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

def Scope "Materials"
{
    def Material "gray"
    {
        color3f inputs:diffuseColor = (0.21404114, 0.21404114, 0.21404114)
        float inputs:metallic = 0
        float inputs:opacity = 1
        float inputs:roughness = 0.5
        token inputs:wrapMode = "repeat"
        token outputs:displacement (
            displayGroup = "Outputs"
        )
        prepend token outputs:displacement.connect = </Materials/gray/PreviewSurface.outputs:displacement>
        token outputs:surface (
            displayGroup = "Outputs"
        )
        prepend token outputs:surface.connect = </Materials/gray/PreviewSurface.outputs:surface>
        token outputs:volume (
            displayGroup = "Outputs"
        )

        def Shader "PreviewSurface" (
            apiSchemas = ["NodeDefAPI"]
        )
        {
            token info:id = "UsdPreviewSurface"
            prepend color3f inputs:diffuseColor.connect = </Materials/gray.inputs:diffuseColor>
            prepend float inputs:metallic.connect = </Materials/gray.inputs:metallic>
            prepend float inputs:opacity.connect = </Materials/gray.inputs:opacity>
            prepend float inputs:roughness.connect = </Materials/gray.inputs:roughness>
            token outputs:displacement
            token outputs:surface
        }
    }

    def Material "material_16"
    {
        color3f inputs:diffuseColor = (0, 1, 1)
        float inputs:metallic = 0
        float inputs:opacity = 1
        float inputs:roughness = 0.5
        token inputs:wrapMode = "repeat"
        token outputs:displacement (
            displayGroup = "Outputs"
        )
        prepend token outputs:displacement.connect = </Materials/material_16/PreviewSurface.outputs:displacement>
        token outputs:surface (
            displayGroup = "Outputs"
        )
        prepend token outputs:surface.connect = </Materials/material_16/PreviewSurface.outputs:surface>
        token outputs:volume (
            displayGroup = "Outputs"
        )

        def Shader "PreviewSurface" (
            apiSchemas = ["NodeDefAPI"]
        )
        {
            token info:id = "UsdPreviewSurface"
            prepend color3f inputs:diffuseColor.connect = </Materials/material_16.inputs:diffuseColor>
            prepend float inputs:metallic.connect = </Materials/material_16.inputs:metallic>
            prepend float inputs:opacity.connect = </Materials/material_16.inputs:opacity>
            prepend float inputs:roughness.connect = </Materials/material_16.inputs:roughness>
            token outputs:displacement
            token outputs:surface
        }
    }

    def Material "material_17"
    {
        color3f inputs:diffuseColor = (0, 1, 0)
        float inputs:metallic = 0
        float inputs:opacity = 1
        float inputs:roughness = 0.5
        token inputs:wrapMode = "repeat"
        token outputs:displacement (
            displayGroup = "Outputs"
        )
        prepend token outputs:displacement.connect = </Materials/material_17/PreviewSurface.outputs:displacement>
        token outputs:surface (
            displayGroup = "Outputs"
        )
        prepend token outputs:surface.connect = </Materials/material_17/PreviewSurface.outputs:surface>
        token outputs:volume (
            displayGroup = "Outputs"
        )

        def Shader "PreviewSurface" (
            apiSchemas = ["NodeDefAPI"]
        )
        {
            token info:id = "UsdPreviewSurface"
            prepend color3f inputs:diffuseColor.connect = </Materials/material_17.inputs:diffuseColor>
            prepend float inputs:metallic.connect = </Materials/material_17.inputs:metallic>
            prepend float inputs:opacity.connect = </Materials/material_17.inputs:opacity>
            prepend float inputs:roughness.connect = </Materials/material_17.inputs:roughness>
            token outputs:displacement
            token outputs:surface
        }
    }

    def Material "material_1"
    {
        color3f inputs:diffuseColor = (0.44520125, 0.44520125, 0.44520125)
        float inputs:metallic = 0
        float inputs:opacity = 1
        float inputs:roughness = 0.5
        token inputs:wrapMode = "repeat"
        token outputs:displacement (
            displayGroup = "Outputs"
        )
        prepend token outputs:displacement.connect = </Materials/material_1/PreviewSurface.outputs:displacement>
        token outputs:surface (
            displayGroup = "Outputs"
        )
        prepend token outputs:surface.connect = </Materials/material_1/PreviewSurface.outputs:surface>
        token outputs:volume (
            displayGroup = "Outputs"
        )

        def Shader "PreviewSurface" (
            apiSchemas = ["NodeDefAPI"]
        )
        {
            token info:id = "UsdPreviewSurface"
            prepend color3f inputs:diffuseColor.connect = </Materials/material_1.inputs:diffuseColor>
            prepend float inputs:metallic.connect = </Materials/material_1.inputs:metallic>
            prepend float inputs:opacity.connect = </Materials/material_1.inputs:opacity>
            prepend float inputs:roughness.connect = </Materials/material_1.inputs:roughness>
            token outputs:displacement
            token outputs:surface
        }
    }

    def Material "material_2"
    {
        color3f inputs:diffuseColor = (0.7835379, 0.82278585, 0.8468733)
        float inputs:metallic = 0
        float inputs:opacity = 1
        float inputs:roughness = 0.5
        token inputs:wrapMode = "repeat"
        token outputs:displacement (
            displayGroup = "Outputs"
        )
        prepend token outputs:displacement.connect = </Materials/material_2/PreviewSurface.outputs:displacement>
        token outputs:surface (
            displayGroup = "Outputs"
        )
        prepend token outputs:surface.connect = </Materials/material_2/PreviewSurface.outputs:surface>
        token outputs:volume (
            displayGroup = "Outputs"
        )

        def Shader "PreviewSurface" (
            apiSchemas = ["NodeDefAPI"]
        )
        {
            token info:id = "UsdPreviewSurface"
            prepend color3f inputs:diffuseColor.connect = </Materials/material_2.inputs:diffuseColor>
            prepend float inputs:metallic.connect = </Materials/material_2.inputs:metallic>
            prepend float inputs:opacity.connect = </Materials/material_2.inputs:opacity>
            prepend float inputs:roughness.connect = </Materials/material_2.inputs:roughness>
            token outputs:displacement
            token outputs:surface
        }
    }

    def Material "material_3"
    {
        color3f inputs:diffuseColor = (0.7681513, 0.7681513, 0.8148467)
        float inputs:metallic = 0
        float inputs:opacity = 1
        float inputs:roughness = 0.5
        token inputs:wrapMode = "repeat"
        token outputs:displacement (
            displayGroup = "Outputs"
        )
        prepend token outputs:displacement.connect = </Materials/material_3/PreviewSurface.outputs:displacement>
        token outputs:surface (
            displayGroup = "Outputs"
        )
        prepend token outputs:surface.connect = </Materials/material_3/PreviewSurface.outputs:surface>
        token outputs:volume (
            displayGroup = "Outputs"
        )

        def Shader "PreviewSurface" (
            apiSchemas = ["NodeDefAPI"]
        )
        {
            token info:id = "UsdPreviewSurface"
            prepend color3f inputs:diffuseColor.connect = </Materials/material_3.inputs:diffuseColor>
            prepend float inputs:metallic.connect = </Materials/material_3.inputs:metallic>
            prepend float inputs:opacity.connect = </Materials/material_3.inputs:opacity>
            prepend float inputs:roughness.connect = </Materials/material_3.inputs:roughness>
            token outputs:displacement
            token outputs:surface
        }
    }

    def Material "material_7"
    {
        color3f inputs:diffuseColor = (0.37626222, 0.34191445, 0.30498737)
        float inputs:metallic = 0
        float inputs:opacity = 1
        float inputs:roughness = 0.5
        token inputs:wrapMode = "repeat"
        token outputs:displacement (
            displayGroup = "Outputs"
        )
        prepend token outputs:displacement.connect = </Materials/material_7/PreviewSurface.outputs:displacement>
        token outputs:surface (
            displayGroup = "Outputs"
        )
        prepend token outputs:surface.connect = </Materials/material_7/PreviewSurface.outputs:surface>
        token outputs:volume (
            displayGroup = "Outputs"
        )

        def Shader "PreviewSurface" (
            apiSchemas = ["NodeDefAPI"]
        )
        {
            token info:id = "UsdPreviewSurface"
            prepend color3f inputs:diffuseColor.connect = </Materials/material_7.inputs:diffuseColor>
            prepend float inputs:metallic.connect = </Materials/material_7.inputs:metallic>
            prepend float inputs:opacity.connect = </Materials/material_7.inputs:opacity>
            prepend float inputs:roughness.connect = </Materials/material_7.inputs:roughness>
            token outputs:displacement
            token outputs:surface
        }
    }
}