#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
    subLayers = [
        @./robot.usda@
    ]
    upAxis = "Z"
)

def Xform "dual_arm" (
    prepend apiSchemas = ["GeomModelAPI"]
    assetInfo = {
        string name = "dual_arm"
    }
    kind = "component"
)
{
    float3[] extentsHint = [(-0.05, -0.958077, -2.3841858e-8), (0.080300845, 0.9075668, 1.32106), (3.4028235e38, 3.4028235e38, 3.4028235e38), (-3.4028235e38, -3.4028235e38, -3.4028235e38), (3.4028235e38, 3.4028235e38, 3.4028235e38), (-3.4028235e38, -3.4028235e38, -3.4028235e38), (-0.05, -0.959077, -2.3841858e-8), (0.05, 0.05, 1.32206)]

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

        def Material "material_16" (
            instanceable = true
            prepend references = @./materials.usda@</Materials/material_16>
        )
        {
        }

        def Material "material_17" (
            instanceable = true
            prepend references = @./materials.usda@</Materials/material_17>
        )
        {
        }
    }

    def Scope "Geometry"
    {
        def Xform "base_link"
        {
            def Cylinder "cylinder" (
                prepend apiSchemas = ["MaterialBindingAPI"]
            )
            {
                uniform token axis = "Z"
                float3[] extent = [(-0.05, -0.05, -0.6), (0.05, 0.05, 0.6)]
                double height = 1.2
                rel material:binding = </dual_arm/Materials/gray>
                double radius = 0.05
                quatf xformOp:orient = (1, 0, 0, 0)
                float3 xformOp:scale = (1, 1, 1)
                double3 xformOp:translate = (0, 0, 0.6)
                uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
            }

            def Xform "PELVIS_S"
            {
                quatf xformOp:orient = (1, 0, 0, 0)
                float3 xformOp:scale = (1, 1, 1)
                double3 xformOp:translate = (0, 0, 1.2)
                uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]

                def Xform "PELVIS_S" (
                    instanceable = true
                    prepend references = @./instances.usda@</Instances/PELVIS_S>
                )
                {
                    quatd xformOp:orient = (1, 0, 0, 0)
                    double3 xformOp:scale = (1, 1, 1)
                    double3 xformOp:translate = (0, 0, 0)
                    uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
                }

                def Xform "L_SHOULDER_P_S"
                {
                    quatf xformOp:orient = (1, 0, 0, 0)
                    float3 xformOp:scale = (1, 1, 1)
                    double3 xformOp:translate = (0, 0.0945, 0.042)
                    uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]

                    def Xform "L_SHOULDER_P_S" (
                        instanceable = true
                        prepend references = @./instances.usda@</Instances/L_SHOULDER_P_S>
                    )
                    {
                        quatd xformOp:orient = (1, 0, 0, 0)
                        double3 xformOp:scale = (1, 1, 1)
                        double3 xformOp:translate = (0, 0, 0)
                        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
                    }

                    def Xform "L_SHOULDER_R_S"
                    {
                        quatf xformOp:orient = (1, 0, 0, 0)
                        float3 xformOp:scale = (1, 1, 1)
                        double3 xformOp:translate = (0.035, 0.0765, 0)
                        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]

                        def Xform "L_SHOULDER_R_S" (
                            instanceable = true
                            prepend references = @./instances.usda@</Instances/L_SHOULDER_R_S>
                        )
                        {
                            quatd xformOp:orient = (1, 0, 0, 0)
                            double3 xformOp:scale = (1, 1, 1)
                            double3 xformOp:translate = (0, 0, 0)
                            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
                        }

                        def Xform "L_SHOULDER_Y_S"
                        {
                            quatf xformOp:orient = (1, 0, 0, 0)
                            float3 xformOp:scale = (1, 1, 1)
                            double3 xformOp:translate = (-0.035, 0.1475, 0)
                            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]

                            def Xform "L_SHOULDER_Y_S" (
                                instanceable = true
                                prepend references = @./instances.usda@</Instances/L_SHOULDER_Y_S>
                            )
                            {
                                quatd xformOp:orient = (1, 0, 0, 0)
                                double3 xformOp:scale = (1, 1, 1)
                                double3 xformOp:translate = (0, 0, 0)
                                uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
                            }

                            def Xform "L_ELBOW_R_S"
                            {
                                quatf xformOp:orient = (1, 0, 0, 0)
                                float3 xformOp:scale = (1, 1, 1)
                                double3 xformOp:translate = (0.034, 0.1025, 0)
                                uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]

                                def Xform "L_ELBOW_R_S" (
                                    instanceable = true
                                    prepend references = @./instances.usda@</Instances/L_ELBOW_R_S>
                                )
                                {
                                    quatd xformOp:orient = (1, 0, 0, 0)
                                    double3 xformOp:scale = (1, 1, 1)
                                    double3 xformOp:translate = (0, 0, 0)
                                    uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
                                }

                                def Xform "L_WRIST_P_S"
                                {
                                    quatf xformOp:orient = (1, 0, 0, 0)
                                    float3 xformOp:scale = (1, 1, 1)
                                    double3 xformOp:translate = (-0.034, 0.0965, 0)
                                    uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]

                                    def Xform "L_WRIST_P_S" (
                                        instanceable = true
                                        prepend references = @./instances.usda@</Instances/L_WRIST_P_S>
                                    )
                                    {
                                        quatd xformOp:orient = (1, 0, 0, 0)
                                        double3 xformOp:scale = (1, 1, 1)
                                        double3 xformOp:translate = (0, 0, 0)
                                        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
                                    }

                                    def Xform "L_WRIST_Y_S"
                                    {
                                        quatf xformOp:orient = (1, 0, 0, 0)
                                        float3 xformOp:scale = (1, 1, 1)
                                        double3 xformOp:translate = (0, 0.1525, 0.039)
                                        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]

                                        def Xform "L_WRIST_Y_S" (
                                            instanceable = true
                                            prepend references = @./instances.usda@</Instances/L_WRIST_Y_S>
                                        )
                                        {
                                            quatd xformOp:orient = (1, 0, 0, 0)
                                            double3 xformOp:scale = (1, 1, 1)
                                            double3 xformOp:translate = (0, 0, 0)
                                            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
                                        }

                                        def Xform "L_WRIST_R_S" (
                                            instanceable = true
                                            prepend references = @./instances.usda@</Instances/L_WRIST_R_S>
                                        )
                                        {
                                            quatd xformOp:orient = (1, 0, 0, 0)
                                            double3 xformOp:scale = (1, 1, 1)
                                            double3 xformOp:translate = (0.0258, 0, -0.039)
                                            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
                                        }
                                    }
                                }
                            }
                        }
                    }
                }

                def Xform "R_SHOULDER_P_S"
                {
                    quatf xformOp:orient = (1, 0, 0, 0)
                    float3 xformOp:scale = (1, 1, 1)
                    double3 xformOp:translate = (0, -0.0945, 0.042)
                    uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]

                    def Xform "R_SHOULDER_P_S" (
                        instanceable = true
                        prepend references = @./instances.usda@</Instances/R_SHOULDER_P_S>
                    )
                    {
                        quatd xformOp:orient = (1, 0, 0, 0)
                        double3 xformOp:scale = (1, 1, 1)
                        double3 xformOp:translate = (0, 0, 0)
                        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
                    }

                    def Xform "R_SHOULDER_R_S"
                    {
                        quatf xformOp:orient = (1, 0, 0, 0)
                        float3 xformOp:scale = (1, 1, 1)
                        double3 xformOp:translate = (0.035, -0.0765, 0)
                        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]

                        def Xform "R_SHOULDER_R_S" (
                            instanceable = true
                            prepend references = @./instances.usda@</Instances/R_SHOULDER_R_S>
                        )
                        {
                            quatd xformOp:orient = (1, 0, 0, 0)
                            double3 xformOp:scale = (1, 1, 1)
                            double3 xformOp:translate = (0, 0, 0)
                            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
                        }

                        def Xform "R_SHOULDER_Y_S"
                        {
                            quatf xformOp:orient = (1, 0, 0, 0)
                            float3 xformOp:scale = (1, 1, 1)
                            double3 xformOp:translate = (-0.035, -0.1475, 0)
                            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]

                            def Xform "R_SHOULDER_Y_S" (
                                instanceable = true
                                prepend references = @./instances.usda@</Instances/R_SHOULDER_Y_S>
                            )
                            {
                                quatd xformOp:orient = (1, 0, 0, 0)
                                double3 xformOp:scale = (1, 1, 1)
                                double3 xformOp:translate = (0, 0, 0)
                                uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
                            }

                            def Xform "R_ELBOW_R_S"
                            {
                                quatf xformOp:orient = (1, 0, 0, 0)
                                float3 xformOp:scale = (1, 1, 1)
                                double3 xformOp:translate = (0.034, -0.1025, 0)
                                uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]

                                def Xform "R_ELBOW_R_S" (
                                    instanceable = true
                                    prepend references = @./instances.usda@</Instances/R_ELBOW_R_S>
                                )
                                {
                                    quatd xformOp:orient = (1, 0, 0, 0)
                                    double3 xformOp:scale = (1, 1, 1)
                                    double3 xformOp:translate = (0, 0, 0)
                                    uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
                                }

                                def Xform "R_WRIST_P_S"
                                {
                                    quatf xformOp:orient = (1, 0, 0, 0)
                                    float3 xformOp:scale = (1, 1, 1)
                                    double3 xformOp:translate = (-0.034, -0.0965, 0)
                                    uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]

                                    def Xform "R_WRIST_P_S" (
                                        instanceable = true
                                        prepend references = @./instances.usda@</Instances/R_WRIST_P_S>
                                    )
                                    {
                                        quatd xformOp:orient = (1, 0, 0, 0)
                                        double3 xformOp:scale = (1, 1, 1)
                                        double3 xformOp:translate = (0, 0, 0)
                                        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
                                    }

                                    def Xform "R_WRIST_Y_S"
                                    {
                                        quatf xformOp:orient = (1, 0, 0, 0)
                                        float3 xformOp:scale = (1, 1, 1)
                                        double3 xformOp:translate = (0, -0.1525, 0.039)
                                        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]

                                        def Xform "R_WRIST_Y_S" (
                                            instanceable = true
                                            prepend references = @./instances.usda@</Instances/R_WRIST_Y_S>
                                        )
                                        {
                                            quatd xformOp:orient = (1, 0, 0, 0)
                                            double3 xformOp:scale = (1, 1, 1)
                                            double3 xformOp:translate = (0, 0, 0)
                                            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
                                        }

                                        def Xform "R_WRIST_R_S"
                                        {
                                            quatf xformOp:orient = (1, 0, 0, 0)
                                            float3 xformOp:scale = (1, 1, 1)
                                            double3 xformOp:translate = (0.03, 0, -0.039)
                                            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]

                                            def Xform "R_WRIST_R_S" (
                                                instanceable = true
                                                prepend references = @./instances.usda@</Instances/R_WRIST_R_S>
                                            )
                                            {
                                                quatd xformOp:orient = (1, 0, 0, 0)
                                                double3 xformOp:scale = (1, 1, 1)
                                                double3 xformOp:translate = (0, 0, 0)
                                                uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
                                            }

                                            def Xform "R_FINGER_TIP"
                                            {
                                                quatf xformOp:orient = (1, 0, 0, 0)
                                                float3 xformOp:scale = (1, 1, 1)
                                                double3 xformOp:translate = (0.00684256, -0.284077, 0.00801525)
                                                uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]

                                                def Sphere "sphere" (
                                                    prepend apiSchemas = ["MaterialBindingAPI"]
                                                )
                                                {
                                                    float3[] extent = [(-0.004, -0.004, -0.004), (0.004, 0.004, 0.004)]
                                                    rel material:binding = </dual_arm/Materials/material_16>
                                                    double radius = 0.004
                                                    quatf xformOp:orient = (1, 0, 0, 0)
                                                    float3 xformOp:scale = (1, 1, 1)
                                                    double3 xformOp:translate = (0, 0, 0)
                                                    uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
                                                }

                                                def Sphere "sphere_1" (
                                                    prepend apiSchemas = ["PhysicsCollisionAPI"]
                                                    displayName = "sphere"
                                                )
                                                {
                                                    float3[] extent = [(-0.005, -0.005, -0.005), (0.005, 0.005, 0.005)]
                                                    uniform token purpose = "guide"
                                                    double radius = 0.005
                                                    quatf xformOp:orient = (1, 0, 0, 0)
                                                    float3 xformOp:scale = (1, 1, 1)
                                                    double3 xformOp:translate = (0, 0, 0)
                                                    uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
                                                }
                                            }

                                            def Xform "R_CAM"
                                            {
                                                quatf xformOp:orient = (-3.1746543e-11, 3.174668e-11, 0.70710677, -0.70710677)
                                                float3 xformOp:scale = (1, 1, 1)
                                                double3 xformOp:translate = (-0.01212, -0.17655, 0.07506)
                                                uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]

                                                def Sphere "sphere" (
                                                    prepend apiSchemas = ["MaterialBindingAPI"]
                                                )
                                                {
                                                    float3[] extent = [(-0.004, -0.004, -0.004), (0.004, 0.004, 0.004)]
                                                    rel material:binding = </dual_arm/Materials/material_17>
                                                    double radius = 0.004
                                                    quatf xformOp:orient = (1, 0, 0, 0)
                                                    float3 xformOp:scale = (1, 1, 1)
                                                    double3 xformOp:translate = (0, 0, 0)
                                                    uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
                                                }

                                                def Sphere "sphere_1" (
                                                    prepend apiSchemas = ["PhysicsCollisionAPI"]
                                                    displayName = "sphere"
                                                )
                                                {
                                                    float3[] extent = [(-0.005, -0.005, -0.005), (0.005, 0.005, 0.005)]
                                                    uniform token purpose = "guide"
                                                    double radius = 0.005
                                                    quatf xformOp:orient = (1, 0, 0, 0)
                                                    float3 xformOp:scale = (1, 1, 1)
                                                    double3 xformOp:translate = (0, 0, 0)
                                                    uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
                                                }
                                            }
                                        }
                                    }
                                }
                            }
                        }
                    }
                }
            }

            def Cylinder "base_column" (
                prepend apiSchemas = ["PhysicsCollisionAPI"]
            )
            {
                uniform token axis = "Z"
                float3[] extent = [(-0.05, -0.05, -0.6), (0.05, 0.05, 0.6)]
                double height = 1.2
                uniform token purpose = "guide"
                double radius = 0.05
                quatf xformOp:orient = (1, 0, 0, 0)
                float3 xformOp:scale = (1, 1, 1)
                double3 xformOp:translate = (0, 0, 0.6)
                uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
            }
        }
    }

    def Scope "Physics"
    {
    }

    def Scope "VisualMaterials"
    {
    }
}