mujoco

#usda 1.0
(
    endTimeCode = 1
    framesPerSecond = 24
    metersPerUnit = 1
    startTimeCode = 1
    timeCodesPerSecond = 24
    upAxis = "Y"
)

def Xform "World"
{
    def Cube "Cube" (
        prepend apiSchemas = ["MaterialBindingAPI"]
    )
    {
        float3[] extent = [(-1, -1, -1), (1, 1, 1)]
        rel material:binding = </materials/simple_usd_preview_surface>
        double size = 2
        matrix4d xformOp:transform = ( (1, 0, 0, 0), (0, 1, 0, 0), (0, 0, 1, 0), (0, 0, 0, 1) )
        uniform token[] xformOpOrder = ["xformOp:transform"]
    }

    def Cube "Cube2" (
        prepend apiSchemas = ["MaterialBindingAPI"]
    )
    {
        float3[] extent = [(-1, -1, -1), (1, 1, 1)]
        rel material:binding = </materials/simple_usd_texture>
        double size = 2
        matrix4d xformOp:transform = ( (1, 0, 0, 0), (0, 1, 0, 0), (0, 0, 1, 0), (0, 0, 0, 1) )
        matrix4d xformOp:transform:transform1 = ( (1, 0, 0, 0), (0, 1, 0, 0), (0, 0, 1, 0), (0, -2.9009591341018677, 0, 1) )
        uniform token[] xformOpOrder = ["xformOp:transform", "xformOp:transform:transform1"]
    }
}

def Scope "materials"
{
    def Material "simple_usd_preview_surface" (
        prepend inherits = </__class_mtl__/simple_usd_preview_surface>
    )
    {
        token outputs:surface.connect = </materials/simple_usd_preview_surface/usdpreviewsurface.outputs:surface>

        def Shader "usdpreviewsurface"
        {
            uniform token info:id = "UsdPreviewSurface"
            color3f inputs:diffuseColor = (0.1, 0.2, 0.3)
            color3f inputs:emissiveColor = (0.4, 0.5, 0.6)
            float inputs:metallic = 0.123
            float inputs:roughness = 0.456
            token outputs:surface
        }
    }

    def Material "simple_usd_texture" (
        prepend inherits = </__class_mtl__/simple_usd_texture>
    )
    {
        token outputs:surface.connect = </materials/simple_usd_texture/usdpreviewsurface.outputs:surface>

        def Shader "usdpreviewsurface"
        {
            uniform token info:id = "UsdPreviewSurface"
            color3f inputs:diffuseColor = (0.1, 0.2, 0.3)
            color3f inputs:diffuseColor.connect = </materials/simple_usd_texture/usduvtexture1.outputs:rgb>
            color3f inputs:emissiveColor = (0.4, 0.5, 0.6)
            float inputs:metallic = 0.123
            float inputs:roughness = 0.456
            token outputs:surface
        }

        def Shader "usduvtexture1"
        {
            uniform token info:id = "UsdUVTexture"
            asset inputs:file = @./checkerboard.png@
            vector3f outputs:rgb
        }
    }
}