#usda 1.0
(
    customLayerData = {
        string creator = "URDF USD Converter v0.1.3"
    }
    defaultPrim = "dual_arm"
    doc = """Generated from Composed Stage of root layer /tmp/tmpg9rhrzku/dual_arm.usdc


Generated from Composed Stage of root layer /tmp/urdf_import_dual_arm_5_54i39n/usdex_dual_arm/dual_arm.usdc


Generated from Composed Stage of root layer /tmp/urdf_import_dual_arm_5_54i39n/temp_dual_arm/dual_arm.usd


Generated from Composed Stage of root layer /home/lgv/cmvr/0-workspace/cmvr-es/model/xiaoyan_description/dual_arm/payloads/base.usd
"""
    kilogramsPerUnit = 1
    metersPerUnit = 1
    subLayers = [
        @./physics.usda@
    ]
    upAxis = "Z"
)

over "dual_arm"
{
    over "Physics"
    {
        over "L_SHOULDER_P" (
            prepend apiSchemas = ["PhysxJointAPI"]
        )
        {
            float physxJoint:maxJointVelocity = 191.99817
        }

        over "L_SHOULDER_R" (
            prepend apiSchemas = ["PhysxJointAPI"]
        )
        {
            float physxJoint:maxJointVelocity = 191.99817
        }

        over "L_SHOULDER_Y" (
            prepend apiSchemas = ["PhysxJointAPI"]
        )
        {
            float physxJoint:maxJointVelocity = 222.06699
        }

        over "L_ELBOW_R" (
            prepend apiSchemas = ["PhysxJointAPI"]
        )
        {
            float physxJoint:maxJointVelocity = 269.86313
        }

        over "L_WRIST_P" (
            prepend apiSchemas = ["PhysxJointAPI"]
        )
        {
            float physxJoint:maxJointVelocity = 269.86313
        }

        over "L_WRIST_Y" (
            prepend apiSchemas = ["PhysxJointAPI"]
        )
        {
            float physxJoint:maxJointVelocity = 45.263668
        }

        over "L_WRIST_R" (
            prepend apiSchemas = ["PhysxJointAPI"]
        )
        {
            float physxJoint:maxJointVelocity = 269.86313
        }

        over "R_SHOULDER_P" (
            prepend apiSchemas = ["PhysxJointAPI"]
        )
        {
            float physxJoint:maxJointVelocity = 191.99817
        }

        over "R_SHOULDER_R" (
            prepend apiSchemas = ["PhysxJointAPI"]
        )
        {
            float physxJoint:maxJointVelocity = 191.99817
        }

        over "R_SHOULDER_Y" (
            prepend apiSchemas = ["PhysxJointAPI"]
        )
        {
            float physxJoint:maxJointVelocity = 222.06699
        }

        over "R_ELBOW_R" (
            prepend apiSchemas = ["PhysxJointAPI"]
        )
        {
            float physxJoint:maxJointVelocity = 222.06699
        }

        over "R_WRIST_P" (
            prepend apiSchemas = ["PhysxJointAPI"]
        )
        {
            float physxJoint:maxJointVelocity = 269.86313
        }

        over "R_WRIST_Y" (
            prepend apiSchemas = ["PhysxJointAPI"]
        )
        {
            float physxJoint:maxJointVelocity = 45.263668
        }

        over "R_WRIST_R" (
            prepend apiSchemas = ["PhysxJointAPI"]
        )
        {
            float physxJoint:maxJointVelocity = 269.86313
        }
    }
}