diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml
index 165dcc0..3ae2d87 100644
--- a/.pre-commit-config.yaml
+++ b/.pre-commit-config.yaml
@@ -25,7 +25,7 @@ repos:
exclude: ^ar4_description/config/ar4.yaml$
- id: check-xml
- id: end-of-file-fixer
- exclude: 'ar4_isaac/usda/'
+ exclude: 'ar4_isaac_sim/usda/'
- id: trailing-whitespace
- repo: https://github.com/pre-commit/mirrors-clang-format
diff --git a/README.md b/README.md
index 7dc3e34..027b3f5 100644
--- a/README.md
+++ b/README.md
@@ -13,10 +13,9 @@ These are the main packages providing launch files for the different use cases:
- [`ar4_description`](./ar4_description): Contains the platform-agnostic parts of the URDF robot description.
- [`ar4_gazebo_bringup`](./ar4_gazebo): Launch a Gazebo Sim simulation of AR4.
-- [`ar4_isaac_bringup`](./ar4_gazebo): **Not yet available.** Launch an Isaac Sim simulation of AR4.
-- [`ar4_mujoco_bringup`](./ar4_gazebo): **Not yet available.** Launch a MuJoCo-based simulation of AR4.
+- [`ar4_isaac_bringup`](./ar4_gazebo): Launch an Isaac Sim simulation of AR4.
+- [`ar4_mujoco_bringup`](./ar4_gazebo): Launch a MuJoCo-based simulation of AR4.
- [`ar4_realbot_bringup`](./ar4_gazebo): Launch drivers and control software for the real AR4 robot.
-- [`ar4_isaac`](./ar4_isaac): Isaac simulation for the ar4 arm.
```mermaid
diff --git a/ar4_isaac/usda/layers/.thumbs/256x256/ar4_layer.usda.png b/ar4_isaac/usda/layers/.thumbs/256x256/ar4_layer.usda.png
deleted file mode 100644
index f313fe3..0000000
Binary files a/ar4_isaac/usda/layers/.thumbs/256x256/ar4_layer.usda.png and /dev/null differ
diff --git a/ar4_isaac/launch/ar4_in_empty_world.launch.py b/ar4_isaac_bringup/CMakeLists.txt
old mode 100755
new mode 100644
similarity index 50%
rename from ar4_isaac/launch/ar4_in_empty_world.launch.py
rename to ar4_isaac_bringup/CMakeLists.txt
index e6ae7fb..6440b48
--- a/ar4_isaac/launch/ar4_in_empty_world.launch.py
+++ b/ar4_isaac_bringup/CMakeLists.txt
@@ -1,5 +1,3 @@
-#!/usr/bin/env python3
-
# BSD 3-Clause License
#
# Copyright 2025 Ekumen, Inc.
@@ -30,54 +28,11 @@
# 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.
+cmake_minimum_required(VERSION 3.7)
+project(ar4_isaac_bringup)
-import os
-from ament_index_python.packages import get_package_share_directory
-from launch import LaunchDescription
-from launch.actions import DeclareLaunchArgument, ExecuteProcess
-from launch.conditions import IfCondition, UnlessCondition
-from launch.substitutions import LaunchConfiguration
-
-
-def generate_launch_description():
- headless = LaunchConfiguration('headless') # noqa F841
- declare_headless = DeclareLaunchArgument(
- 'headless',
- default_value='false',
- description='Launch Isaac in headless mode',
- )
-
- pkg_ar4_isaac = get_package_share_directory('ar4_isaac')
- run_sim_path = os.path.join(pkg_ar4_isaac, 'scripts', 'run_sim.py')
-
- isaac_process = ExecuteProcess(
- cmd=[
- '/isaac-sim/python.sh',
- run_sim_path,
- '--robot_model_path',
- os.path.join(pkg_ar4_isaac, 'usda', 'ar4.usda'),
- ],
- shell=True,
- output='screen',
- condition=UnlessCondition(LaunchConfiguration('headless')),
- )
-
- isaac_process_headless = ExecuteProcess(
- cmd=[
- '/isaac-sim/python.sh',
- run_sim_path,
- '--robot_model_path',
- os.path.join(pkg_ar4_isaac, 'usda', 'ar4.usda'),
- '--headless',
- ],
- shell=True,
- output='screen',
- condition=IfCondition(LaunchConfiguration('headless')),
- )
+find_package(ament_cmake REQUIRED)
- ld = LaunchDescription()
- ld.add_action(declare_headless)
- ld.add_action(isaac_process)
- ld.add_action(isaac_process_headless)
+install(DIRECTORY launch DESTINATION share/${PROJECT_NAME}/)
- return ld
+ament_package()
diff --git a/ar4_isaac/LICENSE b/ar4_isaac_bringup/LICENSE
similarity index 100%
rename from ar4_isaac/LICENSE
rename to ar4_isaac_bringup/LICENSE
diff --git a/ar4_isaac_bringup/README.md b/ar4_isaac_bringup/README.md
new file mode 100644
index 0000000..c143627
--- /dev/null
+++ b/ar4_isaac_bringup/README.md
@@ -0,0 +1,22 @@
+# Description
+
+Bringup package for the AR4 software stack on the Isaac simulator.
+
+```bash
+colcon build --packages-up-to ar4_isaac_bringup
+. install/setup.bash
+```
+
+To run the simulation, source and run:
+
+```bash
+ros2 launch ar4_isaac_bringup main.launch.py
+```
+
+#### Launch file arguments
+
+To see a detailed list of the arguments, run:
+
+```bash
+ros2 launch ar4_isaac_bringup main.launch.py --show-args
+```
diff --git a/ar4_isaac/launch/moveit.launch.py b/ar4_isaac_bringup/launch/main.launch.py
similarity index 54%
rename from ar4_isaac/launch/moveit.launch.py
rename to ar4_isaac_bringup/launch/main.launch.py
index aa13d57..5b6e4fb 100644
--- a/ar4_isaac/launch/moveit.launch.py
+++ b/ar4_isaac_bringup/launch/main.launch.py
@@ -31,77 +31,40 @@
"""launch file for integrating Isaac with MoveIt for the AR4 robot."""
from launch import LaunchDescription
-from launch.actions import DeclareLaunchArgument, IncludeLaunchDescription
-from launch.launch_description_sources import PythonLaunchDescriptionSource
from launch_ros.substitutions import FindPackageShare
-from launch.substitutions import LaunchConfiguration, PathJoinSubstitution
+from launch.actions import IncludeLaunchDescription
+from launch.launch_description_sources import PythonLaunchDescriptionSource
+from launch.substitutions import PathJoinSubstitution
def generate_launch_description():
- """Launch the AR4 robot in Isaac and MoveIt."""
- use_sim_time = LaunchConfiguration('use_sim_time')
- headless = LaunchConfiguration('headless')
- declare_use_sim_time_cmd = DeclareLaunchArgument(
- 'use_sim_time',
- default_value='true',
- description='Use simulation (Isaac) clock if true',
- )
- declare_headless = DeclareLaunchArgument(
- 'headless',
- default_value='false',
- description='Launch Isaac in headless mode',
- )
-
- ar4_isaac_pkg = FindPackageShare('ar4_isaac')
- ar4_moveit_config_pkg = FindPackageShare('ar4_moveit_config')
-
- isaac_launch = IncludeLaunchDescription(
+ common_stack_include = IncludeLaunchDescription(
PythonLaunchDescriptionSource(
PathJoinSubstitution(
[
- ar4_isaac_pkg,
- 'launch',
- 'ar4_in_empty_world.launch.py',
+ FindPackageShare("ar4_common"),
+ "launch",
+ "main.launch.py",
]
)
- ),
- launch_arguments={
- 'headless': headless,
- }.items(),
- )
-
- controllers_launch = IncludeLaunchDescription(
- PythonLaunchDescriptionSource(
- PathJoinSubstitution(
- [
- ar4_isaac_pkg,
- 'launch',
- 'ar4_controllers.launch.py',
- ]
- ),
- ),
- launch_arguments={
- 'use_sim_time': use_sim_time,
- }.items(),
+ )
)
- moveit_launch = IncludeLaunchDescription(
+ isaac_sim_include = IncludeLaunchDescription(
PythonLaunchDescriptionSource(
PathJoinSubstitution(
[
- ar4_moveit_config_pkg,
- 'launch',
- 'demo.launch.py',
+ FindPackageShare("ar4_isaac_sim"),
+ "launch",
+ "main.launch.py",
]
)
)
)
- ld = LaunchDescription()
- ld.add_action(declare_use_sim_time_cmd)
- ld.add_action(declare_headless)
- ld.add_action(isaac_launch)
- ld.add_action(controllers_launch)
- ld.add_action(moveit_launch)
-
- return ld
+ return LaunchDescription(
+ [
+ common_stack_include,
+ isaac_sim_include,
+ ]
+ )
diff --git a/ar4_isaac_bringup/package.xml b/ar4_isaac_bringup/package.xml
new file mode 100644
index 0000000..6bc20db
--- /dev/null
+++ b/ar4_isaac_bringup/package.xml
@@ -0,0 +1,22 @@
+
+
+ ar4_isaac_bringup
+ 0.0.1
+
+ Launch Isaac simulation with Ar4 robot.
+
+ Santiago Lopez mendez
+ Steven Desvars
+ Gerardo Puga
+ BSD-3-Clause
+
+ ament_cmake
+
+ ar4_common
+ ar4_isaac_sim
+ ros2launch
+
+
+ ament_cmake
+
+
diff --git a/ar4_isaac/CMakeLists.txt b/ar4_isaac_sim/CMakeLists.txt
similarity index 98%
rename from ar4_isaac/CMakeLists.txt
rename to ar4_isaac_sim/CMakeLists.txt
index 1547943..8619f0b 100644
--- a/ar4_isaac/CMakeLists.txt
+++ b/ar4_isaac_sim/CMakeLists.txt
@@ -29,7 +29,7 @@
# OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
cmake_minimum_required(VERSION 3.7)
-project(ar4_isaac)
+project(ar4_isaac_sim)
find_package(ament_cmake REQUIRED)
diff --git a/ar4_isaac_sim/LICENSE b/ar4_isaac_sim/LICENSE
new file mode 100644
index 0000000..d508eff
--- /dev/null
+++ b/ar4_isaac_sim/LICENSE
@@ -0,0 +1,29 @@
+BSD 3-Clause License
+
+Copyright (c) 2025, Ekumen Inc.
+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.
diff --git a/ar4_isaac/README.md b/ar4_isaac_sim/README.md
similarity index 89%
rename from ar4_isaac/README.md
rename to ar4_isaac_sim/README.md
index a267781..4df1527 100644
--- a/ar4_isaac/README.md
+++ b/ar4_isaac_sim/README.md
@@ -20,7 +20,7 @@ Build the packages
```
source /opt/ros/humble/setup.bash
-colcon build --packages-up-to ar4_isaac
+colcon build --packages-up-to ar4_isaac_bringup
```
Source the built packages
@@ -31,7 +31,7 @@ source install/setup.bash
## Launch the simulation
```
-ros2 launch ar4_isaac ar4_in_empty_world.launch.py
+ros2 launch ar4_isaac_bringup main.launch.py
```
diff --git a/ar4_isaac/docs/UPDATE_MODEL.md b/ar4_isaac_sim/docs/UPDATE_MODEL.md
similarity index 96%
rename from ar4_isaac/docs/UPDATE_MODEL.md
rename to ar4_isaac_sim/docs/UPDATE_MODEL.md
index 6c96d3e..bae96ad 100644
--- a/ar4_isaac/docs/UPDATE_MODEL.md
+++ b/ar4_isaac_sim/docs/UPDATE_MODEL.md
@@ -42,7 +42,6 @@ For changes made to the robot's urdf or meshes to impact the Isaac Sim model it'
- Import Inertia Tensor
- Clear Stage
- Self Collision
- - Collision From Visuals
7. Select the generated `urdf` in step 2 (with step 3 mods) as the input file
@@ -96,4 +95,4 @@ For changes made to the robot's urdf or meshes to impact the Isaac Sim model it'
Finally save your output as `usda` overriding the existing ar4_layer. (Note: Select the type to `*.usda`)
- File > Save As... > ar4_isaac/usda/layers/ar4_layer.usda
+ File > Save As... > ar4_isaac_sim/usda/layers/ar4_layer.usda
diff --git a/ar4_isaac/docs/pics/add_fixed_joint.png b/ar4_isaac_sim/docs/pics/add_fixed_joint.png
similarity index 100%
rename from ar4_isaac/docs/pics/add_fixed_joint.png
rename to ar4_isaac_sim/docs/pics/add_fixed_joint.png
diff --git a/ar4_isaac/docs/pics/after_import.png b/ar4_isaac_sim/docs/pics/after_import.png
similarity index 100%
rename from ar4_isaac/docs/pics/after_import.png
rename to ar4_isaac_sim/docs/pics/after_import.png
diff --git a/ar4_isaac/docs/pics/delete_root_joint.png b/ar4_isaac_sim/docs/pics/delete_root_joint.png
similarity index 100%
rename from ar4_isaac/docs/pics/delete_root_joint.png
rename to ar4_isaac_sim/docs/pics/delete_root_joint.png
diff --git a/ar4_isaac/docs/pics/gain_tuner.png b/ar4_isaac_sim/docs/pics/gain_tuner.png
similarity index 100%
rename from ar4_isaac/docs/pics/gain_tuner.png
rename to ar4_isaac_sim/docs/pics/gain_tuner.png
diff --git a/ar4_isaac/docs/pics/isaac_sim.png b/ar4_isaac_sim/docs/pics/isaac_sim.png
similarity index 100%
rename from ar4_isaac/docs/pics/isaac_sim.png
rename to ar4_isaac_sim/docs/pics/isaac_sim.png
diff --git a/ar4_isaac/docs/pics/material_tuning.png b/ar4_isaac_sim/docs/pics/material_tuning.png
similarity index 100%
rename from ar4_isaac/docs/pics/material_tuning.png
rename to ar4_isaac_sim/docs/pics/material_tuning.png
diff --git a/ar4_isaac/docs/pics/set_articulation_root.png b/ar4_isaac_sim/docs/pics/set_articulation_root.png
similarity index 100%
rename from ar4_isaac/docs/pics/set_articulation_root.png
rename to ar4_isaac_sim/docs/pics/set_articulation_root.png
diff --git a/ar4_isaac/docs/pics/update_joint.png b/ar4_isaac_sim/docs/pics/update_joint.png
similarity index 100%
rename from ar4_isaac/docs/pics/update_joint.png
rename to ar4_isaac_sim/docs/pics/update_joint.png
diff --git a/ar4_isaac/docs/pics/urdf_importer.png b/ar4_isaac_sim/docs/pics/urdf_importer.png
similarity index 100%
rename from ar4_isaac/docs/pics/urdf_importer.png
rename to ar4_isaac_sim/docs/pics/urdf_importer.png
diff --git a/ar4_isaac/launch/ar4_controllers.launch.py b/ar4_isaac_sim/launch/main.launch.py
similarity index 74%
rename from ar4_isaac/launch/ar4_controllers.launch.py
rename to ar4_isaac_sim/launch/main.launch.py
index 0d4543c..3e1ec21 100644
--- a/ar4_isaac/launch/ar4_controllers.launch.py
+++ b/ar4_isaac_sim/launch/main.launch.py
@@ -28,34 +28,39 @@
# 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.
-"""launch file for integrating Isaac with MoveIt for the AR4 robot."""
import os
+import xacro
+
from ament_index_python.packages import get_package_share_directory
from launch import LaunchDescription
-from launch_ros.actions import Node
-from launch.actions import DeclareLaunchArgument, ExecuteProcess
-from launch.substitutions import LaunchConfiguration
-import xacro
+from launch.actions import ExecuteProcess
-pkg_ar4_isaac = get_package_share_directory('ar4_isaac')
+from launch_ros.actions import Node
def get_robot_description():
- robot_description_file = os.path.join(pkg_ar4_isaac, 'urdf', 'ar4_isaac.urdf.xacro')
-
- return xacro.process_file(
- robot_description_file,
- ).toprettyxml(indent=' ')
+ robot_description_file = os.path.join(
+ get_package_share_directory("ar4_isaac_sim"),
+ "urdf",
+ "ar4_isaac.urdf.xacro",
+ )
+ return xacro.process_file(robot_description_file).toprettyxml(indent=" ")
def generate_launch_description():
- use_sim_time = LaunchConfiguration('use_sim_time')
+ pkg_ar4_isaac = get_package_share_directory('ar4_isaac_sim')
+ run_sim_path = os.path.join(pkg_ar4_isaac, 'scripts', 'run_sim.py')
- use_sim_time_argument = DeclareLaunchArgument(
- 'use_sim_time',
- default_value='true',
- description='Use simulation clock if true',
+ isaac_process = ExecuteProcess(
+ cmd=[
+ '/isaac-sim/python.sh',
+ run_sim_path,
+ '--robot_model_path',
+ os.path.join(pkg_ar4_isaac, 'usda', 'ar4.usda'),
+ ],
+ shell=True,
+ output='screen',
)
robot_state_publisher_control = Node(
@@ -66,17 +71,10 @@ def generate_launch_description():
parameters=[
{
'robot_description': get_robot_description(),
- 'use_sim_time': use_sim_time,
}
],
)
- ros2_controllers_path = os.path.join(
- get_package_share_directory("ar4_moveit_config"),
- "config",
- "ros2_controllers.yaml",
- )
-
world2robot_tf_node = Node(
package="tf2_ros",
executable="static_transform_publisher",
@@ -85,6 +83,12 @@ def generate_launch_description():
arguments=["--frame-id", "world", "--child-frame-id", "base_link"],
)
+ ros2_controllers_path = os.path.join(
+ get_package_share_directory("ar4_moveit_config"),
+ "config",
+ "ros2_controllers.yaml",
+ )
+
ros2_control_node = Node(
package="controller_manager",
executable="ros2_control_node",
@@ -95,26 +99,19 @@ def generate_launch_description():
output="screen",
)
- load_joint_trajectory_controller = ExecuteProcess(
- cmd=[
- 'ros2',
- 'control',
- 'load_controller',
- '--set-state',
- 'active',
- 'arm_controller',
- ],
- output='screen',
+ spawn_joint_trajectory_controller = Node(
+ package="controller_manager",
+ executable="spawner",
+ arguments=["arm_controller", "gripper_controller"],
+ output="screen",
)
- ld = LaunchDescription(
+ return LaunchDescription(
[
- world2robot_tf_node,
+ isaac_process,
robot_state_publisher_control,
- load_joint_trajectory_controller,
- use_sim_time_argument,
+ world2robot_tf_node,
ros2_control_node,
+ spawn_joint_trajectory_controller,
]
)
-
- return ld
diff --git a/ar4_isaac/package.xml b/ar4_isaac_sim/package.xml
similarity index 86%
rename from ar4_isaac/package.xml
rename to ar4_isaac_sim/package.xml
index ae04b4f..5df9d8a 100644
--- a/ar4_isaac/package.xml
+++ b/ar4_isaac_sim/package.xml
@@ -1,8 +1,10 @@
- ar4_isaac
+ ar4_isaac_sim
0.0.1
- Launch Isaac simulation with Ar4 robot.
+
+ Launch Isaac simulation with Ar4 robot.\
+
Santiago Lopez mendez
Steven Desvars
Santiago Lopez mendez
diff --git a/ar4_isaac/scripts/run_sim.py b/ar4_isaac_sim/scripts/run_sim.py
similarity index 100%
rename from ar4_isaac/scripts/run_sim.py
rename to ar4_isaac_sim/scripts/run_sim.py
diff --git a/ar4_isaac/urdf/ar4.ros2_control.xacro b/ar4_isaac_sim/urdf/ar4.ros2_control.xacro
similarity index 75%
rename from ar4_isaac/urdf/ar4.ros2_control.xacro
rename to ar4_isaac_sim/urdf/ar4.ros2_control.xacro
index 705ae44..329504a 100644
--- a/ar4_isaac/urdf/ar4.ros2_control.xacro
+++ b/ar4_isaac_sim/urdf/ar4.ros2_control.xacro
@@ -37,6 +37,18 @@
+
+
+
+
+
+ 0.0
+
+
+ 0.0
+
+
+
diff --git a/ar4_isaac/urdf/ar4_isaac.urdf.xacro b/ar4_isaac_sim/urdf/ar4_isaac.urdf.xacro
similarity index 71%
rename from ar4_isaac/urdf/ar4_isaac.urdf.xacro
rename to ar4_isaac_sim/urdf/ar4_isaac.urdf.xacro
index c2a0c47..8f1b682 100644
--- a/ar4_isaac/urdf/ar4_isaac.urdf.xacro
+++ b/ar4_isaac_sim/urdf/ar4_isaac.urdf.xacro
@@ -1,8 +1,11 @@
+
.
-
+
+
+
diff --git a/ar4_isaac/usda/.thumbs/256x256/ar4.usda.png b/ar4_isaac_sim/usda/.thumbs/256x256/ar4.usda.png
similarity index 100%
rename from ar4_isaac/usda/.thumbs/256x256/ar4.usda.png
rename to ar4_isaac_sim/usda/.thumbs/256x256/ar4.usda.png
diff --git a/ar4_isaac/usda/ar4.usda b/ar4_isaac_sim/usda/ar4.usda
similarity index 100%
rename from ar4_isaac/usda/ar4.usda
rename to ar4_isaac_sim/usda/ar4.usda
diff --git a/ar4_isaac_sim/usda/layers/.thumbs/256x256/ar4_layer.usda.png b/ar4_isaac_sim/usda/layers/.thumbs/256x256/ar4_layer.usda.png
new file mode 100644
index 0000000..e2192ec
Binary files /dev/null and b/ar4_isaac_sim/usda/layers/.thumbs/256x256/ar4_layer.usda.png differ
diff --git a/ar4_isaac/usda/layers/.thumbs/256x256/omnigraph_layer.usda.png b/ar4_isaac_sim/usda/layers/.thumbs/256x256/omnigraph_layer.usda.png
similarity index 100%
rename from ar4_isaac/usda/layers/.thumbs/256x256/omnigraph_layer.usda.png
rename to ar4_isaac_sim/usda/layers/.thumbs/256x256/omnigraph_layer.usda.png
diff --git a/ar4_isaac/usda/layers/ar4_layer.usda b/ar4_isaac_sim/usda/layers/ar4_layer.usda
similarity index 54%
rename from ar4_isaac/usda/layers/ar4_layer.usda
rename to ar4_isaac_sim/usda/layers/ar4_layer.usda
index 178231f..b98ac8a 100644
--- a/ar4_isaac/usda/layers/ar4_layer.usda
+++ b/ar4_isaac_sim/usda/layers/ar4_layer.usda
@@ -7,8 +7,8 @@
double radius = 5
}
dictionary Perspective = {
- double3 position = (1.3041699941415466, 1.3041699941415479, 1.3041700823544686)
- double3 target = (-3.978038343177559e-8, -3.978038165541875e-8, 7.956076975013104e-8)
+ double3 position = (0.6028244777038677, 0.32055664543911444, 0.6833596828815645)
+ double3 target = (0.06724420594364533, -0.2150236263211076, 0.14777942390469545)
}
dictionary Right = {
double3 position = (0, -5, 0)
@@ -21,7 +21,7 @@
string boundCamera = "/OmniverseKit_Persp"
}
dictionary omni_layer = {
- string authoring_layer = "./ar4_layer.usda"
+ string authoring_layer = "./ar4.usd"
dictionary locked = {
}
dictionary muteness = {
@@ -64,10 +64,7 @@
}
}
defaultPrim = "ar4"
- doc = """Generated from Composed Stage of root layer /workspace/src/ar4/ar4_isaac/usda/ar4/ar4.usd
-
-
-Generated from Composed Stage of root layer /workspace/src/ar4/ar4_isaac/usda/ar4/ar4.usd
+ doc = """Generated from Composed Stage of root layer /home/steven/ar4_project/ar4/ar4_description/urdf/ar4/ar4.usd
"""
metersPerUnit = 1
upAxis = "Z"
@@ -172,7 +169,6 @@ def Xform "ar4" (
float3 physics:diagonalInertia = (0.00073979166, 0.0035569184, 0.004000793)
float physics:mass = 0.7102
quatf physics:principalAxes = (1, 0, 0, 0)
- rel physics:simulationOwner
quatd xformOp:orient = (1, 0, 0, 0)
double3 xformOp:scale = (1, 1, 1)
double3 xformOp:translate = (0, 0, 0)
@@ -232,80 +228,46 @@ def Xform "ar4" (
}
}
- def "collisions"
+ def Mesh "collisions" (
+ apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"]
+ )
{
- def Mesh "mesh_0" (
- apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"]
- )
- {
- float3[] extent = [(-0.07497648, -0.074669786, 7.748604e-10), (0.07497648, 0.17, 0.0867)]
- int[] faceVertexCounts = [3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 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77, 71, 85, 72, 72, 85, 86, 72, 86, 87, 87, 86, 88, 87, 88, 89, 89, 88, 90, 89, 90, 91, 91, 90, 92, 91, 92, 93, 93, 92, 94, 93, 94, 69, 69, 94, 95, 69, 95, 70, 67, 96, 34, 34, 96, 97, 34, 97, 33, 33, 97, 98, 33, 98, 99, 99, 98, 100, 99, 100, 101, 101, 100, 102, 101, 102, 103, 103, 102, 104, 103, 104, 75, 75, 104, 105, 75, 105, 73, 106, 107, 108, 109, 110, 111, 111, 110, 112, 111, 112, 113, 114, 115, 116, 116, 115, 117, 116, 117, 118, 118, 117, 119, 114, 120, 115, 115, 120, 113, 115, 113, 121, 121, 113, 112, 122, 106, 123, 123, 106, 108, 123, 108, 124, 124, 108, 125, 124, 125, 109, 109, 125, 126, 109, 126, 110, 120, 127, 113, 113, 127, 128, 113, 128, 129, 129, 128, 130, 129, 130, 131, 131, 130, 132, 131, 132, 133, 133, 132, 134, 133, 134, 2, 2, 134, 135, 2, 135, 23, 79, 136, 80, 80, 136, 137, 80, 137, 138, 138, 137, 139, 138, 139, 140, 140, 139, 141, 140, 141, 142, 142, 141, 143, 142, 143, 144, 144, 143, 145, 144, 145, 146, 146, 145, 147, 146, 147, 123, 123, 147, 148, 123, 148, 122, 106, 149, 107, 107, 149, 150, 107, 150, 151, 151, 150, 152, 151, 152, 153, 153, 152, 154, 153, 154, 119, 119, 154, 155, 119, 155, 118, 156, 157, 158, 158, 157, 159, 158, 159, 160, 160, 159, 161, 162, 163, 164, 164, 163, 165, 165, 163, 166, 165, 166, 167, 162, 164, 168, 168, 164, 169, 168, 169, 170, 170, 169, 171, 170, 171, 172, 172, 171, 173, 172, 173, 174, 174, 173, 175, 174, 175, 176, 176, 175, 177, 176, 177, 178, 156, 158, 177, 177, 158, 179, 177, 179, 178, 180, 181, 182, 182, 181, 183, 181, 184, 183, 183, 184, 185, 183, 185, 186, 187, 188, 189, 189, 188, 190, 189, 190, 191, 191, 190, 192, 191, 192, 193, 193, 192, 194, 193, 194, 195, 195, 194, 196, 195, 196, 186, 186, 196, 197, 182, 198, 180, 180, 198, 199, 180, 199, 200, 200, 199, 201, 200, 201, 202, 202, 201, 203, 202, 203, 187, 187, 203, 204, 187, 204, 188, 166, 205, 167, 167, 205, 206, 167, 206, 161, 161, 206, 207, 161, 207, 160, 160, 207, 208, 160, 208, 209, 209, 208, 210, 209, 210, 211, 211, 210, 212, 211, 212, 213, 213, 212, 214, 213, 214, 215, 215, 214, 216, 215, 216, 217, 217, 216, 218, 217, 218, 219, 219, 218, 220, 219, 220, 221, 221, 220, 222, 221, 222, 182, 182, 222, 223, 182, 223, 198, 224, 225, 226, 227, 228, 229, 229, 228, 230, 229, 230, 231, 231, 230, 232, 231, 232, 233, 233, 232, 234, 234, 232, 235, 234, 235, 236, 226, 237, 224, 224, 237, 238, 224, 238, 239, 239, 238, 240, 239, 240, 241, 241, 240, 236, 241, 236, 242, 242, 236, 235, 227, 243, 228, 228, 243, 244, 228, 244, 245, 245, 244, 246, 245, 246, 247, 247, 246, 248, 247, 248, 249, 249, 248, 250, 249, 250, 225, 225, 250, 251, 225, 251, 226, 197, 252, 186, 186, 252, 253, 186, 253, 183, 183, 253, 254, 183, 254, 255, 255, 254, 256, 255, 256, 257, 257, 256, 258, 257, 258, 259, 259, 258, 260, 259, 260, 233, 233, 260, 261, 233, 261, 231, 262, 263, 264, 265, 266, 267, 267, 266, 268, 267, 268, 269, 268, 270, 269, 269, 270, 271, 269, 271, 272, 272, 271, 273, 272, 274, 269, 269, 274, 275, 269, 275, 276, 276, 275, 277, 276, 277, 278, 278, 277, 279, 278, 279, 280, 280, 279, 281, 280, 281, 158, 158, 281, 282, 158, 282, 179, 283, 262, 284, 284, 262, 264, 284, 264, 285, 285, 264, 286, 285, 286, 265, 265, 286, 287, 265, 287, 266, 262, 288, 263, 263, 288, 289, 263, 289, 290, 290, 289, 291, 290, 291, 292, 292, 291, 293, 292, 293, 294, 294, 293, 295, 294, 295, 296, 296, 295, 297, 296, 297, 271, 271, 297, 298, 271, 298, 273, 237, 299, 238, 238, 299, 300, 238, 300, 301, 301, 300, 302, 301, 302, 303, 303, 302, 304, 303, 304, 305, 305, 304, 306, 305, 306, 307, 307, 306, 308, 307, 308, 309, 309, 308, 310, 309, 310, 284, 284, 310, 311, 284, 311, 283, 312, 313, 314, 312, 314, 315, 316, 317, 318, 316, 318, 319, 320, 321, 322, 320, 322, 323, 324, 325, 326, 324, 326, 327, 328, 329, 330, 328, 330, 331, 332, 333, 334, 334, 333, 335, 336, 337, 338, 338, 337, 339, 340, 341, 342, 342, 341, 343, 344, 345, 346, 346, 345, 347, 346, 347, 348, 348, 347, 349, 350, 351, 352, 352, 351, 353, 354, 355, 356, 356, 355, 357, 358, 359, 360, 360, 359, 361, 362, 363, 364, 364, 363, 365, 366, 367, 368, 368, 367, 369, 370, 371, 372, 372, 371, 373, 374, 375, 376, 376, 375, 377, 378, 379, 380, 378, 380, 381, 382, 383, 384, 382, 384, 385, 386, 387, 388, 386, 388, 389, 390, 391, 392, 390, 392, 393, 394, 395, 396, 394, 396, 397, 398, 399, 367, 398, 367, 366, 400, 401, 402, 402, 401, 403, 404, 405, 406, 406, 405, 407, 408, 409, 378, 378, 409, 379, 410, 411, 412, 412, 411, 413, 414, 415, 416, 416, 415, 417, 418, 419, 420, 420, 419, 421, 422, 423, 424, 424, 423, 425, 426, 427, 428, 428, 427, 429, 428, 429, 430, 430, 429, 431, 432, 433, 434, 434, 433, 435, 436, 437, 438, 438, 437, 439, 440, 441, 442, 442, 441, 443, 444, 445, 446, 446, 445, 447, 448, 449, 450, 450, 449, 451, 452, 453, 454, 454, 453, 455, 456, 457, 458, 458, 457, 459, 460, 461, 462, 460, 462, 463, 464, 465, 466, 464, 466, 467, 468, 469, 470, 468, 470, 471, 472, 473, 474, 472, 474, 475, 476, 477, 478, 476, 478, 479, 480, 481, 449, 480, 449, 448, 482, 483, 484, 484, 483, 485, 486, 487, 488, 488, 487, 489, 490, 491, 460, 460, 491, 461, 492, 493, 494, 494, 493, 495, 496, 497, 498, 498, 497, 499, 500, 501, 502, 502, 501, 503, 504, 505, 506, 506, 505, 507, 508, 509, 510, 510, 509, 511, 510, 511, 512, 512, 511, 513, 514, 515, 516, 516, 515, 517, 518, 519, 520, 520, 519, 521, 522, 523, 524, 524, 523, 525, 526, 527, 528, 526, 528, 529, 530, 531, 532, 530, 532, 533, 534, 535, 536, 534, 536, 537, 538, 539, 540, 538, 540, 541, 542, 543, 544, 542, 544, 545, 546, 547, 548, 548, 547, 549, 550, 551, 552, 552, 551, 553, 554, 555, 556, 556, 555, 557, 558, 559, 560, 560, 559, 561, 562, 563, 564, 564, 563, 565, 566, 567, 568, 568, 567, 569, 570, 571, 572, 572, 571, 573, 572, 573, 574, 574, 573, 575, 576, 577, 578, 578, 577, 579, 580, 581, 582, 582, 581, 583, 584, 585, 586, 586, 585, 587, 588, 589, 590, 590, 589, 591, 592, 593, 594, 594, 593, 595, 596, 597, 598, 598, 597, 599, 600, 601, 602, 602, 601, 603, 604, 605, 606, 606, 605, 607, 608, 609, 610, 610, 609, 611, 612, 613, 614, 614, 613, 615, 616, 617, 618, 618, 617, 619, 620, 621, 622, 622, 621, 623, 624, 625, 626, 626, 625, 627, 628, 629, 630, 630, 629, 631, 632, 633, 634, 634, 633, 635, 636, 637, 638, 638, 637, 639, 640, 641, 642, 642, 641, 643, 644, 645, 646, 646, 645, 647, 648, 649, 650, 650, 649, 651, 652, 653, 654, 654, 653, 655, 656, 657, 658, 658, 657, 659, 660, 661, 662, 662, 661, 663, 664, 665, 666, 666, 665, 667, 668, 669, 670, 670, 669, 671, 672, 673, 674, 674, 673, 675, 676, 677, 678, 678, 677, 679, 680, 681, 682, 682, 681, 683, 684, 685, 686, 686, 685, 687, 688, 689, 690, 690, 689, 691, 692, 693, 694, 694, 693, 695, 696, 697, 698, 698, 697, 699, 700, 701, 702, 702, 701, 703, 704, 705, 706, 706, 705, 707, 708, 709, 710, 710, 709, 711, 712, 713, 714, 714, 713, 715, 716, 717, 718, 718, 717, 719, 720, 721, 722, 722, 721, 723, 724, 725, 726, 726, 725, 727, 728, 729, 730, 730, 729, 731, 732, 733, 734, 734, 733, 735, 736, 737, 738, 738, 737, 739, 740, 741, 742, 742, 741, 743, 744, 745, 746, 746, 745, 747, 748, 749, 750, 750, 749, 751, 752, 753, 754, 754, 753, 755, 756, 757, 758, 758, 757, 759, 760, 761, 762, 762, 761, 763, 764, 765, 766, 766, 765, 767, 768, 769, 770, 770, 769, 771, 772, 773, 774, 774, 773, 775, 776, 777, 778, 778, 777, 779, 780, 781, 782, 782, 781, 783, 784, 785, 786, 786, 785, 787, 788, 789, 790, 790, 789, 791, 792, 793, 794, 795, 796, 797, 796, 798, 797, 799, 800, 801, 799, 801, 802, 803, 804, 805, 803, 805, 806, 807, 808, 809, 807, 809, 810, 811, 812, 813, 811, 813, 814, 815, 816, 817, 815, 817, 818, 819, 820, 821, 819, 821, 822, 823, 824, 825, 823, 825, 826, 827, 828, 829, 827, 829, 830, 831, 832, 833, 831, 833, 834, 835, 836, 837, 835, 837, 838, 839, 840, 841, 839, 841, 842, 843, 844, 845, 843, 845, 846, 847, 848, 849, 847, 849, 850, 851, 852, 853, 851, 853, 854, 855, 856, 857, 855, 857, 858, 859, 860, 861, 859, 861, 862, 863, 864, 865, 863, 865, 866, 867, 868, 869, 867, 869, 870, 871, 872, 873, 871, 873, 874, 875, 876, 877, 875, 877, 878, 879, 880, 881, 879, 881, 882, 883, 884, 885, 883, 885, 886, 887, 888, 889, 887, 889, 890, 891, 892, 893, 891, 893, 894, 895, 896, 897, 895, 897, 898, 899, 900, 901, 899, 901, 902, 903, 904, 905, 903, 905, 906, 907, 908, 909, 907, 909, 910, 911, 912, 913, 911, 913, 914, 915, 916, 917, 915, 917, 918, 919, 920, 921, 919, 921, 922, 923, 924, 925, 923, 925, 926, 927, 928, 929, 927, 929, 930, 931, 932, 933, 931, 933, 934, 935, 936, 937, 935, 937, 938, 939, 940, 941, 939, 941, 942, 943, 944, 945, 943, 945, 946, 947, 948, 949, 947, 949, 950, 951, 792, 794, 952, 953, 954, 955, 956, 954, 954, 956, 957, 954, 957, 952, 958, 959, 954, 954, 959, 960, 954, 960, 955, 961, 962, 954, 954, 962, 963, 954, 963, 958, 964, 965, 954, 954, 965, 966, 954, 966, 961, 967, 968, 954, 954, 968, 969, 954, 969, 964, 970, 971, 954, 954, 971, 972, 954, 972, 967, 973, 974, 954, 954, 974, 975, 954, 975, 970, 976, 977, 954, 954, 977, 978, 954, 978, 973, 979, 980, 954, 954, 980, 981, 954, 981, 976, 982, 983, 954, 954, 983, 984, 954, 984, 979, 985, 986, 954, 954, 986, 987, 954, 987, 982, 988, 989, 954, 954, 989, 990, 954, 990, 985, 953, 991, 954, 954, 991, 992, 954, 992, 988, 993, 994, 995, 996, 997, 995, 995, 997, 998, 995, 998, 993, 999, 1000, 995, 995, 1000, 1001, 995, 1001, 996, 1002, 1003, 995, 995, 1003, 1004, 995, 1004, 999, 1005, 1006, 995, 995, 1006, 1007, 995, 1007, 1002, 1008, 1009, 995, 995, 1009, 1010, 995, 1010, 1005, 1011, 1012, 995, 995, 1012, 1013, 995, 1013, 1008, 1014, 1015, 995, 995, 1015, 1016, 995, 1016, 1011, 1017, 1018, 995, 995, 1018, 1019, 995, 1019, 1014, 1020, 1021, 995, 995, 1021, 1022, 995, 1022, 1017, 1023, 1024, 995, 995, 1024, 1025, 995, 1025, 1020, 1026, 1027, 995, 995, 1027, 1028, 995, 1028, 1023, 1029, 1030, 995, 995, 1030, 1031, 995, 1031, 1026, 994, 1032, 995, 995, 1032, 1033, 995, 1033, 1029, 1034, 1035, 1036, 1037, 1038, 1039, 1037, 1039, 1040, 1041, 1042, 1043, 1041, 1043, 1044, 1045, 1046, 1047, 1045, 1047, 1048, 1049, 1050, 1051, 1049, 1051, 1052, 1053, 1054, 1055, 1053, 1055, 1056, 1057, 1058, 1059, 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9098, 9098, 9097, 9099, 9100, 9101, 9102, 9102, 9101, 9103, 9104, 9105, 9106, 9106, 9105, 9107, 9108, 9109, 9110, 9110, 9109, 9111, 9112, 9113, 9114, 9114, 9113, 9115, 9116, 9117, 9118, 9118, 9117, 9119, 9120, 9121, 9122, 9122, 9121, 9123, 9124, 9125, 9126, 9126, 9125, 9127, 9128, 9129, 9130, 9130, 9129, 9131, 9132, 9133, 9134, 9134, 9133, 9135, 9136, 9137, 9138, 9138, 9137, 9139, 9138, 9139, 9140, 9141, 9142, 9138, 9138, 9142, 9143, 9138, 9143, 9136, 9144, 9145, 9138, 9138, 9145, 9146, 9138, 9146, 9141, 9140, 9147, 9138, 9138, 9147, 9148, 9138, 9148, 9144, 9149, 9150, 9151, 9151, 9150, 9152, 9153, 9154, 9155, 9155, 9154, 9156, 9157, 9158, 9159, 9159, 9158, 9160, 9161, 9162, 9163, 9163, 9162, 9164, 9165, 9166, 9167, 9167, 9166, 9168, 9169, 9170, 9171, 9171, 9170, 9172, 9173, 9174, 9175, 9175, 9174, 9176, 9177, 9178, 9179, 9179, 9178, 9180, 9181, 9182, 9183, 9183, 9182, 9184, 9185, 9186, 9187, 9187, 9186, 9188, 9189, 9190, 9191, 9191, 9190, 9192, 9193, 9194, 9195, 9195, 9194, 9196, 9197, 9198, 9199, 9199, 9198, 9200, 9199, 9200, 9201, 9202, 9203, 9199, 9199, 9203, 9204, 9199, 9204, 9197, 9205, 9206, 9199, 9199, 9206, 9207, 9199, 9207, 9202, 9201, 9208, 9199, 9199, 9208, 9209, 9199, 9209, 9205, 9210, 9211, 9212, 9212, 9211, 9213, 9214, 9215, 9216, 9216, 9215, 9217, 9218, 9219, 9220, 9220, 9219, 9221, 9222, 9223, 9224, 9224, 9223, 9225, 9226, 9227, 9228, 9228, 9227, 9229, 9230, 9231, 9232, 9232, 9231, 9233, 9234, 9235, 9236, 9236, 9235, 9237, 9238, 9239, 9240, 9240, 9239, 9241, 9242, 9243, 9244, 9244, 9243, 9245, 9246, 9247, 9248, 9248, 9247, 9249, 9250, 9251, 9252, 9252, 9251, 9253, 9254, 9255, 9256, 9256, 9255, 9257, 9258, 9259, 9260, 9261, 9262, 9263, 9264, 9265, 9266, 9267, 9268, 9269, 9270, 9271, 9272, 9273, 9274, 9275, 9273, 9275, 9276, 9277, 9278, 9279, 9277, 9279, 9280, 9281, 9282, 9283, 9281, 9283, 9284, 9285, 9286, 9287, 9288, 9289, 9290, 9291, 9292, 9293, 9294, 9295, 9296, 9297, 9298, 9299, 9300, 9301, 9302, 9303, 9304, 9305, 9306, 9307, 9308, 9309, 9310, 9311, 9312, 9313, 9314, 9312, 9314, 9315, 9316, 9317, 9318, 9316, 9318, 9319, 9320, 9321, 9322, 9320, 9322, 9323, 9324, 9325, 9326, 9327, 9328, 9329, 9330, 9331, 9332, 9333, 9334, 9335, 9336, 9337, 9338, 9339, 9340, 9341, 9342, 9343, 9344, 9345, 9346, 9347, 9348, 9349, 9350, 9351, 9352, 9353, 9354, 9355, 9356, 9357, 9358, 9359, 9360, 9361, 9362, 9360, 9362, 9363, 9364, 9365, 9366, 9364, 9366, 9367, 9368, 9369, 9370, 9371, 9372, 9373, 9374, 9375, 9376, 9377, 9378, 9379, 9380, 9381, 9382, 9383, 9384, 9385, 9357, 9386, 9358, 9387, 9388, 9389, 9390, 9391, 9392, 9390, 9392, 9393, 9394, 9395, 9396, 9394, 9396, 9397, 9398, 9399, 9400, 9398, 9400, 9401, 9402, 9403, 9404, 9405, 9406, 9407, 9408, 9409, 9410, 9411, 9412, 9413]
- normal3f[] normals = [(-0, 0, 1), (-0, 0, 1), (-0, 0, 1), (-0, 0, 1), (-0, 0, 1), (0, 0, 1), (-0, 0, 1), (0, 0, 1), (0, 0, 1), (0, 0, 1), (0, 0, 1), (0, -0, 1), (0, 0, 1), (0, 0, 1), (0, 0, 1), (0, 0, 1), (0, 0, 1), (0, -0, 1), (0, -0, 1), (0, 0, 1), (0, -0, 1), (0, -0, 1), (0, -0, 1), (0, -0, 1), (0, -0, 1), (0, -0, 1), (0, -0, 1), (0, -0, 1), (0, -0, 1), (-0, -0, 1), (0, -0, 1), (-0, -0, 1), (-0, -0, 1), (-0, -0, 1), (-0, -0, 1), (-0, 0, 1), (-0, -0, 1), (-0, 0, 1), (-0, 0, 1), (-0, 0, 1), (-0, 0, 1), (-0, 0, 1), (-0, 0, 1), (-0, 0, 1), (-0, 0, 1), (-0, 0, 1), (-0, 0, 1), (-0, 0, 1), (-0, 0, 1), (-0, 0, 1), (-0, 0, 1), (-0, 0, 1), (-0, 0, 1), (0, 0, 1), (-0, 0, 1), (0, 0, 1), (-0, 0, 1), (-0, 0, 1), (-0, 0, 1), (0, 0, 1), (0, 0, 1), (-0, 0, 1), (0, -0, 1), (0, 0, 1), (0, -0, 1), (-0, 0, 1), (-0, 0, 1), (-0, 0, 1), (-0, 0, 1), (-0, 0, 1), (-0, 0, 1), (-0, 0, 1), (-0, 0, 1), (-0, 0, 1), (-0, 0, 1), (-0, 0, 1), (-0, 0, 1), (-0, 0, 1), (-0, 0, 1), (-0, 0, 1), (-0, 0, 1), (0, -0, 1), 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0.04290975), (0.0064, 0.036949832, 0.04228475), (0.0064, 0.043724164, 0.04228475), (0.006357307, 0.0369572, 0.04196085), (0.006357307, 0.0369572, 0.04196085), (0.0064, 0.043724164, 0.04228475), (0.0062325317, 0.043724164, 0.041659746), (0.006357307, 0.0369572, 0.04196085), (0.0062325317, 0.043724164, 0.041659746), (0.0062325317, 0.036978446, 0.041659746), (0.0062325317, 0.036978446, 0.041659746), (0.0062325317, 0.043724164, 0.041659746), (0.005775, 0.043724164, 0.041202217), (0.005775, 0.037052657, 0.041202217), (0.005775, 0.037052657, 0.041202217), (0.005775, 0.043724164, 0.041202217), (0.00515, 0.043724164, 0.041034747), (0.00515, 0.037144683, 0.041034747), (0.00515, 0.037144683, 0.041034747), (0.00515, 0.043724164, 0.041034747), (0.004525, 0.043724164, 0.041202217), (0.004525, 0.03722599, 0.041202217), (0.0040674685, 0.043724164, 0.041659746), (0.0040674685, 0.037278756, 0.041659746), (0.004525, 0.043724164, 0.041202217), (0.004525, 0.043724164, 0.041202217), (0.0040674685, 0.037278756, 0.041659746), (0.004266465, 0.037256505, 0.041400515), (0.004525, 0.043724164, 0.041202217), (0.004266465, 0.037256505, 0.041400515), (0.004525, 0.03722599, 0.041202217), (0.0040674685, 0.043724164, 0.04290975), (0.003942556, 0.037292175, 0.042608134), (0.0039, 0.043724164, 0.04228475), (0.0039, 0.043724164, 0.04228475), (0.003942556, 0.037292175, 0.042608134), (0.0039, 0.03729665, 0.04228475), (0.0039, 0.043724164, 0.04228475), (0.0039, 0.03729665, 0.04228475), (0.0040674685, 0.043724164, 0.041659746), (0.0040674685, 0.043724164, 0.041659746), (0.0039, 0.03729665, 0.04228475), (0.0039425334, 0.037292175, 0.041961446), (0.0040674685, 0.043724164, 0.041659746), (0.0039425334, 0.037292175, 0.041961446), (0.0040674685, 0.037278756, 0.041659746), (0.006357225, 0.036957216, 0.04260895), (0.0062325317, 0.036978446, 0.04290975), (0.0062325317, 0.043724164, 0.04290975), (0.0062325317, 0.043724164, 0.04290975), (0.0062325317, 0.036978446, 0.04290975), (0.005775, 0.037052657, 0.04336728), (0.005775, 0.043724164, 0.04336728), (0.005775, 0.043724164, 0.04336728), (0.005775, 0.037052657, 0.04336728), (0.00515, 0.037144683, 0.04353475), (0.00515, 0.043724164, 0.04353475), (0.00515, 0.043724164, 0.04353475), (0.00515, 0.037144683, 0.04353475), (0.004525, 0.03722599, 0.04336728), (0.004525, 0.043724164, 0.04336728), (0.004525, 0.043724164, 0.04336728), (0.004525, 0.03722599, 0.04336728), (0.004266523, 0.0372565, 0.043169037), (0.004525, 0.043724164, 0.04336728), (0.004266523, 0.0372565, 0.043169037), (0.0040674685, 0.043724164, 0.04290975), (0.0040674685, 0.043724164, 0.04290975), (0.004266523, 0.0372565, 0.043169037), (0.0040674685, 0.037278756, 0.04290975), (0.0040674685, 0.043724164, 0.04290975), (0.0040674685, 0.037278756, 0.04290975), (0.003942556, 0.037292175, 0.042608134), (-0.003967468, 0.043724164, 0.065159746), (-0.003967468, 0.031753097, 0.065159746), (-0.004425, 0.043724164, 0.06561728), (-0.004425, 0.043724164, 0.06561728), (-0.003967468, 0.031753097, 0.065159746), (-0.004166255, 0.031727627, 0.06541877), (-0.003967468, 0.043724164, 0.06390975), (-0.0038426581, 0.031768445, 0.06421098), (-0.0038, 0.043724164, 0.064534746), (-0.0038, 0.043724164, 0.064534746), (-0.0038426581, 0.031768445, 0.06421098), (-0.0038, 0.031773575, 0.064534746), (-0.0038, 0.043724164, 0.064534746), (-0.0038, 0.031773575, 0.064534746), (-0.003967468, 0.043724164, 0.065159746), (-0.003967468, 0.043724164, 0.065159746), (-0.0038, 0.031773575, 0.064534746), (-0.00384273, 0.031768434, 0.06485879), (-0.003967468, 0.043724164, 0.065159746), (-0.00384273, 0.031768434, 0.06485879), (-0.003967468, 0.031753097, 0.065159746), (-0.006132532, 0.043724164, 0.06390975), (-0.005675, 0.031492766, 0.063452214), (-0.005675, 0.043724164, 0.063452214), (-0.005675, 0.043724164, 0.063452214), (-0.005675, 0.031492766, 0.063452214), (-0.00505, 0.03159901, 0.06328475), (-0.00505, 0.043724164, 0.06328475), (-0.00505, 0.043724164, 0.06328475), (-0.00505, 0.03159901, 0.06328475), (-0.004425, 0.031692576, 0.063452214), (-0.004425, 0.043724164, 0.063452214), (-0.004425, 0.043724164, 0.063452214), (-0.004425, 0.031692576, 0.063452214), (-0.004166378, 0.031727612, 0.0636506), (-0.004425, 0.043724164, 0.063452214), (-0.004166378, 0.031727612, 0.0636506), (-0.003967468, 0.043724164, 0.06390975), (-0.003967468, 0.043724164, 0.06390975), (-0.004166378, 0.031727612, 0.0636506), (-0.003967468, 0.031753097, 0.06390975), (-0.003967468, 0.043724164, 0.06390975), (-0.003967468, 0.031753097, 0.06390975), (-0.0038426581, 0.031768445, 0.06421098), (-0.0063, 0.043724164, 0.064534746), (-0.00625739, 0.03138224, 0.06421116), (-0.006132532, 0.043724164, 0.06390975), (-0.006132532, 0.043724164, 0.06390975), (-0.00625739, 0.03138224, 0.06421116), (-0.006132532, 0.03140688, 0.06390975), (-0.006132532, 0.03140688, 0.06390975), (-0.004166255, 0.031727627, 0.06541877), (-0.004425, 0.031692576, 0.06561728), (-0.004425, 0.043724164, 0.06561728), (-0.004425, 0.043724164, 0.06561728), (-0.004425, 0.031692576, 0.06561728), (-0.00505, 0.03159901, 0.065784745), (-0.00505, 0.043724164, 0.065784745), (-0.00505, 0.043724164, 0.065784745), (-0.00505, 0.03159901, 0.065784745), (-0.005675, 0.031492766, 0.06561728), (-0.005675, 0.043724164, 0.06561728), (-0.005675, 0.043724164, 0.06561728), (-0.005675, 0.031492766, 0.06561728), (-0.006132532, 0.03140688, 0.065159746), (-0.006132532, 0.043724164, 0.065159746), (-0.006132532, 0.043724164, 0.065159746), (-0.006132532, 0.03140688, 0.065159746), (-0.0062573673, 0.031382244, 0.06485842), (-0.006132532, 0.043724164, 0.065159746), (-0.0062573673, 0.031382244, 0.06485842), (-0.0063, 0.043724164, 0.064534746), (-0.0063, 0.043724164, 0.064534746), (-0.0062573673, 0.031382244, 0.06485842), (-0.0063, 0.031373717, 0.064534746), (-0.0063, 0.043724164, 0.064534746), (-0.0063, 0.031373717, 0.064534746), (-0.00625739, 0.03138224, 0.06421116)]
- uniform token purpose = "guide"
- uniform token subdivisionScheme = "bilinear"
- quatd xformOp:orient = (0.7071055173873901, 0, 0, 0.7071080803871155)
- double3 xformOp:scale = (1, 1, 1)
- double3 xformOp:translate = (0, 0, 0)
- uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
- }
-
- def Mesh "mesh_1" (
- apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"]
+ float3[] extent = [(-0.060000017, -0.060000055, -7.450581e-9), (0.060000017, 0.16000006, 0.060000002)]
+ int[] faceVertexCounts = [3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3]
+ int[] faceVertexIndices = [0, 1, 2, 0, 2, 3, 4, 5, 6, 4, 6, 7, 8, 9, 10, 8, 10, 11, 12, 13, 14, 12, 14, 15, 16, 17, 18, 16, 18, 19, 20, 21, 22, 20, 22, 23]
+ normal3f[] normals = [(-1, -0, -0), (-1, -0, -0), (-1, -0, -0), (-1, -0, -0), (-1, -0, -0), (-1, -0, 0), (0, 1, 0), (0, 1, 0), (0, 1, 0), (0, 1, 0), (0, 1, 0), (0, 1, -0), (1, -0, 0), (1, -0, 0), (1, -0, 0), (1, -0, 0), (1, -0, 0), (1, -0, 0), (0, -1, 0), (0, -1, 0), (0, -1, 0), (0, -1, 0), (0, -1, 0), (0, -1, 0), (0, 0, -1), (0, 0, -1), (0, 0, -1), (0, 0, -1), (0, 0, -1), (0, 0, -1), (0, 0, 1), (0, 0, 1), (0, 0, 1), (0, 0, 1), (0, 0, 1), (0, -0, 1)] (
+ interpolation = "faceVarying"
)
- {
- float3[] extent = [(-0.07497648, -0.074669786, 7.748604e-10), (0.07497648, 0.17, 0.018)]
- int[] faceVertexCounts = [3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3]
- int[] faceVertexIndices = [0, 1, 2, 2, 1, 3, 2, 3, 4, 3, 5, 4, 6, 7, 8, 6, 8, 9, 10, 11, 12, 10, 12, 13, 14, 15, 16, 14, 16, 17, 18, 19, 20, 18, 20, 21, 22, 23, 24, 22, 24, 25, 26, 27, 28, 26, 28, 29, 30, 31, 32, 30, 32, 33, 34, 35, 36, 34, 36, 37, 38, 39, 40, 40, 39, 41, 40, 41, 42, 43, 44, 45, 46, 47, 48, 46, 48, 49, 50, 51, 52, 50, 52, 53, 54, 55, 56, 54, 56, 57, 58, 59, 60, 58, 60, 61, 62, 63, 64, 62, 64, 65, 66, 67, 68, 66, 68, 69, 70, 71, 72, 70, 72, 73, 74, 42, 41, 75, 76, 77, 77, 76, 78, 77, 78, 79, 79, 78, 80, 43, 81, 44, 82, 83, 84, 84, 83, 85, 86, 87, 88, 86, 88, 89, 90, 91, 92, 90, 92, 93, 94, 95, 96, 94, 96, 97, 98, 99, 100, 100, 99, 101, 100, 101, 102, 102, 101, 103, 104, 105, 106, 104, 106, 107, 108, 109, 110, 108, 110, 111, 112, 113, 114, 112, 114, 115, 116, 117, 118, 118, 117, 119]
- normal3f[] normals = [(-0.99293756, 0.11863815, 0), (-0.99293756, 0.11863815, 0), (-0.99293756, 0.11863815, 0), (-0.99293756, 0.11863815, 0), (-0.99293756, 0.11863815, 0), (-0.99293756, 0.11863815, 0), (-0.99293756, 0.11863815, 0), (-0.99293756, 0.11863815, 0), (-0.99293745, 0.11863927, 0), (-0.99293756, 0.11863815, 0), (-0.99293745, 0.11863927, 0), (-0.99293745, 0.11863927, 0), (-0.9976322, -0.06877339, 0), (-0.9976322, -0.06877339, 0), (-0.9976322, -0.06877339, 0), (-0.9976322, -0.06877339, 0), (-0.9976322, -0.06877339, 0), (-0.9976322, -0.06877339, -0), (-0.9672652, -0.2537676, 0), (-0.9672652, -0.2537676, 0), (-0.9672652, -0.2537676, 0), (-0.9672652, -0.2537676, 0), (-0.9672652, -0.2537676, 0), (-0.9672652, -0.2537676, -0), (-0.90290314, -0.42984423, 0), (-0.90290314, -0.42984423, 0), (-0.90290314, -0.42984423, 0), (-0.90290314, -0.42984423, 0), (-0.90290314, -0.42984423, 0), (-0.90290314, -0.42984423, -0), (-0.8068088, -0.5908126, 0), (-0.8068088, -0.5908126, 0), (-0.8068088, -0.5908126, 0), (-0.8068088, -0.5908126, 0), (-0.8068088, -0.5908126, 0), (-0.8068088, -0.5908126, -0), (-0.6823587, -0.73101753, 0), (-0.6823587, -0.73101753, 0), (-0.6823587, -0.73101753, 0), (-0.6823587, -0.73101753, 0), (-0.6823587, -0.73101753, 0), (-0.6823587, -0.73101753, -0), (-0.53392714, -0.8455305, 0), (-0.53392714, -0.8455305, 0), (-0.53392714, -0.8455305, 0), (-0.53392714, -0.8455305, 0), (-0.53392714, -0.8455305, 0), (-0.53392714, -0.8455305, -0), (-0.36673066, -0.9303272, 0), (-0.36673066, -0.9303272, 0), (-0.36673066, -0.9303272, 0), (-0.36673066, -0.9303272, 0), (-0.36673066, -0.9303272, 0), (-0.36673066, -0.9303272, -0), (-0.18664491, -0.9824274, 0), (-0.18664491, -0.9824274, 0), (-0.18664491, -0.9824274, 0), (-0.18664491, -0.9824274, 0), (-0.18664491, -0.9824274, 0), (-0.18664491, -0.9824274, -0), (-0, -1, 0), (-0, -1, 0), (-0, -1, 0), (-0, -1, 0), (-0, -1, 0), (0, -1, 0), (-0, -1, 0), (0, -1, 0), (-0, -1, 0), (0.9976322, -0.06877339, 0), (0.9976322, -0.06877339, 0), (0.9976322, -0.06877339, 0), (0.9672652, -0.2537676, 0), (0.9672652, -0.2537676, 0), (0.9672652, -0.2537676, 0), (0.9672652, -0.2537676, 0), (0.9672652, -0.2537676, 0), (0.9672652, -0.2537676, 0), (0.90290314, -0.42984423, 0), (0.90290314, -0.42984423, 0), (0.90290314, -0.42984423, 0), (0.90290314, -0.42984423, 0), (0.90290314, -0.42984423, 0), (0.90290314, -0.42984423, 0), (0.8068088, -0.5908126, 0), (0.8068088, -0.5908126, 0), (0.8068088, -0.5908126, 0), (0.8068088, -0.5908126, 0), (0.8068088, -0.5908126, 0), (0.8068088, -0.5908126, 0), (0.6823587, -0.73101753, 0), (0.6823587, -0.73101753, 0), (0.6823587, -0.73101753, 0), (0.6823587, -0.73101753, 0), (0.6823587, -0.73101753, 0), (0.6823587, -0.73101753, 0), (0.53392714, -0.8455305, 0), (0.53392714, -0.8455305, 0), (0.53392714, -0.8455305, 0), (0.53392714, -0.8455305, 0), (0.53392714, -0.8455305, 0), (0.53392714, -0.8455305, 0), (0.36673066, -0.9303272, 0), (0.36673066, -0.9303272, 0), (0.36673066, -0.9303272, 0), (0.36673066, -0.9303272, 0), (0.36673066, -0.9303272, 0), (0.36673066, -0.9303272, 0), (0.18664491, -0.9824274, 0), (0.18664491, -0.9824274, 0), (0.18664491, -0.9824274, 0), (0.18664491, -0.9824274, 0), (0.18664491, -0.9824274, 0), (0.18664491, -0.9824274, 0), (0, -1, 0), (-0, -1, 0), (0, -1, 0), (0.99293756, 0.11863815, 0), (0.99293756, 0.11863815, 0), (0.99293756, 0.11863815, 0), (0.99293756, 0.11863815, 0), (0.99293756, 0.11863815, 0), (0.99293756, 0.11863815, 0), (0.99293756, 0.11863815, 0), (0.99293756, 0.11863815, 0), (0.99293745, 0.11863927, 0), (0.99293745, 0.11863927, 0), (0.99293756, 0.11863815, 0), (0.99293745, 0.11863927, 0), (0.9976322, -0.06877339, 0), (0.9976322, -0.06877339, 0), (0.9976322, -0.06877339, 0), (0.9774452, 0.21118939, 0), (0.9774452, 0.21118939, 0), (0.9774452, 0.21118939, 0), (0.9774452, 0.21118939, 0), (0.9774452, 0.21118939, 0), (0.9774452, 0.21118939, -0), (0.9051243, 0.4251471, -0), (0.9051243, 0.4251471, -0), (0.9051243, 0.4251471, -0), (0.9051243, 0.4251471, -0), (0.9051243, 0.4251471, -0), (0.9051243, 0.4251471, 0), (0.6280156, 0.77820075, -0), (0.6280156, 0.77820075, -0), (0.6280156, 0.77820075, -0), (0.6280156, 0.77820075, -0), (0.6280156, 0.77820075, -0), (0.6280156, 0.77820075, 0), (0.2244072, 0.9744955, -0), (0.2244072, 0.9744955, -0), (0.2244072, 0.9744955, -0), (0.2244072, 0.9744955, -0), (0.2244072, 0.9744955, -0), (0.2244072, 0.9744955, 0), (0, 1, 0), (0, 1, 0), (0, 1, 0), (0, 1, 0), (0, 1, 0), (0, 1, 0), (0, 1, 0), (0, 1, 0), (0, 1, 0), (0, 1, 0), (0, 1, 0), (0, 1, 0), (-0.2244072, 0.9744955, 0), (-0.2244072, 0.9744955, 0), (-0.2244072, 0.9744955, 0), (-0.2244072, 0.9744955, 0), (-0.2244072, 0.9744955, 0), (-0.2244072, 0.9744955, 0), (-0.6280156, 0.77820075, 0), (-0.6280156, 0.77820075, 0), (-0.6280156, 0.77820075, 0), (-0.6280156, 0.77820075, 0), (-0.6280156, 0.77820075, 0), (-0.6280156, 0.77820075, 0), (-0.9051243, 0.4251471, 0), (-0.9051243, 0.4251471, 0), (-0.9051243, 0.4251471, 0), (-0.9051243, 0.4251471, 0), (-0.9051243, 0.4251471, 0), (-0.9051243, 0.4251471, 0), (-0.9774452, 0.21118939, 0), (-0.9774452, 0.21118939, 0), (-0.9774452, 0.21118939, 0), (-0.9774452, 0.21118939, 0), (-0.9774452, 0.21118939, 0), (-0.9774452, 0.21118939, 0)] (
- interpolation = "faceVarying"
- )
- uniform token physics:approximation = "convexHull"
- rel physics:simulationOwner
- point3f[] points = [(-0.073308386, 0.015839204, 0.018), (-0.073308386, 0.015839204, 7.748604e-10), (-0.074006066, 0.009999999, 0.018), (-0.074006066, 0.009999999, 7.748604e-10), (-0.07497648, 0.0018782174, 0.018), (-0.07497648, 0.0018782174, 7.748604e-10), (-0.07497648, 0.0018782174, 0.018), (-0.07497648, 0.0018782174, 7.748604e-10), (-0.07400951, -0.012148778, 7.748604e-10), (-0.07400951, -0.012148778, 0.018), (-0.07400951, -0.012148778, 0.018), (-0.07400951, -0.012148778, 7.748604e-10), (-0.07044146, -0.025748804, 7.748604e-10), (-0.07044146, -0.025748804, 0.018), (-0.07044146, -0.025748804, 0.018), (-0.07044146, -0.025748804, 7.748604e-10), (-0.06439773, -0.03844388, 7.748604e-10), (-0.06439773, -0.03844388, 0.018), (-0.06439773, -0.03844388, 0.018), (-0.06439773, -0.03844388, 7.748604e-10), (-0.056090735, -0.04978784, 7.748604e-10), (-0.056090735, -0.04978784, 0.018), (-0.056090735, -0.04978784, 0.018), (-0.056090735, -0.04978784, 7.748604e-10), (-0.04581242, -0.059382, 7.748604e-10), (-0.04581242, -0.059382, 0.018), (-0.04581242, -0.059382, 0.018), (-0.04581242, -0.059382, 7.748604e-10), (-0.03392402, -0.06688917, 7.748604e-10), (-0.03392402, -0.06688917, 0.018), (-0.03392402, -0.06688917, 0.018), (-0.03392402, -0.06688917, 7.748604e-10), (-0.020843353, -0.072045505, 7.748604e-10), (-0.020843353, -0.072045505, 0.018), (-0.020843353, -0.072045505, 0.018), (-0.020843353, -0.072045505, 7.748604e-10), (-0.007030143, -0.074669786, 7.748604e-10), (-0.007030143, -0.074669786, 0.018), (-0.007030143, -0.074669786, 0.018), (-0.007030143, -0.074669786, 7.748604e-10), (2.7253613e-17, -0.074669786, 0.018), (2.7253613e-17, -0.074669786, 7.748604e-10), (0.007030143, -0.074669786, 0.018), (0.07497648, 0.0018782174, 7.748604e-10), (0.07400951, -0.012148778, 0.018), (0.07400951, -0.012148778, 7.748604e-10), (0.07400951, -0.012148778, 7.748604e-10), (0.07400951, -0.012148778, 0.018), (0.07044146, -0.025748804, 0.018), (0.07044146, -0.025748804, 7.748604e-10), (0.07044146, -0.025748804, 7.748604e-10), (0.07044146, -0.025748804, 0.018), (0.06439773, -0.03844388, 0.018), (0.06439773, -0.03844388, 7.748604e-10), (0.06439773, -0.03844388, 7.748604e-10), (0.06439773, -0.03844388, 0.018), (0.056090735, -0.04978784, 0.018), (0.056090735, -0.04978784, 7.748604e-10), (0.056090735, -0.04978784, 7.748604e-10), (0.056090735, -0.04978784, 0.018), (0.04581242, -0.059382, 0.018), (0.04581242, -0.059382, 7.748604e-10), (0.04581242, -0.059382, 7.748604e-10), (0.04581242, -0.059382, 0.018), (0.03392402, -0.06688917, 0.018), (0.03392402, -0.06688917, 7.748604e-10), (0.03392402, -0.06688917, 7.748604e-10), (0.03392402, -0.06688917, 0.018), (0.020843353, -0.072045505, 0.018), (0.020843353, -0.072045505, 7.748604e-10), (0.020843353, -0.072045505, 7.748604e-10), (0.020843353, -0.072045505, 0.018), (0.007030143, -0.074669786, 0.018), (0.007030143, -0.074669786, 7.748604e-10), (0.007030143, -0.074669786, 7.748604e-10), (0.073308386, 0.015839204, 7.748604e-10), (0.073308386, 0.015839204, 0.018), (0.074006066, 0.009999999, 7.748604e-10), (0.074006066, 0.009999999, 0.018), (0.07497648, 0.0018782174, 7.748604e-10), (0.07497648, 0.0018782174, 0.018), (0.07497648, 0.0018782174, 0.018), (0.041704323, 0.1621119, 0.018), (0.073308386, 0.015839204, 0.018), (0.041704323, 0.1621119, 7.748604e-10), (0.073308386, 0.015839204, 7.748604e-10), (0.041704323, 0.1621119, 0.018), (0.041704323, 0.1621119, 7.748604e-10), (0.039796203, 0.16617422, 7.748604e-10), (0.039796203, 0.16617422, 0.018), (0.039796203, 0.16617422, 0.018), (0.039796203, 0.16617422, 7.748604e-10), (0.03630354, 0.16899283, 7.748604e-10), (0.03630354, 0.16899283, 0.018), (0.03630354, 0.16899283, 0.018), (0.03630354, 0.16899283, 7.748604e-10), (0.031929873, 0.17, 7.748604e-10), (0.031929873, 0.17, 0.018), (-0.031929873, 0.17, 7.748604e-10), (-0.031929873, 0.17, 0.018), (6.1617796e-18, 0.17, 7.748604e-10), (6.1617796e-18, 0.17, 0.018), (0.031929873, 0.17, 7.748604e-10), (0.031929873, 0.17, 0.018), (-0.031929873, 0.17, 0.018), (-0.031929873, 0.17, 7.748604e-10), (-0.03630354, 0.16899283, 7.748604e-10), (-0.03630354, 0.16899283, 0.018), (-0.03630354, 0.16899283, 0.018), (-0.03630354, 0.16899283, 7.748604e-10), (-0.039796203, 0.16617422, 7.748604e-10), (-0.039796203, 0.16617422, 0.018), (-0.039796203, 0.16617422, 0.018), (-0.039796203, 0.16617422, 7.748604e-10), (-0.041704323, 0.1621119, 7.748604e-10), (-0.041704323, 0.1621119, 0.018), (-0.073308386, 0.015839204, 0.018), (-0.041704323, 0.1621119, 0.018), (-0.073308386, 0.015839204, 7.748604e-10), (-0.041704323, 0.1621119, 7.748604e-10)]
- uniform token purpose = "guide"
- uniform token subdivisionScheme = "bilinear"
- quatd xformOp:orient = (0.7071055173873901, 0, 0, 0.7071080803871155)
- double3 xformOp:scale = (1, 1, 1)
- double3 xformOp:translate = (0, 0, 0)
- uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
- }
+ uniform token physics:approximation = "convexHull"
+ point3f[] points = [(-0.060000017, -0.060000055, -7.450581e-9), (-0.060000017, -0.060000055, 0.060000002), (-0.060000017, 0.16000006, 0.060000002), (-0.060000017, 0.16000006, -7.450581e-9), (-0.060000017, 0.16000006, -7.450581e-9), (-0.060000017, 0.16000006, 0.060000002), (0.060000017, 0.16000006, 0.060000002), (0.060000017, 0.16000006, -7.450581e-9), (0.060000017, 0.16000006, -7.450581e-9), (0.060000017, 0.16000006, 0.060000002), (0.060000017, -0.060000055, 0.060000002), (0.060000017, -0.060000055, -7.450581e-9), (0.060000017, -0.060000055, -7.450581e-9), (0.060000017, -0.060000055, 0.060000002), (-0.060000017, -0.060000055, 0.060000002), (-0.060000017, -0.060000055, -7.450581e-9), (-0.060000017, 0.16000006, -7.450581e-9), (0.060000017, 0.16000006, -7.450581e-9), (0.060000017, -0.060000055, -7.450581e-9), (-0.060000017, -0.060000055, -7.450581e-9), (0.060000017, 0.16000006, 0.060000002), (-0.060000017, 0.16000006, 0.060000002), (-0.060000017, -0.060000055, 0.060000002), (0.060000017, -0.060000055, 0.060000002)]
+ uniform token purpose = "guide"
+ uniform token subdivisionScheme = "bilinear"
+ quatd xformOp:orient = (0.7071055173873901, 0, 0, 0.7071080803871155)
+ double3 xformOp:scale = (1, 1, 1)
+ double3 xformOp:translate = (0, 0, 0)
+ uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+ }
- def Mesh "mesh_2" (
- apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"]
- )
- {
- float3[] extent = [(-0.02115, 0.10285, 0.08035), (0.02115, 0.14515, 0.124350004)]
- int[] faceVertexCounts = [3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3]
- int[] faceVertexIndices = [0, 1, 2, 2, 1, 3, 4, 5, 6, 6, 5, 7, 8, 9, 10, 10, 9, 11, 12, 13, 14, 14, 13, 15, 16, 17, 18, 19, 20, 21, 19, 21, 22, 22, 21, 18, 18, 21, 23, 18, 23, 16, 24, 25, 26, 27, 28, 24, 26, 29, 30, 24, 26, 27, 27, 26, 30, 27, 30, 31, 32, 33, 34, 34, 33, 35, 36, 37, 38, 38, 37, 39, 40, 41, 42, 42, 41, 43, 44, 45, 46, 46, 45, 47, 10, 11, 48, 48, 11, 49, 50, 51, 7, 7, 51, 6, 52, 53, 0, 0, 53, 1, 13, 12, 54, 54, 12, 55, 56, 57, 58, 59, 60, 61, 59, 61, 62, 62, 61, 58, 58, 61, 63, 58, 63, 56, 64, 65, 66, 67, 68, 64, 66, 69, 70, 64, 66, 67, 67, 66, 70, 67, 70, 71, 37, 36, 72, 72, 36, 73, 33, 32, 74, 74, 32, 75, 45, 44, 76, 76, 44, 77, 41, 40, 78, 78, 40, 79]
- normal3f[] normals = [(-0, -1, -0), (-0, -1, -0), (-0, -1, -0), (-0, -1, -0), (-0, -1, -0), (-0, -1, -0), (1, 0, -0), (1, 0, -0), (1, 0, -0), (1, 0, -0), (1, 0, -0), (1, -0, 0), (0, 1, -0), (0, 1, -0), (0, 1, -0), (0, 1, -0), (0, 1, -0), (0, 1, -0), (-1, 0, -0), (-1, 0, -0), (-1, 0, -0), (-1, 0, -0), (-1, 0, -0), (-1, 0, 0), (0, 0, 1), (0, 0, 1), (0, 0, 1), (-0, 0, 1), (-0, 0, 1), (-0, 0, 1), (-0, 0, 1), (-0, 0, 1), (-0, -0, 1), (-0, -0, 1), (-0, 0, 1), (0, 0, 1), (0, 0, 1), (-0, 0, 1), (-0, 0, 1), (0, 0, 1), (-0, 0, 1), (0, 0, 1), (0, -0, -1), (0, -0, -1), (0, -0, -1), (0, 0, -1), (0, 0, -1), (0, -0, -1), (0, -0, -1), (0, 0, -1), (0, 0, -1), (0, -0, -1), (0, -0, -1), (0, 0, -1), (0, 0, -1), (0, -0, -1), (0, 0, -1), (0, 0, -1), (0, 0, -1), (-0, 0, -1), (-0.7071075, 0.7071061, 0), (-0.7071075, 0.7071061, 0), (-0.7071075, 0.7071061, 0), (-0.7071075, 0.7071061, 0), (-0.7071075, 0.7071061, 0), (-0.7071075, 0.7071061, 0), (-0.70710695, -0.70710665, 0), (-0.70710695, -0.70710665, 0), (-0.70710695, -0.70710665, 0), (-0.70710695, -0.70710665, 0), (-0.70710695, -0.70710665, 0), (-0.70710695, -0.70710665, -0), (0.7071075, 0.7071061, 0), (0.7071075, 0.7071061, 0), (0.7071075, 0.7071061, 0), (0.7071075, 0.7071061, 0), (0.7071075, 0.7071061, 0), (0.7071075, 0.7071061, 0), (0.70710695, -0.70710665, 0), (0.70710695, -0.70710665, 0), (0.70710695, -0.70710665, 0), (0.70710695, -0.70710665, 0), (0.70710695, -0.70710665, 0), (0.70710695, -0.70710665, 0), (0, 1, -0), (0, 1, -0), (0, 1, -0), (0, 1, -0), (0, 1, -0), (0, 1, -0), (1, 0, 0), (1, 0, 0), (1, -0, 0), (1, -0, 0), (1, 0, 0), (1, 0, -0), (-0, -1, -0), (-0, -1, -0), (-0, -1, -0), (-0, -1, -0), (-0, -1, -0), (-0, -1, -0), (-1, 0, -0), (-1, 0, -0), (-1, 0, 0), (-1, 0, 0), (-1, 0, -0), (-1, -0, 0), (-0, 0, -1), (-0, 0, -1), (-0, 0, -1), (0, 0, -1), (0, 0, -1), (0, 0, -1), (0, 0, -1), (0, 0, -1), (0, -0, -1), (0, -0, -1), (0, 0, -1), (-0, 0, -1), (-0, 0, -1), (0, 0, -1), (0, 0, -1), (-0, 0, -1), (0, 0, -1), (-0, 0, -1), (0, -0, 1), (0, -0, 1), (0, -0, 1), (0, 0, 1), (0, 0, 1), (0, -0, 1), (0, -0, 1), (0, 0, 1), (0, 0, 1), (0, -0, 1), (0, -0, 1), (0, 0, 1), (0, 0, 1), (0, -0, 1), (0, 0, 1), (0, 0, 1), (0, 0, 1), (0, 0, 1), (-0.70710695, -0.70710665, 0), (-0.70710695, -0.70710665, 0), (-0.70710695, -0.70710665, 0), (-0.70710695, -0.70710665, 0), (-0.70710695, -0.70710665, 0), (-0.70710695, -0.70710665, 0), (-0.7071075, 0.7071061, 0), (-0.7071075, 0.7071061, 0), (-0.7071074, 0.7071061, 0), (-0.7071074, 0.7071061, 0), (-0.7071075, 0.7071061, 0), (-0.7071074, 0.7071061, 0), (0.70710695, -0.70710665, 0), (0.70710695, -0.70710665, 0), (0.70710695, -0.70710665, 0), (0.70710695, -0.70710665, 0), (0.70710695, -0.70710665, 0), (0.70710695, -0.70710665, 0), (0.7071075, 0.7071061, 0), (0.7071075, 0.7071061, 0), (0.7071074, 0.7071061, 0), (0.7071074, 0.7071061, 0), (0.7071075, 0.7071061, 0), (0.7071074, 0.7071061, -0)] (
- interpolation = "faceVarying"
- )
- uniform token physics:approximation = "convexHull"
- rel physics:simulationOwner
- point3f[] points = [(-0.01615, 0.10285, 0.08535), (0.01615, 0.10285, 0.08535), (-0.01615, 0.10285, 0.124350004), (0.01615, 0.10285, 0.124350004), (0.02115, 0.14015, 0.124350004), (0.02115, 0.10785, 0.124350004), (0.02115, 0.14015, 0.08535), (0.02115, 0.10785, 0.08535), (-0.01615, 0.14515, 0.124350004), (0.01615, 0.14515, 0.124350004), (-0.01615, 0.14515, 0.08535), (0.01615, 0.14515, 0.08535), (-0.02115, 0.14015, 0.08535), (-0.02115, 0.10785, 0.08535), (-0.02115, 0.14015, 0.124350004), (-0.02115, 0.10785, 0.124350004), (-0.02115, 0.10785, 0.124350004), (-0.01615, 0.10285, 0.124350004), (0.01615, 0.10285, 0.124350004), (0.02115, 0.14015, 0.124350004), (0.01615, 0.14515, 0.124350004), (-0.01615, 0.14515, 0.124350004), (0.02115, 0.10785, 0.124350004), (-0.02115, 0.14015, 0.124350004), (-0.02115, 0.10785, 0.08535), (-0.02115, 0.14015, 0.08535), (-0.01615, 0.14515, 0.08535), (0.01615, 0.10285, 0.08535), (-0.01615, 0.10285, 0.08535), (0.01615, 0.14515, 0.08535), (0.02115, 0.14015, 0.08535), (0.02115, 0.10785, 0.08535), (-0.01615, 0.14515, 0.08535), (-0.02115, 0.14015, 0.08535), (-0.01615, 0.14515, 0.124350004), (-0.02115, 0.14015, 0.124350004), (-0.02115, 0.10785, 0.08535), (-0.01615, 0.10285, 0.08535), (-0.02115, 0.10785, 0.124350004), (-0.01615, 0.10285, 0.124350004), (0.02115, 0.14015, 0.08535), (0.01615, 0.14515, 0.08535), (0.02115, 0.14015, 0.124350004), (0.01615, 0.14515, 0.124350004), (0.01615, 0.10285, 0.08535), (0.02115, 0.10785, 0.08535), (0.01615, 0.10285, 0.124350004), (0.02115, 0.10785, 0.124350004), (-0.01615, 0.14515, 0.08035), (0.01615, 0.14515, 0.08035), (0.02115, 0.10785, 0.08035), (0.02115, 0.14015, 0.08035), (-0.01615, 0.10285, 0.08035), (0.01615, 0.10285, 0.08035), (-0.02115, 0.10785, 0.08035), (-0.02115, 0.14015, 0.08035), (-0.02115, 0.14015, 0.08035), (-0.01615, 0.14515, 0.08035), (0.01615, 0.14515, 0.08035), (0.02115, 0.10785, 0.08035), (0.01615, 0.10285, 0.08035), (-0.01615, 0.10285, 0.08035), (0.02115, 0.14015, 0.08035), (-0.02115, 0.10785, 0.08035), (-0.02115, 0.14015, 0.08535), (-0.02115, 0.10785, 0.08535), (-0.01615, 0.10285, 0.08535), (0.01615, 0.14515, 0.08535), (-0.01615, 0.14515, 0.08535), (0.01615, 0.10285, 0.08535), (0.02115, 0.10785, 0.08535), (0.02115, 0.14015, 0.08535), (-0.01615, 0.10285, 0.08035), (-0.02115, 0.10785, 0.08035), (-0.02115, 0.14015, 0.08035), (-0.01615, 0.14515, 0.08035), (0.02115, 0.10785, 0.08035), (0.01615, 0.10285, 0.08035), (0.01615, 0.14515, 0.08035), (0.02115, 0.14015, 0.08035)]
- uniform token purpose = "guide"
- uniform token subdivisionScheme = "bilinear"
- quatd xformOp:orient = (0.7071055173873901, 0, 0, 0.7071080803871155)
- double3 xformOp:scale = (1, 1, 1)
- double3 xformOp:translate = (0, 0, 0)
- uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
- }
+ def PhysicsFixedJoint "finger_joint_2_mimic"
+ {
+ rel physics:body0 =
+ rel physics:body1 =
+ 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 PhysicsRevoluteJoint "joint_1" (
apiSchemas = ["PhysxJointAPI", "PhysicsJointStateAPI:angular", "PhysicsDriveAPI:angular"]
)
{
- float drive:angular:physics:damping = 1745.3292
+ float drive:angular:physics:damping = 0
float drive:angular:physics:maxForce = 3000
- float drive:angular:physics:stiffness = 17453293000000
- float drive:angular:physics:targetPosition = -6.5
+ float drive:angular:physics:stiffness = 10000000
+ float drive:angular:physics:targetPosition = 0
uniform token drive:angular:physics:type = "force"
uniform token physics:axis = "Z"
rel physics:body0 =
@@ -319,8 +281,6 @@ def Xform "ar4" (
float physics:lowerLimit = -169.99998
float physics:upperLimit = 169.99998
float physxJoint:maxJointVelocity = 5000
- float state:angular:physics:position = 0
- float state:angular:physics:velocity = 0
}
def PhysicsFixedJoint "FixedJoint"
@@ -335,6 +295,18 @@ def Xform "ar4" (
}
}
+ def Xform "dummy" (
+ apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"]
+ )
+ {
+ float3 physics:diagonalInertia = (0.00001, 0.00001, 0.00001)
+ float physics:mass = 0.000001
+ quatd xformOp:orient = (1, 0, 0, 0)
+ double3 xformOp:scale = (1, 1, 1)
+ double3 xformOp:translate = (0, 0, 0)
+ uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+ }
+
def Xform "link_1" (
apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"]
)
@@ -343,7 +315,6 @@ def Xform "ar4" (
float3 physics:diagonalInertia = (0.003669375, 0.003669375, 0.00146775)
float physics:mass = 0.88065
quatf physics:principalAxes = (1, 0, 0, 0)
- rel physics:simulationOwner
quatd xformOp:orient = (1, 0, 0, 0)
double3 xformOp:scale = (1, 1, 1)
double3 xformOp:translate = (0, 0, 0)
@@ -386,59 +357,34 @@ def Xform "ar4" (
}
}
- def "collisions"
+ def Mesh "collisions" (
+ apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"]
+ )
{
- def Mesh "mesh_0" (
- apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"]
- )
- {
- float3[] extent = [(-0.0722294, -0.04823749, -0.20757832), (0.04823749, 0.10212744, -0.0035)]
- int[] faceVertexCounts = [3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 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- int[] faceVertexIndices = [0, 1, 2, 2, 1, 3, 4, 5, 6, 6, 5, 7, 8, 9, 10, 10, 9, 11, 12, 13, 14, 14, 13, 15, 16, 17, 18, 18, 17, 19, 20, 21, 22, 22, 21, 23, 24, 25, 26, 26, 25, 27, 28, 29, 30, 30, 29, 31, 32, 33, 34, 34, 33, 35, 36, 37, 38, 38, 37, 39, 40, 41, 42, 42, 41, 43, 44, 45, 46, 46, 45, 47, 48, 49, 50, 50, 49, 51, 52, 53, 54, 54, 53, 55, 56, 57, 58, 58, 57, 59, 60, 61, 62, 62, 61, 63, 64, 65, 66, 66, 65, 67, 68, 69, 70, 70, 69, 71, 72, 73, 74, 74, 73, 75, 76, 77, 78, 78, 77, 79, 80, 81, 82, 82, 81, 83, 84, 85, 86, 86, 85, 87, 88, 89, 90, 90, 89, 91, 92, 93, 94, 94, 93, 95, 96, 97, 98, 98, 97, 99, 100, 101, 102, 102, 101, 103, 104, 105, 106, 106, 105, 107, 108, 109, 110, 110, 109, 111, 112, 113, 114, 114, 113, 115, 116, 117, 118, 118, 117, 119, 120, 121, 122, 122, 121, 123, 124, 125, 126, 126, 125, 127, 128, 129, 130, 130, 129, 131, 132, 133, 134, 134, 133, 135, 136, 137, 138, 138, 137, 139, 140, 141, 142, 142, 141, 143, 144, 145, 146, 146, 145, 147, 148, 149, 150, 150, 149, 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- normal3f[] normals = [(0.58778423, 0.8090177, 0), (0.58778423, 0.8090177, 0), (0.58778423, 0.8090177, 0), (0.58778423, 0.8090177, 0), (0.58778423, 0.8090177, 0), (0.58778423, 0.8090177, 0), (0.49999985, 0.86602545, 0), (0.49999985, 0.86602545, 0), (0.49999985, 0.86602545, 0), (0.49999985, 0.86602545, 0), (0.49999985, 0.86602545, 0), (0.49999985, 0.86602545, 0), (0.40673664, 0.9135454, 0), (0.40673664, 0.9135454, 0), (0.40673664, 0.9135454, 0), (0.40673664, 0.9135454, 0), (0.40673664, 0.9135454, 0), (0.40673664, 0.9135454, 0), (0.30901584, 0.9510569, 0), (0.30901584, 0.9510569, 0), (0.30901584, 0.9510569, 0), (0.30901584, 0.9510569, 0), (0.30901584, 0.9510569, 0), (0.30901584, 0.9510569, 0), (0.20791183, 0.97814757, 0), (0.20791183, 0.97814757, 0), (0.20791183, 0.97814757, 0), (0.20791183, 0.97814757, 0), (0.20791183, 0.97814757, 0), (0.20791183, 0.97814757, 0), (0.10452904, 0.99452186, 0), (0.10452904, 0.99452186, 0), (0.10452904, 0.99452186, 0), (0.10452904, 0.99452186, 0), 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- uniform token purpose = "guide"
- uniform token subdivisionScheme = "bilinear"
- quatd xformOp:orient = (0.00003275928247603588, 0.7071055173873901, 0.7071080803871155, 0.000032759398891357705)
- double3 xformOp:scale = (1, 1, 1)
- double3 xformOp:translate = (0, 0, 0)
- uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
- }
-
- def Mesh "mesh_1" (
- apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"]
+ float3[] extent = [(-0.03, -0.020291962, -0.19686925), (0.03, 0.08029196, -0.009999994)]
+ int[] faceVertexCounts = [3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3]
+ int[] faceVertexIndices = [0, 1, 2, 0, 2, 3, 4, 5, 6, 4, 6, 7, 8, 9, 10, 8, 10, 11, 12, 13, 14, 12, 14, 15, 16, 17, 18, 16, 18, 19, 20, 21, 22, 20, 22, 23, 24, 25, 26, 24, 26, 27, 28, 29, 30, 28, 30, 31, 32, 33, 34, 32, 34, 35, 36, 37, 38, 36, 38, 39, 40, 41, 42, 40, 42, 43, 44, 45, 46, 44, 46, 47]
+ normal3f[] normals = [(-1, 0, -0), (-1, 0, -0), (-1, 0, -0), (-1, 0, -0), (-1, 0, -0), (-1, -0, 0), (0, 0.92718387, 0.37460658), (0, 0.92718387, 0.37460658), (0, 0.92718387, 0.37460658), (0, 0.92718387, 0.37460658), (0, 0.92718387, 0.37460658), (0, 0.92718387, 0.37460658), (1, -0, 0), (1, -0, 0), (1, -0, 0), (1, -0, 0), (1, -0, 0), (1, -0, -0), (0, -0.92718387, -0.37460655), (0, -0.92718387, -0.37460655), (0, -0.92718387, -0.37460655), (0, -0.92718387, -0.37460655), (0, -0.92718387, -0.37460655), (0, -0.92718387, -0.37460655), (0, 0.3746066, -0.9271838), (0, 0.3746066, -0.9271838), (0, 0.3746066, -0.9271838), (0, 0.3746066, -0.9271838), (0, 0.3746066, -0.9271838), (0, 0.3746066, -0.9271838), (0, -0.37460652, 0.92718387), (0, -0.37460652, 0.92718387), (0, -0.37460652, 0.92718387), (0, -0.37460652, 0.92718387), (0, -0.37460652, 0.92718387), (0, -0.37460652, 0.92718387), (-1, -0, -0), (-1, -0, -0), (-1, -0, -0), (-1, -0, -0), (-1, -0, -0), (-1, -0, 0), (0, 1, 0), (0, 1, 0), (0, 1, 0), (0, 1, 0), (0, 1, 0), (0, 1, -0), (1, -0, 0), (1, -0, 0), (1, -0, 0), (1, -0, 0), (1, -0, 0), (1, -0, 0), (0, -1, 0), (0, -1, 0), (0, -1, 0), (0, -1, 0), (0, -1, 0), (0, -1, 0), (0, 0, -1), (0, 0, -1), (0, 0, -1), (0, 0, -1), (0, 0, -1), (0, 0, -1), (0, 0, 1), (0, 0, 1), (0, 0, 1), (0, 0, 1), (0, 0, 1), (0, -0, 1)] (
+ interpolation = "faceVarying"
)
- {
- float3[] extent = [(-0.12222939, 0.036002655, -0.19807833), (-0.072228454, 0.09240349, -0.14132833)]
- int[] faceVertexCounts = [3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3]
- int[] faceVertexIndices = [0, 1, 2, 2, 1, 3, 4, 5, 6, 6, 5, 7, 8, 9, 10, 10, 9, 11, 12, 13, 14, 14, 13, 15, 16, 17, 18, 18, 17, 19, 20, 21, 22, 22, 21, 23, 24, 25, 26, 26, 25, 27, 28, 29, 30, 30, 29, 31, 32, 33, 34, 34, 33, 35, 36, 37, 38, 38, 37, 39, 40, 41, 42, 42, 41, 43, 44, 45, 46, 46, 45, 47, 48, 49, 50, 50, 49, 51, 52, 53, 54, 54, 53, 55, 54, 55, 56, 56, 55, 49, 56, 49, 57, 57, 49, 58, 59, 54, 60, 60, 54, 61, 62, 63, 64, 65, 52, 54, 65, 54, 66, 66, 54, 59, 67, 68, 69, 70, 71, 72, 70, 72, 73, 73, 72, 66, 73, 66, 74, 74, 66, 59, 75, 76, 77, 78, 79, 80, 81, 82, 83, 84, 85, 86, 87, 88, 89, 87, 89, 90, 90, 89, 91, 90, 91, 92, 93, 94, 95, 96, 58, 49, 96, 49, 91, 91, 49, 48, 91, 48, 97, 98, 99, 100, 100, 99, 50, 100, 50, 80, 80, 50, 51, 80, 51, 78, 101, 102, 103, 104, 105, 106, 107, 108, 109, 110, 111, 112, 112, 111, 60, 112, 60, 106, 106, 60, 61, 106, 61, 103, 113, 114, 115, 116, 117, 118, 118, 117, 119, 118, 119, 120, 121, 122, 118, 118, 122, 123, 121, 124, 122, 122, 124, 125, 122, 125, 126, 127, 128, 115, 115, 128, 129, 115, 129, 113, 118, 130, 121, 121, 130, 131, 121, 131, 132, 132, 131, 133, 134, 135, 136, 123, 137, 118, 118, 137, 138, 118, 138, 139, 140, 141, 142, 143, 144, 145, 146, 147, 148, 113, 116, 114, 114, 116, 118, 114, 118, 149, 149, 118, 139, 150, 151, 152, 152, 151, 120, 152, 120, 145, 145, 120, 119, 145, 119, 143, 153, 154, 155, 155, 154, 132, 155, 132, 156, 156, 132, 133, 156, 133, 157, 158, 133, 159, 160, 161, 162, 163, 164, 165, 166, 167, 168, 169, 170, 171, 166, 170, 126, 166, 126, 165, 165, 126, 125, 165, 125, 163, 172, 173, 174, 174, 173, 175, 176, 177, 178, 178, 177, 179, 180, 181, 182, 182, 181, 183, 184, 185, 186, 184, 186, 187, 188, 189, 190, 188, 190, 191, 192, 193, 194, 192, 194, 195, 196, 197, 198, 196, 198, 199, 200, 201, 202, 200, 202, 203, 204, 205, 206, 204, 206, 207, 208, 209, 210, 210, 209, 211, 212, 213, 214, 214, 213, 215, 216, 217, 218, 218, 217, 219, 220, 221, 222, 220, 222, 223, 224, 225, 226, 224, 226, 227, 228, 229, 230, 228, 230, 231, 232, 233, 234, 232, 234, 235, 236, 237, 238, 236, 238, 239, 240, 241, 242, 240, 242, 243, 244, 245, 246, 246, 245, 247, 248, 249, 250, 250, 249, 251, 252, 253, 254, 254, 253, 255, 256, 257, 258, 256, 258, 259, 260, 261, 262, 260, 262, 263, 264, 265, 266, 264, 266, 267, 268, 269, 270, 268, 270, 271, 272, 273, 274, 272, 274, 275, 276, 277, 278, 276, 278, 279, 280, 281, 282, 282, 281, 283, 284, 285, 286, 286, 285, 287, 288, 289, 290, 290, 289, 291, 292, 293, 294, 292, 294, 295, 296, 297, 298, 296, 298, 299, 300, 301, 302, 300, 302, 303, 304, 305, 306, 304, 306, 307, 308, 309, 310, 308, 310, 311, 312, 313, 314, 312, 314, 315, 316, 317, 44, 44, 317, 45, 318, 319, 3, 3, 319, 2, 320, 321, 4, 4, 321, 5, 322, 323, 8, 8, 323, 9, 324, 325, 12, 12, 325, 13, 326, 327, 16, 16, 327, 17, 328, 329, 20, 20, 329, 21, 330, 331, 24, 24, 331, 25, 29, 28, 332, 332, 28, 333, 334, 335, 32, 32, 335, 33, 336, 337, 39, 39, 337, 38, 338, 339, 43, 43, 339, 42, 340, 341, 342, 342, 341, 343, 344, 345, 346, 346, 345, 347, 346, 347, 348, 348, 347, 341, 348, 341, 349, 349, 341, 350, 351, 346, 352, 352, 346, 353, 354, 355, 356, 357, 344, 346, 357, 346, 358, 358, 346, 351, 359, 360, 361, 362, 363, 364, 362, 364, 365, 365, 364, 358, 365, 358, 366, 367, 368, 351, 369, 370, 371, 372, 373, 374, 375, 376, 377, 378, 379, 380, 381, 382, 383, 381, 383, 384, 384, 383, 385, 384, 385, 386, 387, 388, 389, 390, 350, 341, 390, 341, 385, 385, 341, 340, 385, 340, 391, 392, 393, 394, 394, 393, 342, 394, 342, 374, 374, 342, 343, 374, 343, 372, 395, 396, 397, 398, 399, 400, 401, 402, 403, 404, 405, 406, 406, 405, 352, 406, 352, 400, 400, 352, 353, 400, 353, 397, 407, 408, 409, 410, 411, 412, 413, 414, 415, 415, 414, 416, 415, 416, 417, 415, 418, 419, 420, 408, 421, 415, 419, 408, 408, 419, 422, 408, 422, 409, 423, 424, 425, 412, 426, 427, 421, 428, 415, 415, 428, 429, 415, 429, 430, 431, 432, 433, 434, 435, 436, 437, 438, 439, 440, 441, 442, 443, 444, 445, 410, 413, 411, 411, 413, 415, 411, 420, 446, 446, 415, 430, 447, 448, 449, 433, 417, 416, 433, 416, 431, 450, 451, 452, 452, 453, 442, 442, 453, 454, 455, 456, 457, 458, 459, 460, 461, 462, 463, 457, 407, 409, 457, 409, 455, 464, 196, 199, 464, 199, 465, 466, 200, 203, 466, 203, 467, 468, 204, 207, 468, 207, 469, 209, 470, 211, 211, 470, 471, 213, 472, 215, 215, 472, 473, 217, 474, 219, 219, 474, 475, 476, 220, 223, 476, 223, 477, 478, 224, 227, 478, 227, 479, 480, 228, 231, 480, 231, 481, 482, 232, 235, 482, 235, 483, 484, 236, 239, 484, 239, 485, 486, 240, 243, 486, 243, 487, 245, 488, 247, 247, 488, 489, 249, 490, 251, 251, 490, 491, 253, 492, 255, 255, 492, 493, 494, 256, 259, 494, 259, 495, 496, 260, 263, 496, 263, 497, 498, 264, 267, 498, 267, 499, 500, 292, 295, 500, 295, 501, 502, 296, 299, 502, 299, 503, 504, 300, 303, 504, 303, 505, 281, 506, 283, 283, 506, 507, 285, 508, 287, 287, 508, 509, 289, 510, 291, 291, 510, 511, 512, 304, 307, 512, 307, 513, 514, 308, 311, 514, 311, 515, 516, 312, 315, 516, 315, 517, 518, 268, 271, 518, 271, 519, 520, 272, 275, 520, 275, 521, 522, 276, 279, 522, 279, 523, 173, 524, 175, 175, 524, 525, 177, 526, 179, 179, 526, 527, 181, 528, 183, 183, 528, 529, 530, 184, 187, 530, 187, 531, 532, 188, 191, 532, 191, 533, 534, 192, 195, 534, 195, 535, 536, 339, 537, 537, 339, 338, 538, 317, 539, 539, 317, 316, 540, 319, 541, 541, 319, 318, 542, 321, 543, 543, 321, 320, 544, 323, 545, 545, 323, 322, 546, 325, 547, 547, 325, 324, 548, 327, 549, 549, 327, 326, 550, 329, 551, 551, 329, 328, 552, 331, 553, 553, 331, 330, 554, 332, 555, 555, 332, 333, 556, 335, 557, 557, 335, 334, 558, 337, 559, 559, 337, 336, 560, 561, 562, 563, 564, 565, 565, 564, 566, 565, 566, 567, 567, 566, 568, 567, 568, 569, 569, 568, 560, 569, 560, 570, 571, 572, 573, 573, 572, 574, 573, 574, 575, 576, 565, 577, 561, 560, 578, 578, 560, 579, 578, 579, 580, 581, 560, 573, 573, 560, 562, 573, 562, 571, 581, 582, 560, 560, 582, 583, 584, 585, 586, 586, 587, 560, 588, 589, 590, 560, 591, 570, 592, 593, 565, 565, 593, 594, 565, 594, 577, 595, 596, 597, 576, 598, 565, 565, 598, 599, 565, 599, 600, 577, 601, 576, 576, 601, 602, 576, 602, 603, 597, 602, 604, 605, 606, 607, 608, 609, 610, 611, 612, 613, 614, 615, 616, 617, 618, 619, 620, 621, 622, 623, 624, 625, 623, 625, 626, 627, 628, 629, 630, 631, 632, 633, 634, 635, 565, 634, 636, 637, 638, 639, 640, 641, 642, 603, 643, 644, 603, 644, 645, 608, 646, 609, 647, 646, 578, 609, 578, 648, 648, 578, 580, 648, 580, 649, 649, 580, 650, 650, 651, 649, 649, 651, 652, 653, 654, 655, 592, 656, 657, 657, 656, 658, 657, 658, 659, 660, 661, 662, 659, 663, 664, 665, 666, 667, 668, 669, 670, 592, 657, 593, 593, 657, 671, 593, 671, 672, 672, 671, 673, 674, 675, 676, 677, 678, 679, 680, 681, 682, 683, 684, 685, 685, 684, 686, 685, 686, 687, 685, 688, 689, 690, 678, 691, 685, 689, 678, 678, 689, 692, 678, 692, 679, 693, 694, 695, 682, 696, 697, 698, 699, 685, 685, 699, 700, 685, 700, 701, 702, 703, 704, 705, 706, 707, 708, 709, 710, 711, 712, 713, 714, 715, 716, 680, 683, 681, 681, 683, 685, 681, 690, 717, 717, 685, 701, 718, 719, 720, 704, 687, 686, 704, 686, 702, 721, 722, 723, 723, 724, 713, 713, 724, 725, 726, 727, 728, 729, 730, 731, 732, 733, 734, 728, 677, 679, 728, 679, 726, 735, 736, 737, 738, 739, 740, 741, 742, 743, 744, 745, 746, 747, 748, 749, 750, 751, 752, 753, 754, 755, 756, 757, 758, 759, 760, 761, 762, 763, 764, 765, 766, 767, 768, 769, 770, 771, 772, 773, 774, 775, 776, 777, 778, 779, 780, 781, 782, 783, 784, 785, 786, 787, 788, 789, 790, 791, 792, 793, 794, 795, 796, 797, 798, 799, 800, 801, 802, 803, 804, 805, 806, 807, 808, 809, 810, 811, 812, 813, 814, 815, 816, 817, 818, 819, 820, 821, 822, 823, 824, 825, 826, 827, 828, 829, 830, 831, 832, 833, 834, 835, 836, 837, 838, 839, 840, 841, 842, 843, 844, 845, 846, 847, 848, 849, 850, 851, 852, 853, 854, 855, 856, 857, 858, 859, 860, 861, 862, 863, 864, 865, 866, 867, 868, 869, 870, 871, 872, 873, 874, 875, 876, 877, 878, 878, 877, 879, 880, 881, 882, 883, 884, 885, 886, 887, 888, 889, 890, 891, 892, 893, 894, 895, 896, 897, 898, 899, 900, 901, 902, 903, 904, 905, 906, 907, 908, 909, 910, 911, 912, 913, 914, 915, 916, 917, 918, 919, 920, 921, 922, 923, 924, 925, 926, 927, 928, 929, 930, 931, 932, 933, 934, 935, 936, 937, 938, 939, 940, 941, 942, 943, 944, 945, 945, 944, 946, 947, 948, 949, 950, 951, 952, 953, 954, 955, 956, 957, 958, 959, 960, 961, 962, 963, 964, 965, 966, 967, 968, 969, 970, 971, 972, 973, 974, 975, 976, 977, 978, 979, 980, 981, 982, 983, 984, 985, 986, 987, 988, 989, 990, 991, 992, 993, 994, 995, 996, 997, 998, 999, 1000, 1001, 1002, 1003, 1004, 1005, 1006, 1007, 1008, 1009, 1009, 1008, 1010, 1011, 1012, 1013, 1014, 1015, 1016, 1017, 1018, 1019, 1020, 1021, 1022, 1022, 1021, 1023, 1024, 1025, 1026, 1027, 1028, 1029, 1030, 1031, 1032, 1033, 1034, 1035, 1036, 1037, 1038, 1039, 1040, 1041, 1042, 1043, 1044, 1045, 1046, 1047, 1048, 1049, 1050, 1051, 1052, 1053, 1054, 1055, 1056, 1057, 1058, 1059, 1060, 1061, 1062, 1063, 1064, 1065, 1063, 1065, 1066, 1067, 1068, 1069, 1070, 1071, 1072, 1072, 1071, 1073, 1074, 1075, 1076, 1076, 1075, 1077, 1078, 1079, 1080, 1081, 1082, 1083, 1084, 1085, 1086, 1087, 1088, 1089, 1090, 1091, 1092, 1093, 1094, 1095, 1096, 1097, 1098, 1099, 1100, 1101, 1102, 1103, 1104, 1105, 1106, 1107, 1108, 1109, 1110, 1111, 1112, 1113, 1114, 1115, 1116, 1117, 1118, 1119, 1120, 1121, 1122, 1120, 1122, 1123, 1124, 1125, 1126, 1127, 1128, 1129, 1051, 1053, 1130, 1131, 1132, 1133, 1131, 1133, 1134, 1135, 1136, 1137, 1135, 1137, 1138, 1139, 1140, 1141, 1142, 1143, 1144, 1145, 1146, 1147, 1148, 1149, 1150, 1151, 1152, 1153, 1154, 1155, 1156, 1157, 1158, 1159, 1160, 1161, 1162, 1163, 1164, 1165, 1166, 1167, 1168, 1169, 1170, 1171, 1172, 1173, 1174, 1175, 1176, 1177, 1178, 1179, 1180, 1181, 1182, 1183, 1184, 1185, 1186, 1187, 1188, 1189, 1190, 1191, 1192, 1193, 1194, 1195, 1196, 1197, 1198, 1199, 1200, 1201, 1202, 1203, 1204, 1205, 1206, 1207, 1208, 1209, 1210, 1208, 1210, 1211, 1212, 1213, 1214, 1212, 1214, 1215, 1216, 1217, 1218, 1216, 1218, 1219, 1220, 1221, 1222, 1220, 1222, 1223, 1224, 1225, 1226, 1224, 1226, 1227, 1228, 1229, 1230, 1231, 1232, 1233, 1205, 1207, 1234, 1235, 1236, 1237, 1238, 1239, 1240, 1241, 1242, 1243, 1244, 1245, 1246, 1247, 1248, 1249, 1250, 1251, 1252, 1253, 1254, 1255, 1253, 1255, 1256, 1257, 1258, 1259, 1260, 1261, 1262, 1263, 1264, 1265, 1266, 1267, 1268, 1269, 1270, 1271, 1272, 1273, 1274, 1275, 1276, 1277, 1278, 1279, 1280, 1281, 1282, 1283, 1284, 1285, 1286, 1287, 1288, 1289, 1290, 1291, 1292, 1293, 1294, 1295, 1296, 1297, 1298, 1299, 1300, 1301, 1302, 1303, 1304, 1305, 1306, 1307, 1308, 1309, 1310, 1311, 1312, 1313, 1314, 1315, 1316, 1317, 1318, 1319, 1317, 1319, 1320, 1321, 1322, 1323, 1324, 1325, 1326, 1327, 1328, 1329, 1330, 1331, 1332, 1333, 1334, 1335, 1333, 1335, 1336, 1337, 1338, 1339, 1337, 1339, 1340, 1299, 1301, 1341, 1342, 1343, 1344, 1345, 1346, 1347, 1348, 1349, 1350, 1351, 1352, 1353, 1354, 1355, 1356, 1357, 1358, 1359, 1360, 1361, 1362, 1363, 1364, 1365, 1366, 1367, 1368, 1369, 1370, 1371, 1313, 1372, 1311, 1373, 1374, 1375, 1376, 1377, 1378, 1379, 1380, 1381, 1382, 1383, 1384, 1385, 1386, 1387, 1388, 1389, 1390, 1391, 1392, 1393, 1391, 1393, 1394, 1395, 1396, 1397, 1398, 1399, 1400, 1401, 1402, 1403, 1404, 1405, 1406, 1407, 1408, 1409, 1410, 1411, 1412, 1413, 1414, 1415, 1416, 1417, 1418, 1419, 1420, 1421, 1422, 1423, 1424, 1425, 1426, 1427, 1428, 1429, 1430, 1431, 1432, 1433, 1434, 1435, 1436, 1434, 1436, 1437, 1438, 1439, 1440, 1438, 1440, 1441, 1442, 1443, 1444, 1445, 1446, 1447, 1448, 1449, 1450, 1451, 1452, 1453, 1454, 1455, 1456, 1457, 1458, 1459, 1457, 1459, 1460, 1461, 1462, 1463, 1461, 1463, 1464, 1465, 1466, 1467, 1468, 1469, 1470, 1471, 1472, 1473, 1474, 1475, 1476, 1474, 1476, 1477, 1478, 1479, 1480, 1481, 1482, 1483, 1484, 1485, 1486, 1487, 1488, 1489, 1490, 1491, 1492, 1493, 1494, 1495, 1496, 1497, 1498, 1499, 1500, 1501, 1502, 1503, 1504, 1505, 1506, 1507, 1508, 1509, 1510, 1508, 1510, 1511, 1512, 1513, 1514, 1512, 1514, 1515, 1516, 1517, 1518, 1519, 1520, 1521, 1522, 1523, 1524, 1525, 1526, 1527, 1527, 1526, 1528, 1529, 1530, 1531, 1532, 1533, 1534, 1532, 1534, 1535, 1536, 1537, 1538, 1539, 1540, 1541, 1542, 1543, 1544, 1545, 1546, 1547, 1548, 1549, 1550, 1551, 1552, 1553, 1554, 1555, 1556, 1557, 1558, 1559, 1560, 1561, 1562, 1563, 1564, 1565, 1566, 1567, 1568, 1569, 1570, 1571, 1572, 1573, 1574, 1572, 1574, 1575, 1576, 1577, 1578, 1576, 1578, 1579, 1580, 1581, 1582, 1583, 1584, 1585, 1586, 1587, 1588, 1589, 1590, 1591, 1592, 1593, 1594, 1595, 1596, 1597, 1598, 1599, 1600, 1601, 1602, 1603, 1604, 1605, 1606, 1607, 1608, 1609, 1610, 1611, 1612, 1613, 1614, 1615, 1616, 1617, 1618, 1616, 1618, 1619, 1620, 1621, 1622, 1623, 1624, 1625, 1626, 1627, 1628, 1629, 1630, 1631, 1632, 1633, 1634, 1635, 1636, 1637, 1638, 1639, 1640, 1638, 1640, 1641, 1642, 1643, 1644, 1644, 1643, 1645, 1646, 1647, 1648, 1648, 1647, 1649, 1650, 1651, 1652, 1652, 1651, 1653, 1654, 1655, 1656, 1656, 1655, 1657, 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1964, 1965, 1966, 1967, 1965, 1967, 1968, 1969, 1970, 1971, 1972, 1973, 1974, 1975, 1976, 1977, 1978, 1979, 1980, 1981, 1982, 1983, 1981, 1983, 1984, 1985, 1986, 1987, 1988, 1989, 1990, 1991, 1992, 1993, 1994, 1995, 1996, 1997, 1998, 1999, 2000, 2001, 2002, 2003, 2004, 2005, 2006, 2007, 2008, 2009, 2010, 2011, 2012, 2013, 2014, 2015, 2016, 2017, 2018, 2019, 2020, 2021, 2022, 2023, 2024, 2025, 2026, 2027, 2028, 2029, 2030, 2031, 2032, 2033, 2034, 2035, 2036, 2037, 2038, 2039, 2040, 2041, 2042, 2043, 2044, 2045, 2046, 2047, 2048, 2049, 2050, 2051, 2052, 2053, 2054, 2055, 2056, 2057, 2058, 2059, 2060, 2061, 2062, 2063, 2064, 2065, 2063, 2065, 2066, 2067, 2068, 2069, 2067, 2069, 2070, 2071, 2072, 2073, 2074, 2075, 2076, 2077, 2078, 2079, 2077, 2079, 2080, 2081, 2082, 2083, 2081, 2083, 2084, 2085, 2086, 2087, 2085, 2087, 2088, 2089, 2090, 2091, 2092, 2093, 2094, 2092, 2094, 2095, 2096, 2097, 2098, 2099, 2100, 2101, 2102, 2103, 2104, 2105, 2106, 2107, 2108, 2109, 2110, 2111, 2112, 2113, 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- normal3f[] normals = [(0.000016391268, 1, -0), (0.000016391268, 1, -0), (0.000016391268, 1, -0), (0.000016391268, 1, -0), (0.000016391268, 1, -0), (0.000016391268, 1, 0), (-0, 0, -1), (-0, 0, -1), (-0, 0, -1), (-0, 0, -1), (-0, 0, -1), (-0, -0, -1), (-0.000016391268, -1, 0), (-0.000016391268, -1, 0), (-0.000016391268, -1, 0), (-0.000016391268, -1, 0), (-0.000016391268, -1, 0), (-0.000016391268, -1, 0), (-0, 0, -1), (-0, 0, -1), (-0, 0, -1), (-0, 0, -1), (-0, 0, -1), (-0, -0, -1), (-0.000016391294, -1, 0), (-0.000016391294, -1, 0), (-0.000016391294, -1, 0), (-0.000016391294, -1, 0), (-0.000016391294, -1, 0), (-0.000016391294, -1, 0), (0, -0, 1), (0, -0, 1), (0, -0, 1), (0, -0, 1), (0, -0, 1), (0, -0, 1), (-0.000016391268, -1, 0), (-0.000016391268, -1, 0), (-0.000016391268, -1, 0), (-0.000016391268, -1, 0), (-0.000016391268, -1, 0), (-0.000016391268, -1, 0), (0, -0, 1), (0, -0, 1), (0, -0, 1), (0, -0, 1), (0, -0, 1), (0, -0, 1), (0.000016391268, 1, 0), (0.000016391268, 1, 0), 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- interpolation = "faceVarying"
- )
- uniform token physics:approximation = "convexHull"
- rel physics:simulationOwner
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- uniform token purpose = "guide"
- uniform token subdivisionScheme = "bilinear"
- quatd xformOp:orient = (0.00003275928247603588, 0.7071055173873901, 0.7071080803871155, 0.000032759398891357705)
- double3 xformOp:scale = (1, 1, 1)
- double3 xformOp:translate = (0, 0, 0)
- uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
- }
+ uniform token physics:approximation = "convexHull"
+ point3f[] points = [(-0.03, 0.024660833, -0.19686925), (-0.03, -0.020291962, -0.08560717), (-0.03, 0.03533916, -0.063130744), (-0.03, 0.08029196, -0.17439282), (-0.03, 0.08029196, -0.17439282), (-0.03, 0.03533916, -0.063130744), (0.03, 0.03533916, -0.063130744), (0.03, 0.08029196, -0.17439282), (0.03, 0.08029196, -0.17439282), (0.03, 0.03533916, -0.063130744), (0.03, -0.020291962, -0.08560717), (0.03, 0.024660833, -0.19686925), (0.03, 0.024660833, -0.19686925), (0.03, -0.020291962, -0.08560717), (-0.03, -0.020291962, -0.08560717), (-0.03, 0.024660833, -0.19686925), (-0.03, 0.08029196, -0.17439282), (0.03, 0.08029196, -0.17439282), (0.03, 0.024660833, -0.19686925), (-0.03, 0.024660833, -0.19686925), (0.03, 0.03533916, -0.063130744), (-0.03, 0.03533916, -0.063130744), (-0.03, -0.020291962, -0.08560717), (0.03, -0.020291962, -0.08560717), (-0.03, -0.020000052, -0.09), (-0.03, -0.020000052, -0.009999994), (-0.03, 0.040000048, -0.009999994), (-0.03, 0.040000048, -0.09), (-0.03, 0.040000048, -0.09), (-0.03, 0.040000048, -0.009999994), (0.03, 0.040000048, -0.009999994), (0.03, 0.040000048, -0.09), (0.03, 0.040000048, -0.09), (0.03, 0.040000048, -0.009999994), (0.03, -0.020000052, -0.009999994), (0.03, -0.020000052, -0.09), (0.03, -0.020000052, -0.09), (0.03, -0.020000052, -0.009999994), (-0.03, -0.020000052, -0.009999994), (-0.03, -0.020000052, -0.09), (-0.03, 0.040000048, -0.09), (0.03, 0.040000048, -0.09), (0.03, -0.020000052, -0.09), (-0.03, -0.020000052, -0.09), (0.03, 0.040000048, -0.009999994), (-0.03, 0.040000048, -0.009999994), (-0.03, -0.020000052, -0.009999994), (0.03, -0.020000052, -0.009999994)]
+ uniform token purpose = "guide"
+ uniform token subdivisionScheme = "bilinear"
+ quatd xformOp:orient = (0.00003275928247603588, 0.7071055173873901, 0.7071080803871155, 0.000032759398891357705)
+ double3 xformOp:scale = (1, 1, 1)
+ double3 xformOp:translate = (0, 0, 0)
+ uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
}
def PhysicsRevoluteJoint "joint_2" (
apiSchemas = ["PhysxJointAPI", "PhysicsJointStateAPI:angular", "PhysicsDriveAPI:angular"]
)
{
- float drive:angular:physics:damping = 1745.3292
+ float drive:angular:physics:damping = 0
float drive:angular:physics:maxForce = 3000
- float drive:angular:physics:stiffness = 17453293000000
- float drive:angular:physics:targetPosition = -0.2
+ float drive:angular:physics:stiffness = 10000000
+ float drive:angular:physics:targetPosition = 0
uniform token drive:angular:physics:type = "force"
uniform token physics:axis = "Z"
rel physics:body0 =
@@ -452,8 +398,6 @@ def Xform "ar4" (
float physics:lowerLimit = -42
float physics:upperLimit = 90
float physxJoint:maxJointVelocity = 5000
- float state:angular:physics:position = 0
- float state:angular:physics:velocity = 0
}
}
@@ -465,7 +409,6 @@ def Xform "ar4" (
float3 physics:diagonalInertia = (0.006716854, 0.0009623, 0.006716854)
float physics:mass = 0.57738
quatf physics:principalAxes = (1, 0, 0, 0)
- rel physics:simulationOwner
quatd xformOp:orient = (0.7071055173873901, -0.7071080803871155, 0, 0)
double3 xformOp:scale = (1, 1, 1)
double3 xformOp:translate = (0.06419999897480011, 0, 0.1697700023651123)
@@ -542,101 +485,34 @@ def Xform "ar4" (
}
}
- def "collisions"
+ def Mesh "collisions" (
+ apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"]
+ )
{
- def Mesh "mesh_0" (
- apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"]
- )
- {
- float3[] extent = [(-0.037917916, -0.335, -0.063853994), (0.06295193, 0.037991665, 0.004946)]
- int[] faceVertexCounts = [3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 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- int[] faceVertexIndices = [0, 1, 2, 2, 1, 3, 3, 1, 4, 5, 6, 7, 7, 6, 8, 9, 8, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 19, 18, 20, 19, 20, 21, 22, 23, 24, 22, 24, 25, 26, 27, 28, 28, 27, 29, 28, 29, 30, 29, 31, 30, 32, 33, 34, 32, 34, 35, 36, 37, 38, 36, 38, 39, 40, 41, 42, 40, 42, 43, 44, 45, 46, 44, 46, 47, 48, 49, 50, 51, 52, 53, 54, 55, 56, 54, 56, 57, 58, 59, 60, 60, 59, 61, 60, 61, 62, 63, 64, 65, 66, 67, 68, 66, 68, 69, 69, 68, 70, 71, 70, 72, 73, 74, 75, 75, 74, 76, 77, 78, 79, 78, 80, 79, 81, 82, 83, 81, 83, 84, 83, 85, 84, 86, 87, 88, 86, 88, 89, 90, 91, 92, 90, 92, 93, 94, 95, 96, 94, 96, 97, 98, 99, 100, 98, 100, 101, 102, 103, 104, 105, 106, 107, 107, 106, 108, 109, 110, 111, 111, 110, 112, 111, 112, 113, 113, 112, 114, 115, 116, 117, 117, 116, 118, 119, 118, 120, 118, 121, 120, 122, 123, 124, 122, 124, 125, 125, 124, 126, 125, 126, 127, 128, 129, 130, 128, 130, 131, 132, 133, 134, 134, 133, 135, 134, 135, 136, 135, 137, 136, 138, 139, 140, 138, 140, 141, 142, 143, 144, 142, 144, 145, 146, 147, 148, 146, 148, 149, 150, 151, 152, 150, 152, 153, 154, 155, 156, 157, 158, 159, 160, 161, 162, 160, 162, 163, 164, 165, 166, 166, 165, 167, 166, 167, 168, 169, 170, 171, 172, 173, 174, 175, 176, 177, 177, 176, 178, 177, 178, 179, 180, 181, 182, 182, 181, 183, 182, 183, 184, 2, 185, 0, 186, 187, 188, 186, 188, 189, 190, 191, 192, 190, 192, 193, 194, 195, 196, 194, 196, 197, 198, 199, 200, 198, 200, 201, 202, 203, 204, 202, 204, 205, 206, 207, 208, 206, 208, 209, 210, 184, 183, 211, 212, 213, 214, 215, 216, 217, 218, 219, 219, 218, 220, 221, 219, 222, 222, 219, 220, 222, 220, 215, 215, 220, 223, 215, 223, 216, 216, 224, 214, 214, 224, 225, 214, 225, 226, 226, 225, 227, 228, 229, 230, 230, 229, 231, 230, 231, 232, 232, 231, 233, 232, 233, 234, 234, 233, 235, 234, 235, 236, 236, 235, 237, 236, 237, 238, 238, 237, 213, 238, 213, 227, 227, 213, 212, 227, 212, 226, 239, 240, 213, 213, 240, 241, 213, 241, 211, 242, 243, 240, 240, 243, 244, 240, 244, 241, 245, 246, 240, 240, 246, 247, 240, 247, 242, 242, 247, 248, 242, 248, 249, 249, 248, 250, 249, 250, 251, 250, 252, 251, 251, 252, 253, 251, 253, 254, 254, 253, 255, 254, 255, 256, 256, 255, 257, 256, 257, 258, 258, 257, 259, 258, 259, 260, 260, 259, 261, 260, 261, 262, 263, 264, 260, 260, 264, 265, 260, 265, 258, 266, 267, 268, 268, 267, 269, 270, 271, 272, 272, 271, 273, 272, 273, 269, 269, 273, 274, 269, 274, 268, 275, 276, 277, 272, 278, 270, 270, 278, 279, 270, 279, 276, 276, 279, 280, 276, 280, 277, 277, 281, 275, 275, 281, 282, 275, 282, 283, 283, 282, 284, 283, 284, 285, 285, 284, 286, 285, 286, 287, 287, 286, 288, 287, 288, 289, 289, 288, 290, 289, 290, 266, 266, 290, 291, 266, 291, 267, 292, 293, 283, 283, 293, 294, 283, 294, 275, 295, 296, 297, 298, 299, 283, 283, 299, 300, 292, 283, 301, 301, 283, 300, 301, 300, 296, 296, 300, 302, 296, 302, 297, 303, 298, 304, 304, 298, 283, 304, 283, 305, 305, 283, 285, 303, 304, 306, 306, 304, 307, 306, 307, 308, 308, 307, 309, 308, 309, 310, 310, 309, 311, 310, 311, 312, 312, 311, 313, 312, 313, 314, 314, 313, 315, 314, 315, 316, 297, 317, 295, 295, 317, 318, 295, 318, 319, 319, 318, 316, 319, 316, 320, 320, 316, 315, 320, 315, 321, 321, 315, 322, 323, 324, 325, 325, 324, 326, 325, 326, 322, 325, 327, 328, 328, 327, 329, 330, 331, 332, 332, 331, 333, 332, 333, 334, 334, 333, 335, 334, 335, 336, 336, 335, 337, 336, 337, 327, 327, 337, 338, 327, 338, 329, 328, 339, 325, 325, 339, 340, 325, 340, 323, 323, 340, 341, 323, 341, 342, 342, 341, 343, 342, 343, 330, 330, 343, 344, 330, 344, 331, 345, 346, 327, 327, 346, 347, 327, 347, 336, 228, 217, 229, 229, 217, 219, 229, 219, 348, 348, 219, 349, 350, 351, 352, 352, 351, 353, 354, 355, 356, 356, 355, 357, 356, 357, 350, 350, 357, 358, 350, 358, 351, 356, 359, 354, 354, 359, 360, 354, 360, 361, 360, 362, 361, 361, 362, 363, 361, 363, 364, 221, 365, 219, 219, 365, 366, 219, 366, 364, 363, 367, 364, 364, 367, 368, 364, 368, 219, 219, 368, 369, 219, 369, 349, 349, 369, 370, 349, 370, 371, 371, 370, 372, 371, 372, 373, 373, 372, 374, 373, 374, 353, 353, 374, 375, 353, 375, 352, 239, 376, 240, 240, 376, 377, 240, 377, 378, 260, 379, 380, 262, 245, 260, 260, 245, 240, 260, 240, 379, 379, 240, 378, 273, 381, 274, 274, 381, 263, 274, 263, 382, 382, 263, 260, 382, 260, 383, 383, 260, 380, 322, 315, 325, 325, 315, 384, 325, 384, 385, 357, 386, 358, 358, 386, 345, 358, 345, 387, 387, 345, 327, 387, 327, 388, 388, 327, 389, 385, 390, 325, 325, 390, 391, 325, 391, 327, 327, 391, 392, 327, 392, 389, 393, 394, 395, 396, 397, 398, 399, 400, 401, 402, 403, 404, 405, 406, 407, 407, 406, 408, 407, 408, 409, 408, 410, 409, 409, 410, 411, 409, 411, 412, 412, 411, 413, 412, 413, 414, 414, 415, 412, 412, 415, 416, 412, 416, 417, 416, 418, 417, 417, 418, 419, 417, 419, 420, 420, 419, 421, 420, 421, 422, 422, 421, 423, 422, 423, 405, 405, 423, 424, 405, 424, 406, 403, 425, 404, 404, 425, 426, 404, 426, 412, 412, 426, 427, 412, 427, 409, 428, 429, 430, 431, 432, 433, 433, 432, 434, 434, 432, 429, 434, 429, 435, 435, 429, 428, 435, 428, 436, 433, 437, 431, 431, 437, 438, 431, 438, 439, 436, 428, 440, 440, 428, 441, 440, 441, 442, 438, 443, 439, 439, 443, 444, 439, 444, 445, 441, 446, 445, 444, 447, 445, 445, 447, 448, 445, 448, 441, 441, 448, 449, 441, 449, 442, 450, 451, 441, 441, 451, 452, 441, 452, 446, 453, 454, 455, 455, 454, 456, 455, 456, 457, 458, 459, 460, 460, 459, 461, 462, 463, 453, 453, 463, 464, 464, 465, 453, 453, 465, 466, 453, 466, 454, 458, 460, 467, 467, 460, 468, 467, 468, 469, 465, 470, 466, 466, 470, 471, 466, 471, 472, 472, 471, 473, 472, 473, 474, 474, 473, 475, 475, 469, 474, 474, 469, 468, 474, 468, 476, 476, 468, 477, 468, 478, 479, 479, 480, 468, 468, 480, 481, 468, 481, 477, 482, 483, 484, 484, 483, 485, 486, 460, 487, 487, 460, 483, 487, 483, 488, 488, 483, 482, 486, 489, 460, 460, 489, 490, 460, 490, 468, 468, 490, 491, 468, 491, 478, 491, 492, 478, 478, 492, 493, 478, 493, 494, 493, 495, 494, 494, 495, 496, 494, 496, 485, 485, 496, 497, 485, 497, 484, 400, 498, 401, 401, 498, 499, 401, 499, 483, 483, 499, 500, 483, 500, 485, 501, 502, 503, 501, 504, 505, 502, 501, 506, 504, 501, 507, 507, 501, 508, 507, 508, 509, 505, 510, 501, 501, 510, 511, 501, 511, 506, 506, 511, 512, 506, 512, 513, 512, 514, 513, 513, 514, 515, 513, 515, 516, 516, 515, 517, 516, 517, 518, 518, 517, 519, 518, 519, 520, 520, 519, 521, 520, 521, 508, 508, 521, 522, 508, 522, 509, 523, 524, 508, 508, 524, 525, 508, 525, 520, 526, 527, 528, 529, 417, 530, 530, 417, 420, 530, 420, 531, 531, 420, 532, 531, 532, 533, 533, 532, 534, 533, 534, 535, 535, 534, 536, 535, 536, 537, 537, 536, 538, 537, 538, 539, 539, 538, 540, 541, 542, 543, 529, 544, 417, 417, 544, 545, 417, 545, 541, 541, 545, 546, 541, 546, 542, 527, 526, 547, 547, 526, 541, 547, 541, 538, 538, 541, 543, 538, 543, 540, 548, 549, 453, 453, 549, 460, 453, 460, 462, 462, 460, 461, 550, 551, 453, 453, 551, 552, 453, 552, 548, 553, 554, 555, 554, 553, 556, 556, 553, 441, 556, 441, 557, 557, 441, 428, 557, 428, 558, 397, 559, 398, 398, 559, 560, 398, 560, 428, 428, 560, 561, 428, 561, 558, 417, 562, 412, 412, 562, 563, 412, 563, 564, 565, 566, 541, 541, 566, 567, 567, 568, 541, 541, 568, 569, 541, 569, 417, 417, 569, 570, 417, 570, 562, 571, 572, 573, 572, 571, 574, 574, 571, 508, 574, 508, 575, 575, 508, 501, 575, 501, 576, 394, 577, 395, 395, 577, 578, 395, 578, 501, 501, 578, 579, 501, 579, 576, 549, 580, 460, 460, 580, 581, 460, 581, 483, 483, 581, 582, 483, 582, 583, 528, 523, 526, 526, 523, 508, 526, 508, 541, 541, 508, 571, 541, 571, 565, 565, 571, 573, 503, 399, 501, 501, 399, 401, 501, 401, 395, 395, 401, 483, 395, 483, 393, 393, 483, 583, 564, 396, 412, 412, 396, 398, 412, 398, 404, 404, 398, 428, 404, 428, 402, 402, 428, 430, 555, 550, 553, 553, 550, 453, 553, 453, 441, 441, 453, 455, 441, 455, 450, 450, 455, 457, 584, 585, 586, 587, 588, 589, 590, 591, 592, 593, 594, 595, 596, 597, 598, 599, 600, 601, 602, 603, 604, 605, 606, 607, 608, 609, 610, 611, 612, 613, 614, 615, 616, 617, 618, 619, 620, 621, 622, 623, 624, 625, 626, 627, 628, 629, 630, 631, 632, 633, 634, 635, 636, 637, 638, 639, 640, 640, 639, 641, 642, 643, 644, 645, 646, 647, 648, 649, 650, 651, 652, 653, 654, 655, 656, 657, 658, 659, 660, 661, 662, 663, 664, 665, 666, 667, 668, 669, 670, 671, 672, 673, 674, 675, 676, 677, 678, 679, 680, 681, 682, 683, 684, 685, 686, 687, 688, 689, 690, 691, 692, 693, 694, 695, 696, 697, 698, 699, 700, 701, 702, 703, 704, 705, 706, 707, 708, 709, 710, 711, 712, 713, 714, 715, 716, 717, 718, 719, 720, 721, 722, 723, 724, 725, 726, 727, 728, 729, 730, 731, 732, 733, 734, 735, 736, 737, 738, 739, 740, 741, 742, 743, 744, 745, 746, 747, 748, 749, 750, 751, 752, 753, 754, 755, 756, 757, 758, 759, 760, 761, 762, 763, 764, 765, 766, 767, 768, 769, 770, 771, 772, 773, 774, 775, 776, 777, 778, 779, 780, 781, 782, 783, 784, 785, 786, 787, 788, 789, 790, 791, 792, 793, 794, 795, 796, 797, 798, 799, 800, 801, 802, 803, 804, 805, 806, 807, 808, 809, 810, 811, 812, 813, 814, 815, 816, 817, 818, 819, 820, 821, 822, 823, 824, 825, 826, 827, 828, 829, 830, 831, 832, 833, 834, 835, 836, 837, 838, 839, 840, 841, 842, 843, 844, 845, 846, 847, 848, 849, 850, 851, 852, 853, 854, 855, 856, 857, 858, 859, 860, 861, 862, 863, 864, 865, 866, 867, 868, 869, 869, 868, 870, 871, 872, 873, 874, 875, 876, 877, 878, 879, 880, 881, 882, 883, 884, 885, 886, 887, 888, 889, 890, 891, 892, 893, 894, 895, 896, 897, 898, 899, 900, 901, 902, 903, 904, 905, 906, 907, 908, 909, 910, 911, 912, 913, 914, 915, 916, 917, 918, 919, 920, 921, 922, 923, 924, 925, 926, 927, 928, 929, 930, 931, 932, 933, 934, 935, 936, 937, 938, 939, 940, 941, 942, 943, 944, 945, 946, 947, 948, 949, 950, 951, 952, 953, 954, 955, 956, 957, 958, 959, 960, 961, 962, 963, 964, 965, 966, 967, 968, 969, 970, 971, 972, 973, 974, 975, 976, 977, 978, 979, 980, 981, 982, 983, 984, 985, 986, 987, 988, 989, 990, 991, 992, 993, 994, 995, 996, 997, 998, 999, 1000, 1001, 1002, 1003, 1004, 1005, 1006, 1007, 1008, 1009, 1010, 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-0.052482944), (0.029999994, -0.28429484, -0.051879), (0.020000003, -0.28429487, -0.051879), (0.029999994, -0.28429484, -0.051879), (0.020000003, -0.2840738, -0.051054), (0.020000003, -0.2840738, -0.051054), (0.029999994, -0.28429484, -0.051879), (0.029999994, -0.2840738, -0.051054), (0.020000003, -0.2840738, -0.051054), (0.029999994, -0.2840738, -0.051054), (0.020000003, -0.28429487, -0.050229), (0.020000003, -0.28429487, -0.050229), (0.029999994, -0.2840738, -0.051054), (0.029999994, -0.28429484, -0.050229), (0.020000003, -0.28429487, -0.050229), (0.029999994, -0.28429484, -0.050229), (0.020000003, -0.28489882, -0.049625058), (0.020000003, -0.28489882, -0.049625058), (0.029999994, -0.28429484, -0.050229), (0.029999994, -0.28489882, -0.049625058), (0.020000003, -0.28489882, -0.049625058), (0.029999994, -0.28489882, -0.049625058), (0.019999996, -0.2857238, -0.049404), (0.029999986, -0.2857238, -0.049404)]
- uniform token purpose = "guide"
- uniform token subdivisionScheme = "bilinear"
- quatd xformOp:orient = (0.0000463287033198867, 0, 1, 0)
- double3 xformOp:scale = (1, 1, 1)
- double3 xformOp:translate = (0, 0, 0)
- uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
- }
-
- def Mesh "mesh_1" (
- apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"]
- )
- {
- float3[] extent = [(-0.021150002, -0.10517247, 0.004946), (0.021149999, -0.06287247, 0.048946)]
- int[] faceVertexCounts = [3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3]
- int[] faceVertexIndices = [0, 1, 2, 2, 1, 3, 4, 5, 6, 6, 5, 7, 8, 9, 10, 10, 9, 11, 12, 13, 14, 14, 13, 15, 16, 17, 18, 19, 20, 21, 19, 21, 22, 22, 21, 18, 18, 21, 23, 18, 23, 16, 24, 25, 26, 27, 28, 24, 26, 29, 30, 24, 26, 27, 27, 26, 30, 27, 30, 31, 32, 33, 34, 34, 33, 35, 36, 37, 38, 38, 37, 39, 40, 41, 42, 42, 41, 43, 44, 45, 46, 46, 45, 47, 10, 11, 48, 48, 11, 49, 50, 51, 7, 7, 51, 6, 52, 53, 0, 0, 53, 1, 13, 12, 54, 54, 12, 55, 56, 57, 58, 59, 60, 61, 59, 61, 62, 62, 61, 58, 58, 61, 63, 58, 63, 56, 64, 65, 66, 67, 68, 64, 66, 69, 70, 64, 66, 67, 67, 66, 70, 67, 70, 71, 37, 36, 72, 72, 36, 73, 33, 32, 74, 74, 32, 75, 45, 44, 76, 76, 44, 77, 41, 40, 78, 78, 40, 79]
- normal3f[] normals = [(-1, -5.766704e-8, 0), (-1, -5.766704e-8, 0), (-1, -5.766704e-8, 0), (-1, -5.766704e-8, 0), (-1, -5.766704e-8, 0), (-1, -5.766704e-8, -0), (0, -1, 0), (0, -1, 0), (0, -1, 0), (0, -1, 0), (0, -1, 0), (0, -1, 0), (1, -5.7667016e-8, 0), (1, -5.7667016e-8, 0), (1, -5.7667016e-8, 0), (1, -5.7667016e-8, 0), (1, -5.7667016e-8, 0), (1, -5.7667016e-8, 0), (-0, 1, 0), (-0, 1, 0), (-0, 1, 0), (-0, 1, 0), (-0, 1, 0), (-0, 1, 0), (0, -0, 1), (0, -0, 1), (0, -0, 1), (0, 0, 1), (0, 0, 1), (0, 0, 1), (0, 0, 1), (0, 0, 1), (-0, 0, 1), (-0, 0, 1), (0, 0, 1), (0, -0, 1), (0, -0, 1), (0, 0, 1), (0, 0, 1), (0, -0, 1), (0, 0, 1), (0, -0, 1), (0, 0, -1), (0, 0, -1), (0, 0, -1), (0, -0, -1), (0, -0, -1), (0, 0, -1), (0, 0, -1), (0, 0, -1), (0, 0, -1), (0, 0, -1), (0, 0, -1), (0, -0, -1), (0, -0, -1), (0, 0, -1), (0, 0, -1), (0, -0, -1), (0, 0, -1), (0, 0, -1), (0.70710665, 0.70710695, 0), (0.70710665, 0.70710695, 0), (0.70710665, 0.70710695, 0), (0.70710665, 0.70710695, 0), (0.70710665, 0.70710695, 0), (0.70710665, 0.70710695, 0), (-0.7071068, 0.7071068, 0), (-0.7071068, 0.7071068, 0), (-0.7071068, 0.7071068, 0), (-0.7071068, 0.7071068, 0), (-0.7071068, 0.7071068, 0), (-0.7071068, 0.7071068, 0), (0.7071068, -0.7071068, 0), (0.7071068, -0.7071068, 0), (0.7071068, -0.7071068, 0), (0.7071068, -0.7071068, 0), (0.7071068, -0.7071068, 0), (0.7071068, -0.7071068, 0), (-0.70710707, -0.70710653, 0), (-0.70710707, -0.70710653, 0), (-0.70710707, -0.70710653, 0), (-0.70710707, -0.70710653, 0), (-0.70710707, -0.70710653, 0), (-0.70710707, -0.70710653, -0), (1, -5.7667016e-8, 0), (1, -5.7667016e-8, 0), (1, -5.7667012e-8, 0), (1, -5.7667012e-8, 0), (1, -5.7667016e-8, 0), (1, -5.7667012e-8, 0), (-0, -1, -0), (-0, -1, -0), (0, -1, 0), (0, -1, 0), (-0, -1, -0), (0, -1, 0), (-1, -5.7667037e-8, 0), (-1, -5.7667037e-8, 0), (-1, -5.766704e-8, 0), (-1, -5.766704e-8, 0), (-1, -5.7667037e-8, 0), (-1, -5.766704e-8, 0), (-0, 1, 0), (-0, 1, 0), (0, 1, -0), (0, 1, -0), (-0, 1, 0), (0, 1, -0), (0, 0, -1), (0, 0, -1), (0, 0, -1), (0, 0, -1), (0, 0, -1), (0, 0, -1), (0, 0, -1), (0, 0, -1), (-0, -0, -1), (-0, -0, -1), (0, 0, -1), (0, 0, -1), (0, 0, -1), (0, 0, -1), (0, -0, -1), (0, 0, -1), (0, -0, -1), (0, 0, -1), (0, 0, 1), (0, 0, 1), (0, 0, 1), (0, 0, 1), (0, 0, 1), (0, 0, 1), (0, 0, 1), (0, 0, 1), (0, 0, 1), (0, 0, 1), (0, 0, 1), (0, 0, 1), (0, 0, 1), (0, 0, 1), (0, 0, 1), (0, 0, 1), (0, 0, 1), (0, -0, 1), (-0.7071068, 0.7071068, 0), (-0.7071068, 0.7071068, 0), (-0.7071068, 0.7071068, 0), (-0.7071068, 0.7071068, 0), (-0.7071068, 0.7071068, 0), (-0.7071068, 0.7071068, 0), (0.70710665, 0.70710695, 0), (0.70710665, 0.70710695, 0), (0.70710665, 0.7071069, 0), (0.70710665, 0.7071069, 0), (0.70710665, 0.70710695, 0), (0.70710665, 0.7071069, -0), (-0.70710707, -0.70710653, 0), (-0.70710707, -0.70710653, 0), (-0.707107, -0.70710653, 0), (-0.707107, -0.70710653, 0), (-0.70710707, -0.70710653, 0), (-0.707107, -0.70710653, 0), (0.7071068, -0.7071068, 0), (0.7071068, -0.7071068, 0), (0.70710677, -0.70710677, 0), (0.70710677, -0.70710677, 0), (0.7071068, -0.7071068, 0), (0.70710677, -0.70710677, 0)] (
- interpolation = "faceVarying"
- )
- uniform token physics:approximation = "convexHull"
- rel physics:simulationOwner
- point3f[] points = [(-0.021150002, -0.06787247, 0.009946), (-0.02115, -0.10017247, 0.009946), (-0.021150002, -0.06787247, 0.048946), (-0.02115, -0.10017247, 0.048946), (0.016150001, -0.10517247, 0.048946), (-0.016150001, -0.10517247, 0.048946), (0.016150001, -0.10517247, 0.009946), (-0.016150001, -0.10517247, 0.009946), (0.021149999, -0.067872465, 0.048946), (0.021149997, -0.100172475, 0.048946), (0.021149999, -0.067872465, 0.009946), (0.021149997, -0.100172475, 0.009946), (0.016150001, -0.06287247, 0.009946), (-0.01615, -0.06287247, 0.009946), (0.016150001, -0.06287247, 0.048946), (-0.01615, -0.06287247, 0.048946), (-0.01615, -0.06287247, 0.048946), (-0.021150002, -0.06787247, 0.048946), (-0.02115, -0.10017247, 0.048946), (0.016150001, -0.10517247, 0.048946), (0.021149997, -0.100172475, 0.048946), (0.021149999, -0.067872465, 0.048946), (-0.016150001, -0.10517247, 0.048946), (0.016150001, -0.06287247, 0.048946), (-0.01615, -0.06287247, 0.009946), (0.016150001, -0.06287247, 0.009946), (0.021149999, -0.067872465, 0.009946), (-0.02115, -0.10017247, 0.009946), (-0.021150002, -0.06787247, 0.009946), (0.021149997, -0.100172475, 0.009946), (0.016150001, -0.10517247, 0.009946), (-0.016150001, -0.10517247, 0.009946), (0.021149999, -0.067872465, 0.009946), (0.016150001, -0.06287247, 0.009946), (0.021149999, -0.067872465, 0.048946), (0.016150001, -0.06287247, 0.048946), (-0.01615, -0.06287247, 0.009946), (-0.021150002, -0.06787247, 0.009946), (-0.01615, -0.06287247, 0.048946), (-0.021150002, -0.06787247, 0.048946), (0.016150001, -0.10517247, 0.009946), (0.021149997, -0.100172475, 0.009946), (0.016150001, -0.10517247, 0.048946), (0.021149997, -0.100172475, 0.048946), (-0.02115, -0.10017247, 0.009946), (-0.016150001, -0.10517247, 0.009946), (-0.02115, -0.10017247, 0.048946), (-0.016150001, -0.10517247, 0.048946), (0.021149999, -0.067872465, 0.004946), (0.021149997, -0.100172475, 0.004946), (-0.016150001, -0.10517247, 0.004946), (0.016150001, -0.10517247, 0.004946), (-0.021150002, -0.06787247, 0.004946), (-0.02115, -0.10017247, 0.004946), (-0.01615, -0.06287247, 0.004946), (0.016150001, -0.06287247, 0.004946), (0.016150001, -0.06287247, 0.004946), (0.021149999, -0.067872465, 0.004946), (0.021149997, -0.100172475, 0.004946), (-0.016150001, -0.10517247, 0.004946), (-0.02115, -0.10017247, 0.004946), (-0.021150002, -0.06787247, 0.004946), (0.016150001, -0.10517247, 0.004946), (-0.01615, -0.06287247, 0.004946), (0.016150001, -0.06287247, 0.009946), (-0.01615, -0.06287247, 0.009946), (-0.021150002, -0.06787247, 0.009946), (0.021149997, -0.100172475, 0.009946), (0.021149999, -0.067872465, 0.009946), (-0.02115, -0.10017247, 0.009946), (-0.016150001, -0.10517247, 0.009946), (0.016150001, -0.10517247, 0.009946), (-0.021150002, -0.06787247, 0.004946), (-0.01615, -0.06287247, 0.004946), (0.016150001, -0.06287247, 0.004946), (0.021149999, -0.067872465, 0.004946), (-0.016150001, -0.10517247, 0.004946), (-0.02115, -0.10017247, 0.004946), (0.021149997, -0.100172475, 0.004946), (0.016150001, -0.10517247, 0.004946)]
- uniform token purpose = "guide"
- uniform token subdivisionScheme = "bilinear"
- quatd xformOp:orient = (0.0000463287033198867, 0, 1, 0)
- double3 xformOp:scale = (1, 1, 1)
- double3 xformOp:translate = (0, 0, 0)
- uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
- }
-
- def Mesh "mesh_2" (
- apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"]
- )
- {
- float3[] extent = [(-0.030000009, -0.335, -0.079629), (0.030000009, -0.04402247, -0.057404)]
- int[] faceVertexCounts = [3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 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- int[] faceVertexIndices = [0, 1, 2, 3, 4, 5, 6, 3, 7, 7, 3, 5, 7, 5, 8, 8, 5, 9, 7, 10, 6, 6, 10, 11, 6, 11, 12, 12, 11, 13, 12, 13, 14, 14, 13, 15, 14, 15, 16, 16, 15, 17, 17, 18, 16, 16, 18, 19, 16, 19, 20, 19, 21, 20, 20, 21, 22, 20, 22, 23, 23, 22, 9, 23, 9, 24, 24, 9, 5, 24, 5, 25, 26, 27, 28, 28, 27, 29, 28, 29, 30, 31, 32, 33, 33, 32, 34, 33, 34, 29, 29, 34, 35, 29, 35, 30, 36, 37, 38, 37, 39, 38, 38, 39, 40, 38, 40, 31, 31, 40, 41, 31, 41, 32, 42, 43, 12, 12, 43, 29, 43, 44, 29, 29, 44, 45, 29, 45, 33, 33, 45, 46, 33, 46, 31, 31, 46, 47, 47, 48, 31, 31, 48, 49, 31, 49, 16, 49, 50, 16, 16, 50, 51, 16, 51, 14, 14, 51, 52, 14, 52, 12, 12, 52, 53, 12, 53, 42, 54, 55, 56, 57, 58, 56, 56, 58, 59, 56, 59, 54, 54, 59, 60, 55, 61, 56, 56, 61, 62, 56, 62, 63, 64, 65, 66, 62, 67, 63, 63, 67, 68, 63, 68, 64, 65, 69, 66, 66, 69, 70, 66, 70, 59, 59, 70, 71, 59, 71, 60, 63, 72, 73, 64, 66, 63, 63, 66, 74, 63, 74, 72, 75, 76, 77, 77, 76, 78, 77, 78, 79, 75, 80, 76, 76, 80, 81, 76, 81, 66, 66, 81, 82, 66, 82, 74, 73, 83, 63, 63, 83, 84, 63, 84, 78, 78, 84, 85, 78, 85, 79, 86, 87, 88, 76, 89, 90, 90, 91, 76, 76, 91, 92, 76, 92, 78, 78, 92, 93, 78, 93, 87, 87, 93, 94, 87, 94, 88, 95, 96, 97, 97, 96, 86, 97, 86, 98, 98, 86, 88, 1, 96, 2, 2, 96, 95, 2, 95, 99, 99, 95, 100, 95, 101, 100, 100, 101, 102, 100, 102, 89, 89, 102, 103, 89, 103, 90, 2, 104, 0, 0, 104, 105, 0, 105, 106, 106, 105, 107, 106, 107, 108, 107, 109, 108, 108, 109, 110, 108, 110, 111, 111, 110, 112, 111, 112, 113, 113, 112, 114, 113, 114, 115, 115, 114, 116, 115, 116, 117, 118, 119, 120, 119, 121, 120, 120, 121, 122, 120, 122, 123, 122, 124, 123, 123, 124, 125, 123, 125, 109, 109, 125, 126, 109, 126, 110, 4, 127, 5, 5, 127, 128, 5, 128, 129, 130, 131, 132, 132, 131, 133, 132, 133, 120, 120, 133, 134, 120, 134, 135, 117, 118, 115, 115, 118, 120, 115, 120, 136, 136, 120, 135, 136, 137, 115, 115, 137, 138, 115, 138, 139, 139, 138, 140, 139, 140, 141, 141, 140, 142, 141, 142, 129, 129, 142, 143, 129, 143, 5, 5, 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205, 206, 198, 206, 185, 185, 206, 207, 185, 207, 186, 183, 208, 209, 183, 209, 210, 209, 211, 210, 210, 211, 212, 210, 212, 213, 213, 212, 214, 213, 214, 215, 215, 214, 216, 215, 216, 217, 217, 216, 159, 159, 216, 160, 160, 216, 218, 160, 218, 219, 220, 221, 189, 189, 221, 222, 189, 222, 183, 183, 222, 223, 183, 223, 208, 220, 189, 224, 224, 189, 225, 224, 225, 218, 218, 225, 226, 218, 226, 219, 227, 228, 229, 229, 228, 230, 227, 231, 228, 228, 231, 232, 228, 232, 233, 234, 235, 236, 236, 235, 237, 238, 237, 239, 239, 237, 240, 232, 241, 233, 233, 241, 242, 233, 242, 243, 243, 242, 244, 243, 244, 238, 238, 244, 245, 238, 245, 246, 219, 247, 160, 160, 247, 248, 160, 248, 249, 245, 250, 246, 246, 250, 251, 246, 251, 252, 251, 253, 252, 252, 253, 254, 252, 254, 249, 249, 254, 229, 249, 229, 160, 160, 229, 230, 160, 230, 161, 255, 256, 257, 166, 258, 259, 256, 260, 261, 165, 172, 166, 166, 172, 262, 166, 262, 258, 259, 263, 166, 166, 263, 264, 166, 264, 257, 257, 264, 265, 257, 265, 255, 260, 266, 261, 261, 266, 267, 261, 267, 172, 172, 267, 268, 172, 268, 262, 269, 270, 257, 271, 272, 273, 274, 275, 271, 256, 261, 257, 257, 261, 276, 257, 276, 269, 270, 277, 257, 257, 277, 278, 257, 278, 274, 274, 278, 279, 274, 279, 275, 272, 280, 273, 273, 280, 281, 273, 281, 261, 261, 281, 282, 261, 282, 276, 271, 273, 274, 274, 273, 283, 274, 283, 284, 235, 285, 237, 237, 285, 286, 237, 286, 287, 287, 286, 288, 287, 288, 289, 289, 288, 290, 290, 291, 289, 289, 291, 292, 289, 292, 293, 292, 294, 293, 293, 294, 295, 293, 295, 296, 296, 295, 297, 296, 297, 236, 236, 297, 298, 236, 298, 234, 239, 299, 238, 238, 299, 300, 238, 300, 243, 243, 300, 301, 243, 301, 233, 233, 301, 302, 302, 303, 233, 233, 303, 304, 233, 304, 289, 304, 305, 289, 289, 305, 306, 289, 306, 287, 287, 306, 307, 287, 307, 237, 237, 307, 308, 237, 308, 240, 309, 293, 310, 310, 293, 296, 310, 296, 311, 311, 296, 236, 312, 228, 313, 313, 228, 233, 313, 233, 314, 314, 233, 289, 314, 289, 315, 315, 289, 293, 315, 293, 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- normal3f[] normals = [(0, 0, -1), (0, 0, -1), (0, 0, -1), (0, -0, -1), (0, -0, -1), (0, -0, -1), (-0, -0, -1), (0, -0, -1), (-0, -0, -1), (-0, -0, -1), (0, -0, -1), (0, -0, -1), (-0, -0, -1), (0, -0, -1), (-0, 0, -1), (-0, 0, -1), (0, -0, -1), (-0, 0, -1), (-0, -0, -1), (0, 0, -1), (-0, -0, -1), (-0, -0, -1), (0, 0, -1), (0, 0, -1), (-0, -0, -1), (0, 0, -1), (0, 0, -1), (0, 0, -1), (0, 0, -1), (-0, 0, -1), (0, 0, -1), (-0, 0, -1), (-0, 0, -1), (-0, 0, -1), (-0, 0, -1), (-0, -0, -1), (-0, 0, -1), (-0, -0, -1), (-0, 0, -1), (-0, 0, -1), (-0, -0, -1), (0, -0, -1), (0, -0, -1), (-0, 0, -1), (-0, 0, -1), (-0, 0, -1), (-0, 0, -1), (0, -0, -1), (-0, 0, -1), (0, -0, -1), (0, -0, -1), (0, -0, -1), (0, -0, -1), (0, -0, -1), (0, -0, -1), (0, -0, -1), (0, 0, -1), (0, -0, -1), (0, 0, -1), (0, 0, -1), (0, 0, -1), (0, 0, -1), (-0, 0, -1), (0, 0, -1), (-0, 0, -1), (0, -0, -1), (0, -0, -1), (-0, 0, -1), (0, -0, -1), (0, -0, -1), (0, -0, -1), (0, -0, -1), (0, -0, -1), (0, -0, -1), (0, -0, -1), (0, -0, 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(-0.0024500005, -0.046004552, -0.076454), (-0.0024500005, -0.046004552, -0.079629), (-0.0024500005, -0.046004552, -0.076454), (-0.0033, -0.045776803, -0.079629), (-0.0033, -0.045776803, -0.076454), (-0.0033, -0.045776803, -0.079629), (-0.0033, -0.045776803, -0.076454), (-0.0041499995, -0.046004552, -0.079629), (-0.0041499995, -0.046004552, -0.076454), (-0.0041499995, -0.046004552, -0.079629), (-0.0041499995, -0.046004552, -0.076454), (-0.004772244, -0.046626795, -0.079629), (-0.004772244, -0.046626795, -0.076454), (-0.004772244, -0.046626795, -0.079629), (-0.004772244, -0.046626795, -0.076454), (-0.005000001, -0.047476806, -0.079629), (-0.005000001, -0.047476806, -0.076454), (-0.005000001, -0.047476806, -0.079629), (-0.005000001, -0.047476806, -0.076454), (-0.004772244, -0.048326794, -0.079629), (-0.004772244, -0.048326794, -0.076454), (-0.004772244, -0.048326794, -0.079629), (-0.004772244, -0.048326794, -0.076454), (-0.0041499995, -0.048949037, -0.079629), (-0.0041499995, -0.048949037, -0.076454), (-0.0041499995, -0.048949037, -0.079629), (-0.0041499995, -0.048949037, -0.076454), (-0.0033, -0.0491768, -0.079629), (-0.0033, -0.0491768, -0.076454), (-0.0033, -0.0491768, -0.079629), (-0.0033, -0.0491768, -0.076454), (-0.0024500005, -0.048949037, -0.079629), (-0.0024500005, -0.048949037, -0.076454), (-0.0024500005, -0.048949037, -0.079629), (-0.0024500005, -0.048949037, -0.076454), (-0.0018277578, -0.048326794, -0.079629), (-0.0018277578, -0.048326794, -0.076454), (-0.0018277578, -0.048326794, -0.079629), (-0.0018277578, -0.048326794, -0.076454), (-0.001600001, -0.047476802, -0.079629), (-0.001600001, -0.047476802, -0.076454)]
- uniform token purpose = "guide"
- uniform token subdivisionScheme = "bilinear"
- quatd xformOp:orient = (0.0000463287033198867, 0, 1, 0)
- double3 xformOp:scale = (1, 1, 1)
- double3 xformOp:translate = (0, 0, 0)
- uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
- }
-
- def Mesh "mesh_3" (
- apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"]
+ float3[] extent = [(-0.03, -0.33000004, -0.060000006), (0.03, 0.020000048, 0.004999997)]
+ int[] faceVertexCounts = [3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3]
+ int[] faceVertexIndices = [0, 1, 2, 0, 2, 3, 4, 5, 6, 4, 6, 7, 8, 9, 10, 8, 10, 11, 12, 13, 14, 12, 14, 15, 16, 17, 18, 16, 18, 19, 20, 21, 22, 20, 22, 23, 24, 25, 26, 24, 26, 27, 28, 29, 30, 28, 30, 31, 32, 33, 34, 32, 34, 35, 36, 37, 38, 36, 38, 39, 40, 41, 42, 40, 42, 43, 44, 45, 46, 44, 46, 47, 48, 49, 50, 48, 50, 51, 52, 53, 54, 52, 54, 55, 56, 57, 58, 56, 58, 59, 60, 61, 62, 60, 62, 63, 64, 65, 66, 64, 66, 67, 68, 69, 70, 68, 70, 71, 72, 73, 74, 72, 74, 75, 76, 77, 78, 76, 78, 79, 80, 81, 82, 80, 82, 83, 84, 85, 86, 84, 86, 87, 88, 89, 90, 88, 90, 91, 92, 93, 94, 92, 94, 95]
+ normal3f[] normals = [(-1, -0, -0), (-1, -0, -0), (-1, -0, -0), (-1, -0, -0), (-1, -0, -0), (-1, -0, 0), (0, 1, 0), (0, 1, 0), (0, 1, 0), (0, 1, 0), (0, 1, 0), (0, 1, -0), (1, -0, 0), (1, -0, 0), (1, -0, 0), (1, -0, 0), (1, -0, 0), (1, -0, 0), (0, -1, 0), (0, -1, 0), (0, -1, 0), (0, -1, 0), (0, -1, 0), (0, -1, 0), (0, 0, -1), (0, 0, -1), (0, 0, -1), (0, 0, -1), (0, 0, -1), (0, 0, -1), (0, 0, 1), (0, 0, 1), (0, 0, 1), (0, 0, 1), (0, 0, 1), (0, -0, 1), (-1, -0, -0), (-1, -0, -0), (-1, -0, -0), (-1, -0, -0), (-1, -0, -0), (-1, -0, 0), (0, 1, 0), (0, 1, 0), (0, 1, 0), (0, 1, 0), (0, 1, 0), (0, 1, -0), (1, -0, 0), (1, -0, 0), (1, -0, 0), (1, -0, 0), (1, -0, 0), (1, -0, 0), (0, -1, 0), (0, -1, 0), (0, -1, 0), (0, -1, 0), (0, -1, 0), (0, -1, 0), (0, 0, -1), (0, 0, -1), (0, 0, -1), (0, 0, -1), (0, 0, -1), (0, 0, -1), (0, 0, 1), (0, 0, 1), (0, 0, 1), (0, 0, 1), (0, 0, 1), (0, -0, 1), (-1, -0, -0), (-1, -0, -0), (-1, -0, -0), (-1, -0, -0), (-1, -0, -0), (-1, -0, 0), (0, 1, 0), (0, 1, 0), (0, 1, 0), (0, 1, 0), (0, 1, 0), (0, 1, -0), (1, -0, 0), (1, -0, 0), (1, -0, 0), (1, -0, 0), (1, -0, 0), (1, -0, 0), (0, -1, 0), (0, -1, 0), (0, -1, 0), (0, -1, 0), (0, -1, 0), (0, -1, 0), (0, 0, -1), (0, 0, -1), (0, 0, -1), (0, 0, -1), (0, 0, -1), (0, 0, -1), (0, 0, 1), (0, 0, 1), (0, 0, 1), (0, 0, 1), (0, 0, 1), (0, -0, 1), (-1, -0, -0), (-1, -0, -0), (-1, -0, -0), (-1, -0, -0), (-1, -0, -0), (-1, -0, 0), (0, 1, 0), (0, 1, 0), (0, 1, 0), (0, 1, 0), (0, 1, 0), (0, 1, -0), (1, -0, 0), (1, -0, 0), (1, -0, 0), (1, -0, 0), (1, -0, 0), (1, -0, 0), (0, -1, 0), (0, -1, 0), (0, -1, 0), (0, -1, 0), (0, -1, 0), (0, -1, 0), (0, 0, -1), (0, 0, -1), (0, 0, -1), (0, 0, -1), (0, 0, -1), (0, 0, -1), (0, 0, 1), (0, 0, 1), (0, 0, 1), (0, 0, 1), (0, 0, 1), (0, -0, 1)] (
+ interpolation = "faceVarying"
)
- {
- float3[] extent = [(-0.016756512, -0.24440372, -0.07982273), (0.012855943, -0.12332997, -0.07453478)]
- int[] faceVertexCounts = [3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 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10736, 10737, 10738, 10739, 10737, 10736, 10740, 10741, 10742, 10743, 10741, 10740, 10744, 10745, 10746, 10747, 10745, 10744, 10748, 10749, 10750, 10751, 10749, 10748, 10752, 10753, 10754, 10755, 10753, 10752, 10756, 10757, 10758, 10759, 10757, 10756, 10760, 10761, 10762, 10763, 10761, 10760, 10764, 10765, 10766, 10767, 10765, 10764, 10768, 10769, 10770, 10771, 10769, 10768, 10772, 10773, 10774, 10775, 10773, 10772, 10776, 10777, 10778, 10779, 10777, 10776, 10780, 10781, 10782, 10783, 10781, 10780, 10784, 10785, 10786, 10787, 10785, 10784, 10788, 10789, 10790, 10791, 10789, 10788, 10792, 10793, 10794, 10795, 10793, 10792, 10796, 10797, 10798, 10799, 10797, 10796, 10800, 10801, 10802, 10803, 10801, 10800, 10804, 10805, 10806, 10807, 10808, 10809, 10810, 10811, 10812, 10813, 10811, 10810, 10814, 10804, 10806, 10810, 10809, 10813, 10807, 10809, 10810, 10815, 10807, 10810, 10816, 10807, 10815, 10817, 10818, 10819, 10820, 10818, 10817, 10815, 10817, 10816, 10820, 10817, 10815, 10812, 10820, 10815, 10814, 10820, 10812, 10811, 10814, 10812, 10804, 10814, 10811]
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- uniform token purpose = "guide"
- uniform token subdivisionScheme = "bilinear"
- quatd xformOp:orient = (0.0000463287033198867, 0, 1, 0)
- double3 xformOp:scale = (1, 1, 1)
- double3 xformOp:translate = (0, 0, 0)
- uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
- }
+ uniform token physics:approximation = "convexHull"
+ point3f[] points = [(-0.03, -0.33000004, -0.060000002), (-0.03, -0.33000004, -0.03999999), (-0.03, -0.009999946, -0.03999999), (-0.03, -0.009999946, -0.060000002), (-0.03, -0.009999946, -0.060000002), (-0.03, -0.009999946, -0.03999999), (0.03, -0.009999946, -0.03999999), (0.03, -0.009999946, -0.060000002), (0.03, -0.009999946, -0.060000002), (0.03, -0.009999946, -0.03999999), (0.03, -0.33000004, -0.03999999), (0.03, -0.33000004, -0.060000002), (0.03, -0.33000004, -0.060000002), (0.03, -0.33000004, -0.03999999), (-0.03, -0.33000004, -0.03999999), (-0.03, -0.33000004, -0.060000002), (-0.03, -0.009999946, -0.060000002), (0.03, -0.009999946, -0.060000002), (0.03, -0.33000004, -0.060000002), (-0.03, -0.33000004, -0.060000002), (0.03, -0.009999946, -0.03999999), (-0.03, -0.009999946, -0.03999999), (-0.03, -0.33000004, -0.03999999), (0.03, -0.33000004, -0.03999999), (-0.02, -0.32500005, -0.04), (-0.02, -0.32500005, -0.03), (-0.02, -0.28499997, -0.03), (-0.02, -0.28499997, -0.04), (-0.02, -0.28499997, -0.04), (-0.02, -0.28499997, -0.03), (0.02, -0.28499997, -0.03), (0.02, -0.28499997, -0.04), (0.02, -0.28499997, -0.04), (0.02, -0.28499997, -0.03), (0.02, -0.32500005, -0.03), (0.02, -0.32500005, -0.04), (0.02, -0.32500005, -0.04), (0.02, -0.32500005, -0.03), (-0.02, -0.32500005, -0.03), (-0.02, -0.32500005, -0.04), (-0.02, -0.28499997, -0.04), (0.02, -0.28499997, -0.04), (0.02, -0.32500005, -0.04), (-0.02, -0.32500005, -0.04), (0.02, -0.28499997, -0.03), (-0.02, -0.28499997, -0.03), (-0.02, -0.32500005, -0.03), (0.02, -0.32500005, -0.03), (-0.03, -0.020000052, -0.060000006), (-0.03, -0.020000052, 7.450581e-9), (-0.03, 0.020000048, 7.450581e-9), (-0.03, 0.020000048, -0.060000006), (-0.03, 0.020000048, -0.060000006), (-0.03, 0.020000048, 7.450581e-9), (0.03, 0.020000048, 7.450581e-9), (0.03, 0.020000048, -0.060000006), (0.03, 0.020000048, -0.060000006), (0.03, 0.020000048, 7.450581e-9), (0.03, -0.020000052, 7.450581e-9), (0.03, -0.020000052, -0.060000006), (0.03, -0.020000052, -0.060000006), (0.03, -0.020000052, 7.450581e-9), (-0.03, -0.020000052, 7.450581e-9), (-0.03, -0.020000052, -0.060000006), (-0.03, 0.020000048, -0.060000006), (0.03, 0.020000048, -0.060000006), (0.03, -0.020000052, -0.060000006), (-0.03, -0.020000052, -0.060000006), (0.03, 0.020000048, 7.450581e-9), (-0.03, 0.020000048, 7.450581e-9), (-0.03, -0.020000052, 7.450581e-9), (0.03, -0.020000052, 7.450581e-9), (-0.02, -0.10500005, -0.045), (-0.02, -0.10500005, 0.004999997), (-0.02, -0.06499995, 0.004999997), (-0.02, -0.06499995, -0.045), (-0.02, -0.06499995, -0.045), (-0.02, -0.06499995, 0.004999997), (0.02, -0.06499995, 0.004999997), (0.02, -0.06499995, -0.045), (0.02, -0.06499995, -0.045), (0.02, -0.06499995, 0.004999997), (0.02, -0.10500005, 0.004999997), (0.02, -0.10500005, -0.045), (0.02, -0.10500005, -0.045), (0.02, -0.10500005, 0.004999997), (-0.02, -0.10500005, 0.004999997), (-0.02, -0.10500005, -0.045), (-0.02, -0.06499995, -0.045), (0.02, -0.06499995, -0.045), (0.02, -0.10500005, -0.045), (-0.02, -0.10500005, -0.045), (0.02, -0.06499995, 0.004999997), (-0.02, -0.06499995, 0.004999997), (-0.02, -0.10500005, 0.004999997), (0.02, -0.10500005, 0.004999997)]
+ uniform token purpose = "guide"
+ uniform token subdivisionScheme = "bilinear"
+ quatd xformOp:orient = (0.0000463287033198867, 0, 1, 0)
+ double3 xformOp:scale = (1, 1, 1)
+ double3 xformOp:translate = (0, 0, 0)
+ uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
}
def PhysicsRevoluteJoint "joint_3" (
apiSchemas = ["PhysxJointAPI", "PhysicsJointStateAPI:angular", "PhysicsDriveAPI:angular"]
)
{
- float drive:angular:physics:damping = 1745.3292
+ float drive:angular:physics:damping = 0
float drive:angular:physics:maxForce = 3000
- float drive:angular:physics:stiffness = 17453293000000
- float drive:angular:physics:targetPosition = -1.4
+ float drive:angular:physics:stiffness = 10000000
+ float drive:angular:physics:targetPosition = 0
uniform token drive:angular:physics:type = "force"
uniform token physics:axis = "Z"
rel physics:body0 =
@@ -650,8 +526,6 @@ def Xform "ar4" (
float physics:lowerLimit = -89
float physics:upperLimit = 51.999996
float physxJoint:maxJointVelocity = 5000
- float state:angular:physics:position = 0
- float state:angular:physics:velocity = 0
}
}
@@ -663,7 +537,6 @@ def Xform "ar4" (
float3 physics:diagonalInertia = (0.00025166917, 0.00018614583, 0.00036335667)
float physics:mass = 0.1787
quatf physics:principalAxes = (1, 0, 0, 0)
- rel physics:simulationOwner
quatd xformOp:orient = (0.49999821186065674, -0.5, -0.500001847743988, -0.5)
double3 xformOp:scale = (1, 1, 1)
double3 xformOp:translate = (0.06419999897480011, 0.000001090765067601751, 0.4747700095176697)
@@ -723,80 +596,34 @@ def Xform "ar4" (
}
}
- def "collisions"
+ def Mesh "collisions" (
+ apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"]
+ )
{
- def Mesh "mesh_0" (
- apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"]
- )
- {
- float3[] extent = [(-0.03, -0.066870004, -0.05295), (0.050478887, 0.029996278, 0.01845)]
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- int[] faceVertexIndices = [0, 1, 2, 2, 1, 3, 4, 5, 6, 6, 5, 7, 8, 9, 10, 8, 10, 11, 11, 10, 12, 11, 12, 13, 13, 12, 14, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 31, 33, 34, 35, 36, 37, 38, 39, 40, 38, 40, 41, 41, 40, 42, 28, 43, 29, 44, 45, 46, 47, 48, 49, 47, 49, 50, 50, 49, 51, 35, 52, 36, 53, 54, 55, 55, 54, 56, 55, 56, 57, 57, 56, 58, 44, 59, 45, 60, 61, 62, 62, 61, 63, 62, 63, 64, 64, 63, 65, 27, 66, 25, 67, 68, 69, 70, 71, 72, 70, 72, 73, 74, 75, 76, 74, 76, 77, 78, 79, 80, 78, 80, 81, 81, 80, 82, 24, 83, 22, 84, 85, 86, 87, 88, 89, 87, 89, 90, 91, 92, 93, 91, 93, 94, 95, 96, 97, 95, 97, 98, 99, 100, 101, 99, 101, 102, 102, 101, 103, 67, 104, 68, 105, 106, 107, 108, 109, 110, 108, 110, 111, 112, 113, 114, 112, 114, 115, 115, 114, 116, 84, 117, 85, 118, 119, 120, 120, 119, 121, 105, 122, 106, 123, 124, 125, 126, 127, 128, 126, 128, 129, 129, 128, 130, 118, 131, 119, 132, 133, 134, 134, 133, 135, 134, 135, 136, 136, 135, 137, 123, 138, 124, 139, 140, 141, 141, 140, 142, 141, 142, 143, 143, 142, 144, 21, 145, 19, 146, 147, 148, 148, 147, 149, 18, 150, 16, 151, 152, 153, 153, 152, 154, 146, 155, 147, 156, 157, 158, 159, 160, 161, 159, 161, 162, 162, 161, 163, 151, 164, 152, 33, 165, 34, 166, 167, 168, 166, 168, 169, 170, 171, 172, 170, 172, 173, 174, 175, 176, 174, 176, 177, 178, 179, 180, 178, 180, 181, 182, 183, 184, 182, 184, 185, 185, 184, 186, 156, 187, 157, 188, 189, 190, 191, 192, 193, 194, 195, 196, 197, 198, 199, 197, 199, 200, 201, 202, 203, 201, 203, 199, 199, 203, 204, 199, 204, 200, 205, 206, 201, 201, 206, 207, 207, 208, 201, 201, 208, 209, 201, 209, 202, 210, 211, 212, 213, 205, 214, 214, 205, 201, 214, 201, 215, 215, 201, 216, 217, 218, 219, 219, 218, 220, 219, 220, 210, 214, 221, 213, 213, 221, 222, 213, 222, 223, 223, 222, 224, 223, 224, 225, 225, 224, 226, 227, 228, 229, 229, 228, 217, 226, 227, 225, 225, 227, 229, 225, 229, 230, 230, 229, 231, 231, 229, 232, 232, 229, 190, 232, 190, 233, 190, 189, 233, 233, 189, 234, 233, 234, 235, 196, 236, 237, 237, 238, 196, 196, 238, 239, 196, 239, 194, 240, 241, 242, 242, 241, 243, 244, 245, 196, 196, 245, 246, 196, 246, 236, 236, 246, 247, 236, 247, 248, 248, 247, 249, 248, 249, 250, 193, 251, 252, 249, 253, 250, 250, 253, 254, 250, 254, 255, 255, 254, 256, 255, 256, 257, 251, 193, 258, 258, 193, 192, 258, 192, 256, 256, 192, 259, 256, 259, 257, 260, 261, 262, 262, 263, 260, 260, 263, 264, 260, 264, 265, 266, 267, 268, 268, 267, 269, 269, 267, 270, 269, 270, 271, 272, 273, 274, 274, 273, 271, 274, 271, 275, 275, 271, 270, 272, 276, 273, 273, 276, 277, 273, 277, 260, 260, 277, 278, 268, 279, 266, 266, 279, 280, 266, 280, 281, 281, 280, 261, 281, 261, 282, 282, 261, 260, 282, 260, 283, 283, 260, 278, 284, 285, 273, 273, 285, 286, 273, 286, 271, 287, 288, 289, 289, 288, 290, 289, 290, 291, 291, 290, 292, 291, 292, 293, 294, 295, 296, 296, 295, 297, 296, 297, 298, 199, 299, 300, 301, 302, 303, 302, 304, 303, 303, 304, 305, 303, 305, 296, 296, 305, 306, 296, 306, 307, 199, 300, 308, 307, 309, 296, 296, 309, 310, 296, 310, 294, 294, 310, 311, 294, 311, 312, 312, 311, 313, 312, 313, 300, 300, 313, 314, 300, 314, 308, 198, 315, 199, 199, 315, 316, 199, 316, 299, 317, 318, 319, 320, 321, 319, 319, 321, 322, 319, 322, 317, 320, 323, 324, 325, 326, 303, 303, 326, 327, 303, 327, 212, 212, 327, 328, 212, 328, 322, 322, 328, 329, 322, 329, 317, 330, 331, 332, 332, 331, 333, 334, 335, 336, 336, 335, 337, 336, 337, 330, 265, 191, 260, 260, 191, 193, 260, 193, 338, 320, 324, 321, 321, 324, 339, 321, 339, 193, 193, 339, 340, 193, 340, 338, 341, 342, 343, 234, 344, 235, 235, 344, 345, 235, 345, 346, 346, 345, 347, 346, 347, 194, 194, 347, 348, 194, 348, 195, 195, 348, 349, 195, 349, 341, 342, 350, 343, 343, 350, 351, 343, 351, 352, 352, 351, 353, 352, 353, 354, 330, 332, 336, 336, 332, 355, 336, 355, 356, 292, 357, 293, 293, 357, 358, 293, 358, 332, 332, 358, 359, 332, 359, 355, 356, 360, 336, 336, 360, 361, 336, 361, 362, 361, 363, 362, 362, 363, 364, 362, 364, 365, 365, 364, 366, 365, 366, 287, 287, 366, 367, 287, 367, 288, 341, 343, 195, 195, 343, 242, 195, 242, 196, 196, 242, 243, 196, 243, 244, 217, 219, 229, 229, 219, 352, 229, 352, 190, 190, 352, 354, 190, 354, 188, 210, 212, 219, 219, 212, 322, 219, 322, 352, 352, 322, 321, 352, 321, 343, 343, 321, 193, 343, 193, 242, 242, 193, 252, 242, 252, 240, 211, 216, 212, 212, 216, 201, 212, 201, 303, 303, 201, 199, 303, 199, 301, 301, 199, 308, 338, 334, 260, 260, 334, 336, 260, 336, 273, 273, 336, 362, 273, 362, 284, 284, 362, 365, 333, 325, 332, 332, 325, 303, 332, 303, 293, 293, 303, 296, 293, 296, 291, 291, 296, 298, 368, 369, 370, 370, 369, 371, 372, 373, 374, 374, 373, 375, 374, 375, 376, 376, 375, 377, 371, 378, 370, 370, 378, 379, 370, 379, 372, 372, 379, 380, 372, 380, 373, 381, 382, 383, 383, 382, 384, 385, 386, 368, 368, 386, 387, 368, 387, 369, 388, 389, 381, 381, 389, 390, 381, 390, 382, 391, 392, 393, 393, 392, 394, 393, 394, 395, 395, 394, 396, 395, 396, 397, 391, 398, 392, 392, 398, 399, 392, 399, 388, 388, 399, 400, 388, 400, 389, 397, 396, 401, 401, 396, 402, 401, 402, 403, 404, 405, 406, 406, 405, 407, 408, 409, 402, 402, 409, 410, 402, 410, 403, 411, 412, 404, 404, 412, 413, 404, 413, 405, 384, 414, 383, 383, 414, 415, 383, 415, 416, 416, 415, 417, 416, 417, 418, 418, 417, 419, 418, 419, 420, 420, 419, 421, 420, 421, 422, 422, 421, 423, 422, 423, 424, 424, 423, 425, 424, 425, 426, 426, 425, 427, 426, 427, 428, 428, 427, 429, 428, 429, 430, 430, 429, 431, 430, 431, 432, 432, 431, 433, 432, 433, 434, 434, 433, 435, 434, 435, 385, 385, 435, 436, 385, 436, 386, 377, 437, 376, 376, 437, 438, 376, 438, 411, 411, 438, 439, 411, 439, 412, 440, 441, 408, 408, 441, 442, 408, 442, 409, 407, 443, 406, 406, 443, 444, 406, 444, 445, 445, 444, 446, 445, 446, 447, 447, 446, 448, 447, 448, 449, 449, 448, 450, 449, 450, 451, 451, 450, 452, 451, 452, 453, 453, 452, 454, 453, 454, 455, 455, 454, 456, 455, 456, 457, 457, 456, 458, 457, 458, 459, 459, 458, 460, 459, 460, 461, 461, 460, 462, 461, 462, 463, 463, 462, 464, 463, 464, 440, 440, 464, 465, 440, 465, 441, 466, 467, 468, 468, 467, 469, 470, 471, 472, 472, 471, 473, 474, 475, 476, 476, 475, 477, 478, 479, 480, 480, 479, 481, 482, 483, 484, 484, 483, 485, 484, 485, 486, 487, 488, 489, 489, 488, 490, 489, 490, 491, 492, 493, 494, 494, 493, 495, 496, 497, 498, 498, 497, 499, 500, 501, 502, 502, 501, 503, 504, 505, 506, 506, 505, 507, 508, 509, 510, 510, 509, 511, 512, 513, 514, 514, 513, 515, 515, 513, 516, 516, 513, 517, 518, 519, 520, 520, 519, 521, 520, 521, 522, 523, 524, 525, 525, 524, 526, 527, 528, 529, 529, 528, 530, 531, 532, 533, 533, 532, 534, 535, 536, 537, 537, 536, 538, 539, 540, 541, 541, 540, 542, 543, 544, 545, 545, 544, 546, 547, 548, 549, 549, 548, 550, 551, 552, 553, 553, 552, 554, 555, 556, 557, 557, 556, 558, 557, 558, 559, 560, 561, 562, 562, 561, 563, 562, 563, 564, 565, 566, 567, 567, 566, 568, 569, 570, 571, 571, 570, 572, 573, 574, 575, 575, 574, 576, 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- uniform token physics:approximation = "convexHull"
- rel physics:simulationOwner
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-0.047689535, -0.0031114107), (0.029438889, -0.047689535, -0.0031114107), (0.029838888, -0.047689535, -0.0031114107), (0.029838888, -0.04852575, -0.004461944), (0.029438889, -0.04852575, -0.004461944), (0.029438889, -0.04852575, -0.004461944), (0.029838888, -0.04852575, -0.004461944), (0.029838888, -0.049793366, -0.005419203), (0.029438889, -0.049793366, -0.005419203), (0.029438889, -0.049793366, -0.005419203), (0.029838888, -0.049793366, -0.005419203), (0.029838888, -0.051321186, -0.005853905), (0.029438889, -0.051321186, -0.005853905), (0.029438889, -0.051321186, -0.005853905), (0.029838888, -0.051321186, -0.005853905), (0.029838888, -0.052902866, -0.005707341), (0.029438889, -0.052902866, -0.005707341), (0.029438889, -0.052902866, -0.005707341), (0.029838888, -0.052902866, -0.005707341), (0.029838888, -0.054324795, -0.004999304), (0.029438889, -0.054324795, -0.004999304), (0.029438889, -0.054324795, -0.004999304), (0.029838888, -0.054324795, -0.004999304), (0.029838888, -0.05539493, -0.0038254205), (0.029438889, -0.05539493, -0.0038254205), (0.029438889, -0.05539493, -0.0038254205), (0.029838888, -0.05539493, -0.0038254205), (0.029838888, -0.055968747, -0.0023442288), (0.029438889, -0.055968747, -0.0023442288), (0.029438889, -0.055968747, -0.0023442288), (0.029838888, -0.049849533, -0.0038954946), (0.029838888, -0.051052436, -0.004474784), (0.029838888, -0.051321186, -0.005853905), (0.029838888, -0.052902866, -0.005707341), (0.029838888, -0.05238756, -0.004474784), (0.029838888, -0.054324795, -0.004999304), (0.029838888, -0.05359047, -0.0038954946), (0.029838888, -0.05539493, -0.0038254205), (0.029838888, -0.054422908, -0.0028516515), (0.029838888, -0.055968747, -0.0023442288), (0.029838888, -0.05472, -0.0015500002), (0.029838888, -0.056042343, -0.0015500002), (0.029838888, -0.049849533, 0.0007954943), (0.029838888, -0.049793366, 0.0023192028), (0.029838888, -0.051052436, 0.001374783), (0.029838888, -0.051321186, 0.002753904), (0.029838888, -0.05238756, 0.001374783), (0.029838888, -0.052902866, 0.00260734), (0.029838888, -0.05359047, 0.0007954943), (0.029838888, -0.054324795, 0.0018993039), (0.029838888, -0.054422908, -0.0002483488), (0.029838888, -0.05539493, 0.0007254202), (0.029838888, -0.055968747, -0.0007557715), (0.029838888, -0.049793366, -0.005419203), (0.029838888, -0.04852575, -0.004461944), (0.029838888, -0.049017094, -0.0028516515), (0.029838888, -0.047689535, -0.0031114107), (0.029838888, -0.048720002, -0.0015500002), (0.029838888, -0.04739766, -0.0015500002), (0.029838888, -0.049017094, -0.0002483488), (0.029838888, -0.047689535, 0.0000114100985), (0.029838888, -0.04852575, 0.0013619438), (0.047938887, -0.05472, -0.0015500002), (0.047938887, -0.054422908, -0.0028516515), (0.047938887, -0.05172, -0.0015500002), (0.047938887, -0.054422908, -0.0002483488), (0.047938887, -0.051052436, 0.001374783), (0.047938887, -0.052387565, 0.001374783), (0.047938887, -0.05359047, 0.0007954943), (0.047938887, -0.048720002, -0.0015500002), (0.047938887, -0.049017094, -0.0002483488), (0.047938887, -0.049849533, 0.0007954943), (0.047938887, -0.051052436, -0.004474784), (0.047938887, -0.049849533, -0.0038954946), (0.047938887, -0.049017094, -0.0028516515), (0.047938887, -0.05359047, -0.0038954946), (0.047938887, -0.052387565, -0.004474784), (0.029838888, -0.048720002, -0.0015500002), (0.047938887, -0.049017094, -0.0028516515), (0.029838888, -0.049017094, -0.0028516515), (0.029838888, -0.049017094, -0.0028516515), (0.047938887, -0.049017094, -0.0028516515), (0.047938887, -0.049849533, -0.0038954946), (0.029838888, -0.049849533, -0.0038954946), (0.029838888, -0.049849533, -0.0038954946), (0.047938887, -0.049849533, -0.0038954946), (0.047938887, -0.051052436, -0.004474784), (0.029838888, -0.051052436, -0.004474784), (0.029838888, -0.051052436, -0.004474784), (0.047938887, -0.051052436, -0.004474784), (0.047938887, -0.052387565, -0.004474784), (0.029838888, -0.05238756, -0.004474784), (0.029838888, -0.05238756, -0.004474784), (0.047938887, -0.052387565, -0.004474784), (0.047938887, -0.05359047, -0.0038954946), (0.029838888, -0.05359047, -0.0038954946), (0.029838888, -0.05359047, -0.0038954946), (0.047938887, -0.05359047, -0.0038954946), (0.047938887, -0.054422908, -0.0028516515), (0.029838888, -0.054422908, -0.0028516515), (0.029838888, -0.054422908, -0.0028516515), (0.047938887, -0.054422908, -0.0028516515), (0.047938887, -0.05472, -0.0015500002), (0.029838888, -0.05472, -0.0015500002), (0.029838888, -0.05472, -0.0015500002), (0.047938887, -0.05472, -0.0015500002), (0.047938887, -0.054422908, -0.0002483488), (0.029838888, -0.054422908, -0.0002483488), (0.029838888, -0.054422908, -0.0002483488), (0.047938887, -0.054422908, -0.0002483488), (0.047938887, -0.05359047, 0.0007954943), (0.029838888, -0.05359047, 0.0007954943), (0.029838888, -0.05359047, 0.0007954943), (0.047938887, -0.05359047, 0.0007954943), (0.047938887, -0.052387565, 0.001374783), (0.029838888, -0.05238756, 0.001374783), (0.029838888, -0.05238756, 0.001374783), (0.047938887, -0.052387565, 0.001374783), (0.047938887, -0.051052436, 0.001374783), (0.029838888, -0.051052436, 0.001374783), (0.029838888, -0.051052436, 0.001374783), (0.047938887, -0.051052436, 0.001374783), (0.047938887, -0.049849533, 0.0007954943), (0.029838888, -0.049849533, 0.0007954943), (0.029838888, -0.049849533, 0.0007954943), (0.047938887, -0.049849533, 0.0007954943), (0.047938887, -0.049017094, -0.0002483488), (0.029838888, -0.049017094, -0.0002483488), (0.029838888, -0.049017094, -0.0002483488), (0.047938887, -0.049017094, -0.0002483488), (0.047938887, -0.048720002, -0.0015500002), (0.029838888, -0.048720002, -0.0015500002), (0.047938887, -0.048720002, -0.0015500002), (0.00023888734, -0.03907, -0.0167), (0.00023888738, -0.03657, -0.0142), (0.0052388874, -0.03907, -0.0167), (0.0052388874, -0.03657, -0.0142), (0.00023888738, -0.03657, 0.011099999), (0.00023888734, -0.03907, 0.0136), (0.0052388874, -0.03657, 0.011099999), (0.0052388874, -0.03907, 0.0136), (0.00023888698, -0.06437, 0.0136), (0.00023888695, -0.066870004, 0.011099999), (0.005238887, -0.06437, 0.0136), (0.005238887, -0.066870004, 0.011099999), (0.00023888695, -0.066870004, -0.0142), (0.00023888698, -0.06437, -0.0167), (0.005238887, -0.066870004, -0.0142), (0.005238887, -0.06437, -0.0167)]
- uniform token purpose = "guide"
- uniform token subdivisionScheme = "bilinear"
- quatd xformOp:orient = (0.00003275928247603588, 0.7071055173873901, 0.7071080803871155, 0.000032759398891357705)
- double3 xformOp:scale = (1, 1, 1)
- double3 xformOp:translate = (0, 0, 0)
- uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
- }
-
- def Mesh "mesh_1" (
- apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"]
- )
- {
- float3[] extent = [(-0.05076111, -0.066870004, -0.0167), (0.00023888738, -0.036569998, 0.0136)]
- int[] faceVertexCounts = [3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3]
- int[] faceVertexIndices = [0, 1, 2, 2, 1, 3, 4, 5, 6, 6, 5, 7, 8, 9, 10, 10, 9, 11, 12, 13, 14, 14, 13, 15, 16, 17, 18, 19, 20, 21, 19, 21, 22, 22, 21, 18, 18, 21, 23, 18, 23, 16, 24, 25, 26, 27, 28, 24, 26, 29, 30, 24, 26, 27, 27, 26, 30, 27, 30, 31, 32, 33, 34, 34, 33, 35, 36, 37, 38, 38, 37, 39, 40, 41, 42, 42, 41, 43, 44, 45, 46, 46, 45, 47]
- normal3f[] normals = [(7.304491e-8, 1, -0), (7.304491e-8, 1, -0), (7.304491e-8, 1, -0), (7.304491e-8, 1, -0), (7.304491e-8, 1, -0), (7.304491e-8, 1, 0), (-0, -0, -1), (-0, -0, -1), (-0, -0, -1), (-0, -0, -1), (-0, -0, -1), (-0, -0, -1), (-1.4608982e-7, -1, 0), (-1.4608982e-7, -1, 0), (-1.4608982e-7, -1, 0), (-1.4608982e-7, -1, 0), (-1.4608982e-7, -1, 0), (-1.4608982e-7, -1, 0), (-0, 0, 1), (-0, 0, 1), (-0, 0, 1), (-0, 0, 1), (-0, 0, 1), (-0, 0, 1), (-1, 0, 0), (-1, 0, 0), (-1, 0, 0), (-1, 0, 0), (-1, 0, 0), (-1, 0, 0), (-1, 0, 0), (-1, 0, 0), (-1, 0, 0), (-1, 0, 0), (-1, 0, 0), (-1, 0, 0), (-1, 0, 0), (-1, 0, 0), (-1, 0, 0), (-1, 0, 0), (-1, 0, 0), (-1, 0, 0), (1, -1.45519214e-8, 0), (1, -1.45519214e-8, 0), (1, -1.45519214e-8, 0), (1, -1.4372263e-8, -1.7965934e-10), (1, -1.4372263e-8, -1.7965934e-10), (1, -1.45519214e-8, 0), (1, -1.45519214e-8, 0), (1, -1.4372264e-8, -1.796236e-10), (1, -1.4372264e-8, -1.796236e-10), (1, -1.45519214e-8, 0), (1, -1.45519214e-8, 0), (1, -1.4372263e-8, -1.7965934e-10), (1, -1.4372263e-8, -1.7965934e-10), (1, -1.45519214e-8, 0), (1, -1.4372264e-8, -1.796236e-10), (1, -1.4372263e-8, -1.7965934e-10), (1, -1.4372264e-8, -1.796236e-10), (1, -1.4551885e-8, 0), (-1.0087987e-7, -0.7071061, 0.7071075), (-1.0087987e-7, -0.7071061, 0.7071075), (-1.0087987e-7, -0.7071061, 0.7071075), (-1.0087987e-7, -0.7071061, 0.7071075), (-1.0087987e-7, -0.7071061, 0.7071075), (0, -0.707107, 0.7071066), (0, 0.707107, 0.7071066), (0, 0.707107, 0.7071066), (0, 0.707107, 0.7071066), (0, 0.707107, 0.7071066), (0, 0.707107, 0.7071066), (5.1650535e-8, 0.70710653, 0.707107), (0, -0.707106, -0.70710754), (0, -0.707106, -0.70710754), (0, -0.707106, -0.70710754), (0, -0.707106, -0.70710754), (0, -0.707106, -0.70710754), (-1.0330111e-7, -0.7071069, -0.70710665), (5.0440004e-8, 0.7071069, -0.70710665), (5.0440004e-8, 0.7071069, -0.70710665), (5.0440004e-8, 0.7071069, -0.70710665), (5.0440004e-8, 0.7071069, -0.70710665), (5.0440004e-8, 0.7071069, -0.70710665), (0, 0.7071064, -0.7071071)] (
- interpolation = "faceVarying"
- )
- uniform token physics:approximation = "convexHull"
- rel physics:simulationOwner
- point3f[] points = [(0.00023888738, -0.03657, 0.0106), (0.00023888738, -0.03657, -0.0137), (-0.05076111, -0.036569998, 0.0106), (-0.05076111, -0.036569998, -0.0137), (-0.05076111, -0.06387, -0.0167), (-0.05076111, -0.03957, -0.0167), (0.00023888699, -0.06387, -0.0167), (0.00023888734, -0.03957, -0.0167), (-0.05076111, -0.06687, 0.0106), (-0.05076111, -0.06687, -0.0137), (0.00023888695, -0.066870004, 0.0106), (0.00023888695, -0.066870004, -0.0137), (0.00023888699, -0.06387, 0.0136), (0.00023888734, -0.03957, 0.0136), (-0.05076111, -0.06387, 0.0136), (-0.05076111, -0.03957, 0.0136), (-0.05076111, -0.06387, -0.0167), (-0.05076111, -0.06687, -0.0137), (-0.05076111, -0.06687, 0.0106), (-0.05076111, -0.03957, 0.0136), (-0.05076111, -0.036569998, 0.0106), (-0.05076111, -0.036569998, -0.0137), (-0.05076111, -0.06387, 0.0136), (-0.05076111, -0.03957, -0.0167), (0.00023888738, -0.03657, -0.0137), (0.00023888738, -0.03657, 0.0106), (0.00023888734, -0.03957, 0.0136), (0.00023888699, -0.06387, -0.0167), (0.00023888734, -0.03957, -0.0167), (0.00023888699, -0.06387, 0.0136), (0.00023888695, -0.066870004, 0.0106), (0.00023888695, -0.066870004, -0.0137), (0.00023888695, -0.066870004, 0.0106), (0.00023888699, -0.06387, 0.0136), (-0.05076111, -0.06687, 0.0106), (-0.05076111, -0.06387, 0.0136), (0.00023888734, -0.03957, 0.0136), (0.00023888738, -0.03657, 0.0106), (-0.05076111, -0.03957, 0.0136), (-0.05076111, -0.036569998, 0.0106), (0.00023888699, -0.06387, -0.0167), (0.00023888695, -0.066870004, -0.0137), (-0.05076111, -0.06387, -0.0167), (-0.05076111, -0.06687, -0.0137), (0.00023888738, -0.03657, -0.0137), (0.00023888734, -0.03957, -0.0167), (-0.05076111, -0.036569998, -0.0137), (-0.05076111, -0.03957, -0.0167)]
- uniform token purpose = "guide"
- uniform token subdivisionScheme = "bilinear"
- quatd xformOp:orient = (0.00003275928247603588, 0.7071055173873901, 0.7071080803871155, 0.000032759398891357705)
- double3 xformOp:scale = (1, 1, 1)
- double3 xformOp:translate = (0, 0, 0)
- uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
- }
-
- def Mesh "mesh_2" (
- apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"]
+ float3[] extent = [(-0.02, -0.058, -0.040000007), (0.04, 0.024999999, 0.020000007)]
+ int[] faceVertexCounts = [3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3]
+ int[] faceVertexIndices = [0, 1, 2, 3, 0, 2, 4, 5, 6, 7, 4, 6, 8, 9, 10, 11, 8, 10, 12, 13, 14, 15, 12, 14, 16, 17, 18, 19, 16, 18, 20, 21, 22, 23, 20, 22, 24, 25, 26, 24, 26, 27, 28, 29, 30, 28, 30, 31, 32, 33, 34, 32, 34, 35, 36, 37, 38, 36, 38, 39, 40, 41, 42, 40, 42, 43, 44, 45, 46, 44, 46, 47]
+ normal3f[] normals = [(-1, 0, 0), (-1, 0, 0), (-1, 0, 0), (-1, 0, 0), (-1, 0, 0), (-1, 0, 0), (-0, 1, 0), (-0, 1, 0), (-0, 1, 0), (-0, 1, 0), (-0, 1, 0), (-0, 1, 0), (1, 0, 0), (1, 0, 0), (1, 0, 0), (1, 0, -0), (1, 0, 0), (1, 0, 0), (-0, -1, -0), (-0, -1, -0), (-0, -1, -0), (-0, -1, 0), (-0, -1, -0), (-0, -1, -0), (-0, 0, 1), (-0, 0, 1), (-0, 0, 1), (0, 0, 1), (-0, 0, 1), (-0, 0, 1), (-0, -0, -1), (-0, -0, -1), (-0, -0, -1), (0, -0, -1), (-0, -0, -1), (-0, -0, -1), (-1, -0, -0), (-1, -0, -0), (-1, -0, -0), (-1, -0, -0), (-1, -0, -0), (-1, -0, 0), (0, 1, 0), (0, 1, 0), (0, 1, 0), (0, 1, 0), (0, 1, 0), (0, 1, -0), (1, -0, 0), (1, -0, 0), (1, -0, 0), (1, -0, 0), (1, -0, 0), (1, -0, 0), (0, -1, 0), (0, -1, 0), (0, -1, 0), (0, -1, 0), (0, -1, 0), (0, -1, 0), (0, 0, -1), (0, 0, -1), (0, 0, -1), (0, 0, -1), (0, 0, -1), (0, 0, -1), (0, 0, 1), (0, 0, 1), (0, 0, 1), (0, 0, 1), (0, 0, 1), (0, -0, 1)] (
+ interpolation = "faceVarying"
)
- {
- float3[] extent = [(-0.009561111, -0.0687, -0.01655), (0.030438887, -0.0287, 0.0134499995)]
- int[] faceVertexCounts = [3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3]
- int[] faceVertexIndices = [0, 1, 2, 3, 4, 0, 0, 4, 5, 0, 5, 6, 6, 5, 7, 6, 7, 8, 8, 7, 9, 8, 9, 10, 11, 12, 13, 14, 15, 8, 8, 15, 16, 8, 16, 17, 18, 19, 17, 12, 20, 13, 13, 20, 21, 13, 21, 0, 0, 21, 22, 0, 22, 1, 13, 23, 24, 2, 25, 0, 0, 25, 26, 0, 26, 27, 10, 28, 8, 8, 28, 29, 8, 29, 30, 16, 31, 17, 17, 31, 32, 17, 32, 33, 19, 34, 17, 17, 34, 35, 17, 35, 13, 13, 35, 36, 13, 36, 23, 37, 3, 38, 38, 3, 0, 38, 0, 39, 39, 0, 27, 14, 8, 40, 40, 8, 41, 40, 41, 42, 30, 43, 8, 8, 43, 44, 8, 44, 41, 45, 11, 46, 46, 11, 13, 46, 13, 47, 47, 13, 48, 49, 18, 50, 50, 18, 17, 50, 17, 51, 51, 17, 52, 24, 53, 13, 13, 53, 54, 13, 54, 48, 33, 55, 17, 17, 55, 56, 17, 56, 52, 57, 58, 59, 59, 58, 60, 61, 62, 63, 63, 64, 65, 66, 67, 68, 68, 67, 69, 68, 69, 70, 70, 69, 71, 70, 71, 63, 63, 71, 72, 63, 72, 64, 62, 73, 63, 63, 73, 74, 63, 74, 75, 65, 76, 63, 63, 76, 77, 63, 77, 78, 79, 61, 80, 80, 61, 63, 80, 63, 81, 81, 63, 78, 82, 83, 75, 74, 84, 75, 75, 84, 85, 75, 85, 86, 87, 88, 89, 68, 90, 91, 83, 92, 75, 75, 92, 93, 75, 93, 89, 93, 94, 89, 89, 94, 95, 89, 95, 96, 88, 97, 89, 89, 97, 98, 89, 98, 68, 68, 98, 99, 68, 99, 90, 86, 100, 75, 75, 100, 101, 75, 101, 102, 91, 103, 68, 68, 103, 104, 68, 104, 105, 106, 82, 107, 107, 82, 75, 107, 75, 108, 108, 75, 102, 96, 109, 89, 89, 109, 110, 89, 110, 111, 112, 66, 113, 113, 66, 68, 113, 68, 114, 114, 68, 105, 115, 87, 116, 116, 87, 89, 116, 89, 117, 117, 89, 111, 118, 119, 120, 120, 119, 121, 122, 123, 124, 124, 123, 125, 124, 125, 126, 126, 125, 127, 126, 127, 120, 120, 127, 128, 120, 128, 118, 122, 129, 130, 130, 129, 131, 130, 131, 132, 132, 131, 133, 132, 133, 134, 134, 135, 132, 132, 135, 136, 132, 136, 137, 137, 136, 138, 137, 138, 121, 139, 140, 130, 130, 140, 141, 139, 130, 142, 142, 130, 143, 142, 143, 144, 141, 145, 146, 147, 148, 149, 149, 148, 150, 146, 151, 141, 141, 151, 152, 141, 152, 130, 130, 152, 153, 130, 153, 122, 122, 153, 154, 122, 154, 123, 150, 155, 149, 149, 155, 156, 149, 156, 143, 143, 156, 157, 143, 157, 144, 147, 158, 148, 148, 158, 159, 148, 159, 160, 160, 159, 161, 160, 161, 145, 145, 161, 162, 145, 162, 146, 163, 164, 165, 166, 167, 168, 168, 167, 169, 168, 169, 149, 169, 170, 149, 149, 170, 171, 149, 171, 147, 147, 171, 172, 147, 172, 173, 173, 172, 174, 174, 172, 175, 175, 172, 176, 175, 176, 177, 177, 176, 178, 177, 178, 179, 179, 178, 180, 180, 178, 181, 180, 181, 165, 165, 181, 182, 165, 182, 163, 163, 182, 183, 163, 183, 168, 168, 183, 184, 168, 184, 166, 185, 186, 187, 187, 186, 163, 186, 188, 163, 163, 188, 189, 163, 189, 164, 164, 189, 190, 164, 190, 191, 121, 119, 137, 137, 119, 192, 137, 192, 193, 193, 194, 137, 137, 194, 195, 137, 195, 187, 187, 195, 196, 187, 196, 185, 119, 197, 192, 192, 197, 198, 192, 198, 199, 199, 198, 200, 199, 200, 201, 201, 200, 202, 201, 202, 190, 190, 202, 203, 190, 203, 191, 204, 205, 206, 206, 205, 207, 206, 207, 208, 208, 207, 209, 210, 211, 212, 213, 214, 215, 215, 214, 216, 215, 216, 217, 217, 216, 218, 217, 218, 219, 219, 220, 217, 217, 220, 221, 217, 221, 222, 222, 221, 223, 222, 223, 224, 212, 211, 224, 213, 225, 226, 226, 225, 227, 226, 227, 228, 228, 227, 229, 228, 229, 212, 212, 229, 230, 212, 230, 210, 231, 232, 233, 215, 234, 235, 233, 232, 215, 215, 232, 236, 215, 236, 234, 235, 237, 238, 238, 239, 235, 235, 239, 240, 235, 240, 215, 215, 240, 241, 215, 241, 213, 213, 241, 242, 213, 242, 225, 243, 244, 245, 245, 244, 246, 243, 247, 244, 244, 247, 248, 244, 248, 233, 233, 248, 249, 233, 249, 231, 246, 250, 245, 245, 250, 251, 245, 251, 252, 252, 251, 253, 252, 253, 237, 237, 253, 254, 237, 254, 238, 255, 256, 257, 258, 259, 260, 260, 259, 261, 260, 261, 244, 261, 262, 244, 244, 262, 263, 244, 263, 246, 246, 263, 264, 246, 264, 265, 265, 264, 266, 266, 264, 267, 267, 264, 268, 267, 268, 269, 269, 268, 270, 269, 270, 271, 271, 270, 272, 272, 270, 273, 272, 273, 257, 257, 273, 274, 257, 274, 255, 255, 274, 275, 255, 275, 260, 260, 275, 276, 260, 276, 258, 277, 278, 279, 279, 278, 255, 280, 281, 282, 282, 281, 283, 282, 283, 284, 284, 283, 285, 284, 285, 286, 286, 285, 287, 286, 287, 288, 288, 287, 211, 224, 211, 222, 222, 211, 287, 222, 287, 289, 289, 290, 222, 222, 290, 291, 222, 291, 279, 279, 291, 292, 279, 292, 277, 280, 293, 281, 281, 293, 256, 281, 256, 294, 294, 256, 255, 294, 255, 295, 295, 255, 278, 296, 297, 298, 298, 297, 299, 298, 299, 300, 300, 299, 301, 300, 301, 302, 302, 301, 303, 304, 305, 306, 306, 305, 307, 306, 307, 308, 308, 307, 309, 308, 309, 310, 310, 309, 311, 312, 313, 314, 314, 313, 315, 316, 317, 318, 318, 317, 319, 320, 321, 322, 322, 321, 323, 324, 325, 326, 326, 325, 327, 328, 329, 330, 330, 329, 331, 332, 333, 334, 334, 333, 335, 336, 337, 338, 338, 337, 339, 338, 339, 340, 340, 339, 341, 342, 343, 344, 344, 343, 345, 346, 347, 348, 348, 347, 349, 350, 351, 352, 352, 351, 353, 354, 355, 356, 356, 355, 357, 358, 359, 360, 360, 359, 361, 362, 363, 364, 364, 363, 365, 366, 367, 368, 368, 367, 369, 368, 369, 370, 370, 369, 371, 372, 373, 374, 374, 373, 375, 376, 377, 378, 378, 377, 379, 380, 381, 382, 382, 381, 383, 384, 385, 386, 386, 385, 387, 388, 389, 390, 390, 389, 391, 392, 393, 394, 394, 393, 395, 396, 397, 398, 398, 397, 399, 398, 399, 400, 400, 399, 401, 402, 403, 404, 404, 403, 405, 406, 407, 408, 408, 407, 409, 410, 411, 412, 412, 411, 413, 414, 415, 416, 416, 415, 417, 418, 419, 420, 420, 419, 421, 422, 423, 424, 424, 423, 425, 426, 427, 428, 428, 427, 429, 430, 431, 432, 432, 431, 433, 434, 435, 436, 436, 435, 437, 438, 439, 440, 440, 439, 441, 442, 443, 444, 444, 443, 445, 446, 447, 448, 448, 447, 449, 450, 451, 452, 452, 451, 453, 454, 455, 456, 456, 455, 457, 458, 459, 460, 460, 459, 461, 462, 463, 464, 464, 463, 465, 466, 467, 468, 468, 467, 469, 470, 471, 472, 472, 471, 473, 474, 475, 476, 476, 475, 477, 478, 479, 480, 480, 479, 481, 482, 483, 484, 484, 483, 485, 486, 487, 488, 488, 487, 489, 490, 491, 492, 492, 491, 493, 494, 495, 496, 496, 495, 497, 498, 499, 500, 500, 499, 501, 502, 503, 504, 504, 503, 505, 506, 507, 508, 508, 507, 509, 510, 511, 512, 512, 511, 513, 514, 515, 516, 516, 515, 517, 518, 519, 520, 520, 519, 521, 522, 523, 524, 524, 523, 525, 526, 527, 528, 528, 527, 529, 530, 531, 532, 532, 531, 533, 534, 535, 536, 536, 535, 537, 538, 539, 540, 540, 539, 541, 542, 543, 544, 544, 543, 545, 546, 547, 548, 548, 547, 549, 550, 551, 552, 552, 551, 553, 554, 555, 556, 556, 555, 557, 558, 559, 560, 560, 559, 561, 562, 563, 564, 564, 563, 565, 566, 567, 568, 568, 567, 569, 570, 571, 572, 572, 571, 573, 574, 575, 576, 576, 575, 577, 578, 579, 580, 580, 579, 581, 582, 583, 584, 584, 583, 585, 586, 587, 588, 588, 587, 589, 590, 591, 592, 592, 591, 593, 594, 595, 596, 596, 595, 597, 598, 599, 600, 600, 599, 601, 602, 603, 604, 604, 603, 605, 606, 607, 608, 608, 607, 609, 610, 611, 612, 612, 611, 613, 614, 615, 616, 616, 615, 617, 618, 619, 620, 620, 619, 621, 622, 623, 624, 624, 623, 625, 626, 627, 628, 628, 627, 629, 630, 631, 632, 632, 631, 633, 634, 635, 636, 636, 635, 637, 638, 639, 640, 640, 639, 641, 642, 643, 644, 644, 643, 645, 646, 647, 648, 648, 647, 649, 650, 651, 652, 652, 651, 653, 654, 655, 656, 656, 655, 657, 658, 659, 660, 660, 659, 661, 662, 663, 664, 664, 663, 665, 666, 667, 668, 668, 667, 669, 670, 671, 672, 672, 671, 673, 674, 675, 676, 676, 675, 677, 678, 679, 680, 680, 679, 681, 682, 683, 684, 684, 683, 685, 686, 687, 688, 688, 687, 689, 690, 691, 692, 692, 691, 693, 694, 695, 696, 696, 695, 697, 698, 699, 700, 700, 699, 701, 702, 703, 704, 704, 703, 705, 706, 707, 708, 708, 707, 709, 710, 711, 712, 712, 711, 713, 714, 715, 716, 716, 715, 717, 718, 719, 720, 720, 719, 721, 722, 723, 724, 724, 723, 725, 726, 727, 728, 728, 727, 729, 730, 731, 732, 732, 731, 733, 734, 735, 736, 736, 735, 737, 738, 739, 740, 740, 739, 741, 742, 743, 744, 744, 743, 745, 746, 747, 748, 748, 747, 749, 750, 751, 752, 752, 751, 753, 754, 755, 756, 756, 755, 757, 758, 759, 760, 760, 759, 761, 762, 763, 764, 764, 763, 765, 766, 767, 768, 768, 767, 769, 770, 771, 772, 772, 771, 773, 774, 775, 776, 776, 775, 777, 778, 779, 780, 780, 779, 781, 782, 783, 784, 784, 783, 785, 786, 787, 788, 788, 787, 789, 790, 791, 792, 792, 791, 793, 794, 795, 796, 796, 795, 797, 798, 799, 800, 800, 799, 801, 802, 803, 804, 804, 803, 805, 806, 807, 808, 808, 807, 809, 810, 811, 812, 812, 811, 813, 814, 815, 816, 816, 815, 817, 818, 819, 820, 820, 819, 821, 822, 823, 824, 824, 823, 825]
- normal3f[] normals = [(1, 0, -0), (1, 0, -0), (1, 0, -0), (1, 0, 0), (1, 0, 0), (1, 0, -0), (1, 0, -0), (1, 0, 0), (1, 0, -0), (1, 0, -0), (1, 0, -0), (1, 0, -0), (1, 0, -0), (1, 0, -0), (1, -0, -0), (1, 0, -0), (1, -0, -0), (1, 0, -0), (1, 0, -0), (1, -0, -0), (1, -0, 0), (1, 0, -0), (1, -0, 0), (1, -0, 0), (1, 0, 0), (1, 0, 0), (1, 0, 0), (1, 0, -0), (1, 0, -0), (1, 0, -0), (1, 0, -0), (1, 0, -0), (1, -0, 0), (1, 0, -0), (1, -0, 0), (1, -0, 0), (1, -0, 0), (1, -0, 0), (1, -0, 0), (1, 0, 0), (1, 0, 0), (1, 0, 0), (1, 0, 0), (1, 0, 0), (1, 0, 0), (1, 0, 0), (1, 0, 0), (1, 0, -0), (1, 0, -0), (1, 0, 0), (1, 0, -0), (1, 0, -0), (1, 0, -0), (1, 0, -0), (1, 0, 0), (1, 0, 0), (1, 0, 0), (1, 0, -0), (1, 0, -0), (1, 0, -0), (1, 0, -0), (1, 0, -0), (1, 0, -0), (1, 0, -0), (1, 0, -0), (1, 0, -0), (1, -0, 0), (1, 0, -0), (1, 0, -0), (1, 0, -0), (1, 0, -0), (1, -0, 0), (1, 0, -0), (1, -0, 0), (1, -0, 0), (1, -0, 0), (1, -0, 0), (1, -0, 0), (1, -0, 0), (1, -0, 0), (1, 0, 0), (1, -0, 0), (1, 0, 0), (1, 0, 0), (1, -0, 0), (1, -0, 0), (1, -0, 0), (1, -0, 0), (1, -0, 0), (1, 0, 0), (1, -0, 0), (1, 0, 0), (1, 0, 0), (1, 0, 0), (1, 0, 0), (1, 0, 0), (1, 0, 0), (1, 0, 0), (1, 0, 0), (1, 0, 0), (1, 0, 0), (1, 0, 0), (1, 0, 0), (1, 0, 0), (1, 0, -0), (1, 0, 0), (1, 0, -0), (1, -0, 0), (1, -0, 0), (1, 0, -0), (1, 0, -0), (1, 0, -0), (1, 0, -0), (1, 0, 0), (1, 0, 0), (1, 0, -0), (1, 0, 0), (1, 0, 0), (1, 0, 0), (1, -0, 0), (1, -0, 0), (1, 0, -0), (1, 0, -0), (1, 0, -0), (1, 0, -0), (1, -0, 0), (1, 0, -0), (1, -0, 0), (1, 0, 0), (1, -0, 0), (1, 0, 0), (1, -0, 0), (1, -0, 0), (1, 0, 0), (1, 0, 0), (1, -0, 0), (1, 0, 0), (1, -0, -0), (1, -0, -0), (1, 0, 0), (1, -0, -0), (1, 0, -0), (1, -0, 0), (1, 0, -0), (1, 0, -0), (1, -0, 0), (1, -0, 0), (1, 0, -0), (1, -0, 0), (1, 0, -0), (1, 0, -0), (1, -0, 0), (1, 0, -0), (1, 0, 0), (1, 0, 0), (1, 0, 0), (1, 0, 0), (1, 0, 0), (1, 0, 0), (1, 0, 0), (1, 0, 0), (1, -0, -0), (1, 0, 0), (1, -0, 0), (1, -0, 0), (1, -0, 0), (1, -0, 0), (1, 0, 0), (1, -0, 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0.009449999), (0.030438887, -0.05347, 0.0068394216), (0.027438886, -0.05347, 0.009449999), (0.027438886, -0.05347, 0.0068394216), (0.030438887, -0.06010942, 0.00020000013), (0.027438886, -0.06010942, 0.00020000013), (0.030438887, -0.059482653, 0.002081274), (0.027438886, -0.059482653, 0.002081274), (0.030438887, -0.059482653, 0.002081274), (0.027438886, -0.059482653, 0.002081274), (0.030438887, -0.05844029, 0.0037681405), (0.027438886, -0.05844029, 0.0037681405), (0.030438887, -0.05844029, 0.0037681405), (0.027438886, -0.05844029, 0.0037681405), (0.030438887, -0.057038143, 0.0051702885), (0.027438886, -0.057038143, 0.0051702885), (0.030438887, -0.057038143, 0.0051702885), (0.027438886, -0.057038143, 0.0051702885), (0.030438887, -0.055351276, 0.006212651), (0.027438886, -0.055351276, 0.006212651), (0.030438887, -0.055351276, 0.006212651), (0.027438886, -0.055351276, 0.006212651), (0.030438887, -0.05347, 0.0068394216), (0.027438886, -0.05347, 0.0068394216), (0.030438887, -0.06010942, 0.00020000013), (0.030438887, -0.06272, 0.00020000013), (0.027438886, -0.06010942, 0.00020000013), (0.027438886, -0.06272, 0.00020000013), (0.030438887, -0.06272, -0.0033000007), (0.027438886, -0.06272, -0.0033000007), (0.030438887, -0.063595, -0.0030655437), (0.027438886, -0.063595, -0.0030655437), (0.030438887, -0.063595, -0.0030655437), (0.027438886, -0.063595, -0.0030655437), (0.030438887, -0.064235546, -0.0024250005), (0.027438886, -0.064235546, -0.0024250005), (0.030438887, -0.064235546, -0.0024250005), (0.027438886, -0.064235546, -0.0024250005), (0.030438887, -0.06447, -0.0015499997), (0.027438886, -0.06447, -0.0015499997), (0.030438887, -0.06447, -0.0015499997), (0.027438886, -0.06447, -0.0015499997), (0.030438887, -0.064235546, -0.0006749998), (0.027438886, -0.064235546, -0.0006749998), (0.030438887, -0.064235546, -0.0006749998), (0.027438886, -0.064235546, -0.0006749998), (0.030438887, -0.063595, -0.000034455676), (0.027438886, -0.063595, -0.000034455676), (0.030438887, -0.063595, -0.000034455676), (0.027438886, -0.063595, -0.000034455676), (0.030438887, -0.06272, 0.00020000013), (0.027438886, -0.06272, 0.00020000013), (0.030438887, -0.06272, -0.0033000007), (0.030438887, -0.06010942, -0.0033000007), (0.027438886, -0.06272, -0.0033000007), (0.027438886, -0.06010942, -0.0033000007), (0.030438887, -0.05347, -0.009939422), (0.027438886, -0.05347, -0.009939422), (0.030438887, -0.055351276, -0.009312651), (0.027438886, -0.055351276, -0.009312651), (0.030438887, -0.055351276, -0.009312651), (0.027438886, -0.055351276, -0.009312651), (0.030438887, -0.057038143, -0.008270289), (0.027438886, -0.057038143, -0.008270289), (0.030438887, -0.057038143, -0.008270289), (0.027438886, -0.057038143, -0.008270289), (0.030438887, -0.05844029, -0.0068681412), (0.027438886, -0.05844029, -0.0068681412), (0.030438887, -0.05844029, -0.0068681412), (0.027438886, -0.05844029, -0.0068681412), (0.030438887, -0.059482653, -0.0051812744), (0.027438886, -0.059482653, -0.0051812744), (0.030438887, -0.059482653, -0.0051812744), (0.027438886, -0.059482653, -0.0051812744), (0.030438887, -0.06010942, -0.0033000007), (0.027438886, -0.06010942, -0.0033000007), (0.030438887, -0.05347, -0.009939422), (0.030438887, -0.05347, -0.01255), (0.027438886, -0.05347, -0.009939422), (0.027438886, -0.05347, -0.01255)]
- uniform token purpose = "guide"
- uniform token subdivisionScheme = "bilinear"
- quatd xformOp:orient = (0.00003275928247603588, 0.7071055173873901, 0.7071080803871155, 0.000032759398891357705)
- double3 xformOp:scale = (1, 1, 1)
- double3 xformOp:translate = (0, 0, 0)
- uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
- }
+ uniform token physics:approximation = "convexHull"
+ point3f[] points = [(0, -0.041999996, -0.014999992), (0, -0.058, -0.014999992), (0, -0.058, 0.0049999924), (0, -0.041999996, 0.0049999924), (0.04, -0.041999996, -0.014999992), (0, -0.041999996, -0.014999992), (0, -0.041999996, 0.0049999924), (0.04, -0.041999996, 0.0049999924), (0.04, -0.058, -0.014999992), (0.04, -0.041999996, -0.014999992), (0.04, -0.041999996, 0.0049999924), (0.04, -0.058, 0.0049999924), (0, -0.058, -0.014999992), (0.04, -0.058, -0.014999992), (0.04, -0.058, 0.0049999924), (0, -0.058, 0.0049999924), (0.04, -0.058, 0.0049999924), (0.04, -0.041999996, 0.0049999924), (0, -0.041999996, 0.0049999924), (0, -0.058, 0.0049999924), (0, -0.058, -0.014999992), (0, -0.041999996, -0.014999992), (0.04, -0.041999996, -0.014999992), (0.04, -0.058, -0.014999992), (-0.02, -0.025000002, -0.040000007), (-0.02, -0.025000002, 0.020000007), (-0.02, 0.024999999, 0.020000007), (-0.02, 0.024999999, -0.040000007), (-0.02, 0.024999999, -0.040000007), (-0.02, 0.024999999, 0.020000007), (0.04, 0.024999999, 0.020000007), (0.04, 0.024999999, -0.040000007), (0.04, 0.024999999, -0.040000007), (0.04, 0.024999999, 0.020000007), (0.04, -0.025000002, 0.020000007), (0.04, -0.025000002, -0.040000007), (0.04, -0.025000002, -0.040000007), (0.04, -0.025000002, 0.020000007), (-0.02, -0.025000002, 0.020000007), (-0.02, -0.025000002, -0.040000007), (-0.02, 0.024999999, -0.040000007), (0.04, 0.024999999, -0.040000007), (0.04, -0.025000002, -0.040000007), (-0.02, -0.025000002, -0.040000007), (0.04, 0.024999999, 0.020000007), (-0.02, 0.024999999, 0.020000007), (-0.02, -0.025000002, 0.020000007), (0.04, -0.025000002, 0.020000007)]
+ uniform token purpose = "guide"
+ uniform token subdivisionScheme = "bilinear"
+ quatd xformOp:orient = (0.00003275928247603588, 0.7071055173873901, 0.7071080803871155, 0.000032759398891357705)
+ double3 xformOp:scale = (1, 1, 1)
+ double3 xformOp:translate = (0, 0, 0)
+ uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
}
def PhysicsRevoluteJoint "joint_4" (
apiSchemas = ["PhysxJointAPI", "PhysicsJointStateAPI:angular", "PhysicsDriveAPI:angular"]
)
{
- float drive:angular:physics:damping = 1745.3292
+ float drive:angular:physics:damping = 0
float drive:angular:physics:maxForce = 3000
- float drive:angular:physics:stiffness = 17453293000000
- float drive:angular:physics:targetPosition = 8
+ float drive:angular:physics:stiffness = 10000000
+ float drive:angular:physics:targetPosition = 0
uniform token drive:angular:physics:type = "force"
uniform token physics:axis = "Z"
rel physics:body0 =
@@ -810,8 +637,6 @@ def Xform "ar4" (
float physics:lowerLimit = -164.99998
float physics:upperLimit = 164.99998
float physxJoint:maxJointVelocity = 5000
- float state:angular:physics:position = 0
- float state:angular:physics:velocity = 0
}
}
@@ -823,7 +648,6 @@ def Xform "ar4" (
float3 physics:diagonalInertia = (0.0030860133, 0.0030860133, 0.000209616)
float physics:mass = 0.34936
quatf physics:principalAxes = (1, 0, 0, 0)
- rel physics:simulationOwner
quatd xformOp:orient = (-0.0000025331974029541016, -0.7071055173873901, -2.9802322387695312e-8, -0.7071081399917603)
double3 xformOp:scale = (1, 1, 1)
double3 xformOp:translate = (0.06419999897480011, 0.000001090765067601751, 0.4747700095176697)
@@ -866,59 +690,34 @@ def Xform "ar4" (
}
}
- def "collisions"
+ def Mesh "collisions" (
+ apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"]
+ )
{
- def Mesh "mesh_0" (
- apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"]
- )
- {
- float3[] extent = [(-0.025943154, -0.034030218, -0.24806893), (0.025943154, 0.039792713, 0.04371269)]
- int[] faceVertexCounts = [3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 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(0.0043922807, 0.03818034, -0.23780946), (0.0049319426, 0.023180986, -0.23716606), (0.004913798, 0.038180973, -0.23716606), (0.0049319426, 0.023180986, -0.23716606), (0.004913798, 0.038180973, -0.23716606), (0.0057052937, 0.023181919, -0.2368696), (0.0056871497, 0.03818191, -0.2368696), (0.0057052937, 0.023181919, -0.2368696), (0.0056871497, 0.03818191, -0.2368696), (0.0065232553, 0.023182908, -0.23699954), (0.0065051103, 0.038182896, -0.23699954)]
- uniform token purpose = "guide"
- uniform token subdivisionScheme = "bilinear"
- quatd xformOp:orient = (0.0000463287033198867, 0, 1, 0)
- double3 xformOp:scale = (1, 1, 1)
- double3 xformOp:translate = (0, 0, 0)
- uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
- }
-
- def Mesh "mesh_1" (
- apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"]
+ float3[] extent = [(-0.01, -0.032, -0.24000001), (0.02, 0.04, 0.040000007)]
+ int[] faceVertexCounts = [3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3]
+ int[] faceVertexIndices = [0, 1, 2, 0, 2, 3, 4, 5, 6, 4, 6, 7, 8, 9, 10, 8, 10, 11, 12, 13, 14, 12, 14, 15, 16, 17, 18, 16, 18, 19, 20, 21, 22, 20, 22, 23, 24, 25, 26, 24, 26, 27, 28, 29, 30, 28, 30, 31, 32, 33, 34, 32, 34, 35, 36, 37, 38, 36, 38, 39, 40, 41, 42, 40, 42, 43, 44, 45, 46, 44, 46, 47, 48, 49, 50, 48, 50, 51, 52, 53, 54, 52, 54, 55, 56, 57, 58, 56, 58, 59, 60, 61, 62, 60, 62, 63, 64, 65, 66, 64, 66, 67, 68, 69, 70, 68, 70, 71, 72, 73, 74, 72, 74, 75, 76, 77, 78, 76, 78, 79, 80, 81, 82, 80, 82, 83, 84, 85, 86, 84, 86, 87, 88, 89, 90, 88, 90, 91, 92, 93, 94, 92, 94, 95]
+ normal3f[] normals = [(-1, -0, -0), (-1, -0, -0), (-1, -0, -0), (-1, -0, -0), (-1, -0, -0), (-1, -0, 0), (0, 1, 0), (0, 1, 0), (0, 1, 0), (0, 1, 0), (0, 1, 0), (0, 1, -0), (1, -0, 0), (1, -0, 0), (1, -0, 0), (1, -0, 0), (1, -0, 0), (1, -0, 0), (0, -1, 0), (0, -1, 0), (0, -1, 0), (0, -1, 0), (0, -1, 0), (0, -1, 0), (0, 0, -1), (0, 0, -1), (0, 0, -1), (0, 0, -1), (0, 0, -1), (0, 0, -1), (0, 0, 1), (0, 0, 1), (0, 0, 1), (0, 0, 1), (0, 0, 1), (0, -0, 1), (-1, -0, -0), (-1, -0, -0), (-1, -0, -0), (-1, -0, -0), (-1, -0, -0), (-1, -0, 0), (0, 1, 0), (0, 1, 0), (0, 1, 0), (0, 1, 0), (0, 1, 0), (0, 1, -0), (1, -0, 0), (1, -0, 0), (1, -0, 0), (1, -0, 0), (1, -0, 0), (1, -0, 0), (0, -1, 0), (0, -1, 0), (0, -1, 0), (0, -1, 0), (0, -1, 0), (0, -1, 0), (0, 0, -1), (0, 0, -1), (0, 0, -1), (0, 0, -1), (0, 0, -1), (0, 0, -1), (0, 0, 1), (0, 0, 1), (0, 0, 1), (0, 0, 1), (0, 0, 1), (0, -0, 1), (-1, -0, -0), (-1, -0, -0), (-1, -0, -0), (-1, -0, -0), (-1, -0, -0), (-1, -0, 0), (0, 1, 0), (0, 1, 0), (0, 1, 0), (0, 1, 0), (0, 1, 0), (0, 1, -0), (1, -0, 0), (1, -0, 0), (1, -0, 0), (1, -0, 0), (1, -0, 0), (1, -0, 0), (0, -1, 0), (0, -1, 0), (0, -1, 0), (0, -1, 0), (0, -1, 0), (0, -1, 0), (0, 0, -1), (0, 0, -1), (0, 0, -1), (0, 0, -1), (0, 0, -1), (0, 0, -1), (0, 0, 1), (0, 0, 1), (0, 0, 1), (0, 0, 1), (0, 0, 1), (0, -0, 1), (-1, -0, -0), (-1, -0, -0), (-1, -0, -0), (-1, -0, -0), (-1, -0, -0), (-1, -0, 0), (0, 1, 0), (0, 1, 0), (0, 1, 0), (0, 1, 0), (0, 1, 0), (0, 1, -0), (1, -0, 0), (1, -0, 0), (1, -0, 0), (1, -0, 0), (1, -0, 0), (1, -0, 0), (0, -1, 0), (0, -1, 0), (0, -1, 0), (0, -1, 0), (0, -1, 0), (0, -1, 0), (0, 0, -1), (0, 0, -1), (0, 0, -1), (0, 0, -1), (0, 0, -1), (0, 0, -1), (0, 0, 1), (0, 0, 1), (0, 0, 1), (0, 0, 1), (0, 0, 1), (0, -0, 1)] (
+ interpolation = "faceVarying"
)
- {
- float3[] extent = [(-0.021170732, -0.021170732, -0.15828732), (0.021170732, 0.021170732, 0.077712685)]
- int[] faceVertexCounts = [3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3]
- int[] faceVertexIndices = [0, 1, 2, 2, 1, 3, 2, 3, 4, 5, 6, 7, 7, 6, 8, 7, 8, 9, 10, 11, 12, 12, 11, 13, 12, 13, 14, 15, 16, 17, 17, 16, 18, 17, 18, 19, 20, 21, 22, 21, 23, 22, 22, 23, 24, 22, 24, 25, 26, 27, 28, 28, 29, 26, 26, 29, 30, 26, 30, 31, 31, 30, 32, 31, 32, 33, 24, 34, 25, 25, 34, 35, 25, 35, 27, 27, 35, 36, 27, 36, 28, 37, 38, 39, 40, 39, 41, 31, 42, 43, 31, 43, 44, 41, 45, 40, 40, 45, 46, 40, 46, 47, 47, 46, 48, 39, 40, 37, 37, 40, 49, 37, 49, 50, 50, 49, 51, 50, 51, 52, 53, 54, 22, 22, 54, 55, 22, 55, 56, 43, 57, 44, 44, 57, 58, 44, 58, 37, 37, 58, 59, 37, 59, 38, 56, 60, 22, 22, 60, 31, 22, 31, 20, 20, 31, 33, 60, 61, 31, 31, 61, 62, 31, 62, 63, 42, 31, 64, 64, 31, 63, 64, 63, 48, 48, 63, 65, 48, 65, 47, 66, 67, 68, 69, 70, 71, 71, 70, 66, 71, 66, 72, 72, 66, 68, 73, 74, 22, 22, 74, 75, 22, 75, 76, 52, 53, 50, 50, 53, 22, 50, 22, 77, 77, 22, 76, 77, 78, 50, 50, 78, 79, 50, 79, 67, 67, 79, 80, 67, 80, 68, 81, 82, 22, 22, 82, 70, 22, 70, 73, 73, 70, 69, 83, 84, 85, 82, 86, 70, 70, 86, 87, 70, 87, 84, 84, 87, 88, 84, 88, 85, 89, 25, 90, 90, 25, 83, 90, 83, 91, 91, 83, 85, 89, 92, 25, 25, 92, 93, 25, 93, 22, 22, 93, 94, 22, 94, 81, 95, 96, 97, 98, 99, 95, 97, 100, 101, 95, 97, 98, 98, 97, 101, 98, 101, 102, 103, 104, 105, 106, 107, 108, 106, 108, 109, 110, 111, 112, 110, 112, 113, 114, 115, 116, 114, 116, 117, 118, 119, 120, 118, 120, 121, 122, 123, 124, 122, 124, 125, 126, 127, 128, 126, 128, 129, 130, 131, 132, 130, 132, 133, 134, 135, 136, 134, 136, 137, 138, 139, 140, 138, 140, 141, 142, 143, 144, 142, 144, 145, 146, 147, 148, 146, 148, 149, 150, 151, 152, 150, 152, 153, 154, 155, 156, 154, 156, 157, 103, 158, 104, 159, 160, 161, 161, 160, 162, 161, 162, 163, 163, 162, 164, 163, 164, 165, 165, 164, 166, 165, 166, 167, 167, 166, 168, 167, 168, 169, 169, 168, 170, 169, 170, 171, 170, 172, 171, 171, 172, 173, 171, 173, 174, 174, 173, 175, 174, 175, 176, 176, 175, 177, 176, 177, 178, 178, 177, 179, 178, 179, 180, 180, 179, 181, 180, 181, 182, 182, 181, 183, 182, 183, 159, 159, 183, 184, 159, 184, 160, 185, 186, 187, 188, 189, 190, 188, 190, 191, 192, 193, 194, 192, 194, 195, 196, 197, 198, 196, 198, 199, 200, 201, 202, 200, 202, 203, 204, 205, 206, 204, 206, 207, 208, 209, 210, 208, 210, 211, 212, 213, 214, 212, 214, 215, 216, 217, 218, 216, 218, 219, 220, 221, 222, 220, 222, 223, 224, 225, 226, 224, 226, 227, 228, 229, 230, 228, 230, 231, 185, 232, 186, 233, 234, 235, 235, 234, 236, 235, 236, 237, 238, 239, 235, 235, 239, 240, 235, 240, 233, 241, 242, 235, 235, 242, 243, 235, 243, 238, 237, 244, 235, 235, 244, 245, 235, 245, 241, 246, 247, 248, 248, 247, 249, 250, 251, 252, 252, 251, 253, 254, 255, 256, 256, 255, 257, 258, 259, 260, 260, 259, 261, 262, 263, 264, 264, 263, 265, 266, 267, 268, 268, 267, 269, 270, 271, 272, 272, 271, 273, 274, 275, 276, 276, 275, 277, 278, 279, 280, 280, 279, 281, 282, 283, 284, 284, 283, 285, 286, 287, 288, 288, 287, 289, 290, 291, 292, 292, 291, 293, 294, 295, 296, 296, 295, 297, 298, 299, 300, 300, 299, 301, 302, 303, 304, 304, 303, 305, 306, 307, 308, 308, 307, 309, 310, 311, 312, 312, 311, 313, 312, 313, 314, 315, 316, 312, 312, 316, 317, 312, 317, 310, 318, 319, 312, 312, 319, 320, 312, 320, 315, 314, 321, 312, 312, 321, 322, 312, 322, 318, 323, 324, 325, 325, 324, 326, 327, 328, 329, 329, 328, 330, 331, 332, 333, 333, 332, 334, 335, 336, 337, 337, 336, 338, 339, 340, 341, 341, 340, 342, 343, 344, 345, 345, 344, 346, 347, 348, 349, 349, 348, 350, 351, 352, 353, 353, 352, 354, 355, 356, 357, 357, 356, 358, 359, 360, 361, 361, 360, 362, 363, 364, 365, 365, 364, 366, 367, 368, 369, 369, 368, 370, 371, 372, 373, 373, 372, 374, 373, 374, 375, 376, 377, 373, 373, 377, 378, 373, 378, 371, 379, 380, 373, 373, 380, 381, 373, 381, 376, 375, 382, 373, 373, 382, 383, 373, 383, 379, 384, 385, 386, 386, 385, 387, 388, 389, 390, 390, 389, 391, 392, 393, 394, 394, 393, 395, 396, 397, 398, 398, 397, 399, 400, 401, 402, 402, 401, 403, 404, 405, 406, 406, 405, 407, 408, 409, 410, 410, 409, 411, 412, 413, 414, 414, 413, 415, 416, 417, 418, 418, 417, 419, 420, 421, 422, 422, 421, 423, 424, 425, 426, 426, 425, 427, 428, 429, 430, 430, 429, 431, 432, 433, 434, 434, 433, 435, 434, 435, 436, 437, 438, 434, 434, 438, 439, 434, 439, 432, 440, 441, 434, 434, 441, 442, 434, 442, 437, 436, 443, 434, 434, 443, 444, 434, 444, 440, 445, 446, 447, 447, 446, 448, 449, 450, 451, 451, 450, 452, 453, 454, 455, 455, 454, 456, 457, 458, 459, 459, 458, 460, 461, 462, 463, 463, 462, 464, 465, 466, 467, 467, 466, 468, 469, 470, 471, 471, 470, 472, 473, 474, 475, 475, 474, 476, 477, 478, 479, 479, 478, 480, 481, 482, 483, 483, 482, 484, 485, 486, 487, 487, 486, 488, 489, 490, 491, 491, 490, 492, 493, 494, 495, 495, 494, 496, 495, 496, 497, 498, 499, 495, 495, 499, 500, 495, 500, 493, 501, 502, 495, 495, 502, 503, 495, 503, 498, 497, 504, 495, 495, 504, 505, 495, 505, 501]
- normal3f[] normals = [(0.9999992, 0.0012102054, 0), (0.9999992, 0.0012102054, 0), (0.9999992, 0.0012102054, 0), (0.9999992, 0.0012102054, 0), (0.9999992, 0.0012102054, 0), (0.9999992, 0.0012096876, 6.889743e-8), (0.9999992, 0.0012102054, 0), (0.9999992, 0.0012096876, 6.889743e-8), (0.9999993, 0.0012096089, -0), (0.0012096716, -0.9999993, 0), (0.0012096716, -0.9999993, 0), (0.0012096716, -0.9999993, 0), (0.0012096716, -0.9999993, 0), (0.0012096716, -0.9999993, 0), (0.0012096876, -0.9999992, -1.403782e-8), (0.0012096716, -0.9999993, 0), (0.0012096876, -0.9999992, -1.403782e-8), (0.0012097931, -0.9999992, 0), (-0.9999993, -0.0012096716, -0), (-0.9999993, -0.0012096716, -0), (-0.9999993, -0.0012096716, -0), (-0.9999993, -0.0012096716, -0), (-0.9999993, -0.0012096716, -0), (-0.9999992, -0.0012096876, -1.403782e-8), (-0.9999993, -0.0012096716, -0), (-0.9999992, -0.0012096876, -1.403782e-8), (-0.9999992, -0.0012097931, 0), (-0.0012102054, 0.9999992, 0), (-0.0012102054, 0.9999992, 0), (-0.0012102054, 0.9999992, 0), (-0.0012102054, 0.9999992, 0), (-0.0012102054, 0.9999992, 0), (-0.0012096876, 0.9999992, 6.889743e-8), (-0.0012102054, 0.9999992, 0), (-0.0012096876, 0.9999992, 6.889743e-8), (-0.0012096089, 0.9999993, 0), (0, -0, -1), (0, -0, -1), (0, -0, -1), (0, -0, -1), (0, -0, -1), (0, -0, -1), (0, -0, -1), (0, -0, -1), (0, 0, -1), (0, -0, -1), (0, 0, -1), (0, 0, -1), (0, -0, -1), (0, -0, -1), (0, -0, -1), (0, -0, -1), (0, 0, -1), (0, -0, -1), (0, -0, -1), (0, 0, -1), (-0, 0, -1), (0, -0, -1), (-0, 0, -1), (-0, 0, -1), (-0, 0, -1), (-0, 0, -1), (0, -0, -1), (-0, 0, -1), (0, -0, -1), (0, -0, -1), (0, 0, -1), (0, 0, -1), (0, 0, -1), (0, 0, -1), (0, 0, -1), (0, 0, -1), (0, 0, -1), (0, 0, -1), (0, -0, -1), (0, -0, -1), (0, 0, -1), (-0, 0, -1), (0, -0, -1), (-0, 0, -1), (0, -0, -1), (0, 0, -1), (0, 0, -1), (0, 0, -1), (0, 0, -1), (0, 0, -1), (0, 0, -1), (-0, 0, -1), (-0, 0, -1), (-0, 0, -1), (-0, 0, -1), (-0, 0, -1), (-0, 0, -1), (0, 0, -1), (0, 0, -1), (0, 0, -1), (0, 0, -1), (0, 0, -1), (0, 0, -1), (0, 0, -1), (0, 0, -1), (0, 0, -1), (0, 0, -1), (0, 0, -1), (0, 0, -1), (0, 0, -1), (0, 0, -1), (0, 0, -1), (0, 0, -1), (0, 0, -1), (0, -0, -1), (0, 0, -1), (0, -0, -1), (0, -0, -1), (0, -0, -1), (0, -0, -1), (0, 0, -1), (0, -0, -1), (0, 0, -1), (0, 0, -1), (0, 0, -1), (0, 0, -1), (0, -0, -1), (0, -0, -1), (0, 0, -1), (0, 0, -1), (0, -0, -1), (0, 0, -1), (0, 0, -1), (-0, 0, -1), (0, 0, -1), (-0, 0, -1), (-0, 0, -1), (0, 0, -1), (0, -0, -1), (-0, 0, -1), (0, -0, -1), (0, 0, -1), (0, 0, -1), (0, -0, -1), (0, -0, -1), (0, 0, -1), (0, -0, -1), (0, 0, -1), (0, 0, -1), (0, 0, -1), (0, -0, -1), (0, -0, -1), (0, 0, -1), (-0, 0, -1), (0, -0, -1), (-0, 0, -1), (0, -0, -1), (0, -0, -1), (-0, 0, -1), (0, -0, -1), (0, 0, -1), (0, 0, -1), (-0, 0, -1), (-0, 0, -1), (0, 0, -1), (-0, 0, -1), (-0, 0, -1), (-0, 0, -1), (-0, 0, -1), (-0, 0, -1), (-0, 0, -1), (0, -0, -1), (0, -0, -1), (-0, 0, -1), (-0, 0, -1), (0, -0, -1), (-0, 0, -1), (0, 0, -1), (0, 0, -1), (-0, 0, -1), (0, -0, -1), (0, 0, -1), (0, -0, -1), (0, 0, -1), (0, 0, -1), (0, 0, -1), (0, 0, -1), (-0, -0, -1), (-0, -0, -1), (-0, -0, -1), (-0, -0, -1), (-0, -0, -1), (0, 0, -1), (-0, -0, -1), (0, 0, -1), (-0, 0, -1), (-0, 0, -1), (0, 0, -1), (0, 0, -1), (0, 0, -1), (0, 0, -1), (0, -0, -1), (0, -0, -1), (0, 0, -1), (-0, 0, -1), (0, -0, -1), (-0, 0, -1), (-0, 0, -1), (0, 0, -1), (0, 0, -1), (0, -0, -1), (0, -0, -1), (0, 0, -1), (0, -0, -1), (0, -0, -1), (0, -0, -1), (0, -0, -1), (0, -0, -1), (0, -0, -1), (-0, 0, -1), (0, -0, -1), (-0, 0, -1), (0, -0, -1), (0, -0, -1), (-0, 0, -1), (0, -0, -1), (0, -0, -1), (0, -0, -1), (0, 0, -1), (0, 0, -1), (0, -0, -1), (0, -0, -1), (0, 0, -1), (0, -0, -1), (0, 0, -1), (-0, 0, -1), (-0, 0, -1), (0, -0, -1), (0, -0, -1), (-0, 0, -1), (-0, -0, -1), (0, -0, -1), (-0, -0, -1), (0, 0, -1), (0, 0, -1), (-0, -0, -1), (-0, -0, -1), (-0, 0, -1), (-0, 0, -1), (-0, 0, -1), (-0, 0, -1), (0, -0, -1), (-0, -0, -1), (-0, -0, -1), (0, -0, -1), (0, 0, -1), (-0, -0, -1), (0, 0, -1), 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- )
- uniform token physics:approximation = "convexHull"
- rel physics:simulationOwner
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- uniform token purpose = "guide"
- uniform token subdivisionScheme = "bilinear"
- quatd xformOp:orient = (0.0000463287033198867, 0, 1, 0)
- double3 xformOp:scale = (1, 1, 1)
- double3 xformOp:translate = (0, 0, 0)
- uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
- }
+ uniform token physics:approximation = "convexHull"
+ point3f[] points = [(-0.01, -0.02, -0.16), (-0.01, -0.02, -0.059999987), (-0.01, 0.04, -0.059999987), (-0.01, 0.04, -0.16), (-0.01, 0.04, -0.16), (-0.01, 0.04, -0.059999987), (0.02, 0.04, -0.059999987), (0.02, 0.04, -0.16), (0.02, 0.04, -0.16), (0.02, 0.04, -0.059999987), (0.02, -0.02, -0.059999987), (0.02, -0.02, -0.16), (0.02, -0.02, -0.16), (0.02, -0.02, -0.059999987), (-0.01, -0.02, -0.059999987), (-0.01, -0.02, -0.16), (-0.01, 0.04, -0.16), (0.02, 0.04, -0.16), (0.02, -0.02, -0.16), (-0.01, -0.02, -0.16), (0.02, 0.04, -0.059999987), (-0.01, 0.04, -0.059999987), (-0.01, -0.02, -0.059999987), (0.02, -0.02, -0.059999987), (-0.01, -0.032, -0.24000001), (-0.01, -0.032, -0.1), (-0.01, -0.018, -0.1), (-0.01, -0.018, -0.24000001), (-0.01, -0.018, -0.24000001), (-0.01, -0.018, -0.1), (0.02, -0.018, -0.1), (0.02, -0.018, -0.24000001), (0.02, -0.018, -0.24000001), (0.02, -0.018, -0.1), (0.02, -0.032, -0.1), (0.02, -0.032, -0.24000001), (0.02, -0.032, -0.24000001), (0.02, -0.032, -0.1), (-0.01, -0.032, -0.1), (-0.01, -0.032, -0.24000001), (-0.01, -0.018, -0.24000001), (0.02, -0.018, -0.24000001), (0.02, -0.032, -0.24000001), (-0.01, -0.032, -0.24000001), (0.02, -0.018, -0.1), (-0.01, -0.018, -0.1), (-0.01, -0.032, -0.1), (0.02, -0.032, -0.1), (-0.005, -0.015, -0.060000002), (-0.005, -0.015, 0.040000007), (-0.005, 0.015, 0.040000007), (-0.005, 0.015, -0.060000002), (-0.005, 0.015, -0.060000002), (-0.005, 0.015, 0.040000007), (0.015, 0.015, 0.040000007), (0.015, 0.015, -0.060000002), (0.015, 0.015, -0.060000002), (0.015, 0.015, 0.040000007), (0.015, -0.015, 0.040000007), (0.015, -0.015, -0.060000002), (0.015, -0.015, -0.060000002), (0.015, -0.015, 0.040000007), (-0.005, -0.015, 0.040000007), (-0.005, -0.015, -0.060000002), (-0.005, 0.015, -0.060000002), (0.015, 0.015, -0.060000002), (0.015, -0.015, -0.060000002), (-0.005, -0.015, -0.060000002), (0.015, 0.015, 0.040000007), (-0.005, 0.015, 0.040000007), (-0.005, -0.015, 0.040000007), (0.015, -0.015, 0.040000007), (-0.01, 0.02, -0.238), (-0.01, 0.02, -0.14199999), (-0.01, 0.04, -0.14199999), (-0.01, 0.04, -0.238), (-0.01, 0.04, -0.238), (-0.01, 0.04, -0.14199999), (0.02, 0.04, -0.14199999), (0.02, 0.04, -0.238), (0.02, 0.04, -0.238), (0.02, 0.04, -0.14199999), (0.02, 0.02, -0.14199999), (0.02, 0.02, -0.238), (0.02, 0.02, -0.238), (0.02, 0.02, -0.14199999), (-0.01, 0.02, -0.14199999), (-0.01, 0.02, -0.238), (-0.01, 0.04, -0.238), (0.02, 0.04, -0.238), (0.02, 0.02, -0.238), (-0.01, 0.02, -0.238), (0.02, 0.04, -0.14199999), (-0.01, 0.04, -0.14199999), (-0.01, 0.02, -0.14199999), (0.02, 0.02, -0.14199999)]
+ uniform token purpose = "guide"
+ uniform token subdivisionScheme = "bilinear"
+ quatd xformOp:orient = (0.0000463287033198867, 0, 1, 0)
+ double3 xformOp:scale = (1, 1, 1)
+ double3 xformOp:translate = (0, 0, 0)
+ uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
}
def PhysicsRevoluteJoint "joint_5" (
apiSchemas = ["PhysxJointAPI", "PhysicsJointStateAPI:angular", "PhysicsDriveAPI:angular"]
)
{
- float drive:angular:physics:damping = 1745.3292
+ float drive:angular:physics:damping = 0
float drive:angular:physics:maxForce = 3000
- float drive:angular:physics:stiffness = 17453293000000
- float drive:angular:physics:targetPosition = -32.4
+ float drive:angular:physics:stiffness = 10000000
+ float drive:angular:physics:targetPosition = 0
uniform token drive:angular:physics:type = "force"
uniform token physics:axis = "Z"
rel physics:body0 =
@@ -932,8 +731,6 @@ def Xform "ar4" (
float physics:lowerLimit = -104.99999
float physics:upperLimit = 104.99999
float physxJoint:maxJointVelocity = 5000
- float state:angular:physics:position = 0
- float state:angular:physics:velocity = 0
}
}
@@ -945,7 +742,6 @@ def Xform "ar4" (
float3 physics:diagonalInertia = (0.00007708, 0.000158014, 0.000111766)
float physics:mass = 0.11562
quatf physics:principalAxes = (1, 0, 0, 0)
- rel physics:simulationOwner
quatd xformOp:orient = (0.49999821186065674, -0.5, -0.5000019073486328, -0.5000000596046448)
double3 xformOp:scale = (1, 1, 1)
double3 xformOp:translate = (0.28683000802993774, 3.025816681656579e-7, 0.47477084398269653)
@@ -988,59 +784,34 @@ def Xform "ar4" (
}
}
- def "collisions"
+ def Mesh "collisions" (
+ apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"]
+ )
{
- def Mesh "mesh_0" (
- apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"]
- )
- {
- float3[] extent = [(-0.047594, -0.022991993, -0.022997782), (0.0454872, 0.022977445, 0.035900004)]
- int[] faceVertexCounts = [3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 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- int[] faceVertexIndices = [0, 1, 2, 2, 1, 3, 4, 5, 6, 6, 5, 7, 8, 9, 10, 10, 9, 11, 12, 13, 14, 14, 13, 15, 16, 17, 18, 18, 17, 19, 20, 21, 22, 23, 24, 19, 19, 24, 25, 19, 25, 18, 26, 27, 28, 28, 27, 29, 28, 29, 30, 30, 29, 31, 30, 31, 32, 33, 34, 35, 35, 34, 36, 35, 36, 37, 37, 36, 38, 32, 39, 30, 30, 39, 40, 30, 40, 36, 36, 40, 41, 36, 41, 38, 22, 42, 20, 20, 42, 43, 20, 43, 44, 44, 43, 45, 16, 46, 17, 17, 46, 47, 17, 47, 28, 28, 47, 48, 28, 48, 26, 33, 49, 34, 34, 49, 50, 34, 50, 20, 20, 50, 51, 20, 51, 21, 45, 52, 44, 44, 52, 53, 44, 53, 19, 19, 53, 54, 19, 54, 23, 55, 56, 57, 58, 59, 60, 60, 59, 55, 60, 55, 61, 61, 55, 57, 61, 57, 62, 63, 64, 65, 65, 64, 66, 67, 68, 69, 69, 68, 70, 71, 72, 73, 73, 72, 74, 75, 76, 77, 77, 76, 78, 79, 80, 81, 82, 83, 84, 82, 84, 85, 86, 87, 88, 86, 88, 89, 90, 91, 92, 90, 92, 93, 94, 95, 96, 94, 96, 97, 98, 99, 100, 98, 100, 101, 102, 103, 104, 102, 104, 105, 106, 107, 108, 106, 108, 109, 110, 111, 112, 110, 112, 113, 114, 115, 116, 114, 116, 117, 118, 119, 120, 118, 120, 121, 122, 123, 124, 122, 124, 125, 126, 127, 128, 126, 128, 129, 130, 131, 132, 130, 132, 133, 134, 135, 136, 134, 136, 137, 138, 139, 140, 138, 140, 141, 142, 143, 144, 142, 144, 145, 146, 147, 148, 146, 148, 149, 150, 151, 152, 150, 152, 153, 154, 155, 156, 154, 156, 157, 158, 159, 160, 158, 160, 161, 162, 163, 164, 162, 164, 165, 166, 167, 168, 166, 168, 169, 170, 171, 172, 170, 172, 173, 174, 175, 176, 174, 176, 177, 178, 179, 180, 178, 180, 181, 182, 183, 184, 182, 184, 185, 186, 187, 188, 186, 188, 189, 190, 191, 192, 190, 192, 193, 194, 195, 196, 194, 196, 197, 198, 199, 200, 198, 200, 201, 202, 203, 204, 205, 206, 207, 208, 209, 210, 211, 212, 213, 213, 212, 214, 213, 214, 215, 215, 214, 216, 215, 216, 210, 210, 216, 217, 210, 217, 208, 218, 219, 220, 220, 219, 221, 220, 221, 222, 222, 221, 223, 222, 223, 211, 211, 223, 224, 211, 224, 212, 208, 225, 209, 209, 225, 226, 209, 226, 227, 227, 226, 228, 227, 228, 229, 229, 228, 230, 229, 230, 231, 232, 233, 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332, 333, 331, 333, 334, 335, 336, 337, 335, 337, 338, 339, 340, 341, 339, 341, 342, 343, 344, 345, 343, 345, 346, 347, 348, 349, 347, 349, 350, 351, 352, 353, 351, 353, 354, 355, 356, 357, 355, 357, 358, 264, 359, 265, 360, 361, 362, 362, 361, 363, 362, 363, 364, 365, 366, 367, 367, 366, 368, 367, 368, 360, 360, 368, 369, 360, 369, 361, 370, 371, 372, 372, 371, 373, 372, 373, 365, 365, 373, 374, 365, 374, 366, 375, 376, 377, 377, 376, 378, 377, 378, 370, 370, 378, 379, 370, 379, 371, 380, 381, 382, 382, 381, 383, 382, 383, 384, 384, 383, 385, 384, 385, 375, 375, 385, 386, 375, 386, 376, 387, 388, 380, 380, 388, 389, 380, 389, 381, 390, 391, 392, 392, 391, 393, 392, 393, 387, 387, 393, 394, 387, 394, 388, 363, 395, 364, 364, 395, 396, 364, 396, 397, 397, 396, 398, 397, 398, 390, 390, 398, 399, 390, 399, 391, 400, 401, 402, 403, 404, 405, 403, 405, 406, 407, 408, 409, 407, 409, 410, 411, 412, 413, 411, 413, 414, 415, 416, 417, 415, 417, 418, 419, 420, 421, 419, 421, 422, 423, 424, 425, 423, 425, 426, 427, 428, 429, 427, 429, 430, 431, 432, 433, 431, 433, 434, 435, 436, 437, 435, 437, 438, 439, 440, 441, 439, 441, 442, 443, 444, 445, 443, 445, 446, 447, 448, 449, 447, 449, 450, 451, 452, 453, 451, 453, 454, 455, 456, 457, 455, 457, 458, 459, 460, 461, 459, 461, 462, 400, 463, 401, 464, 465, 466, 466, 465, 467, 466, 467, 468, 468, 467, 469, 468, 469, 470, 470, 469, 471, 470, 471, 472, 472, 471, 473, 472, 473, 474, 474, 473, 475, 474, 475, 476, 475, 477, 476, 476, 477, 478, 476, 478, 479, 479, 478, 480, 479, 480, 481, 481, 480, 482, 481, 482, 483, 483, 482, 484, 483, 484, 485, 485, 484, 486, 485, 486, 487, 487, 486, 488, 487, 488, 489, 489, 488, 490, 489, 490, 491, 491, 490, 492, 491, 492, 464, 464, 492, 493, 464, 493, 465, 494, 495, 496, 494, 496, 497, 498, 499, 496, 496, 499, 500, 496, 500, 497, 501, 502, 496, 496, 502, 503, 496, 503, 498, 504, 505, 496, 496, 505, 506, 496, 506, 501, 495, 507, 496, 496, 507, 508, 496, 508, 504, 509, 510, 511, 512, 513, 514, 512, 514, 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6183, 6184, 6182, 6184, 6185, 6186, 6187, 6188, 6186, 6188, 6189, 6190, 6191, 6192, 6190, 6192, 6193, 6194, 6195, 6196, 6194, 6196, 6197, 6198, 6199, 6200, 6198, 6200, 6201, 6202, 6203, 6204, 6202, 6204, 6205, 6206, 6207, 6208, 6206, 6208, 6209, 6210, 6211, 6212, 6210, 6212, 6213, 6214, 6215, 6216, 6214, 6216, 6217, 6218, 6219, 6220, 6218, 6220, 6221, 6222, 6223, 6224, 6222, 6224, 6225, 6226, 6227, 6228, 6226, 6228, 6229, 6230, 6231, 6232, 6230, 6232, 6233, 6234, 6235, 6236, 6234, 6236, 6237, 6238, 6239, 6240, 6238, 6240, 6241, 6242, 6243, 6244, 6242, 6244, 6245, 6246, 6247, 6248, 6246, 6248, 6249, 6250, 6251, 6252, 6250, 6252, 6253, 6254, 6255, 6256, 6254, 6256, 6257, 6258, 6259, 6260, 6258, 6260, 6261, 6262, 6263, 6264, 6262, 6264, 6265, 6123, 6266, 6124, 6267, 6268, 6269, 6269, 6268, 6270, 6269, 6270, 6271, 6271, 6270, 6272, 6271, 6272, 6273, 6273, 6272, 6274, 6273, 6274, 6275, 6274, 6276, 6275, 6275, 6276, 6277, 6275, 6277, 6278, 6278, 6277, 6279, 6278, 6279, 6280, 6280, 6279, 6281, 6280, 6281, 6282, 6281, 6283, 6282, 6282, 6283, 6284, 6282, 6284, 6285, 6285, 6284, 6286, 6285, 6286, 6287, 6287, 6286, 6288, 6287, 6288, 6289, 6289, 6288, 6290, 6289, 6290, 6291, 6292, 6293, 6294, 6294, 6293, 6295, 6294, 6295, 6296, 6296, 6295, 6297, 6296, 6297, 6267, 6267, 6297, 6298, 6267, 6298, 6268, 6299, 6300, 6301, 6301, 6300, 6302, 6301, 6302, 6303, 6303, 6302, 6304, 6303, 6304, 6305, 6305, 6304, 6306, 6305, 6306, 6307, 6290, 6308, 6291, 6291, 6308, 6309, 6291, 6309, 6310, 6310, 6309, 6311, 6310, 6311, 6312, 6312, 6311, 6313, 6312, 6313, 6299, 6299, 6313, 6314, 6299, 6314, 6300, 6306, 6315, 6307, 6307, 6315, 6316, 6307, 6316, 6317, 6317, 6316, 6318, 6317, 6318, 6319, 6319, 6318, 6320, 6319, 6320, 6321, 6320, 6322, 6321, 6321, 6322, 6323, 6321, 6323, 6324, 6324, 6323, 6325, 6324, 6325, 6326, 6326, 6325, 6327, 6326, 6327, 6328, 6328, 6327, 6329, 6328, 6329, 6292, 6292, 6329, 6330, 6292, 6330, 6293, 6331, 6332, 6333, 6333, 6332, 6334, 6333, 6334, 6335, 6335, 6334, 6336, 6335, 6336, 6337, 6337, 6336, 6338, 6337, 6338, 6339, 6339, 6338, 6340, 6339, 6340, 6341, 6341, 6340, 6342, 6341, 6342, 6343, 6343, 6342, 6344, 6343, 6344, 6345, 6345, 6344, 6346, 6345, 6346, 6347, 6347, 6346, 6348, 6347, 6348, 6349, 6349, 6348, 6350, 6349, 6350, 6351, 6351, 6350, 6352, 6351, 6352, 6353, 6353, 6352, 6354, 6353, 6354, 6355, 6355, 6354, 6356, 6355, 6356, 6357, 6357, 6356, 6358, 6357, 6358, 6359, 6359, 6358, 6360, 6359, 6360, 6361, 6361, 6360, 6362, 6361, 6362, 6363, 6363, 6362, 6364, 6363, 6364, 6365, 6365, 6364, 6366, 6365, 6366, 6367, 6367, 6366, 6368, 6367, 6368, 6369, 6369, 6368, 6370, 6369, 6370, 6371, 6371, 6370, 6372, 6371, 6372, 6373, 6373, 6372, 6374, 6373, 6374, 6375, 6375, 6374, 6376, 6375, 6376, 6377, 6376, 6378, 6377, 6377, 6378, 6379, 6377, 6379, 6380, 6380, 6379, 6381, 6380, 6381, 6382, 6382, 6381, 6383, 6382, 6383, 6384, 6384, 6383, 6385, 6384, 6385, 6386, 6386, 6385, 6387, 6386, 6387, 6388, 6388, 6387, 6389, 6388, 6389, 6390, 6390, 6389, 6391, 6390, 6391, 6392, 6392, 6391, 6393, 6392, 6393, 6394, 6394, 6393, 6395, 6394, 6395, 6396, 6396, 6395, 6397, 6396, 6397, 6398, 6398, 6397, 6399, 6398, 6399, 6331, 6331, 6399, 6400, 6331, 6400, 6332, 6401, 6402, 6403, 6404, 6405, 6406, 6404, 6406, 6407, 6408, 6409, 6410, 6408, 6410, 6411, 6412, 6413, 6414, 6412, 6414, 6415, 6416, 6417, 6418, 6416, 6418, 6419, 6420, 6421, 6422, 6420, 6422, 6423, 6424, 6425, 6426, 6424, 6426, 6427, 6428, 6429, 6430, 6428, 6430, 6431, 6432, 6433, 6434, 6432, 6434, 6435, 6436, 6437, 6438, 6436, 6438, 6439, 6440, 6441, 6442, 6440, 6442, 6443, 6444, 6445, 6446, 6444, 6446, 6447, 6448, 6449, 6450, 6448, 6450, 6451, 6452, 6453, 6454, 6452, 6454, 6455, 6456, 6457, 6458, 6456, 6458, 6459, 6460, 6461, 6462, 6460, 6462, 6463, 6464, 6465, 6466, 6464, 6466, 6467, 6468, 6469, 6470, 6468, 6470, 6471, 6472, 6473, 6474, 6472, 6474, 6475, 6476, 6477, 6478, 6476, 6478, 6479, 6480, 6481, 6482, 6480, 6482, 6483, 6484, 6485, 6486, 6484, 6486, 6487, 6488, 6489, 6490, 6488, 6490, 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- normal3f[] normals = [(-1, 0, -0), (-1, 0, -0), (-1, 0, -0), (-1, 0, -0), (-1, 0, -0), (-1, 0, 0), (0, -1, 0), (0, -1, 0), (0, -1, 0), (0, -1, 0), (0, -1, 0), (0, -1, 0), (1, 0, -0), (1, 0, -0), (1, 0, -0), (1, 0, -0), (1, 0, -0), (1, -0, 0), (-0, 1, 0), (-0, 1, 0), (-0, 1, 0), (-0, 1, 0), (-0, 1, 0), (-0, 1, 0), (-0, -0, 1), (-0, -0, 1), (-0, -0, 1), (-0, -0, 1), (-0, -0, 1), (-0, 0, 1), (-0, 0, 1), (-0, 0, 1), (-0, 0, 1), (-0, 0, 1), (-0, 0, 1), (-0, 0, 1), (-0, 0, 1), (-0, 0, 1), (0, 0, 1), (-0, 0, 1), (0, 0, 1), (-0, -0, 1), (0, 0, 1), (0, 0, 1), (0, 0, 1), (0, 0, 1), (0, 0, 1), (0, 0, 1), (0, 0, 1), (0, 0, 1), (0, 0, 1), (0, 0, 1), (0, 0, 1), (0, -0, 1), (0, 0, 1), (0, -0, 1), (0, -0, 1), (0, 0, 1), (0, 0, 1), (0, 0, 1), (0, 0, 1), (0, 0, 1), (0, 0, 1), (0, 0, 1), (0, 0, 1), (-0, 0, 1), (-0, 0, 1), (0, 0, 1), (-0, 0, 1), (0, -0, 1), (0, 0, 1), (0, 0, 1), (0, 0, 1), (0, 0, 1), (0, -0, 1), (0, 0, 1), (0, -0, 1), (0, 0, 1), (0, 0, 1), (0, -0, 1), (0, -0, 1), (0, 0, 1), (0, -0, 1), (-0, 0, 1), (-0, 0, 1), (0, -0, 1), (-0, 0, 1), (-0, 0, 1), (0, -0, 1), (-0, 0, 1), (-0, 0, 1), (-0, 0, 1), (-0, 0, 1), (-0, 0, 1), (-0, 0, 1), (0, 0, 1), (-0, -0, 1), (0, 0, 1), (-0, -0, 1), (-0, -0, 1), (0, 0, 1), (0, 0, 1), (-0, -0, 1), (0, 0, 1), (0, 0, 1), (0, 0, 1), (0, 0, 1), (0, 0, 1), (0, 0, 1), (0, 0, 1), (0, 0, 1), (0, 0, 1), (0, -0, 1), (0, 0, 1), (0, 0, 1), (0, -0, 1), (-0, 0, 1), (0, 0, 1), (-0, 0, 1), (-0, 0, 1), (-0, 0, 1), (-0, 0, 1), (-0, 0, 1), (-0, 0, 1), (-0, 0, 1), (-0, 0, 1), (0, 0, 1), (-0, 0, 1), (-0, 0, 1), (-0, 0, 1), (-0, 0, 1), (0, 0, 1), (-0, 0, 1), (0, 0, 1), (-0, 0, 1), (-0, 0, 1), (0, 0, 1), (0, 0, 1), (-0, 0, 1), (0, 0, 1), (-0, 0, 1), (0, -0, -1), (0, -0, -1), (0, -0, -1), (0, -0, -1), (0, -0, -1), (0, -0, -1), (0, -0, -1), (0, -0, -1), (0, -0, -1), (0, -0, -1), (0, -0, -1), (0, -0, -1), (0, -0, -1), (0, -0, -1), (0, -0, -1), (0, -0, -1), (0, -0, -1), (-0, -0, -1), (0.70710677, 0.70710677, 0), (0.70710677, 0.70710677, 0), (0.70710677, 0.70710677, 0), (0.70710677, 0.70710677, 0), (0.70710677, 0.70710677, 0), (0.70710677, 0.70710677, 0), (-0.70710677, 0.70710677, 0), (-0.70710677, 0.70710677, 0), (-0.70710677, 0.70710677, 0), (-0.70710677, 0.70710677, 0), (-0.70710677, 0.70710677, 0), (-0.70710677, 0.70710677, 0), (0.70710677, -0.70710677, 0), (0.70710677, -0.70710677, 0), (0.70710677, -0.70710677, 0), (0.70710677, -0.70710677, 0), (0.70710677, -0.70710677, 0), (0.70710677, -0.70710677, 0), (-0.70710677, -0.70710677, 0), (-0.70710677, -0.70710677, 0), (-0.70710677, -0.70710677, 0), (-0.70710677, -0.70710677, 0), (-0.70710677, -0.70710677, 0), (-0.70710677, -0.70710677, -0), (-0.9987164, 0.050650112, 0), (-0.9987164, 0.050650112, 0), (-0.9987164, 0.050650112, 0), (-0.97953, 0.20129815, 0), (-0.97953, 0.20129815, 0), (-0.97953, 0.20129815, 0), (-0.97953, 0.20129815, 0), (-0.97953, 0.20129815, 0), (-0.97953, 0.20129815, 0), (-0.9189577, 0.3943561, 0), (-0.9189577, 0.3943561, 0), (-0.9189577, 0.3943561, 0), (-0.9189577, 0.3943561, 0), 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(-0.047594, -0.003004517, -0.0026406208), (-0.022594, -0.003699132, -0.0015219796), (-0.047594, -0.003699132, -0.0015219796), (-0.022594, -0.003699132, -0.0015219796), (-0.047594, -0.003699132, -0.0015219796), (-0.022594, -0.0039928886, -0.00023840835), (-0.047594, -0.0039928886, -0.00023840835), (-0.022594, -0.0039928886, -0.00023840835), (-0.047594, -0.0039928886, -0.00023840835), (-0.022594, -0.0038539541, 0.0010709981), (-0.047594, -0.0038539541, 0.0010709981), (-0.022594, -0.0038539541, 0.0010709981), (-0.047594, -0.0038539541, 0.0010709981), (-0.022594, -0.003297384, 0.0022643455), (-0.047594, -0.003297384, 0.0022643455), (-0.022594, -0.003297384, 0.0022643455), (-0.047594, -0.003297384, 0.0022643455), (-0.022594, -0.0023834908, 0.0032123157), (-0.047594, -0.0023834908, 0.0032123157), (-0.022594, -0.0023834908, 0.0032123157), (-0.047594, -0.0023834908, 0.0032123157), (-0.022594, -0.0012113095, 0.0038121818), (-0.047594, -0.0012113095, 0.0038121818), (-0.022594, -0.0012113095, 0.0038121818), (-0.047594, -0.0012113095, 0.0038121818), (-0.022594, 0.0000921361, 0.003998939), (-0.047594, 0.0000921361, 0.003998939), (-0.022594, 0.0000921361, 0.003998939), (-0.047594, 0.0000921361, 0.003998939), (-0.022594, 0.0013855972, 0.0037523487), (-0.047594, 0.0013855972, 0.0037523487), (-0.022594, 0.0013855972, 0.0037523487), (-0.047594, 0.0013855972, 0.0037523487), (-0.022594, 0.0025289073, 0.0030991335), (-0.047594, 0.0025289073, 0.0030991335), (-0.022594, 0.0025289073, 0.0030991335), (-0.047594, 0.0025289073, 0.0030991335), (-0.022594, 0.0033981712, 0.002110079), (-0.047594, 0.0033981712, 0.002110079), (-0.022594, 0.0033981712, 0.002110079), (-0.047594, 0.0033981712, 0.002110079), (-0.022594, 0.0038991903, 0.0008923647), (-0.047594, 0.0038991903, 0.0008923647), (-0.022594, 0.0038991903, 0.0008923647), (-0.047594, 0.0038991903, 0.0008923647), (-0.022594, 0.003977672, -0.00042205115), (-0.047594, 0.003977672, -0.00042205115)]
- uniform token purpose = "guide"
- uniform token subdivisionScheme = "bilinear"
- quatd xformOp:orient = (0.7071055173873901, 0, -0.7071080803871155, 0)
- double3 xformOp:scale = (1, 1, 1)
- double3 xformOp:translate = (0, 0, 0)
- uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
- }
-
- def Mesh "mesh_1" (
- apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"]
+ float3[] extent = [(-0.044999998, -0.02, -0.017), (0.044999998, 0.02, 0.017)]
+ int[] faceVertexCounts = [3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3]
+ int[] faceVertexIndices = [0, 1, 2, 0, 2, 3, 4, 5, 6, 4, 6, 7, 8, 9, 10, 8, 10, 11, 12, 13, 14, 12, 14, 15, 16, 17, 18, 16, 18, 19, 20, 21, 22, 20, 22, 23, 24, 25, 26, 27, 24, 26, 28, 29, 30, 31, 28, 30, 32, 33, 34, 35, 32, 34, 36, 37, 38, 39, 36, 38, 40, 41, 42, 43, 40, 42, 44, 45, 46, 47, 44, 46, 48, 49, 50, 48, 50, 51, 52, 53, 54, 52, 54, 55, 56, 57, 58, 56, 58, 59, 60, 61, 62, 60, 62, 63, 64, 65, 66, 64, 66, 67, 68, 69, 70, 68, 70, 71]
+ normal3f[] normals = [(-1, -0, -0), (-1, -0, -0), (-1, -0, -0), (-1, -0, -0), (-1, -0, -0), (-1, -0, 0), (0, 1, 0), (0, 1, 0), (0, 1, 0), (0, 1, 0), (0, 1, 0), (0, 1, -0), (1, -0, 0), (1, -0, 0), (1, -0, 0), (1, -0, 0), (1, -0, 0), (1, -0, 0), (0, -1, 0), (0, -1, 0), (0, -1, 0), (0, -1, 0), (0, -1, 0), (0, -1, 0), (0, 0, -1), (0, 0, -1), (0, 0, -1), (0, 0, -1), (0, 0, -1), (0, 0, -1), (0, 0, 1), (0, 0, 1), (0, 0, 1), (0, 0, 1), (0, 0, 1), (0, -0, 1), (1, 0, 0), (1, 0, 0), (1, 0, 0), (1, -0, 0), (1, 0, 0), (1, 0, 0), (0, 1, -0), (0, 1, -0), (0, 1, -0), (0, 1, 0), (0, 1, -0), (0, 1, -0), (-1, 0, 0), (-1, 0, 0), (-1, 0, 0), (-1, -0, -0), (-1, 0, 0), (-1, 0, 0), (0, -1, 0), (0, -1, 0), (0, -1, 0), (0, -1, 0), (0, -1, 0), (0, -1, 0), (-0, -0, -1), (-0, -0, -1), (-0, -0, -1), (0, -0, -1), (-0, -0, -1), (-0, -0, -1), (-0, 0, 1), (-0, 0, 1), (-0, 0, 1), (0, 0, 1), (-0, 0, 1), (-0, 0, 1), (-1, -0, -0), (-1, -0, -0), (-1, -0, -0), (-1, -0, -0), (-1, -0, -0), (-1, -0, 0), (0, 1, 0), (0, 1, 0), (0, 1, 0), (0, 1, 0), (0, 1, 0), (0, 1, -0), (1, -0, 0), (1, -0, 0), (1, -0, 0), (1, -0, 0), (1, -0, 0), (1, -0, 0), (0, -1, 0), (0, -1, 0), (0, -1, 0), (0, -1, 0), (0, -1, 0), (0, -1, 0), (0, 0, -1), (0, 0, -1), (0, 0, -1), (0, 0, -1), (0, 0, -1), (0, 0, -1), (0, 0, 1), (0, 0, 1), (0, 0, 1), (0, 0, 1), (0, 0, 1), (0, -0, 1)] (
+ interpolation = "faceVarying"
)
- {
- float3[] extent = [(-0.017794, -0.0175, -0.0519), (0.017206, 0.0175, -0.017899998)]
- int[] faceVertexCounts = [3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3]
- int[] faceVertexIndices = [0, 1, 2, 2, 1, 3, 4, 5, 6, 6, 5, 7, 8, 9, 10, 10, 9, 11, 12, 13, 14, 14, 13, 15, 16, 17, 18, 19, 20, 21, 19, 21, 22, 22, 21, 18, 18, 21, 23, 18, 23, 16, 24, 25, 26, 27, 28, 24, 26, 29, 30, 24, 26, 27, 27, 26, 30, 27, 30, 31, 32, 33, 34, 34, 33, 35, 36, 37, 38, 38, 37, 39, 40, 41, 42, 42, 41, 43, 44, 45, 46, 46, 45, 47]
- normal3f[] normals = [(-1, 0, -0), (-1, 0, -0), (-1, 0, -0), (-1, 0, -0), (-1, 0, -0), (-1, 0, 0), (0, -1, 0), (0, -1, 0), (0, -1, 0), (0, -1, 0), (0, -1, 0), (0, -1, 0), (1, 0, -0), (1, 0, -0), (1, 0, -0), (1, 0, -0), (1, 0, -0), (1, -0, 0), (-0, 1, 0), (-0, 1, 0), (-0, 1, 0), (-0, 1, 0), (-0, 1, 0), (-0, 1, 0), (0, 0, 1), (0, 0, 1), (0, 0, 1), (0, 0, 1), (0, 0, 1), (0, 0, 1), (0, 0, 1), (0, 0, 1), (0, -0, 1), (0, -0, 1), (0, 0, 1), (0, 0, 1), (0, 0, 1), (0, 0, 1), (0, -0, 1), (0, 0, 1), (0, -0, 1), (0, 0, 1), (0, 0, -1), (0, 0, -1), (0, 0, -1), (0, 0, -1), (0, 0, -1), (0, 0, -1), (0, 0, -1), (0, -0, -1), (0, -0, -1), (0, 0, -1), (0, 0, -1), (0, 0, -1), (0, 0, -1), (0, 0, -1), (0, -0, -1), (0, 0, -1), (0, -0, -1), (-0, -0, -1), (0.7071068, 0.7071068, 0), (0.7071068, 0.7071068, 0), (0.7071068, 0.7071068, 0), (0.7071068, 0.7071068, 0), (0.7071068, 0.7071068, 0), (0.7071068, 0.7071068, 0), (-0.7071068, 0.7071068, 0), (-0.7071068, 0.7071068, 0), (-0.7071068, 0.7071068, 0), (-0.7071068, 0.7071068, 0), (-0.7071068, 0.7071068, 0), (-0.7071068, 0.7071068, 0), (0.7071068, -0.7071068, 0), (0.7071068, -0.7071068, 0), (0.7071068, -0.7071068, 0), (0.7071068, -0.7071068, 0), (0.7071068, -0.7071068, 0), (0.7071068, -0.7071068, 0), (-0.7071068, -0.7071068, 0), (-0.7071068, -0.7071068, 0), (-0.7071068, -0.7071068, 0), (-0.7071068, -0.7071068, 0), (-0.7071068, -0.7071068, 0), (-0.7071068, -0.7071068, -0)] (
- interpolation = "faceVarying"
- )
- uniform token physics:approximation = "convexHull"
- rel physics:simulationOwner
- point3f[] points = [(-0.017794, 0.0145, -0.0519), (-0.017794, -0.0145, -0.0519), (-0.017794, 0.0145, -0.017899998), (-0.017794, -0.0145, -0.017899998), (0.014206, -0.0175, -0.017899998), (-0.0147939995, -0.0175, -0.017899998), (0.014206, -0.0175, -0.0519), (-0.0147939995, -0.0175, -0.0519), (0.017206, 0.0145, -0.017899998), (0.017206, -0.0145, -0.017899998), (0.017206, 0.0145, -0.0519), (0.017206, -0.0145, -0.0519), (0.014206, 0.0175, -0.0519), (-0.0147939995, 0.0175, -0.0519), (0.014206, 0.0175, -0.017899998), (-0.0147939995, 0.0175, -0.017899998), (0.014206, -0.0175, -0.017899998), (0.017206, -0.0145, -0.017899998), (0.017206, 0.0145, -0.017899998), (-0.0147939995, 0.0175, -0.017899998), (-0.017794, 0.0145, -0.017899998), (-0.017794, -0.0145, -0.017899998), (0.014206, 0.0175, -0.017899998), (-0.0147939995, -0.0175, -0.017899998), (0.014206, -0.0175, -0.0519), (-0.0147939995, -0.0175, -0.0519), (-0.017794, -0.0145, -0.0519), (0.017206, 0.0145, -0.0519), (0.017206, -0.0145, -0.0519), (-0.017794, 0.0145, -0.0519), (-0.0147939995, 0.0175, -0.0519), (0.014206, 0.0175, -0.0519), (0.017206, 0.0145, -0.0519), (0.014206, 0.0175, -0.0519), (0.017206, 0.0145, -0.017899998), (0.014206, 0.0175, -0.017899998), (-0.0147939995, 0.0175, -0.0519), (-0.017794, 0.0145, -0.0519), (-0.0147939995, 0.0175, -0.017899998), (-0.017794, 0.0145, -0.017899998), (0.014206, -0.0175, -0.0519), (0.017206, -0.0145, -0.0519), (0.014206, -0.0175, -0.017899998), (0.017206, -0.0145, -0.017899998), (-0.017794, -0.0145, -0.0519), (-0.0147939995, -0.0175, -0.0519), (-0.017794, -0.0145, -0.017899998), (-0.0147939995, -0.0175, -0.017899998)]
- uniform token purpose = "guide"
- uniform token subdivisionScheme = "bilinear"
- quatd xformOp:orient = (0.7071055173873901, 0, -0.7071080803871155, 0)
- double3 xformOp:scale = (1, 1, 1)
- double3 xformOp:translate = (0, 0, 0)
- uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
- }
+ uniform token physics:approximation = "convexHull"
+ point3f[] points = [(-0.044999998, -0.007, -0.007), (-0.044999998, -0.007, 0.007), (-0.044999998, 0.007, 0.007), (-0.044999998, 0.007, -0.007), (-0.044999998, 0.007, -0.007), (-0.044999998, 0.007, 0.007), (0.044999998, 0.007, 0.007), (0.044999998, 0.007, -0.007), (0.044999998, 0.007, -0.007), (0.044999998, 0.007, 0.007), (0.044999998, -0.007, 0.007), (0.044999998, -0.007, -0.007), (0.044999998, -0.007, -0.007), (0.044999998, -0.007, 0.007), (-0.044999998, -0.007, 0.007), (-0.044999998, -0.007, -0.007), (-0.044999998, 0.007, -0.007), (0.044999998, 0.007, -0.007), (0.044999998, -0.007, -0.007), (-0.044999998, -0.007, -0.007), (0.044999998, 0.007, 0.007), (-0.044999998, 0.007, 0.007), (-0.044999998, -0.007, 0.007), (0.044999998, -0.007, 0.007), (0.044999998, 0.02, 0.017), (0.044999998, -0.02, 0.017), (0.044999998, -0.02, -0.017), (0.044999998, 0.02, -0.017), (0.035, 0.02, 0.017), (0.044999998, 0.02, 0.017), (0.044999998, 0.02, -0.017), (0.035, 0.02, -0.017), (0.035, -0.02, 0.017), (0.035, 0.02, 0.017), (0.035, 0.02, -0.017), (0.035, -0.02, -0.017), (0.044999998, -0.02, 0.017), (0.035, -0.02, 0.017), (0.035, -0.02, -0.017), (0.044999998, -0.02, -0.017), (0.035, -0.02, -0.017), (0.035, 0.02, -0.017), (0.044999998, 0.02, -0.017), (0.044999998, -0.02, -0.017), (0.044999998, -0.02, 0.017), (0.044999998, 0.02, 0.017), (0.035, 0.02, 0.017), (0.035, -0.02, 0.017), (-0.015, -0.02, -0.015), (-0.015, -0.02, 0.015), (-0.015, 0.02, 0.015), (-0.015, 0.02, -0.015), (-0.015, 0.02, -0.015), (-0.015, 0.02, 0.015), (0.015, 0.02, 0.015), (0.015, 0.02, -0.015), (0.015, 0.02, -0.015), (0.015, 0.02, 0.015), (0.015, -0.02, 0.015), (0.015, -0.02, -0.015), (0.015, -0.02, -0.015), (0.015, -0.02, 0.015), (-0.015, -0.02, 0.015), (-0.015, -0.02, -0.015), (-0.015, 0.02, -0.015), (0.015, 0.02, -0.015), (0.015, -0.02, -0.015), (-0.015, -0.02, -0.015), (0.015, 0.02, 0.015), (-0.015, 0.02, 0.015), (-0.015, -0.02, 0.015), (0.015, -0.02, 0.015)]
+ uniform token purpose = "guide"
+ uniform token subdivisionScheme = "bilinear"
+ quatd xformOp:orient = (0.7071055173873901, 0, -0.7071080803871155, 0)
+ double3 xformOp:scale = (1, 1, 1)
+ double3 xformOp:translate = (0, 0, 0)
+ uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
}
def PhysicsRevoluteJoint "joint_6" (
apiSchemas = ["PhysxJointAPI", "PhysicsJointStateAPI:angular", "PhysicsDriveAPI:angular"]
)
{
- float drive:angular:physics:damping = 1745.3292
+ float drive:angular:physics:damping = 0
float drive:angular:physics:maxForce = 3000
- float drive:angular:physics:stiffness = 17453293000000
- float drive:angular:physics:targetPosition = 6
+ float drive:angular:physics:stiffness = 10000000
+ float drive:angular:physics:targetPosition = 0
uniform token drive:angular:physics:type = "force"
uniform token physics:axis = "Z"
rel physics:body0 =
@@ -1054,8 +825,6 @@ def Xform "ar4" (
float physics:lowerLimit = -154.99998
float physics:upperLimit = 154.99998
float physxJoint:maxJointVelocity = 5000
- float state:angular:physics:position = 0
- float state:angular:physics:velocity = 0
}
}
@@ -1067,7 +836,6 @@ def Xform "ar4" (
float3 physics:diagonalInertia = (9.242e-7, 0.0000023105, 0.0000023105)
float physics:mass = 0.013863
quatf physics:principalAxes = (1, 0, 0, 0)
- rel physics:simulationOwner
quatd xformOp:orient = (-0.000003874301910400391, -0.7071068286895752, -0.70710688829422, 0.0000012516975402832031)
double3 xformOp:scale = (1, 1, 1)
double3 xformOp:translate = (0.2868301272392273, 1.7033386257025995e-7, 0.4385208487510681)
@@ -1094,15 +862,223 @@ def Xform "ar4" (
apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"]
)
{
- float3[] extent = [(-0.024, -0.016, -0.016), (0.024, 0.016, 0)]
- int[] faceVertexCounts = [3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3]
- int[] faceVertexIndices = [0, 1, 2, 3, 4, 5, 6, 7, 8, 8, 7, 9, 3, 5, 10, 11, 12, 13, 14, 15, 16, 16, 15, 17, 16, 17, 6, 6, 17, 18, 6, 18, 7, 19, 20, 9, 9, 20, 21, 9, 21, 8, 4, 22, 5, 5, 22, 23, 5, 23, 24, 12, 0, 13, 13, 0, 2, 13, 2, 25, 25, 2, 26, 25, 26, 27, 27, 26, 28, 27, 28, 29, 29, 28, 30, 29, 30, 19, 19, 30, 31, 19, 31, 32, 33, 34, 14, 14, 34, 35, 14, 35, 15, 25, 36, 13, 13, 36, 34, 13, 34, 37, 37, 34, 33, 38, 39, 19, 19, 39, 40, 41, 42, 43, 43, 42, 44, 43, 44, 45, 45, 44, 46, 45, 46, 32, 32, 46, 47, 32, 47, 19, 19, 47, 48, 19, 48, 38, 5, 20, 10, 10, 20, 19, 10, 19, 49, 49, 19, 40, 0, 50, 1, 1, 50, 51, 1, 51, 52, 52, 51, 53, 52, 53, 54, 54, 53, 55, 54, 55, 41, 41, 55, 56, 41, 56, 42, 57, 58, 59, 59, 58, 60, 59, 60, 61, 61, 62, 59, 59, 62, 63, 59, 63, 13, 13, 63, 64, 13, 64, 11, 65, 66, 67, 68, 69, 70, 71, 72, 73, 68, 70, 74, 70, 75, 74, 74, 75, 76, 74, 76, 77, 77, 76, 78, 77, 78, 79, 78, 80, 79, 79, 80, 81, 79, 81, 82, 82, 81, 83, 82, 83, 84, 84, 83, 85, 86, 87, 88, 89, 90, 91, 91, 90, 92, 91, 92, 93, 94, 95, 96, 96, 95, 97, 96, 97, 98, 98, 97, 99, 98, 99, 86, 86, 99, 100, 86, 100, 101, 65, 102, 66, 66, 102, 103, 66, 103, 104, 104, 103, 105, 104, 105, 106, 72, 65, 73, 73, 65, 67, 73, 67, 107, 107, 67, 95, 107, 95, 68, 68, 95, 94, 68, 94, 69, 105, 108, 106, 106, 108, 109, 106, 109, 110, 110, 109, 111, 110, 111, 112, 112, 111, 113, 112, 113, 114, 114, 113, 115, 114, 115, 101, 101, 115, 116, 101, 116, 86, 86, 116, 117, 86, 117, 87, 88, 118, 86, 86, 118, 119, 86, 119, 120, 83, 86, 85, 85, 86, 120, 85, 120, 91, 91, 120, 121, 91, 121, 89, 122, 123, 124, 124, 123, 125, 124, 125, 126, 126, 127, 124, 124, 127, 128, 124, 128, 73, 73, 128, 129, 73, 129, 71, 130, 131, 132, 130, 132, 133, 134, 135, 136, 134, 136, 137, 138, 139, 140, 138, 140, 141, 142, 143, 144, 142, 144, 145, 146, 147, 148, 148, 147, 149, 148, 149, 150, 151, 152, 153, 151, 153, 154, 155, 156, 157, 155, 157, 158, 159, 160, 161, 159, 161, 162, 163, 164, 165, 163, 165, 166, 167, 168, 169, 167, 169, 170, 171, 172, 173, 173, 172, 174, 173, 174, 175, 175, 174, 176, 177, 178, 179, 177, 179, 180, 181, 182, 183, 181, 183, 184, 185, 186, 187, 185, 187, 188, 189, 190, 191, 189, 191, 192, 193, 194, 195, 193, 195, 196, 197, 198, 199, 199, 198, 200, 199, 200, 201, 202, 203, 204, 202, 204, 205, 206, 207, 208, 206, 208, 209, 210, 211, 212, 210, 212, 213, 214, 215, 216, 214, 216, 217, 218, 219, 220, 220, 219, 221, 220, 221, 222, 222, 221, 223, 224, 225, 226, 227, 228, 229, 226, 225, 228, 228, 225, 230, 228, 230, 229, 231, 232, 233, 233, 232, 234, 229, 235, 227, 227, 235, 236, 227, 236, 237, 237, 236, 233, 237, 233, 238, 238, 233, 234, 231, 239, 240, 240, 239, 241, 240, 241, 242, 243, 244, 245, 246, 247, 248, 248, 247, 249, 250, 251, 252, 252, 251, 253, 252, 253, 254, 254, 253, 244, 254, 244, 255, 255, 244, 243, 241, 256, 242, 242, 256, 257, 242, 257, 258, 257, 243, 258, 258, 243, 245, 258, 245, 259, 259, 245, 246, 259, 246, 260, 260, 246, 248, 252, 261, 250, 250, 261, 262, 250, 262, 233, 233, 262, 263, 233, 263, 231, 231, 263, 264, 231, 264, 239, 265, 266, 267, 267, 266, 268, 267, 268, 269, 269, 268, 270, 269, 270, 233, 233, 270, 271, 233, 271, 250, 265, 272, 266, 266, 272, 249, 266, 249, 273, 273, 249, 247, 272, 274, 249, 249, 274, 275, 249, 275, 276, 277, 278, 226, 226, 278, 279, 226, 279, 224, 280, 281, 226, 226, 281, 249, 226, 249, 277, 277, 249, 276, 282, 283, 284, 285, 286, 287, 287, 286, 288, 287, 288, 289, 289, 288, 284, 284, 288, 290, 284, 290, 282, 290, 291, 282, 282, 291, 292, 282, 292, 226, 226, 292, 293, 226, 293, 280, 281, 294, 249, 249, 294, 295, 249, 295, 296, 297, 298, 249, 299, 300, 301, 301, 300, 302, 301, 302, 282, 282, 302, 303, 282, 303, 283, 304, 305, 299, 299, 305, 306, 299, 306, 300, 304, 307, 305, 305, 307, 297, 305, 297, 308, 308, 297, 249, 308, 249, 309, 309, 249, 296, 309, 296, 285, 285, 296, 310, 285, 310, 286, 228, 311, 226, 226, 311, 312, 226, 312, 313, 313, 314, 226, 226, 314, 315, 226, 315, 282, 316, 317, 318, 319, 320, 321, 321, 320, 322, 321, 322, 323, 324, 325, 326, 327, 328, 319, 319, 328, 329, 319, 329, 320, 330, 331, 327, 327, 331, 332, 327, 332, 328, 333, 334, 330, 330, 334, 335, 330, 335, 331, 336, 326, 337, 337, 326, 338, 339, 340, 341, 341, 340, 342, 341, 342, 333, 333, 342, 343, 333, 343, 334, 344, 345, 346, 344, 347, 348, 348, 347, 349, 341, 347, 339, 339, 347, 344, 339, 344, 350, 350, 344, 346, 350, 346, 351, 338, 352, 337, 337, 352, 353, 337, 353, 347, 347, 353, 354, 347, 354, 349, 355, 324, 356, 356, 324, 326, 356, 326, 357, 357, 326, 336, 358, 359, 336, 336, 359, 360, 336, 360, 357, 361, 362, 358, 358, 362, 363, 358, 363, 359, 364, 365, 361, 361, 365, 366, 361, 366, 362, 367, 368, 369, 369, 368, 370, 369, 370, 364, 364, 370, 371, 364, 371, 365, 367, 369, 372, 372, 369, 373, 372, 373, 318, 374, 375, 376, 376, 375, 377, 376, 377, 323, 323, 377, 378, 323, 378, 321, 321, 378, 379, 321, 379, 380, 380, 379, 381, 380, 381, 373, 373, 381, 382, 383, 316, 384, 384, 316, 318, 384, 318, 385, 385, 318, 373, 385, 373, 386, 386, 373, 382, 387, 388, 389, 389, 388, 390, 391, 392, 393, 393, 392, 394, 395, 396, 397, 397, 396, 398, 399, 400, 401, 401, 400, 402, 403, 404, 405, 405, 404, 406, 407, 408, 409, 409, 408, 410, 411, 412, 413, 413, 412, 414, 415, 416, 417, 417, 416, 418, 419, 420, 421, 422, 423, 424, 425, 426, 427, 428, 429, 430, 431, 432, 433, 434, 435, 436, 437, 438, 439, 440, 441, 442, 443, 444, 445, 446, 447, 448, 449, 450, 451, 452, 453, 454, 455, 456, 457, 458, 459, 460, 461, 462, 463, 464, 465, 466, 467, 468, 469, 470, 471, 472, 473, 474, 475, 476, 477, 478, 479, 480, 481, 482, 483, 484, 485, 486, 487, 488, 489, 490, 491, 492, 493, 494, 495, 496, 497, 498, 499, 500, 501, 502, 503, 504, 505, 506, 507, 508, 509, 510, 511, 512, 513, 514, 463, 515, 461, 516, 517, 518, 519, 520, 521, 519, 521, 522, 523, 524, 525, 523, 525, 526, 527, 528, 529, 527, 529, 530, 531, 532, 533, 531, 533, 534, 535, 536, 537, 535, 537, 538, 539, 540, 541, 542, 543, 544, 542, 544, 545, 546, 547, 548, 546, 548, 549, 550, 551, 552, 550, 552, 553, 554, 555, 556, 554, 556, 557, 558, 559, 560, 558, 560, 561, 562, 563, 564, 564, 563, 565, 566, 567, 568, 568, 567, 569, 570, 571, 572, 572, 571, 573, 574, 575, 576, 576, 575, 577, 578, 579, 580, 580, 579, 581, 582, 583, 584, 584, 583, 585, 586, 587, 588, 588, 587, 589, 590, 591, 592, 593, 594, 595, 596, 597, 598, 599, 600, 601, 602, 603, 604, 605, 606, 607, 608, 609, 610, 611, 612, 613, 614, 615, 616, 617, 618, 619, 620, 621, 622, 623, 624, 625, 626, 627, 628, 629, 630, 631, 632, 633, 634, 592, 635, 590, 636, 637, 638, 639, 640, 641, 642, 643, 644, 645, 646, 647, 648, 649, 650, 651, 652, 653, 654, 655, 656, 657, 658, 659, 660, 661, 662, 663, 664, 665, 666, 667, 668, 669, 670, 671, 672, 673, 674, 675, 676, 677, 678, 679, 680, 681, 682, 683, 684, 685, 686, 687, 688, 689, 690, 691, 692, 690, 692, 693, 694, 695, 696, 694, 696, 697, 698, 699, 700, 698, 700, 701, 702, 703, 704, 702, 704, 705, 706, 707, 708, 706, 708, 709, 636, 638, 710, 711, 712, 713, 711, 713, 714, 715, 716, 717, 715, 717, 718, 719, 720, 721, 719, 721, 722, 723, 724, 725, 723, 725, 726, 727, 728, 729, 727, 729, 730, 731, 732, 733, 731, 733, 734, 735, 736, 737, 737, 736, 738, 739, 740, 741, 741, 740, 742, 743, 744, 745, 745, 744, 746, 747, 748, 749, 749, 748, 750, 751, 752, 753, 753, 752, 754, 755, 756, 757, 757, 756, 758, 759, 760, 761, 761, 760, 762, 763, 764, 765, 765, 764, 766, 767, 768, 769, 769, 768, 770, 771, 772, 773, 773, 772, 774, 775, 776, 777, 777, 776, 778, 779, 780, 781, 781, 780, 782, 783, 784, 785, 785, 784, 786, 787, 788, 789, 789, 788, 790, 791, 792, 793, 793, 792, 794, 795, 796, 797, 797, 796, 798, 799, 800, 801, 801, 800, 802, 803, 804, 805, 805, 804, 806, 807, 808, 809, 809, 808, 810, 811, 812, 813, 813, 812, 814, 815, 816, 817, 817, 816, 818, 819, 820, 821, 821, 820, 822, 823, 824, 825, 825, 824, 826, 827, 828, 829, 829, 828, 830, 831, 832, 833, 833, 832, 834, 835, 836, 837, 837, 836, 838, 839, 840, 841, 841, 840, 842, 843, 844, 845, 845, 844, 846, 847, 848, 849, 849, 848, 850, 851, 852, 853, 853, 852, 854, 855, 856, 857, 857, 856, 858, 859, 860, 861, 861, 860, 862, 863, 864, 865, 865, 864, 866, 867, 868, 869, 869, 868, 870, 871, 872, 873, 873, 872, 874, 875, 876, 877, 877, 876, 878, 879, 880, 881, 881, 880, 882, 883, 884, 885, 885, 884, 886, 887, 888, 889, 889, 888, 890, 891, 892, 893, 893, 892, 894, 895, 896, 897, 897, 896, 898, 899, 900, 901, 901, 900, 902, 903, 904, 905, 905, 904, 906, 907, 908, 909, 909, 908, 910, 911, 912, 913, 913, 912, 914, 915, 916, 917, 917, 916, 918, 919, 920, 921, 921, 920, 922, 923, 924, 925, 925, 924, 926, 927, 928, 929, 930, 931, 932, 933, 934, 935, 936, 937, 938, 939, 940, 941, 942, 943, 944, 945, 946, 947, 948, 949, 950, 948, 950, 951, 952, 953, 954, 955, 956, 957, 958, 959, 960, 961, 962, 963, 964, 965, 966, 967, 968, 969, 970, 971, 972, 973, 974, 975, 976, 977, 978, 979, 980, 981, 982, 983, 984, 985, 986, 987, 988, 989, 990, 988, 990, 991, 992, 993, 994, 995, 996, 997, 973, 975, 998, 999, 1000, 1001, 1002, 1003, 1004, 1005, 1006, 1007, 1008, 1009, 1010, 1011, 1012, 1013, 1014, 1015, 1016, 1017, 1018, 1019, 1020, 1021, 1022, 1023, 1024, 1025, 1026, 1027, 1028, 1029, 1030, 1031, 1032, 1033, 1034, 1035, 1036, 1037, 1038, 1039, 1040, 1041, 1042, 1043, 1044, 1045, 1046, 1047, 1048, 1049, 1050, 1051, 1052, 1053, 1054, 1055, 1036, 1035, 1056, 1057, 1058, 1059, 1057, 1059, 1060, 1061, 1062, 1063, 1064, 1065, 1066, 1067, 1068, 1069, 1069, 1068, 1070, 1071, 1072, 1073, 1074, 1075, 1076, 1077, 1078, 1079, 1080, 1081, 1082, 1083, 1084, 1085, 1086, 1087, 1088, 1089, 1090, 1091, 1092, 1093, 1094, 1095, 1096, 1097, 1097, 1096, 1098, 1099, 1100, 1101, 1102, 1103, 1104, 1105, 1106, 1107, 1108, 1109, 1110, 1111, 1112, 1113, 1114, 1115, 1116, 1117, 1118, 1119, 1120, 1121, 1122, 1120, 1122, 1123, 1124, 1125, 1126, 1127, 1128, 1129, 1130, 1131, 1132, 1132, 1131, 1133, 1134, 1135, 1136, 1136, 1135, 1137, 1138, 1139, 1140, 1140, 1139, 1141, 1142, 1143, 1144, 1145, 1146, 1147, 1148, 1149, 1150, 1151, 1152, 1153, 1154, 1155, 1156, 1156, 1155, 1157, 1158, 1159, 1160, 1161, 1162, 1163, 1164, 1165, 1166, 1166, 1165, 1167, 1168, 1169, 1170, 1170, 1169, 1171, 1172, 1173, 1174, 1174, 1173, 1175, 1157, 1176, 1156, 1177, 1178, 1179, 1180, 1181, 1182, 1183, 1184, 1185, 1186, 1187, 1188, 1189, 1190, 1191, 1192, 1193, 1194, 1195, 1196, 1197, 1198, 1199, 1200, 1201, 1202, 1203, 1204, 1205, 1206, 1207, 1208, 1209, 1210, 1211, 1212, 1213, 1214, 1215, 1216, 1217, 1218, 1219, 1220, 1221, 1222, 1223, 1224, 1225, 1226, 1227, 1228, 1229, 1230, 1231, 1232, 1233, 1234, 1235, 1236, 1237, 1238, 1239, 1240, 1241, 1242, 1243, 1244, 1245, 1246, 1247, 1248, 1249, 1250, 1251, 1252, 1253, 1254, 1255, 1256, 1257, 1258, 1259, 1260, 1261, 1262, 1263, 1264, 1265, 1266, 1267, 1268, 1269, 1270, 1271, 1272, 1273, 1274, 1275, 1276, 1277, 1278, 1279, 1280, 1281, 1282, 1283, 1284, 1285, 1286, 1287, 1288, 1289, 1290, 1291, 1292, 1293, 1294, 1295, 1296, 1297, 1298, 1299, 1300, 1301, 1302, 1303, 1304, 1305, 1306, 1307, 1308, 1309, 1310, 1311, 1312, 1313, 1314, 1315, 1316, 1317, 1318, 1319, 1320, 1318, 1320, 1321, 1322, 1323, 1324, 1325, 1326, 1327, 1328, 1329, 1330, 1331, 1332, 1333, 1334, 1335, 1336, 1337, 1338, 1339, 1340, 1341, 1342, 1343, 1344, 1345, 1346, 1347, 1348, 1349, 1350, 1351, 1352, 1353, 1354, 1355, 1356, 1357, 1358, 1359, 1360, 1361, 1362, 1363, 1364, 1365, 1366, 1367, 1368, 1369, 1370, 1371, 1372, 1373, 1374, 1375, 1376, 1377, 1378, 1379, 1380, 1381, 1382, 1383, 1384, 1385, 1386, 1387, 1388, 1389, 1390, 1391, 1392, 1393, 1394, 1395, 1396, 1397, 1398, 1399, 1400, 1401, 1402, 1403, 1404, 1405, 1403, 1405, 1406, 1407, 1408, 1409, 1410, 1411, 1412, 1413, 1414, 1415, 1416, 1417, 1418, 1419, 1420, 1421, 1422, 1423, 1424, 1425, 1426, 1427, 1428, 1429, 1430, 1431, 1432, 1433, 1434, 1435, 1436, 1437, 1438, 1439, 1440, 1441, 1442, 1443, 1444, 1445, 1446, 1447, 1448, 1449, 1450, 1451, 1452, 1453, 1454, 1455, 1456, 1457, 1458, 1459, 1460, 1461, 1462, 1463, 1464, 1465, 1466, 1467, 1468, 1469, 1470, 1471, 1472, 1473, 1474, 1475, 1476, 1477, 1478, 1479, 1480, 1481, 1482, 1483, 1484, 1485, 1486, 1487, 1488, 1489, 1490, 1491, 1492, 1493, 1494, 1495, 1496, 1497, 1498, 1499, 1500, 1501, 1502, 1503, 1504, 1505, 1506, 1507, 1508, 1509, 1510, 1511, 1512, 1513, 1514, 1515, 1516, 1517, 1515, 1517, 1518, 1519, 1520, 1521, 1519, 1521, 1522, 1523, 1524, 1525, 1523, 1525, 1526, 1527, 1528, 1529, 1527, 1529, 1530, 1531, 1532, 1533, 1531, 1533, 1534, 1535, 1536, 1537, 1535, 1537, 1538, 1539, 1540, 1541, 1539, 1541, 1542, 1543, 1544, 1545, 1543, 1545, 1546, 1547, 1548, 1549, 1547, 1549, 1550, 1551, 1552, 1553, 1551, 1553, 1554, 1555, 1556, 1557, 1555, 1557, 1558, 1559, 1560, 1561, 1559, 1561, 1562, 1563, 1564, 1565, 1563, 1565, 1566, 1567, 1568, 1569, 1567, 1569, 1570, 1571, 1572, 1573, 1571, 1573, 1574, 1575, 1576, 1577, 1575, 1577, 1578]
- normal3f[] normals = [(0, 0, -1), (0, 0, -1), (0, 0, -1), (0, 0, -1), (0, 0, -1), (0, 0, -1), (-0, 0, -1), (-0, 0, -1), (-0, 0, -1), (-0, 0, -1), (-0, 0, -1), (-0, 0, -1), (0, 0, -1), (0, 0, -1), (0, -0, -1), (0, 0, -1), (0, 0, -1), (0, 0, -1), (0, 0, -1), (0, 0, -1), (0, 0, -1), (0, 0, -1), (0, 0, -1), (-0, 0, -1), (0, 0, -1), (-0, 0, -1), (-0, 0, -1), (-0, 0, -1), (-0, 0, -1), (-0, 0, -1), (-0, 0, -1), (-0, 0, -1), (-0, 0, -1), (0, 0, -1), (0, 0, -1), (-0, 0, -1), (-0, 0, -1), (0, 0, -1), (0, 0, -1), (-0, 0, -1), (0, 0, -1), (-0, 0, -1), (0, 0, -1), (0, 0, -1), (0, 0, -1), (0, 0, -1), (0, 0, -1), (-0, 0, -1), (0, 0, -1), (-0, 0, -1), (-0, 0, -1), (0, 0, -1), (0, 0, -1), (0, 0, -1), (0, 0, -1), (0, 0, -1), (0, 0, -1), (0, 0, -1), (0, 0, -1), (0, 0, -1), (0, 0, -1), (0, 0, -1), (-0, 0, -1), (0, 0, -1), (-0, 0, -1), (0, 0, -1), (0, 0, -1), (-0, 0, -1), (-0, 0, -1), (0, 0, -1), (-0, 0, -1), (0, 0, -1), (0, 0, -1), (-0, 0, -1), (-0, 0, -1), (0, 0, -1), (-0, 0, -1), (0, 0, -1), (0, 0, -1), (-0, 0, -1), (-0, 0, -1), (0, 0, -1), (-0, 0, -1), (0, 0, -1), (0, 0, -1), (0, 0, -1), (0, 0, -1), (0, 0, -1), (0, 0, -1), (0, 0, -1), (0, 0, -1), (0, 0, -1), (0, 0, -1), (0, 0, -1), (0, -0, -1), (0, 0, -1), (0, 0, -1), (0, -0, -1), (0, 0, -1), (0, 0, -1), (0, 0, -1), (0, 0, -1), (0, 0, -1), (0, 0, -1), (0, 0, -1), (0, 0, -1), (0, 0, -1), (0, 0, -1), (0, 0, -1), (0, 0, -1), (0, 0, -1), (0, 0, -1), (0, 0, -1), (0, 0, -1), (0, 0, -1), (0, 0, -1), (-0, 0, -1), (0, 0, -1), (-0, 0, -1), (0, 0, -1), (0, 0, -1), (-0, 0, -1), (0, 0, -1), (0, 0, -1), (0, 0, -1), (0, 0, -1), (0, 0, -1), (0, 0, -1), (0, 0, -1), (0, 0, -1), (0, 0, -1), (0, 0, -1), (0, 0, -1), (0, 0, -1), (0, 0, -1), (0, 0, -1), (0, 0, -1), (0, 0, -1), (0, 0, -1), (0, 0, -1), (0, -0, -1), (0, -0, -1), (0, 0, -1), (0, 0, -1), (0, -0, -1), (0, 0, -1), (-0, -0, -1), (-0, -0, -1), (0, 0, -1), (0, 0, -1), (0, 0, -1), (0, 0, -1), (0, 0, -1), (0, 0, -1), (0, 0, -1), (-0, -0, -1), (0, 0, -1), (-0, -0, -1), (-0, 0, -1), (-0, 0, -1), (-0, -0, -1), (-0, -0, -1), (-0, 0, -1), (-0, -0, -1), (-0, 0, -1), (-0, 0, -1), (-0, -0, -1), (-0, 0, -1), (-0, 0, -1), (-0, 0, -1), (0, 0, -1), (0, 0, -1), (-0, 0, -1), (-0, 0, -1), (0, 0, -1), (-0, 0, -1), (0, 0, -1), (0, 0, -1), (0, 0, -1), (0, 0, -1), (0, 0, -1), (0, 0, -1), (0, 0, -1), (0, 0, -1), (0, 0, -1), (0, 0, -1), (0, 0, -1), (0, 0, -1), (0, 0, -1), (0, 0, -1), (0, 0, -1), (0, 0, -1), (0, 0, -1), (0, 0, -1), (0, 0, -1), (0, 0, -1), (0, 0, -1), (0, 0, -1), (0, 0, -1), (0, 0, -1), (0, 0, -1), (0, -0, -1), (0, -0, -1), (0, -0, -1), (-0, -0, -1), (-0, -0, -1), (-0, -0, -1), (-0, 0, -1), (-0, 0, -1), (-0, 0, -1), (-0, -0, -1), (-0, -0, -1), (-0, -0, -1), (-0, -0, -1), (-0, 0, -1), (-0, -0, -1), (-0, -0, -1), (-0, 0, -1), (0, -0, -1), (-0, -0, -1), (0, -0, -1), (0, -0, -1), (0, -0, -1), (0, -0, -1), (0, -0, -1), (0, -0, -1), (0, -0, -1), (0, -0, -1), (0, -0, -1), (0, -0, -1), (0, -0, -1), (0, -0, -1), (0, -0, -1), (0, 0, -1), (0, -0, -1), (0, 0, -1), (0, -0, -1), (0, -0, -1), 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(0.9233508, -0.00078889285, 0.38395667), (0.9233508, -0.00078889285, 0.38395667), (0.9233508, -0.00078889285, 0.38395667), (0.99383086, 0.0006948583, 0.110904485), (0.99383086, 0.0006948583, 0.110904485), (0.99383086, 0.0006948583, 0.110904485), (0.9912407, -0, 0.13206786), (0.9912407, -0, 0.13206786), (0.9912407, -0, 0.13206786), (0.9912826, 0, -0.13175307), (0.9912826, 0, -0.13175307), (0.9912826, 0, -0.13175307), (0.9938289, 0.0006823163, -0.11092149), (0.9938289, 0.0006823163, -0.11092149), (0.9938289, 0.0006823163, -0.11092149), (0.92347133, -0.00077642355, -0.3836667), (0.92347133, -0.00077642355, -0.3836667), (0.92347133, -0.00077642355, -0.3836667), (0.93125933, 1.3763895e-8, -0.36435694), (0.93125933, 1.3763895e-8, -0.36435694), (0.93125933, 1.3763895e-8, -0.36435694), (0.93125933, 1.3763895e-8, -0.36435694), (0.93125933, 1.3763895e-8, -0.36435694), (0.93125904, 0, -0.36435795), (0.13105357, 0, -0.99137527), (0.13105357, 0, -0.99137527), (0.13105357, 0, -0.99137527), (0.13227504, 0.000041010593, -0.9912131), (0.13227504, 0.000041010593, -0.9912131), (0.13227504, 0.000041010593, -0.9912131), (0.38317513, -0.00004037208, -0.9236758), (0.38317513, -0.00004037208, -0.9236758), (0.38317513, -0.00004037208, -0.9236758), (0.38431647, 0, -0.92320144), (0.38431647, 0, -0.92320144), (0.38431647, 0, -0.92320144), (0.6086963, 0, -0.79340327), (0.6086963, 0, -0.79340327), (0.6086963, 0, -0.79340327), (0.60881245, 0.000004820582, -0.79331416), (0.60881245, 0.000004820582, -0.79331416), (0.60881245, 0.000004820582, -0.79331416), (0.7931089, 0.0059914426, -0.60905033), (0.7931089, 0.0059914426, -0.60905033), (0.7931089, 0.0059914426, -0.60905033), (0.610651, -0.008384868, -0.79185534), (0.610651, -0.008384868, -0.79185534), (0.610651, -0.008384868, -0.79185534), (0.79339296, 0, -0.6087098), (0.79339296, 0, -0.6087098), (0.79339296, 0, -0.6087098), (0.8042715, -0, 0.594262), (0.8042715, -0, 0.594262), (0.8042715, -0, 0.594262), (0.8045329, 0.0012690487, -0.59390664), (0.8045329, 0.0012690487, -0.59390664), (0.8045329, 0.0012690487, -0.59390664), (0.6528711, 0.007465954, -0.7574323), (0.6528711, 0.007465954, -0.7574323), (0.6528711, 0.007465954, -0.7574323), (0.81647193, -0.0062033, -0.5773518), (0.81647193, -0.0062033, -0.5773518), (0.81647193, -0.0062033, -0.5773518), (0.41815037, 0.0060992013, -0.9083574), (0.41815037, 0.0060992013, -0.9083574), (0.41815037, 0.0060992013, -0.9083574), (0.60877883, -0.0011622892, -0.79333913), (0.60877883, -0.0011622892, -0.79333913), (0.60877883, -0.0011622892, -0.79333913), (0.41675738, -0.0011918131, -0.909017), (0.41675738, -0.0011918131, -0.909017), (0.41675738, -0.0011918131, -0.909017), (0.38259482, 0.00003335535, -0.92391616), (0.38259482, 0.00003335535, -0.92391616), (0.38259482, 0.00003335535, -0.92391616), (0.13143477, -0.000033643882, -0.9913248), (0.13143477, -0.000033643882, -0.9913248), (0.13143477, -0.000033643882, -0.9913248), (0.13042781, -8.70216e-18, -0.9914578), (0.13042781, -8.70216e-18, -0.9914578), (0.13042781, -8.70216e-18, -0.9914578), (0.816694, 0.0012693213, -0.57706964), (0.816694, 0.0012693213, -0.57706964), (0.816694, 0.0012693213, -0.57706964), (0.94476014, -0.0014590097, -0.3277593), (0.94476014, -0.0014590097, -0.3277593), (0.94476014, -0.0014590097, -0.3277593), (0.92351013, 0.00076568977, -0.38357326), (0.92351013, 0.00076568977, -0.38357326), (0.92351013, 0.00076568977, -0.38357326), (0.9938106, -0.0006730869, -0.11108585), (0.9938106, -0.0006730869, -0.11108585), (0.9938106, -0.0006730869, -0.11108585), (0.99129605, 0, -0.13165148), (0.99129605, 0, -0.13165148), (0.99129605, 0, -0.13165148), (0.9912821, -0, 0.1317566), (0.9912821, -0, 0.1317566), (0.9912821, -0, 0.1317566), (0.9937893, -0.0006708446, 0.11127615), (0.9937893, -0.0006708446, 0.11127615), (0.9937893, -0.0006708446, 0.11127615), (0.92346907, 0.00076156313, 0.38367212), (0.92346907, 0.00076156313, 0.38367212), (0.92346907, 0.00076156313, 0.38367212), (0.93112934, 3.2485377e-9, 0.3646892), (0.93112934, 3.2485377e-9, 0.3646892), (0.93112934, 3.2485377e-9, 0.3646892), (0.93112934, 3.2485377e-9, 0.3646892), (0.93112934, 3.2485377e-9, 0.3646892), (0.9311294, 0, 0.36468896), (0.624638, 0.007229828, 0.78088087), (0.624638, 0.007229828, 0.78088087), (0.624638, 0.007229828, 0.78088087), (0.793148, -0.0061380425, 0.60899806), (0.793148, -0.0061380425, 0.60899806), (0.793148, -0.0061380425, 0.60899806), (0.6229275, -0.00059266156, 0.7822794), (0.6229275, -0.00059266156, 0.7822794), (0.6229275, -0.00059266156, 0.7822794), (0.6087546, 0, 0.7933586), (0.6087546, 0, 0.7933586), (0.6087546, 0, 0.7933586), (0.3837824, -0, 0.9234235), (0.3837824, -0, 0.9234235), (0.3837824, -0, 0.9234235), (0.38274273, 0.000036932335, 0.923855), (0.38274273, 0.000036932335, 0.923855), (0.38274273, 0.000036932335, 0.923855), (0.13170166, -0.00003722104, 0.99128944), (0.13170166, -0.00003722104, 0.99128944), (0.13170166, -0.00003722104, 0.99128944), (0.13058901, 0, 0.9914366), (0.13058901, 0, 0.9914366), (0.13058901, 0, 0.9914366), (-0.13067783, 0, 0.991425), (-0.13067783, 0, 0.991425), (-0.13067783, 0, 0.991425), (-0.09552449, 0.0011739578, 0.99542636), (-0.09552449, 0.0011739578, 0.99542636), (-0.09552449, 0.0011739578, 0.99542636), (-0.38277325, -0.0014863743, 0.9238411), (-0.38277325, -0.0014863743, 0.9238411), (-0.38277325, -0.0014863743, 0.9238411), (-0.34984624, 0, 0.93680716), (-0.34984624, 0, 0.93680716), (-0.34984624, 0, 0.93680716), (-0.6087021, 0, 0.7933988), (-0.6087021, 0, 0.7933988), (-0.6087021, 0, 0.7933988), (-0.6089875, -0.0000118453945, 0.79317987), (-0.6089875, -0.0000118453945, 0.79317987), (-0.6089875, -0.0000118453945, 0.79317987), (-0.8165714, 0.000015320167, 0.57724446), (-0.8165714, 0.000015320167, 0.57724446), (-0.8165714, 0.000015320167, 0.57724446), (-0.8211737, -0.00024609445, 0.57067823), (-0.8211737, -0.00024609445, 0.57067823), (-0.8211737, -0.00024609445, 0.57067823), (-0.8165648, -0.00024597906, 0.57725364), (-0.8165648, -0.00024597906, 0.57725364), (-0.8165648, -0.00024597906, 0.57725364), (-0.8211621, -0.00032342027, 0.5706949), (-0.8211621, -0.00032342027, 0.5706949), (-0.8211621, -0.00032342027, 0.5706949), (-0.9448381, 0.00019803338, 0.32753763), (-0.9448381, 0.00019803338, 0.32753763), (-0.9448381, 0.00019803338, 0.32753763), (-0.9482541, -0.00007363159, 0.31751233), (-0.9482541, -0.00007363159, 0.31751233), (-0.9482541, -0.00007363159, 0.31751233), (-0.99383205, 0.00007678572, 0.11089583), (-0.99383205, 0.00007678572, 0.11089583), (-0.99383205, 0.00007678572, 0.11089583), (-0.13105144, 8.74377e-18, -0.9913755), (-0.13105144, 8.74377e-18, -0.9913755), (-0.13105144, 8.74377e-18, -0.9913755), (-0.095522396, 0.0011899516, -0.9954266), (-0.095522396, 0.0011899516, -0.9954266), (-0.095522396, 0.0011899516, -0.9954266), (-0.38312492, -0.0015023568, -0.9236953), (-0.38312492, -0.0015023568, -0.9236953), (-0.38312492, -0.0015023568, -0.9236953), (-0.3498462, 0, -0.93680716), (-0.3498462, 0, -0.93680716), (-0.3498462, 0, -0.93680716), (-0.6086963, -0, -0.79340327), (-0.6086963, -0, -0.79340327), (-0.6086963, -0, -0.79340327), (-0.60881215, -0.000004808821, -0.79331446), (-0.60881215, -0.000004808821, -0.79331446), (-0.60881215, -0.000004808821, -0.79331446), (-0.79330325, 0.000004771081, -0.60882676), (-0.79330325, 0.000004771081, -0.60882676), (-0.79330325, 0.000004771081, -0.60882676), (-0.7933921, 0, -0.6087109), (-0.7933921, 0, -0.6087109), (-0.7933921, 0, -0.6087109), (-0.9312597, -0, -0.364356), (-0.9312597, -0, -0.364356), (-0.9312597, -0, -0.364356), (-0.93230873, -0.00003594004, -0.3616634), (-0.93230873, -0.00003594004, -0.3616634), (-0.93230873, -0.00003594004, -0.3616634), (-0.9312588, -0.00004216251, -0.3643583), (-0.9312588, -0.00004216251, -0.3643583), (-0.9312588, -0.00004216251, -0.3643583), (-0.93230253, -0.00010717842, -0.3616795), (-0.93230253, -0.00010717842, -0.3616795), (-0.93230253, -0.00010717842, -0.3616795), (-0.9938301, 0.00007711488, -0.11091294), (-0.9938301, 0.00007711488, -0.11091294), (-0.9938301, 0.00007711488, -0.11091294), (-0.99414706, 0, -0.10803531), (-0.99414706, 0, -0.10803531), (-0.99414706, 0, -0.10803531), (-0.9941476, 0, 0.10803033), (-0.9941476, 0, 0.10803033), (-0.9941476, 0, 0.10803033), (-0.38787588, -0.9217116, -0), (-0.38787588, -0.9217116, -0), (-0.38787588, -0.9217116, -0), (-0.38787588, -0.9217116, -0), (-0.38787588, -0.9217116, -0), (-0.38787588, -0.9217116, 0), (-0.7419057, -0.6705043, -0), (-0.7419057, -0.6705043, -0), (-0.7419057, -0.6705043, -0), (-0.7419057, -0.6705043, -0), (-0.7419057, -0.6705043, -0), (-0.7419057, -0.6705043, 0), (-0.95612925, -0.292945, -0), (-0.95612925, -0.292945, -0), (-0.95612925, -0.292945, -0), (-0.95612925, -0.292945, -0), (-0.95612925, -0.292945, -0), (-0.95612925, -0.292945, 0), (-0.9901771, 0.13981861, 0), (-0.9901771, 0.13981861, 0), (-0.9901771, 0.13981861, 0), (-0.9901771, 0.13981861, 0), (-0.9901771, 0.13981861, 0), (-0.9901771, 0.13981861, 0), (-0.9901771, -0.13981861, -0), (-0.9901771, -0.13981861, -0), (-0.9901771, -0.13981861, -0), (-0.9901771, -0.13981861, -0), (-0.9901771, -0.13981861, -0), (-0.9901771, -0.13981861, 0), (-0.95612925, 0.292945, 0), (-0.95612925, 0.292945, 0), (-0.95612925, 0.292945, 0), (-0.95612925, 0.292945, 0), (-0.95612925, 0.292945, 0), (-0.95612925, 0.292945, 0), (-0.7419057, 0.6705043, 0), (-0.7419057, 0.6705043, 0), (-0.7419057, 0.6705043, 0), (-0.7419057, 0.6705043, 0), (-0.7419057, 0.6705043, 0), (-0.7419057, 0.6705043, 0), (-0.38787588, 0.9217116, 0), (-0.38787588, 0.9217116, 0), (-0.38787588, 0.9217116, 0), (-0.38787588, 0.9217116, 0), (-0.38787588, 0.9217116, 0), (-0.38787588, 0.9217116, 0), (0.9901771, 0.13981861, 0), (0.9901771, 0.13981861, 0), (0.9901771, 0.13981861, 0), (0.9901771, 0.13981861, 0), (0.9901771, 0.13981861, 0), (0.9901771, 0.13981861, -0), (0.95612925, -0.292945, 0), (0.95612925, -0.292945, 0), (0.95612925, -0.292945, 0), (0.95612925, -0.292945, 0), (0.95612925, -0.292945, 0), (0.95612925, -0.292945, 0), (0.7419057, -0.6705043, 0), (0.7419057, -0.6705043, 0), (0.7419057, -0.6705043, 0), (0.7419057, -0.6705043, 0), (0.7419057, -0.6705043, 0), (0.7419057, -0.6705043, 0), (0.38787588, -0.9217116, 0), (0.38787588, -0.9217116, 0), (0.38787588, -0.9217116, 0), (0.38787588, -0.9217116, 0), (0.38787588, -0.9217116, 0), (0.38787588, -0.9217116, 0), (0.38787588, 0.9217116, 0), (0.38787588, 0.9217116, 0), (0.38787588, 0.9217116, 0), (0.38787588, 0.9217116, 0), (0.38787588, 0.9217116, 0), (0.38787588, 0.9217116, -0), (0.7419057, 0.6705043, 0), (0.7419057, 0.6705043, 0), (0.7419057, 0.6705043, 0), (0.7419057, 0.6705043, 0), (0.7419057, 0.6705043, 0), (0.7419057, 0.6705043, -0), (0.95612925, 0.292945, 0), (0.95612925, 0.292945, 0), (0.95612925, 0.292945, 0), (0.95612925, 0.292945, 0), (0.95612925, 0.292945, 0), (0.95612925, 0.292945, -0), (0.9901771, -0.13981861, 0), (0.9901771, -0.13981861, 0), (0.9901771, -0.13981861, 0), (0.9901771, -0.13981861, 0), (0.9901771, -0.13981861, 0), (0.9901771, -0.13981861, 0)] (
+ float3[] extent = [(-0.019, -0.015, -0.016), (0.019, 0.015, 0)]
+ int[] faceVertexCounts = [3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3]
+ int[] faceVertexIndices = [0, 1, 2, 0, 2, 3, 4, 5, 6, 4, 6, 7, 8, 9, 10, 8, 10, 11, 12, 13, 14, 12, 14, 15, 16, 17, 18, 16, 18, 19, 20, 21, 22, 20, 22, 23, 24, 25, 26, 24, 26, 27, 28, 29, 30, 28, 30, 31, 32, 33, 34, 32, 34, 35, 36, 37, 38, 36, 38, 39, 40, 41, 42, 40, 42, 43, 44, 45, 46, 44, 46, 47]
+ normal3f[] normals = [(-1, -0, -0), (-1, -0, -0), (-1, -0, -0), (-1, -0, -0), (-1, -0, -0), (-1, -0, 0), (0, 1, 0), (0, 1, 0), (0, 1, 0), (0, 1, 0), (0, 1, 0), (0, 1, -0), (1, -0, 0), (1, -0, 0), (1, -0, 0), (1, -0, 0), (1, -0, 0), (1, -0, 0), (0, -1, 0), (0, -1, 0), (0, -1, 0), (0, -1, 0), (0, -1, 0), (0, -1, 0), (0, 0, -1), (0, 0, -1), (0, 0, -1), (0, 0, -1), (0, 0, -1), (0, 0, -1), (0, 0, 1), (0, 0, 1), (0, 0, 1), (0, 0, 1), (0, 0, 1), (0, -0, 1), (-1, -0, -0), (-1, -0, -0), (-1, -0, -0), (-1, -0, -0), (-1, -0, -0), (-1, -0, 0), (0, 1, 0), (0, 1, 0), (0, 1, 0), (0, 1, 0), (0, 1, 0), (0, 1, -0), (1, -0, 0), (1, -0, 0), (1, -0, 0), (1, -0, 0), (1, -0, 0), (1, -0, 0), (0, -1, 0), (0, -1, 0), (0, -1, 0), (0, -1, 0), (0, -1, 0), (0, -1, 0), (0, 0, -1), (0, 0, -1), (0, 0, -1), (0, 0, -1), (0, 0, -1), (0, 0, -1), (0, 0, 1), (0, 0, 1), (0, 0, 1), (0, 0, 1), (0, 0, 1), (0, -0, 1)] (
interpolation = "faceVarying"
)
uniform token physics:approximation = "convexHull"
- rel physics:simulationOwner
- point3f[] points = [(-0.014846647, 0.0039326567, -0.0040000007), (-0.014, 0.00125, -0.0040000007), (-0.014625, 0.0010825318, -0.0040000007), (-0.009714398, -0.012713398, -0.0040000007), (-0.007189764, -0.01429361, -0.0040000007), (-0.017888544, -0.016, -0.0040000007), (-0.023744851, -0.0034902713, -0.0040000007), (-0.021625, -0.0010825318, -0.0040000007), (-0.022984834, -0.0069063315, -0.0040000007), (-0.021, -0.00125, -0.0040000007), (-0.011902411, -0.010692643, -0.0040000007), (-0.014979592, 0.0056224396, -0.0040000007), (-0.015100982, 0.0047627683, -0.0040000007), (-0.020025216, 0.013228407, -0.0040000007), (-0.023744851, 0.0034902713, -0.0040000007), (-0.022082532, 0.000625, -0.0040000007), (-0.024, 0, -0.0040000007), (-0.02225, 0, -0.0040000007), (-0.022082532, -0.000625, -0.0040000007), (-0.020375, -0.0010825318, -0.0040000007), (-0.020025216, -0.013228407, -0.0040000007), (-0.021736104, -0.010175547, -0.0040000007), (-0.004415992, -0.015378525, -0.0040000007), (-0.0014891985, 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(0.000825, -0.0028843328, -0.013928942), (0.000825, -0.015978716, -0.013928942), (0.0011665521, -0.015957417, -0.013666901), (0.000825, -0.0028843328, -0.013928942), (0.0011665521, -0.015957417, -0.013666901), (0.0011673981, -0.0027635451, -0.013666054), (0.0011673981, -0.0027635451, -0.013666054), (0.0011665521, -0.015957417, -0.013666901), (0.0014151413, -0.015936714, -0.013315246), (0.0011673981, -0.0027635451, -0.013666054), (0.0014151413, -0.015936714, -0.013315246), (0.001412353, -0.0026416804, -0.013313525), (0.001412353, -0.0026416804, -0.013313525), (0.0014151413, -0.015936714, -0.013315246), (0.0014891985, -0.015930546, -0.013210485), (0.001412353, -0.0026416804, -0.013313525), (0.0014891985, -0.015930546, -0.013210485), (0.0015, -0.0025980761, -0.013187387), (0.0015, -0.0025980761, -0.013187387), (0.0014891985, -0.015930546, -0.013210485), (0.0016094163, -0.015918849, -0.012863703), (0.0015, -0.0025980761, -0.013187387), (0.0016094163, -0.015918849, -0.012863703), (0.0016114874, -0.0025304365, -0.012854413), (0.0016114874, -0.0025304365, -0.012854413), (0.0016094163, -0.015918849, -0.012863703), (0.00165, -0.015914695, -0.012500001), (1.7347235e-18, -0.016, -0.010850001), (2.6020852e-18, -0.003, -0.010850001), (0.00042874584, -0.015994254, -0.010906678), (0.00042874584, -0.015994254, -0.010906678), (2.6020852e-18, -0.003, -0.010850001), (0.0003135854, -0.0029835657, -0.0108800735), (0.00042874584, -0.015994254, -0.010906678), (0.0003135854, -0.0029835657, -0.0108800735), (0.000825, -0.015978716, -0.011071059), (0.000825, -0.015978716, -0.011071059), (0.0003135854, -0.0029835657, -0.0108800735), (0.000825, -0.0028843328, -0.011071059), (0.000825, -0.015978716, -0.011071059), (0.000825, -0.0028843328, -0.011071059), (0.0011665354, -0.015957419, -0.011333084), (0.0011665354, -0.015957419, -0.011333084), (0.000825, -0.0028843328, -0.011071059), (0.0011668778, -0.002763765, -0.011333426), (0.0011665354, -0.015957419, -0.011333084), (0.0011668778, 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(0.013464286, 0.0029517808, -0.0040000007), (0.013464286, 0.0029517808, -0.016), (0.013464286, -0.0029517808, -0.016), (0.013464286, -0.0029517808, -0.0040000007), (0.014264516, -0.0032885345, -0.0040000007), (0.014264516, -0.0032885345, -0.016), (0.014264516, -0.0032885345, -0.016), (0.014264516, -0.0032885345, -0.0040000007), (0.014846647, -0.0039326567, -0.0040000007), (0.014846647, -0.0039326567, -0.016), (0.014846647, -0.0039326567, -0.016), (0.014846647, -0.0039326567, -0.0040000007), (0.015100982, -0.0047627683, -0.0040000007), (0.015100982, -0.0047627683, -0.016), (0.015100982, -0.0047627683, -0.016), (0.015100982, -0.0047627683, -0.0040000007), (0.014979592, -0.0056224396, -0.0040000007), (0.014979592, -0.0056224396, -0.016)]
+ point3f[] points = [(-0.019, -0.015, -0.004), (-0.019, -0.015, 0), (-0.019, 0.015, 0), (-0.019, 0.015, -0.004), (-0.019, 0.015, -0.004), (-0.019, 0.015, 0), (0.019, 0.015, 0), (0.019, 0.015, -0.004), (0.019, 0.015, -0.004), (0.019, 0.015, 0), (0.019, -0.015, 0), (0.019, -0.015, -0.004), (0.019, -0.015, -0.004), (0.019, -0.015, 0), (-0.019, -0.015, 0), (-0.019, -0.015, -0.004), (-0.019, 0.015, -0.004), (0.019, 0.015, -0.004), (0.019, -0.015, -0.004), (-0.019, -0.015, -0.004), (0.019, 0.015, 0), (-0.019, 0.015, 0), (-0.019, -0.015, 0), (0.019, -0.015, 0), (-0.015, -0.015, -0.016), (-0.015, -0.015, 0), (-0.015, 0.015, 0), (-0.015, 0.015, -0.016), (-0.015, 0.015, -0.016), (-0.015, 0.015, 0), (0.015, 0.015, 0), (0.015, 0.015, -0.016), (0.015, 0.015, -0.016), (0.015, 0.015, 0), (0.015, -0.015, 0), (0.015, -0.015, -0.016), (0.015, -0.015, -0.016), (0.015, -0.015, 0), (-0.015, -0.015, 0), (-0.015, -0.015, -0.016), (-0.015, 0.015, -0.016), (0.015, 0.015, -0.016), (0.015, -0.015, -0.016), (-0.015, -0.015, -0.016), (0.015, 0.015, 0), (-0.015, 0.015, 0), (-0.015, -0.015, 0), (0.015, -0.015, 0)]
+ uniform token purpose = "guide"
+ uniform token subdivisionScheme = "bilinear"
+ quatd xformOp:orient = (1, 0, 0, 0)
+ double3 xformOp:scale = (1, 1, 1)
+ double3 xformOp:translate = (0, 0, 0)
+ uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+ }
+
+ def PhysicsFixedJoint "gripper_base_joint"
+ {
+ rel physics:body0 =
+ rel physics:body1 =
+ 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 = (0.70710677, -0.70710677, 0, 0)
+ quatf physics:localRot1 = (1, 0, 0, 0)
+ }
+ }
+
+ def Xform "gripper_base_link" (
+ apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"]
+ )
+ {
+ point3f physics:centerOfMass = (0, -0.025, 0)
+ float3 physics:diagonalInertia = (0.0000053333333, 0.000010833333, 0.000010833333)
+ float physics:mass = 0.08
+ quatf physics:principalAxes = (1, 0, 0, 0)
+ quatd xformOp:orient = (-0.5000027418136597, -0.49999725818634033, -0.5000009536743164, -0.49999916553497314)
+ double3 xformOp:scale = (1, 1, 1)
+ double3 xformOp:translate = (0.2868301272392273, 1.7033386257025995e-7, 0.4385208487510681)
+ uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+
+ def Mesh "visuals"
+ {
+ float3[] extent = [(-0.036, -0.04675, -0.0229), (0.036, 0, 0.0229)]
+ int[] faceVertexCounts = [3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 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+ int[] faceVertexIndices = [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 4, 13, 4, 14, 13, 14, 15, 13, 15, 16, 13, 13, 16, 17, 17, 18, 13, 18, 19, 13, 13, 19, 20, 19, 21, 20, 22, 23, 24, 1, 0, 11, 0, 25, 11, 11, 25, 9, 6, 8, 26, 27, 28, 12, 28, 0, 12, 21, 29, 20, 29, 30, 20, 20, 30, 31, 2, 32, 0, 32, 33, 0, 0, 33, 12, 33, 34, 12, 12, 34, 4, 34, 35, 4, 4, 35, 5, 22, 24, 5, 24, 36, 5, 5, 36, 3, 37, 20, 38, 20, 31, 38, 38, 31, 22, 31, 39, 22, 22, 39, 23, 7, 40, 8, 40, 41, 8, 8, 41, 12, 41, 42, 12, 12, 42, 27, 37, 43, 20, 43, 11, 20, 20, 11, 44, 11, 10, 44, 44, 45, 20, 45, 46, 20, 20, 46, 8, 46, 47, 8, 8, 47, 26, 48, 49, 50, 49, 51, 50, 50, 51, 52, 51, 53, 52, 52, 53, 54, 53, 55, 54, 56, 57, 58, 59, 60, 61, 60, 56, 61, 61, 56, 62, 56, 58, 62, 59, 63, 60, 63, 64, 60, 60, 64, 65, 66, 67, 68, 67, 69, 68, 68, 69, 70, 69, 71, 70, 70, 71, 72, 71, 73, 72, 74, 75, 76, 77, 78, 79, 78, 80, 79, 81, 74, 82, 74, 76, 82, 82, 76, 80, 76, 83, 80, 80, 83, 79, 84, 85, 86, 85, 87, 86, 88, 89, 90, 89, 91, 90, 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+ rel material:binding =