cmvr-es/model/xiaoyan_description/dual_arm_2/payloads/robot.usda

#usda 1.0
(
    customLayerData = {
        string creator = "URDF USD Converter v0.1.3"
    }
    defaultPrim = "dual_arm"
    doc = """Generated from Composed Stage of root layer /tmp/tmpa433zx62/dual_arm.usdc


Generated from Composed Stage of root layer /tmp/urdf_import_dual_arm__0kvb3li/usdex_dual_arm/dual_arm.usdc


Generated from Composed Stage of root layer /tmp/urdf_import_dual_arm__0kvb3li/temp_dual_arm/dual_arm.usd
"""
    kilogramsPerUnit = 1
    metersPerUnit = 1
    upAxis = "Z"
)

over "dual_arm" (
    prepend apiSchemas = ["IsaacRobotAPI"]
)
{
    prepend rel isaac:physics:robotJoints = [
        </dual_arm/Physics/root_joint>,
        </dual_arm/Physics/base_fixed>,
        </dual_arm/Physics/L_SHOULDER_P>,
        </dual_arm/Physics/R_SHOULDER_P>,
        </dual_arm/Physics/L_SHOULDER_R>,
        </dual_arm/Physics/L_SHOULDER_Y>,
        </dual_arm/Physics/L_ELBOW_R>,
        </dual_arm/Physics/L_WRIST_P>,
        </dual_arm/Physics/L_WRIST_Y>,
        </dual_arm/Physics/L_WRIST_R>,
        </dual_arm/Physics/R_SHOULDER_R>,
        </dual_arm/Physics/R_SHOULDER_Y>,
        </dual_arm/Physics/R_ELBOW_R>,
        </dual_arm/Physics/R_WRIST_P>,
        </dual_arm/Physics/R_WRIST_Y>,
        </dual_arm/Physics/R_WRIST_R>,
        </dual_arm/Physics/R_FINGER_TIP_FIXED>,
        </dual_arm/Physics/R_CAM_FIXED>,
    ]
    prepend rel isaac:physics:robotLinks = [
        </dual_arm/Geometry/base_link>,
        </dual_arm/Geometry/base_link/PELVIS_S>,
        </dual_arm/Geometry/base_link/PELVIS_S/L_SHOULDER_P_S>,
        </dual_arm/Geometry/base_link/PELVIS_S/L_SHOULDER_P_S/L_SHOULDER_R_S>,
        </dual_arm/Geometry/base_link/PELVIS_S/L_SHOULDER_P_S/L_SHOULDER_R_S/L_SHOULDER_Y_S>,
        </dual_arm/Geometry/base_link/PELVIS_S/L_SHOULDER_P_S/L_SHOULDER_R_S/L_SHOULDER_Y_S/L_ELBOW_R_S>,
        </dual_arm/Geometry/base_link/PELVIS_S/L_SHOULDER_P_S/L_SHOULDER_R_S/L_SHOULDER_Y_S/L_ELBOW_R_S/L_WRIST_P_S>,
        </dual_arm/Geometry/base_link/PELVIS_S/L_SHOULDER_P_S/L_SHOULDER_R_S/L_SHOULDER_Y_S/L_ELBOW_R_S/L_WRIST_P_S/L_WRIST_Y_S>,
        </dual_arm/Geometry/base_link/PELVIS_S/L_SHOULDER_P_S/L_SHOULDER_R_S/L_SHOULDER_Y_S/L_ELBOW_R_S/L_WRIST_P_S/L_WRIST_Y_S/L_WRIST_R_S>,
        </dual_arm/Geometry/base_link/PELVIS_S/R_SHOULDER_P_S>,
        </dual_arm/Geometry/base_link/PELVIS_S/R_SHOULDER_P_S/R_SHOULDER_R_S>,
        </dual_arm/Geometry/base_link/PELVIS_S/R_SHOULDER_P_S/R_SHOULDER_R_S/R_SHOULDER_Y_S>,
        </dual_arm/Geometry/base_link/PELVIS_S/R_SHOULDER_P_S/R_SHOULDER_R_S/R_SHOULDER_Y_S/R_ELBOW_R_S>,
        </dual_arm/Geometry/base_link/PELVIS_S/R_SHOULDER_P_S/R_SHOULDER_R_S/R_SHOULDER_Y_S/R_ELBOW_R_S/R_WRIST_P_S>,
        </dual_arm/Geometry/base_link/PELVIS_S/R_SHOULDER_P_S/R_SHOULDER_R_S/R_SHOULDER_Y_S/R_ELBOW_R_S/R_WRIST_P_S/R_WRIST_Y_S>,
        </dual_arm/Geometry/base_link/PELVIS_S/R_SHOULDER_P_S/R_SHOULDER_R_S/R_SHOULDER_Y_S/R_ELBOW_R_S/R_WRIST_P_S/R_WRIST_Y_S/R_WRIST_R_S>,
        </dual_arm/Geometry/base_link/PELVIS_S/R_SHOULDER_P_S/R_SHOULDER_R_S/R_SHOULDER_Y_S/R_ELBOW_R_S/R_WRIST_P_S/R_WRIST_Y_S/R_WRIST_R_S/R_FINGER_TIP>,
        </dual_arm/Geometry/base_link/PELVIS_S/R_SHOULDER_P_S/R_SHOULDER_R_S/R_SHOULDER_Y_S/R_ELBOW_R_S/R_WRIST_P_S/R_WRIST_Y_S/R_WRIST_R_S/R_CAM>,
    ]
    token isaac:robotType = "Manipulator"

    over "Geometry"
    {
        over "base_link" (
            prepend apiSchemas = ["IsaacLinkAPI"]
        )
        {
            over "PELVIS_S" (
                prepend apiSchemas = ["IsaacLinkAPI"]
            )
            {
                over "L_SHOULDER_P_S" (
                    prepend apiSchemas = ["IsaacLinkAPI"]
                )
                {
                    over "L_SHOULDER_R_S" (
                        prepend apiSchemas = ["IsaacLinkAPI"]
                    )
                    {
                        over "L_SHOULDER_Y_S" (
                            prepend apiSchemas = ["IsaacLinkAPI"]
                        )
                        {
                            over "L_ELBOW_R_S" (
                                prepend apiSchemas = ["IsaacLinkAPI"]
                            )
                            {
                                over "L_WRIST_P_S" (
                                    prepend apiSchemas = ["IsaacLinkAPI"]
                                )
                                {
                                    over "L_WRIST_Y_S" (
                                        prepend apiSchemas = ["IsaacLinkAPI"]
                                    )
                                    {
                                        over "L_WRIST_R_S" (
                                            prepend apiSchemas = ["IsaacLinkAPI"]
                                        )
                                        {
                                        }
                                    }
                                }
                            }
                        }
                    }
                }

                over "R_SHOULDER_P_S" (
                    prepend apiSchemas = ["IsaacLinkAPI"]
                )
                {
                    over "R_SHOULDER_R_S" (
                        prepend apiSchemas = ["IsaacLinkAPI"]
                    )
                    {
                        over "R_SHOULDER_Y_S" (
                            prepend apiSchemas = ["IsaacLinkAPI"]
                        )
                        {
                            over "R_ELBOW_R_S" (
                                prepend apiSchemas = ["IsaacLinkAPI"]
                            )
                            {
                                over "R_WRIST_P_S" (
                                    prepend apiSchemas = ["IsaacLinkAPI"]
                                )
                                {
                                    over "R_WRIST_Y_S" (
                                        prepend apiSchemas = ["IsaacLinkAPI"]
                                    )
                                    {
                                        over "R_WRIST_R_S" (
                                            prepend apiSchemas = ["IsaacLinkAPI"]
                                        )
                                        {
                                            over "R_FINGER_TIP" (
                                                prepend apiSchemas = ["IsaacLinkAPI"]
                                            )
                                            {
                                            }

                                            over "R_CAM" (
                                                prepend apiSchemas = ["IsaacLinkAPI"]
                                            )
                                            {
                                            }
                                        }
                                    }
                                }
                            }
                        }
                    }
                }
            }
        }
    }

    over "Physics"
    {
        over "root_joint" (
            prepend apiSchemas = ["IsaacJointAPI"]
        )
        {
        }

        over "base_fixed" (
            prepend apiSchemas = ["IsaacJointAPI"]
        )
        {
        }

        over "L_SHOULDER_P" (
            prepend apiSchemas = ["IsaacJointAPI"]
        )
        {
        }

        over "L_SHOULDER_R" (
            prepend apiSchemas = ["IsaacJointAPI"]
        )
        {
        }

        over "L_SHOULDER_Y" (
            prepend apiSchemas = ["IsaacJointAPI"]
        )
        {
        }

        over "L_ELBOW_R" (
            prepend apiSchemas = ["IsaacJointAPI"]
        )
        {
        }

        over "L_WRIST_P" (
            prepend apiSchemas = ["IsaacJointAPI"]
        )
        {
        }

        over "L_WRIST_Y" (
            prepend apiSchemas = ["IsaacJointAPI"]
        )
        {
        }

        over "L_WRIST_R" (
            prepend apiSchemas = ["IsaacJointAPI"]
        )
        {
        }

        over "R_SHOULDER_P" (
            prepend apiSchemas = ["IsaacJointAPI"]
        )
        {
        }

        over "R_SHOULDER_R" (
            prepend apiSchemas = ["IsaacJointAPI"]
        )
        {
        }

        over "R_SHOULDER_Y" (
            prepend apiSchemas = ["IsaacJointAPI"]
        )
        {
        }

        over "R_ELBOW_R" (
            prepend apiSchemas = ["IsaacJointAPI"]
        )
        {
        }

        over "R_WRIST_P" (
            prepend apiSchemas = ["IsaacJointAPI"]
        )
        {
        }

        over "R_WRIST_Y" (
            prepend apiSchemas = ["IsaacJointAPI"]
        )
        {
        }

        over "R_WRIST_R" (
            prepend apiSchemas = ["IsaacJointAPI"]
        )
        {
        }

        over "R_FINGER_TIP_FIXED" (
            prepend apiSchemas = ["IsaacJointAPI"]
        )
        {
        }

        over "R_CAM_FIXED" (
            prepend apiSchemas = ["IsaacJointAPI"]
        )
        {
        }
    }
}