#usda 1.0
(
    customLayerData = {
        string creator = "URDF USD Converter v0.1.3"
    }
    defaultPrim = "linkerhand_o6_left"
    doc = """Generated from Composed Stage of root layer /tmp/tmp43xsk_0z/linkerhand_o6_left.usdc


Generated from Composed Stage of root layer /tmp/urdf_import_linkerhand_o6_left_7nekwe14/usdex_linkerhand_o6_left/linkerhand_o6_left.usdc


Generated from Composed Stage of root layer /tmp/urdf_import_linkerhand_o6_left_7nekwe14/temp_linkerhand_o6_left/linkerhand_o6_left.usd
"""
    kilogramsPerUnit = 1
    metersPerUnit = 1
    upAxis = "Z"
)

over "linkerhand_o6_left" (
    prepend apiSchemas = ["IsaacRobotAPI"]
)
{
    prepend rel isaac:physics:robotJoints = [
        </linkerhand_o6_left/Physics/root_joint>,
        </linkerhand_o6_left/Physics/lh_thumb_cmc_yaw>,
        </linkerhand_o6_left/Physics/lh_index_mcp_pitch>,
        </linkerhand_o6_left/Physics/lh_middle_mcp_pitch>,
        </linkerhand_o6_left/Physics/lh_ring_mcp_pitch>,
        </linkerhand_o6_left/Physics/lh_pinky_mcp_pitch>,
        </linkerhand_o6_left/Physics/lh_thumb_cmc_pitch>,
        </linkerhand_o6_left/Physics/lh_thumb_ip>,
        </linkerhand_o6_left/Physics/lh_index_dip>,
        </linkerhand_o6_left/Physics/lh_middle_dip>,
        </linkerhand_o6_left/Physics/lh_ring_dip>,
        </linkerhand_o6_left/Physics/lh_pinky_dip>,
    ]
    prepend rel isaac:physics:robotLinks = [
        </linkerhand_o6_left/Geometry/lh_hand_base_link>,
        </linkerhand_o6_left/Geometry/lh_hand_base_link/lh_thumb_metacarpals_base2>,
        </linkerhand_o6_left/Geometry/lh_hand_base_link/lh_thumb_metacarpals_base2/lh_thumb_metacarpals>,
        </linkerhand_o6_left/Geometry/lh_hand_base_link/lh_thumb_metacarpals_base2/lh_thumb_metacarpals/lh_thumb_distal>,
        </linkerhand_o6_left/Geometry/lh_hand_base_link/lh_index_proximal>,
        </linkerhand_o6_left/Geometry/lh_hand_base_link/lh_index_proximal/lh_index_distal>,
        </linkerhand_o6_left/Geometry/lh_hand_base_link/lh_middle_proximal>,
        </linkerhand_o6_left/Geometry/lh_hand_base_link/lh_middle_proximal/lh_middle_distal>,
        </linkerhand_o6_left/Geometry/lh_hand_base_link/lh_ring_proximal>,
        </linkerhand_o6_left/Geometry/lh_hand_base_link/lh_ring_proximal/lh_ring_distal>,
        </linkerhand_o6_left/Geometry/lh_hand_base_link/lh_pinky_proximal>,
        </linkerhand_o6_left/Geometry/lh_hand_base_link/lh_pinky_proximal/lh_pinky_distal>,
    ]
    token isaac:robotType = "Default"

    over "Geometry"
    {
        over "lh_hand_base_link" (
            prepend apiSchemas = ["IsaacLinkAPI"]
        )
        {
            over "lh_thumb_metacarpals_base2" (
                prepend apiSchemas = ["IsaacLinkAPI"]
            )
            {
                over "lh_thumb_metacarpals" (
                    prepend apiSchemas = ["IsaacLinkAPI"]
                )
                {
                    over "lh_thumb_distal" (
                        prepend apiSchemas = ["IsaacLinkAPI"]
                    )
                    {
                    }
                }
            }

            over "lh_index_proximal" (
                prepend apiSchemas = ["IsaacLinkAPI"]
            )
            {
                over "lh_index_distal" (
                    prepend apiSchemas = ["IsaacLinkAPI"]
                )
                {
                }
            }

            over "lh_middle_proximal" (
                prepend apiSchemas = ["IsaacLinkAPI"]
            )
            {
                over "lh_middle_distal" (
                    prepend apiSchemas = ["IsaacLinkAPI"]
                )
                {
                }
            }

            over "lh_ring_proximal" (
                prepend apiSchemas = ["IsaacLinkAPI"]
            )
            {
                over "lh_ring_distal" (
                    prepend apiSchemas = ["IsaacLinkAPI"]
                )
                {
                }
            }

            over "lh_pinky_proximal" (
                prepend apiSchemas = ["IsaacLinkAPI"]
            )
            {
                over "lh_pinky_distal" (
                    prepend apiSchemas = ["IsaacLinkAPI"]
                )
                {
                }
            }
        }
    }

    over "Physics"
    {
        over "root_joint" (
            prepend apiSchemas = ["IsaacJointAPI"]
        )
        {
        }

        over "lh_thumb_cmc_yaw" (
            prepend apiSchemas = ["IsaacJointAPI"]
        )
        {
        }

        over "lh_thumb_cmc_pitch" (
            prepend apiSchemas = ["IsaacJointAPI"]
        )
        {
        }

        over "lh_thumb_ip" (
            prepend apiSchemas = ["IsaacJointAPI"]
        )
        {
        }

        over "lh_index_mcp_pitch" (
            prepend apiSchemas = ["IsaacJointAPI"]
        )
        {
        }

        over "lh_index_dip" (
            prepend apiSchemas = ["IsaacJointAPI"]
        )
        {
        }

        over "lh_middle_mcp_pitch" (
            prepend apiSchemas = ["IsaacJointAPI"]
        )
        {
        }

        over "lh_middle_dip" (
            prepend apiSchemas = ["IsaacJointAPI"]
        )
        {
        }

        over "lh_ring_mcp_pitch" (
            prepend apiSchemas = ["IsaacJointAPI"]
        )
        {
        }

        over "lh_ring_dip" (
            prepend apiSchemas = ["IsaacJointAPI"]
        )
        {
        }

        over "lh_pinky_mcp_pitch" (
            prepend apiSchemas = ["IsaacJointAPI"]
        )
        {
        }

        over "lh_pinky_dip" (
            prepend apiSchemas = ["IsaacJointAPI"]
        )
        {
        }
    }
}