Add 14 licensed Robot-Gripper packages at 1.0.0

.gitattributes

@@ -251,3 +251,18 @@ yaskawa_motoman_next_nex4/payloads/geometries.usd filter=lfs diff=lfs merge=lfs
 yaskawa_motoman_next_nex7/payloads/geometries.usd filter=lfs diff=lfs merge=lfs -text
 yaskawa_motoman_next_nhc12/payloads/geometries.usd filter=lfs diff=lfs merge=lfs -text
 comau_n_220_27/payloads/geometries.usd filter=lfs diff=lfs merge=lfs -text
+inspirerobots_inspire_hand_rh56dfx_right_inspire_hand/payloads/geometries.usd filter=lfs diff=lfs merge=lfs -text
+psyonic_ability_hand_left_large/payloads/geometries.usd filter=lfs diff=lfs merge=lfs -text
+psyonic_ability_hand_left_small/payloads/geometries.usd filter=lfs diff=lfs merge=lfs -text
+psyonic_ability_hand_right_large/payloads/geometries.usd filter=lfs diff=lfs merge=lfs -text
+psyonic_ability_hand_right_small/payloads/geometries.usd filter=lfs diff=lfs merge=lfs -text
+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
+schunk_egk_25_schunk_egk_25/payloads/geometries.usd filter=lfs diff=lfs merge=lfs -text
+schunk_egu_50_schunk_egu_50/payloads/Fingers/dependencies/schunk_fgr_1.usd filter=lfs diff=lfs merge=lfs -text
+schunk_egu_50_schunk_egu_50/payloads/geometries.usd filter=lfs diff=lfs merge=lfs -text
+schunk_ezu_35_schunk_ezu_35/payloads/geometries.usd filter=lfs diff=lfs merge=lfs -text
+schunk_svh_flat_l_svh_flat_l_v2/payloads/geometries.usd filter=lfs diff=lfs merge=lfs -text
+schunk_svh_flat_r_svh_flat_r_v2/payloads/geometries.usd filter=lfs diff=lfs merge=lfs -text
+wonikrobotics_allegrohand_allegro/payloads/geometries.usd filter=lfs diff=lfs merge=lfs -text

inspirerobots_inspire_hand_rh56dfx_right_inspire_hand/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json

@@ -0,0 +1,34 @@
+{
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+  "timestamp": "2026-11-04T23:10:22",
+  "assets": [
+    {
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+      "features": [
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+            "version": "0-1-0",
+            "passed": true,
+            "failing_requirements": [],
+            "dependencies": []
+          }
+        },
+        {
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+  }
+}

inspirerobots_inspire_hand_rh56dfx_right_inspire_hand/.metadata/com.nvidia.simready.conformance.Package@1.1.0.json

@@ -0,0 +1,31 @@
+{
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+  "profile": "Package",
+  "profile_version": "1.1.0",
+  "timestamp": "2026-11-04T23:10:24",
+  "assets": [
+    {
+      "asset": "com.nvidia.simready.packaging.json",
+      "features": [
+        {
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+            "version": "0.0.0",
+            "passed": true,
+            "failing_requirements": [],
+            "dependencies": []
+          }
+        },
+        {
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+            "passed": true,
+            "failing_requirements": [],
+            "dependencies": [
+              "CAP030_PackagingCore.OpenUSD.0-2-0"
+            ]
+          }
+        }
+      ]
+    }
+  ]
+}

inspirerobots_inspire_hand_rh56dfx_right_inspire_hand/.metadata/com.nvidia.simready.packaging.bom.json

@@ -0,0 +1,217 @@
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+}

inspirerobots_inspire_hand_rh56dfx_right_inspire_hand/.metadata/com.nvidia.simready.root_usds.json

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

inspirerobots_inspire_hand_rh56dfx_right_inspire_hand/.metadata/inspirerobots_inspire_hand_rh56dfx_right_inspire_hand_validation.json

@@ -0,0 +1,241 @@
+{
+  "simready_usd/inspire_hand.usda": {
+    "features_summary": {
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+        "passed": true,
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+        "passed": true,
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+        "version": "0-1-0"
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+        "dependencies": "['CAP000_Core.OpenUSD.0-1-0']",
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+        "version": "0-1-0"
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+        "dependencies": "[]",
+        "passed": true,
+        "version": "0-1-0"
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+        "dependencies": "['CAP003_RigidBody.MuJoCo.0-1-0']",
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+        "dependencies": "[]",
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+        "dependencies": "['CAP004_Multibody.RobotMuJoCo.0-1-0']",
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+        "version": "0-1-0"
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+        "dependencies": "[]",
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+        "version": "0-3-0"
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+        "blocking_failure": false,
+        "dependencies": "[]",
+        "passed": true,
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+        "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"
+    }
+  }
+}

inspirerobots_inspire_hand_rh56dfx_right_inspire_hand/.metadata/license.txt

@@ -0,0 +1,396 @@
+Attribution 4.0 International
+
+=======================================================================
+
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+Creative Commons may be contacted at creativecommons.org.
+

inspirerobots_inspire_hand_rh56dfx_right_inspire_hand/Textures/Plastic_ABS.mdl

@@ -0,0 +1,42 @@
+mdl 1.4;
+
+using ::OmniPBR import OmniPBR;
+import ::tex::gamma_mode;
+import ::state::normal;
+
+export material Plastic_ABS(*)
+ = OmniPBR(
+    diffuse_color_constant: color(1.0, 1.0, 1.0),
+    diffuse_texture: texture_2d(),     //"./Plastic_ABS/Plastic_ABS_BaseColor.png", ::tex::gamma_srgb
+    albedo_desaturation: 0.f,
+    albedo_add: 0.f,
+    albedo_brightness: 1.f,
+    diffuse_tint: color(0.005f, 0.005f, 0.005f),
+    reflection_roughness_constant: 0.28,
+    reflection_roughness_texture_influence: 0.f,
+    reflectionroughness_texture: texture_2d(),
+    metallic_constant: 0.0,
+    metallic_texture_influence: 0.f,
+    metallic_texture: texture_2d(),
+    specular_level: 0.5f,
+    enable_ORM_texture: true,
+    ORM_texture: texture_2d(),     //"./Plastic_ABS/Plastic_ABS_ORM.png", ::tex::gamma_linear
+    ao_to_diffuse: 0.f,
+    ao_texture: texture_2d(),
+    enable_emission: false,
+    emissive_color: color(0.0, 0.0, 0.0),
+    emissive_mask_texture: texture_2d(),
+    emissive_intensity: 0.0,
+    bump_factor: 1.f,
+    normalmap_texture: texture_2d(),     //"./Plastic_ABS/Plastic_ABS_Normal.png", ::tex::gamma_linear
+    detail_bump_factor: 0.3f,
+    detail_normalmap_texture: texture_2d(),
+    project_uvw: false,
+    world_or_object: false,
+    uv_space_index: 0,
+    texture_translate: float2(0.f),
+    texture_rotate: 0.f,
+    texture_scale: float2(1.f),
+    detail_texture_translate: float2(0.f),
+    detail_texture_rotate: 0.f,
+    detail_texture_scale: float2(1.f));

inspirerobots_inspire_hand_rh56dfx_right_inspire_hand/Textures/Rubber_Smooth.mdl

@@ -0,0 +1,42 @@
+mdl 1.4;
+
+using ::OmniPBR import OmniPBR;
+import ::tex::gamma_mode;
+import ::state::normal;
+
+export material Rubber_Smooth(*)
+ = OmniPBR(
+    diffuse_color_constant: color(0.500000, 0.500000, 0.500000),
+    diffuse_texture: texture_2d("./Rubber_Smooth_BaseColor.png", ::tex::gamma_srgb),
+    albedo_desaturation: 0.f,
+    albedo_add: 0.f,
+    albedo_brightness: 1.f,
+    diffuse_tint: color(1.f, 1.f, 1.f),
+    reflection_roughness_constant: 0.000000,
+    reflection_roughness_texture_influence: 1.f,
+    reflectionroughness_texture: texture_2d(),
+    metallic_constant: 0.000000,
+    metallic_texture_influence: 1.f,
+    metallic_texture: texture_2d(),
+    specular_level: 0.5f,
+    enable_ORM_texture: true,
+    ORM_texture: texture_2d("./Rubber_Smooth_ORM.png", ::tex::gamma_linear),
+    ao_to_diffuse: 0.f,
+    ao_texture: texture_2d(),
+    enable_emission: false,
+    emissive_color: color(1.000000, 1.000000, 1.000000),
+    emissive_mask_texture: texture_2d(),
+    emissive_intensity: 0.000000,
+    bump_factor: 1.f,
+    normalmap_texture: texture_2d("./Rubber_Smooth_Normal.png", ::tex::gamma_linear),
+    detail_bump_factor: 0.300000012f,
+    detail_normalmap_texture: texture_2d(),
+    project_uvw: false,
+    world_or_object: false,
+    uv_space_index: 0,
+    texture_translate: float2(0.f),
+    texture_rotate: 0.f,
+    texture_scale: float2(1.f),
+    detail_texture_translate: float2(0.f),
+    detail_texture_rotate: 0.f,
+    detail_texture_scale: float2(1.f));

inspirerobots_inspire_hand_rh56dfx_right_inspire_hand/com.nvidia.simready.packaging.json

@@ -0,0 +1,49 @@
+{
+  "format_version": "1.0",
+  "package_id": "simready.hf.nvidia.isaacsim-assets.inspirerobots_inspire_hand_rh56dfx_right_inspire_hand.1.0.0",
+  "license": "CC-BY-4.0",
+  "metadata": [
+    {
+      "name": "com.nvidia.simready.conformance.Package-Candidate@1.0.0.json",
+      "hash": {
+        "sha256": "7414122b67854d33ea911b7ae08a3b75432ee01a553b4eec243a17f14b7e70f2"
+      }
+    },
+    {
+      "name": "com.nvidia.simready.packaging.bom.json",
+      "hash": {
+        "sha256": "6e52755f1b59c9c385e6ba3afb15bbc44e355e3b1bdc80abe0ca68c16dd3df72"
+      }
+    },
+    {
+      "name": "com.nvidia.simready.root_usds.json",
+      "hash": {
+        "sha256": "79127f2b649591cb0beb8ea482610058962d37b8775c9cb49304dc8e73914161"
+      }
+    },
+    {
+      "name": "inspirerobots_inspire_hand_rh56dfx_right_inspire_hand_benchmark.json",
+      "hash": {
+        "sha256": "2506cc570845cc8fbe7a06e3d583a2ad842c34f69415bb4d0c8a6f3385e0458b"
+      }
+    },
+    {
+      "name": "inspirerobots_inspire_hand_rh56dfx_right_inspire_hand_validation.json",
+      "hash": {
+        "sha256": "a3417acb0a8017e0a8c03aa57af8530121771a66acf1230b9fd57985297e9a08"
+      }
+    },
+    {
+      "name": "license.txt",
+      "hash": {
+        "sha256": "9ba9550ad48438d0836ddab3da480b3b69ffa0aac7b7878b5a0039e7ab429411"
+      }
+    }
+  ],
+  "content_hash": {
+    "sha256": "4d4e93d6a7efbb6c0fda59103788008ab2fc9b27a9a19f900772ffa0802004aa"
+  },
+  "package_hash": {
+    "sha256": "2bf0be8b2abda97d7db0f2e07bac33b329242dfdb052ea9186401577445c8306"
+  }
+}

inspirerobots_inspire_hand_rh56dfx_right_inspire_hand/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
+);

inspirerobots_inspire_hand_rh56dfx_right_inspire_hand/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
+);

inspirerobots_inspire_hand_rh56dfx_right_inspire_hand/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
+);

inspirerobots_inspire_hand_rh56dfx_right_inspire_hand/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 

inspirerobots_inspire_hand_rh56dfx_right_inspire_hand/payloads/Physics/mujoco.usda

@@ -0,0 +1,570 @@
+#usda 1.0
+(
+    customLayerData = {
+    }
+    endTimeCode = 0
+    kilogramsPerUnit = 1
+    metersPerUnit = 1
+    startTimeCode = -1
+    upAxis = "Z"
+)
+
+over "inspire_hand"
+{
+    over "Physics"
+    {
+        over "right_thumb_1_joint" (
+            delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
+        )
+        {
+        }
+
+        over "right_thumb_2_joint" (
+            delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
+        )
+        {
+        }
+
+        over "right_thumb_3_joint" (
+            delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
+        )
+        {
+        }
+
+        over "right_thumb_4_joint" (
+            delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
+        )
+        {
+        }
+
+        over "right_thumb_rubber_3_joint"
+        {
+        }
+
+        over "right_thumb_pad_joint"
+        {
+        }
+
+        over "right_thumb_tip_joint"
+        {
+        }
+
+        over "right_thumb_rubber_2_joint"
+        {
+        }
+
+        over "right_thumb_rubber_1_joint"
+        {
+        }
+
+        over "right_index_1_joint" (
+            delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
+        )
+        {
+        }
+
+        over "right_index_rubber_1_joint"
+        {
+        }
+
+        over "right_index_2_joint" (
+            delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
+        )
+        {
+        }
+
+        over "right_index_rubber_2_joint"
+        {
+        }
+
+        over "right_index_pad_joint"
+        {
+        }
+
+        over "right_index_tip_joint"
+        {
+        }
+
+        over "right_middle_1_joint" (
+            delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
+        )
+        {
+        }
+
+        over "right_middle_rubber_1_joint"
+        {
+        }
+
+        over "right_middle_2_joint" (
+            delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
+        )
+        {
+        }
+
+        over "right_middle_rubber_2_joint"
+        {
+        }
+
+        over "right_middle_pad_joint"
+        {
+        }
+
+        over "right_middle_tip_joint"
+        {
+        }
+
+        over "right_ring_1_joint" (
+            delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
+        )
+        {
+        }
+
+        over "right_ring_rubber_1_joint"
+        {
+        }
+
+        over "right_ring_2_joint" (
+            delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
+        )
+        {
+        }
+
+        over "right_ring_rubber_2_joint"
+        {
+        }
+
+        over "right_ring_pad_joint"
+        {
+        }
+
+        over "right_ring_tip_joint"
+        {
+        }
+
+        over "right_little_1_joint" (
+            delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
+        )
+        {
+        }
+
+        over "right_little_rubber_1_joint"
+        {
+        }
+
+        over "right_little_2_joint" (
+            delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
+        )
+        {
+        }
+
+        over "right_little_rubber_2_joint"
+        {
+        }
+
+        over "right_little_pad_joint"
+        {
+        }
+
+        over "right_little_tip_joint"
+        {
+        }
+
+        over "FixedJoint"
+        {
+        }
+
+        over "palm_joint"
+        {
+        }
+    }
+
+    over "r_base_link"
+    {
+        over "r_base_link"
+        {
+        }
+
+        over "r_base_link_1"
+        {
+        }
+    }
+
+    over "right_thumb_1"
+    {
+        over "right_thumb_1"
+        {
+        }
+
+        over "right_thumb_1_1"
+        {
+        }
+    }
+
+    over "right_index_1"
+    {
+        over "right_index_1"
+        {
+        }
+
+        over "right_index_1_1"
+        {
+        }
+    }
+
+    over "right_middle_1"
+    {
+        over "right_middle_1"
+        {
+        }
+
+        over "right_middle_1_1"
+        {
+        }
+    }
+
+    over "right_ring_1"
+    {
+        over "right_ring_1"
+        {
+        }
+
+        over "right_ring_1_1"
+        {
+        }
+    }
+
+    over "right_little_1"
+    {
+        over "right_little_1"
+        {
+        }
+
+        over "right_little_1_1"
+        {
+        }
+    }
+
+    over "right_little_rubber_1"
+    {
+        over "right_little_rubber_1"
+        {
+        }
+
+        over "right_little_rubber_1_1"
+        {
+        }
+    }
+
+    over "right_little_2"
+    {
+        over "right_little_2"
+        {
+        }
+
+        over "right_little_2_1"
+        {
+        }
+    }
+
+    over "right_ring_2"
+    {
+        over "right_ring_2"
+        {
+        }
+
+        over "right_ring_2_1"
+        {
+        }
+    }
+
+    over "right_ring_rubber_1"
+    {
+        over "right_ring_rubber_1"
+        {
+        }
+
+        over "right_ring_rubber_1_1"
+        {
+        }
+    }
+
+    over "right_middle_2"
+    {
+        over "right_middle_2"
+        {
+        }
+
+        over "right_middle_2_1"
+        {
+        }
+    }
+
+    over "right_middle_rubber_1"
+    {
+        over "right_middle_rubber_1"
+        {
+        }
+
+        over "right_middle_rubber_1_1"
+        {
+        }
+    }
+
+    over "right_index_2"
+    {
+        over "right_index_2"
+        {
+        }
+
+        over "right_index_2_1"
+        {
+        }
+    }
+
+    over "right_index_rubber_1"
+    {
+        over "right_index_rubber_1"
+        {
+        }
+
+        over "right_index_rubber_1_1"
+        {
+        }
+    }
+
+    over "right_thumb_2"
+    {
+        over "right_thumb_2"
+        {
+        }
+
+        over "right_thumb_2_1"
+        {
+        }
+    }
+
+    over "right_thumb_rubber_1"
+    {
+        over "right_thumb_rubber_1"
+        {
+        }
+
+        over "right_thumb_rubber_1_1"
+        {
+        }
+    }
+
+    over "right_thumb_3"
+    {
+        over "right_thumb_3"
+        {
+        }
+
+        over "right_thumb_3_1"
+        {
+        }
+    }
+
+    over "right_index_rubber_2"
+    {
+        over "right_index_rubber_2"
+        {
+        }
+
+        over "right_index_rubber_2_1"
+        {
+        }
+    }
+
+    over "right_middle_rubber_2"
+    {
+        over "right_middle_rubber_2"
+        {
+        }
+
+        over "right_middle_rubber_2_1"
+        {
+        }
+    }
+
+    over "right_ring_rubber_2"
+    {
+        over "right_ring_rubber_2"
+        {
+        }
+
+        over "right_ring_rubber_2_1"
+        {
+        }
+    }
+
+    over "right_ring_tip"
+    {
+        over "right_ring_tip"
+        {
+        }
+
+        over "right_ring_tip_1"
+        {
+        }
+    }
+
+    over "right_ring_pad"
+    {
+        over "right_ring_pad"
+        {
+        }
+
+        over "right_ring_pad_1"
+        {
+        }
+    }
+
+    over "right_middle_tip"
+    {
+        over "right_middle_tip"
+        {
+        }
+
+        over "right_middle_tip_1"
+        {
+        }
+    }
+
+    over "right_middle_pad"
+    {
+        over "right_middle_pad"
+        {
+        }
+
+        over "right_middle_pad_1"
+        {
+        }
+    }
+
+    over "right_index_tip"
+    {
+        over "right_index_tip"
+        {
+        }
+
+        over "right_index_tip_1"
+        {
+        }
+    }
+
+    over "right_index_pad"
+    {
+        over "right_index_pad"
+        {
+        }
+
+        over "right_index_pad_1"
+        {
+        }
+    }
+
+    over "right_thumb_rubber_2"
+    {
+        over "right_thumb_rubber_2"
+        {
+        }
+
+        over "right_thumb_rubber_2_1"
+        {
+        }
+    }
+
+    over "right_thumb_4"
+    {
+        over "right_thumb_4"
+        {
+        }
+
+        over "right_thumb_4_1"
+        {
+        }
+    }
+
+    over "right_thumb_rubber_3"
+    {
+        over "right_thumb_rubber_3"
+        {
+        }
+
+        over "right_thumb_rubber_3_1"
+        {
+        }
+    }
+
+    over "right_thumb_pad"
+    {
+        over "right_thumb_pad"
+        {
+        }
+
+        over "right_thumb_pad_1"
+        {
+        }
+    }
+
+    over "right_thumb_tip"
+    {
+        over "right_thumb_tip"
+        {
+        }
+
+        over "right_thumb_tip_1"
+        {
+        }
+    }
+
+    over "right_little_rubber_2"
+    {
+        over "right_little_rubber_2"
+        {
+        }
+
+        over "right_little_rubber_2_1"
+        {
+        }
+    }
+
+    over "right_little_pad"
+    {
+        over "right_little_pad"
+        {
+        }
+
+        over "right_little_pad_1"
+        {
+        }
+    }
+
+    over "right_little_tip"
+    {
+        over "right_little_tip"
+        {
+        }
+
+        over "right_little_tip_1"
+        {
+        }
+    }
+
+    over "palm"
+    {
+        over "plam"
+        {
+        }
+
+        over "plam_1"
+        {
+        }
+    }
+
+    over "VisualMaterials"
+    {
+    }
+}
+

inspirerobots_inspire_hand_rh56dfx_right_inspire_hand/payloads/Physics/none.usda

@@ -0,0 +1,16 @@
+#usda 1.0
+(
+    customLayerData = {
+    }
+    defaultPrim = "inspire_hand"
+    endTimeCode = 0
+    kilogramsPerUnit = 1
+    metersPerUnit = 1
+    startTimeCode = -1
+    upAxis = "Z"
+)
+
+def "inspire_hand"
+{
+}
+

inspirerobots_inspire_hand_rh56dfx_right_inspire_hand/payloads/Physics/physics.usda

@@ -0,0 +1,1518 @@
+#usda 1.0
+(
+    customLayerData = {
+    }
+    defaultPrim = "inspire_hand"
+    endTimeCode = 0
+    kilogramsPerUnit = 1
+    metersPerUnit = 1
+    startTimeCode = -1
+    upAxis = "Z"
+)
+
+over "inspire_hand" (
+    prepend apiSchemas = ["MaterialBindingAPI"]
+)
+{
+    string[] isaac:changelog (
+        displayName = "Changelog"
+    )
+    string isaac:description (
+        displayName = "Description"
+    )
+    token isaac:license (
+        displayName = "License"
+    )
+    string isaac:namespace (
+        displayName = "Namespace"
+    )
+    rel isaac:physics:robotJoints (
+        displayName = "Robot Joints"
+    )
+    rel isaac:physics:robotLinks (
+        displayName = "Robot Links"
+    )
+    token isaac:robotType (
+        displayName = "Robot Type"
+    )
+    string isaac:source (
+        displayName = "Source"
+    )
+    string isaac:version (
+        displayName = "Version"
+    )
+    rel material:binding:physics = </inspire_hand/Physics/PhysicsMaterial>
+
+    over "Physics"
+    {
+        def PhysicsRevoluteJoint "right_thumb_1_joint" (
+            prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
+        )
+        {
+            float drive:angular:physics:damping = 0.02
+            float drive:angular:physics:maxForce = 2
+            float drive:angular:physics:stiffness = 0.8
+            float drive:angular:physics:targetPosition = 0.0020312648
+            float drive:angular:physics:targetVelocity = 0
+            bool[] isaac:actuator
+            string isaac:NameOverride
+            token[] isaac:physics:DofOffsetOpOrder
+            uniform token physics:axis = "Z"
+            custom rel physics:body0 = </inspire_hand/r_base_link>
+            custom rel physics:body1 = </inspire_hand/right_thumb_1>
+            point3f physics:localPos0 = (0.01696, 0.02045, 0.0667)
+            point3f physics:localPos1 = (6.192923e-10, -2.8014183e-10, -3.4093857e-9)
+            quatf physics:localRot0 = (-1.6081226e-16, 1, 0, 0)
+            quatf physics:localRot1 = (-1.6081226e-16, 1, 0, 0)
+            float physics:lowerLimit = 0
+            float physics:upperLimit = 75.000175
+            float state:angular:physics:position = 0.0020312648
+            float state:angular:physics:velocity = 0
+            custom float urdf:limit:effort = 1
+            custom float urdf:limit:velocity = 2
+        }
+
+        def PhysicsRevoluteJoint "right_thumb_2_joint" (
+            prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
+        )
+        {
+            float drive:angular:physics:damping = 0.025
+            float drive:angular:physics:maxForce = 2
+            float drive:angular:physics:stiffness = 0.8
+            float drive:angular:physics:targetPosition = 0.024421632
+            float drive:angular:physics:targetVelocity = 0
+            bool[] isaac:actuator
+            string isaac:NameOverride
+            token[] isaac:physics:DofOffsetOpOrder
+            uniform token physics:axis = "Z"
+            custom rel physics:body0 = </inspire_hand/right_thumb_1>
+            custom rel physics:body1 = </inspire_hand/right_thumb_2>
+            point3f physics:localPos0 = (0.0107040005, 0.009037601, -0.0065000015)
+            point3f physics:localPos1 = (-5.7490906e-10, -1.680851e-9, -2.0329793e-11)
+            quatf physics:localRot0 = (-0.4304589, 0.43045735, -0.56098545, 0.5609875)
+            quatf physics:localRot1 = (1.1030361e-8, 1, 1.4375206e-8, 2.661575e-8)
+            float physics:lowerLimit = 0
+            float physics:upperLimit = 30.00007
+            float state:angular:physics:position = 0.024421632
+            float state:angular:physics:velocity = 0
+            custom float urdf:limit:effort = 1
+            custom float urdf:limit:velocity = 2
+        }
+
+        def PhysicsRevoluteJoint "right_thumb_3_joint" (
+            prepend apiSchemas = ["PhysicsJointStateAPI:angular"]
+        )
+        {
+            uniform token physics:axis = "Z"
+            custom rel physics:body0 = </inspire_hand/right_thumb_2>
+            custom rel physics:body1 = </inspire_hand/right_thumb_3>
+            point3f physics:localPos0 = (-0.041584, 0.037508003, 0.0004999986)
+            point3f physics:localPos1 = (-6.430835e-10, 2.911223e-9, -1.380472e-9)
+            quatf physics:localRot0 = (1.1030361e-8, 1, 1.4375206e-8, 2.661575e-8)
+            quatf physics:localRot1 = (1.1030361e-8, 1, 1.4375206e-8, 2.661575e-8)
+            float physics:lowerLimit = 0
+            float physics:upperLimit = 34.275085
+            float state:angular:physics:position = -0.0058551845
+            float state:angular:physics:velocity = 0
+            custom float urdf:limit:effort = 1
+            custom float urdf:limit:velocity = 2
+        }
+
+        def PhysicsRevoluteJoint "right_thumb_4_joint" (
+            prepend apiSchemas = ["PhysicsJointStateAPI:angular"]
+        )
+        {
+            uniform token physics:axis = "Z"
+            custom rel physics:body0 = </inspire_hand/right_thumb_3>
+            custom rel physics:body1 = </inspire_hand/right_thumb_4>
+            point3f physics:localPos0 = (-0.018393002, 0.013222002, 0.0014999995)
+            point3f physics:localPos1 = (-1.996711e-9, 2.109594e-9, -4.629426e-10)
+            quatf physics:localRot0 = (1.1030361e-8, 1, 1.4375206e-8, 2.661575e-8)
+            quatf physics:localRot1 = (1.1030361e-8, 1, 1.4375206e-8, 2.661575e-8)
+            float physics:lowerLimit = -0.1
+            float physics:upperLimit = 25.63374
+            float state:angular:physics:position = 0.00060249155
+            float state:angular:physics:velocity = 0
+            custom float urdf:limit:effort = 1
+            custom float urdf:limit:velocity = 2
+        }
+
+        def PhysicsRevoluteJoint "right_index_1_joint" (
+            prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
+        )
+        {
+            float drive:angular:physics:damping = 0.015
+            float drive:angular:physics:maxForce = 2
+            float drive:angular:physics:stiffness = 0.8
+            float drive:angular:physics:targetPosition = 0.0040998156
+            float drive:angular:physics:targetVelocity = 0
+            bool[] isaac:actuator
+            string isaac:NameOverride
+            token[] isaac:physics:DofOffsetOpOrder
+            uniform token physics:axis = "Z"
+            custom rel physics:body0 = </inspire_hand/r_base_link>
+            custom rel physics:body1 = </inspire_hand/right_index_1>
+            point3f physics:localPos0 = (-0.00028533, 0.032168, 0.13653)
+            point3f physics:localPos1 = (4.3231248e-12, -2.9743368e-9, -1.040914e-9)
+            quatf physics:localRot0 = (-0.6946621, 0.7193362, 0, 0)
+            quatf physics:localRot1 = (-1.8855462e-10, 1, 0, 0)
+            float physics:lowerLimit = 0
+            float physics:upperLimit = 77.00553
+            float state:angular:physics:position = 0.0040998156
+            float state:angular:physics:velocity = 0
+            custom float urdf:limit:effort = 1
+            custom float urdf:limit:velocity = 2
+        }
+
+        def PhysicsRevoluteJoint "right_index_2_joint" (
+            prepend apiSchemas = ["PhysicsJointStateAPI:angular"]
+        )
+        {
+            uniform token physics:axis = "Z"
+            custom rel physics:body0 = </inspire_hand/right_index_1>
+            custom rel physics:body1 = </inspire_hand/right_index_2>
+            point3f physics:localPos0 = (0.0071189003, 0.031333998, 0.0008000014)
+            point3f physics:localPos1 = (7.801532e-11, -3.6324226e-9, 1.3805375e-9)
+            quatf physics:localRot0 = (-1.8855462e-10, 1, 0, 0)
+            quatf physics:localRot1 = (-1.8855462e-10, 1, 0, 0)
+            float physics:lowerLimit = 0
+            float physics:upperLimit = 87.490654
+            float state:angular:physics:position = 0.1523337
+            float state:angular:physics:velocity = 0
+            custom float urdf:limit:effort = 1
+            custom float urdf:limit:velocity = 2
+        }
+
+        def PhysicsRevoluteJoint "right_middle_1_joint" (
+            prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
+        )
+        {
+            float drive:angular:physics:damping = 0.015
+            float drive:angular:physics:maxForce = 2
+            float drive:angular:physics:stiffness = 0.8
+            float drive:angular:physics:targetPosition = -0.00004728383
+            float drive:angular:physics:targetVelocity = 0
+            bool[] isaac:actuator
+            string isaac:NameOverride
+            token[] isaac:physics:DofOffsetOpOrder
+            uniform token physics:axis = "Z"
+            custom rel physics:body0 = </inspire_hand/r_base_link>
+            custom rel physics:body1 = </inspire_hand/right_middle_1>
+            point3f physics:localPos0 = (-0.00028533, 0.01285, 0.1371)
+            point3f physics:localPos1 = (4.3231248e-12, -3.790854e-9, 4.08306e-10)
+            quatf physics:localRot0 = (0.7071081, -0.70710546, 0, 0)
+            quatf physics:localRot1 = (-6.405457e-14, 1, 0, 0)
+            float physics:lowerLimit = 0
+            float physics:upperLimit = 77.00553
+            float state:angular:physics:position = -0.00004728383
+            float state:angular:physics:velocity = 0
+            custom float urdf:limit:effort = 1
+            custom float urdf:limit:velocity = 2
+        }
+
+        def PhysicsRevoluteJoint "right_middle_2_joint" (
+            prepend apiSchemas = ["PhysicsJointStateAPI:angular"]
+        )
+        {
+            uniform token physics:axis = "Z"
+            custom rel physics:body0 = </inspire_hand/right_middle_1>
+            custom rel physics:body1 = </inspire_hand/right_middle_2>
+            point3f physics:localPos0 = (0.0071189003, 0.031333998, 0.00080000004)
+            point3f physics:localPos1 = (7.801533e-11, -2.9504679e-9, 3.949925e-11)
+            quatf physics:localRot0 = (-6.405457e-14, 1, 0, 0)
+            quatf physics:localRot1 = (-6.405457e-14, 1, 0, 0)
+            float physics:lowerLimit = 0
+            float physics:upperLimit = 87.490654
+            float state:angular:physics:position = 0.12932995
+            float state:angular:physics:velocity = 0
+            custom float urdf:limit:effort = 1
+            custom float urdf:limit:velocity = 2
+        }
+
+        def PhysicsRevoluteJoint "right_ring_1_joint" (
+            prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
+        )
+        {
+            float drive:angular:physics:damping = 0.015
+            float drive:angular:physics:maxForce = 2
+            float drive:angular:physics:stiffness = 0.8
+            float drive:angular:physics:targetPosition = 0.0005266489
+            float drive:angular:physics:targetVelocity = 0
+            bool[] isaac:actuator
+            string isaac:NameOverride
+            token[] isaac:physics:DofOffsetOpOrder
+            uniform token physics:axis = "Z"
+            custom rel physics:body0 = </inspire_hand/r_base_link>
+            custom rel physics:body1 = </inspire_hand/right_ring_1>
+            point3f physics:localPos0 = (-0.00028533, -0.006387, 0.13691)
+            point3f physics:localPos1 = (4.3231248e-12, 6.393674e-9, -3.6323258e-10)
+            quatf physics:localRot0 = (0.7253894, -0.6883387, 0, 0)
+            quatf physics:localRot1 = (-6.509616e-10, 1, 0, 0)
+            float physics:lowerLimit = 0
+            float physics:upperLimit = 77.00553
+            float state:angular:physics:position = 0.0005266489
+            float state:angular:physics:velocity = 0
+            custom float urdf:limit:effort = 1
+            custom float urdf:limit:velocity = 2
+        }
+
+        def PhysicsRevoluteJoint "right_ring_2_joint" (
+            prepend apiSchemas = ["PhysicsJointStateAPI:angular"]
+        )
+        {
+            uniform token physics:axis = "Z"
+            custom rel physics:body0 = </inspire_hand/right_ring_1>
+            custom rel physics:body1 = </inspire_hand/right_ring_2>
+            point3f physics:localPos0 = (0.0071189003, 0.031334, 0.00080000004)
+            point3f physics:localPos1 = (7.801533e-11, 2.5874744e-10, 3.947774e-11)
+            quatf physics:localRot0 = (-6.509616e-10, 1, 0, 0)
+            quatf physics:localRot1 = (-6.509616e-10, 1, 0, 0)
+            float physics:lowerLimit = 0
+            float physics:upperLimit = 87.490654
+            float state:angular:physics:position = 0.13946456
+            float state:angular:physics:velocity = 0
+            custom float urdf:limit:effort = 1
+            custom float urdf:limit:velocity = 2
+        }
+
+        def PhysicsRevoluteJoint "right_little_1_joint" (
+            prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
+        )
+        {
+            float drive:angular:physics:damping = 0.015
+            float drive:angular:physics:maxForce = 2
+            float drive:angular:physics:stiffness = 0.8
+            float drive:angular:physics:targetPosition = 0.0015600597
+            float drive:angular:physics:targetVelocity = 0
+            bool[] isaac:actuator
+            string isaac:NameOverride
+            token[] isaac:physics:DofOffsetOpOrder
+            uniform token physics:axis = "Z"
+            custom rel physics:body0 = </inspire_hand/r_base_link>
+            custom rel physics:body1 = </inspire_hand/right_little_1>
+            point3f physics:localPos0 = (-0.00028533, -0.025587, 0.1357)
+            point3f physics:localPos1 = (4.3231248e-12, 2.2950615e-9, -2.8865016e-10)
+            quatf physics:localRot0 = (0.74313945, -0.6691366, 0, 0)
+            quatf physics:localRot1 = (1.7235711e-10, 1, 0, 0)
+            float physics:lowerLimit = 0
+            float physics:upperLimit = 77.00553
+            float state:angular:physics:position = 0.0015600597
+            float state:angular:physics:velocity = 0
+            custom float urdf:limit:effort = 1
+            custom float urdf:limit:velocity = 2
+        }
+
+        def PhysicsRevoluteJoint "right_little_2_joint" (
+            prepend apiSchemas = ["PhysicsJointStateAPI:angular"]
+        )
+        {
+            uniform token physics:axis = "Z"
+            custom rel physics:body0 = </inspire_hand/right_little_1>
+            custom rel physics:body1 = </inspire_hand/right_little_2>
+            point3f physics:localPos0 = (0.0071189003, 0.031333998, 0.00080000027)
+            point3f physics:localPos1 = (7.801532e-11, -3.802585e-9, 2.9762995e-10)
+            quatf physics:localRot0 = (1.7235711e-10, 1, 0, 0)
+            quatf physics:localRot1 = (1.7235711e-10, 1, 0, 0)
+            float physics:lowerLimit = 0
+            float physics:upperLimit = 87.490654
+            float state:angular:physics:position = 0.14412639
+            float state:angular:physics:velocity = 0
+            custom float urdf:limit:effort = 1
+            custom float urdf:limit:velocity = 2
+        }
+
+        def PhysicsFixedJoint "right_thumb_rubber_3_joint"
+        {
+            custom rel physics:body0 = </inspire_hand/right_thumb_4>
+            custom rel physics:body1 = </inspire_hand/right_thumb_rubber_3>
+            point3f physics:localPos0 = (-0.0016179979, 0.009709002, 0.0060000005)
+            point3f physics:localPos1 = (-4.3510673e-10, 5.615379e-10, 2.861064e-9)
+            quatf physics:localRot0 = (0.6702149, -0.20799269, 0.6825223, 0.20424087)
+            quatf physics:localRot1 = (1, -3.1266485e-8, -7.2541795e-8, -9.476373e-9)
+        }
+
+        def PhysicsFixedJoint "right_thumb_pad_joint"
+        {
+            custom rel physics:body0 = </inspire_hand/right_thumb_rubber_3>
+            custom rel physics:body1 = </inspire_hand/right_thumb_pad>
+            point3f physics:localPos0 = (0.00001973256, 0.007876834, -0.001087649)
+            point3f physics:localPos1 = (1.9462703e-9, -4.6921467e-9, -1.5422584e-9)
+            quatf physics:localRot0 = (0.98693997, -0.16083227, -0.00896506, -0.0014536111)
+            quatf physics:localRot1 = (1, -6.887664e-8, 9.066396e-9, 2.6639132e-8)
+        }
+
+        def PhysicsFixedJoint "right_thumb_tip_joint"
+        {
+            custom rel physics:body0 = </inspire_hand/right_thumb_pad>
+            custom rel physics:body1 = </inspire_hand/right_thumb_tip>
+            point3f physics:localPos0 = (1.9846262e-7, 0.008839671, -0.003847539)
+            point3f physics:localPos1 = (0, 0, 0)
+            quatf physics:localRot0 = (0.87191683, -0.48960567, -0.0059734923, 0.0034218272)
+            quatf physics:localRot1 = (1, 0, 0, 0)
+        }
+
+        def PhysicsFixedJoint "right_thumb_rubber_2_joint"
+        {
+            custom rel physics:body0 = </inspire_hand/right_thumb_3>
+            custom rel physics:body1 = </inspire_hand/right_thumb_rubber_2>
+            point3f physics:localPos0 = (-0.005070003, 0.011873998, 0.007500001)
+            point3f physics:localPos1 = (-1.0872154e-9, 1.5924182e-9, -3.292168e-9)
+            quatf physics:localRot0 = (0.6068596, -0.35679203, 0.61769503, 0.35053343)
+            quatf physics:localRot1 = (1, 1.2234312e-7, 1.7031403e-9, -4.03925e-8)
+        }
+
+        def PhysicsFixedJoint "right_thumb_rubber_1_joint"
+        {
+            custom rel physics:body0 = </inspire_hand/right_thumb_2>
+            custom rel physics:body1 = </inspire_hand/right_thumb_rubber_1>
+            point3f physics:localPos0 = (-0.0130469985, 0.031386, 0.007999099)
+            point3f physics:localPos1 = (1.2564741e-9, -9.725813e-10, 9.680877e-10)
+            quatf physics:localRot0 = (0.6260834, -0.32403147, 0.6326149, 0.32065806)
+            quatf physics:localRot1 = (1, -1.36143035e-8, 1.5695102e-9, 5.474611e-9)
+        }
+
+        def PhysicsFixedJoint "right_index_rubber_1_joint"
+        {
+            custom rel physics:body0 = </inspire_hand/right_index_1>
+            custom rel physics:body1 = </inspire_hand/right_index_rubber_1>
+            point3f physics:localPos0 = (0.010962, 0.015475006, 0.005899101)
+            point3f physics:localPos1 = (-9.0036434e-10, 5.8385163e-9, 2.7678548e-10)
+            quatf physics:localRot0 = (0.7067159, -0.023508254, 0.706716, 0.023505667)
+            quatf physics:localRot1 = (1, 3.2392318e-8, 3.3623696e-8, 3.4703355e-8)
+        }
+
+        def PhysicsFixedJoint "right_index_rubber_2_joint"
+        {
+            custom rel physics:body0 = </inspire_hand/right_index_2>
+            custom rel physics:body1 = </inspire_hand/right_index_rubber_2>
+            point3f physics:localPos0 = (0.0070147, 0.012486005, 0.0050557004)
+            point3f physics:localPos1 = (-2.2035573e-10, 5.1054996e-9, -3.2391995e-10)
+            quatf physics:localRot0 = (0.70568174, 0.044869784, 0.7059784, -0.039931554)
+            quatf physics:localRot1 = (1, -2.685961e-8, -2.7532424e-8, -2.3734327e-8)
+        }
+
+        def PhysicsFixedJoint "right_index_pad_joint"
+        {
+            custom rel physics:body0 = </inspire_hand/right_index_rubber_2>
+            custom rel physics:body1 = </inspire_hand/right_index_pad>
+            point3f physics:localPos0 = (0.000030024512, 0.023788214, 0.0056216563)
+            point3f physics:localPos1 = (1.2849274e-10, 6.421435e-9, -4.7770225e-11)
+            quatf physics:localRot0 = (0.9993929, 0.034838825, -0.000028137736, -0.00018014848)
+            quatf physics:localRot1 = (1, -1.2157582e-8, -1.2444883e-8, -9.990222e-9)
+        }
+
+        def PhysicsFixedJoint "right_index_tip_joint"
+        {
+            custom rel physics:body0 = </inspire_hand/right_index_pad>
+            custom rel physics:body1 = </inspire_hand/right_index_tip>
+            point3f physics:localPos0 = (-0.0000198326, 0.0071944217, -0.0036742052)
+            point3f physics:localPos1 = (0, 0, 0)
+            quatf physics:localRot0 = (0.57983184, -0.4078495, -0.40470964, -0.5776365)
+            quatf physics:localRot1 = (1, 0, 0, 0)
+        }
+
+        def PhysicsFixedJoint "right_middle_rubber_1_joint"
+        {
+            custom rel physics:body0 = </inspire_hand/right_middle_1>
+            custom rel physics:body1 = </inspire_hand/right_middle_rubber_1>
+            point3f physics:localPos0 = (0.010962, 0.015474994, 0.0058999998)
+            point3f physics:localPos1 = (1.8511696e-11, -6.575064e-9, -5.499371e-10)
+            quatf physics:localRot0 = (0.7067159, -0.023508273, 0.706716, 0.023505682)
+            quatf physics:localRot1 = (1, 1.4379748e-8, 1.4379748e-8, 1.5369269e-8)
+        }
+
+        def PhysicsFixedJoint "right_middle_rubber_2_joint"
+        {
+            custom rel physics:body0 = </inspire_hand/right_middle_2>
+            custom rel physics:body1 = </inspire_hand/right_middle_rubber_2>
+            point3f physics:localPos0 = (0.0072844997, 0.0125180045, 0.0050017997)
+            point3f physics:localPos1 = (1.3900645e-10, 4.3719237e-9, -8.745094e-10)
+            quatf physics:localRot0 = (0.70501715, 0.05432166, 0.7052848, -0.05072796)
+            quatf physics:localRot1 = (1, -1.592668e-8, -4.7678746e-8, 1.4609911e-8)
+        }
+
+        def PhysicsFixedJoint "right_middle_pad_joint"
+        {
+            custom rel physics:body0 = </inspire_hand/right_middle_rubber_2>
+            custom rel physics:body1 = </inspire_hand/right_middle_pad>
+            point3f physics:localPos0 = (0.000052543714, 0.027501822, 0.005459816)
+            point3f physics:localPos1 = (-9.425753e-11, 7.3959585e-9, -7.6859275e-10)
+            quatf physics:localRot0 = (0.99999666, -0.0025835803, -7.168341e-8, 0.000026121528)
+            quatf physics:localRot1 = (1, 1.5602385e-8, 1.5532821e-8, 1.3519463e-8)
+        }
+
+        def PhysicsFixedJoint "right_middle_tip_joint"
+        {
+            custom rel physics:body0 = </inspire_hand/right_middle_pad>
+            custom rel physics:body1 = </inspire_hand/right_middle_tip>
+            point3f physics:localPos0 = (-0.000030720326, 0.0073085586, -0.0031877807)
+            point3f physics:localPos1 = (0, 0, 0)
+            quatf physics:localRot0 = (0.6053515, -0.3712604, -0.36544418, -0.6018022)
+            quatf physics:localRot1 = (1, 0, 0, 0)
+        }
+
+        def PhysicsFixedJoint "right_ring_rubber_1_joint"
+        {
+            custom rel physics:body0 = </inspire_hand/right_ring_1>
+            custom rel physics:body1 = </inspire_hand/right_ring_rubber_1>
+            point3f physics:localPos0 = (0.010962, 0.015474996, 0.0059)
+            point3f physics:localPos1 = (-1.537554e-10, -4.2908335e-9, -3.978114e-10)
+            quatf physics:localRot0 = (0.7067159, -0.023508273, 0.706716, 0.023505693)
+            quatf physics:localRot1 = (1, 1.5146348e-8, 1.4320989e-8, 1.6133654e-8)
+        }
+
+        def PhysicsFixedJoint "right_ring_rubber_2_joint"
+        {
+            custom rel physics:body0 = </inspire_hand/right_ring_2>
+            custom rel physics:body1 = </inspire_hand/right_ring_rubber_2>
+            point3f physics:localPos0 = (0.006853394, 0.012369346, 0.005085203)
+            point3f physics:localPos1 = (-5.273076e-10, -2.3360278e-9, 4.5003457e-10)
+            quatf physics:localRot0 = (0.7054384, 0.048546012, 0.70604336, -0.038765434)
+            quatf physics:localRot1 = (1, 7.827796e-9, 7.3824156e-9, 6.9710997e-9)
+        }
+
+        def PhysicsFixedJoint "right_ring_pad_joint"
+        {
+            custom rel physics:body0 = </inspire_hand/right_ring_rubber_2>
+            custom rel physics:body1 = </inspire_hand/right_ring_pad>
+            point3f physics:localPos0 = (-0.00003192573, 0.0237882, 0.005621647)
+            point3f physics:localPos1 = (-4.913817e-10, -6.6035035e-9, 2.0930413e-9)
+            quatf physics:localRot0 = (0.9993929, 0.034838703, 0.000032897056, 0.0002059084)
+            quatf physics:localRot1 = (1, -1.1674603e-10, -1.105062e-10, -9.733529e-11)
+        }
+
+        def PhysicsFixedJoint "right_ring_tip_joint"
+        {
+            custom rel physics:body0 = </inspire_hand/right_ring_pad>
+            custom rel physics:body1 = </inspire_hand/right_ring_tip>
+            point3f physics:localPos0 = (0.000021102542, 0.0071944185, -0.003674204)
+            point3f physics:localPos1 = (0, 0, 0)
+            quatf physics:localRot0 = (-0.5775682, 0.40462518, 0.40793362, 0.57989967)
+            quatf physics:localRot1 = (1, 0, 0, 0)
+        }
+
+        def PhysicsFixedJoint "right_little_rubber_1_joint"
+        {
+            custom rel physics:body0 = </inspire_hand/right_little_1>
+            custom rel physics:body1 = </inspire_hand/right_little_rubber_1>
+            point3f physics:localPos0 = (0.010962, 0.015474996, 0.0059000016)
+            point3f physics:localPos1 = (-1.8148505e-9, -4.1593022e-9, -3.890515e-10)
+            quatf physics:localRot0 = (0.7067159, -0.023508288, 0.706716, 0.023505673)
+            quatf physics:localRot1 = (1, -2.0824094e-8, -1.8615347e-8, -2.2109974e-8)
+        }
+
+        def PhysicsFixedJoint "right_little_rubber_2_joint"
+        {
+            custom rel physics:body0 = </inspire_hand/right_little_2>
+            custom rel physics:body1 = </inspire_hand/right_little_rubber_2>
+            point3f physics:localPos0 = (0.0060598003, 0.012027997, 0.0050999993)
+            point3f physics:localPos1 = (5.909708e-10, -3.7759067e-9, 3.7874806e-10)
+            quatf physics:localRot0 = (0.7071026, 0.0024408407, 0.70710254, -0.0024382116)
+            quatf physics:localRot1 = (1, 5.738803e-9, 5.171041e-9, 5.7032583e-9)
+        }
+
+        def PhysicsFixedJoint "right_little_pad_joint"
+        {
+            custom rel physics:body0 = </inspire_hand/right_little_rubber_2>
+            custom rel physics:body1 = </inspire_hand/right_little_pad>
+            point3f physics:localPos0 = (8.7325824e-10, 0.01581066, 0.006224508)
+            point3f physics:localPos1 = (8.7325824e-10, 4.6348858e-10, -1.4252161e-9)
+            quatf physics:localRot0 = (0.9931447, 0.116891496, -1.5952557e-8, 3.756071e-9)
+            quatf physics:localRot1 = (1, -2.716144e-9, -2.5018274e-9, -2.181656e-9)
+        }
+
+        def PhysicsFixedJoint "right_little_tip_joint"
+        {
+            custom rel physics:body0 = </inspire_hand/right_little_pad>
+            custom rel physics:body1 = </inspire_hand/right_little_tip>
+            point3f physics:localPos0 = (-2.2221573e-9, 0.0069083394, -0.004298011)
+            point3f physics:localPos1 = (0, 0, 0)
+            quatf physics:localRot0 = (-0.5349028, 0.4624704, 0.46247017, 0.5349032)
+            quatf physics:localRot1 = (1, 0, 0, 0)
+        }
+
+        def PhysicsFixedJoint "palm_joint"
+        {
+            custom rel physics:body0 = </inspire_hand/r_base_link>
+            custom rel physics:body1 = </inspire_hand/palm>
+            point3f physics:localPos0 = (0.014363, -0.0044514, 0.10148)
+            point3f physics:localPos1 = (-1.3471309e-10, -2.789491e-10, 1.6939693e-10)
+            quatf physics:localRot0 = (0.49999815, 0.5, 0.50000185, 0.5)
+            quatf physics:localRot1 = (1, 2.8450504e-12, 2.8450471e-12, 2.8450651e-12)
+        }
+
+        def PhysicsFixedJoint "FixedJoint"
+        {
+            custom rel physics:body1 = </inspire_hand/r_base_link>
+            float physics:breakForce = 3.4028235e38
+            float physics:breakTorque = 3.4028235e38
+            point3f physics:localPos0 = (0, 0, 0)
+            point3f physics:localPos1 = (0, 0, 0)
+            quatf physics:localRot0 = (1, 0, 0, 0)
+            quatf physics:localRot1 = (1, 0, 0, 0)
+        }
+
+        def Material "PhysicsMaterial" (
+            prepend apiSchemas = ["PhysicsMaterialAPI"]
+        )
+        {
+            float physics:dynamicFriction = 2
+            float physics:restitution = 0
+            float physics:staticFriction = 2
+        }
+    }
+
+    over "r_base_link" (
+        prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsArticulationRootAPI", "PhysicsMassAPI", "PhysicsFilteredPairsAPI"]
+    )
+    {
+        string isaac:nameOverride (
+            displayName = "Name Override"
+        )
+        vector3f physics:angularVelocity = (0, 0, 0)
+        point3f physics:centerOfMass = (-0.00026860446, -0.0015639158, 0.06766505)
+        float3 physics:diagonalInertia = (0.000322881, 0.00020837577, 0.00018475551)
+        rel physics:filteredPairs = [
+            </inspire_hand/right_little_rubber_1>,
+            </inspire_hand/right_ring_rubber_1>,
+            </inspire_hand/right_middle_rubber_1>,
+            </inspire_hand/right_index_rubber_1>,
+            </inspire_hand/right_thumb_2>,
+            </inspire_hand/right_thumb_rubber_1>,
+        ]
+        float physics:mass = 0.44281137
+        quatf physics:principalAxes = (0.99963427, 0.02544539, 0.007173771, 0.005702033)
+        vector3f physics:velocity = (0, 0, 0)
+
+        over "r_base_link_1" (
+            instanceable = false
+        )
+        {
+            over "r_base_link" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"]
+            )
+            {
+            }
+        }
+    }
+
+    over "right_thumb_1" (
+        prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI", "PhysicsFilteredPairsAPI"]
+    )
+    {
+        string isaac:nameOverride (
+            displayName = "Name Override"
+        )
+        vector3f physics:angularVelocity = (0, 0, 0)
+        point3f physics:centerOfMass = (0.00067536125, 0.004335544, -0.0050877957)
+        float3 physics:diagonalInertia = (2.1342578e-7, 1.2420287e-7, 1.7068048e-7)
+        rel physics:filteredPairs = </inspire_hand/right_thumb_rubber_1>
+        float physics:mass = 0.0048541455
+        quatf physics:principalAxes = (0.96885544, 0.093335114, -0.029149828, -0.227504)
+        vector3f physics:velocity = (0, 0, 0)
+
+        over "right_thumb_1_1" (
+            instanceable = false
+        )
+        {
+            over "right_thumb_1" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"]
+            )
+            {
+            }
+        }
+    }
+
+    over "right_index_1" (
+        prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI", "PhysicsFilteredPairsAPI"]
+    )
+    {
+        string isaac:nameOverride (
+            displayName = "Name Override"
+        )
+        vector3f physics:angularVelocity = (0, 0, 0)
+        point3f physics:centerOfMass = (0.0004615095, 0.011651217, 0.005900052)
+        float3 physics:diagonalInertia = (0.000001414927, 4.2106103e-7, 0.0000014695869)
+        rel physics:filteredPairs = [
+            </inspire_hand/right_index_rubber_2>,
+            </inspire_hand/right_middle_1>,
+            </inspire_hand/right_middle_2>,
+        ]
+        float physics:mass = 0.008812271
+        quatf physics:principalAxes = (0.9984136, 0.0000041033427, 0.0000048903808, -0.056305405)
+        vector3f physics:velocity = (0, 0, 0)
+
+        over "right_index_1_1" (
+            instanceable = false
+        )
+        {
+            over "right_index_1" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"]
+            )
+            {
+            }
+        }
+    }
+
+    over "right_middle_1" (
+        prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI", "PhysicsFilteredPairsAPI"]
+    )
+    {
+        string isaac:nameOverride (
+            displayName = "Name Override"
+        )
+        vector3f physics:angularVelocity = (0, 0, 0)
+        point3f physics:centerOfMass = (0.0004615369, 0.011651613, 0.005899952)
+        float3 physics:diagonalInertia = (0.000001414881, 4.2105336e-7, 0.0000014695391)
+        rel physics:filteredPairs = [
+            </inspire_hand/right_middle_rubber_2>,
+            </inspire_hand/right_ring_1>,
+            </inspire_hand/right_ring_2>,
+        ]
+        float physics:mass = 0.008812009
+        quatf physics:principalAxes = (0.99841356, 0.000011072121, 0.000023128996, -0.056306522)
+        vector3f physics:velocity = (0, 0, 0)
+
+        over "right_middle_1_1" (
+            instanceable = false
+        )
+        {
+            over "right_middle_1" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"]
+            )
+            {
+            }
+        }
+    }
+
+    over "right_ring_1" (
+        prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI", "PhysicsFilteredPairsAPI"]
+    )
+    {
+        string isaac:nameOverride (
+            displayName = "Name Override"
+        )
+        vector3f physics:angularVelocity = (0, 0, 0)
+        point3f physics:centerOfMass = (0.0004615298, 0.011651628, 0.005899971)
+        float3 physics:diagonalInertia = (0.0000014148795, 4.2105268e-7, 0.0000014695385)
+        rel physics:filteredPairs = </inspire_hand/right_ring_rubber_2>
+        float physics:mass = 0.008811991
+        quatf physics:principalAxes = (0.99841356, 0.000009785483, 0.0000150539945, -0.056306314)
+        vector3f physics:velocity = (0, 0, 0)
+
+        over "right_ring_1_1" (
+            instanceable = false
+        )
+        {
+            over "right_ring_1" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"]
+            )
+            {
+            }
+        }
+    }
+
+    over "right_little_1" (
+        prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI", "PhysicsFilteredPairsAPI"]
+    )
+    {
+        string isaac:nameOverride (
+            displayName = "Name Override"
+        )
+        vector3f physics:angularVelocity = (0, 0, 0)
+        point3f physics:centerOfMass = (0.00046153588, 0.011651631, 0.0058999746)
+        float3 physics:diagonalInertia = (0.0000014148796, 4.210531e-7, 0.0000014695391)
+        rel physics:filteredPairs = [
+            </inspire_hand/right_little_rubber_2>,
+            </inspire_hand/right_ring_1>,
+            </inspire_hand/right_ring_2>,
+        ]
+        float physics:mass = 0.008811997
+        quatf physics:principalAxes = (0.99841356, 0.0000094640245, 0.00001236591, -0.05630618)
+        vector3f physics:velocity = (0, 0, 0)
+
+        over "right_little_1_1" (
+            instanceable = false
+        )
+        {
+            over "right_little_1" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"]
+            )
+            {
+            }
+        }
+    }
+
+    over "palm" (
+        prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI", "PhysicsFilteredPairsAPI"]
+    )
+    {
+        string isaac:nameOverride (
+            displayName = "Name Override"
+        )
+        vector3f physics:angularVelocity = (0, 0, 0)
+        point3f physics:centerOfMass = (-0.004874761, -0.007925906, 0.0004072874)
+        float3 physics:diagonalInertia = (0.0000027733547, 0.000006477909, 0.000009112264)
+        rel physics:filteredPairs = [
+            </inspire_hand/right_middle_1>,
+            </inspire_hand/right_index_1>,
+            </inspire_hand/right_ring_1>,
+            </inspire_hand/right_little_1>,
+            </inspire_hand/right_thumb_1>,
+            </inspire_hand/right_thumb_2>,
+        ]
+        float physics:mass = 0.0103872605
+        quatf physics:principalAxes = (0.93514335, -0.08320412, 0.01097646, 0.34418535)
+        vector3f physics:velocity = (0, 0, 0)
+
+        over "plam_1" (
+            instanceable = false
+        )
+        {
+            over "plam" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"]
+            )
+            {
+            }
+        }
+    }
+
+    over "right_little_rubber_1" (
+        prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"]
+    )
+    {
+        vector3f physics:angularVelocity = (0, 0, 0)
+        point3f physics:centerOfMass = (5.201798e-7, -0.0002771247, -0.008106602)
+        float3 physics:diagonalInertia = (9.5259594e-8, 5.8296262e-8, 8.740782e-8)
+        float physics:mass = 0.0010074534
+        quatf physics:principalAxes = (0.9771005, 0.21277846, -0.00014323652, -0.000013176708)
+        vector3f physics:velocity = (0, 0, 0)
+
+        over "right_little_rubber_1_1" (
+            instanceable = false
+        )
+        {
+            over "right_little_rubber_1" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"]
+            )
+            {
+            }
+        }
+    }
+
+    over "right_little_2" (
+        prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI", "PhysicsFilteredPairsAPI"]
+    )
+    {
+        string isaac:nameOverride (
+            displayName = "Name Override"
+        )
+        vector3f physics:angularVelocity = (0, 0, 0)
+        point3f physics:centerOfMass = (-0.000096593474, 0.013170638, 0.0051008957)
+        float3 physics:diagonalInertia = (5.1122174e-7, 1.16669256e-7, 5.2097784e-7)
+        rel physics:filteredPairs = [
+            </inspire_hand/right_little_pad>,
+            </inspire_hand/right_little_tip>,
+            </inspire_hand/right_ring_1>,
+            </inspire_hand/right_ring_2>,
+            </inspire_hand/right_ring_rubber_2>,
+        ]
+        float physics:mass = 0.0073597566
+        quatf physics:principalAxes = (0.98062676, 0.00003999583, -0.00010044921, -0.19588561)
+        vector3f physics:velocity = (0, 0, 0)
+
+        over "right_little_2_1" (
+            instanceable = false
+        )
+        {
+            over "right_little_2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"]
+            )
+            {
+            }
+        }
+    }
+
+    over "right_ring_2" (
+        prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI", "PhysicsFilteredPairsAPI"]
+    )
+    {
+        string isaac:nameOverride (
+            displayName = "Name Override"
+        )
+        vector3f physics:angularVelocity = (0, 0, 0)
+        point3f physics:centerOfMass = (0.000846434, 0.015969735, 0.0051009785)
+        float3 physics:diagonalInertia = (9.156357e-7, 1.50855e-7, 9.313493e-7)
+        rel physics:filteredPairs = [
+            </inspire_hand/right_ring_tip>,
+            </inspire_hand/right_ring_pad>,
+        ]
+        float physics:mass = 0.0092522865
+        quatf physics:principalAxes = (0.9806018, 0.00002932577, -0.00011366896, -0.19601105)
+        vector3f physics:velocity = (0, 0, 0)
+
+        over "right_ring_2_1" (
+            instanceable = false
+        )
+        {
+            over "right_ring_2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"]
+            )
+            {
+            }
+        }
+    }
+
+    over "right_ring_rubber_1" (
+        prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"]
+    )
+    {
+        vector3f physics:angularVelocity = (0, 0, 0)
+        point3f physics:centerOfMass = (5.215598e-7, -0.00027711873, -0.008106587)
+        float3 physics:diagonalInertia = (9.525907e-8, 5.8296127e-8, 8.740734e-8)
+        float physics:mass = 0.0010074469
+        quatf physics:principalAxes = (0.9771012, 0.2127751, -0.00014230443, -0.000012125145)
+        vector3f physics:velocity = (0, 0, 0)
+
+        over "right_ring_rubber_1_1" (
+            instanceable = false
+        )
+        {
+            over "right_ring_rubber_1" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"]
+            )
+            {
+            }
+        }
+    }
+
+    over "right_middle_2" (
+        prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI", "PhysicsFilteredPairsAPI"]
+    )
+    {
+        string isaac:nameOverride (
+            displayName = "Name Override"
+        )
+        vector3f physics:angularVelocity = (0, 0, 0)
+        point3f physics:centerOfMass = (0.0014102435, 0.017229268, 0.0051010014)
+        float3 physics:diagonalInertia = (0.0000011552219, 1.6409349e-7, 0.0000011727475)
+        rel physics:filteredPairs = [
+            </inspire_hand/right_middle_tip>,
+            </inspire_hand/right_middle_pad>,
+            </inspire_hand/right_ring_1>,
+            </inspire_hand/right_ring_2>,
+            </inspire_hand/right_ring_rubber_2>,
+        ]
+        float physics:mass = 0.010050019
+        quatf physics:principalAxes = (0.9803565, 0.00003053615, -0.00009600453, -0.19723351)
+        vector3f physics:velocity = (0, 0, 0)
+
+        over "right_middle_2_1" (
+            instanceable = false
+        )
+        {
+            over "right_middle_2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"]
+            )
+            {
+            }
+        }
+    }
+
+    over "right_middle_rubber_1" (
+        prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"]
+    )
+    {
+        vector3f physics:angularVelocity = (0, 0, 0)
+        point3f physics:centerOfMass = (5.0335103e-7, -0.0002771516, -0.008106726)
+        float3 physics:diagonalInertia = (9.5260404e-8, 5.829618e-8, 8.7408566e-8)
+        float physics:mass = 0.0010074532
+        quatf physics:principalAxes = (0.9770986, 0.21278715, -0.00015391436, -0.000019183066)
+        vector3f physics:velocity = (0, 0, 0)
+
+        over "right_middle_rubber_1_1" (
+            instanceable = false
+        )
+        {
+            over "right_middle_rubber_1" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"]
+            )
+            {
+            }
+        }
+    }
+
+    over "right_index_2" (
+        prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI", "PhysicsFilteredPairsAPI"]
+    )
+    {
+        string isaac:nameOverride (
+            displayName = "Name Override"
+        )
+        vector3f physics:angularVelocity = (0, 0, 0)
+        point3f physics:centerOfMass = (0.0008464265, 0.0159697, 0.00510099)
+        float3 physics:diagonalInertia = (9.1563606e-7, 1.5085519e-7, 9.313508e-7)
+        rel physics:filteredPairs = [
+            </inspire_hand/right_index_tip>,
+            </inspire_hand/right_index_pad>,
+            </inspire_hand/right_middle_1>,
+            </inspire_hand/right_middle_2>,
+            </inspire_hand/right_middle_rubber_2>,
+        ]
+        float physics:mass = 0.009252298
+        quatf physics:principalAxes = (0.98060185, 0.00003386644, -0.00009146915, -0.19601066)
+        vector3f physics:velocity = (0, 0, 0)
+
+        over "right_index_2_1" (
+            instanceable = false
+        )
+        {
+            over "right_index_2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"]
+            )
+            {
+            }
+        }
+    }
+
+    over "right_index_rubber_1" (
+        prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"]
+    )
+    {
+        vector3f physics:angularVelocity = (0, 0, 0)
+        point3f physics:centerOfMass = (4.1280595e-7, -0.0002775566, -0.00810726)
+        float3 physics:diagonalInertia = (9.527055e-8, 5.829811e-8, 8.7416595e-8)
+        float physics:mass = 0.0010075114
+        quatf physics:principalAxes = (0.9770841, 0.21285367, -0.00013459593, -0.000025639478)
+        vector3f physics:velocity = (0, 0, 0)
+
+        over "right_index_rubber_1_1" (
+            instanceable = false
+        )
+        {
+            over "right_index_rubber_1" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"]
+            )
+            {
+            }
+        }
+    }
+
+    over "right_thumb_2" (
+        prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI", "PhysicsFilteredPairsAPI"]
+    )
+    {
+        string isaac:nameOverride (
+            displayName = "Name Override"
+        )
+        vector3f physics:angularVelocity = (0, 0, 0)
+        point3f physics:centerOfMass = (-0.02170206, 0.014007336, 0.008023856)
+        float3 physics:diagonalInertia = (0.000002752317, 0.0000072691887, 0.000009413843)
+        rel physics:filteredPairs = </inspire_hand/right_thumb_rubber_2>
+        float physics:mass = 0.03146403
+        quatf physics:principalAxes = (0.933735, 0.00036750472, -0.00021923795, -0.35796493)
+        vector3f physics:velocity = (0, 0, 0)
+
+        over "right_thumb_2_1" (
+            instanceable = false
+        )
+        {
+            over "right_thumb_2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"]
+            )
+            {
+            }
+        }
+    }
+
+    over "right_thumb_rubber_1" (
+        prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"]
+    )
+    {
+        vector3f physics:angularVelocity = (0, 0, 0)
+        point3f physics:centerOfMass = (0.00005251238, -0.0026515818, -0.0052415654)
+        float3 physics:diagonalInertia = (1.8877094e-7, 8.676248e-8, 2.267513e-7)
+        float physics:mass = 0.0014907134
+        quatf physics:principalAxes = (0.99989766, 0.013294178, -0.00529621, 0.00020535247)
+        vector3f physics:velocity = (0, 0, 0)
+
+        over "right_thumb_rubber_1_1" (
+            instanceable = false
+        )
+        {
+            over "right_thumb_rubber_1" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"]
+            )
+            {
+            }
+        }
+    }
+
+    over "right_thumb_3" (
+        prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI", "PhysicsFilteredPairsAPI"]
+    )
+    {
+        string isaac:nameOverride (
+            displayName = "Name Override"
+        )
+        vector3f physics:angularVelocity = (0, 0, 0)
+        point3f physics:centerOfMass = (-0.009163888, -0.00021369001, 0.007500288)
+        float3 physics:diagonalInertia = (8.2842917e-7, 4.3848218e-7, 8.41965e-7)
+        rel physics:filteredPairs = [
+            </inspire_hand/right_thumb_rubber_3>,
+            </inspire_hand/right_thumb_pad>,
+        ]
+        float physics:mass = 0.0063773748
+        quatf physics:principalAxes = (0.9564325, 0.000019949832, -0.00010474526, 0.2919535)
+        vector3f physics:velocity = (0, 0, 0)
+
+        over "right_thumb_3_1" (
+            instanceable = false
+        )
+        {
+            over "right_thumb_3" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"]
+            )
+            {
+            }
+        }
+    }
+
+    over "right_index_rubber_2" (
+        prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI", "PhysicsFilteredPairsAPI"]
+    )
+    {
+        string isaac:nameOverride (
+            displayName = "Name Override"
+        )
+        vector3f physics:angularVelocity = (0, 0, 0)
+        point3f physics:centerOfMass = (-0.0000035835628, 0.015853807, -0.00068308087)
+        float3 physics:diagonalInertia = (1.3590099e-7, 2.1079783e-8, 1.3962527e-7)
+        rel physics:filteredPairs = [
+            </inspire_hand/right_middle_1>,
+            </inspire_hand/right_middle_2>,
+            </inspire_hand/right_middle_rubber_2>,
+        ]
+        float physics:mass = 0.0011900333
+        quatf physics:principalAxes = (0.9976733, 0.068127476, 0.0026178386, -0.00017183255)
+        vector3f physics:velocity = (0, 0, 0)
+
+        over "right_index_rubber_2_1" (
+            instanceable = false
+        )
+        {
+            over "right_index_rubber_2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"]
+            )
+            {
+            }
+        }
+    }
+
+    over "right_middle_rubber_2" (
+        prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI", "PhysicsFilteredPairsAPI"]
+    )
+    {
+        string isaac:nameOverride (
+            displayName = "Name Override"
+        )
+        vector3f physics:angularVelocity = (0, 0, 0)
+        point3f physics:centerOfMass = (-0.000007786608, 0.017969595, -0.00080422394)
+        float3 physics:diagonalInertia = (1.7686044e-7, 2.3184224e-8, 1.8086637e-7)
+        rel physics:filteredPairs = [
+            </inspire_hand/right_ring_2>,
+            </inspire_hand/right_ring_rubber_2>,
+        ]
+        float physics:mass = 0.0013048812
+        quatf physics:principalAxes = (0.9983048, 0.058001176, 0.0048341677, -0.0002711892)
+        vector3f physics:velocity = (0, 0, 0)
+
+        over "right_middle_rubber_2_1" (
+            instanceable = false
+        )
+        {
+            over "right_middle_rubber_2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"]
+            )
+            {
+            }
+        }
+    }
+
+    over "right_ring_rubber_2" (
+        prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"]
+    )
+    {
+        string isaac:nameOverride (
+            displayName = "Name Override"
+        )
+        vector3f physics:angularVelocity = (0, 0, 0)
+        point3f physics:centerOfMass = (0.000003861394, 0.015853766, -0.00068306975)
+        float3 physics:diagonalInertia = (1.3590234e-7, 2.1079947e-8, 1.3962674e-7)
+        float physics:mass = 0.0011900503
+        quatf physics:principalAxes = (0.9976725, 0.0681276, -0.002874823, 0.0002022423)
+        vector3f physics:velocity = (0, 0, 0)
+
+        over "right_ring_rubber_2_1" (
+            instanceable = false
+        )
+        {
+            over "right_ring_rubber_2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"]
+            )
+            {
+            }
+        }
+    }
+
+    over "right_ring_tip" (
+        prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"]
+    )
+    {
+        vector3f physics:angularVelocity = (0, 0, 0)
+        point3f physics:centerOfMass = (-0.0008566649, 1.8455886e-8, -0.001021837)
+        float3 physics:diagonalInertia = (7.058963e-11, 4.342891e-11, 9.6679956e-11)
+        float physics:mass = 0.00004858118
+        quatf physics:principalAxes = (0.99237055, 0.000005901613, -0.12329138, -0.000018402254)
+        vector3f physics:velocity = (0, 0, 0)
+
+        over "right_ring_tip_1" (
+            instanceable = false
+        )
+        {
+            over "right_ring_tip" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"]
+            )
+            {
+            }
+        }
+    }
+
+    over "right_ring_pad" (
+        prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI", "PhysicsFilteredPairsAPI"]
+    )
+    {
+        vector3f physics:angularVelocity = (0, 0, 0)
+        point3f physics:centerOfMass = (0.000004936719, -0.0010735873, -0.00086732174)
+        float3 physics:diagonalInertia = (5.557718e-11, 6.942344e-11, 1.1173921e-10)
+        rel physics:filteredPairs = </inspire_hand/right_ring_tip>
+        float physics:mass = 0.00004915806
+        quatf physics:principalAxes = (0.9983331, 0.057643726, -0.0028530643, 0.00014196348)
+        vector3f physics:velocity = (0, 0, 0)
+
+        over "right_ring_pad_1" (
+            instanceable = false
+        )
+        {
+            over "right_ring_pad" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"]
+            )
+            {
+            }
+        }
+    }
+
+    over "right_middle_tip" (
+        prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"]
+    )
+    {
+        vector3f physics:angularVelocity = (0, 0, 0)
+        point3f physics:centerOfMass = (-0.0007042831, 1.6783924e-8, -0.0010250747)
+        float3 physics:diagonalInertia = (7.163747e-11, 4.4042575e-11, 9.678263e-11)
+        float physics:mass = 0.000049100596
+        quatf physics:principalAxes = (0.9835209, 0.0000053838976, -0.18079485, -0.00000693046)
+        vector3f physics:velocity = (0, 0, 0)
+
+        over "right_middle_tip_1" (
+            instanceable = false
+        )
+        {
+            over "right_middle_tip" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"]
+            )
+            {
+            }
+        }
+    }
+
+    over "right_middle_pad" (
+        prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI", "PhysicsFilteredPairsAPI"]
+    )
+    {
+        vector3f physics:angularVelocity = (0, 0, 0)
+        point3f physics:centerOfMass = (-0.000009145652, -0.00084064645, -0.00094948395)
+        float3 physics:diagonalInertia = (4.9434425e-11, 7.443799e-11, 1.0553385e-10)
+        rel physics:filteredPairs = </inspire_hand/right_middle_tip>
+        float physics:mass = 0.000050797244
+        quatf physics:principalAxes = (0.9999019, 0.013151148, 0.0048179645, -0.000062626896)
+        vector3f physics:velocity = (0, 0, 0)
+
+        over "right_middle_pad_1" (
+            instanceable = false
+        )
+        {
+            over "right_middle_pad" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"]
+            )
+            {
+            }
+        }
+    }
+
+    over "right_index_tip" (
+        prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"]
+    )
+    {
+        vector3f physics:angularVelocity = (0, 0, 0)
+        point3f physics:centerOfMass = (-0.0008566654, 1.7238602e-8, -0.001021838)
+        float3 physics:diagonalInertia = (7.058962e-11, 4.3428854e-11, 9.667994e-11)
+        float physics:mass = 0.00004858115
+        quatf physics:principalAxes = (0.9923706, 0.000005777696, -0.12329078, -0.000017931978)
+        vector3f physics:velocity = (0, 0, 0)
+
+        over "right_index_tip_1" (
+            instanceable = false
+        )
+        {
+            over "right_index_tip" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"]
+            )
+            {
+            }
+        }
+    }
+
+    over "right_index_pad" (
+        prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI", "PhysicsFilteredPairsAPI"]
+    )
+    {
+        vector3f physics:angularVelocity = (0, 0, 0)
+        point3f physics:centerOfMass = (-0.000004726757, -0.0010735872, -0.0008673229)
+        float3 physics:diagonalInertia = (5.5577182e-11, 6.9423425e-11, 1.1173923e-10)
+        rel physics:filteredPairs = </inspire_hand/right_index_tip>
+        float physics:mass = 0.000049158065
+        quatf physics:principalAxes = (0.9983335, 0.057643633, 0.0027085308, -0.0001791441)
+        vector3f physics:velocity = (0, 0, 0)
+
+        over "right_index_pad_1" (
+            instanceable = false
+        )
+        {
+            over "right_index_pad" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"]
+            )
+            {
+            }
+        }
+    }
+
+    over "right_thumb_rubber_2" (
+        prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"]
+    )
+    {
+        vector3f physics:angularVelocity = (0, 0, 0)
+        point3f physics:centerOfMass = (0.0001571409, 0.0028855659, -0.009054062)
+        float3 physics:diagonalInertia = (4.209157e-8, 5.5384987e-8, 3.0953636e-8)
+        float physics:mass = 0.0007122935
+        quatf physics:principalAxes = (0.9816406, 0.19054611, -0.008497007, 0.001372395)
+        vector3f physics:velocity = (0, 0, 0)
+
+        over "right_thumb_rubber_2_1" (
+            instanceable = false
+        )
+        {
+            over "right_thumb_rubber_2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"]
+            )
+            {
+            }
+        }
+    }
+
+    over "right_thumb_4" (
+        prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI", "PhysicsFilteredPairsAPI"]
+    )
+    {
+        string isaac:nameOverride (
+            displayName = "Name Override"
+        )
+        vector3f physics:angularVelocity = (0, 0, 0)
+        point3f physics:centerOfMass = (-0.00556382, 0.0032178648, 0.0059876214)
+        float3 physics:diagonalInertia = (3.1249655e-8, 1.2536333e-7, 1.3086635e-7)
+        rel physics:filteredPairs = [
+            </inspire_hand/right_thumb_rubber_2>,
+            </inspire_hand/right_thumb_pad>,
+            </inspire_hand/right_thumb_tip>,
+        ]
+        float physics:mass = 0.002500446
+        quatf physics:principalAxes = (0.92383516, 0.010261908, -0.0027681089, -0.3826429)
+        vector3f physics:velocity = (0, 0, 0)
+
+        over "right_thumb_4_1" (
+            instanceable = false
+        )
+        {
+            over "right_thumb_4" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"]
+            )
+            {
+            }
+        }
+    }
+
+    over "right_thumb_rubber_3" (
+        prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI", "PhysicsFilteredPairsAPI"]
+    )
+    {
+        string isaac:nameOverride (
+            displayName = "Name Override"
+        )
+        vector3f physics:angularVelocity = (0, 0, 0)
+        point3f physics:centerOfMass = (0.00013367775, 0.0024978954, -0.007378073)
+        float3 physics:diagonalInertia = (1.1738951e-7, 6.605754e-8, 1.1814555e-7)
+        rel physics:filteredPairs = </inspire_hand/right_thumb_rubber_2>
+        float physics:mass = 0.002324283
+        quatf physics:principalAxes = (0.9974381, 0.070965886, -0.008987603, 0.0006553661)
+        vector3f physics:velocity = (0, 0, 0)
+
+        over "right_thumb_rubber_3_1" (
+            instanceable = false
+        )
+        {
+            over "right_thumb_rubber_3" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"]
+            )
+            {
+            }
+        }
+    }
+
+    over "right_thumb_pad" (
+        prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI", "PhysicsFilteredPairsAPI"]
+    )
+    {
+        vector3f physics:angularVelocity = (0, 0, 0)
+        point3f physics:centerOfMass = (-3.178636e-8, -0.0015283646, -0.0014060655)
+        float3 physics:diagonalInertia = (3.8838008e-10, 2.4760058e-10, 5.0815535e-10)
+        rel physics:filteredPairs = </inspire_hand/right_thumb_tip>
+        float physics:mass = 0.0001389691
+        quatf physics:principalAxes = (0.99971926, 0.023698458, 0.00001612765, -0.0000068122554)
+        vector3f physics:velocity = (0, 0, 0)
+
+        over "right_thumb_pad_1" (
+            instanceable = false
+        )
+        {
+            over "right_thumb_pad" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"]
+            )
+            {
+            }
+        }
+    }
+
+    over "right_thumb_tip" (
+        prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"]
+    )
+    {
+        string isaac:nameOverride (
+            displayName = "Name Override"
+        )
+        vector3f physics:angularVelocity = (0, 0, 0)
+        point3f physics:centerOfMass = (-0.00002475059, 0.001446362, -0.0018032574)
+        float3 physics:diagonalInertia = (5.032804e-10, 3.4790265e-10, 6.080934e-10)
+        float physics:mass = 0.00017110036
+        quatf physics:principalAxes = (0.98572916, -0.16819763, 0.006807432, 0.0010880358)
+        vector3f physics:velocity = (0, 0, 0)
+
+        over "right_thumb_tip_1" (
+            instanceable = false
+        )
+        {
+            over "right_thumb_tip" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"]
+            )
+            {
+            }
+        }
+    }
+
+    over "right_little_rubber_2" (
+        prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI", "PhysicsFilteredPairsAPI"]
+    )
+    {
+        string isaac:nameOverride (
+            displayName = "Name Override"
+        )
+        vector3f physics:angularVelocity = (0, 0, 0)
+        point3f physics:centerOfMass = (1.6242588e-7, 0.011274895, -0.00012889042)
+        float3 physics:diagonalInertia = (7.27275e-8, 1.668856e-8, 7.587272e-8)
+        rel physics:filteredPairs = [
+            </inspire_hand/right_ring_1>,
+            </inspire_hand/right_ring_2>,
+            </inspire_hand/right_ring_rubber_2>,
+        ]
+        float physics:mass = 0.00094469514
+        quatf physics:principalAxes = (0.9934226, 0.11450578, 0.000030159998, 0.000009212831)
+        vector3f physics:velocity = (0, 0, 0)
+
+        over "right_little_rubber_2_1" (
+            instanceable = false
+        )
+        {
+            over "right_little_rubber_2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"]
+            )
+            {
+            }
+        }
+    }
+
+    over "right_little_pad" (
+        prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI", "PhysicsFilteredPairsAPI"]
+    )
+    {
+        vector3f physics:angularVelocity = (0, 0, 0)
+        point3f physics:centerOfMass = (1.1894516e-8, -0.0009453936, -0.00079354213)
+        float3 physics:diagonalInertia = (3.9390595e-11, 5.731402e-11, 8.7459144e-11)
+        rel physics:filteredPairs = </inspire_hand/right_little_tip>
+        float physics:mass = 0.000041177398
+        quatf physics:principalAxes = (0.99868935, 0.051181972, 0.0000010618292, 0.000020055792)
+        vector3f physics:velocity = (0, 0, 0)
+
+        over "right_little_pad_1" (
+            instanceable = false
+        )
+        {
+            over "right_little_pad" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"]
+            )
+            {
+            }
+        }
+    }
+
+    over "right_little_tip" (
+        prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"]
+    )
+    {
+        vector3f physics:angularVelocity = (0, 0, 0)
+        point3f physics:centerOfMass = (-0.00067951094, -6.0248673e-9, -0.0009899694)
+        float3 physics:diagonalInertia = (7.642061e-11, 4.6863256e-11, 1.0232903e-10)
+        float physics:mass = 0.00005124986
+        quatf physics:principalAxes = (0.99082893, -4.1420353e-7, -0.13512297, -0.0000027912392)
+        vector3f physics:velocity = (0, 0, 0)
+
+        over "right_little_tip_1" (
+            instanceable = false
+        )
+        {
+            over "right_little_tip" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"]
+            )
+            {
+            }
+        }
+    }
+}
+

inspirerobots_inspire_hand_rh56dfx_right_inspire_hand/payloads/Physics/physx.usda

@@ -0,0 +1,141 @@
+#usda 1.0
+(
+    customLayerData = {
+    }
+    defaultPrim = "inspire_hand"
+    endTimeCode = 0
+    kilogramsPerUnit = 1
+    metersPerUnit = 1
+    startTimeCode = -1
+    subLayers = [
+        @./physics.usda@
+    ]
+    upAxis = "Z"
+)
+
+def "inspire_hand"
+{
+    over "Physics"
+    {
+        over "right_thumb_1_joint" (
+            prepend apiSchemas = ["PhysxJointAPI"]
+        )
+        {
+            float physxJoint:maxJointVelocity = 107
+        }
+
+        over "right_thumb_2_joint" (
+            prepend apiSchemas = ["PhysxJointAPI"]
+        )
+        {
+            float physxJoint:maxJointVelocity = 70
+        }
+
+        over "right_thumb_3_joint" (
+            prepend apiSchemas = ["PhysxJointAPI", "PhysxMimicJointAPI:rotX"]
+        )
+        {
+            float physxMimicJoint:rotX:dampingRatio = 0
+            float physxMimicJoint:rotX:gearing = -1.1425
+            float physxMimicJoint:rotX:naturalFrequency = 0
+            rel physxMimicJoint:rotX:referenceJoint = </inspire_hand/Physics/right_thumb_2_joint>
+            uniform token physxMimicJoint:rotX:referenceJointAxis = "rotZ"
+        }
+
+        over "right_thumb_4_joint" (
+            prepend apiSchemas = ["PhysxJointAPI", "PhysxMimicJointAPI:rotX"]
+        )
+        {
+            float physxMimicJoint:rotX:dampingRatio = 0
+            float physxMimicJoint:rotX:gearing = -0.7508
+            float physxMimicJoint:rotX:naturalFrequency = 0
+            float physxMimicJoint:rotX:offset = 0.1
+            rel physxMimicJoint:rotX:referenceJoint = </inspire_hand/Physics/right_thumb_3_joint>
+            uniform token physxMimicJoint:rotX:referenceJointAxis = "rotZ"
+        }
+
+        over "right_index_1_joint" (
+            prepend apiSchemas = ["PhysxJointAPI"]
+        )
+        {
+            float physxJoint:maxJointVelocity = 260
+        }
+
+        over "right_index_2_joint" (
+            prepend apiSchemas = ["PhysxJointAPI", "PhysxMimicJointAPI:rotX"]
+        )
+        {
+            float physxMimicJoint:rotX:dampingRatio = 0
+            float physxMimicJoint:rotX:gearing = -1.1169
+            float physxMimicJoint:rotX:naturalFrequency = 0
+            float physxMimicJoint:rotX:offset = -0.15
+            rel physxMimicJoint:rotX:referenceJoint = </inspire_hand/Physics/right_index_1_joint>
+            uniform token physxMimicJoint:rotX:referenceJointAxis = "rotZ"
+        }
+
+        over "right_middle_1_joint" (
+            prepend apiSchemas = ["PhysxJointAPI"]
+        )
+        {
+            float physxJoint:maxJointVelocity = 260
+        }
+
+        over "right_middle_2_joint" (
+            prepend apiSchemas = ["PhysxJointAPI", "PhysxMimicJointAPI:rotX"]
+        )
+        {
+            float physxMimicJoint:rotX:dampingRatio = 0
+            float physxMimicJoint:rotX:gearing = -1.1169
+            float physxMimicJoint:rotX:naturalFrequency = 0
+            float physxMimicJoint:rotX:offset = -0.15
+            rel physxMimicJoint:rotX:referenceJoint = </inspire_hand/Physics/right_middle_1_joint>
+            uniform token physxMimicJoint:rotX:referenceJointAxis = "rotZ"
+        }
+
+        over "right_ring_1_joint" (
+            prepend apiSchemas = ["PhysxJointAPI"]
+        )
+        {
+            float physxJoint:maxJointVelocity = 260
+        }
+
+        over "right_ring_2_joint" (
+            prepend apiSchemas = ["PhysxJointAPI", "PhysxMimicJointAPI:rotX"]
+        )
+        {
+            float physxMimicJoint:rotX:dampingRatio = 0
+            float physxMimicJoint:rotX:gearing = -1.1169
+            float physxMimicJoint:rotX:naturalFrequency = 0
+            float physxMimicJoint:rotX:offset = -0.15
+            rel physxMimicJoint:rotX:referenceJoint = </inspire_hand/Physics/right_ring_1_joint>
+            uniform token physxMimicJoint:rotX:referenceJointAxis = "rotZ"
+        }
+
+        over "right_little_1_joint" (
+            prepend apiSchemas = ["PhysxJointAPI"]
+        )
+        {
+            float physxJoint:maxJointVelocity = 260
+        }
+
+        over "right_little_2_joint" (
+            prepend apiSchemas = ["PhysxJointAPI", "PhysxMimicJointAPI:rotX"]
+        )
+        {
+            float physxMimicJoint:rotX:dampingRatio = 0
+            float physxMimicJoint:rotX:gearing = -1.1169
+            float physxMimicJoint:rotX:naturalFrequency = 0
+            float physxMimicJoint:rotX:offset = -0.15
+            rel physxMimicJoint:rotX:referenceJoint = </inspire_hand/Physics/right_little_1_joint>
+            uniform token physxMimicJoint:rotX:referenceJointAxis = "rotZ"
+        }
+    }
+
+    over "r_base_link" (
+        prepend apiSchemas = ["PhysxArticulationAPI"]
+    )
+    {
+        bool physxArticulation:enabledSelfCollisions = 1
+    }
+}
+

inspirerobots_inspire_hand_rh56dfx_right_inspire_hand/payloads/base.usda

@@ -0,0 +1,872 @@
+#usda 1.0
+(
+    customLayerData = {
+    }
+    defaultPrim = "inspire_hand"
+    endTimeCode = 0
+    kilogramsPerUnit = 1
+    metersPerUnit = 1
+    startTimeCode = -1
+    subLayers = [
+        @./robot.usda@
+    ]
+    upAxis = "Z"
+)
+
+def Xform "inspire_hand" (
+    prepend apiSchemas = ["MaterialBindingAPI", "GeomModelAPI"]
+    assetInfo = {
+        string name = "inspire_hand"
+    }
+    kind = "component"
+)
+{
+    float3[] extentsHint = [(-0.027399994, -0.044413004, 8.9323043e-10), (0.048071586, 0.11239667, 0.21692565), (3.4028235e38, 3.4028235e38, 3.4028235e38), (-3.4028235e38, -3.4028235e38, -3.4028235e38), (3.4028235e38, 3.4028235e38, 3.4028235e38), (-3.4028235e38, -3.4028235e38, -3.4028235e38), (-0.027399994, -0.044413004, 8.9323043e-10), (0.048071586, 0.11239667, 0.21692565)]
+    rel material:binding (
+        bindMaterialAs = "weakerThanDescendants"
+    )
+
+    def Scope "Physics"
+    {
+    }
+
+    def Xform "r_base_link"
+    {
+        quatf xformOp:orient = (1, -3.2318647e-7, -0.0000022126683, 6.679682e-7)
+        float3 xformOp:scale = (1, 1, 1)
+        float3 xformOp:translate = (-5.8612204e-7, -5.1106326e-7, -9.685755e-8)
+        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+
+        def Xform "r_base_link" (
+            instanceable = true
+            prepend references = @./instances.usda@</Instances/r_base_link>
+        )
+        {
+        }
+
+        def Xform "r_base_link_1" (
+            displayName = "r_base_link"
+            instanceable = true
+            prepend references = @./instances.usda@</Instances/r_base_link_1>
+        )
+        {
+        }
+
+        def Xform "gripper_01" (
+            prepend apiSchemas = ["IsaacSiteAPI"]
+        )
+        {
+            custom float gripper_maxOpening = 0.065
+            custom float gripper_maxPayload = 0.4
+            string isaac:Description = "Multi-finger hand grasp center"
+            token simready:attactment:socketType = "Gripper"
+            double3 xformOp:translate = (0.04, -0.005, 0.122)
+            uniform token[] xformOpOrder = ["xformOp:translate"]
+
+            def BasisCurves "gripper_forward_axis"
+            {
+                int[] curveVertexCounts = [2]
+                float3[] extent = [(0, 0, 0), (0.035355, 0, 0.035355)]
+                point3f[] points = [(0, 0, 0), (0.035355, 0, 0.035355)]
+                uniform token purpose = "guide"
+                uniform token type = "linear"
+            }
+
+            def BasisCurves "gripper_grip_line"
+            {
+                int[] curveVertexCounts = [2]
+                float3[] extent = [(-0.017678, 0, -0.017678), (0.017678, 0, 0.017678)]
+                point3f[] points = [(0.017678, 0, -0.017678), (-0.017678, 0, 0.017678)]
+                uniform token purpose = "guide"
+                uniform token type = "linear"
+            }
+        }
+    }
+
+    def Xform "right_thumb_1"
+    {
+        quatf xformOp:orient = (1, -3.5576525e-7, -0.00000221096, -0.000016934471)
+        float3 xformOp:scale = (1, 1, 1)
+        double3 xformOp:translate = (0.016959095373749733, 0.02044956013560295, 0.06669996678829193)
+        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+
+        def Xform "right_thumb_1" (
+            instanceable = true
+            prepend references = @./instances.usda@</Instances/right_thumb_1>
+        )
+        {
+        }
+
+        def Xform "right_thumb_1_1" (
+            displayName = "right_thumb_1"
+            instanceable = true
+            prepend references = @./instances.usda@</Instances/right_thumb_1_1>
+        )
+        {
+        }
+    }
+
+    def Xform "right_index_1"
+    {
+        quatf xformOp:orient = (0.71933645, 0.69466186, 0.000023722649, -0.000023712819)
+        float3 xformOp:scale = (1, 1, 1)
+        double3 xformOp:translate = (-0.0002865630085580051, 0.03216756880283356, 0.13652987778186798)
+        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+
+        def Xform "right_index_1" (
+            instanceable = true
+            prepend references = @./instances.usda@</Instances/right_index_1>
+        )
+        {
+        }
+
+        def Xform "right_index_1_1" (
+            displayName = "right_index_1"
+            instanceable = true
+            prepend references = @./instances.usda@</Instances/right_index_1_1>
+        )
+        {
+        }
+    }
+
+    def Xform "right_middle_1"
+    {
+        quatf xformOp:orient = (0.70710564, 0.7071079, -0.0000013671815, 0.0000022654083)
+        float3 xformOp:scale = (1, 1, 1)
+        double3 xformOp:translate = (-0.0002865400165319443, 0.012849588878452778, 0.13709989190101624)
+        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+
+        def Xform "right_middle_1" (
+            instanceable = true
+            prepend references = @./instances.usda@</Instances/right_middle_1>
+        )
+        {
+        }
+
+        def Xform "right_middle_1_1" (
+            displayName = "right_middle_1"
+            instanceable = true
+            prepend references = @./instances.usda@</Instances/right_middle_1_1>
+        )
+        {
+        }
+    }
+
+    def Xform "right_ring_1"
+    {
+        quatf xformOp:orient = (0.68833905, 0.7253891, 0.0000022277236, -0.0000010183892)
+        float3 xformOp:scale = (1, 1, 1)
+        double3 xformOp:translate = (-0.0002865128917619586, -0.006387422326952219, 0.13690991699695587)
+        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+
+        def Xform "right_ring_1" (
+            instanceable = true
+            prepend references = @./instances.usda@</Instances/right_ring_1>
+        )
+        {
+        }
+
+        def Xform "right_ring_1_1" (
+            displayName = "right_ring_1"
+            instanceable = true
+            prepend references = @./instances.usda@</Instances/right_ring_1_1>
+        )
+        {
+        }
+    }
+
+    def Xform "right_little_1"
+    {
+        quatf xformOp:orient = (0.6691368, 0.7431392, 0.000009059906, -0.000006983325)
+        float3 xformOp:scale = (1, 1, 1)
+        double3 xformOp:translate = (-0.00028648076113313437, -0.025587428361177444, 0.13569994270801544)
+        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+
+        def Xform "right_little_1" (
+            instanceable = true
+            prepend references = @./instances.usda@</Instances/right_little_1>
+        )
+        {
+        }
+
+        def Xform "right_little_1_1" (
+            displayName = "right_little_1"
+            instanceable = true
+            prepend references = @./instances.usda@</Instances/right_little_1_1>
+        )
+        {
+        }
+    }
+
+    def Xform "right_little_rubber_1"
+    {
+        quatf xformOp:orient = (0.49035326, 0.50946325, 0.4554282, 0.5409122)
+        float3 xformOp:scale = (1, 1, 1)
+        double3 xformOp:translate = (0.010675881989300251, -0.033072397112846375, 0.15047332644462585)
+        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+
+        def Xform "right_little_rubber_1" (
+            instanceable = true
+            prepend references = @./instances.usda@</Instances/right_little_rubber_1>
+        )
+        {
+        }
+
+        def Xform "right_little_rubber_1_1" (
+            displayName = "right_little_rubber_1"
+            instanceable = true
+            prepend references = @./instances.usda@</Instances/right_little_rubber_1_1>
+        )
+        {
+        }
+    }
+
+    def Xform "right_little_2"
+    {
+        quatf xformOp:orient = (0.66913635, 0.74313855, 0.00094364583, -0.0008485551)
+        float3 xformOp:scale = (1, 1, 1)
+        double3 xformOp:translate = (0.006833135150372982, -0.029657799750566483, 0.166778564453125)
+        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+
+        def Xform "right_little_2" (
+            instanceable = true
+            prepend references = @./instances.usda@</Instances/right_little_2>
+        )
+        {
+        }
+
+        def Xform "right_little_2_1" (
+            displayName = "right_little_2"
+            instanceable = true
+            prepend references = @./instances.usda@</Instances/right_little_2_1>
+        )
+        {
+        }
+    }
+
+    def Xform "right_ring_2"
+    {
+        quatf xformOp:orient = (0.68833846, 0.72538865, 0.00088505447, -0.0008387376)
+        float3 xformOp:scale = (1, 1, 1)
+        double3 xformOp:translate = (0.00683253351598978, -0.008827555924654007, 0.16815897822380066)
+        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+
+        def Xform "right_ring_2" (
+            instanceable = true
+            prepend references = @./instances.usda@</Instances/right_ring_2>
+        )
+        {
+        }
+
+        def Xform "right_ring_2_1" (
+            displayName = "right_ring_2"
+            instanceable = true
+            prepend references = @./instances.usda@</Instances/right_ring_2_1>
+        )
+        {
+        }
+    }
+
+    def Xform "right_ring_rubber_1"
+    {
+        quatf xformOp:orient = (0.5035112, 0.49646318, 0.469411, 0.5288233)
+        float3 xformOp:scale = (1, 1, 1)
+        double3 xformOp:translate = (0.01067556906491518, -0.013089867308735847, 0.1520545929670334)
+        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+
+        def Xform "right_ring_rubber_1" (
+            instanceable = true
+            prepend references = @./instances.usda@</Instances/right_ring_rubber_1>
+        )
+        {
+        }
+
+        def Xform "right_ring_rubber_1_1" (
+            displayName = "right_ring_rubber_1"
+            instanceable = true
+            prepend references = @./instances.usda@</Instances/right_ring_rubber_1_1>
+        )
+        {
+        }
+    }
+
+    def Xform "right_middle_2"
+    {
+        quatf xformOp:orient = (0.70710534, 0.7071073, 0.0007967204, -0.0007957724)
+        float3 xformOp:scale = (1, 1, 1)
+        double3 xformOp:translate = (0.006832195445895195, 0.012049496173858643, 0.16843391954898834)
+        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+
+        def Xform "right_middle_2" (
+            instanceable = true
+            prepend references = @./instances.usda@</Instances/right_middle_2>
+        )
+        {
+        }
+
+        def Xform "right_middle_2_1" (
+            displayName = "right_middle_2"
+            instanceable = true
+            prepend references = @./instances.usda@</Instances/right_middle_2_1>
+        )
+        {
+        }
+    }
+
+    def Xform "right_middle_rubber_1"
+    {
+        quatf xformOp:orient = (0.5163466, 0.48309988, 0.4831009, 0.51634705)
+        float3 xformOp:scale = (1, 1, 1)
+        double3 xformOp:translate = (0.01067538931965828, 0.00694955512881279, 0.15257494151592255)
+        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+
+        def Xform "right_middle_rubber_1" (
+            instanceable = true
+            prepend references = @./instances.usda@</Instances/right_middle_rubber_1>
+        )
+        {
+        }
+
+        def Xform "right_middle_rubber_1_1" (
+            displayName = "right_middle_rubber_1"
+            instanceable = true
+            prepend references = @./instances.usda@</Instances/right_middle_rubber_1_1>
+        )
+        {
+        }
+    }
+
+    def Xform "right_index_2"
+    {
+        quatf xformOp:orient = (0.7193358, 0.6946612, 0.0009472072, -0.0009799628)
+        float3 xformOp:scale = (1, 1, 1)
+        double3 xformOp:translate = (0.006834439001977444, 0.03246127814054489, 0.16787222027778625)
+        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+
+        def Xform "right_index_2" (
+            instanceable = true
+            prepend references = @./instances.usda@</Instances/right_index_2>
+        )
+        {
+        }
+
+        def Xform "right_index_2_1" (
+            displayName = "right_index_2"
+            instanceable = true
+            prepend references = @./instances.usda@</Instances/right_index_2_1>
+        )
+        {
+        }
+    }
+
+    def Xform "right_index_rubber_1"
+    {
+        quatf xformOp:orient = (0.52468055, 0.4740355, 0.4920554, 0.50782096)
+        float3 xformOp:scale = (1, 1, 1)
+        double3 xformOp:translate = (0.010676482692360878, 0.02681196667253971, 0.15220053493976593)
+        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+
+        def Xform "right_index_rubber_1" (
+            instanceable = true
+            prepend references = @./instances.usda@</Instances/right_index_rubber_1>
+        )
+        {
+        }
+
+        def Xform "right_index_rubber_1_1" (
+            displayName = "right_index_rubber_1"
+            instanceable = true
+            prepend references = @./instances.usda@</Instances/right_index_rubber_1_1>
+        )
+        {
+        }
+    }
+
+    def Xform "right_thumb_2"
+    {
+        quatf xformOp:orient = (-0.4303272, -0.4305701, 0.5609041, 0.5610833)
+        float3 xformOp:scale = (1, 1, 1)
+        double3 xformOp:translate = (0.02766343206167221, 0.029486795887351036, 0.060200005769729614)
+        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+
+        def Xform "right_thumb_2" (
+            instanceable = true
+            prepend references = @./instances.usda@</Instances/right_thumb_2>
+        )
+        {
+        }
+
+        def Xform "right_thumb_2_1" (
+            displayName = "right_thumb_2"
+            instanceable = true
+            prepend references = @./instances.usda@</Instances/right_thumb_2_1>
+        )
+        {
+        }
+    }
+
+    def Xform "right_thumb_rubber_1"
+    {
+        quatf xformOp:orient = (0.94369113, 0.3052245, -0.035198484, -0.12266256)
+        float3 xformOp:scale = (1, 1, 1)
+        double3 xformOp:translate = (0.023310555145144463, 0.044146839529275894, 0.0915914922952652)
+        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+
+        def Xform "right_thumb_rubber_1" (
+            instanceable = true
+            prepend references = @./instances.usda@</Instances/right_thumb_rubber_1>
+        )
+        {
+        }
+
+        def Xform "right_thumb_rubber_1_1" (
+            displayName = "right_thumb_rubber_1"
+            instanceable = true
+            prepend references = @./instances.usda@</Instances/right_thumb_rubber_1_1>
+        )
+        {
+        }
+    }
+
+    def Xform "right_thumb_3"
+    {
+        quatf xformOp:orient = (-0.43035585, -0.43054152, 0.560926, 0.5610613)
+        float3 xformOp:scale = (1, 1, 1)
+        double3 xformOp:translate = (0.037940289825201035, 0.06976746022701263, 0.09772573411464691)
+        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+
+        def Xform "right_thumb_3" (
+            instanceable = true
+            prepend references = @./instances.usda@</Instances/right_thumb_3>
+        )
+        {
+        }
+
+        def Xform "right_thumb_3_1" (
+            displayName = "right_thumb_3"
+            instanceable = true
+            prepend references = @./instances.usda@</Instances/right_thumb_3_1>
+        )
+        {
+        }
+    }
+
+    def Xform "right_index_rubber_2"
+    {
+        quatf xformOp:orient = (0.475745, 0.52314013, 0.53619885, 0.46095756)
+        float3 xformOp:scale = (1, 1, 1)
+        double3 xformOp:translate = (0.013883154839277267, 0.027843624353408813, 0.1805078536272049)
+        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+
+        def Xform "right_index_rubber_2" (
+            instanceable = true
+            prepend references = @./instances.usda@</Instances/right_index_rubber_2>
+        )
+        {
+        }
+
+        def Xform "right_index_rubber_2_1" (
+            displayName = "right_index_rubber_2"
+            instanceable = true
+            prepend references = @./instances.usda@</Instances/right_index_rubber_2_1>
+        )
+        {
+        }
+    }
+
+    def Xform "right_middle_rubber_2"
+    {
+        quatf xformOp:orient = (0.45950785, 0.5374547, 0.53509915, 0.46223783)
+        float3 xformOp:scale = (1, 1, 1)
+        double3 xformOp:translate = (0.014144876040518284, 0.007047668099403381, 0.18093545734882355)
+        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+
+        def Xform "right_middle_rubber_2" (
+            instanceable = true
+            prepend references = @./instances.usda@</Instances/right_middle_rubber_2>
+        )
+        {
+        }
+
+        def Xform "right_middle_rubber_2_1" (
+            displayName = "right_middle_rubber_2"
+            instanceable = true
+            prepend references = @./instances.usda@</Instances/right_middle_rubber_2_1>
+        )
+        {
+        }
+    }
+
+    def Xform "right_ring_rubber_2"
+    {
+        quatf xformOp:orient = (0.44970825, 0.545691, 0.51470035, 0.48483747)
+        float3 xformOp:scale = (1, 1, 1)
+        double3 xformOp:translate = (0.013716081157326698, -0.014552785083651543, 0.18022826313972473)
+        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+
+        def Xform "right_ring_rubber_2" (
+            instanceable = true
+            prepend references = @./instances.usda@</Instances/right_ring_rubber_2>
+        )
+        {
+        }
+
+        def Xform "right_ring_rubber_2_1" (
+            displayName = "right_ring_rubber_2"
+            instanceable = true
+            prepend references = @./instances.usda@</Instances/right_ring_rubber_2_1>
+        )
+        {
+        }
+    }
+
+    def Xform "right_ring_tip"
+    {
+        quatf xformOp:orient = (0.9629127, 0.032329872, 0.26780075, 0.0060597598)
+        float3 xformOp:scale = (1, 1, 1)
+        double3 xformOp:translate = (0.02007729932665825, -0.01659741811454296, 0.21082475781440735)
+        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+
+        def Xform "right_ring_tip" (
+            instanceable = true
+            prepend references = @./instances.usda@</Instances/right_ring_tip>
+        )
+        {
+        }
+
+        def Xform "right_ring_tip_1" (
+            displayName = "right_ring_tip"
+            instanceable = true
+            prepend references = @./instances.usda@</Instances/right_ring_tip_1>
+        )
+        {
+        }
+    }
+
+    def Xform "right_ring_pad"
+    {
+        quatf xformOp:orient = (0.43030727, 0.561117, 0.5311815, 0.4667222)
+        float3 xformOp:scale = (1, 1, 1)
+        double3 xformOp:translate = (0.02228247933089733, -0.01610073819756508, 0.20306909084320068)
+        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+
+        def Xform "right_ring_pad" (
+            instanceable = true
+            prepend references = @./instances.usda@</Instances/right_ring_pad>
+        )
+        {
+        }
+
+        def Xform "right_ring_pad_1" (
+            displayName = "right_ring_pad"
+            instanceable = true
+            prepend references = @./instances.usda@</Instances/right_ring_pad_1>
+        )
+        {
+        }
+    }
+
+    def Xform "right_middle_tip"
+    {
+        quatf xformOp:orient = (0.95221615, 0.0016658411, 0.3053703, 0.005530905)
+        float3 xformOp:scale = (1, 1, 1)
+        double3 xformOp:translate = (0.021586056798696518, 0.00689533818513155, 0.2149972766637802)
+        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+
+        def Xform "right_middle_tip" (
+            instanceable = true
+            prepend references = @./instances.usda@</Instances/right_middle_tip>
+        )
+        {
+        }
+
+        def Xform "right_middle_tip_1" (
+            displayName = "right_middle_tip"
+            instanceable = true
+            prepend references = @./instances.usda@</Instances/right_middle_tip_1>
+        )
+        {
+        }
+    }
+
+    def Xform "right_middle_pad"
+    {
+        quatf xformOp:orient = (0.4608827, 0.53627986, 0.5338891, 0.4636307)
+        float3 xformOp:scale = (1, 1, 1)
+        double3 xformOp:translate = (0.023678313940763474, 0.006965653970837593, 0.20730341970920563)
+        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+
+        def Xform "right_middle_pad" (
+            instanceable = true
+            prepend references = @./instances.usda@</Instances/right_middle_pad>
+        )
+        {
+        }
+
+        def Xform "right_middle_pad_1" (
+            displayName = "right_middle_pad"
+            instanceable = true
+            prepend references = @./instances.usda@</Instances/right_middle_pad_1>
+        )
+        {
+        }
+    }
+
+    def Xform "right_index_tip"
+    {
+        quatf xformOp:orient = (0.9637933, -0.013833439, 0.26628926, -0.0010709225)
+        float3 xformOp:scale = (1, 1, 1)
+        double3 xformOp:translate = (0.020144034177064896, 0.0287125576287508, 0.2111809253692627)
+        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+
+        def Xform "right_index_tip" (
+            instanceable = true
+            prepend references = @./instances.usda@</Instances/right_index_tip>
+        )
+        {
+        }
+
+        def Xform "right_index_tip_1" (
+            displayName = "right_index_tip"
+            instanceable = true
+            prepend references = @./instances.usda@</Instances/right_index_tip_1>
+        )
+        {
+        }
+    }
+
+    def Xform "right_index_pad"
+    {
+        quatf xformOp:orient = (0.45732877, 0.5393134, 0.5520134, 0.44189674)
+        float3 xformOp:scale = (1, 1, 1)
+        double3 xformOp:translate = (0.022374626249074936, 0.02851291373372078, 0.20341919362545013)
+        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+
+        def Xform "right_index_pad" (
+            instanceable = true
+            prepend references = @./instances.usda@</Instances/right_index_pad>
+        )
+        {
+        }
+
+        def Xform "right_index_pad_1" (
+            displayName = "right_index_pad"
+            instanceable = true
+            prepend references = @./instances.usda@</Instances/right_index_pad_1>
+        )
+        {
+        }
+    }
+
+    def Xform "right_thumb_rubber_2"
+    {
+        quatf xformOp:orient = (0.9579314, 0.2576721, -0.025311725, -0.123822)
+        float3 xformOp:scale = (1, 1, 1)
+        double3 xformOp:translate = (0.03200722858309746, 0.07660236954689026, 0.10960131138563156)
+        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+
+        def Xform "right_thumb_rubber_2" (
+            instanceable = true
+            prepend references = @./instances.usda@</Instances/right_thumb_rubber_2>
+        )
+        {
+        }
+
+        def Xform "right_thumb_rubber_2_1" (
+            displayName = "right_thumb_rubber_2"
+            instanceable = true
+            prepend references = @./instances.usda@</Instances/right_thumb_rubber_2_1>
+        )
+        {
+        }
+    }
+
+    def Xform "right_thumb_4"
+    {
+        quatf xformOp:orient = (-0.43035278, -0.43054444, 0.56092376, 0.5610637)
+        float3 xformOp:scale = (1, 1, 1)
+        double3 xformOp:translate = (0.04125134274363518, 0.08791771531105042, 0.11095369607210159)
+        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+
+        def Xform "right_thumb_4" (
+            instanceable = true
+            prepend references = @./instances.usda@</Instances/right_thumb_4>
+        )
+        {
+        }
+
+        def Xform "right_thumb_4_1" (
+            displayName = "right_thumb_4"
+            instanceable = true
+            prepend references = @./instances.usda@</Instances/right_thumb_4_1>
+        )
+        {
+        }
+    }
+
+    def Xform "right_thumb_rubber_3"
+    {
+        quatf xformOp:orient = (0.87541413, 0.4674219, -0.05345158, -0.11094945)
+        float3 xformOp:scale = (1, 1, 1)
+        double3 xformOp:translate = (0.03587375581264496, 0.09103058278560638, 0.12066319584846497)
+        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+
+        def Xform "right_thumb_rubber_3" (
+            instanceable = true
+            prepend references = @./instances.usda@</Instances/right_thumb_rubber_3>
+        )
+        {
+        }
+
+        def Xform "right_thumb_rubber_3_1" (
+            displayName = "right_thumb_rubber_3"
+            instanceable = true
+            prepend references = @./instances.usda@</Instances/right_thumb_rubber_3_1>
+        )
+        {
+        }
+    }
+
+    def Xform "right_thumb_pad"
+    {
+        quatf xformOp:orient = (0.9385172, 0.31960562, -0.042077947, -0.12356021)
+        float3 xformOp:scale = (1, 1, 1)
+        double3 xformOp:translate = (0.03724399209022522, 0.09614396840333939, 0.12659646570682526)
+        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+
+        def Xform "right_thumb_pad" (
+            instanceable = true
+            prepend references = @./instances.usda@</Instances/right_thumb_pad>
+        )
+        {
+        }
+
+        def Xform "right_thumb_pad_1" (
+            displayName = "right_thumb_pad"
+            instanceable = true
+            prepend references = @./instances.usda@</Instances/right_thumb_pad_1>
+        )
+        {
+        }
+    }
+
+    def Xform "right_thumb_tip"
+    {
+        quatf xformOp:orient = (0.9749611, -0.18171592, 0.017107453, -0.12703358)
+        float3 xformOp:scale = (1, 1, 1)
+        double3 xformOp:translate = (0.03966435045003891, 0.1051759421825409, 0.1289435178041458)
+        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+
+        def Xform "right_thumb_tip" (
+            instanceable = true
+            prepend references = @./instances.usda@</Instances/right_thumb_tip>
+        )
+        {
+        }
+
+        def Xform "right_thumb_tip_1" (
+            displayName = "right_thumb_tip"
+            instanceable = true
+            prepend references = @./instances.usda@</Instances/right_thumb_tip_1>
+        )
+        {
+        }
+    }
+
+    def Xform "right_little_rubber_2"
+    {
+        quatf xformOp:orient = (0.4706648, 0.52770627, 0.47562507, 0.5232414)
+        float3 xformOp:scale = (1, 1, 1)
+        double3 xformOp:translate = (0.012923453003168106, -0.035985317081213, 0.1781923621892929)
+        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+
+        def Xform "right_little_rubber_2" (
+            instanceable = true
+            prepend references = @./instances.usda@</Instances/right_little_rubber_2>
+        )
+        {
+        }
+
+        def Xform "right_little_rubber_2_1" (
+            displayName = "right_little_rubber_2"
+            instanceable = true
+            prepend references = @./instances.usda@</Instances/right_little_rubber_2_1>
+        )
+        {
+        }
+    }
+
+    def Xform "right_little_pad"
+    {
+        quatf xformOp:orient = (0.4057539, 0.5791054, 0.53352696, 0.46405792)
+        float3 xformOp:scale = (1, 1, 1)
+        double3 xformOp:translate = (0.019296905025839806, -0.037631556391716, 0.19385729730129242)
+        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+
+        def Xform "right_little_pad" (
+            instanceable = true
+            prepend references = @./instances.usda@</Instances/right_little_pad>
+        )
+        {
+        }
+
+        def Xform "right_little_pad_1" (
+            displayName = "right_little_pad"
+            instanceable = true
+            prepend references = @./instances.usda@</Instances/right_little_pad_1>
+        )
+        {
+        }
+    }
+
+    def Xform "right_little_tip"
+    {
+        quatf xformOp:orient = (0.97982436, 0.051343556, 0.19288827, 0.010108249)
+        float3 xformOp:scale = (1, 1, 1)
+        double3 xformOp:translate = (0.016793278977274895, -0.03844066336750984, 0.20155633985996246)
+        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+
+        def Xform "right_little_tip" (
+            instanceable = true
+            prepend references = @./instances.usda@</Instances/right_little_tip>
+        )
+        {
+        }
+
+        def Xform "right_little_tip_1" (
+            displayName = "right_little_tip"
+            instanceable = true
+            prepend references = @./instances.usda@</Instances/right_little_tip_1>
+        )
+        {
+        }
+    }
+
+    def Xform "palm"
+    {
+        quatf xformOp:orient = (0.49999908, 0.4999984, 0.50000125, 0.50000125)
+        float3 xformOp:scale = (1, 1, 1)
+        double3 xformOp:translate = (0.014361963607370853, -0.004451830871403217, 0.10147996991872787)
+        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+
+        def Xform "plam" (
+            instanceable = true
+            prepend references = @./instances.usda@</Instances/plam>
+        )
+        {
+        }
+
+        def Xform "plam_1" (
+            displayName = "plam"
+            instanceable = true
+            prepend references = @./instances.usda@</Instances/plam_1>
+        )
+        {
+        }
+    }
+
+    def Scope "VisualMaterials"
+    {
+    }
+}
+

inspirerobots_inspire_hand_rh56dfx_right_inspire_hand/payloads/geometries.usd

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7d4b3ce2f8b5e8d73df8ac000945ed4c629ee04d65db0d9c79f1acdd8619ab5e
+size 7568564

inspirerobots_inspire_hand_rh56dfx_right_inspire_hand/payloads/materials.usda

@@ -0,0 +1,185 @@
+#usda 1.0
+(
+    customLayerData = {
+    }
+    endTimeCode = 0
+    kilogramsPerUnit = 1
+    metersPerUnit = 1
+    startTimeCode = -1
+    upAxis = "Z"
+)
+
+def Scope "Materials"
+{
+    def Material "Plastic_ABS"
+    {
+        custom token[] omni:simready:nonvisual:attributes = ["none"]
+        custom token omni:simready:nonvisual:base = "plastic"
+        custom token omni:simready:nonvisual:coating = "none"
+        token outputs:displacement (
+            displayGroup = "Outputs"
+        )
+        prepend token outputs:mdl:displacement.connect = </Materials/Plastic_ABS/Shader.outputs:out>
+        prepend token outputs:mdl:surface.connect = </Materials/Plastic_ABS/Shader.outputs:out>
+        prepend token outputs:mdl:volume.connect = </Materials/Plastic_ABS/Shader.outputs:out>
+        token outputs:mtlx:surface.connect = </Materials/Plastic_ABS/simready_pbr_surfaceshader.outputs:out>
+        token outputs:surface (
+            displayGroup = "Outputs"
+        )
+        token outputs:surface.connect = </Materials/Plastic_ABS/SimReadyPreviewSurface.outputs:surface>
+        token outputs:volume (
+            displayGroup = "Outputs"
+        )
+
+        def Shader "Shader" (
+            apiSchemas = ["NodeDefAPI"]
+        )
+        {
+            token info:implementationSource = "sourceAsset"
+            asset info:mdl:sourceAsset = @../Textures/Plastic_ABS.mdl@
+            token info:mdl:sourceAsset:subIdentifier = "Plastic_ABS"
+            color3f inputs:diffuse_tint = (1, 1, 1)
+            token outputs:out (
+                renderType = "material"
+            )
+        }
+
+        def Shader "SimReadyPreviewSurface"
+        {
+            token info:id = "UsdPreviewSurface"
+            color3f inputs:diffuseColor = (1, 1, 1)
+            float inputs:metallic = 0
+            float inputs:opacity = 1
+            float inputs:roughness = 0.28
+            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 "Rubber_Smooth"
+    {
+        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/Rubber_Smooth/Shader.outputs:out>
+        prepend token outputs:mdl:surface.connect = </Materials/Rubber_Smooth/Shader.outputs:out>
+        prepend token outputs:mdl:volume.connect = </Materials/Rubber_Smooth/Shader.outputs:out>
+        token outputs:mtlx:surface.connect = </Materials/Rubber_Smooth/simready_pbr_surfaceshader.outputs:out>
+        token outputs:surface (
+            displayGroup = "Outputs"
+        )
+        token outputs:surface.connect = </Materials/Rubber_Smooth/SimReadyPreviewSurface.outputs:surface>
+        token outputs:volume (
+            displayGroup = "Outputs"
+        )
+
+        def Shader "Shader" (
+            apiSchemas = ["NodeDefAPI"]
+        )
+        {
+            token info:implementationSource = "sourceAsset"
+            asset info:mdl:sourceAsset = @../Textures/Rubber_Smooth.mdl@
+            token info:mdl:sourceAsset:subIdentifier = "Rubber_Smooth"
+            token outputs:out (
+                renderType = "material"
+            )
+        }
+
+        def Shader "SimReadyPreviewSurface"
+        {
+            token info:id = "UsdPreviewSurface"
+            color3f inputs:diffuseColor.connect = </Materials/Rubber_Smooth/SimReady_diffuse_texture.outputs:rgb>
+            float inputs:metallic.connect = </Materials/Rubber_Smooth/SimReady_ORM_texture.outputs:b>
+            normal3f inputs:normal.connect = </Materials/Rubber_Smooth/SimReady_normalmap_texture.outputs:rgb>
+            float inputs:opacity = 1
+            float inputs:roughness.connect = </Materials/Rubber_Smooth/SimReady_ORM_texture.outputs:g>
+            token outputs:surface
+        }
+
+        def Shader "SimReadyUV"
+        {
+            token info:id = "UsdPrimvarReader_float2"
+            string inputs:varname = "st"
+            float2 outputs:result
+        }
+
+        def Shader "SimReady_diffuse_texture"
+        {
+            token info:id = "UsdUVTexture"
+            float4 inputs:bias = (0, 0, 0, 0)
+            asset inputs:file = @./../Textures/Rubber_Smooth_BaseColor.png@
+            float4 inputs:scale = (1, 1, 1, 1)
+            token inputs:sourceColorSpace = "sRGB"
+            float2 inputs:st.connect = </Materials/Rubber_Smooth/SimReadyUV.outputs:result>
+            token inputs:wrapS = "repeat"
+            token inputs:wrapT = "repeat"
+            float outputs:a
+            float outputs:b
+            float outputs:g
+            float outputs:r
+            float3 outputs:rgb
+        }
+
+        def Shader "SimReady_ORM_texture"
+        {
+            token info:id = "UsdUVTexture"
+            float4 inputs:bias = (0, 0, 0, 0)
+            asset inputs:file = @./../Textures/Rubber_Smooth_ORM.png@
+            float4 inputs:scale = (1, 1, 1, 1)
+            token inputs:sourceColorSpace = "raw"
+            float2 inputs:st.connect = </Materials/Rubber_Smooth/SimReadyUV.outputs:result>
+            token inputs:wrapS = "repeat"
+            token inputs:wrapT = "repeat"
+            float outputs:a
+            float outputs:b
+            float outputs:g
+            float outputs:r
+            float3 outputs:rgb
+        }
+
+        def Shader "SimReady_normalmap_texture"
+        {
+            token info:id = "UsdUVTexture"
+            float4 inputs:bias = (-1, -1, -1, 0)
+            asset inputs:file = @./../Textures/Rubber_Smooth_Normal.png@
+            float4 inputs:scale = (2, 2, 2, 1)
+            token inputs:sourceColorSpace = "raw"
+            float2 inputs:st.connect = </Materials/Rubber_Smooth/SimReadyUV.outputs:result>
+            token inputs:wrapS = "repeat"
+            token inputs:wrapT = "repeat"
+            float outputs:a
+            float outputs:b
+            float outputs:g
+            float outputs:r
+            float3 outputs:rgb
+        }
+
+        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
+        }
+    }
+}
+

inspirerobots_inspire_hand_rh56dfx_right_inspire_hand/payloads/robot.usda

@@ -0,0 +1,1295 @@
+#usda 1.0
+(
+    customLayerData = {
+    }
+    defaultPrim = "inspire_hand"
+    endTimeCode = 0
+    kilogramsPerUnit = 1
+    metersPerUnit = 1
+    startTimeCode = -1
+    upAxis = "Z"
+)
+
+over "inspire_hand" (
+    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 = [
+        </inspire_hand/Physics/FixedJoint>,
+        </inspire_hand/Physics/right_thumb_1_joint>,
+        </inspire_hand/Physics/right_index_1_joint>,
+        </inspire_hand/Physics/right_middle_1_joint>,
+        </inspire_hand/Physics/right_ring_1_joint>,
+        </inspire_hand/Physics/right_little_1_joint>,
+        </inspire_hand/Physics/palm_joint>,
+        </inspire_hand/Physics/right_thumb_2_joint>,
+        </inspire_hand/Physics/right_thumb_3_joint>,
+        </inspire_hand/Physics/right_thumb_rubber_1_joint>,
+        </inspire_hand/Physics/right_thumb_4_joint>,
+        </inspire_hand/Physics/right_thumb_rubber_2_joint>,
+        </inspire_hand/Physics/right_thumb_rubber_3_joint>,
+        </inspire_hand/Physics/right_thumb_pad_joint>,
+        </inspire_hand/Physics/right_thumb_tip_joint>,
+        </inspire_hand/Physics/right_index_rubber_1_joint>,
+        </inspire_hand/Physics/right_index_2_joint>,
+        </inspire_hand/Physics/right_index_rubber_2_joint>,
+        </inspire_hand/Physics/right_index_pad_joint>,
+        </inspire_hand/Physics/right_index_tip_joint>,
+        </inspire_hand/Physics/right_middle_rubber_1_joint>,
+        </inspire_hand/Physics/right_middle_2_joint>,
+        </inspire_hand/Physics/right_middle_rubber_2_joint>,
+        </inspire_hand/Physics/right_middle_pad_joint>,
+        </inspire_hand/Physics/right_middle_tip_joint>,
+        </inspire_hand/Physics/right_ring_rubber_1_joint>,
+        </inspire_hand/Physics/right_ring_2_joint>,
+        </inspire_hand/Physics/right_ring_rubber_2_joint>,
+        </inspire_hand/Physics/right_ring_pad_joint>,
+        </inspire_hand/Physics/right_ring_tip_joint>,
+        </inspire_hand/Physics/right_little_rubber_1_joint>,
+        </inspire_hand/Physics/right_little_2_joint>,
+        </inspire_hand/Physics/right_little_rubber_2_joint>,
+        </inspire_hand/Physics/right_little_pad_joint>,
+        </inspire_hand/Physics/right_little_tip_joint>,
+    ]
+    rel isaac:physics:robotLinks (
+        displayName = "Robot Links"
+    )
+    prepend rel isaac:physics:robotLinks = [
+        </inspire_hand/r_base_link>,
+        </inspire_hand/right_thumb_1>,
+        </inspire_hand/right_thumb_2>,
+        </inspire_hand/right_thumb_3>,
+        </inspire_hand/right_thumb_4>,
+        </inspire_hand/right_thumb_rubber_3>,
+        </inspire_hand/right_thumb_pad>,
+        </inspire_hand/right_thumb_tip>,
+        </inspire_hand/right_thumb_rubber_2>,
+        </inspire_hand/right_thumb_rubber_1>,
+        </inspire_hand/right_index_1>,
+        </inspire_hand/right_index_rubber_1>,
+        </inspire_hand/right_index_2>,
+        </inspire_hand/right_index_rubber_2>,
+        </inspire_hand/right_index_pad>,
+        </inspire_hand/right_index_tip>,
+        </inspire_hand/right_middle_1>,
+        </inspire_hand/right_middle_rubber_1>,
+        </inspire_hand/right_middle_2>,
+        </inspire_hand/right_middle_rubber_2>,
+        </inspire_hand/right_middle_pad>,
+        </inspire_hand/right_middle_tip>,
+        </inspire_hand/right_ring_1>,
+        </inspire_hand/right_ring_rubber_1>,
+        </inspire_hand/right_ring_2>,
+        </inspire_hand/right_ring_rubber_2>,
+        </inspire_hand/right_ring_pad>,
+        </inspire_hand/right_ring_tip>,
+        </inspire_hand/right_little_1>,
+        </inspire_hand/right_little_rubber_1>,
+        </inspire_hand/right_little_2>,
+        </inspire_hand/right_little_rubber_2>,
+        </inspire_hand/right_little_pad>,
+        </inspire_hand/right_little_tip>,
+        </inspire_hand/palm>,
+    ]
+    token isaac:robotType = "End Effector" (
+        displayName = "Robot Type"
+    )
+    string isaac:source (
+        displayName = "Source"
+    )
+    string isaac:version (
+        displayName = "Version"
+    )
+
+    over "Physics"
+    {
+        over "right_thumb_1_joint" (
+            prepend apiSchemas = ["IsaacJointAPI"]
+        )
+        {
+            bool[] isaac:actuator (
+                displayName = "Actuator"
+            )
+            string isaac:NameOverride (
+                displayName = "Joint Name Override"
+            )
+            token[] isaac:physics:DofOffsetOpOrder (
+                displayName = "Dof Offset Op Order"
+            )
+        }
+
+        over "right_thumb_2_joint" (
+            prepend apiSchemas = ["IsaacJointAPI"]
+        )
+        {
+            bool[] isaac:actuator (
+                displayName = "Actuator"
+            )
+            string isaac:NameOverride (
+                displayName = "Joint Name Override"
+            )
+            token[] isaac:physics:DofOffsetOpOrder (
+                displayName = "Dof Offset Op Order"
+            )
+        }
+
+        over "right_thumb_3_joint" (
+            prepend apiSchemas = ["IsaacJointAPI"]
+        )
+        {
+            bool[] isaac:actuator (
+                displayName = "Actuator"
+            )
+            string isaac:NameOverride (
+                displayName = "Joint Name Override"
+            )
+            token[] isaac:physics:DofOffsetOpOrder (
+                displayName = "Dof Offset Op Order"
+            )
+        }
+
+        over "right_thumb_4_joint" (
+            prepend apiSchemas = ["IsaacJointAPI"]
+        )
+        {
+            bool[] isaac:actuator (
+                displayName = "Actuator"
+            )
+            string isaac:NameOverride (
+                displayName = "Joint Name Override"
+            )
+            token[] isaac:physics:DofOffsetOpOrder (
+                displayName = "Dof Offset Op Order"
+            )
+        }
+
+        over "right_thumb_rubber_3_joint" (
+            prepend apiSchemas = ["IsaacJointAPI"]
+        )
+        {
+        }
+
+        over "right_thumb_pad_joint" (
+            prepend apiSchemas = ["IsaacJointAPI"]
+        )
+        {
+        }
+
+        over "right_thumb_tip_joint" (
+            prepend apiSchemas = ["IsaacJointAPI"]
+        )
+        {
+        }
+
+        over "right_thumb_rubber_2_joint" (
+            prepend apiSchemas = ["IsaacJointAPI"]
+        )
+        {
+        }
+
+        over "right_thumb_rubber_1_joint" (
+            prepend apiSchemas = ["IsaacJointAPI"]
+        )
+        {
+        }
+
+        over "right_index_1_joint" (
+            prepend apiSchemas = ["IsaacJointAPI"]
+        )
+        {
+            bool[] isaac:actuator (
+                displayName = "Actuator"
+            )
+            string isaac:NameOverride (
+                displayName = "Joint Name Override"
+            )
+            token[] isaac:physics:DofOffsetOpOrder (
+                displayName = "Dof Offset Op Order"
+            )
+        }
+
+        over "right_index_rubber_1_joint" (
+            prepend apiSchemas = ["IsaacJointAPI"]
+        )
+        {
+        }
+
+        over "right_index_2_joint" (
+            prepend apiSchemas = ["IsaacJointAPI"]
+        )
+        {
+            bool[] isaac:actuator (
+                displayName = "Actuator"
+            )
+            string isaac:NameOverride (
+                displayName = "Joint Name Override"
+            )
+            token[] isaac:physics:DofOffsetOpOrder (
+                displayName = "Dof Offset Op Order"
+            )
+        }
+
+        over "right_index_rubber_2_joint" (
+            prepend apiSchemas = ["IsaacJointAPI"]
+        )
+        {
+        }
+
+        over "right_index_pad_joint" (
+            prepend apiSchemas = ["IsaacJointAPI"]
+        )
+        {
+        }
+
+        over "right_index_tip_joint" (
+            prepend apiSchemas = ["IsaacJointAPI"]
+        )
+        {
+        }
+
+        over "right_middle_1_joint" (
+            prepend apiSchemas = ["IsaacJointAPI"]
+        )
+        {
+            bool[] isaac:actuator (
+                displayName = "Actuator"
+            )
+            string isaac:NameOverride (
+                displayName = "Joint Name Override"
+            )
+            token[] isaac:physics:DofOffsetOpOrder (
+                displayName = "Dof Offset Op Order"
+            )
+        }
+
+        over "right_middle_rubber_1_joint" (
+            prepend apiSchemas = ["IsaacJointAPI"]
+        )
+        {
+        }
+
+        over "right_middle_2_joint" (
+            prepend apiSchemas = ["IsaacJointAPI"]
+        )
+        {
+            bool[] isaac:actuator (
+                displayName = "Actuator"
+            )
+            string isaac:NameOverride (
+                displayName = "Joint Name Override"
+            )
+            token[] isaac:physics:DofOffsetOpOrder (
+                displayName = "Dof Offset Op Order"
+            )
+        }
+
+        over "right_middle_rubber_2_joint" (
+            prepend apiSchemas = ["IsaacJointAPI"]
+        )
+        {
+        }
+
+        over "right_middle_pad_joint" (
+            prepend apiSchemas = ["IsaacJointAPI"]
+        )
+        {
+        }
+
+        over "right_middle_tip_joint" (
+            prepend apiSchemas = ["IsaacJointAPI"]
+        )
+        {
+        }
+
+        over "right_ring_1_joint" (
+            prepend apiSchemas = ["IsaacJointAPI"]
+        )
+        {
+            bool[] isaac:actuator (
+                displayName = "Actuator"
+            )
+            string isaac:NameOverride (
+                displayName = "Joint Name Override"
+            )
+            token[] isaac:physics:DofOffsetOpOrder (
+                displayName = "Dof Offset Op Order"
+            )
+        }
+
+        over "right_ring_rubber_1_joint" (
+            prepend apiSchemas = ["IsaacJointAPI"]
+        )
+        {
+        }
+
+        over "right_ring_2_joint" (
+            prepend apiSchemas = ["IsaacJointAPI"]
+        )
+        {
+            bool[] isaac:actuator (
+                displayName = "Actuator"
+            )
+            string isaac:NameOverride (
+                displayName = "Joint Name Override"
+            )
+            token[] isaac:physics:DofOffsetOpOrder (
+                displayName = "Dof Offset Op Order"
+            )
+        }
+
+        over "right_ring_rubber_2_joint" (
+            prepend apiSchemas = ["IsaacJointAPI"]
+        )
+        {
+        }
+
+        over "right_ring_pad_joint" (
+            prepend apiSchemas = ["IsaacJointAPI"]
+        )
+        {
+        }
+
+        over "right_ring_tip_joint" (
+            prepend apiSchemas = ["IsaacJointAPI"]
+        )
+        {
+        }
+
+        over "right_little_1_joint" (
+            prepend apiSchemas = ["IsaacJointAPI"]
+        )
+        {
+            bool[] isaac:actuator (
+                displayName = "Actuator"
+            )
+            string isaac:NameOverride (
+                displayName = "Joint Name Override"
+            )
+            token[] isaac:physics:DofOffsetOpOrder (
+                displayName = "Dof Offset Op Order"
+            )
+        }
+
+        over "right_little_rubber_1_joint" (
+            prepend apiSchemas = ["IsaacJointAPI"]
+        )
+        {
+        }
+
+        over "right_little_2_joint" (
+            prepend apiSchemas = ["IsaacJointAPI"]
+        )
+        {
+            bool[] isaac:actuator (
+                displayName = "Actuator"
+            )
+            string isaac:NameOverride (
+                displayName = "Joint Name Override"
+            )
+            token[] isaac:physics:DofOffsetOpOrder (
+                displayName = "Dof Offset Op Order"
+            )
+        }
+
+        over "right_little_rubber_2_joint" (
+            prepend apiSchemas = ["IsaacJointAPI"]
+        )
+        {
+        }
+
+        over "right_little_pad_joint" (
+            prepend apiSchemas = ["IsaacJointAPI"]
+        )
+        {
+        }
+
+        over "right_little_tip_joint" (
+            prepend apiSchemas = ["IsaacJointAPI"]
+        )
+        {
+        }
+
+        over "FixedJoint" (
+            prepend apiSchemas = ["IsaacJointAPI"]
+        )
+        {
+        }
+
+        over "palm_joint" (
+            prepend apiSchemas = ["IsaacJointAPI"]
+        )
+        {
+        }
+    }
+
+    over "r_base_link" (
+        prepend apiSchemas = ["IsaacLinkAPI"]
+    )
+    {
+        string isaac:nameOverride (
+            displayName = "Name Override"
+            doc = "Name override for prim lookup in base name search"
+        )
+
+        over "r_base_link" (
+            prepend apiSchemas = ["IsaacSiteAPI"]
+        )
+        {
+            string isaac:Description
+            uniform token isaac:forwardAxis
+        }
+
+        over "r_base_link_1" (
+            prepend apiSchemas = ["IsaacSiteAPI"]
+        )
+        {
+            string isaac:Description
+            uniform token isaac:forwardAxis
+        }
+    }
+
+    over "right_thumb_1" (
+        prepend apiSchemas = ["IsaacLinkAPI"]
+    )
+    {
+        string isaac:nameOverride (
+            displayName = "Name Override"
+        )
+
+        over "right_thumb_1" (
+            prepend apiSchemas = ["IsaacSiteAPI"]
+        )
+        {
+            string isaac:Description
+            uniform token isaac:forwardAxis
+        }
+
+        over "right_thumb_1_1" (
+            prepend apiSchemas = ["IsaacSiteAPI"]
+        )
+        {
+            string isaac:Description
+            uniform token isaac:forwardAxis
+        }
+    }
+
+    over "right_index_1" (
+        prepend apiSchemas = ["IsaacLinkAPI"]
+    )
+    {
+        string isaac:nameOverride (
+            displayName = "Name Override"
+        )
+
+        over "right_index_1" (
+            prepend apiSchemas = ["IsaacSiteAPI"]
+        )
+        {
+            string isaac:Description
+            uniform token isaac:forwardAxis
+        }
+
+        over "right_index_1_1" (
+            prepend apiSchemas = ["IsaacSiteAPI"]
+        )
+        {
+            string isaac:Description
+            uniform token isaac:forwardAxis
+        }
+    }
+
+    over "right_middle_1" (
+        prepend apiSchemas = ["IsaacLinkAPI"]
+    )
+    {
+        string isaac:nameOverride (
+            displayName = "Name Override"
+        )
+
+        over "right_middle_1" (
+            prepend apiSchemas = ["IsaacSiteAPI"]
+        )
+        {
+            string isaac:Description
+            uniform token isaac:forwardAxis
+        }
+
+        over "right_middle_1_1" (
+            prepend apiSchemas = ["IsaacSiteAPI"]
+        )
+        {
+            string isaac:Description
+            uniform token isaac:forwardAxis
+        }
+    }
+
+    over "right_ring_1" (
+        prepend apiSchemas = ["IsaacLinkAPI"]
+    )
+    {
+        string isaac:nameOverride (
+            displayName = "Name Override"
+        )
+
+        over "right_ring_1" (
+            prepend apiSchemas = ["IsaacSiteAPI"]
+        )
+        {
+            string isaac:Description
+            uniform token isaac:forwardAxis
+        }
+
+        over "right_ring_1_1" (
+            prepend apiSchemas = ["IsaacSiteAPI"]
+        )
+        {
+            string isaac:Description
+            uniform token isaac:forwardAxis
+        }
+    }
+
+    over "right_little_1" (
+        prepend apiSchemas = ["IsaacLinkAPI"]
+    )
+    {
+        string isaac:nameOverride (
+            displayName = "Name Override"
+        )
+
+        over "right_little_1" (
+            prepend apiSchemas = ["IsaacSiteAPI"]
+        )
+        {
+            string isaac:Description
+            uniform token isaac:forwardAxis
+        }
+
+        over "right_little_1_1" (
+            prepend apiSchemas = ["IsaacSiteAPI"]
+        )
+        {
+            string isaac:Description
+            uniform token isaac:forwardAxis
+        }
+    }
+
+    over "right_little_rubber_1" (
+        prepend apiSchemas = ["IsaacLinkAPI"]
+    )
+    {
+        string isaac:nameOverride (
+            displayName = "Name Override"
+        )
+
+        over "right_little_rubber_1" (
+            prepend apiSchemas = ["IsaacSiteAPI"]
+        )
+        {
+            string isaac:Description
+            uniform token isaac:forwardAxis
+        }
+
+        over "right_little_rubber_1_1" (
+            prepend apiSchemas = ["IsaacSiteAPI"]
+        )
+        {
+            string isaac:Description
+            uniform token isaac:forwardAxis
+        }
+    }
+
+    over "right_little_2" (
+        prepend apiSchemas = ["IsaacLinkAPI"]
+    )
+    {
+        string isaac:nameOverride (
+            displayName = "Name Override"
+        )
+
+        over "right_little_2" (
+            prepend apiSchemas = ["IsaacSiteAPI"]
+        )
+        {
+            string isaac:Description
+            uniform token isaac:forwardAxis
+        }
+
+        over "right_little_2_1" (
+            prepend apiSchemas = ["IsaacSiteAPI"]
+        )
+        {
+            string isaac:Description
+            uniform token isaac:forwardAxis
+        }
+    }
+
+    over "right_ring_2" (
+        prepend apiSchemas = ["IsaacLinkAPI"]
+    )
+    {
+        string isaac:nameOverride (
+            displayName = "Name Override"
+        )
+
+        over "right_ring_2" (
+            prepend apiSchemas = ["IsaacSiteAPI"]
+        )
+        {
+            string isaac:Description
+            uniform token isaac:forwardAxis
+        }
+
+        over "right_ring_2_1" (
+            prepend apiSchemas = ["IsaacSiteAPI"]
+        )
+        {
+            string isaac:Description
+            uniform token isaac:forwardAxis
+        }
+    }
+
+    over "right_ring_rubber_1" (
+        prepend apiSchemas = ["IsaacLinkAPI"]
+    )
+    {
+        string isaac:nameOverride
+
+        over "right_ring_rubber_1" (
+            prepend apiSchemas = ["IsaacSiteAPI"]
+        )
+        {
+            string isaac:Description
+            uniform token isaac:forwardAxis
+        }
+
+        over "right_ring_rubber_1_1" (
+            prepend apiSchemas = ["IsaacSiteAPI"]
+        )
+        {
+            string isaac:Description
+            uniform token isaac:forwardAxis
+        }
+    }
+
+    over "right_middle_2" (
+        prepend apiSchemas = ["IsaacLinkAPI"]
+    )
+    {
+        string isaac:nameOverride (
+            displayName = "Name Override"
+        )
+
+        over "right_middle_2" (
+            prepend apiSchemas = ["IsaacSiteAPI"]
+        )
+        {
+            string isaac:Description
+            uniform token isaac:forwardAxis
+        }
+
+        over "right_middle_2_1" (
+            prepend apiSchemas = ["IsaacSiteAPI"]
+        )
+        {
+            string isaac:Description
+            uniform token isaac:forwardAxis
+        }
+    }
+
+    over "right_middle_rubber_1" (
+        prepend apiSchemas = ["IsaacLinkAPI"]
+    )
+    {
+        string isaac:nameOverride
+
+        over "right_middle_rubber_1" (
+            prepend apiSchemas = ["IsaacSiteAPI"]
+        )
+        {
+            string isaac:Description
+            uniform token isaac:forwardAxis
+        }
+
+        over "right_middle_rubber_1_1" (
+            prepend apiSchemas = ["IsaacSiteAPI"]
+        )
+        {
+            string isaac:Description
+            uniform token isaac:forwardAxis
+        }
+    }
+
+    over "right_index_2" (
+        prepend apiSchemas = ["IsaacLinkAPI"]
+    )
+    {
+        string isaac:nameOverride (
+            displayName = "Name Override"
+        )
+
+        over "right_index_2" (
+            prepend apiSchemas = ["IsaacSiteAPI"]
+        )
+        {
+            string isaac:Description
+            uniform token isaac:forwardAxis
+        }
+
+        over "right_index_2_1" (
+            prepend apiSchemas = ["IsaacSiteAPI"]
+        )
+        {
+            string isaac:Description
+            uniform token isaac:forwardAxis
+        }
+    }
+
+    over "right_index_rubber_1" (
+        prepend apiSchemas = ["IsaacLinkAPI"]
+    )
+    {
+        string isaac:nameOverride
+
+        over "right_index_rubber_1" (
+            prepend apiSchemas = ["IsaacSiteAPI"]
+        )
+        {
+            string isaac:Description
+            uniform token isaac:forwardAxis
+        }
+
+        over "right_index_rubber_1_1" (
+            prepend apiSchemas = ["IsaacSiteAPI"]
+        )
+        {
+            string isaac:Description
+            uniform token isaac:forwardAxis
+        }
+    }
+
+    over "right_thumb_2" (
+        prepend apiSchemas = ["IsaacLinkAPI"]
+    )
+    {
+        string isaac:nameOverride (
+            displayName = "Name Override"
+        )
+
+        over "right_thumb_2" (
+            prepend apiSchemas = ["IsaacSiteAPI"]
+        )
+        {
+            string isaac:Description
+            uniform token isaac:forwardAxis
+        }
+
+        over "right_thumb_2_1" (
+            prepend apiSchemas = ["IsaacSiteAPI"]
+        )
+        {
+            string isaac:Description
+            uniform token isaac:forwardAxis
+        }
+    }
+
+    over "right_thumb_rubber_1" (
+        prepend apiSchemas = ["IsaacLinkAPI"]
+    )
+    {
+        string isaac:nameOverride (
+            displayName = "Name Override"
+        )
+
+        over "right_thumb_rubber_1" (
+            prepend apiSchemas = ["IsaacSiteAPI"]
+        )
+        {
+            string isaac:Description
+            uniform token isaac:forwardAxis
+        }
+
+        over "right_thumb_rubber_1_1" (
+            prepend apiSchemas = ["IsaacSiteAPI"]
+        )
+        {
+            string isaac:Description
+            uniform token isaac:forwardAxis
+        }
+    }
+
+    over "right_thumb_3" (
+        prepend apiSchemas = ["IsaacLinkAPI"]
+    )
+    {
+        string isaac:nameOverride (
+            displayName = "Name Override"
+        )
+
+        over "right_thumb_3" (
+            prepend apiSchemas = ["IsaacSiteAPI"]
+        )
+        {
+            string isaac:Description
+            uniform token isaac:forwardAxis
+        }
+
+        over "right_thumb_3_1" (
+            prepend apiSchemas = ["IsaacSiteAPI"]
+        )
+        {
+            string isaac:Description
+            uniform token isaac:forwardAxis
+        }
+    }
+
+    over "right_index_rubber_2" (
+        prepend apiSchemas = ["IsaacLinkAPI"]
+    )
+    {
+        string isaac:nameOverride (
+            displayName = "Name Override"
+        )
+
+        over "right_index_rubber_2" (
+            prepend apiSchemas = ["IsaacSiteAPI"]
+        )
+        {
+            string isaac:Description
+            uniform token isaac:forwardAxis
+        }
+
+        over "right_index_rubber_2_1" (
+            prepend apiSchemas = ["IsaacSiteAPI"]
+        )
+        {
+            string isaac:Description
+            uniform token isaac:forwardAxis
+        }
+    }
+
+    over "right_middle_rubber_2" (
+        prepend apiSchemas = ["IsaacLinkAPI"]
+    )
+    {
+        string isaac:nameOverride (
+            displayName = "Name Override"
+        )
+
+        over "right_middle_rubber_2" (
+            prepend apiSchemas = ["IsaacSiteAPI"]
+        )
+        {
+            string isaac:Description
+            uniform token isaac:forwardAxis
+        }
+
+        over "right_middle_rubber_2_1" (
+            prepend apiSchemas = ["IsaacSiteAPI"]
+        )
+        {
+            string isaac:Description
+            uniform token isaac:forwardAxis
+        }
+    }
+
+    over "right_ring_rubber_2" (
+        prepend apiSchemas = ["IsaacLinkAPI"]
+    )
+    {
+        string isaac:nameOverride (
+            displayName = "Name Override"
+        )
+
+        over "right_ring_rubber_2" (
+            prepend apiSchemas = ["IsaacSiteAPI"]
+        )
+        {
+            string isaac:Description
+            uniform token isaac:forwardAxis
+        }
+
+        over "right_ring_rubber_2_1" (
+            prepend apiSchemas = ["IsaacSiteAPI"]
+        )
+        {
+            string isaac:Description
+            uniform token isaac:forwardAxis
+        }
+    }
+
+    over "right_ring_tip" (
+        prepend apiSchemas = ["IsaacLinkAPI"]
+    )
+    {
+        string isaac:nameOverride
+
+        over "right_ring_tip" (
+            prepend apiSchemas = ["IsaacSiteAPI"]
+        )
+        {
+            string isaac:Description
+            uniform token isaac:forwardAxis
+        }
+
+        over "right_ring_tip_1" (
+            prepend apiSchemas = ["IsaacSiteAPI"]
+        )
+        {
+            string isaac:Description
+            uniform token isaac:forwardAxis
+        }
+    }
+
+    over "right_ring_pad" (
+        prepend apiSchemas = ["IsaacLinkAPI"]
+    )
+    {
+        string isaac:nameOverride
+
+        over "right_ring_pad" (
+            prepend apiSchemas = ["IsaacSiteAPI"]
+        )
+        {
+            string isaac:Description
+            uniform token isaac:forwardAxis
+        }
+
+        over "right_ring_pad_1" (
+            prepend apiSchemas = ["IsaacSiteAPI"]
+        )
+        {
+            string isaac:Description
+            uniform token isaac:forwardAxis
+        }
+    }
+
+    over "right_middle_tip" (
+        prepend apiSchemas = ["IsaacLinkAPI"]
+    )
+    {
+        string isaac:nameOverride
+
+        over "right_middle_tip" (
+            prepend apiSchemas = ["IsaacSiteAPI"]
+        )
+        {
+            string isaac:Description
+            uniform token isaac:forwardAxis
+        }
+
+        over "right_middle_tip_1" (
+            prepend apiSchemas = ["IsaacSiteAPI"]
+        )
+        {
+            string isaac:Description
+            uniform token isaac:forwardAxis
+        }
+    }
+
+    over "right_middle_pad" (
+        prepend apiSchemas = ["IsaacLinkAPI"]
+    )
+    {
+        string isaac:nameOverride (
+            displayName = "Name Override"
+        )
+
+        over "right_middle_pad" (
+            prepend apiSchemas = ["IsaacSiteAPI"]
+        )
+        {
+            string isaac:Description
+            uniform token isaac:forwardAxis
+        }
+
+        over "right_middle_pad_1" (
+            prepend apiSchemas = ["IsaacSiteAPI"]
+        )
+        {
+            string isaac:Description
+            uniform token isaac:forwardAxis
+        }
+    }
+
+    over "right_index_tip" (
+        prepend apiSchemas = ["IsaacLinkAPI"]
+    )
+    {
+        string isaac:nameOverride
+
+        over "right_index_tip" (
+            prepend apiSchemas = ["IsaacSiteAPI"]
+        )
+        {
+            string isaac:Description
+            uniform token isaac:forwardAxis
+        }
+
+        over "right_index_tip_1" (
+            prepend apiSchemas = ["IsaacSiteAPI"]
+        )
+        {
+            string isaac:Description
+            uniform token isaac:forwardAxis
+        }
+    }
+
+    over "right_index_pad" (
+        prepend apiSchemas = ["IsaacLinkAPI"]
+    )
+    {
+        string isaac:nameOverride
+
+        over "right_index_pad" (
+            prepend apiSchemas = ["IsaacSiteAPI"]
+        )
+        {
+            string isaac:Description
+            uniform token isaac:forwardAxis
+        }
+
+        over "right_index_pad_1" (
+            prepend apiSchemas = ["IsaacSiteAPI"]
+        )
+        {
+            string isaac:Description
+            uniform token isaac:forwardAxis
+        }
+    }
+
+    over "right_thumb_rubber_2" (
+        prepend apiSchemas = ["IsaacLinkAPI"]
+    )
+    {
+        string isaac:nameOverride
+
+        over "right_thumb_rubber_2" (
+            prepend apiSchemas = ["IsaacSiteAPI"]
+        )
+        {
+            string isaac:Description
+            uniform token isaac:forwardAxis
+        }
+
+        over "right_thumb_rubber_2_1" (
+            prepend apiSchemas = ["IsaacSiteAPI"]
+        )
+        {
+            string isaac:Description
+            uniform token isaac:forwardAxis
+        }
+    }
+
+    over "right_thumb_4" (
+        prepend apiSchemas = ["IsaacLinkAPI"]
+    )
+    {
+        string isaac:nameOverride (
+            displayName = "Name Override"
+        )
+
+        over "right_thumb_4" (
+            prepend apiSchemas = ["IsaacSiteAPI"]
+        )
+        {
+            string isaac:Description
+            uniform token isaac:forwardAxis
+        }
+
+        over "right_thumb_4_1" (
+            prepend apiSchemas = ["IsaacSiteAPI"]
+        )
+        {
+            string isaac:Description
+            uniform token isaac:forwardAxis
+        }
+    }
+
+    over "right_thumb_rubber_3" (
+        prepend apiSchemas = ["IsaacLinkAPI"]
+    )
+    {
+        string isaac:nameOverride (
+            displayName = "Name Override"
+        )
+
+        over "right_thumb_rubber_3" (
+            prepend apiSchemas = ["IsaacSiteAPI"]
+        )
+        {
+            string isaac:Description
+            uniform token isaac:forwardAxis
+        }
+
+        over "right_thumb_rubber_3_1" (
+            prepend apiSchemas = ["IsaacSiteAPI"]
+        )
+        {
+            string isaac:Description
+            uniform token isaac:forwardAxis
+        }
+    }
+
+    over "right_thumb_pad" (
+        prepend apiSchemas = ["IsaacLinkAPI"]
+    )
+    {
+        string isaac:nameOverride
+
+        over "right_thumb_pad" (
+            prepend apiSchemas = ["IsaacSiteAPI"]
+        )
+        {
+            string isaac:Description
+            uniform token isaac:forwardAxis
+        }
+
+        over "right_thumb_pad_1" (
+            prepend apiSchemas = ["IsaacSiteAPI"]
+        )
+        {
+            string isaac:Description
+            uniform token isaac:forwardAxis
+        }
+    }
+
+    over "right_thumb_tip" (
+        prepend apiSchemas = ["IsaacLinkAPI"]
+    )
+    {
+        string isaac:nameOverride (
+            displayName = "Name Override"
+        )
+
+        over "right_thumb_tip" (
+            prepend apiSchemas = ["IsaacSiteAPI"]
+        )
+        {
+            string isaac:Description
+            uniform token isaac:forwardAxis
+        }
+
+        over "right_thumb_tip_1" (
+            prepend apiSchemas = ["IsaacSiteAPI"]
+        )
+        {
+            string isaac:Description
+            uniform token isaac:forwardAxis
+        }
+    }
+
+    over "right_little_rubber_2" (
+        prepend apiSchemas = ["IsaacLinkAPI"]
+    )
+    {
+        string isaac:nameOverride (
+            displayName = "Name Override"
+        )
+
+        over "right_little_rubber_2" (
+            prepend apiSchemas = ["IsaacSiteAPI"]
+        )
+        {
+            string isaac:Description
+            uniform token isaac:forwardAxis
+        }
+
+        over "right_little_rubber_2_1" (
+            prepend apiSchemas = ["IsaacSiteAPI"]
+        )
+        {
+            string isaac:Description
+            uniform token isaac:forwardAxis
+        }
+    }
+
+    over "right_little_pad" (
+        prepend apiSchemas = ["IsaacLinkAPI"]
+    )
+    {
+        string isaac:nameOverride (
+            displayName = "Name Override"
+        )
+
+        over "right_little_pad" (
+            prepend apiSchemas = ["IsaacSiteAPI"]
+        )
+        {
+            string isaac:Description
+            uniform token isaac:forwardAxis
+        }
+
+        over "right_little_pad_1" (
+            prepend apiSchemas = ["IsaacSiteAPI"]
+        )
+        {
+            string isaac:Description
+            uniform token isaac:forwardAxis
+        }
+    }
+
+    over "right_little_tip" (
+        prepend apiSchemas = ["IsaacLinkAPI"]
+    )
+    {
+        string isaac:nameOverride
+
+        over "right_little_tip" (
+            prepend apiSchemas = ["IsaacSiteAPI"]
+        )
+        {
+            string isaac:Description
+            uniform token isaac:forwardAxis
+        }
+
+        over "right_little_tip_1" (
+            prepend apiSchemas = ["IsaacSiteAPI"]
+        )
+        {
+            string isaac:Description
+            uniform token isaac:forwardAxis
+        }
+    }
+
+    over "palm" (
+        prepend apiSchemas = ["IsaacLinkAPI"]
+    )
+    {
+        string isaac:nameOverride (
+            displayName = "Name Override"
+        )
+
+        over "plam" (
+            prepend apiSchemas = ["IsaacSiteAPI"]
+        )
+        {
+            string isaac:Description
+            uniform token isaac:forwardAxis
+        }
+
+        over "plam_1" (
+            prepend apiSchemas = ["IsaacSiteAPI"]
+        )
+        {
+            string isaac:Description
+            uniform token isaac:forwardAxis
+        }
+    }
+}
+

inspirerobots_inspire_hand_rh56dfx_right_inspire_hand/runnables/physics/mujoco.usda

@@ -0,0 +1,661 @@
+#usda 1.0
+(
+    defaultPrim = "inspire_hand"
+)
+
+def "inspire_hand"
+{
+    over "r_base_link"
+    {
+        over "r_base_link_1"
+        {
+            over "r_base_link" (
+                prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"]
+            )
+            {
+                uniform token physics:approximation = "convexHull"
+            }
+        }
+
+        over "gripper_01" (
+            prepend apiSchemas = ["MjcSiteAPI"]
+        )
+        {
+        }
+    }
+
+    over "right_thumb_1"
+    {
+        over "right_thumb_1_1"
+        {
+            over "right_thumb_1" (
+                prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"]
+            )
+            {
+                uniform token physics:approximation = "convexHull"
+            }
+        }
+    }
+
+    over "right_index_1"
+    {
+        over "right_index_1_1"
+        {
+            over "right_index_1" (
+                prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"]
+            )
+            {
+                uniform token physics:approximation = "convexHull"
+            }
+        }
+    }
+
+    over "right_middle_1"
+    {
+        over "right_middle_1_1"
+        {
+            over "right_middle_1" (
+                prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"]
+            )
+            {
+                uniform token physics:approximation = "convexHull"
+            }
+        }
+    }
+
+    over "right_ring_1"
+    {
+        over "right_ring_1_1"
+        {
+            over "right_ring_1" (
+                prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"]
+            )
+            {
+                uniform token physics:approximation = "convexHull"
+            }
+        }
+    }
+
+    over "right_little_1"
+    {
+        over "right_little_1_1"
+        {
+            over "right_little_1" (
+                prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"]
+            )
+            {
+                uniform token physics:approximation = "convexHull"
+            }
+        }
+    }
+
+    over "right_little_rubber_1"
+    {
+        over "right_little_rubber_1_1"
+        {
+            over "right_little_rubber_1" (
+                prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"]
+            )
+            {
+                uniform token physics:approximation = "convexHull"
+            }
+        }
+    }
+
+    over "right_little_2"
+    {
+        over "right_little_2_1"
+        {
+            over "right_little_2" (
+                prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"]
+            )
+            {
+                uniform token physics:approximation = "convexHull"
+            }
+        }
+    }
+
+    over "right_ring_2"
+    {
+        over "right_ring_2_1"
+        {
+            over "right_ring_2" (
+                prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"]
+            )
+            {
+                uniform token physics:approximation = "convexHull"
+            }
+        }
+    }
+
+    over "right_ring_rubber_1"
+    {
+        over "right_ring_rubber_1_1"
+        {
+            over "right_ring_rubber_1" (
+                prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"]
+            )
+            {
+                uniform token physics:approximation = "convexHull"
+            }
+        }
+    }
+
+    over "right_middle_2"
+    {
+        over "right_middle_2_1"
+        {
+            over "right_middle_2" (
+                prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"]
+            )
+            {
+                uniform token physics:approximation = "convexHull"
+            }
+        }
+    }
+
+    over "right_middle_rubber_1"
+    {
+        over "right_middle_rubber_1_1"
+        {
+            over "right_middle_rubber_1" (
+                prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"]
+            )
+            {
+                uniform token physics:approximation = "convexHull"
+            }
+        }
+    }
+
+    over "right_index_2"
+    {
+        over "right_index_2_1"
+        {
+            over "right_index_2" (
+                prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"]
+            )
+            {
+                uniform token physics:approximation = "convexHull"
+            }
+        }
+    }
+
+    over "right_index_rubber_1"
+    {
+        over "right_index_rubber_1_1"
+        {
+            over "right_index_rubber_1" (
+                prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"]
+            )
+            {
+                uniform token physics:approximation = "convexHull"
+            }
+        }
+    }
+
+    over "right_thumb_2"
+    {
+        over "right_thumb_2_1"
+        {
+            over "right_thumb_2" (
+                prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"]
+            )
+            {
+                uniform token physics:approximation = "convexHull"
+            }
+        }
+    }
+
+    over "right_thumb_rubber_1"
+    {
+        over "right_thumb_rubber_1_1"
+        {
+            over "right_thumb_rubber_1" (
+                prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"]
+            )
+            {
+                uniform token physics:approximation = "convexHull"
+            }
+        }
+    }
+
+    over "right_thumb_3"
+    {
+        over "right_thumb_3_1"
+        {
+            over "right_thumb_3" (
+                prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"]
+            )
+            {
+                uniform token physics:approximation = "convexHull"
+            }
+        }
+    }
+
+    over "right_index_rubber_2"
+    {
+        over "right_index_rubber_2_1"
+        {
+            over "right_index_rubber_2" (
+                prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"]
+            )
+            {
+                uniform token physics:approximation = "convexHull"
+            }
+        }
+    }
+
+    over "right_middle_rubber_2"
+    {
+        over "right_middle_rubber_2_1"
+        {
+            over "right_middle_rubber_2" (
+                prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"]
+            )
+            {
+                uniform token physics:approximation = "convexHull"
+            }
+        }
+    }
+
+    over "right_ring_rubber_2"
+    {
+        over "right_ring_rubber_2_1"
+        {
+            over "right_ring_rubber_2" (
+                prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"]
+            )
+            {
+                uniform token physics:approximation = "convexHull"
+            }
+        }
+    }
+
+    over "right_ring_tip"
+    {
+        over "right_ring_tip_1"
+        {
+            over "right_ring_tip" (
+                prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"]
+            )
+            {
+                uniform token physics:approximation = "convexHull"
+            }
+        }
+    }
+
+    over "right_ring_pad"
+    {
+        over "right_ring_pad_1"
+        {
+            over "right_ring_pad" (
+                prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"]
+            )
+            {
+                uniform token physics:approximation = "convexHull"
+            }
+        }
+    }
+
+    over "right_middle_tip"
+    {
+        over "right_middle_tip_1"
+        {
+            over "right_middle_tip" (
+                prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"]
+            )
+            {
+                uniform token physics:approximation = "convexHull"
+            }
+        }
+    }
+
+    over "right_middle_pad"
+    {
+        over "right_middle_pad_1"
+        {
+            over "right_middle_pad" (
+                prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"]
+            )
+            {
+                uniform token physics:approximation = "convexHull"
+            }
+        }
+    }
+
+    over "right_index_tip"
+    {
+        over "right_index_tip_1"
+        {
+            over "right_index_tip" (
+                prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"]
+            )
+            {
+                uniform token physics:approximation = "convexHull"
+            }
+        }
+    }
+
+    over "right_index_pad"
+    {
+        over "right_index_pad_1"
+        {
+            over "right_index_pad" (
+                prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"]
+            )
+            {
+                uniform token physics:approximation = "convexHull"
+            }
+        }
+    }
+
+    over "right_thumb_rubber_2"
+    {
+        over "right_thumb_rubber_2_1"
+        {
+            over "right_thumb_rubber_2" (
+                prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"]
+            )
+            {
+                uniform token physics:approximation = "convexHull"
+            }
+        }
+    }
+
+    over "right_thumb_4"
+    {
+        over "right_thumb_4_1"
+        {
+            over "right_thumb_4" (
+                prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"]
+            )
+            {
+                uniform token physics:approximation = "convexHull"
+            }
+        }
+    }
+
+    over "right_thumb_rubber_3"
+    {
+        over "right_thumb_rubber_3_1"
+        {
+            over "right_thumb_rubber_3" (
+                prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"]
+            )
+            {
+                uniform token physics:approximation = "convexHull"
+            }
+        }
+    }
+
+    over "right_thumb_pad"
+    {
+        over "right_thumb_pad_1"
+        {
+            over "right_thumb_pad" (
+                prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"]
+            )
+            {
+                uniform token physics:approximation = "convexHull"
+            }
+        }
+    }
+
+    over "right_thumb_tip"
+    {
+        over "right_thumb_tip_1"
+        {
+            over "right_thumb_tip" (
+                prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"]
+            )
+            {
+                uniform token physics:approximation = "convexHull"
+            }
+        }
+    }
+
+    over "right_little_rubber_2"
+    {
+        over "right_little_rubber_2_1"
+        {
+            over "right_little_rubber_2" (
+                prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"]
+            )
+            {
+                uniform token physics:approximation = "convexHull"
+            }
+        }
+    }
+
+    over "right_little_pad"
+    {
+        over "right_little_pad_1"
+        {
+            over "right_little_pad" (
+                prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"]
+            )
+            {
+                uniform token physics:approximation = "convexHull"
+            }
+        }
+    }
+
+    over "right_little_tip"
+    {
+        over "right_little_tip_1"
+        {
+            over "right_little_tip" (
+                prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"]
+            )
+            {
+                uniform token physics:approximation = "convexHull"
+            }
+        }
+    }
+
+    over "palm"
+    {
+        over "plam_1"
+        {
+            over "plam" (
+                prepend apiSchemas = ["MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"]
+            )
+            {
+                uniform token physics:approximation = "convexHull"
+            }
+        }
+    }
+
+    over "Physics"
+    {
+        over "right_thumb_1_joint" (
+            prepend apiSchemas = ["MjcJointAPI"]
+        )
+        {
+        }
+
+        over "right_thumb_2_joint" (
+            prepend apiSchemas = ["MjcJointAPI"]
+        )
+        {
+        }
+
+        over "right_thumb_3_joint" (
+            prepend apiSchemas = ["MjcJointAPI", "NewtonMimicAPI", "MjcEqualityJointAPI"]
+        )
+        {
+            float newton:mimicCoef0 = 0
+            float newton:mimicCoef1 = 1.1425
+            bool newton:mimicEnabled = 1
+            rel newton:mimicJoint = </inspire_hand/Physics/right_thumb_2_joint>
+        }
+
+        over "right_thumb_4_joint" (
+            prepend apiSchemas = ["MjcJointAPI", "NewtonMimicAPI", "MjcEqualityJointAPI"]
+        )
+        {
+            float newton:mimicCoef0 = -0.1
+            float newton:mimicCoef1 = 0.857789
+            bool newton:mimicEnabled = 1
+            rel newton:mimicJoint = </inspire_hand/Physics/right_thumb_2_joint>
+        }
+
+        over "right_index_1_joint" (
+            prepend apiSchemas = ["MjcJointAPI"]
+        )
+        {
+        }
+
+        over "right_index_2_joint" (
+            prepend apiSchemas = ["MjcJointAPI", "NewtonMimicAPI", "MjcEqualityJointAPI"]
+        )
+        {
+            float newton:mimicCoef0 = 0.15
+            float newton:mimicCoef1 = 1.1169
+            bool newton:mimicEnabled = 1
+            rel newton:mimicJoint = </inspire_hand/Physics/right_index_1_joint>
+        }
+
+        over "right_middle_1_joint" (
+            prepend apiSchemas = ["MjcJointAPI"]
+        )
+        {
+        }
+
+        over "right_middle_2_joint" (
+            prepend apiSchemas = ["MjcJointAPI", "NewtonMimicAPI", "MjcEqualityJointAPI"]
+        )
+        {
+            float newton:mimicCoef0 = 0.15
+            float newton:mimicCoef1 = 1.1169
+            bool newton:mimicEnabled = 1
+            rel newton:mimicJoint = </inspire_hand/Physics/right_middle_1_joint>
+        }
+
+        over "right_ring_1_joint" (
+            prepend apiSchemas = ["MjcJointAPI"]
+        )
+        {
+        }
+
+        over "right_ring_2_joint" (
+            prepend apiSchemas = ["MjcJointAPI", "NewtonMimicAPI", "MjcEqualityJointAPI"]
+        )
+        {
+            float newton:mimicCoef0 = 0.15
+            float newton:mimicCoef1 = 1.1169
+            bool newton:mimicEnabled = 1
+            rel newton:mimicJoint = </inspire_hand/Physics/right_ring_1_joint>
+        }
+
+        over "right_little_1_joint" (
+            prepend apiSchemas = ["MjcJointAPI"]
+        )
+        {
+        }
+
+        over "right_little_2_joint" (
+            prepend apiSchemas = ["MjcJointAPI", "NewtonMimicAPI", "MjcEqualityJointAPI"]
+        )
+        {
+            float newton:mimicCoef0 = 0.15
+            float newton:mimicCoef1 = 1.1169
+            bool newton:mimicEnabled = 1
+            rel newton:mimicJoint = </inspire_hand/Physics/right_little_1_joint>
+        }
+    }
+
+    def "MuJoCoActuators"
+    {
+        def MjcActuator "act_inspire_hand_Physics_right_thumb_1_joint" (
+            doc = "Source-derived force-drive PD bias; control is additive effort. Zero control preserves source position and velocity targets. Standard USD drive is retained for neutral and other runtimes; MuJoCo consumers must use this actuator exclusively."
+        )
+        {
+            double[] mjc:biasPrm = [0, -4.010704582991235, -0.005729577806566919]
+            token mjc:biasType = "affine"
+            token mjc:ctrlLimited = "false"
+            token mjc:forceLimited = "true"
+            double mjc:forceRange:max = 1.409999966621399
+            double mjc:forceRange:min = -1.409999966621399
+            double[] mjc:gainPrm = [1]
+            token mjc:gainType = "fixed"
+            rel mjc:target = </inspire_hand/Physics/right_thumb_1_joint>
+        }
+
+        def MjcActuator "act_inspire_hand_Physics_right_thumb_2_joint" (
+            doc = "Source-derived force-drive PD bias; control is additive effort. Zero control preserves source position and velocity targets. Standard USD drive is retained for neutral and other runtimes; MuJoCo consumers must use this actuator exclusively."
+        )
+        {
+            double[] mjc:biasPrm = [0, -4.010704582991235, -0.02864789111724291]
+            token mjc:biasType = "affine"
+            token mjc:ctrlLimited = "false"
+            token mjc:forceLimited = "true"
+            double mjc:forceRange:max = 1.409999966621399
+            double mjc:forceRange:min = -1.409999966621399
+            double[] mjc:gainPrm = [1]
+            token mjc:gainType = "fixed"
+            rel mjc:target = </inspire_hand/Physics/right_thumb_2_joint>
+        }
+
+        def MjcActuator "act_inspire_hand_Physics_right_index_1_joint" (
+            doc = "Source-derived force-drive PD bias; control is additive effort. Zero control preserves source position and velocity targets. Standard USD drive is retained for neutral and other runtimes; MuJoCo consumers must use this actuator exclusively."
+        )
+        {
+            double[] mjc:biasPrm = [0, -2.8647890183427984, -0.02864789111724291]
+            token mjc:biasType = "affine"
+            token mjc:ctrlLimited = "false"
+            token mjc:forceLimited = "true"
+            double mjc:forceRange:max = 1.8200000524520874
+            double mjc:forceRange:min = -1.8200000524520874
+            double[] mjc:gainPrm = [1]
+            token mjc:gainType = "fixed"
+            rel mjc:target = </inspire_hand/Physics/right_index_1_joint>
+        }
+
+        def MjcActuator "act_inspire_hand_Physics_right_middle_1_joint" (
+            doc = "Source-derived force-drive PD bias; control is additive effort. Zero control preserves source position and velocity targets. Standard USD drive is retained for neutral and other runtimes; MuJoCo consumers must use this actuator exclusively."
+        )
+        {
+            double[] mjc:biasPrm = [0, -2.8647890183427984, -0.04010704422908677]
+            token mjc:biasType = "affine"
+            token mjc:ctrlLimited = "false"
+            token mjc:forceLimited = "true"
+            double mjc:forceRange:max = 1.8799999952316284
+            double mjc:forceRange:min = -1.8799999952316284
+            double[] mjc:gainPrm = [1]
+            token mjc:gainType = "fixed"
+            rel mjc:target = </inspire_hand/Physics/right_middle_1_joint>
+        }
+
+        def MjcActuator "act_inspire_hand_Physics_right_ring_1_joint" (
+            doc = "Source-derived force-drive PD bias; control is additive effort. Zero control preserves source position and velocity targets. Standard USD drive is retained for neutral and other runtimes; MuJoCo consumers must use this actuator exclusively."
+        )
+        {
+            double[] mjc:biasPrm = [0, -3.437746693945311, -0.02864789111724291]
+            token mjc:biasType = "affine"
+            token mjc:ctrlLimited = "false"
+            token mjc:forceLimited = "true"
+            double mjc:forceRange:max = 1.8200000524520874
+            double mjc:forceRange:min = -1.8200000524520874
+            double[] mjc:gainPrm = [1]
+            token mjc:gainType = "fixed"
+            rel mjc:target = </inspire_hand/Physics/right_ring_1_joint>
+        }
+
+        def MjcActuator "act_inspire_hand_Physics_right_little_1_joint" (
+            doc = "Source-derived force-drive PD bias; control is additive effort. Zero control preserves source position and velocity targets. Standard USD drive is retained for neutral and other runtimes; MuJoCo consumers must use this actuator exclusively."
+        )
+        {
+            double[] mjc:biasPrm = [0, -3.437746693945311, -0.017188734670345745]
+            token mjc:biasType = "affine"
+            token mjc:ctrlLimited = "false"
+            token mjc:forceLimited = "true"
+            double mjc:forceRange:max = 1.6799999475479126
+            double mjc:forceRange:min = -1.6799999475479126
+            double[] mjc:gainPrm = [1]
+            token mjc:gainType = "fixed"
+            rel mjc:target = </inspire_hand/Physics/right_little_1_joint>
+        }
+    }
+}
+

inspirerobots_inspire_hand_rh56dfx_right_inspire_hand/runnables/physics/newton.usda

@@ -0,0 +1,602 @@
+#usda 1.0
+(
+    defaultPrim = "inspire_hand"
+)
+
+over "inspire_hand"
+{
+    over "r_base_link" (
+        prepend apiSchemas = ["NewtonArticulationRootAPI"]
+    )
+    {
+        bool newton:selfCollisionEnabled = 0
+
+        over "r_base_link_1"
+        {
+            over "r_base_link" (
+                prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"]
+            )
+            {
+                uniform token physics:approximation = "convexHull"
+            }
+        }
+    }
+
+    over "right_thumb_1"
+    {
+        over "right_thumb_1_1"
+        {
+            over "right_thumb_1" (
+                prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"]
+            )
+            {
+                uniform token physics:approximation = "convexHull"
+            }
+        }
+    }
+
+    over "right_index_1"
+    {
+        over "right_index_1_1"
+        {
+            over "right_index_1" (
+                prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"]
+            )
+            {
+                uniform token physics:approximation = "convexHull"
+            }
+        }
+    }
+
+    over "right_middle_1"
+    {
+        over "right_middle_1_1"
+        {
+            over "right_middle_1" (
+                prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"]
+            )
+            {
+                uniform token physics:approximation = "convexHull"
+            }
+        }
+    }
+
+    over "right_ring_1"
+    {
+        over "right_ring_1_1"
+        {
+            over "right_ring_1" (
+                prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"]
+            )
+            {
+                uniform token physics:approximation = "convexHull"
+            }
+        }
+    }
+
+    over "right_little_1"
+    {
+        over "right_little_1_1"
+        {
+            over "right_little_1" (
+                prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"]
+            )
+            {
+                uniform token physics:approximation = "convexHull"
+            }
+        }
+    }
+
+    over "right_little_rubber_1"
+    {
+        over "right_little_rubber_1_1"
+        {
+            over "right_little_rubber_1" (
+                prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"]
+            )
+            {
+                uniform token physics:approximation = "convexHull"
+            }
+        }
+    }
+
+    over "right_little_2"
+    {
+        over "right_little_2_1"
+        {
+            over "right_little_2" (
+                prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"]
+            )
+            {
+                uniform token physics:approximation = "convexHull"
+            }
+        }
+    }
+
+    over "right_ring_2"
+    {
+        over "right_ring_2_1"
+        {
+            over "right_ring_2" (
+                prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"]
+            )
+            {
+                uniform token physics:approximation = "convexHull"
+            }
+        }
+    }
+
+    over "right_ring_rubber_1"
+    {
+        over "right_ring_rubber_1_1"
+        {
+            over "right_ring_rubber_1" (
+                prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"]
+            )
+            {
+                uniform token physics:approximation = "convexHull"
+            }
+        }
+    }
+
+    over "right_middle_2"
+    {
+        over "right_middle_2_1"
+        {
+            over "right_middle_2" (
+                prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"]
+            )
+            {
+                uniform token physics:approximation = "convexHull"
+            }
+        }
+    }
+
+    over "right_middle_rubber_1"
+    {
+        over "right_middle_rubber_1_1"
+        {
+            over "right_middle_rubber_1" (
+                prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"]
+            )
+            {
+                uniform token physics:approximation = "convexHull"
+            }
+        }
+    }
+
+    over "right_index_2"
+    {
+        over "right_index_2_1"
+        {
+            over "right_index_2" (
+                prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"]
+            )
+            {
+                uniform token physics:approximation = "convexHull"
+            }
+        }
+    }
+
+    over "right_index_rubber_1"
+    {
+        over "right_index_rubber_1_1"
+        {
+            over "right_index_rubber_1" (
+                prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"]
+            )
+            {
+                uniform token physics:approximation = "convexHull"
+            }
+        }
+    }
+
+    over "right_thumb_2"
+    {
+        over "right_thumb_2_1"
+        {
+            over "right_thumb_2" (
+                prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"]
+            )
+            {
+                uniform token physics:approximation = "convexHull"
+            }
+        }
+    }
+
+    over "right_thumb_rubber_1"
+    {
+        over "right_thumb_rubber_1_1"
+        {
+            over "right_thumb_rubber_1" (
+                prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"]
+            )
+            {
+                uniform token physics:approximation = "convexHull"
+            }
+        }
+    }
+
+    over "right_thumb_3"
+    {
+        over "right_thumb_3_1"
+        {
+            over "right_thumb_3" (
+                prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"]
+            )
+            {
+                uniform token physics:approximation = "convexHull"
+            }
+        }
+    }
+
+    over "right_index_rubber_2"
+    {
+        over "right_index_rubber_2_1"
+        {
+            over "right_index_rubber_2" (
+                prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"]
+            )
+            {
+                uniform token physics:approximation = "convexHull"
+            }
+        }
+    }
+
+    over "right_middle_rubber_2"
+    {
+        over "right_middle_rubber_2_1"
+        {
+            over "right_middle_rubber_2" (
+                prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"]
+            )
+            {
+                uniform token physics:approximation = "convexHull"
+            }
+        }
+    }
+
+    over "right_ring_rubber_2"
+    {
+        over "right_ring_rubber_2_1"
+        {
+            over "right_ring_rubber_2" (
+                prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"]
+            )
+            {
+                uniform token physics:approximation = "convexHull"
+            }
+        }
+    }
+
+    over "right_ring_tip"
+    {
+        over "right_ring_tip_1"
+        {
+            over "right_ring_tip" (
+                prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"]
+            )
+            {
+                uniform token physics:approximation = "convexHull"
+            }
+        }
+    }
+
+    over "right_ring_pad"
+    {
+        over "right_ring_pad_1"
+        {
+            over "right_ring_pad" (
+                prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"]
+            )
+            {
+                uniform token physics:approximation = "convexHull"
+            }
+        }
+    }
+
+    over "right_middle_tip"
+    {
+        over "right_middle_tip_1"
+        {
+            over "right_middle_tip" (
+                prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"]
+            )
+            {
+                uniform token physics:approximation = "convexHull"
+            }
+        }
+    }
+
+    over "right_middle_pad"
+    {
+        over "right_middle_pad_1"
+        {
+            over "right_middle_pad" (
+                prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"]
+            )
+            {
+                uniform token physics:approximation = "convexHull"
+            }
+        }
+    }
+
+    over "right_index_tip"
+    {
+        over "right_index_tip_1"
+        {
+            over "right_index_tip" (
+                prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"]
+            )
+            {
+                uniform token physics:approximation = "convexHull"
+            }
+        }
+    }
+
+    over "right_index_pad"
+    {
+        over "right_index_pad_1"
+        {
+            over "right_index_pad" (
+                prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"]
+            )
+            {
+                uniform token physics:approximation = "convexHull"
+            }
+        }
+    }
+
+    over "right_thumb_rubber_2"
+    {
+        over "right_thumb_rubber_2_1"
+        {
+            over "right_thumb_rubber_2" (
+                prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"]
+            )
+            {
+                uniform token physics:approximation = "convexHull"
+            }
+        }
+    }
+
+    over "right_thumb_4"
+    {
+        over "right_thumb_4_1"
+        {
+            over "right_thumb_4" (
+                prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"]
+            )
+            {
+                uniform token physics:approximation = "convexHull"
+            }
+        }
+    }
+
+    over "right_thumb_rubber_3"
+    {
+        over "right_thumb_rubber_3_1"
+        {
+            over "right_thumb_rubber_3" (
+                prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"]
+            )
+            {
+                uniform token physics:approximation = "convexHull"
+            }
+        }
+    }
+
+    over "right_thumb_pad"
+    {
+        over "right_thumb_pad_1"
+        {
+            over "right_thumb_pad" (
+                prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"]
+            )
+            {
+                uniform token physics:approximation = "convexHull"
+            }
+        }
+    }
+
+    over "right_thumb_tip"
+    {
+        over "right_thumb_tip_1"
+        {
+            over "right_thumb_tip" (
+                prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"]
+            )
+            {
+                uniform token physics:approximation = "convexHull"
+            }
+        }
+    }
+
+    over "right_little_rubber_2"
+    {
+        over "right_little_rubber_2_1"
+        {
+            over "right_little_rubber_2" (
+                prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"]
+            )
+            {
+                uniform token physics:approximation = "convexHull"
+            }
+        }
+    }
+
+    over "right_little_pad"
+    {
+        over "right_little_pad_1"
+        {
+            over "right_little_pad" (
+                prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"]
+            )
+            {
+                uniform token physics:approximation = "convexHull"
+            }
+        }
+    }
+
+    over "right_little_tip"
+    {
+        over "right_little_tip_1"
+        {
+            over "right_little_tip" (
+                prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"]
+            )
+            {
+                uniform token physics:approximation = "convexHull"
+            }
+        }
+    }
+
+    over "palm"
+    {
+        over "plam_1"
+        {
+            over "plam" (
+                prepend apiSchemas = ["NewtonCollisionAPI", "NewtonMeshCollisionAPI", "PhysicsMeshCollisionAPI"]
+            )
+            {
+                uniform token physics:approximation = "convexHull"
+            }
+        }
+    }
+
+    over "Physics"
+    {
+        over "right_thumb_1_joint" (
+            prepend apiSchemas = ["NewtonJointAPI"]
+        )
+        {
+            float drive:angular:physics:damping = 0
+            float drive:angular:physics:maxForce = 2
+            float drive:angular:physics:stiffness = 1.05138
+            float newton:damping = 0.023364
+            float newton:velocityLimit = 107
+        }
+
+        over "right_thumb_2_joint" (
+            prepend apiSchemas = ["NewtonJointAPI"]
+        )
+        {
+            float drive:angular:physics:damping = 0
+            float drive:angular:physics:maxForce = 2
+            float drive:angular:physics:stiffness = 1.60713
+            float newton:damping = 0.035714
+            float newton:velocityLimit = 70
+        }
+
+        over "right_thumb_3_joint" (
+            prepend apiSchemas = ["NewtonMimicAPI", "NewtonJointAPI"]
+        )
+        {
+            float newton:damping = 0.00032
+            float newton:mimicCoef0 = -0
+            float newton:mimicCoef1 = 1.1425
+            bool newton:mimicEnabled = 1
+            rel newton:mimicJoint = </inspire_hand/Physics/right_thumb_2_joint>
+        }
+
+        over "right_thumb_4_joint" (
+            prepend apiSchemas = ["NewtonMimicAPI", "NewtonJointAPI"]
+        )
+        {
+            float newton:damping = 0.00014
+            float newton:mimicCoef0 = -0.1
+            float newton:mimicCoef1 = 0.857789
+            bool newton:mimicEnabled = 1
+            rel newton:mimicJoint = </inspire_hand/Physics/right_thumb_2_joint>
+        }
+
+        over "right_index_1_joint" (
+            prepend apiSchemas = ["NewtonJointAPI"]
+        )
+        {
+            float drive:angular:physics:damping = 0
+            float drive:angular:physics:maxForce = 2
+            float drive:angular:physics:stiffness = 0.432675
+            float newton:damping = 0.009615
+            float newton:velocityLimit = 260
+        }
+
+        over "right_index_2_joint" (
+            prepend apiSchemas = ["NewtonMimicAPI", "NewtonJointAPI"]
+        )
+        {
+            float newton:damping = 0.00022
+            float newton:mimicCoef0 = 0.15
+            float newton:mimicCoef1 = 1.1169
+            bool newton:mimicEnabled = 1
+            rel newton:mimicJoint = </inspire_hand/Physics/right_index_1_joint>
+        }
+
+        over "right_middle_1_joint" (
+            prepend apiSchemas = ["NewtonJointAPI"]
+        )
+        {
+            float drive:angular:physics:damping = 0
+            float drive:angular:physics:maxForce = 2
+            float drive:angular:physics:stiffness = 0.432675
+            float newton:damping = 0.009615
+            float newton:velocityLimit = 260
+        }
+
+        over "right_middle_2_joint" (
+            prepend apiSchemas = ["NewtonMimicAPI", "NewtonJointAPI"]
+        )
+        {
+            float newton:damping = 0.00021
+            float newton:mimicCoef0 = 0.15
+            float newton:mimicCoef1 = 1.1169
+            bool newton:mimicEnabled = 1
+            rel newton:mimicJoint = </inspire_hand/Physics/right_middle_1_joint>
+        }
+
+        over "right_ring_1_joint" (
+            prepend apiSchemas = ["NewtonJointAPI"]
+        )
+        {
+            float drive:angular:physics:damping = 0
+            float drive:angular:physics:maxForce = 2
+            float drive:angular:physics:stiffness = 0.432675
+            float newton:damping = 0.009615
+            float newton:velocityLimit = 260
+        }
+
+        over "right_ring_2_joint" (
+            prepend apiSchemas = ["NewtonMimicAPI", "NewtonJointAPI"]
+        )
+        {
+            float newton:damping = 0.00022
+            float newton:mimicCoef0 = 0.15
+            float newton:mimicCoef1 = 1.1169
+            bool newton:mimicEnabled = 1
+            rel newton:mimicJoint = </inspire_hand/Physics/right_ring_1_joint>
+        }
+
+        over "right_little_1_joint" (
+            prepend apiSchemas = ["NewtonJointAPI"]
+        )
+        {
+            float drive:angular:physics:damping = 0
+            float drive:angular:physics:maxForce = 2
+            float drive:angular:physics:stiffness = 0.432675
+            float newton:damping = 0.009615
+            float newton:velocityLimit = 260
+        }
+
+        over "right_little_2_joint" (
+            prepend apiSchemas = ["NewtonMimicAPI", "NewtonJointAPI"]
+        )
+        {
+            float newton:damping = 0.00026
+            float newton:mimicCoef0 = 0.15
+            float newton:mimicCoef1 = 1.1169
+            bool newton:mimicEnabled = 1
+            rel newton:mimicJoint = </inspire_hand/Physics/right_little_1_joint>
+        }
+    }
+}
+

inspirerobots_inspire_hand_rh56dfx_right_inspire_hand/runnables/physics/physx.usda

@@ -0,0 +1,565 @@
+#usda 1.0
+(
+    customLayerData = {
+    }
+    defaultPrim = "inspire_hand"
+    endTimeCode = 0
+    kilogramsPerUnit = 1
+    metersPerUnit = 1
+    startTimeCode = -1
+    upAxis = "Z"
+)
+
+over "inspire_hand"
+{
+    over "Physics"
+    {
+        over "right_thumb_1_joint" (
+            prepend apiSchemas = ["PhysxJointAPI", "PhysicsJointStateAPI:angular"]
+        )
+        {
+            float physxJoint:armature = 0.01
+            float physxJoint:maxJointVelocity = 107
+            float state:angular:physics:position = 0.0020312648
+            float state:angular:physics:velocity = 0
+        }
+
+        over "right_thumb_2_joint" (
+            prepend apiSchemas = ["PhysxJointAPI", "PhysicsJointStateAPI:angular"]
+        )
+        {
+            float physxJoint:armature = 0.01
+            float physxJoint:maxJointVelocity = 70
+            float state:angular:physics:position = 0.024421632
+            float state:angular:physics:velocity = 0
+        }
+
+        over "right_thumb_3_joint" (
+            prepend apiSchemas = ["PhysxJointAPI", "PhysicsJointStateAPI:angular", "PhysxMimicJointAPI:rotZ"]
+        )
+        {
+            float physxJoint:armature = 0.01
+            float physxJoint:jointFriction = 0
+            float physxMimicJoint:rotZ:dampingRatio = 1
+            float physxMimicJoint:rotZ:gearing = -1.1425
+            float physxMimicJoint:rotZ:naturalFrequency = 500
+            float physxMimicJoint:rotZ:offset = 0
+            rel physxMimicJoint:rotZ:referenceJoint = </inspire_hand/Physics/right_thumb_2_joint>
+            uniform token physxMimicJoint:rotZ:referenceJointAxis = "rotZ"
+            float state:angular:physics:position = -0.0058551845
+            float state:angular:physics:velocity = 0
+        }
+
+        over "right_thumb_4_joint" (
+            prepend apiSchemas = ["PhysxJointAPI", "PhysicsJointStateAPI:angular", "PhysxMimicJointAPI:rotZ"]
+        )
+        {
+            float physxJoint:armature = 0.01
+            float physxJoint:jointFriction = 0
+            float physxMimicJoint:rotZ:dampingRatio = 1
+            float physxMimicJoint:rotZ:gearing = -0.857789
+            float physxMimicJoint:rotZ:naturalFrequency = 500
+            float physxMimicJoint:rotZ:offset = 0.1
+            rel physxMimicJoint:rotZ:referenceJoint = </inspire_hand/Physics/right_thumb_2_joint>
+            uniform token physxMimicJoint:rotZ:referenceJointAxis = "rotZ"
+            float state:angular:physics:position = 0.00060249155
+            float state:angular:physics:velocity = 0
+        }
+
+        over "right_index_1_joint" (
+            prepend apiSchemas = ["PhysxJointAPI", "PhysicsJointStateAPI:angular"]
+        )
+        {
+            float physxJoint:armature = 0.01
+            float physxJoint:maxJointVelocity = 260
+            float state:angular:physics:position = 0.0040998156
+            float state:angular:physics:velocity = 0
+        }
+
+        over "right_index_2_joint" (
+            prepend apiSchemas = ["PhysxJointAPI", "PhysicsJointStateAPI:angular", "PhysxMimicJointAPI:rotZ"]
+        )
+        {
+            float physxJoint:armature = 0.01
+            float physxJoint:jointFriction = 0
+            float physxMimicJoint:rotZ:dampingRatio = 1
+            float physxMimicJoint:rotZ:gearing = -1.1169
+            float physxMimicJoint:rotZ:naturalFrequency = 500
+            float physxMimicJoint:rotZ:offset = -0.15
+            rel physxMimicJoint:rotZ:referenceJoint = </inspire_hand/Physics/right_index_1_joint>
+            uniform token physxMimicJoint:rotZ:referenceJointAxis = "rotZ"
+            float state:angular:physics:position = 0.1523337
+            float state:angular:physics:velocity = 0
+        }
+
+        over "right_middle_1_joint" (
+            prepend apiSchemas = ["PhysxJointAPI", "PhysicsJointStateAPI:angular"]
+        )
+        {
+            float physxJoint:armature = 0.01
+            float physxJoint:maxJointVelocity = 260
+            float state:angular:physics:position = -0.00004728383
+            float state:angular:physics:velocity = 0
+        }
+
+        over "right_middle_2_joint" (
+            prepend apiSchemas = ["PhysxJointAPI", "PhysicsJointStateAPI:angular", "PhysxMimicJointAPI:rotZ"]
+        )
+        {
+            float physxJoint:armature = 0.01
+            float physxJoint:jointFriction = 0
+            float physxMimicJoint:rotZ:dampingRatio = 1
+            float physxMimicJoint:rotZ:gearing = -1.1169
+            float physxMimicJoint:rotZ:naturalFrequency = 500
+            float physxMimicJoint:rotZ:offset = -0.15
+            rel physxMimicJoint:rotZ:referenceJoint = </inspire_hand/Physics/right_middle_1_joint>
+            uniform token physxMimicJoint:rotZ:referenceJointAxis = "rotZ"
+            float state:angular:physics:position = 0.12932995
+            float state:angular:physics:velocity = 0
+        }
+
+        over "right_ring_1_joint" (
+            prepend apiSchemas = ["PhysxJointAPI", "PhysicsJointStateAPI:angular"]
+        )
+        {
+            float physxJoint:armature = 0.01
+            float physxJoint:maxJointVelocity = 260
+            float state:angular:physics:position = 0.0005266489
+            float state:angular:physics:velocity = 0
+        }
+
+        over "right_ring_2_joint" (
+            prepend apiSchemas = ["PhysxJointAPI", "PhysicsJointStateAPI:angular", "PhysxMimicJointAPI:rotZ"]
+        )
+        {
+            float physxJoint:armature = 0.01
+            float physxJoint:jointFriction = 0
+            float physxMimicJoint:rotZ:dampingRatio = 1
+            float physxMimicJoint:rotZ:gearing = -1.1169
+            float physxMimicJoint:rotZ:naturalFrequency = 500
+            float physxMimicJoint:rotZ:offset = -0.15
+            rel physxMimicJoint:rotZ:referenceJoint = </inspire_hand/Physics/right_ring_1_joint>
+            uniform token physxMimicJoint:rotZ:referenceJointAxis = "rotZ"
+            float state:angular:physics:position = 0.13946456
+            float state:angular:physics:velocity = 0
+        }
+
+        over "right_little_1_joint" (
+            prepend apiSchemas = ["PhysxJointAPI", "PhysicsJointStateAPI:angular"]
+        )
+        {
+            float physxJoint:armature = 0.01
+            float physxJoint:maxJointVelocity = 260
+            float state:angular:physics:position = 0.0015600597
+            float state:angular:physics:velocity = 0
+        }
+
+        over "right_little_2_joint" (
+            prepend apiSchemas = ["PhysxJointAPI", "PhysicsJointStateAPI:angular", "PhysxMimicJointAPI:rotZ"]
+        )
+        {
+            float physxJoint:armature = 0.01
+            float physxJoint:jointFriction = 0
+            float physxMimicJoint:rotZ:dampingRatio = 1
+            float physxMimicJoint:rotZ:gearing = -1.1169
+            float physxMimicJoint:rotZ:naturalFrequency = 500
+            float physxMimicJoint:rotZ:offset = -0.15
+            rel physxMimicJoint:rotZ:referenceJoint = </inspire_hand/Physics/right_little_1_joint>
+            uniform token physxMimicJoint:rotZ:referenceJointAxis = "rotZ"
+            float state:angular:physics:position = 0.14412639
+            float state:angular:physics:velocity = 0
+        }
+    }
+
+    over "r_base_link" (
+        prepend apiSchemas = ["PhysxArticulationAPI"]
+    )
+    {
+        bool physxArticulation:enabledSelfCollisions = 0
+        int physxArticulation:solverPositionIterationCount = 32
+        int physxArticulation:solverVelocityIterationCount = 4
+
+        over "r_base_link_1"
+        {
+            over "r_base_link"
+            {
+                token physics:approximation = "convexHull"
+            }
+        }
+    }
+
+    over "right_thumb_1"
+    {
+        over "right_thumb_1_1"
+        {
+            over "right_thumb_1"
+            {
+                token physics:approximation = "convexHull"
+            }
+        }
+    }
+
+    over "right_index_1"
+    {
+        over "right_index_1_1"
+        {
+            over "right_index_1"
+            {
+                token physics:approximation = "convexHull"
+            }
+        }
+    }
+
+    over "right_middle_1"
+    {
+        over "right_middle_1_1"
+        {
+            over "right_middle_1"
+            {
+                token physics:approximation = "convexHull"
+            }
+        }
+    }
+
+    over "right_ring_1"
+    {
+        over "right_ring_1_1"
+        {
+            over "right_ring_1"
+            {
+                token physics:approximation = "convexHull"
+            }
+        }
+    }
+
+    over "right_little_1"
+    {
+        over "right_little_1_1"
+        {
+            over "right_little_1"
+            {
+                token physics:approximation = "convexHull"
+            }
+        }
+    }
+
+    over "right_little_rubber_1"
+    {
+        over "right_little_rubber_1_1"
+        {
+            over "right_little_rubber_1"
+            {
+                token physics:approximation = "convexHull"
+            }
+        }
+    }
+
+    over "right_little_2"
+    {
+        over "right_little_2_1"
+        {
+            over "right_little_2"
+            {
+                token physics:approximation = "convexHull"
+            }
+        }
+    }
+
+    over "right_ring_2"
+    {
+        over "right_ring_2_1"
+        {
+            over "right_ring_2"
+            {
+                token physics:approximation = "convexHull"
+            }
+        }
+    }
+
+    over "right_ring_rubber_1"
+    {
+        over "right_ring_rubber_1_1"
+        {
+            over "right_ring_rubber_1"
+            {
+                token physics:approximation = "convexHull"
+            }
+        }
+    }
+
+    over "right_middle_2"
+    {
+        over "right_middle_2_1"
+        {
+            over "right_middle_2"
+            {
+                token physics:approximation = "convexHull"
+            }
+        }
+    }
+
+    over "right_middle_rubber_1"
+    {
+        over "right_middle_rubber_1_1"
+        {
+            over "right_middle_rubber_1"
+            {
+                token physics:approximation = "convexHull"
+            }
+        }
+    }
+
+    over "right_index_2"
+    {
+        over "right_index_2_1"
+        {
+            over "right_index_2"
+            {
+                token physics:approximation = "convexHull"
+            }
+        }
+    }
+
+    over "right_index_rubber_1"
+    {
+        over "right_index_rubber_1_1"
+        {
+            over "right_index_rubber_1"
+            {
+                token physics:approximation = "convexHull"
+            }
+        }
+    }
+
+    over "right_thumb_2"
+    {
+        over "right_thumb_2_1"
+        {
+            over "right_thumb_2"
+            {
+                token physics:approximation = "convexHull"
+            }
+        }
+    }
+
+    over "right_thumb_rubber_1"
+    {
+        over "right_thumb_rubber_1_1"
+        {
+            over "right_thumb_rubber_1"
+            {
+                token physics:approximation = "convexHull"
+            }
+        }
+    }
+
+    over "right_thumb_3"
+    {
+        over "right_thumb_3_1"
+        {
+            over "right_thumb_3"
+            {
+                token physics:approximation = "convexHull"
+            }
+        }
+    }
+
+    over "right_index_rubber_2"
+    {
+        over "right_index_rubber_2_1"
+        {
+            over "right_index_rubber_2"
+            {
+                token physics:approximation = "convexHull"
+            }
+        }
+    }
+
+    over "right_middle_rubber_2"
+    {
+        over "right_middle_rubber_2_1"
+        {
+            over "right_middle_rubber_2"
+            {
+                token physics:approximation = "convexHull"
+            }
+        }
+    }
+
+    over "right_ring_rubber_2"
+    {
+        over "right_ring_rubber_2_1"
+        {
+            over "right_ring_rubber_2"
+            {
+                token physics:approximation = "convexHull"
+            }
+        }
+    }
+
+    over "right_ring_tip"
+    {
+        over "right_ring_tip_1"
+        {
+            over "right_ring_tip"
+            {
+                token physics:approximation = "convexHull"
+            }
+        }
+    }
+
+    over "right_ring_pad"
+    {
+        over "right_ring_pad_1"
+        {
+            over "right_ring_pad"
+            {
+                token physics:approximation = "convexHull"
+            }
+        }
+    }
+
+    over "right_middle_tip"
+    {
+        over "right_middle_tip_1"
+        {
+            over "right_middle_tip"
+            {
+                token physics:approximation = "convexHull"
+            }
+        }
+    }
+
+    over "right_middle_pad"
+    {
+        over "right_middle_pad_1"
+        {
+            over "right_middle_pad"
+            {
+                token physics:approximation = "convexHull"
+            }
+        }
+    }
+
+    over "right_index_tip"
+    {
+        over "right_index_tip_1"
+        {
+            over "right_index_tip"
+            {
+                token physics:approximation = "convexHull"
+            }
+        }
+    }
+
+    over "right_index_pad"
+    {
+        over "right_index_pad_1"
+        {
+            over "right_index_pad"
+            {
+                token physics:approximation = "convexHull"
+            }
+        }
+    }
+
+    over "right_thumb_rubber_2"
+    {
+        over "right_thumb_rubber_2_1"
+        {
+            over "right_thumb_rubber_2"
+            {
+                token physics:approximation = "convexHull"
+            }
+        }
+    }
+
+    over "right_thumb_4"
+    {
+        over "right_thumb_4_1"
+        {
+            over "right_thumb_4"
+            {
+                token physics:approximation = "convexHull"
+            }
+        }
+    }
+
+    over "right_thumb_rubber_3"
+    {
+        over "right_thumb_rubber_3_1"
+        {
+            over "right_thumb_rubber_3"
+            {
+                token physics:approximation = "convexHull"
+            }
+        }
+    }
+
+    over "right_thumb_pad"
+    {
+        over "right_thumb_pad_1"
+        {
+            over "right_thumb_pad"
+            {
+                token physics:approximation = "convexHull"
+            }
+        }
+    }
+
+    over "right_thumb_tip"
+    {
+        over "right_thumb_tip_1"
+        {
+            over "right_thumb_tip"
+            {
+                token physics:approximation = "convexHull"
+            }
+        }
+    }
+
+    over "right_little_rubber_2"
+    {
+        over "right_little_rubber_2_1"
+        {
+            over "right_little_rubber_2"
+            {
+                token physics:approximation = "convexHull"
+            }
+        }
+    }
+
+    over "right_little_pad"
+    {
+        over "right_little_pad_1"
+        {
+            over "right_little_pad"
+            {
+                token physics:approximation = "convexHull"
+            }
+        }
+    }
+
+    over "right_little_tip"
+    {
+        over "right_little_tip_1"
+        {
+            over "right_little_tip"
+            {
+                token physics:approximation = "convexHull"
+            }
+        }
+    }
+
+    over "palm"
+    {
+        over "plam_1"
+        {
+            over "plam"
+            {
+                token physics:approximation = "convexHull"
+            }
+        }
+    }
+}
+

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

@@ -0,0 +1,34 @@
+{
+  "format_version": "1.0",
+  "profile": "Package-Candidate",
+  "profile_version": "1.0.0",
+  "timestamp": "2026-11-04T23:10:24",
+  "assets": [
+    {
+      "asset": "ability_hand_left_large.usda",
+      "features": [
+        {
+          "CAP031_SelfContainedPackage.OpenUSD.0-1-0": {
+            "version": "0-1-0",
+            "passed": true,
+            "failing_requirements": [],
+            "dependencies": []
+          }
+        },
+        {
+          "CAP033_SimReadyPackage.OpenUSD.0-1-0": {
+            "version": "0-1-0",
+            "passed": true,
+            "failing_requirements": [],
+            "dependencies": [
+              "CAP031_SelfContainedPackage.OpenUSD.0-1-0"
+            ]
+          }
+        }
+      ]
+    }
+  ],
+  "content_hash": {
+    "sha256": "eb7f7e7b33f0c8e54affd8af9139541292eaf10d9b4c38314759786b106c88ff"
+  }
+}

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

@@ -0,0 +1,31 @@
+{
+  "format_version": "1.0",
+  "profile": "Package",
+  "profile_version": "1.1.0",
+  "timestamp": "2026-11-04T23:10:26",
+  "assets": [
+    {
+      "asset": "com.nvidia.simready.packaging.json",
+      "features": [
+        {
+          "CAP030_PackagingCore.OpenUSD.0-2-0": {
+            "version": "0.0.0",
+            "passed": true,
+            "failing_requirements": [],
+            "dependencies": []
+          }
+        },
+        {
+          "CAP032_PackagingIntrospection.OpenUSD.0-2-0": {
+            "version": "0.0.0",
+            "passed": true,
+            "failing_requirements": [],
+            "dependencies": [
+              "CAP030_PackagingCore.OpenUSD.0-2-0"
+            ]
+          }
+        }
+      ]
+    }
+  ]
+}

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

@@ -0,0 +1,207 @@
+{
+  "format_version": "1.0",
+  "content_root": "file:///home/jwylie/Desktop/isaacsim-gripper-package_1.0/.packages/psyonic_ability_hand_left_large/1.0.0",
+  "items": [
+    {
+      "relative_path": ".thumbs/256x256/ability_hand_left_large.usda.png",
+      "size": 41948,
+      "hash": {
+        "sha256-flat-1mb": "207681fa484c4fa98b51d1c46cd549fe4c6b6cb89d4e6e9441265dc8b55910c1",
+        "sha256": "88a8669f6754074ce1f9f732190019c15b07193752aa93699ea08dfa491beecf"
+      }
+    },
+    {
+      "relative_path": "ability_hand_left_large.usda",
+      "size": 106511,
+      "hash": {
+        "sha256-flat-1mb": "f2747ca97d87d9c8e5fdb10c0f110399fe7e6dd68af43f1f8d718de542beec67",
+        "sha256": "05d683c21ec6933f935b6a4e9396de65a203c4befbb31bfc09d179d2572b5fa6"
+      }
+    },
+    {
+      "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": 12486,
+      "hash": {
+        "sha256-flat-1mb": "f238fb5997cd5577dddd4060c01a400b45e72f2588ce65b1b47c961f0270c634",
+        "sha256": "09aba014636fe573c5db5d54bc5bf276e5715250889ac9bb65e4ac186a5bf478"
+      }
+    },
+    {
+      "relative_path": "payloads/Physics/none.usda",
+      "size": 141,
+      "hash": {
+        "sha256-flat-1mb": "1242aa418121cabe2ddb3aa91420dffbdec77a343631b4f2c8d4d6055b32b0f7",
+        "sha256": "b3d9a9b8e86bdbefbcb878c8798c149f35f8f7b40d4d9de488dc78a1262a8ab4"
+      }
+    },
+    {
+      "relative_path": "payloads/Physics/physics.usda",
+      "size": 22034,
+      "hash": {
+        "sha256-flat-1mb": "9c159addb92a87dc55c720f08b9fb5f1abc4b6e206b83b7ab493c43db3b445c9",
+        "sha256": "6ede9e2107bafa78150bc0e3aafa92eca236eb8bb092449294faa9af9be63670"
+      }
+    },
+    {
+      "relative_path": "payloads/Physics/physx.usda",
+      "size": 3809,
+      "hash": {
+        "sha256-flat-1mb": "c90fa652141d9bbf799625e675bea9fe40dc60b2f4744b5d2b21a1351740fa23",
+        "sha256": "9cab704ad499ac3a50331169ec6354c4cddef978b5dc9a7057feabf624554962"
+      }
+    },
+    {
+      "relative_path": "payloads/Robot/none.usda",
+      "size": 141,
+      "hash": {
+        "sha256-flat-1mb": "1242aa418121cabe2ddb3aa91420dffbdec77a343631b4f2c8d4d6055b32b0f7",
+        "sha256": "b3d9a9b8e86bdbefbcb878c8798c149f35f8f7b40d4d9de488dc78a1262a8ab4"
+      }
+    },
+    {
+      "relative_path": "payloads/Robot/robot.usda",
+      "size": 8128,
+      "hash": {
+        "sha256-flat-1mb": "0ab3a8cb99d3d5349e8217c05c2cc4ea3a5f2297d3bbd23629ca7c222c21a126",
+        "sha256": "4991efc82a9ec29ed5cb840c58b61e4f0abb4a47b66263fb7cd1cea055c57faa"
+      }
+    },
+    {
+      "relative_path": "payloads/Sensor/none.usda",
+      "size": 141,
+      "hash": {
+        "sha256-flat-1mb": "1242aa418121cabe2ddb3aa91420dffbdec77a343631b4f2c8d4d6055b32b0f7",
+        "sha256": "b3d9a9b8e86bdbefbcb878c8798c149f35f8f7b40d4d9de488dc78a1262a8ab4"
+      }
+    },
+    {
+      "relative_path": "payloads/Sensor/sensors.usda",
+      "size": 147,
+      "hash": {
+        "sha256-flat-1mb": "3ab5099335eea664a4ccc532ba2f459370d7799d20c6ef2ea7b35c06ff0e81e7",
+        "sha256": "64ef1e9ca70604ba525f7e058f35c073cb2ddc34fbff4d01b2e2fb92f648dd62"
+      }
+    },
+    {
+      "relative_path": "payloads/base.usda",
+      "size": 50963,
+      "hash": {
+        "sha256-flat-1mb": "e4b9c89b62797c25557036596f37ab962c08030cc82983fe4aa979dbf3187dfe",
+        "sha256": "1e8dc68cb7199f517cbaf7d1d56012d40a409f5dceb4e287aef85103d9b85c84"
+      }
+    },
+    {
+      "relative_path": "payloads/geometries.usd",
+      "size": 4167367,
+      "hash": {
+        "sha256-flat-1mb": "6989f4ee0271842905b167d33eb579601a3d2319d13bd2d4f6ae790c160b7929",
+        "sha256": "6ad926cc59ed1eacef7ec7ddea34050cb62f022079693752872fc27fe29a6ffb",
+        "sha256-first1m": "1643fcf0644db26c2eb532d286db15467faadd12074c96d884f5fad1c8324574"
+      }
+    },
+    {
+      "relative_path": "payloads/instances.usda",
+      "size": 17126,
+      "hash": {
+        "sha256-flat-1mb": "3b41feb313061e97326a884003b534435b44d3bcf5a39081f1822b26e7446f94",
+        "sha256": "62125a9cd1d3e6aece85573ffcbed727b21479ac0e6fa72f05869a23cafbf40c"
+      }
+    },
+    {
+      "relative_path": "payloads/materials.usda",
+      "size": 5966,
+      "hash": {
+        "sha256-flat-1mb": "3e8deaae19b6ac955b883a797436473979b6d507f39407fe18f8f196f8f2a007",
+        "sha256": "f1ff4338c12a2a78864299839146956bd795e11cf8a53f78fa886d59a489e24c"
+      }
+    },
+    {
+      "relative_path": "payloads/robot.usda",
+      "size": 13356,
+      "hash": {
+        "sha256-flat-1mb": "3308dc98c3275c6656573207743ebb08a043d21c95a752d1731ef23a34f00460",
+        "sha256": "414dfd05e70225c0f7a7f05711b82eb3d5c89b476b141bd38f8ce33d6e10b9b4"
+      }
+    },
+    {
+      "relative_path": "runnables/physics/mujoco.usda",
+      "size": 13770,
+      "hash": {
+        "sha256-flat-1mb": "bbf6d059f0c7b5532275a26425bba924a44e6815304575b053ce554c369a28aa",
+        "sha256": "4497a72253d948f6ba623b4f472d74629dc42da7b254eea6c92419cdb0598fc9"
+      }
+    },
+    {
+      "relative_path": "runnables/physics/newton.usda",
+      "size": 10732,
+      "hash": {
+        "sha256-flat-1mb": "1c02f357b8a6ec4fe5714aed6faa2d13ac8973008f9c727715b35b7b9ca91583",
+        "sha256": "882681752f94e777e6fa4f0f5ce8449a8ab434afdb43486615ed466221430b9b"
+      }
+    },
+    {
+      "relative_path": "runnables/physics/physx.usda",
+      "size": 10977,
+      "hash": {
+        "sha256-flat-1mb": "e631c4e46f765a6d9dc942282f51693d871d8c86716b1c59370746c682f82651",
+        "sha256": "555ff34183d1eabb453375ab9cc38229bc0239827ca7c46aec2be91a8638ca95"
+      }
+    }
+  ]
+}

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

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

psyonic_ability_hand_left_large/.metadata/license.txt

@@ -0,0 +1,396 @@
+Attribution 4.0 International
+
+=======================================================================
+
+Creative Commons Corporation ("Creative Commons") is not a law firm and
+does not provide legal services or legal advice. Distribution of
+Creative Commons public licenses does not create a lawyer-client or
+other relationship. Creative Commons makes its licenses and related
+information available on an "as-is" basis. Creative Commons gives no
+warranties regarding its licenses, any material licensed under their
+terms and conditions, or any related information. Creative Commons
+disclaims all liability for damages resulting from their use to the
+fullest extent possible.
+
+Using Creative Commons Public Licenses
+
+Creative Commons public licenses provide a standard set of terms and
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psyonic_ability_hand_left_large/.metadata/psyonic_ability_hand_left_large_validation.json

@@ -0,0 +1,241 @@
+{
+  "simready_usd/ability_hand_left_large.usda": {
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+        "passed": true,
+        "version": "0-1-0"
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+        "blocking_failure": false,
+        "dependencies": "['CAP000_Core.OpenUSD.0-1-0']",
+        "passed": true,
+        "version": "0-1-0"
+      },
+      "CAP000_Core.OpenUSD.0-1-0": {
+        "blocking_failure": false,
+        "dependencies": "[]",
+        "passed": true,
+        "version": "0-1-0"
+      },
+      "CAP000_Core.PhysX.0-1-0": {
+        "blocking_failure": false,
+        "dependencies": "['CAP000_Core.OpenUSD.0-1-0']",
+        "passed": true,
+        "version": "0-1-0"
+      },
+      "CAP003_RigidBody.MuJoCo.0-1-0": {
+        "blocking_failure": false,
+        "dependencies": "[]",
+        "passed": true,
+        "version": "0-1-0"
+      },
+      "CAP004_Multibody.MuJoCo.0-1-0": {
+        "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"
+    }
+  }
+}

psyonic_ability_hand_left_large/com.nvidia.simready.packaging.json

@@ -0,0 +1,49 @@
+{
+  "format_version": "1.0",
+  "package_id": "simready.hf.nvidia.isaacsim-assets.psyonic_ability_hand_left_large.1.0.0",
+  "license": "CC-BY-4.0",
+  "metadata": [
+    {
+      "name": "com.nvidia.simready.conformance.Package-Candidate@1.0.0.json",
+      "hash": {
+        "sha256": "7d181936c21a4c3f5c736f91510acc52018b8dff614e520816cc7c5678f88476"
+      }
+    },
+    {
+      "name": "com.nvidia.simready.packaging.bom.json",
+      "hash": {
+        "sha256": "e520053bf9ddc5ca79ee4f354f81fdd0891b2cc6459b9e6b8be24fe53f932aa1"
+      }
+    },
+    {
+      "name": "com.nvidia.simready.root_usds.json",
+      "hash": {
+        "sha256": "4c72324b705901475d9ab6c15de329d796604bac9d8a211f48d8cabe2d394f9b"
+      }
+    },
+    {
+      "name": "license.txt",
+      "hash": {
+        "sha256": "9ba9550ad48438d0836ddab3da480b3b69ffa0aac7b7878b5a0039e7ab429411"
+      }
+    },
+    {
+      "name": "psyonic_ability_hand_left_large_benchmark.json",
+      "hash": {
+        "sha256": "4f78efedad330c25beae343d0372fd80ee8007bce8cd378a905fcc206db4afe4"
+      }
+    },
+    {
+      "name": "psyonic_ability_hand_left_large_validation.json",
+      "hash": {
+        "sha256": "69500b07d3f283814456d01c5d6cb943f24e420518433b1967ffcf49e591ede0"
+      }
+    }
+  ],
+  "content_hash": {
+    "sha256": "eb7f7e7b33f0c8e54affd8af9139541292eaf10d9b4c38314759786b106c88ff"
+  },
+  "package_hash": {
+    "sha256": "b2626f58625a18bb8c9d2a18d02d6eaf946c63c116b03628511ad211e5aedeeb"
+  }
+}

psyonic_ability_hand_left_large/materials/mdl/OmniPBR.mdl

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

psyonic_ability_hand_left_large/materials/mdl/OmniPBRBase.mdl

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

psyonic_ability_hand_left_large/materials/mdl/OmniPBR_ClearCoat.mdl

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