Add SimReady package: baggage_sizer

.gitattributes

@@ -522,3 +522,4 @@ playground_swing_seesaw/simready_usd/forgecad/geometry.usda filter=lfs diff=lfs
 hole_punch/simready_usd/forgecad/geometry.usda filter=lfs diff=lfs merge=lfs -text
 shower_cabin/simready_usd/forgecad/geometry.usda filter=lfs diff=lfs merge=lfs -text
 chest_freezer/simready_usd/forgecad/geometry.usda filter=lfs diff=lfs merge=lfs -text
+baggage_sizer/simready_usd/forgecad/geometry.usda filter=lfs diff=lfs merge=lfs -text

baggage_sizer/.metadata/baggage_sizer_benchmark.json

@@ -0,0 +1,2605 @@
+{
+  "schema_version": "1.0",
+  "asset": "baggage_sizer",
+  "run_timestamp": "2026-10-20T07:55:04Z",
+  "passed": false,
+  "results": [
+    {
+      "test_name": "culling_xz",
+      "engine": "isaac_sim",
+      "engine_version": "6.1.0.0",
+      "status": "pass",
+      "passed": true,
+      "duration": 6.738,
+      "message": "",
+      "metrics": {
+        "_timing_capture_frame_total_s": {
+          "value": 2.127,
+          "unit": null
+        },
+        "_timing_capture_frame_count": {
+          "value": 16,
+          "unit": null
+        },
+        "_timing_capture_frame_avg_ms": {
+          "value": 132.96,
+          "unit": null
+        },
+        "_timing_encode_video_total_s": {
+          "value": 1.226,
+          "unit": null
+        },
+        "_timing_encode_video_count": {
+          "value": 2,
+          "unit": null
+        },
+        "_render_blank_retry_count": {
+          "value": 0,
+          "unit": null
+        },
+        "_render_blank_retry_unrecovered": {
+          "value": 0,
+          "unit": null
+        },
+        "culling_xz_max_diff": {
+          "value": 0.000348,
+          "unit": null
+        },
+        "culling_xz_mean_diff": {
+          "value": 5.4e-05,
+          "unit": null
+        },
+        "culling_xz_worst_angle": {
+          "value": 0.0,
+          "unit": null
+        },
+        "culling_xz_passed": {
+          "value": 1,
+          "unit": null
+        }
+      },
+      "kit_logs": []
+    },
+    {
+      "test_name": "culling_xz",
+      "engine": "isaac_sim_newton",
+      "engine_version": "6.1.0.0",
+      "status": "pass",
+      "passed": true,
+      "duration": 9.391,
+      "message": "",
+      "metrics": {
+        "_timing_capture_frame_total_s": {
+          "value": 2.279,
+          "unit": null
+        },
+        "_timing_capture_frame_count": {
+          "value": 16,
+          "unit": null
+        },
+        "_timing_capture_frame_avg_ms": {
+          "value": 142.43,
+          "unit": null
+        },
+        "_timing_encode_video_total_s": {
+          "value": 1.364,
+          "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": 4.7e-05,
+          "unit": null
+        },
+        "culling_xz_mean_diff": {
+          "value": 6e-06,
+          "unit": null
+        },
+        "culling_xz_worst_angle": {
+          "value": 315.0,
+          "unit": null
+        },
+        "culling_xz_passed": {
+          "value": 1,
+          "unit": null
+        }
+      },
+      "kit_logs": [
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]: Traceback (most recent call last):"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:   File \"<home>/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/impl/texture.py\", line 377, in on_drawable_changed"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     self.__drawable_changed_fn(texture[\"rp_resource\"], presentation_key)"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:   File \"<home>/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/widget.py\", line 516, in __set_image_data"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     vp_api._sync_viewport_api(camera, canvas_size, vp_api.time, view, projection, force_update=True)  # noqa PLW0212"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:   File \"<home>/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 546, in _sync_viewport_api"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     self.__projection = self._conform_projection(policy, camera, image_aspect, canvas_aspect, projection)"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:                         ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:   File \"<home>/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     gf_camera = camera.GetCamera(self.__time)"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:                 ^^^^^^^^^^^^^^^^"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'"
+        }
+      ]
+    },
+    {
+      "test_name": "display_color_response",
+      "engine": "isaac_sim",
+      "engine_version": "6.1.0.0",
+      "status": "pass",
+      "passed": true,
+      "duration": 10.114,
+      "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": 11,
+          "unit": null
+        },
+        "display_color_gprims_without_displaycolor": {
+          "value": 0,
+          "unit": null
+        },
+        "display_color_gprims_without_displayopacity": {
+          "value": 11,
+          "unit": null
+        },
+        "display_color_probe_bound_gprims": {
+          "value": 11,
+          "unit": null
+        },
+        "_timing_capture_frame_total_s": {
+          "value": 0.668,
+          "unit": null
+        },
+        "_timing_capture_frame_count": {
+          "value": 5,
+          "unit": null
+        },
+        "_timing_capture_frame_avg_ms": {
+          "value": 133.53,
+          "unit": null
+        },
+        "_timing_encode_video_total_s": {
+          "value": 0.567,
+          "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": 199610,
+          "unit": null
+        },
+        "display_color_whole_frame_delta_pixels": {
+          "value": 200923,
+          "unit": null
+        },
+        "display_color_read_mean_rgb": {
+          "value": [
+            0.0439,
+            0.0657,
+            0.0749
+          ],
+          "unit": null
+        },
+        "display_color_control_ratio": {
+          "value": 0.0,
+          "unit": null
+        },
+        "display_color_response_ratio": {
+          "value": 1.0,
+          "unit": null
+        },
+        "display_color_opacity_ratio": {
+          "value": 0.969541,
+          "unit": null
+        }
+      },
+      "kit_logs": [
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]: Traceback (most recent call last):"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:   File \"<home>/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/impl/texture.py\", line 377, in on_drawable_changed"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     self.__drawable_changed_fn(texture[\"rp_resource\"], presentation_key)"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:   File \"<home>/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/widget.py\", line 516, in __set_image_data"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     vp_api._sync_viewport_api(camera, canvas_size, vp_api.time, view, projection, force_update=True)  # noqa PLW0212"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:   File \"<home>/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 546, in _sync_viewport_api"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     self.__projection = self._conform_projection(policy, camera, image_aspect, canvas_aspect, projection)"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:                         ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:   File \"<home>/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     gf_camera = camera.GetCamera(self.__time)"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:                 ^^^^^^^^^^^^^^^^"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'"
+        }
+      ]
+    },
+    {
+      "test_name": "display_color_response",
+      "engine": "isaac_sim_newton",
+      "engine_version": "6.1.0.0",
+      "status": "pass",
+      "passed": true,
+      "duration": 9.916,
+      "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": 11,
+          "unit": null
+        },
+        "display_color_gprims_without_displaycolor": {
+          "value": 0,
+          "unit": null
+        },
+        "display_color_gprims_without_displayopacity": {
+          "value": 11,
+          "unit": null
+        },
+        "display_color_probe_bound_gprims": {
+          "value": 11,
+          "unit": null
+        },
+        "_timing_capture_frame_total_s": {
+          "value": 0.603,
+          "unit": null
+        },
+        "_timing_capture_frame_count": {
+          "value": 5,
+          "unit": null
+        },
+        "_timing_capture_frame_avg_ms": {
+          "value": 120.58,
+          "unit": null
+        },
+        "_timing_encode_video_total_s": {
+          "value": 0.496,
+          "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": 199594,
+          "unit": null
+        },
+        "display_color_whole_frame_delta_pixels": {
+          "value": 200916,
+          "unit": null
+        },
+        "display_color_read_mean_rgb": {
+          "value": [
+            0.0438,
+            0.0657,
+            0.0749
+          ],
+          "unit": null
+        },
+        "display_color_control_ratio": {
+          "value": 0.0,
+          "unit": null
+        },
+        "display_color_response_ratio": {
+          "value": 1.0,
+          "unit": null
+        },
+        "display_color_opacity_ratio": {
+          "value": 0.969623,
+          "unit": null
+        }
+      },
+      "kit_logs": [
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]: Traceback (most recent call last):"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:   File \"<home>/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/impl/texture.py\", line 377, in on_drawable_changed"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     self.__drawable_changed_fn(texture[\"rp_resource\"], presentation_key)"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:   File \"<home>/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/widget.py\", line 516, in __set_image_data"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     vp_api._sync_viewport_api(camera, canvas_size, vp_api.time, view, projection, force_update=True)  # noqa PLW0212"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:   File \"<home>/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 546, in _sync_viewport_api"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     self.__projection = self._conform_projection(policy, camera, image_aspect, canvas_aspect, projection)"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:                         ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:   File \"<home>/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     gf_camera = camera.GetCamera(self.__time)"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:                 ^^^^^^^^^^^^^^^^"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'"
+        }
+      ]
+    },
+    {
+      "test_name": "grasp_and_lift",
+      "engine": "isaac_sim",
+      "engine_version": "6.1.0.0",
+      "status": "skipped",
+      "passed": false,
+      "duration": 0.352,
+      "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": 0.34,
+      "message": "no grasp_identifier prims found on asset",
+      "metrics": {},
+      "kit_logs": []
+    },
+    {
+      "test_name": "ground_drop",
+      "engine": "isaac_sim",
+      "engine_version": "6.1.0.0",
+      "status": "pass",
+      "passed": true,
+      "duration": 26.527,
+      "message": "",
+      "metrics": {
+        "ground_drop_initial_z_min": {
+          "value": 1.4025,
+          "unit": null
+        },
+        "ground_drop_bbox_height": {
+          "value": 0.935,
+          "unit": null
+        },
+        "ground_drop_effective_fall": {
+          "value": 1.3025,
+          "unit": null
+        },
+        "_timing_capture_frame_total_s": {
+          "value": 8.802,
+          "unit": null
+        },
+        "_timing_capture_frame_count": {
+          "value": 46,
+          "unit": null
+        },
+        "_timing_capture_frame_avg_ms": {
+          "value": 191.34,
+          "unit": null
+        },
+        "_timing_encode_video_total_s": {
+          "value": 1.861,
+          "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": 0.496,
+          "unit": null
+        },
+        "ground_drop_rest_time": {
+          "value": 2.508,
+          "unit": null
+        }
+      },
+      "kit_logs": [
+        {
+          "level": "error",
+          "channel": "omni.physx.plugin",
+          "message": "Physics scenes stepping is not the same, step subscription will be send with later step, per scene step is not yet supported."
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]: Traceback (most recent call last):"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:   File \"<home>/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/impl/texture.py\", line 377, in on_drawable_changed"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     self.__drawable_changed_fn(texture[\"rp_resource\"], presentation_key)"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:   File \"<home>/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/widget.py\", line 516, in __set_image_data"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     vp_api._sync_viewport_api(camera, canvas_size, vp_api.time, view, projection, force_update=True)  # noqa PLW0212"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:   File \"<home>/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 546, in _sync_viewport_api"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     self.__projection = self._conform_projection(policy, camera, image_aspect, canvas_aspect, projection)"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:                         ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:   File \"<home>/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     gf_camera = camera.GetCamera(self.__time)"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:                 ^^^^^^^^^^^^^^^^"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'"
+        }
+      ]
+    },
+    {
+      "test_name": "ground_drop",
+      "engine": "isaac_sim_newton",
+      "engine_version": "6.1.0.0",
+      "status": "pass",
+      "passed": true,
+      "duration": 48.63,
+      "message": "",
+      "metrics": {
+        "ground_drop_initial_z_min": {
+          "value": 1.3821,
+          "unit": null
+        },
+        "ground_drop_bbox_height": {
+          "value": 0.935,
+          "unit": null
+        },
+        "ground_drop_effective_fall": {
+          "value": 1.2821,
+          "unit": null
+        },
+        "_timing_capture_frame_total_s": {
+          "value": 10.652,
+          "unit": null
+        },
+        "_timing_capture_frame_count": {
+          "value": 51,
+          "unit": null
+        },
+        "_timing_capture_frame_avg_ms": {
+          "value": 208.86,
+          "unit": null
+        },
+        "_timing_encode_video_total_s": {
+          "value": 2.07,
+          "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": 0.529,
+          "unit": null
+        },
+        "ground_drop_rest_time": {
+          "value": 2.867,
+          "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",
+      "engine_version": "6.1.0.0",
+      "status": "pass",
+      "passed": true,
+      "duration": 11.377,
+      "message": "",
+      "metrics": {
+        "_timing_capture_frame_total_s": {
+          "value": 4.257,
+          "unit": null
+        },
+        "_timing_capture_frame_count": {
+          "value": 30,
+          "unit": null
+        },
+        "_timing_capture_frame_avg_ms": {
+          "value": 141.91,
+          "unit": null
+        },
+        "_timing_encode_video_total_s": {
+          "value": 1.198,
+          "unit": null
+        },
+        "_timing_encode_video_count": {
+          "value": 1,
+          "unit": null
+        },
+        "_render_blank_retry_count": {
+          "value": 0,
+          "unit": null
+        },
+        "_render_blank_retry_unrecovered": {
+          "value": 0,
+          "unit": null
+        },
+        "light_response_variation_ratio": {
+          "value": 0.724138,
+          "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": 21,
+          "unit": null
+        },
+        "light_response_passed": {
+          "value": 1,
+          "unit": null
+        },
+        "light_response_max_pair_change": {
+          "value": 0.766989,
+          "unit": null
+        },
+        "light_response_min_pair_change": {
+          "value": 0.018279,
+          "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": 11.257,
+      "message": "",
+      "metrics": {
+        "_timing_capture_frame_total_s": {
+          "value": 4.278,
+          "unit": null
+        },
+        "_timing_capture_frame_count": {
+          "value": 30,
+          "unit": null
+        },
+        "_timing_capture_frame_avg_ms": {
+          "value": 142.6,
+          "unit": null
+        },
+        "_timing_encode_video_total_s": {
+          "value": 1.2,
+          "unit": null
+        },
+        "_timing_encode_video_count": {
+          "value": 1,
+          "unit": null
+        },
+        "_render_blank_retry_count": {
+          "value": 0,
+          "unit": null
+        },
+        "_render_blank_retry_unrecovered": {
+          "value": 0,
+          "unit": null
+        },
+        "light_response_variation_ratio": {
+          "value": 0.724138,
+          "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": 21,
+          "unit": null
+        },
+        "light_response_passed": {
+          "value": 1,
+          "unit": null
+        },
+        "light_response_max_pair_change": {
+          "value": 0.768549,
+          "unit": null
+        },
+        "light_response_min_pair_change": {
+          "value": 0.016508,
+          "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": 3.83,
+      "message": "",
+      "metrics": {
+        "_timing_capture_frame_total_s": {
+          "value": 0.992,
+          "unit": null
+        },
+        "_timing_capture_frame_count": {
+          "value": 8,
+          "unit": null
+        },
+        "_timing_capture_frame_avg_ms": {
+          "value": 123.94,
+          "unit": null
+        },
+        "_timing_encode_video_total_s": {
+          "value": 0.688,
+          "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": 2e-06,
+          "unit": null
+        },
+        "normals_xz_max_dark": {
+          "value": 1.2e-05,
+          "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": 3.736,
+      "message": "",
+      "metrics": {
+        "_timing_capture_frame_total_s": {
+          "value": 1.078,
+          "unit": null
+        },
+        "_timing_capture_frame_count": {
+          "value": 8,
+          "unit": null
+        },
+        "_timing_capture_frame_avg_ms": {
+          "value": 134.77,
+          "unit": null
+        },
+        "_timing_encode_video_total_s": {
+          "value": 0.559,
+          "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": 8e-06,
+          "unit": null
+        },
+        "normals_xz_max_dark": {
+          "value": 6.2e-05,
+          "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": 8.507,
+      "message": "",
+      "metrics": {
+        "_timing_capture_frame_total_s": {
+          "value": 2.884,
+          "unit": null
+        },
+        "_timing_capture_frame_count": {
+          "value": 20,
+          "unit": null
+        },
+        "_timing_capture_frame_avg_ms": {
+          "value": 144.19,
+          "unit": null
+        },
+        "_timing_encode_video_total_s": {
+          "value": 1.575,
+          "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": 8.382,
+      "message": "",
+      "metrics": {
+        "_timing_capture_frame_total_s": {
+          "value": 2.884,
+          "unit": null
+        },
+        "_timing_capture_frame_count": {
+          "value": 20,
+          "unit": null
+        },
+        "_timing_capture_frame_avg_ms": {
+          "value": 144.2,
+          "unit": null
+        },
+        "_timing_encode_video_total_s": {
+          "value": 1.364,
+          "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": 1.647,
+      "message": "",
+      "metrics": {
+        "_timing_capture_frame_total_s": {
+          "value": 0.291,
+          "unit": null
+        },
+        "_timing_capture_frame_count": {
+          "value": 2,
+          "unit": null
+        },
+        "_timing_capture_frame_avg_ms": {
+          "value": 145.43,
+          "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": 0.190205,
+          "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": 1.877,
+      "message": "",
+      "metrics": {
+        "_timing_capture_frame_total_s": {
+          "value": 0.265,
+          "unit": null
+        },
+        "_timing_capture_frame_count": {
+          "value": 2,
+          "unit": null
+        },
+        "_timing_capture_frame_avg_ms": {
+          "value": 132.67,
+          "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": 0.190162,
+          "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": 3.388,
+      "message": "",
+      "metrics": {
+        "_timing_capture_frame_total_s": {
+          "value": 0.739,
+          "unit": null
+        },
+        "_timing_capture_frame_count": {
+          "value": 4,
+          "unit": null
+        },
+        "_timing_capture_frame_avg_ms": {
+          "value": 184.73,
+          "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": 5,
+          "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": 5,
+          "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": 195773,
+          "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": 3.426,
+      "message": "",
+      "metrics": {
+        "_timing_capture_frame_total_s": {
+          "value": 0.859,
+          "unit": null
+        },
+        "_timing_capture_frame_count": {
+          "value": 4,
+          "unit": null
+        },
+        "_timing_capture_frame_avg_ms": {
+          "value": 214.66,
+          "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": 5,
+          "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": 5,
+          "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": 195941,
+          "unit": null
+        },
+        "universal_surface_uncovered_pixels": {
+          "value": 0,
+          "unit": null
+        },
+        "universal_surface_coverage": {
+          "value": 1.0,
+          "unit": null
+        }
+      },
+      "kit_logs": []
+    },
+    {
+      "test_name": "semantic_labels_seg_labelled",
+      "engine": "isaac_sim",
+      "engine_version": "6.1.0.0",
+      "status": "pass",
+      "passed": true,
+      "duration": 2.513,
+      "message": "",
+      "metrics": {
+        "_timing_capture_frame_total_s": {
+          "value": 0.244,
+          "unit": null
+        },
+        "_timing_capture_frame_count": {
+          "value": 1,
+          "unit": null
+        },
+        "_timing_capture_frame_avg_ms": {
+          "value": 243.92,
+          "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": 0.187944,
+          "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": 2.996,
+      "message": "",
+      "metrics": {
+        "_timing_capture_frame_total_s": {
+          "value": 0.298,
+          "unit": null
+        },
+        "_timing_capture_frame_count": {
+          "value": 1,
+          "unit": null
+        },
+        "_timing_capture_frame_avg_ms": {
+          "value": 298.09,
+          "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": 0.187944,
+          "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": 2.329,
+      "message": "",
+      "metrics": {
+        "semantic_labels_stripped_prims": {
+          "value": 6,
+          "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": 2.583,
+      "message": "",
+      "metrics": {
+        "semantic_labels_stripped_prims": {
+          "value": 6,
+          "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": "pass",
+      "passed": true,
+      "duration": 32.501,
+      "message": "",
+      "metrics": {
+        "slope_drop_initial_cx": {
+          "value": 0.0,
+          "unit": null
+        },
+        "slope_drop_initial_cy": {
+          "value": -3.7024,
+          "unit": null
+        },
+        "slope_drop_initial_z_min": {
+          "value": 10.4545,
+          "unit": null
+        },
+        "slope_drop_bbox_height": {
+          "value": 0.935,
+          "unit": null
+        },
+        "_timing_capture_frame_total_s": {
+          "value": 9.69,
+          "unit": null
+        },
+        "_timing_capture_frame_count": {
+          "value": 53,
+          "unit": null
+        },
+        "_timing_capture_frame_avg_ms": {
+          "value": 182.82,
+          "unit": null
+        },
+        "_timing_encode_video_total_s": {
+          "value": 1.979,
+          "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": 0,
+          "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": 1,
+          "unit": null
+        },
+        "slope_drop_max_clearance": {
+          "value": 0.0061,
+          "unit": "m"
+        },
+        "slope_drop_separation_frames": {
+          "value": 0,
+          "unit": null
+        },
+        "slope_drop_left_slope_frame": {
+          "value": 619,
+          "unit": null
+        },
+        "slope_drop_horiz_time": {
+          "value": 0.529,
+          "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": "slope_drop",
+      "engine": "isaac_sim_newton",
+      "engine_version": "6.1.0.0",
+      "status": "fail",
+      "passed": false,
+      "duration": 13.734,
+      "message": "Slope drop FAILED: The asset remained too far from the ramp after contact for 24 consecutive frame(s); peak clearance 0.2387m at frame 216. Review collision contact gaps, restitution, and the video for an upward launch.",
+      "metrics": {
+        "slope_drop_initial_cx": {
+          "value": 0.0,
+          "unit": null
+        },
+        "slope_drop_initial_cy": {
+          "value": -3.7024,
+          "unit": null
+        },
+        "slope_drop_initial_z_min": {
+          "value": 10.4341,
+          "unit": null
+        },
+        "slope_drop_bbox_height": {
+          "value": 0.935,
+          "unit": null
+        },
+        "_timing_capture_frame_total_s": {
+          "value": 2.512,
+          "unit": null
+        },
+        "_timing_capture_frame_count": {
+          "value": 14,
+          "unit": null
+        },
+        "_timing_capture_frame_avg_ms": {
+          "value": 179.43,
+          "unit": null
+        },
+        "_timing_encode_video_total_s": {
+          "value": 0.886,
+          "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": 0,
+          "unit": null
+        },
+        "slope_drop_slope_penetrated": {
+          "value": 0,
+          "unit": null
+        },
+        "slope_drop_excessive_separation": {
+          "value": 1,
+          "unit": null
+        },
+        "slope_drop_uphill_motion": {
+          "value": 0,
+          "unit": null
+        },
+        "slope_drop_passed": {
+          "value": 0,
+          "unit": null
+        },
+        "slope_drop_max_clearance": {
+          "value": 0.2387,
+          "unit": "m"
+        },
+        "slope_drop_separation_frames": {
+          "value": 24,
+          "unit": null
+        },
+        "slope_drop_separation_frame": {
+          "value": 216,
+          "unit": null
+        },
+        "slope_drop_horiz_time": {
+          "value": 0.558,
+          "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'"
+        }
+      ]
+    }
+  ]
+}

baggage_sizer/.metadata/baggage_sizer_validation.json

@@ -0,0 +1,176 @@
+{
+    "simready_usd/baggage_sizer.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": "[]",
+                "passed": true,
+                "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', 'com.nvidia.simready.RB.MB.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.RB.MB.001']",
+                "passed": false,
+                "version": "0.1.0"
+            },
+            "FET_004_PHYSX": {
+                "blocking_failure": false,
+                "dependencies": "[{'FET_003_PHYSX': {'version': '0.4.0'}}]",
+                "optional requirements": "['com.nvidia.simready.RB.MB.001']",
+                "passed": false,
+                "version": "0.4.0"
+            },
+            "FET_004_STANDARD": {
+                "blocking_failure": false,
+                "dependencies": "[{'FET_003_STANDARD': {'version': '0.2.0'}}]",
+                "optional requirements": "['com.nvidia.simready.RB.MB.001']",
+                "passed": false,
+                "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"
+        }
+    }
+}

baggage_sizer/.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": "2026-10-20T07:55:07",
+  "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"
+                }
+              }
+            ]
+          }
+        }
+      ]
+    }
+  ]
+}

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

@@ -0,0 +1,46 @@
+{
+  "format_version": "1.0",
+  "items": [
+    {
+      "relative_path": "simready_usd/.thumbs/256x256/baggage_sizer.usda.png",
+      "size": 16257,
+      "hash": {
+        "sha256-flat-1mb": "6fe7a4446525a428f5106f81be7617d1f3a99aab59c6dbf840510ee06d707424",
+        "sha256": "b23e22535c8e18f2a6b394a563a8142c5857258146e0ddae013ba9fd1d37a3e8"
+      }
+    },
+    {
+      "relative_path": "simready_usd/assets/powdercoat.png",
+      "size": 24274,
+      "hash": {
+        "sha256-flat-1mb": "510716a19004d70656d4728b97a6d2d2c0c1ece9823e536feeb2abc779de2095",
+        "sha256": "35205d69eff3b763c6cd53aaeb0cfc316daddd833c771c80a521616d708dfe5e"
+      }
+    },
+    {
+      "relative_path": "simready_usd/baggage_sizer.usda",
+      "size": 7737,
+      "hash": {
+        "sha256-flat-1mb": "508946e868cfb114dd7a100ed128fd2e55bacfa22dd4f85a8afd50867b56c0c7",
+        "sha256": "9a004c0476b3c93903ff9dab303f3341b7020f566a191fc7f7652dd864e0e95e"
+      }
+    },
+    {
+      "relative_path": "simready_usd/forgecad/geometry.usda",
+      "size": 36892853,
+      "hash": {
+        "sha256-flat-1mb": "0f0ca1b510ca87ee8e8bd0757c5929d27fb329dc58964485cc45dede948bac0c",
+        "sha256": "3cb381f770dbbd950506e3219a4e9269c1c28f9bc5014aeb9b083939490b5cb4",
+        "sha256-first1m": "becac2375f1b7cf6c8eae5abde72547cf0bc933ab4f4a723eafcd3e9810a1e1a"
+      }
+    },
+    {
+      "relative_path": "simready_usd/forgecad/physics.usda",
+      "size": 26163,
+      "hash": {
+        "sha256-flat-1mb": "a32840c2a3419487c7718372896b6553e68f487ee4a4fe787da14302f1eb0641",
+        "sha256": "dbbd3df39d88396fb784d6f03c0d83f5a5285a61a0ab981991f0663d06f65e4c"
+      }
+    }
+  ]
+}

baggage_sizer/com.nvidia.simready.packaging.json

@@ -0,0 +1,31 @@
+{
+  "format_version": "1.0",
+  "package_id": "simready.hf.ForgeCAD.simready-assets.baggage_sizer.2026.10.17_00",
+  "license": "cc-by-4.0",
+  "metadata": [
+    {
+      "name": "com.nvidia.simready.conformance.Package-Candidate@1.0.0.json",
+      "hash": {
+        "sha256": "5d641e091d1f557a234bcbf65a596f6362393a4316c062bffe918109dfec2d3f"
+      }
+    },
+    {
+      "name": "com.nvidia.simready.packaging.bom.json",
+      "hash": {
+        "sha256": "d8f775db0dbaa7cf7ee8b0e30d35daecc4a2d08ee78a758539347a5f4002ff99"
+      }
+    },
+    {
+      "name": "com.nvidia.simready.root_usds.json",
+      "hash": {
+        "sha256": "95fab64a164e594632a4ea9293d4578bd283651aa80f9a40ad3aef06548703f8"
+      }
+    }
+  ],
+  "content_hash": {
+    "sha256": "25b52c35a6aeb992de114f15f90132afa3ad1f4148d812618d4306f60b832b0e"
+  },
+  "package_hash": {
+    "sha256": "1584c67596492e5cd95133070e651ad4569cb9bf3b4691a86d9e96b3603a6969"
+  }
+}

baggage_sizer/simready_usd/baggage_sizer.usda

@@ -0,0 +1,244 @@
+#usda 1.0
+(
+    customLayerData = {
+        dictionary SimReady_Metadata = {
+            float3 asset_extents = (0.52, 0.42, 0.935)
+            string asset_license = "CC-BY-4.0"
+            string asset_name = "baggage_sizer"
+            string asset_type = "prop"
+            string author = "ForgeCAD"
+            string category = "logistics"
+            double mass = 26.143814086914062
+            string qcode = "Q865054"
+            int rigid_body_count = 1
+            string source = "ForgeCAD"
+            string source_file = "main.usda"
+            string usd_date_generated = "2026-10-18"
+        }
+        string asset_name = "baggage_sizer"
+        string asset_type = "prop"
+        string source_file = "main.usda"
+        string usd_date_generated = "2026-10-18"
+    }
+    defaultPrim = "Model"
+    metersPerUnit = 1
+    upAxis = "Z"
+)
+
+def Xform "Model" (
+    prepend apiSchemas = ["SemanticsLabelsAPI:class", "SemanticsLabelsAPI:wikidata_qcode"]
+    prepend references = @./forgecad/geometry.usda@</Model>
+    variants = {
+        string physics = "physics"
+    }
+    prepend variantSets = "physics"
+)
+{
+    token[] semantics:labels:class = ["baggage sizer", "luggage gauge"]
+    token[] semantics:labels:wikidata_qcode = ["Q865054"]
+
+    over "Geometry"
+    {
+        over "Frame" (
+            prepend apiSchemas = ["MaterialBindingAPI"]
+        )
+        {
+            rel material:binding = </Model/Materials/Powdercoat>
+
+            over "Foot_L_F" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </Model/Materials/Rubber>
+            }
+
+            over "Foot_L_B" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </Model/Materials/Rubber>
+            }
+
+            over "Foot_R_F" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </Model/Materials/Rubber>
+            }
+
+            over "Foot_R_B" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </Model/Materials/Rubber>
+            }
+
+            over "PanelFasteners" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </Model/Materials/Steel>
+            }
+
+            over "Sign" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </Model/Materials/Panel>
+
+                over "Print0" (
+                    prepend apiSchemas = ["MaterialBindingAPI"]
+                )
+                {
+                    rel material:binding = </Model/Materials/Ink>
+                }
+
+                over "Print1" (
+                    prepend apiSchemas = ["MaterialBindingAPI"]
+                )
+                {
+                    rel material:binding = </Model/Materials/Ink>
+                }
+
+                over "Print2" (
+                    prepend apiSchemas = ["MaterialBindingAPI"]
+                )
+                {
+                    rel material:binding = </Model/Materials/Ink>
+                }
+
+                over "Print3" (
+                    prepend apiSchemas = ["MaterialBindingAPI"]
+                )
+                {
+                    rel material:binding = </Model/Materials/Ink>
+                }
+            }
+        }
+    }
+
+    def Scope "Materials"
+    {
+        def Material "Rubber" (
+            prepend apiSchemas = ["SemanticsLabelsAPI:material"]
+        )
+        {
+            token outputs:surface.connect = </Model/Materials/Rubber/Surface.outputs:surface>
+            token[] semantics:labels:material = ["rubber"]
+
+            def Shader "Surface"
+            {
+                uniform token info:id = "UsdPreviewSurface"
+                color3f inputs:diffuseColor = (0.017642, 0.021219, 0.023153)
+                float inputs:metallic = 0
+                float inputs:roughness = 0.9
+                token outputs:surface
+            }
+        }
+
+        def Material "Steel" (
+            prepend apiSchemas = ["SemanticsLabelsAPI:material"]
+        )
+        {
+            token outputs:surface.connect = </Model/Materials/Steel/Surface.outputs:surface>
+            token[] semantics:labels:material = ["metal"]
+
+            def Shader "Surface"
+            {
+                uniform token info:id = "UsdPreviewSurface"
+                color3f inputs:diffuseColor = (0.514918, 0.545724, 0.55834)
+                float inputs:metallic = 0.8
+                float inputs:roughness = 0.25
+                token outputs:surface
+            }
+        }
+
+        def Material "Panel" (
+            prepend apiSchemas = ["SemanticsLabelsAPI:material"]
+        )
+        {
+            token outputs:surface.connect = </Model/Materials/Panel/Surface.outputs:surface>
+            token[] semantics:labels:material = ["plastic"]
+
+            def Shader "Surface"
+            {
+                uniform token info:id = "UsdPreviewSurface"
+                color3f inputs:diffuseColor = (0.008568, 0.049707, 0.08022)
+                float inputs:metallic = 0
+                float inputs:roughness = 0.55
+                token outputs:surface
+            }
+        }
+
+        def Material "Ink" (
+            prepend apiSchemas = ["SemanticsLabelsAPI:material"]
+        )
+        {
+            token outputs:surface.connect = </Model/Materials/Ink/Surface.outputs:surface>
+            token[] semantics:labels:material = ["paint"]
+
+            def Shader "Surface"
+            {
+                uniform token info:id = "UsdPreviewSurface"
+                color3f inputs:diffuseColor = (0.904661, 0.921582, 0.814847)
+                float inputs:metallic = 0
+                float inputs:roughness = 0.65
+                token outputs:surface
+            }
+        }
+
+        def Material "Powdercoat" (
+            prepend apiSchemas = ["SemanticsLabelsAPI:material"]
+        )
+        {
+            token outputs:surface.connect = </Model/Materials/Powdercoat/Surface.outputs:surface>
+            token[] semantics:labels:material = ["metal"]
+
+            def Shader "St"
+            {
+                uniform token info:id = "UsdPrimvarReader_float2"
+                string inputs:varname = "st"
+                float2 outputs:result
+            }
+
+            def Shader "Tile"
+            {
+                uniform token info:id = "UsdTransform2d"
+                float2 inputs:in.connect = </Model/Materials/Powdercoat/St.outputs:result>
+                float2 inputs:scale = (50, 50)
+                float2 outputs:result
+            }
+
+            def Shader "Albedo"
+            {
+                uniform token info:id = "UsdUVTexture"
+                asset inputs:file = @./assets/powdercoat.png@
+                token inputs:sourceColorSpace = "sRGB"
+                float2 inputs:st.connect = </Model/Materials/Powdercoat/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/Powdercoat/Albedo.outputs:rgb>
+                float inputs:metallic = 0.05
+                float inputs:roughness = 0.62
+                token outputs:surface
+            }
+        }
+    }
+    variantSet "physics" = {
+        "none" {
+
+        }
+        "physics" (
+            prepend references = @./forgecad/physics.usda@</Model>
+        ) {
+
+        }
+    }
+}
+

baggage_sizer/simready_usd/forgecad/geometry.usda

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3cb381f770dbbd950506e3219a4e9269c1c28f9bc5014aeb9b083939490b5cb4
+size 36892853

baggage_sizer/simready_usd/forgecad/physics.usda

@@ -0,0 +1,529 @@
+#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 "s235_powder_coated_steel" (
+                    prepend apiSchemas = ["PhysicsMaterialAPI", "SemanticsLabelsAPI:material"]
+                  )
+                  {
+                    token[] semantics:labels:material = ["S235 powder-coated steel"]
+                    float physics:density = 7850
+                    float physics:staticFriction = 0.5
+                    float physics:dynamicFriction = 0.35
+                    float physics:restitution = 0
+                  }
+
+            def Material "bonded_rubber_rigid_contact_approximation" (
+                    prepend apiSchemas = ["PhysicsMaterialAPI", "SemanticsLabelsAPI:material"]
+                  )
+                  {
+                    token[] semantics:labels:material = ["Bonded rubber rigid-contact approximation"]
+                    float physics:density = 1100
+                    float physics:staticFriction = 0.9
+                    float physics:dynamicFriction = 0.75
+                    float physics:restitution = 0
+                  }
+
+            def Material "printed_aluminium_panel" (
+                    prepend apiSchemas = ["PhysicsMaterialAPI", "SemanticsLabelsAPI:material"]
+                  )
+                  {
+                    token[] semantics:labels:material = ["Printed aluminium panel"]
+                    float physics:density = 2700
+                    float physics:staticFriction = 0.5
+                    float physics:dynamicFriction = 0.35
+                    float physics:restitution = 0
+                  }
+        }
+    }
+
+    over "Geometry"
+    {
+        over "Frame" (
+            prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"]
+        )
+        {
+            bool physics:rigidBodyEnabled = 1
+            bool physics:kinematicEnabled = 0
+            bool physics:startsAsleep = 0
+            float physics:mass = 26.143813640527185
+            point3f physics:centerOfMass = (0.000005433, 0.011804453, 0.185391243)
+            float3 physics:diagonalInertia = (2.420560691085, 2.030441823311, 1.006514559829)
+            quatf physics:principalAxes = (0.02988716, 0.70647498, 0.70647364, -0.02991416)
+            def Xform "Colliders"
+            {
+                def Cube "FrontPost_212_5" (
+                    prepend apiSchemas = ["PhysicsCollisionAPI", "MaterialBindingAPI"]
+                )
+                {
+                    uniform token purpose = "guide"
+                    double size = 1
+                    double3 xformOp:translate = (-0.2125, -0.1125, 0.325)
+                    quatf xformOp:orient = (1, 0, 0, 0)
+                    float3 xformOp:scale = (0.025, 0.025, 0.61)
+                    uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+                    rel material:binding:physics = </Model/Physics/Materials/s235_powder_coated_steel>
+                }
+
+                def Cube "RearPost_212_5" (
+                    prepend apiSchemas = ["PhysicsCollisionAPI", "MaterialBindingAPI"]
+                )
+                {
+                    uniform token purpose = "guide"
+                    double size = 1
+                    double3 xformOp:translate = (-0.2125, 0.1125, 0.4775)
+                    quatf xformOp:orient = (1, 0, 0, 0)
+                    float3 xformOp:scale = (0.025, 0.025, 0.915)
+                    uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+                    rel material:binding:physics = </Model/Physics/Materials/s235_powder_coated_steel>
+                }
+
+                def Cube "Side_212_5_220" (
+                    prepend apiSchemas = ["PhysicsCollisionAPI", "MaterialBindingAPI"]
+                )
+                {
+                    uniform token purpose = "guide"
+                    double size = 1
+                    double3 xformOp:translate = (-0.2125, 0, 0.22)
+                    quatf xformOp:orient = (0.70710678, -0.70710678, 0, 0)
+                    float3 xformOp:scale = (0.025, 0.025, 0.2)
+                    uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+                    rel material:binding:physics = </Model/Physics/Materials/s235_powder_coated_steel>
+                }
+
+                def Cube "Side_212_5_450" (
+                    prepend apiSchemas = ["PhysicsCollisionAPI", "MaterialBindingAPI"]
+                )
+                {
+                    uniform token purpose = "guide"
+                    double size = 1
+                    double3 xformOp:translate = (-0.2125, 0, 0.45)
+                    quatf xformOp:orient = (0.70710678, -0.70710678, 0, 0)
+                    float3 xformOp:scale = (0.025, 0.025, 0.2)
+                    uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+                    rel material:binding:physics = </Model/Physics/Materials/s235_powder_coated_steel>
+                }
+
+                def Cube "Side_212_5_642_5" (
+                    prepend apiSchemas = ["PhysicsCollisionAPI", "MaterialBindingAPI"]
+                )
+                {
+                    uniform token purpose = "guide"
+                    double size = 1
+                    double3 xformOp:translate = (-0.2125, 0, 0.6425)
+                    quatf xformOp:orient = (0.70710678, -0.70710678, 0, 0)
+                    float3 xformOp:scale = (0.025, 0.025, 0.2)
+                    uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+                    rel material:binding:physics = </Model/Physics/Materials/s235_powder_coated_steel>
+                }
+
+                def Cube "FrontPost212_5" (
+                    prepend apiSchemas = ["PhysicsCollisionAPI", "MaterialBindingAPI"]
+                )
+                {
+                    uniform token purpose = "guide"
+                    double size = 1
+                    double3 xformOp:translate = (0.2125, -0.1125, 0.325)
+                    quatf xformOp:orient = (1, 0, 0, 0)
+                    float3 xformOp:scale = (0.025, 0.025, 0.61)
+                    uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+                    rel material:binding:physics = </Model/Physics/Materials/s235_powder_coated_steel>
+                }
+
+                def Cube "RearPost212_5" (
+                    prepend apiSchemas = ["PhysicsCollisionAPI", "MaterialBindingAPI"]
+                )
+                {
+                    uniform token purpose = "guide"
+                    double size = 1
+                    double3 xformOp:translate = (0.2125, 0.1125, 0.4775)
+                    quatf xformOp:orient = (1, 0, 0, 0)
+                    float3 xformOp:scale = (0.025, 0.025, 0.915)
+                    uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+                    rel material:binding:physics = </Model/Physics/Materials/s235_powder_coated_steel>
+                }
+
+                def Cube "Side212_5_220" (
+                    prepend apiSchemas = ["PhysicsCollisionAPI", "MaterialBindingAPI"]
+                )
+                {
+                    uniform token purpose = "guide"
+                    double size = 1
+                    double3 xformOp:translate = (0.2125, 0, 0.22)
+                    quatf xformOp:orient = (0.70710678, -0.70710678, 0, 0)
+                    float3 xformOp:scale = (0.025, 0.025, 0.2)
+                    uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+                    rel material:binding:physics = </Model/Physics/Materials/s235_powder_coated_steel>
+                }
+
+                def Cube "Side212_5_450" (
+                    prepend apiSchemas = ["PhysicsCollisionAPI", "MaterialBindingAPI"]
+                )
+                {
+                    uniform token purpose = "guide"
+                    double size = 1
+                    double3 xformOp:translate = (0.2125, 0, 0.45)
+                    quatf xformOp:orient = (0.70710678, -0.70710678, 0, 0)
+                    float3 xformOp:scale = (0.025, 0.025, 0.2)
+                    uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+                    rel material:binding:physics = </Model/Physics/Materials/s235_powder_coated_steel>
+                }
+
+                def Cube "Side212_5_642_5" (
+                    prepend apiSchemas = ["PhysicsCollisionAPI", "MaterialBindingAPI"]
+                )
+                {
+                    uniform token purpose = "guide"
+                    double size = 1
+                    double3 xformOp:translate = (0.2125, 0, 0.6425)
+                    quatf xformOp:orient = (0.70710678, -0.70710678, 0, 0)
+                    float3 xformOp:scale = (0.025, 0.025, 0.2)
+                    uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+                    rel material:binding:physics = </Model/Physics/Materials/s235_powder_coated_steel>
+                }
+
+                def Cube "FrontHeader" (
+                    prepend apiSchemas = ["PhysicsCollisionAPI", "MaterialBindingAPI"]
+                )
+                {
+                    uniform token purpose = "guide"
+                    double size = 1
+                    double3 xformOp:translate = (0, -0.1125, 0.6425)
+                    quatf xformOp:orient = (0.70710678, 0, 0.70710678, 0)
+                    float3 xformOp:scale = (0.025, 0.025, 0.45)
+                    uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+                    rel material:binding:physics = </Model/Physics/Materials/s235_powder_coated_steel>
+                }
+
+                def Cube "RearHeader" (
+                    prepend apiSchemas = ["PhysicsCollisionAPI", "MaterialBindingAPI"]
+                )
+                {
+                    uniform token purpose = "guide"
+                    double size = 1
+                    double3 xformOp:translate = (0, 0.1125, 0.6425)
+                    quatf xformOp:orient = (0.70710678, 0, 0.70710678, 0)
+                    float3 xformOp:scale = (0.025, 0.025, 0.4)
+                    uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+                    rel material:binding:physics = </Model/Physics/Materials/s235_powder_coated_steel>
+                }
+
+                def Cube "RearCross220" (
+                    prepend apiSchemas = ["PhysicsCollisionAPI", "MaterialBindingAPI"]
+                )
+                {
+                    uniform token purpose = "guide"
+                    double size = 1
+                    double3 xformOp:translate = (0, 0.1125, 0.22)
+                    quatf xformOp:orient = (0.70710678, 0, 0.70710678, 0)
+                    float3 xformOp:scale = (0.025, 0.025, 0.4)
+                    uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+                    rel material:binding:physics = </Model/Physics/Materials/s235_powder_coated_steel>
+                }
+
+                def Cube "RearCross450" (
+                    prepend apiSchemas = ["PhysicsCollisionAPI", "MaterialBindingAPI"]
+                )
+                {
+                    uniform token purpose = "guide"
+                    double size = 1
+                    double3 xformOp:translate = (0, 0.1125, 0.45)
+                    quatf xformOp:orient = (0.70710678, 0, 0.70710678, 0)
+                    float3 xformOp:scale = (0.025, 0.025, 0.4)
+                    uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+                    rel material:binding:physics = </Model/Physics/Materials/s235_powder_coated_steel>
+                }
+
+                def Cube "ballast" (
+                    prepend apiSchemas = ["PhysicsCollisionAPI", "MaterialBindingAPI"]
+                )
+                {
+                    uniform token purpose = "guide"
+                    double size = 1
+                    double3 xformOp:translate = (0, 0, 0.016)
+                    quatf xformOp:orient = (1, 0, 0, 0)
+                    float3 xformOp:scale = (0.52, 0.42, 0.008)
+                    uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+                    rel material:binding:physics = </Model/Physics/Materials/s235_powder_coated_steel>
+                }
+
+                def Cube "tray" (
+                    prepend apiSchemas = ["PhysicsCollisionAPI", "MaterialBindingAPI"]
+                )
+                {
+                    uniform token purpose = "guide"
+                    double size = 1
+                    double3 xformOp:translate = (0, 0, 0.0785)
+                    quatf xformOp:orient = (1, 0, 0, 0)
+                    float3 xformOp:scale = (0.45, 0.25, 0.003)
+                    uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+                    rel material:binding:physics = </Model/Physics/Materials/s235_powder_coated_steel>
+                }
+
+                def Cube "returns_000" (
+                    prepend apiSchemas = ["PhysicsCollisionAPI", "MaterialBindingAPI"]
+                )
+                {
+                    uniform token purpose = "guide"
+                    double size = 1
+                    double3 xformOp:translate = (-0.2015, 0, 0.068)
+                    quatf xformOp:orient = (1, 0, 0, 0)
+                    float3 xformOp:scale = (0.003, 0.2, 0.018)
+                    uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+                    rel material:binding:physics = </Model/Physics/Materials/s235_powder_coated_steel>
+                }
+
+                def Cube "returns_001" (
+                    prepend apiSchemas = ["PhysicsCollisionAPI", "MaterialBindingAPI"]
+                )
+                {
+                    uniform token purpose = "guide"
+                    double size = 1
+                    double3 xformOp:translate = (0.2015, 0, 0.068)
+                    quatf xformOp:orient = (1, 0, 0, 0)
+                    float3 xformOp:scale = (0.003, 0.2, 0.018)
+                    uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+                    rel material:binding:physics = </Model/Physics/Materials/s235_powder_coated_steel>
+                }
+
+                def Cube "returns_002" (
+                    prepend apiSchemas = ["PhysicsCollisionAPI", "MaterialBindingAPI"]
+                )
+                {
+                    uniform token purpose = "guide"
+                    double size = 1
+                    double3 xformOp:translate = (0, 0.1015, 0.068)
+                    quatf xformOp:orient = (1, 0, 0, 0)
+                    float3 xformOp:scale = (0.4, 0.003, 0.018)
+                    uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+                    rel material:binding:physics = </Model/Physics/Materials/s235_powder_coated_steel>
+                }
+
+                def Cube "weld_212_5__112_5" (
+                    prepend apiSchemas = ["PhysicsCollisionAPI", "MaterialBindingAPI"]
+                )
+                {
+                    uniform token purpose = "guide"
+                    double size = 1
+                    double3 xformOp:translate = (-0.2125, -0.1125, 0.0205)
+                    quatf xformOp:orient = (1, 0, 0, 0)
+                    float3 xformOp:scale = (0.031, 0.031, 0.003)
+                    uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+                    rel material:binding:physics = </Model/Physics/Materials/s235_powder_coated_steel>
+                }
+
+                def Cube "weld_212_5_112_5" (
+                    prepend apiSchemas = ["PhysicsCollisionAPI", "MaterialBindingAPI"]
+                )
+                {
+                    uniform token purpose = "guide"
+                    double size = 1
+                    double3 xformOp:translate = (-0.2125, 0.1125, 0.0205)
+                    quatf xformOp:orient = (1, 0, 0, 0)
+                    float3 xformOp:scale = (0.031, 0.031, 0.003)
+                    uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+                    rel material:binding:physics = </Model/Physics/Materials/s235_powder_coated_steel>
+                }
+
+                def Cube "weld212_5__112_5" (
+                    prepend apiSchemas = ["PhysicsCollisionAPI", "MaterialBindingAPI"]
+                )
+                {
+                    uniform token purpose = "guide"
+                    double size = 1
+                    double3 xformOp:translate = (0.2125, -0.1125, 0.0205)
+                    quatf xformOp:orient = (1, 0, 0, 0)
+                    float3 xformOp:scale = (0.031, 0.031, 0.003)
+                    uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+                    rel material:binding:physics = </Model/Physics/Materials/s235_powder_coated_steel>
+                }
+
+                def Cube "weld212_5_112_5" (
+                    prepend apiSchemas = ["PhysicsCollisionAPI", "MaterialBindingAPI"]
+                )
+                {
+                    uniform token purpose = "guide"
+                    double size = 1
+                    double3 xformOp:translate = (0.2125, 0.1125, 0.0205)
+                    quatf xformOp:orient = (1, 0, 0, 0)
+                    float3 xformOp:scale = (0.031, 0.031, 0.003)
+                    uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+                    rel material:binding:physics = </Model/Physics/Materials/s235_powder_coated_steel>
+                }
+            }
+                  def BasisCurves "grasp_identifier_01"
+                  {
+                    int[] curveVertexCounts = [2]
+                    float3[] extent = [(0, -0.1125, 0.5425), (0, -0.1125, 0.7425)]
+                    point3f[] points = [(0, -0.1125, 0.5425), (0, -0.1125, 0.7425)]
+                    uniform token purpose = "guide"
+                    uniform token type = "linear"
+                    uniform token wrap = "nonperiodic"
+                  }
+            over "Foot_L_F"
+            {
+                def Xform "Colliders"
+                {
+                    def Cube "pad" (
+                        prepend apiSchemas = ["PhysicsCollisionAPI", "MaterialBindingAPI"]
+                    )
+                    {
+                        uniform token purpose = "guide"
+                        double size = 1
+                        double3 xformOp:translate = (0, 0, 0.006)
+                        quatf xformOp:orient = (1, 0, 0, 0)
+                        float3 xformOp:scale = (0.05, 0.05, 0.012)
+                        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+                        rel material:binding:physics = </Model/Physics/Materials/bonded_rubber_rigid_contact_approximation>
+                    }
+                }
+            }
+            over "Foot_L_B"
+            {
+                def Xform "Colliders"
+                {
+                    def Cube "pad" (
+                        prepend apiSchemas = ["PhysicsCollisionAPI", "MaterialBindingAPI"]
+                    )
+                    {
+                        uniform token purpose = "guide"
+                        double size = 1
+                        double3 xformOp:translate = (0, 0, 0.006)
+                        quatf xformOp:orient = (1, 0, 0, 0)
+                        float3 xformOp:scale = (0.05, 0.05, 0.012)
+                        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+                        rel material:binding:physics = </Model/Physics/Materials/bonded_rubber_rigid_contact_approximation>
+                    }
+                }
+            }
+            over "Foot_R_F"
+            {
+                def Xform "Colliders"
+                {
+                    def Cube "pad" (
+                        prepend apiSchemas = ["PhysicsCollisionAPI", "MaterialBindingAPI"]
+                    )
+                    {
+                        uniform token purpose = "guide"
+                        double size = 1
+                        double3 xformOp:translate = (0, 0, 0.006)
+                        quatf xformOp:orient = (1, 0, 0, 0)
+                        float3 xformOp:scale = (0.05, 0.05, 0.012)
+                        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+                        rel material:binding:physics = </Model/Physics/Materials/bonded_rubber_rigid_contact_approximation>
+                    }
+                }
+            }
+            over "Foot_R_B"
+            {
+                def Xform "Colliders"
+                {
+                    def Cube "pad" (
+                        prepend apiSchemas = ["PhysicsCollisionAPI", "MaterialBindingAPI"]
+                    )
+                    {
+                        uniform token purpose = "guide"
+                        double size = 1
+                        double3 xformOp:translate = (0, 0, 0.006)
+                        quatf xformOp:orient = (1, 0, 0, 0)
+                        float3 xformOp:scale = (0.05, 0.05, 0.012)
+                        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+                        rel material:binding:physics = </Model/Physics/Materials/bonded_rubber_rigid_contact_approximation>
+                    }
+                }
+            }
+            over "Sign"
+            {
+                def Xform "Colliders"
+                {
+                    def Cube "plate" (
+                        prepend apiSchemas = ["PhysicsCollisionAPI", "MaterialBindingAPI"]
+                    )
+                    {
+                        uniform token purpose = "guide"
+                        double size = 1
+                        double3 xformOp:translate = (0, 0.0015, 0)
+                        quatf xformOp:orient = (1, 0, 0, 0)
+                        float3 xformOp:scale = (0.45, 0.003, 0.19)
+                        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+                        rel material:binding:physics = </Model/Physics/Materials/printed_aluminium_panel>
+                    }
+                }
+            }
+            over "PanelFasteners"
+            {
+                def Xform "Colliders"
+                {
+                    def Cylinder "heads_000" (
+                        prepend apiSchemas = ["PhysicsCollisionAPI", "MaterialBindingAPI"]
+                    )
+                    {
+                        uniform token purpose = "guide"
+                        uniform token axis = "Z"
+                        double radius = 0.0052
+                        double height = 0.003
+                        double3 xformOp:translate = (-0.2125, -0.0015, -0.07)
+                        quatf xformOp:orient = (0.70710678, 0.70710678, 0, 0)
+                        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+                        rel material:binding:physics = </Model/Physics/Materials/s235_powder_coated_steel>
+                    }
+
+                    def Cylinder "heads_001" (
+                        prepend apiSchemas = ["PhysicsCollisionAPI", "MaterialBindingAPI"]
+                    )
+                    {
+                        uniform token purpose = "guide"
+                        uniform token axis = "Z"
+                        double radius = 0.0052
+                        double height = 0.003
+                        double3 xformOp:translate = (-0.2125, -0.0015, 0.07)
+                        quatf xformOp:orient = (0.70710678, 0.70710678, 0, 0)
+                        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+                        rel material:binding:physics = </Model/Physics/Materials/s235_powder_coated_steel>
+                    }
+
+                    def Cylinder "heads_002" (
+                        prepend apiSchemas = ["PhysicsCollisionAPI", "MaterialBindingAPI"]
+                    )
+                    {
+                        uniform token purpose = "guide"
+                        uniform token axis = "Z"
+                        double radius = 0.0052
+                        double height = 0.003
+                        double3 xformOp:translate = (0.2125, -0.0015, -0.07)
+                        quatf xformOp:orient = (0.70710678, 0.70710678, 0, 0)
+                        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+                        rel material:binding:physics = </Model/Physics/Materials/s235_powder_coated_steel>
+                    }
+
+                    def Cylinder "heads_003" (
+                        prepend apiSchemas = ["PhysicsCollisionAPI", "MaterialBindingAPI"]
+                    )
+                    {
+                        uniform token purpose = "guide"
+                        uniform token axis = "Z"
+                        double radius = 0.0052
+                        double height = 0.003
+                        double3 xformOp:translate = (0.2125, -0.0015, 0.07)
+                        quatf xformOp:orient = (0.70710678, 0.70710678, 0, 0)
+                        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+                        rel material:binding:physics = </Model/Physics/Materials/s235_powder_coated_steel>
+                    }
+                }
+            }
+        }
+    }
+}