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assets.txt

@@ -0,0 +1,194 @@
+002_master_chef_can	大厨可以
+003_cracker_box	饼干盒
+004_sugar_box	糖盒
+005_tomato_soup_can	番茄汤罐头
+006_mustard_bottle	芥末瓶
+007_tuna_fish_can	金枪鱼罐头
+008_pudding_box	布丁盒
+009_gelatin_box	明胶盒
+010_potted_meat_can	盆栽肉罐头
+011_banana	香蕉
+012_strawberry	草莓
+013_apple	apple
+014_lemon	柠檬
+015_peach	桃
+016_pear	梨
+017_orange	橙子
+018_plum	李子
+019_pitcher_base	投手底座
+021_bleach_cleanser	漂白清洁剂
+022_windex_bottle	温德克斯瓶
+024_bowl	碗
+025_mug	马克杯
+026_sponge	海绵
+027_skillet	煎锅
+028_skillet_lid	煎锅盖
+029_plate	盘子
+030_fork	叉
+031_spoon	勺子
+032_knife	knife
+033_spatula	抹刀
+035_power_drill	电钻
+036_wood_block	木块
+037_scissors	剪刀
+038_padlock	挂锁
+040_large_marker	大标记
+042_adjustable_wrench	可调扳手
+043_phillips_screwdriver	十字螺丝刀
+044_flat_screwdriver	一字螺丝刀
+048_hammer	锤
+050_medium_clamp	中型夹具
+051_large_clamp	大夹子
+052_extra_large_clamp	特大夹子
+053_mini_soccer_ball	迷你足球
+054_softball	垒球
+055_baseball	棒球
+056_tennis_ball	网球
+057_racquetball	壁球
+058_golf_ball	高尔夫球
+059_chain	链
+061_foam_brick	泡沫砖
+062_dice	骰子
+071_nine_hole_peg_test	九孔钉测试
+077_rubiks_cube	魔方
+080_bottle	瓶子
+081_box	盒子
+082_bucket	桶
+083_camera	相机
+084_cart	大车
+085_chair	椅子
+086_clock	钟
+087_coffeemachine	咖啡机
+088_dishwasher	洗碗机
+089_dispenser	自动售货机
+090_display	展示
+091_door	门
+092_eyeglasses	眼镜
+093_fan	扇子
+094_faucet	龙头
+095_foldingchair	折叠椅
+096_globe	地球
+097_kettle	壶
+098_keyboard	键盘
+099_kitchenpot	厨房锅
+100_knife	knife
+101_lamp	灯
+102_laptop	笔记本电脑
+103_lighter	打火机
+104_microwave	微波
+105_mouse	老鼠
+106_oven	烤箱
+107_pen	笔
+108_phone	电话
+109_pliers	钳
+110_printer	printer
+111_refrigerator	冰箱
+112_remote	偏僻的
+113_safe	安全的
+114_scissors	剪刀
+115_stapler	订书机
+116_storagefurniture	储物家具
+117_suitcase	手提箱
+118_switch	转变
+119_table	桌子
+120_toaster	烤面包机
+121_toilet	洗手间
+122_trashcan	垃圾桶
+123_usb	USB
+124_washingmachine	washing machine
+125_window	窗户
+126_fluted-block	凹槽块
+127_french-fries	炸薯条
+128_hamburg	汉堡
+129_shoe-box	鞋盒
+130_tray	tray
+131_dustbin	垃圾箱
+132_plant-pot	花盆
+133_dumbbell-rack	哑铃架
+134_bookcase	书柜
+135_calculator	计算器
+136_microphone	麦克风
+137_coaster	杯垫
+138_cup	杯子
+139_cup-with-liquid	装有液体的杯子
+140_tissue-box	纸巾盒
+141_scanner	扫描器
+142_chips-tub	薯条桶
+143_pet-collar	宠物项圈
+144_table-tennis	乒乓球
+145_roll-paper	卷纸
+146_olive-oil	橄榄油
+147_drill	钻头
+148_jam-jar	果酱罐
+149_screwdriver	螺丝刀
+150_cabinet	内阁
+151_milk-box	牛奶盒
+152_rack	架子
+153_shoe	鞋
+154_wooden_box	木箱
+155_book	书
+156_sand-clock	沙钟
+157_alarm-clock	闹钟
+158_shampoo	洗发水
+159_bell	钟
+160_candlestick	烛台
+161_dumbbell	哑铃
+162_teanet	茶壶
+163_baguette	长棍面包
+164_small-speaker	小喇叭
+165_toycar	玩具车
+166_markpen	记号笔
+167_pencup	笔杯
+168_battery	电池
+169_plasticbox	塑料盒
+170_tabletrashbin	桌上垃圾桶
+171_msg	味精
+172_soy-sauce	酱油
+173_vinegar	醋
+174_steamer	汽船
+175_boxdrink	盒装饮料
+176_vagetable	蔬菜
+177_paymentsign	付款标志
+178_can	能
+179_electronicscale	电子秤
+180_rubikscube	魔方
+181_displaystand	展示架
+182_bread	面包
+183_breadbasket	粮仓
+184_phonestand	电话座
+185_remotecontrol	遥控
+186_pillbottle	药瓶
+187_playingcards	扑克牌
+188_smallshovel	小铲子
+189_brush	刷子
+190_woodenmallet	木槌
+191_gong	锣
+192_woodenblock	木块
+193_waterer	饮水器
+194_wineglass	酒杯
+195_trophy	杯
+196_notebook	笔记本
+197_brush-pen	毛笔
+198_rest	休息
+199_glue	胶水
+200_cleaner	清洁工
+201_screen	屏幕
+202_speaker	扬声器
+203_seal	印章
+204_milk-tea	奶茶
+205_roller	滚筒
+206_fruit	水果
+207_board	木板
+208_sauce-can	sauce can
+209_soap	肥皂
+210_block	堵塞
+211_hydrating-oil	保湿油
+212_basket	篮子
+213_callbell	呼叫铃
+214_tea-box	茶叶盒
+215_coffee-box	咖啡盒
+216_perfume	香水
+217_whiteboard-eraser	白板擦
+218_tooth-paste	牙膏
+219_mini-chalkboard	迷你黑板
+220_plant	植物

scenes/ithor/FloorPlan14_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: FloorPlan14_physics
+    usd-exchange-version: 2.2.0
+"""
+    }
+    defaultPrim = "FloorPlan14_physics"
+    kilogramsPerUnit = 1
+    metersPerUnit = 1
+    subLayers = [
+        @./Physics.usda@,
+        @./Geometry.usda@,
+        @./Materials.usda@
+    ]
+    upAxis = "Z"
+)
+
+def Xform "FloorPlan14_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/FloorPlan14_physics/Payload/Materials.usda

@@ -0,0 +1,934 @@
+#usda 1.0
+(
+    customLayerData = {
+        string creator = """AI2-THOR mjcf-usd scene converter
+    time: 01-20-26 16:35:04
+    scene: FloorPlan14_physics
+    usd-exchange-version: 2.2.0
+"""
+    }
+    defaultPrim = "FloorPlan14_physics"
+    kilogramsPerUnit = 1
+    metersPerUnit = 1
+    upAxis = "Z"
+)
+
+def Xform "FloorPlan14_physics"
+{
+    def Scope "Materials"
+    {
+        def Material "material_WhiteWoodClean" (
+            prepend references = @./MaterialsLibrary.usda@</Materials/material_WhiteWoodClean>
+        )
+        {
+        }
+
+        def Material "material_StoveDarkMat" (
+            prepend references = @./MaterialsLibrary.usda@</Materials/material_StoveDarkMat>
+        )
+        {
+        }
+
+        def Material "material_WhitePlastic" (
+            prepend references = @./MaterialsLibrary.usda@</Materials/material_WhitePlastic>
+        )
+        {
+        }
+
+        def Material "material_BrushedIron_AlbedoTransparency" (
+            prepend references = @./MaterialsLibrary.usda@</Materials/material_BrushedIron_AlbedoTransparency>
+        )
+        {
+        }
+
+        def Material "material_Glass_Green_Mat" (
+            prepend references = @./MaterialsLibrary.usda@</Materials/material_Glass_Green_Mat>
+        )
+        {
+        }
+
+        def Material "material_WhitePlasticMat" (
+            prepend references = @./MaterialsLibrary.usda@</Materials/material_WhitePlasticMat>
+        )
+        {
+        }
+
+        def Material "material_Metal" (
+            prepend references = @./MaterialsLibrary.usda@</Materials/material_Metal>
+        )
+        {
+        }
+
+        def Material "material_HammeredMetal_AlbedoTransparency" (
+            prepend references = @./MaterialsLibrary.usda@</Materials/material_HammeredMetal_AlbedoTransparency>
+        )
+        {
+        }
+
+        def Material "material_HammeredMetal_Dark" (
+            prepend references = @./MaterialsLibrary.usda@</Materials/material_HammeredMetal_Dark>
+        )
+        {
+        }
+
+        def Material "material_TexturesCom_Marble" (
+            prepend references = @./MaterialsLibrary.usda@</Materials/material_TexturesCom_Marble>
+        )
+        {
+        }
+
+        def Material "material_Glass_Detailed_Lit_High_Mat" (
+            prepend references = @./MaterialsLibrary.usda@</Materials/material_Glass_Detailed_Lit_High_Mat>
+        )
+        {
+        }
+
+        def Material "material_LightWoodCounters2" (
+            prepend references = @./MaterialsLibrary.usda@</Materials/material_LightWoodCounters2>
+        )
+        {
+        }
+
+        def Material "material_BrushedAluminum_AlbedoTransparency" (
+            prepend references = @./MaterialsLibrary.usda@</Materials/material_BrushedAluminum_AlbedoTransparency>
+        )
+        {
+        }
+
+        def Material "material_StoveCoil" (
+            prepend references = @./MaterialsLibrary.usda@</Materials/material_StoveCoil>
+        )
+        {
+        }
+
+        def Material "material_Drywall" (
+            prepend references = @./MaterialsLibrary.usda@</Materials/material_Drywall>
+        )
+        {
+        }
+
+        def Material "material_CeramicTiles1" (
+            prepend references = @./MaterialsLibrary.usda@</Materials/material_CeramicTiles1>
+        )
+        {
+        }
+
+        def Material "material_WhiteWood1" (
+            prepend references = @./MaterialsLibrary.usda@</Materials/material_WhiteWood1>
+        )
+        {
+        }
+
+        def Material "material_Brass_Mat" (
+            prepend references = @./MaterialsLibrary.usda@</Materials/material_Brass_Mat>
+        )
+        {
+        }
+
+        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_WhiteWood" (
+            prepend references = @./MaterialsLibrary.usda@</Materials/material_WhiteWood>
+        )
+        {
+        }
+
+        def Material "material_Porcelain_Black_Mat" (
+            prepend references = @./MaterialsLibrary.usda@</Materials/material_Porcelain_Black_Mat>
+        )
+        {
+        }
+
+        def Material "material_DarkGranite" (
+            prepend references = @./MaterialsLibrary.usda@</Materials/material_DarkGranite>
+        )
+        {
+        }
+
+        def Material "material_GreyCountertop" (
+            prepend references = @./MaterialsLibrary.usda@</Materials/material_GreyCountertop>
+        )
+        {
+        }
+    }
+
+    over "Geometry"
+    {
+        over "oven_f096b00330fd7ead88b960fe4bf1c01c_1_1_0"
+        {
+            over "oven_f096b00330fd7ead88b960fe4bf1c01c_1_1_0_visual_0" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan14_physics/Materials/material_WhiteWoodClean>
+            }
+
+            over "oven_f096b00330fd7ead88b960fe4bf1c01c_1_1_0_visual_1" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan14_physics/Materials/material_StoveDarkMat>
+            }
+        }
+
+        over "oven_f096b00330fd7ead88b960fe4bf1c01c_1_2_0"
+        {
+            over "oven_f096b00330fd7ead88b960fe4bf1c01c_1_2_0_visual_24" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan14_physics/Materials/material_StoveDarkMat>
+            }
+
+            over "oven_f096b00330fd7ead88b960fe4bf1c01c_1_2_0_visual_25" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan14_physics/Materials/material_WhitePlastic>
+            }
+
+            over "oven_f096b00330fd7ead88b960fe4bf1c01c_1_2_0_visual_26" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan14_physics/Materials/material_BrushedIron_AlbedoTransparency>
+            }
+        }
+
+        over "oven_f096b00330fd7ead88b960fe4bf1c01c_1_3_0"
+        {
+            over "oven_f096b00330fd7ead88b960fe4bf1c01c_1_3_0_visual_32" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan14_physics/Materials/material_BrushedIron_AlbedoTransparency>
+            }
+        }
+
+        over "oven_f096b00330fd7ead88b960fe4bf1c01c_1_4_0"
+        {
+            over "oven_f096b00330fd7ead88b960fe4bf1c01c_1_4_0_visual_38" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan14_physics/Materials/material_Glass_Green_Mat>
+            }
+
+            over "oven_f096b00330fd7ead88b960fe4bf1c01c_1_4_0_visual_39" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan14_physics/Materials/material_WhiteWoodClean>
+            }
+
+            over "oven_f096b00330fd7ead88b960fe4bf1c01c_1_4_0_visual_40" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan14_physics/Materials/material_WhitePlastic>
+            }
+        }
+
+        over "oven_f096b00330fd7ead88b960fe4bf1c01c_1_5_0"
+        {
+            over "oven_f096b00330fd7ead88b960fe4bf1c01c_1_5_0_visual_50" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan14_physics/Materials/material_WhitePlastic>
+            }
+        }
+
+        over "knob_b0906ef98d42fb8727a0b949e38a897e_1_1_0"
+        {
+            over "knob_b0906ef98d42fb8727a0b949e38a897e_1_1_0_visual_0" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan14_physics/Materials/material_WhitePlastic>
+            }
+        }
+
+        over "knob_b0906ef98d42fb8727a0b949e38a897e_1_2_0"
+        {
+            over "knob_b0906ef98d42fb8727a0b949e38a897e_1_2_0_visual_2" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan14_physics/Materials/material_WhitePlasticMat>
+            }
+        }
+
+        over "knob_80b1b885f6fa499db0ddffdffd332a15_1_1_0"
+        {
+            over "knob_80b1b885f6fa499db0ddffdffd332a15_1_1_0_visual_0" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan14_physics/Materials/material_WhitePlastic>
+            }
+        }
+
+        over "knob_80b1b885f6fa499db0ddffdffd332a15_1_2_0"
+        {
+            over "knob_80b1b885f6fa499db0ddffdffd332a15_1_2_0_visual_2" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan14_physics/Materials/material_WhitePlasticMat>
+            }
+        }
+
+        over "knob_b13fcbde1742ee58bccd6569b9058ae9_1_1_0"
+        {
+            over "knob_b13fcbde1742ee58bccd6569b9058ae9_1_1_0_visual_0" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan14_physics/Materials/material_WhitePlastic>
+            }
+        }
+
+        over "knob_b13fcbde1742ee58bccd6569b9058ae9_1_2_0"
+        {
+            over "knob_b13fcbde1742ee58bccd6569b9058ae9_1_2_0_visual_2" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan14_physics/Materials/material_WhitePlasticMat>
+            }
+        }
+
+        over "knob_e6ace7019fa7860a8eac9f5f1fbcb435_1_1_0"
+        {
+            over "knob_e6ace7019fa7860a8eac9f5f1fbcb435_1_1_0_visual_0" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan14_physics/Materials/material_WhitePlastic>
+            }
+        }
+
+        over "knob_e6ace7019fa7860a8eac9f5f1fbcb435_1_2_0"
+        {
+            over "knob_e6ace7019fa7860a8eac9f5f1fbcb435_1_2_0_visual_2" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan14_physics/Materials/material_WhitePlasticMat>
+            }
+        }
+
+        over "dishwasher_6f00aaffa2bc1c8a8b5187f86ec41d00_1_1_0"
+        {
+            over "dishwasher_6f00aaffa2bc1c8a8b5187f86ec41d00_1_1_0_visual_0" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan14_physics/Materials/material_Metal>
+            }
+
+            over "dishwasher_6f00aaffa2bc1c8a8b5187f86ec41d00_1_1_0_visual_1" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan14_physics/Materials/material_HammeredMetal_AlbedoTransparency>
+            }
+        }
+
+        over "dishwasher_6f00aaffa2bc1c8a8b5187f86ec41d00_1_2_0"
+        {
+            over "dishwasher_6f00aaffa2bc1c8a8b5187f86ec41d00_1_2_0_visual_59" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan14_physics/Materials/material_HammeredMetal_AlbedoTransparency>
+            }
+
+            over "dishwasher_6f00aaffa2bc1c8a8b5187f86ec41d00_1_2_0_visual_60" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan14_physics/Materials/material_WhitePlastic>
+            }
+        }
+
+        over "dishwasher_6f00aaffa2bc1c8a8b5187f86ec41d00_1_3_0"
+        {
+            over "dishwasher_6f00aaffa2bc1c8a8b5187f86ec41d00_1_3_0_visual_75" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan14_physics/Materials/material_HammeredMetal_AlbedoTransparency>
+            }
+        }
+
+        over "cabinet_e519ae09ce1d4e4b7497e9ce684a461c_1_1_0"
+        {
+            over "cabinet_e519ae09ce1d4e4b7497e9ce684a461c_1_1_0_visual_0" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan14_physics/Materials/material_WhitePlastic>
+            }
+        }
+
+        over "cabinet_e519ae09ce1d4e4b7497e9ce684a461c_1_2_0"
+        {
+            over "cabinet_e519ae09ce1d4e4b7497e9ce684a461c_1_2_0_visual_2" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan14_physics/Materials/material_HammeredMetal_Dark>
+            }
+        }
+
+        over "cabinet_d2ed075f12d94fdd315f6f57157b92ca_1_1_0"
+        {
+            over "cabinet_d2ed075f12d94fdd315f6f57157b92ca_1_1_0_visual_0" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan14_physics/Materials/material_WhitePlastic>
+            }
+        }
+
+        over "cabinet_d2ed075f12d94fdd315f6f57157b92ca_1_2_0"
+        {
+            over "cabinet_d2ed075f12d94fdd315f6f57157b92ca_1_2_0_visual_2" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan14_physics/Materials/material_HammeredMetal_Dark>
+            }
+        }
+
+        over "cabinet_6cd68b05840d772941331ceec311d697_1_1_0"
+        {
+            over "cabinet_6cd68b05840d772941331ceec311d697_1_1_0_visual_0" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan14_physics/Materials/material_WhitePlastic>
+            }
+        }
+
+        over "cabinet_6cd68b05840d772941331ceec311d697_1_2_0"
+        {
+            over "cabinet_6cd68b05840d772941331ceec311d697_1_2_0_visual_2" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan14_physics/Materials/material_HammeredMetal_Dark>
+            }
+        }
+
+        over "cabinet_add263c1fa0598f1e8a8f6355900bc96_1_1_0"
+        {
+            over "cabinet_add263c1fa0598f1e8a8f6355900bc96_1_1_0_visual_0" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan14_physics/Materials/material_WhitePlastic>
+            }
+        }
+
+        over "cabinet_add263c1fa0598f1e8a8f6355900bc96_1_2_0"
+        {
+            over "cabinet_add263c1fa0598f1e8a8f6355900bc96_1_2_0_visual_2" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan14_physics/Materials/material_HammeredMetal_Dark>
+            }
+        }
+
+        over "cabinet_190abf149801f77360d5f0c163744e2d_1_1_0"
+        {
+            over "cabinet_190abf149801f77360d5f0c163744e2d_1_1_0_visual_0" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan14_physics/Materials/material_WhitePlastic>
+            }
+        }
+
+        over "cabinet_190abf149801f77360d5f0c163744e2d_1_2_0"
+        {
+            over "cabinet_190abf149801f77360d5f0c163744e2d_1_2_0_visual_2" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan14_physics/Materials/material_HammeredMetal_Dark>
+            }
+        }
+
+        over "cabinet_349843af357e03237c6d825c86fd84c3_1_1_0"
+        {
+            over "cabinet_349843af357e03237c6d825c86fd84c3_1_1_0_visual_0" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan14_physics/Materials/material_WhitePlastic>
+            }
+        }
+
+        over "cabinet_349843af357e03237c6d825c86fd84c3_1_2_0"
+        {
+            over "cabinet_349843af357e03237c6d825c86fd84c3_1_2_0_visual_2" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan14_physics/Materials/material_HammeredMetal_Dark>
+            }
+        }
+
+        over "cabinet_f4a4399f3d34590498db4967df581bb8_1_1_0"
+        {
+            over "cabinet_f4a4399f3d34590498db4967df581bb8_1_1_0_visual_0" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan14_physics/Materials/material_WhitePlastic>
+            }
+        }
+
+        over "cabinet_f4a4399f3d34590498db4967df581bb8_1_2_0"
+        {
+            over "cabinet_f4a4399f3d34590498db4967df581bb8_1_2_0_visual_2" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan14_physics/Materials/material_HammeredMetal_Dark>
+            }
+        }
+
+        over "cabinet_559be3a327b81316ff83de27c4498a33_1_1_0"
+        {
+            over "cabinet_559be3a327b81316ff83de27c4498a33_1_1_0_visual_0" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan14_physics/Materials/material_WhitePlastic>
+            }
+        }
+
+        over "cabinet_559be3a327b81316ff83de27c4498a33_1_2_0"
+        {
+            over "cabinet_559be3a327b81316ff83de27c4498a33_1_2_0_visual_2" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan14_physics/Materials/material_HammeredMetal_Dark>
+            }
+        }
+
+        over "tap_3753ea019085f1b25cd3901b4b7a1d7b_1_1_0"
+        {
+            over "tap_3753ea019085f1b25cd3901b4b7a1d7b_1_1_0_visual_0" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan14_physics/Materials/material_HammeredMetal_AlbedoTransparency>
+            }
+        }
+
+        over "tap_3753ea019085f1b25cd3901b4b7a1d7b_1_2_0"
+        {
+            over "tap_3753ea019085f1b25cd3901b4b7a1d7b_1_2_0_visual_1" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan14_physics/Materials/material_HammeredMetal_AlbedoTransparency>
+            }
+        }
+
+        over "mesh_aa3551313b52bb6a2769ee35966b1dd0_1_1_0"
+        {
+            over "mesh_aa3551313b52bb6a2769ee35966b1dd0_1_1_0_visual_0" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan14_physics/Materials/material_TexturesCom_Marble>
+            }
+        }
+
+        over "window_c36469bfbbe8297fa8b40f04de47f317_1_1_0"
+        {
+            over "window_c36469bfbbe8297fa8b40f04de47f317_1_1_0_visual_0" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan14_physics/Materials/material_Glass_Detailed_Lit_High_Mat>
+            }
+        }
+
+        over "window_c36469bfbbe8297fa8b40f04de47f317_1_2_0"
+        {
+            over "window_c36469bfbbe8297fa8b40f04de47f317_1_2_0_visual_2" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan14_physics/Materials/material_LightWoodCounters2>
+            }
+        }
+
+        over "tn__window2_d36880ec541128b80c97342f33adf67d_1_1_0_vx0u0"
+        {
+            over "tn__window2_d36880ec541128b80c97342f33adf67d_1_1_0_visual_0_je1Y1" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan14_physics/Materials/material_Glass_Detailed_Lit_High_Mat>
+            }
+        }
+
+        over "tn__window2_d36880ec541128b80c97342f33adf67d_1_2_0_vx0u0"
+        {
+            over "tn__window2_d36880ec541128b80c97342f33adf67d_1_2_0_visual_2_je1Y1" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan14_physics/Materials/material_LightWoodCounters2>
+            }
+        }
+
+        over "sinkmesh_ebb6878ff71c022ba14a6075f72a20fc_1_1_0"
+        {
+            over "sinkmesh_ebb6878ff71c022ba14a6075f72a20fc_1_1_0_visual_0" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan14_physics/Materials/material_BrushedAluminum_AlbedoTransparency>
+            }
+        }
+
+        over "mesh_d49906be73b179a857977bf2ecc2bf51_1_1_0"
+        {
+            over "mesh_d49906be73b179a857977bf2ecc2bf51_1_1_0_visual_0" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan14_physics/Materials/material_StoveCoil>
+            }
+
+            over "mesh_d49906be73b179a857977bf2ecc2bf51_1_1_0_visual_1" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan14_physics/Materials/material_HammeredMetal_Dark>
+            }
+        }
+
+        over "mesh_7a389c6f53427f455d705fb8a20edea0_1_1_0"
+        {
+            over "mesh_7a389c6f53427f455d705fb8a20edea0_1_1_0_visual_0" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan14_physics/Materials/material_StoveCoil>
+            }
+
+            over "mesh_7a389c6f53427f455d705fb8a20edea0_1_1_0_visual_1" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan14_physics/Materials/material_HammeredMetal_Dark>
+            }
+        }
+
+        over "mesh_da697f7cbd810e140e649e0161f4fe33_1_1_0"
+        {
+            over "mesh_da697f7cbd810e140e649e0161f4fe33_1_1_0_visual_0" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan14_physics/Materials/material_StoveCoil>
+            }
+
+            over "mesh_da697f7cbd810e140e649e0161f4fe33_1_1_0_visual_1" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan14_physics/Materials/material_HammeredMetal_Dark>
+            }
+        }
+
+        over "mesh_9a709d6efdf7d9ed44015e47901b1ff0_1_1_0"
+        {
+            over "mesh_9a709d6efdf7d9ed44015e47901b1ff0_1_1_0_visual_0" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan14_physics/Materials/material_StoveCoil>
+            }
+
+            over "mesh_9a709d6efdf7d9ed44015e47901b1ff0_1_1_0_visual_1" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan14_physics/Materials/material_HammeredMetal_Dark>
+            }
+        }
+
+        over "sink_ac731bf265db7d38c09ef24e26c662b7_1_1_0"
+        {
+            over "sink_ac731bf265db7d38c09ef24e26c662b7_1_1_0_visual_0" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan14_physics/Materials/material_BrushedAluminum_AlbedoTransparency>
+            }
+        }
+
+        over "window_4c61aca12b4e06e003897963e54357a4_1_1_0"
+        {
+            over "window_4c61aca12b4e06e003897963e54357a4_1_1_0_visual_0" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan14_physics/Materials/material_LightWoodCounters2>
+            }
+        }
+
+        over "window_4c61aca12b4e06e003897963e54357a4_1_2_0"
+        {
+            over "window_4c61aca12b4e06e003897963e54357a4_1_2_0_visual_3" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan14_physics/Materials/material_Glass_Detailed_Lit_High_Mat>
+            }
+        }
+
+        over "window_bfb5f742b4c4909ae6b94c33a36a326e_1_1_0"
+        {
+            over "window_bfb5f742b4c4909ae6b94c33a36a326e_1_1_0_visual_0" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan14_physics/Materials/material_LightWoodCounters2>
+            }
+        }
+
+        over "window_bfb5f742b4c4909ae6b94c33a36a326e_1_2_0"
+        {
+            over "window_bfb5f742b4c4909ae6b94c33a36a326e_1_2_0_visual_2" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan14_physics/Materials/material_Glass_Detailed_Lit_High_Mat>
+            }
+        }
+
+        over "floor_abdd9ed3af9e963b8f24ea09ae1e84ff_1_1_0"
+        {
+            over "floor_abdd9ed3af9e963b8f24ea09ae1e84ff_1_1_0_visual_0" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan14_physics/Materials/material_TexturesCom_Marble>
+            }
+        }
+
+        over "standardwallsize_daa4fe4ea6b026d41bc85ee50a32a034_1_1_0"
+        {
+            over "standardwallsize_daa4fe4ea6b026d41bc85ee50a32a034_1_1_0_visual_0" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan14_physics/Materials/material_Drywall>
+            }
+
+            over "standardwallsize_daa4fe4ea6b026d41bc85ee50a32a034_1_1_0_visual_1" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan14_physics/Materials/material_WhiteWoodClean>
+            }
+
+            over "standardwallsize_daa4fe4ea6b026d41bc85ee50a32a034_1_1_0_visual_2" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan14_physics/Materials/material_CeramicTiles1>
+            }
+        }
+
+        over "standarduppercabinetheightwidth_5a0df77ca66ffd4580a790b5e2ce5ee6_1_1_0"
+        {
+            over "standarduppercabinetheightwidth_5a0df77ca66ffd4580a790b5e2ce5ee6_1_1_0_visual_0" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan14_physics/Materials/material_WhitePlastic>
+            }
+
+            over "standarduppercabinetheightwidth_5a0df77ca66ffd4580a790b5e2ce5ee6_1_1_0_visual_1" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan14_physics/Materials/material_WhiteWoodClean>
+            }
+        }
+
+        over "tn__standarddoor12_a3c6c315adb0ea0be20a1ff49318a26d_1_1_0_Yc1d1"
+        {
+            over "tn__standarddoor12_a3c6c315adb0ea0be20a1ff49318a26d_1_1_0_visual_0_rn1m1" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan14_physics/Materials/material_WhiteWood1>
+            }
+        }
+
+        over "tn__standardknob12_02069d081aec9279c03180d12c2ec4ce_1_1_0_Yc1d1"
+        {
+            over "tn__standardknob12_02069d081aec9279c03180d12c2ec4ce_1_1_0_visual_0_rn1m1" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan14_physics/Materials/material_Brass_Mat>
+            }
+        }
+
+        over "faucet_498cc57e7fd405c52301b7b2907dd86c_1_1_0"
+        {
+            over "faucet_498cc57e7fd405c52301b7b2907dd86c_1_1_0_visual_0" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan14_physics/Materials/material_HammeredMetal_AlbedoTransparency>
+            }
+        }
+
+        over "faucet_498cc57e7fd405c52301b7b2907dd86c_1_2_0"
+        {
+            over "faucet_498cc57e7fd405c52301b7b2907dd86c_1_2_0_visual_1" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan14_physics/Materials/material_HammeredMetal_AlbedoTransparency>
+            }
+        }
+
+        over "clock1_1a01621a1d8ef47a3938b26b9ad3759a_1_1_0"
+        {
+            over "clock1_1a01621a1d8ef47a3938b26b9ad3759a_1_1_0_visual_0" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan14_physics/Materials/material_ClockFace>
+            }
+
+            over "clock1_1a01621a1d8ef47a3938b26b9ad3759a_1_1_0_visual_1" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan14_physics/Materials/material_StainlessSteel_Dull>
+            }
+        }
+
+        over "tn__standarddoorframe12_76301c65a46ed0e6655c7c43802a7b17_1_1_0_ri1n1"
+        {
+            over "tn__standarddoorframe12_76301c65a46ed0e6655c7c43802a7b17_1_1_0_visual_0_fu1w1" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan14_physics/Materials/material_LightWoodCounters2>
+            }
+        }
+
+        over "standarddoor1_32c34aacc83f910bf22fa7b90250a587_1_1_0"
+        {
+            over "standarddoor1_32c34aacc83f910bf22fa7b90250a587_1_1_0_visual_0" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan14_physics/Materials/material_WhiteWood>
+            }
+        }
+
+        over "standarddoorframe1_2936fbe44dc7a07046794c7a763fb396_1_1_0"
+        {
+            over "standarddoorframe1_2936fbe44dc7a07046794c7a763fb396_1_1_0_visual_0" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan14_physics/Materials/material_LightWoodCounters2>
+            }
+        }
+
+        over "standardknob1_9ec05dfe58b1ed55385ca693169b3b58_1_1_0"
+        {
+            over "standardknob1_9ec05dfe58b1ed55385ca693169b3b58_1_1_0_visual_0" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan14_physics/Materials/material_Brass_Mat>
+            }
+        }
+
+        over "standardcounterheightwidth_4222f2308b444751400244386df869e4_1_1_0"
+        {
+            over "standardcounterheightwidth_4222f2308b444751400244386df869e4_1_1_0_visual_0" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan14_physics/Materials/material_Porcelain_Black_Mat>
+            }
+
+            over "standardcounterheightwidth_4222f2308b444751400244386df869e4_1_1_0_visual_1" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan14_physics/Materials/material_DarkGranite>
+            }
+
+            over "standardcounterheightwidth_4222f2308b444751400244386df869e4_1_1_0_visual_2" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan14_physics/Materials/material_WhiteWoodClean>
+            }
+
+            over "standardcounterheightwidth_4222f2308b444751400244386df869e4_1_1_0_visual_3" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan14_physics/Materials/material_GreyCountertop>
+            }
+        }
+
+        over "standardwalltileheight1_f0484e15cca4698c60802048b6af7af4_1_1_0"
+        {
+            over "standardwalltileheight1_f0484e15cca4698c60802048b6af7af4_1_1_0_visual_0" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan14_physics/Materials/material_GreyCountertop>
+            }
+        }
+
+        over "ceiling_f1c5ab56f6bef3f16d1afb0cab0f7564_1_1_0"
+        {
+            over "ceiling_f1c5ab56f6bef3f16d1afb0cab0f7564_1_1_0_visual_0" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan14_physics/Materials/material_Drywall>
+            }
+        }
+    }
+}
+

scenes/ithor/FloorPlan14_physics/Payload/MaterialsLibrary.usda

@@ -0,0 +1,587 @@
+#usda 1.0
+(
+    "Material library for house FloorPlan14_physics"
+    customLayerData = {
+        string creator = """AI2-THOR mjcf-usd scene converter
+    time: 01-20-26 16:35:04
+    scene: FloorPlan14_physics
+    usd-exchange-version: 2.2.0
+"""
+    }
+    defaultPrim = "Materials"
+    kilogramsPerUnit = 1
+    metersPerUnit = 1
+    upAxis = "Z"
+)
+
+class Scope "Materials"
+{
+    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_StoveDarkMat"
+    {
+        token outputs:displacement.connect = </Materials/material_StoveDarkMat/PreviewSurface.outputs:displacement>
+        token outputs:surface.connect = </Materials/material_StoveDarkMat/PreviewSurface.outputs:surface>
+
+        def Shader "PreviewSurface"
+        {
+            uniform token info:id = "UsdPreviewSurface"
+            color3f inputs:diffuseColor = (0.125, 0.125, 0.125)
+            float inputs:metallic = 0
+            float inputs:opacity = 1
+            float inputs:roughness = 0.5
+            token outputs:displacement
+            token outputs:surface
+        }
+    }
+
+    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_BrushedIron_AlbedoTransparency"
+    {
+        token outputs:displacement.connect = </Materials/material_BrushedIron_AlbedoTransparency/PreviewSurface.outputs:displacement>
+        token outputs:surface.connect = </Materials/material_BrushedIron_AlbedoTransparency/PreviewSurface.outputs:surface>
+
+        def Shader "PreviewSurface"
+        {
+            uniform token info:id = "UsdPreviewSurface"
+            color3f inputs:diffuseColor.connect = </Materials/material_BrushedIron_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/BrushedIron_AlbedoTransparency.png@
+            float4 inputs:scale = (1, 1, 1, 1)
+            token inputs:sourceColorSpace = "auto"
+            float2 inputs:st.connect = </Materials/material_BrushedIron_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_Glass_Green_Mat"
+    {
+        token outputs:displacement.connect = </Materials/material_Glass_Green_Mat/PreviewSurface.outputs:displacement>
+        token outputs:surface.connect = </Materials/material_Glass_Green_Mat/PreviewSurface.outputs:surface>
+
+        def Shader "PreviewSurface"
+        {
+            uniform token info:id = "UsdPreviewSurface"
+            color3f inputs:diffuseColor = (0.170307, 0.257353, 0.178111)
+            float inputs:metallic = 0
+            float inputs:opacity = 1
+            float inputs:roughness = 0.5
+            token outputs:displacement
+            token outputs:surface
+        }
+    }
+
+    def Material "material_WhitePlasticMat"
+    {
+        token outputs:displacement.connect = </Materials/material_WhitePlasticMat/PreviewSurface.outputs:displacement>
+        token outputs:surface.connect = </Materials/material_WhitePlasticMat/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
+        }
+    }
+
+    def Material "material_Metal"
+    {
+        token outputs:displacement.connect = </Materials/material_Metal/PreviewSurface.outputs:displacement>
+        token outputs:surface.connect = </Materials/material_Metal/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_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_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_TexturesCom_Marble"
+    {
+        token outputs:displacement.connect = </Materials/material_TexturesCom_Marble/PreviewSurface.outputs:displacement>
+        token outputs:surface.connect = </Materials/material_TexturesCom_Marble/PreviewSurface.outputs:surface>
+
+        def Shader "PreviewSurface"
+        {
+            uniform token info:id = "UsdPreviewSurface"
+            color3f inputs:diffuseColor.connect = </Materials/material_TexturesCom_Marble/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 = (0.830882, 0.626954, 0.494864, 1)
+            asset inputs:file = @./Textures/TexturesCom_Marble Floor Tiles 1_diffuse_S.png@
+            float4 inputs:scale = (0.830882, 0.626954, 0.494864, 1)
+            token inputs:sourceColorSpace = "auto"
+            float2 inputs:st.connect = </Materials/material_TexturesCom_Marble/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_LightWoodCounters2"
+    {
+        token outputs:displacement.connect = </Materials/material_LightWoodCounters2/PreviewSurface.outputs:displacement>
+        token outputs:surface.connect = </Materials/material_LightWoodCounters2/PreviewSurface.outputs:surface>
+
+        def Shader "PreviewSurface"
+        {
+            uniform token info:id = "UsdPreviewSurface"
+            color3f inputs:diffuseColor.connect = </Materials/material_LightWoodCounters2/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 = (0.764151, 0.517355, 0.299172, 1)
+            asset inputs:file = @./Textures/LightWoodCounters.png@
+            float4 inputs:scale = (0.764151, 0.517355, 0.299172, 1)
+            token inputs:sourceColorSpace = "auto"
+            float2 inputs:st.connect = </Materials/material_LightWoodCounters2/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_BrushedAluminum_AlbedoTransparency"
+    {
+        token outputs:displacement.connect = </Materials/material_BrushedAluminum_AlbedoTransparency/PreviewSurface.outputs:displacement>
+        token outputs:surface.connect = </Materials/material_BrushedAluminum_AlbedoTransparency/PreviewSurface.outputs:surface>
+
+        def Shader "PreviewSurface"
+        {
+            uniform token info:id = "UsdPreviewSurface"
+            color3f inputs:diffuseColor.connect = </Materials/material_BrushedAluminum_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/BrushedAluminum_AlbedoTransparency.png@
+            float4 inputs:scale = (1, 1, 1, 1)
+            token inputs:sourceColorSpace = "auto"
+            float2 inputs:st.connect = </Materials/material_BrushedAluminum_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_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_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_CeramicTiles1"
+    {
+        token outputs:displacement.connect = </Materials/material_CeramicTiles1/PreviewSurface.outputs:displacement>
+        token outputs:surface.connect = </Materials/material_CeramicTiles1/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_WhiteWood1"
+    {
+        token outputs:displacement.connect = </Materials/material_WhiteWood1/PreviewSurface.outputs:displacement>
+        token outputs:surface.connect = </Materials/material_WhiteWood1/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_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_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_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_Porcelain_Black_Mat"
+    {
+        token outputs:displacement.connect = </Materials/material_Porcelain_Black_Mat/PreviewSurface.outputs:displacement>
+        token outputs:surface.connect = </Materials/material_Porcelain_Black_Mat/PreviewSurface.outputs:surface>
+
+        def Shader "PreviewSurface"
+        {
+            uniform token info:id = "UsdPreviewSurface"
+            color3f inputs:diffuseColor = (0.0367647, 0.0367647, 0.0367647)
+            float inputs:metallic = 0
+            float inputs:opacity = 1
+            float inputs:roughness = 0.5
+            token outputs:displacement
+            token outputs:surface
+        }
+    }
+
+    def Material "material_DarkGranite"
+    {
+        token outputs:displacement.connect = </Materials/material_DarkGranite/PreviewSurface.outputs:displacement>
+        token outputs:surface.connect = </Materials/material_DarkGranite/PreviewSurface.outputs:surface>
+
+        def Shader "PreviewSurface"
+        {
+            uniform token info:id = "UsdPreviewSurface"
+            color3f inputs:diffuseColor = (0.185211, 0.205882, 0.178633)
+            float inputs:metallic = 0
+            float inputs:opacity = 1
+            float inputs:roughness = 0.5
+            token outputs:displacement
+            token outputs:surface
+        }
+    }
+
+    def Material "material_GreyCountertop"
+    {
+        token outputs:displacement.connect = </Materials/material_GreyCountertop/PreviewSurface.outputs:displacement>
+        token outputs:surface.connect = </Materials/material_GreyCountertop/PreviewSurface.outputs:surface>
+
+        def Shader "PreviewSurface"
+        {
+            uniform token info:id = "UsdPreviewSurface"
+            color3f inputs:diffuseColor = (0.610294, 0.610294, 0.610294)
+            float inputs:metallic = 0
+            float inputs:opacity = 1
+            float inputs:roughness = 0.5
+            token outputs:displacement
+            token outputs:surface
+        }
+    }
+}
+

scenes/ithor/FloorPlan14_physics/scene.preprocessed.json

@@ -0,0 +1,18 @@
+{
+  "source": "E:/EAI/molmo_isaac_data/isaac/scenes/ithor/FloorPlan14_physics/scene.usda",
+  "preprocessor_version": "2.1",
+  "timestamp": "2026-04-23T13:06:15.471836+00:00",
+  "offset": [
+    0.0,
+    0.0,
+    0.0
+  ],
+  "yaw_deg": 0.0,
+  "floor_z": -0.09999,
+  "ceiling_z": 2.85,
+  "prims_deactivated": 1,
+  "prims_deactivated_paths": [
+    "/FloorPlan14_physics/Geometry/standardcounterheightwidth_4222f2308b444751400244386df869e4_1_1_0"
+  ],
+  "physics_preserved": true
+}

scenes/ithor/FloorPlan14_physics/scene.usda

@@ -0,0 +1,210 @@
+#usda 1.0
+(
+    customLayerData = {
+        string creator = """AI2-THOR mjcf-usd scene converter
+    time: 01-20-26 16:35:04
+    scene: FloorPlan14_physics
+    usd-exchange-version: 2.2.0
+"""
+    }
+    defaultPrim = "FloorPlan14_physics"
+    kilogramsPerUnit = 1
+    metersPerUnit = 1
+    upAxis = "Z"
+)
+
+def Xform "FloorPlan14_physics" (
+    prepend apiSchemas = ["GeomModelAPI"]
+    assetInfo = {
+        string name = "FloorPlan14_physics"
+    }
+    kind = "component"
+    prepend payload = @./Payload/Contents.usda@
+)
+{
+    float3[] extentsHint = [(-1.925, -2.01651, -0.09999), (2.25, 3.40332, 2.85), (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, -0.0107226), (10, 10, 2.8491392)]
+
+    over "Geometry"
+    {
+        over "bowl_e5b5b6acc449b1fc040f6bfa288b60e3_1_0_0" (
+            kind = "subcomponent"
+        )
+        {
+        }
+
+        over "cookingpan_ebd80e350b7e245b8e8f713e862fc159_1_0_0" (
+            kind = "subcomponent"
+        )
+        {
+        }
+
+        over "Irishpotato_7795a332b8db05f190b6301274867e86_1_0_0" (
+            kind = "subcomponent"
+        )
+        {
+        }
+
+        over "knife_0bc93f198121d33ac4030a34bfc944a4_1_0_0" (
+            kind = "subcomponent"
+        )
+        {
+        }
+
+        over "plate_f61129d9e389712b24d18993ffe91ff5_1_0_0" (
+            kind = "subcomponent"
+        )
+        {
+        }
+
+        over "cup_8d9428c0be7f5e5aef31cf7e5152e057_1_0_0" (
+            kind = "subcomponent"
+        )
+        {
+        }
+
+        over "egg_d36ec02d07bf2bbded383b463288929e_1_0_0" (
+            kind = "subcomponent"
+        )
+        {
+        }
+
+        over "saltshaker_4a6645cf2cdf6c8afa19b4998a0f4061_1_0_0" (
+            kind = "subcomponent"
+        )
+        {
+        }
+
+        over "peppershaker_eedbe410f1885ba3a1ec2c8ae0842de8_1_0_0" (
+            kind = "subcomponent"
+        )
+        {
+        }
+
+        over "bread_797233fcc671bd4f2da4c9f12b1ad88a_1_0_0" (
+            kind = "subcomponent"
+        )
+        {
+        }
+
+        over "lettuce_f5b35e86bfff02a12aba1d67076cd885_1_0_0" (
+            kind = "subcomponent"
+        )
+        {
+        }
+
+        over "mug_ac3a060b0c3963b34d55fe717f30ee52_1_0_0" (
+            kind = "subcomponent"
+        )
+        {
+        }
+
+        over "coffeemaker_c6dcad13def03777a27f14b1282fb86a_1_0_0" (
+            kind = "subcomponent"
+        )
+        {
+        }
+
+        over "microwaveoven_fcc0cb5a5a9c42d092dffdf210706291_1_0_0" (
+            kind = "subcomponent"
+        )
+        {
+        }
+
+        over "refrigerator_4d8cd69ca487b76cae801cfb0248a055_1_0_0" (
+            kind = "subcomponent"
+        )
+        {
+        }
+
+        over "trashcan_f0974b1fbee2156fbc6fda34a2d1879a_1_0_0" (
+            kind = "subcomponent"
+        )
+        {
+        }
+
+        over "toaster_1530c34569b5a8066546f1b6479d89a0_1_0_0" (
+            kind = "subcomponent"
+        )
+        {
+        }
+
+        over "apple_adf0bff839804cfd4564fc7e189c722d_1_0_0" (
+            kind = "subcomponent"
+        )
+        {
+        }
+
+        over "tomato_21c404ba9a596b5c3bf8b180489926f0_1_0_0" (
+            kind = "subcomponent"
+        )
+        {
+        }
+
+        over "soapdispenser_5acf7328863b475a4a374492d2c3434a_1_0_0" (
+            kind = "subcomponent"
+        )
+        {
+        }
+
+        over "spatula_291e31b285474249721c8a7b1bac877a_1_0_0" (
+            kind = "subcomponent"
+        )
+        {
+        }
+
+        over "spoon_573130d7496422c068be3abf14b0dcf0_1_0_0" (
+            kind = "subcomponent"
+        )
+        {
+        }
+
+        over "fork_a17d780ca6a79038b069eb7768c962c4_1_0_0" (
+            kind = "subcomponent"
+        )
+        {
+        }
+
+        over "pot_b553531c60ff884619fab32f08b625ab_1_0_0" (
+            kind = "subcomponent"
+        )
+        {
+        }
+
+        over "sponge_41cc9aa65073b4cd1fc4d9871335148d_1_0_0" (
+            kind = "subcomponent"
+        )
+        {
+        }
+
+        over "butterknife_b2b8a251c5e331c4017267a6e05c76d5_1_0_0" (
+            kind = "subcomponent"
+        )
+        {
+        }
+
+        over "ladle_7a7203c58f86b622645b1721d02cab3c_1_0_0" (
+            kind = "subcomponent"
+        )
+        {
+        }
+
+        over "chair_42682647e8cad56e71c83ef3f18e629c_1_0_0" (
+            kind = "subcomponent"
+        )
+        {
+        }
+
+        over "chair_42682647e8cad56e71c83ef3f18e629c_2_0_0" (
+            kind = "subcomponent"
+        )
+        {
+        }
+
+        over "standardcounterheightwidth_4222f2308b444751400244386df869e4_1_1_0" (
+            active = true
+        )
+        {
+        }
+    }
+}
+

scenes/ithor/FloorPlan204_physics/scene.preprocessed.json

@@ -0,0 +1,21 @@
+{
+  "source": "E:/EAI/molmo_isaac_data/isaac/scenes/ithor/FloorPlan204_physics/scene.usda",
+  "preprocessor_version": "2.1",
+  "timestamp": "2026-04-24T08:59:36.263494+00:00",
+  "offset": [
+    -4.22613,
+    -1.90774,
+    0.0
+  ],
+  "yaw_deg": 270.0,
+  "floor_z": -0.338968,
+  "ceiling_z": 3.00233,
+  "prims_deactivated": 4,
+  "prims_deactivated_paths": [
+    "/FloorPlan204_physics/Geometry/coffeetable_384b365e2d0ab39e7222e230e1aab366_1_0_0",
+    "/FloorPlan204_physics/Geometry/box_e01bbd7deecc2b767c1f2ee9de0d6982_1_0_0",
+    "/FloorPlan204_physics/Geometry/statue_f885b8b293a20679fb4d6be89c052066_1_0_0",
+    "/FloorPlan204_physics/Geometry/cellulartelephone_4a51b9da92477e478b1a5867575dc6a1_1_0_0"
+  ],
+  "physics_preserved": true
+}

scenes/ithor/FloorPlan204_physics/scene.usda

@@ -0,0 +1,232 @@
+#usda 1.0
+(
+    customLayerData = {
+        string creator = """AI2-THOR mjcf-usd scene converter
+    time: 01-20-26 16:35:09
+    scene: FloorPlan204_physics
+    usd-exchange-version: 2.2.0
+"""
+    }
+    defaultPrim = "FloorPlan204_physics"
+    kilogramsPerUnit = 1
+    metersPerUnit = 1
+    upAxis = "Z"
+)
+
+def Xform "FloorPlan204_physics" (
+    prepend apiSchemas = ["GeomModelAPI"]
+    assetInfo = {
+        string name = "FloorPlan204_physics"
+    }
+    kind = "component"
+    prepend payload = @./Payload/Contents.usda@
+)
+{
+    float3[] extentsHint = [(-6.11287, -6.74465, -0.338968), (1.20851, 7.8885, 3.00233), (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, -0.569233), (10, 10, 3.001866)]
+
+    over "Geometry"
+    {
+        over "safe_9ec7e597d8dc9e38b4aedf3b754b6971_1_0_0" (
+            kind = "subcomponent"
+        )
+        {
+        }
+
+        over "desk_1c36b71b05dc6982fca6b6e3de06352b_1_0_0" (
+            kind = "subcomponent"
+        )
+        {
+        }
+
+        over "chair_9082d0baf3e43b41a148dfae642fc917_1_0_0" (
+            kind = "subcomponent"
+        )
+        {
+        }
+
+        over "chair_8573470465917563d218cc09dca38179_1_0_0" (
+            kind = "subcomponent"
+        )
+        {
+        }
+
+        over "chair_9082d0baf3e43b41a148dfae642fc917_2_0_0" (
+            kind = "subcomponent"
+        )
+        {
+        }
+
+        over "sofa_179bd1ab75baca31cb0ae3e9477b3351_1_0_0" (
+            kind = "subcomponent"
+        )
+        {
+        }
+
+        over "sofa_179bd1ab75baca31cb0ae3e9477b3351_2_0_0" (
+            kind = "subcomponent"
+        )
+        {
+        }
+
+        over "armchair_e4ea8cc2e72772dd60fab0fcfad8178f_1_0_0" (
+            kind = "subcomponent"
+        )
+        {
+        }
+
+        over "diningtable_42f858e8b4141d3513dab93ae465958d_1_0_0" (
+            kind = "subcomponent"
+        )
+        {
+        }
+
+        over "coffeetable_384b365e2d0ab39e7222e230e1aab366_1_0_0" (
+            active = false
+            kind = "subcomponent"
+        )
+        {
+        }
+
+        over "stand_d7bcab0e55dd1454aa1f6d84a1b849b8_1_0_0" (
+            kind = "subcomponent"
+        )
+        {
+        }
+
+        over "box_e01bbd7deecc2b767c1f2ee9de0d6982_1_0_0" (
+            active = false
+            kind = "subcomponent"
+        )
+        {
+        }
+
+        over "television_8c14aa039f7de45585b21b68a4f3c21f_1_0_0" (
+            kind = "subcomponent"
+        )
+        {
+        }
+
+        over "pillow_cabd75ae6e31aea89d9ddff2e41baeec_1_0_0" (
+            kind = "subcomponent"
+        )
+        {
+        }
+
+        over "laptop_2a52cf5324d94d75c620c4f6f505fbec_1_0_0" (
+            kind = "subcomponent"
+        )
+        {
+        }
+
+        over "trashcan_efc07c87dbbc8fb8dee40f735209c9fb_1_0_0" (
+            kind = "subcomponent"
+        )
+        {
+        }
+
+        over "houseplant_717c7f654b394ea45b0c15e61fe9a6f2_1_0_0" (
+            kind = "subcomponent"
+        )
+        {
+        }
+
+        over "floorlamp_ea86ae03fa3f09a2080a305c25663ba9_1_0_0" (
+            kind = "subcomponent"
+        )
+        {
+        }
+
+        over "tablelamp_9b848eb88ee83305b861253314b86c6d_1_0_0" (
+            kind = "subcomponent"
+        )
+        {
+        }
+
+        over "remotecontrol_dbbd4afce0b009e98224c7453fb4cfc5_1_0_0" (
+            kind = "subcomponent"
+        )
+        {
+        }
+
+        over "vase_cb3703664cbf21eb7b79c941e5ea5d5b_1_0_0" (
+            kind = "subcomponent"
+        )
+        {
+        }
+
+        over "statue_f885b8b293a20679fb4d6be89c052066_1_0_0" (
+            active = false
+            kind = "subcomponent"
+        )
+        {
+        }
+
+        over "vase_0dddf4ef0a8e7abaf196194af6f49dbe_1_0_0" (
+            kind = "subcomponent"
+        )
+        {
+        }
+
+        over "vase_485850bef5e28630dd1156aaec2e3528_1_0_0" (
+            kind = "subcomponent"
+        )
+        {
+        }
+
+        over "wateringcan_d70b28d9e1a8f2b72e55c0e91e3f2918_1_0_0" (
+            kind = "subcomponent"
+        )
+        {
+        }
+
+        over "vase_6cb319ff57e79d3745bd6ac29c8adb3d_1_0_0" (
+            kind = "subcomponent"
+        )
+        {
+        }
+
+        over "statue_1792843e3d4f46b56db17d18b4c1ab2c_1_0_0" (
+            kind = "subcomponent"
+        )
+        {
+        }
+
+        over "cellulartelephone_4a51b9da92477e478b1a5867575dc6a1_1_0_0" (
+            active = false
+            kind = "subcomponent"
+        )
+        {
+        }
+
+        over "statue_d0357892bc2a737e4da2f5a294c60c5e_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 "chair_b49d0e08d47cffb27e0e0a31c2518ce2_4_0_0" (
+            kind = "subcomponent"
+        )
+        {
+        }
+    }
+}
+

scenes/ithor/FloorPlan219_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: FloorPlan219_physics
+    usd-exchange-version: 2.2.0
+"""
+    }
+    defaultPrim = "FloorPlan219_physics"
+    kilogramsPerUnit = 1
+    metersPerUnit = 1
+    subLayers = [
+        @./Physics.usda@,
+        @./Geometry.usda@,
+        @./Materials.usda@
+    ]
+    upAxis = "Z"
+)
+
+def Xform "FloorPlan219_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/FloorPlan219_physics/Payload/Materials.usda

@@ -0,0 +1,452 @@
+#usda 1.0
+(
+    customLayerData = {
+        string creator = """AI2-THOR mjcf-usd scene converter
+    time: 01-20-26 16:35:10
+    scene: FloorPlan219_physics
+    usd-exchange-version: 2.2.0
+"""
+    }
+    defaultPrim = "FloorPlan219_physics"
+    kilogramsPerUnit = 1
+    metersPerUnit = 1
+    upAxis = "Z"
+)
+
+def Xform "FloorPlan219_physics"
+{
+    def Scope "Materials"
+    {
+        def Material "material_LightWhite" (
+            prepend references = @./MaterialsLibrary.usda@</Materials/material_LightWhite>
+        )
+        {
+        }
+
+        def Material "material_convergence" (
+            prepend references = @./MaterialsLibrary.usda@</Materials/material_convergence>
+        )
+        {
+        }
+
+        def Material "material_DarkWoodSmooth2" (
+            prepend references = @./MaterialsLibrary.usda@</Materials/material_DarkWoodSmooth2>
+        )
+        {
+        }
+
+        def Material "material_ScreenDecalStencil" (
+            prepend references = @./MaterialsLibrary.usda@</Materials/material_ScreenDecalStencil>
+        )
+        {
+        }
+
+        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_Cream_wood" (
+            prepend references = @./MaterialsLibrary.usda@</Materials/material_Cream_wood>
+        )
+        {
+        }
+
+        def Material "material_ConcreteBoards1" (
+            prepend references = @./MaterialsLibrary.usda@</Materials/material_ConcreteBoards1>
+        )
+        {
+        }
+
+        def Material "material_YellowPlaster" (
+            prepend references = @./MaterialsLibrary.usda@</Materials/material_YellowPlaster>
+        )
+        {
+        }
+
+        def Material "material_BedroomFloor1" (
+            prepend references = @./MaterialsLibrary.usda@</Materials/material_BedroomFloor1>
+        )
+        {
+        }
+
+        def Material "material_DarkWoodSmooth" (
+            prepend references = @./MaterialsLibrary.usda@</Materials/material_DarkWoodSmooth>
+        )
+        {
+        }
+
+        def Material "tn__material_Light1TEXobj_Untitled002_AlbedoTransparency_ol1" (
+            prepend references = @./MaterialsLibrary.usda@</Materials/tn__material_Light1TEXobj_Untitled002_AlbedoTransparency_ol1>
+        )
+        {
+        }
+
+        def Material "material_RedBrick" (
+            prepend references = @./MaterialsLibrary.usda@</Materials/material_RedBrick>
+        )
+        {
+        }
+
+        def Material "material_RedBricks" (
+            prepend references = @./MaterialsLibrary.usda@</Materials/material_RedBricks>
+        )
+        {
+        }
+
+        def Material "material_LivingRoomFireplacebrickTexWHITE" (
+            prepend references = @./MaterialsLibrary.usda@</Materials/material_LivingRoomFireplacebrickTexWHITE>
+        )
+        {
+        }
+
+        def Material "material_LightWoodCabinets" (
+            prepend references = @./MaterialsLibrary.usda@</Materials/material_LightWoodCabinets>
+        )
+        {
+        }
+
+        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 "mesh_e38d468fbb0c3d23be19dd6e73d91a6b_1_1_0"
+        {
+            over "mesh_e38d468fbb0c3d23be19dd6e73d91a6b_1_1_0_visual_0" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan219_physics/Materials/material_LightWhite>
+            }
+        }
+
+        over "tn__fp219base18_6c98156c7d46f15bc3bf1e62bdf5b648_1_1_0_nW2"
+        {
+            over "tn__fp219base18_6c98156c7d46f15bc3bf1e62bdf5b648_1_1_0_visual_0_in2" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan219_physics/Materials/material_convergence>
+            }
+
+            over "tn__fp219base18_6c98156c7d46f15bc3bf1e62bdf5b648_1_1_0_visual_1_in2" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan219_physics/Materials/material_DarkWoodSmooth2>
+            }
+        }
+
+        over "deferreddecalspawnplane_e237263e02acdc4d64eb03d7c27951b5_1_1_0"
+        {
+            over "deferreddecalspawnplane_e237263e02acdc4d64eb03d7c27951b5_1_1_0_visual_0" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan219_physics/Materials/material_ScreenDecalStencil>
+            }
+        }
+
+        over "mesh_3675c7d62384860eac7d7dfefa61773f_1_1_0"
+        {
+            over "mesh_3675c7d62384860eac7d7dfefa61773f_1_1_0_visual_0" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan219_physics/Materials/material_Television_Speakers_Mat>
+            }
+
+            over "mesh_3675c7d62384860eac7d7dfefa61773f_1_1_0_visual_1" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan219_physics/Materials/material_Television_Speakers_Mat>
+            }
+
+            over "mesh_3675c7d62384860eac7d7dfefa61773f_1_1_0_visual_2" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan219_physics/Materials/material_Television_Screen_Off_Mat>
+            }
+
+            over "mesh_3675c7d62384860eac7d7dfefa61773f_1_1_0_visual_3" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan219_physics/Materials/material_Television_Secondary2_Mat>
+            }
+
+            over "mesh_3675c7d62384860eac7d7dfefa61773f_1_1_0_visual_4" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan219_physics/Materials/material_Television_Primary2_Mat>
+            }
+        }
+
+        over "television_9e441c682b6e5f22781fa07ffc4bf0fc_1_1_0"
+        {
+            over "television_9e441c682b6e5f22781fa07ffc4bf0fc_1_1_0_visual_0" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan219_physics/Materials/material_ScreenDecalStencil>
+            }
+        }
+
+        over "television_9e441c682b6e5f22781fa07ffc4bf0fc_1_2_0"
+        {
+            over "television_9e441c682b6e5f22781fa07ffc4bf0fc_1_2_0_visual_2" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan219_physics/Materials/material_Television_Speakers_Mat>
+            }
+
+            over "television_9e441c682b6e5f22781fa07ffc4bf0fc_1_2_0_visual_3" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan219_physics/Materials/material_Television_Speakers_Mat>
+            }
+
+            over "television_9e441c682b6e5f22781fa07ffc4bf0fc_1_2_0_visual_4" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan219_physics/Materials/material_Television_Screen_Off_Mat>
+            }
+
+            over "television_9e441c682b6e5f22781fa07ffc4bf0fc_1_2_0_visual_5" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan219_physics/Materials/material_Television_Secondary2_Mat>
+            }
+
+            over "television_9e441c682b6e5f22781fa07ffc4bf0fc_1_2_0_visual_6" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan219_physics/Materials/material_Television_Primary2_Mat>
+            }
+        }
+
+        over "shelf_2f552abcc4f4beaee17e12c55824b85e_1_1_0"
+        {
+            over "shelf_2f552abcc4f4beaee17e12c55824b85e_1_1_0_visual_0" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan219_physics/Materials/material_Cream_wood>
+            }
+        }
+
+        over "painting_5baa485c6c52d89e495f64816d73b7af_1_1_0"
+        {
+            over "painting_5baa485c6c52d89e495f64816d73b7af_1_1_0_visual_0" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan219_physics/Materials/material_convergence>
+            }
+
+            over "painting_5baa485c6c52d89e495f64816d73b7af_1_1_0_visual_1" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan219_physics/Materials/material_DarkWoodSmooth2>
+            }
+        }
+
+        over "floor_5f4d21f595ed0ce9710fdd12e54d79dc_1_1_0"
+        {
+            over "floor_5f4d21f595ed0ce9710fdd12e54d79dc_1_1_0_visual_0" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan219_physics/Materials/material_LightWhite>
+            }
+        }
+
+        over "ceiling_000d8f404c70f6e78b911af6e7ae1680_1_1_0"
+        {
+            over "ceiling_000d8f404c70f6e78b911af6e7ae1680_1_1_0_visual_0" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan219_physics/Materials/material_ConcreteBoards1>
+            }
+        }
+
+        over "tn__fp219baseboard_376397eee1df8b0dd4a94525970ac0c3_1_1_0_bc2"
+        {
+            over "tn__fp219baseboard_376397eee1df8b0dd4a94525970ac0c3_1_1_0_visual_0_Wt2" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan219_physics/Materials/material_Cream_wood>
+            }
+        }
+
+        over "walls_99cd299541dc0059d72f759f5acf2381_1_1_0"
+        {
+            over "walls_99cd299541dc0059d72f759f5acf2381_1_1_0_visual_0" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan219_physics/Materials/material_YellowPlaster>
+            }
+
+            over "walls_99cd299541dc0059d72f759f5acf2381_1_1_0_visual_1" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan219_physics/Materials/material_BedroomFloor1>
+            }
+
+            over "walls_99cd299541dc0059d72f759f5acf2381_1_1_0_visual_2" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan219_physics/Materials/material_DarkWoodSmooth>
+            }
+
+            over "walls_99cd299541dc0059d72f759f5acf2381_1_1_0_visual_3" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan219_physics/Materials/material_BedroomFloor1>
+            }
+
+            over "walls_99cd299541dc0059d72f759f5acf2381_1_1_0_visual_4" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan219_physics/Materials/material_ConcreteBoards1>
+            }
+        }
+
+        over "tn__fp219cylinder_08f54d6eff6c736abfc4f58976b6a8f2_1_1_0_fa2"
+        {
+            over "tn__fp219cylinder_08f54d6eff6c736abfc4f58976b6a8f2_1_1_0_visual_0_ar2" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan219_physics/Materials/tn__material_Light1TEXobj_Untitled002_AlbedoTransparency_ol1>
+            }
+        }
+
+        over "tn__fp219cube_e13679c4a4329c576e1df7e18ae528f4_1_1_0_vx1"
+        {
+            over "tn__fp219cube_e13679c4a4329c576e1df7e18ae528f4_1_1_0_visual_0_qj2" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan219_physics/Materials/material_RedBrick>
+            }
+
+            over "tn__fp219cube_e13679c4a4329c576e1df7e18ae528f4_1_1_0_visual_1_qj2" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan219_physics/Materials/material_RedBricks>
+            }
+
+            over "tn__fp219cube_e13679c4a4329c576e1df7e18ae528f4_1_1_0_visual_2_qj2" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan219_physics/Materials/material_LivingRoomFireplacebrickTexWHITE>
+            }
+        }
+
+        over "tn__fp219cube_6612738fc8a136697a6db4102c02446e_1_1_0_vx1"
+        {
+            over "tn__fp219cube_6612738fc8a136697a6db4102c02446e_1_1_0_visual_0_qj2" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan219_physics/Materials/material_LightWoodCabinets>
+            }
+        }
+
+        over "tn__fp219handle_e7fa116b9b0d0847a1bb13aebdf9d1d5_1_1_0_nW2"
+        {
+            over "tn__fp219handle_e7fa116b9b0d0847a1bb13aebdf9d1d5_1_1_0_visual_0_in2" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan219_physics/Materials/material_No>
+            }
+        }
+
+        over "tn__fp219handle_66c796cce2ed7d40afa3c07880ef62b6_1_1_0_nW2"
+        {
+            over "tn__fp219handle_66c796cce2ed7d40afa3c07880ef62b6_1_1_0_visual_0_in2" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan219_physics/Materials/material_Copper_AlbedoTransparency>
+            }
+        }
+
+        over "tn__fp219doorframe_f015330291bad51c055d9731f44b962e_1_1_0_bc2"
+        {
+            over "tn__fp219doorframe_f015330291bad51c055d9731f44b962e_1_1_0_visual_0_Wt2" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan219_physics/Materials/material_Cream_wood>
+            }
+        }
+
+        over "tn__fp219door_141f79473d9bacf00d82c5cba1fca430_1_1_0_vx1"
+        {
+            over "tn__fp219door_141f79473d9bacf00d82c5cba1fca430_1_1_0_visual_0_qj2" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan219_physics/Materials/material_GreyFloor>
+            }
+        }
+    }
+}
+

scenes/ithor/FloorPlan219_physics/Payload/MaterialsLibrary.usda

@@ -0,0 +1,656 @@
+#usda 1.0
+(
+    "Material library for house FloorPlan219_physics"
+    customLayerData = {
+        string creator = """AI2-THOR mjcf-usd scene converter
+    time: 01-20-26 16:35:10
+    scene: FloorPlan219_physics
+    usd-exchange-version: 2.2.0
+"""
+    }
+    defaultPrim = "Materials"
+    kilogramsPerUnit = 1
+    metersPerUnit = 1
+    upAxis = "Z"
+)
+
+class Scope "Materials"
+{
+    def Material "material_LightWhite"
+    {
+        token outputs:displacement.connect = </Materials/material_LightWhite/PreviewSurface.outputs:displacement>
+        token outputs:surface.connect = </Materials/material_LightWhite/PreviewSurface.outputs:surface>
+
+        def Shader "PreviewSurface"
+        {
+            uniform token info:id = "UsdPreviewSurface"
+            color3f inputs:diffuseColor.connect = </Materials/material_LightWhite/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 = (0.889706, 0.889706, 0.889706, 1)
+            asset inputs:file = @./Textures/TexturesCom_MarbleNoisy0062_1_seamless_S.png@
+            float4 inputs:scale = (0.889706, 0.889706, 0.889706, 1)
+            token inputs:sourceColorSpace = "auto"
+            float2 inputs:st.connect = </Materials/material_LightWhite/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_convergence"
+    {
+        token outputs:displacement.connect = </Materials/material_convergence/PreviewSurface.outputs:displacement>
+        token outputs:surface.connect = </Materials/material_convergence/PreviewSurface.outputs:surface>
+
+        def Shader "PreviewSurface"
+        {
+            uniform token info:id = "UsdPreviewSurface"
+            color3f inputs:diffuseColor.connect = </Materials/material_convergence/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/convergence.png@
+            float4 inputs:scale = (1, 1, 1, 1)
+            token inputs:sourceColorSpace = "auto"
+            float2 inputs:st.connect = </Materials/material_convergence/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_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_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_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_ConcreteBoards1"
+    {
+        token outputs:displacement.connect = </Materials/material_ConcreteBoards1/PreviewSurface.outputs:displacement>
+        token outputs:surface.connect = </Materials/material_ConcreteBoards1/PreviewSurface.outputs:surface>
+
+        def Shader "PreviewSurface"
+        {
+            uniform token info:id = "UsdPreviewSurface"
+            color3f inputs:diffuseColor.connect = </Materials/material_ConcreteBoards1/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, 0.939496, 0.863208, 1)
+            asset inputs:file = @./Textures/ConcreteBoards1.png@
+            float4 inputs:scale = (1, 0.939496, 0.863208, 1)
+            token inputs:sourceColorSpace = "auto"
+            float2 inputs:st.connect = </Materials/material_ConcreteBoards1/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_YellowPlaster"
+    {
+        token outputs:displacement.connect = </Materials/material_YellowPlaster/PreviewSurface.outputs:displacement>
+        token outputs:surface.connect = </Materials/material_YellowPlaster/PreviewSurface.outputs:surface>
+
+        def Shader "PreviewSurface"
+        {
+            uniform token info:id = "UsdPreviewSurface"
+            color3f inputs:diffuseColor.connect = </Materials/material_YellowPlaster/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, 0.559346, 0, 1)
+            asset inputs:file = @./Textures/marbleBase1.png@
+            float4 inputs:scale = (1, 0.559346, 0, 1)
+            token inputs:sourceColorSpace = "auto"
+            float2 inputs:st.connect = </Materials/material_YellowPlaster/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_DarkWoodSmooth"
+    {
+        token outputs:displacement.connect = </Materials/material_DarkWoodSmooth/PreviewSurface.outputs:displacement>
+        token outputs:surface.connect = </Materials/material_DarkWoodSmooth/PreviewSurface.outputs:surface>
+
+        def Shader "PreviewSurface"
+        {
+            uniform token info:id = "UsdPreviewSurface"
+            color3f inputs:diffuseColor.connect = </Materials/material_DarkWoodSmooth/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 = (0.235849, 0.130508, 0.0767622, 1)
+            asset inputs:file = @./Textures/WoodGrains1.png@
+            float4 inputs:scale = (0.235849, 0.130508, 0.0767622, 1)
+            token inputs:sourceColorSpace = "auto"
+            float2 inputs:st.connect = </Materials/material_DarkWoodSmooth/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_Light1TEXobj_Untitled002_AlbedoTransparency_ol1"
+    {
+        token outputs:displacement.connect = </Materials/tn__material_Light1TEXobj_Untitled002_AlbedoTransparency_ol1/PreviewSurface.outputs:displacement>
+        token outputs:surface.connect = </Materials/tn__material_Light1TEXobj_Untitled002_AlbedoTransparency_ol1/PreviewSurface.outputs:surface>
+
+        def Shader "PreviewSurface"
+        {
+            uniform token info:id = "UsdPreviewSurface"
+            color3f inputs:diffuseColor = (1, 0.85355, 0.720588)
+            float inputs:metallic = 0
+            float inputs:opacity = 1
+            float inputs:roughness = 0.5
+            token outputs:displacement
+            token outputs:surface
+        }
+    }
+
+    def Material "material_RedBrick"
+    {
+        token outputs:displacement.connect = </Materials/material_RedBrick/PreviewSurface.outputs:displacement>
+        token outputs:surface.connect = </Materials/material_RedBrick/PreviewSurface.outputs:surface>
+
+        def Shader "PreviewSurface"
+        {
+            uniform token info:id = "UsdPreviewSurface"
+            color3f inputs:diffuseColor.connect = </Materials/material_RedBrick/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/RedBrick.png@
+            float4 inputs:scale = (1, 1, 1, 1)
+            token inputs:sourceColorSpace = "auto"
+            float2 inputs:st.connect = </Materials/material_RedBrick/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_RedBricks"
+    {
+        token outputs:displacement.connect = </Materials/material_RedBricks/PreviewSurface.outputs:displacement>
+        token outputs:surface.connect = </Materials/material_RedBricks/PreviewSurface.outputs:surface>
+
+        def Shader "PreviewSurface"
+        {
+            uniform token info:id = "UsdPreviewSurface"
+            color3f inputs:diffuseColor.connect = </Materials/material_RedBricks/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 = (0.610294, 0, 0, 1)
+            asset inputs:file = @./Textures/RedBricks.png@
+            float4 inputs:scale = (0.610294, 0, 0, 1)
+            token inputs:sourceColorSpace = "auto"
+            float2 inputs:st.connect = </Materials/material_RedBricks/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_LivingRoomFireplacebrickTexWHITE"
+    {
+        token outputs:displacement.connect = </Materials/material_LivingRoomFireplacebrickTexWHITE/PreviewSurface.outputs:displacement>
+        token outputs:surface.connect = </Materials/material_LivingRoomFireplacebrickTexWHITE/PreviewSurface.outputs:surface>
+
+        def Shader "PreviewSurface"
+        {
+            uniform token info:id = "UsdPreviewSurface"
+            color3f inputs:diffuseColor.connect = </Materials/material_LivingRoomFireplacebrickTexWHITE/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/LivingRoomFireplacebrickTexWHITE.png@
+            float4 inputs:scale = (1, 1, 1, 1)
+            token inputs:sourceColorSpace = "auto"
+            float2 inputs:st.connect = </Materials/material_LivingRoomFireplacebrickTexWHITE/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_LightWoodCabinets"
+    {
+        token outputs:displacement.connect = </Materials/material_LightWoodCabinets/PreviewSurface.outputs:displacement>
+        token outputs:surface.connect = </Materials/material_LightWoodCabinets/PreviewSurface.outputs:surface>
+
+        def Shader "PreviewSurface"
+        {
+            uniform token info:id = "UsdPreviewSurface"
+            color3f inputs:diffuseColor.connect = </Materials/material_LightWoodCabinets/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 = (0.745283, 0.465802, 0.186321, 1)
+            asset inputs:file = @./Textures/LightWoodCounters.png@
+            float4 inputs:scale = (0.745283, 0.465802, 0.186321, 1)
+            token inputs:sourceColorSpace = "auto"
+            float2 inputs:st.connect = </Materials/material_LightWoodCabinets/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/FloorPlan219_physics/Payload/Physics.usda

@@ -0,0 +1,2514 @@
+#usda 1.0
+(
+    customLayerData = {
+        string creator = """AI2-THOR mjcf-usd scene converter
+    time: 01-20-26 16:35:10
+    scene: FloorPlan219_physics
+    usd-exchange-version: 2.2.0
+"""
+    }
+    defaultPrim = "FloorPlan219_physics"
+    kilogramsPerUnit = 1
+    metersPerUnit = 1
+    upAxis = "Z"
+)
+
+def Xform "FloorPlan219_physics"
+{
+    def Scope "Physics"
+    {
+    }
+
+    over "Geometry"
+    {
+        over "mesh_e38d468fbb0c3d23be19dd6e73d91a6b_1_0_0"
+        {
+        }
+
+        over "mesh_e38d468fbb0c3d23be19dd6e73d91a6b_1_1_0"
+        {
+        }
+
+        over "tn__fp219base18_6c98156c7d46f15bc3bf1e62bdf5b648_1_0_0_nW2"
+        {
+        }
+
+        over "tn__fp219base18_6c98156c7d46f15bc3bf1e62bdf5b648_1_1_0_nW2"
+        {
+            over "tn__fp219base18_6c98156c7d46f15bc3bf1e62bdf5b648_1_1_0_collision_2_Wt2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+        }
+
+        over "deferreddecalspawnplane_e237263e02acdc4d64eb03d7c27951b5_1_0_0"
+        {
+        }
+
+        over "deferreddecalspawnplane_e237263e02acdc4d64eb03d7c27951b5_1_1_0"
+        {
+            over "deferreddecalspawnplane_e237263e02acdc4d64eb03d7c27951b5_1_1_0_collision_1" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+        }
+
+        over "mesh_3675c7d62384860eac7d7dfefa61773f_1_0_0"
+        {
+        }
+
+        over "mesh_3675c7d62384860eac7d7dfefa61773f_1_1_0"
+        {
+            over "mesh_3675c7d62384860eac7d7dfefa61773f_1_1_0_collision_5" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "mesh_3675c7d62384860eac7d7dfefa61773f_1_1_0_collision_6" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "mesh_3675c7d62384860eac7d7dfefa61773f_1_1_0_collision_7" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "mesh_3675c7d62384860eac7d7dfefa61773f_1_1_0_collision_8" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "mesh_3675c7d62384860eac7d7dfefa61773f_1_1_0_collision_9" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "mesh_3675c7d62384860eac7d7dfefa61773f_1_1_0_collision_10" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "mesh_3675c7d62384860eac7d7dfefa61773f_1_1_0_collision_11" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "mesh_3675c7d62384860eac7d7dfefa61773f_1_1_0_collision_12" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "mesh_3675c7d62384860eac7d7dfefa61773f_1_1_0_collision_13" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "mesh_3675c7d62384860eac7d7dfefa61773f_1_1_0_collision_14" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "mesh_3675c7d62384860eac7d7dfefa61773f_1_1_0_collision_15" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "mesh_3675c7d62384860eac7d7dfefa61773f_1_1_0_collision_16" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "mesh_3675c7d62384860eac7d7dfefa61773f_1_1_0_collision_17" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+        }
+
+        over "television_9e441c682b6e5f22781fa07ffc4bf0fc_1_0_0"
+        {
+        }
+
+        over "television_9e441c682b6e5f22781fa07ffc4bf0fc_1_1_0"
+        {
+            over "television_9e441c682b6e5f22781fa07ffc4bf0fc_1_1_0_collision_1" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+        }
+
+        over "television_9e441c682b6e5f22781fa07ffc4bf0fc_1_2_0"
+        {
+            over "television_9e441c682b6e5f22781fa07ffc4bf0fc_1_2_0_collision_7" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "television_9e441c682b6e5f22781fa07ffc4bf0fc_1_2_0_collision_8" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "television_9e441c682b6e5f22781fa07ffc4bf0fc_1_2_0_collision_9" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "television_9e441c682b6e5f22781fa07ffc4bf0fc_1_2_0_collision_10" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "television_9e441c682b6e5f22781fa07ffc4bf0fc_1_2_0_collision_11" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "television_9e441c682b6e5f22781fa07ffc4bf0fc_1_2_0_collision_12" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "television_9e441c682b6e5f22781fa07ffc4bf0fc_1_2_0_collision_13" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "television_9e441c682b6e5f22781fa07ffc4bf0fc_1_2_0_collision_14" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "television_9e441c682b6e5f22781fa07ffc4bf0fc_1_2_0_collision_15" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "television_9e441c682b6e5f22781fa07ffc4bf0fc_1_2_0_collision_16" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "television_9e441c682b6e5f22781fa07ffc4bf0fc_1_2_0_collision_17" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "television_9e441c682b6e5f22781fa07ffc4bf0fc_1_2_0_collision_18" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "television_9e441c682b6e5f22781fa07ffc4bf0fc_1_2_0_collision_19" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+        }
+
+        over "shelf_2f552abcc4f4beaee17e12c55824b85e_1_0_0"
+        {
+        }
+
+        over "shelf_2f552abcc4f4beaee17e12c55824b85e_1_1_0"
+        {
+            over "shelf_2f552abcc4f4beaee17e12c55824b85e_1_1_0_collision_1" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "shelf_2f552abcc4f4beaee17e12c55824b85e_1_1_0_collision_2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "shelf_2f552abcc4f4beaee17e12c55824b85e_1_1_0_collision_3" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "shelf_2f552abcc4f4beaee17e12c55824b85e_1_1_0_collision_4" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "shelf_2f552abcc4f4beaee17e12c55824b85e_1_1_0_collision_5" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "shelf_2f552abcc4f4beaee17e12c55824b85e_1_1_0_collision_6" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "shelf_2f552abcc4f4beaee17e12c55824b85e_1_1_0_collision_7" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "shelf_2f552abcc4f4beaee17e12c55824b85e_1_1_0_collision_8" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "shelf_2f552abcc4f4beaee17e12c55824b85e_1_1_0_collision_9" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "shelf_2f552abcc4f4beaee17e12c55824b85e_1_1_0_collision_10" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "shelf_2f552abcc4f4beaee17e12c55824b85e_1_1_0_collision_11" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "shelf_2f552abcc4f4beaee17e12c55824b85e_1_1_0_collision_12" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "shelf_2f552abcc4f4beaee17e12c55824b85e_1_1_0_collision_13" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "shelf_2f552abcc4f4beaee17e12c55824b85e_1_1_0_collision_14" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "shelf_2f552abcc4f4beaee17e12c55824b85e_1_1_0_collision_15" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "shelf_2f552abcc4f4beaee17e12c55824b85e_1_1_0_collision_16" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "shelf_2f552abcc4f4beaee17e12c55824b85e_1_1_0_collision_17" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "shelf_2f552abcc4f4beaee17e12c55824b85e_1_1_0_collision_18" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "shelf_2f552abcc4f4beaee17e12c55824b85e_1_1_0_collision_19" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "shelf_2f552abcc4f4beaee17e12c55824b85e_1_1_0_collision_20" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "shelf_2f552abcc4f4beaee17e12c55824b85e_1_1_0_collision_21" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "shelf_2f552abcc4f4beaee17e12c55824b85e_1_1_0_collision_22" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "shelf_2f552abcc4f4beaee17e12c55824b85e_1_1_0_collision_23" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+        }
+
+        over "painting_5baa485c6c52d89e495f64816d73b7af_1_0_0"
+        {
+        }
+
+        over "painting_5baa485c6c52d89e495f64816d73b7af_1_1_0"
+        {
+            over "painting_5baa485c6c52d89e495f64816d73b7af_1_1_0_collision_2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+        }
+
+        over "floor_5f4d21f595ed0ce9710fdd12e54d79dc_1_0_0"
+        {
+        }
+
+        over "floor_5f4d21f595ed0ce9710fdd12e54d79dc_1_1_0"
+        {
+        }
+
+        over "ceiling_000d8f404c70f6e78b911af6e7ae1680_1_0_0"
+        {
+        }
+
+        over "ceiling_000d8f404c70f6e78b911af6e7ae1680_1_1_0"
+        {
+            over "ceiling_000d8f404c70f6e78b911af6e7ae1680_1_1_0_collision_1" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "ceiling_000d8f404c70f6e78b911af6e7ae1680_1_1_0_collision_2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "ceiling_000d8f404c70f6e78b911af6e7ae1680_1_1_0_collision_3" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "ceiling_000d8f404c70f6e78b911af6e7ae1680_1_1_0_collision_4" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "ceiling_000d8f404c70f6e78b911af6e7ae1680_1_1_0_collision_5" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "ceiling_000d8f404c70f6e78b911af6e7ae1680_1_1_0_collision_6" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "ceiling_000d8f404c70f6e78b911af6e7ae1680_1_1_0_collision_7" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "ceiling_000d8f404c70f6e78b911af6e7ae1680_1_1_0_collision_8" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "ceiling_000d8f404c70f6e78b911af6e7ae1680_1_1_0_collision_9" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "ceiling_000d8f404c70f6e78b911af6e7ae1680_1_1_0_collision_10" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+        }
+
+        over "tn__fp219baseboard_376397eee1df8b0dd4a94525970ac0c3_1_0_0_bc2"
+        {
+        }
+
+        over "tn__fp219baseboard_376397eee1df8b0dd4a94525970ac0c3_1_1_0_bc2"
+        {
+            over "tn__fp219baseboard_376397eee1df8b0dd4a94525970ac0c3_1_1_0_collision_1_py2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp219baseboard_376397eee1df8b0dd4a94525970ac0c3_1_1_0_collision_2_py2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp219baseboard_376397eee1df8b0dd4a94525970ac0c3_1_1_0_collision_3_py2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp219baseboard_376397eee1df8b0dd4a94525970ac0c3_1_1_0_collision_4_py2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+        }
+
+        over "walls_99cd299541dc0059d72f759f5acf2381_1_0_0"
+        {
+        }
+
+        over "walls_99cd299541dc0059d72f759f5acf2381_1_1_0"
+        {
+            over "walls_99cd299541dc0059d72f759f5acf2381_1_1_0_collision_5" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "walls_99cd299541dc0059d72f759f5acf2381_1_1_0_collision_6" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "walls_99cd299541dc0059d72f759f5acf2381_1_1_0_collision_7" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "walls_99cd299541dc0059d72f759f5acf2381_1_1_0_collision_8" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "walls_99cd299541dc0059d72f759f5acf2381_1_1_0_collision_9" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "walls_99cd299541dc0059d72f759f5acf2381_1_1_0_collision_10" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "walls_99cd299541dc0059d72f759f5acf2381_1_1_0_collision_11" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+        }
+
+        over "tn__fp219cylinder_08f54d6eff6c736abfc4f58976b6a8f2_1_0_0_fa2"
+        {
+        }
+
+        over "tn__fp219cylinder_08f54d6eff6c736abfc4f58976b6a8f2_1_1_0_fa2"
+        {
+            over "tn__fp219cylinder_08f54d6eff6c736abfc4f58976b6a8f2_1_1_0_collision_1_tw2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp219cylinder_08f54d6eff6c736abfc4f58976b6a8f2_1_1_0_collision_2_tw2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp219cylinder_08f54d6eff6c736abfc4f58976b6a8f2_1_1_0_collision_3_tw2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp219cylinder_08f54d6eff6c736abfc4f58976b6a8f2_1_1_0_collision_4_tw2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp219cylinder_08f54d6eff6c736abfc4f58976b6a8f2_1_1_0_collision_5_tw2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp219cylinder_08f54d6eff6c736abfc4f58976b6a8f2_1_1_0_collision_6_tw2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp219cylinder_08f54d6eff6c736abfc4f58976b6a8f2_1_1_0_collision_7_tw2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp219cylinder_08f54d6eff6c736abfc4f58976b6a8f2_1_1_0_collision_8_tw2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp219cylinder_08f54d6eff6c736abfc4f58976b6a8f2_1_1_0_collision_9_tw2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp219cylinder_08f54d6eff6c736abfc4f58976b6a8f2_1_1_0_collision_10_py2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp219cylinder_08f54d6eff6c736abfc4f58976b6a8f2_1_1_0_collision_11_py2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp219cylinder_08f54d6eff6c736abfc4f58976b6a8f2_1_1_0_collision_12_py2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp219cylinder_08f54d6eff6c736abfc4f58976b6a8f2_1_1_0_collision_13_py2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp219cylinder_08f54d6eff6c736abfc4f58976b6a8f2_1_1_0_collision_14_py2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp219cylinder_08f54d6eff6c736abfc4f58976b6a8f2_1_1_0_collision_15_py2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp219cylinder_08f54d6eff6c736abfc4f58976b6a8f2_1_1_0_collision_16_py2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp219cylinder_08f54d6eff6c736abfc4f58976b6a8f2_1_1_0_collision_17_py2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp219cylinder_08f54d6eff6c736abfc4f58976b6a8f2_1_1_0_collision_18_py2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp219cylinder_08f54d6eff6c736abfc4f58976b6a8f2_1_1_0_collision_19_py2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp219cylinder_08f54d6eff6c736abfc4f58976b6a8f2_1_1_0_collision_20_py2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp219cylinder_08f54d6eff6c736abfc4f58976b6a8f2_1_1_0_collision_21_py2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp219cylinder_08f54d6eff6c736abfc4f58976b6a8f2_1_1_0_collision_22_py2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp219cylinder_08f54d6eff6c736abfc4f58976b6a8f2_1_1_0_collision_23_py2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp219cylinder_08f54d6eff6c736abfc4f58976b6a8f2_1_1_0_collision_24_py2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp219cylinder_08f54d6eff6c736abfc4f58976b6a8f2_1_1_0_collision_25_py2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp219cylinder_08f54d6eff6c736abfc4f58976b6a8f2_1_1_0_collision_26_py2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp219cylinder_08f54d6eff6c736abfc4f58976b6a8f2_1_1_0_collision_27_py2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp219cylinder_08f54d6eff6c736abfc4f58976b6a8f2_1_1_0_collision_28_py2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp219cylinder_08f54d6eff6c736abfc4f58976b6a8f2_1_1_0_collision_29_py2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp219cylinder_08f54d6eff6c736abfc4f58976b6a8f2_1_1_0_collision_30_py2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp219cylinder_08f54d6eff6c736abfc4f58976b6a8f2_1_1_0_collision_31_py2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp219cylinder_08f54d6eff6c736abfc4f58976b6a8f2_1_1_0_collision_32_py2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp219cylinder_08f54d6eff6c736abfc4f58976b6a8f2_1_1_0_collision_33_py2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp219cylinder_08f54d6eff6c736abfc4f58976b6a8f2_1_1_0_collision_34_py2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp219cylinder_08f54d6eff6c736abfc4f58976b6a8f2_1_1_0_collision_35_py2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp219cylinder_08f54d6eff6c736abfc4f58976b6a8f2_1_1_0_collision_36_py2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp219cylinder_08f54d6eff6c736abfc4f58976b6a8f2_1_1_0_collision_37_py2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp219cylinder_08f54d6eff6c736abfc4f58976b6a8f2_1_1_0_collision_38_py2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp219cylinder_08f54d6eff6c736abfc4f58976b6a8f2_1_1_0_collision_39_py2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp219cylinder_08f54d6eff6c736abfc4f58976b6a8f2_1_1_0_collision_40_py2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp219cylinder_08f54d6eff6c736abfc4f58976b6a8f2_1_1_0_collision_41_py2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp219cylinder_08f54d6eff6c736abfc4f58976b6a8f2_1_1_0_collision_42_py2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp219cylinder_08f54d6eff6c736abfc4f58976b6a8f2_1_1_0_collision_43_py2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp219cylinder_08f54d6eff6c736abfc4f58976b6a8f2_1_1_0_collision_44_py2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp219cylinder_08f54d6eff6c736abfc4f58976b6a8f2_1_1_0_collision_45_py2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp219cylinder_08f54d6eff6c736abfc4f58976b6a8f2_1_1_0_collision_46_py2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp219cylinder_08f54d6eff6c736abfc4f58976b6a8f2_1_1_0_collision_47_py2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp219cylinder_08f54d6eff6c736abfc4f58976b6a8f2_1_1_0_collision_48_py2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp219cylinder_08f54d6eff6c736abfc4f58976b6a8f2_1_1_0_collision_49_py2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp219cylinder_08f54d6eff6c736abfc4f58976b6a8f2_1_1_0_collision_50_py2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp219cylinder_08f54d6eff6c736abfc4f58976b6a8f2_1_1_0_collision_51_py2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp219cylinder_08f54d6eff6c736abfc4f58976b6a8f2_1_1_0_collision_52_py2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp219cylinder_08f54d6eff6c736abfc4f58976b6a8f2_1_1_0_collision_53_py2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp219cylinder_08f54d6eff6c736abfc4f58976b6a8f2_1_1_0_collision_54_py2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp219cylinder_08f54d6eff6c736abfc4f58976b6a8f2_1_1_0_collision_55_py2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp219cylinder_08f54d6eff6c736abfc4f58976b6a8f2_1_1_0_collision_56_py2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp219cylinder_08f54d6eff6c736abfc4f58976b6a8f2_1_1_0_collision_57_py2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp219cylinder_08f54d6eff6c736abfc4f58976b6a8f2_1_1_0_collision_58_py2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp219cylinder_08f54d6eff6c736abfc4f58976b6a8f2_1_1_0_collision_59_py2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp219cylinder_08f54d6eff6c736abfc4f58976b6a8f2_1_1_0_collision_60_py2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp219cylinder_08f54d6eff6c736abfc4f58976b6a8f2_1_1_0_collision_61_py2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp219cylinder_08f54d6eff6c736abfc4f58976b6a8f2_1_1_0_collision_62_py2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp219cylinder_08f54d6eff6c736abfc4f58976b6a8f2_1_1_0_collision_63_py2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp219cylinder_08f54d6eff6c736abfc4f58976b6a8f2_1_1_0_collision_64_py2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp219cylinder_08f54d6eff6c736abfc4f58976b6a8f2_1_1_0_collision_65_py2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp219cylinder_08f54d6eff6c736abfc4f58976b6a8f2_1_1_0_collision_66_py2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp219cylinder_08f54d6eff6c736abfc4f58976b6a8f2_1_1_0_collision_67_py2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp219cylinder_08f54d6eff6c736abfc4f58976b6a8f2_1_1_0_collision_68_py2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp219cylinder_08f54d6eff6c736abfc4f58976b6a8f2_1_1_0_collision_69_py2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp219cylinder_08f54d6eff6c736abfc4f58976b6a8f2_1_1_0_collision_70_py2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp219cylinder_08f54d6eff6c736abfc4f58976b6a8f2_1_1_0_collision_71_py2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp219cylinder_08f54d6eff6c736abfc4f58976b6a8f2_1_1_0_collision_72_py2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp219cylinder_08f54d6eff6c736abfc4f58976b6a8f2_1_1_0_collision_73_py2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp219cylinder_08f54d6eff6c736abfc4f58976b6a8f2_1_1_0_collision_74_py2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp219cylinder_08f54d6eff6c736abfc4f58976b6a8f2_1_1_0_collision_75_py2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp219cylinder_08f54d6eff6c736abfc4f58976b6a8f2_1_1_0_collision_76_py2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp219cylinder_08f54d6eff6c736abfc4f58976b6a8f2_1_1_0_collision_77_py2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp219cylinder_08f54d6eff6c736abfc4f58976b6a8f2_1_1_0_collision_78_py2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp219cylinder_08f54d6eff6c736abfc4f58976b6a8f2_1_1_0_collision_79_py2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp219cylinder_08f54d6eff6c736abfc4f58976b6a8f2_1_1_0_collision_80_py2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp219cylinder_08f54d6eff6c736abfc4f58976b6a8f2_1_1_0_collision_81_py2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp219cylinder_08f54d6eff6c736abfc4f58976b6a8f2_1_1_0_collision_82_py2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp219cylinder_08f54d6eff6c736abfc4f58976b6a8f2_1_1_0_collision_83_py2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp219cylinder_08f54d6eff6c736abfc4f58976b6a8f2_1_1_0_collision_84_py2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp219cylinder_08f54d6eff6c736abfc4f58976b6a8f2_1_1_0_collision_85_py2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp219cylinder_08f54d6eff6c736abfc4f58976b6a8f2_1_1_0_collision_86_py2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp219cylinder_08f54d6eff6c736abfc4f58976b6a8f2_1_1_0_collision_87_py2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp219cylinder_08f54d6eff6c736abfc4f58976b6a8f2_1_1_0_collision_88_py2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp219cylinder_08f54d6eff6c736abfc4f58976b6a8f2_1_1_0_collision_89_py2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp219cylinder_08f54d6eff6c736abfc4f58976b6a8f2_1_1_0_collision_90_py2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp219cylinder_08f54d6eff6c736abfc4f58976b6a8f2_1_1_0_collision_91_py2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp219cylinder_08f54d6eff6c736abfc4f58976b6a8f2_1_1_0_collision_92_py2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp219cylinder_08f54d6eff6c736abfc4f58976b6a8f2_1_1_0_collision_93_py2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp219cylinder_08f54d6eff6c736abfc4f58976b6a8f2_1_1_0_collision_94_py2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp219cylinder_08f54d6eff6c736abfc4f58976b6a8f2_1_1_0_collision_95_py2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp219cylinder_08f54d6eff6c736abfc4f58976b6a8f2_1_1_0_collision_96_py2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp219cylinder_08f54d6eff6c736abfc4f58976b6a8f2_1_1_0_collision_97_py2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp219cylinder_08f54d6eff6c736abfc4f58976b6a8f2_1_1_0_collision_98_py2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp219cylinder_08f54d6eff6c736abfc4f58976b6a8f2_1_1_0_collision_99_py2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp219cylinder_08f54d6eff6c736abfc4f58976b6a8f2_1_1_0_collision_100_lV3" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp219cylinder_08f54d6eff6c736abfc4f58976b6a8f2_1_1_0_collision_101_lV3" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp219cylinder_08f54d6eff6c736abfc4f58976b6a8f2_1_1_0_collision_102_lV3" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp219cylinder_08f54d6eff6c736abfc4f58976b6a8f2_1_1_0_collision_103_lV3" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp219cylinder_08f54d6eff6c736abfc4f58976b6a8f2_1_1_0_collision_104_lV3" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp219cylinder_08f54d6eff6c736abfc4f58976b6a8f2_1_1_0_collision_105_lV3" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp219cylinder_08f54d6eff6c736abfc4f58976b6a8f2_1_1_0_collision_106_lV3" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp219cylinder_08f54d6eff6c736abfc4f58976b6a8f2_1_1_0_collision_107_lV3" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp219cylinder_08f54d6eff6c736abfc4f58976b6a8f2_1_1_0_collision_108_lV3" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp219cylinder_08f54d6eff6c736abfc4f58976b6a8f2_1_1_0_collision_109_lV3" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp219cylinder_08f54d6eff6c736abfc4f58976b6a8f2_1_1_0_collision_110_lV3" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp219cylinder_08f54d6eff6c736abfc4f58976b6a8f2_1_1_0_collision_111_lV3" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp219cylinder_08f54d6eff6c736abfc4f58976b6a8f2_1_1_0_collision_112_lV3" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp219cylinder_08f54d6eff6c736abfc4f58976b6a8f2_1_1_0_collision_113_lV3" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp219cylinder_08f54d6eff6c736abfc4f58976b6a8f2_1_1_0_collision_114_lV3" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp219cylinder_08f54d6eff6c736abfc4f58976b6a8f2_1_1_0_collision_115_lV3" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp219cylinder_08f54d6eff6c736abfc4f58976b6a8f2_1_1_0_collision_116_lV3" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp219cylinder_08f54d6eff6c736abfc4f58976b6a8f2_1_1_0_collision_117_lV3" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp219cylinder_08f54d6eff6c736abfc4f58976b6a8f2_1_1_0_collision_118_lV3" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp219cylinder_08f54d6eff6c736abfc4f58976b6a8f2_1_1_0_collision_119_lV3" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp219cylinder_08f54d6eff6c736abfc4f58976b6a8f2_1_1_0_collision_120_lV3" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp219cylinder_08f54d6eff6c736abfc4f58976b6a8f2_1_1_0_collision_121_lV3" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp219cylinder_08f54d6eff6c736abfc4f58976b6a8f2_1_1_0_collision_122_lV3" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp219cylinder_08f54d6eff6c736abfc4f58976b6a8f2_1_1_0_collision_123_lV3" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp219cylinder_08f54d6eff6c736abfc4f58976b6a8f2_1_1_0_collision_124_lV3" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp219cylinder_08f54d6eff6c736abfc4f58976b6a8f2_1_1_0_collision_125_lV3" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp219cylinder_08f54d6eff6c736abfc4f58976b6a8f2_1_1_0_collision_126_lV3" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp219cylinder_08f54d6eff6c736abfc4f58976b6a8f2_1_1_0_collision_127_lV3" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp219cylinder_08f54d6eff6c736abfc4f58976b6a8f2_1_1_0_collision_128_lV3" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp219cylinder_08f54d6eff6c736abfc4f58976b6a8f2_1_1_0_collision_129_lV3" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp219cylinder_08f54d6eff6c736abfc4f58976b6a8f2_1_1_0_collision_130_lV3" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp219cylinder_08f54d6eff6c736abfc4f58976b6a8f2_1_1_0_collision_131_lV3" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp219cylinder_08f54d6eff6c736abfc4f58976b6a8f2_1_1_0_collision_132_lV3" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp219cylinder_08f54d6eff6c736abfc4f58976b6a8f2_1_1_0_collision_133_lV3" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp219cylinder_08f54d6eff6c736abfc4f58976b6a8f2_1_1_0_collision_134_lV3" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp219cylinder_08f54d6eff6c736abfc4f58976b6a8f2_1_1_0_collision_135_lV3" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp219cylinder_08f54d6eff6c736abfc4f58976b6a8f2_1_1_0_collision_136_lV3" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp219cylinder_08f54d6eff6c736abfc4f58976b6a8f2_1_1_0_collision_137_lV3" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp219cylinder_08f54d6eff6c736abfc4f58976b6a8f2_1_1_0_collision_138_lV3" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp219cylinder_08f54d6eff6c736abfc4f58976b6a8f2_1_1_0_collision_139_lV3" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp219cylinder_08f54d6eff6c736abfc4f58976b6a8f2_1_1_0_collision_140_lV3" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp219cylinder_08f54d6eff6c736abfc4f58976b6a8f2_1_1_0_collision_141_lV3" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp219cylinder_08f54d6eff6c736abfc4f58976b6a8f2_1_1_0_collision_142_lV3" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp219cylinder_08f54d6eff6c736abfc4f58976b6a8f2_1_1_0_collision_143_lV3" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp219cylinder_08f54d6eff6c736abfc4f58976b6a8f2_1_1_0_collision_144_lV3" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp219cylinder_08f54d6eff6c736abfc4f58976b6a8f2_1_1_0_collision_145_lV3" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp219cylinder_08f54d6eff6c736abfc4f58976b6a8f2_1_1_0_collision_146_lV3" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp219cylinder_08f54d6eff6c736abfc4f58976b6a8f2_1_1_0_collision_147_lV3" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp219cylinder_08f54d6eff6c736abfc4f58976b6a8f2_1_1_0_collision_148_lV3" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp219cylinder_08f54d6eff6c736abfc4f58976b6a8f2_1_1_0_collision_149_lV3" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp219cylinder_08f54d6eff6c736abfc4f58976b6a8f2_1_1_0_collision_150_lV3" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp219cylinder_08f54d6eff6c736abfc4f58976b6a8f2_1_1_0_collision_151_lV3" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp219cylinder_08f54d6eff6c736abfc4f58976b6a8f2_1_1_0_collision_152_lV3" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp219cylinder_08f54d6eff6c736abfc4f58976b6a8f2_1_1_0_collision_153_lV3" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp219cylinder_08f54d6eff6c736abfc4f58976b6a8f2_1_1_0_collision_154_lV3" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp219cylinder_08f54d6eff6c736abfc4f58976b6a8f2_1_1_0_collision_155_lV3" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp219cylinder_08f54d6eff6c736abfc4f58976b6a8f2_1_1_0_collision_156_lV3" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp219cylinder_08f54d6eff6c736abfc4f58976b6a8f2_1_1_0_collision_157_lV3" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp219cylinder_08f54d6eff6c736abfc4f58976b6a8f2_1_1_0_collision_158_lV3" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp219cylinder_08f54d6eff6c736abfc4f58976b6a8f2_1_1_0_collision_159_lV3" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp219cylinder_08f54d6eff6c736abfc4f58976b6a8f2_1_1_0_collision_160_lV3" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp219cylinder_08f54d6eff6c736abfc4f58976b6a8f2_1_1_0_collision_161_lV3" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp219cylinder_08f54d6eff6c736abfc4f58976b6a8f2_1_1_0_collision_162_lV3" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp219cylinder_08f54d6eff6c736abfc4f58976b6a8f2_1_1_0_collision_163_lV3" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp219cylinder_08f54d6eff6c736abfc4f58976b6a8f2_1_1_0_collision_164_lV3" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp219cylinder_08f54d6eff6c736abfc4f58976b6a8f2_1_1_0_collision_165_lV3" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp219cylinder_08f54d6eff6c736abfc4f58976b6a8f2_1_1_0_collision_166_lV3" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp219cylinder_08f54d6eff6c736abfc4f58976b6a8f2_1_1_0_collision_167_lV3" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp219cylinder_08f54d6eff6c736abfc4f58976b6a8f2_1_1_0_collision_168_lV3" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp219cylinder_08f54d6eff6c736abfc4f58976b6a8f2_1_1_0_collision_169_lV3" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp219cylinder_08f54d6eff6c736abfc4f58976b6a8f2_1_1_0_collision_170_lV3" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp219cylinder_08f54d6eff6c736abfc4f58976b6a8f2_1_1_0_collision_171_lV3" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp219cylinder_08f54d6eff6c736abfc4f58976b6a8f2_1_1_0_collision_172_lV3" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp219cylinder_08f54d6eff6c736abfc4f58976b6a8f2_1_1_0_collision_173_lV3" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp219cylinder_08f54d6eff6c736abfc4f58976b6a8f2_1_1_0_collision_174_lV3" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp219cylinder_08f54d6eff6c736abfc4f58976b6a8f2_1_1_0_collision_175_lV3" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp219cylinder_08f54d6eff6c736abfc4f58976b6a8f2_1_1_0_collision_176_lV3" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp219cylinder_08f54d6eff6c736abfc4f58976b6a8f2_1_1_0_collision_177_lV3" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp219cylinder_08f54d6eff6c736abfc4f58976b6a8f2_1_1_0_collision_178_lV3" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp219cylinder_08f54d6eff6c736abfc4f58976b6a8f2_1_1_0_collision_179_lV3" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp219cylinder_08f54d6eff6c736abfc4f58976b6a8f2_1_1_0_collision_180_lV3" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp219cylinder_08f54d6eff6c736abfc4f58976b6a8f2_1_1_0_collision_181_lV3" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp219cylinder_08f54d6eff6c736abfc4f58976b6a8f2_1_1_0_collision_182_lV3" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp219cylinder_08f54d6eff6c736abfc4f58976b6a8f2_1_1_0_collision_183_lV3" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp219cylinder_08f54d6eff6c736abfc4f58976b6a8f2_1_1_0_collision_184_lV3" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp219cylinder_08f54d6eff6c736abfc4f58976b6a8f2_1_1_0_collision_185_lV3" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp219cylinder_08f54d6eff6c736abfc4f58976b6a8f2_1_1_0_collision_186_lV3" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp219cylinder_08f54d6eff6c736abfc4f58976b6a8f2_1_1_0_collision_187_lV3" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp219cylinder_08f54d6eff6c736abfc4f58976b6a8f2_1_1_0_collision_188_lV3" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp219cylinder_08f54d6eff6c736abfc4f58976b6a8f2_1_1_0_collision_189_lV3" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp219cylinder_08f54d6eff6c736abfc4f58976b6a8f2_1_1_0_collision_190_lV3" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp219cylinder_08f54d6eff6c736abfc4f58976b6a8f2_1_1_0_collision_191_lV3" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp219cylinder_08f54d6eff6c736abfc4f58976b6a8f2_1_1_0_collision_192_lV3" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp219cylinder_08f54d6eff6c736abfc4f58976b6a8f2_1_1_0_collision_193_lV3" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp219cylinder_08f54d6eff6c736abfc4f58976b6a8f2_1_1_0_collision_194_lV3" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp219cylinder_08f54d6eff6c736abfc4f58976b6a8f2_1_1_0_collision_195_lV3" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp219cylinder_08f54d6eff6c736abfc4f58976b6a8f2_1_1_0_collision_196_lV3" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp219cylinder_08f54d6eff6c736abfc4f58976b6a8f2_1_1_0_collision_197_lV3" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp219cylinder_08f54d6eff6c736abfc4f58976b6a8f2_1_1_0_collision_198_lV3" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp219cylinder_08f54d6eff6c736abfc4f58976b6a8f2_1_1_0_collision_199_lV3" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp219cylinder_08f54d6eff6c736abfc4f58976b6a8f2_1_1_0_collision_200_lV3" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp219cylinder_08f54d6eff6c736abfc4f58976b6a8f2_1_1_0_collision_201_lV3" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp219cylinder_08f54d6eff6c736abfc4f58976b6a8f2_1_1_0_collision_202_lV3" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp219cylinder_08f54d6eff6c736abfc4f58976b6a8f2_1_1_0_collision_203_lV3" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp219cylinder_08f54d6eff6c736abfc4f58976b6a8f2_1_1_0_collision_204_lV3" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp219cylinder_08f54d6eff6c736abfc4f58976b6a8f2_1_1_0_collision_205_lV3" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp219cylinder_08f54d6eff6c736abfc4f58976b6a8f2_1_1_0_collision_206_lV3" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp219cylinder_08f54d6eff6c736abfc4f58976b6a8f2_1_1_0_collision_207_lV3" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp219cylinder_08f54d6eff6c736abfc4f58976b6a8f2_1_1_0_collision_208_lV3" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp219cylinder_08f54d6eff6c736abfc4f58976b6a8f2_1_1_0_collision_209_lV3" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp219cylinder_08f54d6eff6c736abfc4f58976b6a8f2_1_1_0_collision_210_lV3" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp219cylinder_08f54d6eff6c736abfc4f58976b6a8f2_1_1_0_collision_211_lV3" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp219cylinder_08f54d6eff6c736abfc4f58976b6a8f2_1_1_0_collision_212_lV3" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp219cylinder_08f54d6eff6c736abfc4f58976b6a8f2_1_1_0_collision_213_lV3" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp219cylinder_08f54d6eff6c736abfc4f58976b6a8f2_1_1_0_collision_214_lV3" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp219cylinder_08f54d6eff6c736abfc4f58976b6a8f2_1_1_0_collision_215_lV3" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp219cylinder_08f54d6eff6c736abfc4f58976b6a8f2_1_1_0_collision_216_lV3" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp219cylinder_08f54d6eff6c736abfc4f58976b6a8f2_1_1_0_collision_217_lV3" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp219cylinder_08f54d6eff6c736abfc4f58976b6a8f2_1_1_0_collision_218_lV3" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp219cylinder_08f54d6eff6c736abfc4f58976b6a8f2_1_1_0_collision_219_lV3" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp219cylinder_08f54d6eff6c736abfc4f58976b6a8f2_1_1_0_collision_220_lV3" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp219cylinder_08f54d6eff6c736abfc4f58976b6a8f2_1_1_0_collision_221_lV3" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp219cylinder_08f54d6eff6c736abfc4f58976b6a8f2_1_1_0_collision_222_lV3" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp219cylinder_08f54d6eff6c736abfc4f58976b6a8f2_1_1_0_collision_223_lV3" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp219cylinder_08f54d6eff6c736abfc4f58976b6a8f2_1_1_0_collision_224_lV3" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp219cylinder_08f54d6eff6c736abfc4f58976b6a8f2_1_1_0_collision_225_lV3" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+        }
+
+        over "tn__fp219cube_e13679c4a4329c576e1df7e18ae528f4_1_0_0_vx1"
+        {
+        }
+
+        over "tn__fp219cube_e13679c4a4329c576e1df7e18ae528f4_1_1_0_vx1"
+        {
+            over "tn__fp219cube_e13679c4a4329c576e1df7e18ae528f4_1_1_0_collision_3_ep2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp219cube_e13679c4a4329c576e1df7e18ae528f4_1_1_0_collision_4_ep2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp219cube_e13679c4a4329c576e1df7e18ae528f4_1_1_0_collision_5_ep2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp219cube_e13679c4a4329c576e1df7e18ae528f4_1_1_0_collision_6_ep2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp219cube_e13679c4a4329c576e1df7e18ae528f4_1_1_0_collision_7_ep2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp219cube_e13679c4a4329c576e1df7e18ae528f4_1_1_0_collision_8_ep2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp219cube_e13679c4a4329c576e1df7e18ae528f4_1_1_0_collision_9_ep2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp219cube_e13679c4a4329c576e1df7e18ae528f4_1_1_0_collision_10_ar2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+        }
+
+        over "tn__fp219cube_6612738fc8a136697a6db4102c02446e_1_0_0_vx1"
+        {
+        }
+
+        over "tn__fp219cube_6612738fc8a136697a6db4102c02446e_1_1_0_vx1"
+        {
+            over "tn__fp219cube_6612738fc8a136697a6db4102c02446e_1_1_0_collision_1_ep2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp219cube_6612738fc8a136697a6db4102c02446e_1_1_0_collision_2_ep2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp219cube_6612738fc8a136697a6db4102c02446e_1_1_0_collision_3_ep2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp219cube_6612738fc8a136697a6db4102c02446e_1_1_0_collision_4_ep2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp219cube_6612738fc8a136697a6db4102c02446e_1_1_0_collision_5_ep2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp219cube_6612738fc8a136697a6db4102c02446e_1_1_0_collision_6_ep2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp219cube_6612738fc8a136697a6db4102c02446e_1_1_0_collision_7_ep2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+        }
+
+        over "tn__fp219handle_e7fa116b9b0d0847a1bb13aebdf9d1d5_1_0_0_nW2"
+        {
+        }
+
+        over "tn__fp219handle_e7fa116b9b0d0847a1bb13aebdf9d1d5_1_1_0_nW2"
+        {
+            over "tn__fp219handle_e7fa116b9b0d0847a1bb13aebdf9d1d5_1_1_0_collision_1_Wt2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp219handle_e7fa116b9b0d0847a1bb13aebdf9d1d5_1_1_0_collision_2_Wt2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp219handle_e7fa116b9b0d0847a1bb13aebdf9d1d5_1_1_0_collision_3_Wt2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp219handle_e7fa116b9b0d0847a1bb13aebdf9d1d5_1_1_0_collision_4_Wt2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp219handle_e7fa116b9b0d0847a1bb13aebdf9d1d5_1_1_0_collision_5_Wt2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp219handle_e7fa116b9b0d0847a1bb13aebdf9d1d5_1_1_0_collision_6_Wt2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp219handle_e7fa116b9b0d0847a1bb13aebdf9d1d5_1_1_0_collision_7_Wt2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp219handle_e7fa116b9b0d0847a1bb13aebdf9d1d5_1_1_0_collision_8_Wt2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp219handle_e7fa116b9b0d0847a1bb13aebdf9d1d5_1_1_0_collision_9_Wt2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+        }
+
+        over "tn__fp219handle_66c796cce2ed7d40afa3c07880ef62b6_1_0_0_nW2"
+        {
+        }
+
+        over "tn__fp219handle_66c796cce2ed7d40afa3c07880ef62b6_1_1_0_nW2"
+        {
+            over "tn__fp219handle_66c796cce2ed7d40afa3c07880ef62b6_1_1_0_collision_1_Wt2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp219handle_66c796cce2ed7d40afa3c07880ef62b6_1_1_0_collision_2_Wt2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp219handle_66c796cce2ed7d40afa3c07880ef62b6_1_1_0_collision_3_Wt2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp219handle_66c796cce2ed7d40afa3c07880ef62b6_1_1_0_collision_4_Wt2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp219handle_66c796cce2ed7d40afa3c07880ef62b6_1_1_0_collision_5_Wt2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp219handle_66c796cce2ed7d40afa3c07880ef62b6_1_1_0_collision_6_Wt2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp219handle_66c796cce2ed7d40afa3c07880ef62b6_1_1_0_collision_7_Wt2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp219handle_66c796cce2ed7d40afa3c07880ef62b6_1_1_0_collision_8_Wt2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp219handle_66c796cce2ed7d40afa3c07880ef62b6_1_1_0_collision_9_Wt2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+        }
+
+        over "tn__fp219doorframe_f015330291bad51c055d9731f44b962e_1_0_0_bc2"
+        {
+        }
+
+        over "tn__fp219doorframe_f015330291bad51c055d9731f44b962e_1_1_0_bc2"
+        {
+            over "tn__fp219doorframe_f015330291bad51c055d9731f44b962e_1_1_0_collision_1_py2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp219doorframe_f015330291bad51c055d9731f44b962e_1_1_0_collision_2_py2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp219doorframe_f015330291bad51c055d9731f44b962e_1_1_0_collision_3_py2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+        }
+
+        over "tn__fp219door_141f79473d9bacf00d82c5cba1fca430_1_0_0_vx1"
+        {
+        }
+
+        over "tn__fp219door_141f79473d9bacf00d82c5cba1fca430_1_1_0_vx1"
+        {
+            over "tn__fp219door_141f79473d9bacf00d82c5cba1fca430_1_1_0_collision_1_ep2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+        }
+
+        over "floor" (
+            prepend apiSchemas = ["PhysicsCollisionAPI"]
+        )
+        {
+        }
+    }
+}
+

scenes/ithor/FloorPlan226_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: FloorPlan226_physics
+    usd-exchange-version: 2.2.0
+"""
+    }
+    defaultPrim = "FloorPlan226_physics"
+    kilogramsPerUnit = 1
+    metersPerUnit = 1
+    subLayers = [
+        @./Physics.usda@,
+        @./Geometry.usda@,
+        @./Materials.usda@
+    ]
+    upAxis = "Z"
+)
+
+def Xform "FloorPlan226_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/FloorPlan226_physics/Payload/Materials.usda

@@ -0,0 +1,568 @@
+#usda 1.0
+(
+    customLayerData = {
+        string creator = """AI2-THOR mjcf-usd scene converter
+    time: 01-20-26 16:35:11
+    scene: FloorPlan226_physics
+    usd-exchange-version: 2.2.0
+"""
+    }
+    defaultPrim = "FloorPlan226_physics"
+    kilogramsPerUnit = 1
+    metersPerUnit = 1
+    upAxis = "Z"
+)
+
+def Xform "FloorPlan226_physics"
+{
+    def Scope "Materials"
+    {
+        def Material "material_CarpetWhite" (
+            prepend references = @./MaterialsLibrary.usda@</Materials/material_CarpetWhite>
+        )
+        {
+        }
+
+        def Material "material_WhiteWoodClean" (
+            prepend references = @./MaterialsLibrary.usda@</Materials/material_WhiteWoodClean>
+        )
+        {
+        }
+
+        def Material "material_Glass_Detailed_Lit_Medium_Mat" (
+            prepend references = @./MaterialsLibrary.usda@</Materials/material_Glass_Detailed_Lit_Medium_Mat>
+        )
+        {
+        }
+
+        def Material "material_Cream_wood" (
+            prepend references = @./MaterialsLibrary.usda@</Materials/material_Cream_wood>
+        )
+        {
+        }
+
+        def Material "material_Glass_Detailed_White_Mat" (
+            prepend references = @./MaterialsLibrary.usda@</Materials/material_Glass_Detailed_White_Mat>
+        )
+        {
+        }
+
+        def Material "material_Brass_Mat" (
+            prepend references = @./MaterialsLibrary.usda@</Materials/material_Brass_Mat>
+        )
+        {
+        }
+
+        def Material "material_PVC" (
+            prepend references = @./MaterialsLibrary.usda@</Materials/material_PVC>
+        )
+        {
+        }
+
+        def Material "material_FloorKitchen1Texturetest_DefaultMaterial_MetallicSmoothness_mat" (
+            prepend references = @./MaterialsLibrary.usda@</Materials/material_FloorKitchen1Texturetest_DefaultMaterial_MetallicSmoothness_mat>
+        )
+        {
+        }
+
+        def Material "material_LightDim" (
+            prepend references = @./MaterialsLibrary.usda@</Materials/material_LightDim>
+        )
+        {
+        }
+
+        def Material "material_Drywall3" (
+            prepend references = @./MaterialsLibrary.usda@</Materials/material_Drywall3>
+        )
+        {
+        }
+
+        def Material "material_HammeredMetal_Dark" (
+            prepend references = @./MaterialsLibrary.usda@</Materials/material_HammeredMetal_Dark>
+        )
+        {
+        }
+
+        def Material "material_DrywallEggshell" (
+            prepend references = @./MaterialsLibrary.usda@</Materials/material_DrywallEggshell>
+        )
+        {
+        }
+
+        def Material "material_PureBlack_Wood" (
+            prepend references = @./MaterialsLibrary.usda@</Materials/material_PureBlack_Wood>
+        )
+        {
+        }
+
+        def Material "material_Drywall" (
+            prepend references = @./MaterialsLibrary.usda@</Materials/material_Drywall>
+        )
+        {
+        }
+    }
+
+    over "Geometry"
+    {
+        over "mesh_7f3a9839ee891517d896069bf65a6cb0_1_1_0"
+        {
+            over "mesh_7f3a9839ee891517d896069bf65a6cb0_1_1_0_visual_0" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan226_physics/Materials/material_CarpetWhite>
+            }
+        }
+
+        over "tn__fp226windowtreatment2_ea77e42c24913d5a74ef353bf815ed56_1_1_0_ep2"
+        {
+            over "tn__fp226windowtreatment2_ea77e42c24913d5a74ef353bf815ed56_1_1_0_visual_0_Zb3" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan226_physics/Materials/material_WhiteWoodClean>
+            }
+        }
+
+        over "tn__fp226windowtreatment2_ea77e42c24913d5a74ef353bf815ed56_1_2_0_ep2"
+        {
+            over "tn__fp226windowtreatment2_ea77e42c24913d5a74ef353bf815ed56_1_2_0_visual_1_Zb3" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan226_physics/Materials/material_WhiteWoodClean>
+            }
+        }
+
+        over "tn__fp226windowtreatment2_ea77e42c24913d5a74ef353bf815ed56_1_3_0_ep2"
+        {
+            over "tn__fp226windowtreatment2_ea77e42c24913d5a74ef353bf815ed56_1_3_0_visual_3_Zb3" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan226_physics/Materials/material_Glass_Detailed_Lit_Medium_Mat>
+            }
+        }
+
+        over "tn__fp226windowtreatment3_7e2206254bc67211709800885a70def1_1_1_0_ep2"
+        {
+            over "tn__fp226windowtreatment3_7e2206254bc67211709800885a70def1_1_1_0_visual_0_Zb3" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan226_physics/Materials/material_WhiteWoodClean>
+            }
+        }
+
+        over "tn__fp226windowtreatment3_7e2206254bc67211709800885a70def1_1_2_0_ep2"
+        {
+            over "tn__fp226windowtreatment3_7e2206254bc67211709800885a70def1_1_2_0_visual_1_Zb3" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan226_physics/Materials/material_WhiteWoodClean>
+            }
+        }
+
+        over "tn__fp226windowtreatment3_7e2206254bc67211709800885a70def1_1_3_0_ep2"
+        {
+            over "tn__fp226windowtreatment3_7e2206254bc67211709800885a70def1_1_3_0_visual_3_Zb3" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan226_physics/Materials/material_Glass_Detailed_Lit_Medium_Mat>
+            }
+        }
+
+        over "tn__fp226base10_e4d48e5f81308f918983bfd56404d3a8_1_1_0_nW2"
+        {
+            over "tn__fp226base10_e4d48e5f81308f918983bfd56404d3a8_1_1_0_visual_0_in2" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan226_physics/Materials/material_Cream_wood>
+            }
+
+            over "tn__fp226base10_e4d48e5f81308f918983bfd56404d3a8_1_1_0_visual_1_in2" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan226_physics/Materials/material_Glass_Detailed_White_Mat>
+            }
+
+            over "tn__fp226base10_e4d48e5f81308f918983bfd56404d3a8_1_1_0_visual_2_in2" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan226_physics/Materials/material_Brass_Mat>
+            }
+
+            over "tn__fp226base10_e4d48e5f81308f918983bfd56404d3a8_1_1_0_visual_3_in2" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan226_physics/Materials/material_Glass_Detailed_White_Mat>
+            }
+        }
+
+        over "tn__fp226windowtreatment21_686fb59ac68a742ff08a3b9dcbfc3bf7_1_1_0_ar2"
+        {
+            over "tn__fp226windowtreatment21_686fb59ac68a742ff08a3b9dcbfc3bf7_1_1_0_visual_0_Vd3" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan226_physics/Materials/material_WhiteWoodClean>
+            }
+        }
+
+        over "tn__fp226windowtreatment21_686fb59ac68a742ff08a3b9dcbfc3bf7_1_2_0_ar2"
+        {
+            over "tn__fp226windowtreatment21_686fb59ac68a742ff08a3b9dcbfc3bf7_1_2_0_visual_2_Vd3" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan226_physics/Materials/material_Glass_Detailed_Lit_Medium_Mat>
+            }
+        }
+
+        over "tn__fp226windowtreatment21_686fb59ac68a742ff08a3b9dcbfc3bf7_1_3_0_ar2"
+        {
+            over "tn__fp226windowtreatment21_686fb59ac68a742ff08a3b9dcbfc3bf7_1_3_0_visual_3_Vd3" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan226_physics/Materials/material_WhiteWoodClean>
+            }
+        }
+
+        over "blindframemesh_57d55d86ab26d8a5582f647a2d205bc5_1_1_0"
+        {
+            over "blindframemesh_57d55d86ab26d8a5582f647a2d205bc5_1_1_0_visual_0" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan226_physics/Materials/material_PVC>
+            }
+        }
+
+        over "blindframemesh_645f3ce1070a4b16c1dd3a0c79b0bc30_1_1_0"
+        {
+            over "blindframemesh_645f3ce1070a4b16c1dd3a0c79b0bc30_1_1_0_visual_0" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan226_physics/Materials/material_PVC>
+            }
+        }
+
+        over "blindframemesh_3fb298e7167945c57d373b2ed9fefa68_1_1_0"
+        {
+            over "blindframemesh_3fb298e7167945c57d373b2ed9fefa68_1_1_0_visual_0" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan226_physics/Materials/material_PVC>
+            }
+        }
+
+        over "blinds_f9c4c94979fc795dfc7a3276348f5e13_1_1_0"
+        {
+            over "blinds_f9c4c94979fc795dfc7a3276348f5e13_1_1_0_visual_0" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan226_physics/Materials/material_PVC>
+            }
+        }
+
+        over "blinds_f9c4c94979fc795dfc7a3276348f5e13_1_2_0"
+        {
+            over "blinds_f9c4c94979fc795dfc7a3276348f5e13_1_2_0_visual_2" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan226_physics/Materials/material_PVC>
+            }
+        }
+
+        over "blinds_09cdea551adec84c5503d8037efe895e_1_1_0"
+        {
+            over "blinds_09cdea551adec84c5503d8037efe895e_1_1_0_visual_0" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan226_physics/Materials/material_PVC>
+            }
+        }
+
+        over "blinds_09cdea551adec84c5503d8037efe895e_1_2_0"
+        {
+            over "blinds_09cdea551adec84c5503d8037efe895e_1_2_0_visual_2" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan226_physics/Materials/material_PVC>
+            }
+        }
+
+        over "blinds_6fbcbfe084e09b8d05297bab9e4ad155_1_1_0"
+        {
+            over "blinds_6fbcbfe084e09b8d05297bab9e4ad155_1_1_0_visual_0" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan226_physics/Materials/material_PVC>
+            }
+        }
+
+        over "blinds_6fbcbfe084e09b8d05297bab9e4ad155_1_2_0"
+        {
+            over "blinds_6fbcbfe084e09b8d05297bab9e4ad155_1_2_0_visual_2" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan226_physics/Materials/material_PVC>
+            }
+        }
+
+        over "window_60dbbcfd19d7977c81a80b5d1c0cf7cc_1_1_0"
+        {
+            over "window_60dbbcfd19d7977c81a80b5d1c0cf7cc_1_1_0_visual_0" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan226_physics/Materials/material_WhiteWoodClean>
+            }
+        }
+
+        over "window_60dbbcfd19d7977c81a80b5d1c0cf7cc_1_2_0"
+        {
+            over "window_60dbbcfd19d7977c81a80b5d1c0cf7cc_1_2_0_visual_2" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan226_physics/Materials/material_Glass_Detailed_Lit_Medium_Mat>
+            }
+        }
+
+        over "window_60dbbcfd19d7977c81a80b5d1c0cf7cc_1_3_0"
+        {
+            over "window_60dbbcfd19d7977c81a80b5d1c0cf7cc_1_3_0_visual_3" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan226_physics/Materials/material_WhiteWoodClean>
+            }
+        }
+
+        over "painting_7da332d8f3b5b52818a43f76170cf00f_1_1_0"
+        {
+            over "painting_7da332d8f3b5b52818a43f76170cf00f_1_1_0_visual_0" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan226_physics/Materials/material_Cream_wood>
+            }
+
+            over "painting_7da332d8f3b5b52818a43f76170cf00f_1_1_0_visual_1" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan226_physics/Materials/material_Glass_Detailed_White_Mat>
+            }
+
+            over "painting_7da332d8f3b5b52818a43f76170cf00f_1_1_0_visual_2" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan226_physics/Materials/material_Brass_Mat>
+            }
+
+            over "painting_7da332d8f3b5b52818a43f76170cf00f_1_1_0_visual_3" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan226_physics/Materials/material_Glass_Detailed_White_Mat>
+            }
+        }
+
+        over "window_5dbb3f0d77857231281981b6d735c1d3_1_1_0"
+        {
+            over "window_5dbb3f0d77857231281981b6d735c1d3_1_1_0_visual_0" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan226_physics/Materials/material_WhiteWoodClean>
+            }
+        }
+
+        over "window_5dbb3f0d77857231281981b6d735c1d3_1_2_0"
+        {
+            over "window_5dbb3f0d77857231281981b6d735c1d3_1_2_0_visual_1" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan226_physics/Materials/material_WhiteWoodClean>
+            }
+        }
+
+        over "window_5dbb3f0d77857231281981b6d735c1d3_1_3_0"
+        {
+            over "window_5dbb3f0d77857231281981b6d735c1d3_1_3_0_visual_3" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan226_physics/Materials/material_Glass_Detailed_Lit_Medium_Mat>
+            }
+        }
+
+        over "window_1f7dd4f96cb963e8f6f7c9a9b6d0887b_1_1_0"
+        {
+            over "window_1f7dd4f96cb963e8f6f7c9a9b6d0887b_1_1_0_visual_0" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan226_physics/Materials/material_WhiteWoodClean>
+            }
+        }
+
+        over "window_1f7dd4f96cb963e8f6f7c9a9b6d0887b_1_2_0"
+        {
+            over "window_1f7dd4f96cb963e8f6f7c9a9b6d0887b_1_2_0_visual_1" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan226_physics/Materials/material_WhiteWoodClean>
+            }
+        }
+
+        over "window_1f7dd4f96cb963e8f6f7c9a9b6d0887b_1_3_0"
+        {
+            over "window_1f7dd4f96cb963e8f6f7c9a9b6d0887b_1_3_0_visual_3" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan226_physics/Materials/material_Glass_Detailed_Lit_Medium_Mat>
+            }
+        }
+
+        over "tn__fp226base_4fe9b583677cd609e06f1222695b3f8f_1_1_0_vx1"
+        {
+            over "tn__fp226base_4fe9b583677cd609e06f1222695b3f8f_1_1_0_visual_0_qj2" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan226_physics/Materials/material_FloorKitchen1Texturetest_DefaultMaterial_MetallicSmoothness_mat>
+            }
+
+            over "tn__fp226base_4fe9b583677cd609e06f1222695b3f8f_1_1_0_visual_1_qj2" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan226_physics/Materials/material_LightDim>
+            }
+        }
+
+        over "ceiling_816a0c261f407f09d94f9c18d451874b_1_1_0"
+        {
+            over "ceiling_816a0c261f407f09d94f9c18d451874b_1_1_0_visual_0" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan226_physics/Materials/material_Drywall3>
+            }
+        }
+
+        over "tn__fp226corner_c1bca723f24e5fd7b7cbb35eb4ae23c8_1_1_0_nW2"
+        {
+            over "tn__fp226corner_c1bca723f24e5fd7b7cbb35eb4ae23c8_1_1_0_visual_0_in2" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan226_physics/Materials/material_HammeredMetal_Dark>
+            }
+
+            over "tn__fp226corner_c1bca723f24e5fd7b7cbb35eb4ae23c8_1_1_0_visual_1_in2" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan226_physics/Materials/material_DrywallEggshell>
+            }
+
+            over "tn__fp226corner_c1bca723f24e5fd7b7cbb35eb4ae23c8_1_1_0_visual_2_in2" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan226_physics/Materials/material_WhiteWoodClean>
+            }
+        }
+
+        over "tn__fp226shelves_85161d511200128bd1bc66b986c92f8a_1_1_0_jY2"
+        {
+            over "tn__fp226shelves_85161d511200128bd1bc66b986c92f8a_1_1_0_visual_0_ep2" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan226_physics/Materials/material_PureBlack_Wood>
+            }
+        }
+
+        over "tn__fp226standarddoor1_ab6698f3ef70fb9a522fabe4c0e86b50_1_1_0_qj2"
+        {
+            over "tn__fp226standarddoor1_ab6698f3ef70fb9a522fabe4c0e86b50_1_1_0_visual_0_lV3" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan226_physics/Materials/material_WhiteWoodClean>
+            }
+        }
+
+        over "tn__fp226standardknob1_14d8fb1ca8d14decc51912842004a863_1_1_0_qj2"
+        {
+            over "tn__fp226standardknob1_14d8fb1ca8d14decc51912842004a863_1_1_0_visual_0_lV3" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan226_physics/Materials/material_Brass_Mat>
+            }
+        }
+
+        over "tn__fp226standarddoorframe1_bd1bea40e74443eeb4be7a2f10d44def_1_1_0_Wt2"
+        {
+            over "tn__fp226standarddoorframe1_bd1bea40e74443eeb4be7a2f10d44def_1_1_0_visual_0_we3" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan226_physics/Materials/material_WhiteWoodClean>
+            }
+        }
+
+        over "wall_6765accacff87cabf02650d58f316454_1_1_0"
+        {
+            over "wall_6765accacff87cabf02650d58f316454_1_1_0_visual_0" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan226_physics/Materials/material_WhiteWoodClean>
+            }
+
+            over "wall_6765accacff87cabf02650d58f316454_1_1_0_visual_1" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan226_physics/Materials/material_Drywall>
+            }
+        }
+
+        over "floor_94fbcae2a5222ea8a8e5999029fede3b_1_1_0"
+        {
+            over "floor_94fbcae2a5222ea8a8e5999029fede3b_1_1_0_visual_0" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan226_physics/Materials/material_CarpetWhite>
+            }
+        }
+    }
+}
+

scenes/ithor/FloorPlan226_physics/Payload/MaterialsLibrary.usda

@@ -0,0 +1,357 @@
+#usda 1.0
+(
+    "Material library for house FloorPlan226_physics"
+    customLayerData = {
+        string creator = """AI2-THOR mjcf-usd scene converter
+    time: 01-20-26 16:35:11
+    scene: FloorPlan226_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_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_Medium_Mat"
+    {
+        token outputs:displacement.connect = </Materials/material_Glass_Detailed_Lit_Medium_Mat/PreviewSurface.outputs:displacement>
+        token outputs:surface.connect = </Materials/material_Glass_Detailed_Lit_Medium_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_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_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_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_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_FloorKitchen1Texturetest_DefaultMaterial_MetallicSmoothness_mat"
+    {
+        token outputs:displacement.connect = </Materials/material_FloorKitchen1Texturetest_DefaultMaterial_MetallicSmoothness_mat/PreviewSurface.outputs:displacement>
+        token outputs:surface.connect = </Materials/material_FloorKitchen1Texturetest_DefaultMaterial_MetallicSmoothness_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_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
+        }
+    }
+
+    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
+        }
+    }
+
+    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_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_PureBlack_Wood"
+    {
+        token outputs:displacement.connect = </Materials/material_PureBlack_Wood/PreviewSurface.outputs:displacement>
+        token outputs:surface.connect = </Materials/material_PureBlack_Wood/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_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
+        }
+    }
+}
+

scenes/ithor/FloorPlan226_physics/Payload/Physics.usda

@@ -0,0 +1,781 @@
+#usda 1.0
+(
+    customLayerData = {
+        string creator = """AI2-THOR mjcf-usd scene converter
+    time: 01-20-26 16:35:11
+    scene: FloorPlan226_physics
+    usd-exchange-version: 2.2.0
+"""
+    }
+    defaultPrim = "FloorPlan226_physics"
+    kilogramsPerUnit = 1
+    metersPerUnit = 1
+    upAxis = "Z"
+)
+
+def Xform "FloorPlan226_physics"
+{
+    def Scope "Physics"
+    {
+    }
+
+    over "Geometry"
+    {
+        over "mesh_7f3a9839ee891517d896069bf65a6cb0_1_0_0"
+        {
+        }
+
+        over "mesh_7f3a9839ee891517d896069bf65a6cb0_1_1_0"
+        {
+        }
+
+        over "tn__quaddecalspawnplane1_8287f1c220c9d656afabe97f6a902509_1_0_0_Wk1p1"
+        {
+        }
+
+        over "tn__fp226windowtreatment2_ea77e42c24913d5a74ef353bf815ed56_1_0_0_ep2"
+        {
+        }
+
+        over "tn__fp226windowtreatment2_ea77e42c24913d5a74ef353bf815ed56_1_1_0_ep2"
+        {
+        }
+
+        over "tn__fp226windowtreatment2_ea77e42c24913d5a74ef353bf815ed56_1_2_0_ep2"
+        {
+            over "tn__fp226windowtreatment2_ea77e42c24913d5a74ef353bf815ed56_1_2_0_collision_2_sg3" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+        }
+
+        over "tn__fp226windowtreatment2_ea77e42c24913d5a74ef353bf815ed56_1_3_0_ep2"
+        {
+        }
+
+        over "quaddecalspawnplane_fc3deace10d8cf24bee896773ec4de44_1_0_0"
+        {
+        }
+
+        over "tn__fp226windowtreatment3_7e2206254bc67211709800885a70def1_1_0_0_ep2"
+        {
+        }
+
+        over "tn__fp226windowtreatment3_7e2206254bc67211709800885a70def1_1_1_0_ep2"
+        {
+        }
+
+        over "tn__fp226windowtreatment3_7e2206254bc67211709800885a70def1_1_2_0_ep2"
+        {
+            over "tn__fp226windowtreatment3_7e2206254bc67211709800885a70def1_1_2_0_collision_2_sg3" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+        }
+
+        over "tn__fp226windowtreatment3_7e2206254bc67211709800885a70def1_1_3_0_ep2"
+        {
+        }
+
+        over "tn__fp226base10_e4d48e5f81308f918983bfd56404d3a8_1_0_0_nW2"
+        {
+        }
+
+        over "tn__fp226base10_e4d48e5f81308f918983bfd56404d3a8_1_1_0_nW2"
+        {
+            over "tn__fp226base10_e4d48e5f81308f918983bfd56404d3a8_1_1_0_collision_4_Wt2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+        }
+
+        over "tn__quaddecalspawnplane2_00eae0ca6ac1e5688933db4ff31fff67_1_0_0_Wk1p1"
+        {
+        }
+
+        over "tn__fp226windowtreatment21_686fb59ac68a742ff08a3b9dcbfc3bf7_1_0_0_ar2"
+        {
+        }
+
+        over "tn__fp226windowtreatment21_686fb59ac68a742ff08a3b9dcbfc3bf7_1_1_0_ar2"
+        {
+            over "tn__fp226windowtreatment21_686fb59ac68a742ff08a3b9dcbfc3bf7_1_1_0_collision_1_oi3" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+        }
+
+        over "tn__fp226windowtreatment21_686fb59ac68a742ff08a3b9dcbfc3bf7_1_2_0_ar2"
+        {
+        }
+
+        over "tn__fp226windowtreatment21_686fb59ac68a742ff08a3b9dcbfc3bf7_1_3_0_ar2"
+        {
+        }
+
+        over "blindframemesh_57d55d86ab26d8a5582f647a2d205bc5_1_0_0"
+        {
+        }
+
+        over "blindframemesh_57d55d86ab26d8a5582f647a2d205bc5_1_1_0"
+        {
+            over "blindframemesh_57d55d86ab26d8a5582f647a2d205bc5_1_1_0_collision_1" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+        }
+
+        over "blindframemesh_645f3ce1070a4b16c1dd3a0c79b0bc30_1_0_0"
+        {
+        }
+
+        over "blindframemesh_645f3ce1070a4b16c1dd3a0c79b0bc30_1_1_0"
+        {
+            over "blindframemesh_645f3ce1070a4b16c1dd3a0c79b0bc30_1_1_0_collision_1" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+        }
+
+        over "blindframemesh_3fb298e7167945c57d373b2ed9fefa68_1_0_0"
+        {
+        }
+
+        over "blindframemesh_3fb298e7167945c57d373b2ed9fefa68_1_1_0"
+        {
+            over "blindframemesh_3fb298e7167945c57d373b2ed9fefa68_1_1_0_collision_1" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+        }
+
+        over "blinds_f9c4c94979fc795dfc7a3276348f5e13_1_0_0"
+        {
+        }
+
+        over "blinds_f9c4c94979fc795dfc7a3276348f5e13_1_1_0"
+        {
+            over "blinds_f9c4c94979fc795dfc7a3276348f5e13_1_1_0_collision_1" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+        }
+
+        over "blinds_f9c4c94979fc795dfc7a3276348f5e13_1_2_0"
+        {
+            over "blinds_f9c4c94979fc795dfc7a3276348f5e13_1_2_0_collision_3" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+        }
+
+        over "blinds_09cdea551adec84c5503d8037efe895e_1_0_0"
+        {
+        }
+
+        over "blinds_09cdea551adec84c5503d8037efe895e_1_1_0"
+        {
+            over "blinds_09cdea551adec84c5503d8037efe895e_1_1_0_collision_1" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+        }
+
+        over "blinds_09cdea551adec84c5503d8037efe895e_1_2_0"
+        {
+            over "blinds_09cdea551adec84c5503d8037efe895e_1_2_0_collision_3" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+        }
+
+        over "blinds_6fbcbfe084e09b8d05297bab9e4ad155_1_0_0"
+        {
+        }
+
+        over "blinds_6fbcbfe084e09b8d05297bab9e4ad155_1_1_0"
+        {
+            over "blinds_6fbcbfe084e09b8d05297bab9e4ad155_1_1_0_collision_1" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+        }
+
+        over "blinds_6fbcbfe084e09b8d05297bab9e4ad155_1_2_0"
+        {
+            over "blinds_6fbcbfe084e09b8d05297bab9e4ad155_1_2_0_collision_3" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+        }
+
+        over "window_60dbbcfd19d7977c81a80b5d1c0cf7cc_1_0_0"
+        {
+        }
+
+        over "window_60dbbcfd19d7977c81a80b5d1c0cf7cc_1_1_0"
+        {
+            over "window_60dbbcfd19d7977c81a80b5d1c0cf7cc_1_1_0_collision_1" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+        }
+
+        over "window_60dbbcfd19d7977c81a80b5d1c0cf7cc_1_2_0"
+        {
+        }
+
+        over "window_60dbbcfd19d7977c81a80b5d1c0cf7cc_1_3_0"
+        {
+        }
+
+        over "painting_7da332d8f3b5b52818a43f76170cf00f_1_0_0"
+        {
+        }
+
+        over "painting_7da332d8f3b5b52818a43f76170cf00f_1_1_0"
+        {
+            over "painting_7da332d8f3b5b52818a43f76170cf00f_1_1_0_collision_4" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+        }
+
+        over "window_5dbb3f0d77857231281981b6d735c1d3_1_0_0"
+        {
+        }
+
+        over "window_5dbb3f0d77857231281981b6d735c1d3_1_1_0"
+        {
+        }
+
+        over "window_5dbb3f0d77857231281981b6d735c1d3_1_2_0"
+        {
+            over "window_5dbb3f0d77857231281981b6d735c1d3_1_2_0_collision_2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+        }
+
+        over "window_5dbb3f0d77857231281981b6d735c1d3_1_3_0"
+        {
+        }
+
+        over "window_1f7dd4f96cb963e8f6f7c9a9b6d0887b_1_0_0"
+        {
+        }
+
+        over "window_1f7dd4f96cb963e8f6f7c9a9b6d0887b_1_1_0"
+        {
+        }
+
+        over "window_1f7dd4f96cb963e8f6f7c9a9b6d0887b_1_2_0"
+        {
+            over "window_1f7dd4f96cb963e8f6f7c9a9b6d0887b_1_2_0_collision_2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+        }
+
+        over "window_1f7dd4f96cb963e8f6f7c9a9b6d0887b_1_3_0"
+        {
+        }
+
+        over "tn__fp226base_4fe9b583677cd609e06f1222695b3f8f_1_0_0_vx1"
+        {
+        }
+
+        over "tn__fp226base_4fe9b583677cd609e06f1222695b3f8f_1_1_0_vx1"
+        {
+            over "tn__fp226base_4fe9b583677cd609e06f1222695b3f8f_1_1_0_collision_2_ep2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp226base_4fe9b583677cd609e06f1222695b3f8f_1_1_0_collision_3_ep2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp226base_4fe9b583677cd609e06f1222695b3f8f_1_1_0_collision_4_ep2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp226base_4fe9b583677cd609e06f1222695b3f8f_1_1_0_collision_5_ep2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+        }
+
+        over "ceiling_816a0c261f407f09d94f9c18d451874b_1_0_0"
+        {
+        }
+
+        over "ceiling_816a0c261f407f09d94f9c18d451874b_1_1_0"
+        {
+            over "ceiling_816a0c261f407f09d94f9c18d451874b_1_1_0_collision_1" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+        }
+
+        over "tn__fp226corner_c1bca723f24e5fd7b7cbb35eb4ae23c8_1_0_0_nW2"
+        {
+        }
+
+        over "tn__fp226corner_c1bca723f24e5fd7b7cbb35eb4ae23c8_1_1_0_nW2"
+        {
+            over "tn__fp226corner_c1bca723f24e5fd7b7cbb35eb4ae23c8_1_1_0_collision_3_Wt2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp226corner_c1bca723f24e5fd7b7cbb35eb4ae23c8_1_1_0_collision_4_Wt2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp226corner_c1bca723f24e5fd7b7cbb35eb4ae23c8_1_1_0_collision_5_Wt2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp226corner_c1bca723f24e5fd7b7cbb35eb4ae23c8_1_1_0_collision_6_Wt2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp226corner_c1bca723f24e5fd7b7cbb35eb4ae23c8_1_1_0_collision_7_Wt2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp226corner_c1bca723f24e5fd7b7cbb35eb4ae23c8_1_1_0_collision_8_Wt2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp226corner_c1bca723f24e5fd7b7cbb35eb4ae23c8_1_1_0_collision_9_Wt2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp226corner_c1bca723f24e5fd7b7cbb35eb4ae23c8_1_1_0_collision_10_xu2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp226corner_c1bca723f24e5fd7b7cbb35eb4ae23c8_1_1_0_collision_11_xu2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp226corner_c1bca723f24e5fd7b7cbb35eb4ae23c8_1_1_0_collision_12_xu2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp226corner_c1bca723f24e5fd7b7cbb35eb4ae23c8_1_1_0_collision_13_xu2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp226corner_c1bca723f24e5fd7b7cbb35eb4ae23c8_1_1_0_collision_14_xu2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+        }
+
+        over "tn__fp226shelves_85161d511200128bd1bc66b986c92f8a_1_0_0_jY2"
+        {
+        }
+
+        over "tn__fp226shelves_85161d511200128bd1bc66b986c92f8a_1_1_0_jY2"
+        {
+            over "tn__fp226shelves_85161d511200128bd1bc66b986c92f8a_1_1_0_collision_1_xu2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp226shelves_85161d511200128bd1bc66b986c92f8a_1_1_0_collision_2_xu2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp226shelves_85161d511200128bd1bc66b986c92f8a_1_1_0_collision_3_xu2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp226shelves_85161d511200128bd1bc66b986c92f8a_1_1_0_collision_4_xu2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp226shelves_85161d511200128bd1bc66b986c92f8a_1_1_0_collision_5_xu2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp226shelves_85161d511200128bd1bc66b986c92f8a_1_1_0_collision_6_xu2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp226shelves_85161d511200128bd1bc66b986c92f8a_1_1_0_collision_7_xu2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp226shelves_85161d511200128bd1bc66b986c92f8a_1_1_0_collision_8_xu2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp226shelves_85161d511200128bd1bc66b986c92f8a_1_1_0_collision_9_xu2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp226shelves_85161d511200128bd1bc66b986c92f8a_1_1_0_collision_10_tw2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+        }
+
+        over "tn__fp226standarddoor1_ab6698f3ef70fb9a522fabe4c0e86b50_1_0_0_qj2"
+        {
+        }
+
+        over "tn__fp226standarddoor1_ab6698f3ef70fb9a522fabe4c0e86b50_1_1_0_qj2"
+        {
+            over "tn__fp226standarddoor1_ab6698f3ef70fb9a522fabe4c0e86b50_1_1_0_collision_1_Zb3" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+        }
+
+        over "tn__fp226standardknob1_14d8fb1ca8d14decc51912842004a863_1_0_0_qj2"
+        {
+        }
+
+        over "tn__fp226standardknob1_14d8fb1ca8d14decc51912842004a863_1_1_0_qj2"
+        {
+            over "tn__fp226standardknob1_14d8fb1ca8d14decc51912842004a863_1_1_0_collision_1_Zb3" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp226standardknob1_14d8fb1ca8d14decc51912842004a863_1_1_0_collision_2_Zb3" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp226standardknob1_14d8fb1ca8d14decc51912842004a863_1_1_0_collision_3_Zb3" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp226standardknob1_14d8fb1ca8d14decc51912842004a863_1_1_0_collision_4_Zb3" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp226standardknob1_14d8fb1ca8d14decc51912842004a863_1_1_0_collision_5_Zb3" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp226standardknob1_14d8fb1ca8d14decc51912842004a863_1_1_0_collision_6_Zb3" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp226standardknob1_14d8fb1ca8d14decc51912842004a863_1_1_0_collision_7_Zb3" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp226standardknob1_14d8fb1ca8d14decc51912842004a863_1_1_0_collision_8_Zb3" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp226standardknob1_14d8fb1ca8d14decc51912842004a863_1_1_0_collision_9_Zb3" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp226standardknob1_14d8fb1ca8d14decc51912842004a863_1_1_0_collision_10_Vd3" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+        }
+
+        over "tn__fp226standarddoorframe1_bd1bea40e74443eeb4be7a2f10d44def_1_0_0_Wt2"
+        {
+        }
+
+        over "tn__fp226standarddoorframe1_bd1bea40e74443eeb4be7a2f10d44def_1_1_0_Wt2"
+        {
+            over "tn__fp226standarddoorframe1_bd1bea40e74443eeb4be7a2f10d44def_1_1_0_collision_1_kk3" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp226standarddoorframe1_bd1bea40e74443eeb4be7a2f10d44def_1_1_0_collision_2_kk3" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp226standarddoorframe1_bd1bea40e74443eeb4be7a2f10d44def_1_1_0_collision_3_kk3" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+        }
+
+        over "wall_6765accacff87cabf02650d58f316454_1_0_0"
+        {
+        }
+
+        over "wall_6765accacff87cabf02650d58f316454_1_1_0"
+        {
+            over "wall_6765accacff87cabf02650d58f316454_1_1_0_collision_2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "wall_6765accacff87cabf02650d58f316454_1_1_0_collision_3" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "wall_6765accacff87cabf02650d58f316454_1_1_0_collision_4" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "wall_6765accacff87cabf02650d58f316454_1_1_0_collision_5" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "wall_6765accacff87cabf02650d58f316454_1_1_0_collision_6" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "wall_6765accacff87cabf02650d58f316454_1_1_0_collision_7" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "wall_6765accacff87cabf02650d58f316454_1_1_0_collision_8" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "wall_6765accacff87cabf02650d58f316454_1_1_0_collision_9" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "wall_6765accacff87cabf02650d58f316454_1_1_0_collision_10" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "wall_6765accacff87cabf02650d58f316454_1_1_0_collision_11" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "wall_6765accacff87cabf02650d58f316454_1_1_0_collision_12" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "wall_6765accacff87cabf02650d58f316454_1_1_0_collision_13" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "wall_6765accacff87cabf02650d58f316454_1_1_0_collision_14" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "wall_6765accacff87cabf02650d58f316454_1_1_0_collision_15" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "wall_6765accacff87cabf02650d58f316454_1_1_0_collision_16" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+        }
+
+        over "floor_94fbcae2a5222ea8a8e5999029fede3b_1_0_0"
+        {
+        }
+
+        over "floor_94fbcae2a5222ea8a8e5999029fede3b_1_1_0"
+        {
+        }
+
+        over "floor" (
+            prepend apiSchemas = ["PhysicsCollisionAPI"]
+        )
+        {
+        }
+    }
+}
+

scenes/ithor/FloorPlan226_physics/scene.preprocessed.json

@@ -0,0 +1,22 @@
+{
+  "source": "E:/EAI/molmo_isaac_data/isaac/scenes/ithor/FloorPlan226_physics/scene.usda",
+  "preprocessor_version": "2.1",
+  "timestamp": "2026-04-24T09:57:38.416444+00:00",
+  "offset": [
+    0.0,
+    0.0,
+    0.0
+  ],
+  "yaw_deg": 0.0,
+  "floor_z": -0.2,
+  "ceiling_z": 2.68,
+  "prims_deactivated": 5,
+  "prims_deactivated_paths": [
+    "/FloorPlan226_physics/Geometry/remotecontrol_bbeb7464bb8b20b11df78329c1bd9460_1_0_0",
+    "/FloorPlan226_physics/Geometry/laptop_5cc5aadb1922303cd81ec71920892757_1_0_0",
+    "/FloorPlan226_physics/Geometry/houseplant_7f13f69584deff8d995848cc6d47b47d_1_0_0",
+    "/FloorPlan226_physics/Geometry/coffeetable_9ffe419303e0e264ed57bd3b87ddecb2_1_0_0",
+    "/FloorPlan226_physics/Geometry/armchair_2bbe61654860561b5e0240380a9b5943_1_0_0"
+  ],
+  "physics_preserved": true
+}

scenes/ithor/FloorPlan226_physics/scene.usda

@@ -0,0 +1,125 @@
+#usda 1.0
+(
+    customLayerData = {
+        string creator = """AI2-THOR mjcf-usd scene converter
+    time: 01-20-26 16:35:11
+    scene: FloorPlan226_physics
+    usd-exchange-version: 2.2.0
+"""
+    }
+    defaultPrim = "FloorPlan226_physics"
+    kilogramsPerUnit = 1
+    metersPerUnit = 1
+    upAxis = "Z"
+)
+
+def Xform "FloorPlan226_physics" (
+    prepend apiSchemas = ["GeomModelAPI"]
+    assetInfo = {
+        string name = "FloorPlan226_physics"
+    }
+    kind = "component"
+    prepend payload = @./Payload/Contents.usda@
+)
+{
+    float3[] extentsHint = [(-3, -2.59999, -0.2), (2.2, 1.20001, 2.68), (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, -0.0232984), (10, 10, 2.679728)]
+
+    over "Geometry"
+    {
+        over "box_b1c47d67056cd714cb582cc351224939_1_0_0" (
+            kind = "subcomponent"
+        )
+        {
+        }
+
+        over "television_dff99f8a93352b6052d0416a8e1e6bf0_1_0_0" (
+            kind = "subcomponent"
+        )
+        {
+        }
+
+        over "remotecontrol_bbeb7464bb8b20b11df78329c1bd9460_1_0_0" (
+            active = false
+            kind = "subcomponent"
+        )
+        {
+        }
+
+        over "pillow_a68d481100b7e5a503e100391c616dd6_1_0_0" (
+            kind = "subcomponent"
+        )
+        {
+        }
+
+        over "laptop_5cc5aadb1922303cd81ec71920892757_1_0_0" (
+            active = false
+            kind = "subcomponent"
+        )
+        {
+        }
+
+        over "trashcan_61c58b20961d16ef01223a77d3a126f3_1_0_0" (
+            kind = "subcomponent"
+        )
+        {
+        }
+
+        over "floorlamp_3eb03691c89e93978d9d9a9fe016202f_1_0_0" (
+            kind = "subcomponent"
+        )
+        {
+        }
+
+        over "houseplant_7f13f69584deff8d995848cc6d47b47d_1_0_0" (
+            active = false
+            kind = "subcomponent"
+        )
+        {
+        }
+
+        over "newspaper_220bb3422ee8a08eb18564606a1dbaca_1_0_0" (
+            kind = "subcomponent"
+        )
+        {
+        }
+
+        over "statue_471c14e34f25254596949023334325a4_1_0_0" (
+            kind = "subcomponent"
+        )
+        {
+        }
+
+        over "statue_904dcacd60264237fc6f100aa873b50d_1_0_0" (
+            kind = "subcomponent"
+        )
+        {
+        }
+
+        over "stand_b153c0f0358e2b2161c4ce66964458c0_1_0_0" (
+            kind = "subcomponent"
+        )
+        {
+        }
+
+        over "coffeetable_9ffe419303e0e264ed57bd3b87ddecb2_1_0_0" (
+            active = false
+            kind = "subcomponent"
+        )
+        {
+        }
+
+        over "sofa_d4e00c71cf8019dee39ffaa8e7181a92_1_0_0" (
+            kind = "subcomponent"
+        )
+        {
+        }
+
+        over "armchair_2bbe61654860561b5e0240380a9b5943_1_0_0" (
+            active = false
+            kind = "subcomponent"
+        )
+        {
+        }
+    }
+}
+

scenes/ithor/FloorPlan22_physics/Payload/Contents.usda

@@ -0,0 +1,37 @@
+#usda 1.0
+(
+    customLayerData = {
+        string creator = """AI2-THOR mjcf-usd scene converter
+    time: 01-20-26 16:35:06
+    scene: FloorPlan22_physics
+    usd-exchange-version: 2.2.0
+"""
+    }
+    defaultPrim = "FloorPlan22_physics"
+    kilogramsPerUnit = 1
+    metersPerUnit = 1
+    subLayers = [
+        @./Physics.usda@,
+        @./Geometry.usda@,
+        @./Materials.usda@
+    ]
+    upAxis = "Z"
+)
+
+def Xform "FloorPlan22_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/FloorPlan22_physics/Payload/Materials.usda

@@ -0,0 +1,1492 @@
+#usda 1.0
+(
+    customLayerData = {
+        string creator = """AI2-THOR mjcf-usd scene converter
+    time: 01-20-26 16:35:06
+    scene: FloorPlan22_physics
+    usd-exchange-version: 2.2.0
+"""
+    }
+    defaultPrim = "FloorPlan22_physics"
+    kilogramsPerUnit = 1
+    metersPerUnit = 1
+    upAxis = "Z"
+)
+
+def Xform "FloorPlan22_physics"
+{
+    def Scope "Materials"
+    {
+        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_StoveDarkMat" (
+            prepend references = @./MaterialsLibrary.usda@</Materials/material_StoveDarkMat>
+        )
+        {
+        }
+
+        def Material "material_Glass_Green_Mat" (
+            prepend references = @./MaterialsLibrary.usda@</Materials/material_Glass_Green_Mat>
+        )
+        {
+        }
+
+        def Material "material_BlackPlasticMat" (
+            prepend references = @./MaterialsLibrary.usda@</Materials/material_BlackPlasticMat>
+        )
+        {
+        }
+
+        def Material "material_Metal" (
+            prepend references = @./MaterialsLibrary.usda@</Materials/material_Metal>
+        )
+        {
+        }
+
+        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_WhitePlasticScratched" (
+            prepend references = @./MaterialsLibrary.usda@</Materials/material_WhitePlasticScratched>
+        )
+        {
+        }
+
+        def Material "material_CabinetWoodMat" (
+            prepend references = @./MaterialsLibrary.usda@</Materials/material_CabinetWoodMat>
+        )
+        {
+        }
+
+        def Material "material_Brass" (
+            prepend references = @./MaterialsLibrary.usda@</Materials/material_Brass>
+        )
+        {
+        }
+
+        def Material "material_Metal_chrome_mat" (
+            prepend references = @./MaterialsLibrary.usda@</Materials/material_Metal_chrome_mat>
+        )
+        {
+        }
+
+        def Material "material_LightWoodCabinets" (
+            prepend references = @./MaterialsLibrary.usda@</Materials/material_LightWoodCabinets>
+        )
+        {
+        }
+
+        def Material "material_CeramicTiles3" (
+            prepend references = @./MaterialsLibrary.usda@</Materials/material_CeramicTiles3>
+        )
+        {
+        }
+
+        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_BrushedAluminum_AlbedoTransparency" (
+            prepend references = @./MaterialsLibrary.usda@</Materials/material_BrushedAluminum_AlbedoTransparency>
+        )
+        {
+        }
+
+        def Material "material_LightWoodCounters2" (
+            prepend references = @./MaterialsLibrary.usda@</Materials/material_LightWoodCounters2>
+        )
+        {
+        }
+
+        def Material "material_DrywallEggshellTiled" (
+            prepend references = @./MaterialsLibrary.usda@</Materials/material_DrywallEggshellTiled>
+        )
+        {
+        }
+
+        def Material "material_Brass_Mat" (
+            prepend references = @./MaterialsLibrary.usda@</Materials/material_Brass_Mat>
+        )
+        {
+        }
+
+        def Material "material_GreyFloor" (
+            prepend references = @./MaterialsLibrary.usda@</Materials/material_GreyFloor>
+        )
+        {
+        }
+
+        def Material "material_LightWoodCounters" (
+            prepend references = @./MaterialsLibrary.usda@</Materials/material_LightWoodCounters>
+        )
+        {
+        }
+
+        def Material "material_Drywall" (
+            prepend references = @./MaterialsLibrary.usda@</Materials/material_Drywall>
+        )
+        {
+        }
+
+        def Material "material_Light2" (
+            prepend references = @./MaterialsLibrary.usda@</Materials/material_Light2>
+        )
+        {
+        }
+
+        def Material "material_MicrowaveMetalMat" (
+            prepend references = @./MaterialsLibrary.usda@</Materials/material_MicrowaveMetalMat>
+        )
+        {
+        }
+    }
+
+    over "Geometry"
+    {
+        over "oven_f4195df2a649011c1d6e4bd74c8bcb86_1_1_0"
+        {
+            over "oven_f4195df2a649011c1d6e4bd74c8bcb86_1_1_0_visual_0" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan22_physics/Materials/material_HammeredMetal_AlbedoTransparency>
+            }
+
+            over "oven_f4195df2a649011c1d6e4bd74c8bcb86_1_1_0_visual_1" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan22_physics/Materials/material_WhitePlastic>
+            }
+        }
+
+        over "oven_f4195df2a649011c1d6e4bd74c8bcb86_1_2_0"
+        {
+            over "oven_f4195df2a649011c1d6e4bd74c8bcb86_1_2_0_visual_24" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan22_physics/Materials/material_StoveDarkMat>
+            }
+
+            over "oven_f4195df2a649011c1d6e4bd74c8bcb86_1_2_0_visual_25" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan22_physics/Materials/material_WhitePlastic>
+            }
+        }
+
+        over "oven_f4195df2a649011c1d6e4bd74c8bcb86_1_3_0"
+        {
+            over "oven_f4195df2a649011c1d6e4bd74c8bcb86_1_3_0_visual_31" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan22_physics/Materials/material_WhitePlastic>
+            }
+        }
+
+        over "oven_f4195df2a649011c1d6e4bd74c8bcb86_1_4_0"
+        {
+            over "oven_f4195df2a649011c1d6e4bd74c8bcb86_1_4_0_visual_37" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan22_physics/Materials/material_Glass_Green_Mat>
+            }
+
+            over "oven_f4195df2a649011c1d6e4bd74c8bcb86_1_4_0_visual_38" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan22_physics/Materials/material_StoveDarkMat>
+            }
+
+            over "oven_f4195df2a649011c1d6e4bd74c8bcb86_1_4_0_visual_39" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan22_physics/Materials/material_BlackPlasticMat>
+            }
+        }
+
+        over "oven_f4195df2a649011c1d6e4bd74c8bcb86_1_5_0"
+        {
+            over "oven_f4195df2a649011c1d6e4bd74c8bcb86_1_5_0_visual_49" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan22_physics/Materials/material_BlackPlasticMat>
+            }
+        }
+
+        over "dishwasher_19d4d262538d7e668054835425bc92cc_1_1_0"
+        {
+            over "dishwasher_19d4d262538d7e668054835425bc92cc_1_1_0_visual_0" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan22_physics/Materials/material_HammeredMetal_AlbedoTransparency>
+            }
+
+            over "dishwasher_19d4d262538d7e668054835425bc92cc_1_1_0_visual_1" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan22_physics/Materials/material_Metal>
+            }
+        }
+
+        over "dishwasher_19d4d262538d7e668054835425bc92cc_1_2_0"
+        {
+            over "dishwasher_19d4d262538d7e668054835425bc92cc_1_2_0_visual_59" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan22_physics/Materials/material_HammeredMetal_AlbedoTransparency>
+            }
+
+            over "dishwasher_19d4d262538d7e668054835425bc92cc_1_2_0_visual_60" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan22_physics/Materials/material_Metal>
+            }
+        }
+
+        over "dishwasher_19d4d262538d7e668054835425bc92cc_1_3_0"
+        {
+            over "dishwasher_19d4d262538d7e668054835425bc92cc_1_3_0_visual_75" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan22_physics/Materials/material_HammeredMetal_AlbedoTransparency>
+            }
+        }
+
+        over "knob_0b26a4a4f0fe7f4763f9bb42e11eb541_1_1_0"
+        {
+            over "knob_0b26a4a4f0fe7f4763f9bb42e11eb541_1_1_0_visual_0" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan22_physics/Materials/material_HammeredMetal_Dark>
+            }
+
+            over "knob_0b26a4a4f0fe7f4763f9bb42e11eb541_1_1_0_visual_1" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan22_physics/Materials/material_OrangePlastic>
+            }
+        }
+
+        over "knob_c5e7a856b3a996252d0e7b5dda9b41c7_1_1_0"
+        {
+            over "knob_c5e7a856b3a996252d0e7b5dda9b41c7_1_1_0_visual_0" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan22_physics/Materials/material_HammeredMetal_Dark>
+            }
+
+            over "knob_c5e7a856b3a996252d0e7b5dda9b41c7_1_1_0_visual_1" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan22_physics/Materials/material_OrangePlastic>
+            }
+        }
+
+        over "knob_97a218e1ec25c3e0cfb83589f4beb519_1_1_0"
+        {
+            over "knob_97a218e1ec25c3e0cfb83589f4beb519_1_1_0_visual_0" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan22_physics/Materials/material_HammeredMetal_Dark>
+            }
+
+            over "knob_97a218e1ec25c3e0cfb83589f4beb519_1_1_0_visual_1" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan22_physics/Materials/material_OrangePlastic>
+            }
+        }
+
+        over "knob_e01f56551c5cf22a6c58dc9ad6951fc6_1_1_0"
+        {
+            over "knob_e01f56551c5cf22a6c58dc9ad6951fc6_1_1_0_visual_0" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan22_physics/Materials/material_HammeredMetal_Dark>
+            }
+
+            over "knob_e01f56551c5cf22a6c58dc9ad6951fc6_1_1_0_visual_1" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan22_physics/Materials/material_OrangePlastic>
+            }
+        }
+
+        over "drawer_fff93ab77d53b40acc4037eb80bc16a5_1_1_0"
+        {
+            over "drawer_fff93ab77d53b40acc4037eb80bc16a5_1_1_0_visual_0" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan22_physics/Materials/material_WhitePlasticScratched>
+            }
+
+            over "drawer_fff93ab77d53b40acc4037eb80bc16a5_1_1_0_visual_1" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan22_physics/Materials/material_CabinetWoodMat>
+            }
+        }
+
+        over "drawer_fff93ab77d53b40acc4037eb80bc16a5_1_2_0"
+        {
+            over "drawer_fff93ab77d53b40acc4037eb80bc16a5_1_2_0_visual_8" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan22_physics/Materials/material_Brass>
+            }
+
+            over "drawer_fff93ab77d53b40acc4037eb80bc16a5_1_2_0_visual_9" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan22_physics/Materials/material_Metal_chrome_mat>
+            }
+        }
+
+        over "drawer_4fb4e4e8cfeffb4ab67f3dfa17541c8a_1_1_0"
+        {
+            over "drawer_4fb4e4e8cfeffb4ab67f3dfa17541c8a_1_1_0_visual_0" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan22_physics/Materials/material_WhitePlasticScratched>
+            }
+
+            over "drawer_4fb4e4e8cfeffb4ab67f3dfa17541c8a_1_1_0_visual_1" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan22_physics/Materials/material_CabinetWoodMat>
+            }
+        }
+
+        over "drawer_4fb4e4e8cfeffb4ab67f3dfa17541c8a_1_2_0"
+        {
+            over "drawer_4fb4e4e8cfeffb4ab67f3dfa17541c8a_1_2_0_visual_8" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan22_physics/Materials/material_Brass>
+            }
+
+            over "drawer_4fb4e4e8cfeffb4ab67f3dfa17541c8a_1_2_0_visual_9" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan22_physics/Materials/material_Metal_chrome_mat>
+            }
+        }
+
+        over "drawer_e73ec4b0dda5b70feed71e78600f6c69_1_1_0"
+        {
+            over "drawer_e73ec4b0dda5b70feed71e78600f6c69_1_1_0_visual_0" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan22_physics/Materials/material_WhitePlasticScratched>
+            }
+
+            over "drawer_e73ec4b0dda5b70feed71e78600f6c69_1_1_0_visual_1" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan22_physics/Materials/material_CabinetWoodMat>
+            }
+        }
+
+        over "drawer_e73ec4b0dda5b70feed71e78600f6c69_1_2_0"
+        {
+            over "drawer_e73ec4b0dda5b70feed71e78600f6c69_1_2_0_visual_8" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan22_physics/Materials/material_Brass>
+            }
+
+            over "drawer_e73ec4b0dda5b70feed71e78600f6c69_1_2_0_visual_9" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan22_physics/Materials/material_Metal_chrome_mat>
+            }
+        }
+
+        over "cabinet_6260f329722d53a752f93e91a4ad1560_1_1_0"
+        {
+            over "cabinet_6260f329722d53a752f93e91a4ad1560_1_1_0_visual_0" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan22_physics/Materials/material_WhitePlasticScratched>
+            }
+
+            over "cabinet_6260f329722d53a752f93e91a4ad1560_1_1_0_visual_1" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan22_physics/Materials/material_LightWoodCabinets>
+            }
+        }
+
+        over "cabinet_6260f329722d53a752f93e91a4ad1560_1_2_0"
+        {
+            over "cabinet_6260f329722d53a752f93e91a4ad1560_1_2_0_visual_3" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan22_physics/Materials/material_Brass>
+            }
+
+            over "cabinet_6260f329722d53a752f93e91a4ad1560_1_2_0_visual_4" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan22_physics/Materials/material_Metal_chrome_mat>
+            }
+        }
+
+        over "cabinet_68cb588562b275e5a5d6f5b881a723ea_1_1_0"
+        {
+            over "cabinet_68cb588562b275e5a5d6f5b881a723ea_1_1_0_visual_0" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan22_physics/Materials/material_WhitePlasticScratched>
+            }
+
+            over "cabinet_68cb588562b275e5a5d6f5b881a723ea_1_1_0_visual_1" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan22_physics/Materials/material_LightWoodCabinets>
+            }
+        }
+
+        over "cabinet_68cb588562b275e5a5d6f5b881a723ea_1_2_0"
+        {
+            over "cabinet_68cb588562b275e5a5d6f5b881a723ea_1_2_0_visual_3" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan22_physics/Materials/material_Brass>
+            }
+
+            over "cabinet_68cb588562b275e5a5d6f5b881a723ea_1_2_0_visual_4" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan22_physics/Materials/material_Metal_chrome_mat>
+            }
+        }
+
+        over "cabinet_87cac077c59b5a3956acbdeb5c399f6e_1_1_0"
+        {
+            over "cabinet_87cac077c59b5a3956acbdeb5c399f6e_1_1_0_visual_0" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan22_physics/Materials/material_WhitePlasticScratched>
+            }
+
+            over "cabinet_87cac077c59b5a3956acbdeb5c399f6e_1_1_0_visual_1" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan22_physics/Materials/material_LightWoodCabinets>
+            }
+        }
+
+        over "cabinet_87cac077c59b5a3956acbdeb5c399f6e_1_2_0"
+        {
+            over "cabinet_87cac077c59b5a3956acbdeb5c399f6e_1_2_0_visual_3" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan22_physics/Materials/material_Brass>
+            }
+
+            over "cabinet_87cac077c59b5a3956acbdeb5c399f6e_1_2_0_visual_4" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan22_physics/Materials/material_Metal_chrome_mat>
+            }
+        }
+
+        over "cabinet_7b9038fb3749c4087f4119ef376280f7_1_1_0"
+        {
+            over "cabinet_7b9038fb3749c4087f4119ef376280f7_1_1_0_visual_0" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan22_physics/Materials/material_WhitePlasticScratched>
+            }
+
+            over "cabinet_7b9038fb3749c4087f4119ef376280f7_1_1_0_visual_1" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan22_physics/Materials/material_LightWoodCabinets>
+            }
+        }
+
+        over "cabinet_7b9038fb3749c4087f4119ef376280f7_1_2_0"
+        {
+            over "cabinet_7b9038fb3749c4087f4119ef376280f7_1_2_0_visual_3" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan22_physics/Materials/material_Brass>
+            }
+
+            over "cabinet_7b9038fb3749c4087f4119ef376280f7_1_2_0_visual_4" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan22_physics/Materials/material_Metal_chrome_mat>
+            }
+        }
+
+        over "cabinet_825e7a20c069f43097e9ed54a2a027b6_1_1_0"
+        {
+            over "cabinet_825e7a20c069f43097e9ed54a2a027b6_1_1_0_visual_0" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan22_physics/Materials/material_WhitePlasticScratched>
+            }
+
+            over "cabinet_825e7a20c069f43097e9ed54a2a027b6_1_1_0_visual_1" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan22_physics/Materials/material_LightWoodCabinets>
+            }
+        }
+
+        over "cabinet_825e7a20c069f43097e9ed54a2a027b6_1_2_0"
+        {
+            over "cabinet_825e7a20c069f43097e9ed54a2a027b6_1_2_0_visual_3" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan22_physics/Materials/material_Brass>
+            }
+
+            over "cabinet_825e7a20c069f43097e9ed54a2a027b6_1_2_0_visual_4" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan22_physics/Materials/material_Metal_chrome_mat>
+            }
+        }
+
+        over "cabinet_ba2ce5e05f1e26b79b6ba8c19595ef9e_1_1_0"
+        {
+            over "cabinet_ba2ce5e05f1e26b79b6ba8c19595ef9e_1_1_0_visual_0" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan22_physics/Materials/material_WhitePlasticScratched>
+            }
+
+            over "cabinet_ba2ce5e05f1e26b79b6ba8c19595ef9e_1_1_0_visual_1" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan22_physics/Materials/material_LightWoodCabinets>
+            }
+        }
+
+        over "cabinet_ba2ce5e05f1e26b79b6ba8c19595ef9e_1_2_0"
+        {
+            over "cabinet_ba2ce5e05f1e26b79b6ba8c19595ef9e_1_2_0_visual_3" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan22_physics/Materials/material_Brass>
+            }
+
+            over "cabinet_ba2ce5e05f1e26b79b6ba8c19595ef9e_1_2_0_visual_4" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan22_physics/Materials/material_Metal_chrome_mat>
+            }
+        }
+
+        over "cabinet_408032a6af423fa8732691ec8bb90bdc_1_1_0"
+        {
+            over "cabinet_408032a6af423fa8732691ec8bb90bdc_1_1_0_visual_0" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan22_physics/Materials/material_WhitePlasticScratched>
+            }
+
+            over "cabinet_408032a6af423fa8732691ec8bb90bdc_1_1_0_visual_1" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan22_physics/Materials/material_LightWoodCabinets>
+            }
+        }
+
+        over "cabinet_408032a6af423fa8732691ec8bb90bdc_1_2_0"
+        {
+            over "cabinet_408032a6af423fa8732691ec8bb90bdc_1_2_0_visual_3" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan22_physics/Materials/material_Brass>
+            }
+
+            over "cabinet_408032a6af423fa8732691ec8bb90bdc_1_2_0_visual_4" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan22_physics/Materials/material_Metal_chrome_mat>
+            }
+        }
+
+        over "cabinet_1f16b100426b64cff59a189d4ac361f2_1_1_0"
+        {
+            over "cabinet_1f16b100426b64cff59a189d4ac361f2_1_1_0_visual_0" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan22_physics/Materials/material_WhitePlasticScratched>
+            }
+
+            over "cabinet_1f16b100426b64cff59a189d4ac361f2_1_1_0_visual_1" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan22_physics/Materials/material_LightWoodCabinets>
+            }
+        }
+
+        over "cabinet_1f16b100426b64cff59a189d4ac361f2_1_2_0"
+        {
+            over "cabinet_1f16b100426b64cff59a189d4ac361f2_1_2_0_visual_3" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan22_physics/Materials/material_Brass>
+            }
+
+            over "cabinet_1f16b100426b64cff59a189d4ac361f2_1_2_0_visual_4" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan22_physics/Materials/material_Metal_chrome_mat>
+            }
+        }
+
+        over "cabinet_a4d8c3aa92c6d1cc096b10ece75e9a0b_1_1_0"
+        {
+            over "cabinet_a4d8c3aa92c6d1cc096b10ece75e9a0b_1_1_0_visual_0" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan22_physics/Materials/material_WhitePlasticScratched>
+            }
+
+            over "cabinet_a4d8c3aa92c6d1cc096b10ece75e9a0b_1_1_0_visual_1" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan22_physics/Materials/material_LightWoodCabinets>
+            }
+        }
+
+        over "cabinet_a4d8c3aa92c6d1cc096b10ece75e9a0b_1_2_0"
+        {
+            over "cabinet_a4d8c3aa92c6d1cc096b10ece75e9a0b_1_2_0_visual_3" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan22_physics/Materials/material_Brass>
+            }
+
+            over "cabinet_a4d8c3aa92c6d1cc096b10ece75e9a0b_1_2_0_visual_4" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan22_physics/Materials/material_Metal_chrome_mat>
+            }
+        }
+
+        over "cabinet_6d3447cf6d636905cdfc330c0ad42172_1_1_0"
+        {
+            over "cabinet_6d3447cf6d636905cdfc330c0ad42172_1_1_0_visual_0" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan22_physics/Materials/material_WhitePlasticScratched>
+            }
+
+            over "cabinet_6d3447cf6d636905cdfc330c0ad42172_1_1_0_visual_1" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan22_physics/Materials/material_LightWoodCabinets>
+            }
+        }
+
+        over "cabinet_6d3447cf6d636905cdfc330c0ad42172_1_2_0"
+        {
+            over "cabinet_6d3447cf6d636905cdfc330c0ad42172_1_2_0_visual_3" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan22_physics/Materials/material_Brass>
+            }
+
+            over "cabinet_6d3447cf6d636905cdfc330c0ad42172_1_2_0_visual_4" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan22_physics/Materials/material_Metal_chrome_mat>
+            }
+        }
+
+        over "cabinet_a69a7df918b57e775abc2f81535bc01d_1_1_0"
+        {
+            over "cabinet_a69a7df918b57e775abc2f81535bc01d_1_1_0_visual_0" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan22_physics/Materials/material_WhitePlasticScratched>
+            }
+
+            over "cabinet_a69a7df918b57e775abc2f81535bc01d_1_1_0_visual_1" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan22_physics/Materials/material_LightWoodCabinets>
+            }
+        }
+
+        over "cabinet_a69a7df918b57e775abc2f81535bc01d_1_2_0"
+        {
+            over "cabinet_a69a7df918b57e775abc2f81535bc01d_1_2_0_visual_3" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan22_physics/Materials/material_Brass>
+            }
+
+            over "cabinet_a69a7df918b57e775abc2f81535bc01d_1_2_0_visual_4" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan22_physics/Materials/material_Metal_chrome_mat>
+            }
+        }
+
+        over "cabinet_dddbfe754b1f9a61867acf0fa45e4440_1_1_0"
+        {
+            over "cabinet_dddbfe754b1f9a61867acf0fa45e4440_1_1_0_visual_0" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan22_physics/Materials/material_WhitePlasticScratched>
+            }
+
+            over "cabinet_dddbfe754b1f9a61867acf0fa45e4440_1_1_0_visual_1" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan22_physics/Materials/material_LightWoodCabinets>
+            }
+        }
+
+        over "cabinet_dddbfe754b1f9a61867acf0fa45e4440_1_2_0"
+        {
+            over "cabinet_dddbfe754b1f9a61867acf0fa45e4440_1_2_0_visual_3" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan22_physics/Materials/material_Brass>
+            }
+
+            over "cabinet_dddbfe754b1f9a61867acf0fa45e4440_1_2_0_visual_4" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan22_physics/Materials/material_Metal_chrome_mat>
+            }
+        }
+
+        over "cabinet_fbd5992a736f74b18289a8948b2dd78d_1_1_0"
+        {
+            over "cabinet_fbd5992a736f74b18289a8948b2dd78d_1_1_0_visual_0" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan22_physics/Materials/material_WhitePlasticScratched>
+            }
+
+            over "cabinet_fbd5992a736f74b18289a8948b2dd78d_1_1_0_visual_1" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan22_physics/Materials/material_LightWoodCabinets>
+            }
+        }
+
+        over "cabinet_fbd5992a736f74b18289a8948b2dd78d_1_2_0"
+        {
+            over "cabinet_fbd5992a736f74b18289a8948b2dd78d_1_2_0_visual_3" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan22_physics/Materials/material_Brass>
+            }
+
+            over "cabinet_fbd5992a736f74b18289a8948b2dd78d_1_2_0_visual_4" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan22_physics/Materials/material_Metal_chrome_mat>
+            }
+        }
+
+        over "cabinet_38e9e74372b696870d033c23ba797005_1_1_0"
+        {
+            over "cabinet_38e9e74372b696870d033c23ba797005_1_1_0_visual_0" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan22_physics/Materials/material_WhitePlasticScratched>
+            }
+
+            over "cabinet_38e9e74372b696870d033c23ba797005_1_1_0_visual_1" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan22_physics/Materials/material_LightWoodCabinets>
+            }
+        }
+
+        over "cabinet_38e9e74372b696870d033c23ba797005_1_2_0"
+        {
+            over "cabinet_38e9e74372b696870d033c23ba797005_1_2_0_visual_3" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan22_physics/Materials/material_Brass>
+            }
+
+            over "cabinet_38e9e74372b696870d033c23ba797005_1_2_0_visual_4" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan22_physics/Materials/material_Metal_chrome_mat>
+            }
+        }
+
+        over "cabinet_b1bb561892a55855a13802df022aafe9_1_1_0"
+        {
+            over "cabinet_b1bb561892a55855a13802df022aafe9_1_1_0_visual_0" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan22_physics/Materials/material_WhitePlasticScratched>
+            }
+
+            over "cabinet_b1bb561892a55855a13802df022aafe9_1_1_0_visual_1" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan22_physics/Materials/material_LightWoodCabinets>
+            }
+        }
+
+        over "cabinet_b1bb561892a55855a13802df022aafe9_1_2_0"
+        {
+            over "cabinet_b1bb561892a55855a13802df022aafe9_1_2_0_visual_3" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan22_physics/Materials/material_Brass>
+            }
+
+            over "cabinet_b1bb561892a55855a13802df022aafe9_1_2_0_visual_4" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan22_physics/Materials/material_Metal_chrome_mat>
+            }
+        }
+
+        over "cabinet_bc6e0a290f6ba5aa160394c3312fa6f0_1_1_0"
+        {
+            over "cabinet_bc6e0a290f6ba5aa160394c3312fa6f0_1_1_0_visual_0" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan22_physics/Materials/material_WhitePlasticScratched>
+            }
+
+            over "cabinet_bc6e0a290f6ba5aa160394c3312fa6f0_1_1_0_visual_1" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan22_physics/Materials/material_LightWoodCabinets>
+            }
+        }
+
+        over "cabinet_bc6e0a290f6ba5aa160394c3312fa6f0_1_2_0"
+        {
+            over "cabinet_bc6e0a290f6ba5aa160394c3312fa6f0_1_2_0_visual_3" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan22_physics/Materials/material_Brass>
+            }
+
+            over "cabinet_bc6e0a290f6ba5aa160394c3312fa6f0_1_2_0_visual_4" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan22_physics/Materials/material_Metal_chrome_mat>
+            }
+        }
+
+        over "cabinet_b9ce7ac41a6d90b2b0cd22067d5c0900_1_1_0"
+        {
+            over "cabinet_b9ce7ac41a6d90b2b0cd22067d5c0900_1_1_0_visual_0" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan22_physics/Materials/material_WhitePlasticScratched>
+            }
+
+            over "cabinet_b9ce7ac41a6d90b2b0cd22067d5c0900_1_1_0_visual_1" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan22_physics/Materials/material_LightWoodCabinets>
+            }
+        }
+
+        over "cabinet_b9ce7ac41a6d90b2b0cd22067d5c0900_1_2_0"
+        {
+            over "cabinet_b9ce7ac41a6d90b2b0cd22067d5c0900_1_2_0_visual_3" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan22_physics/Materials/material_Brass>
+            }
+
+            over "cabinet_b9ce7ac41a6d90b2b0cd22067d5c0900_1_2_0_visual_4" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan22_physics/Materials/material_Metal_chrome_mat>
+            }
+        }
+
+        over "cabinet_1976033ccb2ac1a5bec10b6da4740d6f_1_1_0"
+        {
+            over "cabinet_1976033ccb2ac1a5bec10b6da4740d6f_1_1_0_visual_0" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan22_physics/Materials/material_WhitePlasticScratched>
+            }
+
+            over "cabinet_1976033ccb2ac1a5bec10b6da4740d6f_1_1_0_visual_1" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan22_physics/Materials/material_LightWoodCabinets>
+            }
+        }
+
+        over "cabinet_1976033ccb2ac1a5bec10b6da4740d6f_1_2_0"
+        {
+            over "cabinet_1976033ccb2ac1a5bec10b6da4740d6f_1_2_0_visual_3" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan22_physics/Materials/material_Brass>
+            }
+
+            over "cabinet_1976033ccb2ac1a5bec10b6da4740d6f_1_2_0_visual_4" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan22_physics/Materials/material_Metal_chrome_mat>
+            }
+        }
+
+        over "cabinet_7f907eaa77f20d576319721d5f8c026f_1_1_0"
+        {
+            over "cabinet_7f907eaa77f20d576319721d5f8c026f_1_1_0_visual_0" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan22_physics/Materials/material_WhitePlasticScratched>
+            }
+
+            over "cabinet_7f907eaa77f20d576319721d5f8c026f_1_1_0_visual_1" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan22_physics/Materials/material_LightWoodCabinets>
+            }
+        }
+
+        over "cabinet_7f907eaa77f20d576319721d5f8c026f_1_2_0"
+        {
+            over "cabinet_7f907eaa77f20d576319721d5f8c026f_1_2_0_visual_3" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan22_physics/Materials/material_Brass>
+            }
+
+            over "cabinet_7f907eaa77f20d576319721d5f8c026f_1_2_0_visual_4" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan22_physics/Materials/material_Metal_chrome_mat>
+            }
+        }
+
+        over "cabinet_a52fd0af9ec14f947798219abcb3945f_1_1_0"
+        {
+            over "cabinet_a52fd0af9ec14f947798219abcb3945f_1_1_0_visual_0" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan22_physics/Materials/material_WhitePlasticScratched>
+            }
+
+            over "cabinet_a52fd0af9ec14f947798219abcb3945f_1_1_0_visual_1" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan22_physics/Materials/material_LightWoodCabinets>
+            }
+        }
+
+        over "cabinet_a52fd0af9ec14f947798219abcb3945f_1_2_0"
+        {
+            over "cabinet_a52fd0af9ec14f947798219abcb3945f_1_2_0_visual_3" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan22_physics/Materials/material_Brass>
+            }
+
+            over "cabinet_a52fd0af9ec14f947798219abcb3945f_1_2_0_visual_4" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan22_physics/Materials/material_Metal_chrome_mat>
+            }
+        }
+
+        over "mesh_a8f11ca580f490912ed1020ca7c7ce1d_1_1_0"
+        {
+            over "mesh_a8f11ca580f490912ed1020ca7c7ce1d_1_1_0_visual_0" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan22_physics/Materials/material_CeramicTiles3>
+            }
+        }
+
+        over "window_09731983c7c6cc5503e62c1d5a60825a_1_1_0"
+        {
+            over "window_09731983c7c6cc5503e62c1d5a60825a_1_1_0_visual_0" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan22_physics/Materials/material_WhiteWoodClean>
+            }
+        }
+
+        over "window_09731983c7c6cc5503e62c1d5a60825a_1_2_0"
+        {
+            over "window_09731983c7c6cc5503e62c1d5a60825a_1_2_0_visual_4" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan22_physics/Materials/material_Glass_Detailed_Lit_High_Mat>
+            }
+        }
+
+        over "sinkmesh_3cfba78d4e8474f7c910b62ee6766892_1_1_0"
+        {
+            over "sinkmesh_3cfba78d4e8474f7c910b62ee6766892_1_1_0_visual_0" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan22_physics/Materials/material_BrushedAluminum_AlbedoTransparency>
+            }
+        }
+
+        over "tap_84aa4b595d3c6cd7593815d5c15fe418_1_1_0"
+        {
+            over "tap_84aa4b595d3c6cd7593815d5c15fe418_1_1_0_visual_0" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan22_physics/Materials/material_HammeredMetal_AlbedoTransparency>
+            }
+        }
+
+        over "tap_84aa4b595d3c6cd7593815d5c15fe418_1_2_0"
+        {
+            over "tap_84aa4b595d3c6cd7593815d5c15fe418_1_2_0_visual_1" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan22_physics/Materials/material_HammeredMetal_AlbedoTransparency>
+            }
+        }
+
+        over "faucet_f5dd64c015fd92e7b07b065003f816f4_1_1_0"
+        {
+            over "faucet_f5dd64c015fd92e7b07b065003f816f4_1_1_0_visual_0" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan22_physics/Materials/material_HammeredMetal_AlbedoTransparency>
+            }
+        }
+
+        over "faucet_f5dd64c015fd92e7b07b065003f816f4_1_2_0"
+        {
+            over "faucet_f5dd64c015fd92e7b07b065003f816f4_1_2_0_visual_1" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan22_physics/Materials/material_HammeredMetal_AlbedoTransparency>
+            }
+        }
+
+        over "sink_d63bf77f1d2052e1f3922dce0676eb7d_1_1_0"
+        {
+            over "sink_d63bf77f1d2052e1f3922dce0676eb7d_1_1_0_visual_0" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan22_physics/Materials/material_BrushedAluminum_AlbedoTransparency>
+            }
+        }
+
+        over "stovetopmesh_04e2c0feb4287f397927255bac469ce7_1_1_0"
+        {
+            over "stovetopmesh_04e2c0feb4287f397927255bac469ce7_1_1_0_visual_0" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan22_physics/Materials/material_HammeredMetal_AlbedoTransparency>
+            }
+        }
+
+        over "stovetopmesh_1c9603dcfc3eb093c1bc3e4df56de763_1_1_0"
+        {
+            over "stovetopmesh_1c9603dcfc3eb093c1bc3e4df56de763_1_1_0_visual_0" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan22_physics/Materials/material_HammeredMetal_AlbedoTransparency>
+            }
+        }
+
+        over "stovetopmesh_232a78a9e5bfd9348f4eff3e1a72bf06_1_1_0"
+        {
+            over "stovetopmesh_232a78a9e5bfd9348f4eff3e1a72bf06_1_1_0_visual_0" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan22_physics/Materials/material_HammeredMetal_AlbedoTransparency>
+            }
+        }
+
+        over "stovetopmesh_f17cd6b6609a9417fd505686a9eabf12_1_1_0"
+        {
+            over "stovetopmesh_f17cd6b6609a9417fd505686a9eabf12_1_1_0_visual_0" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan22_physics/Materials/material_HammeredMetal_AlbedoTransparency>
+            }
+        }
+
+        over "window_80b71925cd9fc18e1b7e30afee7a89fd_1_1_0"
+        {
+            over "window_80b71925cd9fc18e1b7e30afee7a89fd_1_1_0_visual_0" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan22_physics/Materials/material_Glass_Detailed_Lit_High_Mat>
+            }
+        }
+
+        over "window_80b71925cd9fc18e1b7e30afee7a89fd_1_2_0"
+        {
+            over "window_80b71925cd9fc18e1b7e30afee7a89fd_1_2_0_visual_2" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan22_physics/Materials/material_WhiteWoodClean>
+            }
+        }
+
+        over "floor_c36bfcdb6c7a731be495dbab055dd12b_1_1_0"
+        {
+            over "floor_c36bfcdb6c7a731be495dbab055dd12b_1_1_0_visual_0" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan22_physics/Materials/material_CeramicTiles3>
+            }
+        }
+
+        over "decorativepanel_679bf4d5c325b73b86e091aed020485a_1_1_0"
+        {
+            over "decorativepanel_679bf4d5c325b73b86e091aed020485a_1_1_0_visual_0" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan22_physics/Materials/material_WhitePlasticScratched>
+            }
+
+            over "decorativepanel_679bf4d5c325b73b86e091aed020485a_1_1_0_visual_1" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan22_physics/Materials/material_CabinetWoodMat>
+            }
+        }
+
+        over "decorativepanel_648140850c663d379c7fbf89ba1ce5c8_1_1_0"
+        {
+            over "decorativepanel_648140850c663d379c7fbf89ba1ce5c8_1_1_0_visual_0" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan22_physics/Materials/material_WhitePlasticScratched>
+            }
+
+            over "decorativepanel_648140850c663d379c7fbf89ba1ce5c8_1_1_0_visual_1" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan22_physics/Materials/material_CabinetWoodMat>
+            }
+        }
+
+        over "standardcounterheightwidth_4eb55ef23a163f832c3c5f9c33116524_1_1_0"
+        {
+            over "standardcounterheightwidth_4eb55ef23a163f832c3c5f9c33116524_1_1_0_visual_0" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan22_physics/Materials/material_LightWoodCabinets>
+            }
+
+            over "standardcounterheightwidth_4eb55ef23a163f832c3c5f9c33116524_1_1_0_visual_1" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan22_physics/Materials/material_LightWoodCounters2>
+            }
+
+            over "standardcounterheightwidth_4eb55ef23a163f832c3c5f9c33116524_1_1_0_visual_2" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan22_physics/Materials/material_WhitePlasticScratched>
+            }
+        }
+
+        over "ceiling_42ce780d1a341b667a8ee7be44149bea_1_1_0"
+        {
+            over "ceiling_42ce780d1a341b667a8ee7be44149bea_1_1_0_visual_0" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan22_physics/Materials/material_DrywallEggshellTiled>
+            }
+        }
+
+        over "standardknob1_e8c95c42879b460a83d08267d348c237_1_1_0"
+        {
+            over "standardknob1_e8c95c42879b460a83d08267d348c237_1_1_0_visual_0" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan22_physics/Materials/material_Brass_Mat>
+            }
+        }
+
+        over "standarddoorframe1_ee471da9f99c84559f7c1180f4ef974e_1_1_0"
+        {
+            over "standarddoorframe1_ee471da9f99c84559f7c1180f4ef974e_1_1_0_visual_0" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan22_physics/Materials/material_LightWoodCabinets>
+            }
+        }
+
+        over "standarddoor1_53b44dd6da4b6068cc61c350519ce9ca_1_1_0"
+        {
+            over "standarddoor1_53b44dd6da4b6068cc61c350519ce9ca_1_1_0_visual_0" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan22_physics/Materials/material_GreyFloor>
+            }
+        }
+
+        over "standardislandheight2_970e011db81b32a930db5eead8f3470f_1_1_0"
+        {
+            over "standardislandheight2_970e011db81b32a930db5eead8f3470f_1_1_0_visual_0" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan22_physics/Materials/material_LightWoodCounters>
+            }
+
+            over "standardislandheight2_970e011db81b32a930db5eead8f3470f_1_1_0_visual_1" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan22_physics/Materials/material_WhitePlasticScratched>
+            }
+        }
+
+        over "standarduppercabinetheightwidth_c509a6f8039b8ce760ce6112f588a61a_1_1_0"
+        {
+            over "standarduppercabinetheightwidth_c509a6f8039b8ce760ce6112f588a61a_1_1_0_visual_0" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan22_physics/Materials/material_LightWoodCabinets>
+            }
+
+            over "standarduppercabinetheightwidth_c509a6f8039b8ce760ce6112f588a61a_1_1_0_visual_1" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan22_physics/Materials/material_LightWoodCounters>
+            }
+        }
+
+        over "standarduppercabinetwindow_9a2dda7c8e944d6ad29c78215b974465_1_1_0"
+        {
+            over "standarduppercabinetwindow_9a2dda7c8e944d6ad29c78215b974465_1_1_0_visual_0" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan22_physics/Materials/material_LightWoodCabinets>
+            }
+
+            over "standarduppercabinetwindow_9a2dda7c8e944d6ad29c78215b974465_1_1_0_visual_1" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan22_physics/Materials/material_LightWoodCounters2>
+            }
+        }
+
+        over "standardwallsize_9da5aab895b4cdf514ff0ef0d2f9e433_1_1_0"
+        {
+            over "standardwallsize_9da5aab895b4cdf514ff0ef0d2f9e433_1_1_0_visual_0" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan22_physics/Materials/material_Drywall>
+            }
+        }
+
+        over "standardwalltileheight1_6f2a914f05934c4ab4b5ea928a56336c_1_1_0"
+        {
+            over "standardwalltileheight1_6f2a914f05934c4ab4b5ea928a56336c_1_1_0_visual_0" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan22_physics/Materials/material_WhitePlasticScratched>
+            }
+        }
+
+        over "lightfixture5_2a6bd430bd47e92baf7c7a6b5176ab20_1_1_0"
+        {
+            over "lightfixture5_2a6bd430bd47e92baf7c7a6b5176ab20_1_1_0_visual_0" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan22_physics/Materials/material_Light2>
+            }
+
+            over "lightfixture5_2a6bd430bd47e92baf7c7a6b5176ab20_1_1_0_visual_1" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan22_physics/Materials/material_MicrowaveMetalMat>
+            }
+        }
+    }
+}
+

scenes/ithor/FloorPlan22_physics/Payload/MaterialsLibrary.usda

@@ -0,0 +1,644 @@
+#usda 1.0
+(
+    "Material library for house FloorPlan22_physics"
+    customLayerData = {
+        string creator = """AI2-THOR mjcf-usd scene converter
+    time: 01-20-26 16:35:06
+    scene: FloorPlan22_physics
+    usd-exchange-version: 2.2.0
+"""
+    }
+    defaultPrim = "Materials"
+    kilogramsPerUnit = 1
+    metersPerUnit = 1
+    upAxis = "Z"
+)
+
+class Scope "Materials"
+{
+    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_StoveDarkMat"
+    {
+        token outputs:displacement.connect = </Materials/material_StoveDarkMat/PreviewSurface.outputs:displacement>
+        token outputs:surface.connect = </Materials/material_StoveDarkMat/PreviewSurface.outputs:surface>
+
+        def Shader "PreviewSurface"
+        {
+            uniform token info:id = "UsdPreviewSurface"
+            color3f inputs:diffuseColor = (0.125, 0.125, 0.125)
+            float inputs:metallic = 0
+            float inputs:opacity = 1
+            float inputs:roughness = 0.5
+            token outputs:displacement
+            token outputs:surface
+        }
+    }
+
+    def Material "material_Glass_Green_Mat"
+    {
+        token outputs:displacement.connect = </Materials/material_Glass_Green_Mat/PreviewSurface.outputs:displacement>
+        token outputs:surface.connect = </Materials/material_Glass_Green_Mat/PreviewSurface.outputs:surface>
+
+        def Shader "PreviewSurface"
+        {
+            uniform token info:id = "UsdPreviewSurface"
+            color3f inputs:diffuseColor = (0.170307, 0.257353, 0.178111)
+            float inputs:metallic = 0
+            float inputs:opacity = 1
+            float inputs:roughness = 0.5
+            token outputs:displacement
+            token outputs:surface
+        }
+    }
+
+    def Material "material_BlackPlasticMat"
+    {
+        token outputs:displacement.connect = </Materials/material_BlackPlasticMat/PreviewSurface.outputs:displacement>
+        token outputs:surface.connect = </Materials/material_BlackPlasticMat/PreviewSurface.outputs:surface>
+
+        def Shader "PreviewSurface"
+        {
+            uniform token info:id = "UsdPreviewSurface"
+            color3f inputs:diffuseColor = (0.0727848, 0.0727848, 0.0727848)
+            float inputs:metallic = 0
+            float inputs:opacity = 1
+            float inputs:roughness = 0.5
+            token outputs:displacement
+            token outputs:surface
+        }
+    }
+
+    def Material "material_Metal"
+    {
+        token outputs:displacement.connect = </Materials/material_Metal/PreviewSurface.outputs:displacement>
+        token outputs:surface.connect = </Materials/material_Metal/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_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_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_CabinetWoodMat"
+    {
+        token outputs:displacement.connect = </Materials/material_CabinetWoodMat/PreviewSurface.outputs:displacement>
+        token outputs:surface.connect = </Materials/material_CabinetWoodMat/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
+        }
+    }
+
+    def Material "material_Brass"
+    {
+        token outputs:displacement.connect = </Materials/material_Brass/PreviewSurface.outputs:displacement>
+        token outputs:surface.connect = </Materials/material_Brass/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_LightWoodCabinets"
+    {
+        token outputs:displacement.connect = </Materials/material_LightWoodCabinets/PreviewSurface.outputs:displacement>
+        token outputs:surface.connect = </Materials/material_LightWoodCabinets/PreviewSurface.outputs:surface>
+
+        def Shader "PreviewSurface"
+        {
+            uniform token info:id = "UsdPreviewSurface"
+            color3f inputs:diffuseColor.connect = </Materials/material_LightWoodCabinets/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 = (0.745283, 0.465802, 0.186321, 1)
+            asset inputs:file = @./Textures/LightWoodCounters.png@
+            float4 inputs:scale = (0.745283, 0.465802, 0.186321, 1)
+            token inputs:sourceColorSpace = "auto"
+            float2 inputs:st.connect = </Materials/material_LightWoodCabinets/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_CeramicTiles3"
+    {
+        token outputs:displacement.connect = </Materials/material_CeramicTiles3/PreviewSurface.outputs:displacement>
+        token outputs:surface.connect = </Materials/material_CeramicTiles3/PreviewSurface.outputs:surface>
+
+        def Shader "PreviewSurface"
+        {
+            uniform token info:id = "UsdPreviewSurface"
+            color3f inputs:diffuseColor.connect = </Materials/material_CeramicTiles3/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, 0.901961, 0.852941, 1)
+            asset inputs:file = @./Textures/bathroomTilesTanSMALLPATTERN.png@
+            float4 inputs:scale = (1, 0.901961, 0.852941, 1)
+            token inputs:sourceColorSpace = "auto"
+            float2 inputs:st.connect = </Materials/material_CeramicTiles3/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_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_BrushedAluminum_AlbedoTransparency"
+    {
+        token outputs:displacement.connect = </Materials/material_BrushedAluminum_AlbedoTransparency/PreviewSurface.outputs:displacement>
+        token outputs:surface.connect = </Materials/material_BrushedAluminum_AlbedoTransparency/PreviewSurface.outputs:surface>
+
+        def Shader "PreviewSurface"
+        {
+            uniform token info:id = "UsdPreviewSurface"
+            color3f inputs:diffuseColor.connect = </Materials/material_BrushedAluminum_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/BrushedAluminum_AlbedoTransparency.png@
+            float4 inputs:scale = (1, 1, 1, 1)
+            token inputs:sourceColorSpace = "auto"
+            float2 inputs:st.connect = </Materials/material_BrushedAluminum_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_LightWoodCounters2"
+    {
+        token outputs:displacement.connect = </Materials/material_LightWoodCounters2/PreviewSurface.outputs:displacement>
+        token outputs:surface.connect = </Materials/material_LightWoodCounters2/PreviewSurface.outputs:surface>
+
+        def Shader "PreviewSurface"
+        {
+            uniform token info:id = "UsdPreviewSurface"
+            color3f inputs:diffuseColor.connect = </Materials/material_LightWoodCounters2/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 = (0.764151, 0.517355, 0.299172, 1)
+            asset inputs:file = @./Textures/LightWoodCounters.png@
+            float4 inputs:scale = (0.764151, 0.517355, 0.299172, 1)
+            token inputs:sourceColorSpace = "auto"
+            float2 inputs:st.connect = </Materials/material_LightWoodCounters2/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_DrywallEggshellTiled"
+    {
+        token outputs:displacement.connect = </Materials/material_DrywallEggshellTiled/PreviewSurface.outputs:displacement>
+        token outputs:surface.connect = </Materials/material_DrywallEggshellTiled/PreviewSurface.outputs:surface>
+
+        def Shader "PreviewSurface"
+        {
+            uniform token info:id = "UsdPreviewSurface"
+            color3f inputs:diffuseColor.connect = </Materials/material_DrywallEggshellTiled/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 = (0.92549, 0.878431, 0.776471, 1)
+            asset inputs:file = @./Textures/WallDrywallWhite.png@
+            float4 inputs:scale = (0.92549, 0.878431, 0.776471, 1)
+            token inputs:sourceColorSpace = "auto"
+            float2 inputs:st.connect = </Materials/material_DrywallEggshellTiled/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_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_LightWoodCounters"
+    {
+        token outputs:displacement.connect = </Materials/material_LightWoodCounters/PreviewSurface.outputs:displacement>
+        token outputs:surface.connect = </Materials/material_LightWoodCounters/PreviewSurface.outputs:surface>
+
+        def Shader "PreviewSurface"
+        {
+            uniform token info:id = "UsdPreviewSurface"
+            color3f inputs:diffuseColor.connect = </Materials/material_LightWoodCounters/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 = (0.915094, 0.691002, 0.384167, 1)
+            asset inputs:file = @./Textures/LightWoodCounters.png@
+            float4 inputs:scale = (0.915094, 0.691002, 0.384167, 1)
+            token inputs:sourceColorSpace = "auto"
+            float2 inputs:st.connect = </Materials/material_LightWoodCounters/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_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_MicrowaveMetalMat"
+    {
+        token outputs:displacement.connect = </Materials/material_MicrowaveMetalMat/PreviewSurface.outputs:displacement>
+        token outputs:surface.connect = </Materials/material_MicrowaveMetalMat/PreviewSurface.outputs:surface>
+
+        def Shader "PreviewSurface"
+        {
+            uniform token info:id = "UsdPreviewSurface"
+            color3f inputs:diffuseColor.connect = </Materials/material_MicrowaveMetalMat/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/BrushedIron_AlbedoTransparency.png@
+            float4 inputs:scale = (1, 1, 1, 1)
+            token inputs:sourceColorSpace = "auto"
+            float2 inputs:st.connect = </Materials/material_MicrowaveMetalMat/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/FloorPlan22_physics/scene.preprocessed.json

@@ -0,0 +1,25 @@
+{
+  "source": "E:/EAI/molmo_isaac_data/isaac/scenes/ithor/FloorPlan22_physics/scene.usda",
+  "preprocessor_version": "2.1",
+  "timestamp": "2026-07-09T07:54:53.780483+00:00",
+  "offset": [
+    -0.2,
+    1.38,
+    0.0
+  ],
+  "yaw_deg": 180.0,
+  "floor_z": -0.09999,
+  "ceiling_z": 2.925,
+  "prims_deactivated": 8,
+  "prims_deactivated_paths": [
+    "/FloorPlan22_physics/Geometry/standardislandheight2_970e011db81b32a930db5eead8f3470f_1_1_0",
+    "/FloorPlan22_physics/Geometry/stool_405b491fbc2c8a8c402d1f3607ae9cd6_2_0_0",
+    "/FloorPlan22_physics/Geometry/knife_79fd11da07e86802ec5235db6beee9a8_1_0_0",
+    "/FloorPlan22_physics/Geometry/apple_1184bcea45a878476443040fbba5b76d_1_0_0",
+    "/FloorPlan22_physics/Geometry/egg_42ba097bdb4a3b55fe0b3765a6f91265_1_0_0",
+    "/FloorPlan22_physics/Geometry/tomato_394b22755d3368fb51669bf48bdfea21_1_0_0",
+    "/FloorPlan22_physics/Geometry/coffeemaker_4688a6db7bb5e700403d7617775f644d_1_0_0",
+    "/FloorPlan22_physics/Geometry/pot_1a8192cc36d7f012eb9ce9d23a43d3fc_1_0_0"
+  ],
+  "physics_preserved": true
+}

scenes/ithor/FloorPlan22_physics/scene.usda

@@ -0,0 +1,217 @@
+#usda 1.0
+(
+    customLayerData = {
+        string creator = """AI2-THOR mjcf-usd scene converter
+    time: 01-20-26 16:35:06
+    scene: FloorPlan22_physics
+    usd-exchange-version: 2.2.0
+"""
+    }
+    defaultPrim = "FloorPlan22_physics"
+    kilogramsPerUnit = 1
+    metersPerUnit = 1
+    upAxis = "Z"
+)
+
+def Xform "FloorPlan22_physics" (
+    prepend apiSchemas = ["GeomModelAPI"]
+    assetInfo = {
+        string name = "FloorPlan22_physics"
+    }
+    kind = "component"
+    prepend payload = @./Payload/Contents.usda@
+)
+{
+    float3[] extentsHint = [(-3.5, -2, -0.09999), (2.49999, 3.5, 2.925), (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, -0.03294399), (10, 10, 2.9255958)]
+
+    over "Geometry"
+    {
+        over "cookingpan_9b7aa3f49c622e49268796989f129db6_1_0_0" (
+            kind = "subcomponent"
+        )
+        {
+        }
+
+        over "bowl_e716805018f888415eb79b3dd4e840f9_1_0_0" (
+            kind = "subcomponent"
+        )
+        {
+        }
+
+        over "plate_b137b580936425a0757a2df506ec58fb_1_0_0" (
+            kind = "subcomponent"
+        )
+        {
+        }
+
+        over "refrigerator_6bea556acc89d9b5636431e1f99d95b5_1_0_0" (
+            kind = "subcomponent"
+        )
+        {
+        }
+
+        over "trashcan_baf7d953b155e8e1950001df9ac691e1_1_0_0" (
+            kind = "subcomponent"
+        )
+        {
+        }
+
+        over "apple_1184bcea45a878476443040fbba5b76d_1_0_0" (
+            active = false
+            kind = "subcomponent"
+        )
+        {
+        }
+
+        over "toaster_15e28f1484a92f2aab62e5a8ef913f80_1_0_0" (
+            kind = "subcomponent"
+        )
+        {
+        }
+
+        over "mug_8caf1bb3f88e9a00e02dfe9e6518aeb0_1_0_0" (
+            kind = "subcomponent"
+        )
+        {
+        }
+
+        over "bread_5cbc81a78d3afade3018beae101c907d_1_0_0" (
+            kind = "subcomponent"
+        )
+        {
+        }
+
+        over "saltshaker_fae1c48e1d061403dc3bc39cef9e979a_1_0_0" (
+            kind = "subcomponent"
+        )
+        {
+        }
+
+        over "peppershaker_d3a7b2ab4bd62388f7ea7dd2ef7c1fdc_1_0_0" (
+            kind = "subcomponent"
+        )
+        {
+        }
+
+        over "lettuce_78266f6bc320cc73d50a37e54430a582_1_0_0" (
+            kind = "subcomponent"
+        )
+        {
+        }
+
+        over "coffeemaker_4688a6db7bb5e700403d7617775f644d_1_0_0" (
+            active = false
+            kind = "subcomponent"
+        )
+        {
+        }
+
+        over "tomato_394b22755d3368fb51669bf48bdfea21_1_0_0" (
+            active = false
+            kind = "subcomponent"
+        )
+        {
+        }
+
+        over "soapdispenser_92169e2640439bd67fb105701482b508_1_0_0" (
+            kind = "subcomponent"
+        )
+        {
+        }
+
+        over "knife_79fd11da07e86802ec5235db6beee9a8_1_0_0" (
+            active = false
+            kind = "subcomponent"
+        )
+        {
+        }
+
+        over "egg_42ba097bdb4a3b55fe0b3765a6f91265_1_0_0" (
+            active = false
+            kind = "subcomponent"
+        )
+        {
+        }
+
+        over "cup_10a41d8e2f259cb0d60e0069b1683f0a_1_0_0" (
+            kind = "subcomponent"
+        )
+        {
+        }
+
+        over "spatula_291e31b285474249721c8a7b1bac877a_1_0_0" (
+            kind = "subcomponent"
+        )
+        {
+        }
+
+        over "fork_a17d780ca6a79038b069eb7768c962c4_1_0_0" (
+            kind = "subcomponent"
+        )
+        {
+        }
+
+        over "spoon_573130d7496422c068be3abf14b0dcf0_1_0_0" (
+            kind = "subcomponent"
+        )
+        {
+        }
+
+        over "pot_1a8192cc36d7f012eb9ce9d23a43d3fc_1_0_0" (
+            active = false
+            kind = "subcomponent"
+        )
+        {
+        }
+
+        over "boiler_335af387651d9869b84abf1fb099bf69_1_0_0" (
+            kind = "subcomponent"
+        )
+        {
+        }
+
+        over "butterknife_b2b8a251c5e331c4017267a6e05c76d5_1_0_0" (
+            kind = "subcomponent"
+        )
+        {
+        }
+
+        over "sponge_41cc9aa65073b4cd1fc4d9871335148d_1_0_0" (
+            kind = "subcomponent"
+        )
+        {
+        }
+
+        over "Irishpotato_19522f313a33f0a662dcc0b1aa19547c_1_0_0" (
+            kind = "subcomponent"
+        )
+        {
+        }
+
+        over "microwaveoven_6d111da04bfdad2814b310310a75ff09_1_0_0" (
+            kind = "subcomponent"
+        )
+        {
+        }
+
+        over "stool_405b491fbc2c8a8c402d1f3607ae9cd6_1_0_0" (
+            kind = "subcomponent"
+        )
+        {
+        }
+
+        over "stool_405b491fbc2c8a8c402d1f3607ae9cd6_2_0_0" (
+            active = false
+            kind = "subcomponent"
+        )
+        {
+        }
+
+        over "standardislandheight2_970e011db81b32a930db5eead8f3470f_1_1_0" (
+            active = false
+        )
+        {
+        }
+    }
+}
+

scenes/ithor/FloorPlan315_physics/Payload/Materials.usda

@@ -0,0 +1,549 @@
+#usda 1.0
+(
+    customLayerData = {
+        string creator = """AI2-THOR mjcf-usd scene converter
+    time: 01-20-26 16:35:13
+    scene: FloorPlan315_physics
+    usd-exchange-version: 2.2.0
+"""
+    }
+    defaultPrim = "FloorPlan315_physics"
+    kilogramsPerUnit = 1
+    metersPerUnit = 1
+    upAxis = "Z"
+)
+
+def Xform "FloorPlan315_physics"
+{
+    def Scope "Materials"
+    {
+        def Material "material_CarpetWhite" (
+            prepend references = @./MaterialsLibrary.usda@</Materials/material_CarpetWhite>
+        )
+        {
+        }
+
+        def Material "material_ScreenDecalStencil" (
+            prepend references = @./MaterialsLibrary.usda@</Materials/material_ScreenDecalStencil>
+        )
+        {
+        }
+
+        def Material "material_Mirror" (
+            prepend references = @./MaterialsLibrary.usda@</Materials/material_Mirror>
+        )
+        {
+        }
+
+        def Material "material_PureBlack_Wood" (
+            prepend references = @./MaterialsLibrary.usda@</Materials/material_PureBlack_Wood>
+        )
+        {
+        }
+
+        def Material "material_PVC" (
+            prepend references = @./MaterialsLibrary.usda@</Materials/material_PVC>
+        )
+        {
+        }
+
+        def Material "material_Marble" (
+            prepend references = @./MaterialsLibrary.usda@</Materials/material_Marble>
+        )
+        {
+        }
+
+        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_Mirror_Decals_Off_Mat" (
+            prepend references = @./MaterialsLibrary.usda@</Materials/material_Mirror_Decals_Off_Mat>
+        )
+        {
+        }
+
+        def Material "material_FloorPlan315" (
+            prepend references = @./MaterialsLibrary.usda@</Materials/material_FloorPlan315>
+        )
+        {
+        }
+
+        def Material "material_DarkWoodFloors" (
+            prepend references = @./MaterialsLibrary.usda@</Materials/material_DarkWoodFloors>
+        )
+        {
+        }
+
+        def Material "material_DarkWoodSmooth2" (
+            prepend references = @./MaterialsLibrary.usda@</Materials/material_DarkWoodSmooth2>
+        )
+        {
+        }
+
+        def Material "material_No" (
+            prepend references = @./MaterialsLibrary.usda@</Materials/material_No>
+        )
+        {
+        }
+
+        def Material "material_BrownMetal_s" (
+            prepend references = @./MaterialsLibrary.usda@</Materials/material_BrownMetal_s>
+        )
+        {
+        }
+
+        def Material "material_Metal" (
+            prepend references = @./MaterialsLibrary.usda@</Materials/material_Metal>
+        )
+        {
+        }
+
+        def Material "material_WhitePlastic" (
+            prepend references = @./MaterialsLibrary.usda@</Materials/material_WhitePlastic>
+        )
+        {
+        }
+
+        def Material "material_Light1" (
+            prepend references = @./MaterialsLibrary.usda@</Materials/material_Light1>
+        )
+        {
+        }
+
+        def Material "material_BlackFabirc" (
+            prepend references = @./MaterialsLibrary.usda@</Materials/material_BlackFabirc>
+        )
+        {
+        }
+
+        def Material "material_GreenDoor" (
+            prepend references = @./MaterialsLibrary.usda@</Materials/material_GreenDoor>
+        )
+        {
+        }
+
+        def Material "material_Drywall3" (
+            prepend references = @./MaterialsLibrary.usda@</Materials/material_Drywall3>
+        )
+        {
+        }
+    }
+
+    over "Geometry"
+    {
+        over "mesh_53681274461c5f703b5a713fc8c1dedd_1_1_0"
+        {
+            over "mesh_53681274461c5f703b5a713fc8c1dedd_1_1_0_visual_0" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan315_physics/Materials/material_CarpetWhite>
+            }
+        }
+
+        over "deferreddecalspawnplane_0908c718fb0ed69ef2b3833a73e3ad6d_1_1_0"
+        {
+            over "deferreddecalspawnplane_0908c718fb0ed69ef2b3833a73e3ad6d_1_1_0_visual_0" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan315_physics/Materials/material_ScreenDecalStencil>
+            }
+        }
+
+        over "mirrormesh_13eccff83dfce884b31093fe2d94df14_1_1_0"
+        {
+            over "mirrormesh_13eccff83dfce884b31093fe2d94df14_1_1_0_visual_0" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan315_physics/Materials/material_Mirror>
+            }
+
+            over "mirrormesh_13eccff83dfce884b31093fe2d94df14_1_1_0_visual_1" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan315_physics/Materials/material_PureBlack_Wood>
+            }
+        }
+
+        over "blindframemesh_bb5014d77b9723b0099459236cf7596b_1_1_0"
+        {
+            over "blindframemesh_bb5014d77b9723b0099459236cf7596b_1_1_0_visual_0" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan315_physics/Materials/material_PVC>
+            }
+        }
+
+        over "tn__fp315window_aa7418ea4b209ae2b136153997cdd34e_1_1_0_nW2"
+        {
+            over "tn__fp315window_aa7418ea4b209ae2b136153997cdd34e_1_1_0_visual_0_in2" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan315_physics/Materials/material_Marble>
+            }
+
+            over "tn__fp315window_aa7418ea4b209ae2b136153997cdd34e_1_1_0_visual_1_in2" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan315_physics/Materials/material_Cream_wood>
+            }
+        }
+
+        over "tn__fp315window_aa7418ea4b209ae2b136153997cdd34e_1_2_0_nW2"
+        {
+            over "tn__fp315window_aa7418ea4b209ae2b136153997cdd34e_1_2_0_visual_3_in2" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan315_physics/Materials/material_Glass_Detailed_Lit_High_Mat>
+            }
+        }
+
+        over "window_7bc6986050a9c354725a86df85557244_1_1_0"
+        {
+            over "window_7bc6986050a9c354725a86df85557244_1_1_0_visual_0" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan315_physics/Materials/material_Marble>
+            }
+
+            over "window_7bc6986050a9c354725a86df85557244_1_1_0_visual_1" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan315_physics/Materials/material_Cream_wood>
+            }
+        }
+
+        over "window_7bc6986050a9c354725a86df85557244_1_2_0"
+        {
+            over "window_7bc6986050a9c354725a86df85557244_1_2_0_visual_3" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan315_physics/Materials/material_Glass_Detailed_Lit_High_Mat>
+            }
+        }
+
+        over "blinds_9b20859ebd0f5fd6cf0f1327d13ce1fe_1_1_0"
+        {
+            over "blinds_9b20859ebd0f5fd6cf0f1327d13ce1fe_1_1_0_visual_0" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan315_physics/Materials/material_PVC>
+            }
+        }
+
+        over "blinds_9b20859ebd0f5fd6cf0f1327d13ce1fe_1_2_0"
+        {
+            over "blinds_9b20859ebd0f5fd6cf0f1327d13ce1fe_1_2_0_visual_2" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan315_physics/Materials/material_PVC>
+            }
+        }
+
+        over "mirror_003dd487dfe29b6e6c32a004d570250b_1_1_0"
+        {
+            over "mirror_003dd487dfe29b6e6c32a004d570250b_1_1_0_visual_0" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan315_physics/Materials/material_ScreenDecalStencil>
+            }
+        }
+
+        over "mirror_003dd487dfe29b6e6c32a004d570250b_1_2_0"
+        {
+            over "mirror_003dd487dfe29b6e6c32a004d570250b_1_2_0_visual_2" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan315_physics/Materials/material_Mirror>
+            }
+
+            over "mirror_003dd487dfe29b6e6c32a004d570250b_1_2_0_visual_3" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan315_physics/Materials/material_PureBlack_Wood>
+            }
+        }
+
+        over "mirror_003dd487dfe29b6e6c32a004d570250b_1_4_0"
+        {
+            over "mirror_003dd487dfe29b6e6c32a004d570250b_1_4_0_visual_7" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan315_physics/Materials/material_Mirror_Decals_Off_Mat>
+            }
+        }
+
+        over "floor_d69940c956dcd1055c9a553e97075c3e_1_1_0"
+        {
+            over "floor_d69940c956dcd1055c9a553e97075c3e_1_1_0_visual_0" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan315_physics/Materials/material_CarpetWhite>
+            }
+        }
+
+        over "tn__fp315cube_119430933a6eb3d0842d5f9219b2f6e2_1_1_0_vx1"
+        {
+            over "tn__fp315cube_119430933a6eb3d0842d5f9219b2f6e2_1_1_0_visual_0_qj2" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan315_physics/Materials/material_FloorPlan315>
+            }
+        }
+
+        over "tn__fp315cube_7fb51c24a92ca9a96b6f3f8d31e31a58_1_1_0_vx1"
+        {
+            over "tn__fp315cube_7fb51c24a92ca9a96b6f3f8d31e31a58_1_1_0_visual_0_qj2" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan315_physics/Materials/material_FloorPlan315>
+            }
+
+            over "tn__fp315cube_7fb51c24a92ca9a96b6f3f8d31e31a58_1_1_0_visual_1_qj2" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan315_physics/Materials/material_DarkWoodFloors>
+            }
+        }
+
+        over "tn__fp315cube_fc040bbed984bac78ddd48a74d19323f_1_1_0_vx1"
+        {
+            over "tn__fp315cube_fc040bbed984bac78ddd48a74d19323f_1_1_0_visual_0_qj2" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan315_physics/Materials/material_FloorPlan315>
+            }
+
+            over "tn__fp315cube_fc040bbed984bac78ddd48a74d19323f_1_1_0_visual_1_qj2" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan315_physics/Materials/material_DarkWoodSmooth2>
+            }
+        }
+
+        over "tn__fp315handle_13cde1cdf78ce9f5b80e231c673fd978_1_1_0_nW2"
+        {
+            over "tn__fp315handle_13cde1cdf78ce9f5b80e231c673fd978_1_1_0_visual_0_in2" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan315_physics/Materials/material_No>
+            }
+        }
+
+        over "tn__fp315handle_b288b12feebf54d400e2241f88a2ff46_1_1_0_nW2"
+        {
+            over "tn__fp315handle_b288b12feebf54d400e2241f88a2ff46_1_1_0_visual_0_in2" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan315_physics/Materials/material_BrownMetal_s>
+            }
+        }
+
+        over "tn__fp315doorframe_797257d186ac0643d1603ffcc08ed3a5_1_1_0_bc2"
+        {
+            over "tn__fp315doorframe_797257d186ac0643d1603ffcc08ed3a5_1_1_0_visual_0_Wt2" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan315_physics/Materials/material_No>
+            }
+        }
+
+        over "tn__fp315door_10e7b5935cce02ad9876b33635a34f9c_1_1_0_vx1"
+        {
+            over "tn__fp315door_10e7b5935cce02ad9876b33635a34f9c_1_1_0_visual_0_qj2" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan315_physics/Materials/material_No>
+            }
+        }
+
+        over "tn__fp315lightfixture1_432c0d41448ac2ba69c9196da4ecf700_1_1_0_qj2"
+        {
+            over "tn__fp315lightfixture1_432c0d41448ac2ba69c9196da4ecf700_1_1_0_visual_0_lV3" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan315_physics/Materials/material_Metal>
+            }
+
+            over "tn__fp315lightfixture1_432c0d41448ac2ba69c9196da4ecf700_1_1_0_visual_1_lV3" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan315_physics/Materials/material_WhitePlastic>
+            }
+
+            over "tn__fp315lightfixture1_432c0d41448ac2ba69c9196da4ecf700_1_1_0_visual_2_lV3" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan315_physics/Materials/material_Light1>
+            }
+        }
+
+        over "tn__fp315lightfixture2_cc174596c7f4d68de760942c027ad531_1_1_0_qj2"
+        {
+            over "tn__fp315lightfixture2_cc174596c7f4d68de760942c027ad531_1_1_0_visual_0_lV3" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan315_physics/Materials/material_Metal>
+            }
+
+            over "tn__fp315lightfixture2_cc174596c7f4d68de760942c027ad531_1_1_0_visual_1_lV3" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan315_physics/Materials/material_WhitePlastic>
+            }
+
+            over "tn__fp315lightfixture2_cc174596c7f4d68de760942c027ad531_1_1_0_visual_2_lV3" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan315_physics/Materials/material_Light1>
+            }
+        }
+
+        over "tn__fp315lightfixture3_477ea56ac22a9a0014c035798bba3919_1_1_0_qj2"
+        {
+            over "tn__fp315lightfixture3_477ea56ac22a9a0014c035798bba3919_1_1_0_visual_0_lV3" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan315_physics/Materials/material_Metal>
+            }
+
+            over "tn__fp315lightfixture3_477ea56ac22a9a0014c035798bba3919_1_1_0_visual_1_lV3" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan315_physics/Materials/material_WhitePlastic>
+            }
+
+            over "tn__fp315lightfixture3_477ea56ac22a9a0014c035798bba3919_1_1_0_visual_2_lV3" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan315_physics/Materials/material_Light1>
+            }
+        }
+
+        over "tn__fp315lightfixture4_e432c8673ca7fbdf2f526bb44bfbfea2_1_1_0_qj2"
+        {
+            over "tn__fp315lightfixture4_e432c8673ca7fbdf2f526bb44bfbfea2_1_1_0_visual_0_lV3" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan315_physics/Materials/material_Metal>
+            }
+
+            over "tn__fp315lightfixture4_e432c8673ca7fbdf2f526bb44bfbfea2_1_1_0_visual_1_lV3" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan315_physics/Materials/material_WhitePlastic>
+            }
+
+            over "tn__fp315lightfixture4_e432c8673ca7fbdf2f526bb44bfbfea2_1_1_0_visual_2_lV3" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan315_physics/Materials/material_Light1>
+            }
+        }
+
+        over "wire_17094013c991a85eeac74ced98209b93_1_1_0"
+        {
+            over "wire_17094013c991a85eeac74ced98209b93_1_1_0_visual_0" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan315_physics/Materials/material_BlackFabirc>
+            }
+        }
+
+        over "wallletter_2a6839ccf9a3440541da91281a4c5584_1_1_0"
+        {
+            over "wallletter_2a6839ccf9a3440541da91281a4c5584_1_1_0_visual_0" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan315_physics/Materials/material_Cream_wood>
+            }
+
+            over "wallletter_2a6839ccf9a3440541da91281a4c5584_1_1_0_visual_1" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan315_physics/Materials/material_GreenDoor>
+            }
+        }
+
+        over "ceiling_9a8e6c2b1700eebfce52e6cf2fda338d_1_1_0"
+        {
+            over "ceiling_9a8e6c2b1700eebfce52e6cf2fda338d_1_1_0_visual_0" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan315_physics/Materials/material_Drywall3>
+            }
+        }
+
+        over "tn__fp315baseboard_4f299607b865bc6c28f1e5705c8d529c_1_1_0_bc2"
+        {
+            over "tn__fp315baseboard_4f299607b865bc6c28f1e5705c8d529c_1_1_0_visual_0_Wt2" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan315_physics/Materials/material_No>
+            }
+        }
+
+        over "walls_e7f9f5005909c188edaabb359f949781_1_1_0"
+        {
+            over "walls_e7f9f5005909c188edaabb359f949781_1_1_0_visual_0" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan315_physics/Materials/material_Drywall3>
+            }
+        }
+    }
+}
+

scenes/ithor/FloorPlan315_physics/Payload/Physics.usda

@@ -0,0 +1,836 @@
+#usda 1.0
+(
+    customLayerData = {
+        string creator = """AI2-THOR mjcf-usd scene converter
+    time: 01-20-26 16:35:13
+    scene: FloorPlan315_physics
+    usd-exchange-version: 2.2.0
+"""
+    }
+    defaultPrim = "FloorPlan315_physics"
+    kilogramsPerUnit = 1
+    metersPerUnit = 1
+    upAxis = "Z"
+)
+
+def Xform "FloorPlan315_physics"
+{
+    def Scope "Physics"
+    {
+    }
+
+    over "Geometry"
+    {
+        over "mesh_53681274461c5f703b5a713fc8c1dedd_1_0_0"
+        {
+        }
+
+        over "mesh_53681274461c5f703b5a713fc8c1dedd_1_1_0"
+        {
+        }
+
+        over "deferreddecalspawnplane_0908c718fb0ed69ef2b3833a73e3ad6d_1_0_0"
+        {
+        }
+
+        over "deferreddecalspawnplane_0908c718fb0ed69ef2b3833a73e3ad6d_1_1_0"
+        {
+            over "deferreddecalspawnplane_0908c718fb0ed69ef2b3833a73e3ad6d_1_1_0_collision_1" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+        }
+
+        over "mirrormesh_13eccff83dfce884b31093fe2d94df14_1_0_0"
+        {
+        }
+
+        over "mirrormesh_13eccff83dfce884b31093fe2d94df14_1_1_0"
+        {
+            over "mirrormesh_13eccff83dfce884b31093fe2d94df14_1_1_0_collision_2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "mirrormesh_13eccff83dfce884b31093fe2d94df14_1_1_0_collision_3" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+        }
+
+        over "blindframemesh_bb5014d77b9723b0099459236cf7596b_1_0_0"
+        {
+        }
+
+        over "blindframemesh_bb5014d77b9723b0099459236cf7596b_1_1_0"
+        {
+            over "blindframemesh_bb5014d77b9723b0099459236cf7596b_1_1_0_collision_1" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+        }
+
+        over "quaddecalspawnplane_05aa3547f828f47fc2df5221f98454dd_1_0_0"
+        {
+        }
+
+        over "tn__fp315window_aa7418ea4b209ae2b136153997cdd34e_1_0_0_nW2"
+        {
+        }
+
+        over "tn__fp315window_aa7418ea4b209ae2b136153997cdd34e_1_1_0_nW2"
+        {
+            over "tn__fp315window_aa7418ea4b209ae2b136153997cdd34e_1_1_0_collision_2_Wt2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+        }
+
+        over "tn__fp315window_aa7418ea4b209ae2b136153997cdd34e_1_2_0_nW2"
+        {
+        }
+
+        over "window_7bc6986050a9c354725a86df85557244_1_0_0"
+        {
+        }
+
+        over "window_7bc6986050a9c354725a86df85557244_1_1_0"
+        {
+            over "window_7bc6986050a9c354725a86df85557244_1_1_0_collision_2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+        }
+
+        over "window_7bc6986050a9c354725a86df85557244_1_2_0"
+        {
+        }
+
+        over "blinds_9b20859ebd0f5fd6cf0f1327d13ce1fe_1_0_0"
+        {
+        }
+
+        over "blinds_9b20859ebd0f5fd6cf0f1327d13ce1fe_1_1_0"
+        {
+            over "blinds_9b20859ebd0f5fd6cf0f1327d13ce1fe_1_1_0_collision_1" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+        }
+
+        over "blinds_9b20859ebd0f5fd6cf0f1327d13ce1fe_1_2_0"
+        {
+            over "blinds_9b20859ebd0f5fd6cf0f1327d13ce1fe_1_2_0_collision_3" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+        }
+
+        over "mirror_003dd487dfe29b6e6c32a004d570250b_1_0_0"
+        {
+        }
+
+        over "mirror_003dd487dfe29b6e6c32a004d570250b_1_1_0"
+        {
+            over "mirror_003dd487dfe29b6e6c32a004d570250b_1_1_0_collision_1" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+        }
+
+        over "mirror_003dd487dfe29b6e6c32a004d570250b_1_2_0"
+        {
+            over "mirror_003dd487dfe29b6e6c32a004d570250b_1_2_0_collision_4" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "mirror_003dd487dfe29b6e6c32a004d570250b_1_2_0_collision_5" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+        }
+
+        over "mirror_003dd487dfe29b6e6c32a004d570250b_1_3_0"
+        {
+        }
+
+        over "mirror_003dd487dfe29b6e6c32a004d570250b_1_4_0"
+        {
+        }
+
+        over "floor_d69940c956dcd1055c9a553e97075c3e_1_0_0"
+        {
+        }
+
+        over "floor_d69940c956dcd1055c9a553e97075c3e_1_1_0"
+        {
+        }
+
+        over "tn__fp315cube_119430933a6eb3d0842d5f9219b2f6e2_1_0_0_vx1"
+        {
+        }
+
+        over "tn__fp315cube_119430933a6eb3d0842d5f9219b2f6e2_1_1_0_vx1"
+        {
+            over "tn__fp315cube_119430933a6eb3d0842d5f9219b2f6e2_1_1_0_collision_1_ep2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp315cube_119430933a6eb3d0842d5f9219b2f6e2_1_1_0_collision_2_ep2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+        }
+
+        over "tn__fp315cube_7fb51c24a92ca9a96b6f3f8d31e31a58_1_0_0_vx1"
+        {
+        }
+
+        over "tn__fp315cube_7fb51c24a92ca9a96b6f3f8d31e31a58_1_1_0_vx1"
+        {
+            over "tn__fp315cube_7fb51c24a92ca9a96b6f3f8d31e31a58_1_1_0_collision_2_ep2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+        }
+
+        over "tn__fp315cube_fc040bbed984bac78ddd48a74d19323f_1_0_0_vx1"
+        {
+        }
+
+        over "tn__fp315cube_fc040bbed984bac78ddd48a74d19323f_1_1_0_vx1"
+        {
+            over "tn__fp315cube_fc040bbed984bac78ddd48a74d19323f_1_1_0_collision_2_ep2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+        }
+
+        over "tn__fp315handle_13cde1cdf78ce9f5b80e231c673fd978_1_0_0_nW2"
+        {
+        }
+
+        over "tn__fp315handle_13cde1cdf78ce9f5b80e231c673fd978_1_1_0_nW2"
+        {
+            over "tn__fp315handle_13cde1cdf78ce9f5b80e231c673fd978_1_1_0_collision_1_Wt2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp315handle_13cde1cdf78ce9f5b80e231c673fd978_1_1_0_collision_2_Wt2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp315handle_13cde1cdf78ce9f5b80e231c673fd978_1_1_0_collision_3_Wt2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp315handle_13cde1cdf78ce9f5b80e231c673fd978_1_1_0_collision_4_Wt2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp315handle_13cde1cdf78ce9f5b80e231c673fd978_1_1_0_collision_5_Wt2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp315handle_13cde1cdf78ce9f5b80e231c673fd978_1_1_0_collision_6_Wt2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp315handle_13cde1cdf78ce9f5b80e231c673fd978_1_1_0_collision_7_Wt2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+        }
+
+        over "tn__fp315handle_b288b12feebf54d400e2241f88a2ff46_1_0_0_nW2"
+        {
+        }
+
+        over "tn__fp315handle_b288b12feebf54d400e2241f88a2ff46_1_1_0_nW2"
+        {
+            over "tn__fp315handle_b288b12feebf54d400e2241f88a2ff46_1_1_0_collision_1_Wt2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp315handle_b288b12feebf54d400e2241f88a2ff46_1_1_0_collision_2_Wt2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp315handle_b288b12feebf54d400e2241f88a2ff46_1_1_0_collision_3_Wt2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp315handle_b288b12feebf54d400e2241f88a2ff46_1_1_0_collision_4_Wt2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp315handle_b288b12feebf54d400e2241f88a2ff46_1_1_0_collision_5_Wt2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp315handle_b288b12feebf54d400e2241f88a2ff46_1_1_0_collision_6_Wt2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp315handle_b288b12feebf54d400e2241f88a2ff46_1_1_0_collision_7_Wt2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+        }
+
+        over "tn__fp315doorframe_797257d186ac0643d1603ffcc08ed3a5_1_0_0_bc2"
+        {
+        }
+
+        over "tn__fp315doorframe_797257d186ac0643d1603ffcc08ed3a5_1_1_0_bc2"
+        {
+            over "tn__fp315doorframe_797257d186ac0643d1603ffcc08ed3a5_1_1_0_collision_1_py2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp315doorframe_797257d186ac0643d1603ffcc08ed3a5_1_1_0_collision_2_py2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp315doorframe_797257d186ac0643d1603ffcc08ed3a5_1_1_0_collision_3_py2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+        }
+
+        over "tn__fp315door_10e7b5935cce02ad9876b33635a34f9c_1_0_0_vx1"
+        {
+        }
+
+        over "tn__fp315door_10e7b5935cce02ad9876b33635a34f9c_1_1_0_vx1"
+        {
+            over "tn__fp315door_10e7b5935cce02ad9876b33635a34f9c_1_1_0_collision_1_ep2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+        }
+
+        over "tn__fp315lightfixture1_432c0d41448ac2ba69c9196da4ecf700_1_0_0_qj2"
+        {
+        }
+
+        over "tn__fp315lightfixture1_432c0d41448ac2ba69c9196da4ecf700_1_1_0_qj2"
+        {
+            over "tn__fp315lightfixture1_432c0d41448ac2ba69c9196da4ecf700_1_1_0_collision_3_Zb3" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+        }
+
+        over "tn__fp315lightfixture2_cc174596c7f4d68de760942c027ad531_1_0_0_qj2"
+        {
+        }
+
+        over "tn__fp315lightfixture2_cc174596c7f4d68de760942c027ad531_1_1_0_qj2"
+        {
+            over "tn__fp315lightfixture2_cc174596c7f4d68de760942c027ad531_1_1_0_collision_3_Zb3" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+        }
+
+        over "tn__fp315lightfixture3_477ea56ac22a9a0014c035798bba3919_1_0_0_qj2"
+        {
+        }
+
+        over "tn__fp315lightfixture3_477ea56ac22a9a0014c035798bba3919_1_1_0_qj2"
+        {
+            over "tn__fp315lightfixture3_477ea56ac22a9a0014c035798bba3919_1_1_0_collision_3_Zb3" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+        }
+
+        over "tn__fp315lightfixture4_e432c8673ca7fbdf2f526bb44bfbfea2_1_0_0_qj2"
+        {
+        }
+
+        over "tn__fp315lightfixture4_e432c8673ca7fbdf2f526bb44bfbfea2_1_1_0_qj2"
+        {
+            over "tn__fp315lightfixture4_e432c8673ca7fbdf2f526bb44bfbfea2_1_1_0_collision_3_Zb3" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+        }
+
+        over "wire_17094013c991a85eeac74ced98209b93_1_0_0"
+        {
+        }
+
+        over "wire_17094013c991a85eeac74ced98209b93_1_1_0"
+        {
+            over "wire_17094013c991a85eeac74ced98209b93_1_1_0_collision_1" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "wire_17094013c991a85eeac74ced98209b93_1_1_0_collision_2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "wire_17094013c991a85eeac74ced98209b93_1_1_0_collision_3" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "wire_17094013c991a85eeac74ced98209b93_1_1_0_collision_4" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "wire_17094013c991a85eeac74ced98209b93_1_1_0_collision_5" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "wire_17094013c991a85eeac74ced98209b93_1_1_0_collision_6" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "wire_17094013c991a85eeac74ced98209b93_1_1_0_collision_7" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "wire_17094013c991a85eeac74ced98209b93_1_1_0_collision_8" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "wire_17094013c991a85eeac74ced98209b93_1_1_0_collision_9" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "wire_17094013c991a85eeac74ced98209b93_1_1_0_collision_10" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "wire_17094013c991a85eeac74ced98209b93_1_1_0_collision_11" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "wire_17094013c991a85eeac74ced98209b93_1_1_0_collision_12" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "wire_17094013c991a85eeac74ced98209b93_1_1_0_collision_13" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "wire_17094013c991a85eeac74ced98209b93_1_1_0_collision_14" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "wire_17094013c991a85eeac74ced98209b93_1_1_0_collision_15" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "wire_17094013c991a85eeac74ced98209b93_1_1_0_collision_16" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "wire_17094013c991a85eeac74ced98209b93_1_1_0_collision_17" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "wire_17094013c991a85eeac74ced98209b93_1_1_0_collision_18" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+        }
+
+        over "wallletter_2a6839ccf9a3440541da91281a4c5584_1_0_0"
+        {
+        }
+
+        over "wallletter_2a6839ccf9a3440541da91281a4c5584_1_1_0"
+        {
+            over "wallletter_2a6839ccf9a3440541da91281a4c5584_1_1_0_collision_2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "wallletter_2a6839ccf9a3440541da91281a4c5584_1_1_0_collision_3" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "wallletter_2a6839ccf9a3440541da91281a4c5584_1_1_0_collision_4" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "wallletter_2a6839ccf9a3440541da91281a4c5584_1_1_0_collision_5" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "wallletter_2a6839ccf9a3440541da91281a4c5584_1_1_0_collision_6" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "wallletter_2a6839ccf9a3440541da91281a4c5584_1_1_0_collision_7" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "wallletter_2a6839ccf9a3440541da91281a4c5584_1_1_0_collision_8" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "wallletter_2a6839ccf9a3440541da91281a4c5584_1_1_0_collision_9" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "wallletter_2a6839ccf9a3440541da91281a4c5584_1_1_0_collision_10" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "wallletter_2a6839ccf9a3440541da91281a4c5584_1_1_0_collision_11" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "wallletter_2a6839ccf9a3440541da91281a4c5584_1_1_0_collision_12" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "wallletter_2a6839ccf9a3440541da91281a4c5584_1_1_0_collision_13" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "wallletter_2a6839ccf9a3440541da91281a4c5584_1_1_0_collision_14" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "wallletter_2a6839ccf9a3440541da91281a4c5584_1_1_0_collision_15" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "wallletter_2a6839ccf9a3440541da91281a4c5584_1_1_0_collision_16" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+        }
+
+        over "ceiling_9a8e6c2b1700eebfce52e6cf2fda338d_1_0_0"
+        {
+        }
+
+        over "ceiling_9a8e6c2b1700eebfce52e6cf2fda338d_1_1_0"
+        {
+            over "ceiling_9a8e6c2b1700eebfce52e6cf2fda338d_1_1_0_collision_1" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "ceiling_9a8e6c2b1700eebfce52e6cf2fda338d_1_1_0_collision_2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+        }
+
+        over "tn__fp315baseboard_4f299607b865bc6c28f1e5705c8d529c_1_0_0_bc2"
+        {
+        }
+
+        over "tn__fp315baseboard_4f299607b865bc6c28f1e5705c8d529c_1_1_0_bc2"
+        {
+            over "tn__fp315baseboard_4f299607b865bc6c28f1e5705c8d529c_1_1_0_collision_1_py2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp315baseboard_4f299607b865bc6c28f1e5705c8d529c_1_1_0_collision_2_py2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp315baseboard_4f299607b865bc6c28f1e5705c8d529c_1_1_0_collision_3_py2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp315baseboard_4f299607b865bc6c28f1e5705c8d529c_1_1_0_collision_4_py2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp315baseboard_4f299607b865bc6c28f1e5705c8d529c_1_1_0_collision_5_py2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+        }
+
+        over "walls_e7f9f5005909c188edaabb359f949781_1_0_0"
+        {
+        }
+
+        over "walls_e7f9f5005909c188edaabb359f949781_1_1_0"
+        {
+            over "walls_e7f9f5005909c188edaabb359f949781_1_1_0_collision_1" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "walls_e7f9f5005909c188edaabb359f949781_1_1_0_collision_2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "walls_e7f9f5005909c188edaabb359f949781_1_1_0_collision_3" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "walls_e7f9f5005909c188edaabb359f949781_1_1_0_collision_4" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "walls_e7f9f5005909c188edaabb359f949781_1_1_0_collision_5" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "walls_e7f9f5005909c188edaabb359f949781_1_1_0_collision_6" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "walls_e7f9f5005909c188edaabb359f949781_1_1_0_collision_7" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "walls_e7f9f5005909c188edaabb359f949781_1_1_0_collision_8" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "walls_e7f9f5005909c188edaabb359f949781_1_1_0_collision_9" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+        }
+
+        over "floor" (
+            prepend apiSchemas = ["PhysicsCollisionAPI"]
+        )
+        {
+        }
+    }
+}
+

scenes/ithor/FloorPlan315_physics/scene.preprocessed.json

@@ -0,0 +1,16 @@
+{
+  "source": "E:/EAI/molmo_isaac_data/isaac/scenes/ithor/FloorPlan315_physics/scene.usda",
+  "preprocessor_version": "2.1",
+  "timestamp": "2026-04-24T11:18:37.364756+00:00",
+  "offset": [
+    1.7814,
+    -0.84301,
+    0.0
+  ],
+  "yaw_deg": 270.0,
+  "floor_z": -0.1344,
+  "ceiling_z": 3.00161,
+  "prims_deactivated": 0,
+  "prims_deactivated_paths": [],
+  "physics_preserved": true
+}

scenes/ithor/FloorPlan315_physics/scene.usda

@@ -0,0 +1,138 @@
+#usda 1.0
+(
+    customLayerData = {
+        string creator = """AI2-THOR mjcf-usd scene converter
+    time: 01-20-26 16:35:13
+    scene: FloorPlan315_physics
+    usd-exchange-version: 2.2.0
+"""
+    }
+    defaultPrim = "FloorPlan315_physics"
+    kilogramsPerUnit = 1
+    metersPerUnit = 1
+    upAxis = "Z"
+)
+
+def Xform "FloorPlan315_physics" (
+    prepend apiSchemas = ["GeomModelAPI"]
+    assetInfo = {
+        string name = "FloorPlan315_physics"
+    }
+    kind = "component"
+    prepend payload = @./Payload/Contents.usda@
+)
+{
+    float3[] extentsHint = [(-4.21741, -4.76001, -0.1344), (0.36524, 0.3771, 3.00161), (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, -0.015480712), (10, 10, 3.00329)]
+
+    over "Geometry"
+    {
+        over "book_3b04d4ae95a241ed126fc0cbc4854e77_1_0_0" (
+            kind = "subcomponent"
+        )
+        {
+        }
+
+        over "teddybear_3f23b5d8fc5c7e571e9b921168a5a502_1_0_0" (
+            kind = "subcomponent"
+        )
+        {
+        }
+
+        over "tablelamp_dd741d990c09490cf22abc856adf3aa1_1_0_0" (
+            kind = "subcomponent"
+        )
+        {
+        }
+
+        over "bed_490374f1ec5af758d3bc0f75be2cce25_1_0_0" (
+            kind = "subcomponent"
+        )
+        {
+        }
+
+        over "cellulartelephone_7e064d39aa61ae3983505d5955fcd947_1_0_0" (
+            kind = "subcomponent"
+        )
+        {
+        }
+
+        over "trashcan_27ba7c49bbccf220f68beea1b3ff0f8e_1_0_0" (
+            kind = "subcomponent"
+        )
+        {
+        }
+
+        over "alarmclock_722227feb2e71735246c9e0b32e15ff3_1_0_0" (
+            kind = "subcomponent"
+        )
+        {
+        }
+
+        over "pillow_fbf1529d97d51581a6a35de6b81755c9_1_0_0" (
+            kind = "subcomponent"
+        )
+        {
+        }
+
+        over "laptop_ae30801e5e2a8cbd9f5009e82af4c8fd_1_0_0" (
+            kind = "subcomponent"
+        )
+        {
+        }
+
+        over "pencil_04d685f59ba31abb2c3114e046a77deb_1_0_0" (
+            kind = "subcomponent"
+        )
+        {
+        }
+
+        over "pen_6868af7336df691a6aad3bad70b207dc_1_0_0" (
+            kind = "subcomponent"
+        )
+        {
+        }
+
+        over "compactdisk_6ac9e5bb9b913519777c54010dac1707_1_0_0" (
+            kind = "subcomponent"
+        )
+        {
+        }
+
+        over "baseballbat_a5dd09cf0637d5eeed6fe0007634fd32_1_0_0" (
+            kind = "subcomponent"
+        )
+        {
+        }
+
+        over "knickknack_e380e6df9509e9028fe7577fc81e4bc8_1_0_0" (
+            kind = "subcomponent"
+        )
+        {
+        }
+
+        over "chestofdrawers_c86848ac21624c499f4665989ac4f01a_1_0_0" (
+            kind = "subcomponent"
+        )
+        {
+        }
+
+        over "mug_38903e9f02926f380b587d1b9de9c00b_1_0_0" (
+            kind = "subcomponent"
+        )
+        {
+        }
+
+        over "coffeetable_070ccbc66d32a55fc1d6b9c178ad0d8c_1_0_0" (
+            kind = "subcomponent"
+        )
+        {
+        }
+
+        over "desk_ff2d7074e2731fdbb2d6548bb5281038_1_0_0" (
+            kind = "subcomponent"
+        )
+        {
+        }
+    }
+}
+

scenes/ithor/FloorPlan318_physics/Payload/Contents.usda

@@ -0,0 +1,37 @@
+#usda 1.0
+(
+    customLayerData = {
+        string creator = """AI2-THOR mjcf-usd scene converter
+    time: 01-20-26 16:35:13
+    scene: FloorPlan318_physics
+    usd-exchange-version: 2.2.0
+"""
+    }
+    defaultPrim = "FloorPlan318_physics"
+    kilogramsPerUnit = 1
+    metersPerUnit = 1
+    subLayers = [
+        @./Physics.usda@,
+        @./Geometry.usda@,
+        @./Materials.usda@
+    ]
+    upAxis = "Z"
+)
+
+def Xform "FloorPlan318_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/FloorPlan318_physics/Payload/Materials.usda

@@ -0,0 +1,496 @@
+#usda 1.0
+(
+    customLayerData = {
+        string creator = """AI2-THOR mjcf-usd scene converter
+    time: 01-20-26 16:35:13
+    scene: FloorPlan318_physics
+    usd-exchange-version: 2.2.0
+"""
+    }
+    defaultPrim = "FloorPlan318_physics"
+    kilogramsPerUnit = 1
+    metersPerUnit = 1
+    upAxis = "Z"
+)
+
+def Xform "FloorPlan318_physics"
+{
+    def Scope "Materials"
+    {
+        def Material "material_TexturesCom_WoodFine0038_1_seamless_S" (
+            prepend references = @./MaterialsLibrary.usda@</Materials/material_TexturesCom_WoodFine0038_1_seamless_S>
+        )
+        {
+        }
+
+        def Material "material_ScreenDecalStencil" (
+            prepend references = @./MaterialsLibrary.usda@</Materials/material_ScreenDecalStencil>
+        )
+        {
+        }
+
+        def Material "material_Mirror" (
+            prepend references = @./MaterialsLibrary.usda@</Materials/material_Mirror>
+        )
+        {
+        }
+
+        def Material "material_PureBlack_Wood" (
+            prepend references = @./MaterialsLibrary.usda@</Materials/material_PureBlack_Wood>
+        )
+        {
+        }
+
+        def Material "tn__material_englishcountryvillagepainting_Zu0OW0" (
+            prepend references = @./MaterialsLibrary.usda@</Materials/tn__material_englishcountryvillagepainting_Zu0OW0>
+        )
+        {
+        }
+
+        def Material "material_WhiteMetal" (
+            prepend references = @./MaterialsLibrary.usda@</Materials/material_WhiteMetal>
+        )
+        {
+        }
+
+        def Material "material_Glass_Detailed_Lit_High_Mat" (
+            prepend references = @./MaterialsLibrary.usda@</Materials/material_Glass_Detailed_Lit_High_Mat>
+        )
+        {
+        }
+
+        def Material "material_PVC" (
+            prepend references = @./MaterialsLibrary.usda@</Materials/material_PVC>
+        )
+        {
+        }
+
+        def Material "material_Mirror_Decals_Off_Mat" (
+            prepend references = @./MaterialsLibrary.usda@</Materials/material_Mirror_Decals_Off_Mat>
+        )
+        {
+        }
+
+        def Material "material_LightWoodCounters" (
+            prepend references = @./MaterialsLibrary.usda@</Materials/material_LightWoodCounters>
+        )
+        {
+        }
+
+        def Material "material_BrushedAluminum_Blue" (
+            prepend references = @./MaterialsLibrary.usda@</Materials/material_BrushedAluminum_Blue>
+        )
+        {
+        }
+
+        def Material "material_Drywall3" (
+            prepend references = @./MaterialsLibrary.usda@</Materials/material_Drywall3>
+        )
+        {
+        }
+
+        def Material "material_SubwayTilesRough" (
+            prepend references = @./MaterialsLibrary.usda@</Materials/material_SubwayTilesRough>
+        )
+        {
+        }
+
+        def Material "material_RedWall" (
+            prepend references = @./MaterialsLibrary.usda@</Materials/material_RedWall>
+        )
+        {
+        }
+
+        def Material "material_RedBricks" (
+            prepend references = @./MaterialsLibrary.usda@</Materials/material_RedBricks>
+        )
+        {
+        }
+
+        def Material "material_GreyFloor" (
+            prepend references = @./MaterialsLibrary.usda@</Materials/material_GreyFloor>
+        )
+        {
+        }
+
+        def Material "material_Drywall4Tiled" (
+            prepend references = @./MaterialsLibrary.usda@</Materials/material_Drywall4Tiled>
+        )
+        {
+        }
+
+        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_Light2" (
+            prepend references = @./MaterialsLibrary.usda@</Materials/material_Light2>
+        )
+        {
+        }
+
+        def Material "material_MicrowaveMetalMat" (
+            prepend references = @./MaterialsLibrary.usda@</Materials/material_MicrowaveMetalMat>
+        )
+        {
+        }
+
+        def Material "material_OrangeCabinet" (
+            prepend references = @./MaterialsLibrary.usda@</Materials/material_OrangeCabinet>
+        )
+        {
+        }
+    }
+
+    over "Geometry"
+    {
+        over "mesh_1cf7ff839e4e33b9594d4150558b8f68_1_1_0"
+        {
+            over "mesh_1cf7ff839e4e33b9594d4150558b8f68_1_1_0_visual_0" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan318_physics/Materials/material_TexturesCom_WoodFine0038_1_seamless_S>
+            }
+        }
+
+        over "deferreddecalspawnplane_d5bd1ab6ee63a108af0b8e29370be9e5_1_1_0"
+        {
+            over "deferreddecalspawnplane_d5bd1ab6ee63a108af0b8e29370be9e5_1_1_0_visual_0" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan318_physics/Materials/material_ScreenDecalStencil>
+            }
+        }
+
+        over "mirrormesh_e1177bbfad48d340594be890fdc695b5_1_1_0"
+        {
+            over "mirrormesh_e1177bbfad48d340594be890fdc695b5_1_1_0_visual_0" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan318_physics/Materials/material_Mirror>
+            }
+
+            over "mirrormesh_e1177bbfad48d340594be890fdc695b5_1_1_0_visual_1" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan318_physics/Materials/material_PureBlack_Wood>
+            }
+        }
+
+        over "tn__fp318cube_c107cbe5816ab51105dbbda04f0a57d9_1_1_0_vx1"
+        {
+            over "tn__fp318cube_c107cbe5816ab51105dbbda04f0a57d9_1_1_0_visual_0_qj2" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan318_physics/Materials/tn__material_englishcountryvillagepainting_Zu0OW0>
+            }
+        }
+
+        over "tn__fp318window_a2521dbc450a0254204e86a34610914d_1_1_0_nW2"
+        {
+            over "tn__fp318window_a2521dbc450a0254204e86a34610914d_1_1_0_visual_0_in2" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan318_physics/Materials/material_WhiteMetal>
+            }
+        }
+
+        over "tn__fp318window_a2521dbc450a0254204e86a34610914d_1_2_0_nW2"
+        {
+            over "tn__fp318window_a2521dbc450a0254204e86a34610914d_1_2_0_visual_2_in2" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan318_physics/Materials/material_Glass_Detailed_Lit_High_Mat>
+            }
+        }
+
+        over "blindframemesh_55021f0f19ac5a47ffe7d5733811c8a1_1_1_0"
+        {
+            over "blindframemesh_55021f0f19ac5a47ffe7d5733811c8a1_1_1_0_visual_0" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan318_physics/Materials/material_PVC>
+            }
+        }
+
+        over "blinds_415dbf43e625f35180a6e284d773266a_1_1_0"
+        {
+            over "blinds_415dbf43e625f35180a6e284d773266a_1_1_0_visual_0" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan318_physics/Materials/material_PVC>
+            }
+        }
+
+        over "blinds_415dbf43e625f35180a6e284d773266a_1_2_0"
+        {
+            over "blinds_415dbf43e625f35180a6e284d773266a_1_2_0_visual_2" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan318_physics/Materials/material_PVC>
+            }
+        }
+
+        over "window_c2ab1b7a6c45bafefb9757b1cd4fe71f_1_1_0"
+        {
+            over "window_c2ab1b7a6c45bafefb9757b1cd4fe71f_1_1_0_visual_0" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan318_physics/Materials/material_WhiteMetal>
+            }
+        }
+
+        over "window_c2ab1b7a6c45bafefb9757b1cd4fe71f_1_2_0"
+        {
+            over "window_c2ab1b7a6c45bafefb9757b1cd4fe71f_1_2_0_visual_2" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan318_physics/Materials/material_Glass_Detailed_Lit_High_Mat>
+            }
+        }
+
+        over "painting_c25b5c2d86b07d4f7e3f300c98d6b9ba_1_1_0"
+        {
+            over "painting_c25b5c2d86b07d4f7e3f300c98d6b9ba_1_1_0_visual_0" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan318_physics/Materials/tn__material_englishcountryvillagepainting_Zu0OW0>
+            }
+        }
+
+        over "mirror_c6ee0d355615392ffa9776f70c9f9cf1_1_1_0"
+        {
+            over "mirror_c6ee0d355615392ffa9776f70c9f9cf1_1_1_0_visual_0" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan318_physics/Materials/material_Mirror>
+            }
+
+            over "mirror_c6ee0d355615392ffa9776f70c9f9cf1_1_1_0_visual_1" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan318_physics/Materials/material_PureBlack_Wood>
+            }
+        }
+
+        over "mirror_c6ee0d355615392ffa9776f70c9f9cf1_1_3_0"
+        {
+            over "mirror_c6ee0d355615392ffa9776f70c9f9cf1_1_3_0_visual_5" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan318_physics/Materials/material_Mirror_Decals_Off_Mat>
+            }
+        }
+
+        over "mirror_c6ee0d355615392ffa9776f70c9f9cf1_1_4_0"
+        {
+            over "mirror_c6ee0d355615392ffa9776f70c9f9cf1_1_4_0_visual_6" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan318_physics/Materials/material_ScreenDecalStencil>
+            }
+        }
+
+        over "floor_e6bd8bfb3bef8d560415c0d592828b16_1_1_0"
+        {
+            over "floor_e6bd8bfb3bef8d560415c0d592828b16_1_1_0_visual_0" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan318_physics/Materials/material_TexturesCom_WoodFine0038_1_seamless_S>
+            }
+        }
+
+        over "decobox_36cc7c00b68561d92dc8d0533160b44e_1_1_0"
+        {
+            over "decobox_36cc7c00b68561d92dc8d0533160b44e_1_1_0_visual_0" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan318_physics/Materials/material_LightWoodCounters>
+            }
+        }
+
+        over "decobox_ac3863f854489197ecdbad9692a3ee1e_1_1_0"
+        {
+            over "decobox_ac3863f854489197ecdbad9692a3ee1e_1_1_0_visual_0" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan318_physics/Materials/material_LightWoodCounters>
+            }
+        }
+
+        over "tn__fp318pipe_97872e1ae438b701ecdbb7d310a70a00_1_1_0_vx1"
+        {
+            over "tn__fp318pipe_97872e1ae438b701ecdbb7d310a70a00_1_1_0_visual_0_qj2" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan318_physics/Materials/material_WhiteMetal>
+            }
+        }
+
+        over "airconditioner_d05eb20033f69b2cd62ab2fc3e2ddd55_1_1_0"
+        {
+            over "airconditioner_d05eb20033f69b2cd62ab2fc3e2ddd55_1_1_0_visual_0" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan318_physics/Materials/material_BrushedAluminum_Blue>
+            }
+
+            over "airconditioner_d05eb20033f69b2cd62ab2fc3e2ddd55_1_1_0_visual_1" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan318_physics/Materials/material_WhiteMetal>
+            }
+        }
+
+        over "tn__fp318ceiling_7c7be7a5bb635beefd89d4a6e82f3379_1_1_0_jY2"
+        {
+            over "tn__fp318ceiling_7c7be7a5bb635beefd89d4a6e82f3379_1_1_0_visual_0_ep2" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan318_physics/Materials/material_Drywall3>
+            }
+        }
+
+        over "tn__fp318standardwallsize_0a8d4b15d06fc12ca0160afbc706023e_1_1_0_ep2"
+        {
+            over "tn__fp318standardwallsize_0a8d4b15d06fc12ca0160afbc706023e_1_1_0_visual_0_Zb3" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan318_physics/Materials/material_SubwayTilesRough>
+            }
+
+            over "tn__fp318standardwallsize_0a8d4b15d06fc12ca0160afbc706023e_1_1_0_visual_1_Zb3" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan318_physics/Materials/material_RedWall>
+            }
+
+            over "tn__fp318standardwallsize_0a8d4b15d06fc12ca0160afbc706023e_1_1_0_visual_2_Zb3" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan318_physics/Materials/material_RedBricks>
+            }
+
+            over "tn__fp318standardwallsize_0a8d4b15d06fc12ca0160afbc706023e_1_1_0_visual_3_Zb3" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan318_physics/Materials/material_GreyFloor>
+            }
+
+            over "tn__fp318standardwallsize_0a8d4b15d06fc12ca0160afbc706023e_1_1_0_visual_4_Zb3" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan318_physics/Materials/material_Drywall4Tiled>
+            }
+        }
+
+        over "tn__fp318clock1_890137e4a40e320c8078096ad408a704_1_1_0_nW2"
+        {
+            over "tn__fp318clock1_890137e4a40e320c8078096ad408a704_1_1_0_visual_0_in2" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan318_physics/Materials/material_ClockFace>
+            }
+
+            over "tn__fp318clock1_890137e4a40e320c8078096ad408a704_1_1_0_visual_1_in2" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan318_physics/Materials/material_StainlessSteel_Dull>
+            }
+        }
+
+        over "tn__fp318lightfixture5_13f596159c7a18e8ec2d61adcbe5d7d1_1_1_0_qj2"
+        {
+            over "tn__fp318lightfixture5_13f596159c7a18e8ec2d61adcbe5d7d1_1_1_0_visual_0_lV3" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan318_physics/Materials/material_Light2>
+            }
+
+            over "tn__fp318lightfixture5_13f596159c7a18e8ec2d61adcbe5d7d1_1_1_0_visual_1_lV3" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan318_physics/Materials/material_MicrowaveMetalMat>
+            }
+        }
+
+        over "tn__fp318standardknob1_b40a1a536284b5f32684a92b4dc67994_1_1_0_qj2"
+        {
+            over "tn__fp318standardknob1_b40a1a536284b5f32684a92b4dc67994_1_1_0_visual_0_lV3" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan318_physics/Materials/material_WhiteMetal>
+            }
+        }
+
+        over "tn__fp318standarddoorframe1_c47732bea34b11132ac26434d5f900ed_1_1_0_Wt2"
+        {
+            over "tn__fp318standarddoorframe1_c47732bea34b11132ac26434d5f900ed_1_1_0_visual_0_we3" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan318_physics/Materials/material_GreyFloor>
+            }
+        }
+
+        over "tn__fp318standarddoor1_3804ea6e5a5dfb5ec919f50fc9b2ef50_1_1_0_qj2"
+        {
+            over "tn__fp318standarddoor1_3804ea6e5a5dfb5ec919f50fc9b2ef50_1_1_0_visual_0_lV3" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan318_physics/Materials/material_OrangeCabinet>
+            }
+
+            over "tn__fp318standarddoor1_3804ea6e5a5dfb5ec919f50fc9b2ef50_1_1_0_visual_1_lV3" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan318_physics/Materials/material_OrangeCabinet>
+            }
+        }
+    }
+}
+

scenes/ithor/FloorPlan318_physics/Payload/MaterialsLibrary.usda

@@ -0,0 +1,593 @@
+#usda 1.0
+(
+    "Material library for house FloorPlan318_physics"
+    customLayerData = {
+        string creator = """AI2-THOR mjcf-usd scene converter
+    time: 01-20-26 16:35:13
+    scene: FloorPlan318_physics
+    usd-exchange-version: 2.2.0
+"""
+    }
+    defaultPrim = "Materials"
+    kilogramsPerUnit = 1
+    metersPerUnit = 1
+    upAxis = "Z"
+)
+
+class Scope "Materials"
+{
+    def Material "material_TexturesCom_WoodFine0038_1_seamless_S"
+    {
+        token outputs:displacement.connect = </Materials/material_TexturesCom_WoodFine0038_1_seamless_S/PreviewSurface.outputs:displacement>
+        token outputs:surface.connect = </Materials/material_TexturesCom_WoodFine0038_1_seamless_S/PreviewSurface.outputs:surface>
+
+        def Shader "PreviewSurface"
+        {
+            uniform token info:id = "UsdPreviewSurface"
+            color3f inputs:diffuseColor.connect = </Materials/material_TexturesCom_WoodFine0038_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_WoodFine0038_1_seamless_albedo_S.png@
+            float4 inputs:scale = (1, 1, 1, 1)
+            token inputs:sourceColorSpace = "auto"
+            float2 inputs:st.connect = </Materials/material_TexturesCom_WoodFine0038_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_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_Mirror"
+    {
+        token outputs:displacement.connect = </Materials/material_Mirror/PreviewSurface.outputs:displacement>
+        token outputs:surface.connect = </Materials/material_Mirror/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_PureBlack_Wood"
+    {
+        token outputs:displacement.connect = </Materials/material_PureBlack_Wood/PreviewSurface.outputs:displacement>
+        token outputs:surface.connect = </Materials/material_PureBlack_Wood/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 "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_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_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_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_Mirror_Decals_Off_Mat"
+    {
+        token outputs:displacement.connect = </Materials/material_Mirror_Decals_Off_Mat/PreviewSurface.outputs:displacement>
+        token outputs:surface.connect = </Materials/material_Mirror_Decals_Off_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_LightWoodCounters"
+    {
+        token outputs:displacement.connect = </Materials/material_LightWoodCounters/PreviewSurface.outputs:displacement>
+        token outputs:surface.connect = </Materials/material_LightWoodCounters/PreviewSurface.outputs:surface>
+
+        def Shader "PreviewSurface"
+        {
+            uniform token info:id = "UsdPreviewSurface"
+            color3f inputs:diffuseColor.connect = </Materials/material_LightWoodCounters/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 = (0.915094, 0.691002, 0.384167, 1)
+            asset inputs:file = @./Textures/LightWoodCounters.png@
+            float4 inputs:scale = (0.915094, 0.691002, 0.384167, 1)
+            token inputs:sourceColorSpace = "auto"
+            float2 inputs:st.connect = </Materials/material_LightWoodCounters/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_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_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
+        }
+    }
+
+    def Material "material_SubwayTilesRough"
+    {
+        token outputs:displacement.connect = </Materials/material_SubwayTilesRough/PreviewSurface.outputs:displacement>
+        token outputs:surface.connect = </Materials/material_SubwayTilesRough/PreviewSurface.outputs:surface>
+
+        def Shader "PreviewSurface"
+        {
+            uniform token info:id = "UsdPreviewSurface"
+            color3f inputs:diffuseColor.connect = </Materials/material_SubwayTilesRough/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 = (0.875, 0.846425, 0.784926, 1)
+            asset inputs:file = @./Textures/SubwayTilesAO.png@
+            float4 inputs:scale = (0.875, 0.846425, 0.784926, 1)
+            token inputs:sourceColorSpace = "auto"
+            float2 inputs:st.connect = </Materials/material_SubwayTilesRough/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_RedWall"
+    {
+        token outputs:displacement.connect = </Materials/material_RedWall/PreviewSurface.outputs:displacement>
+        token outputs:surface.connect = </Materials/material_RedWall/PreviewSurface.outputs:surface>
+
+        def Shader "PreviewSurface"
+        {
+            uniform token info:id = "UsdPreviewSurface"
+            color3f inputs:diffuseColor = (0.610294, 0, 0)
+            float inputs:metallic = 0
+            float inputs:opacity = 1
+            float inputs:roughness = 0.5
+            token outputs:displacement
+            token outputs:surface
+        }
+    }
+
+    def Material "material_RedBricks"
+    {
+        token outputs:displacement.connect = </Materials/material_RedBricks/PreviewSurface.outputs:displacement>
+        token outputs:surface.connect = </Materials/material_RedBricks/PreviewSurface.outputs:surface>
+
+        def Shader "PreviewSurface"
+        {
+            uniform token info:id = "UsdPreviewSurface"
+            color3f inputs:diffuseColor.connect = </Materials/material_RedBricks/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 = (0.610294, 0, 0, 1)
+            asset inputs:file = @./Textures/RedBricks.png@
+            float4 inputs:scale = (0.610294, 0, 0, 1)
+            token inputs:sourceColorSpace = "auto"
+            float2 inputs:st.connect = </Materials/material_RedBricks/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
+        }
+    }
+
+    def Material "material_Drywall4Tiled"
+    {
+        token outputs:displacement.connect = </Materials/material_Drywall4Tiled/PreviewSurface.outputs:displacement>
+        token outputs:surface.connect = </Materials/material_Drywall4Tiled/PreviewSurface.outputs:surface>
+
+        def Shader "PreviewSurface"
+        {
+            uniform token info:id = "UsdPreviewSurface"
+            color3f inputs:diffuseColor.connect = </Materials/material_Drywall4Tiled/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_Drywall4Tiled/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_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_MicrowaveMetalMat"
+    {
+        token outputs:displacement.connect = </Materials/material_MicrowaveMetalMat/PreviewSurface.outputs:displacement>
+        token outputs:surface.connect = </Materials/material_MicrowaveMetalMat/PreviewSurface.outputs:surface>
+
+        def Shader "PreviewSurface"
+        {
+            uniform token info:id = "UsdPreviewSurface"
+            color3f inputs:diffuseColor.connect = </Materials/material_MicrowaveMetalMat/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/BrushedIron_AlbedoTransparency.png@
+            float4 inputs:scale = (1, 1, 1, 1)
+            token inputs:sourceColorSpace = "auto"
+            float2 inputs:st.connect = </Materials/material_MicrowaveMetalMat/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_OrangeCabinet"
+    {
+        token outputs:displacement.connect = </Materials/material_OrangeCabinet/PreviewSurface.outputs:displacement>
+        token outputs:surface.connect = </Materials/material_OrangeCabinet/PreviewSurface.outputs:surface>
+
+        def Shader "PreviewSurface"
+        {
+            uniform token info:id = "UsdPreviewSurface"
+            color3f inputs:diffuseColor = (0.911765, 0.509331, 0)
+            float inputs:metallic = 0
+            float inputs:opacity = 1
+            float inputs:roughness = 0.5
+            token outputs:displacement
+            token outputs:surface
+        }
+    }
+}
+

scenes/ithor/FloorPlan318_physics/Payload/Physics.usda

@@ -0,0 +1,640 @@
+#usda 1.0
+(
+    customLayerData = {
+        string creator = """AI2-THOR mjcf-usd scene converter
+    time: 01-20-26 16:35:13
+    scene: FloorPlan318_physics
+    usd-exchange-version: 2.2.0
+"""
+    }
+    defaultPrim = "FloorPlan318_physics"
+    kilogramsPerUnit = 1
+    metersPerUnit = 1
+    upAxis = "Z"
+)
+
+def Xform "FloorPlan318_physics"
+{
+    def Scope "Physics"
+    {
+    }
+
+    over "Geometry"
+    {
+        over "mesh_1cf7ff839e4e33b9594d4150558b8f68_1_0_0"
+        {
+        }
+
+        over "mesh_1cf7ff839e4e33b9594d4150558b8f68_1_1_0"
+        {
+        }
+
+        over "deferreddecalspawnplane_d5bd1ab6ee63a108af0b8e29370be9e5_1_0_0"
+        {
+        }
+
+        over "deferreddecalspawnplane_d5bd1ab6ee63a108af0b8e29370be9e5_1_1_0"
+        {
+            over "deferreddecalspawnplane_d5bd1ab6ee63a108af0b8e29370be9e5_1_1_0_collision_1" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+        }
+
+        over "mirrormesh_e1177bbfad48d340594be890fdc695b5_1_0_0"
+        {
+        }
+
+        over "mirrormesh_e1177bbfad48d340594be890fdc695b5_1_1_0"
+        {
+            over "mirrormesh_e1177bbfad48d340594be890fdc695b5_1_1_0_collision_2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "mirrormesh_e1177bbfad48d340594be890fdc695b5_1_1_0_collision_3" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+        }
+
+        over "tn__fp318cube_c107cbe5816ab51105dbbda04f0a57d9_1_0_0_vx1"
+        {
+        }
+
+        over "tn__fp318cube_c107cbe5816ab51105dbbda04f0a57d9_1_1_0_vx1"
+        {
+            over "tn__fp318cube_c107cbe5816ab51105dbbda04f0a57d9_1_1_0_collision_1_ep2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+        }
+
+        over "quaddecalspawnplane_49cb0606c948b2888dc120e9b1f2719b_1_0_0"
+        {
+        }
+
+        over "tn__fp318window_a2521dbc450a0254204e86a34610914d_1_0_0_nW2"
+        {
+        }
+
+        over "tn__fp318window_a2521dbc450a0254204e86a34610914d_1_1_0_nW2"
+        {
+            over "tn__fp318window_a2521dbc450a0254204e86a34610914d_1_1_0_collision_1_Wt2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+        }
+
+        over "tn__fp318window_a2521dbc450a0254204e86a34610914d_1_2_0_nW2"
+        {
+        }
+
+        over "blindframemesh_55021f0f19ac5a47ffe7d5733811c8a1_1_0_0"
+        {
+        }
+
+        over "blindframemesh_55021f0f19ac5a47ffe7d5733811c8a1_1_1_0"
+        {
+            over "blindframemesh_55021f0f19ac5a47ffe7d5733811c8a1_1_1_0_collision_1" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+        }
+
+        over "blinds_415dbf43e625f35180a6e284d773266a_1_0_0"
+        {
+        }
+
+        over "blinds_415dbf43e625f35180a6e284d773266a_1_1_0"
+        {
+            over "blinds_415dbf43e625f35180a6e284d773266a_1_1_0_collision_1" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+        }
+
+        over "blinds_415dbf43e625f35180a6e284d773266a_1_2_0"
+        {
+            over "blinds_415dbf43e625f35180a6e284d773266a_1_2_0_collision_3" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+        }
+
+        over "window_c2ab1b7a6c45bafefb9757b1cd4fe71f_1_0_0"
+        {
+        }
+
+        over "window_c2ab1b7a6c45bafefb9757b1cd4fe71f_1_1_0"
+        {
+            over "window_c2ab1b7a6c45bafefb9757b1cd4fe71f_1_1_0_collision_1" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+        }
+
+        over "window_c2ab1b7a6c45bafefb9757b1cd4fe71f_1_2_0"
+        {
+        }
+
+        over "painting_c25b5c2d86b07d4f7e3f300c98d6b9ba_1_0_0"
+        {
+        }
+
+        over "painting_c25b5c2d86b07d4f7e3f300c98d6b9ba_1_1_0"
+        {
+            over "painting_c25b5c2d86b07d4f7e3f300c98d6b9ba_1_1_0_collision_1" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+        }
+
+        over "mirror_c6ee0d355615392ffa9776f70c9f9cf1_1_0_0"
+        {
+        }
+
+        over "mirror_c6ee0d355615392ffa9776f70c9f9cf1_1_1_0"
+        {
+            over "mirror_c6ee0d355615392ffa9776f70c9f9cf1_1_1_0_collision_2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "mirror_c6ee0d355615392ffa9776f70c9f9cf1_1_1_0_collision_3" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+        }
+
+        over "mirror_c6ee0d355615392ffa9776f70c9f9cf1_1_2_0"
+        {
+        }
+
+        over "mirror_c6ee0d355615392ffa9776f70c9f9cf1_1_3_0"
+        {
+        }
+
+        over "mirror_c6ee0d355615392ffa9776f70c9f9cf1_1_4_0"
+        {
+            over "mirror_c6ee0d355615392ffa9776f70c9f9cf1_1_4_0_collision_7" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+        }
+
+        over "floor_e6bd8bfb3bef8d560415c0d592828b16_1_0_0"
+        {
+        }
+
+        over "floor_e6bd8bfb3bef8d560415c0d592828b16_1_1_0"
+        {
+        }
+
+        over "decobox_36cc7c00b68561d92dc8d0533160b44e_1_0_0"
+        {
+        }
+
+        over "decobox_36cc7c00b68561d92dc8d0533160b44e_1_1_0"
+        {
+            over "decobox_36cc7c00b68561d92dc8d0533160b44e_1_1_0_collision_1" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+        }
+
+        over "decobox_ac3863f854489197ecdbad9692a3ee1e_1_0_0"
+        {
+        }
+
+        over "decobox_ac3863f854489197ecdbad9692a3ee1e_1_1_0"
+        {
+            over "decobox_ac3863f854489197ecdbad9692a3ee1e_1_1_0_collision_1" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+        }
+
+        over "tn__fp318pipe_97872e1ae438b701ecdbb7d310a70a00_1_0_0_vx1"
+        {
+        }
+
+        over "tn__fp318pipe_97872e1ae438b701ecdbb7d310a70a00_1_1_0_vx1"
+        {
+            over "tn__fp318pipe_97872e1ae438b701ecdbb7d310a70a00_1_1_0_collision_1_ep2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp318pipe_97872e1ae438b701ecdbb7d310a70a00_1_1_0_collision_2_ep2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+        }
+
+        over "airconditioner_d05eb20033f69b2cd62ab2fc3e2ddd55_1_0_0"
+        {
+        }
+
+        over "airconditioner_d05eb20033f69b2cd62ab2fc3e2ddd55_1_1_0"
+        {
+            over "airconditioner_d05eb20033f69b2cd62ab2fc3e2ddd55_1_1_0_collision_2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "airconditioner_d05eb20033f69b2cd62ab2fc3e2ddd55_1_1_0_collision_3" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "airconditioner_d05eb20033f69b2cd62ab2fc3e2ddd55_1_1_0_collision_4" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+        }
+
+        over "tn__fp318ceiling_7c7be7a5bb635beefd89d4a6e82f3379_1_0_0_jY2"
+        {
+        }
+
+        over "tn__fp318ceiling_7c7be7a5bb635beefd89d4a6e82f3379_1_1_0_jY2"
+        {
+            over "tn__fp318ceiling_7c7be7a5bb635beefd89d4a6e82f3379_1_1_0_collision_1_xu2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+        }
+
+        over "tn__fp318standardwallsize_0a8d4b15d06fc12ca0160afbc706023e_1_0_0_ep2"
+        {
+        }
+
+        over "tn__fp318standardwallsize_0a8d4b15d06fc12ca0160afbc706023e_1_1_0_ep2"
+        {
+            over "tn__fp318standardwallsize_0a8d4b15d06fc12ca0160afbc706023e_1_1_0_collision_5_sg3" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp318standardwallsize_0a8d4b15d06fc12ca0160afbc706023e_1_1_0_collision_6_sg3" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp318standardwallsize_0a8d4b15d06fc12ca0160afbc706023e_1_1_0_collision_7_sg3" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp318standardwallsize_0a8d4b15d06fc12ca0160afbc706023e_1_1_0_collision_8_sg3" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp318standardwallsize_0a8d4b15d06fc12ca0160afbc706023e_1_1_0_collision_9_sg3" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp318standardwallsize_0a8d4b15d06fc12ca0160afbc706023e_1_1_0_collision_10_oi3" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp318standardwallsize_0a8d4b15d06fc12ca0160afbc706023e_1_1_0_collision_11_oi3" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp318standardwallsize_0a8d4b15d06fc12ca0160afbc706023e_1_1_0_collision_12_oi3" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp318standardwallsize_0a8d4b15d06fc12ca0160afbc706023e_1_1_0_collision_13_oi3" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp318standardwallsize_0a8d4b15d06fc12ca0160afbc706023e_1_1_0_collision_14_oi3" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp318standardwallsize_0a8d4b15d06fc12ca0160afbc706023e_1_1_0_collision_15_oi3" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp318standardwallsize_0a8d4b15d06fc12ca0160afbc706023e_1_1_0_collision_16_oi3" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp318standardwallsize_0a8d4b15d06fc12ca0160afbc706023e_1_1_0_collision_17_oi3" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp318standardwallsize_0a8d4b15d06fc12ca0160afbc706023e_1_1_0_collision_18_oi3" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp318standardwallsize_0a8d4b15d06fc12ca0160afbc706023e_1_1_0_collision_19_oi3" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp318standardwallsize_0a8d4b15d06fc12ca0160afbc706023e_1_1_0_collision_20_oi3" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp318standardwallsize_0a8d4b15d06fc12ca0160afbc706023e_1_1_0_collision_21_oi3" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp318standardwallsize_0a8d4b15d06fc12ca0160afbc706023e_1_1_0_collision_22_oi3" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp318standardwallsize_0a8d4b15d06fc12ca0160afbc706023e_1_1_0_collision_23_oi3" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp318standardwallsize_0a8d4b15d06fc12ca0160afbc706023e_1_1_0_collision_24_oi3" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp318standardwallsize_0a8d4b15d06fc12ca0160afbc706023e_1_1_0_collision_25_oi3" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+        }
+
+        over "tn__fp318clock1_890137e4a40e320c8078096ad408a704_1_0_0_nW2"
+        {
+        }
+
+        over "tn__fp318clock1_890137e4a40e320c8078096ad408a704_1_1_0_nW2"
+        {
+            over "tn__fp318clock1_890137e4a40e320c8078096ad408a704_1_1_0_collision_2_Wt2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp318clock1_890137e4a40e320c8078096ad408a704_1_1_0_collision_3_Wt2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp318clock1_890137e4a40e320c8078096ad408a704_1_1_0_collision_4_Wt2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp318clock1_890137e4a40e320c8078096ad408a704_1_1_0_collision_5_Wt2" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+        }
+
+        over "tn__fp318lightfixture5_13f596159c7a18e8ec2d61adcbe5d7d1_1_0_0_qj2"
+        {
+        }
+
+        over "tn__fp318lightfixture5_13f596159c7a18e8ec2d61adcbe5d7d1_1_1_0_qj2"
+        {
+            over "tn__fp318lightfixture5_13f596159c7a18e8ec2d61adcbe5d7d1_1_1_0_collision_2_Zb3" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+        }
+
+        over "tn__fp318standardknob1_b40a1a536284b5f32684a92b4dc67994_1_0_0_qj2"
+        {
+        }
+
+        over "tn__fp318standardknob1_b40a1a536284b5f32684a92b4dc67994_1_1_0_qj2"
+        {
+            over "tn__fp318standardknob1_b40a1a536284b5f32684a92b4dc67994_1_1_0_collision_1_Zb3" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp318standardknob1_b40a1a536284b5f32684a92b4dc67994_1_1_0_collision_2_Zb3" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp318standardknob1_b40a1a536284b5f32684a92b4dc67994_1_1_0_collision_3_Zb3" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp318standardknob1_b40a1a536284b5f32684a92b4dc67994_1_1_0_collision_4_Zb3" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp318standardknob1_b40a1a536284b5f32684a92b4dc67994_1_1_0_collision_5_Zb3" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp318standardknob1_b40a1a536284b5f32684a92b4dc67994_1_1_0_collision_6_Zb3" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp318standardknob1_b40a1a536284b5f32684a92b4dc67994_1_1_0_collision_7_Zb3" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp318standardknob1_b40a1a536284b5f32684a92b4dc67994_1_1_0_collision_8_Zb3" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp318standardknob1_b40a1a536284b5f32684a92b4dc67994_1_1_0_collision_9_Zb3" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp318standardknob1_b40a1a536284b5f32684a92b4dc67994_1_1_0_collision_10_Vd3" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+        }
+
+        over "tn__fp318standarddoorframe1_c47732bea34b11132ac26434d5f900ed_1_0_0_Wt2"
+        {
+        }
+
+        over "tn__fp318standarddoorframe1_c47732bea34b11132ac26434d5f900ed_1_1_0_Wt2"
+        {
+            over "tn__fp318standarddoorframe1_c47732bea34b11132ac26434d5f900ed_1_1_0_collision_1_kk3" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp318standarddoorframe1_c47732bea34b11132ac26434d5f900ed_1_1_0_collision_2_kk3" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+
+            over "tn__fp318standarddoorframe1_c47732bea34b11132ac26434d5f900ed_1_1_0_collision_3_kk3" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+        }
+
+        over "tn__fp318standarddoor1_3804ea6e5a5dfb5ec919f50fc9b2ef50_1_0_0_qj2"
+        {
+        }
+
+        over "tn__fp318standarddoor1_3804ea6e5a5dfb5ec919f50fc9b2ef50_1_1_0_qj2"
+        {
+            over "tn__fp318standarddoor1_3804ea6e5a5dfb5ec919f50fc9b2ef50_1_1_0_collision_2_Zb3" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+            )
+            {
+                float physics:density = 500
+            }
+        }
+
+        over "floor" (
+            prepend apiSchemas = ["PhysicsCollisionAPI"]
+        )
+        {
+        }
+    }
+}
+

scenes/ithor/FloorPlan318_physics/scene.preprocessed.json

@@ -0,0 +1,20 @@
+{
+  "source": "E:/EAI/dex2bench_dataset/scenes/ithor/FloorPlan318_physics/scene.usda",
+  "preprocessor_version": "2.1",
+  "timestamp": "2026-05-08T09:10:42.473947+00:00",
+  "offset": [
+    0.0,
+    0.0,
+    0.0
+  ],
+  "yaw_deg": 0.0,
+  "floor_z": -0.20132,
+  "ceiling_z": 2.70077,
+  "prims_deactivated": 3,
+  "prims_deactivated_paths": [
+    "/FloorPlan318_physics/Geometry/mug_8caf1bb3f88e9a00e02dfe9e6518aeb0_1_0_0",
+    "/FloorPlan318_physics/Geometry/tablelamp_52bab42782c6b271da0abbafb0eca1c6_1_0_0",
+    "/FloorPlan318_physics/Geometry/laptop_de5352f233c6a9b4bf912bb08ebc2810_1_0_0"
+  ],
+  "physics_preserved": true
+}

scenes/ithor/FloorPlan318_physics/scene.usda

@@ -0,0 +1,187 @@
+#usda 1.0
+(
+    customLayerData = {
+        string creator = """AI2-THOR mjcf-usd scene converter
+    time: 01-20-26 16:35:13
+    scene: FloorPlan318_physics
+    usd-exchange-version: 2.2.0
+"""
+    }
+    defaultPrim = "FloorPlan318_physics"
+    kilogramsPerUnit = 1
+    metersPerUnit = 1
+    upAxis = "Z"
+)
+
+def Xform "FloorPlan318_physics" (
+    prepend apiSchemas = ["GeomModelAPI"]
+    assetInfo = {
+        string name = "FloorPlan318_physics"
+    }
+    kind = "component"
+    prepend payload = @./Payload/Contents.usda@
+)
+{
+    float3[] extentsHint = [(-2.06272, -2.20006, -0.20132), (2.5, 3.93436, 2.70077), (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, -0.013100336), (10, 10, 2.6951547)]
+
+    over "Geometry"
+    {
+        over "cellulartelephone_1c60d868b0dca269a52a97d6a4c87375_1_0_0" (
+            kind = "subcomponent"
+        )
+        {
+        }
+
+        over "alarmclock_3bdf873fd50a611f2cda03bced3bf928_1_0_0" (
+            kind = "subcomponent"
+        )
+        {
+        }
+
+        over "pencil_bc899382af3e1ceff65bab5aa369d0b0_1_0_0" (
+            kind = "subcomponent"
+        )
+        {
+        }
+
+        over "pen_9e010d48d638214946c4f369c6b49fd6_1_0_0" (
+            kind = "subcomponent"
+        )
+        {
+        }
+
+        over "compactdisk_6ac9e5bb9b913519777c54010dac1707_1_0_0" (
+            kind = "subcomponent"
+        )
+        {
+        }
+
+        over "mug_8caf1bb3f88e9a00e02dfe9e6518aeb0_1_0_0" (
+            active = false
+            kind = "subcomponent"
+        )
+        {
+        }
+
+        over "book_fde77405a8546edd1a9cd35621b51508_1_0_0" (
+            kind = "subcomponent"
+        )
+        {
+        }
+
+        over "bed_f7396f12a49fece079b12eb36aa992e9_1_0_0" (
+            kind = "subcomponent"
+        )
+        {
+        }
+
+        over "bed_089a8b84f839dfe7ebc53362911f32a0_1_0_0" (
+            active = false
+            kind = "subcomponent"
+        )
+        {
+        }
+
+        over "trashcan_bc34c475e1d7ee3ef832d5f67e6bea3a_1_0_0" (
+            kind = "subcomponent"
+        )
+        {
+        }
+
+        over "pillow_c223d0fc3107c8eb43a3c5876f16cbfc_1_0_0" (
+            active = false
+            kind = "subcomponent"
+        )
+        {
+        }
+
+        over "laptop_de5352f233c6a9b4bf912bb08ebc2810_1_0_0" (
+            active = false
+            kind = "subcomponent"
+        )
+        {
+        }
+
+        over "pillow_c223d0fc3107c8eb43a3c5876f16cbfc_2_0_0" (
+            kind = "subcomponent"
+        )
+        {
+        }
+
+        over "tablelamp_52bab42782c6b271da0abbafb0eca1c6_1_0_0" (
+            active = false
+            kind = "subcomponent"
+        )
+        {
+        }
+
+        over "tennisracket_edf5e4729620638cc9e4a4ff5550c4ff_1_0_0" (
+            active = false
+            kind = "subcomponent"
+        )
+        {
+        }
+
+        over "box_86df61ee7bca1cc249a9fb0fe82e7f58_1_0_0" (
+            active = false
+            kind = "subcomponent"
+        )
+        {
+        }
+
+        over "chestofdrawers_0f1893ca9306d95cbdc6459a01beb2e0_1_0_0" (
+            kind = "subcomponent"
+        )
+        {
+        }
+
+        over "desk_aeb6ab35aea76da67db0d3cd45d3e821_1_0_0" (
+            kind = "subcomponent"
+        )
+        {
+        }
+
+        over "chestofdrawers_66844de62b1b8b3aaa3fb714f2507557_1_0_0" (
+            kind = "subcomponent"
+        )
+        {
+        }
+
+        over "desk_2c29d078ad3e57017936266603cb41c5_1_0_0" (
+            kind = "subcomponent"
+        )
+        {
+        }
+
+        over "chair_e6eee93dbbd37e544610c1875d0db6da_1_0_0" (
+            kind = "subcomponent"
+        )
+        {
+        }
+
+        over "armchair_e182841a3c31a48bba0b505e012d5e76_1_0_0" (
+            kind = "subcomponent"
+        )
+        {
+        }
+
+        over "chair_e6eee93dbbd37e544610c1875d0db6da_2_0_0" (
+            kind = "subcomponent"
+        )
+        {
+        }
+
+        over "decobox_36cc7c00b68561d92dc8d0533160b44e_1_1_0" (
+            active = false
+        )
+        {
+        }
+
+        over "decobox_ac3863f854489197ecdbad9692a3ee1e_1_1_0" (
+            active = false
+        )
+        {
+        }
+    }
+}
+

scenes/ithor/FloorPlan3_physics/Payload/Contents.usda

@@ -0,0 +1,37 @@
+#usda 1.0
+(
+    customLayerData = {
+        string creator = """AI2-THOR mjcf-usd scene converter
+    time: 01-20-26 16:35:02
+    scene: FloorPlan3_physics
+    usd-exchange-version: 2.2.0
+"""
+    }
+    defaultPrim = "FloorPlan3_physics"
+    kilogramsPerUnit = 1
+    metersPerUnit = 1
+    subLayers = [
+        @./Physics.usda@,
+        @./Geometry.usda@,
+        @./Materials.usda@
+    ]
+    upAxis = "Z"
+)
+
+def Xform "FloorPlan3_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/FloorPlan9_physics/Payload/Contents.usda

@@ -0,0 +1,37 @@
+#usda 1.0
+(
+    customLayerData = {
+        string creator = """AI2-THOR mjcf-usd scene converter
+    time: 01-20-26 16:35:02
+    scene: FloorPlan9_physics
+    usd-exchange-version: 2.2.0
+"""
+    }
+    defaultPrim = "FloorPlan9_physics"
+    kilogramsPerUnit = 1
+    metersPerUnit = 1
+    subLayers = [
+        @./Physics.usda@,
+        @./Geometry.usda@,
+        @./Materials.usda@
+    ]
+    upAxis = "Z"
+)
+
+def Xform "FloorPlan9_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/FloorPlan9_physics/Payload/Materials.usda

@@ -0,0 +1,1712 @@
+#usda 1.0
+(
+    customLayerData = {
+        string creator = """AI2-THOR mjcf-usd scene converter
+    time: 01-20-26 16:35:02
+    scene: FloorPlan9_physics
+    usd-exchange-version: 2.2.0
+"""
+    }
+    defaultPrim = "FloorPlan9_physics"
+    kilogramsPerUnit = 1
+    metersPerUnit = 1
+    upAxis = "Z"
+)
+
+def Xform "FloorPlan9_physics"
+{
+    def Scope "Materials"
+    {
+        def Material "material_CoffeeMachineBlackMat" (
+            prepend references = @./MaterialsLibrary.usda@</Materials/material_CoffeeMachineBlackMat>
+        )
+        {
+        }
+
+        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_Porcelain_Black_Mat" (
+            prepend references = @./MaterialsLibrary.usda@</Materials/material_Porcelain_Black_Mat>
+        )
+        {
+        }
+
+        def Material "material_Porcelain_Red_Mat" (
+            prepend references = @./MaterialsLibrary.usda@</Materials/material_Porcelain_Red_Mat>
+        )
+        {
+        }
+
+        def Material "material_LightWoodCounters" (
+            prepend references = @./MaterialsLibrary.usda@</Materials/material_LightWoodCounters>
+        )
+        {
+        }
+
+        def Material "material_Brass" (
+            prepend references = @./MaterialsLibrary.usda@</Materials/material_Brass>
+        )
+        {
+        }
+
+        def Material "material_Metal_chrome_mat" (
+            prepend references = @./MaterialsLibrary.usda@</Materials/material_Metal_chrome_mat>
+        )
+        {
+        }
+
+        def Material "material_KitchenTilesCheckerboard" (
+            prepend references = @./MaterialsLibrary.usda@</Materials/material_KitchenTilesCheckerboard>
+        )
+        {
+        }
+
+        def Material "material_Glass_Detailed_Lit_High_Mat" (
+            prepend references = @./MaterialsLibrary.usda@</Materials/material_Glass_Detailed_Lit_High_Mat>
+        )
+        {
+        }
+
+        def Material "material_WhiteWoodClean" (
+            prepend references = @./MaterialsLibrary.usda@</Materials/material_WhiteWoodClean>
+        )
+        {
+        }
+
+        def Material "material_LightWoodCounters2" (
+            prepend references = @./MaterialsLibrary.usda@</Materials/material_LightWoodCounters2>
+        )
+        {
+        }
+
+        def Material "material_marbleBase2" (
+            prepend references = @./MaterialsLibrary.usda@</Materials/material_marbleBase2>
+        )
+        {
+        }
+
+        def Material "material_Brass_Mat" (
+            prepend references = @./MaterialsLibrary.usda@</Materials/material_Brass_Mat>
+        )
+        {
+        }
+
+        def Material "material_Light2" (
+            prepend references = @./MaterialsLibrary.usda@</Materials/material_Light2>
+        )
+        {
+        }
+
+        def Material "material_Walldrywall4Tiled" (
+            prepend references = @./MaterialsLibrary.usda@</Materials/material_Walldrywall4Tiled>
+        )
+        {
+        }
+
+        def Material "material_WhiteWood" (
+            prepend references = @./MaterialsLibrary.usda@</Materials/material_WhiteWood>
+        )
+        {
+        }
+
+        def Material "material_WoodPlanksCleanseamlesWhitePainted" (
+            prepend references = @./MaterialsLibrary.usda@</Materials/material_WoodPlanksCleanseamlesWhitePainted>
+        )
+        {
+        }
+
+        def Material "material_Walldrywall3Tiled" (
+            prepend references = @./MaterialsLibrary.usda@</Materials/material_Walldrywall3Tiled>
+        )
+        {
+        }
+    }
+
+    over "Geometry"
+    {
+        over "oven_02f36c8228e0f240b37e9fdce7db94ea_1_1_0"
+        {
+            over "oven_02f36c8228e0f240b37e9fdce7db94ea_1_1_0_visual_0" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan9_physics/Materials/material_CoffeeMachineBlackMat>
+            }
+        }
+
+        over "oven_02f36c8228e0f240b37e9fdce7db94ea_1_2_0"
+        {
+            over "oven_02f36c8228e0f240b37e9fdce7db94ea_1_2_0_visual_6" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan9_physics/Materials/material_CoffeeMachineBlackMat>
+            }
+        }
+
+        over "oven_02f36c8228e0f240b37e9fdce7db94ea_1_3_0"
+        {
+            over "oven_02f36c8228e0f240b37e9fdce7db94ea_1_3_0_visual_18" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan9_physics/Materials/material_CoffeeMachineBlackMat>
+            }
+        }
+
+        over "oven_02f36c8228e0f240b37e9fdce7db94ea_1_4_0"
+        {
+            over "oven_02f36c8228e0f240b37e9fdce7db94ea_1_4_0_visual_53" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan9_physics/Materials/material_Glass_Black_Mat>
+            }
+
+            over "oven_02f36c8228e0f240b37e9fdce7db94ea_1_4_0_visual_54" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan9_physics/Materials/material_CoffeeMachineBlackMat>
+            }
+        }
+
+        over "oven_02f36c8228e0f240b37e9fdce7db94ea_1_5_0"
+        {
+            over "oven_02f36c8228e0f240b37e9fdce7db94ea_1_5_0_visual_66" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan9_physics/Materials/material_CoffeeMachineBlackMat>
+            }
+        }
+
+        over "dishwasher_84c2bd24bfb426bc03464ce5e289f759_1_1_0"
+        {
+            over "dishwasher_84c2bd24bfb426bc03464ce5e289f759_1_1_0_visual_0" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan9_physics/Materials/material_HammeredMetal_AlbedoTransparency>
+            }
+
+            over "dishwasher_84c2bd24bfb426bc03464ce5e289f759_1_1_0_visual_1" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan9_physics/Materials/material_Porcelain_Black_Mat>
+            }
+        }
+
+        over "dishwasher_84c2bd24bfb426bc03464ce5e289f759_1_2_0"
+        {
+            over "dishwasher_84c2bd24bfb426bc03464ce5e289f759_1_2_0_visual_59" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan9_physics/Materials/material_HammeredMetal_AlbedoTransparency>
+            }
+
+            over "dishwasher_84c2bd24bfb426bc03464ce5e289f759_1_2_0_visual_60" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan9_physics/Materials/material_Porcelain_Black_Mat>
+            }
+        }
+
+        over "dishwasher_84c2bd24bfb426bc03464ce5e289f759_1_3_0"
+        {
+            over "dishwasher_84c2bd24bfb426bc03464ce5e289f759_1_3_0_visual_82" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan9_physics/Materials/material_HammeredMetal_AlbedoTransparency>
+            }
+        }
+
+        over "knob_e5dd10a801d5dd0f2c2883ad87ec9540_1_2_0"
+        {
+            over "knob_e5dd10a801d5dd0f2c2883ad87ec9540_1_2_0_visual_1" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan9_physics/Materials/material_Porcelain_Black_Mat>
+            }
+
+            over "knob_e5dd10a801d5dd0f2c2883ad87ec9540_1_2_0_visual_2" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan9_physics/Materials/material_Porcelain_Red_Mat>
+            }
+        }
+
+        over "knob_4c0b0b86924b45515126f3363051efd6_1_2_0"
+        {
+            over "knob_4c0b0b86924b45515126f3363051efd6_1_2_0_visual_1" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan9_physics/Materials/material_Porcelain_Black_Mat>
+            }
+
+            over "knob_4c0b0b86924b45515126f3363051efd6_1_2_0_visual_2" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan9_physics/Materials/material_Porcelain_Red_Mat>
+            }
+        }
+
+        over "knob_3d28b8d42df017c90a7d6e40f15afd4e_1_2_0"
+        {
+            over "knob_3d28b8d42df017c90a7d6e40f15afd4e_1_2_0_visual_1" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan9_physics/Materials/material_Porcelain_Black_Mat>
+            }
+
+            over "knob_3d28b8d42df017c90a7d6e40f15afd4e_1_2_0_visual_2" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan9_physics/Materials/material_Porcelain_Red_Mat>
+            }
+        }
+
+        over "knob_bbe19d3d526344909417802bf54eca64_1_2_0"
+        {
+            over "knob_bbe19d3d526344909417802bf54eca64_1_2_0_visual_1" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan9_physics/Materials/material_Porcelain_Black_Mat>
+            }
+
+            over "knob_bbe19d3d526344909417802bf54eca64_1_2_0_visual_2" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan9_physics/Materials/material_Porcelain_Red_Mat>
+            }
+        }
+
+        over "drawer_0fa838fa3a597938814b41d524d745e7_1_1_0"
+        {
+            over "drawer_0fa838fa3a597938814b41d524d745e7_1_1_0_visual_0" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan9_physics/Materials/material_LightWoodCounters>
+            }
+        }
+
+        over "drawer_0fa838fa3a597938814b41d524d745e7_1_2_0"
+        {
+            over "drawer_0fa838fa3a597938814b41d524d745e7_1_2_0_visual_7" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan9_physics/Materials/material_Brass>
+            }
+
+            over "drawer_0fa838fa3a597938814b41d524d745e7_1_2_0_visual_8" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan9_physics/Materials/material_Metal_chrome_mat>
+            }
+        }
+
+        over "drawer_ec46dd21ff4b7f268cb79f62cb043f44_1_1_0"
+        {
+            over "drawer_ec46dd21ff4b7f268cb79f62cb043f44_1_1_0_visual_0" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan9_physics/Materials/material_LightWoodCounters>
+            }
+        }
+
+        over "drawer_ec46dd21ff4b7f268cb79f62cb043f44_1_2_0"
+        {
+            over "drawer_ec46dd21ff4b7f268cb79f62cb043f44_1_2_0_visual_7" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan9_physics/Materials/material_Brass>
+            }
+
+            over "drawer_ec46dd21ff4b7f268cb79f62cb043f44_1_2_0_visual_8" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan9_physics/Materials/material_Metal_chrome_mat>
+            }
+        }
+
+        over "drawer_25597177169ed6a27713b52e095daa4b_1_1_0"
+        {
+            over "drawer_25597177169ed6a27713b52e095daa4b_1_1_0_visual_0" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan9_physics/Materials/material_LightWoodCounters>
+            }
+        }
+
+        over "drawer_25597177169ed6a27713b52e095daa4b_1_2_0"
+        {
+            over "drawer_25597177169ed6a27713b52e095daa4b_1_2_0_visual_7" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan9_physics/Materials/material_Brass>
+            }
+
+            over "drawer_25597177169ed6a27713b52e095daa4b_1_2_0_visual_8" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan9_physics/Materials/material_Metal_chrome_mat>
+            }
+        }
+
+        over "drawer_e61833be0a1a34696fbd072f7e30d91c_1_1_0"
+        {
+            over "drawer_e61833be0a1a34696fbd072f7e30d91c_1_1_0_visual_0" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan9_physics/Materials/material_LightWoodCounters>
+            }
+        }
+
+        over "drawer_e61833be0a1a34696fbd072f7e30d91c_1_2_0"
+        {
+            over "drawer_e61833be0a1a34696fbd072f7e30d91c_1_2_0_visual_7" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan9_physics/Materials/material_Brass>
+            }
+
+            over "drawer_e61833be0a1a34696fbd072f7e30d91c_1_2_0_visual_8" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan9_physics/Materials/material_Metal_chrome_mat>
+            }
+        }
+
+        over "drawer_3f115aad07c9ed2db118c6a18e3511a0_1_1_0"
+        {
+            over "drawer_3f115aad07c9ed2db118c6a18e3511a0_1_1_0_visual_0" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan9_physics/Materials/material_LightWoodCounters>
+            }
+        }
+
+        over "drawer_3f115aad07c9ed2db118c6a18e3511a0_1_2_0"
+        {
+            over "drawer_3f115aad07c9ed2db118c6a18e3511a0_1_2_0_visual_7" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan9_physics/Materials/material_Brass>
+            }
+
+            over "drawer_3f115aad07c9ed2db118c6a18e3511a0_1_2_0_visual_8" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan9_physics/Materials/material_Metal_chrome_mat>
+            }
+        }
+
+        over "drawer_63c6942f4f1238d242646ee5e4b90437_1_1_0"
+        {
+            over "drawer_63c6942f4f1238d242646ee5e4b90437_1_1_0_visual_0" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan9_physics/Materials/material_LightWoodCounters>
+            }
+        }
+
+        over "drawer_63c6942f4f1238d242646ee5e4b90437_1_2_0"
+        {
+            over "drawer_63c6942f4f1238d242646ee5e4b90437_1_2_0_visual_7" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan9_physics/Materials/material_Brass>
+            }
+
+            over "drawer_63c6942f4f1238d242646ee5e4b90437_1_2_0_visual_8" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan9_physics/Materials/material_Metal_chrome_mat>
+            }
+        }
+
+        over "drawer_0930ec6cb4ddc654158fb51627a991a0_1_1_0"
+        {
+            over "drawer_0930ec6cb4ddc654158fb51627a991a0_1_1_0_visual_0" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan9_physics/Materials/material_LightWoodCounters>
+            }
+        }
+
+        over "drawer_0930ec6cb4ddc654158fb51627a991a0_1_2_0"
+        {
+            over "drawer_0930ec6cb4ddc654158fb51627a991a0_1_2_0_visual_7" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan9_physics/Materials/material_Brass>
+            }
+
+            over "drawer_0930ec6cb4ddc654158fb51627a991a0_1_2_0_visual_8" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan9_physics/Materials/material_Metal_chrome_mat>
+            }
+        }
+
+        over "cabinet_f60f42244dd263bba98d2eaa4929e8e2_1_1_0"
+        {
+            over "cabinet_f60f42244dd263bba98d2eaa4929e8e2_1_1_0_visual_0" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan9_physics/Materials/material_LightWoodCounters>
+            }
+        }
+
+        over "cabinet_f60f42244dd263bba98d2eaa4929e8e2_1_2_0"
+        {
+            over "cabinet_f60f42244dd263bba98d2eaa4929e8e2_1_2_0_visual_2" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan9_physics/Materials/material_Brass>
+            }
+
+            over "cabinet_f60f42244dd263bba98d2eaa4929e8e2_1_2_0_visual_3" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan9_physics/Materials/material_Metal_chrome_mat>
+            }
+        }
+
+        over "cabinet_795c1c2f3dba73606a5fcf1ba2c72387_1_1_0"
+        {
+            over "cabinet_795c1c2f3dba73606a5fcf1ba2c72387_1_1_0_visual_0" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan9_physics/Materials/material_LightWoodCounters>
+            }
+        }
+
+        over "cabinet_795c1c2f3dba73606a5fcf1ba2c72387_1_2_0"
+        {
+            over "cabinet_795c1c2f3dba73606a5fcf1ba2c72387_1_2_0_visual_2" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan9_physics/Materials/material_Brass>
+            }
+
+            over "cabinet_795c1c2f3dba73606a5fcf1ba2c72387_1_2_0_visual_3" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan9_physics/Materials/material_Metal_chrome_mat>
+            }
+        }
+
+        over "cabinet_db1b420e6ad1efef30669dfaaf1ae2ab_1_1_0"
+        {
+            over "cabinet_db1b420e6ad1efef30669dfaaf1ae2ab_1_1_0_visual_0" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan9_physics/Materials/material_LightWoodCounters>
+            }
+        }
+
+        over "cabinet_db1b420e6ad1efef30669dfaaf1ae2ab_1_2_0"
+        {
+            over "cabinet_db1b420e6ad1efef30669dfaaf1ae2ab_1_2_0_visual_2" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan9_physics/Materials/material_Brass>
+            }
+
+            over "cabinet_db1b420e6ad1efef30669dfaaf1ae2ab_1_2_0_visual_3" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan9_physics/Materials/material_Metal_chrome_mat>
+            }
+        }
+
+        over "cabinet_d98c1f9d912e695f68e7d25a54a2ac26_1_1_0"
+        {
+            over "cabinet_d98c1f9d912e695f68e7d25a54a2ac26_1_1_0_visual_0" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan9_physics/Materials/material_LightWoodCounters>
+            }
+        }
+
+        over "cabinet_d98c1f9d912e695f68e7d25a54a2ac26_1_2_0"
+        {
+            over "cabinet_d98c1f9d912e695f68e7d25a54a2ac26_1_2_0_visual_2" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan9_physics/Materials/material_Brass>
+            }
+
+            over "cabinet_d98c1f9d912e695f68e7d25a54a2ac26_1_2_0_visual_3" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan9_physics/Materials/material_Metal_chrome_mat>
+            }
+        }
+
+        over "cabinet_04deed7875729187fef3ff4835ab0861_1_1_0"
+        {
+            over "cabinet_04deed7875729187fef3ff4835ab0861_1_1_0_visual_0" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan9_physics/Materials/material_LightWoodCounters>
+            }
+        }
+
+        over "cabinet_04deed7875729187fef3ff4835ab0861_1_2_0"
+        {
+            over "cabinet_04deed7875729187fef3ff4835ab0861_1_2_0_visual_2" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan9_physics/Materials/material_Brass>
+            }
+
+            over "cabinet_04deed7875729187fef3ff4835ab0861_1_2_0_visual_3" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan9_physics/Materials/material_Metal_chrome_mat>
+            }
+        }
+
+        over "cabinet_25b073e78126bbc15f3c9222551529f4_1_1_0"
+        {
+            over "cabinet_25b073e78126bbc15f3c9222551529f4_1_1_0_visual_0" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan9_physics/Materials/material_LightWoodCounters>
+            }
+        }
+
+        over "cabinet_25b073e78126bbc15f3c9222551529f4_1_2_0"
+        {
+            over "cabinet_25b073e78126bbc15f3c9222551529f4_1_2_0_visual_2" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan9_physics/Materials/material_Brass>
+            }
+
+            over "cabinet_25b073e78126bbc15f3c9222551529f4_1_2_0_visual_3" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan9_physics/Materials/material_Metal_chrome_mat>
+            }
+        }
+
+        over "cabinet_09b831c42e46df4acdcef75c69ed833c_1_1_0"
+        {
+            over "cabinet_09b831c42e46df4acdcef75c69ed833c_1_1_0_visual_0" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan9_physics/Materials/material_LightWoodCounters>
+            }
+        }
+
+        over "cabinet_09b831c42e46df4acdcef75c69ed833c_1_2_0"
+        {
+            over "cabinet_09b831c42e46df4acdcef75c69ed833c_1_2_0_visual_2" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan9_physics/Materials/material_Brass>
+            }
+
+            over "cabinet_09b831c42e46df4acdcef75c69ed833c_1_2_0_visual_3" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan9_physics/Materials/material_Metal_chrome_mat>
+            }
+        }
+
+        over "drawer_aba694c7b66ede22a4c687b21b5669f2_1_1_0"
+        {
+            over "drawer_aba694c7b66ede22a4c687b21b5669f2_1_1_0_visual_0" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan9_physics/Materials/material_LightWoodCounters>
+            }
+        }
+
+        over "drawer_aba694c7b66ede22a4c687b21b5669f2_1_2_0"
+        {
+            over "drawer_aba694c7b66ede22a4c687b21b5669f2_1_2_0_visual_7" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan9_physics/Materials/material_Brass>
+            }
+
+            over "drawer_aba694c7b66ede22a4c687b21b5669f2_1_2_0_visual_8" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan9_physics/Materials/material_Metal_chrome_mat>
+            }
+        }
+
+        over "drawer_cb7b02abb8076d3e319a958bb4d84aa5_1_1_0"
+        {
+            over "drawer_cb7b02abb8076d3e319a958bb4d84aa5_1_1_0_visual_0" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan9_physics/Materials/material_LightWoodCounters>
+            }
+        }
+
+        over "drawer_cb7b02abb8076d3e319a958bb4d84aa5_1_2_0"
+        {
+            over "drawer_cb7b02abb8076d3e319a958bb4d84aa5_1_2_0_visual_7" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan9_physics/Materials/material_Brass>
+            }
+
+            over "drawer_cb7b02abb8076d3e319a958bb4d84aa5_1_2_0_visual_8" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan9_physics/Materials/material_Metal_chrome_mat>
+            }
+        }
+
+        over "drawer_c32bc458ba5aada3e61e3489cb9d8242_1_1_0"
+        {
+            over "drawer_c32bc458ba5aada3e61e3489cb9d8242_1_1_0_visual_0" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan9_physics/Materials/material_LightWoodCounters>
+            }
+        }
+
+        over "drawer_c32bc458ba5aada3e61e3489cb9d8242_1_2_0"
+        {
+            over "drawer_c32bc458ba5aada3e61e3489cb9d8242_1_2_0_visual_7" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan9_physics/Materials/material_Brass>
+            }
+
+            over "drawer_c32bc458ba5aada3e61e3489cb9d8242_1_2_0_visual_8" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan9_physics/Materials/material_Metal_chrome_mat>
+            }
+        }
+
+        over "drawer_5f415b48d2a4aecf711b1371480e441e_1_1_0"
+        {
+            over "drawer_5f415b48d2a4aecf711b1371480e441e_1_1_0_visual_0" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan9_physics/Materials/material_LightWoodCounters>
+            }
+        }
+
+        over "drawer_5f415b48d2a4aecf711b1371480e441e_1_2_0"
+        {
+            over "drawer_5f415b48d2a4aecf711b1371480e441e_1_2_0_visual_7" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan9_physics/Materials/material_Brass>
+            }
+
+            over "drawer_5f415b48d2a4aecf711b1371480e441e_1_2_0_visual_8" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan9_physics/Materials/material_Metal_chrome_mat>
+            }
+        }
+
+        over "cabinet_844c4adf60872781c2328639b45973e0_1_1_0"
+        {
+            over "cabinet_844c4adf60872781c2328639b45973e0_1_1_0_visual_0" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan9_physics/Materials/material_LightWoodCounters>
+            }
+        }
+
+        over "cabinet_844c4adf60872781c2328639b45973e0_1_2_0"
+        {
+            over "cabinet_844c4adf60872781c2328639b45973e0_1_2_0_visual_2" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan9_physics/Materials/material_Brass>
+            }
+
+            over "cabinet_844c4adf60872781c2328639b45973e0_1_2_0_visual_3" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan9_physics/Materials/material_Metal_chrome_mat>
+            }
+        }
+
+        over "cabinet_ab18e6c5c99711ae0c58ffa64685ea64_1_1_0"
+        {
+            over "cabinet_ab18e6c5c99711ae0c58ffa64685ea64_1_1_0_visual_0" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan9_physics/Materials/material_LightWoodCounters>
+            }
+        }
+
+        over "cabinet_ab18e6c5c99711ae0c58ffa64685ea64_1_2_0"
+        {
+            over "cabinet_ab18e6c5c99711ae0c58ffa64685ea64_1_2_0_visual_2" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan9_physics/Materials/material_Brass>
+            }
+
+            over "cabinet_ab18e6c5c99711ae0c58ffa64685ea64_1_2_0_visual_3" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan9_physics/Materials/material_Metal_chrome_mat>
+            }
+        }
+
+        over "cabinet_076fd373470597a05d385e42c4ff2b8b_1_1_0"
+        {
+            over "cabinet_076fd373470597a05d385e42c4ff2b8b_1_1_0_visual_0" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan9_physics/Materials/material_LightWoodCounters>
+            }
+        }
+
+        over "cabinet_076fd373470597a05d385e42c4ff2b8b_1_2_0"
+        {
+            over "cabinet_076fd373470597a05d385e42c4ff2b8b_1_2_0_visual_2" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan9_physics/Materials/material_Brass>
+            }
+
+            over "cabinet_076fd373470597a05d385e42c4ff2b8b_1_2_0_visual_3" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan9_physics/Materials/material_Metal_chrome_mat>
+            }
+        }
+
+        over "cabinet_b5795a006f6e459f8b82a4f9bcf0b106_1_1_0"
+        {
+            over "cabinet_b5795a006f6e459f8b82a4f9bcf0b106_1_1_0_visual_0" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan9_physics/Materials/material_LightWoodCounters>
+            }
+        }
+
+        over "cabinet_b5795a006f6e459f8b82a4f9bcf0b106_1_2_0"
+        {
+            over "cabinet_b5795a006f6e459f8b82a4f9bcf0b106_1_2_0_visual_2" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan9_physics/Materials/material_Brass>
+            }
+
+            over "cabinet_b5795a006f6e459f8b82a4f9bcf0b106_1_2_0_visual_3" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan9_physics/Materials/material_Metal_chrome_mat>
+            }
+        }
+
+        over "cabinet_355f835ac44a886f7b56e9de81da6c91_1_1_0"
+        {
+            over "cabinet_355f835ac44a886f7b56e9de81da6c91_1_1_0_visual_0" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan9_physics/Materials/material_LightWoodCounters>
+            }
+        }
+
+        over "cabinet_355f835ac44a886f7b56e9de81da6c91_1_2_0"
+        {
+            over "cabinet_355f835ac44a886f7b56e9de81da6c91_1_2_0_visual_2" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan9_physics/Materials/material_Brass>
+            }
+
+            over "cabinet_355f835ac44a886f7b56e9de81da6c91_1_2_0_visual_3" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan9_physics/Materials/material_Metal_chrome_mat>
+            }
+        }
+
+        over "cabinet_f1584c480562d1e2b1ff2a97f7e4e4fb_1_1_0"
+        {
+            over "cabinet_f1584c480562d1e2b1ff2a97f7e4e4fb_1_1_0_visual_0" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan9_physics/Materials/material_LightWoodCounters>
+            }
+        }
+
+        over "cabinet_f1584c480562d1e2b1ff2a97f7e4e4fb_1_2_0"
+        {
+            over "cabinet_f1584c480562d1e2b1ff2a97f7e4e4fb_1_2_0_visual_2" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan9_physics/Materials/material_Brass>
+            }
+
+            over "cabinet_f1584c480562d1e2b1ff2a97f7e4e4fb_1_2_0_visual_3" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan9_physics/Materials/material_Metal_chrome_mat>
+            }
+        }
+
+        over "cabinet_2b360c2d9c32b8d888bc7311c96d73f6_1_1_0"
+        {
+            over "cabinet_2b360c2d9c32b8d888bc7311c96d73f6_1_1_0_visual_0" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan9_physics/Materials/material_LightWoodCounters>
+            }
+        }
+
+        over "cabinet_2b360c2d9c32b8d888bc7311c96d73f6_1_2_0"
+        {
+            over "cabinet_2b360c2d9c32b8d888bc7311c96d73f6_1_2_0_visual_2" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan9_physics/Materials/material_Brass>
+            }
+
+            over "cabinet_2b360c2d9c32b8d888bc7311c96d73f6_1_2_0_visual_3" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan9_physics/Materials/material_Metal_chrome_mat>
+            }
+        }
+
+        over "cabinet_d415efb2326cff821c41653ffa1d112e_1_1_0"
+        {
+            over "cabinet_d415efb2326cff821c41653ffa1d112e_1_1_0_visual_0" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan9_physics/Materials/material_LightWoodCounters>
+            }
+        }
+
+        over "cabinet_d415efb2326cff821c41653ffa1d112e_1_2_0"
+        {
+            over "cabinet_d415efb2326cff821c41653ffa1d112e_1_2_0_visual_2" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan9_physics/Materials/material_Brass>
+            }
+
+            over "cabinet_d415efb2326cff821c41653ffa1d112e_1_2_0_visual_3" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan9_physics/Materials/material_Metal_chrome_mat>
+            }
+        }
+
+        over "cabinet_49dd1b3ab6d1a74769c19837ae4a8486_1_1_0"
+        {
+            over "cabinet_49dd1b3ab6d1a74769c19837ae4a8486_1_1_0_visual_0" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan9_physics/Materials/material_LightWoodCounters>
+            }
+        }
+
+        over "cabinet_49dd1b3ab6d1a74769c19837ae4a8486_1_2_0"
+        {
+            over "cabinet_49dd1b3ab6d1a74769c19837ae4a8486_1_2_0_visual_2" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan9_physics/Materials/material_Brass>
+            }
+
+            over "cabinet_49dd1b3ab6d1a74769c19837ae4a8486_1_2_0_visual_3" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan9_physics/Materials/material_Metal_chrome_mat>
+            }
+        }
+
+        over "cabinet_6823bb93019328ecac94928bbc6b6e46_1_1_0"
+        {
+            over "cabinet_6823bb93019328ecac94928bbc6b6e46_1_1_0_visual_0" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan9_physics/Materials/material_LightWoodCounters>
+            }
+        }
+
+        over "cabinet_6823bb93019328ecac94928bbc6b6e46_1_2_0"
+        {
+            over "cabinet_6823bb93019328ecac94928bbc6b6e46_1_2_0_visual_2" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan9_physics/Materials/material_Brass>
+            }
+
+            over "cabinet_6823bb93019328ecac94928bbc6b6e46_1_2_0_visual_3" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan9_physics/Materials/material_Metal_chrome_mat>
+            }
+        }
+
+        over "cabinet_541b2c684a8d93ecf08cd3fdbf674a2d_1_1_0"
+        {
+            over "cabinet_541b2c684a8d93ecf08cd3fdbf674a2d_1_1_0_visual_0" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan9_physics/Materials/material_LightWoodCounters>
+            }
+        }
+
+        over "cabinet_541b2c684a8d93ecf08cd3fdbf674a2d_1_2_0"
+        {
+            over "cabinet_541b2c684a8d93ecf08cd3fdbf674a2d_1_2_0_visual_2" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan9_physics/Materials/material_Brass>
+            }
+
+            over "cabinet_541b2c684a8d93ecf08cd3fdbf674a2d_1_2_0_visual_3" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan9_physics/Materials/material_Metal_chrome_mat>
+            }
+        }
+
+        over "cabinet_42f31443e0cbe757a58f92d0412630bf_1_1_0"
+        {
+            over "cabinet_42f31443e0cbe757a58f92d0412630bf_1_1_0_visual_0" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan9_physics/Materials/material_LightWoodCounters>
+            }
+        }
+
+        over "cabinet_42f31443e0cbe757a58f92d0412630bf_1_2_0"
+        {
+            over "cabinet_42f31443e0cbe757a58f92d0412630bf_1_2_0_visual_2" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan9_physics/Materials/material_Brass>
+            }
+
+            over "cabinet_42f31443e0cbe757a58f92d0412630bf_1_2_0_visual_3" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan9_physics/Materials/material_Metal_chrome_mat>
+            }
+        }
+
+        over "cabinet_a4711874aa84a9e7e16916389de6cb8d_1_1_0"
+        {
+            over "cabinet_a4711874aa84a9e7e16916389de6cb8d_1_1_0_visual_0" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan9_physics/Materials/material_LightWoodCounters>
+            }
+        }
+
+        over "cabinet_a4711874aa84a9e7e16916389de6cb8d_1_2_0"
+        {
+            over "cabinet_a4711874aa84a9e7e16916389de6cb8d_1_2_0_visual_2" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan9_physics/Materials/material_Brass>
+            }
+
+            over "cabinet_a4711874aa84a9e7e16916389de6cb8d_1_2_0_visual_3" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan9_physics/Materials/material_Metal_chrome_mat>
+            }
+        }
+
+        over "cabinet_f579d72ac8eab909e0203da893c0326a_1_1_0"
+        {
+            over "cabinet_f579d72ac8eab909e0203da893c0326a_1_1_0_visual_0" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan9_physics/Materials/material_LightWoodCounters>
+            }
+        }
+
+        over "cabinet_f579d72ac8eab909e0203da893c0326a_1_2_0"
+        {
+            over "cabinet_f579d72ac8eab909e0203da893c0326a_1_2_0_visual_2" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan9_physics/Materials/material_Brass>
+            }
+
+            over "cabinet_f579d72ac8eab909e0203da893c0326a_1_2_0_visual_3" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan9_physics/Materials/material_Metal_chrome_mat>
+            }
+        }
+
+        over "cabinet_66f8d5fb4d555daccdfb3adf8fe9e75c_1_1_0"
+        {
+            over "cabinet_66f8d5fb4d555daccdfb3adf8fe9e75c_1_1_0_visual_0" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan9_physics/Materials/material_LightWoodCounters>
+            }
+        }
+
+        over "cabinet_66f8d5fb4d555daccdfb3adf8fe9e75c_1_2_0"
+        {
+            over "cabinet_66f8d5fb4d555daccdfb3adf8fe9e75c_1_2_0_visual_2" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan9_physics/Materials/material_Brass>
+            }
+
+            over "cabinet_66f8d5fb4d555daccdfb3adf8fe9e75c_1_2_0_visual_3" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan9_physics/Materials/material_Metal_chrome_mat>
+            }
+        }
+
+        over "cabinet_b971aeab9e37ec464f48760cfe13016a_1_1_0"
+        {
+            over "cabinet_b971aeab9e37ec464f48760cfe13016a_1_1_0_visual_0" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan9_physics/Materials/material_LightWoodCounters>
+            }
+        }
+
+        over "cabinet_b971aeab9e37ec464f48760cfe13016a_1_2_0"
+        {
+            over "cabinet_b971aeab9e37ec464f48760cfe13016a_1_2_0_visual_2" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan9_physics/Materials/material_Brass>
+            }
+
+            over "cabinet_b971aeab9e37ec464f48760cfe13016a_1_2_0_visual_3" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan9_physics/Materials/material_Metal_chrome_mat>
+            }
+        }
+
+        over "cabinet_61ccc7060cf45cb5e284c79dc5d180a5_1_1_0"
+        {
+            over "cabinet_61ccc7060cf45cb5e284c79dc5d180a5_1_1_0_visual_0" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan9_physics/Materials/material_LightWoodCounters>
+            }
+        }
+
+        over "cabinet_61ccc7060cf45cb5e284c79dc5d180a5_1_2_0"
+        {
+            over "cabinet_61ccc7060cf45cb5e284c79dc5d180a5_1_2_0_visual_2" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan9_physics/Materials/material_Brass>
+            }
+
+            over "cabinet_61ccc7060cf45cb5e284c79dc5d180a5_1_2_0_visual_3" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan9_physics/Materials/material_Metal_chrome_mat>
+            }
+        }
+
+        over "cabinet_34e0eac124e2c39a73b6ae73552edff2_1_1_0"
+        {
+            over "cabinet_34e0eac124e2c39a73b6ae73552edff2_1_1_0_visual_0" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan9_physics/Materials/material_LightWoodCounters>
+            }
+        }
+
+        over "cabinet_34e0eac124e2c39a73b6ae73552edff2_1_2_0"
+        {
+            over "cabinet_34e0eac124e2c39a73b6ae73552edff2_1_2_0_visual_2" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan9_physics/Materials/material_Brass>
+            }
+
+            over "cabinet_34e0eac124e2c39a73b6ae73552edff2_1_2_0_visual_3" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan9_physics/Materials/material_Metal_chrome_mat>
+            }
+        }
+
+        over "cabinet_359414fb9bde09d795d202691df441c3_1_1_0"
+        {
+            over "cabinet_359414fb9bde09d795d202691df441c3_1_1_0_visual_0" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan9_physics/Materials/material_LightWoodCounters>
+            }
+        }
+
+        over "cabinet_359414fb9bde09d795d202691df441c3_1_2_0"
+        {
+            over "cabinet_359414fb9bde09d795d202691df441c3_1_2_0_visual_2" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan9_physics/Materials/material_Brass>
+            }
+
+            over "cabinet_359414fb9bde09d795d202691df441c3_1_2_0_visual_3" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan9_physics/Materials/material_Metal_chrome_mat>
+            }
+        }
+
+        over "cabinet_3bfec24d10233f60ed03b76c9f9f9af8_1_1_0"
+        {
+            over "cabinet_3bfec24d10233f60ed03b76c9f9f9af8_1_1_0_visual_0" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan9_physics/Materials/material_LightWoodCounters>
+            }
+        }
+
+        over "cabinet_3bfec24d10233f60ed03b76c9f9f9af8_1_2_0"
+        {
+            over "cabinet_3bfec24d10233f60ed03b76c9f9f9af8_1_2_0_visual_2" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan9_physics/Materials/material_Brass>
+            }
+
+            over "cabinet_3bfec24d10233f60ed03b76c9f9f9af8_1_2_0_visual_3" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan9_physics/Materials/material_Metal_chrome_mat>
+            }
+        }
+
+        over "cabinet_f59368465f892e8b5224df62bb618aa4_1_1_0"
+        {
+            over "cabinet_f59368465f892e8b5224df62bb618aa4_1_1_0_visual_0" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan9_physics/Materials/material_LightWoodCounters>
+            }
+        }
+
+        over "cabinet_f59368465f892e8b5224df62bb618aa4_1_2_0"
+        {
+            over "cabinet_f59368465f892e8b5224df62bb618aa4_1_2_0_visual_2" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan9_physics/Materials/material_Brass>
+            }
+
+            over "cabinet_f59368465f892e8b5224df62bb618aa4_1_2_0_visual_3" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan9_physics/Materials/material_Metal_chrome_mat>
+            }
+        }
+
+        over "faucet_1b706e922527c99d70fbd6637e704cf5_1_1_0"
+        {
+            over "faucet_1b706e922527c99d70fbd6637e704cf5_1_1_0_visual_0" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan9_physics/Materials/material_HammeredMetal_AlbedoTransparency>
+            }
+        }
+
+        over "mesh_c3c764a7da3928894854efa6bff41447_1_1_0"
+        {
+            over "mesh_c3c764a7da3928894854efa6bff41447_1_1_0_visual_0" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan9_physics/Materials/material_KitchenTilesCheckerboard>
+            }
+        }
+
+        over "window_11dce927aadce1665846d52342112340_1_1_0"
+        {
+            over "window_11dce927aadce1665846d52342112340_1_1_0_visual_0" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan9_physics/Materials/material_Glass_Detailed_Lit_High_Mat>
+            }
+
+            over "window_11dce927aadce1665846d52342112340_1_1_0_visual_1" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan9_physics/Materials/material_WhiteWoodClean>
+            }
+        }
+
+        over "mesh_b9f478613bcd43028857a7cc2b69555a_1_1_0"
+        {
+            over "mesh_b9f478613bcd43028857a7cc2b69555a_1_1_0_visual_0" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan9_physics/Materials/material_HammeredMetal_AlbedoTransparency>
+            }
+        }
+
+        over "sink_b8563f5e5d7af254a00737ef4a01425c_1_1_0"
+        {
+            over "sink_b8563f5e5d7af254a00737ef4a01425c_1_1_0_visual_0" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan9_physics/Materials/material_HammeredMetal_AlbedoTransparency>
+            }
+        }
+
+        over "mesh_1ab9e78f78f09e4aa9b5271b2fea49e8_1_1_0"
+        {
+            over "mesh_1ab9e78f78f09e4aa9b5271b2fea49e8_1_1_0_visual_0" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan9_physics/Materials/material_HammeredMetal_AlbedoTransparency>
+            }
+        }
+
+        over "mesh_98e117034ddb9832c571f707be762496_1_1_0"
+        {
+            over "mesh_98e117034ddb9832c571f707be762496_1_1_0_visual_0" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan9_physics/Materials/material_HammeredMetal_AlbedoTransparency>
+            }
+        }
+
+        over "mesh_b3db528e9438f7b6dba2eb86459c6b85_1_1_0"
+        {
+            over "mesh_b3db528e9438f7b6dba2eb86459c6b85_1_1_0_visual_0" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan9_physics/Materials/material_HammeredMetal_AlbedoTransparency>
+            }
+        }
+
+        over "mesh_94d9e7f7c89e8400fcb9613523e6f3e8_1_1_0"
+        {
+            over "mesh_94d9e7f7c89e8400fcb9613523e6f3e8_1_1_0_visual_0" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan9_physics/Materials/material_HammeredMetal_AlbedoTransparency>
+            }
+        }
+
+        over "window_433361c3eaf3d3f23efce62354e43fa3_1_1_0"
+        {
+            over "window_433361c3eaf3d3f23efce62354e43fa3_1_1_0_visual_0" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan9_physics/Materials/material_Glass_Detailed_Lit_High_Mat>
+            }
+
+            over "window_433361c3eaf3d3f23efce62354e43fa3_1_1_0_visual_1" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan9_physics/Materials/material_WhiteWoodClean>
+            }
+        }
+
+        over "floor_cb78b26484697f45b4f9116a3b9f5ee6_1_1_0"
+        {
+            over "floor_cb78b26484697f45b4f9116a3b9f5ee6_1_1_0_visual_0" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan9_physics/Materials/material_KitchenTilesCheckerboard>
+            }
+        }
+
+        over "standardcounterheightwidth_ed37a871258c234380a2541833bd4f90_1_1_0"
+        {
+            over "standardcounterheightwidth_ed37a871258c234380a2541833bd4f90_1_1_0_visual_0" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan9_physics/Materials/material_LightWoodCounters>
+            }
+
+            over "standardcounterheightwidth_ed37a871258c234380a2541833bd4f90_1_1_0_visual_1" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan9_physics/Materials/material_LightWoodCounters2>
+            }
+
+            over "standardcounterheightwidth_ed37a871258c234380a2541833bd4f90_1_1_0_visual_2" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan9_physics/Materials/material_marbleBase2>
+            }
+        }
+
+        over "tn__standardcounterheightwidth2_2364e826c31f2c6c2723bf897575d739_1_1_0_et1Y2"
+        {
+            over "tn__standardcounterheightwidth2_2364e826c31f2c6c2723bf897575d739_1_1_0_visual_0_xZ2h2" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan9_physics/Materials/material_LightWoodCounters>
+            }
+
+            over "tn__standardcounterheightwidth2_2364e826c31f2c6c2723bf897575d739_1_1_0_visual_1_xZ2h2" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan9_physics/Materials/material_LightWoodCounters2>
+            }
+
+            over "tn__standardcounterheightwidth2_2364e826c31f2c6c2723bf897575d739_1_1_0_visual_2_xZ2h2" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan9_physics/Materials/material_marbleBase2>
+            }
+        }
+
+        over "faucet_ea9c4676b1490d758748497cc44c11b7_1_1_0"
+        {
+            over "faucet_ea9c4676b1490d758748497cc44c11b7_1_1_0_visual_0" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan9_physics/Materials/material_HammeredMetal_AlbedoTransparency>
+            }
+        }
+
+        over "standarduppercabinetheightwidth_5e9f491c5dd46fd71781c2d9c45d25c6_1_1_0"
+        {
+            over "standarduppercabinetheightwidth_5e9f491c5dd46fd71781c2d9c45d25c6_1_1_0_visual_0" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan9_physics/Materials/material_LightWoodCounters>
+            }
+
+            over "standarduppercabinetheightwidth_5e9f491c5dd46fd71781c2d9c45d25c6_1_1_0_visual_1" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan9_physics/Materials/material_LightWoodCounters2>
+            }
+        }
+
+        over "lightfixture4_ecbba7251f1ac11d9d0b26af60870d2d_1_1_0"
+        {
+            over "lightfixture4_ecbba7251f1ac11d9d0b26af60870d2d_1_1_0_visual_0" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan9_physics/Materials/material_Brass_Mat>
+            }
+
+            over "lightfixture4_ecbba7251f1ac11d9d0b26af60870d2d_1_1_0_visual_1" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan9_physics/Materials/material_Metal_chrome_mat>
+            }
+
+            over "lightfixture4_ecbba7251f1ac11d9d0b26af60870d2d_1_1_0_visual_2" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan9_physics/Materials/material_Light2>
+            }
+        }
+
+        over "tn__lightfixture41_5c28172cf73ccfbd618d5bdfdb1fd132_1_1_0_Yc1d1"
+        {
+            over "tn__lightfixture41_5c28172cf73ccfbd618d5bdfdb1fd132_1_1_0_visual_0_rn1m1" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan9_physics/Materials/material_Brass_Mat>
+            }
+
+            over "tn__lightfixture41_5c28172cf73ccfbd618d5bdfdb1fd132_1_1_0_visual_1_rn1m1" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan9_physics/Materials/material_Metal_chrome_mat>
+            }
+
+            over "tn__lightfixture41_5c28172cf73ccfbd618d5bdfdb1fd132_1_1_0_visual_2_rn1m1" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan9_physics/Materials/material_Light2>
+            }
+        }
+
+        over "tn__standarduppercabinetheightwidth2_bc287c02f880a936c655e4dcbcd8f299_1_1_0_xz1i2"
+        {
+            over "tn__standarduppercabinetheightwidth2_bc287c02f880a936c655e4dcbcd8f299_1_1_0_visual_0_lg2r2" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan9_physics/Materials/material_LightWoodCounters>
+            }
+
+            over "tn__standarduppercabinetheightwidth2_bc287c02f880a936c655e4dcbcd8f299_1_1_0_visual_1_lg2r2" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan9_physics/Materials/material_LightWoodCounters2>
+            }
+        }
+
+        over "ceiling_2197e2fa914cde060a56fef88e79fae2_1_1_0"
+        {
+            over "ceiling_2197e2fa914cde060a56fef88e79fae2_1_1_0_visual_0" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan9_physics/Materials/material_Walldrywall4Tiled>
+            }
+        }
+
+        over "standarddoorframe1_94b67fd2637a415bde4e90fbc3201740_1_1_0"
+        {
+            over "standarddoorframe1_94b67fd2637a415bde4e90fbc3201740_1_1_0_visual_0" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan9_physics/Materials/material_WhiteWoodClean>
+            }
+        }
+
+        over "standarddoor1_efa9483cd300b0059634321e85d955bb_1_1_0"
+        {
+            over "standarddoor1_efa9483cd300b0059634321e85d955bb_1_1_0_visual_0" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan9_physics/Materials/material_WhiteWood>
+            }
+        }
+
+        over "microwaveplatform_8b1c54cce2d9fe2008987ff2d089c840_1_1_0"
+        {
+            over "microwaveplatform_8b1c54cce2d9fe2008987ff2d089c840_1_1_0_visual_0" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan9_physics/Materials/material_LightWoodCounters>
+            }
+        }
+
+        over "standardwallsize_1cbe79d891b2c5ebefce8b7a95601203_1_1_0"
+        {
+            over "standardwallsize_1cbe79d891b2c5ebefce8b7a95601203_1_1_0_visual_0" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan9_physics/Materials/material_WoodPlanksCleanseamlesWhitePainted>
+            }
+
+            over "standardwallsize_1cbe79d891b2c5ebefce8b7a95601203_1_1_0_visual_1" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan9_physics/Materials/material_WhiteWoodClean>
+            }
+
+            over "standardwallsize_1cbe79d891b2c5ebefce8b7a95601203_1_1_0_visual_2" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan9_physics/Materials/material_Walldrywall3Tiled>
+            }
+        }
+
+        over "tn__lightfixture42_f191e4d8c92e6b2b5774e29251c93dab_1_1_0_Yc1d1"
+        {
+            over "tn__lightfixture42_f191e4d8c92e6b2b5774e29251c93dab_1_1_0_visual_0_rn1m1" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan9_physics/Materials/material_Brass_Mat>
+            }
+
+            over "tn__lightfixture42_f191e4d8c92e6b2b5774e29251c93dab_1_1_0_visual_1_rn1m1" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan9_physics/Materials/material_Metal_chrome_mat>
+            }
+
+            over "tn__lightfixture42_f191e4d8c92e6b2b5774e29251c93dab_1_1_0_visual_2_rn1m1" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </FloorPlan9_physics/Materials/material_Light2>
+            }
+        }
+    }
+}
+

scenes/ithor/FloorPlan9_physics/Payload/MaterialsLibrary.usda

@@ -0,0 +1,542 @@
+#usda 1.0
+(
+    "Material library for house FloorPlan9_physics"
+    customLayerData = {
+        string creator = """AI2-THOR mjcf-usd scene converter
+    time: 01-20-26 16:35:02
+    scene: FloorPlan9_physics
+    usd-exchange-version: 2.2.0
+"""
+    }
+    defaultPrim = "Materials"
+    kilogramsPerUnit = 1
+    metersPerUnit = 1
+    upAxis = "Z"
+)
+
+class Scope "Materials"
+{
+    def Material "material_CoffeeMachineBlackMat"
+    {
+        token outputs:displacement.connect = </Materials/material_CoffeeMachineBlackMat/PreviewSurface.outputs:displacement>
+        token outputs:surface.connect = </Materials/material_CoffeeMachineBlackMat/PreviewSurface.outputs:surface>
+
+        def Shader "PreviewSurface"
+        {
+            uniform token info:id = "UsdPreviewSurface"
+            color3f inputs:diffuseColor.connect = </Materials/material_CoffeeMachineBlackMat/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 = (0.25, 0.25, 0.25, 1)
+            asset inputs:file = @./Textures/HammeredMetal_AlbedoTransparency.png@
+            float4 inputs:scale = (0.25, 0.25, 0.25, 1)
+            token inputs:sourceColorSpace = "auto"
+            float2 inputs:st.connect = </Materials/material_CoffeeMachineBlackMat/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_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_Porcelain_Black_Mat"
+    {
+        token outputs:displacement.connect = </Materials/material_Porcelain_Black_Mat/PreviewSurface.outputs:displacement>
+        token outputs:surface.connect = </Materials/material_Porcelain_Black_Mat/PreviewSurface.outputs:surface>
+
+        def Shader "PreviewSurface"
+        {
+            uniform token info:id = "UsdPreviewSurface"
+            color3f inputs:diffuseColor = (0.0367647, 0.0367647, 0.0367647)
+            float inputs:metallic = 0
+            float inputs:opacity = 1
+            float inputs:roughness = 0.5
+            token outputs:displacement
+            token outputs:surface
+        }
+    }
+
+    def Material "material_Porcelain_Red_Mat"
+    {
+        token outputs:displacement.connect = </Materials/material_Porcelain_Red_Mat/PreviewSurface.outputs:displacement>
+        token outputs:surface.connect = </Materials/material_Porcelain_Red_Mat/PreviewSurface.outputs:surface>
+
+        def Shader "PreviewSurface"
+        {
+            uniform token info:id = "UsdPreviewSurface"
+            color3f inputs:diffuseColor = (0.830882, 0, 0)
+            float inputs:metallic = 0
+            float inputs:opacity = 1
+            float inputs:roughness = 0.5
+            token outputs:displacement
+            token outputs:surface
+        }
+    }
+
+    def Material "material_LightWoodCounters"
+    {
+        token outputs:displacement.connect = </Materials/material_LightWoodCounters/PreviewSurface.outputs:displacement>
+        token outputs:surface.connect = </Materials/material_LightWoodCounters/PreviewSurface.outputs:surface>
+
+        def Shader "PreviewSurface"
+        {
+            uniform token info:id = "UsdPreviewSurface"
+            color3f inputs:diffuseColor.connect = </Materials/material_LightWoodCounters/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 = (0.915094, 0.691002, 0.384167, 1)
+            asset inputs:file = @./Textures/LightWoodCounters.png@
+            float4 inputs:scale = (0.915094, 0.691002, 0.384167, 1)
+            token inputs:sourceColorSpace = "auto"
+            float2 inputs:st.connect = </Materials/material_LightWoodCounters/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"
+    {
+        token outputs:displacement.connect = </Materials/material_Brass/PreviewSurface.outputs:displacement>
+        token outputs:surface.connect = </Materials/material_Brass/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_KitchenTilesCheckerboard"
+    {
+        token outputs:displacement.connect = </Materials/material_KitchenTilesCheckerboard/PreviewSurface.outputs:displacement>
+        token outputs:surface.connect = </Materials/material_KitchenTilesCheckerboard/PreviewSurface.outputs:surface>
+
+        def Shader "PreviewSurface"
+        {
+            uniform token info:id = "UsdPreviewSurface"
+            color3f inputs:diffuseColor.connect = </Materials/material_KitchenTilesCheckerboard/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, 0.941176, 0.941176, 1)
+            asset inputs:file = @./Textures/KitchenTilesCheckerboard.png@
+            float4 inputs:scale = (1, 0.941176, 0.941176, 1)
+            token inputs:sourceColorSpace = "auto"
+            float2 inputs:st.connect = </Materials/material_KitchenTilesCheckerboard/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_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_LightWoodCounters2"
+    {
+        token outputs:displacement.connect = </Materials/material_LightWoodCounters2/PreviewSurface.outputs:displacement>
+        token outputs:surface.connect = </Materials/material_LightWoodCounters2/PreviewSurface.outputs:surface>
+
+        def Shader "PreviewSurface"
+        {
+            uniform token info:id = "UsdPreviewSurface"
+            color3f inputs:diffuseColor.connect = </Materials/material_LightWoodCounters2/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 = (0.764151, 0.517355, 0.299172, 1)
+            asset inputs:file = @./Textures/LightWoodCounters.png@
+            float4 inputs:scale = (0.764151, 0.517355, 0.299172, 1)
+            token inputs:sourceColorSpace = "auto"
+            float2 inputs:st.connect = </Materials/material_LightWoodCounters2/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_marbleBase2"
+    {
+        token outputs:displacement.connect = </Materials/material_marbleBase2/PreviewSurface.outputs:displacement>
+        token outputs:surface.connect = </Materials/material_marbleBase2/PreviewSurface.outputs:surface>
+
+        def Shader "PreviewSurface"
+        {
+            uniform token info:id = "UsdPreviewSurface"
+            color3f inputs:diffuseColor.connect = </Materials/material_marbleBase2/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/marbleBase2.png@
+            float4 inputs:scale = (1, 1, 1, 1)
+            token inputs:sourceColorSpace = "auto"
+            float2 inputs:st.connect = </Materials/material_marbleBase2/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_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_Walldrywall4Tiled"
+    {
+        token outputs:displacement.connect = </Materials/material_Walldrywall4Tiled/PreviewSurface.outputs:displacement>
+        token outputs:surface.connect = </Materials/material_Walldrywall4Tiled/PreviewSurface.outputs:surface>
+
+        def Shader "PreviewSurface"
+        {
+            uniform token info:id = "UsdPreviewSurface"
+            color3f inputs:diffuseColor.connect = </Materials/material_Walldrywall4Tiled/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 = (0.860294, 0.836142, 0.670523, 1)
+            asset inputs:file = @./Textures/WallDrywallWhite.png@
+            float4 inputs:scale = (0.860294, 0.836142, 0.670523, 1)
+            token inputs:sourceColorSpace = "auto"
+            float2 inputs:st.connect = </Materials/material_Walldrywall4Tiled/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_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_WoodPlanksCleanseamlesWhitePainted"
+    {
+        token outputs:displacement.connect = </Materials/material_WoodPlanksCleanseamlesWhitePainted/PreviewSurface.outputs:displacement>
+        token outputs:surface.connect = </Materials/material_WoodPlanksCleanseamlesWhitePainted/PreviewSurface.outputs:surface>
+
+        def Shader "PreviewSurface"
+        {
+            uniform token info:id = "UsdPreviewSurface"
+            color3f inputs:diffuseColor.connect = </Materials/material_WoodPlanksCleanseamlesWhitePainted/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/WoodPlanksCleanseamlesWhitePainted.png@
+            float4 inputs:scale = (1, 1, 1, 1)
+            token inputs:sourceColorSpace = "auto"
+            float2 inputs:st.connect = </Materials/material_WoodPlanksCleanseamlesWhitePainted/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_Walldrywall3Tiled"
+    {
+        token outputs:displacement.connect = </Materials/material_Walldrywall3Tiled/PreviewSurface.outputs:displacement>
+        token outputs:surface.connect = </Materials/material_Walldrywall3Tiled/PreviewSurface.outputs:surface>
+
+        def Shader "PreviewSurface"
+        {
+            uniform token info:id = "UsdPreviewSurface"
+            color3f inputs:diffuseColor.connect = </Materials/material_Walldrywall3Tiled/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_Walldrywall3Tiled/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/FloorPlan9_physics/scene.preprocessed.json

@@ -0,0 +1,26 @@
+{
+  "source": "E:/EAI/molmo_isaac_data/isaac/scenes/ithor/FloorPlan9_physics/scene.usda",
+  "preprocessor_version": "2.1",
+  "timestamp": "2026-05-08T04:57:39.639452+00:00",
+  "offset": [
+    0.0,
+    1.21873,
+    0.0
+  ],
+  "yaw_deg": 90.0,
+  "floor_z": -0.09999,
+  "ceiling_z": 2.925,
+  "prims_deactivated": 9,
+  "prims_deactivated_paths": [
+    "/FloorPlan9_physics/Geometry/trashcan_fcdad2926d886fb599ddce839f895b0d_1_0_0",
+    "/FloorPlan9_physics/Geometry/diningtable_c1517e53b61db4906c72ee0bb18a090a_1_0_0",
+    "/FloorPlan9_physics/Geometry/saltshaker_fae1c48e1d061403dc3bc39cef9e979a_1_0_0",
+    "/FloorPlan9_physics/Geometry/peppershaker_d3a7b2ab4bd62388f7ea7dd2ef7c1fdc_1_0_0",
+    "/FloorPlan9_physics/Geometry/butterknife_b2b8a251c5e331c4017267a6e05c76d5_1_0_0",
+    "/FloorPlan9_physics/Geometry/Irishpotato_53955c8c21163cdb723abd33fb4c248d_1_0_0",
+    "/FloorPlan9_physics/Geometry/chair_cabb09642bb336c3da0abfb38fa99d5d_1_0_0",
+    "/FloorPlan9_physics/Geometry/window_11dce927aadce1665846d52342112340_1_1_0",
+    "/FloorPlan9_physics/Geometry/window_433361c3eaf3d3f23efce62354e43fa3_1_1_0"
+  ],
+  "physics_preserved": true
+}

scenes/ithor/FloorPlan9_physics/scene.usda

@@ -0,0 +1,217 @@
+#usda 1.0
+(
+    customLayerData = {
+        string creator = """AI2-THOR mjcf-usd scene converter
+    time: 01-20-26 16:35:02
+    scene: FloorPlan9_physics
+    usd-exchange-version: 2.2.0
+"""
+    }
+    defaultPrim = "FloorPlan9_physics"
+    kilogramsPerUnit = 1
+    metersPerUnit = 1
+    upAxis = "Z"
+)
+
+def Xform "FloorPlan9_physics" (
+    prepend apiSchemas = ["GeomModelAPI"]
+    assetInfo = {
+        string name = "FloorPlan9_physics"
+    }
+    kind = "component"
+    prepend payload = @./Payload/Contents.usda@
+)
+{
+    float3[] extentsHint = [(-2.4, -2, -0.09999), (4, 2, 2.925), (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, -0.383988), (10, 10, 2.928892)]
+
+    over "Geometry"
+    {
+        over "bowl_344f5d88e6486f071740266b3cc43858_1_0_0" (
+            kind = "subcomponent"
+        )
+        {
+        }
+
+        over "coffeemaker_acef049274217e9c65e9966b2e223dd8_1_0_0" (
+            kind = "subcomponent"
+        )
+        {
+        }
+
+        over "toaster_dc4d091a8fae5d838f304f6ec3d94262_1_0_0" (
+            kind = "subcomponent"
+        )
+        {
+        }
+
+        over "trashcan_fcdad2926d886fb599ddce839f895b0d_1_0_0" (
+            active = false
+            kind = "subcomponent"
+        )
+        {
+        }
+
+        over "refrigerator_4dc20c2fac8e5da499537ebce0ceecbf_1_0_0" (
+            kind = "subcomponent"
+        )
+        {
+        }
+
+        over "diningtable_c1517e53b61db4906c72ee0bb18a090a_1_0_0" (
+            active = false
+            kind = "subcomponent"
+        )
+        {
+        }
+
+        over "microwaveoven_5a9ade220b3914d721a8f2d2a9028766_1_0_0" (
+            kind = "subcomponent"
+        )
+        {
+        }
+
+        over "apple_60b5bd76db29b29477c1a75bc95d2b36_1_0_0" (
+            kind = "subcomponent"
+        )
+        {
+        }
+
+        over "lettuce_bbf73beb6261a948da63a7896c91f609_1_0_0" (
+            kind = "subcomponent"
+        )
+        {
+        }
+
+        over "bread_94e8926e3b7c1e6764565343c5be7e32_1_0_0" (
+            kind = "subcomponent"
+        )
+        {
+        }
+
+        over "saltshaker_fae1c48e1d061403dc3bc39cef9e979a_1_0_0" (
+            active = false
+            kind = "subcomponent"
+        )
+        {
+        }
+
+        over "tomato_93b1caf2d099f89e3532af89d0112c30_1_0_0" (
+            kind = "subcomponent"
+        )
+        {
+        }
+
+        over "soapdispenser_93a2062e5f644fcf723dba88a20a5d7d_1_0_0" (
+            kind = "subcomponent"
+        )
+        {
+        }
+
+        over "knife_0bc93f198121d33ac4030a34bfc944a4_1_0_0" (
+            kind = "subcomponent"
+        )
+        {
+        }
+
+        over "peppershaker_d3a7b2ab4bd62388f7ea7dd2ef7c1fdc_1_0_0" (
+            active = false
+            kind = "subcomponent"
+        )
+        {
+        }
+
+        over "egg_6179961d5a04d232e8fa25fab5084a0e_1_0_0" (
+            kind = "subcomponent"
+        )
+        {
+        }
+
+        over "cup_10bb4374affb6510642adcfd03f48701_1_0_0" (
+            kind = "subcomponent"
+        )
+        {
+        }
+
+        over "plate_dbaae376f9cecc67ea7c65be4d5e809f_1_0_0" (
+            kind = "subcomponent"
+        )
+        {
+        }
+
+        over "spatula_291e31b285474249721c8a7b1bac877a_1_0_0" (
+            kind = "subcomponent"
+        )
+        {
+        }
+
+        over "fork_a17d780ca6a79038b069eb7768c962c4_1_0_0" (
+            kind = "subcomponent"
+        )
+        {
+        }
+
+        over "spoon_573130d7496422c068be3abf14b0dcf0_1_0_0" (
+            kind = "subcomponent"
+        )
+        {
+        }
+
+        over "pot_3b0726f5bc5ad1e6fdb6a360b61bcbc0_1_0_0" (
+            kind = "subcomponent"
+        )
+        {
+        }
+
+        over "butterknife_b2b8a251c5e331c4017267a6e05c76d5_1_0_0" (
+            active = false
+            kind = "subcomponent"
+        )
+        {
+        }
+
+        over "boiler_335af387651d9869b84abf1fb099bf69_1_0_0" (
+            kind = "subcomponent"
+        )
+        {
+        }
+
+        over "sponge_41cc9aa65073b4cd1fc4d9871335148d_1_0_0" (
+            kind = "subcomponent"
+        )
+        {
+        }
+
+        over "Irishpotato_53955c8c21163cdb723abd33fb4c248d_1_0_0" (
+            active = false
+            kind = "subcomponent"
+        )
+        {
+        }
+
+        over "cookingpan_36c8da2ee0e2c5654836906295152067_1_0_0" (
+            kind = "subcomponent"
+        )
+        {
+        }
+
+        over "chair_cabb09642bb336c3da0abfb38fa99d5d_1_0_0" (
+            active = false
+            kind = "subcomponent"
+        )
+        {
+        }
+
+        over "window_11dce927aadce1665846d52342112340_1_1_0" (
+            active = false
+        )
+        {
+        }
+
+        over "window_433361c3eaf3d3f23efce62354e43fa3_1_1_0" (
+            active = false
+        )
+        {
+        }
+    }
+}
+