#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


Generated from Composed Stage of root layer /home/lxqs/mujoco_testwork/linkerhand-urdf/o6/left/linkerhand_o6_left/payloads/base.usd
"""
    kilogramsPerUnit = 1
    metersPerUnit = 1
    subLayers = [
        @./robot.usda@
    ]
    upAxis = "Z"
)

def Xform "linkerhand_o6_left" (
    prepend apiSchemas = ["GeomModelAPI"]
    assetInfo = {
        string name = "linkerhand_o6_left"
    }
    kind = "component"
)
{
    float3[] extentsHint = [(-0.02, -0.116600335, 8.4912535e-11), (0.071913876, 0.040911872, 0.17689712), (3.4028235e38, 3.4028235e38, 3.4028235e38), (-3.4028235e38, -3.4028235e38, -3.4028235e38), (3.4028235e38, 3.4028235e38, 3.4028235e38), (-3.4028235e38, -3.4028235e38, -3.4028235e38), (-0.02, -0.116600335, 8.4912535e-11), (0.071913876, 0.040911872, 0.17689712)]

    def Scope "Materials"
    {
    }

    def Scope "Geometry"
    {
        def Xform "lh_hand_base_link"
        {
            def Xform "hand_base_link" (
                instanceable = true
                prepend references = @./instances.usda@</Instances/hand_base_link>
            )
            {
                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 "lh_thumb_metacarpals_base2"
            {
                quatf xformOp:orient = (1, 0, 0, 0)
                float3 xformOp:scale = (1, 1, 1)
                double3 xformOp:translate = (0.011508, -0.022975, 0.032794)
                uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]

                def Xform "thumb_metacarpals_base2" (
                    instanceable = true
                    prepend references = @./instances.usda@</Instances/thumb_metacarpals_base2>
                )
                {
                    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 "lh_thumb_metacarpals"
                {
                    quatf xformOp:orient = (0.41919965, 0.47202873, -0.27252436, 0.7260792)
                    float3 xformOp:scale = (1, 1, 1)
                    double3 xformOp:translate = (0.0061649, -0.010678, -0.004891)
                    uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]

                    def Xform "thumb_metacarpals" (
                        instanceable = true
                        prepend references = @./instances.usda@</Instances/thumb_metacarpals>
                    )
                    {
                        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 "lh_thumb_distal"
                    {
                        quatf xformOp:orient = (1, 0, 0, 0)
                        float3 xformOp:scale = (1, 1, 1)
                        double3 xformOp:translate = (0.0037776, 0, 0.045368)
                        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]

                        def Xform "thumb_distal" (
                            instanceable = true
                            prepend references = @./instances.usda@</Instances/thumb_distal>
                        )
                        {
                            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 "thumb_distal_1" (
                            displayName = "thumb_distal"
                            instanceable = true
                            prepend references = @./instances.usda@</Instances/thumb_distal_1>
                        )
                        {
                            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 "thumb_metacarpals_1" (
                        displayName = "thumb_metacarpals"
                        instanceable = true
                        prepend references = @./instances.usda@</Instances/thumb_metacarpals_1>
                    )
                    {
                        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 "thumb_metacarpals_base2_1" (
                    displayName = "thumb_metacarpals_base2"
                    instanceable = true
                    prepend references = @./instances.usda@</Instances/thumb_metacarpals_base2_1>
                )
                {
                    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 "lh_index_proximal"
            {
                quatf xformOp:orient = (0.99965733, 0.026176646, 0, 0)
                float3 xformOp:scale = (1, 1, 1)
                double3 xformOp:translate = (0.0024758, -0.02419, 0.098779)
                uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]

                def Xform "index_proximal" (
                    instanceable = true
                    prepend references = @./instances.usda@</Instances/index_proximal>
                )
                {
                    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 "lh_index_distal"
                {
                    quatf xformOp:orient = (1, 0, 0, 0)
                    float3 xformOp:scale = (1, 1, 1)
                    double3 xformOp:translate = (-0.0052516, 0, 0.036625)
                    uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]

                    def Xform "index_distal" (
                        instanceable = true
                        prepend references = @./instances.usda@</Instances/index_distal>
                    )
                    {
                        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 "index_distal_1" (
                        displayName = "index_distal"
                        instanceable = true
                        prepend references = @./instances.usda@</Instances/index_distal_1>
                    )
                    {
                        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 "index_proximal_1" (
                    displayName = "index_proximal"
                    instanceable = true
                    prepend references = @./instances.usda@</Instances/index_proximal_1>
                )
                {
                    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 "lh_middle_proximal"
            {
                quatf xformOp:orient = (1, 0, 0, 0)
                float3 xformOp:scale = (1, 1, 1)
                double3 xformOp:translate = (0.00052576, -0.00634, 0.1027)
                uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]

                def Xform "middle_proximal" (
                    instanceable = true
                    prepend references = @./instances.usda@</Instances/middle_proximal>
                )
                {
                    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 "lh_middle_distal"
                {
                    quatf xformOp:orient = (1, 0, 0, 0)
                    float3 xformOp:scale = (1, 1, 1)
                    double3 xformOp:translate = (-0.0052516, 0, 0.036625)
                    uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]

                    def Xform "middle_distal" (
                        instanceable = true
                        prepend references = @./instances.usda@</Instances/middle_distal>
                    )
                    {
                        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 "middle_distal_1" (
                        displayName = "middle_distal"
                        instanceable = true
                        prepend references = @./instances.usda@</Instances/middle_distal_1>
                    )
                    {
                        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 "middle_proximal_1" (
                    displayName = "middle_proximal"
                    instanceable = true
                    prepend references = @./instances.usda@</Instances/middle_proximal_1>
                )
                {
                    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 "lh_ring_proximal"
            {
                quatf xformOp:orient = (0.99965733, -0.026176646, 0, 0)
                float3 xformOp:scale = (1, 1, 1)
                double3 xformOp:translate = (0.0010258, 0.011135, 0.098767)
                uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]

                def Xform "ring_proximal" (
                    instanceable = true
                    prepend references = @./instances.usda@</Instances/ring_proximal>
                )
                {
                    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 "lh_ring_distal"
                {
                    quatf xformOp:orient = (1, 0, 0, 0)
                    float3 xformOp:scale = (1, 1, 1)
                    double3 xformOp:translate = (-0.0052516, 0, 0.036625)
                    uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]

                    def Xform "ring_distal" (
                        instanceable = true
                        prepend references = @./instances.usda@</Instances/ring_distal>
                    )
                    {
                        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 "ring_distal_1" (
                        displayName = "ring_distal"
                        instanceable = true
                        prepend references = @./instances.usda@</Instances/ring_distal_1>
                    )
                    {
                        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 "ring_proximal_1" (
                    displayName = "ring_proximal"
                    instanceable = true
                    prepend references = @./instances.usda@</Instances/ring_proximal_1>
                )
                {
                    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 "lh_pinky_proximal"
            {
                quatf xformOp:orient = (0.99904823, -0.043619126, 0, 0)
                float3 xformOp:scale = (1, 1, 1)
                double3 xformOp:translate = (0.0024758, 0.028372, 0.092741)
                uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]

                def Xform "pinky_proximal" (
                    instanceable = true
                    prepend references = @./instances.usda@</Instances/pinky_proximal>
                )
                {
                    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 "lh_pinky_distal"
                {
                    quatf xformOp:orient = (1, 0, 0, 0)
                    float3 xformOp:scale = (1, 1, 1)
                    double3 xformOp:translate = (-0.0052516, 0, 0.036625)
                    uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]

                    def Xform "pinky_distal" (
                        instanceable = true
                        prepend references = @./instances.usda@</Instances/pinky_distal>
                    )
                    {
                        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 "pinky_distal_1" (
                        displayName = "pinky_distal"
                        instanceable = true
                        prepend references = @./instances.usda@</Instances/pinky_distal_1>
                    )
                    {
                        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 "pinky_proximal_1" (
                    displayName = "pinky_proximal"
                    instanceable = true
                    prepend references = @./instances.usda@</Instances/pinky_proximal_1>
                )
                {
                    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 "hand_base_link_1" (
                displayName = "hand_base_link"
                instanceable = true
                prepend references = @./instances.usda@</Instances/hand_base_link_1>
            )
            {
                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 Scope "Physics"
    {
    }

    def Scope "VisualMaterials"
    {
    }
}