#usda 1.0
(
    customLayerData = {
        dictionary SimReady_Metadata = {
            dictionary Variants = {
                dictionary Physics = {
                    dictionary MuJoCo = {
                        string activateOption = "Enabled"
                        string prim = "/lrmate200id4s"
                        string variantSetName = "MuJoCo"
                    }
                    dictionary Newton = {
                        string activateOption = "Enabled"
                        string prim = "/lrmate200id4s"
                        string variantSetName = "Newton"
                    }
                    dictionary PhysX = {
                        string activateOption = "Enabled"
                        string prim = "/lrmate200id4s"
                        string variantSetName = "PhysX"
                    }
                }
            }
            dictionary validation = {
                string profile = "Robot-Body"
                string profile_version = "3.0.0"
                dictionary validated_features = {
                    dictionary "2026-10-20" = {
                        dictionary "CAP000_Core.Isaac.0-1-0" = {
                            bool blocking_failure = 0
                            string dependencies = "['CAP000_Core.OpenUSD.0-1-0']"
                            bool passed = 1
                            string version = "0-1-0"
                        }
                        dictionary "CAP000_Core.MuJoCo.0-1-0" = {
                            bool blocking_failure = 0
                            string dependencies = "['CAP000_Core.OpenUSD.0-1-0']"
                            bool passed = 1
                            string version = "0-1-0"
                        }
                        dictionary "CAP000_Core.Newton.0-1-0" = {
                            bool blocking_failure = 0
                            string dependencies = "['CAP000_Core.OpenUSD.0-1-0']"
                            bool passed = 1
                            string version = "0-1-0"
                        }
                        dictionary "CAP000_Core.OpenUSD.0-1-0" = {
                            bool blocking_failure = 0
                            string dependencies = "[]"
                            bool passed = 1
                            string version = "0-1-0"
                        }
                        dictionary "CAP000_Core.PhysX.0-1-0" = {
                            bool blocking_failure = 0
                            string dependencies = "['CAP000_Core.OpenUSD.0-1-0']"
                            bool passed = 1
                            string version = "0-1-0"
                        }
                        dictionary "CAP003_RigidBody.MuJoCo.0-1-0" = {
                            bool blocking_failure = 0
                            string dependencies = "[]"
                            bool passed = 1
                            string version = "0-1-0"
                        }
                        dictionary "CAP004_Multibody.MuJoCo.0-1-0" = {
                            bool blocking_failure = 0
                            string dependencies = "['CAP003_RigidBody.MuJoCo.0-1-0']"
                            bool passed = 1
                            string version = "0-1-0"
                        }
                        dictionary "CAP004_Multibody.RobotMuJoCo.0-1-0" = {
                            bool blocking_failure = 0
                            string dependencies = "[]"
                            bool passed = 1
                            string version = "0-1-0"
                        }
                        dictionary "CAP021_RobotCore.Isaac.0-3-0" = {
                            bool blocking_failure = 0
                            string dependencies = "[]"
                            bool passed = 1
                            string version = "0-3-0"
                        }
                        dictionary "CAP022_DrivenJoints.MuJoCo.0-1-0" = {
                            bool blocking_failure = 0
                            string dependencies = "['CAP004_Multibody.RobotMuJoCo.0-1-0']"
                            bool passed = 1
                            string version = "0-1-0"
                        }
                        dictionary "CAP023_RobotMaterials.Isaac.0-1-0" = {
                            bool blocking_failure = 0
                            string dependencies = "[]"
                            bool passed = 1
                            string version = "0-1-0"
                        }
                        dictionary "CAP024_BaseArticulation.MuJoCo.0-1-0" = {
                            bool blocking_failure = 0
                            string dependencies = "['CAP024_BaseArticulation.OpenUSD.0-1-0']"
                            bool passed = 1
                            string version = "0-1-0"
                        }
                        dictionary "CAP024_BaseArticulation.Newton.0-1-0" = {
                            bool blocking_failure = 0
                            string dependencies = "['CAP024_BaseArticulation.OpenUSD.0-1-0']"
                            bool passed = 1
                            string version = "0-1-0"
                        }
                        dictionary "CAP024_BaseArticulation.OpenUSD.0-1-0" = {
                            bool blocking_failure = 0
                            string dependencies = "[]"
                            bool passed = 1
                            string version = "0-1-0"
                        }
                        dictionary "CAP024_BaseArticulation.PhysX.0-1-0" = {
                            bool blocking_failure = 0
                            string dependencies = "['CAP024_BaseArticulation.OpenUSD.0-1-0']"
                            bool passed = 1
                            string version = "0-1-0"
                        }
                        dictionary "CAP025_RosBridge.Ros.0-1-0" = {
                            bool blocking_failure = 0
                            string dependencies = "[]"
                            string "optional requirements" = "['com.nvidia.simready.ROS.001']"
                            bool passed = 0
                            string version = "0-1-0"
                        }
                        dictionary "CAP031_SelfContainedPackage.OpenUSD.0-1-0" = {
                            bool blocking_failure = 0
                            string dependencies = "[]"
                            bool passed = 1
                            string version = "0-1-0"
                        }
                        dictionary "CAP033_SimReadyPackage.OpenUSD.0-4-0" = {
                            bool blocking_failure = 0
                            string dependencies = "['CAP031_SelfContainedPackage.OpenUSD.0-1-0']"
                            bool passed = 1
                            string version = "0-4-0"
                        }
                        dictionary "CAP100_IsaacComposition.Isaac.0-3-0" = {
                            bool blocking_failure = 0
                            string dependencies = "[]"
                            bool passed = 1
                            string version = "0-3-0"
                        }
                        dictionary "FET001_MinimalPlaceableVisual.OpenUSD.1-0-1" = {
                            bool blocking_failure = 0
                            string dependencies = "[]"
                            bool passed = 1
                            string version = "1-0-1"
                        }
                        dictionary "FET003_RigidBody.Newton.0-1-0" = {
                            bool blocking_failure = 0
                            string dependencies = "[]"
                            bool passed = 1
                            string version = "0-1-0"
                        }
                        dictionary "FET003_RigidBody.OpenUSD.0-2-0" = {
                            bool blocking_failure = 0
                            string dependencies = "[]"
                            bool passed = 1
                            string version = "0-2-0"
                        }
                        dictionary "FET003_RigidBody.PhysX.0-4-0" = {
                            bool blocking_failure = 0
                            string dependencies = "[]"
                            bool passed = 1
                            string version = "0-4-0"
                        }
                        dictionary "FET004_Multibody.Newton.0-1-0" = {
                            bool blocking_failure = 0
                            string dependencies = "['FET003_RigidBody.Newton.0-1-0']"
                            bool passed = 1
                            string version = "0-1-0"
                        }
                        dictionary "FET004_Multibody.OpenUSD.0-2-0" = {
                            bool blocking_failure = 0
                            string dependencies = "['FET003_RigidBody.OpenUSD.0-2-0']"
                            bool passed = 1
                            string version = "0-2-0"
                        }
                        dictionary "FET004_Multibody.PhysX.0-4-0" = {
                            bool blocking_failure = 0
                            string dependencies = "['FET003_RigidBody.PhysX.0-4-0']"
                            bool passed = 1
                            string version = "0-4-0"
                        }
                        dictionary "FET004_Multibody.RobotNewton.0-1-0" = {
                            bool blocking_failure = 0
                            string dependencies = "[]"
                            bool passed = 1
                            string version = "0-1-0"
                        }
                        dictionary "FET006_Materials.MDL.0-2-0" = {
                            bool blocking_failure = 0
                            string dependencies = "[]"
                            bool passed = 1
                            string version = "0-2-0"
                        }
                        dictionary "FET006_Materials.OpenUSD.0-2-0" = {
                            bool blocking_failure = 0
                            string dependencies = "[]"
                            bool passed = 1
                            string version = "0-2-0"
                        }
                        dictionary "FET006_Materials.Openpbr.0-1-0" = {
                            bool blocking_failure = 0
                            string dependencies = "[]"
                            bool passed = 1
                            string version = "0-1-0"
                        }
                        dictionary "FET010_DisplayColor.OpenUSD.0-1-0" = {
                            bool blocking_failure = 0
                            string dependencies = "[]"
                            bool passed = 1
                            string version = "0-1-0"
                        }
                        dictionary "FET022_DrivenJoints.Isaac.0-2-0" = {
                            bool blocking_failure = 0
                            string dependencies = "['FET022_DrivenJoints.PhysX.0-2-0']"
                            bool passed = 1
                            string version = "0-2-0"
                        }
                        dictionary "FET022_DrivenJoints.Newton.0-1-0" = {
                            bool blocking_failure = 0
                            string dependencies = "['FET004_Multibody.RobotNewton.0-1-0']"
                            bool passed = 1
                            string version = "0-1-0"
                        }
                        dictionary "FET022_DrivenJoints.OpenUSD.0-2-0" = {
                            bool blocking_failure = 0
                            string dependencies = "['FET004_Multibody.OpenUSD.0-2-0']"
                            bool passed = 1
                            string version = "0-2-0"
                        }
                        dictionary "FET022_DrivenJoints.PhysX.0-2-0" = {
                            bool blocking_failure = 0
                            string dependencies = "['FET004_Multibody.PhysX.0-4-0']"
                            bool passed = 1
                            string version = "0-2-0"
                        }
                    }
                }
            }
        }
        float3 asset_extents = (0.52720046, 0.19500296, 0.6664013)
        string asset_license = "CC-BY-4.0"
        string asset_name = "lrmate200id4s"
        string asset_type = "robot"
        string author = "Fanuc"
        string category = "robotic arm"
        double mass = 20.00380024779588
        string qcode = "Q40687"
        int rigid_body_count = 7
        string source_file = "Fanuc/lrmate200id4s/lrmate200id4s.usda"
        string usd_date_generated = "2026-10-02"
    }
    defaultPrim = "lrmate200id4s"
    metersPerUnit = 1
    upAxis = "Z"
)

def Xform "lrmate200id4s" (
    kind = "component"
    prepend references = [
        @./payloads/Physics/physics.usda@,
        @./payloads/base.usda@
    ]
    variants = {
        string MuJoCo = "Disabled"
        string Newton = "Disabled"
        string PhysX = "Disabled"
        string Sensor = "none"
    }
    variantSets = ["Sensor", "PhysX", "Newton", "MuJoCo"]
)
{
    color3f[] primvars:displayColor = [(0.5, 0.5, 0.5)] (
        interpolation = "constant"
    )

    over "robot_base"
    {
        over "collisions"
        {
            over "base"
            {
                over "mesh_1"
                {
                    token visibility = "invisible"
                }
            }
        }
    }

    over "J1_link"
    {
        over "collisions"
        {
            over "j1"
            {
                over "mesh_3"
                {
                    token visibility = "invisible"
                }
            }
        }
    }

    over "J2_link"
    {
        over "collisions"
        {
            over "j2"
            {
                over "mesh_5"
                {
                    token visibility = "invisible"
                }
            }
        }
    }

    over "J3_link"
    {
        over "collisions"
        {
            over "j3"
            {
                over "mesh_7"
                {
                    token visibility = "invisible"
                }
            }
        }
    }

    over "J4_link"
    {
        over "collisions"
        {
            over "j4"
            {
                over "mesh_9"
                {
                    token visibility = "invisible"
                }
            }
        }
    }

    over "J5_link"
    {
        over "collisions"
        {
            over "j5"
            {
                over "mesh_11"
                {
                    token visibility = "invisible"
                }
            }
        }
    }

    over "J6_link"
    {
        over "collisions"
        {
            over "j6"
            {
                over "mesh_13"
                {
                    token visibility = "invisible"
                }
            }
        }
    }
    variantSet "Sensor" = {
        "none" (
            prepend payload = @./payloads/Sensor/none.usda@
        ) {

        }
        "sensors" (
            prepend payload = @./payloads/Sensor/sensors.usda@
        ) {

        }
    }
    variantSet "PhysX" = {
        "Disabled" {

        }
        "Enabled" (
            prepend payload = @./runnables/physics/physx.usda@
        ) {

        }
    }
    variantSet "Newton" = {
        "Disabled" {

        }
        "Enabled" (
            prepend payload = @./runnables/physics/newton.usda@
        ) {

        }
    }
    variantSet "MuJoCo" = {
        "Disabled" {

        }
        "Enabled" (
            prepend payload = @./runnables/physics/mujoco.usda@
        ) {

        }
    }
}