Update Robot-Body packages to 1.0.0 (3/6)

.gitattributes

@@ -256,3 +256,6 @@ psyonic_ability_hand_left_large/payloads/geometries.usd filter=lfs diff=lfs merg
 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
+robotiq_2f_140/payloads/geometries.usd filter=lfs diff=lfs merge=lfs -text
+robotiq_2f_85/payloads/geometries.usd filter=lfs diff=lfs merge=lfs -text
+robotiq_hand_e_robotiq_hand_e_base/payloads/geometries.usd filter=lfs diff=lfs merge=lfs -text

robotiq_2f_140/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 

robotiq_2f_140/payloads/Physics/mujoco.usda

@@ -0,0 +1,264 @@
+#usda 1.0
+(
+    customLayerData = {
+    }
+    endTimeCode = 0
+    metersPerUnit = 0.9999999776482582
+    startTimeCode = -1
+    timeCodesPerSecond = 60
+    upAxis = "Z"
+)
+
+over "Robotiq_2F_140"
+{
+    over "left_outer_knuckle"
+    {
+        over "Looks"
+        {
+        }
+
+        over "Finger1"
+        {
+            over "Finger1" (
+            )
+            {
+            }
+        }
+    }
+
+    over "left_outer_finger"
+    {
+        over "Looks"
+        {
+        }
+
+        over "Finger2"
+        {
+            over "Finger2" (
+            )
+            {
+            }
+        }
+    }
+
+    over "left_inner_finger"
+    {
+        over "Fingertip_01"
+        {
+            over "Looks"
+            {
+            }
+
+            over "Fingertip"
+            {
+                over "Fingertip" (
+                )
+                {
+                }
+            }
+        }
+
+        over "Finger4_01"
+        {
+            over "Looks"
+            {
+            }
+
+            over "Finger4"
+            {
+                over "Finger4" (
+                )
+                {
+                }
+            }
+        }
+
+        over "Contact_Sensor"
+        {
+        }
+    }
+
+    over "left_inner_knuckle"
+    {
+        over "Looks"
+        {
+        }
+
+        over "Finger3"
+        {
+            over "Finger3" (
+            )
+            {
+            }
+        }
+    }
+
+    over "right_outer_knuckle"
+    {
+        over "Looks"
+        {
+        }
+
+        over "Finger1"
+        {
+            over "Finger1" (
+            )
+            {
+            }
+        }
+    }
+
+    over "right_outer_finger"
+    {
+        over "Looks"
+        {
+        }
+
+        over "Finger2"
+        {
+            over "Finger2" (
+            )
+            {
+            }
+        }
+    }
+
+    over "right_inner_finger"
+    {
+        over "Finger4_01"
+        {
+            over "Looks"
+            {
+            }
+
+            over "Finger4"
+            {
+                over "Finger4" (
+                )
+                {
+                }
+            }
+        }
+
+        over "Fingertip_01"
+        {
+            over "Looks"
+            {
+            }
+
+            over "Fingertip"
+            {
+                over "Fingertip" (
+                )
+                {
+                }
+            }
+        }
+    }
+
+    over "right_inner_knuckle"
+    {
+        over "Looks"
+        {
+        }
+
+        over "Finger3"
+        {
+            over "Finger3" (
+            )
+            {
+            }
+        }
+    }
+
+    over "finger_joint" (
+        delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
+    )
+    {
+    }
+
+    over "right_outer_knuckle_joint" (
+        delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
+    )
+    {
+    }
+
+    over "left_inner_knuckle_joint" (
+        delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
+    )
+    {
+    }
+
+    over "right_inner_knuckle_joint" (
+        delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
+    )
+    {
+    }
+
+    over "left_outer_finger_joint" (
+        delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
+    )
+    {
+    }
+
+    over "right_outer_finger_joint" (
+        delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
+    )
+    {
+    }
+
+    over "left_inner_finger_joint" (
+        delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
+    )
+    {
+    }
+
+    over "right_inner_finger_joint" (
+        delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
+    )
+    {
+    }
+
+    over "right_inner_finger_pad_joint" (
+        delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
+    )
+    {
+    }
+
+    over "left_inner_finger_pad_joint" (
+        delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
+    )
+    {
+    }
+
+    over "robotiq_base_link"
+    {
+        over "grasp_frame"
+        {
+        }
+
+        over "_F_Body_01"
+        {
+            over "Looks"
+            {
+            }
+
+            over "_F_Body"
+            {
+                over "_F_Body" (
+                )
+                {
+                }
+            }
+        }
+    }
+
+    over "fingertip_material"
+    {
+    }
+
+    over "VisualMaterials"
+    {
+    }
+}
+

robotiq_2f_140/payloads/Physics/physics.usda

@@ -0,0 +1,539 @@
+#usda 1.0
+(
+    customLayerData = {
+    }
+    defaultPrim = "Robotiq_2F_140"
+    endTimeCode = 0
+    metersPerUnit = 0.9999999776482582
+    startTimeCode = -1
+    timeCodesPerSecond = 60
+    upAxis = "Z"
+)
+
+over "Robotiq_2F_140" (
+    prepend apiSchemas = ["PhysicsArticulationRootAPI"]
+)
+{
+    reorder nameChildren = ["robotiq_base_link", "left_outer_knuckle", "left_outer_finger", "left_inner_finger", "left_inner_knuckle", "right_outer_knuckle", "right_outer_finger", "right_inner_finger", "right_inner_knuckle"]
+    over "left_outer_knuckle" (
+        prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"]
+    )
+    {
+        point3f physics:centerOfMass = (-0.05289377, 0.053183377, -2.193588e-18)
+        float3 physics:diagonalInertia = (2.1310669e-7, 6.734388e-7, 7.516008e-7)
+        float physics:mass = 0.009163293
+        rel physics:simulationOwner
+
+        over "Finger1"
+        {
+            over "Finger1" (
+                prepend apiSchemas = ["PhysicsMeshCollisionAPI", "PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                point3f physics:centerOfMass = (0, 0, 0)
+                bool physics:collisionEnabled = 1
+                float physics:mass = 0
+            }
+        }
+    }
+
+    over "left_outer_finger" (
+        prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"]
+    )
+    {
+        point3f physics:centerOfMass = (-0.07670802, 0.084572695, 0.0000030642452)
+        float3 physics:diagonalInertia = (0.0000068156896, 0.00005354244, 0.0000575694)
+        float physics:mass = 0.07706425
+        quatf physics:principalAxes = (0.6106747, 0.6106747, -0.35647783, -0.35647783)
+        rel physics:simulationOwner
+
+        over "Finger2"
+        {
+            over "Finger2" (
+                prepend apiSchemas = ["PhysicsMeshCollisionAPI", "PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                point3f physics:centerOfMass = (0, 0, 0)
+                bool physics:collisionEnabled = 1
+                float physics:mass = 0
+            }
+        }
+
+        def PhysicsFixedJoint "left_outer_finger_joint"
+        {
+            rel physics:body0 = </Robotiq_2F_140/left_outer_knuckle>
+            rel physics:body1 = </Robotiq_2F_140/left_outer_finger>
+            float physics:breakForce = 3.4028235e38
+            float physics:breakTorque = 3.4028235e38
+            point3f physics:localPos0 = (-3.616858e-12, -2.4539231e-12, -4.9107824e-28)
+            point3f physics:localPos1 = (0, 0, 0)
+            quatf physics:localRot0 = (1, 9.020562e-17, -7.632783e-17, -2.1414481e-11)
+            quatf physics:localRot1 = (1, 0, 0, 0)
+        }
+    }
+
+    over "left_inner_finger" (
+        prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"]
+    )
+    {
+        point3f physics:centerOfMass = (0.16089, 0.08148, -0.0000014782973)
+        float3 physics:diagonalInertia = (0.0000030510976, 0.000019114448, 0.000017129656)
+        float physics:mass = 0.04983438
+        quatf physics:principalAxes = (0.9941523, -0.00084205647, 0.00047910627, -0.1079824)
+
+        over "Fingertip_01"
+        {
+            over "Fingertip"
+            {
+                over "Fingertip" (
+                    prepend apiSchemas = ["PhysicsMeshCollisionAPI", "PhysicsCollisionAPI", "PhysicsMassAPI"]
+                )
+                {
+                    point3f physics:centerOfMass = (0, 0, 0)
+                    bool physics:collisionEnabled = 1
+                    float physics:mass = 0
+                }
+            }
+        }
+
+        over "Finger4_01"
+        {
+            over "Finger4"
+            {
+                over "Finger4" (
+                    prepend apiSchemas = ["PhysicsMeshCollisionAPI", "PhysicsCollisionAPI", "PhysicsMassAPI"]
+                )
+                {
+                    point3f physics:centerOfMass = (0, 0, 0)
+                    bool physics:collisionEnabled = 1
+                    float physics:mass = 0
+                }
+            }
+        }
+    }
+
+    over "left_inner_knuckle" (
+        prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"]
+    )
+    {
+        point3f physics:centerOfMass = (-0.048257977, 0.10101169, -4.593295e-9)
+        float3 physics:diagonalInertia = (0.000007310633, 0.0000453843, 0.00005109231)
+        float physics:mass = 0.06811222
+        quatf physics:principalAxes = (0.63864726, -0.64404196, 0.29877865, -0.29676738)
+        rel physics:simulationOwner
+
+        over "Finger3"
+        {
+            over "Finger3" (
+                prepend apiSchemas = ["PhysicsMeshCollisionAPI", "PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                point3f physics:centerOfMass = (0, 0, 0)
+                bool physics:collisionEnabled = 1
+                float physics:mass = 0
+            }
+        }
+    }
+
+    over "right_outer_knuckle" (
+        prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"]
+    )
+    {
+        point3f physics:centerOfMass = (-0.05289377, 0.053183377, -2.193588e-18)
+        float3 physics:diagonalInertia = (2.1310669e-7, 6.734388e-7, 7.516008e-7)
+        float physics:mass = 0.009163293
+        rel physics:simulationOwner
+
+        over "Finger1"
+        {
+            over "Finger1" (
+                prepend apiSchemas = ["PhysicsMeshCollisionAPI", "PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                point3f physics:centerOfMass = (0, 0, 0)
+                bool physics:collisionEnabled = 1
+                float physics:mass = 0
+            }
+        }
+
+        def PhysicsFixedJoint "right_outer_finger_joint"
+        {
+            rel physics:body0 = </Robotiq_2F_140/right_outer_knuckle>
+            rel physics:body1 = </Robotiq_2F_140/right_outer_finger>
+            float physics:breakForce = 3.4028235e38
+            float physics:breakTorque = 3.4028235e38
+            point3f physics:localPos0 = (0, 0, 0)
+            point3f physics:localPos1 = (3.6062071e-12, 2.44103e-12, 2.5514872e-17)
+            quatf physics:localRot0 = (1, 0, 0, 0)
+            quatf physics:localRot1 = (1, -2.2221605e-18, 2.2221605e-18, 2.1320418e-11)
+        }
+    }
+
+    over "right_outer_finger" (
+        prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"]
+    )
+    {
+        point3f physics:centerOfMass = (-0.07670802, 0.084572695, 0.0000030642452)
+        float3 physics:diagonalInertia = (0.0000068156896, 0.00005354244, 0.0000575694)
+        float physics:mass = 0.07706425
+        quatf physics:principalAxes = (0.6106747, 0.6106747, -0.35647783, -0.35647783)
+        rel physics:simulationOwner
+
+        over "Finger2"
+        {
+            over "Finger2" (
+                prepend apiSchemas = ["PhysicsMeshCollisionAPI", "PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                point3f physics:centerOfMass = (0, 0, 0)
+                bool physics:collisionEnabled = 1
+                float physics:mass = 0
+            }
+        }
+    }
+
+    over "right_inner_finger" (
+        prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"]
+    )
+    {
+        point3f physics:centerOfMass = (0.16088824, -0.08147714, -0.0000014782973)
+        float3 physics:diagonalInertia = (0.0000030510976, 0.000019114448, 0.000017129656)
+        float physics:mass = 0.04983438
+        quatf physics:principalAxes = (0.9941524, -0.0007198045, 0.00064511795, 0.107981525)
+
+        over "Finger4_01"
+        {
+            over "Finger4"
+            {
+                over "Finger4" (
+                    prepend apiSchemas = ["PhysicsMeshCollisionAPI", "PhysicsCollisionAPI", "PhysicsMassAPI"]
+                )
+                {
+                    point3f physics:centerOfMass = (0, 0, 0)
+                    bool physics:collisionEnabled = 1
+                    float physics:mass = 0
+                }
+            }
+        }
+
+        over "Fingertip_01"
+        {
+            over "Fingertip"
+            {
+                over "Fingertip" (
+                    prepend apiSchemas = ["PhysicsMeshCollisionAPI", "PhysicsCollisionAPI", "PhysicsMassAPI"]
+                )
+                {
+                    point3f physics:centerOfMass = (0, 0, 0)
+                    bool physics:collisionEnabled = 1
+                    float physics:mass = 0
+                }
+            }
+        }
+    }
+
+    over "right_inner_knuckle" (
+        prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"]
+    )
+    {
+        point3f physics:centerOfMass = (-0.048257977, 0.10101169, -4.593295e-9)
+        float3 physics:diagonalInertia = (0.000007310633, 0.0000453843, 0.00005109231)
+        float physics:mass = 0.06811222
+        quatf physics:principalAxes = (0.63864726, -0.64404196, 0.29877865, -0.29676738)
+        rel physics:simulationOwner
+
+        over "Finger3"
+        {
+            over "Finger3" (
+                prepend apiSchemas = ["PhysicsMeshCollisionAPI", "PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                point3f physics:centerOfMass = (0, 0, 0)
+                bool physics:collisionEnabled = 1
+                float physics:mass = 0
+            }
+        }
+    }
+
+    def PhysicsFixedJoint "root_joint"
+    {
+        custom rel physics:body1
+        prepend rel physics:body1 = </Robotiq_2F_140/robotiq_base_link>
+        float physics:breakForce = 3.4028235e38
+        float physics:breakTorque = 3.4028235e38
+        point3f physics:localPos0 = (0, 0, 0.15)
+        point3f physics:localPos1 = (0, 0, 0)
+        quatf physics:localRot0 = (6.123234e-17, 0.70710677, 4.3297803e-17, 0.70710677)
+        quatf physics:localRot1 = (1, 0, 0, 0)
+    }
+
+    def PhysicsRevoluteJoint "finger_joint" (
+        prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
+    )
+    {
+        float drive:angular:physics:damping = 0.1
+        float drive:angular:physics:maxForce = 26
+        float drive:angular:physics:stiffness = 3
+        float drive:angular:physics:targetPosition = 0
+        uniform token drive:angular:physics:type = "force"
+        uniform token physics:axis = "Z"
+        custom rel physics:body0 = </Robotiq_2F_140/robotiq_base_link>
+        custom rel physics:body1 = </Robotiq_2F_140/left_outer_knuckle>
+        point3f physics:localPos0 = (-2.5523844e-17, -0.030601146, 0.05466252)
+        point3f physics:localPos1 = (-0.030601146, 0.054904517, -6.162976e-32)
+        quatf physics:localRot0 = (0.5, 0.5, -0.5, -0.5)
+        quatf physics:localRot1 = (6.123234e-17, 6.123234e-17, -1, 6.123234e-17)
+        float physics:lowerLimit = 0
+        float physics:upperLimit = 45
+        float state:angular:physics:position = 0
+        float state:angular:physics:velocity = 0
+    }
+
+    def PhysicsRevoluteJoint "right_outer_knuckle_joint" (
+        prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
+    )
+    {
+        float drive:angular:physics:damping = 0
+        float drive:angular:physics:maxForce = 26
+        float drive:angular:physics:stiffness = 0
+        float drive:angular:physics:targetPosition = 0
+        float drive:angular:physics:targetVelocity = 0
+        uniform token drive:angular:physics:type = "force"
+        uniform token physics:axis = "Z"
+        custom rel physics:body0 = </Robotiq_2F_140/robotiq_base_link>
+        custom rel physics:body1 = </Robotiq_2F_140/right_outer_knuckle>
+        point3f physics:localPos0 = (-2.326577e-17, 0.030601146, 0.05466252)
+        point3f physics:localPos1 = (-0.030601146, 0.054904517, -2.5672653e-18)
+        quatf physics:localRot0 = (0.5, 0.5, 0.5, 0.5)
+        quatf physics:localRot1 = (6.123234e-17, 6.123234e-17, -1, 6.123234e-17)
+        float physics:lowerLimit = 0
+        float physics:upperLimit = 75
+        float state:angular:physics:position = 0
+        float state:angular:physics:velocity = 0
+    }
+
+    def PhysicsRevoluteJoint "left_inner_knuckle_joint" (
+        prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
+    )
+    {
+        float drive:angular:physics:damping = 0
+        float drive:angular:physics:maxForce = 26
+        float drive:angular:physics:stiffness = 0
+        uniform token physics:axis = "Z"
+        custom rel physics:body0
+        prepend rel physics:body0 = </Robotiq_2F_140/robotiq_base_link>
+        custom rel physics:body1
+        prepend rel physics:body1 = </Robotiq_2F_140/left_inner_knuckle>
+        uniform bool physics:excludeFromArticulation = 1
+        point3f physics:localPos0 = (-2.814448e-17, -0.0127, 0.061178003)
+        point3f physics:localPos1 = (-0.0127, 0.06142, 0)
+        quatf physics:localRot0 = (-0.5, 0.5, 0.5, -0.5)
+        quatf physics:localRot1 = (1.1823733e-15, 1, 1.2635337e-11, -4.8699635e-16)
+        float physics:lowerLimit = -inf
+        float physics:upperLimit = inf
+        float state:angular:physics:position = 0
+        float state:angular:physics:velocity = 0
+    }
+
+    def PhysicsRevoluteJoint "right_inner_knuckle_joint" (
+        prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
+    )
+    {
+        float drive:angular:physics:damping = 0
+        float drive:angular:physics:maxForce = 26
+        float drive:angular:physics:stiffness = 0
+        uniform token physics:axis = "Z"
+        custom rel physics:body0
+        prepend rel physics:body0 = </Robotiq_2F_140/robotiq_base_link>
+        custom rel physics:body1
+        prepend rel physics:body1 = </Robotiq_2F_140/right_inner_knuckle>
+        uniform bool physics:excludeFromArticulation = 1
+        point3f physics:localPos0 = (-3.72337e-17, 0.0127, 0.061178003)
+        point3f physics:localPos1 = (-0.0127, 0.06142, 0)
+        quatf physics:localRot0 = (-0.5, 0.5, 0.5, -0.5)
+        quatf physics:localRot1 = (6.123234e-17, 0, 0, 1)
+        float physics:lowerLimit = -inf
+        float physics:upperLimit = inf
+        float state:angular:physics:position = 0
+        float state:angular:physics:velocity = 0
+    }
+
+    def PhysicsRevoluteJoint "left_outer_finger_joint" (
+        prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
+    )
+    {
+        float drive:angular:physics:damping = 0
+        float drive:angular:physics:maxForce = 26
+        float drive:angular:physics:stiffness = 0
+        float drive:angular:physics:targetPosition = 0
+        uniform token drive:angular:physics:type = "acceleration"
+        uniform token physics:axis = "Z"
+        custom rel physics:body0
+        prepend rel physics:body0 = </Robotiq_2F_140/left_outer_knuckle>
+        custom rel physics:body1
+        prepend rel physics:body1 = </Robotiq_2F_140/left_outer_finger>
+        uniform bool physics:excludeFromArticulation = 0
+        point3f physics:localPos0 = (-0.062025998, 0.050372288, 1.2325952e-32)
+        point3f physics:localPos1 = (-0.062025998, 0.050372288, 8.184432e-30)
+        quatf physics:localRot0 = (1, 0, 0, 0)
+        quatf physics:localRot1 = (1, 0, 0, 0)
+        float physics:lowerLimit = 0
+        float physics:upperLimit = 180
+        float state:angular:physics:position = 0
+        float state:angular:physics:velocity = 0
+    }
+
+    def PhysicsRevoluteJoint "right_outer_finger_joint" (
+        prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
+    )
+    {
+        float drive:angular:physics:damping = 0
+        float drive:angular:physics:maxForce = 26
+        float drive:angular:physics:stiffness = 0
+        uniform token drive:angular:physics:type = "acceleration"
+        uniform token physics:axis = "Z"
+        custom rel physics:body0
+        prepend rel physics:body0 = </Robotiq_2F_140/right_outer_knuckle>
+        custom rel physics:body1
+        prepend rel physics:body1 = </Robotiq_2F_140/right_outer_finger>
+        uniform bool physics:excludeFromArticulation = 0
+        point3f physics:localPos0 = (-0.062025998, 0.050372288, -1.2325952e-32)
+        point3f physics:localPos1 = (-0.062025998, 0.050372288, 2.5566664e-17)
+        quatf physics:localRot0 = (1, 0, 0, 0)
+        quatf physics:localRot1 = (1, 0, 0, 0)
+        float physics:lowerLimit = 0
+        float physics:upperLimit = 180
+        float state:angular:physics:position = 0
+        float state:angular:physics:velocity = 0
+    }
+
+    def PhysicsRevoluteJoint "left_inner_finger_joint" (
+        prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
+    )
+    {
+        float drive:angular:physics:damping = 0.00001
+        float drive:angular:physics:maxForce = 1
+        float drive:angular:physics:stiffness = 0.002
+        float drive:angular:physics:targetPosition = 0
+        uniform token physics:axis = "Z"
+        custom rel physics:body0 = </Robotiq_2F_140/left_outer_finger>
+        custom rel physics:body1 = </Robotiq_2F_140/left_inner_finger>
+        uniform bool physics:excludeFromArticulation = 0
+        point3f physics:localPos0 = (-0.09745623, 0.12927116, 0)
+        point3f physics:localPos1 = (0.12902917, 0.09745623, 0)
+        quatf physics:localRot0 = (-1.6081226e-16, 1, 4.4886255e-32, -1.1957719e-17)
+        quatf physics:localRot1 = (5.0532154e-16, -0.70710677, 0.70710677, 5.168029e-16)
+        float physics:lowerLimit = -180
+        float physics:upperLimit = 180
+        float state:angular:physics:position = 0
+        float state:angular:physics:velocity = 0
+    }
+
+    def PhysicsRevoluteJoint "right_inner_finger_joint" (
+        prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
+    )
+    {
+        float drive:angular:physics:damping = 0.00001
+        float drive:angular:physics:maxForce = 1
+        float drive:angular:physics:stiffness = 0.002
+        float drive:angular:physics:targetPosition = 0
+        uniform token physics:axis = "Z"
+        custom rel physics:body0 = </Robotiq_2F_140/right_outer_finger>
+        custom rel physics:body1 = </Robotiq_2F_140/right_inner_finger>
+        uniform bool physics:excludeFromArticulation = 0
+        point3f physics:localPos0 = (-0.09745623, 0.12927116, 0)
+        point3f physics:localPos1 = (0.12902917, -0.09745623, 0)
+        quatf physics:localRot0 = (-1.6081226e-16, 1, -3.2311323e-27, -1.1957719e-17)
+        quatf physics:localRot1 = (0.70710677, 1.0999103e-15, -8.806161e-17, 0.70710677)
+        float physics:lowerLimit = -180
+        float physics:upperLimit = 180
+        float state:angular:physics:position = 0
+        float state:angular:physics:velocity = 0
+        token visibility = "invisible"
+    }
+
+    def PhysicsRevoluteJoint "right_inner_finger_pad_joint" (
+        prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
+    )
+    {
+        float drive:angular:physics:damping = 0
+        float drive:angular:physics:maxForce = 26
+        float drive:angular:physics:stiffness = 0
+        float drive:angular:physics:targetPosition = 0
+        uniform token physics:axis = "Z"
+        custom rel physics:body0 = </Robotiq_2F_140/right_inner_finger>
+        custom rel physics:body1 = </Robotiq_2F_140/right_inner_knuckle>
+        uniform bool physics:excludeFromArticulation = 0
+        point3f physics:localPos0 = (0.13554464, -0.07955509, 0)
+        point3f physics:localPos1 = (-0.07955509, 0.13578665, 0)
+        quatf physics:localRot0 = (0.70710677, -5.0381393e-16, 1.3193001e-15, 0.70710677)
+        quatf physics:localRot1 = (-3.8285688e-16, 1, 1.2578549e-11, 1.2142144e-15)
+        float physics:lowerLimit = -45
+        float physics:upperLimit = 45
+        float state:angular:physics:position = 0
+        float state:angular:physics:velocity = 0
+    }
+
+    def PhysicsRevoluteJoint "left_inner_finger_pad_joint" (
+        prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
+    )
+    {
+        float drive:angular:physics:damping = 0
+        float drive:angular:physics:maxForce = 26
+        float drive:angular:physics:stiffness = 0
+        float drive:angular:physics:targetPosition = 0
+        uniform token physics:axis = "Z"
+        custom rel physics:body0 = </Robotiq_2F_140/left_inner_finger>
+        custom rel physics:body1 = </Robotiq_2F_140/left_inner_knuckle>
+        uniform bool physics:excludeFromArticulation = 0
+        point3f physics:localPos0 = (0.13554464, 0.07955509, 0)
+        point3f physics:localPos1 = (-0.07955509, 0.13578665, 0)
+        quatf physics:localRot0 = (5.0532154e-16, -0.70710677, 0.70710677, 5.508117e-16)
+        quatf physics:localRot1 = (-8.269461e-16, 1, 1.2612578e-11, 9.284436e-17)
+        float physics:lowerLimit = -45
+        float physics:upperLimit = 45
+        float state:angular:physics:position = 0
+        float state:angular:physics:velocity = 0
+    }
+
+    over "robotiq_base_link" (
+        prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"]
+    )
+    {
+        point3f physics:centerOfMass = (-0.000242, -1.9814578e-13, 3.4604155e-17)
+        float3 physics:diagonalInertia = (0.00009301462, 0.0000882971, 0.000026081625)
+        float physics:mass = 0.04351246 (
+            customData = {
+                dictionary agentfix = {
+                    string massConfidence = "estimate with user-authorized material guesses and aluminium fallback, not verified hardware mass"
+                    string massMethod = "CORE Artist Tools material shell estimate with source component masses retained"
+                }
+            }
+        )
+        quatf physics:principalAxes = (0.9999719, -0.0004931656, 0.001501296, 0.007327927)
+
+        over "_F_Body_01"
+        {
+            over "_F_Body"
+            {
+                over "_F_Body" (
+                    prepend apiSchemas = ["PhysicsMeshCollisionAPI", "PhysicsCollisionAPI", "PhysicsMassAPI"]
+                )
+                {
+                    point3f physics:centerOfMass = (0, 0, 0)
+                    bool physics:collisionEnabled = 1
+                    float physics:mass = 0
+                }
+            }
+        }
+    }
+
+    over "fingertip_material" (
+        prepend apiSchemas = ["PhysicsMaterialAPI"]
+    )
+    {
+        float physics:dynamicFriction = 0.8
+        float physics:staticFriction = 0.9
+    }
+}
+

robotiq_2f_140/payloads/Physics/physx_loop.usda

@@ -0,0 +1,221 @@
+#usda 1.0
+(
+    customLayerData = {
+    }
+    defaultPrim = "Robotiq_2F_140"
+    endTimeCode = 0
+    metersPerUnit = 0.9999999776482582
+    startTimeCode = -1
+    subLayers = [
+        @./physics.usda@
+    ]
+    timeCodesPerSecond = 60
+    upAxis = "Z"
+)
+
+over "Robotiq_2F_140" (
+    prepend apiSchemas = ["PhysxArticulationAPI"]
+)
+{
+    bool physxArticulation:enabledSelfCollisions = 0
+    int physxArticulation:solverPositionIterationCount = 32
+
+    over "left_outer_knuckle" (
+        prepend apiSchemas = ["PhysxRigidBodyAPI"]
+    )
+    {
+        bool physxRigidBody:disableGravity = 1
+
+        over "Finger1"
+        {
+            over "Finger1" (
+            )
+            {
+            }
+        }
+    }
+
+    over "left_outer_finger" (
+        prepend apiSchemas = ["PhysxRigidBodyAPI"]
+    )
+    {
+        bool physxRigidBody:disableGravity = 1
+
+        over "Finger2"
+        {
+            over "Finger2" (
+            )
+            {
+            }
+        }
+    }
+
+    over "left_inner_finger" (
+        prepend apiSchemas = ["PhysxContactReportAPI", "PhysxRigidBodyAPI"]
+    )
+    {
+        float physxContactReport:threshold = 0
+        bool physxRigidBody:disableGravity = 1
+        bool physxRigidBody:enableCCD = 1
+        float physxRigidBody:sleepThreshold = 0
+    }
+
+    over "left_inner_knuckle" (
+        prepend apiSchemas = ["PhysxRigidBodyAPI"]
+    )
+    {
+        bool physxRigidBody:disableGravity = 1
+        int physxRigidBody:solverPositionIterationCount = 32
+
+        over "Finger3"
+        {
+            over "Finger3" (
+            )
+            {
+            }
+        }
+    }
+
+    over "right_outer_knuckle" (
+        prepend apiSchemas = ["PhysxRigidBodyAPI"]
+    )
+    {
+        bool physxRigidBody:disableGravity = 1
+
+        over "Finger1"
+        {
+            over "Finger1" (
+            )
+            {
+            }
+        }
+    }
+
+    over "right_outer_finger" (
+        prepend apiSchemas = ["PhysxRigidBodyAPI"]
+    )
+    {
+        bool physxRigidBody:disableGravity = 1
+
+        over "Finger2"
+        {
+            over "Finger2" (
+            )
+            {
+            }
+        }
+    }
+
+    over "right_inner_finger" (
+        prepend apiSchemas = ["PhysxRigidBodyAPI"]
+    )
+    {
+        bool physxRigidBody:disableGravity = 1
+        bool physxRigidBody:enableCCD = 1
+    }
+
+    over "right_inner_knuckle" (
+        prepend apiSchemas = ["PhysxRigidBodyAPI"]
+    )
+    {
+        int physxRigidBody:solverPositionIterationCount = 32
+
+        over "Finger3"
+        {
+            over "Finger3" (
+            )
+            {
+            }
+        }
+    }
+
+    over "finger_joint" (
+        prepend apiSchemas = ["PhysxJointAPI"]
+    )
+    {
+        float physxJoint:maxJointVelocity = 130
+    }
+
+    over "right_outer_knuckle_joint" (
+        prepend apiSchemas = ["PhysxMimicJointAPI:rotX", "PhysxJointAPI"]
+    )
+    {
+        float physxJoint:maxJointVelocity = 130
+        float physxMimicJoint:rotX:dampingRatio = 1
+        float physxMimicJoint:rotX:gearing = -1
+        float physxMimicJoint:rotX:naturalFrequency = 1000
+        rel physxMimicJoint:rotX:referenceJoint = </Robotiq_2F_140/finger_joint>
+    }
+
+    over "left_inner_knuckle_joint" (
+        prepend apiSchemas = ["PhysxJointAPI"]
+    )
+    {
+        float physxJoint:maxJointVelocity = 1000000
+    }
+
+    over "right_inner_knuckle_joint" (
+        prepend apiSchemas = ["PhysxJointAPI"]
+    )
+    {
+        float physxJoint:maxJointVelocity = 1000000
+    }
+
+    over "left_outer_finger_joint" (
+        prepend apiSchemas = ["PhysxJointAPI"]
+    )
+    {
+        float physxJoint:maxJointVelocity = 1000000
+    }
+
+    over "right_outer_finger_joint" (
+        prepend apiSchemas = ["PhysxJointAPI"]
+    )
+    {
+        float physxJoint:maxJointVelocity = 1000000
+    }
+
+    over "left_inner_finger_joint" (
+        prepend apiSchemas = ["PhysxJointAPI"]
+    )
+    {
+        float physxJoint:maxJointVelocity = 1000000
+    }
+
+    over "right_inner_finger_joint" (
+        prepend apiSchemas = ["PhysxJointAPI"]
+    )
+    {
+        float physxJoint:maxJointVelocity = 1000000
+    }
+
+    over "right_inner_finger_pad_joint" (
+        prepend apiSchemas = ["PhysxJointAPI"]
+    )
+    {
+        float physxJoint:maxJointVelocity = 1000000
+    }
+
+    over "left_inner_finger_pad_joint" (
+        prepend apiSchemas = ["PhysxJointAPI"]
+    )
+    {
+        float physxJoint:maxJointVelocity = 1000000
+    }
+
+    over "robotiq_base_link" (
+        prepend apiSchemas = ["PhysxRigidBodyAPI"]
+    )
+    {
+    }
+
+    over "fingertip_material" (
+        prepend apiSchemas = ["PhysxMaterialAPI"]
+    )
+    {
+        bool physxMaterial:compliantContactAccelerationSpring = 0
+        float physxMaterial:compliantContactStiffness = 0
+        uniform token physxMaterial:frictionCombineMode = "max"
+    }
+}
+

robotiq_2f_140/payloads/Physics/physx_mimic.usda

@@ -0,0 +1,373 @@
+#usda 1.0
+(
+    customLayerData = {
+    }
+    defaultPrim = "Robotiq_2F_140"
+    endTimeCode = 0
+    metersPerUnit = 0.9999999776482582
+    startTimeCode = -1
+    subLayers = [
+        @./physics.usda@
+    ]
+    timeCodesPerSecond = 60
+    upAxis = "Z"
+)
+
+over "Robotiq_2F_140" (
+    prepend apiSchemas = ["PhysxArticulationAPI"]
+)
+{
+    bool physxArticulation:enabledSelfCollisions = 0
+    int physxArticulation:solverPositionIterationCount = 32
+
+    over "left_outer_knuckle" (
+        prepend apiSchemas = ["PhysxRigidBodyAPI"]
+    )
+    {
+        string isaac:nameOverride (
+            displayName = "Name Override"
+        )
+        bool physxRigidBody:disableGravity = 1
+
+        over "Finger1"
+        {
+            over "Finger1" (
+            )
+            {
+            }
+        }
+    }
+
+    over "left_outer_finger" (
+        prepend apiSchemas = ["PhysxRigidBodyAPI"]
+    )
+    {
+        bool physxRigidBody:disableGravity = 1
+
+        def PhysicsFixedJoint "left_outer_finger_joint"
+        {
+            rel physics:body0 = </Robotiq_2F_140/left_outer_knuckle>
+            rel physics:body1 = </Robotiq_2F_140/left_outer_finger>
+            float physics:breakForce = 3.4028235e38
+            float physics:breakTorque = 3.4028235e38
+            point3f physics:localPos0 = (-3.616858e-12, -2.4539231e-12, -4.9107824e-28)
+            point3f physics:localPos1 = (0, 0, 0)
+            quatf physics:localRot0 = (1, 9.020562e-17, -7.632783e-17, -2.1414481e-11)
+            quatf physics:localRot1 = (1, 0, 0, 0)
+        }
+
+        over "Finger2"
+        {
+            over "Finger2" (
+            )
+            {
+            }
+        }
+    }
+
+    over "left_inner_finger" (
+        prepend apiSchemas = ["PhysxContactReportAPI", "PhysxRigidBodyAPI"]
+    )
+    {
+        float physxContactReport:threshold = 0
+        bool physxRigidBody:disableGravity = 1
+        bool physxRigidBody:enableCCD = 1
+        float physxRigidBody:sleepThreshold = 0
+    }
+
+    over "left_inner_knuckle" (
+        prepend apiSchemas = ["PhysxRigidBodyAPI"]
+    )
+    {
+        bool physxRigidBody:disableGravity = 1
+        int physxRigidBody:solverPositionIterationCount = 32
+
+        over "Finger3"
+        {
+            over "Finger3" (
+            )
+            {
+            }
+        }
+    }
+
+    over "right_outer_knuckle" (
+        prepend apiSchemas = ["PhysxRigidBodyAPI"]
+    )
+    {
+        bool physxRigidBody:disableGravity = 1
+
+        def PhysicsFixedJoint "right_outer_finger_joint"
+        {
+            rel physics:body0 = </Robotiq_2F_140/right_outer_finger>
+            rel physics:body1 = </Robotiq_2F_140/right_outer_knuckle>
+            float physics:breakForce = 3.4028235e38
+            float physics:breakTorque = 3.4028235e38
+            point3f physics:localPos0 = (3.6062071e-12, 2.44103e-12, 2.5514872e-17)
+            point3f physics:localPos1 = (0, 0, 0)
+            quatf physics:localRot0 = (1, -2.2221605e-18, 2.2221605e-18, 2.1320418e-11)
+            quatf physics:localRot1 = (1, 0, 0, 0)
+        }
+
+        over "Finger1"
+        {
+            over "Finger1" (
+            )
+            {
+            }
+        }
+    }
+
+    over "right_outer_finger" (
+        prepend apiSchemas = ["PhysxRigidBodyAPI"]
+    )
+    {
+        string isaac:nameOverride (
+            displayName = "Name Override"
+        )
+        bool physxRigidBody:disableGravity = 1
+
+        over "Finger2"
+        {
+            over "Finger2" (
+            )
+            {
+            }
+        }
+    }
+
+    over "right_inner_finger" (
+        prepend apiSchemas = ["PhysxRigidBodyAPI"]
+    )
+    {
+        bool physxRigidBody:disableGravity = 1
+        bool physxRigidBody:enableCCD = 1
+    }
+
+    over "right_inner_knuckle" (
+        prepend apiSchemas = ["PhysxRigidBodyAPI"]
+    )
+    {
+        int physxRigidBody:solverPositionIterationCount = 32
+
+        over "Finger3"
+        {
+            over "Finger3" (
+            )
+            {
+            }
+        }
+    }
+
+    over "finger_joint" (
+        prepend apiSchemas = ["PhysxJointAPI"]
+    )
+    {
+        float drive:angular:physics:maxForce = 26
+        float drive:angular:physics:stiffness = 3
+        float drive:angular:physics:targetPosition = 0
+        bool[] isaac:actuator (
+            displayName = "Actuator"
+        )
+        string isaac:NameOverride (
+            displayName = "Joint Name Override"
+        )
+        token[] isaac:physics:DofOffsetOpOrder (
+            displayName = "Dof Offset Op Order"
+        )
+        float physxJoint:maxJointVelocity = 130
+    }
+
+    over "right_outer_knuckle_joint" (
+        delete apiSchemas = ["PhysicsDriveAPI:angular"]
+        prepend apiSchemas = ["PhysxMimicJointAPI:rotX", "PhysxJointAPI"]
+    )
+    {
+        bool[] isaac:actuator (
+            displayName = "Actuator"
+        )
+        string isaac:NameOverride (
+            displayName = "Joint Name Override"
+        )
+        token[] isaac:physics:DofOffsetOpOrder (
+            displayName = "Dof Offset Op Order"
+        )
+        float physxJoint:maxJointVelocity = 130
+        float physxMimicJoint:rotX:dampingRatio = 1
+        float physxMimicJoint:rotX:gearing = -1
+        float physxMimicJoint:rotX:naturalFrequency = 1000
+        rel physxMimicJoint:rotX:referenceJoint = </Robotiq_2F_140/finger_joint>
+    }
+
+    over "left_inner_knuckle_joint" (
+        active = false
+        prepend apiSchemas = ["PhysxJointAPI"]
+    )
+    {
+        bool[] isaac:actuator (
+            displayName = "Actuator"
+        )
+        string isaac:NameOverride (
+            displayName = "Joint Name Override"
+        )
+        token[] isaac:physics:DofOffsetOpOrder (
+            displayName = "Dof Offset Op Order"
+        )
+        float physxJoint:maxJointVelocity = 1000000
+    }
+
+    over "right_inner_knuckle_joint" (
+        active = false
+        prepend apiSchemas = ["PhysxJointAPI"]
+    )
+    {
+        bool[] isaac:actuator (
+            displayName = "Actuator"
+        )
+        string isaac:NameOverride (
+            displayName = "Joint Name Override"
+        )
+        token[] isaac:physics:DofOffsetOpOrder (
+            displayName = "Dof Offset Op Order"
+        )
+        float physxJoint:maxJointVelocity = 1000000
+    }
+
+    over "left_outer_finger_joint" (
+        active = false
+        prepend apiSchemas = ["PhysxJointAPI"]
+    )
+    {
+        bool[] isaac:actuator (
+            displayName = "Actuator"
+        )
+        string isaac:NameOverride (
+            displayName = "Joint Name Override"
+        )
+        token[] isaac:physics:DofOffsetOpOrder (
+            displayName = "Dof Offset Op Order"
+        )
+        float physxJoint:maxJointVelocity = 1000000
+    }
+
+    over "right_outer_finger_joint" (
+        active = false
+        prepend apiSchemas = ["PhysxJointAPI"]
+    )
+    {
+        bool[] isaac:actuator (
+            displayName = "Actuator"
+        )
+        string isaac:NameOverride (
+            displayName = "Joint Name Override"
+        )
+        token[] isaac:physics:DofOffsetOpOrder (
+            displayName = "Dof Offset Op Order"
+        )
+        float physxJoint:maxJointVelocity = 1000000
+    }
+
+    over "left_inner_finger_joint" (
+        delete apiSchemas = ["PhysicsDriveAPI:angular"]
+        prepend apiSchemas = ["PhysxJointAPI", "PhysxMimicJointAPI:rotX"]
+    )
+    {
+        bool[] isaac:actuator (
+            displayName = "Actuator"
+        )
+        string isaac:NameOverride (
+            displayName = "Joint Name Override"
+        )
+        token[] isaac:physics:DofOffsetOpOrder (
+            displayName = "Dof Offset Op Order"
+        )
+        float physics:lowerLimit = -180
+        float physics:upperLimit = 180
+        float physxJoint:maxJointVelocity = 1000000
+        float physxMimicJoint:rotX:dampingRatio = 0
+        float physxMimicJoint:rotX:gearing = 1
+        float physxMimicJoint:rotX:naturalFrequency = 0
+        rel physxMimicJoint:rotX:referenceJoint = </Robotiq_2F_140/finger_joint>
+    }
+
+    over "right_inner_finger_joint" (
+        delete apiSchemas = ["PhysicsDriveAPI:angular"]
+        prepend apiSchemas = ["PhysxJointAPI", "PhysxMimicJointAPI:rotX"]
+    )
+    {
+        bool[] isaac:actuator (
+            displayName = "Actuator"
+        )
+        string isaac:NameOverride (
+            displayName = "Joint Name Override"
+        )
+        token[] isaac:physics:DofOffsetOpOrder (
+            displayName = "Dof Offset Op Order"
+        )
+        float physics:lowerLimit = -180
+        float physics:upperLimit = 180
+        float physxJoint:maxJointVelocity = 1000000
+        float physxMimicJoint:rotX:gearing = 1
+        rel physxMimicJoint:rotX:referenceJoint = </Robotiq_2F_140/finger_joint>
+    }
+
+    over "right_inner_finger_pad_joint" (
+        delete apiSchemas = ["PhysicsDriveAPI:angular"]
+        prepend apiSchemas = ["PhysxJointAPI", "PhysxMimicJointAPI:rotX"]
+    )
+    {
+        bool[] isaac:actuator (
+            displayName = "Actuator"
+        )
+        string isaac:NameOverride (
+            displayName = "Joint Name Override"
+        )
+        token[] isaac:physics:DofOffsetOpOrder (
+            displayName = "Dof Offset Op Order"
+        )
+        float physxJoint:maxJointVelocity = 1000000
+        float physxMimicJoint:rotX:gearing = -1
+        rel physxMimicJoint:rotX:referenceJoint = </Robotiq_2F_140/finger_joint>
+    }
+
+    over "left_inner_finger_pad_joint" (
+        delete apiSchemas = ["PhysicsDriveAPI:angular"]
+        prepend apiSchemas = ["PhysxJointAPI", "PhysxMimicJointAPI:rotX"]
+    )
+    {
+        bool[] isaac:actuator (
+            displayName = "Actuator"
+        )
+        string isaac:NameOverride (
+            displayName = "Joint Name Override"
+        )
+        token[] isaac:physics:DofOffsetOpOrder (
+            displayName = "Dof Offset Op Order"
+        )
+        float physxJoint:maxJointVelocity = 1000000
+        float physxMimicJoint:rotX:gearing = -1
+        rel physxMimicJoint:rotX:referenceJoint = </Robotiq_2F_140/finger_joint>
+    }
+
+    over "robotiq_base_link" (
+        prepend apiSchemas = ["PhysxRigidBodyAPI"]
+    )
+    {
+    }
+
+    over "fingertip_material" (
+        prepend apiSchemas = ["PhysxMaterialAPI"]
+    )
+    {
+        bool physxMaterial:compliantContactAccelerationSpring = 0
+        float physxMaterial:compliantContactStiffness = 0
+        uniform token physxMaterial:frictionCombineMode = "max"
+    }
+}
+
+def PhysicsScene "PhysicsScene" (
+    prepend apiSchemas = ["NewtonSceneAPI", "PhysxSceneAPI"]
+)
+{
+}
+

robotiq_2f_140/payloads/base.usda

@@ -0,0 +1,349 @@
+#usda 1.0
+(
+    customLayerData = {
+    }
+    defaultPrim = "Robotiq_2F_140"
+    endTimeCode = 0
+    metersPerUnit = 0.9999999776482582
+    startTimeCode = -1
+    subLayers = [
+        @./robot.usda@
+    ]
+    timeCodesPerSecond = 60
+    upAxis = "Z"
+)
+
+def Xform "Robotiq_2F_140"
+{
+    reorder nameChildren = ["robotiq_base_link", "left_outer_knuckle", "left_outer_finger", "left_inner_finger", "left_inner_knuckle", "right_outer_knuckle", "right_outer_finger", "right_inner_finger", "right_inner_knuckle"]
+    uniform token[] xformOpOrder = []
+
+    def Xform "left_outer_knuckle" (
+        instanceable = false
+    )
+    {
+        quatd xformOp:orient = (0.7071067811865986, 4.902349974783143e-16, 6.096901636101399e-16, -0.7071067811864964)
+        float3 xformOp:scale = (1, 1, 1)
+        double3 xformOp:translate = (-0.00024200000540691987, 3.8771718906765497e-14, 0.15)
+        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+
+        def Xform "Finger1" (
+            instanceable = true
+            kind = "model"
+            prepend references = @./instances.usda@</Instances/Finger1>
+        )
+        {
+            over "Finger1"
+            {
+            }
+        }
+    }
+
+    def Xform "left_outer_finger" (
+        instanceable = false
+    )
+    {
+        quatd xformOp:orient = (-0.7071067811714563, -5.000480753317283e-16, -4.919332292219785e-16, 0.7071067812016387)
+        float3 xformOp:scale = (1, 1, 1)
+        double3 xformOp:translate = (-0.00024200000786084308, 3.655629602850554e-12, 0.15)
+        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+
+        def Xform "Finger2" (
+            instanceable = true
+            kind = "model"
+            prepend references = @./instances.usda@</Instances/Finger2>
+        )
+        {
+            over "Finger2"
+            {
+            }
+        }
+    }
+
+    def Xform "left_inner_finger" (
+        instanceable = false
+    )
+    {
+        quatd xformOp:orient = (1, 0, 0, 0)
+        float3 xformOp:scale = (1, 1, 1)
+        double3 xformOp:translate = (0, 0, 0.15)
+        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+
+        def Xform "Fingertip_01" (
+            prepend apiSchemas = ["MaterialBindingAPI"]
+            instanceable = false
+        )
+        {
+            rel material:binding:physics = </Robotiq_2F_140/fingertip_material> (
+                bindMaterialAs = "weakerThanDescendants"
+            )
+            quatd xformOp:orient = (-0.7071067811865318, -1.3818123242633708e-15, -2.712663678121599e-16, 0.7071067811865621)
+            double3 xformOp:translate = (-0.00024200000375155698, -1.3298270597270197e-12, 7.245392490876546e-16)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+
+            def Xform "Fingertip" (
+                instanceable = true
+                kind = "model"
+                prepend references = @./instances.usda@</Instances/Fingertip>
+            )
+            {
+                over "Fingertip"
+                {
+                }
+            }
+        }
+
+        def Xform "Finger4_01" (
+            instanceable = false
+        )
+        {
+            quatd xformOp:orient = (-0.7071067811865318, -1.3818123242633708e-15, -2.712663678121599e-16, 0.7071067811865621)
+            double3 xformOp:translate = (-0.0002420000037471161, -1.3206122084166631e-12, 2.2493887683942214e-16)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+
+            def Xform "Finger4" (
+                instanceable = true
+                kind = "model"
+                prepend references = @./instances.usda@</Instances/Finger4>
+            )
+            {
+                over "Finger4"
+                {
+                }
+            }
+        }
+
+        def IsaacContactSensor "Contact_Sensor"
+        {
+            float4 color = (1, 0, 0, 1)
+            bool enabled = 1
+            float radius = -1
+            float sensorPeriod = -1
+            float2 threshold = (0, 100000)
+            quatd xformOp:orient = (1, 0, 0, 0)
+            double3 xformOp:scale = (1, 1, 1)
+            double3 xformOp:translate = (0, 0, 0)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+        }
+    }
+
+    def Xform "left_inner_knuckle" (
+        prepend apiSchemas = ["MaterialBindingAPI"]
+        instanceable = false
+    )
+    {
+        rel material:binding:physics = </Robotiq_2F_140/fingertip_material> (
+            bindMaterialAs = "weakerThanDescendants"
+        )
+        quatd xformOp:orient = (-0.707106781177613, -1.088488258189625e-16, -1.0880323113196409e-15, 0.7071067811954821)
+        float3 xformOp:scale = (1, 1, 1)
+        double3 xformOp:translate = (-0.00024200000572815547, 1.4956748502000008e-12, 0.15)
+        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+
+        def Xform "Finger3" (
+            instanceable = true
+            kind = "model"
+            prepend references = @./instances.usda@</Instances/Finger3>
+        )
+        {
+            over "Finger3"
+            {
+            }
+        }
+    }
+
+    def Xform "right_outer_knuckle" (
+        instanceable = false
+    )
+    {
+        quatd xformOp:orient = (-1.048990684667789e-15, 0.7071067811865456, 0.7071067811865495, 1.2521301036646133e-16)
+        float3 xformOp:scale = (1, 1, 1)
+        double3 xformOp:translate = (-0.0002420000054116942, 4.67488709051141e-14, 0.15)
+        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+
+        def Xform "Finger1" (
+            instanceable = true
+            kind = "model"
+            prepend references = @./instances.usda@</Instances/Finger1>
+        )
+        {
+            over "Finger1"
+            {
+            }
+        }
+    }
+
+    def Xform "right_outer_finger" (
+        instanceable = false
+    )
+    {
+        quatd xformOp:orient = (-1.048990684667789e-15, 0.7071067811714697, 0.7071067812016253, 1.2207040080738798e-16)
+        float3 xformOp:scale = (1, 1, 1)
+        double3 xformOp:translate = (-0.0002420000078527243, -3.559458363235193e-12, 0.15)
+        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+
+        def Xform "Finger2" (
+            instanceable = true
+            kind = "model"
+            prepend references = @./instances.usda@</Instances/Finger2>
+        )
+        {
+            over "Finger2"
+            {
+            }
+        }
+    }
+
+    def Xform "right_inner_finger" (
+        instanceable = false
+    )
+    {
+        quatd xformOp:orient = (1, 0, 0, 0)
+        float3 xformOp:scale = (1, 1, 1)
+        double3 xformOp:translate = (0, 0, 0.15)
+        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+
+        def Xform "Finger4_01" (
+            instanceable = false
+        )
+        {
+            quatd xformOp:orient = (-4.895440348255201e-16, 0.70710678118655, 0.7071067811865452, -1.5988453803620015e-15)
+            double3 xformOp:translate = (-0.00024200000374420774, 1.4220170498113577e-12, -5.788657334949278e-16)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+
+            def Xform "Finger4" (
+                instanceable = true
+                kind = "model"
+                prepend references = @./instances.usda@</Instances/Finger4>
+            )
+            {
+                over "Finger4"
+                {
+                }
+            }
+        }
+
+        def Xform "Fingertip_01" (
+            prepend apiSchemas = ["MaterialBindingAPI"]
+            instanceable = false
+        )
+        {
+            rel material:binding:physics = </Robotiq_2F_140/fingertip_material> (
+                bindMaterialAs = "weakerThanDescendants"
+            )
+            quatd xformOp:orient = (-9.38098838826452e-16, 0.7071067811865481, 0.7071067811865474, -1.3097317225518778e-15)
+            double3 xformOp:translate = (-0.0002420000037487319, 1.4308988342068823e-12, -1.0784661057431908e-15)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+
+            def Xform "Fingertip" (
+                instanceable = true
+                kind = "model"
+                prepend references = @./instances.usda@</Instances/Fingertip>
+            )
+            {
+                over "Fingertip"
+                {
+                }
+            }
+        }
+    }
+
+    def Xform "right_inner_knuckle" (
+        prepend apiSchemas = ["MaterialBindingAPI"]
+        instanceable = false
+    )
+    {
+        rel material:binding:physics = </Robotiq_2F_140/fingertip_material> (
+            bindMaterialAs = "weakerThanDescendants"
+        )
+        quatd xformOp:orient = (-1.6081226496766364e-16, 0.7071067811776556, 0.7071067811954395, -2.667677072077055e-16)
+        float3 xformOp:scale = (1, 1, 1)
+        double3 xformOp:translate = (-0.0002420000057306303, -1.3997540118790104e-12, 0.15)
+        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+
+        def Xform "Finger3" (
+            instanceable = true
+            kind = "model"
+            prepend references = @./instances.usda@</Instances/Finger3>
+        )
+        {
+            over "Finger3"
+            {
+            }
+        }
+    }
+
+    def Xform "robotiq_base_link" (
+        instanceable = false
+    )
+    {
+        quatd xformOp:orient = (6.123233995736766e-17, 0.7071067811865476, 4.329780281177466e-17, 0.7071067811865475)
+        float3 xformOp:scale = (1, 1, 1)
+        double3 xformOp:translate = (0, 0, 0.15)
+        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+
+        def Xform "_F_Body_01" (
+            instanceable = false
+        )
+        {
+            quatd xformOp:orient = (0.5000000000000001, 0.49999999999999994, 0.5, 0.5)
+            float3 xformOp:scale = (1, 1, 1)
+            double3 xformOp:translate = (-0.00024200000000245306, -1.9814576843499938e-13, 3.460415520721716e-17)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+
+            def Xform "_F_Body" (
+                instanceable = true
+                kind = "model"
+                prepend references = @./instances.usda@</Instances/_F_Body>
+            )
+            {
+                over "_F_Body"
+                {
+                }
+            }
+        }
+
+        def Xform "grasp_frame" (
+            prepend apiSchemas = ["IsaacSiteAPI"]
+        )
+        {
+            custom float gripper_maxOpening = 0.14
+            custom float gripper_maxPayload = 2
+            string isaac:Description = "Parallel-jaw grasp center"
+            token simready:attactment:socketType = "Gripper"
+            quatd xformOp:orient = (1, 0, 0, 0)
+            double3 xformOp:scale = (1, 1, 1)
+            double3 xformOp:translate = (3.511745904322756e-17, -4.0113266590528364e-18, 0.1581549754612783)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+
+            def BasisCurves "gripper_forward_axis"
+            {
+                int[] curveVertexCounts = [2]
+                float3[] extent = [(0, 0, 0), (0, 0, 0.05)]
+                point3f[] points = [(0, 0, 0), (0, 0, 0.05)]
+                uniform token purpose = "guide"
+                uniform token type = "linear"
+            }
+
+            def BasisCurves "gripper_grip_line"
+            {
+                int[] curveVertexCounts = [2]
+                float3[] extent = [(-0.015, 0, 0), (0.015, 0, 0)]
+                point3f[] points = [(-0.015, 0, 0), (0.015, 0, 0)]
+                uniform token purpose = "guide"
+                uniform token type = "linear"
+            }
+        }
+    }
+
+    def Material "fingertip_material" (
+        active = true
+    )
+    {
+    }
+
+    def Scope "VisualMaterials"
+    {
+    }
+}
+

robotiq_2f_140/payloads/geometries.usd

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4060e9ed23b938ebb8e2893f6e1e63effafd4486966de4916743e598d0a2fb6c
+size 5107041

robotiq_2f_140/payloads/instances.usda

@@ -0,0 +1,726 @@
+#usda 1.0
+(
+    customLayerData = {
+    }
+    endTimeCode = 0
+    metersPerUnit = 0.9999999776482582
+    startTimeCode = -1
+    timeCodesPerSecond = 60
+    upAxis = "Z"
+)
+
+def Scope "Instances"
+{
+    def Xform "Finger1" (
+        prepend references = @./geometries.usd@</Geometries/Finger1>
+    )
+    {
+        over "Finger1" (
+            apiSchemas = ["MaterialBindingAPI", "PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"]
+        )
+        {
+            double[] inertiaMatrix = [0, 0, 0, 0, 0, 0, 0, 0, 0]
+            custom rel material:binding
+            prepend rel material:binding = </Instances/Finger1/VisualMaterials/Pumice>
+            bool physics:collisionEnabled = 1
+        }
+
+        def Scope "VisualMaterials"
+        {
+            def Material "Pumice" (
+                instanceable = true
+                prepend references = @./materials.usda@</Materials/Pumice>
+            )
+            {
+                token outputs:surface.connect = </Instances/Finger1/VisualMaterials/Pumice/SimReadyPreviewSurface.outputs:surface>
+
+                def Shader "SimReadyPreviewSurface"
+                {
+                    token info:id = "UsdPreviewSurface"
+                    color3f inputs:diffuseColor = (0.78431374, 0.78431374, 0.78431374)
+                    float inputs:metallic = 1
+                    float inputs:opacity = 1
+                    float inputs:roughness = 0.22
+                    token outputs:surface
+                }
+
+                def Shader "SimReadyUV"
+                {
+                    token info:id = "UsdPrimvarReader_float2"
+                    string inputs:varname = "st"
+                    float2 outputs:result
+                }
+            }
+        }
+    }
+
+    def Xform "Finger2" (
+        prepend references = @./geometries.usd@</Geometries/Finger2>
+    )
+    {
+        over "Finger2" (
+            apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"]
+        )
+        {
+            double[] inertiaMatrix = [0, 0, 0, 0, 0, 0, 0, 0, 0]
+            bool physics:collisionEnabled = 1
+
+            over "Gray" (
+                apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                custom rel material:binding
+                prepend rel material:binding = </Instances/Finger2/VisualMaterials/Gray>
+            }
+
+            over "Geyser" (
+                apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                custom rel material:binding
+                prepend rel material:binding = </Instances/Finger2/VisualMaterials/Geyser>
+            }
+
+            over "Cod_Gray" (
+                apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                custom rel material:binding
+                prepend rel material:binding = </Instances/Finger2/VisualMaterials/Cod_Gray>
+            }
+        }
+
+        def Scope "VisualMaterials"
+        {
+            def Material "Gray" (
+                instanceable = true
+                prepend references = @./materials.usda@</Materials/Gray>
+            )
+            {
+                token outputs:surface.connect = </Instances/Finger2/VisualMaterials/Gray/SimReadyPreviewSurface.outputs:surface>
+
+                def Shader "SimReadyPreviewSurface"
+                {
+                    token info:id = "UsdPreviewSurface"
+                    color3f inputs:diffuseColor = (0.49411765, 0.49411765, 0.49411765)
+                    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 Material "Geyser" (
+                instanceable = true
+                prepend references = @./materials.usda@</Materials/Geyser>
+            )
+            {
+                token outputs:surface.connect = </Instances/Finger2/VisualMaterials/Geyser/SimReadyPreviewSurface.outputs:surface>
+
+                def Shader "SimReadyPreviewSurface"
+                {
+                    token info:id = "UsdPreviewSurface"
+                    color3f inputs:diffuseColor = (0.8117647, 0.85882354, 0.8980392)
+                    float inputs:metallic = 1
+                    float inputs:opacity = 1
+                    float inputs:roughness = 0.26
+                    token outputs:surface
+                }
+
+                def Shader "SimReadyUV"
+                {
+                    token info:id = "UsdPrimvarReader_float2"
+                    string inputs:varname = "st"
+                    float2 outputs:result
+                }
+            }
+
+            def Material "Cod_Gray" (
+                instanceable = true
+                prepend references = @./materials.usda@</Materials/Cod_Gray>
+            )
+            {
+                token outputs:surface.connect = </Instances/Finger2/VisualMaterials/Cod_Gray/SimReadyPreviewSurface.outputs:surface>
+
+                def Shader "SimReadyPreviewSurface"
+                {
+                    token info:id = "UsdPreviewSurface"
+                    color3f inputs:diffuseColor = (0.039215688, 0.039215688, 0.039215688)
+                    float inputs:metallic = 0.29999998
+                    float inputs:opacity = 1
+                    float inputs:roughness = 0.45
+                    token outputs:surface
+                }
+
+                def Shader "SimReadyUV"
+                {
+                    token info:id = "UsdPrimvarReader_float2"
+                    string inputs:varname = "st"
+                    float2 outputs:result
+                }
+            }
+        }
+    }
+
+    def Xform "Fingertip" (
+        prepend references = @./geometries.usd@</Geometries/Fingertip>
+    )
+    {
+        over "Fingertip" (
+            apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"]
+        )
+        {
+            double[] inertiaMatrix = [0, 0, 0, 0, 0, 0, 0, 0, 0]
+            bool physics:collisionEnabled = 1
+
+            over "Gray_Nurse" (
+                apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                custom rel material:binding
+                prepend rel material:binding = </Instances/Fingertip/VisualMaterials/Gray_Nurse>
+            }
+
+            over "Cod_Gray" (
+                apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                custom rel material:binding
+                prepend rel material:binding = </Instances/Fingertip/VisualMaterials/Cod_Gray>
+            }
+        }
+
+        def Scope "VisualMaterials"
+        {
+            def Material "Gray_Nurse" (
+                instanceable = true
+                prepend references = @./materials.usda@</Materials/Gray_Nurse>
+            )
+            {
+                token outputs:surface.connect = </Instances/Fingertip/VisualMaterials/Gray_Nurse/SimReadyPreviewSurface.outputs:surface>
+
+                def Shader "SimReadyPreviewSurface"
+                {
+                    token info:id = "UsdPreviewSurface"
+                    color3f inputs:diffuseColor = (0.91764706, 0.91764706, 0.91764706)
+                    float inputs:metallic = 1
+                    float inputs:opacity = 1
+                    float inputs:roughness = 0.62
+                    token outputs:surface
+                }
+
+                def Shader "SimReadyUV"
+                {
+                    token info:id = "UsdPrimvarReader_float2"
+                    string inputs:varname = "st"
+                    float2 outputs:result
+                }
+            }
+
+            def Material "Cod_Gray" (
+                instanceable = true
+                prepend references = @./materials.usda@</Materials/Cod_Gray>
+            )
+            {
+                token outputs:surface.connect = </Instances/Fingertip/VisualMaterials/Cod_Gray/SimReadyPreviewSurface.outputs:surface>
+
+                def Shader "SimReadyPreviewSurface"
+                {
+                    token info:id = "UsdPreviewSurface"
+                    color3f inputs:diffuseColor = (0.039215688, 0.039215688, 0.039215688)
+                    float inputs:metallic = 0.29999998
+                    float inputs:opacity = 1
+                    float inputs:roughness = 0.45
+                    token outputs:surface
+                }
+
+                def Shader "SimReadyUV"
+                {
+                    token info:id = "UsdPrimvarReader_float2"
+                    string inputs:varname = "st"
+                    float2 outputs:result
+                }
+            }
+        }
+    }
+
+    def Xform "Finger4" (
+        prepend references = @./geometries.usd@</Geometries/Finger4>
+    )
+    {
+        over "Finger4" (
+            apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"]
+        )
+        {
+            double[] inertiaMatrix = [0, 0, 0, 0, 0, 0, 0, 0, 0]
+            bool physics:collisionEnabled = 1
+
+            over "Periwinkle_Gray" (
+                apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                custom rel material:binding
+                prepend rel material:binding = </Instances/Finger4/VisualMaterials/Periwinkle_Gray>
+            }
+
+            over "Geyser" (
+                apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                custom rel material:binding
+                prepend rel material:binding = </Instances/Finger4/VisualMaterials/Geyser>
+            }
+
+            over "Cod_Gray" (
+                apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                custom rel material:binding
+                prepend rel material:binding = </Instances/Finger4/VisualMaterials/Cod_Gray>
+            }
+        }
+
+        def Scope "VisualMaterials"
+        {
+            def Material "Periwinkle_Gray" (
+                instanceable = true
+                prepend references = @./materials.usda@</Materials/Periwinkle_Gray>
+            )
+            {
+                token outputs:surface.connect = </Instances/Finger4/VisualMaterials/Periwinkle_Gray/SimReadyPreviewSurface.outputs:surface>
+
+                def Shader "SimReadyPreviewSurface"
+                {
+                    token info:id = "UsdPreviewSurface"
+                    color3f inputs:diffuseColor = (0.7921569, 0.81960785, 0.93333334)
+                    float inputs:metallic = 0.94
+                    float inputs:opacity = 1
+                    float inputs:roughness = 0.71999997
+                    token outputs:surface
+                }
+
+                def Shader "SimReadyUV"
+                {
+                    token info:id = "UsdPrimvarReader_float2"
+                    string inputs:varname = "st"
+                    float2 outputs:result
+                }
+            }
+
+            def Material "Geyser" (
+                instanceable = true
+                prepend references = @./materials.usda@</Materials/Geyser>
+            )
+            {
+                token outputs:surface.connect = </Instances/Finger4/VisualMaterials/Geyser/SimReadyPreviewSurface.outputs:surface>
+
+                def Shader "SimReadyPreviewSurface"
+                {
+                    token info:id = "UsdPreviewSurface"
+                    color3f inputs:diffuseColor = (0.8117647, 0.85882354, 0.8980392)
+                    float inputs:metallic = 1
+                    float inputs:opacity = 1
+                    float inputs:roughness = 0.26
+                    token outputs:surface
+                }
+
+                def Shader "SimReadyUV"
+                {
+                    token info:id = "UsdPrimvarReader_float2"
+                    string inputs:varname = "st"
+                    float2 outputs:result
+                }
+            }
+
+            def Material "Cod_Gray" (
+                instanceable = true
+                prepend references = @./materials.usda@</Materials/Cod_Gray>
+            )
+            {
+                token outputs:surface.connect = </Instances/Finger4/VisualMaterials/Cod_Gray/SimReadyPreviewSurface.outputs:surface>
+
+                def Shader "SimReadyPreviewSurface"
+                {
+                    token info:id = "UsdPreviewSurface"
+                    color3f inputs:diffuseColor = (0.039215688, 0.039215688, 0.039215688)
+                    float inputs:metallic = 0.29999998
+                    float inputs:opacity = 1
+                    float inputs:roughness = 0.45
+                    token outputs:surface
+                }
+
+                def Shader "SimReadyUV"
+                {
+                    token info:id = "UsdPrimvarReader_float2"
+                    string inputs:varname = "st"
+                    float2 outputs:result
+                }
+            }
+        }
+    }
+
+    def Xform "Finger3" (
+        prepend references = @./geometries.usd@</Geometries/Finger3>
+    )
+    {
+        over "Finger3" (
+            apiSchemas = ["MaterialBindingAPI", "PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"]
+        )
+        {
+            double[] inertiaMatrix = [0, 0, 0, 0, 0, 0, 0, 0, 0]
+            custom rel material:binding
+            prepend rel material:binding = </Instances/Finger3/VisualMaterials/Cod_Gray>
+            bool physics:collisionEnabled = 1
+        }
+
+        def Scope "VisualMaterials"
+        {
+            def Material "Cod_Gray" (
+                instanceable = true
+                prepend references = @./materials.usda@</Materials/Cod_Gray>
+            )
+            {
+                token outputs:surface.connect = </Instances/Finger3/VisualMaterials/Cod_Gray/SimReadyPreviewSurface.outputs:surface>
+
+                def Shader "SimReadyPreviewSurface"
+                {
+                    token info:id = "UsdPreviewSurface"
+                    color3f inputs:diffuseColor = (0.039215688, 0.039215688, 0.039215688)
+                    float inputs:metallic = 0.29999998
+                    float inputs:opacity = 1
+                    float inputs:roughness = 0.45
+                    token outputs:surface
+                }
+
+                def Shader "SimReadyUV"
+                {
+                    token info:id = "UsdPrimvarReader_float2"
+                    string inputs:varname = "st"
+                    float2 outputs:result
+                }
+            }
+        }
+    }
+
+    def Xform "_F_Body" (
+        prepend references = @./geometries.usd@</Geometries/_F_Body>
+    )
+    {
+        over "_F_Body" (
+            apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"]
+        )
+        {
+            double[] inertiaMatrix = [0, 0, 0, 0, 0, 0, 0, 0, 0]
+            bool physics:collisionEnabled = 1
+
+            over "Mystic" (
+                apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                custom rel material:binding
+                prepend rel material:binding = </Instances/_F_Body/VisualMaterials/Mystic>
+            }
+
+            over "Cod_Gray" (
+                apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                custom rel material:binding
+                prepend rel material:binding = </Instances/_F_Body/VisualMaterials/Cod_Gray>
+            }
+
+            over "San_Marino" (
+                apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                custom rel material:binding
+                prepend rel material:binding = </Instances/_F_Body/VisualMaterials/San_Marino>
+            }
+
+            over "Geyser" (
+                apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                custom rel material:binding
+                prepend rel material:binding = </Instances/_F_Body/VisualMaterials/Geyser>
+            }
+
+            over "Gravel" (
+                apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                custom rel material:binding
+                prepend rel material:binding = </Instances/_F_Body/VisualMaterials/Gravel>
+            }
+
+            over "Periwinkle_Gray" (
+                apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                custom rel material:binding
+                prepend rel material:binding = </Instances/_F_Body/VisualMaterials/Periwinkle_Gray>
+            }
+
+            over "Gallery" (
+                apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                custom rel material:binding
+                prepend rel material:binding = </Instances/_F_Body/VisualMaterials/Gallery>
+            }
+
+            over "Chateau_Green" (
+                apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                custom rel material:binding
+                prepend rel material:binding = </Instances/_F_Body/VisualMaterials/Chateau_Green>
+            }
+
+            over "White" (
+                apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                custom rel material:binding
+                prepend rel material:binding = </Instances/_F_Body/VisualMaterials/White>
+            }
+        }
+
+        def Scope "VisualMaterials"
+        {
+            def Material "Mystic" (
+                instanceable = true
+                prepend references = @./materials.usda@</Materials/Mystic>
+            )
+            {
+                token outputs:surface.connect = </Instances/_F_Body/VisualMaterials/Mystic/SimReadyPreviewSurface.outputs:surface>
+
+                def Shader "SimReadyPreviewSurface"
+                {
+                    token info:id = "UsdPreviewSurface"
+                    color3f inputs:diffuseColor = (0.8980392, 0.91764706, 0.92941177)
+                    float inputs:metallic = 0.31
+                    float inputs:opacity = 1
+                    float inputs:roughness = 0.51
+                    token outputs:surface
+                }
+
+                def Shader "SimReadyUV"
+                {
+                    token info:id = "UsdPrimvarReader_float2"
+                    string inputs:varname = "st"
+                    float2 outputs:result
+                }
+            }
+
+            def Material "Cod_Gray" (
+                instanceable = true
+                prepend references = @./materials.usda@</Materials/Cod_Gray>
+            )
+            {
+                token outputs:surface.connect = </Instances/_F_Body/VisualMaterials/Cod_Gray/SimReadyPreviewSurface.outputs:surface>
+
+                def Shader "SimReadyPreviewSurface"
+                {
+                    token info:id = "UsdPreviewSurface"
+                    color3f inputs:diffuseColor = (0.039215688, 0.039215688, 0.039215688)
+                    float inputs:metallic = 0.29999998
+                    float inputs:opacity = 1
+                    float inputs:roughness = 0.45
+                    token outputs:surface
+                }
+
+                def Shader "SimReadyUV"
+                {
+                    token info:id = "UsdPrimvarReader_float2"
+                    string inputs:varname = "st"
+                    float2 outputs:result
+                }
+            }
+
+            def Material "San_Marino" (
+                instanceable = true
+                prepend references = @./materials.usda@</Materials/San_Marino>
+            )
+            {
+                token outputs:surface.connect = </Instances/_F_Body/VisualMaterials/San_Marino/SimReadyPreviewSurface.outputs:surface>
+
+                def Shader "SimReadyPreviewSurface"
+                {
+                    token info:id = "UsdPreviewSurface"
+                    color3f inputs:diffuseColor = (0.23137255, 0.38039216, 0.7058824)
+                    color3f inputs:emissiveColor = (1156.8628, 1901.9608, 3529.4119)
+                    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 Material "Geyser" (
+                instanceable = true
+                prepend references = @./materials.usda@</Materials/Geyser>
+            )
+            {
+                token outputs:surface.connect = </Instances/_F_Body/VisualMaterials/Geyser/SimReadyPreviewSurface.outputs:surface>
+
+                def Shader "SimReadyPreviewSurface"
+                {
+                    token info:id = "UsdPreviewSurface"
+                    color3f inputs:diffuseColor = (0.8117647, 0.85882354, 0.8980392)
+                    float inputs:metallic = 1
+                    float inputs:opacity = 1
+                    float inputs:roughness = 0.26
+                    token outputs:surface
+                }
+
+                def Shader "SimReadyUV"
+                {
+                    token info:id = "UsdPrimvarReader_float2"
+                    string inputs:varname = "st"
+                    float2 outputs:result
+                }
+            }
+
+            def Material "Gravel" (
+                instanceable = true
+                prepend references = @./materials.usda@</Materials/Gravel>
+            )
+            {
+                token outputs:surface.connect = </Instances/_F_Body/VisualMaterials/Gravel/SimReadyPreviewSurface.outputs:surface>
+
+                def Shader "SimReadyPreviewSurface"
+                {
+                    token info:id = "UsdPreviewSurface"
+                    color3f inputs:diffuseColor = (0.29803923, 0.29803923, 0.29803923)
+                    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 Material "Periwinkle_Gray" (
+                instanceable = true
+                prepend references = @./materials.usda@</Materials/Periwinkle_Gray>
+            )
+            {
+                token outputs:surface.connect = </Instances/_F_Body/VisualMaterials/Periwinkle_Gray/SimReadyPreviewSurface.outputs:surface>
+
+                def Shader "SimReadyPreviewSurface"
+                {
+                    token info:id = "UsdPreviewSurface"
+                    color3f inputs:diffuseColor = (0.7921569, 0.81960785, 0.93333334)
+                    float inputs:metallic = 0.94
+                    float inputs:opacity = 1
+                    float inputs:roughness = 0.71999997
+                    token outputs:surface
+                }
+
+                def Shader "SimReadyUV"
+                {
+                    token info:id = "UsdPrimvarReader_float2"
+                    string inputs:varname = "st"
+                    float2 outputs:result
+                }
+            }
+
+            def Material "Gallery" (
+                instanceable = true
+                prepend references = @./materials.usda@</Materials/Gallery>
+            )
+            {
+                token outputs:surface.connect = </Instances/_F_Body/VisualMaterials/Gallery/SimReadyPreviewSurface.outputs:surface>
+
+                def Shader "SimReadyPreviewSurface"
+                {
+                    token info:id = "UsdPreviewSurface"
+                    color3f inputs:diffuseColor = (0.9372549, 0.9372549, 0.9372549)
+                    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 Material "Chateau_Green" (
+                instanceable = true
+                prepend references = @./materials.usda@</Materials/Chateau_Green>
+            )
+            {
+                token outputs:surface.connect = </Instances/_F_Body/VisualMaterials/Chateau_Green/SimReadyPreviewSurface.outputs:surface>
+
+                def Shader "SimReadyPreviewSurface"
+                {
+                    token info:id = "UsdPreviewSurface"
+                    color3f inputs:diffuseColor = (0.28627452, 0.6627451, 0.32941177)
+                    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 Material "White" (
+                instanceable = true
+                prepend references = @./materials.usda@</Materials/White>
+            )
+            {
+                token outputs:surface.connect = </Instances/_F_Body/VisualMaterials/White/SimReadyPreviewSurface.outputs:surface>
+
+                def Shader "SimReadyPreviewSurface"
+                {
+                    token info:id = "UsdPreviewSurface"
+                    color3f inputs:diffuseColor = (1, 1, 1)
+                    float inputs:metallic = 0
+                    float inputs:opacity = 1
+                    float inputs:roughness = 0.5
+                    token outputs:surface
+                }
+
+                def Shader "SimReadyUV"
+                {
+                    token info:id = "UsdPrimvarReader_float2"
+                    string inputs:varname = "st"
+                    float2 outputs:result
+                }
+            }
+        }
+    }
+}
+

robotiq_2f_140/payloads/materials.usda

@@ -0,0 +1,1171 @@
+#usda 1.0
+(
+    customLayerData = {
+    }
+    endTimeCode = 0
+    metersPerUnit = 0.9999999776482582
+    startTimeCode = -1
+    timeCodesPerSecond = 60
+    upAxis = "Z"
+)
+
+def Scope "Materials"
+{
+    def Material "Gray_Nurse"
+    {
+        custom token[] omni:simready:nonvisual:attributes = ["none"]
+        custom token omni:simready:nonvisual:base = "rubber"
+        custom token omni:simready:nonvisual:coating = "none"
+        token outputs:displacement (
+            displayGroup = "Outputs"
+        )
+        prepend token outputs:mdl:displacement.connect = </Materials/Gray_Nurse/Shader.outputs:out>
+        prepend token outputs:mdl:surface.connect = </Materials/Gray_Nurse/Shader.outputs:out>
+        prepend token outputs:mdl:volume.connect = </Materials/Gray_Nurse/Shader.outputs:out>
+        token outputs:mtlx:surface.connect = </Materials/Gray_Nurse/simready_pbr_surfaceshader.outputs:out>
+        token outputs:surface (
+            displayGroup = "Outputs"
+        )
+        token outputs:surface.connect = </Materials/Gray_Nurse/SimReadyPreviewSurface.outputs:surface>
+        token outputs:volume (
+            displayGroup = "Outputs"
+        )
+
+        def Shader "Shader" (
+            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 = (0.91764706, 0.91764706, 0.91764706) (
+                customData = {
+                    float3 default = (0.2, 0.2, 0.2)
+                }
+                displayGroup = "Albedo"
+                doc = "This is the albedo base color"
+                hidden = false
+            )
+            color3f inputs:emissive_color = (0, 0, 0) (
+                customData = {
+                    float3 default = (1, 0.1, 0.1)
+                }
+                displayGroup = "Emissive"
+                doc = "The emission color"
+                hidden = false
+            )
+            float inputs:emissive_intensity = 0 (
+                customData = {
+                    double default = 40
+                }
+                displayGroup = "Emissive"
+                doc = "Intensity of the emission"
+                hidden = false
+            )
+            bool inputs:enable_emission = 0 (
+                customData = {
+                    bool default = 0
+                }
+                displayGroup = "Emissive"
+                doc = "Enables the emission of light from the material"
+                hidden = false
+            )
+            float inputs:metallic_constant = 1 (
+                customData = {
+                    double default = 0
+                    dictionary range = {
+                        double max = 1
+                        double min = 0
+                    }
+                }
+                displayGroup = "Reflectivity"
+                doc = "Metallic Material"
+                hidden = false
+            )
+            float inputs:reflection_roughness_constant = 0.62 (
+                customData = {
+                    double default = 0.5
+                    dictionary range = {
+                        double max = 1
+                        double min = 0
+                    }
+                }
+                displayGroup = "Reflectivity"
+                doc = "Higher roughness values lead to more blurry reflections"
+                hidden = false
+            )
+            token outputs:out
+        }
+
+        def Shader "SimReadyPreviewSurface"
+        {
+            token info:id = "UsdPreviewSurface"
+            color3f inputs:diffuseColor = (0.91764706, 0.91764706, 0.91764706)
+            float inputs:metallic = 1
+            float inputs:opacity = 1
+            float inputs:roughness = 0.62
+            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
+        }
+    }
+
+    def Material "Cod_Gray"
+    {
+        custom token[] omni:simready:nonvisual:attributes = ["none"]
+        custom token omni:simready:nonvisual:base = "aluminum"
+        custom token omni:simready:nonvisual:coating = "paint"
+        token outputs:displacement (
+            displayGroup = "Outputs"
+        )
+        prepend token outputs:mdl:displacement.connect = </Materials/Cod_Gray/Shader.outputs:out>
+        prepend token outputs:mdl:surface.connect = </Materials/Cod_Gray/Shader.outputs:out>
+        prepend token outputs:mdl:volume.connect = </Materials/Cod_Gray/Shader.outputs:out>
+        token outputs:mtlx:surface.connect = </Materials/Cod_Gray/simready_pbr_surfaceshader.outputs:out>
+        token outputs:surface (
+            displayGroup = "Outputs"
+        )
+        token outputs:surface.connect = </Materials/Cod_Gray/SimReadyPreviewSurface.outputs:surface>
+        token outputs:volume (
+            displayGroup = "Outputs"
+        )
+
+        def Shader "Shader" (
+            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 = (0.039215688, 0.039215688, 0.039215688) (
+                customData = {
+                    float3 default = (0.2, 0.2, 0.2)
+                }
+                displayGroup = "Albedo"
+                doc = "This is the albedo base color"
+                hidden = false
+            )
+            color3f inputs:emissive_color = (0, 0, 0) (
+                customData = {
+                    float3 default = (1, 0.1, 0.1)
+                }
+                displayGroup = "Emissive"
+                doc = "The emission color"
+                hidden = false
+            )
+            float inputs:emissive_intensity = 0 (
+                customData = {
+                    double default = 40
+                }
+                displayGroup = "Emissive"
+                doc = "Intensity of the emission"
+                hidden = false
+            )
+            bool inputs:enable_emission = 0 (
+                customData = {
+                    bool default = 0
+                }
+                displayGroup = "Emissive"
+                doc = "Enables the emission of light from the material"
+                hidden = false
+            )
+            float inputs:metallic_constant = 0.29999998 (
+                customData = {
+                    double default = 0
+                    dictionary range = {
+                        double max = 1
+                        double min = 0
+                    }
+                }
+                displayGroup = "Reflectivity"
+                doc = "Metallic Material"
+                hidden = false
+            )
+            float inputs:reflection_roughness_constant = 0.45 (
+                customData = {
+                    double default = 0.5
+                    dictionary range = {
+                        double max = 1
+                        double min = 0
+                    }
+                }
+                displayGroup = "Reflectivity"
+                doc = "Higher roughness values lead to more blurry reflections"
+                hidden = false
+            )
+            token outputs:out
+        }
+
+        def Shader "SimReadyPreviewSurface"
+        {
+            token info:id = "UsdPreviewSurface"
+            color3f inputs:diffuseColor = (0.039215688, 0.039215688, 0.039215688)
+            float inputs:metallic = 0.29999998
+            float inputs:opacity = 1
+            float inputs:roughness = 0.45
+            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
+        }
+    }
+
+    def Material "Periwinkle_Gray"
+    {
+        custom token[] omni:simready:nonvisual:attributes = ["none"]
+        custom token omni:simready:nonvisual:base = "aluminum"
+        custom token omni:simready:nonvisual:coating = "paint"
+        token outputs:displacement (
+            displayGroup = "Outputs"
+        )
+        prepend token outputs:mdl:displacement.connect = </Materials/Periwinkle_Gray/Shader.outputs:out>
+        prepend token outputs:mdl:surface.connect = </Materials/Periwinkle_Gray/Shader.outputs:out>
+        prepend token outputs:mdl:volume.connect = </Materials/Periwinkle_Gray/Shader.outputs:out>
+        token outputs:mtlx:surface.connect = </Materials/Periwinkle_Gray/simready_pbr_surfaceshader.outputs:out>
+        token outputs:surface (
+            displayGroup = "Outputs"
+        )
+        token outputs:surface.connect = </Materials/Periwinkle_Gray/SimReadyPreviewSurface.outputs:surface>
+        token outputs:volume (
+            displayGroup = "Outputs"
+        )
+
+        def Shader "Shader" (
+            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 = (0.7921569, 0.81960785, 0.93333334) (
+                customData = {
+                    float3 default = (0.2, 0.2, 0.2)
+                }
+                displayGroup = "Albedo"
+                doc = "This is the albedo base color"
+                hidden = false
+            )
+            color3f inputs:emissive_color = (0, 0, 0) (
+                customData = {
+                    float3 default = (1, 0.1, 0.1)
+                }
+                displayGroup = "Emissive"
+                doc = "The emission color"
+                hidden = false
+            )
+            float inputs:emissive_intensity = 0 (
+                customData = {
+                    double default = 40
+                }
+                displayGroup = "Emissive"
+                doc = "Intensity of the emission"
+                hidden = false
+            )
+            bool inputs:enable_emission = 0 (
+                customData = {
+                    bool default = 0
+                }
+                displayGroup = "Emissive"
+                doc = "Enables the emission of light from the material"
+                hidden = false
+            )
+            float inputs:metallic_constant = 0.94 (
+                customData = {
+                    double default = 0
+                    dictionary range = {
+                        double max = 1
+                        double min = 0
+                    }
+                }
+                displayGroup = "Reflectivity"
+                doc = "Metallic Material"
+                hidden = false
+            )
+            float inputs:reflection_roughness_constant = 0.71999997 (
+                customData = {
+                    double default = 0.5
+                    dictionary range = {
+                        double max = 1
+                        double min = 0
+                    }
+                }
+                displayGroup = "Reflectivity"
+                doc = "Higher roughness values lead to more blurry reflections"
+                hidden = false
+            )
+            token outputs:out
+        }
+
+        def Shader "SimReadyPreviewSurface"
+        {
+            token info:id = "UsdPreviewSurface"
+            color3f inputs:diffuseColor = (0.7921569, 0.81960785, 0.93333334)
+            float inputs:metallic = 0.94
+            float inputs:opacity = 1
+            float inputs:roughness = 0.71999997
+            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
+        }
+    }
+
+    def Material "Geyser"
+    {
+        custom token[] omni:simready:nonvisual:attributes = ["none"]
+        custom token omni:simready:nonvisual:base = "aluminum"
+        custom token omni:simready:nonvisual:coating = "paint"
+        token outputs:displacement (
+            displayGroup = "Outputs"
+        )
+        prepend token outputs:mdl:displacement.connect = </Materials/Geyser/Shader.outputs:out>
+        prepend token outputs:mdl:surface.connect = </Materials/Geyser/Shader.outputs:out>
+        prepend token outputs:mdl:volume.connect = </Materials/Geyser/Shader.outputs:out>
+        token outputs:mtlx:surface.connect = </Materials/Geyser/simready_pbr_surfaceshader.outputs:out>
+        token outputs:surface (
+            displayGroup = "Outputs"
+        )
+        token outputs:surface.connect = </Materials/Geyser/SimReadyPreviewSurface.outputs:surface>
+        token outputs:volume (
+            displayGroup = "Outputs"
+        )
+
+        def Shader "Shader" (
+            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 = (0.8117647, 0.85882354, 0.8980392) (
+                customData = {
+                    float3 default = (0.2, 0.2, 0.2)
+                }
+                displayGroup = "Albedo"
+                doc = "This is the albedo base color"
+                hidden = false
+            )
+            color3f inputs:emissive_color = (0, 0, 0) (
+                customData = {
+                    float3 default = (1, 0.1, 0.1)
+                }
+                displayGroup = "Emissive"
+                doc = "The emission color"
+                hidden = false
+            )
+            float inputs:emissive_intensity = 0 (
+                customData = {
+                    double default = 40
+                }
+                displayGroup = "Emissive"
+                doc = "Intensity of the emission"
+                hidden = false
+            )
+            bool inputs:enable_emission = 0 (
+                customData = {
+                    bool default = 0
+                }
+                displayGroup = "Emissive"
+                doc = "Enables the emission of light from the material"
+                hidden = false
+            )
+            float inputs:metallic_constant = 1 (
+                customData = {
+                    double default = 0
+                    dictionary range = {
+                        double max = 1
+                        double min = 0
+                    }
+                }
+                displayGroup = "Reflectivity"
+                doc = "Metallic Material"
+                hidden = false
+            )
+            float inputs:reflection_roughness_constant = 0.26 (
+                customData = {
+                    double default = 0.5
+                    dictionary range = {
+                        double max = 1
+                        double min = 0
+                    }
+                }
+                displayGroup = "Reflectivity"
+                doc = "Higher roughness values lead to more blurry reflections"
+                hidden = false
+            )
+            token outputs:out
+        }
+
+        def Shader "SimReadyPreviewSurface"
+        {
+            token info:id = "UsdPreviewSurface"
+            color3f inputs:diffuseColor = (0.8117647, 0.85882354, 0.8980392)
+            float inputs:metallic = 1
+            float inputs:opacity = 1
+            float inputs:roughness = 0.26
+            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
+        }
+    }
+
+    def Material "Gray"
+    {
+        custom token[] omni:simready:nonvisual:attributes = ["none"]
+        custom token omni:simready:nonvisual:base = "aluminum"
+        custom token omni:simready:nonvisual:coating = "paint"
+        token outputs:displacement (
+            displayGroup = "Outputs"
+        )
+        prepend token outputs:mdl:displacement.connect = </Materials/Gray/Shader.outputs:out>
+        prepend token outputs:mdl:surface.connect = </Materials/Gray/Shader.outputs:out>
+        prepend token outputs:mdl:volume.connect = </Materials/Gray/Shader.outputs:out>
+        token outputs:mtlx:surface.connect = </Materials/Gray/simready_pbr_surfaceshader.outputs:out>
+        token outputs:surface (
+            displayGroup = "Outputs"
+        )
+        token outputs:surface.connect = </Materials/Gray/SimReadyPreviewSurface.outputs:surface>
+        token outputs:volume (
+            displayGroup = "Outputs"
+        )
+
+        def Shader "Shader" (
+            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 = (0.49411765, 0.49411765, 0.49411765)
+            color3f inputs:emissive_color = (0, 0, 0)
+            float inputs:emissive_intensity = 0
+            bool inputs:enable_emission = 0
+            float inputs:metallic_constant = 0
+            float inputs:reflection_roughness_constant = 0.5
+            token outputs:out
+        }
+
+        def Shader "SimReadyPreviewSurface"
+        {
+            token info:id = "UsdPreviewSurface"
+            color3f inputs:diffuseColor = (0.49411765, 0.49411765, 0.49411765)
+            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
+        }
+    }
+
+    def Material "Mystic"
+    {
+        custom token[] omni:simready:nonvisual:attributes = ["none"]
+        custom token omni:simready:nonvisual:base = "aluminum"
+        custom token omni:simready:nonvisual:coating = "paint"
+        token outputs:displacement (
+            displayGroup = "Outputs"
+        )
+        prepend token outputs:mdl:displacement.connect = </Materials/Mystic/Shader.outputs:out>
+        prepend token outputs:mdl:surface.connect = </Materials/Mystic/Shader.outputs:out>
+        prepend token outputs:mdl:volume.connect = </Materials/Mystic/Shader.outputs:out>
+        token outputs:mtlx:surface.connect = </Materials/Mystic/simready_pbr_surfaceshader.outputs:out>
+        token outputs:surface (
+            displayGroup = "Outputs"
+        )
+        token outputs:surface.connect = </Materials/Mystic/SimReadyPreviewSurface.outputs:surface>
+        token outputs:volume (
+            displayGroup = "Outputs"
+        )
+
+        def Shader "Shader" (
+            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 = (0.8980392, 0.91764706, 0.92941177) (
+                customData = {
+                    float3 default = (0.2, 0.2, 0.2)
+                }
+                displayGroup = "Albedo"
+                doc = "This is the albedo base color"
+                hidden = false
+            )
+            color3f inputs:emissive_color = (0, 0, 0) (
+                customData = {
+                    float3 default = (1, 0.1, 0.1)
+                }
+                displayGroup = "Emissive"
+                doc = "The emission color"
+                hidden = false
+            )
+            float inputs:emissive_intensity = 0 (
+                customData = {
+                    double default = 40
+                }
+                displayGroup = "Emissive"
+                doc = "Intensity of the emission"
+                hidden = false
+            )
+            bool inputs:enable_emission = 0 (
+                customData = {
+                    bool default = 0
+                }
+                displayGroup = "Emissive"
+                doc = "Enables the emission of light from the material"
+                hidden = false
+            )
+            float inputs:metallic_constant = 0.31 (
+                customData = {
+                    double default = 0
+                    dictionary range = {
+                        double max = 1
+                        double min = 0
+                    }
+                }
+                displayGroup = "Reflectivity"
+                doc = "Metallic Material"
+                hidden = false
+            )
+            float inputs:reflection_roughness_constant = 0.51 (
+                customData = {
+                    double default = 0.5
+                    dictionary range = {
+                        double max = 1
+                        double min = 0
+                    }
+                }
+                displayGroup = "Reflectivity"
+                doc = "Higher roughness values lead to more blurry reflections"
+                hidden = false
+            )
+            token outputs:out
+        }
+
+        def Shader "SimReadyPreviewSurface"
+        {
+            token info:id = "UsdPreviewSurface"
+            color3f inputs:diffuseColor = (0.8980392, 0.91764706, 0.92941177)
+            float inputs:metallic = 0.31
+            float inputs:opacity = 1
+            float inputs:roughness = 0.51
+            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
+        }
+    }
+
+    def Material "San_Marino"
+    {
+        custom token[] omni:simready:nonvisual:attributes = ["none"]
+        custom token omni:simready:nonvisual:base = "aluminum"
+        custom token omni:simready:nonvisual:coating = "paint"
+        token outputs:displacement (
+            displayGroup = "Outputs"
+        )
+        prepend token outputs:mdl:displacement.connect = </Materials/San_Marino/Shader.outputs:out>
+        prepend token outputs:mdl:surface.connect = </Materials/San_Marino/Shader.outputs:out>
+        prepend token outputs:mdl:volume.connect = </Materials/San_Marino/Shader.outputs:out>
+        token outputs:mtlx:surface.connect = </Materials/San_Marino/simready_pbr_surfaceshader.outputs:out>
+        token outputs:surface (
+            displayGroup = "Outputs"
+        )
+        token outputs:surface.connect = </Materials/San_Marino/SimReadyPreviewSurface.outputs:surface>
+        token outputs:volume (
+            displayGroup = "Outputs"
+        )
+
+        def Shader "Shader" (
+            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 = (0.23137255, 0.38039216, 0.7058824) (
+                customData = {
+                    float3 default = (0.2, 0.2, 0.2)
+                }
+                displayGroup = "Albedo"
+                doc = "This is the albedo base color"
+                hidden = false
+            )
+            color3f inputs:emissive_color = (0.23137255, 0.38039216, 0.7058824) (
+                customData = {
+                    float3 default = (1, 0.1, 0.1)
+                }
+                displayGroup = "Emissive"
+                doc = "The emission color"
+                hidden = false
+            )
+            float inputs:emissive_intensity = 5000 (
+                customData = {
+                    double default = 40
+                }
+                displayGroup = "Emissive"
+                doc = "Intensity of the emission"
+                hidden = false
+            )
+            bool inputs:enable_emission = 1 (
+                customData = {
+                    bool default = 0
+                }
+                displayGroup = "Emissive"
+                doc = "Enables the emission of light from the material"
+                hidden = false
+            )
+            float inputs:metallic_constant = 0 (
+                customData = {
+                    double default = 0
+                    dictionary range = {
+                        double max = 1
+                        double min = 0
+                    }
+                }
+                displayGroup = "Reflectivity"
+                doc = "Metallic Material"
+                hidden = false
+            )
+            float inputs:reflection_roughness_constant = 0.5 (
+                customData = {
+                    double default = 0.5
+                    dictionary range = {
+                        double max = 1
+                        double min = 0
+                    }
+                }
+                displayGroup = "Reflectivity"
+                doc = "Higher roughness values lead to more blurry reflections"
+                hidden = false
+            )
+            token outputs:out
+        }
+
+        def Shader "SimReadyPreviewSurface"
+        {
+            token info:id = "UsdPreviewSurface"
+            color3f inputs:diffuseColor = (0.23137255, 0.38039216, 0.7058824)
+            color3f inputs:emissiveColor = (1156.8628, 1901.9608, 3529.4119)
+            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
+        }
+    }
+
+    def Material "Gravel"
+    {
+        custom token[] omni:simready:nonvisual:attributes = ["none"]
+        custom token omni:simready:nonvisual:base = "aluminum"
+        custom token omni:simready:nonvisual:coating = "paint"
+        token outputs:displacement (
+            displayGroup = "Outputs"
+        )
+        prepend token outputs:mdl:displacement.connect = </Materials/Gravel/Shader.outputs:out>
+        prepend token outputs:mdl:surface.connect = </Materials/Gravel/Shader.outputs:out>
+        prepend token outputs:mdl:volume.connect = </Materials/Gravel/Shader.outputs:out>
+        token outputs:mtlx:surface.connect = </Materials/Gravel/simready_pbr_surfaceshader.outputs:out>
+        token outputs:surface (
+            displayGroup = "Outputs"
+        )
+        token outputs:surface.connect = </Materials/Gravel/SimReadyPreviewSurface.outputs:surface>
+        token outputs:volume (
+            displayGroup = "Outputs"
+        )
+
+        def Shader "Shader" (
+            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 = (0.29803923, 0.29803923, 0.29803923)
+            color3f inputs:emissive_color = (0, 0, 0)
+            float inputs:emissive_intensity = 0
+            bool inputs:enable_emission = 0
+            float inputs:metallic_constant = 0
+            float inputs:reflection_roughness_constant = 0.5
+            token outputs:out
+        }
+
+        def Shader "SimReadyPreviewSurface"
+        {
+            token info:id = "UsdPreviewSurface"
+            color3f inputs:diffuseColor = (0.29803923, 0.29803923, 0.29803923)
+            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
+        }
+    }
+
+    def Material "Gallery"
+    {
+        custom token[] omni:simready:nonvisual:attributes = ["none"]
+        custom token omni:simready:nonvisual:base = "aluminum"
+        custom token omni:simready:nonvisual:coating = "paint"
+        token outputs:displacement (
+            displayGroup = "Outputs"
+        )
+        prepend token outputs:mdl:displacement.connect = </Materials/Gallery/Shader.outputs:out>
+        prepend token outputs:mdl:surface.connect = </Materials/Gallery/Shader.outputs:out>
+        prepend token outputs:mdl:volume.connect = </Materials/Gallery/Shader.outputs:out>
+        token outputs:mtlx:surface.connect = </Materials/Gallery/simready_pbr_surfaceshader.outputs:out>
+        token outputs:surface (
+            displayGroup = "Outputs"
+        )
+        token outputs:surface.connect = </Materials/Gallery/SimReadyPreviewSurface.outputs:surface>
+        token outputs:volume (
+            displayGroup = "Outputs"
+        )
+
+        def Shader "Shader" (
+            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 = (0.9372549, 0.9372549, 0.9372549) (
+                customData = {
+                    float3 default = (0.2, 0.2, 0.2)
+                }
+                displayGroup = "Albedo"
+                doc = "This is the albedo base color"
+                hidden = false
+            )
+            color3f inputs:emissive_color = (0, 0, 0) (
+                customData = {
+                    float3 default = (1, 0.1, 0.1)
+                }
+                displayGroup = "Emissive"
+                doc = "The emission color"
+                hidden = false
+            )
+            float inputs:emissive_intensity = 0 (
+                customData = {
+                    double default = 40
+                }
+                displayGroup = "Emissive"
+                doc = "Intensity of the emission"
+                hidden = false
+            )
+            bool inputs:enable_emission = 0 (
+                customData = {
+                    bool default = 0
+                }
+                displayGroup = "Emissive"
+                doc = "Enables the emission of light from the material"
+                hidden = false
+            )
+            float inputs:metallic_constant = 0 (
+                customData = {
+                    double default = 0
+                    dictionary range = {
+                        double max = 1
+                        double min = 0
+                    }
+                }
+                displayGroup = "Reflectivity"
+                doc = "Metallic Material"
+                hidden = false
+            )
+            float inputs:reflection_roughness_constant = 0.5 (
+                customData = {
+                    double default = 0.5
+                    dictionary range = {
+                        double max = 1
+                        double min = 0
+                    }
+                }
+                displayGroup = "Reflectivity"
+                doc = "Higher roughness values lead to more blurry reflections"
+                hidden = false
+            )
+            token outputs:out
+        }
+
+        def Shader "SimReadyPreviewSurface"
+        {
+            token info:id = "UsdPreviewSurface"
+            color3f inputs:diffuseColor = (0.9372549, 0.9372549, 0.9372549)
+            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
+        }
+    }
+
+    def Material "Chateau_Green"
+    {
+        custom token[] omni:simready:nonvisual:attributes = ["none"]
+        custom token omni:simready:nonvisual:base = "aluminum"
+        custom token omni:simready:nonvisual:coating = "paint"
+        token outputs:displacement (
+            displayGroup = "Outputs"
+        )
+        prepend token outputs:mdl:displacement.connect = </Materials/Chateau_Green/Shader.outputs:out>
+        prepend token outputs:mdl:surface.connect = </Materials/Chateau_Green/Shader.outputs:out>
+        prepend token outputs:mdl:volume.connect = </Materials/Chateau_Green/Shader.outputs:out>
+        token outputs:mtlx:surface.connect = </Materials/Chateau_Green/simready_pbr_surfaceshader.outputs:out>
+        token outputs:surface (
+            displayGroup = "Outputs"
+        )
+        token outputs:surface.connect = </Materials/Chateau_Green/SimReadyPreviewSurface.outputs:surface>
+        token outputs:volume (
+            displayGroup = "Outputs"
+        )
+
+        def Shader "Shader" (
+            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 = (0.28627452, 0.6627451, 0.32941177)
+            color3f inputs:emissive_color = (0, 0, 0)
+            float inputs:emissive_intensity = 0
+            bool inputs:enable_emission = 0
+            float inputs:metallic_constant = 0
+            float inputs:reflection_roughness_constant = 0.5
+            token outputs:out
+        }
+
+        def Shader "SimReadyPreviewSurface"
+        {
+            token info:id = "UsdPreviewSurface"
+            color3f inputs:diffuseColor = (0.28627452, 0.6627451, 0.32941177)
+            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
+        }
+    }
+
+    def Material "White"
+    {
+        custom token[] omni:simready:nonvisual:attributes = ["none"]
+        custom token omni:simready:nonvisual:base = "aluminum"
+        custom token omni:simready:nonvisual:coating = "none"
+        token outputs:displacement (
+            displayGroup = "Outputs"
+        )
+        prepend token outputs:mdl:displacement.connect = </Materials/White/Shader.outputs:out>
+        prepend token outputs:mdl:surface.connect = </Materials/White/Shader.outputs:out>
+        prepend token outputs:mdl:volume.connect = </Materials/White/Shader.outputs:out>
+        token outputs:mtlx:surface.connect = </Materials/White/simready_pbr_surfaceshader.outputs:out>
+        token outputs:surface (
+            displayGroup = "Outputs"
+        )
+        token outputs:surface.connect = </Materials/White/SimReadyPreviewSurface.outputs:surface>
+        token outputs:volume (
+            displayGroup = "Outputs"
+        )
+
+        def Shader "Shader" (
+            apiSchemas = ["NodeDefAPI"]
+        )
+        {
+            token info:implementationSource = "sourceAsset"
+            asset info:mdl:sourceAsset = @../materials/mdl/OmniPBR.mdl@
+            token info:mdl:sourceAsset:subIdentifier = "OmniPBR"
+            color3f inputs:diffuse_color_constant = (1, 1, 1)
+            color3f inputs:emissive_color = (0, 0, 0)
+            float inputs:emissive_intensity = 0
+            bool inputs:enable_emission = 0
+            float inputs:metallic_constant = 0
+            float inputs:reflection_roughness_constant = 0.5
+            token outputs:out
+        }
+
+        def Shader "SimReadyPreviewSurface"
+        {
+            token info:id = "UsdPreviewSurface"
+            color3f inputs:diffuseColor = (1, 1, 1)
+            float inputs:metallic = 0
+            float inputs:opacity = 1
+            float inputs:roughness = 0.5
+            token outputs:surface
+        }
+
+        def Shader "SimReadyUV"
+        {
+            token info:id = "UsdPrimvarReader_float2"
+            string inputs:varname = "st"
+            float2 outputs:result
+        }
+
+        def Shader "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
+        }
+    }
+
+    def Material "Pumice"
+    {
+        custom token[] omni:simready:nonvisual:attributes = ["none"]
+        custom token omni:simready:nonvisual:base = "aluminum"
+        custom token omni:simready:nonvisual:coating = "paint"
+        token outputs:displacement (
+            displayGroup = "Outputs"
+        )
+        prepend token outputs:mdl:displacement.connect = </Materials/Pumice/Shader.outputs:out>
+        prepend token outputs:mdl:surface.connect = </Materials/Pumice/Shader.outputs:out>
+        prepend token outputs:mdl:volume.connect = </Materials/Pumice/Shader.outputs:out>
+        token outputs:mtlx:surface.connect = </Materials/Pumice/simready_pbr_surfaceshader.outputs:out>
+        token outputs:surface (
+            displayGroup = "Outputs"
+        )
+        token outputs:surface.connect = </Materials/Pumice/SimReadyPreviewSurface.outputs:surface>
+        token outputs:volume (
+            displayGroup = "Outputs"
+        )
+
+        def Shader "Shader" (
+            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 = (0.78431374, 0.78431374, 0.78431374) (
+                customData = {
+                    float3 default = (0.2, 0.2, 0.2)
+                }
+                displayGroup = "Albedo"
+                doc = "This is the albedo base color"
+                hidden = false
+            )
+            color3f inputs:emissive_color = (0, 0, 0) (
+                customData = {
+                    float3 default = (1, 0.1, 0.1)
+                }
+                displayGroup = "Emissive"
+                doc = "The emission color"
+                hidden = false
+            )
+            float inputs:emissive_intensity = 0 (
+                customData = {
+                    double default = 40
+                }
+                displayGroup = "Emissive"
+                doc = "Intensity of the emission"
+                hidden = false
+            )
+            bool inputs:enable_emission = 0 (
+                customData = {
+                    bool default = 0
+                }
+                displayGroup = "Emissive"
+                doc = "Enables the emission of light from the material"
+                hidden = false
+            )
+            float inputs:metallic_constant = 1 (
+                customData = {
+                    double default = 0
+                    dictionary range = {
+                        double max = 1
+                        double min = 0
+                    }
+                }
+                displayGroup = "Reflectivity"
+                doc = "Metallic Material"
+                hidden = false
+            )
+            float inputs:reflection_roughness_constant = 0.22 (
+                customData = {
+                    double default = 0.5
+                    dictionary range = {
+                        double max = 1
+                        double min = 0
+                    }
+                }
+                displayGroup = "Reflectivity"
+                doc = "Higher roughness values lead to more blurry reflections"
+                hidden = false
+            )
+            token outputs:out
+        }
+
+        def Shader "SimReadyPreviewSurface"
+        {
+            token info:id = "UsdPreviewSurface"
+            color3f inputs:diffuseColor = (0.78431374, 0.78431374, 0.78431374)
+            float inputs:metallic = 1
+            float inputs:opacity = 1
+            float inputs:roughness = 0.22
+            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
+        }
+    }
+}
+

robotiq_2f_140/payloads/robot.usda

@@ -0,0 +1,260 @@
+#usda 1.0
+(
+    customLayerData = {
+    }
+    defaultPrim = "Robotiq_2F_140"
+    endTimeCode = 0
+    metersPerUnit = 0.9999999776482582
+    startTimeCode = -1
+    timeCodesPerSecond = 60
+    upAxis = "Z"
+)
+
+over "Robotiq_2F_140" (
+    prepend apiSchemas = ["IsaacRobotAPI"]
+)
+{
+    string[] isaac:changelog (
+        displayName = "Changelog"
+    )
+    string isaac:description (
+        displayName = "Description"
+    )
+    token isaac:license (
+        displayName = "License"
+    )
+    string isaac:namespace (
+        displayName = "Namespace"
+        doc = "Namespace of the prim in Isaac Sim"
+    )
+    rel isaac:physics:robotJoints (
+        displayName = "Robot Joints"
+    )
+    prepend rel isaac:physics:robotJoints = [
+        </Robotiq_2F_140/root_joint>,
+        </Robotiq_2F_140/finger_joint>,
+        </Robotiq_2F_140/right_outer_knuckle_joint>,
+        </Robotiq_2F_140/left_outer_finger_joint>,
+        </Robotiq_2F_140/left_inner_finger_joint>,
+        </Robotiq_2F_140/left_inner_finger_pad_joint>,
+        </Robotiq_2F_140/right_outer_finger_joint>,
+        </Robotiq_2F_140/right_inner_finger_joint>,
+        </Robotiq_2F_140/right_inner_finger_pad_joint>,
+    ]
+    rel isaac:physics:robotLinks (
+        displayName = "Robot Links"
+    )
+    prepend rel isaac:physics:robotLinks = [
+        </Robotiq_2F_140/robotiq_base_link>,
+        </Robotiq_2F_140/left_outer_knuckle>,
+        </Robotiq_2F_140/left_outer_finger>,
+        </Robotiq_2F_140/left_inner_finger>,
+        </Robotiq_2F_140/left_inner_knuckle>,
+        </Robotiq_2F_140/right_outer_knuckle>,
+        </Robotiq_2F_140/right_outer_finger>,
+        </Robotiq_2F_140/right_inner_finger>,
+        </Robotiq_2F_140/right_inner_knuckle>,
+        </Robotiq_2F_140/robotiq_base_link/grasp_frame>,
+    ]
+    token isaac:robotType = "End Effector" (
+        displayName = "Robot Type"
+    )
+    string isaac:source (
+        displayName = "Source"
+    )
+    string isaac:version (
+        displayName = "Version"
+    )
+
+    over "left_outer_knuckle" (
+        prepend apiSchemas = ["IsaacLinkAPI"]
+    )
+    {
+        over "Finger1"
+        {
+            over "Finger1" (
+            )
+            {
+            }
+        }
+    }
+
+    over "left_outer_finger" (
+        prepend apiSchemas = ["IsaacLinkAPI"]
+    )
+    {
+        over "Finger2"
+        {
+            over "Finger2" (
+            )
+            {
+            }
+        }
+    }
+
+    over "left_inner_finger" (
+        prepend apiSchemas = ["IsaacLinkAPI"]
+    )
+    {
+        string isaac:nameOverride (
+            displayName = "Name Override"
+            doc = "Name override for prim lookup in base name search"
+        )
+    }
+
+    over "left_inner_knuckle" (
+        prepend apiSchemas = ["IsaacLinkAPI"]
+    )
+    {
+        over "Finger3"
+        {
+            over "Finger3" (
+            )
+            {
+            }
+        }
+    }
+
+    over "right_outer_knuckle" (
+        prepend apiSchemas = ["IsaacLinkAPI"]
+    )
+    {
+        over "Finger1"
+        {
+            over "Finger1" (
+            )
+            {
+            }
+        }
+    }
+
+    over "right_outer_finger" (
+        prepend apiSchemas = ["IsaacLinkAPI"]
+    )
+    {
+        over "Finger2"
+        {
+            over "Finger2" (
+            )
+            {
+            }
+        }
+    }
+
+    over "right_inner_finger" (
+        prepend apiSchemas = ["IsaacLinkAPI"]
+    )
+    {
+        string isaac:nameOverride (
+            displayName = "Name Override"
+            doc = "Name override for prim lookup in base name search"
+        )
+    }
+
+    over "right_inner_knuckle" (
+        prepend apiSchemas = ["IsaacLinkAPI"]
+    )
+    {
+        string isaac:nameOverride (
+            displayName = "Name Override"
+            doc = "Name override for prim lookup in base name search"
+        )
+
+        over "Finger3"
+        {
+            over "Finger3" (
+            )
+            {
+            }
+        }
+    }
+
+    over "root_joint" (
+        prepend apiSchemas = ["IsaacJointAPI"]
+    )
+    {
+    }
+
+    over "finger_joint" (
+        prepend apiSchemas = ["IsaacJointAPI"]
+    )
+    {
+    }
+
+    over "right_outer_knuckle_joint" (
+        prepend apiSchemas = ["IsaacJointAPI"]
+    )
+    {
+    }
+
+    over "left_inner_knuckle_joint" (
+        prepend apiSchemas = ["IsaacJointAPI"]
+    )
+    {
+    }
+
+    over "right_inner_knuckle_joint" (
+        prepend apiSchemas = ["IsaacJointAPI"]
+    )
+    {
+    }
+
+    over "left_outer_finger_joint" (
+        prepend apiSchemas = ["IsaacJointAPI"]
+    )
+    {
+    }
+
+    over "right_outer_finger_joint" (
+        prepend apiSchemas = ["IsaacJointAPI"]
+    )
+    {
+    }
+
+    over "left_inner_finger_joint" (
+        prepend apiSchemas = ["IsaacJointAPI"]
+    )
+    {
+    }
+
+    over "right_inner_finger_joint" (
+        prepend apiSchemas = ["IsaacJointAPI"]
+    )
+    {
+    }
+
+    over "right_inner_finger_pad_joint" (
+        prepend apiSchemas = ["IsaacJointAPI"]
+    )
+    {
+    }
+
+    over "left_inner_finger_pad_joint" (
+        prepend apiSchemas = ["IsaacJointAPI"]
+    )
+    {
+    }
+
+    over "robotiq_base_link" (
+        prepend apiSchemas = ["IsaacLinkAPI"]
+    )
+    {
+        string isaac:nameOverride (
+            displayName = "Name Override"
+            doc = "Name override for prim lookup in base name search"
+        )
+
+        over "grasp_frame" (
+            prepend apiSchemas = ["IsaacSiteAPI"]
+        )
+        {
+            string isaac:Description (
+                displayName = "Reference Description"
+            )
+            uniform token isaac:forwardAxis (
+                displayName = "Forward Axis"
+            )
+        }
+    }
+}
+

robotiq_2f_140/runnables/physics/mujoco.usda

@@ -0,0 +1,258 @@
+#usda 1.0
+(
+    defaultPrim = "Robotiq_2F_140"
+)
+
+def "Robotiq_2F_140"
+{
+    over "left_outer_knuckle"
+    {
+        over "Finger1"
+        {
+            over "Finger1" (
+                prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"]
+            )
+            {
+                uniform token physics:approximation = "convexHull"
+            }
+        }
+    }
+
+    over "left_outer_finger"
+    {
+        over "Finger2"
+        {
+            over "Finger2" (
+                prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"]
+            )
+            {
+                uniform token physics:approximation = "convexHull"
+            }
+        }
+    }
+
+    over "left_inner_finger"
+    {
+        over "Fingertip_01"
+        {
+            over "Fingertip"
+            {
+                over "Fingertip" (
+                    prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"]
+                )
+                {
+                    uniform token physics:approximation = "convexHull"
+                }
+            }
+        }
+
+        over "Finger4_01"
+        {
+            over "Finger4"
+            {
+                over "Finger4" (
+                    prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"]
+                )
+                {
+                    uniform token physics:approximation = "convexHull"
+                }
+            }
+        }
+    }
+
+    over "left_inner_knuckle"
+    {
+        over "Finger3"
+        {
+            over "Finger3" (
+                prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"]
+            )
+            {
+                uniform token physics:approximation = "convexHull"
+            }
+        }
+    }
+
+    over "right_outer_knuckle"
+    {
+        over "Finger1"
+        {
+            over "Finger1" (
+                prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"]
+            )
+            {
+                uniform token physics:approximation = "convexHull"
+            }
+        }
+    }
+
+    over "right_outer_finger"
+    {
+        over "Finger2"
+        {
+            over "Finger2" (
+                prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"]
+            )
+            {
+                uniform token physics:approximation = "convexHull"
+            }
+        }
+    }
+
+    over "right_inner_finger"
+    {
+        over "Finger4_01"
+        {
+            over "Finger4"
+            {
+                over "Finger4" (
+                    prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"]
+                )
+                {
+                    uniform token physics:approximation = "convexHull"
+                }
+            }
+        }
+
+        over "Fingertip_01"
+        {
+            over "Fingertip"
+            {
+                over "Fingertip" (
+                    prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"]
+                )
+                {
+                    uniform token physics:approximation = "convexHull"
+                }
+            }
+        }
+    }
+
+    over "right_inner_knuckle"
+    {
+        over "Finger3"
+        {
+            over "Finger3" (
+                prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"]
+            )
+            {
+                uniform token physics:approximation = "convexHull"
+            }
+        }
+    }
+
+    over "robotiq_base_link"
+    {
+        over "_F_Body_01"
+        {
+            over "_F_Body"
+            {
+                over "_F_Body" (
+                    prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"]
+                )
+                {
+                    uniform token physics:approximation = "convexHull"
+                }
+            }
+        }
+
+        over "grasp_frame" (
+            prepend apiSchemas = ["MjcSiteAPI"]
+        )
+        {
+        }
+    }
+
+    over "finger_joint" (
+        prepend apiSchemas = ["MjcJointAPI"]
+    )
+    {
+    }
+
+    def "MuJoCoActuators"
+    {
+        def MjcActuator "act_Robotiq_2F_140_finger_joint" (
+            doc = "Source-derived force-drive PD bias; control is additive effort. Zero control preserves source position and velocity targets. Standard USD drive is retained for neutral and other runtimes; MuJoCo consumers must use this actuator exclusively."
+        )
+        {
+            double[] mjc:biasPrm = [0, -171.88733853924697, -0.05729578223448582]
+            token mjc:biasType = "affine"
+            token mjc:ctrlLimited = "false"
+            token mjc:forceLimited = "true"
+            double mjc:forceRange:max = 26
+            double mjc:forceRange:min = -26
+            double[] mjc:gainPrm = [1]
+            token mjc:gainType = "fixed"
+            rel mjc:target = </Robotiq_2F_140/finger_joint>
+        }
+    }
+
+    over "right_outer_knuckle_joint" (
+        prepend apiSchemas = ["MjcJointAPI", "NewtonMimicAPI", "MjcEqualityJointAPI"]
+    )
+    {
+        float newton:mimicCoef0 = 0
+        float newton:mimicCoef1 = 1
+        bool newton:mimicEnabled = 1
+        rel newton:mimicJoint = </Robotiq_2F_140/finger_joint>
+    }
+
+    over "left_outer_finger_joint" (
+        active = false
+        prepend apiSchemas = ["MjcJointAPI"]
+    )
+    {
+    }
+
+    over "right_outer_finger_joint" (
+        active = false
+        prepend apiSchemas = ["MjcJointAPI"]
+    )
+    {
+    }
+
+    over "left_inner_finger_joint" (
+        prepend apiSchemas = ["MjcJointAPI", "NewtonMimicAPI", "MjcEqualityJointAPI"]
+    )
+    {
+        float drive:angular:physics:damping = 0
+        float drive:angular:physics:stiffness = 0
+        float newton:mimicCoef0 = 0
+        float newton:mimicCoef1 = -1
+        bool newton:mimicEnabled = 1
+        rel newton:mimicJoint = </Robotiq_2F_140/finger_joint>
+    }
+
+    over "right_inner_finger_joint" (
+        prepend apiSchemas = ["MjcJointAPI", "NewtonMimicAPI", "MjcEqualityJointAPI"]
+    )
+    {
+        float drive:angular:physics:damping = 0
+        float drive:angular:physics:stiffness = 0
+        float newton:mimicCoef0 = 0
+        float newton:mimicCoef1 = -1
+        bool newton:mimicEnabled = 1
+        rel newton:mimicJoint = </Robotiq_2F_140/finger_joint>
+    }
+
+    over "right_inner_finger_pad_joint" (
+        prepend apiSchemas = ["MjcJointAPI", "NewtonMimicAPI", "MjcEqualityJointAPI"]
+    )
+    {
+        float newton:mimicCoef0 = 0
+        float newton:mimicCoef1 = 1
+        bool newton:mimicEnabled = 1
+        rel newton:mimicJoint = </Robotiq_2F_140/finger_joint>
+    }
+
+    over "left_inner_finger_pad_joint" (
+        prepend apiSchemas = ["MjcJointAPI", "NewtonMimicAPI", "MjcEqualityJointAPI"]
+    )
+    {
+        float newton:mimicCoef0 = 0
+        float newton:mimicCoef1 = 1
+        bool newton:mimicEnabled = 1
+        rel newton:mimicJoint = </Robotiq_2F_140/finger_joint>
+    }
+}
+

robotiq_2f_140/runnables/physics/newton.usda

@@ -0,0 +1,279 @@
+#usda 1.0
+(
+    defaultPrim = "Robotiq_2F_140"
+)
+
+over "Robotiq_2F_140" (
+    prepend apiSchemas = ["NewtonArticulationRootAPI"]
+)
+{
+    bool newton:selfCollisionEnabled = 0
+
+    over "left_outer_knuckle"
+    {
+        over "Finger1"
+        {
+            over "Finger1" (
+                prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"]
+            )
+            {
+                uniform token physics:approximation = "convexHull"
+            }
+        }
+    }
+
+    over "left_outer_finger"
+    {
+        over "Finger2"
+        {
+            over "Finger2" (
+                prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"]
+            )
+            {
+                uniform token physics:approximation = "convexHull"
+            }
+        }
+    }
+
+    over "left_inner_finger"
+    {
+        over "Fingertip_01"
+        {
+            over "Fingertip"
+            {
+                over "Fingertip" (
+                    prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"]
+                )
+                {
+                    uniform token physics:approximation = "convexHull"
+                }
+            }
+        }
+
+        over "Finger4_01"
+        {
+            over "Finger4"
+            {
+                over "Finger4" (
+                    prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"]
+                )
+                {
+                    uniform token physics:approximation = "convexHull"
+                }
+            }
+        }
+    }
+
+    over "left_inner_knuckle"
+    {
+        over "Finger3"
+        {
+            over "Finger3" (
+                prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"]
+            )
+            {
+                uniform token physics:approximation = "convexHull"
+            }
+        }
+    }
+
+    over "right_outer_knuckle"
+    {
+        over "Finger1"
+        {
+            over "Finger1" (
+                prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"]
+            )
+            {
+                uniform token physics:approximation = "convexHull"
+            }
+        }
+    }
+
+    over "right_outer_finger"
+    {
+        over "Finger2"
+        {
+            over "Finger2" (
+                prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"]
+            )
+            {
+                uniform token physics:approximation = "convexHull"
+            }
+        }
+    }
+
+    over "right_inner_finger"
+    {
+        over "Finger4_01"
+        {
+            over "Finger4"
+            {
+                over "Finger4" (
+                    prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"]
+                )
+                {
+                    uniform token physics:approximation = "convexHull"
+                }
+            }
+        }
+
+        over "Fingertip_01"
+        {
+            over "Fingertip"
+            {
+                over "Fingertip" (
+                    prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"]
+                )
+                {
+                    uniform token physics:approximation = "convexHull"
+                }
+            }
+        }
+    }
+
+    over "right_inner_knuckle"
+    {
+        over "Finger3"
+        {
+            over "Finger3" (
+                prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"]
+            )
+            {
+                uniform token physics:approximation = "convexHull"
+            }
+        }
+    }
+
+    over "robotiq_base_link"
+    {
+        over "_F_Body_01"
+        {
+            over "_F_Body"
+            {
+                over "_F_Body" (
+                    prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"]
+                )
+                {
+                    uniform token physics:approximation = "convexHull"
+                }
+            }
+        }
+    }
+
+    over "finger_joint" (
+        prepend apiSchemas = ["NewtonJointAPI"]
+    )
+    {
+        float drive:angular:physics:damping = 0
+        float drive:angular:physics:maxForce = 26
+        float drive:angular:physics:stiffness = 7.5
+        float newton:armature = 0.1
+        float newton:damping = 0.25
+        float newton:velocityLimit = 130
+    }
+
+    over "right_outer_knuckle_joint" (
+        prepend apiSchemas = ["NewtonJointAPI", "NewtonMimicAPI"]
+    )
+    {
+        float drive:angular:physics:damping = 0
+        float drive:angular:physics:stiffness = 0
+        float newton:armature = 0.1
+        float newton:damping = 0.01
+        float newton:mimicCoef0 = -0
+        float newton:mimicCoef1 = 1
+        bool newton:mimicEnabled = 1
+        rel newton:mimicJoint = </Robotiq_2F_140/finger_joint>
+        float newton:velocityLimit = 130
+    }
+
+    over "left_outer_finger_joint" (
+        active = false
+        prepend apiSchemas = ["NewtonJointAPI"]
+    )
+    {
+        float newton:velocityLimit = 1000000
+    }
+
+    over "right_outer_finger_joint" (
+        active = false
+        prepend apiSchemas = ["NewtonJointAPI"]
+    )
+    {
+        float newton:velocityLimit = 1000000
+    }
+
+    over "left_inner_finger_joint" (
+        prepend apiSchemas = ["NewtonJointAPI", "NewtonMimicAPI"]
+    )
+    {
+        float drive:angular:physics:damping = 0
+        float drive:angular:physics:stiffness = 0
+        float newton:armature = 0.1
+        float newton:damping = 0.01
+        float newton:mimicCoef0 = -0
+        float newton:mimicCoef1 = -1
+        bool newton:mimicEnabled = 1
+        rel newton:mimicJoint = </Robotiq_2F_140/finger_joint>
+        float newton:velocityLimit = 1000000
+    }
+
+    over "right_inner_finger_joint" (
+        prepend apiSchemas = ["NewtonJointAPI", "NewtonMimicAPI"]
+    )
+    {
+        float drive:angular:physics:damping = 0
+        float drive:angular:physics:stiffness = 0
+        float newton:armature = 0.1
+        float newton:damping = 0.01
+        float newton:mimicCoef0 = -0
+        float newton:mimicCoef1 = -1
+        bool newton:mimicEnabled = 1
+        rel newton:mimicJoint = </Robotiq_2F_140/finger_joint>
+        float newton:velocityLimit = 1000000
+    }
+
+    over "right_inner_finger_pad_joint" (
+        prepend apiSchemas = ["NewtonJointAPI", "NewtonMimicAPI"]
+    )
+    {
+        float drive:angular:physics:damping = 0
+        float drive:angular:physics:stiffness = 0
+        float newton:armature = 0.1
+        float newton:damping = 0.01
+        float newton:mimicCoef0 = -0
+        float newton:mimicCoef1 = 1
+        bool newton:mimicEnabled = 1
+        rel newton:mimicJoint = </Robotiq_2F_140/finger_joint>
+        float newton:velocityLimit = 1000000
+    }
+
+    over "left_inner_finger_pad_joint" (
+        prepend apiSchemas = ["NewtonJointAPI", "NewtonMimicAPI"]
+    )
+    {
+        float drive:angular:physics:damping = 0
+        float drive:angular:physics:stiffness = 0
+        float newton:armature = 0.1
+        float newton:damping = 0.01
+        float newton:mimicCoef0 = -0
+        float newton:mimicCoef1 = 1
+        bool newton:mimicEnabled = 1
+        rel newton:mimicJoint = </Robotiq_2F_140/finger_joint>
+        float newton:velocityLimit = 1000000
+    }
+
+    over "left_inner_knuckle_joint" (
+        active = false
+    )
+    {
+    }
+
+    over "right_inner_knuckle_joint" (
+        active = false
+    )
+    {
+    }
+}
+

robotiq_2f_140/runnables/physics/physx.usda

@@ -0,0 +1,485 @@
+#usda 1.0
+(
+    customLayerData = {
+    }
+    defaultPrim = "Robotiq_2F_140"
+    endTimeCode = 0
+    metersPerUnit = 0.9999999776482582
+    startTimeCode = -1
+    timeCodesPerSecond = 60
+    upAxis = "Z"
+)
+
+over "Robotiq_2F_140" (
+    prepend apiSchemas = ["PhysxArticulationAPI"]
+)
+{
+    bool physxArticulation:enabledSelfCollisions = 0
+    int physxArticulation:solverPositionIterationCount = 32
+
+    over "left_outer_knuckle" (
+        prepend apiSchemas = ["PhysxRigidBodyAPI"]
+    )
+    {
+        string isaac:nameOverride (
+            displayName = "Name Override"
+        )
+        bool physxRigidBody:disableGravity = 1
+
+        over "Finger1"
+        {
+            over "Finger1" (
+                prepend apiSchemas = ["PhysxCollisionAPI", "PhysxTriangleMeshCollisionAPI", "PhysxConvexHullCollisionAPI"]
+            )
+            {
+                uniform token physics:approximation = "convexHull"
+            }
+        }
+    }
+
+    over "left_outer_finger" (
+        prepend apiSchemas = ["PhysxRigidBodyAPI"]
+    )
+    {
+        bool physxRigidBody:disableGravity = 1
+
+        over "left_outer_finger_joint"
+        {
+            rel physics:body0 = </Robotiq_2F_140/left_outer_knuckle>
+            rel physics:body1 = </Robotiq_2F_140/left_outer_finger>
+            float physics:breakForce = 3.4028235e38
+            float physics:breakTorque = 3.4028235e38
+            point3f physics:localPos0 = (-3.616858e-12, -2.4539231e-12, -4.9107824e-28)
+            point3f physics:localPos1 = (0, 0, 0)
+            quatf physics:localRot0 = (1, 9.020562e-17, -7.632783e-17, -2.1414481e-11)
+            quatf physics:localRot1 = (1, 0, 0, 0)
+        }
+
+        over "Finger2"
+        {
+            over "Finger2" (
+                prepend apiSchemas = ["PhysxCollisionAPI", "PhysxTriangleMeshCollisionAPI", "PhysxConvexHullCollisionAPI"]
+            )
+            {
+                uniform token physics:approximation = "convexHull"
+            }
+        }
+    }
+
+    over "left_inner_finger" (
+        prepend apiSchemas = ["PhysxContactReportAPI", "PhysxRigidBodyAPI"]
+    )
+    {
+        uniform token physics:approximation = "convexDecomposition"
+        float physxContactReport:threshold = 0
+        bool physxRigidBody:disableGravity = 1
+        bool physxRigidBody:enableCCD = 1
+        float physxRigidBody:sleepThreshold = 0
+
+        over "Fingertip_01"
+        {
+            over "Fingertip"
+            {
+                over "Fingertip" (
+                    prepend apiSchemas = ["PhysxCollisionAPI", "PhysxTriangleMeshCollisionAPI", "PhysxConvexHullCollisionAPI", "PhysxConvexDecompositionCollisionAPI"]
+                )
+                {
+                    uniform token physics:approximation = "convexDecomposition"
+                }
+            }
+        }
+
+        over "Finger4_01"
+        {
+            over "Finger4"
+            {
+                over "Finger4" (
+                    prepend apiSchemas = ["PhysxCollisionAPI", "PhysxTriangleMeshCollisionAPI", "PhysxConvexHullCollisionAPI"]
+                )
+                {
+                    uniform token physics:approximation = "convexHull"
+                }
+            }
+        }
+    }
+
+    over "left_inner_knuckle" (
+        prepend apiSchemas = ["PhysxRigidBodyAPI"]
+    )
+    {
+        bool physxRigidBody:disableGravity = 1
+        int physxRigidBody:solverPositionIterationCount = 32
+
+        over "Finger3"
+        {
+            over "Finger3" (
+                prepend apiSchemas = ["PhysxCollisionAPI", "PhysxTriangleMeshCollisionAPI", "PhysxConvexHullCollisionAPI"]
+            )
+            {
+                uniform token physics:approximation = "convexHull"
+            }
+        }
+    }
+
+    over "right_outer_knuckle" (
+        prepend apiSchemas = ["PhysxRigidBodyAPI"]
+    )
+    {
+        bool physxRigidBody:disableGravity = 1
+
+        over "right_outer_finger_joint"
+        {
+            rel physics:body0 = </Robotiq_2F_140/right_outer_knuckle>
+            rel physics:body1 = </Robotiq_2F_140/right_outer_finger>
+            float physics:breakForce = 3.4028235e38
+            float physics:breakTorque = 3.4028235e38
+            point3f physics:localPos0 = (0, 0, 0)
+            point3f physics:localPos1 = (3.6062071e-12, 2.44103e-12, 2.5514872e-17)
+            quatf physics:localRot0 = (1, 0, 0, 0)
+            quatf physics:localRot1 = (1, -2.2221605e-18, 2.2221605e-18, 2.1320418e-11)
+        }
+
+        over "Finger1"
+        {
+            over "Finger1" (
+                prepend apiSchemas = ["PhysxCollisionAPI", "PhysxTriangleMeshCollisionAPI", "PhysxConvexHullCollisionAPI"]
+            )
+            {
+                uniform token physics:approximation = "convexHull"
+            }
+        }
+    }
+
+    over "right_outer_finger" (
+        prepend apiSchemas = ["PhysxRigidBodyAPI"]
+    )
+    {
+        string isaac:nameOverride (
+            displayName = "Name Override"
+        )
+        bool physxRigidBody:disableGravity = 1
+
+        over "Finger2"
+        {
+            over "Finger2" (
+                prepend apiSchemas = ["PhysxCollisionAPI", "PhysxTriangleMeshCollisionAPI", "PhysxConvexHullCollisionAPI"]
+            )
+            {
+                uniform token physics:approximation = "convexHull"
+            }
+        }
+    }
+
+    over "right_inner_finger" (
+        prepend apiSchemas = ["PhysxRigidBodyAPI"]
+    )
+    {
+        uniform token physics:approximation = "convexDecomposition"
+        bool physxRigidBody:disableGravity = 1
+        bool physxRigidBody:enableCCD = 1
+
+        over "Finger4_01"
+        {
+            over "Finger4"
+            {
+                over "Finger4" (
+                    prepend apiSchemas = ["PhysxCollisionAPI", "PhysxTriangleMeshCollisionAPI", "PhysxConvexHullCollisionAPI"]
+                )
+                {
+                    uniform token physics:approximation = "convexHull"
+                }
+            }
+        }
+
+        over "Fingertip_01"
+        {
+            over "Fingertip"
+            {
+                over "Fingertip" (
+                    prepend apiSchemas = ["PhysxCollisionAPI", "PhysxTriangleMeshCollisionAPI", "PhysxConvexHullCollisionAPI", "PhysxConvexDecompositionCollisionAPI"]
+                )
+                {
+                    uniform token physics:approximation = "convexDecomposition"
+                }
+            }
+        }
+    }
+
+    over "right_inner_knuckle" (
+        prepend apiSchemas = ["PhysxRigidBodyAPI"]
+    )
+    {
+        int physxRigidBody:solverPositionIterationCount = 32
+
+        over "Finger3"
+        {
+            over "Finger3" (
+                prepend apiSchemas = ["PhysxCollisionAPI", "PhysxTriangleMeshCollisionAPI", "PhysxConvexHullCollisionAPI"]
+            )
+            {
+                uniform token physics:approximation = "convexHull"
+            }
+        }
+    }
+
+    over "finger_joint" (
+        prepend apiSchemas = ["PhysxJointAPI", "PhysicsJointStateAPI:angular"]
+    )
+    {
+        float drive:angular:physics:maxForce = 26
+        float drive:angular:physics:stiffness = 3
+        float drive:angular:physics:targetPosition = 0
+        bool[] isaac:actuator (
+            displayName = "Actuator"
+        )
+        string isaac:NameOverride (
+            displayName = "Joint Name Override"
+        )
+        token[] isaac:physics:DofOffsetOpOrder (
+            displayName = "Dof Offset Op Order"
+        )
+        float physxJoint:maxJointVelocity = 130
+        float state:angular:physics:position = 0
+        float state:angular:physics:velocity = 0
+    }
+
+    over "right_outer_knuckle_joint" (
+        delete apiSchemas = ["PhysicsDriveAPI:angular"]
+        prepend apiSchemas = ["PhysxMimicJointAPI:rotX", "PhysxJointAPI", "PhysicsJointStateAPI:angular"]
+    )
+    {
+        float drive:angular:physics:damping = 0
+        float drive:angular:physics:stiffness = 0
+        bool[] isaac:actuator (
+            displayName = "Actuator"
+        )
+        string isaac:NameOverride (
+            displayName = "Joint Name Override"
+        )
+        token[] isaac:physics:DofOffsetOpOrder (
+            displayName = "Dof Offset Op Order"
+        )
+        float physxJoint:maxJointVelocity = 130
+        float physxMimicJoint:rotX:dampingRatio = 1
+        float physxMimicJoint:rotX:gearing = -1
+        float physxMimicJoint:rotX:naturalFrequency = 250
+        float physxMimicJoint:rotX:offset = 0
+        rel physxMimicJoint:rotX:referenceJoint = </Robotiq_2F_140/finger_joint>
+        float state:angular:physics:position = 0
+        float state:angular:physics:velocity = 0
+    }
+
+    over "left_inner_knuckle_joint" (
+        active = false
+        prepend apiSchemas = ["PhysxJointAPI", "PhysicsJointStateAPI:angular"]
+    )
+    {
+        bool[] isaac:actuator (
+            displayName = "Actuator"
+        )
+        string isaac:NameOverride (
+            displayName = "Joint Name Override"
+        )
+        token[] isaac:physics:DofOffsetOpOrder (
+            displayName = "Dof Offset Op Order"
+        )
+        float physxJoint:maxJointVelocity = 1000000
+        float state:angular:physics:position = 0
+        float state:angular:physics:velocity = 0
+    }
+
+    over "right_inner_knuckle_joint" (
+        active = false
+        prepend apiSchemas = ["PhysxJointAPI", "PhysicsJointStateAPI:angular"]
+    )
+    {
+        bool[] isaac:actuator (
+            displayName = "Actuator"
+        )
+        string isaac:NameOverride (
+            displayName = "Joint Name Override"
+        )
+        token[] isaac:physics:DofOffsetOpOrder (
+            displayName = "Dof Offset Op Order"
+        )
+        float physxJoint:maxJointVelocity = 1000000
+        float state:angular:physics:position = 0
+        float state:angular:physics:velocity = 0
+    }
+
+    over "left_outer_finger_joint" (
+        active = false
+        prepend apiSchemas = ["PhysxJointAPI", "PhysicsJointStateAPI:angular"]
+    )
+    {
+        bool[] isaac:actuator (
+            displayName = "Actuator"
+        )
+        string isaac:NameOverride (
+            displayName = "Joint Name Override"
+        )
+        token[] isaac:physics:DofOffsetOpOrder (
+            displayName = "Dof Offset Op Order"
+        )
+        float physxJoint:maxJointVelocity = 1000000
+        float state:angular:physics:position = 0
+        float state:angular:physics:velocity = 0
+    }
+
+    over "right_outer_finger_joint" (
+        active = false
+        prepend apiSchemas = ["PhysxJointAPI", "PhysicsJointStateAPI:angular"]
+    )
+    {
+        bool[] isaac:actuator (
+            displayName = "Actuator"
+        )
+        string isaac:NameOverride (
+            displayName = "Joint Name Override"
+        )
+        token[] isaac:physics:DofOffsetOpOrder (
+            displayName = "Dof Offset Op Order"
+        )
+        float physxJoint:maxJointVelocity = 1000000
+        float state:angular:physics:position = 0
+        float state:angular:physics:velocity = 0
+    }
+
+    over "left_inner_finger_joint" (
+        delete apiSchemas = ["PhysicsDriveAPI:angular"]
+        prepend apiSchemas = ["PhysxJointAPI", "PhysxMimicJointAPI:rotX", "PhysicsJointStateAPI:angular"]
+    )
+    {
+        float drive:angular:physics:damping = 0
+        float drive:angular:physics:stiffness = 0
+        bool[] isaac:actuator (
+            displayName = "Actuator"
+        )
+        string isaac:NameOverride (
+            displayName = "Joint Name Override"
+        )
+        token[] isaac:physics:DofOffsetOpOrder (
+            displayName = "Dof Offset Op Order"
+        )
+        float physics:lowerLimit = -180
+        float physics:upperLimit = 180
+        float physxJoint:maxJointVelocity = 1000000
+        float physxMimicJoint:rotX:dampingRatio = 1
+        float physxMimicJoint:rotX:gearing = 1
+        float physxMimicJoint:rotX:naturalFrequency = 250
+        float physxMimicJoint:rotX:offset = 0
+        rel physxMimicJoint:rotX:referenceJoint = </Robotiq_2F_140/finger_joint>
+        float state:angular:physics:position = 0
+        float state:angular:physics:velocity = 0
+    }
+
+    over "right_inner_finger_joint" (
+        delete apiSchemas = ["PhysicsDriveAPI:angular"]
+        prepend apiSchemas = ["PhysxJointAPI", "PhysxMimicJointAPI:rotX", "PhysicsJointStateAPI:angular"]
+    )
+    {
+        float drive:angular:physics:damping = 0
+        float drive:angular:physics:stiffness = 0
+        bool[] isaac:actuator (
+            displayName = "Actuator"
+        )
+        string isaac:NameOverride (
+            displayName = "Joint Name Override"
+        )
+        token[] isaac:physics:DofOffsetOpOrder (
+            displayName = "Dof Offset Op Order"
+        )
+        float physics:lowerLimit = -180
+        float physics:upperLimit = 180
+        float physxJoint:maxJointVelocity = 1000000
+        float physxMimicJoint:rotX:dampingRatio = 1
+        float physxMimicJoint:rotX:gearing = 1
+        float physxMimicJoint:rotX:naturalFrequency = 250
+        float physxMimicJoint:rotX:offset = 0
+        rel physxMimicJoint:rotX:referenceJoint = </Robotiq_2F_140/finger_joint>
+        float state:angular:physics:position = 0
+        float state:angular:physics:velocity = 0
+    }
+
+    over "right_inner_finger_pad_joint" (
+        delete apiSchemas = ["PhysicsDriveAPI:angular"]
+        prepend apiSchemas = ["PhysxJointAPI", "PhysxMimicJointAPI:rotX", "PhysicsJointStateAPI:angular"]
+    )
+    {
+        float drive:angular:physics:damping = 0
+        float drive:angular:physics:stiffness = 0
+        bool[] isaac:actuator (
+            displayName = "Actuator"
+        )
+        string isaac:NameOverride (
+            displayName = "Joint Name Override"
+        )
+        token[] isaac:physics:DofOffsetOpOrder (
+            displayName = "Dof Offset Op Order"
+        )
+        float physxJoint:maxJointVelocity = 1000000
+        float physxMimicJoint:rotX:dampingRatio = 1
+        float physxMimicJoint:rotX:gearing = -1
+        float physxMimicJoint:rotX:naturalFrequency = 250
+        float physxMimicJoint:rotX:offset = 0
+        rel physxMimicJoint:rotX:referenceJoint = </Robotiq_2F_140/finger_joint>
+        float state:angular:physics:position = 0
+        float state:angular:physics:velocity = 0
+    }
+
+    over "left_inner_finger_pad_joint" (
+        delete apiSchemas = ["PhysicsDriveAPI:angular"]
+        prepend apiSchemas = ["PhysxJointAPI", "PhysxMimicJointAPI:rotX", "PhysicsJointStateAPI:angular"]
+    )
+    {
+        float drive:angular:physics:damping = 0
+        float drive:angular:physics:stiffness = 0
+        bool[] isaac:actuator (
+            displayName = "Actuator"
+        )
+        string isaac:NameOverride (
+            displayName = "Joint Name Override"
+        )
+        token[] isaac:physics:DofOffsetOpOrder (
+            displayName = "Dof Offset Op Order"
+        )
+        float physxJoint:maxJointVelocity = 1000000
+        float physxMimicJoint:rotX:dampingRatio = 1
+        float physxMimicJoint:rotX:gearing = -1
+        float physxMimicJoint:rotX:naturalFrequency = 250
+        float physxMimicJoint:rotX:offset = 0
+        rel physxMimicJoint:rotX:referenceJoint = </Robotiq_2F_140/finger_joint>
+        float state:angular:physics:position = 0
+        float state:angular:physics:velocity = 0
+    }
+
+    over "robotiq_base_link" (
+        prepend apiSchemas = ["PhysxRigidBodyAPI"]
+    )
+    {
+        uniform token physics:approximation = "convexHull"
+
+        over "_F_Body_01"
+        {
+            over "_F_Body"
+            {
+                over "_F_Body" (
+                    prepend apiSchemas = ["PhysxCollisionAPI", "PhysxTriangleMeshCollisionAPI", "PhysxConvexHullCollisionAPI"]
+                )
+                {
+                    uniform token physics:approximation = "convexHull"
+                }
+            }
+        }
+    }
+
+    over "fingertip_material" (
+        prepend apiSchemas = ["PhysxMaterialAPI"]
+    )
+    {
+        bool physxMaterial:compliantContactAccelerationSpring = 0
+        float physxMaterial:compliantContactStiffness = 0
+        uniform token physxMaterial:frictionCombineMode = "max"
+    }
+}
+

robotiq_2f_140/source_assets/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 ::nvidia::core_definitions::file_texture;
+import ::nvidia::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
+);

robotiq_2f_85/.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": "2026-11-04T23:14:30",
+  "assets": [
+    {
+      "asset": "2F_85.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": "b5458a5308da874fc30caf330a4972e9522191a818fb859d3a23622bc3797220"
+  }
+}

robotiq_2f_85/.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": "2026-11-04T23:14:32",
+  "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"
+            ]
+          }
+        }
+      ]
+    }
+  ]
+}

robotiq_2f_85/.metadata/com.nvidia.simready.packaging.bom.json

@@ -0,0 +1,175 @@
+{
+  "format_version": "1.0",
+  "content_root": "file:///home/jwylie/Desktop/isaacsim-gripper-package_1.0/.packages/robotiq_2f_85/1.0.0",
+  "items": [
+    {
+      "relative_path": ".thumbs/256x256/2F_85.usda.png",
+      "size": 47902,
+      "hash": {
+        "sha256-flat-1mb": "acac32562e5866a6c5b9cb752f28088e479b430902502b803e0f11510f7556ea",
+        "sha256": "045162c47b61a0ce1b97f63aa58653d49a3a9e6d3fe61e5c3c1e21cb05e075b3"
+      }
+    },
+    {
+      "relative_path": "2F_85.usda",
+      "size": 101691,
+      "hash": {
+        "sha256-flat-1mb": "d6b31890055ba62771e6c522314a9eac446d435f99534c73069a39f4f21e01f6",
+        "sha256": "5169cb816bdecbebc3a8d53e41ded67e17081592448074bcaacc91ac01342437"
+      }
+    },
+    {
+      "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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+}

robotiq_2f_85/.metadata/com.nvidia.simready.root_usds.json

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+{
+  "format_version": "1.0",
+  "entries": [
+    "2F_85.usda"
+  ]
+}

robotiq_2f_85/.metadata/license.txt

@@ -0,0 +1,396 @@
+Attribution 4.0 International
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robotiq_2f_85/.metadata/robotiq_2f_85_validation.json

@@ -0,0 +1,241 @@
+{
+  "simready_usd/2F_85.usda": {
+    "features_summary": {
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+        "dependencies": "['CAP000_Core.OpenUSD.0-1-0']",
+        "passed": true,
+        "version": "0-1-0"
+      },
+      "CAP000_Core.Newton.0-1-0": {
+        "blocking_failure": false,
+        "dependencies": "['CAP000_Core.OpenUSD.0-1-0']",
+        "passed": true,
+        "version": "0-1-0"
+      },
+      "CAP000_Core.OpenUSD.0-1-0": {
+        "blocking_failure": false,
+        "dependencies": "[]",
+        "passed": true,
+        "version": "0-1-0"
+      },
+      "CAP000_Core.PhysX.0-1-0": {
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+        "dependencies": "['CAP000_Core.OpenUSD.0-1-0']",
+        "passed": true,
+        "version": "0-1-0"
+      },
+      "CAP003_RigidBody.MuJoCo.0-1-0": {
+        "blocking_failure": false,
+        "dependencies": "[]",
+        "passed": true,
+        "version": "0-1-0"
+      },
+      "CAP004_Multibody.MuJoCo.0-1-0": {
+        "blocking_failure": false,
+        "dependencies": "['CAP003_RigidBody.MuJoCo.0-1-0']",
+        "passed": true,
+        "version": "0-1-0"
+      },
+      "CAP004_Multibody.RobotMuJoCo.0-1-0": {
+        "blocking_failure": false,
+        "dependencies": "[]",
+        "passed": true,
+        "version": "0-1-0"
+      },
+      "CAP021_RobotCore.Isaac.0-2-0": {
+        "blocking_failure": false,
+        "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"
+      },
+      "CAP024_BaseArticulation.OpenUSD.0-1-0": {
+        "blocking_failure": false,
+        "dependencies": "[]",
+        "passed": true,
+        "version": "0-1-0"
+      },
+      "CAP024_BaseArticulation.PhysX.0-1-0": {
+        "blocking_failure": false,
+        "dependencies": "['CAP024_BaseArticulation.OpenUSD.0-1-0']",
+        "passed": true,
+        "version": "0-1-0"
+      },
+      "CAP028_Gripper.MuJoCo.0-1-0": {
+        "blocking_failure": false,
+        "dependencies": "['CAP022_DrivenJoints.MuJoCo.0-1-0']",
+        "passed": true,
+        "version": "0-1-0"
+      },
+      "CAP031_SelfContainedPackage.OpenUSD.0-1-0": {
+        "blocking_failure": false,
+        "dependencies": "[]",
+        "passed": true,
+        "version": "0-1-0"
+      },
+      "CAP033_SimReadyPackage.OpenUSD.0-4-0": {
+        "blocking_failure": false,
+        "dependencies": "['CAP031_SelfContainedPackage.OpenUSD.0-1-0']",
+        "passed": true,
+        "version": "0-4-0"
+      },
+      "CAP100_IsaacComposition.Isaac.0-3-0": {
+        "blocking_failure": false,
+        "dependencies": "[]",
+        "passed": true,
+        "version": "0-3-0"
+      },
+      "FET001_MinimalPlaceableVisual.OpenUSD.1-0-1": {
+        "blocking_failure": false,
+        "dependencies": "[]",
+        "passed": true,
+        "version": "1-0-1"
+      },
+      "FET003_RigidBody.Newton.0-1-0": {
+        "blocking_failure": false,
+        "dependencies": "[]",
+        "passed": true,
+        "version": "0-1-0"
+      },
+      "FET003_RigidBody.OpenUSD.0-2-0": {
+        "blocking_failure": false,
+        "dependencies": "[]",
+        "passed": true,
+        "version": "0-2-0"
+      },
+      "FET003_RigidBody.PhysX.0-4-0": {
+        "blocking_failure": false,
+        "dependencies": "[]",
+        "passed": true,
+        "version": "0-4-0"
+      },
+      "FET004_Multibody.Newton.0-1-0": {
+        "blocking_failure": false,
+        "dependencies": "['FET003_RigidBody.Newton.0-1-0']",
+        "passed": true,
+        "version": "0-1-0"
+      },
+      "FET004_Multibody.OpenUSD.0-2-0": {
+        "blocking_failure": false,
+        "dependencies": "['FET003_RigidBody.OpenUSD.0-2-0']",
+        "passed": true,
+        "version": "0-2-0"
+      },
+      "FET004_Multibody.PhysX.0-4-0": {
+        "blocking_failure": false,
+        "dependencies": "['FET003_RigidBody.PhysX.0-4-0']",
+        "passed": true,
+        "version": "0-4-0"
+      },
+      "FET004_Multibody.RobotNewton.0-1-0": {
+        "blocking_failure": false,
+        "dependencies": "[]",
+        "passed": true,
+        "version": "0-1-0"
+      },
+      "FET004_Multibody.RobotPhysX.0-1-0": {
+        "blocking_failure": false,
+        "dependencies": "[]",
+        "passed": true,
+        "version": "0-1-0"
+      },
+      "FET006_Materials.MDL.0-2-0": {
+        "blocking_failure": false,
+        "dependencies": "[]",
+        "passed": true,
+        "version": "0-2-0"
+      },
+      "FET006_Materials.OpenUSD.0-2-0": {
+        "blocking_failure": false,
+        "dependencies": "[]",
+        "passed": true,
+        "version": "0-2-0"
+      },
+      "FET006_Materials.Openpbr.0-1-0": {
+        "blocking_failure": false,
+        "dependencies": "[]",
+        "passed": true,
+        "version": "0-1-0"
+      },
+      "FET010_DisplayColor.OpenUSD.0-1-0": {
+        "blocking_failure": false,
+        "dependencies": "[]",
+        "passed": true,
+        "version": "0-1-0"
+      },
+      "FET022_DrivenJoints.Isaac.0-1-0": {
+        "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"
+    }
+  }
+}

robotiq_2f_85/com.nvidia.simready.packaging.json

@@ -0,0 +1,49 @@
+{
+  "format_version": "1.0",
+  "package_id": "simready.hf.nvidia.isaacsim-assets.robotiq_2f_85.1.0.0",
+  "license": "CC-BY-4.0",
+  "metadata": [
+    {
+      "name": "com.nvidia.simready.conformance.Package-Candidate@1.0.0.json",
+      "hash": {
+        "sha256": "e411d63c3389d38f5dac482f9131978b0feb9ea7021e1e472a194437bd8bc053"
+      }
+    },
+    {
+      "name": "com.nvidia.simready.packaging.bom.json",
+      "hash": {
+        "sha256": "66fc4f93d05ca057a3f10c65db83a462c7a860a382564636c4909f99d8421a44"
+      }
+    },
+    {
+      "name": "com.nvidia.simready.root_usds.json",
+      "hash": {
+        "sha256": "7d6135a665d2135f3a33193ad21a1a9853b8edb6ae9e4947b75825fcd7b26073"
+      }
+    },
+    {
+      "name": "license.txt",
+      "hash": {
+        "sha256": "9ba9550ad48438d0836ddab3da480b3b69ffa0aac7b7878b5a0039e7ab429411"
+      }
+    },
+    {
+      "name": "robotiq_2f_85_benchmark.json",
+      "hash": {
+        "sha256": "a25567b33e5e8e1771c415b735dcadb763815d61218965820a8830189a674d25"
+      }
+    },
+    {
+      "name": "robotiq_2f_85_validation.json",
+      "hash": {
+        "sha256": "a49babdccbe1a711cc80f1048f56e8bbf960ad5e04435489dfb61b925a3dd8e2"
+      }
+    }
+  ],
+  "content_hash": {
+    "sha256": "b5458a5308da874fc30caf330a4972e9522191a818fb859d3a23622bc3797220"
+  },
+  "package_hash": {
+    "sha256": "86607f080f0760f98a6a8fecf25ba00cdde44686115698d3e489ec74cfec4bdc"
+  }
+}

robotiq_2f_85/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
+);

robotiq_2f_85/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
+);

robotiq_2f_85/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
+);

robotiq_2f_85/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 

robotiq_2f_85/payloads/Physics/None.usda

@@ -0,0 +1,27 @@
+#usda 1.0
+(
+    customLayerData = {
+    }
+    defaultPrim = "Robotiq_2F_85"
+    endTimeCode = 0
+    metersPerUnit = 1
+    startTimeCode = -1
+    upAxis = "Z"
+)
+
+def "Robotiq_2F_85" (
+    customData = {
+        string[] variantPrimPaths = ["Robotiq_2F_85/Joints"]
+    }
+)
+{
+    def "Robotiq_2F_85"
+    {
+        def "Joints" (
+            active = false
+        )
+        {
+        }
+    }
+}
+

robotiq_2f_85/payloads/Physics/Physics.usda

@@ -0,0 +1,455 @@
+#usda 1.0
+(
+    customLayerData = {
+    }
+    defaultPrim = "Robotiq_2F_85"
+    endTimeCode = 0
+    metersPerUnit = 1
+    startTimeCode = -1
+    upAxis = "Z"
+)
+
+over "Robotiq_2F_85" (
+    prepend apiSchemas = ["PhysicsArticulationRootAPI"]
+)
+{
+    over "base_link" (
+        prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"]
+    )
+    {
+        float physics:mass = 0.043512285 (
+            customData = {
+                dictionary agentfix = {
+                    string massConfidence = "estimate with user-authorized material guesses and aluminium fallback, not verified hardware mass"
+                    string massMethod = "CORE Artist Tools material shell estimate with source component masses retained"
+                }
+            }
+        )
+
+        over "visuals"
+        {
+            over "Defeatured_2F_85_PAD_OPEN_basestep_01"
+            {
+                over "Defeatured_2F_85_PAD_OPEN_basestep"
+                {
+                    over "Defeatured_2F_85_PAD_OPEN_basestep" (
+                        prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"]
+                    )
+                    {
+                        bool physics:collisionEnabled = 1
+                    }
+                }
+            }
+        }
+    }
+
+    over "left_outer_knuckle" (
+        prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"]
+    )
+    {
+        float physics:mass = 0.0033728504 (
+            customData = {
+                dictionary agentfix = {
+                    string massConfidence = "estimate with user-authorized material guesses and aluminium fallback, not verified hardware mass"
+                    string massMethod = "CORE Artist Tools material shell estimate with source component masses retained"
+                }
+            }
+        )
+
+        over "visuals"
+        {
+            over "Defeatured_2F_85_PAD_OPEN_Finger1step_01"
+            {
+                over "Defeatured_2F_85_PAD_OPEN_Finger1step"
+                {
+                    over "Defeatured_2F_85_PAD_OPEN_Finger1step" (
+                        prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"]
+                    )
+                    {
+                        bool physics:collisionEnabled = 1
+                    }
+                }
+            }
+        }
+    }
+
+    over "left_outer_finger" (
+        prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"]
+    )
+    {
+        point3f physics:centerOfMass = (0.000005531254, -0.06595047, 0.06895309)
+        float3 physics:diagonalInertia = (0.0000132201985, 0.0000042931024, 0.000010880907)
+        float physics:mass = 0.039179202
+        quatf physics:principalAxes = (0.76604444, -0.64278764, 0, 0)
+
+        over "visuals"
+        {
+            over "Defeatured_2F_85_PAD_OPEN_finger2step_01"
+            {
+                over "Defeatured_2F_85_PAD_OPEN_finger2step"
+                {
+                    over "Defeatured_2F_85_PAD_OPEN_finger2step" (
+                        prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"]
+                    )
+                    {
+                        bool physics:collisionEnabled = 1
+                    }
+                }
+            }
+        }
+    }
+
+    over "left_inner_finger" (
+        prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"]
+    )
+    {
+        point3f physics:centerOfMass = (1.2590098e-8, -0.05424156, 0.11390199)
+        float3 physics:diagonalInertia = (0.000011577923, 0.00000896224, 0.0000039778333)
+        float physics:mass = 0.039254718
+        quatf physics:principalAxes = (0.9914449, -0.13052619, 0, 0)
+
+        over "visuals"
+        {
+            over "Defeatured_2F_85_PAD_OPEN_finger4step_01"
+            {
+                over "Defeatured_2F_85_PAD_OPEN_finger4step" (
+                    instanceable = false
+                )
+                {
+                    over "Defeatured_2F_85_PAD_OPEN_finger4step" (
+                        prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"]
+                    )
+                    {
+                        bool physics:collisionEnabled = 1
+                    }
+                }
+            }
+
+            over "Defeatured_2F_85_PAD_OPEN_fingertipsstep_01"
+            {
+                over "Defeatured_2F_85_PAD_OPEN_fingertipsstep" (
+                    instanceable = false
+                )
+                {
+                    over "Defeatured_2F_85_PAD_OPEN_fingertipsstep" (
+                        prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"]
+                    )
+                    {
+                        bool physics:collisionEnabled = 1
+                    }
+                }
+            }
+        }
+    }
+
+    over "left_inner_knuckle" (
+        prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"]
+    )
+    {
+        point3f physics:centerOfMass = (-2.005321e-10, -0.03222066, 0.083420366)
+        float3 physics:diagonalInertia = (0.000011838778, 0.0000044877793, 0.00000800488)
+        float physics:mass = 0.027306942
+        quatf physics:principalAxes = (0.9063078, -0.42261827, 0, 0)
+
+        over "visuals"
+        {
+            over "Defeatured_2F_85_PAD_OPEN_finger3step_01"
+            {
+                over "Defeatured_2F_85_PAD_OPEN_finger3step"
+                {
+                    over "Defeatured_2F_85_PAD_OPEN_finger3step" (
+                        prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"]
+                    )
+                    {
+                        bool physics:collisionEnabled = 1
+                    }
+                }
+            }
+        }
+    }
+
+    over "right_outer_knuckle" (
+        prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"]
+    )
+    {
+        float physics:mass = 0.0033728504 (
+            customData = {
+                dictionary agentfix = {
+                    string massConfidence = "estimate with user-authorized material guesses and aluminium fallback, not verified hardware mass"
+                    string massMethod = "CORE Artist Tools material shell estimate with source component masses retained"
+                }
+            }
+        )
+
+        over "visuals"
+        {
+            over "Defeatured_2F_85_PAD_OPEN_Finger1step_01"
+            {
+                over "Defeatured_2F_85_PAD_OPEN_Finger1step"
+                {
+                    over "Defeatured_2F_85_PAD_OPEN_Finger1step" (
+                        prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"]
+                    )
+                    {
+                        bool physics:collisionEnabled = 1
+                    }
+                }
+            }
+        }
+    }
+
+    over "right_outer_finger" (
+        prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"]
+    )
+    {
+        point3f physics:centerOfMass = (-0.000005531254, 0.06595047, 0.06895309)
+        float3 physics:diagonalInertia = (0.0000132201985, 0.0000042931024, 0.000010880907)
+        float physics:mass = 0.039179202
+        quatf physics:principalAxes = (0.76604444, 0.64278764, 0, 0)
+
+        over "visuals"
+        {
+            over "Defeatured_2F_85_PAD_OPEN_finger2step_01"
+            {
+                over "Defeatured_2F_85_PAD_OPEN_finger2step"
+                {
+                    over "Defeatured_2F_85_PAD_OPEN_finger2step" (
+                        prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"]
+                    )
+                    {
+                        bool physics:collisionEnabled = 1
+                    }
+                }
+            }
+        }
+    }
+
+    over "right_inner_finger" (
+        prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"]
+    )
+    {
+        point3f physics:centerOfMass = (-1.2590098e-8, 0.05424156, 0.11390199)
+        float3 physics:diagonalInertia = (0.000011577923, 0.00000896224, 0.0000039778333)
+        float physics:mass = 0.039254718
+        quatf physics:principalAxes = (0.9914449, 0.13052619, 0, 0)
+
+        over "visuals"
+        {
+            over "Defeatured_2F_85_PAD_OPEN_finger4step_01"
+            {
+                over "Defeatured_2F_85_PAD_OPEN_finger4step" (
+                    instanceable = false
+                )
+                {
+                    over "Defeatured_2F_85_PAD_OPEN_finger4step" (
+                        prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"]
+                    )
+                    {
+                        bool physics:collisionEnabled = 1
+                    }
+                }
+            }
+
+            over "Defeatured_2F_85_PAD_OPEN_fingertipsstep_01"
+            {
+                over "Defeatured_2F_85_PAD_OPEN_fingertipsstep" (
+                    instanceable = false
+                )
+                {
+                    over "Defeatured_2F_85_PAD_OPEN_fingertipsstep" (
+                        prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"]
+                    )
+                    {
+                        bool physics:collisionEnabled = 1
+                    }
+                }
+            }
+        }
+    }
+
+    over "right_inner_knuckle" (
+        prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"]
+    )
+    {
+        point3f physics:centerOfMass = (2.005321e-10, 0.03222066, 0.083420366)
+        float3 physics:diagonalInertia = (0.000011838778, 0.0000044877793, 0.00000800488)
+        float physics:mass = 0.027306942
+        quatf physics:principalAxes = (0.9063078, 0.42261827, 0, 0)
+
+        over "visuals"
+        {
+            over "Defeatured_2F_85_PAD_OPEN_finger3step_01"
+            {
+                over "Defeatured_2F_85_PAD_OPEN_finger3step"
+                {
+                    over "Defeatured_2F_85_PAD_OPEN_finger3step" (
+                        prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"]
+                    )
+                    {
+                        bool physics:collisionEnabled = 1
+                    }
+                }
+            }
+        }
+    }
+
+    over "Joints"
+    {
+        def PhysicsFixedJoint "root_joint"
+        {
+            custom rel physics:body1 = </Robotiq_2F_85/base_link>
+        }
+
+        def PhysicsRevoluteJoint "finger_joint" (
+            prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
+        )
+        {
+            float drive:angular:physics:damping = 0.1
+            float drive:angular:physics:maxForce = 26
+            float drive:angular:physics:stiffness = 3
+            float drive:angular:physics:targetPosition = 0
+            float drive:angular:physics:targetVelocity = 0
+            uniform token physics:axis = "Z"
+            custom rel physics:body0 = </Robotiq_2F_85/base_link>
+            custom rel physics:body1 = </Robotiq_2F_85/left_outer_knuckle>
+            point3f physics:localPos0 = (0, -0.0306, 0.05466)
+            point3f physics:localPos1 = (0, -0.0306, 0.05466)
+            quatf physics:localRot0 = (0.5, 0.5, -0.5, -0.5)
+            quatf physics:localRot1 = (0.5, 0.5, -0.5, -0.5)
+            float physics:lowerLimit = 0
+            float physics:upperLimit = 47
+            float state:angular:physics:position = 0
+            float state:angular:physics:velocity = 0
+        }
+
+        def PhysicsRevoluteJoint "right_outer_knuckle_joint" (
+            prepend apiSchemas = ["PhysicsJointStateAPI:angular"]
+        )
+        {
+            float drive:angular:physics:damping = 0
+            float drive:angular:physics:maxForce = 0
+            float drive:angular:physics:stiffness = 0
+            uniform token physics:axis = "Z"
+            custom rel physics:body0 = </Robotiq_2F_85/base_link>
+            custom rel physics:body1 = </Robotiq_2F_85/right_outer_knuckle>
+            point3f physics:localPos0 = (0, 0.0306, 0.05466)
+            point3f physics:localPos1 = (0, 0.0306, 0.05466)
+            quatf physics:localRot0 = (0.5, -0.5, 0.5, -0.5)
+            quatf physics:localRot1 = (0.5, -0.5, 0.5, -0.5)
+            float physics:lowerLimit = 0
+            float physics:upperLimit = 47
+            float state:angular:physics:position = 0
+            float state:angular:physics:velocity = 0
+        }
+
+        def PhysicsFixedJoint "right_outer_finger_joint"
+        {
+            custom rel physics:body0 = </Robotiq_2F_85/right_outer_knuckle>
+            custom rel physics:body1 = </Robotiq_2F_85/right_outer_finger>
+            point3f physics:localPos0 = (0, 0.06213, 0.0509)
+            point3f physics:localPos1 = (0, 0.06213, 0.0509)
+            quatf physics:localRot0 = (0.5, 0.5, 0.5, 0.5)
+            quatf physics:localRot1 = (0.5, 0.5, 0.5, 0.5)
+        }
+
+        def PhysicsRevoluteJoint "right_inner_finger_joint" (
+            prepend apiSchemas = ["PhysicsJointStateAPI:angular"]
+        )
+        {
+            float drive:angular:physics:damping = 0
+            float drive:angular:physics:maxForce = 0
+            float drive:angular:physics:stiffness = 0
+            float drive:angular:physics:targetPosition = 0
+            uniform token physics:axis = "Z"
+            custom rel physics:body0 = </Robotiq_2F_85/right_outer_finger>
+            custom rel physics:body1 = </Robotiq_2F_85/right_inner_finger>
+            point3f physics:localPos0 = (0, 0.06776, 0.09809)
+            point3f physics:localPos1 = (0, 0.06776, 0.09809)
+            quatf physics:localRot0 = (0.5, 0.5, -0.5, -0.5)
+            quatf physics:localRot1 = (0.5, 0.5, -0.5, -0.5)
+            float physics:lowerLimit = -180
+            float physics:upperLimit = 180
+            float state:angular:physics:position = 0
+            float state:angular:physics:velocity = 0
+        }
+
+        def PhysicsRevoluteJoint "right_inner_finger_knuckle_joint" (
+            prepend apiSchemas = ["PhysicsJointStateAPI:angular"]
+        )
+        {
+            float drive:angular:physics:damping = 0
+            float drive:angular:physics:stiffness = 0
+            float drive:angular:physics:targetPosition = 0
+            uniform token physics:axis = "Z"
+            custom rel physics:body0 = </Robotiq_2F_85/right_inner_finger>
+            custom rel physics:body1 = </Robotiq_2F_85/right_inner_knuckle>
+            point3f physics:localPos0 = (0, 0.04986, 0.1046)
+            point3f physics:localPos1 = (0, 0.04986, 0.1046)
+            quatf physics:localRot0 = (0.5, 0.5, -0.5, -0.5)
+            quatf physics:localRot1 = (0.5, 0.5, -0.5, -0.5)
+            float physics:lowerLimit = -180
+            float physics:upperLimit = 180
+            float state:angular:physics:position = 0
+            float state:angular:physics:velocity = 0
+        }
+
+        def PhysicsFixedJoint "left_outer_finger_joint"
+        {
+            custom rel physics:body0 = </Robotiq_2F_85/left_outer_knuckle>
+            custom rel physics:body1 = </Robotiq_2F_85/left_outer_finger>
+            point3f physics:localPos0 = (0, -0.06213, 0.0509)
+            point3f physics:localPos1 = (0, -0.06213, 0.0509)
+            quatf physics:localRot0 = (0.5, 0.5, 0.5, 0.5)
+            quatf physics:localRot1 = (0.5, 0.5, 0.5, 0.5)
+        }
+
+        def PhysicsRevoluteJoint "left_inner_finger_knuckle_joint" (
+            prepend apiSchemas = ["PhysicsJointStateAPI:angular"]
+        )
+        {
+            float drive:angular:physics:damping = 0
+            float drive:angular:physics:stiffness = 0
+            uniform token physics:axis = "Z"
+            custom rel physics:body0 = </Robotiq_2F_85/left_inner_finger>
+            custom rel physics:body1 = </Robotiq_2F_85/left_inner_knuckle>
+            point3f physics:localPos0 = (0, -0.04986, 0.1046)
+            point3f physics:localPos1 = (0, -0.04986, 0.1046)
+            quatf physics:localRot0 = (0.5, 0.5, 0.5, 0.5)
+            quatf physics:localRot1 = (0.5, 0.5, 0.5, 0.5)
+            float physics:lowerLimit = -180
+            float physics:upperLimit = 180
+            float state:angular:physics:position = 0
+            float state:angular:physics:velocity = 0
+        }
+
+        def PhysicsRevoluteJoint "left_inner_finger_joint" (
+            prepend apiSchemas = ["PhysicsJointStateAPI:angular"]
+        )
+        {
+            float drive:angular:physics:damping = 0
+            float drive:angular:physics:maxForce = 0
+            float drive:angular:physics:stiffness = 0
+            float drive:angular:physics:targetPosition = 0
+            uniform token physics:axis = "Z"
+            custom rel physics:body0 = </Robotiq_2F_85/left_outer_finger>
+            custom rel physics:body1 = </Robotiq_2F_85/left_inner_finger>
+            point3f physics:localPos0 = (0, -0.06776, 0.09809)
+            point3f physics:localPos1 = (0, -0.06776, 0.09809)
+            quatf physics:localRot0 = (0.5, -0.5, -0.5, 0.5)
+            quatf physics:localRot1 = (0.5, -0.5, -0.5, 0.5)
+            float physics:lowerLimit = -180
+            float physics:upperLimit = 180
+            float state:angular:physics:position = 0
+            float state:angular:physics:velocity = 0
+        }
+    }
+
+    over "fingertip_material" (
+        prepend apiSchemas = ["PhysicsMaterialAPI"]
+    )
+    {
+        float physics:dynamicFriction = 4
+        float physics:staticFriction = 4
+    }
+}
+

robotiq_2f_85/payloads/Physics/Physx_Loop.usda

@@ -0,0 +1,246 @@
+#usda 1.0
+(
+    customLayerData = {
+    }
+    defaultPrim = "Robotiq_2F_85"
+    endTimeCode = 0
+    metersPerUnit = 1
+    startTimeCode = -1
+    subLayers = [
+        @./Physics.usda@
+    ]
+    upAxis = "Z"
+)
+
+over "Robotiq_2F_85" (
+    prepend apiSchemas = ["PhysxArticulationAPI"]
+)
+{
+    bool physxArticulation:enabledSelfCollisions = 0
+
+    over "Joints"
+    {
+        def PhysicsRevoluteJoint "finger_joint" (
+            prepend apiSchemas = ["PhysxJointAPI", "PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
+        )
+        {
+            float drive:angular:physics:damping = 0.0002
+            float drive:angular:physics:maxForce = 16.5
+            float drive:angular:physics:stiffness = 0.17
+            float drive:angular:physics:targetPosition = 0
+            float drive:angular:physics:targetVelocity = 0
+            token physics:axis = "Z"
+            custom rel physics:body0
+            prepend rel physics:body0 = </Robotiq_2F_85/base_link>
+            custom rel physics:body1
+            prepend rel physics:body1 = </Robotiq_2F_85/left_outer_knuckle>
+            point3f physics:localPos0 = (0, -0.0306, 0.05466)
+            point3f physics:localPos1 = (0, -0.0306, 0.05466)
+            quatf physics:localRot0 = (0.5, 0.5, -0.5, -0.5)
+            quatf physics:localRot1 = (0.5, 0.5, -0.5, -0.5)
+            float physics:lowerLimit = 0
+            float physics:upperLimit = 75
+            float physxJoint:maxJointVelocity = 130
+            float state:angular:physics:position = 0
+            float state:angular:physics:velocity = 0
+        }
+
+        def PhysicsRevoluteJoint "right_outer_knuckle_joint" (
+            delete apiSchemas = ["PhysicsDriveAPI:angular"]
+            prepend apiSchemas = ["PhysxJointAPI", "PhysxMimicJointAPI:rotZ", "PhysicsJointStateAPI:angular"]
+        )
+        {
+            float drive:angular:physics:damping = 5000
+            float drive:angular:physics:maxForce = 5
+            float drive:angular:physics:stiffness = 0
+            token physics:axis = "Z"
+            custom rel physics:body0
+            prepend rel physics:body0 = </Robotiq_2F_85/base_link>
+            custom rel physics:body1
+            prepend rel physics:body1 = </Robotiq_2F_85/right_outer_knuckle>
+            point3f physics:localPos0 = (0, 0.0306, 0.05466)
+            point3f physics:localPos1 = (0, 0.0306, 0.05466)
+            quatf physics:localRot0 = (0.5, 0.5, 0.5, 0.5)
+            quatf physics:localRot1 = (0.5, 0.5, 0.5, 0.5)
+            float physics:lowerLimit = 0
+            float physics:upperLimit = 75
+            float physxJoint:maxJointVelocity = 130
+            float physxMimicJoint:rotZ:dampingRatio = 0.01
+            float physxMimicJoint:rotZ:gearing = -1
+            float physxMimicJoint:rotZ:naturalFrequency = 5000
+            custom rel physxMimicJoint:rotZ:referenceJoint
+            prepend rel physxMimicJoint:rotZ:referenceJoint = </Robotiq_2F_85/Joints/finger_joint>
+            float state:angular:physics:position = 0
+            float state:angular:physics:velocity = 0
+        }
+
+        def PhysicsRevoluteJoint "right_outer_finger_joint" (
+            prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
+        )
+        {
+            float drive:angular:physics:damping = 0
+            float drive:angular:physics:stiffness = 0
+            token physics:axis = "Z"
+            custom rel physics:body0
+            prepend rel physics:body0 = </Robotiq_2F_85/right_outer_knuckle>
+            custom rel physics:body1
+            prepend rel physics:body1 = </Robotiq_2F_85/right_outer_finger>
+            point3f physics:localPos0 = (0, 0.06213, 0.0509)
+            point3f physics:localPos1 = (0, 0.06213, 0.0509)
+            quatf physics:localRot0 = (0.5, 0.5, 0.5, 0.5)
+            quatf physics:localRot1 = (0.5, 0.5, 0.5, 0.5)
+            float physics:lowerLimit = 0
+            float physics:upperLimit = 180
+            float state:angular:physics:position = 0
+            float state:angular:physics:velocity = 0
+        }
+
+        def PhysicsRevoluteJoint "right_inner_finger_joint" (
+            prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
+        )
+        {
+            float drive:angular:physics:damping = 0.00001
+            float drive:angular:physics:maxForce = 0.5
+            float drive:angular:physics:stiffness = 0.0002
+            float drive:angular:physics:targetPosition = 45
+            token physics:axis = "Z"
+            custom rel physics:body0
+            prepend rel physics:body0 = </Robotiq_2F_85/right_outer_finger>
+            custom rel physics:body1
+            prepend rel physics:body1 = </Robotiq_2F_85/right_inner_finger>
+            point3f physics:localPos0 = (0, 0.06776, 0.09809)
+            point3f physics:localPos1 = (0, 0.06776, 0.09809)
+            quatf physics:localRot0 = (0.5, 0.5, 0.5, 0.5)
+            quatf physics:localRot1 = (0.5, 0.5, 0.5, 0.5)
+            float physics:lowerLimit = -inf
+            float physics:upperLimit = inf
+            float state:angular:physics:position = 0
+            float state:angular:physics:velocity = 0
+        }
+
+        def PhysicsRevoluteJoint "right_inner_knuckle_joint" (
+            prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
+        )
+        {
+            float drive:angular:physics:damping = 0
+            float drive:angular:physics:stiffness = 0
+            token physics:axis = "Z"
+            custom rel physics:body0
+            prepend rel physics:body0 = </Robotiq_2F_85/base_link>
+            custom rel physics:body1
+            prepend rel physics:body1 = </Robotiq_2F_85/right_inner_knuckle>
+            bool physics:excludeFromArticulation = 1
+            point3f physics:localPos0 = (0, 0.0127, 0.06118)
+            point3f physics:localPos1 = (0, 0.0127, 0.06118)
+            quatf physics:localRot0 = (0.5, 0.5, 0.5, 0.5)
+            quatf physics:localRot1 = (0.5, 0.5, 0.5, 0.5)
+            float physics:lowerLimit = -inf
+            float physics:upperLimit = inf
+        }
+
+        def PhysicsRevoluteJoint "right_inner_finger_knuckle_joint" (
+            prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
+        )
+        {
+            float drive:angular:physics:damping = 0
+            float drive:angular:physics:stiffness = 0
+            token physics:axis = "Z"
+            custom rel physics:body0
+            prepend rel physics:body0 = </Robotiq_2F_85/right_inner_finger>
+            custom rel physics:body1
+            prepend rel physics:body1 = </Robotiq_2F_85/right_inner_knuckle>
+            point3f physics:localPos0 = (0, 0.04986, 0.1046)
+            point3f physics:localPos1 = (0, 0.04986, 0.1046)
+            quatf physics:localRot0 = (0.5, 0.5, 0.5, 0.5)
+            quatf physics:localRot1 = (0.5, 0.5, 0.5, 0.5)
+            float state:angular:physics:position = 0
+            float state:angular:physics:velocity = 0
+        }
+
+        def PhysicsRevoluteJoint "left_outer_finger_joint" (
+            prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
+        )
+        {
+            float drive:angular:physics:damping = 0
+            float drive:angular:physics:stiffness = 0
+            token physics:axis = "Z"
+            custom rel physics:body0
+            prepend rel physics:body0 = </Robotiq_2F_85/left_outer_knuckle>
+            custom rel physics:body1
+            prepend rel physics:body1 = </Robotiq_2F_85/left_outer_finger>
+            point3f physics:localPos0 = (0, -0.06213, 0.0509)
+            point3f physics:localPos1 = (0, -0.06213, 0.0509)
+            quatf physics:localRot0 = (0.5, 0.5, 0.5, 0.5)
+            quatf physics:localRot1 = (0.5, 0.5, 0.5, 0.5)
+            float physics:lowerLimit = 0
+            float physics:upperLimit = 180
+            float state:angular:physics:position = 0
+            float state:angular:physics:velocity = 0
+        }
+
+        def PhysicsRevoluteJoint "left_inner_finger_knuckle_joint" (
+            prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
+        )
+        {
+            float drive:angular:physics:damping = 0
+            float drive:angular:physics:stiffness = 0
+            token physics:axis = "Z"
+            custom rel physics:body0
+            prepend rel physics:body0 = </Robotiq_2F_85/left_inner_finger>
+            custom rel physics:body1
+            prepend rel physics:body1 = </Robotiq_2F_85/left_inner_knuckle>
+            point3f physics:localPos0 = (0, -0.04986, 0.1046)
+            point3f physics:localPos1 = (0, -0.04986, 0.1046)
+            quatf physics:localRot0 = (0.5, 0.5, 0.5, 0.5)
+            quatf physics:localRot1 = (0.5, 0.5, 0.5, 0.5)
+            float physics:lowerLimit = -inf
+            float physics:upperLimit = inf
+            float state:angular:physics:position = 0
+            float state:angular:physics:velocity = 0
+        }
+
+        def PhysicsRevoluteJoint "left_inner_finger_joint" (
+            prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
+        )
+        {
+            float drive:angular:physics:damping = 0.00001
+            float drive:angular:physics:maxForce = 0.5
+            float drive:angular:physics:stiffness = 0.0002
+            float drive:angular:physics:targetPosition = 45
+            token physics:axis = "Z"
+            custom rel physics:body0
+            prepend rel physics:body0 = </Robotiq_2F_85/left_outer_finger>
+            custom rel physics:body1
+            prepend rel physics:body1 = </Robotiq_2F_85/left_inner_finger>
+            point3f physics:localPos0 = (0, -0.06776, 0.09809)
+            point3f physics:localPos1 = (0, -0.06776, 0.09809)
+            quatf physics:localRot0 = (0.5, 0.5, 0.5, 0.5)
+            quatf physics:localRot1 = (0.5, 0.5, 0.5, 0.5)
+            float physics:lowerLimit = -inf
+            float physics:upperLimit = inf
+            float state:angular:physics:position = 0
+            float state:angular:physics:velocity = 0
+        }
+
+        def PhysicsRevoluteJoint "left_inner_knuckle_joint" (
+            prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
+        )
+        {
+            float drive:angular:physics:damping = 0
+            float drive:angular:physics:stiffness = 0
+            token physics:axis = "Z"
+            custom rel physics:body0
+            prepend rel physics:body0 = </Robotiq_2F_85/base_link>
+            custom rel physics:body1
+            prepend rel physics:body1 = </Robotiq_2F_85/left_inner_knuckle>
+            bool physics:excludeFromArticulation = 1
+            point3f physics:localPos0 = (0, -0.0127, 0.06118)
+            point3f physics:localPos1 = (0, -0.0127, 0.06118)
+            quatf physics:localRot0 = (0.5, 0.5, 0.5, 0.5)
+            quatf physics:localRot1 = (0.5, 0.5, 0.5, 0.5)
+            float physics:lowerLimit = -inf
+            float physics:upperLimit = inf
+        }
+    }
+}
+

robotiq_2f_85/payloads/Physics/Physx_Mimic.usda

@@ -0,0 +1,89 @@
+#usda 1.0
+(
+    customLayerData = {
+    }
+    defaultPrim = "Robotiq_2F_85"
+    endTimeCode = 0
+    metersPerUnit = 1
+    startTimeCode = -1
+    subLayers = [
+        @./Physics.usda@
+    ]
+    upAxis = "Z"
+)
+
+over "Robotiq_2F_85" (
+    prepend apiSchemas = ["PhysxArticulationAPI"]
+)
+{
+    bool physxArticulation:enabledSelfCollisions = 0
+    int physxArticulation:solverPositionIterationCount = 64
+
+    over "Joints"
+    {
+        over "finger_joint" (
+            prepend apiSchemas = ["PhysxJointAPI"]
+        )
+        {
+            float physxJoint:armature = 0.0001
+            float physxJoint:maxJointVelocity = 146.46
+        }
+
+        over "right_outer_knuckle_joint" (
+            prepend apiSchemas = ["PhysxJointAPI", "PhysxMimicJointAPI:rotZ"]
+        )
+        {
+            float physxJoint:armature = 0.0001
+            float physxJoint:maxJointVelocity = 10000
+            float physxMimicJoint:rotZ:dampingRatio = 0
+            float physxMimicJoint:rotZ:gearing = -1
+            float physxMimicJoint:rotZ:naturalFrequency = 0
+            rel physxMimicJoint:rotZ:referenceJoint = </Robotiq_2F_85/Joints/finger_joint>
+        }
+
+        over "right_inner_finger_joint" (
+            prepend apiSchemas = ["PhysxJointAPI", "PhysxMimicJointAPI:rotX"]
+        )
+        {
+            float physxJoint:maxJointVelocity = 10000
+            float physxMimicJoint:rotX:dampingRatio = 0
+            float physxMimicJoint:rotX:gearing = -1
+            float physxMimicJoint:rotX:naturalFrequency = 0
+            rel physxMimicJoint:rotX:referenceJoint = </Robotiq_2F_85/Joints/finger_joint>
+        }
+
+        over "right_inner_finger_knuckle_joint" (
+            prepend apiSchemas = ["PhysxJointAPI", "PhysxMimicJointAPI:rotX"]
+        )
+        {
+            float physxJoint:maxJointVelocity = 10000
+            float physxMimicJoint:rotX:dampingRatio = 0
+            float physxMimicJoint:rotX:gearing = 1
+            float physxMimicJoint:rotX:naturalFrequency = 0
+            rel physxMimicJoint:rotX:referenceJoint = </Robotiq_2F_85/Joints/finger_joint>
+        }
+
+        over "left_inner_finger_knuckle_joint" (
+            prepend apiSchemas = ["PhysxJointAPI", "PhysxMimicJointAPI:rotX"]
+        )
+        {
+            float physxJoint:maxJointVelocity = 10000
+            float physxMimicJoint:rotX:dampingRatio = 0
+            float physxMimicJoint:rotX:gearing = 1
+            float physxMimicJoint:rotX:naturalFrequency = 0
+            rel physxMimicJoint:rotX:referenceJoint = </Robotiq_2F_85/Joints/finger_joint>
+        }
+
+        over "left_inner_finger_joint" (
+            prepend apiSchemas = ["PhysxJointAPI", "PhysxMimicJointAPI:rotX"]
+        )
+        {
+            float physxJoint:maxJointVelocity = 10000
+            float physxMimicJoint:rotX:dampingRatio = 0
+            float physxMimicJoint:rotX:gearing = 1
+            float physxMimicJoint:rotX:naturalFrequency = 0
+            rel physxMimicJoint:rotX:referenceJoint = </Robotiq_2F_85/Joints/finger_joint>
+        }
+    }
+}
+

robotiq_2f_85/payloads/base.usda

@@ -0,0 +1,330 @@
+#usda 1.0
+(
+    customLayerData = {
+    }
+    defaultPrim = "Robotiq_2F_85"
+    endTimeCode = 0
+    metersPerUnit = 1
+    startTimeCode = -1
+    subLayers = [
+        @./robot.usda@
+    ]
+    upAxis = "Z"
+)
+
+def Xform "Robotiq_2F_85" (
+    customData = {
+        string[] variantPrimPaths = ["."]
+    }
+    kind = "assembly"
+)
+{
+    uniform token[] xformOpOrder = []
+
+    def Xform "base_link" (
+        kind = "group"
+    )
+    {
+        def Xform "visuals" (
+            apiSchemas = None
+            instanceable = true
+            kind = "subcomponent"
+            references = @./instances.usda@</Robotiq_2F_85/base_link/visuals>
+        )
+        {
+            quatd xformOp:orient = (0.4999999999999999, 0.5000000000000001, 0.5000000000000001, 0.5000000000000001)
+            float3 xformOp:scale = (1, 1, 1)
+            double3 xformOp:translate = (0, 0, 0)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+        }
+
+        def Xform "gripper_01" (
+            prepend apiSchemas = ["IsaacSiteAPI"]
+        )
+        {
+            custom float gripper_maxOpening = 0.085
+            custom float gripper_maxPayload = 0.5
+            string isaac:Description = "Parallel-jaw grasp center"
+            token simready:attactment:socketType = "Gripper"
+            double3 xformOp:translate = (0, 0, 0.13)
+            uniform token[] xformOpOrder = ["xformOp:translate"]
+
+            def BasisCurves "gripper_forward_axis"
+            {
+                int[] curveVertexCounts = [2]
+                float3[] extent = [(0, 0, 0), (0, 0, 0.05)]
+                point3f[] points = [(0, 0, 0), (0, 0, 0.05)]
+                uniform token purpose = "guide"
+                uniform token type = "linear"
+            }
+
+            def BasisCurves "gripper_grip_line"
+            {
+                int[] curveVertexCounts = [2]
+                float3[] extent = [(-0.015, 0, 0), (0.015, 0, 0)]
+                point3f[] points = [(-0.015, 0, 0), (0.015, 0, 0)]
+                uniform token purpose = "guide"
+                uniform token type = "linear"
+            }
+        }
+    }
+
+    def Xform "left_outer_knuckle" (
+        kind = "group"
+    )
+    {
+        quatd xformOp:orient = (1, 0, 0, 0)
+        float3 xformOp:scale = (1, 1, 1)
+        double3 xformOp:translate = (0, 0, 0)
+        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+
+        def Xform "visuals" (
+            instanceable = true
+            kind = "subcomponent"
+            references = @./instances.usda@</Robotiq_2F_85/left_outer_knuckle/visuals>
+        )
+        {
+            quatd xformOp:orient = (0.4999999999999999, 0.5000000000000001, 0.5000000000000001, 0.5000000000000001)
+            float3 xformOp:scale = (1, 1, 1)
+            double3 xformOp:translate = (0, 0, 0)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+        }
+    }
+
+    def Xform "left_outer_finger" (
+        kind = "group"
+    )
+    {
+        quatd xformOp:orient = (1, 0, 0, 0)
+        float3 xformOp:scale = (1, 1, 1)
+        double3 xformOp:translate = (0, 0, 0)
+        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+
+        def Xform "visuals" (
+            instanceable = true
+            kind = "subcomponent"
+            references = @./instances.usda@</Robotiq_2F_85/left_outer_finger/visuals>
+        )
+        {
+            quatd xformOp:orient = (0.4999999999999999, 0.5000000000000001, 0.5000000000000001, 0.5000000000000001)
+            float3 xformOp:scale = (1, 1, 1)
+            double3 xformOp:translate = (0, 0, 0)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+        }
+    }
+
+    def Xform "left_inner_finger" (
+        kind = "group"
+    )
+    {
+        quatd xformOp:orient = (1, 0, 0, 0)
+        float3 xformOp:scale = (1, 1, 1)
+        double3 xformOp:translate = (0, 0, 0)
+        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+
+        def Xform "visuals" (
+            instanceable = false
+            kind = "subcomponent"
+        )
+        {
+            quatd xformOp:orient = (0.4999999999999999, 0.5000000000000001, 0.5000000000000001, 0.5000000000000001)
+            float3 xformOp:scale = (1, 1, 1)
+            double3 xformOp:translate = (0, 0, 0)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+
+            def Xform "Defeatured_2F_85_PAD_OPEN_finger4step_01"
+            {
+                quatd xformOp:orient = (1, 0, 0, 0)
+                float3 xformOp:scale = (1, 1, 1)
+                double3 xformOp:translate = (0, 0, 0)
+                token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+
+                over Xform "Defeatured_2F_85_PAD_OPEN_finger4step" (
+                    instanceable = true
+                    prepend references = @./instances.usda@</Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step>
+                )
+                {
+                }
+            }
+
+            def Xform "Defeatured_2F_85_PAD_OPEN_fingertipsstep_01" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding:physics = </Robotiq_2F_85/fingertip_material> (
+                    bindMaterialAs = "weakerThanDescendants"
+                )
+                quatd xformOp:orient = (1, 0, 0, 0)
+                float3 xformOp:scale = (1, 1, 1)
+                double3 xformOp:translate = (0, 0, 0)
+                token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+
+                over Xform "Defeatured_2F_85_PAD_OPEN_fingertipsstep" (
+                    instanceable = true
+                    prepend references = @./instances.usda@</Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep>
+                )
+                {
+                }
+            }
+        }
+    }
+
+    def Xform "left_inner_knuckle" (
+        kind = "group"
+    )
+    {
+        quatd xformOp:orient = (1, 0, 0, 0)
+        float3 xformOp:scale = (1, 1, 1)
+        double3 xformOp:translate = (0, 0, 0)
+        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+
+        def Xform "visuals" (
+            instanceable = true
+            kind = "subcomponent"
+            references = @./instances.usda@</Robotiq_2F_85/left_inner_knuckle/visuals>
+        )
+        {
+            quatd xformOp:orient = (0.4999999999999999, 0.5000000000000001, 0.5000000000000001, 0.5000000000000001)
+            float3 xformOp:scale = (1, 1, 1)
+            double3 xformOp:translate = (0, 0, 0)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+        }
+    }
+
+    def Xform "right_outer_knuckle" (
+        kind = "group"
+    )
+    {
+        quatd xformOp:orient = (1, 0, 0, 0)
+        float3 xformOp:scale = (1, 1, 1)
+        double3 xformOp:translate = (0, 0, 0)
+        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+
+        def Xform "visuals" (
+            instanceable = true
+            kind = "subcomponent"
+            references = @./instances.usda@</Robotiq_2F_85/left_outer_knuckle/visuals>
+        )
+        {
+            quatd xformOp:orient = (0.4999999999999999, 0.5000000000000001, -0.5000000000000001, -0.5000000000000001)
+            float3 xformOp:scale = (1, 1, 1)
+            double3 xformOp:translate = (0, 0, 0)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+        }
+    }
+
+    def Xform "right_outer_finger" (
+        kind = "group"
+    )
+    {
+        quatd xformOp:orient = (1, 0, 0, 0)
+        float3 xformOp:scale = (1, 1, 1)
+        double3 xformOp:translate = (0, 0, 0)
+        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+
+        def Xform "visuals" (
+            instanceable = true
+            kind = "subcomponent"
+            references = @./instances.usda@</Robotiq_2F_85/left_outer_finger/visuals>
+        )
+        {
+            quatd xformOp:orient = (0.4999999999999999, 0.5000000000000001, -0.5000000000000001, -0.5000000000000001)
+            float3 xformOp:scale = (1, 1, 1)
+            double3 xformOp:translate = (0, 0, 0)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+        }
+    }
+
+    def Xform "right_inner_finger" (
+        kind = "group"
+    )
+    {
+        quatd xformOp:orient = (1, 0, 0, 0)
+        float3 xformOp:scale = (1, 1, 1)
+        double3 xformOp:translate = (0, 0, 0)
+        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+
+        def Xform "visuals" (
+            instanceable = false
+            kind = "subcomponent"
+        )
+        {
+            quatd xformOp:orient = (0.4999999999999999, 0.5000000000000001, -0.5000000000000001, -0.5000000000000001)
+            float3 xformOp:scale = (1, 1, 1)
+            double3 xformOp:translate = (0, 0, 0)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+
+            def Xform "Defeatured_2F_85_PAD_OPEN_finger4step_01"
+            {
+                quatd xformOp:orient = (1, 0, 0, 0)
+                float3 xformOp:scale = (1, 1, 1)
+                double3 xformOp:translate = (0, 0, 0)
+                token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+
+                over Xform "Defeatured_2F_85_PAD_OPEN_finger4step" (
+                    instanceable = true
+                    prepend references = @./instances.usda@</Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step>
+                )
+                {
+                }
+            }
+
+            def Xform "Defeatured_2F_85_PAD_OPEN_fingertipsstep_01" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding:physics = </Robotiq_2F_85/fingertip_material> (
+                    bindMaterialAs = "weakerThanDescendants"
+                )
+                quatd xformOp:orient = (1, 0, 0, 0)
+                float3 xformOp:scale = (1, 1, 1)
+                double3 xformOp:translate = (0, 0, 0)
+                token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+
+                over Xform "Defeatured_2F_85_PAD_OPEN_fingertipsstep" (
+                    instanceable = true
+                    prepend references = @./instances.usda@</Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep>
+                )
+                {
+                }
+            }
+        }
+    }
+
+    def Xform "right_inner_knuckle" (
+        kind = "group"
+    )
+    {
+        quatd xformOp:orient = (1, 0, 0, 0)
+        float3 xformOp:scale = (1, 1, 1)
+        double3 xformOp:translate = (0, 0, 0)
+        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+
+        def Xform "visuals" (
+            instanceable = true
+            kind = "subcomponent"
+            references = @./instances.usda@</Robotiq_2F_85/left_inner_knuckle/visuals>
+        )
+        {
+            quatd xformOp:orient = (0.4999999999999999, 0.5000000000000001, -0.5000000000000001, -0.5000000000000001)
+            float3 xformOp:scale = (1, 1, 1)
+            double3 xformOp:translate = (0, 0, 0)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+        }
+    }
+
+    def Scope "Joints"
+    {
+    }
+
+    def Material "fingertip_material" (
+        active = true
+    )
+    {
+    }
+}
+
+def Scope "VisualMaterials"
+{
+}
+

robotiq_2f_85/payloads/geometries.usd

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:219d4c54f1b914cce9a8d5cb2ded86ec0c5faae274c1f007cacd0458d7cf7432
+size 3990584

robotiq_2f_85/payloads/instances.usda

@@ -0,0 +1,1388 @@
+#usda 1.0
+(
+    customLayerData = {
+    }
+    endTimeCode = 0
+    metersPerUnit = 1
+    startTimeCode = -1
+    upAxis = "Z"
+)
+
+def Xform "Robotiq_2F_85" (
+    apiSchemas = ["PhysicsArticulationRootAPI"]
+)
+{
+    quatd xformOp:orient = (1, 0, 0, 0)
+    double3 xformOp:scale = (1, 1, 1)
+    double3 xformOp:translate = (0, 0, 0)
+    token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+
+    def Xform "base_link"
+    {
+        def Xform "visuals"
+        {
+            quatd xformOp:orient = (0.4999999999999999, 0.5000000000000001, 0.5000000000000001, 0.5000000000000001)
+            float3 xformOp:scale = (1, 1, 1)
+            double3 xformOp:translate = (0, 0, 0)
+            token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+
+            def Xform "Defeatured_2F_85_PAD_OPEN_basestep_01"
+            {
+                quatd xformOp:orient = (1, 0, 0, 0)
+                float3 xformOp:scale = (1, 1, 1)
+                double3 xformOp:translate = (0, 0, 0)
+                token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+
+                def Xform "Defeatured_2F_85_PAD_OPEN_basestep" (
+                    apiSchemas = None
+                    prepend references = @./geometries.usd@</Geometries/Defeatured_2F_85_PAD_OPEN_basestep>
+                )
+                {
+                    double[] inertiaMatrix = [0.0004746842222151654, 1.1593848512898524e-9, -2.353766274892451e-8, 1.1593848512898524e-9, 0.00036290683417457444, -3.0421779496695915e-7, -2.353766274892451e-8, -3.0421779496695915e-7, 0.0005407481985062766]
+
+                    over "Defeatured_2F_85_PAD_OPEN_basestep" (
+                        apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"]
+                    )
+                    {
+                        double[] inertiaMatrix = [0.0004746842222151654, 1.1593848512898524e-9, -2.353766274892451e-8, 1.1593848512898524e-9, 0.00036290683417457444, -3.0421779496695915e-7, -2.353766274892451e-8, -3.0421779496695915e-7, 0.0005407481985062766]
+                        bool physics:collisionEnabled = 1
+
+                        over "Cod_Gray" (
+                            apiSchemas = ["MaterialBindingAPI"]
+                        )
+                        {
+                            custom rel material:binding
+                            prepend rel material:binding = </Robotiq_2F_85/base_link/visuals/Defeatured_2F_85_PAD_OPEN_basestep_01/Defeatured_2F_85_PAD_OPEN_basestep/VisualMaterials/Cod_Gray>
+                        }
+
+                        over "Stack" (
+                            apiSchemas = ["MaterialBindingAPI"]
+                        )
+                        {
+                            custom rel material:binding
+                            prepend rel material:binding = </Robotiq_2F_85/base_link/visuals/Defeatured_2F_85_PAD_OPEN_basestep_01/Defeatured_2F_85_PAD_OPEN_basestep/VisualMaterials/Stack>
+                        }
+
+                        over "Chateau_Green" (
+                            apiSchemas = ["MaterialBindingAPI"]
+                        )
+                        {
+                            custom rel material:binding
+                            prepend rel material:binding = </Robotiq_2F_85/base_link/visuals/Defeatured_2F_85_PAD_OPEN_basestep_01/Defeatured_2F_85_PAD_OPEN_basestep/VisualMaterials/Chateau_Green>
+                        }
+
+                        over "Gravel" (
+                            apiSchemas = ["MaterialBindingAPI"]
+                        )
+                        {
+                            custom rel material:binding
+                            prepend rel material:binding = </Robotiq_2F_85/base_link/visuals/Defeatured_2F_85_PAD_OPEN_basestep_01/Defeatured_2F_85_PAD_OPEN_basestep/VisualMaterials/Gravel>
+                        }
+
+                        over "Silver_Rust" (
+                            apiSchemas = ["MaterialBindingAPI"]
+                        )
+                        {
+                            custom rel material:binding
+                            prepend rel material:binding = </Robotiq_2F_85/base_link/visuals/Defeatured_2F_85_PAD_OPEN_basestep_01/Defeatured_2F_85_PAD_OPEN_basestep/VisualMaterials/Silver_Rust>
+                        }
+
+                        over "Gallery" (
+                            apiSchemas = ["MaterialBindingAPI"]
+                        )
+                        {
+                            custom rel material:binding
+                            prepend rel material:binding = </Robotiq_2F_85/base_link/visuals/Defeatured_2F_85_PAD_OPEN_basestep_01/Defeatured_2F_85_PAD_OPEN_basestep/VisualMaterials/Gallery>
+                        }
+
+                        over "Blue_Ribbon" (
+                            apiSchemas = ["MaterialBindingAPI"]
+                        )
+                        {
+                            custom rel material:binding
+                            prepend rel material:binding = </Robotiq_2F_85/base_link/visuals/Defeatured_2F_85_PAD_OPEN_basestep_01/Defeatured_2F_85_PAD_OPEN_basestep/VisualMaterials/Blue_Ribbon>
+                        }
+
+                        over "Dawn" (
+                            apiSchemas = ["MaterialBindingAPI"]
+                        )
+                        {
+                            custom rel material:binding
+                            prepend rel material:binding = </Robotiq_2F_85/base_link/visuals/Defeatured_2F_85_PAD_OPEN_basestep_01/Defeatured_2F_85_PAD_OPEN_basestep/VisualMaterials/Dawn>
+                        }
+
+                        over "White" (
+                            apiSchemas = ["MaterialBindingAPI"]
+                        )
+                        {
+                            custom rel material:binding
+                            prepend rel material:binding = </Robotiq_2F_85/base_link/visuals/Defeatured_2F_85_PAD_OPEN_basestep_01/Defeatured_2F_85_PAD_OPEN_basestep/VisualMaterials/White>
+                        }
+
+                        over "Gray" (
+                            apiSchemas = ["MaterialBindingAPI"]
+                        )
+                        {
+                            custom rel material:binding
+                            prepend rel material:binding = </Robotiq_2F_85/base_link/visuals/Defeatured_2F_85_PAD_OPEN_basestep_01/Defeatured_2F_85_PAD_OPEN_basestep/VisualMaterials/Gray>
+                        }
+
+                        over "Mystic" (
+                            apiSchemas = ["MaterialBindingAPI"]
+                        )
+                        {
+                            custom rel material:binding
+                            prepend rel material:binding = </Robotiq_2F_85/base_link/visuals/Defeatured_2F_85_PAD_OPEN_basestep_01/Defeatured_2F_85_PAD_OPEN_basestep/VisualMaterials/Mystic>
+                        }
+                    }
+
+                    def Scope "VisualMaterials"
+                    {
+                        def Material "Cod_Gray" (
+                            instanceable = true
+                            prepend references = @./materials.usda@</Materials/Cod_Gray>
+                        )
+                        {
+                            token outputs:surface.connect = </Robotiq_2F_85/base_link/visuals/Defeatured_2F_85_PAD_OPEN_basestep_01/Defeatured_2F_85_PAD_OPEN_basestep/VisualMaterials/Cod_Gray/SimReadyPreviewSurface.outputs:surface>
+
+                            def Shader "SimReadyPreviewSurface"
+                            {
+                                token info:id = "UsdPreviewSurface"
+                                color3f inputs:diffuseColor = (0.039215688, 0.039215688, 0.039215688)
+                                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 Material "Stack" (
+                            instanceable = true
+                            prepend references = @./materials.usda@</Materials/Stack>
+                        )
+                        {
+                            token outputs:surface.connect = </Robotiq_2F_85/base_link/visuals/Defeatured_2F_85_PAD_OPEN_basestep_01/Defeatured_2F_85_PAD_OPEN_basestep/VisualMaterials/Stack/SimReadyPreviewSurface.outputs:surface>
+
+                            def Shader "SimReadyPreviewSurface"
+                            {
+                                token info:id = "UsdPreviewSurface"
+                                color3f inputs:diffuseColor = (0.5294118, 0.54901963, 0.54901963)
+                                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 Material "Chateau_Green" (
+                            instanceable = true
+                            prepend references = @./materials.usda@</Materials/Chateau_Green>
+                        )
+                        {
+                            token outputs:surface.connect = </Robotiq_2F_85/base_link/visuals/Defeatured_2F_85_PAD_OPEN_basestep_01/Defeatured_2F_85_PAD_OPEN_basestep/VisualMaterials/Chateau_Green/SimReadyPreviewSurface.outputs:surface>
+
+                            def Shader "SimReadyPreviewSurface"
+                            {
+                                token info:id = "UsdPreviewSurface"
+                                color3f inputs:diffuseColor = (0.28627452, 0.6627451, 0.32941177)
+                                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 Material "Gravel" (
+                            instanceable = true
+                            prepend references = @./materials.usda@</Materials/Gravel>
+                        )
+                        {
+                            token outputs:surface.connect = </Robotiq_2F_85/base_link/visuals/Defeatured_2F_85_PAD_OPEN_basestep_01/Defeatured_2F_85_PAD_OPEN_basestep/VisualMaterials/Gravel/SimReadyPreviewSurface.outputs:surface>
+
+                            def Shader "SimReadyPreviewSurface"
+                            {
+                                token info:id = "UsdPreviewSurface"
+                                color3f inputs:diffuseColor = (0.29803923, 0.29803923, 0.29803923)
+                                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 Material "Silver_Rust" (
+                            instanceable = true
+                            prepend references = @./materials.usda@</Materials/Silver_Rust>
+                        )
+                        {
+                            token outputs:surface.connect = </Robotiq_2F_85/base_link/visuals/Defeatured_2F_85_PAD_OPEN_basestep_01/Defeatured_2F_85_PAD_OPEN_basestep/VisualMaterials/Silver_Rust/SimReadyPreviewSurface.outputs:surface>
+
+                            def Shader "SimReadyPreviewSurface"
+                            {
+                                token info:id = "UsdPreviewSurface"
+                                color3f inputs:diffuseColor = (0.7764706, 0.75686276, 0.7372549)
+                                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 Material "Gallery" (
+                            instanceable = true
+                            prepend references = @./materials.usda@</Materials/Gallery>
+                        )
+                        {
+                            token outputs:surface.connect = </Robotiq_2F_85/base_link/visuals/Defeatured_2F_85_PAD_OPEN_basestep_01/Defeatured_2F_85_PAD_OPEN_basestep/VisualMaterials/Gallery/SimReadyPreviewSurface.outputs:surface>
+
+                            def Shader "SimReadyPreviewSurface"
+                            {
+                                token info:id = "UsdPreviewSurface"
+                                color3f inputs:diffuseColor = (0.9372549, 0.9372549, 0.9372549)
+                                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 Material "Blue_Ribbon" (
+                            instanceable = true
+                            prepend references = @./materials.usda@</Materials/Blue_Ribbon>
+                        )
+                        {
+                            token outputs:surface.connect = </Robotiq_2F_85/base_link/visuals/Defeatured_2F_85_PAD_OPEN_basestep_01/Defeatured_2F_85_PAD_OPEN_basestep/VisualMaterials/Blue_Ribbon/SimReadyPreviewSurface.outputs:surface>
+
+                            def Shader "SimReadyPreviewSurface"
+                            {
+                                token info:id = "UsdPreviewSurface"
+                                color3f inputs:diffuseColor = (0.13333334, 0.33333334, 1)
+                                float inputs:metallic = 0
+                                float inputs:opacity = 1
+                                float inputs:roughness = 0.5
+                                token outputs:surface
+                            }
+
+                            def Shader "SimReadyUV"
+                            {
+                                token info:id = "UsdPrimvarReader_float2"
+                                string inputs:varname = "st"
+                                float2 outputs:result
+                            }
+                        }
+
+                        def Material "Dawn" (
+                            instanceable = true
+                            prepend references = @./materials.usda@</Materials/Dawn>
+                        )
+                        {
+                            token outputs:surface.connect = </Robotiq_2F_85/base_link/visuals/Defeatured_2F_85_PAD_OPEN_basestep_01/Defeatured_2F_85_PAD_OPEN_basestep/VisualMaterials/Dawn/SimReadyPreviewSurface.outputs:surface>
+
+                            def Shader "SimReadyPreviewSurface"
+                            {
+                                token info:id = "UsdPreviewSurface"
+                                color3f inputs:diffuseColor = (0.64705884, 0.61960787, 0.5882353)
+                                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 Material "White" (
+                            instanceable = true
+                            prepend references = @./materials.usda@</Materials/White>
+                        )
+                        {
+                            token outputs:surface.connect = </Robotiq_2F_85/base_link/visuals/Defeatured_2F_85_PAD_OPEN_basestep_01/Defeatured_2F_85_PAD_OPEN_basestep/VisualMaterials/White/SimReadyPreviewSurface.outputs:surface>
+
+                            def Shader "SimReadyPreviewSurface"
+                            {
+                                token info:id = "UsdPreviewSurface"
+                                color3f inputs:diffuseColor = (1, 1, 1)
+                                float inputs:metallic = 0
+                                float inputs:opacity = 1
+                                float inputs:roughness = 0.5
+                                token outputs:surface
+                            }
+
+                            def Shader "SimReadyUV"
+                            {
+                                token info:id = "UsdPrimvarReader_float2"
+                                string inputs:varname = "st"
+                                float2 outputs:result
+                            }
+                        }
+
+                        def Material "Gray" (
+                            instanceable = true
+                            prepend references = @./materials.usda@</Materials/Gray>
+                        )
+                        {
+                            token outputs:surface.connect = </Robotiq_2F_85/base_link/visuals/Defeatured_2F_85_PAD_OPEN_basestep_01/Defeatured_2F_85_PAD_OPEN_basestep/VisualMaterials/Gray/SimReadyPreviewSurface.outputs:surface>
+
+                            def Shader "SimReadyPreviewSurface"
+                            {
+                                token info:id = "UsdPreviewSurface"
+                                color3f inputs:diffuseColor = (0.49411765, 0.49411765, 0.49411765)
+                                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 Material "Mystic" (
+                            instanceable = true
+                            prepend references = @./materials.usda@</Materials/Mystic>
+                        )
+                        {
+                            token outputs:surface.connect = </Robotiq_2F_85/base_link/visuals/Defeatured_2F_85_PAD_OPEN_basestep_01/Defeatured_2F_85_PAD_OPEN_basestep/VisualMaterials/Mystic/SimReadyPreviewSurface.outputs:surface>
+
+                            def Shader "SimReadyPreviewSurface"
+                            {
+                                token info:id = "UsdPreviewSurface"
+                                color3f inputs:diffuseColor = (0.8980392, 0.91764706, 0.92941177)
+                                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 "left_outer_knuckle"
+    {
+        def Xform "visuals"
+        {
+            quatd xformOp:orient = (0.4999999999999999, 0.5000000000000001, 0.5000000000000001, 0.5000000000000001)
+            float3 xformOp:scale = (1, 1, 1)
+            double3 xformOp:translate = (0, 0, 0)
+            token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+
+            def Xform "Defeatured_2F_85_PAD_OPEN_Finger1step_01"
+            {
+                quatd xformOp:orient = (1, 0, 0, 0)
+                float3 xformOp:scale = (1, 1, 1)
+                double3 xformOp:translate = (0, 0, 0)
+                token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+
+                def Xform "Defeatured_2F_85_PAD_OPEN_Finger1step" (
+                    apiSchemas = ["MaterialBindingAPI"]
+                    prepend references = @./geometries.usd@</Geometries/Defeatured_2F_85_PAD_OPEN_Finger1step>
+                )
+                {
+                    double[] inertiaMatrix = [3.3172591921657694e-7, -1.4530204096372698e-7, 0, -1.4530204096372698e-7, 0.000002045423971425186, 0, 0, 0, 0.0000021349242437293255]
+
+                    over "Defeatured_2F_85_PAD_OPEN_Finger1step" (
+                        apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI", "MaterialBindingAPI"]
+                    )
+                    {
+                        double[] inertiaMatrix = [3.3172591921657694e-7, -1.4530204096372698e-7, 0, -1.4530204096372698e-7, 0.000002045423971425186, 0, 0, 0, 0.0000021349242437293255]
+                        custom rel material:binding
+                        prepend rel material:binding = </Robotiq_2F_85/left_outer_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_Finger1step_01/Defeatured_2F_85_PAD_OPEN_Finger1step/VisualMaterials/Pumice>
+                        bool physics:collisionEnabled = 1
+                    }
+
+                    def Scope "VisualMaterials"
+                    {
+                        def Material "Pumice" (
+                            instanceable = true
+                            prepend references = @./materials.usda@</Materials/Pumice>
+                        )
+                        {
+                            token outputs:surface.connect = </Robotiq_2F_85/left_outer_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_Finger1step_01/Defeatured_2F_85_PAD_OPEN_Finger1step/VisualMaterials/Pumice/SimReadyPreviewSurface.outputs:surface>
+
+                            def Shader "SimReadyPreviewSurface"
+                            {
+                                token info:id = "UsdPreviewSurface"
+                                color3f inputs:diffuseColor = (0.78431374, 0.78431374, 0.78431374)
+                                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 "right_outer_knuckle" (
+        apiSchemas = ["PhysicsRigidBodyAPI"]
+    )
+    {
+        quatd xformOp:orient = (1, 0, 0, 0)
+        float3 xformOp:scale = (1, 1, 1)
+        double3 xformOp:translate = (0, 0, 0)
+        token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+
+        def Xform "visuals"
+        {
+            quatd xformOp:orient = (0.4999999999999999, 0.5000000000000001, -0.5000000000000001, -0.5000000000000001)
+            float3 xformOp:scale = (1, 1, 1)
+            double3 xformOp:translate = (0, 0, 0)
+            token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+
+            def Xform "Defeatured_2F_85_PAD_OPEN_Finger1step_01"
+            {
+                quatd xformOp:orient = (1, 0, 0, 0)
+                float3 xformOp:scale = (1, 1, 1)
+                double3 xformOp:translate = (0, 0, 0)
+                token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+
+                def Xform "Defeatured_2F_85_PAD_OPEN_Finger1step" (
+                    apiSchemas = ["MaterialBindingAPI"]
+                    prepend references = @./geometries.usd@</Geometries/Defeatured_2F_85_PAD_OPEN_Finger1step>
+                )
+                {
+                    double[] inertiaMatrix = [3.3172591921657694e-7, -1.4530204096372698e-7, 0, -1.4530204096372698e-7, 0.000002045423971425186, 0, 0, 0, 0.0000021349242437293255]
+
+                    over "Defeatured_2F_85_PAD_OPEN_Finger1step" (
+                        apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI", "MaterialBindingAPI"]
+                    )
+                    {
+                        double[] inertiaMatrix = [3.3172591921657694e-7, -1.4530204096372698e-7, 0, -1.4530204096372698e-7, 0.000002045423971425186, 0, 0, 0, 0.0000021349242437293255]
+                        custom rel material:binding
+                        prepend rel material:binding = </Robotiq_2F_85/right_outer_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_Finger1step_01/Defeatured_2F_85_PAD_OPEN_Finger1step/VisualMaterials/Pumice>
+                        bool physics:collisionEnabled = 1
+                    }
+
+                    def Scope "VisualMaterials"
+                    {
+                        def Material "Pumice" (
+                            instanceable = true
+                            prepend references = @./base.usda@</Robotiq_2F_85/VisualMaterials/Pumice>
+                        )
+                        {
+                        }
+                    }
+                }
+            }
+        }
+    }
+
+    def Xform "left_outer_finger"
+    {
+        def Xform "visuals"
+        {
+            quatd xformOp:orient = (0.4999999999999999, 0.5000000000000001, 0.5000000000000001, 0.5000000000000001)
+            float3 xformOp:scale = (1, 1, 1)
+            double3 xformOp:translate = (0, 0, 0)
+            token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+
+            def Xform "Defeatured_2F_85_PAD_OPEN_finger2step_01"
+            {
+                quatd xformOp:orient = (1, 0, 0, 0)
+                float3 xformOp:scale = (1, 1, 1)
+                double3 xformOp:translate = (0, 0, 0)
+                token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+
+                def Xform "Defeatured_2F_85_PAD_OPEN_finger2step" (
+                    apiSchemas = None
+                    prepend references = @./geometries.usd@</Geometries/Defeatured_2F_85_PAD_OPEN_finger2step>
+                )
+                {
+                    double[] inertiaMatrix = [0.000012638332145022882, 0.000002203588960140742, -8.504687024042132e-10, 0.000002203588960140742, 0.000004874970457524958, 4.026630666546916e-9, -8.504687024042132e-10, 4.026630666546916e-9, 0.000010880904291232196]
+
+                    over "Defeatured_2F_85_PAD_OPEN_finger2step" (
+                        apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"]
+                    )
+                    {
+                        double[] inertiaMatrix = [0.000012638332145022882, 0.000002203588960140742, -8.504687024042132e-10, 0.000002203588960140742, 0.000004874970457524958, 4.026630666546916e-9, -8.504687024042132e-10, 4.026630666546916e-9, 0.000010880904291232196]
+                        bool physics:collisionEnabled = 1
+
+                        over "Cod_Gray" (
+                            apiSchemas = ["MaterialBindingAPI"]
+                        )
+                        {
+                            custom rel material:binding
+                            prepend rel material:binding = </Robotiq_2F_85/left_outer_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger2step_01/Defeatured_2F_85_PAD_OPEN_finger2step/VisualMaterials/Cod_Gray>
+                        }
+
+                        over "Periwinkle_Gray" (
+                            apiSchemas = ["MaterialBindingAPI"]
+                        )
+                        {
+                            custom rel material:binding
+                            prepend rel material:binding = </Robotiq_2F_85/left_outer_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger2step_01/Defeatured_2F_85_PAD_OPEN_finger2step/VisualMaterials/Periwinkle_Gray>
+                        }
+                    }
+
+                    def Scope "VisualMaterials"
+                    {
+                        def Material "Cod_Gray" (
+                            instanceable = true
+                            prepend references = @./materials.usda@</Materials/Cod_Gray>
+                        )
+                        {
+                            token outputs:surface.connect = </Robotiq_2F_85/left_outer_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger2step_01/Defeatured_2F_85_PAD_OPEN_finger2step/VisualMaterials/Cod_Gray/SimReadyPreviewSurface.outputs:surface>
+
+                            def Shader "SimReadyPreviewSurface"
+                            {
+                                token info:id = "UsdPreviewSurface"
+                                color3f inputs:diffuseColor = (0.039215688, 0.039215688, 0.039215688)
+                                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 Material "Periwinkle_Gray" (
+                            instanceable = true
+                            prepend references = @./materials.usda@</Materials/Periwinkle_Gray>
+                        )
+                        {
+                            token outputs:surface.connect = </Robotiq_2F_85/left_outer_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger2step_01/Defeatured_2F_85_PAD_OPEN_finger2step/VisualMaterials/Periwinkle_Gray/SimReadyPreviewSurface.outputs:surface>
+
+                            def Shader "SimReadyPreviewSurface"
+                            {
+                                token info:id = "UsdPreviewSurface"
+                                color3f inputs:diffuseColor = (0.7921569, 0.81960785, 0.93333334)
+                                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 "right_outer_finger" (
+        apiSchemas = ["PhysicsRigidBodyAPI"]
+    )
+    {
+        quatd xformOp:orient = (1, 0, 0, 0)
+        float3 xformOp:scale = (1, 1, 1)
+        double3 xformOp:translate = (0, 0, 0)
+        token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+
+        def Xform "visuals"
+        {
+            quatd xformOp:orient = (0.4999999999999999, 0.5000000000000001, -0.5000000000000001, -0.5000000000000001)
+            float3 xformOp:scale = (1, 1, 1)
+            double3 xformOp:translate = (0, 0, 0)
+            token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+
+            def Xform "Defeatured_2F_85_PAD_OPEN_finger2step_01"
+            {
+                quatd xformOp:orient = (1, 0, 0, 0)
+                float3 xformOp:scale = (1, 1, 1)
+                double3 xformOp:translate = (0, 0, 0)
+                token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+
+                def Xform "Defeatured_2F_85_PAD_OPEN_finger2step" (
+                    apiSchemas = None
+                    prepend references = @./geometries.usd@</Geometries/Defeatured_2F_85_PAD_OPEN_finger2step>
+                )
+                {
+                    double[] inertiaMatrix = [0.000012638332145022882, 0.000002203588960140742, -8.504687024042132e-10, 0.000002203588960140742, 0.000004874970457524958, 4.026630666546916e-9, -8.504687024042132e-10, 4.026630666546916e-9, 0.000010880904291232196]
+
+                    over "Defeatured_2F_85_PAD_OPEN_finger2step" (
+                        apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"]
+                    )
+                    {
+                        double[] inertiaMatrix = [0.000012638332145022882, 0.000002203588960140742, -8.504687024042132e-10, 0.000002203588960140742, 0.000004874970457524958, 4.026630666546916e-9, -8.504687024042132e-10, 4.026630666546916e-9, 0.000010880904291232196]
+                        bool physics:collisionEnabled = 1
+
+                        over "Cod_Gray" (
+                            apiSchemas = ["MaterialBindingAPI"]
+                        )
+                        {
+                            custom rel material:binding
+                            prepend rel material:binding = </Robotiq_2F_85/right_outer_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger2step_01/Defeatured_2F_85_PAD_OPEN_finger2step/VisualMaterials/Cod_Gray>
+                        }
+
+                        over "Periwinkle_Gray" (
+                            apiSchemas = ["MaterialBindingAPI"]
+                        )
+                        {
+                            custom rel material:binding
+                            prepend rel material:binding = </Robotiq_2F_85/right_outer_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger2step_01/Defeatured_2F_85_PAD_OPEN_finger2step/VisualMaterials/Periwinkle_Gray>
+                        }
+                    }
+
+                    def Scope "VisualMaterials"
+                    {
+                        def Material "Cod_Gray" (
+                            instanceable = true
+                            prepend references = @./base.usda@</Robotiq_2F_85/VisualMaterials/Cod_Gray>
+                        )
+                        {
+                        }
+
+                        def Material "Periwinkle_Gray" (
+                            instanceable = true
+                            prepend references = @./base.usda@</Robotiq_2F_85/VisualMaterials/Periwinkle_Gray>
+                        )
+                        {
+                        }
+                    }
+                }
+            }
+        }
+    }
+
+    def Xform "left_inner_finger"
+    {
+        def Xform "visuals"
+        {
+            def Xform "Defeatured_2F_85_PAD_OPEN_finger4step_01"
+            {
+                def Xform "Defeatured_2F_85_PAD_OPEN_finger4step" (
+                    prepend references = @./geometries.usd@</Geometries/Defeatured_2F_85_PAD_OPEN_finger4step>
+                )
+                {
+                    over "Defeatured_2F_85_PAD_OPEN_finger4step" (
+                        apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"]
+                    )
+                    {
+                        double[] inertiaMatrix = [0.0000011378434246221952, -4.158879618135558e-7, 2.8275499473177313e-15, -4.158879618135558e-7, 0.0000017491772225024202, 8.53900277449441e-15, 2.8275499473177313e-15, 8.53900277449441e-15, 0.0000017669586651117354]
+                        bool physics:collisionEnabled = 1
+
+                        over "Cod_Gray" (
+                            apiSchemas = ["MaterialBindingAPI"]
+                        )
+                        {
+                            custom rel material:binding
+                            prepend rel material:binding = </Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step/VisualMaterials/Cod_Gray>
+                        }
+
+                        over "Stack" (
+                            apiSchemas = ["MaterialBindingAPI"]
+                        )
+                        {
+                            custom rel material:binding
+                            prepend rel material:binding = </Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step/VisualMaterials/Stack>
+                        }
+
+                        over "Periwinkle_Gray" (
+                            apiSchemas = ["MaterialBindingAPI"]
+                        )
+                        {
+                            custom rel material:binding
+                            prepend rel material:binding = </Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step/VisualMaterials/Periwinkle_Gray>
+                        }
+
+                        over "Celeste" (
+                            apiSchemas = ["MaterialBindingAPI"]
+                        )
+                        {
+                            custom rel material:binding
+                            prepend rel material:binding = </Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step/VisualMaterials/Celeste>
+                        }
+
+                        over "Rangoon_Green" (
+                            apiSchemas = ["MaterialBindingAPI"]
+                        )
+                        {
+                            custom rel material:binding
+                            prepend rel material:binding = </Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step/VisualMaterials/Rangoon_Green>
+                        }
+                    }
+
+                    def Scope "VisualMaterials"
+                    {
+                        def Material "Cod_Gray" (
+                            instanceable = true
+                            prepend references = @./materials.usda@</Materials/Cod_Gray>
+                        )
+                        {
+                            token outputs:surface.connect = </Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step/VisualMaterials/Cod_Gray/SimReadyPreviewSurface.outputs:surface>
+
+                            def Shader "SimReadyPreviewSurface"
+                            {
+                                token info:id = "UsdPreviewSurface"
+                                color3f inputs:diffuseColor = (0.039215688, 0.039215688, 0.039215688)
+                                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 Material "Stack" (
+                            instanceable = true
+                            prepend references = @./materials.usda@</Materials/Stack>
+                        )
+                        {
+                            token outputs:surface.connect = </Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step/VisualMaterials/Stack/SimReadyPreviewSurface.outputs:surface>
+
+                            def Shader "SimReadyPreviewSurface"
+                            {
+                                token info:id = "UsdPreviewSurface"
+                                color3f inputs:diffuseColor = (0.5294118, 0.54901963, 0.54901963)
+                                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 Material "Periwinkle_Gray" (
+                            instanceable = true
+                            prepend references = @./materials.usda@</Materials/Periwinkle_Gray>
+                        )
+                        {
+                            token outputs:surface.connect = </Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step/VisualMaterials/Periwinkle_Gray/SimReadyPreviewSurface.outputs:surface>
+
+                            def Shader "SimReadyPreviewSurface"
+                            {
+                                token info:id = "UsdPreviewSurface"
+                                color3f inputs:diffuseColor = (0.7921569, 0.81960785, 0.93333334)
+                                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 Material "Celeste" (
+                            instanceable = true
+                            prepend references = @./materials.usda@</Materials/Celeste>
+                        )
+                        {
+                            token outputs:surface.connect = </Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step/VisualMaterials/Celeste/SimReadyPreviewSurface.outputs:surface>
+
+                            def Shader "SimReadyPreviewSurface"
+                            {
+                                token info:id = "UsdPreviewSurface"
+                                color3f inputs:diffuseColor = (0.8, 0.80784315, 0.8)
+                                float inputs:metallic = 0
+                                float inputs:opacity = 1
+                                float inputs:roughness = 0.5
+                                token outputs:surface
+                            }
+
+                            def Shader "SimReadyUV"
+                            {
+                                token info:id = "UsdPrimvarReader_float2"
+                                string inputs:varname = "st"
+                                float2 outputs:result
+                            }
+                        }
+
+                        def Material "Rangoon_Green" (
+                            instanceable = true
+                            prepend references = @./materials.usda@</Materials/Rangoon_Green>
+                        )
+                        {
+                            token outputs:surface.connect = </Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step/VisualMaterials/Rangoon_Green/SimReadyPreviewSurface.outputs:surface>
+
+                            def Shader "SimReadyPreviewSurface"
+                            {
+                                token info:id = "UsdPreviewSurface"
+                                color3f inputs:diffuseColor = (0.11764706, 0.11764706, 0.11764706)
+                                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 "Defeatured_2F_85_PAD_OPEN_fingertipsstep_01"
+            {
+                def Xform "Defeatured_2F_85_PAD_OPEN_fingertipsstep" (
+                    prepend references = @./geometries.usd@</Geometries/Defeatured_2F_85_PAD_OPEN_fingertipsstep>
+                )
+                {
+                    over "Defeatured_2F_85_PAD_OPEN_fingertipsstep" (
+                        apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"]
+                    )
+                    {
+                        double[] inertiaMatrix = [0.0000031000731934045262, -4.80168818288321e-7, 8.335547749061047e-13, -4.80168818288321e-7, 0.0000011082570492185917, 6.6705310614956804e-12, 8.335547749061047e-13, 6.6705310614956804e-12, 0.000002838699742101064]
+                        bool physics:collisionEnabled = 1
+
+                        over "Nobel" (
+                            apiSchemas = ["MaterialBindingAPI"]
+                        )
+                        {
+                            custom rel material:binding
+                            prepend rel material:binding = </Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep/VisualMaterials/Nobel>
+                        }
+
+                        over "Rangoon_Green" (
+                            apiSchemas = ["MaterialBindingAPI"]
+                        )
+                        {
+                            custom rel material:binding
+                            prepend rel material:binding = </Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep/VisualMaterials/Rangoon_Green>
+                        }
+                    }
+
+                    def Scope "VisualMaterials"
+                    {
+                        def Material "Nobel" (
+                            instanceable = true
+                            prepend references = @./materials.usda@</Materials/Nobel>
+                        )
+                        {
+                            token outputs:surface.connect = </Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep/VisualMaterials/Nobel/SimReadyPreviewSurface.outputs:surface>
+
+                            def Shader "SimReadyPreviewSurface"
+                            {
+                                token info:id = "UsdPreviewSurface"
+                                color3f inputs:diffuseColor = (0.7019608, 0.7019608, 0.7019608)
+                                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 Material "Rangoon_Green" (
+                            instanceable = true
+                            prepend references = @./materials.usda@</Materials/Rangoon_Green>
+                        )
+                        {
+                            token outputs:surface.connect = </Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep/VisualMaterials/Rangoon_Green/SimReadyPreviewSurface.outputs:surface>
+
+                            def Shader "SimReadyPreviewSurface"
+                            {
+                                token info:id = "UsdPreviewSurface"
+                                color3f inputs:diffuseColor = (0.11764706, 0.11764706, 0.11764706)
+                                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 "right_inner_finger"
+    {
+        def Xform "visuals"
+        {
+            def Xform "Defeatured_2F_85_PAD_OPEN_finger4step_01"
+            {
+                def Xform "Defeatured_2F_85_PAD_OPEN_finger4step" (
+                    prepend references = @./geometries.usd@</Geometries/Defeatured_2F_85_PAD_OPEN_finger4step>
+                )
+                {
+                    over "Defeatured_2F_85_PAD_OPEN_finger4step" (
+                        apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"]
+                    )
+                    {
+                        double[] inertiaMatrix = [0.0000011378434246221952, -4.158879618135558e-7, 2.8275499473177313e-15, -4.158879618135558e-7, 0.0000017491772225024202, 8.53900277449441e-15, 2.8275499473177313e-15, 8.53900277449441e-15, 0.0000017669586651117354]
+                        bool physics:collisionEnabled = 1
+
+                        over "Cod_Gray" (
+                            apiSchemas = ["MaterialBindingAPI"]
+                        )
+                        {
+                            custom rel material:binding
+                            prepend rel material:binding = </Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step/VisualMaterials/Cod_Gray>
+                        }
+
+                        over "Stack" (
+                            apiSchemas = ["MaterialBindingAPI"]
+                        )
+                        {
+                            custom rel material:binding
+                            prepend rel material:binding = </Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step/VisualMaterials/Stack>
+                        }
+
+                        over "Periwinkle_Gray" (
+                            apiSchemas = ["MaterialBindingAPI"]
+                        )
+                        {
+                            custom rel material:binding
+                            prepend rel material:binding = </Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step/VisualMaterials/Periwinkle_Gray>
+                        }
+
+                        over "Celeste" (
+                            apiSchemas = ["MaterialBindingAPI"]
+                        )
+                        {
+                            custom rel material:binding
+                            prepend rel material:binding = </Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step/VisualMaterials/Celeste>
+                        }
+
+                        over "Rangoon_Green" (
+                            apiSchemas = ["MaterialBindingAPI"]
+                        )
+                        {
+                            custom rel material:binding
+                            prepend rel material:binding = </Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step/VisualMaterials/Rangoon_Green>
+                        }
+                    }
+
+                    def Scope "VisualMaterials"
+                    {
+                        def Material "Cod_Gray" (
+                            instanceable = true
+                            prepend references = @./materials.usda@</Materials/Cod_Gray>
+                        )
+                        {
+                            token outputs:surface.connect = </Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step/VisualMaterials/Cod_Gray/SimReadyPreviewSurface.outputs:surface>
+
+                            def Shader "SimReadyPreviewSurface"
+                            {
+                                token info:id = "UsdPreviewSurface"
+                                color3f inputs:diffuseColor = (0.039215688, 0.039215688, 0.039215688)
+                                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 Material "Stack" (
+                            instanceable = true
+                            prepend references = @./materials.usda@</Materials/Stack>
+                        )
+                        {
+                            token outputs:surface.connect = </Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step/VisualMaterials/Stack/SimReadyPreviewSurface.outputs:surface>
+
+                            def Shader "SimReadyPreviewSurface"
+                            {
+                                token info:id = "UsdPreviewSurface"
+                                color3f inputs:diffuseColor = (0.5294118, 0.54901963, 0.54901963)
+                                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 Material "Periwinkle_Gray" (
+                            instanceable = true
+                            prepend references = @./materials.usda@</Materials/Periwinkle_Gray>
+                        )
+                        {
+                            token outputs:surface.connect = </Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step/VisualMaterials/Periwinkle_Gray/SimReadyPreviewSurface.outputs:surface>
+
+                            def Shader "SimReadyPreviewSurface"
+                            {
+                                token info:id = "UsdPreviewSurface"
+                                color3f inputs:diffuseColor = (0.7921569, 0.81960785, 0.93333334)
+                                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 Material "Celeste" (
+                            instanceable = true
+                            prepend references = @./materials.usda@</Materials/Celeste>
+                        )
+                        {
+                            token outputs:surface.connect = </Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step/VisualMaterials/Celeste/SimReadyPreviewSurface.outputs:surface>
+
+                            def Shader "SimReadyPreviewSurface"
+                            {
+                                token info:id = "UsdPreviewSurface"
+                                color3f inputs:diffuseColor = (0.8, 0.80784315, 0.8)
+                                float inputs:metallic = 0
+                                float inputs:opacity = 1
+                                float inputs:roughness = 0.5
+                                token outputs:surface
+                            }
+
+                            def Shader "SimReadyUV"
+                            {
+                                token info:id = "UsdPrimvarReader_float2"
+                                string inputs:varname = "st"
+                                float2 outputs:result
+                            }
+                        }
+
+                        def Material "Rangoon_Green" (
+                            instanceable = true
+                            prepend references = @./materials.usda@</Materials/Rangoon_Green>
+                        )
+                        {
+                            token outputs:surface.connect = </Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_finger4step_01/Defeatured_2F_85_PAD_OPEN_finger4step/VisualMaterials/Rangoon_Green/SimReadyPreviewSurface.outputs:surface>
+
+                            def Shader "SimReadyPreviewSurface"
+                            {
+                                token info:id = "UsdPreviewSurface"
+                                color3f inputs:diffuseColor = (0.11764706, 0.11764706, 0.11764706)
+                                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 "Defeatured_2F_85_PAD_OPEN_fingertipsstep_01"
+            {
+                def Xform "Defeatured_2F_85_PAD_OPEN_fingertipsstep" (
+                    prepend references = @./geometries.usd@</Geometries/Defeatured_2F_85_PAD_OPEN_fingertipsstep>
+                )
+                {
+                    over "Defeatured_2F_85_PAD_OPEN_fingertipsstep" (
+                        apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"]
+                    )
+                    {
+                        double[] inertiaMatrix = [0.0000031000731934045262, -4.80168818288321e-7, 8.335547749061047e-13, -4.80168818288321e-7, 0.0000011082570492185917, 6.6705310614956804e-12, 8.335547749061047e-13, 6.6705310614956804e-12, 0.000002838699742101064]
+                        bool physics:collisionEnabled = 1
+
+                        over "Nobel" (
+                            apiSchemas = ["MaterialBindingAPI"]
+                        )
+                        {
+                            custom rel material:binding
+                            prepend rel material:binding = </Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep/VisualMaterials/Nobel>
+                        }
+
+                        over "Rangoon_Green" (
+                            apiSchemas = ["MaterialBindingAPI"]
+                        )
+                        {
+                            custom rel material:binding
+                            prepend rel material:binding = </Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep/VisualMaterials/Rangoon_Green>
+                        }
+                    }
+
+                    def Scope "VisualMaterials"
+                    {
+                        def Material "Nobel" (
+                            instanceable = true
+                            prepend references = @./materials.usda@</Materials/Nobel>
+                        )
+                        {
+                            token outputs:surface.connect = </Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep/VisualMaterials/Nobel/SimReadyPreviewSurface.outputs:surface>
+
+                            def Shader "SimReadyPreviewSurface"
+                            {
+                                token info:id = "UsdPreviewSurface"
+                                color3f inputs:diffuseColor = (0.7019608, 0.7019608, 0.7019608)
+                                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 Material "Rangoon_Green" (
+                            instanceable = true
+                            prepend references = @./materials.usda@</Materials/Rangoon_Green>
+                        )
+                        {
+                            token outputs:surface.connect = </Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep/VisualMaterials/Rangoon_Green/SimReadyPreviewSurface.outputs:surface>
+
+                            def Shader "SimReadyPreviewSurface"
+                            {
+                                token info:id = "UsdPreviewSurface"
+                                color3f inputs:diffuseColor = (0.11764706, 0.11764706, 0.11764706)
+                                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 "left_inner_knuckle"
+    {
+        def Xform "visuals"
+        {
+            quatd xformOp:orient = (0.4999999999999999, 0.5000000000000001, 0.5000000000000001, 0.5000000000000001)
+            float3 xformOp:scale = (1, 1, 1)
+            double3 xformOp:translate = (0, 0, 0)
+            token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+
+            def Xform "Defeatured_2F_85_PAD_OPEN_finger3step_01"
+            {
+                quatd xformOp:orient = (1, 0, 0, 0)
+                float3 xformOp:scale = (1, 1, 1)
+                double3 xformOp:translate = (0, 0, 0)
+                token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+
+                def Xform "Defeatured_2F_85_PAD_OPEN_finger3step" (
+                    apiSchemas = ["MaterialBindingAPI"]
+                    prepend references = @./geometries.usd@</Geometries/Defeatured_2F_85_PAD_OPEN_finger3step>
+                )
+                {
+                    double[] inertiaMatrix = [0.000008622018967333509, 0.000003646759055662086, 4.5608098039667545e-14, 0.000003646759055662086, 0.000007704538039225997, -1.4189806527411122e-14, 4.5608098039667545e-14, -1.4189806527411122e-14, 0.00000800488002567704]
+
+                    over "Defeatured_2F_85_PAD_OPEN_finger3step" (
+                        apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI", "MaterialBindingAPI"]
+                    )
+                    {
+                        double[] inertiaMatrix = [0.000008622018967333509, 0.000003646759055662086, 4.5608098039667545e-14, 0.000003646759055662086, 0.000007704538039225997, -1.4189806527411122e-14, 4.5608098039667545e-14, -1.4189806527411122e-14, 0.00000800488002567704]
+                        custom rel material:binding
+                        prepend rel material:binding = </Robotiq_2F_85/left_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step/VisualMaterials/Cod_Gray>
+                        bool physics:collisionEnabled = 1
+                    }
+
+                    def Scope "VisualMaterials"
+                    {
+                        def Material "Cod_Gray" (
+                            instanceable = true
+                            prepend references = @./materials.usda@</Materials/Cod_Gray>
+                        )
+                        {
+                            token outputs:surface.connect = </Robotiq_2F_85/left_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step/VisualMaterials/Cod_Gray/SimReadyPreviewSurface.outputs:surface>
+
+                            def Shader "SimReadyPreviewSurface"
+                            {
+                                token info:id = "UsdPreviewSurface"
+                                color3f inputs:diffuseColor = (0.039215688, 0.039215688, 0.039215688)
+                                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 "right_inner_knuckle" (
+        apiSchemas = ["PhysicsRigidBodyAPI"]
+    )
+    {
+        quatd xformOp:orient = (1, 0, 0, 0)
+        float3 xformOp:scale = (1, 1, 1)
+        double3 xformOp:translate = (0, 0, 0)
+        token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+
+        def Xform "visuals"
+        {
+            quatd xformOp:orient = (0.4999999999999999, 0.5000000000000001, -0.5000000000000001, -0.5000000000000001)
+            float3 xformOp:scale = (1, 1, 1)
+            double3 xformOp:translate = (0, 0, 0)
+            token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+
+            def Xform "Defeatured_2F_85_PAD_OPEN_finger3step_01"
+            {
+                quatd xformOp:orient = (1, 0, 0, 0)
+                float3 xformOp:scale = (1, 1, 1)
+                double3 xformOp:translate = (0, 0, 0)
+                token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+
+                def Xform "Defeatured_2F_85_PAD_OPEN_finger3step" (
+                    apiSchemas = ["MaterialBindingAPI"]
+                    prepend references = @./geometries.usd@</Geometries/Defeatured_2F_85_PAD_OPEN_finger3step>
+                )
+                {
+                    double[] inertiaMatrix = [0.000008622018967333509, 0.000003646759055662086, 4.5608098039667545e-14, 0.000003646759055662086, 0.000007704538039225997, -1.4189806527411122e-14, 4.5608098039667545e-14, -1.4189806527411122e-14, 0.00000800488002567704]
+
+                    over "Defeatured_2F_85_PAD_OPEN_finger3step" (
+                        apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI", "MaterialBindingAPI"]
+                    )
+                    {
+                        double[] inertiaMatrix = [0.000008622018967333509, 0.000003646759055662086, 4.5608098039667545e-14, 0.000003646759055662086, 0.000007704538039225997, -1.4189806527411122e-14, 4.5608098039667545e-14, -1.4189806527411122e-14, 0.00000800488002567704]
+                        custom rel material:binding
+                        prepend rel material:binding = </Robotiq_2F_85/right_inner_knuckle/visuals/Defeatured_2F_85_PAD_OPEN_finger3step_01/Defeatured_2F_85_PAD_OPEN_finger3step/VisualMaterials/Cod_Gray>
+                        bool physics:collisionEnabled = 1
+                    }
+
+                    def Scope "VisualMaterials"
+                    {
+                        def Material "Cod_Gray" (
+                            instanceable = true
+                            prepend references = @./base.usda@</Robotiq_2F_85/VisualMaterials/Cod_Gray>
+                        )
+                        {
+                        }
+                    }
+                }
+            }
+        }
+    }
+}
+

robotiq_2f_85/payloads/materials.usda

@@ -0,0 +1,1117 @@
+#usda 1.0
+(
+    customLayerData = {
+    }
+    endTimeCode = 0
+    metersPerUnit = 1
+    startTimeCode = -1
+    upAxis = "Z"
+)
+
+def Scope "Materials"
+{
+    def Material "Cod_Gray"
+    {
+        custom token[] omni:simready:nonvisual:attributes = ["none"]
+        custom token omni:simready:nonvisual:base = "aluminum"
+        custom token omni:simready:nonvisual:coating = "paint"
+        token outputs:displacement (
+            displayGroup = "Outputs"
+            doc = '''Represents the universal "displacement" output terminal of a \r
+        material.'''
+        )
+        prepend token outputs:mdl:displacement.connect = </Materials/Cod_Gray/Shader.outputs:out>
+        prepend token outputs:mdl:surface.connect = </Materials/Cod_Gray/Shader.outputs:out>
+        prepend token outputs:mdl:volume.connect = </Materials/Cod_Gray/Shader.outputs:out>
+        token outputs:mtlx:surface.connect = </Materials/Cod_Gray/simready_pbr_surfaceshader.outputs:out>
+        token outputs:surface (
+            displayGroup = "Outputs"
+            doc = '''Represents the universal "surface" output terminal of a\r
+        material.'''
+        )
+        token outputs:surface.connect = </Materials/Cod_Gray/SimReadyPreviewSurface.outputs:surface>
+        token outputs:volume (
+            displayGroup = "Outputs"
+            doc = '''Represents the universal "volume" output terminal of a\r
+        material.'''
+        )
+
+        def Shader "Shader" (
+            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 = (0.039215688, 0.039215688, 0.039215688)
+            color3f inputs:emissive_color = (0, 0, 0)
+            float inputs:emissive_intensity = 0
+            bool inputs:enable_emission = 0
+            float inputs:metallic_constant = 0
+            float inputs:reflection_roughness_constant = 0.5
+            token outputs:out
+        }
+
+        def Shader "SimReadyPreviewSurface"
+        {
+            token info:id = "UsdPreviewSurface"
+            color3f inputs:diffuseColor = (0.039215688, 0.039215688, 0.039215688)
+            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
+        }
+    }
+
+    def Material "Stack"
+    {
+        custom token[] omni:simready:nonvisual:attributes = ["none"]
+        custom token omni:simready:nonvisual:base = "aluminum"
+        custom token omni:simready:nonvisual:coating = "paint"
+        token outputs:displacement (
+            displayGroup = "Outputs"
+            doc = '''Represents the universal "displacement" output terminal of a \r
+        material.'''
+        )
+        prepend token outputs:mdl:displacement.connect = </Materials/Stack/Shader.outputs:out>
+        prepend token outputs:mdl:surface.connect = </Materials/Stack/Shader.outputs:out>
+        prepend token outputs:mdl:volume.connect = </Materials/Stack/Shader.outputs:out>
+        token outputs:mtlx:surface.connect = </Materials/Stack/simready_pbr_surfaceshader.outputs:out>
+        token outputs:surface (
+            displayGroup = "Outputs"
+            doc = '''Represents the universal "surface" output terminal of a\r
+        material.'''
+        )
+        token outputs:surface.connect = </Materials/Stack/SimReadyPreviewSurface.outputs:surface>
+        token outputs:volume (
+            displayGroup = "Outputs"
+            doc = '''Represents the universal "volume" output terminal of a\r
+        material.'''
+        )
+
+        def Shader "Shader" (
+            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 = (0.5294118, 0.54901963, 0.54901963)
+            color3f inputs:emissive_color = (0, 0, 0)
+            float inputs:emissive_intensity = 0
+            bool inputs:enable_emission = 0
+            float inputs:metallic_constant = 0
+            float inputs:reflection_roughness_constant = 0.5
+            token outputs:out
+        }
+
+        def Shader "SimReadyPreviewSurface"
+        {
+            token info:id = "UsdPreviewSurface"
+            color3f inputs:diffuseColor = (0.5294118, 0.54901963, 0.54901963)
+            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
+        }
+    }
+
+    def Material "Chateau_Green"
+    {
+        custom token[] omni:simready:nonvisual:attributes = ["emissive"]
+        custom token omni:simready:nonvisual:base = "plastic"
+        custom token omni:simready:nonvisual:coating = "none"
+        token outputs:displacement (
+            displayGroup = "Outputs"
+            doc = '''Represents the universal "displacement" output terminal of a \r
+        material.'''
+        )
+        prepend token outputs:mdl:displacement.connect = </Materials/Chateau_Green/Shader.outputs:out>
+        prepend token outputs:mdl:surface.connect = </Materials/Chateau_Green/Shader.outputs:out>
+        prepend token outputs:mdl:volume.connect = </Materials/Chateau_Green/Shader.outputs:out>
+        token outputs:mtlx:surface.connect = </Materials/Chateau_Green/simready_pbr_surfaceshader.outputs:out>
+        token outputs:surface (
+            displayGroup = "Outputs"
+            doc = '''Represents the universal "surface" output terminal of a\r
+        material.'''
+        )
+        token outputs:surface.connect = </Materials/Chateau_Green/SimReadyPreviewSurface.outputs:surface>
+        token outputs:volume (
+            displayGroup = "Outputs"
+            doc = '''Represents the universal "volume" output terminal of a\r
+        material.'''
+        )
+
+        def Shader "Shader" (
+            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 = (0.28627452, 0.6627451, 0.32941177)
+            color3f inputs:emissive_color = (0, 0, 0)
+            float inputs:emissive_intensity = 0
+            bool inputs:enable_emission = 0
+            float inputs:metallic_constant = 0
+            float inputs:reflection_roughness_constant = 0.5
+            token outputs:out
+        }
+
+        def Shader "SimReadyPreviewSurface"
+        {
+            token info:id = "UsdPreviewSurface"
+            color3f inputs:diffuseColor = (0.28627452, 0.6627451, 0.32941177)
+            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
+        }
+    }
+
+    def Material "Gravel"
+    {
+        custom token[] omni:simready:nonvisual:attributes = ["none"]
+        custom token omni:simready:nonvisual:base = "aluminum"
+        custom token omni:simready:nonvisual:coating = "paint"
+        token outputs:displacement (
+            displayGroup = "Outputs"
+            doc = '''Represents the universal "displacement" output terminal of a \r
+        material.'''
+        )
+        prepend token outputs:mdl:displacement.connect = </Materials/Gravel/Shader.outputs:out>
+        prepend token outputs:mdl:surface.connect = </Materials/Gravel/Shader.outputs:out>
+        prepend token outputs:mdl:volume.connect = </Materials/Gravel/Shader.outputs:out>
+        token outputs:mtlx:surface.connect = </Materials/Gravel/simready_pbr_surfaceshader.outputs:out>
+        token outputs:surface (
+            displayGroup = "Outputs"
+            doc = '''Represents the universal "surface" output terminal of a\r
+        material.'''
+        )
+        token outputs:surface.connect = </Materials/Gravel/SimReadyPreviewSurface.outputs:surface>
+        token outputs:volume (
+            displayGroup = "Outputs"
+            doc = '''Represents the universal "volume" output terminal of a\r
+        material.'''
+        )
+
+        def Shader "Shader" (
+            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 = (0.29803923, 0.29803923, 0.29803923)
+            color3f inputs:emissive_color = (0, 0, 0)
+            float inputs:emissive_intensity = 0
+            bool inputs:enable_emission = 0
+            float inputs:metallic_constant = 0
+            float inputs:reflection_roughness_constant = 0.5
+            token outputs:out
+        }
+
+        def Shader "SimReadyPreviewSurface"
+        {
+            token info:id = "UsdPreviewSurface"
+            color3f inputs:diffuseColor = (0.29803923, 0.29803923, 0.29803923)
+            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
+        }
+    }
+
+    def Material "Silver_Rust"
+    {
+        custom token[] omni:simready:nonvisual:attributes = ["none"]
+        custom token omni:simready:nonvisual:base = "steel"
+        custom token omni:simready:nonvisual:coating = "none"
+        token outputs:displacement (
+            displayGroup = "Outputs"
+            doc = '''Represents the universal "displacement" output terminal of a \r
+        material.'''
+        )
+        prepend token outputs:mdl:displacement.connect = </Materials/Silver_Rust/Shader.outputs:out>
+        prepend token outputs:mdl:surface.connect = </Materials/Silver_Rust/Shader.outputs:out>
+        prepend token outputs:mdl:volume.connect = </Materials/Silver_Rust/Shader.outputs:out>
+        token outputs:mtlx:surface.connect = </Materials/Silver_Rust/simready_pbr_surfaceshader.outputs:out>
+        token outputs:surface (
+            displayGroup = "Outputs"
+            doc = '''Represents the universal "surface" output terminal of a\r
+        material.'''
+        )
+        token outputs:surface.connect = </Materials/Silver_Rust/SimReadyPreviewSurface.outputs:surface>
+        token outputs:volume (
+            displayGroup = "Outputs"
+            doc = '''Represents the universal "volume" output terminal of a\r
+        material.'''
+        )
+
+        def Shader "Shader" (
+            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 = (0.7764706, 0.75686276, 0.7372549)
+            color3f inputs:emissive_color = (0, 0, 0)
+            float inputs:emissive_intensity = 0
+            bool inputs:enable_emission = 0
+            float inputs:metallic_constant = 0
+            float inputs:reflection_roughness_constant = 0.5
+            token outputs:out
+        }
+
+        def Shader "SimReadyPreviewSurface"
+        {
+            token info:id = "UsdPreviewSurface"
+            color3f inputs:diffuseColor = (0.7764706, 0.75686276, 0.7372549)
+            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
+        }
+    }
+
+    def Material "Gallery"
+    {
+        custom token[] omni:simready:nonvisual:attributes = ["none"]
+        custom token omni:simready:nonvisual:base = "aluminum"
+        custom token omni:simready:nonvisual:coating = "paint"
+        token outputs:displacement (
+            displayGroup = "Outputs"
+            doc = '''Represents the universal "displacement" output terminal of a \r
+        material.'''
+        )
+        prepend token outputs:mdl:displacement.connect = </Materials/Gallery/Shader.outputs:out>
+        prepend token outputs:mdl:surface.connect = </Materials/Gallery/Shader.outputs:out>
+        prepend token outputs:mdl:volume.connect = </Materials/Gallery/Shader.outputs:out>
+        token outputs:mtlx:surface.connect = </Materials/Gallery/simready_pbr_surfaceshader.outputs:out>
+        token outputs:surface (
+            displayGroup = "Outputs"
+            doc = '''Represents the universal "surface" output terminal of a\r
+        material.'''
+        )
+        token outputs:surface.connect = </Materials/Gallery/SimReadyPreviewSurface.outputs:surface>
+        token outputs:volume (
+            displayGroup = "Outputs"
+            doc = '''Represents the universal "volume" output terminal of a\r
+        material.'''
+        )
+
+        def Shader "Shader" (
+            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 = (0.9372549, 0.9372549, 0.9372549)
+            color3f inputs:emissive_color = (0, 0, 0)
+            float inputs:emissive_intensity = 0
+            bool inputs:enable_emission = 0
+            float inputs:metallic_constant = 0
+            float inputs:reflection_roughness_constant = 0.5
+            token outputs:out
+        }
+
+        def Shader "SimReadyPreviewSurface"
+        {
+            token info:id = "UsdPreviewSurface"
+            color3f inputs:diffuseColor = (0.9372549, 0.9372549, 0.9372549)
+            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
+        }
+    }
+
+    def Material "Blue_Ribbon"
+    {
+        custom token[] omni:simready:nonvisual:attributes = ["emissive"]
+        custom token omni:simready:nonvisual:base = "plastic"
+        custom token omni:simready:nonvisual:coating = "none"
+        token outputs:displacement (
+            displayGroup = "Outputs"
+            doc = '''Represents the universal "displacement" output terminal of a \r
+        material.'''
+        )
+        prepend token outputs:mdl:displacement.connect = </Materials/Blue_Ribbon/Shader.outputs:out>
+        prepend token outputs:mdl:surface.connect = </Materials/Blue_Ribbon/Shader.outputs:out>
+        prepend token outputs:mdl:volume.connect = </Materials/Blue_Ribbon/Shader.outputs:out>
+        token outputs:mtlx:surface.connect = </Materials/Blue_Ribbon/simready_pbr_surfaceshader.outputs:out>
+        token outputs:surface (
+            displayGroup = "Outputs"
+            doc = '''Represents the universal "surface" output terminal of a\r
+        material.'''
+        )
+        token outputs:surface.connect = </Materials/Blue_Ribbon/SimReadyPreviewSurface.outputs:surface>
+        token outputs:volume (
+            displayGroup = "Outputs"
+            doc = '''Represents the universal "volume" output terminal of a\r
+        material.'''
+        )
+
+        def Shader "Shader" (
+            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 = (0.13333334, 0.33333334, 1)
+            color3f inputs:emissive_color = (0, 0, 0)
+            float inputs:emissive_intensity = 0
+            bool inputs:enable_emission = 0
+            float inputs:metallic_constant = 0
+            float inputs:reflection_roughness_constant = 0.5
+            token outputs:out
+        }
+
+        def Shader "SimReadyPreviewSurface"
+        {
+            token info:id = "UsdPreviewSurface"
+            color3f inputs:diffuseColor = (0.13333334, 0.33333334, 1)
+            float inputs:metallic = 0
+            float inputs:opacity = 1
+            float inputs:roughness = 0.5
+            token outputs:surface
+        }
+
+        def Shader "SimReadyUV"
+        {
+            token info:id = "UsdPrimvarReader_float2"
+            string inputs:varname = "st"
+            float2 outputs:result
+        }
+
+        def Shader "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
+        }
+    }
+
+    def Material "Dawn"
+    {
+        custom token[] omni:simready:nonvisual:attributes = ["none"]
+        custom token omni:simready:nonvisual:base = "aluminum"
+        custom token omni:simready:nonvisual:coating = "paint"
+        token outputs:displacement (
+            displayGroup = "Outputs"
+            doc = '''Represents the universal "displacement" output terminal of a \r
+        material.'''
+        )
+        prepend token outputs:mdl:displacement.connect = </Materials/Dawn/Shader.outputs:out>
+        prepend token outputs:mdl:surface.connect = </Materials/Dawn/Shader.outputs:out>
+        prepend token outputs:mdl:volume.connect = </Materials/Dawn/Shader.outputs:out>
+        token outputs:mtlx:surface.connect = </Materials/Dawn/simready_pbr_surfaceshader.outputs:out>
+        token outputs:surface (
+            displayGroup = "Outputs"
+            doc = '''Represents the universal "surface" output terminal of a\r
+        material.'''
+        )
+        token outputs:surface.connect = </Materials/Dawn/SimReadyPreviewSurface.outputs:surface>
+        token outputs:volume (
+            displayGroup = "Outputs"
+            doc = '''Represents the universal "volume" output terminal of a\r
+        material.'''
+        )
+
+        def Shader "Shader" (
+            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 = (0.64705884, 0.61960787, 0.5882353)
+            color3f inputs:emissive_color = (0, 0, 0)
+            float inputs:emissive_intensity = 0
+            bool inputs:enable_emission = 0
+            float inputs:metallic_constant = 0
+            float inputs:reflection_roughness_constant = 0.5
+            token outputs:out
+        }
+
+        def Shader "SimReadyPreviewSurface"
+        {
+            token info:id = "UsdPreviewSurface"
+            color3f inputs:diffuseColor = (0.64705884, 0.61960787, 0.5882353)
+            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
+        }
+    }
+
+    def Material "White"
+    {
+        custom token[] omni:simready:nonvisual:attributes = ["none"]
+        custom token omni:simready:nonvisual:base = "aluminum"
+        custom token omni:simready:nonvisual:coating = "paint"
+        token outputs:displacement (
+            displayGroup = "Outputs"
+            doc = '''Represents the universal "displacement" output terminal of a \r
+        material.'''
+        )
+        prepend token outputs:mdl:displacement.connect = </Materials/White/Shader.outputs:out>
+        prepend token outputs:mdl:surface.connect = </Materials/White/Shader.outputs:out>
+        prepend token outputs:mdl:volume.connect = </Materials/White/Shader.outputs:out>
+        token outputs:mtlx:surface.connect = </Materials/White/simready_pbr_surfaceshader.outputs:out>
+        token outputs:surface (
+            displayGroup = "Outputs"
+            doc = '''Represents the universal "surface" output terminal of a\r
+        material.'''
+        )
+        token outputs:surface.connect = </Materials/White/SimReadyPreviewSurface.outputs:surface>
+        token outputs:volume (
+            displayGroup = "Outputs"
+            doc = '''Represents the universal "volume" output terminal of a\r
+        material.'''
+        )
+
+        def Shader "Shader" (
+            apiSchemas = ["NodeDefAPI"]
+        )
+        {
+            token info:implementationSource = "sourceAsset"
+            asset info:mdl:sourceAsset = @../materials/mdl/OmniPBR.mdl@
+            token info:mdl:sourceAsset:subIdentifier = "OmniPBR"
+            color3f inputs:diffuse_color_constant = (1, 1, 1)
+            color3f inputs:emissive_color = (0, 0, 0)
+            float inputs:emissive_intensity = 0
+            bool inputs:enable_emission = 0
+            float inputs:metallic_constant = 0
+            float inputs:reflection_roughness_constant = 0.5
+            token outputs:out
+        }
+
+        def Shader "SimReadyPreviewSurface"
+        {
+            token info:id = "UsdPreviewSurface"
+            color3f inputs:diffuseColor = (1, 1, 1)
+            float inputs:metallic = 0
+            float inputs:opacity = 1
+            float inputs:roughness = 0.5
+            token outputs:surface
+        }
+
+        def Shader "SimReadyUV"
+        {
+            token info:id = "UsdPrimvarReader_float2"
+            string inputs:varname = "st"
+            float2 outputs:result
+        }
+
+        def Shader "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
+        }
+    }
+
+    def Material "Gray"
+    {
+        custom token[] omni:simready:nonvisual:attributes = ["none"]
+        custom token omni:simready:nonvisual:base = "rubber"
+        custom token omni:simready:nonvisual:coating = "none"
+        token outputs:displacement (
+            displayGroup = "Outputs"
+            doc = '''Represents the universal "displacement" output terminal of a \r
+        material.'''
+        )
+        prepend token outputs:mdl:displacement.connect = </Materials/Gray/Shader.outputs:out>
+        prepend token outputs:mdl:surface.connect = </Materials/Gray/Shader.outputs:out>
+        prepend token outputs:mdl:volume.connect = </Materials/Gray/Shader.outputs:out>
+        token outputs:mtlx:surface.connect = </Materials/Gray/simready_pbr_surfaceshader.outputs:out>
+        token outputs:surface (
+            displayGroup = "Outputs"
+            doc = '''Represents the universal "surface" output terminal of a\r
+        material.'''
+        )
+        token outputs:surface.connect = </Materials/Gray/SimReadyPreviewSurface.outputs:surface>
+        token outputs:volume (
+            displayGroup = "Outputs"
+            doc = '''Represents the universal "volume" output terminal of a\r
+        material.'''
+        )
+
+        def Shader "Shader" (
+            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 = (0.49411765, 0.49411765, 0.49411765)
+            color3f inputs:emissive_color = (0, 0, 0)
+            float inputs:emissive_intensity = 0
+            bool inputs:enable_emission = 0
+            float inputs:metallic_constant = 0
+            float inputs:reflection_roughness_constant = 0.5
+            token outputs:out
+        }
+
+        def Shader "SimReadyPreviewSurface"
+        {
+            token info:id = "UsdPreviewSurface"
+            color3f inputs:diffuseColor = (0.49411765, 0.49411765, 0.49411765)
+            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
+        }
+    }
+
+    def Material "Mystic"
+    {
+        custom token[] omni:simready:nonvisual:attributes = ["none"]
+        custom token omni:simready:nonvisual:base = "aluminum"
+        custom token omni:simready:nonvisual:coating = "paint"
+        token outputs:displacement (
+            displayGroup = "Outputs"
+            doc = '''Represents the universal "displacement" output terminal of a \r
+        material.'''
+        )
+        prepend token outputs:mdl:displacement.connect = </Materials/Mystic/Shader.outputs:out>
+        prepend token outputs:mdl:surface.connect = </Materials/Mystic/Shader.outputs:out>
+        prepend token outputs:mdl:volume.connect = </Materials/Mystic/Shader.outputs:out>
+        token outputs:mtlx:surface.connect = </Materials/Mystic/simready_pbr_surfaceshader.outputs:out>
+        token outputs:surface (
+            displayGroup = "Outputs"
+            doc = '''Represents the universal "surface" output terminal of a\r
+        material.'''
+        )
+        token outputs:surface.connect = </Materials/Mystic/SimReadyPreviewSurface.outputs:surface>
+        token outputs:volume (
+            displayGroup = "Outputs"
+            doc = '''Represents the universal "volume" output terminal of a\r
+        material.'''
+        )
+
+        def Shader "Shader" (
+            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 = (0.8980392, 0.91764706, 0.92941177)
+            color3f inputs:emissive_color = (0, 0, 0)
+            float inputs:emissive_intensity = 0
+            bool inputs:enable_emission = 0
+            float inputs:metallic_constant = 0
+            float inputs:reflection_roughness_constant = 0.5
+            token outputs:out
+        }
+
+        def Shader "SimReadyPreviewSurface"
+        {
+            token info:id = "UsdPreviewSurface"
+            color3f inputs:diffuseColor = (0.8980392, 0.91764706, 0.92941177)
+            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
+        }
+    }
+
+    def Material "Pumice"
+    {
+        custom token[] omni:simready:nonvisual:attributes = ["none"]
+        custom token omni:simready:nonvisual:base = "rubber"
+        custom token omni:simready:nonvisual:coating = "none"
+        token outputs:displacement (
+            displayGroup = "Outputs"
+            doc = '''Represents the universal "displacement" output terminal of a \r
+        material.'''
+        )
+        prepend token outputs:mdl:displacement.connect = </Materials/Pumice/Shader.outputs:out>
+        prepend token outputs:mdl:surface.connect = </Materials/Pumice/Shader.outputs:out>
+        prepend token outputs:mdl:volume.connect = </Materials/Pumice/Shader.outputs:out>
+        token outputs:mtlx:surface.connect = </Materials/Pumice/simready_pbr_surfaceshader.outputs:out>
+        token outputs:surface (
+            displayGroup = "Outputs"
+            doc = '''Represents the universal "surface" output terminal of a\r
+        material.'''
+        )
+        token outputs:surface.connect = </Materials/Pumice/SimReadyPreviewSurface.outputs:surface>
+        token outputs:volume (
+            displayGroup = "Outputs"
+            doc = '''Represents the universal "volume" output terminal of a\r
+        material.'''
+        )
+
+        def Shader "Shader" (
+            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 = (0.78431374, 0.78431374, 0.78431374)
+            color3f inputs:emissive_color = (0, 0, 0)
+            float inputs:emissive_intensity = 0
+            bool inputs:enable_emission = 0
+            float inputs:metallic_constant = 0
+            float inputs:reflection_roughness_constant = 0.5
+            token outputs:out
+        }
+
+        def Shader "SimReadyPreviewSurface"
+        {
+            token info:id = "UsdPreviewSurface"
+            color3f inputs:diffuseColor = (0.78431374, 0.78431374, 0.78431374)
+            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
+        }
+    }
+
+    def Material "Periwinkle_Gray"
+    {
+        custom token[] omni:simready:nonvisual:attributes = ["none"]
+        custom token omni:simready:nonvisual:base = "rubber"
+        custom token omni:simready:nonvisual:coating = "none"
+        token outputs:displacement (
+            displayGroup = "Outputs"
+            doc = '''Represents the universal "displacement" output terminal of a \r
+        material.'''
+        )
+        prepend token outputs:mdl:displacement.connect = </Materials/Periwinkle_Gray/Shader.outputs:out>
+        prepend token outputs:mdl:surface.connect = </Materials/Periwinkle_Gray/Shader.outputs:out>
+        prepend token outputs:mdl:volume.connect = </Materials/Periwinkle_Gray/Shader.outputs:out>
+        token outputs:mtlx:surface.connect = </Materials/Periwinkle_Gray/simready_pbr_surfaceshader.outputs:out>
+        token outputs:surface (
+            displayGroup = "Outputs"
+            doc = '''Represents the universal "surface" output terminal of a\r
+        material.'''
+        )
+        token outputs:surface.connect = </Materials/Periwinkle_Gray/SimReadyPreviewSurface.outputs:surface>
+        token outputs:volume (
+            displayGroup = "Outputs"
+            doc = '''Represents the universal "volume" output terminal of a\r
+        material.'''
+        )
+
+        def Shader "Shader" (
+            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 = (0.7921569, 0.81960785, 0.93333334)
+            color3f inputs:emissive_color = (0, 0, 0)
+            float inputs:emissive_intensity = 0
+            bool inputs:enable_emission = 0
+            float inputs:metallic_constant = 0
+            float inputs:reflection_roughness_constant = 0.5
+            token outputs:out
+        }
+
+        def Shader "SimReadyPreviewSurface"
+        {
+            token info:id = "UsdPreviewSurface"
+            color3f inputs:diffuseColor = (0.7921569, 0.81960785, 0.93333334)
+            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
+        }
+    }
+
+    def Material "Celeste"
+    {
+        custom token[] omni:simready:nonvisual:attributes = ["none"]
+        custom token omni:simready:nonvisual:base = "rubber"
+        custom token omni:simready:nonvisual:coating = "none"
+        token outputs:displacement (
+            displayGroup = "Outputs"
+            doc = '''Represents the universal "displacement" output terminal of a \r
+        material.'''
+        )
+        prepend token outputs:mdl:displacement.connect = </Materials/Celeste/Shader.outputs:out>
+        prepend token outputs:mdl:surface.connect = </Materials/Celeste/Shader.outputs:out>
+        prepend token outputs:mdl:volume.connect = </Materials/Celeste/Shader.outputs:out>
+        token outputs:mtlx:surface.connect = </Materials/Celeste/simready_pbr_surfaceshader.outputs:out>
+        token outputs:surface (
+            displayGroup = "Outputs"
+            doc = '''Represents the universal "surface" output terminal of a\r
+        material.'''
+        )
+        token outputs:surface.connect = </Materials/Celeste/SimReadyPreviewSurface.outputs:surface>
+        token outputs:volume (
+            displayGroup = "Outputs"
+            doc = '''Represents the universal "volume" output terminal of a\r
+        material.'''
+        )
+
+        def Shader "Shader" (
+            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 = (0.8, 0.80784315, 0.8)
+            color3f inputs:emissive_color = (0, 0, 0)
+            float inputs:emissive_intensity = 0
+            bool inputs:enable_emission = 0
+            float inputs:metallic_constant = 0
+            float inputs:reflection_roughness_constant = 0.5
+            token outputs:out
+        }
+
+        def Shader "SimReadyPreviewSurface"
+        {
+            token info:id = "UsdPreviewSurface"
+            color3f inputs:diffuseColor = (0.8, 0.80784315, 0.8)
+            float inputs:metallic = 0
+            float inputs:opacity = 1
+            float inputs:roughness = 0.5
+            token outputs:surface
+        }
+
+        def Shader "SimReadyUV"
+        {
+            token info:id = "UsdPrimvarReader_float2"
+            string inputs:varname = "st"
+            float2 outputs:result
+        }
+
+        def Shader "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
+        }
+    }
+
+    def Material "Rangoon_Green"
+    {
+        custom token[] omni:simready:nonvisual:attributes = ["none"]
+        custom token omni:simready:nonvisual:base = "rubber"
+        custom token omni:simready:nonvisual:coating = "none"
+        token outputs:displacement (
+            displayGroup = "Outputs"
+            doc = '''Represents the universal "displacement" output terminal of a \r
+        material.'''
+        )
+        prepend token outputs:mdl:displacement.connect = </Materials/Rangoon_Green/Shader.outputs:out>
+        prepend token outputs:mdl:surface.connect = </Materials/Rangoon_Green/Shader.outputs:out>
+        prepend token outputs:mdl:volume.connect = </Materials/Rangoon_Green/Shader.outputs:out>
+        token outputs:mtlx:surface.connect = </Materials/Rangoon_Green/simready_pbr_surfaceshader.outputs:out>
+        token outputs:surface (
+            displayGroup = "Outputs"
+            doc = '''Represents the universal "surface" output terminal of a\r
+        material.'''
+        )
+        token outputs:surface.connect = </Materials/Rangoon_Green/SimReadyPreviewSurface.outputs:surface>
+        token outputs:volume (
+            displayGroup = "Outputs"
+            doc = '''Represents the universal "volume" output terminal of a\r
+        material.'''
+        )
+
+        def Shader "Shader" (
+            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 = (0.11764706, 0.11764706, 0.11764706)
+            color3f inputs:emissive_color = (0, 0, 0)
+            float inputs:emissive_intensity = 0
+            bool inputs:enable_emission = 0
+            float inputs:metallic_constant = 0
+            float inputs:reflection_roughness_constant = 0.5
+            token outputs:out
+        }
+
+        def Shader "SimReadyPreviewSurface"
+        {
+            token info:id = "UsdPreviewSurface"
+            color3f inputs:diffuseColor = (0.11764706, 0.11764706, 0.11764706)
+            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
+        }
+    }
+
+    def Material "Nobel"
+    {
+        custom token[] omni:simready:nonvisual:attributes = ["none"]
+        custom token omni:simready:nonvisual:base = "rubber"
+        custom token omni:simready:nonvisual:coating = "none"
+        token outputs:displacement (
+            displayGroup = "Outputs"
+            doc = '''Represents the universal "displacement" output terminal of a \r
+        material.'''
+        )
+        prepend token outputs:mdl:displacement.connect = </Materials/Nobel/Shader.outputs:out>
+        prepend token outputs:mdl:surface.connect = </Materials/Nobel/Shader.outputs:out>
+        prepend token outputs:mdl:volume.connect = </Materials/Nobel/Shader.outputs:out>
+        token outputs:mtlx:surface.connect = </Materials/Nobel/simready_pbr_surfaceshader.outputs:out>
+        token outputs:surface (
+            displayGroup = "Outputs"
+            doc = '''Represents the universal "surface" output terminal of a\r
+        material.'''
+        )
+        token outputs:surface.connect = </Materials/Nobel/SimReadyPreviewSurface.outputs:surface>
+        token outputs:volume (
+            displayGroup = "Outputs"
+            doc = '''Represents the universal "volume" output terminal of a\r
+        material.'''
+        )
+
+        def Shader "Shader" (
+            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 = (0.7019608, 0.7019608, 0.7019608)
+            color3f inputs:emissive_color = (0, 0, 0)
+            float inputs:emissive_intensity = 0
+            bool inputs:enable_emission = 0
+            float inputs:metallic_constant = 0
+            float inputs:reflection_roughness_constant = 0.5
+            token outputs:out
+        }
+
+        def Shader "SimReadyPreviewSurface"
+        {
+            token info:id = "UsdPreviewSurface"
+            color3f inputs:diffuseColor = (0.7019608, 0.7019608, 0.7019608)
+            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
+        }
+    }
+}
+

robotiq_2f_85/payloads/robot.usda

@@ -0,0 +1,141 @@
+#usda 1.0
+(
+    customLayerData = {
+    }
+    defaultPrim = "Robotiq_2F_85"
+)
+
+over "Robotiq_2F_85" (
+    prepend apiSchemas = ["IsaacRobotAPI"]
+)
+{
+    string isaac:namespace (
+        displayName = "Namespace"
+        doc = "Namespace of the prim in Isaac Sim"
+    )
+    prepend rel isaac:physics:robotJoints = [
+        </Robotiq_2F_85/Joints/root_joint>,
+        </Robotiq_2F_85/Joints/finger_joint>,
+        </Robotiq_2F_85/Joints/right_outer_knuckle_joint>,
+        </Robotiq_2F_85/Joints/right_inner_finger_joint>,
+        </Robotiq_2F_85/Joints/right_inner_finger_knuckle_joint>,
+        </Robotiq_2F_85/Joints/left_inner_finger_knuckle_joint>,
+        </Robotiq_2F_85/Joints/left_inner_finger_joint>,
+    ]
+    prepend rel isaac:physics:robotLinks = [
+        </Robotiq_2F_85/base_link>,
+        </Robotiq_2F_85/left_outer_knuckle>,
+        </Robotiq_2F_85/left_outer_finger>,
+        </Robotiq_2F_85/left_inner_finger>,
+        </Robotiq_2F_85/left_inner_knuckle>,
+        </Robotiq_2F_85/right_outer_knuckle>,
+        </Robotiq_2F_85/right_outer_finger>,
+        </Robotiq_2F_85/right_inner_finger>,
+        </Robotiq_2F_85/right_inner_knuckle>,
+    ]
+    token isaac:robotType = "End Effector"
+
+    over "base_link" (
+        prepend apiSchemas = ["IsaacLinkAPI"]
+    )
+    {
+        string isaac:nameOverride (
+            displayName = "Name Override"
+            doc = "Name override for prim lookup in base name search"
+        )
+    }
+
+    over "left_outer_knuckle" (
+        prepend apiSchemas = ["IsaacLinkAPI"]
+    )
+    {
+    }
+
+    over "left_outer_finger" (
+        prepend apiSchemas = ["IsaacLinkAPI"]
+    )
+    {
+    }
+
+    over "left_inner_finger" (
+        prepend apiSchemas = ["IsaacLinkAPI"]
+    )
+    {
+    }
+
+    over "left_inner_knuckle" (
+        prepend apiSchemas = ["IsaacLinkAPI"]
+    )
+    {
+    }
+
+    over "right_outer_knuckle" (
+        prepend apiSchemas = ["IsaacLinkAPI"]
+    )
+    {
+    }
+
+    over "right_outer_finger" (
+        prepend apiSchemas = ["IsaacLinkAPI"]
+    )
+    {
+    }
+
+    over "right_inner_finger" (
+        prepend apiSchemas = ["IsaacLinkAPI"]
+    )
+    {
+    }
+
+    over "right_inner_knuckle" (
+        prepend apiSchemas = ["IsaacLinkAPI"]
+    )
+    {
+    }
+
+    over "Joints"
+    {
+        over "root_joint" (
+            prepend apiSchemas = ["IsaacJointAPI"]
+        )
+        {
+        }
+
+        over "finger_joint" (
+            prepend apiSchemas = ["IsaacJointAPI"]
+        )
+        {
+        }
+
+        over "right_outer_knuckle_joint" (
+            prepend apiSchemas = ["IsaacJointAPI"]
+        )
+        {
+        }
+
+        over "right_inner_finger_joint" (
+            prepend apiSchemas = ["IsaacJointAPI"]
+        )
+        {
+        }
+
+        over "right_inner_finger_knuckle_joint" (
+            prepend apiSchemas = ["IsaacJointAPI"]
+        )
+        {
+        }
+
+        over "left_inner_finger_knuckle_joint" (
+            prepend apiSchemas = ["IsaacJointAPI"]
+        )
+        {
+        }
+
+        over "left_inner_finger_joint" (
+            prepend apiSchemas = ["IsaacJointAPI"]
+        )
+        {
+        }
+    }
+}
+

robotiq_2f_85/runnables/physics/mujoco.usda

@@ -0,0 +1,288 @@
+#usda 1.0
+(
+    defaultPrim = "Robotiq_2F_85"
+)
+
+def "Robotiq_2F_85"
+{
+    over "base_link"
+    {
+        over "visuals"
+        {
+            over "Defeatured_2F_85_PAD_OPEN_basestep_01"
+            {
+                over "Defeatured_2F_85_PAD_OPEN_basestep"
+                {
+                    over "Defeatured_2F_85_PAD_OPEN_basestep" (
+                        prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"]
+                    )
+                    {
+                        uniform token physics:approximation = "convexHull"
+                    }
+                }
+            }
+        }
+
+        over "gripper_01" (
+            prepend apiSchemas = ["MjcSiteAPI"]
+        )
+        {
+        }
+    }
+
+    over "left_outer_knuckle"
+    {
+        over "visuals"
+        {
+            over "Defeatured_2F_85_PAD_OPEN_Finger1step_01"
+            {
+                over "Defeatured_2F_85_PAD_OPEN_Finger1step"
+                {
+                    over "Defeatured_2F_85_PAD_OPEN_Finger1step" (
+                        prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"]
+                    )
+                    {
+                        uniform token physics:approximation = "convexHull"
+                    }
+                }
+            }
+        }
+    }
+
+    over "left_outer_finger"
+    {
+        over "visuals"
+        {
+            over "Defeatured_2F_85_PAD_OPEN_finger2step_01"
+            {
+                over "Defeatured_2F_85_PAD_OPEN_finger2step"
+                {
+                    over "Defeatured_2F_85_PAD_OPEN_finger2step" (
+                        prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"]
+                    )
+                    {
+                        uniform token physics:approximation = "convexHull"
+                    }
+                }
+            }
+        }
+    }
+
+    over "left_inner_finger"
+    {
+        over "visuals"
+        {
+            over "Defeatured_2F_85_PAD_OPEN_finger4step_01"
+            {
+                over "Defeatured_2F_85_PAD_OPEN_finger4step"
+                {
+                    over "Defeatured_2F_85_PAD_OPEN_finger4step" (
+                        prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"]
+                    )
+                    {
+                        uniform token physics:approximation = "convexHull"
+                    }
+                }
+            }
+
+            over "Defeatured_2F_85_PAD_OPEN_fingertipsstep_01"
+            {
+                over "Defeatured_2F_85_PAD_OPEN_fingertipsstep"
+                {
+                    over "Defeatured_2F_85_PAD_OPEN_fingertipsstep" (
+                        prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"]
+                    )
+                    {
+                        uniform token physics:approximation = "convexHull"
+                    }
+                }
+            }
+        }
+    }
+
+    over "left_inner_knuckle"
+    {
+        over "visuals"
+        {
+            over "Defeatured_2F_85_PAD_OPEN_finger3step_01"
+            {
+                over "Defeatured_2F_85_PAD_OPEN_finger3step"
+                {
+                    over "Defeatured_2F_85_PAD_OPEN_finger3step" (
+                        prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"]
+                    )
+                    {
+                        uniform token physics:approximation = "convexHull"
+                    }
+                }
+            }
+        }
+    }
+
+    over "right_outer_knuckle"
+    {
+        over "visuals"
+        {
+            over "Defeatured_2F_85_PAD_OPEN_Finger1step_01"
+            {
+                over "Defeatured_2F_85_PAD_OPEN_Finger1step"
+                {
+                    over "Defeatured_2F_85_PAD_OPEN_Finger1step" (
+                        prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"]
+                    )
+                    {
+                        uniform token physics:approximation = "convexHull"
+                    }
+                }
+            }
+        }
+    }
+
+    over "right_outer_finger"
+    {
+        over "visuals"
+        {
+            over "Defeatured_2F_85_PAD_OPEN_finger2step_01"
+            {
+                over "Defeatured_2F_85_PAD_OPEN_finger2step"
+                {
+                    over "Defeatured_2F_85_PAD_OPEN_finger2step" (
+                        prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"]
+                    )
+                    {
+                        uniform token physics:approximation = "convexHull"
+                    }
+                }
+            }
+        }
+    }
+
+    over "right_inner_finger"
+    {
+        over "visuals"
+        {
+            over "Defeatured_2F_85_PAD_OPEN_finger4step_01"
+            {
+                over "Defeatured_2F_85_PAD_OPEN_finger4step"
+                {
+                    over "Defeatured_2F_85_PAD_OPEN_finger4step" (
+                        prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"]
+                    )
+                    {
+                        uniform token physics:approximation = "convexHull"
+                    }
+                }
+            }
+
+            over "Defeatured_2F_85_PAD_OPEN_fingertipsstep_01"
+            {
+                over "Defeatured_2F_85_PAD_OPEN_fingertipsstep"
+                {
+                    over "Defeatured_2F_85_PAD_OPEN_fingertipsstep" (
+                        prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"]
+                    )
+                    {
+                        uniform token physics:approximation = "convexHull"
+                    }
+                }
+            }
+        }
+    }
+
+    over "right_inner_knuckle"
+    {
+        over "visuals"
+        {
+            over "Defeatured_2F_85_PAD_OPEN_finger3step_01"
+            {
+                over "Defeatured_2F_85_PAD_OPEN_finger3step"
+                {
+                    over "Defeatured_2F_85_PAD_OPEN_finger3step" (
+                        prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"]
+                    )
+                    {
+                        uniform token physics:approximation = "convexHull"
+                    }
+                }
+            }
+        }
+    }
+
+    over "Joints"
+    {
+        over "finger_joint" (
+            prepend apiSchemas = ["MjcJointAPI"]
+        )
+        {
+        }
+
+        over "right_outer_knuckle_joint" (
+            prepend apiSchemas = ["MjcJointAPI", "NewtonMimicAPI", "MjcEqualityJointAPI"]
+        )
+        {
+            float newton:mimicCoef0 = 0
+            float newton:mimicCoef1 = 1
+            bool newton:mimicEnabled = 1
+            rel newton:mimicJoint = </Robotiq_2F_85/Joints/finger_joint>
+        }
+
+        over "right_inner_finger_joint" (
+            prepend apiSchemas = ["MjcJointAPI", "NewtonMimicAPI", "MjcEqualityJointAPI"]
+        )
+        {
+            float newton:mimicCoef0 = 0
+            float newton:mimicCoef1 = 1
+            bool newton:mimicEnabled = 1
+            rel newton:mimicJoint = </Robotiq_2F_85/Joints/finger_joint>
+        }
+
+        over "right_inner_finger_knuckle_joint" (
+            prepend apiSchemas = ["MjcJointAPI", "NewtonMimicAPI", "MjcEqualityJointAPI"]
+        )
+        {
+            float newton:mimicCoef0 = 0
+            float newton:mimicCoef1 = -1
+            bool newton:mimicEnabled = 1
+            rel newton:mimicJoint = </Robotiq_2F_85/Joints/finger_joint>
+        }
+
+        over "left_inner_finger_knuckle_joint" (
+            prepend apiSchemas = ["MjcJointAPI", "NewtonMimicAPI", "MjcEqualityJointAPI"]
+        )
+        {
+            float newton:mimicCoef0 = 0
+            float newton:mimicCoef1 = -1
+            bool newton:mimicEnabled = 1
+            rel newton:mimicJoint = </Robotiq_2F_85/Joints/finger_joint>
+        }
+
+        over "left_inner_finger_joint" (
+            prepend apiSchemas = ["MjcJointAPI", "NewtonMimicAPI", "MjcEqualityJointAPI"]
+        )
+        {
+            float newton:mimicCoef0 = 0
+            float newton:mimicCoef1 = -1
+            bool newton:mimicEnabled = 1
+            rel newton:mimicJoint = </Robotiq_2F_85/Joints/finger_joint>
+        }
+    }
+
+    def "MuJoCoActuators"
+    {
+        def MjcActuator "act_Robotiq_2F_85_Joints_finger_joint" (
+            doc = "Source-derived force-drive PD bias; control is additive effort. Zero control preserves source position and velocity targets. Standard USD drive is retained for neutral and other runtimes; MuJoCo consumers must use this actuator exclusively."
+        )
+        {
+            double[] mjc:biasPrm = [0, -171.88733853924697, -0.011459155613133837]
+            token mjc:biasType = "affine"
+            token mjc:ctrlLimited = "false"
+            token mjc:forceLimited = "true"
+            double mjc:forceRange:max = 26
+            double mjc:forceRange:min = -26
+            double[] mjc:gainPrm = [1]
+            token mjc:gainType = "fixed"
+            rel mjc:target = </Robotiq_2F_85/Joints/finger_joint>
+        }
+    }
+}
+

robotiq_2f_85/runnables/physics/newton.usda

@@ -0,0 +1,299 @@
+#usda 1.0
+(
+    defaultPrim = "Robotiq_2F_85"
+)
+
+over "Robotiq_2F_85" (
+    prepend apiSchemas = ["NewtonArticulationRootAPI"]
+)
+{
+    bool newton:selfCollisionEnabled = 0
+
+    over "base_link"
+    {
+        over "visuals"
+        {
+            over "Defeatured_2F_85_PAD_OPEN_basestep_01"
+            {
+                over "Defeatured_2F_85_PAD_OPEN_basestep"
+                {
+                    over "Defeatured_2F_85_PAD_OPEN_basestep" (
+                        prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"]
+                    )
+                    {
+                        uniform token physics:approximation = "convexHull"
+                    }
+                }
+            }
+        }
+    }
+
+    over "left_outer_knuckle"
+    {
+        over "visuals"
+        {
+            over "Defeatured_2F_85_PAD_OPEN_Finger1step_01"
+            {
+                over "Defeatured_2F_85_PAD_OPEN_Finger1step"
+                {
+                    over "Defeatured_2F_85_PAD_OPEN_Finger1step" (
+                        prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"]
+                    )
+                    {
+                        uniform token physics:approximation = "convexHull"
+                    }
+                }
+            }
+        }
+    }
+
+    over "left_outer_finger"
+    {
+        over "visuals"
+        {
+            over "Defeatured_2F_85_PAD_OPEN_finger2step_01"
+            {
+                over "Defeatured_2F_85_PAD_OPEN_finger2step"
+                {
+                    over "Defeatured_2F_85_PAD_OPEN_finger2step" (
+                        prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"]
+                    )
+                    {
+                        uniform token physics:approximation = "convexHull"
+                    }
+                }
+            }
+        }
+    }
+
+    over "left_inner_finger"
+    {
+        over "visuals"
+        {
+            over "Defeatured_2F_85_PAD_OPEN_finger4step_01"
+            {
+                over "Defeatured_2F_85_PAD_OPEN_finger4step"
+                {
+                    over "Defeatured_2F_85_PAD_OPEN_finger4step" (
+                        prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"]
+                    )
+                    {
+                        uniform token physics:approximation = "convexHull"
+                    }
+                }
+            }
+
+            over "Defeatured_2F_85_PAD_OPEN_fingertipsstep_01"
+            {
+                over "Defeatured_2F_85_PAD_OPEN_fingertipsstep"
+                {
+                    over "Defeatured_2F_85_PAD_OPEN_fingertipsstep" (
+                        prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"]
+                    )
+                    {
+                        uniform token physics:approximation = "convexHull"
+                    }
+                }
+            }
+        }
+    }
+
+    over "left_inner_knuckle"
+    {
+        over "visuals"
+        {
+            over "Defeatured_2F_85_PAD_OPEN_finger3step_01"
+            {
+                over "Defeatured_2F_85_PAD_OPEN_finger3step"
+                {
+                    over "Defeatured_2F_85_PAD_OPEN_finger3step" (
+                        prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"]
+                    )
+                    {
+                        uniform token physics:approximation = "convexHull"
+                    }
+                }
+            }
+        }
+    }
+
+    over "right_outer_knuckle"
+    {
+        over "visuals"
+        {
+            over "Defeatured_2F_85_PAD_OPEN_Finger1step_01"
+            {
+                over "Defeatured_2F_85_PAD_OPEN_Finger1step"
+                {
+                    over "Defeatured_2F_85_PAD_OPEN_Finger1step" (
+                        prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"]
+                    )
+                    {
+                        uniform token physics:approximation = "convexHull"
+                    }
+                }
+            }
+        }
+    }
+
+    over "right_outer_finger"
+    {
+        over "visuals"
+        {
+            over "Defeatured_2F_85_PAD_OPEN_finger2step_01"
+            {
+                over "Defeatured_2F_85_PAD_OPEN_finger2step"
+                {
+                    over "Defeatured_2F_85_PAD_OPEN_finger2step" (
+                        prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"]
+                    )
+                    {
+                        uniform token physics:approximation = "convexHull"
+                    }
+                }
+            }
+        }
+    }
+
+    over "right_inner_finger"
+    {
+        over "visuals"
+        {
+            over "Defeatured_2F_85_PAD_OPEN_finger4step_01"
+            {
+                over "Defeatured_2F_85_PAD_OPEN_finger4step"
+                {
+                    over "Defeatured_2F_85_PAD_OPEN_finger4step" (
+                        prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"]
+                    )
+                    {
+                        uniform token physics:approximation = "convexHull"
+                    }
+                }
+            }
+
+            over "Defeatured_2F_85_PAD_OPEN_fingertipsstep_01"
+            {
+                over "Defeatured_2F_85_PAD_OPEN_fingertipsstep"
+                {
+                    over "Defeatured_2F_85_PAD_OPEN_fingertipsstep" (
+                        prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"]
+                    )
+                    {
+                        uniform token physics:approximation = "convexHull"
+                    }
+                }
+            }
+        }
+    }
+
+    over "right_inner_knuckle"
+    {
+        over "visuals"
+        {
+            over "Defeatured_2F_85_PAD_OPEN_finger3step_01"
+            {
+                over "Defeatured_2F_85_PAD_OPEN_finger3step"
+                {
+                    over "Defeatured_2F_85_PAD_OPEN_finger3step" (
+                        prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"]
+                    )
+                    {
+                        uniform token physics:approximation = "convexHull"
+                    }
+                }
+            }
+        }
+    }
+
+    over "Joints"
+    {
+        over "finger_joint" (
+            prepend apiSchemas = ["NewtonJointAPI"]
+        )
+        {
+            float drive:angular:physics:damping = 0
+            float drive:angular:physics:maxForce = 26
+            float drive:angular:physics:stiffness = 6.66
+            float newton:armature = 0.1
+            float newton:damping = 0.222
+            float newton:velocityLimit = 146.46
+        }
+
+        over "right_outer_knuckle_joint" (
+            prepend apiSchemas = ["NewtonJointAPI", "NewtonMimicAPI"]
+        )
+        {
+            float drive:angular:physics:damping = 0
+            float drive:angular:physics:stiffness = 0
+            float newton:armature = 0.1
+            float newton:damping = 0.01
+            float newton:mimicCoef0 = -0
+            float newton:mimicCoef1 = 1
+            bool newton:mimicEnabled = 1
+            rel newton:mimicJoint = </Robotiq_2F_85/Joints/finger_joint>
+            float newton:velocityLimit = 10000
+        }
+
+        over "right_inner_finger_joint" (
+            prepend apiSchemas = ["NewtonJointAPI", "NewtonMimicAPI"]
+        )
+        {
+            float drive:angular:physics:damping = 0
+            float drive:angular:physics:stiffness = 0
+            float newton:armature = 0.1
+            float newton:damping = 0.01
+            float newton:mimicCoef0 = -0
+            float newton:mimicCoef1 = 1
+            bool newton:mimicEnabled = 1
+            rel newton:mimicJoint = </Robotiq_2F_85/Joints/finger_joint>
+            float newton:velocityLimit = 10000
+        }
+
+        over "right_inner_finger_knuckle_joint" (
+            prepend apiSchemas = ["NewtonJointAPI", "NewtonMimicAPI"]
+        )
+        {
+            float drive:angular:physics:damping = 0
+            float drive:angular:physics:stiffness = 0
+            float newton:armature = 0.1
+            float newton:damping = 0.01
+            float newton:mimicCoef0 = -0
+            float newton:mimicCoef1 = -1
+            bool newton:mimicEnabled = 1
+            rel newton:mimicJoint = </Robotiq_2F_85/Joints/finger_joint>
+            float newton:velocityLimit = 10000
+        }
+
+        over "left_inner_finger_knuckle_joint" (
+            prepend apiSchemas = ["NewtonJointAPI", "NewtonMimicAPI"]
+        )
+        {
+            float drive:angular:physics:damping = 0
+            float drive:angular:physics:stiffness = 0
+            float newton:armature = 0.1
+            float newton:damping = 0.01
+            float newton:mimicCoef0 = -0
+            float newton:mimicCoef1 = -1
+            bool newton:mimicEnabled = 1
+            rel newton:mimicJoint = </Robotiq_2F_85/Joints/finger_joint>
+            float newton:velocityLimit = 10000
+        }
+
+        over "left_inner_finger_joint" (
+            prepend apiSchemas = ["NewtonJointAPI", "NewtonMimicAPI"]
+        )
+        {
+            float drive:angular:physics:damping = 0
+            float drive:angular:physics:stiffness = 0
+            float newton:armature = 0.1
+            float newton:damping = 0.01
+            float newton:mimicCoef0 = -0
+            float newton:mimicCoef1 = -1
+            bool newton:mimicEnabled = 1
+            rel newton:mimicJoint = </Robotiq_2F_85/Joints/finger_joint>
+            float newton:velocityLimit = 10000
+        }
+    }
+}
+

robotiq_2f_85/runnables/physics/physx.usda

@@ -0,0 +1,323 @@
+#usda 1.0
+(
+    customLayerData = {
+    }
+    defaultPrim = "Robotiq_2F_85"
+    endTimeCode = 0
+    metersPerUnit = 1
+    startTimeCode = -1
+    upAxis = "Z"
+)
+
+over "Robotiq_2F_85" (
+    prepend apiSchemas = ["PhysxArticulationAPI"]
+)
+{
+    bool physxArticulation:enabledSelfCollisions = 0
+    int physxArticulation:solverPositionIterationCount = 64
+
+    over "Joints"
+    {
+        over "finger_joint" (
+            prepend apiSchemas = ["PhysxJointAPI", "PhysicsJointStateAPI:angular"]
+        )
+        {
+            float physxJoint:armature = 0.02
+            float physxJoint:maxJointVelocity = 146.46
+            float state:angular:physics:position = 0
+            float state:angular:physics:velocity = 0
+        }
+
+        over "right_outer_knuckle_joint" (
+            prepend apiSchemas = ["PhysxJointAPI", "PhysxMimicJointAPI:rotZ", "PhysicsJointStateAPI:angular"]
+        )
+        {
+            float drive:angular:physics:damping = 0
+            float drive:angular:physics:stiffness = 0
+            float physxJoint:armature = 0.02
+            float physxJoint:maxJointVelocity = 10000
+            float physxMimicJoint:rotZ:dampingRatio = 1
+            float physxMimicJoint:rotZ:gearing = -1
+            float physxMimicJoint:rotZ:naturalFrequency = 500
+            float physxMimicJoint:rotZ:offset = 0
+            rel physxMimicJoint:rotZ:referenceJoint = </Robotiq_2F_85/Joints/finger_joint>
+            float state:angular:physics:position = 0
+            float state:angular:physics:velocity = 0
+        }
+
+        over "right_inner_finger_joint" (
+            prepend apiSchemas = ["PhysxJointAPI", "PhysxMimicJointAPI:rotX", "PhysicsJointStateAPI:angular"]
+        )
+        {
+            float drive:angular:physics:damping = 0
+            float drive:angular:physics:stiffness = 0
+            float physxJoint:armature = 0.02
+            float physxJoint:maxJointVelocity = 10000
+            float physxMimicJoint:rotX:dampingRatio = 1
+            float physxMimicJoint:rotX:gearing = -1
+            float physxMimicJoint:rotX:naturalFrequency = 500
+            float physxMimicJoint:rotX:offset = 0
+            rel physxMimicJoint:rotX:referenceJoint = </Robotiq_2F_85/Joints/finger_joint>
+            float state:angular:physics:position = 0
+            float state:angular:physics:velocity = 0
+        }
+
+        over "right_inner_finger_knuckle_joint" (
+            prepend apiSchemas = ["PhysxJointAPI", "PhysxMimicJointAPI:rotX", "PhysicsJointStateAPI:angular"]
+        )
+        {
+            float drive:angular:physics:damping = 0
+            float drive:angular:physics:stiffness = 0
+            float physxJoint:armature = 0.02
+            float physxJoint:maxJointVelocity = 10000
+            float physxMimicJoint:rotX:dampingRatio = 1
+            float physxMimicJoint:rotX:gearing = 1
+            float physxMimicJoint:rotX:naturalFrequency = 500
+            float physxMimicJoint:rotX:offset = 0
+            rel physxMimicJoint:rotX:referenceJoint = </Robotiq_2F_85/Joints/finger_joint>
+            float state:angular:physics:position = 0
+            float state:angular:physics:velocity = 0
+        }
+
+        over "left_inner_finger_knuckle_joint" (
+            prepend apiSchemas = ["PhysxJointAPI", "PhysxMimicJointAPI:rotX", "PhysicsJointStateAPI:angular"]
+        )
+        {
+            float drive:angular:physics:damping = 0
+            float drive:angular:physics:stiffness = 0
+            float physxJoint:armature = 0.02
+            float physxJoint:maxJointVelocity = 10000
+            float physxMimicJoint:rotX:dampingRatio = 1
+            float physxMimicJoint:rotX:gearing = 1
+            float physxMimicJoint:rotX:naturalFrequency = 500
+            float physxMimicJoint:rotX:offset = 0
+            rel physxMimicJoint:rotX:referenceJoint = </Robotiq_2F_85/Joints/finger_joint>
+            float state:angular:physics:position = 0
+            float state:angular:physics:velocity = 0
+        }
+
+        over "left_inner_finger_joint" (
+            prepend apiSchemas = ["PhysxJointAPI", "PhysxMimicJointAPI:rotX", "PhysicsJointStateAPI:angular"]
+        )
+        {
+            float drive:angular:physics:damping = 0
+            float drive:angular:physics:stiffness = 0
+            float physxJoint:armature = 0.02
+            float physxJoint:maxJointVelocity = 10000
+            float physxMimicJoint:rotX:dampingRatio = 1
+            float physxMimicJoint:rotX:gearing = 1
+            float physxMimicJoint:rotX:naturalFrequency = 500
+            float physxMimicJoint:rotX:offset = 0
+            rel physxMimicJoint:rotX:referenceJoint = </Robotiq_2F_85/Joints/finger_joint>
+            float state:angular:physics:position = 0
+            float state:angular:physics:velocity = 0
+        }
+    }
+
+    over "base_link"
+    {
+        over "visuals"
+        {
+            over "Defeatured_2F_85_PAD_OPEN_basestep_01"
+            {
+                over "Defeatured_2F_85_PAD_OPEN_basestep"
+                {
+                    over "Defeatured_2F_85_PAD_OPEN_basestep" (
+                        prepend apiSchemas = ["PhysxCollisionAPI", "PhysxTriangleMeshCollisionAPI", "PhysxConvexHullCollisionAPI"]
+                    )
+                    {
+                        token physics:approximation = "convexHull"
+                    }
+                }
+            }
+        }
+    }
+
+    over "left_outer_knuckle"
+    {
+        over "visuals"
+        {
+            over "Defeatured_2F_85_PAD_OPEN_Finger1step_01"
+            {
+                over "Defeatured_2F_85_PAD_OPEN_Finger1step"
+                {
+                    over "Defeatured_2F_85_PAD_OPEN_Finger1step" (
+                        prepend apiSchemas = ["PhysxCollisionAPI", "PhysxTriangleMeshCollisionAPI", "PhysxConvexHullCollisionAPI"]
+                    )
+                    {
+                        token physics:approximation = "convexHull"
+                    }
+                }
+            }
+        }
+    }
+
+    over "right_outer_knuckle"
+    {
+        over "visuals"
+        {
+            over "Defeatured_2F_85_PAD_OPEN_Finger1step_01"
+            {
+                over "Defeatured_2F_85_PAD_OPEN_Finger1step"
+                {
+                    over "Defeatured_2F_85_PAD_OPEN_Finger1step" (
+                        prepend apiSchemas = ["PhysxCollisionAPI", "PhysxTriangleMeshCollisionAPI", "PhysxConvexHullCollisionAPI"]
+                    )
+                    {
+                        token physics:approximation = "convexHull"
+                    }
+                }
+            }
+        }
+    }
+
+    over "left_outer_finger"
+    {
+        over "visuals"
+        {
+            over "Defeatured_2F_85_PAD_OPEN_finger2step_01"
+            {
+                over "Defeatured_2F_85_PAD_OPEN_finger2step"
+                {
+                    over "Defeatured_2F_85_PAD_OPEN_finger2step" (
+                        prepend apiSchemas = ["PhysxCollisionAPI", "PhysxTriangleMeshCollisionAPI", "PhysxConvexHullCollisionAPI"]
+                    )
+                    {
+                        token physics:approximation = "convexHull"
+                    }
+                }
+            }
+        }
+    }
+
+    over "right_outer_finger"
+    {
+        over "visuals"
+        {
+            over "Defeatured_2F_85_PAD_OPEN_finger2step_01"
+            {
+                over "Defeatured_2F_85_PAD_OPEN_finger2step"
+                {
+                    over "Defeatured_2F_85_PAD_OPEN_finger2step" (
+                        prepend apiSchemas = ["PhysxCollisionAPI", "PhysxTriangleMeshCollisionAPI", "PhysxConvexHullCollisionAPI"]
+                    )
+                    {
+                        token physics:approximation = "convexHull"
+                    }
+                }
+            }
+        }
+    }
+
+    over "left_inner_finger"
+    {
+        over "visuals"
+        {
+            over "Defeatured_2F_85_PAD_OPEN_finger4step_01"
+            {
+                over "Defeatured_2F_85_PAD_OPEN_finger4step"
+                {
+                    over "Defeatured_2F_85_PAD_OPEN_finger4step" (
+                        prepend apiSchemas = ["PhysxCollisionAPI", "PhysxTriangleMeshCollisionAPI", "PhysxConvexHullCollisionAPI"]
+                    )
+                    {
+                        token physics:approximation = "convexHull"
+                    }
+                }
+            }
+
+            over "Defeatured_2F_85_PAD_OPEN_fingertipsstep_01"
+            {
+                over "Defeatured_2F_85_PAD_OPEN_fingertipsstep"
+                {
+                    over "Defeatured_2F_85_PAD_OPEN_fingertipsstep" (
+                        prepend apiSchemas = ["PhysxCollisionAPI", "PhysxTriangleMeshCollisionAPI", "PhysxConvexHullCollisionAPI"]
+                    )
+                    {
+                        token physics:approximation = "convexHull"
+                    }
+                }
+            }
+        }
+    }
+
+    over "right_inner_finger"
+    {
+        over "visuals"
+        {
+            over "Defeatured_2F_85_PAD_OPEN_finger4step_01"
+            {
+                over "Defeatured_2F_85_PAD_OPEN_finger4step"
+                {
+                    over "Defeatured_2F_85_PAD_OPEN_finger4step" (
+                        prepend apiSchemas = ["PhysxCollisionAPI", "PhysxTriangleMeshCollisionAPI", "PhysxConvexHullCollisionAPI"]
+                    )
+                    {
+                        token physics:approximation = "convexHull"
+                    }
+                }
+            }
+
+            over "Defeatured_2F_85_PAD_OPEN_fingertipsstep_01"
+            {
+                over "Defeatured_2F_85_PAD_OPEN_fingertipsstep"
+                {
+                    over "Defeatured_2F_85_PAD_OPEN_fingertipsstep" (
+                        prepend apiSchemas = ["PhysxCollisionAPI", "PhysxTriangleMeshCollisionAPI", "PhysxConvexHullCollisionAPI"]
+                    )
+                    {
+                        token physics:approximation = "convexHull"
+                    }
+                }
+            }
+        }
+    }
+
+    over "left_inner_knuckle"
+    {
+        over "visuals"
+        {
+            over "Defeatured_2F_85_PAD_OPEN_finger3step_01"
+            {
+                over "Defeatured_2F_85_PAD_OPEN_finger3step"
+                {
+                    over "Defeatured_2F_85_PAD_OPEN_finger3step" (
+                        prepend apiSchemas = ["PhysxCollisionAPI", "PhysxTriangleMeshCollisionAPI", "PhysxConvexHullCollisionAPI"]
+                    )
+                    {
+                        token physics:approximation = "convexHull"
+                    }
+                }
+            }
+        }
+    }
+
+    over "right_inner_knuckle"
+    {
+        over "visuals"
+        {
+            over "Defeatured_2F_85_PAD_OPEN_finger3step_01"
+            {
+                over "Defeatured_2F_85_PAD_OPEN_finger3step"
+                {
+                    over "Defeatured_2F_85_PAD_OPEN_finger3step" (
+                        prepend apiSchemas = ["PhysxCollisionAPI", "PhysxTriangleMeshCollisionAPI", "PhysxConvexHullCollisionAPI"]
+                    )
+                    {
+                        token physics:approximation = "convexHull"
+                    }
+                }
+            }
+        }
+    }
+
+    over "fingertip_material" (
+        prepend apiSchemas = ["PhysxMaterialAPI"]
+    )
+    {
+        bool physxMaterial:compliantContactAccelerationSpring = 0
+        float physxMaterial:compliantContactStiffness = 0
+        uniform token physxMaterial:frictionCombineMode = "max"
+    }
+}
+

robotiq_hand_e_robotiq_hand_e_base/.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": "2026-11-04T23:10:39",
+  "assets": [
+    {
+      "asset": "Robotiq_Hand_E_base.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": "ef17954c417b4915bba4a88c901ea837651c25a341b60643e6f685d5e826383d"
+  }
+}

robotiq_hand_e_robotiq_hand_e_base/.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": "2026-11-04T23:10:41",
+  "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"
+            ]
+          }
+        }
+      ]
+    }
+  ]
+}

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

@@ -0,0 +1,167 @@
+{
+  "format_version": "1.0",
+  "content_root": "file:///home/jwylie/Desktop/isaacsim-gripper-package_1.0/.packages/robotiq_hand_e_robotiq_hand_e_base/1.0.0",
+  "items": [
+    {
+      "relative_path": ".thumbs/256x256/Robotiq_Hand_E_base.usda.png",
+      "size": 48309,
+      "hash": {
+        "sha256-flat-1mb": "7528b74a833de89eb94791e801527e194fc1445d8b5168a709e078ba6cf3c4e0",
+        "sha256": "5335ad10d9c597da127c50bf962c60a9cc4b65cd5002ce02bee7b2045441a51f"
+      }
+    },
+    {
+      "relative_path": "Robotiq_Hand_E_base.usda",
+      "size": 108348,
+      "hash": {
+        "sha256-flat-1mb": "e03b9fbc29b429e1fbc58b4a91ac442ba6f49f85c3f67a1f12f32f27ee277918",
+        "sha256": "a18bce0606b7623df1913fde2d41da4dcc393d15603acc3b6f1ad9d4d7a9957b"
+      }
+    },
+    {
+      "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": {
+        "sha256-flat-1mb": "2b93c649c03f3ef48fb24cc6baba953df1f9dd4e7e860719bc3322fc3e789aba",
+        "sha256": "bb372f21b6e81d293b99fea6819a8309e2c33c732c7151752b4b33dade177f2e"
+      }
+    },
+    {
+      "relative_path": "payloads/Physics/mujoco.usda",
+      "size": 8491,
+      "hash": {
+        "sha256-flat-1mb": "bc44327b5cfb632ac9f56d67d450a8cd5fd0d95edf09b9084b85516d08613134",
+        "sha256": "ca7c7bbe3ea01ab6f40d3738cffb15b3512c16fbbf4df744addf2af4b4831b0a"
+      }
+    },
+    {
+      "relative_path": "payloads/Physics/physics.usda",
+      "size": 20540,
+      "hash": {
+        "sha256-flat-1mb": "f88f9459a81867afb6d70cc1f580a4df7ee533e6908adf686f7b04692c9277a8",
+        "sha256": "610f7bd86d3164b8aef0e2b0990bfc07180e051b71923a99cbd9ec61ed61424e"
+      }
+    },
+    {
+      "relative_path": "payloads/Physics/physx.usda",
+      "size": 302,
+      "hash": {
+        "sha256-flat-1mb": "d53a5c8278e902aa7e04ae33722ab5174cd698aaa2fe7a36a54ae9eb817f9076",
+        "sha256": "f0a5e08779f599afeedc91364ded36b508c75b2655d2a58895446e371d5cd024"
+      }
+    },
+    {
+      "relative_path": "payloads/base.usda",
+      "size": 22221,
+      "hash": {
+        "sha256-flat-1mb": "4593fd6805ff897a0eb11b2ce373cf93f18ecb224dc08da0d5420c5969801c00",
+        "sha256": "479d68f464a3be6c2590d6af295ca21e40e3b88d8e2796efdf69ff71c73f33c9"
+      }
+    },
+    {
+      "relative_path": "payloads/geometries.usd",
+      "size": 2960687,
+      "hash": {
+        "sha256-flat-1mb": "8dce97698436bb29214ad79b87a264a9d4cc4aa2546ca40b4e91be5d78dfcf16",
+        "sha256": "771a0a04f7fcf33054a3b0d7223ab3d1f7a2bf8d5b7907e88afe111c91a3d7b9",
+        "sha256-first1m": "2323c989f70702fc185e3aa761e72c38a7e00faaa1ffe0f22837edc58e970a17"
+      }
+    },
+    {
+      "relative_path": "payloads/instances.usda",
+      "size": 39098,
+      "hash": {
+        "sha256-flat-1mb": "3d77bc3fccf07381438caed15b059424b011549d298e8e7fbfe71063435e631f",
+        "sha256": "981a229ea506b47f05c41da56a3f8fde471948f08db2228c210489def025d5f2"
+      }
+    },
+    {
+      "relative_path": "payloads/materials.usda",
+      "size": 12497,
+      "hash": {
+        "sha256-flat-1mb": "bfcf26e6749254ab92f509a65463265cf6fd28959a008317ac7bc1cdef319a38",
+        "sha256": "5d24c588d9c89238974e4720d142f932b0d5eee78d0250d98c7469e78a09d64b"
+      }
+    },
+    {
+      "relative_path": "payloads/robot.usda",
+      "size": 7981,
+      "hash": {
+        "sha256-flat-1mb": "4d7049fb7080425a34e9763a47a7009d77e9eb80464ac4abb80952423ab6bfda",
+        "sha256": "53c68e4ef01386b37ec16ab570b42a765313e91a057095bc0a5176a72f7fcb91"
+      }
+    },
+    {
+      "relative_path": "runnables/physics/mujoco.usda",
+      "size": 12384,
+      "hash": {
+        "sha256-flat-1mb": "905228b547d2aeb1efc29ccaea46468d0c4d40668c2e392f9664a210ae2591ca",
+        "sha256": "bcfe4c8f54cc737600178400fae4882f18744483670e71c42d5187b6b4f30e88"
+      }
+    },
+    {
+      "relative_path": "runnables/physics/newton.usda",
+      "size": 12065,
+      "hash": {
+        "sha256-flat-1mb": "3b9d028b381d03d87de295b860f0362154602bd62f80153b7ecb356049b4be98",
+        "sha256": "8063cdca104222ce41a208d8370d8e5bcd570522cb248ced3f3bec653079e0a5"
+      }
+    },
+    {
+      "relative_path": "runnables/physics/physx.usda",
+      "size": 9500,
+      "hash": {
+        "sha256-flat-1mb": "0de33278599543a5ec36e83945ec49f63a3c027c6b383f32ecf7200f9a167c07",
+        "sha256": "774cf72c96be5ae4f642067b5a6b6c2b924a4f9647bcaf6056d55fe09b61b5c3"
+      }
+    }
+  ]
+}

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

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