#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


Generated from Composed Stage of root layer /home/lgv/cmvr/0-workspace/cmvr-es/model/xiaoyan_description/dual_arm_2/payloads/base.usd
"""
    kilogramsPerUnit = 1
    metersPerUnit = 1
    upAxis = "Z"
)

over "dual_arm"
{
    over "Geometry"
    {
        over "base_link" (
            prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsArticulationRootAPI", "NewtonArticulationRootAPI"]
        )
        {
            bool newton:selfCollisionEnabled = 0

            over "PELVIS_S" (
                prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"]
            )
            {
                point3f physics:centerOfMass = (0.000037852908, 3.8178143e-7, 0.038639627)
                float3 physics:diagonalInertia = (0.0013673676, 0.0016570506, 0.0016829747)
                float physics:mass = 2.106246
                quatf physics:principalAxes = (0.009335395, 0.7070413, 0.707049, -0.009335252)

                over "L_SHOULDER_P_S" (
                    prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"]
                )
                {
                    point3f physics:centerOfMass = (-0.0098225875, 0.070459306, 0.0000011526188)
                    float3 physics:diagonalInertia = (0.0004438491, 0.00046564807, 0.00058487366)
                    float physics:mass = 0.88073754
                    quatf physics:principalAxes = (0.52669495, -0.5265165, -0.4719702, -0.471823)

                    over "L_SHOULDER_R_S" (
                        prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"]
                    )
                    {
                        point3f physics:centerOfMass = (-0.034602527, 0.09173933, -1.6708507e-8)
                        float3 physics:diagonalInertia = (0.00029429645, 0.0004076361, 0.00041477106)
                        float physics:mass = 0.59478843
                        quatf physics:principalAxes = (-0.000014568957, 0.50742036, 0.8616986, 0.00003184278)

                        over "L_SHOULDER_Y_S" (
                            prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"]
                        )
                        {
                            point3f physics:centerOfMass = (-0.0044097686, 0.08636205, 9.507486e-9)
                            float3 physics:diagonalInertia = (0.00021101937, 0.00029734103, 0.00032981517)
                            float physics:mass = 0.56340605
                            quatf physics:principalAxes = (0.53709006, -0.5370771, -0.45993194, -0.45994022)

                            over "L_ELBOW_R_S" (
                                prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"]
                            )
                            {
                                point3f physics:centerOfMass = (-0.033562426, 0.060319997, 2.996559e-7)
                                float3 physics:diagonalInertia = (0.00013903381, 0.00018104233, 0.00018907762)
                                float physics:mass = 0.3935719
                                quatf physics:principalAxes = (-0.32768953, 0.32742363, 0.62656015, 0.626766)

                                over "L_WRIST_P_S" (
                                    prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"]
                                )
                                {
                                    point3f physics:centerOfMass = (-1.3965917e-10, 0.06759726, 0.019200552)
                                    float3 physics:diagonalInertia = (0.00009728105, 0.00047675407, 0.00048914185)
                                    float physics:mass = 0.44233248
                                    quatf physics:principalAxes = (0.044508155, 0.7057046, 0.7057046, 0.044508155)

                                    over "L_WRIST_Y_S" (
                                        prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"]
                                    )
                                    {
                                        point3f physics:centerOfMass = (-0.0046413587, -5.064268e-10, -0.03412538)
                                        float3 physics:diagonalInertia = (0.000045789966, 0.00005849702, 0.0000600636)
                                        float physics:mass = 0.23573847
                                        quatf physics:principalAxes = (-0.6641875, 0.6641875, 0.24260041, -0.24260041)

                                        over "L_WRIST_R_S" (
                                            prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"]
                                        )
                                        {
                                            point3f physics:centerOfMass = (-0.016147736, 0.09550466, -0.004993925)
                                            float3 physics:diagonalInertia = (0.00017805478, 0.00018857485, 0.00028092117)
                                            float physics:mass = 0.50489414
                                            quatf physics:principalAxes = (-0.020479547, 0.8394515, 0.54304194, -0.00269542)
                                        }
                                    }
                                }
                            }
                        }
                    }
                }

                over "R_SHOULDER_P_S" (
                    prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"]
                )
                {
                    point3f physics:centerOfMass = (-0.0098225875, -0.070459306, -0.0000011506992)
                    float3 physics:diagonalInertia = (0.0004438491, 0.00046564807, 0.00058487366)
                    float physics:mass = 0.88073754
                    quatf physics:principalAxes = (-0.4719702, 0.471823, 0.52669495, 0.5265165)

                    over "R_SHOULDER_R_S" (
                        prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"]
                    )
                    {
                        point3f physics:centerOfMass = (-0.034602527, -0.09173933, 1.8628064e-8)
                        float3 physics:diagonalInertia = (0.00029429645, 0.0004076361, 0.00041477106)
                        float physics:mass = 0.59478843
                        quatf physics:principalAxes = (0.00003184278, 0.8616986, 0.50742036, -0.000014568957)

                        over "R_SHOULDER_Y_S" (
                            prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"]
                        )
                        {
                            point3f physics:centerOfMass = (-0.0044097686, -0.08636205, -7.587919e-9)
                            float3 physics:diagonalInertia = (0.00021101937, 0.00029734103, 0.00032981517)
                            float physics:mass = 0.56340605
                            quatf physics:principalAxes = (-0.45993194, 0.45994022, 0.53709006, 0.5370771)

                            over "R_ELBOW_R_S" (
                                prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"]
                            )
                            {
                                point3f physics:centerOfMass = (-0.033562426, -0.060319997, -2.9773634e-7)
                                float3 physics:diagonalInertia = (0.00013903381, 0.00018104233, 0.00018907762)
                                float physics:mass = 0.3935719
                                quatf physics:principalAxes = (-0.62656015, 0.626766, 0.32768953, 0.32742363)

                                over "R_WRIST_P_S" (
                                    prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"]
                                )
                                {
                                    point3f physics:centerOfMass = (-1.3965658e-10, -0.06759726, 0.019200552)
                                    float3 physics:diagonalInertia = (0.00009728105, 0.00047675407, 0.00048914185)
                                    float physics:mass = 0.44233248
                                    quatf physics:principalAxes = (-0.044508155, 0.7057046, 0.7057046, -0.044508155)

                                    over "R_WRIST_Y_S" (
                                        prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"]
                                    )
                                    {
                                        point3f physics:centerOfMass = (-0.0046413587, -5.0642646e-10, -0.03412538)
                                        float3 physics:diagonalInertia = (0.000045789966, 0.00005849702, 0.0000600636)
                                        float physics:mass = 0.23573847
                                        quatf physics:principalAxes = (-0.6641875, 0.6641875, 0.24260041, -0.24260041)

                                        over "R_WRIST_R_S" (
                                            prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"]
                                        )
                                        {
                                            point3f physics:centerOfMass = (-0.020164223, -0.110749684, -0.0059895534)
                                            float3 physics:diagonalInertia = (0.00013062927, 0.00018608647, 0.00027189028)
                                            float physics:mass = 0.50436604
                                            quatf physics:principalAxes = (0.00645075, 0.6693525, 0.7427797, -0.014283874)

                                            over "R_FINGER_TIP" (
                                                prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"]
                                            )
                                            {
                                                point3f physics:centerOfMass = (0, 0, 0)
                                                float3 physics:diagonalInertia = (0.000001, 0.000001, 0.000001)
                                                float physics:mass = 0
                                                quatf physics:principalAxes = (1, 0, 0, 0)

                                                over "sphere_1" (
                                                    prepend apiSchemas = ["NewtonCollisionAPI"]
                                                )
                                                {
                                                }
                                            }

                                            over "R_CAM" (
                                                prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"]
                                            )
                                            {
                                                point3f physics:centerOfMass = (0, 0, 0)
                                                float3 physics:diagonalInertia = (0.000001, 0.000001, 0.000001)
                                                float physics:mass = 0
                                                quatf physics:principalAxes = (1, 0, 0, 0)

                                                over "sphere_1" (
                                                    prepend apiSchemas = ["NewtonCollisionAPI"]
                                                )
                                                {
                                                }
                                            }
                                        }
                                    }
                                }
                            }
                        }
                    }
                }
            }

            over "base_column" (
                prepend apiSchemas = ["NewtonCollisionAPI"]
            )
            {
            }
        }
    }

    over "Physics"
    {
        def PhysicsRevoluteJoint "L_SHOULDER_P" (
            prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
        )
        {
            float drive:angular:physics:maxForce = 120
            uniform token physics:axis = "Y"
            custom rel physics:body0
            prepend rel physics:body0 = </dual_arm/Geometry/base_link/PELVIS_S>
            custom rel physics:body1
            prepend rel physics:body1 = </dual_arm/Geometry/base_link/PELVIS_S/L_SHOULDER_P_S>
            point3f physics:localPos0 = (0, 0.0945, 0.042)
            point3f physics:localPos1 = (0, 0, 0)
            quatf physics:localRot0 = (1, 0, 0, 0)
            quatf physics:localRot1 = (1, 0, 0, 0)
            float physics:lowerLimit = -89.95438
            float physics:upperLimit = 89.95438
            custom float urdf:limit:effort = 120
            custom float urdf:limit:velocity = 3.351
        }

        def PhysicsRevoluteJoint "L_SHOULDER_R" (
            prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
        )
        {
            float drive:angular:physics:maxForce = 120
            uniform token physics:axis = "X"
            custom rel physics:body0
            prepend rel physics:body0 = </dual_arm/Geometry/base_link/PELVIS_S/L_SHOULDER_P_S>
            custom rel physics:body1
            prepend rel physics:body1 = </dual_arm/Geometry/base_link/PELVIS_S/L_SHOULDER_P_S/L_SHOULDER_R_S>
            point3f physics:localPos0 = (0.035, 0.0765, 0)
            point3f physics:localPos1 = (0, 0, 0)
            quatf physics:localRot0 = (1, 0, 0, 0)
            quatf physics:localRot1 = (1, 0, 0, 0)
            float physics:lowerLimit = -114.59156
            float physics:upperLimit = 114.59156
            custom float urdf:limit:effort = 120
            custom float urdf:limit:velocity = 3.351
        }

        def PhysicsRevoluteJoint "L_SHOULDER_Y" (
            prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
        )
        {
            float drive:angular:physics:maxForce = 80
            uniform token physics:axis = "Y"
            custom rel physics:body0
            prepend rel physics:body0 = </dual_arm/Geometry/base_link/PELVIS_S/L_SHOULDER_P_S/L_SHOULDER_R_S>
            custom rel physics:body1
            prepend rel physics:body1 = </dual_arm/Geometry/base_link/PELVIS_S/L_SHOULDER_P_S/L_SHOULDER_R_S/L_SHOULDER_Y_S>
            point3f physics:localPos0 = (-0.035, 0.1475, 0)
            point3f physics:localPos1 = (0, 0, 0)
            quatf physics:localRot0 = (1, 0, 0, 0)
            quatf physics:localRot1 = (1, 0, 0, 0)
            float physics:lowerLimit = -124.9048
            float physics:upperLimit = 0
            custom float urdf:limit:effort = 80
            custom float urdf:limit:velocity = 3.8758
        }

        def PhysicsRevoluteJoint "L_ELBOW_R" (
            prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
        )
        {
            float drive:angular:physics:maxForce = 50
            uniform token physics:axis = "X"
            custom rel physics:body0
            prepend rel physics:body0 = </dual_arm/Geometry/base_link/PELVIS_S/L_SHOULDER_P_S/L_SHOULDER_R_S/L_SHOULDER_Y_S>
            custom rel physics:body1
            prepend rel physics:body1 = </dual_arm/Geometry/base_link/PELVIS_S/L_SHOULDER_P_S/L_SHOULDER_R_S/L_SHOULDER_Y_S/L_ELBOW_R_S>
            point3f physics:localPos0 = (0.034, 0.1025, 0)
            point3f physics:localPos1 = (0, 0, 0)
            quatf physics:localRot0 = (1, 0, 0, 0)
            quatf physics:localRot1 = (1, 0, 0, 0)
            float physics:lowerLimit = -117.456345
            float physics:upperLimit = 0
            custom float urdf:limit:effort = 50
            custom float urdf:limit:velocity = 4.71
        }

        def PhysicsRevoluteJoint "L_WRIST_P" (
            prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
        )
        {
            float drive:angular:physics:maxForce = 50
            uniform token physics:axis = "Y"
            custom rel physics:body0
            prepend rel physics:body0 = </dual_arm/Geometry/base_link/PELVIS_S/L_SHOULDER_P_S/L_SHOULDER_R_S/L_SHOULDER_Y_S/L_ELBOW_R_S>
            custom rel physics:body1
            prepend rel physics:body1 = </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>
            point3f physics:localPos0 = (-0.034, 0.0965, 0)
            point3f physics:localPos1 = (0, 0, 0)
            quatf physics:localRot0 = (1, 0, 0, 0)
            quatf physics:localRot1 = (1, 0, 0, 0)
            float physics:lowerLimit = 0
            float physics:upperLimit = 179.90875
            custom float urdf:limit:effort = 50
            custom float urdf:limit:velocity = 4.71
        }

        def PhysicsRevoluteJoint "L_WRIST_Y" (
            prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
        )
        {
            float drive:angular:physics:maxForce = 50
            uniform token physics:axis = "Z"
            custom rel physics:body0
            prepend rel physics:body0 = </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>
            custom rel physics:body1
            prepend rel physics:body1 = </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>
            point3f physics:localPos0 = (0, 0.1525, 0.039)
            point3f physics:localPos1 = (0, 0, 0)
            quatf physics:localRot0 = (1, 0, 0, 0)
            quatf physics:localRot1 = (1, 0, 0, 0)
            float physics:lowerLimit = -44.69071
            float physics:upperLimit = 44.69071
            custom float urdf:limit:effort = 50
            custom float urdf:limit:velocity = 0.79
        }

        def PhysicsRevoluteJoint "L_WRIST_R" (
            prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
        )
        {
            float drive:angular:physics:maxForce = 50
            uniform token physics:axis = "X"
            custom rel physics:body0
            prepend rel physics:body0 = </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>
            custom rel physics:body1
            prepend rel physics:body1 = </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>
            point3f physics:localPos0 = (0.0258, 0, -0.039)
            point3f physics:localPos1 = (0, 0, 0)
            quatf physics:localRot0 = (1, 0, 0, 0)
            quatf physics:localRot1 = (1, 0, 0, 0)
            float physics:lowerLimit = -89.95438
            float physics:upperLimit = 14.896903
            custom float urdf:limit:effort = 50
            custom float urdf:limit:velocity = 4.71
        }

        def PhysicsRevoluteJoint "R_SHOULDER_P" (
            prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
        )
        {
            float drive:angular:physics:maxForce = 120
            uniform token physics:axis = "Y"
            custom rel physics:body0
            prepend rel physics:body0 = </dual_arm/Geometry/base_link/PELVIS_S>
            custom rel physics:body1
            prepend rel physics:body1 = </dual_arm/Geometry/base_link/PELVIS_S/R_SHOULDER_P_S>
            point3f physics:localPos0 = (0, -0.0945, 0.042)
            point3f physics:localPos1 = (0, 0, 0)
            quatf physics:localRot0 = (0, -1, 0, 0)
            quatf physics:localRot1 = (0, -1, 0, 0)
            float physics:lowerLimit = -179.90875
            float physics:upperLimit = 179.90875
            custom float urdf:limit:effort = 120
            custom float urdf:limit:velocity = 3.351
        }

        def PhysicsRevoluteJoint "R_SHOULDER_R" (
            prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
        )
        {
            float drive:angular:physics:maxForce = 120
            uniform token physics:axis = "X"
            custom rel physics:body0
            prepend rel physics:body0 = </dual_arm/Geometry/base_link/PELVIS_S/R_SHOULDER_P_S>
            custom rel physics:body1
            prepend rel physics:body1 = </dual_arm/Geometry/base_link/PELVIS_S/R_SHOULDER_P_S/R_SHOULDER_R_S>
            point3f physics:localPos0 = (0.035, -0.0765, 0)
            point3f physics:localPos1 = (0, 0, 0)
            quatf physics:localRot0 = (1, 0, 0, 0)
            quatf physics:localRot1 = (1, 0, 0, 0)
            float physics:lowerLimit = -44.69071
            float physics:upperLimit = 89.95438
            custom float urdf:limit:effort = 120
            custom float urdf:limit:velocity = 3.351
        }

        def PhysicsRevoluteJoint "R_SHOULDER_Y" (
            prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
        )
        {
            float drive:angular:physics:maxForce = 80
            uniform token physics:axis = "Y"
            custom rel physics:body0
            prepend rel physics:body0 = </dual_arm/Geometry/base_link/PELVIS_S/R_SHOULDER_P_S/R_SHOULDER_R_S>
            custom rel physics:body1
            prepend rel physics:body1 = </dual_arm/Geometry/base_link/PELVIS_S/R_SHOULDER_P_S/R_SHOULDER_R_S/R_SHOULDER_Y_S>
            point3f physics:localPos0 = (-0.035, -0.1475, 0)
            point3f physics:localPos1 = (0, 0, 0)
            quatf physics:localRot0 = (0, -1, 0, 0)
            quatf physics:localRot1 = (0, -1, 0, 0)
            float physics:lowerLimit = -179.90875
            float physics:upperLimit = 179.90875
            custom float urdf:limit:effort = 80
            custom float urdf:limit:velocity = 3.8758
        }

        def PhysicsRevoluteJoint "R_ELBOW_R" (
            prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
        )
        {
            float drive:angular:physics:maxForce = 80
            uniform token physics:axis = "X"
            custom rel physics:body0
            prepend rel physics:body0 = </dual_arm/Geometry/base_link/PELVIS_S/R_SHOULDER_P_S/R_SHOULDER_R_S/R_SHOULDER_Y_S>
            custom rel physics:body1
            prepend rel physics:body1 = </dual_arm/Geometry/base_link/PELVIS_S/R_SHOULDER_P_S/R_SHOULDER_R_S/R_SHOULDER_Y_S/R_ELBOW_R_S>
            point3f physics:localPos0 = (0.034, -0.1025, 0)
            point3f physics:localPos1 = (0, 0, 0)
            quatf physics:localRot0 = (1, 0, 0, 0)
            quatf physics:localRot1 = (1, 0, 0, 0)
            float physics:lowerLimit = 0
            float physics:upperLimit = 117.456345
            custom float urdf:limit:effort = 80
            custom float urdf:limit:velocity = 3.8758
        }

        def PhysicsRevoluteJoint "R_WRIST_P" (
            prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
        )
        {
            float drive:angular:physics:maxForce = 50
            uniform token physics:axis = "Y"
            custom rel physics:body0
            prepend rel physics:body0 = </dual_arm/Geometry/base_link/PELVIS_S/R_SHOULDER_P_S/R_SHOULDER_R_S/R_SHOULDER_Y_S/R_ELBOW_R_S>
            custom rel physics:body1
            prepend rel physics:body1 = </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>
            point3f physics:localPos0 = (-0.034, -0.0965, 0)
            point3f physics:localPos1 = (0, 0, 0)
            quatf physics:localRot0 = (0, -1, 0, 0)
            quatf physics:localRot1 = (0, -1, 0, 0)
            float physics:lowerLimit = -179.90875
            float physics:upperLimit = 179.90875
            custom float urdf:limit:effort = 50
            custom float urdf:limit:velocity = 4.71
        }

        def PhysicsRevoluteJoint "R_WRIST_Y" (
            prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
        )
        {
            float drive:angular:physics:maxForce = 50
            uniform token physics:axis = "Z"
            custom rel physics:body0
            prepend rel physics:body0 = </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>
            custom rel physics:body1
            prepend rel physics:body1 = </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>
            point3f physics:localPos0 = (0, -0.1525, 0.039)
            point3f physics:localPos1 = (0, 0, 0)
            quatf physics:localRot0 = (1, 0, 0, 0)
            quatf physics:localRot1 = (1, 0, 0, 0)
            float physics:lowerLimit = -44.69071
            float physics:upperLimit = 44.69071
            custom float urdf:limit:effort = 50
            custom float urdf:limit:velocity = 0.79
        }

        def PhysicsRevoluteJoint "R_WRIST_R" (
            prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
        )
        {
            float drive:angular:physics:maxForce = 50
            uniform token physics:axis = "X"
            custom rel physics:body0
            prepend rel physics:body0 = </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>
            custom rel physics:body1
            prepend rel physics:body1 = </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>
            point3f physics:localPos0 = (0.03, 0, -0.039)
            point3f physics:localPos1 = (0, 0, 0)
            quatf physics:localRot0 = (1, 0, 0, 0)
            quatf physics:localRot1 = (1, 0, 0, 0)
            float physics:lowerLimit = -32.658596
            float physics:upperLimit = 89.95438
            custom float urdf:limit:effort = 50
            custom float urdf:limit:velocity = 4.71
        }

        def PhysicsFixedJoint "root_joint"
        {
            custom rel physics:body0
            prepend rel physics:body0 = </dual_arm>
            custom rel physics:body1
            prepend rel physics:body1 = </dual_arm/Geometry/base_link>
            point3f physics:localPos0 = (0, 0, 0)
            point3f physics:localPos1 = (0, 0, 0)
            quatf physics:localRot0 = (1, 0, 0, 0)
            quatf physics:localRot1 = (1, 0, 0, 0)
        }

        def PhysicsFixedJoint "base_fixed"
        {
            custom rel physics:body0
            prepend rel physics:body0 = </dual_arm/Geometry/base_link>
            custom rel physics:body1
            prepend rel physics:body1 = </dual_arm/Geometry/base_link/PELVIS_S>
            point3f physics:localPos0 = (0, 0, 1.2)
            point3f physics:localPos1 = (0, 0, 0)
            quatf physics:localRot0 = (1, 0, 0, 0)
            quatf physics:localRot1 = (1, 0, 0, 0)
        }

        def PhysicsFixedJoint "R_FINGER_TIP_FIXED"
        {
            custom rel physics:body0
            prepend rel physics:body0 = </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>
            custom rel physics:body1
            prepend rel physics:body1 = </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>
            point3f physics:localPos0 = (0.00684256, -0.284077, 0.00801525)
            point3f physics:localPos1 = (0, 0, 0)
            quatf physics:localRot0 = (1, 0, 0, 0)
            quatf physics:localRot1 = (1, 0, 0, 0)
        }

        def PhysicsFixedJoint "R_CAM_FIXED"
        {
            custom rel physics:body0
            prepend rel physics:body0 = </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>
            custom rel physics:body1
            prepend rel physics:body1 = </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>
            point3f physics:localPos0 = (-0.01212, -0.17655, 0.07506)
            point3f physics:localPos1 = (0, 0, 0)
            quatf physics:localRot0 = (-3.1746543e-11, 3.174666e-11, 0.70710677, -0.70710677)
            quatf physics:localRot1 = (1, 0, 0, 0)
        }
    }
}