Add SimReady package: playground_swing_seesaw

.gitattributes

@@ -518,3 +518,4 @@ revolving_door/simready_usd/forgecad/geometry.usda filter=lfs diff=lfs merge=lfs
 din_rail_breaker_board/simready_usd/forgecad/geometry.usda filter=lfs diff=lfs merge=lfs -text
 microplate/simready_usd/forgecad/geometry.usda filter=lfs diff=lfs merge=lfs -text
 security_divest_station/simready_usd/forgecad/geometry.usda filter=lfs diff=lfs merge=lfs -text
+playground_swing_seesaw/simready_usd/forgecad/geometry.usda filter=lfs diff=lfs merge=lfs -text

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

@@ -0,0 +1,35 @@
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+  "profile_version": "1.0.0",
+  "timestamp": "2026-10-20T07:52:02",
+  "assets": [
+    {
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+            "failing_requirements": [],
+            "dependencies": []
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+                }
+              }
+            ]
+          }
+        }
+      ]
+    }
+  ]
+}

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

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playground_swing_seesaw/.metadata/playground_swing_seesaw_benchmark.json

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+          "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"
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+        },
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+          "level": "error",
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+          "message": "[py stderr]:     ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^"
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+          "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"
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+          "message": "[py stderr]:     self.__projection = self._conform_projection(policy, camera, image_aspect, canvas_aspect, projection)"
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+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:                         ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^"
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+          "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"
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+          "message": "[py stderr]:                 ^^^^^^^^^^^^^^^^"
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+          "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",
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+          "message": "[py stderr]:     self.__drawable_changed_fn(texture[\"rp_resource\"], presentation_key)"
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+        {
+          "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"
+        },
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+          "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]:     ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^"
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+        {
+          "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"
+        },
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+          "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]:                         ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^"
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+          "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"
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+          "message": "[py stderr]:     gf_camera = camera.GetCamera(self.__time)"
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+          "message": "[py stderr]:                 ^^^^^^^^^^^^^^^^"
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+            0.0485,
+            0.0497
+          ],
+          "unit": null
+        },
+        "display_color_control_ratio": {
+          "value": 0.007539,
+          "unit": null
+        },
+        "display_color_response_ratio": {
+          "value": 0.999978,
+          "unit": null
+        },
+        "display_color_opacity_ratio": {
+          "value": 0.976447,
+          "unit": null
+        }
+      },
+      "kit_logs": []
+    },
+    {
+      "test_name": "grasp_and_lift",
+      "engine": "isaac_sim",
+      "engine_version": "6.1.0.0",
+      "status": "skipped",
+      "passed": false,
+      "duration": 0.162,
+      "message": "no grasp_identifier prims found on asset",
+      "metrics": {},
+      "kit_logs": []
+    },
+    {
+      "test_name": "grasp_and_lift",
+      "engine": "isaac_sim_newton",
+      "engine_version": "6.1.0.0",
+      "status": "skipped",
+      "passed": false,
+      "duration": 0.0,
+      "message": "Requires FET_003_NEWTON to be validated first: grasp-and-lift depends on the active runtime physics setup, and FET_003_NEWTON is not in this asset's validated features.",
+      "metrics": {},
+      "kit_logs": []
+    },
+    {
+      "test_name": "ground_drop",
+      "engine": "isaac_sim",
+      "engine_version": "6.1.0.0",
+      "status": "skipped",
+      "passed": false,
+      "duration": 0.299,
+      "message": "Asset is world-anchored (FixedJoint to world) -- test not applicable. World-anchored assets cannot fall or slide.",
+      "metrics": {
+        "ground_drop_skipped": {
+          "value": 1,
+          "unit": null
+        }
+      },
+      "kit_logs": []
+    },
+    {
+      "test_name": "joint_movement",
+      "engine": "isaac_sim",
+      "engine_version": "6.1.0.0",
+      "status": "pass",
+      "passed": true,
+      "duration": 108.994,
+      "message": "",
+      "metrics": {
+        "_timing_capture_frame_total_s": {
+          "value": 12.328,
+          "unit": null
+        },
+        "_timing_capture_frame_count": {
+          "value": 45,
+          "unit": null
+        },
+        "_timing_capture_frame_avg_ms": {
+          "value": 273.96,
+          "unit": null
+        },
+        "_timing_encode_video_total_s": {
+          "value": 2.221,
+          "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
+        },
+        "jm_joint_Swing_rot_deg": {
+          "value": 34.989,
+          "unit": null
+        },
+        "jm_joint_Swing_trans_pct": {
+          "value": 3.2,
+          "unit": null
+        },
+        "jm_joint_Swing_bbox_m": {
+          "value": 1.8798,
+          "unit": null
+        },
+        "jm_joint_Swing_pct_of_travel": {
+          "value": 100.0,
+          "unit": null
+        },
+        "jm_joint_Seesaw_rot_deg": {
+          "value": 15.028,
+          "unit": null
+        },
+        "jm_joint_Seesaw_trans_pct": {
+          "value": 0.99,
+          "unit": null
+        },
+        "jm_joint_Seesaw_bbox_m": {
+          "value": 2.6456,
+          "unit": null
+        },
+        "jm_joint_Seesaw_pct_of_travel": {
+          "value": 62.6,
+          "unit": null
+        },
+        "jm_joints_total": {
+          "value": 2,
+          "unit": null
+        },
+        "jm_joints_passed": {
+          "value": 2,
+          "unit": null
+        },
+        "jm_joints_failed": {
+          "value": 0,
+          "unit": null
+        },
+        "jm_joint_Swing_status": {
+          "value": "passed",
+          "unit": null
+        },
+        "jm_joint_Seesaw_status": {
+          "value": "passed",
+          "unit": null
+        }
+      },
+      "kit_logs": [
+        {
+          "level": "error",
+          "channel": "omni.physx.plugin",
+          "message": "Physics scenes stepping is not the same, step subscription will be send with later step, per scene step is not yet supported."
+        }
+      ]
+    },
+    {
+      "test_name": "light_response",
+      "engine": "isaac_sim",
+      "engine_version": "6.1.0.0",
+      "status": "pass",
+      "passed": true,
+      "duration": 13.85,
+      "message": "",
+      "metrics": {
+        "_timing_capture_frame_total_s": {
+          "value": 4.545,
+          "unit": null
+        },
+        "_timing_capture_frame_count": {
+          "value": 30,
+          "unit": null
+        },
+        "_timing_capture_frame_avg_ms": {
+          "value": 151.51,
+          "unit": null
+        },
+        "_timing_encode_video_total_s": {
+          "value": 1.526,
+          "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": 0.37931,
+          "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": 11,
+          "unit": null
+        },
+        "light_response_passed": {
+          "value": 1,
+          "unit": null
+        },
+        "light_response_max_pair_change": {
+          "value": 0.780135,
+          "unit": null
+        },
+        "light_response_min_pair_change": {
+          "value": 0.009368,
+          "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": 13.934,
+      "message": "",
+      "metrics": {
+        "_timing_capture_frame_total_s": {
+          "value": 4.563,
+          "unit": null
+        },
+        "_timing_capture_frame_count": {
+          "value": 30,
+          "unit": null
+        },
+        "_timing_capture_frame_avg_ms": {
+          "value": 152.09,
+          "unit": null
+        },
+        "_timing_encode_video_total_s": {
+          "value": 1.516,
+          "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": 0.413793,
+          "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": 12,
+          "unit": null
+        },
+        "light_response_passed": {
+          "value": 1,
+          "unit": null
+        },
+        "light_response_max_pair_change": {
+          "value": 0.780801,
+          "unit": null
+        },
+        "light_response_min_pair_change": {
+          "value": 0.010121,
+          "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": 16.798,
+      "message": "",
+      "metrics": {
+        "_timing_capture_frame_total_s": {
+          "value": 10.715,
+          "unit": null
+        },
+        "_timing_capture_frame_count": {
+          "value": 8,
+          "unit": null
+        },
+        "_timing_capture_frame_avg_ms": {
+          "value": 1339.41,
+          "unit": null
+        },
+        "_timing_encode_video_total_s": {
+          "value": 0.72,
+          "unit": null
+        },
+        "_timing_encode_video_count": {
+          "value": 1,
+          "unit": null
+        },
+        "_render_blank_retry_count": {
+          "value": 9,
+          "unit": null
+        },
+        "_render_blank_retry_unrecovered": {
+          "value": 9,
+          "unit": null
+        },
+        "_render_blank_retry[visibility_check_001.png]": {
+          "value": "attempts=6 recovered=False",
+          "unit": null
+        },
+        "_render_blank_retry[normals_xz_001.png]": {
+          "value": "attempts=6 recovered=False",
+          "unit": null
+        },
+        "_render_blank_retry[normals_xz_002.png]": {
+          "value": "attempts=6 recovered=False",
+          "unit": null
+        },
+        "_render_blank_retry[normals_xz_003.png]": {
+          "value": "attempts=6 recovered=False",
+          "unit": null
+        },
+        "_render_blank_retry[normals_xz_004.png]": {
+          "value": "attempts=6 recovered=False",
+          "unit": null
+        },
+        "_render_blank_retry[normals_xz_005.png]": {
+          "value": "attempts=6 recovered=False",
+          "unit": null
+        },
+        "_render_blank_retry[normals_xz_006.png]": {
+          "value": "attempts=6 recovered=False",
+          "unit": null
+        },
+        "_render_blank_retry[normals_xz_007.png]": {
+          "value": "attempts=6 recovered=False",
+          "unit": null
+        },
+        "_render_blank_retry[normals_xz_008.png]": {
+          "value": "attempts=6 recovered=False",
+          "unit": null
+        },
+        "normals_xz_avg_dark": {
+          "value": 0.0,
+          "unit": null
+        },
+        "normals_xz_max_dark": {
+          "value": 0.0,
+          "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": 15.667,
+      "message": "",
+      "metrics": {
+        "_timing_capture_frame_total_s": {
+          "value": 9.828,
+          "unit": null
+        },
+        "_timing_capture_frame_count": {
+          "value": 8,
+          "unit": null
+        },
+        "_timing_capture_frame_avg_ms": {
+          "value": 1228.56,
+          "unit": null
+        },
+        "_timing_encode_video_total_s": {
+          "value": 0.594,
+          "unit": null
+        },
+        "_timing_encode_video_count": {
+          "value": 1,
+          "unit": null
+        },
+        "_render_blank_retry_count": {
+          "value": 9,
+          "unit": null
+        },
+        "_render_blank_retry_unrecovered": {
+          "value": 9,
+          "unit": null
+        },
+        "_render_blank_retry[visibility_check_001.png]": {
+          "value": "attempts=6 recovered=False",
+          "unit": null
+        },
+        "_render_blank_retry[normals_xz_001.png]": {
+          "value": "attempts=6 recovered=False",
+          "unit": null
+        },
+        "_render_blank_retry[normals_xz_002.png]": {
+          "value": "attempts=6 recovered=False",
+          "unit": null
+        },
+        "_render_blank_retry[normals_xz_003.png]": {
+          "value": "attempts=6 recovered=False",
+          "unit": null
+        },
+        "_render_blank_retry[normals_xz_004.png]": {
+          "value": "attempts=6 recovered=False",
+          "unit": null
+        },
+        "_render_blank_retry[normals_xz_005.png]": {
+          "value": "attempts=6 recovered=False",
+          "unit": null
+        },
+        "_render_blank_retry[normals_xz_006.png]": {
+          "value": "attempts=6 recovered=False",
+          "unit": null
+        },
+        "_render_blank_retry[normals_xz_007.png]": {
+          "value": "attempts=6 recovered=False",
+          "unit": null
+        },
+        "_render_blank_retry[normals_xz_008.png]": {
+          "value": "attempts=6 recovered=False",
+          "unit": null
+        },
+        "normals_xz_avg_dark": {
+          "value": 1e-05,
+          "unit": null
+        },
+        "normals_xz_max_dark": {
+          "value": 7.7e-05,
+          "unit": null
+        },
+        "normals_xz_problem_frames": {
+          "value": 0,
+          "unit": null
+        },
+        "normals_xz_passed": {
+          "value": 1,
+          "unit": null
+        }
+      },
+      "kit_logs": [
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]: Traceback (most recent call last):"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:   File \"<home>/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/impl/texture.py\", line 377, in on_drawable_changed"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     self.__drawable_changed_fn(texture[\"rp_resource\"], presentation_key)"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:   File \"<home>/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/widget.py\", line 516, in __set_image_data"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     vp_api._sync_viewport_api(camera, canvas_size, vp_api.time, view, projection, force_update=True)  # noqa PLW0212"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:   File \"<home>/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 546, in _sync_viewport_api"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     self.__projection = self._conform_projection(policy, camera, image_aspect, canvas_aspect, projection)"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:                         ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:   File \"<home>/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     gf_camera = camera.GetCamera(self.__time)"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:                 ^^^^^^^^^^^^^^^^"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'"
+        }
+      ]
+    },
+    {
+      "test_name": "pivot",
+      "engine": "isaac_sim",
+      "engine_version": "6.1.0.0",
+      "status": "pass",
+      "passed": true,
+      "duration": 12.563,
+      "message": "",
+      "metrics": {
+        "_timing_capture_frame_total_s": {
+          "value": 3.283,
+          "unit": null
+        },
+        "_timing_capture_frame_count": {
+          "value": 20,
+          "unit": null
+        },
+        "_timing_capture_frame_avg_ms": {
+          "value": 164.14,
+          "unit": null
+        },
+        "_timing_encode_video_total_s": {
+          "value": 1.712,
+          "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": 0.7,
+          "unit": null
+        },
+        "pivot_pivot_height_pct": {
+          "value": 3.4,
+          "unit": null
+        },
+        "pivot_pivot_at_base": {
+          "value": 1,
+          "unit": null
+        },
+        "pivot_pivot_centered_xy": {
+          "value": 0,
+          "unit": null
+        },
+        "pivot_ground_penetration": {
+          "value": 1,
+          "unit": null
+        },
+        "pivot_orbital_motion": {
+          "value": 1,
+          "unit": null
+        },
+        "pivot_passed": {
+          "value": 1,
+          "unit": null
+        }
+      },
+      "kit_logs": [
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]: Traceback (most recent call last):"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:   File \"<home>/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/impl/texture.py\", line 377, in on_drawable_changed"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     self.__drawable_changed_fn(texture[\"rp_resource\"], presentation_key)"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:   File \"<home>/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/widget.py\", line 516, in __set_image_data"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     vp_api._sync_viewport_api(camera, canvas_size, vp_api.time, view, projection, force_update=True)  # noqa PLW0212"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:   File \"<home>/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 546, in _sync_viewport_api"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     self.__projection = self._conform_projection(policy, camera, image_aspect, canvas_aspect, projection)"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:                         ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:   File \"<home>/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     gf_camera = camera.GetCamera(self.__time)"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:                 ^^^^^^^^^^^^^^^^"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'"
+        }
+      ]
+    },
+    {
+      "test_name": "pivot",
+      "engine": "isaac_sim_newton",
+      "engine_version": "6.1.0.0",
+      "status": "pass",
+      "passed": true,
+      "duration": 12.417,
+      "message": "",
+      "metrics": {
+        "_timing_capture_frame_total_s": {
+          "value": 3.358,
+          "unit": null
+        },
+        "_timing_capture_frame_count": {
+          "value": 20,
+          "unit": null
+        },
+        "_timing_capture_frame_avg_ms": {
+          "value": 167.92,
+          "unit": null
+        },
+        "_timing_encode_video_total_s": {
+          "value": 1.542,
+          "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": 0.7,
+          "unit": null
+        },
+        "pivot_pivot_height_pct": {
+          "value": 3.4,
+          "unit": null
+        },
+        "pivot_pivot_at_base": {
+          "value": 1,
+          "unit": null
+        },
+        "pivot_pivot_centered_xy": {
+          "value": 0,
+          "unit": null
+        },
+        "pivot_ground_penetration": {
+          "value": 1,
+          "unit": null
+        },
+        "pivot_orbital_motion": {
+          "value": 1,
+          "unit": null
+        },
+        "pivot_passed": {
+          "value": 1,
+          "unit": null
+        }
+      },
+      "kit_logs": [
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]: Traceback (most recent call last):"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:   File \"<home>/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/impl/texture.py\", line 377, in on_drawable_changed"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     self.__drawable_changed_fn(texture[\"rp_resource\"], presentation_key)"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:   File \"<home>/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/widget.py\", line 516, in __set_image_data"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     vp_api._sync_viewport_api(camera, canvas_size, vp_api.time, view, projection, force_update=True)  # noqa PLW0212"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:   File \"<home>/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 546, in _sync_viewport_api"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     self.__projection = self._conform_projection(policy, camera, image_aspect, canvas_aspect, projection)"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:                         ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:   File \"<home>/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     gf_camera = camera.GetCamera(self.__time)"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:                 ^^^^^^^^^^^^^^^^"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'"
+        }
+      ]
+    },
+    {
+      "test_name": "presence",
+      "engine": "isaac_sim",
+      "engine_version": "6.1.0.0",
+      "status": "pass",
+      "passed": true,
+      "duration": 2.865,
+      "message": "",
+      "metrics": {
+        "_timing_capture_frame_total_s": {
+          "value": 0.237,
+          "unit": null
+        },
+        "_timing_capture_frame_count": {
+          "value": 2,
+          "unit": null
+        },
+        "_timing_capture_frame_avg_ms": {
+          "value": 118.57,
+          "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": 0.043603,
+          "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": 2.956,
+      "message": "",
+      "metrics": {
+        "_timing_capture_frame_total_s": {
+          "value": 0.274,
+          "unit": null
+        },
+        "_timing_capture_frame_count": {
+          "value": 2,
+          "unit": null
+        },
+        "_timing_capture_frame_avg_ms": {
+          "value": 136.84,
+          "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": 0.043534,
+          "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": 4.414,
+      "message": "",
+      "metrics": {
+        "_timing_capture_frame_total_s": {
+          "value": 1.13,
+          "unit": null
+        },
+        "_timing_capture_frame_count": {
+          "value": 4,
+          "unit": null
+        },
+        "_timing_capture_frame_avg_ms": {
+          "value": 282.51,
+          "unit": null
+        },
+        "_timing_encode_video_total_s": {
+          "value": 0.0,
+          "unit": null
+        },
+        "_timing_encode_video_count": {
+          "value": 0,
+          "unit": null
+        },
+        "_render_blank_retry_count": {
+          "value": 0,
+          "unit": null
+        },
+        "_render_blank_retry_unrecovered": {
+          "value": 0,
+          "unit": null
+        },
+        "universal_surface_materials_with_universal": {
+          "value": 5,
+          "unit": null
+        },
+        "universal_surface_materials_with_mdl": {
+          "value": 0,
+          "unit": null
+        },
+        "universal_surface_materials_with_mtlx": {
+          "value": 0,
+          "unit": null
+        },
+        "universal_surface_materials_total": {
+          "value": 5,
+          "unit": null
+        },
+        "universal_surface_asset_root": {
+          "value": "/World/AssetRoot/Asset",
+          "unit": null
+        },
+        "universal_surface_contexts_present": {
+          "value": "universal",
+          "unit": null
+        },
+        "universal_surface_render_context_order": {
+          "value": "universal",
+          "unit": null
+        },
+        "universal_surface_silhouette_pixels": {
+          "value": 45143,
+          "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": 5.386,
+      "message": "",
+      "metrics": {
+        "_timing_capture_frame_total_s": {
+          "value": 1.309,
+          "unit": null
+        },
+        "_timing_capture_frame_count": {
+          "value": 4,
+          "unit": null
+        },
+        "_timing_capture_frame_avg_ms": {
+          "value": 327.13,
+          "unit": null
+        },
+        "_timing_encode_video_total_s": {
+          "value": 0.0,
+          "unit": null
+        },
+        "_timing_encode_video_count": {
+          "value": 0,
+          "unit": null
+        },
+        "_render_blank_retry_count": {
+          "value": 0,
+          "unit": null
+        },
+        "_render_blank_retry_unrecovered": {
+          "value": 0,
+          "unit": null
+        },
+        "universal_surface_materials_with_universal": {
+          "value": 5,
+          "unit": null
+        },
+        "universal_surface_materials_with_mdl": {
+          "value": 0,
+          "unit": null
+        },
+        "universal_surface_materials_with_mtlx": {
+          "value": 0,
+          "unit": null
+        },
+        "universal_surface_materials_total": {
+          "value": 5,
+          "unit": null
+        },
+        "universal_surface_asset_root": {
+          "value": "/World/AssetRoot/Asset",
+          "unit": null
+        },
+        "universal_surface_contexts_present": {
+          "value": "universal",
+          "unit": null
+        },
+        "universal_surface_render_context_order": {
+          "value": "universal",
+          "unit": null
+        },
+        "universal_surface_silhouette_pixels": {
+          "value": 45131,
+          "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": 5.423,
+      "message": "",
+      "metrics": {
+        "_timing_capture_frame_total_s": {
+          "value": 2.788,
+          "unit": null
+        },
+        "_timing_capture_frame_count": {
+          "value": 1,
+          "unit": null
+        },
+        "_timing_capture_frame_avg_ms": {
+          "value": 2788.19,
+          "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
+        },
+        "semantic_labels_on_coverage": {
+          "value": 0.04143,
+          "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": 3.591,
+      "message": "",
+      "metrics": {
+        "_timing_capture_frame_total_s": {
+          "value": 0.487,
+          "unit": null
+        },
+        "_timing_capture_frame_count": {
+          "value": 1,
+          "unit": null
+        },
+        "_timing_capture_frame_avg_ms": {
+          "value": 486.91,
+          "unit": null
+        },
+        "_timing_encode_video_total_s": {
+          "value": 0.0,
+          "unit": null
+        },
+        "_timing_encode_video_count": {
+          "value": 0,
+          "unit": null
+        },
+        "_render_blank_retry_count": {
+          "value": 0,
+          "unit": null
+        },
+        "_render_blank_retry_unrecovered": {
+          "value": 0,
+          "unit": null
+        },
+        "semantic_labels_on_coverage": {
+          "value": 0.04143,
+          "unit": null
+        },
+        "semantic_labels_labelled_passed": {
+          "value": 1,
+          "unit": null
+        }
+      },
+      "kit_logs": [
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]: Traceback (most recent call last):"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:   File \"<home>/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/impl/texture.py\", line 377, in on_drawable_changed"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     self.__drawable_changed_fn(texture[\"rp_resource\"], presentation_key)"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:   File \"<home>/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/widget.py\", line 516, in __set_image_data"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     vp_api._sync_viewport_api(camera, canvas_size, vp_api.time, view, projection, force_update=True)  # noqa PLW0212"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:   File \"<home>/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 546, in _sync_viewport_api"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     self.__projection = self._conform_projection(policy, camera, image_aspect, canvas_aspect, projection)"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:                         ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:   File \"<home>/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     gf_camera = camera.GetCamera(self.__time)"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:                 ^^^^^^^^^^^^^^^^"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'"
+        }
+      ]
+    },
+    {
+      "test_name": "semantic_labels_seg_stripped",
+      "engine": "isaac_sim",
+      "engine_version": "6.1.0.0",
+      "status": "pass",
+      "passed": true,
+      "duration": 2.623,
+      "message": "",
+      "metrics": {
+        "semantic_labels_stripped_prims": {
+          "value": 6,
+          "unit": null
+        },
+        "semantic_labels_off_coverage": {
+          "value": 0.0,
+          "unit": null
+        },
+        "semantic_labels_stripped_passed": {
+          "value": 1,
+          "unit": null
+        }
+      },
+      "kit_logs": []
+    },
+    {
+      "test_name": "semantic_labels_seg_stripped",
+      "engine": "isaac_sim_newton",
+      "engine_version": "6.1.0.0",
+      "status": "pass",
+      "passed": true,
+      "duration": 3.112,
+      "message": "",
+      "metrics": {
+        "semantic_labels_stripped_prims": {
+          "value": 6,
+          "unit": null
+        },
+        "semantic_labels_off_coverage": {
+          "value": 0.0,
+          "unit": null
+        },
+        "semantic_labels_stripped_passed": {
+          "value": 1,
+          "unit": null
+        }
+      },
+      "kit_logs": []
+    },
+    {
+      "test_name": "slope_drop",
+      "engine": "isaac_sim",
+      "engine_version": "6.1.0.0",
+      "status": "skipped",
+      "passed": false,
+      "duration": 0.361,
+      "message": "Asset is world-anchored (FixedJoint to world) -- test not applicable. World-anchored assets cannot fall or slide.",
+      "metrics": {
+        "slope_drop_skipped": {
+          "value": 1,
+          "unit": null
+        }
+      },
+      "kit_logs": []
+    }
+  ]
+}

playground_swing_seesaw/.metadata/playground_swing_seesaw_validation.json

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

playground_swing_seesaw/com.nvidia.simready.packaging.json

@@ -0,0 +1,31 @@
+{
+  "format_version": "1.0",
+  "package_id": "simready.hf.ForgeCAD.simready-assets.playground_swing_seesaw.2026.10.17_00",
+  "license": "cc-by-4.0",
+  "metadata": [
+    {
+      "name": "com.nvidia.simready.conformance.Package-Candidate@1.0.0.json",
+      "hash": {
+        "sha256": "6218dade54f800c89867db5754ca31f56c8903335a0a30b6f982c252cc1ea331"
+      }
+    },
+    {
+      "name": "com.nvidia.simready.packaging.bom.json",
+      "hash": {
+        "sha256": "78eb435a108a8d52c06a98acf643aecf0a73e45034ea9eacc7eb4de83bd77b47"
+      }
+    },
+    {
+      "name": "com.nvidia.simready.root_usds.json",
+      "hash": {
+        "sha256": "170cfbe5c88987c22d558959caa29c3bd327d035cb13034a364dbbc33b9be386"
+      }
+    }
+  ],
+  "content_hash": {
+    "sha256": "c3020f10872acdae1a55cb35e8e8eff7c93fc8753ad2473b68a6de96fe368377"
+  },
+  "package_hash": {
+    "sha256": "ba036cf113810cb25cf682926be05f4c6c27b7610f0b0c65138625ea3c1bfb45"
+  }
+}

playground_swing_seesaw/simready_usd/forgecad/geometry.usda

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7636ca622853bd93e9343852c2335be27dd11fb0367222813772fe5b783661e1
+size 16649896

playground_swing_seesaw/simready_usd/forgecad/physics.usda

@@ -0,0 +1,735 @@
+#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 "powder_coated_and_galvanized_steel" (
+                    prepend apiSchemas = ["PhysicsMaterialAPI", "SemanticsLabelsAPI:material"]
+                  )
+                  {
+                    token[] semantics:labels:material = ["Powder coated and galvanized steel"]
+                    float physics:density = 7850
+                    float physics:staticFriction = 0.6
+                    float physics:dynamicFriction = 0.45
+                    float physics:restitution = 0
+                  }
+
+            def Material "textured_hdpe" (
+                    prepend apiSchemas = ["PhysicsMaterialAPI", "SemanticsLabelsAPI:material"]
+                  )
+                  {
+                    token[] semantics:labels:material = ["Textured HDPE"]
+                    float physics:density = 950
+                    float physics:staticFriction = 0.7
+                    float physics:dynamicFriction = 0.55
+                    float physics:restitution = 0
+                  }
+
+            def Material "epdm_stop_rubber" (
+                    prepend apiSchemas = ["PhysicsMaterialAPI", "SemanticsLabelsAPI:material"]
+                  )
+                  {
+                    token[] semantics:labels:material = ["EPDM stop rubber"]
+                    float physics:density = 1100
+                    float physics:staticFriction = 0.9
+                    float physics:dynamicFriction = 0.8
+                    float physics:restitution = 0
+                  }
+        }
+
+        def Scope "Joints"
+        {
+            def PhysicsRevoluteJoint "Swing" (
+                prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
+            )
+            {
+                rel physics:body0 = </Model/Geometry/Frame>
+                rel physics:body1 = </Model/Geometry/Frame/SwingCarrier>
+                point3f physics:localPos0 = (0, 0, 2.07)
+                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 = -35
+                float physics:upperLimit = 35
+                token drive:angular:physics:type = "force"
+                float drive:angular:physics:targetVelocity = 0
+                float drive:angular:physics:stiffness = 0
+                float drive:angular:physics:damping = 0.020943951
+                float state:angular:physics:position = 0
+                float state:angular:physics:velocity = 0
+            }
+
+            def PhysicsRevoluteJoint "Seesaw" (
+                prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
+            )
+            {
+                rel physics:body0 = </Model/Geometry/Frame>
+                rel physics:body1 = </Model/Geometry/Frame/SeesawBeam>
+                point3f physics:localPos0 = (2.45, 0, 0.56)
+                point3f physics:localPos1 = (0, 0, 0)
+                quatf physics:localRot0 = (0.70710678, 0, 0, -0.70710678)
+                quatf physics:localRot1 = (0.70710678, 0, 0, -0.70710678)
+                uniform token physics:axis = "X"
+                float physics:lowerLimit = -24
+                float physics:upperLimit = 24
+                token drive:angular:physics:type = "force"
+                float drive:angular:physics:targetVelocity = 0
+                float drive:angular:physics:stiffness = 0
+                float drive:angular:physics:damping = 0.06981317
+                float state:angular:physics:position = 0
+                float state:angular:physics:velocity = 0
+            }
+
+            def PhysicsFixedJoint "Frame_fixed_base"
+            {
+                rel physics:body0 = </Model/Geometry>
+                rel physics:body1 = </Model/Geometry/Frame>
+                point3f physics:localPos0 = (0, 0, 0)
+                point3f physics:localPos1 = (0, 0, 0)
+                quatf physics:localRot0 = (1, 0, 0, 0)
+                quatf physics:localRot1 = (1, 0, 0, 0)
+            }
+        }
+    }
+
+    over "Geometry" (
+        prepend apiSchemas = ["PhysicsArticulationRootAPI"]
+    )
+    {
+        over "Frame" (
+            prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"]
+        )
+        {
+            bool physics:rigidBodyEnabled = 1
+            bool physics:kinematicEnabled = 0
+            bool physics:startsAsleep = 0
+            float physics:mass = 191.3446157447776
+            point3f physics:centerOfMass = (0.751339374, 0.000189457, 0.892875897)
+            float3 physics:diagonalInertia = (486.231461572321, 410.122360784429, 127.096690477074)
+            quatf physics:principalAxes = (0.39989433, 0.58307668, 0.58322922, 0.39993724)
+            def Xform "Colliders"
+            {
+                def Capsule "SwingLeg__950__680" (
+                    prepend apiSchemas = ["PhysicsCollisionAPI", "MaterialBindingAPI"]
+                )
+                {
+                    uniform token purpose = "guide"
+                    uniform token axis = "Z"
+                    double radius = 0.04
+                    double height = 2.28932217
+                    double3 xformOp:translate = (-0.95, -0.34, 1.107)
+                    quatf xformOp:orient = (0.98865257, -0.15022019, 0, 0)
+                    uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+                    rel material:binding:physics = </Model/Physics/Materials/powder_coated_and_galvanized_steel>
+                }
+
+                def Capsule "SwingLeg__950_680" (
+                    prepend apiSchemas = ["PhysicsCollisionAPI", "MaterialBindingAPI"]
+                )
+                {
+                    uniform token purpose = "guide"
+                    uniform token axis = "Z"
+                    double radius = 0.04
+                    double height = 2.28932217
+                    double3 xformOp:translate = (-0.95, 0.34, 1.107)
+                    quatf xformOp:orient = (0.98865257, 0.15022019, 0, 0)
+                    uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+                    rel material:binding:physics = </Model/Physics/Materials/powder_coated_and_galvanized_steel>
+                }
+
+                def Capsule "CrossTie__950" (
+                    prepend apiSchemas = ["PhysicsCollisionAPI", "MaterialBindingAPI"]
+                )
+                {
+                    uniform token purpose = "guide"
+                    uniform token axis = "Z"
+                    double radius = 0.022
+                    double height = 0.8432
+                    double3 xformOp:translate = (-0.95, 0, 0.85)
+                    quatf xformOp:orient = (0.70710678, 0.70710678, 0, 0)
+                    uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+                    rel material:binding:physics = </Model/Physics/Materials/powder_coated_and_galvanized_steel>
+                }
+
+                def Capsule "SwingLeg_950__680" (
+                    prepend apiSchemas = ["PhysicsCollisionAPI", "MaterialBindingAPI"]
+                )
+                {
+                    uniform token purpose = "guide"
+                    uniform token axis = "Z"
+                    double radius = 0.04
+                    double height = 2.28932217
+                    double3 xformOp:translate = (0.95, -0.34, 1.107)
+                    quatf xformOp:orient = (0.98865257, -0.15022019, 0, 0)
+                    uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+                    rel material:binding:physics = </Model/Physics/Materials/powder_coated_and_galvanized_steel>
+                }
+
+                def Capsule "SwingLeg_950_680" (
+                    prepend apiSchemas = ["PhysicsCollisionAPI", "MaterialBindingAPI"]
+                )
+                {
+                    uniform token purpose = "guide"
+                    uniform token axis = "Z"
+                    double radius = 0.04
+                    double height = 2.28932217
+                    double3 xformOp:translate = (0.95, 0.34, 1.107)
+                    quatf xformOp:orient = (0.98865257, 0.15022019, 0, 0)
+                    uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+                    rel material:binding:physics = </Model/Physics/Materials/powder_coated_and_galvanized_steel>
+                }
+
+                def Capsule "CrossTie_950" (
+                    prepend apiSchemas = ["PhysicsCollisionAPI", "MaterialBindingAPI"]
+                )
+                {
+                    uniform token purpose = "guide"
+                    uniform token axis = "Z"
+                    double radius = 0.022
+                    double height = 0.8432
+                    double3 xformOp:translate = (0.95, 0, 0.85)
+                    quatf xformOp:orient = (0.70710678, 0.70710678, 0, 0)
+                    uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+                    rel material:binding:physics = </Model/Physics/Materials/powder_coated_and_galvanized_steel>
+                }
+
+                def Cylinder "TopBeam" (
+                    prepend apiSchemas = ["PhysicsCollisionAPI", "MaterialBindingAPI"]
+                )
+                {
+                    uniform token purpose = "guide"
+                    uniform token axis = "Z"
+                    double radius = 0.05
+                    double height = 2.1
+                    double3 xformOp:translate = (0, 0, 2.2)
+                    quatf xformOp:orient = (0.70710678, 0, 0.70710678, 0)
+                    uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+                    rel material:binding:physics = </Model/Physics/Materials/powder_coated_and_galvanized_steel>
+                }
+
+                def Capsule "SawLeg__220__190" (
+                    prepend apiSchemas = ["PhysicsCollisionAPI", "MaterialBindingAPI"]
+                )
+                {
+                    uniform token purpose = "guide"
+                    uniform token axis = "Z"
+                    double radius = 0.035
+                    double height = 0.506301294
+                    double3 xformOp:translate = (2.34, -0.2375, 0.237)
+                    quatf xformOp:orient = (0.9697676, -0.09674241, 0.22403505, 0)
+                    uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+                    rel material:binding:physics = </Model/Physics/Materials/powder_coated_and_galvanized_steel>
+                }
+
+                def Capsule "SawLeg_220__190" (
+                    prepend apiSchemas = ["PhysicsCollisionAPI", "MaterialBindingAPI"]
+                )
+                {
+                    uniform token purpose = "guide"
+                    uniform token axis = "Z"
+                    double radius = 0.035
+                    double height = 0.506301294
+                    double3 xformOp:translate = (2.56, -0.2375, 0.237)
+                    quatf xformOp:orient = (0.9697676, -0.09674241, -0.22403505, 0)
+                    uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+                    rel material:binding:physics = </Model/Physics/Materials/powder_coated_and_galvanized_steel>
+                }
+
+                def Capsule "SawLeg__220_190" (
+                    prepend apiSchemas = ["PhysicsCollisionAPI", "MaterialBindingAPI"]
+                )
+                {
+                    uniform token purpose = "guide"
+                    uniform token axis = "Z"
+                    double radius = 0.035
+                    double height = 0.506301294
+                    double3 xformOp:translate = (2.34, 0.2375, 0.237)
+                    quatf xformOp:orient = (0.9697676, 0.09674241, 0.22403505, 0)
+                    uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+                    rel material:binding:physics = </Model/Physics/Materials/powder_coated_and_galvanized_steel>
+                }
+
+                def Capsule "SawLeg_220_190" (
+                    prepend apiSchemas = ["PhysicsCollisionAPI", "MaterialBindingAPI"]
+                )
+                {
+                    uniform token purpose = "guide"
+                    uniform token axis = "Z"
+                    double radius = 0.035
+                    double height = 0.506301294
+                    double3 xformOp:translate = (2.56, 0.2375, 0.237)
+                    quatf xformOp:orient = (0.9697676, 0.09674241, -0.22403505, 0)
+                    uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+                    rel material:binding:physics = </Model/Physics/Materials/powder_coated_and_galvanized_steel>
+                }
+            }
+            over "SwingCarrier" (
+                prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"]
+            )
+            {
+                bool physics:rigidBodyEnabled = 1
+                bool physics:kinematicEnabled = 0
+                bool physics:startsAsleep = 0
+                float physics:mass = 22.46084809284586
+                point3f physics:centerOfMass = (0.002617034, 0, -1.079961634)
+                float3 physics:diagonalInertia = (11.56475556686, 10.456567613663, 1.196928797098)
+                quatf physics:principalAxes = (0.00235097, -0.70710287, -0.70710287, 0.00235097)
+                matrix4d xformOp:transform:simulationWorld = ((1, 0, 0, 0), (0, 1, 0, 0), (0, 0, 1, 0), (0, 0, 2.07, 1))
+                uniform token[] xformOpOrder = ["!resetXformStack!", "xformOp:transform:simulationWorld"]
+                def Xform "Colliders"
+                {
+                    def Cylinder "CrossAxle" (
+                        prepend apiSchemas = ["PhysicsCollisionAPI", "MaterialBindingAPI"]
+                    )
+                    {
+                        uniform token purpose = "guide"
+                        uniform token axis = "Z"
+                        double radius = 0.012
+                        double height = 0.816
+                        double3 xformOp:translate = (0, 0, 0)
+                        quatf xformOp:orient = (0.70710678, 0, 0.70710678, 0)
+                        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+                        rel material:binding:physics = </Model/Physics/Materials/powder_coated_and_galvanized_steel>
+                    }
+
+                    def Capsule "Hanger__275" (
+                        prepend apiSchemas = ["PhysicsCollisionAPI", "MaterialBindingAPI"]
+                    )
+                    {
+                        uniform token purpose = "guide"
+                        uniform token axis = "Z"
+                        double radius = 0.014
+                        double height = 1.615
+                        double3 xformOp:translate = (-0.275, 0, -0.8075)
+                        quatf xformOp:orient = (0, 1, 0, 0)
+                        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+                        rel material:binding:physics = </Model/Physics/Materials/powder_coated_and_galvanized_steel>
+                    }
+
+                    def Capsule "Hanger_275" (
+                        prepend apiSchemas = ["PhysicsCollisionAPI", "MaterialBindingAPI"]
+                    )
+                    {
+                        uniform token purpose = "guide"
+                        uniform token axis = "Z"
+                        double radius = 0.014
+                        double height = 1.615
+                        double3 xformOp:translate = (0.275, 0, -0.8075)
+                        quatf xformOp:orient = (0, 1, 0, 0)
+                        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+                        rel material:binding:physics = </Model/Physics/Materials/powder_coated_and_galvanized_steel>
+                    }
+
+                    def Cube "SeatCarrier" (
+                        prepend apiSchemas = ["PhysicsCollisionAPI", "MaterialBindingAPI"]
+                    )
+                    {
+                        uniform token purpose = "guide"
+                        double size = 1
+                        double3 xformOp:translate = (0, 0, -1.624)
+                        quatf xformOp:orient = (1, 0, 0, 0)
+                        float3 xformOp:scale = (0.62, 0.17, 0.008)
+                        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+                        rel material:binding:physics = </Model/Physics/Materials/powder_coated_and_galvanized_steel>
+                    }
+
+                    def Cube "SwingStopLug" (
+                        prepend apiSchemas = ["PhysicsCollisionAPI", "MaterialBindingAPI"]
+                    )
+                    {
+                        uniform token purpose = "guide"
+                        double size = 1
+                        double3 xformOp:translate = (0.4, 0, -0.0325)
+                        quatf xformOp:orient = (1, 0, 0, 0)
+                        float3 xformOp:scale = (0.016, 0.018, 0.065)
+                        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+                        rel material:binding:physics = </Model/Physics/Materials/powder_coated_and_galvanized_steel>
+                    }
+                }
+                over "SwingSeat"
+                {
+                    def Xform "Colliders"
+                    {
+                        def Cube "center" (
+                            prepend apiSchemas = ["PhysicsCollisionAPI", "MaterialBindingAPI"]
+                        )
+                        {
+                            uniform token purpose = "guide"
+                            double size = 1
+                            double3 xformOp:translate = (0, 0, -1.603)
+                            quatf xformOp:orient = (1, 0, 0, 0)
+                            float3 xformOp:scale = (0.4985, 0.26, 0.034)
+                            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+                            rel material:binding:physics = </Model/Physics/Materials/textured_hdpe>
+                        }
+
+                        def Mesh "front" (
+                            prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI", "MaterialBindingAPI"]
+                        )
+                        {
+                            uniform token purpose = "guide"
+                            uniform token physics:approximation = "convexHull"
+                            uniform token subdivisionScheme = "none"
+                            float3[] extent = [(-0.285, -0.13, -1.62), (0.285, -0.02825, -1.586)]
+                            int[] faceVertexCounts = [3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3]
+                            int[] faceVertexIndices = [2, 5, 0, 2, 0, 1, 0, 3, 4, 0, 5, 3, 9, 2, 7, 12, 5, 2, 9, 7, 8, 12, 2, 9, 12, 9, 10, 12, 10, 11, 14, 12, 13, 1, 0, 16, 17, 2, 1, 3, 18, 4, 5, 19, 3, 0, 4, 15, 20, 5, 6, 8, 7, 22, 2, 21, 7, 8, 22, 9, 23, 10, 9, 11, 10, 24, 25, 12, 11, 13, 12, 26, 29, 5, 12, 29, 12, 14, 27, 14, 13, 5, 31, 6, 29, 46, 5, 0, 15, 16, 17, 1, 16, 18, 15, 4, 3, 19, 18, 19, 5, 20, 7, 21, 22, 21, 2, 17, 22, 23, 9, 24, 10, 23, 24, 25, 11, 12, 25, 26, 27, 13, 26, 15, 17, 16, 19, 21, 15, 15, 21, 17, 19, 15, 18, 21, 23, 22, 21, 24, 23, 21, 27, 24, 24, 27, 25, 27, 26, 25, 14, 27, 28, 19, 30, 21, 21, 30, 27, 47, 20, 6, 47, 19, 20, 30, 29, 14, 30, 14, 28, 27, 30, 28, 19, 63, 30, 63, 29, 30, 5, 46, 31, 6, 31, 47, 31, 33, 32, 31, 35, 33, 33, 35, 34, 31, 39, 35, 35, 37, 36, 35, 39, 37, 37, 39, 38, 39, 31, 46, 39, 41, 40, 39, 42, 41, 39, 46, 42, 42, 44, 43, 44, 42, 46, 44, 46, 45, 48, 31, 32, 33, 49, 32, 33, 34, 50, 35, 51, 34, 52, 35, 36, 37, 52, 36, 37, 38, 53, 39, 54, 38, 55, 39, 40, 41, 55, 40, 41, 42, 57, 42, 43, 58, 44, 59, 43, 60, 44, 45, 46, 60, 45, 49, 19, 47, 19, 49, 63, 47, 31, 48, 49, 48, 32, 49, 33, 50, 51, 50, 34, 35, 52, 51, 52, 37, 53, 54, 53, 38, 54, 39, 55, 56, 55, 41, 56, 41, 57, 42, 58, 57, 43, 59, 58, 60, 59, 44, 49, 47, 48, 51, 49, 50, 51, 52, 49, 54, 49, 52, 54, 52, 53, 59, 49, 54, 56, 54, 55, 59, 54, 56, 58, 56, 57, 59, 56, 58, 61, 59, 60, 46, 61, 60, 63, 49, 59, 63, 59, 61, 46, 29, 62, 29, 63, 62, 63, 46, 62, 46, 63, 61]
+                            normal3f[] normals = [(0, 0, -1), (0, 0, -1), (0, 0, -1), (0, 0, -1), (0, 0, -1), (0, 0, -1), (0, 0, -1), (0, 0, -1), (0, 0, -1), (0, 0, -1), (0, 0, -1), (-0.438371, -0.898793, -0.001504), (-0.559192, -0.829037, -0.001504), (-0.241926, -0.970295, 0), (-0.156434, -0.987688, 0), (-0.325567, -0.945519, 0), (-0.052334, -0.99863, 0), (-0.743142, -0.669134, 0), (-0.669131, -0.743143, -0.001505), (-0.798638, -0.601812, 0), (-0.866024, -0.5, -0.001505), (-0.927183, -0.374606, -0.001505), (-0.961262, -0.275637, 0), (-0.981626, -0.190812, -0.001003), (0, 0, -1), (0, 0, -1), (-0.997563, -0.069756, -0.001505), (0, 0, -1), (0, 0, -1), (-0.422619, -0.906308, 0), (-0.52992, -0.848046, 0.001504), (-0.292371, -0.9563, 0.003008), (-0.156434, -0.987688, 0), (-0.052334, -0.99863, 0), (-0.731354, -0.681998, 0.001003), (-0.642784, -0.766046, 0.001505), (-0.809015, -0.587786, 0.001504), (-0.882947, -0.469471, 0.001504), (-0.933582, -0.358363, 0), (-0.970293, -0.241923, 0.002006), (-0.990267, -0.139176, 0.000502), (0, 0, 1), (0, 0, 1), (0, 0, 1), (0, 0, 1), (0, 0, 1), (0, 0, 1), (0, 0, 1), (0, 0, 1), (0, 0, 1), (-0.99863, -0.052334, 0), (0, 0, 1), (0, 0, 1), (0, -1, 0), (0, 0, 1), (-1, 0, 0), (-1, 0, 0), (0, 0, 1), (0, 0, 1), (0, 1, 0), (0, 0, -1), (0.000033, -1, -0.000501), (0, 0, -1), (0, 0, -1), (0, 0, -1), (0, 0, -1), (0, 0, -1), (0, 0, -1), (0, 0, -1), (0, 0, -1), (0, 0, -1), (0, 0, -1), (0, 0, -1), (0, 0, -1), (0, 0, -1), (0, 0, -1), (0.069752, -0.997564, 0), (0.156434, -0.987688, -0.001003), (0.258823, -0.965924, -0.001003), (0.358368, -0.93358, -0.001003), (0.438366, -0.898796, 0), (0.515037, -0.857168, 0), (0.601817, -0.798633, -0.001003), (0.681998, -0.731354, -0.001004), (0.754709, -0.65606, 0), (0.819149, -0.57358, 0), (0.891006, -0.453988, -0.002005), (0.94552, -0.325563, -0.001003), (0.974369, -0.224955, -0.001003), (0.990268, -0.139176, 0), (0.99863, -0.052334, 0), (0, 0, 1), (0, 0, 1), (0.052334, -0.998629, 0.001003), (0.139176, -0.990268, 0), (0.224951, -0.97437, 0.001003), (0.309019, -0.951056, 0.000502), (0.406734, -0.913544, 0.002006), (0.52992, -0.848046, 0.001505), (0.642784, -0.766045, 0.002006), (0.743145, -0.669128, 0.001504), (0.829035, -0.559194, 0.001505), (0.891004, -0.453991, -0.002005), (0.927185, -0.374604, 0.000501), (0.961261, -0.275633, 0.002006), (0.987687, -0.15644, 0.001003), (0, 0, 1), (0, 0, 1), (0, 0, 1), (0, 0, 1), (0, 0, 1), (0, 0, 1), (0, 0, 1), (0, 0, 1), (0, 0, 1), (0, 0, 1), (0, 0, 1), (0.99863, -0.052334, 0), (0, 0, 1), (0, 0, 1), (0, 0, -1), (0, 1, 0), (1, 0, 0), (1, 0, 0)] (interpolation = "uniform")
+                            point3f[] points = [(-0.267488983, -0.127961151, -1.62), (-0.271, -0.126248711, -1.62), (-0.274238525, -0.124064301, -1.62), (-0.262821533, -0.129388138, -1.62), (-0.264717834, -0.128915329, -1.62), (-0.259926788, -0.129846619, -1.62), (-0.257, -0.13, -1.62), (-0.27714151, -0.121450432, -1.62), (-0.278449249, -0.119998055, -1.62), (-0.280213043, -0.117657402, -1.62), (-0.282166229, -0.114274391, -1.62), (-0.283629578, -0.110652473, -1.62), (-0.284168274, -0.108773811, -1.62), (-0.284727509, -0.105896851, -1.62), (-0.285, -0.102, -1.62), (-0.267488983, -0.127961151, -1.586), (-0.270145203, -0.126722534, -1.586), (-0.273457977, -0.124652473, -1.586), (-0.262821533, -0.129388138, -1.586), (-0.259926788, -0.129846619, -1.586), (-0.257, -0.13, -1.586), (-0.276450439, -0.122141518, -1.586), (-0.278449249, -0.119998055, -1.586), (-0.280745361, -0.116837738, -1.586), (-0.282579285, -0.113388626, -1.586), (-0.283629578, -0.110652473, -1.586), (-0.284574615, -0.106862152, -1.586), (-0.284846619, -0.104926796, -1.586), (-0.285, -0.102, -1.586), (-0.285, -0.02825, -1.62), (-0.285, -0.02825, -1.586), (0.257977173, -0.129982941, -1.62), (0.259926788, -0.129846619, -1.62), (0.262821533, -0.129388138, -1.62), (0.265652466, -0.128629578, -1.62), (0.268388611, -0.127579269, -1.62), (0.270145203, -0.126722534, -1.62), (0.27265741, -0.125213051, -1.62), (0.274998047, -0.123449242, -1.62), (0.27714151, -0.121450432, -1.62), (0.279064301, -0.119238518, -1.62), (0.280745361, -0.116837738, -1.62), (0.282961151, -0.112488983, -1.62), (0.283915314, -0.10971785, -1.62), (0.284574615, -0.106862152, -1.62), (0.284846619, -0.104926796, -1.62), (0.285, -0.102, -1.62), (0.257, -0.13, -1.586), (0.259926788, -0.129846619, -1.586), (0.261862152, -0.129574615, -1.586), (0.264717834, -0.128915329, -1.586), (0.266576569, -0.128311386, -1.586), (0.270145203, -0.126722534, -1.586), (0.273457977, -0.124652473, -1.586), (0.276450439, -0.122141518, -1.586), (0.279064301, -0.119238518, -1.586), (0.281248718, -0.116, -1.586), (0.282579285, -0.113388626, -1.586), (0.283311401, -0.111576561, -1.586), (0.284388123, -0.107821526, -1.586), (0.284846619, -0.104926796, -1.586), (0.285, -0.102, -1.586), (0.285, -0.02825, -1.62), (0.285, -0.02825, -1.586)]
+                            rel material:binding:physics = </Model/Physics/Materials/textured_hdpe>
+                        }
+
+                        def Mesh "rear" (
+                            prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI", "MaterialBindingAPI"]
+                        )
+                        {
+                            uniform token purpose = "guide"
+                            uniform token physics:approximation = "convexHull"
+                            uniform token subdivisionScheme = "none"
+                            float3[] extent = [(-0.285, 0.02825, -1.62), (0.285, 0.13, -1.586)]
+                            int[] faceVertexCounts = [3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3]
+                            int[] faceVertexIndices = [0, 18, 2, 33, 1, 0, 17, 33, 0, 0, 1, 18, 4, 0, 2, 17, 0, 4, 3, 2, 19, 4, 2, 3, 7, 4, 5, 7, 5, 6, 10, 4, 7, 9, 7, 8, 10, 7, 9, 17, 4, 10, 12, 10, 11, 10, 12, 13, 17, 10, 13, 15, 13, 14, 17, 13, 15, 17, 15, 16, 4, 3, 20, 4, 21, 5, 5, 23, 6, 23, 7, 6, 7, 24, 8, 9, 8, 25, 10, 9, 25, 10, 26, 11, 12, 11, 27, 13, 12, 28, 14, 13, 28, 30, 15, 14, 15, 31, 16, 31, 17, 16, 17, 32, 43, 2, 18, 19, 1, 30, 18, 3, 19, 20, 20, 21, 4, 5, 21, 22, 23, 5, 22, 24, 7, 23, 24, 25, 8, 26, 10, 25, 11, 26, 27, 12, 27, 28, 14, 28, 29, 30, 14, 29, 30, 31, 15, 32, 17, 31, 18, 20, 19, 18, 21, 20, 18, 24, 21, 21, 23, 22, 21, 24, 23, 18, 30, 24, 25, 24, 26, 24, 30, 26, 26, 28, 27, 28, 26, 30, 28, 30, 29, 30, 32, 31, 1, 61, 30, 30, 61, 32, 34, 33, 35, 1, 33, 34, 61, 1, 34, 34, 35, 50, 33, 17, 46, 43, 46, 17, 33, 37, 35, 33, 46, 37, 50, 35, 36, 37, 36, 35, 37, 40, 38, 38, 40, 39, 37, 42, 40, 37, 46, 42, 40, 42, 41, 49, 46, 44, 46, 43, 45, 44, 46, 47, 42, 49, 48, 42, 46, 49, 37, 52, 36, 53, 37, 38, 54, 38, 39, 40, 54, 39, 56, 40, 41, 42, 56, 41, 57, 42, 48, 43, 58, 45, 61, 46, 45, 44, 47, 59, 46, 61, 47, 63, 48, 49, 59, 49, 44, 43, 32, 58, 32, 61, 58, 50, 36, 51, 52, 34, 50, 61, 34, 52, 36, 52, 51, 52, 37, 53, 53, 38, 54, 55, 54, 40, 55, 40, 56, 42, 57, 56, 45, 58, 60, 61, 45, 60, 47, 61, 59, 57, 48, 62, 48, 63, 62, 63, 49, 59, 52, 50, 51, 55, 52, 53, 55, 53, 54, 55, 57, 52, 61, 52, 57, 57, 55, 56, 61, 63, 59, 58, 61, 60, 63, 57, 62, 61, 57, 63]
+                            normal3f[] normals = [(-1, 0, 0), (0, -1, 0), (0, 0, -1), (-1, 0, 0), (0, 0, -1), (0, 0, -1), (-0.997563, 0.069756, -0.001505), (0, 0, -1), (0, 0, -1), (0, 0, -1), (0, 0, -1), (0, 0, -1), (0, 0, -1), (0, 0, -1), (0, 0, -1), (0, 0, -1), (0, 0, -1), (0, 0, -1), (0, 0, -1), (0, 0, -1), (-0.978145, 0.207915, -0.002006), (-0.939693, 0.342014, -0.002006), (-0.891006, 0.453992, 0), (-0.848045, 0.529925, 0), (-0.798637, 0.601812, -0.001003), (-0.743141, 0.669133, 0.001504), (-0.669131, 0.743143, -0.001505), (-0.587786, 0.809016, -0.000501), (-0.515037, 0.857168, 0), (-0.406735, 0.913546, 0), (-0.309019, 0.951056, 0), (-0.224951, 0.97437, 0), (-0.139176, 0.990268, 0), (-0.052334, 0.99863, 0), (0, 1, 0), (-0.99863, 0.052334, 0), (0, 0, 1), (-0.987687, 0.15644, 0.001003), (-0.961261, 0.275633, 0.002006), (-0.927185, 0.374604, 0), (-0.891006, 0.453992, 0), (-0.829035, 0.559194, 0.002006), (-0.743145, 0.669128, 0.001505), (-0.642784, 0.766046, 0.001505), (-0.52992, 0.848046, 0.001505), (-0.406735, 0.913546, 0), (-0.309019, 0.951056, 0), (-0.224951, 0.97437, 0), (-0.139176, 0.990268, 0), (-0.052334, 0.99863, 0), (0, 0, 1), (0, 0, 1), (0, 0, 1), (0, 0, 1), (0, 0, 1), (0, 0, 1), (0, 0, 1), (0, 0, 1), (0, 0, 1), (0, 0, 1), (0, 0, 1), (0, 0, 1), (0, 0, 1), (0, 0, 1), (1, 0, 0), (0, -1, 0), (0, 0, 1), (1, 0, 0), (0, 0, -1), (0, 0, -1), (0, 0, -1), (0, 0, -1), (0.99863, 0.052334, 0), (0, 0, -1), (0, 0, -1), (0, 0, -1), (0, 0, -1), (0, 0, -1), (0, 0, -1), (0, 0, -1), (0, 0, -1), (0, 0, -1), (0, 0, -1), (0, 0, -1), (0.987687, 0.15644, 0), (0.961263, 0.275633, 0), (0.927185, 0.374604, 0), (0.891006, 0.453992, 0), (0.829036, 0.559195, 0), (0.743146, 0.669129, 0), (0.642785, 0.766047, 0), (0.052334, 0.99863, 0), (0.139176, 0.990268, 0), (0.309019, 0.951056, 0), (0.224951, 0.97437, 0), (0.529921, 0.848047, 0), (0.406735, 0.913546, 0), (0, 1, 0), (0, 0, 1), (0.99863, 0.052334, 0), (0, 0, 1), (0, 0, 1), (0.987687, 0.15644, 0), (0.961263, 0.275633, 0), (0.927185, 0.374604, 0), (0.891006, 0.453992, 0), (0.829036, 0.559195, 0), (0.743146, 0.669129, 0), (0.052334, 0.99863, 0), (0.139176, 0.990268, 0), (0.258819, 0.965921, 0.003008), (0.642785, 0.766047, 0), (0.529921, 0.848047, 0), (0.406735, 0.913546, 0), (0, 0, 1), (0, 0, 1), (0, 0, 1), (0, 0, 1), (0, 0, 1), (0, 0, 1), (0, 0, 1), (0, 0, 1), (0, 0, 1), (0, 0, 1)] (interpolation = "uniform")
+                            point3f[] points = [(-0.285, 0.02825, -1.62), (-0.285, 0.02825, -1.586), (-0.285, 0.102, -1.62), (-0.284727509, 0.105896851, -1.62), (-0.283915314, 0.10971785, -1.62), (-0.282579285, 0.113388626, -1.62), (-0.281248718, 0.116, -1.62), (-0.280213043, 0.117657402, -1.62), (-0.278449249, 0.119998055, -1.62), (-0.27714151, 0.121450432, -1.62), (-0.274238525, 0.124064301, -1.62), (-0.27265741, 0.125213051, -1.62), (-0.270145203, 0.126722534, -1.62), (-0.266576569, 0.128311386, -1.62), (-0.264717834, 0.128915329, -1.62), (-0.261862152, 0.129574615, -1.62), (-0.259926788, 0.129846619, -1.62), (-0.257, 0.13, -1.62), (-0.285, 0.102, -1.586), (-0.284846619, 0.104926796, -1.586), (-0.284388123, 0.107821526, -1.586), (-0.283311401, 0.111576561, -1.586), (-0.282579285, 0.113388626, -1.586), (-0.281248718, 0.116, -1.586), (-0.279064301, 0.119238518, -1.586), (-0.276450439, 0.122141518, -1.586), (-0.273457977, 0.124652473, -1.586), (-0.270145203, 0.126722534, -1.586), (-0.266576569, 0.128311386, -1.586), (-0.264717834, 0.128915329, -1.586), (-0.261862152, 0.129574615, -1.586), (-0.259926788, 0.129846619, -1.586), (-0.257, 0.13, -1.586), (0.285, 0.02825, -1.62), (0.285, 0.02825, -1.586), (0.285, 0.102, -1.62), (0.284846619, 0.104926796, -1.62), (0.284388123, 0.107821526, -1.62), (0.283311401, 0.111576561, -1.62), (0.282579285, 0.113388626, -1.62), (0.281248718, 0.116, -1.62), (0.279064301, 0.119238518, -1.62), (0.276450439, 0.122141518, -1.62), (0.257, 0.13, -1.62), (0.266576569, 0.128311386, -1.62), (0.259926788, 0.129846619, -1.62), (0.261862152, 0.129574615, -1.62), (0.264717834, 0.128915329, -1.62), (0.273457977, 0.124652473, -1.62), (0.270145203, 0.126722534, -1.62), (0.285, 0.102, -1.586), (0.284846619, 0.104926796, -1.586), (0.284388123, 0.107821526, -1.586), (0.283311401, 0.111576561, -1.586), (0.282579285, 0.113388626, -1.586), (0.281248718, 0.116, -1.586), (0.279064301, 0.119238518, -1.586), (0.276450439, 0.122141518, -1.586), (0.257, 0.13, -1.586), (0.266576569, 0.128311386, -1.586), (0.259926788, 0.129846619, -1.586), (0.261862152, 0.129574615, -1.586), (0.273457977, 0.124652473, -1.586), (0.270145203, 0.126722534, -1.586)]
+                            rel material:binding:physics = </Model/Physics/Materials/textured_hdpe>
+                        }
+
+                        def Cube "upperCenter" (
+                            prepend apiSchemas = ["PhysicsCollisionAPI", "MaterialBindingAPI"]
+                        )
+                        {
+                            uniform token purpose = "guide"
+                            double size = 1
+                            double3 xformOp:translate = (0, 0, -1.5995)
+                            quatf xformOp:orient = (1, 0, 0, 0)
+                            float3 xformOp:scale = (0.5205, 0.0565, 0.027)
+                            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+                            rel material:binding:physics = </Model/Physics/Materials/textured_hdpe>
+                        }
+
+                        def Cube "upperFront" (
+                            prepend apiSchemas = ["PhysicsCollisionAPI", "MaterialBindingAPI"]
+                        )
+                        {
+                            uniform token purpose = "guide"
+                            double size = 1
+                            double3 xformOp:translate = (0, -0.0215, -1.5995)
+                            quatf xformOp:orient = (1, 0, 0, 0)
+                            float3 xformOp:scale = (0.57, 0.0135, 0.027)
+                            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+                            rel material:binding:physics = </Model/Physics/Materials/textured_hdpe>
+                        }
+
+                        def Cube "upperRear" (
+                            prepend apiSchemas = ["PhysicsCollisionAPI", "MaterialBindingAPI"]
+                        )
+                        {
+                            uniform token purpose = "guide"
+                            double size = 1
+                            double3 xformOp:translate = (0, 0.0215, -1.5995)
+                            quatf xformOp:orient = (1, 0, 0, 0)
+                            float3 xformOp:scale = (0.57, 0.0135, 0.027)
+                            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+                            rel material:binding:physics = </Model/Physics/Materials/textured_hdpe>
+                        }
+                    }
+                }
+            }
+            over "SeesawBeam" (
+                prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"]
+            )
+            {
+                bool physics:rigidBodyEnabled = 1
+                bool physics:kinematicEnabled = 0
+                bool physics:startsAsleep = 0
+                float physics:mass = 58.16573398834362
+                point3f physics:centerOfMass = (0, 0, 0.023556153)
+                float3 physics:diagonalInertia = (0.381597661312, 40.174802441569, 40.243146921176)
+                quatf physics:principalAxes = (1, 0, 0, 0)
+                matrix4d xformOp:transform:simulationWorld = ((1, 0, 0, 0), (0, 1, 0, 0), (0, 0, 1, 0), (2.45, 0, 0.56, 1))
+                uniform token[] xformOpOrder = ["!resetXformStack!", "xformOp:transform:simulationWorld"]
+                def Xform "Colliders"
+                {
+                    def Cube "HollowBeam" (
+                        prepend apiSchemas = ["PhysicsCollisionAPI", "MaterialBindingAPI"]
+                    )
+                    {
+                        uniform token purpose = "guide"
+                        double size = 1
+                        double3 xformOp:translate = (0, 0, 0)
+                        quatf xformOp:orient = (1, 0, 0, 0)
+                        float3 xformOp:scale = (2.6, 0.1, 0.1)
+                        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+                        rel material:binding:physics = </Model/Physics/Materials/powder_coated_and_galvanized_steel>
+                    }
+
+                    def Capsule "HandlePost__1__110" (
+                        prepend apiSchemas = ["PhysicsCollisionAPI", "MaterialBindingAPI"]
+                    )
+                    {
+                        uniform token purpose = "guide"
+                        uniform token axis = "Z"
+                        double radius = 0.011
+                        double height = 0.215
+                        double3 xformOp:translate = (-0.88, -0.11, 0.1575)
+                        quatf xformOp:orient = (1, 0, 0, 0)
+                        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+                        rel material:binding:physics = </Model/Physics/Materials/powder_coated_and_galvanized_steel>
+                    }
+
+                    def Capsule "HandlePost__1_110" (
+                        prepend apiSchemas = ["PhysicsCollisionAPI", "MaterialBindingAPI"]
+                    )
+                    {
+                        uniform token purpose = "guide"
+                        uniform token axis = "Z"
+                        double radius = 0.011
+                        double height = 0.215
+                        double3 xformOp:translate = (-0.88, 0.11, 0.1575)
+                        quatf xformOp:orient = (1, 0, 0, 0)
+                        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+                        rel material:binding:physics = </Model/Physics/Materials/powder_coated_and_galvanized_steel>
+                    }
+
+                    def Capsule "HandleBridge__1" (
+                        prepend apiSchemas = ["PhysicsCollisionAPI", "MaterialBindingAPI"]
+                    )
+                    {
+                        uniform token purpose = "guide"
+                        uniform token axis = "Z"
+                        double radius = 0.011
+                        double height = 0.22
+                        double3 xformOp:translate = (-0.88, 0, 0.265)
+                        quatf xformOp:orient = (0.70710678, -0.70710678, 0, 0)
+                        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+                        rel material:binding:physics = </Model/Physics/Materials/powder_coated_and_galvanized_steel>
+                    }
+
+                    def Capsule "HandlePost_1__110" (
+                        prepend apiSchemas = ["PhysicsCollisionAPI", "MaterialBindingAPI"]
+                    )
+                    {
+                        uniform token purpose = "guide"
+                        uniform token axis = "Z"
+                        double radius = 0.011
+                        double height = 0.215
+                        double3 xformOp:translate = (0.88, -0.11, 0.1575)
+                        quatf xformOp:orient = (1, 0, 0, 0)
+                        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+                        rel material:binding:physics = </Model/Physics/Materials/powder_coated_and_galvanized_steel>
+                    }
+
+                    def Capsule "HandlePost_1_110" (
+                        prepend apiSchemas = ["PhysicsCollisionAPI", "MaterialBindingAPI"]
+                    )
+                    {
+                        uniform token purpose = "guide"
+                        uniform token axis = "Z"
+                        double radius = 0.011
+                        double height = 0.215
+                        double3 xformOp:translate = (0.88, 0.11, 0.1575)
+                        quatf xformOp:orient = (1, 0, 0, 0)
+                        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+                        rel material:binding:physics = </Model/Physics/Materials/powder_coated_and_galvanized_steel>
+                    }
+
+                    def Capsule "HandleBridge_1" (
+                        prepend apiSchemas = ["PhysicsCollisionAPI", "MaterialBindingAPI"]
+                    )
+                    {
+                        uniform token purpose = "guide"
+                        uniform token axis = "Z"
+                        double radius = 0.011
+                        double height = 0.22
+                        double3 xformOp:translate = (0.88, 0, 0.265)
+                        quatf xformOp:orient = (0.70710678, -0.70710678, 0, 0)
+                        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+                        rel material:binding:physics = </Model/Physics/Materials/powder_coated_and_galvanized_steel>
+                    }
+                }
+                over "SeesawSeatLeft"
+                {
+                    def Xform "Colliders"
+                    {
+                        def Cube "seat" (
+                            prepend apiSchemas = ["PhysicsCollisionAPI", "MaterialBindingAPI"]
+                        )
+                        {
+                            uniform token purpose = "guide"
+                            double size = 1
+                            double3 xformOp:translate = (0, 0, 0.017)
+                            quatf xformOp:orient = (1, 0, 0, 0)
+                            float3 xformOp:scale = (0.33, 0.3, 0.034)
+                            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+                            rel material:binding:physics = </Model/Physics/Materials/textured_hdpe>
+                        }
+                    }
+                }
+                over "SeesawSeatRight"
+                {
+                    def Xform "Colliders"
+                    {
+                        def Cube "seat" (
+                            prepend apiSchemas = ["PhysicsCollisionAPI", "MaterialBindingAPI"]
+                        )
+                        {
+                            uniform token purpose = "guide"
+                            double size = 1
+                            double3 xformOp:translate = (0, 0, 0.017)
+                            quatf xformOp:orient = (1, 0, 0, 0)
+                            float3 xformOp:scale = (0.33, 0.3, 0.034)
+                            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+                            rel material:binding:physics = </Model/Physics/Materials/textured_hdpe>
+                        }
+                    }
+                }
+                over "GripLeft"
+                {
+                    def Xform "Colliders"
+                    {
+                        def Cylinder "grip" (
+                            prepend apiSchemas = ["PhysicsCollisionAPI", "MaterialBindingAPI"]
+                        )
+                        {
+                            uniform token purpose = "guide"
+                            uniform token axis = "Z"
+                            double radius = 0.016
+                            double height = 0.16
+                            double3 xformOp:translate = (0, 0, 0)
+                            quatf xformOp:orient = (0.70710678, -0.70710678, 0, 0)
+                            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+                            rel material:binding:physics = </Model/Physics/Materials/epdm_stop_rubber>
+                        }
+                    }
+                          def BasisCurves "grasp_identifier_01"
+                          {
+                            int[] curveVertexCounts = [2]
+                            float3[] extent = [(0, 0, -0.016), (0, 0, 0.016)]
+                            point3f[] points = [(0, 0, -0.016), (0, 0, 0.016)]
+                            uniform token purpose = "guide"
+                            uniform token type = "linear"
+                            uniform token wrap = "nonperiodic"
+                          }
+                }
+                over "GripRight"
+                {
+                    def Xform "Colliders"
+                    {
+                        def Cylinder "grip" (
+                            prepend apiSchemas = ["PhysicsCollisionAPI", "MaterialBindingAPI"]
+                        )
+                        {
+                            uniform token purpose = "guide"
+                            uniform token axis = "Z"
+                            double radius = 0.016
+                            double height = 0.16
+                            double3 xformOp:translate = (0, 0, 0)
+                            quatf xformOp:orient = (0.70710678, -0.70710678, 0, 0)
+                            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+                            rel material:binding:physics = </Model/Physics/Materials/epdm_stop_rubber>
+                        }
+                    }
+                          def BasisCurves "grasp_identifier_01"
+                          {
+                            int[] curveVertexCounts = [2]
+                            float3[] extent = [(0, 0, -0.016), (0, 0, 0.016)]
+                            point3f[] points = [(0, 0, -0.016), (0, 0, 0.016)]
+                            uniform token purpose = "guide"
+                            uniform token type = "linear"
+                            uniform token wrap = "nonperiodic"
+                          }
+                }
+            }
+        }
+        over "StopBase__1"
+        {
+            def Xform "Colliders"
+            {
+                def Mesh "stand" (
+                    prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI", "MaterialBindingAPI"]
+                )
+                {
+                    uniform token purpose = "guide"
+                    uniform token physics:approximation = "convexHull"
+                    uniform token subdivisionScheme = "none"
+                    float3[] extent = [(1.21, -0.12, 0), (1.45, 0.12, 0.12)]
+                    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 = [1, 9, 0, 19, 1, 0, 9, 19, 0, 2, 1, 7, 1, 4, 8, 1, 6, 7, 6, 1, 8, 1, 2, 3, 11, 1, 3, 2, 11, 3, 4, 1, 5, 1, 21, 5, 21, 4, 5, 6, 2, 7, 4, 6, 8, 21, 11, 6, 6, 11, 2, 21, 6, 4, 33, 11, 21, 9, 1, 10, 11, 10, 1, 9, 10, 30, 10, 11, 12, 10, 12, 13, 11, 14, 12, 14, 10, 13, 10, 14, 15, 16, 10, 15, 17, 10, 16, 12, 14, 13, 11, 17, 14, 14, 16, 15, 14, 17, 16, 11, 33, 17, 10, 17, 18, 34, 10, 18, 17, 34, 18, 17, 35, 34, 19, 20, 1, 1, 20, 21, 19, 30, 20, 21, 20, 22, 20, 23, 22, 23, 21, 22, 25, 21, 23, 25, 23, 24, 37, 21, 25, 27, 25, 26, 33, 21, 37, 37, 25, 27, 23, 20, 24, 20, 25, 24, 25, 20, 26, 20, 27, 26, 27, 20, 28, 20, 37, 28, 37, 27, 28, 19, 9, 29, 29, 9, 30, 30, 10, 34, 19, 29, 30, 20, 30, 37, 17, 33, 35, 35, 31, 36, 33, 37, 39, 35, 33, 31, 33, 39, 32, 35, 30, 34, 30, 35, 36, 37, 30, 38, 30, 39, 38, 39, 37, 38, 33, 30, 31, 30, 33, 32, 31, 30, 36, 39, 30, 32]
+                    normal3f[] normals = [(-1, 0, 0), (0, -1, 0), (0, 0, -1), (-0.653987, -0.34956, 0.670901), (-0.349562, -0.653986, 0.670901), (-0.556295, -0.456542, 0.694338), (-0.456541, -0.556296, 0.694338), (-0.75204, -0.228135, 0.618377), (-0.847434, -0.083461, 0.524299), (0, 0, 1), (-0.228131, -0.752043, 0.618375), (-0.083465, -0.847432, 0.524301), (0, 0, 1), (0, 0, 1), (0, 0, 1), (0, 0, 1), (0, 0, 1), (0, 0, 1), (0, 0, 1), (-1, 0, 0), (-0.891102, 0, 0.453802), (0, 1, 0), (-0.847434, 0.083461, 0.524299), (-0.75204, 0.228135, 0.618377), (0, 0, 1), (-0.653987, 0.34956, 0.670901), (-0.556295, 0.456542, 0.694338), (-0.456541, 0.556296, 0.694338), (-0.349562, 0.653986, 0.670901), (0, 0, 1), (0, 0, 1), (0, 0, 1), (0, 0, 1), (0, 0, 1), (-0.228131, 0.752043, 0.618375), (-0.083465, 0.847432, 0.524301), (0, 0, 1), (0, 0, 1), (0, -1, 0), (0, -0.891102, 0.453802), (1, 0, 0), (0.083465, -0.847432, 0.524301), (0.228131, -0.752043, 0.618375), (0, 0, 1), (0, 0, 1), (0, 0, 1), (0, 0, 1), (0, 0, 1), (0, 0, 1), (0, 0, 1), (0.349562, -0.653986, 0.670901), (0.456541, -0.556296, 0.694338), (0.556295, -0.456542, 0.694338), (0.653987, -0.34956, 0.670901), (0.75204, -0.228135, 0.618377), (0.847434, -0.083461, 0.524299), (0, 0, 1), (0, 0, -1), (0, 1, 0), (0, 0.891102, 0.453802), (1, 0, 0), (0.891102, 0, 0.453802), (0, 0, 1), (0, 0, 1), (0, 0, 1), (0, 0, 1), (0, 0, 1), (0.083465, 0.847432, 0.524301), (0.228131, 0.752043, 0.618375), (0.847434, 0.083461, 0.524299), (0.75204, 0.228135, 0.618377), (0, 0, 1), (0.456541, 0.556296, 0.694338), (0.556295, 0.456542, 0.694338), (0.349562, 0.653986, 0.670901), (0.653987, 0.34956, 0.670901)] (interpolation = "uniform")
+                    point3f[] points = [(1.21, -0.12, 0), (1.21, -0.12, 0.012), (1.269947876, -0.024874424, 0.12), (1.266248901, -0.012680871, 0.12), (1.30512561, -0.06005217, 0.12), (1.317319092, -0.063751041, 0.12), (1.284038086, -0.045961941, 0.12), (1.275954468, -0.036112064, 0.12), (1.293887939, -0.054045525, 0.12), (1.21, 0.12, 0), (1.21, 0.12, 0.012), (1.265, 0, 0.12), (1.266248901, 0.012680871, 0.12), (1.269947876, 0.024874424, 0.12), (1.275954468, 0.036112064, 0.12), (1.284038086, 0.045961941, 0.12), (1.293887939, 0.054045525, 0.12), (1.30512561, 0.06005217, 0.12), (1.317319092, 0.063751041, 0.12), (1.45, -0.12, 0), (1.45, -0.12, 0.012), (1.33, -0.065, 0.12), (1.342680908, -0.063751041, 0.12), (1.35487439, -0.06005217, 0.12), (1.366112061, -0.054045525, 0.12), (1.375961914, -0.045961941, 0.12), (1.384045532, -0.036112064, 0.12), (1.390052124, -0.024874424, 0.12), (1.393751099, -0.012680871, 0.12), (1.45, 0.12, 0), (1.45, 0.12, 0.012), (1.366112061, 0.054045525, 0.12), (1.384045532, 0.036112064, 0.12), (1.375961914, 0.045961941, 0.12), (1.33, 0.065, 0.12), (1.342680908, 0.063751041, 0.12), (1.35487439, 0.06005217, 0.12), (1.395, 0, 0.12), (1.393751099, 0.012680871, 0.12), (1.390052124, 0.024874424, 0.12)]
+                    rel material:binding:physics = </Model/Physics/Materials/powder_coated_and_galvanized_steel>
+                }
+            }
+        }
+        over "RubberStop__1"
+        {
+            def Xform "Colliders"
+            {
+                def Cylinder "rubber" (
+                    prepend apiSchemas = ["PhysicsCollisionAPI", "MaterialBindingAPI"]
+                )
+                {
+                    uniform token purpose = "guide"
+                    uniform token axis = "Z"
+                    double radius = 0.085
+                    double height = 0.065
+                    double3 xformOp:translate = (1.33, 0, 0.1525)
+                    quatf xformOp:orient = (1, 0, 0, 0)
+                    uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+                    rel material:binding:physics = </Model/Physics/Materials/epdm_stop_rubber>
+                }
+            }
+        }
+        over "StopBase_1"
+        {
+            def Xform "Colliders"
+            {
+                def Mesh "stand" (
+                    prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI", "MaterialBindingAPI"]
+                )
+                {
+                    uniform token purpose = "guide"
+                    uniform token physics:approximation = "convexHull"
+                    uniform token subdivisionScheme = "none"
+                    float3[] extent = [(3.45, -0.12, 0), (3.69, 0.12, 0.12)]
+                    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 = [1, 9, 0, 19, 1, 0, 9, 19, 0, 2, 1, 7, 1, 4, 8, 1, 6, 7, 6, 1, 8, 1, 2, 3, 11, 1, 3, 2, 11, 3, 4, 1, 5, 1, 21, 5, 21, 4, 5, 6, 2, 7, 4, 6, 8, 21, 11, 6, 6, 11, 2, 21, 6, 4, 33, 11, 21, 9, 1, 10, 11, 10, 1, 9, 10, 30, 10, 11, 12, 13, 10, 12, 11, 13, 12, 14, 10, 13, 10, 14, 15, 10, 15, 16, 17, 10, 16, 11, 14, 13, 11, 17, 14, 14, 17, 15, 15, 17, 16, 11, 33, 17, 10, 17, 18, 34, 10, 18, 17, 34, 18, 17, 35, 34, 19, 20, 1, 1, 20, 21, 19, 30, 20, 21, 20, 22, 20, 23, 22, 23, 21, 22, 25, 21, 23, 25, 23, 24, 37, 21, 25, 27, 25, 26, 33, 21, 37, 37, 25, 27, 23, 20, 24, 20, 25, 24, 25, 20, 26, 20, 27, 26, 27, 20, 28, 20, 37, 28, 37, 27, 28, 19, 9, 29, 29, 9, 30, 30, 10, 34, 19, 29, 30, 20, 30, 37, 17, 33, 35, 35, 33, 36, 33, 37, 39, 36, 33, 31, 33, 39, 32, 35, 30, 34, 30, 35, 36, 37, 30, 38, 30, 39, 38, 39, 37, 38, 33, 30, 31, 30, 33, 32, 30, 36, 31, 39, 30, 32]
+                    normal3f[] normals = [(-1, 0, 0), (0, -1, 0), (0, 0, -1), (-0.653979, -0.34957, 0.670904), (-0.349565, -0.653984, 0.670902), (-0.556299, -0.456538, 0.694338), (-0.456541, -0.556296, 0.694338), (-0.752049, -0.228123, 0.61837), (-0.84743, -0.083469, 0.524305), (0, 0, 1), (-0.228129, -0.752045, 0.618374), (-0.083465, -0.847432, 0.524301), (0, 0, 1), (0, 0, 1), (0, 0, 1), (0, 0, 1), (0, 0, 1), (0, 0, 1), (0, 0, 1), (-1, 0, 0), (-0.891102, 0, 0.453802), (0, 1, 0), (-0.84743, 0.083469, 0.524305), (-0.752049, 0.228123, 0.61837), (0, 0, 1), (-0.653979, 0.34957, 0.670904), (-0.556299, 0.456538, 0.694338), (-0.456541, 0.556296, 0.694338), (-0.349565, 0.653984, 0.670902), (0, 0, 1), (0, 0, 1), (0, 0, 1), (0, 0, 1), (0, 0, 1), (-0.228129, 0.752045, 0.618374), (-0.083465, 0.847432, 0.524301), (0, 0, 1), (0, 0, 1), (0, -1, 0), (0, -0.891102, 0.453802), (1, 0, 0), (0.083465, -0.847432, 0.524301), (0.228129, -0.752045, 0.618374), (0, 0, 1), (0, 0, 1), (0, 0, 1), (0, 0, 1), (0, 0, 1), (0, 0, 1), (0, 0, 1), (0.349565, -0.653984, 0.670902), (0.456541, -0.556296, 0.694338), (0.556299, -0.456538, 0.694338), (0.653979, -0.34957, 0.670904), (0.752049, -0.228123, 0.61837), (0.84743, -0.083469, 0.524305), (0, 0, 1), (0, 0, -1), (0, 1, 0), (0, 0.891102, 0.453802), (1, 0, 0), (0.891102, 0, 0.453802), (0, 0, 1), (0, 0, 1), (0, 0, 1), (0, 0, 1), (0, 0, 1), (0.083465, 0.847432, 0.524301), (0.228129, 0.752045, 0.618374), (0.84743, 0.083469, 0.524305), (0.752049, 0.228123, 0.61837), (0, 0, 1), (0.456541, 0.556296, 0.694338), (0.556299, 0.456538, 0.694338), (0.349565, 0.653984, 0.670902), (0.653979, 0.34957, 0.670904)] (interpolation = "uniform")
+                    point3f[] points = [(3.45, -0.12, 0), (3.45, -0.12, 0.012), (3.509947754, -0.024874424, 0.12), (3.506249023, -0.012680871, 0.12), (3.545125488, -0.06005217, 0.12), (3.557319092, -0.063751041, 0.12), (3.524038086, -0.045961941, 0.12), (3.51595459, -0.036112064, 0.12), (3.533887939, -0.054045525, 0.12), (3.45, 0.12, 0), (3.45, 0.12, 0.012), (3.505, 0, 0.12), (3.506249023, 0.012680871, 0.12), (3.509947754, 0.024874424, 0.12), (3.51595459, 0.036112064, 0.12), (3.524038086, 0.045961941, 0.12), (3.533887939, 0.054045525, 0.12), (3.545125488, 0.06005217, 0.12), (3.557319092, 0.063751041, 0.12), (3.69, -0.12, 0), (3.69, -0.12, 0.012), (3.57, -0.065, 0.12), (3.582680908, -0.063751041, 0.12), (3.594874512, -0.06005217, 0.12), (3.606112061, -0.054045525, 0.12), (3.615961914, -0.045961941, 0.12), (3.62404541, -0.036112064, 0.12), (3.630052246, -0.024874424, 0.12), (3.633750977, -0.012680871, 0.12), (3.69, 0.12, 0), (3.69, 0.12, 0.012), (3.606112061, 0.054045525, 0.12), (3.62404541, 0.036112064, 0.12), (3.615961914, 0.045961941, 0.12), (3.57, 0.065, 0.12), (3.582680908, 0.063751041, 0.12), (3.594874512, 0.06005217, 0.12), (3.635, 0, 0.12), (3.633750977, 0.012680871, 0.12), (3.630052246, 0.024874424, 0.12)]
+                    rel material:binding:physics = </Model/Physics/Materials/powder_coated_and_galvanized_steel>
+                }
+            }
+        }
+        over "RubberStop_1"
+        {
+            def Xform "Colliders"
+            {
+                def Cylinder "rubber" (
+                    prepend apiSchemas = ["PhysicsCollisionAPI", "MaterialBindingAPI"]
+                )
+                {
+                    uniform token purpose = "guide"
+                    uniform token axis = "Z"
+                    double radius = 0.085
+                    double height = 0.065
+                    double3 xformOp:translate = (3.57, 0, 0.1525)
+                    quatf xformOp:orient = (1, 0, 0, 0)
+                    uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+                    rel material:binding:physics = </Model/Physics/Materials/epdm_stop_rubber>
+                }
+            }
+        }
+    }
+}

playground_swing_seesaw/simready_usd/layers/simready-labels.usda

@@ -0,0 +1,51 @@
+#usda 1.0
+(
+    "SimReady semantic labels: what the object is, and what each material is made of."
+)
+
+over "Model" (
+    prepend apiSchemas = ["SemanticsLabelsAPI:class", "SemanticsLabelsAPI:wikidata_qcode"]
+)
+{
+    token[] semantics:labels:class = ["swing set", "seesaw"]
+    token[] semantics:labels:wikidata_qcode = ["Q7111945"]
+
+    over "Materials"
+    {
+        over "Blue" (
+            prepend apiSchemas = ["SemanticsLabelsAPI:material"]
+        )
+        {
+            token[] semantics:labels:material = ["plastic"]
+        }
+
+        over "Galvanized" (
+            prepend apiSchemas = ["SemanticsLabelsAPI:material"]
+        )
+        {
+            token[] semantics:labels:material = ["metal"]
+        }
+
+        over "Polymer" (
+            prepend apiSchemas = ["SemanticsLabelsAPI:material"]
+        )
+        {
+            token[] semantics:labels:material = ["plastic"]
+        }
+
+        over "Red" (
+            prepend apiSchemas = ["SemanticsLabelsAPI:material"]
+        )
+        {
+            token[] semantics:labels:material = ["plastic"]
+        }
+
+        over "Rubber" (
+            prepend apiSchemas = ["SemanticsLabelsAPI:material"]
+        )
+        {
+            token[] semantics:labels:material = ["rubber"]
+        }
+    }
+}
+

playground_swing_seesaw/simready_usd/playground_swing_seesaw.usda

@@ -0,0 +1,662 @@
+#usda 1.0
+(
+    customLayerData = {
+        dictionary SimReady_Metadata = {
+            float3 asset_extents = (4.7999997, 1.55, 2.337)
+            string asset_license = "CC-BY-4.0"
+            string asset_name = "playground_swing_seesaw"
+            string asset_type = "prop"
+            string author = "ForgeCAD"
+            string category = "outdoor"
+            double mass = 271.97120094299316
+            string qcode = "Q7111945"
+            int rigid_body_count = 3
+            string source = "ForgeCAD"
+            string source_file = "main.usda"
+            string usd_date_generated = "2026-10-18"
+        }
+        string asset_name = "playground_swing_seesaw"
+        string asset_type = "prop"
+        string source_file = "main.usda"
+        string usd_date_generated = "2026-10-18"
+    }
+    defaultPrim = "Model"
+    metersPerUnit = 1
+    subLayers = [
+        @./layers/simready-labels.usda@
+    ]
+    upAxis = "Z"
+)
+
+def Xform "Model" (
+    prepend references = @./forgecad/geometry.usda@</Model>
+    variants = {
+        string physics = "physics"
+    }
+    prepend variantSets = "physics"
+)
+{
+    over "Geometry"
+    {
+        over "Frame" (
+            prepend apiSchemas = ["MaterialBindingAPI"]
+        )
+        {
+            rel material:binding = </Model/Materials/Blue>
+
+            over "SwingBearingBush__360" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </Model/Materials/Galvanized>
+            }
+
+            over "SwingBearingBush_360" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </Model/Materials/Galvanized>
+            }
+
+            over "SwingFoot__950__680" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </Model/Materials/Blue>
+
+                over "Anchor_0" (
+                    prepend apiSchemas = ["MaterialBindingAPI"]
+                )
+                {
+                    rel material:binding = </Model/Materials/Galvanized>
+                }
+
+                over "Anchor_1" (
+                    prepend apiSchemas = ["MaterialBindingAPI"]
+                )
+                {
+                    rel material:binding = </Model/Materials/Galvanized>
+                }
+
+                over "Anchor_2" (
+                    prepend apiSchemas = ["MaterialBindingAPI"]
+                )
+                {
+                    rel material:binding = </Model/Materials/Galvanized>
+                }
+
+                over "Anchor_3" (
+                    prepend apiSchemas = ["MaterialBindingAPI"]
+                )
+                {
+                    rel material:binding = </Model/Materials/Galvanized>
+                }
+            }
+
+            over "SwingFoot__950_680" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </Model/Materials/Blue>
+
+                over "Anchor_0" (
+                    prepend apiSchemas = ["MaterialBindingAPI"]
+                )
+                {
+                    rel material:binding = </Model/Materials/Galvanized>
+                }
+
+                over "Anchor_1" (
+                    prepend apiSchemas = ["MaterialBindingAPI"]
+                )
+                {
+                    rel material:binding = </Model/Materials/Galvanized>
+                }
+
+                over "Anchor_2" (
+                    prepend apiSchemas = ["MaterialBindingAPI"]
+                )
+                {
+                    rel material:binding = </Model/Materials/Galvanized>
+                }
+
+                over "Anchor_3" (
+                    prepend apiSchemas = ["MaterialBindingAPI"]
+                )
+                {
+                    rel material:binding = </Model/Materials/Galvanized>
+                }
+            }
+
+            over "SwingFoot_950__680" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </Model/Materials/Blue>
+
+                over "Anchor_0" (
+                    prepend apiSchemas = ["MaterialBindingAPI"]
+                )
+                {
+                    rel material:binding = </Model/Materials/Galvanized>
+                }
+
+                over "Anchor_1" (
+                    prepend apiSchemas = ["MaterialBindingAPI"]
+                )
+                {
+                    rel material:binding = </Model/Materials/Galvanized>
+                }
+
+                over "Anchor_2" (
+                    prepend apiSchemas = ["MaterialBindingAPI"]
+                )
+                {
+                    rel material:binding = </Model/Materials/Galvanized>
+                }
+
+                over "Anchor_3" (
+                    prepend apiSchemas = ["MaterialBindingAPI"]
+                )
+                {
+                    rel material:binding = </Model/Materials/Galvanized>
+                }
+            }
+
+            over "SwingFoot_950_680" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </Model/Materials/Blue>
+
+                over "Anchor_0" (
+                    prepend apiSchemas = ["MaterialBindingAPI"]
+                )
+                {
+                    rel material:binding = </Model/Materials/Galvanized>
+                }
+
+                over "Anchor_1" (
+                    prepend apiSchemas = ["MaterialBindingAPI"]
+                )
+                {
+                    rel material:binding = </Model/Materials/Galvanized>
+                }
+
+                over "Anchor_2" (
+                    prepend apiSchemas = ["MaterialBindingAPI"]
+                )
+                {
+                    rel material:binding = </Model/Materials/Galvanized>
+                }
+
+                over "Anchor_3" (
+                    prepend apiSchemas = ["MaterialBindingAPI"]
+                )
+                {
+                    rel material:binding = </Model/Materials/Galvanized>
+                }
+            }
+
+            over "SeesawPedestal" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </Model/Materials/Blue>
+
+                over "Axle" (
+                    prepend apiSchemas = ["MaterialBindingAPI"]
+                )
+                {
+                    rel material:binding = </Model/Materials/Galvanized>
+                }
+
+                over "AxleHead" (
+                    prepend apiSchemas = ["MaterialBindingAPI"]
+                )
+                {
+                    rel material:binding = </Model/Materials/Galvanized>
+                }
+
+                over "AxleNut" (
+                    prepend apiSchemas = ["MaterialBindingAPI"]
+                )
+                {
+                    rel material:binding = </Model/Materials/Galvanized>
+                }
+
+                over "Foot__220__190" (
+                    prepend apiSchemas = ["MaterialBindingAPI"]
+                )
+                {
+                    rel material:binding = </Model/Materials/Blue>
+
+                    over "Anchor_0" (
+                        prepend apiSchemas = ["MaterialBindingAPI"]
+                    )
+                    {
+                        rel material:binding = </Model/Materials/Galvanized>
+                    }
+
+                    over "Anchor_1" (
+                        prepend apiSchemas = ["MaterialBindingAPI"]
+                    )
+                    {
+                        rel material:binding = </Model/Materials/Galvanized>
+                    }
+
+                    over "Anchor_2" (
+                        prepend apiSchemas = ["MaterialBindingAPI"]
+                    )
+                    {
+                        rel material:binding = </Model/Materials/Galvanized>
+                    }
+
+                    over "Anchor_3" (
+                        prepend apiSchemas = ["MaterialBindingAPI"]
+                    )
+                    {
+                        rel material:binding = </Model/Materials/Galvanized>
+                    }
+                }
+
+                over "Foot__220_190" (
+                    prepend apiSchemas = ["MaterialBindingAPI"]
+                )
+                {
+                    rel material:binding = </Model/Materials/Blue>
+
+                    over "Anchor_0" (
+                        prepend apiSchemas = ["MaterialBindingAPI"]
+                    )
+                    {
+                        rel material:binding = </Model/Materials/Galvanized>
+                    }
+
+                    over "Anchor_1" (
+                        prepend apiSchemas = ["MaterialBindingAPI"]
+                    )
+                    {
+                        rel material:binding = </Model/Materials/Galvanized>
+                    }
+
+                    over "Anchor_2" (
+                        prepend apiSchemas = ["MaterialBindingAPI"]
+                    )
+                    {
+                        rel material:binding = </Model/Materials/Galvanized>
+                    }
+
+                    over "Anchor_3" (
+                        prepend apiSchemas = ["MaterialBindingAPI"]
+                    )
+                    {
+                        rel material:binding = </Model/Materials/Galvanized>
+                    }
+                }
+
+                over "Foot_220__190" (
+                    prepend apiSchemas = ["MaterialBindingAPI"]
+                )
+                {
+                    rel material:binding = </Model/Materials/Blue>
+
+                    over "Anchor_0" (
+                        prepend apiSchemas = ["MaterialBindingAPI"]
+                    )
+                    {
+                        rel material:binding = </Model/Materials/Galvanized>
+                    }
+
+                    over "Anchor_1" (
+                        prepend apiSchemas = ["MaterialBindingAPI"]
+                    )
+                    {
+                        rel material:binding = </Model/Materials/Galvanized>
+                    }
+
+                    over "Anchor_2" (
+                        prepend apiSchemas = ["MaterialBindingAPI"]
+                    )
+                    {
+                        rel material:binding = </Model/Materials/Galvanized>
+                    }
+
+                    over "Anchor_3" (
+                        prepend apiSchemas = ["MaterialBindingAPI"]
+                    )
+                    {
+                        rel material:binding = </Model/Materials/Galvanized>
+                    }
+                }
+
+                over "Foot_220_190" (
+                    prepend apiSchemas = ["MaterialBindingAPI"]
+                )
+                {
+                    rel material:binding = </Model/Materials/Blue>
+
+                    over "Anchor_0" (
+                        prepend apiSchemas = ["MaterialBindingAPI"]
+                    )
+                    {
+                        rel material:binding = </Model/Materials/Galvanized>
+                    }
+
+                    over "Anchor_1" (
+                        prepend apiSchemas = ["MaterialBindingAPI"]
+                    )
+                    {
+                        rel material:binding = </Model/Materials/Galvanized>
+                    }
+
+                    over "Anchor_2" (
+                        prepend apiSchemas = ["MaterialBindingAPI"]
+                    )
+                    {
+                        rel material:binding = </Model/Materials/Galvanized>
+                    }
+
+                    over "Anchor_3" (
+                        prepend apiSchemas = ["MaterialBindingAPI"]
+                    )
+                    {
+                        rel material:binding = </Model/Materials/Galvanized>
+                    }
+                }
+            }
+
+            over "SwingStop__1" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </Model/Materials/Galvanized>
+            }
+
+            over "SwingStop_1" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </Model/Materials/Galvanized>
+            }
+
+            over "SwingCarrier" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </Model/Materials/Galvanized>
+
+                over "SwingSeat" (
+                    prepend apiSchemas = ["MaterialBindingAPI"]
+                )
+                {
+                    rel material:binding = </Model/Materials/Polymer>
+                }
+            }
+
+            over "SeesawBeam" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </Model/Materials/Red>
+
+                over "CentralSleeve" (
+                    prepend apiSchemas = ["MaterialBindingAPI"]
+                )
+                {
+                    rel material:binding = </Model/Materials/Galvanized>
+                }
+
+                over "ThrustWasher__180" (
+                    prepend apiSchemas = ["MaterialBindingAPI"]
+                )
+                {
+                    rel material:binding = </Model/Materials/Galvanized>
+                }
+
+                over "ThrustWasher_172" (
+                    prepend apiSchemas = ["MaterialBindingAPI"]
+                )
+                {
+                    rel material:binding = </Model/Materials/Galvanized>
+                }
+
+                over "SeatBolts__1" (
+                    prepend apiSchemas = ["MaterialBindingAPI"]
+                )
+                {
+                    rel material:binding = </Model/Materials/Galvanized>
+                }
+
+                over "SeatBolts_1" (
+                    prepend apiSchemas = ["MaterialBindingAPI"]
+                )
+                {
+                    rel material:binding = </Model/Materials/Galvanized>
+                }
+
+                over "SeesawSeatLeft" (
+                    prepend apiSchemas = ["MaterialBindingAPI"]
+                )
+                {
+                    rel material:binding = </Model/Materials/Polymer>
+                }
+
+                over "SeesawSeatRight" (
+                    prepend apiSchemas = ["MaterialBindingAPI"]
+                )
+                {
+                    rel material:binding = </Model/Materials/Polymer>
+                }
+
+                over "GripLeft" (
+                    prepend apiSchemas = ["MaterialBindingAPI"]
+                )
+                {
+                    rel material:binding = </Model/Materials/Rubber>
+                }
+
+                over "GripRight" (
+                    prepend apiSchemas = ["MaterialBindingAPI"]
+                )
+                {
+                    rel material:binding = </Model/Materials/Rubber>
+                }
+            }
+        }
+
+        over "StopBase__1" (
+            prepend apiSchemas = ["MaterialBindingAPI"]
+        )
+        {
+            rel material:binding = </Model/Materials/Blue>
+
+            over "Anchors" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </Model/Materials/Galvanized>
+            }
+
+            over "StopRetainingStud" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </Model/Materials/Galvanized>
+            }
+
+            over "StopTopWasher" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </Model/Materials/Galvanized>
+            }
+
+            over "StopNut" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </Model/Materials/Galvanized>
+            }
+        }
+
+        over "RubberStop__1" (
+            prepend apiSchemas = ["MaterialBindingAPI"]
+        )
+        {
+            rel material:binding = </Model/Materials/Rubber>
+        }
+
+        over "StopBase_1" (
+            prepend apiSchemas = ["MaterialBindingAPI"]
+        )
+        {
+            rel material:binding = </Model/Materials/Blue>
+
+            over "Anchors" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </Model/Materials/Galvanized>
+            }
+
+            over "StopRetainingStud" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </Model/Materials/Galvanized>
+            }
+
+            over "StopTopWasher" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </Model/Materials/Galvanized>
+            }
+
+            over "StopNut" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </Model/Materials/Galvanized>
+            }
+        }
+
+        over "RubberStop_1" (
+            prepend apiSchemas = ["MaterialBindingAPI"]
+        )
+        {
+            rel material:binding = </Model/Materials/Rubber>
+        }
+    }
+
+    def Scope "Materials"
+    {
+        def Material "Blue"
+        {
+            token outputs:surface.connect = </Model/Materials/Blue/Surface.outputs:surface>
+
+            def Shader "Surface"
+            {
+                uniform token info:id = "UsdPreviewSurface"
+                color3f inputs:diffuseColor = (0.004, 0.262, 0.491)
+                float inputs:metallic = 0
+                float inputs:roughness = 0.35
+                token outputs:surface
+            }
+        }
+
+        def Material "Red"
+        {
+            token outputs:surface.connect = </Model/Materials/Red/Surface.outputs:surface>
+
+            def Shader "Surface"
+            {
+                uniform token info:id = "UsdPreviewSurface"
+                color3f inputs:diffuseColor = (0.807, 0.074, 0.056)
+                float inputs:metallic = 0
+                float inputs:roughness = 0.35
+                token outputs:surface
+            }
+        }
+
+        def Material "Galvanized"
+        {
+            token outputs:surface.connect = </Model/Materials/Galvanized/Surface.outputs:surface>
+
+            def Shader "Surface"
+            {
+                uniform token info:id = "UsdPreviewSurface"
+                color3f inputs:diffuseColor = (0.48, 0.53, 0.57)
+                float inputs:metallic = 0.85
+                float inputs:roughness = 0.32
+                token outputs:surface
+            }
+        }
+
+        def Material "Rubber"
+        {
+            token outputs:surface.connect = </Model/Materials/Rubber/Surface.outputs:surface>
+
+            def Shader "Surface"
+            {
+                uniform token info:id = "UsdPreviewSurface"
+                color3f inputs:diffuseColor = (0.008, 0.009, 0.011)
+                float inputs:metallic = 0
+                float inputs:roughness = 0.72
+                token outputs:surface
+            }
+        }
+
+        def Material "Polymer"
+        {
+            token outputs:surface.connect = </Model/Materials/Polymer/Surface.outputs:surface>
+
+            def Shader "Surface"
+            {
+                uniform token info:id = "UsdPreviewSurface"
+                color3f inputs:diffuseColor.connect = </Model/Materials/Polymer/Albedo.outputs:rgb>
+                float inputs:metallic = 0
+                float inputs:roughness = 0.72
+                token outputs:surface
+            }
+
+            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/Polymer/St.outputs:result>
+                float2 inputs:scale = (125, 125)
+                float2 outputs:result
+            }
+
+            def Shader "Albedo"
+            {
+                uniform token info:id = "UsdUVTexture"
+                asset inputs:file = @./assets/molded-polymer.png@
+                token inputs:sourceColorSpace = "sRGB"
+                float2 inputs:st.connect = </Model/Materials/Polymer/Tile.outputs:result>
+                token inputs:wrapS = "repeat"
+                token inputs:wrapT = "repeat"
+                float3 outputs:rgb
+            }
+        }
+    }
+    variantSet "physics" = {
+        "none" {
+
+        }
+        "physics" (
+            prepend references = @./forgecad/physics.usda@</Model>
+        ) {
+
+        }
+    }
+}
+