deploy cleaning_dishSoap_a01 from nvidia/srp-staging-controlled@a9090fbc6ad6c16cd2fecb53d0643e4368d0b72c

cleaning_dishSoap_a01/.metadata/{com.nvidia.simready.conformance.Package-Candidate@1.0.0.json → com.nvidia.simready.conformance.Package-Candidate@1.3.0.json}

@@ -1,31 +1,27 @@
 {
   "format_version": "1.0",
   "profile": "Package-Candidate",
-  "profile_version": "1.0.0",
-  "timestamp": "2026-10-09T23:01:26",
+  "profile_version": "1.3.0",
+  "timestamp": "2026-11-02T18:06:35",
   "assets": [
     {
       "asset": "simready_usd/sm_cleaning_dishSoap_a01_01.usd",
       "features": [
         {
-          "FET_031_STANDARD": {
-            "version": "0.1.0",
+          "CAP031_SelfContainedPackage.OpenUSD.0-1-0": {
+            "version": "0-1-0",
             "passed": true,
             "failing_requirements": [],
             "dependencies": []
           }
         },
         {
-          "FET_033_STANDARD": {
-            "version": "0.1.0",
+          "CAP033_SimReadyPackage.OpenUSD.0-4-0": {
+            "version": "0-4-0",
             "passed": true,
             "failing_requirements": [],
             "dependencies": [
-              {
-                "FET_031_STANDARD": {
-                  "version": "0.1.0"
-                }
-              }
+              "CAP031_SelfContainedPackage.OpenUSD.0-1-0"
             ]
           }
         }
@@ -33,6 +29,6 @@
     }
   ],
   "content_hash": {
-    "sha256": "829a9ca318a3f0d7f1110ce70aa4ba87e7af27b1a1df3fffc7362cb3c4cbbc88"
+    "sha256": "117614828f10efb064358b0dd245a84523aa2594691a0e762c10641d22890fd5"
   }
 }

cleaning_dishSoap_a01/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json

@@ -2,30 +2,26 @@
   "format_version": "1.0",
   "profile": "Package",
   "profile_version": "1.0.0",
-  "timestamp": "2026-10-09T23:01:26",
+  "timestamp": "2026-11-02T18:06:35",
   "assets": [
     {
       "asset": "com.nvidia.simready.packaging.json",
       "features": [
         {
-          "FET_030_STANDARD": {
-            "version": "0.1.0",
+          "CAP030_PackagingCore.OpenUSD.0-1-0": {
+            "version": "0.0.0",
             "passed": true,
             "failing_requirements": [],
             "dependencies": []
           }
         },
         {
-          "FET_032_STANDARD": {
-            "version": "0.1.0",
+          "CAP032_PackagingIntrospection.OpenUSD.0-1-0": {
+            "version": "0.0.0",
             "passed": true,
             "failing_requirements": [],
             "dependencies": [
-              {
-                "FET_030_STANDARD": {
-                  "version": "0.1.0"
-                }
-              }
+              "CAP030_PackagingCore.OpenUSD.0-1-0"
             ]
           }
         }

cleaning_dishSoap_a01/.metadata/com.nvidia.simready.packaging.bom.json

@@ -3,9 +3,16 @@
   "items": [
     {
       "relative_path": "simready_usd/sm_cleaning_dishSoap_a01_01.usd",
-      "size": 19792,
+      "size": 27043,
       "hash": {
-        "sha256": "90486b78ef2ecedad45f89592c007d425cb61030c0998cc62053605e3449a20f"
+        "sha256": "e40ba1332e7d6f5adfe91ac2f0e323d14dfe35efa8b305fd64548e70c17c9e86"
+      }
+    },
+    {
+      "relative_path": "simready_usd/.simready/validation.json",
+      "size": 16096,
+      "hash": {
+        "sha256": "58f3afb936e3328c864fb2ad7ecba94f3e0cca6869843f5647fa7090f0ef3293"
       }
     },
     {
@@ -86,9 +93,9 @@
     },
     {
       "relative_path": "simready_usd/payloads/base.usda",
-      "size": 13244,
+      "size": 13492,
       "hash": {
-        "sha256": "453903d47000aea6a7aa7b5ad8a996aa665429768ceab9ed73f5fd3f49314905"
+        "sha256": "fba02a42509721524c0d5dca18dce1f546014a04b6961f6b77cd9b83db4d70c8"
       }
     },
     {
@@ -115,9 +122,9 @@
     },
     {
       "relative_path": "simready_usd/payloads/instances_newton.usda",
-      "size": 8975,
+      "size": 9149,
       "hash": {
-        "sha256": "15fc40dde07ee269e631855480946b79b0486badc4375f2269d5590a6db066bf"
+        "sha256": "c9daa721d3bc24711dc9304ac48ba9f9d2628902d020de8a1e2eb09f55b72e2c"
       }
     },
     {
@@ -163,17 +170,17 @@
       }
     },
     {
-      "relative_path": "simready_usd/payloads/PhysX/enabled.usda",
-      "size": 4800,
+      "relative_path": "simready_usd/payloads/PhysX/disabled.usda",
+      "size": 4162,
       "hash": {
-        "sha256": "18e5c0f916c286667fc499545062d8e1fc59213d9d352e4d650b974b7d7c3fc8"
+        "sha256": "372b24fba5ad30ca60051f7b5a5c8601168dbc42d29064dc7ea1797d79e4a84f"
       }
     },
     {
-      "relative_path": "simready_usd/payloads/PhysX/disabled.usda",
-      "size": 4162,
+      "relative_path": "simready_usd/payloads/PhysX/enabled.usda",
+      "size": 4800,
       "hash": {
-        "sha256": "372b24fba5ad30ca60051f7b5a5c8601168dbc42d29064dc7ea1797d79e4a84f"
+        "sha256": "18e5c0f916c286667fc499545062d8e1fc59213d9d352e4d650b974b7d7c3fc8"
       }
     },
     {
@@ -183,6 +190,27 @@
         "sha256": "4048e34f1c7b81f8d10489928321da5f79663583c6a9bb0fd30ebd10106a0298"
       }
     },
+    {
+      "relative_path": "simready_usd/runnables/physics/mujoco.usda",
+      "size": 5896,
+      "hash": {
+        "sha256": "53e3734f912ef6428a081aac953d5b0c08d8ca7237fdb9a6fc4659ca377066fe"
+      }
+    },
+    {
+      "relative_path": "simready_usd/runnables/physics/newton.usda",
+      "size": 5875,
+      "hash": {
+        "sha256": "be7b1e2014cc6e52cc050bcd873c4b7283aecc9351ae7deac198a955df339f1c"
+      }
+    },
+    {
+      "relative_path": "simready_usd/runnables/physics/physx.usda",
+      "size": 4836,
+      "hash": {
+        "sha256": "bd4a17dc908ef609c47cfb26f78894c26b8de3153fe957015d061b9bd4091c59"
+      }
+    },
     {
       "relative_path": "simready_usd/source_assets/OmniGlass.mdl",
       "size": 10205,

cleaning_dishSoap_a01/com.nvidia.simready.packaging.json

@@ -1,19 +1,19 @@
 {
   "format_version": "1.0",
-  "package_id": "simready.hf.nvidia.simready-assets.cleaning_dishSoap_a01.2026.10.09_230126293685",
+  "package_id": "simready.hf.nvidia.simready-assets.cleaning_dishSoap_a01.2026.11.02_180635744055",
   "license": "CC-BY-4.0",
   "metadata": [
     {
       "name": "com.nvidia.simready.packaging.bom.json",
       "hash": {
-        "sha256": "21dec01129dbb88882d49502746a472d2a96e5f8ec1c107f8c174ba9a75308e4"
+        "sha256": "d52ba098a3ac06c6e2632bb29b961a422610170bf59010752e0655031fbf912e"
       }
     }
   ],
   "content_hash": {
-    "sha256": "829a9ca318a3f0d7f1110ce70aa4ba87e7af27b1a1df3fffc7362cb3c4cbbc88"
+    "sha256": "117614828f10efb064358b0dd245a84523aa2594691a0e762c10641d22890fd5"
   },
   "package_hash": {
-    "sha256": "018b44c94bd735983087ed35a56f16054ef56c8038d8c1c1cfe3eabe27ad8bab"
+    "sha256": "3ab78b19842a4683b4f7a9f6d481795fda60d6f3f1e8aa603b6fe815abb384fb"
   }
 }

cleaning_dishSoap_a01/simready_usd/.simready/validation.json

@@ -0,0 +1,467 @@
+{
+  "SimReady_Metadata": {
+    "validation": {
+      "profile": "Robotics-Prop",
+      "profile_version": "4.0.0",
+      "validated_features": {
+        "2026-02-20": {
+          "FET000_CORE": {
+            "dependencies": "[]",
+            "passed": true,
+            "version": "0.1.0"
+          },
+          "FET001_BASE_NEUTRAL": {
+            "dependencies": "[]",
+            "failing requirements": "['AA.001']",
+            "passed": false,
+            "version": "0.1.0"
+          },
+          "FET003_BASE_NEUTRAL": {
+            "dependencies": "[]",
+            "passed": true,
+            "version": "0.1.0"
+          },
+          "FET003_BASE_PHYSX": {
+            "dependencies": "[{'FET003_BASE_NEUTRAL': {'version': '0.1.0'}}]",
+            "passed": true,
+            "version": "0.1.0"
+          },
+          "FET004_BASE_NEUTRAL": {
+            "dependencies": "[{'FET003_BASE_NEUTRAL': {'version': '0.1.0'}}]",
+            "passed": true,
+            "version": "0.1.0"
+          },
+          "FET004_BASE_PHYSX": {
+            "dependencies": "[{'FET003_BASE_PHYSX': {'version': '0.1.0'}}, {'FET004_BASE_NEUTRAL': {'version': '0.1.0'}}]",
+            "passed": true,
+            "version": "0.1.0"
+          },
+          "FET005_BASE_NEUTRAL": {
+            "dependencies": "[]",
+            "passed": true,
+            "version": "0.1.0"
+          },
+          "FET006_BASE_MDL": {
+            "dependencies": "[]",
+            "failing requirements": "['VM.MDL.001']",
+            "passed": false,
+            "version": "0.1.0"
+          }
+        },
+        "2026-08-18": {
+          "FET_000_MUJOCO": {
+            "dependencies": "[{'FET_000_STANDARD': {'version': '0.1.0'}}]",
+            "optional requirements": "['com.nvidia.simready.RV.008', 'com.nvidia.simready.RV.010']",
+            "passed": true,
+            "version": "0.1.0"
+          },
+          "FET_000_NEWTON": {
+            "dependencies": "[{'FET_000_STANDARD': {'version': '0.1.0'}}]",
+            "optional requirements": "['com.nvidia.simready.RV.010', 'com.nvidia.simready.RV.005']",
+            "passed": true,
+            "version": "0.1.0"
+          },
+          "FET_000_PHYSX": {
+            "dependencies": "[{'FET_000_STANDARD': {'version': '0.1.0'}}]",
+            "optional requirements": "['com.nvidia.simready.RV.001', 'com.nvidia.simready.RV.002', 'com.nvidia.simready.RV.010']",
+            "passed": true,
+            "version": "0.1.0"
+          },
+          "FET_000_STANDARD": {
+            "dependencies": "[]",
+            "passed": true,
+            "version": "0.1.0"
+          },
+          "FET_001_STANDARD": {
+            "dependencies": "[]",
+            "passed": true,
+            "version": "1.0.1"
+          },
+          "FET_003_MUJOCO": {
+            "dependencies": "[]",
+            "passed": true,
+            "version": "0.1.0"
+          },
+          "FET_003_NEWTON": {
+            "dependencies": "[]",
+            "passed": true,
+            "version": "0.1.0"
+          },
+          "FET_003_PHYSX": {
+            "dependencies": "[]",
+            "passed": true,
+            "version": "0.4.0"
+          },
+          "FET_003_STANDARD": {
+            "dependencies": "[]",
+            "passed": true,
+            "version": "0.2.0"
+          },
+          "FET_004_MUJOCO": {
+            "dependencies": "[{'FET_003_MUJOCO': {'version': '0.1.0'}}]",
+            "passed": true,
+            "version": "0.1.0"
+          },
+          "FET_004_NEWTON": {
+            "dependencies": "[{'FET_003_NEWTON': {'version': '0.1.0'}}]",
+            "passed": true,
+            "version": "0.1.0"
+          },
+          "FET_004_PHYSX": {
+            "dependencies": "[{'FET_003_PHYSX': {'version': '0.4.0'}}]",
+            "passed": true,
+            "version": "0.4.0"
+          },
+          "FET_004_STANDARD": {
+            "dependencies": "[{'FET_003_STANDARD': {'version': '0.2.0'}}]",
+            "passed": true,
+            "version": "0.2.0"
+          },
+          "FET_005_STANDARD": {
+            "dependencies": "[]",
+            "passed": true,
+            "version": "0.1.0"
+          },
+          "FET_006_MDL": {
+            "dependencies": "[]",
+            "optional requirements": "['com.nvidia.simready.VM.MDL.001']",
+            "passed": true,
+            "version": "0.1.0"
+          },
+          "FET_006_STANDARD": {
+            "dependencies": "[]",
+            "passed": true,
+            "version": "0.1.0"
+          },
+          "FET_007_STANDARD": {
+            "dependencies": "[]",
+            "passed": true,
+            "version": "0.2.0"
+          },
+          "FET_100_ISAAC": {
+            "dependencies": "[{'FET_003_PHYSX': {'version': '0.4.0'}}]",
+            "passed": true,
+            "version": "0.4.0"
+          }
+        },
+        "2026-10-09": {
+          "FET_000_MUJOCO": {
+            "blocking_failure": false,
+            "dependencies": "[{'FET_000_STANDARD': {'version': '0.1.0'}}]",
+            "optional requirements": "['com.nvidia.simready.RV.008', 'com.nvidia.simready.RV.010']",
+            "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.005', 'com.nvidia.simready.RV.010']",
+            "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', 'com.nvidia.simready.RV.002', 'com.nvidia.simready.RV.010']",
+            "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": "[]",
+            "passed": true,
+            "version": "0.1.0"
+          },
+          "FET_003_NEWTON": {
+            "blocking_failure": false,
+            "dependencies": "[]",
+            "passed": true,
+            "version": "0.1.0"
+          },
+          "FET_003_PHYSX": {
+            "blocking_failure": false,
+            "dependencies": "[]",
+            "passed": true,
+            "version": "0.4.0"
+          },
+          "FET_003_STANDARD": {
+            "blocking_failure": false,
+            "dependencies": "[]",
+            "passed": true,
+            "version": "0.2.0"
+          },
+          "FET_004_MUJOCO": {
+            "blocking_failure": false,
+            "dependencies": "[{'FET_003_MUJOCO': {'version': '0.1.0'}}]",
+            "passed": true,
+            "version": "0.1.0"
+          },
+          "FET_004_NEWTON": {
+            "blocking_failure": false,
+            "dependencies": "[{'FET_003_NEWTON': {'version': '0.1.0'}}]",
+            "passed": true,
+            "version": "0.1.0"
+          },
+          "FET_004_PHYSX": {
+            "blocking_failure": false,
+            "dependencies": "[{'FET_003_PHYSX': {'version': '0.4.0'}}]",
+            "passed": true,
+            "version": "0.4.0"
+          },
+          "FET_004_STANDARD": {
+            "blocking_failure": false,
+            "dependencies": "[{'FET_003_STANDARD': {'version': '0.2.0'}}]",
+            "passed": true,
+            "version": "0.2.0"
+          },
+          "FET_005_STANDARD": {
+            "blocking_failure": false,
+            "dependencies": "[]",
+            "passed": true,
+            "version": "0.1.0"
+          },
+          "FET_006_MDL": {
+            "blocking_failure": false,
+            "dependencies": "[]",
+            "passed": true,
+            "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": "[]",
+            "passed": true,
+            "version": "0.2.0"
+          },
+          "FET_010_STANDARD": {
+            "blocking_failure": false,
+            "dependencies": "[]",
+            "optional requirements": "['com.nvidia.simready.DISP.001']",
+            "passed": false,
+            "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'}}]",
+            "passed": true,
+            "version": "0.4.0"
+          }
+        },
+        "2026-11-02": {
+          "CAP000_Core.MuJoCo.0-1-0": {
+            "blocking_failure": false,
+            "dependencies": "['CAP000_Core.OpenUSD.0-1-0']",
+            "passed": true,
+            "version": "0-1-0"
+          },
+          "CAP000_Core.Newton.0-1-0": {
+            "blocking_failure": false,
+            "dependencies": "['CAP000_Core.OpenUSD.0-1-0']",
+            "passed": true,
+            "version": "0-1-0"
+          },
+          "CAP000_Core.OpenUSD.0-1-0": {
+            "blocking_failure": false,
+            "dependencies": "[]",
+            "passed": true,
+            "version": "0-1-0"
+          },
+          "CAP000_Core.OpenUSD.0-2-0": {
+            "blocking_failure": false,
+            "dependencies": "[]",
+            "passed": true,
+            "version": "0-2-0"
+          },
+          "CAP000_Core.PhysX.0-1-0": {
+            "blocking_failure": false,
+            "dependencies": "['CAP000_Core.OpenUSD.0-1-0']",
+            "passed": true,
+            "version": "0-1-0"
+          },
+          "CAP003_RigidBody.MuJoCo.0-1-0": {
+            "blocking_failure": false,
+            "dependencies": "[]",
+            "passed": true,
+            "version": "0-1-0"
+          },
+          "CAP004_Multibody.MuJoCo.0-1-0": {
+            "blocking_failure": false,
+            "dependencies": "['CAP003_RigidBody.MuJoCo.0-1-0']",
+            "passed": true,
+            "version": "0-1-0"
+          },
+          "CAP007_NonVisualMaterials.OpenUSD.0-2-0": {
+            "blocking_failure": false,
+            "dependencies": "[]",
+            "passed": true,
+            "version": "0-2-0"
+          },
+          "CAP031_SelfContainedPackage.OpenUSD.0-1-0": {
+            "blocking_failure": false,
+            "dependencies": "[]",
+            "passed": true,
+            "version": "0-1-0"
+          },
+          "CAP033_SimReadyPackage.OpenUSD.0-4-0": {
+            "blocking_failure": false,
+            "dependencies": "['CAP031_SelfContainedPackage.OpenUSD.0-1-0']",
+            "passed": true,
+            "version": "0-4-0"
+          },
+          "CAP046_WikidataLabels.OpenUSD.0-1-0": {
+            "blocking_failure": false,
+            "dependencies": "[]",
+            "passed": true,
+            "version": "0-1-0"
+          },
+          "CAP100_IsaacComposition.Isaac.0-4-0": {
+            "blocking_failure": false,
+            "dependencies": "[]",
+            "passed": true,
+            "version": "0-4-0"
+          },
+          "FET001_MinimalPlaceableVisual.OpenUSD.1-0-1": {
+            "blocking_failure": false,
+            "dependencies": "[]",
+            "passed": true,
+            "version": "1-0-1"
+          },
+          "FET003_RigidBody.Newton.0-1-0": {
+            "blocking_failure": false,
+            "dependencies": "[]",
+            "passed": true,
+            "version": "0-1-0"
+          },
+          "FET003_RigidBody.OpenUSD.0-2-0": {
+            "blocking_failure": false,
+            "dependencies": "[]",
+            "passed": true,
+            "version": "0-2-0"
+          },
+          "FET003_RigidBody.PhysX.0-4-0": {
+            "blocking_failure": false,
+            "dependencies": "[]",
+            "passed": true,
+            "version": "0-4-0"
+          },
+          "FET004_Multibody.Newton.0-1-0": {
+            "blocking_failure": false,
+            "dependencies": "['FET003_RigidBody.Newton.0-1-0']",
+            "passed": true,
+            "version": "0-1-0"
+          },
+          "FET004_Multibody.OpenUSD.0-2-0": {
+            "blocking_failure": false,
+            "dependencies": "['FET003_RigidBody.OpenUSD.0-2-0']",
+            "passed": true,
+            "version": "0-2-0"
+          },
+          "FET004_Multibody.PhysX.0-4-0": {
+            "blocking_failure": false,
+            "dependencies": "['FET003_RigidBody.PhysX.0-4-0']",
+            "passed": true,
+            "version": "0-4-0"
+          },
+          "FET005_Grasp.OpenUSD.0-1-0": {
+            "blocking_failure": false,
+            "dependencies": "[]",
+            "passed": true,
+            "version": "0-1-0"
+          },
+          "FET006_Materials.MDL.0-2-0": {
+            "blocking_failure": false,
+            "dependencies": "[]",
+            "passed": true,
+            "version": "0-2-0"
+          },
+          "FET006_Materials.OpenUSD.0-2-0": {
+            "blocking_failure": false,
+            "dependencies": "[]",
+            "passed": true,
+            "version": "0-2-0"
+          },
+          "FET006_Materials.Openpbr.0-1-0": {
+            "blocking_failure": false,
+            "dependencies": "[]",
+            "optional requirements": "['com.nvidia.simready.VM.PBR.001']",
+            "passed": false,
+            "version": "0-1-0"
+          },
+          "FET010_DisplayColor.OpenUSD.0-1-0": {
+            "blocking_failure": false,
+            "dependencies": "[]",
+            "optional requirements": "['com.nvidia.simready.DISP.001']",
+            "passed": false,
+            "version": "0-1-0"
+          },
+          "FET011_SemanticLabels.OpenUSD.0-2-0": {
+            "blocking_failure": false,
+            "dependencies": "[]",
+            "passed": true,
+            "version": "0-2-0"
+          },
+          "FET011_SemanticLabels.RTX.0-1-0": {
+            "blocking_failure": false,
+            "dependencies": "['FET011_SemanticLabels.OpenUSD.0-2-0']",
+            "passed": true,
+            "version": "0-1-0"
+          }
+        }
+      }
+    }
+  }
+}

cleaning_dishSoap_a01/simready_usd/payloads/MuJoCo/disabled.usda

@@ -1,3 +1,94 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:372b24fba5ad30ca60051f7b5a5c8601168dbc42d29064dc7ea1797d79e4a84f
-size 4162
+#usda 1.0
+(
+    customLayerData = {
+        dictionary SimReady_Metadata = {
+            dictionary Variants = {
+                dictionary Physics = {
+                    dictionary MuJoCo = {
+                        string activateOption = "Enabled"
+                        string prim = "/RootNode"
+                        string variantSetName = "MuJoCo"
+                    }
+                    dictionary Newton = {
+                        string activateOption = "Enabled"
+                        string prim = "/RootNode"
+                        string variantSetName = "Newton"
+                    }
+                    dictionary PhysX = {
+                        string activateOption = "Enabled"
+                        string prim = "/RootNode"
+                        string variantSetName = "PhysX"
+                    }
+                }
+            }
+            string asset_location = "simready_content\\common_assets\\props_endeavor_kitchen\\cleaning_dishSoap_a01\\simready_physx_usd\\sm_cleaning_dishSoap_a01_01.usd"
+            string asset_type = "prop"
+            string uuid = "42fcbacf-c69c-43ae-acd4-03f341889108"
+            dictionary validation = {
+                string profile = "Robotics-Prop"
+                string profile_version = "3.1.0"
+                dictionary validated_features = {
+                    dictionary "2026-02-20" = {
+                        dictionary FET000_CORE = {
+                            string dependencies = "[]"
+                            bool passed = 1
+                            string version = "0.1.0"
+                        }
+                        dictionary FET001_BASE_NEUTRAL = {
+                            string dependencies = "[]"
+                            string "failing requirements" = "['AA.001']"
+                            bool passed = 0
+                            string version = "0.1.0"
+                        }
+                        dictionary FET003_BASE_NEUTRAL = {
+                            string dependencies = "[]"
+                            bool passed = 1
+                            string version = "0.1.0"
+                        }
+                        dictionary FET003_BASE_PHYSX = {
+                            string dependencies = "[{'FET003_BASE_NEUTRAL': {'version': '0.1.0'}}]"
+                            bool passed = 1
+                            string version = "0.1.0"
+                        }
+                        dictionary FET004_BASE_NEUTRAL = {
+                            string dependencies = "[{'FET003_BASE_NEUTRAL': {'version': '0.1.0'}}]"
+                            bool passed = 1
+                            string version = "0.1.0"
+                        }
+                        dictionary FET004_BASE_PHYSX = {
+                            string dependencies = "[{'FET003_BASE_PHYSX': {'version': '0.1.0'}}, {'FET004_BASE_NEUTRAL': {'version': '0.1.0'}}]"
+                            bool passed = 1
+                            string version = "0.1.0"
+                        }
+                        dictionary FET005_BASE_NEUTRAL = {
+                            string dependencies = "[]"
+                            bool passed = 1
+                            string version = "0.1.0"
+                        }
+                        dictionary FET006_BASE_MDL = {
+                            string dependencies = "[]"
+                            string "failing requirements" = "['VM.MDL.001']"
+                            bool passed = 0
+                            string version = "0.1.0"
+                        }
+                    }
+                }
+            }
+        }
+        string asset_dir = "simready_content/common_assets/props_endeavor_kitchen/cleaning_dishSoap_a01"
+        string asset_name = "cleaning_dishSoap_a01"
+        string asset_type = "prop"
+        string profile = "Prop-Robotics-Neutral"
+        string source_file = "../simready_usd/sm_cleaning_dishSoap_a01_01.usd"
+        string usd_date_generated = "2026-02-20 15:38:44"
+        bool used_dsrs_exporter = 1
+    }
+    defaultPrim = "RootNode"
+    metersPerUnit = 1
+    upAxis = "Z"
+)
+
+def "RootNode"
+{
+}
+

cleaning_dishSoap_a01/simready_usd/payloads/MuJoCo/enabled.usda

@@ -1,3 +1,189 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:08ae4c1188b88942e4ef31678edbd945e02165426d4452ec816c831a0ccaa5ff
-size 5860
+#usda 1.0
+(
+    customLayerData = {
+        dictionary SimReady_Metadata = {
+            dictionary Variants = {
+                dictionary Physics = {
+                    dictionary MuJoCo = {
+                        string activateOption = "Enabled"
+                        string prim = "/RootNode"
+                        string variantSetName = "MuJoCo"
+                    }
+                    dictionary Newton = {
+                        string activateOption = "Enabled"
+                        string prim = "/RootNode"
+                        string variantSetName = "Newton"
+                    }
+                    dictionary PhysX = {
+                        string activateOption = "Enabled"
+                        string prim = "/RootNode"
+                        string variantSetName = "PhysX"
+                    }
+                }
+            }
+            string asset_location = "simready_content\\common_assets\\props_endeavor_kitchen\\cleaning_dishSoap_a01\\simready_physx_usd\\sm_cleaning_dishSoap_a01_01.usd"
+            string asset_type = "prop"
+            string uuid = "42fcbacf-c69c-43ae-acd4-03f341889108"
+            dictionary validation = {
+                string profile = "Robotics-Prop"
+                string profile_version = "3.1.0"
+                dictionary validated_features = {
+                    dictionary "2026-02-20" = {
+                        dictionary FET000_CORE = {
+                            string dependencies = "[]"
+                            bool passed = 1
+                            string version = "0.1.0"
+                        }
+                        dictionary FET001_BASE_NEUTRAL = {
+                            string dependencies = "[]"
+                            string "failing requirements" = "['AA.001']"
+                            bool passed = 0
+                            string version = "0.1.0"
+                        }
+                        dictionary FET003_BASE_NEUTRAL = {
+                            string dependencies = "[]"
+                            bool passed = 1
+                            string version = "0.1.0"
+                        }
+                        dictionary FET003_BASE_PHYSX = {
+                            string dependencies = "[{'FET003_BASE_NEUTRAL': {'version': '0.1.0'}}]"
+                            bool passed = 1
+                            string version = "0.1.0"
+                        }
+                        dictionary FET004_BASE_NEUTRAL = {
+                            string dependencies = "[{'FET003_BASE_NEUTRAL': {'version': '0.1.0'}}]"
+                            bool passed = 1
+                            string version = "0.1.0"
+                        }
+                        dictionary FET004_BASE_PHYSX = {
+                            string dependencies = "[{'FET003_BASE_PHYSX': {'version': '0.1.0'}}, {'FET004_BASE_NEUTRAL': {'version': '0.1.0'}}]"
+                            bool passed = 1
+                            string version = "0.1.0"
+                        }
+                        dictionary FET005_BASE_NEUTRAL = {
+                            string dependencies = "[]"
+                            bool passed = 1
+                            string version = "0.1.0"
+                        }
+                        dictionary FET006_BASE_MDL = {
+                            string dependencies = "[]"
+                            string "failing requirements" = "['VM.MDL.001']"
+                            bool passed = 0
+                            string version = "0.1.0"
+                        }
+                    }
+                }
+            }
+        }
+        string asset_dir = "simready_content/common_assets/props_endeavor_kitchen/cleaning_dishSoap_a01"
+        string asset_name = "cleaning_dishSoap_a01"
+        string asset_type = "prop"
+        string profile = "Prop-Robotics-Neutral"
+        string source_file = "../simready_usd/sm_cleaning_dishSoap_a01_01.usd"
+        string usd_date_generated = "2026-02-20 15:38:44"
+        bool used_dsrs_exporter = 1
+    }
+    defaultPrim = "RootNode"
+    doc = "MuJoCo overrides for sm_cleaning_dishSoap_a01_01.usd"
+    metersPerUnit = 1
+    upAxis = "Z"
+)
+
+over "RootNode"
+{
+    over "Geometry"
+    {
+        over "bottle_01_obj_00" (
+            instanceable = true
+            references = @../instances_mujoco.usda@</Instances/bottle_01_mesh_00>
+        )
+        {
+        }
+
+        over "detergent_01_obj_00" (
+            instanceable = true
+            references = @../instances_mujoco.usda@</Instances/detergent_01_mesh_00>
+        )
+        {
+        }
+
+        over "details_01_obj_00" (
+            instanceable = true
+            references = @../instances_mujoco.usda@</Instances/details_01_mesh_00>
+        )
+        {
+        }
+    }
+
+    over "PhysicsMaterials"
+    {
+        over "physics_mat_m_trans__plastic__clean_a01"
+        {
+        }
+
+        over "physics_mat_m_trans__salt_water__detergent_a01"
+        {
+        }
+
+        over "physics_mat_m_opaque__paper__cleaning_dishSoap_a01"
+        {
+        }
+
+        over "physics_mat_m_opaque__plastic__green_a01"
+        {
+        }
+    }
+
+    over "Joints"
+    {
+        over "joint_detergent_01_joint_00"
+        {
+        }
+
+        over "joint_details_01_joint_00"
+        {
+        }
+    }
+
+    over "Materials"
+    {
+    }
+
+    over "ReferencePrims"
+    {
+        over "detergent_01_joint_00"
+        {
+        }
+
+        over "details_01_joint_00"
+        {
+        }
+
+        over "bottle_01_joint_00"
+        {
+        }
+    }
+
+    over "Grasp"
+    {
+        over "Grasp_Point_1_1"
+        {
+        }
+
+        over "Grasp_Point_1_2"
+        {
+        }
+
+        over "grasp_identifier"
+        {
+            over "grasp_identifier_curve"
+            {
+            }
+        }
+    }
+
+    over "VisualMaterials"
+    {
+    }
+}
+

cleaning_dishSoap_a01/simready_usd/payloads/Newton/disabled.usda

@@ -1,3 +1,94 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:372b24fba5ad30ca60051f7b5a5c8601168dbc42d29064dc7ea1797d79e4a84f
-size 4162
+#usda 1.0
+(
+    customLayerData = {
+        dictionary SimReady_Metadata = {
+            dictionary Variants = {
+                dictionary Physics = {
+                    dictionary MuJoCo = {
+                        string activateOption = "Enabled"
+                        string prim = "/RootNode"
+                        string variantSetName = "MuJoCo"
+                    }
+                    dictionary Newton = {
+                        string activateOption = "Enabled"
+                        string prim = "/RootNode"
+                        string variantSetName = "Newton"
+                    }
+                    dictionary PhysX = {
+                        string activateOption = "Enabled"
+                        string prim = "/RootNode"
+                        string variantSetName = "PhysX"
+                    }
+                }
+            }
+            string asset_location = "simready_content\\common_assets\\props_endeavor_kitchen\\cleaning_dishSoap_a01\\simready_physx_usd\\sm_cleaning_dishSoap_a01_01.usd"
+            string asset_type = "prop"
+            string uuid = "42fcbacf-c69c-43ae-acd4-03f341889108"
+            dictionary validation = {
+                string profile = "Robotics-Prop"
+                string profile_version = "3.1.0"
+                dictionary validated_features = {
+                    dictionary "2026-02-20" = {
+                        dictionary FET000_CORE = {
+                            string dependencies = "[]"
+                            bool passed = 1
+                            string version = "0.1.0"
+                        }
+                        dictionary FET001_BASE_NEUTRAL = {
+                            string dependencies = "[]"
+                            string "failing requirements" = "['AA.001']"
+                            bool passed = 0
+                            string version = "0.1.0"
+                        }
+                        dictionary FET003_BASE_NEUTRAL = {
+                            string dependencies = "[]"
+                            bool passed = 1
+                            string version = "0.1.0"
+                        }
+                        dictionary FET003_BASE_PHYSX = {
+                            string dependencies = "[{'FET003_BASE_NEUTRAL': {'version': '0.1.0'}}]"
+                            bool passed = 1
+                            string version = "0.1.0"
+                        }
+                        dictionary FET004_BASE_NEUTRAL = {
+                            string dependencies = "[{'FET003_BASE_NEUTRAL': {'version': '0.1.0'}}]"
+                            bool passed = 1
+                            string version = "0.1.0"
+                        }
+                        dictionary FET004_BASE_PHYSX = {
+                            string dependencies = "[{'FET003_BASE_PHYSX': {'version': '0.1.0'}}, {'FET004_BASE_NEUTRAL': {'version': '0.1.0'}}]"
+                            bool passed = 1
+                            string version = "0.1.0"
+                        }
+                        dictionary FET005_BASE_NEUTRAL = {
+                            string dependencies = "[]"
+                            bool passed = 1
+                            string version = "0.1.0"
+                        }
+                        dictionary FET006_BASE_MDL = {
+                            string dependencies = "[]"
+                            string "failing requirements" = "['VM.MDL.001']"
+                            bool passed = 0
+                            string version = "0.1.0"
+                        }
+                    }
+                }
+            }
+        }
+        string asset_dir = "simready_content/common_assets/props_endeavor_kitchen/cleaning_dishSoap_a01"
+        string asset_name = "cleaning_dishSoap_a01"
+        string asset_type = "prop"
+        string profile = "Prop-Robotics-Neutral"
+        string source_file = "../simready_usd/sm_cleaning_dishSoap_a01_01.usd"
+        string usd_date_generated = "2026-02-20 15:38:44"
+        bool used_dsrs_exporter = 1
+    }
+    defaultPrim = "RootNode"
+    metersPerUnit = 1
+    upAxis = "Z"
+)
+
+def "RootNode"
+{
+}
+

cleaning_dishSoap_a01/simready_usd/payloads/Newton/enabled.usda

@@ -1,3 +1,153 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:82b66dbc9a7fc11e841f5f42153de109fd4f65b14ed837c3df02014b6b09fc34
-size 5839
+#usda 1.0
+(
+    customLayerData = {
+        dictionary SimReady_Metadata = {
+            dictionary Variants = {
+                dictionary Physics = {
+                    dictionary MuJoCo = {
+                        string activateOption = "Enabled"
+                        string prim = "/RootNode"
+                        string variantSetName = "MuJoCo"
+                    }
+                    dictionary Newton = {
+                        string activateOption = "Enabled"
+                        string prim = "/RootNode"
+                        string variantSetName = "Newton"
+                    }
+                    dictionary PhysX = {
+                        string activateOption = "Enabled"
+                        string prim = "/RootNode"
+                        string variantSetName = "PhysX"
+                    }
+                }
+            }
+            string asset_location = "simready_content\\common_assets\\props_endeavor_kitchen\\cleaning_dishSoap_a01\\simready_physx_usd\\sm_cleaning_dishSoap_a01_01.usd"
+            string asset_type = "prop"
+            string uuid = "42fcbacf-c69c-43ae-acd4-03f341889108"
+            dictionary validation = {
+                string profile = "Robotics-Prop"
+                string profile_version = "3.1.0"
+                dictionary validated_features = {
+                    dictionary "2026-02-20" = {
+                        dictionary FET000_CORE = {
+                            string dependencies = "[]"
+                            bool passed = 1
+                            string version = "0.1.0"
+                        }
+                        dictionary FET001_BASE_NEUTRAL = {
+                            string dependencies = "[]"
+                            string "failing requirements" = "['AA.001']"
+                            bool passed = 0
+                            string version = "0.1.0"
+                        }
+                        dictionary FET003_BASE_NEUTRAL = {
+                            string dependencies = "[]"
+                            bool passed = 1
+                            string version = "0.1.0"
+                        }
+                        dictionary FET003_BASE_PHYSX = {
+                            string dependencies = "[{'FET003_BASE_NEUTRAL': {'version': '0.1.0'}}]"
+                            bool passed = 1
+                            string version = "0.1.0"
+                        }
+                        dictionary FET004_BASE_NEUTRAL = {
+                            string dependencies = "[{'FET003_BASE_NEUTRAL': {'version': '0.1.0'}}]"
+                            bool passed = 1
+                            string version = "0.1.0"
+                        }
+                        dictionary FET004_BASE_PHYSX = {
+                            string dependencies = "[{'FET003_BASE_PHYSX': {'version': '0.1.0'}}, {'FET004_BASE_NEUTRAL': {'version': '0.1.0'}}]"
+                            bool passed = 1
+                            string version = "0.1.0"
+                        }
+                        dictionary FET005_BASE_NEUTRAL = {
+                            string dependencies = "[]"
+                            bool passed = 1
+                            string version = "0.1.0"
+                        }
+                        dictionary FET006_BASE_MDL = {
+                            string dependencies = "[]"
+                            string "failing requirements" = "['VM.MDL.001']"
+                            bool passed = 0
+                            string version = "0.1.0"
+                        }
+                    }
+                }
+            }
+        }
+        string asset_dir = "simready_content/common_assets/props_endeavor_kitchen/cleaning_dishSoap_a01"
+        string asset_name = "cleaning_dishSoap_a01"
+        string asset_type = "prop"
+        string profile = "Prop-Robotics-Neutral"
+        string source_file = "../simready_usd/sm_cleaning_dishSoap_a01_01.usd"
+        string usd_date_generated = "2026-02-20 15:38:44"
+        bool used_dsrs_exporter = 1
+    }
+    defaultPrim = "RootNode"
+    doc = "Newton overrides for sm_cleaning_dishSoap_a01_01.usd"
+    metersPerUnit = 1
+    upAxis = "Z"
+)
+
+over "RootNode"
+{
+    over "Geometry"
+    {
+        over "bottle_01_obj_00" (
+            instanceable = true
+            references = @../instances_newton.usda@</Instances/bottle_01_mesh_00>
+        )
+        {
+        }
+
+        over "detergent_01_obj_00" (
+            instanceable = true
+            references = @../instances_newton.usda@</Instances/detergent_01_mesh_00>
+        )
+        {
+        }
+
+        over "details_01_obj_00" (
+            instanceable = true
+            references = @../instances_newton.usda@</Instances/details_01_mesh_00>
+        )
+        {
+        }
+    }
+
+    over "PhysicsMaterials"
+    {
+        over "physics_mat_m_trans__plastic__clean_a01" (
+            prepend apiSchemas = ["NewtonMaterialAPI"]
+        )
+        {
+            float newton:rollingFriction = 0.0001
+            float newton:torsionalFriction = 0.005
+        }
+
+        over "physics_mat_m_trans__salt_water__detergent_a01" (
+            prepend apiSchemas = ["NewtonMaterialAPI"]
+        )
+        {
+            float newton:rollingFriction = 0.0001
+            float newton:torsionalFriction = 0.005
+        }
+
+        over "physics_mat_m_opaque__paper__cleaning_dishSoap_a01" (
+            prepend apiSchemas = ["NewtonMaterialAPI"]
+        )
+        {
+            float newton:rollingFriction = 0.0001
+            float newton:torsionalFriction = 0.005
+        }
+
+        over "physics_mat_m_opaque__plastic__green_a01" (
+            prepend apiSchemas = ["NewtonMaterialAPI"]
+        )
+        {
+            float newton:rollingFriction = 0.0001
+            float newton:torsionalFriction = 0.005
+        }
+    }
+}
+

cleaning_dishSoap_a01/simready_usd/payloads/PhysX/disabled.usda

@@ -1,3 +1,94 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:372b24fba5ad30ca60051f7b5a5c8601168dbc42d29064dc7ea1797d79e4a84f
-size 4162
+#usda 1.0
+(
+    customLayerData = {
+        dictionary SimReady_Metadata = {
+            dictionary Variants = {
+                dictionary Physics = {
+                    dictionary MuJoCo = {
+                        string activateOption = "Enabled"
+                        string prim = "/RootNode"
+                        string variantSetName = "MuJoCo"
+                    }
+                    dictionary Newton = {
+                        string activateOption = "Enabled"
+                        string prim = "/RootNode"
+                        string variantSetName = "Newton"
+                    }
+                    dictionary PhysX = {
+                        string activateOption = "Enabled"
+                        string prim = "/RootNode"
+                        string variantSetName = "PhysX"
+                    }
+                }
+            }
+            string asset_location = "simready_content\\common_assets\\props_endeavor_kitchen\\cleaning_dishSoap_a01\\simready_physx_usd\\sm_cleaning_dishSoap_a01_01.usd"
+            string asset_type = "prop"
+            string uuid = "42fcbacf-c69c-43ae-acd4-03f341889108"
+            dictionary validation = {
+                string profile = "Robotics-Prop"
+                string profile_version = "3.1.0"
+                dictionary validated_features = {
+                    dictionary "2026-02-20" = {
+                        dictionary FET000_CORE = {
+                            string dependencies = "[]"
+                            bool passed = 1
+                            string version = "0.1.0"
+                        }
+                        dictionary FET001_BASE_NEUTRAL = {
+                            string dependencies = "[]"
+                            string "failing requirements" = "['AA.001']"
+                            bool passed = 0
+                            string version = "0.1.0"
+                        }
+                        dictionary FET003_BASE_NEUTRAL = {
+                            string dependencies = "[]"
+                            bool passed = 1
+                            string version = "0.1.0"
+                        }
+                        dictionary FET003_BASE_PHYSX = {
+                            string dependencies = "[{'FET003_BASE_NEUTRAL': {'version': '0.1.0'}}]"
+                            bool passed = 1
+                            string version = "0.1.0"
+                        }
+                        dictionary FET004_BASE_NEUTRAL = {
+                            string dependencies = "[{'FET003_BASE_NEUTRAL': {'version': '0.1.0'}}]"
+                            bool passed = 1
+                            string version = "0.1.0"
+                        }
+                        dictionary FET004_BASE_PHYSX = {
+                            string dependencies = "[{'FET003_BASE_PHYSX': {'version': '0.1.0'}}, {'FET004_BASE_NEUTRAL': {'version': '0.1.0'}}]"
+                            bool passed = 1
+                            string version = "0.1.0"
+                        }
+                        dictionary FET005_BASE_NEUTRAL = {
+                            string dependencies = "[]"
+                            bool passed = 1
+                            string version = "0.1.0"
+                        }
+                        dictionary FET006_BASE_MDL = {
+                            string dependencies = "[]"
+                            string "failing requirements" = "['VM.MDL.001']"
+                            bool passed = 0
+                            string version = "0.1.0"
+                        }
+                    }
+                }
+            }
+        }
+        string asset_dir = "simready_content/common_assets/props_endeavor_kitchen/cleaning_dishSoap_a01"
+        string asset_name = "cleaning_dishSoap_a01"
+        string asset_type = "prop"
+        string profile = "Prop-Robotics-Neutral"
+        string source_file = "../simready_usd/sm_cleaning_dishSoap_a01_01.usd"
+        string usd_date_generated = "2026-02-20 15:38:44"
+        bool used_dsrs_exporter = 1
+    }
+    defaultPrim = "RootNode"
+    metersPerUnit = 1
+    upAxis = "Z"
+)
+
+def "RootNode"
+{
+}
+

cleaning_dishSoap_a01/simready_usd/payloads/PhysX/enabled.usda

@@ -1,3 +1,118 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:18e5c0f916c286667fc499545062d8e1fc59213d9d352e4d650b974b7d7c3fc8
-size 4800
+#usda 1.0
+(
+    customLayerData = {
+        dictionary SimReady_Metadata = {
+            dictionary Variants = {
+                dictionary Physics = {
+                    dictionary MuJoCo = {
+                        string activateOption = "Enabled"
+                        string prim = "/RootNode"
+                        string variantSetName = "MuJoCo"
+                    }
+                    dictionary Newton = {
+                        string activateOption = "Enabled"
+                        string prim = "/RootNode"
+                        string variantSetName = "Newton"
+                    }
+                    dictionary PhysX = {
+                        string activateOption = "Enabled"
+                        string prim = "/RootNode"
+                        string variantSetName = "PhysX"
+                    }
+                }
+            }
+            string asset_location = "simready_content\\common_assets\\props_endeavor_kitchen\\cleaning_dishSoap_a01\\simready_physx_usd\\sm_cleaning_dishSoap_a01_01.usd"
+            string asset_type = "prop"
+            string uuid = "42fcbacf-c69c-43ae-acd4-03f341889108"
+            dictionary validation = {
+                string profile = "Robotics-Prop"
+                string profile_version = "3.1.0"
+                dictionary validated_features = {
+                    dictionary "2026-02-20" = {
+                        dictionary FET000_CORE = {
+                            string dependencies = "[]"
+                            bool passed = 1
+                            string version = "0.1.0"
+                        }
+                        dictionary FET001_BASE_NEUTRAL = {
+                            string dependencies = "[]"
+                            string "failing requirements" = "['AA.001']"
+                            bool passed = 0
+                            string version = "0.1.0"
+                        }
+                        dictionary FET003_BASE_NEUTRAL = {
+                            string dependencies = "[]"
+                            bool passed = 1
+                            string version = "0.1.0"
+                        }
+                        dictionary FET003_BASE_PHYSX = {
+                            string dependencies = "[{'FET003_BASE_NEUTRAL': {'version': '0.1.0'}}]"
+                            bool passed = 1
+                            string version = "0.1.0"
+                        }
+                        dictionary FET004_BASE_NEUTRAL = {
+                            string dependencies = "[{'FET003_BASE_NEUTRAL': {'version': '0.1.0'}}]"
+                            bool passed = 1
+                            string version = "0.1.0"
+                        }
+                        dictionary FET004_BASE_PHYSX = {
+                            string dependencies = "[{'FET003_BASE_PHYSX': {'version': '0.1.0'}}, {'FET004_BASE_NEUTRAL': {'version': '0.1.0'}}]"
+                            bool passed = 1
+                            string version = "0.1.0"
+                        }
+                        dictionary FET005_BASE_NEUTRAL = {
+                            string dependencies = "[]"
+                            bool passed = 1
+                            string version = "0.1.0"
+                        }
+                        dictionary FET006_BASE_MDL = {
+                            string dependencies = "[]"
+                            string "failing requirements" = "['VM.MDL.001']"
+                            bool passed = 0
+                            string version = "0.1.0"
+                        }
+                    }
+                }
+            }
+        }
+        string asset_dir = "simready_content/common_assets/props_endeavor_kitchen/cleaning_dishSoap_a01"
+        string asset_name = "cleaning_dishSoap_a01"
+        string asset_type = "prop"
+        string profile = "Prop-Robotics-Neutral"
+        string source_file = "../simready_usd/sm_cleaning_dishSoap_a01_01.usd"
+        string usd_date_generated = "2026-02-20 15:38:44"
+        bool used_dsrs_exporter = 1
+    }
+    defaultPrim = "RootNode"
+    doc = "PhysX overrides for sm_cleaning_dishSoap_a01_01.usd"
+    metersPerUnit = 1
+    upAxis = "Z"
+)
+
+over "RootNode"
+{
+    over "Geometry"
+    {
+        over "bottle_01_obj_00" (
+            instanceable = true
+            references = @../instances_physx.usda@</Instances/bottle_01_mesh_00>
+        )
+        {
+        }
+
+        over "detergent_01_obj_00" (
+            instanceable = true
+            references = @../instances_physx.usda@</Instances/detergent_01_mesh_00>
+        )
+        {
+        }
+
+        over "details_01_obj_00" (
+            instanceable = true
+            references = @../instances_physx.usda@</Instances/details_01_mesh_00>
+        )
+        {
+        }
+    }
+}
+

cleaning_dishSoap_a01/simready_usd/payloads/Physics/physics.usda

@@ -1,3 +1,186 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:4048e34f1c7b81f8d10489928321da5f79663583c6a9bb0fd30ebd10106a0298
-size 7118
+#usda 1.0
+(
+    customLayerData = {
+        dictionary SimReady_Metadata = {
+            dictionary Variants = {
+                dictionary Physics = {
+                    dictionary MuJoCo = {
+                        string activateOption = "Enabled"
+                        string prim = "/RootNode"
+                        string variantSetName = "MuJoCo"
+                    }
+                    dictionary Newton = {
+                        string activateOption = "Enabled"
+                        string prim = "/RootNode"
+                        string variantSetName = "Newton"
+                    }
+                    dictionary PhysX = {
+                        string activateOption = "Enabled"
+                        string prim = "/RootNode"
+                        string variantSetName = "PhysX"
+                    }
+                }
+            }
+            string asset_location = "simready_content\\common_assets\\props_endeavor_kitchen\\cleaning_dishSoap_a01\\simready_physx_usd\\sm_cleaning_dishSoap_a01_01.usd"
+            string asset_type = "prop"
+            string uuid = "42fcbacf-c69c-43ae-acd4-03f341889108"
+            dictionary validation = {
+                string profile = "Robotics-Prop"
+                string profile_version = "3.1.0"
+                dictionary validated_features = {
+                    dictionary "2026-02-20" = {
+                        dictionary FET000_CORE = {
+                            string dependencies = "[]"
+                            bool passed = 1
+                            string version = "0.1.0"
+                        }
+                        dictionary FET001_BASE_NEUTRAL = {
+                            string dependencies = "[]"
+                            string "failing requirements" = "['AA.001']"
+                            bool passed = 0
+                            string version = "0.1.0"
+                        }
+                        dictionary FET003_BASE_NEUTRAL = {
+                            string dependencies = "[]"
+                            bool passed = 1
+                            string version = "0.1.0"
+                        }
+                        dictionary FET003_BASE_PHYSX = {
+                            string dependencies = "[{'FET003_BASE_NEUTRAL': {'version': '0.1.0'}}]"
+                            bool passed = 1
+                            string version = "0.1.0"
+                        }
+                        dictionary FET004_BASE_NEUTRAL = {
+                            string dependencies = "[{'FET003_BASE_NEUTRAL': {'version': '0.1.0'}}]"
+                            bool passed = 1
+                            string version = "0.1.0"
+                        }
+                        dictionary FET004_BASE_PHYSX = {
+                            string dependencies = "[{'FET003_BASE_PHYSX': {'version': '0.1.0'}}, {'FET004_BASE_NEUTRAL': {'version': '0.1.0'}}]"
+                            bool passed = 1
+                            string version = "0.1.0"
+                        }
+                        dictionary FET005_BASE_NEUTRAL = {
+                            string dependencies = "[]"
+                            bool passed = 1
+                            string version = "0.1.0"
+                        }
+                        dictionary FET006_BASE_MDL = {
+                            string dependencies = "[]"
+                            string "failing requirements" = "['VM.MDL.001']"
+                            bool passed = 0
+                            string version = "0.1.0"
+                        }
+                    }
+                }
+            }
+        }
+        string asset_dir = "simready_content/common_assets/props_endeavor_kitchen/cleaning_dishSoap_a01"
+        string asset_name = "cleaning_dishSoap_a01"
+        string asset_type = "prop"
+        string profile = "Prop-Robotics-Neutral"
+        string source_file = "../simready_usd/sm_cleaning_dishSoap_a01_01.usd"
+        string usd_date_generated = "2026-02-20 15:38:44"
+        bool used_dsrs_exporter = 1
+    }
+    defaultPrim = "RootNode"
+    metersPerUnit = 1
+    upAxis = "Z"
+)
+
+over "RootNode"
+{
+    over "Geometry"
+    {
+        over "bottle_01_obj_00" (
+            prepend apiSchemas = ["PhysicsRigidBodyAPI"]
+        )
+        {
+        }
+
+        over "detergent_01_obj_00" (
+            prepend apiSchemas = ["PhysicsRigidBodyAPI"]
+        )
+        {
+        }
+
+        over "details_01_obj_00" (
+            prepend apiSchemas = ["PhysicsRigidBodyAPI"]
+        )
+        {
+        }
+    }
+
+    over "PhysicsMaterials"
+    {
+        over "physics_mat_m_trans__plastic__clean_a01" (
+            prepend apiSchemas = ["PhysicsMaterialAPI"]
+        )
+        {
+            float physics:density = 950
+            float physics:dynamicFriction = 0.4
+            float physics:restitution = 0.4
+            float physics:staticFriction = 0.4
+        }
+
+        over "physics_mat_m_trans__salt_water__detergent_a01" (
+            prepend apiSchemas = ["PhysicsMaterialAPI"]
+        )
+        {
+            float physics:density = 1000
+            float physics:dynamicFriction = 0
+            float physics:restitution = 0
+            float physics:staticFriction = 0
+        }
+
+        over "physics_mat_m_opaque__paper__cleaning_dishSoap_a01" (
+            prepend apiSchemas = ["PhysicsMaterialAPI"]
+        )
+        {
+            float physics:density = 900
+            float physics:dynamicFriction = 0.45
+            float physics:restitution = 0.12
+            float physics:staticFriction = 0.5
+        }
+
+        over "physics_mat_m_opaque__plastic__green_a01" (
+            prepend apiSchemas = ["PhysicsMaterialAPI"]
+        )
+        {
+            float physics:density = 950
+            float physics:dynamicFriction = 0.4
+            float physics:restitution = 0.4
+            float physics:staticFriction = 0.4
+        }
+    }
+
+    over "Joints"
+    {
+        def PhysicsFixedJoint "joint_detergent_01_joint_00"
+        {
+            custom rel physics:body0
+            prepend rel physics:body0 = </RootNode/Geometry/bottle_01_obj_00/bottle_01_mesh_00>
+            custom rel physics:body1
+            prepend rel physics:body1 = </RootNode/Geometry/detergent_01_obj_00/detergent_01_mesh_00>
+            float physics:breakForce = inf
+            float physics:breakTorque = inf
+            point3f physics:localPos0 = (0, 0, 0)
+            point3f physics:localPos1 = (0, 0, 0)
+            quatf physics:localRot0 = (1, 0, 0, 0)
+        }
+
+        def PhysicsFixedJoint "joint_details_01_joint_00"
+        {
+            custom rel physics:body0
+            prepend rel physics:body0 = </RootNode/Geometry/bottle_01_obj_00/bottle_01_mesh_00>
+            custom rel physics:body1
+            prepend rel physics:body1 = </RootNode/Geometry/details_01_obj_00/details_01_mesh_00>
+            float physics:breakForce = inf
+            float physics:breakTorque = inf
+            point3f physics:localPos0 = (0, 0, 0)
+            point3f physics:localPos1 = (0, 0, 0)
+            quatf physics:localRot0 = (1, 0, 0, 0)
+        }
+    }
+}
+

cleaning_dishSoap_a01/simready_usd/payloads/base.usda

@@ -1,3 +1,315 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:453903d47000aea6a7aa7b5ad8a996aa665429768ceab9ed73f5fd3f49314905
-size 13244
+#usda 1.0
+(
+    customLayerData = {
+        dictionary SimReady_Metadata = {
+            dictionary Variants = {
+                dictionary Physics = {
+                    dictionary MuJoCo = {
+                        string activateOption = "Enabled"
+                        string prim = "/RootNode"
+                        string variantSetName = "MuJoCo"
+                    }
+                    dictionary Newton = {
+                        string activateOption = "Enabled"
+                        string prim = "/RootNode"
+                        string variantSetName = "Newton"
+                    }
+                    dictionary PhysX = {
+                        string activateOption = "Enabled"
+                        string prim = "/RootNode"
+                        string variantSetName = "PhysX"
+                    }
+                }
+            }
+            string asset_location = "simready_content\\common_assets\\props_endeavor_kitchen\\cleaning_dishSoap_a01\\simready_physx_usd\\sm_cleaning_dishSoap_a01_01.usd"
+            string asset_type = "prop"
+            string uuid = "42fcbacf-c69c-43ae-acd4-03f341889108"
+            dictionary validation = {
+                string profile = "Robotics-Prop"
+                string profile_version = "3.1.0"
+                dictionary validated_features = {
+                    dictionary "2026-02-20" = {
+                        dictionary FET000_CORE = {
+                            string dependencies = "[]"
+                            bool passed = 1
+                            string version = "0.1.0"
+                        }
+                        dictionary FET001_BASE_NEUTRAL = {
+                            string dependencies = "[]"
+                            string "failing requirements" = "['AA.001']"
+                            bool passed = 0
+                            string version = "0.1.0"
+                        }
+                        dictionary FET003_BASE_NEUTRAL = {
+                            string dependencies = "[]"
+                            bool passed = 1
+                            string version = "0.1.0"
+                        }
+                        dictionary FET003_BASE_PHYSX = {
+                            string dependencies = "[{'FET003_BASE_NEUTRAL': {'version': '0.1.0'}}]"
+                            bool passed = 1
+                            string version = "0.1.0"
+                        }
+                        dictionary FET004_BASE_NEUTRAL = {
+                            string dependencies = "[{'FET003_BASE_NEUTRAL': {'version': '0.1.0'}}]"
+                            bool passed = 1
+                            string version = "0.1.0"
+                        }
+                        dictionary FET004_BASE_PHYSX = {
+                            string dependencies = "[{'FET003_BASE_PHYSX': {'version': '0.1.0'}}, {'FET004_BASE_NEUTRAL': {'version': '0.1.0'}}]"
+                            bool passed = 1
+                            string version = "0.1.0"
+                        }
+                        dictionary FET005_BASE_NEUTRAL = {
+                            string dependencies = "[]"
+                            bool passed = 1
+                            string version = "0.1.0"
+                        }
+                        dictionary FET006_BASE_MDL = {
+                            string dependencies = "[]"
+                            string "failing requirements" = "['VM.MDL.001']"
+                            bool passed = 0
+                            string version = "0.1.0"
+                        }
+                    }
+                }
+            }
+        }
+        string asset_dir = "simready_content/common_assets/props_endeavor_kitchen/cleaning_dishSoap_a01"
+        string asset_name = "cleaning_dishSoap_a01"
+        string asset_type = "prop"
+        string profile = "Prop-Robotics-Neutral"
+        string source_file = "../simready_usd/sm_cleaning_dishSoap_a01_01.usd"
+        string usd_date_generated = "2026-02-20 15:38:44"
+        bool used_dsrs_exporter = 1
+    }
+    defaultPrim = "RootNode"
+    metersPerUnit = 1
+    subLayers = [
+        @./Physics/physics.usda@
+    ]
+    upAxis = "Z"
+)
+
+def Xform "RootNode" (
+    prepend apiSchemas = ["SemanticsLabelsAPI:wikidata_class", "SemanticsAPI:wikidata_class", "SemanticsLabelsAPI:wikidata_qcode", "SemanticsAPI:wikidata_qcode"]
+    assetInfo = {
+        asset identifier = @../sm_cleaning_dishSoap_a01_01.usd@
+        string name = "sm_cleaning_dishSoap_a01_01"
+    }
+    customData = {
+        dictionary Blender = {
+            bool generated = 1
+        }
+        dictionary omni = {
+            dictionary cip = {
+                string timestamp = "2026-02-20 15:41:07"
+                string type = "prop"
+                dictionary validator = {
+                    string[] rules = []
+                    string version = "1.1.6"
+                }
+            }
+        }
+    }
+    kind = "component"
+)
+{
+    custom string omni:simready:documentation = "salt of fatty acids, used for washing and cleaning"
+    string semantic:wikidata_class:params:semanticData = "soap"
+    string semantic:wikidata_class:params:semanticType = "wikidata_class"
+    string semantic:wikidata_qcode:params:semanticData = "Q34396"
+    string semantic:wikidata_qcode:params:semanticType = "wikidata_qcode"
+    token[] semantics:labels:wikidata_class = ["soap"]
+    token[] semantics:labels:wikidata_qcode = ["Q34396"]
+
+    def Scope "Materials"
+    {
+    }
+
+    def Scope "Geometry"
+    {
+        def Xform "bottle_01_obj_00" (
+            prepend apiSchemas = ["MaterialBindingAPI"]
+            instanceable = true
+            prepend references = @./instances.usda@</Instances/bottle_01_mesh_00>
+        )
+        {
+            custom bool _renamed = 1
+            custom rel material:binding:physics = </RootNode/PhysicsMaterials/physics_mat_m_trans__plastic__clean_a01>
+            custom double4 pxr:physics:principalAxes = (1, 0, 0, 0)
+            custom float3 pxr:usd:physics_centerofmass = (-0.0014476301, 0.003011701, 0.14695129)
+            custom double3 pxr:usd:physics_inertia = (0.0027960679458153845, 0.002552092368028717, 0.0005573508029538952)
+            custom double pxr:usd:physics_mass = 0.34162137025757444
+        }
+
+        def Xform "detergent_01_obj_00" (
+            prepend apiSchemas = ["MaterialBindingAPI"]
+            instanceable = true
+            prepend references = @./instances.usda@</Instances/detergent_01_mesh_00>
+        )
+        {
+            custom bool _renamed = 1
+            rel material:binding:physics = </RootNode/PhysicsMaterials/physics_mat_m_trans__salt_water__detergent_a01> (
+                bindMaterialAs = "weakerThanDescendants"
+            )
+            custom double4 pxr:physics:principalAxes = (1, 0, 0, 0)
+            custom float3 pxr:usd:physics_centerofmass = (-0.0014416715, 0.0026051675, 0.11761771)
+            custom double3 pxr:usd:physics_inertia = (0.04213057409530404, 0.037070392864663994, 0.010725896919270325)
+            custom double pxr:usd:physics_mass = 6.825805987728373
+        }
+
+        def Xform "details_01_obj_00" (
+            prepend apiSchemas = ["MaterialBindingAPI"]
+            instanceable = true
+            prepend references = @./instances.usda@</Instances/details_01_mesh_00>
+        )
+        {
+            custom bool _renamed = 1
+            custom rel material:binding:physics = </RootNode/PhysicsMaterials/physics_mat_m_opaque__paper__cleaning_dishSoap_a01>
+            custom double4 pxr:physics:principalAxes = (1, 0, 0, 0)
+            custom float3 pxr:usd:physics_centerofmass = (-0.001441746, 0.00026729633, 0.14890617)
+            custom double3 pxr:usd:physics_inertia = (0.00023329909935172085, 0.00023401313626193978, 0.000020291996989652422)
+            custom double pxr:usd:physics_mass = 0.026991625148998093
+        }
+    }
+
+    def Scope "ReferencePrims"
+    {
+        def Xform "detergent_01_joint_00" (
+            prepend apiSchemas = ["CollectionAPI:detergent_01_joint_00"]
+        )
+        {
+            rel collection:detergent_01_joint_00:includes = </RootNode/Geometry/detergent_01_obj_00>
+            custom double pxr:usd:physics:breakForce = inf
+            custom double pxr:usd:physics:breakTorque = inf
+            custom string pxr:usd:physics:joint:body0 = "bottle_01_obj_00"
+            custom string pxr:usd:physics:joint:body1 = "detergent_01_obj_00"
+            custom string pxr:usd:physics:joint:type = "fixed"
+            custom double3 pxr:usd:physics:localPos0 = (0, 0, 0)
+            custom double3 pxr:usd:physics:localPos1 = (0, 0, 0)
+            custom double4 pxr:usd:physics:localRot0 = (1, 0, 0, 0)
+            custom double4 pxr:usd:physics:localRot1 = (1, 0, 0, 0)
+        }
+
+        def Xform "details_01_joint_00" (
+            prepend apiSchemas = ["CollectionAPI:details_01_joint_00"]
+        )
+        {
+            rel collection:details_01_joint_00:includes = </RootNode/Geometry/details_01_obj_00>
+            custom double pxr:usd:physics:breakForce = inf
+            custom double pxr:usd:physics:breakTorque = inf
+            custom string pxr:usd:physics:joint:body0 = "bottle_01_obj_00"
+            custom string pxr:usd:physics:joint:body1 = "details_01_obj_00"
+            custom string pxr:usd:physics:joint:type = "fixed"
+            custom double3 pxr:usd:physics:localPos0 = (0, 0, 0)
+            custom double3 pxr:usd:physics:localPos1 = (0, 0, 0)
+            custom double4 pxr:usd:physics:localRot0 = (1, 0, 0, 0)
+            custom double4 pxr:usd:physics:localRot1 = (1, 0, 0, 0)
+        }
+
+        def Xform "bottle_01_joint_00" (
+            prepend apiSchemas = ["CollectionAPI:bottle_01_joint_00"]
+        )
+        {
+            custom bool _renamed = 1
+            rel collection:bottle_01_joint_00:includes = </RootNode/Geometry/bottle_01_obj_00>
+        }
+    }
+
+    def Scope "Grasp"
+    {
+        def Xform "Grasp_Point_1_1"
+        {
+            token visibility = "invisible"
+            float3 xformOp:rotateXYZ = (0, -0, -90.005264)
+            float3 xformOp:scale = (1, 1, 1)
+            double3 xformOp:translate = (0.00004589557647705078, 0.08284729719161987, 0.11472232639789581)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:rotateXYZ", "xformOp:scale"]
+        }
+
+        def Xform "Grasp_Point_1_2"
+        {
+            token visibility = "invisible"
+            float3 xformOp:rotateXYZ = (0, -0, -90.005264)
+            float3 xformOp:scale = (1, 1, 1)
+            double3 xformOp:translate = (-0.00004589557647705078, -0.08489719033241272, 0.11472232639789581)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:rotateXYZ", "xformOp:scale"]
+        }
+
+        def Xform "grasp_identifier"
+        {
+            custom int intersection_face_index = 8767
+            custom float3 intersection_location = (0.000029654206, 0.053166874, 0.11472233)
+            custom float3 intersection_normal = (0.019360835, 0.9908818, 0.13333574)
+            custom string intersection_object = "bottle_01_obj_00"
+            custom bool intersections_dirty = 1
+            uniform token purpose = "guide"
+            token visibility = "invisible"
+            float3 xformOp:rotateXYZ = (0, 0, 0)
+            float3 xformOp:scale = (1, 1, 1)
+            double3 xformOp:translate = (0, 0, 0)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:rotateXYZ", "xformOp:scale"]
+
+            def BasisCurves "grasp_identifier_curve"
+            {
+                int[] curveVertexCounts = [2]
+                float3[] extent = [(-0.0050458955, -0.08989719, 0.10972232), (0.0050458955, 0.0878473, 0.11972233)]
+                point3f[] points = [(0.000045895576, 0.0828473, 0.11472233), (-0.000045895576, -0.08489719, 0.11472233)]
+                float[] primvars:tilt = [0, 0] (
+                    interpolation = "vertex"
+                )
+                uniform token purpose = "guide"
+                uniform token type = "linear"
+                float[] widths = [0.01, 0.01] (
+                    interpolation = "vertex"
+                )
+                uniform token wrap = "nonperiodic"
+                float3 xformOp:rotateXYZ
+                float3 xformOp:scale
+                double3 xformOp:translate
+                uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:rotateXYZ", "xformOp:scale"]
+            }
+        }
+    }
+
+    def Scope "PhysicsMaterials"
+    {
+        def Material "physics_mat_m_trans__plastic__clean_a01" (
+            prepend apiSchemas = ["SemanticsLabelsAPI:material"]
+        )
+        {
+            token[] semantics:labels:material = ["plastic"]
+        }
+
+        def Material "physics_mat_m_trans__salt_water__detergent_a01" (
+            prepend apiSchemas = ["SemanticsLabelsAPI:material"]
+        )
+        {
+            token[] semantics:labels:material = ["salt_water"]
+        }
+
+        def Material "physics_mat_m_opaque__paper__cleaning_dishSoap_a01" (
+            prepend apiSchemas = ["SemanticsLabelsAPI:material"]
+        )
+        {
+            token[] semantics:labels:material = ["paper"]
+        }
+
+        def Material "physics_mat_m_opaque__plastic__green_a01" (
+            prepend apiSchemas = ["SemanticsLabelsAPI:material"]
+        )
+        {
+            token[] semantics:labels:material = ["plastic"]
+        }
+    }
+
+    def Scope "Joints"
+    {
+    }
+
+    def Scope "VisualMaterials"
+    {
+    }
+}
+

cleaning_dishSoap_a01/simready_usd/payloads/instances.usda

@@ -1,3 +1,205 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:dde9c1d300d4c217473db644175a95dbf9ab0a9e2186e04d1f0539cf29126558
-size 8762
+#usda 1.0
+(
+    customLayerData = {
+        dictionary SimReady_Metadata = {
+            dictionary Variants = {
+                dictionary Physics = {
+                    dictionary MuJoCo = {
+                        string activateOption = "Enabled"
+                        string prim = "/RootNode"
+                        string variantSetName = "MuJoCo"
+                    }
+                    dictionary Newton = {
+                        string activateOption = "Enabled"
+                        string prim = "/RootNode"
+                        string variantSetName = "Newton"
+                    }
+                    dictionary PhysX = {
+                        string activateOption = "Enabled"
+                        string prim = "/RootNode"
+                        string variantSetName = "PhysX"
+                    }
+                }
+            }
+            string asset_location = "simready_content\\common_assets\\props_endeavor_kitchen\\cleaning_dishSoap_a01\\simready_physx_usd\\sm_cleaning_dishSoap_a01_01.usd"
+            string asset_type = "prop"
+            string uuid = "42fcbacf-c69c-43ae-acd4-03f341889108"
+            dictionary validation = {
+                string profile = "Robotics-Prop"
+                string profile_version = "3.1.0"
+                dictionary validated_features = {
+                    dictionary "2026-02-20" = {
+                        dictionary FET000_CORE = {
+                            string dependencies = "[]"
+                            bool passed = 1
+                            string version = "0.1.0"
+                        }
+                        dictionary FET001_BASE_NEUTRAL = {
+                            string dependencies = "[]"
+                            string "failing requirements" = "['AA.001']"
+                            bool passed = 0
+                            string version = "0.1.0"
+                        }
+                        dictionary FET003_BASE_NEUTRAL = {
+                            string dependencies = "[]"
+                            bool passed = 1
+                            string version = "0.1.0"
+                        }
+                        dictionary FET003_BASE_PHYSX = {
+                            string dependencies = "[{'FET003_BASE_NEUTRAL': {'version': '0.1.0'}}]"
+                            bool passed = 1
+                            string version = "0.1.0"
+                        }
+                        dictionary FET004_BASE_NEUTRAL = {
+                            string dependencies = "[{'FET003_BASE_NEUTRAL': {'version': '0.1.0'}}]"
+                            bool passed = 1
+                            string version = "0.1.0"
+                        }
+                        dictionary FET004_BASE_PHYSX = {
+                            string dependencies = "[{'FET003_BASE_PHYSX': {'version': '0.1.0'}}, {'FET004_BASE_NEUTRAL': {'version': '0.1.0'}}]"
+                            bool passed = 1
+                            string version = "0.1.0"
+                        }
+                        dictionary FET005_BASE_NEUTRAL = {
+                            string dependencies = "[]"
+                            bool passed = 1
+                            string version = "0.1.0"
+                        }
+                        dictionary FET006_BASE_MDL = {
+                            string dependencies = "[]"
+                            string "failing requirements" = "['VM.MDL.001']"
+                            bool passed = 0
+                            string version = "0.1.0"
+                        }
+                    }
+                }
+            }
+        }
+        string asset_dir = "simready_content/common_assets/props_endeavor_kitchen/cleaning_dishSoap_a01"
+        string asset_name = "cleaning_dishSoap_a01"
+        string asset_type = "prop"
+        string profile = "Prop-Robotics-Neutral"
+        string source_file = "../simready_usd/sm_cleaning_dishSoap_a01_01.usd"
+        string usd_date_generated = "2026-02-20 15:38:44"
+        bool used_dsrs_exporter = 1
+    }
+    metersPerUnit = 1
+    upAxis = "Z"
+)
+
+def Scope "Instances"
+{
+    def Xform "bottle_01_mesh_00" (
+        prepend references = @./geometries.usd@</Geometries/bottle_01_mesh_00>
+    )
+    {
+        over "bottle_01_mesh_00" (
+            apiSchemas = ["MaterialBindingAPI", "PhysicsCollisionAPI", "PhysicsMassAPI"]
+        )
+        {
+            custom rel material:binding
+            prepend rel material:binding = </Instances/bottle_01_mesh_00/VisualMaterials/m_trans__plastic__clean_a01>
+            point3f physics:centerOfMass = (-0.0014476301, 0.003011701, 0.14695129)
+            float3 physics:diagonalInertia = (0.0027960679, 0.0025520923, 0.0005573508)
+            float physics:mass = 0.34162137
+            quatf physics:principalAxes = (1, 0, 0, 0)
+            bool primvars:doNotCastShadows = 1
+        }
+
+        def Scope "VisualMaterials"
+        {
+            def Material "m_trans__plastic__clean_a01" (
+                instanceable = true
+                prepend references = @./materials.usda@</Materials/m_trans__plastic__clean_a01>
+            )
+            {
+            }
+        }
+    }
+
+    def Xform "detergent_01_mesh_00" (
+        prepend references = @./geometries.usd@</Geometries/detergent_01_mesh_00>
+    )
+    {
+        over "detergent_01_mesh_00" (
+            apiSchemas = ["MaterialBindingAPI", "PhysicsCollisionAPI", "PhysicsMassAPI"]
+        )
+        {
+            custom rel material:binding
+            prepend rel material:binding = </Instances/detergent_01_mesh_00/VisualMaterials/m_trans__salt_water__detergent_a01>
+            float3 physics:centerOfMass = (-0.0014416715, 0.0026051675, 0.11761771)
+            float3 physics:diagonalInertia = (0.042130575, 0.037070394, 0.010725897)
+            float physics:mass = 6.82581
+            quatf physics:principalAxes = (1, 0, 0, 0)
+            bool primvars:doNotCastShadows = 1
+            custom float3 pxr:usd:physics_centerofmass = (-0.0014416715, 0.0026051675, 0.11761771)
+            custom double3 pxr:usd:physics_inertia = (0.04213057409530404, 0.037070392864663994, 0.010725896919270325)
+            custom double pxr:usd:physics_mass = 6.825805987728373
+            custom bool userProperties:_renamed = 1
+            custom string userProperties:blender:data_name = "Mesh"
+            custom string userProperties:blender:object_name = "detergent_01_mesh_00"
+        }
+
+        def Scope "VisualMaterials"
+        {
+            def Material "m_trans__salt_water__detergent_a01" (
+                instanceable = true
+                prepend references = @./materials.usda@</Materials/m_trans__salt_water__detergent_a01>
+            )
+            {
+            }
+        }
+    }
+
+    def Xform "details_01_mesh_00" (
+        prepend references = @./geometries.usd@</Geometries/details_01_mesh_00>
+    )
+    {
+        over "details_01_mesh_00" (
+            apiSchemas = ["MaterialBindingAPI", "PhysicsCollisionAPI", "PhysicsMassAPI"]
+        )
+        {
+            custom rel material:binding
+            prepend rel material:binding = </Instances/details_01_mesh_00/VisualMaterials/m_opaque__paper__cleaning_dishSoap_a01>
+            point3f physics:centerOfMass = (-0.001441746, 0.00026729633, 0.14890617)
+            float3 physics:diagonalInertia = (0.0002332991, 0.00023401313, 0.000020291996)
+            float physics:mass = 0.026991624
+            quatf physics:principalAxes = (1, 0, 0, 0)
+            token subsetFamily:materialBind:familyType = "nonOverlapping"
+
+            over "m_opaque__paper__cleaning_dishSoap_a01" (
+                apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                custom rel material:binding
+                prepend rel material:binding = </Instances/details_01_mesh_00/VisualMaterials/m_opaque__paper__cleaning_dishSoap_a01>
+            }
+
+            over "m_opaque__plastic__green_a01" (
+                apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                custom rel material:binding
+                prepend rel material:binding = </Instances/details_01_mesh_00/VisualMaterials/m_opaque__plastic__green_a01>
+            }
+        }
+
+        def Scope "VisualMaterials"
+        {
+            def Material "m_opaque__paper__cleaning_dishSoap_a01" (
+                instanceable = true
+                prepend references = @./materials.usda@</Materials/m_opaque__paper__cleaning_dishSoap_a01>
+            )
+            {
+            }
+
+            def Material "m_opaque__plastic__green_a01" (
+                instanceable = true
+                prepend references = @./materials.usda@</Materials/m_opaque__plastic__green_a01>
+            )
+            {
+            }
+        }
+    }
+}
+

cleaning_dishSoap_a01/simready_usd/payloads/instances_mujoco.usda

@@ -1,3 +1,215 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:dc67a01a510c16f5c23a245075500f84a06c8e493b04cc9f890f93f30f4418f5
-size 9422
+#usda 1.0
+(
+    customLayerData = {
+        dictionary SimReady_Metadata = {
+            dictionary Variants = {
+                dictionary Physics = {
+                    dictionary MuJoCo = {
+                        string activateOption = "Enabled"
+                        string prim = "/RootNode"
+                        string variantSetName = "MuJoCo"
+                    }
+                    dictionary Newton = {
+                        string activateOption = "Enabled"
+                        string prim = "/RootNode"
+                        string variantSetName = "Newton"
+                    }
+                    dictionary PhysX = {
+                        string activateOption = "Enabled"
+                        string prim = "/RootNode"
+                        string variantSetName = "PhysX"
+                    }
+                }
+            }
+            string asset_location = "simready_content\\common_assets\\props_endeavor_kitchen\\cleaning_dishSoap_a01\\simready_physx_usd\\sm_cleaning_dishSoap_a01_01.usd"
+            string asset_type = "prop"
+            string uuid = "42fcbacf-c69c-43ae-acd4-03f341889108"
+            dictionary validation = {
+                string profile = "Robotics-Prop"
+                string profile_version = "3.1.0"
+                dictionary validated_features = {
+                    dictionary "2026-02-20" = {
+                        dictionary FET000_CORE = {
+                            string dependencies = "[]"
+                            bool passed = 1
+                            string version = "0.1.0"
+                        }
+                        dictionary FET001_BASE_NEUTRAL = {
+                            string dependencies = "[]"
+                            string "failing requirements" = "['AA.001']"
+                            bool passed = 0
+                            string version = "0.1.0"
+                        }
+                        dictionary FET003_BASE_NEUTRAL = {
+                            string dependencies = "[]"
+                            bool passed = 1
+                            string version = "0.1.0"
+                        }
+                        dictionary FET003_BASE_PHYSX = {
+                            string dependencies = "[{'FET003_BASE_NEUTRAL': {'version': '0.1.0'}}]"
+                            bool passed = 1
+                            string version = "0.1.0"
+                        }
+                        dictionary FET004_BASE_NEUTRAL = {
+                            string dependencies = "[{'FET003_BASE_NEUTRAL': {'version': '0.1.0'}}]"
+                            bool passed = 1
+                            string version = "0.1.0"
+                        }
+                        dictionary FET004_BASE_PHYSX = {
+                            string dependencies = "[{'FET003_BASE_PHYSX': {'version': '0.1.0'}}, {'FET004_BASE_NEUTRAL': {'version': '0.1.0'}}]"
+                            bool passed = 1
+                            string version = "0.1.0"
+                        }
+                        dictionary FET005_BASE_NEUTRAL = {
+                            string dependencies = "[]"
+                            bool passed = 1
+                            string version = "0.1.0"
+                        }
+                        dictionary FET006_BASE_MDL = {
+                            string dependencies = "[]"
+                            string "failing requirements" = "['VM.MDL.001']"
+                            bool passed = 0
+                            string version = "0.1.0"
+                        }
+                    }
+                }
+            }
+        }
+        string asset_dir = "simready_content/common_assets/props_endeavor_kitchen/cleaning_dishSoap_a01"
+        string asset_name = "cleaning_dishSoap_a01"
+        string asset_type = "prop"
+        string profile = "Prop-Robotics-Neutral"
+        string source_file = "../simready_usd/sm_cleaning_dishSoap_a01_01.usd"
+        string usd_date_generated = "2026-02-20 15:38:44"
+        bool used_dsrs_exporter = 1
+    }
+    metersPerUnit = 1
+    upAxis = "Z"
+)
+
+def Scope "Instances"
+{
+    def Xform "bottle_01_mesh_00" (
+        prepend references = @./geometries.usd@</Geometries/bottle_01_mesh_00>
+    )
+    {
+        over "bottle_01_mesh_00" (
+            prepend apiSchemas = ["MaterialBindingAPI", "PhysicsCollisionAPI", "PhysicsMassAPI", "MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"]
+        )
+        {
+            custom rel material:binding
+            prepend rel material:binding = </Instances/bottle_01_mesh_00/VisualMaterials/m_trans__plastic__clean_a01>
+            uniform int mjc:group = 2
+            uniform token mjc:inertia = "convex"
+            uniform int mjc:maxhullvert = -1
+            uniform token physics:approximation = "convexHull"
+            point3f physics:centerOfMass = (-0.0014476301, 0.003011701, 0.14695129)
+            float3 physics:diagonalInertia = (0.0027960679, 0.0025520923, 0.0005573508)
+            float physics:mass = 0.34162137
+            quatf physics:principalAxes = (1, 0, 0, 0)
+            bool primvars:doNotCastShadows = 1
+        }
+
+        def Scope "VisualMaterials"
+        {
+            def Material "m_trans__plastic__clean_a01" (
+                instanceable = true
+                prepend references = @./materials.usda@</Materials/m_trans__plastic__clean_a01>
+            )
+            {
+            }
+        }
+    }
+
+    def Xform "detergent_01_mesh_00" (
+        prepend references = @./geometries.usd@</Geometries/detergent_01_mesh_00>
+    )
+    {
+        over "detergent_01_mesh_00" (
+            prepend apiSchemas = ["MaterialBindingAPI", "PhysicsCollisionAPI", "PhysicsMassAPI", "MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"]
+        )
+        {
+            custom rel material:binding
+            prepend rel material:binding = </Instances/detergent_01_mesh_00/VisualMaterials/m_trans__salt_water__detergent_a01>
+            uniform int mjc:group = 2
+            uniform token mjc:inertia = "convex"
+            uniform int mjc:maxhullvert = -1
+            uniform token physics:approximation = "convexHull"
+            float physics:mass = 6.82581
+            bool primvars:doNotCastShadows = 1
+            custom double4 pxr:physics:principalAxes = (1, 0, 0, 0)
+            custom float3 pxr:usd:physics_centerofmass = (-0.0014416715, 0.0026051675, 0.11761771)
+            custom double3 pxr:usd:physics_inertia = (0.04213057409530404, 0.037070392864663994, 0.010725896919270325)
+            custom double pxr:usd:physics_mass = 6.825805987728373
+            custom bool userProperties:_renamed = 1
+            custom string userProperties:blender:data_name = "Mesh"
+            custom string userProperties:blender:object_name = "detergent_01_mesh_00"
+        }
+
+        def Scope "VisualMaterials"
+        {
+            def Material "m_trans__salt_water__detergent_a01" (
+                instanceable = true
+                prepend references = @./materials.usda@</Materials/m_trans__salt_water__detergent_a01>
+            )
+            {
+            }
+        }
+    }
+
+    def Xform "details_01_mesh_00" (
+        prepend references = @./geometries.usd@</Geometries/details_01_mesh_00>
+    )
+    {
+        over "details_01_mesh_00" (
+            prepend apiSchemas = ["MaterialBindingAPI", "PhysicsCollisionAPI", "PhysicsMassAPI", "MjcCollisionAPI", "PhysicsMeshCollisionAPI", "MjcMeshCollisionAPI"]
+        )
+        {
+            custom rel material:binding
+            prepend rel material:binding = </Instances/details_01_mesh_00/VisualMaterials/m_opaque__paper__cleaning_dishSoap_a01>
+            uniform int mjc:group = 2
+            uniform token mjc:inertia = "convex"
+            uniform int mjc:maxhullvert = -1
+            uniform token physics:approximation = "convexHull"
+            point3f physics:centerOfMass = (-0.001441746, 0.00026729633, 0.14890617)
+            float3 physics:diagonalInertia = (0.0002332991, 0.00023401313, 0.000020291996)
+            float physics:mass = 0.026991624
+            quatf physics:principalAxes = (1, 0, 0, 0)
+            token subsetFamily:materialBind:familyType = "nonOverlapping"
+
+            over "m_opaque__paper__cleaning_dishSoap_a01" (
+                apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                custom rel material:binding
+                prepend rel material:binding = </Instances/details_01_mesh_00/VisualMaterials/m_opaque__paper__cleaning_dishSoap_a01>
+            }
+
+            over "m_opaque__plastic__green_a01" (
+                apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                custom rel material:binding
+                prepend rel material:binding = </Instances/details_01_mesh_00/VisualMaterials/m_opaque__plastic__green_a01>
+            }
+        }
+
+        def Scope "VisualMaterials"
+        {
+            def Material "m_opaque__paper__cleaning_dishSoap_a01" (
+                instanceable = true
+                prepend references = @./materials.usda@</Materials/m_opaque__paper__cleaning_dishSoap_a01>
+            )
+            {
+            }
+
+            def Material "m_opaque__plastic__green_a01" (
+                instanceable = true
+                prepend references = @./materials.usda@</Materials/m_opaque__plastic__green_a01>
+            )
+            {
+            }
+        }
+    }
+}
+

cleaning_dishSoap_a01/simready_usd/payloads/instances_newton.usda

@@ -1,3 +1,209 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:15fc40dde07ee269e631855480946b79b0486badc4375f2269d5590a6db066bf
-size 8975
+#usda 1.0
+(
+    customLayerData = {
+        dictionary SimReady_Metadata = {
+            dictionary Variants = {
+                dictionary Physics = {
+                    dictionary MuJoCo = {
+                        string activateOption = "Enabled"
+                        string prim = "/RootNode"
+                        string variantSetName = "MuJoCo"
+                    }
+                    dictionary Newton = {
+                        string activateOption = "Enabled"
+                        string prim = "/RootNode"
+                        string variantSetName = "Newton"
+                    }
+                    dictionary PhysX = {
+                        string activateOption = "Enabled"
+                        string prim = "/RootNode"
+                        string variantSetName = "PhysX"
+                    }
+                }
+            }
+            string asset_location = "simready_content\\common_assets\\props_endeavor_kitchen\\cleaning_dishSoap_a01\\simready_physx_usd\\sm_cleaning_dishSoap_a01_01.usd"
+            string asset_type = "prop"
+            string uuid = "42fcbacf-c69c-43ae-acd4-03f341889108"
+            dictionary validation = {
+                string profile = "Robotics-Prop"
+                string profile_version = "3.1.0"
+                dictionary validated_features = {
+                    dictionary "2026-02-20" = {
+                        dictionary FET000_CORE = {
+                            string dependencies = "[]"
+                            bool passed = 1
+                            string version = "0.1.0"
+                        }
+                        dictionary FET001_BASE_NEUTRAL = {
+                            string dependencies = "[]"
+                            string "failing requirements" = "['AA.001']"
+                            bool passed = 0
+                            string version = "0.1.0"
+                        }
+                        dictionary FET003_BASE_NEUTRAL = {
+                            string dependencies = "[]"
+                            bool passed = 1
+                            string version = "0.1.0"
+                        }
+                        dictionary FET003_BASE_PHYSX = {
+                            string dependencies = "[{'FET003_BASE_NEUTRAL': {'version': '0.1.0'}}]"
+                            bool passed = 1
+                            string version = "0.1.0"
+                        }
+                        dictionary FET004_BASE_NEUTRAL = {
+                            string dependencies = "[{'FET003_BASE_NEUTRAL': {'version': '0.1.0'}}]"
+                            bool passed = 1
+                            string version = "0.1.0"
+                        }
+                        dictionary FET004_BASE_PHYSX = {
+                            string dependencies = "[{'FET003_BASE_PHYSX': {'version': '0.1.0'}}, {'FET004_BASE_NEUTRAL': {'version': '0.1.0'}}]"
+                            bool passed = 1
+                            string version = "0.1.0"
+                        }
+                        dictionary FET005_BASE_NEUTRAL = {
+                            string dependencies = "[]"
+                            bool passed = 1
+                            string version = "0.1.0"
+                        }
+                        dictionary FET006_BASE_MDL = {
+                            string dependencies = "[]"
+                            string "failing requirements" = "['VM.MDL.001']"
+                            bool passed = 0
+                            string version = "0.1.0"
+                        }
+                    }
+                }
+            }
+        }
+        string asset_dir = "simready_content/common_assets/props_endeavor_kitchen/cleaning_dishSoap_a01"
+        string asset_name = "cleaning_dishSoap_a01"
+        string asset_type = "prop"
+        string profile = "Prop-Robotics-Neutral"
+        string source_file = "../simready_usd/sm_cleaning_dishSoap_a01_01.usd"
+        string usd_date_generated = "2026-02-20 15:38:44"
+        bool used_dsrs_exporter = 1
+    }
+    metersPerUnit = 1
+    upAxis = "Z"
+)
+
+def Scope "Instances"
+{
+    def Xform "bottle_01_mesh_00" (
+        prepend references = @./geometries.usd@</Geometries/bottle_01_mesh_00>
+    )
+    {
+        over "bottle_01_mesh_00" (
+            delete apiSchemas = ["NewtonMeshCollisionAPI"]
+            prepend apiSchemas = ["MaterialBindingAPI", "PhysicsCollisionAPI", "PhysicsMassAPI", "NewtonCollisionAPI", "PhysicsMeshCollisionAPI", "NewtonSDFCollisionAPI"]
+        )
+        {
+            custom rel material:binding
+            prepend rel material:binding = </Instances/bottle_01_mesh_00/VisualMaterials/m_trans__plastic__clean_a01>
+            float newton:contactGap = 0
+            point3f physics:centerOfMass = (-0.0014476301, 0.003011701, 0.14695129)
+            float3 physics:diagonalInertia = (0.0027960679, 0.0025520923, 0.0005573508)
+            float physics:mass = 0.34162137
+            quatf physics:principalAxes = (1, 0, 0, 0)
+            bool primvars:doNotCastShadows = 1
+        }
+
+        def Scope "VisualMaterials"
+        {
+            def Material "m_trans__plastic__clean_a01" (
+                instanceable = true
+                prepend references = @./materials.usda@</Materials/m_trans__plastic__clean_a01>
+            )
+            {
+            }
+        }
+    }
+
+    def Xform "detergent_01_mesh_00" (
+        prepend references = @./geometries.usd@</Geometries/detergent_01_mesh_00>
+    )
+    {
+        over "detergent_01_mesh_00" (
+            delete apiSchemas = ["NewtonMeshCollisionAPI"]
+            prepend apiSchemas = ["MaterialBindingAPI", "PhysicsCollisionAPI", "PhysicsMassAPI", "NewtonCollisionAPI", "PhysicsMeshCollisionAPI", "NewtonSDFCollisionAPI"]
+        )
+        {
+            custom rel material:binding
+            prepend rel material:binding = </Instances/detergent_01_mesh_00/VisualMaterials/m_trans__salt_water__detergent_a01>
+            float newton:contactGap = 0
+            float physics:mass = 6.82581
+            bool primvars:doNotCastShadows = 1
+            custom double4 pxr:physics:principalAxes = (1, 0, 0, 0)
+            custom float3 pxr:usd:physics_centerofmass = (-0.0014416715, 0.0026051675, 0.11761771)
+            custom double3 pxr:usd:physics_inertia = (0.04213057409530404, 0.037070392864663994, 0.010725896919270325)
+            custom double pxr:usd:physics_mass = 6.825805987728373
+            custom bool userProperties:_renamed = 1
+            custom string userProperties:blender:data_name = "Mesh"
+            custom string userProperties:blender:object_name = "detergent_01_mesh_00"
+        }
+
+        def Scope "VisualMaterials"
+        {
+            def Material "m_trans__salt_water__detergent_a01" (
+                instanceable = true
+                prepend references = @./materials.usda@</Materials/m_trans__salt_water__detergent_a01>
+            )
+            {
+            }
+        }
+    }
+
+    def Xform "details_01_mesh_00" (
+        prepend references = @./geometries.usd@</Geometries/details_01_mesh_00>
+    )
+    {
+        over "details_01_mesh_00" (
+            delete apiSchemas = ["NewtonMeshCollisionAPI"]
+            prepend apiSchemas = ["MaterialBindingAPI", "PhysicsCollisionAPI", "PhysicsMassAPI", "NewtonCollisionAPI", "PhysicsMeshCollisionAPI", "NewtonSDFCollisionAPI"]
+        )
+        {
+            custom rel material:binding
+            prepend rel material:binding = </Instances/details_01_mesh_00/VisualMaterials/m_opaque__paper__cleaning_dishSoap_a01>
+            float newton:contactGap = 0
+            point3f physics:centerOfMass = (-0.001441746, 0.00026729633, 0.14890617)
+            float3 physics:diagonalInertia = (0.0002332991, 0.00023401313, 0.000020291996)
+            float physics:mass = 0.026991624
+            quatf physics:principalAxes = (1, 0, 0, 0)
+            token subsetFamily:materialBind:familyType = "nonOverlapping"
+
+            over "m_opaque__paper__cleaning_dishSoap_a01" (
+                apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                custom rel material:binding
+                prepend rel material:binding = </Instances/details_01_mesh_00/VisualMaterials/m_opaque__paper__cleaning_dishSoap_a01>
+            }
+
+            over "m_opaque__plastic__green_a01" (
+                apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                custom rel material:binding
+                prepend rel material:binding = </Instances/details_01_mesh_00/VisualMaterials/m_opaque__plastic__green_a01>
+            }
+        }
+
+        def Scope "VisualMaterials"
+        {
+            def Material "m_opaque__paper__cleaning_dishSoap_a01" (
+                instanceable = true
+                prepend references = @./materials.usda@</Materials/m_opaque__paper__cleaning_dishSoap_a01>
+            )
+            {
+            }
+
+            def Material "m_opaque__plastic__green_a01" (
+                instanceable = true
+                prepend references = @./materials.usda@</Materials/m_opaque__plastic__green_a01>
+            )
+            {
+            }
+        }
+    }
+}
+

cleaning_dishSoap_a01/simready_usd/payloads/instances_physx.usda

@@ -1,3 +1,206 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:fa418f29721ff7de53f469bace71201458ff6e8e011abe86b2efba112e502efc
-size 9026
+#usda 1.0
+(
+    customLayerData = {
+        dictionary SimReady_Metadata = {
+            dictionary Variants = {
+                dictionary Physics = {
+                    dictionary MuJoCo = {
+                        string activateOption = "Enabled"
+                        string prim = "/RootNode"
+                        string variantSetName = "MuJoCo"
+                    }
+                    dictionary Newton = {
+                        string activateOption = "Enabled"
+                        string prim = "/RootNode"
+                        string variantSetName = "Newton"
+                    }
+                    dictionary PhysX = {
+                        string activateOption = "Enabled"
+                        string prim = "/RootNode"
+                        string variantSetName = "PhysX"
+                    }
+                }
+            }
+            string asset_location = "simready_content\\common_assets\\props_endeavor_kitchen\\cleaning_dishSoap_a01\\simready_physx_usd\\sm_cleaning_dishSoap_a01_01.usd"
+            string asset_type = "prop"
+            string uuid = "42fcbacf-c69c-43ae-acd4-03f341889108"
+            dictionary validation = {
+                string profile = "Robotics-Prop"
+                string profile_version = "3.1.0"
+                dictionary validated_features = {
+                    dictionary "2026-02-20" = {
+                        dictionary FET000_CORE = {
+                            string dependencies = "[]"
+                            bool passed = 1
+                            string version = "0.1.0"
+                        }
+                        dictionary FET001_BASE_NEUTRAL = {
+                            string dependencies = "[]"
+                            string "failing requirements" = "['AA.001']"
+                            bool passed = 0
+                            string version = "0.1.0"
+                        }
+                        dictionary FET003_BASE_NEUTRAL = {
+                            string dependencies = "[]"
+                            bool passed = 1
+                            string version = "0.1.0"
+                        }
+                        dictionary FET003_BASE_PHYSX = {
+                            string dependencies = "[{'FET003_BASE_NEUTRAL': {'version': '0.1.0'}}]"
+                            bool passed = 1
+                            string version = "0.1.0"
+                        }
+                        dictionary FET004_BASE_NEUTRAL = {
+                            string dependencies = "[{'FET003_BASE_NEUTRAL': {'version': '0.1.0'}}]"
+                            bool passed = 1
+                            string version = "0.1.0"
+                        }
+                        dictionary FET004_BASE_PHYSX = {
+                            string dependencies = "[{'FET003_BASE_PHYSX': {'version': '0.1.0'}}, {'FET004_BASE_NEUTRAL': {'version': '0.1.0'}}]"
+                            bool passed = 1
+                            string version = "0.1.0"
+                        }
+                        dictionary FET005_BASE_NEUTRAL = {
+                            string dependencies = "[]"
+                            bool passed = 1
+                            string version = "0.1.0"
+                        }
+                        dictionary FET006_BASE_MDL = {
+                            string dependencies = "[]"
+                            string "failing requirements" = "['VM.MDL.001']"
+                            bool passed = 0
+                            string version = "0.1.0"
+                        }
+                    }
+                }
+            }
+        }
+        string asset_dir = "simready_content/common_assets/props_endeavor_kitchen/cleaning_dishSoap_a01"
+        string asset_name = "cleaning_dishSoap_a01"
+        string asset_type = "prop"
+        string profile = "Prop-Robotics-Neutral"
+        string source_file = "../simready_usd/sm_cleaning_dishSoap_a01_01.usd"
+        string usd_date_generated = "2026-02-20 15:38:44"
+        bool used_dsrs_exporter = 1
+    }
+    metersPerUnit = 1
+    upAxis = "Z"
+)
+
+def Scope "Instances"
+{
+    def Xform "bottle_01_mesh_00" (
+        prepend references = @./geometries.usd@</Geometries/bottle_01_mesh_00>
+    )
+    {
+        over "bottle_01_mesh_00" (
+            prepend apiSchemas = ["MaterialBindingAPI", "PhysicsCollisionAPI", "PhysicsMassAPI", "PhysxCollisionAPI", "PhysxSDFMeshCollisionAPI", "PhysicsMeshCollisionAPI"]
+        )
+        {
+            custom rel material:binding
+            prepend rel material:binding = </Instances/bottle_01_mesh_00/VisualMaterials/m_trans__plastic__clean_a01>
+            uniform token physics:approximation = "sdf"
+            point3f physics:centerOfMass = (-0.0014476301, 0.003011701, 0.14695129)
+            float3 physics:diagonalInertia = (0.0027960679, 0.0025520923, 0.0005573508)
+            float physics:mass = 0.34162137
+            quatf physics:principalAxes = (1, 0, 0, 0)
+            bool primvars:doNotCastShadows = 1
+        }
+
+        def Scope "VisualMaterials"
+        {
+            def Material "m_trans__plastic__clean_a01" (
+                instanceable = true
+                prepend references = @./materials.usda@</Materials/m_trans__plastic__clean_a01>
+            )
+            {
+            }
+        }
+    }
+
+    def Xform "detergent_01_mesh_00" (
+        prepend references = @./geometries.usd@</Geometries/detergent_01_mesh_00>
+    )
+    {
+        over "detergent_01_mesh_00" (
+            prepend apiSchemas = ["MaterialBindingAPI", "PhysicsCollisionAPI", "PhysicsMassAPI", "PhysxCollisionAPI", "PhysxSDFMeshCollisionAPI", "PhysicsMeshCollisionAPI"]
+        )
+        {
+            custom rel material:binding
+            prepend rel material:binding = </Instances/detergent_01_mesh_00/VisualMaterials/m_trans__salt_water__detergent_a01>
+            uniform token physics:approximation = "sdf"
+            float physics:mass = 6.82581
+            bool primvars:doNotCastShadows = 1
+            custom double4 pxr:physics:principalAxes = (1, 0, 0, 0)
+            custom float3 pxr:usd:physics_centerofmass = (-0.0014416715, 0.0026051675, 0.11761771)
+            custom double3 pxr:usd:physics_inertia = (0.04213057409530404, 0.037070392864663994, 0.010725896919270325)
+            custom double pxr:usd:physics_mass = 6.825805987728373
+            custom bool userProperties:_renamed = 1
+            custom string userProperties:blender:data_name = "Mesh"
+            custom string userProperties:blender:object_name = "detergent_01_mesh_00"
+        }
+
+        def Scope "VisualMaterials"
+        {
+            def Material "m_trans__salt_water__detergent_a01" (
+                instanceable = true
+                prepend references = @./materials.usda@</Materials/m_trans__salt_water__detergent_a01>
+            )
+            {
+            }
+        }
+    }
+
+    def Xform "details_01_mesh_00" (
+        prepend references = @./geometries.usd@</Geometries/details_01_mesh_00>
+    )
+    {
+        over "details_01_mesh_00" (
+            prepend apiSchemas = ["MaterialBindingAPI", "PhysicsCollisionAPI", "PhysicsMassAPI", "PhysxCollisionAPI", "PhysxSDFMeshCollisionAPI", "PhysicsMeshCollisionAPI"]
+        )
+        {
+            custom rel material:binding
+            prepend rel material:binding = </Instances/details_01_mesh_00/VisualMaterials/m_opaque__paper__cleaning_dishSoap_a01>
+            uniform token physics:approximation = "sdf"
+            point3f physics:centerOfMass = (-0.001441746, 0.00026729633, 0.14890617)
+            float3 physics:diagonalInertia = (0.0002332991, 0.00023401313, 0.000020291996)
+            float physics:mass = 0.026991624
+            quatf physics:principalAxes = (1, 0, 0, 0)
+            token subsetFamily:materialBind:familyType = "nonOverlapping"
+
+            over "m_opaque__paper__cleaning_dishSoap_a01" (
+                apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                custom rel material:binding
+                prepend rel material:binding = </Instances/details_01_mesh_00/VisualMaterials/m_opaque__paper__cleaning_dishSoap_a01>
+            }
+
+            over "m_opaque__plastic__green_a01" (
+                apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                custom rel material:binding
+                prepend rel material:binding = </Instances/details_01_mesh_00/VisualMaterials/m_opaque__plastic__green_a01>
+            }
+        }
+
+        def Scope "VisualMaterials"
+        {
+            def Material "m_opaque__paper__cleaning_dishSoap_a01" (
+                instanceable = true
+                prepend references = @./materials.usda@</Materials/m_opaque__paper__cleaning_dishSoap_a01>
+            )
+            {
+            }
+
+            def Material "m_opaque__plastic__green_a01" (
+                instanceable = true
+                prepend references = @./materials.usda@</Materials/m_opaque__plastic__green_a01>
+            )
+            {
+            }
+        }
+    }
+}
+

cleaning_dishSoap_a01/simready_usd/payloads/materials.usda

@@ -1,3 +1,492 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:e70256905efedb8778c5b27e87c718c6db8cfa3b263d74abd983a545c08f2652
-size 20699
+#usda 1.0
+(
+    customLayerData = {
+        dictionary SimReady_Metadata = {
+            dictionary Variants = {
+                dictionary Physics = {
+                    dictionary MuJoCo = {
+                        string activateOption = "Enabled"
+                        string prim = "/RootNode"
+                        string variantSetName = "MuJoCo"
+                    }
+                    dictionary Newton = {
+                        string activateOption = "Enabled"
+                        string prim = "/RootNode"
+                        string variantSetName = "Newton"
+                    }
+                    dictionary PhysX = {
+                        string activateOption = "Enabled"
+                        string prim = "/RootNode"
+                        string variantSetName = "PhysX"
+                    }
+                }
+            }
+            string asset_location = "simready_content\\common_assets\\props_endeavor_kitchen\\cleaning_dishSoap_a01\\simready_physx_usd\\sm_cleaning_dishSoap_a01_01.usd"
+            string asset_type = "prop"
+            string uuid = "42fcbacf-c69c-43ae-acd4-03f341889108"
+            dictionary validation = {
+                string profile = "Robotics-Prop"
+                string profile_version = "3.1.0"
+                dictionary validated_features = {
+                    dictionary "2026-02-20" = {
+                        dictionary FET000_CORE = {
+                            string dependencies = "[]"
+                            bool passed = 1
+                            string version = "0.1.0"
+                        }
+                        dictionary FET001_BASE_NEUTRAL = {
+                            string dependencies = "[]"
+                            string "failing requirements" = "['AA.001']"
+                            bool passed = 0
+                            string version = "0.1.0"
+                        }
+                        dictionary FET003_BASE_NEUTRAL = {
+                            string dependencies = "[]"
+                            bool passed = 1
+                            string version = "0.1.0"
+                        }
+                        dictionary FET003_BASE_PHYSX = {
+                            string dependencies = "[{'FET003_BASE_NEUTRAL': {'version': '0.1.0'}}]"
+                            bool passed = 1
+                            string version = "0.1.0"
+                        }
+                        dictionary FET004_BASE_NEUTRAL = {
+                            string dependencies = "[{'FET003_BASE_NEUTRAL': {'version': '0.1.0'}}]"
+                            bool passed = 1
+                            string version = "0.1.0"
+                        }
+                        dictionary FET004_BASE_PHYSX = {
+                            string dependencies = "[{'FET003_BASE_PHYSX': {'version': '0.1.0'}}, {'FET004_BASE_NEUTRAL': {'version': '0.1.0'}}]"
+                            bool passed = 1
+                            string version = "0.1.0"
+                        }
+                        dictionary FET005_BASE_NEUTRAL = {
+                            string dependencies = "[]"
+                            bool passed = 1
+                            string version = "0.1.0"
+                        }
+                        dictionary FET006_BASE_MDL = {
+                            string dependencies = "[]"
+                            string "failing requirements" = "['VM.MDL.001']"
+                            bool passed = 0
+                            string version = "0.1.0"
+                        }
+                    }
+                }
+            }
+        }
+        string asset_dir = "simready_content/common_assets/props_endeavor_kitchen/cleaning_dishSoap_a01"
+        string asset_name = "cleaning_dishSoap_a01"
+        string asset_type = "prop"
+        string profile = "Prop-Robotics-Neutral"
+        string source_file = "../simready_usd/sm_cleaning_dishSoap_a01_01.usd"
+        string usd_date_generated = "2026-02-20 15:38:44"
+        bool used_dsrs_exporter = 1
+    }
+    metersPerUnit = 1
+    upAxis = "Z"
+)
+
+def Scope "Materials"
+{
+    def Material "m_trans__plastic__clean_a01" (
+        prepend apiSchemas = ["SemanticsLabelsAPI:material"]
+    )
+    {
+        custom token[] omni:simready:nonvisual:attributes = ["visually_transparent"]
+        custom token omni:simready:nonvisual:base = "plastic"
+        custom token omni:simready:nonvisual:coating = "none"
+        token outputs:displacement (
+            displayGroup = "Outputs"
+        )
+        prepend token outputs:mdl:surface.connect = </Materials/m_trans__plastic__clean_a01/OmniGlass_Shader.outputs:out>
+        token outputs:surface (
+            displayGroup = "Outputs"
+        )
+        prepend token outputs:surface.connect = </Materials/m_trans__plastic__clean_a01/Principled_BSDF.outputs:surface>
+        token outputs:volume (
+            displayGroup = "Outputs"
+        )
+        custom int pxr:usd:physics_density = 950
+        custom double pxr:usd:physics_dynamicFriction = 0.4
+        custom double pxr:usd:physics_fillRatio = 0.6
+        custom double pxr:usd:physics_restitution = 0.4
+        custom double pxr:usd:physics_staticFriction = 0.4
+        custom double pxr:usd:physics_thickness = 0.004
+        custom string pxr:usd:physics_type = "plastic"
+        token[] semantics:labels:material = ["plastic"]
+
+        def Shader "Principled_BSDF" (
+            apiSchemas = ["NodeDefAPI"]
+        )
+        {
+            token info:id = "UsdPreviewSurface"
+            float inputs:clearcoat = 0
+            float inputs:clearcoatRoughness = 0.03
+            color3f inputs:diffuseColor = (1, 1, 1)
+            float inputs:ior = 1.39
+            float inputs:metallic = 0
+            float inputs:opacity = 0.01
+            float inputs:roughness = 0
+            float inputs:specular = 0.5
+            token outputs:surface
+        }
+
+        def Shader "OmniGlass_Shader" (
+            apiSchemas = ["NodeDefAPI"]
+        )
+        {
+            token info:id = "mdl:OmniGlass"
+            token info:implementationSource = "sourceAsset"
+            asset info:mdl:sourceAsset = @../source_assets/OmniGlass.mdl@
+            token info:mdl:sourceAsset:subIdentifier = "OmniGlass"
+            float inputs:cutout_opacity = 0.01
+            bool inputs:flip_tangent_u = 0
+            bool inputs:flip_tangent_v = 0
+            float inputs:frosting_roughness = 0.01
+            color3f inputs:glass_color = (1, 1, 1)
+            float inputs:glass_ior = 1.39
+            token outputs:out
+        }
+    }
+
+    def Material "m_trans__salt_water__detergent_a01" (
+        prepend apiSchemas = ["SemanticsLabelsAPI:material"]
+    )
+    {
+        custom token[] omni:simready:nonvisual:attributes = ["visually_transparent"]
+        custom token omni:simready:nonvisual:base = "salt_water"
+        custom token omni:simready:nonvisual:coating = "none"
+        token outputs:displacement (
+            displayGroup = "Outputs"
+        )
+        prepend token outputs:mdl:surface.connect = </Materials/m_trans__salt_water__detergent_a01/OmniGlass_Shader.outputs:out>
+        token outputs:surface (
+            displayGroup = "Outputs"
+        )
+        prepend token outputs:surface.connect = </Materials/m_trans__salt_water__detergent_a01/Principled_BSDF.outputs:surface>
+        token outputs:volume (
+            displayGroup = "Outputs"
+        )
+        custom int pxr:usd:physics_density = 1000
+        custom double pxr:usd:physics_dynamicFriction = 0
+        custom double pxr:usd:physics_fillRatio = 1
+        custom double pxr:usd:physics_restitution = 0
+        custom double pxr:usd:physics_staticFriction = 0
+        custom double pxr:usd:physics_thickness = 0.1
+        custom string pxr:usd:physics_type = "water"
+        token[] semantics:labels:material = ["salt_water"]
+
+        def Shader "Principled_BSDF" (
+            apiSchemas = ["NodeDefAPI"]
+        )
+        {
+            token info:id = "UsdPreviewSurface"
+            float inputs:clearcoat = 0
+            float inputs:clearcoatRoughness = 0.03
+            color3f inputs:diffuseColor = (0.012982606, 0.32314372, 0.0027318152)
+            float inputs:ior = 1.33
+            float inputs:metallic = 0
+            float inputs:opacity = 0.57
+            float inputs:roughness = 0.04
+            float inputs:specular = 0.5
+            token outputs:surface
+        }
+
+        def Shader "OmniGlass_Shader" (
+            apiSchemas = ["NodeDefAPI"]
+        )
+        {
+            token info:id = "mdl:OmniGlass"
+            token info:implementationSource = "sourceAsset"
+            asset info:mdl:sourceAsset = @../source_assets/OmniGlass.mdl@
+            token info:mdl:sourceAsset:subIdentifier = "OmniGlass"
+            float inputs:cutout_opacity = 0.57
+            bool inputs:flip_tangent_u = 0
+            bool inputs:flip_tangent_v = 0
+            float inputs:frosting_roughness = 0.01
+            color3f inputs:glass_color = (0.037976034, 0.4942085, 0.0228977)
+            float inputs:glass_ior = 1.33
+            token outputs:out
+        }
+    }
+
+    def Material "m_opaque__paper__cleaning_dishSoap_a01" (
+        prepend apiSchemas = ["SemanticsLabelsAPI:material"]
+    )
+    {
+        custom token[] omni:simready:nonvisual:attributes = ["none"]
+        custom token omni:simready:nonvisual:base = "paper"
+        custom token omni:simready:nonvisual:coating = "none"
+        token outputs:displacement (
+            displayGroup = "Outputs"
+        )
+        prepend token outputs:mdl:surface.connect = </Materials/m_opaque__paper__cleaning_dishSoap_a01/OmniPBR_Shader.outputs:out>
+        token outputs:surface (
+            displayGroup = "Outputs"
+        )
+        prepend token outputs:surface.connect = </Materials/m_opaque__paper__cleaning_dishSoap_a01/Principled_BSDF.outputs:surface>
+        token outputs:volume (
+            displayGroup = "Outputs"
+        )
+        custom int pxr:usd:physics_density = 900
+        custom double pxr:usd:physics_dynamicFriction = 0.45
+        custom double pxr:usd:physics_fillRatio = 0.3
+        custom double pxr:usd:physics_restitution = 0.12
+        custom double pxr:usd:physics_staticFriction = 0.5
+        custom double pxr:usd:physics_thickness = 0.00125
+        custom string pxr:usd:physics_type = "paper"
+        token[] semantics:labels:material = ["paper"]
+
+        def Shader "Principled_BSDF" (
+            apiSchemas = ["NodeDefAPI"]
+        )
+        {
+            token info:id = "UsdPreviewSurface"
+            float inputs:clearcoat = 0
+            float inputs:clearcoatRoughness = 0.03
+            prepend color3f inputs:diffuseColor.connect = </Materials/m_opaque__paper__cleaning_dishSoap_a01/Albedo.outputs:rgb>
+            float inputs:ior = 1.5
+            prepend float inputs:metallic.connect = </Materials/m_opaque__paper__cleaning_dishSoap_a01/ORM.outputs:b>
+            prepend normal3f inputs:normal.connect = </Materials/m_opaque__paper__cleaning_dishSoap_a01/Normal.outputs:rgb>
+            float inputs:opacity = 1
+            prepend float inputs:roughness.connect = </Materials/m_opaque__paper__cleaning_dishSoap_a01/ORM.outputs:g>
+            float inputs:specular = 0.5
+            token outputs:surface
+        }
+
+        def Shader "Albedo" (
+            apiSchemas = ["NodeDefAPI"]
+        )
+        {
+            token info:id = "UsdUVTexture"
+            asset inputs:file = @../Textures/t_cleaning_dishSoap_green_a01_alb.png@
+            token inputs:sourceColorSpace = "sRGB"
+            prepend float2 inputs:st.connect = </Materials/m_opaque__paper__cleaning_dishSoap_a01/Mapping.outputs:result>
+            token inputs:wrapS = "repeat"
+            token inputs:wrapT = "repeat"
+            float3 outputs:rgb
+        }
+
+        def Shader "Mapping" (
+            apiSchemas = ["NodeDefAPI"]
+        )
+        {
+            token info:id = "UsdTransform2d"
+            prepend float2 inputs:in.connect = </Materials/m_opaque__paper__cleaning_dishSoap_a01/uvmap.outputs:result>
+            float inputs:rotation = 0
+            float2 inputs:scale = (1, 1)
+            float2 inputs:translation = (0, 0)
+            float2 outputs:result
+        }
+
+        def Shader "uvmap" (
+            apiSchemas = ["NodeDefAPI"]
+        )
+        {
+            token info:id = "UsdPrimvarReader_float2"
+            string inputs:varname = "st"
+            float2 outputs:result
+        }
+
+        def Shader "ORM" (
+            apiSchemas = ["NodeDefAPI"]
+        )
+        {
+            token info:id = "UsdUVTexture"
+            asset inputs:file = @../Textures/t_cardboard_standard_white_a01_tile_orm.png@
+            token inputs:sourceColorSpace = "raw"
+            prepend float2 inputs:st.connect = </Materials/m_opaque__paper__cleaning_dishSoap_a01/Mapping.outputs:result>
+            token inputs:wrapS = "repeat"
+            token inputs:wrapT = "repeat"
+            float outputs:b
+            float outputs:g
+        }
+
+        def Shader "Normal" (
+            apiSchemas = ["NodeDefAPI"]
+        )
+        {
+            token info:id = "UsdUVTexture"
+            float4 inputs:bias = (-1, -1, -1, -1)
+            asset inputs:file = @../Textures/t_cardboard_standard_white_a01_tile_nor.png@
+            float4 inputs:scale = (2, 2, 2, 2)
+            token inputs:sourceColorSpace = "raw"
+            prepend float2 inputs:st.connect = </Materials/m_opaque__paper__cleaning_dishSoap_a01/Mapping.outputs:result>
+            token inputs:wrapS = "repeat"
+            token inputs:wrapT = "repeat"
+            float3 outputs:rgb
+        }
+
+        def Shader "OmniPBR_Shader" (
+            apiSchemas = ["NodeDefAPI"]
+        )
+        {
+            token info:id = "mdl:OmniPBR"
+            token info:implementationSource = "sourceAsset"
+            asset info:mdl:sourceAsset = @../source_assets/OmniPBR.mdl@
+            token info:mdl:sourceAsset:subIdentifier = "OmniPBR"
+            float inputs:bump_factor = 0.44
+            asset inputs:diffuse_texture = @../Textures/t_cleaning_dishSoap_green_a01_alb.png@ (
+                colorSpace = "sRGB"
+            )
+            color3f inputs:emissive_color = (1, 1, 1)
+            float inputs:emissive_intensity = 0
+            bool inputs:enable_ORM_texture = 1
+            bool inputs:flip_tangent_u = 0
+            bool inputs:flip_tangent_v = 1
+            float inputs:metallic_texture_influence = 1
+            asset inputs:normalmap_texture = @../Textures/t_cardboard_standard_white_a01_tile_nor.png@ (
+                colorSpace = "raw"
+            )
+            float inputs:opacity_constant = 1
+            asset inputs:ORM_texture = @../Textures/t_cardboard_standard_white_a01_tile_orm.png@ (
+                colorSpace = "raw"
+            )
+            float inputs:reflection_roughness_texture_influence = 1
+            float inputs:specular_level = 0.5
+            float2 inputs:texture_scale = (1, 1)
+            token outputs:out
+        }
+    }
+
+    def Material "m_opaque__plastic__green_a01" (
+        prepend apiSchemas = ["SemanticsLabelsAPI:material"]
+    )
+    {
+        custom token[] omni:simready:nonvisual:attributes = ["none"]
+        custom token omni:simready:nonvisual:base = "plastic"
+        custom token omni:simready:nonvisual:coating = "none"
+        token outputs:displacement (
+            displayGroup = "Outputs"
+        )
+        prepend token outputs:mdl:surface.connect = </Materials/m_opaque__plastic__green_a01/OmniPBR_Shader.outputs:out>
+        token outputs:surface (
+            displayGroup = "Outputs"
+        )
+        prepend token outputs:surface.connect = </Materials/m_opaque__plastic__green_a01/Principled_BSDF.outputs:surface>
+        token outputs:volume (
+            displayGroup = "Outputs"
+        )
+        custom int pxr:usd:physics_density = 950
+        custom double pxr:usd:physics_dynamicFriction = 0.4
+        custom double pxr:usd:physics_fillRatio = 0.6
+        custom double pxr:usd:physics_restitution = 0.4
+        custom double pxr:usd:physics_staticFriction = 0.4
+        custom double pxr:usd:physics_thickness = 0.004
+        custom string pxr:usd:physics_type = "plastic"
+        token[] semantics:labels:material = ["plastic"]
+
+        def Shader "Principled_BSDF" (
+            apiSchemas = ["NodeDefAPI"]
+        )
+        {
+            token info:id = "UsdPreviewSurface"
+            float inputs:clearcoat = 0
+            float inputs:clearcoatRoughness = 0.03
+            prepend color3f inputs:diffuseColor.connect = </Materials/m_opaque__plastic__green_a01/Albedo.outputs:rgb>
+            float inputs:ior = 1.5
+            prepend float inputs:metallic.connect = </Materials/m_opaque__plastic__green_a01/ORM.outputs:b>
+            prepend normal3f inputs:normal.connect = </Materials/m_opaque__plastic__green_a01/Normal.outputs:rgb>
+            float inputs:opacity = 1
+            prepend float inputs:roughness.connect = </Materials/m_opaque__plastic__green_a01/ORM.outputs:g>
+            float inputs:specular = 0.5
+            token outputs:surface
+        }
+
+        def Shader "Albedo" (
+            apiSchemas = ["NodeDefAPI"]
+        )
+        {
+            token info:id = "UsdUVTexture"
+            asset inputs:file = @../Textures/t_plastic_green_a01_tile_alb.png@
+            token inputs:sourceColorSpace = "sRGB"
+            prepend float2 inputs:st.connect = </Materials/m_opaque__plastic__green_a01/Mapping.outputs:result>
+            token inputs:wrapS = "repeat"
+            token inputs:wrapT = "repeat"
+            float3 outputs:rgb
+        }
+
+        def Shader "Mapping" (
+            apiSchemas = ["NodeDefAPI"]
+        )
+        {
+            token info:id = "UsdTransform2d"
+            prepend float2 inputs:in.connect = </Materials/m_opaque__plastic__green_a01/uvmap.outputs:result>
+            float inputs:rotation = 0
+            float2 inputs:scale = (4, 4)
+            float2 inputs:translation = (0, 0)
+            float2 outputs:result
+        }
+
+        def Shader "uvmap" (
+            apiSchemas = ["NodeDefAPI"]
+        )
+        {
+            token info:id = "UsdPrimvarReader_float2"
+            string inputs:varname = "st"
+            float2 outputs:result
+        }
+
+        def Shader "ORM" (
+            apiSchemas = ["NodeDefAPI"]
+        )
+        {
+            token info:id = "UsdUVTexture"
+            asset inputs:file = @../Textures/t_plastic_green_a01_tile_orm.png@
+            token inputs:sourceColorSpace = "raw"
+            prepend float2 inputs:st.connect = </Materials/m_opaque__plastic__green_a01/Mapping.outputs:result>
+            token inputs:wrapS = "repeat"
+            token inputs:wrapT = "repeat"
+            float outputs:b
+            float outputs:g
+        }
+
+        def Shader "Normal" (
+            apiSchemas = ["NodeDefAPI"]
+        )
+        {
+            token info:id = "UsdUVTexture"
+            float4 inputs:bias = (-1, -1, -1, -1)
+            asset inputs:file = @../Textures/t_plastic_green_a01_tile_nor.png@
+            float4 inputs:scale = (2, 2, 2, 2)
+            token inputs:sourceColorSpace = "raw"
+            prepend float2 inputs:st.connect = </Materials/m_opaque__plastic__green_a01/Mapping.outputs:result>
+            token inputs:wrapS = "repeat"
+            token inputs:wrapT = "repeat"
+            float3 outputs:rgb
+        }
+
+        def Shader "OmniPBR_Shader" (
+            apiSchemas = ["NodeDefAPI"]
+        )
+        {
+            token info:id = "mdl:OmniPBR"
+            token info:implementationSource = "sourceAsset"
+            asset info:mdl:sourceAsset = @../source_assets/OmniPBR.mdl@
+            token info:mdl:sourceAsset:subIdentifier = "OmniPBR"
+            float inputs:bump_factor = 1
+            asset inputs:diffuse_texture = @../Textures/t_plastic_green_a01_tile_alb.png@ (
+                colorSpace = "sRGB"
+            )
+            color3f inputs:emissive_color = (1, 1, 1)
+            float inputs:emissive_intensity = 0
+            bool inputs:enable_ORM_texture = 1
+            bool inputs:flip_tangent_u = 0
+            bool inputs:flip_tangent_v = 1
+            float inputs:metallic_texture_influence = 1
+            asset inputs:normalmap_texture = @../Textures/t_plastic_green_a01_tile_nor.png@ (
+                colorSpace = "raw"
+            )
+            float inputs:opacity_constant = 1
+            asset inputs:ORM_texture = @../Textures/t_plastic_green_a01_tile_orm.png@ (
+                colorSpace = "raw"
+            )
+            float inputs:reflection_roughness_texture_influence = 1
+            float inputs:specular_level = 0.5
+            float2 inputs:texture_scale = (4, 4)
+            token outputs:out
+        }
+    }
+}
+

cleaning_dishSoap_a01/simready_usd/runnables/physics/mujoco.usda

@@ -0,0 +1,189 @@
+#usda 1.0
+(
+    customLayerData = {
+        dictionary SimReady_Metadata = {
+            dictionary Variants = {
+                dictionary Physics = {
+                    dictionary MuJoCo = {
+                        string activateOption = "Enabled"
+                        string prim = "/RootNode"
+                        string variantSetName = "MuJoCo"
+                    }
+                    dictionary Newton = {
+                        string activateOption = "Enabled"
+                        string prim = "/RootNode"
+                        string variantSetName = "Newton"
+                    }
+                    dictionary PhysX = {
+                        string activateOption = "Enabled"
+                        string prim = "/RootNode"
+                        string variantSetName = "PhysX"
+                    }
+                }
+            }
+            string asset_location = "simready_content\\common_assets\\props_endeavor_kitchen\\cleaning_dishSoap_a01\\simready_physx_usd\\sm_cleaning_dishSoap_a01_01.usd"
+            string asset_type = "prop"
+            string uuid = "42fcbacf-c69c-43ae-acd4-03f341889108"
+            dictionary validation = {
+                string profile = "Robotics-Prop"
+                string profile_version = "3.1.0"
+                dictionary validated_features = {
+                    dictionary "2026-02-20" = {
+                        dictionary FET000_CORE = {
+                            string dependencies = "[]"
+                            bool passed = 1
+                            string version = "0.1.0"
+                        }
+                        dictionary FET001_BASE_NEUTRAL = {
+                            string dependencies = "[]"
+                            string "failing requirements" = "['AA.001']"
+                            bool passed = 0
+                            string version = "0.1.0"
+                        }
+                        dictionary FET003_BASE_NEUTRAL = {
+                            string dependencies = "[]"
+                            bool passed = 1
+                            string version = "0.1.0"
+                        }
+                        dictionary FET003_BASE_PHYSX = {
+                            string dependencies = "[{'FET003_BASE_NEUTRAL': {'version': '0.1.0'}}]"
+                            bool passed = 1
+                            string version = "0.1.0"
+                        }
+                        dictionary FET004_BASE_NEUTRAL = {
+                            string dependencies = "[{'FET003_BASE_NEUTRAL': {'version': '0.1.0'}}]"
+                            bool passed = 1
+                            string version = "0.1.0"
+                        }
+                        dictionary FET004_BASE_PHYSX = {
+                            string dependencies = "[{'FET003_BASE_PHYSX': {'version': '0.1.0'}}, {'FET004_BASE_NEUTRAL': {'version': '0.1.0'}}]"
+                            bool passed = 1
+                            string version = "0.1.0"
+                        }
+                        dictionary FET005_BASE_NEUTRAL = {
+                            string dependencies = "[]"
+                            bool passed = 1
+                            string version = "0.1.0"
+                        }
+                        dictionary FET006_BASE_MDL = {
+                            string dependencies = "[]"
+                            string "failing requirements" = "['VM.MDL.001']"
+                            bool passed = 0
+                            string version = "0.1.0"
+                        }
+                    }
+                }
+            }
+        }
+        string asset_dir = "simready_content/common_assets/props_endeavor_kitchen/cleaning_dishSoap_a01"
+        string asset_name = "cleaning_dishSoap_a01"
+        string asset_type = "prop"
+        string profile = "Prop-Robotics-Neutral"
+        string source_file = "../simready_usd/sm_cleaning_dishSoap_a01_01.usd"
+        string usd_date_generated = "2026-02-20 15:38:44"
+        bool used_dsrs_exporter = 1
+    }
+    defaultPrim = "RootNode"
+    doc = "MuJoCo overrides for sm_cleaning_dishSoap_a01_01.usd"
+    metersPerUnit = 1
+    upAxis = "Z"
+)
+
+over "RootNode"
+{
+    over "Geometry"
+    {
+        over "bottle_01_obj_00" (
+            instanceable = true
+            references = @../../payloads/instances_mujoco.usda@</Instances/bottle_01_mesh_00>
+        )
+        {
+        }
+
+        over "detergent_01_obj_00" (
+            instanceable = true
+            references = @../../payloads/instances_mujoco.usda@</Instances/detergent_01_mesh_00>
+        )
+        {
+        }
+
+        over "details_01_obj_00" (
+            instanceable = true
+            references = @../../payloads/instances_mujoco.usda@</Instances/details_01_mesh_00>
+        )
+        {
+        }
+    }
+
+    over "PhysicsMaterials"
+    {
+        over "physics_mat_m_trans__plastic__clean_a01"
+        {
+        }
+
+        over "physics_mat_m_trans__salt_water__detergent_a01"
+        {
+        }
+
+        over "physics_mat_m_opaque__paper__cleaning_dishSoap_a01"
+        {
+        }
+
+        over "physics_mat_m_opaque__plastic__green_a01"
+        {
+        }
+    }
+
+    over "Joints"
+    {
+        over "joint_detergent_01_joint_00"
+        {
+        }
+
+        over "joint_details_01_joint_00"
+        {
+        }
+    }
+
+    over "Materials"
+    {
+    }
+
+    over "ReferencePrims"
+    {
+        over "detergent_01_joint_00"
+        {
+        }
+
+        over "details_01_joint_00"
+        {
+        }
+
+        over "bottle_01_joint_00"
+        {
+        }
+    }
+
+    over "Grasp"
+    {
+        over "Grasp_Point_1_1"
+        {
+        }
+
+        over "Grasp_Point_1_2"
+        {
+        }
+
+        over "grasp_identifier"
+        {
+            over "grasp_identifier_curve"
+            {
+            }
+        }
+    }
+
+    over "VisualMaterials"
+    {
+    }
+}
+

cleaning_dishSoap_a01/simready_usd/runnables/physics/newton.usda

@@ -0,0 +1,153 @@
+#usda 1.0
+(
+    customLayerData = {
+        dictionary SimReady_Metadata = {
+            dictionary Variants = {
+                dictionary Physics = {
+                    dictionary MuJoCo = {
+                        string activateOption = "Enabled"
+                        string prim = "/RootNode"
+                        string variantSetName = "MuJoCo"
+                    }
+                    dictionary Newton = {
+                        string activateOption = "Enabled"
+                        string prim = "/RootNode"
+                        string variantSetName = "Newton"
+                    }
+                    dictionary PhysX = {
+                        string activateOption = "Enabled"
+                        string prim = "/RootNode"
+                        string variantSetName = "PhysX"
+                    }
+                }
+            }
+            string asset_location = "simready_content\\common_assets\\props_endeavor_kitchen\\cleaning_dishSoap_a01\\simready_physx_usd\\sm_cleaning_dishSoap_a01_01.usd"
+            string asset_type = "prop"
+            string uuid = "42fcbacf-c69c-43ae-acd4-03f341889108"
+            dictionary validation = {
+                string profile = "Robotics-Prop"
+                string profile_version = "3.1.0"
+                dictionary validated_features = {
+                    dictionary "2026-02-20" = {
+                        dictionary FET000_CORE = {
+                            string dependencies = "[]"
+                            bool passed = 1
+                            string version = "0.1.0"
+                        }
+                        dictionary FET001_BASE_NEUTRAL = {
+                            string dependencies = "[]"
+                            string "failing requirements" = "['AA.001']"
+                            bool passed = 0
+                            string version = "0.1.0"
+                        }
+                        dictionary FET003_BASE_NEUTRAL = {
+                            string dependencies = "[]"
+                            bool passed = 1
+                            string version = "0.1.0"
+                        }
+                        dictionary FET003_BASE_PHYSX = {
+                            string dependencies = "[{'FET003_BASE_NEUTRAL': {'version': '0.1.0'}}]"
+                            bool passed = 1
+                            string version = "0.1.0"
+                        }
+                        dictionary FET004_BASE_NEUTRAL = {
+                            string dependencies = "[{'FET003_BASE_NEUTRAL': {'version': '0.1.0'}}]"
+                            bool passed = 1
+                            string version = "0.1.0"
+                        }
+                        dictionary FET004_BASE_PHYSX = {
+                            string dependencies = "[{'FET003_BASE_PHYSX': {'version': '0.1.0'}}, {'FET004_BASE_NEUTRAL': {'version': '0.1.0'}}]"
+                            bool passed = 1
+                            string version = "0.1.0"
+                        }
+                        dictionary FET005_BASE_NEUTRAL = {
+                            string dependencies = "[]"
+                            bool passed = 1
+                            string version = "0.1.0"
+                        }
+                        dictionary FET006_BASE_MDL = {
+                            string dependencies = "[]"
+                            string "failing requirements" = "['VM.MDL.001']"
+                            bool passed = 0
+                            string version = "0.1.0"
+                        }
+                    }
+                }
+            }
+        }
+        string asset_dir = "simready_content/common_assets/props_endeavor_kitchen/cleaning_dishSoap_a01"
+        string asset_name = "cleaning_dishSoap_a01"
+        string asset_type = "prop"
+        string profile = "Prop-Robotics-Neutral"
+        string source_file = "../simready_usd/sm_cleaning_dishSoap_a01_01.usd"
+        string usd_date_generated = "2026-02-20 15:38:44"
+        bool used_dsrs_exporter = 1
+    }
+    defaultPrim = "RootNode"
+    doc = "Newton overrides for sm_cleaning_dishSoap_a01_01.usd"
+    metersPerUnit = 1
+    upAxis = "Z"
+)
+
+over "RootNode"
+{
+    over "Geometry"
+    {
+        over "bottle_01_obj_00" (
+            instanceable = true
+            references = @../../payloads/instances_newton.usda@</Instances/bottle_01_mesh_00>
+        )
+        {
+        }
+
+        over "detergent_01_obj_00" (
+            instanceable = true
+            references = @../../payloads/instances_newton.usda@</Instances/detergent_01_mesh_00>
+        )
+        {
+        }
+
+        over "details_01_obj_00" (
+            instanceable = true
+            references = @../../payloads/instances_newton.usda@</Instances/details_01_mesh_00>
+        )
+        {
+        }
+    }
+
+    over "PhysicsMaterials"
+    {
+        over "physics_mat_m_trans__plastic__clean_a01" (
+            prepend apiSchemas = ["NewtonMaterialAPI"]
+        )
+        {
+            float newton:rollingFriction = 0.0001
+            float newton:torsionalFriction = 0.005
+        }
+
+        over "physics_mat_m_trans__salt_water__detergent_a01" (
+            prepend apiSchemas = ["NewtonMaterialAPI"]
+        )
+        {
+            float newton:rollingFriction = 0.0001
+            float newton:torsionalFriction = 0.005
+        }
+
+        over "physics_mat_m_opaque__paper__cleaning_dishSoap_a01" (
+            prepend apiSchemas = ["NewtonMaterialAPI"]
+        )
+        {
+            float newton:rollingFriction = 0.0001
+            float newton:torsionalFriction = 0.005
+        }
+
+        over "physics_mat_m_opaque__plastic__green_a01" (
+            prepend apiSchemas = ["NewtonMaterialAPI"]
+        )
+        {
+            float newton:rollingFriction = 0.0001
+            float newton:torsionalFriction = 0.005
+        }
+    }
+}
+

cleaning_dishSoap_a01/simready_usd/runnables/physics/physx.usda

@@ -0,0 +1,118 @@
+#usda 1.0
+(
+    customLayerData = {
+        dictionary SimReady_Metadata = {
+            dictionary Variants = {
+                dictionary Physics = {
+                    dictionary MuJoCo = {
+                        string activateOption = "Enabled"
+                        string prim = "/RootNode"
+                        string variantSetName = "MuJoCo"
+                    }
+                    dictionary Newton = {
+                        string activateOption = "Enabled"
+                        string prim = "/RootNode"
+                        string variantSetName = "Newton"
+                    }
+                    dictionary PhysX = {
+                        string activateOption = "Enabled"
+                        string prim = "/RootNode"
+                        string variantSetName = "PhysX"
+                    }
+                }
+            }
+            string asset_location = "simready_content\\common_assets\\props_endeavor_kitchen\\cleaning_dishSoap_a01\\simready_physx_usd\\sm_cleaning_dishSoap_a01_01.usd"
+            string asset_type = "prop"
+            string uuid = "42fcbacf-c69c-43ae-acd4-03f341889108"
+            dictionary validation = {
+                string profile = "Robotics-Prop"
+                string profile_version = "3.1.0"
+                dictionary validated_features = {
+                    dictionary "2026-02-20" = {
+                        dictionary FET000_CORE = {
+                            string dependencies = "[]"
+                            bool passed = 1
+                            string version = "0.1.0"
+                        }
+                        dictionary FET001_BASE_NEUTRAL = {
+                            string dependencies = "[]"
+                            string "failing requirements" = "['AA.001']"
+                            bool passed = 0
+                            string version = "0.1.0"
+                        }
+                        dictionary FET003_BASE_NEUTRAL = {
+                            string dependencies = "[]"
+                            bool passed = 1
+                            string version = "0.1.0"
+                        }
+                        dictionary FET003_BASE_PHYSX = {
+                            string dependencies = "[{'FET003_BASE_NEUTRAL': {'version': '0.1.0'}}]"
+                            bool passed = 1
+                            string version = "0.1.0"
+                        }
+                        dictionary FET004_BASE_NEUTRAL = {
+                            string dependencies = "[{'FET003_BASE_NEUTRAL': {'version': '0.1.0'}}]"
+                            bool passed = 1
+                            string version = "0.1.0"
+                        }
+                        dictionary FET004_BASE_PHYSX = {
+                            string dependencies = "[{'FET003_BASE_PHYSX': {'version': '0.1.0'}}, {'FET004_BASE_NEUTRAL': {'version': '0.1.0'}}]"
+                            bool passed = 1
+                            string version = "0.1.0"
+                        }
+                        dictionary FET005_BASE_NEUTRAL = {
+                            string dependencies = "[]"
+                            bool passed = 1
+                            string version = "0.1.0"
+                        }
+                        dictionary FET006_BASE_MDL = {
+                            string dependencies = "[]"
+                            string "failing requirements" = "['VM.MDL.001']"
+                            bool passed = 0
+                            string version = "0.1.0"
+                        }
+                    }
+                }
+            }
+        }
+        string asset_dir = "simready_content/common_assets/props_endeavor_kitchen/cleaning_dishSoap_a01"
+        string asset_name = "cleaning_dishSoap_a01"
+        string asset_type = "prop"
+        string profile = "Prop-Robotics-Neutral"
+        string source_file = "../simready_usd/sm_cleaning_dishSoap_a01_01.usd"
+        string usd_date_generated = "2026-02-20 15:38:44"
+        bool used_dsrs_exporter = 1
+    }
+    defaultPrim = "RootNode"
+    doc = "PhysX overrides for sm_cleaning_dishSoap_a01_01.usd"
+    metersPerUnit = 1
+    upAxis = "Z"
+)
+
+over "RootNode"
+{
+    over "Geometry"
+    {
+        over "bottle_01_obj_00" (
+            instanceable = true
+            references = @../../payloads/instances_physx.usda@</Instances/bottle_01_mesh_00>
+        )
+        {
+        }
+
+        over "detergent_01_obj_00" (
+            instanceable = true
+            references = @../../payloads/instances_physx.usda@</Instances/detergent_01_mesh_00>
+        )
+        {
+        }
+
+        over "details_01_obj_00" (
+            instanceable = true
+            references = @../../payloads/instances_physx.usda@</Instances/details_01_mesh_00>
+        )
+        {
+        }
+    }
+}
+