Add SimReady package: interior_door_v03

interior_door_v03/.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": "2026-10-18T19:20:52",
+  "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"
+                }
+              }
+            ]
+          }
+        }
+      ]
+    }
+  ]
+}

interior_door_v03/.metadata/com.nvidia.simready.packaging.bom.json

@@ -0,0 +1,81 @@
+{
+  "format_version": "1.0",
+  "items": [
+    {
+      "relative_path": "simready_usd/.thumbs/256x256/interior_door_v03.usda.png",
+      "size": 7092,
+      "hash": {
+        "sha256-flat-1mb": "e493715edbff345f9ff7002b6f60c44e60cd9860c7a87e673147605ba343ac46",
+        "sha256": "fc36a548da8ec2381adb40312c6f189888e2805ee373bc4b7d8b7256306ec437"
+      }
+    },
+    {
+      "relative_path": "simready_usd/assets/oak-door.png",
+      "size": 2108158,
+      "hash": {
+        "sha256-flat-1mb": "6b3dfed5dc28014dd2aacdc0206d9c5446afa4cc07e1b92ee3f29d922880e244",
+        "sha256": "73bd7c6864d13648f12939e0d2aeb8dd5d5a03b6d1f218e5f5efef4d52fabf11",
+        "sha256-first1m": "1924fbe06576c924431fa1f32620cc041e6aa6190b65e8e3751a4a27f66a648f"
+      }
+    },
+    {
+      "relative_path": "simready_usd/assets/painted-wood.png",
+      "size": 2011430,
+      "hash": {
+        "sha256-flat-1mb": "d9683dfb4f018b01d4edd3d6100bc8d21f169899663e28438e099acc1dc2f67d",
+        "sha256": "acc9154c5ef61b0c408d97d2a2e3d8d6047bf57a3b522fa03106e1db62b633ec",
+        "sha256-first1m": "ef0acf9acd718ae07a84d505ff48e73324ba25d59a456e604b27eac50f9034d5"
+      }
+    },
+    {
+      "relative_path": "simready_usd/assets/walnut-door.png",
+      "size": 2047794,
+      "hash": {
+        "sha256-flat-1mb": "6b3ec55f4c8714557ed53e32daa7071851b4219ebbccb97749e911d8e78b4863",
+        "sha256": "295d53f4b247cf0fc1739e9ec726e7070da6d45d0e18cb6e29ee08e77e812280",
+        "sha256-first1m": "06df5eb49dad1a3f0ac3b66dfcf1e16579f0662012f3827394dd814db9cd5174"
+      }
+    },
+    {
+      "relative_path": "simready_usd/forgecad/animation.usda",
+      "size": 1899,
+      "hash": {
+        "sha256-flat-1mb": "692127f55fb913df924b4b293917bfccab96a02c8c2686af8a716f219483f6bb",
+        "sha256": "896df7379e470a8b3aedcf7d9570687a7f33c9ade0b921d1f6e910de604d2065"
+      }
+    },
+    {
+      "relative_path": "simready_usd/forgecad/geometry.usda",
+      "size": 6789799,
+      "hash": {
+        "sha256-flat-1mb": "b9e4e0baeecf5a3a29bf2c205bcea11dba407104b5236809b1d791d49eb983bd",
+        "sha256": "8a4acd1973a9c1759657fc4e39711f8ef8b4fcaa752d57a79dffbec222c6729c",
+        "sha256-first1m": "e69a0714f4c2c1a472b86cee57fcfdd365bd582ffadf5d61e8f9d237117c7272"
+      }
+    },
+    {
+      "relative_path": "simready_usd/forgecad/physics.usda",
+      "size": 72201,
+      "hash": {
+        "sha256-flat-1mb": "c4b8fec5200ac8d0d118fd046e7d099aebfb2c7cdefbe4fee6a8d95c324515ff",
+        "sha256": "ef4fef9b492ef7c5615cde2b390bda7cc4d620f3cb1e33994e9df0b56d7c045d"
+      }
+    },
+    {
+      "relative_path": "simready_usd/interior_door_v03.usda",
+      "size": 14826,
+      "hash": {
+        "sha256-flat-1mb": "188e4832369f6164bd70b3c13e2282cf3c6011696e60a49091c1b762b32ee810",
+        "sha256": "f986432c93d00a396970b31a75530633f63b2e232a6b4f917a16bf3930fcf1e5"
+      }
+    },
+    {
+      "relative_path": "simready_usd/materials/forgecad_glass.mdl",
+      "size": 730,
+      "hash": {
+        "sha256-flat-1mb": "db7de3ef407c72b392e9e66f2540b02af30055a36c9c503b5e7badfbd4e4d2ee",
+        "sha256": "919206332099d3a5dd4a9452c20830955ee94ead23c0c30bb381dbbf1912f1a4"
+      }
+    }
+  ]
+}

interior_door_v03/.metadata/interior_door_v03_benchmark.json

@@ -0,0 +1,2142 @@
+{
+  "schema_version": "1.0",
+  "asset": "interior_door_v03",
+  "run_timestamp": "2026-10-18T19:20:49Z",
+  "passed": true,
+  "results": [
+    {
+      "test_name": "culling_xz",
+      "engine": "isaac_sim",
+      "engine_version": "6.1.0.0",
+      "status": "pass",
+      "passed": true,
+      "duration": 7.747,
+      "message": "",
+      "metrics": {
+        "_timing_capture_frame_total_s": {
+          "value": 1.657,
+          "unit": null
+        },
+        "_timing_capture_frame_count": {
+          "value": 16,
+          "unit": null
+        },
+        "_timing_capture_frame_avg_ms": {
+          "value": 103.58,
+          "unit": null
+        },
+        "_timing_encode_video_total_s": {
+          "value": 1.161,
+          "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": 0.000317,
+          "unit": null
+        },
+        "culling_xz_mean_diff": {
+          "value": 4e-05,
+          "unit": null
+        },
+        "culling_xz_worst_angle": {
+          "value": 315.0,
+          "unit": null
+        },
+        "culling_xz_passed": {
+          "value": 1,
+          "unit": null
+        }
+      },
+      "kit_logs": [
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]: Traceback (most recent call last):"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:   File \"<home>/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/impl/texture.py\", line 377, in on_drawable_changed"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     self.__drawable_changed_fn(texture[\"rp_resource\"], presentation_key)"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:   File \"<home>/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/widget.py\", line 516, in __set_image_data"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     vp_api._sync_viewport_api(camera, canvas_size, vp_api.time, view, projection, force_update=True)  # noqa PLW0212"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:   File \"<home>/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 546, in _sync_viewport_api"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     self.__projection = self._conform_projection(policy, camera, image_aspect, canvas_aspect, projection)"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:                         ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:   File \"<home>/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     gf_camera = camera.GetCamera(self.__time)"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:                 ^^^^^^^^^^^^^^^^"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'"
+        }
+      ]
+    },
+    {
+      "test_name": "culling_xz",
+      "engine": "isaac_sim_newton",
+      "engine_version": "6.1.0.0",
+      "status": "pass",
+      "passed": true,
+      "duration": 6.523,
+      "message": "",
+      "metrics": {
+        "_timing_capture_frame_total_s": {
+          "value": 1.674,
+          "unit": null
+        },
+        "_timing_capture_frame_count": {
+          "value": 16,
+          "unit": null
+        },
+        "_timing_capture_frame_avg_ms": {
+          "value": 104.6,
+          "unit": null
+        },
+        "_timing_encode_video_total_s": {
+          "value": 1.093,
+          "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": 0.001048,
+          "unit": null
+        },
+        "culling_xz_mean_diff": {
+          "value": 0.000131,
+          "unit": null
+        },
+        "culling_xz_worst_angle": {
+          "value": 315.0,
+          "unit": null
+        },
+        "culling_xz_passed": {
+          "value": 1,
+          "unit": null
+        }
+      },
+      "kit_logs": [
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]: Traceback (most recent call last):"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:   File \"<home>/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/impl/texture.py\", line 377, in on_drawable_changed"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     self.__drawable_changed_fn(texture[\"rp_resource\"], presentation_key)"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:   File \"<home>/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/widget.py\", line 516, in __set_image_data"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     vp_api._sync_viewport_api(camera, canvas_size, vp_api.time, view, projection, force_update=True)  # noqa PLW0212"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:   File \"<home>/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 546, in _sync_viewport_api"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     self.__projection = self._conform_projection(policy, camera, image_aspect, canvas_aspect, projection)"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:                         ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:   File \"<home>/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     gf_camera = camera.GetCamera(self.__time)"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:                 ^^^^^^^^^^^^^^^^"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'"
+        }
+      ]
+    },
+    {
+      "test_name": "display_color_response",
+      "engine": "isaac_sim",
+      "engine_version": "6.1.0.0",
+      "status": "pass",
+      "passed": true,
+      "duration": 12.457,
+      "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": 15,
+          "unit": null
+        },
+        "display_color_gprims_without_displaycolor": {
+          "value": 0,
+          "unit": null
+        },
+        "display_color_gprims_without_displayopacity": {
+          "value": 15,
+          "unit": null
+        },
+        "display_color_probe_bound_gprims": {
+          "value": 15,
+          "unit": null
+        },
+        "_timing_capture_frame_total_s": {
+          "value": 0.925,
+          "unit": null
+        },
+        "_timing_capture_frame_count": {
+          "value": 5,
+          "unit": null
+        },
+        "_timing_capture_frame_avg_ms": {
+          "value": 185.01,
+          "unit": null
+        },
+        "_timing_encode_video_total_s": {
+          "value": 0.712,
+          "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": 345790,
+          "unit": null
+        },
+        "display_color_whole_frame_delta_pixels": {
+          "value": 346307,
+          "unit": null
+        },
+        "display_color_read_mean_rgb": {
+          "value": [
+            0.2516,
+            0.2502,
+            0.2443
+          ],
+          "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": 10.855,
+      "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": 15,
+          "unit": null
+        },
+        "display_color_gprims_without_displaycolor": {
+          "value": 0,
+          "unit": null
+        },
+        "display_color_gprims_without_displayopacity": {
+          "value": 15,
+          "unit": null
+        },
+        "display_color_probe_bound_gprims": {
+          "value": 15,
+          "unit": null
+        },
+        "_timing_capture_frame_total_s": {
+          "value": 0.734,
+          "unit": null
+        },
+        "_timing_capture_frame_count": {
+          "value": 5,
+          "unit": null
+        },
+        "_timing_capture_frame_avg_ms": {
+          "value": 146.76,
+          "unit": null
+        },
+        "_timing_encode_video_total_s": {
+          "value": 0.617,
+          "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": 345783,
+          "unit": null
+        },
+        "display_color_whole_frame_delta_pixels": {
+          "value": 346307,
+          "unit": null
+        },
+        "display_color_read_mean_rgb": {
+          "value": [
+            0.2517,
+            0.2503,
+            0.2447
+          ],
+          "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": 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": "grasp_and_lift",
+      "engine": "isaac_sim",
+      "engine_version": "6.1.0.0",
+      "status": "skipped",
+      "passed": false,
+      "duration": 0.11,
+      "message": "no grasp_identifier prims found on asset",
+      "metrics": {},
+      "kit_logs": []
+    },
+    {
+      "test_name": "grasp_and_lift",
+      "engine": "isaac_sim_newton",
+      "engine_version": "6.1.0.0",
+      "status": "skipped",
+      "passed": false,
+      "duration": 0.0,
+      "message": "Requires FET_003_NEWTON to be validated first: grasp-and-lift depends on the active runtime physics setup, and FET_003_NEWTON is not in this asset's validated features.",
+      "metrics": {},
+      "kit_logs": []
+    },
+    {
+      "test_name": "ground_drop",
+      "engine": "isaac_sim",
+      "engine_version": "6.1.0.0",
+      "status": "skipped",
+      "passed": false,
+      "duration": 0.106,
+      "message": "Asset is world-anchored (FixedJoint to world) -- test not applicable. World-anchored assets cannot fall or slide.",
+      "metrics": {
+        "ground_drop_skipped": {
+          "value": 1,
+          "unit": null
+        }
+      },
+      "kit_logs": []
+    },
+    {
+      "test_name": "joint_movement",
+      "engine": "isaac_sim",
+      "engine_version": "6.1.0.0",
+      "status": "pass",
+      "passed": true,
+      "duration": 49.202,
+      "message": "",
+      "metrics": {
+        "_timing_capture_frame_total_s": {
+          "value": 9.652,
+          "unit": null
+        },
+        "_timing_capture_frame_count": {
+          "value": 45,
+          "unit": null
+        },
+        "_timing_capture_frame_avg_ms": {
+          "value": 214.49,
+          "unit": null
+        },
+        "_timing_encode_video_total_s": {
+          "value": 1.981,
+          "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_door_rot_deg": {
+          "value": 100.0,
+          "unit": null
+        },
+        "jm_joint_door_trans_pct": {
+          "value": 0.0,
+          "unit": null
+        },
+        "jm_joint_door_bbox_m": {
+          "value": 2.216,
+          "unit": null
+        },
+        "jm_joint_door_pct_of_travel": {
+          "value": 100.0,
+          "unit": null
+        },
+        "jm_joint_knob_rot_deg": {
+          "value": 90.0,
+          "unit": null
+        },
+        "jm_joint_knob_trans_pct": {
+          "value": 696.76,
+          "unit": null
+        },
+        "jm_joint_knob_bbox_m": {
+          "value": 0.1967,
+          "unit": null
+        },
+        "jm_joint_knob_pct_of_travel": {
+          "value": 100.0,
+          "unit": null
+        },
+        "jm_joint_latch_rot_deg": {
+          "value": 0.022,
+          "unit": null
+        },
+        "jm_joint_latch_trans_pct": {
+          "value": 2529.45,
+          "unit": null
+        },
+        "jm_joint_latch_bbox_m": {
+          "value": 0.0497,
+          "unit": null
+        },
+        "jm_joint_latch_pct_of_travel": {
+          "value": 100.0,
+          "unit": null
+        },
+        "jm_joints_total": {
+          "value": 3,
+          "unit": null
+        },
+        "jm_joints_passed": {
+          "value": 3,
+          "unit": null
+        },
+        "jm_joints_failed": {
+          "value": 0,
+          "unit": null
+        },
+        "jm_joint_door_status": {
+          "value": "passed",
+          "unit": null
+        },
+        "jm_joint_knob_status": {
+          "value": "passed",
+          "unit": null
+        },
+        "jm_joint_latch_status": {
+          "value": "passed",
+          "unit": null
+        }
+      },
+      "kit_logs": [
+        {
+          "level": "error",
+          "channel": "omni.physx.plugin",
+          "message": "Physics scenes stepping is not the same, step subscription will be send with later step, per scene step is not yet supported."
+        }
+      ]
+    },
+    {
+      "test_name": "light_response",
+      "engine": "isaac_sim",
+      "engine_version": "6.1.0.0",
+      "status": "pass",
+      "passed": true,
+      "duration": 9.691,
+      "message": "",
+      "metrics": {
+        "_timing_capture_frame_total_s": {
+          "value": 3.953,
+          "unit": null
+        },
+        "_timing_capture_frame_count": {
+          "value": 30,
+          "unit": null
+        },
+        "_timing_capture_frame_avg_ms": {
+          "value": 131.77,
+          "unit": null
+        },
+        "_timing_encode_video_total_s": {
+          "value": 1.118,
+          "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": 0.773528,
+          "unit": null
+        },
+        "light_response_min_pair_change": {
+          "value": 0.000303,
+          "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": 10.122,
+      "message": "",
+      "metrics": {
+        "_timing_capture_frame_total_s": {
+          "value": 3.943,
+          "unit": null
+        },
+        "_timing_capture_frame_count": {
+          "value": 30,
+          "unit": null
+        },
+        "_timing_capture_frame_avg_ms": {
+          "value": 131.44,
+          "unit": null
+        },
+        "_timing_encode_video_total_s": {
+          "value": 1.342,
+          "unit": null
+        },
+        "_timing_encode_video_count": {
+          "value": 1,
+          "unit": null
+        },
+        "_render_blank_retry_count": {
+          "value": 0,
+          "unit": null
+        },
+        "_render_blank_retry_unrecovered": {
+          "value": 0,
+          "unit": null
+        },
+        "light_response_variation_ratio": {
+          "value": 0.37931,
+          "unit": null
+        },
+        "light_response_blank_ratio": {
+          "value": 0.0,
+          "unit": null
+        },
+        "light_response_blank_frames": {
+          "value": 0,
+          "unit": null
+        },
+        "light_response_total_frames": {
+          "value": 30,
+          "unit": null
+        },
+        "light_response_total_pairs": {
+          "value": 29,
+          "unit": null
+        },
+        "light_response_different_pairs": {
+          "value": 11,
+          "unit": null
+        },
+        "light_response_passed": {
+          "value": 1,
+          "unit": null
+        },
+        "light_response_max_pair_change": {
+          "value": 0.776386,
+          "unit": null
+        },
+        "light_response_min_pair_change": {
+          "value": 0.000409,
+          "unit": null
+        }
+      },
+      "kit_logs": [
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]: Traceback (most recent call last):"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:   File \"<home>/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/impl/texture.py\", line 377, in on_drawable_changed"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     self.__drawable_changed_fn(texture[\"rp_resource\"], presentation_key)"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:   File \"<home>/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/widget.py\", line 516, in __set_image_data"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     vp_api._sync_viewport_api(camera, canvas_size, vp_api.time, view, projection, force_update=True)  # noqa PLW0212"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:   File \"<home>/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 546, in _sync_viewport_api"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     self.__projection = self._conform_projection(policy, camera, image_aspect, canvas_aspect, projection)"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:                         ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:   File \"<home>/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     gf_camera = camera.GetCamera(self.__time)"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:                 ^^^^^^^^^^^^^^^^"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'"
+        }
+      ]
+    },
+    {
+      "test_name": "normals_xz",
+      "engine": "isaac_sim",
+      "engine_version": "6.1.0.0",
+      "status": "pass",
+      "passed": true,
+      "duration": 3.157,
+      "message": "",
+      "metrics": {
+        "_timing_capture_frame_total_s": {
+          "value": 0.909,
+          "unit": null
+        },
+        "_timing_capture_frame_count": {
+          "value": 8,
+          "unit": null
+        },
+        "_timing_capture_frame_avg_ms": {
+          "value": 113.64,
+          "unit": null
+        },
+        "_timing_encode_video_total_s": {
+          "value": 0.464,
+          "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": 0.0,
+          "unit": null
+        },
+        "normals_xz_max_dark": {
+          "value": 0.0,
+          "unit": null
+        },
+        "normals_xz_problem_frames": {
+          "value": 0,
+          "unit": null
+        },
+        "normals_xz_passed": {
+          "value": 1,
+          "unit": null
+        }
+      },
+      "kit_logs": [
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]: Traceback (most recent call last):"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:   File \"<home>/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/impl/texture.py\", line 377, in on_drawable_changed"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     self.__drawable_changed_fn(texture[\"rp_resource\"], presentation_key)"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:   File \"<home>/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/widget.py\", line 516, in __set_image_data"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     vp_api._sync_viewport_api(camera, canvas_size, vp_api.time, view, projection, force_update=True)  # noqa PLW0212"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:   File \"<home>/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 546, in _sync_viewport_api"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     self.__projection = self._conform_projection(policy, camera, image_aspect, canvas_aspect, projection)"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:                         ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:   File \"<home>/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     gf_camera = camera.GetCamera(self.__time)"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:                 ^^^^^^^^^^^^^^^^"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'"
+        }
+      ]
+    },
+    {
+      "test_name": "normals_xz",
+      "engine": "isaac_sim_newton",
+      "engine_version": "6.1.0.0",
+      "status": "pass",
+      "passed": true,
+      "duration": 3.066,
+      "message": "",
+      "metrics": {
+        "_timing_capture_frame_total_s": {
+          "value": 0.919,
+          "unit": null
+        },
+        "_timing_capture_frame_count": {
+          "value": 8,
+          "unit": null
+        },
+        "_timing_capture_frame_avg_ms": {
+          "value": 114.92,
+          "unit": null
+        },
+        "_timing_encode_video_total_s": {
+          "value": 0.51,
+          "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": 0.0,
+          "unit": null
+        },
+        "normals_xz_max_dark": {
+          "value": 0.0,
+          "unit": null
+        },
+        "normals_xz_problem_frames": {
+          "value": 0,
+          "unit": null
+        },
+        "normals_xz_passed": {
+          "value": 1,
+          "unit": null
+        }
+      },
+      "kit_logs": []
+    },
+    {
+      "test_name": "pivot",
+      "engine": "isaac_sim",
+      "engine_version": "6.1.0.0",
+      "status": "pass",
+      "passed": true,
+      "duration": 7.863,
+      "message": "",
+      "metrics": {
+        "_timing_capture_frame_total_s": {
+          "value": 2.906,
+          "unit": null
+        },
+        "_timing_capture_frame_count": {
+          "value": 20,
+          "unit": null
+        },
+        "_timing_capture_frame_avg_ms": {
+          "value": 145.31,
+          "unit": null
+        },
+        "_timing_encode_video_total_s": {
+          "value": 1.305,
+          "unit": null
+        },
+        "_timing_encode_video_count": {
+          "value": 2,
+          "unit": null
+        },
+        "_render_blank_retry_count": {
+          "value": 0,
+          "unit": null
+        },
+        "_render_blank_retry_unrecovered": {
+          "value": 0,
+          "unit": null
+        },
+        "pivot_score": {
+          "value": 0.7,
+          "unit": null
+        },
+        "pivot_pivot_height_pct": {
+          "value": 0.0,
+          "unit": null
+        },
+        "pivot_pivot_at_base": {
+          "value": 1,
+          "unit": null
+        },
+        "pivot_pivot_centered_xy": {
+          "value": 0,
+          "unit": null
+        },
+        "pivot_ground_penetration": {
+          "value": 1,
+          "unit": null
+        },
+        "pivot_orbital_motion": {
+          "value": 1,
+          "unit": null
+        },
+        "pivot_passed": {
+          "value": 1,
+          "unit": null
+        }
+      },
+      "kit_logs": [
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]: Traceback (most recent call last):"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:   File \"<home>/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/impl/texture.py\", line 377, in on_drawable_changed"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     self.__drawable_changed_fn(texture[\"rp_resource\"], presentation_key)"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:   File \"<home>/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/widget.py\", line 516, in __set_image_data"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     vp_api._sync_viewport_api(camera, canvas_size, vp_api.time, view, projection, force_update=True)  # noqa PLW0212"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:   File \"<home>/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 546, in _sync_viewport_api"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     self.__projection = self._conform_projection(policy, camera, image_aspect, canvas_aspect, projection)"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:                         ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:   File \"<home>/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     gf_camera = camera.GetCamera(self.__time)"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:                 ^^^^^^^^^^^^^^^^"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'"
+        }
+      ]
+    },
+    {
+      "test_name": "pivot",
+      "engine": "isaac_sim_newton",
+      "engine_version": "6.1.0.0",
+      "status": "pass",
+      "passed": true,
+      "duration": 7.78,
+      "message": "",
+      "metrics": {
+        "_timing_capture_frame_total_s": {
+          "value": 3.039,
+          "unit": null
+        },
+        "_timing_capture_frame_count": {
+          "value": 20,
+          "unit": null
+        },
+        "_timing_capture_frame_avg_ms": {
+          "value": 151.93,
+          "unit": null
+        },
+        "_timing_encode_video_total_s": {
+          "value": 1.308,
+          "unit": null
+        },
+        "_timing_encode_video_count": {
+          "value": 2,
+          "unit": null
+        },
+        "_render_blank_retry_count": {
+          "value": 0,
+          "unit": null
+        },
+        "_render_blank_retry_unrecovered": {
+          "value": 0,
+          "unit": null
+        },
+        "pivot_score": {
+          "value": 0.7,
+          "unit": null
+        },
+        "pivot_pivot_height_pct": {
+          "value": 0.0,
+          "unit": null
+        },
+        "pivot_pivot_at_base": {
+          "value": 1,
+          "unit": null
+        },
+        "pivot_pivot_centered_xy": {
+          "value": 0,
+          "unit": null
+        },
+        "pivot_ground_penetration": {
+          "value": 1,
+          "unit": null
+        },
+        "pivot_orbital_motion": {
+          "value": 1,
+          "unit": null
+        },
+        "pivot_passed": {
+          "value": 1,
+          "unit": null
+        }
+      },
+      "kit_logs": [
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]: Traceback (most recent call last):"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:   File \"<home>/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/impl/texture.py\", line 377, in on_drawable_changed"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     self.__drawable_changed_fn(texture[\"rp_resource\"], presentation_key)"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:   File \"<home>/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/widget.py\", line 516, in __set_image_data"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     vp_api._sync_viewport_api(camera, canvas_size, vp_api.time, view, projection, force_update=True)  # noqa PLW0212"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:   File \"<home>/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 546, in _sync_viewport_api"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     self.__projection = self._conform_projection(policy, camera, image_aspect, canvas_aspect, projection)"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:                         ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:   File \"<home>/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     gf_camera = camera.GetCamera(self.__time)"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:                 ^^^^^^^^^^^^^^^^"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'"
+        }
+      ]
+    },
+    {
+      "test_name": "presence",
+      "engine": "isaac_sim",
+      "engine_version": "6.1.0.0",
+      "status": "pass",
+      "passed": true,
+      "duration": 1.253,
+      "message": "",
+      "metrics": {
+        "_timing_capture_frame_total_s": {
+          "value": 0.257,
+          "unit": null
+        },
+        "_timing_capture_frame_count": {
+          "value": 2,
+          "unit": null
+        },
+        "_timing_capture_frame_avg_ms": {
+          "value": 128.5,
+          "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": 0.329795,
+          "unit": null
+        },
+        "presence_passed": {
+          "value": 1,
+          "unit": null
+        }
+      },
+      "kit_logs": []
+    },
+    {
+      "test_name": "presence",
+      "engine": "isaac_sim_newton",
+      "engine_version": "6.1.0.0",
+      "status": "pass",
+      "passed": true,
+      "duration": 1.219,
+      "message": "",
+      "metrics": {
+        "_timing_capture_frame_total_s": {
+          "value": 0.243,
+          "unit": null
+        },
+        "_timing_capture_frame_count": {
+          "value": 2,
+          "unit": null
+        },
+        "_timing_capture_frame_avg_ms": {
+          "value": 121.33,
+          "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": 0.32973,
+          "unit": null
+        },
+        "presence_passed": {
+          "value": 1,
+          "unit": null
+        }
+      },
+      "kit_logs": []
+    },
+    {
+      "test_name": "preview_surface_renders",
+      "engine": "isaac_sim",
+      "engine_version": "6.1.0.0",
+      "status": "pass",
+      "passed": true,
+      "duration": 3.67,
+      "message": "",
+      "metrics": {
+        "_timing_capture_frame_total_s": {
+          "value": 1.129,
+          "unit": null
+        },
+        "_timing_capture_frame_count": {
+          "value": 4,
+          "unit": null
+        },
+        "_timing_capture_frame_avg_ms": {
+          "value": 282.15,
+          "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": 4,
+          "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": 4,
+          "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": 345290,
+          "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": 2.958,
+      "message": "",
+      "metrics": {
+        "_timing_capture_frame_total_s": {
+          "value": 0.872,
+          "unit": null
+        },
+        "_timing_capture_frame_count": {
+          "value": 4,
+          "unit": null
+        },
+        "_timing_capture_frame_avg_ms": {
+          "value": 217.94,
+          "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": 4,
+          "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": 4,
+          "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": 345292,
+          "unit": null
+        },
+        "universal_surface_uncovered_pixels": {
+          "value": 0,
+          "unit": null
+        },
+        "universal_surface_coverage": {
+          "value": 1.0,
+          "unit": null
+        }
+      },
+      "kit_logs": [
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]: Traceback (most recent call last):"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:   File \"<home>/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/impl/texture.py\", line 377, in on_drawable_changed"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     self.__drawable_changed_fn(texture[\"rp_resource\"], presentation_key)"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:   File \"<home>/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/widget.py\", line 516, in __set_image_data"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     vp_api._sync_viewport_api(camera, canvas_size, vp_api.time, view, projection, force_update=True)  # noqa PLW0212"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:   File \"<home>/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 546, in _sync_viewport_api"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     self.__projection = self._conform_projection(policy, camera, image_aspect, canvas_aspect, projection)"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:                         ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:   File \"<home>/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     gf_camera = camera.GetCamera(self.__time)"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:                 ^^^^^^^^^^^^^^^^"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'"
+        }
+      ]
+    },
+    {
+      "test_name": "semantic_labels_seg_labelled",
+      "engine": "isaac_sim",
+      "engine_version": "6.1.0.0",
+      "status": "pass",
+      "passed": true,
+      "duration": 3.943,
+      "message": "",
+      "metrics": {
+        "_timing_capture_frame_total_s": {
+          "value": 1.57,
+          "unit": null
+        },
+        "_timing_capture_frame_count": {
+          "value": 1,
+          "unit": null
+        },
+        "_timing_capture_frame_avg_ms": {
+          "value": 1569.93,
+          "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": 0.32891,
+          "unit": null
+        },
+        "semantic_labels_labelled_passed": {
+          "value": 1,
+          "unit": null
+        }
+      },
+      "kit_logs": [
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]: Traceback (most recent call last):"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:   File \"<home>/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/impl/texture.py\", line 377, in on_drawable_changed"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     self.__drawable_changed_fn(texture[\"rp_resource\"], presentation_key)"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:   File \"<home>/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/widget.py\", line 516, in __set_image_data"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     vp_api._sync_viewport_api(camera, canvas_size, vp_api.time, view, projection, force_update=True)  # noqa PLW0212"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:   File \"<home>/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 546, in _sync_viewport_api"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     self.__projection = self._conform_projection(policy, camera, image_aspect, canvas_aspect, projection)"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:                         ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:   File \"<home>/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     gf_camera = camera.GetCamera(self.__time)"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:                 ^^^^^^^^^^^^^^^^"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'"
+        }
+      ]
+    },
+    {
+      "test_name": "semantic_labels_seg_labelled",
+      "engine": "isaac_sim_newton",
+      "engine_version": "6.1.0.0",
+      "status": "pass",
+      "passed": true,
+      "duration": 3.275,
+      "message": "",
+      "metrics": {
+        "_timing_capture_frame_total_s": {
+          "value": 1.33,
+          "unit": null
+        },
+        "_timing_capture_frame_count": {
+          "value": 1,
+          "unit": null
+        },
+        "_timing_capture_frame_avg_ms": {
+          "value": 1329.78,
+          "unit": null
+        },
+        "_timing_encode_video_total_s": {
+          "value": 0.0,
+          "unit": null
+        },
+        "_timing_encode_video_count": {
+          "value": 0,
+          "unit": null
+        },
+        "_render_blank_retry_count": {
+          "value": 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": 0.32891,
+          "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": 1.948,
+      "message": "",
+      "metrics": {
+        "semantic_labels_stripped_prims": {
+          "value": 5,
+          "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": 1.955,
+      "message": "",
+      "metrics": {
+        "semantic_labels_stripped_prims": {
+          "value": 5,
+          "unit": null
+        },
+        "semantic_labels_off_coverage": {
+          "value": 0.0,
+          "unit": null
+        },
+        "semantic_labels_stripped_passed": {
+          "value": 1,
+          "unit": null
+        }
+      },
+      "kit_logs": []
+    },
+    {
+      "test_name": "slope_drop",
+      "engine": "isaac_sim",
+      "engine_version": "6.1.0.0",
+      "status": "skipped",
+      "passed": false,
+      "duration": 0.118,
+      "message": "Asset is world-anchored (FixedJoint to world) -- test not applicable. World-anchored assets cannot fall or slide.",
+      "metrics": {
+        "slope_drop_skipped": {
+          "value": 1,
+          "unit": null
+        }
+      },
+      "kit_logs": []
+    }
+  ]
+}

interior_door_v03/.metadata/interior_door_v03_validation.json

@@ -0,0 +1,175 @@
+{
+    "simready_usd/interior_door_v03.usda": {
+        "features_summary": {
+            "FET_000_MUJOCO": {
+                "blocking_failure": false,
+                "dependencies": "[{'FET_000_STANDARD': {'version': '0.1.0'}}]",
+                "optional requirements": "['com.nvidia.simready.RV.007']",
+                "passed": false,
+                "version": "0.1.0"
+            },
+            "FET_000_NEWTON": {
+                "blocking_failure": false,
+                "dependencies": "[{'FET_000_STANDARD': {'version': '0.1.0'}}]",
+                "optional requirements": "['com.nvidia.simready.RV.004']",
+                "passed": false,
+                "version": "0.1.0"
+            },
+            "FET_000_PHYSX": {
+                "blocking_failure": false,
+                "dependencies": "[{'FET_000_STANDARD': {'version': '0.1.0'}}]",
+                "optional requirements": "['com.nvidia.simready.RV.001']",
+                "passed": false,
+                "version": "0.1.0"
+            },
+            "FET_000_STANDARD": {
+                "blocking_failure": false,
+                "dependencies": "[]",
+                "passed": true,
+                "version": "0.2.0"
+            },
+            "FET_001_STANDARD": {
+                "blocking_failure": false,
+                "dependencies": "[]",
+                "passed": true,
+                "version": "1.0.1"
+            },
+            "FET_003_MUJOCO": {
+                "blocking_failure": false,
+                "dependencies": "[]",
+                "optional requirements": "['com.nvidia.simready.MUJOCO.COL.001']",
+                "passed": false,
+                "version": "0.1.0"
+            },
+            "FET_003_NEWTON": {
+                "blocking_failure": false,
+                "dependencies": "[]",
+                "optional requirements": "['com.nvidia.simready.NEWTON.COL.001']",
+                "passed": false,
+                "version": "0.1.0"
+            },
+            "FET_003_PHYSX": {
+                "blocking_failure": false,
+                "dependencies": "[]",
+                "passed": true,
+                "version": "0.4.0"
+            },
+            "FET_003_STANDARD": {
+                "blocking_failure": false,
+                "dependencies": "[]",
+                "passed": true,
+                "version": "0.2.0"
+            },
+            "FET_004_MUJOCO": {
+                "blocking_failure": false,
+                "dependencies": "[{'FET_003_MUJOCO': {'version': '0.1.0'}}]",
+                "optional requirements": "['com.nvidia.simready.MUJOCO.COL.001']",
+                "passed": false,
+                "version": "0.1.0"
+            },
+            "FET_004_NEWTON": {
+                "blocking_failure": false,
+                "dependencies": "[{'FET_003_NEWTON': {'version': '0.1.0'}}]",
+                "optional requirements": "['com.nvidia.simready.NEWTON.COL.001']",
+                "passed": false,
+                "version": "0.1.0"
+            },
+            "FET_004_PHYSX": {
+                "blocking_failure": false,
+                "dependencies": "[{'FET_003_PHYSX': {'version': '0.4.0'}}]",
+                "passed": true,
+                "version": "0.4.0"
+            },
+            "FET_004_STANDARD": {
+                "blocking_failure": false,
+                "dependencies": "[{'FET_003_STANDARD': {'version': '0.2.0'}}]",
+                "passed": true,
+                "version": "0.2.0"
+            },
+            "FET_005_STANDARD": {
+                "blocking_failure": false,
+                "dependencies": "[]",
+                "passed": true,
+                "version": "0.1.0"
+            },
+            "FET_006_MDL": {
+                "blocking_failure": false,
+                "dependencies": "[]",
+                "optional requirements": "['com.nvidia.simready.VM.MDL.003']",
+                "passed": false,
+                "version": "0.2.0"
+            },
+            "FET_006_OPENPBR": {
+                "blocking_failure": false,
+                "dependencies": "[]",
+                "optional requirements": "['com.nvidia.simready.VM.PBR.001']",
+                "passed": false,
+                "version": "0.1.0"
+            },
+            "FET_006_STANDARD": {
+                "blocking_failure": false,
+                "dependencies": "[]",
+                "passed": true,
+                "version": "0.2.0"
+            },
+            "FET_007_STANDARD": {
+                "blocking_failure": false,
+                "dependencies": "[]",
+                "optional requirements": "['com.nvidia.simready.NVM.001', 'com.nvidia.simready.NVM.002', 'com.nvidia.simready.NVM.003']",
+                "passed": false,
+                "version": "0.2.0"
+            },
+            "FET_010_STANDARD": {
+                "blocking_failure": false,
+                "dependencies": "[]",
+                "passed": true,
+                "version": "0.1.0"
+            },
+            "FET_011_RTX": {
+                "blocking_failure": false,
+                "dependencies": "[{'FET_011_STANDARD': {'version': '0.2.0'}}]",
+                "passed": true,
+                "version": "0.1.0"
+            },
+            "FET_011_STANDARD": {
+                "blocking_failure": false,
+                "dependencies": "[]",
+                "passed": true,
+                "version": "0.2.0"
+            },
+            "FET_031_STANDARD": {
+                "blocking_failure": false,
+                "dependencies": "[]",
+                "passed": true,
+                "version": "0.1.0"
+            },
+            "FET_033_STANDARD": {
+                "blocking_failure": false,
+                "dependencies": "[{'FET_031_STANDARD': {'version': '0.1.0'}}]",
+                "passed": true,
+                "version": "0.4.0"
+            },
+            "FET_046_STANDARD": {
+                "blocking_failure": false,
+                "dependencies": "[{'FET_011_STANDARD': {'version': '0.2.0'}}]",
+                "passed": true,
+                "version": "0.1.0"
+            },
+            "FET_100_ISAAC": {
+                "blocking_failure": false,
+                "dependencies": "[{'FET_003_PHYSX': {'version': '0.4.0'}}]",
+                "optional requirements": "['com.nvidia.simready.ISA.001']",
+                "passed": false,
+                "version": "0.4.0"
+            }
+        },
+        "profile_id": "Robotics-Prop",
+        "profile_version": "4.0.0",
+        "simready_validate_version": "2026.8.0",
+        "tier_versions": {
+            "sensors": "2026.8.0",
+            "tier_aif": "2026.8.0",
+            "tier_core": "2026.8.0"
+        }
+    }
+}

interior_door_v03/com.nvidia.simready.packaging.json

@@ -0,0 +1,31 @@
+{
+  "format_version": "1.0",
+  "package_id": "simready.hf.ForgeCAD.simready-assets.interior_door_v03.2026.10.17_00",
+  "license": "cc-by-4.0",
+  "metadata": [
+    {
+      "name": "com.nvidia.simready.conformance.Package-Candidate@1.0.0.json",
+      "hash": {
+        "sha256": "347c906ff6a2dc576e37b0155a374dfcc6029ccdec61609e1305fb8b2136e066"
+      }
+    },
+    {
+      "name": "com.nvidia.simready.packaging.bom.json",
+      "hash": {
+        "sha256": "3e8fffb820225755ff02080afc020819d2e3ed2bdde3ae26b884c677366e9796"
+      }
+    },
+    {
+      "name": "com.nvidia.simready.root_usds.json",
+      "hash": {
+        "sha256": "6dd42210ba69ec349f30887f15be031d74a689818e1022b2afd3b78cb44896f8"
+      }
+    }
+  ],
+  "content_hash": {
+    "sha256": "8f14a66f934749091d6b84a004a3d69610a1bd227347a24fe915872781dc9314"
+  },
+  "package_hash": {
+    "sha256": "bd4f9ee8926f521b34c225626a1048521a49ecefc3cf575b1f1f609e63621eaa"
+  }
+}

interior_door_v03/simready_usd/forgecad/animation.usda

@@ -0,0 +1,62 @@
+#usda 1.0
+(
+    defaultPrim = "Model"
+    doc = "ForgeCAD animation clips for the root stage. Generated by forgecad export usd; do not edit."
+    endTimeCode = 192
+    startTimeCode = 0
+    timeCodesPerSecond = 24
+)
+
+over "Model" (
+    prepend variantSets = "animation"
+    variants = {
+        string animation = "static"
+    }
+)
+{
+    variantSet "animation" = {
+        "static" {
+        }
+        "Open_and_close" {
+            over "Geometry"
+            {
+                over "Frame"
+                {
+                    over "Door_leaf"
+                    {
+                        float xformOp:rotateX:door.timeSamples = {
+                            0: 0,
+                            38.4: 0,
+                            76.8: 15,
+                            115.2: 90,
+                            153.6: 90,
+                            192: 0,
+                        }
+                        over "Knob_outside"
+                        {
+                            float xformOp:rotateX:knob.timeSamples = {
+                                0: 0,
+                                38.4: 90,
+                                76.8: 90,
+                                115.2: 0,
+                                153.6: 0,
+                                192: 0,
+                            }
+                        }
+                        over "Latch_bolt"
+                        {
+                            double3 xformOp:translate:latch.timeSamples = {
+                                0: (0, 0, 0),
+                                38.4: (0.013, 0, 0),
+                                76.8: (0.013, 0, 0),
+                                115.2: (0, 0, 0),
+                                153.6: (0, 0, 0),
+                                192: (0, 0, 0),
+                            }
+                        }
+                    }
+                }
+            }
+        }
+    }
+}

interior_door_v03/simready_usd/forgecad/physics.usda

@@ -0,0 +1,845 @@
+#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 "painted_wood" (
+                    prepend apiSchemas = ["PhysicsMaterialAPI", "SemanticsLabelsAPI:material"]
+                  )
+                  {
+                    token[] semantics:labels:material = ["Painted wood"]
+                    float physics:density = 600
+                    float physics:staticFriction = 0.4
+                    float physics:dynamicFriction = 0.3
+                    float physics:restitution = 0.3
+                  }
+
+            def Material "painted_door_leaf" (
+                    prepend apiSchemas = ["PhysicsMaterialAPI", "SemanticsLabelsAPI:material"]
+                  )
+                  {
+                    token[] semantics:labels:material = ["Painted door leaf"]
+                    float physics:density = 208
+                    float physics:staticFriction = 0.4
+                    float physics:dynamicFriction = 0.3
+                    float physics:restitution = 0.3
+                  }
+
+            def Material "satin_zinc_die_cast" (
+                    prepend apiSchemas = ["PhysicsMaterialAPI", "SemanticsLabelsAPI:material"]
+                  )
+                  {
+                    token[] semantics:labels:material = ["Satin zinc die-cast"]
+                    float physics:density = 6600
+                    float physics:staticFriction = 0.45
+                    float physics:dynamicFriction = 0.35
+                    float physics:restitution = 0.3
+                  }
+        }
+
+        def Scope "Joints"
+        {
+            def PhysicsRevoluteJoint "door" (
+                prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
+            )
+            {
+                rel physics:body0 = </Model/Geometry/Frame>
+                rel physics:body1 = </Model/Geometry/Frame/Door_leaf>
+                point3f physics:localPos0 = (-0.4141, -0.0568, 1.028)
+                point3f physics:localPos1 = (0, 0, 1.028)
+                quatf physics:localRot0 = (0.5, -0.5, 0.5, 0.5)
+                quatf physics:localRot1 = (0.5, -0.5, 0.5, 0.5)
+                uniform token physics:axis = "X"
+                float physics:lowerLimit = 0
+                float physics:upperLimit = 100
+                token drive:angular:physics:type = "force"
+                float drive:angular:physics:targetVelocity = 0
+                float drive:angular:physics:stiffness = 0
+                float drive:angular:physics:damping = 0.008726646
+                float state:angular:physics:position = 0
+                float state:angular:physics:velocity = 0
+            }
+
+            def PhysicsRevoluteJoint "knob" (
+                prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
+            )
+            {
+                rel physics:body0 = </Model/Geometry/Frame/Door_leaf>
+                rel physics:body1 = </Model/Geometry/Frame/Door_leaf/Knob_outside>
+                point3f physics:localPos0 = (0.771802, 0.0268, 1.05)
+                point3f physics:localPos1 = (0, 0, 0)
+                quatf physics:localRot0 = (0.70710678, 0, 0, -0.70710678)
+                quatf physics:localRot1 = (0.70710678, 0, 0, -0.70710678)
+                uniform token physics:axis = "X"
+                float physics:lowerLimit = 0
+                float physics:upperLimit = 90
+                token drive:angular:physics:type = "force"
+                float drive:angular:physics:targetPosition = -90
+                float drive:angular:physics:stiffness = 0.002527266
+                float drive:angular:physics:damping = 0.000349066
+                float state:angular:physics:position = 0
+                float state:angular:physics:velocity = 0
+            }
+
+            def PhysicsPrismaticJoint "latch" (
+                prepend apiSchemas = ["PhysicsDriveAPI:linear", "PhysicsJointStateAPI:linear", "PhysxMimicJointAPI:rotX"]
+            )
+            {
+                rel physics:body0 = </Model/Geometry/Frame/Door_leaf>
+                rel physics:body1 = </Model/Geometry/Frame/Door_leaf/Latch_bolt>
+                point3f physics:localPos0 = (0.826802, 0.0268, 1.05)
+                point3f physics:localPos1 = (0, 0, 0)
+                quatf physics:localRot0 = (0, 0, 0, 1)
+                quatf physics:localRot1 = (0, 0, 0, 1)
+                uniform token physics:axis = "X"
+                float physics:lowerLimit = 0
+                float physics:upperLimit = 0.013
+                token drive:linear:physics:type = "force"
+                float drive:linear:physics:targetPosition = -0.013
+                float drive:linear:physics:stiffness = 153.846153846
+                float drive:linear:physics:damping = 5
+                float state:linear:physics:position = 0
+                float state:linear:physics:velocity = 0
+                rel physxMimicJoint:rotX:referenceJoint = </Model/Physics/Joints/knob>
+                uniform token physxMimicJoint:rotX:referenceJointAxis = "rotX"
+                float physxMimicJoint:rotX:gearing = -0.000144444444
+                float physxMimicJoint:rotX:offset = 0
+            }
+
+            def PhysicsFixedJoint "Frame_fixed_base"
+            {
+                rel physics:body0 = </Model/Geometry>
+                rel physics:body1 = </Model/Geometry/Frame>
+                point3f physics:localPos0 = (0, 0, 0)
+                point3f physics:localPos1 = (0, 0, 0)
+                quatf physics:localRot0 = (1, 0, 0, 0)
+                quatf physics:localRot1 = (1, 0, 0, 0)
+            }
+        }
+    }
+
+    over "Geometry" (
+        prepend apiSchemas = ["PhysicsArticulationRootAPI"]
+    )
+    {
+        over "Frame" (
+            prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"]
+        )
+        {
+            bool physics:rigidBodyEnabled = 1
+            bool physics:kinematicEnabled = 0
+            bool physics:startsAsleep = 0
+            float physics:mass = 82.41684638469661
+            point3f physics:centerOfMass = (-0.000126112, -0.000045733, 1.308499051)
+            float3 physics:diagonalInertia = (76.100440318439, 44.087457793583, 32.17517634864)
+            quatf physics:principalAxes = (0.00018359, -0.70705508, -0.70715837, 0.00034566)
+            def Xform "Colliders"
+            {
+                def Cube "wall_000" (
+                    prepend apiSchemas = ["PhysicsCollisionAPI", "MaterialBindingAPI"]
+                )
+                {
+                    uniform token purpose = "guide"
+                    double size = 1
+                    double3 xformOp:translate = (-0.6606, 0, 1.2)
+                    quatf xformOp:orient = (1, 0, 0, 0)
+                    float3 xformOp:scale = (0.45, 0.1, 2.4)
+                    uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+                    rel material:binding:physics = </Model/Physics/Materials/painted_wood>
+                }
+
+                def Cube "wall_001" (
+                    prepend apiSchemas = ["PhysicsCollisionAPI", "MaterialBindingAPI"]
+                )
+                {
+                    uniform token purpose = "guide"
+                    double size = 1
+                    double3 xformOp:translate = (0.6606, 0, 1.2)
+                    quatf xformOp:orient = (1, 0, 0, 0)
+                    float3 xformOp:scale = (0.45, 0.1, 2.4)
+                    uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+                    rel material:binding:physics = </Model/Physics/Materials/painted_wood>
+                }
+
+                def Cube "wall_002" (
+                    prepend apiSchemas = ["PhysicsCollisionAPI", "MaterialBindingAPI"]
+                )
+                {
+                    uniform token purpose = "guide"
+                    double size = 1
+                    double3 xformOp:translate = (0, 0, 2.2355)
+                    quatf xformOp:orient = (1, 0, 0, 0)
+                    float3 xformOp:scale = (0.8712, 0.1, 0.329)
+                    uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+                    rel material:binding:physics = </Model/Physics/Materials/painted_wood>
+                }
+
+                def Cube "jamb_000" (
+                    prepend apiSchemas = ["PhysicsCollisionAPI", "MaterialBindingAPI"]
+                )
+                {
+                    uniform token purpose = "guide"
+                    double size = 1
+                    double3 xformOp:translate = (-0.4256, 0, 1.0355)
+                    quatf xformOp:orient = (1, 0, 0, 0)
+                    float3 xformOp:scale = (0.02, 0.1, 2.071)
+                    uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+                    rel material:binding:physics = </Model/Physics/Materials/painted_wood>
+                }
+
+                def Cube "jamb_001" (
+                    prepend apiSchemas = ["PhysicsCollisionAPI", "MaterialBindingAPI"]
+                )
+                {
+                    uniform token purpose = "guide"
+                    double size = 1
+                    double3 xformOp:translate = (0, 0, 2.061)
+                    quatf xformOp:orient = (1, 0, 0, 0)
+                    float3 xformOp:scale = (0.8712, 0.1, 0.02)
+                    uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+                    rel material:binding:physics = </Model/Physics/Materials/painted_wood>
+                }
+
+                def Cube "jamb_002" (
+                    prepend apiSchemas = ["PhysicsCollisionAPI", "MaterialBindingAPI"]
+                )
+                {
+                    uniform token purpose = "guide"
+                    double size = 1
+                    double3 xformOp:translate = (0.4256, 0, 0.51825)
+                    quatf xformOp:orient = (1, 0, 0, 0)
+                    float3 xformOp:scale = (0.02, 0.1, 1.0365)
+                    uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+                    rel material:binding:physics = </Model/Physics/Materials/painted_wood>
+                }
+
+                def Cube "jamb_003" (
+                    prepend apiSchemas = ["PhysicsCollisionAPI", "MaterialBindingAPI"]
+                )
+                {
+                    uniform token purpose = "guide"
+                    double size = 1
+                    double3 xformOp:translate = (0.4256, 0, 1.55725)
+                    quatf xformOp:orient = (1, 0, 0, 0)
+                    float3 xformOp:scale = (0.02, 0.1, 0.9875)
+                    uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+                    rel material:binding:physics = </Model/Physics/Materials/painted_wood>
+                }
+
+                def Cube "jamb_004" (
+                    prepend apiSchemas = ["PhysicsCollisionAPI", "MaterialBindingAPI"]
+                )
+                {
+                    uniform token purpose = "guide"
+                    double size = 1
+                    double3 xformOp:translate = (0.4256, 0.01425, 1.05)
+                    quatf xformOp:orient = (1, 0, 0, 0)
+                    float3 xformOp:scale = (0.02, 0.0715, 0.027)
+                    uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+                    rel material:binding:physics = </Model/Physics/Materials/painted_wood>
+                }
+
+                def Cube "jamb_005" (
+                    prepend apiSchemas = ["PhysicsCollisionAPI", "MaterialBindingAPI"]
+                )
+                {
+                    uniform token purpose = "guide"
+                    double size = 1
+                    double3 xformOp:translate = (0.4256, -0.0435, 1.05)
+                    quatf xformOp:orient = (1, 0, 0, 0)
+                    float3 xformOp:scale = (0.02, 0.013, 0.027)
+                    uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+                    rel material:binding:physics = </Model/Physics/Materials/painted_wood>
+                }
+
+                def Cube "jamb_006" (
+                    prepend apiSchemas = ["PhysicsCollisionAPI", "MaterialBindingAPI"]
+                )
+                {
+                    uniform token purpose = "guide"
+                    double size = 1
+                    double3 xformOp:translate = (0.4351, -0.02925, 1.05)
+                    quatf xformOp:orient = (1, 0, 0, 0)
+                    float3 xformOp:scale = (0.003, 0.0155, 0.027)
+                    uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+                    rel material:binding:physics = </Model/Physics/Materials/painted_wood>
+                }
+
+                def Cube "stop_000" (
+                    prepend apiSchemas = ["PhysicsCollisionAPI", "MaterialBindingAPI"]
+                )
+                {
+                    uniform token purpose = "guide"
+                    double size = 1
+                    double3 xformOp:translate = (-0.4096, 0.0075, 1.0255)
+                    quatf xformOp:orient = (1, 0, 0, 0)
+                    float3 xformOp:scale = (0.012, 0.035, 2.051)
+                    uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+                    rel material:binding:physics = </Model/Physics/Materials/painted_wood>
+                }
+
+                def Cube "stop_001" (
+                    prepend apiSchemas = ["PhysicsCollisionAPI", "MaterialBindingAPI"]
+                )
+                {
+                    uniform token purpose = "guide"
+                    double size = 1
+                    double3 xformOp:translate = (0.4096, 0.0075, 1.0255)
+                    quatf xformOp:orient = (1, 0, 0, 0)
+                    float3 xformOp:scale = (0.012, 0.035, 2.051)
+                    uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+                    rel material:binding:physics = </Model/Physics/Materials/painted_wood>
+                }
+
+                def Cube "stop_002" (
+                    prepend apiSchemas = ["PhysicsCollisionAPI", "MaterialBindingAPI"]
+                )
+                {
+                    uniform token purpose = "guide"
+                    double size = 1
+                    double3 xformOp:translate = (0, 0.0075, 2.045)
+                    quatf xformOp:orient = (1, 0, 0, 0)
+                    float3 xformOp:scale = (0.8072, 0.035, 0.012)
+                    uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+                    rel material:binding:physics = </Model/Physics/Materials/painted_wood>
+                }
+
+                def Cube "casing_000" (
+                    prepend apiSchemas = ["PhysicsCollisionAPI", "MaterialBindingAPI"]
+                )
+                {
+                    uniform token purpose = "guide"
+                    double size = 1
+                    double3 xformOp:translate = (-0.4566, -0.056, 1.0635)
+                    quatf xformOp:orient = (1, 0, 0, 0)
+                    float3 xformOp:scale = (0.07, 0.012, 2.127)
+                    uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+                    rel material:binding:physics = </Model/Physics/Materials/painted_wood>
+                }
+
+                def Cube "casing_001" (
+                    prepend apiSchemas = ["PhysicsCollisionAPI", "MaterialBindingAPI"]
+                )
+                {
+                    uniform token purpose = "guide"
+                    double size = 1
+                    double3 xformOp:translate = (0.4566, -0.056, 1.0635)
+                    quatf xformOp:orient = (1, 0, 0, 0)
+                    float3 xformOp:scale = (0.07, 0.012, 2.127)
+                    uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+                    rel material:binding:physics = </Model/Physics/Materials/painted_wood>
+                }
+
+                def Cube "casing_002" (
+                    prepend apiSchemas = ["PhysicsCollisionAPI", "MaterialBindingAPI"]
+                )
+                {
+                    uniform token purpose = "guide"
+                    double size = 1
+                    double3 xformOp:translate = (0, -0.056, 2.092)
+                    quatf xformOp:orient = (1, 0, 0, 0)
+                    float3 xformOp:scale = (0.9832, 0.012, 0.07)
+                    uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+                    rel material:binding:physics = </Model/Physics/Materials/painted_wood>
+                }
+
+                def Cube "casing_003" (
+                    prepend apiSchemas = ["PhysicsCollisionAPI", "MaterialBindingAPI"]
+                )
+                {
+                    uniform token purpose = "guide"
+                    double size = 1
+                    double3 xformOp:translate = (-0.4566, 0.056, 1.0635)
+                    quatf xformOp:orient = (1, 0, 0, 0)
+                    float3 xformOp:scale = (0.07, 0.012, 2.127)
+                    uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+                    rel material:binding:physics = </Model/Physics/Materials/painted_wood>
+                }
+
+                def Cube "casing_004" (
+                    prepend apiSchemas = ["PhysicsCollisionAPI", "MaterialBindingAPI"]
+                )
+                {
+                    uniform token purpose = "guide"
+                    double size = 1
+                    double3 xformOp:translate = (0.4566, 0.056, 1.0635)
+                    quatf xformOp:orient = (1, 0, 0, 0)
+                    float3 xformOp:scale = (0.07, 0.012, 2.127)
+                    uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+                    rel material:binding:physics = </Model/Physics/Materials/painted_wood>
+                }
+
+                def Cube "casing_005" (
+                    prepend apiSchemas = ["PhysicsCollisionAPI", "MaterialBindingAPI"]
+                )
+                {
+                    uniform token purpose = "guide"
+                    double size = 1
+                    double3 xformOp:translate = (0, 0.056, 2.092)
+                    quatf xformOp:orient = (1, 0, 0, 0)
+                    float3 xformOp:scale = (0.9832, 0.012, 0.07)
+                    uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+                    rel material:binding:physics = </Model/Physics/Materials/painted_wood>
+                }
+
+                def Cube "skirting_000" (
+                    prepend apiSchemas = ["PhysicsCollisionAPI", "MaterialBindingAPI"]
+                )
+                {
+                    uniform token purpose = "guide"
+                    double size = 1
+                    double3 xformOp:translate = (-0.6886, -0.055, 0.03)
+                    quatf xformOp:orient = (1, 0, 0, 0)
+                    float3 xformOp:scale = (0.394, 0.01, 0.06)
+                    uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+                    rel material:binding:physics = </Model/Physics/Materials/painted_wood>
+                }
+
+                def Cube "skirting_001" (
+                    prepend apiSchemas = ["PhysicsCollisionAPI", "MaterialBindingAPI"]
+                )
+                {
+                    uniform token purpose = "guide"
+                    double size = 1
+                    double3 xformOp:translate = (0.6886, -0.055, 0.03)
+                    quatf xformOp:orient = (1, 0, 0, 0)
+                    float3 xformOp:scale = (0.394, 0.01, 0.06)
+                    uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+                    rel material:binding:physics = </Model/Physics/Materials/painted_wood>
+                }
+
+                def Cube "skirting_002" (
+                    prepend apiSchemas = ["PhysicsCollisionAPI", "MaterialBindingAPI"]
+                )
+                {
+                    uniform token purpose = "guide"
+                    double size = 1
+                    double3 xformOp:translate = (-0.6886, 0.055, 0.03)
+                    quatf xformOp:orient = (1, 0, 0, 0)
+                    float3 xformOp:scale = (0.394, 0.01, 0.06)
+                    uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+                    rel material:binding:physics = </Model/Physics/Materials/painted_wood>
+                }
+
+                def Cube "skirting_003" (
+                    prepend apiSchemas = ["PhysicsCollisionAPI", "MaterialBindingAPI"]
+                )
+                {
+                    uniform token purpose = "guide"
+                    double size = 1
+                    double3 xformOp:translate = (0.6886, 0.055, 0.03)
+                    quatf xformOp:orient = (1, 0, 0, 0)
+                    float3 xformOp:scale = (0.394, 0.01, 0.06)
+                    uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+                    rel material:binding:physics = </Model/Physics/Materials/painted_wood>
+                }
+
+                def Cylinder "knuckle_000" (
+                    prepend apiSchemas = ["PhysicsCollisionAPI", "MaterialBindingAPI"]
+                )
+                {
+                    uniform token purpose = "guide"
+                    uniform token axis = "Z"
+                    double radius = 0.0065
+                    double height = 0.10955
+                    double3 xformOp:translate = (-0.4141, -0.0568, 0.258)
+                    quatf xformOp:orient = (1, 0, 0, 0)
+                    uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+                    rel material:binding:physics = </Model/Physics/Materials/painted_wood>
+                }
+
+                def Cylinder "knuckle_001" (
+                    prepend apiSchemas = ["PhysicsCollisionAPI", "MaterialBindingAPI"]
+                )
+                {
+                    uniform token purpose = "guide"
+                    uniform token axis = "Z"
+                    double radius = 0.0065
+                    double height = 0.10955
+                    double3 xformOp:translate = (-0.4141, -0.0568, 1.028)
+                    quatf xformOp:orient = (1, 0, 0, 0)
+                    uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+                    rel material:binding:physics = </Model/Physics/Materials/painted_wood>
+                }
+
+                def Cylinder "knuckle_002" (
+                    prepend apiSchemas = ["PhysicsCollisionAPI", "MaterialBindingAPI"]
+                )
+                {
+                    uniform token purpose = "guide"
+                    uniform token axis = "Z"
+                    double radius = 0.0065
+                    double height = 0.10955
+                    double3 xformOp:translate = (-0.4141, -0.0568, 1.798)
+                    quatf xformOp:orient = (1, 0, 0, 0)
+                    uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+                    rel material:binding:physics = </Model/Physics/Materials/painted_wood>
+                }
+
+                def Cylinder "floorStop" (
+                    prepend apiSchemas = ["PhysicsCollisionAPI", "MaterialBindingAPI"]
+                )
+                {
+                    uniform token purpose = "guide"
+                    uniform token axis = "Z"
+                    double radius = 0.02
+                    double height = 0.028
+                    double3 xformOp:translate = (-0.549955548, -0.751259329, 0.014)
+                    quatf xformOp:orient = (1, 0, 0, 0)
+                    uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+                    rel material:binding:physics = </Model/Physics/Materials/painted_wood>
+                }
+            }
+            over "Door_leaf" (
+                prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"]
+            )
+            {
+                bool physics:rigidBodyEnabled = 1
+                bool physics:kinematicEnabled = 0
+                bool physics:startsAsleep = 0
+                float physics:mass = 13.776428362960912
+                point3f physics:centerOfMass = (0.414261325, 0.026788383, 1.022355788)
+                float3 physics:diagonalInertia = (5.679692886555, 4.865862906628, 0.817029733731)
+                quatf physics:principalAxes = (0.00000934, 0.70710803, 0.70710553, 0.00000947)
+                matrix4d xformOp:transform:simulationWorld = ((1, 0, 0, 0), (0, 1, 0, 0), (0, 0, 1, 0), (-0.4141, -0.0568, 0, 1))
+                uniform token[] xformOpOrder = ["!resetXformStack!", "xformOp:transform:simulationWorld"]
+                def Xform "Colliders"
+                {
+                    def Cube "stile_000" (
+                        prepend apiSchemas = ["PhysicsCollisionAPI", "MaterialBindingAPI"]
+                    )
+                    {
+                        uniform token purpose = "guide"
+                        double size = 1
+                        double3 xformOp:translate = (0.0615, 0.0268, 1.028)
+                        quatf xformOp:orient = (1, 0, 0, 0)
+                        float3 xformOp:scale = (0.12, 0.04, 2.04)
+                        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+                        rel material:binding:physics = </Model/Physics/Materials/painted_door_leaf>
+                    }
+
+                    def Mesh "stile_001" (
+                        prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI", "MaterialBindingAPI"]
+                    )
+                    {
+                        uniform token purpose = "guide"
+                        uniform token physics:approximation = "convexHull"
+                        uniform token subdivisionScheme = "none"
+                        float3[] extent = [(0.7075, 0.0068, 0.008), (0.8275, 0.046799999, 2.048)]
+                        int[] faceVertexCounts = [3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3]
+                        int[] faceVertexIndices = [3, 0, 1, 0, 5, 1, 5, 3, 1, 0, 3, 2, 6, 0, 2, 3, 6, 2, 4, 5, 0, 4, 0, 6, 6, 5, 4, 3, 5, 7, 6, 3, 7, 5, 6, 7]
+                        normal3f[] normals = [(-1, 0, 0), (0, -1, 0), (0, 0, 1), (-1, 0, 0), (0, 0, -1), (0, 1, 0), (0, -1, 0), (0, 0, -1), (0.999391, 0.0349, 0), (0, 0, 1), (0, 1, 0), (0.999391, 0.0349, 0)] (interpolation = "uniform")
+                        point3f[] points = [(0.7075, 0.0068, 0.008), (0.7075, 0.0068, 2.048), (0.7075, 0.046799999, 0.008), (0.7075, 0.046799999, 2.048), (0.8275, 0.0068, 0.008), (0.8275, 0.0068, 2.048), (0.826103149, 0.046799999, 0.008), (0.826103149, 0.046799999, 2.048)]
+                        rel material:binding:physics = </Model/Physics/Materials/painted_door_leaf>
+                    }
+
+                    def Cube "rail_000" (
+                        prepend apiSchemas = ["PhysicsCollisionAPI", "MaterialBindingAPI"]
+                    )
+                    {
+                        uniform token purpose = "guide"
+                        double size = 1
+                        double3 xformOp:translate = (0.4145, 0.0268, 0.128)
+                        quatf xformOp:orient = (1, 0, 0, 0)
+                        float3 xformOp:scale = (0.586, 0.04, 0.24)
+                        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+                        rel material:binding:physics = </Model/Physics/Materials/painted_door_leaf>
+                    }
+
+                    def Cube "rail_001" (
+                        prepend apiSchemas = ["PhysicsCollisionAPI", "MaterialBindingAPI"]
+                    )
+                    {
+                        uniform token purpose = "guide"
+                        double size = 1
+                        double3 xformOp:translate = (0.4145, 0.0268, 1.05)
+                        quatf xformOp:orient = (1, 0, 0, 0)
+                        float3 xformOp:scale = (0.586, 0.04, 0.2)
+                        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+                        rel material:binding:physics = </Model/Physics/Materials/painted_door_leaf>
+                    }
+
+                    def Cube "rail_002" (
+                        prepend apiSchemas = ["PhysicsCollisionAPI", "MaterialBindingAPI"]
+                    )
+                    {
+                        uniform token purpose = "guide"
+                        double size = 1
+                        double3 xformOp:translate = (0.4145, 0.0268, 1.988)
+                        quatf xformOp:orient = (1, 0, 0, 0)
+                        float3 xformOp:scale = (0.586, 0.04, 0.12)
+                        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+                        rel material:binding:physics = </Model/Physics/Materials/painted_door_leaf>
+                    }
+
+                    def Cube "panel_000" (
+                        prepend apiSchemas = ["PhysicsCollisionAPI", "MaterialBindingAPI"]
+                    )
+                    {
+                        uniform token purpose = "guide"
+                        double size = 1
+                        double3 xformOp:translate = (0.4145, 0.0268, 0.599)
+                        quatf xformOp:orient = (1, 0, 0, 0)
+                        float3 xformOp:scale = (0.586, 0.034, 0.702)
+                        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+                        rel material:binding:physics = </Model/Physics/Materials/painted_door_leaf>
+                    }
+
+                    def Cube "panel_001" (
+                        prepend apiSchemas = ["PhysicsCollisionAPI", "MaterialBindingAPI"]
+                    )
+                    {
+                        uniform token purpose = "guide"
+                        double size = 1
+                        double3 xformOp:translate = (0.4145, 0.0268, 1.539)
+                        quatf xformOp:orient = (1, 0, 0, 0)
+                        float3 xformOp:scale = (0.586, 0.034, 0.778)
+                        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+                        rel material:binding:physics = </Model/Physics/Materials/painted_door_leaf>
+                    }
+
+                    def Mesh "rose_000" (
+                        prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI", "MaterialBindingAPI"]
+                    )
+                    {
+                        uniform token purpose = "guide"
+                        uniform token physics:approximation = "convexHull"
+                        uniform token subdivisionScheme = "none"
+                        float3[] extent = [(0.745801575, -0.0022, 1.024), (0.797801575, 0.0068, 1.076)]
+                        int[] faceVertexCounts = [3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3]
+                        int[] faceVertexIndices = [14, 1, 0, 14, 5, 1, 1, 7, 0, 10, 1, 3, 14, 0, 2, 0, 9, 2, 9, 14, 2, 1, 4, 3, 5, 4, 1, 4, 10, 3, 5, 11, 4, 5, 18, 6, 5, 19, 18, 13, 5, 6, 18, 13, 6, 7, 9, 0, 1, 10, 8, 7, 1, 8, 10, 9, 7, 10, 7, 8, 14, 9, 23, 10, 25, 9, 11, 10, 4, 5, 12, 11, 12, 5, 13, 12, 10, 11, 27, 10, 12, 27, 13, 18, 10, 27, 25, 27, 12, 13, 16, 14, 15, 20, 5, 14, 15, 14, 23, 20, 14, 16, 20, 16, 17, 25, 16, 15, 16, 26, 17, 26, 20, 17, 19, 5, 20, 27, 18, 19, 28, 19, 22, 19, 20, 21, 19, 21, 22, 22, 21, 30, 20, 30, 21, 15, 23, 24, 25, 15, 24, 25, 23, 9, 23, 25, 24, 16, 25, 26, 20, 26, 29, 25, 30, 26, 27, 19, 28, 30, 27, 28, 30, 20, 29, 28, 22, 31, 22, 30, 31, 25, 27, 30, 26, 30, 29, 30, 28, 31]
+                        normal3f[] normals = [(0, -1, 0), (0, -1, 0), (-0.831467, 0, -0.555575), (-0.980786, 0, -0.195089), (0, -1, 0), (-0.555572, 0, -0.831469), (-0.19509, 0, -0.980785), (0, -1, 0), (0, -1, 0), (-0.980786, 0, 0.195089), (-0.831467, 0, 0.555575), (0, -1, 0), (0, -1, 0), (-0.555572, 0, 0.831469), (-0.19509, 0, 0.980785), (-0.555572, 0, -0.831469), (-0.980786, 0, -0.195089), (-0.831467, 0, -0.555575), (0, 1, 0), (0, 1, 0), (-0.19509, 0, -0.980785), (0, 1, 0), (-0.980786, 0, 0.195089), (-0.831467, 0, 0.555575), (-0.555572, 0, 0.831469), (0, 1, 0), (0, 1, 0), (-0.19509, 0, 0.980785), (0, 1, 0), (0, 1, 0), (0, -1, 0), (0, -1, 0), (0.19509, 0, -0.980785), (0, -1, 0), (0, -1, 0), (0.555572, 0, -0.831469), (0.831467, 0, -0.555575), (0.980786, 0, -0.195089), (0, -1, 0), (0.19509, 0, 0.980785), (0.555572, 0, 0.831469), (0, -1, 0), (0, -1, 0), (0.831467, 0, 0.555575), (0.980786, 0, 0.195089), (0.19509, 0, -0.980785), (0.555572, 0, -0.831469), (0, 1, 0), (0, 1, 0), (0.831467, 0, -0.555575), (0.980786, 0, -0.195089), (0, 1, 0), (0.19509, 0, 0.980785), (0, 1, 0), (0.980786, 0, 0.195089), (0.555572, 0, 0.831469), (0.831467, 0, 0.555575), (0, 1, 0), (0, 1, 0), (0, 1, 0)] (interpolation = "uniform")
+                        point3f[] points = [(0.753416809, -0.0022, 1.031615234), (0.747780701, -0.0022, 1.040050171), (0.761851807, -0.0022, 1.025979126), (0.745801575, -0.0022, 1.05), (0.747780701, -0.0022, 1.059949829), (0.753416809, -0.0022, 1.068384766), (0.761851807, -0.0022, 1.074020874), (0.753416809, 0.0068, 1.031615234), (0.747780701, 0.0068, 1.040050171), (0.761851807, 0.0068, 1.025979126), (0.745801575, 0.0068, 1.05), (0.747780701, 0.0068, 1.059949829), (0.753416809, 0.0068, 1.068384766), (0.761851807, 0.0068, 1.074020874), (0.771801575, -0.0022, 1.024), (0.781751343, -0.0022, 1.025979126), (0.79018634, -0.0022, 1.031615234), (0.795822449, -0.0022, 1.040050171), (0.771801575, -0.0022, 1.076), (0.781751343, -0.0022, 1.074020874), (0.797801575, -0.0022, 1.05), (0.795822449, -0.0022, 1.059949829), (0.79018634, -0.0022, 1.068384766), (0.771801575, 0.0068, 1.024), (0.781751343, 0.0068, 1.025979126), (0.79018634, 0.0068, 1.031615234), (0.795822449, 0.0068, 1.040050171), (0.771801575, 0.0068, 1.076), (0.781751343, 0.0068, 1.074020874), (0.797801575, 0.0068, 1.05), (0.795822449, 0.0068, 1.059949829), (0.79018634, 0.0068, 1.068384766)]
+                        rel material:binding:physics = </Model/Physics/Materials/painted_door_leaf>
+                    }
+
+                    def Mesh "rose_001" (
+                        prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI", "MaterialBindingAPI"]
+                    )
+                    {
+                        uniform token purpose = "guide"
+                        uniform token physics:approximation = "convexHull"
+                        uniform token subdivisionScheme = "none"
+                        float3[] extent = [(0.745801575, 0.046799999, 1.024), (0.797801575, 0.055799999, 1.076)]
+                        int[] faceVertexCounts = [3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3]
+                        int[] faceVertexIndices = [14, 1, 0, 14, 5, 1, 1, 7, 0, 10, 1, 3, 14, 0, 2, 0, 9, 2, 9, 14, 2, 1, 4, 3, 5, 4, 1, 4, 10, 3, 5, 11, 4, 5, 18, 6, 5, 19, 18, 13, 5, 6, 18, 13, 6, 7, 9, 0, 1, 10, 8, 7, 1, 8, 10, 9, 7, 10, 7, 8, 14, 9, 23, 10, 25, 9, 11, 10, 4, 5, 12, 11, 12, 5, 13, 12, 10, 11, 27, 10, 12, 27, 13, 18, 10, 27, 25, 27, 12, 13, 16, 14, 15, 20, 5, 14, 15, 14, 23, 20, 14, 16, 20, 16, 17, 25, 16, 15, 16, 26, 17, 26, 20, 17, 19, 5, 20, 18, 19, 28, 19, 20, 21, 19, 21, 22, 20, 30, 21, 31, 19, 22, 21, 31, 22, 15, 23, 24, 25, 15, 24, 25, 23, 9, 23, 25, 24, 16, 25, 26, 29, 20, 26, 25, 29, 26, 25, 30, 29, 27, 18, 28, 19, 31, 28, 28, 31, 27, 20, 29, 30, 30, 31, 21, 25, 27, 30, 30, 27, 31]
+                        normal3f[] normals = [(0, -1, 0), (0, -1, 0), (-0.831467, 0, -0.555575), (-0.980786, 0, -0.195089), (0, -1, 0), (-0.555572, 0, -0.831469), (-0.19509, 0, -0.980785), (0, -1, 0), (0, -1, 0), (-0.980786, 0, 0.195089), (-0.831467, 0, 0.555575), (0, -1, 0), (0, -1, 0), (-0.555572, 0, 0.831469), (-0.19509, 0, 0.980785), (-0.555572, 0, -0.831469), (-0.980786, 0, -0.195089), (-0.831467, 0, -0.555575), (0, 1, 0), (0, 1, 0), (-0.19509, 0, -0.980785), (0, 1, 0), (-0.980786, 0, 0.195089), (-0.831467, 0, 0.555575), (-0.555572, 0, 0.831469), (0, 1, 0), (0, 1, 0), (-0.19509, 0, 0.980785), (0, 1, 0), (0, 1, 0), (0, -1, 0), (0, -1, 0), (0.19509, 0, -0.980785), (0, -1, 0), (0, -1, 0), (0.555572, 0, -0.831469), (0.831467, 0, -0.555575), (0.980786, 0, -0.195089), (0, -1, 0), (0.19509, 0, 0.980785), (0, -1, 0), (0, -1, 0), (0.980786, 0, 0.195089), (0.555572, 0, 0.831469), (0.831467, 0, 0.555575), (0.19509, 0, -0.980785), (0.555572, 0, -0.831469), (0, 1, 0), (0, 1, 0), (0.831467, 0, -0.555575), (0.980786, 0, -0.195089), (0, 1, 0), (0, 1, 0), (0.19509, 0, 0.980785), (0.555572, 0, 0.831469), (0, 1, 0), (0.980786, 0, 0.195089), (0.831467, 0, 0.555575), (0, 1, 0), (0, 1, 0)] (interpolation = "uniform")
+                        point3f[] points = [(0.753416809, 0.046799999, 1.031615234), (0.747780701, 0.046799999, 1.040050171), (0.761851807, 0.046799999, 1.025979126), (0.745801575, 0.046799999, 1.05), (0.747780701, 0.046799999, 1.059949829), (0.753416809, 0.046799999, 1.068384766), (0.761851807, 0.046799999, 1.074020874), (0.753416809, 0.055799999, 1.031615234), (0.747780701, 0.055799999, 1.040050171), (0.761851807, 0.055799999, 1.025979126), (0.745801575, 0.055799999, 1.05), (0.747780701, 0.055799999, 1.059949829), (0.753416809, 0.055799999, 1.068384766), (0.761851807, 0.055799999, 1.074020874), (0.771801575, 0.046799999, 1.024), (0.781751343, 0.046799999, 1.025979126), (0.79018634, 0.046799999, 1.031615234), (0.795822449, 0.046799999, 1.040050171), (0.771801575, 0.046799999, 1.076), (0.781751343, 0.046799999, 1.074020874), (0.797801575, 0.046799999, 1.05), (0.795822449, 0.046799999, 1.059949829), (0.79018634, 0.046799999, 1.068384766), (0.771801575, 0.055799999, 1.024), (0.781751343, 0.055799999, 1.025979126), (0.79018634, 0.055799999, 1.031615234), (0.795822449, 0.055799999, 1.040050171), (0.771801575, 0.055799999, 1.076), (0.781751343, 0.055799999, 1.074020874), (0.797801575, 0.055799999, 1.05), (0.795822449, 0.055799999, 1.059949829), (0.79018634, 0.055799999, 1.068384766)]
+                        rel material:binding:physics = </Model/Physics/Materials/painted_door_leaf>
+                    }
+
+                    def Mesh "rose_002" (
+                        prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI", "MaterialBindingAPI"]
+                    )
+                    {
+                        uniform token purpose = "guide"
+                        uniform token physics:approximation = "convexHull"
+                        uniform token subdivisionScheme = "none"
+                        float3[] extent = [(0.745801575, -0.0012, 0.952), (0.797801575, 0.0068, 1.004)]
+                        int[] faceVertexCounts = [3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3]
+                        int[] faceVertexIndices = [14, 1, 0, 14, 5, 1, 1, 7, 0, 1, 3, 8, 14, 0, 2, 0, 9, 2, 9, 14, 2, 5, 3, 1, 3, 5, 4, 10, 3, 4, 5, 11, 4, 5, 18, 6, 5, 19, 18, 13, 5, 6, 18, 13, 6, 7, 9, 0, 1, 8, 7, 3, 10, 8, 10, 9, 7, 10, 7, 8, 14, 9, 23, 10, 25, 9, 11, 10, 4, 5, 12, 11, 12, 5, 13, 12, 10, 11, 27, 10, 12, 27, 13, 18, 10, 27, 25, 27, 12, 13, 16, 14, 15, 20, 5, 14, 15, 14, 23, 20, 14, 16, 20, 16, 17, 25, 16, 15, 16, 26, 17, 26, 20, 17, 19, 5, 20, 27, 18, 19, 19, 20, 21, 19, 21, 22, 20, 30, 21, 31, 19, 22, 21, 31, 22, 15, 23, 24, 25, 15, 24, 25, 23, 9, 23, 25, 24, 16, 25, 26, 20, 26, 29, 25, 30, 26, 27, 19, 28, 19, 31, 28, 31, 27, 28, 30, 20, 29, 30, 31, 21, 25, 27, 30, 26, 30, 29, 30, 27, 31]
+                        normal3f[] normals = [(0, -1, 0), (0, -1, 0), (-0.831469, 0, -0.555572), (-0.980785, 0, -0.19509), (0, -1, 0), (-0.555572, 0, -0.831469), (-0.19509, 0, -0.980785), (0, -1, 0), (0, -1, 0), (-0.980785, 0, 0.19509), (-0.831469, 0, 0.555572), (0, -1, 0), (0, -1, 0), (-0.555572, 0, 0.831469), (-0.19509, 0, 0.980785), (-0.555572, 0, -0.831469), (-0.831469, 0, -0.555572), (-0.980785, 0, -0.19509), (0, 1, 0), (0, 1, 0), (-0.19509, 0, -0.980785), (0, 1, 0), (-0.980785, 0, 0.19509), (-0.831469, 0, 0.555572), (-0.555572, 0, 0.831469), (0, 1, 0), (0, 1, 0), (-0.19509, 0, 0.980785), (0, 1, 0), (0, 1, 0), (0, -1, 0), (0, -1, 0), (0.19509, 0, -0.980785), (0, -1, 0), (0, -1, 0), (0.555572, 0, -0.831469), (0.831469, 0, -0.555572), (0.980785, 0, -0.19509), (0, -1, 0), (0.19509, 0, 0.980785), (0, -1, 0), (0, -1, 0), (0.980785, 0, 0.19509), (0.555572, 0, 0.831469), (0.831469, 0, 0.555572), (0.19509, 0, -0.980785), (0.555572, 0, -0.831469), (0, 1, 0), (0, 1, 0), (0.831469, 0, -0.555572), (0.980785, 0, -0.19509), (0, 1, 0), (0.19509, 0, 0.980785), (0.555572, 0, 0.831469), (0, 1, 0), (0.980785, 0, 0.19509), (0.831469, 0, 0.555572), (0, 1, 0), (0, 1, 0), (0, 1, 0)] (interpolation = "uniform")
+                        point3f[] points = [(0.753416809, -0.0012, 0.959615234), (0.747780701, -0.0012, 0.968050232), (0.761851807, -0.0012, 0.953979126), (0.745801575, -0.0012, 0.978), (0.747780701, -0.0012, 0.987949768), (0.753416809, -0.0012, 0.996384766), (0.761851807, -0.0012, 1.002020874), (0.753416809, 0.0068, 0.959615234), (0.747780701, 0.0068, 0.968050232), (0.761851807, 0.0068, 0.953979126), (0.745801575, 0.0068, 0.978), (0.747780701, 0.0068, 0.987949768), (0.753416809, 0.0068, 0.996384766), (0.761851807, 0.0068, 1.002020874), (0.771801575, -0.0012, 0.952), (0.781751343, -0.0012, 0.953979126), (0.79018634, -0.0012, 0.959615234), (0.795822449, -0.0012, 0.968050232), (0.771801575, -0.0012, 1.004), (0.781751343, -0.0012, 1.002020874), (0.797801575, -0.0012, 0.978), (0.795822449, -0.0012, 0.987949768), (0.79018634, -0.0012, 0.996384766), (0.771801575, 0.0068, 0.952), (0.781751343, 0.0068, 0.953979126), (0.79018634, 0.0068, 0.959615234), (0.795822449, 0.0068, 0.968050232), (0.771801575, 0.0068, 1.004), (0.781751343, 0.0068, 1.002020874), (0.797801575, 0.0068, 0.978), (0.795822449, 0.0068, 0.987949768), (0.79018634, 0.0068, 0.996384766)]
+                        rel material:binding:physics = </Model/Physics/Materials/painted_door_leaf>
+                    }
+
+                    def Mesh "rose_003" (
+                        prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI", "MaterialBindingAPI"]
+                    )
+                    {
+                        uniform token purpose = "guide"
+                        uniform token physics:approximation = "convexHull"
+                        uniform token subdivisionScheme = "none"
+                        float3[] extent = [(0.745801575, 0.046799999, 0.952), (0.797801575, 0.054799999, 1.004)]
+                        int[] faceVertexCounts = [3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3]
+                        int[] faceVertexIndices = [14, 1, 0, 14, 5, 1, 1, 7, 0, 1, 3, 8, 14, 0, 2, 0, 9, 2, 9, 14, 2, 5, 3, 1, 3, 5, 4, 10, 3, 4, 5, 11, 4, 5, 18, 6, 5, 19, 18, 13, 5, 6, 18, 13, 6, 7, 9, 0, 1, 8, 7, 3, 10, 8, 10, 9, 7, 10, 7, 8, 14, 9, 23, 10, 25, 9, 11, 10, 4, 5, 12, 11, 12, 5, 13, 12, 10, 11, 27, 10, 12, 27, 13, 18, 10, 27, 25, 27, 12, 13, 16, 14, 15, 20, 5, 14, 15, 14, 23, 20, 14, 16, 20, 16, 17, 25, 16, 15, 16, 26, 17, 26, 20, 17, 19, 5, 20, 27, 18, 19, 19, 20, 21, 19, 21, 22, 20, 30, 21, 31, 19, 22, 21, 31, 22, 15, 23, 24, 25, 15, 24, 25, 23, 9, 23, 25, 24, 16, 25, 26, 20, 26, 29, 25, 30, 26, 27, 19, 28, 19, 31, 28, 31, 27, 28, 30, 20, 29, 30, 31, 21, 25, 27, 30, 26, 30, 29, 30, 27, 31]
+                        normal3f[] normals = [(0, -1, 0), (0, -1, 0), (-0.831469, 0, -0.555572), (-0.980785, 0, -0.19509), (0, -1, 0), (-0.555572, 0, -0.831469), (-0.19509, 0, -0.980785), (0, -1, 0), (0, -1, 0), (-0.980785, 0, 0.19509), (-0.831469, 0, 0.555572), (0, -1, 0), (0, -1, 0), (-0.555572, 0, 0.831469), (-0.19509, 0, 0.980785), (-0.555572, 0, -0.831469), (-0.831469, 0, -0.555572), (-0.980785, 0, -0.19509), (0, 1, 0), (0, 1, 0), (-0.19509, 0, -0.980785), (0, 1, 0), (-0.980785, 0, 0.19509), (-0.831469, 0, 0.555572), (-0.555572, 0, 0.831469), (0, 1, 0), (0, 1, 0), (-0.19509, 0, 0.980785), (0, 1, 0), (0, 1, 0), (0, -1, 0), (0, -1, 0), (0.19509, 0, -0.980785), (0, -1, 0), (0, -1, 0), (0.555572, 0, -0.831469), (0.831469, 0, -0.555572), (0.980785, 0, -0.19509), (0, -1, 0), (0.19509, 0, 0.980785), (0, -1, 0), (0, -1, 0), (0.980785, 0, 0.19509), (0.555572, 0, 0.831469), (0.831469, 0, 0.555572), (0.19509, 0, -0.980785), (0.555572, 0, -0.831469), (0, 1, 0), (0, 1, 0), (0.831469, 0, -0.555572), (0.980785, 0, -0.19509), (0, 1, 0), (0.19509, 0, 0.980785), (0.555572, 0, 0.831469), (0, 1, 0), (0.980785, 0, 0.19509), (0.831469, 0, 0.555572), (0, 1, 0), (0, 1, 0), (0, 1, 0)] (interpolation = "uniform")
+                        point3f[] points = [(0.753416809, 0.046799999, 0.959615234), (0.747780701, 0.046799999, 0.968050232), (0.761851807, 0.046799999, 0.953979126), (0.745801575, 0.046799999, 0.978), (0.747780701, 0.046799999, 0.987949768), (0.753416809, 0.046799999, 0.996384766), (0.761851807, 0.046799999, 1.002020874), (0.753416809, 0.054799999, 0.959615234), (0.747780701, 0.054799999, 0.968050232), (0.761851807, 0.054799999, 0.953979126), (0.745801575, 0.054799999, 0.978), (0.747780701, 0.054799999, 0.987949768), (0.753416809, 0.054799999, 0.996384766), (0.761851807, 0.054799999, 1.002020874), (0.771801575, 0.046799999, 0.952), (0.781751343, 0.046799999, 0.953979126), (0.79018634, 0.046799999, 0.959615234), (0.795822449, 0.046799999, 0.968050232), (0.771801575, 0.046799999, 1.004), (0.781751343, 0.046799999, 1.002020874), (0.797801575, 0.046799999, 0.978), (0.795822449, 0.046799999, 0.987949768), (0.79018634, 0.046799999, 0.996384766), (0.771801575, 0.054799999, 0.952), (0.781751343, 0.054799999, 0.953979126), (0.79018634, 0.054799999, 0.959615234), (0.795822449, 0.054799999, 0.968050232), (0.771801575, 0.054799999, 1.004), (0.781751343, 0.054799999, 1.002020874), (0.797801575, 0.054799999, 0.978), (0.795822449, 0.054799999, 0.987949768), (0.79018634, 0.054799999, 0.996384766)]
+                        rel material:binding:physics = </Model/Physics/Materials/painted_door_leaf>
+                    }
+                }
+                over "Knob_outside" (
+                    prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"]
+                )
+                {
+                    bool physics:rigidBodyEnabled = 1
+                    bool physics:kinematicEnabled = 0
+                    bool physics:startsAsleep = 0
+                    float physics:mass = 0.699641327478317
+                    point3f physics:centerOfMass = (0, 0.000817974, 0)
+                    float3 physics:diagonalInertia = (0.003169128675, 0.000200815947, 0.003169128675)
+                    quatf physics:principalAxes = (1, 0, 0, 0)
+                    matrix4d xformOp:transform:simulationWorld = ((1, 0, 0, 0), (0, 1, 0, 0), (0, 0, 1, 0), (0.357701585, -0.03, 1.05, 1))
+                    uniform token[] xformOpOrder = ["!resetXformStack!", "xformOp:transform:simulationWorld"]
+                    def Xform "Colliders"
+                    {
+                        def Cylinder "collar" (
+                            prepend apiSchemas = ["PhysicsCollisionAPI", "MaterialBindingAPI"]
+                        )
+                        {
+                            uniform token purpose = "guide"
+                            uniform token axis = "Z"
+                            double radius = 0.01
+                            double height = 0.0115
+                            double3 xformOp:translate = (0, 0.02625, 0)
+                            quatf xformOp:orient = (0.70710678, -0.70710678, 0, 0)
+                            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+                            rel material:binding:physics = </Model/Physics/Materials/satin_zinc_die_cast>
+                        }
+
+                        def Cube "spindle" (
+                            prepend apiSchemas = ["PhysicsCollisionAPI", "MaterialBindingAPI"]
+                        )
+                        {
+                            uniform token purpose = "guide"
+                            double size = 1
+                            double3 xformOp:translate = (0, 0, 0)
+                            quatf xformOp:orient = (1, 0, 0, 0)
+                            float3 xformOp:scale = (0.008, 0.041, 0.008)
+                            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+                            rel material:binding:physics = </Model/Physics/Materials/satin_zinc_die_cast>
+                        }
+
+                        def Capsule "neck" (
+                            prepend apiSchemas = ["PhysicsCollisionAPI", "MaterialBindingAPI"]
+                        )
+                        {
+                            uniform token purpose = "guide"
+                            uniform token axis = "Z"
+                            double radius = 0.007
+                            double height = 0.01432
+                            double3 xformOp:translate = (0, 0.03916, 0)
+                            quatf xformOp:orient = (0.70710678, -0.70710678, 0, 0)
+                            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+                            rel material:binding:physics = </Model/Physics/Materials/satin_zinc_die_cast>
+                        }
+
+                        def Mesh "knob" (
+                            prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI", "MaterialBindingAPI"]
+                        )
+                        {
+                            uniform token purpose = "guide"
+                            uniform token physics:approximation = "convexHull"
+                            uniform token subdivisionScheme = "none"
+                            float3[] extent = [(-0.028, 0.04632, -0.028), (0.028, 0.09, 0.028)]
+                            int[] faceVertexCounts = [3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3]
+                            int[] faceVertexIndices = [1, 2, 0, 1, 0, 5, 2, 1, 3, 1, 9, 3, 8, 2, 3, 9, 8, 3, 16, 0, 2, 16, 4, 0, 8, 18, 2, 0, 4, 5, 1, 5, 6, 4, 7, 6, 4, 6, 5, 32, 1, 6, 32, 13, 1, 4, 20, 7, 10, 8, 9, 10, 9, 11, 9, 13, 11, 13, 10, 11, 9, 1, 13, 10, 13, 12, 14, 12, 13, 26, 8, 10, 10, 12, 28, 14, 13, 15, 13, 38, 15, 38, 14, 15, 39, 14, 38, 13, 40, 38, 14, 30, 12, 54, 14, 39, 18, 16, 2, 8, 24, 18, 16, 18, 17, 21, 16, 17, 17, 18, 19, 25, 17, 19, 18, 24, 25, 18, 25, 19, 25, 21, 17, 29, 21, 25, 20, 4, 16, 7, 20, 22, 20, 16, 21, 20, 23, 22, 23, 20, 21, 29, 23, 21, 24, 8, 26, 28, 26, 10, 12, 30, 28, 25, 24, 27, 24, 26, 27, 29, 25, 27, 26, 29, 27, 29, 26, 28, 30, 29, 28, 30, 14, 54, 31, 29, 30, 56, 29, 31, 30, 54, 31, 54, 55, 31, 7, 32, 6, 33, 32, 7, 35, 32, 33, 42, 13, 32, 22, 33, 7, 32, 35, 34, 36, 32, 34, 35, 36, 34, 42, 32, 36, 35, 37, 36, 37, 42, 36, 42, 37, 43, 51, 35, 33, 51, 37, 35, 37, 59, 43, 40, 13, 42, 38, 40, 39, 41, 39, 40, 41, 40, 46, 41, 54, 39, 42, 44, 40, 43, 44, 42, 43, 45, 44, 46, 44, 45, 40, 44, 46, 47, 41, 46, 45, 47, 46, 59, 45, 43, 47, 63, 41, 45, 63, 47, 33, 22, 49, 51, 33, 49, 22, 23, 48, 22, 48, 49, 23, 50, 48, 49, 48, 51, 23, 52, 50, 29, 52, 23, 53, 37, 51, 59, 37, 53, 48, 50, 51, 52, 51, 50, 51, 52, 53, 53, 52, 58, 53, 58, 59, 54, 41, 57, 57, 41, 63, 52, 29, 56, 56, 31, 55, 57, 56, 55, 54, 57, 55, 56, 57, 63, 45, 61, 63, 45, 59, 61, 52, 56, 58, 62, 58, 56, 59, 58, 60, 61, 59, 60, 58, 62, 60, 61, 60, 63, 56, 63, 62, 60, 62, 63]
+                            normal3f[] normals = [(-0.593613, -0.700215, -0.39664), (-0.39664, -0.700215, -0.593613), (-0.593613, -0.700215, -0.39664), (0, -1, 0), (-0.700214, -0.700215, -0.139281), (-0.700215, -0.700215, -0.139281), (-0.83147, 0, -0.55557), (-0.55557, 0, -0.83147), (-0.980785, 0, -0.19509), (-0.39664, -0.700215, -0.593613), (0, -1, 0), (-0.139281, -0.700215, -0.700215), (-0.139281, -0.700215, -0.700214), (0, -1, 0), (0, -1, 0), (-0.19509, 0, -0.980785), (-0.700215, -0.700215, 0.139281), (-0.700214, -0.700215, 0.139281), (0, -1, 0), (-0.593613, -0.700215, 0.39664), (0, -1, 0), (-0.593613, -0.700215, 0.39664), (-0.39664, -0.700215, 0.593613), (-0.980785, 0, 0.19509), (-0.83147, 0, 0.55557), (-0.39664, -0.700215, 0.593613), (0, -1, 0), (-0.139281, -0.700215, 0.700214), (-0.139281, -0.700215, 0.700215), (0, -1, 0), (-0.55557, 0, 0.83147), (-0.19509, 0, 0.980785), (-0.83147, 0, -0.55557), (-0.980785, 0, -0.19509), (-0.593613, 0.700215, -0.39664), (-0.39664, 0.700215, -0.593613), (-0.593613, 0.700215, -0.39664), (0, 1, 0), (-0.700215, 0.700215, -0.139281), (-0.700214, 0.700215, -0.139281), (0, 1, 0), (0, 1, 0), (-0.55557, 0, -0.83147), (-0.19509, 0, -0.980785), (-0.39664, 0.700215, -0.593613), (-0.139281, 0.700215, -0.700215), (-0.139281, 0.700215, -0.700214), (0, 1, 0), (-0.980785, 0, 0.19509), (-0.83147, 0, 0.55557), (-0.55557, 0, 0.83147), (-0.700215, 0.700215, 0.139281), (-0.700214, 0.700215, 0.139281), (0, 1, 0), (-0.593613, 0.700215, 0.39664), (-0.593613, 0.700215, 0.39664), (-0.39664, 0.700215, 0.593613), (-0.19509, 0, 0.980785), (-0.39664, 0.700215, 0.593613), (0, 1, 0), (-0.139281, 0.700215, 0.700214), (-0.139281, 0.700215, 0.700215), (0.139281, -0.700215, -0.700215), (0.139281, -0.700215, -0.700214), (0.39664, -0.700215, -0.593613), (0, -1, 0), (0.19509, 0, -0.980785), (0.39664, -0.700215, -0.593613), (0, -1, 0), (0.593613, -0.700215, -0.39664), (0, -1, 0), (0.593613, -0.700215, -0.39664), (0.700214, -0.700215, -0.139281), (0.700215, -0.700215, -0.139281), (0.55557, 0, -0.83147), (0.83147, 0, -0.55557), (0.980785, 0, -0.19509), (0, -1, 0), (0.139281, -0.700215, 0.700215), (0.139281, -0.700215, 0.700214), (0.39664, -0.700215, 0.593613), (0.19509, 0, 0.980785), (0, -1, 0), (0.700215, -0.700215, 0.139281), (0.700214, -0.700215, 0.139281), (0.593613, -0.700215, 0.39664), (0, -1, 0), (0.39664, -0.700215, 0.593613), (0.593613, -0.700215, 0.39664), (0.980785, 0, 0.19509), (0.55557, 0, 0.83147), (0.83147, 0, 0.55557), (0.19509, 0, -0.980785), (0.55557, 0, -0.83147), (0.139281, 0.700215, -0.700215), (0.139281, 0.700215, -0.700214), (0, 1, 0), (0.39664, 0.700215, -0.593613), (0, 1, 0), (0, 1, 0), (0.83147, 0, -0.55557), (0.980785, 0, -0.19509), (0.39664, 0.700215, -0.593613), (0.593613, 0.700215, -0.39664), (0.593613, 0.700215, -0.39664), (0.700214, 0.700215, -0.139281), (0.700215, 0.700215, -0.139281), (0.19509, 0, 0.980785), (0.55557, 0, 0.83147), (0, 1, 0), (0, 1, 0), (0.139281, 0.700215, 0.700214), (0.139281, 0.700215, 0.700215), (0.39664, 0.700215, 0.593613), (0.83147, 0, 0.55557), (0.980785, 0, 0.19509), (0, 1, 0), (0, 1, 0), (0.700215, 0.700215, 0.139281), (0.700214, 0.700215, 0.139281), (0, 1, 0), (0.593613, 0.700215, 0.39664), (0.39664, 0.700215, 0.593613), (0.593613, 0.700215, 0.39664)] (interpolation = "uniform")
+                            point3f[] points = [(-0.01979899, 0.05032, -0.01979899), (-0.016970562, 0.04632, -0.016970562), (-0.025868628, 0.05032, -0.010715137), (-0.022173109, 0.04632, -0.009184402), (-0.010715137, 0.05032, -0.025868628), (-0.009184402, 0.04632, -0.022173109), (0, 0.04632, -0.024), (0, 0.05032, -0.028), (-0.028, 0.05032, 0), (-0.024, 0.04632, 0), (-0.025868628, 0.05032, 0.010715137), (-0.022173109, 0.04632, 0.009184402), (-0.01979899, 0.05032, 0.01979899), (-0.016970562, 0.04632, 0.016970562), (-0.010715137, 0.05032, 0.025868628), (-0.009184402, 0.04632, 0.022173109), (-0.01979899, 0.086, -0.01979899), (-0.016970562, 0.09, -0.016970562), (-0.025868628, 0.086, -0.010715137), (-0.022173109, 0.09, -0.009184402), (-0.010715137, 0.086, -0.025868628), (-0.009184402, 0.09, -0.022173109), (0, 0.086, -0.028), (0, 0.09, -0.024), (-0.028, 0.086, 0), (-0.024, 0.09, 0), (-0.025868628, 0.086, 0.010715137), (-0.022173109, 0.09, 0.009184402), (-0.01979899, 0.086, 0.01979899), (-0.016970562, 0.09, 0.016970562), (-0.010715137, 0.086, 0.025868628), (-0.009184402, 0.09, 0.022173109), (0.009184402, 0.04632, -0.022173109), (0.010715137, 0.05032, -0.025868628), (0.016970562, 0.04632, -0.016970562), (0.01979899, 0.05032, -0.01979899), (0.022173109, 0.04632, -0.009184402), (0.025868628, 0.05032, -0.010715137), (0, 0.04632, 0.024), (0, 0.05032, 0.028), (0.009184402, 0.04632, 0.022173109), (0.010715137, 0.05032, 0.025868628), (0.024, 0.04632, 0), (0.028, 0.05032, 0), (0.022173109, 0.04632, 0.009184402), (0.025868628, 0.05032, 0.010715137), (0.016970562, 0.04632, 0.016970562), (0.01979899, 0.05032, 0.01979899), (0.009184402, 0.09, -0.022173109), (0.010715137, 0.086, -0.025868628), (0.016970562, 0.09, -0.016970562), (0.01979899, 0.086, -0.01979899), (0.022173109, 0.09, -0.009184402), (0.025868628, 0.086, -0.010715137), (0, 0.086, 0.028), (0, 0.09, 0.024), (0.009184402, 0.09, 0.022173109), (0.010715137, 0.086, 0.025868628), (0.024, 0.09, 0), (0.028, 0.086, 0), (0.022173109, 0.09, 0.009184402), (0.025868628, 0.086, 0.010715137), (0.016970562, 0.09, 0.016970562), (0.01979899, 0.086, 0.01979899)]
+                            rel material:binding:physics = </Model/Physics/Materials/satin_zinc_die_cast>
+                        }
+                    }
+                          def BasisCurves "grasp_identifier_01"
+                          {
+                            int[] curveVertexCounts = [2]
+                            float3[] extent = [(0, 0.06816, -0.028), (0, 0.06816, 0.028)]
+                            point3f[] points = [(0, 0.06816, 0.028), (0, 0.06816, -0.028)]
+                            uniform token purpose = "guide"
+                            uniform token type = "linear"
+                            uniform token wrap = "nonperiodic"
+                          }
+                    over "Knob_inside"
+                    {
+                        def Xform "Colliders"
+                        {
+                            def Cylinder "collar" (
+                                prepend apiSchemas = ["PhysicsCollisionAPI", "MaterialBindingAPI"]
+                            )
+                            {
+                                uniform token purpose = "guide"
+                                uniform token axis = "Z"
+                                double radius = 0.01
+                                double height = 0.0115
+                                double3 xformOp:translate = (0, -0.02625, 0)
+                                quatf xformOp:orient = (0.70710678, -0.70710678, 0, 0)
+                                uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+                                rel material:binding:physics = </Model/Physics/Materials/satin_zinc_die_cast>
+                            }
+
+                            def Capsule "neck" (
+                                prepend apiSchemas = ["PhysicsCollisionAPI", "MaterialBindingAPI"]
+                            )
+                            {
+                                uniform token purpose = "guide"
+                                uniform token axis = "Z"
+                                double radius = 0.007
+                                double height = 0.01432
+                                double3 xformOp:translate = (0, -0.03916, 0)
+                                quatf xformOp:orient = (0.70710678, 0.70710678, 0, 0)
+                                uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient"]
+                                rel material:binding:physics = </Model/Physics/Materials/satin_zinc_die_cast>
+                            }
+
+                            def Mesh "knob" (
+                                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI", "MaterialBindingAPI"]
+                            )
+                            {
+                                uniform token purpose = "guide"
+                                uniform token physics:approximation = "convexHull"
+                                uniform token subdivisionScheme = "none"
+                                float3[] extent = [(-0.028, -0.09, -0.028), (0.028, -0.04632, 0.028)]
+                                int[] faceVertexCounts = [3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3]
+                                int[] faceVertexIndices = [3, 0, 1, 0, 5, 1, 5, 3, 1, 2, 0, 3, 2, 9, 8, 9, 2, 3, 5, 9, 3, 8, 18, 2, 2, 18, 0, 4, 5, 0, 6, 4, 7, 5, 4, 6, 0, 20, 4, 4, 20, 7, 10, 8, 9, 10, 9, 11, 9, 13, 11, 13, 10, 11, 15, 9, 5, 9, 15, 13, 13, 12, 10, 15, 12, 13, 10, 26, 8, 12, 28, 10, 14, 12, 15, 14, 15, 38, 39, 14, 38, 30, 12, 14, 39, 30, 14, 0, 18, 16, 20, 0, 16, 18, 8, 24, 17, 16, 19, 17, 20, 16, 18, 19, 16, 25, 17, 19, 25, 18, 24, 18, 25, 19, 20, 22, 7, 20, 17, 21, 17, 23, 21, 21, 22, 20, 22, 21, 23, 25, 23, 17, 8, 26, 24, 28, 26, 10, 30, 28, 12, 24, 27, 25, 24, 26, 27, 27, 26, 29, 25, 27, 31, 26, 28, 29, 31, 27, 29, 28, 31, 29, 30, 39, 54, 60, 25, 55, 55, 25, 31, 28, 30, 31, 30, 55, 31, 54, 55, 30, 34, 5, 6, 6, 7, 33, 6, 33, 32, 34, 6, 32, 33, 34, 32, 42, 5, 34, 49, 33, 7, 33, 49, 35, 35, 34, 33, 35, 37, 34, 34, 37, 36, 42, 34, 36, 37, 42, 36, 42, 37, 43, 35, 51, 37, 37, 53, 43, 42, 15, 5, 46, 15, 42, 15, 46, 40, 15, 40, 38, 38, 40, 39, 41, 39, 40, 40, 46, 41, 41, 57, 39, 42, 45, 44, 42, 43, 45, 46, 42, 44, 45, 46, 44, 41, 46, 47, 46, 45, 47, 45, 43, 59, 63, 41, 47, 47, 45, 63, 49, 7, 22, 23, 48, 22, 48, 49, 22, 23, 50, 48, 51, 49, 48, 25, 58, 23, 50, 23, 58, 49, 51, 35, 37, 51, 53, 43, 53, 59, 50, 51, 48, 53, 51, 50, 53, 50, 52, 50, 58, 52, 58, 53, 52, 59, 53, 58, 39, 57, 54, 41, 63, 57, 25, 60, 58, 56, 55, 57, 57, 55, 54, 60, 55, 56, 62, 56, 57, 63, 45, 61, 45, 59, 61, 58, 60, 59, 59, 60, 61, 61, 60, 62, 60, 56, 62, 57, 63, 62, 63, 61, 62]
+                                normal3f[] normals = [(-0.593613, -0.700215, -0.39664), (-0.39664, -0.700215, -0.593613), (0, -1, 0), (-0.593613, -0.700215, -0.39664), (-0.700215, -0.700215, -0.139281), (-0.700214, -0.700215, -0.139281), (0, -1, 0), (-0.980785, 0, -0.19509), (-0.83147, 0, -0.55557), (-0.39664, -0.700215, -0.593613), (-0.139281, -0.700215, -0.700215), (-0.139281, -0.700215, -0.700214), (-0.55557, 0, -0.83147), (-0.19509, 0, -0.980785), (-0.700215, -0.700215, 0.139281), (-0.700214, -0.700215, 0.139281), (0, -1, 0), (-0.593613, -0.700215, 0.39664), (0, -1, 0), (0, -1, 0), (-0.593613, -0.700215, 0.39664), (-0.39664, -0.700215, 0.593613), (-0.980785, 0, 0.19509), (-0.83147, 0, 0.55557), (-0.39664, -0.700215, 0.593613), (-0.139281, -0.700215, 0.700214), (-0.139281, -0.700215, 0.700215), (-0.55557, 0, 0.83147), (-0.19509, 0, 0.980785), (-0.83147, 0, -0.55557), (-0.55557, 0, -0.83147), (-0.980785, 0, -0.19509), (-0.593613, 0.700215, -0.39664), (-0.39664, 0.700215, -0.593613), (-0.593613, 0.700215, -0.39664), (0, 1, 0), (-0.700215, 0.700215, -0.139281), (-0.700214, 0.700215, -0.139281), (-0.19509, 0, -0.980785), (-0.39664, 0.700215, -0.593613), (0, 1, 0), (-0.139281, 0.700215, -0.700214), (-0.139281, 0.700215, -0.700215), (0, 1, 0), (-0.980785, 0, 0.19509), (-0.83147, 0, 0.55557), (-0.55557, 0, 0.83147), (-0.700215, 0.700215, 0.139281), (-0.700214, 0.700215, 0.139281), (-0.593613, 0.700215, 0.39664), (0, 1, 0), (-0.593613, 0.700215, 0.39664), (0, 1, 0), (-0.39664, 0.700215, 0.593613), (-0.19509, 0, 0.980785), (0, 1, 0), (0, 1, 0), (-0.39664, 0.700215, 0.593613), (-0.139281, 0.700215, 0.700214), (-0.139281, 0.700215, 0.700215), (0, -1, 0), (0.139281, -0.700215, -0.700215), (0.139281, -0.700215, -0.700214), (0, -1, 0), (0.39664, -0.700215, -0.593613), (0, -1, 0), (0.19509, 0, -0.980785), (0.55557, 0, -0.83147), (0.39664, -0.700215, -0.593613), (0.593613, -0.700215, -0.39664), (0.593613, -0.700215, -0.39664), (0, -1, 0), (0.700214, -0.700215, -0.139281), (0.700215, -0.700215, -0.139281), (0.83147, 0, -0.55557), (0.980785, 0, -0.19509), (0, -1, 0), (0, -1, 0), (0, -1, 0), (0, -1, 0), (0.139281, -0.700215, 0.700215), (0.139281, -0.700215, 0.700214), (0.39664, -0.700215, 0.593613), (0.19509, 0, 0.980785), (0.700214, -0.700215, 0.139281), (0.700215, -0.700215, 0.139281), (0, -1, 0), (0.593613, -0.700215, 0.39664), (0.39664, -0.700215, 0.593613), (0.593613, -0.700215, 0.39664), (0.980785, 0, 0.19509), (0.55557, 0, 0.83147), (0.83147, 0, 0.55557), (0.19509, 0, -0.980785), (0.139281, 0.700215, -0.700215), (0.139281, 0.700215, -0.700214), (0, 1, 0), (0.39664, 0.700215, -0.593613), (0, 1, 0), (0, 1, 0), (0.55557, 0, -0.83147), (0.83147, 0, -0.55557), (0.980785, 0, -0.19509), (0.39664, 0.700215, -0.593613), (0.593613, 0.700215, -0.39664), (0.593613, 0.700215, -0.39664), (0, 1, 0), (0.700214, 0.700215, -0.139281), (0.700215, 0.700215, -0.139281), (0.19509, 0, 0.980785), (0.55557, 0, 0.83147), (0, 1, 0), (0.139281, 0.700215, 0.700214), (0.139281, 0.700215, 0.700215), (0, 1, 0), (0.39664, 0.700215, 0.593613), (0.83147, 0, 0.55557), (0.980785, 0, 0.19509), (0.700215, 0.700215, 0.139281), (0.700214, 0.700215, 0.139281), (0.593613, 0.700215, 0.39664), (0, 1, 0), (0.39664, 0.700215, 0.593613), (0.593613, 0.700215, 0.39664)] (interpolation = "uniform")
+                                point3f[] points = [(-0.01979899, -0.086, -0.01979899), (-0.016970562, -0.09, -0.016970562), (-0.025868628, -0.086, -0.010715137), (-0.022173109, -0.09, -0.009184402), (-0.010715137, -0.086, -0.025868628), (-0.009184402, -0.09, -0.022173109), (0, -0.09, -0.024), (0, -0.086, -0.028), (-0.028, -0.086, 0), (-0.024, -0.09, 0), (-0.025868628, -0.086, 0.010715137), (-0.022173109, -0.09, 0.009184402), (-0.01979899, -0.086, 0.01979899), (-0.016970562, -0.09, 0.016970562), (-0.010715137, -0.086, 0.025868628), (-0.009184402, -0.09, 0.022173109), (-0.01979899, -0.05032, -0.01979899), (-0.016970562, -0.04632, -0.016970562), (-0.025868628, -0.05032, -0.010715137), (-0.022173109, -0.04632, -0.009184402), (-0.010715137, -0.05032, -0.025868628), (-0.009184402, -0.04632, -0.022173109), (0, -0.05032, -0.028), (0, -0.04632, -0.024), (-0.028, -0.05032, 0), (-0.024, -0.04632, 0), (-0.025868628, -0.05032, 0.010715137), (-0.022173109, -0.04632, 0.009184402), (-0.01979899, -0.05032, 0.01979899), (-0.016970562, -0.04632, 0.016970562), (-0.010715137, -0.05032, 0.025868628), (-0.009184402, -0.04632, 0.022173109), (0.009184402, -0.09, -0.022173109), (0.010715137, -0.086, -0.025868628), (0.016970562, -0.09, -0.016970562), (0.01979899, -0.086, -0.01979899), (0.022173109, -0.09, -0.009184402), (0.025868628, -0.086, -0.010715137), (0, -0.09, 0.024), (0, -0.086, 0.028), (0.009184402, -0.09, 0.022173109), (0.010715137, -0.086, 0.025868628), (0.024, -0.09, 0), (0.028, -0.086, 0), (0.022173109, -0.09, 0.009184402), (0.025868628, -0.086, 0.010715137), (0.016970562, -0.09, 0.016970562), (0.01979899, -0.086, 0.01979899), (0.009184402, -0.04632, -0.022173109), (0.010715137, -0.05032, -0.025868628), (0.016970562, -0.04632, -0.016970562), (0.01979899, -0.05032, -0.01979899), (0.022173109, -0.04632, -0.009184402), (0.025868628, -0.05032, -0.010715137), (0, -0.05032, 0.028), (0, -0.04632, 0.024), (0.009184402, -0.04632, 0.022173109), (0.010715137, -0.05032, 0.025868628), (0.024, -0.04632, 0), (0.028, -0.05032, 0), (0.022173109, -0.04632, 0.009184402), (0.025868628, -0.05032, 0.010715137), (0.016970562, -0.04632, 0.016970562), (0.01979899, -0.05032, 0.01979899)]
+                                rel material:binding:physics = </Model/Physics/Materials/satin_zinc_die_cast>
+                            }
+                        }
+                              def BasisCurves "grasp_identifier_01"
+                              {
+                                int[] curveVertexCounts = [2]
+                                float3[] extent = [(0, -0.06816, -0.028), (0, -0.06816, 0.028)]
+                                point3f[] points = [(0, -0.06816, 0.028), (0, -0.06816, -0.028)]
+                                uniform token purpose = "guide"
+                                uniform token type = "linear"
+                                uniform token wrap = "nonperiodic"
+                              }
+                    }
+                }
+                over "Latch_bolt" (
+                    prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"]
+                )
+                {
+                    bool physics:rigidBodyEnabled = 1
+                    bool physics:kinematicEnabled = 0
+                    bool physics:startsAsleep = 0
+                    float physics:mass = 0.06371780198154373
+                    point3f physics:centerOfMass = (-0.009943415, -0.000229419, 0)
+                    float3 physics:diagonalInertia = (0.000011303583, 0.000009354483, 0.000003190803)
+                    quatf physics:principalAxes = (0.50866196, 0.50866196, 0.49118531, 0.49118531)
+                    matrix4d xformOp:transform:simulationWorld = ((1, 0, 0, 0), (0, 1, 0, 0), (0, 0, 1, 0), (0.412701585, -0.03, 1.05, 1))
+                    uniform token[] xformOpOrder = ["!resetXformStack!", "xformOp:transform:simulationWorld"]
+                    def Xform "Colliders"
+                    {
+                        def Mesh "bolt" (
+                            prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI", "MaterialBindingAPI"]
+                        )
+                        {
+                            uniform token purpose = "guide"
+                            uniform token physics:approximation = "convexHull"
+                            uniform token subdivisionScheme = "none"
+                            float3[] extent = [(-0.03, -0.0055, -0.011), (0.013192064, 0.0055, 0.011)]
+                            int[] faceVertexCounts = [3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3]
+                            int[] faceVertexIndices = [4, 0, 2, 3, 0, 1, 0, 6, 1, 6, 3, 1, 0, 3, 2, 3, 8, 2, 0, 4, 6, 6, 4, 5, 4, 8, 5, 6, 5, 7, 9, 6, 7, 4, 2, 8, 8, 9, 5, 3, 6, 9, 8, 3, 9, 5, 9, 7]
+                            normal3f[] normals = [(0, 0, -1), (-1, 0, 0), (0, -1, 0), (0, 0, 1), (-1, 0, 0), (0, 1, 0), (0, -1, 0), (1, 0, 0), (0, 0, -1), (1, 0, 0), (0, 0, 1), (0, 0, -1), (0.664364, 0.747409, 0), (0, 0, 1), (0, 1, 0), (0.664364, 0.747409, 0)] (interpolation = "uniform")
+                            point3f[] points = [(-0.03, -0.0055, -0.011), (-0.03, -0.0055, 0.011), (-0.03, 0.0055, -0.011), (-0.03, 0.0055, 0.011), (0.013192064, -0.0055, -0.011), (0.013192064, -0.0025, -0.011), (0.013192064, -0.0055, 0.011), (0.013192064, -0.0025, 0.011), (0.004192064, 0.0055, -0.011), (0.004192064, 0.0055, 0.011)]
+                            rel material:binding:physics = </Model/Physics/Materials/satin_zinc_die_cast>
+                        }
+                    }
+                }
+            }
+        }
+    }
+}

interior_door_v03/simready_usd/interior_door_v03.usda

@@ -0,0 +1,411 @@
+#usda 1.0
+(
+    customLayerData = {
+        dictionary SimReady_Metadata = {
+            float3 asset_extents = (1.7712, 0.838259, 2.4)
+            string asset_license = "CC-BY-4.0"
+            string asset_name = "interior_door_v03"
+            string asset_type = "prop"
+            string author = "ForgeCAD"
+            string category = "furniture"
+            double mass = 96.95663460344076
+            string qcode = "Q36794"
+            int rigid_body_count = 4
+            string source = "ForgeCAD"
+            string source_file = "main.usda"
+            string usd_date_generated = "2026-10-17"
+        }
+        string asset_name = "interior_door_v03"
+        string asset_type = "prop"
+        string source_file = "main.usda"
+        string usd_date_generated = "2026-10-17"
+    }
+    defaultPrim = "Model"
+    doc = "025 Interior Door with Lever Handle root stage. Geometry, parameters, joints, and physics come from main.forge.js. This stage owns materials, textures, and the finish choices."
+    endTimeCode = 192
+    metersPerUnit = 1
+    startTimeCode = 0
+    subLayers = [
+        @./forgecad/animation.usda@
+    ]
+    upAxis = "Z"
+)
+
+def Xform "Model" (
+    prepend apiSchemas = ["SemanticsLabelsAPI:class", "SemanticsLabelsAPI:wikidata_qcode"]
+    prepend references = @./forgecad/geometry.usda@</Model>
+    variants = {
+        string finish = "white_paint"
+        string hardware = "brushed_steel"
+        string physics = "physics"
+    }
+    prepend variantSets = ["physics", "finish", "hardware"]
+)
+{
+    token[] semantics:labels:class = ["door", "door lever"]
+    token[] semantics:labels:wikidata_qcode = ["Q36794"]
+
+    over "Geometry"
+    {
+        over "Frame" (
+            prepend apiSchemas = ["MaterialBindingAPI"]
+        )
+        {
+            rel material:binding = </Model/Materials/Finish>
+
+            over "Wall" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </Model/Materials/WallPaint>
+            }
+
+            over "Hinges" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </Model/Materials/Hardware>
+            }
+
+            over "Strike" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </Model/Materials/Hardware>
+            }
+
+            over "Floor_stop_base" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </Model/Materials/Hardware>
+            }
+
+            over "Floor_stop_bumper" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </Model/Materials/Rubber>
+            }
+
+            over "Door_leaf" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </Model/Materials/Hardware>
+
+                over "Slab" (
+                    prepend apiSchemas = ["MaterialBindingAPI"]
+                )
+                {
+                    rel material:binding = </Model/Materials/Finish>
+                }
+
+                over "Glass" (
+                    prepend apiSchemas = ["MaterialBindingAPI"]
+                )
+                {
+                    rel material:binding = </Model/Materials/Glass>
+                }
+            }
+        }
+    }
+
+    def Scope "Materials"
+    {
+        def Material "WallPaint" (
+            prepend apiSchemas = ["SemanticsLabelsAPI:material"]
+        )
+        {
+            token outputs:surface.connect = </Model/Materials/WallPaint/Surface.outputs:surface>
+            token[] semantics:labels:material = ["plaster"]
+
+            def Shader "Surface"
+            {
+                uniform token info:id = "UsdPreviewSurface"
+                color3f inputs:diffuseColor = (0.86, 0.85, 0.82)
+                float inputs:metallic = 0
+                float inputs:roughness = 0.85
+                token outputs:surface
+            }
+        }
+
+        def Material "Rubber" (
+            prepend apiSchemas = ["SemanticsLabelsAPI:material"]
+        )
+        {
+            token outputs:surface.connect = </Model/Materials/Rubber/Surface.outputs:surface>
+            token[] semantics:labels:material = ["rubber"]
+
+            def Shader "Surface"
+            {
+                uniform token info:id = "UsdPreviewSurface"
+                color3f inputs:diffuseColor = (0.045, 0.045, 0.045)
+                float inputs:metallic = 0
+                float inputs:roughness = 0.9
+                token outputs:surface
+            }
+        }
+
+        def Material "Glass" (
+            prepend apiSchemas = ["SemanticsLabelsAPI:material"]
+        )
+        {
+            token outputs:mdl:surface.connect = </Model/Materials/Glass/GlassSurface.outputs:out>
+            token outputs:surface.connect = </Model/Materials/Glass/Surface.outputs:surface>
+            token[] semantics:labels:material = ["glass"]
+
+            def Shader "Surface"
+            {
+                uniform token info:id = "UsdPreviewSurface"
+                color3f inputs:diffuseColor = (0.86, 0.9, 0.92)
+                float inputs:ior = 1.5
+                float inputs:metallic = 0
+                float inputs:opacity = 0.25
+                float inputs:roughness = 0.05
+                token outputs:surface
+            }
+
+            def Shader "GlassSurface"
+            {
+                uniform token info:implementationSource = "sourceAsset"
+                uniform token info:mdl:materialType = "forgecad_glass"
+                uniform asset info:mdl:sourceAsset = @./materials/forgecad_glass.mdl@
+                uniform token info:mdl:sourceAsset:subIdentifier = "forgecad_glass"
+                float inputs:clarity = 0.75
+                float inputs:ior = 1.5
+                float inputs:roughness = 0.05
+                color3f inputs:tint = (0.86, 0.9, 0.92)
+                token outputs:out
+            }
+        }
+    }
+    variantSet "finish" = {
+        "grey_paint" {
+            over "Materials"
+            {
+                def Material "Finish" (
+                    prepend apiSchemas = ["SemanticsLabelsAPI:material"]
+                )
+                {
+                    token outputs:surface.connect = </Model/Materials/Finish/Surface.outputs:surface>
+                    token[] semantics:labels:material = ["wood"]
+
+                    def Shader "Surface"
+                    {
+                        uniform token info:id = "UsdPreviewSurface"
+                        color3f inputs:diffuseColor = (0.36, 0.37, 0.38)
+                        float inputs:metallic = 0
+                        float inputs:roughness = 0.45
+                        token outputs:surface
+                    }
+                }
+            }
+
+        }
+        "oak" {
+            over "Materials"
+            {
+                def Material "Finish" (
+                    prepend apiSchemas = ["SemanticsLabelsAPI:material"]
+                )
+                {
+                    token outputs:surface.connect = </Model/Materials/Finish/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/Finish/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-door.png@
+                        token inputs:sourceColorSpace = "sRGB"
+                        float2 inputs:st.connect = </Model/Materials/Finish/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/Finish/Albedo.outputs:rgb>
+                        float inputs:metallic = 0
+                        float inputs:roughness = 0.45
+                        token outputs:surface
+                    }
+                }
+            }
+
+        }
+        "walnut" {
+            over "Materials"
+            {
+                def Material "Finish" (
+                    prepend apiSchemas = ["SemanticsLabelsAPI:material"]
+                )
+                {
+                    token outputs:surface.connect = </Model/Materials/Finish/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/Finish/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/walnut-door.png@
+                        token inputs:sourceColorSpace = "sRGB"
+                        float2 inputs:st.connect = </Model/Materials/Finish/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/Finish/Albedo.outputs:rgb>
+                        float inputs:metallic = 0
+                        float inputs:roughness = 0.45
+                        token outputs:surface
+                    }
+                }
+            }
+
+        }
+        "white_paint" {
+            over "Materials"
+            {
+                def Material "Finish" (
+                    prepend apiSchemas = ["SemanticsLabelsAPI:material"]
+                )
+                {
+                    token outputs:surface.connect = </Model/Materials/Finish/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/Finish/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/painted-wood.png@
+                        token inputs:sourceColorSpace = "sRGB"
+                        float2 inputs:st.connect = </Model/Materials/Finish/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/Finish/Albedo.outputs:rgb>
+                        float inputs:metallic = 0
+                        float inputs:roughness = 0.4
+                        token outputs:surface
+                    }
+                }
+            }
+
+        }
+    }
+    variantSet "hardware" = {
+        "brushed_steel" {
+            over "Materials"
+            {
+                def Material "Hardware" (
+                    prepend apiSchemas = ["SemanticsLabelsAPI:material"]
+                )
+                {
+                    token outputs:surface.connect = </Model/Materials/Hardware/Surface.outputs:surface>
+                    token[] semantics:labels:material = ["metal"]
+
+                    def Shader "Surface"
+                    {
+                        uniform token info:id = "UsdPreviewSurface"
+                        color3f inputs:diffuseColor = (0.63, 0.63, 0.62)
+                        float inputs:metallic = 1
+                        float inputs:roughness = 0.35
+                        token outputs:surface
+                    }
+                }
+            }
+
+        }
+        "matte_black" {
+            over "Materials"
+            {
+                def Material "Hardware" (
+                    prepend apiSchemas = ["SemanticsLabelsAPI:material"]
+                )
+                {
+                    token outputs:surface.connect = </Model/Materials/Hardware/Surface.outputs:surface>
+                    token[] semantics:labels:material = ["metal"]
+
+                    def Shader "Surface"
+                    {
+                        uniform token info:id = "UsdPreviewSurface"
+                        color3f inputs:diffuseColor = (0.035, 0.035, 0.035)
+                        float inputs:metallic = 0.2
+                        float inputs:roughness = 0.6
+                        token outputs:surface
+                    }
+                }
+            }
+
+        }
+    }
+    variantSet "physics" = {
+        "none" {
+
+        }
+        "physics" (
+            prepend references = @./forgecad/physics.usda@</Model>
+        ) {
+
+        }
+    }
+}
+

interior_door_v03/simready_usd/materials/forgecad_glass.mdl

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