Add SimReady package: bench_vise

.gitattributes

@@ -202,3 +202,4 @@ bearing_pulley_shaft_kit_v06/simready_usd/forgecad/geometry.usda filter=lfs diff
 bearing_pulley_shaft_kit_v07/simready_usd/forgecad/geometry.usda filter=lfs diff=lfs merge=lfs -text
 bearing_pulley_shaft_kit_v08/simready_usd/forgecad/geometry.usda filter=lfs diff=lfs merge=lfs -text
 bearing_pulley_shaft_kit_v09/simready_usd/forgecad/geometry.usda filter=lfs diff=lfs merge=lfs -text
+bench_vise/simready_usd/forgecad/geometry.usda filter=lfs diff=lfs merge=lfs -text

bench_vise/.metadata/bench_vise_benchmark.json

@@ -0,0 +1,2419 @@
+{
+  "schema_version": "1.0",
+  "asset": "bench_vise",
+  "run_timestamp": "2026-10-18T05:54:01Z",
+  "passed": true,
+  "results": [
+    {
+      "test_name": "culling_xz",
+      "engine": "isaac_sim",
+      "engine_version": "6.1.0.0",
+      "status": "pass",
+      "passed": true,
+      "duration": 12.967,
+      "message": "",
+      "metrics": {
+        "_timing_capture_frame_total_s": {
+          "value": 4.161,
+          "unit": null
+        },
+        "_timing_capture_frame_count": {
+          "value": 16,
+          "unit": null
+        },
+        "_timing_capture_frame_avg_ms": {
+          "value": 260.04,
+          "unit": null
+        },
+        "_timing_encode_video_total_s": {
+          "value": 1.067,
+          "unit": null
+        },
+        "_timing_encode_video_count": {
+          "value": 2,
+          "unit": null
+        },
+        "_render_blank_retry_count": {
+          "value": 0,
+          "unit": null
+        },
+        "_render_blank_retry_unrecovered": {
+          "value": 0,
+          "unit": null
+        },
+        "culling_xz_max_diff": {
+          "value": 3.4e-05,
+          "unit": null
+        },
+        "culling_xz_mean_diff": {
+          "value": 4e-06,
+          "unit": null
+        },
+        "culling_xz_worst_angle": {
+          "value": 270.0,
+          "unit": null
+        },
+        "culling_xz_passed": {
+          "value": 1,
+          "unit": null
+        }
+      },
+      "kit_logs": [
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]: Traceback (most recent call last):"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:   File \"<home>/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/impl/texture.py\", line 377, in on_drawable_changed"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     self.__drawable_changed_fn(texture[\"rp_resource\"], presentation_key)"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:   File \"<home>/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/widget.py\", line 516, in __set_image_data"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     vp_api._sync_viewport_api(camera, canvas_size, vp_api.time, view, projection, force_update=True)  # noqa PLW0212"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:   File \"<home>/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 546, in _sync_viewport_api"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     self.__projection = self._conform_projection(policy, camera, image_aspect, canvas_aspect, projection)"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:                         ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:   File \"<home>/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     gf_camera = camera.GetCamera(self.__time)"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:                 ^^^^^^^^^^^^^^^^"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'"
+        }
+      ]
+    },
+    {
+      "test_name": "culling_xz",
+      "engine": "isaac_sim_newton",
+      "engine_version": "6.1.0.0",
+      "status": "pass",
+      "passed": true,
+      "duration": 14.727,
+      "message": "",
+      "metrics": {
+        "_timing_capture_frame_total_s": {
+          "value": 2.907,
+          "unit": null
+        },
+        "_timing_capture_frame_count": {
+          "value": 16,
+          "unit": null
+        },
+        "_timing_capture_frame_avg_ms": {
+          "value": 181.66,
+          "unit": null
+        },
+        "_timing_encode_video_total_s": {
+          "value": 1.076,
+          "unit": null
+        },
+        "_timing_encode_video_count": {
+          "value": 2,
+          "unit": null
+        },
+        "_render_blank_retry_count": {
+          "value": 0,
+          "unit": null
+        },
+        "_render_blank_retry_unrecovered": {
+          "value": 0,
+          "unit": null
+        },
+        "culling_xz_max_diff": {
+          "value": 0.0,
+          "unit": null
+        },
+        "culling_xz_mean_diff": {
+          "value": 0.0,
+          "unit": null
+        },
+        "culling_xz_worst_angle": {
+          "value": 0.0,
+          "unit": null
+        },
+        "culling_xz_passed": {
+          "value": 1,
+          "unit": null
+        }
+      },
+      "kit_logs": [
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]: Traceback (most recent call last):"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:   File \"<home>/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/impl/texture.py\", line 377, in on_drawable_changed"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     self.__drawable_changed_fn(texture[\"rp_resource\"], presentation_key)"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:   File \"<home>/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/widget.py\", line 516, in __set_image_data"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     vp_api._sync_viewport_api(camera, canvas_size, vp_api.time, view, projection, force_update=True)  # noqa PLW0212"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:   File \"<home>/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 546, in _sync_viewport_api"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     self.__projection = self._conform_projection(policy, camera, image_aspect, canvas_aspect, projection)"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:                         ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:   File \"<home>/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     gf_camera = camera.GetCamera(self.__time)"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:                 ^^^^^^^^^^^^^^^^"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'"
+        }
+      ]
+    },
+    {
+      "test_name": "display_color_response",
+      "engine": "isaac_sim",
+      "engine_version": "6.1.0.0",
+      "status": "pass",
+      "passed": true,
+      "duration": 17.787,
+      "message": "",
+      "metrics": {
+        "display_color_asset_root": {
+          "value": "/World/AssetRoot/Asset",
+          "unit": null
+        },
+        "display_color_render_context_order": {
+          "value": "mdl, mtlx, universal",
+          "unit": null
+        },
+        "display_color_renderable_gprims": {
+          "value": 21,
+          "unit": null
+        },
+        "display_color_gprims_without_displaycolor": {
+          "value": 0,
+          "unit": null
+        },
+        "display_color_gprims_without_displayopacity": {
+          "value": 21,
+          "unit": null
+        },
+        "display_color_probe_bound_gprims": {
+          "value": 21,
+          "unit": null
+        },
+        "_timing_capture_frame_total_s": {
+          "value": 1.363,
+          "unit": null
+        },
+        "_timing_capture_frame_count": {
+          "value": 5,
+          "unit": null
+        },
+        "_timing_capture_frame_avg_ms": {
+          "value": 272.68,
+          "unit": null
+        },
+        "_timing_encode_video_total_s": {
+          "value": 0.448,
+          "unit": null
+        },
+        "_timing_encode_video_count": {
+          "value": 1,
+          "unit": null
+        },
+        "_render_blank_retry_count": {
+          "value": 0,
+          "unit": null
+        },
+        "_render_blank_retry_unrecovered": {
+          "value": 0,
+          "unit": null
+        },
+        "display_color_silhouette_pixels": {
+          "value": 250981,
+          "unit": null
+        },
+        "display_color_whole_frame_delta_pixels": {
+          "value": 251776,
+          "unit": null
+        },
+        "display_color_read_mean_rgb": {
+          "value": [
+            0.138,
+            0.119,
+            0.0981
+          ],
+          "unit": null
+        },
+        "display_color_control_ratio": {
+          "value": 1.2e-05,
+          "unit": null
+        },
+        "display_color_response_ratio": {
+          "value": 1.0,
+          "unit": null
+        },
+        "display_color_opacity_ratio": {
+          "value": 0.980871,
+          "unit": null
+        }
+      },
+      "kit_logs": [
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]: Traceback (most recent call last):"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:   File \"<home>/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/impl/texture.py\", line 377, in on_drawable_changed"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     self.__drawable_changed_fn(texture[\"rp_resource\"], presentation_key)"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:   File \"<home>/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/widget.py\", line 516, in __set_image_data"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     vp_api._sync_viewport_api(camera, canvas_size, vp_api.time, view, projection, force_update=True)  # noqa PLW0212"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:   File \"<home>/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 546, in _sync_viewport_api"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     self.__projection = self._conform_projection(policy, camera, image_aspect, canvas_aspect, projection)"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:                         ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:   File \"<home>/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     gf_camera = camera.GetCamera(self.__time)"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:                 ^^^^^^^^^^^^^^^^"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'"
+        }
+      ]
+    },
+    {
+      "test_name": "display_color_response",
+      "engine": "isaac_sim_newton",
+      "engine_version": "6.1.0.0",
+      "status": "pass",
+      "passed": true,
+      "duration": 19.226,
+      "message": "",
+      "metrics": {
+        "display_color_asset_root": {
+          "value": "/World/AssetRoot/Asset",
+          "unit": null
+        },
+        "display_color_render_context_order": {
+          "value": "mdl, mtlx, universal",
+          "unit": null
+        },
+        "display_color_renderable_gprims": {
+          "value": 21,
+          "unit": null
+        },
+        "display_color_gprims_without_displaycolor": {
+          "value": 0,
+          "unit": null
+        },
+        "display_color_gprims_without_displayopacity": {
+          "value": 21,
+          "unit": null
+        },
+        "display_color_probe_bound_gprims": {
+          "value": 21,
+          "unit": null
+        },
+        "_timing_capture_frame_total_s": {
+          "value": 1.188,
+          "unit": null
+        },
+        "_timing_capture_frame_count": {
+          "value": 5,
+          "unit": null
+        },
+        "_timing_capture_frame_avg_ms": {
+          "value": 237.61,
+          "unit": null
+        },
+        "_timing_encode_video_total_s": {
+          "value": 0.437,
+          "unit": null
+        },
+        "_timing_encode_video_count": {
+          "value": 1,
+          "unit": null
+        },
+        "_render_blank_retry_count": {
+          "value": 0,
+          "unit": null
+        },
+        "_render_blank_retry_unrecovered": {
+          "value": 0,
+          "unit": null
+        },
+        "display_color_silhouette_pixels": {
+          "value": 250979,
+          "unit": null
+        },
+        "display_color_whole_frame_delta_pixels": {
+          "value": 251782,
+          "unit": null
+        },
+        "display_color_read_mean_rgb": {
+          "value": [
+            0.138,
+            0.119,
+            0.0981
+          ],
+          "unit": null
+        },
+        "display_color_control_ratio": {
+          "value": 1.2e-05,
+          "unit": null
+        },
+        "display_color_response_ratio": {
+          "value": 1.0,
+          "unit": null
+        },
+        "display_color_opacity_ratio": {
+          "value": 0.982911,
+          "unit": null
+        }
+      },
+      "kit_logs": [
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]: Traceback (most recent call last):"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:   File \"<home>/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/impl/texture.py\", line 377, in on_drawable_changed"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     self.__drawable_changed_fn(texture[\"rp_resource\"], presentation_key)"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:   File \"<home>/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/widget.py\", line 516, in __set_image_data"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     vp_api._sync_viewport_api(camera, canvas_size, vp_api.time, view, projection, force_update=True)  # noqa PLW0212"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:   File \"<home>/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 546, in _sync_viewport_api"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     self.__projection = self._conform_projection(policy, camera, image_aspect, canvas_aspect, projection)"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:                         ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:   File \"<home>/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     gf_camera = camera.GetCamera(self.__time)"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:                 ^^^^^^^^^^^^^^^^"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'"
+        }
+      ]
+    },
+    {
+      "test_name": "grasp_and_lift",
+      "engine": "isaac_sim",
+      "engine_version": "6.1.0.0",
+      "status": "skipped",
+      "passed": false,
+      "duration": 0.507,
+      "message": "no grasp_identifier prims found on asset",
+      "metrics": {},
+      "kit_logs": []
+    },
+    {
+      "test_name": "grasp_and_lift",
+      "engine": "isaac_sim_newton",
+      "engine_version": "6.1.0.0",
+      "status": "skipped",
+      "passed": false,
+      "duration": 0.0,
+      "message": "Requires FET_003_NEWTON to be validated first: grasp-and-lift depends on the active runtime physics setup, and FET_003_NEWTON is not in this asset's validated features.",
+      "metrics": {},
+      "kit_logs": []
+    },
+    {
+      "test_name": "ground_drop",
+      "engine": "isaac_sim",
+      "engine_version": "6.1.0.0",
+      "status": "skipped",
+      "passed": false,
+      "duration": 0.871,
+      "message": "Asset is world-anchored (FixedJoint to world) -- test not applicable. World-anchored assets cannot fall or slide.",
+      "metrics": {
+        "ground_drop_skipped": {
+          "value": 1,
+          "unit": null
+        }
+      },
+      "kit_logs": []
+    },
+    {
+      "test_name": "joint_movement",
+      "engine": "isaac_sim",
+      "engine_version": "6.1.0.0",
+      "status": "pass",
+      "passed": true,
+      "duration": 129.385,
+      "message": "",
+      "metrics": {
+        "_timing_capture_frame_total_s": {
+          "value": 38.808,
+          "unit": null
+        },
+        "_timing_capture_frame_count": {
+          "value": 45,
+          "unit": null
+        },
+        "_timing_capture_frame_avg_ms": {
+          "value": 862.39,
+          "unit": null
+        },
+        "_timing_encode_video_total_s": {
+          "value": 1.426,
+          "unit": null
+        },
+        "_timing_encode_video_count": {
+          "value": 1,
+          "unit": null
+        },
+        "_render_blank_retry_count": {
+          "value": 7,
+          "unit": null
+        },
+        "_render_blank_retry_unrecovered": {
+          "value": 7,
+          "unit": null
+        },
+        "_render_blank_retry[joint_movement_030.png]": {
+          "value": "attempts=6 recovered=False",
+          "unit": null
+        },
+        "_render_blank_retry[joint_movement_031.png]": {
+          "value": "attempts=6 recovered=False",
+          "unit": null
+        },
+        "_render_blank_retry[joint_movement_032.png]": {
+          "value": "attempts=6 recovered=False",
+          "unit": null
+        },
+        "_render_blank_retry[joint_movement_033.png]": {
+          "value": "attempts=6 recovered=False",
+          "unit": null
+        },
+        "_render_blank_retry[joint_movement_034.png]": {
+          "value": "attempts=6 recovered=False",
+          "unit": null
+        },
+        "_render_blank_retry[joint_movement_035.png]": {
+          "value": "attempts=6 recovered=False",
+          "unit": null
+        },
+        "_render_blank_retry[joint_movement_036.png]": {
+          "value": "attempts=6 recovered=False",
+          "unit": null
+        },
+        "jm_joint_swivel_rot_deg": {
+          "value": 180.0,
+          "unit": null
+        },
+        "jm_joint_swivel_trans_pct": {
+          "value": 0.0,
+          "unit": null
+        },
+        "jm_joint_swivel_bbox_m": {
+          "value": 0.4608,
+          "unit": null
+        },
+        "jm_joint_swivel_pct_of_travel": {
+          "value": 50.0,
+          "unit": null
+        },
+        "jm_joint_jaw_rot_deg": {
+          "value": 0.045,
+          "unit": null
+        },
+        "jm_joint_jaw_trans_pct": {
+          "value": 759.19,
+          "unit": null
+        },
+        "jm_joint_jaw_bbox_m": {
+          "value": 0.4529,
+          "unit": null
+        },
+        "jm_joint_jaw_pct_of_travel": {
+          "value": 100.0,
+          "unit": null
+        },
+        "jm_joint_screw_rot_deg": {
+          "value": 179.999,
+          "unit": null
+        },
+        "jm_joint_screw_trans_pct": {
+          "value": 1858.96,
+          "unit": null
+        },
+        "jm_joint_screw_bbox_m": {
+          "value": 0.36,
+          "unit": null
+        },
+        "jm_joint_screw_pct_of_travel": {
+          "value": 2.0,
+          "unit": null
+        },
+        "jm_joint_handle_slide_rot_deg": {
+          "value": 179.804,
+          "unit": null
+        },
+        "jm_joint_handle_slide_trans_pct": {
+          "value": 60670.4,
+          "unit": null
+        },
+        "jm_joint_handle_slide_bbox_m": {
+          "value": 0.2529,
+          "unit": null
+        },
+        "jm_joint_handle_slide_pct_of_travel": {
+          "value": 100.0,
+          "unit": null
+        },
+        "jm_joint_lock_1_rot_deg": {
+          "value": 89.946,
+          "unit": null
+        },
+        "jm_joint_lock_1_trans_pct": {
+          "value": 126.93,
+          "unit": null
+        },
+        "jm_joint_lock_1_bbox_m": {
+          "value": 0.0882,
+          "unit": null
+        },
+        "jm_joint_lock_1_pct_of_travel": {
+          "value": 99.9,
+          "unit": null
+        },
+        "jm_joint_lock_2_rot_deg": {
+          "value": 89.963,
+          "unit": null
+        },
+        "jm_joint_lock_2_trans_pct": {
+          "value": 126.96,
+          "unit": null
+        },
+        "jm_joint_lock_2_bbox_m": {
+          "value": 0.0882,
+          "unit": null
+        },
+        "jm_joint_lock_2_pct_of_travel": {
+          "value": 100.0,
+          "unit": null
+        },
+        "jm_joints_total": {
+          "value": 6,
+          "unit": null
+        },
+        "jm_joints_passed": {
+          "value": 6,
+          "unit": null
+        },
+        "jm_joints_failed": {
+          "value": 0,
+          "unit": null
+        },
+        "jm_joint_swivel_status": {
+          "value": "passed",
+          "unit": null
+        },
+        "jm_joint_jaw_status": {
+          "value": "passed",
+          "unit": null
+        },
+        "jm_joint_screw_status": {
+          "value": "passed",
+          "unit": null
+        },
+        "jm_joint_handle_slide_status": {
+          "value": "passed",
+          "unit": null
+        },
+        "jm_joint_lock_1_status": {
+          "value": "passed",
+          "unit": null
+        },
+        "jm_joint_lock_2_status": {
+          "value": "passed",
+          "unit": null
+        }
+      },
+      "kit_logs": [
+        {
+          "level": "error",
+          "channel": "omni.physx.plugin",
+          "message": "Physics scenes stepping is not the same, step subscription will be send with later step, per scene step is not yet supported."
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]: Traceback (most recent call last):"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:   File \"<home>/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/impl/texture.py\", line 377, in on_drawable_changed"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     self.__drawable_changed_fn(texture[\"rp_resource\"], presentation_key)"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:   File \"<home>/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/widget.py\", line 516, in __set_image_data"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     vp_api._sync_viewport_api(camera, canvas_size, vp_api.time, view, projection, force_update=True)  # noqa PLW0212"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:   File \"<home>/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 546, in _sync_viewport_api"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     self.__projection = self._conform_projection(policy, camera, image_aspect, canvas_aspect, projection)"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:                         ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:   File \"<home>/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     gf_camera = camera.GetCamera(self.__time)"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:                 ^^^^^^^^^^^^^^^^"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'"
+        }
+      ]
+    },
+    {
+      "test_name": "light_response",
+      "engine": "isaac_sim",
+      "engine_version": "6.1.0.0",
+      "status": "pass",
+      "passed": true,
+      "duration": 19.251,
+      "message": "",
+      "metrics": {
+        "_timing_capture_frame_total_s": {
+          "value": 9.519,
+          "unit": null
+        },
+        "_timing_capture_frame_count": {
+          "value": 30,
+          "unit": null
+        },
+        "_timing_capture_frame_avg_ms": {
+          "value": 317.32,
+          "unit": null
+        },
+        "_timing_encode_video_total_s": {
+          "value": 1.092,
+          "unit": null
+        },
+        "_timing_encode_video_count": {
+          "value": 1,
+          "unit": null
+        },
+        "_render_blank_retry_count": {
+          "value": 0,
+          "unit": null
+        },
+        "_render_blank_retry_unrecovered": {
+          "value": 0,
+          "unit": null
+        },
+        "light_response_variation_ratio": {
+          "value": 0.827586,
+          "unit": null
+        },
+        "light_response_blank_ratio": {
+          "value": 0.0,
+          "unit": null
+        },
+        "light_response_blank_frames": {
+          "value": 0,
+          "unit": null
+        },
+        "light_response_total_frames": {
+          "value": 30,
+          "unit": null
+        },
+        "light_response_total_pairs": {
+          "value": 29,
+          "unit": null
+        },
+        "light_response_different_pairs": {
+          "value": 24,
+          "unit": null
+        },
+        "light_response_passed": {
+          "value": 1,
+          "unit": null
+        },
+        "light_response_max_pair_change": {
+          "value": 0.721808,
+          "unit": null
+        },
+        "light_response_min_pair_change": {
+          "value": 0.01865,
+          "unit": null
+        }
+      },
+      "kit_logs": [
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]: Traceback (most recent call last):"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:   File \"<home>/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/impl/texture.py\", line 377, in on_drawable_changed"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     self.__drawable_changed_fn(texture[\"rp_resource\"], presentation_key)"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:   File \"<home>/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/widget.py\", line 516, in __set_image_data"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     vp_api._sync_viewport_api(camera, canvas_size, vp_api.time, view, projection, force_update=True)  # noqa PLW0212"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:   File \"<home>/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 546, in _sync_viewport_api"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     self.__projection = self._conform_projection(policy, camera, image_aspect, canvas_aspect, projection)"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:                         ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:   File \"<home>/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     gf_camera = camera.GetCamera(self.__time)"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:                 ^^^^^^^^^^^^^^^^"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'"
+        }
+      ]
+    },
+    {
+      "test_name": "light_response",
+      "engine": "isaac_sim_newton",
+      "engine_version": "6.1.0.0",
+      "status": "pass",
+      "passed": true,
+      "duration": 19.424,
+      "message": "",
+      "metrics": {
+        "_timing_capture_frame_total_s": {
+          "value": 7.803,
+          "unit": null
+        },
+        "_timing_capture_frame_count": {
+          "value": 30,
+          "unit": null
+        },
+        "_timing_capture_frame_avg_ms": {
+          "value": 260.11,
+          "unit": null
+        },
+        "_timing_encode_video_total_s": {
+          "value": 1.122,
+          "unit": null
+        },
+        "_timing_encode_video_count": {
+          "value": 1,
+          "unit": null
+        },
+        "_render_blank_retry_count": {
+          "value": 0,
+          "unit": null
+        },
+        "_render_blank_retry_unrecovered": {
+          "value": 0,
+          "unit": null
+        },
+        "light_response_variation_ratio": {
+          "value": 0.827586,
+          "unit": null
+        },
+        "light_response_blank_ratio": {
+          "value": 0.0,
+          "unit": null
+        },
+        "light_response_blank_frames": {
+          "value": 0,
+          "unit": null
+        },
+        "light_response_total_frames": {
+          "value": 30,
+          "unit": null
+        },
+        "light_response_total_pairs": {
+          "value": 29,
+          "unit": null
+        },
+        "light_response_different_pairs": {
+          "value": 24,
+          "unit": null
+        },
+        "light_response_passed": {
+          "value": 1,
+          "unit": null
+        },
+        "light_response_max_pair_change": {
+          "value": 0.722322,
+          "unit": null
+        },
+        "light_response_min_pair_change": {
+          "value": 0.020707,
+          "unit": null
+        }
+      },
+      "kit_logs": [
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]: Traceback (most recent call last):"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:   File \"<home>/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/impl/texture.py\", line 377, in on_drawable_changed"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     self.__drawable_changed_fn(texture[\"rp_resource\"], presentation_key)"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:   File \"<home>/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/widget.py\", line 516, in __set_image_data"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     vp_api._sync_viewport_api(camera, canvas_size, vp_api.time, view, projection, force_update=True)  # noqa PLW0212"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:   File \"<home>/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 546, in _sync_viewport_api"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     self.__projection = self._conform_projection(policy, camera, image_aspect, canvas_aspect, projection)"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:                         ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:   File \"<home>/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     gf_camera = camera.GetCamera(self.__time)"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:                 ^^^^^^^^^^^^^^^^"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'"
+        }
+      ]
+    },
+    {
+      "test_name": "normals_xz",
+      "engine": "isaac_sim",
+      "engine_version": "6.1.0.0",
+      "status": "pass",
+      "passed": true,
+      "duration": 7.471,
+      "message": "",
+      "metrics": {
+        "_timing_capture_frame_total_s": {
+          "value": 1.306,
+          "unit": null
+        },
+        "_timing_capture_frame_count": {
+          "value": 8,
+          "unit": null
+        },
+        "_timing_capture_frame_avg_ms": {
+          "value": 163.21,
+          "unit": null
+        },
+        "_timing_encode_video_total_s": {
+          "value": 0.469,
+          "unit": null
+        },
+        "_timing_encode_video_count": {
+          "value": 1,
+          "unit": null
+        },
+        "_render_blank_retry_count": {
+          "value": 0,
+          "unit": null
+        },
+        "_render_blank_retry_unrecovered": {
+          "value": 0,
+          "unit": null
+        },
+        "normals_xz_avg_dark": {
+          "value": 0.001321,
+          "unit": null
+        },
+        "normals_xz_max_dark": {
+          "value": 0.002129,
+          "unit": null
+        },
+        "normals_xz_problem_frames": {
+          "value": 0,
+          "unit": null
+        },
+        "normals_xz_passed": {
+          "value": 1,
+          "unit": null
+        }
+      },
+      "kit_logs": [
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]: Traceback (most recent call last):"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:   File \"<home>/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/impl/texture.py\", line 377, in on_drawable_changed"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     self.__drawable_changed_fn(texture[\"rp_resource\"], presentation_key)"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:   File \"<home>/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/widget.py\", line 516, in __set_image_data"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     vp_api._sync_viewport_api(camera, canvas_size, vp_api.time, view, projection, force_update=True)  # noqa PLW0212"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:   File \"<home>/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 546, in _sync_viewport_api"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     self.__projection = self._conform_projection(policy, camera, image_aspect, canvas_aspect, projection)"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:                         ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:   File \"<home>/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     gf_camera = camera.GetCamera(self.__time)"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:                 ^^^^^^^^^^^^^^^^"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'"
+        }
+      ]
+    },
+    {
+      "test_name": "normals_xz",
+      "engine": "isaac_sim_newton",
+      "engine_version": "6.1.0.0",
+      "status": "pass",
+      "passed": true,
+      "duration": 7.004,
+      "message": "",
+      "metrics": {
+        "_timing_capture_frame_total_s": {
+          "value": 2.307,
+          "unit": null
+        },
+        "_timing_capture_frame_count": {
+          "value": 8,
+          "unit": null
+        },
+        "_timing_capture_frame_avg_ms": {
+          "value": 288.32,
+          "unit": null
+        },
+        "_timing_encode_video_total_s": {
+          "value": 0.476,
+          "unit": null
+        },
+        "_timing_encode_video_count": {
+          "value": 1,
+          "unit": null
+        },
+        "_render_blank_retry_count": {
+          "value": 0,
+          "unit": null
+        },
+        "_render_blank_retry_unrecovered": {
+          "value": 0,
+          "unit": null
+        },
+        "normals_xz_avg_dark": {
+          "value": 0.001417,
+          "unit": null
+        },
+        "normals_xz_max_dark": {
+          "value": 0.002347,
+          "unit": null
+        },
+        "normals_xz_problem_frames": {
+          "value": 0,
+          "unit": null
+        },
+        "normals_xz_passed": {
+          "value": 1,
+          "unit": null
+        }
+      },
+      "kit_logs": []
+    },
+    {
+      "test_name": "pivot",
+      "engine": "isaac_sim",
+      "engine_version": "6.1.0.0",
+      "status": "pass",
+      "passed": true,
+      "duration": 20.105,
+      "message": "",
+      "metrics": {
+        "_timing_capture_frame_total_s": {
+          "value": 6.954,
+          "unit": null
+        },
+        "_timing_capture_frame_count": {
+          "value": 20,
+          "unit": null
+        },
+        "_timing_capture_frame_avg_ms": {
+          "value": 347.72,
+          "unit": null
+        },
+        "_timing_encode_video_total_s": {
+          "value": 1.191,
+          "unit": null
+        },
+        "_timing_encode_video_count": {
+          "value": 2,
+          "unit": null
+        },
+        "_render_blank_retry_count": {
+          "value": 0,
+          "unit": null
+        },
+        "_render_blank_retry_unrecovered": {
+          "value": 0,
+          "unit": null
+        },
+        "pivot_score": {
+          "value": 0.8,
+          "unit": null
+        },
+        "pivot_pivot_height_pct": {
+          "value": 0.0,
+          "unit": null
+        },
+        "pivot_pivot_at_base": {
+          "value": 1,
+          "unit": null
+        },
+        "pivot_pivot_centered_xy": {
+          "value": 1,
+          "unit": null
+        },
+        "pivot_ground_penetration": {
+          "value": 1,
+          "unit": null
+        },
+        "pivot_orbital_motion": {
+          "value": 1,
+          "unit": null
+        },
+        "pivot_passed": {
+          "value": 1,
+          "unit": null
+        }
+      },
+      "kit_logs": [
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]: Traceback (most recent call last):"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:   File \"<home>/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/impl/texture.py\", line 377, in on_drawable_changed"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     self.__drawable_changed_fn(texture[\"rp_resource\"], presentation_key)"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:   File \"<home>/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/widget.py\", line 516, in __set_image_data"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     vp_api._sync_viewport_api(camera, canvas_size, vp_api.time, view, projection, force_update=True)  # noqa PLW0212"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:   File \"<home>/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 546, in _sync_viewport_api"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     self.__projection = self._conform_projection(policy, camera, image_aspect, canvas_aspect, projection)"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:                         ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:   File \"<home>/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     gf_camera = camera.GetCamera(self.__time)"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:                 ^^^^^^^^^^^^^^^^"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'"
+        }
+      ]
+    },
+    {
+      "test_name": "pivot",
+      "engine": "isaac_sim_newton",
+      "engine_version": "6.1.0.0",
+      "status": "pass",
+      "passed": true,
+      "duration": 19.032,
+      "message": "",
+      "metrics": {
+        "_timing_capture_frame_total_s": {
+          "value": 6.507,
+          "unit": null
+        },
+        "_timing_capture_frame_count": {
+          "value": 20,
+          "unit": null
+        },
+        "_timing_capture_frame_avg_ms": {
+          "value": 325.33,
+          "unit": null
+        },
+        "_timing_encode_video_total_s": {
+          "value": 1.147,
+          "unit": null
+        },
+        "_timing_encode_video_count": {
+          "value": 2,
+          "unit": null
+        },
+        "_render_blank_retry_count": {
+          "value": 0,
+          "unit": null
+        },
+        "_render_blank_retry_unrecovered": {
+          "value": 0,
+          "unit": null
+        },
+        "pivot_score": {
+          "value": 0.8,
+          "unit": null
+        },
+        "pivot_pivot_height_pct": {
+          "value": 0.0,
+          "unit": null
+        },
+        "pivot_pivot_at_base": {
+          "value": 1,
+          "unit": null
+        },
+        "pivot_pivot_centered_xy": {
+          "value": 1,
+          "unit": null
+        },
+        "pivot_ground_penetration": {
+          "value": 1,
+          "unit": null
+        },
+        "pivot_orbital_motion": {
+          "value": 1,
+          "unit": null
+        },
+        "pivot_passed": {
+          "value": 1,
+          "unit": null
+        }
+      },
+      "kit_logs": [
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]: Traceback (most recent call last):"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:   File \"<home>/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/impl/texture.py\", line 377, in on_drawable_changed"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     self.__drawable_changed_fn(texture[\"rp_resource\"], presentation_key)"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:   File \"<home>/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/widget.py\", line 516, in __set_image_data"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     vp_api._sync_viewport_api(camera, canvas_size, vp_api.time, view, projection, force_update=True)  # noqa PLW0212"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:   File \"<home>/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 546, in _sync_viewport_api"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     self.__projection = self._conform_projection(policy, camera, image_aspect, canvas_aspect, projection)"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:                         ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:   File \"<home>/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     gf_camera = camera.GetCamera(self.__time)"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:                 ^^^^^^^^^^^^^^^^"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'"
+        }
+      ]
+    },
+    {
+      "test_name": "presence",
+      "engine": "isaac_sim",
+      "engine_version": "6.1.0.0",
+      "status": "pass",
+      "passed": true,
+      "duration": 3.602,
+      "message": "",
+      "metrics": {
+        "_timing_capture_frame_total_s": {
+          "value": 0.56,
+          "unit": null
+        },
+        "_timing_capture_frame_count": {
+          "value": 2,
+          "unit": null
+        },
+        "_timing_capture_frame_avg_ms": {
+          "value": 280.23,
+          "unit": null
+        },
+        "_timing_encode_video_total_s": {
+          "value": 0.0,
+          "unit": null
+        },
+        "_timing_encode_video_count": {
+          "value": 0,
+          "unit": null
+        },
+        "_render_blank_retry_count": {
+          "value": 0,
+          "unit": null
+        },
+        "_render_blank_retry_unrecovered": {
+          "value": 0,
+          "unit": null
+        },
+        "presence_diff_ratio": {
+          "value": 0.239608,
+          "unit": null
+        },
+        "presence_passed": {
+          "value": 1,
+          "unit": null
+        }
+      },
+      "kit_logs": [
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]: Traceback (most recent call last):"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:   File \"<home>/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/impl/texture.py\", line 377, in on_drawable_changed"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     self.__drawable_changed_fn(texture[\"rp_resource\"], presentation_key)"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:   File \"<home>/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/widget.py\", line 516, in __set_image_data"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     vp_api._sync_viewport_api(camera, canvas_size, vp_api.time, view, projection, force_update=True)  # noqa PLW0212"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:   File \"<home>/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 546, in _sync_viewport_api"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     self.__projection = self._conform_projection(policy, camera, image_aspect, canvas_aspect, projection)"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:                         ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:   File \"<home>/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     gf_camera = camera.GetCamera(self.__time)"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:                 ^^^^^^^^^^^^^^^^"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'"
+        }
+      ]
+    },
+    {
+      "test_name": "presence",
+      "engine": "isaac_sim_newton",
+      "engine_version": "6.1.0.0",
+      "status": "pass",
+      "passed": true,
+      "duration": 3.032,
+      "message": "",
+      "metrics": {
+        "_timing_capture_frame_total_s": {
+          "value": 0.554,
+          "unit": null
+        },
+        "_timing_capture_frame_count": {
+          "value": 2,
+          "unit": null
+        },
+        "_timing_capture_frame_avg_ms": {
+          "value": 277.0,
+          "unit": null
+        },
+        "_timing_encode_video_total_s": {
+          "value": 0.0,
+          "unit": null
+        },
+        "_timing_encode_video_count": {
+          "value": 0,
+          "unit": null
+        },
+        "_render_blank_retry_count": {
+          "value": 0,
+          "unit": null
+        },
+        "_render_blank_retry_unrecovered": {
+          "value": 0,
+          "unit": null
+        },
+        "presence_diff_ratio": {
+          "value": 0.239608,
+          "unit": null
+        },
+        "presence_passed": {
+          "value": 1,
+          "unit": null
+        }
+      },
+      "kit_logs": [
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]: Traceback (most recent call last):"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:   File \"<home>/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/impl/texture.py\", line 377, in on_drawable_changed"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     self.__drawable_changed_fn(texture[\"rp_resource\"], presentation_key)"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:   File \"<home>/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/widget.py\", line 516, in __set_image_data"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     vp_api._sync_viewport_api(camera, canvas_size, vp_api.time, view, projection, force_update=True)  # noqa PLW0212"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:   File \"<home>/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 546, in _sync_viewport_api"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     self.__projection = self._conform_projection(policy, camera, image_aspect, canvas_aspect, projection)"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:                         ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:   File \"<home>/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     gf_camera = camera.GetCamera(self.__time)"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:                 ^^^^^^^^^^^^^^^^"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'"
+        }
+      ]
+    },
+    {
+      "test_name": "preview_surface_renders",
+      "engine": "isaac_sim",
+      "engine_version": "6.1.0.0",
+      "status": "pass",
+      "passed": true,
+      "duration": 11.402,
+      "message": "",
+      "metrics": {
+        "_timing_capture_frame_total_s": {
+          "value": 2.992,
+          "unit": null
+        },
+        "_timing_capture_frame_count": {
+          "value": 4,
+          "unit": null
+        },
+        "_timing_capture_frame_avg_ms": {
+          "value": 747.91,
+          "unit": null
+        },
+        "_timing_encode_video_total_s": {
+          "value": 0.0,
+          "unit": null
+        },
+        "_timing_encode_video_count": {
+          "value": 0,
+          "unit": null
+        },
+        "_render_blank_retry_count": {
+          "value": 0,
+          "unit": null
+        },
+        "_render_blank_retry_unrecovered": {
+          "value": 0,
+          "unit": null
+        },
+        "universal_surface_materials_with_universal": {
+          "value": 7,
+          "unit": null
+        },
+        "universal_surface_materials_with_mdl": {
+          "value": 0,
+          "unit": null
+        },
+        "universal_surface_materials_with_mtlx": {
+          "value": 0,
+          "unit": null
+        },
+        "universal_surface_materials_total": {
+          "value": 7,
+          "unit": null
+        },
+        "universal_surface_asset_root": {
+          "value": "/World/AssetRoot/Asset",
+          "unit": null
+        },
+        "universal_surface_contexts_present": {
+          "value": "universal",
+          "unit": null
+        },
+        "universal_surface_render_context_order": {
+          "value": "universal",
+          "unit": null
+        },
+        "universal_surface_silhouette_pixels": {
+          "value": 210388,
+          "unit": null
+        },
+        "universal_surface_uncovered_pixels": {
+          "value": 0,
+          "unit": null
+        },
+        "universal_surface_coverage": {
+          "value": 1.0,
+          "unit": null
+        }
+      },
+      "kit_logs": [
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]: Traceback (most recent call last):"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:   File \"<home>/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/impl/texture.py\", line 377, in on_drawable_changed"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     self.__drawable_changed_fn(texture[\"rp_resource\"], presentation_key)"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:   File \"<home>/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/widget.py\", line 516, in __set_image_data"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     vp_api._sync_viewport_api(camera, canvas_size, vp_api.time, view, projection, force_update=True)  # noqa PLW0212"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:   File \"<home>/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 546, in _sync_viewport_api"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     self.__projection = self._conform_projection(policy, camera, image_aspect, canvas_aspect, projection)"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:                         ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:   File \"<home>/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     gf_camera = camera.GetCamera(self.__time)"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:                 ^^^^^^^^^^^^^^^^"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'"
+        }
+      ]
+    },
+    {
+      "test_name": "preview_surface_renders",
+      "engine": "isaac_sim_newton",
+      "engine_version": "6.1.0.0",
+      "status": "pass",
+      "passed": true,
+      "duration": 8.485,
+      "message": "",
+      "metrics": {
+        "_timing_capture_frame_total_s": {
+          "value": 1.49,
+          "unit": null
+        },
+        "_timing_capture_frame_count": {
+          "value": 4,
+          "unit": null
+        },
+        "_timing_capture_frame_avg_ms": {
+          "value": 372.49,
+          "unit": null
+        },
+        "_timing_encode_video_total_s": {
+          "value": 0.0,
+          "unit": null
+        },
+        "_timing_encode_video_count": {
+          "value": 0,
+          "unit": null
+        },
+        "_render_blank_retry_count": {
+          "value": 0,
+          "unit": null
+        },
+        "_render_blank_retry_unrecovered": {
+          "value": 0,
+          "unit": null
+        },
+        "universal_surface_materials_with_universal": {
+          "value": 7,
+          "unit": null
+        },
+        "universal_surface_materials_with_mdl": {
+          "value": 0,
+          "unit": null
+        },
+        "universal_surface_materials_with_mtlx": {
+          "value": 0,
+          "unit": null
+        },
+        "universal_surface_materials_total": {
+          "value": 7,
+          "unit": null
+        },
+        "universal_surface_asset_root": {
+          "value": "/World/AssetRoot/Asset",
+          "unit": null
+        },
+        "universal_surface_contexts_present": {
+          "value": "universal",
+          "unit": null
+        },
+        "universal_surface_render_context_order": {
+          "value": "universal",
+          "unit": null
+        },
+        "universal_surface_silhouette_pixels": {
+          "value": 249968,
+          "unit": null
+        },
+        "universal_surface_uncovered_pixels": {
+          "value": 0,
+          "unit": null
+        },
+        "universal_surface_coverage": {
+          "value": 1.0,
+          "unit": null
+        }
+      },
+      "kit_logs": [
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]: Traceback (most recent call last):"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:   File \"<home>/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/impl/texture.py\", line 377, in on_drawable_changed"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     self.__drawable_changed_fn(texture[\"rp_resource\"], presentation_key)"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:   File \"<home>/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/widget.py\", line 516, in __set_image_data"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     vp_api._sync_viewport_api(camera, canvas_size, vp_api.time, view, projection, force_update=True)  # noqa PLW0212"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:   File \"<home>/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 546, in _sync_viewport_api"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     self.__projection = self._conform_projection(policy, camera, image_aspect, canvas_aspect, projection)"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:                         ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:   File \"<home>/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     gf_camera = camera.GetCamera(self.__time)"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:                 ^^^^^^^^^^^^^^^^"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'"
+        }
+      ]
+    },
+    {
+      "test_name": "semantic_labels_seg_labelled",
+      "engine": "isaac_sim",
+      "engine_version": "6.1.0.0",
+      "status": "pass",
+      "passed": true,
+      "duration": 4.802,
+      "message": "",
+      "metrics": {
+        "_timing_capture_frame_total_s": {
+          "value": 0.732,
+          "unit": null
+        },
+        "_timing_capture_frame_count": {
+          "value": 1,
+          "unit": null
+        },
+        "_timing_capture_frame_avg_ms": {
+          "value": 731.63,
+          "unit": null
+        },
+        "_timing_encode_video_total_s": {
+          "value": 0.0,
+          "unit": null
+        },
+        "_timing_encode_video_count": {
+          "value": 0,
+          "unit": null
+        },
+        "_render_blank_retry_count": {
+          "value": 0,
+          "unit": null
+        },
+        "_render_blank_retry_unrecovered": {
+          "value": 0,
+          "unit": null
+        },
+        "semantic_labels_on_coverage": {
+          "value": 0.238591,
+          "unit": null
+        },
+        "semantic_labels_labelled_passed": {
+          "value": 1,
+          "unit": null
+        }
+      },
+      "kit_logs": [
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]: Traceback (most recent call last):"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:   File \"<home>/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/impl/texture.py\", line 377, in on_drawable_changed"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     self.__drawable_changed_fn(texture[\"rp_resource\"], presentation_key)"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:   File \"<home>/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/widget.py\", line 516, in __set_image_data"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     vp_api._sync_viewport_api(camera, canvas_size, vp_api.time, view, projection, force_update=True)  # noqa PLW0212"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:   File \"<home>/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 546, in _sync_viewport_api"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     self.__projection = self._conform_projection(policy, camera, image_aspect, canvas_aspect, projection)"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:                         ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:   File \"<home>/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     gf_camera = camera.GetCamera(self.__time)"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:                 ^^^^^^^^^^^^^^^^"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'"
+        }
+      ]
+    },
+    {
+      "test_name": "semantic_labels_seg_labelled",
+      "engine": "isaac_sim_newton",
+      "engine_version": "6.1.0.0",
+      "status": "pass",
+      "passed": true,
+      "duration": 4.455,
+      "message": "",
+      "metrics": {
+        "_timing_capture_frame_total_s": {
+          "value": 0.871,
+          "unit": null
+        },
+        "_timing_capture_frame_count": {
+          "value": 1,
+          "unit": null
+        },
+        "_timing_capture_frame_avg_ms": {
+          "value": 871.11,
+          "unit": null
+        },
+        "_timing_encode_video_total_s": {
+          "value": 0.0,
+          "unit": null
+        },
+        "_timing_encode_video_count": {
+          "value": 0,
+          "unit": null
+        },
+        "_render_blank_retry_count": {
+          "value": 0,
+          "unit": null
+        },
+        "_render_blank_retry_unrecovered": {
+          "value": 0,
+          "unit": null
+        },
+        "semantic_labels_on_coverage": {
+          "value": 0.238591,
+          "unit": null
+        },
+        "semantic_labels_labelled_passed": {
+          "value": 1,
+          "unit": null
+        }
+      },
+      "kit_logs": [
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]: Traceback (most recent call last):"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:   File \"<home>/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/impl/texture.py\", line 377, in on_drawable_changed"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     self.__drawable_changed_fn(texture[\"rp_resource\"], presentation_key)"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:   File \"<home>/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/widget.py\", line 516, in __set_image_data"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     vp_api._sync_viewport_api(camera, canvas_size, vp_api.time, view, projection, force_update=True)  # noqa PLW0212"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:   File \"<home>/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 546, in _sync_viewport_api"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     self.__projection = self._conform_projection(policy, camera, image_aspect, canvas_aspect, projection)"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:                         ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:   File \"<home>/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     gf_camera = camera.GetCamera(self.__time)"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:                 ^^^^^^^^^^^^^^^^"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'"
+        }
+      ]
+    },
+    {
+      "test_name": "semantic_labels_seg_stripped",
+      "engine": "isaac_sim",
+      "engine_version": "6.1.0.0",
+      "status": "pass",
+      "passed": true,
+      "duration": 3.566,
+      "message": "",
+      "metrics": {
+        "semantic_labels_stripped_prims": {
+          "value": 8,
+          "unit": null
+        },
+        "semantic_labels_off_coverage": {
+          "value": 0.0,
+          "unit": null
+        },
+        "semantic_labels_stripped_passed": {
+          "value": 1,
+          "unit": null
+        }
+      },
+      "kit_logs": []
+    },
+    {
+      "test_name": "semantic_labels_seg_stripped",
+      "engine": "isaac_sim_newton",
+      "engine_version": "6.1.0.0",
+      "status": "pass",
+      "passed": true,
+      "duration": 3.451,
+      "message": "",
+      "metrics": {
+        "semantic_labels_stripped_prims": {
+          "value": 8,
+          "unit": null
+        },
+        "semantic_labels_off_coverage": {
+          "value": 0.0,
+          "unit": null
+        },
+        "semantic_labels_stripped_passed": {
+          "value": 1,
+          "unit": null
+        }
+      },
+      "kit_logs": []
+    },
+    {
+      "test_name": "slope_drop",
+      "engine": "isaac_sim",
+      "engine_version": "6.1.0.0",
+      "status": "skipped",
+      "passed": false,
+      "duration": 0.612,
+      "message": "Asset is world-anchored (FixedJoint to world) -- test not applicable. World-anchored assets cannot fall or slide.",
+      "metrics": {
+        "slope_drop_skipped": {
+          "value": 1,
+          "unit": null
+        }
+      },
+      "kit_logs": []
+    }
+  ]
+}

bench_vise/.metadata/bench_vise_validation.json

@@ -0,0 +1,175 @@
+{
+    "simready_usd/bench_vise.usda": {
+        "features_summary": {
+            "FET_000_MUJOCO": {
+                "blocking_failure": false,
+                "dependencies": "[{'FET_000_STANDARD': {'version': '0.1.0'}}]",
+                "optional requirements": "['com.nvidia.simready.RV.007']",
+                "passed": false,
+                "version": "0.1.0"
+            },
+            "FET_000_NEWTON": {
+                "blocking_failure": false,
+                "dependencies": "[{'FET_000_STANDARD': {'version': '0.1.0'}}]",
+                "optional requirements": "['com.nvidia.simready.RV.004']",
+                "passed": false,
+                "version": "0.1.0"
+            },
+            "FET_000_PHYSX": {
+                "blocking_failure": false,
+                "dependencies": "[{'FET_000_STANDARD': {'version': '0.1.0'}}]",
+                "optional requirements": "['com.nvidia.simready.RV.001']",
+                "passed": false,
+                "version": "0.1.0"
+            },
+            "FET_000_STANDARD": {
+                "blocking_failure": false,
+                "dependencies": "[]",
+                "passed": true,
+                "version": "0.2.0"
+            },
+            "FET_001_STANDARD": {
+                "blocking_failure": false,
+                "dependencies": "[]",
+                "passed": true,
+                "version": "1.0.1"
+            },
+            "FET_003_MUJOCO": {
+                "blocking_failure": false,
+                "dependencies": "[]",
+                "optional requirements": "['com.nvidia.simready.MUJOCO.COL.001']",
+                "passed": false,
+                "version": "0.1.0"
+            },
+            "FET_003_NEWTON": {
+                "blocking_failure": false,
+                "dependencies": "[]",
+                "optional requirements": "['com.nvidia.simready.NEWTON.COL.001']",
+                "passed": false,
+                "version": "0.1.0"
+            },
+            "FET_003_PHYSX": {
+                "blocking_failure": false,
+                "dependencies": "[]",
+                "passed": true,
+                "version": "0.4.0"
+            },
+            "FET_003_STANDARD": {
+                "blocking_failure": false,
+                "dependencies": "[]",
+                "passed": true,
+                "version": "0.2.0"
+            },
+            "FET_004_MUJOCO": {
+                "blocking_failure": false,
+                "dependencies": "[{'FET_003_MUJOCO': {'version': '0.1.0'}}]",
+                "optional requirements": "['com.nvidia.simready.MUJOCO.COL.001']",
+                "passed": false,
+                "version": "0.1.0"
+            },
+            "FET_004_NEWTON": {
+                "blocking_failure": false,
+                "dependencies": "[{'FET_003_NEWTON': {'version': '0.1.0'}}]",
+                "optional requirements": "['com.nvidia.simready.NEWTON.COL.001']",
+                "passed": false,
+                "version": "0.1.0"
+            },
+            "FET_004_PHYSX": {
+                "blocking_failure": false,
+                "dependencies": "[{'FET_003_PHYSX': {'version': '0.4.0'}}]",
+                "passed": true,
+                "version": "0.4.0"
+            },
+            "FET_004_STANDARD": {
+                "blocking_failure": false,
+                "dependencies": "[{'FET_003_STANDARD': {'version': '0.2.0'}}]",
+                "passed": true,
+                "version": "0.2.0"
+            },
+            "FET_005_STANDARD": {
+                "blocking_failure": false,
+                "dependencies": "[]",
+                "passed": true,
+                "version": "0.1.0"
+            },
+            "FET_006_MDL": {
+                "blocking_failure": false,
+                "dependencies": "[]",
+                "optional requirements": "['com.nvidia.simready.VM.MDL.003']",
+                "passed": false,
+                "version": "0.2.0"
+            },
+            "FET_006_OPENPBR": {
+                "blocking_failure": false,
+                "dependencies": "[]",
+                "optional requirements": "['com.nvidia.simready.VM.PBR.001']",
+                "passed": false,
+                "version": "0.1.0"
+            },
+            "FET_006_STANDARD": {
+                "blocking_failure": false,
+                "dependencies": "[]",
+                "passed": true,
+                "version": "0.2.0"
+            },
+            "FET_007_STANDARD": {
+                "blocking_failure": false,
+                "dependencies": "[]",
+                "optional requirements": "['com.nvidia.simready.NVM.001', 'com.nvidia.simready.NVM.002', 'com.nvidia.simready.NVM.003']",
+                "passed": false,
+                "version": "0.2.0"
+            },
+            "FET_010_STANDARD": {
+                "blocking_failure": false,
+                "dependencies": "[]",
+                "passed": true,
+                "version": "0.1.0"
+            },
+            "FET_011_RTX": {
+                "blocking_failure": false,
+                "dependencies": "[{'FET_011_STANDARD': {'version': '0.2.0'}}]",
+                "passed": true,
+                "version": "0.1.0"
+            },
+            "FET_011_STANDARD": {
+                "blocking_failure": false,
+                "dependencies": "[]",
+                "passed": true,
+                "version": "0.2.0"
+            },
+            "FET_031_STANDARD": {
+                "blocking_failure": false,
+                "dependencies": "[]",
+                "passed": true,
+                "version": "0.1.0"
+            },
+            "FET_033_STANDARD": {
+                "blocking_failure": false,
+                "dependencies": "[{'FET_031_STANDARD': {'version': '0.1.0'}}]",
+                "passed": true,
+                "version": "0.4.0"
+            },
+            "FET_046_STANDARD": {
+                "blocking_failure": false,
+                "dependencies": "[{'FET_011_STANDARD': {'version': '0.2.0'}}]",
+                "passed": true,
+                "version": "0.1.0"
+            },
+            "FET_100_ISAAC": {
+                "blocking_failure": false,
+                "dependencies": "[{'FET_003_PHYSX': {'version': '0.4.0'}}]",
+                "optional requirements": "['com.nvidia.simready.ISA.001']",
+                "passed": false,
+                "version": "0.4.0"
+            }
+        },
+        "profile_id": "Robotics-Prop",
+        "profile_version": "4.0.0",
+        "simready_validate_version": "2026.8.0",
+        "tier_versions": {
+            "sensors": "2026.8.0",
+            "tier_aif": "2026.8.0",
+            "tier_core": "2026.8.0"
+        }
+    }
+}

bench_vise/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json

@@ -0,0 +1,35 @@
+{
+  "format_version": "1.0",
+  "profile": "Package",
+  "profile_version": "1.0.0",
+  "timestamp": "2026-10-18T05:54:04",
+  "assets": [
+    {
+      "asset": "com.nvidia.simready.packaging.json",
+      "features": [
+        {
+          "FET_030_STANDARD": {
+            "version": "0.1.0",
+            "passed": true,
+            "failing_requirements": [],
+            "dependencies": []
+          }
+        },
+        {
+          "FET_032_STANDARD": {
+            "version": "0.1.0",
+            "passed": true,
+            "failing_requirements": [],
+            "dependencies": [
+              {
+                "FET_030_STANDARD": {
+                  "version": "0.1.0"
+                }
+              }
+            ]
+          }
+        }
+      ]
+    }
+  ]
+}

bench_vise/.metadata/com.nvidia.simready.packaging.bom.json

@@ -0,0 +1,72 @@
+{
+  "format_version": "1.0",
+  "items": [
+    {
+      "relative_path": "simready_usd/.thumbs/256x256/bench_vise.usda.png",
+      "size": 15829,
+      "hash": {
+        "sha256-flat-1mb": "c1a35da9a5f6e6de6aab1faa760672067d3c6e942eb86b14fbc1f8b4a286e340",
+        "sha256": "a397e2492e8398c8419d0563d27ee8a8e1d5d84a326e944549297a8b60668893"
+      }
+    },
+    {
+      "relative_path": "simready_usd/assets/hammertone-paint.png",
+      "size": 1885104,
+      "hash": {
+        "sha256-flat-1mb": "41cf4e801473453fff59df7f2082a681af2b5a7be60d453b8db83ca2134d6e0c",
+        "sha256": "f443e49f462229b4e83a9a83d932d189a5acd3c48757e5249e036d965f9493ce",
+        "sha256-first1m": "6d4f2fb403eb3ac69ce77ef3f1a1d21e57cbd52812f4f9f12500ac30cf798044"
+      }
+    },
+    {
+      "relative_path": "simready_usd/assets/jaw-serration.png",
+      "size": 161287,
+      "hash": {
+        "sha256-flat-1mb": "63db6f04b3c6ac091ccf9b021c7f75b3ad6339ea44de082123b04f0e6789610b",
+        "sha256": "312e2c3f65d496e67ea5a9a218472c7e61059a3f88093d46ad0d12620fe1b5b5"
+      }
+    },
+    {
+      "relative_path": "simready_usd/assets/machined-steel.png",
+      "size": 1565218,
+      "hash": {
+        "sha256-flat-1mb": "3f087069b4059ac854228c5deb6eec5be9c4970cb81ea93385a20068187fe5fc",
+        "sha256": "a8567cb4c934e626f429c4a51e9501a3c12c066d973de4add1dedb20c784becd",
+        "sha256-first1m": "a16fa659463d4bff8ee101a3a03a9bbfdc8b906fe325bbc6ebcac764e78b5820"
+      }
+    },
+    {
+      "relative_path": "simready_usd/bench_vise.usda",
+      "size": 18979,
+      "hash": {
+        "sha256-flat-1mb": "bc1d0c233ad53341b0785458e436f321ddb612bcf54106884f5647e6baab0c58",
+        "sha256": "eb29a3b375ac3714990722bc28261dbf5dc50a99fb7db20004dec25ae013d3bf"
+      }
+    },
+    {
+      "relative_path": "simready_usd/forgecad/animation.usda",
+      "size": 3698,
+      "hash": {
+        "sha256-flat-1mb": "8eb93b2d70490f927f258aba325be8bc0d9e692635d1c417b9a3be26b0bf56e8",
+        "sha256": "93b0550d8f38b680522c04b53462d663e6a1cf0de66edcaf4df1e2e8d637dbff"
+      }
+    },
+    {
+      "relative_path": "simready_usd/forgecad/geometry.usda",
+      "size": 71696634,
+      "hash": {
+        "sha256-flat-1mb": "29c92aabed1349b656af4ab2e0f9af4ee22aedd962be447fa55d9678945b5fb5",
+        "sha256": "fa50b0abafef42469c0d3c37bce475929f38865b662264944096008bb5c0604a",
+        "sha256-first1m": "85875a3ffc29700e06b825dc67265bf9d330069ca4e87f908d3a19e5304b71c9"
+      }
+    },
+    {
+      "relative_path": "simready_usd/forgecad/physics.usda",
+      "size": 63560,
+      "hash": {
+        "sha256-flat-1mb": "0977ecd8bee1256c29a0adf1fc436b77a1b135a5030ced3b10db2ca94bc17ce6",
+        "sha256": "f231218e05cb923b883548e227d0d1ae52bf9198e5eb030e3e459111434a0c84"
+      }
+    }
+  ]
+}

bench_vise/com.nvidia.simready.packaging.json

@@ -0,0 +1,31 @@
+{
+  "format_version": "1.0",
+  "package_id": "simready.hf.ForgeCAD.simready-assets.bench_vise.2026.10.17_00",
+  "license": "cc-by-4.0",
+  "metadata": [
+    {
+      "name": "com.nvidia.simready.conformance.Package-Candidate@1.0.0.json",
+      "hash": {
+        "sha256": "0c88fe202e2fa3cc809b167144450d7e74b0a8c7d20cb5c703034f36e4b3d5da"
+      }
+    },
+    {
+      "name": "com.nvidia.simready.packaging.bom.json",
+      "hash": {
+        "sha256": "e0ad708f232afb3ac90635f07143ac7649049d8da0345900e4b41c9f6da30441"
+      }
+    },
+    {
+      "name": "com.nvidia.simready.root_usds.json",
+      "hash": {
+        "sha256": "76fa5abdcc7e1add52bbb7dbef4ee82c7a41375ca5dda5b06c14b435eec73333"
+      }
+    }
+  ],
+  "content_hash": {
+    "sha256": "0d853e86cc0e5ffd0130b1f409769a551ffd843c1fc5ec98890fec5881c25813"
+  },
+  "package_hash": {
+    "sha256": "fdf213266df96b5df642adfa9c613e65529ebc675738a93bdad4e121056d35b2"
+  }
+}

bench_vise/simready_usd/bench_vise.usda

@@ -0,0 +1,542 @@
+#usda 1.0
+(
+    customLayerData = {
+        dictionary SimReady_Metadata = {
+            float3 asset_extents = (0.3, 0.366, 0.27)
+            string asset_license = "CC-BY-4.0"
+            string asset_name = "bench_vise"
+            string asset_type = "prop"
+            string author = "ForgeCAD"
+            string category = "hand tool"
+            double mass = 17.80420671403408
+            string qcode = "Q475638"
+            int rigid_body_count = 7
+            string source = "ForgeCAD"
+            string source_file = "main.usda"
+            string usd_date_generated = "2026-10-17"
+        }
+        string asset_name = "bench_vise"
+        string asset_type = "prop"
+        string source_file = "main.usda"
+        string usd_date_generated = "2026-10-17"
+    }
+    defaultPrim = "Model"
+    doc = "041 Bench Vise root stage. Geometry, parameters, joints, colliders, and physics come from main.forge.js. This stage owns the materials, the textures, and the finish choices."
+    endTimeCode = 192
+    metersPerUnit = 1
+    startTimeCode = 0
+    subLayers = [
+        @./forgecad/animation.usda@
+    ]
+    upAxis = "Z"
+)
+
+def Xform "Model" (
+    prepend apiSchemas = ["SemanticsLabelsAPI:class", "SemanticsLabelsAPI:wikidata_qcode"]
+    prepend references = @./forgecad/geometry.usda@</Model>
+    variants = {
+        string finish = "machinery_blue"
+        string physics = "physics"
+    }
+    prepend variantSets = ["physics", "finish"]
+)
+{
+    token[] semantics:labels:class = ["bench vise", "vise"]
+    token[] semantics:labels:wikidata_qcode = ["Q475638"]
+
+    over "Geometry"
+    {
+        over "Base"
+        {
+            over "Casting" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </Model/Materials/Paint>
+            }
+
+            over "Bolts" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </Model/Materials/BlackOxide>
+            }
+
+            over "Bench_stub"
+            {
+                over "Top" (
+                    prepend apiSchemas = ["MaterialBindingAPI"]
+                )
+                {
+                    rel material:binding = </Model/Materials/Beech>
+                }
+            }
+
+            over "Body"
+            {
+                over "Casting" (
+                    prepend apiSchemas = ["MaterialBindingAPI"]
+                )
+                {
+                    rel material:binding = </Model/Materials/Paint>
+                }
+
+                over "Pipe_Jaw" (
+                    prepend apiSchemas = ["MaterialBindingAPI"]
+                )
+                {
+                    rel material:binding = </Model/Materials/Paint>
+                }
+
+                over "Anvil_Face" (
+                    prepend apiSchemas = ["MaterialBindingAPI"]
+                )
+                {
+                    rel material:binding = </Model/Materials/MachinedIron>
+                }
+
+                over "Nut" (
+                    prepend apiSchemas = ["MaterialBindingAPI"]
+                )
+                {
+                    rel material:binding = </Model/Materials/Bronze>
+                }
+
+                over "Lock_Studs" (
+                    prepend apiSchemas = ["MaterialBindingAPI"]
+                )
+                {
+                    rel material:binding = </Model/Materials/BlackOxide>
+                }
+
+                over "Fixed_jaw_insert"
+                {
+                    over "Serrated_Insert" (
+                        prepend apiSchemas = ["MaterialBindingAPI"]
+                    )
+                    {
+                        rel material:binding = </Model/Materials/SerratedSteel>
+                    }
+
+                    over "Screws" (
+                        prepend apiSchemas = ["MaterialBindingAPI"]
+                    )
+                    {
+                        rel material:binding = </Model/Materials/BlackOxide>
+                    }
+                }
+
+                over "Lock_lever_1"
+                {
+                    over "Lever" (
+                        prepend apiSchemas = ["MaterialBindingAPI"]
+                    )
+                    {
+                        rel material:binding = </Model/Materials/Steel>
+                    }
+                }
+
+                over "Lock_lever_2"
+                {
+                    over "Lever" (
+                        prepend apiSchemas = ["MaterialBindingAPI"]
+                    )
+                    {
+                        rel material:binding = </Model/Materials/Steel>
+                    }
+                }
+
+                over "Sliding_jaw"
+                {
+                    over "Casting" (
+                        prepend apiSchemas = ["MaterialBindingAPI"]
+                    )
+                    {
+                        rel material:binding = </Model/Materials/Paint>
+                    }
+
+                    over "Pipe_Jaw" (
+                        prepend apiSchemas = ["MaterialBindingAPI"]
+                    )
+                    {
+                        rel material:binding = </Model/Materials/Paint>
+                    }
+
+                    over "Travel_Stop" (
+                        prepend apiSchemas = ["MaterialBindingAPI"]
+                    )
+                    {
+                        rel material:binding = </Model/Materials/BlackOxide>
+                    }
+
+                    over "Sliding_jaw_insert"
+                    {
+                        over "Serrated_Insert" (
+                            prepend apiSchemas = ["MaterialBindingAPI"]
+                        )
+                        {
+                            rel material:binding = </Model/Materials/SerratedSteel>
+                        }
+
+                        over "Screws" (
+                            prepend apiSchemas = ["MaterialBindingAPI"]
+                        )
+                        {
+                            rel material:binding = </Model/Materials/BlackOxide>
+                        }
+                    }
+
+                    over "Screw"
+                    {
+                        over "Shaft" (
+                            prepend apiSchemas = ["MaterialBindingAPI"]
+                        )
+                        {
+                            rel material:binding = </Model/Materials/Steel>
+                        }
+
+                        over "Head" (
+                            prepend apiSchemas = ["MaterialBindingAPI"]
+                        )
+                        {
+                            rel material:binding = </Model/Materials/Steel>
+                        }
+
+                        over "Handle_bar"
+                        {
+                            over "Bar" (
+                                prepend apiSchemas = ["MaterialBindingAPI"]
+                            )
+                            {
+                                rel material:binding = </Model/Materials/Steel>
+                            }
+
+                            over "Knobs" (
+                                prepend apiSchemas = ["MaterialBindingAPI"]
+                            )
+                            {
+                                rel material:binding = </Model/Materials/Steel>
+                            }
+                        }
+                    }
+                }
+            }
+        }
+    }
+
+    def Scope "Materials"
+    {
+        def Material "Steel" (
+            prepend apiSchemas = ["SemanticsLabelsAPI:material"]
+        )
+        {
+            token outputs:surface.connect = </Model/Materials/Steel/Surface.outputs:surface>
+            token[] semantics:labels:material = ["metal"]
+
+            def Shader "St"
+            {
+                uniform token info:id = "UsdPrimvarReader_float2"
+                string inputs:varname = "st"
+                float2 outputs:result
+            }
+
+            def Shader "Tile"
+            {
+                uniform token info:id = "UsdTransform2d"
+                float2 inputs:in.connect = </Model/Materials/Steel/St.outputs:result>
+                float2 inputs:scale = (50, 50)
+                float2 outputs:result
+            }
+
+            def Shader "Albedo"
+            {
+                uniform token info:id = "UsdUVTexture"
+                asset inputs:file = @./assets/machined-steel.png@
+                token inputs:sourceColorSpace = "sRGB"
+                float2 inputs:st.connect = </Model/Materials/Steel/Tile.outputs:result>
+                token inputs:wrapS = "repeat"
+                token inputs:wrapT = "repeat"
+                float3 outputs:rgb
+            }
+
+            def Shader "Surface"
+            {
+                uniform token info:id = "UsdPreviewSurface"
+                color3f inputs:diffuseColor.connect = </Model/Materials/Steel/Albedo.outputs:rgb>
+                float inputs:metallic = 1
+                float inputs:roughness = 0.28
+                token outputs:surface
+            }
+        }
+
+        def Material "MachinedIron" (
+            prepend apiSchemas = ["SemanticsLabelsAPI:material"]
+        )
+        {
+            token outputs:surface.connect = </Model/Materials/MachinedIron/Surface.outputs:surface>
+            token[] semantics:labels:material = ["metal"]
+
+            def Shader "St"
+            {
+                uniform token info:id = "UsdPrimvarReader_float2"
+                string inputs:varname = "st"
+                float2 outputs:result
+            }
+
+            def Shader "Tile"
+            {
+                uniform token info:id = "UsdTransform2d"
+                float2 inputs:in.connect = </Model/Materials/MachinedIron/St.outputs:result>
+                float2 inputs:scale = (50, 50)
+                float2 outputs:result
+            }
+
+            def Shader "Albedo"
+            {
+                uniform token info:id = "UsdUVTexture"
+                asset inputs:file = @./assets/machined-steel.png@
+                token inputs:sourceColorSpace = "sRGB"
+                float2 inputs:st.connect = </Model/Materials/MachinedIron/Tile.outputs:result>
+                token inputs:wrapS = "repeat"
+                token inputs:wrapT = "repeat"
+                float3 outputs:rgb
+            }
+
+            def Shader "Surface"
+            {
+                uniform token info:id = "UsdPreviewSurface"
+                color3f inputs:diffuseColor.connect = </Model/Materials/MachinedIron/Albedo.outputs:rgb>
+                float inputs:metallic = 0.85
+                float inputs:roughness = 0.4
+                token outputs:surface
+            }
+        }
+
+        def Material "SerratedSteel" (
+            prepend apiSchemas = ["SemanticsLabelsAPI:material"]
+        )
+        {
+            token outputs:surface.connect = </Model/Materials/SerratedSteel/Surface.outputs:surface>
+            token[] semantics:labels:material = ["metal"]
+
+            def Shader "St"
+            {
+                uniform token info:id = "UsdPrimvarReader_float2"
+                string inputs:varname = "st"
+                float2 outputs:result
+            }
+
+            def Shader "Tile"
+            {
+                uniform token info:id = "UsdTransform2d"
+                float2 inputs:in.connect = </Model/Materials/SerratedSteel/St.outputs:result>
+                float2 inputs:scale = (29.5, 29.5)
+                float2 outputs:result
+            }
+
+            def Shader "Albedo"
+            {
+                uniform token info:id = "UsdUVTexture"
+                asset inputs:file = @./assets/jaw-serration.png@
+                token inputs:sourceColorSpace = "sRGB"
+                float2 inputs:st.connect = </Model/Materials/SerratedSteel/Tile.outputs:result>
+                token inputs:wrapS = "repeat"
+                token inputs:wrapT = "repeat"
+                float3 outputs:rgb
+            }
+
+            def Shader "Surface"
+            {
+                uniform token info:id = "UsdPreviewSurface"
+                color3f inputs:diffuseColor.connect = </Model/Materials/SerratedSteel/Albedo.outputs:rgb>
+                float inputs:metallic = 1
+                float inputs:roughness = 0.45
+                token outputs:surface
+            }
+        }
+
+        def Material "BlackOxide" (
+            prepend apiSchemas = ["SemanticsLabelsAPI:material"]
+        )
+        {
+            token outputs:surface.connect = </Model/Materials/BlackOxide/Surface.outputs:surface>
+            token[] semantics:labels:material = ["metal"]
+
+            def Shader "Surface"
+            {
+                uniform token info:id = "UsdPreviewSurface"
+                color3f inputs:diffuseColor = (0.045, 0.045, 0.05)
+                float inputs:metallic = 0.7
+                float inputs:roughness = 0.45
+                token outputs:surface
+            }
+        }
+
+        def Material "Bronze" (
+            prepend apiSchemas = ["SemanticsLabelsAPI:material"]
+        )
+        {
+            token outputs:surface.connect = </Model/Materials/Bronze/Surface.outputs:surface>
+            token[] semantics:labels:material = ["metal"]
+
+            def Shader "Surface"
+            {
+                uniform token info:id = "UsdPreviewSurface"
+                color3f inputs:diffuseColor = (0.6, 0.42, 0.21)
+                float inputs:metallic = 1
+                float inputs:roughness = 0.35
+                token outputs:surface
+            }
+        }
+
+        def Material "Beech" (
+            prepend apiSchemas = ["SemanticsLabelsAPI:material"]
+        )
+        {
+            token outputs:surface.connect = </Model/Materials/Beech/Surface.outputs:surface>
+            token[] semantics:labels:material = ["wood"]
+
+            def Shader "Surface"
+            {
+                uniform token info:id = "UsdPreviewSurface"
+                color3f inputs:diffuseColor = (0.52, 0.33, 0.17)
+                float inputs:metallic = 0
+                float inputs:roughness = 0.6
+                token outputs:surface
+            }
+        }
+    }
+    variantSet "finish" = {
+        "green" {
+            over "Materials"
+            {
+                def Material "Paint" (
+                    prepend apiSchemas = ["SemanticsLabelsAPI:material"]
+                )
+                {
+                    token outputs:surface.connect = </Model/Materials/Paint/Surface.outputs:surface>
+                    token[] semantics:labels:material = ["metal"]
+
+                    def Shader "Surface"
+                    {
+                        uniform token info:id = "UsdPreviewSurface"
+                        float inputs:clearcoat = 0.15
+                        float inputs:clearcoatRoughness = 0.25
+                        color3f inputs:diffuseColor = (0.06, 0.19, 0.1)
+                        float inputs:metallic = 0
+                        float inputs:roughness = 0.32
+                        token outputs:surface
+                    }
+                }
+            }
+
+        }
+        "hammertone_grey" {
+            over "Materials"
+            {
+                def Material "Paint" (
+                    prepend apiSchemas = ["SemanticsLabelsAPI:material"]
+                )
+                {
+                    token outputs:surface.connect = </Model/Materials/Paint/Surface.outputs:surface>
+                    token[] semantics:labels:material = ["metal"]
+
+                    def Shader "St"
+                    {
+                        uniform token info:id = "UsdPrimvarReader_float2"
+                        string inputs:varname = "st"
+                        float2 outputs:result
+                    }
+
+                    def Shader "Tile"
+                    {
+                        uniform token info:id = "UsdTransform2d"
+                        float2 inputs:in.connect = </Model/Materials/Paint/St.outputs:result>
+                        float2 inputs:scale = (10, 10)
+                        float2 outputs:result
+                    }
+
+                    def Shader "Albedo"
+                    {
+                        uniform token info:id = "UsdUVTexture"
+                        asset inputs:file = @./assets/hammertone-paint.png@
+                        token inputs:sourceColorSpace = "sRGB"
+                        float2 inputs:st.connect = </Model/Materials/Paint/Tile.outputs:result>
+                        token inputs:wrapS = "repeat"
+                        token inputs:wrapT = "repeat"
+                        float3 outputs:rgb
+                    }
+
+                    def Shader "Surface"
+                    {
+                        uniform token info:id = "UsdPreviewSurface"
+                        color3f inputs:diffuseColor.connect = </Model/Materials/Paint/Albedo.outputs:rgb>
+                        float inputs:metallic = 0.25
+                        float inputs:roughness = 0.42
+                        token outputs:surface
+                    }
+                }
+            }
+
+        }
+        "machinery_blue" {
+            over "Materials"
+            {
+                def Material "Paint" (
+                    prepend apiSchemas = ["SemanticsLabelsAPI:material"]
+                )
+                {
+                    token outputs:surface.connect = </Model/Materials/Paint/Surface.outputs:surface>
+                    token[] semantics:labels:material = ["metal"]
+
+                    def Shader "Surface"
+                    {
+                        uniform token info:id = "UsdPreviewSurface"
+                        float inputs:clearcoat = 0.15
+                        float inputs:clearcoatRoughness = 0.25
+                        color3f inputs:diffuseColor = (0.035, 0.09, 0.24)
+                        float inputs:metallic = 0
+                        float inputs:roughness = 0.32
+                        token outputs:surface
+                    }
+                }
+            }
+
+        }
+        "red" {
+            over "Materials"
+            {
+                def Material "Paint" (
+                    prepend apiSchemas = ["SemanticsLabelsAPI:material"]
+                )
+                {
+                    token outputs:surface.connect = </Model/Materials/Paint/Surface.outputs:surface>
+                    token[] semantics:labels:material = ["metal"]
+
+                    def Shader "Surface"
+                    {
+                        uniform token info:id = "UsdPreviewSurface"
+                        float inputs:clearcoat = 0.15
+                        float inputs:clearcoatRoughness = 0.25
+                        color3f inputs:diffuseColor = (0.36, 0.03, 0.025)
+                        float inputs:metallic = 0
+                        float inputs:roughness = 0.32
+                        token outputs:surface
+                    }
+                }
+            }
+
+        }
+    }
+    variantSet "physics" = {
+        "none" {
+
+        }
+        "physics" (
+            prepend references = @./forgecad/physics.usda@</Model>
+        ) {
+
+        }
+    }
+}
+

bench_vise/simready_usd/forgecad/animation.usda

@@ -0,0 +1,106 @@
+#usda 1.0
+(
+    defaultPrim = "Model"
+    doc = "ForgeCAD animation clips for the root stage. Generated by forgecad export usd; do not edit."
+    endTimeCode = 192
+    startTimeCode = 0
+    timeCodesPerSecond = 24
+)
+
+over "Model" (
+    prepend variantSets = "animation"
+    variants = {
+        string animation = "static"
+    }
+)
+{
+    variantSet "animation" = {
+        "static" {
+        }
+        "Crank_open_and_closed" {
+            over "Geometry"
+            {
+                over "Base"
+                {
+                    over "Body"
+                    {
+                        over "Sliding_jaw"
+                        {
+                            double3 xformOp:translate:jaw.timeSamples = {
+                                0: (0.05, 0, 0),
+                                38.4: (0.125, 0, 0),
+                                76.8: (0.125, 0, 0),
+                                115.2: (0, 0, 0),
+                                153.6: (0, 0, 0),
+                                192: (0.05, 0, 0),
+                            }
+                            over "Screw"
+                            {
+                                float xformOp:rotateX:screw.timeSamples = {
+                                    0: 3600,
+                                    38.4: 9000,
+                                    76.8: 9000,
+                                    115.2: 0,
+                                    153.6: 0,
+                                    192: 3600,
+                                }
+                                over "Handle_bar"
+                                {
+                                    double3 xformOp:translate:handle_slide.timeSamples = {
+                                        0: (0, 0, 0),
+                                        38.4: (0, 0, 0),
+                                        76.8: (0.083310315, 0, 0),
+                                        115.2: (0.083310315, 0, 0),
+                                        153.6: (-0.083310315, 0, 0),
+                                        192: (0, 0, 0),
+                                    }
+                                }
+                            }
+                        }
+                    }
+                }
+            }
+        }
+        "Unlock_and_swivel" {
+            over "Geometry"
+            {
+                over "Base"
+                {
+                    over "Body"
+                    {
+                        float xformOp:rotateX:swivel.timeSamples = {
+                            0: 0,
+                            28.8: 0,
+                            57.6: 90,
+                            86.4: 90,
+                            115.2: 90,
+                            144: 0,
+                        }
+                        over "Lock_lever_1"
+                        {
+                            float xformOp:rotateX:lock_1.timeSamples = {
+                                0: 0,
+                                28.8: 90,
+                                57.6: 90,
+                                86.4: 0,
+                                115.2: 90,
+                                144: 0,
+                            }
+                        }
+                        over "Lock_lever_2"
+                        {
+                            float xformOp:rotateX:lock_2.timeSamples = {
+                                0: 0,
+                                28.8: 90,
+                                57.6: 90,
+                                86.4: 0,
+                                115.2: 90,
+                                144: 0,
+                            }
+                        }
+                    }
+                }
+            }
+        }
+    }
+}

bench_vise/simready_usd/forgecad/geometry.usda

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fa50b0abafef42469c0d3c37bce475929f38865b662264944096008bb5c0604a
+size 71696634

bench_vise/simready_usd/forgecad/physics.usda

@@ -0,0 +1,922 @@
+#usda 1.0
+(
+    defaultPrim = "Model"
+    doc = "ForgeCAD physics for the root stage. Generated by forgecad export usd; do not edit."
+)
+
+over "Model"
+{
+    def Scope "Physics"
+    {
+        def PhysicsScene "PhysicsScene"
+        {
+            vector3f physics:gravityDirection = (0, 0, -1)
+            float physics:gravityMagnitude = 9.80665
+        }
+        def Scope "Materials"
+        {
+            def Material "painted_grey_cast_iron" (
+                    prepend apiSchemas = ["PhysicsMaterialAPI", "SemanticsLabelsAPI:material"]
+                  )
+                  {
+                    token[] semantics:labels:material = ["Painted grey cast iron"]
+                    float physics:density = 7200
+                    float physics:staticFriction = 0.4
+                    float physics:dynamicFriction = 0.3
+                    float physics:restitution = 0.1
+                  }
+
+            def Material "laminated_beech" (
+                    prepend apiSchemas = ["PhysicsMaterialAPI", "SemanticsLabelsAPI:material"]
+                  )
+                  {
+                    token[] semantics:labels:material = ["Laminated beech"]
+                    float physics:density = 720
+                    float physics:staticFriction = 0.5
+                    float physics:dynamicFriction = 0.4
+                    float physics:restitution = 0.3
+                  }
+
+            def Material "serrated_hardened_steel" (
+                    prepend apiSchemas = ["PhysicsMaterialAPI", "SemanticsLabelsAPI:material"]
+                  )
+                  {
+                    token[] semantics:labels:material = ["Serrated hardened steel"]
+                    float physics:density = 7850
+                    float physics:staticFriction = 0.8
+                    float physics:dynamicFriction = 0.7
+                    float physics:restitution = 0.05
+                  }
+
+            def Material "machined_steel" (
+                    prepend apiSchemas = ["PhysicsMaterialAPI", "SemanticsLabelsAPI:material"]
+                  )
+                  {
+                    token[] semantics:labels:material = ["Machined steel"]
+                    float physics:density = 7850
+                    float physics:staticFriction = 0.4
+                    float physics:dynamicFriction = 0.3
+                    float physics:restitution = 0.1
+                  }
+        }
+
+        def Scope "Joints"
+        {
+            def PhysicsRevoluteJoint "swivel" (
+                prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
+            )
+            {
+                rel physics:body0 = </Model/Geometry/Base>
+                rel physics:body1 = </Model/Geometry/Base/Body>
+                point3f physics:localPos0 = (0, 0, 0.02)
+                point3f physics:localPos1 = (0, 0, 0)
+                quatf physics:localRot0 = (-0.5, 0.5, 0.5, 0.5)
+                quatf physics:localRot1 = (-0.5, 0.5, 0.5, 0.5)
+                uniform token physics:axis = "X"
+                float physics:lowerLimit = 0
+                float physics:upperLimit = 360
+                token drive:angular:physics:type = "force"
+                float drive:angular:physics:targetVelocity = 0
+                float drive:angular:physics:stiffness = 0
+                float drive:angular:physics:damping = 0.034906585
+                float state:angular:physics:position = 0
+                float state:angular:physics:velocity = 0
+            }
+
+            def PhysicsPrismaticJoint "jaw" (
+                prepend apiSchemas = ["PhysicsDriveAPI:linear", "PhysicsJointStateAPI:linear"]
+            )
+            {
+                rel physics:body0 = </Model/Geometry/Base/Body>
+                rel physics:body1 = </Model/Geometry/Base/Body/Sliding_jaw>
+                point3f physics:localPos0 = (0, -0.08, 0.033)
+                point3f physics:localPos1 = (0, 0, 0)
+                quatf physics:localRot0 = (0.70710678, 0, 0, -0.70710678)
+                quatf physics:localRot1 = (0.70710678, 0, 0, -0.70710678)
+                uniform token physics:axis = "X"
+                float physics:lowerLimit = 0
+                float physics:upperLimit = 0.125
+                token drive:linear:physics:type = "force"
+                float drive:linear:physics:targetVelocity = 0
+                float drive:linear:physics:stiffness = 0
+                float drive:linear:physics:damping = 50
+                float state:linear:physics:position = 0.05
+                float state:linear:physics:velocity = 0
+            }
+
+            def PhysicsRevoluteJoint "screw" (
+                prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
+            )
+            {
+                rel physics:body0 = </Model/Geometry/Base/Body/Sliding_jaw>
+                rel physics:body1 = </Model/Geometry/Base/Body/Sliding_jaw/Screw>
+                point3f physics:localPos0 = (0, -0.038, 0)
+                point3f physics:localPos1 = (0, 0, 0)
+                quatf physics:localRot0 = (0.70710678, 0, 0, -0.70710678)
+                quatf physics:localRot1 = (0.70710678, 0, 0, -0.70710678)
+                uniform token physics:axis = "X"
+                bool physics:excludeFromArticulation = 1
+                float physics:lowerLimit = 0
+                float physics:upperLimit = 9000
+                token drive:angular:physics:type = "force"
+                float drive:angular:physics:targetVelocity = 0
+                float drive:angular:physics:stiffness = 0
+                float drive:angular:physics:damping = 0.000872665
+                float state:angular:physics:position = 3600
+                float state:angular:physics:velocity = 0
+            }
+
+            def PhysicsPrismaticJoint "handle_slide" (
+                prepend apiSchemas = ["PhysicsDriveAPI:linear", "PhysicsJointStateAPI:linear"]
+            )
+            {
+                rel physics:body0 = </Model/Geometry/Base/Body/Sliding_jaw/Screw>
+                rel physics:body1 = </Model/Geometry/Base/Body/Sliding_jaw/Screw/Handle_bar>
+                point3f physics:localPos0 = (0, -0.018, 0)
+                point3f physics:localPos1 = (0, 0, 0)
+                quatf physics:localRot0 = (1, 0, 0, 0)
+                quatf physics:localRot1 = (1, 0, 0, 0)
+                uniform token physics:axis = "X"
+                float physics:lowerLimit = -0.08331
+                float physics:upperLimit = 0.08331
+                token drive:linear:physics:type = "force"
+                float drive:linear:physics:targetVelocity = 0
+                float drive:linear:physics:stiffness = 0
+                float drive:linear:physics:damping = 2
+                float state:linear:physics:position = 0
+                float state:linear:physics:velocity = 0
+            }
+
+            def PhysicsRevoluteJoint "lock_1" (
+                prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
+            )
+            {
+                rel physics:body0 = </Model/Geometry/Base/Body>
+                rel physics:body1 = </Model/Geometry/Base/Body/Lock_lever_1>
+                point3f physics:localPos0 = (-0.056, 0, 0.012)
+                point3f physics:localPos1 = (0, 0, 0)
+                quatf physics:localRot0 = (-0.5, 0.5, 0.5, 0.5)
+                quatf physics:localRot1 = (-0.5, 0.5, 0.5, 0.5)
+                uniform token physics:axis = "X"
+                float physics:lowerLimit = 0
+                float physics:upperLimit = 90
+                token drive:angular:physics:type = "force"
+                float drive:angular:physics:targetVelocity = 0
+                float drive:angular:physics:stiffness = 0
+                float drive:angular:physics:damping = 0.000349066
+                float state:angular:physics:position = 0
+                float state:angular:physics:velocity = 0
+            }
+
+            def PhysicsRevoluteJoint "lock_2" (
+                prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
+            )
+            {
+                rel physics:body0 = </Model/Geometry/Base/Body>
+                rel physics:body1 = </Model/Geometry/Base/Body/Lock_lever_2>
+                point3f physics:localPos0 = (0.056, 0, 0.012)
+                point3f physics:localPos1 = (0, 0, 0)
+                quatf physics:localRot0 = (-0.5, 0.5, 0.5, 0.5)
+                quatf physics:localRot1 = (-0.5, 0.5, 0.5, 0.5)
+                uniform token physics:axis = "X"
+                float physics:lowerLimit = 0
+                float physics:upperLimit = 90
+                token drive:angular:physics:type = "force"
+                float drive:angular:physics:targetVelocity = 0
+                float drive:angular:physics:stiffness = 0
+                float drive:angular:physics:damping = 0.000349066
+                float state:angular:physics:position = 0
+                float state:angular:physics:velocity = 0
+            }
+
+            def PhysicsFixedJoint "Base_fixed_base"
+            {
+                rel physics:body0 = </Model/Geometry>
+                rel physics:body1 = </Model/Geometry/Base>
+                point3f physics:localPos0 = (0, 0, 0.1)
+                point3f physics:localPos1 = (0, 0, 0)
+                quatf physics:localRot0 = (1, 0, 0, 0)
+                quatf physics:localRot1 = (1, 0, 0, 0)
+            }
+        }
+    }
+
+    over "Geometry" (
+        prepend apiSchemas = ["PhysicsArticulationRootAPI"]
+    )
+    {
+        over "Base" (
+            prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"]
+        )
+        {
+            bool physics:rigidBodyEnabled = 1
+            bool physics:kinematicEnabled = 0
+            bool physics:startsAsleep = 0
+            float physics:mass = 7.66546457755595
+            point3f physics:centerOfMass = (-0.000000307, 0.028383439, -0.033180475)
+            float3 physics:diagonalInertia = (0.076985112231, 0.05457121031, 0.041675517087)
+            quatf physics:principalAxes = (0.70465287, -0.0588541, -0.70465379, 0.05885205)
+            def Xform "Colliders"
+            {
+                def Cylinder "disc" (
+                    prepend apiSchemas = ["PhysicsCollisionAPI", "MaterialBindingAPI"]
+                )
+                {
+                    uniform token purpose = "guide"
+                    uniform token axis = "Z"
+                    double radius = 0.075
+                    double height = 0.012
+                    double3 xformOp:translate = (0, 0, 0.006)
+                    quatf xformOp:orient = (1, 0, 0, 0)
+                    uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+                    rel material:binding:physics = </Model/Physics/Materials/painted_grey_cast_iron>
+                }
+
+                def Cube "lug_000" (
+                    prepend apiSchemas = ["PhysicsCollisionAPI", "MaterialBindingAPI"]
+                )
+                {
+                    uniform token purpose = "guide"
+                    double size = 1
+                    double3 xformOp:translate = (0.062786842, 0.03625, 0.006)
+                    quatf xformOp:orient = (0.96592583, 0, 0, 0.25881905)
+                    float3 xformOp:scale = (0.055, 0.028, 0.012)
+                    uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+                    rel material:binding:physics = </Model/Physics/Materials/painted_grey_cast_iron>
+                }
+
+                def Cube "lug_001" (
+                    prepend apiSchemas = ["PhysicsCollisionAPI", "MaterialBindingAPI"]
+                )
+                {
+                    uniform token purpose = "guide"
+                    double size = 1
+                    double3 xformOp:translate = (-0.062786842, 0.03625, 0.006)
+                    quatf xformOp:orient = (0.25881905, 0, 0, 0.96592583)
+                    float3 xformOp:scale = (0.055, 0.028, 0.012)
+                    uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+                    rel material:binding:physics = </Model/Physics/Materials/painted_grey_cast_iron>
+                }
+
+                def Cube "lug_002" (
+                    prepend apiSchemas = ["PhysicsCollisionAPI", "MaterialBindingAPI"]
+                )
+                {
+                    uniform token purpose = "guide"
+                    double size = 1
+                    double3 xformOp:translate = (-0.062786842, -0.03625, 0.006)
+                    quatf xformOp:orient = (0.25881905, 0, 0, -0.96592583)
+                    float3 xformOp:scale = (0.055, 0.028, 0.012)
+                    uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+                    rel material:binding:physics = </Model/Physics/Materials/painted_grey_cast_iron>
+                }
+
+                def Cube "lug_003" (
+                    prepend apiSchemas = ["PhysicsCollisionAPI", "MaterialBindingAPI"]
+                )
+                {
+                    uniform token purpose = "guide"
+                    double size = 1
+                    double3 xformOp:translate = (0.062786842, -0.03625, 0.006)
+                    quatf xformOp:orient = (0.96592583, 0, 0, -0.25881905)
+                    float3 xformOp:scale = (0.055, 0.028, 0.012)
+                    uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+                    rel material:binding:physics = </Model/Physics/Materials/painted_grey_cast_iron>
+                }
+
+                def Cylinder "ring" (
+                    prepend apiSchemas = ["PhysicsCollisionAPI", "MaterialBindingAPI"]
+                )
+                {
+                    uniform token purpose = "guide"
+                    uniform token axis = "Z"
+                    double radius = 0.07
+                    double height = 0.008
+                    double3 xformOp:translate = (0, 0, 0.016)
+                    quatf xformOp:orient = (1, 0, 0, 0)
+                    uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+                    rel material:binding:physics = </Model/Physics/Materials/painted_grey_cast_iron>
+                }
+
+                def Cylinder "bolt_head_000" (
+                    prepend apiSchemas = ["PhysicsCollisionAPI", "MaterialBindingAPI"]
+                )
+                {
+                    uniform token purpose = "guide"
+                    uniform token axis = "Z"
+                    double radius = 0.012
+                    double height = 0.00996
+                    double3 xformOp:translate = (0.076210236, 0.044, 0.01898)
+                    quatf xformOp:orient = (1, 0, 0, 0)
+                    uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+                    rel material:binding:physics = </Model/Physics/Materials/painted_grey_cast_iron>
+                }
+
+                def Cylinder "bolt_head_001" (
+                    prepend apiSchemas = ["PhysicsCollisionAPI", "MaterialBindingAPI"]
+                )
+                {
+                    uniform token purpose = "guide"
+                    uniform token axis = "Z"
+                    double radius = 0.012
+                    double height = 0.00996
+                    double3 xformOp:translate = (-0.076210236, 0.044, 0.01898)
+                    quatf xformOp:orient = (1, 0, 0, 0)
+                    uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+                    rel material:binding:physics = </Model/Physics/Materials/painted_grey_cast_iron>
+                }
+
+                def Cylinder "bolt_head_002" (
+                    prepend apiSchemas = ["PhysicsCollisionAPI", "MaterialBindingAPI"]
+                )
+                {
+                    uniform token purpose = "guide"
+                    uniform token axis = "Z"
+                    double radius = 0.012
+                    double height = 0.00996
+                    double3 xformOp:translate = (-0.076210236, -0.044, 0.01898)
+                    quatf xformOp:orient = (1, 0, 0, 0)
+                    uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+                    rel material:binding:physics = </Model/Physics/Materials/painted_grey_cast_iron>
+                }
+
+                def Cylinder "bolt_head_003" (
+                    prepend apiSchemas = ["PhysicsCollisionAPI", "MaterialBindingAPI"]
+                )
+                {
+                    uniform token purpose = "guide"
+                    uniform token axis = "Z"
+                    double radius = 0.012
+                    double height = 0.00996
+                    double3 xformOp:translate = (0.076210236, -0.044, 0.01898)
+                    quatf xformOp:orient = (1, 0, 0, 0)
+                    uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+                    rel material:binding:physics = </Model/Physics/Materials/painted_grey_cast_iron>
+                }
+            }
+            over "Bench_stub"
+            {
+                def Xform "Colliders"
+                {
+                    def Cube "top" (
+                        prepend apiSchemas = ["PhysicsCollisionAPI", "MaterialBindingAPI"]
+                    )
+                    {
+                        uniform token purpose = "guide"
+                        double size = 1
+                        double3 xformOp:translate = (0, 0, 0.05)
+                        quatf xformOp:orient = (1, 0, 0, 0)
+                        float3 xformOp:scale = (0.3, 0.24, 0.1)
+                        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+                        rel material:binding:physics = </Model/Physics/Materials/laminated_beech>
+                    }
+                }
+            }
+            over "Body" (
+                prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"]
+            )
+            {
+                bool physics:rigidBodyEnabled = 1
+                bool physics:kinematicEnabled = 0
+                bool physics:startsAsleep = 0
+                float physics:mass = 5.093132020178021
+                point3f physics:centerOfMass = (-0, -0.023072638, 0.06866736)
+                float3 physics:diagonalInertia = (0.018786700506, 0.018535711145, 0.009194574913)
+                quatf physics:principalAxes = (0.95085745, 0.30962899, 0, -0)
+                matrix4d xformOp:transform:simulationWorld = ((1, 0, 0, 0), (0, 1, 0, 0), (0, 0, 1, 0), (0, 0, 0.12, 1))
+                uniform token[] xformOpOrder = ["!resetXformStack!", "xformOp:transform:simulationWorld"]
+                def Xform "Colliders"
+                {
+                    def Cylinder "flange" (
+                        prepend apiSchemas = ["PhysicsCollisionAPI", "MaterialBindingAPI"]
+                    )
+                    {
+                        uniform token purpose = "guide"
+                        uniform token axis = "Z"
+                        double radius = 0.07
+                        double height = 0.012
+                        double3 xformOp:translate = (0, 0, 0.006)
+                        quatf xformOp:orient = (1, 0, 0, 0)
+                        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+                        rel material:binding:physics = </Model/Physics/Materials/painted_grey_cast_iron>
+                    }
+
+                    def Cube "wall_000" (
+                        prepend apiSchemas = ["PhysicsCollisionAPI", "MaterialBindingAPI"]
+                    )
+                    {
+                        uniform token purpose = "guide"
+                        double size = 1
+                        double3 xformOp:translate = (-0.026, -0.006375, 0.05075)
+                        quatf xformOp:orient = (1, 0, 0, 0)
+                        float3 xformOp:scale = (0.009, 0.13125, 0.0775)
+                        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+                        rel material:binding:physics = </Model/Physics/Materials/painted_grey_cast_iron>
+                    }
+
+                    def Cube "wall_001" (
+                        prepend apiSchemas = ["PhysicsCollisionAPI", "MaterialBindingAPI"]
+                    )
+                    {
+                        uniform token purpose = "guide"
+                        double size = 1
+                        double3 xformOp:translate = (0.026, -0.006375, 0.05075)
+                        quatf xformOp:orient = (1, 0, 0, 0)
+                        float3 xformOp:scale = (0.009, 0.13125, 0.0775)
+                        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+                        rel material:binding:physics = </Model/Physics/Materials/painted_grey_cast_iron>
+                    }
+
+                    def Cube "wall_002" (
+                        prepend apiSchemas = ["PhysicsCollisionAPI", "MaterialBindingAPI"]
+                    )
+                    {
+                        uniform token purpose = "guide"
+                        double size = 1
+                        double3 xformOp:translate = (0, -0.006375, 0.085)
+                        quatf xformOp:orient = (1, 0, 0, 0)
+                        float3 xformOp:scale = (0.043, 0.13125, 0.009)
+                        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+                        rel material:binding:physics = </Model/Physics/Materials/painted_grey_cast_iron>
+                    }
+
+                    def Cube "wall_003" (
+                        prepend apiSchemas = ["PhysicsCollisionAPI", "MaterialBindingAPI"]
+                    )
+                    {
+                        uniform token purpose = "guide"
+                        double size = 1
+                        double3 xformOp:translate = (-0.0185, -0.006375, 0.0435)
+                        quatf xformOp:orient = (1, 0, 0, 0)
+                        float3 xformOp:scale = (0.006, 0.13125, 0.008)
+                        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+                        rel material:binding:physics = </Model/Physics/Materials/painted_grey_cast_iron>
+                    }
+
+                    def Cube "wall_004" (
+                        prepend apiSchemas = ["PhysicsCollisionAPI", "MaterialBindingAPI"]
+                    )
+                    {
+                        uniform token purpose = "guide"
+                        double size = 1
+                        double3 xformOp:translate = (0.0185, -0.006375, 0.0435)
+                        quatf xformOp:orient = (1, 0, 0, 0)
+                        float3 xformOp:scale = (0.006, 0.13125, 0.008)
+                        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+                        rel material:binding:physics = </Model/Physics/Materials/painted_grey_cast_iron>
+                    }
+
+                    def Mesh "jaw" (
+                        prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI", "MaterialBindingAPI"]
+                    )
+                    {
+                        uniform token purpose = "guide"
+                        uniform token physics:approximation = "convexHull"
+                        uniform token subdivisionScheme = "none"
+                        float3[] extent = [(-0.0625, -0.072, 0.0775), (0.0625, -0.044, 0.15)]
+                        int[] faceVertexCounts = [3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3]
+                        int[] faceVertexIndices = [15, 0, 1, 0, 15, 30, 1, 3, 2, 1, 5, 3, 3, 5, 4, 0, 11, 1, 1, 11, 5, 6, 5, 11, 6, 9, 7, 7, 9, 8, 6, 11, 9, 9, 11, 10, 11, 14, 12, 12, 14, 13, 17, 1, 2, 3, 17, 2, 19, 3, 4, 5, 19, 4, 21, 5, 6, 7, 22, 6, 23, 7, 8, 9, 23, 8, 25, 9, 10, 11, 25, 10, 11, 12, 26, 12, 13, 27, 14, 29, 13, 0, 40, 11, 11, 40, 14, 15, 1, 16, 18, 15, 16, 16, 1, 17, 18, 17, 3, 18, 3, 19, 5, 20, 19, 5, 21, 20, 21, 6, 22, 23, 22, 7, 9, 24, 23, 25, 24, 9, 25, 11, 26, 12, 27, 26, 27, 13, 28, 13, 29, 28, 18, 16, 17, 19, 20, 18, 29, 15, 18, 21, 18, 20, 29, 18, 21, 23, 21, 22, 25, 21, 23, 25, 23, 24, 29, 21, 25, 29, 25, 26, 29, 26, 27, 29, 27, 28, 29, 14, 51, 29, 50, 15, 0, 30, 40, 33, 30, 31, 30, 46, 31, 14, 40, 36, 51, 14, 36, 40, 30, 33, 33, 31, 32, 35, 33, 34, 40, 33, 35, 40, 35, 37, 37, 38, 39, 40, 42, 41, 40, 37, 39, 40, 39, 43, 40, 43, 42, 41, 42, 44, 32, 31, 46, 48, 33, 32, 34, 33, 49, 50, 35, 34, 52, 37, 35, 52, 38, 37, 54, 39, 38, 40, 51, 36, 56, 40, 41, 59, 41, 44, 57, 42, 43, 58, 43, 39, 42, 59, 44, 30, 15, 45, 15, 50, 45, 30, 45, 46, 45, 50, 46, 50, 29, 55, 29, 51, 55, 32, 46, 47, 48, 32, 47, 33, 48, 49, 50, 34, 49, 50, 52, 35, 52, 53, 38, 53, 54, 38, 40, 55, 51, 55, 40, 56, 59, 56, 41, 58, 39, 54, 57, 43, 58, 59, 42, 57, 46, 48, 47, 50, 48, 46, 48, 50, 49, 50, 55, 52, 52, 58, 53, 53, 58, 54, 59, 55, 56, 52, 55, 58, 58, 59, 57, 58, 55, 59]
+                        normal3f[] normals = [(-0.769669, 0, -0.638443), (0, 0, -1), (0, -1, 0), (0, -1, 0), (0, -1, 0), (0, -1, 0), (0, -1, 0), (0, -1, 0), (0, -1, 0), (0, -1, 0), (0, -1, 0), (0, -1, 0), (0, -1, 0), (0, -1, 0), (-0.812751, 0, -0.582612), (-0.902938, 0, -0.429771), (-0.964687, 0, -0.2634), (-0.996056, 0, -0.08873), (-1, 0, 0), (-0.995185, 0, 0.098016), (-0.95694, 0, 0.290287), (-0.881926, 0, 0.471387), (-0.773007, 0, 0.634397), (-0.634381, 0, 0.773021), (-0.471414, 0, 0.881912), (-0.29026, 0, 0.956948), (-0.098036, 0, 0.995183), (0, -1, 0), (0, -1, 0), (-0.769669, 0, -0.638443), (0, 1, 0), (-0.812751, 0, -0.582612), (-0.902938, 0, -0.429771), (-0.964687, 0, -0.2634), (-0.996056, 0, -0.08873), (-1, 0, 0), (-0.995185, 0, 0.098016), (-0.95694, 0, 0.290287), (-0.881926, 0, 0.471387), (-0.773007, 0, 0.634397), (-0.634381, 0, 0.773021), (-0.471414, 0, 0.881912), (-0.29026, 0, 0.956948), (-0.098036, 0, 0.995183), (0, 1, 0), (0, 1, 0), (0, 1, 0), (0, 1, 0), (0, 1, 0), (0, 1, 0), (0, 1, 0), (0, 1, 0), (0, 1, 0), (0, 1, 0), (0, 1, 0), (0, 1, 0), (0, 0, 1), (0, 1, 0), (0, -1, 0), (0, -1, 0), (0.769669, 0, -0.638443), (0, -1, 0), (0, 0, 1), (0, -1, 0), (0, -1, 0), (0, -1, 0), (0, -1, 0), (0, -1, 0), (0, -1, 0), (0, -1, 0), (0, -1, 0), (0, -1, 0), (0, -1, 0), (0, -1, 0), (0.812751, 0, -0.582612), (0.902938, 0, -0.429771), (0.964687, 0, -0.2634), (0.996056, 0, -0.08873), (1, 0, 0), (0.995185, 0, 0.098016), (0.95694, 0, 0.290287), (0.098036, 0, 0.995183), (0.29026, 0, 0.956948), (0.471414, 0, 0.881912), (0.773007, 0, 0.634397), (0.881926, 0, 0.471387), (0.634381, 0, 0.773021), (0, 0, -1), (0, 1, 0), (0.769669, 0, -0.638443), (0, 1, 0), (0, 1, 0), (0, 1, 0), (0.812751, 0, -0.582612), (0.902938, 0, -0.429771), (0.964687, 0, -0.2634), (0.996056, 0, -0.08873), (1, 0, 0), (0.995185, 0, 0.098016), (0.95694, 0, 0.290287), (0.098036, 0, 0.995183), (0.29026, 0, 0.956948), (0.471414, 0, 0.881912), (0.881926, 0, 0.471387), (0.773007, 0, 0.634397), (0.634381, 0, 0.773021), (0, 1, 0), (0, 1, 0), (0, 1, 0), (0, 1, 0), (0, 1, 0), (0, 1, 0), (0, 1, 0), (0, 1, 0), (0, 1, 0), (0, 1, 0)] (interpolation = "uniform")
+                        point3f[] points = [(-0.0305, -0.072, 0.0775), (-0.061289253, -0.072, 0.114617714), (-0.06180621, -0.072, 0.115338875), (-0.06218755, -0.072, 0.11614006), (-0.062421268, -0.072, 0.11699604), (-0.0625, -0.072, 0.117879852), (-0.0625, -0.072, 0.148), (-0.062461571, -0.072, 0.148390182), (-0.062347759, -0.072, 0.148765366), (-0.062162941, -0.072, 0.149111145), (-0.061914215, -0.072, 0.149414215), (-0.061611141, -0.072, 0.149662933), (-0.061265366, -0.072, 0.149847763), (-0.060890182, -0.072, 0.149961563), (-0.0605, -0.072, 0.15), (-0.0305, -0.044, 0.0775), (-0.061289253, -0.044, 0.114617714), (-0.06180621, -0.044, 0.115338875), (-0.06218755, -0.044, 0.11614006), (-0.062421268, -0.044, 0.11699604), (-0.0625, -0.044, 0.117879852), (-0.0625, -0.044, 0.148), (-0.062461571, -0.044, 0.148390182), (-0.062347759, -0.044, 0.148765366), (-0.062162941, -0.044, 0.149111145), (-0.061914215, -0.044, 0.149414215), (-0.061611141, -0.044, 0.149662933), (-0.061265366, -0.044, 0.149847763), (-0.060890182, -0.044, 0.149961563), (-0.0605, -0.044, 0.15), (0.0305, -0.072, 0.0775), (0.061289253, -0.072, 0.114617714), (0.06180621, -0.072, 0.115338875), (0.06218755, -0.072, 0.11614006), (0.062421268, -0.072, 0.11699604), (0.0625, -0.072, 0.117879852), (0.0605, -0.072, 0.15), (0.0625, -0.072, 0.148), (0.062461571, -0.072, 0.148390182), (0.062347759, -0.072, 0.148765366), (0.060890182, -0.072, 0.149961563), (0.061265366, -0.072, 0.149847763), (0.061914215, -0.072, 0.149414215), (0.062162941, -0.072, 0.149111145), (0.061611141, -0.072, 0.149662933), (0.0305, -0.044, 0.0775), (0.061289253, -0.044, 0.114617714), (0.06180621, -0.044, 0.115338875), (0.06218755, -0.044, 0.11614006), (0.062421268, -0.044, 0.11699604), (0.0625, -0.044, 0.117879852), (0.0605, -0.044, 0.15), (0.0625, -0.044, 0.148), (0.062461571, -0.044, 0.148390182), (0.062347759, -0.044, 0.148765366), (0.060890182, -0.044, 0.149961563), (0.061265366, -0.044, 0.149847763), (0.061914215, -0.044, 0.149414215), (0.062162941, -0.044, 0.149111145), (0.061611141, -0.044, 0.149662933)]
+                        rel material:binding:physics = </Model/Physics/Materials/painted_grey_cast_iron>
+                    }
+
+                    def Cube "anvil" (
+                        prepend apiSchemas = ["PhysicsCollisionAPI", "MaterialBindingAPI"]
+                    )
+                    {
+                        uniform token purpose = "guide"
+                        double size = 1
+                        double3 xformOp:translate = (0, -0.014, 0.09825)
+                        quatf xformOp:orient = (1, 0, 0, 0)
+                        float3 xformOp:scale = (0.07, 0.06, 0.0175)
+                        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+                        rel material:binding:physics = </Model/Physics/Materials/painted_grey_cast_iron>
+                    }
+
+                    def Mesh "pipe_jaw_000" (
+                        prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI", "MaterialBindingAPI"]
+                    )
+                    {
+                        uniform token purpose = "guide"
+                        uniform token physics:approximation = "convexHull"
+                        uniform token subdivisionScheme = "none"
+                        float3[] extent = [(-0.0375, -0.0795, 0.086), (0.0375, -0.0655, 0.101)]
+                        int[] faceVertexCounts = [3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3]
+                        int[] faceVertexIndices = [1, 2, 0, 5, 1, 0, 2, 5, 0, 3, 1, 6, 4, 2, 1, 4, 1, 3, 4, 9, 2, 9, 4, 3, 5, 6, 1, 5, 9, 6, 5, 2, 7, 2, 9, 7, 9, 5, 7, 3, 6, 8, 9, 3, 8, 6, 9, 8]
+                        normal3f[] normals = [(-1, 0, 0), (0, -1, 0), (0, 0, -1), (0, -0.658505, 0.752577), (-1, 0, 0), (-1, 0, 0), (0, 1, 0), (0, 0, 1), (0, -1, 0), (1, 0, 0), (0, 0, -1), (0, 1, 0), (1, 0, 0), (0, -0.658505, 0.752577), (0, 0, 1), (1, 0, 0)] (interpolation = "uniform")
+                        point3f[] points = [(-0.0375, -0.0795, 0.086), (-0.0375, -0.0795, 0.0905), (-0.0375, -0.0655, 0.086), (-0.0375, -0.0675, 0.101), (-0.0375, -0.0655, 0.101), (0.0375, -0.0795, 0.086), (0.0375, -0.0795, 0.0905), (0.0375, -0.0655, 0.086), (0.0375, -0.0675, 0.101), (0.0375, -0.0655, 0.101)]
+                        rel material:binding:physics = </Model/Physics/Materials/painted_grey_cast_iron>
+                    }
+
+                    def Mesh "pipe_jaw_001" (
+                        prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI", "MaterialBindingAPI"]
+                    )
+                    {
+                        uniform token purpose = "guide"
+                        uniform token physics:approximation = "convexHull"
+                        uniform token subdivisionScheme = "none"
+                        float3[] extent = [(-0.0375, -0.0795, 0.104), (0.0375, -0.0655, 0.119)]
+                        int[] faceVertexCounts = [3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3]
+                        int[] faceVertexIndices = [5, 0, 2, 4, 0, 1, 0, 6, 1, 6, 4, 1, 3, 2, 0, 3, 8, 2, 8, 3, 4, 4, 3, 0, 6, 0, 5, 8, 6, 5, 5, 2, 7, 2, 8, 7, 8, 5, 7, 4, 6, 9, 8, 4, 9, 6, 8, 9]
+                        normal3f[] normals = [(0, -0.658505, -0.752577), (-1, 0, 0), (0, -1, 0), (0, 0, 1), (-1, 0, 0), (0, 0, -1), (0, 1, 0), (-1, 0, 0), (0, -1, 0), (1, 0, 0), (0, -0.658505, -0.752577), (0, 0, -1), (1, 0, 0), (0, 0, 1), (0, 1, 0), (1, 0, 0)] (interpolation = "uniform")
+                        point3f[] points = [(-0.0375, -0.0795, 0.1145), (-0.0375, -0.0795, 0.119), (-0.0375, -0.0675, 0.104), (-0.0375, -0.0655, 0.104), (-0.0375, -0.0655, 0.119), (0.0375, -0.0795, 0.1145), (0.0375, -0.0795, 0.119), (0.0375, -0.0675, 0.104), (0.0375, -0.0655, 0.104), (0.0375, -0.0655, 0.119)]
+                        rel material:binding:physics = </Model/Physics/Materials/painted_grey_cast_iron>
+                    }
+                }
+                over "Fixed_jaw_insert"
+                {
+                    def Xform "Colliders"
+                    {
+                        def Cube "plate" (
+                            prepend apiSchemas = ["PhysicsCollisionAPI", "MaterialBindingAPI"]
+                        )
+                        {
+                            uniform token purpose = "guide"
+                            double size = 1
+                            double3 xformOp:translate = (0, -0.0037375, 0)
+                            quatf xformOp:orient = (1, 0, 0, 0)
+                            float3 xformOp:scale = (0.125, 0.007475, 0.028)
+                            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+                            rel material:binding:physics = </Model/Physics/Materials/serrated_hardened_steel>
+                        }
+                    }
+                }
+                over "Sliding_jaw" (
+                    prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"]
+                )
+                {
+                    bool physics:rigidBodyEnabled = 1
+                    bool physics:kinematicEnabled = 0
+                    bool physics:startsAsleep = 0
+                    float physics:mass = 3.5546246767912915
+                    point3f physics:centerOfMass = (0, 0.056253897, 0.052427132)
+                    float3 physics:diagonalInertia = (0.040836741434, 0.039667190344, 0.005281071903)
+                    quatf physics:principalAxes = (0.76221751, 0.647321, 0, -0)
+                    matrix4d xformOp:transform:simulationWorld = ((1, 0, 0, 0), (0, 1, 0, 0), (0, 0, 1, 0), (0, -0.13, 0.153, 1))
+                    uniform token[] xformOpOrder = ["!resetXformStack!", "xformOp:transform:simulationWorld"]
+                    def Xform "Colliders"
+                    {
+                        def Cube "beam" (
+                            prepend apiSchemas = ["PhysicsCollisionAPI", "MaterialBindingAPI"]
+                        )
+                        {
+                            uniform token purpose = "guide"
+                            double size = 1
+                            double3 xformOp:translate = (0, 0.113225, 0.031)
+                            quatf xformOp:orient = (1, 0, 0, 0)
+                            float3 xformOp:scale = (0.042, 0.30245, 0.032)
+                            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+                            rel material:binding:physics = </Model/Physics/Materials/painted_grey_cast_iron>
+                        }
+
+                        def Mesh "head" (
+                            prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI", "MaterialBindingAPI"]
+                        )
+                        {
+                            uniform token purpose = "guide"
+                            uniform token physics:approximation = "convexHull"
+                            uniform token subdivisionScheme = "none"
+                            float3[] extent = [(-0.0625, -0.038, 0.015), (0.0625, -0.008, 0.117)]
+                            int[] faceVertexCounts = [3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3]
+                            int[] faceVertexIndices = [14, 0, 1, 0, 14, 28, 0, 9, 1, 1, 4, 2, 2, 4, 3, 1, 9, 4, 5, 4, 9, 5, 7, 6, 7, 5, 9, 7, 9, 8, 9, 11, 10, 9, 13, 11, 11, 13, 12, 16, 1, 2, 17, 2, 3, 4, 17, 3, 19, 4, 5, 20, 5, 6, 7, 20, 6, 22, 7, 8, 9, 22, 8, 10, 23, 9, 11, 24, 10, 11, 12, 26, 13, 27, 12, 0, 36, 9, 9, 36, 13, 14, 1, 15, 16, 14, 15, 1, 16, 15, 16, 2, 17, 4, 18, 17, 4, 19, 18, 19, 5, 20, 21, 20, 7, 22, 21, 7, 9, 23, 22, 10, 24, 23, 24, 11, 25, 11, 26, 25, 12, 27, 26, 27, 14, 16, 17, 18, 16, 19, 16, 18, 27, 16, 19, 21, 19, 20, 23, 19, 21, 23, 21, 22, 27, 19, 23, 27, 23, 24, 26, 24, 25, 27, 24, 26, 27, 13, 47, 27, 46, 14, 0, 28, 36, 30, 28, 29, 28, 43, 29, 13, 36, 33, 47, 13, 33, 36, 28, 30, 32, 30, 31, 36, 30, 32, 36, 32, 34, 36, 41, 37, 36, 40, 41, 36, 34, 35, 36, 35, 39, 39, 35, 38, 36, 39, 40, 43, 30, 29, 31, 30, 44, 46, 32, 31, 48, 34, 32, 35, 34, 48, 36, 47, 33, 51, 36, 37, 41, 51, 37, 35, 52, 38, 52, 39, 38, 55, 41, 40, 39, 54, 40, 28, 14, 42, 14, 46, 42, 28, 42, 43, 42, 46, 43, 46, 27, 50, 27, 47, 50, 30, 43, 44, 31, 44, 45, 46, 31, 45, 46, 48, 32, 35, 48, 49, 36, 50, 47, 50, 36, 51, 55, 51, 41, 52, 35, 49, 39, 52, 53, 54, 55, 40, 54, 39, 53, 46, 44, 43, 44, 46, 45, 46, 50, 48, 48, 52, 49, 55, 50, 51, 54, 50, 55, 48, 50, 54, 48, 54, 52, 52, 54, 53]
+                            normal3f[] normals = [(-0.87827, 0, -0.478164), (0, 0, -1), (0, -1, 0), (0, -1, 0), (0, -1, 0), (0, -1, 0), (0, -1, 0), (0, -1, 0), (0, -1, 0), (0, -1, 0), (0, -1, 0), (0, -1, 0), (0, -1, 0), (-0.885941, 0, -0.463798), (-0.958425, 0, -0.285346), (-0.995352, 0, -0.096308), (-1, 0, 0), (-0.995185, 0, 0.098016), (-0.95694, 0, 0.290287), (-0.881922, 0, 0.471396), (-0.773015, 0, 0.634388), (-0.634393, 0, 0.773011), (-0.471384, 0, 0.881928), (-0.290296, 0, 0.956937), (-0.098016, 0, 0.995185), (0, -1, 0), (0, -1, 0), (-0.87827, 0, -0.478164), (0, 1, 0), (-0.885941, 0, -0.463798), (-0.958425, 0, -0.285346), (-0.995352, 0, -0.096308), (-1, 0, 0), (-0.995185, 0, 0.098016), (-0.95694, 0, 0.290287), (-0.881922, 0, 0.471396), (-0.773015, 0, 0.634388), (-0.634393, 0, 0.773011), (-0.471384, 0, 0.881928), (-0.290296, 0, 0.956937), (-0.098016, 0, 0.995185), (0, 1, 0), (0, 1, 0), (0, 1, 0), (0, 1, 0), (0, 1, 0), (0, 1, 0), (0, 1, 0), (0, 1, 0), (0, 1, 0), (0, 1, 0), (0, 1, 0), (0, 0, 1), (0, 1, 0), (0, -1, 0), (0, -1, 0), (0.87827, 0, -0.478164), (0, -1, 0), (0, 0, 1), (0, -1, 0), (0, -1, 0), (0, -1, 0), (0, -1, 0), (0, -1, 0), (0, -1, 0), (0, -1, 0), (0, -1, 0), (0, -1, 0), (0, -1, 0), (0.885941, 0, -0.463798), (0.958425, 0, -0.285346), (0.995352, 0, -0.096308), (1, 0, 0), (0.995185, 0, 0.098016), (0.098016, 0, 0.995185), (0.290296, 0, 0.956937), (0.471384, 0, 0.881928), (0.95694, 0, 0.290287), (0.881922, 0, 0.471396), (0.634393, 0, 0.773011), (0.773015, 0, 0.634388), (0, 0, -1), (0, 1, 0), (0.87827, 0, -0.478164), (0, 1, 0), (0, 1, 0), (0, 1, 0), (0.885941, 0, -0.463798), (0.958425, 0, -0.285346), (0.995352, 0, -0.096308), (1, 0, 0), (0.995185, 0, 0.098016), (0.098016, 0, 0.995185), (0.290296, 0, 0.956937), (0.471384, 0, 0.881928), (0.95694, 0, 0.290287), (0.881922, 0, 0.471396), (0.634393, 0, 0.773011), (0.773015, 0, 0.634388), (0, 1, 0), (0, 1, 0), (0, 1, 0), (0, 1, 0), (0, 1, 0), (0, 1, 0), (0, 1, 0), (0, 1, 0), (0, 1, 0)] (interpolation = "uniform")
+                            point3f[] points = [(-0.025, -0.038, 0.015), (-0.061685776, -0.038, 0.082382729), (-0.062132442, -0.038, 0.083235947), (-0.062407249, -0.038, 0.084158974), (-0.0625, -0.038, 0.085117554), (-0.0625, -0.038, 0.115), (-0.062461571, -0.038, 0.115390182), (-0.062347759, -0.038, 0.115765366), (-0.062162941, -0.038, 0.116111137), (-0.061914215, -0.038, 0.116414215), (-0.061611141, -0.038, 0.116662941), (-0.061265366, -0.038, 0.116847755), (-0.060890182, -0.038, 0.116961571), (-0.0605, -0.038, 0.117), (-0.025, -0.008, 0.015), (-0.061685776, -0.008, 0.082382729), (-0.062132442, -0.008, 0.083235947), (-0.062407249, -0.008, 0.084158974), (-0.0625, -0.008, 0.085117554), (-0.0625, -0.008, 0.115), (-0.062461571, -0.008, 0.115390182), (-0.062347759, -0.008, 0.115765366), (-0.062162941, -0.008, 0.116111137), (-0.061914215, -0.008, 0.116414215), (-0.061611141, -0.008, 0.116662941), (-0.061265366, -0.008, 0.116847755), (-0.060890182, -0.008, 0.116961571), (-0.0605, -0.008, 0.117), (0.025, -0.038, 0.015), (0.061685776, -0.038, 0.082382729), (0.062132442, -0.038, 0.083235947), (0.062407249, -0.038, 0.084158974), (0.0625, -0.038, 0.085117554), (0.0605, -0.038, 0.117), (0.0625, -0.038, 0.115), (0.062461571, -0.038, 0.115390182), (0.060890182, -0.038, 0.116961571), (0.061265366, -0.038, 0.116847755), (0.062347759, -0.038, 0.115765366), (0.062162941, -0.038, 0.116111137), (0.061914215, -0.038, 0.116414215), (0.061611141, -0.038, 0.116662941), (0.025, -0.008, 0.015), (0.061685776, -0.008, 0.082382729), (0.062132442, -0.008, 0.083235947), (0.062407249, -0.008, 0.084158974), (0.0625, -0.008, 0.085117554), (0.0605, -0.008, 0.117), (0.0625, -0.008, 0.115), (0.062461571, -0.008, 0.115390182), (0.060890182, -0.008, 0.116961571), (0.061265366, -0.008, 0.116847755), (0.062347759, -0.008, 0.115765366), (0.062162941, -0.008, 0.116111137), (0.061914215, -0.008, 0.116414215), (0.061611141, -0.008, 0.116662941)]
+                            rel material:binding:physics = </Model/Physics/Materials/painted_grey_cast_iron>
+                        }
+
+                        def Cube "apron" (
+                            prepend apiSchemas = ["PhysicsCollisionAPI", "MaterialBindingAPI"]
+                        )
+                        {
+                            uniform token purpose = "guide"
+                            double size = 1
+                            double3 xformOp:translate = (0, -0.029, -0.003)
+                            quatf xformOp:orient = (1, 0, 0, 0)
+                            float3 xformOp:scale = (0.046, 0.018, 0.036)
+                            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+                            rel material:binding:physics = </Model/Physics/Materials/painted_grey_cast_iron>
+                        }
+
+                        def Cube "stop" (
+                            prepend apiSchemas = ["PhysicsCollisionAPI", "MaterialBindingAPI"]
+                        )
+                        {
+                            uniform token purpose = "guide"
+                            double size = 1
+                            double3 xformOp:translate = (0, 0.26845, 0.031)
+                            quatf xformOp:orient = (1, 0, 0, 0)
+                            float3 xformOp:scale = (0.062, 0.008, 0.042)
+                            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+                            rel material:binding:physics = </Model/Physics/Materials/painted_grey_cast_iron>
+                        }
+
+                        def Mesh "pipe_jaw_000" (
+                            prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI", "MaterialBindingAPI"]
+                        )
+                        {
+                            uniform token purpose = "guide"
+                            uniform token physics:approximation = "convexHull"
+                            uniform token subdivisionScheme = "none"
+                            float3[] extent = [(-0.0375, -0.0145, 0.053), (0.0375, -0.0005, 0.068)]
+                            int[] faceVertexCounts = [3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3]
+                            int[] faceVertexIndices = [0, 1, 4, 1, 2, 4, 6, 1, 0, 1, 6, 2, 0, 4, 3, 8, 0, 3, 4, 8, 3, 9, 4, 2, 6, 0, 5, 0, 8, 5, 8, 6, 5, 2, 6, 7, 9, 2, 7, 6, 9, 7, 8, 4, 9, 6, 8, 9]
+                            normal3f[] normals = [(-1, 0, 0), (-1, 0, 0), (0, -1, 0), (0, 0, 1), (-1, 0, 0), (0, 0, -1), (0, 1, 0), (0, 0.658505, 0.752577), (0, -1, 0), (0, 0, -1), (1, 0, 0), (0, 0, 1), (0, 0.658505, 0.752577), (1, 0, 0), (0, 1, 0), (1, 0, 0)] (interpolation = "uniform")
+                            point3f[] points = [(-0.0375, -0.0145, 0.053), (-0.0375, -0.0145, 0.068), (-0.0375, -0.0125, 0.068), (-0.0375, -0.0005, 0.053), (-0.0375, -0.0005, 0.0575), (0.0375, -0.0145, 0.053), (0.0375, -0.0145, 0.068), (0.0375, -0.0125, 0.068), (0.0375, -0.0005, 0.053), (0.0375, -0.0005, 0.0575)]
+                            rel material:binding:physics = </Model/Physics/Materials/painted_grey_cast_iron>
+                        }
+
+                        def Mesh "pipe_jaw_001" (
+                            prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI", "MaterialBindingAPI"]
+                        )
+                        {
+                            uniform token purpose = "guide"
+                            uniform token physics:approximation = "convexHull"
+                            uniform token subdivisionScheme = "none"
+                            float3[] extent = [(-0.0375, -0.0145, 0.071), (0.0375, -0.0005, 0.086)]
+                            int[] faceVertexCounts = [3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3]
+                            int[] faceVertexIndices = [0, 3, 1, 5, 0, 1, 0, 5, 2, 0, 2, 3, 1, 3, 8, 3, 2, 4, 2, 9, 4, 9, 3, 4, 5, 1, 6, 1, 8, 6, 8, 5, 6, 2, 5, 7, 9, 2, 7, 5, 9, 7, 9, 8, 3, 9, 5, 8]
+                            normal3f[] normals = [(-1, 0, 0), (0, 0, -1), (0, -1, 0), (-1, 0, 0), (0, 0.658505, -0.752577), (-1, 0, 0), (0, 0, 1), (0, 1, 0), (0, 0, -1), (0, 0.658505, -0.752577), (1, 0, 0), (0, -1, 0), (0, 0, 1), (1, 0, 0), (0, 1, 0), (1, 0, 0)] (interpolation = "uniform")
+                            point3f[] points = [(-0.0375, -0.0145, 0.071), (-0.0375, -0.0125, 0.071), (-0.0375, -0.0145, 0.086), (-0.0375, -0.0005, 0.0815), (-0.0375, -0.0005, 0.086), (0.0375, -0.0145, 0.071), (0.0375, -0.0125, 0.071), (0.0375, -0.0145, 0.086), (0.0375, -0.0005, 0.0815), (0.0375, -0.0005, 0.086)]
+                            rel material:binding:physics = </Model/Physics/Materials/painted_grey_cast_iron>
+                        }
+                    }
+                    over "Sliding_jaw_insert"
+                    {
+                        def Xform "Colliders"
+                        {
+                            def Cube "plate" (
+                                prepend apiSchemas = ["PhysicsCollisionAPI", "MaterialBindingAPI"]
+                            )
+                            {
+                                uniform token purpose = "guide"
+                                double size = 1
+                                double3 xformOp:translate = (0, -0.0037375, 0)
+                                quatf xformOp:orient = (1, 0, 0, 0)
+                                float3 xformOp:scale = (0.125, 0.007475, 0.028)
+                                uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+                                rel material:binding:physics = </Model/Physics/Materials/serrated_hardened_steel>
+                            }
+                        }
+                    }
+                    over "Screw" (
+                        prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"]
+                    )
+                    {
+                        bool physics:rigidBodyEnabled = 1
+                        bool physics:kinematicEnabled = 0
+                        bool physics:startsAsleep = 0
+                        float physics:mass = 0.7842180284379036
+                        point3f physics:centerOfMass = (0.000000673, 0.070329759, -0.000007197)
+                        float3 physics:diagonalInertia = (0.004808039671, 0.004801807778, 0.000068865924)
+                        quatf physics:principalAxes = (0.70713184, 0.70708172, 0.00003059, 0.00000447)
+                        matrix4d xformOp:transform:simulationWorld = ((1, 0, 0, 0), (0, 1, 0, 0), (0, 0, 1, 0), (0, -0.168, 0.153, 1))
+                        uniform token[] xformOpOrder = ["!resetXformStack!", "xformOp:transform:simulationWorld"]
+                        def Xform "Colliders"
+                        {
+                            def Capsule "shaft" (
+                                prepend apiSchemas = ["PhysicsCollisionAPI", "MaterialBindingAPI"]
+                            )
+                            {
+                                uniform token purpose = "guide"
+                                uniform token axis = "Z"
+                                double radius = 0.009625
+                                double height = 0.19975
+                                double3 xformOp:translate = (0, 0.1095, 0)
+                                quatf xformOp:orient = (0.70710678, -0.70710678, 0, 0)
+                                uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+                                rel material:binding:physics = </Model/Physics/Materials/machined_steel>
+                            }
+
+                            def Cylinder "head" (
+                                prepend apiSchemas = ["PhysicsCollisionAPI", "MaterialBindingAPI"]
+                            )
+                            {
+                                uniform token purpose = "guide"
+                                uniform token axis = "Z"
+                                double radius = 0.018
+                                double height = 0.036
+                                double3 xformOp:translate = (0, -0.018, 0)
+                                quatf xformOp:orient = (0.70710678, -0.70710678, 0, 0)
+                                uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+                                rel material:binding:physics = </Model/Physics/Materials/machined_steel>
+                            }
+
+                            def Cylinder "collar" (
+                                prepend apiSchemas = ["PhysicsCollisionAPI", "MaterialBindingAPI"]
+                            )
+                            {
+                                uniform token purpose = "guide"
+                                uniform token axis = "Z"
+                                double radius = 0.014
+                                double height = 0.01
+                                double3 xformOp:translate = (0, 0.0233, 0)
+                                quatf xformOp:orient = (0.70710678, -0.70710678, 0, 0)
+                                uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+                                rel material:binding:physics = </Model/Physics/Materials/machined_steel>
+                            }
+                        }
+                        over "Handle_bar" (
+                            prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"]
+                        )
+                        {
+                            bool physics:rigidBodyEnabled = 1
+                            bool physics:kinematicEnabled = 0
+                            bool physics:startsAsleep = 0
+                            float physics:mass = 0.5572853660976608
+                            point3f physics:centerOfMass = (0, 0, 0)
+                            float3 physics:diagonalInertia = (0.000027728315, 0.003326716, 0.003326716)
+                            quatf physics:principalAxes = (1, 0, 0, 0)
+                            matrix4d xformOp:transform:simulationWorld = ((1, 0, 0, 0), (0, 1, 0, 0), (0, 0, 1, 0), (0, -0.186, 0.153, 1))
+                            uniform token[] xformOpOrder = ["!resetXformStack!", "xformOp:transform:simulationWorld"]
+                            def Xform "Colliders"
+                            {
+                                def Capsule "bar" (
+                                    prepend apiSchemas = ["PhysicsCollisionAPI", "MaterialBindingAPI"]
+                                )
+                                {
+                                    uniform token purpose = "guide"
+                                    uniform token axis = "Z"
+                                    double radius = 0.009
+                                    double height = 0.232
+                                    double3 xformOp:translate = (0, 0, 0)
+                                    quatf xformOp:orient = (0.70710678, 0, 0.70710678, 0)
+                                    uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+                                    rel material:binding:physics = </Model/Physics/Materials/machined_steel>
+                                }
+
+                                def Sphere "knob_000" (
+                                    prepend apiSchemas = ["PhysicsCollisionAPI", "MaterialBindingAPI"]
+                                )
+                                {
+                                    uniform token purpose = "guide"
+                                    double radius = 0.0135
+                                    double3 xformOp:translate = (-0.1115, 0, 0)
+                                    uniform token[] xformOpOrder = ["xformOp:translate"]
+                                    rel material:binding:physics = </Model/Physics/Materials/machined_steel>
+                                }
+
+                                def Sphere "knob_001" (
+                                    prepend apiSchemas = ["PhysicsCollisionAPI", "MaterialBindingAPI"]
+                                )
+                                {
+                                    uniform token purpose = "guide"
+                                    double radius = 0.0135
+                                    double3 xformOp:translate = (0.1115, 0, 0)
+                                    uniform token[] xformOpOrder = ["xformOp:translate"]
+                                    rel material:binding:physics = </Model/Physics/Materials/machined_steel>
+                                }
+                            }
+                                  def BasisCurves "grasp_identifier_01"
+                                  {
+                                    int[] curveVertexCounts = [2]
+                                    float3[] extent = [(-0.0915, -0.009, 0), (-0.0915, 0.009, 0)]
+                                    point3f[] points = [(-0.0915, -0.009, 0), (-0.0915, 0.009, 0)]
+                                    uniform token purpose = "guide"
+                                    uniform token type = "linear"
+                                    uniform token wrap = "nonperiodic"
+                                  }
+                                  def BasisCurves "grasp_identifier_02"
+                                  {
+                                    int[] curveVertexCounts = [2]
+                                    float3[] extent = [(0.0915, -0.009, 0), (0.0915, 0.009, 0)]
+                                    point3f[] points = [(0.0915, -0.009, 0), (0.0915, 0.009, 0)]
+                                    uniform token purpose = "guide"
+                                    uniform token type = "linear"
+                                    uniform token wrap = "nonperiodic"
+                                  }
+                        }
+                    }
+                }
+                over "Lock_lever_1" (
+                    prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"]
+                )
+                {
+                    bool physics:rigidBodyEnabled = 1
+                    bool physics:kinematicEnabled = 0
+                    bool physics:startsAsleep = 0
+                    float physics:mass = 0.07474105742787328
+                    point3f physics:centerOfMass = (0, 0.024356585, 0.007377781)
+                    float3 physics:diagonalInertia = (0.000049199365, 0.000048277586, 0.000002881534)
+                    quatf physics:principalAxes = (0.50995317, -0.48984464, -0.48984464, -0.50995317)
+                    matrix4d xformOp:transform:simulationWorld = ((1, 0, 0, 0), (0, 1, 0, 0), (0, 0, 1, 0), (-0.056, 0, 0.132, 1))
+                    uniform token[] xformOpOrder = ["!resetXformStack!", "xformOp:transform:simulationWorld"]
+                    def Xform "Colliders"
+                    {
+                        def Cylinder "nut" (
+                            prepend apiSchemas = ["PhysicsCollisionAPI", "MaterialBindingAPI"]
+                        )
+                        {
+                            uniform token purpose = "guide"
+                            uniform token axis = "Z"
+                            double radius = 0.014
+                            double height = 0.014
+                            double3 xformOp:translate = (0, 0, 0.007)
+                            quatf xformOp:orient = (1, 0, 0, 0)
+                            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+                            rel material:binding:physics = </Model/Physics/Materials/machined_steel>
+                        }
+
+                        def Capsule "arm" (
+                            prepend apiSchemas = ["PhysicsCollisionAPI", "MaterialBindingAPI"]
+                        )
+                        {
+                            uniform token purpose = "guide"
+                            uniform token axis = "Z"
+                            double radius = 0.005
+                            double height = 0.043
+                            double3 xformOp:translate = (0, 0.0385, 0.0084)
+                            quatf xformOp:orient = (0.70710678, -0.70710678, 0, 0)
+                            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+                            rel material:binding:physics = </Model/Physics/Materials/machined_steel>
+                        }
+
+                        def Sphere "ball" (
+                            prepend apiSchemas = ["PhysicsCollisionAPI", "MaterialBindingAPI"]
+                        )
+                        {
+                            uniform token purpose = "guide"
+                            double radius = 0.008
+                            double3 xformOp:translate = (0, 0.06, 0.0084)
+                            uniform token[] xformOpOrder = ["xformOp:translate"]
+                            rel material:binding:physics = </Model/Physics/Materials/machined_steel>
+                        }
+                    }
+                          def BasisCurves "grasp_identifier_01"
+                          {
+                            int[] curveVertexCounts = [2]
+                            float3[] extent = [(-0.005, 0.044, 0.0084), (0.005, 0.044, 0.0084)]
+                            point3f[] points = [(-0.005, 0.044, 0.0084), (0.005, 0.044, 0.0084)]
+                            uniform token purpose = "guide"
+                            uniform token type = "linear"
+                            uniform token wrap = "nonperiodic"
+                          }
+                }
+                over "Lock_lever_2" (
+                    prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"]
+                )
+                {
+                    bool physics:rigidBodyEnabled = 1
+                    bool physics:kinematicEnabled = 0
+                    bool physics:startsAsleep = 0
+                    float physics:mass = 0.07474105742787328
+                    point3f physics:centerOfMass = (0, -0.024356585, 0.007377781)
+                    float3 physics:diagonalInertia = (0.000049199365, 0.000048277586, 0.000002881534)
+                    quatf physics:principalAxes = (0.48984464, -0.50995317, -0.50995317, -0.48984464)
+                    matrix4d xformOp:transform:simulationWorld = ((1, 0, 0, 0), (0, 1, 0, 0), (0, 0, 1, 0), (0.056, 0, 0.132, 1))
+                    uniform token[] xformOpOrder = ["!resetXformStack!", "xformOp:transform:simulationWorld"]
+                    def Xform "Colliders"
+                    {
+                        def Cylinder "nut" (
+                            prepend apiSchemas = ["PhysicsCollisionAPI", "MaterialBindingAPI"]
+                        )
+                        {
+                            uniform token purpose = "guide"
+                            uniform token axis = "Z"
+                            double radius = 0.014
+                            double height = 0.014
+                            double3 xformOp:translate = (0, 0, 0.007)
+                            quatf xformOp:orient = (1, 0, 0, 0)
+                            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+                            rel material:binding:physics = </Model/Physics/Materials/machined_steel>
+                        }
+
+                        def Capsule "arm" (
+                            prepend apiSchemas = ["PhysicsCollisionAPI", "MaterialBindingAPI"]
+                        )
+                        {
+                            uniform token purpose = "guide"
+                            uniform token axis = "Z"
+                            double radius = 0.005
+                            double height = 0.043
+                            double3 xformOp:translate = (0, -0.0385, 0.0084)
+                            quatf xformOp:orient = (0.70710678, 0.70710678, 0, 0)
+                            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+                            rel material:binding:physics = </Model/Physics/Materials/machined_steel>
+                        }
+
+                        def Sphere "ball" (
+                            prepend apiSchemas = ["PhysicsCollisionAPI", "MaterialBindingAPI"]
+                        )
+                        {
+                            uniform token purpose = "guide"
+                            double radius = 0.008
+                            double3 xformOp:translate = (0, -0.06, 0.0084)
+                            uniform token[] xformOpOrder = ["xformOp:translate"]
+                            rel material:binding:physics = </Model/Physics/Materials/machined_steel>
+                        }
+                    }
+                          def BasisCurves "grasp_identifier_01"
+                          {
+                            int[] curveVertexCounts = [2]
+                            float3[] extent = [(-0.005, -0.044, 0.0084), (0.005, -0.044, 0.0084)]
+                            point3f[] points = [(-0.005, -0.044, 0.0084), (0.005, -0.044, 0.0084)]
+                            uniform token purpose = "guide"
+                            uniform token type = "linear"
+                            uniform token wrap = "nonperiodic"
+                          }
+                }
+            }
+        }
+    }
+}