Add SimReady package: bookshelf_with_books_v05

.gitattributes

@@ -210,3 +210,4 @@ bookshelf_with_books_v01/simready_usd/forgecad/geometry.usda filter=lfs diff=lfs
 bookshelf_with_books_v02/simready_usd/forgecad/geometry.usda filter=lfs diff=lfs merge=lfs -text
 bookshelf_with_books_v03/simready_usd/forgecad/geometry.usda filter=lfs diff=lfs merge=lfs -text
 bookshelf_with_books_v04/simready_usd/forgecad/geometry.usda filter=lfs diff=lfs merge=lfs -text
+bookshelf_with_books_v05/simready_usd/forgecad/geometry.usda filter=lfs diff=lfs merge=lfs -text

bookshelf_with_books_v05/.metadata/bookshelf_with_books_v05_benchmark.json

@@ -0,0 +1,2711 @@
+{
+  "schema_version": "1.0",
+  "asset": "bookshelf_with_books_v05",
+  "run_timestamp": "2026-10-18T06:56:09Z",
+  "passed": false,
+  "results": [
+    {
+      "test_name": "culling_xz",
+      "engine": "isaac_sim",
+      "engine_version": "6.1.0.0",
+      "status": "pass",
+      "passed": true,
+      "duration": 17.434,
+      "message": "",
+      "metrics": {
+        "_timing_capture_frame_total_s": {
+          "value": 2.947,
+          "unit": null
+        },
+        "_timing_capture_frame_count": {
+          "value": 16,
+          "unit": null
+        },
+        "_timing_capture_frame_avg_ms": {
+          "value": 184.2,
+          "unit": null
+        },
+        "_timing_encode_video_total_s": {
+          "value": 1.156,
+          "unit": null
+        },
+        "_timing_encode_video_count": {
+          "value": 2,
+          "unit": null
+        },
+        "_render_blank_retry_count": {
+          "value": 0,
+          "unit": null
+        },
+        "_render_blank_retry_unrecovered": {
+          "value": 0,
+          "unit": null
+        },
+        "culling_xz_max_diff": {
+          "value": 0.0,
+          "unit": null
+        },
+        "culling_xz_mean_diff": {
+          "value": 0.0,
+          "unit": null
+        },
+        "culling_xz_worst_angle": {
+          "value": 0.0,
+          "unit": null
+        },
+        "culling_xz_passed": {
+          "value": 1,
+          "unit": null
+        }
+      },
+      "kit_logs": [
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]: Traceback (most recent call last):"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:   File \"<home>/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/impl/texture.py\", line 377, in on_drawable_changed"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     self.__drawable_changed_fn(texture[\"rp_resource\"], presentation_key)"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:   File \"<home>/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/widget.py\", line 516, in __set_image_data"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     vp_api._sync_viewport_api(camera, canvas_size, vp_api.time, view, projection, force_update=True)  # noqa PLW0212"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:   File \"<home>/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 546, in _sync_viewport_api"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     self.__projection = self._conform_projection(policy, camera, image_aspect, canvas_aspect, projection)"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:                         ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:   File \"<home>/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     gf_camera = camera.GetCamera(self.__time)"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:                 ^^^^^^^^^^^^^^^^"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'"
+        }
+      ]
+    },
+    {
+      "test_name": "culling_xz",
+      "engine": "isaac_sim_newton",
+      "engine_version": "6.1.0.0",
+      "status": "pass",
+      "passed": true,
+      "duration": 14.524,
+      "message": "",
+      "metrics": {
+        "_timing_capture_frame_total_s": {
+          "value": 2.534,
+          "unit": null
+        },
+        "_timing_capture_frame_count": {
+          "value": 16,
+          "unit": null
+        },
+        "_timing_capture_frame_avg_ms": {
+          "value": 158.35,
+          "unit": null
+        },
+        "_timing_encode_video_total_s": {
+          "value": 1.17,
+          "unit": null
+        },
+        "_timing_encode_video_count": {
+          "value": 2,
+          "unit": null
+        },
+        "_render_blank_retry_count": {
+          "value": 0,
+          "unit": null
+        },
+        "_render_blank_retry_unrecovered": {
+          "value": 0,
+          "unit": null
+        },
+        "culling_xz_max_diff": {
+          "value": 0.0,
+          "unit": null
+        },
+        "culling_xz_mean_diff": {
+          "value": 0.0,
+          "unit": null
+        },
+        "culling_xz_worst_angle": {
+          "value": 0.0,
+          "unit": null
+        },
+        "culling_xz_passed": {
+          "value": 1,
+          "unit": null
+        }
+      },
+      "kit_logs": [
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]: Traceback (most recent call last):"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:   File \"<home>/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/impl/texture.py\", line 377, in on_drawable_changed"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     self.__drawable_changed_fn(texture[\"rp_resource\"], presentation_key)"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:   File \"<home>/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/widget.py\", line 516, in __set_image_data"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     vp_api._sync_viewport_api(camera, canvas_size, vp_api.time, view, projection, force_update=True)  # noqa PLW0212"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:   File \"<home>/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 546, in _sync_viewport_api"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     self.__projection = self._conform_projection(policy, camera, image_aspect, canvas_aspect, projection)"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:                         ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:   File \"<home>/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     gf_camera = camera.GetCamera(self.__time)"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:                 ^^^^^^^^^^^^^^^^"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'"
+        }
+      ]
+    },
+    {
+      "test_name": "display_color_response",
+      "engine": "isaac_sim",
+      "engine_version": "6.1.0.0",
+      "status": "pass",
+      "passed": true,
+      "duration": 19.182,
+      "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": 156,
+          "unit": null
+        },
+        "display_color_gprims_without_displaycolor": {
+          "value": 0,
+          "unit": null
+        },
+        "display_color_gprims_without_displayopacity": {
+          "value": 156,
+          "unit": null
+        },
+        "display_color_probe_bound_gprims": {
+          "value": 156,
+          "unit": null
+        },
+        "_timing_capture_frame_total_s": {
+          "value": 1.485,
+          "unit": null
+        },
+        "_timing_capture_frame_count": {
+          "value": 5,
+          "unit": null
+        },
+        "_timing_capture_frame_avg_ms": {
+          "value": 297.0,
+          "unit": null
+        },
+        "_timing_encode_video_total_s": {
+          "value": 0.542,
+          "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": 342637,
+          "unit": null
+        },
+        "display_color_whole_frame_delta_pixels": {
+          "value": 343168,
+          "unit": null
+        },
+        "display_color_read_mean_rgb": {
+          "value": [
+            0.2487,
+            0.2468,
+            0.2381
+          ],
+          "unit": null
+        },
+        "display_color_control_ratio": {
+          "value": 0.0,
+          "unit": null
+        },
+        "display_color_response_ratio": {
+          "value": 1.0,
+          "unit": null
+        },
+        "display_color_opacity_ratio": {
+          "value": 0.999997,
+          "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": 21.419,
+      "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": 156,
+          "unit": null
+        },
+        "display_color_gprims_without_displaycolor": {
+          "value": 0,
+          "unit": null
+        },
+        "display_color_gprims_without_displayopacity": {
+          "value": 156,
+          "unit": null
+        },
+        "display_color_probe_bound_gprims": {
+          "value": 156,
+          "unit": null
+        },
+        "_timing_capture_frame_total_s": {
+          "value": 2.086,
+          "unit": null
+        },
+        "_timing_capture_frame_count": {
+          "value": 5,
+          "unit": null
+        },
+        "_timing_capture_frame_avg_ms": {
+          "value": 417.25,
+          "unit": null
+        },
+        "_timing_encode_video_total_s": {
+          "value": 0.571,
+          "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": 342614,
+          "unit": null
+        },
+        "display_color_whole_frame_delta_pixels": {
+          "value": 343159,
+          "unit": null
+        },
+        "display_color_read_mean_rgb": {
+          "value": [
+            0.2486,
+            0.2467,
+            0.2379
+          ],
+          "unit": null
+        },
+        "display_color_control_ratio": {
+          "value": 3e-06,
+          "unit": null
+        },
+        "display_color_response_ratio": {
+          "value": 1.0,
+          "unit": null
+        },
+        "display_color_opacity_ratio": {
+          "value": 0.999994,
+          "unit": null
+        }
+      },
+      "kit_logs": [
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]: Traceback (most recent call last):"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:   File \"<home>/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/impl/texture.py\", line 377, in on_drawable_changed"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     self.__drawable_changed_fn(texture[\"rp_resource\"], presentation_key)"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:   File \"<home>/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/widget.py\", line 516, in __set_image_data"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     vp_api._sync_viewport_api(camera, canvas_size, vp_api.time, view, projection, force_update=True)  # noqa PLW0212"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:   File \"<home>/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 546, in _sync_viewport_api"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     self.__projection = self._conform_projection(policy, camera, image_aspect, canvas_aspect, projection)"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:                         ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:   File \"<home>/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     gf_camera = camera.GetCamera(self.__time)"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:                 ^^^^^^^^^^^^^^^^"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'"
+        }
+      ]
+    },
+    {
+      "test_name": "grasp_and_lift",
+      "engine": "isaac_sim",
+      "engine_version": "6.1.0.0",
+      "status": "skipped",
+      "passed": false,
+      "duration": 0.414,
+      "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": 0.523,
+      "message": "no grasp_identifier prims found on asset",
+      "metrics": {},
+      "kit_logs": []
+    },
+    {
+      "test_name": "ground_drop",
+      "engine": "isaac_sim",
+      "engine_version": "6.1.0.0",
+      "status": "pass",
+      "passed": true,
+      "duration": 88.609,
+      "message": "",
+      "metrics": {
+        "ground_drop_initial_z_min": {
+          "value": 1.2295,
+          "unit": null
+        },
+        "ground_drop_bbox_height": {
+          "value": 1.8505,
+          "unit": null
+        },
+        "ground_drop_effective_fall": {
+          "value": 1.1295,
+          "unit": null
+        },
+        "_timing_capture_frame_total_s": {
+          "value": 18.912,
+          "unit": null
+        },
+        "_timing_capture_frame_count": {
+          "value": 64,
+          "unit": null
+        },
+        "_timing_capture_frame_avg_ms": {
+          "value": 295.5,
+          "unit": null
+        },
+        "_timing_encode_video_total_s": {
+          "value": 2.035,
+          "unit": null
+        },
+        "_timing_encode_video_count": {
+          "value": 1,
+          "unit": null
+        },
+        "_render_blank_retry_count": {
+          "value": 0,
+          "unit": null
+        },
+        "_render_blank_retry_unrecovered": {
+          "value": 0,
+          "unit": null
+        },
+        "ground_drop_touched": {
+          "value": 1,
+          "unit": null
+        },
+        "ground_drop_penetrated": {
+          "value": 0,
+          "unit": null
+        },
+        "ground_drop_stable": {
+          "value": 1,
+          "unit": null
+        },
+        "ground_drop_passed": {
+          "value": 1,
+          "unit": null
+        },
+        "ground_drop_touch_time": {
+          "value": 0.579,
+          "unit": null
+        },
+        "ground_drop_rest_time": {
+          "value": 3.725,
+          "unit": null
+        }
+      },
+      "kit_logs": [
+        {
+          "level": "error",
+          "channel": "omni.physx.plugin",
+          "message": "Physics scenes stepping is not the same, step subscription will be send with later step, per scene step is not yet supported."
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]: Traceback (most recent call last):"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:   File \"<home>/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/impl/texture.py\", line 377, in on_drawable_changed"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     self.__drawable_changed_fn(texture[\"rp_resource\"], presentation_key)"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:   File \"<home>/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/widget.py\", line 516, in __set_image_data"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     vp_api._sync_viewport_api(camera, canvas_size, vp_api.time, view, projection, force_update=True)  # noqa PLW0212"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:   File \"<home>/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 546, in _sync_viewport_api"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     self.__projection = self._conform_projection(policy, camera, image_aspect, canvas_aspect, projection)"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:                         ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:   File \"<home>/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     gf_camera = camera.GetCamera(self.__time)"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:                 ^^^^^^^^^^^^^^^^"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'"
+        }
+      ]
+    },
+    {
+      "test_name": "ground_drop",
+      "engine": "isaac_sim_newton",
+      "engine_version": "",
+      "status": "fail",
+      "passed": false,
+      "duration": 92.164,
+      "message": "Engine session kit_805864_3 crashed before the test could complete (retries exhausted). Cause: Newton generated 1359 contacts but MJWarp allocated 1316. Adaptive recovery could not be scheduled (adaptive retry unavailable or exhausted); this is a blocking runtime error, not an asset verdict.",
+      "metrics": {},
+      "kit_logs": []
+    },
+    {
+      "test_name": "joint_movement",
+      "engine": "isaac_sim",
+      "engine_version": "6.1.0.0",
+      "status": "pass",
+      "passed": true,
+      "duration": 129.79,
+      "message": "",
+      "metrics": {
+        "_timing_capture_frame_total_s": {
+          "value": 37.773,
+          "unit": null
+        },
+        "_timing_capture_frame_count": {
+          "value": 45,
+          "unit": null
+        },
+        "_timing_capture_frame_avg_ms": {
+          "value": 839.41,
+          "unit": null
+        },
+        "_timing_encode_video_total_s": {
+          "value": 1.526,
+          "unit": null
+        },
+        "_timing_encode_video_count": {
+          "value": 1,
+          "unit": null
+        },
+        "_render_blank_retry_count": {
+          "value": 9,
+          "unit": null
+        },
+        "_render_blank_retry_unrecovered": {
+          "value": 9,
+          "unit": null
+        },
+        "_render_blank_retry[joint_movement_001.png]": {
+          "value": "attempts=6 recovered=False",
+          "unit": null
+        },
+        "_render_blank_retry[joint_movement_002.png]": {
+          "value": "attempts=6 recovered=False",
+          "unit": null
+        },
+        "_render_blank_retry[joint_movement_003.png]": {
+          "value": "attempts=6 recovered=False",
+          "unit": null
+        },
+        "_render_blank_retry[joint_movement_004.png]": {
+          "value": "attempts=6 recovered=False",
+          "unit": null
+        },
+        "_render_blank_retry[joint_movement_005.png]": {
+          "value": "attempts=6 recovered=False",
+          "unit": null
+        },
+        "_render_blank_retry[joint_movement_006.png]": {
+          "value": "attempts=6 recovered=False",
+          "unit": null
+        },
+        "_render_blank_retry[joint_movement_007.png]": {
+          "value": "attempts=6 recovered=False",
+          "unit": null
+        },
+        "_render_blank_retry[joint_movement_008.png]": {
+          "value": "attempts=6 recovered=False",
+          "unit": null
+        },
+        "_render_blank_retry[joint_movement_009.png]": {
+          "value": "attempts=6 recovered=False",
+          "unit": null
+        },
+        "jm_joint_cover_hinge_rot_deg": {
+          "value": 179.968,
+          "unit": null
+        },
+        "jm_joint_cover_hinge_trans_pct": {
+          "value": 34289.42,
+          "unit": null
+        },
+        "jm_joint_cover_hinge_bbox_m": {
+          "value": 0.2788,
+          "unit": null
+        },
+        "jm_joint_cover_hinge_pct_of_travel": {
+          "value": 100.0,
+          "unit": null
+        },
+        "jm_joints_total": {
+          "value": 1,
+          "unit": null
+        },
+        "jm_joints_passed": {
+          "value": 1,
+          "unit": null
+        },
+        "jm_joints_failed": {
+          "value": 0,
+          "unit": null
+        },
+        "jm_joint_cover_hinge_status": {
+          "value": "passed",
+          "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": "joint_movement",
+      "engine": "isaac_sim_newton",
+      "engine_version": "6.1.0.0",
+      "status": "pass",
+      "passed": true,
+      "duration": 103.531,
+      "message": "",
+      "metrics": {
+        "_timing_capture_frame_total_s": {
+          "value": 15.332,
+          "unit": null
+        },
+        "_timing_capture_frame_count": {
+          "value": 45,
+          "unit": null
+        },
+        "_timing_capture_frame_avg_ms": {
+          "value": 340.71,
+          "unit": null
+        },
+        "_timing_encode_video_total_s": {
+          "value": 2.154,
+          "unit": null
+        },
+        "_timing_encode_video_count": {
+          "value": 1,
+          "unit": null
+        },
+        "_render_blank_retry_count": {
+          "value": 0,
+          "unit": null
+        },
+        "_render_blank_retry_unrecovered": {
+          "value": 0,
+          "unit": null
+        },
+        "jm_joint_cover_hinge_rot_deg": {
+          "value": 177.03,
+          "unit": null
+        },
+        "jm_joint_cover_hinge_trans_pct": {
+          "value": 31357.5,
+          "unit": null
+        },
+        "jm_joint_cover_hinge_bbox_m": {
+          "value": 0.2786,
+          "unit": null
+        },
+        "jm_joint_cover_hinge_pct_of_travel": {
+          "value": 98.4,
+          "unit": null
+        },
+        "jm_joints_total": {
+          "value": 1,
+          "unit": null
+        },
+        "jm_joints_passed": {
+          "value": 1,
+          "unit": null
+        },
+        "jm_joints_failed": {
+          "value": 0,
+          "unit": null
+        },
+        "jm_joint_cover_hinge_status": {
+          "value": "passed",
+          "unit": null
+        }
+      },
+      "kit_logs": [
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]: <home>/exts/isaacsim.pip.newton/pip_prebundle/newton/_src/solvers/mujoco/solver_mujoco.py:3759: UserWarning: [WARNING] Value for nconmax is changed from 200 to 1316 following an MjWarp requirement.\n  self._convert_to_mjc("
+        }
+      ]
+    },
+    {
+      "test_name": "light_response",
+      "engine": "isaac_sim",
+      "engine_version": "6.1.0.0",
+      "status": "pass",
+      "passed": true,
+      "duration": 19.347,
+      "message": "",
+      "metrics": {
+        "_timing_capture_frame_total_s": {
+          "value": 9.743,
+          "unit": null
+        },
+        "_timing_capture_frame_count": {
+          "value": 30,
+          "unit": null
+        },
+        "_timing_capture_frame_avg_ms": {
+          "value": 324.77,
+          "unit": null
+        },
+        "_timing_encode_video_total_s": {
+          "value": 1.047,
+          "unit": null
+        },
+        "_timing_encode_video_count": {
+          "value": 1,
+          "unit": null
+        },
+        "_render_blank_retry_count": {
+          "value": 0,
+          "unit": null
+        },
+        "_render_blank_retry_unrecovered": {
+          "value": 0,
+          "unit": null
+        },
+        "light_response_variation_ratio": {
+          "value": 0.413793,
+          "unit": null
+        },
+        "light_response_blank_ratio": {
+          "value": 0.0,
+          "unit": null
+        },
+        "light_response_blank_frames": {
+          "value": 0,
+          "unit": null
+        },
+        "light_response_total_frames": {
+          "value": 30,
+          "unit": null
+        },
+        "light_response_total_pairs": {
+          "value": 29,
+          "unit": null
+        },
+        "light_response_different_pairs": {
+          "value": 12,
+          "unit": null
+        },
+        "light_response_passed": {
+          "value": 1,
+          "unit": null
+        },
+        "light_response_max_pair_change": {
+          "value": 0.794174,
+          "unit": null
+        },
+        "light_response_min_pair_change": {
+          "value": 0.000824,
+          "unit": null
+        }
+      },
+      "kit_logs": [
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]: Traceback (most recent call last):"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:   File \"<home>/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/impl/texture.py\", line 377, in on_drawable_changed"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     self.__drawable_changed_fn(texture[\"rp_resource\"], presentation_key)"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:   File \"<home>/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/widget.py\", line 516, in __set_image_data"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     vp_api._sync_viewport_api(camera, canvas_size, vp_api.time, view, projection, force_update=True)  # noqa PLW0212"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:   File \"<home>/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 546, in _sync_viewport_api"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     self.__projection = self._conform_projection(policy, camera, image_aspect, canvas_aspect, projection)"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:                         ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:   File \"<home>/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     gf_camera = camera.GetCamera(self.__time)"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:                 ^^^^^^^^^^^^^^^^"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'"
+        }
+      ]
+    },
+    {
+      "test_name": "light_response",
+      "engine": "isaac_sim_newton",
+      "engine_version": "6.1.0.0",
+      "status": "pass",
+      "passed": true,
+      "duration": 19.866,
+      "message": "",
+      "metrics": {
+        "_timing_capture_frame_total_s": {
+          "value": 7.413,
+          "unit": null
+        },
+        "_timing_capture_frame_count": {
+          "value": 30,
+          "unit": null
+        },
+        "_timing_capture_frame_avg_ms": {
+          "value": 247.12,
+          "unit": null
+        },
+        "_timing_encode_video_total_s": {
+          "value": 1.108,
+          "unit": null
+        },
+        "_timing_encode_video_count": {
+          "value": 1,
+          "unit": null
+        },
+        "_render_blank_retry_count": {
+          "value": 0,
+          "unit": null
+        },
+        "_render_blank_retry_unrecovered": {
+          "value": 0,
+          "unit": null
+        },
+        "light_response_variation_ratio": {
+          "value": 0.413793,
+          "unit": null
+        },
+        "light_response_blank_ratio": {
+          "value": 0.0,
+          "unit": null
+        },
+        "light_response_blank_frames": {
+          "value": 0,
+          "unit": null
+        },
+        "light_response_total_frames": {
+          "value": 30,
+          "unit": null
+        },
+        "light_response_total_pairs": {
+          "value": 29,
+          "unit": null
+        },
+        "light_response_different_pairs": {
+          "value": 12,
+          "unit": null
+        },
+        "light_response_passed": {
+          "value": 1,
+          "unit": null
+        },
+        "light_response_max_pair_change": {
+          "value": 0.794766,
+          "unit": null
+        },
+        "light_response_min_pair_change": {
+          "value": 0.000857,
+          "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": 7.706,
+      "message": "",
+      "metrics": {
+        "_timing_capture_frame_total_s": {
+          "value": 1.224,
+          "unit": null
+        },
+        "_timing_capture_frame_count": {
+          "value": 8,
+          "unit": null
+        },
+        "_timing_capture_frame_avg_ms": {
+          "value": 152.95,
+          "unit": null
+        },
+        "_timing_encode_video_total_s": {
+          "value": 0.477,
+          "unit": null
+        },
+        "_timing_encode_video_count": {
+          "value": 1,
+          "unit": null
+        },
+        "_render_blank_retry_count": {
+          "value": 0,
+          "unit": null
+        },
+        "_render_blank_retry_unrecovered": {
+          "value": 0,
+          "unit": null
+        },
+        "normals_xz_avg_dark": {
+          "value": 0.002859,
+          "unit": null
+        },
+        "normals_xz_max_dark": {
+          "value": 0.018601,
+          "unit": null
+        },
+        "normals_xz_problem_frames": {
+          "value": 0,
+          "unit": null
+        },
+        "normals_xz_passed": {
+          "value": 1,
+          "unit": null
+        }
+      },
+      "kit_logs": []
+    },
+    {
+      "test_name": "normals_xz",
+      "engine": "isaac_sim_newton",
+      "engine_version": "6.1.0.0",
+      "status": "pass",
+      "passed": true,
+      "duration": 7.31,
+      "message": "",
+      "metrics": {
+        "_timing_capture_frame_total_s": {
+          "value": 1.01,
+          "unit": null
+        },
+        "_timing_capture_frame_count": {
+          "value": 8,
+          "unit": null
+        },
+        "_timing_capture_frame_avg_ms": {
+          "value": 126.28,
+          "unit": null
+        },
+        "_timing_encode_video_total_s": {
+          "value": 0.475,
+          "unit": null
+        },
+        "_timing_encode_video_count": {
+          "value": 1,
+          "unit": null
+        },
+        "_render_blank_retry_count": {
+          "value": 0,
+          "unit": null
+        },
+        "_render_blank_retry_unrecovered": {
+          "value": 0,
+          "unit": null
+        },
+        "normals_xz_avg_dark": {
+          "value": 0.002717,
+          "unit": null
+        },
+        "normals_xz_max_dark": {
+          "value": 0.017549,
+          "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": 20.04,
+      "message": "",
+      "metrics": {
+        "_timing_capture_frame_total_s": {
+          "value": 5.238,
+          "unit": null
+        },
+        "_timing_capture_frame_count": {
+          "value": 20,
+          "unit": null
+        },
+        "_timing_capture_frame_avg_ms": {
+          "value": 261.88,
+          "unit": null
+        },
+        "_timing_encode_video_total_s": {
+          "value": 1.179,
+          "unit": null
+        },
+        "_timing_encode_video_count": {
+          "value": 2,
+          "unit": null
+        },
+        "_render_blank_retry_count": {
+          "value": 0,
+          "unit": null
+        },
+        "_render_blank_retry_unrecovered": {
+          "value": 0,
+          "unit": null
+        },
+        "pivot_score": {
+          "value": 0.9,
+          "unit": null
+        },
+        "pivot_pivot_height_pct": {
+          "value": 0.0,
+          "unit": null
+        },
+        "pivot_pivot_at_base": {
+          "value": 1,
+          "unit": null
+        },
+        "pivot_pivot_centered_xy": {
+          "value": 1,
+          "unit": null
+        },
+        "pivot_ground_penetration": {
+          "value": 1,
+          "unit": null
+        },
+        "pivot_orbital_motion": {
+          "value": 0,
+          "unit": null
+        },
+        "pivot_passed": {
+          "value": 1,
+          "unit": null
+        }
+      },
+      "kit_logs": [
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]: Traceback (most recent call last):"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:   File \"<home>/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/impl/texture.py\", line 377, in on_drawable_changed"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     self.__drawable_changed_fn(texture[\"rp_resource\"], presentation_key)"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:   File \"<home>/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/widget.py\", line 516, in __set_image_data"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     vp_api._sync_viewport_api(camera, canvas_size, vp_api.time, view, projection, force_update=True)  # noqa PLW0212"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:   File \"<home>/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 546, in _sync_viewport_api"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     self.__projection = self._conform_projection(policy, camera, image_aspect, canvas_aspect, projection)"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:                         ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:   File \"<home>/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     gf_camera = camera.GetCamera(self.__time)"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:                 ^^^^^^^^^^^^^^^^"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'"
+        }
+      ]
+    },
+    {
+      "test_name": "pivot",
+      "engine": "isaac_sim_newton",
+      "engine_version": "6.1.0.0",
+      "status": "pass",
+      "passed": true,
+      "duration": 20.588,
+      "message": "",
+      "metrics": {
+        "_timing_capture_frame_total_s": {
+          "value": 4.652,
+          "unit": null
+        },
+        "_timing_capture_frame_count": {
+          "value": 20,
+          "unit": null
+        },
+        "_timing_capture_frame_avg_ms": {
+          "value": 232.61,
+          "unit": null
+        },
+        "_timing_encode_video_total_s": {
+          "value": 1.089,
+          "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": 3.985,
+      "message": "",
+      "metrics": {
+        "_timing_capture_frame_total_s": {
+          "value": 0.786,
+          "unit": null
+        },
+        "_timing_capture_frame_count": {
+          "value": 2,
+          "unit": null
+        },
+        "_timing_capture_frame_avg_ms": {
+          "value": 393.12,
+          "unit": null
+        },
+        "_timing_encode_video_total_s": {
+          "value": 0.0,
+          "unit": null
+        },
+        "_timing_encode_video_count": {
+          "value": 0,
+          "unit": null
+        },
+        "_render_blank_retry_count": {
+          "value": 0,
+          "unit": null
+        },
+        "_render_blank_retry_unrecovered": {
+          "value": 0,
+          "unit": null
+        },
+        "presence_diff_ratio": {
+          "value": 0.326805,
+          "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": 3.609,
+      "message": "",
+      "metrics": {
+        "_timing_capture_frame_total_s": {
+          "value": 0.266,
+          "unit": null
+        },
+        "_timing_capture_frame_count": {
+          "value": 2,
+          "unit": null
+        },
+        "_timing_capture_frame_avg_ms": {
+          "value": 132.84,
+          "unit": null
+        },
+        "_timing_encode_video_total_s": {
+          "value": 0.0,
+          "unit": null
+        },
+        "_timing_encode_video_count": {
+          "value": 0,
+          "unit": null
+        },
+        "_render_blank_retry_count": {
+          "value": 0,
+          "unit": null
+        },
+        "_render_blank_retry_unrecovered": {
+          "value": 0,
+          "unit": null
+        },
+        "presence_diff_ratio": {
+          "value": 0.326756,
+          "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": 8.273,
+      "message": "",
+      "metrics": {
+        "_timing_capture_frame_total_s": {
+          "value": 1.368,
+          "unit": null
+        },
+        "_timing_capture_frame_count": {
+          "value": 4,
+          "unit": null
+        },
+        "_timing_capture_frame_avg_ms": {
+          "value": 342.0,
+          "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": 19,
+          "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": 19,
+          "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": 342376,
+          "unit": null
+        },
+        "universal_surface_uncovered_pixels": {
+          "value": 0,
+          "unit": null
+        },
+        "universal_surface_coverage": {
+          "value": 1.0,
+          "unit": null
+        }
+      },
+      "kit_logs": [
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]: Traceback (most recent call last):"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:   File \"<home>/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/impl/texture.py\", line 377, in on_drawable_changed"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     self.__drawable_changed_fn(texture[\"rp_resource\"], presentation_key)"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:   File \"<home>/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/widget.py\", line 516, in __set_image_data"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     vp_api._sync_viewport_api(camera, canvas_size, vp_api.time, view, projection, force_update=True)  # noqa PLW0212"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:   File \"<home>/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 546, in _sync_viewport_api"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     self.__projection = self._conform_projection(policy, camera, image_aspect, canvas_aspect, projection)"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:                         ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:   File \"<home>/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     gf_camera = camera.GetCamera(self.__time)"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:                 ^^^^^^^^^^^^^^^^"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'"
+        }
+      ]
+    },
+    {
+      "test_name": "preview_surface_renders",
+      "engine": "isaac_sim_newton",
+      "engine_version": "6.1.0.0",
+      "status": "pass",
+      "passed": true,
+      "duration": 8.384,
+      "message": "",
+      "metrics": {
+        "_timing_capture_frame_total_s": {
+          "value": 1.485,
+          "unit": null
+        },
+        "_timing_capture_frame_count": {
+          "value": 4,
+          "unit": null
+        },
+        "_timing_capture_frame_avg_ms": {
+          "value": 371.37,
+          "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": 19,
+          "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": 19,
+          "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": 342370,
+          "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": 6.344,
+      "message": "",
+      "metrics": {
+        "_timing_capture_frame_total_s": {
+          "value": 3.338,
+          "unit": null
+        },
+        "_timing_capture_frame_count": {
+          "value": 1,
+          "unit": null
+        },
+        "_timing_capture_frame_avg_ms": {
+          "value": 3338.18,
+          "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": 1,
+          "unit": null
+        },
+        "_render_blank_retry_unrecovered": {
+          "value": 1,
+          "unit": null
+        },
+        "_render_blank_retry[semantic_labels_rgb_001.png]": {
+          "value": "attempts=6 recovered=False",
+          "unit": null
+        },
+        "semantic_labels_on_coverage": {
+          "value": 0.325906,
+          "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": 6.231,
+      "message": "",
+      "metrics": {
+        "_timing_capture_frame_total_s": {
+          "value": 2.472,
+          "unit": null
+        },
+        "_timing_capture_frame_count": {
+          "value": 1,
+          "unit": null
+        },
+        "_timing_capture_frame_avg_ms": {
+          "value": 2471.83,
+          "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": 1,
+          "unit": null
+        },
+        "_render_blank_retry_unrecovered": {
+          "value": 1,
+          "unit": null
+        },
+        "_render_blank_retry[semantic_labels_rgb_001.png]": {
+          "value": "attempts=6 recovered=False",
+          "unit": null
+        },
+        "semantic_labels_on_coverage": {
+          "value": 0.325906,
+          "unit": null
+        },
+        "semantic_labels_labelled_passed": {
+          "value": 1,
+          "unit": null
+        }
+      },
+      "kit_logs": [
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]: Traceback (most recent call last):"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:   File \"<home>/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/impl/texture.py\", line 377, in on_drawable_changed"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     self.__drawable_changed_fn(texture[\"rp_resource\"], presentation_key)"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:   File \"<home>/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/widget.py\", line 516, in __set_image_data"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     vp_api._sync_viewport_api(camera, canvas_size, vp_api.time, view, projection, force_update=True)  # noqa PLW0212"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:   File \"<home>/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 546, in _sync_viewport_api"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     self.__projection = self._conform_projection(policy, camera, image_aspect, canvas_aspect, projection)"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:                         ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:   File \"<home>/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     gf_camera = camera.GetCamera(self.__time)"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:                 ^^^^^^^^^^^^^^^^"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'"
+        }
+      ]
+    },
+    {
+      "test_name": "semantic_labels_seg_stripped",
+      "engine": "isaac_sim",
+      "engine_version": "6.1.0.0",
+      "status": "pass",
+      "passed": true,
+      "duration": 3.027,
+      "message": "",
+      "metrics": {
+        "semantic_labels_stripped_prims": {
+          "value": 20,
+          "unit": null
+        },
+        "semantic_labels_off_coverage": {
+          "value": 0.0,
+          "unit": null
+        },
+        "semantic_labels_stripped_passed": {
+          "value": 1,
+          "unit": null
+        }
+      },
+      "kit_logs": []
+    },
+    {
+      "test_name": "semantic_labels_seg_stripped",
+      "engine": "isaac_sim_newton",
+      "engine_version": "6.1.0.0",
+      "status": "pass",
+      "passed": true,
+      "duration": 2.628,
+      "message": "",
+      "metrics": {
+        "semantic_labels_stripped_prims": {
+          "value": 20,
+          "unit": null
+        },
+        "semantic_labels_off_coverage": {
+          "value": 0.0,
+          "unit": null
+        },
+        "semantic_labels_stripped_passed": {
+          "value": 1,
+          "unit": null
+        }
+      },
+      "kit_logs": []
+    },
+    {
+      "test_name": "slope_drop",
+      "engine": "isaac_sim",
+      "engine_version": "6.1.0.0",
+      "status": "pass",
+      "passed": true,
+      "duration": 89.028,
+      "message": "",
+      "metrics": {
+        "slope_drop_initial_cx": {
+          "value": 0.0,
+          "unit": null
+        },
+        "slope_drop_initial_cy": {
+          "value": -2.4605,
+          "unit": null
+        },
+        "slope_drop_initial_z_min": {
+          "value": 1.2295,
+          "unit": null
+        },
+        "slope_drop_bbox_height": {
+          "value": 13.6612,
+          "unit": null
+        },
+        "_timing_capture_frame_total_s": {
+          "value": 17.348,
+          "unit": null
+        },
+        "_timing_capture_frame_count": {
+          "value": 55,
+          "unit": null
+        },
+        "_timing_capture_frame_avg_ms": {
+          "value": 315.43,
+          "unit": null
+        },
+        "_timing_encode_video_total_s": {
+          "value": 1.9,
+          "unit": null
+        },
+        "_timing_encode_video_count": {
+          "value": 1,
+          "unit": null
+        },
+        "_render_blank_retry_count": {
+          "value": 0,
+          "unit": null
+        },
+        "_render_blank_retry_unrecovered": {
+          "value": 0,
+          "unit": null
+        },
+        "slope_drop_contact_detected": {
+          "value": 1,
+          "unit": null
+        },
+        "slope_drop_horiz_detected": {
+          "value": 1,
+          "unit": null
+        },
+        "slope_drop_penetrated": {
+          "value": 0,
+          "unit": null
+        },
+        "slope_drop_slope_penetrated": {
+          "value": 0,
+          "unit": null
+        },
+        "slope_drop_excessive_separation": {
+          "value": 0,
+          "unit": null
+        },
+        "slope_drop_uphill_motion": {
+          "value": 0,
+          "unit": null
+        },
+        "slope_drop_passed": {
+          "value": 1,
+          "unit": null
+        },
+        "slope_drop_max_clearance": {
+          "value": 0.0,
+          "unit": "m"
+        },
+        "slope_drop_separation_frames": {
+          "value": 0,
+          "unit": null
+        },
+        "slope_drop_left_slope_frame": {
+          "value": 631,
+          "unit": null
+        },
+        "slope_drop_horiz_time": {
+          "value": 0.613,
+          "unit": null
+        }
+      },
+      "kit_logs": [
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]: Traceback (most recent call last):"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:   File \"<home>/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/impl/texture.py\", line 377, in on_drawable_changed"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     self.__drawable_changed_fn(texture[\"rp_resource\"], presentation_key)"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:   File \"<home>/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/widget.py\", line 516, in __set_image_data"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     vp_api._sync_viewport_api(camera, canvas_size, vp_api.time, view, projection, force_update=True)  # noqa PLW0212"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:   File \"<home>/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 546, in _sync_viewport_api"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     self.__projection = self._conform_projection(policy, camera, image_aspect, canvas_aspect, projection)"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:                         ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:   File \"<home>/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     gf_camera = camera.GetCamera(self.__time)"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:                 ^^^^^^^^^^^^^^^^"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'"
+        }
+      ]
+    },
+    {
+      "test_name": "slope_drop",
+      "engine": "isaac_sim_newton",
+      "engine_version": "",
+      "status": "fail",
+      "passed": false,
+      "duration": 80.956,
+      "message": "Engine session kit_805864_5 crashed before the test could complete (retries exhausted). Cause: Newton generated 1317 contacts but MJWarp allocated 1316. Adaptive recovery could not be scheduled (adaptive retry unavailable or exhausted); this is a blocking runtime error, not an asset verdict.",
+      "metrics": {},
+      "kit_logs": []
+    }
+  ]
+}

bookshelf_with_books_v05/.metadata/bookshelf_with_books_v05_validation.json

@@ -0,0 +1,173 @@
+{
+    "simready_usd/bookshelf_with_books_v05.usda": {
+        "features_summary": {
+            "FET_000_MUJOCO": {
+                "blocking_failure": false,
+                "dependencies": "[{'FET_000_STANDARD': {'version': '0.1.0'}}]",
+                "optional requirements": "['com.nvidia.simready.RV.007']",
+                "passed": false,
+                "version": "0.1.0"
+            },
+            "FET_000_NEWTON": {
+                "blocking_failure": false,
+                "dependencies": "[{'FET_000_STANDARD': {'version': '0.1.0'}}]",
+                "optional requirements": "['com.nvidia.simready.RV.004']",
+                "passed": false,
+                "version": "0.1.0"
+            },
+            "FET_000_PHYSX": {
+                "blocking_failure": false,
+                "dependencies": "[{'FET_000_STANDARD': {'version': '0.1.0'}}]",
+                "optional requirements": "['com.nvidia.simready.RV.001']",
+                "passed": false,
+                "version": "0.1.0"
+            },
+            "FET_000_STANDARD": {
+                "blocking_failure": false,
+                "dependencies": "[]",
+                "passed": true,
+                "version": "0.2.0"
+            },
+            "FET_001_STANDARD": {
+                "blocking_failure": false,
+                "dependencies": "[]",
+                "passed": true,
+                "version": "1.0.1"
+            },
+            "FET_003_MUJOCO": {
+                "blocking_failure": false,
+                "dependencies": "[]",
+                "optional requirements": "['com.nvidia.simready.MUJOCO.COL.001']",
+                "passed": false,
+                "version": "0.1.0"
+            },
+            "FET_003_NEWTON": {
+                "blocking_failure": false,
+                "dependencies": "[]",
+                "passed": true,
+                "version": "0.1.0"
+            },
+            "FET_003_PHYSX": {
+                "blocking_failure": false,
+                "dependencies": "[]",
+                "passed": true,
+                "version": "0.4.0"
+            },
+            "FET_003_STANDARD": {
+                "blocking_failure": false,
+                "dependencies": "[]",
+                "passed": true,
+                "version": "0.2.0"
+            },
+            "FET_004_MUJOCO": {
+                "blocking_failure": false,
+                "dependencies": "[{'FET_003_MUJOCO': {'version': '0.1.0'}}]",
+                "optional requirements": "['com.nvidia.simready.MUJOCO.COL.001']",
+                "passed": false,
+                "version": "0.1.0"
+            },
+            "FET_004_NEWTON": {
+                "blocking_failure": false,
+                "dependencies": "[{'FET_003_NEWTON': {'version': '0.1.0'}}]",
+                "passed": true,
+                "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"
+        }
+    }
+}

bookshelf_with_books_v05/.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": "2026-10-18T06:56:12",
+  "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"
+                }
+              }
+            ]
+          }
+        }
+      ]
+    }
+  ]
+}

bookshelf_with_books_v05/.metadata/com.nvidia.simready.packaging.bom.json

@@ -0,0 +1,56 @@
+{
+  "format_version": "1.0",
+  "items": [
+    {
+      "relative_path": "simready_usd/.thumbs/256x256/bookshelf_with_books_v05.usda.png",
+      "size": 15784,
+      "hash": {
+        "sha256-flat-1mb": "22fa11651e614237bff118cf472c3c67b1c02f4fc600aa0a485ef396fccd901e",
+        "sha256": "e37f15359a31b2da9c99a9749f221642f9bc6acfd8df8fa78b14535b2772881d"
+      }
+    },
+    {
+      "relative_path": "simready_usd/assets/cloth-cover.png",
+      "size": 3489175,
+      "hash": {
+        "sha256-flat-1mb": "104c89dccad8fc007cace67c5c8c0e9cf9bba511b4b7b8e21376cc5f478ac6a0",
+        "sha256": "876e1af766770637cadfa42133607cdedf4f719d9868409e42dac88ae42c0956",
+        "sha256-first1m": "08812c83cbcd5ca44fd478060c48a0b0b473af6572babc10499cd730b4c536ef"
+      }
+    },
+    {
+      "relative_path": "simready_usd/assets/oak-veneer.png",
+      "size": 2078655,
+      "hash": {
+        "sha256-flat-1mb": "cdce359f7c695cd4ffa1b75b3d72f6644ee21071b3c5b92de6f63e19a3762b3d",
+        "sha256": "2eb77ebf1d3fdcb962f0e50af0306379dceef2dcce44907e6ff705d0cbd2d4ac",
+        "sha256-first1m": "ffea00229d2df559185ce818fe2768025574de025175bf7568787279e64e0977"
+      }
+    },
+    {
+      "relative_path": "simready_usd/bookshelf_with_books_v05.usda",
+      "size": 47891,
+      "hash": {
+        "sha256-flat-1mb": "b3535010b0e5467b89e7c2cf6a99686b937ed13f7ba67b2de9ad0330fd6c2537",
+        "sha256": "c3664a4a68d6b7d4f304485d0af17d47f358c1282b604972b83096cb343fef3e"
+      }
+    },
+    {
+      "relative_path": "simready_usd/forgecad/geometry.usda",
+      "size": 74455136,
+      "hash": {
+        "sha256-flat-1mb": "5ff736f85b1f81afc2cbf1885d16efc04ca2e82c06c17fa4bcfcf2412266a23c",
+        "sha256": "e448bb0c9f2d04eb4bc6dc40e46dea857079989a998127aa7be10a354dd90f60",
+        "sha256-first1m": "f90050851599f23e7317f504a421d3041434261efcece791ce0d29e773ea53bf"
+      }
+    },
+    {
+      "relative_path": "simready_usd/forgecad/physics.usda",
+      "size": 74898,
+      "hash": {
+        "sha256-flat-1mb": "b438e9bd785e49a0b21eeca359f75df2f18a6092d6c8395c89d26885d0443a3a",
+        "sha256": "386a7dcfad9bcca1d68750beab276e217bd8986dad3f5996f5acd69ad2183227"
+      }
+    }
+  ]
+}

bookshelf_with_books_v05/com.nvidia.simready.packaging.json

@@ -0,0 +1,31 @@
+{
+  "format_version": "1.0",
+  "package_id": "simready.hf.ForgeCAD.simready-assets.bookshelf_with_books_v05.2026.10.17_00",
+  "license": "cc-by-4.0",
+  "metadata": [
+    {
+      "name": "com.nvidia.simready.conformance.Package-Candidate@1.0.0.json",
+      "hash": {
+        "sha256": "102492a16173ce3872f5440eb356e46e5a9807843a85b9d892e877416fa0d78b"
+      }
+    },
+    {
+      "name": "com.nvidia.simready.packaging.bom.json",
+      "hash": {
+        "sha256": "831e63962fc899adbee16bbdab54eba54f5561982a687768e3bec08674457654"
+      }
+    },
+    {
+      "name": "com.nvidia.simready.root_usds.json",
+      "hash": {
+        "sha256": "d383d879247fe7a6e50670cba85ca3e99db80415aa871d9553c7acf801e41cb3"
+      }
+    }
+  ],
+  "content_hash": {
+    "sha256": "0f851a692abddf9b243632834ef4df4541ea00711c43a5045f2583ec7f3847cb"
+  },
+  "package_hash": {
+    "sha256": "0d30cd2c7cbcd89576dafc1c026e9aab2f0dafdbe1b9974f0c844eecc4597500"
+  }
+}

bookshelf_with_books_v05/simready_usd/bookshelf_with_books_v05.usda

@@ -0,0 +1,1540 @@
+#usda 1.0
+(
+    customLayerData = {
+        dictionary SimReady_Metadata = {
+            float3 asset_extents = (0.8, 0.320181, 1.232)
+            string asset_license = "CC-BY-4.0"
+            string asset_name = "bookshelf_with_books_v05"
+            string asset_type = "prop"
+            string author = "ForgeCAD"
+            string category = "furniture"
+            double mass = 48.288838766515255
+            string qcode = "Q215857"
+            int rigid_body_count = 38
+            string source = "ForgeCAD"
+            string source_file = "main.usda"
+            string usd_date_generated = "2026-10-17"
+        }
+        string asset_name = "bookshelf_with_books_v05"
+        string asset_type = "prop"
+        string source_file = "main.usda"
+        string usd_date_generated = "2026-10-17"
+    }
+    defaultPrim = "Model"
+    metersPerUnit = 1
+    upAxis = "Z"
+)
+
+def Xform "Model" (
+    prepend apiSchemas = ["SemanticsLabelsAPI:class", "SemanticsLabelsAPI:wikidata_qcode"]
+    prepend references = @./forgecad/geometry.usda@</Model>
+    variants = {
+        string finish = "white"
+        string physics = "physics"
+    }
+    prepend variantSets = ["physics", "finish"]
+)
+{
+    token[] semantics:labels:class = ["bookcase", "book"]
+    token[] semantics:labels:wikidata_qcode = ["Q215857"]
+
+    over "Geometry"
+    {
+        over "Teal_book_1" (
+            prepend apiSchemas = ["MaterialBindingAPI"]
+        )
+        {
+            rel material:binding = </Model/Materials/TealCloth>
+
+            over "Pages" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </Model/Materials/Paper>
+            }
+
+            over "Foil" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </Model/Materials/SilverFoil>
+            }
+        }
+
+        over "Slate_book_1" (
+            prepend apiSchemas = ["MaterialBindingAPI"]
+        )
+        {
+            rel material:binding = </Model/Materials/SlateCloth>
+
+            over "Pages" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </Model/Materials/Paper>
+            }
+
+            over "Foil" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </Model/Materials/SilverFoil>
+            }
+        }
+
+        over "Navy_book_1" (
+            prepend apiSchemas = ["MaterialBindingAPI"]
+        )
+        {
+            rel material:binding = </Model/Materials/NavyCloth>
+
+            over "Pages" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </Model/Materials/Paper>
+            }
+
+            over "Foil" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </Model/Materials/GoldFoil>
+            }
+        }
+
+        over "Cream_book_1" (
+            prepend apiSchemas = ["MaterialBindingAPI"]
+        )
+        {
+            rel material:binding = </Model/Materials/CreamCloth>
+
+            over "Pages" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </Model/Materials/Paper>
+            }
+
+            over "Foil" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </Model/Materials/BlackFoil>
+            }
+        }
+
+        over "Oxblood_book_1" (
+            prepend apiSchemas = ["MaterialBindingAPI"]
+        )
+        {
+            rel material:binding = </Model/Materials/OxbloodCloth>
+
+            over "Pages" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </Model/Materials/Paper>
+            }
+
+            over "Foil" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </Model/Materials/GoldFoil>
+            }
+        }
+
+        over "Slate_book_2" (
+            prepend apiSchemas = ["MaterialBindingAPI"]
+        )
+        {
+            rel material:binding = </Model/Materials/SlateCloth>
+
+            over "Pages" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </Model/Materials/Paper>
+            }
+
+            over "Foil" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </Model/Materials/SilverFoil>
+            }
+        }
+
+        over "Linen_book_1" (
+            prepend apiSchemas = ["MaterialBindingAPI"]
+        )
+        {
+            rel material:binding = </Model/Materials/LinenCloth>
+
+            over "Pages" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </Model/Materials/Paper>
+            }
+
+            over "Foil" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </Model/Materials/BlackFoil>
+            }
+        }
+
+        over "Slate_book_3" (
+            prepend apiSchemas = ["MaterialBindingAPI"]
+        )
+        {
+            rel material:binding = </Model/Materials/SlateCloth>
+
+            over "Pages" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </Model/Materials/Paper>
+            }
+
+            over "Foil" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </Model/Materials/SilverFoil>
+            }
+        }
+
+        over "Ochre_book_1" (
+            prepend apiSchemas = ["MaterialBindingAPI"]
+        )
+        {
+            rel material:binding = </Model/Materials/OchreCloth>
+
+            over "Pages" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </Model/Materials/Paper>
+            }
+
+            over "Foil" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </Model/Materials/BlackFoil>
+            }
+        }
+
+        over "Teal_book_2" (
+            prepend apiSchemas = ["MaterialBindingAPI"]
+        )
+        {
+            rel material:binding = </Model/Materials/TealCloth>
+
+            over "Pages" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </Model/Materials/Paper>
+            }
+
+            over "Foil" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </Model/Materials/SilverFoil>
+            }
+        }
+
+        over "Charcoal_book_1" (
+            prepend apiSchemas = ["MaterialBindingAPI"]
+        )
+        {
+            rel material:binding = </Model/Materials/CharcoalCloth>
+
+            over "Pages" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </Model/Materials/Paper>
+            }
+
+            over "Foil" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </Model/Materials/SilverFoil>
+            }
+        }
+
+        over "Slate_book_4" (
+            prepend apiSchemas = ["MaterialBindingAPI"]
+        )
+        {
+            rel material:binding = </Model/Materials/SlateCloth>
+
+            over "Pages" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </Model/Materials/Paper>
+            }
+
+            over "Foil" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </Model/Materials/SilverFoil>
+            }
+        }
+
+        over "Forest_book_1" (
+            prepend apiSchemas = ["MaterialBindingAPI"]
+        )
+        {
+            rel material:binding = </Model/Materials/ForestCloth>
+
+            over "Pages" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </Model/Materials/Paper>
+            }
+
+            over "Foil" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </Model/Materials/GoldFoil>
+            }
+        }
+
+        over "Ochre_book_2" (
+            prepend apiSchemas = ["MaterialBindingAPI"]
+        )
+        {
+            rel material:binding = </Model/Materials/OchreCloth>
+
+            over "Pages" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </Model/Materials/Paper>
+            }
+
+            over "Foil" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </Model/Materials/BlackFoil>
+            }
+        }
+
+        over "Oxblood_book_2" (
+            prepend apiSchemas = ["MaterialBindingAPI"]
+        )
+        {
+            rel material:binding = </Model/Materials/OxbloodCloth>
+
+            over "Pages" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </Model/Materials/Paper>
+            }
+
+            over "Foil" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </Model/Materials/GoldFoil>
+            }
+        }
+
+        over "Teal_book_3" (
+            prepend apiSchemas = ["MaterialBindingAPI"]
+        )
+        {
+            rel material:binding = </Model/Materials/TealCloth>
+
+            over "Pages" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </Model/Materials/Paper>
+            }
+
+            over "Foil" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </Model/Materials/SilverFoil>
+            }
+        }
+
+        over "Plum_book_1" (
+            prepend apiSchemas = ["MaterialBindingAPI"]
+        )
+        {
+            rel material:binding = </Model/Materials/PlumCloth>
+
+            over "Pages" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </Model/Materials/Paper>
+            }
+
+            over "Foil" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </Model/Materials/GoldFoil>
+            }
+        }
+
+        over "Oxblood_book_3" (
+            prepend apiSchemas = ["MaterialBindingAPI"]
+        )
+        {
+            rel material:binding = </Model/Materials/OxbloodCloth>
+
+            over "Pages" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </Model/Materials/Paper>
+            }
+
+            over "Foil" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </Model/Materials/GoldFoil>
+            }
+        }
+
+        over "Cream_book_2" (
+            prepend apiSchemas = ["MaterialBindingAPI"]
+        )
+        {
+            rel material:binding = </Model/Materials/CreamCloth>
+
+            over "Pages" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </Model/Materials/Paper>
+            }
+
+            over "Foil" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </Model/Materials/BlackFoil>
+            }
+        }
+
+        over "Linen_book_2" (
+            prepend apiSchemas = ["MaterialBindingAPI"]
+        )
+        {
+            rel material:binding = </Model/Materials/LinenCloth>
+
+            over "Pages" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </Model/Materials/Paper>
+            }
+
+            over "Foil" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </Model/Materials/BlackFoil>
+            }
+        }
+
+        over "Teal_book_4" (
+            prepend apiSchemas = ["MaterialBindingAPI"]
+        )
+        {
+            rel material:binding = </Model/Materials/TealCloth>
+
+            over "Pages" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </Model/Materials/Paper>
+            }
+
+            over "Foil" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </Model/Materials/SilverFoil>
+            }
+        }
+
+        over "Navy_book_2" (
+            prepend apiSchemas = ["MaterialBindingAPI"]
+        )
+        {
+            rel material:binding = </Model/Materials/NavyCloth>
+
+            over "Pages" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </Model/Materials/Paper>
+            }
+
+            over "Foil" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </Model/Materials/GoldFoil>
+            }
+        }
+
+        over "Charcoal_book_2" (
+            prepend apiSchemas = ["MaterialBindingAPI"]
+        )
+        {
+            rel material:binding = </Model/Materials/CharcoalCloth>
+
+            over "Pages" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </Model/Materials/Paper>
+            }
+
+            over "Foil" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </Model/Materials/SilverFoil>
+            }
+        }
+
+        over "Oxblood_book_4" (
+            prepend apiSchemas = ["MaterialBindingAPI"]
+        )
+        {
+            rel material:binding = </Model/Materials/OxbloodCloth>
+
+            over "Pages" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </Model/Materials/Paper>
+            }
+
+            over "Foil" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </Model/Materials/GoldFoil>
+            }
+        }
+
+        over "Cream_book_3" (
+            prepend apiSchemas = ["MaterialBindingAPI"]
+        )
+        {
+            rel material:binding = </Model/Materials/CreamCloth>
+
+            over "Pages" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </Model/Materials/Paper>
+            }
+
+            over "Foil" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </Model/Materials/BlackFoil>
+            }
+        }
+
+        over "Brick_book_1" (
+            prepend apiSchemas = ["MaterialBindingAPI"]
+        )
+        {
+            rel material:binding = </Model/Materials/BrickCloth>
+
+            over "Pages" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </Model/Materials/Paper>
+            }
+
+            over "Foil" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </Model/Materials/GoldFoil>
+            }
+        }
+
+        over "Slate_book_5" (
+            prepend apiSchemas = ["MaterialBindingAPI"]
+        )
+        {
+            rel material:binding = </Model/Materials/SlateCloth>
+
+            over "Pages" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </Model/Materials/Paper>
+            }
+
+            over "Foil" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </Model/Materials/SilverFoil>
+            }
+        }
+
+        over "Oxblood_book_5" (
+            prepend apiSchemas = ["MaterialBindingAPI"]
+        )
+        {
+            rel material:binding = </Model/Materials/OxbloodCloth>
+
+            over "Pages" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </Model/Materials/Paper>
+            }
+
+            over "Foil" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </Model/Materials/GoldFoil>
+            }
+        }
+
+        over "Forest_book_2" (
+            prepend apiSchemas = ["MaterialBindingAPI"]
+        )
+        {
+            rel material:binding = </Model/Materials/ForestCloth>
+
+            over "Pages" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </Model/Materials/Paper>
+            }
+
+            over "Foil" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </Model/Materials/GoldFoil>
+            }
+        }
+
+        over "Oxblood_book_6" (
+            prepend apiSchemas = ["MaterialBindingAPI"]
+        )
+        {
+            rel material:binding = </Model/Materials/OxbloodCloth>
+
+            over "Pages" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </Model/Materials/Paper>
+            }
+
+            over "Foil" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </Model/Materials/GoldFoil>
+            }
+        }
+
+        over "Ochre_book_3" (
+            prepend apiSchemas = ["MaterialBindingAPI"]
+        )
+        {
+            rel material:binding = </Model/Materials/OchreCloth>
+
+            over "Pages" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </Model/Materials/Paper>
+            }
+
+            over "Foil" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </Model/Materials/BlackFoil>
+            }
+        }
+
+        over "Forest_book_3" (
+            prepend apiSchemas = ["MaterialBindingAPI"]
+        )
+        {
+            rel material:binding = </Model/Materials/ForestCloth>
+
+            over "Pages" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </Model/Materials/Paper>
+            }
+
+            over "Foil" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </Model/Materials/GoldFoil>
+            }
+        }
+
+        over "Plum_book_2" (
+            prepend apiSchemas = ["MaterialBindingAPI"]
+        )
+        {
+            rel material:binding = </Model/Materials/PlumCloth>
+
+            over "Pages" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </Model/Materials/Paper>
+            }
+
+            over "Foil" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </Model/Materials/GoldFoil>
+            }
+        }
+
+        over "Forest_book_4" (
+            prepend apiSchemas = ["MaterialBindingAPI"]
+        )
+        {
+            rel material:binding = </Model/Materials/ForestCloth>
+
+            over "Pages" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </Model/Materials/Paper>
+            }
+
+            over "Foil" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </Model/Materials/GoldFoil>
+            }
+        }
+
+        over "Charcoal_book_3" (
+            prepend apiSchemas = ["MaterialBindingAPI"]
+        )
+        {
+            rel material:binding = </Model/Materials/CharcoalCloth>
+
+            over "Pages" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </Model/Materials/Paper>
+            }
+
+            over "Foil" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </Model/Materials/SilverFoil>
+            }
+        }
+
+        over "Showcase_book" (
+            prepend apiSchemas = ["MaterialBindingAPI"]
+        )
+        {
+            rel material:binding = </Model/Materials/LinenCloth>
+
+            over "Pages" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </Model/Materials/Paper>
+            }
+
+            over "Foil" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </Model/Materials/BlackFoil>
+            }
+        }
+    }
+
+    def Scope "Materials"
+    {
+        def Material "WhiteMelamine" (
+            prepend apiSchemas = ["SemanticsLabelsAPI:material"]
+        )
+        {
+            token outputs:surface.connect = </Model/Materials/WhiteMelamine/Surface.outputs:surface>
+            token[] semantics:labels:material = ["wood"]
+
+            def Shader "Surface"
+            {
+                uniform token info:id = "UsdPreviewSurface"
+                color3f inputs:diffuseColor = (0.8714, 0.855, 0.807)
+                float inputs:metallic = 0
+                float inputs:roughness = 0.45
+                token outputs:surface
+            }
+        }
+
+        def Material "WhiteBack" (
+            prepend apiSchemas = ["SemanticsLabelsAPI:material"]
+        )
+        {
+            token outputs:surface.connect = </Model/Materials/WhiteBack/Surface.outputs:surface>
+            token[] semantics:labels:material = ["wood"]
+
+            def Shader "Surface"
+            {
+                uniform token info:id = "UsdPreviewSurface"
+                color3f inputs:diffuseColor = (0.807, 0.7835, 0.7231)
+                float inputs:metallic = 0
+                float inputs:roughness = 0.6
+                token outputs:surface
+            }
+        }
+
+        def Material "BlackBrown" (
+            prepend apiSchemas = ["SemanticsLabelsAPI:material"]
+        )
+        {
+            token outputs:surface.connect = </Model/Materials/BlackBrown/Surface.outputs:surface>
+            token[] semantics:labels:material = ["leather"]
+
+            def Shader "Surface"
+            {
+                uniform token info:id = "UsdPreviewSurface"
+                color3f inputs:diffuseColor = (0.016, 0.013, 0.0116)
+                float inputs:metallic = 0
+                float inputs:roughness = 0.42
+                token outputs:surface
+            }
+        }
+
+        def Material "OakGrainA" (
+            prepend apiSchemas = ["SemanticsLabelsAPI:material"]
+        )
+        {
+            token outputs:surface.connect = </Model/Materials/OakGrainA/Surface.outputs:surface>
+            token[] semantics:labels:material = ["wood"]
+
+            def Shader "St"
+            {
+                uniform token info:id = "UsdPrimvarReader_float2"
+                string inputs:varname = "st"
+                float2 outputs:result
+            }
+
+            def Shader "Tile"
+            {
+                uniform token info:id = "UsdTransform2d"
+                float2 inputs:in.connect = </Model/Materials/OakGrainA/St.outputs:result>
+                float2 inputs:scale = (1.6667, 1.6667)
+                float2 outputs:result
+            }
+
+            def Shader "Albedo"
+            {
+                uniform token info:id = "UsdUVTexture"
+                asset inputs:file = @./assets/oak-veneer.png@
+                token inputs:sourceColorSpace = "sRGB"
+                float2 inputs:st.connect = </Model/Materials/OakGrainA/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/OakGrainA/Albedo.outputs:rgb>
+                float inputs:metallic = 0
+                float inputs:roughness = 0.5
+                token outputs:surface
+            }
+        }
+
+        def Material "OakGrainB" (
+            prepend apiSchemas = ["SemanticsLabelsAPI:material"]
+        )
+        {
+            token outputs:surface.connect = </Model/Materials/OakGrainB/Surface.outputs:surface>
+            token[] semantics:labels:material = ["wood"]
+
+            def Shader "St"
+            {
+                uniform token info:id = "UsdPrimvarReader_float2"
+                string inputs:varname = "st"
+                float2 outputs:result
+            }
+
+            def Shader "Tile"
+            {
+                uniform token info:id = "UsdTransform2d"
+                float2 inputs:in.connect = </Model/Materials/OakGrainB/St.outputs:result>
+                float inputs:rotation = 90
+                float2 inputs:scale = (1.6667, 1.6667)
+                float2 outputs:result
+            }
+
+            def Shader "Albedo"
+            {
+                uniform token info:id = "UsdUVTexture"
+                asset inputs:file = @./assets/oak-veneer.png@
+                token inputs:sourceColorSpace = "sRGB"
+                float2 inputs:st.connect = </Model/Materials/OakGrainB/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/OakGrainB/Albedo.outputs:rgb>
+                float inputs:metallic = 0
+                float inputs:roughness = 0.5
+                token outputs:surface
+            }
+        }
+
+        def Material "ZincSteel" (
+            prepend apiSchemas = ["SemanticsLabelsAPI:material"]
+        )
+        {
+            token outputs:surface.connect = </Model/Materials/ZincSteel/Surface.outputs:surface>
+            token[] semantics:labels:material = ["metal"]
+
+            def Shader "Surface"
+            {
+                uniform token info:id = "UsdPreviewSurface"
+                color3f inputs:diffuseColor = (0.56, 0.57, 0.58)
+                float inputs:metallic = 1
+                float inputs:roughness = 0.35
+                token outputs:surface
+            }
+        }
+
+        def Material "CamZinc" (
+            prepend apiSchemas = ["SemanticsLabelsAPI:material"]
+        )
+        {
+            token outputs:surface.connect = </Model/Materials/CamZinc/Surface.outputs:surface>
+            token[] semantics:labels:material = ["metal"]
+
+            def Shader "Surface"
+            {
+                uniform token info:id = "UsdPreviewSurface"
+                color3f inputs:diffuseColor = (0.5, 0.5, 0.49)
+                float inputs:metallic = 1
+                float inputs:roughness = 0.45
+                token outputs:surface
+            }
+        }
+
+        def Material "OxbloodCloth" (
+            prepend apiSchemas = ["SemanticsLabelsAPI:material"]
+        )
+        {
+            token outputs:surface.connect = </Model/Materials/OxbloodCloth/Surface.outputs:surface>
+            token[] semantics:labels:material = ["fabric"]
+
+            def Shader "Surface"
+            {
+                uniform token info:id = "UsdPreviewSurface"
+                color3f inputs:diffuseColor = (0.107, 0.0103, 0.0137)
+                float inputs:metallic = 0
+                float inputs:roughness = 0.78
+                token outputs:surface
+            }
+        }
+
+        def Material "NavyCloth" (
+            prepend apiSchemas = ["SemanticsLabelsAPI:material"]
+        )
+        {
+            token outputs:surface.connect = </Model/Materials/NavyCloth/Surface.outputs:surface>
+            token[] semantics:labels:material = ["fabric"]
+
+            def Shader "Surface"
+            {
+                uniform token info:id = "UsdPreviewSurface"
+                color3f inputs:diffuseColor = (0.0116, 0.0242, 0.0685)
+                float inputs:metallic = 0
+                float inputs:roughness = 0.78
+                token outputs:surface
+            }
+        }
+
+        def Material "ForestCloth" (
+            prepend apiSchemas = ["SemanticsLabelsAPI:material"]
+        )
+        {
+            token outputs:surface.connect = </Model/Materials/ForestCloth/Surface.outputs:surface>
+            token[] semantics:labels:material = ["fabric"]
+
+            def Shader "Surface"
+            {
+                uniform token info:id = "UsdPreviewSurface"
+                color3f inputs:diffuseColor = (0.0137, 0.0612, 0.0319)
+                float inputs:metallic = 0
+                float inputs:roughness = 0.78
+                token outputs:surface
+            }
+        }
+
+        def Material "OchreCloth" (
+            prepend apiSchemas = ["SemanticsLabelsAPI:material"]
+        )
+        {
+            token outputs:surface.connect = </Model/Materials/OchreCloth/Surface.outputs:surface>
+            token[] semantics:labels:material = ["fabric"]
+
+            def Shader "Surface"
+            {
+                uniform token info:id = "UsdPreviewSurface"
+                color3f inputs:diffuseColor = (0.4342, 0.2086, 0.0262)
+                float inputs:metallic = 0
+                float inputs:roughness = 0.78
+                token outputs:surface
+            }
+        }
+
+        def Material "SlateCloth" (
+            prepend apiSchemas = ["SemanticsLabelsAPI:material"]
+        )
+        {
+            token outputs:surface.connect = </Model/Materials/SlateCloth/Surface.outputs:surface>
+            token[] semantics:labels:material = ["fabric"]
+
+            def Shader "Surface"
+            {
+                uniform token info:id = "UsdPreviewSurface"
+                color3f inputs:diffuseColor = (0.0704, 0.1022, 0.1301)
+                float inputs:metallic = 0
+                float inputs:roughness = 0.78
+                token outputs:surface
+            }
+        }
+
+        def Material "PlumCloth" (
+            prepend apiSchemas = ["SemanticsLabelsAPI:material"]
+        )
+        {
+            token outputs:surface.connect = </Model/Materials/PlumCloth/Surface.outputs:surface>
+            token[] semantics:labels:material = ["fabric"]
+
+            def Shader "Surface"
+            {
+                uniform token info:id = "UsdPreviewSurface"
+                color3f inputs:diffuseColor = (0.0704, 0.0185, 0.0545)
+                float inputs:metallic = 0
+                float inputs:roughness = 0.78
+                token outputs:surface
+            }
+        }
+
+        def Material "TealCloth" (
+            prepend apiSchemas = ["SemanticsLabelsAPI:material"]
+        )
+        {
+            token outputs:surface.connect = </Model/Materials/TealCloth/Surface.outputs:surface>
+            token[] semantics:labels:material = ["fabric"]
+
+            def Shader "Surface"
+            {
+                uniform token info:id = "UsdPreviewSurface"
+                color3f inputs:diffuseColor = (0.0123, 0.1046, 0.1144)
+                float inputs:metallic = 0
+                float inputs:roughness = 0.78
+                token outputs:surface
+            }
+        }
+
+        def Material "TanCloth" (
+            prepend apiSchemas = ["SemanticsLabelsAPI:material"]
+        )
+        {
+            token outputs:surface.connect = </Model/Materials/TanCloth/Surface.outputs:surface>
+            token[] semantics:labels:material = ["fabric"]
+
+            def Shader "Surface"
+            {
+                uniform token info:id = "UsdPreviewSurface"
+                color3f inputs:diffuseColor = (0.3813, 0.2051, 0.0844)
+                float inputs:metallic = 0
+                float inputs:roughness = 0.78
+                token outputs:surface
+            }
+        }
+
+        def Material "CharcoalCloth" (
+            prepend apiSchemas = ["SemanticsLabelsAPI:material"]
+        )
+        {
+            token outputs:surface.connect = </Model/Materials/CharcoalCloth/Surface.outputs:surface>
+            token[] semantics:labels:material = ["fabric"]
+
+            def Shader "Surface"
+            {
+                uniform token info:id = "UsdPreviewSurface"
+                color3f inputs:diffuseColor = (0.0242, 0.0242, 0.0273)
+                float inputs:metallic = 0
+                float inputs:roughness = 0.78
+                token outputs:surface
+            }
+        }
+
+        def Material "BrickCloth" (
+            prepend apiSchemas = ["SemanticsLabelsAPI:material"]
+        )
+        {
+            token outputs:surface.connect = </Model/Materials/BrickCloth/Surface.outputs:surface>
+            token[] semantics:labels:material = ["fabric"]
+
+            def Shader "Surface"
+            {
+                uniform token info:id = "UsdPreviewSurface"
+                color3f inputs:diffuseColor = (0.2747, 0.0382, 0.0203)
+                float inputs:metallic = 0
+                float inputs:roughness = 0.78
+                token outputs:surface
+            }
+        }
+
+        def Material "CreamCloth" (
+            prepend apiSchemas = ["SemanticsLabelsAPI:material"]
+        )
+        {
+            token outputs:surface.connect = </Model/Materials/CreamCloth/Surface.outputs:surface>
+            token[] semantics:labels:material = ["fabric"]
+
+            def Shader "Surface"
+            {
+                uniform token info:id = "UsdPreviewSurface"
+                color3f inputs:diffuseColor = (0.7758, 0.6939, 0.5149)
+                float inputs:metallic = 0
+                float inputs:roughness = 0.78
+                token outputs:surface
+            }
+        }
+
+        def Material "LinenCloth" (
+            prepend apiSchemas = ["SemanticsLabelsAPI:material"]
+        )
+        {
+            token outputs:surface.connect = </Model/Materials/LinenCloth/Surface.outputs:surface>
+            token[] semantics:labels:material = ["fabric"]
+
+            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/LinenCloth/St.outputs:result>
+                float2 inputs:scale = (25, 25)
+                float2 outputs:result
+            }
+
+            def Shader "Albedo"
+            {
+                uniform token info:id = "UsdUVTexture"
+                asset inputs:file = @./assets/cloth-cover.png@
+                token inputs:sourceColorSpace = "sRGB"
+                float2 inputs:st.connect = </Model/Materials/LinenCloth/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/LinenCloth/Albedo.outputs:rgb>
+                float inputs:metallic = 0
+                float inputs:roughness = 0.85
+                token outputs:surface
+            }
+        }
+
+        def Material "Paper" (
+            prepend apiSchemas = ["SemanticsLabelsAPI:material"]
+        )
+        {
+            token outputs:surface.connect = </Model/Materials/Paper/Surface.outputs:surface>
+            token[] semantics:labels:material = ["paper"]
+
+            def Shader "Surface"
+            {
+                uniform token info:id = "UsdPreviewSurface"
+                color3f inputs:diffuseColor = (0.8632, 0.7913, 0.624)
+                float inputs:metallic = 0
+                float inputs:roughness = 0.9
+                token outputs:surface
+            }
+        }
+
+        def Material "GoldFoil" (
+            prepend apiSchemas = ["SemanticsLabelsAPI:material"]
+        )
+        {
+            token outputs:surface.connect = </Model/Materials/GoldFoil/Surface.outputs:surface>
+            token[] semantics:labels:material = ["metal"]
+
+            def Shader "Surface"
+            {
+                uniform token info:id = "UsdPreviewSurface"
+                color3f inputs:diffuseColor = (0.72, 0.52, 0.2)
+                float inputs:metallic = 1
+                float inputs:roughness = 0.3
+                token outputs:surface
+            }
+        }
+
+        def Material "SilverFoil" (
+            prepend apiSchemas = ["SemanticsLabelsAPI:material"]
+        )
+        {
+            token outputs:surface.connect = </Model/Materials/SilverFoil/Surface.outputs:surface>
+            token[] semantics:labels:material = ["metal"]
+
+            def Shader "Surface"
+            {
+                uniform token info:id = "UsdPreviewSurface"
+                color3f inputs:diffuseColor = (0.72, 0.73, 0.74)
+                float inputs:metallic = 1
+                float inputs:roughness = 0.3
+                token outputs:surface
+            }
+        }
+
+        def Material "BlackFoil" (
+            prepend apiSchemas = ["SemanticsLabelsAPI:material"]
+        )
+        {
+            token outputs:surface.connect = </Model/Materials/BlackFoil/Surface.outputs:surface>
+            token[] semantics:labels:material = ["metal"]
+
+            def Shader "Surface"
+            {
+                uniform token info:id = "UsdPreviewSurface"
+                color3f inputs:diffuseColor = (0.0103, 0.0103, 0.0103)
+                float inputs:metallic = 0
+                float inputs:roughness = 0.35
+                token outputs:surface
+            }
+        }
+    }
+    variantSet "finish" = {
+        "black" {
+            over "Geometry"
+            {
+                over "Bookcase"
+                {
+                    over "Side_panels" (
+                        prepend apiSchemas = ["MaterialBindingAPI"]
+                    )
+                    {
+                        rel material:binding = </Model/Materials/BlackBrown>
+                    }
+
+                    over "Side_edges" (
+                        prepend apiSchemas = ["MaterialBindingAPI"]
+                    )
+                    {
+                        rel material:binding = </Model/Materials/BlackBrown>
+                    }
+
+                    over "Top" (
+                        prepend apiSchemas = ["MaterialBindingAPI"]
+                    )
+                    {
+                        rel material:binding = </Model/Materials/BlackBrown>
+                    }
+
+                    over "Bottom" (
+                        prepend apiSchemas = ["MaterialBindingAPI"]
+                    )
+                    {
+                        rel material:binding = </Model/Materials/BlackBrown>
+                    }
+
+                    over "Shelves" (
+                        prepend apiSchemas = ["MaterialBindingAPI"]
+                    )
+                    {
+                        rel material:binding = </Model/Materials/BlackBrown>
+                    }
+
+                    over "Panel_edges" (
+                        prepend apiSchemas = ["MaterialBindingAPI"]
+                    )
+                    {
+                        rel material:binding = </Model/Materials/BlackBrown>
+                    }
+
+                    over "Plinth" (
+                        prepend apiSchemas = ["MaterialBindingAPI"]
+                    )
+                    {
+                        rel material:binding = </Model/Materials/BlackBrown>
+                    }
+
+                    over "Back_panel" (
+                        prepend apiSchemas = ["MaterialBindingAPI"]
+                    )
+                    {
+                        rel material:binding = </Model/Materials/BlackBrown>
+                    }
+
+                    over "Shelf_pins" (
+                        prepend apiSchemas = ["MaterialBindingAPI"]
+                    )
+                    {
+                        rel material:binding = </Model/Materials/ZincSteel>
+                    }
+
+                    over "Cam_fittings" (
+                        prepend apiSchemas = ["MaterialBindingAPI"]
+                    )
+                    {
+                        rel material:binding = </Model/Materials/CamZinc>
+                    }
+
+                    over "Wall_anchor" (
+                        prepend apiSchemas = ["MaterialBindingAPI"]
+                    )
+                    {
+                        rel material:binding = </Model/Materials/ZincSteel>
+                    }
+                }
+            }
+
+        }
+        "oak" {
+            over "Geometry"
+            {
+                over "Bookcase"
+                {
+                    over "Side_panels" (
+                        prepend apiSchemas = ["MaterialBindingAPI"]
+                    )
+                    {
+                        rel material:binding = </Model/Materials/OakGrainA>
+                    }
+
+                    over "Side_edges" (
+                        prepend apiSchemas = ["MaterialBindingAPI"]
+                    )
+                    {
+                        rel material:binding = </Model/Materials/OakGrainB>
+                    }
+
+                    over "Top" (
+                        prepend apiSchemas = ["MaterialBindingAPI"]
+                    )
+                    {
+                        rel material:binding = </Model/Materials/OakGrainB>
+                    }
+
+                    over "Bottom" (
+                        prepend apiSchemas = ["MaterialBindingAPI"]
+                    )
+                    {
+                        rel material:binding = </Model/Materials/OakGrainB>
+                    }
+
+                    over "Shelves" (
+                        prepend apiSchemas = ["MaterialBindingAPI"]
+                    )
+                    {
+                        rel material:binding = </Model/Materials/OakGrainB>
+                    }
+
+                    over "Panel_edges" (
+                        prepend apiSchemas = ["MaterialBindingAPI"]
+                    )
+                    {
+                        rel material:binding = </Model/Materials/OakGrainA>
+                    }
+
+                    over "Plinth" (
+                        prepend apiSchemas = ["MaterialBindingAPI"]
+                    )
+                    {
+                        rel material:binding = </Model/Materials/OakGrainA>
+                    }
+
+                    over "Back_panel" (
+                        prepend apiSchemas = ["MaterialBindingAPI"]
+                    )
+                    {
+                        rel material:binding = </Model/Materials/OakGrainB>
+                    }
+
+                    over "Shelf_pins" (
+                        prepend apiSchemas = ["MaterialBindingAPI"]
+                    )
+                    {
+                        rel material:binding = </Model/Materials/ZincSteel>
+                    }
+
+                    over "Cam_fittings" (
+                        prepend apiSchemas = ["MaterialBindingAPI"]
+                    )
+                    {
+                        rel material:binding = </Model/Materials/CamZinc>
+                    }
+
+                    over "Wall_anchor" (
+                        prepend apiSchemas = ["MaterialBindingAPI"]
+                    )
+                    {
+                        rel material:binding = </Model/Materials/ZincSteel>
+                    }
+                }
+            }
+
+        }
+        "white" {
+            over "Geometry"
+            {
+                over "Bookcase"
+                {
+                    over "Side_panels" (
+                        prepend apiSchemas = ["MaterialBindingAPI"]
+                    )
+                    {
+                        rel material:binding = </Model/Materials/WhiteMelamine>
+                    }
+
+                    over "Side_edges" (
+                        prepend apiSchemas = ["MaterialBindingAPI"]
+                    )
+                    {
+                        rel material:binding = </Model/Materials/WhiteMelamine>
+                    }
+
+                    over "Top" (
+                        prepend apiSchemas = ["MaterialBindingAPI"]
+                    )
+                    {
+                        rel material:binding = </Model/Materials/WhiteMelamine>
+                    }
+
+                    over "Bottom" (
+                        prepend apiSchemas = ["MaterialBindingAPI"]
+                    )
+                    {
+                        rel material:binding = </Model/Materials/WhiteMelamine>
+                    }
+
+                    over "Shelves" (
+                        prepend apiSchemas = ["MaterialBindingAPI"]
+                    )
+                    {
+                        rel material:binding = </Model/Materials/WhiteMelamine>
+                    }
+
+                    over "Panel_edges" (
+                        prepend apiSchemas = ["MaterialBindingAPI"]
+                    )
+                    {
+                        rel material:binding = </Model/Materials/WhiteMelamine>
+                    }
+
+                    over "Plinth" (
+                        prepend apiSchemas = ["MaterialBindingAPI"]
+                    )
+                    {
+                        rel material:binding = </Model/Materials/WhiteMelamine>
+                    }
+
+                    over "Back_panel" (
+                        prepend apiSchemas = ["MaterialBindingAPI"]
+                    )
+                    {
+                        rel material:binding = </Model/Materials/WhiteBack>
+                    }
+
+                    over "Shelf_pins" (
+                        prepend apiSchemas = ["MaterialBindingAPI"]
+                    )
+                    {
+                        rel material:binding = </Model/Materials/ZincSteel>
+                    }
+
+                    over "Cam_fittings" (
+                        prepend apiSchemas = ["MaterialBindingAPI"]
+                    )
+                    {
+                        rel material:binding = </Model/Materials/CamZinc>
+                    }
+
+                    over "Wall_anchor" (
+                        prepend apiSchemas = ["MaterialBindingAPI"]
+                    )
+                    {
+                        rel material:binding = </Model/Materials/ZincSteel>
+                    }
+                }
+            }
+
+        }
+    }
+    variantSet "physics" = {
+        "none" {
+
+        }
+        "physics" (
+            prepend references = @./forgecad/physics.usda@</Model>
+        ) {
+
+        }
+    }
+}
+

bookshelf_with_books_v05/simready_usd/forgecad/geometry.usda

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e448bb0c9f2d04eb4bc6dc40e46dea857079989a998127aa7be10a354dd90f60
+size 74455136

bookshelf_with_books_v05/simready_usd/forgecad/physics.usda

@@ -0,0 +1,1512 @@
+#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 "melamine_faced_particleboard" (
+                    prepend apiSchemas = ["PhysicsMaterialAPI", "SemanticsLabelsAPI:material"]
+                  )
+                  {
+                    token[] semantics:labels:material = ["Melamine-faced particleboard"]
+                    float physics:density = 650
+                    float physics:staticFriction = 0.4
+                    float physics:dynamicFriction = 0.3
+                    float physics:restitution = 0.3
+                  }
+
+            def Material "hardcover_book" (
+                    prepend apiSchemas = ["PhysicsMaterialAPI", "SemanticsLabelsAPI:material"]
+                  )
+                  {
+                    token[] semantics:labels:material = ["Hardcover book"]
+                    float physics:density = 800
+                    float physics:staticFriction = 0.5
+                    float physics:dynamicFriction = 0.4
+                    float physics:restitution = 0.1
+                  }
+        }
+
+        def Scope "Joints"
+        {
+            def PhysicsRevoluteJoint "cover_hinge" (
+                prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
+            )
+            {
+                rel physics:body0 = </Model/Geometry/Showcase_book>
+                rel physics:body1 = </Model/Geometry/Showcase_book/Showcase_book_cover>
+                point3f physics:localPos0 = (0.02384, 0, 1.232)
+                point3f physics:localPos1 = (0.02384, 0, 1.232)
+                quatf physics:localRot0 = (0.70710678, 0, 0, -0.70710678)
+                quatf physics:localRot1 = (0.70710678, 0, 0, -0.70710678)
+                uniform token physics:axis = "X"
+                float physics:lowerLimit = 0
+                float physics:upperLimit = 180
+                token drive:angular:physics:type = "force"
+                float drive:angular:physics:targetVelocity = 0
+                float drive:angular:physics:stiffness = 0
+                float drive:angular:physics:damping = 0.000034907
+                float state:angular:physics:position = 0
+                float state:angular:physics:velocity = 0
+            }
+        }
+    }
+
+    over "Geometry"
+    {
+        over "Bookcase" (
+            prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"]
+        )
+        {
+            bool physics:rigidBodyEnabled = 1
+            bool physics:kinematicEnabled = 0
+            bool physics:startsAsleep = 0
+            float physics:mass = 21.7162309011605
+            point3f physics:centerOfMass = (-0.000043494, 0.007469382, 0.601115324)
+            float3 physics:diagonalInertia = (5.322472809099, 3.552167147399, 2.145733441356)
+            quatf physics:principalAxes = (0.00441297, 0.70711737, 0.7070704, -0.00412319)
+            def Xform "Colliders"
+            {
+                def Cube "side_left" (
+                    prepend apiSchemas = ["PhysicsCollisionAPI", "MaterialBindingAPI"]
+                )
+                {
+                    uniform token purpose = "guide"
+                    double size = 1
+                    double3 xformOp:translate = (-0.391, -0.0015, 0.6)
+                    quatf xformOp:orient = (1, 0, 0, 0)
+                    float3 xformOp:scale = (0.018, 0.297, 1.2)
+                    uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+                    rel material:binding:physics = </Model/Physics/Materials/melamine_faced_particleboard>
+                }
+
+                def Cube "side_right" (
+                    prepend apiSchemas = ["PhysicsCollisionAPI", "MaterialBindingAPI"]
+                )
+                {
+                    uniform token purpose = "guide"
+                    double size = 1
+                    double3 xformOp:translate = (0.391, -0.0015, 0.6)
+                    quatf xformOp:orient = (1, 0, 0, 0)
+                    float3 xformOp:scale = (0.018, 0.297, 1.2)
+                    uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+                    rel material:binding:physics = </Model/Physics/Materials/melamine_faced_particleboard>
+                }
+
+                def Cube "top" (
+                    prepend apiSchemas = ["PhysicsCollisionAPI", "MaterialBindingAPI"]
+                )
+                {
+                    uniform token purpose = "guide"
+                    double size = 1
+                    double3 xformOp:translate = (0, -0.0015, 1.191)
+                    quatf xformOp:orient = (1, 0, 0, 0)
+                    float3 xformOp:scale = (0.764, 0.297, 0.018)
+                    uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+                    rel material:binding:physics = </Model/Physics/Materials/melamine_faced_particleboard>
+                }
+
+                def Cube "bottom" (
+                    prepend apiSchemas = ["PhysicsCollisionAPI", "MaterialBindingAPI"]
+                )
+                {
+                    uniform token purpose = "guide"
+                    double size = 1
+                    double3 xformOp:translate = (0, -0.0015, 0.069)
+                    quatf xformOp:orient = (1, 0, 0, 0)
+                    float3 xformOp:scale = (0.764, 0.297, 0.018)
+                    uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+                    rel material:binding:physics = </Model/Physics/Materials/melamine_faced_particleboard>
+                }
+
+                def Cube "plinth" (
+                    prepend apiSchemas = ["PhysicsCollisionAPI", "MaterialBindingAPI"]
+                )
+                {
+                    uniform token purpose = "guide"
+                    double size = 1
+                    double3 xformOp:translate = (0, -0.126, 0.03)
+                    quatf xformOp:orient = (1, 0, 0, 0)
+                    float3 xformOp:scale = (0.764, 0.018, 0.06)
+                    uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+                    rel material:binding:physics = </Model/Physics/Materials/melamine_faced_particleboard>
+                }
+
+                def Cube "back" (
+                    prepend apiSchemas = ["PhysicsCollisionAPI", "MaterialBindingAPI"]
+                )
+                {
+                    uniform token purpose = "guide"
+                    double size = 1
+                    double3 xformOp:translate = (0, 0.1485, 0.6)
+                    quatf xformOp:orient = (1, 0, 0, 0)
+                    float3 xformOp:scale = (0.8, 0.003, 1.2)
+                    uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+                    rel material:binding:physics = </Model/Physics/Materials/melamine_faced_particleboard>
+                }
+
+                def Cube "shelf_1" (
+                    prepend apiSchemas = ["PhysicsCollisionAPI", "MaterialBindingAPI"]
+                )
+                {
+                    uniform token purpose = "guide"
+                    double size = 1
+                    double3 xformOp:translate = (0, -0.0065, 0.8254)
+                    quatf xformOp:orient = (1, 0, 0, 0)
+                    float3 xformOp:scale = (0.762, 0.283, 0.018)
+                    uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+                    rel material:binding:physics = </Model/Physics/Materials/melamine_faced_particleboard>
+                }
+
+                def Cube "shelf_2" (
+                    prepend apiSchemas = ["PhysicsCollisionAPI", "MaterialBindingAPI"]
+                )
+                {
+                    uniform token purpose = "guide"
+                    double size = 1
+                    double3 xformOp:translate = (0, -0.0065, 0.4414)
+                    quatf xformOp:orient = (1, 0, 0, 0)
+                    float3 xformOp:scale = (0.762, 0.283, 0.018)
+                    uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+                    rel material:binding:physics = </Model/Physics/Materials/melamine_faced_particleboard>
+                }
+            }
+        }
+        over "Teal_book_1" (
+            prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"]
+        )
+        {
+            bool physics:rigidBodyEnabled = 1
+            bool physics:kinematicEnabled = 0
+            bool physics:startsAsleep = 0
+            float physics:mass = 0.3656903974956067
+            point3f physics:centerOfMass = (-0.084343302, -0.074907386, 0.933326812)
+            float3 physics:diagonalInertia = (0.001716388549, 0.001226356161, 0.000509978159)
+            quatf physics:principalAxes = (0.98480775, -0.00000085, 0.17364819, -0.00000001)
+            def Xform "Colliders"
+            {
+                def Cube "book" (
+                    prepend apiSchemas = ["PhysicsCollisionAPI", "MaterialBindingAPI"]
+                )
+                {
+                    uniform token purpose = "guide"
+                    double size = 1
+                    double3 xformOp:translate = (-0.084343288, -0.074, 0.933326829)
+                    quatf xformOp:orient = (0.98480775, 0, 0.17364818, 0)
+                    float3 xformOp:scale = (0.018, 0.132, 0.204)
+                    uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+                    rel material:binding:physics = </Model/Physics/Materials/hardcover_book>
+                }
+            }
+                  def BasisCurves "grasp_identifier_01"
+                  {
+                    int[] curveVertexCounts = [2]
+                    float3[] extent = [(-0.106755, -0.12, 0.891909), (-0.08984, -0.12, 0.898066)]
+                    point3f[] points = [(-0.106755, -0.12, 0.898066), (-0.08984, -0.12, 0.891909)]
+                    uniform token purpose = "guide"
+                    uniform token type = "linear"
+                    uniform token wrap = "nonperiodic"
+                  }
+        }
+        over "Slate_book_1" (
+            prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"]
+        )
+        {
+            bool physics:rigidBodyEnabled = 1
+            bool physics:kinematicEnabled = 0
+            bool physics:startsAsleep = 0
+            float physics:mass = 0.8484683948964296
+            point3f physics:centerOfMass = (-0.029200022, -0.04510686, 0.960400374)
+            float3 physics:diagonalInertia = (0.006810466405, 0.004364793464, 0.002520903349)
+            quatf physics:principalAxes = (1, 0.00000764, -0.00000004, -0.00000035)
+            def Xform "Colliders"
+            {
+                def Cube "book" (
+                    prepend apiSchemas = ["PhysicsCollisionAPI", "MaterialBindingAPI"]
+                )
+                {
+                    uniform token purpose = "guide"
+                    double size = 1
+                    double3 xformOp:translate = (-0.0292, -0.044, 0.9604)
+                    quatf xformOp:orient = (1, 0, 0, 0)
+                    float3 xformOp:scale = (0.023, 0.192, 0.252)
+                    uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+                    rel material:binding:physics = </Model/Physics/Materials/hardcover_book>
+                }
+            }
+                  def BasisCurves "grasp_identifier_01"
+                  {
+                    int[] curveVertexCounts = [2]
+                    float3[] extent = [(-0.0407, -0.12, 0.91), (-0.0177, -0.12, 0.91)]
+                    point3f[] points = [(-0.0407, -0.12, 0.91), (-0.0177, -0.12, 0.91)]
+                    uniform token purpose = "guide"
+                    uniform token type = "linear"
+                    uniform token wrap = "nonperiodic"
+                  }
+        }
+        over "Navy_book_1" (
+            prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"]
+        )
+        {
+            bool physics:rigidBodyEnabled = 1
+            bool physics:kinematicEnabled = 0
+            bool physics:startsAsleep = 0
+            float physics:mass = 0.943049331134316
+            point3f physics:centerOfMass = (0.000349987, -0.0939042, 0.951900209)
+            float3 physics:diagonalInertia = (0.005906012498, 0.004249491148, 0.001844423883)
+            quatf physics:principalAxes = (1, 0.00000276, -0.00000002, -0.00000028)
+            def Xform "Colliders"
+            {
+                def Cube "book" (
+                    prepend apiSchemas = ["PhysicsCollisionAPI", "MaterialBindingAPI"]
+                )
+                {
+                    uniform token purpose = "guide"
+                    double size = 1
+                    double3 xformOp:translate = (0.00035, -0.0925, 0.9519)
+                    quatf xformOp:orient = (1, 0, 0, 0)
+                    float3 xformOp:scale = (0.0345, 0.155, 0.235)
+                    uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+                    rel material:binding:physics = </Model/Physics/Materials/hardcover_book>
+                }
+            }
+                  def BasisCurves "grasp_identifier_01"
+                  {
+                    int[] curveVertexCounts = [2]
+                    float3[] extent = [(-0.0169, -0.15, 0.9049), (0.0176, -0.15, 0.9049)]
+                    point3f[] points = [(-0.0169, -0.15, 0.9049), (0.0176, -0.15, 0.9049)]
+                    uniform token purpose = "guide"
+                    uniform token type = "linear"
+                    uniform token wrap = "nonperiodic"
+                  }
+        }
+        over "Cream_book_1" (
+            prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"]
+        )
+        {
+            bool physics:rigidBodyEnabled = 1
+            bool physics:kinematicEnabled = 0
+            bool physics:startsAsleep = 0
+            float physics:mass = 0.4731097616213804
+            point3f physics:centerOfMass = (0.028399981, -0.070495928, 0.945400238)
+            float3 physics:diagonalInertia = (0.002604917498, 0.001882823292, 0.000753896921)
+            quatf physics:principalAxes = (1, 0.00000311, 0.00000001, -0.00000042)
+            def Xform "Colliders"
+            {
+                def Cube "book" (
+                    prepend apiSchemas = ["PhysicsCollisionAPI", "MaterialBindingAPI"]
+                )
+                {
+                    uniform token purpose = "guide"
+                    double size = 1
+                    double3 xformOp:translate = (0.0284, -0.0695, 0.9454)
+                    quatf xformOp:orient = (1, 0, 0, 0)
+                    float3 xformOp:scale = (0.02, 0.141, 0.222)
+                    uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+                    rel material:binding:physics = </Model/Physics/Materials/hardcover_book>
+                }
+            }
+                  def BasisCurves "grasp_identifier_01"
+                  {
+                    int[] curveVertexCounts = [2]
+                    float3[] extent = [(0.0184, -0.12, 0.901), (0.0384, -0.12, 0.901)]
+                    point3f[] points = [(0.0184, -0.12, 0.901), (0.0384, -0.12, 0.901)]
+                    uniform token purpose = "guide"
+                    uniform token type = "linear"
+                    uniform token wrap = "nonperiodic"
+                  }
+        }
+        over "Oxblood_book_1" (
+            prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"]
+        )
+        {
+            bool physics:rigidBodyEnabled = 1
+            bool physics:kinematicEnabled = 0
+            bool physics:startsAsleep = 0
+            float physics:mass = 0.7284083909538058
+            point3f physics:centerOfMass = (0.052449988, -0.063716725, 0.951900234)
+            float3 physics:diagonalInertia = (0.004583601533, 0.00326014665, 0.001409207633)
+            quatf physics:principalAxes = (1, 0.00000315, -0, -0.00000022)
+            def Xform "Colliders"
+            {
+                def Cube "book" (
+                    prepend apiSchemas = ["PhysicsCollisionAPI", "MaterialBindingAPI"]
+                )
+                {
+                    uniform token purpose = "guide"
+                    double size = 1
+                    double3 xformOp:translate = (0.05245, -0.0625, 0.9519)
+                    quatf xformOp:orient = (1, 0, 0, 0)
+                    float3 xformOp:scale = (0.0265, 0.155, 0.235)
+                    uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+                    rel material:binding:physics = </Model/Physics/Materials/hardcover_book>
+                }
+            }
+                  def BasisCurves "grasp_identifier_01"
+                  {
+                    int[] curveVertexCounts = [2]
+                    float3[] extent = [(0.0392, -0.12, 0.9049), (0.0657, -0.12, 0.9049)]
+                    point3f[] points = [(0.0392, -0.12, 0.9049), (0.0657, -0.12, 0.9049)]
+                    uniform token purpose = "guide"
+                    uniform token type = "linear"
+                    uniform token wrap = "nonperiodic"
+                  }
+        }
+        over "Slate_book_2" (
+            prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"]
+        )
+        {
+            bool physics:rigidBodyEnabled = 1
+            bool physics:kinematicEnabled = 0
+            bool physics:startsAsleep = 0
+            float physics:mass = 0.5194310966956707
+            point3f physics:centerOfMass = (0.077499983, -0.070573126, 0.945400289)
+            float3 physics:diagonalInertia = (0.002854515404, 0.002068189041, 0.000828548799)
+            quatf physics:principalAxes = (1, 0.00000386, -0, -0.00000038)
+            def Xform "Colliders"
+            {
+                def Cube "book" (
+                    prepend apiSchemas = ["PhysicsCollisionAPI", "MaterialBindingAPI"]
+                )
+                {
+                    uniform token purpose = "guide"
+                    double size = 1
+                    double3 xformOp:translate = (0.0775, -0.0695, 0.9454)
+                    quatf xformOp:orient = (1, 0, 0, 0)
+                    float3 xformOp:scale = (0.022, 0.141, 0.222)
+                    uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+                    rel material:binding:physics = </Model/Physics/Materials/hardcover_book>
+                }
+            }
+                  def BasisCurves "grasp_identifier_01"
+                  {
+                    int[] curveVertexCounts = [2]
+                    float3[] extent = [(0.0665, -0.12, 0.901), (0.0885, -0.12, 0.901)]
+                    point3f[] points = [(0.0665, -0.12, 0.901), (0.0885, -0.12, 0.901)]
+                    uniform token purpose = "guide"
+                    uniform token type = "linear"
+                    uniform token wrap = "nonperiodic"
+                  }
+        }
+        over "Linen_book_1" (
+            prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"]
+        )
+        {
+            bool physics:rigidBodyEnabled = 1
+            bool physics:kinematicEnabled = 0
+            bool physics:startsAsleep = 0
+            float physics:mass = 0.7923067676929599
+            point3f physics:centerOfMass = (0.10304999, -0.061743677, 0.954400185)
+            float3 physics:diagonalInertia = (0.005215850811, 0.003701978777, 0.001614277798)
+            quatf physics:principalAxes = (1, 0.00000238, -0.00000001, -0.0000002)
+            def Xform "Colliders"
+            {
+                def Cube "book" (
+                    prepend apiSchemas = ["PhysicsCollisionAPI", "MaterialBindingAPI"]
+                )
+                {
+                    uniform token purpose = "guide"
+                    double size = 1
+                    double3 xformOp:translate = (0.10305, -0.0605, 0.9544)
+                    quatf xformOp:orient = (1, 0, 0, 0)
+                    float3 xformOp:scale = (0.0275, 0.159, 0.24)
+                    uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+                    rel material:binding:physics = </Model/Physics/Materials/hardcover_book>
+                }
+            }
+                  def BasisCurves "grasp_identifier_01"
+                  {
+                    int[] curveVertexCounts = [2]
+                    float3[] extent = [(0.0893, -0.12, 0.9064), (0.1168, -0.12, 0.9064)]
+                    point3f[] points = [(0.0893, -0.12, 0.9064), (0.1168, -0.12, 0.9064)]
+                    uniform token purpose = "guide"
+                    uniform token type = "linear"
+                    uniform token wrap = "nonperiodic"
+                  }
+        }
+        over "Slate_book_3" (
+            prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"]
+        )
+        {
+            bool physics:rigidBodyEnabled = 1
+            bool physics:kinematicEnabled = 0
+            bool physics:startsAsleep = 0
+            float physics:mass = 0.40538121398255156
+            point3f physics:centerOfMass = (0.127599985, -0.074995432, 0.936400213)
+            float3 physics:diagonalInertia = (0.001898098912, 0.001359716935, 0.000565659032)
+            quatf physics:principalAxes = (1, 0.00000313, -0.00000003, -0.00000043)
+            def Xform "Colliders"
+            {
+                def Cube "book" (
+                    prepend apiSchemas = ["PhysicsCollisionAPI", "MaterialBindingAPI"]
+                )
+                {
+                    uniform token purpose = "guide"
+                    double size = 1
+                    double3 xformOp:translate = (0.1276, -0.074, 0.9364)
+                    quatf xformOp:orient = (1, 0, 0, 0)
+                    float3 xformOp:scale = (0.02, 0.132, 0.204)
+                    uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+                    rel material:binding:physics = </Model/Physics/Materials/hardcover_book>
+                }
+            }
+                  def BasisCurves "grasp_identifier_01"
+                  {
+                    int[] curveVertexCounts = [2]
+                    float3[] extent = [(0.1176, -0.12, 0.8956), (0.1376, -0.12, 0.8956)]
+                    point3f[] points = [(0.1176, -0.12, 0.8956), (0.1376, -0.12, 0.8956)]
+                    uniform token purpose = "guide"
+                    uniform token type = "linear"
+                    uniform token wrap = "nonperiodic"
+                  }
+        }
+        over "Ochre_book_1" (
+            prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"]
+        )
+        {
+            bool physics:rigidBodyEnabled = 1
+            bool physics:kinematicEnabled = 0
+            bool physics:startsAsleep = 0
+            float physics:mass = 1.005799623250988
+            point3f physics:centerOfMass = (0.148899988, -0.031537297, 0.976900225)
+            float3 physics:diagonalInertia = (0.010455901745, 0.00663205826, 0.003898143736)
+            quatf physics:principalAxes = (1, 0.00000401, -0.00000001, -0.00000016)
+            def Xform "Colliders"
+            {
+                def Cube "book" (
+                    prepend apiSchemas = ["PhysicsCollisionAPI", "MaterialBindingAPI"]
+                )
+                {
+                    uniform token purpose = "guide"
+                    double size = 1
+                    double3 xformOp:translate = (0.1489, -0.0305, 0.9769)
+                    quatf xformOp:orient = (1, 0, 0, 0)
+                    float3 xformOp:scale = (0.021, 0.219, 0.285)
+                    uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+                    rel material:binding:physics = </Model/Physics/Materials/hardcover_book>
+                }
+            }
+                  def BasisCurves "grasp_identifier_01"
+                  {
+                    int[] curveVertexCounts = [2]
+                    float3[] extent = [(0.1384, -0.12, 0.9199), (0.1594, -0.12, 0.9199)]
+                    point3f[] points = [(0.1384, -0.12, 0.9199), (0.1594, -0.12, 0.9199)]
+                    uniform token purpose = "guide"
+                    uniform token type = "linear"
+                    uniform token wrap = "nonperiodic"
+                  }
+        }
+        over "Teal_book_2" (
+            prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"]
+        )
+        {
+            bool physics:rigidBodyEnabled = 1
+            bool physics:kinematicEnabled = 0
+            bool physics:startsAsleep = 0
+            float physics:mass = 0.8291458947553454
+            point3f physics:centerOfMass = (0.180949982, -0.075476592, 0.93640026)
+            float3 physics:diagonalInertia = (0.003830850179, 0.002850681005, 0.001219263925)
+            quatf physics:principalAxes = (1, 0.00000386, -0.00000004, -0.0000004)
+            def Xform "Colliders"
+            {
+                def Cube "book" (
+                    prepend apiSchemas = ["PhysicsCollisionAPI", "MaterialBindingAPI"]
+                )
+                {
+                    uniform token purpose = "guide"
+                    double size = 1
+                    double3 xformOp:translate = (0.18095, -0.074, 0.9364)
+                    quatf xformOp:orient = (1, 0, 0, 0)
+                    float3 xformOp:scale = (0.0415, 0.132, 0.204)
+                    uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+                    rel material:binding:physics = </Model/Physics/Materials/hardcover_book>
+                }
+            }
+                  def BasisCurves "grasp_identifier_01"
+                  {
+                    int[] curveVertexCounts = [2]
+                    float3[] extent = [(0.1602, -0.12, 0.8956), (0.2017, -0.12, 0.8956)]
+                    point3f[] points = [(0.1602, -0.12, 0.8956), (0.2017, -0.12, 0.8956)]
+                    uniform token purpose = "guide"
+                    uniform token type = "linear"
+                    uniform token wrap = "nonperiodic"
+                  }
+        }
+        over "Charcoal_book_1" (
+            prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"]
+        )
+        {
+            bool physics:rigidBodyEnabled = 1
+            bool physics:kinematicEnabled = 0
+            bool physics:startsAsleep = 0
+            float physics:mass = 0.7714460997115774
+            point3f physics:centerOfMass = (0.218999985, -0.070878375, 0.945400242)
+            float3 physics:diagonalInertia = (0.004204374271, 0.003097578073, 0.00124754285)
+            quatf physics:principalAxes = (1, 0.00000314, -0.00000001, -0.00000037)
+            def Xform "Colliders"
+            {
+                def Cube "book" (
+                    prepend apiSchemas = ["PhysicsCollisionAPI", "MaterialBindingAPI"]
+                )
+                {
+                    uniform token purpose = "guide"
+                    double size = 1
+                    double3 xformOp:translate = (0.219, -0.0695, 0.9454)
+                    quatf xformOp:orient = (1, 0, 0, 0)
+                    float3 xformOp:scale = (0.033, 0.141, 0.222)
+                    uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+                    rel material:binding:physics = </Model/Physics/Materials/hardcover_book>
+                }
+            }
+                  def BasisCurves "grasp_identifier_01"
+                  {
+                    int[] curveVertexCounts = [2]
+                    float3[] extent = [(0.2025, -0.12, 0.901), (0.2355, -0.12, 0.901)]
+                    point3f[] points = [(0.2025, -0.12, 0.901), (0.2355, -0.12, 0.901)]
+                    uniform token purpose = "guide"
+                    uniform token type = "linear"
+                    uniform token wrap = "nonperiodic"
+                  }
+        }
+        over "Slate_book_4" (
+            prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"]
+        )
+        {
+            bool physics:rigidBodyEnabled = 1
+            bool physics:kinematicEnabled = 0
+            bool physics:startsAsleep = 0
+            float physics:mass = 1.1036097503444235
+            point3f physics:centerOfMass = (0.255549988, -0.061950681, 0.954400325)
+            float3 physics:diagonalInertia = (0.007230415491, 0.005209532628, 0.002294530214)
+            quatf physics:principalAxes = (1, 0.00000445, -0, -0.00000029)
+            def Xform "Colliders"
+            {
+                def Cube "book" (
+                    prepend apiSchemas = ["PhysicsCollisionAPI", "MaterialBindingAPI"]
+                )
+                {
+                    uniform token purpose = "guide"
+                    double size = 1
+                    double3 xformOp:translate = (0.25555, -0.0605, 0.9544)
+                    quatf xformOp:orient = (1, 0, 0, 0)
+                    float3 xformOp:scale = (0.0385, 0.159, 0.24)
+                    uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+                    rel material:binding:physics = </Model/Physics/Materials/hardcover_book>
+                }
+            }
+                  def BasisCurves "grasp_identifier_01"
+                  {
+                    int[] curveVertexCounts = [2]
+                    float3[] extent = [(0.2363, -0.12, 0.9064), (0.2748, -0.12, 0.9064)]
+                    point3f[] points = [(0.2363, -0.12, 0.9064), (0.2748, -0.12, 0.9064)]
+                    uniform token purpose = "guide"
+                    uniform token type = "linear"
+                    uniform token wrap = "nonperiodic"
+                  }
+        }
+        over "Forest_book_1" (
+            prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"]
+        )
+        {
+            bool physics:rigidBodyEnabled = 1
+            bool physics:kinematicEnabled = 0
+            bool physics:startsAsleep = 0
+            float physics:mass = 0.8759015948706563
+            point3f physics:centerOfMass = (0.294349981, -0.070939961, 0.945400254)
+            float3 physics:diagonalInertia = (0.004767964396, 0.003536643154, 0.00143753515)
+            quatf physics:principalAxes = (1, 0.00000331, -0.00000001, -0.00000029)
+            def Xform "Colliders"
+            {
+                def Cube "book" (
+                    prepend apiSchemas = ["PhysicsCollisionAPI", "MaterialBindingAPI"]
+                )
+                {
+                    uniform token purpose = "guide"
+                    double size = 1
+                    double3 xformOp:translate = (0.29435, -0.0695, 0.9454)
+                    quatf xformOp:orient = (1, 0, 0, 0)
+                    float3 xformOp:scale = (0.0375, 0.141, 0.222)
+                    uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+                    rel material:binding:physics = </Model/Physics/Materials/hardcover_book>
+                }
+            }
+                  def BasisCurves "grasp_identifier_01"
+                  {
+                    int[] curveVertexCounts = [2]
+                    float3[] extent = [(0.2756, -0.12, 0.901), (0.3131, -0.12, 0.901)]
+                    point3f[] points = [(0.2756, -0.12, 0.901), (0.3131, -0.12, 0.901)]
+                    uniform token purpose = "guide"
+                    uniform token type = "linear"
+                    uniform token wrap = "nonperiodic"
+                  }
+        }
+        over "Ochre_book_2" (
+            prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"]
+        )
+        {
+            bool physics:rigidBodyEnabled = 1
+            bool physics:kinematicEnabled = 0
+            bool physics:startsAsleep = 0
+            float physics:mass = 0.7923067676929599
+            point3f physics:centerOfMass = (0.327649994, -0.061743743, 0.954400265)
+            float3 physics:diagonalInertia = (0.005215849842, 0.003701975382, 0.001614280085)
+            quatf physics:principalAxes = (1, 0.00000358, -0.00000001, -0.00000024)
+            def Xform "Colliders"
+            {
+                def Cube "book" (
+                    prepend apiSchemas = ["PhysicsCollisionAPI", "MaterialBindingAPI"]
+                )
+                {
+                    uniform token purpose = "guide"
+                    double size = 1
+                    double3 xformOp:translate = (0.32765, -0.0605, 0.9544)
+                    quatf xformOp:orient = (1, 0, 0, 0)
+                    float3 xformOp:scale = (0.0275, 0.159, 0.24)
+                    uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+                    rel material:binding:physics = </Model/Physics/Materials/hardcover_book>
+                }
+            }
+                  def BasisCurves "grasp_identifier_01"
+                  {
+                    int[] curveVertexCounts = [2]
+                    float3[] extent = [(0.3139, -0.12, 0.9064), (0.3414, -0.12, 0.9064)]
+                    point3f[] points = [(0.3139, -0.12, 0.9064), (0.3414, -0.12, 0.9064)]
+                    uniform token purpose = "guide"
+                    uniform token type = "linear"
+                    uniform token wrap = "nonperiodic"
+                  }
+        }
+        over "Oxblood_book_2" (
+            prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"]
+        )
+        {
+            bool physics:rigidBodyEnabled = 1
+            bool physics:kinematicEnabled = 0
+            bool physics:startsAsleep = 0
+            float physics:mass = 0.7794864197249859
+            point3f physics:centerOfMass = (0.361699985, -0.075455703, 0.936400162)
+            float3 physics:diagonalInertia = (0.003603367073, 0.002668098133, 0.001133847385)
+            quatf physics:principalAxes = (1, 0.00000226, 0.00000001, -0.00000037)
+            def Xform "Colliders"
+            {
+                def Cube "book" (
+                    prepend apiSchemas = ["PhysicsCollisionAPI", "MaterialBindingAPI"]
+                )
+                {
+                    uniform token purpose = "guide"
+                    double size = 1
+                    double3 xformOp:translate = (0.3617, -0.074, 0.9364)
+                    quatf xformOp:orient = (1, 0, 0, 0)
+                    float3 xformOp:scale = (0.039, 0.132, 0.204)
+                    uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+                    rel material:binding:physics = </Model/Physics/Materials/hardcover_book>
+                }
+            }
+                  def BasisCurves "grasp_identifier_01"
+                  {
+                    int[] curveVertexCounts = [2]
+                    float3[] extent = [(0.3422, -0.12, 0.8956), (0.3812, -0.12, 0.8956)]
+                    point3f[] points = [(0.3422, -0.12, 0.8956), (0.3812, -0.12, 0.8956)]
+                    uniform token purpose = "guide"
+                    uniform token type = "linear"
+                    uniform token wrap = "nonperiodic"
+                  }
+        }
+        over "Teal_book_3" (
+            prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"]
+        )
+        {
+            bool physics:rigidBodyEnabled = 1
+            bool physics:kinematicEnabled = 0
+            bool physics:startsAsleep = 0
+            float physics:mass = 0.650655685484826
+            point3f physics:centerOfMass = (-0.364950019, -0.075364913, 0.552400332)
+            float3 physics:diagonalInertia = (0.003013918689, 0.002205285498, 0.000923866073)
+            quatf physics:principalAxes = (1, 0.0000053, -0.00000004, -0.0000005)
+            def Xform "Colliders"
+            {
+                def Cube "book" (
+                    prepend apiSchemas = ["PhysicsCollisionAPI", "MaterialBindingAPI"]
+                )
+                {
+                    uniform token purpose = "guide"
+                    double size = 1
+                    double3 xformOp:translate = (-0.36495, -0.074, 0.5524)
+                    quatf xformOp:orient = (1, 0, 0, 0)
+                    float3 xformOp:scale = (0.0325, 0.132, 0.204)
+                    uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+                    rel material:binding:physics = </Model/Physics/Materials/hardcover_book>
+                }
+            }
+                  def BasisCurves "grasp_identifier_01"
+                  {
+                    int[] curveVertexCounts = [2]
+                    float3[] extent = [(-0.3812, -0.12, 0.5116), (-0.3487, -0.12, 0.5116)]
+                    point3f[] points = [(-0.3812, -0.12, 0.5116), (-0.3487, -0.12, 0.5116)]
+                    uniform token purpose = "guide"
+                    uniform token type = "linear"
+                    uniform token wrap = "nonperiodic"
+                  }
+        }
+        over "Plum_book_1" (
+            prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"]
+        )
+        {
+            bool physics:rigidBodyEnabled = 1
+            bool physics:kinematicEnabled = 0
+            bool physics:startsAsleep = 0
+            float physics:mass = 0.6917535349520547
+            point3f physics:centerOfMass = (-0.333150021, -0.070794526, 0.561400266)
+            float3 physics:diagonalInertia = (0.003778958994, 0.002767727172, 0.00111215235)
+            quatf physics:principalAxes = (1, 0.00000372, -0.00000002, -0.00000034)
+            def Xform "Colliders"
+            {
+                def Cube "book" (
+                    prepend apiSchemas = ["PhysicsCollisionAPI", "MaterialBindingAPI"]
+                )
+                {
+                    uniform token purpose = "guide"
+                    double size = 1
+                    double3 xformOp:translate = (-0.33315, -0.0695, 0.5614)
+                    quatf xformOp:orient = (1, 0, 0, 0)
+                    float3 xformOp:scale = (0.0295, 0.141, 0.222)
+                    uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+                    rel material:binding:physics = </Model/Physics/Materials/hardcover_book>
+                }
+            }
+                  def BasisCurves "grasp_identifier_01"
+                  {
+                    int[] curveVertexCounts = [2]
+                    float3[] extent = [(-0.3479, -0.12, 0.517), (-0.3184, -0.12, 0.517)]
+                    point3f[] points = [(-0.3479, -0.12, 0.517), (-0.3184, -0.12, 0.517)]
+                    uniform token purpose = "guide"
+                    uniform token type = "linear"
+                    uniform token wrap = "nonperiodic"
+                  }
+        }
+        over "Oxblood_book_3" (
+            prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"]
+        )
+        {
+            bool physics:rigidBodyEnabled = 1
+            bool physics:kinematicEnabled = 0
+            bool physics:startsAsleep = 0
+            float physics:mass = 0.8759015948706563
+            point3f physics:centerOfMass = (-0.298850006, -0.070939878, 0.561400223)
+            float3 physics:diagonalInertia = (0.004767961402, 0.00353664355, 0.001437532029)
+            quatf physics:principalAxes = (1, 0.00000308, 0.00000001, -0.00000032)
+            def Xform "Colliders"
+            {
+                def Cube "book" (
+                    prepend apiSchemas = ["PhysicsCollisionAPI", "MaterialBindingAPI"]
+                )
+                {
+                    uniform token purpose = "guide"
+                    double size = 1
+                    double3 xformOp:translate = (-0.29885, -0.0695, 0.5614)
+                    quatf xformOp:orient = (1, 0, 0, 0)
+                    float3 xformOp:scale = (0.0375, 0.141, 0.222)
+                    uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+                    rel material:binding:physics = </Model/Physics/Materials/hardcover_book>
+                }
+            }
+                  def BasisCurves "grasp_identifier_01"
+                  {
+                    int[] curveVertexCounts = [2]
+                    float3[] extent = [(-0.3176, -0.12, 0.517), (-0.2801, -0.12, 0.517)]
+                    point3f[] points = [(-0.3176, -0.12, 0.517), (-0.2801, -0.12, 0.517)]
+                    uniform token purpose = "guide"
+                    uniform token type = "linear"
+                    uniform token wrap = "nonperiodic"
+                  }
+        }
+        over "Cream_book_2" (
+            prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"]
+        )
+        {
+            bool physics:rigidBodyEnabled = 1
+            bool physics:kinematicEnabled = 0
+            bool physics:startsAsleep = 0
+            float physics:mass = 1.1946524300632737
+            point3f physics:centerOfMass = (-0.266800022, -0.031667658, 0.592900276)
+            float3 physics:diagonalInertia = (0.012385680433, 0.007882567154, 0.004628072308)
+            quatf physics:principalAxes = (1, 0.00000531, -0.00000001, -0.00000021)
+            def Xform "Colliders"
+            {
+                def Cube "book" (
+                    prepend apiSchemas = ["PhysicsCollisionAPI", "MaterialBindingAPI"]
+                )
+                {
+                    uniform token purpose = "guide"
+                    double size = 1
+                    double3 xformOp:translate = (-0.2668, -0.0305, 0.5929)
+                    quatf xformOp:orient = (1, 0, 0, 0)
+                    float3 xformOp:scale = (0.025, 0.219, 0.285)
+                    uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+                    rel material:binding:physics = </Model/Physics/Materials/hardcover_book>
+                }
+            }
+                  def BasisCurves "grasp_identifier_01"
+                  {
+                    int[] curveVertexCounts = [2]
+                    float3[] extent = [(-0.2793, -0.12, 0.5359), (-0.2543, -0.12, 0.5359)]
+                    point3f[] points = [(-0.2793, -0.12, 0.5359), (-0.2543, -0.12, 0.5359)]
+                    uniform token purpose = "guide"
+                    uniform token type = "linear"
+                    uniform token wrap = "nonperiodic"
+                  }
+        }
+        over "Linen_book_2" (
+            prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"]
+        )
+        {
+            bool physics:rigidBodyEnabled = 1
+            bool physics:kinematicEnabled = 0
+            bool physics:startsAsleep = 0
+            float physics:mass = 0.6880197683982187
+            point3f physics:centerOfMass = (-0.241000018, -0.063667998, 0.567900353)
+            float3 physics:diagonalInertia = (0.004334265468, 0.003076760777, 0.001329615378)
+            quatf physics:principalAxes = (1, 0.00000518, -0.00000003, -0.00000037)
+            def Xform "Colliders"
+            {
+                def Cube "book" (
+                    prepend apiSchemas = ["PhysicsCollisionAPI", "MaterialBindingAPI"]
+                )
+                {
+                    uniform token purpose = "guide"
+                    double size = 1
+                    double3 xformOp:translate = (-0.241, -0.0625, 0.5679)
+                    quatf xformOp:orient = (1, 0, 0, 0)
+                    float3 xformOp:scale = (0.025, 0.155, 0.235)
+                    uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+                    rel material:binding:physics = </Model/Physics/Materials/hardcover_book>
+                }
+            }
+                  def BasisCurves "grasp_identifier_01"
+                  {
+                    int[] curveVertexCounts = [2]
+                    float3[] extent = [(-0.2535, -0.12, 0.5209), (-0.2285, -0.12, 0.5209)]
+                    point3f[] points = [(-0.2535, -0.12, 0.5209), (-0.2285, -0.12, 0.5209)]
+                    uniform token purpose = "guide"
+                    uniform token type = "linear"
+                    uniform token wrap = "nonperiodic"
+                  }
+        }
+        over "Teal_book_4" (
+            prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"]
+        )
+        {
+            bool physics:rigidBodyEnabled = 1
+            bool physics:kinematicEnabled = 0
+            bool physics:startsAsleep = 0
+            float physics:mass = 0.6701398153373791
+            point3f physics:centerOfMass = (-0.210950018, -0.075391999, 0.55240041)
+            float3 physics:diagonalInertia = (0.003102232701, 0.002274400201, 0.000953909653)
+            quatf physics:principalAxes = (1, 0.00000658, -0.00000004, -0.00000056)
+            def Xform "Colliders"
+            {
+                def Cube "book" (
+                    prepend apiSchemas = ["PhysicsCollisionAPI", "MaterialBindingAPI"]
+                )
+                {
+                    uniform token purpose = "guide"
+                    double size = 1
+                    double3 xformOp:translate = (-0.21095, -0.074, 0.5524)
+                    quatf xformOp:orient = (1, 0, 0, 0)
+                    float3 xformOp:scale = (0.0335, 0.132, 0.204)
+                    uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+                    rel material:binding:physics = </Model/Physics/Materials/hardcover_book>
+                }
+            }
+                  def BasisCurves "grasp_identifier_01"
+                  {
+                    int[] curveVertexCounts = [2]
+                    float3[] extent = [(-0.2277, -0.12, 0.5116), (-0.1942, -0.12, 0.5116)]
+                    point3f[] points = [(-0.2277, -0.12, 0.5116), (-0.1942, -0.12, 0.5116)]
+                    uniform token purpose = "guide"
+                    uniform token type = "linear"
+                    uniform token wrap = "nonperiodic"
+                  }
+        }
+        over "Navy_book_2" (
+            prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"]
+        )
+        {
+            bool physics:rigidBodyEnabled = 1
+            bool physics:kinematicEnabled = 0
+            bool physics:startsAsleep = 0
+            float physics:mass = 0.4351080657018845
+            point3f physics:centerOfMass = (-0.149996256, -0.075056233, 0.550209536)
+            float3 physics:diagonalInertia = (0.002034109325, 0.001460138427, 0.000607786883)
+            quatf physics:principalAxes = (0.98580888, 0.00000715, -0.16787154, 0.00000068)
+            def Xform "Colliders"
+            {
+                def Cube "book" (
+                    prepend apiSchemas = ["PhysicsCollisionAPI", "MaterialBindingAPI"]
+                )
+                {
+                    uniform token purpose = "guide"
+                    double size = 1
+                    double3 xformOp:translate = (-0.14999609, -0.074, 0.550209127)
+                    quatf xformOp:orient = (0.98580889, 0, -0.16787149, 0)
+                    float3 xformOp:scale = (0.0215, 0.132, 0.204)
+                    uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+                    rel material:binding:physics = </Model/Physics/Materials/hardcover_book>
+                }
+            }
+                  def BasisCurves "grasp_identifier_01"
+                  {
+                    int[] curveVertexCounts = [2]
+                    float3[] extent = [(-0.146636, -0.12, 0.508151), (-0.126348, -0.12, 0.515267)]
+                    point3f[] points = [(-0.146636, -0.12, 0.508151), (-0.126348, -0.12, 0.515267)]
+                    uniform token purpose = "guide"
+                    uniform token type = "linear"
+                    uniform token wrap = "nonperiodic"
+                  }
+        }
+        over "Charcoal_book_2" (
+            prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"]
+        )
+        {
+            bool physics:rigidBodyEnabled = 1
+            bool physics:kinematicEnabled = 0
+            bool physics:startsAsleep = 0
+            float physics:mass = 0.6663771129339896
+            point3f physics:centerOfMass = (0.254999867, -0.04490794, 0.459399997)
+            float3 physics:diagonalInertia = (0.005371950915, 0.003426862532, 0.001981330963)
+            quatf physics:principalAxes = (0.70710678, 0.00000215, -0.70710679, 0.00000196)
+            def Xform "Colliders"
+            {
+                def Cube "book" (
+                    prepend apiSchemas = ["PhysicsCollisionAPI", "MaterialBindingAPI"]
+                )
+                {
+                    uniform token purpose = "guide"
+                    double size = 1
+                    double3 xformOp:translate = (0.255, -0.044, 0.4594)
+                    quatf xformOp:orient = (0.70710678, 0, -0.70710678, 0)
+                    float3 xformOp:scale = (0.018, 0.192, 0.252)
+                    uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+                    rel material:binding:physics = </Model/Physics/Materials/hardcover_book>
+                }
+            }
+                  def BasisCurves "grasp_identifier_01"
+                  {
+                    int[] curveVertexCounts = [2]
+                    float3[] extent = [(0.3054, -0.12, 0.4504), (0.3054, -0.12, 0.4684)]
+                    point3f[] points = [(0.3054, -0.12, 0.4504), (0.3054, -0.12, 0.4684)]
+                    uniform token purpose = "guide"
+                    uniform token type = "linear"
+                    uniform token wrap = "nonperiodic"
+                  }
+        }
+        over "Oxblood_book_4" (
+            prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"]
+        )
+        {
+            bool physics:rigidBodyEnabled = 1
+            bool physics:kinematicEnabled = 0
+            bool physics:startsAsleep = 0
+            float physics:mass = 0.5512402940221228
+            point3f physics:centerOfMass = (0.254999899, -0.061454653, 0.477899994)
+            float3 physics:diagonalInertia = (0.003653978103, 0.002568236525, 0.001119161859)
+            quatf physics:principalAxes = (0.70710677, 0.00000122, -0.70710679, 0.00000092)
+            def Xform "Colliders"
+            {
+                def Cube "book" (
+                    prepend apiSchemas = ["PhysicsCollisionAPI", "MaterialBindingAPI"]
+                )
+                {
+                    uniform token purpose = "guide"
+                    double size = 1
+                    double3 xformOp:translate = (0.255, -0.0605, 0.4779)
+                    quatf xformOp:orient = (0.70710678, 0, -0.70710678, 0)
+                    float3 xformOp:scale = (0.019, 0.159, 0.24)
+                    uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+                    rel material:binding:physics = </Model/Physics/Materials/hardcover_book>
+                }
+            }
+                  def BasisCurves "grasp_identifier_01"
+                  {
+                    int[] curveVertexCounts = [2]
+                    float3[] extent = [(0.303, -0.12, 0.4684), (0.303, -0.12, 0.4874)]
+                    point3f[] points = [(0.303, -0.12, 0.4684), (0.303, -0.12, 0.4874)]
+                    uniform token purpose = "guide"
+                    uniform token type = "linear"
+                    uniform token wrap = "nonperiodic"
+                  }
+        }
+        over "Cream_book_3" (
+            prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"]
+        )
+        {
+            bool physics:rigidBodyEnabled = 1
+            bool physics:kinematicEnabled = 0
+            bool physics:startsAsleep = 0
+            float physics:mass = 0.6792237353063391
+            point3f physics:centerOfMass = (0.254999858, -0.061621562, 0.499149989)
+            float3 physics:diagonalInertia = (0.004484547648, 0.003167108091, 0.001380351932)
+            quatf physics:principalAxes = (0.70710677, 0.00000173, -0.7071068, 0.00000126)
+            def Xform "Colliders"
+            {
+                def Cube "book" (
+                    prepend apiSchemas = ["PhysicsCollisionAPI", "MaterialBindingAPI"]
+                )
+                {
+                    uniform token purpose = "guide"
+                    double size = 1
+                    double3 xformOp:translate = (0.255, -0.0605, 0.49915)
+                    quatf xformOp:orient = (0.70710678, 0, -0.70710678, 0)
+                    float3 xformOp:scale = (0.0235, 0.159, 0.24)
+                    uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+                    rel material:binding:physics = </Model/Physics/Materials/hardcover_book>
+                }
+            }
+                  def BasisCurves "grasp_identifier_01"
+                  {
+                    int[] curveVertexCounts = [2]
+                    float3[] extent = [(0.303, -0.12, 0.4874), (0.303, -0.12, 0.5109)]
+                    point3f[] points = [(0.303, -0.12, 0.4874), (0.303, -0.12, 0.5109)]
+                    uniform token purpose = "guide"
+                    uniform token type = "linear"
+                    uniform token wrap = "nonperiodic"
+                  }
+        }
+        over "Brick_book_1" (
+            prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"]
+        )
+        {
+            bool physics:rigidBodyEnabled = 1
+            bool physics:kinematicEnabled = 0
+            bool physics:startsAsleep = 0
+            float physics:mass = 0.6933926466548395
+            point3f physics:centerOfMass = (-0.369200014, -0.061637296, 0.198000184)
+            float3 physics:diagonalInertia = (0.004576303575, 0.003233804013, 0.001409477809)
+            quatf physics:principalAxes = (1, 0.00000274, -0.00000002, -0.00000028)
+            def Xform "Colliders"
+            {
+                def Cube "book" (
+                    prepend apiSchemas = ["PhysicsCollisionAPI", "MaterialBindingAPI"]
+                )
+                {
+                    uniform token purpose = "guide"
+                    double size = 1
+                    double3 xformOp:translate = (-0.3692, -0.0605, 0.198)
+                    quatf xformOp:orient = (1, 0, 0, 0)
+                    float3 xformOp:scale = (0.024, 0.159, 0.24)
+                    uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+                    rel material:binding:physics = </Model/Physics/Materials/hardcover_book>
+                }
+            }
+                  def BasisCurves "grasp_identifier_01"
+                  {
+                    int[] curveVertexCounts = [2]
+                    float3[] extent = [(-0.3812, -0.12, 0.15), (-0.3572, -0.12, 0.15)]
+                    point3f[] points = [(-0.3812, -0.12, 0.15), (-0.3572, -0.12, 0.15)]
+                    uniform token purpose = "guide"
+                    uniform token type = "linear"
+                    uniform token wrap = "nonperiodic"
+                  }
+        }
+        over "Slate_book_5" (
+            prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"]
+        )
+        {
+            bool physics:rigidBodyEnabled = 1
+            bool physics:kinematicEnabled = 0
+            bool physics:startsAsleep = 0
+            float physics:mass = 0.5799086360235898
+            point3f physics:centerOfMass = (-0.345900029, -0.063538468, 0.195500456)
+            float3 physics:diagonalInertia = (0.003665391267, 0.002589601794, 0.001118721186)
+            quatf physics:principalAxes = (1, 0.00000689, -0.00000004, -0.00000049)
+            def Xform "Colliders"
+            {
+                def Cube "book" (
+                    prepend apiSchemas = ["PhysicsCollisionAPI", "MaterialBindingAPI"]
+                )
+                {
+                    uniform token purpose = "guide"
+                    double size = 1
+                    double3 xformOp:translate = (-0.3459, -0.0625, 0.1955)
+                    quatf xformOp:orient = (1, 0, 0, 0)
+                    float3 xformOp:scale = (0.021, 0.155, 0.235)
+                    uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+                    rel material:binding:physics = </Model/Physics/Materials/hardcover_book>
+                }
+            }
+                  def BasisCurves "grasp_identifier_01"
+                  {
+                    int[] curveVertexCounts = [2]
+                    float3[] extent = [(-0.3564, -0.12, 0.1485), (-0.3354, -0.12, 0.1485)]
+                    point3f[] points = [(-0.3564, -0.12, 0.1485), (-0.3354, -0.12, 0.1485)]
+                    uniform token purpose = "guide"
+                    uniform token type = "linear"
+                    uniform token wrap = "nonperiodic"
+                  }
+        }
+        over "Oxblood_book_5" (
+            prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"]
+        )
+        {
+            bool physics:rigidBodyEnabled = 1
+            bool physics:kinematicEnabled = 0
+            bool physics:startsAsleep = 0
+            float physics:mass = 0.8399429865384052
+            point3f physics:centerOfMass = (-0.325850004, -0.03138483, 0.220500119)
+            float3 physics:diagonalInertia = (0.008756498823, 0.005540461111, 0.003259173161)
+            quatf physics:principalAxes = (1, 0.00000238, -0.00000001, -0.00000012)
+            def Xform "Colliders"
+            {
+                def Cube "book" (
+                    prepend apiSchemas = ["PhysicsCollisionAPI", "MaterialBindingAPI"]
+                )
+                {
+                    uniform token purpose = "guide"
+                    double size = 1
+                    double3 xformOp:translate = (-0.32585, -0.0305, 0.2205)
+                    quatf xformOp:orient = (1, 0, 0, 0)
+                    float3 xformOp:scale = (0.0175, 0.219, 0.285)
+                    uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+                    rel material:binding:physics = </Model/Physics/Materials/hardcover_book>
+                }
+            }
+                  def BasisCurves "grasp_identifier_01"
+                  {
+                    int[] curveVertexCounts = [2]
+                    float3[] extent = [(-0.3346, -0.12, 0.1635), (-0.3171, -0.12, 0.1635)]
+                    point3f[] points = [(-0.3346, -0.12, 0.1635), (-0.3171, -0.12, 0.1635)]
+                    uniform token purpose = "guide"
+                    uniform token type = "linear"
+                    uniform token wrap = "nonperiodic"
+                  }
+        }
+        over "Forest_book_2" (
+            prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"]
+        )
+        {
+            bool physics:rigidBodyEnabled = 1
+            bool physics:kinematicEnabled = 0
+            bool physics:startsAsleep = 0
+            float physics:mass = 1.106289664502688
+            point3f physics:centerOfMass = (-0.296050015, -0.063969853, 0.19550018)
+            float3 physics:diagonalInertia = (0.006919950954, 0.005020988373, 0.002202494534)
+            quatf physics:principalAxes = (1, 0.00000269, -0.00000003, -0.0000003)
+            def Xform "Colliders"
+            {
+                def Cube "book" (
+                    prepend apiSchemas = ["PhysicsCollisionAPI", "MaterialBindingAPI"]
+                )
+                {
+                    uniform token purpose = "guide"
+                    double size = 1
+                    double3 xformOp:translate = (-0.29605, -0.0625, 0.1955)
+                    quatf xformOp:orient = (1, 0, 0, 0)
+                    float3 xformOp:scale = (0.0405, 0.155, 0.235)
+                    uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+                    rel material:binding:physics = </Model/Physics/Materials/hardcover_book>
+                }
+            }
+                  def BasisCurves "grasp_identifier_01"
+                  {
+                    int[] curveVertexCounts = [2]
+                    float3[] extent = [(-0.3163, -0.12, 0.1485), (-0.2758, -0.12, 0.1485)]
+                    point3f[] points = [(-0.3163, -0.12, 0.1485), (-0.2758, -0.12, 0.1485)]
+                    uniform token purpose = "guide"
+                    uniform token type = "linear"
+                    uniform token wrap = "nonperiodic"
+                  }
+        }
+        over "Oxblood_book_6" (
+            prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"]
+        )
+        {
+            bool physics:rigidBodyEnabled = 1
+            bool physics:kinematicEnabled = 0
+            bool physics:startsAsleep = 0
+            float physics:mass = 0.9782479255780747
+            point3f physics:centerOfMass = (-0.250500015, -0.075533814, 0.180000134)
+            float3 physics:diagonalInertia = (0.004514170876, 0.003415005556, 0.001492098392)
+            quatf physics:principalAxes = (1, 0.00000221, 0.00000001, -0.00000023)
+            def Xform "Colliders"
+            {
+                def Cube "book" (
+                    prepend apiSchemas = ["PhysicsCollisionAPI", "MaterialBindingAPI"]
+                )
+                {
+                    uniform token purpose = "guide"
+                    double size = 1
+                    double3 xformOp:translate = (-0.2505, -0.074, 0.18)
+                    quatf xformOp:orient = (1, 0, 0, 0)
+                    float3 xformOp:scale = (0.049, 0.132, 0.204)
+                    uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+                    rel material:binding:physics = </Model/Physics/Materials/hardcover_book>
+                }
+            }
+                  def BasisCurves "grasp_identifier_01"
+                  {
+                    int[] curveVertexCounts = [2]
+                    float3[] extent = [(-0.275, -0.12, 0.1392), (-0.226, -0.12, 0.1392)]
+                    point3f[] points = [(-0.275, -0.12, 0.1392), (-0.226, -0.12, 0.1392)]
+                    uniform token purpose = "guide"
+                    uniform token type = "linear"
+                    uniform token wrap = "nonperiodic"
+                  }
+        }
+        over "Ochre_book_3" (
+            prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"]
+        )
+        {
+            bool physics:rigidBodyEnabled = 1
+            bool physics:kinematicEnabled = 0
+            bool physics:startsAsleep = 0
+            float physics:mass = 0.6792237353063391
+            point3f physics:centerOfMass = (-0.213450009, -0.061621902, 0.198000247)
+            float3 physics:diagonalInertia = (0.004484552848, 0.003167100949, 0.001380364005)
+            quatf physics:principalAxes = (1, 0.00000368, -0.00000001, -0.00000025)
+            def Xform "Colliders"
+            {
+                def Cube "book" (
+                    prepend apiSchemas = ["PhysicsCollisionAPI", "MaterialBindingAPI"]
+                )
+                {
+                    uniform token purpose = "guide"
+                    double size = 1
+                    double3 xformOp:translate = (-0.21345, -0.0605, 0.198)
+                    quatf xformOp:orient = (1, 0, 0, 0)
+                    float3 xformOp:scale = (0.0235, 0.159, 0.24)
+                    uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+                    rel material:binding:physics = </Model/Physics/Materials/hardcover_book>
+                }
+            }
+                  def BasisCurves "grasp_identifier_01"
+                  {
+                    int[] curveVertexCounts = [2]
+                    float3[] extent = [(-0.2252, -0.12, 0.15), (-0.2017, -0.12, 0.15)]
+                    point3f[] points = [(-0.2252, -0.12, 0.15), (-0.2017, -0.12, 0.15)]
+                    uniform token purpose = "guide"
+                    uniform token type = "linear"
+                    uniform token wrap = "nonperiodic"
+                  }
+        }
+        over "Forest_book_3" (
+            prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"]
+        )
+        {
+            bool physics:rigidBodyEnabled = 1
+            bool physics:kinematicEnabled = 0
+            bool physics:startsAsleep = 0
+            float physics:mass = 0.43830168327427305
+            point3f physics:centerOfMass = (-0.164059279, -0.070433229, 0.187672294)
+            float3 physics:diagonalInertia = (0.002417163436, 0.001744184216, 0.000698202001)
+            quatf physics:principalAxes = (0.99164467, 0.00000054, -0.12899943, -0.0000001)
+            def Xform "Colliders"
+            {
+                def Cube "book" (
+                    prepend apiSchemas = ["PhysicsCollisionAPI", "MaterialBindingAPI"]
+                )
+                {
+                    uniform token purpose = "guide"
+                    double size = 1
+                    double3 xformOp:translate = (-0.164059259, -0.0695, 0.18767228)
+                    quatf xformOp:orient = (0.99164467, 0, -0.12899944, 0)
+                    float3 xformOp:scale = (0.0185, 0.141, 0.222)
+                    uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+                    rel material:binding:physics = </Model/Physics/Materials/hardcover_book>
+                }
+            }
+                  def BasisCurves "grasp_identifier_01"
+                  {
+                    int[] curveVertexCounts = [2]
+                    float3[] extent = [(-0.161642, -0.12, 0.142383), (-0.143758, -0.12, 0.147117)]
+                    point3f[] points = [(-0.161642, -0.12, 0.142383), (-0.143758, -0.12, 0.147117)]
+                    uniform token purpose = "guide"
+                    uniform token type = "linear"
+                    uniform token wrap = "nonperiodic"
+                  }
+        }
+        over "Plum_book_2" (
+            prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"]
+        )
+        {
+            bool physics:rigidBodyEnabled = 1
+            bool physics:kinematicEnabled = 0
+            bool physics:startsAsleep = 0
+            float physics:mass = 0.6298368764358586
+            point3f physics:centerOfMass = (0.255000049, -0.04485986, 0.086499996)
+            float3 physics:diagonalInertia = (0.005082579059, 0.003239737734, 0.00187340818)
+            quatf physics:principalAxes = (0.70710678, -0.00000072, -0.70710678, -0.0000008)
+            def Xform "Colliders"
+            {
+                def Cube "book" (
+                    prepend apiSchemas = ["PhysicsCollisionAPI", "MaterialBindingAPI"]
+                )
+                {
+                    uniform token purpose = "guide"
+                    double size = 1
+                    double3 xformOp:translate = (0.255, -0.044, 0.0865)
+                    quatf xformOp:orient = (0.70710678, 0, -0.70710678, 0)
+                    float3 xformOp:scale = (0.017, 0.192, 0.252)
+                    uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+                    rel material:binding:physics = </Model/Physics/Materials/hardcover_book>
+                }
+            }
+                  def BasisCurves "grasp_identifier_01"
+                  {
+                    int[] curveVertexCounts = [2]
+                    float3[] extent = [(0.3054, -0.12, 0.078), (0.3054, -0.12, 0.095)]
+                    point3f[] points = [(0.3054, -0.12, 0.078), (0.3054, -0.12, 0.095)]
+                    uniform token purpose = "guide"
+                    uniform token type = "linear"
+                    uniform token wrap = "nonperiodic"
+                  }
+        }
+        over "Forest_book_4" (
+            prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"]
+        )
+        {
+            bool physics:rigidBodyEnabled = 1
+            bool physics:kinematicEnabled = 0
+            bool physics:startsAsleep = 0
+            float physics:mass = 0.7217014025606727
+            point3f physics:centerOfMass = (0.254999907, -0.061666676, 0.10749999)
+            float3 physics:diagonalInertia = (0.004759509102, 0.003367347092, 0.001467787572)
+            quatf physics:principalAxes = (0.70710677, 0.00000112, -0.70710679, 0.00000084)
+            def Xform "Colliders"
+            {
+                def Cube "book" (
+                    prepend apiSchemas = ["PhysicsCollisionAPI", "MaterialBindingAPI"]
+                )
+                {
+                    uniform token purpose = "guide"
+                    double size = 1
+                    double3 xformOp:translate = (0.255, -0.0605, 0.1075)
+                    quatf xformOp:orient = (0.70710678, 0, -0.70710678, 0)
+                    float3 xformOp:scale = (0.025, 0.159, 0.24)
+                    uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+                    rel material:binding:physics = </Model/Physics/Materials/hardcover_book>
+                }
+            }
+                  def BasisCurves "grasp_identifier_01"
+                  {
+                    int[] curveVertexCounts = [2]
+                    float3[] extent = [(0.303, -0.12, 0.095), (0.303, -0.12, 0.12)]
+                    point3f[] points = [(0.303, -0.12, 0.095), (0.303, -0.12, 0.12)]
+                    uniform token purpose = "guide"
+                    uniform token type = "linear"
+                    uniform token wrap = "nonperiodic"
+                  }
+        }
+        over "Charcoal_book_3" (
+            prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"]
+        )
+        {
+            bool physics:rigidBodyEnabled = 1
+            bool physics:kinematicEnabled = 0
+            bool physics:startsAsleep = 0
+            float physics:mass = 0.6933926466548395
+            point3f physics:centerOfMass = (0.25499974, -0.061637611, 0.131999983)
+            float3 physics:diagonalInertia = (0.004576309455, 0.003233798187, 0.001409489271)
+            quatf physics:principalAxes = (0.70710676, 0.00000299, -0.7071068, 0.00000249)
+            def Xform "Colliders"
+            {
+                def Cube "book" (
+                    prepend apiSchemas = ["PhysicsCollisionAPI", "MaterialBindingAPI"]
+                )
+                {
+                    uniform token purpose = "guide"
+                    double size = 1
+                    double3 xformOp:translate = (0.255, -0.0605, 0.132)
+                    quatf xformOp:orient = (0.70710678, 0, -0.70710678, 0)
+                    float3 xformOp:scale = (0.024, 0.159, 0.24)
+                    uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+                    rel material:binding:physics = </Model/Physics/Materials/hardcover_book>
+                }
+            }
+                  def BasisCurves "grasp_identifier_01"
+                  {
+                    int[] curveVertexCounts = [2]
+                    float3[] extent = [(0.303, -0.12, 0.12), (0.303, -0.12, 0.144)]
+                    point3f[] points = [(0.303, -0.12, 0.12), (0.303, -0.12, 0.144)]
+                    uniform token purpose = "guide"
+                    uniform token type = "linear"
+                    uniform token wrap = "nonperiodic"
+                  }
+        }
+        over "Showcase_book" (
+            prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI", "PhysicsArticulationRootAPI"]
+        )
+        {
+            bool physics:rigidBodyEnabled = 1
+            bool physics:kinematicEnabled = 0
+            bool physics:startsAsleep = 0
+            float physics:mass = 0.8060933084044846
+            point3f physics:centerOfMass = (0.094238856, 0.000000151, 1.214726027)
+            float3 physics:diagonalInertia = (0.005040599351, 0.003599336908, 0.001558434778)
+            quatf physics:principalAxes = (0.50092184, -0.50091956, -0.49907872, -0.49907649)
+            def Xform "Colliders"
+            {
+                def Cube "book" (
+                    prepend apiSchemas = ["PhysicsCollisionAPI", "MaterialBindingAPI"]
+                )
+                {
+                    uniform token purpose = "guide"
+                    double size = 1
+                    double3 xformOp:translate = (0.096, 0, 1.21475)
+                    quatf xformOp:orient = (0.5, -0.5, -0.5, -0.5)
+                    float3 xformOp:scale = (0.0295, 0.155, 0.235)
+                    uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+                    rel material:binding:physics = </Model/Physics/Materials/hardcover_book>
+                }
+            }
+                  def BasisCurves "grasp_identifier_01"
+                  {
+                    int[] curveVertexCounts = [2]
+                    float3[] extent = [(0.0385, -0.047, 1.2), (0.0385, -0.047, 1.232)]
+                    point3f[] points = [(0.0385, -0.047, 1.2), (0.0385, -0.047, 1.232)]
+                    uniform token purpose = "guide"
+                    uniform token type = "linear"
+                    uniform token wrap = "nonperiodic"
+                  }
+            over "Showcase_book_cover" (
+                prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"]
+            )
+            {
+                bool physics:rigidBodyEnabled = 1
+                bool physics:kinematicEnabled = 0
+                bool physics:startsAsleep = 0
+                float physics:mass = 0.06966340000112056
+                point3f physics:centerOfMass = (0.099372726, 0, 1.230741863)
+                float3 physics:diagonalInertia = (0.000448311138, 0.000320632785, 0.000127750549)
+                quatf physics:principalAxes = (0.49991894, -0.49991894, -0.50008105, -0.50008105)
+                matrix4d xformOp:transform:simulationWorld = ((1, 0, 0, 0), (0, 1, 0, 0), (0, 0, 1, 0), (0, 0, 0, 1))
+                uniform token[] xformOpOrder = ["!resetXformStack!", "xformOp:transform:simulationWorld"]
+                def Xform "Colliders"
+                {
+                    def Cube "board" (
+                        prepend apiSchemas = ["PhysicsCollisionAPI", "MaterialBindingAPI"]
+                    )
+                    {
+                        uniform token purpose = "guide"
+                        double size = 1
+                        double3 xformOp:translate = (0.09867, 0, 1.23075)
+                        quatf xformOp:orient = (0.5, -0.5, -0.5, -0.5)
+                        float3 xformOp:scale = (0.0025, 0.14966, 0.235)
+                        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+                        rel material:binding:physics = </Model/Physics/Materials/hardcover_book>
+                    }
+                }
+            }
+        }
+    }
+}