Add SimReady package: assembly_task_board_v06

.gitattributes

@@ -175,3 +175,4 @@ assembly_task_board_v01/simready_usd/forgecad/geometry.usda filter=lfs diff=lfs
 assembly_task_board_v02/simready_usd/forgecad/geometry.usda filter=lfs diff=lfs merge=lfs -text
 assembly_task_board_v03/simready_usd/forgecad/geometry.usda filter=lfs diff=lfs merge=lfs -text
 assembly_task_board_v05/simready_usd/forgecad/geometry.usda filter=lfs diff=lfs merge=lfs -text
+assembly_task_board_v06/simready_usd/forgecad/geometry.usda filter=lfs diff=lfs merge=lfs -text

assembly_task_board_v06/.metadata/assembly_task_board_v06_benchmark.json

@@ -0,0 +1,2372 @@
+{
+  "schema_version": "1.0",
+  "asset": "assembly_task_board_v06",
+  "run_timestamp": "2026-10-18T02:35:26Z",
+  "passed": false,
+  "results": [
+    {
+      "test_name": "culling_xz",
+      "engine": "isaac_sim",
+      "engine_version": "6.1.0.0",
+      "status": "pass",
+      "passed": true,
+      "duration": 16.91,
+      "message": "",
+      "metrics": {
+        "_timing_capture_frame_total_s": {
+          "value": 3.274,
+          "unit": null
+        },
+        "_timing_capture_frame_count": {
+          "value": 16,
+          "unit": null
+        },
+        "_timing_capture_frame_avg_ms": {
+          "value": 204.63,
+          "unit": null
+        },
+        "_timing_encode_video_total_s": {
+          "value": 3.637,
+          "unit": null
+        },
+        "_timing_encode_video_count": {
+          "value": 2,
+          "unit": null
+        },
+        "_render_blank_retry_count": {
+          "value": 0,
+          "unit": null
+        },
+        "_render_blank_retry_unrecovered": {
+          "value": 0,
+          "unit": null
+        },
+        "culling_xz_max_diff": {
+          "value": 1.5e-05,
+          "unit": null
+        },
+        "culling_xz_mean_diff": {
+          "value": 2e-06,
+          "unit": null
+        },
+        "culling_xz_worst_angle": {
+          "value": 0.0,
+          "unit": null
+        },
+        "culling_xz_passed": {
+          "value": 1,
+          "unit": null
+        }
+      },
+      "kit_logs": [
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]: Traceback (most recent call last):"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:   File \"<home>/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/impl/texture.py\", line 377, in on_drawable_changed"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     self.__drawable_changed_fn(texture[\"rp_resource\"], presentation_key)"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:   File \"<home>/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/widget.py\", line 516, in __set_image_data"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     vp_api._sync_viewport_api(camera, canvas_size, vp_api.time, view, projection, force_update=True)  # noqa PLW0212"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:   File \"<home>/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 546, in _sync_viewport_api"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     self.__projection = self._conform_projection(policy, camera, image_aspect, canvas_aspect, projection)"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:                         ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:   File \"<home>/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     gf_camera = camera.GetCamera(self.__time)"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:                 ^^^^^^^^^^^^^^^^"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'"
+        }
+      ]
+    },
+    {
+      "test_name": "culling_xz",
+      "engine": "isaac_sim_newton",
+      "engine_version": "6.1.0.0",
+      "status": "pass",
+      "passed": true,
+      "duration": 18.022,
+      "message": "",
+      "metrics": {
+        "_timing_capture_frame_total_s": {
+          "value": 3.168,
+          "unit": null
+        },
+        "_timing_capture_frame_count": {
+          "value": 16,
+          "unit": null
+        },
+        "_timing_capture_frame_avg_ms": {
+          "value": 198.0,
+          "unit": null
+        },
+        "_timing_encode_video_total_s": {
+          "value": 2.276,
+          "unit": null
+        },
+        "_timing_encode_video_count": {
+          "value": 2,
+          "unit": null
+        },
+        "_render_blank_retry_count": {
+          "value": 0,
+          "unit": null
+        },
+        "_render_blank_retry_unrecovered": {
+          "value": 0,
+          "unit": null
+        },
+        "culling_xz_max_diff": {
+          "value": 3.7e-05,
+          "unit": null
+        },
+        "culling_xz_mean_diff": {
+          "value": 5e-06,
+          "unit": null
+        },
+        "culling_xz_worst_angle": {
+          "value": 270.0,
+          "unit": null
+        },
+        "culling_xz_passed": {
+          "value": 1,
+          "unit": null
+        }
+      },
+      "kit_logs": [
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]: Traceback (most recent call last):"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:   File \"<home>/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/impl/texture.py\", line 377, in on_drawable_changed"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     self.__drawable_changed_fn(texture[\"rp_resource\"], presentation_key)"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:   File \"<home>/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/widget.py\", line 516, in __set_image_data"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     vp_api._sync_viewport_api(camera, canvas_size, vp_api.time, view, projection, force_update=True)  # noqa PLW0212"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:   File \"<home>/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 546, in _sync_viewport_api"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     self.__projection = self._conform_projection(policy, camera, image_aspect, canvas_aspect, projection)"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:                         ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:   File \"<home>/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     gf_camera = camera.GetCamera(self.__time)"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:                 ^^^^^^^^^^^^^^^^"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'"
+        }
+      ]
+    },
+    {
+      "test_name": "display_color_response",
+      "engine": "isaac_sim",
+      "engine_version": "6.1.0.0",
+      "status": "pass",
+      "passed": true,
+      "duration": 21.268,
+      "message": "",
+      "metrics": {
+        "display_color_asset_root": {
+          "value": "/World/AssetRoot/Asset",
+          "unit": null
+        },
+        "display_color_render_context_order": {
+          "value": "mdl, mtlx, universal",
+          "unit": null
+        },
+        "display_color_renderable_gprims": {
+          "value": 14,
+          "unit": null
+        },
+        "display_color_gprims_without_displaycolor": {
+          "value": 0,
+          "unit": null
+        },
+        "display_color_gprims_without_displayopacity": {
+          "value": 14,
+          "unit": null
+        },
+        "display_color_probe_bound_gprims": {
+          "value": 14,
+          "unit": null
+        },
+        "_timing_capture_frame_total_s": {
+          "value": 1.456,
+          "unit": null
+        },
+        "_timing_capture_frame_count": {
+          "value": 5,
+          "unit": null
+        },
+        "_timing_capture_frame_avg_ms": {
+          "value": 291.22,
+          "unit": null
+        },
+        "_timing_encode_video_total_s": {
+          "value": 0.579,
+          "unit": null
+        },
+        "_timing_encode_video_count": {
+          "value": 1,
+          "unit": null
+        },
+        "_render_blank_retry_count": {
+          "value": 0,
+          "unit": null
+        },
+        "_render_blank_retry_unrecovered": {
+          "value": 0,
+          "unit": null
+        },
+        "display_color_silhouette_pixels": {
+          "value": 197976,
+          "unit": null
+        },
+        "display_color_whole_frame_delta_pixels": {
+          "value": 198406,
+          "unit": null
+        },
+        "display_color_read_mean_rgb": {
+          "value": [
+            0.1604,
+            0.1625,
+            0.164
+          ],
+          "unit": null
+        },
+        "display_color_control_ratio": {
+          "value": 5.6e-05,
+          "unit": null
+        },
+        "display_color_response_ratio": {
+          "value": 1.0,
+          "unit": null
+        },
+        "display_color_opacity_ratio": {
+          "value": 0.999874,
+          "unit": null
+        }
+      },
+      "kit_logs": [
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]: Traceback (most recent call last):"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:   File \"<home>/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/impl/texture.py\", line 377, in on_drawable_changed"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     self.__drawable_changed_fn(texture[\"rp_resource\"], presentation_key)"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:   File \"<home>/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/widget.py\", line 516, in __set_image_data"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     vp_api._sync_viewport_api(camera, canvas_size, vp_api.time, view, projection, force_update=True)  # noqa PLW0212"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:   File \"<home>/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 546, in _sync_viewport_api"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     self.__projection = self._conform_projection(policy, camera, image_aspect, canvas_aspect, projection)"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:                         ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:   File \"<home>/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     gf_camera = camera.GetCamera(self.__time)"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:                 ^^^^^^^^^^^^^^^^"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'"
+        }
+      ]
+    },
+    {
+      "test_name": "display_color_response",
+      "engine": "isaac_sim_newton",
+      "engine_version": "6.1.0.0",
+      "status": "pass",
+      "passed": true,
+      "duration": 23.251,
+      "message": "",
+      "metrics": {
+        "display_color_asset_root": {
+          "value": "/World/AssetRoot/Asset",
+          "unit": null
+        },
+        "display_color_render_context_order": {
+          "value": "mdl, mtlx, universal",
+          "unit": null
+        },
+        "display_color_renderable_gprims": {
+          "value": 14,
+          "unit": null
+        },
+        "display_color_gprims_without_displaycolor": {
+          "value": 0,
+          "unit": null
+        },
+        "display_color_gprims_without_displayopacity": {
+          "value": 14,
+          "unit": null
+        },
+        "display_color_probe_bound_gprims": {
+          "value": 14,
+          "unit": null
+        },
+        "_timing_capture_frame_total_s": {
+          "value": 1.359,
+          "unit": null
+        },
+        "_timing_capture_frame_count": {
+          "value": 5,
+          "unit": null
+        },
+        "_timing_capture_frame_avg_ms": {
+          "value": 271.82,
+          "unit": null
+        },
+        "_timing_encode_video_total_s": {
+          "value": 2.131,
+          "unit": null
+        },
+        "_timing_encode_video_count": {
+          "value": 1,
+          "unit": null
+        },
+        "_render_blank_retry_count": {
+          "value": 0,
+          "unit": null
+        },
+        "_render_blank_retry_unrecovered": {
+          "value": 0,
+          "unit": null
+        },
+        "display_color_silhouette_pixels": {
+          "value": 197990,
+          "unit": null
+        },
+        "display_color_whole_frame_delta_pixels": {
+          "value": 198410,
+          "unit": null
+        },
+        "display_color_read_mean_rgb": {
+          "value": [
+            0.1604,
+            0.1625,
+            0.164
+          ],
+          "unit": null
+        },
+        "display_color_control_ratio": {
+          "value": 9.1e-05,
+          "unit": null
+        },
+        "display_color_response_ratio": {
+          "value": 0.999995,
+          "unit": null
+        },
+        "display_color_opacity_ratio": {
+          "value": 0.999879,
+          "unit": null
+        }
+      },
+      "kit_logs": [
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]: Traceback (most recent call last):"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:   File \"<home>/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/impl/texture.py\", line 377, in on_drawable_changed"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     self.__drawable_changed_fn(texture[\"rp_resource\"], presentation_key)"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:   File \"<home>/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/widget.py\", line 516, in __set_image_data"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     vp_api._sync_viewport_api(camera, canvas_size, vp_api.time, view, projection, force_update=True)  # noqa PLW0212"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:   File \"<home>/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 546, in _sync_viewport_api"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     self.__projection = self._conform_projection(policy, camera, image_aspect, canvas_aspect, projection)"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:                         ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:   File \"<home>/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     gf_camera = camera.GetCamera(self.__time)"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:                 ^^^^^^^^^^^^^^^^"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'"
+        }
+      ]
+    },
+    {
+      "test_name": "grasp_and_lift",
+      "engine": "isaac_sim",
+      "engine_version": "6.1.0.0",
+      "status": "skipped",
+      "passed": false,
+      "duration": 1.529,
+      "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": "fail",
+      "passed": false,
+      "duration": 174.102,
+      "message": "Ground drop FAILED: Object never touched the ground within 10 seconds.\n\nHow to fix:\n- Verify UsdPhysics.RigidBodyAPI is applied to the root prim.\n- Check that at least one mesh has UsdPhysics.CollisionAPI.\n- Check for FixedJoint anchoring the asset to the world.\n- Check mass -- mass=0 makes the body kinematic (won't fall).",
+      "metrics": {
+        "ground_drop_initial_z_min": {
+          "value": 0.2,
+          "unit": null
+        },
+        "ground_drop_bbox_height": {
+          "value": 0.075,
+          "unit": null
+        },
+        "ground_drop_effective_fall": {
+          "value": 0.1,
+          "unit": null
+        },
+        "_timing_capture_frame_total_s": {
+          "value": 53.058,
+          "unit": null
+        },
+        "_timing_capture_frame_count": {
+          "value": 150,
+          "unit": null
+        },
+        "_timing_capture_frame_avg_ms": {
+          "value": 353.72,
+          "unit": null
+        },
+        "_timing_encode_video_total_s": {
+          "value": 6.397,
+          "unit": null
+        },
+        "_timing_encode_video_count": {
+          "value": 1,
+          "unit": null
+        },
+        "_render_blank_retry_count": {
+          "value": 0,
+          "unit": null
+        },
+        "_render_blank_retry_unrecovered": {
+          "value": 0,
+          "unit": null
+        },
+        "ground_drop_touched": {
+          "value": 0,
+          "unit": null
+        },
+        "ground_drop_penetrated": {
+          "value": 0,
+          "unit": null
+        },
+        "ground_drop_stable": {
+          "value": 0,
+          "unit": null
+        },
+        "ground_drop_passed": {
+          "value": 0,
+          "unit": null
+        }
+      },
+      "kit_logs": [
+        {
+          "level": "error",
+          "channel": "omni.physx.plugin",
+          "message": "Physics scenes stepping is not the same, step subscription will be send with later step, per scene step is not yet supported."
+        }
+      ]
+    },
+    {
+      "test_name": "joint_movement",
+      "engine": "isaac_sim",
+      "engine_version": "6.1.0.0",
+      "status": "skipped",
+      "passed": false,
+      "duration": 1.54,
+      "message": "No joints found -- joint movement test not applicable",
+      "metrics": {},
+      "kit_logs": []
+    },
+    {
+      "test_name": "light_response",
+      "engine": "isaac_sim",
+      "engine_version": "6.1.0.0",
+      "status": "pass",
+      "passed": true,
+      "duration": 21.014,
+      "message": "",
+      "metrics": {
+        "_timing_capture_frame_total_s": {
+          "value": 7.636,
+          "unit": null
+        },
+        "_timing_capture_frame_count": {
+          "value": 30,
+          "unit": null
+        },
+        "_timing_capture_frame_avg_ms": {
+          "value": 254.54,
+          "unit": null
+        },
+        "_timing_encode_video_total_s": {
+          "value": 2.153,
+          "unit": null
+        },
+        "_timing_encode_video_count": {
+          "value": 1,
+          "unit": null
+        },
+        "_render_blank_retry_count": {
+          "value": 0,
+          "unit": null
+        },
+        "_render_blank_retry_unrecovered": {
+          "value": 0,
+          "unit": null
+        },
+        "light_response_variation_ratio": {
+          "value": 0.310345,
+          "unit": null
+        },
+        "light_response_blank_ratio": {
+          "value": 0.0,
+          "unit": null
+        },
+        "light_response_blank_frames": {
+          "value": 0,
+          "unit": null
+        },
+        "light_response_total_frames": {
+          "value": 30,
+          "unit": null
+        },
+        "light_response_total_pairs": {
+          "value": 29,
+          "unit": null
+        },
+        "light_response_different_pairs": {
+          "value": 9,
+          "unit": null
+        },
+        "light_response_passed": {
+          "value": 1,
+          "unit": null
+        },
+        "light_response_max_pair_change": {
+          "value": 0.64717,
+          "unit": null
+        },
+        "light_response_min_pair_change": {
+          "value": 0.009011,
+          "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": 20.946,
+      "message": "",
+      "metrics": {
+        "_timing_capture_frame_total_s": {
+          "value": 9.877,
+          "unit": null
+        },
+        "_timing_capture_frame_count": {
+          "value": 30,
+          "unit": null
+        },
+        "_timing_capture_frame_avg_ms": {
+          "value": 329.24,
+          "unit": null
+        },
+        "_timing_encode_video_total_s": {
+          "value": 1.599,
+          "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": 0.275862,
+          "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": 8,
+          "unit": null
+        },
+        "light_response_passed": {
+          "value": 1,
+          "unit": null
+        },
+        "light_response_max_pair_change": {
+          "value": 0.647495,
+          "unit": null
+        },
+        "light_response_min_pair_change": {
+          "value": 0.00952,
+          "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": 11.034,
+      "message": "",
+      "metrics": {
+        "_timing_capture_frame_total_s": {
+          "value": 3.889,
+          "unit": null
+        },
+        "_timing_capture_frame_count": {
+          "value": 8,
+          "unit": null
+        },
+        "_timing_capture_frame_avg_ms": {
+          "value": 486.11,
+          "unit": null
+        },
+        "_timing_encode_video_total_s": {
+          "value": 0.525,
+          "unit": null
+        },
+        "_timing_encode_video_count": {
+          "value": 1,
+          "unit": null
+        },
+        "_render_blank_retry_count": {
+          "value": 1,
+          "unit": null
+        },
+        "_render_blank_retry_unrecovered": {
+          "value": 1,
+          "unit": null
+        },
+        "_render_blank_retry[normals_xz_002.png]": {
+          "value": "attempts=6 recovered=False",
+          "unit": null
+        },
+        "normals_xz_avg_dark": {
+          "value": 0.000389,
+          "unit": null
+        },
+        "normals_xz_max_dark": {
+          "value": 0.001605,
+          "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": 12.908,
+      "message": "",
+      "metrics": {
+        "_timing_capture_frame_total_s": {
+          "value": 4.303,
+          "unit": null
+        },
+        "_timing_capture_frame_count": {
+          "value": 8,
+          "unit": null
+        },
+        "_timing_capture_frame_avg_ms": {
+          "value": 537.85,
+          "unit": null
+        },
+        "_timing_encode_video_total_s": {
+          "value": 2.131,
+          "unit": null
+        },
+        "_timing_encode_video_count": {
+          "value": 1,
+          "unit": null
+        },
+        "_render_blank_retry_count": {
+          "value": 1,
+          "unit": null
+        },
+        "_render_blank_retry_unrecovered": {
+          "value": 1,
+          "unit": null
+        },
+        "_render_blank_retry[normals_xz_002.png]": {
+          "value": "attempts=6 recovered=False",
+          "unit": null
+        },
+        "normals_xz_avg_dark": {
+          "value": 0.000301,
+          "unit": null
+        },
+        "normals_xz_max_dark": {
+          "value": 0.001346,
+          "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": 23.147,
+      "message": "",
+      "metrics": {
+        "_timing_capture_frame_total_s": {
+          "value": 5.715,
+          "unit": null
+        },
+        "_timing_capture_frame_count": {
+          "value": 20,
+          "unit": null
+        },
+        "_timing_capture_frame_avg_ms": {
+          "value": 285.73,
+          "unit": null
+        },
+        "_timing_encode_video_total_s": {
+          "value": 3.354,
+          "unit": null
+        },
+        "_timing_encode_video_count": {
+          "value": 2,
+          "unit": null
+        },
+        "_render_blank_retry_count": {
+          "value": 0,
+          "unit": null
+        },
+        "_render_blank_retry_unrecovered": {
+          "value": 0,
+          "unit": null
+        },
+        "pivot_score": {
+          "value": 0.9,
+          "unit": null
+        },
+        "pivot_pivot_height_pct": {
+          "value": 0.0,
+          "unit": null
+        },
+        "pivot_pivot_at_base": {
+          "value": 1,
+          "unit": null
+        },
+        "pivot_pivot_centered_xy": {
+          "value": 1,
+          "unit": null
+        },
+        "pivot_ground_penetration": {
+          "value": 1,
+          "unit": null
+        },
+        "pivot_orbital_motion": {
+          "value": 0,
+          "unit": null
+        },
+        "pivot_passed": {
+          "value": 1,
+          "unit": null
+        }
+      },
+      "kit_logs": []
+    },
+    {
+      "test_name": "pivot",
+      "engine": "isaac_sim_newton",
+      "engine_version": "6.1.0.0",
+      "status": "pass",
+      "passed": true,
+      "duration": 22.486,
+      "message": "",
+      "metrics": {
+        "_timing_capture_frame_total_s": {
+          "value": 5.99,
+          "unit": null
+        },
+        "_timing_capture_frame_count": {
+          "value": 20,
+          "unit": null
+        },
+        "_timing_capture_frame_avg_ms": {
+          "value": 299.5,
+          "unit": null
+        },
+        "_timing_encode_video_total_s": {
+          "value": 4.239,
+          "unit": null
+        },
+        "_timing_encode_video_count": {
+          "value": 2,
+          "unit": null
+        },
+        "_render_blank_retry_count": {
+          "value": 0,
+          "unit": null
+        },
+        "_render_blank_retry_unrecovered": {
+          "value": 0,
+          "unit": null
+        },
+        "pivot_score": {
+          "value": 0.9,
+          "unit": null
+        },
+        "pivot_pivot_height_pct": {
+          "value": 0.0,
+          "unit": null
+        },
+        "pivot_pivot_at_base": {
+          "value": 1,
+          "unit": null
+        },
+        "pivot_pivot_centered_xy": {
+          "value": 1,
+          "unit": null
+        },
+        "pivot_ground_penetration": {
+          "value": 1,
+          "unit": null
+        },
+        "pivot_orbital_motion": {
+          "value": 0,
+          "unit": null
+        },
+        "pivot_passed": {
+          "value": 1,
+          "unit": null
+        }
+      },
+      "kit_logs": [
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]: Traceback (most recent call last):"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:   File \"<home>/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/impl/texture.py\", line 377, in on_drawable_changed"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     self.__drawable_changed_fn(texture[\"rp_resource\"], presentation_key)"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:   File \"<home>/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/widget.py\", line 516, in __set_image_data"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     vp_api._sync_viewport_api(camera, canvas_size, vp_api.time, view, projection, force_update=True)  # noqa PLW0212"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:   File \"<home>/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 546, in _sync_viewport_api"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     self.__projection = self._conform_projection(policy, camera, image_aspect, canvas_aspect, projection)"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:                         ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:   File \"<home>/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     gf_camera = camera.GetCamera(self.__time)"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:                 ^^^^^^^^^^^^^^^^"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'"
+        }
+      ]
+    },
+    {
+      "test_name": "presence",
+      "engine": "isaac_sim",
+      "engine_version": "6.1.0.0",
+      "status": "pass",
+      "passed": true,
+      "duration": 4.072,
+      "message": "",
+      "metrics": {
+        "_timing_capture_frame_total_s": {
+          "value": 0.395,
+          "unit": null
+        },
+        "_timing_capture_frame_count": {
+          "value": 2,
+          "unit": null
+        },
+        "_timing_capture_frame_avg_ms": {
+          "value": 197.51,
+          "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
+        },
+        "presence_diff_ratio": {
+          "value": 0.188738,
+          "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": 4.54,
+      "message": "",
+      "metrics": {
+        "_timing_capture_frame_total_s": {
+          "value": 0.586,
+          "unit": null
+        },
+        "_timing_capture_frame_count": {
+          "value": 2,
+          "unit": null
+        },
+        "_timing_capture_frame_avg_ms": {
+          "value": 292.98,
+          "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": 0.188753,
+          "unit": null
+        },
+        "presence_passed": {
+          "value": 1,
+          "unit": null
+        }
+      },
+      "kit_logs": [
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]: Traceback (most recent call last):"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:   File \"<home>/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/impl/texture.py\", line 377, in on_drawable_changed"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     self.__drawable_changed_fn(texture[\"rp_resource\"], presentation_key)"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:   File \"<home>/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/widget.py\", line 516, in __set_image_data"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     vp_api._sync_viewport_api(camera, canvas_size, vp_api.time, view, projection, force_update=True)  # noqa PLW0212"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:   File \"<home>/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 546, in _sync_viewport_api"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     self.__projection = self._conform_projection(policy, camera, image_aspect, canvas_aspect, projection)"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:                         ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:   File \"<home>/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     gf_camera = camera.GetCamera(self.__time)"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:                 ^^^^^^^^^^^^^^^^"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'"
+        }
+      ]
+    },
+    {
+      "test_name": "preview_surface_renders",
+      "engine": "isaac_sim",
+      "engine_version": "6.1.0.0",
+      "status": "pass",
+      "passed": true,
+      "duration": 11.627,
+      "message": "",
+      "metrics": {
+        "_timing_capture_frame_total_s": {
+          "value": 2.012,
+          "unit": null
+        },
+        "_timing_capture_frame_count": {
+          "value": 4,
+          "unit": null
+        },
+        "_timing_capture_frame_avg_ms": {
+          "value": 503.04,
+          "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": 3,
+          "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": 3,
+          "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": 197664,
+          "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": 14.008,
+      "message": "",
+      "metrics": {
+        "_timing_capture_frame_total_s": {
+          "value": 1.582,
+          "unit": null
+        },
+        "_timing_capture_frame_count": {
+          "value": 4,
+          "unit": null
+        },
+        "_timing_capture_frame_avg_ms": {
+          "value": 395.45,
+          "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": 3,
+          "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": 3,
+          "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": 197687,
+          "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": 5.795,
+      "message": "",
+      "metrics": {
+        "_timing_capture_frame_total_s": {
+          "value": 0.572,
+          "unit": null
+        },
+        "_timing_capture_frame_count": {
+          "value": 1,
+          "unit": null
+        },
+        "_timing_capture_frame_avg_ms": {
+          "value": 572.12,
+          "unit": null
+        },
+        "_timing_encode_video_total_s": {
+          "value": 0.0,
+          "unit": null
+        },
+        "_timing_encode_video_count": {
+          "value": 0,
+          "unit": null
+        },
+        "_render_blank_retry_count": {
+          "value": 0,
+          "unit": null
+        },
+        "_render_blank_retry_unrecovered": {
+          "value": 0,
+          "unit": null
+        },
+        "semantic_labels_on_coverage": {
+          "value": 0.188086,
+          "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": 5.818,
+      "message": "",
+      "metrics": {
+        "_timing_capture_frame_total_s": {
+          "value": 0.987,
+          "unit": null
+        },
+        "_timing_capture_frame_count": {
+          "value": 1,
+          "unit": null
+        },
+        "_timing_capture_frame_avg_ms": {
+          "value": 987.08,
+          "unit": null
+        },
+        "_timing_encode_video_total_s": {
+          "value": 0.0,
+          "unit": null
+        },
+        "_timing_encode_video_count": {
+          "value": 0,
+          "unit": null
+        },
+        "_render_blank_retry_count": {
+          "value": 0,
+          "unit": null
+        },
+        "_render_blank_retry_unrecovered": {
+          "value": 0,
+          "unit": null
+        },
+        "semantic_labels_on_coverage": {
+          "value": 0.188086,
+          "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": 4.645,
+      "message": "",
+      "metrics": {
+        "semantic_labels_stripped_prims": {
+          "value": 4,
+          "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": 4.853,
+      "message": "",
+      "metrics": {
+        "semantic_labels_stripped_prims": {
+          "value": 4,
+          "unit": null
+        },
+        "semantic_labels_off_coverage": {
+          "value": 0.0,
+          "unit": null
+        },
+        "semantic_labels_stripped_passed": {
+          "value": 1,
+          "unit": null
+        }
+      },
+      "kit_logs": []
+    },
+    {
+      "test_name": "slope_drop",
+      "engine": "isaac_sim",
+      "engine_version": "6.1.0.0",
+      "status": "fail",
+      "passed": false,
+      "duration": 184.162,
+      "message": "Slope drop FAILED: The asset never contacted the slope before moving or timing out. Check the collision mesh and the generated ramp contact configuration.",
+      "metrics": {
+        "slope_drop_initial_cx": {
+          "value": 0.0,
+          "unit": null
+        },
+        "slope_drop_initial_cy": {
+          "value": -1.1911,
+          "unit": null
+        },
+        "slope_drop_initial_z_min": {
+          "value": 3.1075,
+          "unit": null
+        },
+        "slope_drop_bbox_height": {
+          "value": 0.075,
+          "unit": null
+        },
+        "_timing_capture_frame_total_s": {
+          "value": 54.191,
+          "unit": null
+        },
+        "_timing_capture_frame_count": {
+          "value": 150,
+          "unit": null
+        },
+        "_timing_capture_frame_avg_ms": {
+          "value": 361.27,
+          "unit": null
+        },
+        "_timing_encode_video_total_s": {
+          "value": 3.832,
+          "unit": null
+        },
+        "_timing_encode_video_count": {
+          "value": 1,
+          "unit": null
+        },
+        "_render_blank_retry_count": {
+          "value": 0,
+          "unit": null
+        },
+        "_render_blank_retry_unrecovered": {
+          "value": 0,
+          "unit": null
+        },
+        "slope_drop_contact_detected": {
+          "value": 0,
+          "unit": null
+        },
+        "slope_drop_horiz_detected": {
+          "value": 0,
+          "unit": null
+        },
+        "slope_drop_penetrated": {
+          "value": 0,
+          "unit": null
+        },
+        "slope_drop_slope_penetrated": {
+          "value": 0,
+          "unit": null
+        },
+        "slope_drop_excessive_separation": {
+          "value": 0,
+          "unit": null
+        },
+        "slope_drop_uphill_motion": {
+          "value": 0,
+          "unit": null
+        },
+        "slope_drop_passed": {
+          "value": 0,
+          "unit": null
+        },
+        "slope_drop_max_clearance": {
+          "value": 0.0,
+          "unit": "m"
+        },
+        "slope_drop_separation_frames": {
+          "value": 0,
+          "unit": null
+        }
+      },
+      "kit_logs": [
+        {
+          "level": "error",
+          "channel": "omni.physx.plugin",
+          "message": "Physics scenes stepping is not the same, step subscription will be send with later step, per scene step is not yet supported."
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]: Traceback (most recent call last):"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:   File \"<home>/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/impl/texture.py\", line 377, in on_drawable_changed"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     self.__drawable_changed_fn(texture[\"rp_resource\"], presentation_key)"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:   File \"<home>/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/widget.py\", line 516, in __set_image_data"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     vp_api._sync_viewport_api(camera, canvas_size, vp_api.time, view, projection, force_update=True)  # noqa PLW0212"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:   File \"<home>/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 546, in _sync_viewport_api"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     self.__projection = self._conform_projection(policy, camera, image_aspect, canvas_aspect, projection)"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:                         ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:   File \"<home>/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     gf_camera = camera.GetCamera(self.__time)"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:                 ^^^^^^^^^^^^^^^^"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'"
+        }
+      ]
+    }
+  ]
+}

assembly_task_board_v06/.metadata/assembly_task_board_v06_validation.json

@@ -0,0 +1,175 @@
+{
+    "simready_usd/assembly_task_board_v06.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"
+        }
+    }
+}

assembly_task_board_v06/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json

@@ -0,0 +1,35 @@
+{
+  "format_version": "1.0",
+  "profile": "Package",
+  "profile_version": "1.0.0",
+  "timestamp": "2026-10-18T02:35:30",
+  "assets": [
+    {
+      "asset": "com.nvidia.simready.packaging.json",
+      "features": [
+        {
+          "FET_030_STANDARD": {
+            "version": "0.1.0",
+            "passed": true,
+            "failing_requirements": [],
+            "dependencies": []
+          }
+        },
+        {
+          "FET_032_STANDARD": {
+            "version": "0.1.0",
+            "passed": true,
+            "failing_requirements": [],
+            "dependencies": [
+              {
+                "FET_030_STANDARD": {
+                  "version": "0.1.0"
+                }
+              }
+            ]
+          }
+        }
+      ]
+    }
+  ]
+}

assembly_task_board_v06/.metadata/com.nvidia.simready.packaging.bom.json

@@ -0,0 +1,64 @@
+{
+  "format_version": "1.0",
+  "items": [
+    {
+      "relative_path": "simready_usd/.thumbs/256x256/assembly_task_board_v06.usda.png",
+      "size": 14418,
+      "hash": {
+        "sha256-flat-1mb": "de9ad0543a81332c1e48a57dcbd22056e969cd8593090c2428fccac44da4682d",
+        "sha256": "cdf12b46922427d04e0b52a7aeafcdfd4ebbc220479d3077ba1cccd5d3788267"
+      }
+    },
+    {
+      "relative_path": "simready_usd/assembly_task_board_v06.usda",
+      "size": 29572,
+      "hash": {
+        "sha256-flat-1mb": "1f17f9e4b4caeb10c6e25f3b036e249c5069258200d7dbaa88bc9810d5262a0b",
+        "sha256": "c280e29f35cfc2f51f4f9d240501f8e26f33cb198784bc02ad5cd122f8fdb610"
+      }
+    },
+    {
+      "relative_path": "simready_usd/assets/brushed-aluminium-plate.png",
+      "size": 1361975,
+      "hash": {
+        "sha256-flat-1mb": "dd1f46fcd5fd2875873f55a709ddcae8be061f36ae89f646b3d9f663b00e828b",
+        "sha256": "ae6e0fdc3b5031b7ea5da152f79c856dc6dc9ce6925dd811dfaa5d44e8c292dc",
+        "sha256-first1m": "30fc897b862f6e01c301052a8c2d3de995fd0bf9d765922367e7b0c80b9691df"
+      }
+    },
+    {
+      "relative_path": "simready_usd/assets/zone-labels-edge.png",
+      "size": 1192681,
+      "hash": {
+        "sha256-flat-1mb": "e0dd4f05314abaf20fb1e9aad5ac4a44846b6356ea781bb262a1f94a220a7bbd",
+        "sha256": "f76072ba6189a04ce94c47c36bbd5ddd0e7f6a0b80ff62c32c8adf2d1d3b90a6",
+        "sha256-first1m": "7bef4ccea6b55010fe6b5b95194c59cefaf13eea5fbf6ff0beb2adbadb445831"
+      }
+    },
+    {
+      "relative_path": "simready_usd/forgecad/geometry.usda",
+      "size": 247156736,
+      "hash": {
+        "sha256-flat-1mb": "093d840a963dbe2aee7d928da57fd69e6a274e449f802c565aee2bac759c6806",
+        "sha256": "a0935dce2b8841213b06982560d1c6ea9e40f11c2636342d405b3d509e5c78b9",
+        "sha256-first1m": "6afdc331a736f0fa45dff7cd50a46de435061761602b6a3d447b27e0e04107a1"
+      }
+    },
+    {
+      "relative_path": "simready_usd/forgecad/physics.usda",
+      "size": 75783,
+      "hash": {
+        "sha256-flat-1mb": "5d6e52524be72403a95dcf2d5a38ceae78752bd3692e037d83e2d25ac0195650",
+        "sha256": "2c7765d6319f92d99e31590a0d34b0f3365a44c4005afa2771f1925059b0cafc"
+      }
+    },
+    {
+      "relative_path": "simready_usd/materials/forgecad_glass.mdl",
+      "size": 730,
+      "hash": {
+        "sha256-flat-1mb": "db7de3ef407c72b392e9e66f2540b02af30055a36c9c503b5e7badfbd4e4d2ee",
+        "sha256": "919206332099d3a5dd4a9452c20830955ee94ead23c0c30bb381dbbf1912f1a4"
+      }
+    }
+  ]
+}

assembly_task_board_v06/com.nvidia.simready.packaging.json

@@ -0,0 +1,31 @@
+{
+  "format_version": "1.0",
+  "package_id": "simready.hf.ForgeCAD.simready-assets.assembly_task_board_v06.2026.10.17_00",
+  "license": "cc-by-4.0",
+  "metadata": [
+    {
+      "name": "com.nvidia.simready.conformance.Package-Candidate@1.0.0.json",
+      "hash": {
+        "sha256": "ff3468d16aba5021e07ae912ee05ff858807f0d47eb2e1b510b2fc0cb1b335fa"
+      }
+    },
+    {
+      "name": "com.nvidia.simready.packaging.bom.json",
+      "hash": {
+        "sha256": "5c661bbe8e42295ad6283ed7ec4f03bee748b03e8936ba0aa8b84ec39f073b96"
+      }
+    },
+    {
+      "name": "com.nvidia.simready.root_usds.json",
+      "hash": {
+        "sha256": "ff2fef34ce89251f433c59d11b7b785b36d7619a8b1aa9ddc854727612dad34c"
+      }
+    }
+  ],
+  "content_hash": {
+    "sha256": "aef34b94ff53bbfbc9a4812e86ea978e9e566c087190eaf1319b6651b9b3454e"
+  },
+  "package_hash": {
+    "sha256": "9bee6e6dfec13a0d12bb2b42971f74055b59e141da3daa0d226448accc3a41eb"
+  }
+}

assembly_task_board_v06/simready_usd/assembly_task_board_v06.usda

@@ -0,0 +1,917 @@
+#usda 1.0
+(
+    customLayerData = {
+        dictionary SimReady_Metadata = {
+            float3 asset_extents = (0.3, 0.3008, 0.074999996)
+            string asset_license = "CC-BY-4.0"
+            string asset_name = "assembly_task_board_v06"
+            string asset_type = "prop"
+            string author = "ForgeCAD"
+            string category = "industrial"
+            double mass = 0.13047454738989472
+            string qcode = "Q1318674"
+            int rigid_body_count = 4
+            string source = "ForgeCAD"
+            string source_file = "main.usda"
+            string usd_date_generated = "2026-10-17"
+        }
+        string asset_name = "assembly_task_board_v06"
+        string asset_type = "prop"
+        string source_file = "main.usda"
+        string usd_date_generated = "2026-10-17"
+    }
+    defaultPrim = "Model"
+    metersPerUnit = 1
+    upAxis = "Z"
+)
+
+def Xform "Model" (
+    prepend apiSchemas = ["SemanticsLabelsAPI:class", "SemanticsLabelsAPI:wikidata_qcode"]
+    prepend references = @./forgecad/geometry.usda@</Model>
+    variants = {
+        string finish = "anodized_silver"
+        string physics = "physics"
+    }
+    prepend variantSets = ["physics", "finish"]
+)
+{
+    token[] semantics:labels:class = ["task board", "board"]
+    token[] semantics:labels:wikidata_qcode = ["Q1318674"]
+
+    over "Geometry" (
+        prepend apiSchemas = ["MaterialBindingAPI"]
+    )
+    {
+        rel material:binding = </Model/Materials/SteelZinc>
+
+        over "Base_plate" (
+            prepend apiSchemas = ["MaterialBindingAPI"]
+        )
+        {
+            over "Peg_block"
+            {
+                over "Screws" (
+                    prepend apiSchemas = ["MaterialBindingAPI"]
+                )
+                {
+                    rel material:binding = </Model/Materials/BlackOxide>
+                }
+            }
+
+            over "Receptacle_USB_A"
+            {
+                over "Jack" (
+                    prepend apiSchemas = ["MaterialBindingAPI"]
+                )
+                {
+                    rel material:binding = </Model/Materials/Nickel>
+                }
+            }
+
+            over "Receptacle_RJ45"
+            {
+                over "Jack" (
+                    prepend apiSchemas = ["MaterialBindingAPI"]
+                )
+                {
+                    rel material:binding = </Model/Materials/BlackPlastic>
+                }
+            }
+
+            over "Receptacle_HDMI_style"
+            {
+                over "Jack" (
+                    prepend apiSchemas = ["MaterialBindingAPI"]
+                )
+                {
+                    rel material:binding = </Model/Materials/Nickel>
+                }
+            }
+
+            over "Receptacle_D_sub_9"
+            {
+                over "Jack" (
+                    prepend apiSchemas = ["MaterialBindingAPI"]
+                )
+                {
+                    rel material:binding = </Model/Materials/Nickel>
+                }
+            }
+
+            over "Receptacle_DC_barrel"
+            {
+                over "Jack" (
+                    prepend apiSchemas = ["MaterialBindingAPI"]
+                )
+                {
+                    rel material:binding = </Model/Materials/BlackPlastic>
+                }
+
+                over "Pin" (
+                    prepend apiSchemas = ["MaterialBindingAPI"]
+                )
+                {
+                    rel material:binding = </Model/Materials/Gold>
+                }
+            }
+
+            over "Gear_shaft_20" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </Model/Materials/SteelGround>
+            }
+
+            over "Gear_shaft_30" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </Model/Materials/SteelGround>
+            }
+
+            over "Gear_shaft_40" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </Model/Materials/SteelGround>
+            }
+
+            over "Stud_M8" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </Model/Materials/SteelZinc>
+            }
+
+            over "Stud_M12" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </Model/Materials/SteelZinc>
+            }
+
+            over "Stud_M16" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </Model/Materials/SteelZinc>
+            }
+
+            over "Stud_M20" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </Model/Materials/SteelZinc>
+            }
+
+            over "Label_pegs" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </Model/Materials/LabelPegs>
+            }
+
+            over "Label_gears" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </Model/Materials/LabelGears>
+            }
+
+            over "Label_connectors" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </Model/Materials/LabelConnectors>
+            }
+
+            over "Label_nuts" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </Model/Materials/LabelNuts>
+            }
+        }
+
+        over "Peg_round_4" (
+            prepend apiSchemas = ["MaterialBindingAPI"]
+        )
+        {
+            rel material:binding = </Model/Materials/SteelGround>
+        }
+
+        over "Peg_square_4" (
+            prepend apiSchemas = ["MaterialBindingAPI"]
+        )
+        {
+            rel material:binding = </Model/Materials/Brass>
+        }
+
+        over "Peg_round_8" (
+            prepend apiSchemas = ["MaterialBindingAPI"]
+        )
+        {
+            rel material:binding = </Model/Materials/SteelGround>
+        }
+
+        over "Peg_square_8" (
+            prepend apiSchemas = ["MaterialBindingAPI"]
+        )
+        {
+            rel material:binding = </Model/Materials/Brass>
+        }
+
+        over "Peg_round_12" (
+            prepend apiSchemas = ["MaterialBindingAPI"]
+        )
+        {
+            rel material:binding = </Model/Materials/SteelGround>
+        }
+
+        over "Peg_square_12" (
+            prepend apiSchemas = ["MaterialBindingAPI"]
+        )
+        {
+            rel material:binding = </Model/Materials/Brass>
+        }
+
+        over "Peg_round_16" (
+            prepend apiSchemas = ["MaterialBindingAPI"]
+        )
+        {
+            rel material:binding = </Model/Materials/SteelGround>
+        }
+
+        over "Peg_square_16" (
+            prepend apiSchemas = ["MaterialBindingAPI"]
+        )
+        {
+            rel material:binding = </Model/Materials/Brass>
+        }
+
+        over "Gear_20" (
+            prepend apiSchemas = ["MaterialBindingAPI"]
+        )
+        {
+            rel material:binding = </Model/Materials/Pom>
+        }
+
+        over "Gear_30" (
+            prepend apiSchemas = ["MaterialBindingAPI"]
+        )
+        {
+            rel material:binding = </Model/Materials/Pom>
+        }
+
+        over "Gear_40" (
+            prepend apiSchemas = ["MaterialBindingAPI"]
+        )
+        {
+            rel material:binding = </Model/Materials/Pom>
+        }
+
+        over "Plug_USB_A"
+        {
+            over "Nose" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </Model/Materials/Nickel>
+            }
+
+            over "Tongue" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </Model/Materials/WhitePlastic>
+            }
+
+            over "Body" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </Model/Materials/BlackAbs>
+            }
+
+            over "Boot" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </Model/Materials/BlackTpe>
+            }
+        }
+
+        over "Plug_RJ45"
+        {
+            over "Body" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </Model/Materials/ClearPc>
+            }
+
+            over "Contacts" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </Model/Materials/Gold>
+            }
+
+            over "Boot" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </Model/Materials/GreyTpe>
+            }
+        }
+
+        over "Plug_HDMI_style"
+        {
+            over "Nose" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </Model/Materials/Nickel>
+            }
+
+            over "Body" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </Model/Materials/BlackAbs>
+            }
+
+            over "Boot" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </Model/Materials/BlackTpe>
+            }
+        }
+
+        over "Plug_DC_barrel"
+        {
+            over "Barrel" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </Model/Materials/Nickel>
+            }
+
+            over "Body" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </Model/Materials/BlackAbs>
+            }
+
+            over "Boot" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </Model/Materials/BlackTpe>
+            }
+        }
+
+        over "Plug_D_sub_9"
+        {
+            over "Nose" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </Model/Materials/Nickel>
+            }
+
+            over "Hood" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </Model/Materials/BlackAbs>
+            }
+
+            over "Thumbscrews" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </Model/Materials/Nickel>
+            }
+
+            over "Boot" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </Model/Materials/BlackTpe>
+            }
+        }
+    }
+
+    def Scope "Materials"
+    {
+        def Material "AluminiumSilver" (
+            prepend apiSchemas = ["SemanticsLabelsAPI:material"]
+        )
+        {
+            token outputs:surface.connect = </Model/Materials/AluminiumSilver/Surface.outputs:surface>
+            token[] semantics:labels:material = ["metal"]
+
+            def Shader "St"
+            {
+                uniform token info:id = "UsdPrimvarReader_float2"
+                string inputs:varname = "st"
+                float2 outputs:result
+            }
+
+            def Shader "Tile"
+            {
+                uniform token info:id = "UsdTransform2d"
+                float2 inputs:in.connect = </Model/Materials/AluminiumSilver/St.outputs:result>
+                float2 inputs:scale = (5, 5)
+                float2 inputs:translation = (0, 0)
+                float2 outputs:result
+            }
+
+            def Shader "Albedo"
+            {
+                uniform token info:id = "UsdUVTexture"
+                asset inputs:file = @./assets/brushed-aluminium-plate.png@
+                token inputs:sourceColorSpace = "sRGB"
+                float2 inputs:st.connect = </Model/Materials/AluminiumSilver/Tile.outputs:result>
+                token inputs:wrapS = "repeat"
+                token inputs:wrapT = "repeat"
+                float3 outputs:rgb
+            }
+
+            def Shader "Surface"
+            {
+                uniform token info:id = "UsdPreviewSurface"
+                color3f inputs:diffuseColor.connect = </Model/Materials/AluminiumSilver/Albedo.outputs:rgb>
+                float inputs:metallic = 0.9
+                float inputs:roughness = 0.38
+                token outputs:surface
+            }
+        }
+
+        def Material "AluminiumBlack" (
+            prepend apiSchemas = ["SemanticsLabelsAPI:material"]
+        )
+        {
+            token outputs:surface.connect = </Model/Materials/AluminiumBlack/Surface.outputs:surface>
+            token[] semantics:labels:material = ["metal"]
+
+            def Shader "Surface"
+            {
+                uniform token info:id = "UsdPreviewSurface"
+                color3f inputs:diffuseColor = (0.018, 0.018, 0.02)
+                float inputs:metallic = 0.55
+                float inputs:roughness = 0.42
+                token outputs:surface
+            }
+        }
+
+        def Material "LabelPegs" (
+            prepend apiSchemas = ["SemanticsLabelsAPI:material"]
+        )
+        {
+            token outputs:surface.connect = </Model/Materials/LabelPegs/Surface.outputs:surface>
+            token[] semantics:labels:material = ["paper"]
+
+            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/LabelPegs/St.outputs:result>
+                float2 inputs:scale = (22.727274, 11.363636)
+                float2 inputs:translation = (0.295455, 0)
+                float2 outputs:result
+            }
+
+            def Shader "Albedo"
+            {
+                uniform token info:id = "UsdUVTexture"
+                asset inputs:file = @./assets/zone-labels-edge.png@
+                token inputs:sourceColorSpace = "sRGB"
+                float2 inputs:st.connect = </Model/Materials/LabelPegs/Tile.outputs:result>
+                token inputs:wrapS = "repeat"
+                token inputs:wrapT = "repeat"
+                float3 outputs:rgb
+            }
+
+            def Shader "Surface"
+            {
+                uniform token info:id = "UsdPreviewSurface"
+                color3f inputs:diffuseColor.connect = </Model/Materials/LabelPegs/Albedo.outputs:rgb>
+                float inputs:metallic = 0.2
+                float inputs:roughness = 0.5
+                token outputs:surface
+            }
+        }
+
+        def Material "LabelGears" (
+            prepend apiSchemas = ["SemanticsLabelsAPI:material"]
+        )
+        {
+            token outputs:surface.connect = </Model/Materials/LabelGears/Surface.outputs:surface>
+            token[] semantics:labels:material = ["paper"]
+
+            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/LabelGears/St.outputs:result>
+                float2 inputs:scale = (22.727274, 11.363636)
+                float2 inputs:translation = (0.545455, 0)
+                float2 outputs:result
+            }
+
+            def Shader "Albedo"
+            {
+                uniform token info:id = "UsdUVTexture"
+                asset inputs:file = @./assets/zone-labels-edge.png@
+                token inputs:sourceColorSpace = "sRGB"
+                float2 inputs:st.connect = </Model/Materials/LabelGears/Tile.outputs:result>
+                token inputs:wrapS = "repeat"
+                token inputs:wrapT = "repeat"
+                float3 outputs:rgb
+            }
+
+            def Shader "Surface"
+            {
+                uniform token info:id = "UsdPreviewSurface"
+                color3f inputs:diffuseColor.connect = </Model/Materials/LabelGears/Albedo.outputs:rgb>
+                float inputs:metallic = 0.2
+                float inputs:roughness = 0.5
+                token outputs:surface
+            }
+        }
+
+        def Material "LabelConnectors" (
+            prepend apiSchemas = ["SemanticsLabelsAPI:material"]
+        )
+        {
+            token outputs:surface.connect = </Model/Materials/LabelConnectors/Surface.outputs:surface>
+            token[] semantics:labels:material = ["paper"]
+
+            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/LabelConnectors/St.outputs:result>
+                float2 inputs:scale = (22.727274, 11.363636)
+                float2 inputs:translation = (0.795455, 0)
+                float2 outputs:result
+            }
+
+            def Shader "Albedo"
+            {
+                uniform token info:id = "UsdUVTexture"
+                asset inputs:file = @./assets/zone-labels-edge.png@
+                token inputs:sourceColorSpace = "sRGB"
+                float2 inputs:st.connect = </Model/Materials/LabelConnectors/Tile.outputs:result>
+                token inputs:wrapS = "repeat"
+                token inputs:wrapT = "repeat"
+                float3 outputs:rgb
+            }
+
+            def Shader "Surface"
+            {
+                uniform token info:id = "UsdPreviewSurface"
+                color3f inputs:diffuseColor.connect = </Model/Materials/LabelConnectors/Albedo.outputs:rgb>
+                float inputs:metallic = 0.2
+                float inputs:roughness = 0.5
+                token outputs:surface
+            }
+        }
+
+        def Material "LabelNuts" (
+            prepend apiSchemas = ["SemanticsLabelsAPI:material"]
+        )
+        {
+            token outputs:surface.connect = </Model/Materials/LabelNuts/Surface.outputs:surface>
+            token[] semantics:labels:material = ["paper"]
+
+            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/LabelNuts/St.outputs:result>
+                float2 inputs:scale = (22.727274, 11.363636)
+                float2 inputs:translation = (1.045455, 0)
+                float2 outputs:result
+            }
+
+            def Shader "Albedo"
+            {
+                uniform token info:id = "UsdUVTexture"
+                asset inputs:file = @./assets/zone-labels-edge.png@
+                token inputs:sourceColorSpace = "sRGB"
+                float2 inputs:st.connect = </Model/Materials/LabelNuts/Tile.outputs:result>
+                token inputs:wrapS = "repeat"
+                token inputs:wrapT = "repeat"
+                float3 outputs:rgb
+            }
+
+            def Shader "Surface"
+            {
+                uniform token info:id = "UsdPreviewSurface"
+                color3f inputs:diffuseColor.connect = </Model/Materials/LabelNuts/Albedo.outputs:rgb>
+                float inputs:metallic = 0.2
+                float inputs:roughness = 0.5
+                token outputs:surface
+            }
+        }
+
+        def Material "SteelGround" (
+            prepend apiSchemas = ["SemanticsLabelsAPI:material"]
+        )
+        {
+            token outputs:surface.connect = </Model/Materials/SteelGround/Surface.outputs:surface>
+            token[] semantics:labels:material = ["metal"]
+
+            def Shader "Surface"
+            {
+                uniform token info:id = "UsdPreviewSurface"
+                color3f inputs:diffuseColor = (0.52, 0.53, 0.55)
+                float inputs:metallic = 1
+                float inputs:roughness = 0.28
+                token outputs:surface
+            }
+        }
+
+        def Material "SteelZinc" (
+            prepend apiSchemas = ["SemanticsLabelsAPI:material"]
+        )
+        {
+            token outputs:surface.connect = </Model/Materials/SteelZinc/Surface.outputs:surface>
+            token[] semantics:labels:material = ["metal"]
+
+            def Shader "Surface"
+            {
+                uniform token info:id = "UsdPreviewSurface"
+                color3f inputs:diffuseColor = (0.6, 0.63, 0.67)
+                float inputs:metallic = 1
+                float inputs:roughness = 0.38
+                token outputs:surface
+            }
+        }
+
+        def Material "Brass" (
+            prepend apiSchemas = ["SemanticsLabelsAPI:material"]
+        )
+        {
+            token outputs:surface.connect = </Model/Materials/Brass/Surface.outputs:surface>
+            token[] semantics:labels:material = ["metal"]
+
+            def Shader "Surface"
+            {
+                uniform token info:id = "UsdPreviewSurface"
+                color3f inputs:diffuseColor = (0.58, 0.37, 0.09)
+                float inputs:metallic = 1
+                float inputs:roughness = 0.3
+                token outputs:surface
+            }
+        }
+
+        def Material "Pom" (
+            prepend apiSchemas = ["SemanticsLabelsAPI:material"]
+        )
+        {
+            token outputs:surface.connect = </Model/Materials/Pom/Surface.outputs:surface>
+            token[] semantics:labels:material = ["plastic"]
+
+            def Shader "Surface"
+            {
+                uniform token info:id = "UsdPreviewSurface"
+                color3f inputs:diffuseColor = (0.84, 0.83, 0.77)
+                float inputs:metallic = 0
+                float inputs:roughness = 0.45
+                token outputs:surface
+            }
+        }
+
+        def Material "BlackAbs" (
+            prepend apiSchemas = ["SemanticsLabelsAPI:material"]
+        )
+        {
+            token outputs:surface.connect = </Model/Materials/BlackAbs/Surface.outputs:surface>
+            token[] semantics:labels:material = ["plastic"]
+
+            def Shader "Surface"
+            {
+                uniform token info:id = "UsdPreviewSurface"
+                color3f inputs:diffuseColor = (0.012, 0.012, 0.014)
+                float inputs:metallic = 0
+                float inputs:roughness = 0.55
+                token outputs:surface
+            }
+        }
+
+        def Material "BlackTpe" (
+            prepend apiSchemas = ["SemanticsLabelsAPI:material"]
+        )
+        {
+            token outputs:surface.connect = </Model/Materials/BlackTpe/Surface.outputs:surface>
+            token[] semantics:labels:material = ["rubber"]
+
+            def Shader "Surface"
+            {
+                uniform token info:id = "UsdPreviewSurface"
+                color3f inputs:diffuseColor = (0.018, 0.018, 0.02)
+                float inputs:metallic = 0
+                float inputs:roughness = 0.8
+                token outputs:surface
+            }
+        }
+
+        def Material "GreyTpe" (
+            prepend apiSchemas = ["SemanticsLabelsAPI:material"]
+        )
+        {
+            token outputs:surface.connect = </Model/Materials/GreyTpe/Surface.outputs:surface>
+            token[] semantics:labels:material = ["rubber"]
+
+            def Shader "Surface"
+            {
+                uniform token info:id = "UsdPreviewSurface"
+                color3f inputs:diffuseColor = (0.25, 0.28, 0.31)
+                float inputs:metallic = 0
+                float inputs:roughness = 0.75
+                token outputs:surface
+            }
+        }
+
+        def Material "Nickel" (
+            prepend apiSchemas = ["SemanticsLabelsAPI:material"]
+        )
+        {
+            token outputs:surface.connect = </Model/Materials/Nickel/Surface.outputs:surface>
+            token[] semantics:labels:material = ["metal"]
+
+            def Shader "Surface"
+            {
+                uniform token info:id = "UsdPreviewSurface"
+                color3f inputs:diffuseColor = (0.66, 0.66, 0.64)
+                float inputs:metallic = 1
+                float inputs:roughness = 0.25
+                token outputs:surface
+            }
+        }
+
+        def Material "Gold" (
+            prepend apiSchemas = ["SemanticsLabelsAPI:material"]
+        )
+        {
+            token outputs:surface.connect = </Model/Materials/Gold/Surface.outputs:surface>
+            token[] semantics:labels:material = ["metal"]
+
+            def Shader "Surface"
+            {
+                uniform token info:id = "UsdPreviewSurface"
+                color3f inputs:diffuseColor = (0.95, 0.72, 0.33)
+                float inputs:metallic = 1
+                float inputs:roughness = 0.25
+                token outputs:surface
+            }
+        }
+
+        def Material "BlackPlastic" (
+            prepend apiSchemas = ["SemanticsLabelsAPI:material"]
+        )
+        {
+            token outputs:surface.connect = </Model/Materials/BlackPlastic/Surface.outputs:surface>
+            token[] semantics:labels:material = ["plastic"]
+
+            def Shader "Surface"
+            {
+                uniform token info:id = "UsdPreviewSurface"
+                color3f inputs:diffuseColor = (0.015, 0.015, 0.017)
+                float inputs:metallic = 0
+                float inputs:roughness = 0.5
+                token outputs:surface
+            }
+        }
+
+        def Material "BlackOxide" (
+            prepend apiSchemas = ["SemanticsLabelsAPI:material"]
+        )
+        {
+            token outputs:surface.connect = </Model/Materials/BlackOxide/Surface.outputs:surface>
+            token[] semantics:labels:material = ["metal"]
+
+            def Shader "Surface"
+            {
+                uniform token info:id = "UsdPreviewSurface"
+                color3f inputs:diffuseColor = (0.03, 0.03, 0.032)
+                float inputs:metallic = 0.8
+                float inputs:roughness = 0.45
+                token outputs:surface
+            }
+        }
+
+        def Material "WhitePlastic" (
+            prepend apiSchemas = ["SemanticsLabelsAPI:material"]
+        )
+        {
+            token outputs:surface.connect = </Model/Materials/WhitePlastic/Surface.outputs:surface>
+            token[] semantics:labels:material = ["plastic"]
+
+            def Shader "Surface"
+            {
+                uniform token info:id = "UsdPreviewSurface"
+                color3f inputs:diffuseColor = (0.85, 0.85, 0.85)
+                float inputs:metallic = 0
+                float inputs:roughness = 0.5
+                token outputs:surface
+            }
+        }
+
+        def Material "ClearPc" (
+            prepend apiSchemas = ["SemanticsLabelsAPI:material"]
+        )
+        {
+            token outputs:mdl:surface.connect = </Model/Materials/ClearPc/GlassSurface.outputs:out>
+            token outputs:surface.connect = </Model/Materials/ClearPc/Surface.outputs:surface>
+            token[] semantics:labels:material = ["plastic"]
+
+            def Shader "Surface"
+            {
+                uniform token info:id = "UsdPreviewSurface"
+                color3f inputs:diffuseColor = (0.8, 0.86, 0.9)
+                float inputs:ior = 1.58
+                float inputs:metallic = 0
+                float inputs:opacity = 0.45
+                float inputs:roughness = 0.1
+                token outputs:surface
+            }
+
+            def Shader "GlassSurface"
+            {
+                uniform token info:implementationSource = "sourceAsset"
+                uniform token info:mdl:materialType = "forgecad_glass"
+                uniform asset info:mdl:sourceAsset = @./materials/forgecad_glass.mdl@
+                uniform token info:mdl:sourceAsset:subIdentifier = "forgecad_glass"
+                float inputs:clarity = 0.55
+                float inputs:ior = 1.58
+                float inputs:roughness = 0.1
+                color3f inputs:tint = (0.8, 0.86, 0.9)
+                token outputs:out
+            }
+        }
+    }
+    variantSet "finish" = {
+        "anodized_black" {
+            over "Geometry"
+            {
+                over "Base_plate"
+                {
+                    rel material:binding = </Model/Materials/AluminiumBlack>
+                }
+            }
+
+        }
+        "anodized_silver" {
+            over "Geometry"
+            {
+                over "Base_plate"
+                {
+                    rel material:binding = </Model/Materials/AluminiumSilver>
+                }
+            }
+
+        }
+    }
+    variantSet "physics" = {
+        "none" {
+
+        }
+        "physics" (
+            prepend references = @./forgecad/physics.usda@</Model>
+        ) {
+
+        }
+    }
+}
+

assembly_task_board_v06/simready_usd/forgecad/geometry.usda

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a0935dce2b8841213b06982560d1c6ea9e40f11c2636342d405b3d509e5c78b9
+size 247156736

assembly_task_board_v06/simready_usd/forgecad/physics.usda

@@ -0,0 +1,969 @@
+#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 "aluminium_6061_t6" (
+                    prepend apiSchemas = ["PhysicsMaterialAPI", "SemanticsLabelsAPI:material"]
+                  )
+                  {
+                    token[] semantics:labels:material = ["Aluminium 6061-T6"]
+                    float physics:density = 2700
+                    float physics:staticFriction = 0.45
+                    float physics:dynamicFriction = 0.4
+                    float physics:restitution = 0.2
+                  }
+
+            def Material "steel" (
+                    prepend apiSchemas = ["PhysicsMaterialAPI", "SemanticsLabelsAPI:material"]
+                  )
+                  {
+                    token[] semantics:labels:material = ["Steel"]
+                    float physics:density = 7850
+                    float physics:staticFriction = 0.45
+                    float physics:dynamicFriction = 0.38
+                    float physics:restitution = 0.2
+                  }
+        }
+    }
+
+    over "Geometry"
+    {
+        over "Base_plate"
+        {
+            def Xform "Colliders"
+            {
+                def Cube "plate" (
+                    prepend apiSchemas = ["PhysicsCollisionAPI", "MaterialBindingAPI"]
+                )
+                {
+                    uniform token purpose = "guide"
+                    double size = 1
+                    double3 xformOp:translate = (0, 0, 0.0075)
+                    quatf xformOp:orient = (1, 0, 0, 0)
+                    float3 xformOp:scale = (0.3, 0.3, 0.015)
+                    uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+                    rel material:binding:physics = </Model/Physics/Materials/aluminium_6061_t6>
+                }
+            }
+            over "Stud_M8"
+            {
+                def Xform "Colliders"
+                {
+                    def Cylinder "stud" (
+                        prepend apiSchemas = ["PhysicsCollisionAPI", "MaterialBindingAPI"]
+                    )
+                    {
+                        uniform token purpose = "guide"
+                        uniform token axis = "Z"
+                        double radius = 0.003233
+                        double height = 0.03
+                        double3 xformOp:translate = (0, 0, 0.015)
+                        quatf xformOp:orient = (1, 0, 0, 0)
+                        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+                        rel material:binding:physics = </Model/Physics/Materials/steel>
+                    }
+
+                    def Mesh "jam_000" (
+                        prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI", "MaterialBindingAPI"]
+                    )
+                    {
+                        uniform token purpose = "guide"
+                        uniform token physics:approximation = "convexHull"
+                        uniform token subdivisionScheme = "none"
+                        float3[] extent = [(0.003233, -0.003752777, 0), (0.0065, 0.003752777, 0.004)]
+                        int[] faceVertexCounts = [3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3]
+                        int[] faceVertexIndices = [4, 1, 0, 0, 1, 3, 0, 3, 2, 6, 0, 2, 3, 6, 2, 1, 7, 3, 6, 4, 0, 1, 4, 5, 7, 1, 5, 4, 7, 5, 4, 6, 7, 6, 3, 7]
+                        normal3f[] normals = [(-0.5, -0.866025, 0), (-1, 0, 0), (-1, 0, 0), (0, 0, -1), (-0.5, 0.866025, 0), (0, 0, 1), (0, 0, -1), (-0.5, -0.866025, 0), (0, 0, 1), (1, 0, 0), (1, 0, 0), (-0.5, 0.866025, 0)] (interpolation = "uniform")
+                        point3f[] points = [(0.003233, -0.001866573, 0), (0.003233, -0.001866573, 0.004), (0.003233, 0.001866573, 0), (0.003233, 0.001866573, 0.004), (0.0065, -0.003752777, 0), (0.0065, -0.003752777, 0.004), (0.0065, 0.003752777, 0), (0.0065, 0.003752777, 0.004)]
+                        rel material:binding:physics = </Model/Physics/Materials/steel>
+                    }
+
+                    def Mesh "jam_001" (
+                        prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI", "MaterialBindingAPI"]
+                    )
+                    {
+                        uniform token purpose = "guide"
+                        uniform token physics:approximation = "convexHull"
+                        uniform token subdivisionScheme = "none"
+                        float3[] extent = [(0, 0.001866573, 0), (0.0065, 0.007505554, 0.004)]
+                        int[] faceVertexCounts = [3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3]
+                        int[] faceVertexIndices = [4, 1, 0, 3, 0, 1, 4, 6, 1, 0, 3, 2, 3, 5, 2, 3, 7, 5, 5, 4, 0, 5, 0, 2, 4, 5, 7, 6, 3, 1, 3, 6, 7, 6, 4, 7]
+                        normal3f[] normals = [(0, 0, -1), (-0.5, -0.866025, 0), (0, 0, -1), (-0.5, -0.866025, 0), (0, 0, 1), (0, 0, 1), (-1, 0, 0), (-1, 0, 0), (0.5, 0.866025, 0), (0.5, -0.866025, 0), (0.5, -0.866025, 0), (0.5, 0.866025, 0)] (interpolation = "uniform")
+                        point3f[] points = [(0, 0.003733147, 0), (0.003233, 0.001866573, 0), (0, 0.003733147, 0.004), (0.003233, 0.001866573, 0.004), (0, 0.007505554, 0), (0, 0.007505554, 0.004), (0.0065, 0.003752777, 0), (0.0065, 0.003752777, 0.004)]
+                        rel material:binding:physics = </Model/Physics/Materials/steel>
+                    }
+
+                    def Mesh "jam_002" (
+                        prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI", "MaterialBindingAPI"]
+                    )
+                    {
+                        uniform token purpose = "guide"
+                        uniform token physics:approximation = "convexHull"
+                        uniform token subdivisionScheme = "none"
+                        float3[] extent = [(-0.0065, 0.001866573, 0), (0, 0.007505554, 0.004)]
+                        int[] faceVertexCounts = [3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3]
+                        int[] faceVertexIndices = [0, 2, 1, 1, 2, 4, 1, 7, 0, 0, 3, 2, 3, 5, 2, 2, 5, 4, 5, 1, 4, 0, 6, 3, 6, 0, 7, 6, 5, 3, 5, 7, 1, 5, 6, 7]
+                        normal3f[] normals = [(-0.5, -0.866025, 0), (-0.5, -0.866025, 0), (-0.5, 0.866025, 0), (0, 0, -1), (0.5, -0.866025, 0), (0.5, -0.866025, 0), (0, 0, 1), (0, 0, -1), (-0.5, 0.866025, 0), (1, 0, 0), (0, 0, 1), (1, 0, 0)] (interpolation = "uniform")
+                        point3f[] points = [(-0.0065, 0.003752777, 0), (-0.0065, 0.003752777, 0.004), (-0.003233, 0.001866573, 0), (0, 0.003733147, 0), (-0.003233, 0.001866573, 0.004), (0, 0.003733147, 0.004), (0, 0.007505554, 0), (0, 0.007505554, 0.004)]
+                        rel material:binding:physics = </Model/Physics/Materials/steel>
+                    }
+
+                    def Mesh "jam_003" (
+                        prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI", "MaterialBindingAPI"]
+                    )
+                    {
+                        uniform token purpose = "guide"
+                        uniform token physics:approximation = "convexHull"
+                        uniform token subdivisionScheme = "none"
+                        float3[] extent = [(-0.0065, -0.003752777, 0), (-0.003233, 0.003752777, 0.004)]
+                        int[] faceVertexCounts = [3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3]
+                        int[] faceVertexIndices = [0, 2, 4, 0, 1, 3, 1, 0, 5, 2, 0, 3, 7, 3, 1, 7, 2, 3, 0, 4, 5, 7, 1, 5, 4, 7, 5, 4, 2, 6, 2, 7, 6, 7, 4, 6]
+                        normal3f[] normals = [(0, 0, -1), (-1, 0, 0), (0.5, -0.866025, 0), (-1, 0, 0), (0, 0, 1), (0.5, 0.866025, 0), (0.5, -0.866025, 0), (0, 0, 1), (1, 0, 0), (0, 0, -1), (0.5, 0.866025, 0), (1, 0, 0)] (interpolation = "uniform")
+                        point3f[] points = [(-0.0065, -0.003752777, 0), (-0.0065, -0.003752777, 0.004), (-0.0065, 0.003752777, 0), (-0.0065, 0.003752777, 0.004), (-0.003233, -0.001866573, 0), (-0.003233, -0.001866573, 0.004), (-0.003233, 0.001866573, 0), (-0.003233, 0.001866573, 0.004)]
+                        rel material:binding:physics = </Model/Physics/Materials/steel>
+                    }
+
+                    def Mesh "jam_004" (
+                        prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI", "MaterialBindingAPI"]
+                    )
+                    {
+                        uniform token purpose = "guide"
+                        uniform token physics:approximation = "convexHull"
+                        uniform token subdivisionScheme = "none"
+                        float3[] extent = [(-0.0065, -0.007505554, 0), (0, -0.001866573, 0.004)]
+                        int[] faceVertexCounts = [3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3]
+                        int[] faceVertexIndices = [0, 3, 1, 4, 0, 1, 6, 4, 1, 0, 2, 3, 3, 2, 5, 3, 5, 7, 2, 0, 4, 6, 5, 4, 2, 4, 5, 1, 3, 6, 6, 3, 7, 5, 6, 7]
+                        normal3f[] normals = [(-0.5, -0.866025, 0), (-0.5, 0.866025, 0), (-0.5, 0.866025, 0), (-0.5, -0.866025, 0), (1, 0, 0), (1, 0, 0), (0, 0, -1), (0.5, 0.866025, 0), (0, 0, -1), (0, 0, 1), (0, 0, 1), (0.5, 0.866025, 0)] (interpolation = "uniform")
+                        point3f[] points = [(-0.0065, -0.003752777, 0), (-0.0065, -0.003752777, 0.004), (0, -0.007505554, 0), (0, -0.007505554, 0.004), (-0.003233, -0.001866573, 0), (0, -0.003733147, 0), (-0.003233, -0.001866573, 0.004), (0, -0.003733147, 0.004)]
+                        rel material:binding:physics = </Model/Physics/Materials/steel>
+                    }
+
+                    def Mesh "jam_005" (
+                        prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI", "MaterialBindingAPI"]
+                    )
+                    {
+                        uniform token purpose = "guide"
+                        uniform token physics:approximation = "convexHull"
+                        uniform token subdivisionScheme = "none"
+                        float3[] extent = [(0, -0.007505554, 0), (0.0065, -0.001866573, 0.004)]
+                        int[] faceVertexCounts = [3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3]
+                        int[] faceVertexIndices = [0, 4, 2, 4, 0, 1, 0, 7, 1, 7, 4, 1, 3, 0, 2, 4, 3, 2, 6, 0, 3, 3, 4, 5, 4, 7, 5, 0, 6, 7, 7, 6, 3, 7, 3, 5]
+                        normal3f[] normals = [(-1, 0, 0), (-1, 0, 0), (0.5, -0.866025, 0), (0, 0, 1), (0, 0, -1), (-0.5, 0.866025, 0), (0, 0, -1), (-0.5, 0.866025, 0), (0, 0, 1), (0.5, -0.866025, 0), (0.5, 0.866025, 0), (0.5, 0.866025, 0)] (interpolation = "uniform")
+                        point3f[] points = [(0, -0.007505554, 0), (0, -0.007505554, 0.004), (0, -0.003733147, 0), (0.003233, -0.001866573, 0), (0, -0.003733147, 0.004), (0.003233, -0.001866573, 0.004), (0.0065, -0.003752777, 0), (0.0065, -0.003752777, 0.004)]
+                        rel material:binding:physics = </Model/Physics/Materials/steel>
+                    }
+                }
+            }
+            over "Stud_M12"
+            {
+                def Xform "Colliders"
+                {
+                    def Cylinder "stud" (
+                        prepend apiSchemas = ["PhysicsCollisionAPI", "MaterialBindingAPI"]
+                    )
+                    {
+                        uniform token purpose = "guide"
+                        uniform token axis = "Z"
+                        double radius = 0.0049265
+                        double height = 0.04
+                        double3 xformOp:translate = (0, 0, 0.02)
+                        quatf xformOp:orient = (1, 0, 0, 0)
+                        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+                        rel material:binding:physics = </Model/Physics/Materials/steel>
+                    }
+
+                    def Mesh "jam_000" (
+                        prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI", "MaterialBindingAPI"]
+                    )
+                    {
+                        uniform token purpose = "guide"
+                        uniform token physics:approximation = "convexHull"
+                        uniform token subdivisionScheme = "none"
+                        float3[] extent = [(0.0049265, -0.005196152, 0), (0.009, 0.005196152, 0.006)]
+                        int[] faceVertexCounts = [3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3]
+                        int[] faceVertexIndices = [1, 2, 0, 4, 1, 0, 6, 0, 2, 2, 1, 3, 1, 7, 3, 7, 2, 3, 6, 4, 0, 1, 4, 5, 7, 1, 5, 4, 7, 5, 7, 6, 2, 4, 6, 7]
+                        normal3f[] normals = [(-1, 0, 0), (-0.5, -0.866025, 0), (0, 0, -1), (-1, 0, 0), (0, 0, 1), (-0.5, 0.866025, 0), (0, 0, -1), (-0.5, -0.866025, 0), (0, 0, 1), (1, 0, 0), (-0.5, 0.866025, 0), (1, 0, 0)] (interpolation = "uniform")
+                        point3f[] points = [(0.0049265, -0.002844316, 0), (0.0049265, -0.002844316, 0.006), (0.0049265, 0.002844316, 0), (0.0049265, 0.002844316, 0.006), (0.009, -0.005196152, 0), (0.009, -0.005196152, 0.006), (0.009, 0.005196152, 0), (0.009, 0.005196152, 0.006)]
+                        rel material:binding:physics = </Model/Physics/Materials/steel>
+                    }
+
+                    def Mesh "jam_001" (
+                        prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI", "MaterialBindingAPI"]
+                    )
+                    {
+                        uniform token purpose = "guide"
+                        uniform token physics:approximation = "convexHull"
+                        uniform token subdivisionScheme = "none"
+                        float3[] extent = [(0, 0.002844316, 0), (0.009, 0.010392304, 0.006)]
+                        int[] faceVertexCounts = [3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3]
+                        int[] faceVertexIndices = [2, 4, 0, 6, 0, 4, 0, 6, 1, 6, 3, 1, 3, 2, 0, 5, 2, 3, 3, 0, 1, 5, 6, 4, 2, 5, 4, 3, 6, 7, 6, 5, 7, 5, 3, 7]
+                        normal3f[] normals = [(0, 0, -1), (-0.5, -0.866025, 0), (-0.5, -0.866025, 0), (0, 0, 1), (-1, 0, 0), (0.5, 0.866025, 0), (-1, 0, 0), (0.5, -0.866025, 0), (0, 0, -1), (0, 0, 1), (0.5, -0.866025, 0), (0.5, 0.866025, 0)] (interpolation = "uniform")
+                        point3f[] points = [(0, 0.005688632, 0), (0, 0.005688632, 0.006), (0, 0.010392304, 0), (0, 0.010392304, 0.006), (0.0049265, 0.002844316, 0), (0.009, 0.005196152, 0), (0.0049265, 0.002844316, 0.006), (0.009, 0.005196152, 0.006)]
+                        rel material:binding:physics = </Model/Physics/Materials/steel>
+                    }
+
+                    def Mesh "jam_002" (
+                        prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI", "MaterialBindingAPI"]
+                    )
+                    {
+                        uniform token purpose = "guide"
+                        uniform token physics:approximation = "convexHull"
+                        uniform token subdivisionScheme = "none"
+                        float3[] extent = [(-0.009, 0.002844316, 0), (0, 0.010392304, 0.006)]
+                        int[] faceVertexCounts = [3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3]
+                        int[] faceVertexIndices = [2, 0, 1, 0, 4, 1, 2, 1, 3, 5, 2, 3, 6, 0, 2, 5, 1, 4, 1, 5, 3, 0, 6, 4, 6, 5, 4, 2, 5, 7, 6, 2, 7, 5, 6, 7]
+                        normal3f[] normals = [(-0.5, -0.866025, 0), (0, 0, -1), (-0.5, -0.866025, 0), (0, 0, 1), (-0.5, 0.866025, 0), (0.5, -0.866025, 0), (0.5, -0.866025, 0), (0, 0, -1), (1, 0, 0), (0, 0, 1), (-0.5, 0.866025, 0), (1, 0, 0)] (interpolation = "uniform")
+                        point3f[] points = [(-0.009, 0.005196152, 0), (-0.0049265, 0.002844316, 0), (-0.009, 0.005196152, 0.006), (-0.0049265, 0.002844316, 0.006), (0, 0.005688632, 0), (0, 0.005688632, 0.006), (0, 0.010392304, 0), (0, 0.010392304, 0.006)]
+                        rel material:binding:physics = </Model/Physics/Materials/steel>
+                    }
+
+                    def Mesh "jam_003" (
+                        prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI", "MaterialBindingAPI"]
+                    )
+                    {
+                        uniform token purpose = "guide"
+                        uniform token physics:approximation = "convexHull"
+                        uniform token subdivisionScheme = "none"
+                        float3[] extent = [(-0.009, -0.005196152, 0), (-0.0049265, 0.005196152, 0.006)]
+                        int[] faceVertexCounts = [3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3]
+                        int[] faceVertexIndices = [2, 0, 1, 1, 0, 4, 0, 2, 6, 2, 1, 3, 1, 7, 3, 7, 2, 3, 0, 6, 4, 1, 4, 5, 7, 1, 5, 4, 7, 5, 2, 7, 6, 7, 4, 6]
+                        normal3f[] normals = [(-1, 0, 0), (0.5, -0.866025, 0), (0, 0, -1), (-1, 0, 0), (0, 0, 1), (0.5, 0.866025, 0), (0, 0, -1), (0.5, -0.866025, 0), (0, 0, 1), (1, 0, 0), (0.5, 0.866025, 0), (1, 0, 0)] (interpolation = "uniform")
+                        point3f[] points = [(-0.009, -0.005196152, 0), (-0.009, -0.005196152, 0.006), (-0.009, 0.005196152, 0), (-0.009, 0.005196152, 0.006), (-0.0049265, -0.002844316, 0), (-0.0049265, -0.002844316, 0.006), (-0.0049265, 0.002844316, 0), (-0.0049265, 0.002844316, 0.006)]
+                        rel material:binding:physics = </Model/Physics/Materials/steel>
+                    }
+
+                    def Mesh "jam_004" (
+                        prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI", "MaterialBindingAPI"]
+                    )
+                    {
+                        uniform token purpose = "guide"
+                        uniform token physics:approximation = "convexHull"
+                        uniform token subdivisionScheme = "none"
+                        float3[] extent = [(-0.009, -0.010392304, 0), (0, -0.002844316, 0.006)]
+                        int[] faceVertexCounts = [3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3]
+                        int[] faceVertexIndices = [0, 4, 2, 4, 0, 1, 0, 3, 1, 3, 0, 2, 3, 2, 5, 5, 4, 6, 2, 4, 5, 5, 6, 7, 6, 1, 3, 4, 1, 6, 6, 3, 7, 3, 5, 7]
+                        normal3f[] normals = [(-0.5, -0.866025, 0), (0, 0, -1), (-0.5, 0.866025, 0), (-0.5, 0.866025, 0), (0, 0, 1), (1, 0, 0), (-0.5, -0.866025, 0), (1, 0, 0), (0.5, 0.866025, 0), (0, 0, -1), (0.5, 0.866025, 0), (0, 0, 1)] (interpolation = "uniform")
+                        point3f[] points = [(-0.009, -0.005196152, 0), (-0.0049265, -0.002844316, 0), (-0.009, -0.005196152, 0.006), (-0.0049265, -0.002844316, 0.006), (0, -0.010392304, 0), (0, -0.010392304, 0.006), (0, -0.005688632, 0), (0, -0.005688632, 0.006)]
+                        rel material:binding:physics = </Model/Physics/Materials/steel>
+                    }
+
+                    def Mesh "jam_005" (
+                        prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI", "MaterialBindingAPI"]
+                    )
+                    {
+                        uniform token purpose = "guide"
+                        uniform token physics:approximation = "convexHull"
+                        uniform token subdivisionScheme = "none"
+                        float3[] extent = [(0, -0.010392304, 0), (0.009, -0.002844316, 0.006)]
+                        int[] faceVertexCounts = [3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3]
+                        int[] faceVertexIndices = [0, 3, 2, 5, 0, 2, 3, 0, 1, 0, 7, 1, 7, 3, 1, 3, 4, 2, 4, 3, 6, 0, 5, 7, 5, 2, 4, 7, 5, 4, 7, 4, 6, 3, 7, 6]
+                        normal3f[] normals = [(-1, 0, 0), (0, 0, -1), (-1, 0, 0), (0.5, -0.866025, 0), (0, 0, 1), (-0.5, 0.866025, 0), (-0.5, 0.866025, 0), (0.5, -0.866025, 0), (0, 0, -1), (0.5, 0.866025, 0), (0.5, 0.866025, 0), (0, 0, 1)] (interpolation = "uniform")
+                        point3f[] points = [(0, -0.010392304, 0), (0, -0.010392304, 0.006), (0, -0.005688632, 0), (0, -0.005688632, 0.006), (0.0049265, -0.002844316, 0), (0.009, -0.005196152, 0), (0.0049265, -0.002844316, 0.006), (0.009, -0.005196152, 0.006)]
+                        rel material:binding:physics = </Model/Physics/Materials/steel>
+                    }
+                }
+            }
+            over "Stud_M16"
+            {
+                def Xform "Colliders"
+                {
+                    def Cylinder "stud" (
+                        prepend apiSchemas = ["PhysicsCollisionAPI", "MaterialBindingAPI"]
+                    )
+                    {
+                        uniform token purpose = "guide"
+                        uniform token axis = "Z"
+                        double radius = 0.006773
+                        double height = 0.05
+                        double3 xformOp:translate = (0, 0, 0.025)
+                        quatf xformOp:orient = (1, 0, 0, 0)
+                        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+                        rel material:binding:physics = </Model/Physics/Materials/steel>
+                    }
+
+                    def Mesh "jam_000" (
+                        prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI", "MaterialBindingAPI"]
+                    )
+                    {
+                        uniform token purpose = "guide"
+                        uniform token physics:approximation = "convexHull"
+                        uniform token subdivisionScheme = "none"
+                        float3[] extent = [(0.006773, -0.006928203, 0), (0.012, 0.006928203, 0.008)]
+                        int[] faceVertexCounts = [3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3]
+                        int[] faceVertexIndices = [4, 1, 0, 0, 1, 3, 0, 3, 2, 6, 0, 2, 3, 6, 2, 1, 7, 3, 6, 4, 0, 1, 4, 5, 7, 1, 5, 4, 7, 5, 4, 6, 7, 6, 3, 7]
+                        normal3f[] normals = [(-0.5, -0.866025, 0), (-1, 0, 0), (-1, 0, 0), (0, 0, -1), (-0.5, 0.866025, 0), (0, 0, 1), (0, 0, -1), (-0.5, -0.866025, 0), (0, 0, 1), (1, 0, 0), (1, 0, 0), (-0.5, 0.866025, 0)] (interpolation = "uniform")
+                        point3f[] points = [(0.006773, -0.003910393, 0), (0.006773, -0.003910393, 0.008), (0.006773, 0.003910393, 0), (0.006773, 0.003910393, 0.008), (0.012, -0.006928203, 0), (0.012, -0.006928203, 0.008), (0.012, 0.006928203, 0), (0.012, 0.006928203, 0.008)]
+                        rel material:binding:physics = </Model/Physics/Materials/steel>
+                    }
+
+                    def Mesh "jam_001" (
+                        prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI", "MaterialBindingAPI"]
+                    )
+                    {
+                        uniform token purpose = "guide"
+                        uniform token physics:approximation = "convexHull"
+                        uniform token subdivisionScheme = "none"
+                        float3[] extent = [(0, 0.003910393, 0), (0.012, 0.013856406, 0.008)]
+                        int[] faceVertexCounts = [3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3]
+                        int[] faceVertexIndices = [2, 4, 0, 4, 6, 0, 0, 6, 1, 6, 3, 1, 2, 0, 3, 3, 0, 1, 3, 7, 2, 2, 5, 4, 4, 5, 7, 6, 4, 7, 6, 7, 3, 7, 5, 2]
+                        normal3f[] normals = [(0, 0, -1), (-0.5, -0.866025, 0), (-0.5, -0.866025, 0), (0, 0, 1), (-1, 0, 0), (-1, 0, 0), (0.5, 0.866025, 0), (0, 0, -1), (0.5, -0.866025, 0), (0.5, -0.866025, 0), (0, 0, 1), (0.5, 0.866025, 0)] (interpolation = "uniform")
+                        point3f[] points = [(0, 0.007820787, 0), (0, 0.007820787, 0.008), (0, 0.013856406, 0), (0, 0.013856406, 0.008), (0.006773, 0.003910393, 0), (0.012, 0.006928203, 0), (0.006773, 0.003910393, 0.008), (0.012, 0.006928203, 0.008)]
+                        rel material:binding:physics = </Model/Physics/Materials/steel>
+                    }
+
+                    def Mesh "jam_002" (
+                        prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI", "MaterialBindingAPI"]
+                    )
+                    {
+                        uniform token purpose = "guide"
+                        uniform token physics:approximation = "convexHull"
+                        uniform token subdivisionScheme = "none"
+                        float3[] extent = [(-0.012, 0.003910393, 0), (0, 0.013856406, 0.008)]
+                        int[] faceVertexCounts = [3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3]
+                        int[] faceVertexIndices = [2, 0, 1, 0, 4, 1, 2, 1, 3, 5, 2, 3, 6, 0, 2, 5, 1, 4, 1, 5, 3, 0, 6, 4, 6, 5, 4, 2, 5, 7, 6, 2, 7, 5, 6, 7]
+                        normal3f[] normals = [(-0.5, -0.866025, 0), (0, 0, -1), (-0.5, -0.866025, 0), (0, 0, 1), (-0.5, 0.866025, 0), (0.5, -0.866025, 0), (0.5, -0.866025, 0), (0, 0, -1), (1, 0, 0), (0, 0, 1), (-0.5, 0.866025, 0), (1, 0, 0)] (interpolation = "uniform")
+                        point3f[] points = [(-0.012, 0.006928203, 0), (-0.006773, 0.003910393, 0), (-0.012, 0.006928203, 0.008), (-0.006773, 0.003910393, 0.008), (0, 0.007820787, 0), (0, 0.007820787, 0.008), (0, 0.013856406, 0), (0, 0.013856406, 0.008)]
+                        rel material:binding:physics = </Model/Physics/Materials/steel>
+                    }
+
+                    def Mesh "jam_003" (
+                        prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI", "MaterialBindingAPI"]
+                    )
+                    {
+                        uniform token purpose = "guide"
+                        uniform token physics:approximation = "convexHull"
+                        uniform token subdivisionScheme = "none"
+                        float3[] extent = [(-0.012, -0.006928203, 0), (-0.006773, 0.006928203, 0.008)]
+                        int[] faceVertexCounts = [3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3]
+                        int[] faceVertexIndices = [0, 1, 3, 1, 0, 5, 2, 0, 3, 0, 2, 6, 2, 3, 6, 7, 3, 1, 5, 0, 4, 0, 6, 4, 6, 5, 4, 7, 1, 5, 6, 3, 7, 6, 7, 5]
+                        normal3f[] normals = [(-1, 0, 0), (0.5, -0.866025, 0), (-1, 0, 0), (0, 0, -1), (0.5, 0.866025, 0), (0, 0, 1), (0.5, -0.866025, 0), (0, 0, -1), (1, 0, 0), (0, 0, 1), (0.5, 0.866025, 0), (1, 0, 0)] (interpolation = "uniform")
+                        point3f[] points = [(-0.012, -0.006928203, 0), (-0.012, -0.006928203, 0.008), (-0.012, 0.006928203, 0), (-0.012, 0.006928203, 0.008), (-0.006773, -0.003910393, 0), (-0.006773, -0.003910393, 0.008), (-0.006773, 0.003910393, 0), (-0.006773, 0.003910393, 0.008)]
+                        rel material:binding:physics = </Model/Physics/Materials/steel>
+                    }
+
+                    def Mesh "jam_004" (
+                        prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI", "MaterialBindingAPI"]
+                    )
+                    {
+                        uniform token purpose = "guide"
+                        uniform token physics:approximation = "convexHull"
+                        uniform token subdivisionScheme = "none"
+                        float3[] extent = [(-0.012, -0.013856406, 0), (0, -0.003910393, 0.008)]
+                        int[] faceVertexCounts = [3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3]
+                        int[] faceVertexIndices = [0, 5, 2, 4, 0, 1, 0, 3, 1, 3, 0, 2, 5, 3, 2, 0, 4, 5, 5, 4, 6, 5, 6, 7, 3, 6, 1, 4, 1, 6, 6, 3, 7, 3, 5, 7]
+                        normal3f[] normals = [(-0.5, -0.866025, 0), (0, 0, -1), (-0.5, 0.866025, 0), (-0.5, 0.866025, 0), (0, 0, 1), (-0.5, -0.866025, 0), (1, 0, 0), (1, 0, 0), (0.5, 0.866025, 0), (0, 0, -1), (0.5, 0.866025, 0), (0, 0, 1)] (interpolation = "uniform")
+                        point3f[] points = [(-0.012, -0.006928203, 0), (-0.006773, -0.003910393, 0), (-0.012, -0.006928203, 0.008), (-0.006773, -0.003910393, 0.008), (0, -0.013856406, 0), (0, -0.013856406, 0.008), (0, -0.007820787, 0), (0, -0.007820787, 0.008)]
+                        rel material:binding:physics = </Model/Physics/Materials/steel>
+                    }
+
+                    def Mesh "jam_005" (
+                        prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI", "MaterialBindingAPI"]
+                    )
+                    {
+                        uniform token purpose = "guide"
+                        uniform token physics:approximation = "convexHull"
+                        uniform token subdivisionScheme = "none"
+                        float3[] extent = [(0, -0.013856406, 0), (0.012, -0.003910393, 0.008)]
+                        int[] faceVertexCounts = [3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3]
+                        int[] faceVertexIndices = [0, 3, 2, 0, 5, 1, 5, 0, 2, 3, 0, 1, 3, 1, 7, 4, 2, 3, 4, 3, 6, 1, 5, 7, 5, 2, 4, 7, 5, 4, 7, 4, 6, 3, 7, 6]
+                        normal3f[] normals = [(-1, 0, 0), (0.5, -0.866025, 0), (0, 0, -1), (-1, 0, 0), (0, 0, 1), (-0.5, 0.866025, 0), (-0.5, 0.866025, 0), (0.5, -0.866025, 0), (0, 0, -1), (0.5, 0.866025, 0), (0.5, 0.866025, 0), (0, 0, 1)] (interpolation = "uniform")
+                        point3f[] points = [(0, -0.013856406, 0), (0, -0.013856406, 0.008), (0, -0.007820787, 0), (0, -0.007820787, 0.008), (0.006773, -0.003910393, 0), (0.012, -0.006928203, 0), (0.006773, -0.003910393, 0.008), (0.012, -0.006928203, 0.008)]
+                        rel material:binding:physics = </Model/Physics/Materials/steel>
+                    }
+                }
+            }
+            over "Stud_M20"
+            {
+                def Xform "Colliders"
+                {
+                    def Cylinder "stud" (
+                        prepend apiSchemas = ["PhysicsCollisionAPI", "MaterialBindingAPI"]
+                    )
+                    {
+                        uniform token purpose = "guide"
+                        uniform token axis = "Z"
+                        double radius = 0.0084665
+                        double height = 0.06
+                        double3 xformOp:translate = (0, 0, 0.03)
+                        quatf xformOp:orient = (1, 0, 0, 0)
+                        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+                        rel material:binding:physics = </Model/Physics/Materials/steel>
+                    }
+
+                    def Mesh "jam_000" (
+                        prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI", "MaterialBindingAPI"]
+                    )
+                    {
+                        uniform token purpose = "guide"
+                        uniform token physics:approximation = "convexHull"
+                        uniform token subdivisionScheme = "none"
+                        float3[] extent = [(0.0084665, -0.008660254, 0), (0.015, 0.008660254, 0.01)]
+                        int[] faceVertexCounts = [3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3]
+                        int[] faceVertexIndices = [1, 2, 0, 4, 1, 0, 6, 0, 2, 2, 1, 3, 1, 7, 3, 7, 2, 3, 6, 4, 0, 1, 4, 5, 7, 1, 5, 4, 7, 5, 7, 6, 2, 4, 6, 7]
+                        normal3f[] normals = [(-1, 0, 0), (-0.5, -0.866025, 0), (0, 0, -1), (-1, 0, 0), (0, 0, 1), (-0.5, 0.866025, 0), (0, 0, -1), (-0.5, -0.866025, 0), (0, 0, 1), (1, 0, 0), (-0.5, 0.866025, 0), (1, 0, 0)] (interpolation = "uniform")
+                        point3f[] points = [(0.0084665, -0.004888136, 0), (0.0084665, -0.004888136, 0.01), (0.0084665, 0.004888136, 0), (0.0084665, 0.004888136, 0.01), (0.015, -0.008660254, 0), (0.015, -0.008660254, 0.01), (0.015, 0.008660254, 0), (0.015, 0.008660254, 0.01)]
+                        rel material:binding:physics = </Model/Physics/Materials/steel>
+                    }
+
+                    def Mesh "jam_001" (
+                        prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI", "MaterialBindingAPI"]
+                    )
+                    {
+                        uniform token purpose = "guide"
+                        uniform token physics:approximation = "convexHull"
+                        uniform token subdivisionScheme = "none"
+                        float3[] extent = [(0, 0.004888136, 0), (0.015, 0.017320509, 0.01)]
+                        int[] faceVertexCounts = [3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3]
+                        int[] faceVertexIndices = [2, 4, 0, 4, 1, 0, 6, 3, 1, 4, 6, 1, 1, 2, 0, 2, 1, 3, 2, 3, 7, 5, 6, 4, 2, 5, 4, 7, 3, 6, 6, 5, 7, 5, 2, 7]
+                        normal3f[] normals = [(0, 0, -1), (-0.5, -0.866025, 0), (0, 0, 1), (-0.5, -0.866025, 0), (-1, 0, 0), (-1, 0, 0), (0.5, 0.866025, 0), (0.5, -0.866025, 0), (0, 0, -1), (0, 0, 1), (0.5, -0.866025, 0), (0.5, 0.866025, 0)] (interpolation = "uniform")
+                        point3f[] points = [(0, 0.009776272, 0), (0, 0.009776272, 0.01), (0, 0.017320509, 0), (0, 0.017320509, 0.01), (0.0084665, 0.004888136, 0), (0.015, 0.008660254, 0), (0.0084665, 0.004888136, 0.01), (0.015, 0.008660254, 0.01)]
+                        rel material:binding:physics = </Model/Physics/Materials/steel>
+                    }
+
+                    def Mesh "jam_002" (
+                        prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI", "MaterialBindingAPI"]
+                    )
+                    {
+                        uniform token purpose = "guide"
+                        uniform token physics:approximation = "convexHull"
+                        uniform token subdivisionScheme = "none"
+                        float3[] extent = [(-0.015, 0.004888136, 0), (0, 0.017320509, 0.01)]
+                        int[] faceVertexCounts = [3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3]
+                        int[] faceVertexIndices = [0, 4, 1, 3, 0, 1, 0, 3, 2, 5, 2, 3, 0, 2, 7, 4, 3, 1, 4, 5, 3, 0, 6, 4, 6, 0, 7, 6, 5, 4, 7, 2, 5, 5, 6, 7]
+                        normal3f[] normals = [(0, 0, -1), (-0.5, -0.866025, 0), (-0.5, -0.866025, 0), (0, 0, 1), (-0.5, 0.866025, 0), (0.5, -0.866025, 0), (0.5, -0.866025, 0), (0, 0, -1), (-0.5, 0.866025, 0), (1, 0, 0), (0, 0, 1), (1, 0, 0)] (interpolation = "uniform")
+                        point3f[] points = [(-0.015, 0.008660254, 0), (-0.0084665, 0.004888136, 0), (-0.015, 0.008660254, 0.01), (-0.0084665, 0.004888136, 0.01), (0, 0.009776272, 0), (0, 0.009776272, 0.01), (0, 0.017320509, 0), (0, 0.017320509, 0.01)]
+                        rel material:binding:physics = </Model/Physics/Materials/steel>
+                    }
+
+                    def Mesh "jam_003" (
+                        prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI", "MaterialBindingAPI"]
+                    )
+                    {
+                        uniform token purpose = "guide"
+                        uniform token physics:approximation = "convexHull"
+                        uniform token subdivisionScheme = "none"
+                        float3[] extent = [(-0.015, -0.008660254, 0), (-0.0084665, 0.008660254, 0.01)]
+                        int[] faceVertexCounts = [3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3]
+                        int[] faceVertexIndices = [2, 0, 1, 0, 5, 1, 0, 2, 6, 2, 1, 3, 1, 7, 3, 7, 2, 3, 5, 0, 4, 0, 6, 4, 6, 5, 4, 7, 1, 5, 2, 7, 6, 6, 7, 5]
+                        normal3f[] normals = [(-1, 0, 0), (0.5, -0.866025, 0), (0, 0, -1), (-1, 0, 0), (0, 0, 1), (0.5, 0.866025, 0), (0.5, -0.866025, 0), (0, 0, -1), (1, 0, 0), (0, 0, 1), (0.5, 0.866025, 0), (1, 0, 0)] (interpolation = "uniform")
+                        point3f[] points = [(-0.015, -0.008660254, 0), (-0.015, -0.008660254, 0.01), (-0.015, 0.008660254, 0), (-0.015, 0.008660254, 0.01), (-0.0084665, -0.004888136, 0), (-0.0084665, -0.004888136, 0.01), (-0.0084665, 0.004888136, 0), (-0.0084665, 0.004888136, 0.01)]
+                        rel material:binding:physics = </Model/Physics/Materials/steel>
+                    }
+
+                    def Mesh "jam_004" (
+                        prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI", "MaterialBindingAPI"]
+                    )
+                    {
+                        uniform token purpose = "guide"
+                        uniform token physics:approximation = "convexHull"
+                        uniform token subdivisionScheme = "none"
+                        float3[] extent = [(-0.015, -0.017320509, 0), (0, -0.004888136, 0.01)]
+                        int[] faceVertexCounts = [3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3]
+                        int[] faceVertexIndices = [0, 5, 2, 4, 0, 1, 0, 3, 1, 3, 0, 2, 5, 3, 2, 0, 4, 5, 5, 4, 6, 5, 6, 7, 3, 6, 1, 4, 1, 6, 6, 3, 7, 3, 5, 7]
+                        normal3f[] normals = [(-0.5, -0.866025, 0), (0, 0, -1), (-0.5, 0.866025, 0), (-0.5, 0.866025, 0), (0, 0, 1), (-0.5, -0.866025, 0), (1, 0, 0), (1, 0, 0), (0.5, 0.866025, 0), (0, 0, -1), (0.5, 0.866025, 0), (0, 0, 1)] (interpolation = "uniform")
+                        point3f[] points = [(-0.015, -0.008660254, 0), (-0.0084665, -0.004888136, 0), (-0.015, -0.008660254, 0.01), (-0.0084665, -0.004888136, 0.01), (0, -0.017320509, 0), (0, -0.017320509, 0.01), (0, -0.009776272, 0), (0, -0.009776272, 0.01)]
+                        rel material:binding:physics = </Model/Physics/Materials/steel>
+                    }
+
+                    def Mesh "jam_005" (
+                        prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI", "MaterialBindingAPI"]
+                    )
+                    {
+                        uniform token purpose = "guide"
+                        uniform token physics:approximation = "convexHull"
+                        uniform token subdivisionScheme = "none"
+                        float3[] extent = [(0, -0.017320509, 0), (0.015, -0.004888136, 0.01)]
+                        int[] faceVertexCounts = [3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3]
+                        int[] faceVertexIndices = [0, 3, 2, 5, 0, 2, 3, 0, 1, 0, 7, 1, 7, 3, 1, 3, 4, 2, 4, 3, 6, 0, 5, 7, 5, 2, 4, 7, 5, 4, 7, 4, 6, 3, 7, 6]
+                        normal3f[] normals = [(-1, 0, 0), (0, 0, -1), (-1, 0, 0), (0.5, -0.866025, 0), (0, 0, 1), (-0.5, 0.866025, 0), (-0.5, 0.866025, 0), (0.5, -0.866025, 0), (0, 0, -1), (0.5, 0.866025, 0), (0.5, 0.866025, 0), (0, 0, 1)] (interpolation = "uniform")
+                        point3f[] points = [(0, -0.017320509, 0), (0, -0.017320509, 0.01), (0, -0.009776272, 0), (0, -0.009776272, 0.01), (0.0084665, -0.004888136, 0), (0.015, -0.008660254, 0), (0.0084665, -0.004888136, 0.01), (0.015, -0.008660254, 0.01)]
+                        rel material:binding:physics = </Model/Physics/Materials/steel>
+                    }
+                }
+            }
+            over "Label_nuts"
+            {
+                def Xform "Colliders"
+                {
+                    def Cube "plate" (
+                        prepend apiSchemas = ["PhysicsCollisionAPI", "MaterialBindingAPI"]
+                    )
+                    {
+                        uniform token purpose = "guide"
+                        double size = 1
+                        double3 xformOp:translate = (-0.044, -0.0004, 0.0075)
+                        quatf xformOp:orient = (1, 0, 0, 0)
+                        float3 xformOp:scale = (0.088, 0.0008, 0.011)
+                        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+                        rel material:binding:physics = </Model/Physics/Materials/aluminium_6061_t6>
+                    }
+                }
+            }
+        }
+        over "Nut_M8" (
+            prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"]
+        )
+        {
+            bool physics:rigidBodyEnabled = 1
+            bool physics:kinematicEnabled = 0
+            bool physics:startsAsleep = 0
+            float physics:mass = 0.00543397891917957
+            point3f physics:centerOfMass = (-0.000003136, -0.000000396, 0.0034)
+            float3 physics:diagonalInertia = (0.000000160116, 0.000000099467, 0.000000099466)
+            quatf physics:principalAxes = (0.70532442, 0.04961424, -0.70535908, 0.05024399)
+            def Xform "Colliders"
+            {
+                def Mesh "hex_000" (
+                    prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI", "MaterialBindingAPI"]
+                )
+                {
+                    uniform token purpose = "guide"
+                    uniform token physics:approximation = "convexHull"
+                    uniform token subdivisionScheme = "none"
+                    float3[] extent = [(0.003333, -0.003752777, 0), (0.0065, 0.003752777, 0.0068)]
+                    int[] faceVertexCounts = [3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3]
+                    int[] faceVertexIndices = [1, 2, 0, 1, 0, 5, 6, 0, 2, 2, 1, 3, 1, 7, 3, 7, 2, 3, 0, 4, 5, 6, 4, 0, 5, 7, 1, 4, 7, 5, 7, 6, 2, 4, 6, 7]
+                    normal3f[] normals = [(-1, 0, 0), (-0.5, -0.866025, 0), (0, 0, -1), (-1, 0, 0), (0, 0, 1), (-0.5, 0.866025, 0), (-0.5, -0.866025, 0), (0, 0, -1), (0, 0, 1), (1, 0, 0), (-0.5, 0.866025, 0), (1, 0, 0)] (interpolation = "uniform")
+                    point3f[] points = [(0.003333, -0.001924308, 0), (0.003333, -0.001924308, 0.0068), (0.003333, 0.001924308, 0), (0.003333, 0.001924308, 0.0068), (0.0065, -0.003752777, 0), (0.0065, -0.003752777, 0.0068), (0.0065, 0.003752777, 0), (0.0065, 0.003752777, 0.0068)]
+                    rel material:binding:physics = </Model/Physics/Materials/steel>
+                }
+
+                def Mesh "hex_001" (
+                    prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI", "MaterialBindingAPI"]
+                )
+                {
+                    uniform token purpose = "guide"
+                    uniform token physics:approximation = "convexHull"
+                    uniform token subdivisionScheme = "none"
+                    float3[] extent = [(0, 0.001924308, 0), (0.0065, 0.007505554, 0.0068)]
+                    int[] faceVertexCounts = [3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3]
+                    int[] faceVertexIndices = [4, 1, 0, 2, 4, 0, 6, 3, 1, 4, 6, 1, 1, 2, 0, 5, 2, 3, 2, 1, 3, 5, 6, 4, 2, 5, 4, 3, 6, 7, 6, 5, 7, 5, 3, 7]
+                    normal3f[] normals = [(-0.5, -0.866025, 0), (0, 0, -1), (0, 0, 1), (-0.5, -0.866025, 0), (-1, 0, 0), (0.5, 0.866025, 0), (-1, 0, 0), (0.5, -0.866025, 0), (0, 0, -1), (0, 0, 1), (0.5, -0.866025, 0), (0.5, 0.866025, 0)] (interpolation = "uniform")
+                    point3f[] points = [(0, 0.003848617, 0), (0, 0.003848617, 0.0068), (0, 0.007505554, 0), (0, 0.007505554, 0.0068), (0.003333, 0.001924308, 0), (0.0065, 0.003752777, 0), (0.003333, 0.001924308, 0.0068), (0.0065, 0.003752777, 0.0068)]
+                    rel material:binding:physics = </Model/Physics/Materials/steel>
+                }
+
+                def Mesh "hex_002" (
+                    prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI", "MaterialBindingAPI"]
+                )
+                {
+                    uniform token purpose = "guide"
+                    uniform token physics:approximation = "convexHull"
+                    uniform token subdivisionScheme = "none"
+                    float3[] extent = [(-0.0065, 0.001924308, 0), (0, 0.007505554, 0.0068)]
+                    int[] faceVertexCounts = [3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3]
+                    int[] faceVertexIndices = [0, 1, 2, 0, 6, 1, 3, 2, 1, 5, 2, 3, 0, 2, 7, 1, 4, 3, 1, 6, 4, 4, 5, 3, 6, 0, 7, 6, 5, 4, 5, 7, 2, 5, 6, 7]
+                    normal3f[] normals = [(-0.5, -0.866025, 0), (0, 0, -1), (-0.5, -0.866025, 0), (0, 0, 1), (-0.5, 0.866025, 0), (0.5, -0.866025, 0), (0, 0, -1), (0.5, -0.866025, 0), (-0.5, 0.866025, 0), (1, 0, 0), (0, 0, 1), (1, 0, 0)] (interpolation = "uniform")
+                    point3f[] points = [(-0.0065, 0.003752777, 0), (-0.003333, 0.001924308, 0), (-0.0065, 0.003752777, 0.0068), (-0.003333, 0.001924308, 0.0068), (0, 0.003848617, 0), (0, 0.003848617, 0.0068), (0, 0.007505554, 0), (0, 0.007505554, 0.0068)]
+                    rel material:binding:physics = </Model/Physics/Materials/steel>
+                }
+
+                def Mesh "hex_003" (
+                    prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI", "MaterialBindingAPI"]
+                )
+                {
+                    uniform token purpose = "guide"
+                    uniform token physics:approximation = "convexHull"
+                    uniform token subdivisionScheme = "none"
+                    float3[] extent = [(-0.0065, -0.003752777, 0), (-0.003333, 0.003752777, 0.0068)]
+                    int[] faceVertexCounts = [3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3]
+                    int[] faceVertexIndices = [2, 0, 1, 0, 5, 1, 0, 2, 6, 6, 2, 3, 2, 1, 3, 7, 3, 1, 5, 0, 4, 0, 6, 4, 6, 5, 4, 7, 1, 5, 7, 6, 3, 6, 7, 5]
+                    normal3f[] normals = [(-1, 0, 0), (0.5, -0.866025, 0), (0, 0, -1), (0.5, 0.866025, 0), (-1, 0, 0), (0, 0, 1), (0.5, -0.866025, 0), (0, 0, -1), (1, 0, 0), (0, 0, 1), (0.5, 0.866025, 0), (1, 0, 0)] (interpolation = "uniform")
+                    point3f[] points = [(-0.0065, -0.003752777, 0), (-0.0065, -0.003752777, 0.0068), (-0.0065, 0.003752777, 0), (-0.0065, 0.003752777, 0.0068), (-0.003333, -0.001924308, 0), (-0.003333, -0.001924308, 0.0068), (-0.003333, 0.001924308, 0), (-0.003333, 0.001924308, 0.0068)]
+                    rel material:binding:physics = </Model/Physics/Materials/steel>
+                }
+
+                def Mesh "hex_004" (
+                    prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI", "MaterialBindingAPI"]
+                )
+                {
+                    uniform token purpose = "guide"
+                    uniform token physics:approximation = "convexHull"
+                    uniform token subdivisionScheme = "none"
+                    float3[] extent = [(-0.0065, -0.007505554, 0), (0, -0.001924308, 0.0068)]
+                    int[] faceVertexCounts = [3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3]
+                    int[] faceVertexIndices = [0, 5, 2, 4, 0, 1, 0, 3, 1, 3, 0, 2, 5, 3, 2, 0, 4, 5, 5, 4, 6, 5, 6, 7, 3, 6, 1, 4, 1, 6, 3, 5, 7, 6, 3, 7]
+                    normal3f[] normals = [(-0.5, -0.866025, 0), (0, 0, -1), (-0.5, 0.866025, 0), (-0.5, 0.866025, 0), (0, 0, 1), (-0.5, -0.866025, 0), (1, 0, 0), (1, 0, 0), (0.5, 0.866025, 0), (0, 0, -1), (0, 0, 1), (0.5, 0.866025, 0)] (interpolation = "uniform")
+                    point3f[] points = [(-0.0065, -0.003752777, 0), (-0.003333, -0.001924308, 0), (-0.0065, -0.003752777, 0.0068), (-0.003333, -0.001924308, 0.0068), (0, -0.007505554, 0), (0, -0.007505554, 0.0068), (0, -0.003848617, 0), (0, -0.003848617, 0.0068)]
+                    rel material:binding:physics = </Model/Physics/Materials/steel>
+                }
+
+                def Mesh "hex_005" (
+                    prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI", "MaterialBindingAPI"]
+                )
+                {
+                    uniform token purpose = "guide"
+                    uniform token physics:approximation = "convexHull"
+                    uniform token subdivisionScheme = "none"
+                    float3[] extent = [(0, -0.007505554, 0), (0.0065, -0.001924308, 0.0068)]
+                    int[] faceVertexCounts = [3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3]
+                    int[] faceVertexIndices = [0, 3, 2, 5, 0, 2, 3, 0, 1, 0, 7, 1, 7, 3, 1, 3, 4, 2, 4, 3, 6, 0, 5, 7, 5, 2, 4, 7, 5, 4, 7, 4, 6, 3, 7, 6]
+                    normal3f[] normals = [(-1, 0, 0), (0, 0, -1), (-1, 0, 0), (0.5, -0.866025, 0), (0, 0, 1), (-0.5, 0.866025, 0), (-0.5, 0.866025, 0), (0.5, -0.866025, 0), (0, 0, -1), (0.5, 0.866025, 0), (0.5, 0.866025, 0), (0, 0, 1)] (interpolation = "uniform")
+                    point3f[] points = [(0, -0.007505554, 0), (0, -0.007505554, 0.0068), (0, -0.003848617, 0), (0, -0.003848617, 0.0068), (0.003333, -0.001924308, 0), (0.0065, -0.003752777, 0), (0.003333, -0.001924308, 0.0068), (0.0065, -0.003752777, 0.0068)]
+                    rel material:binding:physics = </Model/Physics/Materials/steel>
+                }
+            }
+                  def BasisCurves "grasp_identifier_01"
+                  {
+                    int[] curveVertexCounts = [2]
+                    float3[] extent = [(-0.0065, 0, 0.0034), (0.0065, 0, 0.0034)]
+                    point3f[] points = [(-0.0065, 0, 0.0034), (0.0065, 0, 0.0034)]
+                    uniform token purpose = "guide"
+                    uniform token type = "linear"
+                    uniform token wrap = "nonperiodic"
+                  }
+        }
+        over "Nut_M12" (
+            prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"]
+        )
+        {
+            bool physics:rigidBodyEnabled = 1
+            bool physics:kinematicEnabled = 0
+            bool physics:startsAsleep = 0
+            float physics:mass = 0.015637732723923155
+            point3f physics:centerOfMass = (0.000003643, 0.000005519, 0.0054)
+            float3 physics:diagonalInertia = (0.000000923406, 0.000000605371, 0.000000605269)
+            quatf physics:principalAxes = (0.33500292, -0.62264097, -0.33513912, -0.62271425)
+            def Xform "Colliders"
+            {
+                def Mesh "hex_000" (
+                    prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI", "MaterialBindingAPI"]
+                )
+                {
+                    uniform token purpose = "guide"
+                    uniform token physics:approximation = "convexHull"
+                    uniform token subdivisionScheme = "none"
+                    float3[] extent = [(0.0050265, -0.005196152, 0), (0.009, 0.005196152, 0.0108)]
+                    int[] faceVertexCounts = [3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3]
+                    int[] faceVertexIndices = [1, 2, 0, 4, 1, 0, 6, 0, 2, 2, 1, 3, 1, 7, 3, 7, 2, 3, 6, 4, 0, 1, 4, 5, 7, 1, 5, 4, 7, 5, 7, 6, 2, 4, 6, 7]
+                    normal3f[] normals = [(-1, 0, 0), (-0.5, -0.866025, 0), (0, 0, -1), (-1, 0, 0), (0, 0, 1), (-0.5, 0.866025, 0), (0, 0, -1), (-0.5, -0.866025, 0), (0, 0, 1), (1, 0, 0), (-0.5, 0.866025, 0), (1, 0, 0)] (interpolation = "uniform")
+                    point3f[] points = [(0.0050265, -0.002902051, 0), (0.0050265, -0.002902051, 0.0108), (0.0050265, 0.002902051, 0), (0.0050265, 0.002902051, 0.0108), (0.009, -0.005196152, 0), (0.009, -0.005196152, 0.0108), (0.009, 0.005196152, 0), (0.009, 0.005196152, 0.0108)]
+                    rel material:binding:physics = </Model/Physics/Materials/steel>
+                }
+
+                def Mesh "hex_001" (
+                    prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI", "MaterialBindingAPI"]
+                )
+                {
+                    uniform token purpose = "guide"
+                    uniform token physics:approximation = "convexHull"
+                    uniform token subdivisionScheme = "none"
+                    float3[] extent = [(0, 0.002902051, 0), (0.009, 0.010392304, 0.0108)]
+                    int[] faceVertexCounts = [3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3]
+                    int[] faceVertexIndices = [6, 0, 4, 0, 6, 1, 6, 3, 1, 2, 0, 3, 2, 5, 0, 3, 5, 2, 3, 0, 1, 0, 5, 4, 5, 6, 4, 3, 6, 7, 6, 5, 7, 5, 3, 7]
+                    normal3f[] normals = [(-0.5, -0.866025, 0), (-0.5, -0.866025, 0), (0, 0, 1), (-1, 0, 0), (0, 0, -1), (0.5, 0.866025, 0), (-1, 0, 0), (0, 0, -1), (0.5, -0.866025, 0), (0, 0, 1), (0.5, -0.866025, 0), (0.5, 0.866025, 0)] (interpolation = "uniform")
+                    point3f[] points = [(0, 0.005804102, 0), (0, 0.005804102, 0.0108), (0, 0.010392304, 0), (0, 0.010392304, 0.0108), (0.0050265, 0.002902051, 0), (0.009, 0.005196152, 0), (0.0050265, 0.002902051, 0.0108), (0.009, 0.005196152, 0.0108)]
+                    rel material:binding:physics = </Model/Physics/Materials/steel>
+                }
+
+                def Mesh "hex_002" (
+                    prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI", "MaterialBindingAPI"]
+                )
+                {
+                    uniform token purpose = "guide"
+                    uniform token physics:approximation = "convexHull"
+                    uniform token subdivisionScheme = "none"
+                    float3[] extent = [(-0.009, 0.002902051, 0), (0, 0.010392304, 0.0108)]
+                    int[] faceVertexCounts = [3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3]
+                    int[] faceVertexIndices = [2, 0, 1, 0, 4, 1, 2, 1, 3, 5, 2, 3, 6, 0, 2, 5, 1, 4, 1, 5, 3, 0, 6, 4, 6, 5, 4, 2, 5, 7, 6, 2, 7, 5, 6, 7]
+                    normal3f[] normals = [(-0.5, -0.866025, 0), (0, 0, -1), (-0.5, -0.866025, 0), (0, 0, 1), (-0.5, 0.866025, 0), (0.5, -0.866025, 0), (0.5, -0.866025, 0), (0, 0, -1), (1, 0, 0), (0, 0, 1), (-0.5, 0.866025, 0), (1, 0, 0)] (interpolation = "uniform")
+                    point3f[] points = [(-0.009, 0.005196152, 0), (-0.0050265, 0.002902051, 0), (-0.009, 0.005196152, 0.0108), (-0.0050265, 0.002902051, 0.0108), (0, 0.005804102, 0), (0, 0.005804102, 0.0108), (0, 0.010392304, 0), (0, 0.010392304, 0.0108)]
+                    rel material:binding:physics = </Model/Physics/Materials/steel>
+                }
+
+                def Mesh "hex_003" (
+                    prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI", "MaterialBindingAPI"]
+                )
+                {
+                    uniform token purpose = "guide"
+                    uniform token physics:approximation = "convexHull"
+                    uniform token subdivisionScheme = "none"
+                    float3[] extent = [(-0.009, -0.005196152, 0), (-0.0050265, 0.005196152, 0.0108)]
+                    int[] faceVertexCounts = [3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3]
+                    int[] faceVertexIndices = [0, 1, 3, 1, 0, 5, 2, 0, 3, 0, 2, 6, 7, 3, 1, 7, 2, 3, 5, 0, 4, 0, 6, 4, 6, 5, 4, 7, 1, 5, 2, 7, 6, 6, 7, 5]
+                    normal3f[] normals = [(-1, 0, 0), (0.5, -0.866025, 0), (-1, 0, 0), (0, 0, -1), (0, 0, 1), (0.5, 0.866025, 0), (0.5, -0.866025, 0), (0, 0, -1), (1, 0, 0), (0, 0, 1), (0.5, 0.866025, 0), (1, 0, 0)] (interpolation = "uniform")
+                    point3f[] points = [(-0.009, -0.005196152, 0), (-0.009, -0.005196152, 0.0108), (-0.009, 0.005196152, 0), (-0.009, 0.005196152, 0.0108), (-0.0050265, -0.002902051, 0), (-0.0050265, -0.002902051, 0.0108), (-0.0050265, 0.002902051, 0), (-0.0050265, 0.002902051, 0.0108)]
+                    rel material:binding:physics = </Model/Physics/Materials/steel>
+                }
+
+                def Mesh "hex_004" (
+                    prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI", "MaterialBindingAPI"]
+                )
+                {
+                    uniform token purpose = "guide"
+                    uniform token physics:approximation = "convexHull"
+                    uniform token subdivisionScheme = "none"
+                    float3[] extent = [(-0.009, -0.010392304, 0), (0, -0.002902051, 0.0108)]
+                    int[] faceVertexCounts = [3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3]
+                    int[] faceVertexIndices = [0, 5, 2, 1, 0, 2, 4, 0, 1, 2, 5, 3, 3, 1, 2, 0, 4, 5, 5, 4, 6, 5, 6, 7, 3, 6, 1, 4, 1, 6, 6, 3, 7, 3, 5, 7]
+                    normal3f[] normals = [(-0.5, -0.866025, 0), (-0.5, 0.866025, 0), (0, 0, -1), (0, 0, 1), (-0.5, 0.866025, 0), (-0.5, -0.866025, 0), (1, 0, 0), (1, 0, 0), (0.5, 0.866025, 0), (0, 0, -1), (0.5, 0.866025, 0), (0, 0, 1)] (interpolation = "uniform")
+                    point3f[] points = [(-0.009, -0.005196152, 0), (-0.0050265, -0.002902051, 0), (-0.009, -0.005196152, 0.0108), (-0.0050265, -0.002902051, 0.0108), (0, -0.010392304, 0), (0, -0.010392304, 0.0108), (0, -0.005804102, 0), (0, -0.005804102, 0.0108)]
+                    rel material:binding:physics = </Model/Physics/Materials/steel>
+                }
+
+                def Mesh "hex_005" (
+                    prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI", "MaterialBindingAPI"]
+                )
+                {
+                    uniform token purpose = "guide"
+                    uniform token physics:approximation = "convexHull"
+                    uniform token subdivisionScheme = "none"
+                    float3[] extent = [(0, -0.010392304, 0), (0.009, -0.002902051, 0.0108)]
+                    int[] faceVertexCounts = [3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3]
+                    int[] faceVertexIndices = [0, 3, 2, 5, 0, 2, 3, 0, 1, 0, 7, 1, 7, 3, 1, 3, 4, 2, 4, 3, 6, 0, 5, 7, 5, 2, 4, 7, 5, 4, 7, 4, 6, 3, 7, 6]
+                    normal3f[] normals = [(-1, 0, 0), (0, 0, -1), (-1, 0, 0), (0.5, -0.866025, 0), (0, 0, 1), (-0.5, 0.866025, 0), (-0.5, 0.866025, 0), (0.5, -0.866025, 0), (0, 0, -1), (0.5, 0.866025, 0), (0.5, 0.866025, 0), (0, 0, 1)] (interpolation = "uniform")
+                    point3f[] points = [(0, -0.010392304, 0), (0, -0.010392304, 0.0108), (0, -0.005804102, 0), (0, -0.005804102, 0.0108), (0.0050265, -0.002902051, 0), (0.009, -0.005196152, 0), (0.0050265, -0.002902051, 0.0108), (0.009, -0.005196152, 0.0108)]
+                    rel material:binding:physics = </Model/Physics/Materials/steel>
+                }
+            }
+                  def BasisCurves "grasp_identifier_01"
+                  {
+                    int[] curveVertexCounts = [2]
+                    float3[] extent = [(-0.009, 0, 0.0054), (0.009, 0, 0.0054)]
+                    point3f[] points = [(-0.009, 0, 0.0054), (0.009, 0, 0.0054)]
+                    uniform token purpose = "guide"
+                    uniform token type = "linear"
+                    uniform token wrap = "nonperiodic"
+                  }
+        }
+        over "Nut_M16" (
+            prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"]
+        )
+        {
+            bool physics:rigidBodyEnabled = 1
+            bool physics:kinematicEnabled = 0
+            bool physics:startsAsleep = 0
+            float physics:mass = 0.03779146789782037
+            point3f physics:centerOfMass = (0.000001868, 0.00000575, 0.0074)
+            float3 physics:diagonalInertia = (0.000004000963, 0.000002659494, 0.000002659279)
+            quatf physics:principalAxes = (0.41581976, -0.57217666, -0.41546824, -0.57192127)
+            def Xform "Colliders"
+            {
+                def Mesh "hex_000" (
+                    prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI", "MaterialBindingAPI"]
+                )
+                {
+                    uniform token purpose = "guide"
+                    uniform token physics:approximation = "convexHull"
+                    uniform token subdivisionScheme = "none"
+                    float3[] extent = [(0.006873, -0.006928203, 0), (0.012, 0.006928203, 0.0148)]
+                    int[] faceVertexCounts = [3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3]
+                    int[] faceVertexIndices = [4, 1, 0, 0, 1, 3, 0, 3, 2, 6, 0, 2, 3, 6, 2, 1, 7, 3, 6, 4, 0, 1, 4, 5, 7, 1, 5, 4, 7, 5, 4, 6, 7, 6, 3, 7]
+                    normal3f[] normals = [(-0.5, -0.866025, 0), (-1, 0, 0), (-1, 0, 0), (0, 0, -1), (-0.5, 0.866025, 0), (0, 0, 1), (0, 0, -1), (-0.5, -0.866025, 0), (0, 0, 1), (1, 0, 0), (1, 0, 0), (-0.5, 0.866025, 0)] (interpolation = "uniform")
+                    point3f[] points = [(0.006873, -0.003968128, 0), (0.006873, -0.003968128, 0.0148), (0.006873, 0.003968128, 0), (0.006873, 0.003968128, 0.0148), (0.012, -0.006928203, 0), (0.012, -0.006928203, 0.0148), (0.012, 0.006928203, 0), (0.012, 0.006928203, 0.0148)]
+                    rel material:binding:physics = </Model/Physics/Materials/steel>
+                }
+
+                def Mesh "hex_001" (
+                    prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI", "MaterialBindingAPI"]
+                )
+                {
+                    uniform token purpose = "guide"
+                    uniform token physics:approximation = "convexHull"
+                    uniform token subdivisionScheme = "none"
+                    float3[] extent = [(0, 0.003968128, 0), (0.012, 0.013856406, 0.0148)]
+                    int[] faceVertexCounts = [3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3]
+                    int[] faceVertexIndices = [2, 4, 0, 6, 0, 4, 0, 6, 1, 6, 3, 1, 3, 2, 0, 5, 2, 3, 3, 0, 1, 2, 5, 4, 4, 5, 7, 6, 4, 7, 7, 3, 6, 5, 3, 7]
+                    normal3f[] normals = [(0, 0, -1), (-0.5, -0.866025, 0), (-0.5, -0.866025, 0), (0, 0, 1), (-1, 0, 0), (0.5, 0.866025, 0), (-1, 0, 0), (0, 0, -1), (0.5, -0.866025, 0), (0.5, -0.866025, 0), (0, 0, 1), (0.5, 0.866025, 0)] (interpolation = "uniform")
+                    point3f[] points = [(0, 0.007936257, 0), (0, 0.007936257, 0.0148), (0, 0.013856406, 0), (0, 0.013856406, 0.0148), (0.006873, 0.003968128, 0), (0.012, 0.006928203, 0), (0.006873, 0.003968128, 0.0148), (0.012, 0.006928203, 0.0148)]
+                    rel material:binding:physics = </Model/Physics/Materials/steel>
+                }
+
+                def Mesh "hex_002" (
+                    prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI", "MaterialBindingAPI"]
+                )
+                {
+                    uniform token purpose = "guide"
+                    uniform token physics:approximation = "convexHull"
+                    uniform token subdivisionScheme = "none"
+                    float3[] extent = [(-0.012, 0.003968128, 0), (0, 0.013856406, 0.0148)]
+                    int[] faceVertexCounts = [3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3]
+                    int[] faceVertexIndices = [2, 0, 1, 0, 4, 1, 2, 1, 3, 5, 2, 3, 7, 0, 2, 1, 4, 5, 1, 5, 3, 0, 6, 4, 6, 0, 7, 6, 5, 4, 5, 7, 2, 5, 6, 7]
+                    normal3f[] normals = [(-0.5, -0.866025, 0), (0, 0, -1), (-0.5, -0.866025, 0), (0, 0, 1), (-0.5, 0.866025, 0), (0.5, -0.866025, 0), (0.5, -0.866025, 0), (0, 0, -1), (-0.5, 0.866025, 0), (1, 0, 0), (0, 0, 1), (1, 0, 0)] (interpolation = "uniform")
+                    point3f[] points = [(-0.012, 0.006928203, 0), (-0.006873, 0.003968128, 0), (-0.012, 0.006928203, 0.0148), (-0.006873, 0.003968128, 0.0148), (0, 0.007936257, 0), (0, 0.007936257, 0.0148), (0, 0.013856406, 0), (0, 0.013856406, 0.0148)]
+                    rel material:binding:physics = </Model/Physics/Materials/steel>
+                }
+
+                def Mesh "hex_003" (
+                    prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI", "MaterialBindingAPI"]
+                )
+                {
+                    uniform token purpose = "guide"
+                    uniform token physics:approximation = "convexHull"
+                    uniform token subdivisionScheme = "none"
+                    float3[] extent = [(-0.012, -0.006928203, 0), (-0.006873, 0.006928203, 0.0148)]
+                    int[] faceVertexCounts = [3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3]
+                    int[] faceVertexIndices = [0, 1, 3, 1, 0, 5, 2, 0, 3, 0, 2, 6, 2, 3, 6, 7, 3, 1, 5, 0, 4, 0, 6, 4, 6, 5, 4, 7, 1, 5, 6, 3, 7, 6, 7, 5]
+                    normal3f[] normals = [(-1, 0, 0), (0.5, -0.866025, 0), (-1, 0, 0), (0, 0, -1), (0.5, 0.866025, 0), (0, 0, 1), (0.5, -0.866025, 0), (0, 0, -1), (1, 0, 0), (0, 0, 1), (0.5, 0.866025, 0), (1, 0, 0)] (interpolation = "uniform")
+                    point3f[] points = [(-0.012, -0.006928203, 0), (-0.012, -0.006928203, 0.0148), (-0.012, 0.006928203, 0), (-0.012, 0.006928203, 0.0148), (-0.006873, -0.003968128, 0), (-0.006873, -0.003968128, 0.0148), (-0.006873, 0.003968128, 0), (-0.006873, 0.003968128, 0.0148)]
+                    rel material:binding:physics = </Model/Physics/Materials/steel>
+                }
+
+                def Mesh "hex_004" (
+                    prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI", "MaterialBindingAPI"]
+                )
+                {
+                    uniform token purpose = "guide"
+                    uniform token physics:approximation = "convexHull"
+                    uniform token subdivisionScheme = "none"
+                    float3[] extent = [(-0.012, -0.013856406, 0), (0, -0.003968128, 0.0148)]
+                    int[] faceVertexCounts = [3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3]
+                    int[] faceVertexIndices = [0, 5, 2, 1, 0, 2, 4, 0, 1, 2, 5, 3, 3, 1, 2, 0, 4, 5, 5, 4, 6, 5, 6, 7, 3, 6, 1, 4, 1, 6, 6, 3, 7, 3, 5, 7]
+                    normal3f[] normals = [(-0.5, -0.866025, 0), (-0.5, 0.866025, 0), (0, 0, -1), (0, 0, 1), (-0.5, 0.866025, 0), (-0.5, -0.866025, 0), (1, 0, 0), (1, 0, 0), (0.5, 0.866025, 0), (0, 0, -1), (0.5, 0.866025, 0), (0, 0, 1)] (interpolation = "uniform")
+                    point3f[] points = [(-0.012, -0.006928203, 0), (-0.006873, -0.003968128, 0), (-0.012, -0.006928203, 0.0148), (-0.006873, -0.003968128, 0.0148), (0, -0.013856406, 0), (0, -0.013856406, 0.0148), (0, -0.007936257, 0), (0, -0.007936257, 0.0148)]
+                    rel material:binding:physics = </Model/Physics/Materials/steel>
+                }
+
+                def Mesh "hex_005" (
+                    prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI", "MaterialBindingAPI"]
+                )
+                {
+                    uniform token purpose = "guide"
+                    uniform token physics:approximation = "convexHull"
+                    uniform token subdivisionScheme = "none"
+                    float3[] extent = [(0, -0.013856406, 0), (0.012, -0.003968128, 0.0148)]
+                    int[] faceVertexCounts = [3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3]
+                    int[] faceVertexIndices = [2, 0, 1, 5, 0, 2, 3, 2, 1, 0, 7, 1, 1, 7, 3, 3, 4, 2, 4, 3, 6, 0, 5, 7, 5, 2, 4, 7, 5, 4, 7, 4, 6, 3, 7, 6]
+                    normal3f[] normals = [(-1, 0, 0), (0, 0, -1), (-1, 0, 0), (0.5, -0.866025, 0), (0, 0, 1), (-0.5, 0.866025, 0), (-0.5, 0.866025, 0), (0.5, -0.866025, 0), (0, 0, -1), (0.5, 0.866025, 0), (0.5, 0.866025, 0), (0, 0, 1)] (interpolation = "uniform")
+                    point3f[] points = [(0, -0.013856406, 0), (0, -0.013856406, 0.0148), (0, -0.007936257, 0), (0, -0.007936257, 0.0148), (0.006873, -0.003968128, 0), (0.012, -0.006928203, 0), (0.006873, -0.003968128, 0.0148), (0.012, -0.006928203, 0.0148)]
+                    rel material:binding:physics = </Model/Physics/Materials/steel>
+                }
+            }
+                  def BasisCurves "grasp_identifier_01"
+                  {
+                    int[] curveVertexCounts = [2]
+                    float3[] extent = [(-0.012, 0, 0.0074), (0.012, 0, 0.0074)]
+                    point3f[] points = [(-0.012, 0, 0.0074), (0.012, 0, 0.0074)]
+                    uniform token purpose = "guide"
+                    uniform token type = "linear"
+                    uniform token wrap = "nonperiodic"
+                  }
+        }
+        over "Nut_M20" (
+            prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"]
+        )
+        {
+            bool physics:rigidBodyEnabled = 1
+            bool physics:kinematicEnabled = 0
+            bool physics:startsAsleep = 0
+            float physics:mass = 0.07161136829209752
+            point3f physics:centerOfMass = (0.000008345, 0, 0.009)
+            float3 physics:diagonalInertia = (0.000011811682, 0.000007736319, 0.000007735329)
+            quatf physics:principalAxes = (0.70710678, -0.00007492, -0.70710678, 0.00007468)
+            def Xform "Colliders"
+            {
+                def Mesh "hex_000" (
+                    prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI", "MaterialBindingAPI"]
+                )
+                {
+                    uniform token purpose = "guide"
+                    uniform token physics:approximation = "convexHull"
+                    uniform token subdivisionScheme = "none"
+                    float3[] extent = [(0.0085665, -0.008660254, 0), (0.015, 0.008660254, 0.018)]
+                    int[] faceVertexCounts = [3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3]
+                    int[] faceVertexIndices = [1, 2, 0, 4, 1, 0, 6, 0, 2, 2, 1, 3, 1, 7, 3, 7, 2, 3, 6, 4, 0, 1, 4, 5, 7, 1, 5, 4, 7, 5, 7, 6, 2, 4, 6, 7]
+                    normal3f[] normals = [(-1, 0, 0), (-0.5, -0.866025, 0), (0, 0, -1), (-1, 0, 0), (0, 0, 1), (-0.5, 0.866025, 0), (0, 0, -1), (-0.5, -0.866025, 0), (0, 0, 1), (1, 0, 0), (-0.5, 0.866025, 0), (1, 0, 0)] (interpolation = "uniform")
+                    point3f[] points = [(0.0085665, -0.004945871, 0), (0.0085665, -0.004945871, 0.018), (0.0085665, 0.004945871, 0), (0.0085665, 0.004945871, 0.018), (0.015, -0.008660254, 0), (0.015, -0.008660254, 0.018), (0.015, 0.008660254, 0), (0.015, 0.008660254, 0.018)]
+                    rel material:binding:physics = </Model/Physics/Materials/steel>
+                }
+
+                def Mesh "hex_001" (
+                    prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI", "MaterialBindingAPI"]
+                )
+                {
+                    uniform token purpose = "guide"
+                    uniform token physics:approximation = "convexHull"
+                    uniform token subdivisionScheme = "none"
+                    float3[] extent = [(0, 0.004945871, 0), (0.015, 0.017320509, 0.018)]
+                    int[] faceVertexCounts = [3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3]
+                    int[] faceVertexIndices = [6, 0, 4, 0, 6, 1, 6, 3, 1, 3, 2, 0, 2, 5, 0, 3, 0, 1, 2, 3, 7, 0, 5, 4, 5, 6, 4, 7, 3, 6, 6, 5, 7, 5, 2, 7]
+                    normal3f[] normals = [(-0.5, -0.866025, 0), (-0.5, -0.866025, 0), (0, 0, 1), (-1, 0, 0), (0, 0, -1), (-1, 0, 0), (0.5, 0.866025, 0), (0, 0, -1), (0.5, -0.866025, 0), (0, 0, 1), (0.5, -0.866025, 0), (0.5, 0.866025, 0)] (interpolation = "uniform")
+                    point3f[] points = [(0, 0.009891742, 0), (0, 0.009891742, 0.018), (0, 0.017320509, 0), (0, 0.017320509, 0.018), (0.0085665, 0.004945871, 0), (0.015, 0.008660254, 0), (0.0085665, 0.004945871, 0.018), (0.015, 0.008660254, 0.018)]
+                    rel material:binding:physics = </Model/Physics/Materials/steel>
+                }
+
+                def Mesh "hex_002" (
+                    prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI", "MaterialBindingAPI"]
+                )
+                {
+                    uniform token purpose = "guide"
+                    uniform token physics:approximation = "convexHull"
+                    uniform token subdivisionScheme = "none"
+                    float3[] extent = [(-0.015, 0.004945871, 0), (0, 0.017320509, 0.018)]
+                    int[] faceVertexCounts = [3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3]
+                    int[] faceVertexIndices = [2, 0, 1, 0, 4, 1, 2, 1, 3, 5, 2, 3, 6, 0, 2, 5, 1, 4, 1, 5, 3, 0, 6, 4, 6, 5, 4, 2, 5, 7, 6, 2, 7, 5, 6, 7]
+                    normal3f[] normals = [(-0.5, -0.866025, 0), (0, 0, -1), (-0.5, -0.866025, 0), (0, 0, 1), (-0.5, 0.866025, 0), (0.5, -0.866025, 0), (0.5, -0.866025, 0), (0, 0, -1), (1, 0, 0), (0, 0, 1), (-0.5, 0.866025, 0), (1, 0, 0)] (interpolation = "uniform")
+                    point3f[] points = [(-0.015, 0.008660254, 0), (-0.0085665, 0.004945871, 0), (-0.015, 0.008660254, 0.018), (-0.0085665, 0.004945871, 0.018), (0, 0.009891742, 0), (0, 0.009891742, 0.018), (0, 0.017320509, 0), (0, 0.017320509, 0.018)]
+                    rel material:binding:physics = </Model/Physics/Materials/steel>
+                }
+
+                def Mesh "hex_003" (
+                    prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI", "MaterialBindingAPI"]
+                )
+                {
+                    uniform token purpose = "guide"
+                    uniform token physics:approximation = "convexHull"
+                    uniform token subdivisionScheme = "none"
+                    float3[] extent = [(-0.015, -0.008660254, 0), (-0.0085665, 0.008660254, 0.018)]
+                    int[] faceVertexCounts = [3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3]
+                    int[] faceVertexIndices = [2, 0, 1, 1, 0, 4, 0, 2, 4, 2, 1, 3, 1, 7, 3, 7, 2, 3, 1, 4, 5, 7, 1, 5, 4, 7, 5, 4, 2, 6, 2, 7, 6, 7, 4, 6]
+                    normal3f[] normals = [(-1, 0, 0), (0.5, -0.866025, 0), (0, 0, -1), (-1, 0, 0), (0, 0, 1), (0.5, 0.866025, 0), (0.5, -0.866025, 0), (0, 0, 1), (1, 0, 0), (0, 0, -1), (0.5, 0.866025, 0), (1, 0, 0)] (interpolation = "uniform")
+                    point3f[] points = [(-0.015, -0.008660254, 0), (-0.015, -0.008660254, 0.018), (-0.015, 0.008660254, 0), (-0.015, 0.008660254, 0.018), (-0.0085665, -0.004945871, 0), (-0.0085665, -0.004945871, 0.018), (-0.0085665, 0.004945871, 0), (-0.0085665, 0.004945871, 0.018)]
+                    rel material:binding:physics = </Model/Physics/Materials/steel>
+                }
+
+                def Mesh "hex_004" (
+                    prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI", "MaterialBindingAPI"]
+                )
+                {
+                    uniform token purpose = "guide"
+                    uniform token physics:approximation = "convexHull"
+                    uniform token subdivisionScheme = "none"
+                    float3[] extent = [(-0.015, -0.017320509, 0), (0, -0.004945871, 0.018)]
+                    int[] faceVertexCounts = [3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3]
+                    int[] faceVertexIndices = [0, 5, 2, 6, 0, 1, 0, 3, 1, 3, 0, 2, 5, 3, 2, 5, 0, 4, 4, 0, 6, 4, 6, 5, 5, 6, 7, 3, 6, 1, 6, 3, 7, 3, 5, 7]
+                    normal3f[] normals = [(-0.5, -0.866025, 0), (0, 0, -1), (-0.5, 0.866025, 0), (-0.5, 0.866025, 0), (0, 0, 1), (-0.5, -0.866025, 0), (0, 0, -1), (1, 0, 0), (1, 0, 0), (0.5, 0.866025, 0), (0.5, 0.866025, 0), (0, 0, 1)] (interpolation = "uniform")
+                    point3f[] points = [(-0.015, -0.008660254, 0), (-0.0085665, -0.004945871, 0), (-0.015, -0.008660254, 0.018), (-0.0085665, -0.004945871, 0.018), (0, -0.017320509, 0), (0, -0.017320509, 0.018), (0, -0.009891742, 0), (0, -0.009891742, 0.018)]
+                    rel material:binding:physics = </Model/Physics/Materials/steel>
+                }
+
+                def Mesh "hex_005" (
+                    prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI", "MaterialBindingAPI"]
+                )
+                {
+                    uniform token purpose = "guide"
+                    uniform token physics:approximation = "convexHull"
+                    uniform token subdivisionScheme = "none"
+                    float3[] extent = [(0, -0.017320509, 0), (0.015, -0.004945871, 0.018)]
+                    int[] faceVertexCounts = [3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3]
+                    int[] faceVertexIndices = [0, 3, 2, 5, 0, 2, 3, 0, 1, 0, 7, 1, 7, 3, 1, 3, 4, 2, 4, 3, 6, 0, 5, 7, 5, 2, 4, 7, 5, 4, 7, 4, 6, 3, 7, 6]
+                    normal3f[] normals = [(-1, 0, 0), (0, 0, -1), (-1, 0, 0), (0.5, -0.866025, 0), (0, 0, 1), (-0.5, 0.866025, 0), (-0.5, 0.866025, 0), (0.5, -0.866025, 0), (0, 0, -1), (0.5, 0.866025, 0), (0.5, 0.866025, 0), (0, 0, 1)] (interpolation = "uniform")
+                    point3f[] points = [(0, -0.017320509, 0), (0, -0.017320509, 0.018), (0, -0.009891742, 0), (0, -0.009891742, 0.018), (0.0085665, -0.004945871, 0), (0.015, -0.008660254, 0), (0.0085665, -0.004945871, 0.018), (0.015, -0.008660254, 0.018)]
+                    rel material:binding:physics = </Model/Physics/Materials/steel>
+                }
+            }
+                  def BasisCurves "grasp_identifier_01"
+                  {
+                    int[] curveVertexCounts = [2]
+                    float3[] extent = [(-0.015, 0, 0.009), (0.015, 0, 0.009)]
+                    point3f[] points = [(-0.015, 0, 0.009), (0.015, 0, 0.009)]
+                    uniform token purpose = "guide"
+                    uniform token type = "linear"
+                    uniform token wrap = "nonperiodic"
+                  }
+        }
+    }
+}

assembly_task_board_v06/simready_usd/materials/forgecad_glass.mdl

@@ -0,0 +1,25 @@
+mdl 1.4;
+
+import ::df::*;
+
+// ForgeCAD glass: a clear or tinted dielectric that reflects and refracts.
+// clarity is the see-through share; the rest is a diffuse surface of the same tint.
+export material forgecad_glass(
+    color tint = color(1.0),
+    float roughness = 0.0,
+    uniform float ior = 1.5,
+    float clarity = 1.0
+) = material(
+    ior: color(ior),
+    surface: material_surface(
+        scattering: df::weighted_layer(
+            weight: clarity,
+            layer: df::simple_glossy_bsdf(
+                roughness_u: roughness * roughness,
+                tint: tint,
+                mode: df::scatter_reflect_transmit
+            ),
+            base: df::diffuse_reflection_bsdf(tint: tint)
+        )
+    )
+);