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scenes/ithor/FloorPlan15_physics/Payload/Contents.usda

@@ -0,0 +1,37 @@
+#usda 1.0
+(
+    customLayerData = {
+        string creator = """AI2-THOR mjcf-usd scene converter
+    time: 01-20-26 16:35:04
+    scene: FloorPlan15_physics
+    usd-exchange-version: 2.2.0
+"""
+    }
+    defaultPrim = "FloorPlan15_physics"
+    kilogramsPerUnit = 1
+    metersPerUnit = 1
+    subLayers = [
+        @./Physics.usda@,
+        @./Geometry.usda@,
+        @./Materials.usda@
+    ]
+    upAxis = "Z"
+)
+
+def Xform "FloorPlan15_physics"
+{
+    def DistantLight "scene_dir_light"
+    {
+        float inputs:intensity = 1000
+        float xformOp:rotateX = -10
+        uniform token[] xformOpOrder = ["xformOp:rotateX"]
+    }
+
+    def DomeLight "scene_ibl_light"
+    {
+        color3f inputs:color = (1, 0.85301, 0.55212)
+        float inputs:exposure = 0
+        float inputs:intensity = 500
+    }
+}
+

scenes/ithor/FloorPlan15_physics/Payload/Materials.usda

@@ -0,0 +1,1003 @@
+#usda 1.0
+(
+    customLayerData = {
+        string creator = """AI2-THOR mjcf-usd scene converter
+    time: 01-20-26 16:35:04
+    scene: FloorPlan15_physics
+    usd-exchange-version: 2.2.0
+"""
+    }
+    defaultPrim = "FloorPlan15_physics"
+    kilogramsPerUnit = 1
+    metersPerUnit = 1
+    upAxis = "Z"
+)
+
+def Xform "FloorPlan15_physics"
+{
+    def Scope "Materials"
+    {
+        def Material "material_WhiteMetal" (
+            prepend references = @./MaterialsLibrary.usda@</Materials/material_WhiteMetal>
+        )
+        {
+        }
+
+        def Material "material_Glass_Black_Mat" (
+            prepend references = @./MaterialsLibrary.usda@</Materials/material_Glass_Black_Mat>
+        )
+        {
+        }
+
+        def Material "material_HammeredMetal_Dark" (
+            prepend references = @./MaterialsLibrary.usda@</Materials/material_HammeredMetal_Dark>
+        )
+        {
+        }
+
+        def Material "material_OrangePlastic" (
+            prepend references = @./MaterialsLibrary.usda@</Materials/material_OrangePlastic>
+        )
+        {
+        }
+
+        def Material "material_Cream_wood" (
+            prepend references = @./MaterialsLibrary.usda@</Materials/material_Cream_wood>
+        )
+        {
+        }
+
+        def Material "material_HammeredMetal_AlbedoTransparency_2" (
+            prepend references = @./MaterialsLibrary.usda@</Materials/material_HammeredMetal_AlbedoTransparency_2>
+        )
+        {
+        }
+
+        def Material "material_HammeredMetal_AlbedoTransparency" (
+            prepend references = @./MaterialsLibrary.usda@</Materials/material_HammeredMetal_AlbedoTransparency>
+        )
+        {
+        }
+
+        def Material "material_WhiteCountertop1" (
+            prepend references = @./MaterialsLibrary.usda@</Materials/material_WhiteCountertop1>
+        )
+        {
+        }
+
+        def Material "material_Glass_Detailed_Lit_High_Mat" (
+            prepend references = @./MaterialsLibrary.usda@</Materials/material_Glass_Detailed_Lit_High_Mat>
+        )
+        {
+        }
+
+        def Material "material_Plastic" (
+            prepend references = @./MaterialsLibrary.usda@</Materials/material_Plastic>
+        )
+        {
+        }
+
+        def Material "material_PVC" (
+            prepend references = @./MaterialsLibrary.usda@</Materials/material_PVC>
+        )
+        {
+        }
+
+        def Material "material_StoveCoil" (
+            prepend references = @./MaterialsLibrary.usda@</Materials/material_StoveCoil>
+        )
+        {
+        }
+
+        def Material "material_KitchenLight" (
+            prepend references = @./MaterialsLibrary.usda@</Materials/material_KitchenLight>
+        )
+        {
+        }
+
+        def Material "material_BrownMetal_s" (
+            prepend references = @./MaterialsLibrary.usda@</Materials/material_BrownMetal_s>
+        )
+        {
+        }
+
+        def Material "material_WallDrywallWhite" (
+            prepend references = @./MaterialsLibrary.usda@</Materials/material_WallDrywallWhite>
+        )
+        {
+        }
+
+        def Material "material_LightDim" (
+            prepend references = @./MaterialsLibrary.usda@</Materials/material_LightDim>
+        )
+        {
+        }
+    }
+
+    over "Geometry"
+    {
+        over "oven_86984c9381fc622133690308a3577083_1_1_0"
+        {
+            over "oven_86984c9381fc622133690308a3577083_1_1_0_visual_0" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan15_physics/Materials/material_WhiteMetal>
+            }
+        }
+
+        over "oven_86984c9381fc622133690308a3577083_1_2_0"
+        {
+            over "oven_86984c9381fc622133690308a3577083_1_2_0_visual_6" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan15_physics/Materials/material_WhiteMetal>
+            }
+        }
+
+        over "oven_86984c9381fc622133690308a3577083_1_3_0"
+        {
+            over "oven_86984c9381fc622133690308a3577083_1_3_0_visual_18" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan15_physics/Materials/material_WhiteMetal>
+            }
+        }
+
+        over "oven_86984c9381fc622133690308a3577083_1_4_0"
+        {
+            over "oven_86984c9381fc622133690308a3577083_1_4_0_visual_53" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan15_physics/Materials/material_Glass_Black_Mat>
+            }
+
+            over "oven_86984c9381fc622133690308a3577083_1_4_0_visual_54" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan15_physics/Materials/material_WhiteMetal>
+            }
+        }
+
+        over "oven_86984c9381fc622133690308a3577083_1_5_0"
+        {
+            over "oven_86984c9381fc622133690308a3577083_1_5_0_visual_66" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan15_physics/Materials/material_WhiteMetal>
+            }
+        }
+
+        over "knob_63a9b076b7b280c438ad2700a4953397_1_1_0"
+        {
+            over "knob_63a9b076b7b280c438ad2700a4953397_1_1_0_visual_0" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan15_physics/Materials/material_HammeredMetal_Dark>
+            }
+
+            over "knob_63a9b076b7b280c438ad2700a4953397_1_1_0_visual_1" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan15_physics/Materials/material_OrangePlastic>
+            }
+        }
+
+        over "knob_1ebab1b80dae627e8aeee7753432931b_1_1_0"
+        {
+            over "knob_1ebab1b80dae627e8aeee7753432931b_1_1_0_visual_0" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan15_physics/Materials/material_HammeredMetal_Dark>
+            }
+
+            over "knob_1ebab1b80dae627e8aeee7753432931b_1_1_0_visual_1" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan15_physics/Materials/material_OrangePlastic>
+            }
+        }
+
+        over "knob_875e380783881d6cdd2cee36050c6944_1_1_0"
+        {
+            over "knob_875e380783881d6cdd2cee36050c6944_1_1_0_visual_0" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan15_physics/Materials/material_HammeredMetal_Dark>
+            }
+
+            over "knob_875e380783881d6cdd2cee36050c6944_1_1_0_visual_1" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan15_physics/Materials/material_OrangePlastic>
+            }
+        }
+
+        over "knob_38ee0b84e19688c1cc590af14c09df69_1_1_0"
+        {
+            over "knob_38ee0b84e19688c1cc590af14c09df69_1_1_0_visual_0" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan15_physics/Materials/material_HammeredMetal_Dark>
+            }
+
+            over "knob_38ee0b84e19688c1cc590af14c09df69_1_1_0_visual_1" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan15_physics/Materials/material_OrangePlastic>
+            }
+        }
+
+        over "cabinet_d22bd31436e5e701ab759bd4530f4fde_1_1_0"
+        {
+            over "cabinet_d22bd31436e5e701ab759bd4530f4fde_1_1_0_visual_0" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan15_physics/Materials/material_Cream_wood>
+            }
+        }
+
+        over "cabinet_d22bd31436e5e701ab759bd4530f4fde_1_2_0"
+        {
+            over "cabinet_d22bd31436e5e701ab759bd4530f4fde_1_2_0_visual_2" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan15_physics/Materials/material_HammeredMetal_AlbedoTransparency_2>
+            }
+        }
+
+        over "cabinet_8122a3bec0b86cf936ccf35d4d941967_1_1_0"
+        {
+            over "cabinet_8122a3bec0b86cf936ccf35d4d941967_1_1_0_visual_0" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan15_physics/Materials/material_Cream_wood>
+            }
+        }
+
+        over "cabinet_8122a3bec0b86cf936ccf35d4d941967_1_2_0"
+        {
+            over "cabinet_8122a3bec0b86cf936ccf35d4d941967_1_2_0_visual_2" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan15_physics/Materials/material_HammeredMetal_AlbedoTransparency_2>
+            }
+        }
+
+        over "cabinet_85145116a9efafeb1914eeeaf4388a8c_1_1_0"
+        {
+            over "cabinet_85145116a9efafeb1914eeeaf4388a8c_1_1_0_visual_0" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan15_physics/Materials/material_Cream_wood>
+            }
+        }
+
+        over "cabinet_85145116a9efafeb1914eeeaf4388a8c_1_2_0"
+        {
+            over "cabinet_85145116a9efafeb1914eeeaf4388a8c_1_2_0_visual_2" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan15_physics/Materials/material_HammeredMetal_AlbedoTransparency_2>
+            }
+        }
+
+        over "cabinet_9d3b2e39b8a06dff8b8d27f92000722d_1_1_0"
+        {
+            over "cabinet_9d3b2e39b8a06dff8b8d27f92000722d_1_1_0_visual_0" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan15_physics/Materials/material_Cream_wood>
+            }
+        }
+
+        over "cabinet_9d3b2e39b8a06dff8b8d27f92000722d_1_2_0"
+        {
+            over "cabinet_9d3b2e39b8a06dff8b8d27f92000722d_1_2_0_visual_2" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan15_physics/Materials/material_HammeredMetal_AlbedoTransparency_2>
+            }
+        }
+
+        over "cabinet_3c5fec020276a8aff869bdd85f7cc271_1_1_0"
+        {
+            over "cabinet_3c5fec020276a8aff869bdd85f7cc271_1_1_0_visual_0" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan15_physics/Materials/material_Cream_wood>
+            }
+        }
+
+        over "cabinet_3c5fec020276a8aff869bdd85f7cc271_1_2_0"
+        {
+            over "cabinet_3c5fec020276a8aff869bdd85f7cc271_1_2_0_visual_2" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan15_physics/Materials/material_HammeredMetal_AlbedoTransparency_2>
+            }
+        }
+
+        over "cabinet_762ef0c366cfc9ec08d19a4fcba417ef_1_1_0"
+        {
+            over "cabinet_762ef0c366cfc9ec08d19a4fcba417ef_1_1_0_visual_0" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan15_physics/Materials/material_Cream_wood>
+            }
+        }
+
+        over "cabinet_762ef0c366cfc9ec08d19a4fcba417ef_1_2_0"
+        {
+            over "cabinet_762ef0c366cfc9ec08d19a4fcba417ef_1_2_0_visual_2" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan15_physics/Materials/material_HammeredMetal_AlbedoTransparency_2>
+            }
+        }
+
+        over "cabinet_446e8cd90f2f6b306a65f914527b6b08_1_1_0"
+        {
+            over "cabinet_446e8cd90f2f6b306a65f914527b6b08_1_1_0_visual_0" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan15_physics/Materials/material_Cream_wood>
+            }
+        }
+
+        over "cabinet_446e8cd90f2f6b306a65f914527b6b08_1_2_0"
+        {
+            over "cabinet_446e8cd90f2f6b306a65f914527b6b08_1_2_0_visual_2" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan15_physics/Materials/material_HammeredMetal_AlbedoTransparency_2>
+            }
+        }
+
+        over "cabinet_1eb9ab836af9c86ee3d5fcccfc79b737_1_1_0"
+        {
+            over "cabinet_1eb9ab836af9c86ee3d5fcccfc79b737_1_1_0_visual_0" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan15_physics/Materials/material_Cream_wood>
+            }
+        }
+
+        over "cabinet_1eb9ab836af9c86ee3d5fcccfc79b737_1_2_0"
+        {
+            over "cabinet_1eb9ab836af9c86ee3d5fcccfc79b737_1_2_0_visual_2" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan15_physics/Materials/material_HammeredMetal_AlbedoTransparency_2>
+            }
+        }
+
+        over "cabinet_e884bf2ab3ca0383d249c9cf89622c5c_1_1_0"
+        {
+            over "cabinet_e884bf2ab3ca0383d249c9cf89622c5c_1_1_0_visual_0" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan15_physics/Materials/material_Cream_wood>
+            }
+        }
+
+        over "cabinet_e884bf2ab3ca0383d249c9cf89622c5c_1_2_0"
+        {
+            over "cabinet_e884bf2ab3ca0383d249c9cf89622c5c_1_2_0_visual_2" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan15_physics/Materials/material_HammeredMetal_AlbedoTransparency_2>
+            }
+        }
+
+        over "drawer_ba591224ec8ee315d8add03bf570cf47_1_1_0"
+        {
+            over "drawer_ba591224ec8ee315d8add03bf570cf47_1_1_0_visual_0" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan15_physics/Materials/material_Cream_wood>
+            }
+        }
+
+        over "drawer_ba591224ec8ee315d8add03bf570cf47_1_2_0"
+        {
+            over "drawer_ba591224ec8ee315d8add03bf570cf47_1_2_0_visual_7" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan15_physics/Materials/material_HammeredMetal_AlbedoTransparency_2>
+            }
+        }
+
+        over "drawer_11acbebba1dab5ef181a9d5b5a3754d3_1_1_0"
+        {
+            over "drawer_11acbebba1dab5ef181a9d5b5a3754d3_1_1_0_visual_0" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan15_physics/Materials/material_Cream_wood>
+            }
+        }
+
+        over "drawer_11acbebba1dab5ef181a9d5b5a3754d3_1_2_0"
+        {
+            over "drawer_11acbebba1dab5ef181a9d5b5a3754d3_1_2_0_visual_7" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan15_physics/Materials/material_HammeredMetal_AlbedoTransparency_2>
+            }
+        }
+
+        over "drawer_b9f1d35db35e9a133dd17aa8be483f90_1_1_0"
+        {
+            over "drawer_b9f1d35db35e9a133dd17aa8be483f90_1_1_0_visual_0" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan15_physics/Materials/material_Cream_wood>
+            }
+        }
+
+        over "drawer_b9f1d35db35e9a133dd17aa8be483f90_1_2_0"
+        {
+            over "drawer_b9f1d35db35e9a133dd17aa8be483f90_1_2_0_visual_7" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan15_physics/Materials/material_HammeredMetal_AlbedoTransparency_2>
+            }
+        }
+
+        over "cabinet_d0bdea2f50598fb962b5be86ef8c1859_1_1_0"
+        {
+            over "cabinet_d0bdea2f50598fb962b5be86ef8c1859_1_1_0_visual_0" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan15_physics/Materials/material_Cream_wood>
+            }
+        }
+
+        over "cabinet_d0bdea2f50598fb962b5be86ef8c1859_1_2_0"
+        {
+            over "cabinet_d0bdea2f50598fb962b5be86ef8c1859_1_2_0_visual_2" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan15_physics/Materials/material_HammeredMetal_AlbedoTransparency_2>
+            }
+        }
+
+        over "cabinet_667f3f25bf0069f3276ebc99b340432c_1_1_0"
+        {
+            over "cabinet_667f3f25bf0069f3276ebc99b340432c_1_1_0_visual_0" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan15_physics/Materials/material_Cream_wood>
+            }
+        }
+
+        over "cabinet_667f3f25bf0069f3276ebc99b340432c_1_2_0"
+        {
+            over "cabinet_667f3f25bf0069f3276ebc99b340432c_1_2_0_visual_2" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan15_physics/Materials/material_HammeredMetal_AlbedoTransparency_2>
+            }
+        }
+
+        over "sink_0f3cf1697055ffb8049e2f5f657a5fd5_1_1_0"
+        {
+            over "sink_0f3cf1697055ffb8049e2f5f657a5fd5_1_1_0_visual_0" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan15_physics/Materials/material_HammeredMetal_AlbedoTransparency>
+            }
+        }
+
+        over "sink_0f3cf1697055ffb8049e2f5f657a5fd5_1_2_0"
+        {
+            over "sink_0f3cf1697055ffb8049e2f5f657a5fd5_1_2_0_visual_26" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan15_physics/Materials/material_HammeredMetal_AlbedoTransparency>
+            }
+        }
+
+        over "mesh_a73881652394f252f66a092462bf569a_1_1_0"
+        {
+            over "mesh_a73881652394f252f66a092462bf569a_1_1_0_visual_0" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan15_physics/Materials/material_HammeredMetal_AlbedoTransparency>
+            }
+        }
+
+        over "mesh_1be1ec3b54a0396b0c0d0689bbf54437_1_1_0"
+        {
+            over "mesh_1be1ec3b54a0396b0c0d0689bbf54437_1_1_0_visual_0" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan15_physics/Materials/material_WhiteCountertop1>
+            }
+        }
+
+        over "window_6d0cb371451170dfa5a48a2566004a91_1_1_0"
+        {
+            over "window_6d0cb371451170dfa5a48a2566004a91_1_1_0_visual_0" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan15_physics/Materials/material_Glass_Detailed_Lit_High_Mat>
+            }
+
+            over "window_6d0cb371451170dfa5a48a2566004a91_1_1_0_visual_1" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan15_physics/Materials/material_Plastic>
+            }
+
+            over "window_6d0cb371451170dfa5a48a2566004a91_1_1_0_visual_2" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan15_physics/Materials/material_PVC>
+            }
+        }
+
+        over "window_6d0cb371451170dfa5a48a2566004a91_1_2_0"
+        {
+            over "window_6d0cb371451170dfa5a48a2566004a91_1_2_0_visual_7" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan15_physics/Materials/material_Glass_Detailed_Lit_High_Mat>
+            }
+        }
+
+        over "blindframemesh_18c4070d3ecdfe7948668ca278a965a7_1_1_0"
+        {
+            over "blindframemesh_18c4070d3ecdfe7948668ca278a965a7_1_1_0_visual_0" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan15_physics/Materials/material_PVC>
+            }
+        }
+
+        over "blindframemesh_18c4070d3ecdfe7948668ca278a965a7_1_2_0"
+        {
+            over "blindframemesh_18c4070d3ecdfe7948668ca278a965a7_1_2_0_visual_2" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan15_physics/Materials/material_PVC>
+            }
+        }
+
+        over "blinds_22e93e68ea91b3e4a4b70c30ea406656_1_1_0"
+        {
+            over "blinds_22e93e68ea91b3e4a4b70c30ea406656_1_1_0_visual_0" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan15_physics/Materials/material_PVC>
+            }
+        }
+
+        over "blinds_22e93e68ea91b3e4a4b70c30ea406656_1_2_0"
+        {
+            over "blinds_22e93e68ea91b3e4a4b70c30ea406656_1_2_0_visual_2" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan15_physics/Materials/material_PVC>
+            }
+        }
+
+        over "window_243f2663e60cccd877d41ddf81148ff8_1_1_0"
+        {
+            over "window_243f2663e60cccd877d41ddf81148ff8_1_1_0_visual_0" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan15_physics/Materials/material_Glass_Detailed_Lit_High_Mat>
+            }
+
+            over "window_243f2663e60cccd877d41ddf81148ff8_1_1_0_visual_1" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan15_physics/Materials/material_Plastic>
+            }
+
+            over "window_243f2663e60cccd877d41ddf81148ff8_1_1_0_visual_2" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan15_physics/Materials/material_PVC>
+            }
+        }
+
+        over "window_243f2663e60cccd877d41ddf81148ff8_1_2_0"
+        {
+            over "window_243f2663e60cccd877d41ddf81148ff8_1_2_0_visual_7" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan15_physics/Materials/material_Glass_Detailed_Lit_High_Mat>
+            }
+        }
+
+        over "mesh_bccf8a517237b2240f295139d28e8726_1_1_0"
+        {
+            over "mesh_bccf8a517237b2240f295139d28e8726_1_1_0_visual_0" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan15_physics/Materials/material_HammeredMetal_Dark>
+            }
+
+            over "mesh_bccf8a517237b2240f295139d28e8726_1_1_0_visual_1" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan15_physics/Materials/material_HammeredMetal_AlbedoTransparency>
+            }
+
+            over "mesh_bccf8a517237b2240f295139d28e8726_1_1_0_visual_2" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan15_physics/Materials/material_StoveCoil>
+            }
+        }
+
+        over "mesh_9cb2a761ae16f65f10fd3a65956de454_1_1_0"
+        {
+            over "mesh_9cb2a761ae16f65f10fd3a65956de454_1_1_0_visual_0" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan15_physics/Materials/material_HammeredMetal_Dark>
+            }
+
+            over "mesh_9cb2a761ae16f65f10fd3a65956de454_1_1_0_visual_1" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan15_physics/Materials/material_HammeredMetal_AlbedoTransparency>
+            }
+
+            over "mesh_9cb2a761ae16f65f10fd3a65956de454_1_1_0_visual_2" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan15_physics/Materials/material_StoveCoil>
+            }
+        }
+
+        over "mesh_5c1829f0aad54695ed9f61e7bfafb50d_1_1_0"
+        {
+            over "mesh_5c1829f0aad54695ed9f61e7bfafb50d_1_1_0_visual_0" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan15_physics/Materials/material_HammeredMetal_Dark>
+            }
+
+            over "mesh_5c1829f0aad54695ed9f61e7bfafb50d_1_1_0_visual_1" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan15_physics/Materials/material_HammeredMetal_AlbedoTransparency>
+            }
+
+            over "mesh_5c1829f0aad54695ed9f61e7bfafb50d_1_1_0_visual_2" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan15_physics/Materials/material_StoveCoil>
+            }
+        }
+
+        over "mesh_3a3ed5ed4620031a61912be0dba29159_1_1_0"
+        {
+            over "mesh_3a3ed5ed4620031a61912be0dba29159_1_1_0_visual_0" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan15_physics/Materials/material_HammeredMetal_Dark>
+            }
+
+            over "mesh_3a3ed5ed4620031a61912be0dba29159_1_1_0_visual_1" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan15_physics/Materials/material_HammeredMetal_AlbedoTransparency>
+            }
+
+            over "mesh_3a3ed5ed4620031a61912be0dba29159_1_1_0_visual_2" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan15_physics/Materials/material_StoveCoil>
+            }
+        }
+
+        over "floor_efdeaba5033a980fd923b7693a18297f_1_1_0"
+        {
+            over "floor_efdeaba5033a980fd923b7693a18297f_1_1_0_visual_0" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan15_physics/Materials/material_WhiteCountertop1>
+            }
+        }
+
+        over "faucet_47671dd0dc1cee7df8cc2b1b0ffed39e_1_1_0"
+        {
+            over "faucet_47671dd0dc1cee7df8cc2b1b0ffed39e_1_1_0_visual_0" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan15_physics/Materials/material_HammeredMetal_AlbedoTransparency>
+            }
+        }
+
+        over "decorativepaneliguess_1b67a2353d0eecc315badad89fddfa6b_1_1_0"
+        {
+            over "decorativepaneliguess_1b67a2353d0eecc315badad89fddfa6b_1_1_0_visual_0" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan15_physics/Materials/material_Cream_wood>
+            }
+        }
+
+        over "cube_18b45173e303535ea85c5a6ce4d15b1f_1_1_0"
+        {
+            over "cube_18b45173e303535ea85c5a6ce4d15b1f_1_1_0_visual_0" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan15_physics/Materials/material_WhiteCountertop1>
+            }
+        }
+
+        over "cube_6d4dc1cab249a4d8a6c2dcd3193c0c8d_1_1_0"
+        {
+            over "cube_6d4dc1cab249a4d8a6c2dcd3193c0c8d_1_1_0_visual_0" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan15_physics/Materials/material_Cream_wood>
+            }
+        }
+
+        over "cube_0c8b81bac118b67b3c9902c49ce92bd8_1_1_0"
+        {
+            over "cube_0c8b81bac118b67b3c9902c49ce92bd8_1_1_0_visual_0" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan15_physics/Materials/material_HammeredMetal_AlbedoTransparency>
+            }
+        }
+
+        over "cube_0c8b81bac118b67b3c9902c49ce92bd8_1_2_0"
+        {
+            over "cube_0c8b81bac118b67b3c9902c49ce92bd8_1_2_0_visual_26" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan15_physics/Materials/material_Cream_wood>
+            }
+        }
+
+        over "cube_0c8b81bac118b67b3c9902c49ce92bd8_1_3_0"
+        {
+            over "cube_0c8b81bac118b67b3c9902c49ce92bd8_1_3_0_visual_66" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan15_physics/Materials/material_HammeredMetal_AlbedoTransparency>
+            }
+        }
+
+        over "cube_e0ac9f5128952b58a5cf7a8d06990818_1_1_0"
+        {
+            over "cube_e0ac9f5128952b58a5cf7a8d06990818_1_1_0_visual_0" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan15_physics/Materials/material_Cream_wood>
+            }
+        }
+
+        over "cube_d40a9e5c9f93354f69c6da0ccff36b28_1_1_0"
+        {
+            over "cube_d40a9e5c9f93354f69c6da0ccff36b28_1_1_0_visual_0" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan15_physics/Materials/material_Cream_wood>
+            }
+        }
+
+        over "cube_5d5141013796ab04b168ca3803f57b12_1_1_0"
+        {
+            over "cube_5d5141013796ab04b168ca3803f57b12_1_1_0_visual_0" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan15_physics/Materials/material_Cream_wood>
+            }
+        }
+
+        over "cylinder_f317968b2430bc8053dbe7b481c1af5a_1_1_0"
+        {
+            over "cylinder_f317968b2430bc8053dbe7b481c1af5a_1_1_0_visual_0" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan15_physics/Materials/material_KitchenLight>
+            }
+
+            over "cylinder_f317968b2430bc8053dbe7b481c1af5a_1_1_0_visual_1" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan15_physics/Materials/material_BrownMetal_s>
+            }
+        }
+
+        over "handle_0a8b1ecd8fc8b823aa030d55dda22da5_1_1_0"
+        {
+            over "handle_0a8b1ecd8fc8b823aa030d55dda22da5_1_1_0_visual_0" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan15_physics/Materials/material_BrownMetal_s>
+            }
+        }
+
+        over "door_34919a66fca722ff2eba1f96cfdefb45_1_1_0"
+        {
+            over "door_34919a66fca722ff2eba1f96cfdefb45_1_1_0_visual_0" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan15_physics/Materials/material_Cream_wood>
+            }
+        }
+
+        over "doorframe_e88fb1004db060c9065a16e9f3feb330_1_1_0"
+        {
+            over "doorframe_e88fb1004db060c9065a16e9f3feb330_1_1_0_visual_0" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan15_physics/Materials/material_Cream_wood>
+            }
+        }
+
+        over "handle_972be45d5ac9d1661ef81390eb7849b8_1_1_0"
+        {
+            over "handle_972be45d5ac9d1661ef81390eb7849b8_1_1_0_visual_0" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan15_physics/Materials/material_BrownMetal_s>
+            }
+        }
+
+        over "door_d42c7fb16861089d71bdf993438bf2bd_1_1_0"
+        {
+            over "door_d42c7fb16861089d71bdf993438bf2bd_1_1_0_visual_0" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan15_physics/Materials/material_Cream_wood>
+            }
+        }
+
+        over "doorframe_2deb6b7e0a76ddae443183ffa580224c_1_1_0"
+        {
+            over "doorframe_2deb6b7e0a76ddae443183ffa580224c_1_1_0_visual_0" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan15_physics/Materials/material_Cream_wood>
+            }
+        }
+
+        over "baseboard_ecc89bf2cc26f82adf9317e67f1ff20a_1_1_0"
+        {
+            over "baseboard_ecc89bf2cc26f82adf9317e67f1ff20a_1_1_0_visual_0" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan15_physics/Materials/material_Cream_wood>
+            }
+        }
+
+        over "room_586f04c2dfe270f16d42b2e6d3891a44_1_1_0"
+        {
+            over "room_586f04c2dfe270f16d42b2e6d3891a44_1_1_0_visual_0" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan15_physics/Materials/material_WallDrywallWhite>
+            }
+        }
+
+        over "sphere_ae09db496a0bb278a8a5784e8471eda5_1_1_0"
+        {
+            over "sphere_ae09db496a0bb278a8a5784e8471eda5_1_1_0_visual_0" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan15_physics/Materials/material_BrownMetal_s>
+            }
+
+            over "sphere_ae09db496a0bb278a8a5784e8471eda5_1_1_0_visual_1" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan15_physics/Materials/material_LightDim>
+            }
+        }
+
+        over "ceiling_6ffb924cf0c1d58f3a962a927888aa74_1_1_0"
+        {
+            over "ceiling_6ffb924cf0c1d58f3a962a927888aa74_1_1_0_visual_0" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan15_physics/Materials/material_WallDrywallWhite>
+            }
+        }
+    }
+}
+

scenes/ithor/FloorPlan15_physics/Payload/MaterialsLibrary.usda

@@ -0,0 +1,411 @@
+#usda 1.0
+(
+    "Material library for house FloorPlan15_physics"
+    customLayerData = {
+        string creator = """AI2-THOR mjcf-usd scene converter
+    time: 01-20-26 16:35:04
+    scene: FloorPlan15_physics
+    usd-exchange-version: 2.2.0
+"""
+    }
+    defaultPrim = "Materials"
+    kilogramsPerUnit = 1
+    metersPerUnit = 1
+    upAxis = "Z"
+)
+
+class Scope "Materials"
+{
+    def Material "material_WhiteMetal"
+    {
+        token outputs:displacement.connect = </Materials/material_WhiteMetal/PreviewSurface.outputs:displacement>
+        token outputs:surface.connect = </Materials/material_WhiteMetal/PreviewSurface.outputs:surface>
+
+        def Shader "PreviewSurface"
+        {
+            uniform token info:id = "UsdPreviewSurface"
+            color3f inputs:diffuseColor = (1, 1, 1)
+            float inputs:metallic = 0
+            float inputs:opacity = 1
+            float inputs:roughness = 0.5
+            token outputs:displacement
+            token outputs:surface
+        }
+    }
+
+    def Material "material_Glass_Black_Mat"
+    {
+        token outputs:displacement.connect = </Materials/material_Glass_Black_Mat/PreviewSurface.outputs:displacement>
+        token outputs:surface.connect = </Materials/material_Glass_Black_Mat/PreviewSurface.outputs:surface>
+
+        def Shader "PreviewSurface"
+        {
+            uniform token info:id = "UsdPreviewSurface"
+            color3f inputs:diffuseColor = (0, 0, 0)
+            float inputs:metallic = 0
+            float inputs:opacity = 1
+            float inputs:roughness = 0.5
+            token outputs:displacement
+            token outputs:surface
+        }
+    }
+
+    def Material "material_HammeredMetal_Dark"
+    {
+        token outputs:displacement.connect = </Materials/material_HammeredMetal_Dark/PreviewSurface.outputs:displacement>
+        token outputs:surface.connect = </Materials/material_HammeredMetal_Dark/PreviewSurface.outputs:surface>
+
+        def Shader "PreviewSurface"
+        {
+            uniform token info:id = "UsdPreviewSurface"
+            color3f inputs:diffuseColor.connect = </Materials/material_HammeredMetal_Dark/DiffuseTexture.outputs:rgb>
+            float inputs:metallic = 0
+            float inputs:opacity = 1
+            float inputs:roughness = 0.5
+            token outputs:displacement
+            token outputs:surface
+        }
+
+        def Shader "DiffuseTexture"
+        {
+            uniform token info:id = "UsdUVTexture"
+            float4 inputs:fallback = (0.264706, 0.264706, 0.264706, 1)
+            asset inputs:file = @./Textures/HammeredMetal_AlbedoTransparency.png@
+            float4 inputs:scale = (0.264706, 0.264706, 0.264706, 1)
+            token inputs:sourceColorSpace = "auto"
+            float2 inputs:st.connect = </Materials/material_HammeredMetal_Dark/Primvar_st_float2.outputs:result>
+            token inputs:wrapS = "repeat"
+            token inputs:wrapT = "repeat"
+            float3 outputs:rgb
+        }
+
+        def Shader "Primvar_st_float2"
+        {
+            uniform token info:id = "UsdPrimvarReader_float2"
+            string inputs:varname = "st"
+            float2 outputs:result
+        }
+    }
+
+    def Material "material_OrangePlastic"
+    {
+        token outputs:displacement.connect = </Materials/material_OrangePlastic/PreviewSurface.outputs:displacement>
+        token outputs:surface.connect = </Materials/material_OrangePlastic/PreviewSurface.outputs:surface>
+
+        def Shader "PreviewSurface"
+        {
+            uniform token info:id = "UsdPreviewSurface"
+            color3f inputs:diffuseColor = (1, 0.268966, 0)
+            float inputs:metallic = 0
+            float inputs:opacity = 1
+            float inputs:roughness = 0.5
+            token outputs:displacement
+            token outputs:surface
+        }
+    }
+
+    def Material "material_Cream_wood"
+    {
+        token outputs:displacement.connect = </Materials/material_Cream_wood/PreviewSurface.outputs:displacement>
+        token outputs:surface.connect = </Materials/material_Cream_wood/PreviewSurface.outputs:surface>
+
+        def Shader "PreviewSurface"
+        {
+            uniform token info:id = "UsdPreviewSurface"
+            color3f inputs:diffuseColor.connect = </Materials/material_Cream_wood/DiffuseTexture.outputs:rgb>
+            float inputs:metallic = 0
+            float inputs:opacity = 1
+            float inputs:roughness = 0.5
+            token outputs:displacement
+            token outputs:surface
+        }
+
+        def Shader "DiffuseTexture"
+        {
+            uniform token info:id = "UsdUVTexture"
+            float4 inputs:fallback = (1, 0.977941, 0.977941, 1)
+            asset inputs:file = @./Textures/HammeredMetal_MetallicSmoothness.png@
+            float4 inputs:scale = (1, 0.977941, 0.977941, 1)
+            token inputs:sourceColorSpace = "auto"
+            float2 inputs:st.connect = </Materials/material_Cream_wood/Primvar_st_float2.outputs:result>
+            token inputs:wrapS = "repeat"
+            token inputs:wrapT = "repeat"
+            float3 outputs:rgb
+        }
+
+        def Shader "Primvar_st_float2"
+        {
+            uniform token info:id = "UsdPrimvarReader_float2"
+            string inputs:varname = "st"
+            float2 outputs:result
+        }
+    }
+
+    def Material "material_HammeredMetal_AlbedoTransparency_2"
+    {
+        token outputs:displacement.connect = </Materials/material_HammeredMetal_AlbedoTransparency_2/PreviewSurface.outputs:displacement>
+        token outputs:surface.connect = </Materials/material_HammeredMetal_AlbedoTransparency_2/PreviewSurface.outputs:surface>
+
+        def Shader "PreviewSurface"
+        {
+            uniform token info:id = "UsdPreviewSurface"
+            color3f inputs:diffuseColor.connect = </Materials/material_HammeredMetal_AlbedoTransparency_2/DiffuseTexture.outputs:rgb>
+            float inputs:metallic = 0
+            float inputs:opacity = 1
+            float inputs:roughness = 0.5
+            token outputs:displacement
+            token outputs:surface
+        }
+
+        def Shader "DiffuseTexture"
+        {
+            uniform token info:id = "UsdUVTexture"
+            float4 inputs:fallback = (1, 0.934077, 0.816176, 1)
+            asset inputs:file = @./Textures/HammeredMetal_AlbedoTransparency.png@
+            float4 inputs:scale = (1, 0.934077, 0.816176, 1)
+            token inputs:sourceColorSpace = "auto"
+            float2 inputs:st.connect = </Materials/material_HammeredMetal_AlbedoTransparency_2/Primvar_st_float2.outputs:result>
+            token inputs:wrapS = "repeat"
+            token inputs:wrapT = "repeat"
+            float3 outputs:rgb
+        }
+
+        def Shader "Primvar_st_float2"
+        {
+            uniform token info:id = "UsdPrimvarReader_float2"
+            string inputs:varname = "st"
+            float2 outputs:result
+        }
+    }
+
+    def Material "material_HammeredMetal_AlbedoTransparency"
+    {
+        token outputs:displacement.connect = </Materials/material_HammeredMetal_AlbedoTransparency/PreviewSurface.outputs:displacement>
+        token outputs:surface.connect = </Materials/material_HammeredMetal_AlbedoTransparency/PreviewSurface.outputs:surface>
+
+        def Shader "PreviewSurface"
+        {
+            uniform token info:id = "UsdPreviewSurface"
+            color3f inputs:diffuseColor.connect = </Materials/material_HammeredMetal_AlbedoTransparency/DiffuseTexture.outputs:rgb>
+            float inputs:metallic = 0
+            float inputs:opacity = 1
+            float inputs:roughness = 0.5
+            token outputs:displacement
+            token outputs:surface
+        }
+
+        def Shader "DiffuseTexture"
+        {
+            uniform token info:id = "UsdUVTexture"
+            float4 inputs:fallback = (1, 1, 1, 1)
+            asset inputs:file = @./Textures/HammeredMetal_AlbedoTransparency.png@
+            float4 inputs:scale = (1, 1, 1, 1)
+            token inputs:sourceColorSpace = "auto"
+            float2 inputs:st.connect = </Materials/material_HammeredMetal_AlbedoTransparency/Primvar_st_float2.outputs:result>
+            token inputs:wrapS = "repeat"
+            token inputs:wrapT = "repeat"
+            float3 outputs:rgb
+        }
+
+        def Shader "Primvar_st_float2"
+        {
+            uniform token info:id = "UsdPrimvarReader_float2"
+            string inputs:varname = "st"
+            float2 outputs:result
+        }
+    }
+
+    def Material "material_WhiteCountertop1"
+    {
+        token outputs:displacement.connect = </Materials/material_WhiteCountertop1/PreviewSurface.outputs:displacement>
+        token outputs:surface.connect = </Materials/material_WhiteCountertop1/PreviewSurface.outputs:surface>
+
+        def Shader "PreviewSurface"
+        {
+            uniform token info:id = "UsdPreviewSurface"
+            color3f inputs:diffuseColor.connect = </Materials/material_WhiteCountertop1/DiffuseTexture.outputs:rgb>
+            float inputs:metallic = 0
+            float inputs:opacity = 1
+            float inputs:roughness = 0.5
+            token outputs:displacement
+            token outputs:surface
+        }
+
+        def Shader "DiffuseTexture"
+        {
+            uniform token info:id = "UsdUVTexture"
+            float4 inputs:fallback = (0.904412, 0.693077, 0.425606, 1)
+            asset inputs:file = @./Textures/TexturesCom_MarbleNoisy0062_1_seamless_S.png@
+            float4 inputs:scale = (0.904412, 0.693077, 0.425606, 1)
+            token inputs:sourceColorSpace = "auto"
+            float2 inputs:st.connect = </Materials/material_WhiteCountertop1/Primvar_st_float2.outputs:result>
+            token inputs:wrapS = "repeat"
+            token inputs:wrapT = "repeat"
+            float3 outputs:rgb
+        }
+
+        def Shader "Primvar_st_float2"
+        {
+            uniform token info:id = "UsdPrimvarReader_float2"
+            string inputs:varname = "st"
+            float2 outputs:result
+        }
+    }
+
+    def Material "material_Glass_Detailed_Lit_High_Mat"
+    {
+        token outputs:displacement.connect = </Materials/material_Glass_Detailed_Lit_High_Mat/PreviewSurface.outputs:displacement>
+        token outputs:surface.connect = </Materials/material_Glass_Detailed_Lit_High_Mat/PreviewSurface.outputs:surface>
+
+        def Shader "PreviewSurface"
+        {
+            uniform token info:id = "UsdPreviewSurface"
+            color3f inputs:diffuseColor = (1, 1, 1)
+            float inputs:metallic = 0
+            float inputs:opacity = 1
+            float inputs:roughness = 0.5
+            token outputs:displacement
+            token outputs:surface
+        }
+    }
+
+    def Material "material_Plastic"
+    {
+        token outputs:displacement.connect = </Materials/material_Plastic/PreviewSurface.outputs:displacement>
+        token outputs:surface.connect = </Materials/material_Plastic/PreviewSurface.outputs:surface>
+
+        def Shader "PreviewSurface"
+        {
+            uniform token info:id = "UsdPreviewSurface"
+            color3f inputs:diffuseColor = (0.8, 0.8, 0.8)
+            float inputs:metallic = 0
+            float inputs:opacity = 1
+            float inputs:roughness = 0.5
+            token outputs:displacement
+            token outputs:surface
+        }
+    }
+
+    def Material "material_PVC"
+    {
+        token outputs:displacement.connect = </Materials/material_PVC/PreviewSurface.outputs:displacement>
+        token outputs:surface.connect = </Materials/material_PVC/PreviewSurface.outputs:surface>
+
+        def Shader "PreviewSurface"
+        {
+            uniform token info:id = "UsdPreviewSurface"
+            color3f inputs:diffuseColor = (0.8, 0.8, 0.8)
+            float inputs:metallic = 0
+            float inputs:opacity = 1
+            float inputs:roughness = 0.5
+            token outputs:displacement
+            token outputs:surface
+        }
+    }
+
+    def Material "material_StoveCoil"
+    {
+        token outputs:displacement.connect = </Materials/material_StoveCoil/PreviewSurface.outputs:displacement>
+        token outputs:surface.connect = </Materials/material_StoveCoil/PreviewSurface.outputs:surface>
+
+        def Shader "PreviewSurface"
+        {
+            uniform token info:id = "UsdPreviewSurface"
+            color3f inputs:diffuseColor = (0.323529, 0.323529, 0.323529)
+            float inputs:metallic = 0
+            float inputs:opacity = 1
+            float inputs:roughness = 0.5
+            token outputs:displacement
+            token outputs:surface
+        }
+    }
+
+    def Material "material_KitchenLight"
+    {
+        token outputs:displacement.connect = </Materials/material_KitchenLight/PreviewSurface.outputs:displacement>
+        token outputs:surface.connect = </Materials/material_KitchenLight/PreviewSurface.outputs:surface>
+
+        def Shader "PreviewSurface"
+        {
+            uniform token info:id = "UsdPreviewSurface"
+            color3f inputs:diffuseColor = (1, 0.351136, 0)
+            float inputs:metallic = 0
+            float inputs:opacity = 1
+            float inputs:roughness = 0.5
+            token outputs:displacement
+            token outputs:surface
+        }
+    }
+
+    def Material "material_BrownMetal_s"
+    {
+        token outputs:displacement.connect = </Materials/material_BrownMetal_s/PreviewSurface.outputs:displacement>
+        token outputs:surface.connect = </Materials/material_BrownMetal_s/PreviewSurface.outputs:surface>
+
+        def Shader "PreviewSurface"
+        {
+            uniform token info:id = "UsdPreviewSurface"
+            color3f inputs:diffuseColor = (0.254902, 0.121569, 0.0352941)
+            float inputs:metallic = 0
+            float inputs:opacity = 1
+            float inputs:roughness = 0.5
+            token outputs:displacement
+            token outputs:surface
+        }
+    }
+
+    def Material "material_WallDrywallWhite"
+    {
+        token outputs:displacement.connect = </Materials/material_WallDrywallWhite/PreviewSurface.outputs:displacement>
+        token outputs:surface.connect = </Materials/material_WallDrywallWhite/PreviewSurface.outputs:surface>
+
+        def Shader "PreviewSurface"
+        {
+            uniform token info:id = "UsdPreviewSurface"
+            color3f inputs:diffuseColor.connect = </Materials/material_WallDrywallWhite/DiffuseTexture.outputs:rgb>
+            float inputs:metallic = 0
+            float inputs:opacity = 1
+            float inputs:roughness = 0.5
+            token outputs:displacement
+            token outputs:surface
+        }
+
+        def Shader "DiffuseTexture"
+        {
+            uniform token info:id = "UsdUVTexture"
+            float4 inputs:fallback = (1, 0.920588, 0.801471, 1)
+            asset inputs:file = @./Textures/WallDrywallWhite.png@
+            float4 inputs:scale = (1, 0.920588, 0.801471, 1)
+            token inputs:sourceColorSpace = "auto"
+            float2 inputs:st.connect = </Materials/material_WallDrywallWhite/Primvar_st_float2.outputs:result>
+            token inputs:wrapS = "repeat"
+            token inputs:wrapT = "repeat"
+            float3 outputs:rgb
+        }
+
+        def Shader "Primvar_st_float2"
+        {
+            uniform token info:id = "UsdPrimvarReader_float2"
+            string inputs:varname = "st"
+            float2 outputs:result
+        }
+    }
+
+    def Material "material_LightDim"
+    {
+        token outputs:displacement.connect = </Materials/material_LightDim/PreviewSurface.outputs:displacement>
+        token outputs:surface.connect = </Materials/material_LightDim/PreviewSurface.outputs:surface>
+
+        def Shader "PreviewSurface"
+        {
+            uniform token info:id = "UsdPreviewSurface"
+            color3f inputs:diffuseColor = (1, 1, 1)
+            float inputs:metallic = 0
+            float inputs:opacity = 1
+            float inputs:roughness = 0.5
+            token outputs:displacement
+            token outputs:surface
+        }
+    }
+}
+

scenes/ithor/FloorPlan15_physics/scene.preprocessed.json

@@ -0,0 +1,18 @@
+{
+  "source": "E:/EAI/molmo_isaac_data/isaac/scenes/ithor/FloorPlan15_physics/scene.usda",
+  "preprocessor_version": "2.1",
+  "timestamp": "2026-04-23T06:53:16.928725+00:00",
+  "offset": [
+    1.38,
+    -1.57,
+    0.0
+  ],
+  "yaw_deg": 0.0,
+  "floor_z": -0.17819,
+  "ceiling_z": 2.92155,
+  "prims_deactivated": 1,
+  "prims_deactivated_paths": [
+    "/FloorPlan15_physics/Geometry/stool_80b0f89d3b5199daba395c1cfedbc901_1_0_0"
+  ],
+  "physics_preserved": true
+}

scenes/ithor/FloorPlan15_physics/scene.usda

@@ -0,0 +1,217 @@
+#usda 1.0
+(
+    customLayerData = {
+        string creator = """AI2-THOR mjcf-usd scene converter
+    time: 01-20-26 16:35:04
+    scene: FloorPlan15_physics
+    usd-exchange-version: 2.2.0
+"""
+    }
+    defaultPrim = "FloorPlan15_physics"
+    kilogramsPerUnit = 1
+    metersPerUnit = 1
+    upAxis = "Z"
+)
+
+def Xform "FloorPlan15_physics" (
+    prepend apiSchemas = ["GeomModelAPI"]
+    assetInfo = {
+        string name = "FloorPlan15_physics"
+    }
+    kind = "component"
+    prepend payload = @./Payload/Contents.usda@
+)
+{
+    float3[] extentsHint = [(-4.45294, -0.7134, -0.17819), (1.00687, 4.80687, 2.92155), (3.4028235e38, 3.4028235e38, 3.4028235e38), (-3.4028235e38, -3.4028235e38, -3.4028235e38), (3.4028235e38, 3.4028235e38, 3.4028235e38), (-3.4028235e38, -3.4028235e38, -3.4028235e38), (-10, -10, -0.0435125), (10, 10, 2.9215453)]
+
+    over "Geometry"
+    {
+        over "bowl_af17ff58172d67a87a93d1cfa1195c4b_1_0_0" (
+            kind = "subcomponent"
+        )
+        {
+        }
+
+        over "knife_2933d9425c8587a7d4ddaae661ac7598_1_0_0" (
+            kind = "subcomponent"
+        )
+        {
+        }
+
+        over "plate_9d327d1216e3860c768161f3a66289cd_1_0_0" (
+            kind = "subcomponent"
+        )
+        {
+        }
+
+        over "cup_2343f3471774b1b73f4ae49615d50fd3_1_0_0" (
+            kind = "subcomponent"
+        )
+        {
+        }
+
+        over "egg_d18bd6cdb4570a09612a4e84aa2ed382_1_0_0" (
+            kind = "subcomponent"
+        )
+        {
+        }
+
+        over "soapdispenser_0267abb541e75de6e7634578b1e18027_1_0_0" (
+            kind = "subcomponent"
+        )
+        {
+        }
+
+        over "tomato_9d9447d2d76cd2337be52691b14e7a44_1_0_0" (
+            kind = "subcomponent"
+        )
+        {
+        }
+
+        over "mug_8caf1bb3f88e9a00e02dfe9e6518aeb0_1_0_0" (
+            kind = "subcomponent"
+        )
+        {
+        }
+
+        over "coffeemaker_9c7ec0de54d55d868e7df6ba4f1dc27d_1_0_0" (
+            kind = "subcomponent"
+        )
+        {
+        }
+
+        over "apple_d404d1ea698536b7760f507852fab016_1_0_0" (
+            kind = "subcomponent"
+        )
+        {
+        }
+
+        over "trashcan_27ba7c49bbccf220f68beea1b3ff0f8e_1_0_0" (
+            kind = "subcomponent"
+        )
+        {
+        }
+
+        over "toaster_f6b7b2a09f6fb667b57d580314f1f1d9_1_0_0" (
+            kind = "subcomponent"
+        )
+        {
+        }
+
+        over "microwaveoven_9d7470d058a0611e507054570fb453f3_1_0_0" (
+            kind = "subcomponent"
+        )
+        {
+        }
+
+        over "refrigerator_94125164ce2627fb0bd4d5a4178ec16c_1_0_0" (
+            kind = "subcomponent"
+        )
+        {
+        }
+
+        over "bread_2599d5957b16a90a39e87948821792cd_1_0_0" (
+            kind = "subcomponent"
+        )
+        {
+        }
+
+        over "peppershaker_d3a7b2ab4bd62388f7ea7dd2ef7c1fdc_1_0_0" (
+            kind = "subcomponent"
+        )
+        {
+        }
+
+        over "saltshaker_fae1c48e1d061403dc3bc39cef9e979a_1_0_0" (
+            kind = "subcomponent"
+        )
+        {
+        }
+
+        over "lettuce_752c5152875a36e17e9c7a9f02d869c3_1_0_0" (
+            kind = "subcomponent"
+        )
+        {
+        }
+
+        over "pot_690d71c617e51eff54b96208a40f2b49_1_0_0" (
+            kind = "subcomponent"
+        )
+        {
+        }
+
+        over "spatula_291e31b285474249721c8a7b1bac877a_1_0_0" (
+            kind = "subcomponent"
+        )
+        {
+        }
+
+        over "boiler_335af387651d9869b84abf1fb099bf69_1_0_0" (
+            kind = "subcomponent"
+        )
+        {
+        }
+
+        over "winebottle_201eb4050e30f10e57909e4c975910e9_1_0_0" (
+            kind = "subcomponent"
+        )
+        {
+        }
+
+        over "butterknife_b2b8a251c5e331c4017267a6e05c76d5_1_0_0" (
+            kind = "subcomponent"
+        )
+        {
+        }
+
+        over "sponge_41cc9aa65073b4cd1fc4d9871335148d_1_0_0" (
+            kind = "subcomponent"
+        )
+        {
+        }
+
+        over "Irishpotato_223ec3bbee2c0187562d066582ec9143_1_0_0" (
+            kind = "subcomponent"
+        )
+        {
+        }
+
+        over "cookingpan_40a9be8ae8b33a178aac27f51bb40432_1_0_0" (
+            kind = "subcomponent"
+        )
+        {
+        }
+
+        over "diningtable_66a98315ac722a439c35ad98c2c33f80_1_0_0" (
+            kind = "subcomponent"
+        )
+        {
+        }
+
+        over "binliner_6e08840840b2e16dce47fe0ba070f8bb_1_0_0" (
+            kind = "subcomponent"
+        )
+        {
+        }
+
+        over "stool_80b0f89d3b5199daba395c1cfedbc901_1_0_0" (
+            active = false
+            kind = "subcomponent"
+        )
+        {
+        }
+
+        over "fork_a17d780ca6a79038b069eb7768c962c4_1_0_0" (
+            kind = "subcomponent"
+        )
+        {
+        }
+
+        over "spoon_573130d7496422c068be3abf14b0dcf0_1_0_0" (
+            kind = "subcomponent"
+        )
+        {
+        }
+    }
+}
+

scenes/ithor/FloorPlan17_physics/Payload/Contents.usda

@@ -0,0 +1,37 @@
+#usda 1.0
+(
+    customLayerData = {
+        string creator = """AI2-THOR mjcf-usd scene converter
+    time: 01-20-26 16:35:04
+    scene: FloorPlan17_physics
+    usd-exchange-version: 2.2.0
+"""
+    }
+    defaultPrim = "FloorPlan17_physics"
+    kilogramsPerUnit = 1
+    metersPerUnit = 1
+    subLayers = [
+        @./Physics.usda@,
+        @./Geometry.usda@,
+        @./Materials.usda@
+    ]
+    upAxis = "Z"
+)
+
+def Xform "FloorPlan17_physics"
+{
+    def DistantLight "scene_dir_light"
+    {
+        float inputs:intensity = 1000
+        float xformOp:rotateX = -10
+        uniform token[] xformOpOrder = ["xformOp:rotateX"]
+    }
+
+    def DomeLight "scene_ibl_light"
+    {
+        color3f inputs:color = (1, 0.85301, 0.55212)
+        float inputs:exposure = 0
+        float inputs:intensity = 500
+    }
+}
+

scenes/ithor/FloorPlan17_physics/Payload/Materials.usda

@@ -0,0 +1,1199 @@
+#usda 1.0
+(
+    customLayerData = {
+        string creator = """AI2-THOR mjcf-usd scene converter
+    time: 01-20-26 16:35:04
+    scene: FloorPlan17_physics
+    usd-exchange-version: 2.2.0
+"""
+    }
+    defaultPrim = "FloorPlan17_physics"
+    kilogramsPerUnit = 1
+    metersPerUnit = 1
+    upAxis = "Z"
+)
+
+def Xform "FloorPlan17_physics"
+{
+    def Scope "Materials"
+    {
+        def Material "material_WhiteMetal" (
+            prepend references = @./MaterialsLibrary.usda@</Materials/material_WhiteMetal>
+        )
+        {
+        }
+
+        def Material "material_Glass_Black_Mat" (
+            prepend references = @./MaterialsLibrary.usda@</Materials/material_Glass_Black_Mat>
+        )
+        {
+        }
+
+        def Material "material_HammeredMetal_AlbedoTransparency" (
+            prepend references = @./MaterialsLibrary.usda@</Materials/material_HammeredMetal_AlbedoTransparency>
+        )
+        {
+        }
+
+        def Material "material_WhitePlastic" (
+            prepend references = @./MaterialsLibrary.usda@</Materials/material_WhitePlastic>
+        )
+        {
+        }
+
+        def Material "material_WhitePlasticScratched" (
+            prepend references = @./MaterialsLibrary.usda@</Materials/material_WhitePlasticScratched>
+        )
+        {
+        }
+
+        def Material "material_LightWoodCounters3" (
+            prepend references = @./MaterialsLibrary.usda@</Materials/material_LightWoodCounters3>
+        )
+        {
+        }
+
+        def Material "material_HammeredMetal_Dark" (
+            prepend references = @./MaterialsLibrary.usda@</Materials/material_HammeredMetal_Dark>
+        )
+        {
+        }
+
+        def Material "material_BedroomFloor1" (
+            prepend references = @./MaterialsLibrary.usda@</Materials/material_BedroomFloor1>
+        )
+        {
+        }
+
+        def Material "material_DarkWoodFloors" (
+            prepend references = @./MaterialsLibrary.usda@</Materials/material_DarkWoodFloors>
+        )
+        {
+        }
+
+        def Material "material_WhiteMarble" (
+            prepend references = @./MaterialsLibrary.usda@</Materials/material_WhiteMarble>
+        )
+        {
+        }
+
+        def Material "material_Glass_Detailed_White_Mat" (
+            prepend references = @./MaterialsLibrary.usda@</Materials/material_Glass_Detailed_White_Mat>
+        )
+        {
+        }
+
+        def Material "material_WhiteWood" (
+            prepend references = @./MaterialsLibrary.usda@</Materials/material_WhiteWood>
+        )
+        {
+        }
+
+        def Material "material_WhiteWoodClean" (
+            prepend references = @./MaterialsLibrary.usda@</Materials/material_WhiteWoodClean>
+        )
+        {
+        }
+
+        def Material "material_StoveCoil" (
+            prepend references = @./MaterialsLibrary.usda@</Materials/material_StoveCoil>
+        )
+        {
+        }
+
+        def Material "material_DarkWood2" (
+            prepend references = @./MaterialsLibrary.usda@</Materials/material_DarkWood2>
+        )
+        {
+        }
+
+        def Material "material_WhiteCountertop" (
+            prepend references = @./MaterialsLibrary.usda@</Materials/material_WhiteCountertop>
+        )
+        {
+        }
+
+        def Material "material_Brass_Mat" (
+            prepend references = @./MaterialsLibrary.usda@</Materials/material_Brass_Mat>
+        )
+        {
+        }
+
+        def Material "material_Metal_chrome_mat" (
+            prepend references = @./MaterialsLibrary.usda@</Materials/material_Metal_chrome_mat>
+        )
+        {
+        }
+
+        def Material "material_Light2" (
+            prepend references = @./MaterialsLibrary.usda@</Materials/material_Light2>
+        )
+        {
+        }
+
+        def Material "material_TexturesCom_WoodFine0050_1_seamless_S" (
+            prepend references = @./MaterialsLibrary.usda@</Materials/material_TexturesCom_WoodFine0050_1_seamless_S>
+        )
+        {
+        }
+
+        def Material "material_Drywall" (
+            prepend references = @./MaterialsLibrary.usda@</Materials/material_Drywall>
+        )
+        {
+        }
+
+        def Material "material_Default" (
+            prepend references = @./MaterialsLibrary.usda@</Materials/material_Default>
+        )
+        {
+        }
+    }
+
+    over "Geometry"
+    {
+        over "oven_3fa4e06f2074bca59190af4cd0b76311_1_1_0"
+        {
+            over "oven_3fa4e06f2074bca59190af4cd0b76311_1_1_0_visual_0" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan17_physics/Materials/material_WhiteMetal>
+            }
+        }
+
+        over "oven_3fa4e06f2074bca59190af4cd0b76311_1_2_0"
+        {
+            over "oven_3fa4e06f2074bca59190af4cd0b76311_1_2_0_visual_35" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan17_physics/Materials/material_WhiteMetal>
+            }
+        }
+
+        over "oven_3fa4e06f2074bca59190af4cd0b76311_1_3_0"
+        {
+            over "oven_3fa4e06f2074bca59190af4cd0b76311_1_3_0_visual_52" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan17_physics/Materials/material_WhiteMetal>
+            }
+        }
+
+        over "oven_3fa4e06f2074bca59190af4cd0b76311_1_4_0"
+        {
+            over "oven_3fa4e06f2074bca59190af4cd0b76311_1_4_0_visual_53" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan17_physics/Materials/material_Glass_Black_Mat>
+            }
+
+            over "oven_3fa4e06f2074bca59190af4cd0b76311_1_4_0_visual_54" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan17_physics/Materials/material_WhiteMetal>
+            }
+        }
+
+        over "oven_3fa4e06f2074bca59190af4cd0b76311_1_5_0"
+        {
+            over "oven_3fa4e06f2074bca59190af4cd0b76311_1_5_0_visual_66" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan17_physics/Materials/material_WhiteMetal>
+            }
+        }
+
+        over "dishwasher_1909a9be0b9711044304d1a66fdeaba3_1_1_0"
+        {
+            over "dishwasher_1909a9be0b9711044304d1a66fdeaba3_1_1_0_visual_0" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan17_physics/Materials/material_HammeredMetal_AlbedoTransparency>
+            }
+
+            over "dishwasher_1909a9be0b9711044304d1a66fdeaba3_1_1_0_visual_1" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan17_physics/Materials/material_WhitePlastic>
+            }
+        }
+
+        over "dishwasher_1909a9be0b9711044304d1a66fdeaba3_1_2_0"
+        {
+            over "dishwasher_1909a9be0b9711044304d1a66fdeaba3_1_2_0_visual_59" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan17_physics/Materials/material_HammeredMetal_AlbedoTransparency>
+            }
+
+            over "dishwasher_1909a9be0b9711044304d1a66fdeaba3_1_2_0_visual_60" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan17_physics/Materials/material_WhitePlastic>
+            }
+        }
+
+        over "dishwasher_1909a9be0b9711044304d1a66fdeaba3_1_3_0"
+        {
+            over "dishwasher_1909a9be0b9711044304d1a66fdeaba3_1_3_0_visual_82" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan17_physics/Materials/material_HammeredMetal_AlbedoTransparency>
+            }
+        }
+
+        over "knob_e2e41addc34b377dc99fad6936e7ad77_1_2_0"
+        {
+            over "knob_e2e41addc34b377dc99fad6936e7ad77_1_2_0_visual_1" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan17_physics/Materials/material_WhitePlasticScratched>
+            }
+        }
+
+        over "knob_8b877f70818fe8c72c3116b87596745b_1_2_0"
+        {
+            over "knob_8b877f70818fe8c72c3116b87596745b_1_2_0_visual_1" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan17_physics/Materials/material_WhitePlasticScratched>
+            }
+        }
+
+        over "knob_3531d9aead8914ca841b8fa5ba89e0b8_1_2_0"
+        {
+            over "knob_3531d9aead8914ca841b8fa5ba89e0b8_1_2_0_visual_1" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan17_physics/Materials/material_WhitePlasticScratched>
+            }
+        }
+
+        over "knob_2d751d448638f5bbfe9789d1aa07f328_1_2_0"
+        {
+            over "knob_2d751d448638f5bbfe9789d1aa07f328_1_2_0_visual_1" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan17_physics/Materials/material_WhitePlasticScratched>
+            }
+        }
+
+        over "cabinet_4c11864b26cab4b93ed6f143f6aa7415_1_1_0"
+        {
+            over "cabinet_4c11864b26cab4b93ed6f143f6aa7415_1_1_0_visual_0" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan17_physics/Materials/material_LightWoodCounters3>
+            }
+        }
+
+        over "cabinet_4c11864b26cab4b93ed6f143f6aa7415_1_2_0"
+        {
+            over "cabinet_4c11864b26cab4b93ed6f143f6aa7415_1_2_0_visual_2" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan17_physics/Materials/material_HammeredMetal_Dark>
+            }
+        }
+
+        over "cabinet_6740507ab98f0b9b389b253ac838310c_1_1_0"
+        {
+            over "cabinet_6740507ab98f0b9b389b253ac838310c_1_1_0_visual_0" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan17_physics/Materials/material_LightWoodCounters3>
+            }
+        }
+
+        over "cabinet_6740507ab98f0b9b389b253ac838310c_1_2_0"
+        {
+            over "cabinet_6740507ab98f0b9b389b253ac838310c_1_2_0_visual_2" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan17_physics/Materials/material_HammeredMetal_Dark>
+            }
+        }
+
+        over "cabinet_1716f01d9c866116d897afaab5f4ce83_1_1_0"
+        {
+            over "cabinet_1716f01d9c866116d897afaab5f4ce83_1_1_0_visual_0" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan17_physics/Materials/material_LightWoodCounters3>
+            }
+        }
+
+        over "cabinet_1716f01d9c866116d897afaab5f4ce83_1_2_0"
+        {
+            over "cabinet_1716f01d9c866116d897afaab5f4ce83_1_2_0_visual_2" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan17_physics/Materials/material_HammeredMetal_Dark>
+            }
+        }
+
+        over "cabinet_1e6f173bfc681da40ada455e1a96a931_1_1_0"
+        {
+            over "cabinet_1e6f173bfc681da40ada455e1a96a931_1_1_0_visual_0" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan17_physics/Materials/material_LightWoodCounters3>
+            }
+        }
+
+        over "cabinet_1e6f173bfc681da40ada455e1a96a931_1_2_0"
+        {
+            over "cabinet_1e6f173bfc681da40ada455e1a96a931_1_2_0_visual_2" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan17_physics/Materials/material_HammeredMetal_Dark>
+            }
+        }
+
+        over "cabinet_3af94c77775be2c238e2b7fca67c5521_1_1_0"
+        {
+            over "cabinet_3af94c77775be2c238e2b7fca67c5521_1_1_0_visual_0" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan17_physics/Materials/material_LightWoodCounters3>
+            }
+        }
+
+        over "cabinet_3af94c77775be2c238e2b7fca67c5521_1_2_0"
+        {
+            over "cabinet_3af94c77775be2c238e2b7fca67c5521_1_2_0_visual_2" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan17_physics/Materials/material_HammeredMetal_Dark>
+            }
+        }
+
+        over "cabinet_39069613e094b891f5436d6c1c07cd0d_1_1_0"
+        {
+            over "cabinet_39069613e094b891f5436d6c1c07cd0d_1_1_0_visual_0" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan17_physics/Materials/material_LightWoodCounters3>
+            }
+        }
+
+        over "cabinet_39069613e094b891f5436d6c1c07cd0d_1_2_0"
+        {
+            over "cabinet_39069613e094b891f5436d6c1c07cd0d_1_2_0_visual_2" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan17_physics/Materials/material_HammeredMetal_Dark>
+            }
+        }
+
+        over "drawer_3d5153c6bdeaabf1a049318db4d26c80_1_1_0"
+        {
+            over "drawer_3d5153c6bdeaabf1a049318db4d26c80_1_1_0_visual_0" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan17_physics/Materials/material_LightWoodCounters3>
+            }
+        }
+
+        over "drawer_3d5153c6bdeaabf1a049318db4d26c80_1_2_0"
+        {
+            over "drawer_3d5153c6bdeaabf1a049318db4d26c80_1_2_0_visual_7" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan17_physics/Materials/material_HammeredMetal_Dark>
+            }
+        }
+
+        over "drawer_14f419467fc74ebaa1b129a06ef5f2c3_1_1_0"
+        {
+            over "drawer_14f419467fc74ebaa1b129a06ef5f2c3_1_1_0_visual_0" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan17_physics/Materials/material_LightWoodCounters3>
+            }
+        }
+
+        over "drawer_14f419467fc74ebaa1b129a06ef5f2c3_1_2_0"
+        {
+            over "drawer_14f419467fc74ebaa1b129a06ef5f2c3_1_2_0_visual_7" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan17_physics/Materials/material_HammeredMetal_Dark>
+            }
+        }
+
+        over "drawer_6bc5a43654e1f120659f428095002f6e_1_1_0"
+        {
+            over "drawer_6bc5a43654e1f120659f428095002f6e_1_1_0_visual_0" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan17_physics/Materials/material_LightWoodCounters3>
+            }
+        }
+
+        over "drawer_6bc5a43654e1f120659f428095002f6e_1_2_0"
+        {
+            over "drawer_6bc5a43654e1f120659f428095002f6e_1_2_0_visual_7" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan17_physics/Materials/material_HammeredMetal_Dark>
+            }
+        }
+
+        over "drawer_fe2db190a7b797f4a4ead6aba0472eda_1_1_0"
+        {
+            over "drawer_fe2db190a7b797f4a4ead6aba0472eda_1_1_0_visual_0" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan17_physics/Materials/material_LightWoodCounters3>
+            }
+        }
+
+        over "drawer_fe2db190a7b797f4a4ead6aba0472eda_1_2_0"
+        {
+            over "drawer_fe2db190a7b797f4a4ead6aba0472eda_1_2_0_visual_7" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan17_physics/Materials/material_HammeredMetal_Dark>
+            }
+        }
+
+        over "cabinet_17400391f032b47a23994f2382670fa7_1_1_0"
+        {
+            over "cabinet_17400391f032b47a23994f2382670fa7_1_1_0_visual_0" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan17_physics/Materials/material_LightWoodCounters3>
+            }
+        }
+
+        over "cabinet_17400391f032b47a23994f2382670fa7_1_2_0"
+        {
+            over "cabinet_17400391f032b47a23994f2382670fa7_1_2_0_visual_2" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan17_physics/Materials/material_HammeredMetal_Dark>
+            }
+        }
+
+        over "cabinet_6d27bf8ea220fd6a0d98016665a8e48a_1_1_0"
+        {
+            over "cabinet_6d27bf8ea220fd6a0d98016665a8e48a_1_1_0_visual_0" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan17_physics/Materials/material_LightWoodCounters3>
+            }
+        }
+
+        over "cabinet_6d27bf8ea220fd6a0d98016665a8e48a_1_2_0"
+        {
+            over "cabinet_6d27bf8ea220fd6a0d98016665a8e48a_1_2_0_visual_2" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan17_physics/Materials/material_HammeredMetal_Dark>
+            }
+        }
+
+        over "cabinet_ddbb3c6eddaaf0f6abb2f22add0d8f3b_1_1_0"
+        {
+            over "cabinet_ddbb3c6eddaaf0f6abb2f22add0d8f3b_1_1_0_visual_0" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan17_physics/Materials/material_LightWoodCounters3>
+            }
+        }
+
+        over "cabinet_ddbb3c6eddaaf0f6abb2f22add0d8f3b_1_2_0"
+        {
+            over "cabinet_ddbb3c6eddaaf0f6abb2f22add0d8f3b_1_2_0_visual_2" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan17_physics/Materials/material_HammeredMetal_Dark>
+            }
+        }
+
+        over "cabinet_78b20b887328199eb0d2e5fcc95951cc_1_1_0"
+        {
+            over "cabinet_78b20b887328199eb0d2e5fcc95951cc_1_1_0_visual_0" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan17_physics/Materials/material_LightWoodCounters3>
+            }
+        }
+
+        over "cabinet_78b20b887328199eb0d2e5fcc95951cc_1_2_0"
+        {
+            over "cabinet_78b20b887328199eb0d2e5fcc95951cc_1_2_0_visual_2" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan17_physics/Materials/material_HammeredMetal_Dark>
+            }
+        }
+
+        over "cabinet_8d5531911221b93f636a50cabebaee3e_1_1_0"
+        {
+            over "cabinet_8d5531911221b93f636a50cabebaee3e_1_1_0_visual_0" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan17_physics/Materials/material_LightWoodCounters3>
+            }
+        }
+
+        over "cabinet_8d5531911221b93f636a50cabebaee3e_1_2_0"
+        {
+            over "cabinet_8d5531911221b93f636a50cabebaee3e_1_2_0_visual_2" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan17_physics/Materials/material_HammeredMetal_Dark>
+            }
+        }
+
+        over "cabinet_a8f05ece060d0c11b8de27e89abf1e16_1_1_0"
+        {
+            over "cabinet_a8f05ece060d0c11b8de27e89abf1e16_1_1_0_visual_0" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan17_physics/Materials/material_LightWoodCounters3>
+            }
+        }
+
+        over "cabinet_a8f05ece060d0c11b8de27e89abf1e16_1_2_0"
+        {
+            over "cabinet_a8f05ece060d0c11b8de27e89abf1e16_1_2_0_visual_2" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan17_physics/Materials/material_HammeredMetal_Dark>
+            }
+        }
+
+        over "cabinet_a6059fa4d7fa8d2731c77eef73154cb4_1_1_0"
+        {
+            over "cabinet_a6059fa4d7fa8d2731c77eef73154cb4_1_1_0_visual_0" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan17_physics/Materials/material_LightWoodCounters3>
+            }
+        }
+
+        over "cabinet_a6059fa4d7fa8d2731c77eef73154cb4_1_2_0"
+        {
+            over "cabinet_a6059fa4d7fa8d2731c77eef73154cb4_1_2_0_visual_2" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan17_physics/Materials/material_HammeredMetal_Dark>
+            }
+        }
+
+        over "cabinet_29f4a3e8401acdbb14b18c0cb8b3cc8b_1_1_0"
+        {
+            over "cabinet_29f4a3e8401acdbb14b18c0cb8b3cc8b_1_1_0_visual_0" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan17_physics/Materials/material_LightWoodCounters3>
+            }
+        }
+
+        over "cabinet_29f4a3e8401acdbb14b18c0cb8b3cc8b_1_2_0"
+        {
+            over "cabinet_29f4a3e8401acdbb14b18c0cb8b3cc8b_1_2_0_visual_2" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan17_physics/Materials/material_HammeredMetal_Dark>
+            }
+        }
+
+        over "cabinet_515b75341a65b4b3c71da4f0d5a1be93_1_1_0"
+        {
+            over "cabinet_515b75341a65b4b3c71da4f0d5a1be93_1_1_0_visual_0" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan17_physics/Materials/material_LightWoodCounters3>
+            }
+        }
+
+        over "cabinet_515b75341a65b4b3c71da4f0d5a1be93_1_2_0"
+        {
+            over "cabinet_515b75341a65b4b3c71da4f0d5a1be93_1_2_0_visual_2" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan17_physics/Materials/material_HammeredMetal_Dark>
+            }
+        }
+
+        over "cabinet_52d1d89335efb5cc98dd003408eec10a_1_1_0"
+        {
+            over "cabinet_52d1d89335efb5cc98dd003408eec10a_1_1_0_visual_0" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan17_physics/Materials/material_LightWoodCounters3>
+            }
+        }
+
+        over "cabinet_52d1d89335efb5cc98dd003408eec10a_1_2_0"
+        {
+            over "cabinet_52d1d89335efb5cc98dd003408eec10a_1_2_0_visual_2" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan17_physics/Materials/material_HammeredMetal_Dark>
+            }
+        }
+
+        over "cabinet_316a7afd5eae068781ce7f2bc140432b_1_1_0"
+        {
+            over "cabinet_316a7afd5eae068781ce7f2bc140432b_1_1_0_visual_0" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan17_physics/Materials/material_LightWoodCounters3>
+            }
+        }
+
+        over "cabinet_316a7afd5eae068781ce7f2bc140432b_1_2_0"
+        {
+            over "cabinet_316a7afd5eae068781ce7f2bc140432b_1_2_0_visual_2" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan17_physics/Materials/material_HammeredMetal_Dark>
+            }
+        }
+
+        over "cabinet_d3cccaaec4003f6b46125a970bcab8a8_1_1_0"
+        {
+            over "cabinet_d3cccaaec4003f6b46125a970bcab8a8_1_1_0_visual_0" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan17_physics/Materials/material_LightWoodCounters3>
+            }
+        }
+
+        over "cabinet_d3cccaaec4003f6b46125a970bcab8a8_1_2_0"
+        {
+            over "cabinet_d3cccaaec4003f6b46125a970bcab8a8_1_2_0_visual_2" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan17_physics/Materials/material_HammeredMetal_Dark>
+            }
+        }
+
+        over "mesh_c51399ef45bf4ca8021e2e1fa36037b3_1_1_0"
+        {
+            over "mesh_c51399ef45bf4ca8021e2e1fa36037b3_1_1_0_visual_0" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan17_physics/Materials/material_BedroomFloor1>
+            }
+
+            over "mesh_c51399ef45bf4ca8021e2e1fa36037b3_1_1_0_visual_1" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan17_physics/Materials/material_DarkWoodFloors>
+            }
+
+            over "mesh_c51399ef45bf4ca8021e2e1fa36037b3_1_1_0_visual_2" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan17_physics/Materials/material_WhiteMarble>
+            }
+        }
+
+        over "standardwindow1_e6df3e7209c284cc2dc913ce6e428c49_1_1_0"
+        {
+            over "standardwindow1_e6df3e7209c284cc2dc913ce6e428c49_1_1_0_visual_0" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan17_physics/Materials/material_Glass_Detailed_White_Mat>
+            }
+        }
+
+        over "standardwindow1_e6df3e7209c284cc2dc913ce6e428c49_1_2_0"
+        {
+            over "standardwindow1_e6df3e7209c284cc2dc913ce6e428c49_1_2_0_visual_1" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan17_physics/Materials/material_WhiteWood>
+            }
+        }
+
+        over "standardwindow1_e6df3e7209c284cc2dc913ce6e428c49_1_3_0"
+        {
+            over "standardwindow1_e6df3e7209c284cc2dc913ce6e428c49_1_3_0_visual_2" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan17_physics/Materials/material_WhiteWoodClean>
+            }
+        }
+
+        over "tn__standardwindow12_52fbf18f5eb44472c7bbcdd0391a2b9c_1_1_0_se1h1"
+        {
+            over "tn__standardwindow12_52fbf18f5eb44472c7bbcdd0391a2b9c_1_1_0_visual_0_gq1q1" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan17_physics/Materials/material_Glass_Detailed_White_Mat>
+            }
+        }
+
+        over "tn__standardwindow12_52fbf18f5eb44472c7bbcdd0391a2b9c_1_2_0_se1h1"
+        {
+            over "tn__standardwindow12_52fbf18f5eb44472c7bbcdd0391a2b9c_1_2_0_visual_1_gq1q1" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan17_physics/Materials/material_WhiteWoodClean>
+            }
+        }
+
+        over "tn__standardwindow12_52fbf18f5eb44472c7bbcdd0391a2b9c_1_3_0_se1h1"
+        {
+            over "tn__standardwindow12_52fbf18f5eb44472c7bbcdd0391a2b9c_1_3_0_visual_3_gq1q1" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan17_physics/Materials/material_WhiteWood>
+            }
+        }
+
+        over "mesh_d1a3011c3070de039dba31c8645566d1_1_1_0"
+        {
+            over "mesh_d1a3011c3070de039dba31c8645566d1_1_1_0_visual_0" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan17_physics/Materials/material_HammeredMetal_AlbedoTransparency>
+            }
+        }
+
+        over "faucet_ba862de152ea2188baa7df2cacf803af_1_1_0"
+        {
+            over "faucet_ba862de152ea2188baa7df2cacf803af_1_1_0_visual_0" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan17_physics/Materials/material_HammeredMetal_AlbedoTransparency>
+            }
+        }
+
+        over "mesh_5bbe3016e19e325b360b3b9e07b626bc_1_1_0"
+        {
+            over "mesh_5bbe3016e19e325b360b3b9e07b626bc_1_1_0_visual_0" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan17_physics/Materials/material_LightWoodCounters3>
+            }
+        }
+
+        over "mesh_5e643cd9ec79cc1b6149251e30ff7714_1_1_0"
+        {
+            over "mesh_5e643cd9ec79cc1b6149251e30ff7714_1_1_0_visual_0" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan17_physics/Materials/material_StoveCoil>
+            }
+
+            over "mesh_5e643cd9ec79cc1b6149251e30ff7714_1_1_0_visual_1" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan17_physics/Materials/material_HammeredMetal_Dark>
+            }
+        }
+
+        over "mesh_78d81c86d1056a4aa81303c141262de5_1_1_0"
+        {
+            over "mesh_78d81c86d1056a4aa81303c141262de5_1_1_0_visual_0" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan17_physics/Materials/material_StoveCoil>
+            }
+
+            over "mesh_78d81c86d1056a4aa81303c141262de5_1_1_0_visual_1" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan17_physics/Materials/material_HammeredMetal_Dark>
+            }
+        }
+
+        over "mesh_ffa5d68371c7f384e03528eb87c1fde0_1_1_0"
+        {
+            over "mesh_ffa5d68371c7f384e03528eb87c1fde0_1_1_0_visual_0" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan17_physics/Materials/material_StoveCoil>
+            }
+
+            over "mesh_ffa5d68371c7f384e03528eb87c1fde0_1_1_0_visual_1" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan17_physics/Materials/material_HammeredMetal_Dark>
+            }
+        }
+
+        over "mesh_ff9e4222bfd78dc966eb5eb1ab67a7a1_1_1_0"
+        {
+            over "mesh_ff9e4222bfd78dc966eb5eb1ab67a7a1_1_1_0_visual_0" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan17_physics/Materials/material_StoveCoil>
+            }
+
+            over "mesh_ff9e4222bfd78dc966eb5eb1ab67a7a1_1_1_0_visual_1" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan17_physics/Materials/material_HammeredMetal_Dark>
+            }
+        }
+
+        over "faucet_5d1af993c55d1f338d54b55a1dccbc40_1_1_0"
+        {
+            over "faucet_5d1af993c55d1f338d54b55a1dccbc40_1_1_0_visual_0" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan17_physics/Materials/material_HammeredMetal_AlbedoTransparency>
+            }
+        }
+
+        over "sink_3da8ea58bbd8ee95b22f37e153de7ee1_1_1_0"
+        {
+            over "sink_3da8ea58bbd8ee95b22f37e153de7ee1_1_1_0_visual_0" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan17_physics/Materials/material_HammeredMetal_AlbedoTransparency>
+            }
+        }
+
+        over "window_ed4a3266ea01b69bb03f62576199473b_1_1_0"
+        {
+            over "window_ed4a3266ea01b69bb03f62576199473b_1_1_0_visual_0" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan17_physics/Materials/material_WhiteWood>
+            }
+        }
+
+        over "window_ed4a3266ea01b69bb03f62576199473b_1_2_0"
+        {
+            over "window_ed4a3266ea01b69bb03f62576199473b_1_2_0_visual_1" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan17_physics/Materials/material_Glass_Detailed_White_Mat>
+            }
+        }
+
+        over "window_ed4a3266ea01b69bb03f62576199473b_1_3_0"
+        {
+            over "window_ed4a3266ea01b69bb03f62576199473b_1_3_0_visual_2" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan17_physics/Materials/material_WhiteWoodClean>
+            }
+        }
+
+        over "window_4b65f8142aecf57e4c78943e5ee7abd2_1_1_0"
+        {
+            over "window_4b65f8142aecf57e4c78943e5ee7abd2_1_1_0_visual_0" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan17_physics/Materials/material_WhiteWood>
+            }
+        }
+
+        over "window_4b65f8142aecf57e4c78943e5ee7abd2_1_2_0"
+        {
+            over "window_4b65f8142aecf57e4c78943e5ee7abd2_1_2_0_visual_1" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan17_physics/Materials/material_Glass_Detailed_White_Mat>
+            }
+        }
+
+        over "window_4b65f8142aecf57e4c78943e5ee7abd2_1_3_0"
+        {
+            over "window_4b65f8142aecf57e4c78943e5ee7abd2_1_3_0_visual_2" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan17_physics/Materials/material_WhiteWoodClean>
+            }
+        }
+
+        over "floor_085dc72d5f516fecf7d20a037eed92d6_1_1_0"
+        {
+            over "floor_085dc72d5f516fecf7d20a037eed92d6_1_1_0_visual_0" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan17_physics/Materials/material_BedroomFloor1>
+            }
+
+            over "floor_085dc72d5f516fecf7d20a037eed92d6_1_1_0_visual_1" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan17_physics/Materials/material_DarkWoodFloors>
+            }
+
+            over "floor_085dc72d5f516fecf7d20a037eed92d6_1_1_0_visual_2" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan17_physics/Materials/material_WhiteMarble>
+            }
+        }
+
+        over "mesh_5f5a301ef470261e55f963612ee9d9a4_1_1_0"
+        {
+            over "mesh_5f5a301ef470261e55f963612ee9d9a4_1_1_0_visual_0" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan17_physics/Materials/material_LightWoodCounters3>
+            }
+        }
+
+        over "standardcounterheightwidth_6d40e7a6b0537d09b1ae046229e23af9_1_1_0"
+        {
+            over "standardcounterheightwidth_6d40e7a6b0537d09b1ae046229e23af9_1_1_0_visual_0" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan17_physics/Materials/material_LightWoodCounters3>
+            }
+
+            over "standardcounterheightwidth_6d40e7a6b0537d09b1ae046229e23af9_1_1_0_visual_1" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan17_physics/Materials/material_DarkWood2>
+            }
+
+            over "standardcounterheightwidth_6d40e7a6b0537d09b1ae046229e23af9_1_1_0_visual_2" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan17_physics/Materials/material_WhiteCountertop>
+            }
+        }
+
+        over "lightfixture4_02a45bb00928717f3aa45ad16bfbb9ba_1_1_0"
+        {
+            over "lightfixture4_02a45bb00928717f3aa45ad16bfbb9ba_1_1_0_visual_0" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan17_physics/Materials/material_Brass_Mat>
+            }
+
+            over "lightfixture4_02a45bb00928717f3aa45ad16bfbb9ba_1_1_0_visual_1" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan17_physics/Materials/material_Metal_chrome_mat>
+            }
+
+            over "lightfixture4_02a45bb00928717f3aa45ad16bfbb9ba_1_1_0_visual_2" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan17_physics/Materials/material_Light2>
+            }
+        }
+
+        over "tn__lightfixture41_09b0981780c204c97f8c5c8eaa085b49_1_1_0_Yc1d1"
+        {
+            over "tn__lightfixture41_09b0981780c204c97f8c5c8eaa085b49_1_1_0_visual_0_rn1m1" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan17_physics/Materials/material_Brass_Mat>
+            }
+
+            over "tn__lightfixture41_09b0981780c204c97f8c5c8eaa085b49_1_1_0_visual_1_rn1m1" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan17_physics/Materials/material_Metal_chrome_mat>
+            }
+
+            over "tn__lightfixture41_09b0981780c204c97f8c5c8eaa085b49_1_1_0_visual_2_rn1m1" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan17_physics/Materials/material_Light2>
+            }
+        }
+
+        over "standarddoorframe1_e8265515ade6d1e771b2d266229887dc_1_1_0"
+        {
+            over "standarddoorframe1_e8265515ade6d1e771b2d266229887dc_1_1_0_visual_0" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan17_physics/Materials/material_WhiteWoodClean>
+            }
+        }
+
+        over "mesh_452ff854e4bb6b3a3376f0460743fcfd_1_1_0"
+        {
+            over "mesh_452ff854e4bb6b3a3376f0460743fcfd_1_1_0_visual_0" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan17_physics/Materials/material_LightWoodCounters3>
+            }
+        }
+
+        over "mesh_dc6b088a85f62784c6ad73c89e873dbf_1_1_0"
+        {
+            over "mesh_dc6b088a85f62784c6ad73c89e873dbf_1_1_0_visual_0" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan17_physics/Materials/material_LightWoodCounters3>
+            }
+        }
+
+        over "standardknob1_cac18df1b418ab9731f3cd76a9fd05e8_1_1_0"
+        {
+            over "standardknob1_cac18df1b418ab9731f3cd76a9fd05e8_1_1_0_visual_0" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan17_physics/Materials/material_Brass_Mat>
+            }
+        }
+
+        over "standarddoor1_401faff1904a5a524bb6a587bd9a0c5e_1_1_0"
+        {
+            over "standarddoor1_401faff1904a5a524bb6a587bd9a0c5e_1_1_0_visual_0" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan17_physics/Materials/material_TexturesCom_WoodFine0050_1_seamless_S>
+            }
+        }
+
+        over "standarduppercabinetheightwidth_d9f0020a451fca7d5bfbcea1e9d28807_1_1_0"
+        {
+            over "standarduppercabinetheightwidth_d9f0020a451fca7d5bfbcea1e9d28807_1_1_0_visual_0" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan17_physics/Materials/material_LightWoodCounters3>
+            }
+        }
+
+        over "standardwallsize_397f1de6f239bc93482f4b6e91afdb4c_1_1_0"
+        {
+            over "standardwallsize_397f1de6f239bc93482f4b6e91afdb4c_1_1_0_visual_0" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan17_physics/Materials/material_WhiteWoodClean>
+            }
+
+            over "standardwallsize_397f1de6f239bc93482f4b6e91afdb4c_1_1_0_visual_1" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan17_physics/Materials/material_Drywall>
+            }
+        }
+
+        over "standardwalltileheight1_fb82d950f7da87f0808e11e413832960_1_1_0"
+        {
+            over "standardwalltileheight1_fb82d950f7da87f0808e11e413832960_1_1_0_visual_0" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan17_physics/Materials/material_WhiteCountertop>
+            }
+
+            over "standardwalltileheight1_fb82d950f7da87f0808e11e413832960_1_1_0_visual_1" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan17_physics/Materials/material_Default>
+            }
+        }
+    }
+}
+

scenes/ithor/FloorPlan17_physics/Payload/MaterialsLibrary.usda

@@ -0,0 +1,613 @@
+#usda 1.0
+(
+    "Material library for house FloorPlan17_physics"
+    customLayerData = {
+        string creator = """AI2-THOR mjcf-usd scene converter
+    time: 01-20-26 16:35:04
+    scene: FloorPlan17_physics
+    usd-exchange-version: 2.2.0
+"""
+    }
+    defaultPrim = "Materials"
+    kilogramsPerUnit = 1
+    metersPerUnit = 1
+    upAxis = "Z"
+)
+
+class Scope "Materials"
+{
+    def Material "material_WhiteMetal"
+    {
+        token outputs:displacement.connect = </Materials/material_WhiteMetal/PreviewSurface.outputs:displacement>
+        token outputs:surface.connect = </Materials/material_WhiteMetal/PreviewSurface.outputs:surface>
+
+        def Shader "PreviewSurface"
+        {
+            uniform token info:id = "UsdPreviewSurface"
+            color3f inputs:diffuseColor = (1, 1, 1)
+            float inputs:metallic = 0
+            float inputs:opacity = 1
+            float inputs:roughness = 0.5
+            token outputs:displacement
+            token outputs:surface
+        }
+    }
+
+    def Material "material_Glass_Black_Mat"
+    {
+        token outputs:displacement.connect = </Materials/material_Glass_Black_Mat/PreviewSurface.outputs:displacement>
+        token outputs:surface.connect = </Materials/material_Glass_Black_Mat/PreviewSurface.outputs:surface>
+
+        def Shader "PreviewSurface"
+        {
+            uniform token info:id = "UsdPreviewSurface"
+            color3f inputs:diffuseColor = (0, 0, 0)
+            float inputs:metallic = 0
+            float inputs:opacity = 1
+            float inputs:roughness = 0.5
+            token outputs:displacement
+            token outputs:surface
+        }
+    }
+
+    def Material "material_HammeredMetal_AlbedoTransparency"
+    {
+        token outputs:displacement.connect = </Materials/material_HammeredMetal_AlbedoTransparency/PreviewSurface.outputs:displacement>
+        token outputs:surface.connect = </Materials/material_HammeredMetal_AlbedoTransparency/PreviewSurface.outputs:surface>
+
+        def Shader "PreviewSurface"
+        {
+            uniform token info:id = "UsdPreviewSurface"
+            color3f inputs:diffuseColor.connect = </Materials/material_HammeredMetal_AlbedoTransparency/DiffuseTexture.outputs:rgb>
+            float inputs:metallic = 0
+            float inputs:opacity = 1
+            float inputs:roughness = 0.5
+            token outputs:displacement
+            token outputs:surface
+        }
+
+        def Shader "DiffuseTexture"
+        {
+            uniform token info:id = "UsdUVTexture"
+            float4 inputs:fallback = (1, 1, 1, 1)
+            asset inputs:file = @./Textures/HammeredMetal_MetallicSmoothness.png@
+            float4 inputs:scale = (1, 1, 1, 1)
+            token inputs:sourceColorSpace = "auto"
+            float2 inputs:st.connect = </Materials/material_HammeredMetal_AlbedoTransparency/Primvar_st_float2.outputs:result>
+            token inputs:wrapS = "repeat"
+            token inputs:wrapT = "repeat"
+            float3 outputs:rgb
+        }
+
+        def Shader "Primvar_st_float2"
+        {
+            uniform token info:id = "UsdPrimvarReader_float2"
+            string inputs:varname = "st"
+            float2 outputs:result
+        }
+    }
+
+    def Material "material_WhitePlastic"
+    {
+        token outputs:displacement.connect = </Materials/material_WhitePlastic/PreviewSurface.outputs:displacement>
+        token outputs:surface.connect = </Materials/material_WhitePlastic/PreviewSurface.outputs:surface>
+
+        def Shader "PreviewSurface"
+        {
+            uniform token info:id = "UsdPreviewSurface"
+            color3f inputs:diffuseColor = (1, 1, 1)
+            float inputs:metallic = 0
+            float inputs:opacity = 1
+            float inputs:roughness = 0.5
+            token outputs:displacement
+            token outputs:surface
+        }
+    }
+
+    def Material "material_WhitePlasticScratched"
+    {
+        token outputs:displacement.connect = </Materials/material_WhitePlasticScratched/PreviewSurface.outputs:displacement>
+        token outputs:surface.connect = </Materials/material_WhitePlasticScratched/PreviewSurface.outputs:surface>
+
+        def Shader "PreviewSurface"
+        {
+            uniform token info:id = "UsdPreviewSurface"
+            color3f inputs:diffuseColor.connect = </Materials/material_WhitePlasticScratched/DiffuseTexture.outputs:rgb>
+            float inputs:metallic = 0
+            float inputs:opacity = 1
+            float inputs:roughness = 0.5
+            token outputs:displacement
+            token outputs:surface
+        }
+
+        def Shader "DiffuseTexture"
+        {
+            uniform token info:id = "UsdUVTexture"
+            float4 inputs:fallback = (1, 1, 1, 1)
+            asset inputs:file = @./Textures/HammeredMetal_AlbedoTransparency.png@
+            float4 inputs:scale = (1, 1, 1, 1)
+            token inputs:sourceColorSpace = "auto"
+            float2 inputs:st.connect = </Materials/material_WhitePlasticScratched/Primvar_st_float2.outputs:result>
+            token inputs:wrapS = "repeat"
+            token inputs:wrapT = "repeat"
+            float3 outputs:rgb
+        }
+
+        def Shader "Primvar_st_float2"
+        {
+            uniform token info:id = "UsdPrimvarReader_float2"
+            string inputs:varname = "st"
+            float2 outputs:result
+        }
+    }
+
+    def Material "material_LightWoodCounters3"
+    {
+        token outputs:displacement.connect = </Materials/material_LightWoodCounters3/PreviewSurface.outputs:displacement>
+        token outputs:surface.connect = </Materials/material_LightWoodCounters3/PreviewSurface.outputs:surface>
+
+        def Shader "PreviewSurface"
+        {
+            uniform token info:id = "UsdPreviewSurface"
+            color3f inputs:diffuseColor.connect = </Materials/material_LightWoodCounters3/DiffuseTexture.outputs:rgb>
+            float inputs:metallic = 0
+            float inputs:opacity = 1
+            float inputs:roughness = 0.5
+            token outputs:displacement
+            token outputs:surface
+        }
+
+        def Shader "DiffuseTexture"
+        {
+            uniform token info:id = "UsdUVTexture"
+            float4 inputs:fallback = (0.698113, 0.339363, 0.135012, 1)
+            asset inputs:file = @./Textures/LightWoodCounters.png@
+            float4 inputs:scale = (0.698113, 0.339363, 0.135012, 1)
+            token inputs:sourceColorSpace = "auto"
+            float2 inputs:st.connect = </Materials/material_LightWoodCounters3/Primvar_st_float2.outputs:result>
+            token inputs:wrapS = "repeat"
+            token inputs:wrapT = "repeat"
+            float3 outputs:rgb
+        }
+
+        def Shader "Primvar_st_float2"
+        {
+            uniform token info:id = "UsdPrimvarReader_float2"
+            string inputs:varname = "st"
+            float2 outputs:result
+        }
+    }
+
+    def Material "material_HammeredMetal_Dark"
+    {
+        token outputs:displacement.connect = </Materials/material_HammeredMetal_Dark/PreviewSurface.outputs:displacement>
+        token outputs:surface.connect = </Materials/material_HammeredMetal_Dark/PreviewSurface.outputs:surface>
+
+        def Shader "PreviewSurface"
+        {
+            uniform token info:id = "UsdPreviewSurface"
+            color3f inputs:diffuseColor.connect = </Materials/material_HammeredMetal_Dark/DiffuseTexture.outputs:rgb>
+            float inputs:metallic = 0
+            float inputs:opacity = 1
+            float inputs:roughness = 0.5
+            token outputs:displacement
+            token outputs:surface
+        }
+
+        def Shader "DiffuseTexture"
+        {
+            uniform token info:id = "UsdUVTexture"
+            float4 inputs:fallback = (0.264706, 0.264706, 0.264706, 1)
+            asset inputs:file = @./Textures/HammeredMetal_AlbedoTransparency.png@
+            float4 inputs:scale = (0.264706, 0.264706, 0.264706, 1)
+            token inputs:sourceColorSpace = "auto"
+            float2 inputs:st.connect = </Materials/material_HammeredMetal_Dark/Primvar_st_float2.outputs:result>
+            token inputs:wrapS = "repeat"
+            token inputs:wrapT = "repeat"
+            float3 outputs:rgb
+        }
+
+        def Shader "Primvar_st_float2"
+        {
+            uniform token info:id = "UsdPrimvarReader_float2"
+            string inputs:varname = "st"
+            float2 outputs:result
+        }
+    }
+
+    def Material "material_BedroomFloor1"
+    {
+        token outputs:displacement.connect = </Materials/material_BedroomFloor1/PreviewSurface.outputs:displacement>
+        token outputs:surface.connect = </Materials/material_BedroomFloor1/PreviewSurface.outputs:surface>
+
+        def Shader "PreviewSurface"
+        {
+            uniform token info:id = "UsdPreviewSurface"
+            color3f inputs:diffuseColor.connect = </Materials/material_BedroomFloor1/DiffuseTexture.outputs:rgb>
+            float inputs:metallic = 0
+            float inputs:opacity = 1
+            float inputs:roughness = 0.5
+            token outputs:displacement
+            token outputs:surface
+        }
+
+        def Shader "DiffuseTexture"
+        {
+            uniform token info:id = "UsdUVTexture"
+            float4 inputs:fallback = (1, 0.911765, 0.911765, 1)
+            asset inputs:file = @./Textures/TexturesCom_WoodFine0038_1_seamless_albedo_S.png@
+            float4 inputs:scale = (1, 0.911765, 0.911765, 1)
+            token inputs:sourceColorSpace = "auto"
+            float2 inputs:st.connect = </Materials/material_BedroomFloor1/Primvar_st_float2.outputs:result>
+            token inputs:wrapS = "repeat"
+            token inputs:wrapT = "repeat"
+            float3 outputs:rgb
+        }
+
+        def Shader "Primvar_st_float2"
+        {
+            uniform token info:id = "UsdPrimvarReader_float2"
+            string inputs:varname = "st"
+            float2 outputs:result
+        }
+    }
+
+    def Material "material_DarkWoodFloors"
+    {
+        token outputs:displacement.connect = </Materials/material_DarkWoodFloors/PreviewSurface.outputs:displacement>
+        token outputs:surface.connect = </Materials/material_DarkWoodFloors/PreviewSurface.outputs:surface>
+
+        def Shader "PreviewSurface"
+        {
+            uniform token info:id = "UsdPreviewSurface"
+            color3f inputs:diffuseColor.connect = </Materials/material_DarkWoodFloors/DiffuseTexture.outputs:rgb>
+            float inputs:metallic = 0
+            float inputs:opacity = 1
+            float inputs:roughness = 0.5
+            token outputs:displacement
+            token outputs:surface
+        }
+
+        def Shader "DiffuseTexture"
+        {
+            uniform token info:id = "UsdUVTexture"
+            float4 inputs:fallback = (0.948529, 0.675803, 0.383597, 1)
+            asset inputs:file = @./Textures/DarkWoodFloors.png@
+            float4 inputs:scale = (0.948529, 0.675803, 0.383597, 1)
+            token inputs:sourceColorSpace = "auto"
+            float2 inputs:st.connect = </Materials/material_DarkWoodFloors/Primvar_st_float2.outputs:result>
+            token inputs:wrapS = "repeat"
+            token inputs:wrapT = "repeat"
+            float3 outputs:rgb
+        }
+
+        def Shader "Primvar_st_float2"
+        {
+            uniform token info:id = "UsdPrimvarReader_float2"
+            string inputs:varname = "st"
+            float2 outputs:result
+        }
+    }
+
+    def Material "material_WhiteMarble"
+    {
+        token outputs:displacement.connect = </Materials/material_WhiteMarble/PreviewSurface.outputs:displacement>
+        token outputs:surface.connect = </Materials/material_WhiteMarble/PreviewSurface.outputs:surface>
+
+        def Shader "PreviewSurface"
+        {
+            uniform token info:id = "UsdPreviewSurface"
+            color3f inputs:diffuseColor.connect = </Materials/material_WhiteMarble/DiffuseTexture.outputs:rgb>
+            float inputs:metallic = 0
+            float inputs:opacity = 1
+            float inputs:roughness = 0.5
+            token outputs:displacement
+            token outputs:surface
+        }
+
+        def Shader "DiffuseTexture"
+        {
+            uniform token info:id = "UsdUVTexture"
+            float4 inputs:fallback = (1, 1, 1, 1)
+            asset inputs:file = @./Textures/TexturesCom_MarbleWhite0067_1_seamless_albedo_S.png@
+            float4 inputs:scale = (1, 1, 1, 1)
+            token inputs:sourceColorSpace = "auto"
+            float2 inputs:st.connect = </Materials/material_WhiteMarble/Primvar_st_float2.outputs:result>
+            token inputs:wrapS = "repeat"
+            token inputs:wrapT = "repeat"
+            float3 outputs:rgb
+        }
+
+        def Shader "Primvar_st_float2"
+        {
+            uniform token info:id = "UsdPrimvarReader_float2"
+            string inputs:varname = "st"
+            float2 outputs:result
+        }
+    }
+
+    def Material "material_Glass_Detailed_White_Mat"
+    {
+        token outputs:displacement.connect = </Materials/material_Glass_Detailed_White_Mat/PreviewSurface.outputs:displacement>
+        token outputs:surface.connect = </Materials/material_Glass_Detailed_White_Mat/PreviewSurface.outputs:surface>
+
+        def Shader "PreviewSurface"
+        {
+            uniform token info:id = "UsdPreviewSurface"
+            color3f inputs:diffuseColor = (1, 1, 1)
+            float inputs:metallic = 0
+            float inputs:opacity = 1
+            float inputs:roughness = 0.5
+            token outputs:displacement
+            token outputs:surface
+        }
+    }
+
+    def Material "material_WhiteWood"
+    {
+        token outputs:displacement.connect = </Materials/material_WhiteWood/PreviewSurface.outputs:displacement>
+        token outputs:surface.connect = </Materials/material_WhiteWood/PreviewSurface.outputs:surface>
+
+        def Shader "PreviewSurface"
+        {
+            uniform token info:id = "UsdPreviewSurface"
+            color3f inputs:diffuseColor.connect = </Materials/material_WhiteWood/DiffuseTexture.outputs:rgb>
+            float inputs:metallic = 0
+            float inputs:opacity = 1
+            float inputs:roughness = 0.5
+            token outputs:displacement
+            token outputs:surface
+        }
+
+        def Shader "DiffuseTexture"
+        {
+            uniform token info:id = "UsdUVTexture"
+            float4 inputs:fallback = (1, 1, 1, 1)
+            asset inputs:file = @./Textures/TexturesCom_WoodWhite.png@
+            float4 inputs:scale = (1, 1, 1, 1)
+            token inputs:sourceColorSpace = "auto"
+            float2 inputs:st.connect = </Materials/material_WhiteWood/Primvar_st_float2.outputs:result>
+            token inputs:wrapS = "repeat"
+            token inputs:wrapT = "repeat"
+            float3 outputs:rgb
+        }
+
+        def Shader "Primvar_st_float2"
+        {
+            uniform token info:id = "UsdPrimvarReader_float2"
+            string inputs:varname = "st"
+            float2 outputs:result
+        }
+    }
+
+    def Material "material_WhiteWoodClean"
+    {
+        token outputs:displacement.connect = </Materials/material_WhiteWoodClean/PreviewSurface.outputs:displacement>
+        token outputs:surface.connect = </Materials/material_WhiteWoodClean/PreviewSurface.outputs:surface>
+
+        def Shader "PreviewSurface"
+        {
+            uniform token info:id = "UsdPreviewSurface"
+            color3f inputs:diffuseColor = (1, 1, 1)
+            float inputs:metallic = 0
+            float inputs:opacity = 1
+            float inputs:roughness = 0.5
+            token outputs:displacement
+            token outputs:surface
+        }
+    }
+
+    def Material "material_StoveCoil"
+    {
+        token outputs:displacement.connect = </Materials/material_StoveCoil/PreviewSurface.outputs:displacement>
+        token outputs:surface.connect = </Materials/material_StoveCoil/PreviewSurface.outputs:surface>
+
+        def Shader "PreviewSurface"
+        {
+            uniform token info:id = "UsdPreviewSurface"
+            color3f inputs:diffuseColor = (0.323529, 0.323529, 0.323529)
+            float inputs:metallic = 0
+            float inputs:opacity = 1
+            float inputs:roughness = 0.5
+            token outputs:displacement
+            token outputs:surface
+        }
+    }
+
+    def Material "material_DarkWood2"
+    {
+        token outputs:displacement.connect = </Materials/material_DarkWood2/PreviewSurface.outputs:displacement>
+        token outputs:surface.connect = </Materials/material_DarkWood2/PreviewSurface.outputs:surface>
+
+        def Shader "PreviewSurface"
+        {
+            uniform token info:id = "UsdPreviewSurface"
+            color3f inputs:diffuseColor.connect = </Materials/material_DarkWood2/DiffuseTexture.outputs:rgb>
+            float inputs:metallic = 0
+            float inputs:opacity = 1
+            float inputs:roughness = 0.5
+            token outputs:displacement
+            token outputs:surface
+        }
+
+        def Shader "DiffuseTexture"
+        {
+            uniform token info:id = "UsdUVTexture"
+            float4 inputs:fallback = (1, 1, 1, 1)
+            asset inputs:file = @./Textures/DarkWood2.png@
+            float4 inputs:scale = (1, 1, 1, 1)
+            token inputs:sourceColorSpace = "auto"
+            float2 inputs:st.connect = </Materials/material_DarkWood2/Primvar_st_float2.outputs:result>
+            token inputs:wrapS = "repeat"
+            token inputs:wrapT = "repeat"
+            float3 outputs:rgb
+        }
+
+        def Shader "Primvar_st_float2"
+        {
+            uniform token info:id = "UsdPrimvarReader_float2"
+            string inputs:varname = "st"
+            float2 outputs:result
+        }
+    }
+
+    def Material "material_WhiteCountertop"
+    {
+        token outputs:displacement.connect = </Materials/material_WhiteCountertop/PreviewSurface.outputs:displacement>
+        token outputs:surface.connect = </Materials/material_WhiteCountertop/PreviewSurface.outputs:surface>
+
+        def Shader "PreviewSurface"
+        {
+            uniform token info:id = "UsdPreviewSurface"
+            color3f inputs:diffuseColor.connect = </Materials/material_WhiteCountertop/DiffuseTexture.outputs:rgb>
+            float inputs:metallic = 0
+            float inputs:opacity = 1
+            float inputs:roughness = 0.5
+            token outputs:displacement
+            token outputs:surface
+        }
+
+        def Shader "DiffuseTexture"
+        {
+            uniform token info:id = "UsdUVTexture"
+            float4 inputs:fallback = (1, 1, 1, 1)
+            asset inputs:file = @./Textures/TexturesCom_MarbleNoisy0062_1_seamless_S.png@
+            float4 inputs:scale = (1, 1, 1, 1)
+            token inputs:sourceColorSpace = "auto"
+            float2 inputs:st.connect = </Materials/material_WhiteCountertop/Primvar_st_float2.outputs:result>
+            token inputs:wrapS = "repeat"
+            token inputs:wrapT = "repeat"
+            float3 outputs:rgb
+        }
+
+        def Shader "Primvar_st_float2"
+        {
+            uniform token info:id = "UsdPrimvarReader_float2"
+            string inputs:varname = "st"
+            float2 outputs:result
+        }
+    }
+
+    def Material "material_Brass_Mat"
+    {
+        token outputs:displacement.connect = </Materials/material_Brass_Mat/PreviewSurface.outputs:displacement>
+        token outputs:surface.connect = </Materials/material_Brass_Mat/PreviewSurface.outputs:surface>
+
+        def Shader "PreviewSurface"
+        {
+            uniform token info:id = "UsdPreviewSurface"
+            color3f inputs:diffuseColor = (0.757353, 0.639065, 0.144788)
+            float inputs:metallic = 0
+            float inputs:opacity = 1
+            float inputs:roughness = 0.5
+            token outputs:displacement
+            token outputs:surface
+        }
+    }
+
+    def Material "material_Metal_chrome_mat"
+    {
+        token outputs:displacement.connect = </Materials/material_Metal_chrome_mat/PreviewSurface.outputs:displacement>
+        token outputs:surface.connect = </Materials/material_Metal_chrome_mat/PreviewSurface.outputs:surface>
+
+        def Shader "PreviewSurface"
+        {
+            uniform token info:id = "UsdPreviewSurface"
+            color3f inputs:diffuseColor = (0.829, 0.829, 0.829)
+            float inputs:metallic = 0
+            float inputs:opacity = 1
+            float inputs:roughness = 0.5
+            token outputs:displacement
+            token outputs:surface
+        }
+    }
+
+    def Material "material_Light2"
+    {
+        token outputs:displacement.connect = </Materials/material_Light2/PreviewSurface.outputs:displacement>
+        token outputs:surface.connect = </Materials/material_Light2/PreviewSurface.outputs:surface>
+
+        def Shader "PreviewSurface"
+        {
+            uniform token info:id = "UsdPreviewSurface"
+            color3f inputs:diffuseColor = (1, 0.944118, 0.860294)
+            float inputs:metallic = 0
+            float inputs:opacity = 1
+            float inputs:roughness = 0.5
+            token outputs:displacement
+            token outputs:surface
+        }
+    }
+
+    def Material "material_TexturesCom_WoodFine0050_1_seamless_S"
+    {
+        token outputs:displacement.connect = </Materials/material_TexturesCom_WoodFine0050_1_seamless_S/PreviewSurface.outputs:displacement>
+        token outputs:surface.connect = </Materials/material_TexturesCom_WoodFine0050_1_seamless_S/PreviewSurface.outputs:surface>
+
+        def Shader "PreviewSurface"
+        {
+            uniform token info:id = "UsdPreviewSurface"
+            color3f inputs:diffuseColor.connect = </Materials/material_TexturesCom_WoodFine0050_1_seamless_S/DiffuseTexture.outputs:rgb>
+            float inputs:metallic = 0
+            float inputs:opacity = 1
+            float inputs:roughness = 0.5
+            token outputs:displacement
+            token outputs:surface
+        }
+
+        def Shader "DiffuseTexture"
+        {
+            uniform token info:id = "UsdUVTexture"
+            float4 inputs:fallback = (1, 1, 1, 1)
+            asset inputs:file = @./Textures/TexturesCom_WoodFine0050_1_seamless_S.png@
+            float4 inputs:scale = (1, 1, 1, 1)
+            token inputs:sourceColorSpace = "auto"
+            float2 inputs:st.connect = </Materials/material_TexturesCom_WoodFine0050_1_seamless_S/Primvar_st_float2.outputs:result>
+            token inputs:wrapS = "repeat"
+            token inputs:wrapT = "repeat"
+            float3 outputs:rgb
+        }
+
+        def Shader "Primvar_st_float2"
+        {
+            uniform token info:id = "UsdPrimvarReader_float2"
+            string inputs:varname = "st"
+            float2 outputs:result
+        }
+    }
+
+    def Material "material_Drywall"
+    {
+        token outputs:displacement.connect = </Materials/material_Drywall/PreviewSurface.outputs:displacement>
+        token outputs:surface.connect = </Materials/material_Drywall/PreviewSurface.outputs:surface>
+
+        def Shader "PreviewSurface"
+        {
+            uniform token info:id = "UsdPreviewSurface"
+            color3f inputs:diffuseColor = (0.8, 0.8, 0.8)
+            float inputs:metallic = 0
+            float inputs:opacity = 1
+            float inputs:roughness = 0.5
+            token outputs:displacement
+            token outputs:surface
+        }
+    }
+
+    def Material "material_Default"
+    {
+        token outputs:displacement.connect = </Materials/material_Default/PreviewSurface.outputs:displacement>
+        token outputs:surface.connect = </Materials/material_Default/PreviewSurface.outputs:surface>
+
+        def Shader "PreviewSurface"
+        {
+            uniform token info:id = "UsdPreviewSurface"
+            color3f inputs:diffuseColor = (0.6, 0.6, 0.6)
+            float inputs:metallic = 0
+            float inputs:opacity = 1
+            float inputs:roughness = 0.5
+            token outputs:displacement
+            token outputs:surface
+        }
+    }
+}
+

scenes/ithor/FloorPlan17_physics/scene.preprocessed.json

@@ -0,0 +1,23 @@
+{
+  "source": "E:/EAI/molmo_isaac_data/isaac/scenes/ithor/FloorPlan17_physics/scene.usda",
+  "preprocessor_version": "2.1",
+  "timestamp": "2026-04-23T13:13:23.885673+00:00",
+  "offset": [
+    0.63808,
+    2.86054,
+    0.0
+  ],
+  "yaw_deg": 180.0,
+  "floor_z": -0.10270806,
+  "ceiling_z": 2.82501,
+  "prims_deactivated": 6,
+  "prims_deactivated_paths": [
+    "/FloorPlan17_physics/Geometry/stool_5e4e4af0cc7bf277f0814852c6b4e0c3_1_0_0",
+    "/FloorPlan17_physics/Geometry/diningtable_c587120d46e86fcffc3997332bbc2427_1_0_0",
+    "/FloorPlan17_physics/Geometry/apple_ff93afa9f54bdc5d2bd30356940afcac_1_0_0",
+    "/FloorPlan17_physics/Geometry/bread_ce14aa444cff8c5279772caf1fa3df7a_1_0_0",
+    "/FloorPlan17_physics/Geometry/fork_a17d780ca6a79038b069eb7768c962c4_1_0_0",
+    "/FloorPlan17_physics/Geometry/spoon_573130d7496422c068be3abf14b0dcf0_1_0_0"
+  ],
+  "physics_preserved": true
+}

scenes/ithor/FloorPlan17_physics/scene.usda

@@ -0,0 +1,240 @@
+#usda 1.0
+(
+    customLayerData = {
+        string creator = """AI2-THOR mjcf-usd scene converter
+    time: 01-20-26 16:35:04
+    scene: FloorPlan17_physics
+    usd-exchange-version: 2.2.0
+"""
+    }
+    defaultPrim = "FloorPlan17_physics"
+    kilogramsPerUnit = 1
+    metersPerUnit = 1
+    upAxis = "Z"
+)
+
+def Xform "FloorPlan17_physics" (
+    prepend apiSchemas = ["GeomModelAPI"]
+    assetInfo = {
+        string name = "FloorPlan17_physics"
+    }
+    kind = "component"
+    prepend payload = @./Payload/Contents.usda@
+)
+{
+    float3[] extentsHint = [(-1.8, -1.2, -0.10270806), (1.79999, 4, 2.82501), (3.4028235e38, 3.4028235e38, 3.4028235e38), (-3.4028235e38, -3.4028235e38, -3.4028235e38), (3.4028235e38, 3.4028235e38, 3.4028235e38), (-3.4028235e38, -3.4028235e38, -3.4028235e38), (-10, -10, -0.005657925), (10, 10, 2.83057)]
+
+    over "Geometry"
+    {
+        over "stool_5e4e4af0cc7bf277f0814852c6b4e0c3_1_0_0" (
+            active = false
+            kind = "subcomponent"
+        )
+        {
+        }
+
+        over "bowl_9087df6907f975021e5d8ac01d4c2557_1_0_0" (
+            kind = "subcomponent"
+        )
+        {
+        }
+
+        over "cookingpan_0b25291cb902a2d36221e36cf1b65eb3_1_0_0" (
+            kind = "subcomponent"
+        )
+        {
+        }
+
+        over "soapdispenser_3034d0f5427a5be111e3fa83db2dc2a4_1_0_0" (
+            kind = "subcomponent"
+        )
+        {
+        }
+
+        over "tomato_9415e9772dd5ae2b3bd98c5d54bff445_1_0_0" (
+            kind = "subcomponent"
+        )
+        {
+        }
+
+        over "mug_ac3a060b0c3963b34d55fe717f30ee52_1_0_0" (
+            kind = "subcomponent"
+        )
+        {
+        }
+
+        over "coffeemaker_9de07fad9aeb4faf5aafd69b7a251ab9_1_0_0" (
+            kind = "subcomponent"
+        )
+        {
+        }
+
+        over "apple_ff93afa9f54bdc5d2bd30356940afcac_1_0_0" (
+            active = false
+            kind = "subcomponent"
+        )
+        {
+        }
+
+        over "microwaveoven_88450d3201b31b1b6b4e6a26220eb8b3_1_0_0" (
+            kind = "subcomponent"
+        )
+        {
+        }
+
+        over "refrigerator_a47e4ced866f7a1284381a099bfba2ad_1_0_0" (
+            kind = "subcomponent"
+        )
+        {
+        }
+
+        over "trashcan_5f583f000b2f00dcc3d6b4f294d63a19_1_0_0" (
+            kind = "subcomponent"
+        )
+        {
+        }
+
+        over "toaster_845d64f218d58bdf589a5a42803d3ae4_1_0_0" (
+            kind = "subcomponent"
+        )
+        {
+        }
+
+        over "peppershaker_d3a7b2ab4bd62388f7ea7dd2ef7c1fdc_1_0_0" (
+            kind = "subcomponent"
+        )
+        {
+        }
+
+        over "saltshaker_fae1c48e1d061403dc3bc39cef9e979a_1_0_0" (
+            kind = "subcomponent"
+        )
+        {
+        }
+
+        over "lettuce_4cd05ba168046bcdb611003af5165da0_1_0_0" (
+            kind = "subcomponent"
+        )
+        {
+        }
+
+        over "bread_ce14aa444cff8c5279772caf1fa3df7a_1_0_0" (
+            active = false
+            kind = "subcomponent"
+        )
+        {
+        }
+
+        over "knife_7db4ef03593a98cc5b883c623dde8d9f_1_0_0" (
+            kind = "subcomponent"
+        )
+        {
+        }
+
+        over "plate_ac6a1b74f35572c9a1a82922f273449a_1_0_0" (
+            kind = "subcomponent"
+        )
+        {
+        }
+
+        over "cup_4697b73732349085e30935e0f35566dc_1_0_0" (
+            kind = "subcomponent"
+        )
+        {
+        }
+
+        over "egg_7331ece1e05e35ccf61e870ea8948aac_1_0_0" (
+            kind = "subcomponent"
+        )
+        {
+        }
+
+        over "pot_d1ed615536ae61b74431a965df78aa41_1_0_0" (
+            kind = "subcomponent"
+        )
+        {
+        }
+
+        over "spatula_291e31b285474249721c8a7b1bac877a_1_0_0" (
+            kind = "subcomponent"
+        )
+        {
+        }
+
+        over "fork_a17d780ca6a79038b069eb7768c962c4_1_0_0" (
+            active = false
+            kind = "subcomponent"
+        )
+        {
+        }
+
+        over "spoon_573130d7496422c068be3abf14b0dcf0_1_0_0" (
+            active = false
+            kind = "subcomponent"
+        )
+        {
+        }
+
+        over "boiler_335af387651d9869b84abf1fb099bf69_1_0_0" (
+            kind = "subcomponent"
+        )
+        {
+        }
+
+        over "winebottle_201eb4050e30f10e57909e4c975910e9_1_0_0" (
+            kind = "subcomponent"
+        )
+        {
+        }
+
+        over "bottle_8382d4ed00ffcc00a477337974541bb1_1_0_0" (
+            kind = "subcomponent"
+        )
+        {
+        }
+
+        over "butterknife_b2b8a251c5e331c4017267a6e05c76d5_1_0_0" (
+            kind = "subcomponent"
+        )
+        {
+        }
+
+        over "sponge_41cc9aa65073b4cd1fc4d9871335148d_1_0_0" (
+            kind = "subcomponent"
+        )
+        {
+        }
+
+        over "cellulartelephone_f65c71e22b7e94dd68f01167ec92b467_1_0_0" (
+            kind = "subcomponent"
+        )
+        {
+        }
+
+        over "Irishpotato_7c3f16774c3f2d6de70e09dd23897534_1_0_0" (
+            kind = "subcomponent"
+        )
+        {
+        }
+
+        over "atomizer_98ad81f9aaa74fe0c8d1de65acb880ca_1_0_0" (
+            kind = "subcomponent"
+        )
+        {
+        }
+
+        over "diningtable_c587120d46e86fcffc3997332bbc2427_1_0_0" (
+            active = false
+            kind = "subcomponent"
+        )
+        {
+        }
+
+        over "diningtable_f6fd7e53ba9774cd88928e8024aad55f_1_0_0" (
+            kind = "subcomponent"
+        )
+        {
+        }
+    }
+}
+

scenes/ithor/FloorPlan201_physics/scene.preprocessed.json

@@ -0,0 +1,30 @@
+{
+  "source": "E:/EAI/molmo_isaac_data/isaac/scenes/ithor/FloorPlan201_physics/scene.usda",
+  "preprocessor_version": "2.1",
+  "timestamp": "2026-04-24T08:59:35.999258+00:00",
+  "offset": [
+    2.16777,
+    -1.20934,
+    0.0
+  ],
+  "yaw_deg": 0.0,
+  "floor_z": -0.429958,
+  "ceiling_z": 2.69625,
+  "prims_deactivated": 13,
+  "prims_deactivated_paths": [
+    "/FloorPlan201_physics/Geometry/chair_ae19c4fab4a513a60b5ce3c1ea49f205_1_0_0",
+    "/FloorPlan201_physics/Geometry/book_be545aaaeb1f643586d7965f7a571f70_1_0_0",
+    "/FloorPlan201_physics/Geometry/laptop_3d0472e4853246dc6bae0511d380cb9a_1_0_0",
+    "/FloorPlan201_physics/Geometry/pencil_04d685f59ba31abb2c3114e046a77deb_1_0_0",
+    "/FloorPlan201_physics/Geometry/pen_6868af7336df691a6aad3bad70b207dc_1_0_0",
+    "/FloorPlan201_physics/Geometry/chair_ae19c4fab4a513a60b5ce3c1ea49f205_2_0_0",
+    "/FloorPlan201_physics/Geometry/newspaper_6a6e2108eafb750ce630e6061b23bfa8_1_0_0",
+    "/FloorPlan201_physics/Geometry/plate_ad540817fe2632d8b49916da70118c0a_1_0_0",
+    "/FloorPlan201_physics/Geometry/chair_ae19c4fab4a513a60b5ce3c1ea49f205_3_0_0",
+    "/FloorPlan201_physics/Geometry/chair_ae19c4fab4a513a60b5ce3c1ea49f205_4_0_0",
+    "/FloorPlan201_physics/Geometry/chair_ae19c4fab4a513a60b5ce3c1ea49f205_5_0_0",
+    "/FloorPlan201_physics/Geometry/chair_ae19c4fab4a513a60b5ce3c1ea49f205_6_0_0",
+    "/FloorPlan201_physics/Geometry/diningtable_ccf909fdcb2bcd7c1441fe7740cecd0b_1_0_0"
+  ],
+  "physics_preserved": true
+}

scenes/ithor/FloorPlan201_physics/scene.usda

@@ -0,0 +1,241 @@
+#usda 1.0
+(
+    customLayerData = {
+        string creator = """AI2-THOR mjcf-usd scene converter
+    time: 01-20-26 16:35:08
+    scene: FloorPlan201_physics
+    usd-exchange-version: 2.2.0
+"""
+    }
+    defaultPrim = "FloorPlan201_physics"
+    kilogramsPerUnit = 1
+    metersPerUnit = 1
+    upAxis = "Z"
+)
+
+def Xform "FloorPlan201_physics" (
+    prepend apiSchemas = ["GeomModelAPI"]
+    assetInfo = {
+        string name = "FloorPlan201_physics"
+    }
+    kind = "component"
+    prepend payload = @./Payload/Contents.usda@
+)
+{
+    float3[] extentsHint = [(-5.35851, -1.42078, -0.429958), (1.78129, 7.81326, 2.69625), (3.4028235e38, 3.4028235e38, 3.4028235e38), (-3.4028235e38, -3.4028235e38, -3.4028235e38), (3.4028235e38, 3.4028235e38, 3.4028235e38), (-3.4028235e38, -3.4028235e38, -3.4028235e38), (-10, -10, -0.43295902), (10, 10, 2.6966212)]
+
+    over "Geometry"
+    {
+        over "coffeetable_115d8cc298b8c8d1896da0ead948f727_1_0_0" (
+            kind = "subcomponent"
+        )
+        {
+        }
+
+        over "stand_ed06bd6b2ac58e6eff75f4b429d16e87_1_0_0" (
+            kind = "subcomponent"
+        )
+        {
+        }
+
+        over "stand_4b42c255f5978da2d8b93d12ef0e4d49_1_0_0" (
+            kind = "subcomponent"
+        )
+        {
+        }
+
+        over "stand_b22ae8bf9692175f436aff4f4f2e5bb6_1_0_0" (
+            kind = "subcomponent"
+        )
+        {
+        }
+
+        over "stand_7e7288da2da8f557872ed2ac399a8d35_1_0_0" (
+            kind = "subcomponent"
+        )
+        {
+        }
+
+        over "armchair_16387a2ba3dbd32dcf6975d4aada3308_1_0_0" (
+            kind = "subcomponent"
+        )
+        {
+        }
+
+        over "sofa_3d3e882f3ea660fd8789fd4c17c8805c_1_0_0" (
+            kind = "subcomponent"
+        )
+        {
+        }
+
+        over "chair_ae19c4fab4a513a60b5ce3c1ea49f205_1_0_0" (
+            active = false
+            kind = "subcomponent"
+        )
+        {
+        }
+
+        over "bowl_6befd62f08fd322391939c2b44d3f839_1_0_0" (
+            kind = "subcomponent"
+        )
+        {
+        }
+
+        over "book_be545aaaeb1f643586d7965f7a571f70_1_0_0" (
+            active = false
+            kind = "subcomponent"
+        )
+        {
+        }
+
+        over "statue_0ef66c57e23ec6b8a9fdfbbfa5f951d3_1_0_0" (
+            kind = "subcomponent"
+        )
+        {
+        }
+
+        over "vase_0db9e9dc4d41a9e8ceaa58f142da5baa_1_0_0" (
+            kind = "subcomponent"
+        )
+        {
+        }
+
+        over "television_175a4921824b6aa6313382aea9cbf058_1_0_0" (
+            kind = "subcomponent"
+        )
+        {
+        }
+
+        over "pillow_87d454cec75cae7f8d7c8b2a9579f0b7_1_0_0" (
+            kind = "subcomponent"
+        )
+        {
+        }
+
+        over "laptop_3d0472e4853246dc6bae0511d380cb9a_1_0_0" (
+            active = false
+            kind = "subcomponent"
+        )
+        {
+        }
+
+        over "box_b62e19f80505ed2584d53be931384199_1_0_0" (
+            kind = "subcomponent"
+        )
+        {
+        }
+
+        over "trashcan_d784bb4f1d72a48177b13d732c5a9256_1_0_0" (
+            kind = "subcomponent"
+        )
+        {
+        }
+
+        over "houseplant_6f581d48d93286f579c4bc0346d0330d_1_0_0" (
+            kind = "subcomponent"
+        )
+        {
+        }
+
+        over "floorlamp_8e654a483ffbf9f4755fd5c7d8f743b7_1_0_0" (
+            kind = "subcomponent"
+        )
+        {
+        }
+
+        over "tablelamp_b12c83cd7f80b740d7155dc3d3d80b2c_1_0_0" (
+            kind = "subcomponent"
+        )
+        {
+        }
+
+        over "remotecontrol_9e0a946ebd9862fe7ffbf14025fdf9f9_1_0_0" (
+            kind = "subcomponent"
+        )
+        {
+        }
+
+        over "pencil_04d685f59ba31abb2c3114e046a77deb_1_0_0" (
+            active = false
+            kind = "subcomponent"
+        )
+        {
+        }
+
+        over "pen_6868af7336df691a6aad3bad70b207dc_1_0_0" (
+            active = false
+            kind = "subcomponent"
+        )
+        {
+        }
+
+        over "chair_ae19c4fab4a513a60b5ce3c1ea49f205_2_0_0" (
+            active = false
+            kind = "subcomponent"
+        )
+        {
+        }
+
+        over "newspaper_6a6e2108eafb750ce630e6061b23bfa8_1_0_0" (
+            active = false
+            kind = "subcomponent"
+        )
+        {
+        }
+
+        over "tissuepaper_1f28299e6e99a63de7abb400051cb351_1_0_0" (
+            kind = "subcomponent"
+        )
+        {
+        }
+
+        over "plate_ad540817fe2632d8b49916da70118c0a_1_0_0" (
+            active = false
+            kind = "subcomponent"
+        )
+        {
+        }
+
+        over "chair_ae19c4fab4a513a60b5ce3c1ea49f205_3_0_0" (
+            active = false
+            kind = "subcomponent"
+        )
+        {
+        }
+
+        over "chair_ae19c4fab4a513a60b5ce3c1ea49f205_4_0_0" (
+            active = false
+            kind = "subcomponent"
+        )
+        {
+        }
+
+        over "chair_ae19c4fab4a513a60b5ce3c1ea49f205_5_0_0" (
+            active = false
+            kind = "subcomponent"
+        )
+        {
+        }
+
+        over "chair_ae19c4fab4a513a60b5ce3c1ea49f205_6_0_0" (
+            active = false
+            kind = "subcomponent"
+        )
+        {
+        }
+
+        over "diningtable_ccf909fdcb2bcd7c1441fe7740cecd0b_1_0_0" (
+            active = false
+            kind = "subcomponent"
+        )
+        {
+        }
+
+        over "armchair_16387a2ba3dbd32dcf6975d4aada3308_2_0_0" (
+            kind = "subcomponent"
+        )
+        {
+        }
+    }
+}
+

scenes/ithor/FloorPlan202_physics/Payload/Contents.usda

@@ -0,0 +1,37 @@
+#usda 1.0
+(
+    customLayerData = {
+        string creator = """AI2-THOR mjcf-usd scene converter
+    time: 01-20-26 16:35:09
+    scene: FloorPlan202_physics
+    usd-exchange-version: 2.2.0
+"""
+    }
+    defaultPrim = "FloorPlan202_physics"
+    kilogramsPerUnit = 1
+    metersPerUnit = 1
+    subLayers = [
+        @./Physics.usda@,
+        @./Geometry.usda@,
+        @./Materials.usda@
+    ]
+    upAxis = "Z"
+)
+
+def Xform "FloorPlan202_physics"
+{
+    def DistantLight "scene_dir_light"
+    {
+        float inputs:intensity = 1000
+        float xformOp:rotateX = -10
+        uniform token[] xformOpOrder = ["xformOp:rotateX"]
+    }
+
+    def DomeLight "scene_ibl_light"
+    {
+        color3f inputs:color = (1, 0.85301, 0.55212)
+        float inputs:exposure = 0
+        float inputs:intensity = 500
+    }
+}
+

scenes/ithor/FloorPlan202_physics/Payload/Materials.usda

@@ -0,0 +1,429 @@
+#usda 1.0
+(
+    customLayerData = {
+        string creator = """AI2-THOR mjcf-usd scene converter
+    time: 01-20-26 16:35:09
+    scene: FloorPlan202_physics
+    usd-exchange-version: 2.2.0
+"""
+    }
+    defaultPrim = "FloorPlan202_physics"
+    kilogramsPerUnit = 1
+    metersPerUnit = 1
+    upAxis = "Z"
+)
+
+def Xform "FloorPlan202_physics"
+{
+    def Scope "Materials"
+    {
+        def Material "material_BrownMetal_s" (
+            prepend references = @./MaterialsLibrary.usda@</Materials/material_BrownMetal_s>
+        )
+        {
+        }
+
+        def Material "material_GreyFloor" (
+            prepend references = @./MaterialsLibrary.usda@</Materials/material_GreyFloor>
+        )
+        {
+        }
+
+        def Material "material_Carpet4" (
+            prepend references = @./MaterialsLibrary.usda@</Materials/material_Carpet4>
+        )
+        {
+        }
+
+        def Material "material_Cream_wood" (
+            prepend references = @./MaterialsLibrary.usda@</Materials/material_Cream_wood>
+        )
+        {
+        }
+
+        def Material "tn__material_flowers21410_1280_rc0" (
+            prepend references = @./MaterialsLibrary.usda@</Materials/tn__material_flowers21410_1280_rc0>
+        )
+        {
+        }
+
+        def Material "material_Brass_Mat" (
+            prepend references = @./MaterialsLibrary.usda@</Materials/material_Brass_Mat>
+        )
+        {
+        }
+
+        def Material "tn__material_englishcountryvillagepainting_Zu0OW0" (
+            prepend references = @./MaterialsLibrary.usda@</Materials/tn__material_englishcountryvillagepainting_Zu0OW0>
+        )
+        {
+        }
+
+        def Material "material_BlackWood" (
+            prepend references = @./MaterialsLibrary.usda@</Materials/material_BlackWood>
+        )
+        {
+        }
+
+        def Material "material_CurtainLIT" (
+            prepend references = @./MaterialsLibrary.usda@</Materials/material_CurtainLIT>
+        )
+        {
+        }
+
+        def Material "material_CurtainSandy" (
+            prepend references = @./MaterialsLibrary.usda@</Materials/material_CurtainSandy>
+        )
+        {
+        }
+
+        def Material "material_Glass_Detailed_Lit_High_Mat" (
+            prepend references = @./MaterialsLibrary.usda@</Materials/material_Glass_Detailed_Lit_High_Mat>
+        )
+        {
+        }
+
+        def Material "material_Drywall3" (
+            prepend references = @./MaterialsLibrary.usda@</Materials/material_Drywall3>
+        )
+        {
+        }
+    }
+
+    over "Geometry"
+    {
+        over "door_39b047bd620d5b94addcf6b663f7ad56_1_1_0"
+        {
+            over "door_39b047bd620d5b94addcf6b663f7ad56_1_1_0_visual_0" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan202_physics/Materials/material_BrownMetal_s>
+            }
+        }
+
+        over "door_39b047bd620d5b94addcf6b663f7ad56_1_2_0"
+        {
+            over "door_39b047bd620d5b94addcf6b663f7ad56_1_2_0_visual_34" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan202_physics/Materials/material_GreyFloor>
+            }
+        }
+
+        over "mesh_6bccb8a287f0d641a75856d28c45cc50_1_1_0"
+        {
+            over "mesh_6bccb8a287f0d641a75856d28c45cc50_1_1_0_visual_0" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan202_physics/Materials/material_Carpet4>
+            }
+        }
+
+        over "tn__fp202base10_7af646068c66d4c8ca9d2ab5d83085aa_1_1_0_nW2"
+        {
+            over "tn__fp202base10_7af646068c66d4c8ca9d2ab5d83085aa_1_1_0_visual_0_in2" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan202_physics/Materials/material_Cream_wood>
+            }
+
+            over "tn__fp202base10_7af646068c66d4c8ca9d2ab5d83085aa_1_1_0_visual_1_in2" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan202_physics/Materials/tn__material_flowers21410_1280_rc0>
+            }
+
+            over "tn__fp202base10_7af646068c66d4c8ca9d2ab5d83085aa_1_1_0_visual_2_in2" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan202_physics/Materials/material_Brass_Mat>
+            }
+        }
+
+        over "tn__fp202base12_ecca60d0e75fbb2114439703780812b6_1_1_0_nW2"
+        {
+            over "tn__fp202base12_ecca60d0e75fbb2114439703780812b6_1_1_0_visual_0_in2" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan202_physics/Materials/material_Cream_wood>
+            }
+
+            over "tn__fp202base12_ecca60d0e75fbb2114439703780812b6_1_1_0_visual_1_in2" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan202_physics/Materials/tn__material_englishcountryvillagepainting_Zu0OW0>
+            }
+
+            over "tn__fp202base12_ecca60d0e75fbb2114439703780812b6_1_1_0_visual_2_in2" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan202_physics/Materials/material_BlackWood>
+            }
+        }
+
+        over "tn__fp202curtain1_f050c58c4d94ebdbb13f4511525eb137_1_1_0_fa2"
+        {
+            over "tn__fp202curtain1_f050c58c4d94ebdbb13f4511525eb137_1_1_0_visual_0_ar2" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan202_physics/Materials/material_CurtainLIT>
+            }
+        }
+
+        over "tn__fp202curtain12_de9ef5214bf7534651267ac1b8c2be30_1_1_0_bc2"
+        {
+            over "tn__fp202curtain12_de9ef5214bf7534651267ac1b8c2be30_1_1_0_visual_0_Wt2" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan202_physics/Materials/material_CurtainSandy>
+            }
+        }
+
+        over "tn__fp202curtain11_ef121dc44ebc87471f4f11def82b121c_1_1_0_bc2"
+        {
+            over "tn__fp202curtain11_ef121dc44ebc87471f4f11def82b121c_1_1_0_visual_0_Wt2" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan202_physics/Materials/material_CurtainSandy>
+            }
+        }
+
+        over "tn__fp202curtain1_461295057f4bc1e66ecb2a49f57fa6c1_1_1_0_fa2"
+        {
+            over "tn__fp202curtain1_461295057f4bc1e66ecb2a49f57fa6c1_1_1_0_visual_0_ar2" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan202_physics/Materials/material_CurtainLIT>
+            }
+        }
+
+        over "tn__fp202polysurface7_6758614d9bb8e87a219291254b6a05ad_1_1_0_uh2"
+        {
+            over "tn__fp202polysurface7_6758614d9bb8e87a219291254b6a05ad_1_1_0_visual_0_py2" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan202_physics/Materials/material_Cream_wood>
+            }
+        }
+
+        over "tn__fp202polysurface7_6758614d9bb8e87a219291254b6a05ad_1_2_0_uh2"
+        {
+            over "tn__fp202polysurface7_6758614d9bb8e87a219291254b6a05ad_1_2_0_visual_4_py2" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan202_physics/Materials/material_Glass_Detailed_Lit_High_Mat>
+            }
+        }
+
+        over "window_f694944c5a4e0efc9d4e2c251956ea08_1_1_0"
+        {
+            over "window_f694944c5a4e0efc9d4e2c251956ea08_1_1_0_visual_0" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan202_physics/Materials/material_Cream_wood>
+            }
+        }
+
+        over "window_f694944c5a4e0efc9d4e2c251956ea08_1_2_0"
+        {
+            over "window_f694944c5a4e0efc9d4e2c251956ea08_1_2_0_visual_4" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan202_physics/Materials/material_Glass_Detailed_Lit_High_Mat>
+            }
+        }
+
+        over "curtains_e45e158be2f8f5cc13c0310cd9e5b394_1_1_0"
+        {
+            over "curtains_e45e158be2f8f5cc13c0310cd9e5b394_1_1_0_visual_0" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan202_physics/Materials/material_CurtainLIT>
+            }
+        }
+
+        over "curtains_e45e158be2f8f5cc13c0310cd9e5b394_1_2_0"
+        {
+            over "curtains_e45e158be2f8f5cc13c0310cd9e5b394_1_2_0_visual_2" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan202_physics/Materials/material_CurtainSandy>
+            }
+        }
+
+        over "curtains_e45e158be2f8f5cc13c0310cd9e5b394_1_3_0"
+        {
+            over "curtains_e45e158be2f8f5cc13c0310cd9e5b394_1_3_0_visual_5" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan202_physics/Materials/material_CurtainLIT>
+            }
+        }
+
+        over "curtains_e45e158be2f8f5cc13c0310cd9e5b394_1_4_0"
+        {
+            over "curtains_e45e158be2f8f5cc13c0310cd9e5b394_1_4_0_visual_8" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan202_physics/Materials/material_CurtainSandy>
+            }
+        }
+
+        over "painting_ead5472014a811399c8292e28d728496_1_1_0"
+        {
+            over "painting_ead5472014a811399c8292e28d728496_1_1_0_visual_0" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan202_physics/Materials/material_Cream_wood>
+            }
+
+            over "painting_ead5472014a811399c8292e28d728496_1_1_0_visual_1" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan202_physics/Materials/tn__material_englishcountryvillagepainting_Zu0OW0>
+            }
+
+            over "painting_ead5472014a811399c8292e28d728496_1_1_0_visual_2" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan202_physics/Materials/material_BlackWood>
+            }
+        }
+
+        over "painting_71caab942d44a5f2956446f3022c8414_1_1_0"
+        {
+            over "painting_71caab942d44a5f2956446f3022c8414_1_1_0_visual_0" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan202_physics/Materials/material_Cream_wood>
+            }
+
+            over "painting_71caab942d44a5f2956446f3022c8414_1_1_0_visual_1" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan202_physics/Materials/tn__material_flowers21410_1280_rc0>
+            }
+
+            over "painting_71caab942d44a5f2956446f3022c8414_1_1_0_visual_2" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan202_physics/Materials/material_Brass_Mat>
+            }
+        }
+
+        over "floor_4a637be6e528464ccf52503359945a02_1_1_0"
+        {
+            over "floor_4a637be6e528464ccf52503359945a02_1_1_0_visual_0" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan202_physics/Materials/material_Carpet4>
+            }
+        }
+
+        over "ceiling_abfec5579de6bb30597e92402a0650cc_1_1_0"
+        {
+            over "ceiling_abfec5579de6bb30597e92402a0650cc_1_1_0_visual_0" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan202_physics/Materials/material_Drywall3>
+            }
+        }
+
+        over "walls_dcd231b82c0f5045f07c36c28c78d7cc_1_1_0"
+        {
+            over "walls_dcd231b82c0f5045f07c36c28c78d7cc_1_1_0_visual_0" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan202_physics/Materials/material_Drywall3>
+            }
+        }
+
+        over "tn__fp202polysurface1_e6a6b236b07b85aad48da40beda6ef34_1_1_0_uh2"
+        {
+            over "tn__fp202polysurface1_e6a6b236b07b85aad48da40beda6ef34_1_1_0_visual_0_py2" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan202_physics/Materials/material_Cream_wood>
+            }
+        }
+
+        over "tn__fp202polysurface1_e6a6b236b07b85aad48da40beda6ef34_1_2_0_uh2"
+        {
+            over "tn__fp202polysurface1_e6a6b236b07b85aad48da40beda6ef34_1_2_0_visual_41_lV3" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan202_physics/Materials/material_GreyFloor>
+            }
+        }
+
+        over "tn__fp202polysurface1_e6a6b236b07b85aad48da40beda6ef34_1_3_0_uh2"
+        {
+            over "tn__fp202polysurface1_e6a6b236b07b85aad48da40beda6ef34_1_3_0_visual_76_lV3" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan202_physics/Materials/material_BrownMetal_s>
+            }
+        }
+
+        over "tn__fp202polysurface2_e3a6cf0ae60e52dab3e09cfd78284100_1_1_0_uh2"
+        {
+            over "tn__fp202polysurface2_e3a6cf0ae60e52dab3e09cfd78284100_1_1_0_visual_0_py2" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan202_physics/Materials/material_Cream_wood>
+            }
+        }
+
+        over "tn__fp202sphere_731b040796ae375e27468c40a6fba73d_1_1_0_nW2"
+        {
+            over "tn__fp202sphere_731b040796ae375e27468c40a6fba73d_1_1_0_visual_0_in2" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan202_physics/Materials/material_BrownMetal_s>
+            }
+
+            over "tn__fp202sphere_731b040796ae375e27468c40a6fba73d_1_1_0_visual_1_in2" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan202_physics/Materials/material_Glass_Detailed_Lit_High_Mat>
+            }
+        }
+    }
+}
+

scenes/ithor/FloorPlan202_physics/Payload/MaterialsLibrary.usda

@@ -0,0 +1,363 @@
+#usda 1.0
+(
+    "Material library for house FloorPlan202_physics"
+    customLayerData = {
+        string creator = """AI2-THOR mjcf-usd scene converter
+    time: 01-20-26 16:35:09
+    scene: FloorPlan202_physics
+    usd-exchange-version: 2.2.0
+"""
+    }
+    defaultPrim = "Materials"
+    kilogramsPerUnit = 1
+    metersPerUnit = 1
+    upAxis = "Z"
+)
+
+class Scope "Materials"
+{
+    def Material "material_BrownMetal_s"
+    {
+        token outputs:displacement.connect = </Materials/material_BrownMetal_s/PreviewSurface.outputs:displacement>
+        token outputs:surface.connect = </Materials/material_BrownMetal_s/PreviewSurface.outputs:surface>
+
+        def Shader "PreviewSurface"
+        {
+            uniform token info:id = "UsdPreviewSurface"
+            color3f inputs:diffuseColor = (0.254902, 0.121569, 0.0352941)
+            float inputs:metallic = 0
+            float inputs:opacity = 1
+            float inputs:roughness = 0.5
+            token outputs:displacement
+            token outputs:surface
+        }
+    }
+
+    def Material "material_GreyFloor"
+    {
+        token outputs:displacement.connect = </Materials/material_GreyFloor/PreviewSurface.outputs:displacement>
+        token outputs:surface.connect = </Materials/material_GreyFloor/PreviewSurface.outputs:surface>
+
+        def Shader "PreviewSurface"
+        {
+            uniform token info:id = "UsdPreviewSurface"
+            color3f inputs:diffuseColor = (0.577358, 0.580882, 0.49973)
+            float inputs:metallic = 0
+            float inputs:opacity = 1
+            float inputs:roughness = 0.5
+            token outputs:displacement
+            token outputs:surface
+        }
+    }
+
+    def Material "material_Carpet4"
+    {
+        token outputs:displacement.connect = </Materials/material_Carpet4/PreviewSurface.outputs:displacement>
+        token outputs:surface.connect = </Materials/material_Carpet4/PreviewSurface.outputs:surface>
+
+        def Shader "PreviewSurface"
+        {
+            uniform token info:id = "UsdPreviewSurface"
+            color3f inputs:diffuseColor.connect = </Materials/material_Carpet4/DiffuseTexture.outputs:rgb>
+            float inputs:metallic = 0
+            float inputs:opacity = 1
+            float inputs:roughness = 0.5
+            token outputs:displacement
+            token outputs:surface
+        }
+
+        def Shader "DiffuseTexture"
+        {
+            uniform token info:id = "UsdUVTexture"
+            float4 inputs:fallback = (0.151384, 0.192165, 0.294118, 1)
+            asset inputs:file = @./Textures/Carpet2.png@
+            float4 inputs:scale = (0.151384, 0.192165, 0.294118, 1)
+            token inputs:sourceColorSpace = "auto"
+            float2 inputs:st.connect = </Materials/material_Carpet4/Primvar_st_float2.outputs:result>
+            token inputs:wrapS = "repeat"
+            token inputs:wrapT = "repeat"
+            float3 outputs:rgb
+        }
+
+        def Shader "Primvar_st_float2"
+        {
+            uniform token info:id = "UsdPrimvarReader_float2"
+            string inputs:varname = "st"
+            float2 outputs:result
+        }
+    }
+
+    def Material "material_Cream_wood"
+    {
+        token outputs:displacement.connect = </Materials/material_Cream_wood/PreviewSurface.outputs:displacement>
+        token outputs:surface.connect = </Materials/material_Cream_wood/PreviewSurface.outputs:surface>
+
+        def Shader "PreviewSurface"
+        {
+            uniform token info:id = "UsdPreviewSurface"
+            color3f inputs:diffuseColor.connect = </Materials/material_Cream_wood/DiffuseTexture.outputs:rgb>
+            float inputs:metallic = 0
+            float inputs:opacity = 1
+            float inputs:roughness = 0.5
+            token outputs:displacement
+            token outputs:surface
+        }
+
+        def Shader "DiffuseTexture"
+        {
+            uniform token info:id = "UsdUVTexture"
+            float4 inputs:fallback = (1, 0.977941, 0.977941, 1)
+            asset inputs:file = @./Textures/HammeredMetal_MetallicSmoothness.png@
+            float4 inputs:scale = (1, 0.977941, 0.977941, 1)
+            token inputs:sourceColorSpace = "auto"
+            float2 inputs:st.connect = </Materials/material_Cream_wood/Primvar_st_float2.outputs:result>
+            token inputs:wrapS = "repeat"
+            token inputs:wrapT = "repeat"
+            float3 outputs:rgb
+        }
+
+        def Shader "Primvar_st_float2"
+        {
+            uniform token info:id = "UsdPrimvarReader_float2"
+            string inputs:varname = "st"
+            float2 outputs:result
+        }
+    }
+
+    def Material "tn__material_flowers21410_1280_rc0"
+    {
+        token outputs:displacement.connect = </Materials/tn__material_flowers21410_1280_rc0/PreviewSurface.outputs:displacement>
+        token outputs:surface.connect = </Materials/tn__material_flowers21410_1280_rc0/PreviewSurface.outputs:surface>
+
+        def Shader "PreviewSurface"
+        {
+            uniform token info:id = "UsdPreviewSurface"
+            color3f inputs:diffuseColor.connect = </Materials/tn__material_flowers21410_1280_rc0/DiffuseTexture.outputs:rgb>
+            float inputs:metallic = 0
+            float inputs:opacity = 1
+            float inputs:roughness = 0.5
+            token outputs:displacement
+            token outputs:surface
+        }
+
+        def Shader "DiffuseTexture"
+        {
+            uniform token info:id = "UsdUVTexture"
+            float4 inputs:fallback = (1, 1, 1, 1)
+            asset inputs:file = @./Textures/flowers-21410_1280.png@
+            float4 inputs:scale = (1, 1, 1, 1)
+            token inputs:sourceColorSpace = "auto"
+            float2 inputs:st.connect = </Materials/tn__material_flowers21410_1280_rc0/Primvar_st_float2.outputs:result>
+            token inputs:wrapS = "repeat"
+            token inputs:wrapT = "repeat"
+            float3 outputs:rgb
+        }
+
+        def Shader "Primvar_st_float2"
+        {
+            uniform token info:id = "UsdPrimvarReader_float2"
+            string inputs:varname = "st"
+            float2 outputs:result
+        }
+    }
+
+    def Material "material_Brass_Mat"
+    {
+        token outputs:displacement.connect = </Materials/material_Brass_Mat/PreviewSurface.outputs:displacement>
+        token outputs:surface.connect = </Materials/material_Brass_Mat/PreviewSurface.outputs:surface>
+
+        def Shader "PreviewSurface"
+        {
+            uniform token info:id = "UsdPreviewSurface"
+            color3f inputs:diffuseColor = (0.757353, 0.639065, 0.144788)
+            float inputs:metallic = 0
+            float inputs:opacity = 1
+            float inputs:roughness = 0.5
+            token outputs:displacement
+            token outputs:surface
+        }
+    }
+
+    def Material "tn__material_englishcountryvillagepainting_Zu0OW0"
+    {
+        token outputs:displacement.connect = </Materials/tn__material_englishcountryvillagepainting_Zu0OW0/PreviewSurface.outputs:displacement>
+        token outputs:surface.connect = </Materials/tn__material_englishcountryvillagepainting_Zu0OW0/PreviewSurface.outputs:surface>
+
+        def Shader "PreviewSurface"
+        {
+            uniform token info:id = "UsdPreviewSurface"
+            color3f inputs:diffuseColor.connect = </Materials/tn__material_englishcountryvillagepainting_Zu0OW0/DiffuseTexture.outputs:rgb>
+            float inputs:metallic = 0
+            float inputs:opacity = 1
+            float inputs:roughness = 0.5
+            token outputs:displacement
+            token outputs:surface
+        }
+
+        def Shader "DiffuseTexture"
+        {
+            uniform token info:id = "UsdUVTexture"
+            float4 inputs:fallback = (1, 1, 1, 1)
+            asset inputs:file = @./Textures/english-country-village-painting.png@
+            float4 inputs:scale = (1, 1, 1, 1)
+            token inputs:sourceColorSpace = "auto"
+            float2 inputs:st.connect = </Materials/tn__material_englishcountryvillagepainting_Zu0OW0/Primvar_st_float2.outputs:result>
+            token inputs:wrapS = "repeat"
+            token inputs:wrapT = "repeat"
+            float3 outputs:rgb
+        }
+
+        def Shader "Primvar_st_float2"
+        {
+            uniform token info:id = "UsdPrimvarReader_float2"
+            string inputs:varname = "st"
+            float2 outputs:result
+        }
+    }
+
+    def Material "material_BlackWood"
+    {
+        token outputs:displacement.connect = </Materials/material_BlackWood/PreviewSurface.outputs:displacement>
+        token outputs:surface.connect = </Materials/material_BlackWood/PreviewSurface.outputs:surface>
+
+        def Shader "PreviewSurface"
+        {
+            uniform token info:id = "UsdPreviewSurface"
+            color3f inputs:diffuseColor = (0.147059, 0.147059, 0.147059)
+            float inputs:metallic = 0
+            float inputs:opacity = 1
+            float inputs:roughness = 0.5
+            token outputs:displacement
+            token outputs:surface
+        }
+    }
+
+    def Material "material_CurtainLIT"
+    {
+        token outputs:displacement.connect = </Materials/material_CurtainLIT/PreviewSurface.outputs:displacement>
+        token outputs:surface.connect = </Materials/material_CurtainLIT/PreviewSurface.outputs:surface>
+
+        def Shader "PreviewSurface"
+        {
+            uniform token info:id = "UsdPreviewSurface"
+            color3f inputs:diffuseColor.connect = </Materials/material_CurtainLIT/DiffuseTexture.outputs:rgb>
+            float inputs:metallic = 0
+            float inputs:opacity = 1
+            float inputs:roughness = 0.5
+            token outputs:displacement
+            token outputs:surface
+        }
+
+        def Shader "DiffuseTexture"
+        {
+            uniform token info:id = "UsdUVTexture"
+            float4 inputs:fallback = (1, 1, 1, 1)
+            asset inputs:file = @./Textures/CurtainAO.png@
+            float4 inputs:scale = (1, 1, 1, 1)
+            token inputs:sourceColorSpace = "auto"
+            float2 inputs:st.connect = </Materials/material_CurtainLIT/Primvar_st_float2.outputs:result>
+            token inputs:wrapS = "repeat"
+            token inputs:wrapT = "repeat"
+            float3 outputs:rgb
+        }
+
+        def Shader "Primvar_st_float2"
+        {
+            uniform token info:id = "UsdPrimvarReader_float2"
+            string inputs:varname = "st"
+            float2 outputs:result
+        }
+    }
+
+    def Material "material_CurtainSandy"
+    {
+        token outputs:displacement.connect = </Materials/material_CurtainSandy/PreviewSurface.outputs:displacement>
+        token outputs:surface.connect = </Materials/material_CurtainSandy/PreviewSurface.outputs:surface>
+
+        def Shader "PreviewSurface"
+        {
+            uniform token info:id = "UsdPreviewSurface"
+            color3f inputs:diffuseColor.connect = </Materials/material_CurtainSandy/DiffuseTexture.outputs:rgb>
+            float inputs:metallic = 0
+            float inputs:opacity = 1
+            float inputs:roughness = 0.5
+            token outputs:displacement
+            token outputs:surface
+        }
+
+        def Shader "DiffuseTexture"
+        {
+            uniform token info:id = "UsdUVTexture"
+            float4 inputs:fallback = (1, 0.797335, 0.536765, 1)
+            asset inputs:file = @./Textures/CurtainAO.png@
+            float4 inputs:scale = (1, 0.797335, 0.536765, 1)
+            token inputs:sourceColorSpace = "auto"
+            float2 inputs:st.connect = </Materials/material_CurtainSandy/Primvar_st_float2.outputs:result>
+            token inputs:wrapS = "repeat"
+            token inputs:wrapT = "repeat"
+            float3 outputs:rgb
+        }
+
+        def Shader "Primvar_st_float2"
+        {
+            uniform token info:id = "UsdPrimvarReader_float2"
+            string inputs:varname = "st"
+            float2 outputs:result
+        }
+    }
+
+    def Material "material_Glass_Detailed_Lit_High_Mat"
+    {
+        token outputs:displacement.connect = </Materials/material_Glass_Detailed_Lit_High_Mat/PreviewSurface.outputs:displacement>
+        token outputs:surface.connect = </Materials/material_Glass_Detailed_Lit_High_Mat/PreviewSurface.outputs:surface>
+
+        def Shader "PreviewSurface"
+        {
+            uniform token info:id = "UsdPreviewSurface"
+            color3f inputs:diffuseColor = (1, 1, 1)
+            float inputs:metallic = 0
+            float inputs:opacity = 1
+            float inputs:roughness = 0.5
+            token outputs:displacement
+            token outputs:surface
+        }
+    }
+
+    def Material "material_Drywall3"
+    {
+        token outputs:displacement.connect = </Materials/material_Drywall3/PreviewSurface.outputs:displacement>
+        token outputs:surface.connect = </Materials/material_Drywall3/PreviewSurface.outputs:surface>
+
+        def Shader "PreviewSurface"
+        {
+            uniform token info:id = "UsdPreviewSurface"
+            color3f inputs:diffuseColor.connect = </Materials/material_Drywall3/DiffuseTexture.outputs:rgb>
+            float inputs:metallic = 0
+            float inputs:opacity = 1
+            float inputs:roughness = 0.5
+            token outputs:displacement
+            token outputs:surface
+        }
+
+        def Shader "DiffuseTexture"
+        {
+            uniform token info:id = "UsdUVTexture"
+            float4 inputs:fallback = (1, 1, 1, 1)
+            asset inputs:file = @./Textures/WallDrywallWhite.png@
+            float4 inputs:scale = (1, 1, 1, 1)
+            token inputs:sourceColorSpace = "auto"
+            float2 inputs:st.connect = </Materials/material_Drywall3/Primvar_st_float2.outputs:result>
+            token inputs:wrapS = "repeat"
+            token inputs:wrapT = "repeat"
+            float3 outputs:rgb
+        }
+
+        def Shader "Primvar_st_float2"
+        {
+            uniform token info:id = "UsdPrimvarReader_float2"
+            string inputs:varname = "st"
+            float2 outputs:result
+        }
+    }
+}
+

scenes/ithor/FloorPlan202_physics/Payload/Physics.usda

@@ -0,0 +1,1730 @@
+#usda 1.0
+(
+    customLayerData = {
+        string creator = """AI2-THOR mjcf-usd scene converter
+    time: 01-20-26 16:35:09
+    scene: FloorPlan202_physics
+    usd-exchange-version: 2.2.0
+"""
+    }
+    defaultPrim = "FloorPlan202_physics"
+    kilogramsPerUnit = 1
+    metersPerUnit = 1
+    upAxis = "Z"
+)
+
+def Xform "FloorPlan202_physics"
+{
+    def Scope "Physics"
+    {
+    }
+
+    over "Geometry"
+    {
+        over "door_39b047bd620d5b94addcf6b663f7ad56_1_0_0"
+        {
+        }
+
+        over "door_39b047bd620d5b94addcf6b663f7ad56_1_1_0"
+        {
+            over "door_39b047bd620d5b94addcf6b663f7ad56_1_1_0_collision_1" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "door_39b047bd620d5b94addcf6b663f7ad56_1_1_0_collision_2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "door_39b047bd620d5b94addcf6b663f7ad56_1_1_0_collision_3" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "door_39b047bd620d5b94addcf6b663f7ad56_1_1_0_collision_4" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "door_39b047bd620d5b94addcf6b663f7ad56_1_1_0_collision_5" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "door_39b047bd620d5b94addcf6b663f7ad56_1_1_0_collision_6" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "door_39b047bd620d5b94addcf6b663f7ad56_1_1_0_collision_7" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "door_39b047bd620d5b94addcf6b663f7ad56_1_1_0_collision_8" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "door_39b047bd620d5b94addcf6b663f7ad56_1_1_0_collision_9" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "door_39b047bd620d5b94addcf6b663f7ad56_1_1_0_collision_10" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "door_39b047bd620d5b94addcf6b663f7ad56_1_1_0_collision_11" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "door_39b047bd620d5b94addcf6b663f7ad56_1_1_0_collision_12" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "door_39b047bd620d5b94addcf6b663f7ad56_1_1_0_collision_13" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "door_39b047bd620d5b94addcf6b663f7ad56_1_1_0_collision_14" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "door_39b047bd620d5b94addcf6b663f7ad56_1_1_0_collision_15" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "door_39b047bd620d5b94addcf6b663f7ad56_1_1_0_collision_16" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "door_39b047bd620d5b94addcf6b663f7ad56_1_1_0_collision_17" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "door_39b047bd620d5b94addcf6b663f7ad56_1_1_0_collision_18" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "door_39b047bd620d5b94addcf6b663f7ad56_1_1_0_collision_19" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "door_39b047bd620d5b94addcf6b663f7ad56_1_1_0_collision_20" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "door_39b047bd620d5b94addcf6b663f7ad56_1_1_0_collision_21" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "door_39b047bd620d5b94addcf6b663f7ad56_1_1_0_collision_22" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "door_39b047bd620d5b94addcf6b663f7ad56_1_1_0_collision_23" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "door_39b047bd620d5b94addcf6b663f7ad56_1_1_0_collision_24" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "door_39b047bd620d5b94addcf6b663f7ad56_1_1_0_collision_25" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "door_39b047bd620d5b94addcf6b663f7ad56_1_1_0_collision_26" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "door_39b047bd620d5b94addcf6b663f7ad56_1_1_0_collision_27" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "door_39b047bd620d5b94addcf6b663f7ad56_1_1_0_collision_28" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "door_39b047bd620d5b94addcf6b663f7ad56_1_1_0_collision_29" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "door_39b047bd620d5b94addcf6b663f7ad56_1_1_0_collision_30" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "door_39b047bd620d5b94addcf6b663f7ad56_1_1_0_collision_31" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "door_39b047bd620d5b94addcf6b663f7ad56_1_1_0_collision_32" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "door_39b047bd620d5b94addcf6b663f7ad56_1_1_0_collision_33" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+        }
+
+        over "door_39b047bd620d5b94addcf6b663f7ad56_1_2_0"
+        {
+            over "door_39b047bd620d5b94addcf6b663f7ad56_1_2_0_collision_35" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "door_39b047bd620d5b94addcf6b663f7ad56_1_2_0_collision_36" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "door_39b047bd620d5b94addcf6b663f7ad56_1_2_0_collision_37" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "door_39b047bd620d5b94addcf6b663f7ad56_1_2_0_collision_38" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "door_39b047bd620d5b94addcf6b663f7ad56_1_2_0_collision_39" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "door_39b047bd620d5b94addcf6b663f7ad56_1_2_0_collision_40" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "door_39b047bd620d5b94addcf6b663f7ad56_1_2_0_collision_41" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "door_39b047bd620d5b94addcf6b663f7ad56_1_2_0_collision_42" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "door_39b047bd620d5b94addcf6b663f7ad56_1_2_0_collision_43" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "door_39b047bd620d5b94addcf6b663f7ad56_1_2_0_collision_44" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "door_39b047bd620d5b94addcf6b663f7ad56_1_2_0_collision_45" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "door_39b047bd620d5b94addcf6b663f7ad56_1_2_0_collision_46" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "door_39b047bd620d5b94addcf6b663f7ad56_1_2_0_collision_47" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "door_39b047bd620d5b94addcf6b663f7ad56_1_2_0_collision_48" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "door_39b047bd620d5b94addcf6b663f7ad56_1_2_0_collision_49" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "door_39b047bd620d5b94addcf6b663f7ad56_1_2_0_collision_50" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "door_39b047bd620d5b94addcf6b663f7ad56_1_2_0_collision_51" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "door_39b047bd620d5b94addcf6b663f7ad56_1_2_0_collision_52" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "door_39b047bd620d5b94addcf6b663f7ad56_1_2_0_collision_53" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "door_39b047bd620d5b94addcf6b663f7ad56_1_2_0_collision_54" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "door_39b047bd620d5b94addcf6b663f7ad56_1_2_0_collision_55" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "door_39b047bd620d5b94addcf6b663f7ad56_1_2_0_collision_56" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "door_39b047bd620d5b94addcf6b663f7ad56_1_2_0_collision_57" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "door_39b047bd620d5b94addcf6b663f7ad56_1_2_0_collision_58" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "door_39b047bd620d5b94addcf6b663f7ad56_1_2_0_collision_59" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "door_39b047bd620d5b94addcf6b663f7ad56_1_2_0_collision_60" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "door_39b047bd620d5b94addcf6b663f7ad56_1_2_0_collision_61" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "door_39b047bd620d5b94addcf6b663f7ad56_1_2_0_collision_62" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "door_39b047bd620d5b94addcf6b663f7ad56_1_2_0_collision_63" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "door_39b047bd620d5b94addcf6b663f7ad56_1_2_0_collision_64" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "door_39b047bd620d5b94addcf6b663f7ad56_1_2_0_collision_65" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "door_39b047bd620d5b94addcf6b663f7ad56_1_2_0_collision_66" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "door_39b047bd620d5b94addcf6b663f7ad56_1_2_0_collision_67" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "door_39b047bd620d5b94addcf6b663f7ad56_1_2_0_collision_68" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+        }
+
+        over "mesh_6bccb8a287f0d641a75856d28c45cc50_1_0_0"
+        {
+        }
+
+        over "mesh_6bccb8a287f0d641a75856d28c45cc50_1_1_0"
+        {
+        }
+
+        over "tn__fp202base10_7af646068c66d4c8ca9d2ab5d83085aa_1_0_0_nW2"
+        {
+        }
+
+        over "tn__fp202base10_7af646068c66d4c8ca9d2ab5d83085aa_1_1_0_nW2"
+        {
+            over "tn__fp202base10_7af646068c66d4c8ca9d2ab5d83085aa_1_1_0_collision_3_Wt2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+        }
+
+        over "tn__fp202base12_ecca60d0e75fbb2114439703780812b6_1_0_0_nW2"
+        {
+        }
+
+        over "tn__fp202base12_ecca60d0e75fbb2114439703780812b6_1_1_0_nW2"
+        {
+            over "tn__fp202base12_ecca60d0e75fbb2114439703780812b6_1_1_0_collision_3_Wt2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+        }
+
+        over "tn__fp202curtain1_f050c58c4d94ebdbb13f4511525eb137_1_0_0_fa2"
+        {
+        }
+
+        over "tn__fp202curtain1_f050c58c4d94ebdbb13f4511525eb137_1_1_0_fa2"
+        {
+            over "tn__fp202curtain1_f050c58c4d94ebdbb13f4511525eb137_1_1_0_collision_1_tw2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+        }
+
+        over "tn__fp202curtain12_de9ef5214bf7534651267ac1b8c2be30_1_0_0_bc2"
+        {
+        }
+
+        over "tn__fp202curtain12_de9ef5214bf7534651267ac1b8c2be30_1_1_0_bc2"
+        {
+            over "tn__fp202curtain12_de9ef5214bf7534651267ac1b8c2be30_1_1_0_collision_1_py2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp202curtain12_de9ef5214bf7534651267ac1b8c2be30_1_1_0_collision_2_py2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+        }
+
+        over "tn__fp202curtain11_ef121dc44ebc87471f4f11def82b121c_1_0_0_bc2"
+        {
+        }
+
+        over "tn__fp202curtain11_ef121dc44ebc87471f4f11def82b121c_1_1_0_bc2"
+        {
+            over "tn__fp202curtain11_ef121dc44ebc87471f4f11def82b121c_1_1_0_collision_1_py2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp202curtain11_ef121dc44ebc87471f4f11def82b121c_1_1_0_collision_2_py2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+        }
+
+        over "tn__fp202curtain1_461295057f4bc1e66ecb2a49f57fa6c1_1_0_0_fa2"
+        {
+        }
+
+        over "tn__fp202curtain1_461295057f4bc1e66ecb2a49f57fa6c1_1_1_0_fa2"
+        {
+            over "tn__fp202curtain1_461295057f4bc1e66ecb2a49f57fa6c1_1_1_0_collision_1_tw2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp202curtain1_461295057f4bc1e66ecb2a49f57fa6c1_1_1_0_collision_2_tw2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+        }
+
+        over "tn__quaddecalspawnplane2_52a86a90f1a582e5c6c5c6be273999bf_1_0_0_Wk1p1"
+        {
+        }
+
+        over "tn__quaddecalspawnplane1_5daacc556561d7c96d6cc680e6e75635_1_0_0_Wk1p1"
+        {
+        }
+
+        over "quaddecalspawnplane_bc99b2245879affd11b9e3d7d2712dc9_1_0_0"
+        {
+        }
+
+        over "tn__fp202polysurface7_6758614d9bb8e87a219291254b6a05ad_1_0_0_uh2"
+        {
+        }
+
+        over "tn__fp202polysurface7_6758614d9bb8e87a219291254b6a05ad_1_1_0_uh2"
+        {
+            over "tn__fp202polysurface7_6758614d9bb8e87a219291254b6a05ad_1_1_0_collision_1_dZ3" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp202polysurface7_6758614d9bb8e87a219291254b6a05ad_1_1_0_collision_2_dZ3" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp202polysurface7_6758614d9bb8e87a219291254b6a05ad_1_1_0_collision_3_dZ3" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+        }
+
+        over "tn__fp202polysurface7_6758614d9bb8e87a219291254b6a05ad_1_2_0_uh2"
+        {
+        }
+
+        over "window_f694944c5a4e0efc9d4e2c251956ea08_1_0_0"
+        {
+        }
+
+        over "window_f694944c5a4e0efc9d4e2c251956ea08_1_1_0"
+        {
+            over "window_f694944c5a4e0efc9d4e2c251956ea08_1_1_0_collision_1" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "window_f694944c5a4e0efc9d4e2c251956ea08_1_1_0_collision_2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "window_f694944c5a4e0efc9d4e2c251956ea08_1_1_0_collision_3" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+        }
+
+        over "window_f694944c5a4e0efc9d4e2c251956ea08_1_2_0"
+        {
+        }
+
+        over "curtains_e45e158be2f8f5cc13c0310cd9e5b394_1_0_0"
+        {
+        }
+
+        over "curtains_e45e158be2f8f5cc13c0310cd9e5b394_1_1_0"
+        {
+            over "curtains_e45e158be2f8f5cc13c0310cd9e5b394_1_1_0_collision_1" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+        }
+
+        over "curtains_e45e158be2f8f5cc13c0310cd9e5b394_1_2_0"
+        {
+            over "curtains_e45e158be2f8f5cc13c0310cd9e5b394_1_2_0_collision_3" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "curtains_e45e158be2f8f5cc13c0310cd9e5b394_1_2_0_collision_4" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+        }
+
+        over "curtains_e45e158be2f8f5cc13c0310cd9e5b394_1_3_0"
+        {
+            over "curtains_e45e158be2f8f5cc13c0310cd9e5b394_1_3_0_collision_6" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "curtains_e45e158be2f8f5cc13c0310cd9e5b394_1_3_0_collision_7" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+        }
+
+        over "curtains_e45e158be2f8f5cc13c0310cd9e5b394_1_4_0"
+        {
+            over "curtains_e45e158be2f8f5cc13c0310cd9e5b394_1_4_0_collision_9" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "curtains_e45e158be2f8f5cc13c0310cd9e5b394_1_4_0_collision_10" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+        }
+
+        over "painting_ead5472014a811399c8292e28d728496_1_0_0"
+        {
+        }
+
+        over "painting_ead5472014a811399c8292e28d728496_1_1_0"
+        {
+            over "painting_ead5472014a811399c8292e28d728496_1_1_0_collision_3" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+        }
+
+        over "painting_71caab942d44a5f2956446f3022c8414_1_0_0"
+        {
+        }
+
+        over "painting_71caab942d44a5f2956446f3022c8414_1_1_0"
+        {
+            over "painting_71caab942d44a5f2956446f3022c8414_1_1_0_collision_3" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+        }
+
+        over "floor_4a637be6e528464ccf52503359945a02_1_0_0"
+        {
+        }
+
+        over "floor_4a637be6e528464ccf52503359945a02_1_1_0"
+        {
+        }
+
+        over "ceiling_abfec5579de6bb30597e92402a0650cc_1_0_0"
+        {
+        }
+
+        over "ceiling_abfec5579de6bb30597e92402a0650cc_1_1_0"
+        {
+            over "ceiling_abfec5579de6bb30597e92402a0650cc_1_1_0_collision_1" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+        }
+
+        over "walls_dcd231b82c0f5045f07c36c28c78d7cc_1_0_0"
+        {
+        }
+
+        over "walls_dcd231b82c0f5045f07c36c28c78d7cc_1_1_0"
+        {
+            over "walls_dcd231b82c0f5045f07c36c28c78d7cc_1_1_0_collision_1" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "walls_dcd231b82c0f5045f07c36c28c78d7cc_1_1_0_collision_2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "walls_dcd231b82c0f5045f07c36c28c78d7cc_1_1_0_collision_3" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "walls_dcd231b82c0f5045f07c36c28c78d7cc_1_1_0_collision_4" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "walls_dcd231b82c0f5045f07c36c28c78d7cc_1_1_0_collision_5" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "walls_dcd231b82c0f5045f07c36c28c78d7cc_1_1_0_collision_6" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "walls_dcd231b82c0f5045f07c36c28c78d7cc_1_1_0_collision_7" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "walls_dcd231b82c0f5045f07c36c28c78d7cc_1_1_0_collision_8" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "walls_dcd231b82c0f5045f07c36c28c78d7cc_1_1_0_collision_9" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+        }
+
+        over "tn__fp202polysurface1_e6a6b236b07b85aad48da40beda6ef34_1_0_0_uh2"
+        {
+        }
+
+        over "tn__fp202polysurface1_e6a6b236b07b85aad48da40beda6ef34_1_1_0_uh2"
+        {
+            over "tn__fp202polysurface1_e6a6b236b07b85aad48da40beda6ef34_1_1_0_collision_1_dZ3" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp202polysurface1_e6a6b236b07b85aad48da40beda6ef34_1_1_0_collision_2_dZ3" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp202polysurface1_e6a6b236b07b85aad48da40beda6ef34_1_1_0_collision_3_dZ3" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp202polysurface1_e6a6b236b07b85aad48da40beda6ef34_1_1_0_collision_4_dZ3" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp202polysurface1_e6a6b236b07b85aad48da40beda6ef34_1_1_0_collision_5_dZ3" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp202polysurface1_e6a6b236b07b85aad48da40beda6ef34_1_1_0_collision_6_dZ3" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp202polysurface1_e6a6b236b07b85aad48da40beda6ef34_1_1_0_collision_7_dZ3" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp202polysurface1_e6a6b236b07b85aad48da40beda6ef34_1_1_0_collision_8_dZ3" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp202polysurface1_e6a6b236b07b85aad48da40beda6ef34_1_1_0_collision_9_dZ3" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp202polysurface1_e6a6b236b07b85aad48da40beda6ef34_1_1_0_collision_10_Zb3" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp202polysurface1_e6a6b236b07b85aad48da40beda6ef34_1_1_0_collision_11_Zb3" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp202polysurface1_e6a6b236b07b85aad48da40beda6ef34_1_1_0_collision_12_Zb3" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp202polysurface1_e6a6b236b07b85aad48da40beda6ef34_1_1_0_collision_13_Zb3" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp202polysurface1_e6a6b236b07b85aad48da40beda6ef34_1_1_0_collision_14_Zb3" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp202polysurface1_e6a6b236b07b85aad48da40beda6ef34_1_1_0_collision_15_Zb3" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp202polysurface1_e6a6b236b07b85aad48da40beda6ef34_1_1_0_collision_16_Zb3" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp202polysurface1_e6a6b236b07b85aad48da40beda6ef34_1_1_0_collision_17_Zb3" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp202polysurface1_e6a6b236b07b85aad48da40beda6ef34_1_1_0_collision_18_Zb3" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp202polysurface1_e6a6b236b07b85aad48da40beda6ef34_1_1_0_collision_19_Zb3" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp202polysurface1_e6a6b236b07b85aad48da40beda6ef34_1_1_0_collision_20_Zb3" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp202polysurface1_e6a6b236b07b85aad48da40beda6ef34_1_1_0_collision_21_Zb3" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp202polysurface1_e6a6b236b07b85aad48da40beda6ef34_1_1_0_collision_22_Zb3" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp202polysurface1_e6a6b236b07b85aad48da40beda6ef34_1_1_0_collision_23_Zb3" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp202polysurface1_e6a6b236b07b85aad48da40beda6ef34_1_1_0_collision_24_Zb3" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp202polysurface1_e6a6b236b07b85aad48da40beda6ef34_1_1_0_collision_25_Zb3" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp202polysurface1_e6a6b236b07b85aad48da40beda6ef34_1_1_0_collision_26_Zb3" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp202polysurface1_e6a6b236b07b85aad48da40beda6ef34_1_1_0_collision_27_Zb3" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp202polysurface1_e6a6b236b07b85aad48da40beda6ef34_1_1_0_collision_28_Zb3" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp202polysurface1_e6a6b236b07b85aad48da40beda6ef34_1_1_0_collision_29_Zb3" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp202polysurface1_e6a6b236b07b85aad48da40beda6ef34_1_1_0_collision_30_Zb3" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp202polysurface1_e6a6b236b07b85aad48da40beda6ef34_1_1_0_collision_31_Zb3" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp202polysurface1_e6a6b236b07b85aad48da40beda6ef34_1_1_0_collision_32_Zb3" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp202polysurface1_e6a6b236b07b85aad48da40beda6ef34_1_1_0_collision_33_Zb3" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp202polysurface1_e6a6b236b07b85aad48da40beda6ef34_1_1_0_collision_34_Zb3" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp202polysurface1_e6a6b236b07b85aad48da40beda6ef34_1_1_0_collision_35_Zb3" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp202polysurface1_e6a6b236b07b85aad48da40beda6ef34_1_1_0_collision_36_Zb3" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp202polysurface1_e6a6b236b07b85aad48da40beda6ef34_1_1_0_collision_37_Zb3" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp202polysurface1_e6a6b236b07b85aad48da40beda6ef34_1_1_0_collision_38_Zb3" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp202polysurface1_e6a6b236b07b85aad48da40beda6ef34_1_1_0_collision_39_Zb3" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp202polysurface1_e6a6b236b07b85aad48da40beda6ef34_1_1_0_collision_40_Zb3" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+        }
+
+        over "tn__fp202polysurface1_e6a6b236b07b85aad48da40beda6ef34_1_2_0_uh2"
+        {
+            over "tn__fp202polysurface1_e6a6b236b07b85aad48da40beda6ef34_1_2_0_collision_42_Zb3" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp202polysurface1_e6a6b236b07b85aad48da40beda6ef34_1_2_0_collision_43_Zb3" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp202polysurface1_e6a6b236b07b85aad48da40beda6ef34_1_2_0_collision_44_Zb3" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp202polysurface1_e6a6b236b07b85aad48da40beda6ef34_1_2_0_collision_45_Zb3" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp202polysurface1_e6a6b236b07b85aad48da40beda6ef34_1_2_0_collision_46_Zb3" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp202polysurface1_e6a6b236b07b85aad48da40beda6ef34_1_2_0_collision_47_Zb3" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp202polysurface1_e6a6b236b07b85aad48da40beda6ef34_1_2_0_collision_48_Zb3" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp202polysurface1_e6a6b236b07b85aad48da40beda6ef34_1_2_0_collision_49_Zb3" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp202polysurface1_e6a6b236b07b85aad48da40beda6ef34_1_2_0_collision_50_Zb3" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp202polysurface1_e6a6b236b07b85aad48da40beda6ef34_1_2_0_collision_51_Zb3" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp202polysurface1_e6a6b236b07b85aad48da40beda6ef34_1_2_0_collision_52_Zb3" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp202polysurface1_e6a6b236b07b85aad48da40beda6ef34_1_2_0_collision_53_Zb3" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp202polysurface1_e6a6b236b07b85aad48da40beda6ef34_1_2_0_collision_54_Zb3" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp202polysurface1_e6a6b236b07b85aad48da40beda6ef34_1_2_0_collision_55_Zb3" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp202polysurface1_e6a6b236b07b85aad48da40beda6ef34_1_2_0_collision_56_Zb3" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp202polysurface1_e6a6b236b07b85aad48da40beda6ef34_1_2_0_collision_57_Zb3" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp202polysurface1_e6a6b236b07b85aad48da40beda6ef34_1_2_0_collision_58_Zb3" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp202polysurface1_e6a6b236b07b85aad48da40beda6ef34_1_2_0_collision_59_Zb3" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp202polysurface1_e6a6b236b07b85aad48da40beda6ef34_1_2_0_collision_60_Zb3" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp202polysurface1_e6a6b236b07b85aad48da40beda6ef34_1_2_0_collision_61_Zb3" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp202polysurface1_e6a6b236b07b85aad48da40beda6ef34_1_2_0_collision_62_Zb3" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp202polysurface1_e6a6b236b07b85aad48da40beda6ef34_1_2_0_collision_63_Zb3" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp202polysurface1_e6a6b236b07b85aad48da40beda6ef34_1_2_0_collision_64_Zb3" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp202polysurface1_e6a6b236b07b85aad48da40beda6ef34_1_2_0_collision_65_Zb3" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp202polysurface1_e6a6b236b07b85aad48da40beda6ef34_1_2_0_collision_66_Zb3" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp202polysurface1_e6a6b236b07b85aad48da40beda6ef34_1_2_0_collision_67_Zb3" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp202polysurface1_e6a6b236b07b85aad48da40beda6ef34_1_2_0_collision_68_Zb3" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp202polysurface1_e6a6b236b07b85aad48da40beda6ef34_1_2_0_collision_69_Zb3" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp202polysurface1_e6a6b236b07b85aad48da40beda6ef34_1_2_0_collision_70_Zb3" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp202polysurface1_e6a6b236b07b85aad48da40beda6ef34_1_2_0_collision_71_Zb3" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp202polysurface1_e6a6b236b07b85aad48da40beda6ef34_1_2_0_collision_72_Zb3" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp202polysurface1_e6a6b236b07b85aad48da40beda6ef34_1_2_0_collision_73_Zb3" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp202polysurface1_e6a6b236b07b85aad48da40beda6ef34_1_2_0_collision_74_Zb3" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp202polysurface1_e6a6b236b07b85aad48da40beda6ef34_1_2_0_collision_75_Zb3" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+        }
+
+        over "tn__fp202polysurface1_e6a6b236b07b85aad48da40beda6ef34_1_3_0_uh2"
+        {
+            over "tn__fp202polysurface1_e6a6b236b07b85aad48da40beda6ef34_1_3_0_collision_77_Zb3" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp202polysurface1_e6a6b236b07b85aad48da40beda6ef34_1_3_0_collision_78_Zb3" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp202polysurface1_e6a6b236b07b85aad48da40beda6ef34_1_3_0_collision_79_Zb3" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp202polysurface1_e6a6b236b07b85aad48da40beda6ef34_1_3_0_collision_80_Zb3" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp202polysurface1_e6a6b236b07b85aad48da40beda6ef34_1_3_0_collision_81_Zb3" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp202polysurface1_e6a6b236b07b85aad48da40beda6ef34_1_3_0_collision_82_Zb3" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp202polysurface1_e6a6b236b07b85aad48da40beda6ef34_1_3_0_collision_83_Zb3" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp202polysurface1_e6a6b236b07b85aad48da40beda6ef34_1_3_0_collision_84_Zb3" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp202polysurface1_e6a6b236b07b85aad48da40beda6ef34_1_3_0_collision_85_Zb3" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp202polysurface1_e6a6b236b07b85aad48da40beda6ef34_1_3_0_collision_86_Zb3" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp202polysurface1_e6a6b236b07b85aad48da40beda6ef34_1_3_0_collision_87_Zb3" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp202polysurface1_e6a6b236b07b85aad48da40beda6ef34_1_3_0_collision_88_Zb3" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp202polysurface1_e6a6b236b07b85aad48da40beda6ef34_1_3_0_collision_89_Zb3" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp202polysurface1_e6a6b236b07b85aad48da40beda6ef34_1_3_0_collision_90_Zb3" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp202polysurface1_e6a6b236b07b85aad48da40beda6ef34_1_3_0_collision_91_Zb3" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp202polysurface1_e6a6b236b07b85aad48da40beda6ef34_1_3_0_collision_92_Zb3" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp202polysurface1_e6a6b236b07b85aad48da40beda6ef34_1_3_0_collision_93_Zb3" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp202polysurface1_e6a6b236b07b85aad48da40beda6ef34_1_3_0_collision_94_Zb3" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp202polysurface1_e6a6b236b07b85aad48da40beda6ef34_1_3_0_collision_95_Zb3" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp202polysurface1_e6a6b236b07b85aad48da40beda6ef34_1_3_0_collision_96_Zb3" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp202polysurface1_e6a6b236b07b85aad48da40beda6ef34_1_3_0_collision_97_Zb3" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp202polysurface1_e6a6b236b07b85aad48da40beda6ef34_1_3_0_collision_98_Zb3" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp202polysurface1_e6a6b236b07b85aad48da40beda6ef34_1_3_0_collision_99_Zb3" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp202polysurface1_e6a6b236b07b85aad48da40beda6ef34_1_3_0_collision_100_Vd3" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp202polysurface1_e6a6b236b07b85aad48da40beda6ef34_1_3_0_collision_101_Vd3" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp202polysurface1_e6a6b236b07b85aad48da40beda6ef34_1_3_0_collision_102_Vd3" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp202polysurface1_e6a6b236b07b85aad48da40beda6ef34_1_3_0_collision_103_Vd3" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp202polysurface1_e6a6b236b07b85aad48da40beda6ef34_1_3_0_collision_104_Vd3" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp202polysurface1_e6a6b236b07b85aad48da40beda6ef34_1_3_0_collision_105_Vd3" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp202polysurface1_e6a6b236b07b85aad48da40beda6ef34_1_3_0_collision_106_Vd3" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp202polysurface1_e6a6b236b07b85aad48da40beda6ef34_1_3_0_collision_107_Vd3" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp202polysurface1_e6a6b236b07b85aad48da40beda6ef34_1_3_0_collision_108_Vd3" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp202polysurface1_e6a6b236b07b85aad48da40beda6ef34_1_3_0_collision_109_Vd3" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+        }
+
+        over "tn__fp202polysurface2_e3a6cf0ae60e52dab3e09cfd78284100_1_0_0_uh2"
+        {
+        }
+
+        over "tn__fp202polysurface2_e3a6cf0ae60e52dab3e09cfd78284100_1_1_0_uh2"
+        {
+            over "tn__fp202polysurface2_e3a6cf0ae60e52dab3e09cfd78284100_1_1_0_collision_1_dZ3" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp202polysurface2_e3a6cf0ae60e52dab3e09cfd78284100_1_1_0_collision_2_dZ3" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp202polysurface2_e3a6cf0ae60e52dab3e09cfd78284100_1_1_0_collision_3_dZ3" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp202polysurface2_e3a6cf0ae60e52dab3e09cfd78284100_1_1_0_collision_4_dZ3" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp202polysurface2_e3a6cf0ae60e52dab3e09cfd78284100_1_1_0_collision_5_dZ3" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+        }
+
+        over "tn__fp202sphere_731b040796ae375e27468c40a6fba73d_1_0_0_nW2"
+        {
+        }
+
+        over "tn__fp202sphere_731b040796ae375e27468c40a6fba73d_1_1_0_nW2"
+        {
+            over "tn__fp202sphere_731b040796ae375e27468c40a6fba73d_1_1_0_collision_2_Wt2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp202sphere_731b040796ae375e27468c40a6fba73d_1_1_0_collision_3_Wt2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp202sphere_731b040796ae375e27468c40a6fba73d_1_1_0_collision_4_Wt2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp202sphere_731b040796ae375e27468c40a6fba73d_1_1_0_collision_5_Wt2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp202sphere_731b040796ae375e27468c40a6fba73d_1_1_0_collision_6_Wt2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+        }
+
+        over "floor" (
+            prepend apiSchemas = ["PhysicsCollisionAPI"]
+        )
+        {
+        }
+    }
+}
+

scenes/ithor/FloorPlan202_physics/scene.preprocessed.json

@@ -0,0 +1,20 @@
+{
+  "source": "E:/EAI/molmo_isaac_data/isaac/scenes/ithor/FloorPlan202_physics/scene.usda",
+  "preprocessor_version": "2.1",
+  "timestamp": "2026-04-24T08:59:36.065667+00:00",
+  "offset": [
+    2.10875,
+    -2.29375,
+    0.0
+  ],
+  "yaw_deg": 0.0,
+  "floor_z": -0.100166604,
+  "ceiling_z": 2.79618,
+  "prims_deactivated": 3,
+  "prims_deactivated_paths": [
+    "/FloorPlan202_physics/Geometry/coffeetable_c1040c2b1c04da2970faf4c4dfe5685b_1_0_0",
+    "/FloorPlan202_physics/Geometry/houseplant_25ffbf5c497590a2b32f38a0dbd3d34a_1_0_0",
+    "/FloorPlan202_physics/Geometry/remotecontrol_dbbd4afce0b009e98224c7453fb4cfc5_1_0_0"
+  ],
+  "physics_preserved": true
+}

scenes/ithor/FloorPlan202_physics/scene.usda

@@ -0,0 +1,123 @@
+#usda 1.0
+(
+    customLayerData = {
+        string creator = """AI2-THOR mjcf-usd scene converter
+    time: 01-20-26 16:35:09
+    scene: FloorPlan202_physics
+    usd-exchange-version: 2.2.0
+"""
+    }
+    defaultPrim = "FloorPlan202_physics"
+    kilogramsPerUnit = 1
+    metersPerUnit = 1
+    upAxis = "Z"
+)
+
+def Xform "FloorPlan202_physics" (
+    prepend apiSchemas = ["GeomModelAPI"]
+    assetInfo = {
+        string name = "FloorPlan202_physics"
+    }
+    kind = "component"
+    prepend payload = @./Payload/Contents.usda@
+)
+{
+    float3[] extentsHint = [(-4.26951, -0.13541, -0.100166604), (1.38999, 4.46945, 2.79618), (3.4028235e38, 3.4028235e38, 3.4028235e38), (-3.4028235e38, -3.4028235e38, -3.4028235e38), (3.4028235e38, 3.4028235e38, 3.4028235e38), (-3.4028235e38, -3.4028235e38, -3.4028235e38), (-10, -10, -0.0058536218), (10, 10, 2.799328)]
+
+    over "Geometry"
+    {
+        over "coffeetable_c1040c2b1c04da2970faf4c4dfe5685b_1_0_0" (
+            active = false
+            kind = "subcomponent"
+        )
+        {
+        }
+
+        over "stand_6bc09b7e2670723819cfaf03855284c1_1_0_0" (
+            kind = "subcomponent"
+        )
+        {
+        }
+
+        over "stand_a63dfbc4e2bace6859f8dd74e126c939_1_0_0" (
+            kind = "subcomponent"
+        )
+        {
+        }
+
+        over "armchair_d82331889bb8060a0c47bd331f92db6f_1_0_0" (
+            kind = "subcomponent"
+        )
+        {
+        }
+
+        over "box_68755690cdb8d7e759bc3b9b84976e1d_1_0_0" (
+            kind = "subcomponent"
+        )
+        {
+        }
+
+        over "pillow_fce8e3c38b042f98f73ef1a22f7d756a_1_0_0" (
+            kind = "subcomponent"
+        )
+        {
+        }
+
+        over "laptop_5ffa33a3308c6355c2dd6972f3f5c950_1_0_0" (
+            kind = "subcomponent"
+        )
+        {
+        }
+
+        over "sofa_1080eacab0380a0a6bd7a0b33d6cb7fa_1_0_0" (
+            kind = "subcomponent"
+        )
+        {
+        }
+
+        over "trashcan_fca4da0417b0a704b94878121ccbdb07_1_0_0" (
+            kind = "subcomponent"
+        )
+        {
+        }
+
+        over "houseplant_25ffbf5c497590a2b32f38a0dbd3d34a_1_0_0" (
+            active = false
+            kind = "subcomponent"
+        )
+        {
+        }
+
+        over "floorlamp_5c80d35657b0de3cba20b2eb0ab38f38_1_0_0" (
+            kind = "subcomponent"
+        )
+        {
+        }
+
+        over "television_a08ef2eaa4e6795171ec98636109c46a_1_0_0" (
+            kind = "subcomponent"
+        )
+        {
+        }
+
+        over "remotecontrol_dbbd4afce0b009e98224c7453fb4cfc5_1_0_0" (
+            active = false
+            kind = "subcomponent"
+        )
+        {
+        }
+
+        over "book_99ec547b12240186aeaf5dbccbf44f86_1_0_0" (
+            kind = "subcomponent"
+        )
+        {
+        }
+
+        over "statue_69507cc77982294b42ae477f429fbbaa_1_0_0" (
+            kind = "subcomponent"
+        )
+        {
+        }
+    }
+}
+

scenes/ithor/FloorPlan214_physics/Payload/Contents.usda

@@ -0,0 +1,37 @@
+#usda 1.0
+(
+    customLayerData = {
+        string creator = """AI2-THOR mjcf-usd scene converter
+    time: 01-20-26 16:35:10
+    scene: FloorPlan214_physics
+    usd-exchange-version: 2.2.0
+"""
+    }
+    defaultPrim = "FloorPlan214_physics"
+    kilogramsPerUnit = 1
+    metersPerUnit = 1
+    subLayers = [
+        @./Physics.usda@,
+        @./Geometry.usda@,
+        @./Materials.usda@
+    ]
+    upAxis = "Z"
+)
+
+def Xform "FloorPlan214_physics"
+{
+    def DistantLight "scene_dir_light"
+    {
+        float inputs:intensity = 1000
+        float xformOp:rotateX = -10
+        uniform token[] xformOpOrder = ["xformOp:rotateX"]
+    }
+
+    def DomeLight "scene_ibl_light"
+    {
+        color3f inputs:color = (1, 0.85301, 0.55212)
+        float inputs:exposure = 0
+        float inputs:intensity = 500
+    }
+}
+

scenes/ithor/FloorPlan214_physics/Payload/Materials.usda

@@ -0,0 +1,673 @@
+#usda 1.0
+(
+    customLayerData = {
+        string creator = """AI2-THOR mjcf-usd scene converter
+    time: 01-20-26 16:35:10
+    scene: FloorPlan214_physics
+    usd-exchange-version: 2.2.0
+"""
+    }
+    defaultPrim = "FloorPlan214_physics"
+    kilogramsPerUnit = 1
+    metersPerUnit = 1
+    upAxis = "Z"
+)
+
+def Xform "FloorPlan214_physics"
+{
+    def Scope "Materials"
+    {
+        def Material "material_Carpet6" (
+            prepend references = @./MaterialsLibrary.usda@</Materials/material_Carpet6>
+        )
+        {
+        }
+
+        def Material "material_Cream_wood" (
+            prepend references = @./MaterialsLibrary.usda@</Materials/material_Cream_wood>
+        )
+        {
+        }
+
+        def Material "material_Glass_Detailed_Lit_High_Mat" (
+            prepend references = @./MaterialsLibrary.usda@</Materials/material_Glass_Detailed_Lit_High_Mat>
+        )
+        {
+        }
+
+        def Material "tn__material_modern690952_1280_qc0" (
+            prepend references = @./MaterialsLibrary.usda@</Materials/tn__material_modern690952_1280_qc0>
+        )
+        {
+        }
+
+        def Material "material_BlackWood" (
+            prepend references = @./MaterialsLibrary.usda@</Materials/material_BlackWood>
+        )
+        {
+        }
+
+        def Material "material_CurtainBlackGold" (
+            prepend references = @./MaterialsLibrary.usda@</Materials/material_CurtainBlackGold>
+        )
+        {
+        }
+
+        def Material "material_ScreenDecalStencil" (
+            prepend references = @./MaterialsLibrary.usda@</Materials/material_ScreenDecalStencil>
+        )
+        {
+        }
+
+        def Material "material_Television_Secondary3_Mat" (
+            prepend references = @./MaterialsLibrary.usda@</Materials/material_Television_Secondary3_Mat>
+        )
+        {
+        }
+
+        def Material "material_Television_Speakers_Mat" (
+            prepend references = @./MaterialsLibrary.usda@</Materials/material_Television_Speakers_Mat>
+        )
+        {
+        }
+
+        def Material "material_Television_Screen_Off_Mat" (
+            prepend references = @./MaterialsLibrary.usda@</Materials/material_Television_Screen_Off_Mat>
+        )
+        {
+        }
+
+        def Material "material_Television_Primary3_Mat" (
+            prepend references = @./MaterialsLibrary.usda@</Materials/material_Television_Primary3_Mat>
+        )
+        {
+        }
+
+        def Material "material_Metal_chrome_mat" (
+            prepend references = @./MaterialsLibrary.usda@</Materials/material_Metal_chrome_mat>
+        )
+        {
+        }
+
+        def Material "material_Walldrywall3" (
+            prepend references = @./MaterialsLibrary.usda@</Materials/material_Walldrywall3>
+        )
+        {
+        }
+
+        def Material "material_trim" (
+            prepend references = @./MaterialsLibrary.usda@</Materials/material_trim>
+        )
+        {
+        }
+
+        def Material "material_WoodGrains" (
+            prepend references = @./MaterialsLibrary.usda@</Materials/material_WoodGrains>
+        )
+        {
+        }
+
+        def Material "material_WhitePlastic" (
+            prepend references = @./MaterialsLibrary.usda@</Materials/material_WhitePlastic>
+        )
+        {
+        }
+
+        def Material "material_No" (
+            prepend references = @./MaterialsLibrary.usda@</Materials/material_No>
+        )
+        {
+        }
+
+        def Material "material_Copper_AlbedoTransparency" (
+            prepend references = @./MaterialsLibrary.usda@</Materials/material_Copper_AlbedoTransparency>
+        )
+        {
+        }
+    }
+
+    over "Geometry"
+    {
+        over "mesh_4122841511679da574eebfddc6c4430e_1_1_0"
+        {
+            over "mesh_4122841511679da574eebfddc6c4430e_1_1_0_visual_0" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan214_physics/Materials/material_Carpet6>
+            }
+        }
+
+        over "tn__fp214polysurface14_be476fad080040c9e891040564c8d6e6_1_1_0_qj2"
+        {
+            over "tn__fp214polysurface14_be476fad080040c9e891040564c8d6e6_1_1_0_visual_0_lV3" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan214_physics/Materials/material_Cream_wood>
+            }
+        }
+
+        over "tn__fp214polysurface14_be476fad080040c9e891040564c8d6e6_1_2_0_qj2"
+        {
+            over "tn__fp214polysurface14_be476fad080040c9e891040564c8d6e6_1_2_0_visual_2_lV3" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan214_physics/Materials/material_Glass_Detailed_Lit_High_Mat>
+            }
+        }
+
+        over "tn__fp214base10_f12213dd43f4497a410a4c2a10b1142a_1_1_0_nW2"
+        {
+            over "tn__fp214base10_f12213dd43f4497a410a4c2a10b1142a_1_1_0_visual_0_in2" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan214_physics/Materials/material_Cream_wood>
+            }
+
+            over "tn__fp214base10_f12213dd43f4497a410a4c2a10b1142a_1_1_0_visual_1_in2" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan214_physics/Materials/tn__material_modern690952_1280_qc0>
+            }
+
+            over "tn__fp214base10_f12213dd43f4497a410a4c2a10b1142a_1_1_0_visual_2_in2" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan214_physics/Materials/material_BlackWood>
+            }
+        }
+
+        over "tn__fp214polysurface10_d5867fd7dcc3e214d40495cd6f48904f_1_1_0_qj2"
+        {
+            over "tn__fp214polysurface10_d5867fd7dcc3e214d40495cd6f48904f_1_1_0_visual_0_lV3" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan214_physics/Materials/material_Cream_wood>
+            }
+        }
+
+        over "tn__fp214polysurface10_d5867fd7dcc3e214d40495cd6f48904f_1_2_0_qj2"
+        {
+            over "tn__fp214polysurface10_d5867fd7dcc3e214d40495cd6f48904f_1_2_0_visual_3_lV3" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan214_physics/Materials/material_Glass_Detailed_Lit_High_Mat>
+            }
+        }
+
+        over "tn__fp214polysurface7_d59515f15fd253bbf3de0e4c26f7f273_1_1_0_uh2"
+        {
+            over "tn__fp214polysurface7_d59515f15fd253bbf3de0e4c26f7f273_1_1_0_visual_0_py2" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan214_physics/Materials/material_Glass_Detailed_Lit_High_Mat>
+            }
+        }
+
+        over "tn__fp214polysurface7_d59515f15fd253bbf3de0e4c26f7f273_1_2_0_uh2"
+        {
+            over "tn__fp214polysurface7_d59515f15fd253bbf3de0e4c26f7f273_1_2_0_visual_2_py2" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan214_physics/Materials/material_Cream_wood>
+            }
+        }
+
+        over "tn__fp214curtain14_14c35c9bb70b12600e500b0137b40427_1_1_0_bc2"
+        {
+            over "tn__fp214curtain14_14c35c9bb70b12600e500b0137b40427_1_1_0_visual_0_Wt2" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan214_physics/Materials/material_CurtainBlackGold>
+            }
+        }
+
+        over "tn__fp214curtain13_15dc7e200cdd6369c1bbea21393a777c_1_1_0_bc2"
+        {
+            over "tn__fp214curtain13_15dc7e200cdd6369c1bbea21393a777c_1_1_0_visual_0_Wt2" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan214_physics/Materials/material_CurtainBlackGold>
+            }
+        }
+
+        over "tn__fp214curtain12_509d6607bdcd5faa769be891c329b08b_1_1_0_bc2"
+        {
+            over "tn__fp214curtain12_509d6607bdcd5faa769be891c329b08b_1_1_0_visual_0_Wt2" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan214_physics/Materials/material_CurtainBlackGold>
+            }
+        }
+
+        over "tn__fp214curtain11_08ac7b3313980cbd9201c598cf4d0017_1_1_0_bc2"
+        {
+            over "tn__fp214curtain11_08ac7b3313980cbd9201c598cf4d0017_1_1_0_visual_0_Wt2" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan214_physics/Materials/material_CurtainBlackGold>
+            }
+        }
+
+        over "tn__fp214curtain1_ab4d8c44c519c98b54db7dab7595e729_1_1_0_fa2"
+        {
+            over "tn__fp214curtain1_ab4d8c44c519c98b54db7dab7595e729_1_1_0_visual_0_ar2" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan214_physics/Materials/material_CurtainBlackGold>
+            }
+        }
+
+        over "tn__fp214curtain1_c586a24a864dd8a78bf5ed492dc012d7_1_1_0_fa2"
+        {
+            over "tn__fp214curtain1_c586a24a864dd8a78bf5ed492dc012d7_1_1_0_visual_0_ar2" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan214_physics/Materials/material_CurtainBlackGold>
+            }
+        }
+
+        over "deferreddecalspawnplane_3a252d43b023585bd3490e4f5d82d21d_1_1_0"
+        {
+            over "deferreddecalspawnplane_3a252d43b023585bd3490e4f5d82d21d_1_1_0_visual_0" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan214_physics/Materials/material_ScreenDecalStencil>
+            }
+        }
+
+        over "mesh_881bb3479faf94b8aca0d78d3e148954_1_1_0"
+        {
+            over "mesh_881bb3479faf94b8aca0d78d3e148954_1_1_0_visual_0" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan214_physics/Materials/material_Television_Secondary3_Mat>
+            }
+
+            over "mesh_881bb3479faf94b8aca0d78d3e148954_1_1_0_visual_1" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan214_physics/Materials/material_Television_Speakers_Mat>
+            }
+
+            over "mesh_881bb3479faf94b8aca0d78d3e148954_1_1_0_visual_2" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan214_physics/Materials/material_Television_Screen_Off_Mat>
+            }
+
+            over "mesh_881bb3479faf94b8aca0d78d3e148954_1_1_0_visual_3" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan214_physics/Materials/material_Television_Secondary3_Mat>
+            }
+
+            over "mesh_881bb3479faf94b8aca0d78d3e148954_1_1_0_visual_4" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan214_physics/Materials/material_Television_Primary3_Mat>
+            }
+        }
+
+        over "television_07d5c11709a0e62512e273317e1fbbb1_1_1_0"
+        {
+            over "television_07d5c11709a0e62512e273317e1fbbb1_1_1_0_visual_0" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan214_physics/Materials/material_Television_Secondary3_Mat>
+            }
+
+            over "television_07d5c11709a0e62512e273317e1fbbb1_1_1_0_visual_1" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan214_physics/Materials/material_Television_Speakers_Mat>
+            }
+
+            over "television_07d5c11709a0e62512e273317e1fbbb1_1_1_0_visual_2" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan214_physics/Materials/material_Television_Screen_Off_Mat>
+            }
+
+            over "television_07d5c11709a0e62512e273317e1fbbb1_1_1_0_visual_3" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan214_physics/Materials/material_Television_Secondary3_Mat>
+            }
+
+            over "television_07d5c11709a0e62512e273317e1fbbb1_1_1_0_visual_4" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan214_physics/Materials/material_Television_Primary3_Mat>
+            }
+        }
+
+        over "television_07d5c11709a0e62512e273317e1fbbb1_1_2_0"
+        {
+            over "television_07d5c11709a0e62512e273317e1fbbb1_1_2_0_visual_9" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan214_physics/Materials/material_ScreenDecalStencil>
+            }
+        }
+
+        over "curtains_a4700f64813c523670e4a1fe994dbbaf_1_1_0"
+        {
+            over "curtains_a4700f64813c523670e4a1fe994dbbaf_1_1_0_visual_0" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan214_physics/Materials/material_CurtainBlackGold>
+            }
+        }
+
+        over "curtains_a4700f64813c523670e4a1fe994dbbaf_1_2_0"
+        {
+            over "curtains_a4700f64813c523670e4a1fe994dbbaf_1_2_0_visual_3" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan214_physics/Materials/material_CurtainBlackGold>
+            }
+        }
+
+        over "curtains_0bb7b59483913840fd784b7eeb60ba63_1_1_0"
+        {
+            over "curtains_0bb7b59483913840fd784b7eeb60ba63_1_1_0_visual_0" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan214_physics/Materials/material_CurtainBlackGold>
+            }
+        }
+
+        over "curtains_0bb7b59483913840fd784b7eeb60ba63_1_2_0"
+        {
+            over "curtains_0bb7b59483913840fd784b7eeb60ba63_1_2_0_visual_3" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan214_physics/Materials/material_CurtainBlackGold>
+            }
+        }
+
+        over "curtains_aa8c438d193de2f4962af8aaae5c156f_1_1_0"
+        {
+            over "curtains_aa8c438d193de2f4962af8aaae5c156f_1_1_0_visual_0" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan214_physics/Materials/material_CurtainBlackGold>
+            }
+        }
+
+        over "curtains_aa8c438d193de2f4962af8aaae5c156f_1_2_0"
+        {
+            over "curtains_aa8c438d193de2f4962af8aaae5c156f_1_2_0_visual_2" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan214_physics/Materials/material_CurtainBlackGold>
+            }
+        }
+
+        over "window_499ab4a5646a0fbbc3a163048550784c_1_1_0"
+        {
+            over "window_499ab4a5646a0fbbc3a163048550784c_1_1_0_visual_0" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan214_physics/Materials/material_Glass_Detailed_Lit_High_Mat>
+            }
+        }
+
+        over "window_499ab4a5646a0fbbc3a163048550784c_1_2_0"
+        {
+            over "window_499ab4a5646a0fbbc3a163048550784c_1_2_0_visual_2" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan214_physics/Materials/material_Cream_wood>
+            }
+        }
+
+        over "window_e6fd57d5ee45b70b45e40be92fd4221b_1_1_0"
+        {
+            over "window_e6fd57d5ee45b70b45e40be92fd4221b_1_1_0_visual_0" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan214_physics/Materials/material_Cream_wood>
+            }
+        }
+
+        over "window_e6fd57d5ee45b70b45e40be92fd4221b_1_2_0"
+        {
+            over "window_e6fd57d5ee45b70b45e40be92fd4221b_1_2_0_visual_3" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan214_physics/Materials/material_Glass_Detailed_Lit_High_Mat>
+            }
+        }
+
+        over "painting_33d71cb1829ff6902b1ece987615bb22_1_1_0"
+        {
+            over "painting_33d71cb1829ff6902b1ece987615bb22_1_1_0_visual_0" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan214_physics/Materials/material_Cream_wood>
+            }
+
+            over "painting_33d71cb1829ff6902b1ece987615bb22_1_1_0_visual_1" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan214_physics/Materials/tn__material_modern690952_1280_qc0>
+            }
+
+            over "painting_33d71cb1829ff6902b1ece987615bb22_1_1_0_visual_2" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan214_physics/Materials/material_BlackWood>
+            }
+        }
+
+        over "window_8fa3b1296a5ea4ef9d2beebb37760e5d_1_1_0"
+        {
+            over "window_8fa3b1296a5ea4ef9d2beebb37760e5d_1_1_0_visual_0" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan214_physics/Materials/material_Cream_wood>
+            }
+        }
+
+        over "window_8fa3b1296a5ea4ef9d2beebb37760e5d_1_2_0"
+        {
+            over "window_8fa3b1296a5ea4ef9d2beebb37760e5d_1_2_0_visual_2" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan214_physics/Materials/material_Glass_Detailed_Lit_High_Mat>
+            }
+        }
+
+        over "curtainrod_bf317e59a653847f9868450296d5e2b4_1_1_0"
+        {
+            over "curtainrod_bf317e59a653847f9868450296d5e2b4_1_1_0_visual_0" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan214_physics/Materials/material_Metal_chrome_mat>
+            }
+        }
+
+        over "curtainrod_29d5ae9b1d2315b5d599ac6bb4df484a_1_1_0"
+        {
+            over "curtainrod_29d5ae9b1d2315b5d599ac6bb4df484a_1_1_0_visual_0" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan214_physics/Materials/material_Metal_chrome_mat>
+            }
+        }
+
+        over "curtainrod_c4d9d266d9238c4042f428cd83e5a56d_1_1_0"
+        {
+            over "curtainrod_c4d9d266d9238c4042f428cd83e5a56d_1_1_0_visual_0" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan214_physics/Materials/material_Metal_chrome_mat>
+            }
+        }
+
+        over "ceiling_2c487f726f7dcf6b729a57c613492d39_1_1_0"
+        {
+            over "ceiling_2c487f726f7dcf6b729a57c613492d39_1_1_0_visual_0" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan214_physics/Materials/material_Walldrywall3>
+            }
+        }
+
+        over "tn__fp214baseboard_50e0e2c916b382deec6c85ad1d65a624_1_1_0_bc2"
+        {
+            over "tn__fp214baseboard_50e0e2c916b382deec6c85ad1d65a624_1_1_0_visual_0_Wt2" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan214_physics/Materials/material_trim>
+            }
+        }
+
+        over "tn__fp214baseboard_25670a09320eafb2f57c350379374fd2_1_1_0_bc2"
+        {
+            over "tn__fp214baseboard_25670a09320eafb2f57c350379374fd2_1_1_0_visual_0_Wt2" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan214_physics/Materials/material_trim>
+            }
+        }
+
+        over "wall_4792a5c1ce6619bf1aeb520253eaea50_1_1_0"
+        {
+            over "wall_4792a5c1ce6619bf1aeb520253eaea50_1_1_0_visual_0" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan214_physics/Materials/material_WoodGrains>
+            }
+        }
+
+        over "tn__fp214cube_1509e7b68e5854df398425d7da466da4_1_1_0_vx1"
+        {
+            over "tn__fp214cube_1509e7b68e5854df398425d7da466da4_1_1_0_visual_0_qj2" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan214_physics/Materials/material_BlackWood>
+            }
+        }
+
+        over "tn__fp214cylinder_de60c23dad9b370797b419425f9affc8_1_1_0_fa2"
+        {
+            over "tn__fp214cylinder_de60c23dad9b370797b419425f9affc8_1_1_0_visual_0_ar2" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan214_physics/Materials/material_WhitePlastic>
+            }
+
+            over "tn__fp214cylinder_de60c23dad9b370797b419425f9affc8_1_1_0_visual_1_ar2" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan214_physics/Materials/material_Glass_Detailed_Lit_High_Mat>
+            }
+        }
+
+        over "tn__fp214doorframe_8150e9251b13996820cb1fd67c79e49f_1_1_0_bc2"
+        {
+            over "tn__fp214doorframe_8150e9251b13996820cb1fd67c79e49f_1_1_0_visual_0_Wt2" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan214_physics/Materials/material_Cream_wood>
+            }
+        }
+
+        over "tn__fp214handle_31bfbfdf819ebf2fc3caea8b645bcc8d_1_1_0_nW2"
+        {
+            over "tn__fp214handle_31bfbfdf819ebf2fc3caea8b645bcc8d_1_1_0_visual_0_in2" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan214_physics/Materials/material_No>
+            }
+        }
+
+        over "tn__fp214handle_cab96f6947b8978580eebbf31ff9511c_1_1_0_nW2"
+        {
+            over "tn__fp214handle_cab96f6947b8978580eebbf31ff9511c_1_1_0_visual_0_in2" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan214_physics/Materials/material_Copper_AlbedoTransparency>
+            }
+        }
+
+        over "tn__fp214door_44bb602b49e2a22be4d3495ba7f584d7_1_1_0_vx1"
+        {
+            over "tn__fp214door_44bb602b49e2a22be4d3495ba7f584d7_1_1_0_visual_0_qj2" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan214_physics/Materials/material_Cream_wood>
+            }
+        }
+
+        over "floor_da29a2dd33cf62c414087b6454421843_1_1_0"
+        {
+            over "floor_da29a2dd33cf62c414087b6454421843_1_1_0_visual_0" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan214_physics/Materials/material_Carpet6>
+            }
+        }
+    }
+}
+

scenes/ithor/FloorPlan214_physics/Payload/MaterialsLibrary.usda

@@ -0,0 +1,505 @@
+#usda 1.0
+(
+    "Material library for house FloorPlan214_physics"
+    customLayerData = {
+        string creator = """AI2-THOR mjcf-usd scene converter
+    time: 01-20-26 16:35:10
+    scene: FloorPlan214_physics
+    usd-exchange-version: 2.2.0
+"""
+    }
+    defaultPrim = "Materials"
+    kilogramsPerUnit = 1
+    metersPerUnit = 1
+    upAxis = "Z"
+)
+
+class Scope "Materials"
+{
+    def Material "material_Carpet6"
+    {
+        token outputs:displacement.connect = </Materials/material_Carpet6/PreviewSurface.outputs:displacement>
+        token outputs:surface.connect = </Materials/material_Carpet6/PreviewSurface.outputs:surface>
+
+        def Shader "PreviewSurface"
+        {
+            uniform token info:id = "UsdPreviewSurface"
+            color3f inputs:diffuseColor.connect = </Materials/material_Carpet6/DiffuseTexture.outputs:rgb>
+            float inputs:metallic = 0
+            float inputs:opacity = 1
+            float inputs:roughness = 0.5
+            token outputs:displacement
+            token outputs:surface
+        }
+
+        def Shader "DiffuseTexture"
+        {
+            uniform token info:id = "UsdUVTexture"
+            float4 inputs:fallback = (1, 0.786949, 0.551471, 1)
+            asset inputs:file = @./Textures/Carpet1.png@
+            float4 inputs:scale = (1, 0.786949, 0.551471, 1)
+            token inputs:sourceColorSpace = "auto"
+            float2 inputs:st.connect = </Materials/material_Carpet6/Primvar_st_float2.outputs:result>
+            token inputs:wrapS = "repeat"
+            token inputs:wrapT = "repeat"
+            float3 outputs:rgb
+        }
+
+        def Shader "Primvar_st_float2"
+        {
+            uniform token info:id = "UsdPrimvarReader_float2"
+            string inputs:varname = "st"
+            float2 outputs:result
+        }
+    }
+
+    def Material "material_Cream_wood"
+    {
+        token outputs:displacement.connect = </Materials/material_Cream_wood/PreviewSurface.outputs:displacement>
+        token outputs:surface.connect = </Materials/material_Cream_wood/PreviewSurface.outputs:surface>
+
+        def Shader "PreviewSurface"
+        {
+            uniform token info:id = "UsdPreviewSurface"
+            color3f inputs:diffuseColor.connect = </Materials/material_Cream_wood/DiffuseTexture.outputs:rgb>
+            float inputs:metallic = 0
+            float inputs:opacity = 1
+            float inputs:roughness = 0.5
+            token outputs:displacement
+            token outputs:surface
+        }
+
+        def Shader "DiffuseTexture"
+        {
+            uniform token info:id = "UsdUVTexture"
+            float4 inputs:fallback = (1, 0.977941, 0.977941, 1)
+            asset inputs:file = @./Textures/HammeredMetal_MetallicSmoothness.png@
+            float4 inputs:scale = (1, 0.977941, 0.977941, 1)
+            token inputs:sourceColorSpace = "auto"
+            float2 inputs:st.connect = </Materials/material_Cream_wood/Primvar_st_float2.outputs:result>
+            token inputs:wrapS = "repeat"
+            token inputs:wrapT = "repeat"
+            float3 outputs:rgb
+        }
+
+        def Shader "Primvar_st_float2"
+        {
+            uniform token info:id = "UsdPrimvarReader_float2"
+            string inputs:varname = "st"
+            float2 outputs:result
+        }
+    }
+
+    def Material "material_Glass_Detailed_Lit_High_Mat"
+    {
+        token outputs:displacement.connect = </Materials/material_Glass_Detailed_Lit_High_Mat/PreviewSurface.outputs:displacement>
+        token outputs:surface.connect = </Materials/material_Glass_Detailed_Lit_High_Mat/PreviewSurface.outputs:surface>
+
+        def Shader "PreviewSurface"
+        {
+            uniform token info:id = "UsdPreviewSurface"
+            color3f inputs:diffuseColor = (1, 1, 1)
+            float inputs:metallic = 0
+            float inputs:opacity = 1
+            float inputs:roughness = 0.5
+            token outputs:displacement
+            token outputs:surface
+        }
+    }
+
+    def Material "tn__material_modern690952_1280_qc0"
+    {
+        token outputs:displacement.connect = </Materials/tn__material_modern690952_1280_qc0/PreviewSurface.outputs:displacement>
+        token outputs:surface.connect = </Materials/tn__material_modern690952_1280_qc0/PreviewSurface.outputs:surface>
+
+        def Shader "PreviewSurface"
+        {
+            uniform token info:id = "UsdPreviewSurface"
+            color3f inputs:diffuseColor.connect = </Materials/tn__material_modern690952_1280_qc0/DiffuseTexture.outputs:rgb>
+            float inputs:metallic = 0
+            float inputs:opacity = 1
+            float inputs:roughness = 0.5
+            token outputs:displacement
+            token outputs:surface
+        }
+
+        def Shader "DiffuseTexture"
+        {
+            uniform token info:id = "UsdUVTexture"
+            float4 inputs:fallback = (1, 1, 1, 1)
+            asset inputs:file = @./Textures/modern-690952_1280.png@
+            float4 inputs:scale = (1, 1, 1, 1)
+            token inputs:sourceColorSpace = "auto"
+            float2 inputs:st.connect = </Materials/tn__material_modern690952_1280_qc0/Primvar_st_float2.outputs:result>
+            token inputs:wrapS = "repeat"
+            token inputs:wrapT = "repeat"
+            float3 outputs:rgb
+        }
+
+        def Shader "Primvar_st_float2"
+        {
+            uniform token info:id = "UsdPrimvarReader_float2"
+            string inputs:varname = "st"
+            float2 outputs:result
+        }
+    }
+
+    def Material "material_BlackWood"
+    {
+        token outputs:displacement.connect = </Materials/material_BlackWood/PreviewSurface.outputs:displacement>
+        token outputs:surface.connect = </Materials/material_BlackWood/PreviewSurface.outputs:surface>
+
+        def Shader "PreviewSurface"
+        {
+            uniform token info:id = "UsdPreviewSurface"
+            color3f inputs:diffuseColor = (0.147059, 0.147059, 0.147059)
+            float inputs:metallic = 0
+            float inputs:opacity = 1
+            float inputs:roughness = 0.5
+            token outputs:displacement
+            token outputs:surface
+        }
+    }
+
+    def Material "material_CurtainBlackGold"
+    {
+        token outputs:displacement.connect = </Materials/material_CurtainBlackGold/PreviewSurface.outputs:displacement>
+        token outputs:surface.connect = </Materials/material_CurtainBlackGold/PreviewSurface.outputs:surface>
+
+        def Shader "PreviewSurface"
+        {
+            uniform token info:id = "UsdPreviewSurface"
+            color3f inputs:diffuseColor.connect = </Materials/material_CurtainBlackGold/DiffuseTexture.outputs:rgb>
+            float inputs:metallic = 0
+            float inputs:opacity = 1
+            float inputs:roughness = 0.5
+            token outputs:displacement
+            token outputs:surface
+        }
+
+        def Shader "DiffuseTexture"
+        {
+            uniform token info:id = "UsdUVTexture"
+            float4 inputs:fallback = (0.110294, 0.110294, 0.110294, 1)
+            asset inputs:file = @./Textures/CurtainAO.png@
+            float4 inputs:scale = (0.110294, 0.110294, 0.110294, 1)
+            token inputs:sourceColorSpace = "auto"
+            float2 inputs:st.connect = </Materials/material_CurtainBlackGold/Primvar_st_float2.outputs:result>
+            token inputs:wrapS = "repeat"
+            token inputs:wrapT = "repeat"
+            float3 outputs:rgb
+        }
+
+        def Shader "Primvar_st_float2"
+        {
+            uniform token info:id = "UsdPrimvarReader_float2"
+            string inputs:varname = "st"
+            float2 outputs:result
+        }
+    }
+
+    def Material "material_ScreenDecalStencil"
+    {
+        token outputs:displacement.connect = </Materials/material_ScreenDecalStencil/PreviewSurface.outputs:displacement>
+        token outputs:surface.connect = </Materials/material_ScreenDecalStencil/PreviewSurface.outputs:surface>
+
+        def Shader "PreviewSurface"
+        {
+            uniform token info:id = "UsdPreviewSurface"
+            color3f inputs:diffuseColor = (1, 1, 1)
+            float inputs:metallic = 0
+            float inputs:opacity = 1
+            float inputs:roughness = 0.5
+            token outputs:displacement
+            token outputs:surface
+        }
+    }
+
+    def Material "material_Television_Secondary3_Mat"
+    {
+        token outputs:displacement.connect = </Materials/material_Television_Secondary3_Mat/PreviewSurface.outputs:displacement>
+        token outputs:surface.connect = </Materials/material_Television_Secondary3_Mat/PreviewSurface.outputs:surface>
+
+        def Shader "PreviewSurface"
+        {
+            uniform token info:id = "UsdPreviewSurface"
+            color3f inputs:diffuseColor.connect = </Materials/material_Television_Secondary3_Mat/DiffuseTexture.outputs:rgb>
+            float inputs:metallic = 0
+            float inputs:opacity = 1
+            float inputs:roughness = 0.5
+            token outputs:displacement
+            token outputs:surface
+        }
+
+        def Shader "DiffuseTexture"
+        {
+            uniform token info:id = "UsdUVTexture"
+            float4 inputs:fallback = (0.867647, 0.86856, 1, 1)
+            asset inputs:file = @./Textures/MetalBumpy_AlbedoTransparency.png@
+            float4 inputs:scale = (0.867647, 0.86856, 1, 1)
+            token inputs:sourceColorSpace = "auto"
+            float2 inputs:st.connect = </Materials/material_Television_Secondary3_Mat/Primvar_st_float2.outputs:result>
+            token inputs:wrapS = "repeat"
+            token inputs:wrapT = "repeat"
+            float3 outputs:rgb
+        }
+
+        def Shader "Primvar_st_float2"
+        {
+            uniform token info:id = "UsdPrimvarReader_float2"
+            string inputs:varname = "st"
+            float2 outputs:result
+        }
+    }
+
+    def Material "material_Television_Speakers_Mat"
+    {
+        token outputs:displacement.connect = </Materials/material_Television_Speakers_Mat/PreviewSurface.outputs:displacement>
+        token outputs:surface.connect = </Materials/material_Television_Speakers_Mat/PreviewSurface.outputs:surface>
+
+        def Shader "PreviewSurface"
+        {
+            uniform token info:id = "UsdPreviewSurface"
+            color3f inputs:diffuseColor = (0.566176, 0.566176, 0.566176)
+            float inputs:metallic = 0
+            float inputs:opacity = 1
+            float inputs:roughness = 0.5
+            token outputs:displacement
+            token outputs:surface
+        }
+    }
+
+    def Material "material_Television_Screen_Off_Mat"
+    {
+        token outputs:displacement.connect = </Materials/material_Television_Screen_Off_Mat/PreviewSurface.outputs:displacement>
+        token outputs:surface.connect = </Materials/material_Television_Screen_Off_Mat/PreviewSurface.outputs:surface>
+
+        def Shader "PreviewSurface"
+        {
+            uniform token info:id = "UsdPreviewSurface"
+            color3f inputs:diffuseColor = (0, 0, 0)
+            float inputs:metallic = 0
+            float inputs:opacity = 1
+            float inputs:roughness = 0.5
+            token outputs:displacement
+            token outputs:surface
+        }
+    }
+
+    def Material "material_Television_Primary3_Mat"
+    {
+        token outputs:displacement.connect = </Materials/material_Television_Primary3_Mat/PreviewSurface.outputs:displacement>
+        token outputs:surface.connect = </Materials/material_Television_Primary3_Mat/PreviewSurface.outputs:surface>
+
+        def Shader "PreviewSurface"
+        {
+            uniform token info:id = "UsdPreviewSurface"
+            color3f inputs:diffuseColor = (0.797794, 0.823884, 0.875)
+            float inputs:metallic = 0
+            float inputs:opacity = 1
+            float inputs:roughness = 0.5
+            token outputs:displacement
+            token outputs:surface
+        }
+    }
+
+    def Material "material_Metal_chrome_mat"
+    {
+        token outputs:displacement.connect = </Materials/material_Metal_chrome_mat/PreviewSurface.outputs:displacement>
+        token outputs:surface.connect = </Materials/material_Metal_chrome_mat/PreviewSurface.outputs:surface>
+
+        def Shader "PreviewSurface"
+        {
+            uniform token info:id = "UsdPreviewSurface"
+            color3f inputs:diffuseColor = (0.829, 0.829, 0.829)
+            float inputs:metallic = 0
+            float inputs:opacity = 1
+            float inputs:roughness = 0.5
+            token outputs:displacement
+            token outputs:surface
+        }
+    }
+
+    def Material "material_Walldrywall3"
+    {
+        token outputs:displacement.connect = </Materials/material_Walldrywall3/PreviewSurface.outputs:displacement>
+        token outputs:surface.connect = </Materials/material_Walldrywall3/PreviewSurface.outputs:surface>
+
+        def Shader "PreviewSurface"
+        {
+            uniform token info:id = "UsdPreviewSurface"
+            color3f inputs:diffuseColor.connect = </Materials/material_Walldrywall3/DiffuseTexture.outputs:rgb>
+            float inputs:metallic = 0
+            float inputs:opacity = 1
+            float inputs:roughness = 0.5
+            token outputs:displacement
+            token outputs:surface
+        }
+
+        def Shader "DiffuseTexture"
+        {
+            uniform token info:id = "UsdUVTexture"
+            float4 inputs:fallback = (0.959, 0.99491, 1, 1)
+            asset inputs:file = @./Textures/WallDrywallWhite.png@
+            float4 inputs:scale = (0.959, 0.99491, 1, 1)
+            token inputs:sourceColorSpace = "auto"
+            float2 inputs:st.connect = </Materials/material_Walldrywall3/Primvar_st_float2.outputs:result>
+            token inputs:wrapS = "repeat"
+            token inputs:wrapT = "repeat"
+            float3 outputs:rgb
+        }
+
+        def Shader "Primvar_st_float2"
+        {
+            uniform token info:id = "UsdPrimvarReader_float2"
+            string inputs:varname = "st"
+            float2 outputs:result
+        }
+    }
+
+    def Material "material_trim"
+    {
+        token outputs:displacement.connect = </Materials/material_trim/PreviewSurface.outputs:displacement>
+        token outputs:surface.connect = </Materials/material_trim/PreviewSurface.outputs:surface>
+
+        def Shader "PreviewSurface"
+        {
+            uniform token info:id = "UsdPreviewSurface"
+            color3f inputs:diffuseColor.connect = </Materials/material_trim/DiffuseTexture.outputs:rgb>
+            float inputs:metallic = 0
+            float inputs:opacity = 1
+            float inputs:roughness = 0.5
+            token outputs:displacement
+            token outputs:surface
+        }
+
+        def Shader "DiffuseTexture"
+        {
+            uniform token info:id = "UsdUVTexture"
+            float4 inputs:fallback = (1, 1, 1, 1)
+            asset inputs:file = @./Textures/trim.png@
+            float4 inputs:scale = (1, 1, 1, 1)
+            token inputs:sourceColorSpace = "auto"
+            float2 inputs:st.connect = </Materials/material_trim/Primvar_st_float2.outputs:result>
+            token inputs:wrapS = "repeat"
+            token inputs:wrapT = "repeat"
+            float3 outputs:rgb
+        }
+
+        def Shader "Primvar_st_float2"
+        {
+            uniform token info:id = "UsdPrimvarReader_float2"
+            string inputs:varname = "st"
+            float2 outputs:result
+        }
+    }
+
+    def Material "material_WoodGrains"
+    {
+        token outputs:displacement.connect = </Materials/material_WoodGrains/PreviewSurface.outputs:displacement>
+        token outputs:surface.connect = </Materials/material_WoodGrains/PreviewSurface.outputs:surface>
+
+        def Shader "PreviewSurface"
+        {
+            uniform token info:id = "UsdPreviewSurface"
+            color3f inputs:diffuseColor.connect = </Materials/material_WoodGrains/DiffuseTexture.outputs:rgb>
+            float inputs:metallic = 0
+            float inputs:opacity = 1
+            float inputs:roughness = 0.5
+            token outputs:displacement
+            token outputs:surface
+        }
+
+        def Shader "DiffuseTexture"
+        {
+            uniform token info:id = "UsdUVTexture"
+            float4 inputs:fallback = (0.492647, 0.404698, 0.282548, 1)
+            asset inputs:file = @./Textures/WoodGrains1.png@
+            float4 inputs:scale = (0.492647, 0.404698, 0.282548, 1)
+            token inputs:sourceColorSpace = "auto"
+            float2 inputs:st.connect = </Materials/material_WoodGrains/Primvar_st_float2.outputs:result>
+            token inputs:wrapS = "repeat"
+            token inputs:wrapT = "repeat"
+            float3 outputs:rgb
+        }
+
+        def Shader "Primvar_st_float2"
+        {
+            uniform token info:id = "UsdPrimvarReader_float2"
+            string inputs:varname = "st"
+            float2 outputs:result
+        }
+    }
+
+    def Material "material_WhitePlastic"
+    {
+        token outputs:displacement.connect = </Materials/material_WhitePlastic/PreviewSurface.outputs:displacement>
+        token outputs:surface.connect = </Materials/material_WhitePlastic/PreviewSurface.outputs:surface>
+
+        def Shader "PreviewSurface"
+        {
+            uniform token info:id = "UsdPreviewSurface"
+            color3f inputs:diffuseColor = (1, 1, 1)
+            float inputs:metallic = 0
+            float inputs:opacity = 1
+            float inputs:roughness = 0.5
+            token outputs:displacement
+            token outputs:surface
+        }
+    }
+
+    def Material "material_No"
+    {
+        token outputs:displacement.connect = </Materials/material_No/PreviewSurface.outputs:displacement>
+        token outputs:surface.connect = </Materials/material_No/PreviewSurface.outputs:surface>
+
+        def Shader "PreviewSurface"
+        {
+            uniform token info:id = "UsdPreviewSurface"
+            color3f inputs:diffuseColor = (1, 1, 1)
+            float inputs:metallic = 0
+            float inputs:opacity = 1
+            float inputs:roughness = 0.5
+            token outputs:displacement
+            token outputs:surface
+        }
+    }
+
+    def Material "material_Copper_AlbedoTransparency"
+    {
+        token outputs:displacement.connect = </Materials/material_Copper_AlbedoTransparency/PreviewSurface.outputs:displacement>
+        token outputs:surface.connect = </Materials/material_Copper_AlbedoTransparency/PreviewSurface.outputs:surface>
+
+        def Shader "PreviewSurface"
+        {
+            uniform token info:id = "UsdPreviewSurface"
+            color3f inputs:diffuseColor.connect = </Materials/material_Copper_AlbedoTransparency/DiffuseTexture.outputs:rgb>
+            float inputs:metallic = 0
+            float inputs:opacity = 1
+            float inputs:roughness = 0.5
+            token outputs:displacement
+            token outputs:surface
+        }
+
+        def Shader "DiffuseTexture"
+        {
+            uniform token info:id = "UsdUVTexture"
+            float4 inputs:fallback = (1, 1, 1, 1)
+            asset inputs:file = @./Textures/Copper_AlbedoTransparency.png@
+            float4 inputs:scale = (1, 1, 1, 1)
+            token inputs:sourceColorSpace = "auto"
+            float2 inputs:st.connect = </Materials/material_Copper_AlbedoTransparency/Primvar_st_float2.outputs:result>
+            token inputs:wrapS = "repeat"
+            token inputs:wrapT = "repeat"
+            float3 outputs:rgb
+        }
+
+        def Shader "Primvar_st_float2"
+        {
+            uniform token info:id = "UsdPrimvarReader_float2"
+            string inputs:varname = "st"
+            float2 outputs:result
+        }
+    }
+}
+

scenes/ithor/FloorPlan214_physics/Payload/Physics.usda

@@ -0,0 +1,1396 @@
+#usda 1.0
+(
+    customLayerData = {
+        string creator = """AI2-THOR mjcf-usd scene converter
+    time: 01-20-26 16:35:10
+    scene: FloorPlan214_physics
+    usd-exchange-version: 2.2.0
+"""
+    }
+    defaultPrim = "FloorPlan214_physics"
+    kilogramsPerUnit = 1
+    metersPerUnit = 1
+    upAxis = "Z"
+)
+
+def Xform "FloorPlan214_physics"
+{
+    def Scope "Physics"
+    {
+    }
+
+    over "Geometry"
+    {
+        over "mesh_4122841511679da574eebfddc6c4430e_1_0_0"
+        {
+        }
+
+        over "mesh_4122841511679da574eebfddc6c4430e_1_1_0"
+        {
+        }
+
+        over "tn__quaddecalspawnplane2_64138a72d2e19f2eef3248d8aca5514d_1_0_0_Wk1p1"
+        {
+        }
+
+        over "tn__quaddecalspawnplane1_f22c8e0030924d2f56de25e629c59cc5_1_0_0_Wk1p1"
+        {
+        }
+
+        over "quaddecalspawnplane_6184e01587ffebb13ee0d0bc4207e677_1_0_0"
+        {
+        }
+
+        over "tn__fp214polysurface14_be476fad080040c9e891040564c8d6e6_1_0_0_qj2"
+        {
+        }
+
+        over "tn__fp214polysurface14_be476fad080040c9e891040564c8d6e6_1_1_0_qj2"
+        {
+            over "tn__fp214polysurface14_be476fad080040c9e891040564c8d6e6_1_1_0_collision_1_Zb3" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+        }
+
+        over "tn__fp214polysurface14_be476fad080040c9e891040564c8d6e6_1_2_0_qj2"
+        {
+        }
+
+        over "tn__fp214base10_f12213dd43f4497a410a4c2a10b1142a_1_0_0_nW2"
+        {
+        }
+
+        over "tn__fp214base10_f12213dd43f4497a410a4c2a10b1142a_1_1_0_nW2"
+        {
+            over "tn__fp214base10_f12213dd43f4497a410a4c2a10b1142a_1_1_0_collision_3_Wt2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+        }
+
+        over "tn__quaddecalspawnplane9_2239e4828b4e53728c2d59e4ffb29d52_1_0_0_Wk1p1"
+        {
+        }
+
+        over "tn__quaddecalspawnplane7_cc80bb7c31b17565e84b332aa5d0a309_1_0_0_Wk1p1"
+        {
+        }
+
+        over "tn__quaddecalspawnplane6_627de48bc558b525a0f04fa33822554a_1_0_0_Wk1p1"
+        {
+        }
+
+        over "tn__fp214polysurface10_d5867fd7dcc3e214d40495cd6f48904f_1_0_0_qj2"
+        {
+        }
+
+        over "tn__fp214polysurface10_d5867fd7dcc3e214d40495cd6f48904f_1_1_0_qj2"
+        {
+            over "tn__fp214polysurface10_d5867fd7dcc3e214d40495cd6f48904f_1_1_0_collision_1_Zb3" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp214polysurface10_d5867fd7dcc3e214d40495cd6f48904f_1_1_0_collision_2_Zb3" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+        }
+
+        over "tn__fp214polysurface10_d5867fd7dcc3e214d40495cd6f48904f_1_2_0_qj2"
+        {
+            over "tn__fp214polysurface10_d5867fd7dcc3e214d40495cd6f48904f_1_2_0_collision_4_Zb3" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+        }
+
+        over "tn__quaddecalspawnplane5_b789205583470d5296290c88cafab820_1_0_0_Wk1p1"
+        {
+        }
+
+        over "tn__quaddecalspawnplane4_5e57c58709299d465f865da93b2f7baf_1_0_0_Wk1p1"
+        {
+        }
+
+        over "tn__quaddecalspawnplane3_88f71ee4d565b04fc858037a243e1af2_1_0_0_Wk1p1"
+        {
+        }
+
+        over "tn__fp214polysurface7_d59515f15fd253bbf3de0e4c26f7f273_1_0_0_uh2"
+        {
+        }
+
+        over "tn__fp214polysurface7_d59515f15fd253bbf3de0e4c26f7f273_1_1_0_uh2"
+        {
+            over "tn__fp214polysurface7_d59515f15fd253bbf3de0e4c26f7f273_1_1_0_collision_1_dZ3" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+        }
+
+        over "tn__fp214polysurface7_d59515f15fd253bbf3de0e4c26f7f273_1_2_0_uh2"
+        {
+            over "tn__fp214polysurface7_d59515f15fd253bbf3de0e4c26f7f273_1_2_0_collision_3_dZ3" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp214polysurface7_d59515f15fd253bbf3de0e4c26f7f273_1_2_0_collision_4_dZ3" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+        }
+
+        over "tn__fp214curtain14_14c35c9bb70b12600e500b0137b40427_1_0_0_bc2"
+        {
+        }
+
+        over "tn__fp214curtain14_14c35c9bb70b12600e500b0137b40427_1_1_0_bc2"
+        {
+            over "tn__fp214curtain14_14c35c9bb70b12600e500b0137b40427_1_1_0_collision_1_py2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+        }
+
+        over "tn__fp214curtain13_15dc7e200cdd6369c1bbea21393a777c_1_0_0_bc2"
+        {
+        }
+
+        over "tn__fp214curtain13_15dc7e200cdd6369c1bbea21393a777c_1_1_0_bc2"
+        {
+            over "tn__fp214curtain13_15dc7e200cdd6369c1bbea21393a777c_1_1_0_collision_1_py2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+        }
+
+        over "tn__fp214curtain12_509d6607bdcd5faa769be891c329b08b_1_0_0_bc2"
+        {
+        }
+
+        over "tn__fp214curtain12_509d6607bdcd5faa769be891c329b08b_1_1_0_bc2"
+        {
+            over "tn__fp214curtain12_509d6607bdcd5faa769be891c329b08b_1_1_0_collision_1_py2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp214curtain12_509d6607bdcd5faa769be891c329b08b_1_1_0_collision_2_py2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+        }
+
+        over "tn__fp214curtain11_08ac7b3313980cbd9201c598cf4d0017_1_0_0_bc2"
+        {
+        }
+
+        over "tn__fp214curtain11_08ac7b3313980cbd9201c598cf4d0017_1_1_0_bc2"
+        {
+            over "tn__fp214curtain11_08ac7b3313980cbd9201c598cf4d0017_1_1_0_collision_1_py2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp214curtain11_08ac7b3313980cbd9201c598cf4d0017_1_1_0_collision_2_py2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+        }
+
+        over "tn__fp214curtain1_ab4d8c44c519c98b54db7dab7595e729_1_0_0_fa2"
+        {
+        }
+
+        over "tn__fp214curtain1_ab4d8c44c519c98b54db7dab7595e729_1_1_0_fa2"
+        {
+            over "tn__fp214curtain1_ab4d8c44c519c98b54db7dab7595e729_1_1_0_collision_1_tw2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp214curtain1_ab4d8c44c519c98b54db7dab7595e729_1_1_0_collision_2_tw2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+        }
+
+        over "tn__fp214curtain1_c586a24a864dd8a78bf5ed492dc012d7_1_0_0_fa2"
+        {
+        }
+
+        over "tn__fp214curtain1_c586a24a864dd8a78bf5ed492dc012d7_1_1_0_fa2"
+        {
+            over "tn__fp214curtain1_c586a24a864dd8a78bf5ed492dc012d7_1_1_0_collision_1_tw2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp214curtain1_c586a24a864dd8a78bf5ed492dc012d7_1_1_0_collision_2_tw2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+        }
+
+        over "deferreddecalspawnplane_3a252d43b023585bd3490e4f5d82d21d_1_0_0"
+        {
+        }
+
+        over "deferreddecalspawnplane_3a252d43b023585bd3490e4f5d82d21d_1_1_0"
+        {
+            over "deferreddecalspawnplane_3a252d43b023585bd3490e4f5d82d21d_1_1_0_collision_1" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+        }
+
+        over "mesh_881bb3479faf94b8aca0d78d3e148954_1_0_0"
+        {
+        }
+
+        over "mesh_881bb3479faf94b8aca0d78d3e148954_1_1_0"
+        {
+            over "mesh_881bb3479faf94b8aca0d78d3e148954_1_1_0_collision_5" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "mesh_881bb3479faf94b8aca0d78d3e148954_1_1_0_collision_6" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "mesh_881bb3479faf94b8aca0d78d3e148954_1_1_0_collision_7" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "mesh_881bb3479faf94b8aca0d78d3e148954_1_1_0_collision_8" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+        }
+
+        over "television_07d5c11709a0e62512e273317e1fbbb1_1_0_0"
+        {
+        }
+
+        over "television_07d5c11709a0e62512e273317e1fbbb1_1_1_0"
+        {
+            over "television_07d5c11709a0e62512e273317e1fbbb1_1_1_0_collision_5" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "television_07d5c11709a0e62512e273317e1fbbb1_1_1_0_collision_6" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "television_07d5c11709a0e62512e273317e1fbbb1_1_1_0_collision_7" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "television_07d5c11709a0e62512e273317e1fbbb1_1_1_0_collision_8" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+        }
+
+        over "television_07d5c11709a0e62512e273317e1fbbb1_1_2_0"
+        {
+            over "television_07d5c11709a0e62512e273317e1fbbb1_1_2_0_collision_10" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+        }
+
+        over "curtains_a4700f64813c523670e4a1fe994dbbaf_1_0_0"
+        {
+        }
+
+        over "curtains_a4700f64813c523670e4a1fe994dbbaf_1_1_0"
+        {
+            over "curtains_a4700f64813c523670e4a1fe994dbbaf_1_1_0_collision_1" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "curtains_a4700f64813c523670e4a1fe994dbbaf_1_1_0_collision_2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+        }
+
+        over "curtains_a4700f64813c523670e4a1fe994dbbaf_1_2_0"
+        {
+            over "curtains_a4700f64813c523670e4a1fe994dbbaf_1_2_0_collision_4" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "curtains_a4700f64813c523670e4a1fe994dbbaf_1_2_0_collision_5" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+        }
+
+        over "curtains_0bb7b59483913840fd784b7eeb60ba63_1_0_0"
+        {
+        }
+
+        over "curtains_0bb7b59483913840fd784b7eeb60ba63_1_1_0"
+        {
+            over "curtains_0bb7b59483913840fd784b7eeb60ba63_1_1_0_collision_1" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "curtains_0bb7b59483913840fd784b7eeb60ba63_1_1_0_collision_2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+        }
+
+        over "curtains_0bb7b59483913840fd784b7eeb60ba63_1_2_0"
+        {
+            over "curtains_0bb7b59483913840fd784b7eeb60ba63_1_2_0_collision_4" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "curtains_0bb7b59483913840fd784b7eeb60ba63_1_2_0_collision_5" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+        }
+
+        over "curtains_aa8c438d193de2f4962af8aaae5c156f_1_0_0"
+        {
+        }
+
+        over "curtains_aa8c438d193de2f4962af8aaae5c156f_1_1_0"
+        {
+            over "curtains_aa8c438d193de2f4962af8aaae5c156f_1_1_0_collision_1" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+        }
+
+        over "curtains_aa8c438d193de2f4962af8aaae5c156f_1_2_0"
+        {
+            over "curtains_aa8c438d193de2f4962af8aaae5c156f_1_2_0_collision_3" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+        }
+
+        over "window_499ab4a5646a0fbbc3a163048550784c_1_0_0"
+        {
+        }
+
+        over "window_499ab4a5646a0fbbc3a163048550784c_1_1_0"
+        {
+            over "window_499ab4a5646a0fbbc3a163048550784c_1_1_0_collision_1" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+        }
+
+        over "window_499ab4a5646a0fbbc3a163048550784c_1_2_0"
+        {
+            over "window_499ab4a5646a0fbbc3a163048550784c_1_2_0_collision_3" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "window_499ab4a5646a0fbbc3a163048550784c_1_2_0_collision_4" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+        }
+
+        over "window_e6fd57d5ee45b70b45e40be92fd4221b_1_0_0"
+        {
+        }
+
+        over "window_e6fd57d5ee45b70b45e40be92fd4221b_1_1_0"
+        {
+            over "window_e6fd57d5ee45b70b45e40be92fd4221b_1_1_0_collision_1" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "window_e6fd57d5ee45b70b45e40be92fd4221b_1_1_0_collision_2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+        }
+
+        over "window_e6fd57d5ee45b70b45e40be92fd4221b_1_2_0"
+        {
+            over "window_e6fd57d5ee45b70b45e40be92fd4221b_1_2_0_collision_4" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+        }
+
+        over "painting_33d71cb1829ff6902b1ece987615bb22_1_0_0"
+        {
+        }
+
+        over "painting_33d71cb1829ff6902b1ece987615bb22_1_1_0"
+        {
+            over "painting_33d71cb1829ff6902b1ece987615bb22_1_1_0_collision_3" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+        }
+
+        over "window_8fa3b1296a5ea4ef9d2beebb37760e5d_1_0_0"
+        {
+        }
+
+        over "window_8fa3b1296a5ea4ef9d2beebb37760e5d_1_1_0"
+        {
+            over "window_8fa3b1296a5ea4ef9d2beebb37760e5d_1_1_0_collision_1" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+        }
+
+        over "window_8fa3b1296a5ea4ef9d2beebb37760e5d_1_2_0"
+        {
+        }
+
+        over "curtainrod_bf317e59a653847f9868450296d5e2b4_1_0_0"
+        {
+        }
+
+        over "curtainrod_bf317e59a653847f9868450296d5e2b4_1_1_0"
+        {
+            over "curtainrod_bf317e59a653847f9868450296d5e2b4_1_1_0_collision_1" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+        }
+
+        over "curtainrod_29d5ae9b1d2315b5d599ac6bb4df484a_1_0_0"
+        {
+        }
+
+        over "curtainrod_29d5ae9b1d2315b5d599ac6bb4df484a_1_1_0"
+        {
+            over "curtainrod_29d5ae9b1d2315b5d599ac6bb4df484a_1_1_0_collision_1" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+        }
+
+        over "curtainrod_c4d9d266d9238c4042f428cd83e5a56d_1_0_0"
+        {
+        }
+
+        over "curtainrod_c4d9d266d9238c4042f428cd83e5a56d_1_1_0"
+        {
+            over "curtainrod_c4d9d266d9238c4042f428cd83e5a56d_1_1_0_collision_1" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+        }
+
+        over "ceiling_2c487f726f7dcf6b729a57c613492d39_1_0_0"
+        {
+        }
+
+        over "ceiling_2c487f726f7dcf6b729a57c613492d39_1_1_0"
+        {
+            over "ceiling_2c487f726f7dcf6b729a57c613492d39_1_1_0_collision_1" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "ceiling_2c487f726f7dcf6b729a57c613492d39_1_1_0_collision_2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "ceiling_2c487f726f7dcf6b729a57c613492d39_1_1_0_collision_3" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+        }
+
+        over "tn__fp214baseboard_50e0e2c916b382deec6c85ad1d65a624_1_0_0_bc2"
+        {
+        }
+
+        over "tn__fp214baseboard_50e0e2c916b382deec6c85ad1d65a624_1_1_0_bc2"
+        {
+            over "tn__fp214baseboard_50e0e2c916b382deec6c85ad1d65a624_1_1_0_collision_1_py2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp214baseboard_50e0e2c916b382deec6c85ad1d65a624_1_1_0_collision_2_py2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp214baseboard_50e0e2c916b382deec6c85ad1d65a624_1_1_0_collision_3_py2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp214baseboard_50e0e2c916b382deec6c85ad1d65a624_1_1_0_collision_4_py2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp214baseboard_50e0e2c916b382deec6c85ad1d65a624_1_1_0_collision_5_py2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp214baseboard_50e0e2c916b382deec6c85ad1d65a624_1_1_0_collision_6_py2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp214baseboard_50e0e2c916b382deec6c85ad1d65a624_1_1_0_collision_7_py2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp214baseboard_50e0e2c916b382deec6c85ad1d65a624_1_1_0_collision_8_py2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp214baseboard_50e0e2c916b382deec6c85ad1d65a624_1_1_0_collision_9_py2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+        }
+
+        over "tn__fp214baseboard_25670a09320eafb2f57c350379374fd2_1_0_0_bc2"
+        {
+        }
+
+        over "tn__fp214baseboard_25670a09320eafb2f57c350379374fd2_1_1_0_bc2"
+        {
+            over "tn__fp214baseboard_25670a09320eafb2f57c350379374fd2_1_1_0_collision_1_py2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp214baseboard_25670a09320eafb2f57c350379374fd2_1_1_0_collision_2_py2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp214baseboard_25670a09320eafb2f57c350379374fd2_1_1_0_collision_3_py2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp214baseboard_25670a09320eafb2f57c350379374fd2_1_1_0_collision_4_py2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp214baseboard_25670a09320eafb2f57c350379374fd2_1_1_0_collision_5_py2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp214baseboard_25670a09320eafb2f57c350379374fd2_1_1_0_collision_6_py2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp214baseboard_25670a09320eafb2f57c350379374fd2_1_1_0_collision_7_py2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp214baseboard_25670a09320eafb2f57c350379374fd2_1_1_0_collision_8_py2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+        }
+
+        over "wall_4792a5c1ce6619bf1aeb520253eaea50_1_0_0"
+        {
+        }
+
+        over "wall_4792a5c1ce6619bf1aeb520253eaea50_1_1_0"
+        {
+            over "wall_4792a5c1ce6619bf1aeb520253eaea50_1_1_0_collision_1" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "wall_4792a5c1ce6619bf1aeb520253eaea50_1_1_0_collision_2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "wall_4792a5c1ce6619bf1aeb520253eaea50_1_1_0_collision_3" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "wall_4792a5c1ce6619bf1aeb520253eaea50_1_1_0_collision_4" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "wall_4792a5c1ce6619bf1aeb520253eaea50_1_1_0_collision_5" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "wall_4792a5c1ce6619bf1aeb520253eaea50_1_1_0_collision_6" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "wall_4792a5c1ce6619bf1aeb520253eaea50_1_1_0_collision_7" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "wall_4792a5c1ce6619bf1aeb520253eaea50_1_1_0_collision_8" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "wall_4792a5c1ce6619bf1aeb520253eaea50_1_1_0_collision_9" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "wall_4792a5c1ce6619bf1aeb520253eaea50_1_1_0_collision_10" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "wall_4792a5c1ce6619bf1aeb520253eaea50_1_1_0_collision_11" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "wall_4792a5c1ce6619bf1aeb520253eaea50_1_1_0_collision_12" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "wall_4792a5c1ce6619bf1aeb520253eaea50_1_1_0_collision_13" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "wall_4792a5c1ce6619bf1aeb520253eaea50_1_1_0_collision_14" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "wall_4792a5c1ce6619bf1aeb520253eaea50_1_1_0_collision_15" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "wall_4792a5c1ce6619bf1aeb520253eaea50_1_1_0_collision_16" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "wall_4792a5c1ce6619bf1aeb520253eaea50_1_1_0_collision_17" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "wall_4792a5c1ce6619bf1aeb520253eaea50_1_1_0_collision_18" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "wall_4792a5c1ce6619bf1aeb520253eaea50_1_1_0_collision_19" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+        }
+
+        over "tn__fp214cube_1509e7b68e5854df398425d7da466da4_1_0_0_vx1"
+        {
+        }
+
+        over "tn__fp214cube_1509e7b68e5854df398425d7da466da4_1_1_0_vx1"
+        {
+            over "tn__fp214cube_1509e7b68e5854df398425d7da466da4_1_1_0_collision_1_ep2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp214cube_1509e7b68e5854df398425d7da466da4_1_1_0_collision_2_ep2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp214cube_1509e7b68e5854df398425d7da466da4_1_1_0_collision_3_ep2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+        }
+
+        over "tn__fp214cylinder_de60c23dad9b370797b419425f9affc8_1_0_0_fa2"
+        {
+        }
+
+        over "tn__fp214cylinder_de60c23dad9b370797b419425f9affc8_1_1_0_fa2"
+        {
+            over "tn__fp214cylinder_de60c23dad9b370797b419425f9affc8_1_1_0_collision_2_tw2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp214cylinder_de60c23dad9b370797b419425f9affc8_1_1_0_collision_3_tw2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp214cylinder_de60c23dad9b370797b419425f9affc8_1_1_0_collision_4_tw2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp214cylinder_de60c23dad9b370797b419425f9affc8_1_1_0_collision_5_tw2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp214cylinder_de60c23dad9b370797b419425f9affc8_1_1_0_collision_6_tw2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp214cylinder_de60c23dad9b370797b419425f9affc8_1_1_0_collision_7_tw2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp214cylinder_de60c23dad9b370797b419425f9affc8_1_1_0_collision_8_tw2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp214cylinder_de60c23dad9b370797b419425f9affc8_1_1_0_collision_9_tw2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp214cylinder_de60c23dad9b370797b419425f9affc8_1_1_0_collision_10_py2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp214cylinder_de60c23dad9b370797b419425f9affc8_1_1_0_collision_11_py2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp214cylinder_de60c23dad9b370797b419425f9affc8_1_1_0_collision_12_py2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp214cylinder_de60c23dad9b370797b419425f9affc8_1_1_0_collision_13_py2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp214cylinder_de60c23dad9b370797b419425f9affc8_1_1_0_collision_14_py2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp214cylinder_de60c23dad9b370797b419425f9affc8_1_1_0_collision_15_py2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp214cylinder_de60c23dad9b370797b419425f9affc8_1_1_0_collision_16_py2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp214cylinder_de60c23dad9b370797b419425f9affc8_1_1_0_collision_17_py2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp214cylinder_de60c23dad9b370797b419425f9affc8_1_1_0_collision_18_py2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp214cylinder_de60c23dad9b370797b419425f9affc8_1_1_0_collision_19_py2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp214cylinder_de60c23dad9b370797b419425f9affc8_1_1_0_collision_20_py2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp214cylinder_de60c23dad9b370797b419425f9affc8_1_1_0_collision_21_py2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp214cylinder_de60c23dad9b370797b419425f9affc8_1_1_0_collision_22_py2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp214cylinder_de60c23dad9b370797b419425f9affc8_1_1_0_collision_23_py2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp214cylinder_de60c23dad9b370797b419425f9affc8_1_1_0_collision_24_py2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp214cylinder_de60c23dad9b370797b419425f9affc8_1_1_0_collision_25_py2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp214cylinder_de60c23dad9b370797b419425f9affc8_1_1_0_collision_26_py2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp214cylinder_de60c23dad9b370797b419425f9affc8_1_1_0_collision_27_py2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp214cylinder_de60c23dad9b370797b419425f9affc8_1_1_0_collision_28_py2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp214cylinder_de60c23dad9b370797b419425f9affc8_1_1_0_collision_29_py2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp214cylinder_de60c23dad9b370797b419425f9affc8_1_1_0_collision_30_py2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp214cylinder_de60c23dad9b370797b419425f9affc8_1_1_0_collision_31_py2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp214cylinder_de60c23dad9b370797b419425f9affc8_1_1_0_collision_32_py2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp214cylinder_de60c23dad9b370797b419425f9affc8_1_1_0_collision_33_py2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp214cylinder_de60c23dad9b370797b419425f9affc8_1_1_0_collision_34_py2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp214cylinder_de60c23dad9b370797b419425f9affc8_1_1_0_collision_35_py2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp214cylinder_de60c23dad9b370797b419425f9affc8_1_1_0_collision_36_py2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp214cylinder_de60c23dad9b370797b419425f9affc8_1_1_0_collision_37_py2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+        }
+
+        over "tn__fp214doorframe_8150e9251b13996820cb1fd67c79e49f_1_0_0_bc2"
+        {
+        }
+
+        over "tn__fp214doorframe_8150e9251b13996820cb1fd67c79e49f_1_1_0_bc2"
+        {
+            over "tn__fp214doorframe_8150e9251b13996820cb1fd67c79e49f_1_1_0_collision_1_py2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp214doorframe_8150e9251b13996820cb1fd67c79e49f_1_1_0_collision_2_py2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp214doorframe_8150e9251b13996820cb1fd67c79e49f_1_1_0_collision_3_py2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp214doorframe_8150e9251b13996820cb1fd67c79e49f_1_1_0_collision_4_py2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp214doorframe_8150e9251b13996820cb1fd67c79e49f_1_1_0_collision_5_py2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp214doorframe_8150e9251b13996820cb1fd67c79e49f_1_1_0_collision_6_py2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+        }
+
+        over "tn__fp214handle_31bfbfdf819ebf2fc3caea8b645bcc8d_1_0_0_nW2"
+        {
+        }
+
+        over "tn__fp214handle_31bfbfdf819ebf2fc3caea8b645bcc8d_1_1_0_nW2"
+        {
+            over "tn__fp214handle_31bfbfdf819ebf2fc3caea8b645bcc8d_1_1_0_collision_1_Wt2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp214handle_31bfbfdf819ebf2fc3caea8b645bcc8d_1_1_0_collision_2_Wt2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp214handle_31bfbfdf819ebf2fc3caea8b645bcc8d_1_1_0_collision_3_Wt2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp214handle_31bfbfdf819ebf2fc3caea8b645bcc8d_1_1_0_collision_4_Wt2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp214handle_31bfbfdf819ebf2fc3caea8b645bcc8d_1_1_0_collision_5_Wt2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp214handle_31bfbfdf819ebf2fc3caea8b645bcc8d_1_1_0_collision_6_Wt2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp214handle_31bfbfdf819ebf2fc3caea8b645bcc8d_1_1_0_collision_7_Wt2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp214handle_31bfbfdf819ebf2fc3caea8b645bcc8d_1_1_0_collision_8_Wt2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+        }
+
+        over "tn__fp214handle_cab96f6947b8978580eebbf31ff9511c_1_0_0_nW2"
+        {
+        }
+
+        over "tn__fp214handle_cab96f6947b8978580eebbf31ff9511c_1_1_0_nW2"
+        {
+            over "tn__fp214handle_cab96f6947b8978580eebbf31ff9511c_1_1_0_collision_1_Wt2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp214handle_cab96f6947b8978580eebbf31ff9511c_1_1_0_collision_2_Wt2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp214handle_cab96f6947b8978580eebbf31ff9511c_1_1_0_collision_3_Wt2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp214handle_cab96f6947b8978580eebbf31ff9511c_1_1_0_collision_4_Wt2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp214handle_cab96f6947b8978580eebbf31ff9511c_1_1_0_collision_5_Wt2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp214handle_cab96f6947b8978580eebbf31ff9511c_1_1_0_collision_6_Wt2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp214handle_cab96f6947b8978580eebbf31ff9511c_1_1_0_collision_7_Wt2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp214handle_cab96f6947b8978580eebbf31ff9511c_1_1_0_collision_8_Wt2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+        }
+
+        over "tn__fp214door_44bb602b49e2a22be4d3495ba7f584d7_1_0_0_vx1"
+        {
+        }
+
+        over "tn__fp214door_44bb602b49e2a22be4d3495ba7f584d7_1_1_0_vx1"
+        {
+            over "tn__fp214door_44bb602b49e2a22be4d3495ba7f584d7_1_1_0_collision_1_ep2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+        }
+
+        over "floor_da29a2dd33cf62c414087b6454421843_1_0_0"
+        {
+        }
+
+        over "floor_da29a2dd33cf62c414087b6454421843_1_1_0"
+        {
+        }
+
+        over "floor" (
+            prepend apiSchemas = ["PhysicsCollisionAPI"]
+        )
+        {
+        }
+    }
+}
+

scenes/ithor/FloorPlan214_physics/scene.preprocessed.json

@@ -0,0 +1,22 @@
+{
+  "source": "E:/EAI/molmo_isaac_data/isaac/scenes/ithor/FloorPlan214_physics/scene.usda",
+  "preprocessor_version": "2.1",
+  "timestamp": "2026-04-24T09:57:37.753711+00:00",
+  "offset": [
+    -4.29684,
+    -2.4183,
+    0.0
+  ],
+  "yaw_deg": 270.0,
+  "floor_z": -0.218498,
+  "ceiling_z": 3.22438,
+  "prims_deactivated": 5,
+  "prims_deactivated_paths": [
+    "/FloorPlan214_physics/Geometry/remotecontrol_dbbd4afce0b009e98224c7453fb4cfc5_1_0_0",
+    "/FloorPlan214_physics/Geometry/houseplant_c55ae81a27977746ba9e021b5853c93d_1_0_0",
+    "/FloorPlan214_physics/Geometry/coffeetable_f6dab2d0f620c73e4a7f319f5d4af03d_1_0_0",
+    "/FloorPlan214_physics/Geometry/plate_f61129d9e389712b24d18993ffe91ff5_1_0_0",
+    "/FloorPlan214_physics/Geometry/bowl_b389900f385a224adfc6bfda9c92faf5_1_0_0"
+  ],
+  "physics_preserved": true
+}

scenes/ithor/FloorPlan214_physics/scene.usda

@@ -0,0 +1,167 @@
+#usda 1.0
+(
+    customLayerData = {
+        string creator = """AI2-THOR mjcf-usd scene converter
+    time: 01-20-26 16:35:10
+    scene: FloorPlan214_physics
+    usd-exchange-version: 2.2.0
+"""
+    }
+    defaultPrim = "FloorPlan214_physics"
+    kilogramsPerUnit = 1
+    metersPerUnit = 1
+    upAxis = "Z"
+)
+
+def Xform "FloorPlan214_physics" (
+    prepend apiSchemas = ["GeomModelAPI"]
+    assetInfo = {
+        string name = "FloorPlan214_physics"
+    }
+    kind = "component"
+    prepend payload = @./Payload/Contents.usda@
+)
+{
+    float3[] extentsHint = [(-5.79229, -0.87266, -0.218498), (0.3597, 7.74031, 3.22438), (3.4028235e38, 3.4028235e38, 3.4028235e38), (-3.4028235e38, -3.4028235e38, -3.4028235e38), (3.4028235e38, 3.4028235e38, 3.4028235e38), (-3.4028235e38, -3.4028235e38, -3.4028235e38), (-10, -10, -0.002020038), (10, 10, 3.222619)]
+
+    over "Geometry"
+    {
+        over "statue_69507cc77982294b42ae477f429fbbaa_1_0_0" (
+            kind = "subcomponent"
+        )
+        {
+        }
+
+        over "statue_1a209a23e78ab43309f077dc16afbacb_1_0_0" (
+            kind = "subcomponent"
+        )
+        {
+        }
+
+        over "box_6c6e9d8c50ca7c78f753fbc9aa7e0756_1_0_0" (
+            kind = "subcomponent"
+        )
+        {
+        }
+
+        over "remotecontrol_dbbd4afce0b009e98224c7453fb4cfc5_1_0_0" (
+            active = false
+            kind = "subcomponent"
+        )
+        {
+        }
+
+        over "pillow_874c097332ffacf84f31fb77733db15c_1_0_0" (
+            kind = "subcomponent"
+        )
+        {
+        }
+
+        over "laptop_b69737b1397f282a7d4eb81d82cd6617_1_0_0" (
+            kind = "subcomponent"
+        )
+        {
+        }
+
+        over "trashcan_f0974b1fbee2156fbc6fda34a2d1879a_1_0_0" (
+            kind = "subcomponent"
+        )
+        {
+        }
+
+        over "floorlamp_5fcba74c359522067ebad07d15c293bb_1_0_0" (
+            kind = "subcomponent"
+        )
+        {
+        }
+
+        over "houseplant_c55ae81a27977746ba9e021b5853c93d_1_0_0" (
+            active = false
+            kind = "subcomponent"
+        )
+        {
+        }
+
+        over "tablelamp_b20580a8cc464a2d1c2688179fb7bbfb_1_0_0" (
+            kind = "subcomponent"
+        )
+        {
+        }
+
+        over "vase_4686c3634f3334d6f28ba73fcd509a72_1_0_0" (
+            kind = "subcomponent"
+        )
+        {
+        }
+
+        over "vase_b264007d115778c4f9c1d16f5c2fb6cb_1_0_0" (
+            kind = "subcomponent"
+        )
+        {
+        }
+
+        over "stand_6125a984af863129bbfab53c2a899f48_1_0_0" (
+            kind = "subcomponent"
+        )
+        {
+        }
+
+        over "statue_82f73072d5461ff460bb390c3adf02fa_1_0_0" (
+            kind = "subcomponent"
+        )
+        {
+        }
+
+        over "wateringcan_d70b28d9e1a8f2b72e55c0e91e3f2918_1_0_0" (
+            kind = "subcomponent"
+        )
+        {
+        }
+
+        over "coffeetable_f6dab2d0f620c73e4a7f319f5d4af03d_1_0_0" (
+            active = false
+            kind = "subcomponent"
+        )
+        {
+        }
+
+        over "armchair_5ba741f312d76d129068d394132c30d6_1_0_0" (
+            kind = "subcomponent"
+        )
+        {
+        }
+
+        over "newspaper_618f7f987a4592f5d0749b387fe03da3_1_0_0" (
+            kind = "subcomponent"
+        )
+        {
+        }
+
+        over "sofa_439a2b1ef8b2fa00bb31d6dec7173b38_1_0_0" (
+            kind = "subcomponent"
+        )
+        {
+        }
+
+        over "plate_f61129d9e389712b24d18993ffe91ff5_1_0_0" (
+            active = false
+            kind = "subcomponent"
+        )
+        {
+        }
+
+        over "sofa_439a2b1ef8b2fa00bb31d6dec7173b38_2_0_0" (
+            kind = "subcomponent"
+        )
+        {
+        }
+
+        over "bowl_b389900f385a224adfc6bfda9c92faf5_1_0_0" (
+            active = false
+            kind = "subcomponent"
+        )
+        {
+        }
+    }
+}
+

scenes/ithor/FloorPlan216_physics/Payload/Contents.usda

@@ -0,0 +1,37 @@
+#usda 1.0
+(
+    customLayerData = {
+        string creator = """AI2-THOR mjcf-usd scene converter
+    time: 01-20-26 16:35:10
+    scene: FloorPlan216_physics
+    usd-exchange-version: 2.2.0
+"""
+    }
+    defaultPrim = "FloorPlan216_physics"
+    kilogramsPerUnit = 1
+    metersPerUnit = 1
+    subLayers = [
+        @./Physics.usda@,
+        @./Geometry.usda@,
+        @./Materials.usda@
+    ]
+    upAxis = "Z"
+)
+
+def Xform "FloorPlan216_physics"
+{
+    def DistantLight "scene_dir_light"
+    {
+        float inputs:intensity = 1000
+        float xformOp:rotateX = -10
+        uniform token[] xformOpOrder = ["xformOp:rotateX"]
+    }
+
+    def DomeLight "scene_ibl_light"
+    {
+        color3f inputs:color = (1, 0.85301, 0.55212)
+        float inputs:exposure = 0
+        float inputs:intensity = 500
+    }
+}
+

scenes/ithor/FloorPlan216_physics/Payload/Materials.usda

@@ -0,0 +1,600 @@
+#usda 1.0
+(
+    customLayerData = {
+        string creator = """AI2-THOR mjcf-usd scene converter
+    time: 01-20-26 16:35:10
+    scene: FloorPlan216_physics
+    usd-exchange-version: 2.2.0
+"""
+    }
+    defaultPrim = "FloorPlan216_physics"
+    kilogramsPerUnit = 1
+    metersPerUnit = 1
+    upAxis = "Z"
+)
+
+def Xform "FloorPlan216_physics"
+{
+    def Scope "Materials"
+    {
+        def Material "material_CarpetWhite" (
+            prepend references = @./MaterialsLibrary.usda@</Materials/material_CarpetWhite>
+        )
+        {
+        }
+
+        def Material "material_Cream_wood" (
+            prepend references = @./MaterialsLibrary.usda@</Materials/material_Cream_wood>
+        )
+        {
+        }
+
+        def Material "material_1273482182_9f7b548a17_b" (
+            prepend references = @./MaterialsLibrary.usda@</Materials/material_1273482182_9f7b548a17_b>
+        )
+        {
+        }
+
+        def Material "material_DarkWood2" (
+            prepend references = @./MaterialsLibrary.usda@</Materials/material_DarkWood2>
+        )
+        {
+        }
+
+        def Material "tn__material_englishcountryvillagepainting_Zu0OW0" (
+            prepend references = @./MaterialsLibrary.usda@</Materials/tn__material_englishcountryvillagepainting_Zu0OW0>
+        )
+        {
+        }
+
+        def Material "material_BlackWood" (
+            prepend references = @./MaterialsLibrary.usda@</Materials/material_BlackWood>
+        )
+        {
+        }
+
+        def Material "material_WhiteWoodClean" (
+            prepend references = @./MaterialsLibrary.usda@</Materials/material_WhiteWoodClean>
+        )
+        {
+        }
+
+        def Material "material_Glass_Detailed_Lit_High_Mat" (
+            prepend references = @./MaterialsLibrary.usda@</Materials/material_Glass_Detailed_Lit_High_Mat>
+        )
+        {
+        }
+
+        def Material "material_ScreenDecalStencil" (
+            prepend references = @./MaterialsLibrary.usda@</Materials/material_ScreenDecalStencil>
+        )
+        {
+        }
+
+        def Material "material_television_backup_mat" (
+            prepend references = @./MaterialsLibrary.usda@</Materials/material_television_backup_mat>
+        )
+        {
+        }
+
+        def Material "material_Television_Speakers_Mat" (
+            prepend references = @./MaterialsLibrary.usda@</Materials/material_Television_Speakers_Mat>
+        )
+        {
+        }
+
+        def Material "material_Television_Screen_Off_Mat" (
+            prepend references = @./MaterialsLibrary.usda@</Materials/material_Television_Screen_Off_Mat>
+        )
+        {
+        }
+
+        def Material "material_Television_Secondary2_Mat" (
+            prepend references = @./MaterialsLibrary.usda@</Materials/material_Television_Secondary2_Mat>
+        )
+        {
+        }
+
+        def Material "material_Television_Primary2_Mat" (
+            prepend references = @./MaterialsLibrary.usda@</Materials/material_Television_Primary2_Mat>
+        )
+        {
+        }
+
+        def Material "material_Drywall" (
+            prepend references = @./MaterialsLibrary.usda@</Materials/material_Drywall>
+        )
+        {
+        }
+
+        def Material "material_DrywallEggshell" (
+            prepend references = @./MaterialsLibrary.usda@</Materials/material_DrywallEggshell>
+        )
+        {
+        }
+
+        def Material "material_ClockFace" (
+            prepend references = @./MaterialsLibrary.usda@</Materials/material_ClockFace>
+        )
+        {
+        }
+
+        def Material "material_StainlessSteel_Dull" (
+            prepend references = @./MaterialsLibrary.usda@</Materials/material_StainlessSteel_Dull>
+        )
+        {
+        }
+
+        def Material "material_Brass_Mat" (
+            prepend references = @./MaterialsLibrary.usda@</Materials/material_Brass_Mat>
+        )
+        {
+        }
+
+        def Material "material_Metal_chrome_mat" (
+            prepend references = @./MaterialsLibrary.usda@</Materials/material_Metal_chrome_mat>
+        )
+        {
+        }
+
+        def Material "material_Light2" (
+            prepend references = @./MaterialsLibrary.usda@</Materials/material_Light2>
+        )
+        {
+        }
+
+        def Material "material_WhiteWood" (
+            prepend references = @./MaterialsLibrary.usda@</Materials/material_WhiteWood>
+        )
+        {
+        }
+    }
+
+    over "Geometry"
+    {
+        over "mesh_dc8ede362e0d212973f7be6672c00999_1_1_0"
+        {
+            over "mesh_dc8ede362e0d212973f7be6672c00999_1_1_0_visual_0" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan216_physics/Materials/material_CarpetWhite>
+            }
+        }
+
+        over "tn__fp216base18_aaa8ad2660cabfe48c755ecc31f2e07a_1_1_0_nW2"
+        {
+            over "tn__fp216base18_aaa8ad2660cabfe48c755ecc31f2e07a_1_1_0_visual_0_in2" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan216_physics/Materials/material_Cream_wood>
+            }
+
+            over "tn__fp216base18_aaa8ad2660cabfe48c755ecc31f2e07a_1_1_0_visual_1_in2" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan216_physics/Materials/material_1273482182_9f7b548a17_b>
+            }
+
+            over "tn__fp216base18_aaa8ad2660cabfe48c755ecc31f2e07a_1_1_0_visual_2_in2" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan216_physics/Materials/material_DarkWood2>
+            }
+        }
+
+        over "tn__fp216base16_ded8e2087d345934d8f2de93ba87342b_1_1_0_nW2"
+        {
+            over "tn__fp216base16_ded8e2087d345934d8f2de93ba87342b_1_1_0_visual_0_in2" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan216_physics/Materials/material_Cream_wood>
+            }
+
+            over "tn__fp216base16_ded8e2087d345934d8f2de93ba87342b_1_1_0_visual_1_in2" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan216_physics/Materials/tn__material_englishcountryvillagepainting_Zu0OW0>
+            }
+
+            over "tn__fp216base16_ded8e2087d345934d8f2de93ba87342b_1_1_0_visual_2_in2" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan216_physics/Materials/material_BlackWood>
+            }
+        }
+
+        over "tn__fp216polysurface1_0f563a05a96447473bcc0606cf79a90e_1_1_0_uh2"
+        {
+            over "tn__fp216polysurface1_0f563a05a96447473bcc0606cf79a90e_1_1_0_visual_0_py2" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan216_physics/Materials/material_WhiteWoodClean>
+            }
+        }
+
+        over "tn__fp216polysurface1_0f563a05a96447473bcc0606cf79a90e_1_2_0_uh2"
+        {
+            over "tn__fp216polysurface1_0f563a05a96447473bcc0606cf79a90e_1_2_0_visual_1_py2" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan216_physics/Materials/material_Glass_Detailed_Lit_High_Mat>
+            }
+        }
+
+        over "tn__fp216polysurface2_89fc1a8b67d4cb992f9a50e6cd3fc84b_1_1_0_uh2"
+        {
+            over "tn__fp216polysurface2_89fc1a8b67d4cb992f9a50e6cd3fc84b_1_1_0_visual_0_py2" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan216_physics/Materials/material_Glass_Detailed_Lit_High_Mat>
+            }
+        }
+
+        over "tn__fp216polysurface2_89fc1a8b67d4cb992f9a50e6cd3fc84b_1_2_0_uh2"
+        {
+            over "tn__fp216polysurface2_89fc1a8b67d4cb992f9a50e6cd3fc84b_1_2_0_visual_2_py2" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan216_physics/Materials/material_WhiteWoodClean>
+            }
+        }
+
+        over "deferreddecalspawnplane_cf57e07574d171db5ed7b1a583a1d064_1_1_0"
+        {
+            over "deferreddecalspawnplane_cf57e07574d171db5ed7b1a583a1d064_1_1_0_visual_0" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan216_physics/Materials/material_ScreenDecalStencil>
+            }
+        }
+
+        over "mesh_442c89b2006f077b34d2bd81a2eddacd_1_1_0"
+        {
+            over "mesh_442c89b2006f077b34d2bd81a2eddacd_1_1_0_visual_0" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan216_physics/Materials/material_television_backup_mat>
+            }
+
+            over "mesh_442c89b2006f077b34d2bd81a2eddacd_1_1_0_visual_1" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan216_physics/Materials/material_Television_Speakers_Mat>
+            }
+
+            over "mesh_442c89b2006f077b34d2bd81a2eddacd_1_1_0_visual_2" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan216_physics/Materials/material_Television_Screen_Off_Mat>
+            }
+
+            over "mesh_442c89b2006f077b34d2bd81a2eddacd_1_1_0_visual_3" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan216_physics/Materials/material_Television_Secondary2_Mat>
+            }
+
+            over "mesh_442c89b2006f077b34d2bd81a2eddacd_1_1_0_visual_4" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan216_physics/Materials/material_Television_Primary2_Mat>
+            }
+        }
+
+        over "television_e17aa40b044dc6d16410a80116882ef4_1_1_0"
+        {
+            over "television_e17aa40b044dc6d16410a80116882ef4_1_1_0_visual_0" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan216_physics/Materials/material_television_backup_mat>
+            }
+
+            over "television_e17aa40b044dc6d16410a80116882ef4_1_1_0_visual_1" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan216_physics/Materials/material_Television_Speakers_Mat>
+            }
+
+            over "television_e17aa40b044dc6d16410a80116882ef4_1_1_0_visual_2" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan216_physics/Materials/material_Television_Screen_Off_Mat>
+            }
+
+            over "television_e17aa40b044dc6d16410a80116882ef4_1_1_0_visual_3" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan216_physics/Materials/material_Television_Secondary2_Mat>
+            }
+
+            over "television_e17aa40b044dc6d16410a80116882ef4_1_1_0_visual_4" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan216_physics/Materials/material_Television_Primary2_Mat>
+            }
+        }
+
+        over "television_e17aa40b044dc6d16410a80116882ef4_1_2_0"
+        {
+            over "television_e17aa40b044dc6d16410a80116882ef4_1_2_0_visual_9" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan216_physics/Materials/material_ScreenDecalStencil>
+            }
+        }
+
+        over "window_16f86c266cfb7999221a432719988aa8_1_1_0"
+        {
+            over "window_16f86c266cfb7999221a432719988aa8_1_1_0_visual_0" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan216_physics/Materials/material_Glass_Detailed_Lit_High_Mat>
+            }
+        }
+
+        over "window_16f86c266cfb7999221a432719988aa8_1_2_0"
+        {
+            over "window_16f86c266cfb7999221a432719988aa8_1_2_0_visual_2" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan216_physics/Materials/material_WhiteWoodClean>
+            }
+        }
+
+        over "window_0dfbff68356dbf22c26234ae7675b0ea_1_1_0"
+        {
+            over "window_0dfbff68356dbf22c26234ae7675b0ea_1_1_0_visual_0" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan216_physics/Materials/material_WhiteWoodClean>
+            }
+        }
+
+        over "window_0dfbff68356dbf22c26234ae7675b0ea_1_2_0"
+        {
+            over "window_0dfbff68356dbf22c26234ae7675b0ea_1_2_0_visual_1" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan216_physics/Materials/material_Glass_Detailed_Lit_High_Mat>
+            }
+        }
+
+        over "painting_c3da21f314d2f6fb8243dbdbbb9dca44_1_1_0"
+        {
+            over "painting_c3da21f314d2f6fb8243dbdbbb9dca44_1_1_0_visual_0" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan216_physics/Materials/material_Cream_wood>
+            }
+
+            over "painting_c3da21f314d2f6fb8243dbdbbb9dca44_1_1_0_visual_1" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan216_physics/Materials/tn__material_englishcountryvillagepainting_Zu0OW0>
+            }
+
+            over "painting_c3da21f314d2f6fb8243dbdbbb9dca44_1_1_0_visual_2" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan216_physics/Materials/material_BlackWood>
+            }
+        }
+
+        over "painting_e4fc1a3cb7bbf15bdfb61b3f6e7612bc_1_1_0"
+        {
+            over "painting_e4fc1a3cb7bbf15bdfb61b3f6e7612bc_1_1_0_visual_0" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan216_physics/Materials/material_Cream_wood>
+            }
+
+            over "painting_e4fc1a3cb7bbf15bdfb61b3f6e7612bc_1_1_0_visual_1" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan216_physics/Materials/material_1273482182_9f7b548a17_b>
+            }
+
+            over "painting_e4fc1a3cb7bbf15bdfb61b3f6e7612bc_1_1_0_visual_2" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan216_physics/Materials/material_DarkWood2>
+            }
+        }
+
+        over "ceiling_d8f64c0cc36a3d2fd87a7ef84f541f84_1_1_0"
+        {
+            over "ceiling_d8f64c0cc36a3d2fd87a7ef84f541f84_1_1_0_visual_0" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan216_physics/Materials/material_Drywall>
+            }
+        }
+
+        over "wall_db689fb912419fbd8c82ba2f569eb31c_1_1_0"
+        {
+            over "wall_db689fb912419fbd8c82ba2f569eb31c_1_1_0_visual_0" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan216_physics/Materials/material_WhiteWoodClean>
+            }
+
+            over "wall_db689fb912419fbd8c82ba2f569eb31c_1_1_0_visual_1" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan216_physics/Materials/material_DrywallEggshell>
+            }
+        }
+
+        over "tn__fp216clock1_32ecced727b888072456d7a336f6d4f5_1_1_0_nW2"
+        {
+            over "tn__fp216clock1_32ecced727b888072456d7a336f6d4f5_1_1_0_visual_0_in2" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan216_physics/Materials/material_ClockFace>
+            }
+
+            over "tn__fp216clock1_32ecced727b888072456d7a336f6d4f5_1_1_0_visual_1_in2" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan216_physics/Materials/material_StainlessSteel_Dull>
+            }
+        }
+
+        over "tn__fp216lightfixture4_863e529a3d36de1906592996669c8ebe_1_1_0_qj2"
+        {
+            over "tn__fp216lightfixture4_863e529a3d36de1906592996669c8ebe_1_1_0_visual_0_lV3" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan216_physics/Materials/material_Brass_Mat>
+            }
+
+            over "tn__fp216lightfixture4_863e529a3d36de1906592996669c8ebe_1_1_0_visual_1_lV3" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan216_physics/Materials/material_Metal_chrome_mat>
+            }
+
+            over "tn__fp216lightfixture4_863e529a3d36de1906592996669c8ebe_1_1_0_visual_2_lV3" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan216_physics/Materials/material_Light2>
+            }
+        }
+
+        over "tn__fp216lightfixture4_af8a7c99af17ff56560e3a55cf980687_1_1_0_qj2"
+        {
+            over "tn__fp216lightfixture4_af8a7c99af17ff56560e3a55cf980687_1_1_0_visual_0_lV3" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan216_physics/Materials/material_Brass_Mat>
+            }
+
+            over "tn__fp216lightfixture4_af8a7c99af17ff56560e3a55cf980687_1_1_0_visual_1_lV3" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan216_physics/Materials/material_Metal_chrome_mat>
+            }
+
+            over "tn__fp216lightfixture4_af8a7c99af17ff56560e3a55cf980687_1_1_0_visual_2_lV3" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan216_physics/Materials/material_Light2>
+            }
+        }
+
+        over "tn__fp216standardknob1_6580ba5df7844129ac2ee40c408a53ac_1_1_0_qj2"
+        {
+            over "tn__fp216standardknob1_6580ba5df7844129ac2ee40c408a53ac_1_1_0_visual_0_lV3" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan216_physics/Materials/material_Brass_Mat>
+            }
+        }
+
+        over "tn__fp216standarddoor1_21ce2d042611ac7a1317369783b15d3f_1_1_0_qj2"
+        {
+            over "tn__fp216standarddoor1_21ce2d042611ac7a1317369783b15d3f_1_1_0_visual_0_lV3" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan216_physics/Materials/material_WhiteWood>
+            }
+        }
+
+        over "tn__fp216standarddoorframe1_67e65313121308ceb2900000eea6b822_1_1_0_Wt2"
+        {
+            over "tn__fp216standarddoorframe1_67e65313121308ceb2900000eea6b822_1_1_0_visual_0_we3" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan216_physics/Materials/material_WhiteWoodClean>
+            }
+        }
+
+        over "tn__fp216standarddoor1_af80722b45fa4060bbd2654d6de1123c_1_1_0_qj2"
+        {
+            over "tn__fp216standarddoor1_af80722b45fa4060bbd2654d6de1123c_1_1_0_visual_0_lV3" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan216_physics/Materials/material_WhiteWood>
+            }
+        }
+
+        over "tn__fp216standardknob1_6e5967257805a27b2fee202289f57e6a_1_1_0_qj2"
+        {
+            over "tn__fp216standardknob1_6e5967257805a27b2fee202289f57e6a_1_1_0_visual_0_lV3" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan216_physics/Materials/material_Brass_Mat>
+            }
+        }
+
+        over "tn__fp216standarddoorframe1_6d8e01d0af269d974fff312d6780b0ab_1_1_0_Wt2"
+        {
+            over "tn__fp216standarddoorframe1_6d8e01d0af269d974fff312d6780b0ab_1_1_0_visual_0_we3" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan216_physics/Materials/material_WhiteWoodClean>
+            }
+        }
+
+        over "floor_664bac0f5bd66ceeb246570243fb2995_1_1_0"
+        {
+            over "floor_664bac0f5bd66ceeb246570243fb2995_1_1_0_visual_0" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan216_physics/Materials/material_CarpetWhite>
+            }
+        }
+    }
+}
+

scenes/ithor/FloorPlan216_physics/Payload/MaterialsLibrary.usda

@@ -0,0 +1,573 @@
+#usda 1.0
+(
+    "Material library for house FloorPlan216_physics"
+    customLayerData = {
+        string creator = """AI2-THOR mjcf-usd scene converter
+    time: 01-20-26 16:35:10
+    scene: FloorPlan216_physics
+    usd-exchange-version: 2.2.0
+"""
+    }
+    defaultPrim = "Materials"
+    kilogramsPerUnit = 1
+    metersPerUnit = 1
+    upAxis = "Z"
+)
+
+class Scope "Materials"
+{
+    def Material "material_CarpetWhite"
+    {
+        token outputs:displacement.connect = </Materials/material_CarpetWhite/PreviewSurface.outputs:displacement>
+        token outputs:surface.connect = </Materials/material_CarpetWhite/PreviewSurface.outputs:surface>
+
+        def Shader "PreviewSurface"
+        {
+            uniform token info:id = "UsdPreviewSurface"
+            color3f inputs:diffuseColor.connect = </Materials/material_CarpetWhite/DiffuseTexture.outputs:rgb>
+            float inputs:metallic = 0
+            float inputs:opacity = 1
+            float inputs:roughness = 0.5
+            token outputs:displacement
+            token outputs:surface
+        }
+
+        def Shader "DiffuseTexture"
+        {
+            uniform token info:id = "UsdUVTexture"
+            float4 inputs:fallback = (0.970588, 0.933773, 0.813581, 1)
+            asset inputs:file = @./Textures/Carpet1.png@
+            float4 inputs:scale = (0.970588, 0.933773, 0.813581, 1)
+            token inputs:sourceColorSpace = "auto"
+            float2 inputs:st.connect = </Materials/material_CarpetWhite/Primvar_st_float2.outputs:result>
+            token inputs:wrapS = "repeat"
+            token inputs:wrapT = "repeat"
+            float3 outputs:rgb
+        }
+
+        def Shader "Primvar_st_float2"
+        {
+            uniform token info:id = "UsdPrimvarReader_float2"
+            string inputs:varname = "st"
+            float2 outputs:result
+        }
+    }
+
+    def Material "material_Cream_wood"
+    {
+        token outputs:displacement.connect = </Materials/material_Cream_wood/PreviewSurface.outputs:displacement>
+        token outputs:surface.connect = </Materials/material_Cream_wood/PreviewSurface.outputs:surface>
+
+        def Shader "PreviewSurface"
+        {
+            uniform token info:id = "UsdPreviewSurface"
+            color3f inputs:diffuseColor.connect = </Materials/material_Cream_wood/DiffuseTexture.outputs:rgb>
+            float inputs:metallic = 0
+            float inputs:opacity = 1
+            float inputs:roughness = 0.5
+            token outputs:displacement
+            token outputs:surface
+        }
+
+        def Shader "DiffuseTexture"
+        {
+            uniform token info:id = "UsdUVTexture"
+            float4 inputs:fallback = (1, 0.977941, 0.977941, 1)
+            asset inputs:file = @./Textures/HammeredMetal_MetallicSmoothness.png@
+            float4 inputs:scale = (1, 0.977941, 0.977941, 1)
+            token inputs:sourceColorSpace = "auto"
+            float2 inputs:st.connect = </Materials/material_Cream_wood/Primvar_st_float2.outputs:result>
+            token inputs:wrapS = "repeat"
+            token inputs:wrapT = "repeat"
+            float3 outputs:rgb
+        }
+
+        def Shader "Primvar_st_float2"
+        {
+            uniform token info:id = "UsdPrimvarReader_float2"
+            string inputs:varname = "st"
+            float2 outputs:result
+        }
+    }
+
+    def Material "material_1273482182_9f7b548a17_b"
+    {
+        token outputs:displacement.connect = </Materials/material_1273482182_9f7b548a17_b/PreviewSurface.outputs:displacement>
+        token outputs:surface.connect = </Materials/material_1273482182_9f7b548a17_b/PreviewSurface.outputs:surface>
+
+        def Shader "PreviewSurface"
+        {
+            uniform token info:id = "UsdPreviewSurface"
+            color3f inputs:diffuseColor.connect = </Materials/material_1273482182_9f7b548a17_b/DiffuseTexture.outputs:rgb>
+            float inputs:metallic = 0
+            float inputs:opacity = 1
+            float inputs:roughness = 0.5
+            token outputs:displacement
+            token outputs:surface
+        }
+
+        def Shader "DiffuseTexture"
+        {
+            uniform token info:id = "UsdUVTexture"
+            float4 inputs:fallback = (1, 1, 1, 1)
+            asset inputs:file = @./Textures/1273482182_9f7b548a17_b.png@
+            float4 inputs:scale = (1, 1, 1, 1)
+            token inputs:sourceColorSpace = "auto"
+            float2 inputs:st.connect = </Materials/material_1273482182_9f7b548a17_b/Primvar_st_float2.outputs:result>
+            token inputs:wrapS = "repeat"
+            token inputs:wrapT = "repeat"
+            float3 outputs:rgb
+        }
+
+        def Shader "Primvar_st_float2"
+        {
+            uniform token info:id = "UsdPrimvarReader_float2"
+            string inputs:varname = "st"
+            float2 outputs:result
+        }
+    }
+
+    def Material "material_DarkWood2"
+    {
+        token outputs:displacement.connect = </Materials/material_DarkWood2/PreviewSurface.outputs:displacement>
+        token outputs:surface.connect = </Materials/material_DarkWood2/PreviewSurface.outputs:surface>
+
+        def Shader "PreviewSurface"
+        {
+            uniform token info:id = "UsdPreviewSurface"
+            color3f inputs:diffuseColor.connect = </Materials/material_DarkWood2/DiffuseTexture.outputs:rgb>
+            float inputs:metallic = 0
+            float inputs:opacity = 1
+            float inputs:roughness = 0.5
+            token outputs:displacement
+            token outputs:surface
+        }
+
+        def Shader "DiffuseTexture"
+        {
+            uniform token info:id = "UsdUVTexture"
+            float4 inputs:fallback = (1, 1, 1, 1)
+            asset inputs:file = @./Textures/DarkWood2.png@
+            float4 inputs:scale = (1, 1, 1, 1)
+            token inputs:sourceColorSpace = "auto"
+            float2 inputs:st.connect = </Materials/material_DarkWood2/Primvar_st_float2.outputs:result>
+            token inputs:wrapS = "repeat"
+            token inputs:wrapT = "repeat"
+            float3 outputs:rgb
+        }
+
+        def Shader "Primvar_st_float2"
+        {
+            uniform token info:id = "UsdPrimvarReader_float2"
+            string inputs:varname = "st"
+            float2 outputs:result
+        }
+    }
+
+    def Material "tn__material_englishcountryvillagepainting_Zu0OW0"
+    {
+        token outputs:displacement.connect = </Materials/tn__material_englishcountryvillagepainting_Zu0OW0/PreviewSurface.outputs:displacement>
+        token outputs:surface.connect = </Materials/tn__material_englishcountryvillagepainting_Zu0OW0/PreviewSurface.outputs:surface>
+
+        def Shader "PreviewSurface"
+        {
+            uniform token info:id = "UsdPreviewSurface"
+            color3f inputs:diffuseColor.connect = </Materials/tn__material_englishcountryvillagepainting_Zu0OW0/DiffuseTexture.outputs:rgb>
+            float inputs:metallic = 0
+            float inputs:opacity = 1
+            float inputs:roughness = 0.5
+            token outputs:displacement
+            token outputs:surface
+        }
+
+        def Shader "DiffuseTexture"
+        {
+            uniform token info:id = "UsdUVTexture"
+            float4 inputs:fallback = (1, 1, 1, 1)
+            asset inputs:file = @./Textures/english-country-village-painting.png@
+            float4 inputs:scale = (1, 1, 1, 1)
+            token inputs:sourceColorSpace = "auto"
+            float2 inputs:st.connect = </Materials/tn__material_englishcountryvillagepainting_Zu0OW0/Primvar_st_float2.outputs:result>
+            token inputs:wrapS = "repeat"
+            token inputs:wrapT = "repeat"
+            float3 outputs:rgb
+        }
+
+        def Shader "Primvar_st_float2"
+        {
+            uniform token info:id = "UsdPrimvarReader_float2"
+            string inputs:varname = "st"
+            float2 outputs:result
+        }
+    }
+
+    def Material "material_BlackWood"
+    {
+        token outputs:displacement.connect = </Materials/material_BlackWood/PreviewSurface.outputs:displacement>
+        token outputs:surface.connect = </Materials/material_BlackWood/PreviewSurface.outputs:surface>
+
+        def Shader "PreviewSurface"
+        {
+            uniform token info:id = "UsdPreviewSurface"
+            color3f inputs:diffuseColor = (0.147059, 0.147059, 0.147059)
+            float inputs:metallic = 0
+            float inputs:opacity = 1
+            float inputs:roughness = 0.5
+            token outputs:displacement
+            token outputs:surface
+        }
+    }
+
+    def Material "material_WhiteWoodClean"
+    {
+        token outputs:displacement.connect = </Materials/material_WhiteWoodClean/PreviewSurface.outputs:displacement>
+        token outputs:surface.connect = </Materials/material_WhiteWoodClean/PreviewSurface.outputs:surface>
+
+        def Shader "PreviewSurface"
+        {
+            uniform token info:id = "UsdPreviewSurface"
+            color3f inputs:diffuseColor = (1, 1, 1)
+            float inputs:metallic = 0
+            float inputs:opacity = 1
+            float inputs:roughness = 0.5
+            token outputs:displacement
+            token outputs:surface
+        }
+    }
+
+    def Material "material_Glass_Detailed_Lit_High_Mat"
+    {
+        token outputs:displacement.connect = </Materials/material_Glass_Detailed_Lit_High_Mat/PreviewSurface.outputs:displacement>
+        token outputs:surface.connect = </Materials/material_Glass_Detailed_Lit_High_Mat/PreviewSurface.outputs:surface>
+
+        def Shader "PreviewSurface"
+        {
+            uniform token info:id = "UsdPreviewSurface"
+            color3f inputs:diffuseColor = (1, 1, 1)
+            float inputs:metallic = 0
+            float inputs:opacity = 1
+            float inputs:roughness = 0.5
+            token outputs:displacement
+            token outputs:surface
+        }
+    }
+
+    def Material "material_ScreenDecalStencil"
+    {
+        token outputs:displacement.connect = </Materials/material_ScreenDecalStencil/PreviewSurface.outputs:displacement>
+        token outputs:surface.connect = </Materials/material_ScreenDecalStencil/PreviewSurface.outputs:surface>
+
+        def Shader "PreviewSurface"
+        {
+            uniform token info:id = "UsdPreviewSurface"
+            color3f inputs:diffuseColor = (1, 1, 1)
+            float inputs:metallic = 0
+            float inputs:opacity = 1
+            float inputs:roughness = 0.5
+            token outputs:displacement
+            token outputs:surface
+        }
+    }
+
+    def Material "material_television_backup_mat"
+    {
+        token outputs:displacement.connect = </Materials/material_television_backup_mat/PreviewSurface.outputs:displacement>
+        token outputs:surface.connect = </Materials/material_television_backup_mat/PreviewSurface.outputs:surface>
+
+        def Shader "PreviewSurface"
+        {
+            uniform token info:id = "UsdPreviewSurface"
+            color3f inputs:diffuseColor = (0.5, 0.5, 0.5)
+            float inputs:metallic = 0
+            float inputs:opacity = 1
+            float inputs:roughness = 0.5
+            token outputs:displacement
+            token outputs:surface
+        }
+    }
+
+    def Material "material_Television_Speakers_Mat"
+    {
+        token outputs:displacement.connect = </Materials/material_Television_Speakers_Mat/PreviewSurface.outputs:displacement>
+        token outputs:surface.connect = </Materials/material_Television_Speakers_Mat/PreviewSurface.outputs:surface>
+
+        def Shader "PreviewSurface"
+        {
+            uniform token info:id = "UsdPreviewSurface"
+            color3f inputs:diffuseColor = (0.566176, 0.566176, 0.566176)
+            float inputs:metallic = 0
+            float inputs:opacity = 1
+            float inputs:roughness = 0.5
+            token outputs:displacement
+            token outputs:surface
+        }
+    }
+
+    def Material "material_Television_Screen_Off_Mat"
+    {
+        token outputs:displacement.connect = </Materials/material_Television_Screen_Off_Mat/PreviewSurface.outputs:displacement>
+        token outputs:surface.connect = </Materials/material_Television_Screen_Off_Mat/PreviewSurface.outputs:surface>
+
+        def Shader "PreviewSurface"
+        {
+            uniform token info:id = "UsdPreviewSurface"
+            color3f inputs:diffuseColor = (0, 0, 0)
+            float inputs:metallic = 0
+            float inputs:opacity = 1
+            float inputs:roughness = 0.5
+            token outputs:displacement
+            token outputs:surface
+        }
+    }
+
+    def Material "material_Television_Secondary2_Mat"
+    {
+        token outputs:displacement.connect = </Materials/material_Television_Secondary2_Mat/PreviewSurface.outputs:displacement>
+        token outputs:surface.connect = </Materials/material_Television_Secondary2_Mat/PreviewSurface.outputs:surface>
+
+        def Shader "PreviewSurface"
+        {
+            uniform token info:id = "UsdPreviewSurface"
+            color3f inputs:diffuseColor.connect = </Materials/material_Television_Secondary2_Mat/DiffuseTexture.outputs:rgb>
+            float inputs:metallic = 0
+            float inputs:opacity = 1
+            float inputs:roughness = 0.5
+            token outputs:displacement
+            token outputs:surface
+        }
+
+        def Shader "DiffuseTexture"
+        {
+            uniform token info:id = "UsdUVTexture"
+            float4 inputs:fallback = (0.529412, 0.529412, 0.529412, 1)
+            asset inputs:file = @./Textures/MetalBumpy_AlbedoTransparency.png@
+            float4 inputs:scale = (0.529412, 0.529412, 0.529412, 1)
+            token inputs:sourceColorSpace = "auto"
+            float2 inputs:st.connect = </Materials/material_Television_Secondary2_Mat/Primvar_st_float2.outputs:result>
+            token inputs:wrapS = "repeat"
+            token inputs:wrapT = "repeat"
+            float3 outputs:rgb
+        }
+
+        def Shader "Primvar_st_float2"
+        {
+            uniform token info:id = "UsdPrimvarReader_float2"
+            string inputs:varname = "st"
+            float2 outputs:result
+        }
+    }
+
+    def Material "material_Television_Primary2_Mat"
+    {
+        token outputs:displacement.connect = </Materials/material_Television_Primary2_Mat/PreviewSurface.outputs:displacement>
+        token outputs:surface.connect = </Materials/material_Television_Primary2_Mat/PreviewSurface.outputs:surface>
+
+        def Shader "PreviewSurface"
+        {
+            uniform token info:id = "UsdPreviewSurface"
+            color3f inputs:diffuseColor = (0.570934, 0.612409, 0.647059)
+            float inputs:metallic = 0
+            float inputs:opacity = 1
+            float inputs:roughness = 0.5
+            token outputs:displacement
+            token outputs:surface
+        }
+    }
+
+    def Material "material_Drywall"
+    {
+        token outputs:displacement.connect = </Materials/material_Drywall/PreviewSurface.outputs:displacement>
+        token outputs:surface.connect = </Materials/material_Drywall/PreviewSurface.outputs:surface>
+
+        def Shader "PreviewSurface"
+        {
+            uniform token info:id = "UsdPreviewSurface"
+            color3f inputs:diffuseColor = (0.8, 0.8, 0.8)
+            float inputs:metallic = 0
+            float inputs:opacity = 1
+            float inputs:roughness = 0.5
+            token outputs:displacement
+            token outputs:surface
+        }
+    }
+
+    def Material "material_DrywallEggshell"
+    {
+        token outputs:displacement.connect = </Materials/material_DrywallEggshell/PreviewSurface.outputs:displacement>
+        token outputs:surface.connect = </Materials/material_DrywallEggshell/PreviewSurface.outputs:surface>
+
+        def Shader "PreviewSurface"
+        {
+            uniform token info:id = "UsdPreviewSurface"
+            color3f inputs:diffuseColor.connect = </Materials/material_DrywallEggshell/DiffuseTexture.outputs:rgb>
+            float inputs:metallic = 0
+            float inputs:opacity = 1
+            float inputs:roughness = 0.5
+            token outputs:displacement
+            token outputs:surface
+        }
+
+        def Shader "DiffuseTexture"
+        {
+            uniform token info:id = "UsdUVTexture"
+            float4 inputs:fallback = (0.926471, 0.878926, 0.7766, 1)
+            asset inputs:file = @./Textures/WallDrywallWhite.png@
+            float4 inputs:scale = (0.926471, 0.878926, 0.7766, 1)
+            token inputs:sourceColorSpace = "auto"
+            float2 inputs:st.connect = </Materials/material_DrywallEggshell/Primvar_st_float2.outputs:result>
+            token inputs:wrapS = "repeat"
+            token inputs:wrapT = "repeat"
+            float3 outputs:rgb
+        }
+
+        def Shader "Primvar_st_float2"
+        {
+            uniform token info:id = "UsdPrimvarReader_float2"
+            string inputs:varname = "st"
+            float2 outputs:result
+        }
+    }
+
+    def Material "material_ClockFace"
+    {
+        token outputs:displacement.connect = </Materials/material_ClockFace/PreviewSurface.outputs:displacement>
+        token outputs:surface.connect = </Materials/material_ClockFace/PreviewSurface.outputs:surface>
+
+        def Shader "PreviewSurface"
+        {
+            uniform token info:id = "UsdPreviewSurface"
+            color3f inputs:diffuseColor.connect = </Materials/material_ClockFace/DiffuseTexture.outputs:rgb>
+            float inputs:metallic = 0
+            float inputs:opacity = 1
+            float inputs:roughness = 0.5
+            token outputs:displacement
+            token outputs:surface
+        }
+
+        def Shader "DiffuseTexture"
+        {
+            uniform token info:id = "UsdUVTexture"
+            float4 inputs:fallback = (0.8, 0.8, 0.8, 1)
+            asset inputs:file = @./Textures/ClockFace.png@
+            float4 inputs:scale = (0.8, 0.8, 0.8, 1)
+            token inputs:sourceColorSpace = "auto"
+            float2 inputs:st.connect = </Materials/material_ClockFace/Primvar_st_float2.outputs:result>
+            token inputs:wrapS = "repeat"
+            token inputs:wrapT = "repeat"
+            float3 outputs:rgb
+        }
+
+        def Shader "Primvar_st_float2"
+        {
+            uniform token info:id = "UsdPrimvarReader_float2"
+            string inputs:varname = "st"
+            float2 outputs:result
+        }
+    }
+
+    def Material "material_StainlessSteel_Dull"
+    {
+        token outputs:displacement.connect = </Materials/material_StainlessSteel_Dull/PreviewSurface.outputs:displacement>
+        token outputs:surface.connect = </Materials/material_StainlessSteel_Dull/PreviewSurface.outputs:surface>
+
+        def Shader "PreviewSurface"
+        {
+            uniform token info:id = "UsdPreviewSurface"
+            color3f inputs:diffuseColor = (0.816176, 0.816176, 0.816176)
+            float inputs:metallic = 0
+            float inputs:opacity = 1
+            float inputs:roughness = 0.5
+            token outputs:displacement
+            token outputs:surface
+        }
+    }
+
+    def Material "material_Brass_Mat"
+    {
+        token outputs:displacement.connect = </Materials/material_Brass_Mat/PreviewSurface.outputs:displacement>
+        token outputs:surface.connect = </Materials/material_Brass_Mat/PreviewSurface.outputs:surface>
+
+        def Shader "PreviewSurface"
+        {
+            uniform token info:id = "UsdPreviewSurface"
+            color3f inputs:diffuseColor = (0.757353, 0.639065, 0.144788)
+            float inputs:metallic = 0
+            float inputs:opacity = 1
+            float inputs:roughness = 0.5
+            token outputs:displacement
+            token outputs:surface
+        }
+    }
+
+    def Material "material_Metal_chrome_mat"
+    {
+        token outputs:displacement.connect = </Materials/material_Metal_chrome_mat/PreviewSurface.outputs:displacement>
+        token outputs:surface.connect = </Materials/material_Metal_chrome_mat/PreviewSurface.outputs:surface>
+
+        def Shader "PreviewSurface"
+        {
+            uniform token info:id = "UsdPreviewSurface"
+            color3f inputs:diffuseColor = (0.829, 0.829, 0.829)
+            float inputs:metallic = 0
+            float inputs:opacity = 1
+            float inputs:roughness = 0.5
+            token outputs:displacement
+            token outputs:surface
+        }
+    }
+
+    def Material "material_Light2"
+    {
+        token outputs:displacement.connect = </Materials/material_Light2/PreviewSurface.outputs:displacement>
+        token outputs:surface.connect = </Materials/material_Light2/PreviewSurface.outputs:surface>
+
+        def Shader "PreviewSurface"
+        {
+            uniform token info:id = "UsdPreviewSurface"
+            color3f inputs:diffuseColor = (1, 0.944118, 0.860294)
+            float inputs:metallic = 0
+            float inputs:opacity = 1
+            float inputs:roughness = 0.5
+            token outputs:displacement
+            token outputs:surface
+        }
+    }
+
+    def Material "material_WhiteWood"
+    {
+        token outputs:displacement.connect = </Materials/material_WhiteWood/PreviewSurface.outputs:displacement>
+        token outputs:surface.connect = </Materials/material_WhiteWood/PreviewSurface.outputs:surface>
+
+        def Shader "PreviewSurface"
+        {
+            uniform token info:id = "UsdPreviewSurface"
+            color3f inputs:diffuseColor.connect = </Materials/material_WhiteWood/DiffuseTexture.outputs:rgb>
+            float inputs:metallic = 0
+            float inputs:opacity = 1
+            float inputs:roughness = 0.5
+            token outputs:displacement
+            token outputs:surface
+        }
+
+        def Shader "DiffuseTexture"
+        {
+            uniform token info:id = "UsdUVTexture"
+            float4 inputs:fallback = (1, 1, 1, 1)
+            asset inputs:file = @./Textures/TexturesCom_WoodWhite.png@
+            float4 inputs:scale = (1, 1, 1, 1)
+            token inputs:sourceColorSpace = "auto"
+            float2 inputs:st.connect = </Materials/material_WhiteWood/Primvar_st_float2.outputs:result>
+            token inputs:wrapS = "repeat"
+            token inputs:wrapT = "repeat"
+            float3 outputs:rgb
+        }
+
+        def Shader "Primvar_st_float2"
+        {
+            uniform token info:id = "UsdPrimvarReader_float2"
+            string inputs:varname = "st"
+            float2 outputs:result
+        }
+    }
+}
+

scenes/ithor/FloorPlan224_physics/Payload/Contents.usda

@@ -0,0 +1,37 @@
+#usda 1.0
+(
+    customLayerData = {
+        string creator = """AI2-THOR mjcf-usd scene converter
+    time: 01-20-26 16:35:11
+    scene: FloorPlan224_physics
+    usd-exchange-version: 2.2.0
+"""
+    }
+    defaultPrim = "FloorPlan224_physics"
+    kilogramsPerUnit = 1
+    metersPerUnit = 1
+    subLayers = [
+        @./Physics.usda@,
+        @./Geometry.usda@,
+        @./Materials.usda@
+    ]
+    upAxis = "Z"
+)
+
+def Xform "FloorPlan224_physics"
+{
+    def DistantLight "scene_dir_light"
+    {
+        float inputs:intensity = 1000
+        float xformOp:rotateX = -10
+        uniform token[] xformOpOrder = ["xformOp:rotateX"]
+    }
+
+    def DomeLight "scene_ibl_light"
+    {
+        color3f inputs:color = (1, 0.85301, 0.55212)
+        float inputs:exposure = 0
+        float inputs:intensity = 500
+    }
+}
+

scenes/ithor/FloorPlan224_physics/Payload/Materials.usda

@@ -0,0 +1,734 @@
+#usda 1.0
+(
+    customLayerData = {
+        string creator = """AI2-THOR mjcf-usd scene converter
+    time: 01-20-26 16:35:11
+    scene: FloorPlan224_physics
+    usd-exchange-version: 2.2.0
+"""
+    }
+    defaultPrim = "FloorPlan224_physics"
+    kilogramsPerUnit = 1
+    metersPerUnit = 1
+    upAxis = "Z"
+)
+
+def Xform "FloorPlan224_physics"
+{
+    def Scope "Materials"
+    {
+        def Material "material_Cream_wood" (
+            prepend references = @./MaterialsLibrary.usda@</Materials/material_Cream_wood>
+        )
+        {
+        }
+
+        def Material "material_Glass_Detailed_Frosted_Mat" (
+            prepend references = @./MaterialsLibrary.usda@</Materials/material_Glass_Detailed_Frosted_Mat>
+        )
+        {
+        }
+
+        def Material "tn__material_DefaultMaterial_uZ0" (
+            prepend references = @./MaterialsLibrary.usda@</Materials/tn__material_DefaultMaterial_uZ0>
+        )
+        {
+        }
+
+        def Material "material_WoodFloorsCrossREDGlossy" (
+            prepend references = @./MaterialsLibrary.usda@</Materials/material_WoodFloorsCrossREDGlossy>
+        )
+        {
+        }
+
+        def Material "material_Glass_Detailed_Lit_High_Mat" (
+            prepend references = @./MaterialsLibrary.usda@</Materials/material_Glass_Detailed_Lit_High_Mat>
+        )
+        {
+        }
+
+        def Material "tn__material_DP2599211_ZR" (
+            prepend references = @./MaterialsLibrary.usda@</Materials/tn__material_DP2599211_ZR>
+        )
+        {
+        }
+
+        def Material "material_DarkWoodSmooth2" (
+            prepend references = @./MaterialsLibrary.usda@</Materials/material_DarkWoodSmooth2>
+        )
+        {
+        }
+
+        def Material "material_LightWoodCounters3" (
+            prepend references = @./MaterialsLibrary.usda@</Materials/material_LightWoodCounters3>
+        )
+        {
+        }
+
+        def Material "tn__material_KiellandFra_jaeren_be0" (
+            prepend references = @./MaterialsLibrary.usda@</Materials/tn__material_KiellandFra_jaeren_be0>
+        )
+        {
+        }
+
+        def Material "material_DarkWoodFloors" (
+            prepend references = @./MaterialsLibrary.usda@</Materials/material_DarkWoodFloors>
+        )
+        {
+        }
+
+        def Material "material_d6a9d9032847700d26a7cc6f677de4d4" (
+            prepend references = @./MaterialsLibrary.usda@</Materials/material_d6a9d9032847700d26a7cc6f677de4d4>
+        )
+        {
+        }
+
+        def Material "material_EggshellDrywall" (
+            prepend references = @./MaterialsLibrary.usda@</Materials/material_EggshellDrywall>
+        )
+        {
+        }
+
+        def Material "material_YellowDrywall2" (
+            prepend references = @./MaterialsLibrary.usda@</Materials/material_YellowDrywall2>
+        )
+        {
+        }
+
+        def Material "material_Fireplace2_default_MetallicSmoothness" (
+            prepend references = @./MaterialsLibrary.usda@</Materials/material_Fireplace2_default_MetallicSmoothness>
+        )
+        {
+        }
+
+        def Material "material_No" (
+            prepend references = @./MaterialsLibrary.usda@</Materials/material_No>
+        )
+        {
+        }
+
+        def Material "material_Copper_AlbedoTransparency" (
+            prepend references = @./MaterialsLibrary.usda@</Materials/material_Copper_AlbedoTransparency>
+        )
+        {
+        }
+
+        def Material "material_GreyFloor" (
+            prepend references = @./MaterialsLibrary.usda@</Materials/material_GreyFloor>
+        )
+        {
+        }
+    }
+
+    over "Geometry"
+    {
+        over "cabinet_be69afb360e9a6cbe82dc3efbc9b2ed3_1_1_0"
+        {
+            over "cabinet_be69afb360e9a6cbe82dc3efbc9b2ed3_1_1_0_visual_0" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan224_physics/Materials/material_Cream_wood>
+            }
+        }
+
+        over "cabinet_be69afb360e9a6cbe82dc3efbc9b2ed3_1_2_0"
+        {
+            over "cabinet_be69afb360e9a6cbe82dc3efbc9b2ed3_1_2_0_visual_2" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan224_physics/Materials/material_Glass_Detailed_Frosted_Mat>
+            }
+        }
+
+        over "cabinet_be69afb360e9a6cbe82dc3efbc9b2ed3_1_3_0"
+        {
+            over "cabinet_be69afb360e9a6cbe82dc3efbc9b2ed3_1_3_0_visual_3" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan224_physics/Materials/tn__material_DefaultMaterial_uZ0>
+            }
+        }
+
+        over "cabinet_be69afb360e9a6cbe82dc3efbc9b2ed3_1_4_0"
+        {
+            over "cabinet_be69afb360e9a6cbe82dc3efbc9b2ed3_1_4_0_visual_34" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan224_physics/Materials/material_Cream_wood>
+            }
+        }
+
+        over "cabinet_be69afb360e9a6cbe82dc3efbc9b2ed3_1_5_0"
+        {
+            over "cabinet_be69afb360e9a6cbe82dc3efbc9b2ed3_1_5_0_visual_36" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan224_physics/Materials/material_Glass_Detailed_Frosted_Mat>
+            }
+        }
+
+        over "cabinet_be69afb360e9a6cbe82dc3efbc9b2ed3_1_6_0"
+        {
+            over "cabinet_be69afb360e9a6cbe82dc3efbc9b2ed3_1_6_0_visual_37" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan224_physics/Materials/tn__material_DefaultMaterial_uZ0>
+            }
+        }
+
+        over "mesh_83956f92df552379c8156c857e10d9f7_1_1_0"
+        {
+            over "mesh_83956f92df552379c8156c857e10d9f7_1_1_0_visual_0" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan224_physics/Materials/material_WoodFloorsCrossREDGlossy>
+            }
+        }
+
+        over "tn__fp224polysurface32_8b9791847412717b8f0d0bacb42effc9_1_1_0_qj2"
+        {
+            over "tn__fp224polysurface32_8b9791847412717b8f0d0bacb42effc9_1_1_0_visual_0_lV3" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan224_physics/Materials/material_Cream_wood>
+            }
+        }
+
+        over "tn__fp224polysurface32_8b9791847412717b8f0d0bacb42effc9_1_2_0_qj2"
+        {
+            over "tn__fp224polysurface32_8b9791847412717b8f0d0bacb42effc9_1_2_0_visual_2_lV3" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan224_physics/Materials/material_Glass_Detailed_Lit_High_Mat>
+            }
+        }
+
+        over "tn__fp224polysurface25_e8203c7219df50b9c6e93346d1496666_1_1_0_qj2"
+        {
+            over "tn__fp224polysurface25_e8203c7219df50b9c6e93346d1496666_1_1_0_visual_0_lV3" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan224_physics/Materials/material_Glass_Detailed_Lit_High_Mat>
+            }
+        }
+
+        over "tn__fp224polysurface25_e8203c7219df50b9c6e93346d1496666_1_2_0_qj2"
+        {
+            over "tn__fp224polysurface25_e8203c7219df50b9c6e93346d1496666_1_2_0_visual_1_lV3" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan224_physics/Materials/material_Cream_wood>
+            }
+        }
+
+        over "tn__fp224polysurface18_bbff3f581c5e9ceafdcd951dab57aeea_1_1_0_qj2"
+        {
+            over "tn__fp224polysurface18_bbff3f581c5e9ceafdcd951dab57aeea_1_1_0_visual_0_lV3" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan224_physics/Materials/material_Cream_wood>
+            }
+        }
+
+        over "tn__fp224polysurface18_bbff3f581c5e9ceafdcd951dab57aeea_1_2_0_qj2"
+        {
+            over "tn__fp224polysurface18_bbff3f581c5e9ceafdcd951dab57aeea_1_2_0_visual_2_lV3" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan224_physics/Materials/material_Glass_Detailed_Lit_High_Mat>
+            }
+        }
+
+        over "tn__fp224polysurface3_c0d6f169b7439de1e3ef48cac62788ad_1_1_0_uh2"
+        {
+            over "tn__fp224polysurface3_c0d6f169b7439de1e3ef48cac62788ad_1_1_0_visual_0_py2" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan224_physics/Materials/material_Cream_wood>
+            }
+        }
+
+        over "tn__fp224polysurface3_c0d6f169b7439de1e3ef48cac62788ad_1_2_0_uh2"
+        {
+            over "tn__fp224polysurface3_c0d6f169b7439de1e3ef48cac62788ad_1_2_0_visual_2_py2" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan224_physics/Materials/material_Glass_Detailed_Lit_High_Mat>
+            }
+        }
+
+        over "tn__fp224polysurface2_2fa4a1d3b6c144ca7cac0bb3d8768cb2_1_1_0_uh2"
+        {
+            over "tn__fp224polysurface2_2fa4a1d3b6c144ca7cac0bb3d8768cb2_1_1_0_visual_0_py2" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan224_physics/Materials/material_Cream_wood>
+            }
+        }
+
+        over "tn__fp224polysurface2_2fa4a1d3b6c144ca7cac0bb3d8768cb2_1_2_0_uh2"
+        {
+            over "tn__fp224polysurface2_2fa4a1d3b6c144ca7cac0bb3d8768cb2_1_2_0_visual_2_py2" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan224_physics/Materials/material_Glass_Detailed_Lit_High_Mat>
+            }
+        }
+
+        over "tn__fp224polysurface34_f1622c20c08f5d0e5d15e340c0476a11_1_1_0_qj2"
+        {
+            over "tn__fp224polysurface34_f1622c20c08f5d0e5d15e340c0476a11_1_1_0_visual_0_lV3" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan224_physics/Materials/material_Cream_wood>
+            }
+        }
+
+        over "tn__fp224polysurface34_f1622c20c08f5d0e5d15e340c0476a11_1_2_0_qj2"
+        {
+            over "tn__fp224polysurface34_f1622c20c08f5d0e5d15e340c0476a11_1_2_0_visual_2_lV3" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan224_physics/Materials/material_Glass_Detailed_Lit_High_Mat>
+            }
+        }
+
+        over "tn__fp222base19_5f89d5b3f97e7d54f19879e5918d0693_1_1_0_nW2"
+        {
+            over "tn__fp222base19_5f89d5b3f97e7d54f19879e5918d0693_1_1_0_visual_0_in2" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan224_physics/Materials/tn__material_DP2599211_ZR>
+            }
+
+            over "tn__fp222base19_5f89d5b3f97e7d54f19879e5918d0693_1_1_0_visual_1_in2" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan224_physics/Materials/material_DarkWoodSmooth2>
+            }
+        }
+
+        over "tn__fp224base13_b9031b84bd30c25baa8c9eaa56cadb09_1_1_0_nW2"
+        {
+            over "tn__fp224base13_b9031b84bd30c25baa8c9eaa56cadb09_1_1_0_visual_0_in2" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan224_physics/Materials/material_LightWoodCounters3>
+            }
+
+            over "tn__fp224base13_b9031b84bd30c25baa8c9eaa56cadb09_1_1_0_visual_1_in2" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan224_physics/Materials/tn__material_KiellandFra_jaeren_be0>
+            }
+
+            over "tn__fp224base13_b9031b84bd30c25baa8c9eaa56cadb09_1_1_0_visual_2_in2" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan224_physics/Materials/material_DarkWoodFloors>
+            }
+        }
+
+        over "tn__fp224base17_5203e991432a17fa3959d2427fbffdfa_1_1_0_nW2"
+        {
+            over "tn__fp224base17_5203e991432a17fa3959d2427fbffdfa_1_1_0_visual_0_in2" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan224_physics/Materials/material_d6a9d9032847700d26a7cc6f677de4d4>
+            }
+
+            over "tn__fp224base17_5203e991432a17fa3959d2427fbffdfa_1_1_0_visual_1_in2" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan224_physics/Materials/material_DarkWoodSmooth2>
+            }
+        }
+
+        over "painting_920d32c7d5f66c754210d36f290cd5ee_1_1_0"
+        {
+            over "painting_920d32c7d5f66c754210d36f290cd5ee_1_1_0_visual_0" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan224_physics/Materials/material_d6a9d9032847700d26a7cc6f677de4d4>
+            }
+
+            over "painting_920d32c7d5f66c754210d36f290cd5ee_1_1_0_visual_1" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan224_physics/Materials/material_DarkWoodSmooth2>
+            }
+        }
+
+        over "painting_2e72f341ad431bd873e06f3814dfd81e_1_1_0"
+        {
+            over "painting_2e72f341ad431bd873e06f3814dfd81e_1_1_0_visual_0" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan224_physics/Materials/material_LightWoodCounters3>
+            }
+
+            over "painting_2e72f341ad431bd873e06f3814dfd81e_1_1_0_visual_1" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan224_physics/Materials/tn__material_KiellandFra_jaeren_be0>
+            }
+
+            over "painting_2e72f341ad431bd873e06f3814dfd81e_1_1_0_visual_2" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan224_physics/Materials/material_DarkWoodFloors>
+            }
+        }
+
+        over "painting_6712f22a5b84b59e52ca658971c8dc98_1_1_0"
+        {
+            over "painting_6712f22a5b84b59e52ca658971c8dc98_1_1_0_visual_0" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan224_physics/Materials/tn__material_DP2599211_ZR>
+            }
+
+            over "painting_6712f22a5b84b59e52ca658971c8dc98_1_1_0_visual_1" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan224_physics/Materials/material_DarkWoodSmooth2>
+            }
+        }
+
+        over "window_81e2bd31e4be25e3964b1e75a9352146_1_1_0"
+        {
+            over "window_81e2bd31e4be25e3964b1e75a9352146_1_1_0_visual_0" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan224_physics/Materials/material_Glass_Detailed_Lit_High_Mat>
+            }
+        }
+
+        over "window_81e2bd31e4be25e3964b1e75a9352146_1_2_0"
+        {
+            over "window_81e2bd31e4be25e3964b1e75a9352146_1_2_0_visual_1" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan224_physics/Materials/material_Cream_wood>
+            }
+        }
+
+        over "window_7e088af8a94b08db45ec13285a1ee5a1_1_1_0"
+        {
+            over "window_7e088af8a94b08db45ec13285a1ee5a1_1_1_0_visual_0" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan224_physics/Materials/material_Glass_Detailed_Lit_High_Mat>
+            }
+        }
+
+        over "window_7e088af8a94b08db45ec13285a1ee5a1_1_2_0"
+        {
+            over "window_7e088af8a94b08db45ec13285a1ee5a1_1_2_0_visual_1" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan224_physics/Materials/material_Cream_wood>
+            }
+        }
+
+        over "window_95be1494d940f96ec7f38b798a1d2231_1_1_0"
+        {
+            over "window_95be1494d940f96ec7f38b798a1d2231_1_1_0_visual_0" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan224_physics/Materials/material_Cream_wood>
+            }
+        }
+
+        over "window_95be1494d940f96ec7f38b798a1d2231_1_2_0"
+        {
+            over "window_95be1494d940f96ec7f38b798a1d2231_1_2_0_visual_2" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan224_physics/Materials/material_Glass_Detailed_Lit_High_Mat>
+            }
+        }
+
+        over "window_7ae173afcf93ff6e8324676ba88b7b3f_1_1_0"
+        {
+            over "window_7ae173afcf93ff6e8324676ba88b7b3f_1_1_0_visual_0" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan224_physics/Materials/material_Glass_Detailed_Lit_High_Mat>
+            }
+        }
+
+        over "window_7ae173afcf93ff6e8324676ba88b7b3f_1_2_0"
+        {
+            over "window_7ae173afcf93ff6e8324676ba88b7b3f_1_2_0_visual_1" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan224_physics/Materials/material_Cream_wood>
+            }
+        }
+
+        over "window_41682c1807bee2dd360919a38761bf6e_1_1_0"
+        {
+            over "window_41682c1807bee2dd360919a38761bf6e_1_1_0_visual_0" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan224_physics/Materials/material_Cream_wood>
+            }
+        }
+
+        over "window_41682c1807bee2dd360919a38761bf6e_1_2_0"
+        {
+            over "window_41682c1807bee2dd360919a38761bf6e_1_2_0_visual_2" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan224_physics/Materials/material_Glass_Detailed_Lit_High_Mat>
+            }
+        }
+
+        over "window_96ae2ff4ca2c35fdc4418ecc57f5dc8a_1_1_0"
+        {
+            over "window_96ae2ff4ca2c35fdc4418ecc57f5dc8a_1_1_0_visual_0" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan224_physics/Materials/material_Cream_wood>
+            }
+        }
+
+        over "window_96ae2ff4ca2c35fdc4418ecc57f5dc8a_1_2_0"
+        {
+            over "window_96ae2ff4ca2c35fdc4418ecc57f5dc8a_1_2_0_visual_2" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan224_physics/Materials/material_Glass_Detailed_Lit_High_Mat>
+            }
+        }
+
+        over "floor_736f9adf325fc9ea7adcbf7c8f484db6_1_1_0"
+        {
+            over "floor_736f9adf325fc9ea7adcbf7c8f484db6_1_1_0_visual_0" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan224_physics/Materials/material_WoodFloorsCrossREDGlossy>
+            }
+        }
+
+        over "ceiling_e84f9cf6c7f27b088a05d3951d889f0e_1_1_0"
+        {
+            over "ceiling_e84f9cf6c7f27b088a05d3951d889f0e_1_1_0_visual_0" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan224_physics/Materials/material_EggshellDrywall>
+            }
+        }
+
+        over "tn__fp224polysurface38_2d452612b591e5bc1ccdec5852a25c8f_1_1_0_qj2"
+        {
+            over "tn__fp224polysurface38_2d452612b591e5bc1ccdec5852a25c8f_1_1_0_visual_0_lV3" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan224_physics/Materials/material_EggshellDrywall>
+            }
+
+            over "tn__fp224polysurface38_2d452612b591e5bc1ccdec5852a25c8f_1_1_0_visual_1_lV3" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan224_physics/Materials/material_LightWoodCounters3>
+            }
+        }
+
+        over "walls_1ab62044ae040c2e365eabee91250a06_1_1_0"
+        {
+            over "walls_1ab62044ae040c2e365eabee91250a06_1_1_0_visual_0" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan224_physics/Materials/material_LightWoodCounters3>
+            }
+
+            over "walls_1ab62044ae040c2e365eabee91250a06_1_1_0_visual_1" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan224_physics/Materials/material_YellowDrywall2>
+            }
+
+            over "walls_1ab62044ae040c2e365eabee91250a06_1_1_0_visual_2" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan224_physics/Materials/material_EggshellDrywall>
+            }
+
+            over "walls_1ab62044ae040c2e365eabee91250a06_1_1_0_visual_3" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan224_physics/Materials/material_Cream_wood>
+            }
+        }
+
+        over "tn__fp224column_0f33a296734a735374cf01695a6046e5_1_1_0_nW2"
+        {
+            over "tn__fp224column_0f33a296734a735374cf01695a6046e5_1_1_0_visual_0_in2" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan224_physics/Materials/material_Cream_wood>
+            }
+        }
+
+        over "tn__fp224cube_3ebdce22a331591c90218cc0c861eb55_1_1_0_vx1"
+        {
+            over "tn__fp224cube_3ebdce22a331591c90218cc0c861eb55_1_1_0_visual_0_qj2" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan224_physics/Materials/material_Fireplace2_default_MetallicSmoothness>
+            }
+        }
+
+        over "tn__fp224cube_1d6c19bd3ad2efcf60c28e76a74db429_1_1_0_vx1"
+        {
+            over "tn__fp224cube_1d6c19bd3ad2efcf60c28e76a74db429_1_1_0_visual_0_qj2" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan224_physics/Materials/material_No>
+            }
+        }
+
+        over "ceilinglights_4b0055b12f14733268d2df2a92dcaeb3_1_1_0"
+        {
+            over "ceilinglights_4b0055b12f14733268d2df2a92dcaeb3_1_1_0_visual_0" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan224_physics/Materials/material_EggshellDrywall>
+            }
+
+            over "ceilinglights_4b0055b12f14733268d2df2a92dcaeb3_1_1_0_visual_1" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan224_physics/Materials/material_Glass_Detailed_Lit_High_Mat>
+            }
+        }
+
+        over "ceilinglights1_9d8b0638c3539d166a940f6d7ed0faaf_1_1_0"
+        {
+            over "ceilinglights1_9d8b0638c3539d166a940f6d7ed0faaf_1_1_0_visual_0" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan224_physics/Materials/material_EggshellDrywall>
+            }
+
+            over "ceilinglights1_9d8b0638c3539d166a940f6d7ed0faaf_1_1_0_visual_1" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan224_physics/Materials/material_Glass_Detailed_Lit_High_Mat>
+            }
+        }
+
+        over "tn__fp224handle_b93fecadfb23a0eb8fa6e7dece236c00_1_1_0_nW2"
+        {
+            over "tn__fp224handle_b93fecadfb23a0eb8fa6e7dece236c00_1_1_0_visual_0_in2" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan224_physics/Materials/material_No>
+            }
+        }
+
+        over "tn__fp224handle_4a38bb739b3026cabf90470586766664_1_1_0_nW2"
+        {
+            over "tn__fp224handle_4a38bb739b3026cabf90470586766664_1_1_0_visual_0_in2" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan224_physics/Materials/material_Copper_AlbedoTransparency>
+            }
+        }
+
+        over "tn__fp224doorframe_9d28066e1124eacdc83513ed2a41d123_1_1_0_bc2"
+        {
+            over "tn__fp224doorframe_9d28066e1124eacdc83513ed2a41d123_1_1_0_visual_0_Wt2" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan224_physics/Materials/material_Cream_wood>
+            }
+        }
+
+        over "tn__fp224door_4eff8f0277eeb6ada30fccbe20adbd07_1_1_0_vx1"
+        {
+            over "tn__fp224door_4eff8f0277eeb6ada30fccbe20adbd07_1_1_0_visual_0_qj2" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan224_physics/Materials/material_GreyFloor>
+            }
+        }
+
+        over "tn__fp224wineglasses_d0bb6274c2f9b8d13b057036a1038b87_1_1_0_yf2"
+        {
+            over "tn__fp224wineglasses_d0bb6274c2f9b8d13b057036a1038b87_1_1_0_visual_0_tw2" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan224_physics/Materials/material_Cream_wood>
+            }
+        }
+    }
+}
+

scenes/ithor/FloorPlan224_physics/Payload/MaterialsLibrary.usda

@@ -0,0 +1,548 @@
+#usda 1.0
+(
+    "Material library for house FloorPlan224_physics"
+    customLayerData = {
+        string creator = """AI2-THOR mjcf-usd scene converter
+    time: 01-20-26 16:35:11
+    scene: FloorPlan224_physics
+    usd-exchange-version: 2.2.0
+"""
+    }
+    defaultPrim = "Materials"
+    kilogramsPerUnit = 1
+    metersPerUnit = 1
+    upAxis = "Z"
+)
+
+class Scope "Materials"
+{
+    def Material "material_Cream_wood"
+    {
+        token outputs:displacement.connect = </Materials/material_Cream_wood/PreviewSurface.outputs:displacement>
+        token outputs:surface.connect = </Materials/material_Cream_wood/PreviewSurface.outputs:surface>
+
+        def Shader "PreviewSurface"
+        {
+            uniform token info:id = "UsdPreviewSurface"
+            color3f inputs:diffuseColor.connect = </Materials/material_Cream_wood/DiffuseTexture.outputs:rgb>
+            float inputs:metallic = 0
+            float inputs:opacity = 1
+            float inputs:roughness = 0.5
+            token outputs:displacement
+            token outputs:surface
+        }
+
+        def Shader "DiffuseTexture"
+        {
+            uniform token info:id = "UsdUVTexture"
+            float4 inputs:fallback = (1, 0.977941, 0.977941, 1)
+            asset inputs:file = @./Textures/HammeredMetal_MetallicSmoothness.png@
+            float4 inputs:scale = (1, 0.977941, 0.977941, 1)
+            token inputs:sourceColorSpace = "auto"
+            float2 inputs:st.connect = </Materials/material_Cream_wood/Primvar_st_float2.outputs:result>
+            token inputs:wrapS = "repeat"
+            token inputs:wrapT = "repeat"
+            float3 outputs:rgb
+        }
+
+        def Shader "Primvar_st_float2"
+        {
+            uniform token info:id = "UsdPrimvarReader_float2"
+            string inputs:varname = "st"
+            float2 outputs:result
+        }
+    }
+
+    def Material "material_Glass_Detailed_Frosted_Mat"
+    {
+        token outputs:displacement.connect = </Materials/material_Glass_Detailed_Frosted_Mat/PreviewSurface.outputs:displacement>
+        token outputs:surface.connect = </Materials/material_Glass_Detailed_Frosted_Mat/PreviewSurface.outputs:surface>
+
+        def Shader "PreviewSurface"
+        {
+            uniform token info:id = "UsdPreviewSurface"
+            color3f inputs:diffuseColor = (0.477941, 0.477941, 0.477941)
+            float inputs:metallic = 0
+            float inputs:opacity = 1
+            float inputs:roughness = 0.5
+            token outputs:displacement
+            token outputs:surface
+        }
+    }
+
+    def Material "tn__material_DefaultMaterial_uZ0"
+    {
+        token outputs:displacement.connect = </Materials/tn__material_DefaultMaterial_uZ0/PreviewSurface.outputs:displacement>
+        token outputs:surface.connect = </Materials/tn__material_DefaultMaterial_uZ0/PreviewSurface.outputs:surface>
+
+        def Shader "PreviewSurface"
+        {
+            uniform token info:id = "UsdPreviewSurface"
+            color3f inputs:diffuseColor = (1, 1, 1)
+            float inputs:metallic = 0
+            float inputs:opacity = 1
+            float inputs:roughness = 0.5
+            token outputs:displacement
+            token outputs:surface
+        }
+    }
+
+    def Material "material_WoodFloorsCrossREDGlossy"
+    {
+        token outputs:displacement.connect = </Materials/material_WoodFloorsCrossREDGlossy/PreviewSurface.outputs:displacement>
+        token outputs:surface.connect = </Materials/material_WoodFloorsCrossREDGlossy/PreviewSurface.outputs:surface>
+
+        def Shader "PreviewSurface"
+        {
+            uniform token info:id = "UsdPreviewSurface"
+            color3f inputs:diffuseColor.connect = </Materials/material_WoodFloorsCrossREDGlossy/DiffuseTexture.outputs:rgb>
+            float inputs:metallic = 0
+            float inputs:opacity = 1
+            float inputs:roughness = 0.5
+            token outputs:displacement
+            token outputs:surface
+        }
+
+        def Shader "DiffuseTexture"
+        {
+            uniform token info:id = "UsdUVTexture"
+            float4 inputs:fallback = (0.757353, 0.579152, 0.462208, 1)
+            asset inputs:file = @./Textures/CrossHatchWood.png@
+            float4 inputs:scale = (0.757353, 0.579152, 0.462208, 1)
+            token inputs:sourceColorSpace = "auto"
+            float2 inputs:st.connect = </Materials/material_WoodFloorsCrossREDGlossy/Primvar_st_float2.outputs:result>
+            token inputs:wrapS = "repeat"
+            token inputs:wrapT = "repeat"
+            float3 outputs:rgb
+        }
+
+        def Shader "Primvar_st_float2"
+        {
+            uniform token info:id = "UsdPrimvarReader_float2"
+            string inputs:varname = "st"
+            float2 outputs:result
+        }
+    }
+
+    def Material "material_Glass_Detailed_Lit_High_Mat"
+    {
+        token outputs:displacement.connect = </Materials/material_Glass_Detailed_Lit_High_Mat/PreviewSurface.outputs:displacement>
+        token outputs:surface.connect = </Materials/material_Glass_Detailed_Lit_High_Mat/PreviewSurface.outputs:surface>
+
+        def Shader "PreviewSurface"
+        {
+            uniform token info:id = "UsdPreviewSurface"
+            color3f inputs:diffuseColor = (1, 1, 1)
+            float inputs:metallic = 0
+            float inputs:opacity = 1
+            float inputs:roughness = 0.5
+            token outputs:displacement
+            token outputs:surface
+        }
+    }
+
+    def Material "tn__material_DP2599211_ZR"
+    {
+        token outputs:displacement.connect = </Materials/tn__material_DP2599211_ZR/PreviewSurface.outputs:displacement>
+        token outputs:surface.connect = </Materials/tn__material_DP2599211_ZR/PreviewSurface.outputs:surface>
+
+        def Shader "PreviewSurface"
+        {
+            uniform token info:id = "UsdPreviewSurface"
+            color3f inputs:diffuseColor.connect = </Materials/tn__material_DP2599211_ZR/DiffuseTexture.outputs:rgb>
+            float inputs:metallic = 0
+            float inputs:opacity = 1
+            float inputs:roughness = 0.5
+            token outputs:displacement
+            token outputs:surface
+        }
+
+        def Shader "DiffuseTexture"
+        {
+            uniform token info:id = "UsdUVTexture"
+            float4 inputs:fallback = (1, 1, 1, 1)
+            asset inputs:file = @./Textures/DP259921-1.png@
+            float4 inputs:scale = (1, 1, 1, 1)
+            token inputs:sourceColorSpace = "auto"
+            float2 inputs:st.connect = </Materials/tn__material_DP2599211_ZR/Primvar_st_float2.outputs:result>
+            token inputs:wrapS = "repeat"
+            token inputs:wrapT = "repeat"
+            float3 outputs:rgb
+        }
+
+        def Shader "Primvar_st_float2"
+        {
+            uniform token info:id = "UsdPrimvarReader_float2"
+            string inputs:varname = "st"
+            float2 outputs:result
+        }
+    }
+
+    def Material "material_DarkWoodSmooth2"
+    {
+        token outputs:displacement.connect = </Materials/material_DarkWoodSmooth2/PreviewSurface.outputs:displacement>
+        token outputs:surface.connect = </Materials/material_DarkWoodSmooth2/PreviewSurface.outputs:surface>
+
+        def Shader "PreviewSurface"
+        {
+            uniform token info:id = "UsdPreviewSurface"
+            color3f inputs:diffuseColor.connect = </Materials/material_DarkWoodSmooth2/DiffuseTexture.outputs:rgb>
+            float inputs:metallic = 0
+            float inputs:opacity = 1
+            float inputs:roughness = 0.5
+            token outputs:displacement
+            token outputs:surface
+        }
+
+        def Shader "DiffuseTexture"
+        {
+            uniform token info:id = "UsdUVTexture"
+            float4 inputs:fallback = (0.122641, 0.0908241, 0.0908241, 1)
+            asset inputs:file = @./Textures/WoodGrains1.png@
+            float4 inputs:scale = (0.122641, 0.0908241, 0.0908241, 1)
+            token inputs:sourceColorSpace = "auto"
+            float2 inputs:st.connect = </Materials/material_DarkWoodSmooth2/Primvar_st_float2.outputs:result>
+            token inputs:wrapS = "repeat"
+            token inputs:wrapT = "repeat"
+            float3 outputs:rgb
+        }
+
+        def Shader "Primvar_st_float2"
+        {
+            uniform token info:id = "UsdPrimvarReader_float2"
+            string inputs:varname = "st"
+            float2 outputs:result
+        }
+    }
+
+    def Material "material_LightWoodCounters3"
+    {
+        token outputs:displacement.connect = </Materials/material_LightWoodCounters3/PreviewSurface.outputs:displacement>
+        token outputs:surface.connect = </Materials/material_LightWoodCounters3/PreviewSurface.outputs:surface>
+
+        def Shader "PreviewSurface"
+        {
+            uniform token info:id = "UsdPreviewSurface"
+            color3f inputs:diffuseColor.connect = </Materials/material_LightWoodCounters3/DiffuseTexture.outputs:rgb>
+            float inputs:metallic = 0
+            float inputs:opacity = 1
+            float inputs:roughness = 0.5
+            token outputs:displacement
+            token outputs:surface
+        }
+
+        def Shader "DiffuseTexture"
+        {
+            uniform token info:id = "UsdUVTexture"
+            float4 inputs:fallback = (0.698113, 0.339363, 0.135012, 1)
+            asset inputs:file = @./Textures/LightWoodCounters.png@
+            float4 inputs:scale = (0.698113, 0.339363, 0.135012, 1)
+            token inputs:sourceColorSpace = "auto"
+            float2 inputs:st.connect = </Materials/material_LightWoodCounters3/Primvar_st_float2.outputs:result>
+            token inputs:wrapS = "repeat"
+            token inputs:wrapT = "repeat"
+            float3 outputs:rgb
+        }
+
+        def Shader "Primvar_st_float2"
+        {
+            uniform token info:id = "UsdPrimvarReader_float2"
+            string inputs:varname = "st"
+            float2 outputs:result
+        }
+    }
+
+    def Material "tn__material_KiellandFra_jaeren_be0"
+    {
+        token outputs:displacement.connect = </Materials/tn__material_KiellandFra_jaeren_be0/PreviewSurface.outputs:displacement>
+        token outputs:surface.connect = </Materials/tn__material_KiellandFra_jaeren_be0/PreviewSurface.outputs:surface>
+
+        def Shader "PreviewSurface"
+        {
+            uniform token info:id = "UsdPreviewSurface"
+            color3f inputs:diffuseColor.connect = </Materials/tn__material_KiellandFra_jaeren_be0/DiffuseTexture.outputs:rgb>
+            float inputs:metallic = 0
+            float inputs:opacity = 1
+            float inputs:roughness = 0.5
+            token outputs:displacement
+            token outputs:surface
+        }
+
+        def Shader "DiffuseTexture"
+        {
+            uniform token info:id = "UsdUVTexture"
+            float4 inputs:fallback = (1, 1, 1, 1)
+            asset inputs:file = @./Textures/Kielland-Fra_jaeren.png@
+            float4 inputs:scale = (1, 1, 1, 1)
+            token inputs:sourceColorSpace = "auto"
+            float2 inputs:st.connect = </Materials/tn__material_KiellandFra_jaeren_be0/Primvar_st_float2.outputs:result>
+            token inputs:wrapS = "repeat"
+            token inputs:wrapT = "repeat"
+            float3 outputs:rgb
+        }
+
+        def Shader "Primvar_st_float2"
+        {
+            uniform token info:id = "UsdPrimvarReader_float2"
+            string inputs:varname = "st"
+            float2 outputs:result
+        }
+    }
+
+    def Material "material_DarkWoodFloors"
+    {
+        token outputs:displacement.connect = </Materials/material_DarkWoodFloors/PreviewSurface.outputs:displacement>
+        token outputs:surface.connect = </Materials/material_DarkWoodFloors/PreviewSurface.outputs:surface>
+
+        def Shader "PreviewSurface"
+        {
+            uniform token info:id = "UsdPreviewSurface"
+            color3f inputs:diffuseColor.connect = </Materials/material_DarkWoodFloors/DiffuseTexture.outputs:rgb>
+            float inputs:metallic = 0
+            float inputs:opacity = 1
+            float inputs:roughness = 0.5
+            token outputs:displacement
+            token outputs:surface
+        }
+
+        def Shader "DiffuseTexture"
+        {
+            uniform token info:id = "UsdUVTexture"
+            float4 inputs:fallback = (0.948529, 0.675803, 0.383597, 1)
+            asset inputs:file = @./Textures/DarkWoodFloors.png@
+            float4 inputs:scale = (0.948529, 0.675803, 0.383597, 1)
+            token inputs:sourceColorSpace = "auto"
+            float2 inputs:st.connect = </Materials/material_DarkWoodFloors/Primvar_st_float2.outputs:result>
+            token inputs:wrapS = "repeat"
+            token inputs:wrapT = "repeat"
+            float3 outputs:rgb
+        }
+
+        def Shader "Primvar_st_float2"
+        {
+            uniform token info:id = "UsdPrimvarReader_float2"
+            string inputs:varname = "st"
+            float2 outputs:result
+        }
+    }
+
+    def Material "material_d6a9d9032847700d26a7cc6f677de4d4"
+    {
+        token outputs:displacement.connect = </Materials/material_d6a9d9032847700d26a7cc6f677de4d4/PreviewSurface.outputs:displacement>
+        token outputs:surface.connect = </Materials/material_d6a9d9032847700d26a7cc6f677de4d4/PreviewSurface.outputs:surface>
+
+        def Shader "PreviewSurface"
+        {
+            uniform token info:id = "UsdPreviewSurface"
+            color3f inputs:diffuseColor.connect = </Materials/material_d6a9d9032847700d26a7cc6f677de4d4/DiffuseTexture.outputs:rgb>
+            float inputs:metallic = 0
+            float inputs:opacity = 1
+            float inputs:roughness = 0.5
+            token outputs:displacement
+            token outputs:surface
+        }
+
+        def Shader "DiffuseTexture"
+        {
+            uniform token info:id = "UsdUVTexture"
+            float4 inputs:fallback = (1, 1, 1, 1)
+            asset inputs:file = @./Textures/d6a9d9032847700d26a7cc6f677de4d4.png@
+            float4 inputs:scale = (1, 1, 1, 1)
+            token inputs:sourceColorSpace = "auto"
+            float2 inputs:st.connect = </Materials/material_d6a9d9032847700d26a7cc6f677de4d4/Primvar_st_float2.outputs:result>
+            token inputs:wrapS = "repeat"
+            token inputs:wrapT = "repeat"
+            float3 outputs:rgb
+        }
+
+        def Shader "Primvar_st_float2"
+        {
+            uniform token info:id = "UsdPrimvarReader_float2"
+            string inputs:varname = "st"
+            float2 outputs:result
+        }
+    }
+
+    def Material "material_EggshellDrywall"
+    {
+        token outputs:displacement.connect = </Materials/material_EggshellDrywall/PreviewSurface.outputs:displacement>
+        token outputs:surface.connect = </Materials/material_EggshellDrywall/PreviewSurface.outputs:surface>
+
+        def Shader "PreviewSurface"
+        {
+            uniform token info:id = "UsdPreviewSurface"
+            color3f inputs:diffuseColor.connect = </Materials/material_EggshellDrywall/DiffuseTexture.outputs:rgb>
+            float inputs:metallic = 0
+            float inputs:opacity = 1
+            float inputs:roughness = 0.5
+            token outputs:displacement
+            token outputs:surface
+        }
+
+        def Shader "DiffuseTexture"
+        {
+            uniform token info:id = "UsdUVTexture"
+            float4 inputs:fallback = (0.501189, 0.641831, 0.661765, 1)
+            asset inputs:file = @./Textures/WallDrywallWhite.png@
+            float4 inputs:scale = (0.501189, 0.641831, 0.661765, 1)
+            token inputs:sourceColorSpace = "auto"
+            float2 inputs:st.connect = </Materials/material_EggshellDrywall/Primvar_st_float2.outputs:result>
+            token inputs:wrapS = "repeat"
+            token inputs:wrapT = "repeat"
+            float3 outputs:rgb
+        }
+
+        def Shader "Primvar_st_float2"
+        {
+            uniform token info:id = "UsdPrimvarReader_float2"
+            string inputs:varname = "st"
+            float2 outputs:result
+        }
+    }
+
+    def Material "material_YellowDrywall2"
+    {
+        token outputs:displacement.connect = </Materials/material_YellowDrywall2/PreviewSurface.outputs:displacement>
+        token outputs:surface.connect = </Materials/material_YellowDrywall2/PreviewSurface.outputs:surface>
+
+        def Shader "PreviewSurface"
+        {
+            uniform token info:id = "UsdPreviewSurface"
+            color3f inputs:diffuseColor.connect = </Materials/material_YellowDrywall2/DiffuseTexture.outputs:rgb>
+            float inputs:metallic = 0
+            float inputs:opacity = 1
+            float inputs:roughness = 0.5
+            token outputs:displacement
+            token outputs:surface
+        }
+
+        def Shader "DiffuseTexture"
+        {
+            uniform token info:id = "UsdUVTexture"
+            float4 inputs:fallback = (1, 0.648438, 0, 1)
+            asset inputs:file = @./Textures/WallDrywallWhite.png@
+            float4 inputs:scale = (1, 0.648438, 0, 1)
+            token inputs:sourceColorSpace = "auto"
+            float2 inputs:st.connect = </Materials/material_YellowDrywall2/Primvar_st_float2.outputs:result>
+            token inputs:wrapS = "repeat"
+            token inputs:wrapT = "repeat"
+            float3 outputs:rgb
+        }
+
+        def Shader "Primvar_st_float2"
+        {
+            uniform token info:id = "UsdPrimvarReader_float2"
+            string inputs:varname = "st"
+            float2 outputs:result
+        }
+    }
+
+    def Material "material_Fireplace2_default_MetallicSmoothness"
+    {
+        token outputs:displacement.connect = </Materials/material_Fireplace2_default_MetallicSmoothness/PreviewSurface.outputs:displacement>
+        token outputs:surface.connect = </Materials/material_Fireplace2_default_MetallicSmoothness/PreviewSurface.outputs:surface>
+
+        def Shader "PreviewSurface"
+        {
+            uniform token info:id = "UsdPreviewSurface"
+            color3f inputs:diffuseColor.connect = </Materials/material_Fireplace2_default_MetallicSmoothness/DiffuseTexture.outputs:rgb>
+            float inputs:metallic = 0
+            float inputs:opacity = 1
+            float inputs:roughness = 0.5
+            token outputs:displacement
+            token outputs:surface
+        }
+
+        def Shader "DiffuseTexture"
+        {
+            uniform token info:id = "UsdUVTexture"
+            float4 inputs:fallback = (1, 1, 1, 1)
+            asset inputs:file = @./Textures/Fireplace2_default_AlbedoTransparency.png@
+            float4 inputs:scale = (1, 1, 1, 1)
+            token inputs:sourceColorSpace = "auto"
+            float2 inputs:st.connect = </Materials/material_Fireplace2_default_MetallicSmoothness/Primvar_st_float2.outputs:result>
+            token inputs:wrapS = "repeat"
+            token inputs:wrapT = "repeat"
+            float3 outputs:rgb
+        }
+
+        def Shader "Primvar_st_float2"
+        {
+            uniform token info:id = "UsdPrimvarReader_float2"
+            string inputs:varname = "st"
+            float2 outputs:result
+        }
+    }
+
+    def Material "material_No"
+    {
+        token outputs:displacement.connect = </Materials/material_No/PreviewSurface.outputs:displacement>
+        token outputs:surface.connect = </Materials/material_No/PreviewSurface.outputs:surface>
+
+        def Shader "PreviewSurface"
+        {
+            uniform token info:id = "UsdPreviewSurface"
+            color3f inputs:diffuseColor = (1, 1, 1)
+            float inputs:metallic = 0
+            float inputs:opacity = 1
+            float inputs:roughness = 0.5
+            token outputs:displacement
+            token outputs:surface
+        }
+    }
+
+    def Material "material_Copper_AlbedoTransparency"
+    {
+        token outputs:displacement.connect = </Materials/material_Copper_AlbedoTransparency/PreviewSurface.outputs:displacement>
+        token outputs:surface.connect = </Materials/material_Copper_AlbedoTransparency/PreviewSurface.outputs:surface>
+
+        def Shader "PreviewSurface"
+        {
+            uniform token info:id = "UsdPreviewSurface"
+            color3f inputs:diffuseColor.connect = </Materials/material_Copper_AlbedoTransparency/DiffuseTexture.outputs:rgb>
+            float inputs:metallic = 0
+            float inputs:opacity = 1
+            float inputs:roughness = 0.5
+            token outputs:displacement
+            token outputs:surface
+        }
+
+        def Shader "DiffuseTexture"
+        {
+            uniform token info:id = "UsdUVTexture"
+            float4 inputs:fallback = (1, 1, 1, 1)
+            asset inputs:file = @./Textures/Copper_AlbedoTransparency.png@
+            float4 inputs:scale = (1, 1, 1, 1)
+            token inputs:sourceColorSpace = "auto"
+            float2 inputs:st.connect = </Materials/material_Copper_AlbedoTransparency/Primvar_st_float2.outputs:result>
+            token inputs:wrapS = "repeat"
+            token inputs:wrapT = "repeat"
+            float3 outputs:rgb
+        }
+
+        def Shader "Primvar_st_float2"
+        {
+            uniform token info:id = "UsdPrimvarReader_float2"
+            string inputs:varname = "st"
+            float2 outputs:result
+        }
+    }
+
+    def Material "material_GreyFloor"
+    {
+        token outputs:displacement.connect = </Materials/material_GreyFloor/PreviewSurface.outputs:displacement>
+        token outputs:surface.connect = </Materials/material_GreyFloor/PreviewSurface.outputs:surface>
+
+        def Shader "PreviewSurface"
+        {
+            uniform token info:id = "UsdPreviewSurface"
+            color3f inputs:diffuseColor = (0.577358, 0.580882, 0.49973)
+            float inputs:metallic = 0
+            float inputs:opacity = 1
+            float inputs:roughness = 0.5
+            token outputs:displacement
+            token outputs:surface
+        }
+    }
+}
+

scenes/ithor/FloorPlan224_physics/scene.preprocessed.json

@@ -0,0 +1,16 @@
+{
+  "source": "E:/EAI/molmo_isaac_data/isaac/scenes/ithor/FloorPlan224_physics/scene.usda",
+  "preprocessor_version": "2.1",
+  "timestamp": "2026-04-24T09:57:38.269420+00:00",
+  "offset": [
+    -0.55907,
+    -1.88972,
+    0.0
+  ],
+  "yaw_deg": 90.0,
+  "floor_z": -0.04002,
+  "ceiling_z": 2.78163,
+  "prims_deactivated": 0,
+  "prims_deactivated_paths": [],
+  "physics_preserved": true
+}

scenes/ithor/FloorPlan224_physics/scene.usda

@@ -0,0 +1,204 @@
+#usda 1.0
+(
+    customLayerData = {
+        string creator = """AI2-THOR mjcf-usd scene converter
+    time: 01-20-26 16:35:11
+    scene: FloorPlan224_physics
+    usd-exchange-version: 2.2.0
+"""
+    }
+    defaultPrim = "FloorPlan224_physics"
+    kilogramsPerUnit = 1
+    metersPerUnit = 1
+    upAxis = "Z"
+)
+
+def Xform "FloorPlan224_physics" (
+    prepend apiSchemas = ["GeomModelAPI"]
+    assetInfo = {
+        string name = "FloorPlan224_physics"
+    }
+    kind = "component"
+    prepend payload = @./Payload/Contents.usda@
+)
+{
+    float3[] extentsHint = [(-3.7631, -2.88728, -0.04002), (3.56955, 3.2077, 2.78163), (3.4028235e38, 3.4028235e38, 3.4028235e38), (-3.4028235e38, -3.4028235e38, -3.4028235e38), (3.4028235e38, 3.4028235e38, 3.4028235e38), (-3.4028235e38, -3.4028235e38, -3.4028235e38), (-10, -10, -0.0046193805), (10, 10, 2.7814484)]
+
+    over "Geometry"
+    {
+        over "chestofdrawers_11a5283cbdd2aaa77d17322d7a00ec20_1_0_0" (
+            kind = "subcomponent"
+        )
+        {
+        }
+
+        over "box_70f31162bf3c1176ddc74f3417271d3f_1_0_0" (
+            kind = "subcomponent"
+        )
+        {
+        }
+
+        over "television_15cf28492f79e6aaed49ef3290888161_1_0_0" (
+            kind = "subcomponent"
+        )
+        {
+        }
+
+        over "remotecontrol_bbeb7464bb8b20b11df78329c1bd9460_1_0_0" (
+            kind = "subcomponent"
+        )
+        {
+        }
+
+        over "laptop_63fbcd680e0db93dfb0454951f2114f3_1_0_0" (
+            kind = "subcomponent"
+        )
+        {
+        }
+
+        over "pillow_e6c6ee75a221e60aa884f04d694f5c5d_1_0_0" (
+            kind = "subcomponent"
+        )
+        {
+        }
+
+        over "trashcan_d81e8627f1e3c3dab6b2438c5a150b78_1_0_0" (
+            kind = "subcomponent"
+        )
+        {
+        }
+
+        over "floorlamp_ae365299b08963699434b4ca78ac426b_1_0_0" (
+            kind = "subcomponent"
+        )
+        {
+        }
+
+        over "houseplant_221bd4f07cb4337aa672d00523ed9982_1_0_0" (
+            kind = "subcomponent"
+        )
+        {
+        }
+
+        over "tablelamp_0409a12180d288f37c51b4c240cf5f62_1_0_0" (
+            kind = "subcomponent"
+        )
+        {
+        }
+
+        over "cellulartelephone_f65c71e22b7e94dd68f01167ec92b467_1_0_0" (
+            kind = "subcomponent"
+        )
+        {
+        }
+
+        over "newspaper_618f7f987a4592f5d0749b387fe03da3_1_0_0" (
+            kind = "subcomponent"
+        )
+        {
+        }
+
+        over "wateringcan_d70b28d9e1a8f2b72e55c0e91e3f2918_1_0_0" (
+            kind = "subcomponent"
+        )
+        {
+        }
+
+        over "vase_6cb319ff57e79d3745bd6ac29c8adb3d_1_0_0" (
+            kind = "subcomponent"
+        )
+        {
+        }
+
+        over "vase_b264007d115778c4f9c1d16f5c2fb6cb_1_0_0" (
+            kind = "subcomponent"
+        )
+        {
+        }
+
+        over "book_4c0a9bcf4dc2da801a5112001149a7cd_1_0_0" (
+            kind = "subcomponent"
+        )
+        {
+        }
+
+        over "chair_f9cb6440d796bcd5efd403d37a4e3790_1_0_0" (
+            kind = "subcomponent"
+        )
+        {
+        }
+
+        over "pad_b41f20799c74c94b6dab039727fdf2e8_1_0_0" (
+            kind = "subcomponent"
+        )
+        {
+        }
+
+        over "stand_5267624a9ce66b7fb3a092d7b1944bb9_1_0_0" (
+            kind = "subcomponent"
+        )
+        {
+        }
+
+        over "stand_5d910c095b61a7c9e998319f1524ed79_1_0_0" (
+            kind = "subcomponent"
+        )
+        {
+        }
+
+        over "armchair_f127c74757394c4234a0fbb0a6286d65_1_0_0" (
+            kind = "subcomponent"
+        )
+        {
+        }
+
+        over "sofa_6b46487bf90451fcd8dad29b17dcc6dd_1_0_0" (
+            kind = "subcomponent"
+        )
+        {
+        }
+
+        over "stool_b2f8f38dcfbf1316fd4e42d880ac346b_1_0_0" (
+            kind = "subcomponent"
+        )
+        {
+        }
+
+        over "stand_5267624a9ce66b7fb3a092d7b1944bb9_2_0_0" (
+            kind = "subcomponent"
+        )
+        {
+        }
+
+        over "statue_67e198ecd7bd687ce6b619c6d9b6331b_1_0_0" (
+            kind = "subcomponent"
+        )
+        {
+        }
+
+        over "chair_fc661e691722be8ed2381c3a9a428bec_1_0_0" (
+            kind = "subcomponent"
+        )
+        {
+        }
+
+        over "stand_5267624a9ce66b7fb3a092d7b1944bb9_3_0_0" (
+            kind = "subcomponent"
+        )
+        {
+        }
+
+        over "stand_5267624a9ce66b7fb3a092d7b1944bb9_4_0_0" (
+            kind = "subcomponent"
+        )
+        {
+        }
+
+        over "chair_fc661e691722be8ed2381c3a9a428bec_2_0_0" (
+            kind = "subcomponent"
+        )
+        {
+        }
+    }
+}
+

scenes/ithor/FloorPlan228_physics/Payload/Contents.usda

@@ -0,0 +1,37 @@
+#usda 1.0
+(
+    customLayerData = {
+        string creator = """AI2-THOR mjcf-usd scene converter
+    time: 01-20-26 16:35:11
+    scene: FloorPlan228_physics
+    usd-exchange-version: 2.2.0
+"""
+    }
+    defaultPrim = "FloorPlan228_physics"
+    kilogramsPerUnit = 1
+    metersPerUnit = 1
+    subLayers = [
+        @./Physics.usda@,
+        @./Geometry.usda@,
+        @./Materials.usda@
+    ]
+    upAxis = "Z"
+)
+
+def Xform "FloorPlan228_physics"
+{
+    def DistantLight "scene_dir_light"
+    {
+        float inputs:intensity = 1000
+        float xformOp:rotateX = -10
+        uniform token[] xformOpOrder = ["xformOp:rotateX"]
+    }
+
+    def DomeLight "scene_ibl_light"
+    {
+        color3f inputs:color = (1, 0.85301, 0.55212)
+        float inputs:exposure = 0
+        float inputs:intensity = 500
+    }
+}
+

scenes/ithor/FloorPlan228_physics/Payload/Materials.usda

@@ -0,0 +1,398 @@
+#usda 1.0
+(
+    customLayerData = {
+        string creator = """AI2-THOR mjcf-usd scene converter
+    time: 01-20-26 16:35:11
+    scene: FloorPlan228_physics
+    usd-exchange-version: 2.2.0
+"""
+    }
+    defaultPrim = "FloorPlan228_physics"
+    kilogramsPerUnit = 1
+    metersPerUnit = 1
+    upAxis = "Z"
+)
+
+def Xform "FloorPlan228_physics"
+{
+    def Scope "Materials"
+    {
+        def Material "material_DarkWoodFloors" (
+            prepend references = @./MaterialsLibrary.usda@</Materials/material_DarkWoodFloors>
+        )
+        {
+        }
+
+        def Material "tn__material_norman_rockwell__scouting_with_daniel_boone_sj1" (
+            prepend references = @./MaterialsLibrary.usda@</Materials/tn__material_norman_rockwell__scouting_with_daniel_boone_sj1>
+        )
+        {
+        }
+
+        def Material "material_DarkWoodSmooth2" (
+            prepend references = @./MaterialsLibrary.usda@</Materials/material_DarkWoodSmooth2>
+        )
+        {
+        }
+
+        def Material "tn__material_johnsingersargentbeachscene_Zr0KSY0" (
+            prepend references = @./MaterialsLibrary.usda@</Materials/tn__material_johnsingersargentbeachscene_Zr0KSY0>
+        )
+        {
+        }
+
+        def Material "material_Cream_wood" (
+            prepend references = @./MaterialsLibrary.usda@</Materials/material_Cream_wood>
+        )
+        {
+        }
+
+        def Material "material_Glass_Detailed_Lit_High_Mat" (
+            prepend references = @./MaterialsLibrary.usda@</Materials/material_Glass_Detailed_Lit_High_Mat>
+        )
+        {
+        }
+
+        def Material "material_GlowFX" (
+            prepend references = @./MaterialsLibrary.usda@</Materials/material_GlowFX>
+        )
+        {
+        }
+
+        def Material "material_BrownMetal_s" (
+            prepend references = @./MaterialsLibrary.usda@</Materials/material_BrownMetal_s>
+        )
+        {
+        }
+
+        def Material "material_BrushedAluminum_Blue" (
+            prepend references = @./MaterialsLibrary.usda@</Materials/material_BrushedAluminum_Blue>
+        )
+        {
+        }
+
+        def Material "material_No" (
+            prepend references = @./MaterialsLibrary.usda@</Materials/material_No>
+        )
+        {
+        }
+
+        def Material "material_DrywallEggshell" (
+            prepend references = @./MaterialsLibrary.usda@</Materials/material_DrywallEggshell>
+        )
+        {
+        }
+
+        def Material "material_Red2Drywall" (
+            prepend references = @./MaterialsLibrary.usda@</Materials/material_Red2Drywall>
+        )
+        {
+        }
+    }
+
+    over "Geometry"
+    {
+        over "mesh_154582157e2cb695a688ebed0e36af03_1_1_0"
+        {
+            over "mesh_154582157e2cb695a688ebed0e36af03_1_1_0_visual_0" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan228_physics/Materials/material_DarkWoodFloors>
+            }
+        }
+
+        over "tn__fp228base19_994820cbc04971bffa9fdfeafc1647c6_1_1_0_nW2"
+        {
+            over "tn__fp228base19_994820cbc04971bffa9fdfeafc1647c6_1_1_0_visual_0_in2" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan228_physics/Materials/tn__material_norman_rockwell__scouting_with_daniel_boone_sj1>
+            }
+
+            over "tn__fp228base19_994820cbc04971bffa9fdfeafc1647c6_1_1_0_visual_1_in2" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan228_physics/Materials/material_DarkWoodSmooth2>
+            }
+        }
+
+        over "tn__fp228base17_c57059c730ded3605f61a9079a7e56b9_1_1_0_nW2"
+        {
+            over "tn__fp228base17_c57059c730ded3605f61a9079a7e56b9_1_1_0_visual_0_in2" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan228_physics/Materials/tn__material_johnsingersargentbeachscene_Zr0KSY0>
+            }
+
+            over "tn__fp228base17_c57059c730ded3605f61a9079a7e56b9_1_1_0_visual_1_in2" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan228_physics/Materials/material_DarkWoodSmooth2>
+            }
+        }
+
+        over "tn__fp228polysurface6_cb7c1829559cfc4f90fe8fa511523325_1_1_0_uh2"
+        {
+            over "tn__fp228polysurface6_cb7c1829559cfc4f90fe8fa511523325_1_1_0_visual_0_py2" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan228_physics/Materials/material_Cream_wood>
+            }
+        }
+
+        over "tn__fp228polysurface6_cb7c1829559cfc4f90fe8fa511523325_1_2_0_uh2"
+        {
+            over "tn__fp228polysurface6_cb7c1829559cfc4f90fe8fa511523325_1_2_0_visual_2_py2" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan228_physics/Materials/material_Glass_Detailed_Lit_High_Mat>
+            }
+        }
+
+        over "tn__fp228polysurface3_e9b9ae0b53a69e9cfd1667689b2a3567_1_1_0_uh2"
+        {
+            over "tn__fp228polysurface3_e9b9ae0b53a69e9cfd1667689b2a3567_1_1_0_visual_0_py2" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan228_physics/Materials/material_Glass_Detailed_Lit_High_Mat>
+            }
+        }
+
+        over "tn__fp228polysurface3_e9b9ae0b53a69e9cfd1667689b2a3567_1_2_0_uh2"
+        {
+            over "tn__fp228polysurface3_e9b9ae0b53a69e9cfd1667689b2a3567_1_2_0_visual_1_py2" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan228_physics/Materials/material_Cream_wood>
+            }
+        }
+
+        over "tn__fp228polysurface9_979158b22902818b03c2d327ab6c1830_1_1_0_uh2"
+        {
+            over "tn__fp228polysurface9_979158b22902818b03c2d327ab6c1830_1_1_0_visual_0_py2" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan228_physics/Materials/material_Cream_wood>
+            }
+        }
+
+        over "tn__fp228polysurface9_979158b22902818b03c2d327ab6c1830_1_2_0_uh2"
+        {
+            over "tn__fp228polysurface9_979158b22902818b03c2d327ab6c1830_1_2_0_visual_2_py2" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan228_physics/Materials/material_Glass_Detailed_Lit_High_Mat>
+            }
+        }
+
+        over "window_b00ffe92d11d5db8e291cc6ab393dd82_1_1_0"
+        {
+            over "window_b00ffe92d11d5db8e291cc6ab393dd82_1_1_0_visual_0" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan228_physics/Materials/material_Cream_wood>
+            }
+        }
+
+        over "window_b00ffe92d11d5db8e291cc6ab393dd82_1_2_0"
+        {
+            over "window_b00ffe92d11d5db8e291cc6ab393dd82_1_2_0_visual_2" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan228_physics/Materials/material_Glass_Detailed_Lit_High_Mat>
+            }
+        }
+
+        over "window_e402c1407dbad9ef3a9d78cf843d5afd_1_1_0"
+        {
+            over "window_e402c1407dbad9ef3a9d78cf843d5afd_1_1_0_visual_0" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan228_physics/Materials/material_Glass_Detailed_Lit_High_Mat>
+            }
+        }
+
+        over "window_e402c1407dbad9ef3a9d78cf843d5afd_1_2_0"
+        {
+            over "window_e402c1407dbad9ef3a9d78cf843d5afd_1_2_0_visual_1" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan228_physics/Materials/material_Cream_wood>
+            }
+        }
+
+        over "window_4b97a2b09661094699680a4566a9ef5b_1_1_0"
+        {
+            over "window_4b97a2b09661094699680a4566a9ef5b_1_1_0_visual_0" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan228_physics/Materials/material_Cream_wood>
+            }
+        }
+
+        over "window_4b97a2b09661094699680a4566a9ef5b_1_2_0"
+        {
+            over "window_4b97a2b09661094699680a4566a9ef5b_1_2_0_visual_2" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan228_physics/Materials/material_Glass_Detailed_Lit_High_Mat>
+            }
+        }
+
+        over "painting_e0d3f45239c8013c267abb28fc4118eb_1_1_0"
+        {
+            over "painting_e0d3f45239c8013c267abb28fc4118eb_1_1_0_visual_0" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan228_physics/Materials/tn__material_johnsingersargentbeachscene_Zr0KSY0>
+            }
+
+            over "painting_e0d3f45239c8013c267abb28fc4118eb_1_1_0_visual_1" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan228_physics/Materials/material_DarkWoodSmooth2>
+            }
+        }
+
+        over "painting_171068153a729c3287c7d61257f0fbdf_1_1_0"
+        {
+            over "painting_171068153a729c3287c7d61257f0fbdf_1_1_0_visual_0" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan228_physics/Materials/tn__material_norman_rockwell__scouting_with_daniel_boone_sj1>
+            }
+
+            over "painting_171068153a729c3287c7d61257f0fbdf_1_1_0_visual_1" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan228_physics/Materials/material_DarkWoodSmooth2>
+            }
+        }
+
+        over "floor_6193e912f3ea89abc81588c4b812ba27_1_1_0"
+        {
+            over "floor_6193e912f3ea89abc81588c4b812ba27_1_1_0_visual_0" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan228_physics/Materials/material_DarkWoodFloors>
+            }
+        }
+
+        over "tn__fp228cylinder_95f6b38a49a0180fef4eb896b04b7eaa_1_1_0_fa2"
+        {
+            over "tn__fp228cylinder_95f6b38a49a0180fef4eb896b04b7eaa_1_1_0_visual_0_ar2" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan228_physics/Materials/material_GlowFX>
+            }
+
+            over "tn__fp228cylinder_95f6b38a49a0180fef4eb896b04b7eaa_1_1_0_visual_1_ar2" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan228_physics/Materials/material_BrownMetal_s>
+            }
+        }
+
+        over "tn__fp228doorframe_3b6e172c1277c810b51f6d4528485015_1_1_0_bc2"
+        {
+            over "tn__fp228doorframe_3b6e172c1277c810b51f6d4528485015_1_1_0_visual_0_Wt2" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan228_physics/Materials/material_Cream_wood>
+            }
+        }
+
+        over "tn__fp228handle_7791f7cb975565e71f126c08a63856fa_1_1_0_nW2"
+        {
+            over "tn__fp228handle_7791f7cb975565e71f126c08a63856fa_1_1_0_visual_0_in2" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan228_physics/Materials/material_BrushedAluminum_Blue>
+            }
+        }
+
+        over "tn__fp228handle_cb3a84a228ea056576b5a8d0f51ad11d_1_1_0_nW2"
+        {
+            over "tn__fp228handle_cb3a84a228ea056576b5a8d0f51ad11d_1_1_0_visual_0_in2" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan228_physics/Materials/material_No>
+            }
+        }
+
+        over "tn__fp228door_983f734ee9119cba3157f09c3bcc3ff7_1_1_0_vx1"
+        {
+            over "tn__fp228door_983f734ee9119cba3157f09c3bcc3ff7_1_1_0_visual_0_qj2" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan228_physics/Materials/material_Cream_wood>
+            }
+        }
+
+        over "ceiling_5f4960956852909aa05013e5feacb6f5_1_1_0"
+        {
+            over "ceiling_5f4960956852909aa05013e5feacb6f5_1_1_0_visual_0" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan228_physics/Materials/material_DrywallEggshell>
+            }
+        }
+
+        over "tn__fp228baseboard_17459a0ceb440363ad873c18867ca139_1_1_0_bc2"
+        {
+            over "tn__fp228baseboard_17459a0ceb440363ad873c18867ca139_1_1_0_visual_0_Wt2" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan228_physics/Materials/material_Cream_wood>
+            }
+        }
+
+        over "walls_93a4a737514b8fa18ab0d54ed2785230_1_1_0"
+        {
+            over "walls_93a4a737514b8fa18ab0d54ed2785230_1_1_0_visual_0" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan228_physics/Materials/material_Red2Drywall>
+            }
+
+            over "walls_93a4a737514b8fa18ab0d54ed2785230_1_1_0_visual_1" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan228_physics/Materials/material_DrywallEggshell>
+            }
+        }
+    }
+}
+

scenes/ithor/FloorPlan228_physics/Payload/MaterialsLibrary.usda

@@ -0,0 +1,383 @@
+#usda 1.0
+(
+    "Material library for house FloorPlan228_physics"
+    customLayerData = {
+        string creator = """AI2-THOR mjcf-usd scene converter
+    time: 01-20-26 16:35:11
+    scene: FloorPlan228_physics
+    usd-exchange-version: 2.2.0
+"""
+    }
+    defaultPrim = "Materials"
+    kilogramsPerUnit = 1
+    metersPerUnit = 1
+    upAxis = "Z"
+)
+
+class Scope "Materials"
+{
+    def Material "material_DarkWoodFloors"
+    {
+        token outputs:displacement.connect = </Materials/material_DarkWoodFloors/PreviewSurface.outputs:displacement>
+        token outputs:surface.connect = </Materials/material_DarkWoodFloors/PreviewSurface.outputs:surface>
+
+        def Shader "PreviewSurface"
+        {
+            uniform token info:id = "UsdPreviewSurface"
+            color3f inputs:diffuseColor.connect = </Materials/material_DarkWoodFloors/DiffuseTexture.outputs:rgb>
+            float inputs:metallic = 0
+            float inputs:opacity = 1
+            float inputs:roughness = 0.5
+            token outputs:displacement
+            token outputs:surface
+        }
+
+        def Shader "DiffuseTexture"
+        {
+            uniform token info:id = "UsdUVTexture"
+            float4 inputs:fallback = (0.948529, 0.675803, 0.383597, 1)
+            asset inputs:file = @./Textures/DarkWoodFloors.png@
+            float4 inputs:scale = (0.948529, 0.675803, 0.383597, 1)
+            token inputs:sourceColorSpace = "auto"
+            float2 inputs:st.connect = </Materials/material_DarkWoodFloors/Primvar_st_float2.outputs:result>
+            token inputs:wrapS = "repeat"
+            token inputs:wrapT = "repeat"
+            float3 outputs:rgb
+        }
+
+        def Shader "Primvar_st_float2"
+        {
+            uniform token info:id = "UsdPrimvarReader_float2"
+            string inputs:varname = "st"
+            float2 outputs:result
+        }
+    }
+
+    def Material "tn__material_norman_rockwell__scouting_with_daniel_boone_sj1"
+    {
+        token outputs:displacement.connect = </Materials/tn__material_norman_rockwell__scouting_with_daniel_boone_sj1/PreviewSurface.outputs:displacement>
+        token outputs:surface.connect = </Materials/tn__material_norman_rockwell__scouting_with_daniel_boone_sj1/PreviewSurface.outputs:surface>
+
+        def Shader "PreviewSurface"
+        {
+            uniform token info:id = "UsdPreviewSurface"
+            color3f inputs:diffuseColor.connect = </Materials/tn__material_norman_rockwell__scouting_with_daniel_boone_sj1/DiffuseTexture.outputs:rgb>
+            float inputs:metallic = 0
+            float inputs:opacity = 1
+            float inputs:roughness = 0.5
+            token outputs:displacement
+            token outputs:surface
+        }
+
+        def Shader "DiffuseTexture"
+        {
+            uniform token info:id = "UsdUVTexture"
+            float4 inputs:fallback = (1, 1, 1, 1)
+            asset inputs:file = @./Textures/norman_rockwell_-_scouting_with_daniel_boone.png@
+            float4 inputs:scale = (1, 1, 1, 1)
+            token inputs:sourceColorSpace = "auto"
+            float2 inputs:st.connect = </Materials/tn__material_norman_rockwell__scouting_with_daniel_boone_sj1/Primvar_st_float2.outputs:result>
+            token inputs:wrapS = "repeat"
+            token inputs:wrapT = "repeat"
+            float3 outputs:rgb
+        }
+
+        def Shader "Primvar_st_float2"
+        {
+            uniform token info:id = "UsdPrimvarReader_float2"
+            string inputs:varname = "st"
+            float2 outputs:result
+        }
+    }
+
+    def Material "material_DarkWoodSmooth2"
+    {
+        token outputs:displacement.connect = </Materials/material_DarkWoodSmooth2/PreviewSurface.outputs:displacement>
+        token outputs:surface.connect = </Materials/material_DarkWoodSmooth2/PreviewSurface.outputs:surface>
+
+        def Shader "PreviewSurface"
+        {
+            uniform token info:id = "UsdPreviewSurface"
+            color3f inputs:diffuseColor.connect = </Materials/material_DarkWoodSmooth2/DiffuseTexture.outputs:rgb>
+            float inputs:metallic = 0
+            float inputs:opacity = 1
+            float inputs:roughness = 0.5
+            token outputs:displacement
+            token outputs:surface
+        }
+
+        def Shader "DiffuseTexture"
+        {
+            uniform token info:id = "UsdUVTexture"
+            float4 inputs:fallback = (0.122641, 0.0908241, 0.0908241, 1)
+            asset inputs:file = @./Textures/WoodGrains1.png@
+            float4 inputs:scale = (0.122641, 0.0908241, 0.0908241, 1)
+            token inputs:sourceColorSpace = "auto"
+            float2 inputs:st.connect = </Materials/material_DarkWoodSmooth2/Primvar_st_float2.outputs:result>
+            token inputs:wrapS = "repeat"
+            token inputs:wrapT = "repeat"
+            float3 outputs:rgb
+        }
+
+        def Shader "Primvar_st_float2"
+        {
+            uniform token info:id = "UsdPrimvarReader_float2"
+            string inputs:varname = "st"
+            float2 outputs:result
+        }
+    }
+
+    def Material "tn__material_johnsingersargentbeachscene_Zr0KSY0"
+    {
+        token outputs:displacement.connect = </Materials/tn__material_johnsingersargentbeachscene_Zr0KSY0/PreviewSurface.outputs:displacement>
+        token outputs:surface.connect = </Materials/tn__material_johnsingersargentbeachscene_Zr0KSY0/PreviewSurface.outputs:surface>
+
+        def Shader "PreviewSurface"
+        {
+            uniform token info:id = "UsdPreviewSurface"
+            color3f inputs:diffuseColor.connect = </Materials/tn__material_johnsingersargentbeachscene_Zr0KSY0/DiffuseTexture.outputs:rgb>
+            float inputs:metallic = 0
+            float inputs:opacity = 1
+            float inputs:roughness = 0.5
+            token outputs:displacement
+            token outputs:surface
+        }
+
+        def Shader "DiffuseTexture"
+        {
+            uniform token info:id = "UsdUVTexture"
+            float4 inputs:fallback = (1, 1, 1, 1)
+            asset inputs:file = @./Textures/1396294258-john-singer-sargent-beach-scene-1880.png@
+            float4 inputs:scale = (1, 1, 1, 1)
+            token inputs:sourceColorSpace = "auto"
+            float2 inputs:st.connect = </Materials/tn__material_johnsingersargentbeachscene_Zr0KSY0/Primvar_st_float2.outputs:result>
+            token inputs:wrapS = "repeat"
+            token inputs:wrapT = "repeat"
+            float3 outputs:rgb
+        }
+
+        def Shader "Primvar_st_float2"
+        {
+            uniform token info:id = "UsdPrimvarReader_float2"
+            string inputs:varname = "st"
+            float2 outputs:result
+        }
+    }
+
+    def Material "material_Cream_wood"
+    {
+        token outputs:displacement.connect = </Materials/material_Cream_wood/PreviewSurface.outputs:displacement>
+        token outputs:surface.connect = </Materials/material_Cream_wood/PreviewSurface.outputs:surface>
+
+        def Shader "PreviewSurface"
+        {
+            uniform token info:id = "UsdPreviewSurface"
+            color3f inputs:diffuseColor.connect = </Materials/material_Cream_wood/DiffuseTexture.outputs:rgb>
+            float inputs:metallic = 0
+            float inputs:opacity = 1
+            float inputs:roughness = 0.5
+            token outputs:displacement
+            token outputs:surface
+        }
+
+        def Shader "DiffuseTexture"
+        {
+            uniform token info:id = "UsdUVTexture"
+            float4 inputs:fallback = (1, 0.977941, 0.977941, 1)
+            asset inputs:file = @./Textures/HammeredMetal_MetallicSmoothness.png@
+            float4 inputs:scale = (1, 0.977941, 0.977941, 1)
+            token inputs:sourceColorSpace = "auto"
+            float2 inputs:st.connect = </Materials/material_Cream_wood/Primvar_st_float2.outputs:result>
+            token inputs:wrapS = "repeat"
+            token inputs:wrapT = "repeat"
+            float3 outputs:rgb
+        }
+
+        def Shader "Primvar_st_float2"
+        {
+            uniform token info:id = "UsdPrimvarReader_float2"
+            string inputs:varname = "st"
+            float2 outputs:result
+        }
+    }
+
+    def Material "material_Glass_Detailed_Lit_High_Mat"
+    {
+        token outputs:displacement.connect = </Materials/material_Glass_Detailed_Lit_High_Mat/PreviewSurface.outputs:displacement>
+        token outputs:surface.connect = </Materials/material_Glass_Detailed_Lit_High_Mat/PreviewSurface.outputs:surface>
+
+        def Shader "PreviewSurface"
+        {
+            uniform token info:id = "UsdPreviewSurface"
+            color3f inputs:diffuseColor = (1, 1, 1)
+            float inputs:metallic = 0
+            float inputs:opacity = 1
+            float inputs:roughness = 0.5
+            token outputs:displacement
+            token outputs:surface
+        }
+    }
+
+    def Material "material_GlowFX"
+    {
+        token outputs:displacement.connect = </Materials/material_GlowFX/PreviewSurface.outputs:displacement>
+        token outputs:surface.connect = </Materials/material_GlowFX/PreviewSurface.outputs:surface>
+
+        def Shader "PreviewSurface"
+        {
+            uniform token info:id = "UsdPreviewSurface"
+            color3f inputs:diffuseColor = (1, 1, 1)
+            float inputs:metallic = 0
+            float inputs:opacity = 1
+            float inputs:roughness = 0.5
+            token outputs:displacement
+            token outputs:surface
+        }
+    }
+
+    def Material "material_BrownMetal_s"
+    {
+        token outputs:displacement.connect = </Materials/material_BrownMetal_s/PreviewSurface.outputs:displacement>
+        token outputs:surface.connect = </Materials/material_BrownMetal_s/PreviewSurface.outputs:surface>
+
+        def Shader "PreviewSurface"
+        {
+            uniform token info:id = "UsdPreviewSurface"
+            color3f inputs:diffuseColor = (0.254902, 0.121569, 0.0352941)
+            float inputs:metallic = 0
+            float inputs:opacity = 1
+            float inputs:roughness = 0.5
+            token outputs:displacement
+            token outputs:surface
+        }
+    }
+
+    def Material "material_BrushedAluminum_Blue"
+    {
+        token outputs:displacement.connect = </Materials/material_BrushedAluminum_Blue/PreviewSurface.outputs:displacement>
+        token outputs:surface.connect = </Materials/material_BrushedAluminum_Blue/PreviewSurface.outputs:surface>
+
+        def Shader "PreviewSurface"
+        {
+            uniform token info:id = "UsdPreviewSurface"
+            color3f inputs:diffuseColor.connect = </Materials/material_BrushedAluminum_Blue/DiffuseTexture.outputs:rgb>
+            float inputs:metallic = 0
+            float inputs:opacity = 1
+            float inputs:roughness = 0.5
+            token outputs:displacement
+            token outputs:surface
+        }
+
+        def Shader "DiffuseTexture"
+        {
+            uniform token info:id = "UsdUVTexture"
+            float4 inputs:fallback = (0.655547, 0.788241, 0.919118, 1)
+            asset inputs:file = @./Textures/BrushedAluminum_AlbedoTransparency.png@
+            float4 inputs:scale = (0.655547, 0.788241, 0.919118, 1)
+            token inputs:sourceColorSpace = "auto"
+            float2 inputs:st.connect = </Materials/material_BrushedAluminum_Blue/Primvar_st_float2.outputs:result>
+            token inputs:wrapS = "repeat"
+            token inputs:wrapT = "repeat"
+            float3 outputs:rgb
+        }
+
+        def Shader "Primvar_st_float2"
+        {
+            uniform token info:id = "UsdPrimvarReader_float2"
+            string inputs:varname = "st"
+            float2 outputs:result
+        }
+    }
+
+    def Material "material_No"
+    {
+        token outputs:displacement.connect = </Materials/material_No/PreviewSurface.outputs:displacement>
+        token outputs:surface.connect = </Materials/material_No/PreviewSurface.outputs:surface>
+
+        def Shader "PreviewSurface"
+        {
+            uniform token info:id = "UsdPreviewSurface"
+            color3f inputs:diffuseColor = (1, 1, 1)
+            float inputs:metallic = 0
+            float inputs:opacity = 1
+            float inputs:roughness = 0.5
+            token outputs:displacement
+            token outputs:surface
+        }
+    }
+
+    def Material "material_DrywallEggshell"
+    {
+        token outputs:displacement.connect = </Materials/material_DrywallEggshell/PreviewSurface.outputs:displacement>
+        token outputs:surface.connect = </Materials/material_DrywallEggshell/PreviewSurface.outputs:surface>
+
+        def Shader "PreviewSurface"
+        {
+            uniform token info:id = "UsdPreviewSurface"
+            color3f inputs:diffuseColor.connect = </Materials/material_DrywallEggshell/DiffuseTexture.outputs:rgb>
+            float inputs:metallic = 0
+            float inputs:opacity = 1
+            float inputs:roughness = 0.5
+            token outputs:displacement
+            token outputs:surface
+        }
+
+        def Shader "DiffuseTexture"
+        {
+            uniform token info:id = "UsdUVTexture"
+            float4 inputs:fallback = (0.926471, 0.878926, 0.7766, 1)
+            asset inputs:file = @./Textures/WallDrywallWhite.png@
+            float4 inputs:scale = (0.926471, 0.878926, 0.7766, 1)
+            token inputs:sourceColorSpace = "auto"
+            float2 inputs:st.connect = </Materials/material_DrywallEggshell/Primvar_st_float2.outputs:result>
+            token inputs:wrapS = "repeat"
+            token inputs:wrapT = "repeat"
+            float3 outputs:rgb
+        }
+
+        def Shader "Primvar_st_float2"
+        {
+            uniform token info:id = "UsdPrimvarReader_float2"
+            string inputs:varname = "st"
+            float2 outputs:result
+        }
+    }
+
+    def Material "material_Red2Drywall"
+    {
+        token outputs:displacement.connect = </Materials/material_Red2Drywall/PreviewSurface.outputs:displacement>
+        token outputs:surface.connect = </Materials/material_Red2Drywall/PreviewSurface.outputs:surface>
+
+        def Shader "PreviewSurface"
+        {
+            uniform token info:id = "UsdPreviewSurface"
+            color3f inputs:diffuseColor.connect = </Materials/material_Red2Drywall/DiffuseTexture.outputs:rgb>
+            float inputs:metallic = 0
+            float inputs:opacity = 1
+            float inputs:roughness = 0.5
+            token outputs:displacement
+            token outputs:surface
+        }
+
+        def Shader "DiffuseTexture"
+        {
+            uniform token info:id = "UsdUVTexture"
+            float4 inputs:fallback = (0.375, 0.00979053, 0, 1)
+            asset inputs:file = @./Textures/WallDrywallWhite.png@
+            float4 inputs:scale = (0.375, 0.00979053, 0, 1)
+            token inputs:sourceColorSpace = "auto"
+            float2 inputs:st.connect = </Materials/material_Red2Drywall/Primvar_st_float2.outputs:result>
+            token inputs:wrapS = "repeat"
+            token inputs:wrapT = "repeat"
+            float3 outputs:rgb
+        }
+
+        def Shader "Primvar_st_float2"
+        {
+            uniform token info:id = "UsdPrimvarReader_float2"
+            string inputs:varname = "st"
+            float2 outputs:result
+        }
+    }
+}
+

scenes/ithor/FloorPlan228_physics/Payload/Physics.usda

@@ -0,0 +1,1077 @@
+#usda 1.0
+(
+    customLayerData = {
+        string creator = """AI2-THOR mjcf-usd scene converter
+    time: 01-20-26 16:35:11
+    scene: FloorPlan228_physics
+    usd-exchange-version: 2.2.0
+"""
+    }
+    defaultPrim = "FloorPlan228_physics"
+    kilogramsPerUnit = 1
+    metersPerUnit = 1
+    upAxis = "Z"
+)
+
+def Xform "FloorPlan228_physics"
+{
+    def Scope "Physics"
+    {
+    }
+
+    over "Geometry"
+    {
+        over "mesh_154582157e2cb695a688ebed0e36af03_1_0_0"
+        {
+        }
+
+        over "mesh_154582157e2cb695a688ebed0e36af03_1_1_0"
+        {
+        }
+
+        over "tn__fp228base19_994820cbc04971bffa9fdfeafc1647c6_1_0_0_nW2"
+        {
+        }
+
+        over "tn__fp228base19_994820cbc04971bffa9fdfeafc1647c6_1_1_0_nW2"
+        {
+            over "tn__fp228base19_994820cbc04971bffa9fdfeafc1647c6_1_1_0_collision_2_Wt2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+        }
+
+        over "tn__fp228base17_c57059c730ded3605f61a9079a7e56b9_1_0_0_nW2"
+        {
+        }
+
+        over "tn__fp228base17_c57059c730ded3605f61a9079a7e56b9_1_1_0_nW2"
+        {
+            over "tn__fp228base17_c57059c730ded3605f61a9079a7e56b9_1_1_0_collision_2_Wt2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+        }
+
+        over "tn__quaddecalspawnplane1_0e92655d664700eabbbfeb97d22d9c5b_1_0_0_Wk1p1"
+        {
+        }
+
+        over "tn__fp228polysurface6_cb7c1829559cfc4f90fe8fa511523325_1_0_0_uh2"
+        {
+        }
+
+        over "tn__fp228polysurface6_cb7c1829559cfc4f90fe8fa511523325_1_1_0_uh2"
+        {
+            over "tn__fp228polysurface6_cb7c1829559cfc4f90fe8fa511523325_1_1_0_collision_1_dZ3" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+        }
+
+        over "tn__fp228polysurface6_cb7c1829559cfc4f90fe8fa511523325_1_2_0_uh2"
+        {
+        }
+
+        over "tn__quaddecalspawnplane2_a3edcc1e0c1c6bf0a6b82bbbbfd9026a_1_0_0_Wk1p1"
+        {
+        }
+
+        over "tn__fp228polysurface3_e9b9ae0b53a69e9cfd1667689b2a3567_1_0_0_uh2"
+        {
+        }
+
+        over "tn__fp228polysurface3_e9b9ae0b53a69e9cfd1667689b2a3567_1_1_0_uh2"
+        {
+        }
+
+        over "tn__fp228polysurface3_e9b9ae0b53a69e9cfd1667689b2a3567_1_2_0_uh2"
+        {
+            over "tn__fp228polysurface3_e9b9ae0b53a69e9cfd1667689b2a3567_1_2_0_collision_2_dZ3" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+        }
+
+        over "quaddecalspawnplane_8fdb42f5623568105a84b58bc461e51a_1_0_0"
+        {
+        }
+
+        over "tn__fp228polysurface9_979158b22902818b03c2d327ab6c1830_1_0_0_uh2"
+        {
+        }
+
+        over "tn__fp228polysurface9_979158b22902818b03c2d327ab6c1830_1_1_0_uh2"
+        {
+            over "tn__fp228polysurface9_979158b22902818b03c2d327ab6c1830_1_1_0_collision_1_dZ3" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+        }
+
+        over "tn__fp228polysurface9_979158b22902818b03c2d327ab6c1830_1_2_0_uh2"
+        {
+        }
+
+        over "window_b00ffe92d11d5db8e291cc6ab393dd82_1_0_0"
+        {
+        }
+
+        over "window_b00ffe92d11d5db8e291cc6ab393dd82_1_1_0"
+        {
+            over "window_b00ffe92d11d5db8e291cc6ab393dd82_1_1_0_collision_1" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+        }
+
+        over "window_b00ffe92d11d5db8e291cc6ab393dd82_1_2_0"
+        {
+        }
+
+        over "window_e402c1407dbad9ef3a9d78cf843d5afd_1_0_0"
+        {
+        }
+
+        over "window_e402c1407dbad9ef3a9d78cf843d5afd_1_1_0"
+        {
+        }
+
+        over "window_e402c1407dbad9ef3a9d78cf843d5afd_1_2_0"
+        {
+            over "window_e402c1407dbad9ef3a9d78cf843d5afd_1_2_0_collision_2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+        }
+
+        over "window_4b97a2b09661094699680a4566a9ef5b_1_0_0"
+        {
+        }
+
+        over "window_4b97a2b09661094699680a4566a9ef5b_1_1_0"
+        {
+            over "window_4b97a2b09661094699680a4566a9ef5b_1_1_0_collision_1" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+        }
+
+        over "window_4b97a2b09661094699680a4566a9ef5b_1_2_0"
+        {
+        }
+
+        over "painting_e0d3f45239c8013c267abb28fc4118eb_1_0_0"
+        {
+        }
+
+        over "painting_e0d3f45239c8013c267abb28fc4118eb_1_1_0"
+        {
+            over "painting_e0d3f45239c8013c267abb28fc4118eb_1_1_0_collision_2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+        }
+
+        over "painting_171068153a729c3287c7d61257f0fbdf_1_0_0"
+        {
+        }
+
+        over "painting_171068153a729c3287c7d61257f0fbdf_1_1_0"
+        {
+            over "painting_171068153a729c3287c7d61257f0fbdf_1_1_0_collision_2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+        }
+
+        over "floor_6193e912f3ea89abc81588c4b812ba27_1_0_0"
+        {
+        }
+
+        over "floor_6193e912f3ea89abc81588c4b812ba27_1_1_0"
+        {
+        }
+
+        over "tn__fp228cylinder_95f6b38a49a0180fef4eb896b04b7eaa_1_0_0_fa2"
+        {
+        }
+
+        over "tn__fp228cylinder_95f6b38a49a0180fef4eb896b04b7eaa_1_1_0_fa2"
+        {
+            over "tn__fp228cylinder_95f6b38a49a0180fef4eb896b04b7eaa_1_1_0_collision_2_tw2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp228cylinder_95f6b38a49a0180fef4eb896b04b7eaa_1_1_0_collision_3_tw2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp228cylinder_95f6b38a49a0180fef4eb896b04b7eaa_1_1_0_collision_4_tw2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp228cylinder_95f6b38a49a0180fef4eb896b04b7eaa_1_1_0_collision_5_tw2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp228cylinder_95f6b38a49a0180fef4eb896b04b7eaa_1_1_0_collision_6_tw2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp228cylinder_95f6b38a49a0180fef4eb896b04b7eaa_1_1_0_collision_7_tw2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp228cylinder_95f6b38a49a0180fef4eb896b04b7eaa_1_1_0_collision_8_tw2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp228cylinder_95f6b38a49a0180fef4eb896b04b7eaa_1_1_0_collision_9_tw2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp228cylinder_95f6b38a49a0180fef4eb896b04b7eaa_1_1_0_collision_10_py2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp228cylinder_95f6b38a49a0180fef4eb896b04b7eaa_1_1_0_collision_11_py2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp228cylinder_95f6b38a49a0180fef4eb896b04b7eaa_1_1_0_collision_12_py2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp228cylinder_95f6b38a49a0180fef4eb896b04b7eaa_1_1_0_collision_13_py2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp228cylinder_95f6b38a49a0180fef4eb896b04b7eaa_1_1_0_collision_14_py2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp228cylinder_95f6b38a49a0180fef4eb896b04b7eaa_1_1_0_collision_15_py2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp228cylinder_95f6b38a49a0180fef4eb896b04b7eaa_1_1_0_collision_16_py2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp228cylinder_95f6b38a49a0180fef4eb896b04b7eaa_1_1_0_collision_17_py2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp228cylinder_95f6b38a49a0180fef4eb896b04b7eaa_1_1_0_collision_18_py2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp228cylinder_95f6b38a49a0180fef4eb896b04b7eaa_1_1_0_collision_19_py2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp228cylinder_95f6b38a49a0180fef4eb896b04b7eaa_1_1_0_collision_20_py2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp228cylinder_95f6b38a49a0180fef4eb896b04b7eaa_1_1_0_collision_21_py2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp228cylinder_95f6b38a49a0180fef4eb896b04b7eaa_1_1_0_collision_22_py2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp228cylinder_95f6b38a49a0180fef4eb896b04b7eaa_1_1_0_collision_23_py2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp228cylinder_95f6b38a49a0180fef4eb896b04b7eaa_1_1_0_collision_24_py2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp228cylinder_95f6b38a49a0180fef4eb896b04b7eaa_1_1_0_collision_25_py2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+        }
+
+        over "tn__fp228doorframe_3b6e172c1277c810b51f6d4528485015_1_0_0_bc2"
+        {
+        }
+
+        over "tn__fp228doorframe_3b6e172c1277c810b51f6d4528485015_1_1_0_bc2"
+        {
+            over "tn__fp228doorframe_3b6e172c1277c810b51f6d4528485015_1_1_0_collision_1_py2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp228doorframe_3b6e172c1277c810b51f6d4528485015_1_1_0_collision_2_py2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp228doorframe_3b6e172c1277c810b51f6d4528485015_1_1_0_collision_3_py2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp228doorframe_3b6e172c1277c810b51f6d4528485015_1_1_0_collision_4_py2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp228doorframe_3b6e172c1277c810b51f6d4528485015_1_1_0_collision_5_py2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp228doorframe_3b6e172c1277c810b51f6d4528485015_1_1_0_collision_6_py2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+        }
+
+        over "tn__fp228handle_7791f7cb975565e71f126c08a63856fa_1_0_0_nW2"
+        {
+        }
+
+        over "tn__fp228handle_7791f7cb975565e71f126c08a63856fa_1_1_0_nW2"
+        {
+            over "tn__fp228handle_7791f7cb975565e71f126c08a63856fa_1_1_0_collision_1_Wt2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp228handle_7791f7cb975565e71f126c08a63856fa_1_1_0_collision_2_Wt2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp228handle_7791f7cb975565e71f126c08a63856fa_1_1_0_collision_3_Wt2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp228handle_7791f7cb975565e71f126c08a63856fa_1_1_0_collision_4_Wt2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp228handle_7791f7cb975565e71f126c08a63856fa_1_1_0_collision_5_Wt2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp228handle_7791f7cb975565e71f126c08a63856fa_1_1_0_collision_6_Wt2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp228handle_7791f7cb975565e71f126c08a63856fa_1_1_0_collision_7_Wt2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp228handle_7791f7cb975565e71f126c08a63856fa_1_1_0_collision_8_Wt2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp228handle_7791f7cb975565e71f126c08a63856fa_1_1_0_collision_9_Wt2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp228handle_7791f7cb975565e71f126c08a63856fa_1_1_0_collision_10_xu2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp228handle_7791f7cb975565e71f126c08a63856fa_1_1_0_collision_11_xu2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp228handle_7791f7cb975565e71f126c08a63856fa_1_1_0_collision_12_xu2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp228handle_7791f7cb975565e71f126c08a63856fa_1_1_0_collision_13_xu2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp228handle_7791f7cb975565e71f126c08a63856fa_1_1_0_collision_14_xu2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp228handle_7791f7cb975565e71f126c08a63856fa_1_1_0_collision_15_xu2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp228handle_7791f7cb975565e71f126c08a63856fa_1_1_0_collision_16_xu2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp228handle_7791f7cb975565e71f126c08a63856fa_1_1_0_collision_17_xu2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp228handle_7791f7cb975565e71f126c08a63856fa_1_1_0_collision_18_xu2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp228handle_7791f7cb975565e71f126c08a63856fa_1_1_0_collision_19_xu2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp228handle_7791f7cb975565e71f126c08a63856fa_1_1_0_collision_20_xu2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp228handle_7791f7cb975565e71f126c08a63856fa_1_1_0_collision_21_xu2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp228handle_7791f7cb975565e71f126c08a63856fa_1_1_0_collision_22_xu2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp228handle_7791f7cb975565e71f126c08a63856fa_1_1_0_collision_23_xu2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp228handle_7791f7cb975565e71f126c08a63856fa_1_1_0_collision_24_xu2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp228handle_7791f7cb975565e71f126c08a63856fa_1_1_0_collision_25_xu2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp228handle_7791f7cb975565e71f126c08a63856fa_1_1_0_collision_26_xu2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp228handle_7791f7cb975565e71f126c08a63856fa_1_1_0_collision_27_xu2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp228handle_7791f7cb975565e71f126c08a63856fa_1_1_0_collision_28_xu2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp228handle_7791f7cb975565e71f126c08a63856fa_1_1_0_collision_29_xu2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp228handle_7791f7cb975565e71f126c08a63856fa_1_1_0_collision_30_xu2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp228handle_7791f7cb975565e71f126c08a63856fa_1_1_0_collision_31_xu2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp228handle_7791f7cb975565e71f126c08a63856fa_1_1_0_collision_32_xu2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp228handle_7791f7cb975565e71f126c08a63856fa_1_1_0_collision_33_xu2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+        }
+
+        over "tn__fp228handle_cb3a84a228ea056576b5a8d0f51ad11d_1_0_0_nW2"
+        {
+        }
+
+        over "tn__fp228handle_cb3a84a228ea056576b5a8d0f51ad11d_1_1_0_nW2"
+        {
+            over "tn__fp228handle_cb3a84a228ea056576b5a8d0f51ad11d_1_1_0_collision_1_Wt2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp228handle_cb3a84a228ea056576b5a8d0f51ad11d_1_1_0_collision_2_Wt2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp228handle_cb3a84a228ea056576b5a8d0f51ad11d_1_1_0_collision_3_Wt2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp228handle_cb3a84a228ea056576b5a8d0f51ad11d_1_1_0_collision_4_Wt2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp228handle_cb3a84a228ea056576b5a8d0f51ad11d_1_1_0_collision_5_Wt2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp228handle_cb3a84a228ea056576b5a8d0f51ad11d_1_1_0_collision_6_Wt2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp228handle_cb3a84a228ea056576b5a8d0f51ad11d_1_1_0_collision_7_Wt2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp228handle_cb3a84a228ea056576b5a8d0f51ad11d_1_1_0_collision_8_Wt2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp228handle_cb3a84a228ea056576b5a8d0f51ad11d_1_1_0_collision_9_Wt2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp228handle_cb3a84a228ea056576b5a8d0f51ad11d_1_1_0_collision_10_xu2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp228handle_cb3a84a228ea056576b5a8d0f51ad11d_1_1_0_collision_11_xu2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp228handle_cb3a84a228ea056576b5a8d0f51ad11d_1_1_0_collision_12_xu2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp228handle_cb3a84a228ea056576b5a8d0f51ad11d_1_1_0_collision_13_xu2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp228handle_cb3a84a228ea056576b5a8d0f51ad11d_1_1_0_collision_14_xu2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp228handle_cb3a84a228ea056576b5a8d0f51ad11d_1_1_0_collision_15_xu2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp228handle_cb3a84a228ea056576b5a8d0f51ad11d_1_1_0_collision_16_xu2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp228handle_cb3a84a228ea056576b5a8d0f51ad11d_1_1_0_collision_17_xu2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp228handle_cb3a84a228ea056576b5a8d0f51ad11d_1_1_0_collision_18_xu2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp228handle_cb3a84a228ea056576b5a8d0f51ad11d_1_1_0_collision_19_xu2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp228handle_cb3a84a228ea056576b5a8d0f51ad11d_1_1_0_collision_20_xu2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp228handle_cb3a84a228ea056576b5a8d0f51ad11d_1_1_0_collision_21_xu2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp228handle_cb3a84a228ea056576b5a8d0f51ad11d_1_1_0_collision_22_xu2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp228handle_cb3a84a228ea056576b5a8d0f51ad11d_1_1_0_collision_23_xu2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp228handle_cb3a84a228ea056576b5a8d0f51ad11d_1_1_0_collision_24_xu2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp228handle_cb3a84a228ea056576b5a8d0f51ad11d_1_1_0_collision_25_xu2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp228handle_cb3a84a228ea056576b5a8d0f51ad11d_1_1_0_collision_26_xu2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp228handle_cb3a84a228ea056576b5a8d0f51ad11d_1_1_0_collision_27_xu2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp228handle_cb3a84a228ea056576b5a8d0f51ad11d_1_1_0_collision_28_xu2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp228handle_cb3a84a228ea056576b5a8d0f51ad11d_1_1_0_collision_29_xu2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp228handle_cb3a84a228ea056576b5a8d0f51ad11d_1_1_0_collision_30_xu2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp228handle_cb3a84a228ea056576b5a8d0f51ad11d_1_1_0_collision_31_xu2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp228handle_cb3a84a228ea056576b5a8d0f51ad11d_1_1_0_collision_32_xu2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp228handle_cb3a84a228ea056576b5a8d0f51ad11d_1_1_0_collision_33_xu2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+        }
+
+        over "tn__fp228door_983f734ee9119cba3157f09c3bcc3ff7_1_0_0_vx1"
+        {
+        }
+
+        over "tn__fp228door_983f734ee9119cba3157f09c3bcc3ff7_1_1_0_vx1"
+        {
+            over "tn__fp228door_983f734ee9119cba3157f09c3bcc3ff7_1_1_0_collision_1_ep2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+        }
+
+        over "ceiling_5f4960956852909aa05013e5feacb6f5_1_0_0"
+        {
+        }
+
+        over "ceiling_5f4960956852909aa05013e5feacb6f5_1_1_0"
+        {
+            over "ceiling_5f4960956852909aa05013e5feacb6f5_1_1_0_collision_1" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+        }
+
+        over "tn__fp228baseboard_17459a0ceb440363ad873c18867ca139_1_0_0_bc2"
+        {
+        }
+
+        over "tn__fp228baseboard_17459a0ceb440363ad873c18867ca139_1_1_0_bc2"
+        {
+            over "tn__fp228baseboard_17459a0ceb440363ad873c18867ca139_1_1_0_collision_1_py2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp228baseboard_17459a0ceb440363ad873c18867ca139_1_1_0_collision_2_py2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp228baseboard_17459a0ceb440363ad873c18867ca139_1_1_0_collision_3_py2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp228baseboard_17459a0ceb440363ad873c18867ca139_1_1_0_collision_4_py2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp228baseboard_17459a0ceb440363ad873c18867ca139_1_1_0_collision_5_py2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+        }
+
+        over "walls_93a4a737514b8fa18ab0d54ed2785230_1_0_0"
+        {
+        }
+
+        over "walls_93a4a737514b8fa18ab0d54ed2785230_1_1_0"
+        {
+            over "walls_93a4a737514b8fa18ab0d54ed2785230_1_1_0_collision_2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "walls_93a4a737514b8fa18ab0d54ed2785230_1_1_0_collision_3" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "walls_93a4a737514b8fa18ab0d54ed2785230_1_1_0_collision_4" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "walls_93a4a737514b8fa18ab0d54ed2785230_1_1_0_collision_5" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "walls_93a4a737514b8fa18ab0d54ed2785230_1_1_0_collision_6" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "walls_93a4a737514b8fa18ab0d54ed2785230_1_1_0_collision_7" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "walls_93a4a737514b8fa18ab0d54ed2785230_1_1_0_collision_8" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "walls_93a4a737514b8fa18ab0d54ed2785230_1_1_0_collision_9" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "walls_93a4a737514b8fa18ab0d54ed2785230_1_1_0_collision_10" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "walls_93a4a737514b8fa18ab0d54ed2785230_1_1_0_collision_11" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "walls_93a4a737514b8fa18ab0d54ed2785230_1_1_0_collision_12" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+        }
+
+        over "floor" (
+            prepend apiSchemas = ["PhysicsCollisionAPI"]
+        )
+        {
+        }
+    }
+}
+

scenes/ithor/FloorPlan228_physics/scene.preprocessed.json

@@ -0,0 +1,21 @@
+{
+  "source": "E:/EAI/molmo_isaac_data/isaac/scenes/ithor/FloorPlan228_physics/scene.usda",
+  "preprocessor_version": "2.1",
+  "timestamp": "2026-04-24T09:57:38.576759+00:00",
+  "offset": [
+    3.6471,
+    -2.70407,
+    0.0
+  ],
+  "yaw_deg": 0.0,
+  "floor_z": -0.14248,
+  "ceiling_z": 2.7233,
+  "prims_deactivated": 4,
+  "prims_deactivated_paths": [
+    "/FloorPlan228_physics/Geometry/box_532b5c56c65097f275bbb9bd22b60b5f_1_0_0",
+    "/FloorPlan228_physics/Geometry/remotecontrol_bbeb7464bb8b20b11df78329c1bd9460_1_0_0",
+    "/FloorPlan228_physics/Geometry/laptop_546a0321040153e2ae8dd08539f1de2b_1_0_0",
+    "/FloorPlan228_physics/Geometry/coffeetable_9b864524fda57d15b72ee711f9ff4a58_1_0_0"
+  ],
+  "physics_preserved": true
+}

scenes/ithor/FloorPlan228_physics/scene.usda

@@ -0,0 +1,178 @@
+#usda 1.0
+(
+    customLayerData = {
+        string creator = """AI2-THOR mjcf-usd scene converter
+    time: 01-20-26 16:35:11
+    scene: FloorPlan228_physics
+    usd-exchange-version: 2.2.0
+"""
+    }
+    defaultPrim = "FloorPlan228_physics"
+    kilogramsPerUnit = 1
+    metersPerUnit = 1
+    upAxis = "Z"
+)
+
+def Xform "FloorPlan228_physics" (
+    prepend apiSchemas = ["GeomModelAPI"]
+    assetInfo = {
+        string name = "FloorPlan228_physics"
+    }
+    kind = "component"
+    prepend payload = @./Payload/Contents.usda@
+)
+{
+    float3[] extentsHint = [(-6.76601, -1.65888, -0.14248), (0.95447, 6.06285, 2.7233), (3.4028235e38, 3.4028235e38, 3.4028235e38), (-3.4028235e38, -3.4028235e38, -3.4028235e38), (3.4028235e38, 3.4028235e38, 3.4028235e38), (-3.4028235e38, -3.4028235e38, -3.4028235e38), (-10, -10, -0.0074440152), (10, 10, 2.7307365)]
+
+    over "Geometry"
+    {
+        over "box_532b5c56c65097f275bbb9bd22b60b5f_1_0_0" (
+            active = false
+            kind = "subcomponent"
+        )
+        {
+        }
+
+        over "television_c1f1d8757eb2e1d0f6bc2a20e7a1103f_1_0_0" (
+            kind = "subcomponent"
+        )
+        {
+        }
+
+        over "remotecontrol_bbeb7464bb8b20b11df78329c1bd9460_1_0_0" (
+            active = false
+            kind = "subcomponent"
+        )
+        {
+        }
+
+        over "trashcan_778c05119990b6050e0e1187863bc283_1_0_0" (
+            kind = "subcomponent"
+        )
+        {
+        }
+
+        over "pillow_21485b884ba3f307a9f79f720cf394ef_1_0_0" (
+            kind = "subcomponent"
+        )
+        {
+        }
+
+        over "laptop_546a0321040153e2ae8dd08539f1de2b_1_0_0" (
+            active = false
+            kind = "subcomponent"
+        )
+        {
+        }
+
+        over "floorlamp_b6d199b88144e788734feb7ab59aebd2_1_0_0" (
+            kind = "subcomponent"
+        )
+        {
+        }
+
+        over "houseplant_586c2c424a6914fc34c24a881dc3e11f_1_0_0" (
+            kind = "subcomponent"
+        )
+        {
+        }
+
+        over "vase_167c6c1d7784abbddfcb5d35cfc28d28_1_0_0" (
+            kind = "subcomponent"
+        )
+        {
+        }
+
+        over "newspaper_618f7f987a4592f5d0749b387fe03da3_1_0_0" (
+            kind = "subcomponent"
+        )
+        {
+        }
+
+        over "plate_f18eaffb67be4fe9bc79cbc991a73c4b_1_0_0" (
+            kind = "subcomponent"
+        )
+        {
+        }
+
+        over "stand_a63788ff20d32f24ab5be6879eb9e46b_1_0_0" (
+            kind = "subcomponent"
+        )
+        {
+        }
+
+        over "stand_287212d857563b69c436c48e10486a04_1_0_0" (
+            kind = "subcomponent"
+        )
+        {
+        }
+
+        over "coffeetable_9b864524fda57d15b72ee711f9ff4a58_1_0_0" (
+            active = false
+            kind = "subcomponent"
+        )
+        {
+        }
+
+        over "diningtable_01cb2382acf94a59c3398b0a8a819f2e_1_0_0" (
+            kind = "subcomponent"
+        )
+        {
+        }
+
+        over "sofa_4dcac48af0e1c5bfc8ada8175ec2324b_1_0_0" (
+            kind = "subcomponent"
+        )
+        {
+        }
+
+        over "sofa_26757136bf2f1a8029d685a42db38f2a_1_0_0" (
+            kind = "subcomponent"
+        )
+        {
+        }
+
+        over "chair_67f4dc358d6c5c481344a3732892f294_1_0_0" (
+            kind = "subcomponent"
+        )
+        {
+        }
+
+        over "chair_b49d0e08d47cffb27e0e0a31c2518ce2_1_0_0" (
+            kind = "subcomponent"
+        )
+        {
+        }
+
+        over "chair_b49d0e08d47cffb27e0e0a31c2518ce2_2_0_0" (
+            kind = "subcomponent"
+        )
+        {
+        }
+
+        over "chair_b49d0e08d47cffb27e0e0a31c2518ce2_3_0_0" (
+            kind = "subcomponent"
+        )
+        {
+        }
+
+        over "stand_06b57ec60c62d44ef4518047bb1f70f0_1_0_0" (
+            kind = "subcomponent"
+        )
+        {
+        }
+
+        over "stand_1624c15ab946547284067215985fa1a8_1_0_0" (
+            kind = "subcomponent"
+        )
+        {
+        }
+
+        over "statue_69507cc77982294b42ae477f429fbbaa_1_0_0" (
+            kind = "subcomponent"
+        )
+        {
+        }
+    }
+}
+

scenes/ithor/FloorPlan230_physics/Payload/Contents.usda

@@ -0,0 +1,37 @@
+#usda 1.0
+(
+    customLayerData = {
+        string creator = """AI2-THOR mjcf-usd scene converter
+    time: 01-20-26 16:35:12
+    scene: FloorPlan230_physics
+    usd-exchange-version: 2.2.0
+"""
+    }
+    defaultPrim = "FloorPlan230_physics"
+    kilogramsPerUnit = 1
+    metersPerUnit = 1
+    subLayers = [
+        @./Physics.usda@,
+        @./Geometry.usda@,
+        @./Materials.usda@
+    ]
+    upAxis = "Z"
+)
+
+def Xform "FloorPlan230_physics"
+{
+    def DistantLight "scene_dir_light"
+    {
+        float inputs:intensity = 1000
+        float xformOp:rotateX = -10
+        uniform token[] xformOpOrder = ["xformOp:rotateX"]
+    }
+
+    def DomeLight "scene_ibl_light"
+    {
+        color3f inputs:color = (1, 0.85301, 0.55212)
+        float inputs:exposure = 0
+        float inputs:intensity = 500
+    }
+}
+