#usda 1.0
(
    customLayerData = {
        string creator = "URDF USD Converter v0.1.3"
    }
    defaultPrim = "linkerhand_l20_left"
    doc = """Generated from Composed Stage of root layer /tmp/tmp7daip3z6/linkerhand_l20_left.usdc


Generated from Composed Stage of root layer /tmp/urdf_import_linkerhand_l20_left_dqwe6zav/usdex_linkerhand_l20_left/linkerhand_l20_left.usdc


Generated from Composed Stage of root layer /tmp/urdf_import_linkerhand_l20_left_dqwe6zav/temp_linkerhand_l20_left/linkerhand_l20_left.usd
"""
    kilogramsPerUnit = 1
    metersPerUnit = 1
    upAxis = "Z"
)

over "linkerhand_l20_left" (
    prepend apiSchemas = ["IsaacRobotAPI"]
)
{
    prepend rel isaac:physics:robotJoints = [
        </linkerhand_l20_left/Physics/root_joint>,
        </linkerhand_l20_left/Physics/pinky_mcp_roll>,
        </linkerhand_l20_left/Physics/ring_mcp_roll>,
        </linkerhand_l20_left/Physics/middle_mcp_roll>,
        </linkerhand_l20_left/Physics/index_mcp_roll>,
        </linkerhand_l20_left/Physics/thumb_cmc_yaw>,
        </linkerhand_l20_left/Physics/pinky_mcp_pitch>,
        </linkerhand_l20_left/Physics/pinky_pip>,
        </linkerhand_l20_left/Physics/pinky_dip>,
        </linkerhand_l20_left/Physics/ring_mcp_pitch>,
        </linkerhand_l20_left/Physics/ring_pip>,
        </linkerhand_l20_left/Physics/ring_dip>,
        </linkerhand_l20_left/Physics/middle_mcp_pitch>,
        </linkerhand_l20_left/Physics/middle_pip>,
        </linkerhand_l20_left/Physics/middle_dip>,
        </linkerhand_l20_left/Physics/index_mcp_pitch>,
        </linkerhand_l20_left/Physics/index_pip>,
        </linkerhand_l20_left/Physics/index_dip>,
        </linkerhand_l20_left/Physics/thumb_cmc_roll>,
        </linkerhand_l20_left/Physics/thumb_cmc_pitch>,
        </linkerhand_l20_left/Physics/thumb_mcp>,
        </linkerhand_l20_left/Physics/thumb_ip>,
    ]
    prepend rel isaac:physics:robotLinks = [
        </linkerhand_l20_left/Geometry/hand_base_link>,
        </linkerhand_l20_left/Geometry/hand_base_link/pinky_metacarpals>,
        </linkerhand_l20_left/Geometry/hand_base_link/pinky_metacarpals/pinky_proximal>,
        </linkerhand_l20_left/Geometry/hand_base_link/pinky_metacarpals/pinky_proximal/pinky_middle>,
        </linkerhand_l20_left/Geometry/hand_base_link/pinky_metacarpals/pinky_proximal/pinky_middle/pinky_distal>,
        </linkerhand_l20_left/Geometry/hand_base_link/ring_metacarpals>,
        </linkerhand_l20_left/Geometry/hand_base_link/ring_metacarpals/ring_proximal>,
        </linkerhand_l20_left/Geometry/hand_base_link/ring_metacarpals/ring_proximal/ring_middle>,
        </linkerhand_l20_left/Geometry/hand_base_link/ring_metacarpals/ring_proximal/ring_middle/ring_distal>,
        </linkerhand_l20_left/Geometry/hand_base_link/middle_metacarpals>,
        </linkerhand_l20_left/Geometry/hand_base_link/middle_metacarpals/middle_proximal>,
        </linkerhand_l20_left/Geometry/hand_base_link/middle_metacarpals/middle_proximal/middle_middle>,
        </linkerhand_l20_left/Geometry/hand_base_link/middle_metacarpals/middle_proximal/middle_middle/middle_distal>,
        </linkerhand_l20_left/Geometry/hand_base_link/index_metacarpals>,
        </linkerhand_l20_left/Geometry/hand_base_link/index_metacarpals/index_proximal>,
        </linkerhand_l20_left/Geometry/hand_base_link/index_metacarpals/index_proximal/index_middle>,
        </linkerhand_l20_left/Geometry/hand_base_link/index_metacarpals/index_proximal/index_middle/index_distal>,
        </linkerhand_l20_left/Geometry/hand_base_link/thumb_metacarpals_base2>,
        </linkerhand_l20_left/Geometry/hand_base_link/thumb_metacarpals_base2/thumb_metacarpals_base1>,
        </linkerhand_l20_left/Geometry/hand_base_link/thumb_metacarpals_base2/thumb_metacarpals_base1/thumb_metacarpals>,
        </linkerhand_l20_left/Geometry/hand_base_link/thumb_metacarpals_base2/thumb_metacarpals_base1/thumb_metacarpals/thumb_proximal>,
        </linkerhand_l20_left/Geometry/hand_base_link/thumb_metacarpals_base2/thumb_metacarpals_base1/thumb_metacarpals/thumb_proximal/thumb_distal>,
    ]
    token isaac:robotType = "Default"

    over "Geometry"
    {
        over "hand_base_link" (
            prepend apiSchemas = ["IsaacLinkAPI"]
        )
        {
            over "pinky_metacarpals" (
                prepend apiSchemas = ["IsaacLinkAPI"]
            )
            {
                over "pinky_proximal" (
                    prepend apiSchemas = ["IsaacLinkAPI"]
                )
                {
                    over "pinky_middle" (
                        prepend apiSchemas = ["IsaacLinkAPI"]
                    )
                    {
                        over "pinky_distal" (
                            prepend apiSchemas = ["IsaacLinkAPI"]
                        )
                        {
                        }
                    }
                }
            }

            over "ring_metacarpals" (
                prepend apiSchemas = ["IsaacLinkAPI"]
            )
            {
                over "ring_proximal" (
                    prepend apiSchemas = ["IsaacLinkAPI"]
                )
                {
                    over "ring_middle" (
                        prepend apiSchemas = ["IsaacLinkAPI"]
                    )
                    {
                        over "ring_distal" (
                            prepend apiSchemas = ["IsaacLinkAPI"]
                        )
                        {
                        }
                    }
                }
            }

            over "middle_metacarpals" (
                prepend apiSchemas = ["IsaacLinkAPI"]
            )
            {
                over "middle_proximal" (
                    prepend apiSchemas = ["IsaacLinkAPI"]
                )
                {
                    over "middle_middle" (
                        prepend apiSchemas = ["IsaacLinkAPI"]
                    )
                    {
                        over "middle_distal" (
                            prepend apiSchemas = ["IsaacLinkAPI"]
                        )
                        {
                        }
                    }
                }
            }

            over "index_metacarpals" (
                prepend apiSchemas = ["IsaacLinkAPI"]
            )
            {
                over "index_proximal" (
                    prepend apiSchemas = ["IsaacLinkAPI"]
                )
                {
                    over "index_middle" (
                        prepend apiSchemas = ["IsaacLinkAPI"]
                    )
                    {
                        over "index_distal" (
                            prepend apiSchemas = ["IsaacLinkAPI"]
                        )
                        {
                        }
                    }
                }
            }

            over "thumb_metacarpals_base2" (
                prepend apiSchemas = ["IsaacLinkAPI"]
            )
            {
                over "thumb_metacarpals_base1" (
                    prepend apiSchemas = ["IsaacLinkAPI"]
                )
                {
                    over "thumb_metacarpals" (
                        prepend apiSchemas = ["IsaacLinkAPI"]
                    )
                    {
                        over "thumb_proximal" (
                            prepend apiSchemas = ["IsaacLinkAPI"]
                        )
                        {
                            over "thumb_distal" (
                                prepend apiSchemas = ["IsaacLinkAPI"]
                            )
                            {
                            }
                        }
                    }
                }
            }
        }
    }

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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