Update the four grippers for SimReady

README.md

@@ -37,4 +37,4 @@ for joint coordinates and scene configuration, and the
 [ROS 2 packages](https://github.com/OnRobot/onrobot-ros2) for ROS integration.
 
 The assets are supplied under the BSD 3-Clause License. Each package includes
-its license text in `simready_usd/LICENSE`.
+its license text in `simready_usd/LICENSE.txt`.

onrobot_2fg14/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json

@@ -0,0 +1,35 @@
+{
+  "format_version": "1.0",
+  "profile": "Package-Candidate",
+  "profile_version": "1.0.0",
+  "timestamp": "2026-10-12T20:08:05",
+  "assets": [
+    {
+      "asset": "simready_usd/onrobot_2fg14.usda",
+      "features": [
+        {
+          "FET_031_STANDARD": {
+            "version": "0.1.0",
+            "passed": true,
+            "failing_requirements": [],
+            "dependencies": []
+          }
+        },
+        {
+          "FET_033_STANDARD": {
+            "version": "0.1.0",
+            "passed": true,
+            "failing_requirements": [],
+            "dependencies": [
+              {
+                "FET_031_STANDARD": {
+                  "version": "0.1.0"
+                }
+              }
+            ]
+          }
+        }
+      ]
+    }
+  ]
+}

onrobot_2fg14/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json

@@ -0,0 +1,35 @@
+{
+  "format_version": "1.0",
+  "profile": "Package",
+  "profile_version": "1.0.0",
+  "timestamp": "2026-10-12T20:08:06",
+  "assets": [
+    {
+      "asset": "com.nvidia.simready.packaging.json",
+      "features": [
+        {
+          "FET_030_STANDARD": {
+            "version": "0.1.0",
+            "passed": true,
+            "failing_requirements": [],
+            "dependencies": []
+          }
+        },
+        {
+          "FET_032_STANDARD": {
+            "version": "0.1.0",
+            "passed": true,
+            "failing_requirements": [],
+            "dependencies": [
+              {
+                "FET_030_STANDARD": {
+                  "version": "0.1.0"
+                }
+              }
+            ]
+          }
+        }
+      ]
+    }
+  ]
+}

onrobot_2fg14/.metadata/com.nvidia.simready.packaging.bom.json

@@ -0,0 +1,94 @@
+{
+  "format_version": "1.0",
+  "items": [
+    {
+      "relative_path": "simready_usd/.thumbs/256x256/onrobot_2fg14.usda.png",
+      "size": 74490,
+      "hash": {
+        "sha256-flat-1mb": "637b9de4aa3ad1951b0148d39bc71ea53e4c7d5efe01b74e301bea7a536e9d19",
+        "sha256": "f1fda8a5651137146001d172b341cd2734724fd0ca9f031ca576cbd7e3604319"
+      }
+    },
+    {
+      "relative_path": "simready_usd/LICENSE.txt",
+      "size": 1519,
+      "hash": {
+        "sha256-flat-1mb": "3d14dea7ab7c09adbf366558d33aaabb7dbfae65df4831034758e45318e00546",
+        "sha256": "0b7413ea1cc62c0e65ef63213eceeb629630d53b749773e72a1cc9cefbd11b67"
+      }
+    },
+    {
+      "relative_path": "simready_usd/onrobot_2fg14.usda",
+      "size": 3183,
+      "hash": {
+        "sha256-flat-1mb": "72fb02f439b7540ac2a73b239cc774d414e4bc3008feb4b3412b28677f5982e7",
+        "sha256": "e0b40fea7bcd562fe0ce89f01fbcf19cefa803d2e26c3368f0e94ff07c60e77d"
+      }
+    },
+    {
+      "relative_path": "simready_usd/payloads/Physics/mujoco.usda",
+      "size": 6765,
+      "hash": {
+        "sha256-flat-1mb": "99959407db45a53ab119b7e2a2c9463d52bf600bb22221df9657cac1f0b74b9c",
+        "sha256": "727d0266380b6c33c09454c33b71caf8bd1e28aa7ed471e3ea66e8d26dae169a"
+      }
+    },
+    {
+      "relative_path": "simready_usd/payloads/Physics/physics.usda",
+      "size": 7863,
+      "hash": {
+        "sha256-flat-1mb": "de78dccae15a8b5607bdc61d040f5b175fd851e9ae21fb21d90726285738607e",
+        "sha256": "2d9bea1f36b62c92b3bb67f429b292815e2428073957b7d4651db842b62a0636"
+      }
+    },
+    {
+      "relative_path": "simready_usd/payloads/Physics/physx.usda",
+      "size": 1452,
+      "hash": {
+        "sha256-flat-1mb": "e6a211bad167e691a98ebf6428129380015e7e6d39eba98e21e3539a9c49068c",
+        "sha256": "405a53d87fbb7c9ead3abdda6bf27866ba8b61a516cedb00b46c87d4a3d0edea"
+      }
+    },
+    {
+      "relative_path": "simready_usd/payloads/base.usda",
+      "size": 39455,
+      "hash": {
+        "sha256-flat-1mb": "b59d274601eea505f16fd223a493297483b9cba2eb9edff27a894fd8137124fe",
+        "sha256": "035a3bb249f073d9a17a2c1c2d4723bf204879e92f79d6bc6e86b959221ac929"
+      }
+    },
+    {
+      "relative_path": "simready_usd/payloads/geometries.usd",
+      "size": 5837110,
+      "hash": {
+        "sha256-flat-1mb": "518f303b7f9056d37810e37ef3b50029f0549a2adb44c804a1d2b50c83aa12ac",
+        "sha256": "77f13f5c7c9b8aa808eecb28e28df947ff18d49a14103ad088ea871f80d898b2",
+        "sha256-first1m": "3372ef3b5a44b8c3db3d41e5c4e3bfdaf5089b64d14529d5203e2a767dec5a5a"
+      }
+    },
+    {
+      "relative_path": "simready_usd/payloads/instances.usda",
+      "size": 21964,
+      "hash": {
+        "sha256-flat-1mb": "8d8d3f7944b4b6afdd987483be869cc1f1e0f1bde454a4a92d8b6e80a0580b57",
+        "sha256": "03eb72672e0c615dfead2dcd1c71ee7f72f913ade15287a10b46cf44bf136863"
+      }
+    },
+    {
+      "relative_path": "simready_usd/payloads/materials.usda",
+      "size": 25398,
+      "hash": {
+        "sha256-flat-1mb": "81c4c952a3d3b0fcb055d5847ebc529209ca5bead515df793ee5c8fdc06b364a",
+        "sha256": "1b42727fb22549a0ac0786fbfbeec50c4e848513e284e9c7a815fded82cf53d3"
+      }
+    },
+    {
+      "relative_path": "simready_usd/payloads/robot.usda",
+      "size": 2181,
+      "hash": {
+        "sha256-flat-1mb": "1237407db0004430aab2a779f58a1f19d1fc85e96d4f6d41487ffe9493169830",
+        "sha256": "a320d51710048b31c052394e6bda9594dfb22ffa42f271dceaa4a9b975fdce9f"
+      }
+    }
+  ]
+}

onrobot_2fg14/.metadata/com.nvidia.simready.root_usds.json

@@ -1,6 +1,6 @@
 {
+  "format_version": "1.0",
   "entries": [
     "simready_usd/onrobot_2fg14.usda"
-  ],
-  "format_version": "1.0"
+  ]
 }

onrobot_2fg14/.metadata/onrobot_2fg14_validation.json

@@ -0,0 +1,243 @@
+{
+    "simready_usd/onrobot_2fg14.usda": {
+        "features_summary": {
+            "FET_000_MUJOCO": {
+                "blocking_failure": false,
+                "dependencies": "[{'FET_000_STANDARD': {'version': '0.1.0'}}]",
+                "optional requirements": "['com.nvidia.simready.RV.007', 'com.nvidia.simready.RV.010', 'com.nvidia.simready.RV.011']",
+                "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.006', 'com.nvidia.simready.RV.010', 'com.nvidia.simready.RV.011']",
+                "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.010', 'com.nvidia.simready.RV.011']",
+                "passed": false,
+                "version": "0.1.0"
+            },
+            "FET_000_STANDARD": {
+                "blocking_failure": false,
+                "dependencies": "[]",
+                "passed": true,
+                "version": "0.1.0"
+            },
+            "FET_001_STANDARD": {
+                "blocking_failure": false,
+                "dependencies": "[]",
+                "passed": true,
+                "version": "1.0.1"
+            },
+            "FET_003_MUJOCO": {
+                "blocking_failure": false,
+                "dependencies": "[]",
+                "optional requirements": "['com.nvidia.simready.MUJOCO.COL.001']",
+                "passed": false,
+                "version": "0.1.0"
+            },
+            "FET_003_NEWTON": {
+                "blocking_failure": false,
+                "dependencies": "[]",
+                "passed": true,
+                "version": "0.1.0"
+            },
+            "FET_003_PHYSX": {
+                "blocking_failure": false,
+                "dependencies": "[]",
+                "passed": true,
+                "version": "0.4.0"
+            },
+            "FET_003_STANDARD": {
+                "blocking_failure": false,
+                "dependencies": "[]",
+                "passed": true,
+                "version": "0.2.0"
+            },
+            "FET_004_MUJOCO": {
+                "blocking_failure": false,
+                "dependencies": "[{'FET_003_MUJOCO': {'version': '0.1.0'}}]",
+                "optional requirements": "['com.nvidia.simready.MUJOCO.COL.001']",
+                "passed": false,
+                "version": "0.1.0"
+            },
+            "FET_004_NEWTON": {
+                "blocking_failure": false,
+                "dependencies": "[{'FET_003_NEWTON': {'version': '0.1.0'}}]",
+                "passed": true,
+                "version": "0.1.0"
+            },
+            "FET_004_PHYSX": {
+                "blocking_failure": false,
+                "dependencies": "[{'FET_003_PHYSX': {'version': '0.4.0'}}]",
+                "passed": true,
+                "version": "0.4.0"
+            },
+            "FET_004_ROBOT_MUJOCO": {
+                "blocking_failure": false,
+                "dependencies": "[]",
+                "optional requirements": "['com.nvidia.simready.MUJOCO.COL.001']",
+                "passed": false,
+                "version": "0.1.0"
+            },
+            "FET_004_ROBOT_NEWTON": {
+                "blocking_failure": false,
+                "dependencies": "[]",
+                "passed": true,
+                "version": "0.1.0"
+            },
+            "FET_004_ROBOT_PHYSX": {
+                "blocking_failure": false,
+                "dependencies": "[]",
+                "passed": true,
+                "version": "0.1.0"
+            },
+            "FET_004_STANDARD": {
+                "blocking_failure": false,
+                "dependencies": "[{'FET_003_STANDARD': {'version': '0.2.0'}}]",
+                "passed": true,
+                "version": "0.2.0"
+            },
+            "FET_006_MDL": {
+                "blocking_failure": false,
+                "dependencies": "[]",
+                "optional requirements": "['com.nvidia.simready.VM.MDL.003']",
+                "passed": false,
+                "version": "0.2.0"
+            },
+            "FET_006_OPENPBR": {
+                "blocking_failure": false,
+                "dependencies": "[]",
+                "optional requirements": "['com.nvidia.simready.VM.PBR.001']",
+                "passed": false,
+                "version": "0.1.0"
+            },
+            "FET_006_STANDARD": {
+                "blocking_failure": false,
+                "dependencies": "[]",
+                "passed": true,
+                "version": "0.2.0"
+            },
+            "FET_010_STANDARD": {
+                "blocking_failure": false,
+                "dependencies": "[]",
+                "optional requirements": "['com.nvidia.simready.DISP.001']",
+                "passed": false,
+                "version": "0.1.0"
+            },
+            "FET_021_ISAAC": {
+                "blocking_failure": false,
+                "dependencies": "[]",
+                "optional requirements": "['com.nvidia.simready.RC.001', 'com.nvidia.simready.RC.005']",
+                "passed": false,
+                "version": "0.2.0"
+            },
+            "FET_022_ISAAC": {
+                "blocking_failure": false,
+                "dependencies": "[{'FET_022_PHYSX': {'version': '0.2.0'}}]",
+                "passed": true,
+                "version": "0.2.0"
+            },
+            "FET_022_MUJOCO": {
+                "blocking_failure": false,
+                "dependencies": "[{'FET_004_ROBOT_MUJOCO': {'version': '0.1.0'}}]",
+                "optional requirements": "['com.nvidia.simready.MUJOCO.COL.001', 'com.nvidia.simready.MUJOCO.DJ.001']",
+                "passed": false,
+                "version": "0.1.0"
+            },
+            "FET_022_NEWTON": {
+                "blocking_failure": false,
+                "dependencies": "[{'FET_004_ROBOT_NEWTON': {'version': '0.1.0'}}]",
+                "passed": true,
+                "version": "0.1.0"
+            },
+            "FET_022_PHYSX": {
+                "blocking_failure": false,
+                "dependencies": "[{'FET_004_PHYSX': {'version': '0.4.0'}}]",
+                "passed": true,
+                "version": "0.2.0"
+            },
+            "FET_022_STANDARD": {
+                "blocking_failure": false,
+                "dependencies": "[{'FET_004_STANDARD': {'version': '0.2.0'}}]",
+                "passed": true,
+                "version": "0.2.0"
+            },
+            "FET_024_MUJOCO": {
+                "blocking_failure": false,
+                "dependencies": "[{'FET_024_STANDARD': {'version': '0.1.0'}}]",
+                "passed": true,
+                "version": "0.1.0"
+            },
+            "FET_024_NEWTON": {
+                "blocking_failure": false,
+                "dependencies": "[{'FET_024_STANDARD': {'version': '0.1.0'}}]",
+                "optional requirements": "['com.nvidia.simready.NEWTON.BA.001']",
+                "passed": false,
+                "version": "0.1.0"
+            },
+            "FET_024_PHYSX": {
+                "blocking_failure": false,
+                "dependencies": "[{'FET_024_STANDARD': {'version': '0.1.0'}}]",
+                "passed": true,
+                "version": "0.1.0"
+            },
+            "FET_024_STANDARD": {
+                "blocking_failure": false,
+                "dependencies": "[]",
+                "passed": true,
+                "version": "0.1.0"
+            },
+            "FET_028_ISAAC": {
+                "blocking_failure": false,
+                "dependencies": "[{'FET_028_STANDARD': {'version': '0.1.0'}}, {'FET_022_ISAAC': {'version': '0.1.0'}}]",
+                "passed": true,
+                "version": "0.1.0"
+            },
+            "FET_028_MUJOCO": {
+                "blocking_failure": false,
+                "dependencies": "[{'FET_028_STANDARD': {'version': '0.1.0'}}, {'FET_022_MUJOCO': {'version': '0.1.0'}}]",
+                "optional requirements": "['com.nvidia.simready.MUJOCO.COL.001', 'com.nvidia.simready.MUJOCO.DJ.001']",
+                "passed": false,
+                "version": "0.1.0"
+            },
+            "FET_028_STANDARD": {
+                "blocking_failure": false,
+                "dependencies": "[]",
+                "passed": true,
+                "version": "0.1.0"
+            },
+            "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_100_ISAAC": {
+                "blocking_failure": false,
+                "dependencies": "[{'FET_003_PHYSX': {'version': '0.4.0'}}]",
+                "passed": true,
+                "version": "0.3.0"
+            }
+        },
+        "profile_id": "Robot-Gripper",
+        "profile_version": "3.0.0",
+        "simready_validate_version": "2026.8.0",
+        "tier_versions": {
+            "sensors": "2026.8.0",
+            "tier_aif": "2026.8.0",
+            "tier_core": "2026.8.0"
+        }
+    }
+}

onrobot_2fg14/com.nvidia.simready.packaging.json

@@ -1,6 +1,31 @@
 {
   "format_version": "1.0",
-  "package_id": "simready.hf.onrobot.simready-grippers.onrobot_2fg14.2026.10.07_01",
+  "package_id": "simready.hf.onrobot.simready-grippers.onrobot_2fg14.2026.10.12_01",
   "license": "BSD-3-Clause",
-  "metadata": []
-}
+  "metadata": [
+    {
+      "name": "com.nvidia.simready.conformance.Package-Candidate@1.0.0.json",
+      "hash": {
+        "sha256": "b4015586f5a668698e11b74c9bcd025719f4e1a91f9ba5798fbc76f7f3bf08ba"
+      }
+    },
+    {
+      "name": "com.nvidia.simready.packaging.bom.json",
+      "hash": {
+        "sha256": "dbbe75e061b63ba6e0da4ab4a96c7d47f0707601e3ef1759b9c2302758fb07d4"
+      }
+    },
+    {
+      "name": "com.nvidia.simready.root_usds.json",
+      "hash": {
+        "sha256": "9b738a86b86bdee20890a2693778ae091a01802ae682ecf8529c44a7f1fb007a"
+      }
+    }
+  ],
+  "content_hash": {
+    "sha256": "e16cfbe1232ab78979b9a34a9f687c7aece84289470de1c14b7d08750335a23e"
+  },
+  "package_hash": {
+    "sha256": "3dbc6a1ae1076b1b1011db104844a937bd23e2d72f7476b2b99ba4bb99d69d66"
+  }
+}

onrobot_2fg14/simready_usd/.simready/validation.json

@@ -1,182 +0,0 @@
-{
-  "SimReady_Metadata": {
-    "validation": {
-      "profile": "Robot-Gripper",
-      "profile_version": "2.1.0",
-      "validated_features": {
-        "2026-10-07": {
-          "FET_000_MUJOCO": {
-            "dependencies": "[{'FET_000_STANDARD': {'version': '0.1.0'}}]",
-            "optional requirements": "['com.nvidia.simready.RV.007']",
-            "passed": false,
-            "version": "0.1.0"
-          },
-          "FET_000_NEWTON": {
-            "dependencies": "[{'FET_000_STANDARD': {'version': '0.1.0'}}]",
-            "optional requirements": "['com.nvidia.simready.RV.004']",
-            "passed": false,
-            "version": "0.1.0"
-          },
-          "FET_000_PHYSX": {
-            "dependencies": "[{'FET_000_STANDARD': {'version': '0.1.0'}}]",
-            "optional requirements": "['com.nvidia.simready.RV.001']",
-            "passed": false,
-            "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": "[]",
-            "optional requirements": "['com.nvidia.simready.MUJOCO.COL.001']",
-            "passed": false,
-            "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'}}]",
-            "optional requirements": "['com.nvidia.simready.MUJOCO.COL.001']",
-            "passed": false,
-            "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_ROBOT_MUJOCO": {
-            "dependencies": "[]",
-            "optional requirements": "['com.nvidia.simready.MUJOCO.COL.001']",
-            "passed": false,
-            "version": "0.1.0"
-          },
-          "FET_004_ROBOT_NEWTON": {
-            "dependencies": "[]",
-            "passed": true,
-            "version": "0.1.0"
-          },
-          "FET_004_ROBOT_PHYSX": {
-            "dependencies": "[]",
-            "passed": true,
-            "version": "0.1.0"
-          },
-          "FET_004_STANDARD": {
-            "dependencies": "[{'FET_003_STANDARD': {'version': '0.2.0'}}]",
-            "passed": true,
-            "version": "0.2.0"
-          },
-          "FET_021_ISAAC": {
-            "dependencies": "[]",
-            "optional requirements": "['com.nvidia.simready.RC.001', 'com.nvidia.simready.RC.005']",
-            "passed": false,
-            "version": "0.2.0"
-          },
-          "FET_022_ISAAC": {
-            "dependencies": "[{'FET_022_PHYSX': {'version': '0.2.0'}}]",
-            "passed": true,
-            "version": "0.2.0"
-          },
-          "FET_022_MUJOCO": {
-            "dependencies": "[{'FET_004_ROBOT_MUJOCO': {'version': '0.1.0'}}]",
-            "optional requirements": "['com.nvidia.simready.MUJOCO.COL.001', 'com.nvidia.simready.MUJOCO.DJ.001']",
-            "passed": false,
-            "version": "0.1.0"
-          },
-          "FET_022_NEWTON": {
-            "dependencies": "[{'FET_004_ROBOT_NEWTON': {'version': '0.1.0'}}]",
-            "passed": true,
-            "version": "0.1.0"
-          },
-          "FET_022_PHYSX": {
-            "dependencies": "[{'FET_004_PHYSX': {'version': '0.4.0'}}]",
-            "passed": true,
-            "version": "0.2.0"
-          },
-          "FET_022_STANDARD": {
-            "dependencies": "[{'FET_004_STANDARD': {'version': '0.2.0'}}]",
-            "passed": true,
-            "version": "0.2.0"
-          },
-          "FET_024_MUJOCO": {
-            "dependencies": "[{'FET_024_STANDARD': {'version': '0.1.0'}}]",
-            "passed": true,
-            "version": "0.1.0"
-          },
-          "FET_024_NEWTON": {
-            "dependencies": "[{'FET_024_STANDARD': {'version': '0.1.0'}}]",
-            "optional requirements": "['com.nvidia.simready.NEWTON.BA.001']",
-            "passed": false,
-            "version": "0.1.0"
-          },
-          "FET_024_PHYSX": {
-            "dependencies": "[{'FET_024_STANDARD': {'version': '0.1.0'}}]",
-            "passed": true,
-            "version": "0.1.0"
-          },
-          "FET_024_STANDARD": {
-            "dependencies": "[]",
-            "passed": true,
-            "version": "0.1.0"
-          },
-          "FET_028_ISAAC": {
-            "dependencies": "[{'FET_028_STANDARD': {'version': '0.1.0'}}, {'FET_022_ISAAC': {'version': '0.1.0'}}]",
-            "passed": true,
-            "version": "0.1.0"
-          },
-          "FET_028_MUJOCO": {
-            "dependencies": "[{'FET_028_STANDARD': {'version': '0.1.0'}}, {'FET_022_MUJOCO': {'version': '0.1.0'}}]",
-            "optional requirements": "['com.nvidia.simready.MUJOCO.COL.001', 'com.nvidia.simready.MUJOCO.DJ.001']",
-            "passed": false,
-            "version": "0.1.0"
-          },
-          "FET_028_STANDARD": {
-            "dependencies": "[]",
-            "passed": true,
-            "version": "0.1.0"
-          },
-          "FET_031_STANDARD": {
-            "dependencies": "[]",
-            "passed": true,
-            "version": "0.1.0"
-          },
-          "FET_033_STANDARD": {
-            "dependencies": "[{'FET_031_STANDARD': {'version': '0.1.0'}}]",
-            "passed": true,
-            "version": "0.3.0"
-          },
-          "FET_100_ISAAC": {
-            "dependencies": "[{'FET_003_PHYSX': {'version': '0.4.0'}}]",
-            "passed": true,
-            "version": "0.3.0"
-          }
-        }
-      }
-    }
-  }
-}

onrobot_2fg14/simready_usd/onrobot_2fg14.usda

@@ -14,184 +14,6 @@
             string source_file = "assets/onrobot_2fg14/simready_usd/onrobot_2fg14.usda"
             string source_manifest_sha256 = "62cbb6ff62d264ce967bf35b8b16c1ba504d1a8ed4b0d4af2fa48f4dc0494812"
             string usd_date_generated = "2026-10-07"
-            dictionary validation = {
-                string profile = "Robot-Gripper"
-                string profile_version = "2.1.0"
-                dictionary validated_features = {
-                    dictionary "2026-10-07" = {
-                        dictionary FET_000_MUJOCO = {
-                            string dependencies = "[{'FET_000_STANDARD': {'version': '0.1.0'}}]"
-                            string "optional requirements" = "['com.nvidia.simready.RV.007']"
-                            bool passed = 0
-                            string version = "0.1.0"
-                        }
-                        dictionary FET_000_NEWTON = {
-                            string dependencies = "[{'FET_000_STANDARD': {'version': '0.1.0'}}]"
-                            string "optional requirements" = "['com.nvidia.simready.RV.004']"
-                            bool passed = 0
-                            string version = "0.1.0"
-                        }
-                        dictionary FET_000_PHYSX = {
-                            string dependencies = "[{'FET_000_STANDARD': {'version': '0.1.0'}}]"
-                            string "optional requirements" = "['com.nvidia.simready.RV.001']"
-                            bool passed = 0
-                            string version = "0.1.0"
-                        }
-                        dictionary FET_000_STANDARD = {
-                            string dependencies = "[]"
-                            bool passed = 1
-                            string version = "0.1.0"
-                        }
-                        dictionary FET_001_STANDARD = {
-                            string dependencies = "[]"
-                            bool passed = 1
-                            string version = "1.0.1"
-                        }
-                        dictionary FET_003_MUJOCO = {
-                            string dependencies = "[]"
-                            string "optional requirements" = "['com.nvidia.simready.MUJOCO.COL.001']"
-                            bool passed = 0
-                            string version = "0.1.0"
-                        }
-                        dictionary FET_003_NEWTON = {
-                            string dependencies = "[]"
-                            bool passed = 1
-                            string version = "0.1.0"
-                        }
-                        dictionary FET_003_PHYSX = {
-                            string dependencies = "[]"
-                            bool passed = 1
-                            string version = "0.4.0"
-                        }
-                        dictionary FET_003_STANDARD = {
-                            string dependencies = "[]"
-                            bool passed = 1
-                            string version = "0.2.0"
-                        }
-                        dictionary FET_004_MUJOCO = {
-                            string dependencies = "[{'FET_003_MUJOCO': {'version': '0.1.0'}}]"
-                            string "optional requirements" = "['com.nvidia.simready.MUJOCO.COL.001']"
-                            bool passed = 0
-                            string version = "0.1.0"
-                        }
-                        dictionary FET_004_NEWTON = {
-                            string dependencies = "[{'FET_003_NEWTON': {'version': '0.1.0'}}]"
-                            bool passed = 1
-                            string version = "0.1.0"
-                        }
-                        dictionary FET_004_PHYSX = {
-                            string dependencies = "[{'FET_003_PHYSX': {'version': '0.4.0'}}]"
-                            bool passed = 1
-                            string version = "0.4.0"
-                        }
-                        dictionary FET_004_ROBOT_MUJOCO = {
-                            string dependencies = "[]"
-                            string "optional requirements" = "['com.nvidia.simready.MUJOCO.COL.001']"
-                            bool passed = 0
-                            string version = "0.1.0"
-                        }
-                        dictionary FET_004_ROBOT_NEWTON = {
-                            string dependencies = "[]"
-                            bool passed = 1
-                            string version = "0.1.0"
-                        }
-                        dictionary FET_004_ROBOT_PHYSX = {
-                            string dependencies = "[]"
-                            bool passed = 1
-                            string version = "0.1.0"
-                        }
-                        dictionary FET_004_STANDARD = {
-                            string dependencies = "[{'FET_003_STANDARD': {'version': '0.2.0'}}]"
-                            bool passed = 1
-                            string version = "0.2.0"
-                        }
-                        dictionary FET_021_ISAAC = {
-                            string dependencies = "[]"
-                            string "optional requirements" = "['com.nvidia.simready.RC.001', 'com.nvidia.simready.RC.005']"
-                            bool passed = 0
-                            string version = "0.2.0"
-                        }
-                        dictionary FET_022_ISAAC = {
-                            string dependencies = "[{'FET_022_PHYSX': {'version': '0.2.0'}}]"
-                            bool passed = 1
-                            string version = "0.2.0"
-                        }
-                        dictionary FET_022_MUJOCO = {
-                            string dependencies = "[{'FET_004_ROBOT_MUJOCO': {'version': '0.1.0'}}]"
-                            string "optional requirements" = "['com.nvidia.simready.MUJOCO.COL.001', 'com.nvidia.simready.MUJOCO.DJ.001']"
-                            bool passed = 0
-                            string version = "0.1.0"
-                        }
-                        dictionary FET_022_NEWTON = {
-                            string dependencies = "[{'FET_004_ROBOT_NEWTON': {'version': '0.1.0'}}]"
-                            bool passed = 1
-                            string version = "0.1.0"
-                        }
-                        dictionary FET_022_PHYSX = {
-                            string dependencies = "[{'FET_004_PHYSX': {'version': '0.4.0'}}]"
-                            bool passed = 1
-                            string version = "0.2.0"
-                        }
-                        dictionary FET_022_STANDARD = {
-                            string dependencies = "[{'FET_004_STANDARD': {'version': '0.2.0'}}]"
-                            bool passed = 1
-                            string version = "0.2.0"
-                        }
-                        dictionary FET_024_MUJOCO = {
-                            string dependencies = "[{'FET_024_STANDARD': {'version': '0.1.0'}}]"
-                            bool passed = 1
-                            string version = "0.1.0"
-                        }
-                        dictionary FET_024_NEWTON = {
-                            string dependencies = "[{'FET_024_STANDARD': {'version': '0.1.0'}}]"
-                            string "optional requirements" = "['com.nvidia.simready.NEWTON.BA.001']"
-                            bool passed = 0
-                            string version = "0.1.0"
-                        }
-                        dictionary FET_024_PHYSX = {
-                            string dependencies = "[{'FET_024_STANDARD': {'version': '0.1.0'}}]"
-                            bool passed = 1
-                            string version = "0.1.0"
-                        }
-                        dictionary FET_024_STANDARD = {
-                            string dependencies = "[]"
-                            bool passed = 1
-                            string version = "0.1.0"
-                        }
-                        dictionary FET_028_ISAAC = {
-                            string dependencies = "[{'FET_028_STANDARD': {'version': '0.1.0'}}, {'FET_022_ISAAC': {'version': '0.1.0'}}]"
-                            bool passed = 1
-                            string version = "0.1.0"
-                        }
-                        dictionary FET_028_MUJOCO = {
-                            string dependencies = "[{'FET_028_STANDARD': {'version': '0.1.0'}}, {'FET_022_MUJOCO': {'version': '0.1.0'}}]"
-                            string "optional requirements" = "['com.nvidia.simready.MUJOCO.COL.001', 'com.nvidia.simready.MUJOCO.DJ.001']"
-                            bool passed = 0
-                            string version = "0.1.0"
-                        }
-                        dictionary FET_028_STANDARD = {
-                            string dependencies = "[]"
-                            bool passed = 1
-                            string version = "0.1.0"
-                        }
-                        dictionary FET_031_STANDARD = {
-                            string dependencies = "[]"
-                            bool passed = 1
-                            string version = "0.1.0"
-                        }
-                        dictionary FET_033_STANDARD = {
-                            string dependencies = "[{'FET_031_STANDARD': {'version': '0.1.0'}}]"
-                            bool passed = 1
-                            string version = "0.3.0"
-                        }
-                        dictionary FET_100_ISAAC = {
-                            string dependencies = "[{'FET_003_PHYSX': {'version': '0.4.0'}}]"
-                            bool passed = 1
-                            string version = "0.3.0"
-                        }
-                    }
-                }
-            }
         }
         string asset_name = "onrobot_2fg14"
         string asset_type = "gripper"
@@ -209,8 +31,10 @@ def Xform "onrobot_2fg14" (
     kind = "component"
     prepend references = @./payloads/base.usda@
     variants = {
+        string Newton = "Disabled"
         string Physics = "physx"
     }
+    prepend variantSets = "Newton"
     append variantSets = "Physics"
 )
 {
@@ -265,6 +89,29 @@ def Xform "onrobot_2fg14" (
             prepend payload = @./payloads/Physics/physx.usda@
         ) {
 
+        }
+    }
+    variantSet "Newton" = {
+        "Disabled" {
+
+        }
+        "Enabled" {
+            over "Geometry"
+            {
+                over "base_link"
+                {
+                    over "base_link_1" (
+                        instanceable = false
+                    )
+                    {
+                        over "base_link_1"
+                        {
+                            uniform token physics:approximation = "convexHull"
+                        }
+                    }
+                }
+            }
+
         }
     }
 }

onrobot_2fg14/simready_usd/payloads/Physics/mujoco.usda

@@ -18,17 +18,19 @@ over "onrobot_2fg14"
     {
         def MjcActuator "finger_stroke_actuator"
         {
-            uniform double[] mjc:biasPrm = [0, -150, -5, 0, 0, 0, 0, 0, 0, 0]
+            uniform double[] mjc:biasPrm = [0, -40000, -900, 0, 0, 0, 0, 0, 0, 0]
             uniform token mjc:biasType = "affine"
-            uniform double mjc:forceRange:max = 280
-            uniform double mjc:forceRange:min = -280
-            uniform double[] mjc:gainPrm = [150, 0, 0, 0, 0, 0, 0, 0, 0, 0]
+            uniform double mjc:forceRange:max = 560
+            uniform double mjc:forceRange:min = -560
+            uniform double[] mjc:gainPrm = [40000, 0, 0, 0, 0, 0, 0, 0, 0, 0]
             uniform token mjc:gainType = "fixed"
             custom rel mjc:target
             prepend rel mjc:target = </onrobot_2fg14/Physics/finger_stroke>
         }
 
-        def MjcActuator "left_finger_base_joint_actuator"
+        def MjcActuator "left_finger_base_joint_actuator" (
+            active = false
+        )
         {
             uniform double[] mjc:biasPrm = [0, -150, -5, 0, 0, 0, 0, 0, 0, 0]
             uniform token mjc:biasType = "affine"
@@ -46,8 +48,11 @@ over "onrobot_2fg14"
 
         over "finger_stroke" (
             delete apiSchemas = ["PhysicsDriveAPI:linear", "PhysicsJointStateAPI:linear"]
+            prepend apiSchemas = ["NewtonJointAPI"]
         )
         {
+            float newton:armature = 5.0625
+            float newton:velocityLimit = 0.45
         }
 
         over "right_fingertip_joint"
@@ -56,8 +61,11 @@ over "onrobot_2fg14"
 
         over "left_finger_base_joint" (
             delete apiSchemas = ["PhysicsDriveAPI:linear", "PhysicsJointStateAPI:linear"]
+            prepend apiSchemas = ["NewtonJointAPI"]
         )
         {
+            float newton:armature = 0
+            float newton:velocityLimit = 0.45
         }
 
         over "left_fingertip_joint"
@@ -340,3 +348,4 @@ over "onrobot_2fg14"
     {
     }
 }
+

onrobot_2fg7/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json

@@ -0,0 +1,35 @@
+{
+  "format_version": "1.0",
+  "profile": "Package-Candidate",
+  "profile_version": "1.0.0",
+  "timestamp": "2026-10-12T20:07:57",
+  "assets": [
+    {
+      "asset": "simready_usd/onrobot_2fg7.usda",
+      "features": [
+        {
+          "FET_031_STANDARD": {
+            "version": "0.1.0",
+            "passed": true,
+            "failing_requirements": [],
+            "dependencies": []
+          }
+        },
+        {
+          "FET_033_STANDARD": {
+            "version": "0.1.0",
+            "passed": true,
+            "failing_requirements": [],
+            "dependencies": [
+              {
+                "FET_031_STANDARD": {
+                  "version": "0.1.0"
+                }
+              }
+            ]
+          }
+        }
+      ]
+    }
+  ]
+}

onrobot_2fg7/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json

@@ -0,0 +1,35 @@
+{
+  "format_version": "1.0",
+  "profile": "Package",
+  "profile_version": "1.0.0",
+  "timestamp": "2026-10-12T20:07:57",
+  "assets": [
+    {
+      "asset": "com.nvidia.simready.packaging.json",
+      "features": [
+        {
+          "FET_030_STANDARD": {
+            "version": "0.1.0",
+            "passed": true,
+            "failing_requirements": [],
+            "dependencies": []
+          }
+        },
+        {
+          "FET_032_STANDARD": {
+            "version": "0.1.0",
+            "passed": true,
+            "failing_requirements": [],
+            "dependencies": [
+              {
+                "FET_030_STANDARD": {
+                  "version": "0.1.0"
+                }
+              }
+            ]
+          }
+        }
+      ]
+    }
+  ]
+}

onrobot_2fg7/.metadata/com.nvidia.simready.packaging.bom.json

@@ -0,0 +1,94 @@
+{
+  "format_version": "1.0",
+  "items": [
+    {
+      "relative_path": "simready_usd/.thumbs/256x256/onrobot_2fg7.usda.png",
+      "size": 71532,
+      "hash": {
+        "sha256-flat-1mb": "2eb0e9644f8e8b7e245ccd126e07b2841c995a2ff9fdbe948f1c00d95f063022",
+        "sha256": "9b144084e8124e69ad33094b688df3176866b5626424105a55fd204e5954227f"
+      }
+    },
+    {
+      "relative_path": "simready_usd/LICENSE.txt",
+      "size": 1519,
+      "hash": {
+        "sha256-flat-1mb": "3d14dea7ab7c09adbf366558d33aaabb7dbfae65df4831034758e45318e00546",
+        "sha256": "0b7413ea1cc62c0e65ef63213eceeb629630d53b749773e72a1cc9cefbd11b67"
+      }
+    },
+    {
+      "relative_path": "simready_usd/onrobot_2fg7.usda",
+      "size": 9102,
+      "hash": {
+        "sha256-flat-1mb": "e2aeba1097b9731056a0b82a580e6f201f6150b61fc4632139b21ac7d6dc6385",
+        "sha256": "54b9dfc48d488bb93dd513c52ebc24d1965a6119fb9c64a2635b9bff89d51d9e"
+      }
+    },
+    {
+      "relative_path": "simready_usd/payloads/Physics/mujoco.usda",
+      "size": 2798,
+      "hash": {
+        "sha256-flat-1mb": "8c8622c27287bf6589f04aad00e81d7c03eee54f184f70cddc148bb43c7bf542",
+        "sha256": "51855dce0cd9a4baa20dc429eb5eb199f81c1d61dbfa20444495d4357bcac1f4"
+      }
+    },
+    {
+      "relative_path": "simready_usd/payloads/Physics/physics.usda",
+      "size": 8942,
+      "hash": {
+        "sha256-flat-1mb": "3c54ef628b638c1210fe00895ec4e4779358ccdb32965f028b38dc2e042edd69",
+        "sha256": "02d35b4489c008f197a8af2682560328263a6ad8ec11d6d367fd1cb8b49fad74"
+      }
+    },
+    {
+      "relative_path": "simready_usd/payloads/Physics/physx.usda",
+      "size": 1377,
+      "hash": {
+        "sha256-flat-1mb": "41d8b36ce6d30cc74577af56a594b108f77bd551ee74eb5e8024a396674f9518",
+        "sha256": "f00deaa3d254589e78f37bd4c4395030b27b8e0d47a8d03915ceb8b53bfb584e"
+      }
+    },
+    {
+      "relative_path": "simready_usd/payloads/base.usda",
+      "size": 4565,
+      "hash": {
+        "sha256-flat-1mb": "7f3131e8c5336c5de54e1044273c85401f8a0fb3c6b3e7844ac158575baf63ae",
+        "sha256": "d06871507bdc8cd10951c745689d55e99113206e2d0114e4d1c1a44ad938aa08"
+      }
+    },
+    {
+      "relative_path": "simready_usd/payloads/geometries.usd",
+      "size": 10802989,
+      "hash": {
+        "sha256-flat-1mb": "c82c914276e12a296cff5b46bdb5b112fa00416b00e8dfb667b68fe6c892190a",
+        "sha256": "878a519ed7e0fee709f8243d6cb859d7b1ace36e7c0be6b14eb6baa2fabd5720",
+        "sha256-first1m": "d6b6567a6eac42d3e137635cf067faaa091cbe6a73c37322593af176306b2078"
+      }
+    },
+    {
+      "relative_path": "simready_usd/payloads/instances.usda",
+      "size": 17939,
+      "hash": {
+        "sha256-flat-1mb": "9a088e929d0246d76f8a0f3331d364883da48157b8e9aea3140e8d90e8860d70",
+        "sha256": "57ca88fb2d3f54ba6c36c49f0db720f03c2f615af38b528a6f01834c10df1a10"
+      }
+    },
+    {
+      "relative_path": "simready_usd/payloads/materials.usda",
+      "size": 28550,
+      "hash": {
+        "sha256-flat-1mb": "cf09902a4d9ec4c8ece180af778bb0f009975e04065aa7d54558282d01da8bee",
+        "sha256": "ee6ace7679b88e571337e30b9129e5f8f8d7b1a9b5625a632aad76ff51c5749c"
+      }
+    },
+    {
+      "relative_path": "simready_usd/payloads/robot.usda",
+      "size": 2169,
+      "hash": {
+        "sha256-flat-1mb": "432a7f293f06260293af2ba600be8abe09dde6a1eed19ce4c07098ab700883f2",
+        "sha256": "eed1cb26139dd18aa6880e850e4845038fe49253cc0657ea8b473e64be237de2"
+      }
+    }
+  ]
+}

onrobot_2fg7/.metadata/com.nvidia.simready.root_usds.json

@@ -1,6 +1,6 @@
 {
+  "format_version": "1.0",
   "entries": [
     "simready_usd/onrobot_2fg7.usda"
-  ],
-  "format_version": "1.0"
+  ]
 }

onrobot_2fg7/.metadata/onrobot_2fg7_validation.json

@@ -0,0 +1,243 @@
+{
+    "simready_usd/onrobot_2fg7.usda": {
+        "features_summary": {
+            "FET_000_MUJOCO": {
+                "blocking_failure": false,
+                "dependencies": "[{'FET_000_STANDARD': {'version': '0.1.0'}}]",
+                "optional requirements": "['com.nvidia.simready.RV.007', 'com.nvidia.simready.RV.010', 'com.nvidia.simready.RV.011']",
+                "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.006', 'com.nvidia.simready.RV.010', 'com.nvidia.simready.RV.011']",
+                "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.010', 'com.nvidia.simready.RV.011']",
+                "passed": false,
+                "version": "0.1.0"
+            },
+            "FET_000_STANDARD": {
+                "blocking_failure": false,
+                "dependencies": "[]",
+                "passed": true,
+                "version": "0.1.0"
+            },
+            "FET_001_STANDARD": {
+                "blocking_failure": false,
+                "dependencies": "[]",
+                "passed": true,
+                "version": "1.0.1"
+            },
+            "FET_003_MUJOCO": {
+                "blocking_failure": false,
+                "dependencies": "[]",
+                "optional requirements": "['com.nvidia.simready.MUJOCO.COL.001']",
+                "passed": false,
+                "version": "0.1.0"
+            },
+            "FET_003_NEWTON": {
+                "blocking_failure": false,
+                "dependencies": "[]",
+                "passed": true,
+                "version": "0.1.0"
+            },
+            "FET_003_PHYSX": {
+                "blocking_failure": false,
+                "dependencies": "[]",
+                "passed": true,
+                "version": "0.4.0"
+            },
+            "FET_003_STANDARD": {
+                "blocking_failure": false,
+                "dependencies": "[]",
+                "passed": true,
+                "version": "0.2.0"
+            },
+            "FET_004_MUJOCO": {
+                "blocking_failure": false,
+                "dependencies": "[{'FET_003_MUJOCO': {'version': '0.1.0'}}]",
+                "optional requirements": "['com.nvidia.simready.MUJOCO.COL.001']",
+                "passed": false,
+                "version": "0.1.0"
+            },
+            "FET_004_NEWTON": {
+                "blocking_failure": false,
+                "dependencies": "[{'FET_003_NEWTON': {'version': '0.1.0'}}]",
+                "passed": true,
+                "version": "0.1.0"
+            },
+            "FET_004_PHYSX": {
+                "blocking_failure": false,
+                "dependencies": "[{'FET_003_PHYSX': {'version': '0.4.0'}}]",
+                "passed": true,
+                "version": "0.4.0"
+            },
+            "FET_004_ROBOT_MUJOCO": {
+                "blocking_failure": false,
+                "dependencies": "[]",
+                "optional requirements": "['com.nvidia.simready.MUJOCO.COL.001']",
+                "passed": false,
+                "version": "0.1.0"
+            },
+            "FET_004_ROBOT_NEWTON": {
+                "blocking_failure": false,
+                "dependencies": "[]",
+                "passed": true,
+                "version": "0.1.0"
+            },
+            "FET_004_ROBOT_PHYSX": {
+                "blocking_failure": false,
+                "dependencies": "[]",
+                "passed": true,
+                "version": "0.1.0"
+            },
+            "FET_004_STANDARD": {
+                "blocking_failure": false,
+                "dependencies": "[{'FET_003_STANDARD': {'version': '0.2.0'}}]",
+                "passed": true,
+                "version": "0.2.0"
+            },
+            "FET_006_MDL": {
+                "blocking_failure": false,
+                "dependencies": "[]",
+                "optional requirements": "['com.nvidia.simready.VM.MDL.003']",
+                "passed": false,
+                "version": "0.2.0"
+            },
+            "FET_006_OPENPBR": {
+                "blocking_failure": false,
+                "dependencies": "[]",
+                "optional requirements": "['com.nvidia.simready.VM.PBR.001']",
+                "passed": false,
+                "version": "0.1.0"
+            },
+            "FET_006_STANDARD": {
+                "blocking_failure": false,
+                "dependencies": "[]",
+                "passed": true,
+                "version": "0.2.0"
+            },
+            "FET_010_STANDARD": {
+                "blocking_failure": false,
+                "dependencies": "[]",
+                "optional requirements": "['com.nvidia.simready.DISP.001']",
+                "passed": false,
+                "version": "0.1.0"
+            },
+            "FET_021_ISAAC": {
+                "blocking_failure": false,
+                "dependencies": "[]",
+                "optional requirements": "['com.nvidia.simready.RC.001', 'com.nvidia.simready.RC.005']",
+                "passed": false,
+                "version": "0.2.0"
+            },
+            "FET_022_ISAAC": {
+                "blocking_failure": false,
+                "dependencies": "[{'FET_022_PHYSX': {'version': '0.2.0'}}]",
+                "passed": true,
+                "version": "0.2.0"
+            },
+            "FET_022_MUJOCO": {
+                "blocking_failure": false,
+                "dependencies": "[{'FET_004_ROBOT_MUJOCO': {'version': '0.1.0'}}]",
+                "optional requirements": "['com.nvidia.simready.MUJOCO.COL.001', 'com.nvidia.simready.MUJOCO.DJ.001']",
+                "passed": false,
+                "version": "0.1.0"
+            },
+            "FET_022_NEWTON": {
+                "blocking_failure": false,
+                "dependencies": "[{'FET_004_ROBOT_NEWTON': {'version': '0.1.0'}}]",
+                "passed": true,
+                "version": "0.1.0"
+            },
+            "FET_022_PHYSX": {
+                "blocking_failure": false,
+                "dependencies": "[{'FET_004_PHYSX': {'version': '0.4.0'}}]",
+                "passed": true,
+                "version": "0.2.0"
+            },
+            "FET_022_STANDARD": {
+                "blocking_failure": false,
+                "dependencies": "[{'FET_004_STANDARD': {'version': '0.2.0'}}]",
+                "passed": true,
+                "version": "0.2.0"
+            },
+            "FET_024_MUJOCO": {
+                "blocking_failure": false,
+                "dependencies": "[{'FET_024_STANDARD': {'version': '0.1.0'}}]",
+                "passed": true,
+                "version": "0.1.0"
+            },
+            "FET_024_NEWTON": {
+                "blocking_failure": false,
+                "dependencies": "[{'FET_024_STANDARD': {'version': '0.1.0'}}]",
+                "optional requirements": "['com.nvidia.simready.NEWTON.BA.001']",
+                "passed": false,
+                "version": "0.1.0"
+            },
+            "FET_024_PHYSX": {
+                "blocking_failure": false,
+                "dependencies": "[{'FET_024_STANDARD': {'version': '0.1.0'}}]",
+                "passed": true,
+                "version": "0.1.0"
+            },
+            "FET_024_STANDARD": {
+                "blocking_failure": false,
+                "dependencies": "[]",
+                "passed": true,
+                "version": "0.1.0"
+            },
+            "FET_028_ISAAC": {
+                "blocking_failure": false,
+                "dependencies": "[{'FET_028_STANDARD': {'version': '0.1.0'}}, {'FET_022_ISAAC': {'version': '0.1.0'}}]",
+                "passed": true,
+                "version": "0.1.0"
+            },
+            "FET_028_MUJOCO": {
+                "blocking_failure": false,
+                "dependencies": "[{'FET_028_STANDARD': {'version': '0.1.0'}}, {'FET_022_MUJOCO': {'version': '0.1.0'}}]",
+                "optional requirements": "['com.nvidia.simready.MUJOCO.COL.001', 'com.nvidia.simready.MUJOCO.DJ.001']",
+                "passed": false,
+                "version": "0.1.0"
+            },
+            "FET_028_STANDARD": {
+                "blocking_failure": false,
+                "dependencies": "[]",
+                "passed": true,
+                "version": "0.1.0"
+            },
+            "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_100_ISAAC": {
+                "blocking_failure": false,
+                "dependencies": "[{'FET_003_PHYSX': {'version': '0.4.0'}}]",
+                "passed": true,
+                "version": "0.3.0"
+            }
+        },
+        "profile_id": "Robot-Gripper",
+        "profile_version": "3.0.0",
+        "simready_validate_version": "2026.8.0",
+        "tier_versions": {
+            "sensors": "2026.8.0",
+            "tier_aif": "2026.8.0",
+            "tier_core": "2026.8.0"
+        }
+    }
+}

onrobot_2fg7/com.nvidia.simready.packaging.json

@@ -1,6 +1,31 @@
 {
   "format_version": "1.0",
-  "package_id": "simready.hf.onrobot.simready-grippers.onrobot_2fg7.2026.10.07_01",
+  "package_id": "simready.hf.onrobot.simready-grippers.onrobot_2fg7.2026.10.12_01",
   "license": "BSD-3-Clause",
-  "metadata": []
-}
+  "metadata": [
+    {
+      "name": "com.nvidia.simready.conformance.Package-Candidate@1.0.0.json",
+      "hash": {
+        "sha256": "0a0762d4bf82c492f8bd6ee8d3b33bf6ccb01d52f0fb2b4806129a2e30b91615"
+      }
+    },
+    {
+      "name": "com.nvidia.simready.packaging.bom.json",
+      "hash": {
+        "sha256": "7b6e01dd72657287f84eb0912aedf65d10c45045fcc3c9d06afb78d87030cdb8"
+      }
+    },
+    {
+      "name": "com.nvidia.simready.root_usds.json",
+      "hash": {
+        "sha256": "48f6876f56b72b34e31eef3567e4d3e9e6a0b190ae2ef9bd3d17cbe880f202cc"
+      }
+    }
+  ],
+  "content_hash": {
+    "sha256": "3fb8cc38e225f6d5f1c6be8aaea7be45ac4d311ac4fead02df05485343e608df"
+  },
+  "package_hash": {
+    "sha256": "14e5af41c40c0c921a9033b29b4de14e4e87da30d534696df7e23bb72a1a01bc"
+  }
+}

onrobot_2fg7/simready_usd/.simready/validation.json

@@ -1,186 +0,0 @@
-{
-  "SimReady_Metadata": {
-    "validation": {
-      "profile": "Robot-Gripper",
-      "profile_version": "2.1.0",
-      "validated_features": {
-        "2026-10-07": {
-          "FET_000_MUJOCO": {
-            "dependencies": "[{'FET_000_STANDARD': {'version': '0.1.0'}}]",
-            "optional requirements": "['com.nvidia.simready.RV.007']",
-            "passed": false,
-            "version": "0.1.0"
-          },
-          "FET_000_NEWTON": {
-            "dependencies": "[{'FET_000_STANDARD': {'version': '0.1.0'}}]",
-            "optional requirements": "['com.nvidia.simready.RV.004']",
-            "passed": false,
-            "version": "0.1.0"
-          },
-          "FET_000_PHYSX": {
-            "dependencies": "[{'FET_000_STANDARD': {'version': '0.1.0'}}]",
-            "optional requirements": "['com.nvidia.simready.RV.001']",
-            "passed": false,
-            "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": "[]",
-            "optional requirements": "['com.nvidia.simready.MUJOCO.COL.001']",
-            "passed": false,
-            "version": "0.1.0"
-          },
-          "FET_003_NEWTON": {
-            "dependencies": "[]",
-            "optional requirements": "['com.nvidia.simready.NEWTON.COL.001']",
-            "passed": false,
-            "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'}}]",
-            "optional requirements": "['com.nvidia.simready.MUJOCO.COL.001']",
-            "passed": false,
-            "version": "0.1.0"
-          },
-          "FET_004_NEWTON": {
-            "dependencies": "[{'FET_003_NEWTON': {'version': '0.1.0'}}]",
-            "optional requirements": "['com.nvidia.simready.NEWTON.COL.001']",
-            "passed": false,
-            "version": "0.1.0"
-          },
-          "FET_004_PHYSX": {
-            "dependencies": "[{'FET_003_PHYSX': {'version': '0.4.0'}}]",
-            "passed": true,
-            "version": "0.4.0"
-          },
-          "FET_004_ROBOT_MUJOCO": {
-            "dependencies": "[]",
-            "optional requirements": "['com.nvidia.simready.MUJOCO.COL.001']",
-            "passed": false,
-            "version": "0.1.0"
-          },
-          "FET_004_ROBOT_NEWTON": {
-            "dependencies": "[]",
-            "optional requirements": "['com.nvidia.simready.NEWTON.COL.001']",
-            "passed": false,
-            "version": "0.1.0"
-          },
-          "FET_004_ROBOT_PHYSX": {
-            "dependencies": "[]",
-            "passed": true,
-            "version": "0.1.0"
-          },
-          "FET_004_STANDARD": {
-            "dependencies": "[{'FET_003_STANDARD': {'version': '0.2.0'}}]",
-            "passed": true,
-            "version": "0.2.0"
-          },
-          "FET_021_ISAAC": {
-            "dependencies": "[]",
-            "optional requirements": "['com.nvidia.simready.RC.001', 'com.nvidia.simready.RC.005']",
-            "passed": false,
-            "version": "0.2.0"
-          },
-          "FET_022_ISAAC": {
-            "dependencies": "[{'FET_022_PHYSX': {'version': '0.2.0'}}]",
-            "passed": true,
-            "version": "0.2.0"
-          },
-          "FET_022_MUJOCO": {
-            "dependencies": "[{'FET_004_ROBOT_MUJOCO': {'version': '0.1.0'}}]",
-            "optional requirements": "['com.nvidia.simready.MUJOCO.COL.001', 'com.nvidia.simready.MUJOCO.DJ.001']",
-            "passed": false,
-            "version": "0.1.0"
-          },
-          "FET_022_NEWTON": {
-            "dependencies": "[{'FET_004_ROBOT_NEWTON': {'version': '0.1.0'}}]",
-            "optional requirements": "['com.nvidia.simready.NEWTON.COL.001', 'com.nvidia.simready.NEWTON.DJ.001']",
-            "passed": false,
-            "version": "0.1.0"
-          },
-          "FET_022_PHYSX": {
-            "dependencies": "[{'FET_004_PHYSX': {'version': '0.4.0'}}]",
-            "passed": true,
-            "version": "0.2.0"
-          },
-          "FET_022_STANDARD": {
-            "dependencies": "[{'FET_004_STANDARD': {'version': '0.2.0'}}]",
-            "passed": true,
-            "version": "0.2.0"
-          },
-          "FET_024_MUJOCO": {
-            "dependencies": "[{'FET_024_STANDARD': {'version': '0.1.0'}}]",
-            "passed": true,
-            "version": "0.1.0"
-          },
-          "FET_024_NEWTON": {
-            "dependencies": "[{'FET_024_STANDARD': {'version': '0.1.0'}}]",
-            "optional requirements": "['com.nvidia.simready.NEWTON.BA.001']",
-            "passed": false,
-            "version": "0.1.0"
-          },
-          "FET_024_PHYSX": {
-            "dependencies": "[{'FET_024_STANDARD': {'version': '0.1.0'}}]",
-            "passed": true,
-            "version": "0.1.0"
-          },
-          "FET_024_STANDARD": {
-            "dependencies": "[]",
-            "passed": true,
-            "version": "0.1.0"
-          },
-          "FET_028_ISAAC": {
-            "dependencies": "[{'FET_028_STANDARD': {'version': '0.1.0'}}, {'FET_022_ISAAC': {'version': '0.1.0'}}]",
-            "passed": true,
-            "version": "0.1.0"
-          },
-          "FET_028_MUJOCO": {
-            "dependencies": "[{'FET_028_STANDARD': {'version': '0.1.0'}}, {'FET_022_MUJOCO': {'version': '0.1.0'}}]",
-            "optional requirements": "['com.nvidia.simready.MUJOCO.COL.001', 'com.nvidia.simready.MUJOCO.DJ.001']",
-            "passed": false,
-            "version": "0.1.0"
-          },
-          "FET_028_STANDARD": {
-            "dependencies": "[]",
-            "passed": true,
-            "version": "0.1.0"
-          },
-          "FET_031_STANDARD": {
-            "dependencies": "[]",
-            "passed": true,
-            "version": "0.1.0"
-          },
-          "FET_033_STANDARD": {
-            "dependencies": "[{'FET_031_STANDARD': {'version': '0.1.0'}}]",
-            "passed": true,
-            "version": "0.3.0"
-          },
-          "FET_100_ISAAC": {
-            "dependencies": "[{'FET_003_PHYSX': {'version': '0.4.0'}}]",
-            "passed": true,
-            "version": "0.3.0"
-          }
-        }
-      }
-    }
-  }
-}

onrobot_2fg7/simready_usd/onrobot_2fg7.usda

@@ -14,188 +14,6 @@
             string source_file = "assets/onrobot_2fg7/simready_usd/onrobot_2fg7.usda"
             string source_manifest_sha256 = "62cbb6ff62d264ce967bf35b8b16c1ba504d1a8ed4b0d4af2fa48f4dc0494812"
             string usd_date_generated = "2026-10-07"
-            dictionary validation = {
-                string profile = "Robot-Gripper"
-                string profile_version = "2.1.0"
-                dictionary validated_features = {
-                    dictionary "2026-10-07" = {
-                        dictionary FET_000_MUJOCO = {
-                            string dependencies = "[{'FET_000_STANDARD': {'version': '0.1.0'}}]"
-                            string "optional requirements" = "['com.nvidia.simready.RV.007']"
-                            bool passed = 0
-                            string version = "0.1.0"
-                        }
-                        dictionary FET_000_NEWTON = {
-                            string dependencies = "[{'FET_000_STANDARD': {'version': '0.1.0'}}]"
-                            string "optional requirements" = "['com.nvidia.simready.RV.004']"
-                            bool passed = 0
-                            string version = "0.1.0"
-                        }
-                        dictionary FET_000_PHYSX = {
-                            string dependencies = "[{'FET_000_STANDARD': {'version': '0.1.0'}}]"
-                            string "optional requirements" = "['com.nvidia.simready.RV.001']"
-                            bool passed = 0
-                            string version = "0.1.0"
-                        }
-                        dictionary FET_000_STANDARD = {
-                            string dependencies = "[]"
-                            bool passed = 1
-                            string version = "0.1.0"
-                        }
-                        dictionary FET_001_STANDARD = {
-                            string dependencies = "[]"
-                            bool passed = 1
-                            string version = "1.0.1"
-                        }
-                        dictionary FET_003_MUJOCO = {
-                            string dependencies = "[]"
-                            string "optional requirements" = "['com.nvidia.simready.MUJOCO.COL.001']"
-                            bool passed = 0
-                            string version = "0.1.0"
-                        }
-                        dictionary FET_003_NEWTON = {
-                            string dependencies = "[]"
-                            string "optional requirements" = "['com.nvidia.simready.NEWTON.COL.001']"
-                            bool passed = 0
-                            string version = "0.1.0"
-                        }
-                        dictionary FET_003_PHYSX = {
-                            string dependencies = "[]"
-                            bool passed = 1
-                            string version = "0.4.0"
-                        }
-                        dictionary FET_003_STANDARD = {
-                            string dependencies = "[]"
-                            bool passed = 1
-                            string version = "0.2.0"
-                        }
-                        dictionary FET_004_MUJOCO = {
-                            string dependencies = "[{'FET_003_MUJOCO': {'version': '0.1.0'}}]"
-                            string "optional requirements" = "['com.nvidia.simready.MUJOCO.COL.001']"
-                            bool passed = 0
-                            string version = "0.1.0"
-                        }
-                        dictionary FET_004_NEWTON = {
-                            string dependencies = "[{'FET_003_NEWTON': {'version': '0.1.0'}}]"
-                            string "optional requirements" = "['com.nvidia.simready.NEWTON.COL.001']"
-                            bool passed = 0
-                            string version = "0.1.0"
-                        }
-                        dictionary FET_004_PHYSX = {
-                            string dependencies = "[{'FET_003_PHYSX': {'version': '0.4.0'}}]"
-                            bool passed = 1
-                            string version = "0.4.0"
-                        }
-                        dictionary FET_004_ROBOT_MUJOCO = {
-                            string dependencies = "[]"
-                            string "optional requirements" = "['com.nvidia.simready.MUJOCO.COL.001']"
-                            bool passed = 0
-                            string version = "0.1.0"
-                        }
-                        dictionary FET_004_ROBOT_NEWTON = {
-                            string dependencies = "[]"
-                            string "optional requirements" = "['com.nvidia.simready.NEWTON.COL.001']"
-                            bool passed = 0
-                            string version = "0.1.0"
-                        }
-                        dictionary FET_004_ROBOT_PHYSX = {
-                            string dependencies = "[]"
-                            bool passed = 1
-                            string version = "0.1.0"
-                        }
-                        dictionary FET_004_STANDARD = {
-                            string dependencies = "[{'FET_003_STANDARD': {'version': '0.2.0'}}]"
-                            bool passed = 1
-                            string version = "0.2.0"
-                        }
-                        dictionary FET_021_ISAAC = {
-                            string dependencies = "[]"
-                            string "optional requirements" = "['com.nvidia.simready.RC.001', 'com.nvidia.simready.RC.005']"
-                            bool passed = 0
-                            string version = "0.2.0"
-                        }
-                        dictionary FET_022_ISAAC = {
-                            string dependencies = "[{'FET_022_PHYSX': {'version': '0.2.0'}}]"
-                            bool passed = 1
-                            string version = "0.2.0"
-                        }
-                        dictionary FET_022_MUJOCO = {
-                            string dependencies = "[{'FET_004_ROBOT_MUJOCO': {'version': '0.1.0'}}]"
-                            string "optional requirements" = "['com.nvidia.simready.MUJOCO.COL.001', 'com.nvidia.simready.MUJOCO.DJ.001']"
-                            bool passed = 0
-                            string version = "0.1.0"
-                        }
-                        dictionary FET_022_NEWTON = {
-                            string dependencies = "[{'FET_004_ROBOT_NEWTON': {'version': '0.1.0'}}]"
-                            string "optional requirements" = "['com.nvidia.simready.NEWTON.COL.001', 'com.nvidia.simready.NEWTON.DJ.001']"
-                            bool passed = 0
-                            string version = "0.1.0"
-                        }
-                        dictionary FET_022_PHYSX = {
-                            string dependencies = "[{'FET_004_PHYSX': {'version': '0.4.0'}}]"
-                            bool passed = 1
-                            string version = "0.2.0"
-                        }
-                        dictionary FET_022_STANDARD = {
-                            string dependencies = "[{'FET_004_STANDARD': {'version': '0.2.0'}}]"
-                            bool passed = 1
-                            string version = "0.2.0"
-                        }
-                        dictionary FET_024_MUJOCO = {
-                            string dependencies = "[{'FET_024_STANDARD': {'version': '0.1.0'}}]"
-                            bool passed = 1
-                            string version = "0.1.0"
-                        }
-                        dictionary FET_024_NEWTON = {
-                            string dependencies = "[{'FET_024_STANDARD': {'version': '0.1.0'}}]"
-                            string "optional requirements" = "['com.nvidia.simready.NEWTON.BA.001']"
-                            bool passed = 0
-                            string version = "0.1.0"
-                        }
-                        dictionary FET_024_PHYSX = {
-                            string dependencies = "[{'FET_024_STANDARD': {'version': '0.1.0'}}]"
-                            bool passed = 1
-                            string version = "0.1.0"
-                        }
-                        dictionary FET_024_STANDARD = {
-                            string dependencies = "[]"
-                            bool passed = 1
-                            string version = "0.1.0"
-                        }
-                        dictionary FET_028_ISAAC = {
-                            string dependencies = "[{'FET_028_STANDARD': {'version': '0.1.0'}}, {'FET_022_ISAAC': {'version': '0.1.0'}}]"
-                            bool passed = 1
-                            string version = "0.1.0"
-                        }
-                        dictionary FET_028_MUJOCO = {
-                            string dependencies = "[{'FET_028_STANDARD': {'version': '0.1.0'}}, {'FET_022_MUJOCO': {'version': '0.1.0'}}]"
-                            string "optional requirements" = "['com.nvidia.simready.MUJOCO.COL.001', 'com.nvidia.simready.MUJOCO.DJ.001']"
-                            bool passed = 0
-                            string version = "0.1.0"
-                        }
-                        dictionary FET_028_STANDARD = {
-                            string dependencies = "[]"
-                            bool passed = 1
-                            string version = "0.1.0"
-                        }
-                        dictionary FET_031_STANDARD = {
-                            string dependencies = "[]"
-                            bool passed = 1
-                            string version = "0.1.0"
-                        }
-                        dictionary FET_033_STANDARD = {
-                            string dependencies = "[{'FET_031_STANDARD': {'version': '0.1.0'}}]"
-                            bool passed = 1
-                            string version = "0.3.0"
-                        }
-                        dictionary FET_100_ISAAC = {
-                            string dependencies = "[{'FET_003_PHYSX': {'version': '0.4.0'}}]"
-                            bool passed = 1
-                            string version = "0.3.0"
-                        }
-                    }
-                }
-            }
         }
         string asset_name = "onrobot_2fg7"
         string asset_type = "gripper"
@@ -209,12 +27,14 @@
 )
 
 def Xform "onrobot_2fg7" (
-    prepend apiSchemas = ["NewtonArticulationRootAPI", "SemanticsLabelsAPI:class", "SemanticsLabelsAPI:wikidata_qcode"]
+    prepend apiSchemas = ["SemanticsLabelsAPI:class", "SemanticsLabelsAPI:wikidata_qcode"]
     kind = "component"
     prepend references = @./payloads/base.usda@
     variants = {
+        string Newton = "Disabled"
         string Physics = "physx"
     }
+    prepend variantSets = "Newton"
     append variantSets = "Physics"
 )
 {
@@ -399,6 +219,71 @@ def Xform "onrobot_2fg7" (
             prepend payload = @./payloads/Physics/physx.usda@
         ) {
 
+        }
+    }
+    variantSet "Newton" = {
+        "Disabled" {
+
+        }
+        "Enabled" {
+            over "Geometry"
+            {
+                over "base_link"
+                {
+                    over "base_link"
+                    {
+                        over "geo_39_1_1"
+                        {
+                            uniform token physics:approximation = "convexHull"
+                        }
+                    }
+                }
+
+                over "right_finger_base_link"
+                {
+                    over "finger_base_link"
+                    {
+                        over "finger_base_link"
+                        {
+                            uniform token physics:approximation = "convexHull"
+                        }
+                    }
+                }
+
+                over "right_fingertip_link"
+                {
+                    over "silicone_fingertip_link"
+                    {
+                        over "geo_1_1_1"
+                        {
+                            uniform token physics:approximation = "convexHull"
+                        }
+                    }
+                }
+
+                over "left_finger_base_link"
+                {
+                    over "finger_base_link"
+                    {
+                        over "finger_base_link"
+                        {
+                            uniform token physics:approximation = "convexHull"
+                        }
+                    }
+                }
+
+                over "left_fingertip_link"
+                {
+                    over "silicone_fingertip_link"
+                    {
+                        over "geo_1_1_1"
+                        {
+                            uniform token physics:approximation = "convexHull"
+                        }
+                    }
+                }
+            }
+
         }
     }
 }

onrobot_2fg7/simready_usd/payloads/Physics/mujoco.usda

@@ -18,13 +18,19 @@ over "onrobot_2fg7"
     {
         def MjcActuator "finger_stroke_actuator"
         {
-            uniform double mjc:forceRange:max = 140
-            uniform double mjc:forceRange:min = -140
+            uniform double[] mjc:biasPrm = [0, -20000, -282.84271240234375, 0, 0, 0, 0, 0, 0, 0]
+            uniform token mjc:biasType = "affine"
+            uniform double mjc:forceRange:max = 280
+            uniform double mjc:forceRange:min = -280
+            uniform double[] mjc:gainPrm = [20000, 0, 0, 0, 0, 0, 0, 0, 0, 0]
+            uniform token mjc:gainType = "fixed"
             custom rel mjc:target
             prepend rel mjc:target = </onrobot_2fg7/Physics/finger_stroke>
         }
 
-        def MjcActuator "left_finger_base_joint_actuator"
+        def MjcActuator "left_finger_base_joint_actuator" (
+            active = false
+        )
         {
             uniform double mjc:forceRange:max = 140
             uniform double mjc:forceRange:min = -140
@@ -38,8 +44,11 @@ over "onrobot_2fg7"
 
         over "finger_stroke" (
             delete apiSchemas = ["PhysicsDriveAPI:linear", "PhysicsJointStateAPI:linear"]
+            prepend apiSchemas = ["NewtonJointAPI"]
         )
         {
+            float newton:armature = 1
+            float newton:velocityLimit = 0.45
         }
 
         over "right_fingertip_joint"
@@ -48,8 +57,11 @@ over "onrobot_2fg7"
 
         over "left_finger_base_joint" (
             delete apiSchemas = ["PhysicsDriveAPI:linear", "PhysicsJointStateAPI:linear"]
+            prepend apiSchemas = ["NewtonJointAPI"]
         )
         {
+            float newton:armature = 0
+            float newton:velocityLimit = 0.45
         }
 
         over "left_fingertip_joint"

onrobot_2fg7/simready_usd/payloads/Physics/physics.usda

@@ -17,31 +17,49 @@ over "onrobot_2fg7"
             prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI", "PhysicsFilteredPairsAPI"]
         )
         {
+            point3f physics:centerOfMass = (-0.0002500683, -0.00012024929, 0.060492408)
+            float3 physics:diagonalInertia = (0.00079591415, 0.0009697723, 0.0010568612)
             rel physics:filteredPairs = [
                 </onrobot_2fg7/Geometry/right_finger_base_link>,
                 </onrobot_2fg7/Geometry/right_fingertip_link>,
                 </onrobot_2fg7/Geometry/left_finger_base_link>,
-                </onrobot_2fg7/Geometry/left_fingertip_link>
+                </onrobot_2fg7/Geometry/left_fingertip_link>,
             ]
-            point3f physics:centerOfMass = (-0.0002500683, -0.00012024929, 0.060492408)
-            float3 physics:diagonalInertia = (0.00079591415, 0.0009697723, 0.0010568612)
             float physics:mass = 1.0136738
             quatf physics:principalAxes = (0.70802987, -0.70618117, -0.0010787388, 0.00082372787)
+
+            over "base_link"
+            {
+                over "geo_39_1_1" (
+                    prepend apiSchemas = ["NewtonMeshCollisionAPI"]
+                )
+                {
+                }
+            }
         }
 
         over "right_finger_base_link" (
             prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI", "PhysicsFilteredPairsAPI"]
         )
         {
+            point3f physics:centerOfMass = (-0.005503283, -0.004471855, -0.009706983)
+            float3 physics:diagonalInertia = (4.317458e-7, 0.0000023808186, 0.0000027380563)
             rel physics:filteredPairs = [
                 </onrobot_2fg7/Geometry/right_fingertip_link>,
                 </onrobot_2fg7/Geometry/left_finger_base_link>,
-                </onrobot_2fg7/Geometry/left_fingertip_link>
+                </onrobot_2fg7/Geometry/left_fingertip_link>,
             ]
-            point3f physics:centerOfMass = (-0.005503283, -0.004471855, -0.009706983)
-            float3 physics:diagonalInertia = (4.317458e-7, 0.0000023808186, 0.0000027380563)
             float physics:mass = 0.008929251
             quatf physics:principalAxes = (0.7298252, 0.15736105, 0.6646323, -0.029266547)
+
+            over "finger_base_link"
+            {
+                over "finger_base_link" (
+                    prepend apiSchemas = ["NewtonMeshCollisionAPI"]
+                )
+                {
+                }
+            }
         }
 
         over "right_fingertip_link" (
@@ -49,26 +67,40 @@ over "onrobot_2fg7"
         )
         {
             rel material:binding:physics = </onrobot_2fg7/Physics/fingertip_physics_material>
-            rel physics:filteredPairs = [
-                </onrobot_2fg7/Geometry/left_finger_base_link>
-            ]
             point3f physics:centerOfMass = (0.018361593, -0.000002116404, 0.005866226)
             float3 physics:diagonalInertia = (0.0000026813075, 0.00000584746, 0.0000076167835)
+            rel physics:filteredPairs = </onrobot_2fg7/Geometry/left_finger_base_link>
             float physics:mass = 0.032804266
             quatf physics:principalAxes = (-0.0016119543, 0.99602914, -0.00010576829, 0.08901339)
+
+            over "silicone_fingertip_link"
+            {
+                over "geo_1_1_1" (
+                    prepend apiSchemas = ["NewtonMeshCollisionAPI"]
+                )
+                {
+                }
+            }
         }
 
         over "left_finger_base_link" (
             prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI", "PhysicsFilteredPairsAPI"]
         )
         {
-            rel physics:filteredPairs = [
-                </onrobot_2fg7/Geometry/left_fingertip_link>
-            ]
             point3f physics:centerOfMass = (0, 0, 0)
             float3 physics:diagonalInertia = (4.317458e-7, 0.0000023808186, 0.0000027380563)
+            rel physics:filteredPairs = </onrobot_2fg7/Geometry/left_fingertip_link>
             float physics:mass = 0.008929251
             quatf physics:principalAxes = (0.7298252, 0.15736105, 0.6646323, -0.029266547)
+
+            over "finger_base_link"
+            {
+                over "finger_base_link" (
+                    prepend apiSchemas = ["NewtonMeshCollisionAPI"]
+                )
+                {
+                }
+            }
         }
 
         over "left_fingertip_link" (
@@ -80,6 +112,15 @@ over "onrobot_2fg7"
             float3 physics:diagonalInertia = (0.0000026813075, 0.00000584746, 0.0000076167835)
             float physics:mass = 0.032804266
             quatf physics:principalAxes = (-0.0016119543, 0.99602914, -0.00010576829, 0.08901339)
+
+            over "silicone_fingertip_link"
+            {
+                over "geo_1_1_1" (
+                    prepend apiSchemas = ["NewtonMeshCollisionAPI"]
+                )
+                {
+                }
+            }
         }
     }
 
@@ -90,8 +131,8 @@ over "onrobot_2fg7"
         )
         {
             float physics:dynamicFriction = 0.5
-            float physics:staticFriction = 0.6
             float physics:restitution = 0
+            float physics:staticFriction = 0.6
             token physxMaterial:frictionCombineMode = "average"
         }
 
@@ -120,9 +161,10 @@ over "onrobot_2fg7"
         }
 
         def PhysicsPrismaticJoint "left_finger_base_joint" (
-            prepend apiSchemas = ["PhysicsJointStateAPI:linear"]
+            prepend apiSchemas = ["PhysicsJointStateAPI:linear", "NewtonMimicAPI"]
         )
         {
+            rel newton:mimicJoint = </onrobot_2fg7/Physics/finger_stroke>
             uniform token physics:axis = "Z"
             custom rel physics:body0
             prepend rel physics:body0 = </onrobot_2fg7/Geometry/base_link>
@@ -141,7 +183,7 @@ over "onrobot_2fg7"
         }
 
         def PhysicsFixedJoint "root_joint" (
-            prepend apiSchemas = ["PhysicsArticulationRootAPI"]
+            prepend apiSchemas = ["PhysicsArticulationRootAPI", "NewtonArticulationRootAPI"]
         )
         {
             rel physics:body0
@@ -178,3 +220,4 @@ over "onrobot_2fg7"
         }
     }
 }
+

onrobot_rg2/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json

@@ -0,0 +1,35 @@
+{
+  "format_version": "1.0",
+  "profile": "Package-Candidate",
+  "profile_version": "1.0.0",
+  "timestamp": "2026-10-12T20:08:12",
+  "assets": [
+    {
+      "asset": "simready_usd/onrobot_rg2.usda",
+      "features": [
+        {
+          "FET_031_STANDARD": {
+            "version": "0.1.0",
+            "passed": true,
+            "failing_requirements": [],
+            "dependencies": []
+          }
+        },
+        {
+          "FET_033_STANDARD": {
+            "version": "0.1.0",
+            "passed": true,
+            "failing_requirements": [],
+            "dependencies": [
+              {
+                "FET_031_STANDARD": {
+                  "version": "0.1.0"
+                }
+              }
+            ]
+          }
+        }
+      ]
+    }
+  ]
+}

onrobot_rg2/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json

@@ -0,0 +1,35 @@
+{
+  "format_version": "1.0",
+  "profile": "Package",
+  "profile_version": "1.0.0",
+  "timestamp": "2026-10-12T20:08:12",
+  "assets": [
+    {
+      "asset": "com.nvidia.simready.packaging.json",
+      "features": [
+        {
+          "FET_030_STANDARD": {
+            "version": "0.1.0",
+            "passed": true,
+            "failing_requirements": [],
+            "dependencies": []
+          }
+        },
+        {
+          "FET_032_STANDARD": {
+            "version": "0.1.0",
+            "passed": true,
+            "failing_requirements": [],
+            "dependencies": [
+              {
+                "FET_030_STANDARD": {
+                  "version": "0.1.0"
+                }
+              }
+            ]
+          }
+        }
+      ]
+    }
+  ]
+}

onrobot_rg2/.metadata/com.nvidia.simready.packaging.bom.json

@@ -0,0 +1,102 @@
+{
+  "format_version": "1.0",
+  "items": [
+    {
+      "relative_path": "simready_usd/.thumbs/256x256/onrobot_rg2.usda.png",
+      "size": 65047,
+      "hash": {
+        "sha256-flat-1mb": "f930342b7f74a02b74b8a6b4a58b8139f4cee48f5725fe71bc5be9ea5c638ec3",
+        "sha256": "ce3b0ec509326bdfc9b5c8ae8084e7b1490b24f28adef9e26158b8df47ed4326"
+      }
+    },
+    {
+      "relative_path": "simready_usd/LICENSE.txt",
+      "size": 1519,
+      "hash": {
+        "sha256-flat-1mb": "3d14dea7ab7c09adbf366558d33aaabb7dbfae65df4831034758e45318e00546",
+        "sha256": "0b7413ea1cc62c0e65ef63213eceeb629630d53b749773e72a1cc9cefbd11b67"
+      }
+    },
+    {
+      "relative_path": "simready_usd/onrobot_rg2.usda",
+      "size": 3079,
+      "hash": {
+        "sha256-flat-1mb": "7a9f888c018e81005cba4bba3b5ed0822c6b17412364cab8aca931f1b5ce5e5a",
+        "sha256": "286785a2712ebeb85191bbddbae50a605ebab9cff967258af607909d7084abc5"
+      }
+    },
+    {
+      "relative_path": "simready_usd/payloads/Physics/physics.usda",
+      "size": 35448,
+      "hash": {
+        "sha256-flat-1mb": "278118b17e352ab59c8c8eb650bc984341db4efd940e71bf4d70f1395d7e6c7f",
+        "sha256": "bb0f68fe7cc109dccced7186df7c79ffa328adfc4388173b04f2b8a15709c5e3"
+      }
+    },
+    {
+      "relative_path": "simready_usd/payloads/Physics/physx.usda",
+      "size": 6248,
+      "hash": {
+        "sha256-flat-1mb": "0bb06cf8b514a3f2f50e3cadc213e6af8ef163b4c2641ccb05f6cb58c876af52",
+        "sha256": "16f860a6d2124cbd8d3cb1c6c47dedddda9433ad3d150f3e9c173a57fb70b0ba"
+      }
+    },
+    {
+      "relative_path": "simready_usd/payloads/Physics/physx_parallel_grip.usda",
+      "size": 6248,
+      "hash": {
+        "sha256-flat-1mb": "0bb06cf8b514a3f2f50e3cadc213e6af8ef163b4c2641ccb05f6cb58c876af52",
+        "sha256": "16f860a6d2124cbd8d3cb1c6c47dedddda9433ad3d150f3e9c173a57fb70b0ba"
+      }
+    },
+    {
+      "relative_path": "simready_usd/payloads/Physics/physx_parallel_grip_tip_contact.usda",
+      "size": 6248,
+      "hash": {
+        "sha256-flat-1mb": "7bf2abedd473762f2628c93185bee3e56a60329c0b02acb793d204d8ba4f5ec9",
+        "sha256": "1455381a036c2a741dd45e22a38523803ca2bb5725756e162cfe9d898bb7a607"
+      }
+    },
+    {
+      "relative_path": "simready_usd/payloads/base.usda",
+      "size": 12447,
+      "hash": {
+        "sha256-flat-1mb": "490f47dbc71f8e81852f56331e545b48c8d4073c30d2549eac96d2f42d13152a",
+        "sha256": "004df9626003605be29e4f547373590bbcbd863ca1c3acbab4bbfde57fbe3025"
+      }
+    },
+    {
+      "relative_path": "simready_usd/payloads/geometries.usd",
+      "size": 4639404,
+      "hash": {
+        "sha256-flat-1mb": "efde5d6a6bf71cfec7385db970948cc715f869b2c98746ba75cd6b4c9879dbb1",
+        "sha256": "579ab7c58699ffb120986ea3733399949a64eab7b95a63711fc60a363cf791be",
+        "sha256-first1m": "9b9324b59c70bdd6ad45f6857d5199ea3c27807a1b235553be995e29dfc02515"
+      }
+    },
+    {
+      "relative_path": "simready_usd/payloads/instances.usda",
+      "size": 20268,
+      "hash": {
+        "sha256-flat-1mb": "d93bb9e53928a0159edda9c248d41ed7397cbc0235e4d30dacfe8cea868974db",
+        "sha256": "8fb6d4407d1db48eac822c4ad4805f2e0a33f571a765a5fc3d642beebeb31d44"
+      }
+    },
+    {
+      "relative_path": "simready_usd/payloads/materials.usda",
+      "size": 16531,
+      "hash": {
+        "sha256-flat-1mb": "69b128a27fbe1bc4be7d1b3b2a3fca7ee14b150d9a079df12667917b907e31b5",
+        "sha256": "8cf124dc7b94fdcc4cc49b223dc84c3f955d69df9181b907e356796fc55bfdde"
+      }
+    },
+    {
+      "relative_path": "simready_usd/payloads/robot.usda",
+      "size": 5708,
+      "hash": {
+        "sha256-flat-1mb": "a53f0ed6387ce4a32387026af4008e6ec75295e8bad3cf8bb576ba434a85bccf",
+        "sha256": "158927d81f545908dfa5492479d1a03f162ec39e8b6dba94fa653aa59200ee33"
+      }
+    }
+  ]
+}

onrobot_rg2/.metadata/com.nvidia.simready.root_usds.json

@@ -1,6 +1,6 @@
 {
+  "format_version": "1.0",
   "entries": [
     "simready_usd/onrobot_rg2.usda"
-  ],
-  "format_version": "1.0"
+  ]
 }

onrobot_rg2/.metadata/onrobot_rg2_validation.json

@@ -0,0 +1,243 @@
+{
+    "simready_usd/onrobot_rg2.usda": {
+        "features_summary": {
+            "FET_000_MUJOCO": {
+                "blocking_failure": false,
+                "dependencies": "[{'FET_000_STANDARD': {'version': '0.1.0'}}]",
+                "optional requirements": "['com.nvidia.simready.RV.007', 'com.nvidia.simready.RV.010', 'com.nvidia.simready.RV.011']",
+                "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.006', 'com.nvidia.simready.RV.010', 'com.nvidia.simready.RV.011']",
+                "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.010', 'com.nvidia.simready.RV.011']",
+                "passed": false,
+                "version": "0.1.0"
+            },
+            "FET_000_STANDARD": {
+                "blocking_failure": false,
+                "dependencies": "[]",
+                "passed": true,
+                "version": "0.1.0"
+            },
+            "FET_001_STANDARD": {
+                "blocking_failure": false,
+                "dependencies": "[]",
+                "passed": true,
+                "version": "1.0.1"
+            },
+            "FET_003_MUJOCO": {
+                "blocking_failure": false,
+                "dependencies": "[]",
+                "optional requirements": "['com.nvidia.simready.MUJOCO.COL.001']",
+                "passed": false,
+                "version": "0.1.0"
+            },
+            "FET_003_NEWTON": {
+                "blocking_failure": false,
+                "dependencies": "[]",
+                "passed": true,
+                "version": "0.1.0"
+            },
+            "FET_003_PHYSX": {
+                "blocking_failure": false,
+                "dependencies": "[]",
+                "passed": true,
+                "version": "0.4.0"
+            },
+            "FET_003_STANDARD": {
+                "blocking_failure": false,
+                "dependencies": "[]",
+                "passed": true,
+                "version": "0.2.0"
+            },
+            "FET_004_MUJOCO": {
+                "blocking_failure": false,
+                "dependencies": "[{'FET_003_MUJOCO': {'version': '0.1.0'}}]",
+                "optional requirements": "['com.nvidia.simready.MUJOCO.COL.001']",
+                "passed": false,
+                "version": "0.1.0"
+            },
+            "FET_004_NEWTON": {
+                "blocking_failure": false,
+                "dependencies": "[{'FET_003_NEWTON': {'version': '0.1.0'}}]",
+                "passed": true,
+                "version": "0.1.0"
+            },
+            "FET_004_PHYSX": {
+                "blocking_failure": false,
+                "dependencies": "[{'FET_003_PHYSX': {'version': '0.4.0'}}]",
+                "passed": true,
+                "version": "0.4.0"
+            },
+            "FET_004_ROBOT_MUJOCO": {
+                "blocking_failure": false,
+                "dependencies": "[]",
+                "optional requirements": "['com.nvidia.simready.MUJOCO.COL.001']",
+                "passed": false,
+                "version": "0.1.0"
+            },
+            "FET_004_ROBOT_NEWTON": {
+                "blocking_failure": false,
+                "dependencies": "[]",
+                "passed": true,
+                "version": "0.1.0"
+            },
+            "FET_004_ROBOT_PHYSX": {
+                "blocking_failure": false,
+                "dependencies": "[]",
+                "passed": true,
+                "version": "0.1.0"
+            },
+            "FET_004_STANDARD": {
+                "blocking_failure": false,
+                "dependencies": "[{'FET_003_STANDARD': {'version': '0.2.0'}}]",
+                "passed": true,
+                "version": "0.2.0"
+            },
+            "FET_006_MDL": {
+                "blocking_failure": false,
+                "dependencies": "[]",
+                "optional requirements": "['com.nvidia.simready.VM.MDL.003']",
+                "passed": false,
+                "version": "0.2.0"
+            },
+            "FET_006_OPENPBR": {
+                "blocking_failure": false,
+                "dependencies": "[]",
+                "optional requirements": "['com.nvidia.simready.VM.PBR.001']",
+                "passed": false,
+                "version": "0.1.0"
+            },
+            "FET_006_STANDARD": {
+                "blocking_failure": false,
+                "dependencies": "[]",
+                "passed": true,
+                "version": "0.2.0"
+            },
+            "FET_010_STANDARD": {
+                "blocking_failure": false,
+                "dependencies": "[]",
+                "optional requirements": "['com.nvidia.simready.DISP.001']",
+                "passed": false,
+                "version": "0.1.0"
+            },
+            "FET_021_ISAAC": {
+                "blocking_failure": false,
+                "dependencies": "[]",
+                "optional requirements": "['com.nvidia.simready.RC.001', 'com.nvidia.simready.RC.005']",
+                "passed": false,
+                "version": "0.2.0"
+            },
+            "FET_022_ISAAC": {
+                "blocking_failure": false,
+                "dependencies": "[{'FET_022_PHYSX': {'version': '0.2.0'}}]",
+                "passed": true,
+                "version": "0.2.0"
+            },
+            "FET_022_MUJOCO": {
+                "blocking_failure": false,
+                "dependencies": "[{'FET_004_ROBOT_MUJOCO': {'version': '0.1.0'}}]",
+                "optional requirements": "['com.nvidia.simready.MUJOCO.COL.001', 'com.nvidia.simready.MUJOCO.DJ.001']",
+                "passed": false,
+                "version": "0.1.0"
+            },
+            "FET_022_NEWTON": {
+                "blocking_failure": false,
+                "dependencies": "[{'FET_004_ROBOT_NEWTON': {'version': '0.1.0'}}]",
+                "passed": true,
+                "version": "0.1.0"
+            },
+            "FET_022_PHYSX": {
+                "blocking_failure": false,
+                "dependencies": "[{'FET_004_PHYSX': {'version': '0.4.0'}}]",
+                "passed": true,
+                "version": "0.2.0"
+            },
+            "FET_022_STANDARD": {
+                "blocking_failure": false,
+                "dependencies": "[{'FET_004_STANDARD': {'version': '0.2.0'}}]",
+                "passed": true,
+                "version": "0.2.0"
+            },
+            "FET_024_MUJOCO": {
+                "blocking_failure": false,
+                "dependencies": "[{'FET_024_STANDARD': {'version': '0.1.0'}}]",
+                "passed": true,
+                "version": "0.1.0"
+            },
+            "FET_024_NEWTON": {
+                "blocking_failure": false,
+                "dependencies": "[{'FET_024_STANDARD': {'version': '0.1.0'}}]",
+                "optional requirements": "['com.nvidia.simready.NEWTON.BA.001']",
+                "passed": false,
+                "version": "0.1.0"
+            },
+            "FET_024_PHYSX": {
+                "blocking_failure": false,
+                "dependencies": "[{'FET_024_STANDARD': {'version': '0.1.0'}}]",
+                "passed": true,
+                "version": "0.1.0"
+            },
+            "FET_024_STANDARD": {
+                "blocking_failure": false,
+                "dependencies": "[]",
+                "passed": true,
+                "version": "0.1.0"
+            },
+            "FET_028_ISAAC": {
+                "blocking_failure": false,
+                "dependencies": "[{'FET_028_STANDARD': {'version': '0.1.0'}}, {'FET_022_ISAAC': {'version': '0.1.0'}}]",
+                "passed": true,
+                "version": "0.1.0"
+            },
+            "FET_028_MUJOCO": {
+                "blocking_failure": false,
+                "dependencies": "[{'FET_028_STANDARD': {'version': '0.1.0'}}, {'FET_022_MUJOCO': {'version': '0.1.0'}}]",
+                "optional requirements": "['com.nvidia.simready.MUJOCO.COL.001', 'com.nvidia.simready.MUJOCO.DJ.001']",
+                "passed": false,
+                "version": "0.1.0"
+            },
+            "FET_028_STANDARD": {
+                "blocking_failure": false,
+                "dependencies": "[]",
+                "passed": true,
+                "version": "0.1.0"
+            },
+            "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_100_ISAAC": {
+                "blocking_failure": false,
+                "dependencies": "[{'FET_003_PHYSX': {'version': '0.4.0'}}]",
+                "passed": true,
+                "version": "0.3.0"
+            }
+        },
+        "profile_id": "Robot-Gripper",
+        "profile_version": "3.0.0",
+        "simready_validate_version": "2026.8.0",
+        "tier_versions": {
+            "sensors": "2026.8.0",
+            "tier_aif": "2026.8.0",
+            "tier_core": "2026.8.0"
+        }
+    }
+}

onrobot_rg2/com.nvidia.simready.packaging.json

@@ -1,6 +1,31 @@
 {
   "format_version": "1.0",
-  "package_id": "simready.hf.onrobot.simready-grippers.onrobot_rg2.2026.10.07_01",
+  "package_id": "simready.hf.onrobot.simready-grippers.onrobot_rg2.2026.10.12_01",
   "license": "BSD-3-Clause",
-  "metadata": []
-}
+  "metadata": [
+    {
+      "name": "com.nvidia.simready.conformance.Package-Candidate@1.0.0.json",
+      "hash": {
+        "sha256": "bcbf11afedb8a260affe71b122c2a971871fe3667d8b2f67c853ac45c6998494"
+      }
+    },
+    {
+      "name": "com.nvidia.simready.packaging.bom.json",
+      "hash": {
+        "sha256": "e1eca16e6c5622261603588d6122e318375783164477ed22fd3af2de409b62e6"
+      }
+    },
+    {
+      "name": "com.nvidia.simready.root_usds.json",
+      "hash": {
+        "sha256": "bae087bce1c2939f2b63307c4888e409e08847156dd99852996480710f253757"
+      }
+    }
+  ],
+  "content_hash": {
+    "sha256": "a8c6ca6399257ab07f87ceb592c566dc6875d7cc1ed48ce52023a2af68e190f2"
+  },
+  "package_hash": {
+    "sha256": "e9102f1c69ab2e023f2856246f28c57a50ed1ac289b6a19998d06cb64a87d7e0"
+  }
+}

onrobot_rg2/simready_usd/.simready/validation.json

@@ -1,186 +0,0 @@
-{
-  "SimReady_Metadata": {
-    "validation": {
-      "profile": "Robot-Gripper",
-      "profile_version": "2.1.0",
-      "validated_features": {
-        "2026-10-07": {
-          "FET_000_MUJOCO": {
-            "dependencies": "[{'FET_000_STANDARD': {'version': '0.1.0'}}]",
-            "optional requirements": "['com.nvidia.simready.RV.007']",
-            "passed": false,
-            "version": "0.1.0"
-          },
-          "FET_000_NEWTON": {
-            "dependencies": "[{'FET_000_STANDARD': {'version': '0.1.0'}}]",
-            "optional requirements": "['com.nvidia.simready.RV.004']",
-            "passed": false,
-            "version": "0.1.0"
-          },
-          "FET_000_PHYSX": {
-            "dependencies": "[{'FET_000_STANDARD': {'version': '0.1.0'}}]",
-            "optional requirements": "['com.nvidia.simready.RV.001']",
-            "passed": false,
-            "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": "[]",
-            "optional requirements": "['com.nvidia.simready.MUJOCO.COL.001']",
-            "passed": false,
-            "version": "0.1.0"
-          },
-          "FET_003_NEWTON": {
-            "dependencies": "[]",
-            "optional requirements": "['com.nvidia.simready.NEWTON.COL.001']",
-            "passed": false,
-            "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'}}]",
-            "optional requirements": "['com.nvidia.simready.MUJOCO.COL.001']",
-            "passed": false,
-            "version": "0.1.0"
-          },
-          "FET_004_NEWTON": {
-            "dependencies": "[{'FET_003_NEWTON': {'version': '0.1.0'}}]",
-            "optional requirements": "['com.nvidia.simready.NEWTON.COL.001']",
-            "passed": false,
-            "version": "0.1.0"
-          },
-          "FET_004_PHYSX": {
-            "dependencies": "[{'FET_003_PHYSX': {'version': '0.4.0'}}]",
-            "passed": true,
-            "version": "0.4.0"
-          },
-          "FET_004_ROBOT_MUJOCO": {
-            "dependencies": "[]",
-            "optional requirements": "['com.nvidia.simready.MUJOCO.COL.001']",
-            "passed": false,
-            "version": "0.1.0"
-          },
-          "FET_004_ROBOT_NEWTON": {
-            "dependencies": "[]",
-            "optional requirements": "['com.nvidia.simready.NEWTON.COL.001']",
-            "passed": false,
-            "version": "0.1.0"
-          },
-          "FET_004_ROBOT_PHYSX": {
-            "dependencies": "[]",
-            "passed": true,
-            "version": "0.1.0"
-          },
-          "FET_004_STANDARD": {
-            "dependencies": "[{'FET_003_STANDARD': {'version': '0.2.0'}}]",
-            "passed": true,
-            "version": "0.2.0"
-          },
-          "FET_021_ISAAC": {
-            "dependencies": "[]",
-            "optional requirements": "['com.nvidia.simready.RC.001', 'com.nvidia.simready.RC.005']",
-            "passed": false,
-            "version": "0.2.0"
-          },
-          "FET_022_ISAAC": {
-            "dependencies": "[{'FET_022_PHYSX': {'version': '0.2.0'}}]",
-            "passed": true,
-            "version": "0.2.0"
-          },
-          "FET_022_MUJOCO": {
-            "dependencies": "[{'FET_004_ROBOT_MUJOCO': {'version': '0.1.0'}}]",
-            "optional requirements": "['com.nvidia.simready.MUJOCO.COL.001', 'com.nvidia.simready.MUJOCO.DJ.001']",
-            "passed": false,
-            "version": "0.1.0"
-          },
-          "FET_022_NEWTON": {
-            "dependencies": "[{'FET_004_ROBOT_NEWTON': {'version': '0.1.0'}}]",
-            "optional requirements": "['com.nvidia.simready.NEWTON.COL.001', 'com.nvidia.simready.NEWTON.DJ.001']",
-            "passed": false,
-            "version": "0.1.0"
-          },
-          "FET_022_PHYSX": {
-            "dependencies": "[{'FET_004_PHYSX': {'version': '0.4.0'}}]",
-            "passed": true,
-            "version": "0.2.0"
-          },
-          "FET_022_STANDARD": {
-            "dependencies": "[{'FET_004_STANDARD': {'version': '0.2.0'}}]",
-            "passed": true,
-            "version": "0.2.0"
-          },
-          "FET_024_MUJOCO": {
-            "dependencies": "[{'FET_024_STANDARD': {'version': '0.1.0'}}]",
-            "passed": true,
-            "version": "0.1.0"
-          },
-          "FET_024_NEWTON": {
-            "dependencies": "[{'FET_024_STANDARD': {'version': '0.1.0'}}]",
-            "optional requirements": "['com.nvidia.simready.NEWTON.BA.001']",
-            "passed": false,
-            "version": "0.1.0"
-          },
-          "FET_024_PHYSX": {
-            "dependencies": "[{'FET_024_STANDARD': {'version': '0.1.0'}}]",
-            "passed": true,
-            "version": "0.1.0"
-          },
-          "FET_024_STANDARD": {
-            "dependencies": "[]",
-            "passed": true,
-            "version": "0.1.0"
-          },
-          "FET_028_ISAAC": {
-            "dependencies": "[{'FET_028_STANDARD': {'version': '0.1.0'}}, {'FET_022_ISAAC': {'version': '0.1.0'}}]",
-            "passed": true,
-            "version": "0.1.0"
-          },
-          "FET_028_MUJOCO": {
-            "dependencies": "[{'FET_028_STANDARD': {'version': '0.1.0'}}, {'FET_022_MUJOCO': {'version': '0.1.0'}}]",
-            "optional requirements": "['com.nvidia.simready.MUJOCO.COL.001', 'com.nvidia.simready.MUJOCO.DJ.001']",
-            "passed": false,
-            "version": "0.1.0"
-          },
-          "FET_028_STANDARD": {
-            "dependencies": "[]",
-            "passed": true,
-            "version": "0.1.0"
-          },
-          "FET_031_STANDARD": {
-            "dependencies": "[]",
-            "passed": true,
-            "version": "0.1.0"
-          },
-          "FET_033_STANDARD": {
-            "dependencies": "[{'FET_031_STANDARD': {'version': '0.1.0'}}]",
-            "passed": true,
-            "version": "0.3.0"
-          },
-          "FET_100_ISAAC": {
-            "dependencies": "[{'FET_003_PHYSX': {'version': '0.4.0'}}]",
-            "passed": true,
-            "version": "0.3.0"
-          }
-        }
-      }
-    }
-  }
-}

onrobot_rg2/simready_usd/onrobot_rg2.usda

@@ -14,188 +14,6 @@
             string source_file = "assets/onrobot_rg2/simready_usd/onrobot_rg2.usda"
             string source_manifest_sha256 = "62cbb6ff62d264ce967bf35b8b16c1ba504d1a8ed4b0d4af2fa48f4dc0494812"
             string usd_date_generated = "2026-10-07"
-            dictionary validation = {
-                string profile = "Robot-Gripper"
-                string profile_version = "2.1.0"
-                dictionary validated_features = {
-                    dictionary "2026-10-07" = {
-                        dictionary FET_000_MUJOCO = {
-                            string dependencies = "[{'FET_000_STANDARD': {'version': '0.1.0'}}]"
-                            string "optional requirements" = "['com.nvidia.simready.RV.007']"
-                            bool passed = 0
-                            string version = "0.1.0"
-                        }
-                        dictionary FET_000_NEWTON = {
-                            string dependencies = "[{'FET_000_STANDARD': {'version': '0.1.0'}}]"
-                            string "optional requirements" = "['com.nvidia.simready.RV.004']"
-                            bool passed = 0
-                            string version = "0.1.0"
-                        }
-                        dictionary FET_000_PHYSX = {
-                            string dependencies = "[{'FET_000_STANDARD': {'version': '0.1.0'}}]"
-                            string "optional requirements" = "['com.nvidia.simready.RV.001']"
-                            bool passed = 0
-                            string version = "0.1.0"
-                        }
-                        dictionary FET_000_STANDARD = {
-                            string dependencies = "[]"
-                            bool passed = 1
-                            string version = "0.1.0"
-                        }
-                        dictionary FET_001_STANDARD = {
-                            string dependencies = "[]"
-                            bool passed = 1
-                            string version = "1.0.1"
-                        }
-                        dictionary FET_003_MUJOCO = {
-                            string dependencies = "[]"
-                            string "optional requirements" = "['com.nvidia.simready.MUJOCO.COL.001']"
-                            bool passed = 0
-                            string version = "0.1.0"
-                        }
-                        dictionary FET_003_NEWTON = {
-                            string dependencies = "[]"
-                            string "optional requirements" = "['com.nvidia.simready.NEWTON.COL.001']"
-                            bool passed = 0
-                            string version = "0.1.0"
-                        }
-                        dictionary FET_003_PHYSX = {
-                            string dependencies = "[]"
-                            bool passed = 1
-                            string version = "0.4.0"
-                        }
-                        dictionary FET_003_STANDARD = {
-                            string dependencies = "[]"
-                            bool passed = 1
-                            string version = "0.2.0"
-                        }
-                        dictionary FET_004_MUJOCO = {
-                            string dependencies = "[{'FET_003_MUJOCO': {'version': '0.1.0'}}]"
-                            string "optional requirements" = "['com.nvidia.simready.MUJOCO.COL.001']"
-                            bool passed = 0
-                            string version = "0.1.0"
-                        }
-                        dictionary FET_004_NEWTON = {
-                            string dependencies = "[{'FET_003_NEWTON': {'version': '0.1.0'}}]"
-                            string "optional requirements" = "['com.nvidia.simready.NEWTON.COL.001']"
-                            bool passed = 0
-                            string version = "0.1.0"
-                        }
-                        dictionary FET_004_PHYSX = {
-                            string dependencies = "[{'FET_003_PHYSX': {'version': '0.4.0'}}]"
-                            bool passed = 1
-                            string version = "0.4.0"
-                        }
-                        dictionary FET_004_ROBOT_MUJOCO = {
-                            string dependencies = "[]"
-                            string "optional requirements" = "['com.nvidia.simready.MUJOCO.COL.001']"
-                            bool passed = 0
-                            string version = "0.1.0"
-                        }
-                        dictionary FET_004_ROBOT_NEWTON = {
-                            string dependencies = "[]"
-                            string "optional requirements" = "['com.nvidia.simready.NEWTON.COL.001']"
-                            bool passed = 0
-                            string version = "0.1.0"
-                        }
-                        dictionary FET_004_ROBOT_PHYSX = {
-                            string dependencies = "[]"
-                            bool passed = 1
-                            string version = "0.1.0"
-                        }
-                        dictionary FET_004_STANDARD = {
-                            string dependencies = "[{'FET_003_STANDARD': {'version': '0.2.0'}}]"
-                            bool passed = 1
-                            string version = "0.2.0"
-                        }
-                        dictionary FET_021_ISAAC = {
-                            string dependencies = "[]"
-                            string "optional requirements" = "['com.nvidia.simready.RC.001', 'com.nvidia.simready.RC.005']"
-                            bool passed = 0
-                            string version = "0.2.0"
-                        }
-                        dictionary FET_022_ISAAC = {
-                            string dependencies = "[{'FET_022_PHYSX': {'version': '0.2.0'}}]"
-                            bool passed = 1
-                            string version = "0.2.0"
-                        }
-                        dictionary FET_022_MUJOCO = {
-                            string dependencies = "[{'FET_004_ROBOT_MUJOCO': {'version': '0.1.0'}}]"
-                            string "optional requirements" = "['com.nvidia.simready.MUJOCO.COL.001', 'com.nvidia.simready.MUJOCO.DJ.001']"
-                            bool passed = 0
-                            string version = "0.1.0"
-                        }
-                        dictionary FET_022_NEWTON = {
-                            string dependencies = "[{'FET_004_ROBOT_NEWTON': {'version': '0.1.0'}}]"
-                            string "optional requirements" = "['com.nvidia.simready.NEWTON.COL.001', 'com.nvidia.simready.NEWTON.DJ.001']"
-                            bool passed = 0
-                            string version = "0.1.0"
-                        }
-                        dictionary FET_022_PHYSX = {
-                            string dependencies = "[{'FET_004_PHYSX': {'version': '0.4.0'}}]"
-                            bool passed = 1
-                            string version = "0.2.0"
-                        }
-                        dictionary FET_022_STANDARD = {
-                            string dependencies = "[{'FET_004_STANDARD': {'version': '0.2.0'}}]"
-                            bool passed = 1
-                            string version = "0.2.0"
-                        }
-                        dictionary FET_024_MUJOCO = {
-                            string dependencies = "[{'FET_024_STANDARD': {'version': '0.1.0'}}]"
-                            bool passed = 1
-                            string version = "0.1.0"
-                        }
-                        dictionary FET_024_NEWTON = {
-                            string dependencies = "[{'FET_024_STANDARD': {'version': '0.1.0'}}]"
-                            string "optional requirements" = "['com.nvidia.simready.NEWTON.BA.001']"
-                            bool passed = 0
-                            string version = "0.1.0"
-                        }
-                        dictionary FET_024_PHYSX = {
-                            string dependencies = "[{'FET_024_STANDARD': {'version': '0.1.0'}}]"
-                            bool passed = 1
-                            string version = "0.1.0"
-                        }
-                        dictionary FET_024_STANDARD = {
-                            string dependencies = "[]"
-                            bool passed = 1
-                            string version = "0.1.0"
-                        }
-                        dictionary FET_028_ISAAC = {
-                            string dependencies = "[{'FET_028_STANDARD': {'version': '0.1.0'}}, {'FET_022_ISAAC': {'version': '0.1.0'}}]"
-                            bool passed = 1
-                            string version = "0.1.0"
-                        }
-                        dictionary FET_028_MUJOCO = {
-                            string dependencies = "[{'FET_028_STANDARD': {'version': '0.1.0'}}, {'FET_022_MUJOCO': {'version': '0.1.0'}}]"
-                            string "optional requirements" = "['com.nvidia.simready.MUJOCO.COL.001', 'com.nvidia.simready.MUJOCO.DJ.001']"
-                            bool passed = 0
-                            string version = "0.1.0"
-                        }
-                        dictionary FET_028_STANDARD = {
-                            string dependencies = "[]"
-                            bool passed = 1
-                            string version = "0.1.0"
-                        }
-                        dictionary FET_031_STANDARD = {
-                            string dependencies = "[]"
-                            bool passed = 1
-                            string version = "0.1.0"
-                        }
-                        dictionary FET_033_STANDARD = {
-                            string dependencies = "[{'FET_031_STANDARD': {'version': '0.1.0'}}]"
-                            bool passed = 1
-                            string version = "0.3.0"
-                        }
-                        dictionary FET_100_ISAAC = {
-                            string dependencies = "[{'FET_003_PHYSX': {'version': '0.4.0'}}]"
-                            bool passed = 1
-                            string version = "0.3.0"
-                        }
-                    }
-                }
-            }
         }
         string asset_name = "onrobot_rg2"
         string asset_type = "gripper"
@@ -213,8 +31,10 @@ def Xform "onrobot_rg2" (
     kind = "component"
     prepend references = @./payloads/base.usda@
     variants = {
+        string Newton = "Disabled"
         string Physics = "physx_parallel_grip"
     }
+    prepend variantSets = "Newton"
     append variantSets = "Physics"
 )
 {
@@ -243,6 +63,46 @@ def Xform "onrobot_rg2" (
             prepend payload = @./payloads/Physics/physx_parallel_grip_tip_contact.usda@
         ) {
 
+        }
+    }
+    variantSet "Newton" = {
+        "Disabled" {
+
+        }
+        "Enabled" {
+            over "Geometry"
+            {
+                over "base_link"
+                {
+                    over "base_link"
+                    {
+                        over "geo_10_1"
+                        {
+                            uniform token physics:approximation = "convexHull"
+                        }
+                    }
+                }
+
+                over "body_link"
+                {
+                    over "body_link"
+                    {
+                        over "geo_8_1"
+                        {
+                            uniform token physics:approximation = "convexHull"
+                        }
+                    }
+                }
+            }
+
+            over "Physics"
+            {
+                over "root_joint"
+                {
+                    rel physics:body0 = None
+                }
+            }
+
         }
     }
 }

onrobot_rg2/simready_usd/payloads/Physics/physics.usda

@@ -1,600 +1,747 @@
-#usda 1.0
-(
-    customLayerData = { string creator = "OnRobot RG2 PhysX Asset Structure 3.0" }
-    defaultPrim = "onrobot_rg2"
-    kilogramsPerUnit = 1
-    metersPerUnit = 1
-    upAxis = "Z"
-)
-
-over "onrobot_rg2"
-(
-    prepend apiSchemas = ["PhysicsArticulationRootAPI"]
-)
-{
-    over "Geometry"
-    {
-        over "base_link" (
-            prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI", "PhysicsFilteredPairsAPI"]
-        )
-        {
-            rel physics:filteredPairs = [
-                </onrobot_rg2/Geometry/body_link>,
-                </onrobot_rg2/Geometry/right_outer_proximal_finger_link>,
-                </onrobot_rg2/Geometry/right_finger_cover_arm_link>,
-                </onrobot_rg2/Geometry/right_finger_cover_link>,
-                </onrobot_rg2/Geometry/right_finger_base_link>,
-                </onrobot_rg2/Geometry/right_finger_tip_link>,
-                </onrobot_rg2/Geometry/left_outer_proximal_finger_link>,
-                </onrobot_rg2/Geometry/left_finger_cover_arm_link>,
-                </onrobot_rg2/Geometry/left_finger_cover_link>,
-                </onrobot_rg2/Geometry/left_finger_base_link>,
-                </onrobot_rg2/Geometry/left_finger_tip_link>,
-                </onrobot_rg2/Geometry/right_inner_proximal_finger_link>,
-                </onrobot_rg2/Geometry/left_inner_proximal_finger_link>
-            ]
-            point3f physics:centerOfMass = (-0.00131198414601, -0.000556731945835, 0.0176321268082)
-            float3 physics:diagonalInertia = (5.66545240872e-05, 5.9077367041e-05, 9.97593233478e-05)
-            float physics:mass = 0.193452000618
-            quatf physics:principalAxes = (0.00470234127715, 0.709351122379, 0.704838097095, -0.00147700635716)
-        }
-
-        over "body_link" (
-            prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI", "PhysicsFilteredPairsAPI"]
-        )
-        {
-            rel physics:filteredPairs = [
-                </onrobot_rg2/Geometry/base_link>,
-                </onrobot_rg2/Geometry/right_outer_proximal_finger_link>,
-                </onrobot_rg2/Geometry/right_finger_cover_arm_link>,
-                </onrobot_rg2/Geometry/right_finger_cover_link>,
-                </onrobot_rg2/Geometry/right_finger_base_link>,
-                </onrobot_rg2/Geometry/right_finger_tip_link>,
-                </onrobot_rg2/Geometry/left_outer_proximal_finger_link>,
-                </onrobot_rg2/Geometry/left_finger_cover_arm_link>,
-                </onrobot_rg2/Geometry/left_finger_cover_link>,
-                </onrobot_rg2/Geometry/left_finger_base_link>,
-                </onrobot_rg2/Geometry/left_finger_tip_link>,
-                </onrobot_rg2/Geometry/right_inner_proximal_finger_link>,
-                </onrobot_rg2/Geometry/left_inner_proximal_finger_link>
-            ]
-            point3f physics:centerOfMass = (0.0361404307187, -4.28195271525e-05, -5.16032341693e-05)
-            float3 physics:diagonalInertia = (0.000112593792437, 0.000318368227454, 0.000394116708776)
-            float physics:mass = 0.463836580515
-            quatf physics:principalAxes = (-0.706993758678, 0.707203567028, 0.00402467092499, 0.00260753347538)
-        }
-
-        over "right_outer_proximal_finger_link" (
-            prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI", "PhysicsFilteredPairsAPI"]
-        )
-        {
-            rel physics:filteredPairs = [
-                </onrobot_rg2/Geometry/base_link>,
-                </onrobot_rg2/Geometry/body_link>,
-                </onrobot_rg2/Geometry/right_finger_cover_arm_link>,
-                </onrobot_rg2/Geometry/right_finger_cover_link>,
-                </onrobot_rg2/Geometry/right_finger_base_link>,
-                </onrobot_rg2/Geometry/right_finger_tip_link>,
-                </onrobot_rg2/Geometry/left_outer_proximal_finger_link>,
-                </onrobot_rg2/Geometry/left_finger_cover_arm_link>,
-                </onrobot_rg2/Geometry/left_finger_cover_link>,
-                </onrobot_rg2/Geometry/left_finger_base_link>,
-                </onrobot_rg2/Geometry/left_finger_tip_link>,
-                </onrobot_rg2/Geometry/right_inner_proximal_finger_link>,
-                </onrobot_rg2/Geometry/left_inner_proximal_finger_link>
-            ]
-            point3f physics:centerOfMass = (0.054943151772, -0.00249999994412, 0.000300000014249)
-            float3 physics:diagonalInertia = (4.40551284342e-09, 4.40551284342e-09, 6.16606143922e-09)
-            float physics:mass = 0.000949825451244
-            quatf physics:principalAxes = (1, 0, 0, 0)
-        }
-
-        over "right_finger_cover_arm_link" (
-            prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI", "PhysicsFilteredPairsAPI"]
-        )
-        {
-            rel physics:filteredPairs = [
-                </onrobot_rg2/Geometry/base_link>,
-                </onrobot_rg2/Geometry/body_link>,
-                </onrobot_rg2/Geometry/right_outer_proximal_finger_link>,
-                </onrobot_rg2/Geometry/right_finger_cover_link>,
-                </onrobot_rg2/Geometry/right_finger_base_link>,
-                </onrobot_rg2/Geometry/right_finger_tip_link>,
-                </onrobot_rg2/Geometry/left_outer_proximal_finger_link>,
-                </onrobot_rg2/Geometry/left_finger_cover_arm_link>,
-                </onrobot_rg2/Geometry/left_finger_cover_link>,
-                </onrobot_rg2/Geometry/left_finger_base_link>,
-                </onrobot_rg2/Geometry/left_finger_tip_link>,
-                </onrobot_rg2/Geometry/right_inner_proximal_finger_link>,
-                </onrobot_rg2/Geometry/left_inner_proximal_finger_link>
-            ]
-            point3f physics:centerOfMass = (0.00402747513726, -0.00226575462148, 7.49786631786e-05)
-            float3 physics:diagonalInertia = (1.7737010749e-09, 3.79488573898e-09, 4.77852779568e-09)
-            float physics:mass = 0.000275378493825
-            quatf physics:principalAxes = (0.966369390488, 1.34473675644e-05, 3.57844123755e-06, 0.257157862186)
-        }
-
-        over "right_finger_cover_link" (
-            prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI", "PhysicsFilteredPairsAPI"]
-        )
-        {
-            rel physics:filteredPairs = [
-                </onrobot_rg2/Geometry/base_link>,
-                </onrobot_rg2/Geometry/body_link>,
-                </onrobot_rg2/Geometry/right_outer_proximal_finger_link>,
-                </onrobot_rg2/Geometry/right_finger_cover_arm_link>,
-                </onrobot_rg2/Geometry/right_finger_base_link>,
-                </onrobot_rg2/Geometry/right_finger_tip_link>,
-                </onrobot_rg2/Geometry/left_outer_proximal_finger_link>,
-                </onrobot_rg2/Geometry/left_finger_cover_arm_link>,
-                </onrobot_rg2/Geometry/left_finger_cover_link>,
-                </onrobot_rg2/Geometry/left_finger_base_link>,
-                </onrobot_rg2/Geometry/left_finger_tip_link>,
-                </onrobot_rg2/Geometry/right_inner_proximal_finger_link>,
-                </onrobot_rg2/Geometry/left_inner_proximal_finger_link>
-            ]
-            point3f physics:centerOfMass = (0.0160456746817, -0.00117289100308, -0.00029998793616)
-            float3 physics:diagonalInertia = (4.12630747348e-08, 3.95452303792e-07, 4.31045322102e-07)
-            float physics:mass = 0.00238596228883
-            quatf physics:principalAxes = (0.999035358429, -6.09070752944e-07, -7.85043638984e-08, 0.0439134687185)
-        }
-
-        over "right_finger_base_link" (
-            prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI", "PhysicsFilteredPairsAPI"]
-        )
-        {
-            rel physics:filteredPairs = [
-                </onrobot_rg2/Geometry/base_link>,
-                </onrobot_rg2/Geometry/body_link>,
-                </onrobot_rg2/Geometry/right_outer_proximal_finger_link>,
-                </onrobot_rg2/Geometry/right_finger_cover_arm_link>,
-                </onrobot_rg2/Geometry/right_finger_cover_link>,
-                </onrobot_rg2/Geometry/right_finger_tip_link>,
-                </onrobot_rg2/Geometry/left_outer_proximal_finger_link>,
-                </onrobot_rg2/Geometry/left_finger_cover_arm_link>,
-                </onrobot_rg2/Geometry/left_finger_cover_link>,
-                </onrobot_rg2/Geometry/left_finger_base_link>,
-                </onrobot_rg2/Geometry/left_finger_tip_link>,
-                </onrobot_rg2/Geometry/right_inner_proximal_finger_link>,
-                </onrobot_rg2/Geometry/left_inner_proximal_finger_link>
-            ]
-            point3f physics:centerOfMass = (0.0190391503274, -0.00734945992008, -0.000300005020108)
-            float3 physics:diagonalInertia = (2.29396306395e-07, 2.56166640611e-06, 2.57690885519e-06)
-            float physics:mass = 0.0113435415551
-            quatf physics:principalAxes = (-0.701257884502, 0.701268494129, -0.0907196775079, -0.0907183215022)
-        }
-
-        over "right_finger_tip_link" (
-            prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI", "PhysicsFilteredPairsAPI", "MaterialBindingAPI"]
-        )
-        {
-            rel material:binding:physics = </onrobot_rg2/Physics/fingertip_physics_material>
-            rel physics:filteredPairs = [
-                </onrobot_rg2/Geometry/base_link>,
-                </onrobot_rg2/Geometry/body_link>,
-                </onrobot_rg2/Geometry/right_outer_proximal_finger_link>,
-                </onrobot_rg2/Geometry/right_finger_cover_arm_link>,
-                </onrobot_rg2/Geometry/right_finger_cover_link>,
-                </onrobot_rg2/Geometry/right_finger_base_link>,
-                </onrobot_rg2/Geometry/left_outer_proximal_finger_link>,
-                </onrobot_rg2/Geometry/left_finger_cover_arm_link>,
-                </onrobot_rg2/Geometry/left_finger_cover_link>,
-                </onrobot_rg2/Geometry/left_finger_base_link>,
-                </onrobot_rg2/Geometry/right_inner_proximal_finger_link>,
-                </onrobot_rg2/Geometry/left_inner_proximal_finger_link>
-            ]
-            point3f physics:centerOfMass = (0.000874448393006, -2.28131669111e-09, 0.000216515487409)
-            float3 physics:diagonalInertia = (1.83133352039e-07, 3.17534528449e-07, 4.5259994863e-07)
-            float physics:mass = 0.00435052579269
-            quatf physics:principalAxes = (0.999981760979, -4.78926608594e-07, -0.00603699916974, 1.92526869114e-07)
-        }
-
-        over "left_outer_proximal_finger_link" (
-            prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI", "PhysicsFilteredPairsAPI"]
-        )
-        {
-            rel physics:filteredPairs = [
-                </onrobot_rg2/Geometry/base_link>,
-                </onrobot_rg2/Geometry/body_link>,
-                </onrobot_rg2/Geometry/right_outer_proximal_finger_link>,
-                </onrobot_rg2/Geometry/right_finger_cover_arm_link>,
-                </onrobot_rg2/Geometry/right_finger_cover_link>,
-                </onrobot_rg2/Geometry/right_finger_base_link>,
-                </onrobot_rg2/Geometry/right_finger_tip_link>,
-                </onrobot_rg2/Geometry/left_finger_cover_arm_link>,
-                </onrobot_rg2/Geometry/left_finger_cover_link>,
-                </onrobot_rg2/Geometry/left_finger_base_link>,
-                </onrobot_rg2/Geometry/left_finger_tip_link>,
-                </onrobot_rg2/Geometry/right_inner_proximal_finger_link>,
-                </onrobot_rg2/Geometry/left_inner_proximal_finger_link>
-            ]
-            point3f physics:centerOfMass = (0.054943151772, -0.00249999994412, 0.000300000014249)
-            float3 physics:diagonalInertia = (4.40551284342e-09, 4.40551284342e-09, 6.16606143922e-09)
-            float physics:mass = 0.000949825451244
-            quatf physics:principalAxes = (1, 0, 0, 0)
-        }
-
-        over "left_finger_cover_arm_link" (
-            prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI", "PhysicsFilteredPairsAPI"]
-        )
-        {
-            rel physics:filteredPairs = [
-                </onrobot_rg2/Geometry/base_link>,
-                </onrobot_rg2/Geometry/body_link>,
-                </onrobot_rg2/Geometry/right_outer_proximal_finger_link>,
-                </onrobot_rg2/Geometry/right_finger_cover_arm_link>,
-                </onrobot_rg2/Geometry/right_finger_cover_link>,
-                </onrobot_rg2/Geometry/right_finger_base_link>,
-                </onrobot_rg2/Geometry/right_finger_tip_link>,
-                </onrobot_rg2/Geometry/left_outer_proximal_finger_link>,
-                </onrobot_rg2/Geometry/left_finger_cover_link>,
-                </onrobot_rg2/Geometry/left_finger_base_link>,
-                </onrobot_rg2/Geometry/left_finger_tip_link>,
-                </onrobot_rg2/Geometry/right_inner_proximal_finger_link>,
-                </onrobot_rg2/Geometry/left_inner_proximal_finger_link>
-            ]
-            point3f physics:centerOfMass = (0.00398155348375, -0.00234551238827, 0.000524978677277)
-            float3 physics:diagonalInertia = (1.7737010749e-09, 3.79488573898e-09, 4.77852779568e-09)
-            float physics:mass = 0.000275378493825
-            quatf physics:principalAxes = (0.965789854527, -1.33349540192e-05, -3.58059173777e-06, 0.259325921535)
-        }
-
-        over "left_finger_cover_link" (
-            prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI", "PhysicsFilteredPairsAPI"]
-        )
-        {
-            rel physics:filteredPairs = [
-                </onrobot_rg2/Geometry/base_link>,
-                </onrobot_rg2/Geometry/body_link>,
-                </onrobot_rg2/Geometry/right_outer_proximal_finger_link>,
-                </onrobot_rg2/Geometry/right_finger_cover_arm_link>,
-                </onrobot_rg2/Geometry/right_finger_cover_link>,
-                </onrobot_rg2/Geometry/right_finger_base_link>,
-                </onrobot_rg2/Geometry/right_finger_tip_link>,
-                </onrobot_rg2/Geometry/left_outer_proximal_finger_link>,
-                </onrobot_rg2/Geometry/left_finger_cover_arm_link>,
-                </onrobot_rg2/Geometry/left_finger_base_link>,
-                </onrobot_rg2/Geometry/left_finger_tip_link>,
-                </onrobot_rg2/Geometry/right_inner_proximal_finger_link>,
-                </onrobot_rg2/Geometry/left_inner_proximal_finger_link>
-            ]
-            point3f physics:centerOfMass = (0.0160456225276, -0.00117286248133, 0.0108134085312)
-            float3 physics:diagonalInertia = (2.06187333873e-08, 1.97725313456e-07, 2.15539131432e-07)
-            float physics:mass = 0.0011929825414
-            quatf physics:principalAxes = (0.999017000198, -0.00443094177172, 0.00436526536942, 0.0438905656338)
-        }
-
-        over "left_finger_base_link" (
-            prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI", "PhysicsFilteredPairsAPI"]
-        )
-        {
-            rel physics:filteredPairs = [
-                </onrobot_rg2/Geometry/base_link>,
-                </onrobot_rg2/Geometry/body_link>,
-                </onrobot_rg2/Geometry/right_outer_proximal_finger_link>,
-                </onrobot_rg2/Geometry/right_finger_cover_arm_link>,
-                </onrobot_rg2/Geometry/right_finger_cover_link>,
-                </onrobot_rg2/Geometry/right_finger_base_link>,
-                </onrobot_rg2/Geometry/right_finger_tip_link>,
-                </onrobot_rg2/Geometry/left_outer_proximal_finger_link>,
-                </onrobot_rg2/Geometry/left_finger_cover_arm_link>,
-                </onrobot_rg2/Geometry/left_finger_cover_link>,
-                </onrobot_rg2/Geometry/left_finger_tip_link>,
-                </onrobot_rg2/Geometry/right_inner_proximal_finger_link>,
-                </onrobot_rg2/Geometry/left_inner_proximal_finger_link>
-            ]
-            point3f physics:centerOfMass = (0.0190391503274, -0.00734945992008, 0.000299994979287)
-            float3 physics:diagonalInertia = (2.29396306395e-07, 2.56166640611e-06, 2.57690885519e-06)
-            float physics:mass = 0.0113435415551
-            quatf physics:principalAxes = (-0.701257884502, 0.701268494129, -0.0907196775079, -0.0907183215022)
-        }
-
-        over "left_finger_tip_link" (
-            prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI", "PhysicsFilteredPairsAPI", "MaterialBindingAPI"]
-        )
-        {
-            rel material:binding:physics = </onrobot_rg2/Physics/fingertip_physics_material>
-            rel physics:filteredPairs = [
-                </onrobot_rg2/Geometry/base_link>,
-                </onrobot_rg2/Geometry/body_link>,
-                </onrobot_rg2/Geometry/right_outer_proximal_finger_link>,
-                </onrobot_rg2/Geometry/right_finger_cover_arm_link>,
-                </onrobot_rg2/Geometry/right_finger_cover_link>,
-                </onrobot_rg2/Geometry/right_finger_base_link>,
-                </onrobot_rg2/Geometry/left_outer_proximal_finger_link>,
-                </onrobot_rg2/Geometry/left_finger_cover_arm_link>,
-                </onrobot_rg2/Geometry/left_finger_cover_link>,
-                </onrobot_rg2/Geometry/left_finger_base_link>,
-                </onrobot_rg2/Geometry/right_inner_proximal_finger_link>,
-                </onrobot_rg2/Geometry/left_inner_proximal_finger_link>
-            ]
-            point3f physics:centerOfMass = (0.000874448393006, -2.28131669111e-09, 0.000216515487409)
-            float3 physics:diagonalInertia = (1.83133352039e-07, 3.17534528449e-07, 4.5259994863e-07)
-            float physics:mass = 0.00435052579269
-            quatf physics:principalAxes = (0.999981760979, -4.78926608594e-07, -0.00603699916974, 1.92526869114e-07)
-        }
-
-        over "right_inner_proximal_finger_link" (
-            prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI", "PhysicsFilteredPairsAPI"]
-        )
-        {
-            rel physics:filteredPairs = [
-                </onrobot_rg2/Geometry/base_link>,
-                </onrobot_rg2/Geometry/body_link>,
-                </onrobot_rg2/Geometry/right_outer_proximal_finger_link>,
-                </onrobot_rg2/Geometry/right_finger_cover_arm_link>,
-                </onrobot_rg2/Geometry/right_finger_cover_link>,
-                </onrobot_rg2/Geometry/right_finger_base_link>,
-                </onrobot_rg2/Geometry/right_finger_tip_link>,
-                </onrobot_rg2/Geometry/left_outer_proximal_finger_link>,
-                </onrobot_rg2/Geometry/left_finger_cover_arm_link>,
-                </onrobot_rg2/Geometry/left_finger_cover_link>,
-                </onrobot_rg2/Geometry/left_finger_base_link>,
-                </onrobot_rg2/Geometry/left_finger_tip_link>,
-                </onrobot_rg2/Geometry/left_inner_proximal_finger_link>
-            ]
-            point3f physics:centerOfMass = (0.0243420749903, -0.0015098414151, -1.14846118726e-10)
-            float3 physics:diagonalInertia = (5.1948836699e-07, 4.16791090174e-06, 4.59098828287e-06)
-            float physics:mass = 0.0110525134951
-            quatf physics:principalAxes = (0.706909000874, -0.70690870285, 0.0167296323925, 0.0167296547443)
-        }
-
-        over "left_inner_proximal_finger_link" (
-            prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI", "PhysicsFilteredPairsAPI"]
-        )
-        {
-            rel physics:filteredPairs = [
-                </onrobot_rg2/Geometry/base_link>,
-                </onrobot_rg2/Geometry/body_link>,
-                </onrobot_rg2/Geometry/right_outer_proximal_finger_link>,
-                </onrobot_rg2/Geometry/right_finger_cover_arm_link>,
-                </onrobot_rg2/Geometry/right_finger_cover_link>,
-                </onrobot_rg2/Geometry/right_finger_base_link>,
-                </onrobot_rg2/Geometry/right_finger_tip_link>,
-                </onrobot_rg2/Geometry/left_outer_proximal_finger_link>,
-                </onrobot_rg2/Geometry/left_finger_cover_arm_link>,
-                </onrobot_rg2/Geometry/left_finger_cover_link>,
-                </onrobot_rg2/Geometry/left_finger_base_link>,
-                </onrobot_rg2/Geometry/left_finger_tip_link>,
-                </onrobot_rg2/Geometry/right_inner_proximal_finger_link>
-            ]
-            point3f physics:centerOfMass = (0.0243420749903, -0.0015098414151, -1.19857138103e-10)
-            float3 physics:diagonalInertia = (5.1948836699e-07, 4.16791090174e-06, 4.59098828287e-06)
-            float physics:mass = 0.0110525134951
-            quatf physics:principalAxes = (0.706909000874, -0.70690870285, 0.0167296323925, 0.0167296547443)
-        }
-
-    }
-    over "Physics"
-    {
-        def Material "fingertip_physics_material" (
-            prepend apiSchemas = ["PhysicsMaterialAPI", "PhysxMaterialAPI"]
-        )
-        {
-            float physics:dynamicFriction = 0.5
-            float physics:staticFriction = 0.6
-            float physics:restitution = 0
-            token physxMaterial:frictionCombineMode = "average"
-        }
-
-        def PhysicsFixedJoint "root_joint" (
-        )
-        {
-            rel physics:body0 = </onrobot_rg2>
-            rel physics:body1 = </onrobot_rg2/Geometry/base_link>
-            point3f physics:localPos0 = (0, 0, 0)
-            point3f physics:localPos1 = (0, 0, 0)
-            quatf physics:localRot0 = (1, 0, 0, 0)
-            quatf physics:localRot1 = (1, 0, 0, 0)
-        }
-
-        def PhysicsFixedJoint "body_joint"
-        {
-            uniform token physics:axis = "Z"
-            rel physics:body0 = </onrobot_rg2/Geometry/base_link>
-            rel physics:body1 = </onrobot_rg2/Geometry/body_link>
-            point3f physics:localPos0 = (0, 0, 0.0473399981856)
-            point3f physics:localPos1 = (0, 0, 0)
-            quatf physics:localRot0 = (0, 0.707106769085, 0, 0.707106769085)
-            quatf physics:localRot1 = (0, -1, 0, 0)
-        }
-
-        def PhysicsRevoluteJoint "finger_joint" (
-            prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
-        )
-        {
-            float drive:angular:physics:damping = 0.1396263402
-            float drive:angular:physics:maxForce = 4.5
-            float drive:angular:physics:stiffness = 1.74532925
-            float drive:angular:physics:targetPosition = 60
-            float drive:angular:physics:targetVelocity = 0
-            uniform token physics:axis = "Z"
-            rel physics:body0 = </onrobot_rg2/Geometry/body_link>
-            rel physics:body1 = </onrobot_rg2/Geometry/right_outer_proximal_finger_link>
-            point3f physics:localPos0 = (0.0759999975562, 0, -0.0169500000775)
-            point3f physics:localPos1 = (0, 0, 0)
-            quatf physics:localRot0 = (0.707105457783, -0.707108080387, 1.11022302463e-16, 0)
-            quatf physics:localRot1 = (1, 0, 0, 0)
-            float physics:lowerLimit = 0
-            float physics:upperLimit = 70.0599975586
-            float state:angular:physics:position = 60
-            float state:angular:physics:velocity = 0
-        }
-
-        def PhysicsRevoluteJoint "right_finger_cover_arm_joint" (
-            prepend apiSchemas = ["PhysicsJointStateAPI:angular"]
-        )
-        {
-            uniform token physics:axis = "Z"
-            rel physics:body0 = </onrobot_rg2/Geometry/right_outer_proximal_finger_link>
-            rel physics:body1 = </onrobot_rg2/Geometry/right_finger_cover_arm_link>
-            point3f physics:localPos0 = (0.0200247913599, 8.99497536011e-05, -1.32348898008e-23)
-            point3f physics:localPos1 = (0, 0, 0)
-            quatf physics:localRot0 = (1, 0, 0, 0)
-            quatf physics:localRot1 = (1, 0, 0, 0)
-            float physics:lowerLimit = -180
-            float physics:upperLimit = 180
-            float state:angular:physics:position = -60
-            float state:angular:physics:velocity = 0
-        }
-
-        def PhysicsRevoluteJoint "right_finger_cover_joint" (
-            prepend apiSchemas = ["PhysicsJointStateAPI:angular"]
-        )
-        {
-            uniform token physics:axis = "Z"
-            rel physics:body0 = </onrobot_rg2/Geometry/right_finger_cover_arm_link>
-            rel physics:body1 = </onrobot_rg2/Geometry/right_finger_cover_link>
-            point3f physics:localPos0 = (0.00824999623001, -0.00475000636652, 0)
-            point3f physics:localPos1 = (0, 0, 0)
-            quatf physics:localRot0 = (1, 0, 0, 0)
-            quatf physics:localRot1 = (1, 0, 0, 0)
-            float physics:lowerLimit = -180
-            float physics:upperLimit = 180
-            float state:angular:physics:position = 60
-            float state:angular:physics:velocity = 0
-        }
-
-        def PhysicsRevoluteJoint "right_finger_base_joint" (
-            prepend apiSchemas = ["PhysicsJointStateAPI:angular"]
-        )
-        {
-            uniform token physics:axis = "Z"
-            rel physics:body0 = </onrobot_rg2/Geometry/right_outer_proximal_finger_link>
-            rel physics:body1 = </onrobot_rg2/Geometry/right_finger_base_link>
-            point3f physics:localPos0 = (0.054943151772, -0.00249999994412, -1.32348898008e-23)
-            point3f physics:localPos1 = (0, 0, 0)
-            quatf physics:localRot0 = (1, 0, 0, 0)
-            quatf physics:localRot1 = (1, 0, 0, 0)
-            float physics:lowerLimit = -180
-            float physics:upperLimit = 180
-            float state:angular:physics:position = -60
-            float state:angular:physics:velocity = 0
-        }
-
-        def PhysicsFixedJoint "right_finger_tip_joint"
-        {
-            uniform token physics:axis = "Z"
-            rel physics:body0 = </onrobot_rg2/Geometry/right_finger_base_link>
-            rel physics:body1 = </onrobot_rg2/Geometry/right_finger_tip_link>
-            point3f physics:localPos0 = (0.0364999994636, -0.0144999995828, -0.000300000014249)
-            point3f physics:localPos1 = (0, 0, 0)
-            quatf physics:localRot0 = (0.707106769085, 0.707106769085, 2.77555756156e-16, 3.88578058619e-16)
-            quatf physics:localRot1 = (1, 0, 0, 0)
-        }
-
-        def PhysicsRevoluteJoint "left_outer_proximal_finger_joint" (
-            prepend apiSchemas = ["PhysicsJointStateAPI:angular"]
-        )
-        {
-            uniform token physics:axis = "Z"
-            rel physics:body0 = </onrobot_rg2/Geometry/body_link>
-            rel physics:body1 = </onrobot_rg2/Geometry/left_outer_proximal_finger_link>
-            point3f physics:localPos0 = (0.0759999975562, 0, 0.0170499999076)
-            point3f physics:localPos1 = (0, 0, 0)
-            quatf physics:localRot0 = (-0.707106769085, -0.707106769085, -5.55111512313e-17, 1.66533453694e-16)
-            quatf physics:localRot1 = (1, 0, 0, 0)
-            float physics:lowerLimit = 0
-            float physics:upperLimit = 70.0599975586
-            float state:angular:physics:position = 60
-            float state:angular:physics:velocity = 0
-        }
-
-        def PhysicsRevoluteJoint "left_finger_cover_arm_joint" (
-            prepend apiSchemas = ["PhysicsJointStateAPI:angular"]
-        )
-        {
-            uniform token physics:axis = "Z"
-            rel physics:body0 = </onrobot_rg2/Geometry/left_outer_proximal_finger_link>
-            rel physics:body1 = </onrobot_rg2/Geometry/left_finger_cover_arm_link>
-            point3f physics:localPos0 = (0.0200247913599, 8.99497536011e-05, -1.03397576569e-25)
-            point3f physics:localPos1 = (0, 0, 0)
-            quatf physics:localRot0 = (1, 0, 0, 0)
-            quatf physics:localRot1 = (1, 0, 0, 0)
-            float physics:lowerLimit = -180
-            float physics:upperLimit = 180
-            float state:angular:physics:position = -60
-            float state:angular:physics:velocity = 0
-        }
-
-        def PhysicsRevoluteJoint "left_finger_cover_joint" (
-            prepend apiSchemas = ["PhysicsJointStateAPI:angular"]
-        )
-        {
-            uniform token physics:axis = "Z"
-            rel physics:body0 = </onrobot_rg2/Geometry/left_finger_cover_arm_link>
-            rel physics:body1 = </onrobot_rg2/Geometry/left_finger_cover_link>
-            point3f physics:localPos0 = (0.0082499999553, -0.00474999984726, -1.03397576569e-25)
-            point3f physics:localPos1 = (0, 0, 0)
-            quatf physics:localRot0 = (1, 0, 0, 0)
-            quatf physics:localRot1 = (1, 0, 0, 0)
-            float physics:lowerLimit = -180
-            float physics:upperLimit = 180
-            float state:angular:physics:position = 60
-            float state:angular:physics:velocity = 0
-        }
-
-        def PhysicsRevoluteJoint "left_finger_base_joint" (
-            prepend apiSchemas = ["PhysicsJointStateAPI:angular"]
-        )
-        {
-            uniform token physics:axis = "Z"
-            rel physics:body0 = </onrobot_rg2/Geometry/left_outer_proximal_finger_link>
-            rel physics:body1 = </onrobot_rg2/Geometry/left_finger_base_link>
-            point3f physics:localPos0 = (0.0549429990351, -0.00249999994412, -1.03397576569e-25)
-            point3f physics:localPos1 = (0, 0, 0)
-            quatf physics:localRot0 = (1, 0, 0, 0)
-            quatf physics:localRot1 = (1, 0, 0, 0)
-            float physics:lowerLimit = -180
-            float physics:upperLimit = 180
-            float state:angular:physics:position = -60
-            float state:angular:physics:velocity = 0
-        }
-
-        def PhysicsFixedJoint "left_finger_tip_joint"
-        {
-            uniform token physics:axis = "Z"
-            rel physics:body0 = </onrobot_rg2/Geometry/left_finger_base_link>
-            rel physics:body1 = </onrobot_rg2/Geometry/left_finger_tip_link>
-            point3f physics:localPos0 = (0.0364999994636, -0.0144999995828, 0.000300000014249)
-            point3f physics:localPos1 = (0, 0, 0)
-            quatf physics:localRot0 = (0.707106769085, 0.707106769085, 6.01922324921e-17, -5.55111512313e-17)
-            quatf physics:localRot1 = (1, 0, 0, 0)
-        }
-
-        def PhysicsRevoluteJoint "right_inner_proximal_finger_joint" (
-            prepend apiSchemas = ["PhysicsJointStateAPI:angular"]
-        )
-        {
-            uniform token physics:axis = "Z"
-            rel physics:body0 = </onrobot_rg2/Geometry/body_link>
-            rel physics:body1 = </onrobot_rg2/Geometry/right_inner_proximal_finger_link>
-            point3f physics:localPos0 = (0.0925000011921, 0, -0.0074499999173)
-            point3f physics:localPos1 = (0, 0, 0)
-            quatf physics:localRot0 = (0.707106769085, -0.707106769085, 5.55111512313e-17, 5.55111512313e-17)
-            quatf physics:localRot1 = (1, 0, 0, 0)
-            float physics:lowerLimit = -180
-            float physics:upperLimit = 180
-            float state:angular:physics:position = 60
-            float state:angular:physics:velocity = 0
-        }
-
-        def PhysicsRevoluteJoint "left_inner_proximal_finger_joint" (
-            prepend apiSchemas = ["PhysicsJointStateAPI:angular"]
-        )
-        {
-            uniform token physics:axis = "Z"
-            rel physics:body0 = </onrobot_rg2/Geometry/body_link>
-            rel physics:body1 = </onrobot_rg2/Geometry/left_inner_proximal_finger_link>
-            point3f physics:localPos0 = (0.0925000011921, 0, 0.00755000021309)
-            point3f physics:localPos1 = (0, 0, 0)
-            quatf physics:localRot0 = (-0.707106769085, -0.707106769085, -5.55111512313e-17, 1.66533453694e-16)
-            quatf physics:localRot1 = (1, 0, 0, 0)
-            float physics:lowerLimit = -180
-            float physics:upperLimit = 180
-            float state:angular:physics:position = 60
-            float state:angular:physics:velocity = 0
-        }
-
-    }
-}
+#usda 1.0
+(
+    customLayerData = {
+        string creator = "OnRobot RG2 PhysX Asset Structure 3.0"
+    }
+    defaultPrim = "onrobot_rg2"
+    kilogramsPerUnit = 1
+    metersPerUnit = 1
+    upAxis = "Z"
+)
+
+over "onrobot_rg2" (
+    prepend apiSchemas = ["PhysicsArticulationRootAPI", "NewtonArticulationRootAPI"]
+)
+{
+    over "Geometry"
+    {
+        over "base_link" (
+            prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI", "PhysicsFilteredPairsAPI"]
+        )
+        {
+            point3f physics:centerOfMass = (-0.0013119841, -0.00055673195, 0.017632127)
+            float3 physics:diagonalInertia = (0.000056654524, 0.000059077367, 0.00009975932)
+            rel physics:filteredPairs = [
+                </onrobot_rg2/Geometry/body_link>,
+                </onrobot_rg2/Geometry/right_outer_proximal_finger_link>,
+                </onrobot_rg2/Geometry/right_finger_cover_arm_link>,
+                </onrobot_rg2/Geometry/right_finger_cover_link>,
+                </onrobot_rg2/Geometry/right_finger_base_link>,
+                </onrobot_rg2/Geometry/right_finger_tip_link>,
+                </onrobot_rg2/Geometry/left_outer_proximal_finger_link>,
+                </onrobot_rg2/Geometry/left_finger_cover_arm_link>,
+                </onrobot_rg2/Geometry/left_finger_cover_link>,
+                </onrobot_rg2/Geometry/left_finger_base_link>,
+                </onrobot_rg2/Geometry/left_finger_tip_link>,
+                </onrobot_rg2/Geometry/right_inner_proximal_finger_link>,
+                </onrobot_rg2/Geometry/left_inner_proximal_finger_link>,
+            ]
+            float physics:mass = 0.193452
+            quatf physics:principalAxes = (0.0047023413, 0.7093511, 0.7048381, -0.0014770064)
+
+            over "base_link"
+            {
+                over "geo_10_1" (
+                    prepend apiSchemas = ["NewtonMeshCollisionAPI"]
+                )
+                {
+                }
+            }
+        }
+
+        over "body_link" (
+            prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI", "PhysicsFilteredPairsAPI"]
+        )
+        {
+            point3f physics:centerOfMass = (0.03614043, -0.000042819527, -0.000051603234)
+            float3 physics:diagonalInertia = (0.00011259379, 0.00031836823, 0.0003941167)
+            rel physics:filteredPairs = [
+                </onrobot_rg2/Geometry/base_link>,
+                </onrobot_rg2/Geometry/right_outer_proximal_finger_link>,
+                </onrobot_rg2/Geometry/right_finger_cover_arm_link>,
+                </onrobot_rg2/Geometry/right_finger_cover_link>,
+                </onrobot_rg2/Geometry/right_finger_base_link>,
+                </onrobot_rg2/Geometry/right_finger_tip_link>,
+                </onrobot_rg2/Geometry/left_outer_proximal_finger_link>,
+                </onrobot_rg2/Geometry/left_finger_cover_arm_link>,
+                </onrobot_rg2/Geometry/left_finger_cover_link>,
+                </onrobot_rg2/Geometry/left_finger_base_link>,
+                </onrobot_rg2/Geometry/left_finger_tip_link>,
+                </onrobot_rg2/Geometry/right_inner_proximal_finger_link>,
+                </onrobot_rg2/Geometry/left_inner_proximal_finger_link>,
+            ]
+            float physics:mass = 0.46383658
+            quatf physics:principalAxes = (-0.70699376, 0.70720357, 0.004024671, 0.0026075335)
+
+            over "body_link"
+            {
+                over "geo_8_1" (
+                    prepend apiSchemas = ["NewtonMeshCollisionAPI"]
+                )
+                {
+                }
+            }
+        }
+
+        over "right_outer_proximal_finger_link" (
+            prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI", "PhysicsFilteredPairsAPI"]
+        )
+        {
+            point3f physics:centerOfMass = (0.05494315, -0.0025, 0.0003)
+            float3 physics:diagonalInertia = (4.405513e-9, 4.405513e-9, 6.1660614e-9)
+            rel physics:filteredPairs = [
+                </onrobot_rg2/Geometry/base_link>,
+                </onrobot_rg2/Geometry/body_link>,
+                </onrobot_rg2/Geometry/right_finger_cover_arm_link>,
+                </onrobot_rg2/Geometry/right_finger_cover_link>,
+                </onrobot_rg2/Geometry/right_finger_base_link>,
+                </onrobot_rg2/Geometry/right_finger_tip_link>,
+                </onrobot_rg2/Geometry/left_outer_proximal_finger_link>,
+                </onrobot_rg2/Geometry/left_finger_cover_arm_link>,
+                </onrobot_rg2/Geometry/left_finger_cover_link>,
+                </onrobot_rg2/Geometry/left_finger_base_link>,
+                </onrobot_rg2/Geometry/left_finger_tip_link>,
+                </onrobot_rg2/Geometry/right_inner_proximal_finger_link>,
+                </onrobot_rg2/Geometry/left_inner_proximal_finger_link>,
+            ]
+            float physics:mass = 0.00094982545
+            quatf physics:principalAxes = (1, 0, 0, 0)
+
+            over "right_outer_proximal_finger_link"
+            {
+                over "right_outer_proximal_finger_link" (
+                    prepend apiSchemas = ["NewtonMeshCollisionAPI"]
+                )
+                {
+                }
+            }
+        }
+
+        over "right_finger_cover_arm_link" (
+            prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI", "PhysicsFilteredPairsAPI"]
+        )
+        {
+            point3f physics:centerOfMass = (0.004027475, -0.0022657546, 0.00007497866)
+            float3 physics:diagonalInertia = (1.7737011e-9, 3.7948857e-9, 4.778528e-9)
+            rel physics:filteredPairs = [
+                </onrobot_rg2/Geometry/base_link>,
+                </onrobot_rg2/Geometry/body_link>,
+                </onrobot_rg2/Geometry/right_outer_proximal_finger_link>,
+                </onrobot_rg2/Geometry/right_finger_cover_link>,
+                </onrobot_rg2/Geometry/right_finger_base_link>,
+                </onrobot_rg2/Geometry/right_finger_tip_link>,
+                </onrobot_rg2/Geometry/left_outer_proximal_finger_link>,
+                </onrobot_rg2/Geometry/left_finger_cover_arm_link>,
+                </onrobot_rg2/Geometry/left_finger_cover_link>,
+                </onrobot_rg2/Geometry/left_finger_base_link>,
+                </onrobot_rg2/Geometry/left_finger_tip_link>,
+                </onrobot_rg2/Geometry/right_inner_proximal_finger_link>,
+                </onrobot_rg2/Geometry/left_inner_proximal_finger_link>,
+            ]
+            float physics:mass = 0.0002753785
+            quatf physics:principalAxes = (0.9663694, 0.000013447368, 0.0000035784412, 0.25715786)
+
+            over "right_finger_cover_arm_link"
+            {
+                over "right_finger_cover_arm_link" (
+                    prepend apiSchemas = ["NewtonMeshCollisionAPI"]
+                )
+                {
+                }
+            }
+        }
+
+        over "right_finger_cover_link" (
+            prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI", "PhysicsFilteredPairsAPI"]
+        )
+        {
+            point3f physics:centerOfMass = (0.016045675, -0.001172891, -0.00029998794)
+            float3 physics:diagonalInertia = (4.1263075e-8, 3.954523e-7, 4.3104532e-7)
+            rel physics:filteredPairs = [
+                </onrobot_rg2/Geometry/base_link>,
+                </onrobot_rg2/Geometry/body_link>,
+                </onrobot_rg2/Geometry/right_outer_proximal_finger_link>,
+                </onrobot_rg2/Geometry/right_finger_cover_arm_link>,
+                </onrobot_rg2/Geometry/right_finger_base_link>,
+                </onrobot_rg2/Geometry/right_finger_tip_link>,
+                </onrobot_rg2/Geometry/left_outer_proximal_finger_link>,
+                </onrobot_rg2/Geometry/left_finger_cover_arm_link>,
+                </onrobot_rg2/Geometry/left_finger_cover_link>,
+                </onrobot_rg2/Geometry/left_finger_base_link>,
+                </onrobot_rg2/Geometry/left_finger_tip_link>,
+                </onrobot_rg2/Geometry/right_inner_proximal_finger_link>,
+                </onrobot_rg2/Geometry/left_inner_proximal_finger_link>,
+            ]
+            float physics:mass = 0.0023859623
+            quatf physics:principalAxes = (0.99903536, -6.0907075e-7, -7.8504364e-8, 0.04391347)
+
+            over "right_finger_cover_link"
+            {
+                over "right_finger_cover_link" (
+                    prepend apiSchemas = ["NewtonMeshCollisionAPI"]
+                )
+                {
+                }
+            }
+        }
+
+        over "right_finger_base_link" (
+            prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI", "PhysicsFilteredPairsAPI"]
+        )
+        {
+            point3f physics:centerOfMass = (0.01903915, -0.00734946, -0.00030000502)
+            float3 physics:diagonalInertia = (2.293963e-7, 0.0000025616664, 0.0000025769089)
+            rel physics:filteredPairs = [
+                </onrobot_rg2/Geometry/base_link>,
+                </onrobot_rg2/Geometry/body_link>,
+                </onrobot_rg2/Geometry/right_outer_proximal_finger_link>,
+                </onrobot_rg2/Geometry/right_finger_cover_arm_link>,
+                </onrobot_rg2/Geometry/right_finger_cover_link>,
+                </onrobot_rg2/Geometry/right_finger_tip_link>,
+                </onrobot_rg2/Geometry/left_outer_proximal_finger_link>,
+                </onrobot_rg2/Geometry/left_finger_cover_arm_link>,
+                </onrobot_rg2/Geometry/left_finger_cover_link>,
+                </onrobot_rg2/Geometry/left_finger_base_link>,
+                </onrobot_rg2/Geometry/left_finger_tip_link>,
+                </onrobot_rg2/Geometry/right_inner_proximal_finger_link>,
+                </onrobot_rg2/Geometry/left_inner_proximal_finger_link>,
+            ]
+            float physics:mass = 0.011343542
+            quatf physics:principalAxes = (-0.7012579, 0.7012685, -0.09071968, -0.09071832)
+
+            over "right_finger_base_link"
+            {
+                over "right_finger_base_link" (
+                    prepend apiSchemas = ["NewtonMeshCollisionAPI"]
+                )
+                {
+                }
+            }
+        }
+
+        over "right_finger_tip_link" (
+            prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI", "PhysicsFilteredPairsAPI", "MaterialBindingAPI"]
+        )
+        {
+            rel material:binding:physics = </onrobot_rg2/Physics/fingertip_physics_material>
+            point3f physics:centerOfMass = (0.0008744484, -2.2813167e-9, 0.00021651549)
+            float3 physics:diagonalInertia = (1.8313335e-7, 3.1753453e-7, 4.5259995e-7)
+            rel physics:filteredPairs = [
+                </onrobot_rg2/Geometry/base_link>,
+                </onrobot_rg2/Geometry/body_link>,
+                </onrobot_rg2/Geometry/right_outer_proximal_finger_link>,
+                </onrobot_rg2/Geometry/right_finger_cover_arm_link>,
+                </onrobot_rg2/Geometry/right_finger_cover_link>,
+                </onrobot_rg2/Geometry/right_finger_base_link>,
+                </onrobot_rg2/Geometry/left_outer_proximal_finger_link>,
+                </onrobot_rg2/Geometry/left_finger_cover_arm_link>,
+                </onrobot_rg2/Geometry/left_finger_cover_link>,
+                </onrobot_rg2/Geometry/left_finger_base_link>,
+                </onrobot_rg2/Geometry/right_inner_proximal_finger_link>,
+                </onrobot_rg2/Geometry/left_inner_proximal_finger_link>,
+            ]
+            float physics:mass = 0.004350526
+            quatf physics:principalAxes = (0.99998176, -4.789266e-7, -0.006036999, 1.9252687e-7)
+
+            over "fingertip_standard_link"
+            {
+                over "geo_1_1" (
+                    prepend apiSchemas = ["NewtonMeshCollisionAPI"]
+                )
+                {
+                }
+            }
+        }
+
+        over "left_outer_proximal_finger_link" (
+            prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI", "PhysicsFilteredPairsAPI"]
+        )
+        {
+            point3f physics:centerOfMass = (0.05494315, -0.0025, 0.0003)
+            float3 physics:diagonalInertia = (4.405513e-9, 4.405513e-9, 6.1660614e-9)
+            rel physics:filteredPairs = [
+                </onrobot_rg2/Geometry/base_link>,
+                </onrobot_rg2/Geometry/body_link>,
+                </onrobot_rg2/Geometry/right_outer_proximal_finger_link>,
+                </onrobot_rg2/Geometry/right_finger_cover_arm_link>,
+                </onrobot_rg2/Geometry/right_finger_cover_link>,
+                </onrobot_rg2/Geometry/right_finger_base_link>,
+                </onrobot_rg2/Geometry/right_finger_tip_link>,
+                </onrobot_rg2/Geometry/left_finger_cover_arm_link>,
+                </onrobot_rg2/Geometry/left_finger_cover_link>,
+                </onrobot_rg2/Geometry/left_finger_base_link>,
+                </onrobot_rg2/Geometry/left_finger_tip_link>,
+                </onrobot_rg2/Geometry/right_inner_proximal_finger_link>,
+                </onrobot_rg2/Geometry/left_inner_proximal_finger_link>,
+            ]
+            float physics:mass = 0.00094982545
+            quatf physics:principalAxes = (1, 0, 0, 0)
+
+            over "left_outer_proximal_finger_link"
+            {
+                over "left_outer_proximal_finger_link" (
+                    prepend apiSchemas = ["NewtonMeshCollisionAPI"]
+                )
+                {
+                }
+            }
+        }
+
+        over "left_finger_cover_arm_link" (
+            prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI", "PhysicsFilteredPairsAPI"]
+        )
+        {
+            point3f physics:centerOfMass = (0.0039815535, -0.0023455124, 0.0005249787)
+            float3 physics:diagonalInertia = (1.7737011e-9, 3.7948857e-9, 4.778528e-9)
+            rel physics:filteredPairs = [
+                </onrobot_rg2/Geometry/base_link>,
+                </onrobot_rg2/Geometry/body_link>,
+                </onrobot_rg2/Geometry/right_outer_proximal_finger_link>,
+                </onrobot_rg2/Geometry/right_finger_cover_arm_link>,
+                </onrobot_rg2/Geometry/right_finger_cover_link>,
+                </onrobot_rg2/Geometry/right_finger_base_link>,
+                </onrobot_rg2/Geometry/right_finger_tip_link>,
+                </onrobot_rg2/Geometry/left_outer_proximal_finger_link>,
+                </onrobot_rg2/Geometry/left_finger_cover_link>,
+                </onrobot_rg2/Geometry/left_finger_base_link>,
+                </onrobot_rg2/Geometry/left_finger_tip_link>,
+                </onrobot_rg2/Geometry/right_inner_proximal_finger_link>,
+                </onrobot_rg2/Geometry/left_inner_proximal_finger_link>,
+            ]
+            float physics:mass = 0.0002753785
+            quatf physics:principalAxes = (0.96578985, -0.000013334954, -0.0000035805917, 0.25932592)
+
+            over "left_finger_cover_arm_link"
+            {
+                over "left_finger_cover_arm_link" (
+                    prepend apiSchemas = ["NewtonMeshCollisionAPI"]
+                )
+                {
+                }
+            }
+        }
+
+        over "left_finger_cover_link" (
+            prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI", "PhysicsFilteredPairsAPI"]
+        )
+        {
+            point3f physics:centerOfMass = (0.016045623, -0.0011728625, 0.0108134085)
+            float3 physics:diagonalInertia = (2.0618733e-8, 1.9772531e-7, 2.1553913e-7)
+            rel physics:filteredPairs = [
+                </onrobot_rg2/Geometry/base_link>,
+                </onrobot_rg2/Geometry/body_link>,
+                </onrobot_rg2/Geometry/right_outer_proximal_finger_link>,
+                </onrobot_rg2/Geometry/right_finger_cover_arm_link>,
+                </onrobot_rg2/Geometry/right_finger_cover_link>,
+                </onrobot_rg2/Geometry/right_finger_base_link>,
+                </onrobot_rg2/Geometry/right_finger_tip_link>,
+                </onrobot_rg2/Geometry/left_outer_proximal_finger_link>,
+                </onrobot_rg2/Geometry/left_finger_cover_arm_link>,
+                </onrobot_rg2/Geometry/left_finger_base_link>,
+                </onrobot_rg2/Geometry/left_finger_tip_link>,
+                </onrobot_rg2/Geometry/right_inner_proximal_finger_link>,
+                </onrobot_rg2/Geometry/left_inner_proximal_finger_link>,
+            ]
+            float physics:mass = 0.0011929825
+            quatf physics:principalAxes = (0.999017, -0.004430942, 0.0043652654, 0.043890566)
+
+            over "left_finger_cover_link"
+            {
+                over "left_finger_cover_link" (
+                    prepend apiSchemas = ["NewtonMeshCollisionAPI"]
+                )
+                {
+                }
+            }
+        }
+
+        over "left_finger_base_link" (
+            prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI", "PhysicsFilteredPairsAPI"]
+        )
+        {
+            point3f physics:centerOfMass = (0.01903915, -0.00734946, 0.00029999498)
+            float3 physics:diagonalInertia = (2.293963e-7, 0.0000025616664, 0.0000025769089)
+            rel physics:filteredPairs = [
+                </onrobot_rg2/Geometry/base_link>,
+                </onrobot_rg2/Geometry/body_link>,
+                </onrobot_rg2/Geometry/right_outer_proximal_finger_link>,
+                </onrobot_rg2/Geometry/right_finger_cover_arm_link>,
+                </onrobot_rg2/Geometry/right_finger_cover_link>,
+                </onrobot_rg2/Geometry/right_finger_base_link>,
+                </onrobot_rg2/Geometry/right_finger_tip_link>,
+                </onrobot_rg2/Geometry/left_outer_proximal_finger_link>,
+                </onrobot_rg2/Geometry/left_finger_cover_arm_link>,
+                </onrobot_rg2/Geometry/left_finger_cover_link>,
+                </onrobot_rg2/Geometry/left_finger_tip_link>,
+                </onrobot_rg2/Geometry/right_inner_proximal_finger_link>,
+                </onrobot_rg2/Geometry/left_inner_proximal_finger_link>,
+            ]
+            float physics:mass = 0.011343542
+            quatf physics:principalAxes = (-0.7012579, 0.7012685, -0.09071968, -0.09071832)
+
+            over "left_finger_base_link"
+            {
+                over "left_finger_base_link" (
+                    prepend apiSchemas = ["NewtonMeshCollisionAPI"]
+                )
+                {
+                }
+            }
+        }
+
+        over "left_finger_tip_link" (
+            prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI", "PhysicsFilteredPairsAPI", "MaterialBindingAPI"]
+        )
+        {
+            rel material:binding:physics = </onrobot_rg2/Physics/fingertip_physics_material>
+            point3f physics:centerOfMass = (0.0008744484, -2.2813167e-9, 0.00021651549)
+            float3 physics:diagonalInertia = (1.8313335e-7, 3.1753453e-7, 4.5259995e-7)
+            rel physics:filteredPairs = [
+                </onrobot_rg2/Geometry/base_link>,
+                </onrobot_rg2/Geometry/body_link>,
+                </onrobot_rg2/Geometry/right_outer_proximal_finger_link>,
+                </onrobot_rg2/Geometry/right_finger_cover_arm_link>,
+                </onrobot_rg2/Geometry/right_finger_cover_link>,
+                </onrobot_rg2/Geometry/right_finger_base_link>,
+                </onrobot_rg2/Geometry/left_outer_proximal_finger_link>,
+                </onrobot_rg2/Geometry/left_finger_cover_arm_link>,
+                </onrobot_rg2/Geometry/left_finger_cover_link>,
+                </onrobot_rg2/Geometry/left_finger_base_link>,
+                </onrobot_rg2/Geometry/right_inner_proximal_finger_link>,
+                </onrobot_rg2/Geometry/left_inner_proximal_finger_link>,
+            ]
+            float physics:mass = 0.004350526
+            quatf physics:principalAxes = (0.99998176, -4.789266e-7, -0.006036999, 1.9252687e-7)
+
+            over "fingertip_standard_link"
+            {
+                over "geo_1_1" (
+                    prepend apiSchemas = ["NewtonMeshCollisionAPI"]
+                )
+                {
+                }
+            }
+        }
+
+        over "right_inner_proximal_finger_link" (
+            prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI", "PhysicsFilteredPairsAPI"]
+        )
+        {
+            point3f physics:centerOfMass = (0.024342075, -0.0015098414, -1.1484612e-10)
+            float3 physics:diagonalInertia = (5.1948837e-7, 0.000004167911, 0.0000045909883)
+            rel physics:filteredPairs = [
+                </onrobot_rg2/Geometry/base_link>,
+                </onrobot_rg2/Geometry/body_link>,
+                </onrobot_rg2/Geometry/right_outer_proximal_finger_link>,
+                </onrobot_rg2/Geometry/right_finger_cover_arm_link>,
+                </onrobot_rg2/Geometry/right_finger_cover_link>,
+                </onrobot_rg2/Geometry/right_finger_base_link>,
+                </onrobot_rg2/Geometry/right_finger_tip_link>,
+                </onrobot_rg2/Geometry/left_outer_proximal_finger_link>,
+                </onrobot_rg2/Geometry/left_finger_cover_arm_link>,
+                </onrobot_rg2/Geometry/left_finger_cover_link>,
+                </onrobot_rg2/Geometry/left_finger_base_link>,
+                </onrobot_rg2/Geometry/left_finger_tip_link>,
+                </onrobot_rg2/Geometry/left_inner_proximal_finger_link>,
+            ]
+            float physics:mass = 0.0110525135
+            quatf physics:principalAxes = (0.706909, -0.7069087, 0.016729632, 0.016729655)
+
+            over "right_inner_proximal_finger_link" (
+                prepend apiSchemas = ["NewtonMeshCollisionAPI"]
+            )
+            {
+            }
+        }
+
+        over "left_inner_proximal_finger_link" (
+            prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI", "PhysicsFilteredPairsAPI"]
+        )
+        {
+            point3f physics:centerOfMass = (0.024342075, -0.0015098414, -1.1985714e-10)
+            float3 physics:diagonalInertia = (5.1948837e-7, 0.000004167911, 0.0000045909883)
+            rel physics:filteredPairs = [
+                </onrobot_rg2/Geometry/base_link>,
+                </onrobot_rg2/Geometry/body_link>,
+                </onrobot_rg2/Geometry/right_outer_proximal_finger_link>,
+                </onrobot_rg2/Geometry/right_finger_cover_arm_link>,
+                </onrobot_rg2/Geometry/right_finger_cover_link>,
+                </onrobot_rg2/Geometry/right_finger_base_link>,
+                </onrobot_rg2/Geometry/right_finger_tip_link>,
+                </onrobot_rg2/Geometry/left_outer_proximal_finger_link>,
+                </onrobot_rg2/Geometry/left_finger_cover_arm_link>,
+                </onrobot_rg2/Geometry/left_finger_cover_link>,
+                </onrobot_rg2/Geometry/left_finger_base_link>,
+                </onrobot_rg2/Geometry/left_finger_tip_link>,
+                </onrobot_rg2/Geometry/right_inner_proximal_finger_link>,
+            ]
+            float physics:mass = 0.0110525135
+            quatf physics:principalAxes = (0.706909, -0.7069087, 0.016729632, 0.016729655)
+
+            over "left_inner_proximal_finger_link" (
+                prepend apiSchemas = ["NewtonMeshCollisionAPI"]
+            )
+            {
+            }
+        }
+    }
+
+    over "Physics"
+    {
+        def Material "fingertip_physics_material" (
+            prepend apiSchemas = ["PhysicsMaterialAPI", "PhysxMaterialAPI"]
+        )
+        {
+            float physics:dynamicFriction = 0.5
+            float physics:restitution = 0
+            float physics:staticFriction = 0.6
+            token physxMaterial:frictionCombineMode = "average"
+        }
+
+        def PhysicsFixedJoint "root_joint"
+        {
+            rel physics:body0 = </onrobot_rg2>
+            rel physics:body1 = </onrobot_rg2/Geometry/base_link>
+            point3f physics:localPos0 = (0, 0, 0)
+            point3f physics:localPos1 = (0, 0, 0)
+            quatf physics:localRot0 = (1, 0, 0, 0)
+            quatf physics:localRot1 = (1, 0, 0, 0)
+        }
+
+        def PhysicsFixedJoint "body_joint"
+        {
+            uniform token physics:axis = "Z"
+            rel physics:body0 = </onrobot_rg2/Geometry/base_link>
+            rel physics:body1 = </onrobot_rg2/Geometry/body_link>
+            point3f physics:localPos0 = (0, 0, 0.04734)
+            point3f physics:localPos1 = (0, 0, 0)
+            quatf physics:localRot0 = (0, 0.70710677, 0, 0.70710677)
+            quatf physics:localRot1 = (0, -1, 0, 0)
+        }
+
+        def PhysicsRevoluteJoint "finger_joint" (
+            prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysicsJointStateAPI:angular"]
+        )
+        {
+            float drive:angular:physics:damping = 0.13962634
+            float drive:angular:physics:maxForce = 4.5
+            float drive:angular:physics:stiffness = 1.7453293
+            float drive:angular:physics:targetPosition = 60
+            float drive:angular:physics:targetVelocity = 0
+            uniform token physics:axis = "Z"
+            rel physics:body0 = </onrobot_rg2/Geometry/body_link>
+            rel physics:body1 = </onrobot_rg2/Geometry/right_outer_proximal_finger_link>
+            point3f physics:localPos0 = (0.076, 0, -0.01695)
+            point3f physics:localPos1 = (0, 0, 0)
+            quatf physics:localRot0 = (0.70710546, -0.7071081, 1.110223e-16, 0)
+            quatf physics:localRot1 = (1, 0, 0, 0)
+            float physics:lowerLimit = 0
+            float physics:upperLimit = 70.06
+            float state:angular:physics:position = 60
+            float state:angular:physics:velocity = 0
+        }
+
+        def PhysicsRevoluteJoint "right_finger_cover_arm_joint" (
+            prepend apiSchemas = ["PhysicsJointStateAPI:angular", "NewtonMimicAPI"]
+        )
+        {
+            custom float newton:mimicCoef0 = 0
+            custom float newton:mimicCoef1 = -1
+            custom rel newton:mimicJoint = </onrobot_rg2/Physics/finger_joint>
+            uniform token physics:axis = "Z"
+            rel physics:body0 = </onrobot_rg2/Geometry/right_outer_proximal_finger_link>
+            rel physics:body1 = </onrobot_rg2/Geometry/right_finger_cover_arm_link>
+            point3f physics:localPos0 = (0.020024791, 0.00008994975, -1.323489e-23)
+            point3f physics:localPos1 = (0, 0, 0)
+            quatf physics:localRot0 = (1, 0, 0, 0)
+            quatf physics:localRot1 = (1, 0, 0, 0)
+            float physics:lowerLimit = -180
+            float physics:upperLimit = 180
+            float state:angular:physics:position = -60
+            float state:angular:physics:velocity = 0
+        }
+
+        def PhysicsRevoluteJoint "right_finger_cover_joint" (
+            prepend apiSchemas = ["PhysicsJointStateAPI:angular", "NewtonMimicAPI"]
+        )
+        {
+            custom float newton:mimicCoef0 = 0
+            custom float newton:mimicCoef1 = 1
+            custom rel newton:mimicJoint = </onrobot_rg2/Physics/finger_joint>
+            uniform token physics:axis = "Z"
+            rel physics:body0 = </onrobot_rg2/Geometry/right_finger_cover_arm_link>
+            rel physics:body1 = </onrobot_rg2/Geometry/right_finger_cover_link>
+            point3f physics:localPos0 = (0.008249996, -0.0047500064, 0)
+            point3f physics:localPos1 = (0, 0, 0)
+            quatf physics:localRot0 = (1, 0, 0, 0)
+            quatf physics:localRot1 = (1, 0, 0, 0)
+            float physics:lowerLimit = -180
+            float physics:upperLimit = 180
+            float state:angular:physics:position = 60
+            float state:angular:physics:velocity = 0
+        }
+
+        def PhysicsRevoluteJoint "right_finger_base_joint" (
+            prepend apiSchemas = ["PhysicsJointStateAPI:angular", "NewtonMimicAPI"]
+        )
+        {
+            custom float newton:mimicCoef0 = 0
+            custom float newton:mimicCoef1 = -1
+            custom rel newton:mimicJoint = </onrobot_rg2/Physics/finger_joint>
+            uniform token physics:axis = "Z"
+            rel physics:body0 = </onrobot_rg2/Geometry/right_outer_proximal_finger_link>
+            rel physics:body1 = </onrobot_rg2/Geometry/right_finger_base_link>
+            point3f physics:localPos0 = (0.05494315, -0.0025, -1.323489e-23)
+            point3f physics:localPos1 = (0, 0, 0)
+            quatf physics:localRot0 = (1, 0, 0, 0)
+            quatf physics:localRot1 = (1, 0, 0, 0)
+            float physics:lowerLimit = -180
+            float physics:upperLimit = 180
+            float state:angular:physics:position = -60
+            float state:angular:physics:velocity = 0
+        }
+
+        def PhysicsFixedJoint "right_finger_tip_joint"
+        {
+            uniform token physics:axis = "Z"
+            rel physics:body0 = </onrobot_rg2/Geometry/right_finger_base_link>
+            rel physics:body1 = </onrobot_rg2/Geometry/right_finger_tip_link>
+            point3f physics:localPos0 = (0.0365, -0.0145, -0.0003)
+            point3f physics:localPos1 = (0, 0, 0)
+            quatf physics:localRot0 = (0.70710677, 0.70710677, 2.7755576e-16, 3.8857806e-16)
+            quatf physics:localRot1 = (1, 0, 0, 0)
+        }
+
+        def PhysicsRevoluteJoint "left_outer_proximal_finger_joint" (
+            prepend apiSchemas = ["PhysicsJointStateAPI:angular", "NewtonMimicAPI"]
+        )
+        {
+            custom float newton:mimicCoef0 = 0
+            custom float newton:mimicCoef1 = 1
+            custom rel newton:mimicJoint = </onrobot_rg2/Physics/finger_joint>
+            uniform token physics:axis = "Z"
+            rel physics:body0 = </onrobot_rg2/Geometry/body_link>
+            rel physics:body1 = </onrobot_rg2/Geometry/left_outer_proximal_finger_link>
+            point3f physics:localPos0 = (0.076, 0, 0.01705)
+            point3f physics:localPos1 = (0, 0, 0)
+            quatf physics:localRot0 = (-0.70710677, -0.70710677, -5.551115e-17, 1.6653345e-16)
+            quatf physics:localRot1 = (1, 0, 0, 0)
+            float physics:lowerLimit = 0
+            float physics:upperLimit = 70.06
+            float state:angular:physics:position = 60
+            float state:angular:physics:velocity = 0
+        }
+
+        def PhysicsRevoluteJoint "left_finger_cover_arm_joint" (
+            prepend apiSchemas = ["PhysicsJointStateAPI:angular", "NewtonMimicAPI"]
+        )
+        {
+            custom float newton:mimicCoef0 = 0
+            custom float newton:mimicCoef1 = -1
+            custom rel newton:mimicJoint = </onrobot_rg2/Physics/finger_joint>
+            uniform token physics:axis = "Z"
+            rel physics:body0 = </onrobot_rg2/Geometry/left_outer_proximal_finger_link>
+            rel physics:body1 = </onrobot_rg2/Geometry/left_finger_cover_arm_link>
+            point3f physics:localPos0 = (0.020024791, 0.00008994975, -1.0339758e-25)
+            point3f physics:localPos1 = (0, 0, 0)
+            quatf physics:localRot0 = (1, 0, 0, 0)
+            quatf physics:localRot1 = (1, 0, 0, 0)
+            float physics:lowerLimit = -180
+            float physics:upperLimit = 180
+            float state:angular:physics:position = -60
+            float state:angular:physics:velocity = 0
+        }
+
+        def PhysicsRevoluteJoint "left_finger_cover_joint" (
+            prepend apiSchemas = ["PhysicsJointStateAPI:angular", "NewtonMimicAPI"]
+        )
+        {
+            custom float newton:mimicCoef0 = 0
+            custom float newton:mimicCoef1 = 1
+            custom rel newton:mimicJoint = </onrobot_rg2/Physics/finger_joint>
+            uniform token physics:axis = "Z"
+            rel physics:body0 = </onrobot_rg2/Geometry/left_finger_cover_arm_link>
+            rel physics:body1 = </onrobot_rg2/Geometry/left_finger_cover_link>
+            point3f physics:localPos0 = (0.00825, -0.00475, -1.0339758e-25)
+            point3f physics:localPos1 = (0, 0, 0)
+            quatf physics:localRot0 = (1, 0, 0, 0)
+            quatf physics:localRot1 = (1, 0, 0, 0)
+            float physics:lowerLimit = -180
+            float physics:upperLimit = 180
+            float state:angular:physics:position = 60
+            float state:angular:physics:velocity = 0
+        }
+
+        def PhysicsRevoluteJoint "left_finger_base_joint" (
+            prepend apiSchemas = ["PhysicsJointStateAPI:angular", "NewtonMimicAPI"]
+        )
+        {
+            custom float newton:mimicCoef0 = 0
+            custom float newton:mimicCoef1 = -1
+            custom rel newton:mimicJoint = </onrobot_rg2/Physics/finger_joint>
+            uniform token physics:axis = "Z"
+            rel physics:body0 = </onrobot_rg2/Geometry/left_outer_proximal_finger_link>
+            rel physics:body1 = </onrobot_rg2/Geometry/left_finger_base_link>
+            point3f physics:localPos0 = (0.054943, -0.0025, -1.0339758e-25)
+            point3f physics:localPos1 = (0, 0, 0)
+            quatf physics:localRot0 = (1, 0, 0, 0)
+            quatf physics:localRot1 = (1, 0, 0, 0)
+            float physics:lowerLimit = -180
+            float physics:upperLimit = 180
+            float state:angular:physics:position = -60
+            float state:angular:physics:velocity = 0
+        }
+
+        def PhysicsFixedJoint "left_finger_tip_joint"
+        {
+            uniform token physics:axis = "Z"
+            rel physics:body0 = </onrobot_rg2/Geometry/left_finger_base_link>
+            rel physics:body1 = </onrobot_rg2/Geometry/left_finger_tip_link>
+            point3f physics:localPos0 = (0.0365, -0.0145, 0.0003)
+            point3f physics:localPos1 = (0, 0, 0)
+            quatf physics:localRot0 = (0.70710677, 0.70710677, 6.019223e-17, -5.551115e-17)
+            quatf physics:localRot1 = (1, 0, 0, 0)
+        }
+
+        def PhysicsRevoluteJoint "right_inner_proximal_finger_joint" (
+            prepend apiSchemas = ["PhysicsJointStateAPI:angular", "NewtonMimicAPI"]
+        )
+        {
+            custom float newton:mimicCoef0 = 0
+            custom float newton:mimicCoef1 = 1
+            custom rel newton:mimicJoint = </onrobot_rg2/Physics/finger_joint>
+            uniform token physics:axis = "Z"
+            rel physics:body0 = </onrobot_rg2/Geometry/body_link>
+            rel physics:body1 = </onrobot_rg2/Geometry/right_inner_proximal_finger_link>
+            point3f physics:localPos0 = (0.0925, 0, -0.00745)
+            point3f physics:localPos1 = (0, 0, 0)
+            quatf physics:localRot0 = (0.70710677, -0.70710677, 5.551115e-17, 5.551115e-17)
+            quatf physics:localRot1 = (1, 0, 0, 0)
+            float physics:lowerLimit = -180
+            float physics:upperLimit = 180
+            float state:angular:physics:position = 60
+            float state:angular:physics:velocity = 0
+        }
+
+        def PhysicsRevoluteJoint "left_inner_proximal_finger_joint" (
+            prepend apiSchemas = ["PhysicsJointStateAPI:angular", "NewtonMimicAPI"]
+        )
+        {
+            custom float newton:mimicCoef0 = 0
+            custom float newton:mimicCoef1 = 1
+            custom rel newton:mimicJoint = </onrobot_rg2/Physics/finger_joint>
+            uniform token physics:axis = "Z"
+            rel physics:body0 = </onrobot_rg2/Geometry/body_link>
+            rel physics:body1 = </onrobot_rg2/Geometry/left_inner_proximal_finger_link>
+            point3f physics:localPos0 = (0.0925, 0, 0.00755)
+            point3f physics:localPos1 = (0, 0, 0)
+            quatf physics:localRot0 = (-0.70710677, -0.70710677, -5.551115e-17, 1.6653345e-16)
+            quatf physics:localRot1 = (1, 0, 0, 0)
+            float physics:lowerLimit = -180
+            float physics:upperLimit = 180
+            float state:angular:physics:position = 60
+            float state:angular:physics:velocity = 0
+        }
+    }
+}
+

onrobot_rg6/.metadata/com.nvidia.simready.conformance.Package-Candidate@1.0.0.json

@@ -0,0 +1,35 @@
+{
+  "format_version": "1.0",
+  "profile": "Package-Candidate",
+  "profile_version": "1.0.0",
+  "timestamp": "2026-10-12T20:08:20",
+  "assets": [
+    {
+      "asset": "simready_usd/onrobot_rg6.usda",
+      "features": [
+        {
+          "FET_031_STANDARD": {
+            "version": "0.1.0",
+            "passed": true,
+            "failing_requirements": [],
+            "dependencies": []
+          }
+        },
+        {
+          "FET_033_STANDARD": {
+            "version": "0.1.0",
+            "passed": true,
+            "failing_requirements": [],
+            "dependencies": [
+              {
+                "FET_031_STANDARD": {
+                  "version": "0.1.0"
+                }
+              }
+            ]
+          }
+        }
+      ]
+    }
+  ]
+}

onrobot_rg6/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json

@@ -0,0 +1,35 @@
+{
+  "format_version": "1.0",
+  "profile": "Package",
+  "profile_version": "1.0.0",
+  "timestamp": "2026-10-12T20:08:20",
+  "assets": [
+    {
+      "asset": "com.nvidia.simready.packaging.json",
+      "features": [
+        {
+          "FET_030_STANDARD": {
+            "version": "0.1.0",
+            "passed": true,
+            "failing_requirements": [],
+            "dependencies": []
+          }
+        },
+        {
+          "FET_032_STANDARD": {
+            "version": "0.1.0",
+            "passed": true,
+            "failing_requirements": [],
+            "dependencies": [
+              {
+                "FET_030_STANDARD": {
+                  "version": "0.1.0"
+                }
+              }
+            ]
+          }
+        }
+      ]
+    }
+  ]
+}

onrobot_rg6/.metadata/com.nvidia.simready.packaging.bom.json

@@ -0,0 +1,110 @@
+{
+  "format_version": "1.0",
+  "items": [
+    {
+      "relative_path": "simready_usd/.thumbs/256x256/onrobot_rg6.usda.png",
+      "size": 63002,
+      "hash": {
+        "sha256-flat-1mb": "51d55c967537e8b9515fbb8ad636242f94b56ab4cc43b88a0119cb63664e7f76",
+        "sha256": "940d2958247d3b2f3f879eb348012a91e8103d1ae6f6ff6faea0279672942e9f"
+      }
+    },
+    {
+      "relative_path": "simready_usd/LICENSE.txt",
+      "size": 1519,
+      "hash": {
+        "sha256-flat-1mb": "3d14dea7ab7c09adbf366558d33aaabb7dbfae65df4831034758e45318e00546",
+        "sha256": "0b7413ea1cc62c0e65ef63213eceeb629630d53b749773e72a1cc9cefbd11b67"
+      }
+    },
+    {
+      "relative_path": "simready_usd/onrobot_rg6.usda",
+      "size": 4312,
+      "hash": {
+        "sha256-flat-1mb": "e3926d96aa255313a6d5e1e56814a3d5773e8e89278892b020bb49d4ca175901",
+        "sha256": "bf8aedf914ec10a60649c47f8edd465f0a47338f88d6f57e8e5321a0f946f2ff"
+      }
+    },
+    {
+      "relative_path": "simready_usd/payloads/Physics/mujoco.usda",
+      "size": 13000,
+      "hash": {
+        "sha256-flat-1mb": "bca2b9af745b1855669d95fb84647076fcf5a669e98fc6b4652b8846990f7ae0",
+        "sha256": "129369a26615de7b78f2c142a08e2a3b3e4a1eac2fff90d539178af58f444447"
+      }
+    },
+    {
+      "relative_path": "simready_usd/payloads/Physics/physics.usda",
+      "size": 28743,
+      "hash": {
+        "sha256-flat-1mb": "893b958dc074df1fde9313aceb1f6c7ca05be364e78a3bf73320dd43313445da",
+        "sha256": "e2eb6aee964b7f475f5f52350803aedd96cfcd63f97cea0d32042bd670ef020f"
+      }
+    },
+    {
+      "relative_path": "simready_usd/payloads/Physics/physx.usda",
+      "size": 4572,
+      "hash": {
+        "sha256-flat-1mb": "574cd0c97f80c44c46da194d2af8a2a7cb8eb23b654f71f491a2deb48b335937",
+        "sha256": "697fa017d766b7e77c3108af90c904cd80efc52541c1bcab255d82b6b5676f25"
+      }
+    },
+    {
+      "relative_path": "simready_usd/payloads/Physics/physx_parallel_grip.usda",
+      "size": 4572,
+      "hash": {
+        "sha256-flat-1mb": "574cd0c97f80c44c46da194d2af8a2a7cb8eb23b654f71f491a2deb48b335937",
+        "sha256": "697fa017d766b7e77c3108af90c904cd80efc52541c1bcab255d82b6b5676f25"
+      }
+    },
+    {
+      "relative_path": "simready_usd/payloads/Physics/physx_parallel_grip_tip_contact.usda",
+      "size": 4572,
+      "hash": {
+        "sha256-flat-1mb": "7d10452ca6e38b16ffc0ea5e275d791290c95894d94e55bd2b8b9a63a6a5ff18",
+        "sha256": "ddc0b66972802dcd3c95697c08a737d6b6af10a2e50af0517b4f5b8d04c67938"
+      }
+    },
+    {
+      "relative_path": "simready_usd/payloads/base.usda",
+      "size": 49275,
+      "hash": {
+        "sha256-flat-1mb": "d812ab0909df022d5e3398656a9d846b70000102f2a048a7ebb3ced1b741acd0",
+        "sha256": "e42a72111686ec847776546a076da704eb3660801124db184b13cb9856d7b5b5"
+      }
+    },
+    {
+      "relative_path": "simready_usd/payloads/geometries.usd",
+      "size": 3899395,
+      "hash": {
+        "sha256-flat-1mb": "13a6aff8dda4bd3260d2d4e18988776867300d8a100e1c49513b3281cc1bedcf",
+        "sha256": "05483caeb2ab33cff25bf43c091a8adc3be54303b796b92eafe8f87514ade22c",
+        "sha256-first1m": "6ae6f7b96ac093aaf6dcbf20d698e542e178fe025c7a4169f53ad31531e10569"
+      }
+    },
+    {
+      "relative_path": "simready_usd/payloads/instances.usda",
+      "size": 29688,
+      "hash": {
+        "sha256-flat-1mb": "8e47b89706062a8e3c53ca69735006e5eda6cb1a948fb77001bd7cd15188d89e",
+        "sha256": "5e9f72df840d442d86e1537342795dd214e7694620de80f33e65300b0689427d"
+      }
+    },
+    {
+      "relative_path": "simready_usd/payloads/materials.usda",
+      "size": 28024,
+      "hash": {
+        "sha256-flat-1mb": "7c1cfde2ce9478c75103b45a6b08806c1e37b10999ef2f139549e21131240a91",
+        "sha256": "3d22a77973597083502746607996dce5fb9dd7f4cdef9187c4859fdf47d92942"
+      }
+    },
+    {
+      "relative_path": "simready_usd/payloads/robot.usda",
+      "size": 4710,
+      "hash": {
+        "sha256-flat-1mb": "6aca715050097d20e6997f70d4d332828ebb330af82f271784047c339873e5a2",
+        "sha256": "94647c37fdc5b8436c11e0fce78dc403eadb693ce1083d31363bbc07189558ce"
+      }
+    }
+  ]
+}

onrobot_rg6/.metadata/com.nvidia.simready.root_usds.json

@@ -1,6 +1,6 @@
 {
+  "format_version": "1.0",
   "entries": [
     "simready_usd/onrobot_rg6.usda"
-  ],
-  "format_version": "1.0"
+  ]
 }

onrobot_rg6/.metadata/onrobot_rg6_validation.json

@@ -0,0 +1,243 @@
+{
+    "simready_usd/onrobot_rg6.usda": {
+        "features_summary": {
+            "FET_000_MUJOCO": {
+                "blocking_failure": false,
+                "dependencies": "[{'FET_000_STANDARD': {'version': '0.1.0'}}]",
+                "optional requirements": "['com.nvidia.simready.RV.007', 'com.nvidia.simready.RV.010', 'com.nvidia.simready.RV.011']",
+                "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.006', 'com.nvidia.simready.RV.010', 'com.nvidia.simready.RV.011']",
+                "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.010', 'com.nvidia.simready.RV.011']",
+                "passed": false,
+                "version": "0.1.0"
+            },
+            "FET_000_STANDARD": {
+                "blocking_failure": false,
+                "dependencies": "[]",
+                "passed": true,
+                "version": "0.1.0"
+            },
+            "FET_001_STANDARD": {
+                "blocking_failure": false,
+                "dependencies": "[]",
+                "passed": true,
+                "version": "1.0.1"
+            },
+            "FET_003_MUJOCO": {
+                "blocking_failure": false,
+                "dependencies": "[]",
+                "optional requirements": "['com.nvidia.simready.MUJOCO.COL.001']",
+                "passed": false,
+                "version": "0.1.0"
+            },
+            "FET_003_NEWTON": {
+                "blocking_failure": false,
+                "dependencies": "[]",
+                "passed": true,
+                "version": "0.1.0"
+            },
+            "FET_003_PHYSX": {
+                "blocking_failure": false,
+                "dependencies": "[]",
+                "passed": true,
+                "version": "0.4.0"
+            },
+            "FET_003_STANDARD": {
+                "blocking_failure": false,
+                "dependencies": "[]",
+                "passed": true,
+                "version": "0.2.0"
+            },
+            "FET_004_MUJOCO": {
+                "blocking_failure": false,
+                "dependencies": "[{'FET_003_MUJOCO': {'version': '0.1.0'}}]",
+                "optional requirements": "['com.nvidia.simready.MUJOCO.COL.001']",
+                "passed": false,
+                "version": "0.1.0"
+            },
+            "FET_004_NEWTON": {
+                "blocking_failure": false,
+                "dependencies": "[{'FET_003_NEWTON': {'version': '0.1.0'}}]",
+                "passed": true,
+                "version": "0.1.0"
+            },
+            "FET_004_PHYSX": {
+                "blocking_failure": false,
+                "dependencies": "[{'FET_003_PHYSX': {'version': '0.4.0'}}]",
+                "passed": true,
+                "version": "0.4.0"
+            },
+            "FET_004_ROBOT_MUJOCO": {
+                "blocking_failure": false,
+                "dependencies": "[]",
+                "optional requirements": "['com.nvidia.simready.MUJOCO.COL.001']",
+                "passed": false,
+                "version": "0.1.0"
+            },
+            "FET_004_ROBOT_NEWTON": {
+                "blocking_failure": false,
+                "dependencies": "[]",
+                "passed": true,
+                "version": "0.1.0"
+            },
+            "FET_004_ROBOT_PHYSX": {
+                "blocking_failure": false,
+                "dependencies": "[]",
+                "passed": true,
+                "version": "0.1.0"
+            },
+            "FET_004_STANDARD": {
+                "blocking_failure": false,
+                "dependencies": "[{'FET_003_STANDARD': {'version': '0.2.0'}}]",
+                "passed": true,
+                "version": "0.2.0"
+            },
+            "FET_006_MDL": {
+                "blocking_failure": false,
+                "dependencies": "[]",
+                "optional requirements": "['com.nvidia.simready.VM.MDL.003']",
+                "passed": false,
+                "version": "0.2.0"
+            },
+            "FET_006_OPENPBR": {
+                "blocking_failure": false,
+                "dependencies": "[]",
+                "optional requirements": "['com.nvidia.simready.VM.PBR.001']",
+                "passed": false,
+                "version": "0.1.0"
+            },
+            "FET_006_STANDARD": {
+                "blocking_failure": false,
+                "dependencies": "[]",
+                "passed": true,
+                "version": "0.2.0"
+            },
+            "FET_010_STANDARD": {
+                "blocking_failure": false,
+                "dependencies": "[]",
+                "optional requirements": "['com.nvidia.simready.DISP.001']",
+                "passed": false,
+                "version": "0.1.0"
+            },
+            "FET_021_ISAAC": {
+                "blocking_failure": false,
+                "dependencies": "[]",
+                "optional requirements": "['com.nvidia.simready.RC.001', 'com.nvidia.simready.RC.009']",
+                "passed": false,
+                "version": "0.2.0"
+            },
+            "FET_022_ISAAC": {
+                "blocking_failure": false,
+                "dependencies": "[{'FET_022_PHYSX': {'version': '0.2.0'}}]",
+                "passed": true,
+                "version": "0.2.0"
+            },
+            "FET_022_MUJOCO": {
+                "blocking_failure": false,
+                "dependencies": "[{'FET_004_ROBOT_MUJOCO': {'version': '0.1.0'}}]",
+                "optional requirements": "['com.nvidia.simready.MUJOCO.COL.001', 'com.nvidia.simready.MUJOCO.DJ.001']",
+                "passed": false,
+                "version": "0.1.0"
+            },
+            "FET_022_NEWTON": {
+                "blocking_failure": false,
+                "dependencies": "[{'FET_004_ROBOT_NEWTON': {'version': '0.1.0'}}]",
+                "passed": true,
+                "version": "0.1.0"
+            },
+            "FET_022_PHYSX": {
+                "blocking_failure": false,
+                "dependencies": "[{'FET_004_PHYSX': {'version': '0.4.0'}}]",
+                "passed": true,
+                "version": "0.2.0"
+            },
+            "FET_022_STANDARD": {
+                "blocking_failure": false,
+                "dependencies": "[{'FET_004_STANDARD': {'version': '0.2.0'}}]",
+                "passed": true,
+                "version": "0.2.0"
+            },
+            "FET_024_MUJOCO": {
+                "blocking_failure": false,
+                "dependencies": "[{'FET_024_STANDARD': {'version': '0.1.0'}}]",
+                "passed": true,
+                "version": "0.1.0"
+            },
+            "FET_024_NEWTON": {
+                "blocking_failure": false,
+                "dependencies": "[{'FET_024_STANDARD': {'version': '0.1.0'}}]",
+                "optional requirements": "['com.nvidia.simready.NEWTON.BA.001']",
+                "passed": false,
+                "version": "0.1.0"
+            },
+            "FET_024_PHYSX": {
+                "blocking_failure": false,
+                "dependencies": "[{'FET_024_STANDARD': {'version': '0.1.0'}}]",
+                "passed": true,
+                "version": "0.1.0"
+            },
+            "FET_024_STANDARD": {
+                "blocking_failure": false,
+                "dependencies": "[]",
+                "passed": true,
+                "version": "0.1.0"
+            },
+            "FET_028_ISAAC": {
+                "blocking_failure": false,
+                "dependencies": "[{'FET_028_STANDARD': {'version': '0.1.0'}}, {'FET_022_ISAAC': {'version': '0.1.0'}}]",
+                "passed": true,
+                "version": "0.1.0"
+            },
+            "FET_028_MUJOCO": {
+                "blocking_failure": false,
+                "dependencies": "[{'FET_028_STANDARD': {'version': '0.1.0'}}, {'FET_022_MUJOCO': {'version': '0.1.0'}}]",
+                "optional requirements": "['com.nvidia.simready.MUJOCO.COL.001', 'com.nvidia.simready.MUJOCO.DJ.001']",
+                "passed": false,
+                "version": "0.1.0"
+            },
+            "FET_028_STANDARD": {
+                "blocking_failure": false,
+                "dependencies": "[]",
+                "passed": true,
+                "version": "0.1.0"
+            },
+            "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_100_ISAAC": {
+                "blocking_failure": false,
+                "dependencies": "[{'FET_003_PHYSX': {'version': '0.4.0'}}]",
+                "passed": true,
+                "version": "0.3.0"
+            }
+        },
+        "profile_id": "Robot-Gripper",
+        "profile_version": "3.0.0",
+        "simready_validate_version": "2026.8.0",
+        "tier_versions": {
+            "sensors": "2026.8.0",
+            "tier_aif": "2026.8.0",
+            "tier_core": "2026.8.0"
+        }
+    }
+}

onrobot_rg6/com.nvidia.simready.packaging.json

@@ -1,6 +1,31 @@
 {
   "format_version": "1.0",
-  "package_id": "simready.hf.onrobot.simready-grippers.onrobot_rg6.2026.10.07_01",
+  "package_id": "simready.hf.onrobot.simready-grippers.onrobot_rg6.2026.10.12_01",
   "license": "BSD-3-Clause",
-  "metadata": []
-}
+  "metadata": [
+    {
+      "name": "com.nvidia.simready.conformance.Package-Candidate@1.0.0.json",
+      "hash": {
+        "sha256": "ed4d68b7ead371a450fa0c25b5e49642c4ce152875bf26e56b0bf6e50ffa2ab4"
+      }
+    },
+    {
+      "name": "com.nvidia.simready.packaging.bom.json",
+      "hash": {
+        "sha256": "651669181a743700e18abcd13a755ddeabcad3fce2af8487a222e5864426025f"
+      }
+    },
+    {
+      "name": "com.nvidia.simready.root_usds.json",
+      "hash": {
+        "sha256": "29261b4794aeab14c83020e2fda2fa2076f82ac61d8ac28df783bc9c4e546ee5"
+      }
+    }
+  ],
+  "content_hash": {
+    "sha256": "6827ad4d8e61b0ca9ed9a8edf38dd83cf57c47ca87a9525dcff54b18d0213181"
+  },
+  "package_hash": {
+    "sha256": "5889ee872bd1081ea333d29e12298de51f3602450926cd83ada4e503f6367ff4"
+  }
+}

onrobot_rg6/simready_usd/.simready/validation.json

@@ -1,182 +0,0 @@
-{
-  "SimReady_Metadata": {
-    "validation": {
-      "profile": "Robot-Gripper",
-      "profile_version": "2.1.0",
-      "validated_features": {
-        "2026-10-07": {
-          "FET_000_MUJOCO": {
-            "dependencies": "[{'FET_000_STANDARD': {'version': '0.1.0'}}]",
-            "optional requirements": "['com.nvidia.simready.RV.007']",
-            "passed": false,
-            "version": "0.1.0"
-          },
-          "FET_000_NEWTON": {
-            "dependencies": "[{'FET_000_STANDARD': {'version': '0.1.0'}}]",
-            "optional requirements": "['com.nvidia.simready.RV.004']",
-            "passed": false,
-            "version": "0.1.0"
-          },
-          "FET_000_PHYSX": {
-            "dependencies": "[{'FET_000_STANDARD': {'version': '0.1.0'}}]",
-            "optional requirements": "['com.nvidia.simready.RV.001']",
-            "passed": false,
-            "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": "[]",
-            "optional requirements": "['com.nvidia.simready.MUJOCO.COL.001']",
-            "passed": false,
-            "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'}}]",
-            "optional requirements": "['com.nvidia.simready.MUJOCO.COL.001']",
-            "passed": false,
-            "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_ROBOT_MUJOCO": {
-            "dependencies": "[]",
-            "optional requirements": "['com.nvidia.simready.MUJOCO.COL.001']",
-            "passed": false,
-            "version": "0.1.0"
-          },
-          "FET_004_ROBOT_NEWTON": {
-            "dependencies": "[]",
-            "passed": true,
-            "version": "0.1.0"
-          },
-          "FET_004_ROBOT_PHYSX": {
-            "dependencies": "[]",
-            "passed": true,
-            "version": "0.1.0"
-          },
-          "FET_004_STANDARD": {
-            "dependencies": "[{'FET_003_STANDARD': {'version': '0.2.0'}}]",
-            "passed": true,
-            "version": "0.2.0"
-          },
-          "FET_021_ISAAC": {
-            "dependencies": "[]",
-            "optional requirements": "['com.nvidia.simready.RC.001', 'com.nvidia.simready.RC.009']",
-            "passed": false,
-            "version": "0.2.0"
-          },
-          "FET_022_ISAAC": {
-            "dependencies": "[{'FET_022_PHYSX': {'version': '0.2.0'}}]",
-            "passed": true,
-            "version": "0.2.0"
-          },
-          "FET_022_MUJOCO": {
-            "dependencies": "[{'FET_004_ROBOT_MUJOCO': {'version': '0.1.0'}}]",
-            "optional requirements": "['com.nvidia.simready.MUJOCO.COL.001', 'com.nvidia.simready.MUJOCO.DJ.001']",
-            "passed": false,
-            "version": "0.1.0"
-          },
-          "FET_022_NEWTON": {
-            "dependencies": "[{'FET_004_ROBOT_NEWTON': {'version': '0.1.0'}}]",
-            "passed": true,
-            "version": "0.1.0"
-          },
-          "FET_022_PHYSX": {
-            "dependencies": "[{'FET_004_PHYSX': {'version': '0.4.0'}}]",
-            "passed": true,
-            "version": "0.2.0"
-          },
-          "FET_022_STANDARD": {
-            "dependencies": "[{'FET_004_STANDARD': {'version': '0.2.0'}}]",
-            "passed": true,
-            "version": "0.2.0"
-          },
-          "FET_024_MUJOCO": {
-            "dependencies": "[{'FET_024_STANDARD': {'version': '0.1.0'}}]",
-            "passed": true,
-            "version": "0.1.0"
-          },
-          "FET_024_NEWTON": {
-            "dependencies": "[{'FET_024_STANDARD': {'version': '0.1.0'}}]",
-            "optional requirements": "['com.nvidia.simready.NEWTON.BA.001']",
-            "passed": false,
-            "version": "0.1.0"
-          },
-          "FET_024_PHYSX": {
-            "dependencies": "[{'FET_024_STANDARD': {'version': '0.1.0'}}]",
-            "passed": true,
-            "version": "0.1.0"
-          },
-          "FET_024_STANDARD": {
-            "dependencies": "[]",
-            "passed": true,
-            "version": "0.1.0"
-          },
-          "FET_028_ISAAC": {
-            "dependencies": "[{'FET_028_STANDARD': {'version': '0.1.0'}}, {'FET_022_ISAAC': {'version': '0.1.0'}}]",
-            "passed": true,
-            "version": "0.1.0"
-          },
-          "FET_028_MUJOCO": {
-            "dependencies": "[{'FET_028_STANDARD': {'version': '0.1.0'}}, {'FET_022_MUJOCO': {'version': '0.1.0'}}]",
-            "optional requirements": "['com.nvidia.simready.MUJOCO.COL.001', 'com.nvidia.simready.MUJOCO.DJ.001']",
-            "passed": false,
-            "version": "0.1.0"
-          },
-          "FET_028_STANDARD": {
-            "dependencies": "[]",
-            "passed": true,
-            "version": "0.1.0"
-          },
-          "FET_031_STANDARD": {
-            "dependencies": "[]",
-            "passed": true,
-            "version": "0.1.0"
-          },
-          "FET_033_STANDARD": {
-            "dependencies": "[{'FET_031_STANDARD': {'version': '0.1.0'}}]",
-            "passed": true,
-            "version": "0.3.0"
-          },
-          "FET_100_ISAAC": {
-            "dependencies": "[{'FET_003_PHYSX': {'version': '0.4.0'}}]",
-            "passed": true,
-            "version": "0.3.0"
-          }
-        }
-      }
-    }
-  }
-}

onrobot_rg6/simready_usd/onrobot_rg6.usda

@@ -14,184 +14,6 @@
             string source_file = "assets/onrobot_rg6/simready_usd/onrobot_rg6.usda"
             string source_manifest_sha256 = "62cbb6ff62d264ce967bf35b8b16c1ba504d1a8ed4b0d4af2fa48f4dc0494812"
             string usd_date_generated = "2026-10-07"
-            dictionary validation = {
-                string profile = "Robot-Gripper"
-                string profile_version = "2.1.0"
-                dictionary validated_features = {
-                    dictionary "2026-10-07" = {
-                        dictionary FET_000_MUJOCO = {
-                            string dependencies = "[{'FET_000_STANDARD': {'version': '0.1.0'}}]"
-                            string "optional requirements" = "['com.nvidia.simready.RV.007']"
-                            bool passed = 0
-                            string version = "0.1.0"
-                        }
-                        dictionary FET_000_NEWTON = {
-                            string dependencies = "[{'FET_000_STANDARD': {'version': '0.1.0'}}]"
-                            string "optional requirements" = "['com.nvidia.simready.RV.004']"
-                            bool passed = 0
-                            string version = "0.1.0"
-                        }
-                        dictionary FET_000_PHYSX = {
-                            string dependencies = "[{'FET_000_STANDARD': {'version': '0.1.0'}}]"
-                            string "optional requirements" = "['com.nvidia.simready.RV.001']"
-                            bool passed = 0
-                            string version = "0.1.0"
-                        }
-                        dictionary FET_000_STANDARD = {
-                            string dependencies = "[]"
-                            bool passed = 1
-                            string version = "0.1.0"
-                        }
-                        dictionary FET_001_STANDARD = {
-                            string dependencies = "[]"
-                            bool passed = 1
-                            string version = "1.0.1"
-                        }
-                        dictionary FET_003_MUJOCO = {
-                            string dependencies = "[]"
-                            string "optional requirements" = "['com.nvidia.simready.MUJOCO.COL.001']"
-                            bool passed = 0
-                            string version = "0.1.0"
-                        }
-                        dictionary FET_003_NEWTON = {
-                            string dependencies = "[]"
-                            bool passed = 1
-                            string version = "0.1.0"
-                        }
-                        dictionary FET_003_PHYSX = {
-                            string dependencies = "[]"
-                            bool passed = 1
-                            string version = "0.4.0"
-                        }
-                        dictionary FET_003_STANDARD = {
-                            string dependencies = "[]"
-                            bool passed = 1
-                            string version = "0.2.0"
-                        }
-                        dictionary FET_004_MUJOCO = {
-                            string dependencies = "[{'FET_003_MUJOCO': {'version': '0.1.0'}}]"
-                            string "optional requirements" = "['com.nvidia.simready.MUJOCO.COL.001']"
-                            bool passed = 0
-                            string version = "0.1.0"
-                        }
-                        dictionary FET_004_NEWTON = {
-                            string dependencies = "[{'FET_003_NEWTON': {'version': '0.1.0'}}]"
-                            bool passed = 1
-                            string version = "0.1.0"
-                        }
-                        dictionary FET_004_PHYSX = {
-                            string dependencies = "[{'FET_003_PHYSX': {'version': '0.4.0'}}]"
-                            bool passed = 1
-                            string version = "0.4.0"
-                        }
-                        dictionary FET_004_ROBOT_MUJOCO = {
-                            string dependencies = "[]"
-                            string "optional requirements" = "['com.nvidia.simready.MUJOCO.COL.001']"
-                            bool passed = 0
-                            string version = "0.1.0"
-                        }
-                        dictionary FET_004_ROBOT_NEWTON = {
-                            string dependencies = "[]"
-                            bool passed = 1
-                            string version = "0.1.0"
-                        }
-                        dictionary FET_004_ROBOT_PHYSX = {
-                            string dependencies = "[]"
-                            bool passed = 1
-                            string version = "0.1.0"
-                        }
-                        dictionary FET_004_STANDARD = {
-                            string dependencies = "[{'FET_003_STANDARD': {'version': '0.2.0'}}]"
-                            bool passed = 1
-                            string version = "0.2.0"
-                        }
-                        dictionary FET_021_ISAAC = {
-                            string dependencies = "[]"
-                            string "optional requirements" = "['com.nvidia.simready.RC.001', 'com.nvidia.simready.RC.009']"
-                            bool passed = 0
-                            string version = "0.2.0"
-                        }
-                        dictionary FET_022_ISAAC = {
-                            string dependencies = "[{'FET_022_PHYSX': {'version': '0.2.0'}}]"
-                            bool passed = 1
-                            string version = "0.2.0"
-                        }
-                        dictionary FET_022_MUJOCO = {
-                            string dependencies = "[{'FET_004_ROBOT_MUJOCO': {'version': '0.1.0'}}]"
-                            string "optional requirements" = "['com.nvidia.simready.MUJOCO.COL.001', 'com.nvidia.simready.MUJOCO.DJ.001']"
-                            bool passed = 0
-                            string version = "0.1.0"
-                        }
-                        dictionary FET_022_NEWTON = {
-                            string dependencies = "[{'FET_004_ROBOT_NEWTON': {'version': '0.1.0'}}]"
-                            bool passed = 1
-                            string version = "0.1.0"
-                        }
-                        dictionary FET_022_PHYSX = {
-                            string dependencies = "[{'FET_004_PHYSX': {'version': '0.4.0'}}]"
-                            bool passed = 1
-                            string version = "0.2.0"
-                        }
-                        dictionary FET_022_STANDARD = {
-                            string dependencies = "[{'FET_004_STANDARD': {'version': '0.2.0'}}]"
-                            bool passed = 1
-                            string version = "0.2.0"
-                        }
-                        dictionary FET_024_MUJOCO = {
-                            string dependencies = "[{'FET_024_STANDARD': {'version': '0.1.0'}}]"
-                            bool passed = 1
-                            string version = "0.1.0"
-                        }
-                        dictionary FET_024_NEWTON = {
-                            string dependencies = "[{'FET_024_STANDARD': {'version': '0.1.0'}}]"
-                            string "optional requirements" = "['com.nvidia.simready.NEWTON.BA.001']"
-                            bool passed = 0
-                            string version = "0.1.0"
-                        }
-                        dictionary FET_024_PHYSX = {
-                            string dependencies = "[{'FET_024_STANDARD': {'version': '0.1.0'}}]"
-                            bool passed = 1
-                            string version = "0.1.0"
-                        }
-                        dictionary FET_024_STANDARD = {
-                            string dependencies = "[]"
-                            bool passed = 1
-                            string version = "0.1.0"
-                        }
-                        dictionary FET_028_ISAAC = {
-                            string dependencies = "[{'FET_028_STANDARD': {'version': '0.1.0'}}, {'FET_022_ISAAC': {'version': '0.1.0'}}]"
-                            bool passed = 1
-                            string version = "0.1.0"
-                        }
-                        dictionary FET_028_MUJOCO = {
-                            string dependencies = "[{'FET_028_STANDARD': {'version': '0.1.0'}}, {'FET_022_MUJOCO': {'version': '0.1.0'}}]"
-                            string "optional requirements" = "['com.nvidia.simready.MUJOCO.COL.001', 'com.nvidia.simready.MUJOCO.DJ.001']"
-                            bool passed = 0
-                            string version = "0.1.0"
-                        }
-                        dictionary FET_028_STANDARD = {
-                            string dependencies = "[]"
-                            bool passed = 1
-                            string version = "0.1.0"
-                        }
-                        dictionary FET_031_STANDARD = {
-                            string dependencies = "[]"
-                            bool passed = 1
-                            string version = "0.1.0"
-                        }
-                        dictionary FET_033_STANDARD = {
-                            string dependencies = "[{'FET_031_STANDARD': {'version': '0.1.0'}}]"
-                            bool passed = 1
-                            string version = "0.3.0"
-                        }
-                        dictionary FET_100_ISAAC = {
-                            string dependencies = "[{'FET_003_PHYSX': {'version': '0.4.0'}}]"
-                            bool passed = 1
-                            string version = "0.3.0"
-                        }
-                    }
-                }
-            }
         }
         string asset_name = "onrobot_rg6"
         string asset_type = "gripper"
@@ -209,8 +31,10 @@ def Xform "onrobot_rg6" (
     kind = "component"
     prepend references = @./payloads/base.usda@
     variants = {
+        string Newton = "Disabled"
         string Physics = "physx_parallel_grip"
     }
+    prepend variantSets = "Newton"
     append variantSets = "Physics"
 )
 {
@@ -306,6 +130,37 @@ def Xform "onrobot_rg6" (
             prepend payload = @./payloads/Physics/physx_parallel_grip_tip_contact.usda@
         ) {
 
+        }
+    }
+    variantSet "Newton" = {
+        "Disabled" {
+
+        }
+        "Enabled" {
+            over "Physics"
+            {
+                over "root_joint"
+                {
+                    rel physics:body0 = None
+                }
+            }
+
+            over "Geometry"
+            {
+                over "base_link"
+                {
+                    over "base_link_1" (
+                        instanceable = false
+                    )
+                    {
+                        over "base_link_1"
+                        {
+                            uniform token physics:approximation = "convexHull"
+                        }
+                    }
+                }
+            }
+
         }
     }
 }