#usda 1.0
(
    customLayerData = {
        dictionary cameraSettings = {
            dictionary Front = {
                double3 position = (0, 0, 5)
                double radius = 5
            }
            dictionary Perspective = {
                double3 position = (0.19675159476361104, 0.04448911814120467, 0.1766743106715282)
                double3 target = (-3.628690112278399e-8, 7.982136072254287e-8, -4.2860907711883556e-8)
            }
            dictionary Right = {
                double3 position = (-5, 0, 0)
                double radius = 5
            }
            dictionary Top = {
                double3 position = (0, 5, 0)
                double radius = 5
            }
            string boundCamera = "/OmniverseKit_Persp"
        }
        dictionary metricsAssembler = {
            dictionary "/cube/cube" = {
            }
            int version = 1
        }
        dictionary omni_layer = {
            string authoring_layer = "./receptive_cube.usd"
        }
        dictionary renderSettings = {
        }
    }
    defaultPrim = "cube"
    doc = "A simple 4cm cube asset for IsaacLab / Omniverse"
    metersPerUnit = 1
)

def Xform "cube" (
    prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysxRigidBodyAPI"]
)
{
    bool physics:kinematicEnabled = 0
    bool physics:rigidBodyEnabled = 1

    def Xform "visuals"
    {
        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 "Looks"
        {
            def Material "PreviewSurface"
            {
                token outputs:displacement.connect = </cube/visuals/Looks/PreviewSurface/Shader.outputs:displacement>
                token outputs:surface.connect = </cube/visuals/Looks/PreviewSurface/Shader.outputs:surface>

                def Shader "Shader"
                {
                    uniform token info:id = "UsdPreviewSurface"
                    float inputs:clearcoat
                    float inputs:clearcoatRoughness = 0.01
                    color3f inputs:diffuseColor = (0.2, 0.6, 1)
                    float inputs:displacement
                    color3f inputs:emissiveColor = (0, 0, 0)
                    float inputs:ior = 1.5
                    float inputs:metallic
                    normal3f inputs:normal = (0, 0, 1)
                    float inputs:occlusion = 1
                    float inputs:opacity = 1
                    float inputs:opacityThreshold (
                        connectability = "interfaceOnly"
                    )
                    float inputs:roughness = 0.5
                    color3f inputs:specularColor = (0, 0, 0)
                    int inputs:useSpecularWorkflow (
                        connectability = "interfaceOnly"
                    )
                    token outputs:displacement (
                        renderType = "material"
                    )
                    token outputs:surface (
                        renderType = "material"
                    )
                }
            }
        }

        def Mesh "cube" (
            active = true
            prepend apiSchemas = ["MaterialBindingAPI"]
        )
        {
            float3[] extent = [(-0.02, -0.02, -0.02), (0.02, 0.02, 0.02)]
            int[] faceVertexCounts = [4, 4, 4, 4, 4, 4]
            int[] faceVertexIndices = [0, 3, 2, 1, 4, 5, 6, 7, 3, 7, 6, 2, 0, 1, 5, 4, 1, 2, 6, 5, 0, 4, 7, 3]
            rel material:binding = </cube/visuals/Looks/PreviewSurface> (
                bindMaterialAs = "weakerThanDescendants"
            )
            normal3f[] normals = [(0, 0, -1), (0, 0, -1), (0, 0, -1), (0, 0, -1), (0, 0, 1), (0, 0, 1), (0, 0, 1), (0, 0, 1), (0, 1, 0), (0, 1, 0), (0, 1, 0), (0, 1, 0), (0, -1, 0), (0, -1, 0), (0, -1, 0), (0, -1, 0), (1, 0, 0), (1, 0, 0), (1, 0, 0), (1, 0, 0), (-1, 0, 0), (-1, 0, 0), (-1, 0, 0), (-1, 0, 0)] (
                interpolation = "faceVarying"
            )
            point3f[] points = [(-0.02, -0.02, -0.02), (0.02, -0.02, -0.02), (0.02, 0.02, -0.02), (-0.02, 0.02, -0.02), (-0.02, -0.02, 0.02), (0.02, -0.02, 0.02), (0.02, 0.02, 0.02), (-0.02, 0.02, 0.02)]
            uniform token subdivisionScheme = "none"
            custom string userProperties:blender:data_name = "cube"
            float3 xformOp:rotateZYX = (0, 0, 0)
            float3 xformOp:scale = (1, 1, 1)
            double3 xformOp:translate = (0, 0, 0)
            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:rotateZYX", "xformOp:scale"]
        }
    }

    def Xform "collisions"
    {
        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 Mesh "cube" (
            active = true
            prepend apiSchemas = ["MaterialBindingAPI", "PhysicsCollisionAPI", "PhysxCollisionAPI", "PhysxConvexHullCollisionAPI", "PhysicsMeshCollisionAPI", "PhysxSDFMeshCollisionAPI"]
        )
        {
            float3[] extent = [(-0.02, -0.02, -0.02), (0.02, 0.02, 0.02)]
            int[] faceVertexCounts = [4, 4, 4, 4, 4, 4]
            int[] faceVertexIndices = [0, 3, 2, 1, 4, 5, 6, 7, 3, 7, 6, 2, 0, 1, 5, 4, 1, 2, 6, 5, 0, 4, 7, 3]
            rel material:binding = </cube/PhysicsMaterial> (
                bindMaterialAs = "weakerThanDescendants"
            )
            normal3f[] normals = [(0, 0, -1), (0, 0, -1), (0, 0, -1), (0, 0, -1), (0, 0, 1), (0, 0, 1), (0, 0, 1), (0, 0, 1), (0, 1, 0), (0, 1, 0), (0, 1, 0), (0, 1, 0), (0, -1, 0), (0, -1, 0), (0, -1, 0), (0, -1, 0), (1, 0, 0), (1, 0, 0), (1, 0, 0), (1, 0, 0), (-1, 0, 0), (-1, 0, 0), (-1, 0, 0), (-1, 0, 0)] (
                interpolation = "faceVarying"
            )
            uniform token physics:approximation = "convexHull"
            bool physics:collisionEnabled = 1
            point3f[] points = [(-0.02, -0.02, -0.02), (0.02, -0.02, -0.02), (0.02, 0.02, -0.02), (-0.02, 0.02, -0.02), (-0.02, -0.02, 0.02), (0.02, -0.02, 0.02), (0.02, 0.02, 0.02), (-0.02, 0.02, 0.02)]
            uniform token subdivisionScheme = "none"
            custom string userProperties:blender:data_name = "cube"
            token visibility = "invisible"
            float3 xformOp:rotateZYX = (0, 0, 0)
            float3 xformOp:scale = (1, 1, 1)
            double3 xformOp:translate = (0, 0, 0)
            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:rotateZYX", "xformOp:scale"]
        }
    }

    def Material "PhysicsMaterial" (
        prepend apiSchemas = ["PhysicsMaterialAPI"]
    )
    {
        float physics:dynamicFriction = 0.5
        float physics:staticFriction = 0.5
    }
}

def "Render" (
    hide_in_stage_window = true
    no_delete = true
)
{
    def "OmniverseKit"
    {
        def "HydraTextures" (
            hide_in_stage_window = true
            no_delete = true
        )
        {
            def RenderProduct "omni_kit_widget_viewport_ViewportTexture_0" (
                prepend apiSchemas = ["OmniRtxSettingsCommonAdvancedAPI_1", "OmniRtxSettingsRtAdvancedAPI_1", "OmniRtxSettingsPtAdvancedAPI_1", "OmniRtxPostColorGradingAPI_1", "OmniRtxPostChromaticAberrationAPI_1", "OmniRtxPostBloomPhysicalAPI_1", "OmniRtxPostMatteObjectAPI_1", "OmniRtxPostCompositingAPI_1", "OmniRtxPostDofAPI_1", "OmniRtxPostMotionBlurAPI_1", "OmniRtxPostTvNoiseAPI_1", "OmniRtxPostTonemapIrayReinhardAPI_1", "OmniRtxPostDebugSettingsAPI_1", "OmniRtxDebugSettingsAPI_1"]
                hide_in_stage_window = true
                no_delete = true
            )
            {
                rel camera = </OmniverseKit_Persp>
                token omni:rtx:background:source:texture:textureMode = "repeatMirrored"
                token omni:rtx:background:source:type = "domeLight"
                bool omni:rtx:dlss:frameGeneration = 0
                string omni:rtx:material:db:rtSensorNameToIdMap = "DefaultMaterial:0;AsphaltStandardMaterial:1;AsphaltWeatheredMaterial:2;VegetationGrassMaterial:3;WaterStandardMaterial:4;GlassStandardMaterial:5;FiberGlassMaterial:6;MetalAlloyMaterial:7;MetalAluminumMaterial:8;MetalAluminumOxidizedMaterial:9;PlasticStandardMaterial:10;RetroMarkingsMaterial:11;RetroSignMaterial:12;RubberStandardMaterial:13;SoilClayMaterial:14;ConcreteRoughMaterial:15;ConcreteSmoothMaterial:16;OakTreeBarkMaterial:17;FabricStandardMaterial:18;PlexiGlassStandardMaterial:19;MetalSilverMaterial:20"
                bool omni:rtx:material:db:syncLoads = 1
                bool omni:rtx:post:registeredCompositing:invertColorCorrection = 1
                bool omni:rtx:post:registeredCompositing:invertToneMap = 1
                bool omni:rtx:pt:lightcache:cached:dontResolveConflicts = 1
                int omni:rtx:pt:maxSamplesPerLaunch = 2073600
                int omni:rtx:pt:mgpu:maxPixelsPerRegionExponent = 12
                int omni:rtx:realtime:mgpu:tileCount = 2
                color3f omni:rtx:rt:ambientLight:color = (0.1, 0.1, 0.1)
                bool omni:rtx:rt:demoire = 0
                bool omni:rtx:rt:lightcache:spatialCache:dontResolveConflicts = 1
                bool omni:rtx:scene:hydra:materialSyncLoads = 1
                bool omni:rtx:scene:hydra:mdlMaterialWarmup = 1
                uint omni:rtx:viewTile:limit = 4294967295
                rel orderedVars = </Render/Vars/LdrColor>
                custom bool overrideClipRange = 0
                uniform int2 resolution = (1280, 720)
            }
        }
    }

    def RenderSettings "OmniverseGlobalRenderSettings" (
        prepend apiSchemas = ["OmniRtxSettingsGlobalRtAdvancedAPI_1", "OmniRtxSettingsGlobalPtAdvancedAPI_1"]
        no_delete = true
    )
    {
        rel products = </Render/OmniverseKit/HydraTextures/omni_kit_widget_viewport_ViewportTexture_0>
    }

    def "Vars"
    {
        def RenderVar "LdrColor" (
            hide_in_stage_window = true
            no_delete = true
        )
        {
            uniform string sourceName = "LdrColor"
        }
    }
}