#usda 1.0
(
    customLayerData = {
        dictionary cameraSettings = {
            dictionary Front = {
                double3 position = (5.410424686781407, -0.0717259164583889, 0.9712786623520847)
                double radius = 0.8775997161865234
            }
            dictionary Perspective = {
                double3 position = (3.4786941746730546, -0.7210279218077591, 0.752858050746718)
                double3 target = (3.477484860736055, -0.7208286920110686, 0.7528558540650896)
            }
            dictionary Right = {
                double3 position = (0.43853001350451354, -5.211327094616011, 0.9534585147542518)
                double radius = 0.33898248672485354
            }
            dictionary Top = {
                double3 position = (0.16174815614778437, 0.9901948444870411, 50000)
                double radius = 0.32983195781707764
            }
            string boundCamera = "/OmniverseKit_Persp"
        }
        dictionary omni_layer = {
            string authoring_layer = "./robot.usda"
            dictionary locked = {
            }
            dictionary muteness = {
            }
        }
        dictionary renderSettings = {
        }
    }
    defaultPrim = "G01"
    metersPerUnit = 1
    upAxis = "Z"
)

def Xform "G01" (
    prepend apiSchemas = ["PhysicsArticulationRootAPI", "PhysxArticulationAPI"]
    variants = {
        string Physics = "PhysX"
        string Robot = "Robot"
        string Sensor = "Sensors"
    }
    prepend variantSets = ["Physics", "Sensor", "Robot"]
)
{
    bool physxArticulation:enabledSelfCollisions = 0
    quatd xformOp:orient = (1, 0, 0, 0)
    double3 xformOp:scale = (1, 1, 1)
    double3 xformOp:translate = (0, 0, 0)
    uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]

    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 = 1
        token visibility = "inherited"

        over "visuals" (
            instanceable = false
        )
        {
            quatf xformOp:orient = (1, 0, 0, 0)
            float3 xformOp:scale = (1, 1, 1)
            double3 xformOp:translate = (0, 0, 0.21113469724309647)
            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
        }

        def Camera "Fisheye_Back_01" (
            active = true
        )
        {
            token cameraProjectionType = "fisheyePolynomial" (
                allowedTokens = ["pinhole", "fisheyePolynomial", "fisheyeSpherical", "fisheyeKannalaBrandtK3", "fisheyeRadTanThinPrism", "omniDirectionalStereo"]
            )
            float2 clippingRange = (0.01, 10000000)
            float focalLength = 18.147562
            float focusDistance = 400
            bool omni:kit:cameraLock = 1
            custom uniform vector3d omni:kit:centerOfInterest = (0, 0, -400)
            token visibility = "invisible"
            quatd xformOp:orient = (0.49999999999999933, 0.5000000000000001, 0.5000000000000004, 0.5000000000000001)
            double3 xformOp:scale = (1, 1, 1)
            double3 xformOp:translate = (-0.30000000447034847, 0.057673270003865684, 1.0630543750437111)
            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
        }

        def Camera "Fisheye_Back_02" (
            active = true
        )
        {
            token cameraProjectionType = "fisheyePolynomial" (
                allowedTokens = ["pinhole", "fisheyePolynomial", "fisheyeSpherical", "fisheyeKannalaBrandtK3", "fisheyeRadTanThinPrism", "omniDirectionalStereo"]
            )
            float2 clippingRange = (0.01, 10000000)
            float focalLength = 18.147562
            float focusDistance = 400
            bool omni:kit:cameraLock = 1
            custom uniform vector3d omni:kit:centerOfInterest = (0, 0, -400)
            token visibility = "invisible"
            quatd xformOp:orient = (0.49999999999999933, 0.5000000000000001, 0.5000000000000004, 0.5000000000000001)
            double3 xformOp:scale = (1, 1, 1)
            double3 xformOp:translate = (-0.30000000447034836, -0.05767, 1.063054375043722)
            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
        }

        over "collisions" (
            delete apiSchemas = ["PhysicsCollisionAPI"]
            instanceable = false
        )
        {
            over "mesh_0"
            {
                over "box"
                {
                    bool physics:collisionEnabled = 0
                }
            }

            over "mesh_1"
            {
                over "box"
                {
                    bool physics:collisionEnabled = 0
                }
            }
        }

        def PhysicsFixedJoint "FixedJoint"
        {
            rel physics:body1 = </G01/base_link>
            float physics:breakForce = inf
            float physics:breakTorque = inf
            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 "visuals"
        {
            quatf xformOp:orient = (1, 0, 0, 0)
            float3 xformOp:scale = (1, 1, 1)
            double3 xformOp:translate = (0, 0, 0)
            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
        }

        over "collisions" (
            delete apiSchemas = ["PhysicsCollisionAPI"]
            instanceable = false
        )
        {
            over "mesh_0"
            {
                over "box"
                {
                    bool physics:collisionEnabled = 0
                }
            }

            over "mesh_1"
            {
                over "box"
                {
                    bool physics:collisionEnabled = 0
                }
            }
        }
    }

    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" (
            delete apiSchemas = ["PhysicsCollisionAPI"]
            instanceable = false
        )
        {
            over "mesh_1"
            {
                over "box"
                {
                    bool physics:collisionEnabled = 0
                }
            }

            over "mesh_0"
            {
                over "cylinder"
                {
                    bool physics:collisionEnabled = 0
                }
            }
        }

        over "visuals" (
            active = true
            instanceable = false
        )
        {
        }
    }

    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_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 "collisions" (
            instanceable = false
        )
        {
            over "mesh_0"
            {
                over "cylinder"
                {
                    bool physics:collisionEnabled = 0
                }
            }
        }
    }

    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
        )
        {
            bool physics:collisionEnabled = 0

            over "mesh_0"
            {
                over "cylinder"
                {
                    bool physics:collisionEnabled = 0
                }
            }
        }

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

    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
        )
        {
            bool physics:collisionEnabled = 0

            over "mesh_0"
            {
                over "cylinder"
                {
                    bool physics:collisionEnabled = 0
                }
            }
        }
    }

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

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

            over "mesh_0"
            {
                over "cylinder"
                {
                    bool physics:collisionEnabled = 0
                }
            }
        }
    }

    over "arm_l_link4" (
        prepend apiSchemas = ["PhysxRigidBodyAPI"]
    )
    {
        bool physxRigidBody:disableGravity = 1
        token visibility = "inherited"

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

            over "mesh_0"
            {
                over "cylinder"
                {
                    bool physics:collisionEnabled = 0
                }
            }
        }
    }

    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
        )
        {
            bool physics:collisionEnabled = 0

            over "mesh_0"
            {
                over "cylinder"
                {
                    bool physics:collisionEnabled = 0
                }
            }
        }
    }

    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
        )
        {
            bool physics:collisionEnabled = 0

            over "mesh_0"
            {
                over "cylinder"
                {
                    bool physics:collisionEnabled = 0
                }
            }
        }
    }

    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 "collisions" (
            instanceable = false
        )
        {
            bool physics:collisionEnabled = 0

            over "mesh_0"
            {
                over "cylinder"
                {
                    bool physics:collisionEnabled = 0
                }
            }
        }
    }

    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"

        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 = 424.9142
            float omni:lensdistortion:opencvPinhole:cy = 241.96855
            float omni:lensdistortion:opencvPinhole:fx = 433.96704
            float omni:lensdistortion:opencvPinhole:fy = 433.44678
            int2 omni:lensdistortion:opencvPinhole:imageSize = (848, 480)
            float omni:lensdistortion:opencvPinhole:k1 = -0.05225365
            float omni:lensdistortion:opencvPinhole:k2 = 0.05812557
            float omni:lensdistortion:opencvPinhole:k3 = -0.01884931
            float omni:lensdistortion:opencvPinhole:p1 = 0.00026891154
            float omni:lensdistortion:opencvPinhole:p2 = 0.00016954057
            float p0 = -0.00036721907
            float verticalAperture = 2.1307867
            token visibility = "invisible"
            quatd xformOp:orient = (0.14219926877000713, 0.6868383037850345, -0.6989317357080853, -0.13973883223733854)
            double3 xformOp:scale = (1, 1, 1)
            double3 xformOp:translate = (-0.07593376119019446, 0.009, 0.0205)
            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
        }

        def "Cam" (
            prepend payload = @./configuration/Cam.usd@
        )
        {
            quatf xformOp:orient = (6.123234e-17, 0.70710677, -4.3297803e-17, -0.70710677)
            double xformOp:rotateX:unitsResolve = 90
            float3 xformOp:scale = (1, 1, 1)
            double3 xformOp:translate = (4.0169941095680173e-7, 1.5376787357301858e-7, 0)
            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale", "xformOp:rotateX:unitsResolve"]

            over "Cam"
            {
                over "cam"
                {
                    quatf xformOp:orient = (1, 0, 0, 0)
                    float3 xformOp:scale = (1, 1, 1.02)
                    double3 xformOp:translate = (3.430589146091734e-14, 4.5075054799781356e-14, 0.00022551183775573747)
                    uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
                }
            }
        }

        over "collisions" (
            prepend apiSchemas = ["MaterialBindingAPI"]
            instanceable = false
        )
        {
            rel material:binding:physics = </G1/GripperMaterial> (
                bindMaterialAs = "weakerThanDescendants"
            )

            over "gripper_base_link"
            {
                over "mesh" (
                    prepend apiSchemas = ["MaterialBindingAPI", "PhysxConvexDecompositionCollisionAPI", "PhysxConvexHullCollisionAPI"]
                )
                {
                    rel material:binding:physics = </G01/PhysicsMaterial> (
                        bindMaterialAs = "weakerThanDescendants"
                    )
                    uniform token physics:approximation = "convexHull"
                    bool physics:collisionEnabled = 1
                }
            }
        }
    }

    over "gripper_l_inner_link1" (
        prepend apiSchemas = ["PhysxRigidBodyAPI"]
    )
    {
        string isaac:nameOverride (
            displayName = "Name Override"
            doc = "Name override for prim lookup in base name search"
        )
        vector3f physics:angularVelocity = (0, 0, 0)
        float physics:mass = 0.025
        bool physxRigidBody:disableGravity = 1
        token visibility = "inherited"

        over "collisions" (
            prepend apiSchemas = ["MaterialBindingAPI"]
            instanceable = false
        )
        {
            rel material:binding:physics = </G1/GripperMaterial> (
                bindMaterialAs = "weakerThanDescendants"
            )

            over "inner_link1"
            {
                over "mesh" (
                    prepend apiSchemas = ["MaterialBindingAPI"]
                )
                {
                    rel material:binding:physics = </G01/GripperMaterial> (
                        bindMaterialAs = "weakerThanDescendants"
                    )
                    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"

        over "collisions" (
            prepend apiSchemas = ["MaterialBindingAPI"]
            instanceable = false
        )
        {
            rel material:binding:physics = </G1/GripperMaterial> (
                bindMaterialAs = "weakerThanDescendants"
            )

            over "inner_link3"
            {
                over "mesh"
                {
                    bool physics:collisionEnabled = 1
                }
            }
        }
    }

    over "gripper_l_inner_link4" (
        prepend apiSchemas = ["PhysxRigidBodyAPI", "PhysxContactReportAPI", "MaterialBindingAPI"]
    )
    {
        string isaac:nameOverride (
            displayName = "Name Override"
            doc = "Name override for prim lookup in base name search"
        )
        rel material:binding = </G1/GripperMaterial> (
            bindMaterialAs = "weakerThanDescendants"
        )
        float physics:mass = 0.035
        float physxContactReport:threshold = 0
        bool physxRigidBody:disableGravity = 1
        float physxRigidBody:sleepThreshold = 0
        token visibility = "inherited"

        over "collisions" (
            prepend apiSchemas = ["MaterialBindingAPI", "PhysxConvexDecompositionCollisionAPI", "PhysxContactReportAPI", "PhysxTriangleMeshCollisionAPI", "PhysxSDFMeshCollisionAPI"]
            instanceable = false
        )
        {
            rel material:binding = </G1/PhysicsMaterial> (
                bindMaterialAs = "weakerThanDescendants"
            )
            uniform token physics:approximation = "convexDecomposition"
            float physxContactReport:threshold = 0
            int physxConvexDecompositionCollision:hullVertexLimit = 64
            int physxConvexDecompositionCollision:maxConvexHulls = 32
            int physxConvexDecompositionCollision:voxelResolution = 500000
            uniform int physxSDFMeshCollision:sdfResolution = 256

            def IsaacContactSensor "Contact_Sensor"
            {
                float4 color = (1, 0, 0, 1)
                bool enabled = 1
                float radius = -1
                float sensorPeriod = -1
                float2 threshold = (0, 100000)
                quatd xformOp:orient = (1, 0, 0, 0)
                double3 xformOp:scale = (1, 1, 1)
                double3 xformOp:translate = (0, 0, 0)
                uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
            }

            over "inner_link4" (
                prepend apiSchemas = ["MaterialBindingAPI"]
            )
            {
                rel material:binding = </G01/GripperMaterial> (
                    bindMaterialAs = "weakerThanDescendants"
                )

                over "mesh" (
                    prepend apiSchemas = ["PhysxConvexDecompositionCollisionAPI", "PhysxCollisionAPI"]
                )
                {
                    uniform token physics:approximation = "convexDecomposition"
                    bool physics:collisionEnabled = 1
                    float physxCollision:contactOffset = 0.001
                }
            }
        }
    }

    over "gripper_l_inner_link2" (
        prepend apiSchemas = ["PhysxRigidBodyAPI"]
    )
    {
        float physics:mass = 0.025
        bool physxRigidBody:disableGravity = 1
        token visibility = "inherited"

        over "collisions" (
            prepend apiSchemas = ["MaterialBindingAPI", "PhysxConvexDecompositionCollisionAPI"]
            instanceable = false
        )
        {
            rel material:binding:physics = </G1/GripperMaterial> (
                bindMaterialAs = "weakerThanDescendants"
            )
            uniform token physics:approximation = "convexDecomposition"

            over "inner_link2"
            {
                over "mesh"
                {
                    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"
        )
        float physics:mass = 0.025
        bool physxRigidBody:disableGravity = 1
        token visibility = "inherited"

        over "collisions" (
            prepend apiSchemas = ["MaterialBindingAPI"]
            instanceable = false
        )
        {
            rel material:binding:physics = </G1/GripperMaterial> (
                bindMaterialAs = "weakerThanDescendants"
            )

            over "outer_link1"
            {
                over "mesh"
                {
                    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"

        over "collisions" (
            prepend apiSchemas = ["MaterialBindingAPI"]
            instanceable = false
        )
        {
            rel material:binding:physics = </G1/GripperMaterial> (
                bindMaterialAs = "weakerThanDescendants"
            )

            over "outer_link3"
            {
                over "mesh"
                {
                    bool physics:collisionEnabled = 1
                }
            }
        }
    }

    over "gripper_l_outer_link4" (
        prepend apiSchemas = ["PhysxRigidBodyAPI", "PhysxContactReportAPI", "MaterialBindingAPI"]
    )
    {
        string isaac:nameOverride (
            displayName = "Name Override"
            doc = "Name override for prim lookup in base name search"
        )
        rel material:binding = </G1/GripperMaterial> (
            bindMaterialAs = "weakerThanDescendants"
        )
        float physics:mass = 0.035
        float physxContactReport:threshold = 0
        bool physxRigidBody:disableGravity = 1
        float physxRigidBody:sleepThreshold = 0
        token visibility = "inherited"

        over "collisions" (
            prepend apiSchemas = ["MaterialBindingAPI", "PhysxConvexDecompositionCollisionAPI", "PhysxConvexHullCollisionAPI", "PhysxContactReportAPI", "PhysxTriangleMeshCollisionAPI", "PhysxSDFMeshCollisionAPI"]
            instanceable = false
        )
        {
            rel material:binding = </G1/PhysicsMaterial> (
                bindMaterialAs = "weakerThanDescendants"
            )
            uniform token physics:approximation = "convexDecomposition"
            float physxContactReport:threshold = 0
            int physxConvexDecompositionCollision:hullVertexLimit = 64
            int physxConvexDecompositionCollision:maxConvexHulls = 32
            int physxConvexDecompositionCollision:voxelResolution = 500000
            uniform int physxSDFMeshCollision:sdfResolution = 256

            def IsaacContactSensor "Contact_Sensor"
            {
                float4 color = (1, 0, 0, 1)
                bool enabled = 1
                float radius = -1
                float sensorPeriod = -1
                float2 threshold = (0, 100000)
                quatd xformOp:orient = (1, 0, 0, 0)
                double3 xformOp:scale = (1, 1, 1)
                double3 xformOp:translate = (0, 0, 0)
                uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
            }

            over "outer_link4" (
                prepend apiSchemas = ["MaterialBindingAPI"]
            )
            {
                rel material:binding = </G01/GripperMaterial> (
                    bindMaterialAs = "weakerThanDescendants"
                )

                over "mesh" (
                    prepend apiSchemas = ["PhysxConvexDecompositionCollisionAPI", "PhysxConvexHullCollisionAPI", "PhysxSDFMeshCollisionAPI", "PhysxCollisionAPI"]
                )
                {
                    uniform token physics:approximation = "convexDecomposition"
                    bool physics:collisionEnabled = 1
                    float physxCollision:contactOffset = 0.001
                }
            }
        }
    }

    over "gripper_l_outer_link2" (
        prepend apiSchemas = ["PhysxRigidBodyAPI"]
    )
    {
        string isaac:nameOverride (
            displayName = "Name Override"
            doc = "Name override for prim lookup in base name search"
        )
        float physics:mass = 0.025
        bool physxRigidBody:disableGravity = 1
        token visibility = "inherited"

        over "collisions" (
            prepend apiSchemas = ["MaterialBindingAPI", "PhysxConvexDecompositionCollisionAPI"]
            instanceable = false
        )
        {
            rel material:binding:physics = </G1/GripperMaterial> (
                bindMaterialAs = "weakerThanDescendants"
            )
            uniform token physics:approximation = "convexDecomposition"

            over "outer_link2"
            {
                over "mesh"
                {
                    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"
    }

    over "arm_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"

        over "collisions" (
            instanceable = false
        )
        {
            over "mesh_0"
            {
                over "cylinder"
                {
                    bool physics:collisionEnabled = 0
                }
            }
        }
    }

    over "arm_r_link1" (
        prepend apiSchemas = ["PhysxRigidBodyAPI"]
    )
    {
        bool physxRigidBody:disableGravity = 1
        token visibility = "inherited"

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

            over "mesh_0"
            {
                over "cylinder"
                {
                    bool physics:collisionEnabled = 0
                }
            }
        }
    }

    over "arm_r_link2" (
        prepend apiSchemas = ["PhysxRigidBodyAPI"]
    )
    {
        bool physxRigidBody:disableGravity = 1
        token visibility = "inherited"

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

            over "mesh_0"
            {
                over "cylinder"
                {
                    bool physics:collisionEnabled = 0
                }
            }
        }
    }

    over "arm_r_link3" (
        prepend apiSchemas = ["PhysxRigidBodyAPI"]
    )
    {
        bool physxRigidBody:disableGravity = 1
        token visibility = "inherited"

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

            over "mesh_0"
            {
                over "cylinder"
                {
                    bool physics:collisionEnabled = 0
                }
            }
        }
    }

    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
        )
        {
            bool physics:collisionEnabled = 0

            over "mesh_0"
            {
                over "cylinder"
                {
                    bool physics:collisionEnabled = 0
                }
            }
        }
    }

    over "arm_r_link5" (
        prepend apiSchemas = ["PhysxRigidBodyAPI"]
    )
    {
        bool physxRigidBody:disableGravity = 1
        token visibility = "inherited"

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

            over "mesh_0"
            {
                over "cylinder"
                {
                    bool physics:collisionEnabled = 0
                }
            }
        }
    }

    over "arm_r_link6" (
        prepend apiSchemas = ["PhysxRigidBodyAPI"]
    )
    {
        bool physxRigidBody:disableGravity = 1
        token visibility = "inherited"

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

            over "mesh_0"
            {
                over "cylinder"
                {
                    bool physics:collisionEnabled = 0
                }
            }
        }
    }

    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 "collisions" (
            instanceable = false
        )
        {
            bool physics:collisionEnabled = 0

            over "mesh_0"
            {
                over "cylinder"
                {
                    bool physics:collisionEnabled = 0
                }
            }
        }
    }

    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"

        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 = 425.91937
            float omni:lensdistortion:opencvPinhole:cy = 236.6513
            float omni:lensdistortion:opencvPinhole:fx = 433.73813
            float omni:lensdistortion:opencvPinhole:fy = 433.21445
            int2 omni:lensdistortion:opencvPinhole:imageSize = (848, 480)
            float omni:lensdistortion:opencvPinhole:k1 = -0.053031452
            float omni:lensdistortion:opencvPinhole:k2 = 0.059921935
            float omni:lensdistortion:opencvPinhole:k3 = -0.0196118
            float omni:lensdistortion:opencvPinhole:p1 = -0.00033373627
            float omni:lensdistortion:opencvPinhole:p2 = 0.000060503175
            float p0 = -0.00036721907
            float verticalAperture = 2.1307867
            token visibility = "invisible"
            quatd xformOp:orient = (-0.1397388322373386, -0.6989317357080854, -0.6868383037850344, -0.14219926877000738)
            double3 xformOp:scale = (1, 1, 1)
            double3 xformOp:translate = (0.07593, -0.009, 0.021)
            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
        }

        def "Cam" (
            prepend payload = @./configuration/Cam.usd@
        )
        {
            quatf xformOp:orient = (0.70710677, 0, 0.70710677, 0)
            double xformOp:rotateX:unitsResolve = 90
            float3 xformOp:scale = (1, 1, 1)
            double3 xformOp:translate = (0, 0, 0)
            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale", "xformOp:rotateX:unitsResolve"]

            over "Cam"
            {
                over "cam"
                {
                    quatf xformOp:orient = (1, 0, 0, 0)
                    float3 xformOp:scale = (1, 1, 1.02)
                    double3 xformOp:translate = (3.430589146091734e-14, 4.5075054799781356e-14, 0.00022551183775573747)
                    uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
                }
            }
        }

        over "collisions" (
            prepend apiSchemas = ["MaterialBindingAPI"]
            instanceable = false
        )
        {
            rel material:binding:physics = </G1/GripperMaterial> (
                bindMaterialAs = "weakerThanDescendants"
            )

            over "gripper_base_link"
            {
                over "mesh" (
                    prepend apiSchemas = ["MaterialBindingAPI", "PhysxCollisionAPI"]
                )
                {
                    rel material:binding:physics = </G01/GripperMaterial> (
                        bindMaterialAs = "weakerThanDescendants"
                    )
                    bool physics:collisionEnabled = 1
                    float physxCollision:contactOffset = -inf
                }
            }
        }
    }

    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"

        over "collisions" (
            prepend apiSchemas = ["MaterialBindingAPI"]
            instanceable = false
        )
        {
            rel material:binding:physics = </G1/GripperMaterial> (
                bindMaterialAs = "weakerThanDescendants"
            )

            over "inner_link1"
            {
                over "mesh" (
                    prepend apiSchemas = ["MaterialBindingAPI", "PhysxCollisionAPI"]
                )
                {
                    rel material:binding:physics = </G01/GripperMaterial> (
                        bindMaterialAs = "weakerThanDescendants"
                    )
                    bool physics:collisionEnabled = 1
                    float physxCollision:contactOffset = -inf
                }
            }
        }
    }

    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"

        over "collisions" (
            prepend apiSchemas = ["MaterialBindingAPI"]
            instanceable = false
        )
        {
            rel material:binding:physics = </G1/GripperMaterial> (
                bindMaterialAs = "weakerThanDescendants"
            )

            over "inner_link3"
            {
                over "mesh" (
                    prepend apiSchemas = ["MaterialBindingAPI", "PhysxCollisionAPI"]
                )
                {
                    rel material:binding:physics = </G01/GripperMaterial> (
                        bindMaterialAs = "weakerThanDescendants"
                    )
                    bool physics:collisionEnabled = 1
                    float physxCollision:contactOffset = -inf
                }
            }
        }
    }

    over "gripper_r_inner_link4" (
        prepend apiSchemas = ["PhysxRigidBodyAPI", "PhysxContactReportAPI", "MaterialBindingAPI"]
    )
    {
        string isaac:nameOverride (
            displayName = "Name Override"
            doc = "Name override for prim lookup in base name search"
        )
        rel material:binding = </G1/GripperMaterial> (
            bindMaterialAs = "weakerThanDescendants"
        )
        float physics:mass = 0.035
        float physxContactReport:threshold = 0
        bool physxRigidBody:disableGravity = 1
        float physxRigidBody:sleepThreshold = 0
        token visibility = "inherited"

        over "collisions" (
            prepend apiSchemas = ["MaterialBindingAPI", "PhysxConvexDecompositionCollisionAPI", "PhysxContactReportAPI", "PhysxTriangleMeshCollisionAPI"]
            instanceable = false
        )
        {
            rel material:binding = </G1/PhysicsMaterial> (
                bindMaterialAs = "weakerThanDescendants"
            )
            uniform token physics:approximation = "convexDecomposition"
            float physxContactReport:threshold = 0

            def IsaacContactSensor "Contact_Sensor"
            {
                float4 color = (1, 0, 0, 1)
                bool enabled = 1
                float radius = -1
                float sensorPeriod = -1
                float2 threshold = (0, 100000)
                quatd xformOp:orient = (1, 0, 0, 0)
                double3 xformOp:scale = (1, 1, 1)
                double3 xformOp:translate = (0, 0, 0)
                uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
            }

            over "inner_link4"
            {
                over "mesh" (
                    prepend apiSchemas = ["PhysxConvexDecompositionCollisionAPI", "MaterialBindingAPI", "PhysxCollisionAPI"]
                )
                {
                    rel material:binding = </G01/GripperMaterial> (
                        bindMaterialAs = "weakerThanDescendants"
                    )
                    uniform token physics:approximation = "convexDecomposition"
                    bool physics:collisionEnabled = 1
                    float physxCollision:contactOffset = 0.001
                }
            }
        }
    }

    over "gripper_r_inner_link2" (
        prepend apiSchemas = ["PhysxRigidBodyAPI"]
    )
    {
        string isaac:nameOverride (
            displayName = "Name Override"
            doc = "Name override for prim lookup in base name search"
        )
        float physics:mass = 0.025
        bool physxRigidBody:disableGravity = 1
        token visibility = "inherited"

        over "collisions" (
            prepend apiSchemas = ["MaterialBindingAPI", "PhysxConvexDecompositionCollisionAPI"]
            instanceable = false
        )
        {
            rel material:binding:physics = </G1/GripperMaterial> (
                bindMaterialAs = "weakerThanDescendants"
            )
            uniform token physics:approximation = "convexDecomposition"

            over "inner_link2"
            {
                over "mesh" (
                    prepend apiSchemas = ["MaterialBindingAPI", "PhysxCollisionAPI"]
                )
                {
                    rel material:binding:physics = </G01/GripperMaterial> (
                        bindMaterialAs = "weakerThanDescendants"
                    )
                    bool physics:collisionEnabled = 1
                    float physxCollision:contactOffset = -inf
                }
            }
        }
    }

    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"

        over "collisions" (
            prepend apiSchemas = ["MaterialBindingAPI"]
            instanceable = false
        )
        {
            rel material:binding:physics = </G1/GripperMaterial> (
                bindMaterialAs = "weakerThanDescendants"
            )

            over "outer_link1"
            {
                over "mesh" (
                    prepend apiSchemas = ["MaterialBindingAPI", "PhysxCollisionAPI"]
                )
                {
                    rel material:binding:physics = </G01/GripperMaterial> (
                        bindMaterialAs = "weakerThanDescendants"
                    )
                    bool physics:collisionEnabled = 1
                    float physxCollision:contactOffset = -inf
                }
            }
        }
    }

    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"

        over "collisions" (
            prepend apiSchemas = ["MaterialBindingAPI"]
            instanceable = false
        )
        {
            rel material:binding:physics = </G1/GripperMaterial> (
                bindMaterialAs = "weakerThanDescendants"
            )

            over "outer_link3"
            {
                over "mesh" (
                    prepend apiSchemas = ["MaterialBindingAPI", "PhysxCollisionAPI"]
                )
                {
                    rel material:binding:physics = </G01/GripperMaterial> (
                        bindMaterialAs = "weakerThanDescendants"
                    )
                    bool physics:collisionEnabled = 1
                    float physxCollision:contactOffset = -inf
                }
            }
        }
    }

    over "gripper_r_outer_link4" (
        prepend apiSchemas = ["PhysxRigidBodyAPI", "PhysxContactReportAPI", "MaterialBindingAPI"]
    )
    {
        string isaac:nameOverride (
            displayName = "Name Override"
            doc = "Name override for prim lookup in base name search"
        )
        rel material:binding = </G1/GripperMaterial> (
            bindMaterialAs = "weakerThanDescendants"
        )
        float physics:mass = 0.035
        float physxContactReport:threshold = 0
        bool physxRigidBody:disableGravity = 1
        float physxRigidBody:sleepThreshold = 0
        token visibility = "inherited"

        over "collisions" (
            prepend apiSchemas = ["MaterialBindingAPI", "PhysxConvexDecompositionCollisionAPI", "PhysxConvexHullCollisionAPI", "PhysxTriangleMeshCollisionAPI", "PhysxTriangleMeshSimplificationCollisionAPI", "PhysxSDFMeshCollisionAPI", "PhysxContactReportAPI"]
            instanceable = false
        )
        {
            rel material:binding = </G1/PhysicsMaterial> (
                bindMaterialAs = "weakerThanDescendants"
            )
            uniform token physics:approximation = "convexDecomposition"
            float physxContactReport:threshold = 0

            def IsaacContactSensor "Contact_Sensor"
            {
                float4 color = (1, 0, 0, 1)
                bool enabled = 1
                float radius = -1
                float sensorPeriod = -1
                float2 threshold = (0, 100000)
                quatd xformOp:orient = (1, 0, 0, 0)
                double3 xformOp:scale = (1, 1, 1)
                double3 xformOp:translate = (0, 0, 0)
                uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
            }

            over "outer_link4" (
                prepend apiSchemas = ["MaterialBindingAPI"]
            )
            {
                rel material:binding = </G01/GripperMaterial> (
                    bindMaterialAs = "weakerThanDescendants"
                )

                over "mesh" (
                    prepend apiSchemas = ["PhysxConvexDecompositionCollisionAPI", "PhysxCollisionAPI"]
                )
                {
                    uniform token physics:approximation = "convexDecomposition"
                    bool physics:collisionEnabled = 1
                    float physxCollision:contactOffset = 0.001
                }
            }
        }
    }

    over "gripper_r_outer_link2" (
        prepend apiSchemas = ["PhysxRigidBodyAPI"]
    )
    {
        string isaac:nameOverride (
            displayName = "Name Override"
            doc = "Name override for prim lookup in base name search"
        )
        float physics:mass = 0.025
        bool physxRigidBody:disableGravity = 1

        over "collisions" (
            prepend apiSchemas = ["MaterialBindingAPI", "PhysxConvexDecompositionCollisionAPI"]
        )
        {
            rel material:binding:physics = </G1/GripperMaterial> (
                bindMaterialAs = "weakerThanDescendants"
            )
            uniform token physics:approximation = "convexDecomposition"
        }
    }

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

    over "head_link1" (
        prepend apiSchemas = ["PhysxRigidBodyAPI"]
    )
    {
        bool physxRigidBody:disableGravity = 1
        token visibility = "inherited"
    }

    over "head_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"
        {
            quatf xformOp:orient = (1, 0, 0, 0)
            float3 xformOp:scale = (1, 1, 1)
            double3 xformOp:translate = (0.039525628306619376, -0.01962560545893477, 8.262606048342261e-10)
            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
        }

        def Camera "Head_Camera" (
            active = true
            prepend apiSchemas = ["OmniLensDistortionOpenCvPinholeAPI"]
        )
        {
            token cameraSensorType = "camera" (
                allowedTokens = ["camera", "radar", "lidar", "rtxsensor"]
            )
            float2 clippingRange = (0.01, 10000000)
            float focalLength = 1.93
            float focusDistance = 400
            float horizontalAperture = 3.896
            bool omni:kit:cameraLock = 1
            float omni:lensdistortion:opencvPinhole:cx = 640
            float omni:lensdistortion:opencvPinhole:cy = 400
            float omni:lensdistortion:opencvPinhole:fx = 646
            float omni:lensdistortion:opencvPinhole:fy = 646
            int2 omni:lensdistortion:opencvPinhole:imageSize = (1280, 800)
            float omni:lensdistortion:opencvPinhole:k1 = -0.0513944
            float omni:lensdistortion:opencvPinhole:k2 = 0.058113143
            float omni:lensdistortion:opencvPinhole:k3 = -0.017540574
            float omni:lensdistortion:opencvPinhole:p1 = -0.0012259036
            float omni:lensdistortion:opencvPinhole:p2 = 0.000632075
            float verticalAperture = 2.453
            token visibility = "invisible"
            quatd xformOp:orient = (6.123233995736766e-17, 0.7071067811865476, -4.329780281177467e-17, -0.7071067811865476)
            double3 xformOp:scale = (1, 1, 1)
            double3 xformOp:translate = (0.0858, -0.04119, 0)
            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
        }

        def Camera "Fisheye_Camera_01" (
            active = true
        )
        {
            token cameraProjectionType = "fisheyePolynomial" (
                allowedTokens = ["pinhole", "fisheyePolynomial", "fisheyeSpherical", "fisheyeKannalaBrandtK3", "fisheyeRadTanThinPrism", "omniDirectionalStereo"]
            )
            float2 clippingRange = (0.01, 10000000)
            float focalLength = 1.93
            float focusDistance = 400
            float fthetaPolyB = 0.00245
            float fthetaPolyC = 0
            float horizontalAperture = 3.896
            bool omni:kit:cameraLock = 1
            float verticalAperture = 2.453
            token visibility = "invisible"
            quatd xformOp:orient = (0.0751616554826484, 0.9377050893657665, 0.030613207309336917, -0.33782054771858294)
            double3 xformOp:scale = (1, 1, 1)
            double3 xformOp:translate = (0.07625208730182864, 0.01962537929559538, 0.047878739498311895)
            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
        }

        def Camera "Fisheye_Camera_02" (
            active = true
        )
        {
            token cameraProjectionType = "fisheyePolynomial" (
                allowedTokens = ["pinhole", "fisheyePolynomial", "fisheyeSpherical", "fisheyeKannalaBrandtK3", "fisheyeRadTanThinPrism", "omniDirectionalStereo"]
            )
            float2 clippingRange = (0.01, 10000000)
            float focalLength = 1.93
            float focusDistance = 400
            float fthetaPolyB = 0.00245
            float fthetaPolyC = 0
            float horizontalAperture = 3.896
            bool omni:kit:cameraLock = 1
            float verticalAperture = 2.453
            token visibility = "invisible"
            quatd xformOp:orient = (-0.07386098599114474, -0.35900989056451804, -0.17965850209084597, 0.9128960925821417)
            double3 xformOp:scale = (1, 1, 1)
            double3 xformOp:translate = (0.07625090899974629, 0.019624617386816645, -0.05772210537580889)
            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
        }

        def Camera "Top_Camera" (
            kind = "model"
        )
        {
            token cameraProjectionType = "fisheyePolynomial" (
                allowedTokens = ["pinhole", "fisheyePolynomial", "fisheyeSpherical", "fisheyeKannalaBrandtK3", "fisheyeRadTanThinPrism", "omniDirectionalStereo"]
            )
            float2 clippingRange = (0.01, 10000000)
            float focalLength = 1.93
            float focusDistance = 400
            float horizontalAperture = 3.896
            bool omni:kit:cameraLock = 1
            float verticalAperture = 2.453
            token visibility = "invisible"
            quatd xformOp:orient = (0.14097441837755495, 0.6929114036896132, 0.14097441837755503, -0.6929114036896132)
            double3 xformOp:scale = (1, 1, 1)
            double3 xformOp:translate = (0.09148739595212874, -0.07523617103289082, -0.0000051337173225556625)
            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]

            over "OmniverseKitViewportCameraMesh" (
                always_pick_model = true
                hide_in_stage_window = true
                kind = "subcomponent"
                no_delete = true
                prepend references = @../../../sim/isaacsim/kit/resources/models/camera/camera.usd@
            )
            {
                bool primvars:doNotCastShadows = 1
                bool primvars:omni:kit:isGizmo = 1
                token visibility
                float3 xformOp:scale = (0.01, 0.01, 0.01)
                uniform token[] xformOpOrder = ["xformOp:scale"]

                over "CameraModel" (
                    always_pick_model = true
                    hide_in_stage_window = true
                    no_delete = true
                )
                {
                    float3[] extent = [(3.4028235e38, 3.4028235e38, 3.4028235e38), (-3.4028235e38, -3.4028235e38, -3.4028235e38)]
                    bool primvars:doNotCastShadows = 1
                    bool primvars:omni:kit:isGizmo = 1
                }
            }
        }

        over "collisions" (
            delete apiSchemas = ["PhysicsCollisionAPI"]
            instanceable = false
        )
        {
            over "mesh_0"
            {
                over "sphere"
                {
                    bool physics:collisionEnabled = 0
                }
            }
        }
    }

    over "joints"
    {
        token visibility = "inherited"

        over "idx01_body_joint1"
        {
            float drive:linear:physics:damping = 1000
            float drive:linear:physics:maxForce = 100
            float drive:linear:physics:stiffness = 10000
            float drive:linear:physics:targetPosition = 0
            string isaac:nameOverride (
                displayName = "Name Override"
                doc = "Name override for prim lookup in base name search"
            )
            float physxJoint:maxJointVelocity = 0.1
            float state:linear:physics:position = 0
            float state:linear:physics:velocity = 0
        }

        over "idx02_body_joint2"
        {
            float drive:angular:physics:damping = 1000
            float drive:angular:physics:maxForce = 100
            float drive:angular:physics:stiffness = 10000
            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 "idx11_head_joint1"
        {
            float drive:angular:physics:damping = 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 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: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 state:angular:physics:position = 0
            float state:angular:physics:velocity = 0
        }

        over "idx21_arm_l_joint1"
        {
            float drive:angular:physics:damping = 500
            float drive:angular:physics:stiffness = 10000
            string isaac:nameOverride (
                displayName = "Name Override"
                doc = "Name override for prim lookup in base name search"
            )
            float physics:lowerLimit = -180
            float physics:upperLimit = 180
            float state:angular:physics:position = 0
            float state:angular:physics:velocity = 0
        }

        over "idx61_arm_r_joint1"
        {
            float drive:angular:physics:damping = 500
            float drive:angular:physics:stiffness = 10000
            string isaac:nameOverride (
                displayName = "Name Override"
                doc = "Name override for prim lookup in base name search"
            )
            float physics:lowerLimit = -180
            float physics:upperLimit = 180
            float state:angular:physics:position = 0
            float state:angular:physics:velocity = 0
        }

        over "idx22_arm_l_joint2"
        {
            float drive:angular:physics:damping = 500
            float drive:angular:physics:stiffness = 10000
            string isaac:nameOverride (
                displayName = "Name Override"
                doc = "Name override for prim lookup in base name search"
            )
            float physics:lowerLimit = -180
            float physics:upperLimit = 180
            float state:angular:physics:position = 0
            float state:angular:physics:velocity = 0
        }

        over "idx62_arm_r_joint2"
        {
            float drive:angular:physics:damping = 500
            float drive:angular:physics:stiffness = 10000
            string isaac:nameOverride (
                displayName = "Name Override"
                doc = "Name override for prim lookup in base name search"
            )
            float physics:lowerLimit = -180
            float physics:upperLimit = 180
            float state:angular:physics:position = 0
            float state:angular:physics:velocity = 0
        }

        over "idx23_arm_l_joint3"
        {
            float drive:angular:physics:damping = 500
            float drive:angular:physics:stiffness = 10000
            float physics:lowerLimit = -180
            float physics:upperLimit = 180
            float state:angular:physics:position = 0
            float state:angular:physics:velocity = 0
        }

        over "idx63_arm_r_joint3"
        {
            float drive:angular:physics:damping = 500
            float drive:angular:physics:stiffness = 10000
            float physics:lowerLimit = -180
            float physics:upperLimit = 180
            float state:angular:physics:position = 0
            float state:angular:physics:velocity = 0
        }

        over "idx24_arm_l_joint4"
        {
            float drive:angular:physics:damping = 500
            float drive:angular:physics:stiffness = 10000
            float physics:lowerLimit = -180
            float physics:upperLimit = 180
            float state:angular:physics:position = 0
            float state:angular:physics:velocity = 0
        }

        over "idx64_arm_r_joint4"
        {
            float drive:angular:physics:damping = 500
            float drive:angular:physics:stiffness = 10000
            float physics:lowerLimit = -180
            float physics:upperLimit = 180
            float state:angular:physics:position = 0
            float state:angular:physics:velocity = 0
        }

        over "idx25_arm_l_joint5"
        {
            float drive:angular:physics:damping = 500
            float drive:angular:physics:stiffness = 10000
            string isaac:nameOverride (
                displayName = "Name Override"
                doc = "Name override for prim lookup in base name search"
            )
            float physics:lowerLimit = -180
            float physics:upperLimit = 180
            float state:angular:physics:position = 0
            float state:angular:physics:velocity = 0
        }

        over "idx65_arm_r_joint5"
        {
            float drive:angular:physics:damping = 500
            float drive:angular:physics:stiffness = 10000
            float physics:lowerLimit = -180
            float physics:upperLimit = 180
            float state:angular:physics:position = 0
            float state:angular:physics:velocity = 0
        }

        over "idx26_arm_l_joint6"
        {
            float drive:angular:physics:damping = 500
            float drive:angular:physics:stiffness = 10000
            float physics:lowerLimit = -180
            float physics:upperLimit = 180
            float state:angular:physics:position = 0
            float state:angular:physics:velocity = 0
        }

        over "idx66_arm_r_joint6"
        {
            float drive:angular:physics:damping = 500
            float drive:angular:physics:stiffness = 10000
            float physics:lowerLimit = -180
            float physics:upperLimit = 180
            float state:angular:physics:position = 0
            float state:angular:physics:velocity = 0
        }

        over "idx27_arm_l_joint7"
        {
            float drive:angular:physics:damping = 500
            float drive:angular:physics:stiffness = 10000
            float physics:lowerLimit = -180
            float physics:upperLimit = 180
            float state:angular:physics:position = 0
            float state:angular:physics:velocity = 0
        }

        over "idx67_arm_r_joint7"
        {
            float drive:angular:physics:damping = 500
            float drive:angular:physics:stiffness = 10000
            string isaac:nameOverride (
                displayName = "Name Override"
                doc = "Name override for prim lookup in base name search"
            )
            float physics:lowerLimit = -180
            float physics:upperLimit = 180
            float state:angular:physics:position = 0
            float state:angular:physics:velocity = 0
        }

        over "idx31_gripper_l_inner_joint1" (
            active = true
            delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysxMimicJointAPI:rotX"]
            prepend apiSchemas = ["PhysxLimitAPI:angular", "PhysxMimicJointAPI:rotX"]
        )
        {
            float drive:angular:physics:damping
            float drive:angular:physics:maxForce
            float drive:angular:physics:stiffness
            float drive:angular:physics:targetPosition
            float drive:angular:physics:targetVelocity
            uniform token drive:angular:physics:type
            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 physxLimit:angular:restitution = 0.1
            rel physxMimicJoint:rotX:referenceJoint = </G01/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
            prepend apiSchemas = ["PhysxLimitAPI:angular"]
        )
        {
            float drive:angular:physics:damping = 20
            float drive:angular:physics:maxForce = 5
            float drive:angular:physics:stiffness = 100
            float drive:angular:physics:targetPosition = 87.5
            float drive:angular:physics:targetVelocity = 0
            string isaac:nameOverride (
                displayName = "Name Override"
                doc = "Name override for prim lookup in base name search"
            )
            float physxJoint:armature = 0.001
            float physxJoint:maxJointVelocity = 10000
            float physxLimit:angular:restitution = 0.1
            float state:angular:physics:position = 0
            float state:angular:physics:velocity = 0
        }

        over "idx71_gripper_r_inner_joint1" (
            active = true
            delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysxMimicJointAPI:rotX"]
            prepend apiSchemas = ["PhysxMimicJointAPI:rotX", "PhysxLimitAPI:angular"]
        )
        {
            float drive:angular:physics:damping = 1
            float drive:angular:physics:maxForce = 10
            float drive:angular:physics:stiffness = 10
            float drive:angular:physics:targetPosition = 0
            string isaac:nameOverride (
                displayName = "Name Override"
                doc = "Name override for prim lookup in base name search"
            )
            float physics:lowerLimit = -45
            float physics:upperLimit = 0
            float physxJoint:armature = 0.001
            float physxJoint:maxJointVelocity = 10000
            float physxLimit:angular:restitution = 0.1
            rel physxMimicJoint:rotX:referenceJoint = </G01/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
            prepend apiSchemas = ["PhysxLimitAPI:angular"]
        )
        {
            float drive:angular:physics:damping = 20
            float drive:angular:physics:maxForce = 5
            float drive:angular:physics:stiffness = 100
            float drive:angular:physics:targetPosition = 91.200005
            string isaac:nameOverride (
                displayName = "Name Override"
                doc = "Name override for prim lookup in base name search"
            )
            float physics:lowerLimit = 0
            float physics:upperLimit = 45
            float physxJoint:armature = 0.001
            float physxJoint:maxJointVelocity = 10000
            float physxLimit:angular:restitution = 0.1
            float state:angular:physics:position = 0
            float state:angular:physics:velocity = 0
        }

        over "idx32_gripper_l_inner_joint3" (
            active = true
            delete apiSchemas = ["PhysicsDriveAPI:angular"]
            prepend apiSchemas = ["PhysxLimitAPI:angular"]
        )
        {
            float drive:angular:physics:damping = 0
            float drive:angular:physics:maxForce = inf
            float drive:angular:physics:stiffness = 2
            float drive:angular:physics:targetPosition
            float drive:angular:physics:targetVelocity
            uniform token drive:angular:physics:type
            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 physxLimit:angular:damping = 0
            float physxLimit:angular:restitution = 0.1
            float physxLimit:angular:stiffness = 0
            float state:angular:physics:position = 0
            float state:angular:physics:velocity = 0
        }

        over "idx42_gripper_l_outer_joint3" (
            active = true
            delete apiSchemas = ["PhysicsDriveAPI:angular"]
            prepend apiSchemas = ["PhysxLimitAPI:angular"]
        )
        {
            float drive:angular:physics:damping = 0
            float drive:angular:physics:maxForce = inf
            float drive:angular:physics:stiffness = 2
            float drive:angular:physics:targetPosition
            float drive:angular:physics:targetVelocity
            uniform token drive:angular:physics:type
            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 physxLimit:angular:damping = 0
            float physxLimit:angular:restitution = 0.1
            float physxLimit:angular:stiffness = 0
            float state:angular:physics:position = 0
            float state:angular:physics:velocity = 0
        }

        over "idx72_gripper_r_inner_joint3" (
            active = true
            delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysxMimicJointAPI:rotX"]
            prepend apiSchemas = ["PhysxLimitAPI:angular"]
        )
        {
            float drive:angular:physics:damping = 0
            float drive:angular:physics:maxForce = inf
            float drive:angular:physics:stiffness = 2
            float drive:angular:physics:targetPosition
            float drive:angular:physics:targetVelocity
            uniform token drive:angular:physics:type
            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 physxLimit:angular:restitution = 0.1
            float state:angular:physics:position = 0
            float state:angular:physics:velocity = 0
        }

        over "idx82_gripper_r_outer_joint3" (
            active = true
            delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysxMimicJointAPI:rotX"]
            prepend apiSchemas = ["PhysxLimitAPI:angular"]
        )
        {
            float drive:angular:physics:damping = 0
            float drive:angular:physics:maxForce = inf
            float drive:angular:physics:stiffness = 1
            float drive:angular:physics:targetPosition = 0
            float drive:angular:physics:targetVelocity
            uniform token drive:angular:physics:type
            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 physxLimit:angular:restitution = 0.1
            float state:angular:physics:position = 0
            float state:angular:physics:velocity = 0
        }

        over "idx33_gripper_l_inner_joint4" (
            active = true
            delete apiSchemas = ["PhysicsDriveAPI:angular"]
            prepend apiSchemas = ["PhysxLimitAPI:angular"]
        )
        {
            float drive:angular:physics:damping = 0
            float drive:angular:physics:maxForce = inf
            float drive:angular:physics:stiffness = 0
            float drive:angular:physics:targetPosition
            float drive:angular:physics:targetVelocity
            uniform token drive:angular:physics:type
            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 physxLimit:angular:damping = 0
            float physxLimit:angular:restitution = 0.1
            float physxLimit:angular:stiffness = 0
            float state:angular:physics:position = 0
            float state:angular:physics:velocity = 0
        }

        over "idx43_gripper_l_outer_joint4" (
            active = true
            delete apiSchemas = ["PhysicsDriveAPI:angular"]
            prepend apiSchemas = ["PhysxLimitAPI:angular"]
        )
        {
            float drive:angular:physics:damping = 0
            float drive:angular:physics:maxForce = inf
            float drive:angular:physics:stiffness = 100
            float drive:angular:physics:targetPosition
            float drive:angular:physics:targetVelocity
            uniform token drive:angular:physics:type
            float physics:lowerLimit = -2
            float physics:upperLimit = 2
            float physxJoint:armature = 0.001
            float physxJoint:maxJointVelocity = 10000
            float physxLimit:angular:damping = 0
            float physxLimit:angular:restitution = 0.1
            float physxLimit:angular:stiffness = 0
            float state:angular:physics:position = 0
            float state:angular:physics:velocity = 0
        }

        over "idx73_gripper_r_inner_joint4" (
            active = true
            delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysxMimicJointAPI:rotX"]
            prepend apiSchemas = ["PhysxLimitAPI:angular"]
        )
        {
            float drive:angular:physics:damping = 1
            float drive:angular:physics:maxForce = inf
            float drive:angular:physics:stiffness = 10
            float drive:angular:physics:targetPosition
            float drive:angular:physics:targetVelocity
            uniform token drive:angular:physics:type
            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 physxLimit:angular:restitution = 0.1
            float state:angular:physics:position = 0
            float state:angular:physics:velocity = 0
        }

        over "idx83_gripper_r_outer_joint4" (
            active = true
            delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysxMimicJointAPI:rotX"]
            prepend apiSchemas = ["PhysxLimitAPI:angular"]
        )
        {
            float drive:angular:physics:damping = 1
            float drive:angular:physics:maxForce = inf
            float drive:angular:physics:stiffness = 10
            float drive:angular:physics:targetPosition
            float drive:angular:physics:targetVelocity
            uniform token drive:angular:physics:type
            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 physxLimit:angular:restitution = 0.1
            float state:angular:physics:position = 0
            float state:angular:physics:velocity = 0
        }

        over PhysicsSphericalJoint "idx79_gripper_r_inner_joint2" (
            active = true
            delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
        )
        {
            uniform bool physics:excludeFromArticulation = 1
            float physics:lowerLimit = -inf
            float physics:upperLimit = inf
            float physxJoint:maxJointVelocity = 1000000
        }

        over PhysicsSphericalJoint "idx89_gripper_r_outer_joint2" (
            active = true
            delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
        )
        {
            uniform bool physics:excludeFromArticulation = 1
            float physics:lowerLimit = -inf
            float physics:upperLimit = inf
            float physxJoint:maxJointVelocity = 1000000
        }

        over PhysicsSphericalJoint "idx39_gripper_l_inner_joint2" (
            delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
            prepend apiSchemas = ["PhysxLimitAPI:cone"]
        )
        {
            uniform bool physics:excludeFromArticulation = 1
            float physics:lowerLimit = -inf
            float physics:upperLimit = inf
            float physxJoint:maxJointVelocity = 1000000
            float physxLimit:cone:damping = 0
        }

        over PhysicsSphericalJoint "idx49_gripper_l_outer_joint2" (
            delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
            prepend apiSchemas = ["PhysxLimitAPI:cone"]
        )
        {
            uniform bool physics:excludeFromArticulation = 1
            float physics:lowerLimit = -inf
            float physics:upperLimit = inf
            float physxJoint:maxJointVelocity = 1000000
            float physxLimit:cone:damping = 0
        }

        over "idx39_gripper_l_inner_joint0" (
            active = true
            delete apiSchemas = ["PhysicsDriveAPI:angular"]
            prepend apiSchemas = ["PhysxLimitAPI: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 physxLimit:angular:restitution = 0.1
            float state:angular:physics:position = 0
            float state:angular:physics:velocity = 0
        }

        over "idx49_gripper_l_outer_joint0" (
            active = true
            delete apiSchemas = ["PhysicsDriveAPI:angular"]
            prepend apiSchemas = ["PhysxLimitAPI: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 physxLimit:angular:restitution = 0.1
            float state:angular:physics:position = 0
            float state:angular:physics:velocity = 0
        }

        over "idx52_gripper_l_center_joint" (
            active = true
        )
        {
        }

        over "idx79_gripper_r_inner_joint0" (
            active = true
            delete apiSchemas = ["PhysicsDriveAPI:angular"]
            prepend apiSchemas = ["PhysxLimitAPI: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 physxLimit:angular:restitution = 0.1
            float state:angular:physics:position = 0
            float state:angular:physics:velocity = 0
        }

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

        over "idx89_gripper_r_outer_joint0" (
            active = true
            delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysxMimicJointAPI:rotX"]
            prepend apiSchemas = ["PhysxLimitAPI:angular"]
        )
        {
            float drive:angular:physics:damping = 1
            float drive:angular:physics:maxForce = inf
            float drive:angular:physics:stiffness = 10
            float drive:angular:physics:targetPosition = 0
            string isaac:nameOverride (
                displayName = "Name Override"
                doc = "Name override for prim lookup in base name search"
            )
            float physxJoint:armature = 0.001
            float physxJoint:maxJointVelocity = 10000
            float physxLimit:angular:restitution = 0.1
            float state:angular:physics:position = 0
            float state:angular:physics:velocity = 0
        }

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

        over "idx20_arm_l_base_joint"
        {
            string isaac:nameOverride (
                displayName = "Name Override"
                doc = "Name override for prim lookup in base name search"
            )
        }
    }

    over "Looks"
    {
        over "Black_002"
        {
            over "Black_002"
            {
                float inputs:reflection_roughness_constant = 0.35
            }
        }

        over "material_1___Default"
        {
            over "material_1___Default"
            {
                float inputs:albedo_brightness = 1
                color3f inputs:diffuse_color_constant = (0.144, 0.14221951, 0.13641113)
                float inputs:metallic_constant = 0
                float inputs:reflection_roughness_constant = 0.5
            }
        }

        over "material_3___Default"
        {
            over "material_3___Default"
            {
                float inputs:albedo_brightness = 1
                color3f inputs:diffuse_color_constant = (0.555, 0.4350001, 0.4350001)
                float inputs:metallic_constant = 1
                float inputs:reflection_roughness_constant = 0.32
            }
        }

        over "material_7___Default"
        {
            over "material_7___Default"
            {
                float inputs:albedo_brightness = 0.96
                color3f inputs:diffuse_color_constant = (0.155, 0.155, 0.155)
                float inputs:metallic_constant = 1
                float inputs:reflection_roughness_constant = 0.47
            }
        }

        over "material_2___Default"
        {
            over "material_2___Default"
            {
                float inputs:albedo_brightness = 1
                color3f inputs:diffuse_color_constant = (0.004, 0.004, 0.004)
            }
        }

        over "White_002"
        {
            over "White_002"
            {
                color3f inputs:diffuse_color_constant = (0.8862746, 0.8857097, 0.8020785)
                float inputs:reflection_roughness_constant = 0.14999999
            }
        }

        over "white_001"
        {
            over "white_001"
            {
                float inputs:albedo_add = 0
                float inputs:albedo_brightness = 1
                color3f inputs:diffuse_color_constant = (0.8862746, 0.8857097, 0.8020785)
                float inputs:reflection_roughness_constant = 0.14999999
            }
        }

        over "material_white"
        {
            over "Shader"
            {
                color3f inputs:diffuse_color_constant = (0.8862746, 0.8857097, 0.8020785)
                float inputs:reflection_roughness_constant = 0.14999999
            }
        }
    }

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

    over "loop_joints"
    {
        over PhysicsRevoluteJoint "idx53_gripper_l_outer_joint0" (
            delete apiSchemas = ["PhysicsDriveAPI:angular"]
            prepend apiSchemas = ["PhysicsJointStateAPI:angular", "PhysxJointAPI", "PhysxLimitAPI:angular"]
        )
        {
            float drive:angular:physics:damping
            float drive:angular:physics:maxForce
            float drive:angular:physics:stiffness = 0
            float drive:angular:physics:targetPosition
            float drive:angular:physics:targetVelocity
            uniform token drive:angular:physics:type
            rel physics:body0 = </G1/gripper_l_outer_link4>
            rel physics:body1 = </G1/gripper_l_outer_link2>
            uniform bool physics:excludeFromArticulation = 0
            bool physics:jointEnabled = 1
            point3f physics:localPos0 = (8.553238e-10, 0.010280432, -2.7292058e-8)
            point3f physics:localPos1 = (0.0316, 0.009602209, 0.000028008219)
            quatf physics:localRot0 = (0.70710677, 0, 0.70710677, 0)
            quatf physics:localRot1 = (0.70710677, 0, 0.70710677, 0)
            float physics:lowerLimit = -180
            float physics:upperLimit = 180
            float physxJoint:maxJointVelocity = 1000000
            float physxLimit:angular:damping = 0
            float state:angular:physics:position = 0
            float state:angular:physics:velocity = 0
        }

        over PhysicsRevoluteJoint "idx54_gripper_l_inner_joint0" (
            delete apiSchemas = ["PhysicsDriveAPI:angular"]
            prepend apiSchemas = ["PhysicsJointStateAPI:angular", "PhysxJointAPI", "PhysxLimitAPI:angular"]
        )
        {
            float drive:angular:physics:damping
            float drive:angular:physics:maxForce
            float drive:angular:physics:stiffness = 0
            float drive:angular:physics:targetPosition
            float drive:angular:physics:targetVelocity
            uniform token drive:angular:physics:type
            rel physics:body0 = </G1/gripper_l_inner_link4>
            rel physics:body1 = </G1/gripper_l_inner_link2>
            uniform bool physics:excludeFromArticulation = 0
            bool physics:jointEnabled = 1
            point3f physics:localPos0 = (-8.553229e-10, -0.010280425, 2.739001e-8)
            point3f physics:localPos1 = (0.0316, -0.00960228, -0.000028019636)
            quatf physics:localRot0 = (6.123234e-17, 0.70710677, 4.3297803e-17, 0.70710677)
            quatf physics:localRot1 = (6.123234e-17, 0.70710677, 4.3297803e-17, 0.70710677)
            float physics:lowerLimit = -180
            float physics:upperLimit = 180
            float physxJoint:maxJointVelocity = 1000000
            float physxLimit:angular:damping = 0
            float state:angular:physics:position = 0
            float state:angular:physics:velocity = 0
        }

        over PhysicsRevoluteJoint "idx93_gripper_r_outer_joint0" (
            active = true
            delete apiSchemas = ["PhysicsDriveAPI:angular"]
            prepend apiSchemas = ["PhysicsJointStateAPI:angular", "PhysxJointAPI"]
        )
        {
            float drive:angular:physics:damping
            float drive:angular:physics:maxForce
            float drive:angular:physics:stiffness
            float drive:angular:physics:targetPosition
            float drive:angular:physics:targetVelocity
            uniform token drive:angular:physics:type
            rel physics:body0 = </G1/gripper_r_outer_link4>
            rel physics:body1 = </G1/gripper_r_outer_link2>
            uniform bool physics:excludeFromArticulation = 0
            bool physics:jointEnabled = 1
            point3f physics:localPos0 = (0, 0.01, 0)
            point3f physics:localPos1 = (0.0316, 0.01, 0)
            quatf physics:localRot0 = (0.7071069, 1.6831714e-7, 0.70710665, 2.519124e-7)
            quatf physics:localRot1 = (0.7071069, 1.6831714e-7, 0.70710665, 2.519124e-7)
            float physics:lowerLimit = -180
            float physics:upperLimit = 180
            float physxJoint:maxJointVelocity = 1000000
            float state:angular:physics:position = -6.7353466e-7
            float state:angular:physics:velocity = -0.0000022050615
        }

        over PhysicsRevoluteJoint "idx94_gripper_r_inner_joint0" (
            active = true
            delete apiSchemas = ["PhysicsDriveAPI:angular"]
            prepend apiSchemas = ["PhysicsJointStateAPI:angular", "PhysxJointAPI"]
        )
        {
            float drive:angular:physics:damping
            float drive:angular:physics:maxForce
            float drive:angular:physics:stiffness
            float drive:angular:physics:targetPosition
            float drive:angular:physics:targetVelocity
            uniform token drive:angular:physics:type
            rel physics:body0 = </G1/gripper_r_inner_link4>
            rel physics:body1 = </G1/gripper_r_inner_link2>
            uniform bool physics:excludeFromArticulation = 0
            bool physics:jointEnabled = 1
            point3f physics:localPos0 = (0, -0.01, 0)
            point3f physics:localPos1 = (0.0316, -0.01, 0)
            quatf physics:localRot0 = (-1.7993496e-8, 0.7071067, -1.468232e-7, 0.7071068)
            quatf physics:localRot1 = (-1.7993496e-8, 0.7071067, -1.468232e-7, 0.7071068)
            float physics:lowerLimit = -180
            float physics:upperLimit = 180
            float physxJoint:maxJointVelocity = 1000000
            float state:angular:physics:position = 9.1627373e-7
            float state:angular:physics:velocity = 0.0000031133886
        }

        over "idx53_gripper_l_outer_joint2" (
            active = true
            prepend apiSchemas = ["PhysxJointAPI", "PhysxLimitAPI:cone"]
        )
        {
            uniform token physics:axis = "Z"
            point3f physics:localPos0 = (0, 0.022, 0.073)
            point3f physics:localPos1 = (-0.032, -0.01, 0)
            quatf physics:localRot0 = (0.0046482855, 0.7070915, -0.004648252, 0.7070915)
            quatf physics:localRot1 = (1, 2.5377787e-8, -8.560052e-8, -1.27006e-7)
            float physxJoint:armature = 0.001
            float physxJoint:maxJointVelocity = 10000
            float physxLimit:cone:restitution = 1
        }

        over "idx54_gripper_l_inner_joint2" (
            active = true
            prepend apiSchemas = ["PhysxJointAPI", "PhysxLimitAPI:cone"]
        )
        {
            uniform token physics:axis = "Z"
            point3f physics:localPos0 = (0, -0.022, 0.073)
            point3f physics:localPos1 = (-0.032, 0.01, 0)
            quatf physics:localRot0 = (0.0046482855, 0.7070915, -0.004648252, 0.7070915)
            quatf physics:localRot1 = (1, 2.5377787e-8, -8.560052e-8, -1.27006e-7)
            float physxJoint:armature = 0.001
            float physxJoint:maxJointVelocity = 10000
            float physxLimit:cone:restitution = 1
        }

        over PhysicsSphericalJoint "idx93_gripper_r_outer_joint2" (
            active = true
            prepend apiSchemas = ["PhysxLimitAPI:cone", "PhysxJointAPI"]
        )
        {
            uniform token physics:axis = "Z"
            point3f physics:localPos0 = (0, 0.022, 0.073)
            point3f physics:localPos1 = (-0.032, -0.01, 0)
            quatf physics:localRot0 = (0.004648279, 0.7070915, -0.0046482584, 0.7070915)
            quatf physics:localRot1 = (1, 3.778885e-8, 1.02719035e-7, 4.0319208e-7)
            float physxJoint:armature = 0.001
            float physxJoint:maxJointVelocity = 10000
            float physxLimit:cone:restitution = 1
        }

        over PhysicsSphericalJoint "idx94_gripper_r_inner_joint2" (
            active = true
            prepend apiSchemas = ["PhysxLimitAPI:cone", "PhysxJointAPI"]
        )
        {
            uniform token physics:axis = "Z"
            point3f physics:localPos0 = (0, -0.022, 0.073)
            point3f physics:localPos1 = (-0.032, 0.01, 0)
            quatf physics:localRot0 = (0.0046464815, 0.7070915, -0.0046464815, 0.7070915)
            quatf physics:localRot1 = (1, 0, 0, 0)
            float physxJoint:armature = 0.001
            float physxJoint:maxJointVelocity = 10000
            float physxLimit:cone:restitution = 1
        }
    }

    def Material "GripperMaterial" (
        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
                token omni:rtx:rendermode = "RealTimePathTracing"
                color3f omni:rtx:rt:ambientLight:color = (0.1, 0.1, 0.1)
                bool omni:rtx:rt:demoire = 0
                bool omni:rtx:rt:ecoMode:enabled
                bool omni:rtx:rt:lightcache:spatialCache:dontResolveConflicts = 1
                bool omni:rtx:scene:hydra:materialSyncLoads = 1
                bool omni:rtx:scene:hydra:mdlMaterialWarmup = 1
                uint omni:rtx:viewTile:limit = 4294967295
                rel orderedVars = </Render/Vars/LdrColor>
                custom bool overrideClipRange = 0
                uniform int2 resolution = (3840, 2160)
            }

            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 = </G01/gripper_r_base_link/Right_Camera>
                token omni:rtx:background:source:texture:textureMode = "repeatMirrored"
                token omni:rtx:background:source:type = "domeLight"
                bool omni:rtx:dlss:frameGeneration = 0
                bool omni:rtx:material:db:nonVisualMaterialCSV:enabled = 0
                bool omni:rtx:material:db:syncLoads = 1
                token omni:rtx:post:dlss:execMode = "performance"
                bool omni:rtx:post:registeredCompositing:invertColorCorrection = 1
                bool omni:rtx:post:registeredCompositing:invertToneMap = 1
                bool omni:rtx:pt:lightcache:cached:dontResolveConflicts = 1
                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 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>,
            </Render/OmniverseKit/HydraTextures/Replicator>,
        ]
    }

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

def Scope "Replicator"
{
    def OmniGraph "SDGPipeline"
    {
        token evaluationMode = "Automatic"
        token evaluator:type = "execution"
        token fabricCacheBacking = "StageWithoutHistory"
        int2 fileFormatVersion = (1, 9)
        custom int64 graph:variable:globalSeed (
            customData = {
                token scope = "private"
            }
            displayName = "globalSeed"
        )
        token pipelineStage = "pipelineStageSimulation"
    }
}