#usda 1.0
(
    customLayerData = {
        string creator = "URDF USD Converter v0.1.3"
    }
    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
    upAxis = "Z"
)

def Scope "Instances"
{
    def Xform "PELVIS_S" (
        prepend references = @./geometries.usd@</Geometries/PELVIS_S>
    )
    {
        over "PELVIS_S" (
            apiSchemas = ["MaterialBindingAPI"]
        )
        {
            custom rel material:binding
            prepend rel material:binding = </Instances/PELVIS_S/VisualMaterials/material_1>
        }

        def Scope "VisualMaterials"
        {
            def Material "material_1" (
                instanceable = true
                prepend references = @./materials.usda@</Materials/material_1>
            )
            {
            }
        }
    }

    def Xform "PELVIS_S_1" (
        prepend references = @./geometries.usd@</Geometries/PELVIS_S>
    )
    {
        over "PELVIS_S" (
            apiSchemas = ["PhysicsCollisionAPI", "NewtonCollisionAPI", "PhysicsMeshCollisionAPI", "NewtonMeshCollisionAPI"]
        )
        {
            token physics:approximation = "convexHull"
            token purpose = "guide"
        }
    }

    def Xform "L_SHOULDER_P_S" (
        prepend references = @./geometries.usd@</Geometries/L_SHOULDER_P_S>
    )
    {
        over "L_SHOULDER_P_S" (
            apiSchemas = ["MaterialBindingAPI"]
        )
        {
            custom rel material:binding
            prepend rel material:binding = </Instances/L_SHOULDER_P_S/VisualMaterials/material_2>
        }

        def Scope "VisualMaterials"
        {
            def Material "material_2" (
                instanceable = true
                prepend references = @./materials.usda@</Materials/material_2>
            )
            {
            }
        }
    }

    def Xform "L_SHOULDER_P_S_1" (
        prepend references = @./geometries.usd@</Geometries/L_SHOULDER_P_S>
    )
    {
        over "L_SHOULDER_P_S" (
            apiSchemas = ["PhysicsCollisionAPI", "NewtonCollisionAPI", "PhysicsMeshCollisionAPI", "NewtonMeshCollisionAPI"]
        )
        {
            token physics:approximation = "convexHull"
            token purpose = "guide"
        }
    }

    def Xform "L_SHOULDER_R_S" (
        prepend references = @./geometries.usd@</Geometries/L_SHOULDER_R_S>
    )
    {
        over "L_SHOULDER_R_S" (
            apiSchemas = ["MaterialBindingAPI"]
        )
        {
            custom rel material:binding
            prepend rel material:binding = </Instances/L_SHOULDER_R_S/VisualMaterials/material_3>
        }

        def Scope "VisualMaterials"
        {
            def Material "material_3" (
                instanceable = true
                prepend references = @./materials.usda@</Materials/material_3>
            )
            {
            }
        }
    }

    def Xform "L_SHOULDER_R_S_1" (
        prepend references = @./geometries.usd@</Geometries/L_SHOULDER_R_S>
    )
    {
        over "L_SHOULDER_R_S" (
            apiSchemas = ["PhysicsCollisionAPI", "NewtonCollisionAPI", "PhysicsMeshCollisionAPI", "NewtonMeshCollisionAPI"]
        )
        {
            token physics:approximation = "convexHull"
            token purpose = "guide"
        }
    }

    def Xform "L_SHOULDER_Y_S" (
        prepend references = @./geometries.usd@</Geometries/L_SHOULDER_Y_S>
    )
    {
        over "L_SHOULDER_Y_S" (
            apiSchemas = ["MaterialBindingAPI"]
        )
        {
            custom rel material:binding
            prepend rel material:binding = </Instances/L_SHOULDER_Y_S/VisualMaterials/material_4>
        }

        def Scope "VisualMaterials"
        {
            def Material "material_4" (
                instanceable = true
                prepend references = @./materials.usda@</Materials/material_3>
            )
            {
            }
        }
    }

    def Xform "L_SHOULDER_Y_S_1" (
        prepend references = @./geometries.usd@</Geometries/L_SHOULDER_Y_S>
    )
    {
        over "L_SHOULDER_Y_S" (
            apiSchemas = ["PhysicsCollisionAPI", "NewtonCollisionAPI", "PhysicsMeshCollisionAPI", "NewtonMeshCollisionAPI"]
        )
        {
            token physics:approximation = "convexHull"
            token purpose = "guide"
        }
    }

    def Xform "L_ELBOW_R_S" (
        prepend references = @./geometries.usd@</Geometries/L_ELBOW_R_S>
    )
    {
        over "L_ELBOW_R_S" (
            apiSchemas = ["MaterialBindingAPI"]
        )
        {
            custom rel material:binding
            prepend rel material:binding = </Instances/L_ELBOW_R_S/VisualMaterials/material_5>
        }

        def Scope "VisualMaterials"
        {
            def Material "material_5" (
                instanceable = true
                prepend references = @./materials.usda@</Materials/material_3>
            )
            {
            }
        }
    }

    def Xform "L_ELBOW_R_S_1" (
        prepend references = @./geometries.usd@</Geometries/L_ELBOW_R_S>
    )
    {
        over "L_ELBOW_R_S" (
            apiSchemas = ["PhysicsCollisionAPI", "NewtonCollisionAPI", "PhysicsMeshCollisionAPI", "NewtonMeshCollisionAPI"]
        )
        {
            token physics:approximation = "convexHull"
            token purpose = "guide"
        }
    }

    def Xform "L_WRIST_P_S" (
        prepend references = @./geometries.usd@</Geometries/L_WRIST_P_S>
    )
    {
        over "L_WRIST_P_S" (
            apiSchemas = ["MaterialBindingAPI"]
        )
        {
            custom rel material:binding
            prepend rel material:binding = </Instances/L_WRIST_P_S/VisualMaterials/material_6>
        }

        def Scope "VisualMaterials"
        {
            def Material "material_6" (
                instanceable = true
                prepend references = @./materials.usda@</Materials/material_1>
            )
            {
            }
        }
    }

    def Xform "L_WRIST_P_S_1" (
        prepend references = @./geometries.usd@</Geometries/L_WRIST_P_S>
    )
    {
        over "L_WRIST_P_S" (
            apiSchemas = ["PhysicsCollisionAPI", "NewtonCollisionAPI", "PhysicsMeshCollisionAPI", "NewtonMeshCollisionAPI"]
        )
        {
            token physics:approximation = "convexHull"
            token purpose = "guide"
        }
    }

    def Xform "L_WRIST_Y_S" (
        prepend references = @./geometries.usd@</Geometries/L_WRIST_Y_S>
    )
    {
        over "L_WRIST_Y_S" (
            apiSchemas = ["MaterialBindingAPI"]
        )
        {
            custom rel material:binding
            prepend rel material:binding = </Instances/L_WRIST_Y_S/VisualMaterials/material_7>
        }

        def Scope "VisualMaterials"
        {
            def Material "material_7" (
                instanceable = true
                prepend references = @./materials.usda@</Materials/material_7>
            )
            {
            }
        }
    }

    def Xform "L_WRIST_Y_S_1" (
        prepend references = @./geometries.usd@</Geometries/L_WRIST_Y_S>
    )
    {
        over "L_WRIST_Y_S" (
            apiSchemas = ["PhysicsCollisionAPI", "NewtonCollisionAPI", "PhysicsMeshCollisionAPI", "NewtonMeshCollisionAPI"]
        )
        {
            token physics:approximation = "convexHull"
            token purpose = "guide"
        }
    }

    def Xform "L_WRIST_R_S" (
        prepend references = @./geometries.usd@</Geometries/L_WRIST_R_S>
    )
    {
        over "L_WRIST_R_S" (
            apiSchemas = ["MaterialBindingAPI"]
        )
        {
            custom rel material:binding
            prepend rel material:binding = </Instances/L_WRIST_R_S/VisualMaterials/material_8>
        }

        def Scope "VisualMaterials"
        {
            def Material "material_8" (
                instanceable = true
                prepend references = @./materials.usda@</Materials/material_3>
            )
            {
            }
        }
    }

    def Xform "L_WRIST_R_S_1" (
        prepend references = @./geometries.usd@</Geometries/L_WRIST_R_S>
    )
    {
        over "L_WRIST_R_S" (
            apiSchemas = ["PhysicsCollisionAPI", "NewtonCollisionAPI", "PhysicsMeshCollisionAPI", "NewtonMeshCollisionAPI"]
        )
        {
            token physics:approximation = "convexHull"
            token purpose = "guide"
        }
    }

    def Xform "R_SHOULDER_P_S" (
        prepend references = @./geometries.usd@</Geometries/R_SHOULDER_P_S>
    )
    {
        over "R_SHOULDER_P_S" (
            apiSchemas = ["MaterialBindingAPI"]
        )
        {
            custom rel material:binding
            prepend rel material:binding = </Instances/R_SHOULDER_P_S/VisualMaterials/material_9>
        }

        def Scope "VisualMaterials"
        {
            def Material "material_9" (
                instanceable = true
                prepend references = @./materials.usda@</Materials/material_3>
            )
            {
            }
        }
    }

    def Xform "R_SHOULDER_P_S_1" (
        prepend references = @./geometries.usd@</Geometries/R_SHOULDER_P_S>
    )
    {
        over "R_SHOULDER_P_S" (
            apiSchemas = ["PhysicsCollisionAPI", "NewtonCollisionAPI", "PhysicsMeshCollisionAPI", "NewtonMeshCollisionAPI"]
        )
        {
            token physics:approximation = "convexHull"
            token purpose = "guide"
        }
    }

    def Xform "R_SHOULDER_R_S" (
        prepend references = @./geometries.usd@</Geometries/R_SHOULDER_R_S>
    )
    {
        over "R_SHOULDER_R_S" (
            apiSchemas = ["MaterialBindingAPI"]
        )
        {
            custom rel material:binding
            prepend rel material:binding = </Instances/R_SHOULDER_R_S/VisualMaterials/material_10>
        }

        def Scope "VisualMaterials"
        {
            def Material "material_10" (
                instanceable = true
                prepend references = @./materials.usda@</Materials/material_3>
            )
            {
            }
        }
    }

    def Xform "R_SHOULDER_R_S_1" (
        prepend references = @./geometries.usd@</Geometries/R_SHOULDER_R_S>
    )
    {
        over "R_SHOULDER_R_S" (
            apiSchemas = ["PhysicsCollisionAPI", "NewtonCollisionAPI", "PhysicsMeshCollisionAPI", "NewtonMeshCollisionAPI"]
        )
        {
            token physics:approximation = "convexHull"
            token purpose = "guide"
        }
    }

    def Xform "R_SHOULDER_Y_S" (
        prepend references = @./geometries.usd@</Geometries/R_SHOULDER_Y_S>
    )
    {
        over "R_SHOULDER_Y_S" (
            apiSchemas = ["MaterialBindingAPI"]
        )
        {
            custom rel material:binding
            prepend rel material:binding = </Instances/R_SHOULDER_Y_S/VisualMaterials/material_11>
        }

        def Scope "VisualMaterials"
        {
            def Material "material_11" (
                instanceable = true
                prepend references = @./materials.usda@</Materials/material_3>
            )
            {
            }
        }
    }

    def Xform "R_SHOULDER_Y_S_1" (
        prepend references = @./geometries.usd@</Geometries/R_SHOULDER_Y_S>
    )
    {
        over "R_SHOULDER_Y_S" (
            apiSchemas = ["PhysicsCollisionAPI", "NewtonCollisionAPI", "PhysicsMeshCollisionAPI", "NewtonMeshCollisionAPI"]
        )
        {
            token physics:approximation = "convexHull"
            token purpose = "guide"
        }
    }

    def Xform "R_ELBOW_R_S" (
        prepend references = @./geometries.usd@</Geometries/R_ELBOW_R_S>
    )
    {
        over "R_ELBOW_R_S" (
            apiSchemas = ["MaterialBindingAPI"]
        )
        {
            custom rel material:binding
            prepend rel material:binding = </Instances/R_ELBOW_R_S/VisualMaterials/material_12>
        }

        def Scope "VisualMaterials"
        {
            def Material "material_12" (
                instanceable = true
                prepend references = @./materials.usda@</Materials/material_3>
            )
            {
            }
        }
    }

    def Xform "R_ELBOW_R_S_1" (
        prepend references = @./geometries.usd@</Geometries/R_ELBOW_R_S>
    )
    {
        over "R_ELBOW_R_S" (
            apiSchemas = ["PhysicsCollisionAPI", "NewtonCollisionAPI", "PhysicsMeshCollisionAPI", "NewtonMeshCollisionAPI"]
        )
        {
            token physics:approximation = "convexHull"
            token purpose = "guide"
        }
    }

    def Xform "R_WRIST_P_S" (
        prepend references = @./geometries.usd@</Geometries/R_WRIST_P_S>
    )
    {
        over "R_WRIST_P_S" (
            apiSchemas = ["MaterialBindingAPI"]
        )
        {
            custom rel material:binding
            prepend rel material:binding = </Instances/R_WRIST_P_S/VisualMaterials/material_13>
        }

        def Scope "VisualMaterials"
        {
            def Material "material_13" (
                instanceable = true
                prepend references = @./materials.usda@</Materials/material_7>
            )
            {
            }
        }
    }

    def Xform "R_WRIST_P_S_1" (
        prepend references = @./geometries.usd@</Geometries/R_WRIST_P_S>
    )
    {
        over "R_WRIST_P_S" (
            apiSchemas = ["PhysicsCollisionAPI", "NewtonCollisionAPI", "PhysicsMeshCollisionAPI", "NewtonMeshCollisionAPI"]
        )
        {
            token physics:approximation = "convexHull"
            token purpose = "guide"
        }
    }

    def Xform "R_WRIST_Y_S" (
        prepend references = @./geometries.usd@</Geometries/R_WRIST_Y_S>
    )
    {
        over "R_WRIST_Y_S" (
            apiSchemas = ["MaterialBindingAPI"]
        )
        {
            custom rel material:binding
            prepend rel material:binding = </Instances/R_WRIST_Y_S/VisualMaterials/material_14>
        }

        def Scope "VisualMaterials"
        {
            def Material "material_14" (
                instanceable = true
                prepend references = @./materials.usda@</Materials/material_7>
            )
            {
            }
        }
    }

    def Xform "R_WRIST_Y_S_1" (
        prepend references = @./geometries.usd@</Geometries/R_WRIST_Y_S>
    )
    {
        over "R_WRIST_Y_S" (
            apiSchemas = ["PhysicsCollisionAPI", "NewtonCollisionAPI", "PhysicsMeshCollisionAPI", "NewtonMeshCollisionAPI"]
        )
        {
            token physics:approximation = "convexHull"
            token purpose = "guide"
        }
    }

    def Xform "R_WRIST_R_S" (
        prepend references = @./geometries.usd@</Geometries/R_WRIST_R_S>
    )
    {
        over "R_WRIST_R_S" (
            apiSchemas = ["MaterialBindingAPI"]
        )
        {
            custom rel material:binding
            prepend rel material:binding = </Instances/R_WRIST_R_S/VisualMaterials/material_15>
        }

        def Scope "VisualMaterials"
        {
            def Material "material_15" (
                instanceable = true
                prepend references = @./materials.usda@</Materials/material_3>
            )
            {
            }
        }
    }

    def Xform "R_WRIST_R_S_1" (
        prepend references = @./geometries.usd@</Geometries/R_WRIST_R_S>
    )
    {
        over "R_WRIST_R_S" (
            apiSchemas = ["PhysicsCollisionAPI", "NewtonCollisionAPI", "PhysicsMeshCollisionAPI", "NewtonMeshCollisionAPI"]
        )
        {
            token physics:approximation = "convexHull"
            token purpose = "guide"
        }
    }
}