Add SimReady package: bar_clamp

.gitattributes

@@ -189,3 +189,4 @@ ball_valve_v06/simready_usd/forgecad/geometry.usda filter=lfs diff=lfs merge=lfs
 ball_valve_v07/simready_usd/forgecad/geometry.usda filter=lfs diff=lfs merge=lfs -text
 ball_valve_v08/simready_usd/forgecad/geometry.usda filter=lfs diff=lfs merge=lfs -text
 ball_valve_v09/simready_usd/forgecad/geometry.usda filter=lfs diff=lfs merge=lfs -text
+bar_clamp/simready_usd/forgecad/geometry.usda filter=lfs diff=lfs merge=lfs -text

bar_clamp/.metadata/bar_clamp_benchmark.json

@@ -0,0 +1,2683 @@
+{
+  "schema_version": "1.0",
+  "asset": "bar_clamp",
+  "run_timestamp": "2026-10-18T04:15:47Z",
+  "passed": true,
+  "results": [
+    {
+      "test_name": "culling_xz",
+      "engine": "isaac_sim",
+      "engine_version": "6.1.0.0",
+      "status": "pass",
+      "passed": true,
+      "duration": 15.956,
+      "message": "",
+      "metrics": {
+        "_timing_capture_frame_total_s": {
+          "value": 4.855,
+          "unit": null
+        },
+        "_timing_capture_frame_count": {
+          "value": 16,
+          "unit": null
+        },
+        "_timing_capture_frame_avg_ms": {
+          "value": 303.43,
+          "unit": null
+        },
+        "_timing_encode_video_total_s": {
+          "value": 3.486,
+          "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": 0.001186,
+          "unit": null
+        },
+        "culling_xz_mean_diff": {
+          "value": 0.000213,
+          "unit": null
+        },
+        "culling_xz_worst_angle": {
+          "value": 180.0,
+          "unit": null
+        },
+        "culling_xz_passed": {
+          "value": 1,
+          "unit": null
+        }
+      },
+      "kit_logs": [
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]: Traceback (most recent call last):"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:   File \"<home>/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/impl/texture.py\", line 377, in on_drawable_changed"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     self.__drawable_changed_fn(texture[\"rp_resource\"], presentation_key)"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:   File \"<home>/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/widget.py\", line 516, in __set_image_data"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     vp_api._sync_viewport_api(camera, canvas_size, vp_api.time, view, projection, force_update=True)  # noqa PLW0212"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:   File \"<home>/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 546, in _sync_viewport_api"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     self.__projection = self._conform_projection(policy, camera, image_aspect, canvas_aspect, projection)"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:                         ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:   File \"<home>/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     gf_camera = camera.GetCamera(self.__time)"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:                 ^^^^^^^^^^^^^^^^"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'"
+        }
+      ]
+    },
+    {
+      "test_name": "culling_xz",
+      "engine": "isaac_sim_newton",
+      "engine_version": "6.1.0.0",
+      "status": "pass",
+      "passed": true,
+      "duration": 16.687,
+      "message": "",
+      "metrics": {
+        "_timing_capture_frame_total_s": {
+          "value": 2.492,
+          "unit": null
+        },
+        "_timing_capture_frame_count": {
+          "value": 16,
+          "unit": null
+        },
+        "_timing_capture_frame_avg_ms": {
+          "value": 155.72,
+          "unit": null
+        },
+        "_timing_encode_video_total_s": {
+          "value": 2.891,
+          "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": 0.000646,
+          "unit": null
+        },
+        "culling_xz_mean_diff": {
+          "value": 0.000143,
+          "unit": null
+        },
+        "culling_xz_worst_angle": {
+          "value": 0.0,
+          "unit": null
+        },
+        "culling_xz_passed": {
+          "value": 1,
+          "unit": null
+        }
+      },
+      "kit_logs": [
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]: Traceback (most recent call last):"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:   File \"<home>/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/impl/texture.py\", line 377, in on_drawable_changed"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     self.__drawable_changed_fn(texture[\"rp_resource\"], presentation_key)"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:   File \"<home>/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/widget.py\", line 516, in __set_image_data"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     vp_api._sync_viewport_api(camera, canvas_size, vp_api.time, view, projection, force_update=True)  # noqa PLW0212"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:   File \"<home>/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 546, in _sync_viewport_api"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     self.__projection = self._conform_projection(policy, camera, image_aspect, canvas_aspect, projection)"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:                         ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:   File \"<home>/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     gf_camera = camera.GetCamera(self.__time)"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:                 ^^^^^^^^^^^^^^^^"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'"
+        }
+      ]
+    },
+    {
+      "test_name": "display_color_response",
+      "engine": "isaac_sim",
+      "engine_version": "6.1.0.0",
+      "status": "pass",
+      "passed": true,
+      "duration": 18.985,
+      "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": 17,
+          "unit": null
+        },
+        "display_color_gprims_without_displaycolor": {
+          "value": 0,
+          "unit": null
+        },
+        "display_color_gprims_without_displayopacity": {
+          "value": 17,
+          "unit": null
+        },
+        "display_color_probe_bound_gprims": {
+          "value": 17,
+          "unit": null
+        },
+        "_timing_capture_frame_total_s": {
+          "value": 1.639,
+          "unit": null
+        },
+        "_timing_capture_frame_count": {
+          "value": 5,
+          "unit": null
+        },
+        "_timing_capture_frame_avg_ms": {
+          "value": 327.9,
+          "unit": null
+        },
+        "_timing_encode_video_total_s": {
+          "value": 0.772,
+          "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": 53272,
+          "unit": null
+        },
+        "display_color_whole_frame_delta_pixels": {
+          "value": 53764,
+          "unit": null
+        },
+        "display_color_read_mean_rgb": {
+          "value": [
+            0.0597,
+            0.0508,
+            0.0442
+          ],
+          "unit": null
+        },
+        "display_color_control_ratio": {
+          "value": 0.001671,
+          "unit": null
+        },
+        "display_color_response_ratio": {
+          "value": 1.0,
+          "unit": null
+        },
+        "display_color_opacity_ratio": {
+          "value": 0.868242,
+          "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": 20.575,
+      "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": 17,
+          "unit": null
+        },
+        "display_color_gprims_without_displaycolor": {
+          "value": 0,
+          "unit": null
+        },
+        "display_color_gprims_without_displayopacity": {
+          "value": 17,
+          "unit": null
+        },
+        "display_color_probe_bound_gprims": {
+          "value": 17,
+          "unit": null
+        },
+        "_timing_capture_frame_total_s": {
+          "value": 1.235,
+          "unit": null
+        },
+        "_timing_capture_frame_count": {
+          "value": 5,
+          "unit": null
+        },
+        "_timing_capture_frame_avg_ms": {
+          "value": 247.05,
+          "unit": null
+        },
+        "_timing_encode_video_total_s": {
+          "value": 2.051,
+          "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": 53279,
+          "unit": null
+        },
+        "display_color_whole_frame_delta_pixels": {
+          "value": 53758,
+          "unit": null
+        },
+        "display_color_read_mean_rgb": {
+          "value": [
+            0.0598,
+            0.0509,
+            0.0442
+          ],
+          "unit": null
+        },
+        "display_color_control_ratio": {
+          "value": 0.002158,
+          "unit": null
+        },
+        "display_color_response_ratio": {
+          "value": 1.0,
+          "unit": null
+        },
+        "display_color_opacity_ratio": {
+          "value": 0.868316,
+          "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": 0.236,
+      "message": "no grasp_identifier prims found on asset",
+      "metrics": {},
+      "kit_logs": []
+    },
+    {
+      "test_name": "grasp_and_lift",
+      "engine": "isaac_sim_newton",
+      "engine_version": "6.1.0.0",
+      "status": "skipped",
+      "passed": false,
+      "duration": 0.0,
+      "message": "Requires FET_003_NEWTON to be validated first: grasp-and-lift depends on the active runtime physics setup, and FET_003_NEWTON is not in this asset's validated features.",
+      "metrics": {},
+      "kit_logs": []
+    },
+    {
+      "test_name": "ground_drop",
+      "engine": "isaac_sim",
+      "engine_version": "6.1.0.0",
+      "status": "pass",
+      "passed": true,
+      "duration": 55.481,
+      "message": "",
+      "metrics": {
+        "ground_drop_initial_z_min": {
+          "value": 0.001,
+          "unit": null
+        },
+        "ground_drop_bbox_height": {
+          "value": 0.233,
+          "unit": null
+        },
+        "ground_drop_effective_fall": {
+          "value": -0.099,
+          "unit": null
+        },
+        "_timing_capture_frame_total_s": {
+          "value": 13.328,
+          "unit": null
+        },
+        "_timing_capture_frame_count": {
+          "value": 41,
+          "unit": null
+        },
+        "_timing_capture_frame_avg_ms": {
+          "value": 325.08,
+          "unit": null
+        },
+        "_timing_encode_video_total_s": {
+          "value": 6.405,
+          "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": 0.129,
+          "unit": null
+        },
+        "ground_drop_rest_time": {
+          "value": 2.175,
+          "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": "joint_movement",
+      "engine": "isaac_sim",
+      "engine_version": "6.1.0.0",
+      "status": "pass",
+      "passed": true,
+      "duration": 133.27,
+      "message": "",
+      "metrics": {
+        "_timing_capture_frame_total_s": {
+          "value": 51.051,
+          "unit": null
+        },
+        "_timing_capture_frame_count": {
+          "value": 45,
+          "unit": null
+        },
+        "_timing_capture_frame_avg_ms": {
+          "value": 1134.46,
+          "unit": null
+        },
+        "_timing_encode_video_total_s": {
+          "value": 1.999,
+          "unit": null
+        },
+        "_timing_encode_video_count": {
+          "value": 1,
+          "unit": null
+        },
+        "_render_blank_retry_count": {
+          "value": 12,
+          "unit": null
+        },
+        "_render_blank_retry_unrecovered": {
+          "value": 12,
+          "unit": null
+        },
+        "_render_blank_retry[joint_movement_001.png]": {
+          "value": "attempts=6 recovered=False",
+          "unit": null
+        },
+        "_render_blank_retry[joint_movement_002.png]": {
+          "value": "attempts=6 recovered=False",
+          "unit": null
+        },
+        "_render_blank_retry[joint_movement_003.png]": {
+          "value": "attempts=6 recovered=False",
+          "unit": null
+        },
+        "_render_blank_retry[joint_movement_004.png]": {
+          "value": "attempts=6 recovered=False",
+          "unit": null
+        },
+        "_render_blank_retry[joint_movement_005.png]": {
+          "value": "attempts=6 recovered=False",
+          "unit": null
+        },
+        "_render_blank_retry[joint_movement_006.png]": {
+          "value": "attempts=6 recovered=False",
+          "unit": null
+        },
+        "_render_blank_retry[joint_movement_007.png]": {
+          "value": "attempts=6 recovered=False",
+          "unit": null
+        },
+        "_render_blank_retry[joint_movement_026.png]": {
+          "value": "attempts=6 recovered=False",
+          "unit": null
+        },
+        "_render_blank_retry[joint_movement_027.png]": {
+          "value": "attempts=6 recovered=False",
+          "unit": null
+        },
+        "_render_blank_retry[joint_movement_028.png]": {
+          "value": "attempts=6 recovered=False",
+          "unit": null
+        },
+        "_render_blank_retry[joint_movement_044.png]": {
+          "value": "attempts=6 recovered=False",
+          "unit": null
+        },
+        "_render_blank_retry[joint_movement_045.png]": {
+          "value": "attempts=6 recovered=False",
+          "unit": null
+        },
+        "jm_joint_bar_rot_deg": {
+          "value": 0.076,
+          "unit": null
+        },
+        "jm_joint_bar_trans_pct": {
+          "value": 33.45,
+          "unit": null
+        },
+        "jm_joint_bar_bbox_m": {
+          "value": 0.4674,
+          "unit": null
+        },
+        "jm_joint_bar_pct_of_travel": {
+          "value": 52.1,
+          "unit": null
+        },
+        "jm_joint_trigger_rot_deg": {
+          "value": 25.011,
+          "unit": null
+        },
+        "jm_joint_trigger_trans_pct": {
+          "value": 53.8,
+          "unit": null
+        },
+        "jm_joint_trigger_bbox_m": {
+          "value": 0.091,
+          "unit": null
+        },
+        "jm_joint_trigger_pct_of_travel": {
+          "value": 100.0,
+          "unit": null
+        },
+        "jm_joint_drive_plate_rot_deg": {
+          "value": 0.044,
+          "unit": null
+        },
+        "jm_joint_drive_plate_trans_pct": {
+          "value": 9.06,
+          "unit": null
+        },
+        "jm_joint_drive_plate_bbox_m": {
+          "value": 0.0462,
+          "unit": null
+        },
+        "jm_joint_drive_plate_pct_of_travel": {
+          "value": 100.0,
+          "unit": null
+        },
+        "jm_joint_release_rot_deg": {
+          "value": 15.079,
+          "unit": null
+        },
+        "jm_joint_release_trans_pct": {
+          "value": 79.55,
+          "unit": null
+        },
+        "jm_joint_release_bbox_m": {
+          "value": 0.0526,
+          "unit": null
+        },
+        "jm_joint_release_pct_of_travel": {
+          "value": 100.0,
+          "unit": null
+        },
+        "jm_joints_total": {
+          "value": 4,
+          "unit": null
+        },
+        "jm_joints_passed": {
+          "value": 4,
+          "unit": null
+        },
+        "jm_joints_failed": {
+          "value": 0,
+          "unit": null
+        },
+        "jm_joint_bar_status": {
+          "value": "passed",
+          "unit": null
+        },
+        "jm_joint_trigger_status": {
+          "value": "passed",
+          "unit": null
+        },
+        "jm_joint_drive_plate_status": {
+          "value": "passed",
+          "unit": null
+        },
+        "jm_joint_release_status": {
+          "value": "passed",
+          "unit": null
+        }
+      },
+      "kit_logs": []
+    },
+    {
+      "test_name": "light_response",
+      "engine": "isaac_sim",
+      "engine_version": "6.1.0.0",
+      "status": "pass",
+      "passed": true,
+      "duration": 39.063,
+      "message": "",
+      "metrics": {
+        "_timing_capture_frame_total_s": {
+          "value": 10.554,
+          "unit": null
+        },
+        "_timing_capture_frame_count": {
+          "value": 30,
+          "unit": null
+        },
+        "_timing_capture_frame_avg_ms": {
+          "value": 351.8,
+          "unit": null
+        },
+        "_timing_encode_video_total_s": {
+          "value": 4.327,
+          "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": 0.310345,
+          "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": 9,
+          "unit": null
+        },
+        "light_response_passed": {
+          "value": 1,
+          "unit": null
+        },
+        "light_response_max_pair_change": {
+          "value": 0.777616,
+          "unit": null
+        },
+        "light_response_min_pair_change": {
+          "value": 0.005819,
+          "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": 43.778,
+      "message": "",
+      "metrics": {
+        "_timing_capture_frame_total_s": {
+          "value": 10.858,
+          "unit": null
+        },
+        "_timing_capture_frame_count": {
+          "value": 30,
+          "unit": null
+        },
+        "_timing_capture_frame_avg_ms": {
+          "value": 361.94,
+          "unit": null
+        },
+        "_timing_encode_video_total_s": {
+          "value": 4.345,
+          "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": 0.310345,
+          "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": 9,
+          "unit": null
+        },
+        "light_response_passed": {
+          "value": 1,
+          "unit": null
+        },
+        "light_response_max_pair_change": {
+          "value": 0.777629,
+          "unit": null
+        },
+        "light_response_min_pair_change": {
+          "value": 0.005737,
+          "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": 14.146,
+      "message": "",
+      "metrics": {
+        "_timing_capture_frame_total_s": {
+          "value": 4.378,
+          "unit": null
+        },
+        "_timing_capture_frame_count": {
+          "value": 8,
+          "unit": null
+        },
+        "_timing_capture_frame_avg_ms": {
+          "value": 547.25,
+          "unit": null
+        },
+        "_timing_encode_video_total_s": {
+          "value": 2.19,
+          "unit": null
+        },
+        "_timing_encode_video_count": {
+          "value": 1,
+          "unit": null
+        },
+        "_render_blank_retry_count": {
+          "value": 1,
+          "unit": null
+        },
+        "_render_blank_retry_unrecovered": {
+          "value": 1,
+          "unit": null
+        },
+        "_render_blank_retry[normals_xz_008.png]": {
+          "value": "attempts=6 recovered=False",
+          "unit": null
+        },
+        "normals_xz_avg_dark": {
+          "value": 0.001195,
+          "unit": null
+        },
+        "normals_xz_max_dark": {
+          "value": 0.006489,
+          "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": 13.649,
+      "message": "",
+      "metrics": {
+        "_timing_capture_frame_total_s": {
+          "value": 3.871,
+          "unit": null
+        },
+        "_timing_capture_frame_count": {
+          "value": 8,
+          "unit": null
+        },
+        "_timing_capture_frame_avg_ms": {
+          "value": 483.91,
+          "unit": null
+        },
+        "_timing_encode_video_total_s": {
+          "value": 2.495,
+          "unit": null
+        },
+        "_timing_encode_video_count": {
+          "value": 1,
+          "unit": null
+        },
+        "_render_blank_retry_count": {
+          "value": 1,
+          "unit": null
+        },
+        "_render_blank_retry_unrecovered": {
+          "value": 1,
+          "unit": null
+        },
+        "_render_blank_retry[normals_xz_008.png]": {
+          "value": "attempts=6 recovered=False",
+          "unit": null
+        },
+        "normals_xz_avg_dark": {
+          "value": 0.001275,
+          "unit": null
+        },
+        "normals_xz_max_dark": {
+          "value": 0.007139,
+          "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": 17.615,
+      "message": "",
+      "metrics": {
+        "_timing_capture_frame_total_s": {
+          "value": 4.651,
+          "unit": null
+        },
+        "_timing_capture_frame_count": {
+          "value": 20,
+          "unit": null
+        },
+        "_timing_capture_frame_avg_ms": {
+          "value": 232.56,
+          "unit": null
+        },
+        "_timing_encode_video_total_s": {
+          "value": 1.914,
+          "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": "pivot",
+      "engine": "isaac_sim_newton",
+      "engine_version": "6.1.0.0",
+      "status": "pass",
+      "passed": true,
+      "duration": 18.16,
+      "message": "",
+      "metrics": {
+        "_timing_capture_frame_total_s": {
+          "value": 4.65,
+          "unit": null
+        },
+        "_timing_capture_frame_count": {
+          "value": 20,
+          "unit": null
+        },
+        "_timing_capture_frame_avg_ms": {
+          "value": 232.49,
+          "unit": null
+        },
+        "_timing_encode_video_total_s": {
+          "value": 3.111,
+          "unit": null
+        },
+        "_timing_encode_video_count": {
+          "value": 2,
+          "unit": null
+        },
+        "_render_blank_retry_count": {
+          "value": 0,
+          "unit": null
+        },
+        "_render_blank_retry_unrecovered": {
+          "value": 0,
+          "unit": null
+        },
+        "pivot_score": {
+          "value": 0.9,
+          "unit": null
+        },
+        "pivot_pivot_height_pct": {
+          "value": 0.0,
+          "unit": null
+        },
+        "pivot_pivot_at_base": {
+          "value": 1,
+          "unit": null
+        },
+        "pivot_pivot_centered_xy": {
+          "value": 1,
+          "unit": null
+        },
+        "pivot_ground_penetration": {
+          "value": 1,
+          "unit": null
+        },
+        "pivot_orbital_motion": {
+          "value": 0,
+          "unit": null
+        },
+        "pivot_passed": {
+          "value": 1,
+          "unit": null
+        }
+      },
+      "kit_logs": [
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]: Traceback (most recent call last):"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:   File \"<home>/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/impl/texture.py\", line 377, in on_drawable_changed"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     self.__drawable_changed_fn(texture[\"rp_resource\"], presentation_key)"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:   File \"<home>/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/widget.py\", line 516, in __set_image_data"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     vp_api._sync_viewport_api(camera, canvas_size, vp_api.time, view, projection, force_update=True)  # noqa PLW0212"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:   File \"<home>/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 546, in _sync_viewport_api"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     self.__projection = self._conform_projection(policy, camera, image_aspect, canvas_aspect, projection)"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:                         ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:   File \"<home>/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     gf_camera = camera.GetCamera(self.__time)"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:                 ^^^^^^^^^^^^^^^^"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'"
+        }
+      ]
+    },
+    {
+      "test_name": "presence",
+      "engine": "isaac_sim",
+      "engine_version": "6.1.0.0",
+      "status": "pass",
+      "passed": true,
+      "duration": 2.774,
+      "message": "",
+      "metrics": {
+        "_timing_capture_frame_total_s": {
+          "value": 0.471,
+          "unit": null
+        },
+        "_timing_capture_frame_count": {
+          "value": 2,
+          "unit": null
+        },
+        "_timing_capture_frame_avg_ms": {
+          "value": 235.63,
+          "unit": null
+        },
+        "_timing_encode_video_total_s": {
+          "value": 0.0,
+          "unit": null
+        },
+        "_timing_encode_video_count": {
+          "value": 0,
+          "unit": null
+        },
+        "_render_blank_retry_count": {
+          "value": 0,
+          "unit": null
+        },
+        "_render_blank_retry_unrecovered": {
+          "value": 0,
+          "unit": null
+        },
+        "presence_diff_ratio": {
+          "value": 0.050719,
+          "unit": null
+        },
+        "presence_passed": {
+          "value": 1,
+          "unit": null
+        }
+      },
+      "kit_logs": [
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]: Traceback (most recent call last):"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:   File \"<home>/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/impl/texture.py\", line 377, in on_drawable_changed"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     self.__drawable_changed_fn(texture[\"rp_resource\"], presentation_key)"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:   File \"<home>/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/widget.py\", line 516, in __set_image_data"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     vp_api._sync_viewport_api(camera, canvas_size, vp_api.time, view, projection, force_update=True)  # noqa PLW0212"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:   File \"<home>/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 546, in _sync_viewport_api"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     self.__projection = self._conform_projection(policy, camera, image_aspect, canvas_aspect, projection)"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:                         ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:   File \"<home>/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     gf_camera = camera.GetCamera(self.__time)"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:                 ^^^^^^^^^^^^^^^^"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'"
+        }
+      ]
+    },
+    {
+      "test_name": "presence",
+      "engine": "isaac_sim_newton",
+      "engine_version": "6.1.0.0",
+      "status": "pass",
+      "passed": true,
+      "duration": 2.878,
+      "message": "",
+      "metrics": {
+        "_timing_capture_frame_total_s": {
+          "value": 0.234,
+          "unit": null
+        },
+        "_timing_capture_frame_count": {
+          "value": 2,
+          "unit": null
+        },
+        "_timing_capture_frame_avg_ms": {
+          "value": 117.12,
+          "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": 0.050714,
+          "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": 9.895,
+      "message": "",
+      "metrics": {
+        "_timing_capture_frame_total_s": {
+          "value": 2.557,
+          "unit": null
+        },
+        "_timing_capture_frame_count": {
+          "value": 4,
+          "unit": null
+        },
+        "_timing_capture_frame_avg_ms": {
+          "value": 639.19,
+          "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": 8,
+          "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": 8,
+          "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": 53174,
+          "unit": null
+        },
+        "universal_surface_uncovered_pixels": {
+          "value": 0,
+          "unit": null
+        },
+        "universal_surface_coverage": {
+          "value": 1.0,
+          "unit": null
+        }
+      },
+      "kit_logs": [
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]: Traceback (most recent call last):"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:   File \"<home>/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/impl/texture.py\", line 377, in on_drawable_changed"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     self.__drawable_changed_fn(texture[\"rp_resource\"], presentation_key)"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:   File \"<home>/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/widget.py\", line 516, in __set_image_data"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     vp_api._sync_viewport_api(camera, canvas_size, vp_api.time, view, projection, force_update=True)  # noqa PLW0212"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:   File \"<home>/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 546, in _sync_viewport_api"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     self.__projection = self._conform_projection(policy, camera, image_aspect, canvas_aspect, projection)"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:                         ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:   File \"<home>/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     gf_camera = camera.GetCamera(self.__time)"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:                 ^^^^^^^^^^^^^^^^"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'"
+        }
+      ]
+    },
+    {
+      "test_name": "preview_surface_renders",
+      "engine": "isaac_sim_newton",
+      "engine_version": "6.1.0.0",
+      "status": "pass",
+      "passed": true,
+      "duration": 8.304,
+      "message": "",
+      "metrics": {
+        "_timing_capture_frame_total_s": {
+          "value": 1.543,
+          "unit": null
+        },
+        "_timing_capture_frame_count": {
+          "value": 4,
+          "unit": null
+        },
+        "_timing_capture_frame_avg_ms": {
+          "value": 385.78,
+          "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": 8,
+          "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": 8,
+          "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": 53095,
+          "unit": null
+        },
+        "universal_surface_uncovered_pixels": {
+          "value": 0,
+          "unit": null
+        },
+        "universal_surface_coverage": {
+          "value": 1.0,
+          "unit": null
+        }
+      },
+      "kit_logs": [
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]: Traceback (most recent call last):"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:   File \"<home>/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/impl/texture.py\", line 377, in on_drawable_changed"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     self.__drawable_changed_fn(texture[\"rp_resource\"], presentation_key)"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:   File \"<home>/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/widget.py\", line 516, in __set_image_data"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     vp_api._sync_viewport_api(camera, canvas_size, vp_api.time, view, projection, force_update=True)  # noqa PLW0212"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:   File \"<home>/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 546, in _sync_viewport_api"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     self.__projection = self._conform_projection(policy, camera, image_aspect, canvas_aspect, projection)"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:                         ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:   File \"<home>/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     gf_camera = camera.GetCamera(self.__time)"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:                 ^^^^^^^^^^^^^^^^"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'"
+        }
+      ]
+    },
+    {
+      "test_name": "semantic_labels_seg_labelled",
+      "engine": "isaac_sim",
+      "engine_version": "6.1.0.0",
+      "status": "pass",
+      "passed": true,
+      "duration": 3.86,
+      "message": "",
+      "metrics": {
+        "_timing_capture_frame_total_s": {
+          "value": 1.05,
+          "unit": null
+        },
+        "_timing_capture_frame_count": {
+          "value": 1,
+          "unit": null
+        },
+        "_timing_capture_frame_avg_ms": {
+          "value": 1049.86,
+          "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": 0.049932,
+          "unit": null
+        },
+        "semantic_labels_labelled_passed": {
+          "value": 1,
+          "unit": null
+        }
+      },
+      "kit_logs": [
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]: Traceback (most recent call last):"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:   File \"<home>/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/impl/texture.py\", line 377, in on_drawable_changed"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     self.__drawable_changed_fn(texture[\"rp_resource\"], presentation_key)"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:   File \"<home>/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/widget.py\", line 516, in __set_image_data"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     vp_api._sync_viewport_api(camera, canvas_size, vp_api.time, view, projection, force_update=True)  # noqa PLW0212"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:   File \"<home>/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 546, in _sync_viewport_api"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     self.__projection = self._conform_projection(policy, camera, image_aspect, canvas_aspect, projection)"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:                         ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:   File \"<home>/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     gf_camera = camera.GetCamera(self.__time)"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:                 ^^^^^^^^^^^^^^^^"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'"
+        }
+      ]
+    },
+    {
+      "test_name": "semantic_labels_seg_labelled",
+      "engine": "isaac_sim_newton",
+      "engine_version": "6.1.0.0",
+      "status": "pass",
+      "passed": true,
+      "duration": 3.568,
+      "message": "",
+      "metrics": {
+        "_timing_capture_frame_total_s": {
+          "value": 0.558,
+          "unit": null
+        },
+        "_timing_capture_frame_count": {
+          "value": 1,
+          "unit": null
+        },
+        "_timing_capture_frame_avg_ms": {
+          "value": 558.26,
+          "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": 0.049932,
+          "unit": null
+        },
+        "semantic_labels_labelled_passed": {
+          "value": 1,
+          "unit": null
+        }
+      },
+      "kit_logs": [
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]: Traceback (most recent call last):"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:   File \"<home>/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/impl/texture.py\", line 377, in on_drawable_changed"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     self.__drawable_changed_fn(texture[\"rp_resource\"], presentation_key)"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:   File \"<home>/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/widget.py\", line 516, in __set_image_data"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     vp_api._sync_viewport_api(camera, canvas_size, vp_api.time, view, projection, force_update=True)  # noqa PLW0212"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:   File \"<home>/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 546, in _sync_viewport_api"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     self.__projection = self._conform_projection(policy, camera, image_aspect, canvas_aspect, projection)"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:                         ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:   File \"<home>/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     gf_camera = camera.GetCamera(self.__time)"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:                 ^^^^^^^^^^^^^^^^"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'"
+        }
+      ]
+    },
+    {
+      "test_name": "semantic_labels_seg_stripped",
+      "engine": "isaac_sim",
+      "engine_version": "6.1.0.0",
+      "status": "pass",
+      "passed": true,
+      "duration": 3.207,
+      "message": "",
+      "metrics": {
+        "semantic_labels_stripped_prims": {
+          "value": 9,
+          "unit": null
+        },
+        "semantic_labels_off_coverage": {
+          "value": 0.0,
+          "unit": null
+        },
+        "semantic_labels_stripped_passed": {
+          "value": 1,
+          "unit": null
+        }
+      },
+      "kit_logs": []
+    },
+    {
+      "test_name": "semantic_labels_seg_stripped",
+      "engine": "isaac_sim_newton",
+      "engine_version": "6.1.0.0",
+      "status": "pass",
+      "passed": true,
+      "duration": 3.128,
+      "message": "",
+      "metrics": {
+        "semantic_labels_stripped_prims": {
+          "value": 9,
+          "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": 71.104,
+      "message": "",
+      "metrics": {
+        "slope_drop_initial_cx": {
+          "value": -0.0,
+          "unit": null
+        },
+        "slope_drop_initial_cy": {
+          "value": -0.8969,
+          "unit": null
+        },
+        "slope_drop_initial_z_min": {
+          "value": 0.001,
+          "unit": null
+        },
+        "slope_drop_bbox_height": {
+          "value": 4.4889,
+          "unit": null
+        },
+        "_timing_capture_frame_total_s": {
+          "value": 19.25,
+          "unit": null
+        },
+        "_timing_capture_frame_count": {
+          "value": 48,
+          "unit": null
+        },
+        "_timing_capture_frame_avg_ms": {
+          "value": 401.03,
+          "unit": null
+        },
+        "_timing_encode_video_total_s": {
+          "value": 5.02,
+          "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": 0.0097,
+          "unit": "m"
+        },
+        "slope_drop_separation_frames": {
+          "value": 0,
+          "unit": null
+        },
+        "slope_drop_left_slope_frame": {
+          "value": 439,
+          "unit": null
+        },
+        "slope_drop_horiz_time": {
+          "value": 0.163,
+          "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'"
+        }
+      ]
+    }
+  ]
+}

bar_clamp/.metadata/bar_clamp_validation.json

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

bar_clamp/.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": "2026-10-18T04:15:49",
+  "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"
+                }
+              }
+            ]
+          }
+        }
+      ]
+    }
+  ]
+}

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

@@ -0,0 +1,72 @@
+{
+  "format_version": "1.0",
+  "items": [
+    {
+      "relative_path": "simready_usd/.thumbs/256x256/bar_clamp.usda.png",
+      "size": 8046,
+      "hash": {
+        "sha256-flat-1mb": "ab952fe3c6853e231fd13f146448c2c53cc76b9fcf4ece4d8ddd038cd1edc127",
+        "sha256": "419e640f1a703f4b8c86019e1a118127514ab01d4ad6fc295bc8acab2c14ca33"
+      }
+    },
+    {
+      "relative_path": "simready_usd/assets/clamp-grip.png",
+      "size": 1014679,
+      "hash": {
+        "sha256-flat-1mb": "3112afa4a268ff6be037a79f33fd3e27668dc7733f439db98310f98a446b3271",
+        "sha256": "be96f36e4b2ae0a99857fc71ce3711f34f11abaff4b9868daa997bbb46c7c91c"
+      }
+    },
+    {
+      "relative_path": "simready_usd/assets/nylon-orange.png",
+      "size": 2827334,
+      "hash": {
+        "sha256-flat-1mb": "d1149b362ccaaf4f95916eab67f8f139910329da4a2dabcb8e7dd28ac10c6df7",
+        "sha256": "0fa81bb6409f981f6de5bc42fe2f1e380bcf08540f8ca190a557063348f2b378",
+        "sha256-first1m": "cf0990adbff39c554199233fb1d24bb7dab467649e823695d90da275fd701985"
+      }
+    },
+    {
+      "relative_path": "simready_usd/assets/zinc-bar.png",
+      "size": 1362522,
+      "hash": {
+        "sha256-flat-1mb": "0f9902dcbfc62d0803c6ffcc76c2760d07b17224005b10fe0c65679e0cb5cb59",
+        "sha256": "784e956084578c0f994acbebbe738bb9fab8d4942fb6669598fa24d93b1937c9",
+        "sha256-first1m": "191094d3eaa9ef8019cae3ae3b19689cafadad25ed98b68beba40113d6d29ccd"
+      }
+    },
+    {
+      "relative_path": "simready_usd/bar_clamp.usda",
+      "size": 18368,
+      "hash": {
+        "sha256-flat-1mb": "a26b3256196b68915b3a48050546103a05a0761e4329ff445dfca2cddba34402",
+        "sha256": "4f163ef7593ef365483923998424fac0b8e00b6a2822a1c78720fa8426050417"
+      }
+    },
+    {
+      "relative_path": "simready_usd/forgecad/animation.usda",
+      "size": 3141,
+      "hash": {
+        "sha256-flat-1mb": "4cc55fe89c80a8141aa61683cb9d40e806f9d37fc818066f7d5f64202b3028fe",
+        "sha256": "02f45087d8be5b0a1d68d086cb3ddc9bc66ae3d8d5e65ce79dfbd3c6824e7466"
+      }
+    },
+    {
+      "relative_path": "simready_usd/forgecad/geometry.usda",
+      "size": 37740183,
+      "hash": {
+        "sha256-flat-1mb": "9254830723dcbba834d4026c1e60a43f5aaf65c5f8a6442cf2bfb2691a43a6d3",
+        "sha256": "e5d6a58511a826059ce36c7a9872baeca0e61e6501d50eb5dbc403b6edd8381d",
+        "sha256-first1m": "ccbe7d085fb8ea85c3acc4d1b6b6e4f36127417ce6b9a31f5651dc7aaa5b1caa"
+      }
+    },
+    {
+      "relative_path": "simready_usd/forgecad/physics.usda",
+      "size": 49104,
+      "hash": {
+        "sha256-flat-1mb": "2cdfd9748de1e84102e47312fbd2f15c068aa7acf052dca274ae9330d2c79fba",
+        "sha256": "69f06ec5e65b1057257134ec74d6a3d2c9372e0d8efd76186a79b5bf60793112"
+      }
+    }
+  ]
+}

bar_clamp/com.nvidia.simready.packaging.json

@@ -0,0 +1,31 @@
+{
+  "format_version": "1.0",
+  "package_id": "simready.hf.ForgeCAD.simready-assets.bar_clamp.2026.10.17_00",
+  "license": "cc-by-4.0",
+  "metadata": [
+    {
+      "name": "com.nvidia.simready.conformance.Package-Candidate@1.0.0.json",
+      "hash": {
+        "sha256": "cbb8e134c2f730733ec933b6ccc0664f8c5acb037219b7c059b9b7e25031e79d"
+      }
+    },
+    {
+      "name": "com.nvidia.simready.packaging.bom.json",
+      "hash": {
+        "sha256": "3e98460e2f8cabd6b9bd287ab1591de550bed5c1002d5b349ded93d4a1f0cf99"
+      }
+    },
+    {
+      "name": "com.nvidia.simready.root_usds.json",
+      "hash": {
+        "sha256": "a73a1b73fce32997d0cb9ead6478bf8485c00199fec5c0c0dcddfe6af7f30019"
+      }
+    }
+  ],
+  "content_hash": {
+    "sha256": "eb2e083e5991cf9b00db045fbfc7999e79f6fc9adf8b99796426e462f6e0128d"
+  },
+  "package_hash": {
+    "sha256": "a98aa5a7828a4aa524d81de04348ed77db3e429e2630a3bcd2471a6ebd8513eb"
+  }
+}

bar_clamp/simready_usd/bar_clamp.usda

@@ -0,0 +1,534 @@
+#usda 1.0
+(
+    customLayerData = {
+        dictionary SimReady_Metadata = {
+            float3 asset_extents = (0.453, 0.14407599, 0.0346)
+            string asset_license = "CC-BY-4.0"
+            string asset_name = "bar_clamp"
+            string asset_type = "prop"
+            string author = "ForgeCAD"
+            string category = "hand tool"
+            double mass = 0.7491185022518039
+            string qcode = "Q846600"
+            int rigid_body_count = 5
+            string source = "ForgeCAD"
+            string source_file = "main.usda"
+            string usd_date_generated = "2026-10-17"
+        }
+        string asset_name = "bar_clamp"
+        string asset_type = "prop"
+        string source_file = "main.usda"
+        string usd_date_generated = "2026-10-17"
+    }
+    defaultPrim = "Model"
+    doc = "042 Quick Bar Clamp root stage. Geometry, parameters, joints, colliders, and physics come from main.forge.js. This stage owns the materials, the textures, and the finish choices."
+    endTimeCode = 192
+    metersPerUnit = 1
+    startTimeCode = 0
+    subLayers = [
+        @./forgecad/animation.usda@
+    ]
+    upAxis = "Z"
+)
+
+def Xform "Model" (
+    prepend apiSchemas = ["SemanticsLabelsAPI:class", "SemanticsLabelsAPI:wikidata_qcode"]
+    prepend references = @./forgecad/geometry.usda@</Model>
+    variants = {
+        string finish = "orange"
+        string physics = "physics"
+    }
+    prepend variantSets = ["physics", "finish"]
+)
+{
+    token[] semantics:labels:class = ["bar clamp", "clamp"]
+    token[] semantics:labels:wikidata_qcode = ["Q846600"]
+
+    over "Geometry"
+    {
+        over "Handle"
+        {
+            over "Body" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </Model/Materials/BodyNylon>
+            }
+
+            over "Logo" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </Model/Materials/Logo>
+            }
+
+            over "Pins" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </Model/Materials/Steel>
+            }
+
+            over "Springs" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </Model/Materials/Steel>
+            }
+
+            over "Screws" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </Model/Materials/BlackOxide>
+            }
+
+            over "Grip"
+            {
+                over "Overmold" (
+                    prepend apiSchemas = ["MaterialBindingAPI"]
+                )
+                {
+                    rel material:binding = </Model/Materials/Grip>
+                }
+            }
+
+            over "Fixed_jaw_pad"
+            {
+                over "Pad" (
+                    prepend apiSchemas = ["MaterialBindingAPI"]
+                )
+                {
+                    rel material:binding = </Model/Materials/Pad>
+                }
+            }
+
+            over "Bar"
+            {
+                over "Bar" (
+                    prepend apiSchemas = ["MaterialBindingAPI"]
+                )
+                {
+                    rel material:binding = </Model/Materials/Zinc>
+                }
+
+                over "Stop_pin" (
+                    prepend apiSchemas = ["MaterialBindingAPI"]
+                )
+                {
+                    rel material:binding = </Model/Materials/Steel>
+                }
+
+                over "Sliding_jaw"
+                {
+                    over "Jaw" (
+                        prepend apiSchemas = ["MaterialBindingAPI"]
+                    )
+                    {
+                        rel material:binding = </Model/Materials/BodyNylon>
+                    }
+
+                    over "Pin" (
+                        prepend apiSchemas = ["MaterialBindingAPI"]
+                    )
+                    {
+                        rel material:binding = </Model/Materials/Steel>
+                    }
+
+                    over "Button" (
+                        prepend apiSchemas = ["MaterialBindingAPI"]
+                    )
+                    {
+                        rel material:binding = </Model/Materials/BlackNylon>
+                    }
+
+                    over "Sliding_jaw_pad"
+                    {
+                        over "Pad" (
+                            prepend apiSchemas = ["MaterialBindingAPI"]
+                        )
+                        {
+                            rel material:binding = </Model/Materials/Pad>
+                        }
+                    }
+                }
+            }
+
+            over "Trigger"
+            {
+                over "Lever" (
+                    prepend apiSchemas = ["MaterialBindingAPI"]
+                )
+                {
+                    rel material:binding = </Model/Materials/BlackNylon>
+                }
+            }
+
+            over "Drive_plate"
+            {
+                over "Plate" (
+                    prepend apiSchemas = ["MaterialBindingAPI"]
+                )
+                {
+                    rel material:binding = </Model/Materials/BlackOxide>
+                }
+            }
+
+            over "Release_lever"
+            {
+                over "Brake_plate" (
+                    prepend apiSchemas = ["MaterialBindingAPI"]
+                )
+                {
+                    rel material:binding = </Model/Materials/Steel>
+                }
+
+                over "Thumb_cap" (
+                    prepend apiSchemas = ["MaterialBindingAPI"]
+                )
+                {
+                    rel material:binding = </Model/Materials/BlackNylon>
+                }
+            }
+        }
+    }
+
+    def Scope "Materials"
+    {
+        def Material "Grip" (
+            prepend apiSchemas = ["SemanticsLabelsAPI:material"]
+        )
+        {
+            token outputs:surface.connect = </Model/Materials/Grip/Surface.outputs:surface>
+            token[] semantics:labels:material = ["rubber"]
+
+            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/Grip/St.outputs:result>
+                float2 inputs:scale = (40, 40)
+                float2 outputs:result
+            }
+
+            def Shader "Albedo"
+            {
+                uniform token info:id = "UsdUVTexture"
+                asset inputs:file = @./assets/clamp-grip.png@
+                token inputs:sourceColorSpace = "sRGB"
+                float2 inputs:st.connect = </Model/Materials/Grip/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/Grip/Albedo.outputs:rgb>
+                float inputs:metallic = 0
+                float inputs:roughness = 0.82
+                token outputs:surface
+            }
+        }
+
+        def Material "BlackNylon" (
+            prepend apiSchemas = ["SemanticsLabelsAPI:material"]
+        )
+        {
+            token outputs:surface.connect = </Model/Materials/BlackNylon/Surface.outputs:surface>
+            token[] semantics:labels:material = ["plastic"]
+
+            def Shader "St"
+            {
+                uniform token info:id = "UsdPrimvarReader_float2"
+                string inputs:varname = "st"
+                float2 outputs:result
+            }
+
+            def Shader "Tile"
+            {
+                uniform token info:id = "UsdTransform2d"
+                float2 inputs:in.connect = </Model/Materials/BlackNylon/St.outputs:result>
+                float2 inputs:scale = (60, 60)
+                float2 outputs:result
+            }
+
+            def Shader "Albedo"
+            {
+                uniform token info:id = "UsdUVTexture"
+                asset inputs:file = @./assets/clamp-grip.png@
+                token inputs:sourceColorSpace = "sRGB"
+                float2 inputs:st.connect = </Model/Materials/BlackNylon/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/BlackNylon/Albedo.outputs:rgb>
+                float inputs:metallic = 0
+                float inputs:roughness = 0.62
+                token outputs:surface
+            }
+        }
+
+        def Material "Zinc" (
+            prepend apiSchemas = ["SemanticsLabelsAPI:material"]
+        )
+        {
+            token outputs:surface.connect = </Model/Materials/Zinc/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/Zinc/St.outputs:result>
+                float2 inputs:scale = (20, 20)
+                float2 outputs:result
+            }
+
+            def Shader "Albedo"
+            {
+                uniform token info:id = "UsdUVTexture"
+                asset inputs:file = @./assets/zinc-bar.png@
+                token inputs:sourceColorSpace = "sRGB"
+                float2 inputs:st.connect = </Model/Materials/Zinc/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/Zinc/Albedo.outputs:rgb>
+                float inputs:metallic = 1
+                float inputs:roughness = 0.34
+                token outputs:surface
+            }
+        }
+
+        def Material "Pad" (
+            prepend apiSchemas = ["SemanticsLabelsAPI:material"]
+        )
+        {
+            token outputs:surface.connect = </Model/Materials/Pad/Surface.outputs:surface>
+            token[] semantics:labels:material = ["rubber"]
+
+            def Shader "Surface"
+            {
+                uniform token info:id = "UsdPreviewSurface"
+                color3f inputs:diffuseColor = (0.018, 0.018, 0.019)
+                float inputs:metallic = 0
+                float inputs:roughness = 0.92
+                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 = (0.55, 0.56, 0.58)
+                float inputs:metallic = 1
+                float inputs:roughness = 0.3
+                token outputs:surface
+            }
+        }
+
+        def Material "BlackOxide" (
+            prepend apiSchemas = ["SemanticsLabelsAPI:material"]
+        )
+        {
+            token outputs:surface.connect = </Model/Materials/BlackOxide/Surface.outputs:surface>
+            token[] semantics:labels:material = ["metal"]
+
+            def Shader "Surface"
+            {
+                uniform token info:id = "UsdPreviewSurface"
+                color3f inputs:diffuseColor = (0.045, 0.046, 0.05)
+                float inputs:metallic = 0.7
+                float inputs:roughness = 0.45
+                token outputs:surface
+            }
+        }
+    }
+    variantSet "finish" = {
+        "black" {
+            over "Materials"
+            {
+                def Material "BodyNylon" (
+                    prepend apiSchemas = ["SemanticsLabelsAPI:material"]
+                )
+                {
+                    token outputs:surface.connect = </Model/Materials/BodyNylon/Surface.outputs:surface>
+                    token[] semantics:labels:material = ["plastic"]
+
+                    def Shader "Surface"
+                    {
+                        uniform token info:id = "UsdPreviewSurface"
+                        color3f inputs:diffuseColor = (0.018, 0.018, 0.019)
+                        float inputs:metallic = 0
+                        float inputs:roughness = 0.52
+                        token outputs:surface
+                    }
+                }
+
+                def Material "Logo" (
+                    prepend apiSchemas = ["SemanticsLabelsAPI:material"]
+                )
+                {
+                    token outputs:surface.connect = </Model/Materials/Logo/Surface.outputs:surface>
+                    token[] semantics:labels:material = ["plastic"]
+
+                    def Shader "Surface"
+                    {
+                        uniform token info:id = "UsdPreviewSurface"
+                        color3f inputs:diffuseColor = (0.8, 0.33, 0.012)
+                        float inputs:metallic = 0
+                        float inputs:roughness = 0.45
+                        token outputs:surface
+                    }
+                }
+            }
+
+        }
+        "blue" {
+            over "Materials"
+            {
+                def Material "BodyNylon" (
+                    prepend apiSchemas = ["SemanticsLabelsAPI:material"]
+                )
+                {
+                    token outputs:surface.connect = </Model/Materials/BodyNylon/Surface.outputs:surface>
+                    token[] semantics:labels:material = ["plastic"]
+
+                    def Shader "Surface"
+                    {
+                        uniform token info:id = "UsdPreviewSurface"
+                        color3f inputs:diffuseColor = (0.014, 0.11, 0.42)
+                        float inputs:metallic = 0
+                        float inputs:roughness = 0.52
+                        token outputs:surface
+                    }
+                }
+
+                def Material "Logo" (
+                    prepend apiSchemas = ["SemanticsLabelsAPI:material"]
+                )
+                {
+                    token outputs:surface.connect = </Model/Materials/Logo/Surface.outputs:surface>
+                    token[] semantics:labels:material = ["plastic"]
+
+                    def Shader "Surface"
+                    {
+                        uniform token info:id = "UsdPreviewSurface"
+                        color3f inputs:diffuseColor = (0.85, 0.85, 0.85)
+                        float inputs:metallic = 0
+                        float inputs:roughness = 0.45
+                        token outputs:surface
+                    }
+                }
+            }
+
+        }
+        "orange" {
+            over "Materials"
+            {
+                def Material "BodyNylon" (
+                    prepend apiSchemas = ["SemanticsLabelsAPI:material"]
+                )
+                {
+                    token outputs:surface.connect = </Model/Materials/BodyNylon/Surface.outputs:surface>
+                    token[] semantics:labels:material = ["plastic"]
+
+                    def Shader "St"
+                    {
+                        uniform token info:id = "UsdPrimvarReader_float2"
+                        string inputs:varname = "st"
+                        float2 outputs:result
+                    }
+
+                    def Shader "Tile"
+                    {
+                        uniform token info:id = "UsdTransform2d"
+                        float2 inputs:in.connect = </Model/Materials/BodyNylon/St.outputs:result>
+                        float2 inputs:scale = (25, 25)
+                        float2 outputs:result
+                    }
+
+                    def Shader "Albedo"
+                    {
+                        uniform token info:id = "UsdUVTexture"
+                        asset inputs:file = @./assets/nylon-orange.png@
+                        token inputs:sourceColorSpace = "sRGB"
+                        float2 inputs:st.connect = </Model/Materials/BodyNylon/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/BodyNylon/Albedo.outputs:rgb>
+                        float inputs:metallic = 0
+                        float inputs:roughness = 0.52
+                        token outputs:surface
+                    }
+                }
+
+                def Material "Logo" (
+                    prepend apiSchemas = ["SemanticsLabelsAPI:material"]
+                )
+                {
+                    token outputs:surface.connect = </Model/Materials/Logo/Surface.outputs:surface>
+                    token[] semantics:labels:material = ["plastic"]
+
+                    def Shader "Surface"
+                    {
+                        uniform token info:id = "UsdPreviewSurface"
+                        color3f inputs:diffuseColor = (0.012, 0.012, 0.013)
+                        float inputs:metallic = 0
+                        float inputs:roughness = 0.45
+                        token outputs:surface
+                    }
+                }
+            }
+
+        }
+    }
+    variantSet "physics" = {
+        "none" {
+
+        }
+        "physics" (
+            prepend references = @./forgecad/physics.usda@</Model>
+        ) {
+
+        }
+    }
+}
+

bar_clamp/simready_usd/forgecad/animation.usda

@@ -0,0 +1,93 @@
+#usda 1.0
+(
+    defaultPrim = "Model"
+    doc = "ForgeCAD animation clips for the root stage. Generated by forgecad export usd; do not edit."
+    endTimeCode = 192
+    startTimeCode = 0
+    timeCodesPerSecond = 24
+)
+
+over "Model" (
+    prepend variantSets = "animation"
+    variants = {
+        string animation = "static"
+    }
+)
+{
+    variantSet "animation" = {
+        "static" {
+        }
+        "Slide__squeeze__release" {
+            over "Geometry"
+            {
+                over "Handle"
+                {
+                    over "Bar"
+                    {
+                        double3 xformOp:translate:bar.timeSamples = {
+                            0: (0.144, 0, 0),
+                            19.2: (0.144, 0, 0),
+                            38.4: (0.008, 0, 0),
+                            57.6: (0.008, 0, 0),
+                            76.8: (0.008, 0, 0),
+                            96: (0.004, 0, 0),
+                            115.2: (0.004, 0, 0),
+                            134.4: (0, 0, 0),
+                            153.6: (0, 0, 0),
+                            172.8: (0.144, 0, 0),
+                            192: (0.144, 0, 0),
+                        }
+                    }
+                    over "Trigger"
+                    {
+                        float xformOp:rotateX:trigger.timeSamples = {
+                            0: 0,
+                            19.2: 0,
+                            38.4: 0,
+                            57.6: 0,
+                            76.8: 25,
+                            96: 0,
+                            115.2: 25,
+                            134.4: 0,
+                            153.6: 0,
+                            172.8: 0,
+                            192: 0,
+                        }
+                    }
+                    over "Drive_plate"
+                    {
+                        double3 xformOp:translate:drive_plate.timeSamples = {
+                            0: (0, 0, 0),
+                            19.2: (0, 0, 0),
+                            38.4: (0, 0, 0),
+                            57.6: (0, 0, 0),
+                            76.8: (0.004145157, 0, 0),
+                            96: (0, 0, 0),
+                            115.2: (0.004145157, 0, 0),
+                            134.4: (0, 0, 0),
+                            153.6: (0, 0, 0),
+                            172.8: (0, 0, 0),
+                            192: (0, 0, 0),
+                        }
+                    }
+                    over "Release_lever"
+                    {
+                        float xformOp:rotateX:release.timeSamples = {
+                            0: 0,
+                            19.2: 15,
+                            38.4: 15,
+                            57.6: 0,
+                            76.8: 0,
+                            96: 0,
+                            115.2: 0,
+                            134.4: 0,
+                            153.6: 15,
+                            172.8: 15,
+                            192: 0,
+                        }
+                    }
+                }
+            }
+        }
+    }
+}

bar_clamp/simready_usd/forgecad/geometry.usda

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e5d6a58511a826059ce36c7a9872baeca0e61e6501d50eb5dbc403b6edd8381d
+size 37740183

bar_clamp/simready_usd/forgecad/physics.usda

@@ -0,0 +1,601 @@
+#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 "glass_filled_nylon_pa6_gf30" (
+                    prepend apiSchemas = ["PhysicsMaterialAPI", "SemanticsLabelsAPI:material"]
+                  )
+                  {
+                    token[] semantics:labels:material = ["Glass-filled nylon PA6-GF30"]
+                    float physics:density = 1360
+                    float physics:staticFriction = 0.45
+                    float physics:dynamicFriction = 0.35
+                    float physics:restitution = 0.2
+                  }
+
+            def Material "tpe_grip_overmold" (
+                    prepend apiSchemas = ["PhysicsMaterialAPI", "SemanticsLabelsAPI:material"]
+                  )
+                  {
+                    token[] semantics:labels:material = ["TPE grip overmold"]
+                    float physics:density = 1150
+                    float physics:staticFriction = 0.9
+                    float physics:dynamicFriction = 0.8
+                    float physics:restitution = 0.3
+                  }
+
+            def Material "tpe_jaw_pad" (
+                    prepend apiSchemas = ["PhysicsMaterialAPI", "SemanticsLabelsAPI:material"]
+                  )
+                  {
+                    token[] semantics:labels:material = ["TPE jaw pad"]
+                    float physics:density = 1150
+                    float physics:staticFriction = 0.9
+                    float physics:dynamicFriction = 0.8
+                    float physics:restitution = 0.3
+                  }
+
+            def Material "c45_steel_zinc_plated" (
+                    prepend apiSchemas = ["PhysicsMaterialAPI", "SemanticsLabelsAPI:material"]
+                  )
+                  {
+                    token[] semantics:labels:material = ["C45 steel, zinc plated"]
+                    float physics:density = 7850
+                    float physics:staticFriction = 0.4
+                    float physics:dynamicFriction = 0.3
+                    float physics:restitution = 0.1
+                  }
+        }
+
+        def Scope "Joints"
+        {
+            def PhysicsPrismaticJoint "bar" (
+                prepend apiSchemas = ["PhysicsDriveAPI:linear", "PhysicsJointStateAPI:linear"]
+            )
+            {
+                rel physics:body0 = </Model/Geometry/Handle>
+                rel physics:body1 = </Model/Geometry/Handle/Bar>
+                point3f physics:localPos0 = (0, 0, 0)
+                point3f physics:localPos1 = (0, 0, 0)
+                quatf physics:localRot0 = (0, 0, 0, 1)
+                quatf physics:localRot1 = (0, 0, 0, 1)
+                uniform token physics:axis = "X"
+                float physics:lowerLimit = 0
+                float physics:upperLimit = 0.3
+                token drive:linear:physics:type = "force"
+                float drive:linear:physics:targetVelocity = 0
+                float drive:linear:physics:stiffness = 0
+                float drive:linear:physics:damping = 20
+                float state:linear:physics:position = 0.144
+                float state:linear:physics:velocity = 0
+            }
+
+            def PhysicsRevoluteJoint "trigger" (
+                prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
+            )
+            {
+                rel physics:body0 = </Model/Geometry/Handle>
+                rel physics:body1 = </Model/Geometry/Handle/Trigger>
+                point3f physics:localPos0 = (0.055, -0.0155, 0)
+                point3f physics:localPos1 = (0.055, -0.0155, 0)
+                quatf physics:localRot0 = (-0.5, 0.5, 0.5, 0.5)
+                quatf physics:localRot1 = (-0.5, 0.5, 0.5, 0.5)
+                uniform token physics:axis = "X"
+                float physics:lowerLimit = 0
+                float physics:upperLimit = 25
+                token drive:angular:physics:type = "force"
+                float drive:angular:physics:targetPosition = -3
+                float drive:angular:physics:stiffness = 0.012
+                float drive:angular:physics:damping = 0.000034907
+                float state:angular:physics:position = 0
+                float state:angular:physics:velocity = 0
+            }
+
+            def PhysicsPrismaticJoint "drive_plate" (
+                prepend apiSchemas = ["PhysicsDriveAPI:linear", "PhysicsJointStateAPI:linear", "PhysxMimicJointAPI:rotX"]
+            )
+            {
+                rel physics:body0 = </Model/Geometry/Handle>
+                rel physics:body1 = </Model/Geometry/Handle/Drive_plate>
+                point3f physics:localPos0 = (0.0603, 0, 0)
+                point3f physics:localPos1 = (0.0603, 0, 0)
+                quatf physics:localRot0 = (1, 0, 0, 0)
+                quatf physics:localRot1 = (1, 0, 0, 0)
+                uniform token physics:axis = "X"
+                float physics:lowerLimit = 0
+                float physics:upperLimit = 0.004145
+                token drive:linear:physics:type = "force"
+                float drive:linear:physics:targetPosition = -0.0005
+                float drive:linear:physics:stiffness = 300
+                float drive:linear:physics:damping = 0.5
+                float state:linear:physics:position = 0
+                float state:linear:physics:velocity = 0
+                rel physxMimicJoint:rotX:referenceJoint = </Model/Physics/Joints/trigger>
+                uniform token physxMimicJoint:rotX:referenceJointAxis = "rotX"
+                float physxMimicJoint:rotX:gearing = -0.000165806279
+                float physxMimicJoint:rotX:offset = 0
+            }
+
+            def PhysicsRevoluteJoint "release" (
+                prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
+            )
+            {
+                rel physics:body0 = </Model/Geometry/Handle>
+                rel physics:body1 = </Model/Geometry/Handle/Release_lever>
+                point3f physics:localPos0 = (0.095, 0.0155, 0)
+                point3f physics:localPos1 = (0.095, 0.0155, 0)
+                quatf physics:localRot0 = (-0.5, 0.5, 0.5, 0.5)
+                quatf physics:localRot1 = (-0.5, 0.5, 0.5, 0.5)
+                uniform token physics:axis = "X"
+                float physics:lowerLimit = 0
+                float physics:upperLimit = 15
+                token drive:angular:physics:type = "force"
+                float drive:angular:physics:targetPosition = -3
+                float drive:angular:physics:stiffness = 0.012
+                float drive:angular:physics:damping = 0.000017453
+                float state:angular:physics:position = 0
+                float state:angular:physics:velocity = 0
+            }
+        }
+    }
+
+    over "Geometry"
+    {
+        over "Handle" (
+            prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI", "PhysicsArticulationRootAPI"]
+        )
+        {
+            bool physics:rigidBodyEnabled = 1
+            bool physics:kinematicEnabled = 0
+            bool physics:startsAsleep = 0
+            float physics:mass = 0.2018889443766266
+            point3f physics:centerOfMass = (0.060832547, -0.032226263, -0.000009983)
+            float3 physics:diagonalInertia = (0.000650599209, 0.000426608034, 0.000271420711)
+            quatf physics:principalAxes = (0.67571535, -0.20777638, -0.67592317, -0.20824411)
+            def Xform "Colliders"
+            {
+                def Mesh "head" (
+                    prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI", "MaterialBindingAPI"]
+                )
+                {
+                    uniform token purpose = "guide"
+                    uniform token physics:approximation = "convexHull"
+                    uniform token subdivisionScheme = "none"
+                    float3[] extent = [(0, -0.0285, -0.017), (0.106, 0.0215, 0.017)]
+                    int[] faceVertexCounts = [3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3]
+                    int[] faceVertexIndices = [5, 0, 1, 2, 5, 1, 0, 18, 1, 18, 2, 1, 0, 7, 17, 3, 10, 2, 24, 3, 2, 24, 14, 3, 0, 5, 4, 7, 0, 4, 5, 8, 4, 6, 4, 8, 7, 4, 6, 8, 9, 6, 6, 9, 7, 5, 10, 8, 13, 9, 8, 30, 7, 9, 5, 2, 10, 10, 3, 11, 3, 14, 11, 10, 12, 8, 13, 8, 12, 14, 10, 11, 10, 14, 12, 14, 13, 12, 13, 14, 15, 13, 36, 9, 14, 38, 15, 38, 13, 15, 18, 0, 16, 0, 17, 16, 17, 18, 16, 17, 19, 18, 19, 17, 20, 21, 19, 20, 23, 18, 19, 23, 19, 21, 17, 28, 20, 28, 21, 20, 2, 18, 22, 24, 2, 22, 18, 23, 22, 23, 21, 26, 22, 23, 24, 24, 23, 25, 27, 24, 25, 23, 27, 25, 27, 23, 26, 26, 21, 34, 34, 27, 26, 39, 24, 27, 17, 7, 30, 30, 9, 32, 9, 36, 32, 29, 21, 28, 17, 30, 28, 29, 34, 21, 28, 30, 31, 33, 28, 31, 28, 33, 29, 31, 30, 32, 32, 33, 31, 29, 33, 34, 36, 33, 32, 14, 24, 39, 14, 39, 38, 38, 36, 13, 39, 27, 35, 27, 34, 35, 34, 33, 37, 33, 36, 37, 34, 39, 35, 39, 37, 38, 36, 38, 37, 39, 34, 37]
+                    normal3f[] normals = [(-0.928477, 0, -0.371391), (-1, 0, 0), (0, -0.928477, -0.371391), (0, -1, 0), (0, 0, -1), (-0.928477, 0, 0.371391), (0, -0.928477, 0.371391), (0, 0, 1), (-0.928477, 0, -0.371391), (0, 0, -1), (-0.8188, 0.339158, -0.463183), (-0.8188, 0.339158, -0.463183), (0, 0, -1), (-0.339158, 0.8188, -0.463183), (-0.339158, 0.8188, -0.463183), (-0.923879, 0.382684, 0), (-0.382684, 0.923879, 0), (0, 0.928477, -0.371391), (-1, 0, 0), (-0.928477, 0, 0.371391), (0, 0, 1), (-0.923879, 0.382684, 0), (-0.382684, 0.923879, 0), (-0.8188, 0.339158, 0.463183), (-0.8188, 0.339158, 0.463183), (-0.339158, 0.8188, 0.463183), (-0.339158, 0.8188, 0.463183), (0, 1, 0), (0, 0, 1), (0, 0.928477, 0.371391), (0, -0.928477, -0.371391), (0, 0, -1), (0.339158, -0.8188, -0.463183), (0.339158, -0.8188, -0.463183), (0.818799, -0.339159, -0.463184), (0.8188, -0.339157, -0.463182), (0.382683, -0.92388, 0), (0.92388, -0.382683, 0), (0, 0, -1), (0.928477, 0, -0.37139), (0, -1, 0), (0, -0.928477, 0.371391), (0.382683, -0.92388, 0), (0.92388, -0.382683, 0), (0.339158, -0.8188, 0.463183), (0.339158, -0.8188, 0.463183), (0, 0, 1), (0.818799, -0.339159, 0.463184), (0.8188, -0.339157, 0.463182), (1, 0, 0), (0.928477, 0, 0.37139), (0, 0, 1), (0, 0, -1), (0, 0.928477, -0.371391), (0, 1, 0), (0.928477, 0, -0.37139), (0, 0, -1), (1, 0, 0), (0, 0, -1), (0.818799, 0.339159, -0.463184), (0.818801, 0.339157, -0.463182), (0.339158, 0.8188, -0.463183), (0.339158, 0.8188, -0.463184), (0.92388, 0.382683, 0), (0.382683, 0.92388, 0), (0, 0, 1), (0, 0, 1), (0, 0.928477, 0.371391), (0, 0, 1), (0.928477, 0, 0.37139), (0.92388, 0.382683, 0), (0.382683, 0.92388, 0), (0.8188, 0.339159, 0.463183), (0.339158, 0.818799, 0.463184), (0.339158, 0.8188, 0.463183), (0.8188, 0.339157, 0.463184)] (interpolation = "uniform")
+                    point3f[] points = [(0.0012, -0.027299999, -0.017), (0, -0.0285, -0.014), (0, -0.0285, 0.014), (0.0012, -0.027299999, 0.017), (0.0012, 0.016299999, -0.017), (0, 0.0175, -0.014), (0.002371573, 0.019128428, -0.017), (0.0052, 0.020299999, -0.017), (0.001171573, 0.020328426, -0.014), (0.004, 0.0215, -0.014), (0, 0.0175, 0.014), (0.0012, 0.016299999, 0.017), (0.001171573, 0.020328426, 0.014), (0.004, 0.0215, 0.014), (0.002371573, 0.019128428, 0.017), (0.0052, 0.020299999, 0.017), (0.100800003, -0.027299999, -0.017), (0.103628426, -0.026128428, -0.017), (0.102, -0.0285, -0.014), (0.10482843, -0.027328426, -0.014), (0.104800003, -0.023299999, -0.017), (0.106, -0.0245, -0.014), (0.102, -0.0285, 0.014), (0.10482843, -0.027328426, 0.014), (0.100800003, -0.027299999, 0.017), (0.103628426, -0.026128428, 0.017), (0.106, -0.0245, 0.014), (0.104800003, -0.023299999, 0.017), (0.104800003, 0.0153, -0.017), (0.106, 0.0165, -0.014), (0.099800003, 0.020299999, -0.017), (0.103335533, 0.018835533, -0.017), (0.101, 0.0215, -0.014), (0.104535538, 0.020035534, -0.014), (0.106, 0.0165, 0.014), (0.104800003, 0.0153, 0.017), (0.101, 0.0215, 0.014), (0.104535538, 0.020035534, 0.014), (0.099800003, 0.020299999, 0.017), (0.103335533, 0.018835533, 0.017)]
+                    rel material:binding:physics = </Model/Physics/Materials/glass_filled_nylon_pa6_gf30>
+                }
+
+                def Mesh "jaw" (
+                    prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI", "MaterialBindingAPI"]
+                )
+                {
+                    uniform token purpose = "guide"
+                    uniform token physics:approximation = "convexHull"
+                    uniform token subdivisionScheme = "none"
+                    float3[] extent = [(0, -0.0945, -0.017), (0.016, -0.0275, 0.017)]
+                    int[] faceVertexCounts = [3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3]
+                    int[] faceVertexIndices = [0, 2, 4, 3, 0, 1, 0, 5, 1, 5, 3, 1, 3, 2, 0, 3, 6, 2, 4, 5, 0, 4, 7, 5, 6, 4, 2, 4, 6, 7, 7, 3, 5, 6, 3, 7]
+                    normal3f[] normals = [(0, 0, -1), (-1, 0, 0), (0, -1, 0), (0, 0, 1), (-1, 0, 0), (0, 1, 0), (0, -1, 0), (0.998223, -0.059595, 0), (0, 0, -1), (0.998223, -0.059595, 0), (0, 0, 1), (0, 1, 0)] (interpolation = "uniform")
+                    point3f[] points = [(0, -0.0945, -0.017), (0, -0.0945, 0.017), (0, -0.0275, -0.017), (0, -0.0275, 0.017), (0.012, -0.0945, -0.017), (0.012, -0.0945, 0.017), (0.016, -0.0275, -0.017), (0.016, -0.0275, 0.017)]
+                    rel material:binding:physics = </Model/Physics/Materials/glass_filled_nylon_pa6_gf30>
+                }
+            }
+                  def BasisCurves "grasp_identifier_01"
+                  {
+                    int[] curveVertexCounts = [2]
+                    float3[] extent = [(0.03208, -0.0285, 0.007), (0.03208, 0.0215, 0.007)]
+                    point3f[] points = [(0.03208, 0.0215, 0.007), (0.03208, -0.0285, 0.007)]
+                    uniform token purpose = "guide"
+                    uniform token type = "linear"
+                    uniform token wrap = "nonperiodic"
+                  }
+                  def BasisCurves "grasp_identifier_02"
+                  {
+                    int[] curveVertexCounts = [2]
+                    float3[] extent = [(0.076677, -0.0505, 0), (0.111854, -0.0505, 0)]
+                    point3f[] points = [(0.076677, -0.0505, 0), (0.111854, -0.0505, 0)]
+                    uniform token purpose = "guide"
+                    uniform token type = "linear"
+                    uniform token wrap = "nonperiodic"
+                  }
+            over "Grip"
+            {
+                def Xform "Colliders"
+                {
+                    def Mesh "upper" (
+                        prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI", "MaterialBindingAPI"]
+                    )
+                    {
+                        uniform token purpose = "guide"
+                        uniform token physics:approximation = "convexHull"
+                        uniform token subdivisionScheme = "none"
+                        float3[] extent = [(0.067775246, -0.07175, -0.015), (0.121554588, -0.031, 0.015)]
+                        int[] faceVertexCounts = [3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3]
+                        int[] faceVertexIndices = [5, 0, 2, 1, 3, 0, 5, 1, 0, 3, 2, 0, 3, 7, 2, 1, 5, 4, 5, 12, 4, 12, 1, 4, 12, 5, 14, 5, 2, 6, 2, 7, 6, 7, 5, 6, 14, 5, 7, 3, 14, 7, 1, 12, 8, 10, 1, 8, 10, 8, 9, 8, 12, 9, 3, 1, 10, 14, 3, 11, 3, 10, 11, 10, 9, 15, 10, 14, 11, 9, 12, 13, 12, 15, 13, 15, 9, 13, 10, 15, 14, 12, 14, 15]
+                        normal3f[] normals = [(-0.909693, -0.415281, 0), (0, -1, 0), (-0.672917, -0.307191, -0.672916), (0, -1, 0), (-0.672917, -0.307191, 0.672916), (-0.672917, -0.307191, -0.672916), (0, 1, 0), (0, 0, -1), (0, 1, 0), (-0.909693, -0.415281, 0), (-0.672917, -0.307191, 0.672916), (0, 1, 0), (0, 1, 0), (0, 0, 1), (0, 0, -1), (0, -1, 0), (0, -1, 0), (0.672916, 0.307191, -0.672917), (0, -1, 0), (0, 0, 1), (0, -1, 0), (0.909693, 0.415281, 0), (0.672916, 0.307191, 0.672917), (0.672917, 0.307191, -0.672916), (0, 1, 0), (0.909693, 0.415281, 0), (0.672917, 0.307191, 0.672916), (0, 1, 0)] (interpolation = "uniform")
+                        point3f[] points = [(0.086377892, -0.07175, -0.0108), (0.090577888, -0.07175, -0.015), (0.086377892, -0.07175, 0.0108), (0.090577888, -0.07175, 0.015), (0.071975243, -0.031, -0.015), (0.067775246, -0.031, -0.0108), (0.067775246, -0.031, 0.0108), (0.071975243, -0.031, 0.015), (0.117354584, -0.07175, -0.015), (0.121554588, -0.07175, -0.0108), (0.121554588, -0.07175, 0.0108), (0.117354584, -0.07175, 0.015), (0.098751938, -0.031, -0.015), (0.102951935, -0.031, -0.0108), (0.098751938, -0.031, 0.015), (0.102951935, -0.031, 0.0108)]
+                        rel material:binding:physics = </Model/Physics/Materials/tpe_grip_overmold>
+                    }
+
+                    def Mesh "lower" (
+                        prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI", "MaterialBindingAPI"]
+                    )
+                    {
+                        uniform token purpose = "guide"
+                        uniform token physics:approximation = "convexHull"
+                        uniform token subdivisionScheme = "none"
+                        float3[] extent = [(0.086377892, -0.112300003, -0.015), (0.141657227, -0.07175, 0.015)]
+                        int[] faceVertexCounts = [3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3]
+                        int[] faceVertexIndices = [5, 1, 0, 1, 3, 0, 0, 2, 6, 0, 3, 2, 2, 3, 7, 1, 5, 4, 5, 0, 6, 5, 12, 4, 12, 1, 4, 12, 5, 14, 2, 7, 6, 6, 7, 5, 5, 7, 14, 3, 14, 7, 1, 12, 8, 10, 1, 8, 10, 8, 9, 8, 13, 9, 1, 10, 3, 14, 3, 11, 3, 10, 11, 15, 10, 9, 10, 15, 11, 8, 12, 13, 12, 15, 13, 15, 9, 13, 14, 11, 15, 12, 14, 15]
+                        normal3f[] normals = [(-0.677614, -0.285795, -0.677614), (0, -1, 0), (-0.9214, -0.388616, 0), (0, -1, 0), (-0.677614, -0.285795, 0.677614), (-0.677614, -0.285795, -0.677614), (-0.9214, -0.388616, 0), (0, 1, 0), (0, 0, -1), (0, 1, 0), (-0.677614, -0.285795, 0.677614), (0, 1, 0), (0, 1, 0), (0, 0, 1), (0, 0, -1), (0, -1, 0), (0, -1, 0), (0.667295, 0.330811, -0.667294), (0, -1, 0), (0, 0, 1), (0, -1, 0), (0.895945, 0.444164, 0), (0.667295, 0.330811, 0.667294), (0.667294, 0.330811, -0.667295), (0, 1, 0), (0.895945, 0.444164, 0), (0.667294, 0.330811, 0.667295), (0, 1, 0)] (interpolation = "uniform")
+                        point3f[] points = [(0.103480537, -0.112300003, -0.0108), (0.107680534, -0.112300003, -0.015), (0.103480537, -0.112300003, 0.0108), (0.107680534, -0.112300003, 0.015), (0.090577888, -0.07175, -0.015), (0.086377892, -0.07175, -0.0108), (0.086377892, -0.07175, 0.0108), (0.090577888, -0.07175, 0.015), (0.13745723, -0.112300003, -0.015), (0.141657227, -0.112300003, -0.0108), (0.141657227, -0.112300003, 0.0108), (0.13745723, -0.112300003, 0.015), (0.117354584, -0.07175, -0.015), (0.121554588, -0.07175, -0.0108), (0.117354584, -0.07175, 0.015), (0.121554588, -0.07175, 0.0108)]
+                        rel material:binding:physics = </Model/Physics/Materials/tpe_grip_overmold>
+                    }
+                }
+            }
+            over "Fixed_jaw_pad"
+            {
+                def Xform "Colliders"
+                {
+                    def Cube "pad" (
+                        prepend apiSchemas = ["PhysicsCollisionAPI", "MaterialBindingAPI"]
+                    )
+                    {
+                        uniform token purpose = "guide"
+                        double size = 1
+                        double3 xformOp:translate = (-0.003, -0.06765, 0)
+                        quatf xformOp:orient = (1, 0, 0, 0)
+                        float3 xformOp:scale = (0.006, 0.0527, 0.026)
+                        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+                        rel material:binding:physics = </Model/Physics/Materials/tpe_jaw_pad>
+                    }
+                }
+            }
+            over "Bar" (
+                prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"]
+            )
+            {
+                bool physics:rigidBodyEnabled = 1
+                bool physics:kinematicEnabled = 0
+                bool physics:startsAsleep = 0
+                float physics:mass = 0.49739070542434827
+                point3f physics:centerOfMass = (0.16112523, -0.004945344, 0.000004751)
+                float3 physics:diagonalInertia = (0.010186300125, 0.010049864374, 0.00015036841)
+                quatf physics:principalAxes = (0.70694796, 0.01585286, -0.70691367, 0.01569469)
+                matrix4d xformOp:transform:simulationWorld = ((1, 0, 0, 0), (0, 1, 0, 0), (0, 0, 1, 0), (-0.1905, 0.040462045, 0.017, 1))
+                uniform token[] xformOpOrder = ["!resetXformStack!", "xformOp:transform:simulationWorld"]
+                def Xform "Colliders"
+                {
+                    def Cube "bar" (
+                        prepend apiSchemas = ["PhysicsCollisionAPI", "MaterialBindingAPI"]
+                    )
+                    {
+                        uniform token purpose = "guide"
+                        double size = 1
+                        double3 xformOp:translate = (0.192, 0, 0)
+                        quatf xformOp:orient = (1, 0, 0, 0)
+                        float3 xformOp:scale = (0.45, 0.019, 0.00635)
+                        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+                        rel material:binding:physics = </Model/Physics/Materials/c45_steel_zinc_plated>
+                    }
+
+                    def Mesh "stop_pin" (
+                        prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI", "MaterialBindingAPI"]
+                    )
+                    {
+                        uniform token purpose = "guide"
+                        uniform token physics:approximation = "convexHull"
+                        uniform token subdivisionScheme = "none"
+                        float3[] extent = [(0.406, -0.002, -0.007), (0.41, 0.002, 0.007)]
+                        int[] faceVertexCounts = [3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3]
+                        int[] faceVertexIndices = [2, 6, 0, 1, 2, 0, 6, 1, 0, 8, 4, 1, 4, 2, 1, 6, 8, 1, 2, 4, 3, 2, 3, 10, 6, 2, 10, 13, 10, 3, 3, 4, 5, 4, 13, 5, 13, 3, 5, 9, 6, 7, 6, 11, 7, 11, 9, 7, 8, 6, 9, 14, 4, 8, 14, 8, 9, 14, 9, 11, 6, 10, 11, 10, 15, 12, 15, 11, 12, 11, 10, 12, 4, 14, 13, 10, 13, 15, 14, 11, 15, 15, 13, 14]
+                        normal3f[] normals = [(0, 0, -1), (-0.92388, -0.382683, 0), (-0.382683, -0.92388, 0), (0, 0, 1), (-0.92388, -0.382683, 0), (-0.382683, -0.92388, 0), (-0.92388, 0.382683, 0), (0, 0, -1), (0, 0, -1), (-0.382683, 0.92388, 0), (-0.92388, 0.382683, 0), (0, 0, 1), (-0.382683, 0.92388, 0), (0.382683, -0.92388, 0), (0, 0, -1), (0.92388, -0.382683, 0), (0.382683, -0.92388, 0), (0, 0, 1), (0, 0, 1), (0.92388, -0.382683, 0), (0, 0, -1), (0.382683, 0.92388, 0), (0.92388, 0.382683, 0), (0, 0, -1), (0, 0, 1), (0.382683, 0.92388, 0), (0.92388, 0.382683, 0), (0, 0, 1)] (interpolation = "uniform")
+                        point3f[] points = [(0.406585785, -0.001414214, -0.007), (0.406585785, -0.001414214, 0.007), (0.406, 0, -0.007), (0.406585785, 0.001414214, -0.007), (0.406, 0, 0.007), (0.406585785, 0.001414214, 0.007), (0.408, -0.002, -0.007), (0.409414215, -0.001414214, -0.007), (0.408, -0.002, 0.007), (0.409414215, -0.001414214, 0.007), (0.408, 0.002, -0.007), (0.41, 0, -0.007), (0.409414215, 0.001414214, -0.007), (0.408, 0.002, 0.007), (0.41, 0, 0.007), (0.409414215, 0.001414214, 0.007)]
+                        rel material:binding:physics = </Model/Physics/Materials/c45_steel_zinc_plated>
+                    }
+                }
+                over "Sliding_jaw"
+                {
+                    def Xform "Colliders"
+                    {
+                        def Cube "socket" (
+                            prepend apiSchemas = ["PhysicsCollisionAPI", "MaterialBindingAPI"]
+                        )
+                        {
+                            uniform token purpose = "guide"
+                            double size = 1
+                            double3 xformOp:translate = (-0.024, 0, 0)
+                            quatf xformOp:orient = (1, 0, 0, 0)
+                            float3 xformOp:scale = (0.024, 0.031, 0.032)
+                            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+                            rel material:binding:physics = </Model/Physics/Materials/glass_filled_nylon_pa6_gf30>
+                        }
+
+                        def Mesh "body" (
+                            prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI", "MaterialBindingAPI"]
+                        )
+                        {
+                            uniform token purpose = "guide"
+                            uniform token physics:approximation = "convexHull"
+                            uniform token subdivisionScheme = "none"
+                            float3[] extent = [(-0.036, -0.0945, -0.016), (-0.012, -0.015, 0.016)]
+                            int[] faceVertexCounts = [3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3]
+                            int[] faceVertexIndices = [3, 6, 0, 0, 1, 4, 3, 0, 2, 0, 4, 2, 4, 3, 2, 1, 5, 4, 4, 5, 3, 1, 9, 5, 9, 3, 5, 6, 1, 0, 1, 6, 7, 6, 9, 7, 9, 1, 7, 6, 3, 8, 3, 9, 8, 9, 6, 8]
+                            normal3f[] normals = [(0, 0, -1), (-0.989661, -0.143429, 0), (0, 0, -1), (-0.989661, -0.143429, 0), (-1, 0, 0), (0, 0, 1), (-1, 0, 0), (0, 0, 1), (0, 1, 0), (0, -1, 0), (0, -1, 0), (1, 0, 0), (0, 0, 1), (0, 0, -1), (0, 1, 0), (1, 0, 0)] (interpolation = "uniform")
+                            point3f[] points = [(-0.026, -0.0945, -0.016), (-0.026, -0.0945, 0.016), (-0.036, -0.0255, -0.016), (-0.036, -0.015, -0.016), (-0.036, -0.0255, 0.016), (-0.036, -0.015, 0.016), (-0.012, -0.0945, -0.016), (-0.012, -0.0945, 0.016), (-0.012, -0.015, -0.016), (-0.012, -0.015, 0.016)]
+                            rel material:binding:physics = </Model/Physics/Materials/glass_filled_nylon_pa6_gf30>
+                        }
+                    }
+                    over "Sliding_jaw_pad"
+                    {
+                        def Xform "Colliders"
+                        {
+                            def Cube "pad" (
+                                prepend apiSchemas = ["PhysicsCollisionAPI", "MaterialBindingAPI"]
+                            )
+                            {
+                                uniform token purpose = "guide"
+                                double size = 1
+                                double3 xformOp:translate = (-0.009, -0.06765, 0)
+                                quatf xformOp:orient = (1, 0, 0, 0)
+                                float3 xformOp:scale = (0.006, 0.0527, 0.026)
+                                uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+                                rel material:binding:physics = </Model/Physics/Materials/tpe_jaw_pad>
+                            }
+                        }
+                    }
+                }
+            }
+            over "Trigger" (
+                prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"]
+            )
+            {
+                bool physics:rigidBodyEnabled = 1
+                bool physics:kinematicEnabled = 0
+                bool physics:startsAsleep = 0
+                float physics:mass = 0.02310387736584924
+                point3f physics:centerOfMass = (0.053405034, -0.05874822, -0.000000258)
+                float3 physics:diagonalInertia = (0.000013301124, 0.000012823073, 0.000000939149)
+                quatf physics:principalAxes = (0.70708257, 0.7070938, -0.00512821, -0.00512844)
+                matrix4d xformOp:transform:simulationWorld = ((1, 0, 0, 0), (0, 1, 0, 0), (0, 0, 1, 0), (-0.0465, 0.040462045, 0.017, 1))
+                uniform token[] xformOpOrder = ["!resetXformStack!", "xformOp:transform:simulationWorld"]
+                def Xform "Colliders"
+                {
+                    def Mesh "head" (
+                        prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI", "MaterialBindingAPI"]
+                    )
+                    {
+                        uniform token purpose = "guide"
+                        uniform token physics:approximation = "convexHull"
+                        uniform token subdivisionScheme = "none"
+                        float3[] extent = [(0.048700001, -0.02673205, -0.005), (0.060200001, -0.0105, 0.005)]
+                        int[] faceVertexCounts = [3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3]
+                        int[] faceVertexIndices = [0, 1, 2, 11, 0, 8, 0, 11, 1, 11, 6, 1, 2, 3, 0, 14, 0, 3, 6, 3, 2, 3, 6, 4, 14, 3, 4, 4, 18, 14, 2, 1, 5, 6, 2, 5, 1, 6, 5, 4, 6, 7, 18, 4, 7, 6, 18, 7, 6, 20, 18, 0, 10, 8, 0, 14, 10, 8, 10, 9, 12, 8, 9, 10, 12, 9, 19, 10, 15, 11, 8, 12, 10, 13, 12, 12, 13, 11, 10, 19, 13, 19, 11, 13, 17, 14, 16, 18, 16, 14, 10, 14, 17, 10, 17, 15, 17, 19, 15, 17, 16, 21, 19, 6, 11, 20, 16, 18, 20, 6, 19, 20, 21, 16, 19, 17, 21, 20, 19, 21]
+                        normal3f[] normals = [(-0.989728, 0.142961, 0), (-0.253983, -0.967209, 0), (-0.253983, -0.967209, 0), (0, 0, 1), (0, 0, -1), (0, 0, -1), (-0.965926, 0.258819, 0), (-0.707107, 0.707107, 0), (0, 0, -1), (-0.258819, 0.965926, 0), (-0.989728, 0.142961, 0), (-0.965926, 0.258819, 0), (0, 0, 1), (-0.707107, 0.707107, 0), (-0.258819, 0.965926, 0), (0, 0, 1), (0, 0, 1), (0, 0, -1), (0, 0, -1), (0, 0, -1), (0, -1, 0), (0.866025, -0.5, 0), (0.999778, 0.021048, 0), (0, -1, 0), (0.866025, -0.5, 0), (0, 0, 1), (0.999778, 0.021048, 0), (0, 0, 1), (0, 0, -1), (0.258819, 0.965926, 0), (0, 0, -1), (0, 0, -1), (0.965926, 0.258819, 0), (0.707107, 0.707107, 0), (0, 0, 1), (0.258819, 0.965926, 0), (0, 0, 1), (0.707107, 0.707107, 0), (0.965926, 0.258819, 0), (0, 0, 1)] (interpolation = "uniform")
+                        point3f[] points = [(0.048700001, -0.0245, -0.005), (0.048700001, -0.0245, 0.005), (0.05, -0.0155, -0.005), (0.050669872, -0.013, -0.005), (0.0525, -0.011169873, -0.005), (0.05, -0.0155, 0.005), (0.050669872, -0.013, 0.005), (0.0525, -0.011169873, 0.005), (0.057200001, -0.02673205, -0.005), (0.059200001, -0.02673205, -0.005), (0.060200001, -0.025, -0.005), (0.057200001, -0.02673205, 0.005), (0.059200001, -0.02673205, 0.005), (0.060200001, -0.025, 0.005), (0.055, -0.0105, -0.005), (0.06, -0.0155, -0.005), (0.0575, -0.011169873, -0.005), (0.059330128, -0.013, -0.005), (0.055, -0.0105, 0.005), (0.06, -0.0155, 0.005), (0.0575, -0.011169873, 0.005), (0.059330128, -0.013, 0.005)]
+                        rel material:binding:physics = </Model/Physics/Materials/glass_filled_nylon_pa6_gf30>
+                    }
+
+                    def Mesh "lever_upper" (
+                        prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI", "MaterialBindingAPI"]
+                    )
+                    {
+                        uniform token purpose = "guide"
+                        uniform token physics:approximation = "convexHull"
+                        uniform token subdivisionScheme = "none"
+                        float3[] extent = [(0.04752, -0.0605, -0.01), (0.059200001, -0.0225, 0.01)]
+                        int[] faceVertexCounts = [3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3]
+                        int[] faceVertexIndices = [1, 0, 2, 4, 0, 1, 8, 2, 0, 4, 8, 0, 1, 2, 3, 2, 6, 3, 7, 2, 10, 6, 4, 1, 4, 7, 5, 12, 4, 5, 7, 12, 5, 6, 1, 3, 2, 7, 6, 7, 4, 6, 10, 8, 9, 8, 12, 9, 2, 8, 10, 10, 9, 11, 14, 10, 11, 8, 4, 12, 12, 13, 9, 11, 9, 13, 12, 14, 13, 7, 10, 14, 12, 7, 14, 11, 13, 15, 14, 11, 15, 13, 14, 15]
+                        normal3f[] normals = [(-0.999928, 0.011999, 0), (0, 0, -1), (0, -1, 0), (0, 0, -1), (-0.999928, 0.011999, 0), (0, 0, 1), (0, 0, 1), (-0.999635, 0.027017, 0), (-0.954857, 0.297066, 0), (0, 0, -1), (0, 1, 0), (-0.999635, 0.027017, 0), (0, 0, 1), (-0.954857, 0.297066, 0), (0.999911, 0.013332, 0), (0, 0, -1), (0, -1, 0), (0.999911, 0.013332, 0), (0, 0, 1), (0, 0, -1), (0, 0, -1), (0.997785, 0.066519, 0), (0.992278, 0.124035, 0), (0, 0, 1), (0, 1, 0), (0.997785, 0.066519, 0), (0, 0, 1), (0.992278, 0.124035, 0)] (interpolation = "uniform")
+                        point3f[] points = [(0.04752, -0.0605, -0.01), (0.047700001, -0.0455, -0.01), (0.04752, -0.0605, 0.01), (0.047700001, -0.0455, 0.01), (0.048200001, -0.027, -0.01), (0.049599998, -0.0225, -0.01), (0.048200001, -0.027, 0.01), (0.049599998, -0.0225, 0.01), (0.059200001, -0.0605, -0.01), (0.059, -0.0455, -0.01), (0.059200001, -0.0605, 0.01), (0.059, -0.0455, 0.01), (0.057, -0.0225, -0.01), (0.058, -0.0305, -0.01), (0.057, -0.0225, 0.01), (0.058, -0.0305, 0.01)]
+                        rel material:binding:physics = </Model/Physics/Materials/glass_filled_nylon_pa6_gf30>
+                    }
+
+                    def Mesh "lever_lower" (
+                        prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI", "MaterialBindingAPI"]
+                    )
+                    {
+                        uniform token purpose = "guide"
+                        uniform token physics:approximation = "convexHull"
+                        uniform token subdivisionScheme = "none"
+                        float3[] extent = [(0.045400002, -0.098, -0.01), (0.059200001, -0.0605, 0.01)]
+                        int[] faceVertexCounts = [3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3]
+                        int[] faceVertexIndices = [1, 2, 0, 4, 1, 0, 2, 4, 0, 1, 6, 3, 1, 3, 2, 9, 2, 3, 5, 2, 9, 11, 1, 4, 5, 11, 4, 5, 4, 2, 1, 7, 6, 1, 11, 7, 7, 9, 6, 9, 7, 10, 3, 6, 8, 9, 3, 8, 6, 9, 8, 9, 10, 12, 10, 7, 11, 11, 13, 10, 5, 9, 13, 11, 5, 13, 10, 13, 12, 13, 9, 12]
+                        normal3f[] normals = [(-0.755689, -0.65493, 0), (0, 0, -1), (-0.998117, 0.061334, 0), (0, -1, 0), (-0.755689, -0.65493, 0), (0, 0, 1), (0, 0, 1), (0, 0, -1), (0, 1, 0), (-0.998117, 0.061334, 0), (0, 0, -1), (0, 0, -1), (0.695422, -0.718602, 0), (0.999527, -0.030755, 0), (0, -1, 0), (0, 0, 1), (0.695422, -0.718602, 0), (0.999527, -0.030755, 0), (0, 0, -1), (1, 0, 0), (0, 0, 1), (0, 1, 0), (1, 0, 0), (0, 0, 1)] (interpolation = "uniform")
+                        point3f[] points = [(0.045400002, -0.095, -0.01), (0.048, -0.098, -0.01), (0.045400002, -0.095, 0.01), (0.048, -0.098, 0.01), (0.04752, -0.0605, -0.01), (0.04752, -0.0605, 0.01), (0.0555, -0.098, -0.01), (0.058599998, -0.095, -0.01), (0.0555, -0.098, 0.01), (0.058599998, -0.095, 0.01), (0.059200001, -0.0755, -0.01), (0.059200001, -0.0605, -0.01), (0.059200001, -0.0755, 0.01), (0.059200001, -0.0605, 0.01)]
+                        rel material:binding:physics = </Model/Physics/Materials/glass_filled_nylon_pa6_gf30>
+                    }
+                }
+            }
+            over "Drive_plate" (
+                prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"]
+            )
+            {
+                bool physics:rigidBodyEnabled = 1
+                bool physics:kinematicEnabled = 0
+                bool physics:startsAsleep = 0
+                float physics:mass = 0.013892145013475424
+                point3f physics:centerOfMass = (0.061799999, -0.005218718, 0)
+                float3 physics:diagonalInertia = (0.000002330312, 0.000000580856, 0.000001770294)
+                quatf physics:principalAxes = (1, 0, 0, 0)
+                matrix4d xformOp:transform:simulationWorld = ((1, 0, 0, 0), (0, 1, 0, 0), (0, 0, 1, 0), (-0.0465, 0.040462045, 0.017, 1))
+                uniform token[] xformOpOrder = ["!resetXformStack!", "xformOp:transform:simulationWorld"]
+                def Xform "Colliders"
+                {
+                    def Cube "top" (
+                        prepend apiSchemas = ["PhysicsCollisionAPI", "MaterialBindingAPI"]
+                    )
+                    {
+                        uniform token purpose = "guide"
+                        double size = 1
+                        double3 xformOp:translate = (0.0618, 0.0114, 0)
+                        quatf xformOp:orient = (1, 0, 0, 0)
+                        float3 xformOp:scale = (0.003, 0.0032, 0.022)
+                        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+                        rel material:binding:physics = </Model/Physics/Materials/c45_steel_zinc_plated>
+                    }
+
+                    def Cube "left" (
+                        prepend apiSchemas = ["PhysicsCollisionAPI", "MaterialBindingAPI"]
+                    )
+                    {
+                        uniform token purpose = "guide"
+                        double size = 1
+                        double3 xformOp:translate = (0.0618, 0, -0.0072375)
+                        quatf xformOp:orient = (1, 0, 0, 0)
+                        float3 xformOp:scale = (0.003, 0.0196, 0.007525)
+                        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+                        rel material:binding:physics = </Model/Physics/Materials/c45_steel_zinc_plated>
+                    }
+
+                    def Cube "right" (
+                        prepend apiSchemas = ["PhysicsCollisionAPI", "MaterialBindingAPI"]
+                    )
+                    {
+                        uniform token purpose = "guide"
+                        double size = 1
+                        double3 xformOp:translate = (0.0618, 0, 0.0072375)
+                        quatf xformOp:orient = (1, 0, 0, 0)
+                        float3 xformOp:scale = (0.003, 0.0196, 0.007525)
+                        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+                        rel material:binding:physics = </Model/Physics/Materials/c45_steel_zinc_plated>
+                    }
+
+                    def Cube "bottom" (
+                        prepend apiSchemas = ["PhysicsCollisionAPI", "MaterialBindingAPI"]
+                    )
+                    {
+                        uniform token purpose = "guide"
+                        double size = 1
+                        double3 xformOp:translate = (0.0618, -0.0119, 0)
+                        quatf xformOp:orient = (1, 0, 0, 0)
+                        float3 xformOp:scale = (0.003, 0.0042, 0.022)
+                        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+                        rel material:binding:physics = </Model/Physics/Materials/c45_steel_zinc_plated>
+                    }
+
+                    def Cube "tab" (
+                        prepend apiSchemas = ["PhysicsCollisionAPI", "MaterialBindingAPI"]
+                    )
+                    {
+                        uniform token purpose = "guide"
+                        double size = 1
+                        double3 xformOp:translate = (0.0618, -0.0205, 0)
+                        quatf xformOp:orient = (1, 0, 0, 0)
+                        float3 xformOp:scale = (0.003, 0.013, 0.01)
+                        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+                        rel material:binding:physics = </Model/Physics/Materials/c45_steel_zinc_plated>
+                    }
+                }
+            }
+            over "Release_lever" (
+                prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"]
+            )
+            {
+                bool physics:rigidBodyEnabled = 1
+                bool physics:kinematicEnabled = 0
+                bool physics:startsAsleep = 0
+                float physics:mass = 0.012842813505675095
+                point3f physics:centerOfMass = (0.095145714, 0.011969749, -0.000000008)
+                float3 physics:diagonalInertia = (0.000003262194, 0.000002890561, 0.000000441098)
+                quatf physics:principalAxes = (0.70536959, 0.70536931, -0.04953742, -0.04953706)
+                matrix4d xformOp:transform:simulationWorld = ((1, 0, 0, 0), (0, 1, 0, 0), (0, 0, 1, 0), (-0.0465, 0.040462045, 0.017, 1))
+                uniform token[] xformOpOrder = ["!resetXformStack!", "xformOp:transform:simulationWorld"]
+                def Xform "Colliders"
+                {
+                    def Mesh "top" (
+                        prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI", "MaterialBindingAPI"]
+                    )
+                    {
+                        uniform token purpose = "guide"
+                        uniform token physics:approximation = "convexHull"
+                        uniform token subdivisionScheme = "none"
+                        float3[] extent = [(0.093011703, 0.010619228, -0.011), (0.096078896, 0.011728431, 0.011)]
+                        int[] faceVertexCounts = [3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3]
+                        int[] faceVertexIndices = [4, 1, 0, 2, 4, 0, 1, 2, 0, 2, 1, 3, 1, 7, 3, 7, 2, 3, 6, 5, 4, 1, 4, 5, 7, 1, 5, 6, 7, 5, 6, 4, 2, 2, 7, 6]
+                        normal3f[] normals = [(-0.104528, -0.994522, 0), (0, 0, -1), (-0.994521, 0.104532, 0), (-0.994521, 0.104532, 0), (0, 0, 1), (0.104528, 0.994522, 0), (0.994521, -0.104532, 0), (-0.104528, -0.994522, 0), (0, 0, 1), (0.994521, -0.104532, 0), (0, 0, -1), (0.104528, 0.994522, 0)] (interpolation = "uniform")
+                        point3f[] points = [(0.093011703, 0.010932814, -0.011), (0.093011703, 0.010932814, 0.011), (0.093095329, 0.011728431, -0.011), (0.093095329, 0.011728431, 0.011), (0.09599527, 0.010619228, -0.011), (0.09599527, 0.010619228, 0.011), (0.096078896, 0.011414845, -0.011), (0.096078896, 0.011414845, 0.011)]
+                        rel material:binding:physics = </Model/Physics/Materials/c45_steel_zinc_plated>
+                    }
+
+                    def Mesh "left" (
+                        prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI", "MaterialBindingAPI"]
+                    )
+                    {
+                        uniform token purpose = "guide"
+                        uniform token physics:approximation = "convexHull"
+                        uniform token subdivisionScheme = "none"
+                        float3[] extent = [(0.090764343, -0.010762993, -0.011), (0.09599527, 0.010932814, -0.003575)]
+                        int[] faceVertexCounts = [3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3]
+                        int[] faceVertexIndices = [1, 2, 0, 5, 0, 4, 5, 1, 0, 3, 1, 5, 2, 6, 0, 1, 3, 2, 0, 6, 4, 6, 5, 4, 2, 3, 6, 3, 5, 7, 5, 6, 7, 6, 3, 7]
+                        normal3f[] normals = [(-0.994522, 0.104528, 0), (-0.104529, -0.994522, 0), (-0.104529, -0.994522, 0), (0, 0, 1), (0, 0, -1), (-0.994522, 0.104528, 0), (0, 0, -1), (0.994522, -0.104528, 0), (0.104528, 0.994522, 0), (0, 0, 1), (0.994522, -0.104528, 0), (0.104528, 0.994522, 0)] (interpolation = "uniform")
+                        point3f[] points = [(0.090764343, -0.010449407, -0.011), (0.090764343, -0.010449407, -0.003575), (0.093011703, 0.010932814, -0.011), (0.093011703, 0.010932814, -0.003575), (0.09374791, -0.010762993, -0.011), (0.09374791, -0.010762993, -0.003575), (0.09599527, 0.010619228, -0.011), (0.09599527, 0.010619228, -0.003575)]
+                        rel material:binding:physics = </Model/Physics/Materials/c45_steel_zinc_plated>
+                    }
+
+                    def Mesh "right" (
+                        prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI", "MaterialBindingAPI"]
+                    )
+                    {
+                        uniform token purpose = "guide"
+                        uniform token physics:approximation = "convexHull"
+                        uniform token subdivisionScheme = "none"
+                        float3[] extent = [(0.090764343, -0.010762993, 0.003575), (0.09599527, 0.010932814, 0.011)]
+                        int[] faceVertexCounts = [3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3]
+                        int[] faceVertexIndices = [4, 1, 0, 1, 2, 0, 2, 4, 0, 1, 4, 5, 3, 1, 5, 1, 3, 2, 6, 5, 4, 2, 6, 4, 3, 6, 2, 3, 5, 7, 5, 6, 7, 6, 3, 7]
+                        normal3f[] normals = [(-0.104529, -0.994522, 0), (-0.994522, 0.104528, 0), (0, 0, -1), (-0.104529, -0.994522, 0), (0, 0, 1), (-0.994522, 0.104528, 0), (0.994522, -0.104528, 0), (0, 0, -1), (0.104528, 0.994522, 0), (0, 0, 1), (0.994522, -0.104528, 0), (0.104528, 0.994522, 0)] (interpolation = "uniform")
+                        point3f[] points = [(0.090764343, -0.010449407, 0.003575), (0.090764343, -0.010449407, 0.011), (0.093011703, 0.010932814, 0.003575), (0.093011703, 0.010932814, 0.011), (0.09374791, -0.010762993, 0.003575), (0.09374791, -0.010762993, 0.011), (0.09599527, 0.010619228, 0.003575), (0.09599527, 0.010619228, 0.011)]
+                        rel material:binding:physics = </Model/Physics/Materials/c45_steel_zinc_plated>
+                    }
+
+                    def Mesh "bottom" (
+                        prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI", "MaterialBindingAPI"]
+                    )
+                    {
+                        uniform token purpose = "guide"
+                        uniform token physics:approximation = "convexHull"
+                        uniform token subdivisionScheme = "none"
+                        float3[] extent = [(0.09034623, -0.01474108, -0.011), (0.09374791, -0.010449407, 0.011)]
+                        int[] faceVertexCounts = [3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3]
+                        int[] faceVertexIndices = [1, 2, 0, 4, 1, 0, 2, 4, 0, 2, 1, 3, 1, 7, 3, 7, 2, 3, 1, 4, 5, 7, 1, 5, 4, 7, 5, 6, 4, 2, 2, 7, 6, 6, 7, 4]
+                        normal3f[] normals = [(-0.994522, 0.104528, 0), (-0.104528, -0.994522, 0), (0, 0, -1), (-0.994522, 0.104528, 0), (0, 0, 1), (0.104529, 0.994522, 0), (-0.104528, -0.994522, 0), (0, 0, 1), (0.994522, -0.104528, 0), (0, 0, -1), (0.104529, 0.994522, 0), (0.994522, -0.104528, 0)] (interpolation = "uniform")
+                        point3f[] points = [(0.09034623, -0.014427495, -0.011), (0.09034623, -0.014427495, 0.011), (0.090764343, -0.010449407, -0.011), (0.090764343, -0.010449407, 0.011), (0.093329796, -0.01474108, -0.011), (0.093329796, -0.01474108, 0.011), (0.09374791, -0.010762993, -0.011), (0.09374791, -0.010762993, 0.011)]
+                        rel material:binding:physics = </Model/Physics/Materials/c45_steel_zinc_plated>
+                    }
+
+                    def Mesh "tab" (
+                        prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI", "MaterialBindingAPI"]
+                    )
+                    {
+                        uniform token purpose = "guide"
+                        uniform token physics:approximation = "convexHull"
+                        uniform token subdivisionScheme = "none"
+                        float3[] extent = [(0.0928004, 0.017133347, -0.0065), (0.102739037, 0.031725935, 0.0065)]
+                        int[] faceVertexCounts = [3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3]
+                        int[] faceVertexIndices = [6, 0, 1, 0, 4, 1, 0, 8, 2, 5, 0, 2, 4, 0, 3, 5, 3, 0, 9, 3, 5, 9, 4, 3, 4, 6, 1, 10, 0, 6, 6, 4, 7, 11, 6, 7, 4, 11, 7, 8, 5, 2, 0, 10, 8, 8, 9, 5, 10, 6, 11, 10, 9, 8, 4, 9, 11, 10, 11, 9]
+                        normal3f[] normals = [(0, 0, -1), (-0.988379, -0.152012, 0), (0, 0, -1), (-0.104528, -0.994522, 0), (-0.988379, -0.152012, 0), (-0.104528, -0.994522, 0), (0, 0, 1), (0, 0, 1), (-0.994522, 0.104528, 0), (0, 0, -1), (-0.994522, 0.104528, 0), (0.104528, 0.994522, 0), (0, 0, 1), (0.708289, -0.705923, 0), (0, 0, -1), (0.708289, -0.705923, 0), (0.104528, 0.994522, 0), (0.994522, -0.104528, 0), (0, 0, 1), (0.994522, -0.104528, 0)] (interpolation = "uniform")
+                        point3f[] points = [(0.093696365, 0.017446932, -0.0065), (0.0928004, 0.023272499, -0.0065), (0.096679932, 0.017133347, -0.0065), (0.093696365, 0.017446932, 0.0065), (0.0928004, 0.023272499, 0.0065), (0.096679932, 0.017133347, 0.0065), (0.093688889, 0.031725935, -0.0065), (0.093688889, 0.031725935, 0.0065), (0.101850548, 0.022321291, -0.0065), (0.101850548, 0.022321291, 0.0065), (0.102739037, 0.030774727, -0.0065), (0.102739037, 0.030774727, 0.0065)]
+                        rel material:binding:physics = </Model/Physics/Materials/c45_steel_zinc_plated>
+                    }
+                }
+            }
+        }
+    }
+}