Bot3dData/2foot/urdf/2foot/payloads/robot.usda

#usda 1.0
(
    customLayerData = {
        string creator = "URDF USD Converter v0.1.3"
    }
    defaultPrim = "tn__2foot_"
    doc = """Generated from Composed Stage of root layer C:\\Users\\ZHENAI~1\\AppData\\Local\\Temp\\tmpf1f0lj99\\2foot.usdc


Generated from Composed Stage of root layer C:\\Users\\ZHENAI~1\\AppData\\Local\\Temp\\urdf_import_2foot_b4o7puoa\\usdex_2foot\\2foot.usdc


Generated from Composed Stage of root layer C:\\Users\\ZHENAI~1\\AppData\\Local\\Temp\\urdf_import_2foot_b4o7puoa\\temp_2foot\\2foot.usd
"""
    kilogramsPerUnit = 1
    metersPerUnit = 1
    upAxis = "Z"
)

over "tn__2foot_" (
    prepend apiSchemas = ["IsaacRobotAPI"]
)
{
    prepend rel isaac:physics:robotJoints = [
        </tn__2foot_/Physics/root_joint>,
        </tn__2foot_/Physics/jlf0_link>,
        </tn__2foot_/Physics/jrf0_link>,
        </tn__2foot_/Physics/jlf1_link>,
        </tn__2foot_/Physics/jlf2_link>,
        </tn__2foot_/Physics/jlf3_link>,
        </tn__2foot_/Physics/jrf1_link>,
        </tn__2foot_/Physics/jrf2_link>,
        </tn__2foot_/Physics/jrf3_link>,
    ]
    prepend rel isaac:physics:robotLinks = [
        </tn__2foot_/Geometry/head_link>,
        </tn__2foot_/Geometry/head_link/lf0_link>,
        </tn__2foot_/Geometry/head_link/lf0_link/lf1_link>,
        </tn__2foot_/Geometry/head_link/lf0_link/lf1_link/lf2_link>,
        </tn__2foot_/Geometry/head_link/lf0_link/lf1_link/lf2_link/lf3_link>,
        </tn__2foot_/Geometry/head_link/rf0_link>,
        </tn__2foot_/Geometry/head_link/rf0_link/rf1_link>,
        </tn__2foot_/Geometry/head_link/rf0_link/rf1_link/rf2_link>,
        </tn__2foot_/Geometry/head_link/rf0_link/rf1_link/rf2_link/rf3_link>,
    ]
    token isaac:robotType = "Default"

    over "Geometry"
    {
        over "head_link" (
            prepend apiSchemas = ["IsaacLinkAPI"]
        )
        {
            over "lf0_link" (
                prepend apiSchemas = ["IsaacLinkAPI"]
            )
            {
                over "lf1_link" (
                    prepend apiSchemas = ["IsaacLinkAPI"]
                )
                {
                    over "lf2_link" (
                        prepend apiSchemas = ["IsaacLinkAPI"]
                    )
                    {
                        over "lf3_link" (
                            prepend apiSchemas = ["IsaacLinkAPI"]
                        )
                        {
                        }
                    }
                }
            }

            over "rf0_link" (
                prepend apiSchemas = ["IsaacLinkAPI"]
            )
            {
                over "rf1_link" (
                    prepend apiSchemas = ["IsaacLinkAPI"]
                )
                {
                    over "rf2_link" (
                        prepend apiSchemas = ["IsaacLinkAPI"]
                    )
                    {
                        over "rf3_link" (
                            prepend apiSchemas = ["IsaacLinkAPI"]
                        )
                        {
                        }
                    }
                }
            }
        }
    }

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

        over "jlf0_link" (
            prepend apiSchemas = ["IsaacJointAPI"]
        )
        {
        }

        over "jlf1_link" (
            prepend apiSchemas = ["IsaacJointAPI"]
        )
        {
        }

        over "jlf2_link" (
            prepend apiSchemas = ["IsaacJointAPI"]
        )
        {
        }

        over "jlf3_link" (
            prepend apiSchemas = ["IsaacJointAPI"]
        )
        {
        }

        over "jrf0_link" (
            prepend apiSchemas = ["IsaacJointAPI"]
        )
        {
        }

        over "jrf1_link" (
            prepend apiSchemas = ["IsaacJointAPI"]
        )
        {
        }

        over "jrf2_link" (
            prepend apiSchemas = ["IsaacJointAPI"]
        )
        {
        }

        over "jrf3_link" (
            prepend apiSchemas = ["IsaacJointAPI"]
        )
        {
        }
    }
}