Add Robot-Body packages: universalrobots_ur5e, universalrobots_ur7e, yahboom_dofbot, yaskawa_motoman_next_nex10

.gitattributes

@@ -232,3 +232,16 @@ universalrobots_ur3/payloads/geometries.usd filter=lfs diff=lfs merge=lfs -text
 universalrobots_ur30/payloads/geometries.usd filter=lfs diff=lfs merge=lfs -text
 universalrobots_ur3e/payloads/geometries.usd filter=lfs diff=lfs merge=lfs -text
 universalrobots_ur5/payloads/geometries.usd filter=lfs diff=lfs merge=lfs -text
+universalrobots_ur5e/payloads/Gripper/dependencies/Defeatured_2F_85_PAD_OPEN_basestep_JFX.usd filter=lfs diff=lfs merge=lfs -text
+universalrobots_ur5e/payloads/Gripper/dependencies/Defeatured_2F_85_PAD_OPEN_finger2step_JFP.usd filter=lfs diff=lfs merge=lfs -text
+universalrobots_ur5e/payloads/Gripper/dependencies/Defeatured_2F_85_PAD_OPEN_finger3step_JFL.usd filter=lfs diff=lfs merge=lfs -text
+universalrobots_ur5e/payloads/Gripper/dependencies/Defeatured_2F_85_PAD_OPEN_finger4step_JFH.usd filter=lfs diff=lfs merge=lfs -text
+universalrobots_ur5e/payloads/geometries.usd filter=lfs diff=lfs merge=lfs -text
+universalrobots_ur7e/payloads/Gripper/dependencies/Defeatured_2F_85_PAD_OPEN_basestep_JFX.usd filter=lfs diff=lfs merge=lfs -text
+universalrobots_ur7e/payloads/Gripper/dependencies/Defeatured_2F_85_PAD_OPEN_finger2step_JFP.usd filter=lfs diff=lfs merge=lfs -text
+universalrobots_ur7e/payloads/Gripper/dependencies/Defeatured_2F_85_PAD_OPEN_finger3step_JFL.usd filter=lfs diff=lfs merge=lfs -text
+universalrobots_ur7e/payloads/Gripper/dependencies/Defeatured_2F_85_PAD_OPEN_finger4step_JFH.usd filter=lfs diff=lfs merge=lfs -text
+universalrobots_ur7e/payloads/geometries.usd filter=lfs diff=lfs merge=lfs -text
+yahboom_dofbot/dofbot.usda filter=lfs diff=lfs merge=lfs -text
+yahboom_dofbot/payloads/geometries.usd filter=lfs diff=lfs merge=lfs -text
+yaskawa_motoman_next_nex10/payloads/geometries.usd filter=lfs diff=lfs merge=lfs -text

universalrobots_ur5e/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json

@@ -0,0 +1,35 @@
+{
+  "format_version": "1.0",
+  "profile": "Package-Candidate",
+  "profile_version": "1.0.0",
+  "timestamp": "2026-10-23T23:04:34",
+  "assets": [
+    {
+      "asset": "ur5e.usda",
+      "features": [
+        {
+          "FET_031_STANDARD": {
+            "version": "0.1.0",
+            "passed": true,
+            "failing_requirements": [],
+            "dependencies": []
+          }
+        },
+        {
+          "FET_033_STANDARD": {
+            "version": "0.1.0",
+            "passed": true,
+            "failing_requirements": [],
+            "dependencies": [
+              {
+                "FET_031_STANDARD": {
+                  "version": "0.1.0"
+                }
+              }
+            ]
+          }
+        }
+      ]
+    }
+  ]
+}

universalrobots_ur5e/.metadata/com.nvidia.simready.packaging.bom.json

@@ -0,0 +1,327 @@
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+    {
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+    {
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+      "size": 16386,
+      "hash": {
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+    }
+  ]
+}

universalrobots_ur5e/.metadata/com.nvidia.simready.root_usds.json

@@ -0,0 +1,6 @@
+{
+  "format_version": "1.0",
+  "entries": [
+    "ur5e.usda"
+  ]
+}

universalrobots_ur5e/.metadata/license.txt

@@ -0,0 +1,25 @@
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+
+   * Redistributions of source code must retain the above copyright
+     notice, this list of conditions and the following disclaimer.
+
+   * Redistributions in binary form must reproduce the above copyright
+     notice, this list of conditions and the following disclaimer in the
+     documentation and/or other materials provided with the distribution.
+
+   * Neither the name of the copyright holder nor the names of its
+     contributors may be used to endorse or promote products derived from
+     this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+POSSIBILITY OF SUCH DAMAGE.

universalrobots_ur5e/.simready/validation.json

@@ -0,0 +1,223 @@
+{
+  "SimReady_Metadata": {
+    "validation": {
+      "profile": "Robot-Body",
+      "profile_version": "3.0.0",
+      "validated_features": {
+        "2026-10-20": {
+          "CAP000_Core.Isaac.0-1-0": {
+            "blocking_failure": false,
+            "dependencies": "['CAP000_Core.OpenUSD.0-1-0']",
+            "passed": true,
+            "version": "0-1-0"
+          },
+          "CAP000_Core.MuJoCo.0-1-0": {
+            "blocking_failure": false,
+            "dependencies": "['CAP000_Core.OpenUSD.0-1-0']",
+            "passed": true,
+            "version": "0-1-0"
+          },
+          "CAP000_Core.Newton.0-1-0": {
+            "blocking_failure": false,
+            "dependencies": "['CAP000_Core.OpenUSD.0-1-0']",
+            "passed": true,
+            "version": "0-1-0"
+          },
+          "CAP000_Core.OpenUSD.0-1-0": {
+            "blocking_failure": false,
+            "dependencies": "[]",
+            "passed": true,
+            "version": "0-1-0"
+          },
+          "CAP000_Core.PhysX.0-1-0": {
+            "blocking_failure": false,
+            "dependencies": "['CAP000_Core.OpenUSD.0-1-0']",
+            "passed": true,
+            "version": "0-1-0"
+          },
+          "CAP003_RigidBody.MuJoCo.0-1-0": {
+            "blocking_failure": false,
+            "dependencies": "[]",
+            "passed": true,
+            "version": "0-1-0"
+          },
+          "CAP004_Multibody.MuJoCo.0-1-0": {
+            "blocking_failure": false,
+            "dependencies": "['CAP003_RigidBody.MuJoCo.0-1-0']",
+            "passed": true,
+            "version": "0-1-0"
+          },
+          "CAP004_Multibody.RobotMuJoCo.0-1-0": {
+            "blocking_failure": false,
+            "dependencies": "[]",
+            "passed": true,
+            "version": "0-1-0"
+          },
+          "CAP021_RobotCore.Isaac.0-3-0": {
+            "blocking_failure": false,
+            "dependencies": "[]",
+            "passed": true,
+            "version": "0-3-0"
+          },
+          "CAP022_DrivenJoints.MuJoCo.0-1-0": {
+            "blocking_failure": false,
+            "dependencies": "['CAP004_Multibody.RobotMuJoCo.0-1-0']",
+            "passed": true,
+            "version": "0-1-0"
+          },
+          "CAP023_RobotMaterials.Isaac.0-1-0": {
+            "blocking_failure": false,
+            "dependencies": "[]",
+            "passed": true,
+            "version": "0-1-0"
+          },
+          "CAP024_BaseArticulation.MuJoCo.0-1-0": {
+            "blocking_failure": false,
+            "dependencies": "['CAP024_BaseArticulation.OpenUSD.0-1-0']",
+            "passed": true,
+            "version": "0-1-0"
+          },
+          "CAP024_BaseArticulation.Newton.0-1-0": {
+            "blocking_failure": false,
+            "dependencies": "['CAP024_BaseArticulation.OpenUSD.0-1-0']",
+            "passed": true,
+            "version": "0-1-0"
+          },
+          "CAP024_BaseArticulation.OpenUSD.0-1-0": {
+            "blocking_failure": false,
+            "dependencies": "[]",
+            "passed": true,
+            "version": "0-1-0"
+          },
+          "CAP024_BaseArticulation.PhysX.0-1-0": {
+            "blocking_failure": false,
+            "dependencies": "['CAP024_BaseArticulation.OpenUSD.0-1-0']",
+            "passed": true,
+            "version": "0-1-0"
+          },
+          "CAP025_RosBridge.Ros.0-1-0": {
+            "blocking_failure": false,
+            "dependencies": "[]",
+            "optional requirements": "['com.nvidia.simready.ROS.001']",
+            "passed": false,
+            "version": "0-1-0"
+          },
+          "CAP031_SelfContainedPackage.OpenUSD.0-1-0": {
+            "blocking_failure": false,
+            "dependencies": "[]",
+            "passed": true,
+            "version": "0-1-0"
+          },
+          "CAP033_SimReadyPackage.OpenUSD.0-4-0": {
+            "blocking_failure": false,
+            "dependencies": "['CAP031_SelfContainedPackage.OpenUSD.0-1-0']",
+            "passed": true,
+            "version": "0-4-0"
+          },
+          "CAP100_IsaacComposition.Isaac.0-3-0": {
+            "blocking_failure": false,
+            "dependencies": "[]",
+            "passed": true,
+            "version": "0-3-0"
+          },
+          "FET001_MinimalPlaceableVisual.OpenUSD.1-0-1": {
+            "blocking_failure": false,
+            "dependencies": "[]",
+            "passed": true,
+            "version": "1-0-1"
+          },
+          "FET003_RigidBody.Newton.0-1-0": {
+            "blocking_failure": false,
+            "dependencies": "[]",
+            "passed": true,
+            "version": "0-1-0"
+          },
+          "FET003_RigidBody.OpenUSD.0-2-0": {
+            "blocking_failure": false,
+            "dependencies": "[]",
+            "passed": true,
+            "version": "0-2-0"
+          },
+          "FET003_RigidBody.PhysX.0-4-0": {
+            "blocking_failure": false,
+            "dependencies": "[]",
+            "passed": true,
+            "version": "0-4-0"
+          },
+          "FET004_Multibody.Newton.0-1-0": {
+            "blocking_failure": false,
+            "dependencies": "['FET003_RigidBody.Newton.0-1-0']",
+            "passed": true,
+            "version": "0-1-0"
+          },
+          "FET004_Multibody.OpenUSD.0-2-0": {
+            "blocking_failure": false,
+            "dependencies": "['FET003_RigidBody.OpenUSD.0-2-0']",
+            "passed": true,
+            "version": "0-2-0"
+          },
+          "FET004_Multibody.PhysX.0-4-0": {
+            "blocking_failure": false,
+            "dependencies": "['FET003_RigidBody.PhysX.0-4-0']",
+            "passed": true,
+            "version": "0-4-0"
+          },
+          "FET004_Multibody.RobotNewton.0-1-0": {
+            "blocking_failure": false,
+            "dependencies": "[]",
+            "passed": true,
+            "version": "0-1-0"
+          },
+          "FET006_Materials.MDL.0-2-0": {
+            "blocking_failure": false,
+            "dependencies": "[]",
+            "passed": true,
+            "version": "0-2-0"
+          },
+          "FET006_Materials.OpenUSD.0-2-0": {
+            "blocking_failure": false,
+            "dependencies": "[]",
+            "passed": true,
+            "version": "0-2-0"
+          },
+          "FET006_Materials.Openpbr.0-1-0": {
+            "blocking_failure": false,
+            "dependencies": "[]",
+            "passed": true,
+            "version": "0-1-0"
+          },
+          "FET010_DisplayColor.OpenUSD.0-1-0": {
+            "blocking_failure": false,
+            "dependencies": "[]",
+            "passed": true,
+            "version": "0-1-0"
+          },
+          "FET022_DrivenJoints.Isaac.0-2-0": {
+            "blocking_failure": false,
+            "dependencies": "['FET022_DrivenJoints.PhysX.0-2-0']",
+            "passed": true,
+            "version": "0-2-0"
+          },
+          "FET022_DrivenJoints.Newton.0-1-0": {
+            "blocking_failure": false,
+            "dependencies": "['FET004_Multibody.RobotNewton.0-1-0']",
+            "passed": true,
+            "version": "0-1-0"
+          },
+          "FET022_DrivenJoints.OpenUSD.0-2-0": {
+            "blocking_failure": false,
+            "dependencies": "['FET004_Multibody.OpenUSD.0-2-0']",
+            "passed": true,
+            "version": "0-2-0"
+          },
+          "FET022_DrivenJoints.PhysX.0-2-0": {
+            "blocking_failure": false,
+            "dependencies": "['FET004_Multibody.PhysX.0-4-0']",
+            "passed": true,
+            "version": "0-2-0"
+          }
+        }
+      }
+    }
+  }
+}

universalrobots_ur5e/.thumbs/256x256/.ur5e.usda.last_generated

@@ -0,0 +1 @@
+2026-08-11 03:48:43

universalrobots_ur5e/com.nvidia.simready.packaging.json

@@ -0,0 +1,37 @@
+{
+  "format_version": "1.0",
+  "package_id": "universalrobots_ur5e.1.0.0",
+  "license": "BSD-3-Clause",
+  "metadata": [
+    {
+      "name": "com.nvidia.simready.conformance.Package-Candidate@1.0.0.json",
+      "hash": {
+        "sha256": "d780761b29efef8f6950102cc3ebff8e4c20b6576bb8720d9fde88a6487abab2"
+      }
+    },
+    {
+      "name": "com.nvidia.simready.packaging.bom.json",
+      "hash": {
+        "sha256": "d9ba43dcec8a1d71dd632dc78a951aa9f18d8a2dabc12e982c4d9e98aa820bb7"
+      }
+    },
+    {
+      "name": "com.nvidia.simready.root_usds.json",
+      "hash": {
+        "sha256": "56143ca4bf07b53d922920608a6d1bc508fc3947b433673424613a72334b4ada"
+      }
+    },
+    {
+      "name": "license.txt",
+      "hash": {
+        "sha256": "143077f9f6a8de5a99f78c2c2472801fb53cf240277ef661642f079b9acdfff8"
+      }
+    }
+  ],
+  "content_hash": {
+    "sha256": "fee68458025275a14d988ef88889681ec86237abe2c7d6d6d83dd7c74b468338"
+  },
+  "package_hash": {
+    "sha256": "f5fb6dda6804b3945807573b6b8e8d357a46ee4531d58b15359d5a92276e01f0"
+  }
+}

universalrobots_ur5e/materials/mdl/LICENSE.md

@@ -0,0 +1,73 @@
+# NVIDIA Omniverse Core Materials Licenses
+
+## Primary License
+This project is primarily licensed under the BSD-3-Clause License.
+
+```
+Copyright (c) 1986-2025 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+
+1. Redistributions of source code must retain the above copyright notice, this
+   list of conditions and the following disclaimer.
+
+2. Redistributions in binary form must reproduce the above copyright notice,
+   this list of conditions and the following disclaimer in the documentation
+   and/or other materials provided with the distribution.
+
+3. Neither the name of the copyright holder nor the names of its
+   contributors may be used to endorse or promote products derived from
+   this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+```
+
+## Third-Party Licenses
+
+### Apache License 2.0
+The following components are licensed under the Apache License 2.0:
+
+#### MaterialX Components
+Files in `/source/mdl/materialx` are licensed under Apache License 2.0 per the MaterialX project:
+https://github.com/AcademySoftwareFoundation/MaterialX/blob/main/LICENSE
+
+```
+Copyright Contributors to the MaterialX Project
+
+Licensed under the Apache License, Version 2.0 (the "License");
+you may not use this file except in compliance with the License.
+You may obtain a copy of the License at
+
+    http://www.apache.org/licenses/LICENSE-2.0
+
+Unless required by applicable law or agreed to in writing, software
+distributed under the License is distributed on an "AS IS" BASIS,
+WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+See the License for the specific language governing permissions and
+limitations under the License.
+```
+
+## SPDX License Identifiers
+Files in this project use the following SPDX license identifiers:
+- `SPDX-License-Identifier: BSD-3-Clause` - Used for NVIDIA-owned code
+- `SPDX-License-Identifier: Apache-2.0` - Used for MaterialX components
+
+## License Attribution
+This project contains code from multiple sources:
+1. NVIDIA Corporation (BSD-3-Clause) - Primary codebase
+2. Academy Software Foundation (Apache-2.0) - MaterialX components
+
+## License Scope
+- All files in the project are licensed under BSD-3-Clause unless explicitly stated otherwise
+- Files in `/source/mdl/materialx` are licensed under Apache-2.0
+- All other files are licensed under BSD-3-Clause 

universalrobots_ur5e/materials/mdl/OmniPBR.mdl

@@ -0,0 +1,396 @@
+/*
+ * SPDX-FileCopyrightText: Copyright (c) 2022-2025 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
+ * SPDX-License-Identifier: BSD-3-Clause
+ */
+
+mdl 1.7;
+
+import ::df::*;
+import ::state::*;
+import ::math::*;
+import ::base::*;
+import ::state::*;
+import ::tex::*;
+import ::anno::*;
+
+import ::debug::*;
+
+import core_definitions::file_texture;
+import core_definitions::normalmap_texture;
+
+import OmniPBR_ClearCoat::*;
+
+
+//  OmniPBR  //
+
+export material OmniPBR(
+
+    //  Albdeo  //
+
+	color diffuse_color_constant = color(0.2) [[
+		anno::display_name("Albedo Color"),
+		anno::description("This is the albedo base color"),
+		anno::in_group("Albedo")
+	]],
+	uniform texture_2d diffuse_texture = texture_2d() [[
+		anno::display_name("Albedo Map"),
+		anno::in_group("Albedo")
+	]],
+	float albedo_desaturation = float(0.0) [[
+		anno::display_name("Albedo Map Desaturation"),
+		anno::description("Desaturates the albedo map"),
+		anno::in_group("Albedo"),
+		anno::soft_range(float(0.0), float(1.0))
+	]],
+	float albedo_add = float(0.0) [[
+		anno::display_name("Albedo Add"),
+		anno::description("Adds a constant value to the diffuse color "),
+		anno::in_group("Albedo"),
+		anno::soft_range(float(-1.0), float(1.0))
+	]],	
+	float albedo_brightness = float(1.0) [[
+		anno::display_name("Albedo Brightness"),
+		anno::description("Multiplier for the diffuse color "),
+		anno::in_group("Albedo"),
+		anno::soft_range(float(0.0), float(1.0))
+	]],	
+	color diffuse_tint = color(1.0) [[
+		anno::display_name("Color Tint"),
+		anno::description("When enabled, this color value is multiplied over the final albedo color"),
+		anno::in_group("Albedo")
+	]],
+	
+
+	//  Reflectivity //
+	
+	float reflection_roughness_constant = float(0.5) [[
+		anno::display_name("Roughness Amount"),
+		anno::description("Higher roughness values lead to more blurry reflections"),
+		anno::in_group("Reflectivity"),
+		anno::hard_range(float(0.0), float(1.0))
+	]],
+	float reflection_roughness_texture_influence = float(0.0) [[
+		anno::display_name("Roughness Map Influence"),
+		anno::description("Blends between the constant value and the lookup of the roughness texture"),
+		anno::in_group("Reflectivity"),
+		anno::hard_range(float(0.0), float(1.0))
+	]],
+	uniform texture_2d reflectionroughness_texture = texture_2d() [[
+		anno::display_name("Roughness Map"),
+		anno::in_group("Reflectivity"),
+		anno::usage("roughness")
+	]],
+	float metallic_constant = float(0.0) [[
+		anno::display_name("Metallic Amount"),
+		anno::description("Metallic Material"),
+		anno::in_group("Reflectivity"),
+		anno::hard_range(float(0.0), float(1.0))
+	]],	
+	float metallic_texture_influence = float(0.0) [[
+		anno::display_name("Metallic Map Influence"),
+		anno::description("Blends between the constant value and the lookup of the metallic texture"),
+		anno::in_group("Reflectivity"),
+		anno::hard_range(float(0.0), float(1.0))
+	]],
+	uniform texture_2d metallic_texture = texture_2d() [[
+		anno::display_name("Metallic Map"),
+		anno::in_group("Reflectivity"),
+		anno::usage("metalness")
+	]], 
+	float specular_level = float(0.5) [[
+		anno::display_name("Specular"),
+		anno::description("The specular level (intensity) of the material"),
+		anno::in_group("Reflectivity"),
+		anno::soft_range(float(0.0), float(1.0))
+	]],
+	
+
+	//  ORM  //
+ 
+	uniform bool enable_ORM_texture = false [[
+		anno::display_name("Enable ORM Texture"),
+		anno::description("The ORM texture will be used to extract the Occlusion, Roughness and Metallic textures from R,G,B channels"),
+		anno::in_group("Reflectivity")
+	]],
+	uniform texture_2d ORM_texture = texture_2d() [[
+		anno::display_name("ORM Map"),
+		anno::description("Texture that has Occlusion, Roughness and Metallic maps stored in their respective R, G and B channels"),
+		anno::in_group("Reflectivity"),
+		anno::usage("roughness")
+	]],
+
+
+	//  AO Group  // 
+
+	float ao_to_diffuse = 0.0 [[
+		anno::display_name("AO to diffuse"),
+		anno::description("Controls the amount of ambient occlusion multiplied against the diffuse color channel"),
+		anno::in_group("AO"),
+		anno::hard_range(float(0.0), float(1.0))
+	]],
+	uniform texture_2d ao_texture = texture_2d() [[
+		anno::display_name("Ambient Occlusion Map"),
+		anno::description("The ambient occlusion texture for the material"),
+		anno::in_group("AO"),
+		anno::usage("occlusion")
+	]],
+	
+	
+	//  Emission //  
+
+	uniform bool enable_emission = false [[
+        anno::display_name("Enable Emission"),
+		anno::description("Enables the emission of light from the material"),
+		anno::in_group("Emissive")
+	]],
+	color emissive_color = color(1.0,0.1,0.1) [[
+		anno::display_name("Emissive Color"),
+		anno::description("The emission color"),
+		anno::in_group("Emissive"),
+		anno::enable_if("enable_emission == true")
+	]],
+    	uniform texture_2d emissive_color_texture = texture_2d() [[ 
+		anno::display_name("Emissive Color map"),
+        anno::in_group("Emissive"),
+		anno::description("The emissive color texture"),
+        anno::enable_if("enable_emission == true")
+    ]],	
+	uniform texture_2d emissive_mask_texture = texture_2d() [[
+		anno::display_name("Emissive Mask map"),
+		anno::description("The texture masking the emissive color"),
+		anno::in_group("Emissive"),
+		anno::enable_if("enable_emission == true"),
+	 	anno::usage("occlusion")
+	]],
+	float emissive_intensity = float(40.0) [[
+		anno::display_name("Emissive Intensity"),    
+		anno::description("Intensity of the emission"),
+		anno::in_group("Emissive"),
+		anno::enable_if("enable_emission == true")
+	]],	
+
+
+    //  Cutout Opacity  //
+	
+    uniform bool enable_opacity = false [[
+		anno::display_name("Enable Opacity"),
+		anno::description("Enables the use of cutout opacity"),
+		anno::in_group("Opacity")
+	]],
+ 	uniform texture_2d opacity_texture = texture_2d() [[
+		anno::display_name("Opacity Map"),
+		anno::in_group("Opacity"),
+		anno::usage("opacity")
+	]],
+	float opacity_constant = float(1.0) [[
+		anno::display_name("Opacity Amount"),    
+		anno::description("Opacity value between 0 and 1, when Opacity Map is not valid"),
+		anno::in_group("Opacity"),
+		anno::hard_range(float(0.0), float(1.0))
+	]],
+	uniform bool enable_opacity_texture = false [[
+		anno::display_name("Enable Opacity Texture"),
+		anno::description("Enables or disables the usage of the opacity texture map"),
+		anno::in_group("Opacity")
+	]],
+	uniform base::mono_mode opacity_mode = base::mono_average [[
+		anno::display_name("Opacity Mono Source"),
+		anno::description("Determines how to lookup opacity from the supplied texture. mono_alpha, mono_average, mono_luminance, mono_maximum"),
+		anno::in_group("Opacity")
+	]],
+	uniform float opacity_threshold = float(0.0) [[
+		anno::hard_range(0.0, 1.0),
+		anno::display_name("Opacity Threshold"),
+		anno::description("If 0, use fractional opacity values 'as is'; if > 0, remap opacity values to 1 when >= threshold and to 0 otherwise"),
+		anno::in_group("Opacity")
+	]],
+
+
+	//  Normal  // 
+	
+	uniform float geometry_normal_roughness_strength = 1.f
+	[[
+		anno::hard_range(0.0, 1.0),
+		anno::display_name("Normal map to roughness weight"),
+		anno::description("Enables and weights roughness induced by normal maps"),
+		anno::in_group("Normal")
+	]],
+	uniform float bump_factor = float(1.0) [[
+		anno::display_name("Normal Strength"),
+		anno::description("Strength of normal map"),
+		anno::in_group("Normal"),
+		anno::soft_range(float(0.0), float(1.0))
+	]],
+	uniform texture_2d normalmap_texture = texture_2d() [[
+		anno::display_name("Normal Map"),
+		anno::in_group("Normal"),
+		anno::usage("normal")
+	]], 
+	uniform float detail_bump_factor = float(0.3) [[
+		anno::display_name("Detail Normal Strength"),
+		anno::in_group("Normal"),
+		anno::description("Strength of the detail normal"),
+		anno::soft_range(float(0.0), float(1.0))
+	]],
+	uniform texture_2d detail_normalmap_texture = texture_2d() [[
+		anno::display_name("Detail Normal Map"),
+		anno::in_group("Normal"),
+		anno::usage("normal")
+	]],
+	uniform bool flip_tangent_u = false  [[
+        anno::display_name("Normal Map Flip U Tangent"),
+        anno::in_group("Normal")
+    	]],
+	uniform bool flip_tangent_v = true [[
+        anno::display_name("Normal Map Flip V Tangent"),
+        anno::in_group("Normal")
+    	]],
+
+
+	//  UVW Projection Group  //
+
+	uniform bool project_uvw = false [[
+		anno::display_name("Enable Project UVW Coordinates"),
+		anno::description("When enabled, UV coordinates will be generated by projecting them from a coordinate system"),
+		anno::in_group("UV")
+	]],
+	uniform bool world_or_object = false [[
+		anno::display_name("Enable World Space"),
+		anno::description("When enabled, uses world space for projection, otherwise object space is used"),
+		anno::in_group("UV"),
+		anno::enable_if("project_uvw == true")
+	]],
+	uniform int uv_space_index =  0 [[
+		anno::display_name("UV Space Index"),
+		anno::description("UV Space Index."),
+		anno::in_group("UV"),
+		anno::enable_if("project_uvw == true"),
+		anno::hard_range(int(0), int(3))
+	]],
+	
+
+	//  UVW Adjustments Group  //
+
+	uniform float2 texture_translate =  float2(0.0) [[
+		anno::display_name("Texture Translate"),
+		anno::description("Controls position of texture."),
+		anno::in_group("UV"),
+		anno::enable_if("project_uvw == true")
+	]],
+	uniform float texture_rotate = float(0.0) [[
+		anno::display_name("Texture Rotate"),
+		anno::description("Rotates angle of texture in degrees."),
+		anno::in_group("UV"),
+		anno::enable_if("project_uvw == true")
+	]],
+	uniform float2 texture_scale =  float2(1.0) [[
+		anno::display_name("Texture Tiling"),
+		anno::description("Controls the repetition of the texture."),
+		anno::in_group("UV"),
+		anno::enable_if("project_uvw == true")
+	]],
+	uniform float2 detail_texture_translate =  float2(0.0) [[
+		anno::display_name("Detail Texture Translate"),
+		anno::description("Controls the position of the detail texture."),
+		anno::in_group("UV"),
+		anno::enable_if("project_uvw == true")
+	]],
+	uniform float detail_texture_rotate =  float(0.0) [[
+		anno::display_name("Detail Texture Rotate"),
+		anno::description("Rotates angle of the detail texture in degrees."),
+		anno::in_group("UV"),
+		anno::enable_if("project_uvw == true")
+	]],
+	uniform float2 detail_texture_scale =  float2(1.0) [[
+		anno::display_name("Detail Texture Tiling"),
+		anno::description("Controls the repetition of the detail texture."),
+		anno::in_group("UV"),
+		anno::enable_if("project_uvw == true")
+    ]],
+    
+
+    //  Geometry  //
+
+    uniform float round_edges_radius = float(0.0) [[
+        anno::display_name("Round Edge Radius"),
+        anno::description("Influence radius around the edges in meters"),
+        anno::in_group("Geometry"),
+        anno::soft_range(0.0, 1.0)
+    ]],
+    uniform float round_edges_roundness = float(1.0) [[
+        anno::display_name("Round Edge Roundness"),
+        anno::description("Determines how round the edge will look"),
+        anno::in_group("Geometry"),
+        anno::hard_range(0.0, 1.0)
+    ]],
+    uniform bool round_edges_across_materials = false [[
+        anno::display_name("Round Edge Across Materials"),
+        anno::description("Normal smoothing happens only between facets of equal material, \n"
+                          "\t\tunless this parameter is set true, in which case the smoothing \n"
+                          "\t\thappens between facets irrespective of their materials"),
+        anno::in_group("Geometry")
+    ]]
+) 
+[[
+	anno::display_name("OmniPBR"),
+	anno::description("OmniPBR Base with support for clear coat, opacity and ORM textures."),
+    anno::in_group("Base"),
+	anno::version( 2, 1, 2),
+	anno::author("NVIDIA CORPORATION"), 
+	anno::key_words(string[]("omni", "PBR", "opacity", "omniverse", "generic"))
+]] = let {
+
+material base = OmniPBR_ClearCoat::OmniPBR_ClearCoat(
+    diffuse_color_constant: diffuse_color_constant,
+    diffuse_texture: diffuse_texture,
+    albedo_desaturation: albedo_desaturation,
+    albedo_add: albedo_add,
+    albedo_brightness: albedo_brightness,
+    diffuse_tint: diffuse_tint,
+    reflection_roughness_constant: reflection_roughness_constant,
+    reflection_roughness_texture_influence: reflection_roughness_texture_influence,
+    reflectionroughness_texture: reflectionroughness_texture,
+    metallic_constant: metallic_constant,
+    metallic_texture_influence: metallic_texture_influence,
+    metallic_texture: metallic_texture,
+    specular_level: specular_level,
+    enable_ORM_texture: enable_ORM_texture,
+    ORM_texture: ORM_texture,
+    ao_to_diffuse: ao_to_diffuse,
+    ao_texture: ao_texture,
+	enable_emission: enable_emission,
+    emissive_color: emissive_color,
+    emissive_color_texture: emissive_color_texture, 
+    emissive_mask_texture: emissive_mask_texture,
+    emissive_intensity: emissive_intensity,      
+    enable_opacity: enable_opacity,          
+    opacity_texture: opacity_texture,         
+    opacity_constant: opacity_constant,        
+    enable_opacity_texture: enable_opacity_texture,  
+    opacity_mode: opacity_mode,            
+    opacity_threshold: opacity_threshold,
+    geometry_normal_roughness_strength:     geometry_normal_roughness_strength,
+    bump_factor: bump_factor,             
+    normalmap_texture: normalmap_texture,
+    detail_bump_factor: detail_bump_factor,      
+    detail_normalmap_texture: detail_normalmap_texture,
+    flip_tangent_u: flip_tangent_u,          
+    flip_tangent_v: flip_tangent_v,                  
+	project_uvw: project_uvw,
+    world_or_object: world_or_object,         
+    uv_space_index: uv_space_index,          
+    texture_translate: texture_translate,       
+    texture_rotate: texture_rotate,          
+    texture_scale: texture_scale,           
+    detail_texture_translate: detail_texture_translate,
+    detail_texture_rotate: detail_texture_rotate, 
+    detail_texture_scale: detail_texture_scale,
+    round_edges_radius: round_edges_radius,
+    round_edges_roundness: round_edges_roundness,
+    round_edges_across_materials: round_edges_across_materials
+);
+
+} in material(
+surface:  base.surface,
+geometry: base.geometry
+);

universalrobots_ur5e/materials/mdl/OmniPBRBase.mdl

@@ -0,0 +1,470 @@
+/*
+ * SPDX-FileCopyrightText: Copyright (c) 2022-2025 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
+ * SPDX-License-Identifier: BSD-3-Clause
+ */
+
+mdl 1.7;
+
+import ::df::*;
+import ::state::*;
+import ::math::*;
+import ::base::*;
+import ::tex::*;
+import ::anno::*;
+import ::anno::*;
+
+export float3 HemiOctahedronToUnitVector( float2 Oct ) [[
+	anno::hidden()
+]]
+{
+    Oct = float2( Oct.x + Oct.y, Oct.x - Oct.y ) * 0.5;
+    float3 N = float3( Oct.x, Oct.y, 1.0 - math::dot( float2(1.0), math::abs(Oct) ) );
+    return math::normalize(N);
+}
+
+export struct NormalData  [[
+	anno::hidden()
+]]
+{
+	float3 normal;
+	float2 roughness;
+};
+
+export NormalData tangent_space_normal_roughness_texture(
+    uniform texture_2d texture
+        [[
+            anno::description("The input texture"),
+            anno::usage("normal")
+        ]],
+    uniform float factor = 1.0f
+        [[ anno::description("Determines the degree of bumpiness") ]],
+    uniform bool flip_tangent_u = false
+        [[ anno::description("Can be used to fix mismatches between the object's tangent space and the normal map's tangent space") ]],
+    uniform bool flip_tangent_v = false
+        [[ anno::description("Can be used to fix mismatches between the object's tangent space and the normal map's tangent space") ]],
+    base::texture_coordinate_info uvw = base::texture_coordinate_info()
+        [[ anno::description("Parameterization to be used for texture mapping. Defaults to texture channel 0.") ]],
+    uniform float2 crop_u = float2( 0.0, 1.0)
+        [[ anno::description("Restricts the texture access to sub-domain of the texture in the u direction") ]],
+    uniform float2 crop_v = float2( 0.0, 1.0)
+        [[ anno::description("Restricts the texture access to sub-domain of the texture in the v direction") ]],
+    uniform tex::wrap_mode wrap_u = tex::wrap_repeat
+        [[ anno::description("Wrapping mode in the u direction") ]],
+    uniform tex::wrap_mode wrap_v = tex::wrap_repeat
+        [[ anno::description("Wrapping mode in the v direction") ]],
+    uniform bool clip = false
+        [[
+            anno::description("deprecated, usewrap_mode=tex::wrap_clip. Defines wrap_clamp behavior. If true, lookup outside [0,1] results in no bump"),
+            anno::hidden()
+        ]],
+    uniform float scale = 1.
+        [[
+            anno::description("Scales the value red from the texture file. Can be used to adapt to different normal map formats"),
+            anno::unused()
+        ]],
+    uniform float offset = 0.
+        [[
+            anno::description("Offset applied to the value red from the texture file. Can be used to adapt to different normal map formats"),
+            anno::unused()
+        ]],
+    uniform float animation_start_time = 0.
+        [[ anno::description("When to start playing first frame of the animation ") ]],
+    uniform int2 animation_crop  = int2(0, 0)
+        [[ anno::description("If the texture is an animation, the range of frames to be played can be specified.") ]],
+    uniform tex::wrap_mode animation_wrap = tex::wrap_repeat
+        [[ anno::description("Defines what to do outside of regular animation time") ]],
+    uniform float animation_fps = 30
+        [[ anno::description("Framerate to use for animation playback") ]]
+)
+[[
+    anno::description("Interprets the color values of a bitmap as a vector in tangent space"),
+	anno::hidden(),
+    anno::noinline()
+]]
+{
+	NormalData normalData;
+	normalData.roughness = float2(0);
+	normalData.normal = state::normal();
+
+    float frame = 0.0;
+    if(animation_crop != int2(0,0)) //only if we have an animation
+    {
+        frame = (::state::animation_time()-animation_start_time) * animation_fps ; //start playing at first frame of the animation
+        switch ( animation_wrap) {
+            case tex::wrap_repeat:
+                frame=frame>0?  math::fmod(frame,animation_crop.y-animation_crop.x)+animation_crop.x:
+                                math::fmod(frame,animation_crop.y-animation_crop.x)+animation_crop.y;
+                break;
+            case tex::wrap_mirrored_repeat:
+                float animation_crop_2y = 2.0*animation_crop.y;
+                frame=frame>0?  math::fmod(frame,(animation_crop.y-animation_crop.x)*2.0)+animation_crop.x:
+                                math::fmod(frame,(animation_crop.y-animation_crop.x)*2.0)+animation_crop_2y-animation_crop.x;
+                if(frame>animation_crop.y)
+                    frame = animation_crop_2y-frame;
+                break;
+            case tex::wrap_clamp:
+                frame = math::clamp( frame+animation_crop.x, animation_crop.x, animation_crop.y);
+                break;
+            case tex::wrap_clip:
+                frame += animation_crop.x;
+                if(frame < animation_crop.x || frame > animation_crop.y) return normalData;
+                break;
+        }
+    }
+
+    if (tex::width(texture) == 0 || tex::height(texture) == 0 || // avoid division by zero in texremapu for invalid resource
+        factor == 0.0f)
+        return normalData;
+    {
+        if (clip) {
+            if (wrap_u == tex::wrap_clamp && (uvw.position.x < 0. || uvw.position.x > 1.)) {
+                return normalData;
+            }
+            if (wrap_v == tex::wrap_clamp && (uvw.position.y < 0. || uvw.position.y > 1.)) {
+                return normalData;
+            }
+        }
+        if (wrap_u == tex::wrap_clip && (uvw.position.x < 0. || uvw.position.x > 1.)) {
+            return normalData;
+        }
+        if (wrap_v == tex::wrap_clip && (uvw.position.y < 0. || uvw.position.y > 1.)) {
+            return normalData;
+        }
+    }
+    bool pixel_flip_u = flip_tangent_u;
+    bool pixel_flip_v = flip_tangent_v;
+    //if we mirror repeat a tangent space texture, tangent space needs to be flipped for every other tile
+    if (wrap_u == tex::wrap_mirrored_repeat) {
+        if( uvw.position.x > 0. && int(uvw.position.x) % 2 == 1)
+            pixel_flip_u = ! pixel_flip_u;
+        else if( uvw.position.x < 0. && int(uvw.position.x) % 2 == 0)
+            pixel_flip_u = ! pixel_flip_u;
+    }
+    if (wrap_v == tex::wrap_mirrored_repeat) {
+        if( uvw.position.y > 0. && int(uvw.position.y) % 2 == 1)
+            pixel_flip_v = ! pixel_flip_v;
+        else if( uvw.position.y < 0. && int(uvw.position.y) % 2 == 0)
+            pixel_flip_v = ! pixel_flip_v;
+    }
+
+    float3 transformed_tangent_u = uvw.tangent_u;
+    float3 transformed_tangent_v = uvw.tangent_v;
+
+    if (pixel_flip_u)
+        transformed_tangent_u=-transformed_tangent_u;
+    if (pixel_flip_v)
+        transformed_tangent_v=-transformed_tangent_v;
+
+    float3 tangent_space_normal;
+	float4 normal_raw = tex::lookup_float4(texture,float2(uvw.position.x,uvw.position.y), wrap_u, wrap_v, crop_u, crop_v, frame);
+	if(normal_raw.x > 1.5)
+	{
+		// octahedron packed by OV
+		normal_raw.x -= 2.0;
+		normal_raw.x -= 0.5;
+		normal_raw.y -= 0.5;
+		tangent_space_normal = HemiOctahedronToUnitVector(float2(normal_raw.x, normal_raw.y) * 2.0);
+		normalData.roughness = float2(normal_raw.z, normal_raw.w);
+	}
+	else
+	{
+		// regular
+		tangent_space_normal = (float3(normal_raw.x, normal_raw.y, normal_raw.z) - float3(0.5)) * 2.0;
+		normalData.roughness = float2(0);
+	}
+
+	normalData.normal =  math::normalize(
+        transformed_tangent_u * tangent_space_normal.x * factor +
+        transformed_tangent_v * tangent_space_normal.y * factor +
+        state::normal() * tangent_space_normal.z);
+
+	return normalData;
+}
+
+
+export material OmniPBRBase(
+
+	
+    //  Albdeo  //
+
+	color diffuse_reflection_color = color(0.2) [[
+		anno::display_name("Albedo Color"),
+		anno::description("This is the albedo base color"),
+		anno::in_group("Albedo")
+	]],
+	color diffuse_tint = color(1.0) [[
+		anno::display_name("Albedo Tint"),
+		anno::description("When enabled, this color value is multiplied over the final albedo color"),
+		anno::in_group("Albedo")
+	]],
+
+	
+	//  Reflecitivity //
+	
+	float specular_reflection_roughness = float(0.0) [[
+		anno::display_name("Roughness"),
+		anno::description("Higher roughness values lead to more blurry reflections"),
+		anno::in_group("Reflectivity"),
+		anno::hard_range(0.0, 1.0)
+	]],
+	float2 specular_reflection_aniso_roughness = float2(0.0, 0.0) [[
+		anno::display_name("Aniso roughness"),
+		anno::description("Higher roughness values lead to more blurry reflections"),
+		anno::in_group("Reflectivity"),
+		anno::hidden()
+	]],
+	float metalness = float(0.0) [[
+		anno::display_name("Metalness"),
+		anno::description("Bias towards pure specular reflection"),
+		anno::in_group("Reflectivity"),
+		anno::hard_range(0.0, 1.0)
+	]],	
+	float specular_level = float(0.5) [[
+		anno::display_name("Specular"),
+		anno::description("The specular level (intensity) of the material"),
+		anno::in_group("Reflectivity"),
+		anno::soft_range(0.0, 1.0)
+	]],
+
+
+	//  Emission  //
+	
+	uniform bool enable_emission = false [[
+		anno::display_name("Enable Emission"),
+		anno::description("Enables the emission of light from the material"),
+		anno::in_group("Emissive")
+	]],
+	color emission_color = color(1.0,0.1,0.1) [[
+		anno::display_name("Emissive Color"),
+		anno::description("The emission color"),
+		anno::in_group("Emissive"),
+		anno::enable_if("enable_emission == true")
+	]],
+	float emission_intensity = float(40.0) [[
+		anno::display_name("Emissive Intensity"),    
+		anno::description("Intensity of the emission"),
+		anno::in_group("Emissive"),
+		anno::soft_range(0.0, 1000.0),
+		anno::enable_if("enable_emission == true")
+	]],
+
+	
+    //  Geometry Opacity  //
+	
+    uniform bool enable_opacity = false [[
+		anno::display_name("Enable Opacity"),
+		anno::description("Enables the use of cutout opacity"),
+		anno::in_group("Opacity")
+	]],
+	float geometry_opacity = float(1.0) [[
+		anno::display_name("Opacity Amount"),    
+		anno::description("Opacity value between 0 and 1, when Opacity Map is not valid"),
+		anno::in_group("Opacity"),
+		anno::hard_range(0.0, 1.0)
+	]],
+	uniform float geometry_opacity_threshold = 0.f
+	[[
+		anno::display_name("Opacity Threshold"),
+		anno::description("If 0, use fractional opacity values 'as is'; if > 0, remap opacity values to 1 when >= threshold and to 0 otherwise"),
+		anno::in_group("Opacity"),
+		anno::hard_range(0.0, 1.0)
+	]],
+
+	
+	//  Clearcoat // 
+	
+    uniform bool enable_coat = false [[
+		anno::display_name("Enable Clearcoat Layer"),
+		anno::description("Adds a coat layer on top of the material when enabled"),
+		anno::in_group("Clearcoat")
+	]],
+	float coat_weight = float(1.0) [[
+		anno::display_name("Clearcoat Weight"),
+		anno::description("Sets the weight for coat layer"),
+		anno::in_group("Clearcoat"),
+		anno::hard_range(0.0, 1.0)
+	]],
+	color coat_color = color(1.0) [[
+		anno::display_name("Clearcoat Tint"),
+		anno::description("Clearcoat is tinted and affects the underlying material"),
+		anno::in_group("Clearcoat")
+	]],
+	float coat_transparency = float(1.0) [[
+		anno::display_name("Clearcoat Transparency"),
+		anno::description("Adjusts the transparency of the coat. Can be turned into a fully opaque coat covering the underlying layer"),
+		anno::in_group("Clearcoat"),
+		anno::hard_range(0.0, 1.0)
+	]],
+	float coat_roughness = float(0.0) [[
+		anno::display_name("Clearcoat Roughness"),
+		anno::description("Higher roughness values lead to more blurry reflections"),
+		anno::in_group("Clearcoat"),
+		anno::hard_range(0.0, 1.0)
+	]],
+	float2 coat_aniso_roughness = float2(0.0, 0.0) [[
+		anno::display_name("Clearcoat aniso roughness"),
+		anno::description("Higher roughness values lead to more blurry reflections"),
+		anno::in_group("Clearcoat"),
+		anno::hidden()
+	]],
+	float coat_ior = float(1.56) [[
+		anno::display_name("Clearcoat IOR"),
+		anno::description("Sets the Index of refraction for the coat layer"),
+		anno::in_group("Clearcoat"),
+		anno::soft_range(0.0, 4.0)
+	]],
+    float3 clearcoat_geometry_normal = state::normal() [[
+        anno::display_name("Clearcoat Normal"),
+        anno::in_group("Clearcoat"),
+        anno::usage("normal")
+    ]],
+
+
+	//  Geometry  //
+
+    uniform float round_edges_radius = float(0.0) [[
+        anno::display_name("Round Edge Radius"),
+        anno::description("Influence radius around the edges in meters"),
+        anno::in_group("Geometry"),
+        anno::soft_range(0.0, 1.0)
+    ]],
+    uniform float round_edges_roundness = float(1.0) [[
+        anno::display_name("Round Edge Roundness"),
+        anno::description("Determines how round the edge will look"),
+        anno::in_group("Geometry"),
+        anno::hard_range(0.0, 1.0)
+    ]],
+    uniform bool round_edges_across_materials = false [[
+        anno::display_name("Round Edge Across Materials"),
+        anno::description("Normal smoothing happens only between facets of equal material, \n"
+                          "\t\tunless this parameter is set true, in which case the smoothing \n"
+                          "\t\thappens between facets irrespective of their materials"),
+        anno::in_group("Geometry")
+    ]],
+    float3 geometry_normal = state::normal() [[
+        anno::display_name("Geometry Normal"),
+        anno::in_group("Geometry"),
+        anno::usage("normal")
+    ]]
+
+) 
+[[
+	anno::display_name("OmniPBR Base"),
+	anno::description("OmniPBR Base with support for clear coat, opacity and ORM textures."),
+ 	anno::in_group("Omni Materials"),
+	anno::version( 2, 1, 1),
+	anno::author("NVIDIA CORPORATION"), 
+	anno::key_words(string[]("omni", "PBR", "opacity", "omniverse", "generic"))
+]]
+ = let{
+
+    //  Diffuse Bsdf  //	
+    
+    color tinted_diffuse_color = diffuse_reflection_color * diffuse_tint;
+
+    color base_color = tinted_diffuse_color;
+
+    bsdf diffuse_bsdf = df::weighted_layer(
+		weight: 1.0,
+		layer:  df::diffuse_reflection_bsdf(
+			        tint:       base_color,
+			        roughness:  float(0.0)
+                ),
+		base:   bsdf(),
+		normal: geometry_normal
+	);
+
+	//  Glossy Reflection Bsdf  //
+
+	float roughness_u = math::clamp(specular_reflection_roughness * specular_reflection_roughness
+		+ specular_reflection_aniso_roughness.x * specular_reflection_aniso_roughness.x, 0, 1);
+	float roughness_v = math::clamp(specular_reflection_roughness * specular_reflection_roughness
+		+ specular_reflection_aniso_roughness.y * specular_reflection_aniso_roughness.y, 0, 1);
+	bsdf ggx_smith_bsdf = df::microfacet_ggx_smith_bsdf(
+		roughness_u:    roughness_u,
+		roughness_v:    roughness_v,
+		tint:           color(1.0),
+		mode:           df::scatter_reflect
+	);
+	
+	bsdf custom_curve_layer_bsdf = df::custom_curve_layer(
+		normal_reflectivity:  0.08,		
+		grazing_reflectivity: 1.0,
+		exponent:	          5.0,
+		weight:	              specular_level,
+		layer:                ggx_smith_bsdf,
+		base:	              diffuse_bsdf,
+		normal:               geometry_normal
+	);
+	
+	bsdf directional_factor_bsdf = df::tint(base_color, ggx_smith_bsdf);
+	
+	bsdf omni_PBR_bsdf = df::weighted_layer(
+        weight:     metalness,
+        layer:	    directional_factor_bsdf,
+		base:	    custom_curve_layer_bsdf,
+		normal:     geometry_normal
+	);
+	
+	//  Clear Coat  // 
+
+	float coat_roughness_u = math::clamp(coat_roughness * coat_roughness
+		+ coat_aniso_roughness.x * coat_aniso_roughness.x, 0, 1);
+	float coat_roughness_v = math::clamp(coat_roughness * coat_roughness
+		+ coat_aniso_roughness.y * coat_aniso_roughness.y, 0, 1);
+	bsdf coat_bsdf = df::microfacet_ggx_smith_bsdf(
+		roughness_u: coat_roughness_u,
+		roughness_v: coat_roughness_v,
+		tint:        color(1.0),
+		mode:        df::scatter_reflect
+	);
+	
+	bsdf opaque_coat = df::weighted_layer(
+        weight:     coat_transparency,
+		layer:	    ::df::tint( 
+					    tint: coat_color,
+					    base: omni_PBR_bsdf
+                    ),
+		base:	    ::df::diffuse_reflection_bsdf(
+					    tint: coat_color
+                    )
+	);
+	
+	bsdf omni_PBR_coated_bsdf = df::fresnel_layer(
+		ior:     coat_ior,
+		weight:  coat_weight,
+		layer:   coat_bsdf,
+		base:    opaque_coat,
+		normal:  clearcoat_geometry_normal 
+	);
+	
+    bsdf final_bsdf = enable_coat ? omni_PBR_coated_bsdf : omni_PBR_bsdf;
+                                    
+    color emission_value = enable_emission ? emission_color * color(emission_intensity) : color(0.0);
+	
+	float opacity_value = geometry_opacity;
+    float cutout_opacity = enable_opacity ? ((geometry_opacity_threshold == 0.0) ? opacity_value : ((opacity_value >= geometry_opacity_threshold) ? 1.0 : 0)) : 1.0;
+ 
+    material_emission emission = material_emission(
+                                    df::diffuse_edf(),
+                                    intensity: emission_value 
+                                    );
+
+    material_surface surface =  material_surface(
+		                            scattering: final_bsdf,
+		                            emission:   emission
+		                            );
+
+    material_geometry geometry = material_geometry(
+                                    normal: state::rounded_corner_normal(
+                                        radius: round_edges_radius,
+                                        across_materials: round_edges_across_materials,
+                                        roundness: round_edges_roundness
+                                    ),
+                                    cutout_opacity: cutout_opacity
+                                    );
+
+} in material(
+	surface: surface,
+	geometry: geometry
+);

universalrobots_ur5e/materials/mdl/OmniPBR_ClearCoat.mdl

@@ -0,0 +1,711 @@
+/*
+ * SPDX-FileCopyrightText: Copyright (c) 2022-2025 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
+ * SPDX-License-Identifier: BSD-3-Clause
+ */
+
+mdl 1.7;
+
+import ::df::*;
+import ::state::*;
+import ::math::*;
+import ::base::*;
+import ::state::*;
+import ::tex::*;
+import ::anno::*;
+
+import ::debug::*;
+
+import core_definitions::file_texture;
+import core_definitions::normalmap_texture;
+
+import OmniPBRBase::*;
+
+//  Functions  //
+
+
+//  Returns a matrix from R,T,S. inputs //
+
+uniform float4x4 rotation_translation_scale(
+    uniform float3 rotation = float3(0.)
+        [[ anno::description("Rotation applied to every UVW coordinate") ]],
+    uniform float3 translation = float3(0.)
+        [[ anno::description("Offset applied to every UVW coordinate") ]],
+    uniform float3 scaling = float3(1.)
+        [[ anno::description("Scale applied to every UVW coordinate") ]]
+)
+[[
+    anno::description("Construct a transformation matrix from euler rotation, translation and scale"),
+    anno::hidden()
+]]
+{
+    float4x4 scale =
+        float4x4(scaling.x         , 0.0               , 0.0               , 0.0,
+                 0.0               , scaling.y         , 0.0               , 0.0,
+                 0.0               , 0.0               , scaling.z         , 0.0,
+                 translation.x     , translation.y     , translation.z     , 1.0);
+
+    float3 s = math::sin(rotation);
+    float3 c = math::cos(rotation);
+    
+    float4x4 rotate =
+        float4x4(  c.y*c.z    , -c.x*s.z + s.x*s.y*c.z ,  s.x*s.z + c.x*s.y*c.z , 0.0,
+                   c.y*s.z    ,  c.x*c.z + s.x*s.y*s.z , -s.x*c.z + c.x*s.y*s.z , 0.0,
+                  -s.y        ,  s.x*c.y               ,  c.x*c.y               , 0.0,
+                   0.0        ,  0.0                   ,  0                     , 1.0);
+
+    return   scale * rotate;
+}
+
+//  Returns the normal n in tangent space, given n is in internal space. //
+
+float3 transform_internal_to_tangent(float3 n)
+{
+	/* flip_tangent_v */
+    return
+        n.x* float3(state::texture_tangent_u(0).x,-state::texture_tangent_v(0).x,state::normal().x)+
+        n.y* float3(state::texture_tangent_u(0).y,-state::texture_tangent_v(0).y,state::normal().y)+
+        n.z* float3(state::texture_tangent_u(0).z,-state::texture_tangent_v(0).z,state::normal().z);
+}
+
+//  Returns the normal n in internal space, given n is in tangent space.
+float3 transform_tangent_to_internal(float3 n)
+{
+    return  state::texture_tangent_u(0) * n.x -
+            state::texture_tangent_v(0) * n.y + /* flip_tangent_v */
+            state::normal() * n.z;
+}
+
+//  Returns a normal by adding a detail normal to a global normal.
+export float3 add_detail_normal(float3 nd = state::normal(), float3 n = state::normal())
+{
+    // http://blog.selfshadow.com/publications/blending-in-detail/
+    float3  n_t = transform_internal_to_tangent(n);
+    float3 nd_t = transform_internal_to_tangent(nd);
+            n_t = n_t + float3(0.,0.,1.);
+           nd_t = nd_t *  float3(-1.,-1.,1.);
+              n = n_t * math::dot(n_t, nd_t)/n_t.z - nd_t;
+    return math::normalize(transform_tangent_to_internal(n));
+}
+
+base::texture_return multiply_colors(
+    color color_1 = color(1.0, 1.0, 1.0),
+    color color_2 = color(.5, .5, .5),
+	float weight  = 1.0
+    ) 
+[[ 
+    anno::hidden() 
+]]
+{
+    return base::blend_color_layers(
+                layers: base::color_layer[](
+                    base::color_layer(
+                        layer_color:    color_2,
+                        weight:         weight,
+                        mode:           base::color_layer_multiply
+                        )),
+                base: color_1
+            );
+}
+
+
+//  OmniPBR Clearcoat  //
+
+export material OmniPBR_ClearCoat(
+
+    //  Albdeo  //
+
+	color diffuse_color_constant = color(0.2) [[
+		anno::display_name("Albedo Color"),
+		anno::description("This is the albedo base color"),
+		anno::in_group("Albedo")
+	]],
+	uniform texture_2d diffuse_texture = texture_2d() [[
+		anno::display_name("Albedo Map"),
+		anno::in_group("Albedo")
+	]],
+	float albedo_desaturation = float(0.0) [[
+		anno::display_name("Albedo Map Desaturation"),
+		anno::description("Desaturates the albedo map"),
+		anno::in_group("Albedo"),
+		anno::soft_range(float(0.0), float(1.0))
+	]],
+	float albedo_add = float(0.0) [[
+		anno::display_name("Albedo Add"),
+		anno::description("Adds a constant value to the diffuse color "),
+		anno::in_group("Albedo"),
+		anno::soft_range(float(-1.0), float(1.0))
+	]],	
+	float albedo_brightness = float(1.0) [[
+		anno::display_name("Albedo Brightness"),
+		anno::description("Multiplier for the diffuse color "),
+		anno::in_group("Albedo"),
+		anno::soft_range(float(0.0), float(1.0))
+	]],	
+	color diffuse_tint = color(1.0) [[
+		anno::display_name("Color Tint"),
+		anno::description("When enabled, this color value is multiplied over the final albedo color"),
+		anno::in_group("Albedo")
+	]],
+	
+
+	//  Reflectivity //
+	
+	float reflection_roughness_constant  = float(0.5) [[
+		anno::display_name("Roughness Amount"),
+		anno::description("Higher roughness values lead to more blurry reflections"),
+		anno::in_group("Reflectivity"),
+		anno::hard_range(float(0.0), float(1.0))
+	]],
+	float reflection_roughness_texture_influence = float(0.0) [[
+		anno::display_name("Roughness Map Influence"),
+		anno::description("Blends between the constant value and the lookup of the roughness texture"),
+		anno::in_group("Reflectivity"),
+		anno::hard_range(float(0.0), float(1.0))
+	]],
+	uniform texture_2d reflectionroughness_texture = texture_2d() [[
+		anno::display_name("Roughness Map"),
+		anno::in_group("Reflectivity"),
+		anno::usage("roughness")
+	]],
+	float metallic_constant = float(0.0) [[
+		anno::display_name("Metallic Amount"),
+		anno::description("Metallic Material"),
+		anno::in_group("Reflectivity"),
+		anno::hard_range(float(0.0), float(1.0))
+	]],	
+	float metallic_texture_influence = float(0.0) [[
+		anno::display_name("Metallic Map Influence"),
+		anno::description("Blends between the constant value and the lookup of the metallic texture"),
+		anno::in_group("Reflectivity"),
+		anno::hard_range(float(0.0), float(1.0))
+	]],
+	uniform texture_2d metallic_texture = texture_2d() [[
+		anno::display_name("Metallic Map"),
+		anno::in_group("Reflectivity"),
+		anno::usage("metalness")
+	]], 
+	float specular_level = float(0.5) [[
+		anno::display_name("Specular"),
+		anno::description("The specular level (intensity) of the material"),
+		anno::in_group("Reflectivity"),
+		anno::soft_range(float(0.0), float(1.0))
+	]],
+	
+
+	//  ORM  //
+ 
+	uniform bool enable_ORM_texture = false [[
+		anno::display_name("Enable ORM Texture"),
+		anno::description("The ORM texture will be used to extract the Occlusion, Roughness and Metallic textures from R,G,B channels"),
+		anno::in_group("Reflectivity")
+	]],
+	uniform texture_2d ORM_texture = texture_2d() [[
+		anno::display_name("ORM Map"),
+		anno::description("Texture that has Occlusion, Roughness and Metallic maps stored in their respective R, G and B channels"),
+		anno::in_group("Reflectivity"),
+		anno::usage("roughness")
+	]],
+
+
+	//  AO Group  // 
+
+	float ao_to_diffuse = 0.0 [[
+		anno::display_name("AO to diffuse"),
+		anno::description("Controls the amount of ambient occlusion multiplied against the diffuse color channel"),
+		anno::in_group("AO"),
+		anno::hard_range(float(0.0), float(1.0))
+	]],
+	uniform texture_2d ao_texture = texture_2d() [[
+		anno::display_name("Ambient Occlusion Map"),
+		anno::description("The ambient occlusion texture for the material"),
+		anno::in_group("AO"),
+		anno::usage("occlusion")
+	]],
+	
+	
+	//  Emission //  
+
+	uniform bool enable_emission = false [[
+        anno::display_name("Enable Emission"),
+		anno::description("Enables the emission of light from the material"),
+		anno::in_group("Emissive")
+	]],
+	color emissive_color = color(1.0,0.1,0.1) [[
+		anno::display_name("Emissive Color"),
+		anno::description("The emission color"),
+		anno::in_group("Emissive"),
+		anno::enable_if("enable_emission == true")
+	]],
+    	uniform texture_2d emissive_color_texture = texture_2d() [[ 
+		anno::display_name("Emissive Color map"),
+        anno::in_group("Emissive"),
+		anno::description("The emissive color texture"),
+        anno::enable_if("enable_emission == true")
+    	]],	
+	uniform texture_2d emissive_mask_texture = texture_2d() [[
+		anno::display_name("Emissive Mask map"),
+		anno::description("The texture masking the emissive color"),
+		anno::in_group("Emissive"),
+		anno::enable_if("enable_emission == true"),
+		anno::usage("occlusion")
+	]],
+	float emissive_intensity = float(40.0) [[
+		anno::display_name("Emissive Intensity"),    
+		anno::description("Intensity of the emission"),
+		anno::in_group("Emissive"),
+		anno::enable_if("enable_emission == true")
+	]],	
+
+
+    //  Cutout Opacity  //
+	
+    uniform bool enable_opacity = false [[
+		anno::display_name("Enable Opacity"),
+		anno::description("Enables the use of cutout opacity"),
+		anno::in_group("Opacity")
+	]],
+ 	uniform texture_2d opacity_texture = texture_2d() [[
+		anno::display_name("Opacity Map"),
+		anno::in_group("Opacity"),
+		anno::usage("opacity")
+	]],
+	float opacity_constant = float(1.0) [[
+		anno::display_name("Opacity Amount"),    
+		anno::description("Opacity value between 0 and 1, when Opacity Map is not valid"),
+		anno::in_group("Opacity"),
+		anno::hard_range(float(0.0), float(1.0))
+	]],
+	uniform bool enable_opacity_texture = false [[
+		anno::display_name("Enable Opacity Texture"),
+		anno::description("Enables or disables the usage of the opacity texture map"),
+		anno::in_group("Opacity")
+	]],
+	uniform base::mono_mode opacity_mode = base::mono_average [[
+		anno::display_name("Opacity Mono Source"),
+		anno::description("Determines how to lookup opacity from the supplied texture. mono_alpha, mono_average, mono_luminance, mono_maximum"),
+		anno::in_group("Opacity")
+	]],
+	uniform float opacity_threshold = float(0.0) [[
+		anno::display_name("Opacity Threshold"),
+		anno::description("If 0, use fractional opacity values 'as is'; if > 0, remap opacity values to 1 when >= threshold and to 0 otherwise"),
+		anno::in_group("Opacity"),
+		anno::hard_range(float(0.0), float(1.0))
+	]],
+
+
+	//  Clearcoat // 
+	
+	uniform bool enable_clearcoat = false [[
+		anno::display_name("Enable Clearcoat Layer"),
+		anno::description("Adds a clearcoat layer on top of the material when enabled"),
+		anno::in_group("Clearcoat")
+	]],
+	float clearcoat_weight = float(1.0) [[
+		anno::display_name("Clearcoat Weight"),
+		anno::description("Sets the weight for clearcoat layer"),
+		anno::in_group("Clearcoat"),
+		anno::hard_range(float(0.0), float(1.0))
+	]],
+	color clearcoat_tint = color(1.0) [[
+		anno::display_name("Clearcoat Tint"),
+		anno::description("Clearcoat is tinted and affects the underlying material"),
+		anno::in_group("Clearcoat")
+	]],
+	float clearcoat_transparency = float(1.0) [[
+		anno::display_name("Clearcoat Transparency"),
+		anno::description("Adjusts the transparency of the clearcoat. Can be turned into a fully opaque clearcoat covering the underlying layer"),
+		anno::in_group("Clearcoat"),
+		anno::hard_range(float(0.0), float(1.0))
+	]],
+	float clearcoat_reflection_roughness = float(0.0) [[
+		anno::display_name("Clearcoat Roughness"),
+		anno::description("Higher roughness values lead to more blurry reflections"),
+		anno::in_group("Clearcoat"),
+		anno::hard_range(float(0.0), float(1.0))
+	]],
+	float clearcoat_ior = float(1.56) [[
+		anno::display_name("Clearcoat IOR"),
+		anno::description("Sets the Index of refraction for the clearcoat layer"),
+		anno::in_group("Clearcoat"),
+		anno::soft_range(float(0.0), float(4.0))
+	]],
+	uniform float clearcoat_bump_factor = float(1.0) [[
+		anno::display_name("Clearcoat Normal Map Strength"),
+		anno::description("Strength of normal map."),
+		anno::in_group("Clearcoat"),
+		anno::soft_range(float(0.0), float(1.0))
+	]],
+	uniform texture_2d clearcoat_normalmap_texture = texture_2d() [[
+		anno::display_name("Clearcoat Normal Map"),
+		anno::description("Enables the usage of the normalmap texture"),
+		anno::in_group("Clearcoat"),
+		anno::usage("normal")
+	]], 	
+	uniform float2 clearcoat_texture_translate =  float2(0.0) [[
+		anno::display_name("Clearcoat Texture Translate"),
+		anno::description("Controls the position of the clearcoat texture"),
+		anno::ui_order(1),
+		anno::in_group("UV")
+	]],
+	uniform float clearcoat_texture_rotate = float(0.0) [[
+		anno::display_name("Clearcoat Texture Rotate"),
+		anno::description("Rotates angle of the clearcoat texture in degrees"),
+		anno::ui_order(2),
+		anno::in_group("UV")
+	]],
+	uniform float2 clearcoat_texture_scale = float2(1.0) [[
+		anno::display_name("Clearcoat Texture Tiling"),
+		anno::description("Controls the repetition of the clearcoat texture"),
+		anno::ui_order(3),
+		anno::in_group("UV")
+	]],
+	float clearcoat_flatten = float(1.0) [[
+		anno::display_name("Clearcoat Flatten"),
+		anno::description("Flattens the clearcoat to even out the underlying bump maps"),
+		anno::in_group("Clearcoat"),
+		anno::hard_range(float(0.0), float(1.0))
+	]],
+
+
+	//  Normal  // 
+	
+	uniform float geometry_normal_roughness_strength = 1.f
+	[[
+		anno::hard_range(0.0, 1.0),
+		anno::display_name("Normal map to roughness weight"),
+		anno::description("Enables and weights roughness induced by normal maps"),
+		anno::in_group("Normal")
+	]],
+	uniform float bump_factor = float(1.0) [[
+		anno::display_name("Normal Strength"),
+		anno::description("Strength of normal map"),
+		anno::in_group("Normal"),
+		anno::soft_range(float(0.0), float(1.0))
+	]],
+	uniform texture_2d normalmap_texture = texture_2d() [[
+		anno::display_name("Normal Map"),
+		anno::in_group("Normal"),
+		anno::usage("normal")
+	]], 
+	uniform float detail_bump_factor = float(0.3) [[
+		anno::display_name("Detail Normal Strength"),
+		anno::in_group("Normal"),
+		anno::description("Strength of the detail normal"),
+		anno::soft_range(float(0.0), float(1.0))
+	]],
+	uniform texture_2d detail_normalmap_texture = texture_2d() [[
+		anno::display_name("Detail Normal Map"),
+		anno::in_group("Normal"),
+		anno::usage("normal")
+	]],
+	uniform bool flip_tangent_u = false [[
+        	anno::display_name("Normal Map Flip U Tangent"),
+        	anno::in_group("Normal")
+    ]],
+	uniform bool flip_tangent_v = true [[
+        	anno::display_name("Normal Map Flip V Tangent"),
+        	anno::in_group("Normal")
+    ]],
+
+
+	//  UVW Projection Group  //
+
+	uniform bool project_uvw = false [[
+		anno::display_name("Enable Project UVW Coordinates"),
+		anno::description("When enabled, UV coordinates will be generated by projecting them from a coordinate system"),
+		anno::in_group("UV")
+	]],
+	uniform bool world_or_object = false [[
+		anno::display_name("Enable World Space"),
+		anno::description("When enabled, uses world space for projection, otherwise object space is used"),
+		anno::in_group("UV"),
+		anno::enable_if("project_uvw == true")
+	]],
+	uniform int uv_space_index =  0 [[
+		anno::display_name("UV Space Index"),
+		anno::description("UV Space Index"),
+		anno::in_group("UV"),
+		anno::enable_if("project_uvw == true"),
+		anno::hard_range(int(0), int(3))
+	]],
+	
+
+	//  UVW Adjustments Group  //
+
+	uniform float2 texture_translate = float2(0.0) [[
+		anno::display_name("Texture Translate"),
+		anno::description("Controls position of texture."),
+		anno::in_group("UV"),
+		anno::enable_if("project_uvw == true")
+	]],
+	uniform float texture_rotate = float(0.0) [[
+		anno::display_name("Texture Rotate"),
+		anno::description("Rotates angle of texture in degrees."),
+		anno::in_group("UV"),
+		anno::enable_if("project_uvw == true")
+	]],
+	uniform float2 texture_scale = float2(1.0) [[
+		anno::display_name("Texture Tiling"),
+		anno::description("Controls repetition of the texture."),
+		anno::in_group("UV"),
+		anno::enable_if("project_uvw == true")
+	]],
+	uniform float2 detail_texture_translate = float2(0.0) [[
+		anno::display_name("Detail Texture Translate"),
+		anno::description("Controls the position of the detail texture."),
+		anno::in_group("UV"),
+		anno::enable_if("project_uvw == true")
+	]],
+	uniform float detail_texture_rotate = float(0.0) [[
+		anno::display_name("Detail Texture Rotate"),
+		anno::description("Rotates angle of the detail texture in degrees."),
+		anno::in_group("UV"),
+		anno::enable_if("project_uvw == true")
+	]],
+	uniform float2 detail_texture_scale = float2(1.0) [[
+		anno::display_name("Detail Texture Tiling"),
+		anno::description("Controls repetition of the detail texture."),
+		anno::in_group("UV"),
+		anno::enable_if("project_uvw == true")
+    ]],
+
+
+    //  Geometry  //
+
+    uniform float round_edges_radius = float(0.0) [[
+        anno::display_name("Round Edge Radius"),
+        anno::description("Influence radius around the edges in meters"),
+        anno::in_group("Geometry"),
+        anno::soft_range(0.0, 1.0)
+    ]],
+    uniform float round_edges_roundness = float(1.0) [[
+        anno::display_name("Round Edge Roundness"),
+        anno::description("Determines how round the edge will look"),
+        anno::in_group("Geometry"),
+        anno::hard_range(0.0, 1.0)
+    ]],
+    uniform bool round_edges_across_materials = false [[
+        anno::display_name("Round Edge Across Materials"),
+        anno::description("Normal smoothing happens only between facets of equal material, \n"
+                          "\t\tunless this parameter is set true, in which case the smoothing \n"
+                          "\t\thappens between facets irrespective of their materials"),
+        anno::in_group("Geometry")
+    ]]
+) 
+[[
+	anno::display_name("OmniPBR ClearCoat "),
+	anno::description("OmniPBR Base with support for clear coat, opacity and ORM textures."),
+	anno::in_group("Base"),
+	anno::version( 2, 1, 1),
+	anno::author("NVIDIA CORPORATION"), 
+	anno::key_words(string[]("omni", "PBR", "opacity", "clearcoat", "omniverse", "generic"))
+]] = let {
+
+	//  UVW lookup and transformation  //
+	base::texture_coordinate_system the_system = world_or_object ? base::texture_coordinate_world : base::texture_coordinate_object;
+	
+	base::texture_coordinate_info uvw = project_uvw ?  base::coordinate_projection(
+								coordinate_system: the_system,
+								    texture_space: uv_space_index,
+								  projection_type: base::projection_cubic 
+							    ) :
+							    base::coordinate_source(
+								coordinate_system: base::texture_coordinate_uvw,
+								    texture_space: uv_space_index 
+							    );							
+	
+	base::texture_coordinate_info transformed_uvw = base::transform_coordinate(
+								  			transform: rotation_translation_scale(
+						                      scaling: float3(texture_scale.x, texture_scale.y, 1.0),
+								   			 rotation: float3(0.0, 0.0, texture_rotate/180.*math::PI ),
+							        	  translation: float3(texture_translate.x, texture_translate.y, 0.0)
+							        ),
+							        coordinate: uvw
+								);
+	
+	base::texture_coordinate_info detail_transformed_uvw = base::transform_coordinate(
+							       		  transform: rotation_translation_scale(
+								  	    	scaling: float3(detail_texture_scale.x, detail_texture_scale.y, 1.0),
+								           rotation: float3(0.0, 0.0, detail_texture_rotate/180.*math::PI ),
+								        translation: float3(detail_texture_translate.x, detail_texture_translate.y, 0.0)
+								        ),
+								        coordinate: uvw
+									);
+
+	base::texture_coordinate_info clearcoat_transformed_uvw =   base::transform_coordinate(
+									  	  transform: rotation_translation_scale(
+								            scaling: float3(clearcoat_texture_scale.x, clearcoat_texture_scale.y, 1.0),
+								           rotation: float3(0.0, 0.0, clearcoat_texture_rotate/180.*math::PI ),
+								        translation: float3(clearcoat_texture_translate.x, clearcoat_texture_translate.y, 0.f)
+									),
+									coordinate: uvw
+									);	
+
+	//  Normal calculations  //
+	OmniPBRBase::NormalData defaultData = OmniPBRBase::NormalData(state::normal(), float2(0));
+
+	OmniPBRBase::NormalData normal_data = tex::texture_isvalid(normalmap_texture) ?
+		OmniPBRBase::tangent_space_normal_roughness_texture(
+							texture:        normalmap_texture,
+							factor:         bump_factor,
+							uvw:            transformed_uvw,
+							flip_tangent_u: flip_tangent_u,
+							flip_tangent_v: flip_tangent_v	// true for dx, false for opengl
+							//flip_tangent_v: true
+
+		) : defaultData;
+	float3 the_normal = normal_data.normal;
+
+	OmniPBRBase::NormalData detail_normal_data = tex::texture_isvalid(detail_normalmap_texture) ?
+		OmniPBRBase::tangent_space_normal_roughness_texture(
+							texture:        detail_normalmap_texture,
+							factor:         detail_bump_factor,
+							uvw:            detail_transformed_uvw,
+							flip_tangent_u: flip_tangent_u,
+							flip_tangent_v: flip_tangent_v	// true for dx, false for opengl
+							) : defaultData;
+	float3 detail_normal = detail_normal_data.normal;
+
+	OmniPBRBase::NormalData clearcoat_normal_data = tex::texture_isvalid(clearcoat_normalmap_texture) ?
+		OmniPBRBase::tangent_space_normal_roughness_texture(
+								texture:        clearcoat_normalmap_texture,
+								factor:         clearcoat_bump_factor,
+								uvw:            clearcoat_transformed_uvw,
+								flip_tangent_u: flip_tangent_u,
+								flip_tangent_v: flip_tangent_v	// true for dx, false for opengl
+							) : defaultData;
+	float3 clearcoat_normal = clearcoat_normal_data.normal;
+
+
+	float3 diffuse_gloss_normal	        = tex::texture_isvalid(detail_normalmap_texture) ?  add_detail_normal(detail_normal, the_normal) : the_normal;
+	float3 flattened_clearcoat_normal   = ::math::lerp(diffuse_gloss_normal, ::state::normal(), clearcoat_flatten);
+	float3 final_clearcoat_normal       = tex::texture_isvalid(clearcoat_normalmap_texture) ? add_detail_normal(flattened_clearcoat_normal, clearcoat_normal)
+                                                                                            : flattened_clearcoat_normal;
+
+
+	//  ORM Handling  // 
+
+	float3 ORM_lookup = tex::lookup_float3( 
+                              tex: ORM_texture, 
+                            coord: float2(transformed_uvw.position.x, transformed_uvw.position.y)
+                            );
+
+	 
+	float3 roughness_lookup = tex::lookup_float3(
+					  tex: reflectionroughness_texture,
+					coord: float2(transformed_uvw.position.x, transformed_uvw.position.y)		
+					);
+	
+	float roughness_selection    = enable_ORM_texture ? ORM_lookup.y : roughness_lookup.x;
+	float reflection_roughness_s   = math::lerp(reflection_roughness_constant, roughness_selection, reflection_roughness_texture_influence);
+	float2 reflection_roughness = float2(math::sqrt(reflection_roughness_s*reflection_roughness_s + (geometry_normal_roughness_strength * normal_data.roughness.x * normal_data.roughness.x)),
+	                                     math::sqrt(reflection_roughness_s*reflection_roughness_s + (geometry_normal_roughness_strength * normal_data.roughness.y * normal_data.roughness.y)));
+
+	float2 clearcoat_reflection_roughness2 = float2(math::sqrt(clearcoat_reflection_roughness*clearcoat_reflection_roughness + (geometry_normal_roughness_strength * clearcoat_normal_data.roughness.x * clearcoat_normal_data.roughness.x)),
+												    math::sqrt(clearcoat_reflection_roughness*clearcoat_reflection_roughness + (geometry_normal_roughness_strength * clearcoat_normal_data.roughness.y * clearcoat_normal_data.roughness.y)));
+
+	//  Diffuse Color Lookup and AO  //
+	
+	base::texture_return base_lookup = base::file_texture(
+						      	  texture: diffuse_texture,
+					    	 color_offset: color(albedo_add),
+					          color_scale: color(albedo_brightness),
+					          mono_source: base::mono_luminance,
+					                  uvw: transformed_uvw,
+					                 clip: false		
+						);
+	
+	base::texture_return ao_lookup = base::file_texture(
+					 	      	  texture: ao_texture,
+					       	 color_offset: color(0.0, 0.0, 0.0),
+					          color_scale: color(1.0, 1.0, 1.0),
+					          mono_source: base::mono_average,
+					                  uvw: transformed_uvw,
+					       	         clip: false		
+						);
+
+
+	color ao_color          = enable_ORM_texture ? color(ORM_lookup.x) : ao_lookup.tint;
+	color desaturated_base  = math::lerp(base_lookup.tint, color(base_lookup.mono), albedo_desaturation);
+	color diffuse           = tex::texture_isvalid(diffuse_texture)? desaturated_base : diffuse_color_constant;
+	color tinted_diffuse    = multiply_colors(diffuse, diffuse_tint, 1.0).tint;
+	
+	color base_color = multiply_colors(
+			   	color_1: tinted_diffuse,
+				color_2: ao_color,
+				 weight: ao_to_diffuse
+				).tint;
+
+	
+	//  Metalness   //
+
+	float3 metallic_lookup = tex::lookup_float3(
+				tex: metallic_texture,
+				coord: float2(transformed_uvw.position.x, transformed_uvw.position.y)
+				);
+					
+	float metallic_selection = enable_ORM_texture ? ORM_lookup.z : metallic_lookup.x;
+	float metallic = math::lerp(metallic_constant, metallic_selection, metallic_texture_influence);
+
+
+	//  Emission   //
+
+	color emission_color_texture = tex::texture_isvalid(emissive_color_texture) ?
+                                        base::file_texture(
+												texture: emissive_color_texture,
+                                           color_offset: color(0.0, 0.0, 0.0),
+                                            color_scale: color(1.0, 1.0, 1.0),
+                                            mono_source: base::mono_average,
+						    						uvw: transformed_uvw,
+						   						   clip: false        
+                                            ).tint : emissive_color;
+
+    color emission_mask_texture = tex::texture_isvalid(emissive_mask_texture) ?
+                                        base::file_texture(
+												texture: emissive_mask_texture,
+                                           color_offset: color(0.0, 0.0, 0.0),
+                                            color_scale: color(1.0, 1.0, 1.0),
+                                            mono_source: base::mono_average,
+						    						uvw: transformed_uvw,
+						   						   clip: false        
+                                            ).tint : color(1.0);
+  
+    color final_emission_color = enable_emission ? emission_color_texture * emission_mask_texture: color(0.0);
+
+    //  Opacity   //
+	
+    float opacity_value = enable_opacity_texture ? base::file_texture(
+						    texture: opacity_texture,
+						mono_source: opacity_mode,
+								uvw: transformed_uvw
+						).mono : opacity_constant;
+
+    float cutout_opacity = enable_opacity ? ((opacity_threshold == 0.0) ? opacity_value : ((opacity_value >= opacity_threshold) ? 1.0 : 0)) : 1.0;
+
+	material base = OmniPBRBase::OmniPBRBase(
+		diffuse_reflection_color: base_color, 
+		specular_reflection_aniso_roughness: reflection_roughness, 
+		specular_level: specular_level,
+		metalness: metallic,
+		enable_emission: enable_emission,
+		emission_color: final_emission_color,
+		emission_intensity: emissive_intensity,
+		enable_coat: enable_clearcoat,
+		coat_weight: clearcoat_weight,
+		coat_color: clearcoat_tint,
+		coat_transparency: clearcoat_transparency,
+		coat_aniso_roughness: clearcoat_reflection_roughness2,
+		coat_ior: clearcoat_ior,
+		enable_opacity: enable_opacity,
+		geometry_opacity: cutout_opacity,
+		clearcoat_geometry_normal: final_clearcoat_normal,
+		round_edges_radius: round_edges_radius,
+		round_edges_roundness: round_edges_roundness,
+		round_edges_across_materials: round_edges_across_materials,
+		geometry_normal: diffuse_gloss_normal
+    );
+
+} in material(
+surface:  base.surface,
+geometry: base.geometry
+);

universalrobots_ur5e/payloads/Gripper/dependencies/Defeatured_2F_85_PAD_OPEN_basestep_JFX.usd

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b849add675a959bf108b04281a4283632388698d82b34ab5c4ec9d42dcf8f4c1
+size 3373601

universalrobots_ur5e/payloads/Gripper/dependencies/Defeatured_2F_85_PAD_OPEN_finger2step_JFP.usd

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:865e828faa230a75c97016c1cc647ce236db6a3d84199c109923287cb5ef683c
+size 230495

universalrobots_ur5e/payloads/Gripper/dependencies/Defeatured_2F_85_PAD_OPEN_finger3step_JFL.usd

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3922f86499bd9b399182dca876a0e4295780a33b611267988d6a4570237ba11b
+size 143957

universalrobots_ur5e/payloads/Gripper/dependencies/Defeatured_2F_85_PAD_OPEN_finger4step_JFH.usd

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1ea3296bde39458b1dd01323d391115e6d6535065247df6c4d2108ee7f44f1ea
+size 136079

universalrobots_ur5e/payloads/Gripper/dependencies/Robotiq_2F_85_base.usda

@@ -0,0 +1,360 @@
+#usda 1.0
+(
+    customLayerData = {
+    }
+    defaultPrim = "Robotiq_2F_85"
+    endTimeCode = 0
+    metersPerUnit = 1
+    startTimeCode = -1
+    upAxis = "Z"
+)
+
+def Xform "Robotiq_2F_85" (
+    kind = "assembly"
+)
+{
+    def Xform "Robotiq_2F_85" (
+        kind = "assembly"
+    )
+    {
+        quatd xformOp:orient = (1, 0, 0, 0)
+        double3 xformOp:scale = (1, 1, 1)
+        double3 xformOp:translate = (0, 0, 0)
+        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+
+        def Xform "base_link" (
+            kind = "group"
+        )
+        {
+            quatd xformOp:orient = (1, 0, 0, 0)
+            float3 xformOp:scale = (1, 1, 1)
+            double3 xformOp:translate = (0, 0, 0)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+
+            def Xform "visuals" (
+                delete apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI", "PhysxConvexHullCollisionAPI", "PhysxConvexDecompositionCollisionAPI"]
+                instanceable = true
+                kind = "subcomponent"
+                prepend references = </Meshes/base_link>
+            )
+            {
+                quatd xformOp:orient = (0.4999999999999999, 0.5000000000000001, 0.5000000000000001, 0.5000000000000001)
+                float3 xformOp:scale = (1, 1, 1)
+                double3 xformOp:translate = (0, 0, 0)
+                uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+            }
+
+            def Xform "grip_frame"
+            {
+                quatd xformOp:orient = (1, 0, 0, 0)
+                double3 xformOp:scale = (1, 1, 1)
+                double3 xformOp:translate = (0, 0, 0.13371706760793903)
+                uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+            }
+        }
+
+        def Xform "left_outer_knuckle" (
+            kind = "group"
+        )
+        {
+            quatd xformOp:orient = (1, 0, 0, 0)
+            float3 xformOp:scale = (1, 1, 1)
+            double3 xformOp:translate = (0, 0, 0)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+
+            def Xform "visuals" (
+                instanceable = true
+                kind = "subcomponent"
+                prepend references = </Meshes/outer_knuckle>
+            )
+            {
+                quatd xformOp:orient = (0.4999999999999999, 0.5000000000000001, 0.5000000000000001, 0.5000000000000001)
+                float3 xformOp:scale = (1, 1, 1)
+                double3 xformOp:translate = (0, 0, 0)
+                uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+            }
+        }
+
+        def Xform "left_outer_finger" (
+            kind = "group"
+        )
+        {
+            quatd xformOp:orient = (1, 0, 0, 0)
+            float3 xformOp:scale = (1, 1, 1)
+            double3 xformOp:translate = (0, 0, 0)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+
+            def Xform "visuals" (
+                instanceable = true
+                kind = "subcomponent"
+                prepend references = </Meshes/outer_finger>
+            )
+            {
+                quatd xformOp:orient = (0.4999999999999999, 0.5000000000000001, 0.5000000000000001, 0.5000000000000001)
+                float3 xformOp:scale = (1, 1, 1)
+                double3 xformOp:translate = (0, 0, 0)
+                uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+            }
+        }
+
+        def Xform "left_inner_finger" (
+            kind = "group"
+        )
+        {
+            quatd xformOp:orient = (1, 0, 0, 0)
+            float3 xformOp:scale = (1, 1, 1)
+            double3 xformOp:translate = (0, 0, 0)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+
+            def Xform "visuals" (
+                instanceable = true
+                kind = "subcomponent"
+                prepend references = </Meshes/inner_finger>
+            )
+            {
+                quatd xformOp:orient = (0.4999999999999999, 0.5000000000000001, 0.5000000000000001, 0.5000000000000001)
+                float3 xformOp:scale = (1, 1, 1)
+                double3 xformOp:translate = (0, 0, 0)
+                uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+            }
+        }
+
+        def Xform "left_inner_knuckle" (
+            kind = "group"
+        )
+        {
+            quatd xformOp:orient = (1, 0, 0, 0)
+            float3 xformOp:scale = (1, 1, 1)
+            double3 xformOp:translate = (0, 0, 0)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+
+            def Xform "visuals" (
+                instanceable = true
+                kind = "subcomponent"
+                prepend references = </Meshes/inner_knuckle>
+            )
+            {
+                quatd xformOp:orient = (0.4999999999999999, 0.5000000000000001, 0.5000000000000001, 0.5000000000000001)
+                float3 xformOp:scale = (1, 1, 1)
+                double3 xformOp:translate = (0, 0, 0)
+                uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+            }
+        }
+
+        def Xform "right_outer_knuckle" (
+            kind = "group"
+        )
+        {
+            quatd xformOp:orient = (1, 0, 0, 0)
+            float3 xformOp:scale = (1, 1, 1)
+            double3 xformOp:translate = (0, 0, 0)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+
+            def Xform "visuals" (
+                instanceable = true
+                kind = "subcomponent"
+                prepend references = </Meshes/outer_knuckle>
+            )
+            {
+                quatd xformOp:orient = (0.4999999999999999, 0.5000000000000001, -0.5000000000000001, -0.5000000000000001)
+                float3 xformOp:scale = (1, 1, 1)
+                double3 xformOp:translate = (0, 0, 0)
+                uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+            }
+        }
+
+        def Xform "right_outer_finger" (
+            kind = "group"
+        )
+        {
+            quatd xformOp:orient = (1, 0, 0, 0)
+            float3 xformOp:scale = (1, 1, 1)
+            double3 xformOp:translate = (0, 0, 0)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+
+            def Xform "visuals" (
+                instanceable = true
+                kind = "subcomponent"
+                prepend references = </Meshes/outer_finger>
+            )
+            {
+                quatd xformOp:orient = (0.4999999999999999, 0.5000000000000001, -0.5000000000000001, -0.5000000000000001)
+                float3 xformOp:scale = (1, 1, 1)
+                double3 xformOp:translate = (0, 0, 0)
+                uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+            }
+        }
+
+        def Xform "right_inner_finger" (
+            kind = "group"
+        )
+        {
+            quatd xformOp:orient = (1, 0, 0, 0)
+            float3 xformOp:scale = (1, 1, 1)
+            double3 xformOp:translate = (0, 0, 0)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+
+            def Xform "visuals" (
+                instanceable = true
+                kind = "subcomponent"
+                prepend references = </Meshes/inner_finger>
+            )
+            {
+                quatd xformOp:orient = (0.4999999999999999, 0.5000000000000001, -0.5000000000000001, -0.5000000000000001)
+                float3 xformOp:scale = (1, 1, 1)
+                double3 xformOp:translate = (0, 0, 0)
+                uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+            }
+        }
+
+        def Xform "right_inner_knuckle" (
+            kind = "group"
+        )
+        {
+            quatd xformOp:orient = (1, 0, 0, 0)
+            float3 xformOp:scale = (1, 1, 1)
+            double3 xformOp:translate = (0, 0, 0)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+
+            def Xform "visuals" (
+                instanceable = true
+                kind = "subcomponent"
+                prepend references = </Meshes/inner_knuckle>
+            )
+            {
+                quatd xformOp:orient = (0.4999999999999999, 0.5000000000000001, -0.5000000000000001, -0.5000000000000001)
+                float3 xformOp:scale = (1, 1, 1)
+                double3 xformOp:translate = (0, 0, 0)
+                uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+            }
+        }
+    }
+}
+
+def Scope "Meshes"
+{
+    token visibility = "invisible"
+
+    def Xform "base_link" (
+        kind = "group"
+    )
+    {
+        quatd xformOp:orient = (1, 0, 0, 0)
+        float3 xformOp:scale = (1, 1, 1)
+        double3 xformOp:translate = (0, 0, 0)
+        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+
+        def Xform "Defeatured_2F_85_PAD_OPEN_basestep_01" (
+            instanceable = false
+            kind = "subcomponent"
+            prepend references = @./Defeatured_2F_85_PAD_OPEN_basestep_JFX.usd@
+        )
+        {
+            quatd xformOp:orient = (1, 0, 0, 0)
+            float3 xformOp:scale = (1, 1, 1)
+            double3 xformOp:translate = (0, 0, 0)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+        }
+    }
+
+    def Xform "inner_finger" (
+        kind = "group"
+    )
+    {
+        quatd xformOp:orient = (1, 0, 0, 0)
+        float3 xformOp:scale = (1, 1, 1)
+        double3 xformOp:translate = (0, 0, 0)
+        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+
+        def Xform "Defeatured_2F_85_PAD_OPEN_finger4step_01" (
+            instanceable = false
+            kind = "subcomponent"
+            prepend references = @./Defeatured_2F_85_PAD_OPEN_finger4step_JFH.usd@
+        )
+        {
+            quatd xformOp:orient = (1, 0, 0, 0)
+            float3 xformOp:scale = (1, 1, 1)
+            double3 xformOp:translate = (0, 0, 0)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+        }
+
+        def Xform "Defeatured_2F_85_PAD_OPEN_fingertipsstep_01" (
+            instanceable = false
+            kind = "subcomponent"
+            prepend references = @./Defeatured_2F_85_PAD_OPEN_fingertipsstep_JFD.usd@
+        )
+        {
+            quatd xformOp:orient = (1, 0, 0, 0)
+            float3 xformOp:scale = (1, 1, 1)
+            double3 xformOp:translate = (0, 0, 0)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+        }
+    }
+
+    def Xform "inner_knuckle" (
+        kind = "group"
+    )
+    {
+        quatd xformOp:orient = (1, 0, 0, 0)
+        float3 xformOp:scale = (1, 1, 1)
+        double3 xformOp:translate = (0, 0, 0)
+        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+
+        def Xform "Defeatured_2F_85_PAD_OPEN_finger3step_01" (
+            instanceable = false
+            kind = "subcomponent"
+            prepend references = @./Defeatured_2F_85_PAD_OPEN_finger3step_JFL.usd@
+        )
+        {
+            quatd xformOp:orient = (1, 0, 0, 0)
+            float3 xformOp:scale = (1, 1, 1)
+            double3 xformOp:translate = (0, 0, 0)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+        }
+    }
+
+    def Xform "outer_finger" (
+        kind = "group"
+    )
+    {
+        quatd xformOp:orient = (1, 0, 0, 0)
+        float3 xformOp:scale = (1, 1, 1)
+        double3 xformOp:translate = (0, 0, 0)
+        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+
+        def Xform "Defeatured_2F_85_PAD_OPEN_finger2step_01" (
+            instanceable = false
+            kind = "subcomponent"
+            prepend references = @./Defeatured_2F_85_PAD_OPEN_finger2step_JFP.usd@
+        )
+        {
+            quatd xformOp:orient = (1, 0, 0, 0)
+            float3 xformOp:scale = (1, 1, 1)
+            double3 xformOp:translate = (0, 0, 0)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+        }
+    }
+
+    def Xform "outer_knuckle" (
+        kind = "group"
+    )
+    {
+        quatd xformOp:orient = (1, 0, 0, 0)
+        float3 xformOp:scale = (1, 1, 1)
+        double3 xformOp:translate = (0, 0, 0)
+        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+
+        def Xform "Defeatured_2F_85_PAD_OPEN_Finger1step_01" (
+            instanceable = false
+            kind = "subcomponent"
+            prepend references = @./Defeatured_2F_85_PAD_OPEN_Finger1step_JFT.usd@
+        )
+        {
+            quatd 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"]
+        }
+    }
+}
+

universalrobots_ur5e/payloads/Gripper/dependencies/Robotiq_2F_85_phyisics_loop.usda

@@ -0,0 +1,343 @@
+#usda 1.0
+(
+    customLayerData = {
+    }
+    defaultPrim = "Robotiq_2F_85"
+    endTimeCode = 0
+    metersPerUnit = 1
+    startTimeCode = -1
+    subLayers = [
+        @./Robotiq_2F_85_base.usda@
+    ]
+    upAxis = "Z"
+)
+
+def Xform "Robotiq_2F_85" (
+    kind = "assembly"
+)
+{
+    over Xform "Robotiq_2F_85" (
+        prepend apiSchemas = ["PhysicsArticulationRootAPI"]
+        kind = "assembly"
+    )
+    {
+        def Scope "Joints"
+        {
+            def PhysicsRevoluteJoint "finger_joint" (
+                prepend apiSchemas = ["PhysicsDriveAPI:angular"]
+            )
+            {
+                float drive:angular:physics:damping = 0.0002
+                float drive:angular:physics:maxForce = 16.5
+                float drive:angular:physics:stiffness = 0.17
+                float drive:angular:physics:targetPosition = 0
+                float drive:angular:physics:targetVelocity = 0
+                uniform token physics:axis = "Z"
+                rel physics:body0 = </Robotiq_2F_85/Robotiq_2F_85/base_link>
+                rel physics:body1 = </Robotiq_2F_85/Robotiq_2F_85/left_outer_knuckle>
+                point3f physics:localPos0 = (0, -0.0306, 0.05466)
+                point3f physics:localPos1 = (0, -0.0306, 0.05466)
+                quatf physics:localRot0 = (0.5, 0.5, -0.5, -0.5)
+                quatf physics:localRot1 = (0.5, 0.5, -0.5, -0.5)
+                float physics:lowerLimit = 0
+                float physics:upperLimit = 75
+            }
+
+            def PhysicsRevoluteJoint "right_outer_knuckle_joint" (
+                delete apiSchemas = ["PhysicsDriveAPI:angular"]
+            )
+            {
+                float drive:angular:physics:damping = 5000
+                float drive:angular:physics:maxForce = 5
+                float drive:angular:physics:stiffness = 0
+                uniform token physics:axis = "Z"
+                rel physics:body0 = </Robotiq_2F_85/Robotiq_2F_85/base_link>
+                rel physics:body1 = </Robotiq_2F_85/Robotiq_2F_85/right_outer_knuckle>
+                point3f physics:localPos0 = (0, 0.0306, 0.05466)
+                point3f physics:localPos1 = (0, 0.0306, 0.05466)
+                quatf physics:localRot0 = (0.5, 0.5, 0.5, 0.5)
+                quatf physics:localRot1 = (0.5, 0.5, 0.5, 0.5)
+                float physics:lowerLimit = 0
+                float physics:upperLimit = 75
+            }
+
+            def PhysicsRevoluteJoint "right_outer_finger_joint" (
+                prepend apiSchemas = ["PhysicsDriveAPI:angular"]
+            )
+            {
+                float drive:angular:physics:damping = 0
+                float drive:angular:physics:stiffness = 0
+                uniform token physics:axis = "Z"
+                rel physics:body0 = </Robotiq_2F_85/Robotiq_2F_85/right_outer_knuckle>
+                rel physics:body1 = </Robotiq_2F_85/Robotiq_2F_85/right_outer_finger>
+                point3f physics:localPos0 = (0, 0.06213, 0.0509)
+                point3f physics:localPos1 = (0, 0.06213, 0.0509)
+                quatf physics:localRot0 = (0.5, 0.5, 0.5, 0.5)
+                quatf physics:localRot1 = (0.5, 0.5, 0.5, 0.5)
+                float physics:lowerLimit = 0
+                float physics:upperLimit = 180
+            }
+
+            def PhysicsRevoluteJoint "right_inner_finger_joint" (
+                prepend apiSchemas = ["PhysicsDriveAPI:angular"]
+            )
+            {
+                float drive:angular:physics:damping = 0.00001
+                float drive:angular:physics:maxForce = 0.5
+                float drive:angular:physics:stiffness = 0.0002
+                float drive:angular:physics:targetPosition = 45
+                uniform token physics:axis = "Z"
+                rel physics:body0 = </Robotiq_2F_85/Robotiq_2F_85/right_outer_finger>
+                rel physics:body1 = </Robotiq_2F_85/Robotiq_2F_85/right_inner_finger>
+                point3f physics:localPos0 = (0, 0.06776, 0.09809)
+                point3f physics:localPos1 = (0, 0.06776, 0.09809)
+                quatf physics:localRot0 = (0.5, 0.5, 0.5, 0.5)
+                quatf physics:localRot1 = (0.5, 0.5, 0.5, 0.5)
+                float physics:lowerLimit = -inf
+                float physics:upperLimit = inf
+            }
+
+            def PhysicsRevoluteJoint "right_inner_knuckle_joint" (
+                prepend apiSchemas = ["PhysicsDriveAPI:angular"]
+            )
+            {
+                float drive:angular:physics:damping = 0
+                float drive:angular:physics:stiffness = 0
+                uniform token physics:axis = "Z"
+                rel physics:body0 = </Robotiq_2F_85/Robotiq_2F_85/base_link>
+                rel physics:body1 = </Robotiq_2F_85/Robotiq_2F_85/right_inner_knuckle>
+                uniform bool physics:excludeFromArticulation = 1
+                point3f physics:localPos0 = (0, 0.0127, 0.06118)
+                point3f physics:localPos1 = (0, 0.0127, 0.06118)
+                quatf physics:localRot0 = (0.5, 0.5, 0.5, 0.5)
+                quatf physics:localRot1 = (0.5, 0.5, 0.5, 0.5)
+                float physics:lowerLimit = -inf
+                float physics:upperLimit = inf
+            }
+
+            def PhysicsRevoluteJoint "right_inner_finger_knuckle_joint" (
+                prepend apiSchemas = ["PhysicsDriveAPI:angular"]
+            )
+            {
+                float drive:angular:physics:damping = 0
+                float drive:angular:physics:stiffness = 0
+                uniform token physics:axis = "Z"
+                rel physics:body0 = </Robotiq_2F_85/Robotiq_2F_85/right_inner_finger>
+                rel physics:body1 = </Robotiq_2F_85/Robotiq_2F_85/right_inner_knuckle>
+                point3f physics:localPos0 = (0, 0.04986, 0.1046)
+                point3f physics:localPos1 = (0, 0.04986, 0.1046)
+                quatf physics:localRot0 = (0.5, 0.5, 0.5, 0.5)
+                quatf physics:localRot1 = (0.5, 0.5, 0.5, 0.5)
+            }
+
+            def PhysicsRevoluteJoint "left_outer_finger_joint" (
+                prepend apiSchemas = ["PhysicsDriveAPI:angular"]
+            )
+            {
+                float drive:angular:physics:damping = 0
+                float drive:angular:physics:stiffness = 0
+                uniform token physics:axis = "Z"
+                rel physics:body0 = </Robotiq_2F_85/Robotiq_2F_85/left_outer_knuckle>
+                rel physics:body1 = </Robotiq_2F_85/Robotiq_2F_85/left_outer_finger>
+                point3f physics:localPos0 = (0, -0.06213, 0.0509)
+                point3f physics:localPos1 = (0, -0.06213, 0.0509)
+                quatf physics:localRot0 = (0.5, 0.5, 0.5, 0.5)
+                quatf physics:localRot1 = (0.5, 0.5, 0.5, 0.5)
+                float physics:lowerLimit = 0
+                float physics:upperLimit = 180
+            }
+
+            def PhysicsRevoluteJoint "left_inner_finger_knuckle_joint" (
+                prepend apiSchemas = ["PhysicsDriveAPI:angular"]
+            )
+            {
+                float drive:angular:physics:damping = 0
+                float drive:angular:physics:stiffness = 0
+                uniform token physics:axis = "Z"
+                rel physics:body0 = </Robotiq_2F_85/Robotiq_2F_85/left_inner_finger>
+                rel physics:body1 = </Robotiq_2F_85/Robotiq_2F_85/left_inner_knuckle>
+                point3f physics:localPos0 = (0, -0.04986, 0.1046)
+                point3f physics:localPos1 = (0, -0.04986, 0.1046)
+                quatf physics:localRot0 = (0.5, 0.5, 0.5, 0.5)
+                quatf physics:localRot1 = (0.5, 0.5, 0.5, 0.5)
+                float physics:lowerLimit = -inf
+                float physics:upperLimit = inf
+            }
+
+            def PhysicsRevoluteJoint "left_inner_finger_joint" (
+                prepend apiSchemas = ["PhysicsDriveAPI:angular"]
+            )
+            {
+                float drive:angular:physics:damping = 0.00001
+                float drive:angular:physics:maxForce = 0.5
+                float drive:angular:physics:stiffness = 0.0002
+                float drive:angular:physics:targetPosition = 45
+                uniform token physics:axis = "Z"
+                rel physics:body0 = </Robotiq_2F_85/Robotiq_2F_85/left_outer_finger>
+                rel physics:body1 = </Robotiq_2F_85/Robotiq_2F_85/left_inner_finger>
+                point3f physics:localPos0 = (0, -0.06776, 0.09809)
+                point3f physics:localPos1 = (0, -0.06776, 0.09809)
+                quatf physics:localRot0 = (0.5, 0.5, 0.5, 0.5)
+                quatf physics:localRot1 = (0.5, 0.5, 0.5, 0.5)
+                float physics:lowerLimit = -inf
+                float physics:upperLimit = inf
+            }
+
+            def PhysicsRevoluteJoint "left_inner_knuckle_joint" (
+                prepend apiSchemas = ["PhysicsDriveAPI:angular"]
+            )
+            {
+                float drive:angular:physics:damping = 0
+                float drive:angular:physics:stiffness = 0
+                uniform token physics:axis = "Z"
+                rel physics:body0 = </Robotiq_2F_85/Robotiq_2F_85/base_link>
+                rel physics:body1 = </Robotiq_2F_85/Robotiq_2F_85/left_inner_knuckle>
+                uniform bool physics:excludeFromArticulation = 1
+                point3f physics:localPos0 = (0, -0.0127, 0.06118)
+                point3f physics:localPos1 = (0, -0.0127, 0.06118)
+                quatf physics:localRot0 = (0.5, 0.5, 0.5, 0.5)
+                quatf physics:localRot1 = (0.5, 0.5, 0.5, 0.5)
+                float physics:lowerLimit = -inf
+                float physics:upperLimit = inf
+            }
+        }
+
+        over "base_link" (
+            prepend apiSchemas = ["PhysicsRigidBodyAPI"]
+            kind = "group"
+        )
+        {
+        }
+
+        over "left_outer_knuckle" (
+            prepend apiSchemas = ["PhysicsRigidBodyAPI"]
+        )
+        {
+        }
+
+        over "left_outer_finger" (
+            prepend apiSchemas = ["PhysicsRigidBodyAPI"]
+            kind = "group"
+        )
+        {
+        }
+
+        over "left_inner_finger" (
+            prepend apiSchemas = ["PhysicsRigidBodyAPI"]
+        )
+        {
+        }
+
+        over "left_inner_knuckle" (
+            prepend apiSchemas = ["PhysicsRigidBodyAPI"]
+        )
+        {
+        }
+
+        over "right_outer_knuckle" (
+            prepend apiSchemas = ["PhysicsRigidBodyAPI"]
+        )
+        {
+        }
+
+        over "right_outer_finger" (
+            prepend apiSchemas = ["PhysicsRigidBodyAPI"]
+            kind = "group"
+        )
+        {
+        }
+
+        over "right_inner_finger" (
+            prepend apiSchemas = ["PhysicsRigidBodyAPI"]
+            kind = "group"
+        )
+        {
+        }
+
+        over "right_inner_knuckle" (
+            prepend apiSchemas = ["PhysicsRigidBodyAPI"]
+            kind = "group"
+        )
+        {
+        }
+    }
+}
+
+over "Meshes"
+{
+    over "base_link"
+    {
+        over "Defeatured_2F_85_PAD_OPEN_basestep_01"
+        {
+            over "Defeatured_2F_85_PAD_OPEN_basestep" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"]
+            )
+            {
+                bool physics:collisionEnabled = 1
+            }
+        }
+    }
+
+    over "inner_finger"
+    {
+        over "Defeatured_2F_85_PAD_OPEN_finger4step_01"
+        {
+            over "Defeatured_2F_85_PAD_OPEN_finger4step" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"]
+            )
+            {
+                bool physics:collisionEnabled = 1
+            }
+        }
+
+        over "Defeatured_2F_85_PAD_OPEN_fingertipsstep_01"
+        {
+            over "Defeatured_2F_85_PAD_OPEN_fingertipsstep" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"]
+            )
+            {
+                bool physics:collisionEnabled = 1
+            }
+        }
+    }
+
+    over "inner_knuckle"
+    {
+        over "Defeatured_2F_85_PAD_OPEN_finger3step_01"
+        {
+            over "Defeatured_2F_85_PAD_OPEN_finger3step" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"]
+            )
+            {
+                bool physics:collisionEnabled = 1
+            }
+        }
+    }
+
+    over "outer_finger"
+    {
+        over "Defeatured_2F_85_PAD_OPEN_finger2step_01"
+        {
+            over "Defeatured_2F_85_PAD_OPEN_finger2step" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"]
+            )
+            {
+                bool physics:collisionEnabled = 1
+            }
+        }
+    }
+
+    over "outer_knuckle"
+    {
+        over "Defeatured_2F_85_PAD_OPEN_Finger1step_01"
+        {
+            over "Defeatured_2F_85_PAD_OPEN_Finger1step" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"]
+            )
+            {
+                bool physics:collisionEnabled = 1
+            }
+        }
+    }
+}
+

universalrobots_ur5e/payloads/Gripper/dependencies/Robotiq_2F_85_phyisics_mimic.usda

@@ -0,0 +1,343 @@
+#usda 1.0
+(
+    customLayerData = {
+    }
+    defaultPrim = "Robotiq_2F_85"
+    endTimeCode = 0
+    metersPerUnit = 1
+    startTimeCode = -1
+    subLayers = [
+        @./Robotiq_2F_85_base.usda@
+    ]
+    upAxis = "Z"
+)
+
+def Xform "Robotiq_2F_85" (
+    kind = "assembly"
+)
+{
+    over Xform "Robotiq_2F_85" (
+        prepend apiSchemas = ["PhysicsArticulationRootAPI"]
+        kind = "assembly"
+    )
+    {
+        def Scope "Joints"
+        {
+            def PhysicsRevoluteJoint "finger_joint" (
+                prepend apiSchemas = ["PhysicsDriveAPI:angular"]
+            )
+            {
+                float drive:angular:physics:damping = 0.0002
+                float drive:angular:physics:maxForce = 26
+                float drive:angular:physics:stiffness = 3
+                float drive:angular:physics:targetPosition = 0
+                float drive:angular:physics:targetVelocity = 0
+                uniform token physics:axis = "Z"
+                rel physics:body0 = </Robotiq_2F_85/Robotiq_2F_85/base_link>
+                rel physics:body1 = </Robotiq_2F_85/Robotiq_2F_85/left_outer_knuckle>
+                point3f physics:localPos0 = (0, -0.0306, 0.05466)
+                point3f physics:localPos1 = (0, -0.0306, 0.05466)
+                quatf physics:localRot0 = (0.5, 0.5, -0.5, -0.5)
+                quatf physics:localRot1 = (0.5, 0.5, -0.5, -0.5)
+                float physics:lowerLimit = 0
+                float physics:upperLimit = 47
+            }
+
+            def PhysicsRevoluteJoint "right_outer_knuckle_joint" (
+                active = true
+                delete apiSchemas = ["PhysicsDriveAPI:angular"]
+            )
+            {
+                float drive:angular:physics:damping = 0
+                float drive:angular:physics:maxForce = 0
+                float drive:angular:physics:stiffness = 0
+                uniform token physics:axis = "Z"
+                rel physics:body0 = </Robotiq_2F_85/Robotiq_2F_85/base_link>
+                rel physics:body1 = </Robotiq_2F_85/Robotiq_2F_85/right_outer_knuckle>
+                point3f physics:localPos0 = (0, 0.0306, 0.05466)
+                point3f physics:localPos1 = (0, 0.0306, 0.05466)
+                quatf physics:localRot0 = (0.5, -0.5, 0.5, -0.5)
+                quatf physics:localRot1 = (0.5, -0.5, 0.5, -0.5)
+                float physics:lowerLimit = 0
+                float physics:upperLimit = 47
+            }
+
+            def PhysicsRevoluteJoint "right_inner_finger_joint" (
+                active = true
+                delete apiSchemas = ["PhysicsDriveAPI:angular"]
+            )
+            {
+                float drive:angular:physics:damping = 0
+                float drive:angular:physics:maxForce = 0
+                float drive:angular:physics:stiffness = 0
+                float drive:angular:physics:targetPosition = 0
+                uniform token physics:axis = "Z"
+                rel physics:body0 = </Robotiq_2F_85/Robotiq_2F_85/right_outer_finger>
+                rel physics:body1 = </Robotiq_2F_85/Robotiq_2F_85/right_inner_finger>
+                point3f physics:localPos0 = (0, 0.06776, 0.09809)
+                point3f physics:localPos1 = (0, 0.06776, 0.09809)
+                quatf physics:localRot0 = (0.5, 0.5, -0.5, -0.5)
+                quatf physics:localRot1 = (0.5, 0.5, -0.5, -0.5)
+                float physics:lowerLimit = -180
+                float physics:upperLimit = 180
+            }
+
+            def PhysicsRevoluteJoint "right_inner_finger_knuckle_joint" (
+                active = true
+                delete apiSchemas = ["PhysicsDriveAPI:angular"]
+            )
+            {
+                float drive:angular:physics:damping = 0
+                float drive:angular:physics:stiffness = 0
+                float drive:angular:physics:targetPosition = 0
+                uniform token physics:axis = "Z"
+                rel physics:body0 = </Robotiq_2F_85/Robotiq_2F_85/right_inner_finger>
+                rel physics:body1 = </Robotiq_2F_85/Robotiq_2F_85/right_inner_knuckle>
+                point3f physics:localPos0 = (0, 0.04986, 0.1046)
+                point3f physics:localPos1 = (0, 0.04986, 0.1046)
+                quatf physics:localRot0 = (0.5, 0.5, -0.5, -0.5)
+                quatf physics:localRot1 = (0.5, 0.5, -0.5, -0.5)
+                float physics:lowerLimit = -180
+                float physics:upperLimit = 180
+            }
+
+            def PhysicsRevoluteJoint "left_inner_finger_knuckle_joint" (
+                active = true
+                delete apiSchemas = ["PhysicsDriveAPI:angular"]
+            )
+            {
+                float drive:angular:physics:damping = 0
+                float drive:angular:physics:stiffness = 0
+                uniform token physics:axis = "Z"
+                rel physics:body0 = </Robotiq_2F_85/Robotiq_2F_85/left_inner_finger>
+                rel physics:body1 = </Robotiq_2F_85/Robotiq_2F_85/left_inner_knuckle>
+                point3f physics:localPos0 = (0, -0.04986, 0.1046)
+                point3f physics:localPos1 = (0, -0.04986, 0.1046)
+                quatf physics:localRot0 = (0.5, 0.5, 0.5, 0.5)
+                quatf physics:localRot1 = (0.5, 0.5, 0.5, 0.5)
+                float physics:lowerLimit = -180
+                float physics:upperLimit = 180
+            }
+
+            def PhysicsRevoluteJoint "left_inner_finger_joint" (
+                active = true
+                delete apiSchemas = ["PhysicsDriveAPI:angular"]
+            )
+            {
+                float drive:angular:physics:damping = 0
+                float drive:angular:physics:maxForce = 0
+                float drive:angular:physics:stiffness = 0
+                float drive:angular:physics:targetPosition = 0
+                uniform token physics:axis = "Z"
+                rel physics:body0 = </Robotiq_2F_85/Robotiq_2F_85/left_outer_finger>
+                rel physics:body1 = </Robotiq_2F_85/Robotiq_2F_85/left_inner_finger>
+                point3f physics:localPos0 = (0, -0.06776, 0.09809)
+                point3f physics:localPos1 = (0, -0.06776, 0.09809)
+                quatf physics:localRot0 = (0.5, -0.5, -0.5, 0.5)
+                quatf physics:localRot1 = (0.5, -0.5, -0.5, 0.5)
+                float physics:lowerLimit = -180
+                float physics:upperLimit = 180
+            }
+        }
+
+        over "base_link" (
+            prepend apiSchemas = ["PhysicsRigidBodyAPI"]
+            kind = "group"
+        )
+        {
+        }
+
+        over "left_outer_knuckle" (
+            prepend apiSchemas = ["PhysicsRigidBodyAPI"]
+        )
+        {
+        }
+
+        over "left_outer_finger" (
+            delete apiSchemas = ["PhysicsMassAPI"]
+            prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"]
+            kind = "group"
+        )
+        {
+            point3f physics:centerOfMass = (0.000005531254, -0.06595047, 0.06895309)
+            float3 physics:diagonalInertia = (0.0000132201985, 0.0000042931024, 0.000010880907)
+            float physics:mass = 0.039179202
+            quatf physics:principalAxes = (0.76604444, -0.64278764, 0, 0)
+
+            def PhysicsFixedJoint "FixedJoint"
+            {
+                rel physics:body0 = </Robotiq_2F_85/Robotiq_2F_85/left_outer_knuckle>
+                rel physics:body1 = </Robotiq_2F_85/Robotiq_2F_85/left_outer_finger>
+                float physics:breakForce = 3.4028235e38
+                float physics:breakTorque = 3.4028235e38
+                point3f physics:localPos0 = (7.4505797e-9, 7.45058e-9, 3.87445e-9)
+                point3f physics:localPos1 = (0, 0, 0)
+                quatf physics:localRot0 = (1, -5.531774e-8, -4.2146855e-8, 2.370759e-8)
+                quatf physics:localRot1 = (1, 0, 0, 0)
+            }
+        }
+
+        over "left_inner_finger" (
+            prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"]
+        )
+        {
+            point3f physics:centerOfMass = (1.2590098e-8, -0.05424156, 0.11390199)
+            float3 physics:diagonalInertia = (0.000011577923, 0.00000896224, 0.0000039778333)
+            float physics:mass = 0.039254718
+            quatf physics:principalAxes = (0.9914449, -0.13052619, 0, 0)
+        }
+
+        over "left_inner_knuckle" (
+            prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"]
+        )
+        {
+            point3f physics:centerOfMass = (-2.005321e-10, -0.03222066, 0.083420366)
+            float3 physics:diagonalInertia = (0.000011838778, 0.0000044877793, 0.00000800488)
+            float physics:mass = 0.027306942
+            quatf physics:principalAxes = (0.9063078, -0.42261827, 0, 0)
+        }
+
+        over "right_outer_knuckle" (
+            prepend apiSchemas = ["PhysicsRigidBodyAPI"]
+        )
+        {
+        }
+
+        over "right_outer_finger" (
+            delete apiSchemas = ["PhysicsMassAPI"]
+            prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"]
+            kind = "group"
+        )
+        {
+            point3f physics:centerOfMass = (-0.000005531254, 0.06595047, 0.06895309)
+            float3 physics:diagonalInertia = (0.0000132201985, 0.0000042931024, 0.000010880907)
+            float physics:mass = 0.039179202
+            quatf physics:principalAxes = (0.76604444, 0.64278764, 0, 0)
+
+            def PhysicsFixedJoint "FixedJoint"
+            {
+                rel physics:body0 = </Robotiq_2F_85/Robotiq_2F_85/right_outer_knuckle>
+                rel physics:body1 = </Robotiq_2F_85/Robotiq_2F_85/right_outer_finger>
+                float physics:breakForce = 3.4028235e38
+                float physics:breakTorque = 3.4028235e38
+                point3f physics:localPos0 = (3.725291e-9, -7.45058e-9, -3.4324326e-9)
+                point3f physics:localPos1 = (0, 0, 0)
+                quatf physics:localRot0 = (1, -5.5317734e-8, 4.2146844e-8, -2.634178e-9)
+                quatf physics:localRot1 = (1, 0, 0, 0)
+            }
+        }
+
+        over "right_inner_finger" (
+            prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"]
+            kind = "group"
+        )
+        {
+            point3f physics:centerOfMass = (-1.2590098e-8, 0.05424156, 0.11390199)
+            float3 physics:diagonalInertia = (0.000011577923, 0.00000896224, 0.0000039778333)
+            float physics:mass = 0.039254718
+            quatf physics:principalAxes = (0.9914449, 0.13052619, 0, 0)
+        }
+
+        over "right_inner_knuckle" (
+            prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"]
+            kind = "group"
+        )
+        {
+            point3f physics:centerOfMass = (2.005321e-10, 0.03222066, 0.083420366)
+            float3 physics:diagonalInertia = (0.000011838778, 0.0000044877793, 0.00000800488)
+            float physics:mass = 0.027306942
+            quatf physics:principalAxes = (0.9063078, 0.42261827, 0, 0)
+        }
+    }
+}
+
+over "Meshes"
+{
+    over "base_link"
+    {
+        over "Defeatured_2F_85_PAD_OPEN_basestep_01"
+        {
+            over "Defeatured_2F_85_PAD_OPEN_basestep" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"]
+            )
+            {
+                bool physics:collisionEnabled = 1
+            }
+        }
+    }
+
+    over "inner_finger"
+    {
+        over "Defeatured_2F_85_PAD_OPEN_finger4step_01"
+        {
+            over "Defeatured_2F_85_PAD_OPEN_finger4step" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"]
+            )
+            {
+                bool physics:collisionEnabled = 1
+            }
+        }
+
+        over "Defeatured_2F_85_PAD_OPEN_fingertipsstep_01"
+        {
+            over "Defeatured_2F_85_PAD_OPEN_fingertipsstep" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"]
+            )
+            {
+                bool physics:collisionEnabled = 1
+            }
+        }
+    }
+
+    over "inner_knuckle"
+    {
+        over "Defeatured_2F_85_PAD_OPEN_finger3step_01"
+        {
+            over "Defeatured_2F_85_PAD_OPEN_finger3step" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"]
+            )
+            {
+                bool physics:collisionEnabled = 1
+            }
+        }
+    }
+
+    over "outer_finger"
+    {
+        over "Defeatured_2F_85_PAD_OPEN_finger2step_01"
+        {
+            over "Defeatured_2F_85_PAD_OPEN_finger2step" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"]
+            )
+            {
+                bool physics:collisionEnabled = 1
+            }
+        }
+    }
+
+    over "outer_knuckle"
+    {
+        over "Defeatured_2F_85_PAD_OPEN_Finger1step_01"
+        {
+            over "Defeatured_2F_85_PAD_OPEN_Finger1step" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"]
+            )
+            {
+                bool physics:collisionEnabled = 1
+            }
+        }
+    }
+
+    def PhysicsCollisionGroup "CollisionGroup"
+    {
+        rel collection:colliders:includes = </Meshes>
+        rel physics:filteredGroups
+    }
+
+    def PhysicsCollisionGroup "CollisionGroup_01"
+    {
+        rel collection:colliders:includes = </Robotiq_2F_85>
+        rel physics:filteredGroups = </Meshes/CollisionGroup>
+    }
+}
+

universalrobots_ur5e/payloads/Gripper/none.usda

@@ -0,0 +1,15 @@
+#usda 1.0
+(
+    customLayerData = {
+    }
+    defaultPrim = "ur5e"
+    endTimeCode = 0
+    metersPerUnit = 1
+    startTimeCode = -1
+    upAxis = "Z"
+)
+
+def "ur5e"
+{
+}
+

universalrobots_ur5e/payloads/Gripper/robotiq_2f_85.usda

@@ -0,0 +1,37 @@
+#usda 1.0
+(
+    customLayerData = {
+    }
+    defaultPrim = "ur5e"
+    endTimeCode = 0
+    metersPerUnit = 1
+    startTimeCode = -1
+    upAxis = "Z"
+)
+
+def "ur5e" (
+    customData = {
+        string[] variantPrimPaths = ["Gripper", "Gripper/Robotiq_2F_85", "joints/robot_gripper_joint"]
+    }
+)
+{
+    over "Gripper" (
+        prepend payload = @./dependencies/Robotiq_2F_85_edit.usd@
+    )
+    {
+        over "Robotiq_2F_85"
+        {
+        }
+    }
+
+    over "joints"
+    {
+        over "robot_gripper_joint"
+        {
+            custom rel physics:body1
+            prepend rel physics:body1 = </ur5e/Gripper/Robotiq_2F_85/base_link>
+            bool physics:jointEnabled = 1
+        }
+    }
+}
+

universalrobots_ur5e/payloads/Physics/mujoco.usda

@@ -0,0 +1,203 @@
+#usda 1.0
+(
+    customLayerData = {
+    }
+    endTimeCode = 0
+    metersPerUnit = 1
+    startTimeCode = -1
+    upAxis = "Z"
+)
+
+over "ur5e"
+{
+    over "joints"
+    {
+        over "robot_gripper_joint"
+        {
+        }
+
+        over "shoulder_pan_joint" (
+            delete apiSchemas = ["PhysicsJointStateAPI:angular", "PhysicsDriveAPI:angular"]
+        )
+        {
+        }
+
+        over "shoulder_lift_joint" (
+            delete apiSchemas = ["PhysicsJointStateAPI:angular", "PhysicsDriveAPI:angular"]
+        )
+        {
+        }
+
+        over "elbow_joint" (
+            delete apiSchemas = ["PhysicsJointStateAPI:angular", "PhysicsDriveAPI:angular"]
+        )
+        {
+        }
+
+        over "wrist_1_joint" (
+            delete apiSchemas = ["PhysicsJointStateAPI:angular", "PhysicsDriveAPI:angular"]
+        )
+        {
+        }
+
+        over "wrist_2_joint" (
+            delete apiSchemas = ["PhysicsJointStateAPI:angular", "PhysicsDriveAPI:angular"]
+        )
+        {
+        }
+
+        over "wrist_3_joint" (
+            delete apiSchemas = ["PhysicsJointStateAPI:angular", "PhysicsDriveAPI:angular"]
+        )
+        {
+        }
+    }
+
+    over "base_link"
+    {
+        over "base_link"
+        {
+        }
+
+        over "visuals"
+        {
+            over "base"
+            {
+            }
+        }
+
+        over "collisions"
+        {
+            over "base"
+            {
+            }
+        }
+    }
+
+    over "shoulder_link"
+    {
+        over "visuals"
+        {
+            over "shoulder"
+            {
+            }
+        }
+
+        over "collisions"
+        {
+            over "shoulder"
+            {
+            }
+        }
+    }
+
+    over "upper_arm_link"
+    {
+        over "visuals"
+        {
+            over "upperarm"
+            {
+            }
+        }
+
+        over "collisions"
+        {
+            over "upperarm"
+            {
+            }
+        }
+    }
+
+    over "forearm_link"
+    {
+        over "visuals"
+        {
+            over "forearm"
+            {
+            }
+        }
+
+        over "collisions"
+        {
+            over "forearm"
+            {
+            }
+        }
+    }
+
+    over "wrist_1_link"
+    {
+        over "visuals"
+        {
+            over "wrist1"
+            {
+            }
+        }
+
+        over "collisions"
+        {
+            over "wrist1"
+            {
+            }
+        }
+    }
+
+    over "wrist_2_link"
+    {
+        over "visuals"
+        {
+            over "wrist2"
+            {
+            }
+        }
+
+        over "collisions"
+        {
+            over "wrist2"
+            {
+            }
+        }
+    }
+
+    over "wrist_3_link"
+    {
+        over "flange"
+        {
+        }
+
+        over "ft_frame"
+        {
+        }
+
+        over "visuals"
+        {
+            over "wrist3"
+            {
+            }
+        }
+
+        over "collisions"
+        {
+            over "wrist3"
+            {
+            }
+        }
+    }
+
+    over "root_joint"
+    {
+    }
+
+    over "Looks"
+    {
+    }
+
+    over "Gripper"
+    {
+    }
+
+    over "VisualMaterials"
+    {
+    }
+}
+

universalrobots_ur5e/payloads/Physics/none.usda

@@ -0,0 +1,15 @@
+#usda 1.0
+(
+    customLayerData = {
+    }
+    defaultPrim = "ur5e"
+    endTimeCode = 0
+    metersPerUnit = 1
+    startTimeCode = -1
+    upAxis = "Z"
+)
+
+def "ur5e"
+{
+}
+

universalrobots_ur5e/payloads/Physics/physics.usda

@@ -0,0 +1,346 @@
+#usda 1.0
+(
+    customLayerData = {
+    }
+    defaultPrim = "ur5e"
+    endTimeCode = 0
+    metersPerUnit = 1
+    startTimeCode = -1
+    upAxis = "Z"
+)
+
+over "ur5e"
+{
+    over "joints"
+    {
+        def PhysicsRevoluteJoint "shoulder_pan_joint" (
+            prepend apiSchemas = ["PhysicsDriveAPI:angular"]
+        )
+        {
+            float drive:angular:physics:damping = 9.9614
+            float drive:angular:physics:maxForce = 150
+            float drive:angular:physics:stiffness = 9400.501
+            float drive:angular:physics:targetPosition = 0
+            uniform token drive:angular:physics:type = "force"
+            uniform token physics:axis = "Z"
+            custom rel physics:body0 = </ur5e/base_link>
+            custom rel physics:body1 = </ur5e/shoulder_link>
+            float physics:breakForce = 3.4028235e38
+            float physics:breakTorque = 3.4028235e38
+            float physics:JointEquivalentInertia = 0.1512013
+            point3f physics:localPos0 = (0, 0, 0.1625)
+            point3f physics:localPos1 = (0, 0, 0)
+            quatf physics:localRot0 = (-4.371139e-8, 0, 0, 1)
+            quatf physics:localRot1 = (1, 0, 0, 0)
+            float physics:lowerLimit = -360
+            float physics:upperLimit = 360
+        }
+
+        def PhysicsRevoluteJoint "shoulder_lift_joint" (
+            prepend apiSchemas = ["PhysicsDriveAPI:angular"]
+        )
+        {
+            float drive:angular:physics:damping = 10.7333
+            float drive:angular:physics:maxForce = 150
+            float drive:angular:physics:stiffness = 10020.92
+            float drive:angular:physics:targetPosition = 0
+            uniform token drive:angular:physics:type = "force"
+            uniform token physics:axis = "Z"
+            custom rel physics:body0 = </ur5e/shoulder_link>
+            custom rel physics:body1 = </ur5e/upper_arm_link>
+            float physics:breakForce = 3.4028235e38
+            float physics:breakTorque = 3.4028235e38
+            float physics:JointEquivalentInertia = 0.16467163
+            point3f physics:localPos0 = (0, 0, 0)
+            point3f physics:localPos1 = (0, 0, 0)
+            quatf physics:localRot0 = (0.70710677, 0.70710677, 0, 0)
+            quatf physics:localRot1 = (1, 0, 0, 0)
+            float physics:lowerLimit = -360
+            float physics:upperLimit = 360
+        }
+
+        def PhysicsRevoluteJoint "elbow_joint" (
+            prepend apiSchemas = ["PhysicsDriveAPI:angular"]
+        )
+        {
+            float drive:angular:physics:damping = 34.1945
+            float drive:angular:physics:maxForce = 150
+            float drive:angular:physics:stiffness = 10230.221
+            float drive:angular:physics:targetPosition = 0
+            uniform token drive:angular:physics:type = "force"
+            uniform token physics:axis = "Z"
+            custom rel physics:body0 = </ur5e/upper_arm_link>
+            custom rel physics:body1 = </ur5e/forearm_link>
+            float physics:breakForce = 3.4028235e38
+            float physics:breakTorque = 3.4028235e38
+            float physics:JointEquivalentInertia = 1.6371533
+            point3f physics:localPos0 = (-0.425, 0, 0)
+            point3f physics:localPos1 = (0, 0, 0)
+            quatf physics:localRot0 = (1, 0, 0, 0)
+            quatf physics:localRot1 = (1, 0, 0, 0)
+            float physics:lowerLimit = -180
+            float physics:upperLimit = 180
+        }
+
+        def PhysicsRevoluteJoint "wrist_1_joint" (
+            prepend apiSchemas = ["PhysicsDriveAPI:angular"]
+        )
+        {
+            float drive:angular:physics:damping = 13.1797
+            float drive:angular:physics:maxForce = 28
+            float drive:angular:physics:stiffness = 3940.629
+            float drive:angular:physics:targetPosition = 0
+            uniform token drive:angular:physics:type = "force"
+            uniform token physics:axis = "Z"
+            custom rel physics:body0 = </ur5e/forearm_link>
+            custom rel physics:body1 = </ur5e/wrist_1_link>
+            float physics:breakForce = 3.4028235e38
+            float physics:breakTorque = 3.4028235e38
+            float physics:JointEquivalentInertia = 0.63140386
+            point3f physics:localPos0 = (-0.3922, 0, 0.1333)
+            point3f physics:localPos1 = (0, 0, 0)
+            quatf physics:localRot0 = (1, 0, 0, 0)
+            quatf physics:localRot1 = (1, 0, 0, 0)
+            float physics:lowerLimit = -360
+            float physics:upperLimit = 360
+        }
+
+        def PhysicsRevoluteJoint "wrist_2_joint" (
+            prepend apiSchemas = ["PhysicsDriveAPI:angular"]
+        )
+        {
+            float drive:angular:physics:damping = 2.5928
+            float drive:angular:physics:maxForce = 28
+            float drive:angular:physics:stiffness = 3940.629
+            float drive:angular:physics:targetPosition = 0
+            uniform token drive:angular:physics:type = "force"
+            uniform token physics:axis = "Z"
+            custom rel physics:body0 = </ur5e/wrist_1_link>
+            custom rel physics:body1 = </ur5e/wrist_2_link>
+            float physics:breakForce = 3.4028235e38
+            float physics:breakTorque = 3.4028235e38
+            float physics:JointEquivalentInertia = 0.024436664
+            point3f physics:localPos0 = (0, -0.0997, -2.0448811e-11)
+            point3f physics:localPos1 = (0, 0, 0)
+            quatf physics:localRot0 = (0.70710677, 0.70710677, 0, 0)
+            quatf physics:localRot1 = (1, 0, 0, 0)
+            float physics:lowerLimit = -360
+            float physics:upperLimit = 360
+        }
+
+        def PhysicsRevoluteJoint "wrist_3_joint" (
+            prepend apiSchemas = ["PhysicsDriveAPI:angular"]
+        )
+        {
+            float drive:angular:physics:damping = 0.3475
+            float drive:angular:physics:maxForce = 28
+            float drive:angular:physics:stiffness = 1000.0809
+            float drive:angular:physics:targetPosition = 0
+            uniform token drive:angular:physics:type = "force"
+            uniform token physics:axis = "Z"
+            custom rel physics:body0 = </ur5e/wrist_2_link>
+            custom rel physics:body1 = </ur5e/wrist_3_link>
+            float physics:breakForce = 3.4028235e38
+            float physics:breakTorque = 3.4028235e38
+            float physics:JointEquivalentInertia = 0.0017293784
+            point3f physics:localPos0 = (0, 0.0996, -2.0428301e-11)
+            point3f physics:localPos1 = (0, 0, 0)
+            quatf physics:localRot0 = (0.70710677, -0.70710677, -6.181724e-8, 0)
+            quatf physics:localRot1 = (1, 0, 0, 0)
+            float physics:lowerLimit = -360
+            float physics:upperLimit = 360
+        }
+
+        def PhysicsFixedJoint "robot_gripper_joint"
+        {
+            custom rel physics:body0 = </ur5e/wrist_3_link>
+            float physics:breakForce = inf
+            float physics:breakTorque = inf
+            bool physics:jointEnabled = 0
+            point3f physics:localPos0 = (5.054474e-9, -5.078315e-9, -3.836155e-8)
+            point3f physics:localPos1 = (0.8172, 0.2329, 0.0628)
+            quatf physics:localRot0 = (-0.5, 0.49999997, 0.5, 0.49999997)
+            quatf physics:localRot1 = (0.70710677, -9.835192e-9, -2.3884143e-8, 0.70710677)
+        }
+    }
+
+    over "base_link" (
+        prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"]
+    )
+    {
+        point3f physics:centerOfMass = (0, 0, 0)
+        float3 physics:diagonalInertia = (0.0044333315, 0.0044333315, 0.0072)
+        float physics:mass = 4
+        quatf physics:principalAxes = (1, 0, 0, 0)
+
+        over "collisions"
+        {
+            over "base" (
+                instanceable = false
+            )
+            {
+                over "mesh_1" (
+                    prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"]
+                )
+                {
+                }
+            }
+        }
+    }
+
+    over "shoulder_link" (
+        prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"]
+    )
+    {
+        point3f physics:centerOfMass = (0, 0, 0)
+        float3 physics:diagonalInertia = (0.010267496, 0.010267496, 0.00666)
+        float physics:mass = 3.7
+        quatf physics:principalAxes = (1, 0, 0, 0)
+
+        over "collisions"
+        {
+            over "shoulder" (
+                instanceable = false
+            )
+            {
+                over "mesh_3" (
+                    prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"]
+                )
+                {
+                }
+            }
+        }
+    }
+
+    over "upper_arm_link" (
+        prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"]
+    )
+    {
+        point3f physics:centerOfMass = (-0.2125, 0, 0.138)
+        float3 physics:diagonalInertia = (0.13388579, 0.13388579, 0.0151074)
+        float physics:mass = 8.393
+        quatf physics:principalAxes = (0.70710677, 0, 0.70710677, 0)
+
+        over "collisions"
+        {
+            over "upperarm" (
+                instanceable = false
+            )
+            {
+                over "mesh_5" (
+                    prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"]
+                )
+                {
+                }
+            }
+        }
+    }
+
+    over "forearm_link" (
+        prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"]
+    )
+    {
+        point3f physics:centerOfMass = (-0.1961, 0, 0.007)
+        float3 physics:diagonalInertia = (0.031209355, 0.031209355, 0.0040950007)
+        float physics:mass = 2.275
+        quatf physics:principalAxes = (0.70710677, 0, 0.70710677, 0)
+
+        over "collisions"
+        {
+            over "forearm" (
+                instanceable = false
+            )
+            {
+                over "mesh_7" (
+                    prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"]
+                )
+                {
+                }
+            }
+        }
+    }
+
+    over "wrist_1_link" (
+        prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"]
+    )
+    {
+        point3f physics:centerOfMass = (0, 0, 0)
+        float3 physics:diagonalInertia = (0.002559899, 0.002559899, 0.0021942)
+        float physics:mass = 1.219
+        quatf physics:principalAxes = (1, 0, 0, 0)
+
+        over "collisions"
+        {
+            over "wrist1" (
+                instanceable = false
+            )
+            {
+                over "mesh_9" (
+                    prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"]
+                )
+                {
+                }
+            }
+        }
+    }
+
+    over "wrist_2_link" (
+        prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"]
+    )
+    {
+        point3f physics:centerOfMass = (0, 0, 0)
+        float3 physics:diagonalInertia = (0.002559899, 0.002559899, 0.0021942)
+        float physics:mass = 1.219
+        quatf physics:principalAxes = (1, 0, 0, 0)
+
+        over "collisions"
+        {
+            over "wrist2" (
+                instanceable = false
+            )
+            {
+                over "mesh_11" (
+                    prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"]
+                )
+                {
+                }
+            }
+        }
+    }
+
+    over "wrist_3_link" (
+        prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"]
+    )
+    {
+        point3f physics:centerOfMass = (0, 0, -0.022899998)
+        float3 physics:diagonalInertia = (0.0000989041, 0.0000989041, 0.00013211719)
+        float physics:mass = 0.1879
+        quatf physics:principalAxes = (1, 0, 0, 0)
+
+        over "collisions"
+        {
+            over "wrist3" (
+                instanceable = false
+            )
+            {
+                over "mesh_13" (
+                    prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"]
+                )
+                {
+                }
+            }
+        }
+    }
+
+    def PhysicsFixedJoint "root_joint" (
+        prepend apiSchemas = ["PhysicsArticulationRootAPI"]
+    )
+    {
+        rel physics:body1 = </ur5e/base_link>
+        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"]
+    }
+}
+

universalrobots_ur5e/payloads/Physics/physx.usda

@@ -0,0 +1,71 @@
+#usda 1.0
+(
+    customLayerData = {
+    }
+    defaultPrim = "ur5e"
+    endTimeCode = 0
+    metersPerUnit = 1
+    startTimeCode = -1
+    subLayers = [
+        @./physics.usda@
+    ]
+    upAxis = "Z"
+)
+
+def "ur5e"
+{
+    over "joints"
+    {
+        over "shoulder_pan_joint" (
+            prepend apiSchemas = ["PhysxJointAPI"]
+        )
+        {
+            float physxJoint:maxJointVelocity = 180
+        }
+
+        over "shoulder_lift_joint" (
+            prepend apiSchemas = ["PhysxJointAPI"]
+        )
+        {
+            float physxJoint:maxJointVelocity = 180
+        }
+
+        over "elbow_joint" (
+            prepend apiSchemas = ["PhysxJointAPI"]
+        )
+        {
+            float physxJoint:maxJointVelocity = 180
+        }
+
+        over "wrist_1_joint" (
+            prepend apiSchemas = ["PhysxJointAPI"]
+        )
+        {
+            float physxJoint:maxJointVelocity = 180
+        }
+
+        over "wrist_2_joint" (
+            prepend apiSchemas = ["PhysxJointAPI"]
+        )
+        {
+            float physxJoint:maxJointVelocity = 180
+        }
+
+        over "wrist_3_joint" (
+            prepend apiSchemas = ["PhysxJointAPI"]
+        )
+        {
+            float physxJoint:maxJointVelocity = 180
+        }
+    }
+
+    over "root_joint" (
+        prepend apiSchemas = ["PhysxArticulationAPI"]
+    )
+    {
+        bool physxArticulation:enabledSelfCollisions = 0
+        int physxArticulation:solverPositionIterationCount = 32
+        int physxArticulation:solverVelocityIterationCount = 1
+    }
+}
+

universalrobots_ur5e/payloads/Sensor/none.usda

@@ -0,0 +1,15 @@
+#usda 1.0
+(
+    customLayerData = {
+    }
+    defaultPrim = "ur5e"
+    endTimeCode = 0
+    metersPerUnit = 1
+    startTimeCode = -1
+    upAxis = "Z"
+)
+
+def "ur5e"
+{
+}
+

universalrobots_ur5e/payloads/Sensor/sensors.usda

@@ -0,0 +1,19 @@
+#usda 1.0
+(
+    customLayerData = {
+    }
+    defaultPrim = "ur5e"
+    endTimeCode = 0
+    metersPerUnit = 1
+    startTimeCode = -1
+    upAxis = "Z"
+)
+
+def Xform "ur"
+{
+}
+
+def "ur5e"
+{
+}
+

universalrobots_ur5e/payloads/base.usda

@@ -0,0 +1,367 @@
+#usda 1.0
+(
+    customLayerData = {
+    }
+    defaultPrim = "ur5e"
+    endTimeCode = 0
+    metersPerUnit = 1
+    startTimeCode = -1
+    subLayers = [
+        @./robot.usda@
+    ]
+    upAxis = "Z"
+)
+
+def Xform "ur5e" (
+    customData = {
+        string[] variantPrimPaths = ["joints/robot_gripper_joint"]
+    }
+)
+{
+    quatd xformOp:orient = (1, 0, 0, 0)
+    double3 xformOp:scale = (1, 1, 1)
+    double3 xformOp:translate = (0, 0, 0)
+    uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+
+    def Scope "joints"
+    {
+    }
+
+    def Scope "Looks"
+    {
+    }
+
+    def Xform "base_link"
+    {
+        quatd xformOp:orient = (1, 0, 0, 0)
+        double3 xformOp:scale = (1, 1, 1)
+        double3 xformOp:translate = (0, 0, 0)
+        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+
+        def Xform "base_link"
+        {
+            quatd xformOp:orient = (1, 0, 0, 0)
+            double3 xformOp:scale = (1, 1, 1)
+            double3 xformOp:translate = (0, 0, 0)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+        }
+
+        def Xform "visuals" (
+            instanceable = false
+        )
+        {
+            def Xform "base" (
+                instanceable = true
+                prepend references = @./instances.usda@</Instances/mesh>
+            )
+            {
+                token visibility = "inherited"
+                quatd xformOp:orient = (0.70711, 0.7071035624, 0, 0)
+                double3 xformOp:scale = (1, 1, 1)
+                double3 xformOp:translate = (0, 0, 0)
+                uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+            }
+        }
+
+        def Xform "collisions" (
+            instanceable = false
+        )
+        {
+            def Xform "base" (
+                instanceable = true
+                prepend references = @./instances.usda@</Instances/mesh_1>
+            )
+            {
+                uniform token purpose = "guide"
+                token visibility = "inherited"
+            }
+        }
+    }
+
+    def Xform "shoulder_link"
+    {
+        quatd xformOp:orient = (-4.371138828673793e-8, -0, 0, 1)
+        double3 xformOp:scale = (1, 1, 1)
+        double3 xformOp:translate = (0, 0, 0.16249999403953552)
+        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+
+        def Xform "visuals" (
+            instanceable = false
+        )
+        {
+            def Xform "shoulder" (
+                instanceable = true
+                prepend references = @./instances.usda@</Instances/mesh_2>
+            )
+            {
+                token visibility = "inherited"
+                quatd xformOp:orient = (0, 0, 0.7071035624, 0.70711)
+                double3 xformOp:scale = (1, 1, 1)
+                double3 xformOp:translate = (0, 0, 0)
+                uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+            }
+        }
+
+        def Xform "collisions" (
+            instanceable = false
+        )
+        {
+            def Xform "shoulder" (
+                instanceable = true
+                prepend references = @./instances.usda@</Instances/mesh_3>
+            )
+            {
+                uniform token purpose = "guide"
+                token visibility = "inherited"
+                quatd xformOp:orient = (0, 0, 0, 1)
+                double3 xformOp:scale = (1, 1, 1)
+                double3 xformOp:translate = (0, 0, 0)
+                uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+            }
+        }
+    }
+
+    def Xform "upper_arm_link"
+    {
+        quatd xformOp:orient = (-3.0908619663705394e-8, -3.0908619663705394e-8, 0.7071067690849304, 0.7071067690849304)
+        double3 xformOp:scale = (1, 1, 1)
+        double3 xformOp:translate = (0, 0, 0.16249999403953552)
+        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+
+        def Xform "visuals" (
+            instanceable = false
+        )
+        {
+            def Xform "upperarm" (
+                instanceable = true
+                prepend references = @./instances.usda@</Instances/mesh_4>
+            )
+            {
+                token visibility = "inherited"
+                quatd xformOp:orient = (0.000003190722816, 0.7071067671, -0.7071067952, -0.000003218820843)
+                double3 xformOp:scale = (1, 1, 1)
+                double3 xformOp:translate = (0, 0, 0.1379999965)
+                uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+            }
+        }
+
+        def Xform "collisions" (
+            instanceable = false
+        )
+        {
+            def Xform "upperarm" (
+                instanceable = true
+                prepend references = @./instances.usda@</Instances/mesh_5>
+            )
+            {
+                uniform token purpose = "guide"
+                token visibility = "inherited"
+                quatd xformOp:orient = (0.4999999702, 0.5000000099, -0.5000000099, -0.5000000099)
+                double3 xformOp:scale = (1, 1, 1)
+                double3 xformOp:translate = (0, 0, 0.1379999965)
+                uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+            }
+        }
+    }
+
+    def Xform "forearm_link"
+    {
+        quatd xformOp:orient = (-3.0908619663705394e-8, -3.0908619663705394e-8, 0.7071067690849304, 0.7071067690849304)
+        double3 xformOp:scale = (1, 1, 1)
+        double3 xformOp:translate = (0.42500001192092896, 3.715468110954134e-8, 0.16249999403953552)
+        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+
+        def Xform "visuals" (
+            instanceable = false
+        )
+        {
+            def Xform "forearm" (
+                instanceable = true
+                prepend references = @./instances.usda@</Instances/mesh_6>
+            )
+            {
+                token visibility = "inherited"
+                quatd xformOp:orient = (0.000003190722816, 0.7071067671, -0.7071067952, -0.000003218820843)
+                double3 xformOp:scale = (1, 1, 1)
+                double3 xformOp:translate = (0, 0, 0.007000000216)
+                uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+            }
+        }
+
+        def Xform "collisions" (
+            instanceable = false
+        )
+        {
+            def Xform "forearm" (
+                instanceable = true
+                prepend references = @./instances.usda@</Instances/mesh_7>
+            )
+            {
+                uniform token purpose = "guide"
+                token visibility = "inherited"
+                quatd xformOp:orient = (0.4999999702, 0.5000000099, -0.5000000099, -0.5000000099)
+                double3 xformOp:scale = (1, 1, 1)
+                double3 xformOp:translate = (0, 0, 0.007000000216)
+                uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+            }
+        }
+    }
+
+    def Xform "wrist_1_link"
+    {
+        quatd xformOp:orient = (-3.0908619663705394e-8, -3.0908619663705394e-8, 0.7071067690849304, 0.7071067690849304)
+        double3 xformOp:scale = (1, 1, 1)
+        double3 xformOp:translate = (0.8172000050544739, 0.1333000659942627, 0.16249999403953552)
+        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+
+        def Xform "visuals" (
+            instanceable = false
+        )
+        {
+            def Xform "wrist1" (
+                instanceable = true
+                prepend references = @./instances.usda@</Instances/mesh_8>
+            )
+            {
+                token visibility = "inherited"
+                quatd xformOp:orient = (0.000004534985729, 1, 0, 0)
+                double3 xformOp:scale = (1, 1, 1)
+                double3 xformOp:translate = (0, 0, -0.1270000041)
+                uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+            }
+        }
+
+        def Xform "collisions" (
+            instanceable = false
+        )
+        {
+            def Xform "wrist1" (
+                instanceable = true
+                prepend references = @./instances.usda@</Instances/mesh_9>
+            )
+            {
+                uniform token purpose = "guide"
+                token visibility = "inherited"
+                quatd xformOp:orient = (0.7071067691, 0.7071067933, 0, 0)
+                double3 xformOp:scale = (1, 1, 1)
+                double3 xformOp:translate = (0, 0, -0.1270000041)
+                uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+            }
+        }
+    }
+
+    def Xform "wrist_2_link"
+    {
+        quatd xformOp:orient = (0, -4.371138828673793e-8, 0.9999999403953552, 0)
+        double3 xformOp:scale = (1, 1, 1)
+        double3 xformOp:translate = (0.8172000050544739, 0.1333000659942627, 0.06280000507831573)
+        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+
+        def Xform "visuals" (
+            instanceable = false
+        )
+        {
+            def Xform "wrist2" (
+                instanceable = true
+                prepend references = @./instances.usda@</Instances/mesh_10>
+            )
+            {
+                token visibility = "inherited"
+                quatd xformOp:orient = (0.70711, 0.7071035624, 0, 0)
+                double3 xformOp:scale = (1, 1, 1)
+                double3 xformOp:translate = (0, 0, -0.09969999641)
+                uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+            }
+        }
+
+        def Xform "collisions" (
+            instanceable = false
+        )
+        {
+            def Xform "wrist2" (
+                instanceable = true
+                prepend references = @./instances.usda@</Instances/mesh_11>
+            )
+            {
+                uniform token purpose = "guide"
+                token visibility = "inherited"
+                quatd xformOp:orient = (1, 0, 0, 0)
+                double3 xformOp:scale = (1, 1, 1)
+                double3 xformOp:translate = (0, 0, -0.09969999641)
+                uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+            }
+        }
+    }
+
+    def Xform "wrist_3_link"
+    {
+        quatd xformOp:orient = (3.090861255827804e-8, -3.0908619663705394e-8, 0.7071067094802856, 0.7071067094802856)
+        double3 xformOp:scale = (1, 1, 1)
+        double3 xformOp:translate = (0.8172000050544739, 0.23290003836154938, 0.06280000507831573)
+        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+
+        def Xform "flange"
+        {
+            quatd xformOp:orient = (0.4999999701976776, -0.4999999701976776, -0.4999999701976776, -0.4999999701976776)
+            double3 xformOp:scale = (1, 1, 1)
+            double3 xformOp:translate = (0, 0, 0)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+        }
+
+        def Xform "ft_frame"
+        {
+            quatd xformOp:orient = (-4.371138828673793e-8, 1, 0, -0)
+            double3 xformOp:scale = (1, 1, 1)
+            double3 xformOp:translate = (0, 0, 0)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+        }
+
+        def Xform "visuals" (
+            instanceable = false
+        )
+        {
+            def Xform "wrist3" (
+                instanceable = true
+                prepend references = @./instances.usda@</Instances/mesh_12>
+            )
+            {
+                token visibility = "inherited"
+                quatd xformOp:orient = (0.000004534985729, 1, 0, 0)
+                double3 xformOp:scale = (1, 1, 1)
+                double3 xformOp:translate = (0, 0, -0.09889999777)
+                uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+            }
+        }
+
+        def Xform "collisions" (
+            instanceable = false
+        )
+        {
+            def Xform "wrist3" (
+                instanceable = true
+                prepend references = @./instances.usda@</Instances/mesh_13>
+            )
+            {
+                uniform token purpose = "guide"
+                token visibility = "inherited"
+                quatd xformOp:orient = (0.7071067691, 0.7071067933, 0, 0)
+                double3 xformOp:scale = (1, 1, 1)
+                double3 xformOp:translate = (0, 0, -0.09889999777)
+                uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+            }
+        }
+    }
+
+    def Xform "Gripper"
+    {
+        quatd xformOp:orient = (0.5000000000000001, -0.5, -0.49999999999999994, -0.5)
+        double3 xformOp:scale = (1, 1, 1)
+        double3 xformOp:translate = (0.8172, 0.2329, 0.0628)
+        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+    }
+
+    def Scope "VisualMaterials"
+    {
+    }
+}
+

universalrobots_ur5e/payloads/geometries.usd

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:34692050bf417a8848956718fd1b79a0393d86de0ca28b051f260f26d91c4391
+size 9321381

universalrobots_ur5e/payloads/instances.usda

@@ -0,0 +1,1089 @@
+#usda 1.0
+(
+    customLayerData = {
+    }
+    endTimeCode = 0
+    metersPerUnit = 1
+    startTimeCode = -1
+    upAxis = "Z"
+)
+
+def Scope "Instances"
+{
+    def Xform "mesh" (
+        prepend references = @./geometries.usd@</Geometries/mesh>
+    )
+    {
+        over "mesh"
+        {
+            over "Black" (
+                apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                custom rel material:binding
+                prepend rel material:binding = </Instances/mesh/VisualMaterials/Black>
+            }
+
+            over "JointGrey" (
+                apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                custom rel material:binding
+                prepend rel material:binding = </Instances/mesh/VisualMaterials/JointGrey>
+            }
+        }
+
+        def Scope "VisualMaterials"
+        {
+            def Material "Black" (
+                instanceable = true
+                prepend references = @./materials.usda@</Materials/Black>
+            )
+            {
+                token outputs:surface.connect = </Instances/mesh/VisualMaterials/Black/SimReadyPreviewSurface.outputs:surface>
+
+                def Shader "SimReadyPreviewSurface"
+                {
+                    token info:id = "UsdPreviewSurface"
+                    color3f inputs:diffuseColor = (0.03310248, 0.03310248, 0.03310248)
+                    float inputs:metallic = 0
+                    float inputs:opacity = 1
+                    float inputs:roughness = 0.5
+                    token outputs:surface
+                }
+
+                def Shader "SimReadyUV"
+                {
+                    token info:id = "UsdPrimvarReader_float2"
+                    token inputs:varname = "st"
+                    float2 outputs:result
+                }
+            }
+
+            def Material "JointGrey" (
+                instanceable = true
+                prepend references = @./materials.usda@</Materials/JointGrey>
+            )
+            {
+                token outputs:surface.connect = </Instances/mesh/VisualMaterials/JointGrey/SimReadyPreviewSurface.outputs:surface>
+
+                def Shader "SimReadyPreviewSurface"
+                {
+                    token info:id = "UsdPreviewSurface"
+                    color3f inputs:diffuseColor = (0.2784314, 0.2784314, 0.2784314)
+                    float inputs:metallic = 0
+                    float inputs:opacity = 1
+                    float inputs:roughness = 0.5
+                    token outputs:surface
+                }
+
+                def Shader "SimReadyUV"
+                {
+                    token info:id = "UsdPrimvarReader_float2"
+                    token inputs:varname = "st"
+                    float2 outputs:result
+                }
+            }
+        }
+    }
+
+    def Xform "mesh_1" (
+        prepend references = @./geometries.usd@</Geometries/mesh_1>
+    )
+    {
+        over "mesh_1" (
+            apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI", "MaterialBindingAPI"]
+        )
+        {
+            custom rel material:binding
+            prepend rel material:binding = </Instances/mesh_1/VisualMaterials/DefaultMaterial>
+            uniform token purpose = "guide"
+        }
+
+        def Scope "VisualMaterials"
+        {
+            def Material "DefaultMaterial" (
+                instanceable = true
+                prepend references = @./materials.usda@</Materials/DefaultMaterial>
+            )
+            {
+                token outputs:surface.connect = </Instances/mesh_1/VisualMaterials/DefaultMaterial/SimReadyPreviewSurface.outputs:surface>
+
+                def Shader "SimReadyPreviewSurface"
+                {
+                    token info:id = "UsdPreviewSurface"
+                    color3f inputs:diffuseColor = (1, 1, 1)
+                    float inputs:metallic = 0
+                    float inputs:opacity = 1
+                    float inputs:roughness = 0.5
+                    token outputs:surface
+                }
+
+                def Shader "SimReadyUV"
+                {
+                    token info:id = "UsdPrimvarReader_float2"
+                    token inputs:varname = "st"
+                    float2 outputs:result
+                }
+            }
+        }
+    }
+
+    def Xform "mesh_2" (
+        prepend references = @./geometries.usd@</Geometries/mesh_2>
+    )
+    {
+        over "mesh_2"
+        {
+            over "subset_" (
+                apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                custom rel material:binding
+                prepend rel material:binding = </Instances/mesh_2/VisualMaterials/URBlue>
+            }
+
+            over "Black" (
+                apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                custom rel material:binding
+                prepend rel material:binding = </Instances/mesh_2/VisualMaterials/Black>
+            }
+
+            over "JointGrey" (
+                apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                custom rel material:binding
+                prepend rel material:binding = </Instances/mesh_2/VisualMaterials/JointGrey>
+            }
+        }
+
+        def Scope "VisualMaterials"
+        {
+            def Material "URBlue" (
+                instanceable = true
+                prepend references = @./materials.usda@</Materials/URBlue>
+            )
+            {
+                token outputs:surface.connect = </Instances/mesh_2/VisualMaterials/URBlue/SimReadyPreviewSurface.outputs:surface>
+
+                def Shader "SimReadyPreviewSurface"
+                {
+                    token info:id = "UsdPreviewSurface"
+                    color3f inputs:diffuseColor = (0.4901961, 0.6784314, 0.8)
+                    float inputs:metallic = 0
+                    float inputs:opacity = 1
+                    float inputs:roughness = 0.5
+                    token outputs:surface
+                }
+
+                def Shader "SimReadyUV"
+                {
+                    token info:id = "UsdPrimvarReader_float2"
+                    token inputs:varname = "st"
+                    float2 outputs:result
+                }
+            }
+
+            def Material "Black" (
+                instanceable = true
+                prepend references = @./materials.usda@</Materials/Black>
+            )
+            {
+                token outputs:surface.connect = </Instances/mesh_2/VisualMaterials/Black/SimReadyPreviewSurface.outputs:surface>
+
+                def Shader "SimReadyPreviewSurface"
+                {
+                    token info:id = "UsdPreviewSurface"
+                    color3f inputs:diffuseColor = (0.03310248, 0.03310248, 0.03310248)
+                    float inputs:metallic = 0
+                    float inputs:opacity = 1
+                    float inputs:roughness = 0.5
+                    token outputs:surface
+                }
+
+                def Shader "SimReadyUV"
+                {
+                    token info:id = "UsdPrimvarReader_float2"
+                    token inputs:varname = "st"
+                    float2 outputs:result
+                }
+            }
+
+            def Material "JointGrey" (
+                instanceable = true
+                prepend references = @./materials.usda@</Materials/JointGrey>
+            )
+            {
+                token outputs:surface.connect = </Instances/mesh_2/VisualMaterials/JointGrey/SimReadyPreviewSurface.outputs:surface>
+
+                def Shader "SimReadyPreviewSurface"
+                {
+                    token info:id = "UsdPreviewSurface"
+                    color3f inputs:diffuseColor = (0.2784314, 0.2784314, 0.2784314)
+                    float inputs:metallic = 0
+                    float inputs:opacity = 1
+                    float inputs:roughness = 0.5
+                    token outputs:surface
+                }
+
+                def Shader "SimReadyUV"
+                {
+                    token info:id = "UsdPrimvarReader_float2"
+                    token inputs:varname = "st"
+                    float2 outputs:result
+                }
+            }
+        }
+    }
+
+    def Xform "mesh_3" (
+        prepend references = @./geometries.usd@</Geometries/mesh_3>
+    )
+    {
+        over "mesh_3" (
+            apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI", "MaterialBindingAPI"]
+        )
+        {
+            custom rel material:binding
+            prepend rel material:binding = </Instances/mesh_3/VisualMaterials/DefaultMaterial>
+            uniform token purpose = "guide"
+        }
+
+        def Scope "VisualMaterials"
+        {
+            def Material "DefaultMaterial" (
+                instanceable = true
+                prepend references = @./materials.usda@</Materials/DefaultMaterial>
+            )
+            {
+                token outputs:surface.connect = </Instances/mesh_3/VisualMaterials/DefaultMaterial/SimReadyPreviewSurface.outputs:surface>
+
+                def Shader "SimReadyPreviewSurface"
+                {
+                    token info:id = "UsdPreviewSurface"
+                    color3f inputs:diffuseColor = (1, 1, 1)
+                    float inputs:metallic = 0
+                    float inputs:opacity = 1
+                    float inputs:roughness = 0.5
+                    token outputs:surface
+                }
+
+                def Shader "SimReadyUV"
+                {
+                    token info:id = "UsdPrimvarReader_float2"
+                    token inputs:varname = "st"
+                    float2 outputs:result
+                }
+            }
+        }
+    }
+
+    def Xform "mesh_4" (
+        prepend references = @./geometries.usd@</Geometries/mesh_4>
+    )
+    {
+        over "mesh_4"
+        {
+            over "subset_" (
+                apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                custom rel material:binding
+                prepend rel material:binding = </Instances/mesh_4/VisualMaterials/Black>
+            }
+
+            over "subset_0" (
+                apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                custom rel material:binding
+                prepend rel material:binding = </Instances/mesh_4/VisualMaterials/JointGrey>
+            }
+
+            over "LinkGrey" (
+                apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                custom rel material:binding
+                prepend rel material:binding = </Instances/mesh_4/VisualMaterials/LinkGrey>
+            }
+
+            over "Black" (
+                apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                custom rel material:binding
+                prepend rel material:binding = </Instances/mesh_4/VisualMaterials/Black>
+            }
+
+            over "subset_1" (
+                apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                custom rel material:binding
+                prepend rel material:binding = </Instances/mesh_4/VisualMaterials/URBlue>
+            }
+
+            over "JointGrey" (
+                apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                custom rel material:binding
+                prepend rel material:binding = </Instances/mesh_4/VisualMaterials/JointGrey>
+            }
+
+            over "URBlue" (
+                apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                custom rel material:binding
+                prepend rel material:binding = </Instances/mesh_4/VisualMaterials/URBlue>
+            }
+        }
+
+        def Scope "VisualMaterials"
+        {
+            def Material "Black" (
+                instanceable = true
+                prepend references = @./materials.usda@</Materials/Black>
+            )
+            {
+                token outputs:surface.connect = </Instances/mesh_4/VisualMaterials/Black/SimReadyPreviewSurface.outputs:surface>
+
+                def Shader "SimReadyPreviewSurface"
+                {
+                    token info:id = "UsdPreviewSurface"
+                    color3f inputs:diffuseColor = (0.03310248, 0.03310248, 0.03310248)
+                    float inputs:metallic = 0
+                    float inputs:opacity = 1
+                    float inputs:roughness = 0.5
+                    token outputs:surface
+                }
+
+                def Shader "SimReadyUV"
+                {
+                    token info:id = "UsdPrimvarReader_float2"
+                    token inputs:varname = "st"
+                    float2 outputs:result
+                }
+            }
+
+            def Material "JointGrey" (
+                instanceable = true
+                prepend references = @./materials.usda@</Materials/JointGrey>
+            )
+            {
+                token outputs:surface.connect = </Instances/mesh_4/VisualMaterials/JointGrey/SimReadyPreviewSurface.outputs:surface>
+
+                def Shader "SimReadyPreviewSurface"
+                {
+                    token info:id = "UsdPreviewSurface"
+                    color3f inputs:diffuseColor = (0.2784314, 0.2784314, 0.2784314)
+                    float inputs:metallic = 0
+                    float inputs:opacity = 1
+                    float inputs:roughness = 0.5
+                    token outputs:surface
+                }
+
+                def Shader "SimReadyUV"
+                {
+                    token info:id = "UsdPrimvarReader_float2"
+                    token inputs:varname = "st"
+                    float2 outputs:result
+                }
+            }
+
+            def Material "LinkGrey" (
+                instanceable = true
+                prepend references = @./materials.usda@</Materials/LinkGrey>
+            )
+            {
+                token outputs:surface.connect = </Instances/mesh_4/VisualMaterials/LinkGrey/SimReadyPreviewSurface.outputs:surface>
+
+                def Shader "SimReadyPreviewSurface"
+                {
+                    token info:id = "UsdPreviewSurface"
+                    color3f inputs:diffuseColor = (0.8203922, 0.8203922, 0.8203922)
+                    float inputs:metallic = 0
+                    float inputs:opacity = 1
+                    float inputs:roughness = 0.5
+                    token outputs:surface
+                }
+
+                def Shader "SimReadyUV"
+                {
+                    token info:id = "UsdPrimvarReader_float2"
+                    token inputs:varname = "st"
+                    float2 outputs:result
+                }
+            }
+
+            def Material "URBlue" (
+                instanceable = true
+                prepend references = @./materials.usda@</Materials/URBlue>
+            )
+            {
+                token outputs:surface.connect = </Instances/mesh_4/VisualMaterials/URBlue/SimReadyPreviewSurface.outputs:surface>
+
+                def Shader "SimReadyPreviewSurface"
+                {
+                    token info:id = "UsdPreviewSurface"
+                    color3f inputs:diffuseColor = (0.4901961, 0.6784314, 0.8)
+                    float inputs:metallic = 0
+                    float inputs:opacity = 1
+                    float inputs:roughness = 0.5
+                    token outputs:surface
+                }
+
+                def Shader "SimReadyUV"
+                {
+                    token info:id = "UsdPrimvarReader_float2"
+                    token inputs:varname = "st"
+                    float2 outputs:result
+                }
+            }
+        }
+    }
+
+    def Xform "mesh_5" (
+        prepend references = @./geometries.usd@</Geometries/mesh_5>
+    )
+    {
+        over "mesh_5" (
+            apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI", "MaterialBindingAPI"]
+        )
+        {
+            custom rel material:binding
+            prepend rel material:binding = </Instances/mesh_5/VisualMaterials/DefaultMaterial>
+            uniform token purpose = "guide"
+        }
+
+        def Scope "VisualMaterials"
+        {
+            def Material "DefaultMaterial" (
+                instanceable = true
+                prepend references = @./materials.usda@</Materials/DefaultMaterial>
+            )
+            {
+                token outputs:surface.connect = </Instances/mesh_5/VisualMaterials/DefaultMaterial/SimReadyPreviewSurface.outputs:surface>
+
+                def Shader "SimReadyPreviewSurface"
+                {
+                    token info:id = "UsdPreviewSurface"
+                    color3f inputs:diffuseColor = (1, 1, 1)
+                    float inputs:metallic = 0
+                    float inputs:opacity = 1
+                    float inputs:roughness = 0.5
+                    token outputs:surface
+                }
+
+                def Shader "SimReadyUV"
+                {
+                    token info:id = "UsdPrimvarReader_float2"
+                    token inputs:varname = "st"
+                    float2 outputs:result
+                }
+            }
+        }
+    }
+
+    def Xform "mesh_6" (
+        prepend references = @./geometries.usd@</Geometries/mesh_6>
+    )
+    {
+        over "mesh_6"
+        {
+            over "URBlue" (
+                apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                custom rel material:binding
+                prepend rel material:binding = </Instances/mesh_6/VisualMaterials/URBlue>
+            }
+
+            over "Black" (
+                apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                custom rel material:binding
+                prepend rel material:binding = </Instances/mesh_6/VisualMaterials/Black>
+            }
+
+            over "Black0" (
+                apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                custom rel material:binding
+                prepend rel material:binding = </Instances/mesh_6/VisualMaterials/Black>
+            }
+
+            over "LinkGrey" (
+                apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                custom rel material:binding
+                prepend rel material:binding = </Instances/mesh_6/VisualMaterials/LinkGrey>
+            }
+
+            over "Black1" (
+                apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                custom rel material:binding
+                prepend rel material:binding = </Instances/mesh_6/VisualMaterials/Black>
+            }
+
+            over "JointGrey" (
+                apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                custom rel material:binding
+                prepend rel material:binding = </Instances/mesh_6/VisualMaterials/JointGrey>
+            }
+
+            over "JointGrey0" (
+                apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                custom rel material:binding
+                prepend rel material:binding = </Instances/mesh_6/VisualMaterials/JointGrey>
+            }
+        }
+
+        def Scope "VisualMaterials"
+        {
+            def Material "URBlue" (
+                instanceable = true
+                prepend references = @./materials.usda@</Materials/URBlue>
+            )
+            {
+                token outputs:surface.connect = </Instances/mesh_6/VisualMaterials/URBlue/SimReadyPreviewSurface.outputs:surface>
+
+                def Shader "SimReadyPreviewSurface"
+                {
+                    token info:id = "UsdPreviewSurface"
+                    color3f inputs:diffuseColor = (0.4901961, 0.6784314, 0.8)
+                    float inputs:metallic = 0
+                    float inputs:opacity = 1
+                    float inputs:roughness = 0.5
+                    token outputs:surface
+                }
+
+                def Shader "SimReadyUV"
+                {
+                    token info:id = "UsdPrimvarReader_float2"
+                    token inputs:varname = "st"
+                    float2 outputs:result
+                }
+            }
+
+            def Material "Black" (
+                instanceable = true
+                prepend references = @./materials.usda@</Materials/Black>
+            )
+            {
+                token outputs:surface.connect = </Instances/mesh_6/VisualMaterials/Black/SimReadyPreviewSurface.outputs:surface>
+
+                def Shader "SimReadyPreviewSurface"
+                {
+                    token info:id = "UsdPreviewSurface"
+                    color3f inputs:diffuseColor = (0.03310248, 0.03310248, 0.03310248)
+                    float inputs:metallic = 0
+                    float inputs:opacity = 1
+                    float inputs:roughness = 0.5
+                    token outputs:surface
+                }
+
+                def Shader "SimReadyUV"
+                {
+                    token info:id = "UsdPrimvarReader_float2"
+                    token inputs:varname = "st"
+                    float2 outputs:result
+                }
+            }
+
+            def Material "LinkGrey" (
+                instanceable = true
+                prepend references = @./materials.usda@</Materials/LinkGrey>
+            )
+            {
+                token outputs:surface.connect = </Instances/mesh_6/VisualMaterials/LinkGrey/SimReadyPreviewSurface.outputs:surface>
+
+                def Shader "SimReadyPreviewSurface"
+                {
+                    token info:id = "UsdPreviewSurface"
+                    color3f inputs:diffuseColor = (0.8203922, 0.8203922, 0.8203922)
+                    float inputs:metallic = 0
+                    float inputs:opacity = 1
+                    float inputs:roughness = 0.5
+                    token outputs:surface
+                }
+
+                def Shader "SimReadyUV"
+                {
+                    token info:id = "UsdPrimvarReader_float2"
+                    token inputs:varname = "st"
+                    float2 outputs:result
+                }
+            }
+
+            def Material "JointGrey" (
+                instanceable = true
+                prepend references = @./materials.usda@</Materials/JointGrey>
+            )
+            {
+                token outputs:surface.connect = </Instances/mesh_6/VisualMaterials/JointGrey/SimReadyPreviewSurface.outputs:surface>
+
+                def Shader "SimReadyPreviewSurface"
+                {
+                    token info:id = "UsdPreviewSurface"
+                    color3f inputs:diffuseColor = (0.2784314, 0.2784314, 0.2784314)
+                    float inputs:metallic = 0
+                    float inputs:opacity = 1
+                    float inputs:roughness = 0.5
+                    token outputs:surface
+                }
+
+                def Shader "SimReadyUV"
+                {
+                    token info:id = "UsdPrimvarReader_float2"
+                    token inputs:varname = "st"
+                    float2 outputs:result
+                }
+            }
+        }
+    }
+
+    def Xform "mesh_7" (
+        prepend references = @./geometries.usd@</Geometries/mesh_7>
+    )
+    {
+        over "mesh_7" (
+            apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI", "MaterialBindingAPI"]
+        )
+        {
+            custom rel material:binding
+            prepend rel material:binding = </Instances/mesh_7/VisualMaterials/DefaultMaterial>
+            uniform token purpose = "guide"
+        }
+
+        def Scope "VisualMaterials"
+        {
+            def Material "DefaultMaterial" (
+                instanceable = true
+                prepend references = @./materials.usda@</Materials/DefaultMaterial>
+            )
+            {
+                token outputs:surface.connect = </Instances/mesh_7/VisualMaterials/DefaultMaterial/SimReadyPreviewSurface.outputs:surface>
+
+                def Shader "SimReadyPreviewSurface"
+                {
+                    token info:id = "UsdPreviewSurface"
+                    color3f inputs:diffuseColor = (1, 1, 1)
+                    float inputs:metallic = 0
+                    float inputs:opacity = 1
+                    float inputs:roughness = 0.5
+                    token outputs:surface
+                }
+
+                def Shader "SimReadyUV"
+                {
+                    token info:id = "UsdPrimvarReader_float2"
+                    token inputs:varname = "st"
+                    float2 outputs:result
+                }
+            }
+        }
+    }
+
+    def Xform "mesh_8" (
+        prepend references = @./geometries.usd@</Geometries/mesh_8>
+    )
+    {
+        over "mesh_8"
+        {
+            over "Black" (
+                apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                custom rel material:binding
+                prepend rel material:binding = </Instances/mesh_8/VisualMaterials/Black>
+            }
+
+            over "subset_" (
+                apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                custom rel material:binding
+                prepend rel material:binding = </Instances/mesh_8/VisualMaterials/URBlue>
+            }
+
+            over "JointGrey" (
+                apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                custom rel material:binding
+                prepend rel material:binding = </Instances/mesh_8/VisualMaterials/JointGrey>
+            }
+        }
+
+        def Scope "VisualMaterials"
+        {
+            def Material "Black" (
+                instanceable = true
+                prepend references = @./materials.usda@</Materials/Black>
+            )
+            {
+                token outputs:surface.connect = </Instances/mesh_8/VisualMaterials/Black/SimReadyPreviewSurface.outputs:surface>
+
+                def Shader "SimReadyPreviewSurface"
+                {
+                    token info:id = "UsdPreviewSurface"
+                    color3f inputs:diffuseColor = (0.03310248, 0.03310248, 0.03310248)
+                    float inputs:metallic = 0
+                    float inputs:opacity = 1
+                    float inputs:roughness = 0.5
+                    token outputs:surface
+                }
+
+                def Shader "SimReadyUV"
+                {
+                    token info:id = "UsdPrimvarReader_float2"
+                    token inputs:varname = "st"
+                    float2 outputs:result
+                }
+            }
+
+            def Material "URBlue" (
+                instanceable = true
+                prepend references = @./materials.usda@</Materials/URBlue>
+            )
+            {
+                token outputs:surface.connect = </Instances/mesh_8/VisualMaterials/URBlue/SimReadyPreviewSurface.outputs:surface>
+
+                def Shader "SimReadyPreviewSurface"
+                {
+                    token info:id = "UsdPreviewSurface"
+                    color3f inputs:diffuseColor = (0.4901961, 0.6784314, 0.8)
+                    float inputs:metallic = 0
+                    float inputs:opacity = 1
+                    float inputs:roughness = 0.5
+                    token outputs:surface
+                }
+
+                def Shader "SimReadyUV"
+                {
+                    token info:id = "UsdPrimvarReader_float2"
+                    token inputs:varname = "st"
+                    float2 outputs:result
+                }
+            }
+
+            def Material "JointGrey" (
+                instanceable = true
+                prepend references = @./materials.usda@</Materials/JointGrey>
+            )
+            {
+                token outputs:surface.connect = </Instances/mesh_8/VisualMaterials/JointGrey/SimReadyPreviewSurface.outputs:surface>
+
+                def Shader "SimReadyPreviewSurface"
+                {
+                    token info:id = "UsdPreviewSurface"
+                    color3f inputs:diffuseColor = (0.2784314, 0.2784314, 0.2784314)
+                    float inputs:metallic = 0
+                    float inputs:opacity = 1
+                    float inputs:roughness = 0.5
+                    token outputs:surface
+                }
+
+                def Shader "SimReadyUV"
+                {
+                    token info:id = "UsdPrimvarReader_float2"
+                    token inputs:varname = "st"
+                    float2 outputs:result
+                }
+            }
+        }
+    }
+
+    def Xform "mesh_9" (
+        prepend references = @./geometries.usd@</Geometries/mesh_9>
+    )
+    {
+        over "mesh_9" (
+            apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI", "MaterialBindingAPI"]
+        )
+        {
+            custom rel material:binding
+            prepend rel material:binding = </Instances/mesh_9/VisualMaterials/DefaultMaterial>
+            uniform token purpose = "guide"
+        }
+
+        def Scope "VisualMaterials"
+        {
+            def Material "DefaultMaterial" (
+                instanceable = true
+                prepend references = @./materials.usda@</Materials/DefaultMaterial>
+            )
+            {
+                token outputs:surface.connect = </Instances/mesh_9/VisualMaterials/DefaultMaterial/SimReadyPreviewSurface.outputs:surface>
+
+                def Shader "SimReadyPreviewSurface"
+                {
+                    token info:id = "UsdPreviewSurface"
+                    color3f inputs:diffuseColor = (1, 1, 1)
+                    float inputs:metallic = 0
+                    float inputs:opacity = 1
+                    float inputs:roughness = 0.5
+                    token outputs:surface
+                }
+
+                def Shader "SimReadyUV"
+                {
+                    token info:id = "UsdPrimvarReader_float2"
+                    token inputs:varname = "st"
+                    float2 outputs:result
+                }
+            }
+        }
+    }
+
+    def Xform "mesh_10" (
+        prepend references = @./geometries.usd@</Geometries/mesh_10>
+    )
+    {
+        over "mesh_10"
+        {
+            over "Black" (
+                apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                custom rel material:binding
+                prepend rel material:binding = </Instances/mesh_10/VisualMaterials/Black>
+            }
+
+            over "URBlue" (
+                apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                custom rel material:binding
+                prepend rel material:binding = </Instances/mesh_10/VisualMaterials/URBlue>
+            }
+
+            over "JointGrey" (
+                apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                custom rel material:binding
+                prepend rel material:binding = </Instances/mesh_10/VisualMaterials/JointGrey>
+            }
+        }
+
+        def Scope "VisualMaterials"
+        {
+            def Material "Black" (
+                instanceable = true
+                prepend references = @./materials.usda@</Materials/Black>
+            )
+            {
+                token outputs:surface.connect = </Instances/mesh_10/VisualMaterials/Black/SimReadyPreviewSurface.outputs:surface>
+
+                def Shader "SimReadyPreviewSurface"
+                {
+                    token info:id = "UsdPreviewSurface"
+                    color3f inputs:diffuseColor = (0.03310248, 0.03310248, 0.03310248)
+                    float inputs:metallic = 0
+                    float inputs:opacity = 1
+                    float inputs:roughness = 0.5
+                    token outputs:surface
+                }
+
+                def Shader "SimReadyUV"
+                {
+                    token info:id = "UsdPrimvarReader_float2"
+                    token inputs:varname = "st"
+                    float2 outputs:result
+                }
+            }
+
+            def Material "URBlue" (
+                instanceable = true
+                prepend references = @./materials.usda@</Materials/URBlue>
+            )
+            {
+                token outputs:surface.connect = </Instances/mesh_10/VisualMaterials/URBlue/SimReadyPreviewSurface.outputs:surface>
+
+                def Shader "SimReadyPreviewSurface"
+                {
+                    token info:id = "UsdPreviewSurface"
+                    color3f inputs:diffuseColor = (0.4901961, 0.6784314, 0.8)
+                    float inputs:metallic = 0
+                    float inputs:opacity = 1
+                    float inputs:roughness = 0.5
+                    token outputs:surface
+                }
+
+                def Shader "SimReadyUV"
+                {
+                    token info:id = "UsdPrimvarReader_float2"
+                    token inputs:varname = "st"
+                    float2 outputs:result
+                }
+            }
+
+            def Material "JointGrey" (
+                instanceable = true
+                prepend references = @./materials.usda@</Materials/JointGrey>
+            )
+            {
+                token outputs:surface.connect = </Instances/mesh_10/VisualMaterials/JointGrey/SimReadyPreviewSurface.outputs:surface>
+
+                def Shader "SimReadyPreviewSurface"
+                {
+                    token info:id = "UsdPreviewSurface"
+                    color3f inputs:diffuseColor = (0.2784314, 0.2784314, 0.2784314)
+                    float inputs:metallic = 0
+                    float inputs:opacity = 1
+                    float inputs:roughness = 0.5
+                    token outputs:surface
+                }
+
+                def Shader "SimReadyUV"
+                {
+                    token info:id = "UsdPrimvarReader_float2"
+                    token inputs:varname = "st"
+                    float2 outputs:result
+                }
+            }
+        }
+    }
+
+    def Xform "mesh_11" (
+        prepend references = @./geometries.usd@</Geometries/mesh_11>
+    )
+    {
+        over "mesh_11" (
+            apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI", "MaterialBindingAPI"]
+        )
+        {
+            custom rel material:binding
+            prepend rel material:binding = </Instances/mesh_11/VisualMaterials/DefaultMaterial>
+            uniform token purpose = "guide"
+        }
+
+        def Scope "VisualMaterials"
+        {
+            def Material "DefaultMaterial" (
+                instanceable = true
+                prepend references = @./materials.usda@</Materials/DefaultMaterial>
+            )
+            {
+                token outputs:surface.connect = </Instances/mesh_11/VisualMaterials/DefaultMaterial/SimReadyPreviewSurface.outputs:surface>
+
+                def Shader "SimReadyPreviewSurface"
+                {
+                    token info:id = "UsdPreviewSurface"
+                    color3f inputs:diffuseColor = (1, 1, 1)
+                    float inputs:metallic = 0
+                    float inputs:opacity = 1
+                    float inputs:roughness = 0.5
+                    token outputs:surface
+                }
+
+                def Shader "SimReadyUV"
+                {
+                    token info:id = "UsdPrimvarReader_float2"
+                    token inputs:varname = "st"
+                    float2 outputs:result
+                }
+            }
+        }
+    }
+
+    def Xform "mesh_12" (
+        prepend references = @./geometries.usd@</Geometries/mesh_12>
+    )
+    {
+        over "mesh_12" (
+            apiSchemas = ["MaterialBindingAPI"]
+        )
+        {
+            custom rel material:binding
+            prepend rel material:binding = </Instances/mesh_12/VisualMaterials/LinkGrey>
+        }
+
+        def Scope "VisualMaterials"
+        {
+            def Material "LinkGrey" (
+                instanceable = true
+                prepend references = @./materials.usda@</Materials/LinkGrey>
+            )
+            {
+                token outputs:surface.connect = </Instances/mesh_12/VisualMaterials/LinkGrey/SimReadyPreviewSurface.outputs:surface>
+
+                def Shader "SimReadyPreviewSurface"
+                {
+                    token info:id = "UsdPreviewSurface"
+                    color3f inputs:diffuseColor = (0.8203922, 0.8203922, 0.8203922)
+                    float inputs:metallic = 0
+                    float inputs:opacity = 1
+                    float inputs:roughness = 0.5
+                    token outputs:surface
+                }
+
+                def Shader "SimReadyUV"
+                {
+                    token info:id = "UsdPrimvarReader_float2"
+                    token inputs:varname = "st"
+                    float2 outputs:result
+                }
+            }
+        }
+    }
+
+    def Xform "mesh_13" (
+        prepend references = @./geometries.usd@</Geometries/mesh_13>
+    )
+    {
+        over "mesh_13" (
+            apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI", "MaterialBindingAPI"]
+        )
+        {
+            custom rel material:binding
+            prepend rel material:binding = </Instances/mesh_13/VisualMaterials/DefaultMaterial>
+            uniform token purpose = "guide"
+        }
+
+        def Scope "VisualMaterials"
+        {
+            def Material "DefaultMaterial" (
+                instanceable = true
+                prepend references = @./materials.usda@</Materials/DefaultMaterial>
+            )
+            {
+                token outputs:surface.connect = </Instances/mesh_13/VisualMaterials/DefaultMaterial/SimReadyPreviewSurface.outputs:surface>
+
+                def Shader "SimReadyPreviewSurface"
+                {
+                    token info:id = "UsdPreviewSurface"
+                    color3f inputs:diffuseColor = (1, 1, 1)
+                    float inputs:metallic = 0
+                    float inputs:opacity = 1
+                    float inputs:roughness = 0.5
+                    token outputs:surface
+                }
+
+                def Shader "SimReadyUV"
+                {
+                    token info:id = "UsdPrimvarReader_float2"
+                    token inputs:varname = "st"
+                    float2 outputs:result
+                }
+            }
+        }
+    }
+}
+

universalrobots_ur5e/payloads/materials.usda

@@ -0,0 +1,823 @@
+#usda 1.0
+(
+    customLayerData = {
+    }
+    endTimeCode = 0
+    metersPerUnit = 1
+    startTimeCode = -1
+    upAxis = "Z"
+)
+
+def Scope "Materials"
+{
+    def Material "Black"
+    {
+        custom token[] omni:simready:nonvisual:attributes = ["none"]
+        custom token omni:simready:nonvisual:base = "aluminum"
+        custom token omni:simready:nonvisual:coating = "paint"
+        token outputs:displacement (
+            displayGroup = "Outputs"
+        )
+        prepend token outputs:mdl:displacement.connect = </Materials/Black/Black.outputs:out>
+        prepend token outputs:mdl:surface.connect = </Materials/Black/Black.outputs:out>
+        prepend token outputs:mdl:volume.connect = </Materials/Black/Black.outputs:out>
+        token outputs:mtlx:surface.connect = </Materials/Black/AgentfixOpenPBRSurface.outputs:out>
+        token outputs:surface (
+            displayGroup = "Outputs"
+        )
+        token outputs:surface.connect = </Materials/Black/SimReadyPreviewSurface.outputs:surface>
+        token outputs:volume (
+            displayGroup = "Outputs"
+        )
+
+        def Shader "Black" (
+            apiSchemas = ["NodeDefAPI"]
+        )
+        {
+            token info:implementationSource = "sourceAsset"
+            asset info:mdl:sourceAsset = @../materials/mdl/OmniPBR.mdl@
+            token info:mdl:sourceAsset:subIdentifier = "OmniPBR"
+            color3f inputs:diffuse_color_constant = (0.03310248, 0.03310248, 0.03310248) (
+                customData = {
+                    float3 default = (1, 1, 1)
+                    dictionary range = {
+                        float3 max = (1, 1, 1)
+                        float3 min = (0, 0, 0)
+                    }
+                }
+                displayGroup = "Albedo"
+            )
+            color3f inputs:emissive_color = (1, 1, 1) (
+                customData = {
+                    float3 default = (1, 1, 1)
+                    dictionary range = {
+                        float3 max = (1, 1, 1)
+                        float3 min = (0, 0, 0)
+                    }
+                }
+                displayGroup = "Emissive"
+            )
+            float inputs:emissive_intensity = 10000 (
+                customData = {
+                    double default = 10000
+                    dictionary range = {
+                        double max = 100000
+                        double min = 0
+                    }
+                }
+                displayGroup = "Emissive"
+            )
+            bool inputs:enable_emission = 0 (
+                customData = {
+                    bool default = 0
+                }
+                displayGroup = "Emissive"
+            )
+            bool inputs:enable_opacity = 0 (
+                customData = {
+                    bool default = 0
+                }
+                displayGroup = "Opacity"
+            )
+            bool inputs:enable_opacity_texture = 0 (
+                customData = {
+                    bool default = 0
+                }
+                displayGroup = "Opacity"
+            )
+            float inputs:opacity_constant = 1 (
+                customData = {
+                    double default = 1
+                    dictionary range = {
+                        double max = 1
+                        double min = 0
+                    }
+                }
+                displayGroup = "Opacity"
+            )
+            int inputs:opacity_mode = 1 (
+                customData = {
+                    int default = 1
+                    dictionary range = {
+                        int max = 3
+                        int min = 0
+                    }
+                }
+                displayGroup = "Opacity"
+                renderType = "::base::mono_mode"
+                sdrMetadata = {
+                    string __SDR__enum_value = "mono_average"
+                    string options = "mono_alpha:0|mono_average:1|mono_luminance:2|mono_maximum:3"
+                }
+            )
+            float inputs:opacity_threshold = 0 (
+                customData = {
+                    double default = 0
+                    dictionary range = {
+                        double max = 1
+                        double min = 0
+                    }
+                }
+                displayGroup = "Opacity"
+            )
+            float inputs:texture_rotate = 0 (
+                customData = {
+                    double default = 0
+                    dictionary range = {
+                        double max = 360
+                        double min = 0
+                    }
+                }
+                displayGroup = "UV"
+            )
+            float2 inputs:texture_scale = (1, 1) (
+                customData = {
+                    float2 default = (1, 1)
+                }
+                displayGroup = "UV"
+            )
+            float2 inputs:texture_translate = (0, 0) (
+                customData = {
+                    float2 default = (0, 0)
+                }
+                displayGroup = "UV"
+            )
+            token outputs:out
+        }
+
+        def Shader "SimReadyPreviewSurface"
+        {
+            token info:id = "UsdPreviewSurface"
+            color3f inputs:diffuseColor = (0.03310248, 0.03310248, 0.03310248)
+            float inputs:metallic = 0
+            float inputs:opacity = 1
+            float inputs:roughness = 0.5
+            token outputs:surface
+        }
+
+        def Shader "SimReadyUV"
+        {
+            token info:id = "UsdPrimvarReader_float2"
+            string inputs:varname = "st"
+            float2 outputs:result
+        }
+
+        def Shader "AgentfixOpenPBRSurface"
+        {
+            uniform token info:id = "ND_open_pbr_surface_surfaceshader"
+            color3f inputs:base_color = (0.5, 0.5, 0.5)
+            float inputs:base_metalness = 0
+            float inputs:specular_roughness = 0.5
+            token outputs:out
+        }
+    }
+
+    def Material "JointGrey"
+    {
+        custom token[] omni:simready:nonvisual:attributes = ["none"]
+        custom token omni:simready:nonvisual:base = "aluminum"
+        custom token omni:simready:nonvisual:coating = "paint"
+        token outputs:displacement (
+            displayGroup = "Outputs"
+        )
+        prepend token outputs:mdl:displacement.connect = </Materials/JointGrey/JointGrey.outputs:out>
+        prepend token outputs:mdl:surface.connect = </Materials/JointGrey/JointGrey.outputs:out>
+        prepend token outputs:mdl:volume.connect = </Materials/JointGrey/JointGrey.outputs:out>
+        token outputs:mtlx:surface.connect = </Materials/JointGrey/AgentfixOpenPBRSurface.outputs:out>
+        token outputs:surface (
+            displayGroup = "Outputs"
+        )
+        token outputs:surface.connect = </Materials/JointGrey/SimReadyPreviewSurface.outputs:surface>
+        token outputs:volume (
+            displayGroup = "Outputs"
+        )
+
+        def Shader "JointGrey" (
+            apiSchemas = ["NodeDefAPI"]
+        )
+        {
+            token info:implementationSource = "sourceAsset"
+            asset info:mdl:sourceAsset = @../materials/mdl/OmniPBR.mdl@
+            token info:mdl:sourceAsset:subIdentifier = "OmniPBR"
+            color3f inputs:diffuse_color_constant = (0.2784314, 0.2784314, 0.2784314) (
+                customData = {
+                    float3 default = (1, 1, 1)
+                    dictionary range = {
+                        float3 max = (1, 1, 1)
+                        float3 min = (0, 0, 0)
+                    }
+                }
+                displayGroup = "Albedo"
+            )
+            color3f inputs:emissive_color = (1, 1, 1) (
+                customData = {
+                    float3 default = (1, 1, 1)
+                    dictionary range = {
+                        float3 max = (1, 1, 1)
+                        float3 min = (0, 0, 0)
+                    }
+                }
+                displayGroup = "Emissive"
+            )
+            float inputs:emissive_intensity = 10000 (
+                customData = {
+                    double default = 10000
+                    dictionary range = {
+                        double max = 100000
+                        double min = 0
+                    }
+                }
+                displayGroup = "Emissive"
+            )
+            bool inputs:enable_emission = 0 (
+                customData = {
+                    bool default = 0
+                }
+                displayGroup = "Emissive"
+            )
+            bool inputs:enable_opacity = 0 (
+                customData = {
+                    bool default = 0
+                }
+                displayGroup = "Opacity"
+            )
+            bool inputs:enable_opacity_texture = 0 (
+                customData = {
+                    bool default = 0
+                }
+                displayGroup = "Opacity"
+            )
+            float inputs:opacity_constant = 1 (
+                customData = {
+                    double default = 1
+                    dictionary range = {
+                        double max = 1
+                        double min = 0
+                    }
+                }
+                displayGroup = "Opacity"
+            )
+            int inputs:opacity_mode = 1 (
+                customData = {
+                    int default = 1
+                    dictionary range = {
+                        int max = 3
+                        int min = 0
+                    }
+                }
+                displayGroup = "Opacity"
+                renderType = "::base::mono_mode"
+                sdrMetadata = {
+                    string __SDR__enum_value = "mono_average"
+                    string options = "mono_alpha:0|mono_average:1|mono_luminance:2|mono_maximum:3"
+                }
+            )
+            float inputs:opacity_threshold = 0 (
+                customData = {
+                    double default = 0
+                    dictionary range = {
+                        double max = 1
+                        double min = 0
+                    }
+                }
+                displayGroup = "Opacity"
+            )
+            float inputs:texture_rotate = 0 (
+                customData = {
+                    double default = 0
+                    dictionary range = {
+                        double max = 360
+                        double min = 0
+                    }
+                }
+                displayGroup = "UV"
+            )
+            float2 inputs:texture_scale = (1, 1) (
+                customData = {
+                    float2 default = (1, 1)
+                }
+                displayGroup = "UV"
+            )
+            float2 inputs:texture_translate = (0, 0) (
+                customData = {
+                    float2 default = (0, 0)
+                }
+                displayGroup = "UV"
+            )
+            token outputs:out
+        }
+
+        def Shader "SimReadyPreviewSurface"
+        {
+            token info:id = "UsdPreviewSurface"
+            color3f inputs:diffuseColor = (0.2784314, 0.2784314, 0.2784314)
+            float inputs:metallic = 0
+            float inputs:opacity = 1
+            float inputs:roughness = 0.5
+            token outputs:surface
+        }
+
+        def Shader "SimReadyUV"
+        {
+            token info:id = "UsdPrimvarReader_float2"
+            string inputs:varname = "st"
+            float2 outputs:result
+        }
+
+        def Shader "AgentfixOpenPBRSurface"
+        {
+            uniform token info:id = "ND_open_pbr_surface_surfaceshader"
+            color3f inputs:base_color = (0.5, 0.5, 0.5)
+            float inputs:base_metalness = 0
+            float inputs:specular_roughness = 0.5
+            token outputs:out
+        }
+    }
+
+    def Material "DefaultMaterial"
+    {
+        custom token[] omni:simready:nonvisual:attributes = ["none"]
+        custom token omni:simready:nonvisual:base = "aluminum"
+        custom token omni:simready:nonvisual:coating = "paint"
+        token outputs:displacement (
+            displayGroup = "Outputs"
+        )
+        prepend token outputs:mdl:displacement.connect = </Materials/DefaultMaterial/DefaultMaterial.outputs:out>
+        prepend token outputs:mdl:surface.connect = </Materials/DefaultMaterial/DefaultMaterial.outputs:out>
+        prepend token outputs:mdl:volume.connect = </Materials/DefaultMaterial/DefaultMaterial.outputs:out>
+        token outputs:mtlx:surface.connect = </Materials/DefaultMaterial/AgentfixOpenPBRSurface.outputs:out>
+        token outputs:surface (
+            displayGroup = "Outputs"
+        )
+        token outputs:surface.connect = </Materials/DefaultMaterial/SimReadyPreviewSurface.outputs:surface>
+        token outputs:volume (
+            displayGroup = "Outputs"
+        )
+
+        def Shader "DefaultMaterial" (
+            apiSchemas = ["NodeDefAPI"]
+        )
+        {
+            token info:implementationSource = "sourceAsset"
+            asset info:mdl:sourceAsset = @../materials/mdl/OmniPBR.mdl@
+            token info:mdl:sourceAsset:subIdentifier = "OmniPBR"
+            color3f inputs:diffuse_color_constant = (1, 1, 1) (
+                customData = {
+                    float3 default = (1, 1, 1)
+                    dictionary range = {
+                        float3 max = (1, 1, 1)
+                        float3 min = (0, 0, 0)
+                    }
+                }
+                displayGroup = "Albedo"
+            )
+            color3f inputs:emissive_color = (1, 1, 1) (
+                customData = {
+                    float3 default = (1, 1, 1)
+                    dictionary range = {
+                        float3 max = (1, 1, 1)
+                        float3 min = (0, 0, 0)
+                    }
+                }
+                displayGroup = "Emissive"
+            )
+            float inputs:emissive_intensity = 10000 (
+                customData = {
+                    double default = 10000
+                    dictionary range = {
+                        double max = 100000
+                        double min = 0
+                    }
+                }
+                displayGroup = "Emissive"
+            )
+            bool inputs:enable_emission = 0 (
+                customData = {
+                    bool default = 0
+                }
+                displayGroup = "Emissive"
+            )
+            bool inputs:enable_opacity = 0 (
+                customData = {
+                    bool default = 0
+                }
+                displayGroup = "Opacity"
+            )
+            bool inputs:enable_opacity_texture = 0 (
+                customData = {
+                    bool default = 0
+                }
+                displayGroup = "Opacity"
+            )
+            float inputs:opacity_constant = 1 (
+                customData = {
+                    double default = 1
+                    dictionary range = {
+                        double max = 1
+                        double min = 0
+                    }
+                }
+                displayGroup = "Opacity"
+            )
+            int inputs:opacity_mode = 1 (
+                customData = {
+                    int default = 1
+                    dictionary range = {
+                        int max = 3
+                        int min = 0
+                    }
+                }
+                displayGroup = "Opacity"
+                renderType = "::base::mono_mode"
+                sdrMetadata = {
+                    string __SDR__enum_value = "mono_average"
+                    string options = "mono_alpha:0|mono_average:1|mono_luminance:2|mono_maximum:3"
+                }
+            )
+            float inputs:opacity_threshold = 0 (
+                customData = {
+                    double default = 0
+                    dictionary range = {
+                        double max = 1
+                        double min = 0
+                    }
+                }
+                displayGroup = "Opacity"
+            )
+            float inputs:texture_rotate = 0 (
+                customData = {
+                    double default = 0
+                    dictionary range = {
+                        double max = 360
+                        double min = 0
+                    }
+                }
+                displayGroup = "UV"
+            )
+            float2 inputs:texture_scale = (1, 1) (
+                customData = {
+                    float2 default = (1, 1)
+                }
+                displayGroup = "UV"
+            )
+            float2 inputs:texture_translate = (0, 0) (
+                customData = {
+                    float2 default = (0, 0)
+                }
+                displayGroup = "UV"
+            )
+            token outputs:out
+        }
+
+        def Shader "SimReadyPreviewSurface"
+        {
+            token info:id = "UsdPreviewSurface"
+            color3f inputs:diffuseColor = (1, 1, 1)
+            float inputs:metallic = 0
+            float inputs:opacity = 1
+            float inputs:roughness = 0.5
+            token outputs:surface
+        }
+
+        def Shader "SimReadyUV"
+        {
+            token info:id = "UsdPrimvarReader_float2"
+            string inputs:varname = "st"
+            float2 outputs:result
+        }
+
+        def Shader "AgentfixOpenPBRSurface"
+        {
+            uniform token info:id = "ND_open_pbr_surface_surfaceshader"
+            color3f inputs:base_color = (0.5, 0.5, 0.5)
+            float inputs:base_metalness = 0
+            float inputs:specular_roughness = 0.5
+            token outputs:out
+        }
+    }
+
+    def Material "URBlue"
+    {
+        custom token[] omni:simready:nonvisual:attributes = ["none"]
+        custom token omni:simready:nonvisual:base = "plastic"
+        custom token omni:simready:nonvisual:coating = "none"
+        token outputs:displacement (
+            displayGroup = "Outputs"
+        )
+        prepend token outputs:mdl:displacement.connect = </Materials/URBlue/URBlue.outputs:out>
+        prepend token outputs:mdl:surface.connect = </Materials/URBlue/URBlue.outputs:out>
+        prepend token outputs:mdl:volume.connect = </Materials/URBlue/URBlue.outputs:out>
+        token outputs:mtlx:surface.connect = </Materials/URBlue/AgentfixOpenPBRSurface.outputs:out>
+        token outputs:surface (
+            displayGroup = "Outputs"
+        )
+        token outputs:surface.connect = </Materials/URBlue/SimReadyPreviewSurface.outputs:surface>
+        token outputs:volume (
+            displayGroup = "Outputs"
+        )
+
+        def Shader "URBlue" (
+            apiSchemas = ["NodeDefAPI"]
+        )
+        {
+            token info:implementationSource = "sourceAsset"
+            asset info:mdl:sourceAsset = @../materials/mdl/OmniPBR.mdl@
+            token info:mdl:sourceAsset:subIdentifier = "OmniPBR"
+            color3f inputs:diffuse_color_constant = (0.4901961, 0.6784314, 0.8) (
+                customData = {
+                    float3 default = (1, 1, 1)
+                    dictionary range = {
+                        float3 max = (1, 1, 1)
+                        float3 min = (0, 0, 0)
+                    }
+                }
+                displayGroup = "Albedo"
+            )
+            color3f inputs:emissive_color = (1, 1, 1) (
+                customData = {
+                    float3 default = (1, 1, 1)
+                    dictionary range = {
+                        float3 max = (1, 1, 1)
+                        float3 min = (0, 0, 0)
+                    }
+                }
+                displayGroup = "Emissive"
+            )
+            float inputs:emissive_intensity = 10000 (
+                customData = {
+                    double default = 10000
+                    dictionary range = {
+                        double max = 100000
+                        double min = 0
+                    }
+                }
+                displayGroup = "Emissive"
+            )
+            bool inputs:enable_emission = 0 (
+                customData = {
+                    bool default = 0
+                }
+                displayGroup = "Emissive"
+            )
+            bool inputs:enable_opacity = 0 (
+                customData = {
+                    bool default = 0
+                }
+                displayGroup = "Opacity"
+            )
+            bool inputs:enable_opacity_texture = 0 (
+                customData = {
+                    bool default = 0
+                }
+                displayGroup = "Opacity"
+            )
+            float inputs:opacity_constant = 1 (
+                customData = {
+                    double default = 1
+                    dictionary range = {
+                        double max = 1
+                        double min = 0
+                    }
+                }
+                displayGroup = "Opacity"
+            )
+            int inputs:opacity_mode = 1 (
+                customData = {
+                    int default = 1
+                    dictionary range = {
+                        int max = 3
+                        int min = 0
+                    }
+                }
+                displayGroup = "Opacity"
+                renderType = "::base::mono_mode"
+                sdrMetadata = {
+                    string __SDR__enum_value = "mono_average"
+                    string options = "mono_alpha:0|mono_average:1|mono_luminance:2|mono_maximum:3"
+                }
+            )
+            float inputs:opacity_threshold = 0 (
+                customData = {
+                    double default = 0
+                    dictionary range = {
+                        double max = 1
+                        double min = 0
+                    }
+                }
+                displayGroup = "Opacity"
+            )
+            float inputs:texture_rotate = 0 (
+                customData = {
+                    double default = 0
+                    dictionary range = {
+                        double max = 360
+                        double min = 0
+                    }
+                }
+                displayGroup = "UV"
+            )
+            float2 inputs:texture_scale = (1, 1) (
+                customData = {
+                    float2 default = (1, 1)
+                }
+                displayGroup = "UV"
+            )
+            float2 inputs:texture_translate = (0, 0) (
+                customData = {
+                    float2 default = (0, 0)
+                }
+                displayGroup = "UV"
+            )
+            token outputs:out
+        }
+
+        def Shader "SimReadyPreviewSurface"
+        {
+            token info:id = "UsdPreviewSurface"
+            color3f inputs:diffuseColor = (0.4901961, 0.6784314, 0.8)
+            float inputs:metallic = 0
+            float inputs:opacity = 1
+            float inputs:roughness = 0.5
+            token outputs:surface
+        }
+
+        def Shader "SimReadyUV"
+        {
+            token info:id = "UsdPrimvarReader_float2"
+            string inputs:varname = "st"
+            float2 outputs:result
+        }
+
+        def Shader "AgentfixOpenPBRSurface"
+        {
+            uniform token info:id = "ND_open_pbr_surface_surfaceshader"
+            color3f inputs:base_color = (0.5, 0.5, 0.5)
+            float inputs:base_metalness = 0
+            float inputs:specular_roughness = 0.5
+            token outputs:out
+        }
+    }
+
+    def Material "LinkGrey"
+    {
+        custom token[] omni:simready:nonvisual:attributes = ["none"]
+        custom token omni:simready:nonvisual:base = "aluminum"
+        custom token omni:simready:nonvisual:coating = "paint"
+        token outputs:displacement (
+            displayGroup = "Outputs"
+        )
+        prepend token outputs:mdl:displacement.connect = </Materials/LinkGrey/LinkGrey.outputs:out>
+        prepend token outputs:mdl:surface.connect = </Materials/LinkGrey/LinkGrey.outputs:out>
+        prepend token outputs:mdl:volume.connect = </Materials/LinkGrey/LinkGrey.outputs:out>
+        token outputs:mtlx:surface.connect = </Materials/LinkGrey/AgentfixOpenPBRSurface.outputs:out>
+        token outputs:surface (
+            displayGroup = "Outputs"
+        )
+        token outputs:surface.connect = </Materials/LinkGrey/SimReadyPreviewSurface.outputs:surface>
+        token outputs:volume (
+            displayGroup = "Outputs"
+        )
+
+        def Shader "LinkGrey" (
+            apiSchemas = ["NodeDefAPI"]
+        )
+        {
+            token info:implementationSource = "sourceAsset"
+            asset info:mdl:sourceAsset = @../materials/mdl/OmniPBR.mdl@
+            token info:mdl:sourceAsset:subIdentifier = "OmniPBR"
+            color3f inputs:diffuse_color_constant = (0.8203922, 0.8203922, 0.8203922) (
+                customData = {
+                    float3 default = (1, 1, 1)
+                    dictionary range = {
+                        float3 max = (1, 1, 1)
+                        float3 min = (0, 0, 0)
+                    }
+                }
+                displayGroup = "Albedo"
+            )
+            color3f inputs:emissive_color = (1, 1, 1) (
+                customData = {
+                    float3 default = (1, 1, 1)
+                    dictionary range = {
+                        float3 max = (1, 1, 1)
+                        float3 min = (0, 0, 0)
+                    }
+                }
+                displayGroup = "Emissive"
+            )
+            float inputs:emissive_intensity = 10000 (
+                customData = {
+                    double default = 10000
+                    dictionary range = {
+                        double max = 100000
+                        double min = 0
+                    }
+                }
+                displayGroup = "Emissive"
+            )
+            bool inputs:enable_emission = 0 (
+                customData = {
+                    bool default = 0
+                }
+                displayGroup = "Emissive"
+            )
+            bool inputs:enable_opacity = 0 (
+                customData = {
+                    bool default = 0
+                }
+                displayGroup = "Opacity"
+            )
+            bool inputs:enable_opacity_texture = 0 (
+                customData = {
+                    bool default = 0
+                }
+                displayGroup = "Opacity"
+            )
+            float inputs:opacity_constant = 1 (
+                customData = {
+                    double default = 1
+                    dictionary range = {
+                        double max = 1
+                        double min = 0
+                    }
+                }
+                displayGroup = "Opacity"
+            )
+            int inputs:opacity_mode = 1 (
+                customData = {
+                    int default = 1
+                    dictionary range = {
+                        int max = 3
+                        int min = 0
+                    }
+                }
+                displayGroup = "Opacity"
+                renderType = "::base::mono_mode"
+                sdrMetadata = {
+                    string __SDR__enum_value = "mono_average"
+                    string options = "mono_alpha:0|mono_average:1|mono_luminance:2|mono_maximum:3"
+                }
+            )
+            float inputs:opacity_threshold = 0 (
+                customData = {
+                    double default = 0
+                    dictionary range = {
+                        double max = 1
+                        double min = 0
+                    }
+                }
+                displayGroup = "Opacity"
+            )
+            float inputs:texture_rotate = 0 (
+                customData = {
+                    double default = 0
+                    dictionary range = {
+                        double max = 360
+                        double min = 0
+                    }
+                }
+                displayGroup = "UV"
+            )
+            float2 inputs:texture_scale = (1, 1) (
+                customData = {
+                    float2 default = (1, 1)
+                }
+                displayGroup = "UV"
+            )
+            float2 inputs:texture_translate = (0, 0) (
+                customData = {
+                    float2 default = (0, 0)
+                }
+                displayGroup = "UV"
+            )
+            token outputs:out
+        }
+
+        def Shader "SimReadyPreviewSurface"
+        {
+            token info:id = "UsdPreviewSurface"
+            color3f inputs:diffuseColor = (0.8203922, 0.8203922, 0.8203922)
+            float inputs:metallic = 0
+            float inputs:opacity = 1
+            float inputs:roughness = 0.5
+            token outputs:surface
+        }
+
+        def Shader "SimReadyUV"
+        {
+            token info:id = "UsdPrimvarReader_float2"
+            string inputs:varname = "st"
+            float2 outputs:result
+        }
+
+        def Shader "AgentfixOpenPBRSurface"
+        {
+            uniform token info:id = "ND_open_pbr_surface_surfaceshader"
+            color3f inputs:base_color = (0.5, 0.5, 0.5)
+            float inputs:base_metalness = 0
+            float inputs:specular_roughness = 0.5
+            token outputs:out
+        }
+    }
+}
+

universalrobots_ur5e/payloads/robot.usda

@@ -0,0 +1,232 @@
+#usda 1.0
+(
+    customLayerData = {
+    }
+    defaultPrim = "ur5e"
+    endTimeCode = 0
+    metersPerUnit = 1
+    startTimeCode = -1
+    upAxis = "Z"
+)
+
+over "ur5e" (
+    prepend apiSchemas = ["IsaacRobotAPI"]
+)
+{
+    string isaac:description
+    string isaac:namespace
+    prepend rel isaac:physics:robotJoints = [
+        </ur5e/root_joint>,
+        </ur5e/joints/shoulder_pan_joint>,
+        </ur5e/joints/shoulder_lift_joint>,
+        </ur5e/joints/elbow_joint>,
+        </ur5e/joints/wrist_1_joint>,
+        </ur5e/joints/wrist_2_joint>,
+        </ur5e/joints/wrist_3_joint>,
+        </ur5e/joints/robot_gripper_joint>,
+    ]
+    prepend rel isaac:physics:robotLinks = [
+        </ur5e/base_link>,
+        </ur5e/shoulder_link>,
+        </ur5e/upper_arm_link>,
+        </ur5e/forearm_link>,
+        </ur5e/wrist_1_link>,
+        </ur5e/wrist_2_link>,
+        </ur5e/wrist_3_link>,
+        </ur5e/base_link/base_link>,
+        </ur5e/wrist_3_link/flange>,
+        </ur5e/wrist_3_link/ft_frame>,
+    ]
+    token isaac:robotType = "Manipulator"
+
+    over "joints"
+    {
+        over "robot_gripper_joint" (
+            prepend apiSchemas = ["IsaacJointAPI"]
+        )
+        {
+            custom string isaac:nameOverride
+            float[] isaac:physics:AccelerationLimit
+            float[] isaac:physics:JerkLimit
+            custom int isaac:physics:Rot_X:DofOffset
+            custom int isaac:physics:Rot_Y:DofOffset
+            custom int isaac:physics:Rot_Z:DofOffset
+            custom int isaac:physics:Tr_X:DofOffset
+            custom int isaac:physics:Tr_Y:DofOffset
+            custom int isaac:physics:Tr_Z:DofOffset
+        }
+
+        over "shoulder_pan_joint" (
+            prepend apiSchemas = ["IsaacJointAPI", "PhysicsJointStateAPI:angular"]
+        )
+        {
+            custom string isaac:nameOverride
+            float[] isaac:physics:AccelerationLimit
+            float[] isaac:physics:JerkLimit
+            custom int isaac:physics:Rot_X:DofOffset
+            custom int isaac:physics:Rot_Y:DofOffset
+            custom int isaac:physics:Rot_Z:DofOffset
+            custom int isaac:physics:Tr_X:DofOffset
+            custom int isaac:physics:Tr_Y:DofOffset
+            custom int isaac:physics:Tr_Z:DofOffset
+        }
+
+        over "shoulder_lift_joint" (
+            prepend apiSchemas = ["IsaacJointAPI", "PhysicsJointStateAPI:angular"]
+        )
+        {
+            custom string isaac:nameOverride
+            float[] isaac:physics:AccelerationLimit
+            float[] isaac:physics:JerkLimit
+            custom int isaac:physics:Rot_X:DofOffset
+            custom int isaac:physics:Rot_Y:DofOffset
+            custom int isaac:physics:Rot_Z:DofOffset
+            custom int isaac:physics:Tr_X:DofOffset
+            custom int isaac:physics:Tr_Y:DofOffset
+            custom int isaac:physics:Tr_Z:DofOffset
+        }
+
+        over "elbow_joint" (
+            prepend apiSchemas = ["IsaacJointAPI", "PhysicsJointStateAPI:angular"]
+        )
+        {
+            custom string isaac:nameOverride
+            float[] isaac:physics:AccelerationLimit
+            float[] isaac:physics:JerkLimit
+            custom int isaac:physics:Rot_X:DofOffset
+            custom int isaac:physics:Rot_Y:DofOffset
+            custom int isaac:physics:Rot_Z:DofOffset
+            custom int isaac:physics:Tr_X:DofOffset
+            custom int isaac:physics:Tr_Y:DofOffset
+            custom int isaac:physics:Tr_Z:DofOffset
+        }
+
+        over "wrist_1_joint" (
+            prepend apiSchemas = ["IsaacJointAPI", "PhysicsJointStateAPI:angular"]
+        )
+        {
+            custom string isaac:nameOverride
+            float[] isaac:physics:AccelerationLimit
+            float[] isaac:physics:JerkLimit
+            custom int isaac:physics:Rot_X:DofOffset
+            custom int isaac:physics:Rot_Y:DofOffset
+            custom int isaac:physics:Rot_Z:DofOffset
+            custom int isaac:physics:Tr_X:DofOffset
+            custom int isaac:physics:Tr_Y:DofOffset
+            custom int isaac:physics:Tr_Z:DofOffset
+        }
+
+        over "wrist_2_joint" (
+            prepend apiSchemas = ["IsaacJointAPI", "PhysicsJointStateAPI:angular"]
+        )
+        {
+            custom string isaac:nameOverride
+            float[] isaac:physics:AccelerationLimit
+            float[] isaac:physics:JerkLimit
+            custom int isaac:physics:Rot_X:DofOffset
+            custom int isaac:physics:Rot_Y:DofOffset
+            custom int isaac:physics:Rot_Z:DofOffset
+            custom int isaac:physics:Tr_X:DofOffset
+            custom int isaac:physics:Tr_Y:DofOffset
+            custom int isaac:physics:Tr_Z:DofOffset
+        }
+
+        over "wrist_3_joint" (
+            prepend apiSchemas = ["IsaacJointAPI", "PhysicsJointStateAPI:angular"]
+        )
+        {
+            custom string isaac:nameOverride
+            float[] isaac:physics:AccelerationLimit
+            float[] isaac:physics:JerkLimit
+            custom int isaac:physics:Rot_X:DofOffset
+            custom int isaac:physics:Rot_Y:DofOffset
+            custom int isaac:physics:Rot_Z:DofOffset
+            custom int isaac:physics:Tr_X:DofOffset
+            custom int isaac:physics:Tr_Y:DofOffset
+            custom int isaac:physics:Tr_Z:DofOffset
+        }
+    }
+
+    over "base_link" (
+        prepend apiSchemas = ["IsaacLinkAPI"]
+    )
+    {
+        string isaac:nameOverride
+
+        over "base_link" (
+            prepend apiSchemas = ["IsaacSiteAPI"]
+        )
+        {
+        }
+    }
+
+    over "shoulder_link" (
+        prepend apiSchemas = ["IsaacLinkAPI"]
+    )
+    {
+        string isaac:nameOverride
+    }
+
+    over "upper_arm_link" (
+        prepend apiSchemas = ["IsaacLinkAPI"]
+    )
+    {
+        string isaac:nameOverride
+    }
+
+    over "forearm_link" (
+        prepend apiSchemas = ["IsaacLinkAPI"]
+    )
+    {
+        string isaac:nameOverride
+    }
+
+    over "wrist_1_link" (
+        prepend apiSchemas = ["IsaacLinkAPI"]
+    )
+    {
+        string isaac:nameOverride
+    }
+
+    over "wrist_2_link" (
+        prepend apiSchemas = ["IsaacLinkAPI"]
+    )
+    {
+        string isaac:nameOverride
+    }
+
+    over "wrist_3_link" (
+        prepend apiSchemas = ["IsaacLinkAPI"]
+    )
+    {
+        string isaac:nameOverride
+
+        over "flange" (
+            prepend apiSchemas = ["IsaacSiteAPI"]
+        )
+        {
+        }
+
+        over "ft_frame" (
+            prepend apiSchemas = ["IsaacSiteAPI"]
+        )
+        {
+        }
+    }
+
+    over "root_joint" (
+        prepend apiSchemas = ["IsaacJointAPI"]
+    )
+    {
+        custom string isaac:nameOverride
+        float[] isaac:physics:AccelerationLimit
+        float[] isaac:physics:JerkLimit
+        custom int isaac:physics:Rot_X:DofOffset
+        custom int isaac:physics:Rot_Y:DofOffset
+        custom int isaac:physics:Rot_Z:DofOffset
+        custom int isaac:physics:Tr_X:DofOffset
+        custom int isaac:physics:Tr_Y:DofOffset
+        custom int isaac:physics:Tr_Z:DofOffset
+    }
+}
+

universalrobots_ur5e/runnables/physics/mujoco.usda

@@ -0,0 +1,252 @@
+#usda 1.0
+(
+    defaultPrim = "ur5e"
+)
+
+def "ur5e"
+{
+    over "base_link"
+    {
+        over "collisions"
+        {
+            over "base"
+            {
+                over "mesh_1" (
+                    prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"]
+                )
+                {
+                    uniform token physics:approximation = "convexHull"
+                }
+            }
+        }
+    }
+
+    over "shoulder_link"
+    {
+        over "collisions"
+        {
+            over "shoulder"
+            {
+                over "mesh_3" (
+                    prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"]
+                )
+                {
+                    uniform token physics:approximation = "convexHull"
+                }
+            }
+        }
+    }
+
+    over "upper_arm_link"
+    {
+        over "collisions"
+        {
+            over "upperarm"
+            {
+                over "mesh_5" (
+                    prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"]
+                )
+                {
+                    uniform token physics:approximation = "convexHull"
+                }
+            }
+        }
+    }
+
+    over "forearm_link"
+    {
+        over "collisions"
+        {
+            over "forearm"
+            {
+                over "mesh_7" (
+                    prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"]
+                )
+                {
+                    uniform token physics:approximation = "convexHull"
+                }
+            }
+        }
+    }
+
+    over "wrist_1_link"
+    {
+        over "collisions"
+        {
+            over "wrist1"
+            {
+                over "mesh_9" (
+                    prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"]
+                )
+                {
+                    uniform token physics:approximation = "convexHull"
+                }
+            }
+        }
+    }
+
+    over "wrist_2_link"
+    {
+        over "collisions"
+        {
+            over "wrist2"
+            {
+                over "mesh_11" (
+                    prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"]
+                )
+                {
+                    uniform token physics:approximation = "convexHull"
+                }
+            }
+        }
+    }
+
+    over "wrist_3_link"
+    {
+        over "collisions"
+        {
+            over "wrist3"
+            {
+                over "mesh_13" (
+                    prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"]
+                )
+                {
+                    uniform token physics:approximation = "convexHull"
+                }
+            }
+        }
+    }
+
+    over "joints"
+    {
+        over "shoulder_pan_joint" (
+            prepend apiSchemas = ["MjcJointAPI"]
+        )
+        {
+        }
+
+        over "shoulder_lift_joint" (
+            prepend apiSchemas = ["MjcJointAPI"]
+        )
+        {
+        }
+
+        over "elbow_joint" (
+            prepend apiSchemas = ["MjcJointAPI"]
+        )
+        {
+        }
+
+        over "wrist_1_joint" (
+            prepend apiSchemas = ["MjcJointAPI"]
+        )
+        {
+        }
+
+        over "wrist_2_joint" (
+            prepend apiSchemas = ["MjcJointAPI"]
+        )
+        {
+        }
+
+        over "wrist_3_joint" (
+            prepend apiSchemas = ["MjcJointAPI"]
+        )
+        {
+        }
+    }
+
+    def "MuJoCoActuators"
+    {
+        def MjcActuator "act_ur5e_joints_shoulder_pan_joint" (
+            doc = "Source-derived force-drive PD bias; control is additive effort. Zero control preserves source position and velocity targets. Standard USD drive is retained for neutral and other runtimes; MuJoCo consumers must use this actuator exclusively."
+        )
+        {
+            double[] mjc:biasPrm = [0, -538609.03126564, -570.7461798775731]
+            token mjc:biasType = "affine"
+            token mjc:ctrlLimited = "false"
+            token mjc:forceLimited = "true"
+            double mjc:forceRange:max = 150
+            double mjc:forceRange:min = -150
+            double[] mjc:gainPrm = [1]
+            token mjc:gainType = "fixed"
+            rel mjc:target = </ur5e/joints/shoulder_pan_joint>
+        }
+
+        def MjcActuator "act_ur5e_joints_shoulder_lift_joint" (
+            doc = "Source-derived force-drive PD bias; control is additive effort. Zero control preserves source position and velocity targets. Standard USD drive is retained for neutral and other runtimes; MuJoCo consumers must use this actuator exclusively."
+        )
+        {
+            double[] mjc:biasPrm = [0, -574156.4183620041, -614.9728022251862]
+            token mjc:biasType = "affine"
+            token mjc:ctrlLimited = "false"
+            token mjc:forceLimited = "true"
+            double mjc:forceRange:max = 150
+            double mjc:forceRange:min = -150
+            double[] mjc:gainPrm = [1]
+            token mjc:gainType = "fixed"
+            rel mjc:target = </ur5e/joints/shoulder_lift_joint>
+        }
+
+        def MjcActuator "act_ur5e_joints_elbow_joint" (
+            doc = "Source-derived force-drive PD bias; control is additive effort. Zero control preserves source position and velocity targets. Standard USD drive is retained for neutral and other runtimes; MuJoCo consumers must use this actuator exclusively."
+        )
+        {
+            double[] mjc:biasPrm = [0, -586148.46977642, -1959.2005308115652]
+            token mjc:biasType = "affine"
+            token mjc:ctrlLimited = "false"
+            token mjc:forceLimited = "true"
+            double mjc:forceRange:max = 150
+            double mjc:forceRange:min = -150
+            double[] mjc:gainPrm = [1]
+            token mjc:gainType = "fixed"
+            rel mjc:target = </ur5e/joints/elbow_joint>
+        }
+
+        def MjcActuator "act_ur5e_joints_wrist_1_joint" (
+            doc = "Source-derived force-drive PD bias; control is additive effort. Zero control preserves source position and velocity targets. Standard USD drive is retained for neutral and other runtimes; MuJoCo consumers must use this actuator exclusively."
+        )
+        {
+            double[] mjc:biasPrm = [0, -225781.40495537876, -755.1411793910008]
+            token mjc:biasType = "affine"
+            token mjc:ctrlLimited = "false"
+            token mjc:forceLimited = "true"
+            double mjc:forceRange:max = 28
+            double mjc:forceRange:min = -28
+            double[] mjc:gainPrm = [1]
+            token mjc:gainType = "fixed"
+            rel mjc:target = </ur5e/joints/wrist_1_joint>
+        }
+
+        def MjcActuator "act_ur5e_joints_wrist_2_joint" (
+            doc = "Source-derived force-drive PD bias; control is additive effort. Zero control preserves source position and velocity targets. Standard USD drive is retained for neutral and other runtimes; MuJoCo consumers must use this actuator exclusively."
+        )
+        {
+            double[] mjc:biasPrm = [0, -225781.40495537876, -148.55649150437227]
+            token mjc:biasType = "affine"
+            token mjc:ctrlLimited = "false"
+            token mjc:forceLimited = "true"
+            double mjc:forceRange:max = 28
+            double mjc:forceRange:min = -28
+            double[] mjc:gainPrm = [1]
+            token mjc:gainType = "fixed"
+            rel mjc:target = </ur5e/joints/wrist_2_joint>
+        }
+
+        def MjcActuator "act_ur5e_joints_wrist_3_joint" (
+            doc = "Source-derived force-drive PD bias; control is additive effort. Zero control preserves source position and velocity targets. Standard USD drive is retained for neutral and other runtimes; MuJoCo consumers must use this actuator exclusively."
+        )
+        {
+            double[] mjc:biasPrm = [0, -57300.41311341526, -19.91028317589043]
+            token mjc:biasType = "affine"
+            token mjc:ctrlLimited = "false"
+            token mjc:forceLimited = "true"
+            double mjc:forceRange:max = 28
+            double mjc:forceRange:min = -28
+            double[] mjc:gainPrm = [1]
+            token mjc:gainType = "fixed"
+            rel mjc:target = </ur5e/joints/wrist_3_joint>
+        }
+    }
+}
+

universalrobots_ur5e/runnables/physics/newton.usda

@@ -0,0 +1,190 @@
+#usda 1.0
+(
+    defaultPrim = "ur5e"
+)
+
+over "ur5e"
+{
+    over "base_link"
+    {
+        over "collisions"
+        {
+            over "base"
+            {
+                over "mesh_1" (
+                    prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"]
+                )
+                {
+                    uniform token physics:approximation = "convexDecomposition"
+                }
+            }
+        }
+    }
+
+    over "shoulder_link"
+    {
+        over "collisions"
+        {
+            over "shoulder"
+            {
+                over "mesh_3" (
+                    prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"]
+                )
+                {
+                    uniform token physics:approximation = "convexDecomposition"
+                }
+            }
+        }
+    }
+
+    over "upper_arm_link"
+    {
+        over "collisions"
+        {
+            over "upperarm"
+            {
+                over "mesh_5" (
+                    prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"]
+                )
+                {
+                    uniform token physics:approximation = "convexDecomposition"
+                }
+            }
+        }
+    }
+
+    over "forearm_link"
+    {
+        over "collisions"
+        {
+            over "forearm"
+            {
+                over "mesh_7" (
+                    prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"]
+                )
+                {
+                    uniform token physics:approximation = "convexDecomposition"
+                }
+            }
+        }
+    }
+
+    over "wrist_1_link"
+    {
+        over "collisions"
+        {
+            over "wrist1"
+            {
+                over "mesh_9" (
+                    prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"]
+                )
+                {
+                    uniform token physics:approximation = "convexDecomposition"
+                }
+            }
+        }
+    }
+
+    over "wrist_2_link"
+    {
+        over "collisions"
+        {
+            over "wrist2"
+            {
+                over "mesh_11" (
+                    prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"]
+                )
+                {
+                    uniform token physics:approximation = "convexDecomposition"
+                }
+            }
+        }
+    }
+
+    over "wrist_3_link"
+    {
+        over "collisions"
+        {
+            over "wrist3"
+            {
+                over "mesh_13" (
+                    prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"]
+                )
+                {
+                    uniform token physics:approximation = "convexDecomposition"
+                }
+            }
+        }
+    }
+
+    over "root_joint" (
+        prepend apiSchemas = ["NewtonArticulationRootAPI"]
+    )
+    {
+        bool newton:selfCollisionEnabled = 0
+    }
+
+    over "joints"
+    {
+        over "shoulder_pan_joint" (
+            prepend apiSchemas = ["NewtonJointAPI"]
+        )
+        {
+            float drive:angular:physics:damping = 0
+            float drive:angular:physics:stiffness = 31.25
+            float newton:damping = 1.041667
+            float newton:velocityLimit = 180
+        }
+
+        over "shoulder_lift_joint" (
+            prepend apiSchemas = ["NewtonJointAPI"]
+        )
+        {
+            float drive:angular:physics:damping = 0
+            float drive:angular:physics:stiffness = 260
+            float newton:damping = 1.109092
+            float newton:velocityLimit = 180
+        }
+
+        over "elbow_joint" (
+            prepend apiSchemas = ["NewtonJointAPI"]
+        )
+        {
+            float drive:angular:physics:damping = 0
+            float drive:angular:physics:stiffness = 90
+            float newton:damping = 1.16
+            float newton:velocityLimit = 180
+        }
+
+        over "wrist_1_joint" (
+            prepend apiSchemas = ["NewtonJointAPI"]
+        )
+        {
+            float drive:angular:physics:damping = 0
+            float drive:angular:physics:stiffness = 5.8333
+            float newton:damping = 0.194444
+            float newton:velocityLimit = 180
+        }
+
+        over "wrist_2_joint" (
+            prepend apiSchemas = ["NewtonJointAPI"]
+        )
+        {
+            float drive:angular:physics:damping = 0
+            float drive:angular:physics:stiffness = 5.8333
+            float newton:damping = 0.194444
+            float newton:velocityLimit = 180
+        }
+
+        over "wrist_3_joint" (
+            prepend apiSchemas = ["NewtonJointAPI"]
+        )
+        {
+            float drive:angular:physics:damping = 0
+            float drive:angular:physics:stiffness = 5.8333
+            float newton:damping = 0.194444
+            float newton:velocityLimit = 180
+        }
+    }
+}
+

universalrobots_ur5e/runnables/physics/physx.usda

@@ -0,0 +1,250 @@
+#usda 1.0
+(
+    customLayerData = {
+    }
+    defaultPrim = "ur5e"
+    endTimeCode = 0
+    metersPerUnit = 1
+    startTimeCode = -1
+    upAxis = "Z"
+)
+
+over "ur5e"
+{
+    over "joints"
+    {
+        over "shoulder_pan_joint" (
+            prepend apiSchemas = ["PhysxJointAPI", "PhysicsJointStateAPI:angular"]
+        )
+        {
+            float physxJoint:maxJointVelocity = 180
+            float state:angular:physics:position = 0
+            float state:angular:physics:velocity = 0
+        }
+
+        over "shoulder_lift_joint" (
+            prepend apiSchemas = ["PhysxJointAPI", "PhysicsJointStateAPI:angular"]
+        )
+        {
+            float physxJoint:maxJointVelocity = 180
+            float state:angular:physics:position = 0
+            float state:angular:physics:velocity = 0
+        }
+
+        over "elbow_joint" (
+            prepend apiSchemas = ["PhysxJointAPI", "PhysicsJointStateAPI:angular"]
+        )
+        {
+            float physxJoint:maxJointVelocity = 180
+            float state:angular:physics:position = 0
+            float state:angular:physics:velocity = 0
+        }
+
+        over "wrist_1_joint" (
+            prepend apiSchemas = ["PhysxJointAPI", "PhysicsJointStateAPI:angular"]
+        )
+        {
+            float physxJoint:maxJointVelocity = 180
+            float state:angular:physics:position = 0
+            float state:angular:physics:velocity = 0
+        }
+
+        over "wrist_2_joint" (
+            prepend apiSchemas = ["PhysxJointAPI", "PhysicsJointStateAPI:angular"]
+        )
+        {
+            float physxJoint:maxJointVelocity = 180
+            float state:angular:physics:position = 0
+            float state:angular:physics:velocity = 0
+        }
+
+        over "wrist_3_joint" (
+            prepend apiSchemas = ["PhysxJointAPI", "PhysicsJointStateAPI:angular"]
+        )
+        {
+            float physxJoint:maxJointVelocity = 180
+            float state:angular:physics:position = 0
+            float state:angular:physics:velocity = 0
+        }
+    }
+
+    over "root_joint" (
+        prepend apiSchemas = ["PhysxArticulationAPI"]
+    )
+    {
+        bool physxArticulation:enabledSelfCollisions = 0
+        int physxArticulation:solverPositionIterationCount = 32
+        int physxArticulation:solverVelocityIterationCount = 1
+    }
+
+    over "Gripper"
+    {
+        over "Robotiq_2F_85" (
+        )
+        {
+            bool physxArticulation:articulationEnabled = 0
+
+            over "finger_joint" (
+            )
+            {
+                float state:angular:physics:position = 0
+                float state:angular:physics:velocity = 0
+            }
+
+            over "right_outer_knuckle_joint" (
+            )
+            {
+                float state:angular:physics:position = 0
+                float state:angular:physics:velocity = 0
+            }
+
+            over "left_outer_finger_joint" (
+            )
+            {
+                float state:angular:physics:position = 0
+                float state:angular:physics:velocity = 0
+            }
+
+            over "right_outer_finger_joint" (
+            )
+            {
+                float state:angular:physics:position = 0
+                float state:angular:physics:velocity = 0
+            }
+
+            over "left_inner_finger_joint" (
+            )
+            {
+                float state:angular:physics:position = 0
+                float state:angular:physics:velocity = 0
+            }
+
+            over "right_inner_finger_joint" (
+            )
+            {
+                float state:angular:physics:position = 0
+                float state:angular:physics:velocity = 0
+            }
+
+            over "left_inner_finger_knuckle_joint" (
+            )
+            {
+                float state:angular:physics:position = 0
+                float state:angular:physics:velocity = 0
+            }
+
+            over "right_inner_finger_knuckle_joint" (
+            )
+            {
+                float state:angular:physics:position = 0
+                float state:angular:physics:velocity = 0
+            }
+        }
+    }
+
+    over "base_link"
+    {
+        over "collisions"
+        {
+            over "base"
+            {
+                over "mesh_1" (
+                )
+                {
+                    token physics:approximation = "convexDecomposition"
+                }
+            }
+        }
+    }
+
+    over "shoulder_link"
+    {
+        over "collisions"
+        {
+            over "shoulder"
+            {
+                over "mesh_3" (
+                )
+                {
+                    token physics:approximation = "convexDecomposition"
+                }
+            }
+        }
+    }
+
+    over "upper_arm_link"
+    {
+        over "collisions"
+        {
+            over "upperarm"
+            {
+                over "mesh_5" (
+                )
+                {
+                    token physics:approximation = "convexDecomposition"
+                }
+            }
+        }
+    }
+
+    over "forearm_link"
+    {
+        over "collisions"
+        {
+            over "forearm"
+            {
+                over "mesh_7" (
+                )
+                {
+                    token physics:approximation = "convexDecomposition"
+                }
+            }
+        }
+    }
+
+    over "wrist_1_link"
+    {
+        over "collisions"
+        {
+            over "wrist1"
+            {
+                over "mesh_9" (
+                )
+                {
+                    token physics:approximation = "convexDecomposition"
+                }
+            }
+        }
+    }
+
+    over "wrist_2_link"
+    {
+        over "collisions"
+        {
+            over "wrist2"
+            {
+                over "mesh_11" (
+                )
+                {
+                    token physics:approximation = "convexDecomposition"
+                }
+            }
+        }
+    }
+
+    over "wrist_3_link"
+    {
+        over "collisions"
+        {
+            over "wrist3"
+            {
+                over "mesh_13" (
+                )
+                {
+                    token physics:approximation = "convexDecomposition"
+                }
+            }
+        }
+    }
+}
+

universalrobots_ur5e/ur5e.usda

@@ -0,0 +1,435 @@
+#usda 1.0
+(
+    customLayerData = {
+        dictionary SimReady_Metadata = {
+            dictionary Variants = {
+                dictionary Physics = {
+                    dictionary MuJoCo = {
+                        string activateOption = "Enabled"
+                        string prim = "/ur5e"
+                        string variantSetName = "MuJoCo"
+                    }
+                    dictionary Newton = {
+                        string activateOption = "Enabled"
+                        string prim = "/ur5e"
+                        string variantSetName = "Newton"
+                    }
+                    dictionary PhysX = {
+                        string activateOption = "Enabled"
+                        string prim = "/ur5e"
+                        string variantSetName = "PhysX"
+                    }
+                }
+            }
+            dictionary validation = {
+                string profile = "Robot-Body"
+                string profile_version = "3.0.0"
+                dictionary validated_features = {
+                    dictionary "2026-10-20" = {
+                        dictionary "CAP000_Core.Isaac.0-1-0" = {
+                            bool blocking_failure = 0
+                            string dependencies = "['CAP000_Core.OpenUSD.0-1-0']"
+                            bool passed = 1
+                            string version = "0-1-0"
+                        }
+                        dictionary "CAP000_Core.MuJoCo.0-1-0" = {
+                            bool blocking_failure = 0
+                            string dependencies = "['CAP000_Core.OpenUSD.0-1-0']"
+                            bool passed = 1
+                            string version = "0-1-0"
+                        }
+                        dictionary "CAP000_Core.Newton.0-1-0" = {
+                            bool blocking_failure = 0
+                            string dependencies = "['CAP000_Core.OpenUSD.0-1-0']"
+                            bool passed = 1
+                            string version = "0-1-0"
+                        }
+                        dictionary "CAP000_Core.OpenUSD.0-1-0" = {
+                            bool blocking_failure = 0
+                            string dependencies = "[]"
+                            bool passed = 1
+                            string version = "0-1-0"
+                        }
+                        dictionary "CAP000_Core.PhysX.0-1-0" = {
+                            bool blocking_failure = 0
+                            string dependencies = "['CAP000_Core.OpenUSD.0-1-0']"
+                            bool passed = 1
+                            string version = "0-1-0"
+                        }
+                        dictionary "CAP003_RigidBody.MuJoCo.0-1-0" = {
+                            bool blocking_failure = 0
+                            string dependencies = "[]"
+                            bool passed = 1
+                            string version = "0-1-0"
+                        }
+                        dictionary "CAP004_Multibody.MuJoCo.0-1-0" = {
+                            bool blocking_failure = 0
+                            string dependencies = "['CAP003_RigidBody.MuJoCo.0-1-0']"
+                            bool passed = 1
+                            string version = "0-1-0"
+                        }
+                        dictionary "CAP004_Multibody.RobotMuJoCo.0-1-0" = {
+                            bool blocking_failure = 0
+                            string dependencies = "[]"
+                            bool passed = 1
+                            string version = "0-1-0"
+                        }
+                        dictionary "CAP021_RobotCore.Isaac.0-3-0" = {
+                            bool blocking_failure = 0
+                            string dependencies = "[]"
+                            bool passed = 1
+                            string version = "0-3-0"
+                        }
+                        dictionary "CAP022_DrivenJoints.MuJoCo.0-1-0" = {
+                            bool blocking_failure = 0
+                            string dependencies = "['CAP004_Multibody.RobotMuJoCo.0-1-0']"
+                            bool passed = 1
+                            string version = "0-1-0"
+                        }
+                        dictionary "CAP023_RobotMaterials.Isaac.0-1-0" = {
+                            bool blocking_failure = 0
+                            string dependencies = "[]"
+                            bool passed = 1
+                            string version = "0-1-0"
+                        }
+                        dictionary "CAP024_BaseArticulation.MuJoCo.0-1-0" = {
+                            bool blocking_failure = 0
+                            string dependencies = "['CAP024_BaseArticulation.OpenUSD.0-1-0']"
+                            bool passed = 1
+                            string version = "0-1-0"
+                        }
+                        dictionary "CAP024_BaseArticulation.Newton.0-1-0" = {
+                            bool blocking_failure = 0
+                            string dependencies = "['CAP024_BaseArticulation.OpenUSD.0-1-0']"
+                            bool passed = 1
+                            string version = "0-1-0"
+                        }
+                        dictionary "CAP024_BaseArticulation.OpenUSD.0-1-0" = {
+                            bool blocking_failure = 0
+                            string dependencies = "[]"
+                            bool passed = 1
+                            string version = "0-1-0"
+                        }
+                        dictionary "CAP024_BaseArticulation.PhysX.0-1-0" = {
+                            bool blocking_failure = 0
+                            string dependencies = "['CAP024_BaseArticulation.OpenUSD.0-1-0']"
+                            bool passed = 1
+                            string version = "0-1-0"
+                        }
+                        dictionary "CAP025_RosBridge.Ros.0-1-0" = {
+                            bool blocking_failure = 0
+                            string dependencies = "[]"
+                            string "optional requirements" = "['com.nvidia.simready.ROS.001']"
+                            bool passed = 0
+                            string version = "0-1-0"
+                        }
+                        dictionary "CAP031_SelfContainedPackage.OpenUSD.0-1-0" = {
+                            bool blocking_failure = 0
+                            string dependencies = "[]"
+                            bool passed = 1
+                            string version = "0-1-0"
+                        }
+                        dictionary "CAP033_SimReadyPackage.OpenUSD.0-4-0" = {
+                            bool blocking_failure = 0
+                            string dependencies = "['CAP031_SelfContainedPackage.OpenUSD.0-1-0']"
+                            bool passed = 1
+                            string version = "0-4-0"
+                        }
+                        dictionary "CAP100_IsaacComposition.Isaac.0-3-0" = {
+                            bool blocking_failure = 0
+                            string dependencies = "[]"
+                            bool passed = 1
+                            string version = "0-3-0"
+                        }
+                        dictionary "FET001_MinimalPlaceableVisual.OpenUSD.1-0-1" = {
+                            bool blocking_failure = 0
+                            string dependencies = "[]"
+                            bool passed = 1
+                            string version = "1-0-1"
+                        }
+                        dictionary "FET003_RigidBody.Newton.0-1-0" = {
+                            bool blocking_failure = 0
+                            string dependencies = "[]"
+                            bool passed = 1
+                            string version = "0-1-0"
+                        }
+                        dictionary "FET003_RigidBody.OpenUSD.0-2-0" = {
+                            bool blocking_failure = 0
+                            string dependencies = "[]"
+                            bool passed = 1
+                            string version = "0-2-0"
+                        }
+                        dictionary "FET003_RigidBody.PhysX.0-4-0" = {
+                            bool blocking_failure = 0
+                            string dependencies = "[]"
+                            bool passed = 1
+                            string version = "0-4-0"
+                        }
+                        dictionary "FET004_Multibody.Newton.0-1-0" = {
+                            bool blocking_failure = 0
+                            string dependencies = "['FET003_RigidBody.Newton.0-1-0']"
+                            bool passed = 1
+                            string version = "0-1-0"
+                        }
+                        dictionary "FET004_Multibody.OpenUSD.0-2-0" = {
+                            bool blocking_failure = 0
+                            string dependencies = "['FET003_RigidBody.OpenUSD.0-2-0']"
+                            bool passed = 1
+                            string version = "0-2-0"
+                        }
+                        dictionary "FET004_Multibody.PhysX.0-4-0" = {
+                            bool blocking_failure = 0
+                            string dependencies = "['FET003_RigidBody.PhysX.0-4-0']"
+                            bool passed = 1
+                            string version = "0-4-0"
+                        }
+                        dictionary "FET004_Multibody.RobotNewton.0-1-0" = {
+                            bool blocking_failure = 0
+                            string dependencies = "[]"
+                            bool passed = 1
+                            string version = "0-1-0"
+                        }
+                        dictionary "FET006_Materials.MDL.0-2-0" = {
+                            bool blocking_failure = 0
+                            string dependencies = "[]"
+                            bool passed = 1
+                            string version = "0-2-0"
+                        }
+                        dictionary "FET006_Materials.OpenUSD.0-2-0" = {
+                            bool blocking_failure = 0
+                            string dependencies = "[]"
+                            bool passed = 1
+                            string version = "0-2-0"
+                        }
+                        dictionary "FET006_Materials.Openpbr.0-1-0" = {
+                            bool blocking_failure = 0
+                            string dependencies = "[]"
+                            bool passed = 1
+                            string version = "0-1-0"
+                        }
+                        dictionary "FET010_DisplayColor.OpenUSD.0-1-0" = {
+                            bool blocking_failure = 0
+                            string dependencies = "[]"
+                            bool passed = 1
+                            string version = "0-1-0"
+                        }
+                        dictionary "FET022_DrivenJoints.Isaac.0-2-0" = {
+                            bool blocking_failure = 0
+                            string dependencies = "['FET022_DrivenJoints.PhysX.0-2-0']"
+                            bool passed = 1
+                            string version = "0-2-0"
+                        }
+                        dictionary "FET022_DrivenJoints.Newton.0-1-0" = {
+                            bool blocking_failure = 0
+                            string dependencies = "['FET004_Multibody.RobotNewton.0-1-0']"
+                            bool passed = 1
+                            string version = "0-1-0"
+                        }
+                        dictionary "FET022_DrivenJoints.OpenUSD.0-2-0" = {
+                            bool blocking_failure = 0
+                            string dependencies = "['FET004_Multibody.OpenUSD.0-2-0']"
+                            bool passed = 1
+                            string version = "0-2-0"
+                        }
+                        dictionary "FET022_DrivenJoints.PhysX.0-2-0" = {
+                            bool blocking_failure = 0
+                            string dependencies = "['FET004_Multibody.PhysX.0-4-0']"
+                            bool passed = 1
+                            string version = "0-2-0"
+                        }
+                    }
+                }
+            }
+        }
+        float3 asset_extents = (0.932046, 0.30846107, 0.23402505)
+        string asset_license = "BSD-3-Clause"
+        string asset_name = "ur5e"
+        string asset_type = "robot"
+        string author = "UniversalRobots"
+        string category = "robotic arm"
+        double mass = 20.993899762630463
+        string qcode = "Q40687"
+        int rigid_body_count = 7
+        string source_file = "UniversalRobots/ur5e/ur5e.usda"
+        string usd_date_generated = "2026-10-02"
+    }
+    defaultPrim = "ur5e"
+    endTimeCode = 0
+    metersPerUnit = 1
+    startTimeCode = -1
+    upAxis = "Z"
+)
+
+def Xform "ur5e" (
+    kind = "component"
+    prepend references = [
+        @./payloads/Physics/physics.usda@,
+        @./payloads/base.usda@
+    ]
+    variants = {
+        string Gripper = "None"
+        string MuJoCo = "Disabled"
+        string Newton = "Disabled"
+        string PhysX = "Disabled"
+        string Sensor = "none"
+    }
+    variantSets = ["Sensor", "Gripper", "PhysX", "Newton", "MuJoCo"]
+)
+{
+    color3f[] primvars:displayColor = [(0.5, 0.5, 0.5)] (
+        interpolation = "constant"
+    )
+
+    over "base_link"
+    {
+        over "collisions"
+        {
+            over "base"
+            {
+                over "mesh_1"
+                {
+                    token visibility = "invisible"
+                }
+            }
+        }
+    }
+
+    over "shoulder_link"
+    {
+        over "collisions"
+        {
+            over "shoulder"
+            {
+                over "mesh_3"
+                {
+                    token visibility = "invisible"
+                }
+            }
+        }
+    }
+
+    over "upper_arm_link"
+    {
+        over "collisions"
+        {
+            over "upperarm"
+            {
+                over "mesh_5"
+                {
+                    token visibility = "invisible"
+                }
+            }
+        }
+    }
+
+    over "forearm_link"
+    {
+        over "collisions"
+        {
+            over "forearm"
+            {
+                over "mesh_7"
+                {
+                    token visibility = "invisible"
+                }
+            }
+        }
+    }
+
+    over "wrist_1_link"
+    {
+        over "collisions"
+        {
+            over "wrist1"
+            {
+                over "mesh_9"
+                {
+                    token visibility = "invisible"
+                }
+            }
+        }
+    }
+
+    over "wrist_2_link"
+    {
+        over "collisions"
+        {
+            over "wrist2"
+            {
+                over "mesh_11"
+                {
+                    token visibility = "invisible"
+                }
+            }
+        }
+    }
+
+    over "wrist_3_link"
+    {
+        over "collisions"
+        {
+            over "wrist3"
+            {
+                over "mesh_13"
+                {
+                    token visibility = "invisible"
+                }
+            }
+        }
+    }
+    variantSet "Sensor" = {
+        "none" (
+            prepend payload = @./payloads/Sensor/none.usda@
+        ) {
+
+        }
+        "sensors" (
+            prepend payload = @./payloads/Sensor/sensors.usda@
+        ) {
+
+        }
+    }
+    variantSet "Gripper" = {
+        "none" (
+            prepend payload = @./payloads/Gripper/none.usda@
+        ) {
+
+        }
+        "robotiq_2f_85" (
+            prepend payload = @./payloads/Gripper/robotiq_2f_85.usda@
+        ) {
+
+        }
+    }
+    variantSet "PhysX" = {
+        "Disabled" {
+
+        }
+        "Enabled" (
+            prepend payload = @./runnables/physics/physx.usda@
+        ) {
+
+        }
+    }
+    variantSet "Newton" = {
+        "Disabled" {
+
+        }
+        "Enabled" (
+            prepend payload = @./runnables/physics/newton.usda@
+        ) {
+
+        }
+    }
+    variantSet "MuJoCo" = {
+        "Disabled" {
+
+        }
+        "Enabled" (
+            prepend payload = @./runnables/physics/mujoco.usda@
+        ) {
+
+        }
+    }
+}
+

universalrobots_ur7e/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json

@@ -0,0 +1,35 @@
+{
+  "format_version": "1.0",
+  "profile": "Package-Candidate",
+  "profile_version": "1.0.0",
+  "timestamp": "2026-10-23T23:04:34",
+  "assets": [
+    {
+      "asset": "ur7e.usda",
+      "features": [
+        {
+          "FET_031_STANDARD": {
+            "version": "0.1.0",
+            "passed": true,
+            "failing_requirements": [],
+            "dependencies": []
+          }
+        },
+        {
+          "FET_033_STANDARD": {
+            "version": "0.1.0",
+            "passed": true,
+            "failing_requirements": [],
+            "dependencies": [
+              {
+                "FET_031_STANDARD": {
+                  "version": "0.1.0"
+                }
+              }
+            ]
+          }
+        }
+      ]
+    }
+  ]
+}

universalrobots_ur7e/.metadata/com.nvidia.simready.packaging.bom.json

@@ -0,0 +1,327 @@
+{
+  "format_version": "1.0",
+  "items": [
+    {
+      "relative_path": ".simready/validation.json",
+      "size": 7545,
+      "hash": {
+        "sha256-flat-1mb": "6ba959657ebe5029b98529867c7946e518e08513360f7be7a38ee3c7f055377b",
+        "sha256": "a8689352e668e642b8c43cba339b0c0270a5ce45b614cf83dcf1370b4efd7c56"
+      }
+    },
+    {
+      "relative_path": ".thumbs/256x256/.ur7e.usda.last_generated",
+      "size": 19,
+      "hash": {
+        "sha256-flat-1mb": "3ff824a5b7a61a720426d3a0acf314b49b9b98e8ac1fed8c0e3a92f56c4f1f10",
+        "sha256": "b480ec68a59b54acc13df46e932d6346d35a7b2d11433cb15ee4a1c8b88da48d"
+      }
+    },
+    {
+      "relative_path": ".thumbs/256x256/ur7e.usda.png",
+      "size": 45063,
+      "hash": {
+        "sha256-flat-1mb": "1567895e6187902e6ef85e09e5f801773d622a28647aae4b616d862c72dd1482",
+        "sha256": "658bdfe63dcaba7755028dd396258b3762878abe978281afddc0c763ab3de15f"
+      }
+    },
+    {
+      "relative_path": ".thumbs/ur7e.thumb.usd",
+      "size": 6121,
+      "hash": {
+        "sha256-flat-1mb": "2a4da598bf7ff49fa41099d8e08b916bb3ca7675d59feef53be0e6f203dbfa02",
+        "sha256": "da3e3482ccbb6c945146e4cbcf334ac0ad16648b8ab9b7a91bb94b56c66242a1"
+      }
+    },
+    {
+      "relative_path": "materials/mdl/LICENSE.md",
+      "size": 3220,
+      "hash": {
+        "sha256-flat-1mb": "d54635995b7794c6549d0f7c70586e739c1e24cb671ce966e64a8c1a6703a452",
+        "sha256": "d62e1bd5e34d0ca6f92f0e9f10670ee0cd586695e20f0a838a8f859119589683"
+      }
+    },
+    {
+      "relative_path": "materials/mdl/OmniPBR.mdl",
+      "size": 13969,
+      "hash": {
+        "sha256-flat-1mb": "1c58f77068df165a71676dfde42a4b7e4932a82cacacfc7a205ae94fc0332aaf",
+        "sha256": "c902cc38dc97ff6a89fe94dca94edfb523a30e3749d3708610a136867c3357bf"
+      }
+    },
+    {
+      "relative_path": "materials/mdl/OmniPBRBase.mdl",
+      "size": 17274,
+      "hash": {
+        "sha256-flat-1mb": "4b54e7fb8bc92191512851b3acc6fc6fa9863f80d98ffece8f0cb9b99f5f4535",
+        "sha256": "701f37299b44106842bdbe025de52eedec391e35b038f61c4ed4d25bd98e7db1"
+      }
+    },
+    {
+      "relative_path": "materials/mdl/OmniPBR_ClearCoat.mdl",
+      "size": 27433,
+      "hash": {
+        "sha256-flat-1mb": "b1f146a3767a5012936e3d246f2697c3536c2f72b5c5963d3bca0998d02f8931",
+        "sha256": "085ba661b49042570e24cda09c939e5aebf312ae332af92744a99bd3abbfbee4"
+      }
+    },
+    {
+      "relative_path": "materials/mdl/aux_definitions.mdl",
+      "size": 101769,
+      "hash": {
+        "sha256-flat-1mb": "6a5ffcb49e18ade213c3a4d79cf171d66612f9eee045074a0b937dbe4cf01ef6",
+        "sha256": "ebb81c8977aeb30790399ec7aaa7f2f76cb23afb434f56201ef152aba45a6e81"
+      }
+    },
+    {
+      "relative_path": "materials/mdl/core_definitions.mdl",
+      "size": 201537,
+      "hash": {
+        "sha256-flat-1mb": "54bdc55e3899f126b1e271eef4de9c5966b1390fb3143872846f29f0ca68378d",
+        "sha256": "052aec260e8dfef5d671545fc2fc28c0c478a5b043041c65a833b2a6d81bf950"
+      }
+    },
+    {
+      "relative_path": "materials/mdl/support_definitions.mdl",
+      "size": 147454,
+      "hash": {
+        "sha256-flat-1mb": "2b93c649c03f3ef48fb24cc6baba953df1f9dd4e7e860719bc3322fc3e789aba",
+        "sha256": "bb372f21b6e81d293b99fea6819a8309e2c33c732c7151752b4b33dade177f2e"
+      }
+    },
+    {
+      "relative_path": "payloads/Gripper/dependencies/Defeatured_2F_85_PAD_OPEN_Finger1step_JFT.usd",
+      "size": 78260,
+      "hash": {
+        "sha256-flat-1mb": "b5bb107aba831bdf3f516b50e41ff0b2b7568a758d565add949a667ca03e66ec",
+        "sha256": "8807edf2d1568889779e6da5cd89b97d7230311ad167755a791ff7034610f1d2"
+      }
+    },
+    {
+      "relative_path": "payloads/Gripper/dependencies/Defeatured_2F_85_PAD_OPEN_basestep_JFX.usd",
+      "size": 3373601,
+      "hash": {
+        "sha256-flat-1mb": "bceba3bb0779bfb158536826aaf2f6ba98ce75b493ab3261a9b63b87ca6f8a2d",
+        "sha256": "b849add675a959bf108b04281a4283632388698d82b34ab5c4ec9d42dcf8f4c1",
+        "sha256-first1m": "f2861d776cf587d47746c9073c826169267b5067194eb4b2b6c9987557b4d5e4"
+      }
+    },
+    {
+      "relative_path": "payloads/Gripper/dependencies/Defeatured_2F_85_PAD_OPEN_finger2step_JFP.usd",
+      "size": 230495,
+      "hash": {
+        "sha256-flat-1mb": "d64c245fdc66207d7a968a13ba72d0288bd46d93d9fb5b569e154925e1bab8e6",
+        "sha256": "865e828faa230a75c97016c1cc647ce236db6a3d84199c109923287cb5ef683c"
+      }
+    },
+    {
+      "relative_path": "payloads/Gripper/dependencies/Defeatured_2F_85_PAD_OPEN_finger3step_JFL.usd",
+      "size": 143957,
+      "hash": {
+        "sha256-flat-1mb": "a4264af7734c8b8adbd6133f78208392098e816830ca737184f12bafd75851a2",
+        "sha256": "3922f86499bd9b399182dca876a0e4295780a33b611267988d6a4570237ba11b"
+      }
+    },
+    {
+      "relative_path": "payloads/Gripper/dependencies/Defeatured_2F_85_PAD_OPEN_finger4step_JFH.usd",
+      "size": 136079,
+      "hash": {
+        "sha256-flat-1mb": "e560e9106c162743200b2dd534b3e55051bc9a9c003fde00689c2bd2d5ee5d85",
+        "sha256": "1ea3296bde39458b1dd01323d391115e6d6535065247df6c4d2108ee7f44f1ea"
+      }
+    },
+    {
+      "relative_path": "payloads/Gripper/dependencies/Defeatured_2F_85_PAD_OPEN_fingertipsstep_JFD.usd",
+      "size": 43439,
+      "hash": {
+        "sha256-flat-1mb": "136b847081926f25fe07a2182ac485f2e793fa81e835e431ddef8d7afcebf142",
+        "sha256": "72de83fb98d4e677ff303f253ccd13d6ef7f8ce2485e5dc0b41dd600c7502506"
+      }
+    },
+    {
+      "relative_path": "payloads/Gripper/dependencies/Robotiq_2F_85_base.usda",
+      "size": 13422,
+      "hash": {
+        "sha256-flat-1mb": "15360e29a232bd8a68f78eb983c32aa9a4be4f99ee0b8f3b2b7ece12735dbd08",
+        "sha256": "0fe4fe5b3da2a45baf7bfc8a35c93bcf30243f160fc53f4bf3050fc2466631d0"
+      }
+    },
+    {
+      "relative_path": "payloads/Gripper/dependencies/Robotiq_2F_85_edit.usd",
+      "size": 8132,
+      "hash": {
+        "sha256-flat-1mb": "f862a1b91d855edfa12222b107f7352ad254c3d06fdd169fa05d745353e2b3d4",
+        "sha256": "801358a61becc95f8c8af7ac6b22140383782fc14a32a4a41691a3be482396b0"
+      }
+    },
+    {
+      "relative_path": "payloads/Gripper/dependencies/Robotiq_2F_85_phyisics_loop.usda",
+      "size": 12923,
+      "hash": {
+        "sha256-flat-1mb": "3eb472a3aed84fec2c7bea1120f1a511fb8d8b254986ffb1e502141ef6ed4bbb",
+        "sha256": "728cd15ca08b500a52ceb012240d203cefe81739054d5a54f18d52d05110bbb0"
+      }
+    },
+    {
+      "relative_path": "payloads/Gripper/dependencies/Robotiq_2F_85_phyisics_mimic.usda",
+      "size": 13266,
+      "hash": {
+        "sha256-flat-1mb": "d58848e647600a0f4cd398c2c370c10fbea481f26b6d4136a8db44ce5032fac8",
+        "sha256": "96da1b55f7f9ff2c3e6e840633d627c4820634caffac5e99512ba4b10d0b4f71"
+      }
+    },
+    {
+      "relative_path": "payloads/Gripper/dependencies/Robotiq_2F_85_robot.usd",
+      "size": 3776,
+      "hash": {
+        "sha256-flat-1mb": "ad59f3ddaeefbdd1f18d616c95166812b016e519da47f8275fa15aedb8e67d85",
+        "sha256": "97858ffd93e4209d3ec020fa64043dfc7ed82df95d3da584d84033e43e5d6414"
+      }
+    },
+    {
+      "relative_path": "payloads/Gripper/dependencies/materials.usd",
+      "size": 4830,
+      "hash": {
+        "sha256-flat-1mb": "3e63d6ecf7ac5e2a0ebb7dfa1a68fd39540838ee99703f1a0aa0c6ec298a930e",
+        "sha256": "d34144f42f980ea2fad091bb6c1fbf8dd64d40149d526dd999c5b4f0c31691e0"
+      }
+    },
+    {
+      "relative_path": "payloads/Gripper/none.usda",
+      "size": 168,
+      "hash": {
+        "sha256-flat-1mb": "8290b709c447579a84d06e15f2173b8c22ec10da3167ffa4f83e03fefa60c9e3",
+        "sha256": "13fe805083d8cb2a75a8dbc55d00c839dc79d091c0a55b4d0cf9c04b40413b52"
+      }
+    },
+    {
+      "relative_path": "payloads/Gripper/robotiq_2f_85.usda",
+      "size": 699,
+      "hash": {
+        "sha256-flat-1mb": "6159c8f280ebe1f5c773614a7575d0af4bfc2aca43d775574a3d783e57e2704e",
+        "sha256": "ca7f16d3e8f79e29298be0e5889278f89a0c3f10112110a2998b4935b8f3f8af"
+      }
+    },
+    {
+      "relative_path": "payloads/Physics/mujoco.usda",
+      "size": 3084,
+      "hash": {
+        "sha256-flat-1mb": "68879696e7fa14f0c106a70ea0c5f1cbace693d87bd64323429fb166cefb3055",
+        "sha256": "e9036ede4bc3de09d1d8c5ac3f7f6b08a14265f1073b64bd3855a53b8a47091e"
+      }
+    },
+    {
+      "relative_path": "payloads/Physics/none.usda",
+      "size": 168,
+      "hash": {
+        "sha256-flat-1mb": "8290b709c447579a84d06e15f2173b8c22ec10da3167ffa4f83e03fefa60c9e3",
+        "sha256": "13fe805083d8cb2a75a8dbc55d00c839dc79d091c0a55b4d0cf9c04b40413b52"
+      }
+    },
+    {
+      "relative_path": "payloads/Physics/physics.usda",
+      "size": 12376,
+      "hash": {
+        "sha256-flat-1mb": "74d23b2902eca1a59df885de93fce8db56f9575784a9e039d5669fa09c587d53",
+        "sha256": "6d6ddcb4cae01194b236276bfdba6bf49adfd9cb516926b27881faec9445ca55"
+      }
+    },
+    {
+      "relative_path": "payloads/Physics/physx.usda",
+      "size": 1526,
+      "hash": {
+        "sha256-flat-1mb": "0cb3e0c14e3a3da8122a4e0c725318299e872e5799e4b95d525e49757849a5a3",
+        "sha256": "c0e1e31c4007a51af444345e35fdf69b9d0a789bacbe8073eea16d2c2105ecc1"
+      }
+    },
+    {
+      "relative_path": "payloads/Sensor/none.usda",
+      "size": 168,
+      "hash": {
+        "sha256-flat-1mb": "8290b709c447579a84d06e15f2173b8c22ec10da3167ffa4f83e03fefa60c9e3",
+        "sha256": "13fe805083d8cb2a75a8dbc55d00c839dc79d091c0a55b4d0cf9c04b40413b52"
+      }
+    },
+    {
+      "relative_path": "payloads/Sensor/sensors.usda",
+      "size": 188,
+      "hash": {
+        "sha256-flat-1mb": "743e857453522d68328bf78f147e35261e8a42312c0c2a1ad4cf8cf34acf14be",
+        "sha256": "491d1ce99286d559b2b499990e4ddb610c511c9a586d2d6ae85c9c27f7f36be5"
+      }
+    },
+    {
+      "relative_path": "payloads/base.usda",
+      "size": 13216,
+      "hash": {
+        "sha256-flat-1mb": "ac3d9d286d7505e3f9859e1fb82237c040fba29c9cf67dee32d8fc809fe7861c",
+        "sha256": "54a34a8be65a531acb8c4759b25069a2db9781f511f4d9221a1e1a464939ca4d"
+      }
+    },
+    {
+      "relative_path": "payloads/geometries.usd",
+      "size": 9321381,
+      "hash": {
+        "sha256-flat-1mb": "7c8c022f916ad859317badf280e656df5b9efa6eaa2c203631b66ac26c540d05",
+        "sha256": "34692050bf417a8848956718fd1b79a0393d86de0ca28b051f260f26d91c4391",
+        "sha256-first1m": "09be516f56927dac9e26dbaf98b0f0d8552330531514df0d349b8286dd86306f"
+      }
+    },
+    {
+      "relative_path": "payloads/instances.usda",
+      "size": 37762,
+      "hash": {
+        "sha256-flat-1mb": "91cc54f89b6fb11c663463b432726ff8156ffb8d893d9fe0b2e180822c6b3332",
+        "sha256": "63d3ae004cfc21104735349919742774818d30a7616fe7d04fca98152809c4db"
+      }
+    },
+    {
+      "relative_path": "payloads/materials.usda",
+      "size": 28997,
+      "hash": {
+        "sha256-flat-1mb": "d4426a219937807c5c134dc13a7cc4121973d45b87f2c32cb8cc2db73f0daf81",
+        "sha256": "80b7d508071ddb5cb55319615a8b90ba2169fadddc5c764728ae3023f1fc889e"
+      }
+    },
+    {
+      "relative_path": "payloads/robot.usda",
+      "size": 6974,
+      "hash": {
+        "sha256-flat-1mb": "bb8d186a4b2b6d6a0bae0e53cb1e7bb8ae9bc5b31b7726adc5c04a046b3e7754",
+        "sha256": "249a1b2ae1d33eb1a14d628b8c7b6eee8beb84d0a90747fa9a84c9be92648543"
+      }
+    },
+    {
+      "relative_path": "runnables/physics/mujoco.usda",
+      "size": 8366,
+      "hash": {
+        "sha256-flat-1mb": "08c879b7daeb445a99ee2fa1fa019ad3dc8f5097275fd7b620b5f9c3ac81cce5",
+        "sha256": "0f9b9c7f289a4099ac7077bc1c84fb9902ac3e73460275d31514a8c78a55b69a"
+      }
+    },
+    {
+      "relative_path": "runnables/physics/newton.usda",
+      "size": 5060,
+      "hash": {
+        "sha256-flat-1mb": "fcd0b088ff3a49cf6063ad2f334c0228bcb1e5d508f26d892ad27b8bd8f9fbbe",
+        "sha256": "2cd414adf275ef037dcda7361e3558d57e2c216569d51d47c6aa1ed530af7d03"
+      }
+    },
+    {
+      "relative_path": "runnables/physics/physx.usda",
+      "size": 6154,
+      "hash": {
+        "sha256-flat-1mb": "0bf915829a2c93d937ee3d8ef9572ceed823bd5ce0f99e64a63d245c288600d8",
+        "sha256": "1d02d5e70e7afdca5c9bc683175b13b80dcabf980d0ab99099b61aca5e3ac0e1"
+      }
+    },
+    {
+      "relative_path": "ur7e.usda",
+      "size": 16386,
+      "hash": {
+        "sha256-flat-1mb": "3f1f1d7ec98429588c79d42c53cef44fd38d743d33ce470897e6419358d0bd5a",
+        "sha256": "25caa0e47c7c7fc80acad269c2dfafc260e20b4e091eb3cd3fef71562fbd8e5e"
+      }
+    }
+  ]
+}

universalrobots_ur7e/.metadata/com.nvidia.simready.root_usds.json

@@ -0,0 +1,6 @@
+{
+  "format_version": "1.0",
+  "entries": [
+    "ur7e.usda"
+  ]
+}

universalrobots_ur7e/.metadata/license.txt

@@ -0,0 +1,25 @@
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+
+   * Redistributions of source code must retain the above copyright
+     notice, this list of conditions and the following disclaimer.
+
+   * Redistributions in binary form must reproduce the above copyright
+     notice, this list of conditions and the following disclaimer in the
+     documentation and/or other materials provided with the distribution.
+
+   * Neither the name of the copyright holder nor the names of its
+     contributors may be used to endorse or promote products derived from
+     this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+POSSIBILITY OF SUCH DAMAGE.