#usda 1.0
(
    customLayerData = {
        dictionary physicsSettings = {
            int "/persistent/simulation/minFrameRate" = 60
        }
    }
    endTimeCode = 1000000
    metersPerUnit = 1
    startTimeCode = 0
    timeCodesPerSecond = 60
    upAxis = "Z"
)

def Xform "ABB" (
    prepend references = @D:\Clean_install\isaac-sim-4.5\projects\Testing\MyRobotMap.usd@
)
{
    over "Robot"
    {
        over "root_joint"
        {
            quatd xformOp:orient = (1, 0, 0, 0)
            double3 xformOp:translate = (0, 0, 0)
            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
        }

        over "base_link"
        {
            vector3f physics:angularVelocity = (0, 0, 0)
            vector3f physics:velocity = (0, 0, 0)
            quatd xformOp:orient = (1, 0, 0, 0)
            double3 xformOp:translate = (9.685754776000977e-8, 2.9103830456733704e-11, -1.7881393432617188e-7)
        }

        over "link_1"
        {
            vector3f physics:angularVelocity = (-2.1864915e-14, -4.3009438e-18, -1.282576e-7)
            vector3f physics:velocity = (-6.687755e-11, -2.158118e-10, 1.5550119e-17)
            quatd xformOp:orient = (0.9999999999999979, 1.0927807647570839e-24, -3.056595566371379e-8, -5.7311166869463355e-8)
            double3 xformOp:translate = (-5.960464477539063e-8, 4.284083843231201e-8, 0.779999852180481)
        }

        over "cylinder"
        {
            vector3f physics:angularVelocity = (9.526857e-14, 5.5924465e-7, -1.2825757e-7)
            vector3f physics:velocity = (-5.594915e-10, 1.3554264e-9, -1.9819808e-9)
            quatd xformOp:orient = (0.9999999999999984, 4.098215652691603e-9, -4.1918891533245543e-8, -3.653266524685086e-8)
            double3 xformOp:translate = (-0.34899991750717163, -0.19399988651275635, 0.6379998326301575)
        }

        over "piston"
        {
            vector3f physics:angularVelocity = (9.526857e-14, 5.5924465e-7, -1.2825757e-7)
            vector3f physics:velocity = (-1.9889346e-7, 5.82159e-10, -4.4436778e-8)
            quatd xformOp:orient = (0.7032505439029072, 0.07374771688726428, -0.07374771688726428, -0.7032504681890351)
            double3 xformOp:translate = (-0.34899991750717163, -0.19399988651275635, 0.6379998326301575)
        }

        over "link_2"
        {
            vector3f physics:angularVelocity = (-4.088665e-13, -0.0000011659648, -1.270947e-7)
            vector3f physics:velocity = (-9.934657e-9, -8.5484286e-10, 1.745463e-10)
            quatd xformOp:orient = (0.999999999999998, -1.5074077729166902e-9, -3.316297100416754e-8, -5.3802862048718686e-8)
            double3 xformOp:translate = (0.3199997842311859, 0, 0.779999852180481)
        }

        over "link_3"
        {
            vector3f physics:angularVelocity = (-5.84732e-13, -0.0000028461786, -1.2709474e-7)
            vector3f physics:velocity = (-3.1004785e-8, -8.830221e-10, -2.079677e-9)
            quatd xformOp:orient = (0.999999999999999, -5.825385726791057e-9, -3.8835904845273726e-8, -2.135974766490055e-8)
            double3 xformOp:translate = (0.31999969482421875, -1.30385160446167e-8, 1.9149996042251587)
        }

        over "link_4"
        {
            vector3f physics:angularVelocity = (7.7103834e-7, -0.0000028461786, -1.2709474e-7)
            vector3f physics:velocity = (-3.7429345e-8, -2.3172488e-9, 4.0679268e-8)
            quatd xformOp:orient = (0.999999999999999, -2.1522872988603075e-8, -3.607373216114948e-8, -1.5292260480628476e-8)
            double3 xformOp:translate = (0.31999969482421875, -8.381903171539307e-9, 2.114999771118164)
        }

        over "link_5"
        {
            vector3f physics:angularVelocity = (7.7103823e-7, -0.0000013076772, -1.537755e-7)
            vector3f physics:velocity = (-3.84249e-8, -3.0172653e-9, 7.9064286e-8)
            quatd xformOp:orient = (0.9999999999999992, -2.187616186079212e-8, -3.042186405856096e-8, -1.2257893943009912e-8)
            double3 xformOp:translate = (1.5024995803833008, -4.912726581096649e-8, 2.114999771118164)
        }

        over "link_6"
        {
            vector3f physics:angularVelocity = (4.4804924e-7, -0.0000013076772, -1.2709509e-7)
            vector3f physics:velocity = (-3.5761495e-8, -3.2833793e-9, 7.384866e-8)
            quatd xformOp:orient = (0.999999999999999, -3.042687040428683e-8, -3.079532962138177e-8, -1.1146958115847651e-8)
            double3 xformOp:translate = (1.702499508857727, -5.271431291475892e-8, 2.114999771118164)
        }

        over "joints"
        {
            over "joint_1"
            {
                float state:angular:physics:position = -4.9369575e-10
                float state:angular:physics:velocity = -1.5885914e-7
            }

            over "cylinder_joint"
            {
                float state:angular:physics:position = -1.7652217e-10
                float state:angular:physics:velocity = 5.591246e-7
            }

            over "joint_2"
            {
                float state:angular:physics:position = -3.1270802e-9
                float state:angular:physics:velocity = -0.0000013408628
            }

            over "piston_joint"
            {
                float state:linear:physics:position = 2.8240988e-11
                float state:linear:physics:velocity = -2.0112944e-7
            }

            over "joint_3"
            {
                float state:angular:physics:position = -1.4813863e-8
                float state:angular:physics:velocity = -0.000002558022
            }

            over "joint_4"
            {
                float state:angular:physics:position = -5.917146e-10
                float state:angular:physics:velocity = 7.351235e-7
            }

            over "joint_5"
            {
                float state:angular:physics:position = 1.0927903e-8
                float state:angular:physics:velocity = 0.0000022048082
            }

            over "joint_6"
            {
                float state:angular:physics:position = 3.1766544e-11
                float state:angular:physics:velocity = -3.217433e-7
            }
        }
    }

    over "PhysicsScene"
    {
        vector3f physics:gravityDirection = (0, 0, -1)
        float physics:gravityMagnitude = 9.81
        bool physxScene:enableCCD = 1
        bool physxScene:enableStabilization = 1
        uniform token physxScene:solverType = "TGS"
        uint physxScene:timeStepsPerSecond = 60
    }
}

def "World"
{
    def Xform "target" (
        prepend references = @https://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/4.5/Isaac/Props/UIElements/frame_prim.usd@
    )
    {
        quatd xformOp:orient = (6.123234262925839e-17, 0, 1, 0)
        double3 xformOp:scale = (0.03999999910593033, 0.03999999910593033, 0.03999999910593033)
        double3 xformOp:translate = (1, 0, 1)
        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
    }

    def "Physics_Materials"
    {
        def Material "physics_material" (
            prepend apiSchemas = ["PhysicsMaterialAPI"]
        )
        {
            float physics:dynamicFriction = 1
            float physics:restitution = 0
            float physics:staticFriction = 0.2
        }
    }

    def Cube "obstacle" (
        prepend apiSchemas = ["MaterialBindingAPI", "PhysicsCollisionAPI", "PhysicsMeshCollisionAPI", "PhysxCollisionAPI"]
    )
    {
        float3[] extent = [(-0.025, -0.025, -0.025), (0.025, 0.025, 0.025)]
        rel material:binding = </World/Looks/visual_material> (
            bindMaterialAs = "strongerThanDescendants"
        )
        rel material:binding:physics = </World/Physics_Materials/physics_material> (
            bindMaterialAs = "strongerThanDescendants"
        )
        bool physics:collisionEnabled = 1
        float physxCollision:contactOffset = 0.1
        float physxCollision:minTorsionalPatchRadius = 0.8
        float physxCollision:restOffset = 0
        float physxCollision:torsionalPatchRadius = 1
        double size = 0.05
        quatd xformOp:orient = (1, 0, 0, 0)
        double3 xformOp:scale = (1, 1, 1)
        double3 xformOp:translate = (1.5, 0, 1)
        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
    }

    def "Looks"
    {
        def Material "visual_material"
        {
            token outputs:surface.connect = </World/Looks/visual_material/shader.outputs:surface>

            def Shader "shader"
            {
                uniform token info:id = "UsdPreviewSurface"
                float3 inputs:diffuseColor = (0, 0, 1)
                token outputs:surface
            }
        }
    }
}