Add SimReady package: dish_drying_rack_v09

dish_drying_rack_v09/.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": "2026-10-17T18:28:51",
+  "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"
+                }
+              }
+            ]
+          }
+        }
+      ]
+    }
+  ]
+}

dish_drying_rack_v09/.metadata/com.nvidia.simready.packaging.bom.json

@@ -0,0 +1,56 @@
+{
+  "format_version": "1.0",
+  "items": [
+    {
+      "relative_path": "simready_usd/.thumbs/256x256/dish_drying_rack_v09.usda.png",
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+      "hash": {
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+      }
+    },
+    {
+      "relative_path": "simready_usd/assets/bamboo-slat.png",
+      "size": 1977934,
+      "hash": {
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+    {
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+      "size": 1611499,
+      "hash": {
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+    {
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+      "hash": {
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+      }
+    },
+    {
+      "relative_path": "simready_usd/forgecad/geometry.usda",
+      "size": 5332985,
+      "hash": {
+        "sha256-flat-1mb": "d63fe9a46c79e7b9ed2f1ab015be295b35aeafce3f1b80543b25d5493da9084e",
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+        "sha256-first1m": "ff821a1e428e898f143cd78ac47b186e50757a45591cd1ce6b932ad2a51e5031"
+      }
+    },
+    {
+      "relative_path": "simready_usd/forgecad/physics.usda",
+      "size": 37871,
+      "hash": {
+        "sha256-flat-1mb": "da5d11a4ab5d81e965f6ec0dee5bc33b92f8e403fbec6316a6ff776c2b8749b6",
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+      }
+    }
+  ]
+}

dish_drying_rack_v09/.metadata/dish_drying_rack_v09_benchmark.json

@@ -0,0 +1,2039 @@
+{
+  "schema_version": "1.0",
+  "asset": "dish_drying_rack_v09",
+  "run_timestamp": "2026-10-17T18:28:49Z",
+  "passed": false,
+  "results": [
+    {
+      "test_name": "culling_xz",
+      "engine": "isaac_sim",
+      "engine_version": "6.1.0.0",
+      "status": "pass",
+      "passed": true,
+      "duration": 12.292,
+      "message": "",
+      "metrics": {
+        "_timing_capture_frame_total_s": {
+          "value": 3.383,
+          "unit": null
+        },
+        "_timing_capture_frame_count": {
+          "value": 16,
+          "unit": null
+        },
+        "_timing_capture_frame_avg_ms": {
+          "value": 211.43,
+          "unit": null
+        },
+        "_timing_encode_video_total_s": {
+          "value": 1.259,
+          "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": 8.6e-05,
+          "unit": null
+        },
+        "culling_xz_mean_diff": {
+          "value": 2.3e-05,
+          "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": "culling_xz",
+      "engine": "isaac_sim_newton",
+      "engine_version": "6.1.0.0",
+      "status": "pass",
+      "passed": true,
+      "duration": 14.907,
+      "message": "",
+      "metrics": {
+        "_timing_capture_frame_total_s": {
+          "value": 2.992,
+          "unit": null
+        },
+        "_timing_capture_frame_count": {
+          "value": 16,
+          "unit": null
+        },
+        "_timing_capture_frame_avg_ms": {
+          "value": 186.98,
+          "unit": null
+        },
+        "_timing_encode_video_total_s": {
+          "value": 1.151,
+          "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": 4.8e-05,
+          "unit": null
+        },
+        "culling_xz_mean_diff": {
+          "value": 1e-05,
+          "unit": null
+        },
+        "culling_xz_worst_angle": {
+          "value": 45.0,
+          "unit": null
+        },
+        "culling_xz_passed": {
+          "value": 1,
+          "unit": null
+        }
+      },
+      "kit_logs": []
+    },
+    {
+      "test_name": "display_color_response",
+      "engine": "isaac_sim",
+      "engine_version": "6.1.0.0",
+      "status": "fail",
+      "passed": false,
+      "duration": 0.05,
+      "message": "Kit's render-context list reads [universal] and does not contain mtlx, so the OpenPBR probe material DISP.001 nominates resolves to no surface at all and the geometry would render on a fallback material this test says nothing about.\n\nHow to fix:\n- Restore ./persistent/app/hydra/material/renderContexts to its shipped value [mdl, mtlx, \"\"]. Kit persists that key to user.config.json on shutdown, so a value narrowed by an earlier run survives into this one.",
+      "metrics": {
+        "display_color_asset_root": {
+          "value": "/World/AssetRoot/Asset",
+          "unit": null
+        },
+        "display_color_render_context_order": {
+          "value": "universal",
+          "unit": null
+        }
+      },
+      "kit_logs": []
+    },
+    {
+      "test_name": "display_color_response",
+      "engine": "isaac_sim_newton",
+      "engine_version": "6.1.0.0",
+      "status": "pass",
+      "passed": true,
+      "duration": 17.224,
+      "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": 4,
+          "unit": null
+        },
+        "display_color_gprims_without_displaycolor": {
+          "value": 0,
+          "unit": null
+        },
+        "display_color_gprims_without_displayopacity": {
+          "value": 4,
+          "unit": null
+        },
+        "display_color_probe_bound_gprims": {
+          "value": 4,
+          "unit": null
+        },
+        "_timing_capture_frame_total_s": {
+          "value": 1.631,
+          "unit": null
+        },
+        "_timing_capture_frame_count": {
+          "value": 5,
+          "unit": null
+        },
+        "_timing_capture_frame_avg_ms": {
+          "value": 326.22,
+          "unit": null
+        },
+        "_timing_encode_video_total_s": {
+          "value": 0.422,
+          "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": 220015,
+          "unit": null
+        },
+        "display_color_whole_frame_delta_pixels": {
+          "value": 222204,
+          "unit": null
+        },
+        "display_color_read_mean_rgb": {
+          "value": [
+            0.1567,
+            0.1379,
+            0.1062
+          ],
+          "unit": null
+        },
+        "display_color_control_ratio": {
+          "value": 0.0004,
+          "unit": null
+        },
+        "display_color_response_ratio": {
+          "value": 1.0,
+          "unit": null
+        },
+        "display_color_opacity_ratio": {
+          "value": 0.999677,
+          "unit": null
+        }
+      },
+      "kit_logs": []
+    },
+    {
+      "test_name": "grasp_and_lift",
+      "engine": "isaac_sim",
+      "engine_version": "6.1.0.0",
+      "status": "skipped",
+      "passed": false,
+      "duration": 0.047,
+      "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": "pass",
+      "passed": true,
+      "duration": 42.745,
+      "message": "",
+      "metrics": {
+        "ground_drop_initial_z_min": {
+          "value": 0.529,
+          "unit": null
+        },
+        "ground_drop_bbox_height": {
+          "value": 0.3527,
+          "unit": null
+        },
+        "ground_drop_effective_fall": {
+          "value": 0.429,
+          "unit": null
+        },
+        "_timing_capture_frame_total_s": {
+          "value": 14.437,
+          "unit": null
+        },
+        "_timing_capture_frame_count": {
+          "value": 43,
+          "unit": null
+        },
+        "_timing_capture_frame_avg_ms": {
+          "value": 335.74,
+          "unit": null
+        },
+        "_timing_encode_video_total_s": {
+          "value": 1.472,
+          "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
+        },
+        "ground_drop_touched": {
+          "value": 1,
+          "unit": null
+        },
+        "ground_drop_penetrated": {
+          "value": 0,
+          "unit": null
+        },
+        "ground_drop_stable": {
+          "value": 1,
+          "unit": null
+        },
+        "ground_drop_passed": {
+          "value": 1,
+          "unit": null
+        },
+        "ground_drop_touch_time": {
+          "value": 0.279,
+          "unit": null
+        },
+        "ground_drop_rest_time": {
+          "value": 2.308,
+          "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."
+        }
+      ]
+    },
+    {
+      "test_name": "joint_movement",
+      "engine": "isaac_sim",
+      "engine_version": "6.1.0.0",
+      "status": "skipped",
+      "passed": false,
+      "duration": 0.156,
+      "message": "No joints found -- joint movement test not applicable",
+      "metrics": {},
+      "kit_logs": []
+    },
+    {
+      "test_name": "light_response",
+      "engine": "isaac_sim",
+      "engine_version": "6.1.0.0",
+      "status": "pass",
+      "passed": true,
+      "duration": 20.203,
+      "message": "",
+      "metrics": {
+        "_timing_capture_frame_total_s": {
+          "value": 7.857,
+          "unit": null
+        },
+        "_timing_capture_frame_count": {
+          "value": 30,
+          "unit": null
+        },
+        "_timing_capture_frame_avg_ms": {
+          "value": 261.9,
+          "unit": null
+        },
+        "_timing_encode_video_total_s": {
+          "value": 1.263,
+          "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": 1.0,
+          "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": 29,
+          "unit": null
+        },
+        "light_response_passed": {
+          "value": 1,
+          "unit": null
+        },
+        "light_response_max_pair_change": {
+          "value": 0.733703,
+          "unit": null
+        },
+        "light_response_min_pair_change": {
+          "value": 0.062743,
+          "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": 19.517,
+      "message": "",
+      "metrics": {
+        "_timing_capture_frame_total_s": {
+          "value": 8.288,
+          "unit": null
+        },
+        "_timing_capture_frame_count": {
+          "value": 30,
+          "unit": null
+        },
+        "_timing_capture_frame_avg_ms": {
+          "value": 276.25,
+          "unit": null
+        },
+        "_timing_encode_video_total_s": {
+          "value": 1.247,
+          "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": 1.0,
+          "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": 29,
+          "unit": null
+        },
+        "light_response_passed": {
+          "value": 1,
+          "unit": null
+        },
+        "light_response_max_pair_change": {
+          "value": 0.730066,
+          "unit": null
+        },
+        "light_response_min_pair_change": {
+          "value": 0.061744,
+          "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": 6.776,
+      "message": "",
+      "metrics": {
+        "_timing_capture_frame_total_s": {
+          "value": 1.038,
+          "unit": null
+        },
+        "_timing_capture_frame_count": {
+          "value": 8,
+          "unit": null
+        },
+        "_timing_capture_frame_avg_ms": {
+          "value": 129.77,
+          "unit": null
+        },
+        "_timing_encode_video_total_s": {
+          "value": 0.47,
+          "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": 0.000785,
+          "unit": null
+        },
+        "normals_xz_max_dark": {
+          "value": 0.006091,
+          "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": 6.226,
+      "message": "",
+      "metrics": {
+        "_timing_capture_frame_total_s": {
+          "value": 1.063,
+          "unit": null
+        },
+        "_timing_capture_frame_count": {
+          "value": 8,
+          "unit": null
+        },
+        "_timing_capture_frame_avg_ms": {
+          "value": 132.83,
+          "unit": null
+        },
+        "_timing_encode_video_total_s": {
+          "value": 0.492,
+          "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": 0.000795,
+          "unit": null
+        },
+        "normals_xz_max_dark": {
+          "value": 0.006155,
+          "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": "pivot",
+      "engine": "isaac_sim",
+      "engine_version": "6.1.0.0",
+      "status": "pass",
+      "passed": true,
+      "duration": 18.148,
+      "message": "",
+      "metrics": {
+        "_timing_capture_frame_total_s": {
+          "value": 5.762,
+          "unit": null
+        },
+        "_timing_capture_frame_count": {
+          "value": 20,
+          "unit": null
+        },
+        "_timing_capture_frame_avg_ms": {
+          "value": 288.12,
+          "unit": null
+        },
+        "_timing_encode_video_total_s": {
+          "value": 1.383,
+          "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": 0.9,
+          "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": 0,
+          "unit": null
+        },
+        "pivot_passed": {
+          "value": 1,
+          "unit": null
+        }
+      },
+      "kit_logs": []
+    },
+    {
+      "test_name": "pivot",
+      "engine": "isaac_sim_newton",
+      "engine_version": "6.1.0.0",
+      "status": "pass",
+      "passed": true,
+      "duration": 15.322,
+      "message": "",
+      "metrics": {
+        "_timing_capture_frame_total_s": {
+          "value": 5.074,
+          "unit": null
+        },
+        "_timing_capture_frame_count": {
+          "value": 20,
+          "unit": null
+        },
+        "_timing_capture_frame_avg_ms": {
+          "value": 253.68,
+          "unit": null
+        },
+        "_timing_encode_video_total_s": {
+          "value": 1.306,
+          "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": 0.9,
+          "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": 0,
+          "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": 2.547,
+      "message": "",
+      "metrics": {
+        "_timing_capture_frame_total_s": {
+          "value": 0.613,
+          "unit": null
+        },
+        "_timing_capture_frame_count": {
+          "value": 2,
+          "unit": null
+        },
+        "_timing_capture_frame_avg_ms": {
+          "value": 306.53,
+          "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": 0.211266,
+          "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": 2.562,
+      "message": "",
+      "metrics": {
+        "_timing_capture_frame_total_s": {
+          "value": 0.624,
+          "unit": null
+        },
+        "_timing_capture_frame_count": {
+          "value": 2,
+          "unit": null
+        },
+        "_timing_capture_frame_avg_ms": {
+          "value": 312.2,
+          "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": 0.211255,
+          "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": 5.481,
+      "message": "",
+      "metrics": {
+        "_timing_capture_frame_total_s": {
+          "value": 1.042,
+          "unit": null
+        },
+        "_timing_capture_frame_count": {
+          "value": 4,
+          "unit": null
+        },
+        "_timing_capture_frame_avg_ms": {
+          "value": 260.42,
+          "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": 4,
+          "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": 4,
+          "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": 207218,
+          "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": 7.148,
+      "message": "",
+      "metrics": {
+        "_timing_capture_frame_total_s": {
+          "value": 1.806,
+          "unit": null
+        },
+        "_timing_capture_frame_count": {
+          "value": 4,
+          "unit": null
+        },
+        "_timing_capture_frame_avg_ms": {
+          "value": 451.41,
+          "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": 4,
+          "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": 4,
+          "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": 208212,
+          "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": 3.168,
+      "message": "",
+      "metrics": {
+        "_timing_capture_frame_total_s": {
+          "value": 0.595,
+          "unit": null
+        },
+        "_timing_capture_frame_count": {
+          "value": 1,
+          "unit": null
+        },
+        "_timing_capture_frame_avg_ms": {
+          "value": 594.64,
+          "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": 0.208615,
+          "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": 3.086,
+      "message": "",
+      "metrics": {
+        "_timing_capture_frame_total_s": {
+          "value": 0.861,
+          "unit": null
+        },
+        "_timing_capture_frame_count": {
+          "value": 1,
+          "unit": null
+        },
+        "_timing_capture_frame_avg_ms": {
+          "value": 861.08,
+          "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": 0.208615,
+          "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": 3.076,
+      "message": "",
+      "metrics": {
+        "semantic_labels_stripped_prims": {
+          "value": 5,
+          "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": 2.1,
+      "message": "",
+      "metrics": {
+        "semantic_labels_stripped_prims": {
+          "value": 5,
+          "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": "fail",
+      "passed": false,
+      "duration": 29.534,
+      "message": "Slope drop FAILED: Object penetrated the ground after sliding.\n\nHow to fix:\n- Check collision mesh approximation (convexHull recommended).\n- The slope-floor transition is a stress point -- check for thin geometry or gaps in collision mesh.\n- Review the video to see where penetration occurs.",
+      "metrics": {
+        "slope_drop_initial_cx": {
+          "value": 0.0,
+          "unit": null
+        },
+        "slope_drop_initial_cy": {
+          "value": -1.9026,
+          "unit": null
+        },
+        "slope_drop_initial_z_min": {
+          "value": 5.2407,
+          "unit": null
+        },
+        "slope_drop_bbox_height": {
+          "value": 0.3527,
+          "unit": null
+        },
+        "_timing_capture_frame_total_s": {
+          "value": 6.971,
+          "unit": null
+        },
+        "_timing_capture_frame_count": {
+          "value": 28,
+          "unit": null
+        },
+        "_timing_capture_frame_avg_ms": {
+          "value": 248.95,
+          "unit": null
+        },
+        "_timing_encode_video_total_s": {
+          "value": 1.194,
+          "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
+        },
+        "slope_drop_contact_detected": {
+          "value": 1,
+          "unit": null
+        },
+        "slope_drop_horiz_detected": {
+          "value": 1,
+          "unit": null
+        },
+        "slope_drop_penetrated": {
+          "value": 1,
+          "unit": null
+        },
+        "slope_drop_slope_penetrated": {
+          "value": 0,
+          "unit": null
+        },
+        "slope_drop_excessive_separation": {
+          "value": 0,
+          "unit": null
+        },
+        "slope_drop_uphill_motion": {
+          "value": 0,
+          "unit": null
+        },
+        "slope_drop_passed": {
+          "value": 0,
+          "unit": null
+        },
+        "slope_drop_max_clearance": {
+          "value": 0.0,
+          "unit": "m"
+        },
+        "slope_drop_separation_frames": {
+          "value": 0,
+          "unit": null
+        },
+        "slope_drop_left_slope_frame": {
+          "value": 407,
+          "unit": null
+        },
+        "slope_drop_horiz_time": {
+          "value": 0.329,
+          "unit": null
+        }
+      },
+      "kit_logs": []
+    }
+  ]
+}

dish_drying_rack_v09/.metadata/dish_drying_rack_v09_validation.json

@@ -0,0 +1,175 @@
+{
+    "simready_usd/dish_drying_rack_v09.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"
+        }
+    }
+}

dish_drying_rack_v09/com.nvidia.simready.packaging.json

@@ -0,0 +1,31 @@
+{
+  "format_version": "1.0",
+  "package_id": "simready.hf.ForgeCAD.simready-assets.dish_drying_rack_v09.2026.10.17_00",
+  "license": "cc-by-4.0",
+  "metadata": [
+    {
+      "name": "com.nvidia.simready.conformance.Package-Candidate@1.0.0.json",
+      "hash": {
+        "sha256": "63770a92300d06413b61439e0ca3f27f915a32a3c7b2794858c76ed71fd1b926"
+      }
+    },
+    {
+      "name": "com.nvidia.simready.packaging.bom.json",
+      "hash": {
+        "sha256": "72c3760e263d09c873a96710f5fe18b986e42b9e521e76b83658f8091151ebdf"
+      }
+    },
+    {
+      "name": "com.nvidia.simready.root_usds.json",
+      "hash": {
+        "sha256": "c51bbe1d0478d3038914ec6205ef3cc0e604ea51302ca551e080d7143ec12c4e"
+      }
+    }
+  ],
+  "content_hash": {
+    "sha256": "17d058f181f6c0b9c20144bf295074f6d82af09474883e4baaedd2f2d3f85098"
+  },
+  "package_hash": {
+    "sha256": "d556bb29f352b522407d968203e3e9f43e2191d8a5e1ad482bcfe1c916c1767f"
+  }
+}

dish_drying_rack_v09/simready_usd/dish_drying_rack_v09.usda

@@ -0,0 +1,457 @@
+#usda 1.0
+(
+    customLayerData = {
+        dictionary SimReady_Metadata = {
+            float3 asset_extents = (0.480482, 0.336, 0.352665)
+            string asset_license = "CC-BY-4.0"
+            string asset_name = "dish_drying_rack_v09"
+            string asset_type = "prop"
+            string author = "ForgeCAD"
+            string category = "kitchen"
+            double mass = 1.704590693116188
+            string qcode = "Q2571478"
+            int rigid_body_count = 2
+            string source = "ForgeCAD"
+            string source_file = "main.usda"
+            string usd_date_generated = "2026-10-17"
+        }
+        string asset_name = "dish_drying_rack_v09"
+        string asset_type = "prop"
+        string source_file = "main.usda"
+        string usd_date_generated = "2026-10-17"
+    }
+    defaultPrim = "Model"
+    metersPerUnit = 1
+    upAxis = "Z"
+)
+
+def Xform "Model" (
+    prepend apiSchemas = ["SemanticsLabelsAPI:class", "SemanticsLabelsAPI:wikidata_qcode"]
+    prepend references = @./forgecad/geometry.usda@</Model>
+    variants = {
+        string finish = "white_coated"
+        string physics = "physics"
+    }
+    prepend variantSets = ["physics", "finish"]
+)
+{
+    token[] semantics:labels:class = ["dish drying rack", "dish drainer"]
+    token[] semantics:labels:wikidata_qcode = ["Q2571478"]
+
+    over "Geometry"
+    {
+        over "Drip_tray"
+        {
+            over "Rack"
+            {
+                over "Feet" (
+                    prepend apiSchemas = ["MaterialBindingAPI"]
+                )
+                {
+                    rel material:binding = </Model/Materials/FootRubber>
+                }
+            }
+        }
+    }
+
+    def Scope "Materials"
+    {
+        def Material "WhiteCoated" (
+            prepend apiSchemas = ["SemanticsLabelsAPI:material"]
+        )
+        {
+            token outputs:surface.connect = </Model/Materials/WhiteCoated/Surface.outputs:surface>
+            token[] semantics:labels:material = ["metal"]
+
+            def Shader "Surface"
+            {
+                uniform token info:id = "UsdPreviewSurface"
+                float inputs:clearcoat = 0.3
+                float inputs:clearcoatRoughness = 0.2
+                color3f inputs:diffuseColor = (0.871, 0.871, 0.823)
+                float inputs:metallic = 0
+                float inputs:roughness = 0.4
+                token outputs:surface
+            }
+        }
+
+        def Material "BlackCoated" (
+            prepend apiSchemas = ["SemanticsLabelsAPI:material"]
+        )
+        {
+            token outputs:surface.connect = </Model/Materials/BlackCoated/Surface.outputs:surface>
+            token[] semantics:labels:material = ["metal"]
+
+            def Shader "Surface"
+            {
+                uniform token info:id = "UsdPreviewSurface"
+                float inputs:clearcoat = 0.3
+                float inputs:clearcoatRoughness = 0.25
+                color3f inputs:diffuseColor = (0.019, 0.019, 0.019)
+                float inputs:metallic = 0
+                float inputs:roughness = 0.45
+                token outputs:surface
+            }
+        }
+
+        def Material "Stainless" (
+            prepend apiSchemas = ["SemanticsLabelsAPI:material"]
+        )
+        {
+            token outputs:surface.connect = </Model/Materials/Stainless/Surface.outputs:surface>
+            token[] semantics:labels:material = ["metal"]
+
+            def Shader "Surface"
+            {
+                uniform token info:id = "UsdPreviewSurface"
+                color3f inputs:diffuseColor = (0.62, 0.62, 0.64)
+                float inputs:metallic = 1
+                float inputs:roughness = 0.28
+                token outputs:surface
+            }
+        }
+
+        def Material "Bamboo" (
+            prepend apiSchemas = ["SemanticsLabelsAPI:material"]
+        )
+        {
+            token outputs:surface.connect = </Model/Materials/Bamboo/Surface.outputs:surface>
+            token[] semantics:labels:material = ["wood"]
+
+            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/Bamboo/St.outputs:result>
+                float2 inputs:scale = (8, 8)
+                float2 outputs:result
+            }
+
+            def Shader "Albedo"
+            {
+                uniform token info:id = "UsdUVTexture"
+                asset inputs:file = @./assets/bamboo-slat.png@
+                token inputs:sourceColorSpace = "sRGB"
+                float2 inputs:st.connect = </Model/Materials/Bamboo/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/Bamboo/Albedo.outputs:rgb>
+                float inputs:metallic = 0
+                float inputs:roughness = 0.55
+                token outputs:surface
+            }
+        }
+
+        def Material "TrayWhite" (
+            prepend apiSchemas = ["SemanticsLabelsAPI:material"]
+        )
+        {
+            token outputs:surface.connect = </Model/Materials/TrayWhite/Surface.outputs:surface>
+            token[] semantics:labels:material = ["plastic"]
+
+            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/TrayWhite/St.outputs:result>
+                float2 inputs:scale = (5, 5)
+                float2 outputs:result
+            }
+
+            def Shader "Albedo"
+            {
+                uniform token info:id = "UsdUVTexture"
+                asset inputs:file = @./assets/tray-plastic.png@
+                token inputs:sourceColorSpace = "sRGB"
+                float2 inputs:st.connect = </Model/Materials/TrayWhite/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/TrayWhite/Albedo.outputs:rgb>
+                float inputs:metallic = 0
+                float inputs:roughness = 0.7
+                token outputs:surface
+            }
+        }
+
+        def Material "TrayGrey" (
+            prepend apiSchemas = ["SemanticsLabelsAPI:material"]
+        )
+        {
+            token outputs:surface.connect = </Model/Materials/TrayGrey/Surface.outputs:surface>
+            token[] semantics:labels:material = ["plastic"]
+
+            def Shader "Surface"
+            {
+                uniform token info:id = "UsdPreviewSurface"
+                color3f inputs:diffuseColor = (0.323, 0.337, 0.352)
+                float inputs:metallic = 0
+                float inputs:roughness = 0.65
+                token outputs:surface
+            }
+        }
+
+        def Material "TrayCharcoal" (
+            prepend apiSchemas = ["SemanticsLabelsAPI:material"]
+        )
+        {
+            token outputs:surface.connect = </Model/Materials/TrayCharcoal/Surface.outputs:surface>
+            token[] semantics:labels:material = ["plastic"]
+
+            def Shader "Surface"
+            {
+                uniform token info:id = "UsdPreviewSurface"
+                color3f inputs:diffuseColor = (0.028, 0.031, 0.033)
+                float inputs:metallic = 0
+                float inputs:roughness = 0.7
+                token outputs:surface
+            }
+        }
+
+        def Material "CaddyWhite" (
+            prepend apiSchemas = ["SemanticsLabelsAPI:material"]
+        )
+        {
+            token outputs:surface.connect = </Model/Materials/CaddyWhite/Surface.outputs:surface>
+            token[] semantics:labels:material = ["plastic"]
+
+            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/CaddyWhite/St.outputs:result>
+                float2 inputs:scale = (8, 8)
+                float2 outputs:result
+            }
+
+            def Shader "Albedo"
+            {
+                uniform token info:id = "UsdUVTexture"
+                asset inputs:file = @./assets/tray-plastic.png@
+                token inputs:sourceColorSpace = "sRGB"
+                float2 inputs:st.connect = </Model/Materials/CaddyWhite/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/CaddyWhite/Albedo.outputs:rgb>
+                float inputs:metallic = 0
+                float inputs:roughness = 0.6
+                token outputs:surface
+            }
+        }
+
+        def Material "CaddyGrey" (
+            prepend apiSchemas = ["SemanticsLabelsAPI:material"]
+        )
+        {
+            token outputs:surface.connect = </Model/Materials/CaddyGrey/Surface.outputs:surface>
+            token[] semantics:labels:material = ["plastic"]
+
+            def Shader "Surface"
+            {
+                uniform token info:id = "UsdPreviewSurface"
+                color3f inputs:diffuseColor = (0.323, 0.337, 0.352)
+                float inputs:metallic = 0
+                float inputs:roughness = 0.6
+                token outputs:surface
+            }
+        }
+
+        def Material "CaddyCharcoal" (
+            prepend apiSchemas = ["SemanticsLabelsAPI:material"]
+        )
+        {
+            token outputs:surface.connect = </Model/Materials/CaddyCharcoal/Surface.outputs:surface>
+            token[] semantics:labels:material = ["plastic"]
+
+            def Shader "Surface"
+            {
+                uniform token info:id = "UsdPreviewSurface"
+                color3f inputs:diffuseColor = (0.028, 0.031, 0.033)
+                float inputs:metallic = 0
+                float inputs:roughness = 0.65
+                token outputs:surface
+            }
+        }
+
+        def Material "FootRubber" (
+            prepend apiSchemas = ["SemanticsLabelsAPI:material"]
+        )
+        {
+            token outputs:surface.connect = </Model/Materials/FootRubber/Surface.outputs:surface>
+            token[] semantics:labels:material = ["rubber"]
+
+            def Shader "Surface"
+            {
+                uniform token info:id = "UsdPreviewSurface"
+                color3f inputs:diffuseColor = (0.024, 0.024, 0.024)
+                float inputs:metallic = 0
+                float inputs:roughness = 0.9
+                token outputs:surface
+            }
+        }
+    }
+    variantSet "finish" = {
+        "bamboo" {
+            over "Geometry"
+            {
+                over "Drip_tray" (
+                    prepend apiSchemas = ["MaterialBindingAPI"]
+                )
+                {
+                    rel material:binding = </Model/Materials/TrayWhite>
+
+                    over "Rack"
+                    {
+                        over "Frame" (
+                            prepend apiSchemas = ["MaterialBindingAPI"]
+                        )
+                        {
+                            rel material:binding = </Model/Materials/Bamboo>
+                        }
+                    }
+                }
+
+                over "Cutlery_caddy" (
+                    prepend apiSchemas = ["MaterialBindingAPI"]
+                )
+                {
+                    rel material:binding = </Model/Materials/CaddyWhite>
+                }
+            }
+
+        }
+        "black_coated" {
+            over "Geometry"
+            {
+                over "Drip_tray" (
+                    prepend apiSchemas = ["MaterialBindingAPI"]
+                )
+                {
+                    rel material:binding = </Model/Materials/TrayCharcoal>
+
+                    over "Rack"
+                    {
+                        over "Frame" (
+                            prepend apiSchemas = ["MaterialBindingAPI"]
+                        )
+                        {
+                            rel material:binding = </Model/Materials/BlackCoated>
+                        }
+                    }
+                }
+
+                over "Cutlery_caddy" (
+                    prepend apiSchemas = ["MaterialBindingAPI"]
+                )
+                {
+                    rel material:binding = </Model/Materials/CaddyCharcoal>
+                }
+            }
+
+        }
+        "stainless" {
+            over "Geometry"
+            {
+                over "Drip_tray" (
+                    prepend apiSchemas = ["MaterialBindingAPI"]
+                )
+                {
+                    rel material:binding = </Model/Materials/TrayGrey>
+
+                    over "Rack"
+                    {
+                        over "Frame" (
+                            prepend apiSchemas = ["MaterialBindingAPI"]
+                        )
+                        {
+                            rel material:binding = </Model/Materials/Stainless>
+                        }
+                    }
+                }
+
+                over "Cutlery_caddy" (
+                    prepend apiSchemas = ["MaterialBindingAPI"]
+                )
+                {
+                    rel material:binding = </Model/Materials/CaddyGrey>
+                }
+            }
+
+        }
+        "white_coated" {
+            over "Geometry"
+            {
+                over "Drip_tray" (
+                    prepend apiSchemas = ["MaterialBindingAPI"]
+                )
+                {
+                    rel material:binding = </Model/Materials/TrayWhite>
+
+                    over "Rack"
+                    {
+                        over "Frame" (
+                            prepend apiSchemas = ["MaterialBindingAPI"]
+                        )
+                        {
+                            rel material:binding = </Model/Materials/WhiteCoated>
+                        }
+                    }
+                }
+
+                over "Cutlery_caddy" (
+                    prepend apiSchemas = ["MaterialBindingAPI"]
+                )
+                {
+                    rel material:binding = </Model/Materials/CaddyWhite>
+                }
+            }
+
+        }
+    }
+    variantSet "physics" = {
+        "none" {
+
+        }
+        "physics" (
+            prepend references = @./forgecad/physics.usda@</Model>
+        ) {
+
+        }
+    }
+}
+

dish_drying_rack_v09/simready_usd/forgecad/physics.usda

@@ -0,0 +1,732 @@
+#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 "polypropylene" (
+                    prepend apiSchemas = ["PhysicsMaterialAPI", "SemanticsLabelsAPI:material"]
+                  )
+                  {
+                    token[] semantics:labels:material = ["Polypropylene"]
+                    float physics:density = 905
+                    float physics:staticFriction = 0.35
+                    float physics:dynamicFriction = 0.3
+                    float physics:restitution = 0.3
+                  }
+
+            def Material "moso_bamboo_oiled" (
+                    prepend apiSchemas = ["PhysicsMaterialAPI", "SemanticsLabelsAPI:material"]
+                  )
+                  {
+                    token[] semantics:labels:material = ["Moso bamboo, oiled"]
+                    float physics:density = 722.37919
+                    float physics:staticFriction = 0.45
+                    float physics:dynamicFriction = 0.4
+                    float physics:restitution = 0.15
+                  }
+        }
+    }
+
+    over "Geometry"
+    {
+        over "Drip_tray" (
+            prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"]
+        )
+        {
+            bool physics:rigidBodyEnabled = 1
+            bool physics:kinematicEnabled = 0
+            bool physics:startsAsleep = 0
+            float physics:mass = 1.5627108395303488
+            point3f physics:centerOfMass = (0.027695647, -0, 0.090129421)
+            float3 physics:diagonalInertia = (0.056539053038, 0.052851395006, 0.034012044304)
+            quatf physics:principalAxes = (0.51810731, -0, -0.85531563, 0)
+            def Xform "Colliders"
+            {
+                def Cube "floor" (
+                    prepend apiSchemas = ["PhysicsCollisionAPI", "MaterialBindingAPI"]
+                )
+                {
+                    uniform token purpose = "guide"
+                    double size = 1
+                    double3 xformOp:translate = (0, 0, 0.0015)
+                    quatf xformOp:orient = (1, 0, 0, 0)
+                    float3 xformOp:scale = (0.447, 0.33, 0.003)
+                    uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+                    rel material:binding:physics = </Model/Physics/Materials/polypropylene>
+                }
+
+                def Cube "walls_000" (
+                    prepend apiSchemas = ["PhysicsCollisionAPI", "MaterialBindingAPI"]
+                )
+                {
+                    uniform token purpose = "guide"
+                    double size = 1
+                    double3 xformOp:translate = (0, -0.1654, 0.015)
+                    quatf xformOp:orient = (1, 0, 0, 0)
+                    float3 xformOp:scale = (0.453, 0.0052, 0.03)
+                    uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+                    rel material:binding:physics = </Model/Physics/Materials/polypropylene>
+                }
+
+                def Cube "walls_001" (
+                    prepend apiSchemas = ["PhysicsCollisionAPI", "MaterialBindingAPI"]
+                )
+                {
+                    uniform token purpose = "guide"
+                    double size = 1
+                    double3 xformOp:translate = (0, 0.1654, 0.015)
+                    quatf xformOp:orient = (1, 0, 0, 0)
+                    float3 xformOp:scale = (0.453, 0.0052, 0.03)
+                    uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+                    rel material:binding:physics = </Model/Physics/Materials/polypropylene>
+                }
+
+                def Cube "walls_002" (
+                    prepend apiSchemas = ["PhysicsCollisionAPI", "MaterialBindingAPI"]
+                )
+                {
+                    uniform token purpose = "guide"
+                    double size = 1
+                    double3 xformOp:translate = (-0.2239, 0, 0.015)
+                    quatf xformOp:orient = (1, 0, 0, 0)
+                    float3 xformOp:scale = (0.0052, 0.33, 0.03)
+                    uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+                    rel material:binding:physics = </Model/Physics/Materials/polypropylene>
+                }
+
+                def Cube "walls_003" (
+                    prepend apiSchemas = ["PhysicsCollisionAPI", "MaterialBindingAPI"]
+                )
+                {
+                    uniform token purpose = "guide"
+                    double size = 1
+                    double3 xformOp:translate = (0.2239, 0, 0.015)
+                    quatf xformOp:orient = (1, 0, 0, 0)
+                    float3 xformOp:scale = (0.0052, 0.33, 0.03)
+                    uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+                    rel material:binding:physics = </Model/Physics/Materials/polypropylene>
+                }
+
+                def Mesh "spout" (
+                    prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI", "MaterialBindingAPI"]
+                )
+                {
+                    uniform token purpose = "guide"
+                    uniform token physics:approximation = "convexHull"
+                    uniform token subdivisionScheme = "none"
+                    float3[] extent = [(0.221198349, -0.02, 0.000432662), (0.253982239, 0.02, 0.014101435)]
+                    int[] faceVertexCounts = [3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3]
+                    int[] faceVertexIndices = [2, 0, 1, 0, 5, 1, 3, 1, 5, 0, 2, 6, 6, 2, 3, 2, 1, 3, 5, 0, 4, 6, 4, 0, 5, 4, 6, 3, 5, 7, 6, 3, 7, 5, 6, 7]
+                    normal3f[] normals = [(-0.99863, 0, 0.052335), (0, -1, 0), (0.052336, 0, 0.99863), (-0.052336, 0, -0.99863), (0, 1, 0), (-0.99863, 0, 0.052335), (0, -1, 0), (-0.052336, 0, -0.99863), (0.99863, 0, -0.052335), (0.052336, 0, 0.99863), (0, 1, 0), (0.99863, 0, -0.052335)] (interpolation = "uniform")
+                    point3f[] points = [(0.221198349, -0.02, 0.00211788), (0.22182637, -0.02, 0.014101435), (0.221198349, 0.02, 0.00211788), (0.22182637, 0.02, 0.014101435), (0.253354218, -0.02, 0.000432662), (0.253982239, -0.02, 0.012416217), (0.253354218, 0.02, 0.000432662), (0.253982239, 0.02, 0.012416217)]
+                    rel material:binding:physics = </Model/Physics/Materials/polypropylene>
+                }
+            }
+            over "Rack"
+            {
+                def Xform "Colliders"
+                {
+                    def Cube "floor" (
+                        prepend apiSchemas = ["PhysicsCollisionAPI", "MaterialBindingAPI"]
+                    )
+                    {
+                        uniform token purpose = "guide"
+                        double size = 1
+                        double3 xformOp:translate = (0, 0, 0.0265)
+                        quatf xformOp:orient = (1, 0, 0, 0)
+                        float3 xformOp:scale = (0.415, 0.298, 0.005)
+                        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+                        rel material:binding:physics = </Model/Physics/Materials/moso_bamboo_oiled>
+                    }
+
+                    def Capsule "long_000" (
+                        prepend apiSchemas = ["PhysicsCollisionAPI", "MaterialBindingAPI"]
+                    )
+                    {
+                        uniform token purpose = "guide"
+                        uniform token axis = "Z"
+                        double radius = 0.004
+                        double height = 0.407
+                        double3 xformOp:translate = (0, -0.118, 0.0325)
+                        quatf xformOp:orient = (0.70710678, 0, 0.70710678, 0)
+                        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+                        rel material:binding:physics = </Model/Physics/Materials/moso_bamboo_oiled>
+                    }
+
+                    def Capsule "long_001" (
+                        prepend apiSchemas = ["PhysicsCollisionAPI", "MaterialBindingAPI"]
+                    )
+                    {
+                        uniform token purpose = "guide"
+                        uniform token axis = "Z"
+                        double radius = 0.004
+                        double height = 0.407
+                        double3 xformOp:translate = (0, -0.025, 0.0325)
+                        quatf xformOp:orient = (0.70710678, 0, 0.70710678, 0)
+                        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+                        rel material:binding:physics = </Model/Physics/Materials/moso_bamboo_oiled>
+                    }
+
+                    def Capsule "long_002" (
+                        prepend apiSchemas = ["PhysicsCollisionAPI", "MaterialBindingAPI"]
+                    )
+                    {
+                        uniform token purpose = "guide"
+                        uniform token axis = "Z"
+                        double radius = 0.004
+                        double height = 0.407
+                        double3 xformOp:translate = (0, 0.025, 0.0325)
+                        quatf xformOp:orient = (0.70710678, 0, 0.70710678, 0)
+                        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+                        rel material:binding:physics = </Model/Physics/Materials/moso_bamboo_oiled>
+                    }
+
+                    def Capsule "long_003" (
+                        prepend apiSchemas = ["PhysicsCollisionAPI", "MaterialBindingAPI"]
+                    )
+                    {
+                        uniform token purpose = "guide"
+                        uniform token axis = "Z"
+                        double radius = 0.004
+                        double height = 0.407
+                        double3 xformOp:translate = (0, 0.118, 0.0325)
+                        quatf xformOp:orient = (0.70710678, 0, 0.70710678, 0)
+                        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+                        rel material:binding:physics = </Model/Physics/Materials/moso_bamboo_oiled>
+                    }
+
+                    def Cube "walls_000" (
+                        prepend apiSchemas = ["PhysicsCollisionAPI", "MaterialBindingAPI"]
+                    )
+                    {
+                        uniform token purpose = "guide"
+                        double size = 1
+                        double3 xformOp:translate = (0, -0.149, 0.077)
+                        quatf xformOp:orient = (1, 0, 0, 0)
+                        float3 xformOp:scale = (0.427, 0.012, 0.141)
+                        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+                        rel material:binding:physics = </Model/Physics/Materials/moso_bamboo_oiled>
+                    }
+
+                    def Cube "walls_001" (
+                        prepend apiSchemas = ["PhysicsCollisionAPI", "MaterialBindingAPI"]
+                    )
+                    {
+                        uniform token purpose = "guide"
+                        double size = 1
+                        double3 xformOp:translate = (0, 0.149, 0.077)
+                        quatf xformOp:orient = (1, 0, 0, 0)
+                        float3 xformOp:scale = (0.427, 0.012, 0.141)
+                        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+                        rel material:binding:physics = </Model/Physics/Materials/moso_bamboo_oiled>
+                    }
+
+                    def Cube "walls_002" (
+                        prepend apiSchemas = ["PhysicsCollisionAPI", "MaterialBindingAPI"]
+                    )
+                    {
+                        uniform token purpose = "guide"
+                        double size = 1
+                        double3 xformOp:translate = (0.2075, 0, 0.077)
+                        quatf xformOp:orient = (1, 0, 0, 0)
+                        float3 xformOp:scale = (0.012, 0.298, 0.141)
+                        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+                        rel material:binding:physics = </Model/Physics/Materials/moso_bamboo_oiled>
+                    }
+
+                    def Cube "walls_003" (
+                        prepend apiSchemas = ["PhysicsCollisionAPI", "MaterialBindingAPI"]
+                    )
+                    {
+                        uniform token purpose = "guide"
+                        double size = 1
+                        double3 xformOp:translate = (-0.2075, 0, 0.068)
+                        quatf xformOp:orient = (1, 0, 0, 0)
+                        float3 xformOp:scale = (0.006, 0.298, 0.123)
+                        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+                        rel material:binding:physics = </Model/Physics/Materials/moso_bamboo_oiled>
+                    }
+
+                    def Cube "caddyRail" (
+                        prepend apiSchemas = ["PhysicsCollisionAPI", "MaterialBindingAPI"]
+                    )
+                    {
+                        uniform token purpose = "guide"
+                        double size = 1
+                        double3 xformOp:translate = (-0.2075, 0, 0.1385)
+                        quatf xformOp:orient = (1, 0, 0, 0)
+                        float3 xformOp:scale = (0.012, 0.298, 0.018)
+                        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+                        rel material:binding:physics = </Model/Physics/Materials/moso_bamboo_oiled>
+                    }
+
+                    def Capsule "tines_000" (
+                        prepend apiSchemas = ["PhysicsCollisionAPI", "MaterialBindingAPI"]
+                    )
+                    {
+                        uniform token purpose = "guide"
+                        uniform token axis = "Z"
+                        double radius = 0.0035
+                        double height = 0.109
+                        double3 xformOp:translate = (-0.05885, -0.07, 0.0835)
+                        quatf xformOp:orient = (1, 0, 0, 0)
+                        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+                        rel material:binding:physics = </Model/Physics/Materials/moso_bamboo_oiled>
+                    }
+
+                    def Capsule "tines_001" (
+                        prepend apiSchemas = ["PhysicsCollisionAPI", "MaterialBindingAPI"]
+                    )
+                    {
+                        uniform token purpose = "guide"
+                        uniform token axis = "Z"
+                        double radius = 0.0035
+                        double height = 0.109
+                        double3 xformOp:translate = (-0.05885, 0.07, 0.0835)
+                        quatf xformOp:orient = (1, 0, 0, 0)
+                        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+                        rel material:binding:physics = </Model/Physics/Materials/moso_bamboo_oiled>
+                    }
+
+                    def Capsule "tines_002" (
+                        prepend apiSchemas = ["PhysicsCollisionAPI", "MaterialBindingAPI"]
+                    )
+                    {
+                        uniform token purpose = "guide"
+                        uniform token axis = "Z"
+                        double radius = 0.0035
+                        double height = 0.109
+                        double3 xformOp:translate = (-0.02185, -0.07, 0.0835)
+                        quatf xformOp:orient = (1, 0, 0, 0)
+                        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+                        rel material:binding:physics = </Model/Physics/Materials/moso_bamboo_oiled>
+                    }
+
+                    def Capsule "tines_003" (
+                        prepend apiSchemas = ["PhysicsCollisionAPI", "MaterialBindingAPI"]
+                    )
+                    {
+                        uniform token purpose = "guide"
+                        uniform token axis = "Z"
+                        double radius = 0.0035
+                        double height = 0.109
+                        double3 xformOp:translate = (-0.02185, 0.07, 0.0835)
+                        quatf xformOp:orient = (1, 0, 0, 0)
+                        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+                        rel material:binding:physics = </Model/Physics/Materials/moso_bamboo_oiled>
+                    }
+
+                    def Capsule "tines_004" (
+                        prepend apiSchemas = ["PhysicsCollisionAPI", "MaterialBindingAPI"]
+                    )
+                    {
+                        uniform token purpose = "guide"
+                        uniform token axis = "Z"
+                        double radius = 0.0035
+                        double height = 0.109
+                        double3 xformOp:translate = (0.01515, -0.07, 0.0835)
+                        quatf xformOp:orient = (1, 0, 0, 0)
+                        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+                        rel material:binding:physics = </Model/Physics/Materials/moso_bamboo_oiled>
+                    }
+
+                    def Capsule "tines_005" (
+                        prepend apiSchemas = ["PhysicsCollisionAPI", "MaterialBindingAPI"]
+                    )
+                    {
+                        uniform token purpose = "guide"
+                        uniform token axis = "Z"
+                        double radius = 0.0035
+                        double height = 0.109
+                        double3 xformOp:translate = (0.01515, 0.07, 0.0835)
+                        quatf xformOp:orient = (1, 0, 0, 0)
+                        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+                        rel material:binding:physics = </Model/Physics/Materials/moso_bamboo_oiled>
+                    }
+
+                    def Capsule "tines_006" (
+                        prepend apiSchemas = ["PhysicsCollisionAPI", "MaterialBindingAPI"]
+                    )
+                    {
+                        uniform token purpose = "guide"
+                        uniform token axis = "Z"
+                        double radius = 0.0035
+                        double height = 0.109
+                        double3 xformOp:translate = (0.05215, -0.07, 0.0835)
+                        quatf xformOp:orient = (1, 0, 0, 0)
+                        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+                        rel material:binding:physics = </Model/Physics/Materials/moso_bamboo_oiled>
+                    }
+
+                    def Capsule "tines_007" (
+                        prepend apiSchemas = ["PhysicsCollisionAPI", "MaterialBindingAPI"]
+                    )
+                    {
+                        uniform token purpose = "guide"
+                        uniform token axis = "Z"
+                        double radius = 0.0035
+                        double height = 0.109
+                        double3 xformOp:translate = (0.05215, 0.07, 0.0835)
+                        quatf xformOp:orient = (1, 0, 0, 0)
+                        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+                        rel material:binding:physics = </Model/Physics/Materials/moso_bamboo_oiled>
+                    }
+
+                    def Capsule "tines_008" (
+                        prepend apiSchemas = ["PhysicsCollisionAPI", "MaterialBindingAPI"]
+                    )
+                    {
+                        uniform token purpose = "guide"
+                        uniform token axis = "Z"
+                        double radius = 0.0035
+                        double height = 0.109
+                        double3 xformOp:translate = (0.08915, -0.07, 0.0835)
+                        quatf xformOp:orient = (1, 0, 0, 0)
+                        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+                        rel material:binding:physics = </Model/Physics/Materials/moso_bamboo_oiled>
+                    }
+
+                    def Capsule "tines_009" (
+                        prepend apiSchemas = ["PhysicsCollisionAPI", "MaterialBindingAPI"]
+                    )
+                    {
+                        uniform token purpose = "guide"
+                        uniform token axis = "Z"
+                        double radius = 0.0035
+                        double height = 0.109
+                        double3 xformOp:translate = (0.08915, 0.07, 0.0835)
+                        quatf xformOp:orient = (1, 0, 0, 0)
+                        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+                        rel material:binding:physics = </Model/Physics/Materials/moso_bamboo_oiled>
+                    }
+
+                    def Capsule "hooks_000" (
+                        prepend apiSchemas = ["PhysicsCollisionAPI", "MaterialBindingAPI"]
+                    )
+                    {
+                        uniform token purpose = "guide"
+                        uniform token axis = "Z"
+                        double radius = 0.004
+                        double height = 0.056753854
+                        double3 xformOp:translate = (0.18, -0.12, 0.1415)
+                        quatf xformOp:orient = (0.78951861, 0, -0.61372662, 0)
+                        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+                        rel material:binding:physics = </Model/Physics/Materials/moso_bamboo_oiled>
+                    }
+
+                    def Capsule "hooks_001" (
+                        prepend apiSchemas = ["PhysicsCollisionAPI", "MaterialBindingAPI"]
+                    )
+                    {
+                        uniform token purpose = "guide"
+                        uniform token axis = "Z"
+                        double radius = 0.004
+                        double height = 0.056753854
+                        double3 xformOp:translate = (0.18, -0.06, 0.1415)
+                        quatf xformOp:orient = (0.78951861, 0, -0.61372662, 0)
+                        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+                        rel material:binding:physics = </Model/Physics/Materials/moso_bamboo_oiled>
+                    }
+
+                    def Capsule "hooks_002" (
+                        prepend apiSchemas = ["PhysicsCollisionAPI", "MaterialBindingAPI"]
+                    )
+                    {
+                        uniform token purpose = "guide"
+                        uniform token axis = "Z"
+                        double radius = 0.004
+                        double height = 0.056753854
+                        double3 xformOp:translate = (0.18, 0, 0.1415)
+                        quatf xformOp:orient = (0.78951861, 0, -0.61372662, 0)
+                        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+                        rel material:binding:physics = </Model/Physics/Materials/moso_bamboo_oiled>
+                    }
+
+                    def Capsule "hooks_003" (
+                        prepend apiSchemas = ["PhysicsCollisionAPI", "MaterialBindingAPI"]
+                    )
+                    {
+                        uniform token purpose = "guide"
+                        uniform token axis = "Z"
+                        double radius = 0.004
+                        double height = 0.056753854
+                        double3 xformOp:translate = (0.18, 0.06, 0.1415)
+                        quatf xformOp:orient = (0.78951861, 0, -0.61372662, 0)
+                        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+                        rel material:binding:physics = </Model/Physics/Materials/moso_bamboo_oiled>
+                    }
+
+                    def Capsule "hooks_004" (
+                        prepend apiSchemas = ["PhysicsCollisionAPI", "MaterialBindingAPI"]
+                    )
+                    {
+                        uniform token purpose = "guide"
+                        uniform token axis = "Z"
+                        double radius = 0.004
+                        double height = 0.056753854
+                        double3 xformOp:translate = (0.18, 0.12, 0.1415)
+                        quatf xformOp:orient = (0.78951861, 0, -0.61372662, 0)
+                        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+                        rel material:binding:physics = </Model/Physics/Materials/moso_bamboo_oiled>
+                    }
+
+                    def Cube "shelf_000" (
+                        prepend apiSchemas = ["PhysicsCollisionAPI", "MaterialBindingAPI"]
+                    )
+                    {
+                        uniform token purpose = "guide"
+                        double size = 1
+                        double3 xformOp:translate = (0.1545, 0, 0.321164992)
+                        quatf xformOp:orient = (1, 0, 0, 0)
+                        float3 xformOp:scale = (0.106, 0.298, 0.018)
+                        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+                        rel material:binding:physics = </Model/Physics/Materials/moso_bamboo_oiled>
+                    }
+
+                    def Capsule "shelf_001" (
+                        prepend apiSchemas = ["PhysicsCollisionAPI", "MaterialBindingAPI"]
+                    )
+                    {
+                        uniform token purpose = "guide"
+                        uniform token axis = "Z"
+                        double radius = 0.004
+                        double height = 0.106
+                        double3 xformOp:translate = (0.1545, -0.149, 0.346164992)
+                        quatf xformOp:orient = (0.70710678, 0, 0.70710678, 0)
+                        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+                        rel material:binding:physics = </Model/Physics/Materials/moso_bamboo_oiled>
+                    }
+
+                    def Capsule "shelf_002" (
+                        prepend apiSchemas = ["PhysicsCollisionAPI", "MaterialBindingAPI"]
+                    )
+                    {
+                        uniform token purpose = "guide"
+                        uniform token axis = "Z"
+                        double radius = 0.004
+                        double height = 0.106
+                        double3 xformOp:translate = (0.1545, 0.149, 0.346164992)
+                        quatf xformOp:orient = (0.70710678, 0, 0.70710678, 0)
+                        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+                        rel material:binding:physics = </Model/Physics/Materials/moso_bamboo_oiled>
+                    }
+
+                    def Capsule "shelf_003" (
+                        prepend apiSchemas = ["PhysicsCollisionAPI", "MaterialBindingAPI"]
+                    )
+                    {
+                        uniform token purpose = "guide"
+                        uniform token axis = "Z"
+                        double radius = 0.004
+                        double height = 0.298
+                        double3 xformOp:translate = (0.1015, 0, 0.346164992)
+                        quatf xformOp:orient = (0.70710678, -0.70710678, 0, 0)
+                        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+                        rel material:binding:physics = </Model/Physics/Materials/moso_bamboo_oiled>
+                    }
+
+                    def Capsule "shelf_004" (
+                        prepend apiSchemas = ["PhysicsCollisionAPI", "MaterialBindingAPI"]
+                    )
+                    {
+                        uniform token purpose = "guide"
+                        uniform token axis = "Z"
+                        double radius = 0.004
+                        double height = 0.298
+                        double3 xformOp:translate = (0.2075, 0, 0.346164992)
+                        quatf xformOp:orient = (0.70710678, -0.70710678, 0, 0)
+                        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+                        rel material:binding:physics = </Model/Physics/Materials/moso_bamboo_oiled>
+                    }
+                }
+                      def BasisCurves "grasp_identifier_01"
+                      {
+                        int[] curveVertexCounts = [2]
+                        float3[] extent = [(0, -0.155, 0.1385), (0, -0.143, 0.1385)]
+                        point3f[] points = [(0, -0.155, 0.1385), (0, -0.143, 0.1385)]
+                        uniform token purpose = "guide"
+                        uniform token type = "linear"
+                        uniform token wrap = "nonperiodic"
+                      }
+            }
+        }
+        over "Cutlery_caddy" (
+            prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"]
+        )
+        {
+            bool physics:rigidBodyEnabled = 1
+            bool physics:kinematicEnabled = 0
+            bool physics:startsAsleep = 0
+            float physics:mass = 0.14187981050771933
+            point3f physics:centerOfMass = (0.054695795, 0, -0.036914296)
+            float3 physics:diagonalInertia = (0.000431881406, 0.000409948305, 0.000351137577)
+            quatf physics:principalAxes = (0.03279512, 0.70634586, 0.70634586, 0.03279512)
+            def Xform "Colliders"
+            {
+                def Cube "floor" (
+                    prepend apiSchemas = ["PhysicsCollisionAPI", "MaterialBindingAPI"]
+                )
+                {
+                    uniform token purpose = "guide"
+                    double size = 1
+                    double3 xformOp:translate = (0.0568, 0, -0.093)
+                    quatf xformOp:orient = (1, 0, 0, 0)
+                    float3 xformOp:scale = (0.101, 0.102, 0.003)
+                    uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+                    rel material:binding:physics = </Model/Physics/Materials/polypropylene>
+                }
+
+                def Cube "walls_000" (
+                    prepend apiSchemas = ["PhysicsCollisionAPI", "MaterialBindingAPI"]
+                )
+                {
+                    uniform token purpose = "guide"
+                    double size = 1
+                    double3 xformOp:translate = (0.0078, 0, -0.029)
+                    quatf xformOp:orient = (1, 0, 0, 0)
+                    float3 xformOp:scale = (0.003, 0.1, 0.13)
+                    uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+                    rel material:binding:physics = </Model/Physics/Materials/polypropylene>
+                }
+
+                def Cube "walls_001" (
+                    prepend apiSchemas = ["PhysicsCollisionAPI", "MaterialBindingAPI"]
+                )
+                {
+                    uniform token purpose = "guide"
+                    double size = 1
+                    double3 xformOp:translate = (0.1058, 0, -0.029)
+                    quatf xformOp:orient = (1, 0, 0, 0)
+                    float3 xformOp:scale = (0.003, 0.102, 0.13)
+                    uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+                    rel material:binding:physics = </Model/Physics/Materials/polypropylene>
+                }
+
+                def Cube "walls_002" (
+                    prepend apiSchemas = ["PhysicsCollisionAPI", "MaterialBindingAPI"]
+                )
+                {
+                    uniform token purpose = "guide"
+                    double size = 1
+                    double3 xformOp:translate = (0.0568, -0.0495, -0.029)
+                    quatf xformOp:orient = (1, 0, 0, 0)
+                    float3 xformOp:scale = (0.101, 0.003, 0.13)
+                    uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+                    rel material:binding:physics = </Model/Physics/Materials/polypropylene>
+                }
+
+                def Cube "walls_003" (
+                    prepend apiSchemas = ["PhysicsCollisionAPI", "MaterialBindingAPI"]
+                )
+                {
+                    uniform token purpose = "guide"
+                    double size = 1
+                    double3 xformOp:translate = (0.0568, 0.0495, -0.029)
+                    quatf xformOp:orient = (1, 0, 0, 0)
+                    float3 xformOp:scale = (0.101, 0.003, 0.13)
+                    uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+                    rel material:binding:physics = </Model/Physics/Materials/polypropylene>
+                }
+
+                def Cube "dividers_000" (
+                    prepend apiSchemas = ["PhysicsCollisionAPI", "MaterialBindingAPI"]
+                )
+                {
+                    uniform token purpose = "guide"
+                    double size = 1
+                    double3 xformOp:translate = (0.0568, -0.016266667, -0.03375)
+                    quatf xformOp:orient = (1, 0, 0, 0)
+                    float3 xformOp:scale = (0.095, 0.003, 0.1155)
+                    uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+                    rel material:binding:physics = </Model/Physics/Materials/polypropylene>
+                }
+
+                def Cube "dividers_001" (
+                    prepend apiSchemas = ["PhysicsCollisionAPI", "MaterialBindingAPI"]
+                )
+                {
+                    uniform token purpose = "guide"
+                    double size = 1
+                    double3 xformOp:translate = (0.0568, 0.016266667, -0.03375)
+                    quatf xformOp:orient = (1, 0, 0, 0)
+                    float3 xformOp:scale = (0.095, 0.003, 0.1155)
+                    uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+                    rel material:binding:physics = </Model/Physics/Materials/polypropylene>
+                }
+
+                def Cube "hooks_000" (
+                    prepend apiSchemas = ["PhysicsCollisionAPI", "MaterialBindingAPI"]
+                )
+                {
+                    uniform token purpose = "guide"
+                    double size = 1
+                    double3 xformOp:translate = (0, -0.032, 0.01025)
+                    quatf xformOp:orient = (1, 0, 0, 0)
+                    float3 xformOp:scale = (0.0166, 0.014, 0.0025)
+                    uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+                    rel material:binding:physics = </Model/Physics/Materials/polypropylene>
+                }
+
+                def Cube "hooks_001" (
+                    prepend apiSchemas = ["PhysicsCollisionAPI", "MaterialBindingAPI"]
+                )
+                {
+                    uniform token purpose = "guide"
+                    double size = 1
+                    double3 xformOp:translate = (-0.0073, -0.032, -0.00025)
+                    quatf xformOp:orient = (1, 0, 0, 0)
+                    float3 xformOp:scale = (0.002, 0.014, 0.0235)
+                    uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+                    rel material:binding:physics = </Model/Physics/Materials/polypropylene>
+                }
+
+                def Cube "hooks_002" (
+                    prepend apiSchemas = ["PhysicsCollisionAPI", "MaterialBindingAPI"]
+                )
+                {
+                    uniform token purpose = "guide"
+                    double size = 1
+                    double3 xformOp:translate = (0, 0.032, 0.01025)
+                    quatf xformOp:orient = (1, 0, 0, 0)
+                    float3 xformOp:scale = (0.0166, 0.014, 0.0025)
+                    uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+                    rel material:binding:physics = </Model/Physics/Materials/polypropylene>
+                }
+
+                def Cube "hooks_003" (
+                    prepend apiSchemas = ["PhysicsCollisionAPI", "MaterialBindingAPI"]
+                )
+                {
+                    uniform token purpose = "guide"
+                    double size = 1
+                    double3 xformOp:translate = (-0.0073, 0.032, -0.00025)
+                    quatf xformOp:orient = (1, 0, 0, 0)
+                    float3 xformOp:scale = (0.002, 0.014, 0.0235)
+                    uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+                    rel material:binding:physics = </Model/Physics/Materials/polypropylene>
+                }
+            }
+                  def BasisCurves "grasp_identifier_01"
+                  {
+                    int[] curveVertexCounts = [2]
+                    float3[] extent = [(0.1043, 0, 0.032), (0.1078, 0, 0.032)]
+                    point3f[] points = [(0.1043, 0, 0.032), (0.1078, 0, 0.032)]
+                    uniform token purpose = "guide"
+                    uniform token type = "linear"
+                    uniform token wrap = "nonperiodic"
+                  }
+        }
+    }
+}