1
                }
            }
        }
    }

    over "gripper_r_camera_link" (
        active = true
    )
    {
        string isaac:nameOverride (
            displayName = "Name Override"
            doc = "Name override for prim lookup in base name search"
        )
        token visibility = "inherited"

        over "visuals" (
            instanceable = false
        )
        {
            over "camera_link" (
                prepend apiSchemas = ["MaterialBindingAPI"]
            )
            {
                rel material:binding = None

                over "mesh" (
                    prepend apiSchemas = ["PhysicsCollisionAPI", "PhysxCollisionAPI", "PhysxConvexHullCollisionAPI", "PhysicsMeshCollisionAPI", "PhysxConvexDecompositionCollisionAPI"]
                )
                {
                    uniform token physics:approximation = "convexDecomposition"
                    bool physics:collisionEnabled = 1

                    over "Material__2337" (
                        prepend apiSchemas = ["MaterialBindingAPI"]
                    )
                    {
                        rel material:binding = </genie/Looks/material_silver> (
                            bindMaterialAs = "weakerThanDescendants"
                        )
                    }

                    over "subset_1___Default" (
                        prepend apiSchemas = ["MaterialBindingAPI"]
                    )
                    {
                        rel material:binding = </genie/Looks/material_1___Default> (
                            bindMaterialAs = "weakerThanDescendants"
                        )
                    }
                }
            }
        }

        over "collisions" (
            active = false
            instanceable = false
        )
        {
        }

        def Camera "Right_Camera" (
            active = true
            prepend apiSchemas = ["OmniLensDistortionOpenCvPinholeAPI"]
        )
        {
            token cameraProjectionType = "pinhole" (
                allowedTokens = ["pinhole", "fisheyePolynomial", "fisheyeSpherical", "fisheyeKannalaBrandtK3", "fisheyeRadTanThinPrism", "omniDirectionalStereo"]
            )
            float2 clippingRange = (0.01, 10000000)
            float fisheyeResolutionBudget = 1.5
            float focalLength = 1.93
            float focusDistance = 400
            float horizontalAperture = 3.7601311
            bool omni:kit:cameraLock = 1
            custom uniform vector3d omni:kit:centerOfInterest = (0, 0, -0.252056884844326)
            float omni:lensdistortion:opencvPinhole:cx = 630.648
            float omni:lensdistortion:opencvPinhole:cy = 527.8828
            float omni:lensdistortion:opencvPinhole:fx = 465.1793
            float omni:lensdistortion:opencvPinhole:fy = 465.0162
            int2 omni:lensdistortion:opencvPinhole:imageSize = (1280, 1056)
            float omni:lensdistortion:opencvPinhole:k1 = -0.03113
            float omni:lensdistortion:opencvPinhole:k2 = -0.0143825775
            float omni:lensdistortion:opencvPinhole:k3 = 0.0026454416
            float omni:lensdistortion:opencvPinhole:p1 = -0.00022836737
            float omni:lensdistortion:opencvPinhole:p2 = -0.00030626904
            float p0 = -0.00036721907
            float verticalAperture = 2.1307867
            token visibility = "invisible"
            quatd xformOp:orient = (0.25881904510252074, 0.9659258262890683, 0, 0)
            double3 xformOp:scale = (1, 1, 1)
            double3 xformOp:translate = (0.00048322500061481755, -0.07295094701131039, 0.09705782707972666)
            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
        }
    }

    over "gripper_r_left_inner_link" (
        active = true
    )
    {
        string isaac:nameOverride (
            displayName = "Name Override"
            doc = "Name override for prim lookup in base name search"
        )
        token visibility = "inherited"

        over "collisions" (
            active = false
        )
        {
        }

        over "visuals" (
            instanceable = false
        )
        {
            over "left_inner_link" (
                prepend apiSchemas = ["MaterialBindingAPI"]
            )
            {
                rel material:binding = None

                over "mesh" (
                    prepend apiSchemas = ["MaterialBindingAPI", "PhysicsCollisionAPI", "PhysxCollisionAPI", "PhysxConvexHullCollisionAPI", "PhysicsMeshCollisionAPI"]
                )
                {
                    rel material:binding = </genie/Looks/material_1___Default> (
                        bindMaterialAs = "weakerThanDescendants"
                    )
                    uniform token physics:approximation = "convexHull"
                    bool physics:collisionEnabled = 1
                }
            }
        }
    }

    over "gripper_r_left_outer_link" (
        active = true
    )
    {
        token visibility = "inherited"

        over "collisions" (
            active = false
        )
        {
        }

        over "visuals" (
            instanceable = false
        )
        {
            over "left_outer_link" (
                prepend apiSchemas = ["MaterialBindingAPI"]
            )
            {
                rel material:binding = None

                over "mesh" (
                    prepend apiSchemas = ["MaterialBindingAPI", "PhysicsCollisionAPI", "PhysxCollisionAPI", "PhysxConvexHullCollisionAPI", "PhysicsMeshCollisionAPI"]
                )
                {
                    rel material:binding = </genie/Looks/material_1___Default> (
                        bindMaterialAs = "weakerThanDescendants"
                    )
                    uniform token physics:approximation = "convexHull"
                    bool physics:collisionEnabled = 1
                }
            }
        }
    }

    over "gripper_r_left_support_link" (
        active = true
    )
    {
        token visibility = "inherited"

        over "collisions" (
            active = false
        )
        {
        }

        over "visuals" (
            instanceable = false
        )
        {
            over "left_support_link" (
                prepend apiSchemas = ["MaterialBindingAPI"]
            )
            {
                rel material:binding = None

                over "mesh" (
                    prepend apiSchemas = ["MaterialBindingAPI", "PhysicsCollisionAPI", "PhysxCollisionAPI", "PhysxConvexHullCollisionAPI", "PhysicsMeshCollisionAPI", "PhysxSDFMeshCollisionAPI"]
                )
                {
                    rel material:binding = </genie/Looks/material_1___Default> (
                        bindMaterialAs = "weakerThanDescendants"
                    )
                    rel material:binding:physics = </G2/PhysicsMaterial> (
                        bindMaterialAs = "weakerThanDescendants"
                    )
                    uniform token physics:approximation = "sdf"
                    bool physics:collisionEnabled = 1
                }
            }
        }
    }

    over "gripper_r_right_inner_link" (
        active = true
    )
    {
        token visibility = "inherited"

        over "collisions" (
            active = false
        )
        {
        }

        over "visuals" (
            instanceable = false
        )
        {
            over "right_inner_link" (
                prepend apiSchemas = ["MaterialBindingAPI"]
            )
            {
                rel material:binding = None

                over "mesh" (
                    prepend apiSchemas = ["MaterialBindingAPI", "PhysicsCollisionAPI", "PhysxCollisionAPI", "PhysxConvexHullCollisionAPI", "PhysicsMeshCollisionAPI"]
                )
                {
                    rel material:binding = </genie/Looks/material_1___Default> (
                        bindMaterialAs = "weakerThanDescendants"
                    )
                    uniform token physics:approximation = "convexHull"
                    bool physics:collisionEnabled = 1
                }
            }
        }
    }

    over "gripper_r_right_outer_link" (
        active = true
    )
    {
        token visibility = "inherited"

        over "collisions" (
            active = false
        )
        {
        }

        over "visuals" (
            instanceable = false
        )
        {
            over "right_outer_link" (
                prepend apiSchemas = ["MaterialBindingAPI"]
            )
            {
                rel material:binding = None

                over "mesh" (
                    prepend apiSchemas = ["MaterialBindingAPI", "PhysicsCollisionAPI", "PhysxCollisionAPI", "PhysxConvexHullCollisionAPI", "PhysicsMeshCollisionAPI"]
                )
                {
                    rel material:binding = </genie/Looks/material_1___Default> (
                        bindMaterialAs = "weakerThanDescendants"
                    )
                    uniform token physics:approximation = "convexHull"
                    bool physics:collisionEnabled = 1
                }
            }
        }
    }

    over "gripper_r_right_support_link" (
        active = true
    )
    {
        string isaac:nameOverride (
            displayName = "Name Override"
            doc = "Name override for prim lookup in base name search"
        )
        token visibility = "inherited"

        over "collisions" (
            active = false
        )
        {
        }

        over "visuals" (
            instanceable = false
        )
        {
            over "right_support_link" (
                prepend apiSchemas = ["MaterialBindingAPI"]
            )
            {
                rel material:binding = None

                over "mesh" (
                    prepend apiSchemas = ["MaterialBindingAPI", "PhysicsCollisionAPI", "PhysxCollisionAPI", "PhysxConvexHullCollisionAPI", "PhysicsMeshCollisionAPI", "PhysxSDFMeshCollisionAPI"]
                )
                {
                    rel material:binding = </genie/Looks/material_1___Default> (
                        bindMaterialAs = "weakerThanDescendants"
                    )
                    rel material:binding:physics = </G2/PhysicsMaterial> (
                        bindMaterialAs = "weakerThanDescendants"
                    )
                    uniform token physics:approximation = "sdf"
                    bool physics:collisionEnabled = 1
                }
            }
        }
    }
    variantSet "Physics" = {
        "None" (
            prepend references = @./configuration/robot_base.usd@
        ) {
            over "joints" (
                active = false
            )
            {
            }

        }
        "PhysX" (
            prepend payload = @./configuration/robot_physics.usd@
        ) {

        }
    }
    variantSet "Sensor" = {
        "None" {

        }
        "Sensors" (
            prepend payload = @./configuration/robot_sensor.usd@
        ) {

        }
    }
    variantSet "Robot" = {
        "None" {

        }
        "Robot" (
            prepend payload = @./configuration/robot_robot.usd@
        ) {

        }
    }
}

def "Render" (
    hide_in_stage_window = true
    no_delete = true
)
{
    def "OmniverseKit"
    {
        def "HydraTextures" (
            hide_in_stage_window = true
            no_delete = true
        )
        {
            def RenderProduct "omni_kit_widget_viewport_ViewportTexture_0" (
                prepend apiSchemas = ["OmniRtxSettingsCommonAdvancedAPI_1", "OmniRtxSettingsRtAdvancedAPI_1", "OmniRtxSettingsPtAdvancedAPI_1", "OmniRtxPostColorGradingAPI_1", "OmniRtxPostChromaticAberrationAPI_1", "OmniRtxPostBloomPhysicalAPI_1", "OmniRtxPostMatteObjectAPI_1", "OmniRtxPostCompositingAPI_1", "OmniRtxPostDofAPI_1", "OmniRtxPostMotionBlurAPI_1", "OmniRtxPostTvNoiseAPI_1", "OmniRtxPostTonemapIrayReinhardAPI_1", "OmniRtxPostDebugSettingsAPI_1", "OmniRtxDebugSettingsAPI_1"]
                hide_in_stage_window = true
                no_delete = true
            )
            {
                rel camera = </OmniverseKit_Persp>
                token omni:rtx:background:source:texture:textureMode = "repeatMirrored"
                token omni:rtx:background:source:type = "domeLight"
                bool omni:rtx:dlss:frameGeneration = 0
                bool omni:rtx:material:db:nonVisualMaterialCSV:enabled = 0
                string omni:rtx:material:db:rtSensorNameToIdMap = "DefaultMaterial:0;AsphaltStandardMaterial:1;AsphaltWeatheredMaterial:2;VegetationGrassMaterial:3;WaterStandardMaterial:4;GlassStandardMaterial:5;FiberGlassMaterial:6;MetalAlloyMaterial:7;MetalAluminumMaterial:8;MetalAluminumOxidizedMaterial:9;PlasticStandardMaterial:10;RetroMarkingsMaterial:11;RetroSignMaterial:12;RubberStandardMaterial:13;SoilClayMaterial:14;ConcreteRoughMaterial:15;ConcreteSmoothMaterial:16;OakTreeBarkMaterial:17;FabricStandardMaterial:18;PlexiGlassStandardMaterial:19;MetalSilverMaterial:20"
                bool omni:rtx:material:db:syncLoads = 1
                token omni:rtx:post:dlss:execMode = "performance"
                bool omni:rtx:post:registeredCompositing:invertColorCorrection = 1
                bool omni:rtx:post:registeredCompositing:invertToneMap = 1
                bool omni:rtx:pt:lightcache:cached:dontResolveConflicts = 1
                int omni:rtx:pt:maxSamplesPerLaunch = 2073600
                int omni:rtx:pt:mgpu:maxPixelsPerRegionExponent = 12
                token omni:rtx:rendermode = "RealTimePathTracing"
                color3f omni:rtx:rt:ambientLight:color = (0.1, 0.1, 0.1)
                bool omni:rtx:rt:demoire = 0
                bool omni:rtx:rt:ecoMode:enabled
                bool omni:rtx:rt:lightcache:spatialCache:dontResolveConflicts = 1
                bool omni:rtx:scene:hydra:materialSyncLoads = 1
                bool omni:rtx:scene:hydra:mdlMaterialWarmup = 1
                uint omni:rtx:viewTile:limit = 4294967295
                rel orderedVars = </Render/Vars/LdrColor>
                custom bool overrideClipRange = 0
                uniform int2 resolution = (2350, 1798)
            }

            def RenderProduct "omni_kit_widget_viewport_ViewportTexture_1" (
                prepend apiSchemas = ["OmniRtxSettingsCommonAdvancedAPI_1", "OmniRtxSettingsRtAdvancedAPI_1", "OmniRtxSettingsPtAdvancedAPI_1", "OmniRtxPostColorGradingAPI_1", "OmniRtxPostChromaticAberrationAPI_1", "OmniRtxPostBloomPhysicalAPI_1", "OmniRtxPostMatteObjectAPI_1", "OmniRtxPostCompositingAPI_1", "OmniRtxPostDofAPI_1", "OmniRtxPostMotionBlurAPI_1", "OmniRtxPostTvNoiseAPI_1", "OmniRtxPostTonemapIrayReinhardAPI_1", "OmniRtxPostDebugSettingsAPI_1", "OmniRtxDebugSettingsAPI_1"]
                hide_in_stage_window = true
                no_delete = true
            )
            {
                rel camera = </genie/gripper_r_camera_link/Right_Camera>
                token omni:rtx:background:source:texture:textureMode = "repeatMirrored"
                token omni:rtx:background:source:type = "domeLight"
                bool omni:rtx:dlss:frameGeneration = 0
                bool omni:rtx:material:db:nonVisualMaterialCSV:enabled = 0
                bool omni:rtx:material:db:syncLoads = 1
                token omni:rtx:post:dlss:execMode = "performance"
                bool omni:rtx:post:registeredCompositing:invertColorCorrection = 1
                bool omni:rtx:post:registeredCompositing:invertToneMap = 1
                bool omni:rtx:pt:lightcache:cached:dontResolveConflicts = 1
                color3f omni:rtx:rt:ambientLight:color = (0.1, 0.1, 0.1)
                bool omni:rtx:rt:demoire = 0
                bool omni:rtx:rt:lightcache:spatialCache:dontResolveConflicts = 1
                bool omni:rtx:scene:hydra:materialSyncLoads = 1
                bool omni:rtx:scene:hydra:mdlMaterialWarmup = 1
                uint omni:rtx:viewTile:limit = 4294967295
                rel orderedVars = </Render/Vars/LdrColor>
                custom bool overrideClipRange = 0
                uniform int2 resolution = (1280, 720)
            }
        }
    }

    def RenderSettings "OmniverseGlobalRenderSettings" (
        prepend apiSchemas = ["OmniRtxSettingsGlobalRtAdvancedAPI_1", "OmniRtxSettingsGlobalPtAdvancedAPI_1"]
        no_delete = true
    )
    {
        rel products = [
            </Render/OmniverseKit/HydraTextures/omni_kit_widget_viewport_ViewportTexture_0>,
            </Render/OmniverseKit/HydraTextures/omni_kit_widget_viewport_ViewportTexture_1>,
        ]
    }

    def "Vars"
    {
        def RenderVar "LdrColor" (
            hide_in_stage_window = true
            no_delete = true
        )
        {
            uniform string sourceName = "LdrColor"
        }
    }
}