#usda 1.0
(
    customLayerData = {
        string creator = "URDF USD Converter v0.1.3"
    }
    defaultPrim = "dual_arm"
    doc = """Generated from Composed Stage of root layer /tmp/tmpya9pt0m3/dual_arm.usdc


Generated from Composed Stage of root layer /tmp/urdf_import_dual_arm_9daxnqq8/usdex_dual_arm/dual_arm.usdc


Generated from Composed Stage of root layer /tmp/urdf_import_dual_arm_9daxnqq8/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_1/payloads/base.usd
"""
    kilogramsPerUnit = 1
    metersPerUnit = 1
    subLayers = [
        @./physics.usda@
    ]
    upAxis = "Z"
)

over "dual_arm"
{
    over "Physics"
    {
        def MjcActuator "L_SHOULDER_P_actuator"
        {
            uniform double mjc:forceRange:max = 120
            uniform double mjc:forceRange:min = -120
            custom rel mjc:target
            prepend rel mjc:target = </dual_arm/Physics/L_SHOULDER_P>
        }

        def MjcActuator "L_SHOULDER_R_actuator"
        {
            uniform double mjc:forceRange:max = 120
            uniform double mjc:forceRange:min = -120
            custom rel mjc:target
            prepend rel mjc:target = </dual_arm/Physics/L_SHOULDER_R>
        }

        def MjcActuator "L_SHOULDER_Y_actuator"
        {
            uniform double mjc:forceRange:max = 80
            uniform double mjc:forceRange:min = -80
            custom rel mjc:target
            prepend rel mjc:target = </dual_arm/Physics/L_SHOULDER_Y>
        }

        def MjcActuator "L_ELBOW_R_actuator"
        {
            uniform double mjc:forceRange:max = 50
            uniform double mjc:forceRange:min = -50
            custom rel mjc:target
            prepend rel mjc:target = </dual_arm/Physics/L_ELBOW_R>
        }

        def MjcActuator "L_WRIST_P_actuator"
        {
            uniform double mjc:forceRange:max = 50
            uniform double mjc:forceRange:min = -50
            custom rel mjc:target
            prepend rel mjc:target = </dual_arm/Physics/L_WRIST_P>
        }

        def MjcActuator "L_WRIST_Y_actuator"
        {
            uniform double mjc:forceRange:max = 50
            uniform double mjc:forceRange:min = -50
            custom rel mjc:target
            prepend rel mjc:target = </dual_arm/Physics/L_WRIST_Y>
        }

        def MjcActuator "L_WRIST_R_actuator"
        {
            uniform double mjc:forceRange:max = 50
            uniform double mjc:forceRange:min = -50
            custom rel mjc:target
            prepend rel mjc:target = </dual_arm/Physics/L_WRIST_R>
        }

        def MjcActuator "R_SHOULDER_P_actuator"
        {
            uniform double mjc:forceRange:max = 120
            uniform double mjc:forceRange:min = -120
            custom rel mjc:target
            prepend rel mjc:target = </dual_arm/Physics/R_SHOULDER_P>
        }

        def MjcActuator "R_SHOULDER_R_actuator"
        {
            uniform double mjc:forceRange:max = 120
            uniform double mjc:forceRange:min = -120
            custom rel mjc:target
            prepend rel mjc:target = </dual_arm/Physics/R_SHOULDER_R>
        }

        def MjcActuator "R_SHOULDER_Y_actuator"
        {
            uniform double mjc:forceRange:max = 80
            uniform double mjc:forceRange:min = -80
            custom rel mjc:target
            prepend rel mjc:target = </dual_arm/Physics/R_SHOULDER_Y>
        }

        def MjcActuator "R_ELBOW_R_actuator"
        {
            uniform double mjc:forceRange:max = 80
            uniform double mjc:forceRange:min = -80
            custom rel mjc:target
            prepend rel mjc:target = </dual_arm/Physics/R_ELBOW_R>
        }

        def MjcActuator "R_WRIST_P_actuator"
        {
            uniform double mjc:forceRange:max = 50
            uniform double mjc:forceRange:min = -50
            custom rel mjc:target
            prepend rel mjc:target = </dual_arm/Physics/R_WRIST_P>
        }

        def MjcActuator "R_WRIST_Y_actuator"
        {
            uniform double mjc:forceRange:max = 50
            uniform double mjc:forceRange:min = -50
            custom rel mjc:target
            prepend rel mjc:target = </dual_arm/Physics/R_WRIST_Y>
        }

        def MjcActuator "R_WRIST_R_actuator"
        {
            uniform double mjc:forceRange:max = 50
            uniform double mjc:forceRange:min = -50
            custom rel mjc:target
            prepend rel mjc:target = </dual_arm/Physics/R_WRIST_R>
        }

        over "root_joint"
        {
        }

        over "base_fixed"
        {
        }

        over "L_SHOULDER_P" (
            delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
        )
        {
        }

        over "L_SHOULDER_R" (
            delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
        )
        {
        }

        over "L_SHOULDER_Y" (
            delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
        )
        {
        }

        over "L_ELBOW_R" (
            delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
        )
        {
        }

        over "L_WRIST_P" (
            delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
        )
        {
        }

        over "L_WRIST_Y" (
            delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
        )
        {
        }

        over "L_WRIST_R" (
            delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
        )
        {
        }

        over "R_SHOULDER_P" (
            delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
        )
        {
        }

        over "R_SHOULDER_R" (
            delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
        )
        {
        }

        over "R_SHOULDER_Y" (
            delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
        )
        {
        }

        over "R_ELBOW_R" (
            delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
        )
        {
        }

        over "R_WRIST_P" (
            delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
        )
        {
        }

        over "R_WRIST_Y" (
            delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
        )
        {
        }

        over "R_WRIST_R" (
            delete apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
        )
        {
        }

        over "R_FINGER_TIP_FIXED"
        {
        }

        over "R_CAM_FIXED"
        {
        }
    }

    over "Geometry"
    {
        over "base_link"
        {
            over "PELVIS_S"
            {
                over "L_SHOULDER_P_S"
                {
                    over "L_SHOULDER_R_S"
                    {
                        over "L_SHOULDER_Y_S"
                        {
                            over "L_ELBOW_R_S"
                            {
                                over "L_WRIST_P_S"
                                {
                                    over "L_WRIST_Y_S"
                                    {
                                        over "L_WRIST_R_S"
                                        {
                                        }

                                        over "L_WRIST_Y_S"
                                        {
                                        }
                                    }

                                    over "L_WRIST_P_S"
                                    {
                                    }
                                }

                                over "L_ELBOW_R_S"
                                {
                                }
                            }

                            over "L_SHOULDER_Y_S"
                            {
                            }
                        }

                        over "L_SHOULDER_R_S"
                        {
                        }
                    }

                    over "L_SHOULDER_P_S"
                    {
                    }
                }

                over "R_SHOULDER_P_S"
                {
                    over "R_SHOULDER_R_S"
                    {
                        over "R_SHOULDER_Y_S"
                        {
                            over "R_ELBOW_R_S"
                            {
                                over "R_WRIST_P_S"
                                {
                                    over "R_WRIST_Y_S"
                                    {
                                        over "R_WRIST_R_S"
                                        {
                                            over "R_FINGER_TIP"
                                            {
                                                over "sphere"
                                                {
                                                }

                                                over "sphere_1"
                                                {
                                                }
                                            }

                                            over "R_CAM"
                                            {
                                                over "sphere"
                                                {
                                                }

                                                over "sphere_1"
                                                {
                                                }
                                            }

                                            over "R_WRIST_R_S"
                                            {
                                            }
                                        }

                                        over "R_WRIST_Y_S"
                                        {
                                        }
                                    }

                                    over "R_WRIST_P_S"
                                    {
                                    }
                                }

                                over "R_ELBOW_R_S"
                                {
                                }
                            }

                            over "R_SHOULDER_Y_S"
                            {
                            }
                        }

                        over "R_SHOULDER_R_S"
                        {
                        }
                    }

                    over "R_SHOULDER_P_S"
                    {
                    }
                }

                over "PELVIS_S"
                {
                }
            }

            over "cylinder"
            {
            }

            over "base_column"
            {
            }
        }
    }

    over "Materials"
    {
        over "gray"
        {
        }

        over "material_16"
        {
        }

        over "material_17"
        {
        }
    }

    over "VisualMaterials"
    {
    }
}