#usda 1.0
(
    customLayerData = {
        dictionary cameraSettings = {
            dictionary Front = {
                double3 position = (15.648331661872666, 0.9911966621558111, 1.4684465012459669)
                double radius = 0.06793924570083618
            }
            dictionary Perspective = {
                double3 position = (0.10793410138705985, 1.2799123181489651, 1.7952466472117363)
                double3 target = (-0.0717592914696596, -2.239157399475449, -2.706512181023534)
            }
            dictionary Right = {
                double3 position = (-0.014091975124988835, -9.534161046715425, 0.18495118523213339)
                double radius = 0.9398940086364747
            }
            dictionary Top = {
                double3 position = (0.10665659757877911, 0.9738229329923532, 5)
                double radius = 0.24311134815216065
            }
            string boundCamera = "/OmniverseKit_Persp"
        }
        dictionary metricsAssembler = {
            dictionary "/genie/Cam_L" = {
            }
            dictionary "/genie/Cam_R" = {
            }
            int version = 1
        }
        dictionary omni_layer = {
            string authoring_layer = "./robot.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" (
            instanceable = false
        )
        {
            over "base_link_coarse_0"
            {
                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 = false
        )
        {
            rel physics:body1 = </genie/base_link>
            float physics:breakForce = 3.4028235e38
            float physics:breakTorque = 3.4028235e38
            point3f physics:localPos0 = (0, 0, 0)
            point3f physics:localPos1 = (0, 0, 0)
            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
            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 "idx31_gripper_l_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"
            )
            point3f physics:localPos1 = (0, 0, 0)
            float physxJoint:armature = 0.001
            float physxJoint:maxJointVelocity = 10000
            rel physxMimicJoint:rotX:referenceJoint = </genie/joints/idx41_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 = 1000
            float drive:angular:physics:targetPosition = 0
            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
            rel physxMimicJoint:rotX:referenceJoint = </genie/joints/idx81_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 = 1000
            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
        )
        {
        }

        over "idx92_gripper_r_center_joint" (
            active = true
        )
        {
        }

        over "idx112_chassis_lwheel_front_joint2"
        {
            float drive:angular:physics:damping = 10000
            float drive:angular:physics:maxForce = inf
            float drive:angular:physics:stiffness = 0
            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 = 0
            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 = 0
            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 = 0
            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 "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"
                        )
                    }
                }
            }
        }

        def Mesh "LOGO" (
            active = true
            delete apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"]
            prepend apiSchemas = ["MaterialBindingAPI"]
        )
        {
            float3[] extent = [(12.96744, -4.000037, 29.930565), (14.56552, 4.000892, 34.341316)]
            int[] faceVertexCounts = [3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 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            int[] faceVertexIndices = [1, 2, 3, 2, 1, 0, 3, 2, 4, 20, 1, 19, 21, 0, 20, 21, 22, 0, 15, 16, 1, 20, 0, 1, 18, 19, 1, 9, 10, 17, 1, 10, 18, 8, 9, 17, 16, 17, 10, 10, 1, 16, 22, 2, 0, 24, 2, 23, 22, 23, 2, 4, 2, 24, 6, 4, 5, 24, 5, 4, 11, 4, 6, 15, 3, 14, 13, 14, 3, 1, 3, 15, 4, 12, 3, 12, 13, 3, 4, 11, 12, 11, 6, 7, 68, 55, 26, 25, 55, 68, 51, 28, 54, 57, 48, 51, 54, 57, 51, 26, 55, 54, 54, 55, 57, 55, 25, 57, 57, 25, 56, 57, 56, 48, 48, 56, 27, 51, 48, 53, 53, 48, 52, 52, 48, 27, 49, 50, 52, 27, 49, 52, 25, 68, 36, 35, 67, 34, 36, 68, 35, 68, 67, 35, 25, 36, 37, 27, 56, 39, 56, 25, 38, 37, 38, 25, 39, 56, 38, 26, 65, 66, 64, 65, 26, 26, 63, 64, 67, 68, 66, 63, 54, 62, 26, 66, 68, 61, 62, 46, 46, 47, 61, 62, 54, 46, 26, 54, 63, 39, 40, 27, 30, 41, 29, 49, 27, 30, 30, 27, 40, 31, 49, 30, 49, 32, 59, 32, 58, 59, 32, 33, 58, 31, 32, 49, 59, 60, 49, 53, 28, 51, 46, 54, 45, 45, 54, 28, 28, 44, 45, 50, 42, 53, 52, 50, 53, 60, 42, 50, 44, 53, 43, 42, 43, 53, 28, 53, 44, 50, 49, 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(0.68654186, 0.54716206), (0.698443, 0.5204943), (0.7162761, 0.6152489), (0.7162761, 0.54716206), (0.7460104, 0.54716206), (0.7460104, 0.6152489), (0.7242193, 0.52196705), (0.7162761, 0.54716206), (0.71133214, 0.52123046), (0.7162761, 0.54716206), (0.7242193, 0.52196705), (0.7371043, 0.52270395), (0.7460104, 0.54716206), (0.7162761, 0.54716206), (0.7371043, 0.52270395), (0.7494773, 0.5768321), (0.7460104, 0.6152489), (0.7460104, 0.54716206), (0.7162761, 0.6152489), (0.69819266, 0.5938493), (0.6983041, 0.5737258), (0.7493625, 0.5970959), (0.7492454, 0.6173675), (0.7460104, 0.6152489), (0.7494773, 0.5768321), (0.7493625, 0.5970959), (0.7460104, 0.6152489), (0.7460104, 0.6152489), (0.749126, 0.637647), (0.7460104, 0.6493377), (0.7460104, 0.54716206), (0.7371043, 0.52270395), (0.749987, 0.52344114), (0.6979631, 0.6341198), (0.7162761, 0.6152489), (0.7162761, 0.6493377), (0.7460104, 0.54716206), (0.76286715, 0.5241786), (0.7756723, 0.5382843), (0.76286715, 0.5241786), (0.7757447, 0.5249163), (0.7756723, 0.5382843), (0.7755989, 0.5516554), (0.7460104, 0.54716206), (0.7756723, 0.5382843), (0.7624641, 0.57761943), (0.7494773, 0.5768321), (0.7460104, 0.54716206), (0.77544904, 0.57840705), (0.7624641, 0.57761943), (0.7755245, 0.5650296), (0.7755245, 0.5650296), (0.7624641, 0.57761943), (0.7460104, 0.54716206), (0.7755989, 0.5516554), (0.7755245, 0.5650296), (0.7460104, 0.54716206), (0.76286715, 0.5241786), (0.7460104, 0.54716206), (0.749987, 0.52344114), (0.7162761, 0.7175153), (0.6976022, 0.6945852), (0.7162761, 0.6834265), (0.7162761, 0.6834265), (0.7162761, 0.6493377), (0.7460104, 0.6493377), (0.7460104, 0.6834265), (0.74875414, 0.6985328), (0.7460104, 0.7175153), (0.7460104, 0.6834265), (0.7460104, 0.6152489), (0.7460104, 0.6493377), (0.7162761, 0.6493377), (0.7162761, 0.6152489), (0.7162761, 0.7175153), (0.7162761, 0.6834265), (0.7460104, 0.6834265), (0.7460104, 0.7175153), (0.7338065, 0.74018204), (0.71542937, 0.7367962), (0.7162761, 0.7175153), (0.7162761, 0.7175153), (0.71542937, 0.7367962), (0.69735056, 0.73493576), (0.74849486, 0.7391635), (0.7338065, 0.74018204), (0.7460104, 0.7175153), (0.7162761, 0.7175153), (0.7460104, 0.7175153), (0.7338065, 0.74018204), (0.7460104, 0.7175153), (0.74862564, 0.7188442), (0.74849486, 0.7391635), (0.7557497, 0.7463069), (0.7338065, 0.74018204), (0.74849486, 0.7391635), (0.7488804, 0.6782296), (0.7460104, 0.6834265), (0.74900436, 0.6579343), (0.7162761, 0.6834265), (0.69772476, 0.6744221), (0.7162761, 0.6493377), (0.7460104, 0.6493377), (0.74900436, 0.6579343), (0.7460104, 0.6834265), (0.7460104, 0.6493377), (0.749126, 0.637647), (0.74900436, 0.6579343), (0.7488804, 0.6782296), (0.74875414, 0.6985328), (0.7460104, 0.6834265), (0.74875414, 0.6985328), (0.74862564, 0.7188442), (0.7460104, 0.7175153), (0.77005965, 0.7516041), (0.7557497, 0.7463069), (0.77013147, 0.7406978), (0.77013147, 0.7406978), (0.7557497, 0.7463069), (0.74849486, 0.7391635), (0.749126, 0.637647), (0.7460104, 0.6152489), (0.7492454, 0.6173675), (0.71133214, 0.52123046), (0.7162761, 0.54716206), (0.698443, 0.5204943), (0.24993446, 0.49989814), (0.124858014, 0.49989814), (0.124858014, 0.37490532), (0.24993446, 0.37490532), (0.24993446, 0.24991249), (0.24993446, 0.37490532), (0.124858014, 0.37490532), (0.24993446, 0.7499017), (0.124858014, 0.7499017), (0.124858014, 0.6248999), (0.24993446, 0.6248999), (0.24993446, 0.6248999), (0.124858014, 0.6248999), (0.124858014, 0.49989814), (0.24993446, 0.49989814), (0.3749937, 0.49989814), (0.24993446, 0.49989814), (0.24993446, 0.37490532), (0.24993446, 0.37490532), (0.24993446, 0.24991249), (0.5000529, 0.24991249), (0.5000529, 0.24991249), (0.5000529, 0.49989814), (0.3749937, 0.49989814), (0.3749937, 0.49989814), (0.24993446, 0.37490532), (0.5000529, 0.24991249), (0.5000529, 0.6248999), (0.3749937, 0.6248999), (0.3749937, 0.49989814), (0.5000529, 0.49989814), (0.7501615, 0.37490532), (0.7501615, 0.49989814), (0.5000529, 0.49989814), (0.5000529, 0.24991249), (0.7501615, 0.24991249), (0.7501615, 0.37490532), (0.5000529, 0.49989814), (0.5000529, 0.24991249), (0.7501615, 0.37490532), (0.8752158, 0.49989814), (0.7501615, 0.49989814), (0.7501615, 0.37490532), (0.8752158, 0.37490532), (0.8752158, 0.37490532), (0.7501615, 0.37490532), (0.7501615, 0.24991249), (0.8752158, 0.24991249), (0.124858014, 0.37490532), (0.02828438, 0.38376758), (0.058739763, 0.3125042), (0.058739763, 0.3125042), (0.09871131, 0.24640925), (0.124858014, 0.37490532), (0.24993446, 0.24991249), (0.124858014, 0.37490532), (0.09871131, 0.24640925), (0.124858014, 0.49989814), (0.02828438, 0.38376758), (0.124858014, 0.37490532), (0, 0.5358333), (0.124858014, 0.6248999), (0.0039727404, 0.6130938), (0, 0.5358333), (0.008362525, 0.45885643), (0.124858014, 0.49989814), (0.02828438, 0.38376758), (0.124858014, 0.49989814), (0.008362525, 0.45885643), (0, 0.5358333), (0.124858014, 0.49989814), (0.124858014, 0.6248999), (0.20358236, 0.13271502), (0.24993446, 0.24991249), (0.14729443, 0.18623805), (0.24993446, 0.24991249), (0.20358236, 0.13271502), (0.2825334, 0.07709655), (0.24993446, 0.24991249), (0.2825334, 0.07709655), (0.5000529, 0.24991249), (0.3749937, 0.6248999), (0.292002, 0.60044557), (0.3749937, 0.49989814), (0.24993446, 0.49989814), (0.3749937, 0.49989814), (0.292002, 0.60044557), (0.14729443, 0.18623805), (0.24993446, 0.24991249), (0.09871131, 0.24640925), (0.24993446, 0.49989814), (0.292002, 0.60044557), (0.24993446, 0.6248999), (0.124858014, 0.7499017), (0.021057038, 0.6890271), (0.124858014, 0.6248999), (0.0039727404, 0.6130938), (0.124858014, 0.6248999), (0.021057038, 0.6890271), (0.24993446, 0.7499017), (0.1560759, 0.8982453), (0.124858014, 0.7499017), (0.052333914, 0.76247567), (0.021057038, 0.6890271), (0.124858014, 0.7499017), (0.09691515, 0.82881117), (0.052333914, 0.76247567), (0.124858014, 0.7499017), (0.1560759, 0.8982453), (0.09691515, 0.82881117), (0.124858014, 0.7499017), (0.23356636, 0.9860454), (0.1560759, 0.8982453), (0.30511683, 0.90337604), (0.292002, 0.60044557), (0.32270727, 0.6483607), (0.24993446, 0.6248999), (0.33304018, 0.640279), (0.3749937, 0.6248999), (0.37929642, 0.6678074), (0.3749937, 0.6248999), (0.4291921, 0.6837794), (0.37929642, 0.6678074), (0.1560759, 0.8982453), (0.24993446, 0.7499017), (0.30511683, 0.90337604), (0.3428418, 0.8036447), (0.30511683, 0.90337604), (0.24993446, 0.7499017), (0.24993446, 0.7499017), (0.34702325, 0.7512867), (0.3428418, 0.8036447), (0.34065494, 0.6991122), (0.34702325, 0.7512867), (0.24993446, 0.7499017), (0.34065494, 0.6991122), (0.24993446, 0.7499017), (0.32270727, 0.6483607), (0.24993446, 0.6248999), (0.32270727, 0.6483607), (0.24993446, 0.7499017), (0.33304018, 0.640279), (0.292002, 0.60044557), (0.3749937, 0.6248999), (0.2825334, 0.07709655), (0.3693653, 0.035414178), (0.5000529, 0.24991249), (0.55859137, 0), (0.5000529, 0.24991249), (0.4620473, 0.009212308), (0.5000529, 0.24991249), (0.55859137, 0), (0.6566454, 0.009828518), (0.6566454, 0.009828518), (0.7489397, 0.039066482), (0.7501615, 0.24991249), (0.7501615, 0.24991249), (0.5000529, 0.24991249), (0.6566454, 0.009828518), (0.6798999, 0.61400515), (0.5000529, 0.49989814), (0.7501615, 0.49989814), (0.7501615, 0.24991249), (0.7489397, 0.039066482), (0.8322787, 0.08780282), (0.8752158, 0.24991249), (0.7501615, 0.24991249), (0.90335333, 0.15600413), (0.8752158, 0.24991249), (0.90335333, 0.15600413), (0.94469887, 0.2163507), (0.97417897, 0.28092533), (0.8752158, 0.24991249), (0.94469887, 0.2163507), (0.9924418, 0.34848642), (0.8752158, 0.37490532), (0.97417897, 0.28092533), (0.8752158, 0.24991249), (0.97417897, 0.28092533), (0.8752158, 0.37490532), (0.8752158, 0.37490532), (0.9924418, 0.34848642), (1, 0.41786435), (0.90335333, 0.15600413), (0.7501615, 0.24991249), (0.8322787, 0.08780282), (1, 0.41786435), (0.8752158, 0.49989814), (0.8752158, 0.37490532), (0.5000529, 0.6248999), (0.4812104, 0.68890464), (0.4291921, 0.6837794), (0.4812104, 0.68890464), (0.5000529, 0.6248999), (0.5855362, 0.66922957), (0.6798999, 0.61400515), (0.5855362, 0.66922957), (0.5000529, 0.6248999), (0.4291921, 0.6837794), (0.3749937, 0.6248999), (0.5000529, 0.6248999), (0.5656945, 0.8490214), (0.70835024, 0.9268648), (0.57203555, 0.90124434), (0.57203555, 0.90124434), (0.70835024, 0.9268648), (0.59011286, 0.95205307), (0.5700922, 0.79663414), (0.70835024, 0.9268648), (0.5656945, 0.8490214), (0.9323614, 0.6890271), (0.6798999, 0.61400515), (0.8752158, 0.49989814), (0.5000529, 0.49989814), (0.6798999, 0.61400515), (0.5000529, 0.6248999), (0.8752158, 0.49989814), (0.98473966, 0.5572242), (0.9323614, 0.6890271), (0.98473966, 0.5572242), (0.8752158, 0.49989814), (1, 0.41786435), (0.87164414, 0.7776886), (0.6798999, 0.61400515), (0.9323614, 0.6890271), (0.7955894, 0.8538414), (0.5700922, 0.79663414), (0.6082258, 0.69686794), (0.6211996, 1), (0.59011286, 0.95205307), (0.70835024, 0.9268648), (0.5700922, 0.79663414), (0.7955894, 0.8538414), (0.70835024, 0.9268648), (0.7955894, 0.8538414), (0.6082258, 0.69686794), (0.6798999, 0.61400515), (0.7955894, 0.8538414), (0.6798999, 0.61400515), (0.87164414, 0.7776886), (0.6798999, 0.61400515), (0.7501615, 0.49989814), (0.8752158, 0.49989814), (0.4620473, 0.009212308), (0.5000529, 0.24991249), (0.3693653, 0.035414178), (0.38672042, 0.0147892935), (0.25123256, 0.6830054), (0.25169373, 0.06653877), (0.5227377, 0), (0.25123256, 0.6830054), (0.38672042, 0.0147892935), (0.25123256, 0.6830054), (0, 0.27705196), (0.12148898, 0.15430105), (0.25169373, 0.06653877), (0.25123256, 0.6830054), (0.12148898, 0.15430105), (0.44973934, 1), (0.25123256, 0.6830054), (0.7248652, 0.66461974), (0.7248652, 0.66461974), (0.25123256, 0.6830054), (0.5227377, 0), (0.7823984, 0.0850805), (0.7248652, 0.66461974), (0.6559095, 0.023116967), (0.8419384, 0.13092197), (0.7248652, 0.66461974), (0.7823984, 0.0850805), (0.95121706, 0.2529093), (0.7248652, 0.66461974), (0.8983706, 0.18682572), (0.8419384, 0.13092197), (0.8983706, 0.18682572), (0.7248652, 0.66461974), (0.7248652, 0.66461974), (0.95121706, 0.2529093), (1, 0.32929122), (0.5227377, 0), (0.6559095, 0.023116967), (0.7248652, 0.66461974)] (
                interpolation = "faceVarying"
            )
            int[] primvars:st:indices = [1, 3, 0, 3, 1, 2, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49, 50, 51, 52, 53, 54, 55, 56, 57, 58, 59, 60, 61, 62, 63, 64, 65, 66, 67, 68, 69, 70, 71, 72, 73, 74, 75, 76, 77, 78, 79, 80, 81, 82, 83, 84, 85, 86, 87, 88, 89, 90, 91, 92, 93, 94, 95, 96, 98, 99, 97, 97, 99, 100, 102, 103, 101, 101, 103, 104, 106, 107, 105, 105, 107, 108, 110, 111, 109, 109, 111, 112, 113, 114, 115, 116, 117, 118, 119, 120, 121, 122, 123, 124, 125, 126, 127, 128, 129, 130, 131, 132, 133, 134, 135, 136, 137, 138, 139, 140, 141, 142, 143, 144, 145, 146, 147, 148, 149, 150, 151, 152, 153, 154, 155, 156, 157, 158, 159, 160, 161, 162, 163, 164, 165, 166, 167, 168, 169, 170, 171, 172, 173, 174, 175, 176, 177, 178, 179, 180, 181, 182, 183, 184, 185, 186, 187, 188, 189, 190, 191, 192, 193, 194, 195, 196, 197, 198, 199, 200, 201, 202, 203, 204, 205, 206, 207, 208, 209, 210, 211, 212, 213, 214, 215, 216, 217, 218, 219, 220, 221, 222, 223, 224, 225, 226, 227, 228, 229, 230, 231, 232, 233, 234, 235, 236, 237, 238, 239, 240, 241, 242, 243, 244, 245, 246, 247, 249, 250, 248, 248, 250, 251, 253, 254, 252, 252, 254, 255, 257, 258, 256, 256, 258, 259, 261, 262, 260, 260, 262, 263, 264, 265, 266, 267, 268, 269, 270, 271, 272, 274, 275, 273, 273, 275, 276, 277, 278, 279, 280, 281, 282, 283, 284, 285, 287, 288, 286, 286, 288, 289, 291, 292, 290, 290, 292, 293, 295, 296, 294, 294, 296, 297, 299, 300, 298, 298, 300, 301, 303, 304, 302, 302, 304, 305, 307, 308, 306, 306, 308, 309, 311, 312, 310, 310, 312, 313, 314, 315, 316, 317, 318, 319, 320, 321, 322, 323, 324, 325, 326, 327, 328, 329, 330, 331, 332, 333, 334, 335, 336, 337, 338, 339, 340, 341, 342, 343, 344, 345, 346, 347, 348, 349, 350, 351, 352, 353, 354, 355, 356, 357, 358, 359, 360, 361, 362, 363, 364, 365, 366, 367, 368, 369, 370, 371, 372, 373, 374, 375, 376, 377, 378, 379, 380, 381, 382, 383, 384, 385, 386, 387, 388, 389, 390, 391, 392, 393, 394, 395, 396, 397, 398, 399, 400, 401, 402, 403, 404, 405, 406, 407, 408, 409, 410, 411, 412, 413, 414, 415, 416, 417, 418, 419, 420, 421, 422, 423, 424, 425, 426, 427, 428, 429, 430, 431, 432, 433, 434, 435, 436, 437, 438, 439, 440, 441, 442, 443, 444, 445, 446, 447, 448, 449, 450, 451, 452, 453, 454, 455, 456, 457, 458, 459, 460, 461, 462, 463, 464, 465, 466, 467, 468, 469, 470, 471, 472, 473, 474, 475, 476, 477, 478, 479, 480, 481, 482, 483, 484, 485, 486, 487, 488, 489, 490, 491, 492, 493, 494, 495, 496, 497, 498, 499, 501, 503, 500, 503, 501, 502, 505, 507, 504, 507, 505, 506, 509, 511, 508, 511, 509, 510, 512, 513, 514, 515, 516, 517, 519, 521, 518, 521, 519, 520, 523, 525, 522, 525, 523, 524, 527, 529, 526, 529, 527, 528, 530, 531, 532, 533, 534, 535, 536, 537, 538, 539, 540, 541, 542, 543, 544, 545, 546, 547, 548, 549, 550, 551, 552, 553, 554, 555, 556, 557, 558, 559, 560, 561, 562, 563, 564, 565, 566, 567, 568, 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9383, 9384, 9385, 9386, 9387, 9388, 9389, 9390, 9391, 9392, 9393, 9394, 9395, 9396, 9397, 9398, 9399, 9400, 9401, 9402, 9403, 9404, 9405, 9406, 9407, 9408, 9409, 9410, 9411, 9412, 9413, 9414, 9415, 9416, 9417, 9418, 9419, 9420, 9421, 9422, 9423, 9424, 9425, 9426, 9427, 9428, 9429, 9430, 9431, 9432, 9433, 9434, 9435, 9436, 9437, 9438, 9439, 9440, 9441, 9442, 9443, 9444, 9445, 9446, 9447, 9448, 9449, 9450, 9451, 9452, 9453, 9454, 9455, 9456, 9457, 9458, 9459, 9460, 9461, 9462, 9463, 9464, 9465, 9466, 9467, 9468, 9469, 9470, 9471, 9472, 9473, 9474, 9475, 9476, 9477, 9478, 9479, 9480, 9481, 9482, 9483, 9484, 9485, 9486, 9487, 9488, 9489, 9490, 9491, 9492, 9493, 9494, 9495, 9496, 9497, 9498, 9499, 9500, 9501, 9502, 9503, 9504, 9505, 9506, 9507, 9508, 9509, 9510, 9511, 9512, 9513, 9514, 9515, 9516, 9517, 9518, 9519, 9520, 9521, 9522, 9523, 9524, 9525, 9526, 9527, 9528, 9529, 9530, 9531, 9532, 9533, 9534, 9535, 9536, 9537, 9538, 9539, 9540, 9541, 9542, 9543, 9544, 9545, 9546, 9547, 9548, 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10025, 10027, 10028, 10031, 10029, 10030, 10029, 10031, 10032, 10036, 10034, 10035, 10034, 10036, 10033, 10038, 10040, 10037, 10040, 10038, 10039, 10043, 10041, 10042, 10041, 10043, 10044, 10047, 10045, 10046, 10045, 10047, 10048, 10051, 10049, 10050, 10049, 10051, 10052, 10055, 10053, 10054, 10053, 10055, 10056, 10059, 10057, 10058, 10057, 10059, 10060, 10063, 10061, 10062, 10061, 10063, 10064, 10067, 10065, 10066, 10065, 10067, 10068, 10071, 10069, 10070, 10069, 10071, 10072, 10075, 10073, 10074, 10073, 10075, 10076, 10079, 10077, 10078, 10077, 10079, 10080, 10083, 10081, 10082, 10081, 10083, 10084, 10087, 10085, 10086, 10085, 10087, 10088, 10089, 10090, 10091, 10092, 10093, 10094, 10095, 10096, 10097, 10100, 10098, 10099, 10098, 10100, 10101, 10104, 10102, 10103, 10102, 10104, 10105, 10108, 10106, 10107, 10106, 10108, 10109, 10112, 10110, 10111, 10110, 10112, 10113, 10114, 10115, 10116, 10117, 10118, 10119, 10120, 10121, 10122, 10123, 10124, 10125, 10126, 10127, 10128, 10129, 10130, 10131, 10132, 10133, 10134, 10135, 10136, 10137, 10138, 10139, 10140, 10141, 10142, 10143, 10144, 10145, 10146, 10147, 10148, 10149, 10150, 10151, 10152, 10153, 10154, 10155, 10156, 10157, 10158, 10159, 10160, 10161, 10162, 10163, 10164, 10165, 10166, 10167, 10168, 10169, 10170, 10171, 10172, 10173, 10174, 10175, 10176, 10177, 10178, 10179, 10180, 10181, 10182, 10183, 10184, 10185, 10186, 10187, 10188, 10189, 10190, 10191, 10192, 10193, 10194, 10195, 10196, 10197, 10198, 10199, 10200, 10201, 10202, 10203, 10204, 10205, 10206, 10207, 10208, 10209, 10210, 10211, 10212, 10213, 10214, 10215, 10216, 10217, 10218, 10219, 10220, 10221, 10222, 10223, 10224, 10225, 10226, 10227, 10228, 10229, 10230, 10231, 10232, 10233, 10234, 10235, 10236, 10237, 10238, 10239, 10240, 10241, 10242, 10243, 10244, 10245, 10246, 10247, 10248, 10249, 10250, 10251, 10252, 10253, 10254, 10255, 10256, 10257, 10258, 10259, 10260, 10261, 10262, 10263, 10264, 10265, 10266, 10267, 10268, 10269, 10270, 10271, 10272, 10273, 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10826, 10827, 10828, 10829, 10830, 10831, 10832, 10833, 10834, 10835, 10836, 10837, 10838, 10839, 10840, 10841, 10842, 10843, 10844, 10845, 10846, 10847, 10848, 10849, 10850, 10851, 10852, 10853, 10854, 10855, 10856, 10857, 10858, 10859, 10860, 10861, 10862, 10863, 10864, 10865, 10866, 10867, 10868, 10869, 10870, 10871, 10872, 10873, 10874, 10875, 10876, 10877, 10878, 10879, 10880, 10881, 10882, 10883, 10884, 10885, 10886, 10887, 10888, 10889, 10890, 10891, 10892, 10893, 10894, 10895, 10896, 10897, 10898, 10899, 10900, 10901, 10902, 10903]
            uniform token subdivisionScheme = "none"
            float3 xformOp:rotateZYX = (-0.0000010137251, 0.0019345598, -0.000007783999)
            float3 xformOp:scale = (0.01, 0.01, 0.01)
            double3 xformOp:translate = (0, 0, 0)
            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:rotateZYX", "xformOp:scale"]
        }
    }

    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"]
    )
    {
        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"]
    )
    {
        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" (
        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 = (0.1019996851682697, 0.93787, 1.3415004014968148)
        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"
                        )
                    }
                }
            }
        }

        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 = -0.046440616
            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 = (0.256282394630355, 0.6590290844890921, -0.6590290844890923, -0.25628239463035496)
            double3 xformOp:scale = (1, 1, 1)
            double3 xformOp:translate = (-0.08979655916171847, -0.0011588271391879679, 0.06070713906090863)
            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
        }

        def "Cam_L" (
            prepend payload = @./configuration/Cam_L.usd@
        )
        {
            quatf xformOp:orient = (-0.5, 0.5, 0.5, -0.5)
            double xformOp:rotateX:unitsResolve = 90
            float3 xformOp:scale = (1, 1, 1)
            double3 xformOp:translate = (-6.227309157225136e-8, 2.289858996862293e-10, -0.005761576179754924)
            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale", "xformOp:rotateX:unitsResolve"]

            over "Looks"
            {
                over "DefaultMaterial"
                {
                    over "DefaultMaterial"
                    {
                        color3f inputs:diffuse_color_constant = (0.8666667, 0.8666667, 0.8901961)
                        float inputs:metallic_constant = 1
                        float inputs:reflection_roughness_constant = 0.29
                    }
                }
            }
        }

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

    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" (
        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"]
    )
    {
        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"]
    )
    {
        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" (
        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 = (0.10199996829032898, -0.9378674256219771, 1.3414998054504397)
        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]

        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 = -0.03600293
            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 = (-0.25628239463035507, -0.6590290844890921, -0.6590290844890923, -0.256282394630355)
            double3 xformOp:scale = (1, 1, 1)
            double3 xformOp:translate = (0.0898, 0.00116, 0.06070713906090863)
            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"
                        )
                    }
                }
            }
        }

        def "Cam_R" (
            prepend payload = @./configuration/Cam_R.usd@
        )
        {
            quatf xformOp:orient = (-0.50000006, 0.49999994, -0.49999985, 0.5000001)
            double xformOp:rotateX:unitsResolve = 90
            float3 xformOp:scale = (1, 1, 1)
            double3 xformOp:translate = (2.4640309792545168e-9, -9.151177177146863e-10, -0.005757425621976453)
            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale", "xformOp:rotateX:unitsResolve"]

            over "Looks"
            {
                over "DefaultMaterial"
                {
                    over "DefaultMaterial"
                    {
                        float inputs:metallic_constant = 1
                        float inputs:reflection_roughness_constant = 0.29
                    }
                }
            }
        }
    }

    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" (
        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 "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"
        {
            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"
        {
            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"
        {
            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"
        {
            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 = false
        )
        {
        }

        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"
    }
    variantSet "Physics" = {
        "None" (
            prepend references = @./configuration/robot_base.usd@
        ) {
            over "joints" (
                active = false
            )
            {
            }

            over "loop_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
                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 = (1280, 720)
            }

            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 = </OmniverseKit_Persp>
                token omni:rtx:background:source:texture:textureMode = "repeatMirrored"
                token omni:rtx:background:source:type = "domeLight"
                bool omni:rtx:dlss:frameGeneration = 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
                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
                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 = (1024, 1024)
            }
        }
    }

    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"
        }
    }
}