Update Robot-Body packages to 1.0.0 (2/6)

.gitattributes

@@ -253,3 +253,6 @@ yaskawa_motoman_next_nhc12/payloads/geometries.usd filter=lfs diff=lfs merge=lfs
 comau_n_220_27/payloads/geometries.usd filter=lfs diff=lfs merge=lfs -text
 inspirerobots_inspire_hand_rh56dfx_right_inspire_hand/payloads/geometries.usd filter=lfs diff=lfs merge=lfs -text
 psyonic_ability_hand_left_large/payloads/geometries.usd filter=lfs diff=lfs merge=lfs -text
+psyonic_ability_hand_left_small/payloads/geometries.usd filter=lfs diff=lfs merge=lfs -text
+psyonic_ability_hand_right_large/payloads/geometries.usd filter=lfs diff=lfs merge=lfs -text
+psyonic_ability_hand_right_small/payloads/geometries.usd filter=lfs diff=lfs merge=lfs -text

psyonic_ability_hand_left_small/payloads/Sensor/none.usda

@@ -0,0 +1,13 @@
+#usda 1.0
+(
+    customLayerData = {
+    }
+    defaultPrim = "ability_hand"
+    metersPerUnit = 1
+    upAxis = "Z"
+)
+
+def "ability_hand"
+{
+}
+

psyonic_ability_hand_left_small/payloads/Sensor/sensors.usda

@@ -0,0 +1,13 @@
+#usda 1.0
+(
+    customLayerData = {
+    }
+    defaultPrim = "ability_hand"
+    metersPerUnit = 1
+    upAxis = "Z"
+)
+
+def Xform "ability_hand"
+{
+}
+

psyonic_ability_hand_left_small/payloads/base.usda

@@ -0,0 +1,1296 @@
+#usda 1.0
+(
+    customLayerData = {
+    }
+    defaultPrim = "ability_hand"
+    metersPerUnit = 1
+    subLayers = [
+        @./robot.usda@
+    ]
+    upAxis = "Z"
+)
+
+def Xform "ability_hand"
+{
+    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"
+    {
+        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 "wrist_mesh"
+            {
+                token visibility = "inherited"
+                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 "node_STL_BINARY_" (
+                    kind = "component"
+                )
+                {
+                    quatf xformOp:orient = (1, 0, 0, 0)
+                    float3 xformOp:scale = (1, 1, 1)
+                    double3 xformOp:translate = (0, 0, 0)
+                    uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+
+                    def Scope "Looks"
+                    {
+                    }
+
+                    def Xform "mesh" (
+                        instanceable = true
+                        prepend references = @./instances.usda@</Instances/mesh>
+                    )
+                    {
+                    }
+                }
+            }
+
+            def Xform "palm_mesh"
+            {
+                token visibility = "inherited"
+                quatd xformOp:orient = (0.0442296601831913, 0.0006102907354943454, 0.9990212321281433, 0.000027017966203857213)
+                double3 xformOp:scale = (1, 1, 1)
+                double3 xformOp:translate = (0.024047667160630226, 0.003781247418373823, 0.03232964873313904)
+                uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+
+                def Xform "node_STL_BINARY_" (
+                    kind = "component"
+                )
+                {
+                    quatf xformOp:orient = (1, 0, 0, 0)
+                    float3 xformOp:scale = (1, 1, 1)
+                    double3 xformOp:translate = (0, 0, 0)
+                    uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+
+                    def Scope "Looks"
+                    {
+                    }
+
+                    def Xform "mesh" (
+                        instanceable = true
+                        prepend references = @./instances.usda@</Instances/mesh_1>
+                    )
+                    {
+                    }
+                }
+            }
+        }
+
+        def Xform "collisions" (
+            instanceable = false
+        )
+        {
+            def Xform "palm_mesh_coll"
+            {
+                uniform token purpose = "guide"
+                token visibility = "inherited"
+                quatd xformOp:orient = (0.0442296601831913, 0.0006102907354943454, 0.9990212321281433, 0.000027017966203857213)
+                double3 xformOp:scale = (1, 1, 1)
+                double3 xformOp:translate = (0.024047667160630226, 0.003781247418373823, 0.03232964873313904)
+                uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+
+                def Xform "node_STL_BINARY_" (
+                    kind = "component"
+                )
+                {
+                    quatf xformOp:orient = (1, 0, 0, 0)
+                    float3 xformOp:scale = (1, 1, 1)
+                    double3 xformOp:translate = (0, 0, 0)
+                    uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+
+                    def Scope "Looks"
+                    {
+                    }
+
+                    def Xform "mesh" (
+                        instanceable = true
+                        prepend references = @./instances.usda@</Instances/mesh_2>
+                    )
+                    {
+                        over "mesh_2" (
+                            prepend apiSchemas = ["PhysicsCollisionAPI"]
+                        )
+                        {
+                        }
+                    }
+                }
+            }
+        }
+
+        def Xform "gripper_01" (
+            prepend apiSchemas = ["IsaacSiteAPI"]
+        )
+        {
+            custom float gripper_maxOpening = 0.065
+            custom float gripper_maxPayload = 0.4
+            string isaac:Description = "Multi-finger hand grasp center"
+            token simready:attactment:socketType = "Gripper"
+            double3 xformOp:translate = (0.01, 0.026, 0.088)
+            uniform token[] xformOpOrder = ["xformOp:translate"]
+
+            def BasisCurves "gripper_forward_axis"
+            {
+                int[] curveVertexCounts = [2]
+                float3[] extent = [(0, 0, 0), (0, 0.035355, 0.035355)]
+                point3f[] points = [(0, 0, 0), (0, 0.035355, 0.035355)]
+                uniform token purpose = "guide"
+                uniform token type = "linear"
+            }
+
+            def BasisCurves "gripper_grip_line"
+            {
+                int[] curveVertexCounts = [2]
+                float3[] extent = [(0, -0.017678, -0.017678), (0, 0.017678, 0.017678)]
+                point3f[] points = [(0, -0.017678, 0.017678), (0, 0.017678, -0.017678)]
+                uniform token purpose = "guide"
+                uniform token type = "linear"
+            }
+        }
+    }
+
+    def Xform "index_L1"
+    {
+        quatd xformOp:orient = (0.7144400477409363, 0.1297096312046051, -0.6859613656997681, -0.04698991775512695)
+        double3 xformOp:scale = (1, 1, 1)
+        double3 xformOp:translate = (0.02800000086426735, -0.008999999612569809, 0.09600000083446503)
+        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+
+        def Xform "visuals" (
+            instanceable = false
+        )
+        {
+            def Xform "index_mesh_1"
+            {
+                token visibility = "inherited"
+                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 "node_STL_BINARY_" (
+                    kind = "component"
+                )
+                {
+                    quatf xformOp:orient = (1, 0, 0, 0)
+                    float3 xformOp:scale = (1, 1, 1)
+                    double3 xformOp:translate = (0, 0, 0)
+                    uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+
+                    def Scope "Looks"
+                    {
+                    }
+
+                    def Xform "mesh" (
+                        instanceable = true
+                        prepend references = @./instances.usda@</Instances/mesh_3>
+                    )
+                    {
+                    }
+                }
+            }
+        }
+
+        def Xform "collisions" (
+            instanceable = false
+        )
+        {
+            def Xform "index_mesh_coll_1"
+            {
+                uniform token purpose = "guide"
+                token visibility = "inherited"
+                quatd xformOp:orient = (0.9991081357002258, 0, 0, 0.04222439229488373)
+                double3 xformOp:scale = (1, 1, 1)
+                double3 xformOp:translate = (0.038472700864076614, 0.0032577000092715025, 0)
+                uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+
+                def Xform "node_STL_BINARY_" (
+                    kind = "component"
+                )
+                {
+                    quatf xformOp:orient = (1, 0, 0, 0)
+                    float3 xformOp:scale = (1, 1, 1)
+                    double3 xformOp:translate = (0, 0, 0)
+                    uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+
+                    def Scope "Looks"
+                    {
+                    }
+
+                    def Xform "mesh" (
+                        instanceable = true
+                        prepend references = @./instances.usda@</Instances/mesh_4>
+                    )
+                    {
+                        over "mesh_4" (
+                            prepend apiSchemas = ["PhysicsCollisionAPI"]
+                        )
+                        {
+                        }
+                    }
+                }
+            }
+        }
+    }
+
+    def Scope "joints"
+    {
+    }
+
+    def Xform "index_L2"
+    {
+        quatd xformOp:orient = (0.6802375912666321, -0.13603518903255463, -0.6847350001335144, 0.22340428829193115)
+        double3 xformOp:scale = (1, 1, 1)
+        double3 xformOp:translate = (0.029735717922449112, -0.015295763500034809, 0.13405409455299377)
+        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+
+        def Xform "fsr0"
+        {
+            quatd xformOp:orient = (0.0007928775157779455, 0.9957338571548462, -0.09226854145526886, -0.00007347109203692526)
+            double3 xformOp:scale = (1, 1, 1)
+            double3 xformOp:translate = (0.02556000091135502, -0.013910000212490559, -0.004350000061094761)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+        }
+
+        def Xform "fsr1"
+        {
+            quatd xformOp:orient = (0.7023698091506958, -0.7023723125457764, 0.08170023560523987, -0.08169993758201599)
+            double3 xformOp:scale = (1, 1, 1)
+            double3 xformOp:translate = (0.02517000027000904, -0.011099999770522118, -0)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+        }
+
+        def Xform "fsr2"
+        {
+            quatd xformOp:orient = (0.9957339763641357, 0, 0, -0.0922703668475151)
+            double3 xformOp:scale = (1, 1, 1)
+            double3 xformOp:translate = (0.02556000091135502, -0.013910000212490559, 0.004350000061094761)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+        }
+
+        def Xform "fsr3"
+        {
+            quatd xformOp:orient = (0.000001216294208461477, 0.9595322012901306, -0.28159886598587036, -3.569521425106359e-7)
+            double3 xformOp:scale = (1, 1, 1)
+            double3 xformOp:translate = (0.013100000098347664, -0.009429999627172947, -0.004350000061094761)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+        }
+
+        def Xform "fsr4"
+        {
+            quatd xformOp:orient = (0.9593814015388489, 0, 0, -0.282112181186676)
+            double3 xformOp:scale = (1, 1, 1)
+            double3 xformOp:translate = (0.013100000098347664, -0.009429999627172947, 0.004350000061094761)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+        }
+
+        def Xform "fsr5"
+        {
+            quatd xformOp:orient = (0.16551180183887482, -0.6874620318412781, -0.16551239788532257, -0.6874645352363586)
+            double3 xformOp:scale = (1, 1, 1)
+            double3 xformOp:translate = (0.03141999989748001, -0.014379999600350857, 0)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+        }
+
+        def Xform "index_anchor"
+        {
+            quatd xformOp:orient = (1, 0, 0, 0)
+            double3 xformOp:scale = (1, 1, 1)
+            double3 xformOp:translate = (0.031554099172353745, -0.010440000332891941, 0.00014000000373926014)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+        }
+
+        def Xform "visuals" (
+            instanceable = false
+        )
+        {
+            def Xform "index_mesh_2"
+            {
+                token visibility = "inherited"
+                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 "node_STL_BINARY_" (
+                    kind = "component"
+                )
+                {
+                    quatf xformOp:orient = (1, 0, 0, 0)
+                    float3 xformOp:scale = (1, 1, 1)
+                    double3 xformOp:translate = (0, 0, 0)
+                    uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+
+                    def Scope "Looks"
+                    {
+                    }
+
+                    def Xform "mesh" (
+                        instanceable = true
+                        prepend references = @./instances.usda@</Instances/mesh_5>
+                    )
+                    {
+                    }
+                }
+            }
+        }
+
+        def Xform "collisions" (
+            instanceable = false
+        )
+        {
+            def Xform "index_mesh_coll_2"
+            {
+                uniform token purpose = "guide"
+                token visibility = "inherited"
+                quatd xformOp:orient = (1, 0, 0, 0)
+                double3 xformOp:scale = (1, 1, 1)
+                double3 xformOp:translate = (0.00912410020828247, 0, 0)
+                uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+
+                def Xform "node_STL_BINARY_" (
+                    kind = "component"
+                )
+                {
+                    quatf xformOp:orient = (1, 0, 0, 0)
+                    float3 xformOp:scale = (1, 1, 1)
+                    double3 xformOp:translate = (0, 0, 0)
+                    uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+
+                    def Scope "Looks"
+                    {
+                    }
+
+                    def Xform "mesh" (
+                        instanceable = true
+                        prepend references = @./instances.usda@</Instances/mesh_6>
+                    )
+                    {
+                        over "mesh_6" (
+                            prepend apiSchemas = ["PhysicsCollisionAPI"]
+                        )
+                        {
+                        }
+                    }
+                }
+            }
+        }
+    }
+
+    def Xform "middle_L1"
+    {
+        quatd xformOp:orient = (0.698369026184082, 0.10381802916526794, -0.7045450210571289, -0.07154536247253418)
+        double3 xformOp:scale = (1, 1, 1)
+        double3 xformOp:translate = (0.00800000037997961, -0.012000000104308128, 0.0989999994635582)
+        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+
+        def Xform "visuals" (
+            instanceable = false
+        )
+        {
+            def Xform "middle_mesh_1"
+            {
+                token visibility = "inherited"
+                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 "node_STL_BINARY_" (
+                    kind = "component"
+                )
+                {
+                    quatf xformOp:orient = (1, 0, 0, 0)
+                    float3 xformOp:scale = (1, 1, 1)
+                    double3 xformOp:translate = (0, 0, 0)
+                    uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+
+                    def Scope "Looks"
+                    {
+                    }
+
+                    def Xform "mesh" (
+                        instanceable = true
+                        prepend references = @./instances.usda@</Instances/mesh_3>
+                    )
+                    {
+                    }
+                }
+            }
+        }
+
+        def Xform "collisions" (
+            instanceable = false
+        )
+        {
+            def Xform "middle_mesh_coll_1"
+            {
+                uniform token purpose = "guide"
+                token visibility = "inherited"
+                quatd xformOp:orient = (0.9991081357002258, 0, 0, 0.04222439229488373)
+                double3 xformOp:scale = (1, 1, 1)
+                double3 xformOp:translate = (0.038472700864076614, 0.0032577000092715025, 0)
+                uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+
+                def Xform "node_STL_BINARY_" (
+                    kind = "component"
+                )
+                {
+                    quatf xformOp:orient = (1, 0, 0, 0)
+                    float3 xformOp:scale = (1, 1, 1)
+                    double3 xformOp:translate = (0, 0, 0)
+                    uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+
+                    def Scope "Looks"
+                    {
+                    }
+
+                    def Xform "mesh" (
+                        instanceable = true
+                        prepend references = @./instances.usda@</Instances/mesh_4>
+                    )
+                    {
+                        over "mesh_4" (
+                            prepend apiSchemas = ["PhysicsCollisionAPI"]
+                        )
+                        {
+                        }
+                    }
+                }
+            }
+        }
+    }
+
+    def Xform "middle_L2"
+    {
+        quatd xformOp:orient = (0.6745074391365051, -0.16699565947055817, -0.6922964453697205, 0.19462212920188904)
+        double3 xformOp:scale = (1, 1, 1)
+        double3 xformOp:translate = (0.007733365520834923, -0.018318597227334976, 0.13708893954753876)
+        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+
+        def Xform "fsr10"
+        {
+            quatd xformOp:orient = (0.9593814015388489, 0, 0, -0.282112181186676)
+            double3 xformOp:scale = (1, 1, 1)
+            double3 xformOp:translate = (0.013100000098347664, -0.009429999627172947, 0.004350000061094761)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+        }
+
+        def Xform "fsr11"
+        {
+            quatd xformOp:orient = (0.16551180183887482, -0.6874620318412781, -0.16551239788532257, -0.6874645352363586)
+            double3 xformOp:scale = (1, 1, 1)
+            double3 xformOp:translate = (0.03141999989748001, -0.014379999600350857, 0)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+        }
+
+        def Xform "fsr6"
+        {
+            quatd xformOp:orient = (0.0007928775157779455, 0.9957338571548462, -0.09226854145526886, -0.00007347109203692526)
+            double3 xformOp:scale = (1, 1, 1)
+            double3 xformOp:translate = (0.02556000091135502, -0.013910000212490559, -0.004350000061094761)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+        }
+
+        def Xform "fsr7"
+        {
+            quatd xformOp:orient = (0.7023698091506958, -0.7023723125457764, 0.08170023560523987, -0.08169993758201599)
+            double3 xformOp:scale = (1, 1, 1)
+            double3 xformOp:translate = (0.02517000027000904, -0.011099999770522118, -0)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+        }
+
+        def Xform "fsr8"
+        {
+            quatd xformOp:orient = (0.9957339763641357, 0, 0, -0.0922703668475151)
+            double3 xformOp:scale = (1, 1, 1)
+            double3 xformOp:translate = (0.02556000091135502, -0.013910000212490559, 0.004350000061094761)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+        }
+
+        def Xform "fsr9"
+        {
+            quatd xformOp:orient = (0.000001216294208461477, 0.9595322012901306, -0.28159886598587036, -3.569521425106359e-7)
+            double3 xformOp:scale = (1, 1, 1)
+            double3 xformOp:translate = (0.013100000098347664, -0.009429999627172947, -0.004350000061094761)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+        }
+
+        def Xform "middle_anchor"
+        {
+            quatd xformOp:orient = (1, 0, 0, 0)
+            double3 xformOp:scale = (1, 1, 1)
+            double3 xformOp:translate = (0.031554099172353745, -0.010440000332891941, 0.00014000000373926014)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+        }
+
+        def Xform "visuals" (
+            instanceable = false
+        )
+        {
+            def Xform "middle_mesh_2"
+            {
+                token visibility = "inherited"
+                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 "node_STL_BINARY_" (
+                    kind = "component"
+                )
+                {
+                    quatf xformOp:orient = (1, 0, 0, 0)
+                    float3 xformOp:scale = (1, 1, 1)
+                    double3 xformOp:translate = (0, 0, 0)
+                    uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+
+                    def Scope "Looks"
+                    {
+                    }
+
+                    def Xform "mesh" (
+                        instanceable = true
+                        prepend references = @./instances.usda@</Instances/mesh_5>
+                    )
+                    {
+                    }
+                }
+            }
+        }
+
+        def Xform "collisions" (
+            instanceable = false
+        )
+        {
+            def Xform "middle_mesh_coll_2"
+            {
+                uniform token purpose = "guide"
+                token visibility = "inherited"
+                quatd xformOp:orient = (1, 0, 0, 0)
+                double3 xformOp:scale = (1, 1, 1)
+                double3 xformOp:translate = (0.00912410020828247, 0, 0)
+                uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+
+                def Xform "node_STL_BINARY_" (
+                    kind = "component"
+                )
+                {
+                    quatf xformOp:orient = (1, 0, 0, 0)
+                    float3 xformOp:scale = (1, 1, 1)
+                    double3 xformOp:translate = (0, 0, 0)
+                    uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+
+                    def Scope "Looks"
+                    {
+                    }
+
+                    def Xform "mesh" (
+                        instanceable = true
+                        prepend references = @./instances.usda@</Instances/mesh_6>
+                    )
+                    {
+                        over "mesh_6" (
+                            prepend apiSchemas = ["PhysicsCollisionAPI"]
+                        )
+                        {
+                        }
+                    }
+                }
+            }
+        }
+    }
+
+    def Xform "pinky_L1"
+    {
+        quatd xformOp:orient = (0.6818196773529053, 0.05423292517662048, -0.7191934585571289, -0.12223544716835022)
+        double3 xformOp:scale = (1, 1, 1)
+        double3 xformOp:translate = (-0.03099999949336052, -0.007000000216066837, 0.09099999815225601)
+        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+
+        def Xform "visuals" (
+            instanceable = false
+        )
+        {
+            def Xform "pinky_mesh_1"
+            {
+                token visibility = "inherited"
+                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 "node_STL_BINARY_" (
+                    kind = "component"
+                )
+                {
+                    quatf xformOp:orient = (1, 0, 0, 0)
+                    float3 xformOp:scale = (1, 1, 1)
+                    double3 xformOp:translate = (0, 0, 0)
+                    uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+
+                    def Scope "Looks"
+                    {
+                    }
+
+                    def Xform "mesh" (
+                        instanceable = true
+                        prepend references = @./instances.usda@</Instances/mesh_3>
+                    )
+                    {
+                    }
+                }
+            }
+        }
+
+        def Xform "collisions" (
+            instanceable = false
+        )
+        {
+            def Xform "pinky_mesh_coll_1"
+            {
+                uniform token purpose = "guide"
+                token visibility = "inherited"
+                quatd xformOp:orient = (0.9991081357002258, 0, 0, 0.04222439229488373)
+                double3 xformOp:scale = (1, 1, 1)
+                double3 xformOp:translate = (0.038472700864076614, 0.0032577000092715025, 0)
+                uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+
+                def Xform "node_STL_BINARY_" (
+                    kind = "component"
+                )
+                {
+                    quatf xformOp:orient = (1, 0, 0, 0)
+                    float3 xformOp:scale = (1, 1, 1)
+                    double3 xformOp:translate = (0, 0, 0)
+                    uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+
+                    def Scope "Looks"
+                    {
+                    }
+
+                    def Xform "mesh" (
+                        instanceable = true
+                        prepend references = @./instances.usda@</Instances/mesh_4>
+                    )
+                    {
+                        over "mesh_4" (
+                            prepend apiSchemas = ["PhysicsCollisionAPI"]
+                        )
+                        {
+                        }
+                    }
+                }
+            }
+        }
+    }
+
+    def Xform "pinky_L2"
+    {
+        quatd xformOp:orient = (0.6781002283096313, -0.21846242249011993, -0.6873533725738525, 0.14142006635665894)
+        double3 xformOp:scale = (1, 1, 1)
+        double3 xformOp:translate = (-0.033187273889780045, -0.013272823765873909, 0.1290345937013626)
+        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+
+        def Xform "fsr18"
+        {
+            quatd xformOp:orient = (0.0007928775157779455, 0.9957338571548462, -0.09226854145526886, -0.00007347109203692526)
+            double3 xformOp:scale = (1, 1, 1)
+            double3 xformOp:translate = (0.02556000091135502, -0.013910000212490559, -0.004350000061094761)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+        }
+
+        def Xform "fsr19"
+        {
+            quatd xformOp:orient = (0.7023698091506958, -0.7023723125457764, 0.08170023560523987, -0.08169993758201599)
+            double3 xformOp:scale = (1, 1, 1)
+            double3 xformOp:translate = (0.02517000027000904, -0.011099999770522118, -0)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+        }
+
+        def Xform "fsr20"
+        {
+            quatd xformOp:orient = (0.9957339763641357, 0, 0, -0.0922703668475151)
+            double3 xformOp:scale = (1, 1, 1)
+            double3 xformOp:translate = (0.02556000091135502, -0.013910000212490559, 0.004350000061094761)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+        }
+
+        def Xform "fsr21"
+        {
+            quatd xformOp:orient = (0.000001216294208461477, 0.9595322012901306, -0.28159886598587036, -3.569521425106359e-7)
+            double3 xformOp:scale = (1, 1, 1)
+            double3 xformOp:translate = (0.013100000098347664, -0.009429999627172947, -0.004350000061094761)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+        }
+
+        def Xform "fsr22"
+        {
+            quatd xformOp:orient = (0.9593814015388489, 0, 0, -0.282112181186676)
+            double3 xformOp:scale = (1, 1, 1)
+            double3 xformOp:translate = (0.013100000098347664, -0.009429999627172947, 0.004350000061094761)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+        }
+
+        def Xform "fsr23"
+        {
+            quatd xformOp:orient = (0.16551180183887482, -0.6874620318412781, -0.16551239788532257, -0.6874645352363586)
+            double3 xformOp:scale = (1, 1, 1)
+            double3 xformOp:translate = (0.03141999989748001, -0.014379999600350857, 0)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+        }
+
+        def Xform "pinky_anchor"
+        {
+            quatd xformOp:orient = (1, 0, 0, 0)
+            double3 xformOp:scale = (1, 1, 1)
+            double3 xformOp:translate = (0.031554099172353745, -0.010440000332891941, 0.00014000000373926014)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+        }
+
+        def Xform "visuals" (
+            instanceable = false
+        )
+        {
+            def Xform "pinky_mesh_2"
+            {
+                token visibility = "inherited"
+                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 "node_STL_BINARY_" (
+                    kind = "component"
+                )
+                {
+                    quatf xformOp:orient = (1, 0, 0, 0)
+                    float3 xformOp:scale = (1, 1, 1)
+                    double3 xformOp:translate = (0, 0, 0)
+                    uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+
+                    def Scope "Looks"
+                    {
+                    }
+
+                    def Xform "mesh" (
+                        instanceable = true
+                        prepend references = @./instances.usda@</Instances/mesh_5>
+                    )
+                    {
+                    }
+                }
+            }
+        }
+
+        def Xform "collisions" (
+            instanceable = false
+        )
+        {
+            def Xform "pinky_mesh_coll_2"
+            {
+                uniform token purpose = "guide"
+                token visibility = "inherited"
+                quatd xformOp:orient = (1, 0, 0, 0)
+                double3 xformOp:scale = (1, 1, 1)
+                double3 xformOp:translate = (0.00912410020828247, 0, 0)
+                uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+
+                def Xform "node_STL_BINARY_" (
+                    kind = "component"
+                )
+                {
+                    quatf xformOp:orient = (1, 0, 0, 0)
+                    float3 xformOp:scale = (1, 1, 1)
+                    double3 xformOp:translate = (0, 0, 0)
+                    uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+
+                    def Scope "Looks"
+                    {
+                    }
+
+                    def Xform "mesh" (
+                        instanceable = true
+                        prepend references = @./instances.usda@</Instances/mesh_6>
+                    )
+                    {
+                        over "mesh_6" (
+                            prepend apiSchemas = ["PhysicsCollisionAPI"]
+                        )
+                        {
+                        }
+                    }
+                }
+            }
+        }
+    }
+
+    def Xform "ring_L1"
+    {
+        quatd xformOp:orient = (0.6811507940292358, 0.07705366611480713, -0.7213432192802429, -0.09879416227340698)
+        double3 xformOp:scale = (1, 1, 1)
+        double3 xformOp:translate = (-0.012000000104308128, -0.009999999776482582, 0.09700000286102295)
+        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+
+        def Xform "visuals" (
+            instanceable = false
+        )
+        {
+            def Xform "ring_mesh_1"
+            {
+                token visibility = "inherited"
+                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 "node_STL_BINARY_" (
+                    kind = "component"
+                )
+                {
+                    quatf xformOp:orient = (1, 0, 0, 0)
+                    float3 xformOp:scale = (1, 1, 1)
+                    double3 xformOp:translate = (0, 0, 0)
+                    uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+
+                    def Scope "Looks"
+                    {
+                    }
+
+                    def Xform "mesh" (
+                        instanceable = true
+                        prepend references = @./instances.usda@</Instances/mesh_3>
+                    )
+                    {
+                    }
+                }
+            }
+        }
+
+        def Xform "collisions" (
+            instanceable = false
+        )
+        {
+            def Xform "ring_mesh_coll_1"
+            {
+                uniform token purpose = "guide"
+                token visibility = "inherited"
+                quatd xformOp:orient = (0.9991081357002258, 0, 0, 0.04222439229488373)
+                double3 xformOp:scale = (1, 1, 1)
+                double3 xformOp:translate = (0.038472700864076614, 0.0032577000092715025, 0)
+                uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+
+                def Xform "node_STL_BINARY_" (
+                    kind = "component"
+                )
+                {
+                    quatf xformOp:orient = (1, 0, 0, 0)
+                    float3 xformOp:scale = (1, 1, 1)
+                    double3 xformOp:translate = (0, 0, 0)
+                    uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+
+                    def Scope "Looks"
+                    {
+                    }
+
+                    def Xform "mesh" (
+                        instanceable = true
+                        prepend references = @./instances.usda@</Instances/mesh_4>
+                    )
+                    {
+                        over "mesh_4" (
+                            prepend apiSchemas = ["PhysicsCollisionAPI"]
+                        )
+                        {
+                        }
+                    }
+                }
+            }
+        }
+    }
+
+    def Xform "ring_L2"
+    {
+        quatd xformOp:orient = (0.6687197089195251, -0.19809848070144653, -0.6978755593299866, 0.1629130244255066)
+        double3 xformOp:scale = (1, 1, 1)
+        double3 xformOp:translate = (-0.014239470474421978, -0.01629931852221489, 0.1350271850824356)
+        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+
+        def Xform "fsr12"
+        {
+            quatd xformOp:orient = (0.0007928775157779455, 0.9957338571548462, -0.09226854145526886, -0.00007347109203692526)
+            double3 xformOp:scale = (1, 1, 1)
+            double3 xformOp:translate = (0.02556000091135502, -0.013910000212490559, -0.004350000061094761)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+        }
+
+        def Xform "fsr13"
+        {
+            quatd xformOp:orient = (0.7023698091506958, -0.7023723125457764, 0.08170023560523987, -0.08169993758201599)
+            double3 xformOp:scale = (1, 1, 1)
+            double3 xformOp:translate = (0.02517000027000904, -0.011099999770522118, -0)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+        }
+
+        def Xform "fsr14"
+        {
+            quatd xformOp:orient = (0.9957339763641357, 0, 0, -0.0922703668475151)
+            double3 xformOp:scale = (1, 1, 1)
+            double3 xformOp:translate = (0.02556000091135502, -0.013910000212490559, 0.004350000061094761)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+        }
+
+        def Xform "fsr15"
+        {
+            quatd xformOp:orient = (0.000001216294208461477, 0.9595322012901306, -0.28159886598587036, -3.569521425106359e-7)
+            double3 xformOp:scale = (1, 1, 1)
+            double3 xformOp:translate = (0.013100000098347664, -0.009429999627172947, -0.004350000061094761)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+        }
+
+        def Xform "fsr16"
+        {
+            quatd xformOp:orient = (0.9593814015388489, 0, 0, -0.282112181186676)
+            double3 xformOp:scale = (1, 1, 1)
+            double3 xformOp:translate = (0.013100000098347664, -0.009429999627172947, 0.004350000061094761)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+        }
+
+        def Xform "fsr17"
+        {
+            quatd xformOp:orient = (0.16551180183887482, -0.6874620318412781, -0.16551239788532257, -0.6874645352363586)
+            double3 xformOp:scale = (1, 1, 1)
+            double3 xformOp:translate = (0.03141999989748001, -0.014379999600350857, 0)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+        }
+
+        def Xform "ring_anchor"
+        {
+            quatd xformOp:orient = (1, 0, 0, 0)
+            double3 xformOp:scale = (1, 1, 1)
+            double3 xformOp:translate = (0.031554099172353745, -0.010440000332891941, 0.00014000000373926014)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+        }
+
+        def Xform "visuals" (
+            instanceable = false
+        )
+        {
+            def Xform "ring_mesh_2"
+            {
+                token visibility = "inherited"
+                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 "node_STL_BINARY_" (
+                    kind = "component"
+                )
+                {
+                    quatf xformOp:orient = (1, 0, 0, 0)
+                    float3 xformOp:scale = (1, 1, 1)
+                    double3 xformOp:translate = (0, 0, 0)
+                    uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+
+                    def Scope "Looks"
+                    {
+                    }
+
+                    def Xform "mesh" (
+                        instanceable = true
+                        prepend references = @./instances.usda@</Instances/mesh_5>
+                    )
+                    {
+                    }
+                }
+            }
+        }
+
+        def Xform "collisions" (
+            instanceable = false
+        )
+        {
+            def Xform "ring_mesh_coll_2"
+            {
+                uniform token purpose = "guide"
+                token visibility = "inherited"
+                quatd xformOp:orient = (1, 0, 0, 0)
+                double3 xformOp:scale = (1, 1, 1)
+                double3 xformOp:translate = (0.00912410020828247, 0, 0)
+                uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+
+                def Xform "node_STL_BINARY_" (
+                    kind = "component"
+                )
+                {
+                    quatf xformOp:orient = (1, 0, 0, 0)
+                    float3 xformOp:scale = (1, 1, 1)
+                    double3 xformOp:translate = (0, 0, 0)
+                    uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+
+                    def Scope "Looks"
+                    {
+                    }
+
+                    def Xform "mesh" (
+                        instanceable = true
+                        prepend references = @./instances.usda@</Instances/mesh_6>
+                    )
+                    {
+                        over "mesh_6" (
+                            prepend apiSchemas = ["PhysicsCollisionAPI"]
+                        )
+                        {
+                        }
+                    }
+                }
+            }
+        }
+    }
+
+    def Xform "thumb_L1"
+    {
+        quatd xformOp:orient = (0.0041431705467402935, -0.9946286678314209, 0.09358209371566772, -0.04403518885374069)
+        double3 xformOp:scale = (1, 1, 1)
+        double3 xformOp:translate = (0.024047667160630226, 0.003781247418373823, 0.03232964873313904)
+        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+
+        def Xform "visuals" (
+            instanceable = false
+        )
+        {
+            def Xform "thumb_mesh_1"
+            {
+                token visibility = "inherited"
+                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 "node_STL_BINARY_" (
+                    kind = "component"
+                )
+                {
+                    quatf xformOp:orient = (1, 0, 0, 0)
+                    float3 xformOp:scale = (1, 1, 1)
+                    double3 xformOp:translate = (0, 0, 0)
+                    uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+
+                    def Scope "Looks"
+                    {
+                    }
+
+                    def Xform "mesh" (
+                        instanceable = true
+                        prepend references = @./instances.usda@</Instances/mesh_7>
+                    )
+                    {
+                    }
+                }
+            }
+        }
+
+        def Xform "collisions" (
+            instanceable = false
+        )
+        {
+            def Xform "thumb_coll_mesh_1"
+            {
+                uniform token purpose = "guide"
+                token visibility = "inherited"
+                quatd xformOp:orient = (0.6087597012519836, -0.7933546304702759, 0, 0)
+                double3 xformOp:scale = (1, 1, 1)
+                double3 xformOp:translate = (0.02782999910414219, 0, -0.014750000089406967)
+                uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+
+                def Xform "node_STL_BINARY_" (
+                    kind = "component"
+                )
+                {
+                    quatf xformOp:orient = (1, 0, 0, 0)
+                    float3 xformOp:scale = (1, 1, 1)
+                    double3 xformOp:translate = (0, 0, 0)
+                    uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+
+                    def Scope "Looks"
+                    {
+                    }
+
+                    def Xform "mesh" (
+                        instanceable = true
+                        prepend references = @./instances.usda@</Instances/mesh_8>
+                    )
+                    {
+                        over "mesh_8" (
+                            prepend apiSchemas = ["PhysicsCollisionAPI"]
+                        )
+                        {
+                        }
+                    }
+                }
+            }
+        }
+    }
+
+    def Xform "thumb_L2"
+    {
+        quatd xformOp:orient = (0.7865697145462036, 0.6087785959243774, -0.09190463274717331, -0.04743674024939537)
+        double3 xformOp:scale = (1, 1, 1)
+        double3 xformOp:translate = (0.04997711628675461, -0.0014094016514718533, 0.04943874478340149)
+        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+
+        def Xform "fsr24"
+        {
+            quatd xformOp:orient = (0.40374043583869934, -0.8910711407661438, -0.18884731829166412, 0.08557149767875671)
+            double3 xformOp:scale = (1, 1, 1)
+            double3 xformOp:translate = (0.04746999964118004, 0.01988000050187111, -0.008740000426769257)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+        }
+
+        def Xform "fsr25"
+        {
+            quatd xformOp:orient = (0.7761160135269165, -0.5955318212509155, -0.12621015310287476, 0.1644894778728485)
+            double3 xformOp:scale = (1, 1, 1)
+            double3 xformOp:translate = (0.047210000455379486, 0.021239999681711197, -0.0010600000387057662)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+        }
+
+        def Xform "fsr26"
+        {
+            quatd xformOp:orient = (0.965203583240509, -0.15936213731765747, -0.03376941755414009, 0.2045615166425705)
+            double3 xformOp:scale = (1, 1, 1)
+            double3 xformOp:translate = (0.04896000027656555, 0.016540000215172768, 0.004910000134259462)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+        }
+
+        def Xform "fsr27"
+        {
+            quatd xformOp:orient = (0.40374043583869934, -0.8910711407661438, -0.18884731829166412, 0.08557149767875671)
+            double3 xformOp:scale = (1, 1, 1)
+            double3 xformOp:translate = (0.037390001118183136, 0.015359999611973763, -0.008790000341832638)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+        }
+
+        def Xform "fsr28"
+        {
+            quatd xformOp:orient = (0.965203583240509, -0.15936213731765747, -0.03376941755414009, 0.2045615166425705)
+            double3 xformOp:scale = (1, 1, 1)
+            double3 xformOp:translate = (0.03888000175356865, 0.012000000104308128, 0.004939999897032976)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+        }
+
+        def Xform "fsr29"
+        {
+            quatd xformOp:orient = (1, 0, 0, 0)
+            double3 xformOp:scale = (1, 1, 1)
+            double3 xformOp:translate = (0.05590999871492386, 0.02160000056028366, -0.0019199999514967203)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+        }
+
+        def Xform "thumb_anchor"
+        {
+            quatd xformOp:orient = (1, 0, 0, 0)
+            double3 xformOp:scale = (1, 1, 1)
+            double3 xformOp:translate = (0.0520012266933918, 0.02800869755446911, -0.0008848357829265296)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+        }
+
+        def Xform "visuals" (
+            instanceable = false
+        )
+        {
+            def Xform "thumb_mesh_2"
+            {
+                token visibility = "inherited"
+                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 "node_STL_BINARY_" (
+                    kind = "component"
+                )
+                {
+                    quatf xformOp:orient = (1, 0, 0, 0)
+                    float3 xformOp:scale = (1, 1, 1)
+                    double3 xformOp:translate = (0, 0, 0)
+                    uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+
+                    def Scope "Looks"
+                    {
+                    }
+
+                    def Xform "mesh" (
+                        instanceable = true
+                        prepend references = @./instances.usda@</Instances/mesh_9>
+                    )
+                    {
+                    }
+                }
+            }
+        }
+
+        def Xform "collisions" (
+            instanceable = false
+        )
+        {
+            def Xform "thumb_hull_mesh_2"
+            {
+                uniform token purpose = "guide"
+                token visibility = "inherited"
+                quatd xformOp:orient = (0.0000012489052778619225, 0.9852589964866638, 0.1710694283246994, 2.1684604689653497e-7)
+                double3 xformOp:scale = (1, 1, 1)
+                double3 xformOp:translate = (0.06519000232219696, 0.023339999839663506, -0.003930000122636557)
+                uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+
+                def Xform "node_STL_BINARY_" (
+                    kind = "component"
+                )
+                {
+                    quatf xformOp:orient = (1, 0, 0, 0)
+                    float3 xformOp:scale = (1, 1, 1)
+                    double3 xformOp:translate = (0, 0, 0)
+                    uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+
+                    def Scope "Looks"
+                    {
+                    }
+
+                    def Xform "mesh" (
+                        instanceable = true
+                        prepend references = @./instances.usda@</Instances/mesh_10>
+                    )
+                    {
+                        over "mesh_10" (
+                            prepend apiSchemas = ["PhysicsCollisionAPI"]
+                        )
+                        {
+                        }
+                    }
+                }
+            }
+        }
+    }
+
+    def Scope "Looks"
+    {
+    }
+
+    def Scope "VisualMaterials"
+    {
+    }
+}
+

psyonic_ability_hand_left_small/payloads/geometries.usd

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:367770f2f19f6667592f5102b5e849da1838d85b8a82faefbcff7a49858d4d3f
+size 4141473

psyonic_ability_hand_left_small/payloads/instances.usda

@@ -0,0 +1,467 @@
+#usda 1.0
+(
+    customLayerData = {
+    }
+    metersPerUnit = 1
+    upAxis = "Z"
+)
+
+def Scope "Instances"
+{
+    def Xform "mesh" (
+        prepend references = @./geometries.usd@</Geometries/mesh>
+    )
+    {
+        over "mesh" (
+            apiSchemas = ["MaterialBindingAPI"]
+        )
+        {
+            custom rel material:binding
+            prepend rel material:binding = </Instances/mesh/VisualMaterials/DefaultMaterial>
+        }
+
+        def Scope "VisualMaterials"
+        {
+            def Material "DefaultMaterial" (
+                instanceable = true
+                prepend references = @./materials.usda@</Materials/DefaultMaterial>
+            )
+            {
+                token outputs:surface.connect = </Instances/mesh/VisualMaterials/DefaultMaterial/SimReadyPreviewSurface.outputs:surface>
+
+                def Shader "SimReadyPreviewSurface"
+                {
+                    token info:id = "UsdPreviewSurface"
+                    color3f inputs:diffuseColor = (0.49803925, 0.49803925, 0.49803925)
+                    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 Xform "mesh_1" (
+        prepend references = @./geometries.usd@</Geometries/mesh_1>
+    )
+    {
+        over "mesh_1" (
+            apiSchemas = ["MaterialBindingAPI"]
+        )
+        {
+            custom rel material:binding
+            prepend rel material:binding = </Instances/mesh_1/VisualMaterials/DefaultMaterial>
+        }
+
+        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 = (0.49803925, 0.49803925, 0.49803925)
+                    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 Xform "mesh_2" (
+        prepend references = @./geometries.usd@</Geometries/mesh_2>
+    )
+    {
+        over "mesh_2" (
+            apiSchemas = ["MaterialBindingAPI"]
+        )
+        {
+            custom rel material:binding
+            prepend rel material:binding = </Instances/mesh_2/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_2/VisualMaterials/DefaultMaterial/SimReadyPreviewSurface.outputs:surface>
+
+                def Shader "SimReadyPreviewSurface"
+                {
+                    token info:id = "UsdPreviewSurface"
+                    color3f inputs:diffuseColor = (0.49803925, 0.49803925, 0.49803925)
+                    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 Xform "mesh_3" (
+        prepend references = @./geometries.usd@</Geometries/mesh_3>
+    )
+    {
+        over "mesh_3" (
+            apiSchemas = ["MaterialBindingAPI"]
+        )
+        {
+            custom rel material:binding
+            prepend rel material:binding = </Instances/mesh_3/VisualMaterials/DefaultMaterial>
+        }
+
+        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 = (0.49803925, 0.49803925, 0.49803925)
+                    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 Xform "mesh_4" (
+        prepend references = @./geometries.usd@</Geometries/mesh_4>
+    )
+    {
+        over "mesh_4" (
+            apiSchemas = ["MaterialBindingAPI"]
+        )
+        {
+            custom rel material:binding
+            prepend rel material:binding = </Instances/mesh_4/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_4/VisualMaterials/DefaultMaterial/SimReadyPreviewSurface.outputs:surface>
+
+                def Shader "SimReadyPreviewSurface"
+                {
+                    token info:id = "UsdPreviewSurface"
+                    color3f inputs:diffuseColor = (0.49803925, 0.49803925, 0.49803925)
+                    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 Xform "mesh_5" (
+        prepend references = @./geometries.usd@</Geometries/mesh_5>
+    )
+    {
+        over "mesh_5" (
+            apiSchemas = ["MaterialBindingAPI"]
+        )
+        {
+            custom rel material:binding
+            prepend rel material:binding = </Instances/mesh_5/VisualMaterials/DefaultMaterial>
+        }
+
+        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 = (0.49803925, 0.49803925, 0.49803925)
+                    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 Xform "mesh_6" (
+        prepend references = @./geometries.usd@</Geometries/mesh_6>
+    )
+    {
+        over "mesh_6" (
+            apiSchemas = ["MaterialBindingAPI"]
+        )
+        {
+            custom rel material:binding
+            prepend rel material:binding = </Instances/mesh_6/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_6/VisualMaterials/DefaultMaterial/SimReadyPreviewSurface.outputs:surface>
+
+                def Shader "SimReadyPreviewSurface"
+                {
+                    token info:id = "UsdPreviewSurface"
+                    color3f inputs:diffuseColor = (0.49803925, 0.49803925, 0.49803925)
+                    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 Xform "mesh_7" (
+        prepend references = @./geometries.usd@</Geometries/mesh_7>
+    )
+    {
+        over "mesh_7" (
+            apiSchemas = ["MaterialBindingAPI"]
+        )
+        {
+            custom rel material:binding
+            prepend rel material:binding = </Instances/mesh_7/VisualMaterials/DefaultMaterial>
+        }
+
+        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 = (0.49803925, 0.49803925, 0.49803925)
+                    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 Xform "mesh_8" (
+        prepend references = @./geometries.usd@</Geometries/mesh_8>
+    )
+    {
+        over "mesh_8" (
+            apiSchemas = ["MaterialBindingAPI"]
+        )
+        {
+            custom rel material:binding
+            prepend rel material:binding = </Instances/mesh_8/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_8/VisualMaterials/DefaultMaterial/SimReadyPreviewSurface.outputs:surface>
+
+                def Shader "SimReadyPreviewSurface"
+                {
+                    token info:id = "UsdPreviewSurface"
+                    color3f inputs:diffuseColor = (0.49803925, 0.49803925, 0.49803925)
+                    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 Xform "mesh_9" (
+        prepend references = @./geometries.usd@</Geometries/mesh_9>
+    )
+    {
+        over "mesh_9" (
+            apiSchemas = ["MaterialBindingAPI"]
+        )
+        {
+            custom rel material:binding
+            prepend rel material:binding = </Instances/mesh_9/VisualMaterials/DefaultMaterial>
+        }
+
+        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 = (0.49803925, 0.49803925, 0.49803925)
+                    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 Xform "mesh_10" (
+        prepend references = @./geometries.usd@</Geometries/mesh_10>
+    )
+    {
+        over "mesh_10" (
+            apiSchemas = ["MaterialBindingAPI"]
+        )
+        {
+            custom rel material:binding
+            prepend rel material:binding = </Instances/mesh_10/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_10/VisualMaterials/DefaultMaterial/SimReadyPreviewSurface.outputs:surface>
+
+                def Shader "SimReadyPreviewSurface"
+                {
+                    token info:id = "UsdPreviewSurface"
+                    color3f inputs:diffuseColor = (0.49803925, 0.49803925, 0.49803925)
+                    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
+                }
+            }
+        }
+    }
+}
+

psyonic_ability_hand_left_small/payloads/materials.usda

@@ -0,0 +1,173 @@
+#usda 1.0
+(
+    customLayerData = {
+    }
+    metersPerUnit = 1
+    upAxis = "Z"
+)
+
+def Scope "Materials"
+{
+    def Material "DefaultMaterial"
+    {
+        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/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/simready_pbr_surfaceshader.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 = (0.49803925, 0.49803925, 0.49803925) (
+                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 = (0.49803925, 0.49803925, 0.49803925)
+            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 "simready_pbr_surfaceshader"
+        {
+            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
+        }
+    }
+}
+

psyonic_ability_hand_left_small/payloads/robot.usda

@@ -0,0 +1,548 @@
+#usda 1.0
+(
+    customLayerData = {
+    }
+    defaultPrim = "ability_hand"
+    metersPerUnit = 1
+    upAxis = "Z"
+)
+
+over "ability_hand" (
+    prepend apiSchemas = ["IsaacRobotAPI"]
+)
+{
+    string[] isaac:changelog
+    string isaac:description
+    token isaac:license
+    string isaac:namespace
+    prepend rel isaac:physics:robotJoints = [
+        </ability_hand/root_joint>,
+        </ability_hand/joints/index_q1>,
+        </ability_hand/joints/index_q2>,
+        </ability_hand/joints/middle_q1>,
+        </ability_hand/joints/middle_q2>,
+        </ability_hand/joints/pinky_q1>,
+        </ability_hand/joints/pinky_q2>,
+        </ability_hand/joints/ring_q1>,
+        </ability_hand/joints/ring_q2>,
+        </ability_hand/joints/thumb_q1>,
+        </ability_hand/joints/thumb_q2>,
+    ]
+    prepend rel isaac:physics:robotLinks = [
+        </ability_hand/base>,
+        </ability_hand/index_L1>,
+        </ability_hand/index_L2>,
+        </ability_hand/middle_L1>,
+        </ability_hand/middle_L2>,
+        </ability_hand/pinky_L1>,
+        </ability_hand/pinky_L2>,
+        </ability_hand/ring_L1>,
+        </ability_hand/ring_L2>,
+        </ability_hand/thumb_L1>,
+        </ability_hand/thumb_L2>,
+        </ability_hand/index_L2/fsr0>,
+        </ability_hand/index_L2/fsr1>,
+        </ability_hand/index_L2/fsr2>,
+        </ability_hand/index_L2/fsr3>,
+        </ability_hand/index_L2/fsr4>,
+        </ability_hand/index_L2/fsr5>,
+        </ability_hand/index_L2/index_anchor>,
+        </ability_hand/middle_L2/fsr10>,
+        </ability_hand/middle_L2/fsr11>,
+        </ability_hand/middle_L2/fsr6>,
+        </ability_hand/middle_L2/fsr7>,
+        </ability_hand/middle_L2/fsr8>,
+        </ability_hand/middle_L2/fsr9>,
+        </ability_hand/middle_L2/middle_anchor>,
+        </ability_hand/pinky_L2/fsr18>,
+        </ability_hand/pinky_L2/fsr19>,
+        </ability_hand/pinky_L2/fsr20>,
+        </ability_hand/pinky_L2/fsr21>,
+        </ability_hand/pinky_L2/fsr22>,
+        </ability_hand/pinky_L2/fsr23>,
+        </ability_hand/pinky_L2/pinky_anchor>,
+        </ability_hand/ring_L2/fsr12>,
+        </ability_hand/ring_L2/fsr13>,
+        </ability_hand/ring_L2/fsr14>,
+        </ability_hand/ring_L2/fsr15>,
+        </ability_hand/ring_L2/fsr16>,
+        </ability_hand/ring_L2/fsr17>,
+        </ability_hand/ring_L2/ring_anchor>,
+        </ability_hand/thumb_L2/fsr24>,
+        </ability_hand/thumb_L2/fsr25>,
+        </ability_hand/thumb_L2/fsr26>,
+        </ability_hand/thumb_L2/fsr27>,
+        </ability_hand/thumb_L2/fsr28>,
+        </ability_hand/thumb_L2/fsr29>,
+        </ability_hand/thumb_L2/thumb_anchor>,
+    ]
+    token isaac:robotType = "End Effector"
+    string isaac:source
+    string isaac:version
+
+    over "base" (
+        prepend apiSchemas = ["IsaacLinkAPI"]
+    )
+    {
+        string isaac:nameOverride
+    }
+
+    over "index_L1" (
+        prepend apiSchemas = ["IsaacLinkAPI"]
+    )
+    {
+        string isaac:nameOverride
+    }
+
+    over "joints"
+    {
+        over "index_q1" (
+            prepend apiSchemas = ["IsaacJointAPI"]
+        )
+        {
+            bool[] isaac:actuator (
+                displayName = "Actuator"
+            )
+            string isaac:NameOverride (
+                displayName = "Joint Name Override"
+            )
+            string isaac:nameOverride
+            float[] isaac:physics:AccelerationLimit
+            token[] isaac:physics:DofOffsetOpOrder (
+                displayName = "Dof Offset Op Order"
+            )
+            int isaac:physics:index
+            float[] isaac:physics:JerkLimit
+            int isaac:physics:Rot_X:DofOffset
+            int isaac:physics:Rot_Y:DofOffset
+            int isaac:physics:Rot_Z:DofOffset
+            int isaac:physics:Tr_X:DofOffset
+            int isaac:physics:Tr_Y:DofOffset
+            int isaac:physics:Tr_Z:DofOffset
+        }
+
+        over "index_q2" (
+            prepend apiSchemas = ["IsaacJointAPI"]
+        )
+        {
+            string isaac:nameOverride
+            float[] isaac:physics:AccelerationLimit
+            int isaac:physics:index
+            float[] isaac:physics:JerkLimit
+            int isaac:physics:Rot_X:DofOffset
+            int isaac:physics:Rot_Y:DofOffset
+            int isaac:physics:Rot_Z:DofOffset
+            int isaac:physics:Tr_X:DofOffset
+            int isaac:physics:Tr_Y:DofOffset
+            int isaac:physics:Tr_Z:DofOffset
+        }
+
+        over "middle_q1" (
+            prepend apiSchemas = ["IsaacJointAPI"]
+        )
+        {
+            string isaac:nameOverride
+            float[] isaac:physics:AccelerationLimit
+            int isaac:physics:index
+            float[] isaac:physics:JerkLimit
+            int isaac:physics:Rot_X:DofOffset
+            int isaac:physics:Rot_Y:DofOffset
+            int isaac:physics:Rot_Z:DofOffset
+            int isaac:physics:Tr_X:DofOffset
+            int isaac:physics:Tr_Y:DofOffset
+            int isaac:physics:Tr_Z:DofOffset
+        }
+
+        over "middle_q2" (
+            prepend apiSchemas = ["IsaacJointAPI"]
+        )
+        {
+            string isaac:nameOverride
+            float[] isaac:physics:AccelerationLimit
+            int isaac:physics:index
+            float[] isaac:physics:JerkLimit
+            int isaac:physics:Rot_X:DofOffset
+            int isaac:physics:Rot_Y:DofOffset
+            int isaac:physics:Rot_Z:DofOffset
+            int isaac:physics:Tr_X:DofOffset
+            int isaac:physics:Tr_Y:DofOffset
+            int isaac:physics:Tr_Z:DofOffset
+        }
+
+        over "pinky_q1" (
+            prepend apiSchemas = ["IsaacJointAPI"]
+        )
+        {
+            string isaac:nameOverride
+            float[] isaac:physics:AccelerationLimit
+            int isaac:physics:index
+            float[] isaac:physics:JerkLimit
+            int isaac:physics:Rot_X:DofOffset
+            int isaac:physics:Rot_Y:DofOffset
+            int isaac:physics:Rot_Z:DofOffset
+            int isaac:physics:Tr_X:DofOffset
+            int isaac:physics:Tr_Y:DofOffset
+            int isaac:physics:Tr_Z:DofOffset
+        }
+
+        over "pinky_q2" (
+            prepend apiSchemas = ["IsaacJointAPI"]
+        )
+        {
+            string isaac:nameOverride
+            float[] isaac:physics:AccelerationLimit
+            int isaac:physics:index
+            float[] isaac:physics:JerkLimit
+            int isaac:physics:Rot_X:DofOffset
+            int isaac:physics:Rot_Y:DofOffset
+            int isaac:physics:Rot_Z:DofOffset
+            int isaac:physics:Tr_X:DofOffset
+            int isaac:physics:Tr_Y:DofOffset
+            int isaac:physics:Tr_Z:DofOffset
+        }
+
+        over "ring_q1" (
+            prepend apiSchemas = ["IsaacJointAPI"]
+        )
+        {
+            string isaac:nameOverride
+            float[] isaac:physics:AccelerationLimit
+            int isaac:physics:index
+            float[] isaac:physics:JerkLimit
+            int isaac:physics:Rot_X:DofOffset
+            int isaac:physics:Rot_Y:DofOffset
+            int isaac:physics:Rot_Z:DofOffset
+            int isaac:physics:Tr_X:DofOffset
+            int isaac:physics:Tr_Y:DofOffset
+            int isaac:physics:Tr_Z:DofOffset
+        }
+
+        over "ring_q2" (
+            prepend apiSchemas = ["IsaacJointAPI"]
+        )
+        {
+            string isaac:nameOverride
+            float[] isaac:physics:AccelerationLimit
+            int isaac:physics:index
+            float[] isaac:physics:JerkLimit
+            int isaac:physics:Rot_X:DofOffset
+            int isaac:physics:Rot_Y:DofOffset
+            int isaac:physics:Rot_Z:DofOffset
+            int isaac:physics:Tr_X:DofOffset
+            int isaac:physics:Tr_Y:DofOffset
+            int isaac:physics:Tr_Z:DofOffset
+        }
+
+        over "thumb_q1" (
+            prepend apiSchemas = ["IsaacJointAPI"]
+        )
+        {
+            string isaac:nameOverride
+            float[] isaac:physics:AccelerationLimit
+            int isaac:physics:index
+            float[] isaac:physics:JerkLimit
+            int isaac:physics:Rot_X:DofOffset
+            int isaac:physics:Rot_Y:DofOffset
+            int isaac:physics:Rot_Z:DofOffset
+            int isaac:physics:Tr_X:DofOffset
+            int isaac:physics:Tr_Y:DofOffset
+            int isaac:physics:Tr_Z:DofOffset
+        }
+
+        over "thumb_q2" (
+            prepend apiSchemas = ["IsaacJointAPI"]
+        )
+        {
+            string isaac:nameOverride
+            float[] isaac:physics:AccelerationLimit
+            int isaac:physics:index
+            float[] isaac:physics:JerkLimit
+            int isaac:physics:Rot_X:DofOffset
+            int isaac:physics:Rot_Y:DofOffset
+            int isaac:physics:Rot_Z:DofOffset
+            int isaac:physics:Tr_X:DofOffset
+            int isaac:physics:Tr_Y:DofOffset
+            int isaac:physics:Tr_Z:DofOffset
+        }
+    }
+
+    over "index_L2" (
+        prepend apiSchemas = ["IsaacLinkAPI"]
+    )
+    {
+        string isaac:nameOverride
+
+        over "fsr0" (
+            prepend apiSchemas = ["IsaacSiteAPI"]
+        )
+        {
+        }
+
+        over "fsr1" (
+            prepend apiSchemas = ["IsaacSiteAPI"]
+        )
+        {
+        }
+
+        over "fsr2" (
+            prepend apiSchemas = ["IsaacSiteAPI"]
+        )
+        {
+        }
+
+        over "fsr3" (
+            prepend apiSchemas = ["IsaacSiteAPI"]
+        )
+        {
+        }
+
+        over "fsr4" (
+            prepend apiSchemas = ["IsaacSiteAPI"]
+        )
+        {
+        }
+
+        over "fsr5" (
+            prepend apiSchemas = ["IsaacSiteAPI"]
+        )
+        {
+        }
+
+        over "index_anchor" (
+            prepend apiSchemas = ["IsaacSiteAPI"]
+        )
+        {
+        }
+    }
+
+    over "middle_L1" (
+        prepend apiSchemas = ["IsaacLinkAPI"]
+    )
+    {
+        string isaac:nameOverride
+    }
+
+    over "middle_L2" (
+        prepend apiSchemas = ["IsaacLinkAPI"]
+    )
+    {
+        string isaac:nameOverride
+
+        over "fsr10" (
+            prepend apiSchemas = ["IsaacSiteAPI"]
+        )
+        {
+        }
+
+        over "fsr11" (
+            prepend apiSchemas = ["IsaacSiteAPI"]
+        )
+        {
+        }
+
+        over "fsr6" (
+            prepend apiSchemas = ["IsaacSiteAPI"]
+        )
+        {
+        }
+
+        over "fsr7" (
+            prepend apiSchemas = ["IsaacSiteAPI"]
+        )
+        {
+        }
+
+        over "fsr8" (
+            prepend apiSchemas = ["IsaacSiteAPI"]
+        )
+        {
+        }
+
+        over "fsr9" (
+            prepend apiSchemas = ["IsaacSiteAPI"]
+        )
+        {
+        }
+
+        over "middle_anchor" (
+            prepend apiSchemas = ["IsaacSiteAPI"]
+        )
+        {
+        }
+    }
+
+    over "pinky_L1" (
+        prepend apiSchemas = ["IsaacLinkAPI"]
+    )
+    {
+        string isaac:nameOverride
+    }
+
+    over "pinky_L2" (
+        prepend apiSchemas = ["IsaacLinkAPI"]
+    )
+    {
+        string isaac:nameOverride
+
+        over "fsr18" (
+            prepend apiSchemas = ["IsaacSiteAPI"]
+        )
+        {
+        }
+
+        over "fsr19" (
+            prepend apiSchemas = ["IsaacSiteAPI"]
+        )
+        {
+        }
+
+        over "fsr20" (
+            prepend apiSchemas = ["IsaacSiteAPI"]
+        )
+        {
+        }
+
+        over "fsr21" (
+            prepend apiSchemas = ["IsaacSiteAPI"]
+        )
+        {
+        }
+
+        over "fsr22" (
+            prepend apiSchemas = ["IsaacSiteAPI"]
+        )
+        {
+        }
+
+        over "fsr23" (
+            prepend apiSchemas = ["IsaacSiteAPI"]
+        )
+        {
+        }
+
+        over "pinky_anchor" (
+            prepend apiSchemas = ["IsaacSiteAPI"]
+        )
+        {
+        }
+    }
+
+    over "ring_L1" (
+        prepend apiSchemas = ["IsaacLinkAPI"]
+    )
+    {
+        string isaac:nameOverride
+    }
+
+    over "ring_L2" (
+        prepend apiSchemas = ["IsaacLinkAPI"]
+    )
+    {
+        string isaac:nameOverride
+
+        over "fsr12" (
+            prepend apiSchemas = ["IsaacSiteAPI"]
+        )
+        {
+        }
+
+        over "fsr13" (
+            prepend apiSchemas = ["IsaacSiteAPI"]
+        )
+        {
+        }
+
+        over "fsr14" (
+            prepend apiSchemas = ["IsaacSiteAPI"]
+        )
+        {
+        }
+
+        over "fsr15" (
+            prepend apiSchemas = ["IsaacSiteAPI"]
+        )
+        {
+        }
+
+        over "fsr16" (
+            prepend apiSchemas = ["IsaacSiteAPI"]
+        )
+        {
+        }
+
+        over "fsr17" (
+            prepend apiSchemas = ["IsaacSiteAPI"]
+        )
+        {
+        }
+
+        over "ring_anchor" (
+            prepend apiSchemas = ["IsaacSiteAPI"]
+        )
+        {
+        }
+    }
+
+    over "thumb_L1" (
+        prepend apiSchemas = ["IsaacLinkAPI"]
+    )
+    {
+        string isaac:nameOverride
+    }
+
+    over "thumb_L2" (
+        prepend apiSchemas = ["IsaacLinkAPI"]
+    )
+    {
+        string isaac:nameOverride
+
+        over "fsr24" (
+            prepend apiSchemas = ["IsaacSiteAPI"]
+        )
+        {
+        }
+
+        over "fsr25" (
+            prepend apiSchemas = ["IsaacSiteAPI"]
+        )
+        {
+        }
+
+        over "fsr26" (
+            prepend apiSchemas = ["IsaacSiteAPI"]
+        )
+        {
+        }
+
+        over "fsr27" (
+            prepend apiSchemas = ["IsaacSiteAPI"]
+        )
+        {
+        }
+
+        over "fsr28" (
+            prepend apiSchemas = ["IsaacSiteAPI"]
+        )
+        {
+        }
+
+        over "fsr29" (
+            prepend apiSchemas = ["IsaacSiteAPI"]
+        )
+        {
+        }
+
+        over "thumb_anchor" (
+            prepend apiSchemas = ["IsaacSiteAPI"]
+        )
+        {
+        }
+    }
+
+    over "root_joint" (
+        prepend apiSchemas = ["IsaacJointAPI"]
+    )
+    {
+    }
+}
+

psyonic_ability_hand_left_small/runnables/physics/mujoco.usda

@@ -0,0 +1,428 @@
+#usda 1.0
+(
+    defaultPrim = "ability_hand"
+)
+
+def "ability_hand"
+{
+    over "base"
+    {
+        over "collisions"
+        {
+            over "palm_mesh_coll"
+            {
+                over "node_STL_BINARY_"
+                {
+                    over "mesh"
+                    {
+                        over "mesh_2" (
+                            prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"]
+                        )
+                        {
+                            uniform token physics:approximation = "convexHull"
+                        }
+                    }
+                }
+            }
+        }
+
+        over "gripper_01" (
+            prepend apiSchemas = ["MjcSiteAPI"]
+        )
+        {
+        }
+    }
+
+    over "index_L1"
+    {
+        over "collisions"
+        {
+            over "index_mesh_coll_1"
+            {
+                over "node_STL_BINARY_"
+                {
+                    over "mesh"
+                    {
+                        over "mesh_4" (
+                            prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"]
+                        )
+                        {
+                            uniform token physics:approximation = "convexHull"
+                        }
+                    }
+                }
+            }
+        }
+    }
+
+    over "index_L2"
+    {
+        over "collisions"
+        {
+            over "index_mesh_coll_2"
+            {
+                over "node_STL_BINARY_"
+                {
+                    over "mesh"
+                    {
+                        over "mesh_6" (
+                            prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"]
+                        )
+                        {
+                            uniform token physics:approximation = "convexHull"
+                        }
+                    }
+                }
+            }
+        }
+    }
+
+    over "middle_L1"
+    {
+        over "collisions"
+        {
+            over "middle_mesh_coll_1"
+            {
+                over "node_STL_BINARY_"
+                {
+                    over "mesh"
+                    {
+                        over "mesh_4" (
+                            prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"]
+                        )
+                        {
+                            uniform token physics:approximation = "convexHull"
+                        }
+                    }
+                }
+            }
+        }
+    }
+
+    over "middle_L2"
+    {
+        over "collisions"
+        {
+            over "middle_mesh_coll_2"
+            {
+                over "node_STL_BINARY_"
+                {
+                    over "mesh"
+                    {
+                        over "mesh_6" (
+                            prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"]
+                        )
+                        {
+                            uniform token physics:approximation = "convexHull"
+                        }
+                    }
+                }
+            }
+        }
+    }
+
+    over "pinky_L1"
+    {
+        over "collisions"
+        {
+            over "pinky_mesh_coll_1"
+            {
+                over "node_STL_BINARY_"
+                {
+                    over "mesh"
+                    {
+                        over "mesh_4" (
+                            prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"]
+                        )
+                        {
+                            uniform token physics:approximation = "convexHull"
+                        }
+                    }
+                }
+            }
+        }
+    }
+
+    over "pinky_L2"
+    {
+        over "collisions"
+        {
+            over "pinky_mesh_coll_2"
+            {
+                over "node_STL_BINARY_"
+                {
+                    over "mesh"
+                    {
+                        over "mesh_6" (
+                            prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"]
+                        )
+                        {
+                            uniform token physics:approximation = "convexHull"
+                        }
+                    }
+                }
+            }
+        }
+    }
+
+    over "ring_L1"
+    {
+        over "collisions"
+        {
+            over "ring_mesh_coll_1"
+            {
+                over "node_STL_BINARY_"
+                {
+                    over "mesh"
+                    {
+                        over "mesh_4" (
+                            prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"]
+                        )
+                        {
+                            uniform token physics:approximation = "convexHull"
+                        }
+                    }
+                }
+            }
+        }
+    }
+
+    over "ring_L2"
+    {
+        over "collisions"
+        {
+            over "ring_mesh_coll_2"
+            {
+                over "node_STL_BINARY_"
+                {
+                    over "mesh"
+                    {
+                        over "mesh_6" (
+                            prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"]
+                        )
+                        {
+                            uniform token physics:approximation = "convexHull"
+                        }
+                    }
+                }
+            }
+        }
+    }
+
+    over "thumb_L1"
+    {
+        over "collisions"
+        {
+            over "thumb_coll_mesh_1"
+            {
+                over "node_STL_BINARY_"
+                {
+                    over "mesh"
+                    {
+                        over "mesh_8" (
+                            prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"]
+                        )
+                        {
+                            uniform token physics:approximation = "convexHull"
+                        }
+                    }
+                }
+            }
+        }
+    }
+
+    over "thumb_L2"
+    {
+        over "collisions"
+        {
+            over "thumb_hull_mesh_2"
+            {
+                over "node_STL_BINARY_"
+                {
+                    over "mesh"
+                    {
+                        over "mesh_10" (
+                            prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"]
+                        )
+                        {
+                            uniform token physics:approximation = "convexHull"
+                        }
+                    }
+                }
+            }
+        }
+    }
+
+    over "joints"
+    {
+        over "index_q1" (
+            prepend apiSchemas = ["MjcJointAPI"]
+        )
+        {
+        }
+
+        over "index_q2" (
+            prepend apiSchemas = ["MjcJointAPI", "NewtonMimicAPI", "MjcEqualityJointAPI"]
+        )
+        {
+            float newton:mimicCoef0 = 0
+            float newton:mimicCoef1 = 1.0585133
+            bool newton:mimicEnabled = 1
+            rel newton:mimicJoint = </ability_hand/joints/index_q1>
+        }
+
+        over "middle_q1" (
+            prepend apiSchemas = ["MjcJointAPI"]
+        )
+        {
+        }
+
+        over "middle_q2" (
+            prepend apiSchemas = ["MjcJointAPI", "NewtonMimicAPI", "MjcEqualityJointAPI"]
+        )
+        {
+            float newton:mimicCoef0 = 0
+            float newton:mimicCoef1 = 1.0585133
+            bool newton:mimicEnabled = 1
+            rel newton:mimicJoint = </ability_hand/joints/middle_q1>
+        }
+
+        over "pinky_q1" (
+            prepend apiSchemas = ["MjcJointAPI"]
+        )
+        {
+        }
+
+        over "pinky_q2" (
+            prepend apiSchemas = ["MjcJointAPI", "NewtonMimicAPI", "MjcEqualityJointAPI"]
+        )
+        {
+            float newton:mimicCoef0 = 0
+            float newton:mimicCoef1 = 1.0585133
+            bool newton:mimicEnabled = 1
+            rel newton:mimicJoint = </ability_hand/joints/pinky_q1>
+        }
+
+        over "ring_q1" (
+            prepend apiSchemas = ["MjcJointAPI"]
+        )
+        {
+        }
+
+        over "ring_q2" (
+            prepend apiSchemas = ["MjcJointAPI", "NewtonMimicAPI", "MjcEqualityJointAPI"]
+        )
+        {
+            float newton:mimicCoef0 = 0
+            float newton:mimicCoef1 = 1.0585133
+            bool newton:mimicEnabled = 1
+            rel newton:mimicJoint = </ability_hand/joints/ring_q1>
+        }
+
+        over "thumb_q1" (
+            prepend apiSchemas = ["MjcJointAPI"]
+        )
+        {
+        }
+
+        over "thumb_q2" (
+            prepend apiSchemas = ["MjcJointAPI"]
+        )
+        {
+        }
+    }
+
+    def "MuJoCoActuators"
+    {
+        def MjcActuator "act_ability_hand_joints_index_q1" (
+            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, -10.260875369346973, -0.004104350051689254]
+            token mjc:biasType = "affine"
+            token mjc:ctrlLimited = "false"
+            token mjc:forceLimited = "true"
+            double mjc:forceRange:max = 6
+            double mjc:forceRange:min = -6
+            double[] mjc:gainPrm = [1]
+            token mjc:gainType = "fixed"
+            rel mjc:target = </ability_hand/joints/index_q1>
+        }
+
+        def MjcActuator "act_ability_hand_joints_middle_q1" (
+            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, -10.107831320614498, -0.0040431326469736965]
+            token mjc:biasType = "affine"
+            token mjc:ctrlLimited = "false"
+            token mjc:forceLimited = "true"
+            double mjc:forceRange:max = 6
+            double mjc:forceRange:min = -6
+            double[] mjc:gainPrm = [1]
+            token mjc:gainType = "fixed"
+            rel mjc:target = </ability_hand/joints/middle_q1>
+        }
+
+        def MjcActuator "act_ability_hand_joints_pinky_q1" (
+            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, -9.429318620918139, -0.0037717276764849014]
+            token mjc:biasType = "affine"
+            token mjc:ctrlLimited = "false"
+            token mjc:forceLimited = "true"
+            double mjc:forceRange:max = 6
+            double mjc:forceRange:min = -6
+            double[] mjc:gainPrm = [1]
+            token mjc:gainType = "fixed"
+            rel mjc:target = </ability_hand/joints/pinky_q1>
+        }
+
+        def MjcActuator "act_ability_hand_joints_ring_q1" (
+            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, -9.822100601970769, -0.003928840370188376]
+            token mjc:biasType = "affine"
+            token mjc:ctrlLimited = "false"
+            token mjc:forceLimited = "true"
+            double mjc:forceRange:max = 6
+            double mjc:forceRange:min = -6
+            double[] mjc:gainPrm = [1]
+            token mjc:gainType = "fixed"
+            rel mjc:target = </ability_hand/joints/ring_q1>
+        }
+
+        def MjcActuator "act_ability_hand_joints_thumb_q1" (
+            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, -17.047399139995832, -0.006818960045532559]
+            token mjc:biasType = "affine"
+            token mjc:ctrlLimited = "false"
+            token mjc:forceLimited = "true"
+            double mjc:forceRange:max = 1.2000000476837158
+            double mjc:forceRange:min = -1.2000000476837158
+            double[] mjc:gainPrm = [1]
+            token mjc:gainType = "fixed"
+            rel mjc:target = </ability_hand/joints/thumb_q1>
+        }
+
+        def MjcActuator "act_ability_hand_joints_thumb_q2" (
+            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 = [6.373630412484431, -11.099760056981586, -0.004439903938749291]
+            token mjc:biasType = "affine"
+            token mjc:ctrlLimited = "false"
+            token mjc:forceLimited = "true"
+            double mjc:forceRange:max = 6
+            double mjc:forceRange:min = -6
+            double[] mjc:gainPrm = [1]
+            token mjc:gainType = "fixed"
+            rel mjc:target = </ability_hand/joints/thumb_q2>
+        }
+    }
+}
+

psyonic_ability_hand_left_small/runnables/physics/newton.usda

@@ -0,0 +1,370 @@
+#usda 1.0
+(
+    defaultPrim = "ability_hand"
+)
+
+over "ability_hand"
+{
+    over "base"
+    {
+        over "collisions"
+        {
+            over "palm_mesh_coll"
+            {
+                over "node_STL_BINARY_"
+                {
+                    over "mesh"
+                    {
+                        over "mesh_2" (
+                            prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"]
+                        )
+                        {
+                            uniform token physics:approximation = "convexHull"
+                        }
+                    }
+                }
+            }
+        }
+    }
+
+    over "index_L1"
+    {
+        over "collisions"
+        {
+            over "index_mesh_coll_1"
+            {
+                over "node_STL_BINARY_"
+                {
+                    over "mesh"
+                    {
+                        over "mesh_4" (
+                            prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"]
+                        )
+                        {
+                            uniform token physics:approximation = "convexHull"
+                        }
+                    }
+                }
+            }
+        }
+    }
+
+    over "index_L2"
+    {
+        over "collisions"
+        {
+            over "index_mesh_coll_2"
+            {
+                over "node_STL_BINARY_"
+                {
+                    over "mesh"
+                    {
+                        over "mesh_6" (
+                            prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"]
+                        )
+                        {
+                            uniform token physics:approximation = "convexHull"
+                        }
+                    }
+                }
+            }
+        }
+    }
+
+    over "middle_L1"
+    {
+        over "collisions"
+        {
+            over "middle_mesh_coll_1"
+            {
+                over "node_STL_BINARY_"
+                {
+                    over "mesh"
+                    {
+                        over "mesh_4" (
+                            prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"]
+                        )
+                        {
+                            uniform token physics:approximation = "convexHull"
+                        }
+                    }
+                }
+            }
+        }
+    }
+
+    over "middle_L2"
+    {
+        over "collisions"
+        {
+            over "middle_mesh_coll_2"
+            {
+                over "node_STL_BINARY_"
+                {
+                    over "mesh"
+                    {
+                        over "mesh_6" (
+                            prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"]
+                        )
+                        {
+                            uniform token physics:approximation = "convexHull"
+                        }
+                    }
+                }
+            }
+        }
+    }
+
+    over "pinky_L1"
+    {
+        over "collisions"
+        {
+            over "pinky_mesh_coll_1"
+            {
+                over "node_STL_BINARY_"
+                {
+                    over "mesh"
+                    {
+                        over "mesh_4" (
+                            prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"]
+                        )
+                        {
+                            uniform token physics:approximation = "convexHull"
+                        }
+                    }
+                }
+            }
+        }
+    }
+
+    over "pinky_L2"
+    {
+        over "collisions"
+        {
+            over "pinky_mesh_coll_2"
+            {
+                over "node_STL_BINARY_"
+                {
+                    over "mesh"
+                    {
+                        over "mesh_6" (
+                            prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"]
+                        )
+                        {
+                            uniform token physics:approximation = "convexHull"
+                        }
+                    }
+                }
+            }
+        }
+    }
+
+    over "ring_L1"
+    {
+        over "collisions"
+        {
+            over "ring_mesh_coll_1"
+            {
+                over "node_STL_BINARY_"
+                {
+                    over "mesh"
+                    {
+                        over "mesh_4" (
+                            prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"]
+                        )
+                        {
+                            uniform token physics:approximation = "convexHull"
+                        }
+                    }
+                }
+            }
+        }
+    }
+
+    over "ring_L2"
+    {
+        over "collisions"
+        {
+            over "ring_mesh_coll_2"
+            {
+                over "node_STL_BINARY_"
+                {
+                    over "mesh"
+                    {
+                        over "mesh_6" (
+                            prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"]
+                        )
+                        {
+                            uniform token physics:approximation = "convexHull"
+                        }
+                    }
+                }
+            }
+        }
+    }
+
+    over "thumb_L1"
+    {
+        over "collisions"
+        {
+            over "thumb_coll_mesh_1"
+            {
+                over "node_STL_BINARY_"
+                {
+                    over "mesh"
+                    {
+                        over "mesh_8" (
+                            prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"]
+                        )
+                        {
+                            uniform token physics:approximation = "convexHull"
+                        }
+                    }
+                }
+            }
+        }
+    }
+
+    over "thumb_L2"
+    {
+        over "collisions"
+        {
+            over "thumb_hull_mesh_2"
+            {
+                over "node_STL_BINARY_"
+                {
+                    over "mesh"
+                    {
+                        over "mesh_10" (
+                            prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"]
+                        )
+                        {
+                            uniform token physics:approximation = "convexHull"
+                        }
+                    }
+                }
+            }
+        }
+    }
+
+    over "root_joint" (
+        prepend apiSchemas = ["NewtonArticulationRootAPI"]
+    )
+    {
+        bool newton:selfCollisionEnabled = 0
+    }
+
+    over "joints"
+    {
+        over "index_q1" (
+            prepend apiSchemas = ["NewtonJointAPI"]
+        )
+        {
+            float drive:angular:physics:damping = 0
+            float drive:angular:physics:maxForce = 6
+            float drive:angular:physics:stiffness = 0.730125
+            float newton:damping = 0.016225
+            float newton:velocityLimit = 462.24957
+        }
+
+        over "index_q2" (
+            prepend apiSchemas = ["NewtonJointAPI", "NewtonMimicAPI"]
+        )
+        {
+            float newton:damping = 0.00072
+            float newton:mimicCoef0 = -0
+            float newton:mimicCoef1 = 1.0585133
+            bool newton:mimicEnabled = 1
+            rel newton:mimicJoint = </ability_hand/joints/index_q1>
+        }
+
+        over "middle_q1" (
+            prepend apiSchemas = ["NewtonJointAPI"]
+        )
+        {
+            float drive:angular:physics:damping = 0
+            float drive:angular:physics:maxForce = 6
+            float drive:angular:physics:stiffness = 0.730125
+            float newton:damping = 0.016225
+            float newton:velocityLimit = 462.24957
+        }
+
+        over "middle_q2" (
+            prepend apiSchemas = ["NewtonJointAPI", "NewtonMimicAPI"]
+        )
+        {
+            float newton:damping = 0.00072
+            float newton:mimicCoef0 = -0
+            float newton:mimicCoef1 = 1.0585133
+            bool newton:mimicEnabled = 1
+            rel newton:mimicJoint = </ability_hand/joints/middle_q1>
+        }
+
+        over "pinky_q1" (
+            prepend apiSchemas = ["NewtonJointAPI"]
+        )
+        {
+            float drive:angular:physics:damping = 0
+            float drive:angular:physics:maxForce = 6
+            float drive:angular:physics:stiffness = 0.730125
+            float newton:damping = 0.016225
+            float newton:velocityLimit = 462.24957
+        }
+
+        over "pinky_q2" (
+            prepend apiSchemas = ["NewtonJointAPI", "NewtonMimicAPI"]
+        )
+        {
+            float newton:damping = 0.00065
+            float newton:mimicCoef0 = -0
+            float newton:mimicCoef1 = 1.0585133
+            bool newton:mimicEnabled = 1
+            rel newton:mimicJoint = </ability_hand/joints/pinky_q1>
+        }
+
+        over "ring_q1" (
+            prepend apiSchemas = ["NewtonJointAPI"]
+        )
+        {
+            float drive:angular:physics:damping = 0
+            float drive:angular:physics:maxForce = 6
+            float drive:angular:physics:stiffness = 0.730125
+            float newton:damping = 0.016225
+            float newton:velocityLimit = 462.24957
+        }
+
+        over "ring_q2" (
+            prepend apiSchemas = ["NewtonJointAPI", "NewtonMimicAPI"]
+        )
+        {
+            float newton:damping = 0.00072
+            float newton:mimicCoef0 = -0
+            float newton:mimicCoef1 = 1.0585133
+            bool newton:mimicEnabled = 1
+            rel newton:mimicJoint = </ability_hand/joints/ring_q1>
+        }
+
+        over "thumb_q1" (
+            prepend apiSchemas = ["NewtonJointAPI"]
+        )
+        {
+            float drive:angular:physics:damping = 0
+            float drive:angular:physics:maxForce = 6
+            float drive:angular:physics:stiffness = 0.146025
+            float newton:damping = 0.003245
+            float newton:velocityLimit = 2311.248
+        }
+
+        over "thumb_q2" (
+            prepend apiSchemas = ["NewtonJointAPI"]
+        )
+        {
+            float drive:angular:physics:damping = 0
+            float drive:angular:physics:maxForce = 6
+            float drive:angular:physics:stiffness = 0.730125
+            float newton:damping = 0.016225
+            float newton:velocityLimit = 462.24957
+        }
+    }
+}
+

psyonic_ability_hand_left_small/runnables/physics/physx.usda

@@ -0,0 +1,374 @@
+#usda 1.0
+(
+    customLayerData = {
+    }
+    defaultPrim = "ability_hand"
+    metersPerUnit = 1
+    upAxis = "Z"
+)
+
+over "ability_hand"
+{
+    over "joints"
+    {
+        over "index_q1" (
+            prepend apiSchemas = ["PhysxJointAPI", "PhysicsJointStateAPI:angular"]
+        )
+        {
+            float physxJoint:armature = 0.01
+            float physxJoint:jointFriction = 0.001
+            float physxJoint:maxJointVelocity = 462.24957
+            float state:angular:physics:position = 0
+            float state:angular:physics:velocity = 0
+        }
+
+        over "index_q2" (
+            prepend apiSchemas = ["PhysxJointAPI", "PhysxMimicJointAPI:rotZ", "PhysicsJointStateAPI:angular"]
+        )
+        {
+            float physxJoint:armature = 0.01
+            float physxJoint:jointFriction = 0
+            float physxMimicJoint:rotZ:dampingRatio = 1
+            float physxMimicJoint:rotZ:gearing = -1.0585133
+            float physxMimicJoint:rotZ:naturalFrequency = 500
+            float physxMimicJoint:rotZ:offset = 0
+            rel physxMimicJoint:rotZ:referenceJoint = </ability_hand/joints/index_q1>
+            uniform token physxMimicJoint:rotZ:referenceJointAxis = "rotZ"
+            float state:angular:physics:position = 0
+            float state:angular:physics:velocity = 0
+        }
+
+        over "middle_q1" (
+            prepend apiSchemas = ["PhysxJointAPI", "PhysicsJointStateAPI:angular"]
+        )
+        {
+            float physxJoint:armature = 0.01
+            float physxJoint:jointFriction = 0.001
+            float physxJoint:maxJointVelocity = 462.24957
+            float state:angular:physics:position = 0
+            float state:angular:physics:velocity = 0
+        }
+
+        over "middle_q2" (
+            prepend apiSchemas = ["PhysxJointAPI", "PhysxMimicJointAPI:rotZ", "PhysicsJointStateAPI:angular"]
+        )
+        {
+            float physxJoint:armature = 0.01
+            float physxJoint:jointFriction = 0
+            float physxMimicJoint:rotZ:dampingRatio = 1
+            float physxMimicJoint:rotZ:gearing = -1.0585133
+            float physxMimicJoint:rotZ:naturalFrequency = 500
+            float physxMimicJoint:rotZ:offset = 0
+            rel physxMimicJoint:rotZ:referenceJoint = </ability_hand/joints/middle_q1>
+            uniform token physxMimicJoint:rotZ:referenceJointAxis = "rotZ"
+            float state:angular:physics:position = 0
+            float state:angular:physics:velocity = 0
+        }
+
+        over "pinky_q1" (
+            prepend apiSchemas = ["PhysxJointAPI", "PhysicsJointStateAPI:angular"]
+        )
+        {
+            float physxJoint:armature = 0.01
+            float physxJoint:jointFriction = 0.001
+            float physxJoint:maxJointVelocity = 462.24957
+            float state:angular:physics:position = 0
+            float state:angular:physics:velocity = 0
+        }
+
+        over "pinky_q2" (
+            prepend apiSchemas = ["PhysxJointAPI", "PhysxMimicJointAPI:rotZ", "PhysicsJointStateAPI:angular"]
+        )
+        {
+            float physxJoint:armature = 0.01
+            float physxJoint:jointFriction = 0
+            float physxMimicJoint:rotZ:dampingRatio = 1
+            float physxMimicJoint:rotZ:gearing = -1.0585133
+            float physxMimicJoint:rotZ:naturalFrequency = 500
+            float physxMimicJoint:rotZ:offset = 0
+            rel physxMimicJoint:rotZ:referenceJoint = </ability_hand/joints/pinky_q1>
+            uniform token physxMimicJoint:rotZ:referenceJointAxis = "rotZ"
+            float state:angular:physics:position = 0
+            float state:angular:physics:velocity = 0
+        }
+
+        over "ring_q1" (
+            prepend apiSchemas = ["PhysxJointAPI", "PhysicsJointStateAPI:angular"]
+        )
+        {
+            float physxJoint:armature = 0.01
+            float physxJoint:jointFriction = 0.001
+            float physxJoint:maxJointVelocity = 462.24957
+            float state:angular:physics:position = 0
+            float state:angular:physics:velocity = 0
+        }
+
+        over "ring_q2" (
+            prepend apiSchemas = ["PhysxJointAPI", "PhysxMimicJointAPI:rotZ", "PhysicsJointStateAPI:angular"]
+        )
+        {
+            float physxJoint:armature = 0.01
+            float physxJoint:jointFriction = 0
+            float physxMimicJoint:rotZ:dampingRatio = 1
+            float physxMimicJoint:rotZ:gearing = -1.0585133
+            float physxMimicJoint:rotZ:naturalFrequency = 500
+            float physxMimicJoint:rotZ:offset = 0
+            rel physxMimicJoint:rotZ:referenceJoint = </ability_hand/joints/ring_q1>
+            uniform token physxMimicJoint:rotZ:referenceJointAxis = "rotZ"
+            float state:angular:physics:position = 0
+            float state:angular:physics:velocity = 0
+        }
+
+        over "thumb_q1" (
+            prepend apiSchemas = ["PhysxJointAPI", "PhysicsJointStateAPI:angular"]
+        )
+        {
+            float physxJoint:armature = 0.01
+            float physxJoint:jointFriction = 0.001
+            float physxJoint:maxJointVelocity = 2311.248
+            float state:angular:physics:position = 0
+            float state:angular:physics:velocity = 0
+        }
+
+        over "thumb_q2" (
+            prepend apiSchemas = ["PhysxJointAPI", "PhysicsJointStateAPI:angular"]
+        )
+        {
+            float physxJoint:armature = 0.01
+            float physxJoint:jointFriction = 0.001
+            float physxJoint:maxJointVelocity = 462.24957
+            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 "base"
+    {
+        over "collisions"
+        {
+            over "palm_mesh_coll"
+            {
+                over "node_STL_BINARY_"
+                {
+                    over "mesh"
+                    {
+                        over "mesh_2"
+                        {
+                            uniform token physics:approximation = "convexHull"
+                        }
+                    }
+                }
+            }
+        }
+    }
+
+    over "index_L1"
+    {
+        over "collisions"
+        {
+            over "index_mesh_coll_1"
+            {
+                over "node_STL_BINARY_"
+                {
+                    over "mesh"
+                    {
+                        over "mesh_4"
+                        {
+                            uniform token physics:approximation = "convexHull"
+                        }
+                    }
+                }
+            }
+        }
+    }
+
+    over "index_L2"
+    {
+        over "collisions"
+        {
+            over "index_mesh_coll_2"
+            {
+                over "node_STL_BINARY_"
+                {
+                    over "mesh"
+                    {
+                        over "mesh_6"
+                        {
+                            uniform token physics:approximation = "convexHull"
+                        }
+                    }
+                }
+            }
+        }
+    }
+
+    over "middle_L1"
+    {
+        over "collisions"
+        {
+            over "middle_mesh_coll_1"
+            {
+                over "node_STL_BINARY_"
+                {
+                    over "mesh"
+                    {
+                        over "mesh_4"
+                        {
+                            uniform token physics:approximation = "convexHull"
+                        }
+                    }
+                }
+            }
+        }
+    }
+
+    over "middle_L2"
+    {
+        over "collisions"
+        {
+            over "middle_mesh_coll_2"
+            {
+                over "node_STL_BINARY_"
+                {
+                    over "mesh"
+                    {
+                        over "mesh_6"
+                        {
+                            uniform token physics:approximation = "convexHull"
+                        }
+                    }
+                }
+            }
+        }
+    }
+
+    over "pinky_L1"
+    {
+        over "collisions"
+        {
+            over "pinky_mesh_coll_1"
+            {
+                over "node_STL_BINARY_"
+                {
+                    over "mesh"
+                    {
+                        over "mesh_4"
+                        {
+                            uniform token physics:approximation = "convexHull"
+                        }
+                    }
+                }
+            }
+        }
+    }
+
+    over "pinky_L2"
+    {
+        over "collisions"
+        {
+            over "pinky_mesh_coll_2"
+            {
+                over "node_STL_BINARY_"
+                {
+                    over "mesh"
+                    {
+                        over "mesh_6"
+                        {
+                            uniform token physics:approximation = "convexHull"
+                        }
+                    }
+                }
+            }
+        }
+    }
+
+    over "ring_L1"
+    {
+        over "collisions"
+        {
+            over "ring_mesh_coll_1"
+            {
+                over "node_STL_BINARY_"
+                {
+                    over "mesh"
+                    {
+                        over "mesh_4"
+                        {
+                            uniform token physics:approximation = "convexHull"
+                        }
+                    }
+                }
+            }
+        }
+    }
+
+    over "ring_L2"
+    {
+        over "collisions"
+        {
+            over "ring_mesh_coll_2"
+            {
+                over "node_STL_BINARY_"
+                {
+                    over "mesh"
+                    {
+                        over "mesh_6"
+                        {
+                            uniform token physics:approximation = "convexHull"
+                        }
+                    }
+                }
+            }
+        }
+    }
+
+    over "thumb_L1"
+    {
+        over "collisions"
+        {
+            over "thumb_coll_mesh_1"
+            {
+                over "node_STL_BINARY_"
+                {
+                    over "mesh"
+                    {
+                        over "mesh_8"
+                        {
+                            uniform token physics:approximation = "convexHull"
+                        }
+                    }
+                }
+            }
+        }
+    }
+
+    over "thumb_L2"
+    {
+        over "collisions"
+        {
+            over "thumb_hull_mesh_2"
+            {
+                over "node_STL_BINARY_"
+                {
+                    over "mesh"
+                    {
+                        over "mesh_10"
+                        {
+                            uniform token physics:approximation = "convexHull"
+                        }
+                    }
+                }
+            }
+        }
+    }
+}
+

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

@@ -0,0 +1,34 @@
+{
+  "format_version": "1.0",
+  "profile": "Package-Candidate",
+  "profile_version": "1.0.0",
+  "timestamp": "2026-11-04T23:10:30",
+  "assets": [
+    {
+      "asset": "ability_hand_right_large.usda",
+      "features": [
+        {
+          "CAP031_SelfContainedPackage.OpenUSD.0-1-0": {
+            "version": "0-1-0",
+            "passed": true,
+            "failing_requirements": [],
+            "dependencies": []
+          }
+        },
+        {
+          "CAP033_SimReadyPackage.OpenUSD.0-1-0": {
+            "version": "0-1-0",
+            "passed": true,
+            "failing_requirements": [],
+            "dependencies": [
+              "CAP031_SelfContainedPackage.OpenUSD.0-1-0"
+            ]
+          }
+        }
+      ]
+    }
+  ],
+  "content_hash": {
+    "sha256": "6adda47e18ad1449cbc940cfeb547ae35cbda3ee0043df7b39f5080730cf3b12"
+  }
+}

psyonic_ability_hand_right_large/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json

@@ -0,0 +1,31 @@
+{
+  "format_version": "1.0",
+  "profile": "Package",
+  "profile_version": "1.1.0",
+  "timestamp": "2026-11-04T23:10:32",
+  "assets": [
+    {
+      "asset": "com.nvidia.simready.packaging.json",
+      "features": [
+        {
+          "CAP030_PackagingCore.OpenUSD.0-2-0": {
+            "version": "0.0.0",
+            "passed": true,
+            "failing_requirements": [],
+            "dependencies": []
+          }
+        },
+        {
+          "CAP032_PackagingIntrospection.OpenUSD.0-2-0": {
+            "version": "0.0.0",
+            "passed": true,
+            "failing_requirements": [],
+            "dependencies": [
+              "CAP030_PackagingCore.OpenUSD.0-2-0"
+            ]
+          }
+        }
+      ]
+    }
+  ]
+}

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

@@ -0,0 +1,207 @@
+{
+  "format_version": "1.0",
+  "content_root": "file:///home/jwylie/Desktop/isaacsim-gripper-package_1.0/.packages/psyonic_ability_hand_right_large/1.0.0",
+  "items": [
+    {
+      "relative_path": ".thumbs/256x256/ability_hand_right_large.usda.png",
+      "size": 44655,
+      "hash": {
+        "sha256-flat-1mb": "30216cda24dcf9c373746be09da00bedd8d959ca074e069c234a312c051853dc",
+        "sha256": "6e8b3878f99db4d7227ae50710e52fe8b544d69e486f05d16793f379e5c66b4a"
+      }
+    },
+    {
+      "relative_path": "ability_hand_right_large.usda",
+      "size": 106513,
+      "hash": {
+        "sha256-flat-1mb": "4cbabf743141160222e8dc5f658ba8d44359e0b93856262d14c7e484c795d6fb",
+        "sha256": "1b577a67a9182f005914087625d97340339a7905219e6887c9cfafd2ff2e9919"
+      }
+    },
+    {
+      "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/license.txt",
+      "size": 3220,
+      "hash": {
+        "sha256-flat-1mb": "d54635995b7794c6549d0f7c70586e739c1e24cb671ce966e64a8c1a6703a452",
+        "sha256": "d62e1bd5e34d0ca6f92f0e9f10670ee0cd586695e20f0a838a8f859119589683"
+      }
+    },
+    {
+      "relative_path": "materials/mdl/support_definitions.mdl",
+      "size": 147454,
+      "hash": {
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+        "sha256": "bb372f21b6e81d293b99fea6819a8309e2c33c732c7151752b4b33dade177f2e"
+      }
+    },
+    {
+      "relative_path": "payloads/Physics/mujoco.usda",
+      "size": 12487,
+      "hash": {
+        "sha256-flat-1mb": "fbdcc4376090c8078bcb16f63c0f09f68938a9659c704669dfd3603bf5f76c0a",
+        "sha256": "a304eb2ff2963f78e03f403c3809dae0dfb8be4bce7edf607af741c106a590ad"
+      }
+    },
+    {
+      "relative_path": "payloads/Physics/none.usda",
+      "size": 141,
+      "hash": {
+        "sha256-flat-1mb": "1242aa418121cabe2ddb3aa91420dffbdec77a343631b4f2c8d4d6055b32b0f7",
+        "sha256": "b3d9a9b8e86bdbefbcb878c8798c149f35f8f7b40d4d9de488dc78a1262a8ab4"
+      }
+    },
+    {
+      "relative_path": "payloads/Physics/physics.usda",
+      "size": 22070,
+      "hash": {
+        "sha256-flat-1mb": "55622c711419f0d77d81d7eeeaf85788b9d2173bb048e00ff6f76728141b4124",
+        "sha256": "09671dcac10c5ba8110ac7880176ff3197a4c8cff70618e62d6f458f89e17139"
+      }
+    },
+    {
+      "relative_path": "payloads/Physics/physx.usda",
+      "size": 3971,
+      "hash": {
+        "sha256-flat-1mb": "734e539fa53d0626a53aec7131f51128bbbbedab7c6054bac7cbc911e0fa80c9",
+        "sha256": "382b0029e5bec28c32f8eaddc3c6f04008c0ca6ff8845612ab9bd747efcb5278"
+      }
+    },
+    {
+      "relative_path": "payloads/Robot/none.usda",
+      "size": 141,
+      "hash": {
+        "sha256-flat-1mb": "1242aa418121cabe2ddb3aa91420dffbdec77a343631b4f2c8d4d6055b32b0f7",
+        "sha256": "b3d9a9b8e86bdbefbcb878c8798c149f35f8f7b40d4d9de488dc78a1262a8ab4"
+      }
+    },
+    {
+      "relative_path": "payloads/Robot/robot.usda",
+      "size": 8128,
+      "hash": {
+        "sha256-flat-1mb": "0ab3a8cb99d3d5349e8217c05c2cc4ea3a5f2297d3bbd23629ca7c222c21a126",
+        "sha256": "4991efc82a9ec29ed5cb840c58b61e4f0abb4a47b66263fb7cd1cea055c57faa"
+      }
+    },
+    {
+      "relative_path": "payloads/Sensor/none.usda",
+      "size": 141,
+      "hash": {
+        "sha256-flat-1mb": "1242aa418121cabe2ddb3aa91420dffbdec77a343631b4f2c8d4d6055b32b0f7",
+        "sha256": "b3d9a9b8e86bdbefbcb878c8798c149f35f8f7b40d4d9de488dc78a1262a8ab4"
+      }
+    },
+    {
+      "relative_path": "payloads/Sensor/sensors.usda",
+      "size": 147,
+      "hash": {
+        "sha256-flat-1mb": "3ab5099335eea664a4ccc532ba2f459370d7799d20c6ef2ea7b35c06ff0e81e7",
+        "sha256": "64ef1e9ca70604ba525f7e058f35c073cb2ddc34fbff4d01b2e2fb92f648dd62"
+      }
+    },
+    {
+      "relative_path": "payloads/base.usda",
+      "size": 50894,
+      "hash": {
+        "sha256-flat-1mb": "70978032925e584ce1f09ba8c56170aa226f42081558bdbee5ac8bb217be0a04",
+        "sha256": "323166e7b3b3cec3265543506c904b38d9c8024da7ca49e0fe6ecec98d3d45d3"
+      }
+    },
+    {
+      "relative_path": "payloads/geometries.usd",
+      "size": 4202634,
+      "hash": {
+        "sha256-flat-1mb": "b0973c5bd061ada5a94452529fe241bd9f589dde7bcfba0c661141ac6df6803b",
+        "sha256": "baee1d318721b0e03fd7097171f61b644ec75fac948610aaf045113fdc8a35fc",
+        "sha256-first1m": "03653d4b56b3a6a138f9c11bd3a29acb369e671e94bd2f9d1e1aa52f4b54250f"
+      }
+    },
+    {
+      "relative_path": "payloads/instances.usda",
+      "size": 18527,
+      "hash": {
+        "sha256-flat-1mb": "a26da4a1847f424d7174d0d59e09a9c1d01f2c048b27e757093a7fb28048a2db",
+        "sha256": "d4be758f8303c0f2970c4eca0c9b8fedb281b0f0efe235726e40ccdd9d0649cb"
+      }
+    },
+    {
+      "relative_path": "payloads/materials.usda",
+      "size": 5966,
+      "hash": {
+        "sha256-flat-1mb": "3e8deaae19b6ac955b883a797436473979b6d507f39407fe18f8f196f8f2a007",
+        "sha256": "f1ff4338c12a2a78864299839146956bd795e11cf8a53f78fa886d59a489e24c"
+      }
+    },
+    {
+      "relative_path": "payloads/robot.usda",
+      "size": 13492,
+      "hash": {
+        "sha256-flat-1mb": "3a7e879e992e3335809a5eb74635b6885f2bde7bd21543bb84fb645537713402",
+        "sha256": "eb77f3b261c3d0ba467d267f1a68d3bf86277bc0aac3b5b70a75e7d5e1b652bb"
+      }
+    },
+    {
+      "relative_path": "runnables/physics/mujoco.usda",
+      "size": 13769,
+      "hash": {
+        "sha256-flat-1mb": "85ffa0a902d44033dff739ee32355c6b0a51cf9bb12a0ce7a28a096909737ae9",
+        "sha256": "6bc932dc503c58cffd4df1325315585e605fadbaf62833032521e90bd0997222"
+      }
+    },
+    {
+      "relative_path": "runnables/physics/newton.usda",
+      "size": 10733,
+      "hash": {
+        "sha256-flat-1mb": "bf6b4d07239a22494f70d4d81c2a820435c042c75d8463690f8a7ec0f92b46e6",
+        "sha256": "01b59fa1d9bf111f8b50c3a4e912b1057e68b65d104e6f8314881c365850ea13"
+      }
+    },
+    {
+      "relative_path": "runnables/physics/physx.usda",
+      "size": 10978,
+      "hash": {
+        "sha256-flat-1mb": "d8bb394824b68786ee19d4d26fe77c47a756f104a6b9b0780924d81262547334",
+        "sha256": "0b58616d6026f75951b0ce3b26ca3d252e662c833fd7c03c8fde35e353bdc0a1"
+      }
+    }
+  ]
+}

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

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

psyonic_ability_hand_right_large/.metadata/license.txt

@@ -0,0 +1,396 @@
+Attribution 4.0 International
+
+=======================================================================
+
+Creative Commons Corporation ("Creative Commons") is not a law firm and
+does not provide legal services or legal advice. Distribution of
+Creative Commons public licenses does not create a lawyer-client or
+other relationship. Creative Commons makes its licenses and related
+information available on an "as-is" basis. Creative Commons gives no
+warranties regarding its licenses, any material licensed under their
+terms and conditions, or any related information. Creative Commons
+disclaims all liability for damages resulting from their use to the
+fullest extent possible.
+
+Using Creative Commons Public Licenses
+
+Creative Commons public licenses provide a standard set of terms and
+conditions that creators and other rights holders may use to share
+original works of authorship and other material subject to copyright
+and certain other rights specified in the public license below. The
+following considerations are for informational purposes only, are not
+exhaustive, and do not form part of our licenses.
+
+     Considerations for licensors: Our public licenses are
+     intended for use by those authorized to give the public
+     permission to use material in ways otherwise restricted by
+     copyright and certain other rights. Our licenses are
+     irrevocable. Licensors should read and understand the terms
+     and conditions of the license they choose before applying it.
+     Licensors should also secure all rights necessary before
+     applying our licenses so that the public can reuse the
+     material as expected. Licensors should clearly mark any
+     material not subject to the license. This includes other CC-
+     licensed material, or material used under an exception or
+     limitation to copyright. More considerations for licensors:
+    wiki.creativecommons.org/Considerations_for_licensors
+
+     Considerations for the public: By using one of our public
+     licenses, a licensor grants the public permission to use the
+     licensed material under specified terms and conditions. If
+     the licensor's permission is not necessary for any reason--for
+     example, because of any applicable exception or limitation to
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+     licenses grant only permissions under copyright and certain
+     other rights that a licensor has authority to grant. Use of
+     the licensed material may still be restricted for other
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psyonic_ability_hand_right_large/.metadata/psyonic_ability_hand_right_large_validation.json

@@ -0,0 +1,241 @@
+{
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+        "passed": true,
+        "version": "0-1-0"
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+        "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": {
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+        "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.0-2-0": {
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+        "dependencies": "[]",
+        "passed": true,
+        "version": "0-2-0"
+      },
+      "CAP022_DrivenJoints.MuJoCo.0-1-0": {
+        "blocking_failure": false,
+        "dependencies": "['CAP004_Multibody.RobotMuJoCo.0-1-0']",
+        "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"
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+        "blocking_failure": false,
+        "dependencies": "[]",
+        "passed": true,
+        "version": "0-1-0"
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+        "dependencies": "['CAP024_BaseArticulation.OpenUSD.0-1-0']",
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+        "version": "0-1-0"
+      },
+      "CAP028_Gripper.MuJoCo.0-1-0": {
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+        "dependencies": "['CAP022_DrivenJoints.MuJoCo.0-1-0']",
+        "passed": true,
+        "version": "0-1-0"
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+        "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"
+      },
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+        "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"
+      },
+      "FET004_Multibody.RobotPhysX.0-1-0": {
+        "blocking_failure": false,
+        "dependencies": "[]",
+        "passed": true,
+        "version": "0-1-0"
+      },
+      "FET006_Materials.MDL.0-2-0": {
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+        "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.0-1-0": {
+        "blocking_failure": false,
+        "dependencies": "['FET022_DrivenJoints.PhysX.0-1-0']",
+        "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.0-1-0": {
+        "blocking_failure": false,
+        "dependencies": "['FET004_Multibody.RobotPhysX.0-1-0']",
+        "passed": true,
+        "version": "0-1-0"
+      },
+      "FET022_DrivenJoints.PhysX.0-2-0": {
+        "blocking_failure": false,
+        "dependencies": "['FET004_Multibody.PhysX.0-4-0']",
+        "passed": true,
+        "version": "0-2-0"
+      },
+      "FET028_Gripper.Isaac.0-1-0": {
+        "blocking_failure": false,
+        "dependencies": "['FET022_DrivenJoints.Isaac.0-1-0', 'FET028_Gripper.OpenUSD.0-1-0']",
+        "passed": true,
+        "version": "0-1-0"
+      },
+      "FET028_Gripper.OpenUSD.0-1-0": {
+        "blocking_failure": false,
+        "dependencies": "[]",
+        "passed": true,
+        "version": "0-1-0"
+      }
+    },
+    "profile_id": "Robot-Gripper",
+    "profile_version": "3.0.0",
+    "simready_validate_version": "2026.10.0",
+    "tier_versions": {
+      "tier_core": "2026.10.0",
+      "tier_newton": "2026.10.0"
+    }
+  }
+}

psyonic_ability_hand_right_large/com.nvidia.simready.packaging.json

@@ -0,0 +1,49 @@
+{
+  "format_version": "1.0",
+  "package_id": "simready.hf.nvidia.isaacsim-assets.psyonic_ability_hand_right_large.1.0.0",
+  "license": "CC-BY-4.0",
+  "metadata": [
+    {
+      "name": "com.nvidia.simready.conformance.Package-Candidate@1.0.0.json",
+      "hash": {
+        "sha256": "8290bd3d7b63d5ece2153cd70ca4cf73c674b23daf3c8dbac398f87785bd63d9"
+      }
+    },
+    {
+      "name": "com.nvidia.simready.packaging.bom.json",
+      "hash": {
+        "sha256": "39109835fe3cbdc9128efdddbf572e48090ea1b87a4e359d32655679ae55662e"
+      }
+    },
+    {
+      "name": "com.nvidia.simready.root_usds.json",
+      "hash": {
+        "sha256": "87ce83725d0de3bf55aa9bc0c7e7aa5a8aba9001788600daf8829fc66a90dffb"
+      }
+    },
+    {
+      "name": "license.txt",
+      "hash": {
+        "sha256": "9ba9550ad48438d0836ddab3da480b3b69ffa0aac7b7878b5a0039e7ab429411"
+      }
+    },
+    {
+      "name": "psyonic_ability_hand_right_large_benchmark.json",
+      "hash": {
+        "sha256": "506179c1cbeeeb508702df0ae9ff53c717c6c678706c948dee60804832fe76b7"
+      }
+    },
+    {
+      "name": "psyonic_ability_hand_right_large_validation.json",
+      "hash": {
+        "sha256": "2ed1ae7fe1f991a4255ff14cdbf54df86776f1468fb0ada697135241695a4542"
+      }
+    }
+  ],
+  "content_hash": {
+    "sha256": "6adda47e18ad1449cbc940cfeb547ae35cbda3ee0043df7b39f5080730cf3b12"
+  },
+  "package_hash": {
+    "sha256": "cf60e94d565f7b2ae9c569ae5ea9de072d0d7db53788d36daada5dd7f70ac790"
+  }
+}

psyonic_ability_hand_right_large/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
+);

psyonic_ability_hand_right_large/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
+);

psyonic_ability_hand_right_large/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
+);

psyonic_ability_hand_right_large/materials/mdl/license.txt

@@ -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 

psyonic_ability_hand_right_large/payloads/Physics/mujoco.usda

@@ -0,0 +1,691 @@
+#usda 1.0
+(
+    customLayerData = {
+    }
+    metersPerUnit = 1
+    upAxis = "Z"
+)
+
+over "ability_hand"
+{
+    over "base"
+    {
+        over "visuals"
+        {
+            over "wrist_mesh"
+            {
+                over "node_STL_BINARY_"
+                {
+                    over "Looks"
+                    {
+                    }
+
+                    over "mesh"
+                    {
+                    }
+                }
+            }
+
+            over "palm_mesh"
+            {
+                over "node_STL_BINARY_"
+                {
+                    over "Looks"
+                    {
+                    }
+
+                    over "mesh"
+                    {
+                    }
+                }
+            }
+        }
+
+        over "collisions"
+        {
+            over "palm_mesh_coll"
+            {
+                over "node_STL_BINARY_"
+                {
+                    over "Looks"
+                    {
+                    }
+
+                    over "mesh"
+                    {
+                        over "mesh_2" (
+                        )
+                        {
+                        }
+                    }
+                }
+            }
+        }
+    }
+
+    over "index_L1"
+    {
+        over "visuals"
+        {
+            over "index_mesh_1"
+            {
+                over "node_STL_BINARY_"
+                {
+                    over "Looks"
+                    {
+                    }
+
+                    over "mesh"
+                    {
+                    }
+                }
+            }
+        }
+
+        over "collisions"
+        {
+            over "index_mesh_coll_1"
+            {
+                over "node_STL_BINARY_"
+                {
+                    over "Looks"
+                    {
+                    }
+
+                    over "mesh"
+                    {
+                        over "mesh_4" (
+                        )
+                        {
+                        }
+                    }
+                }
+            }
+        }
+    }
+
+    over "joints"
+    {
+        over "index_q1" (
+            delete apiSchemas = ["PhysicsJointStateAPI:angular", "PhysicsDriveAPI:angular"]
+        )
+        {
+        }
+
+        over "index_q2" (
+            delete apiSchemas = ["PhysicsJointStateAPI:angular"]
+        )
+        {
+        }
+
+        over "middle_q1" (
+            delete apiSchemas = ["PhysicsJointStateAPI:angular", "PhysicsDriveAPI:angular"]
+        )
+        {
+        }
+
+        over "middle_q2" (
+            delete apiSchemas = ["PhysicsJointStateAPI:angular"]
+        )
+        {
+        }
+
+        over "pinky_q1" (
+            delete apiSchemas = ["PhysicsJointStateAPI:angular", "PhysicsDriveAPI:angular"]
+        )
+        {
+        }
+
+        over "pinky_q2" (
+            delete apiSchemas = ["PhysicsJointStateAPI:angular"]
+        )
+        {
+        }
+
+        over "ring_q1" (
+            delete apiSchemas = ["PhysicsJointStateAPI:angular", "PhysicsDriveAPI:angular"]
+        )
+        {
+        }
+
+        over "ring_q2" (
+            delete apiSchemas = ["PhysicsJointStateAPI:angular"]
+        )
+        {
+        }
+
+        over "thumb_q1" (
+            delete apiSchemas = ["PhysicsJointStateAPI:angular", "PhysicsDriveAPI:angular"]
+        )
+        {
+        }
+
+        over "thumb_q2" (
+            delete apiSchemas = ["PhysicsJointStateAPI:angular", "PhysicsDriveAPI:angular"]
+        )
+        {
+        }
+    }
+
+    over "index_L2"
+    {
+        over "fsr0"
+        {
+        }
+
+        over "fsr1"
+        {
+        }
+
+        over "fsr2"
+        {
+        }
+
+        over "fsr3"
+        {
+        }
+
+        over "fsr4"
+        {
+        }
+
+        over "fsr5"
+        {
+        }
+
+        over "index_anchor"
+        {
+        }
+
+        over "visuals"
+        {
+            over "index_mesh_2"
+            {
+                over "node_STL_BINARY_"
+                {
+                    over "Looks"
+                    {
+                    }
+
+                    over "mesh"
+                    {
+                    }
+                }
+            }
+        }
+
+        over "collisions"
+        {
+            over "index_mesh_coll_2"
+            {
+                over "node_STL_BINARY_"
+                {
+                    over "Looks"
+                    {
+                    }
+
+                    over "mesh"
+                    {
+                        over "mesh_6" (
+                        )
+                        {
+                        }
+                    }
+                }
+            }
+        }
+    }
+
+    over "middle_L1"
+    {
+        over "visuals"
+        {
+            over "middle_mesh_1"
+            {
+                over "node_STL_BINARY_"
+                {
+                    over "Looks"
+                    {
+                    }
+
+                    over "mesh"
+                    {
+                    }
+                }
+            }
+        }
+
+        over "collisions"
+        {
+            over "middle_mesh_coll_1"
+            {
+                over "node_STL_BINARY_"
+                {
+                    over "Looks"
+                    {
+                    }
+
+                    over "mesh"
+                    {
+                        over "mesh_4" (
+                        )
+                        {
+                        }
+                    }
+                }
+            }
+        }
+    }
+
+    over "middle_L2"
+    {
+        over "fsr10"
+        {
+        }
+
+        over "fsr11"
+        {
+        }
+
+        over "fsr6"
+        {
+        }
+
+        over "fsr7"
+        {
+        }
+
+        over "fsr8"
+        {
+        }
+
+        over "fsr9"
+        {
+        }
+
+        over "middle_anchor"
+        {
+        }
+
+        over "visuals"
+        {
+            over "middle_mesh_2"
+            {
+                over "node_STL_BINARY_"
+                {
+                    over "Looks"
+                    {
+                    }
+
+                    over "mesh"
+                    {
+                    }
+                }
+            }
+        }
+
+        over "collisions"
+        {
+            over "middle_mesh_coll_2"
+            {
+                over "node_STL_BINARY_"
+                {
+                    over "Looks"
+                    {
+                    }
+
+                    over "mesh"
+                    {
+                        over "mesh_6" (
+                        )
+                        {
+                        }
+                    }
+                }
+            }
+        }
+    }
+
+    over "pinky_L1"
+    {
+        over "visuals"
+        {
+            over "pinky_mesh_1"
+            {
+                over "node_STL_BINARY_"
+                {
+                    over "Looks"
+                    {
+                    }
+
+                    over "mesh"
+                    {
+                    }
+                }
+            }
+        }
+
+        over "collisions"
+        {
+            over "pinky_mesh_coll_1"
+            {
+                over "node_STL_BINARY_"
+                {
+                    over "Looks"
+                    {
+                    }
+
+                    over "mesh"
+                    {
+                        over "mesh_4" (
+                        )
+                        {
+                        }
+                    }
+                }
+            }
+        }
+    }
+
+    over "pinky_L2"
+    {
+        over "fsr18"
+        {
+        }
+
+        over "fsr19"
+        {
+        }
+
+        over "fsr20"
+        {
+        }
+
+        over "fsr21"
+        {
+        }
+
+        over "fsr22"
+        {
+        }
+
+        over "fsr23"
+        {
+        }
+
+        over "pinky_anchor"
+        {
+        }
+
+        over "visuals"
+        {
+            over "pinky_mesh_2"
+            {
+                over "node_STL_BINARY_"
+                {
+                    over "Looks"
+                    {
+                    }
+
+                    over "mesh"
+                    {
+                    }
+                }
+            }
+        }
+
+        over "collisions"
+        {
+            over "pinky_mesh_coll_2"
+            {
+                over "node_STL_BINARY_"
+                {
+                    over "Looks"
+                    {
+                    }
+
+                    over "mesh"
+                    {
+                        over "mesh_8" (
+                        )
+                        {
+                        }
+                    }
+                }
+            }
+        }
+    }
+
+    over "ring_L1"
+    {
+        over "visuals"
+        {
+            over "ring_mesh_1"
+            {
+                over "node_STL_BINARY_"
+                {
+                    over "Looks"
+                    {
+                    }
+
+                    over "mesh"
+                    {
+                    }
+                }
+            }
+        }
+
+        over "collisions"
+        {
+            over "ring_mesh_coll_1"
+            {
+                over "node_STL_BINARY_"
+                {
+                    over "Looks"
+                    {
+                    }
+
+                    over "mesh"
+                    {
+                        over "mesh_4" (
+                        )
+                        {
+                        }
+                    }
+                }
+            }
+        }
+    }
+
+    over "ring_L2"
+    {
+        over "fsr12"
+        {
+        }
+
+        over "fsr13"
+        {
+        }
+
+        over "fsr14"
+        {
+        }
+
+        over "fsr15"
+        {
+        }
+
+        over "fsr16"
+        {
+        }
+
+        over "fsr17"
+        {
+        }
+
+        over "ring_anchor"
+        {
+        }
+
+        over "visuals"
+        {
+            over "ring_mesh_2"
+            {
+                over "node_STL_BINARY_"
+                {
+                    over "Looks"
+                    {
+                    }
+
+                    over "mesh"
+                    {
+                    }
+                }
+            }
+        }
+
+        over "collisions"
+        {
+            over "ring_mesh_coll_2"
+            {
+                over "node_STL_BINARY_"
+                {
+                    over "Looks"
+                    {
+                    }
+
+                    over "mesh"
+                    {
+                        over "mesh_6" (
+                        )
+                        {
+                        }
+                    }
+                }
+            }
+        }
+    }
+
+    over "thumb_L1"
+    {
+        over "visuals"
+        {
+            over "thumb_mesh_1"
+            {
+                over "node_STL_BINARY_"
+                {
+                    over "Looks"
+                    {
+                    }
+
+                    over "mesh"
+                    {
+                    }
+                }
+            }
+        }
+
+        over "collisions"
+        {
+            over "thumb_coll_mesh_1"
+            {
+                over "node_STL_BINARY_"
+                {
+                    over "Looks"
+                    {
+                    }
+
+                    over "mesh"
+                    {
+                        over "mesh_10" (
+                        )
+                        {
+                        }
+                    }
+                }
+            }
+        }
+    }
+
+    over "thumb_L2"
+    {
+        over "fsr24"
+        {
+        }
+
+        over "fsr25"
+        {
+        }
+
+        over "fsr26"
+        {
+        }
+
+        over "fsr27"
+        {
+        }
+
+        over "fsr28"
+        {
+        }
+
+        over "fsr29"
+        {
+        }
+
+        over "thumb_anchor"
+        {
+        }
+
+        over "visuals"
+        {
+            over "thumb_mesh_2"
+            {
+                over "node_STL_BINARY_"
+                {
+                    over "Looks"
+                    {
+                    }
+
+                    over "mesh"
+                    {
+                    }
+                }
+            }
+        }
+
+        over "collisions"
+        {
+            over "thumb_hull_mesh_2"
+            {
+                over "node_STL_BINARY_"
+                {
+                    over "Looks"
+                    {
+                    }
+
+                    over "mesh"
+                    {
+                        over "mesh_12" (
+                        )
+                        {
+                        }
+                    }
+                }
+            }
+        }
+    }
+
+    over "root_joint"
+    {
+    }
+
+    over "Looks"
+    {
+    }
+
+    over "VisualMaterials"
+    {
+    }
+}
+

psyonic_ability_hand_right_large/payloads/Physics/none.usda

@@ -0,0 +1,13 @@
+#usda 1.0
+(
+    customLayerData = {
+    }
+    defaultPrim = "ability_hand"
+    metersPerUnit = 1
+    upAxis = "Z"
+)
+
+def "ability_hand"
+{
+}
+

psyonic_ability_hand_right_large/payloads/Physics/physics.usda

@@ -0,0 +1,584 @@
+#usda 1.0
+(
+    customLayerData = {
+    }
+    defaultPrim = "ability_hand"
+    metersPerUnit = 1
+    upAxis = "Z"
+)
+
+over "ability_hand" (
+    prepend apiSchemas = ["MaterialBindingAPI"]
+)
+{
+    rel material:binding:physics = </ability_hand/PhysicsMaterial>
+
+    over "base" (
+        prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"]
+    )
+    {
+        point3f physics:centerOfMass = (0.00065452, -0.00598838, 0.05077265)
+        float3 physics:diagonalInertia = (0.0003769, 0.00047625, 0.00016893001)
+        float physics:mass = 0.37511
+        quatf physics:principalAxes = (0.99636436, 0.08355953, -0.015764225, 0.0052371603)
+        rel physics:simulationOwner
+
+        over "collisions"
+        {
+            over "palm_mesh_coll"
+            {
+                over "node_STL_BINARY_"
+                {
+                    over "mesh"
+                    {
+                        over "mesh_2" (
+                            prepend apiSchemas = ["PhysicsMeshCollisionAPI", "PhysicsCollisionAPI"]
+                        )
+                        {
+                        }
+                    }
+                }
+            }
+        }
+    }
+
+    over "index_L1" (
+        prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"]
+    )
+    {
+        point3f physics:centerOfMass = (0.017754996, -0.00021386766, -0.000020285142)
+        float3 physics:diagonalInertia = (2.849513e-7, 9.778952e-7, 0.0000010541215)
+        float physics:mass = 0.00636
+        quatf physics:principalAxes = (0.9999594, 0.0016649463, 0.0013022788, -0.00876806)
+        rel physics:simulationOwner
+
+        over "collisions"
+        {
+            over "index_mesh_coll_1"
+            {
+                over "node_STL_BINARY_"
+                {
+                    over "mesh"
+                    {
+                        over "mesh_4" (
+                            prepend apiSchemas = ["PhysicsMeshCollisionAPI", "PhysicsCollisionAPI"]
+                        )
+                        {
+                        }
+                    }
+                }
+            }
+        }
+    }
+
+    over "joints"
+    {
+        def PhysicsRevoluteJoint "index_q1" (
+            prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
+        )
+        {
+            float drive:angular:physics:damping = 0.016
+            float drive:angular:physics:maxForce = 6
+            float drive:angular:physics:stiffness = 0.8
+            float drive:angular:physics:targetPosition = 0
+            uniform token drive:angular:physics:type = "force"
+            uniform token physics:axis = "Z"
+            custom rel physics:body0 = </ability_hand/base>
+            custom rel physics:body1 = </ability_hand/index_L1>
+            float physics:breakForce = 3.4028235e38
+            float physics:breakTorque = 3.4028235e38
+            float physics:JointEquivalentInertia = 0.00028639444
+            point3f physics:localPos0 = (-0.028, -0.009, 0.096)
+            point3f physics:localPos1 = (0, 0, 0)
+            quatf physics:localRot0 = (0.68592525, 0.046984136, -0.714476, -0.12970379)
+            quatf physics:localRot1 = (1, 0, 0, 0)
+            float physics:lowerLimit = 0
+            float physics:upperLimit = 99.69465
+            float state:angular:physics:position = 0
+            float state:angular:physics:velocity = 0
+        }
+
+        def PhysicsRevoluteJoint "index_q2" (
+            prepend apiSchemas = ["PhysicsJointStateAPI:angular"]
+        )
+        {
+            uniform token physics:axis = "Z"
+            custom rel physics:body0 = </ability_hand/index_L1>
+            custom rel physics:body1 = </ability_hand/index_L2>
+            float physics:breakForce = 3.4028235e38
+            float physics:breakTorque = 3.4028235e38
+            float physics:JointEquivalentInertia = 0.000028368644
+            point3f physics:localPos0 = (0.038472723, 0.003257695, 0)
+            point3f physics:localPos1 = (0, 0, 0)
+            quatf physics:localRot0 = (0.9275477, 0, 0, 0.3737048)
+            quatf physics:localRot1 = (1, 0, 0, 0)
+            float physics:lowerLimit = -21.105623
+            float physics:upperLimit = 126.63373
+            float state:angular:physics:position = 0
+            float state:angular:physics:velocity = 0
+        }
+
+        def PhysicsRevoluteJoint "middle_q1" (
+            prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
+        )
+        {
+            float drive:angular:physics:damping = 0.016
+            float drive:angular:physics:maxForce = 6
+            float drive:angular:physics:stiffness = 0.8
+            float drive:angular:physics:targetPosition = 0
+            uniform token drive:angular:physics:type = "force"
+            uniform token physics:axis = "Z"
+            custom rel physics:body0 = </ability_hand/base>
+            custom rel physics:body1 = </ability_hand/middle_L1>
+            float physics:breakForce = 3.4028235e38
+            float physics:breakTorque = 3.4028235e38
+            float physics:JointEquivalentInertia = 0.00028220646
+            point3f physics:localPos0 = (-0.008, -0.012, 0.099)
+            point3f physics:localPos1 = (0, 0, 0)
+            quatf physics:localRot0 = (0.7045611, 0.07189584, -0.6983689, -0.10346699)
+            quatf physics:localRot1 = (1, 0, 0, 0)
+            float physics:lowerLimit = 0
+            float physics:upperLimit = 99.69465
+            float state:angular:physics:position = 0
+            float state:angular:physics:velocity = 0
+        }
+
+        def PhysicsRevoluteJoint "middle_q2" (
+            prepend apiSchemas = ["PhysicsJointStateAPI:angular"]
+        )
+        {
+            uniform token physics:axis = "Z"
+            custom rel physics:body0 = </ability_hand/middle_L1>
+            custom rel physics:body1 = </ability_hand/middle_L2>
+            float physics:breakForce = 3.4028235e38
+            float physics:breakTorque = 3.4028235e38
+            float physics:JointEquivalentInertia = 0.0000284562
+            point3f physics:localPos0 = (0.038472723, 0.003257695, 0)
+            point3f physics:localPos1 = (0, 0, 0)
+            quatf physics:localRot0 = (0.9275477, 0, 0, 0.3737048)
+            quatf physics:localRot1 = (1, 0, 0, 0)
+            float physics:lowerLimit = -21.105623
+            float physics:upperLimit = 126.63373
+            float state:angular:physics:position = 0
+            float state:angular:physics:velocity = 0
+        }
+
+        def PhysicsRevoluteJoint "pinky_q1" (
+            prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
+        )
+        {
+            float drive:angular:physics:damping = 0.016
+            float drive:angular:physics:maxForce = 6
+            float drive:angular:physics:stiffness = 0.8
+            float drive:angular:physics:targetPosition = 0
+            uniform token drive:angular:physics:type = "force"
+            uniform token physics:axis = "Z"
+            custom rel physics:body0 = </ability_hand/base>
+            custom rel physics:body1 = </ability_hand/pinky_L1>
+            float physics:breakForce = 3.4028235e38
+            float physics:breakTorque = 3.4028235e38
+            float physics:JointEquivalentInertia = 0.0002635275
+            point3f physics:localPos0 = (0.031, -0.007, 0.091)
+            point3f physics:localPos1 = (0, 0, 0)
+            quatf physics:localRot0 = (0.7192458, 0.1222243, -0.68176734, -0.05422187)
+            quatf physics:localRot1 = (1, 0, 0, 0)
+            float physics:lowerLimit = 0
+            float physics:upperLimit = 99.69465
+            float state:angular:physics:position = 0
+            float state:angular:physics:velocity = 0
+        }
+
+        def PhysicsRevoluteJoint "pinky_q2" (
+            prepend apiSchemas = ["PhysicsJointStateAPI:angular"]
+        )
+        {
+            uniform token physics:axis = "Z"
+            custom rel physics:body0 = </ability_hand/pinky_L1>
+            custom rel physics:body1 = </ability_hand/pinky_L2>
+            float physics:breakForce = 3.4028235e38
+            float physics:breakTorque = 3.4028235e38
+            float physics:JointEquivalentInertia = 0.000025811863
+            point3f physics:localPos0 = (0.038472723, 0.003257695, 0)
+            point3f physics:localPos1 = (0, 0, 0)
+            quatf physics:localRot0 = (0.9275477, 0, 0, 0.3737048)
+            quatf physics:localRot1 = (1, 0, 0, 0)
+            float physics:lowerLimit = -21.105623
+            float physics:upperLimit = 126.63373
+            float state:angular:physics:position = 0
+            float state:angular:physics:velocity = 0
+        }
+
+        def PhysicsRevoluteJoint "ring_q1" (
+            prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
+        )
+        {
+            float drive:angular:physics:damping = 0.016
+            float drive:angular:physics:maxForce = 6
+            float drive:angular:physics:stiffness = 0.8
+            float drive:angular:physics:targetPosition = 0
+            uniform token drive:angular:physics:type = "force"
+            uniform token physics:axis = "Z"
+            custom rel physics:body0 = </ability_hand/base>
+            custom rel physics:body1 = </ability_hand/ring_L1>
+            float physics:breakForce = 3.4028235e38
+            float physics:breakTorque = 3.4028235e38
+            float physics:JointEquivalentInertia = 0.00027439202
+            point3f physics:localPos0 = (0.012, -0.01, 0.097)
+            point3f physics:localPos1 = (0, 0, 0)
+            quatf physics:localRot0 = (0.7213953, 0.09878215, -0.6810987, -0.077041835)
+            quatf physics:localRot1 = (1, 0, 0, 0)
+            float physics:lowerLimit = 0
+            float physics:upperLimit = 99.69465
+            float state:angular:physics:position = 0
+            float state:angular:physics:velocity = 0
+        }
+
+        def PhysicsRevoluteJoint "ring_q2" (
+            prepend apiSchemas = ["PhysicsJointStateAPI:angular"]
+        )
+        {
+            uniform token physics:axis = "Z"
+            custom rel physics:body0 = </ability_hand/ring_L1>
+            custom rel physics:body1 = </ability_hand/ring_L2>
+            float physics:breakForce = 3.4028235e38
+            float physics:breakTorque = 3.4028235e38
+            float physics:JointEquivalentInertia = 0.000028514281
+            point3f physics:localPos0 = (0.038472723, 0.003257695, 0)
+            point3f physics:localPos1 = (0, 0, 0)
+            quatf physics:localRot0 = (0.9275477, 0, 0, 0.3737048)
+            quatf physics:localRot1 = (1, 0, 0, 0)
+            float physics:lowerLimit = -21.105623
+            float physics:upperLimit = 126.63373
+            float state:angular:physics:position = 0
+            float state:angular:physics:velocity = 0
+        }
+
+        def PhysicsRevoluteJoint "thumb_q1" (
+            prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
+        )
+        {
+            float drive:angular:physics:damping = 0.016
+            float drive:angular:physics:maxForce = 6
+            float drive:angular:physics:stiffness = 0.8
+            float drive:angular:physics:targetPosition = 0
+            uniform token drive:angular:physics:type = "force"
+            uniform token physics:axis = "Z"
+            custom rel physics:body0 = </ability_hand/base>
+            custom rel physics:body1 = </ability_hand/thumb_L1>
+            float physics:breakForce = 3.4028235e38
+            float physics:breakTorque = 3.4028235e38
+            float physics:JointEquivalentInertia = 0.00047244236
+            point3f physics:localPos0 = (-0.024047667, 0.0037812474, 0.03232965)
+            point3f physics:localPos1 = (0, 0, 0)
+            quatf physics:localRot0 = (0.094797164, -0.044030096, 0.0041969586, -0.99451363)
+            quatf physics:localRot1 = (1, 0, 0, 0)
+            float physics:lowerLimit = -99.69465
+            float physics:upperLimit = 0
+            float state:angular:physics:position = 0
+            float state:angular:physics:velocity = 0
+        }
+
+        def PhysicsRevoluteJoint "thumb_q2" (
+            prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
+        )
+        {
+            float drive:angular:physics:damping = 0.016
+            float drive:angular:physics:maxForce = 6
+            float drive:angular:physics:stiffness = 0.8
+            float drive:angular:physics:targetPosition = 0
+            uniform token drive:angular:physics:type = "force"
+            uniform token physics:axis = "Z"
+            custom rel physics:body0 = </ability_hand/thumb_L1>
+            custom rel physics:body1 = </ability_hand/thumb_L2>
+            float physics:breakForce = 3.4028235e38
+            float physics:breakTorque = 3.4028235e38
+            float physics:JointEquivalentInertia = 0.00027644983
+            point3f physics:localPos0 = (0.02782835, 1.7436511e-19, 0.0147507)
+            point3f physics:localPos1 = (0, 0, 0)
+            quatf physics:localRot0 = (0.6087614, 0.7933533, 2.1287735e-18, 1.6334654e-18)
+            quatf physics:localRot1 = (1, 0, 0, 0)
+            float physics:lowerLimit = 0
+            float physics:upperLimit = 99.69465
+            float state:angular:physics:position = 0
+            float state:angular:physics:velocity = 0
+        }
+    }
+
+    over "index_L2" (
+        prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"]
+    )
+    {
+        point3f physics:centerOfMass = (0.015272341, -0.01000392, -0.00003110639)
+        float3 physics:diagonalInertia = (1.8648267e-7, 0.0000011335331, 0.0000011338948)
+        float physics:mass = 0.006
+        quatf physics:principalAxes = (0.94547665, 0.21027115, -0.055118755, -0.24253255)
+        rel physics:simulationOwner
+
+        over "collisions"
+        {
+            over "index_mesh_coll_2"
+            {
+                over "node_STL_BINARY_"
+                {
+                    over "mesh"
+                    {
+                        over "mesh_6" (
+                            prepend apiSchemas = ["PhysicsMeshCollisionAPI", "PhysicsCollisionAPI"]
+                        )
+                        {
+                        }
+                    }
+                }
+            }
+        }
+    }
+
+    over "middle_L1" (
+        prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"]
+    )
+    {
+        point3f physics:centerOfMass = (0.017754996, -0.00021386766, -0.000020285142)
+        float3 physics:diagonalInertia = (2.849513e-7, 9.778952e-7, 0.0000010541215)
+        float physics:mass = 0.00636
+        quatf physics:principalAxes = (0.9999594, 0.0016649463, 0.0013022788, -0.00876806)
+        rel physics:simulationOwner
+
+        over "collisions"
+        {
+            over "middle_mesh_coll_1"
+            {
+                over "node_STL_BINARY_"
+                {
+                    over "mesh"
+                    {
+                        over "mesh_4" (
+                            prepend apiSchemas = ["PhysicsMeshCollisionAPI", "PhysicsCollisionAPI"]
+                        )
+                        {
+                        }
+                    }
+                }
+            }
+        }
+    }
+
+    over "middle_L2" (
+        prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"]
+    )
+    {
+        point3f physics:centerOfMass = (0.015272341, -0.01000392, -0.00003110639)
+        float3 physics:diagonalInertia = (1.8648267e-7, 0.0000011335331, 0.0000011338948)
+        float physics:mass = 0.006
+        quatf physics:principalAxes = (0.94547665, 0.21027115, -0.055118755, -0.24253255)
+        rel physics:simulationOwner
+
+        over "collisions"
+        {
+            over "middle_mesh_coll_2"
+            {
+                over "node_STL_BINARY_"
+                {
+                    over "mesh"
+                    {
+                        over "mesh_6" (
+                            prepend apiSchemas = ["PhysicsMeshCollisionAPI", "PhysicsCollisionAPI"]
+                        )
+                        {
+                        }
+                    }
+                }
+            }
+        }
+    }
+
+    over "pinky_L1" (
+        prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"]
+    )
+    {
+        point3f physics:centerOfMass = (0.017754996, -0.00021386766, -0.000020285142)
+        float3 physics:diagonalInertia = (2.849513e-7, 9.778952e-7, 0.0000010541215)
+        float physics:mass = 0.00636
+        quatf physics:principalAxes = (0.9999594, 0.0016649463, 0.0013022788, -0.00876806)
+        rel physics:simulationOwner
+
+        over "collisions"
+        {
+            over "pinky_mesh_coll_1"
+            {
+                over "node_STL_BINARY_"
+                {
+                    over "mesh"
+                    {
+                        over "mesh_4" (
+                            prepend apiSchemas = ["PhysicsMeshCollisionAPI", "PhysicsCollisionAPI"]
+                        )
+                        {
+                        }
+                    }
+                }
+            }
+        }
+    }
+
+    over "pinky_L2" (
+        prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"]
+    )
+    {
+        point3f physics:centerOfMass = (0.013324922, -0.008158947, -0.00004076896)
+        float3 physics:diagonalInertia = (1.697532e-7, 8.78977e-7, 8.9374424e-7)
+        float physics:mass = 0.006
+        quatf physics:principalAxes = (0.9739561, 0.007157835, -0.003735181, -0.22659291)
+        rel physics:simulationOwner
+
+        over "collisions"
+        {
+            over "pinky_mesh_coll_2"
+            {
+                over "node_STL_BINARY_"
+                {
+                    over "mesh"
+                    {
+                        over "mesh_8" (
+                            prepend apiSchemas = ["PhysicsMeshCollisionAPI", "PhysicsCollisionAPI"]
+                        )
+                        {
+                        }
+                    }
+                }
+            }
+        }
+    }
+
+    over "ring_L1" (
+        prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"]
+    )
+    {
+        point3f physics:centerOfMass = (0.017754996, -0.00021386766, -0.000020285142)
+        float3 physics:diagonalInertia = (2.849513e-7, 9.778952e-7, 0.0000010541215)
+        float physics:mass = 0.00636
+        quatf physics:principalAxes = (0.9999594, 0.0016649463, 0.0013022788, -0.00876806)
+        rel physics:simulationOwner
+
+        over "collisions"
+        {
+            over "ring_mesh_coll_1"
+            {
+                over "node_STL_BINARY_"
+                {
+                    over "mesh"
+                    {
+                        over "mesh_4" (
+                            prepend apiSchemas = ["PhysicsMeshCollisionAPI", "PhysicsCollisionAPI"]
+                        )
+                        {
+                        }
+                    }
+                }
+            }
+        }
+    }
+
+    over "ring_L2" (
+        prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"]
+    )
+    {
+        point3f physics:centerOfMass = (0.015272341, -0.01000392, -0.00003110639)
+        float3 physics:diagonalInertia = (1.8648267e-7, 0.0000011335331, 0.0000011338948)
+        float physics:mass = 0.006
+        quatf physics:principalAxes = (0.94547665, 0.21027115, -0.055118755, -0.24253255)
+        rel physics:simulationOwner
+
+        over "collisions"
+        {
+            over "ring_mesh_coll_2"
+            {
+                over "node_STL_BINARY_"
+                {
+                    over "mesh"
+                    {
+                        over "mesh_6" (
+                            prepend apiSchemas = ["PhysicsMeshCollisionAPI", "PhysicsCollisionAPI"]
+                        )
+                        {
+                        }
+                    }
+                }
+            }
+        }
+    }
+
+    over "thumb_L1" (
+        prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"]
+    )
+    {
+        point3f physics:centerOfMass = (0.01429402, -0.0018885, 0.00496979)
+        float3 physics:diagonalInertia = (7.780558e-8, 2.539683e-7, 2.406983e-7)
+        float physics:mass = 0.002
+        quatf physics:principalAxes = (0.9624208, -0.078504354, -0.24595936, -0.08418586)
+        rel physics:simulationOwner
+
+        over "collisions"
+        {
+            over "thumb_coll_mesh_1"
+            {
+                over "node_STL_BINARY_"
+                {
+                    over "mesh"
+                    {
+                        over "mesh_10" (
+                            prepend apiSchemas = ["PhysicsMeshCollisionAPI", "PhysicsCollisionAPI"]
+                        )
+                        {
+                        }
+                    }
+                }
+            }
+        }
+    }
+
+    over "thumb_L2" (
+        prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"]
+    )
+    {
+        point3f physics:centerOfMass = (0.027762456, 0.005621711, 0.0037611115)
+        float3 physics:diagonalInertia = (0.0000047610692, 0.000024948358, 0.00002585989)
+        float physics:mass = 0.06
+        quatf physics:principalAxes = (0.9774349, 0.03599411, 0.0052931556, 0.20808075)
+        rel physics:simulationOwner
+
+        over "collisions"
+        {
+            over "thumb_hull_mesh_2"
+            {
+                over "node_STL_BINARY_"
+                {
+                    over "mesh"
+                    {
+                        over "mesh_12" (
+                            prepend apiSchemas = ["PhysicsMeshCollisionAPI", "PhysicsCollisionAPI"]
+                        )
+                        {
+                        }
+                    }
+                }
+            }
+        }
+    }
+
+    def PhysicsFixedJoint "root_joint" (
+        prepend apiSchemas = ["PhysicsArticulationRootAPI"]
+    )
+    {
+        rel physics:body1 = </ability_hand/base>
+    }
+
+    def Material "PhysicsMaterial" (
+        prepend apiSchemas = ["PhysicsMaterialAPI"]
+    )
+    {
+        float physics:dynamicFriction = 4
+        float physics:restitution = 0
+        float physics:staticFriction = 4
+    }
+}
+

psyonic_ability_hand_right_large/payloads/Physics/physx.usda

@@ -0,0 +1,130 @@
+#usda 1.0
+(
+    customLayerData = {
+    }
+    defaultPrim = "ability_hand"
+    metersPerUnit = 1
+    subLayers = [
+        @./physics.usda@
+    ]
+    upAxis = "Z"
+)
+
+def "ability_hand"
+{
+    over "joints"
+    {
+        over "index_q1" (
+            prepend apiSchemas = ["PhysxJointAPI"]
+        )
+        {
+            float physxJoint:jointFriction = 0.001
+            float physxJoint:maxJointVelocity = 462.24957
+        }
+
+        over "index_q2" (
+            prepend apiSchemas = ["PhysxJointAPI", "PhysxMimicJointAPI:rotZ"]
+        )
+        {
+            float physxJoint:jointFriction = 0.001
+            float physxMimicJoint:rotZ:dampingRatio = 0.005
+            float physxMimicJoint:rotZ:gearing = -1.0585133
+            float physxMimicJoint:rotZ:naturalFrequency = 0
+            float physxMimicJoint:rotZ:offset = 0
+            rel physxMimicJoint:rotZ:referenceJoint = </ability_hand/joints/index_q1>
+        }
+
+        over "middle_q1" (
+            prepend apiSchemas = ["PhysxJointAPI"]
+        )
+        {
+            float physxJoint:jointFriction = 0.001
+            float physxJoint:maxJointVelocity = 462.24957
+        }
+
+        over "middle_q2" (
+            prepend apiSchemas = ["PhysxJointAPI", "PhysxMimicJointAPI:rotZ"]
+        )
+        {
+            float physxJoint:jointFriction = 0.001
+            float physxMimicJoint:rotZ:dampingRatio = 0.005
+            float physxMimicJoint:rotZ:gearing = -1.0585133
+            float physxMimicJoint:rotZ:naturalFrequency = 0
+            float physxMimicJoint:rotZ:offset = 0
+            rel physxMimicJoint:rotZ:referenceJoint = </ability_hand/joints/middle_q1>
+        }
+
+        over "pinky_q1" (
+            prepend apiSchemas = ["PhysxJointAPI"]
+        )
+        {
+            float physxJoint:jointFriction = 0.001
+            float physxJoint:maxJointVelocity = 462.24957
+        }
+
+        over "pinky_q2" (
+            prepend apiSchemas = ["PhysxJointAPI", "PhysxMimicJointAPI:rotZ"]
+        )
+        {
+            float physxJoint:jointFriction = 0.001
+            float physxMimicJoint:rotZ:dampingRatio = 0.005
+            float physxMimicJoint:rotZ:gearing = -1.0585133
+            float physxMimicJoint:rotZ:naturalFrequency = 0
+            float physxMimicJoint:rotZ:offset = 0
+            rel physxMimicJoint:rotZ:referenceJoint = </ability_hand/joints/pinky_q1>
+        }
+
+        over "ring_q1" (
+            prepend apiSchemas = ["PhysxJointAPI"]
+        )
+        {
+            float physxJoint:jointFriction = 0.001
+            float physxJoint:maxJointVelocity = 462.24957
+        }
+
+        over "ring_q2" (
+            prepend apiSchemas = ["PhysxJointAPI", "PhysxMimicJointAPI:rotZ"]
+        )
+        {
+            float physxJoint:jointFriction = 0.001
+            float physxMimicJoint:rotZ:dampingRatio = 0.005
+            float physxMimicJoint:rotZ:gearing = -1.0585133
+            float physxMimicJoint:rotZ:naturalFrequency = 0
+            float physxMimicJoint:rotZ:offset = 0
+            rel physxMimicJoint:rotZ:referenceJoint = </ability_hand/joints/ring_q1>
+        }
+
+        over "thumb_q1" (
+            prepend apiSchemas = ["PhysxJointAPI"]
+        )
+        {
+            float physxJoint:jointFriction = 0.001
+            float physxJoint:maxJointVelocity = 2311.248
+        }
+
+        over "thumb_q2" (
+            prepend apiSchemas = ["PhysxJointAPI"]
+        )
+        {
+            float physxJoint:jointFriction = 0.001
+            float physxJoint:maxJointVelocity = 462.24957
+        }
+    }
+
+    over "root_joint" (
+        prepend apiSchemas = ["PhysxArticulationAPI"]
+    )
+    {
+        bool physxArticulation:enabledSelfCollisions = 1
+        int physxArticulation:solverPositionIterationCount = 32
+        int physxArticulation:solverVelocityIterationCount = 1
+    }
+
+    over "PhysicsMaterial" (
+        prepend apiSchemas = ["PhysxMaterialAPI"]
+    )
+    {
+        uniform token physxMaterial:frictionCombineMode = "max"
+    }
+}
+

psyonic_ability_hand_right_large/payloads/Robot/none.usda

@@ -0,0 +1,13 @@
+#usda 1.0
+(
+    customLayerData = {
+    }
+    defaultPrim = "ability_hand"
+    metersPerUnit = 1
+    upAxis = "Z"
+)
+
+def "ability_hand"
+{
+}
+

psyonic_ability_hand_right_large/payloads/Robot/robot.usda

@@ -0,0 +1,287 @@
+#usda 1.0
+(
+    customLayerData = {
+    }
+    defaultPrim = "ability_hand"
+    metersPerUnit = 1
+    upAxis = "Z"
+)
+
+def Xform "ability_hand" (
+    prepend apiSchemas = ["IsaacRobotAPI"]
+)
+{
+    string[] isaac:changelog
+    string isaac:description
+    token isaac:license
+    string isaac:namespace
+    prepend rel isaac:physics:robotJoints = [
+        </ability_hand/joints/index_q1>,
+        </ability_hand/joints/index_q2>,
+        </ability_hand/joints/middle_q1>,
+        </ability_hand/joints/middle_q2>,
+        </ability_hand/joints/pinky_q1>,
+        </ability_hand/joints/pinky_q2>,
+        </ability_hand/joints/ring_q1>,
+        </ability_hand/joints/ring_q2>,
+        </ability_hand/joints/thumb_q1>,
+        </ability_hand/joints/thumb_q2>,
+    ]
+    prepend rel isaac:physics:robotLinks = [
+        </ability_hand/base>,
+        </ability_hand/index_L1>,
+        </ability_hand/index_L2>,
+        </ability_hand/middle_L1>,
+        </ability_hand/middle_L2>,
+        </ability_hand/pinky_L1>,
+        </ability_hand/pinky_L2>,
+        </ability_hand/ring_L1>,
+        </ability_hand/ring_L2>,
+        </ability_hand/thumb_L1>,
+        </ability_hand/thumb_L2>,
+    ]
+    token isaac:robotType
+    string isaac:source
+    string isaac:version
+
+    over "base" (
+        prepend apiSchemas = ["IsaacLinkAPI"]
+    )
+    {
+        string isaac:nameOverride
+    }
+
+    over "index_L1" (
+        prepend apiSchemas = ["IsaacLinkAPI"]
+    )
+    {
+        string isaac:nameOverride
+    }
+
+    over "joints"
+    {
+        over "index_q1" (
+            prepend apiSchemas = ["IsaacJointAPI"]
+        )
+        {
+            string isaac:nameOverride
+            float[] isaac:physics:AccelerationLimit
+            int isaac:physics:index
+            float[] isaac:physics:JerkLimit
+            int isaac:physics:Rot_X:DofOffset
+            int isaac:physics:Rot_Y:DofOffset
+            int isaac:physics:Rot_Z:DofOffset
+            int isaac:physics:Tr_X:DofOffset
+            int isaac:physics:Tr_Y:DofOffset
+            int isaac:physics:Tr_Z:DofOffset
+        }
+
+        over "index_q2" (
+            prepend apiSchemas = ["IsaacJointAPI"]
+        )
+        {
+            string isaac:nameOverride
+            float[] isaac:physics:AccelerationLimit
+            int isaac:physics:index
+            float[] isaac:physics:JerkLimit
+            int isaac:physics:Rot_X:DofOffset
+            int isaac:physics:Rot_Y:DofOffset
+            int isaac:physics:Rot_Z:DofOffset
+            int isaac:physics:Tr_X:DofOffset
+            int isaac:physics:Tr_Y:DofOffset
+            int isaac:physics:Tr_Z:DofOffset
+        }
+
+        over "middle_q1" (
+            prepend apiSchemas = ["IsaacJointAPI"]
+        )
+        {
+            string isaac:nameOverride
+            float[] isaac:physics:AccelerationLimit
+            int isaac:physics:index
+            float[] isaac:physics:JerkLimit
+            int isaac:physics:Rot_X:DofOffset
+            int isaac:physics:Rot_Y:DofOffset
+            int isaac:physics:Rot_Z:DofOffset
+            int isaac:physics:Tr_X:DofOffset
+            int isaac:physics:Tr_Y:DofOffset
+            int isaac:physics:Tr_Z:DofOffset
+        }
+
+        over "middle_q2" (
+            prepend apiSchemas = ["IsaacJointAPI"]
+        )
+        {
+            string isaac:nameOverride
+            float[] isaac:physics:AccelerationLimit
+            int isaac:physics:index
+            float[] isaac:physics:JerkLimit
+            int isaac:physics:Rot_X:DofOffset
+            int isaac:physics:Rot_Y:DofOffset
+            int isaac:physics:Rot_Z:DofOffset
+            int isaac:physics:Tr_X:DofOffset
+            int isaac:physics:Tr_Y:DofOffset
+            int isaac:physics:Tr_Z:DofOffset
+        }
+
+        over "pinky_q1" (
+            prepend apiSchemas = ["IsaacJointAPI"]
+        )
+        {
+            string isaac:nameOverride
+            float[] isaac:physics:AccelerationLimit
+            int isaac:physics:index
+            float[] isaac:physics:JerkLimit
+            int isaac:physics:Rot_X:DofOffset
+            int isaac:physics:Rot_Y:DofOffset
+            int isaac:physics:Rot_Z:DofOffset
+            int isaac:physics:Tr_X:DofOffset
+            int isaac:physics:Tr_Y:DofOffset
+            int isaac:physics:Tr_Z:DofOffset
+        }
+
+        over "pinky_q2" (
+            prepend apiSchemas = ["IsaacJointAPI"]
+        )
+        {
+            string isaac:nameOverride
+            float[] isaac:physics:AccelerationLimit
+            int isaac:physics:index
+            float[] isaac:physics:JerkLimit
+            int isaac:physics:Rot_X:DofOffset
+            int isaac:physics:Rot_Y:DofOffset
+            int isaac:physics:Rot_Z:DofOffset
+            int isaac:physics:Tr_X:DofOffset
+            int isaac:physics:Tr_Y:DofOffset
+            int isaac:physics:Tr_Z:DofOffset
+        }
+
+        over "ring_q1" (
+            prepend apiSchemas = ["IsaacJointAPI"]
+        )
+        {
+            string isaac:nameOverride
+            float[] isaac:physics:AccelerationLimit
+            int isaac:physics:index
+            float[] isaac:physics:JerkLimit
+            int isaac:physics:Rot_X:DofOffset
+            int isaac:physics:Rot_Y:DofOffset
+            int isaac:physics:Rot_Z:DofOffset
+            int isaac:physics:Tr_X:DofOffset
+            int isaac:physics:Tr_Y:DofOffset
+            int isaac:physics:Tr_Z:DofOffset
+        }
+
+        over "ring_q2" (
+            prepend apiSchemas = ["IsaacJointAPI"]
+        )
+        {
+            string isaac:nameOverride
+            float[] isaac:physics:AccelerationLimit
+            int isaac:physics:index
+            float[] isaac:physics:JerkLimit
+            int isaac:physics:Rot_X:DofOffset
+            int isaac:physics:Rot_Y:DofOffset
+            int isaac:physics:Rot_Z:DofOffset
+            int isaac:physics:Tr_X:DofOffset
+            int isaac:physics:Tr_Y:DofOffset
+            int isaac:physics:Tr_Z:DofOffset
+        }
+
+        over "thumb_q1" (
+            prepend apiSchemas = ["IsaacJointAPI"]
+        )
+        {
+            string isaac:nameOverride
+            float[] isaac:physics:AccelerationLimit
+            int isaac:physics:index
+            float[] isaac:physics:JerkLimit
+            int isaac:physics:Rot_X:DofOffset
+            int isaac:physics:Rot_Y:DofOffset
+            int isaac:physics:Rot_Z:DofOffset
+            int isaac:physics:Tr_X:DofOffset
+            int isaac:physics:Tr_Y:DofOffset
+            int isaac:physics:Tr_Z:DofOffset
+        }
+
+        over "thumb_q2" (
+            prepend apiSchemas = ["IsaacJointAPI"]
+        )
+        {
+            string isaac:nameOverride
+            float[] isaac:physics:AccelerationLimit
+            int isaac:physics:index
+            float[] isaac:physics:JerkLimit
+            int isaac:physics:Rot_X:DofOffset
+            int isaac:physics:Rot_Y:DofOffset
+            int isaac:physics:Rot_Z:DofOffset
+            int isaac:physics:Tr_X:DofOffset
+            int isaac:physics:Tr_Y:DofOffset
+            int isaac:physics:Tr_Z:DofOffset
+        }
+    }
+
+    over "index_L2" (
+        prepend apiSchemas = ["IsaacLinkAPI"]
+    )
+    {
+        string isaac:nameOverride
+    }
+
+    over "middle_L1" (
+        prepend apiSchemas = ["IsaacLinkAPI"]
+    )
+    {
+        string isaac:nameOverride
+    }
+
+    over "middle_L2" (
+        prepend apiSchemas = ["IsaacLinkAPI"]
+    )
+    {
+        string isaac:nameOverride
+    }
+
+    over "pinky_L1" (
+        prepend apiSchemas = ["IsaacLinkAPI"]
+    )
+    {
+        string isaac:nameOverride
+    }
+
+    over "pinky_L2" (
+        prepend apiSchemas = ["IsaacLinkAPI"]
+    )
+    {
+        string isaac:nameOverride
+    }
+
+    over "ring_L1" (
+        prepend apiSchemas = ["IsaacLinkAPI"]
+    )
+    {
+        string isaac:nameOverride
+    }
+
+    over "ring_L2" (
+        prepend apiSchemas = ["IsaacLinkAPI"]
+    )
+    {
+        string isaac:nameOverride
+    }
+
+    over "thumb_L1" (
+        prepend apiSchemas = ["IsaacLinkAPI"]
+    )
+    {
+        string isaac:nameOverride
+    }
+
+    over "thumb_L2" (
+        prepend apiSchemas = ["IsaacLinkAPI"]
+    )
+    {
+        string isaac:nameOverride
+    }
+}
+

psyonic_ability_hand_right_large/payloads/Sensor/none.usda

@@ -0,0 +1,13 @@
+#usda 1.0
+(
+    customLayerData = {
+    }
+    defaultPrim = "ability_hand"
+    metersPerUnit = 1
+    upAxis = "Z"
+)
+
+def "ability_hand"
+{
+}
+

psyonic_ability_hand_right_large/payloads/Sensor/sensors.usda

@@ -0,0 +1,13 @@
+#usda 1.0
+(
+    customLayerData = {
+    }
+    defaultPrim = "ability_hand"
+    metersPerUnit = 1
+    upAxis = "Z"
+)
+
+def Xform "ability_hand"
+{
+}
+

psyonic_ability_hand_right_large/payloads/base.usda

@@ -0,0 +1,1296 @@
+#usda 1.0
+(
+    customLayerData = {
+    }
+    defaultPrim = "ability_hand"
+    metersPerUnit = 1
+    subLayers = [
+        @./robot.usda@
+    ]
+    upAxis = "Z"
+)
+
+def Xform "ability_hand"
+{
+    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"
+    {
+        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 "wrist_mesh"
+            {
+                token visibility = "inherited"
+                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 "node_STL_BINARY_" (
+                    kind = "component"
+                )
+                {
+                    quatf xformOp:orient = (1, 0, 0, 0)
+                    float3 xformOp:scale = (1, 1, 1)
+                    double3 xformOp:translate = (0, 0, 0)
+                    uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+
+                    def Scope "Looks"
+                    {
+                    }
+
+                    def Xform "mesh" (
+                        instanceable = true
+                        prepend references = @./instances.usda@</Instances/mesh>
+                    )
+                    {
+                    }
+                }
+            }
+
+            def Xform "palm_mesh"
+            {
+                token visibility = "inherited"
+                quatd xformOp:orient = (0.0442296601831913, 0.0006102907354943454, -0.9990212321281433, -0.000027017966203857213)
+                double3 xformOp:scale = (1, 1, 1)
+                double3 xformOp:translate = (-0.024047667160630226, 0.003781247418373823, 0.03232964873313904)
+                uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+
+                def Xform "node_STL_BINARY_" (
+                    kind = "component"
+                )
+                {
+                    quatf xformOp:orient = (1, 0, 0, 0)
+                    float3 xformOp:scale = (1, 1, 1)
+                    double3 xformOp:translate = (0, 0, 0)
+                    uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+
+                    def Scope "Looks"
+                    {
+                    }
+
+                    def Xform "mesh" (
+                        instanceable = true
+                        prepend references = @./instances.usda@</Instances/mesh_1>
+                    )
+                    {
+                    }
+                }
+            }
+        }
+
+        def Xform "collisions" (
+            instanceable = false
+        )
+        {
+            def Xform "palm_mesh_coll"
+            {
+                uniform token purpose = "guide"
+                token visibility = "inherited"
+                quatd xformOp:orient = (0.0442296601831913, 0.0006102907354943454, -0.9990212321281433, -0.000027017966203857213)
+                double3 xformOp:scale = (1, 1, 1)
+                double3 xformOp:translate = (-0.024047667160630226, 0.003781247418373823, 0.03232964873313904)
+                uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+
+                def Xform "node_STL_BINARY_" (
+                    kind = "component"
+                )
+                {
+                    quatf xformOp:orient = (1, 0, 0, 0)
+                    float3 xformOp:scale = (1, 1, 1)
+                    double3 xformOp:translate = (0, 0, 0)
+                    uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+
+                    def Scope "Looks"
+                    {
+                    }
+
+                    def Xform "mesh" (
+                        instanceable = true
+                        prepend references = @./instances.usda@</Instances/mesh_2>
+                    )
+                    {
+                        over "mesh_2" (
+                            prepend apiSchemas = ["PhysicsCollisionAPI"]
+                        )
+                        {
+                        }
+                    }
+                }
+            }
+        }
+
+        def Xform "gripper_01" (
+            prepend apiSchemas = ["IsaacSiteAPI"]
+        )
+        {
+            custom float gripper_maxOpening = 0.065
+            custom float gripper_maxPayload = 0.4
+            string isaac:Description = "Multi-finger hand grasp center"
+            token simready:attactment:socketType = "Gripper"
+            double3 xformOp:translate = (-0.01, 0.028, 0.09)
+            uniform token[] xformOpOrder = ["xformOp:translate"]
+
+            def BasisCurves "gripper_forward_axis"
+            {
+                int[] curveVertexCounts = [2]
+                float3[] extent = [(0, 0, 0), (0, 0.035355, 0.035355)]
+                point3f[] points = [(0, 0, 0), (0, 0.035355, 0.035355)]
+                uniform token purpose = "guide"
+                uniform token type = "linear"
+            }
+
+            def BasisCurves "gripper_grip_line"
+            {
+                int[] curveVertexCounts = [2]
+                float3[] extent = [(0, -0.017678, -0.017678), (0, 0.017678, 0.017678)]
+                point3f[] points = [(0, 0.017678, -0.017678), (0, -0.017678, 0.017678)]
+                uniform token purpose = "guide"
+                uniform token type = "linear"
+            }
+        }
+    }
+
+    def Xform "index_L1"
+    {
+        quatd xformOp:orient = (0.6859252452850342, 0.04698413610458374, -0.7144759893417358, -0.12970378994941711)
+        double3 xformOp:scale = (1, 1, 1)
+        double3 xformOp:translate = (-0.02800000086426735, -0.008999999612569809, 0.09600000083446503)
+        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+
+        def Xform "visuals" (
+            instanceable = false
+        )
+        {
+            def Xform "index_mesh_1"
+            {
+                token visibility = "inherited"
+                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 "node_STL_BINARY_" (
+                    kind = "component"
+                )
+                {
+                    quatf xformOp:orient = (1, 0, 0, 0)
+                    float3 xformOp:scale = (1, 1, 1)
+                    double3 xformOp:translate = (0, 0, 0)
+                    uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+
+                    def Scope "Looks"
+                    {
+                    }
+
+                    def Xform "mesh" (
+                        instanceable = true
+                        prepend references = @./instances.usda@</Instances/mesh_3>
+                    )
+                    {
+                    }
+                }
+            }
+        }
+
+        def Xform "collisions" (
+            instanceable = false
+        )
+        {
+            def Xform "index_mesh_coll_1"
+            {
+                uniform token purpose = "guide"
+                token visibility = "inherited"
+                quatd xformOp:orient = (0.9991081357002258, 0, 0, 0.04222439229488373)
+                double3 xformOp:scale = (1, 1, 1)
+                double3 xformOp:translate = (0.038472700864076614, 0.0032577000092715025, 0)
+                uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+
+                def Xform "node_STL_BINARY_" (
+                    kind = "component"
+                )
+                {
+                    quatf xformOp:orient = (1, 0, 0, 0)
+                    float3 xformOp:scale = (1, 1, 1)
+                    double3 xformOp:translate = (0, 0, 0)
+                    uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+
+                    def Scope "Looks"
+                    {
+                    }
+
+                    def Xform "mesh" (
+                        instanceable = true
+                        prepend references = @./instances.usda@</Instances/mesh_4>
+                    )
+                    {
+                        over "mesh_4" (
+                            prepend apiSchemas = ["PhysicsCollisionAPI"]
+                        )
+                        {
+                        }
+                    }
+                }
+            }
+        }
+    }
+
+    def Scope "joints"
+    {
+    }
+
+    def Xform "index_L2"
+    {
+        quatd xformOp:orient = (0.684699296951294, -0.2234230637550354, -0.6802687644958496, 0.13602709770202637)
+        double3 xformOp:scale = (1, 1, 1)
+        double3 xformOp:translate = (-0.02973959967494011, -0.015294894576072693, 0.1340540498495102)
+        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+
+        def Xform "fsr0"
+        {
+            quatd xformOp:orient = (0.0007928775157779455, 0.9957338571548462, -0.09226854145526886, -0.00007347109203692526)
+            double3 xformOp:scale = (1, 1, 1)
+            double3 xformOp:translate = (0.029360000044107437, -0.01696999929845333, -0.004350000061094761)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+        }
+
+        def Xform "fsr1"
+        {
+            quatd xformOp:orient = (0.7023698091506958, -0.7023723125457764, 0.08170023560523987, -0.08169993758201599)
+            double3 xformOp:scale = (1, 1, 1)
+            double3 xformOp:translate = (0.029610000550746918, -0.013939999975264072, 0)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+        }
+
+        def Xform "fsr2"
+        {
+            quatd xformOp:orient = (0.9957339763641357, 0, 0, -0.0922703668475151)
+            double3 xformOp:scale = (1, 1, 1)
+            double3 xformOp:translate = (0.029360000044107437, -0.01696999929845333, 0.004350000061094761)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+        }
+
+        def Xform "fsr3"
+        {
+            quatd xformOp:orient = (0.000001216294208461477, 0.9595322012901306, -0.28159886598587036, -3.569521425106359e-7)
+            double3 xformOp:scale = (1, 1, 1)
+            double3 xformOp:translate = (0.014720000326633453, -0.010999999940395355, -0.004350000061094761)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+        }
+
+        def Xform "fsr4"
+        {
+            quatd xformOp:orient = (0.9593814015388489, 0, 0, -0.282112181186676)
+            double3 xformOp:scale = (1, 1, 1)
+            double3 xformOp:translate = (0.014720000326633453, -0.010990000329911709, 0.004350000061094761)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+        }
+
+        def Xform "fsr5"
+        {
+            quatd xformOp:orient = (0.16551180183887482, -0.6874620318412781, -0.16551239788532257, -0.6874645352363586)
+            double3 xformOp:scale = (1, 1, 1)
+            double3 xformOp:translate = (0.037039998918771744, -0.01785000041127205, 0)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+        }
+
+        def Xform "index_anchor"
+        {
+            quatd xformOp:orient = (1, 0, 0, 0)
+            double3 xformOp:scale = (1, 1, 1)
+            double3 xformOp:translate = (0.031554099172353745, -0.010440000332891941, 0.00014000000373926014)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+        }
+
+        def Xform "visuals" (
+            instanceable = false
+        )
+        {
+            def Xform "index_mesh_2"
+            {
+                token visibility = "inherited"
+                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 "node_STL_BINARY_" (
+                    kind = "component"
+                )
+                {
+                    quatf xformOp:orient = (1, 0, 0, 0)
+                    float3 xformOp:scale = (1, 1, 1)
+                    double3 xformOp:translate = (0, 0, 0)
+                    uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+
+                    def Scope "Looks"
+                    {
+                    }
+
+                    def Xform "mesh" (
+                        instanceable = true
+                        prepend references = @./instances.usda@</Instances/mesh_5>
+                    )
+                    {
+                    }
+                }
+            }
+        }
+
+        def Xform "collisions" (
+            instanceable = false
+        )
+        {
+            def Xform "index_mesh_coll_2"
+            {
+                uniform token purpose = "guide"
+                token visibility = "inherited"
+                quatd xformOp:orient = (1, 0, 0, 0)
+                double3 xformOp:scale = (1, 1, 1)
+                double3 xformOp:translate = (0.00912410020828247, 0, 0)
+                uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+
+                def Xform "node_STL_BINARY_" (
+                    kind = "component"
+                )
+                {
+                    quatf xformOp:orient = (1, 0, 0, 0)
+                    float3 xformOp:scale = (1, 1, 1)
+                    double3 xformOp:translate = (0, 0, 0)
+                    uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+
+                    def Scope "Looks"
+                    {
+                    }
+
+                    def Xform "mesh" (
+                        instanceable = true
+                        prepend references = @./instances.usda@</Instances/mesh_6>
+                    )
+                    {
+                        over "mesh_6" (
+                            prepend apiSchemas = ["PhysicsCollisionAPI"]
+                        )
+                        {
+                        }
+                    }
+                }
+            }
+        }
+    }
+
+    def Xform "middle_L1"
+    {
+        quatd xformOp:orient = (0.7045611143112183, 0.07189583778381348, -0.6983689069747925, -0.10346698760986328)
+        double3 xformOp:scale = (1, 1, 1)
+        double3 xformOp:translate = (-0.00800000037997961, -0.012000000104308128, 0.0989999994635582)
+        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+
+        def Xform "visuals" (
+            instanceable = false
+        )
+        {
+            def Xform "middle_mesh_1"
+            {
+                token visibility = "inherited"
+                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 "node_STL_BINARY_" (
+                    kind = "component"
+                )
+                {
+                    quatf xformOp:orient = (1, 0, 0, 0)
+                    float3 xformOp:scale = (1, 1, 1)
+                    double3 xformOp:translate = (0, 0, 0)
+                    uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+
+                    def Scope "Looks"
+                    {
+                    }
+
+                    def Xform "mesh" (
+                        instanceable = true
+                        prepend references = @./instances.usda@</Instances/mesh_3>
+                    )
+                    {
+                    }
+                }
+            }
+        }
+
+        def Xform "collisions" (
+            instanceable = false
+        )
+        {
+            def Xform "middle_mesh_coll_1"
+            {
+                uniform token purpose = "guide"
+                token visibility = "inherited"
+                quatd xformOp:orient = (0.9991081357002258, 0, 0, 0.04222439229488373)
+                double3 xformOp:scale = (1, 1, 1)
+                double3 xformOp:translate = (0.038472700864076614, 0.0032577000092715025, 0)
+                uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+
+                def Xform "node_STL_BINARY_" (
+                    kind = "component"
+                )
+                {
+                    quatf xformOp:orient = (1, 0, 0, 0)
+                    float3 xformOp:scale = (1, 1, 1)
+                    double3 xformOp:translate = (0, 0, 0)
+                    uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+
+                    def Scope "Looks"
+                    {
+                    }
+
+                    def Xform "mesh" (
+                        instanceable = true
+                        prepend references = @./instances.usda@</Instances/mesh_4>
+                    )
+                    {
+                        over "mesh_4" (
+                            prepend apiSchemas = ["PhysicsCollisionAPI"]
+                        )
+                        {
+                        }
+                    }
+                }
+            }
+        }
+    }
+
+    def Xform "middle_L2"
+    {
+        quatd xformOp:orient = (0.6921801567077637, -0.19429698586463928, -0.6746382713317871, 0.16732728481292725)
+        double3 xformOp:scale = (1, 1, 1)
+        double3 xformOp:translate = (-0.007730953861027956, -0.018318383023142815, 0.13708895444869995)
+        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+
+        def Xform "fsr10"
+        {
+            quatd xformOp:orient = (0.9593814015388489, 0, 0, -0.282112181186676)
+            double3 xformOp:scale = (1, 1, 1)
+            double3 xformOp:translate = (0.014720000326633453, -0.010990000329911709, 0.004350000061094761)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+        }
+
+        def Xform "fsr11"
+        {
+            quatd xformOp:orient = (0.16551180183887482, -0.6874620318412781, -0.16551239788532257, -0.6874645352363586)
+            double3 xformOp:scale = (1, 1, 1)
+            double3 xformOp:translate = (0.037039998918771744, -0.01785000041127205, 0)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+        }
+
+        def Xform "fsr6"
+        {
+            quatd xformOp:orient = (0.0007928775157779455, 0.9957338571548462, -0.09226854145526886, -0.00007347109203692526)
+            double3 xformOp:scale = (1, 1, 1)
+            double3 xformOp:translate = (0.029360000044107437, -0.01696999929845333, -0.004350000061094761)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+        }
+
+        def Xform "fsr7"
+        {
+            quatd xformOp:orient = (0.7023698091506958, -0.7023723125457764, 0.08170023560523987, -0.08169993758201599)
+            double3 xformOp:scale = (1, 1, 1)
+            double3 xformOp:translate = (0.029610000550746918, -0.013939999975264072, 0)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+        }
+
+        def Xform "fsr8"
+        {
+            quatd xformOp:orient = (0.9957339763641357, 0, 0, -0.0922703668475151)
+            double3 xformOp:scale = (1, 1, 1)
+            double3 xformOp:translate = (0.029360000044107437, -0.01696999929845333, 0.004350000061094761)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+        }
+
+        def Xform "fsr9"
+        {
+            quatd xformOp:orient = (0.000001216294208461477, 0.9595322012901306, -0.28159886598587036, -3.569521425106359e-7)
+            double3 xformOp:scale = (1, 1, 1)
+            double3 xformOp:translate = (0.014720000326633453, -0.010999999940395355, -0.004350000061094761)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+        }
+
+        def Xform "middle_anchor"
+        {
+            quatd xformOp:orient = (1, 0, 0, 0)
+            double3 xformOp:scale = (1, 1, 1)
+            double3 xformOp:translate = (0.031554099172353745, -0.010440000332891941, 0.00014000000373926014)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+        }
+
+        def Xform "visuals" (
+            instanceable = false
+        )
+        {
+            def Xform "middle_mesh_2"
+            {
+                token visibility = "inherited"
+                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 "node_STL_BINARY_" (
+                    kind = "component"
+                )
+                {
+                    quatf xformOp:orient = (1, 0, 0, 0)
+                    float3 xformOp:scale = (1, 1, 1)
+                    double3 xformOp:translate = (0, 0, 0)
+                    uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+
+                    def Scope "Looks"
+                    {
+                    }
+
+                    def Xform "mesh" (
+                        instanceable = true
+                        prepend references = @./instances.usda@</Instances/mesh_5>
+                    )
+                    {
+                    }
+                }
+            }
+        }
+
+        def Xform "collisions" (
+            instanceable = false
+        )
+        {
+            def Xform "middle_mesh_coll_2"
+            {
+                uniform token purpose = "guide"
+                token visibility = "inherited"
+                quatd xformOp:orient = (1, 0, 0, 0)
+                double3 xformOp:scale = (1, 1, 1)
+                double3 xformOp:translate = (0.00912410020828247, 0, 0)
+                uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+
+                def Xform "node_STL_BINARY_" (
+                    kind = "component"
+                )
+                {
+                    quatf xformOp:orient = (1, 0, 0, 0)
+                    float3 xformOp:scale = (1, 1, 1)
+                    double3 xformOp:translate = (0, 0, 0)
+                    uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+
+                    def Scope "Looks"
+                    {
+                    }
+
+                    def Xform "mesh" (
+                        instanceable = true
+                        prepend references = @./instances.usda@</Instances/mesh_6>
+                    )
+                    {
+                        over "mesh_6" (
+                            prepend apiSchemas = ["PhysicsCollisionAPI"]
+                        )
+                        {
+                        }
+                    }
+                }
+            }
+        }
+    }
+
+    def Xform "pinky_L1"
+    {
+        quatd xformOp:orient = (0.7192457914352417, 0.12222430109977722, -0.6817673444747925, -0.05422186851501465)
+        double3 xformOp:scale = (1, 1, 1)
+        double3 xformOp:translate = (0.03099999949336052, -0.007000000216066837, 0.09099999815225601)
+        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+
+        def Xform "visuals" (
+            instanceable = false
+        )
+        {
+            def Xform "pinky_mesh_1"
+            {
+                token visibility = "inherited"
+                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 "node_STL_BINARY_" (
+                    kind = "component"
+                )
+                {
+                    quatf xformOp:orient = (1, 0, 0, 0)
+                    float3 xformOp:scale = (1, 1, 1)
+                    double3 xformOp:translate = (0, 0, 0)
+                    uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+
+                    def Scope "Looks"
+                    {
+                    }
+
+                    def Xform "mesh" (
+                        instanceable = true
+                        prepend references = @./instances.usda@</Instances/mesh_3>
+                    )
+                    {
+                    }
+                }
+            }
+        }
+
+        def Xform "collisions" (
+            instanceable = false
+        )
+        {
+            def Xform "pinky_mesh_coll_1"
+            {
+                uniform token purpose = "guide"
+                token visibility = "inherited"
+                quatd xformOp:orient = (0.9991081357002258, 0, 0, 0.04222439229488373)
+                double3 xformOp:scale = (1, 1, 1)
+                double3 xformOp:translate = (0.038472700864076614, 0.0032577000092715025, 0)
+                uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+
+                def Xform "node_STL_BINARY_" (
+                    kind = "component"
+                )
+                {
+                    quatf xformOp:orient = (1, 0, 0, 0)
+                    float3 xformOp:scale = (1, 1, 1)
+                    double3 xformOp:translate = (0, 0, 0)
+                    uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+
+                    def Scope "Looks"
+                    {
+                    }
+
+                    def Xform "mesh" (
+                        instanceable = true
+                        prepend references = @./instances.usda@</Instances/mesh_4>
+                    )
+                    {
+                        over "mesh_4" (
+                            prepend apiSchemas = ["PhysicsCollisionAPI"]
+                        )
+                        {
+                        }
+                    }
+                }
+            }
+        }
+    }
+
+    def Xform "pinky_L2"
+    {
+        quatd xformOp:orient = (0.6873977184295654, -0.14141085743904114, -0.6780475378036499, 0.21849222481250763)
+        double3 xformOp:scale = (1, 1, 1)
+        double3 xformOp:translate = (0.033192917704582214, -0.013271328061819077, 0.12903451919555664)
+        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+
+        def Xform "fsr18"
+        {
+            quatd xformOp:orient = (0.0007928775157779455, 0.9957338571548462, -0.09226854145526886, -0.00007347109203692526)
+            double3 xformOp:scale = (1, 1, 1)
+            double3 xformOp:translate = (0.02556000091135502, -0.013910000212490559, -0.004350000061094761)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+        }
+
+        def Xform "fsr19"
+        {
+            quatd xformOp:orient = (0.7023698091506958, -0.7023723125457764, 0.08170023560523987, -0.08169993758201599)
+            double3 xformOp:scale = (1, 1, 1)
+            double3 xformOp:translate = (0.02517000027000904, -0.011099999770522118, -0)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+        }
+
+        def Xform "fsr20"
+        {
+            quatd xformOp:orient = (0.9957339763641357, 0, 0, -0.0922703668475151)
+            double3 xformOp:scale = (1, 1, 1)
+            double3 xformOp:translate = (0.02556000091135502, -0.013910000212490559, 0.004350000061094761)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+        }
+
+        def Xform "fsr21"
+        {
+            quatd xformOp:orient = (0.000001216294208461477, 0.9595322012901306, -0.28159886598587036, -3.569521425106359e-7)
+            double3 xformOp:scale = (1, 1, 1)
+            double3 xformOp:translate = (0.013100000098347664, -0.009429999627172947, -0.004350000061094761)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+        }
+
+        def Xform "fsr22"
+        {
+            quatd xformOp:orient = (0.9593814015388489, 0, 0, -0.282112181186676)
+            double3 xformOp:scale = (1, 1, 1)
+            double3 xformOp:translate = (0.013100000098347664, -0.009429999627172947, 0.004350000061094761)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+        }
+
+        def Xform "fsr23"
+        {
+            quatd xformOp:orient = (0.16551180183887482, -0.6874620318412781, -0.16551239788532257, -0.6874645352363586)
+            double3 xformOp:scale = (1, 1, 1)
+            double3 xformOp:translate = (0.03141999989748001, -0.014379999600350857, 0)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+        }
+
+        def Xform "pinky_anchor"
+        {
+            quatd xformOp:orient = (1, 0, 0, 0)
+            double3 xformOp:scale = (1, 1, 1)
+            double3 xformOp:translate = (0.031554099172353745, -0.010440000332891941, 0.00014000000373926014)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+        }
+
+        def Xform "visuals" (
+            instanceable = false
+        )
+        {
+            def Xform "pinky_mesh_2"
+            {
+                token visibility = "inherited"
+                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 "node_STL_BINARY_" (
+                    kind = "component"
+                )
+                {
+                    quatf xformOp:orient = (1, 0, 0, 0)
+                    float3 xformOp:scale = (1, 1, 1)
+                    double3 xformOp:translate = (0, 0, 0)
+                    uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+
+                    def Scope "Looks"
+                    {
+                    }
+
+                    def Xform "mesh" (
+                        instanceable = true
+                        prepend references = @./instances.usda@</Instances/mesh_7>
+                    )
+                    {
+                    }
+                }
+            }
+        }
+
+        def Xform "collisions" (
+            instanceable = false
+        )
+        {
+            def Xform "pinky_mesh_coll_2"
+            {
+                uniform token purpose = "guide"
+                token visibility = "inherited"
+                quatd xformOp:orient = (1, 0, 0, 0)
+                double3 xformOp:scale = (1, 1, 1)
+                double3 xformOp:translate = (0.00912410020828247, 0, 0)
+                uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+
+                def Xform "node_STL_BINARY_" (
+                    kind = "component"
+                )
+                {
+                    quatf xformOp:orient = (1, 0, 0, 0)
+                    float3 xformOp:scale = (1, 1, 1)
+                    double3 xformOp:translate = (0, 0, 0)
+                    uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+
+                    def Scope "Looks"
+                    {
+                    }
+
+                    def Xform "mesh" (
+                        instanceable = true
+                        prepend references = @./instances.usda@</Instances/mesh_8>
+                    )
+                    {
+                        over "mesh_8" (
+                            prepend apiSchemas = ["PhysicsCollisionAPI"]
+                        )
+                        {
+                        }
+                    }
+                }
+            }
+        }
+    }
+
+    def Xform "ring_L1"
+    {
+        quatd xformOp:orient = (0.7213953137397766, 0.09878215193748474, -0.6810986995697021, -0.07704183459281921)
+        double3 xformOp:scale = (1, 1, 1)
+        double3 xformOp:translate = (0.012000000104308128, -0.009999999776482582, 0.09700000286102295)
+        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+
+        def Xform "visuals" (
+            instanceable = false
+        )
+        {
+            def Xform "ring_mesh_1"
+            {
+                token visibility = "inherited"
+                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 "node_STL_BINARY_" (
+                    kind = "component"
+                )
+                {
+                    quatf xformOp:orient = (1, 0, 0, 0)
+                    float3 xformOp:scale = (1, 1, 1)
+                    double3 xformOp:translate = (0, 0, 0)
+                    uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+
+                    def Scope "Looks"
+                    {
+                    }
+
+                    def Xform "mesh" (
+                        instanceable = true
+                        prepend references = @./instances.usda@</Instances/mesh_3>
+                    )
+                    {
+                    }
+                }
+            }
+        }
+
+        def Xform "collisions" (
+            instanceable = false
+        )
+        {
+            def Xform "ring_mesh_coll_1"
+            {
+                uniform token purpose = "guide"
+                token visibility = "inherited"
+                quatd xformOp:orient = (0.9991081357002258, 0, 0, 0.04222439229488373)
+                double3 xformOp:scale = (1, 1, 1)
+                double3 xformOp:translate = (0.038472700864076614, 0.0032577000092715025, 0)
+                uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+
+                def Xform "node_STL_BINARY_" (
+                    kind = "component"
+                )
+                {
+                    quatf xformOp:orient = (1, 0, 0, 0)
+                    float3 xformOp:scale = (1, 1, 1)
+                    double3 xformOp:translate = (0, 0, 0)
+                    uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+
+                    def Scope "Looks"
+                    {
+                    }
+
+                    def Xform "mesh" (
+                        instanceable = true
+                        prepend references = @./instances.usda@</Instances/mesh_4>
+                    )
+                    {
+                        over "mesh_4" (
+                            prepend apiSchemas = ["PhysicsCollisionAPI"]
+                        )
+                        {
+                        }
+                    }
+                }
+            }
+        }
+    }
+
+    def Xform "ring_L2"
+    {
+        quatd xformOp:orient = (0.6979194283485413, -0.16290467977523804, -0.6686668992042542, 0.19812890887260437)
+        double3 xformOp:scale = (1, 1, 1)
+        double3 xformOp:translate = (0.014245127327740192, -0.016297917813062668, 0.13502708077430725)
+        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+
+        def Xform "fsr12"
+        {
+            quatd xformOp:orient = (0.0007928775157779455, 0.9957338571548462, -0.09226854145526886, -0.00007347109203692526)
+            double3 xformOp:scale = (1, 1, 1)
+            double3 xformOp:translate = (0.029360000044107437, -0.01696999929845333, -0.004350000061094761)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+        }
+
+        def Xform "fsr13"
+        {
+            quatd xformOp:orient = (0.7023698091506958, -0.7023723125457764, 0.08170023560523987, -0.08169993758201599)
+            double3 xformOp:scale = (1, 1, 1)
+            double3 xformOp:translate = (0.029610000550746918, -0.013939999975264072, 0)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+        }
+
+        def Xform "fsr14"
+        {
+            quatd xformOp:orient = (0.9957339763641357, 0, 0, -0.0922703668475151)
+            double3 xformOp:scale = (1, 1, 1)
+            double3 xformOp:translate = (0.029360000044107437, -0.01696999929845333, 0.004350000061094761)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+        }
+
+        def Xform "fsr15"
+        {
+            quatd xformOp:orient = (0.000001216294208461477, 0.9595322012901306, -0.28159886598587036, -3.569521425106359e-7)
+            double3 xformOp:scale = (1, 1, 1)
+            double3 xformOp:translate = (0.014720000326633453, -0.010999999940395355, -0.004350000061094761)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+        }
+
+        def Xform "fsr16"
+        {
+            quatd xformOp:orient = (0.9593814015388489, 0, 0, -0.282112181186676)
+            double3 xformOp:scale = (1, 1, 1)
+            double3 xformOp:translate = (0.014720000326633453, -0.010990000329911709, 0.004350000061094761)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+        }
+
+        def Xform "fsr17"
+        {
+            quatd xformOp:orient = (0.16551180183887482, -0.6874620318412781, -0.16551239788532257, -0.6874645352363586)
+            double3 xformOp:scale = (1, 1, 1)
+            double3 xformOp:translate = (0.037039998918771744, -0.01785000041127205, 0)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+        }
+
+        def Xform "ring_anchor"
+        {
+            quatd xformOp:orient = (1, 0, 0, 0)
+            double3 xformOp:scale = (1, 1, 1)
+            double3 xformOp:translate = (0.031554099172353745, -0.010440000332891941, 0.00014000000373926014)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+        }
+
+        def Xform "visuals" (
+            instanceable = false
+        )
+        {
+            def Xform "ring_mesh_2"
+            {
+                token visibility = "inherited"
+                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 "node_STL_BINARY_" (
+                    kind = "component"
+                )
+                {
+                    quatf xformOp:orient = (1, 0, 0, 0)
+                    float3 xformOp:scale = (1, 1, 1)
+                    double3 xformOp:translate = (0, 0, 0)
+                    uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+
+                    def Scope "Looks"
+                    {
+                    }
+
+                    def Xform "mesh" (
+                        instanceable = true
+                        prepend references = @./instances.usda@</Instances/mesh_5>
+                    )
+                    {
+                    }
+                }
+            }
+        }
+
+        def Xform "collisions" (
+            instanceable = false
+        )
+        {
+            def Xform "ring_mesh_coll_2"
+            {
+                uniform token purpose = "guide"
+                token visibility = "inherited"
+                quatd xformOp:orient = (1, 0, 0, 0)
+                double3 xformOp:scale = (1, 1, 1)
+                double3 xformOp:translate = (0.00912410020828247, 0, 0)
+                uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+
+                def Xform "node_STL_BINARY_" (
+                    kind = "component"
+                )
+                {
+                    quatf xformOp:orient = (1, 0, 0, 0)
+                    float3 xformOp:scale = (1, 1, 1)
+                    double3 xformOp:translate = (0, 0, 0)
+                    uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+
+                    def Scope "Looks"
+                    {
+                    }
+
+                    def Xform "mesh" (
+                        instanceable = true
+                        prepend references = @./instances.usda@</Instances/mesh_6>
+                    )
+                    {
+                        over "mesh_6" (
+                            prepend apiSchemas = ["PhysicsCollisionAPI"]
+                        )
+                        {
+                        }
+                    }
+                }
+            }
+        }
+    }
+
+    def Xform "thumb_L1"
+    {
+        quatd xformOp:orient = (0.09479716420173645, -0.044030096381902695, 0.004196958616375923, -0.9945136308670044)
+        double3 xformOp:scale = (1, 1, 1)
+        double3 xformOp:translate = (-0.024047667160630226, 0.003781247418373823, 0.03232964873313904)
+        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+
+        def Xform "visuals" (
+            instanceable = false
+        )
+        {
+            def Xform "thumb_mesh_1"
+            {
+                token visibility = "inherited"
+                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 "node_STL_BINARY_" (
+                    kind = "component"
+                )
+                {
+                    quatf xformOp:orient = (1, 0, 0, 0)
+                    float3 xformOp:scale = (1, 1, 1)
+                    double3 xformOp:translate = (0, 0, 0)
+                    uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+
+                    def Scope "Looks"
+                    {
+                    }
+
+                    def Xform "mesh" (
+                        instanceable = true
+                        prepend references = @./instances.usda@</Instances/mesh_9>
+                    )
+                    {
+                    }
+                }
+            }
+        }
+
+        def Xform "collisions" (
+            instanceable = false
+        )
+        {
+            def Xform "thumb_coll_mesh_1"
+            {
+                uniform token purpose = "guide"
+                token visibility = "inherited"
+                quatd xformOp:orient = (0.6087613105773926, 0.7933534383773804, 0, 0)
+                double3 xformOp:scale = (1, 1, 1)
+                double3 xformOp:translate = (0.027828399091959, 0, 0.014750700443983078)
+                uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+
+                def Xform "node_STL_BINARY_" (
+                    kind = "component"
+                )
+                {
+                    quatf xformOp:orient = (1, 0, 0, 0)
+                    float3 xformOp:scale = (1, 1, 1)
+                    double3 xformOp:translate = (0, 0, 0)
+                    uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+
+                    def Scope "Looks"
+                    {
+                    }
+
+                    def Xform "mesh" (
+                        instanceable = true
+                        prepend references = @./instances.usda@</Instances/mesh_10>
+                    )
+                    {
+                        over "mesh_10" (
+                            prepend apiSchemas = ["PhysicsCollisionAPI"]
+                        )
+                        {
+                        }
+                    }
+                }
+            }
+        }
+    }
+
+    def Xform "thumb_L2"
+    {
+        quatd xformOp:orient = (0.09264028072357178, 0.048403818160295486, -0.7864457368850708, -0.6087512373924255)
+        double3 xformOp:scale = (1, 1, 1)
+        double3 xformOp:translate = (-0.04996439814567566, -0.0014761881902813911, 0.04943762347102165)
+        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+
+        def Xform "fsr24"
+        {
+            quatd xformOp:orient = (0.40374043583869934, -0.8910711407661438, -0.18884731829166412, 0.08557149767875671)
+            double3 xformOp:scale = (1, 1, 1)
+            double3 xformOp:translate = (0.04746999964118004, 0.01988000050187111, -0.0012390000047162175)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+        }
+
+        def Xform "fsr25"
+        {
+            quatd xformOp:orient = (0.7761160135269165, -0.5955318212509155, -0.12621015310287476, 0.1644894778728485)
+            double3 xformOp:scale = (1, 1, 1)
+            double3 xformOp:translate = (0.047210000455379486, 0.021239999681711197, 0.006438999902456999)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+        }
+
+        def Xform "fsr26"
+        {
+            quatd xformOp:orient = (0.965203583240509, -0.15936213731765747, -0.03376941755414009, 0.2045615166425705)
+            double3 xformOp:scale = (1, 1, 1)
+            double3 xformOp:translate = (0.04896000027656555, 0.016540000215172768, 0.012409999966621399)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+        }
+
+        def Xform "fsr27"
+        {
+            quatd xformOp:orient = (0.40374043583869934, -0.8910711407661438, -0.18884731829166412, 0.08557149767875671)
+            double3 xformOp:scale = (1, 1, 1)
+            double3 xformOp:translate = (0.037390001118183136, 0.015359999611973763, -0.0012890000361949205)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+        }
+
+        def Xform "fsr28"
+        {
+            quatd xformOp:orient = (0.965203583240509, -0.15936213731765747, -0.03376941755414009, 0.2045615166425705)
+            double3 xformOp:scale = (1, 1, 1)
+            double3 xformOp:translate = (0.03888000175356865, 0.012000000104308128, 0.012439999729394913)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+        }
+
+        def Xform "fsr29"
+        {
+            quatd xformOp:orient = (1, 0, 0, 0)
+            double3 xformOp:scale = (1, 1, 1)
+            double3 xformOp:translate = (0.05590999871492386, 0.02160000056028366, 0.00558000011369586)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+        }
+
+        def Xform "thumb_anchor"
+        {
+            quatd xformOp:orient = (1, 0, 0, 0)
+            double3 xformOp:scale = (1, 1, 1)
+            double3 xformOp:translate = (0.0520012266933918, 0.02800869382917881, 0.006984835956245661)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+        }
+
+        def Xform "visuals" (
+            instanceable = false
+        )
+        {
+            def Xform "thumb_mesh_2"
+            {
+                token visibility = "inherited"
+                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 "node_STL_BINARY_" (
+                    kind = "component"
+                )
+                {
+                    quatf xformOp:orient = (1, 0, 0, 0)
+                    float3 xformOp:scale = (1, 1, 1)
+                    double3 xformOp:translate = (0, 0, 0)
+                    uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+
+                    def Scope "Looks"
+                    {
+                    }
+
+                    def Xform "mesh" (
+                        instanceable = true
+                        prepend references = @./instances.usda@</Instances/mesh_11>
+                    )
+                    {
+                    }
+                }
+            }
+        }
+
+        def Xform "collisions" (
+            instanceable = false
+        )
+        {
+            def Xform "thumb_hull_mesh_2"
+            {
+                uniform token purpose = "guide"
+                token visibility = "inherited"
+                quatd xformOp:orient = (3.092890494826861e-7, -0.9852590560913086, -0.1710689812898636, 5.370137046156742e-8)
+                double3 xformOp:scale = (1, 1, 1)
+                double3 xformOp:translate = (0.06518670171499252, 0.023340199142694473, 0.0039348299615085125)
+                uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+
+                def Xform "node_STL_BINARY_" (
+                    kind = "component"
+                )
+                {
+                    quatf xformOp:orient = (1, 0, 0, 0)
+                    float3 xformOp:scale = (1, 1, 1)
+                    double3 xformOp:translate = (0, 0, 0)
+                    uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+
+                    def Scope "Looks"
+                    {
+                    }
+
+                    def Xform "mesh" (
+                        instanceable = true
+                        prepend references = @./instances.usda@</Instances/mesh_12>
+                    )
+                    {
+                        over "mesh_12" (
+                            prepend apiSchemas = ["PhysicsCollisionAPI"]
+                        )
+                        {
+                        }
+                    }
+                }
+            }
+        }
+    }
+
+    def Scope "Looks"
+    {
+    }
+
+    def Scope "VisualMaterials"
+    {
+    }
+}
+

psyonic_ability_hand_right_large/payloads/geometries.usd

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:baee1d318721b0e03fd7097171f61b644ec75fac948610aaf045113fdc8a35fc
+size 4202634

psyonic_ability_hand_right_large/payloads/instances.usda

@@ -0,0 +1,550 @@
+#usda 1.0
+(
+    customLayerData = {
+    }
+    metersPerUnit = 1
+    upAxis = "Z"
+)
+
+def Scope "Instances"
+{
+    def Xform "mesh" (
+        prepend references = @./geometries.usd@</Geometries/mesh>
+    )
+    {
+        over "mesh" (
+            apiSchemas = ["MaterialBindingAPI"]
+        )
+        {
+            custom rel material:binding
+            prepend rel material:binding = </Instances/mesh/VisualMaterials/DefaultMaterial>
+        }
+
+        def Scope "VisualMaterials"
+        {
+            def Material "DefaultMaterial" (
+                instanceable = true
+                prepend references = @./materials.usda@</Materials/DefaultMaterial>
+            )
+            {
+                token outputs:surface.connect = </Instances/mesh/VisualMaterials/DefaultMaterial/SimReadyPreviewSurface.outputs:surface>
+
+                def Shader "SimReadyPreviewSurface"
+                {
+                    token info:id = "UsdPreviewSurface"
+                    color3f inputs:diffuseColor = (0.49803925, 0.49803925, 0.49803925)
+                    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 Xform "mesh_1" (
+        prepend references = @./geometries.usd@</Geometries/mesh_1>
+    )
+    {
+        over "mesh_1" (
+            apiSchemas = ["MaterialBindingAPI"]
+        )
+        {
+            custom rel material:binding
+            prepend rel material:binding = </Instances/mesh_1/VisualMaterials/DefaultMaterial>
+        }
+
+        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 = (0.49803925, 0.49803925, 0.49803925)
+                    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 Xform "mesh_2" (
+        prepend references = @./geometries.usd@</Geometries/mesh_2>
+    )
+    {
+        over "mesh_2" (
+            apiSchemas = ["MaterialBindingAPI"]
+        )
+        {
+            custom rel material:binding
+            prepend rel material:binding = </Instances/mesh_2/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_2/VisualMaterials/DefaultMaterial/SimReadyPreviewSurface.outputs:surface>
+
+                def Shader "SimReadyPreviewSurface"
+                {
+                    token info:id = "UsdPreviewSurface"
+                    color3f inputs:diffuseColor = (0.49803925, 0.49803925, 0.49803925)
+                    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 Xform "mesh_3" (
+        prepend references = @./geometries.usd@</Geometries/mesh_3>
+    )
+    {
+        over "mesh_3" (
+            apiSchemas = ["MaterialBindingAPI"]
+        )
+        {
+            custom rel material:binding
+            prepend rel material:binding = </Instances/mesh_3/VisualMaterials/DefaultMaterial>
+        }
+
+        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 = (0.49803925, 0.49803925, 0.49803925)
+                    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 Xform "mesh_4" (
+        prepend references = @./geometries.usd@</Geometries/mesh_4>
+    )
+    {
+        over "mesh_4" (
+            apiSchemas = ["MaterialBindingAPI"]
+        )
+        {
+            custom rel material:binding
+            prepend rel material:binding = </Instances/mesh_4/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_4/VisualMaterials/DefaultMaterial/SimReadyPreviewSurface.outputs:surface>
+
+                def Shader "SimReadyPreviewSurface"
+                {
+                    token info:id = "UsdPreviewSurface"
+                    color3f inputs:diffuseColor = (0.49803925, 0.49803925, 0.49803925)
+                    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 Xform "mesh_5" (
+        prepend references = @./geometries.usd@</Geometries/mesh_5>
+    )
+    {
+        over "mesh_5" (
+            apiSchemas = ["MaterialBindingAPI"]
+        )
+        {
+            custom rel material:binding
+            prepend rel material:binding = </Instances/mesh_5/VisualMaterials/DefaultMaterial>
+        }
+
+        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 = (0.49803925, 0.49803925, 0.49803925)
+                    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 Xform "mesh_6" (
+        prepend references = @./geometries.usd@</Geometries/mesh_6>
+    )
+    {
+        over "mesh_6" (
+            apiSchemas = ["MaterialBindingAPI"]
+        )
+        {
+            custom rel material:binding
+            prepend rel material:binding = </Instances/mesh_6/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_6/VisualMaterials/DefaultMaterial/SimReadyPreviewSurface.outputs:surface>
+
+                def Shader "SimReadyPreviewSurface"
+                {
+                    token info:id = "UsdPreviewSurface"
+                    color3f inputs:diffuseColor = (0.49803925, 0.49803925, 0.49803925)
+                    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 Xform "mesh_7" (
+        prepend references = @./geometries.usd@</Geometries/mesh_7>
+    )
+    {
+        over "mesh_7" (
+            apiSchemas = ["MaterialBindingAPI"]
+        )
+        {
+            custom rel material:binding
+            prepend rel material:binding = </Instances/mesh_7/VisualMaterials/DefaultMaterial>
+        }
+
+        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 = (0.49803925, 0.49803925, 0.49803925)
+                    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 Xform "mesh_8" (
+        prepend references = @./geometries.usd@</Geometries/mesh_8>
+    )
+    {
+        over "mesh_8" (
+            apiSchemas = ["MaterialBindingAPI"]
+        )
+        {
+            custom rel material:binding
+            prepend rel material:binding = </Instances/mesh_8/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_8/VisualMaterials/DefaultMaterial/SimReadyPreviewSurface.outputs:surface>
+
+                def Shader "SimReadyPreviewSurface"
+                {
+                    token info:id = "UsdPreviewSurface"
+                    color3f inputs:diffuseColor = (0.49803925, 0.49803925, 0.49803925)
+                    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 Xform "mesh_9" (
+        prepend references = @./geometries.usd@</Geometries/mesh_9>
+    )
+    {
+        over "mesh_9" (
+            apiSchemas = ["MaterialBindingAPI"]
+        )
+        {
+            custom rel material:binding
+            prepend rel material:binding = </Instances/mesh_9/VisualMaterials/DefaultMaterial>
+        }
+
+        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 = (0.49803925, 0.49803925, 0.49803925)
+                    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 Xform "mesh_10" (
+        prepend references = @./geometries.usd@</Geometries/mesh_10>
+    )
+    {
+        over "mesh_10" (
+            apiSchemas = ["MaterialBindingAPI"]
+        )
+        {
+            custom rel material:binding
+            prepend rel material:binding = </Instances/mesh_10/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_10/VisualMaterials/DefaultMaterial/SimReadyPreviewSurface.outputs:surface>
+
+                def Shader "SimReadyPreviewSurface"
+                {
+                    token info:id = "UsdPreviewSurface"
+                    color3f inputs:diffuseColor = (0.49803925, 0.49803925, 0.49803925)
+                    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 Xform "mesh_11" (
+        prepend references = @./geometries.usd@</Geometries/mesh_11>
+    )
+    {
+        over "mesh_11" (
+            apiSchemas = ["MaterialBindingAPI"]
+        )
+        {
+            custom rel material:binding
+            prepend rel material:binding = </Instances/mesh_11/VisualMaterials/DefaultMaterial>
+        }
+
+        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 = (0.49803925, 0.49803925, 0.49803925)
+                    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 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/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_12/VisualMaterials/DefaultMaterial/SimReadyPreviewSurface.outputs:surface>
+
+                def Shader "SimReadyPreviewSurface"
+                {
+                    token info:id = "UsdPreviewSurface"
+                    color3f inputs:diffuseColor = (0.49803925, 0.49803925, 0.49803925)
+                    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
+                }
+            }
+        }
+    }
+}
+

psyonic_ability_hand_right_large/payloads/materials.usda

@@ -0,0 +1,173 @@
+#usda 1.0
+(
+    customLayerData = {
+    }
+    metersPerUnit = 1
+    upAxis = "Z"
+)
+
+def Scope "Materials"
+{
+    def Material "DefaultMaterial"
+    {
+        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/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/simready_pbr_surfaceshader.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 = (0.49803925, 0.49803925, 0.49803925) (
+                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 = (0.49803925, 0.49803925, 0.49803925)
+            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 "simready_pbr_surfaceshader"
+        {
+            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
+        }
+    }
+}
+

psyonic_ability_hand_right_large/payloads/robot.usda

@@ -0,0 +1,542 @@
+#usda 1.0
+(
+    customLayerData = {
+    }
+    defaultPrim = "ability_hand"
+    metersPerUnit = 1
+    upAxis = "Z"
+)
+
+over "ability_hand" (
+    prepend apiSchemas = ["IsaacRobotAPI"]
+)
+{
+    string[] isaac:changelog
+    string isaac:description
+    token isaac:license
+    string isaac:namespace
+    prepend rel isaac:physics:robotJoints = [
+        </ability_hand/root_joint>,
+        </ability_hand/joints/index_q1>,
+        </ability_hand/joints/index_q2>,
+        </ability_hand/joints/middle_q1>,
+        </ability_hand/joints/middle_q2>,
+        </ability_hand/joints/pinky_q1>,
+        </ability_hand/joints/pinky_q2>,
+        </ability_hand/joints/ring_q1>,
+        </ability_hand/joints/ring_q2>,
+        </ability_hand/joints/thumb_q1>,
+        </ability_hand/joints/thumb_q2>,
+    ]
+    prepend rel isaac:physics:robotLinks = [
+        </ability_hand/base>,
+        </ability_hand/index_L1>,
+        </ability_hand/index_L2>,
+        </ability_hand/middle_L1>,
+        </ability_hand/middle_L2>,
+        </ability_hand/pinky_L1>,
+        </ability_hand/pinky_L2>,
+        </ability_hand/ring_L1>,
+        </ability_hand/ring_L2>,
+        </ability_hand/thumb_L1>,
+        </ability_hand/thumb_L2>,
+        </ability_hand/index_L2/fsr0>,
+        </ability_hand/index_L2/fsr1>,
+        </ability_hand/index_L2/fsr2>,
+        </ability_hand/index_L2/fsr3>,
+        </ability_hand/index_L2/fsr4>,
+        </ability_hand/index_L2/fsr5>,
+        </ability_hand/index_L2/index_anchor>,
+        </ability_hand/middle_L2/fsr10>,
+        </ability_hand/middle_L2/fsr11>,
+        </ability_hand/middle_L2/fsr6>,
+        </ability_hand/middle_L2/fsr7>,
+        </ability_hand/middle_L2/fsr8>,
+        </ability_hand/middle_L2/fsr9>,
+        </ability_hand/middle_L2/middle_anchor>,
+        </ability_hand/pinky_L2/fsr18>,
+        </ability_hand/pinky_L2/fsr19>,
+        </ability_hand/pinky_L2/fsr20>,
+        </ability_hand/pinky_L2/fsr21>,
+        </ability_hand/pinky_L2/fsr22>,
+        </ability_hand/pinky_L2/fsr23>,
+        </ability_hand/pinky_L2/pinky_anchor>,
+        </ability_hand/ring_L2/fsr12>,
+        </ability_hand/ring_L2/fsr13>,
+        </ability_hand/ring_L2/fsr14>,
+        </ability_hand/ring_L2/fsr15>,
+        </ability_hand/ring_L2/fsr16>,
+        </ability_hand/ring_L2/fsr17>,
+        </ability_hand/ring_L2/ring_anchor>,
+        </ability_hand/thumb_L2/fsr24>,
+        </ability_hand/thumb_L2/fsr25>,
+        </ability_hand/thumb_L2/fsr26>,
+        </ability_hand/thumb_L2/fsr27>,
+        </ability_hand/thumb_L2/fsr28>,
+        </ability_hand/thumb_L2/fsr29>,
+        </ability_hand/thumb_L2/thumb_anchor>,
+    ]
+    token isaac:robotType = "End Effector"
+    string isaac:source
+    string isaac:version
+
+    over "base" (
+        prepend apiSchemas = ["IsaacLinkAPI"]
+    )
+    {
+        string isaac:nameOverride
+    }
+
+    over "index_L1" (
+        prepend apiSchemas = ["IsaacLinkAPI"]
+    )
+    {
+        string isaac:nameOverride
+    }
+
+    over "joints"
+    {
+        over "index_q1" (
+            prepend apiSchemas = ["IsaacJointAPI"]
+        )
+        {
+            string isaac:nameOverride
+            float[] isaac:physics:AccelerationLimit
+            int isaac:physics:index
+            float[] isaac:physics:JerkLimit
+            int isaac:physics:Rot_X:DofOffset
+            int isaac:physics:Rot_Y:DofOffset
+            int isaac:physics:Rot_Z:DofOffset
+            int isaac:physics:Tr_X:DofOffset
+            int isaac:physics:Tr_Y:DofOffset
+            int isaac:physics:Tr_Z:DofOffset
+        }
+
+        over "index_q2" (
+            prepend apiSchemas = ["IsaacJointAPI"]
+        )
+        {
+            string isaac:nameOverride
+            float[] isaac:physics:AccelerationLimit
+            int isaac:physics:index
+            float[] isaac:physics:JerkLimit
+            int isaac:physics:Rot_X:DofOffset
+            int isaac:physics:Rot_Y:DofOffset
+            int isaac:physics:Rot_Z:DofOffset
+            int isaac:physics:Tr_X:DofOffset
+            int isaac:physics:Tr_Y:DofOffset
+            int isaac:physics:Tr_Z:DofOffset
+        }
+
+        over "middle_q1" (
+            prepend apiSchemas = ["IsaacJointAPI"]
+        )
+        {
+            string isaac:nameOverride (
+                displayName = "Name Override"
+                doc = "Name override for prim lookup in base name search"
+            )
+            float[] isaac:physics:AccelerationLimit
+            int isaac:physics:index
+            float[] isaac:physics:JerkLimit
+            int isaac:physics:Rot_X:DofOffset
+            int isaac:physics:Rot_Y:DofOffset
+            int isaac:physics:Rot_Z:DofOffset
+            int isaac:physics:Tr_X:DofOffset
+            int isaac:physics:Tr_Y:DofOffset
+            int isaac:physics:Tr_Z:DofOffset
+        }
+
+        over "middle_q2" (
+            prepend apiSchemas = ["IsaacJointAPI"]
+        )
+        {
+            string isaac:nameOverride
+            float[] isaac:physics:AccelerationLimit
+            int isaac:physics:index
+            float[] isaac:physics:JerkLimit
+            int isaac:physics:Rot_X:DofOffset
+            int isaac:physics:Rot_Y:DofOffset
+            int isaac:physics:Rot_Z:DofOffset
+            int isaac:physics:Tr_X:DofOffset
+            int isaac:physics:Tr_Y:DofOffset
+            int isaac:physics:Tr_Z:DofOffset
+        }
+
+        over "pinky_q1" (
+            prepend apiSchemas = ["IsaacJointAPI"]
+        )
+        {
+            string isaac:nameOverride
+            float[] isaac:physics:AccelerationLimit
+            int isaac:physics:index
+            float[] isaac:physics:JerkLimit
+            int isaac:physics:Rot_X:DofOffset
+            int isaac:physics:Rot_Y:DofOffset
+            int isaac:physics:Rot_Z:DofOffset
+            int isaac:physics:Tr_X:DofOffset
+            int isaac:physics:Tr_Y:DofOffset
+            int isaac:physics:Tr_Z:DofOffset
+        }
+
+        over "pinky_q2" (
+            prepend apiSchemas = ["IsaacJointAPI"]
+        )
+        {
+            string isaac:nameOverride
+            float[] isaac:physics:AccelerationLimit
+            int isaac:physics:index
+            float[] isaac:physics:JerkLimit
+            int isaac:physics:Rot_X:DofOffset
+            int isaac:physics:Rot_Y:DofOffset
+            int isaac:physics:Rot_Z:DofOffset
+            int isaac:physics:Tr_X:DofOffset
+            int isaac:physics:Tr_Y:DofOffset
+            int isaac:physics:Tr_Z:DofOffset
+        }
+
+        over "ring_q1" (
+            prepend apiSchemas = ["IsaacJointAPI"]
+        )
+        {
+            string isaac:nameOverride
+            float[] isaac:physics:AccelerationLimit
+            int isaac:physics:index
+            float[] isaac:physics:JerkLimit
+            int isaac:physics:Rot_X:DofOffset
+            int isaac:physics:Rot_Y:DofOffset
+            int isaac:physics:Rot_Z:DofOffset
+            int isaac:physics:Tr_X:DofOffset
+            int isaac:physics:Tr_Y:DofOffset
+            int isaac:physics:Tr_Z:DofOffset
+        }
+
+        over "ring_q2" (
+            prepend apiSchemas = ["IsaacJointAPI"]
+        )
+        {
+            string isaac:nameOverride
+            float[] isaac:physics:AccelerationLimit
+            int isaac:physics:index
+            float[] isaac:physics:JerkLimit
+            int isaac:physics:Rot_X:DofOffset
+            int isaac:physics:Rot_Y:DofOffset
+            int isaac:physics:Rot_Z:DofOffset
+            int isaac:physics:Tr_X:DofOffset
+            int isaac:physics:Tr_Y:DofOffset
+            int isaac:physics:Tr_Z:DofOffset
+        }
+
+        over "thumb_q1" (
+            prepend apiSchemas = ["IsaacJointAPI"]
+        )
+        {
+            string isaac:nameOverride
+            float[] isaac:physics:AccelerationLimit
+            int isaac:physics:index
+            float[] isaac:physics:JerkLimit
+            int isaac:physics:Rot_X:DofOffset
+            int isaac:physics:Rot_Y:DofOffset
+            int isaac:physics:Rot_Z:DofOffset
+            int isaac:physics:Tr_X:DofOffset
+            int isaac:physics:Tr_Y:DofOffset
+            int isaac:physics:Tr_Z:DofOffset
+        }
+
+        over "thumb_q2" (
+            prepend apiSchemas = ["IsaacJointAPI"]
+        )
+        {
+            string isaac:nameOverride
+            float[] isaac:physics:AccelerationLimit
+            int isaac:physics:index
+            float[] isaac:physics:JerkLimit
+            int isaac:physics:Rot_X:DofOffset
+            int isaac:physics:Rot_Y:DofOffset
+            int isaac:physics:Rot_Z:DofOffset
+            int isaac:physics:Tr_X:DofOffset
+            int isaac:physics:Tr_Y:DofOffset
+            int isaac:physics:Tr_Z:DofOffset
+        }
+    }
+
+    over "index_L2" (
+        prepend apiSchemas = ["IsaacLinkAPI"]
+    )
+    {
+        string isaac:nameOverride
+
+        over "fsr0" (
+            prepend apiSchemas = ["IsaacSiteAPI"]
+        )
+        {
+        }
+
+        over "fsr1" (
+            prepend apiSchemas = ["IsaacSiteAPI"]
+        )
+        {
+        }
+
+        over "fsr2" (
+            prepend apiSchemas = ["IsaacSiteAPI"]
+        )
+        {
+        }
+
+        over "fsr3" (
+            prepend apiSchemas = ["IsaacSiteAPI"]
+        )
+        {
+        }
+
+        over "fsr4" (
+            prepend apiSchemas = ["IsaacSiteAPI"]
+        )
+        {
+        }
+
+        over "fsr5" (
+            prepend apiSchemas = ["IsaacSiteAPI"]
+        )
+        {
+        }
+
+        over "index_anchor" (
+            prepend apiSchemas = ["IsaacSiteAPI"]
+        )
+        {
+        }
+    }
+
+    over "middle_L1" (
+        prepend apiSchemas = ["IsaacLinkAPI"]
+    )
+    {
+        string isaac:nameOverride
+    }
+
+    over "middle_L2" (
+        prepend apiSchemas = ["IsaacLinkAPI"]
+    )
+    {
+        string isaac:nameOverride
+
+        over "fsr10" (
+            prepend apiSchemas = ["IsaacSiteAPI"]
+        )
+        {
+        }
+
+        over "fsr11" (
+            prepend apiSchemas = ["IsaacSiteAPI"]
+        )
+        {
+        }
+
+        over "fsr6" (
+            prepend apiSchemas = ["IsaacSiteAPI"]
+        )
+        {
+        }
+
+        over "fsr7" (
+            prepend apiSchemas = ["IsaacSiteAPI"]
+        )
+        {
+        }
+
+        over "fsr8" (
+            prepend apiSchemas = ["IsaacSiteAPI"]
+        )
+        {
+        }
+
+        over "fsr9" (
+            prepend apiSchemas = ["IsaacSiteAPI"]
+        )
+        {
+        }
+
+        over "middle_anchor" (
+            prepend apiSchemas = ["IsaacSiteAPI"]
+        )
+        {
+        }
+    }
+
+    over "pinky_L1" (
+        prepend apiSchemas = ["IsaacLinkAPI"]
+    )
+    {
+        string isaac:nameOverride
+    }
+
+    over "pinky_L2" (
+        prepend apiSchemas = ["IsaacLinkAPI"]
+    )
+    {
+        string isaac:nameOverride
+
+        over "fsr18" (
+            prepend apiSchemas = ["IsaacSiteAPI"]
+        )
+        {
+        }
+
+        over "fsr19" (
+            prepend apiSchemas = ["IsaacSiteAPI"]
+        )
+        {
+        }
+
+        over "fsr20" (
+            prepend apiSchemas = ["IsaacSiteAPI"]
+        )
+        {
+        }
+
+        over "fsr21" (
+            prepend apiSchemas = ["IsaacSiteAPI"]
+        )
+        {
+        }
+
+        over "fsr22" (
+            prepend apiSchemas = ["IsaacSiteAPI"]
+        )
+        {
+        }
+
+        over "fsr23" (
+            prepend apiSchemas = ["IsaacSiteAPI"]
+        )
+        {
+        }
+
+        over "pinky_anchor" (
+            prepend apiSchemas = ["IsaacSiteAPI"]
+        )
+        {
+        }
+    }
+
+    over "ring_L1" (
+        prepend apiSchemas = ["IsaacLinkAPI"]
+    )
+    {
+        string isaac:nameOverride
+    }
+
+    over "ring_L2" (
+        prepend apiSchemas = ["IsaacLinkAPI"]
+    )
+    {
+        string isaac:nameOverride
+
+        over "fsr12" (
+            prepend apiSchemas = ["IsaacSiteAPI"]
+        )
+        {
+        }
+
+        over "fsr13" (
+            prepend apiSchemas = ["IsaacSiteAPI"]
+        )
+        {
+        }
+
+        over "fsr14" (
+            prepend apiSchemas = ["IsaacSiteAPI"]
+        )
+        {
+        }
+
+        over "fsr15" (
+            prepend apiSchemas = ["IsaacSiteAPI"]
+        )
+        {
+        }
+
+        over "fsr16" (
+            prepend apiSchemas = ["IsaacSiteAPI"]
+        )
+        {
+        }
+
+        over "fsr17" (
+            prepend apiSchemas = ["IsaacSiteAPI"]
+        )
+        {
+        }
+
+        over "ring_anchor" (
+            prepend apiSchemas = ["IsaacSiteAPI"]
+        )
+        {
+        }
+    }
+
+    over "thumb_L1" (
+        prepend apiSchemas = ["IsaacLinkAPI"]
+    )
+    {
+        string isaac:nameOverride
+    }
+
+    over "thumb_L2" (
+        prepend apiSchemas = ["IsaacLinkAPI"]
+    )
+    {
+        string isaac:nameOverride
+
+        over "fsr24" (
+            prepend apiSchemas = ["IsaacSiteAPI"]
+        )
+        {
+        }
+
+        over "fsr25" (
+            prepend apiSchemas = ["IsaacSiteAPI"]
+        )
+        {
+        }
+
+        over "fsr26" (
+            prepend apiSchemas = ["IsaacSiteAPI"]
+        )
+        {
+        }
+
+        over "fsr27" (
+            prepend apiSchemas = ["IsaacSiteAPI"]
+        )
+        {
+        }
+
+        over "fsr28" (
+            prepend apiSchemas = ["IsaacSiteAPI"]
+        )
+        {
+        }
+
+        over "fsr29" (
+            prepend apiSchemas = ["IsaacSiteAPI"]
+        )
+        {
+        }
+
+        over "thumb_anchor" (
+            prepend apiSchemas = ["IsaacSiteAPI"]
+        )
+        {
+        }
+    }
+
+    over "root_joint" (
+        prepend apiSchemas = ["IsaacJointAPI"]
+    )
+    {
+    }
+}
+

psyonic_ability_hand_right_large/runnables/physics/mujoco.usda

@@ -0,0 +1,428 @@
+#usda 1.0
+(
+    defaultPrim = "ability_hand"
+)
+
+def "ability_hand"
+{
+    over "base"
+    {
+        over "collisions"
+        {
+            over "palm_mesh_coll"
+            {
+                over "node_STL_BINARY_"
+                {
+                    over "mesh"
+                    {
+                        over "mesh_2" (
+                            prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"]
+                        )
+                        {
+                            uniform token physics:approximation = "convexHull"
+                        }
+                    }
+                }
+            }
+        }
+
+        over "gripper_01" (
+            prepend apiSchemas = ["MjcSiteAPI"]
+        )
+        {
+        }
+    }
+
+    over "index_L1"
+    {
+        over "collisions"
+        {
+            over "index_mesh_coll_1"
+            {
+                over "node_STL_BINARY_"
+                {
+                    over "mesh"
+                    {
+                        over "mesh_4" (
+                            prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"]
+                        )
+                        {
+                            uniform token physics:approximation = "convexHull"
+                        }
+                    }
+                }
+            }
+        }
+    }
+
+    over "index_L2"
+    {
+        over "collisions"
+        {
+            over "index_mesh_coll_2"
+            {
+                over "node_STL_BINARY_"
+                {
+                    over "mesh"
+                    {
+                        over "mesh_6" (
+                            prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"]
+                        )
+                        {
+                            uniform token physics:approximation = "convexHull"
+                        }
+                    }
+                }
+            }
+        }
+    }
+
+    over "middle_L1"
+    {
+        over "collisions"
+        {
+            over "middle_mesh_coll_1"
+            {
+                over "node_STL_BINARY_"
+                {
+                    over "mesh"
+                    {
+                        over "mesh_4" (
+                            prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"]
+                        )
+                        {
+                            uniform token physics:approximation = "convexHull"
+                        }
+                    }
+                }
+            }
+        }
+    }
+
+    over "middle_L2"
+    {
+        over "collisions"
+        {
+            over "middle_mesh_coll_2"
+            {
+                over "node_STL_BINARY_"
+                {
+                    over "mesh"
+                    {
+                        over "mesh_6" (
+                            prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"]
+                        )
+                        {
+                            uniform token physics:approximation = "convexHull"
+                        }
+                    }
+                }
+            }
+        }
+    }
+
+    over "pinky_L1"
+    {
+        over "collisions"
+        {
+            over "pinky_mesh_coll_1"
+            {
+                over "node_STL_BINARY_"
+                {
+                    over "mesh"
+                    {
+                        over "mesh_4" (
+                            prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"]
+                        )
+                        {
+                            uniform token physics:approximation = "convexHull"
+                        }
+                    }
+                }
+            }
+        }
+    }
+
+    over "pinky_L2"
+    {
+        over "collisions"
+        {
+            over "pinky_mesh_coll_2"
+            {
+                over "node_STL_BINARY_"
+                {
+                    over "mesh"
+                    {
+                        over "mesh_8" (
+                            prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"]
+                        )
+                        {
+                            uniform token physics:approximation = "convexHull"
+                        }
+                    }
+                }
+            }
+        }
+    }
+
+    over "ring_L1"
+    {
+        over "collisions"
+        {
+            over "ring_mesh_coll_1"
+            {
+                over "node_STL_BINARY_"
+                {
+                    over "mesh"
+                    {
+                        over "mesh_4" (
+                            prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"]
+                        )
+                        {
+                            uniform token physics:approximation = "convexHull"
+                        }
+                    }
+                }
+            }
+        }
+    }
+
+    over "ring_L2"
+    {
+        over "collisions"
+        {
+            over "ring_mesh_coll_2"
+            {
+                over "node_STL_BINARY_"
+                {
+                    over "mesh"
+                    {
+                        over "mesh_6" (
+                            prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"]
+                        )
+                        {
+                            uniform token physics:approximation = "convexHull"
+                        }
+                    }
+                }
+            }
+        }
+    }
+
+    over "thumb_L1"
+    {
+        over "collisions"
+        {
+            over "thumb_coll_mesh_1"
+            {
+                over "node_STL_BINARY_"
+                {
+                    over "mesh"
+                    {
+                        over "mesh_10" (
+                            prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"]
+                        )
+                        {
+                            uniform token physics:approximation = "convexHull"
+                        }
+                    }
+                }
+            }
+        }
+    }
+
+    over "thumb_L2"
+    {
+        over "collisions"
+        {
+            over "thumb_hull_mesh_2"
+            {
+                over "node_STL_BINARY_"
+                {
+                    over "mesh"
+                    {
+                        over "mesh_12" (
+                            prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"]
+                        )
+                        {
+                            uniform token physics:approximation = "convexHull"
+                        }
+                    }
+                }
+            }
+        }
+    }
+
+    over "joints"
+    {
+        over "index_q1" (
+            prepend apiSchemas = ["MjcJointAPI"]
+        )
+        {
+        }
+
+        over "index_q2" (
+            prepend apiSchemas = ["MjcJointAPI", "NewtonMimicAPI", "MjcEqualityJointAPI"]
+        )
+        {
+            float newton:mimicCoef0 = 0
+            float newton:mimicCoef1 = 1.0585133
+            bool newton:mimicEnabled = 1
+            rel newton:mimicJoint = </ability_hand/joints/index_q1>
+        }
+
+        over "middle_q1" (
+            prepend apiSchemas = ["MjcJointAPI"]
+        )
+        {
+        }
+
+        over "middle_q2" (
+            prepend apiSchemas = ["MjcJointAPI", "NewtonMimicAPI", "MjcEqualityJointAPI"]
+        )
+        {
+            float newton:mimicCoef0 = 0
+            float newton:mimicCoef1 = 1.0585133
+            bool newton:mimicEnabled = 1
+            rel newton:mimicJoint = </ability_hand/joints/middle_q1>
+        }
+
+        over "pinky_q1" (
+            prepend apiSchemas = ["MjcJointAPI"]
+        )
+        {
+        }
+
+        over "pinky_q2" (
+            prepend apiSchemas = ["MjcJointAPI", "NewtonMimicAPI", "MjcEqualityJointAPI"]
+        )
+        {
+            float newton:mimicCoef0 = 0
+            float newton:mimicCoef1 = 1.0585133
+            bool newton:mimicEnabled = 1
+            rel newton:mimicJoint = </ability_hand/joints/pinky_q1>
+        }
+
+        over "ring_q1" (
+            prepend apiSchemas = ["MjcJointAPI"]
+        )
+        {
+        }
+
+        over "ring_q2" (
+            prepend apiSchemas = ["MjcJointAPI", "NewtonMimicAPI", "MjcEqualityJointAPI"]
+        )
+        {
+            float newton:mimicCoef0 = 0
+            float newton:mimicCoef1 = 1.0585133
+            bool newton:mimicEnabled = 1
+            rel newton:mimicJoint = </ability_hand/joints/ring_q1>
+        }
+
+        over "thumb_q1" (
+            prepend apiSchemas = ["MjcJointAPI"]
+        )
+        {
+        }
+
+        over "thumb_q2" (
+            prepend apiSchemas = ["MjcJointAPI"]
+        )
+        {
+        }
+    }
+
+    def "MuJoCoActuators"
+    {
+        def MjcActuator "act_ability_hand_joints_index_q1" (
+            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, -10.255745043506646, -0.0041022981601429405]
+            token mjc:biasType = "affine"
+            token mjc:ctrlLimited = "false"
+            token mjc:forceLimited = "true"
+            double mjc:forceRange:max = 6
+            double mjc:forceRange:min = -6
+            double[] mjc:gainPrm = [1]
+            token mjc:gainType = "fixed"
+            rel mjc:target = </ability_hand/joints/index_q1>
+        }
+
+        def MjcActuator "act_ability_hand_joints_middle_q1" (
+            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, -10.105774579900677, -0.0040423097225705225]
+            token mjc:biasType = "affine"
+            token mjc:ctrlLimited = "false"
+            token mjc:forceLimited = "true"
+            double mjc:forceRange:max = 6
+            double mjc:forceRange:min = -6
+            double[] mjc:gainPrm = [1]
+            token mjc:gainType = "fixed"
+            rel mjc:target = </ability_hand/joints/middle_q1>
+        }
+
+        def MjcActuator "act_ability_hand_joints_pinky_q1" (
+            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, -9.436883909197574, -0.0037747534035964705]
+            token mjc:biasType = "affine"
+            token mjc:ctrlLimited = "false"
+            token mjc:forceLimited = "true"
+            double mjc:forceRange:max = 6
+            double mjc:forceRange:min = -6
+            double[] mjc:gainPrm = [1]
+            token mjc:gainType = "fixed"
+            rel mjc:target = </ability_hand/joints/pinky_q1>
+        }
+
+        def MjcActuator "act_ability_hand_joints_ring_q1" (
+            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, -9.825940022057962, -0.003930376162235637]
+            token mjc:biasType = "affine"
+            token mjc:ctrlLimited = "false"
+            token mjc:forceLimited = "true"
+            double mjc:forceRange:max = 6
+            double mjc:forceRange:min = -6
+            double[] mjc:gainPrm = [1]
+            token mjc:gainType = "fixed"
+            rel mjc:target = </ability_hand/joints/ring_q1>
+        }
+
+        def MjcActuator "act_ability_hand_joints_thumb_q1" (
+            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, -16.91809512127103, -0.006767238371341571]
+            token mjc:biasType = "affine"
+            token mjc:ctrlLimited = "false"
+            token mjc:forceLimited = "true"
+            double mjc:forceRange:max = 1.2000000476837158
+            double mjc:forceRange:min = -1.2000000476837158
+            double[] mjc:gainPrm = [1]
+            token mjc:gainType = "fixed"
+            rel mjc:target = </ability_hand/joints/thumb_q1>
+        }
+
+        def MjcActuator "act_ability_hand_joints_thumb_q2" (
+            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, -9.89963093301323, -0.003959852197114477]
+            token mjc:biasType = "affine"
+            token mjc:ctrlLimited = "false"
+            token mjc:forceLimited = "true"
+            double mjc:forceRange:max = 6
+            double mjc:forceRange:min = -6
+            double[] mjc:gainPrm = [1]
+            token mjc:gainType = "fixed"
+            rel mjc:target = </ability_hand/joints/thumb_q2>
+        }
+    }
+}
+

psyonic_ability_hand_right_large/runnables/physics/newton.usda

@@ -0,0 +1,370 @@
+#usda 1.0
+(
+    defaultPrim = "ability_hand"
+)
+
+over "ability_hand"
+{
+    over "base"
+    {
+        over "collisions"
+        {
+            over "palm_mesh_coll"
+            {
+                over "node_STL_BINARY_"
+                {
+                    over "mesh"
+                    {
+                        over "mesh_2" (
+                            prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"]
+                        )
+                        {
+                            uniform token physics:approximation = "convexHull"
+                        }
+                    }
+                }
+            }
+        }
+    }
+
+    over "index_L1"
+    {
+        over "collisions"
+        {
+            over "index_mesh_coll_1"
+            {
+                over "node_STL_BINARY_"
+                {
+                    over "mesh"
+                    {
+                        over "mesh_4" (
+                            prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"]
+                        )
+                        {
+                            uniform token physics:approximation = "convexHull"
+                        }
+                    }
+                }
+            }
+        }
+    }
+
+    over "index_L2"
+    {
+        over "collisions"
+        {
+            over "index_mesh_coll_2"
+            {
+                over "node_STL_BINARY_"
+                {
+                    over "mesh"
+                    {
+                        over "mesh_6" (
+                            prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"]
+                        )
+                        {
+                            uniform token physics:approximation = "convexHull"
+                        }
+                    }
+                }
+            }
+        }
+    }
+
+    over "middle_L1"
+    {
+        over "collisions"
+        {
+            over "middle_mesh_coll_1"
+            {
+                over "node_STL_BINARY_"
+                {
+                    over "mesh"
+                    {
+                        over "mesh_4" (
+                            prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"]
+                        )
+                        {
+                            uniform token physics:approximation = "convexHull"
+                        }
+                    }
+                }
+            }
+        }
+    }
+
+    over "middle_L2"
+    {
+        over "collisions"
+        {
+            over "middle_mesh_coll_2"
+            {
+                over "node_STL_BINARY_"
+                {
+                    over "mesh"
+                    {
+                        over "mesh_6" (
+                            prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"]
+                        )
+                        {
+                            uniform token physics:approximation = "convexHull"
+                        }
+                    }
+                }
+            }
+        }
+    }
+
+    over "pinky_L1"
+    {
+        over "collisions"
+        {
+            over "pinky_mesh_coll_1"
+            {
+                over "node_STL_BINARY_"
+                {
+                    over "mesh"
+                    {
+                        over "mesh_4" (
+                            prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"]
+                        )
+                        {
+                            uniform token physics:approximation = "convexHull"
+                        }
+                    }
+                }
+            }
+        }
+    }
+
+    over "pinky_L2"
+    {
+        over "collisions"
+        {
+            over "pinky_mesh_coll_2"
+            {
+                over "node_STL_BINARY_"
+                {
+                    over "mesh"
+                    {
+                        over "mesh_8" (
+                            prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"]
+                        )
+                        {
+                            uniform token physics:approximation = "convexHull"
+                        }
+                    }
+                }
+            }
+        }
+    }
+
+    over "ring_L1"
+    {
+        over "collisions"
+        {
+            over "ring_mesh_coll_1"
+            {
+                over "node_STL_BINARY_"
+                {
+                    over "mesh"
+                    {
+                        over "mesh_4" (
+                            prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"]
+                        )
+                        {
+                            uniform token physics:approximation = "convexHull"
+                        }
+                    }
+                }
+            }
+        }
+    }
+
+    over "ring_L2"
+    {
+        over "collisions"
+        {
+            over "ring_mesh_coll_2"
+            {
+                over "node_STL_BINARY_"
+                {
+                    over "mesh"
+                    {
+                        over "mesh_6" (
+                            prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"]
+                        )
+                        {
+                            uniform token physics:approximation = "convexHull"
+                        }
+                    }
+                }
+            }
+        }
+    }
+
+    over "thumb_L1"
+    {
+        over "collisions"
+        {
+            over "thumb_coll_mesh_1"
+            {
+                over "node_STL_BINARY_"
+                {
+                    over "mesh"
+                    {
+                        over "mesh_10" (
+                            prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"]
+                        )
+                        {
+                            uniform token physics:approximation = "convexHull"
+                        }
+                    }
+                }
+            }
+        }
+    }
+
+    over "thumb_L2"
+    {
+        over "collisions"
+        {
+            over "thumb_hull_mesh_2"
+            {
+                over "node_STL_BINARY_"
+                {
+                    over "mesh"
+                    {
+                        over "mesh_12" (
+                            prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"]
+                        )
+                        {
+                            uniform token physics:approximation = "convexHull"
+                        }
+                    }
+                }
+            }
+        }
+    }
+
+    over "root_joint" (
+        prepend apiSchemas = ["NewtonArticulationRootAPI"]
+    )
+    {
+        bool newton:selfCollisionEnabled = 0
+    }
+
+    over "joints"
+    {
+        over "index_q1" (
+            prepend apiSchemas = ["NewtonJointAPI"]
+        )
+        {
+            float drive:angular:physics:damping = 0
+            float drive:angular:physics:maxForce = 6
+            float drive:angular:physics:stiffness = 0.730125
+            float newton:damping = 0.016225
+            float newton:velocityLimit = 462.24957
+        }
+
+        over "index_q2" (
+            prepend apiSchemas = ["NewtonJointAPI", "NewtonMimicAPI"]
+        )
+        {
+            float newton:damping = 0.00072
+            float newton:mimicCoef0 = -0
+            float newton:mimicCoef1 = 1.0585133
+            bool newton:mimicEnabled = 1
+            rel newton:mimicJoint = </ability_hand/joints/index_q1>
+        }
+
+        over "middle_q1" (
+            prepend apiSchemas = ["NewtonJointAPI"]
+        )
+        {
+            float drive:angular:physics:damping = 0
+            float drive:angular:physics:maxForce = 6
+            float drive:angular:physics:stiffness = 0.730125
+            float newton:damping = 0.016225
+            float newton:velocityLimit = 462.24957
+        }
+
+        over "middle_q2" (
+            prepend apiSchemas = ["NewtonJointAPI", "NewtonMimicAPI"]
+        )
+        {
+            float newton:damping = 0.00072
+            float newton:mimicCoef0 = -0
+            float newton:mimicCoef1 = 1.0585133
+            bool newton:mimicEnabled = 1
+            rel newton:mimicJoint = </ability_hand/joints/middle_q1>
+        }
+
+        over "pinky_q1" (
+            prepend apiSchemas = ["NewtonJointAPI"]
+        )
+        {
+            float drive:angular:physics:damping = 0
+            float drive:angular:physics:maxForce = 6
+            float drive:angular:physics:stiffness = 0.730125
+            float newton:damping = 0.016225
+            float newton:velocityLimit = 462.24957
+        }
+
+        over "pinky_q2" (
+            prepend apiSchemas = ["NewtonJointAPI", "NewtonMimicAPI"]
+        )
+        {
+            float newton:damping = 0.00065
+            float newton:mimicCoef0 = -0
+            float newton:mimicCoef1 = 1.0585133
+            bool newton:mimicEnabled = 1
+            rel newton:mimicJoint = </ability_hand/joints/pinky_q1>
+        }
+
+        over "ring_q1" (
+            prepend apiSchemas = ["NewtonJointAPI"]
+        )
+        {
+            float drive:angular:physics:damping = 0
+            float drive:angular:physics:maxForce = 6
+            float drive:angular:physics:stiffness = 0.730125
+            float newton:damping = 0.016225
+            float newton:velocityLimit = 462.24957
+        }
+
+        over "ring_q2" (
+            prepend apiSchemas = ["NewtonJointAPI", "NewtonMimicAPI"]
+        )
+        {
+            float newton:damping = 0.00072
+            float newton:mimicCoef0 = -0
+            float newton:mimicCoef1 = 1.0585133
+            bool newton:mimicEnabled = 1
+            rel newton:mimicJoint = </ability_hand/joints/ring_q1>
+        }
+
+        over "thumb_q1" (
+            prepend apiSchemas = ["NewtonJointAPI"]
+        )
+        {
+            float drive:angular:physics:damping = 0
+            float drive:angular:physics:maxForce = 6
+            float drive:angular:physics:stiffness = 0.146025
+            float newton:damping = 0.003245
+            float newton:velocityLimit = 2311.248
+        }
+
+        over "thumb_q2" (
+            prepend apiSchemas = ["NewtonJointAPI"]
+        )
+        {
+            float drive:angular:physics:damping = 0
+            float drive:angular:physics:maxForce = 6
+            float drive:angular:physics:stiffness = 0.730125
+            float newton:damping = 0.016225
+            float newton:velocityLimit = 462.24957
+        }
+    }
+}
+

psyonic_ability_hand_right_large/runnables/physics/physx.usda

@@ -0,0 +1,374 @@
+#usda 1.0
+(
+    customLayerData = {
+    }
+    defaultPrim = "ability_hand"
+    metersPerUnit = 1
+    upAxis = "Z"
+)
+
+over "ability_hand"
+{
+    over "joints"
+    {
+        over "index_q1" (
+            prepend apiSchemas = ["PhysxJointAPI", "PhysicsJointStateAPI:angular"]
+        )
+        {
+            float physxJoint:armature = 0.01
+            float physxJoint:jointFriction = 0.001
+            float physxJoint:maxJointVelocity = 462.24957
+            float state:angular:physics:position = 0
+            float state:angular:physics:velocity = 0
+        }
+
+        over "index_q2" (
+            prepend apiSchemas = ["PhysxJointAPI", "PhysxMimicJointAPI:rotZ", "PhysicsJointStateAPI:angular"]
+        )
+        {
+            float physxJoint:armature = 0.01
+            float physxJoint:jointFriction = 0
+            float physxMimicJoint:rotZ:dampingRatio = 1
+            float physxMimicJoint:rotZ:gearing = -1.0585133
+            float physxMimicJoint:rotZ:naturalFrequency = 500
+            float physxMimicJoint:rotZ:offset = 0
+            rel physxMimicJoint:rotZ:referenceJoint = </ability_hand/joints/index_q1>
+            uniform token physxMimicJoint:rotZ:referenceJointAxis = "rotZ"
+            float state:angular:physics:position = 0
+            float state:angular:physics:velocity = 0
+        }
+
+        over "middle_q1" (
+            prepend apiSchemas = ["PhysxJointAPI", "PhysicsJointStateAPI:angular"]
+        )
+        {
+            float physxJoint:armature = 0.01
+            float physxJoint:jointFriction = 0.001
+            float physxJoint:maxJointVelocity = 462.24957
+            float state:angular:physics:position = 0
+            float state:angular:physics:velocity = 0
+        }
+
+        over "middle_q2" (
+            prepend apiSchemas = ["PhysxJointAPI", "PhysxMimicJointAPI:rotZ", "PhysicsJointStateAPI:angular"]
+        )
+        {
+            float physxJoint:armature = 0.01
+            float physxJoint:jointFriction = 0
+            float physxMimicJoint:rotZ:dampingRatio = 1
+            float physxMimicJoint:rotZ:gearing = -1.0585133
+            float physxMimicJoint:rotZ:naturalFrequency = 500
+            float physxMimicJoint:rotZ:offset = 0
+            rel physxMimicJoint:rotZ:referenceJoint = </ability_hand/joints/middle_q1>
+            uniform token physxMimicJoint:rotZ:referenceJointAxis = "rotZ"
+            float state:angular:physics:position = 0
+            float state:angular:physics:velocity = 0
+        }
+
+        over "pinky_q1" (
+            prepend apiSchemas = ["PhysxJointAPI", "PhysicsJointStateAPI:angular"]
+        )
+        {
+            float physxJoint:armature = 0.01
+            float physxJoint:jointFriction = 0.001
+            float physxJoint:maxJointVelocity = 462.24957
+            float state:angular:physics:position = 0
+            float state:angular:physics:velocity = 0
+        }
+
+        over "pinky_q2" (
+            prepend apiSchemas = ["PhysxJointAPI", "PhysxMimicJointAPI:rotZ", "PhysicsJointStateAPI:angular"]
+        )
+        {
+            float physxJoint:armature = 0.01
+            float physxJoint:jointFriction = 0
+            float physxMimicJoint:rotZ:dampingRatio = 1
+            float physxMimicJoint:rotZ:gearing = -1.0585133
+            float physxMimicJoint:rotZ:naturalFrequency = 500
+            float physxMimicJoint:rotZ:offset = 0
+            rel physxMimicJoint:rotZ:referenceJoint = </ability_hand/joints/pinky_q1>
+            uniform token physxMimicJoint:rotZ:referenceJointAxis = "rotZ"
+            float state:angular:physics:position = 0
+            float state:angular:physics:velocity = 0
+        }
+
+        over "ring_q1" (
+            prepend apiSchemas = ["PhysxJointAPI", "PhysicsJointStateAPI:angular"]
+        )
+        {
+            float physxJoint:armature = 0.01
+            float physxJoint:jointFriction = 0.001
+            float physxJoint:maxJointVelocity = 462.24957
+            float state:angular:physics:position = -0
+            float state:angular:physics:velocity = 0
+        }
+
+        over "ring_q2" (
+            prepend apiSchemas = ["PhysxJointAPI", "PhysxMimicJointAPI:rotZ", "PhysicsJointStateAPI:angular"]
+        )
+        {
+            float physxJoint:armature = 0.01
+            float physxJoint:jointFriction = 0
+            float physxMimicJoint:rotZ:dampingRatio = 1
+            float physxMimicJoint:rotZ:gearing = -1.0585133
+            float physxMimicJoint:rotZ:naturalFrequency = 500
+            float physxMimicJoint:rotZ:offset = 0
+            rel physxMimicJoint:rotZ:referenceJoint = </ability_hand/joints/ring_q1>
+            uniform token physxMimicJoint:rotZ:referenceJointAxis = "rotZ"
+            float state:angular:physics:position = 0
+            float state:angular:physics:velocity = 0
+        }
+
+        over "thumb_q1" (
+            prepend apiSchemas = ["PhysxJointAPI", "PhysicsJointStateAPI:angular"]
+        )
+        {
+            float physxJoint:armature = 0.01
+            float physxJoint:jointFriction = 0.001
+            float physxJoint:maxJointVelocity = 2311.248
+            float state:angular:physics:position = 0
+            float state:angular:physics:velocity = 0
+        }
+
+        over "thumb_q2" (
+            prepend apiSchemas = ["PhysxJointAPI", "PhysicsJointStateAPI:angular"]
+        )
+        {
+            float physxJoint:armature = 0.01
+            float physxJoint:jointFriction = 0.001
+            float physxJoint:maxJointVelocity = 462.24957
+            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 "base"
+    {
+        over "collisions"
+        {
+            over "palm_mesh_coll"
+            {
+                over "node_STL_BINARY_"
+                {
+                    over "mesh"
+                    {
+                        over "mesh_2"
+                        {
+                            uniform token physics:approximation = "convexHull"
+                        }
+                    }
+                }
+            }
+        }
+    }
+
+    over "index_L1"
+    {
+        over "collisions"
+        {
+            over "index_mesh_coll_1"
+            {
+                over "node_STL_BINARY_"
+                {
+                    over "mesh"
+                    {
+                        over "mesh_4"
+                        {
+                            uniform token physics:approximation = "convexHull"
+                        }
+                    }
+                }
+            }
+        }
+    }
+
+    over "index_L2"
+    {
+        over "collisions"
+        {
+            over "index_mesh_coll_2"
+            {
+                over "node_STL_BINARY_"
+                {
+                    over "mesh"
+                    {
+                        over "mesh_6"
+                        {
+                            uniform token physics:approximation = "convexHull"
+                        }
+                    }
+                }
+            }
+        }
+    }
+
+    over "middle_L1"
+    {
+        over "collisions"
+        {
+            over "middle_mesh_coll_1"
+            {
+                over "node_STL_BINARY_"
+                {
+                    over "mesh"
+                    {
+                        over "mesh_4"
+                        {
+                            uniform token physics:approximation = "convexHull"
+                        }
+                    }
+                }
+            }
+        }
+    }
+
+    over "middle_L2"
+    {
+        over "collisions"
+        {
+            over "middle_mesh_coll_2"
+            {
+                over "node_STL_BINARY_"
+                {
+                    over "mesh"
+                    {
+                        over "mesh_6"
+                        {
+                            uniform token physics:approximation = "convexHull"
+                        }
+                    }
+                }
+            }
+        }
+    }
+
+    over "pinky_L1"
+    {
+        over "collisions"
+        {
+            over "pinky_mesh_coll_1"
+            {
+                over "node_STL_BINARY_"
+                {
+                    over "mesh"
+                    {
+                        over "mesh_4"
+                        {
+                            uniform token physics:approximation = "convexHull"
+                        }
+                    }
+                }
+            }
+        }
+    }
+
+    over "pinky_L2"
+    {
+        over "collisions"
+        {
+            over "pinky_mesh_coll_2"
+            {
+                over "node_STL_BINARY_"
+                {
+                    over "mesh"
+                    {
+                        over "mesh_8"
+                        {
+                            uniform token physics:approximation = "convexHull"
+                        }
+                    }
+                }
+            }
+        }
+    }
+
+    over "ring_L1"
+    {
+        over "collisions"
+        {
+            over "ring_mesh_coll_1"
+            {
+                over "node_STL_BINARY_"
+                {
+                    over "mesh"
+                    {
+                        over "mesh_4"
+                        {
+                            uniform token physics:approximation = "convexHull"
+                        }
+                    }
+                }
+            }
+        }
+    }
+
+    over "ring_L2"
+    {
+        over "collisions"
+        {
+            over "ring_mesh_coll_2"
+            {
+                over "node_STL_BINARY_"
+                {
+                    over "mesh"
+                    {
+                        over "mesh_6"
+                        {
+                            uniform token physics:approximation = "convexHull"
+                        }
+                    }
+                }
+            }
+        }
+    }
+
+    over "thumb_L1"
+    {
+        over "collisions"
+        {
+            over "thumb_coll_mesh_1"
+            {
+                over "node_STL_BINARY_"
+                {
+                    over "mesh"
+                    {
+                        over "mesh_10"
+                        {
+                            uniform token physics:approximation = "convexHull"
+                        }
+                    }
+                }
+            }
+        }
+    }
+
+    over "thumb_L2"
+    {
+        over "collisions"
+        {
+            over "thumb_hull_mesh_2"
+            {
+                over "node_STL_BINARY_"
+                {
+                    over "mesh"
+                    {
+                        over "mesh_12"
+                        {
+                            uniform token physics:approximation = "convexHull"
+                        }
+                    }
+                }
+            }
+        }
+    }
+}
+

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

@@ -0,0 +1,34 @@
+{
+  "format_version": "1.0",
+  "profile": "Package-Candidate",
+  "profile_version": "1.0.0",
+  "timestamp": "2026-11-04T23:10:33",
+  "assets": [
+    {
+      "asset": "ability_hand_right_small.usda",
+      "features": [
+        {
+          "CAP031_SelfContainedPackage.OpenUSD.0-1-0": {
+            "version": "0-1-0",
+            "passed": true,
+            "failing_requirements": [],
+            "dependencies": []
+          }
+        },
+        {
+          "CAP033_SimReadyPackage.OpenUSD.0-1-0": {
+            "version": "0-1-0",
+            "passed": true,
+            "failing_requirements": [],
+            "dependencies": [
+              "CAP031_SelfContainedPackage.OpenUSD.0-1-0"
+            ]
+          }
+        }
+      ]
+    }
+  ],
+  "content_hash": {
+    "sha256": "a1a2d94a828230002a632ac3f110386be9149afdfd3870c79830415187d8bdfa"
+  }
+}

psyonic_ability_hand_right_small/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json

@@ -0,0 +1,31 @@
+{
+  "format_version": "1.0",
+  "profile": "Package",
+  "profile_version": "1.1.0",
+  "timestamp": "2026-11-04T23:10:35",
+  "assets": [
+    {
+      "asset": "com.nvidia.simready.packaging.json",
+      "features": [
+        {
+          "CAP030_PackagingCore.OpenUSD.0-2-0": {
+            "version": "0.0.0",
+            "passed": true,
+            "failing_requirements": [],
+            "dependencies": []
+          }
+        },
+        {
+          "CAP032_PackagingIntrospection.OpenUSD.0-2-0": {
+            "version": "0.0.0",
+            "passed": true,
+            "failing_requirements": [],
+            "dependencies": [
+              "CAP030_PackagingCore.OpenUSD.0-2-0"
+            ]
+          }
+        }
+      ]
+    }
+  ]
+}

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

@@ -0,0 +1,207 @@
+{
+  "format_version": "1.0",
+  "content_root": "file:///home/jwylie/Desktop/isaacsim-gripper-package_1.0/.packages/psyonic_ability_hand_right_small/1.0.0",
+  "items": [
+    {
+      "relative_path": ".thumbs/256x256/ability_hand_right_small.usda.png",
+      "size": 44733,
+      "hash": {
+        "sha256-flat-1mb": "485fe574150b72dd811edead904b4e4c2ce360adedd73b2428d75e78e2a4c532",
+        "sha256": "fefa17fbc0068e08811f47da59f3cc9159aa3fa63c7880977f4a42c728fe8606"
+      }
+    },
+    {
+      "relative_path": "ability_hand_right_small.usda",
+      "size": 106514,
+      "hash": {
+        "sha256-flat-1mb": "c5a0ae06a9f5ff5b5d31e6f922ae848779cae904bb01192b79b49b096ce671ea",
+        "sha256": "6f10254707af4aa60dcefcea60f25f69831d30307e17930b61a82dc14b872eaf"
+      }
+    },
+    {
+      "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",
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+      }
+    },
+    {
+      "relative_path": "materials/mdl/OmniPBR_ClearCoat.mdl",
+      "size": 27433,
+      "hash": {
+        "sha256-flat-1mb": "b1f146a3767a5012936e3d246f2697c3536c2f72b5c5963d3bca0998d02f8931",
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+      }
+    },
+    {
+      "relative_path": "materials/mdl/aux_definitions.mdl",
+      "size": 101769,
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+      }
+    },
+    {
+      "relative_path": "materials/mdl/core_definitions.mdl",
+      "size": 201537,
+      "hash": {
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+        "sha256": "052aec260e8dfef5d671545fc2fc28c0c478a5b043041c65a833b2a6d81bf950"
+      }
+    },
+    {
+      "relative_path": "materials/mdl/license.txt",
+      "size": 3220,
+      "hash": {
+        "sha256-flat-1mb": "d54635995b7794c6549d0f7c70586e739c1e24cb671ce966e64a8c1a6703a452",
+        "sha256": "d62e1bd5e34d0ca6f92f0e9f10670ee0cd586695e20f0a838a8f859119589683"
+      }
+    },
+    {
+      "relative_path": "materials/mdl/support_definitions.mdl",
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+      "hash": {
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+      }
+    },
+    {
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+      "hash": {
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+      }
+    },
+    {
+      "relative_path": "payloads/Physics/none.usda",
+      "size": 141,
+      "hash": {
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+        "sha256": "b3d9a9b8e86bdbefbcb878c8798c149f35f8f7b40d4d9de488dc78a1262a8ab4"
+      }
+    },
+    {
+      "relative_path": "payloads/Physics/physics.usda",
+      "size": 22111,
+      "hash": {
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+      }
+    },
+    {
+      "relative_path": "payloads/Physics/physx.usda",
+      "size": 3971,
+      "hash": {
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+      }
+    },
+    {
+      "relative_path": "payloads/Robot/none.usda",
+      "size": 141,
+      "hash": {
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+      }
+    },
+    {
+      "relative_path": "payloads/Robot/robot.usda",
+      "size": 8128,
+      "hash": {
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+      }
+    },
+    {
+      "relative_path": "payloads/Sensor/none.usda",
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+      "hash": {
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+      }
+    },
+    {
+      "relative_path": "payloads/Sensor/sensors.usda",
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+      "hash": {
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+      }
+    },
+    {
+      "relative_path": "payloads/base.usda",
+      "size": 50891,
+      "hash": {
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+      }
+    },
+    {
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+      "size": 4140879,
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+      }
+    },
+    {
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+      "size": 15681,
+      "hash": {
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+      }
+    },
+    {
+      "relative_path": "payloads/materials.usda",
+      "size": 5773,
+      "hash": {
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+        "sha256": "b14ffb67d3f7454307f7a1a5974992db613dac0990642549acc53e8c2a949cc8"
+      }
+    },
+    {
+      "relative_path": "payloads/robot.usda",
+      "size": 13356,
+      "hash": {
+        "sha256-flat-1mb": "3308dc98c3275c6656573207743ebb08a043d21c95a752d1731ef23a34f00460",
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+      }
+    },
+    {
+      "relative_path": "runnables/physics/mujoco.usda",
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+      "hash": {
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+    },
+    {
+      "relative_path": "runnables/physics/newton.usda",
+      "size": 10732,
+      "hash": {
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+      }
+    },
+    {
+      "relative_path": "runnables/physics/physx.usda",
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psyonic_ability_hand_right_small/.metadata/com.nvidia.simready.root_usds.json

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+{
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+  "entries": [
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+}

psyonic_ability_hand_right_small/.metadata/license.txt

@@ -0,0 +1,396 @@
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