update assets

block_stack_kitchen/g60_kitchen_table_zed.usd

@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:68acce1488585b3109fd4075eb16e41781a530952c0bd20cd1d82b8382a971e3
-size 9117

block_stack_kitchen/scene.usda

@@ -0,0 +1,444 @@
+#usda 1.0
+(
+    customLayerData = {
+        dictionary cameraSettings = {
+            dictionary Front = {
+                double3 position = (5, 0, 0)
+                double radius = 5
+            }
+            dictionary Perspective = {
+                double3 position = (2.576224831211993, 2.483832514542173, 2.2764495186016065)
+                double3 target = (-2.1708436994439606, -2.418746356854898, -3.0555351752049296)
+            }
+            dictionary Right = {
+                double3 position = (0, -5, 0)
+                double radius = 5
+            }
+            dictionary Top = {
+                double3 position = (0, 0, 5)
+                double radius = 5
+            }
+            string boundCamera = "/OmniverseKit_Persp"
+        }
+        dictionary omni_layer = {
+            string authoring_layer = "./g60_kitchen_table_zed.usd"
+            dictionary locked = {
+            }
+            dictionary muteness = {
+            }
+        }
+        dictionary renderSettings = {
+        }
+    }
+    defaultPrim = "World"
+    endTimeCode = 1000000
+    metersPerUnit = 1
+    startTimeCode = 0
+    timeCodesPerSecond = 60
+    upAxis = "Z"
+)
+
+def Xform "World"
+{
+    def "g60_kitchen_table_zed" (
+        delete payload = @../../assets/g60_kitchen_table_zed/mesh.usdz@
+        prepend payload = @./assets/g60_kitchen_table_zed/mesh.usdz@
+    )
+    {
+        bool physics:kinematicEnabled = 1
+        quatd xformOp:orient = (0.0069501640146002975, 0.0000020098868016692203, -0.0002891785243121244, -0.9999758055032691)
+        double3 xformOp:scale = (1, 1, 1)
+        double3 xformOp:translate = (-0.23996217709738163, -0.23876804994724557, 7.904800277648001e-14)
+        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+
+        over "geometry"
+        {
+            over "mesh" (
+                prepend apiSchemas = ["PhysxConvexDecompositionCollisionAPI", "PhysxTriangleMeshSimplificationCollisionAPI"]
+            )
+            {
+                uniform token physics:approximation = "meshSimplification"
+                int physxConvexDecompositionCollision:maxConvexHulls = 207
+            }
+
+            over "Looks"
+            {
+                over "BakeMat"
+                {
+                    over "BakeMat"
+                    {
+                        float inputs:emissive_strength (
+                            customData = {
+                                dictionary omni = {
+                                    dictionary kit = {
+                                        dictionary property = {
+                                            dictionary usd = {
+                                                float2 soft_range_ui = (0, 10000)
+                                            }
+                                        }
+                                    }
+                                }
+                            }
+                        )
+                    }
+                }
+            }
+        }
+    }
+
+    def "tray" (
+        active = true
+        prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysxRigidBodyAPI"]
+        delete payload = @../../assets/green_tray_csm/mesh.usdz@
+        prepend payload = @./assets/green_tray/mesh.usdz@
+    )
+    {
+        bool physics:kinematicEnabled = 0
+        bool physics:rigidBodyEnabled = 1
+        quatf xformOp:orient = (1, 0, 0, 0)
+        float3 xformOp:scale = (0.28, 0.28, 0.28)
+        double3 xformOp:translate = (0.3517783956667713, 0.09136301147498842, 0.05371089447294813)
+        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+
+        over "mesh"
+        {
+            over "mesh" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysxCollisionAPI", "PhysxConvexHullCollisionAPI", "PhysicsMeshCollisionAPI", "PhysxConvexDecompositionCollisionAPI"]
+            )
+            {
+                uniform token physics:approximation = "convexDecomposition"
+                bool physics:collisionEnabled = 1
+            }
+        }
+
+        over "env_light" (
+            active = false
+        )
+        {
+        }
+    }
+
+    def "wood_cube" (
+        active = true
+        prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysxRigidBodyAPI"]
+        delete payload = @../../assets/wood_cube_csm/mesh.usdz@
+        prepend payload = @./assets/wood_cube/mesh.usdz@
+    )
+    {
+        bool physics:kinematicEnabled = 0
+        bool physics:rigidBodyEnabled = 1
+        quatf xformOp:orient = (1, 0, 0, 0)
+        float3 xformOp:scale = (0.06, 0.06, 0.06)
+        double3 xformOp:translate = (0.41919292386568763, -0.09747371822595585, 0.07723409933417806)
+        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+
+        over "mesh"
+        {
+            over "mesh" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysxCollisionAPI", "PhysxConvexHullCollisionAPI", "PhysicsMeshCollisionAPI", "PhysxConvexDecompositionCollisionAPI"]
+            )
+            {
+                uniform token physics:approximation = "convexDecomposition"
+                bool physics:collisionEnabled = 1
+            }
+        }
+
+        over "env_light" (
+            active = false
+        )
+        {
+        }
+    }
+
+    def "green_cube" (
+        active = true
+        prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysxRigidBodyAPI"]
+        delete payload = @../../assets/green_cube_csm/mesh.usdz@
+        prepend payload = @./assets/green_cube/mesh.usdz@
+    )
+    {
+        bool physics:kinematicEnabled = 0
+        bool physics:rigidBodyEnabled = 1
+        quatf xformOp:orient = (1, 0, 0, 0)
+        float3 xformOp:scale = (0.06, 0.06, 0.06)
+        double3 xformOp:translate = (0.3208774626255044, -0.11194607066881795, 0.0804820482926792)
+        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+
+        over "mesh"
+        {
+            over "mesh" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysxCollisionAPI", "PhysxConvexHullCollisionAPI", "PhysicsMeshCollisionAPI", "PhysxConvexDecompositionCollisionAPI"]
+            )
+            {
+                uniform token physics:approximation = "convexDecomposition"
+                bool physics:collisionEnabled = 1
+            }
+        }
+
+        over "env_light" (
+            active = false
+        )
+        {
+        }
+    }
+
+    def "corn" (
+        active = true
+        prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysxRigidBodyAPI"]
+        delete payload = @../../assets/uw_corn_csm/mesh.usdz@
+        prepend payload = @./assets/uw_corn/mesh.usdz@
+    )
+    {
+        bool physics:kinematicEnabled = 0
+        bool physics:rigidBodyEnabled = 1
+        quatf xformOp:orient = (1, 0, 0, 0)
+        float3 xformOp:scale = (0.08, 0.08, 0.08)
+        double3 xformOp:translate = (0.3024292290210789, 0.09045923170297229, 0.1857603951949213)
+        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+
+        over "mesh"
+        {
+            over "mesh" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysxCollisionAPI", "PhysxConvexHullCollisionAPI", "PhysicsMeshCollisionAPI", "PhysxConvexDecompositionCollisionAPI"]
+            )
+            {
+                uniform token physics:approximation = "convexDecomposition"
+                bool physics:collisionEnabled = 1
+            }
+        }
+
+        over "env_light" (
+            active = false
+        )
+        {
+        }
+    }
+
+    def Camera "external_cam" (
+        active = true
+        kind = "model"
+    )
+    {
+        float2 clippingRange = (0.01, 10000000)
+        float focalLength = 1.0476
+        float focusDistance = 400
+        float horizontalAperture = 2.5452
+        custom uniform vector3d omni:kit:centerOfInterest = (0, 0, -400)
+        float verticalAperture = 1.4721
+        quatd xformOp:orient = (-0.18638744234988988, -0.08227126821690181, 0.39534108352818365, 0.8956542789687387)
+        double3 xformOp:scale = (1, 1, 1)
+        double3 xformOp:translate = (0.103138036136151, 0.44065167674638817, 0.49744863088661717)
+        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+
+        over "OmniverseKitViewportCameraMesh" (
+            always_pick_model = true
+            hide_in_stage_window = true
+            kind = "subcomponent"
+            no_delete = true
+            prepend references = @../../../.venv/lib/python3.10/site-packages/omni/resources/models/camera/camera.usdz@
+        )
+        {
+            bool primvars:doNotCastShadows = 1
+            bool primvars:omni:kit:isGizmo = 1
+            token visibility
+            float3 xformOp:scale = (0.01, 0.01, 0.01)
+            uniform token[] xformOpOrder = ["xformOp:scale"]
+
+            over "CameraModel" (
+                always_pick_model = true
+                hide_in_stage_window = true
+                no_delete = true
+            )
+            {
+                float3[] extent = [(3.4028235e38, 3.4028235e38, 3.4028235e38), (-3.4028235e38, -3.4028235e38, -3.4028235e38)]
+                bool primvars:doNotCastShadows = 1
+                bool primvars:omni:kit:isGizmo = 1
+            }
+        }
+    }
+
+    def "bowl" (
+        active = true
+        prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysxRigidBodyAPI"]
+        delete payload = @../../assets/pink_bowl_csm/mesh.usdz@
+        prepend payload = @./assets/pink_bowl/mesh.usdz@
+    )
+    {
+        bool physics:kinematicEnabled = 0
+        bool physics:rigidBodyEnabled = 1
+        quatf xformOp:orient = (1, 0, 0, 0)
+        float3 xformOp:scale = (0.13, 0.13, 0.13)
+        double3 xformOp:translate = (0.5336140386925854, 0.11516009020424095, 0.06645985800557358)
+        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+
+        over "mesh"
+        {
+            over "mesh" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysxCollisionAPI", "PhysxConvexHullCollisionAPI", "PhysicsMeshCollisionAPI", "PhysxConvexDecompositionCollisionAPI"]
+            )
+            {
+                uniform token physics:approximation = "convexDecomposition"
+                bool physics:collisionEnabled = 1
+            }
+        }
+
+        over "env_light" (
+            active = false
+        )
+        {
+        }
+    }
+
+    def "tomato" (
+        active = true
+        prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysxRigidBodyAPI"]
+        delete payload = @../../assets/tomato_csm/mesh.usdz@
+        prepend payload = @./assets/tomato/mesh.usdz@
+    )
+    {
+        bool physics:kinematicEnabled = 0
+        bool physics:rigidBodyEnabled = 1
+        quatf xformOp:orient = (1, 0, 0, 0)
+        float3 xformOp:scale = (0.06, 0.06, 0.06)
+        double3 xformOp:translate = (0.3722157695699017, -0.015744171924207098, 0.1668820572717904)
+        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+
+        over "mesh"
+        {
+            over "mesh" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysxCollisionAPI", "PhysxConvexHullCollisionAPI", "PhysicsMeshCollisionAPI", "PhysxConvexDecompositionCollisionAPI"]
+            )
+            {
+                uniform token physics:approximation = "convexDecomposition"
+                bool physics:collisionEnabled = 1
+            }
+        }
+
+        over "env_light" (
+            active = false
+        )
+        {
+        }
+    }
+
+    def "plate_" (
+        active = true
+        prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysxRigidBodyAPI"]
+        delete payload = @../../assets/purple_plate_csm/mesh.usdz@
+        prepend payload = @./assets/purple_plate/mesh.usdz@
+    )
+    {
+        bool physics:kinematicEnabled = 0
+        bool physics:rigidBodyEnabled = 1
+        quatf xformOp:orient = (1, 0, 0, 0)
+        float3 xformOp:scale = (0.13, 0.13, 0.13)
+        double3 xformOp:translate = (0.47936457938369215, -0.0038916438062898406, 0.1738220553802526)
+        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+
+        over "env_light"
+        {
+            token visibility = "invisible"
+        }
+
+        over "mesh"
+        {
+            over "mesh" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysxCollisionAPI", "PhysxConvexHullCollisionAPI", "PhysicsMeshCollisionAPI", "PhysxConvexDecompositionCollisionAPI"]
+            )
+            {
+                uniform token physics:approximation = "convexDecomposition"
+                bool physics:collisionEnabled = 1
+            }
+        }
+    }
+}
+
+def Xform "Environment"
+{
+    quatd xformOp:orient = (1, 0, 0, 0)
+    double3 xformOp:scale = (1, 1, 1)
+    double3 xformOp:translate = (0, 0, 0)
+    uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+
+    def DistantLight "defaultLight" (
+        prepend apiSchemas = ["ShapingAPI"]
+    )
+    {
+        float inputs:angle = 1
+        float inputs:intensity = 3000
+        float inputs:shaping:cone:angle = 180
+        float inputs:shaping:cone:softness
+        float inputs:shaping:focus
+        color3f inputs:shaping:focusTint
+        asset inputs:shaping:ies:file
+        quatd xformOp:orient = (0.6532814824381883, 0.2705980500730985, 0.27059805007309845, 0.6532814824381882)
+        double3 xformOp:scale = (1, 1, 1)
+        double3 xformOp:translate = (0, 0, 0)
+        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+    }
+}
+
+def "Render" (
+    hide_in_stage_window = true
+    no_delete = true
+)
+{
+    def "OmniverseKit"
+    {
+        def "HydraTextures" (
+            hide_in_stage_window = true
+            no_delete = true
+        )
+        {
+            def RenderProduct "omni_kit_widget_viewport_ViewportTexture_0" (
+                prepend apiSchemas = ["OmniRtxSettingsCommonAdvancedAPI_1", "OmniRtxSettingsRtAdvancedAPI_1", "OmniRtxSettingsPtAdvancedAPI_1", "OmniRtxPostColorGradingAPI_1", "OmniRtxPostChromaticAberrationAPI_1", "OmniRtxPostBloomPhysicalAPI_1", "OmniRtxPostMatteObjectAPI_1", "OmniRtxPostCompositingAPI_1", "OmniRtxPostDofAPI_1", "OmniRtxPostMotionBlurAPI_1", "OmniRtxPostTvNoiseAPI_1", "OmniRtxPostTonemapIrayReinhardAPI_1", "OmniRtxPostDebugSettingsAPI_1", "OmniRtxDebugSettingsAPI_1"]
+                hide_in_stage_window = true
+                no_delete = true
+            )
+            {
+                rel camera = </OmniverseKit_Persp>
+                token omni:rtx:background:source:texture:textureMode = "repeatMirrored"
+                token omni:rtx:background:source:type = "domeLight"
+                bool omni:rtx:dlss:frameGeneration = 0
+                bool omni:rtx:material:db:nonVisualMaterialCSV:enabled = 0
+                bool omni:rtx:material:db:syncLoads = 1
+                token omni:rtx:post:dlss:execMode = "performance"
+                bool omni:rtx:post:registeredCompositing:invertColorCorrection = 1
+                bool omni:rtx:post:registeredCompositing:invertToneMap = 1
+                bool omni:rtx:pt:lightcache:cached:dontResolveConflicts = 1
+                int omni:rtx:pt:maxSamplesPerLaunch = 2073600
+                int omni:rtx:pt:mgpu:maxPixelsPerRegionExponent = 12
+                int omni:rtx:realtime:mgpu:tileCount = 2
+                color3f omni:rtx:rt:ambientLight:color = (0.1, 0.1, 0.1)
+                bool omni:rtx:rt:demoire = 0
+                bool omni:rtx:rt:lightcache:spatialCache:dontResolveConflicts = 1
+                bool omni:rtx:scene:hydra:materialSyncLoads = 1
+                bool omni:rtx:scene:hydra:mdlMaterialWarmup = 1
+                uint omni:rtx:viewTile:limit = 4294967295
+                rel orderedVars = </Render/Vars/LdrColor>
+                custom bool overrideClipRange = 0
+                uniform int2 resolution = (1280, 720)
+            }
+        }
+    }
+
+    def RenderSettings "OmniverseGlobalRenderSettings" (
+        prepend apiSchemas = ["OmniRtxSettingsGlobalRtAdvancedAPI_1", "OmniRtxSettingsGlobalPtAdvancedAPI_1"]
+        no_delete = true
+    )
+    {
+        rel products = </Render/OmniverseKit/HydraTextures/omni_kit_widget_viewport_ViewportTexture_0>
+    }
+
+    def "Vars"
+    {
+        def RenderVar "LdrColor" (
+            hide_in_stage_window = true
+            no_delete = true
+        )
+        {
+            uniform string sourceName = "LdrColor"
+        }
+    }
+}
+

food_bussing/g60_corner.usd

@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:5e961ccff3898e6e225cab1613b752e28bc5355a8024441d3148697ec5a199c5
-size 20666

food_bussing/scene.usda

@@ -0,0 +1,403 @@
+#usda 1.0
+(
+    customLayerData = {
+        dictionary cameraSettings = {
+            dictionary Front = {
+                double3 position = (5, 0, 0)
+                double radius = 5
+            }
+            dictionary Perspective = {
+                double3 position = (-0.8991968683259943, 0.46956858580454414, 0.7814993655040655)
+                double3 target = (6.806344155533616, -1.997787530443682, -2.306670209702176)
+            }
+            dictionary Right = {
+                double3 position = (0, -5, 0)
+                double radius = 5
+            }
+            dictionary Top = {
+                double3 position = (0, 0, 5)
+                double radius = 5
+            }
+            string boundCamera = "/OmniverseKit_Persp"
+        }
+        dictionary omni_layer = {
+            string authoring_layer = "./g60_corner.usd"
+            dictionary locked = {
+            }
+            dictionary muteness = {
+            }
+        }
+        dictionary renderSettings = {
+        }
+    }
+    defaultPrim = "World"
+    endTimeCode = 1000000
+    metersPerUnit = 1
+    startTimeCode = 0
+    timeCodesPerSecond = 60
+    upAxis = "Z"
+)
+
+def Xform "World"
+{
+    def "bowl" (
+        prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysxRigidBodyAPI"]
+        delete payload = [
+            @../../assets/yellow_bowl_csm/mesh.usdz@,
+            @./assets/yellow_bow/mesh.usdz@
+        ]
+        prepend payload = @./assets/yellow_bowl/mesh.usdz@
+    )
+    {
+        bool physics:kinematicEnabled = 0
+        bool physics:rigidBodyEnabled = 1
+        quatf xformOp:orient = (1, 0, 0, 0)
+        float3 xformOp:scale = (0.18, 0.18, 0.18)
+        double3 xformOp:translate = (0.42552608251572016, -0.21786836577456603, 0.014558143884765229)
+        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+
+        over "mesh"
+        {
+            over "mesh" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysxCollisionAPI", "PhysxConvexHullCollisionAPI", "PhysicsMeshCollisionAPI", "PhysxConvexDecompositionCollisionAPI"]
+            )
+            {
+                uniform token physics:approximation = "convexDecomposition"
+                bool physics:collisionEnabled = 1
+            }
+        }
+
+        over "env_light" (
+            active = false
+        )
+        {
+        }
+    }
+
+    def "g60_corner_charuco_static" (
+        delete payload = @../../assets/g60_corner_charuco_static/mesh.usdz@
+        prepend payload = @./assets/g60_corner_charuco_static/mesh.usdz@
+    )
+    {
+        bool physics:kinematicEnabled = 1
+        quatd xformOp:orient = (0.5000000000000001, -0.5, -0.49999999999999994, -0.5)
+        double3 xformOp:scale = (1, 1, 1)
+        double3 xformOp:translate = (0.489, 0.576, 0.424)
+        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+    }
+
+    def "battery1" (
+        prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysxRigidBodyAPI"]
+        delete payload = [
+            @../../assets/battery_csm/mesh.usdz@,
+            @./assets/batter/mesh.usdz@
+        ]
+        prepend payload = @./assets/battery/mesh.usdz@
+    )
+    {
+        bool physics:kinematicEnabled = 0
+        bool physics:rigidBodyEnabled = 1
+        quatf xformOp:orient = (1, 0, 0, 0)
+        float3 xformOp:scale = (0.07, 0.07, 0.07)
+        double3 xformOp:translate = (0.385111838579175, 0.05145630825998462, 0.009920946206443461)
+        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+
+        over "mesh"
+        {
+            over "mesh" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysxCollisionAPI", "PhysxConvexHullCollisionAPI", "PhysicsMeshCollisionAPI", "PhysxConvexDecompositionCollisionAPI"]
+            )
+            {
+                uniform token physics:approximation = "convexDecomposition"
+                bool physics:collisionEnabled = 1
+            }
+        }
+
+        over "env_light" (
+            active = false
+        )
+        {
+            token visibility = "inherited"
+        }
+    }
+
+    def "battery2" (
+        prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysxRigidBodyAPI"]
+        delete payload = @../../assets/battery_csm/mesh.usdz@
+        prepend payload = @./assets/battery/mesh.usdz@
+    )
+    {
+        bool physics:kinematicEnabled = 0
+        bool physics:rigidBodyEnabled = 1
+        quatf xformOp:orient = (1, 0, 0, 0)
+        float3 xformOp:scale = (0.07, 0.07, 0.07)
+        double3 xformOp:translate = (0.385111838579175, -0.034597096064309545, 0.009920946206443463)
+        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+
+        over "mesh"
+        {
+            over "mesh" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysxCollisionAPI", "PhysxConvexHullCollisionAPI", "PhysicsMeshCollisionAPI", "PhysxConvexDecompositionCollisionAPI"]
+            )
+            {
+                uniform token physics:approximation = "convexDecomposition"
+                bool physics:collisionEnabled = 1
+            }
+        }
+
+        over "env_light" (
+            active = false
+        )
+        {
+        }
+    }
+
+    def "cup" (
+        prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysxRigidBodyAPI"]
+        delete payload = @../../assets/blue_cup_csm/mesh.usdz@
+        prepend payload = @./assets/blue_cup/mesh.usdz@
+    )
+    {
+        bool physics:kinematicEnabled = 0
+        bool physics:rigidBodyEnabled = 1
+        quatf xformOp:orient = (1, 0, 0, 0)
+        float3 xformOp:scale = (0.12, 0.12, 0.12)
+        double3 xformOp:translate = (0.5236179232597317, 0.05274643234823769, 0.01804890737800555)
+        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+
+        over "mesh"
+        {
+            over "mesh" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysxCollisionAPI", "PhysxConvexHullCollisionAPI", "PhysicsMeshCollisionAPI", "PhysxConvexDecompositionCollisionAPI"]
+            )
+            {
+                uniform token physics:approximation = "convexDecomposition"
+                bool physics:collisionEnabled = 1
+            }
+        }
+
+        over "env_light" (
+            active = false
+        )
+        {
+        }
+    }
+
+    def "ice_cream_" (
+        prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysxRigidBodyAPI"]
+        delete payload = @../../assets/ice_cream_csm/mesh.usdz@
+        prepend payload = @./assets/ice_cream/mesh.usdz@
+    )
+    {
+        bool physics:kinematicEnabled = 0
+        bool physics:rigidBodyEnabled = 1
+        quatf xformOp:orient = (-0.0020659869, 0, 0, 0.99999785)
+        float3 xformOp:scale = (0.12, 0.12, 0.12)
+        double3 xformOp:translate = (0.43022724986076344, 0.15205697715282424, 0.02001154885077262)
+        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+
+        over "mesh"
+        {
+            over "mesh" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysxCollisionAPI", "PhysxConvexHullCollisionAPI", "PhysicsMeshCollisionAPI", "PhysxConvexDecompositionCollisionAPI"]
+            )
+            {
+                uniform token physics:approximation = "convexDecomposition"
+                bool physics:collisionEnabled = 1
+                quatf xformOp:orient = (1, 0, 0, 0)
+                float3 xformOp:scale = (1, 1, 1)
+                double3 xformOp:translate = (0.08574059315061078, -0.08932253129446349, 0.00035426825197348855)
+                uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+            }
+        }
+
+        over "env_light" (
+            active = false
+        )
+        {
+        }
+    }
+
+    def "grapes" (
+        prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysxRigidBodyAPI"]
+        delete payload = @../../assets/grapes_csm/mesh.usdz@
+        prepend payload = @./assets/grapes/mesh.usdz@
+    )
+    {
+        bool physics:kinematicEnabled = 0
+        bool physics:rigidBodyEnabled = 1
+        quatf xformOp:orient = (0.5579786, 0.6196979, 0.3693179, 0.4101691)
+        float3 xformOp:scale = (0.08, 0.08, 0.08)
+        double3 xformOp:translate = (0.4995833039283832, -0.050881497631258196, 0.04123384405184905)
+        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+
+        over "mesh"
+        {
+            over "mesh" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysxCollisionAPI", "PhysxConvexHullCollisionAPI", "PhysicsMeshCollisionAPI", "PhysxConvexDecompositionCollisionAPI"]
+            )
+            {
+                uniform token physics:approximation = "convexDecomposition"
+                bool physics:collisionEnabled = 1
+            }
+        }
+
+        over "env_light" (
+            active = false
+        )
+        {
+        }
+    }
+
+    def Xform "Xform"
+    {
+        quatd xformOp:orient = (1, 0, 0, 0)
+        double3 xformOp:scale = (1, 1, 1)
+        double3 xformOp:translate = (0.35379045518600577, 0.04443676153631318, 0.0033129385126347555)
+        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+    }
+
+    def Camera "external_cam" (
+        kind = "model"
+    )
+    {
+        float2 clippingRange = (0.01, 10000000)
+        float focalLength = 1.0476
+        float focusDistance = 400
+        float horizontalAperture = 2.5452
+        custom uniform vector3d omni:kit:centerOfInterest = (0, 0, -400)
+        float verticalAperture = 1.4721
+        quatd xformOp:orient = (-0.44986872991745575, -0.18803708112047948, 0.33670080535992336, 0.8055387946189337)
+        double3 xformOp:scale = (1, 1, 1)
+        double3 xformOp:translate = (0.13420423597887238, 0.5066906138424576, 0.5355081079085207)
+        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+
+        over "OmniverseKitViewportCameraMesh" (
+            always_pick_model = true
+            hide_in_stage_window = true
+            kind = "subcomponent"
+            no_delete = true
+            prepend references = @../../../real2simeval/.venv/lib/python3.10/site-packages/omni/resources/models/camera/camera.usdz@
+        )
+        {
+            bool primvars:doNotCastShadows = 1
+            bool primvars:omni:kit:isGizmo = 1
+            token visibility
+            float3 xformOp:scale = (0.01, 0.01, 0.01)
+            uniform token[] xformOpOrder = ["xformOp:scale"]
+
+            over "CameraModel" (
+                always_pick_model = true
+                hide_in_stage_window = true
+                no_delete = true
+            )
+            {
+                float3[] extent = [(3.4028235e38, 3.4028235e38, 3.4028235e38), (-3.4028235e38, -3.4028235e38, -3.4028235e38)]
+                bool primvars:doNotCastShadows = 1
+                bool primvars:omni:kit:isGizmo = 1
+            }
+        }
+    }
+}
+
+def Xform "Environment"
+{
+    quatd xformOp:orient = (1, 0, 0, 0)
+    double3 xformOp:scale = (1, 1, 1)
+    double3 xformOp:translate = (0, 0, 0)
+    uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+
+    def DistantLight "defaultLight" (
+        prepend apiSchemas = ["ShapingAPI"]
+    )
+    {
+        float inputs:angle = 1
+        float inputs:intensity = 3000
+        float inputs:shaping:cone:angle = 180
+        float inputs:shaping:cone:softness
+        float inputs:shaping:focus
+        color3f inputs:shaping:focusTint
+        asset inputs:shaping:ies:file
+        quatd xformOp:orient = (0.6532814824381883, 0.2705980500730985, 0.27059805007309845, 0.6532814824381882)
+        double3 xformOp:scale = (1, 1, 1)
+        double3 xformOp:translate = (0, 0, 0)
+        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+    }
+}
+
+def Cube "randomization"
+{
+    float3[] extent = [(-0.5, -0.5, -0.5), (0.5, 0.5, 0.5)]
+    double size = 1
+    token visibility = "invisible"
+    quatd xformOp:orient = (1, 0, 0, 0)
+    double3 xformOp:scale = (0.5077604327123248, 0.6399254249718458, 0.12976292579609355)
+    double3 xformOp:translate = (0.43153426459149524, -0.07503393896679954, 0.09445710006499883)
+    uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+}
+
+def "Render" (
+    hide_in_stage_window = true
+    no_delete = true
+)
+{
+    def "OmniverseKit"
+    {
+        def "HydraTextures" (
+            hide_in_stage_window = true
+            no_delete = true
+        )
+        {
+            def RenderProduct "omni_kit_widget_viewport_ViewportTexture_0" (
+                prepend apiSchemas = ["OmniRtxSettingsCommonAdvancedAPI_1", "OmniRtxSettingsRtAdvancedAPI_1", "OmniRtxSettingsPtAdvancedAPI_1", "OmniRtxPostColorGradingAPI_1", "OmniRtxPostChromaticAberrationAPI_1", "OmniRtxPostBloomPhysicalAPI_1", "OmniRtxPostMatteObjectAPI_1", "OmniRtxPostCompositingAPI_1", "OmniRtxPostDofAPI_1", "OmniRtxPostMotionBlurAPI_1", "OmniRtxPostTvNoiseAPI_1", "OmniRtxPostTonemapIrayReinhardAPI_1", "OmniRtxPostDebugSettingsAPI_1", "OmniRtxDebugSettingsAPI_1"]
+                hide_in_stage_window = true
+                no_delete = true
+            )
+            {
+                rel camera = </OmniverseKit_Persp>
+                token omni:rtx:background:source:texture:textureMode = "repeatMirrored"
+                token omni:rtx:background:source:type = "domeLight"
+                bool omni:rtx:dlss:frameGeneration = 0
+                bool omni:rtx:material:db:nonVisualMaterialCSV:enabled = 0
+                bool omni:rtx:material:db:syncLoads = 1
+                token omni:rtx:post:dlss:execMode = "performance"
+                bool omni:rtx:post:registeredCompositing:invertColorCorrection = 1
+                bool omni:rtx:post:registeredCompositing:invertToneMap = 1
+                bool omni:rtx:pt:lightcache:cached:dontResolveConflicts = 1
+                int omni:rtx:pt:maxSamplesPerLaunch = 2073600
+                int omni:rtx:pt:mgpu:maxPixelsPerRegionExponent = 12
+                int omni:rtx:realtime:mgpu:tileCount = 2
+                color3f omni:rtx:rt:ambientLight:color = (0.1, 0.1, 0.1)
+                bool omni:rtx:rt:demoire = 0
+                bool omni:rtx:rt:lightcache:spatialCache:dontResolveConflicts = 1
+                bool omni:rtx:scene:hydra:materialSyncLoads = 1
+                bool omni:rtx:scene:hydra:mdlMaterialWarmup = 1
+                bool omni:rtx:scene:useViewLightingMode
+                uint omni:rtx:viewTile:limit = 4294967295
+                rel orderedVars = </Render/Vars/LdrColor>
+                custom bool overrideClipRange = 0
+                uniform int2 resolution = (1280, 720)
+            }
+        }
+    }
+
+    def RenderSettings "OmniverseGlobalRenderSettings" (
+        prepend apiSchemas = ["OmniRtxSettingsGlobalRtAdvancedAPI_1", "OmniRtxSettingsGlobalPtAdvancedAPI_1"]
+        no_delete = true
+    )
+    {
+        rel products = </Render/OmniverseKit/HydraTextures/omni_kit_widget_viewport_ViewportTexture_0>
+    }
+
+    def "Vars"
+    {
+        def RenderVar "LdrColor" (
+            hide_in_stage_window = true
+            no_delete = true
+        )
+        {
+            uniform string sourceName = "LdrColor"
+        }
+    }
+}
+

move_latte_cup/princeton_env_1.usd

@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:58462889ed76fdea8fad8c3e00b0b5d48072fe5d6bb29ac9dd56886b413e8ae0
-size 14348

move_latte_cup/scene.usda

@@ -0,0 +1,286 @@
+#usda 1.0
+(
+    customLayerData = {
+        dictionary cameraSettings = {
+            dictionary Front = {
+                double3 position = (5, 0, 0)
+                double radius = 5
+            }
+            dictionary Perspective = {
+                double3 position = (-0.9970037874192557, 1.230469905250405, 1.5236834147476161)
+                double3 target = (6.761703038894627, -5.385407048156424, -5.178499535642528)
+            }
+            dictionary Right = {
+                double3 position = (0, -5, 0)
+                double radius = 5
+            }
+            dictionary Top = {
+                double3 position = (0, 0, 5)
+                double radius = 5
+            }
+            string boundCamera = "/OmniverseKit_Persp"
+        }
+        dictionary omni_layer = {
+            string authoring_layer = "./princeton_env_1.usd"
+            dictionary locked = {
+            }
+            dictionary muteness = {
+            }
+        }
+        int refinementOverrideImplVersion = 0
+        dictionary renderSettings = {
+        }
+    }
+    defaultPrim = "World"
+    endTimeCode = 1000000
+    metersPerUnit = 1
+    startTimeCode = 0
+    timeCodesPerSecond = 60
+    upAxis = "Z"
+)
+
+def Xform "World"
+{
+    def Mesh "Plane" (
+        prepend apiSchemas = ["PhysicsCollisionAPI", "PhysxCollisionAPI", "PhysxTriangleMeshCollisionAPI", "PhysicsMeshCollisionAPI", "PhysxConvexDecompositionCollisionAPI"]
+    )
+    {
+        float3[] extent = [(-0.5, -0.5, 0), (0.5, 0.5, 0)]
+        int[] faceVertexCounts = [4]
+        int[] faceVertexIndices = [0, 1, 3, 2]
+        normal3f[] normals = [(0, 0, 1), (0, 0, 1), (0, 0, 1), (0, 0, 1)] (
+            interpolation = "faceVarying"
+        )
+        uniform token physics:approximation = "convexDecomposition"
+        bool physics:collisionEnabled = 1
+        point3f[] points = [(-0.5, -0.5, 0), (0.5, -0.5, 0), (-0.5, 0.5, 0), (0.5, 0.5, 0)]
+        texCoord2f[] primvars:st = [(0, 0), (1, 0), (1, 1), (0, 1)] (
+            interpolation = "faceVarying"
+        )
+        uniform token subdivisionScheme = "none"
+        token visibility = "inherited"
+        quatd xformOp:orient = (1, 0, 0, 0)
+        double3 xformOp:scale = (1, 1.5, 1)
+        double3 xformOp:translate = (0.5733436174442147, -0.1819908126531135, 0.027477459091945294)
+        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+    }
+
+    def "cuttingboard_eval" (
+        delete payload = @../../assets/cuttingboard_eval/mesh.usd@
+        prepend payload = @./assets/cuttingboard_eval/mesh.usd@
+    )
+    {
+        quatd xformOp:orient = (1, 0, 0, 0)
+        double3 xformOp:scale = (1, 1, 1)
+        double3 xformOp:translate = (0.45471049958577026, -0.180505348408468, 0.14329105966329259)
+        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+
+        over "geometry"
+        {
+            over "mesh" (
+                prepend apiSchemas = ["PhysxConvexDecompositionCollisionAPI"]
+            )
+            {
+                uniform token physics:approximation = "convexDecomposition"
+                quatf xformOp:orient = (1, 0, 0, 0)
+                float3 xformOp:scale = (1, 1, 1)
+                double3 xformOp:translate = (-0.04132880747091572, 0.0705066737170289, -0.0003508305920725818)
+                uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+            }
+        }
+    }
+
+    def "latteartcup_eval" (
+        delete payload = @../../assets/latteartcup_eval/mesh.usd@
+        prepend payload = @./assets/latteartcup_eval/mesh.usd@
+    )
+    {
+        quatd xformOp:orient = (1, 0, 0, 0)
+        double3 xformOp:scale = (1, 1, 1)
+        double3 xformOp:translate = (0.6542510275715706, -0.30076297869788315, 0.12330198101848916)
+        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+
+        over "geometry"
+        {
+            over "mesh" (
+                prepend apiSchemas = ["PhysxConvexDecompositionCollisionAPI"]
+            )
+            {
+                uniform token physics:approximation = "convexDecomposition"
+                quatf xformOp:orient = (1, 0, 0, 0)
+                float3 xformOp:scale = (1, 1, 1)
+                double3 xformOp:translate = (-0.03050521107948967, 0.20821803759691504, -7.1266557100102546e-9)
+                uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+            }
+        }
+    }
+
+    def "coke_eval" (
+        delete payload = @../../assets/coke_eval/mesh.usd@
+        prepend payload = @./assets/coke_eval/mesh.usd@
+    )
+    {
+        quatd xformOp:orient = (1, 0, 0, 0)
+        double3 xformOp:scale = (1, 1, 1)
+        double3 xformOp:translate = (0.6801107133255605, -0.10206733249862565, 0.12591785111461729)
+        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+
+        over "geometry"
+        {
+            over "mesh" (
+                prepend apiSchemas = ["PhysxConvexDecompositionCollisionAPI"]
+            )
+            {
+                uniform token physics:approximation = "convexDecomposition"
+                quatf xformOp:orient = (1, 0, 0, 0)
+                float3 xformOp:scale = (1, 1, 1)
+                double3 xformOp:translate = (-0.023999116823688382, 0.10894071243848213, 0.1908593868825696)
+                uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+            }
+        }
+    }
+
+    def "cleaner_eval" (
+        delete payload = @../../assets/cleaner_eval/mesh.usd@
+        prepend payload = @./assets/cleaner_eval/mesh.usd@
+    )
+    {
+        quatd xformOp:orient = (1, 0, 0, 0)
+        double3 xformOp:scale = (1, 1, 1)
+        double3 xformOp:translate = (0.6732833898725151, -0.029656703945114327, 0.1115361781066837)
+        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+
+        over "geometry"
+        {
+            over "mesh" (
+                prepend apiSchemas = ["PhysxConvexDecompositionCollisionAPI"]
+            )
+            {
+                uniform token physics:approximation = "convexDecomposition"
+                quatf xformOp:orient = (1, 0, 0, 0)
+                float3 xformOp:scale = (1, 1, 1)
+                double3 xformOp:translate = (0.033925403707463, 0.2788373771643068, -9.54420567578218e-9)
+                uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+            }
+        }
+    }
+
+    def "princeton_env_1" (
+        delete payload = [
+            @../../assets/knife_into_bowl/mesh.usd@,
+            @./assets/knife_into_bowl/mesh.usd@
+        ]
+        prepend payload = @./assets/princeton_env_1/mesh.usd@
+    )
+    {
+        bool physics:kinematicEnabled = 1
+        bool physxRigidBody:disableGravity = 0
+        token visibility = "inherited"
+        quatd xformOp:orient = (1, 0, 0, 0)
+        double3 xformOp:scale = (1, 1, 1)
+        double3 xformOp:translate = (0, 0, 0)
+        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+
+        over "geometry"
+        {
+            over "mesh" (
+                prepend apiSchemas = ["PhysxConvexDecompositionCollisionAPI", "PhysxTriangleMeshCollisionAPI", "PhysxConvexHullCollisionAPI", "PhysxTriangleMeshSimplificationCollisionAPI"]
+            )
+            {
+                uniform token physics:approximation = "none"
+                int physxConvexDecompositionCollision:hullVertexLimit = 24
+                int physxConvexDecompositionCollision:maxConvexHulls = 285
+                int physxConvexHullCollision:hullVertexLimit = 16
+                float physxTriangleMeshSimplificationCollision:metric = 1
+                token visibility = "inherited"
+                quatf xformOp:orient = (1, 0, 0, 0)
+                float3 xformOp:scale = (1, 1, 1)
+                double3 xformOp:translate = (0, 0, 0)
+                uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+            }
+        }
+    }
+}
+
+def Xform "Environment"
+{
+    quatd xformOp:orient = (1, 0, 0, 0)
+    double3 xformOp:scale = (1, 1, 1)
+    double3 xformOp:translate = (0, 0, 0)
+    uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+}
+
+def "Render" (
+    hide_in_stage_window = true
+    no_delete = true
+)
+{
+    def "OmniverseKit"
+    {
+        def "HydraTextures" (
+            hide_in_stage_window = true
+            no_delete = true
+        )
+        {
+            def RenderProduct "omni_kit_widget_viewport_ViewportTexture_0" (
+                prepend apiSchemas = ["OmniRtxSettingsCommonAdvancedAPI_1", "OmniRtxSettingsRtAdvancedAPI_1", "OmniRtxSettingsPtAdvancedAPI_1", "OmniRtxPostColorGradingAPI_1", "OmniRtxPostChromaticAberrationAPI_1", "OmniRtxPostBloomPhysicalAPI_1", "OmniRtxPostMatteObjectAPI_1", "OmniRtxPostCompositingAPI_1", "OmniRtxPostDofAPI_1", "OmniRtxPostMotionBlurAPI_1", "OmniRtxPostTvNoiseAPI_1", "OmniRtxPostTonemapIrayReinhardAPI_1", "OmniRtxPostDebugSettingsAPI_1", "OmniRtxDebugSettingsAPI_1"]
+                hide_in_stage_window = true
+                no_delete = true
+            )
+            {
+                rel camera = </OmniverseKit_Persp>
+                token omni:rtx:background:source:texture:textureMode = "repeatMirrored"
+                token omni:rtx:background:source:type = "domeLight"
+                bool omni:rtx:dlss:frameGeneration = 0
+                bool omni:rtx:material:db:nonVisualMaterialCSV:enabled = 0
+                bool omni:rtx:material:db:syncLoads = 1
+                token omni:rtx:post:dlss:execMode = "performance"
+                bool omni:rtx:post:registeredCompositing:invertColorCorrection = 1
+                bool omni:rtx:post:registeredCompositing:invertToneMap = 1
+                bool omni:rtx:pt:lightcache:cached:dontResolveConflicts = 1
+                int omni:rtx:pt:maxSamplesPerLaunch = 2073600
+                int omni:rtx:pt:mgpu:maxPixelsPerRegionExponent = 12
+                color3f omni:rtx:rt:ambientLight:color = (0.1, 0.1, 0.1)
+                bool omni:rtx:rt:demoire = 0
+                bool omni:rtx:rt:lightcache:spatialCache:dontResolveConflicts = 1
+                bool omni:rtx:scene:hydra:materialSyncLoads = 1
+                bool omni:rtx:scene:hydra:mdlMaterialWarmup = 1
+                uint omni:rtx:viewTile:limit = 4294967295
+                rel orderedVars = </Render/Vars/LdrColor>
+                custom bool overrideClipRange = 0
+                uniform int2 resolution = (1280, 720)
+            }
+        }
+    }
+
+    def RenderSettings "OmniverseGlobalRenderSettings" (
+        prepend apiSchemas = ["OmniRtxSettingsGlobalRtAdvancedAPI_1", "OmniRtxSettingsGlobalPtAdvancedAPI_1"]
+        no_delete = true
+    )
+    {
+        rel products = </Render/OmniverseKit/HydraTextures/omni_kit_widget_viewport_ViewportTexture_0>
+    }
+
+    def "Vars"
+    {
+        def RenderVar "LdrColor" (
+            hide_in_stage_window = true
+            no_delete = true
+        )
+        {
+            uniform string sourceName = "LdrColor"
+        }
+    }
+}
+
+def Cube "randomization"
+{
+    float3[] extent = [(-0.5, -0.5, -0.5), (0.5, 0.5, 0.5)]
+    double size = 1
+    token visibility = "invisible"
+    quatd xformOp:orient = (1, 0, 0, 0)
+    double3 xformOp:scale = (0.5, 0.7, 0.1)
+    double3 xformOp:translate = (0.5169871142304825, -0.09289639050129977, 0.11753823702810473)
+    uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+}
+

organize_tools/princeton_env_2.usd

@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:341fa8c3dfae372ea9c2c5b0f9d26f9a826f17abf70333cd3a83f281fc0d3ce3
-size 5160

organize_tools/scene.usda

@@ -0,0 +1,247 @@
+#usda 1.0
+(
+    customLayerData = {
+        dictionary cameraSettings = {
+            dictionary Front = {
+                double3 position = (5, 0, 0)
+                double radius = 5
+            }
+            dictionary Perspective = {
+                double3 position = (1.3732965483188189, -1.0292757564568673, 0.7081322296414695)
+                double3 target = (-2.179443121642586, 2.836372753970135, -1.065565989111552)
+            }
+            dictionary Right = {
+                double3 position = (0, -5, 0)
+                double radius = 5
+            }
+            dictionary Top = {
+                double3 position = (0, 0, 5)
+                double radius = 5
+            }
+            string boundCamera = "/OmniverseKit_Persp"
+        }
+        dictionary omni_layer = {
+            string authoring_layer = "./princeton_env_2.usd"
+            dictionary locked = {
+            }
+            dictionary muteness = {
+            }
+        }
+        int refinementOverrideImplVersion = 0
+        dictionary renderSettings = {
+        }
+    }
+    defaultPrim = "World"
+    endTimeCode = 1000000
+    metersPerUnit = 1
+    startTimeCode = 0
+    timeCodesPerSecond = 60
+    upAxis = "Z"
+)
+
+def Xform "World"
+{
+    token visibility = "inherited"
+
+    def "container_00" (
+        delete payload = @../../assets/container_00/mesh.usd@
+        prepend payload = @./assets/container_00/mesh.usd@
+    )
+    {
+        token visibility = "inherited"
+        quatd xformOp:orient = (1, 0, 0, 0)
+        double3 xformOp:scale = (1, 1, 1)
+        double3 xformOp:translate = (0.869080252583182, -0.20250619640083167, 0.14476258666169595)
+        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+
+        over "geometry"
+        {
+            over "mesh" (
+                prepend apiSchemas = ["PhysxConvexDecompositionCollisionAPI"]
+            )
+            {
+                uniform token physics:approximation = "convexDecomposition"
+            }
+        }
+    }
+
+    def "container_01" (
+        delete payload = @../../assets/container_01/mesh.usd@
+        prepend payload = @./assets/container_01/mesh.usd@
+    )
+    {
+        token visibility = "inherited"
+        quatd xformOp:orient = (1, 0, 0, 0)
+        double3 xformOp:scale = (1, 1, 1)
+        double3 xformOp:translate = (0.6805066204255155, -0.2104109425515579, 0.0830626850093904)
+        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+
+        over "geometry"
+        {
+            over "mesh" (
+                prepend apiSchemas = ["PhysxConvexDecompositionCollisionAPI"]
+            )
+            {
+                uniform token physics:approximation = "convexDecomposition"
+                quatf xformOp:orient = (1, 0, 0, 0)
+                float3 xformOp:scale = (1, 1, 1)
+                double3 xformOp:translate = (-0.8596178838257429, 0.47334219922796605, -1.6201824326600445e-8)
+                uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+            }
+        }
+    }
+
+    def "scissor" (
+        delete payload = @../../assets/scissor/mesh.usd@
+        prepend payload = @./assets/scissor/mesh.usd@
+    )
+    {
+        float physics:mass = 0.2
+        quatd xformOp:orient = (1, 0, 0, 0)
+        double3 xformOp:scale = (1.2, 1.2, 1.2)
+        double3 xformOp:translate = (0.47367935020492635, 0.008480527112721958, 0.20958048058047396)
+        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+
+        over "geometry"
+        {
+            over "mesh" (
+                prepend apiSchemas = ["PhysxConvexDecompositionCollisionAPI"]
+            )
+            {
+                uniform token physics:approximation = "convexDecomposition"
+            }
+        }
+    }
+
+    def "tape" (
+        delete payload = @../../assets/tape/mesh.usd@
+        prepend payload = @./assets/tape/mesh.usd@
+    )
+    {
+        quatd xformOp:orient = (1, 0, 0, 0)
+        double3 xformOp:scale = (1, 1, 1)
+        double3 xformOp:translate = (0.840408118120672, -0.1766861334390354, 0.22018023809242637)
+        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+    }
+
+    def "princeton_env_2" (
+        delete payload = @../../assets/organize_tools/mesh.usd@
+        prepend payload = @./assets/princeton_env_2/mesh.usd@
+    )
+    {
+        bool physics:kinematicEnabled = 1
+        token visibility = "inherited"
+
+        over "geometry"
+        {
+            token visibility = "inherited"
+
+            over "mesh" (
+                prepend apiSchemas = ["PhysxTriangleMeshCollisionAPI"]
+            )
+            {
+                uniform token physics:approximation = "none"
+            }
+        }
+    }
+}
+
+def Xform "Environment"
+{
+    quatd xformOp:orient = (1, 0, 0, 0)
+    double3 xformOp:scale = (1, 1, 1)
+    double3 xformOp:translate = (0, 0, 0)
+    uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+
+    def DistantLight "defaultLight" (
+        prepend apiSchemas = ["ShapingAPI"]
+    )
+    {
+        float inputs:angle = 1
+        float inputs:intensity = 3000
+        float inputs:shaping:cone:angle = 180
+        float inputs:shaping:cone:softness
+        float inputs:shaping:focus
+        color3f inputs:shaping:focusTint
+        asset inputs:shaping:ies:file
+        quatd xformOp:orient = (0.6532814824381883, 0.2705980500730985, 0.27059805007309845, 0.6532814824381882)
+        double3 xformOp:scale = (1, 1, 1)
+        double3 xformOp:translate = (0, 0, 0)
+        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+    }
+}
+
+def "Render" (
+    hide_in_stage_window = true
+    no_delete = true
+)
+{
+    def "OmniverseKit"
+    {
+        def "HydraTextures" (
+            hide_in_stage_window = true
+            no_delete = true
+        )
+        {
+            def RenderProduct "omni_kit_widget_viewport_ViewportTexture_0" (
+                prepend apiSchemas = ["OmniRtxSettingsCommonAdvancedAPI_1", "OmniRtxSettingsRtAdvancedAPI_1", "OmniRtxSettingsPtAdvancedAPI_1", "OmniRtxPostColorGradingAPI_1", "OmniRtxPostChromaticAberrationAPI_1", "OmniRtxPostBloomPhysicalAPI_1", "OmniRtxPostMatteObjectAPI_1", "OmniRtxPostCompositingAPI_1", "OmniRtxPostDofAPI_1", "OmniRtxPostMotionBlurAPI_1", "OmniRtxPostTvNoiseAPI_1", "OmniRtxPostTonemapIrayReinhardAPI_1", "OmniRtxPostDebugSettingsAPI_1", "OmniRtxDebugSettingsAPI_1"]
+                hide_in_stage_window = true
+                no_delete = true
+            )
+            {
+                rel camera = </OmniverseKit_Persp>
+                token omni:rtx:background:source:texture:textureMode = "repeatMirrored"
+                token omni:rtx:background:source:type = "domeLight"
+                bool omni:rtx:dlss:frameGeneration = 0
+                bool omni:rtx:material:db:nonVisualMaterialCSV:enabled = 0
+                bool omni:rtx:material:db:syncLoads = 1
+                token omni:rtx:post:dlss:execMode = "performance"
+                bool omni:rtx:post:registeredCompositing:invertColorCorrection = 1
+                bool omni:rtx:post:registeredCompositing:invertToneMap = 1
+                bool omni:rtx:pt:lightcache:cached:dontResolveConflicts = 1
+                int omni:rtx:pt:maxSamplesPerLaunch = 2073600
+                int omni:rtx:pt:mgpu:maxPixelsPerRegionExponent = 12
+                color3f omni:rtx:rt:ambientLight:color = (0.1, 0.1, 0.1)
+                bool omni:rtx:rt:demoire = 0
+                bool omni:rtx:rt:lightcache:spatialCache:dontResolveConflicts = 1
+                bool omni:rtx:scene:hydra:materialSyncLoads = 1
+                bool omni:rtx:scene:hydra:mdlMaterialWarmup = 1
+                uint omni:rtx:viewTile:limit = 4294967295
+                rel orderedVars = </Render/Vars/LdrColor>
+                custom bool overrideClipRange = 0
+                uniform int2 resolution = (1280, 720)
+            }
+        }
+    }
+
+    def RenderSettings "OmniverseGlobalRenderSettings" (
+        prepend apiSchemas = ["OmniRtxSettingsGlobalRtAdvancedAPI_1", "OmniRtxSettingsGlobalPtAdvancedAPI_1"]
+        no_delete = true
+    )
+    {
+        rel products = </Render/OmniverseKit/HydraTextures/omni_kit_widget_viewport_ViewportTexture_0>
+    }
+
+    def "Vars"
+    {
+        def RenderVar "LdrColor" (
+            hide_in_stage_window = true
+            no_delete = true
+        )
+        {
+            uniform string sourceName = "LdrColor"
+        }
+    }
+}
+
+def Cube "randomization"
+{
+    float3[] extent = [(-0.5, -0.5, -0.5), (0.5, 0.5, 0.5)]
+    double size = 1
+    token visibility = "invisible"
+    quatd xformOp:orient = (1, 0, 0, 0)
+    double3 xformOp:scale = (0.8, 0.6, 0.2)
+    double3 xformOp:translate = (0.5204276771596219, -0.08919256247013718, 0.10078689712140268)
+    uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+}
+

pan_clean/g60_stovetop_zed.usd

@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:fdc04f7fd3f2183f52f05d772f72dc23d8f81654d1835cbcc1172dfadc279610
-size 22111

pan_clean/scene.usda

@@ -0,0 +1,511 @@
+#usda 1.0
+(
+    customLayerData = {
+        dictionary cameraSettings = {
+            dictionary Front = {
+                double3 position = (5, 0, 0)
+                double radius = 5
+            }
+            dictionary Perspective = {
+                double3 position = (-0.07138214092940195, -0.09716557241281987, 0.4283116149823686)
+                double3 target = (8.434661981859273, 0.9409247038995735, -2.825089969135002)
+            }
+            dictionary Right = {
+                double3 position = (0, -5, 0)
+                double radius = 5
+            }
+            dictionary Top = {
+                double3 position = (0, 0, 5)
+                double radius = 5
+            }
+            string boundCamera = "/OmniverseKit_Persp"
+        }
+        dictionary omni_layer = {
+            string authoring_layer = "./g60_stovetop_zed.usd"
+            dictionary locked = {
+            }
+            dictionary muteness = {
+            }
+        }
+        dictionary renderSettings = {
+        }
+    }
+    defaultPrim = "World"
+    endTimeCode = 1000000
+    metersPerUnit = 1
+    startTimeCode = 0
+    timeCodesPerSecond = 60
+    upAxis = "Z"
+)
+
+def Xform "World"
+{
+    def "g60_stovetop_zed" (
+        delete payload = @../../assets/g60_stovetop_zed/mesh.usdz@
+        prepend payload = @./assets/g60_stovetop_zed/mesh.usdz@
+    )
+    {
+        bool physics:kinematicEnabled = 1
+        token visibility = "inherited"
+        quatd xformOp:orient = (0.7071064795895878, -0.0006530868395427553, -0.019865941309410242, -0.7068276624297403)
+        double3 xformOp:scale = (1, 1, 1)
+        double3 xformOp:translate = (-0.45103556079025986, -0.1482748388774022, -0.24865949384794325)
+        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+
+        over "geometry"
+        {
+            over "mesh" (
+                prepend apiSchemas = ["PhysxConvexDecompositionCollisionAPI", "PhysxTriangleMeshSimplificationCollisionAPI"]
+            )
+            {
+                uniform token physics:approximation = "meshSimplification"
+                int physxConvexDecompositionCollision:hullVertexLimit = 54
+                int physxConvexDecompositionCollision:maxConvexHulls = 560
+            }
+        }
+
+        def Mesh "platform" (
+            prepend apiSchemas = ["PhysicsCollisionAPI", "PhysxCollisionAPI", "PhysxConvexHullCollisionAPI", "PhysicsMeshCollisionAPI"]
+        )
+        {
+            float3[] extent = [(-0.5, -0.5, -0.5), (0.5, 0.5, 0.5)]
+            int[] faceVertexCounts = [4, 4, 4, 4, 4, 4]
+            int[] faceVertexIndices = [0, 1, 3, 2, 4, 6, 7, 5, 6, 2, 3, 7, 4, 5, 1, 0, 4, 0, 2, 6, 5, 7, 3, 1]
+            normal3f[] normals = [(0, 0, 1), (0, 0, 1), (0, 0, 1), (0, 0, 1), (0, 0, -1), (0, 0, -1), (0, 0, -1), (0, 0, -1), (0, 1, 0), (0, 1, 0), (0, 1, 0), (0, 1, 0), (0, -1, 0), (0, -1, 0), (0, -1, 0), (0, -1, 0), (-1, 0, 0), (-1, 0, 0), (-1, 0, 0), (-1, 0, 0), (1, 0, 0), (1, 0, 0), (1, 0, 0), (1, 0, 0)] (
+                interpolation = "faceVarying"
+            )
+            uniform token physics:approximation = "convexHull"
+            bool physics:collisionEnabled = 1
+            point3f[] points = [(-0.5, -0.5, 0.5), (0.5, -0.5, 0.5), (-0.5, 0.5, 0.5), (0.5, 0.5, 0.5), (-0.5, -0.5, -0.5), (0.5, -0.5, -0.5), (-0.5, 0.5, -0.5), (0.5, 0.5, -0.5)]
+            texCoord2f[] primvars:st = [(0, 0), (1, 0), (1, 1), (0, 1), (1, 0), (1, 1), (0, 1), (0, 0), (0, 1), (0, 0), (1, 0), (1, 1), (0, 0), (1, 0), (1, 1), (0, 1), (0, 0), (1, 0), (1, 1), (0, 1), (1, 0), (1, 1), (0, 1), (0, 0)] (
+                interpolation = "faceVarying"
+            )
+            uniform token subdivisionScheme = "none"
+            token visibility = "invisible"
+            quatd xformOp:orient = (0.7182686971224698, -0.019852643939537014, 0.0009770747865718978, -0.6954818449014045)
+            double3 xformOp:scale = (-0.48493653535842896, -0.20045053958892822, -0.011997459456324577)
+            double3 xformOp:translate = (-0.09933528088058152, 1.1388705440519802, 0.27774866028421513)
+            uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+        }
+    }
+
+    def "pan" (
+        prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysxRigidBodyAPI"]
+        delete payload = [
+            @../../assets/frying_pan_csm/mesh.usdz@,
+            @./assets/frying_pan_csm/mesh.usdz@
+        ]
+        prepend payload = @./assets/frying_pan/mesh.usdz@
+    )
+    {
+        bool physics:kinematicEnabled = 1
+        bool physics:rigidBodyEnabled = 1
+        quatf xformOp:orient = (0.19625393, 0, 0, -0.9805531)
+        float3 xformOp:scale = (0.35, 0.35, 0.35)
+        double3 xformOp:translate = (0.5631938515485317, 0.21159406034871397, 0.05608738411494982)
+        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+
+        over "mesh"
+        {
+            over "mesh" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysxCollisionAPI", "PhysxConvexHullCollisionAPI", "PhysicsMeshCollisionAPI", "PhysxConvexDecompositionCollisionAPI"]
+            )
+            {
+                uniform token physics:approximation = "convexDecomposition"
+                bool physics:collisionEnabled = 1
+            }
+        }
+
+        over "env_light" (
+            active = false
+        )
+        {
+        }
+    }
+
+    def "mustard" (
+        prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysxRigidBodyAPI"]
+        delete payload = [
+            @../../assets/mustard_csm/mesh.usdz@,
+            @./assets/mustard_csm/mesh.usdz@,
+            @./assets/mustar/mesh.usdz@
+        ]
+        prepend payload = @./assets/mustard/mesh.usdz@
+    )
+    {
+        bool physics:kinematicEnabled = 0
+        bool physics:rigidBodyEnabled = 1
+        quatf xformOp:orient = (1, 0, 0, 0)
+        float3 xformOp:scale = (0.13, 0.13, 0.13)
+        double3 xformOp:translate = (0.8041243640229532, 0.014150611333146025, 0.07775862496797399)
+        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+
+        over "mesh"
+        {
+            over "mesh" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysxCollisionAPI", "PhysxConvexHullCollisionAPI", "PhysicsMeshCollisionAPI", "PhysxConvexDecompositionCollisionAPI", "PhysxTriangleMeshSimplificationCollisionAPI"]
+            )
+            {
+                uniform token physics:approximation = "convexDecomposition"
+                bool physics:collisionEnabled = 1
+                int physxConvexDecompositionCollision:hullVertexLimit = 64
+                int physxConvexDecompositionCollision:maxConvexHulls = 101
+            }
+        }
+
+        over "env_light" (
+            active = false
+        )
+        {
+        }
+    }
+
+    def "ketchup" (
+        prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysxRigidBodyAPI"]
+        delete payload = [
+            @../../assets/ketchup_csm/mesh.usdz@,
+            @./assets/ketchup_csm/mesh.usdz@
+        ]
+        prepend payload = @./assets/ketchup/mesh.usdz@
+    )
+    {
+        bool physics:kinematicEnabled = 0
+        bool physics:rigidBodyEnabled = 1
+        quatf xformOp:orient = (1, 0, 0, 0)
+        float3 xformOp:scale = (0.13, 0.13, 0.13)
+        double3 xformOp:translate = (0.807515098100678, -0.09009033510583345, 0.07616884049541071)
+        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+
+        over "mesh"
+        {
+            over "mesh" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysxCollisionAPI", "PhysxConvexHullCollisionAPI", "PhysicsMeshCollisionAPI", "PhysxConvexDecompositionCollisionAPI"]
+            )
+            {
+                uniform token physics:approximation = "convexDecomposition"
+                bool physics:collisionEnabled = 1
+            }
+        }
+
+        over "env_light" (
+            active = false
+        )
+        {
+        }
+    }
+
+    def "sponge" (
+        prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysxRigidBodyAPI"]
+        delete payload = [
+            @../../assets/sponge_csm/mesh.usdz@,
+            @./assets/sponge_csm/mesh.usdz@
+        ]
+        prepend payload = @./assets/sponge/mesh.usdz@
+    )
+    {
+        bool physics:kinematicEnabled = 0
+        bool physics:rigidBodyEnabled = 1
+        quatf xformOp:orient = (1, 0, 0, 0)
+        float3 xformOp:scale = (0.09, 0.07, 0.09)
+        double3 xformOp:translate = (0.5294183970681007, -0.022660877717386577, 0.06433805102708207)
+        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+
+        over "mesh"
+        {
+            over "mesh" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysxCollisionAPI", "PhysxConvexHullCollisionAPI", "PhysicsMeshCollisionAPI", "PhysxConvexDecompositionCollisionAPI"]
+            )
+            {
+                uniform token physics:approximation = "convexDecomposition"
+                bool physics:collisionEnabled = 1
+            }
+        }
+
+        over "env_light" (
+            active = false
+        )
+        {
+        }
+    }
+
+    def "pepper" (
+        prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysxRigidBodyAPI"]
+        delete payload = [
+            @../../assets/bell_pepper_csm/mesh.usdz@,
+            @./assets/bell_pepper_csm/mesh.usdz@,
+            @./assets/bell_peppe/mesh.usdz@
+        ]
+        prepend payload = @./assets/bell_pepper/mesh.usdz@
+    )
+    {
+        bool physics:kinematicEnabled = 0
+        bool physics:rigidBodyEnabled = 1
+        quatf xformOp:orient = (1, 0, 0, 0)
+        float3 xformOp:scale = (0.08, 0.08, 0.08)
+        double3 xformOp:translate = (0.6868054606124152, -0.09376765412594976, 0.07364526317467109)
+        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+
+        over "mesh"
+        {
+            over "mesh" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysxCollisionAPI", "PhysxConvexHullCollisionAPI", "PhysicsMeshCollisionAPI", "PhysxConvexDecompositionCollisionAPI"]
+            )
+            {
+                uniform token physics:approximation = "convexDecomposition"
+                bool physics:collisionEnabled = 1
+            }
+        }
+
+        over "env_light" (
+            active = false
+        )
+        {
+        }
+    }
+
+    def "sushi" (
+        prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysxRigidBodyAPI"]
+        delete payload = [
+            @../../assets/sushi_csm/mesh.usdz@,
+            @./assets/sushi_csm/mesh.usdz@
+        ]
+        prepend payload = @./assets/sushi/mesh.usdz@
+    )
+    {
+        bool physics:kinematicEnabled = 0
+        bool physics:rigidBodyEnabled = 1
+        quatf xformOp:orient = (1, 0, 0, 0)
+        float3 xformOp:scale = (0.08, 0.08, 0.08)
+        double3 xformOp:translate = (0.6696102360067572, 0.010349063118418574, 0.0753967120161282)
+        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+
+        over "mesh"
+        {
+            over "mesh" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysxCollisionAPI", "PhysxConvexHullCollisionAPI", "PhysicsMeshCollisionAPI", "PhysxConvexDecompositionCollisionAPI"]
+            )
+            {
+                uniform token physics:approximation = "convexDecomposition"
+                bool physics:collisionEnabled = 1
+            }
+        }
+
+        over "env_light" (
+            active = false
+        )
+        {
+        }
+    }
+
+    def "coke" (
+        prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysxRigidBodyAPI"]
+        delete payload = [
+            @../../assets/coke_csm/mesh.usdz@,
+            @./assets/coke_csm/mesh.usdz@
+        ]
+        prepend payload = @./assets/coke/mesh.usdz@
+    )
+    {
+        bool physics:kinematicEnabled = 0
+        bool physics:rigidBodyEnabled = 1
+        quatf xformOp:orient = (1, 0, 0, 0)
+        float3 xformOp:scale = (0.09, 0.09, 0.09)
+        double3 xformOp:translate = (0.6152954439272693, -0.09741169061982272, 0.08228446415535723)
+        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+
+        over "mesh"
+        {
+            over "mesh" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysxCollisionAPI", "PhysxConvexHullCollisionAPI", "PhysicsMeshCollisionAPI", "PhysxConvexDecompositionCollisionAPI"]
+            )
+            {
+                uniform token physics:approximation = "convexDecomposition"
+                bool physics:collisionEnabled = 1
+            }
+        }
+
+        over "env_light" (
+            active = false
+        )
+        {
+        }
+    }
+
+    def "mug" (
+        prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysxRigidBodyAPI"]
+        delete payload = [
+            @../../assets/blue_mug_csm/mesh.usdz@,
+            @./assets/blue_mug_csm/mesh.usdz@
+        ]
+        prepend payload = @./assets/blue_mug/mesh.usdz@
+    )
+    {
+        bool physics:kinematicEnabled = 1
+        bool physics:rigidBodyEnabled = 1
+        quatf xformOp:orient = (1, 0, 0, 0)
+        float3 xformOp:scale = (0.09, 0.09, 0.09)
+        double3 xformOp:translate = (0.5183660226463038, 0.4163992332634181, -0.045273515484170024)
+        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+
+        over "mesh"
+        {
+            over "mesh" (
+                prepend apiSchemas = ["PhysicsCollisionAPI", "PhysxCollisionAPI", "PhysxConvexHullCollisionAPI", "PhysicsMeshCollisionAPI", "PhysxConvexDecompositionCollisionAPI"]
+            )
+            {
+                uniform token physics:approximation = "convexDecomposition"
+                bool physics:collisionEnabled = 1
+                quatf xformOp:orient = (1, 0, 0, 0)
+                float3 xformOp:scale = (1, 1, 1)
+                double3 xformOp:translate = (0, 0, 0)
+                uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+            }
+        }
+
+        over "env_light" (
+            active = false
+        )
+        {
+        }
+    }
+
+    def Camera "external_cam" (
+        kind = "model"
+    )
+    {
+        float2 clippingRange = (0.01, 10000000)
+        float focalLength = 1.0476
+        float focusDistance = 400
+        float horizontalAperture = 2.5452
+        custom uniform vector3d omni:kit:centerOfInterest = (0, 0, -400)
+        float verticalAperture = 1.4721
+        quatd xformOp:orient = (-0.4211824302119951, -0.2336669335513614, 0.4251479824119222, 0.766325203615602)
+        double3 xformOp:scale = (1, 1, 1)
+        double3 xformOp:translate = (0.1132860923533613, 0.48292959665334745, 0.404185346166213)
+        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+
+        over "OmniverseKitViewportCameraMesh" (
+            always_pick_model = true
+            hide_in_stage_window = true
+            kind = "subcomponent"
+            no_delete = true
+            prepend references = @../../../real2simeval/.venv/lib/python3.10/site-packages/omni/resources/models/camera/camera.usdz@
+        )
+        {
+            bool primvars:doNotCastShadows = 1
+            bool primvars:omni:kit:isGizmo = 1
+            token visibility
+            float3 xformOp:scale = (0.01, 0.01, 0.01)
+            uniform token[] xformOpOrder = ["xformOp:scale"]
+
+            over "CameraModel" (
+                always_pick_model = true
+                hide_in_stage_window = true
+                no_delete = true
+            )
+            {
+                float3[] extent = [(3.4028235e38, 3.4028235e38, 3.4028235e38), (-3.4028235e38, -3.4028235e38, -3.4028235e38)]
+                bool primvars:doNotCastShadows = 1
+                bool primvars:omni:kit:isGizmo = 1
+            }
+        }
+    }
+}
+
+def Xform "Environment"
+{
+    quatd xformOp:orient = (1, 0, 0, 0)
+    double3 xformOp:scale = (1, 1, 1)
+    double3 xformOp:translate = (0, 0, 0)
+    uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+
+    def DistantLight "defaultLight" (
+        prepend apiSchemas = ["ShapingAPI"]
+    )
+    {
+        float inputs:angle = 1
+        float inputs:intensity = 3000
+        float inputs:shaping:cone:angle = 180
+        float inputs:shaping:cone:softness
+        float inputs:shaping:focus
+        color3f inputs:shaping:focusTint
+        asset inputs:shaping:ies:file
+        quatd xformOp:orient = (0.6532814824381883, 0.2705980500730985, 0.27059805007309845, 0.6532814824381882)
+        double3 xformOp:scale = (1, 1, 1)
+        double3 xformOp:translate = (0, 0, 0)
+        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+    }
+}
+
+def "Render" (
+    hide_in_stage_window = true
+    no_delete = true
+)
+{
+    def "OmniverseKit"
+    {
+        def "HydraTextures" (
+            hide_in_stage_window = true
+            no_delete = true
+        )
+        {
+            def RenderProduct "omni_kit_widget_viewport_ViewportTexture_0" (
+                prepend apiSchemas = ["OmniRtxSettingsCommonAdvancedAPI_1", "OmniRtxSettingsRtAdvancedAPI_1", "OmniRtxSettingsPtAdvancedAPI_1", "OmniRtxPostColorGradingAPI_1", "OmniRtxPostChromaticAberrationAPI_1", "OmniRtxPostBloomPhysicalAPI_1", "OmniRtxPostMatteObjectAPI_1", "OmniRtxPostCompositingAPI_1", "OmniRtxPostDofAPI_1", "OmniRtxPostMotionBlurAPI_1", "OmniRtxPostTvNoiseAPI_1", "OmniRtxPostTonemapIrayReinhardAPI_1", "OmniRtxPostDebugSettingsAPI_1", "OmniRtxDebugSettingsAPI_1"]
+                hide_in_stage_window = true
+                no_delete = true
+            )
+            {
+                rel camera = </OmniverseKit_Persp>
+                token omni:rtx:background:source:texture:textureMode = "repeatMirrored"
+                token omni:rtx:background:source:type = "domeLight"
+                bool omni:rtx:material:db:nonVisualMaterialCSV:enabled = 0
+                token omni:rtx:post:dlss:execMode = "performance"
+                bool omni:rtx:post:registeredCompositing:invertColorCorrection = 1
+                bool omni:rtx:post:registeredCompositing:invertToneMap = 1
+                bool omni:rtx:pt:lightcache:cached:dontResolveConflicts = 1
+                int omni:rtx:pt:maxSamplesPerLaunch = 2073600
+                int omni:rtx:pt:mgpu:maxPixelsPerRegionExponent = 12
+                int omni:rtx:realtime:mgpu:tileCount = 2
+                color3f omni:rtx:rt:ambientLight:color = (0.1, 0.1, 0.1)
+                bool omni:rtx:rt:demoire = 0
+                bool omni:rtx:rt:lightcache:spatialCache:dontResolveConflicts = 1
+                bool omni:rtx:scene:useViewLightingMode
+                uint omni:rtx:viewTile:limit = 4294967295
+                rel orderedVars = </Render/Vars/LdrColor>
+                custom bool overrideClipRange = 0
+                uniform int2 resolution = (1280, 720)
+            }
+        }
+    }
+
+    def RenderSettings "OmniverseGlobalRenderSettings" (
+        prepend apiSchemas = ["OmniRtxSettingsGlobalRtAdvancedAPI_1", "OmniRtxSettingsGlobalPtAdvancedAPI_1"]
+        no_delete = true
+    )
+    {
+        rel products = </Render/OmniverseKit/HydraTextures/omni_kit_widget_viewport_ViewportTexture_0>
+    }
+
+    def "Vars"
+    {
+        def RenderVar "LdrColor" (
+            hide_in_stage_window = true
+            no_delete = true
+        )
+        {
+            uniform string sourceName = "LdrColor"
+        }
+    }
+}
+
+def Cube "randomization"
+{
+    float3[] extent = [(-0.5, -0.5, -0.5), (0.5, 0.5, 0.5)]
+    double size = 1
+    token visibility = "invisible"
+    quatd xformOp:orient = (0.9998642816087409, 0, 0, 0.01647477960509822)
+    double3 xformOp:scale = (0.45487351158510064, 0.19854888648906402, -0.03295921717856301)
+    double3 xformOp:translate = (0.657245497442882, -0.037179210661166036, 0.08189476771652525)
+    uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+}
+

tape_into_container/lab_bench.usd

@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:34ece5189a8e7cc3ee8247d0a6a9f67359e05253d4bcae972f61b41120107091
-size 7874

tape_into_container/scene.usda

@@ -0,0 +1,274 @@
+#usda 1.0
+(
+    customLayerData = {
+        dictionary cameraSettings = {
+            dictionary Front = {
+                double3 position = (5, 0, 0)
+                double radius = 5
+            }
+            dictionary Perspective = {
+                double3 position = (-0.6158840166190865, 0.07261649127584897, 1.0350955416674774)
+                double3 target = (3.9146732026813296, -0.5000732632369538, -3.534874227045883)
+            }
+            dictionary Right = {
+                double3 position = (0, -5, 0)
+                double radius = 5
+            }
+            dictionary Top = {
+                double3 position = (0, 0, 5)
+                double radius = 5
+            }
+            string boundCamera = "/OmniverseKit_Persp"
+        }
+        dictionary metricsAssembler = {
+            dictionary "/World/fuse_post_simplified" = {
+            }
+            int version = 1
+        }
+        dictionary omni_layer = {
+            string authoring_layer = "./lab_bench.usd"
+            dictionary locked = {
+            }
+            dictionary muteness = {
+            }
+        }
+        dictionary renderSettings = {
+        }
+    }
+    defaultPrim = "World"
+    endTimeCode = 1000000
+    metersPerUnit = 1
+    startTimeCode = 0
+    timeCodesPerSecond = 60
+    upAxis = "Z"
+)
+
+def Xform "World"
+{
+    def "tape_00" (
+        delete payload = [
+            @../assets/tape_00/mesh.usd@,
+            @../../assets/tape_00/mesh.usd@
+        ]
+        prepend payload = @./assets/tape_00/mesh.usd@
+    )
+    {
+        float physics:mass = 0.05
+        quatd xformOp:orient = (1, 0, 0, 0)
+        double3 xformOp:scale = (1, 1, 1)
+        double3 xformOp:translate = (0.3822483446264099, 0.1604611901718318, 0.12136276658690792)
+        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+
+        over "geometry"
+        {
+            over "mesh" (
+                prepend apiSchemas = ["PhysxConvexDecompositionCollisionAPI"]
+            )
+            {
+                uniform token physics:approximation = "convexDecomposition"
+                quatf xformOp:orient = (1, 0, 0, 0)
+                float3 xformOp:scale = (1, 1, 1)
+                double3 xformOp:translate = (-0.17614772875422635, -0.058861162226646835, 1.296204163422685)
+                uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+            }
+        }
+    }
+
+    def "lab_bench" (
+        delete payload = [
+            @../assets/lab_bench/mesh.usd@,
+            @../../assets/lab_bench/mesh.usd@
+        ]
+        prepend payload = @./assets/lab_bench/mesh.usd@
+    )
+    {
+        bool physics:kinematicEnabled = 1
+
+        over "geometry"
+        {
+            over "mesh" (
+                prepend apiSchemas = ["PhysxTriangleMeshCollisionAPI"]
+            )
+            {
+                uniform token physics:approximation = "none"
+            }
+        }
+    }
+
+    def "wrench" (
+        delete payload = [
+            @../assets/wrench/mesh.usd@,
+            @../../assets/wrench/mesh.usd@
+        ]
+        prepend payload = @./assets/wrench/mesh.usd@
+    )
+    {
+        float physics:mass = 0.1
+        quatd xformOp:orient = (1, 0, 0, 0)
+        double3 xformOp:scale = (1, 1, 1)
+        double3 xformOp:translate = (0.5042372952961356, -0.11081426529984865, 0.12350797493131171)
+        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+
+        over "geometry"
+        {
+            over "mesh" (
+                prepend apiSchemas = ["PhysxConvexDecompositionCollisionAPI"]
+            )
+            {
+                uniform token physics:approximation = "convexDecomposition"
+                quatf xformOp:orient = (1, 0, 0, 0)
+                float3 xformOp:scale = (1, 1, 1)
+                double3 xformOp:translate = (0.1488788967146859, 8.617619728923387e-9, 0.25176281785700083)
+                uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+            }
+        }
+    }
+
+    def Mesh "Plane" (
+        prepend apiSchemas = ["PhysicsCollisionAPI", "PhysxCollisionAPI", "PhysxTriangleMeshCollisionAPI", "PhysicsMeshCollisionAPI"]
+    )
+    {
+        float3[] extent = [(-0.5, -0.5, 0), (0.5, 0.5, 0)]
+        int[] faceVertexCounts = [4]
+        int[] faceVertexIndices = [0, 1, 3, 2]
+        normal3f[] normals = [(0, 0, 1), (0, 0, 1), (0, 0, 1), (0, 0, 1)] (
+            interpolation = "faceVarying"
+        )
+        uniform token physics:approximation = "none"
+        bool physics:collisionEnabled = 1
+        point3f[] points = [(-0.5, -0.5, 0), (0.5, -0.5, 0), (-0.5, 0.5, 0), (0.5, 0.5, 0)]
+        texCoord2f[] primvars:st = [(0, 0), (1, 0), (1, 1), (0, 1)] (
+            interpolation = "faceVarying"
+        )
+        uniform token subdivisionScheme = "none"
+        token visibility = "invisible"
+        quatd xformOp:orient = (1, 0, 0, 0)
+        double3 xformOp:scale = (1, 1, 1)
+        double3 xformOp:translate = (0.3339602670940411, -0.6346977394473231, -0.01549538559757943)
+        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+    }
+
+    def "container_02" (
+        delete payload = [
+            @../assets/container_02/mesh.usd@,
+            @../../assets/container_02/mesh.usd@
+        ]
+        prepend payload = @./assets/container_02/mesh.usd@
+    )
+    {
+        quatd xformOp:orient = (1, 0, 0, 0)
+        double3 xformOp:scale = (1, 1, 1)
+        double3 xformOp:translate = (0.44215725465121536, 0.10966270076795323, 0.09355609544023435)
+        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+
+        over "geometry"
+        {
+            over "mesh" (
+                prepend apiSchemas = ["PhysxConvexDecompositionCollisionAPI"]
+            )
+            {
+                uniform token physics:approximation = "convexDecomposition"
+            }
+        }
+    }
+}
+
+def Xform "Environment"
+{
+    quatd xformOp:orient = (1, 0, 0, 0)
+    double3 xformOp:scale = (1, 1, 1)
+    double3 xformOp:translate = (0, 0, 0)
+    uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+
+    def DistantLight "defaultLight" (
+        prepend apiSchemas = ["ShapingAPI"]
+    )
+    {
+        float inputs:angle = 1
+        float inputs:intensity = 3000
+        float inputs:shaping:cone:angle = 180
+        float inputs:shaping:cone:softness
+        float inputs:shaping:focus
+        color3f inputs:shaping:focusTint
+        asset inputs:shaping:ies:file
+        quatd xformOp:orient = (0.6532814824381883, 0.2705980500730985, 0.27059805007309845, 0.6532814824381882)
+        double3 xformOp:scale = (1, 1, 1)
+        double3 xformOp:translate = (0, 0, 0)
+        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+    }
+}
+
+def "Render" (
+    hide_in_stage_window = true
+    no_delete = true
+)
+{
+    def "OmniverseKit"
+    {
+        def "HydraTextures" (
+            hide_in_stage_window = true
+            no_delete = true
+        )
+        {
+            def RenderProduct "omni_kit_widget_viewport_ViewportTexture_0" (
+                prepend apiSchemas = ["OmniRtxSettingsCommonAdvancedAPI_1", "OmniRtxSettingsRtAdvancedAPI_1", "OmniRtxSettingsPtAdvancedAPI_1", "OmniRtxPostColorGradingAPI_1", "OmniRtxPostChromaticAberrationAPI_1", "OmniRtxPostBloomPhysicalAPI_1", "OmniRtxPostMatteObjectAPI_1", "OmniRtxPostCompositingAPI_1", "OmniRtxPostDofAPI_1", "OmniRtxPostMotionBlurAPI_1", "OmniRtxPostTvNoiseAPI_1", "OmniRtxPostTonemapIrayReinhardAPI_1", "OmniRtxPostDebugSettingsAPI_1", "OmniRtxDebugSettingsAPI_1"]
+                hide_in_stage_window = true
+                no_delete = true
+            )
+            {
+                rel camera = </OmniverseKit_Persp>
+                token omni:rtx:background:source:texture:textureMode = "repeatMirrored"
+                token omni:rtx:background:source:type = "domeLight"
+                bool omni:rtx:dlss:frameGeneration = 0
+                bool omni:rtx:material:db:nonVisualMaterialCSV:enabled = 0
+                bool omni:rtx:material:db:syncLoads = 1
+                token omni:rtx:post:dlss:execMode = "performance"
+                bool omni:rtx:post:registeredCompositing:invertColorCorrection = 1
+                bool omni:rtx:post:registeredCompositing:invertToneMap = 1
+                bool omni:rtx:pt:lightcache:cached:dontResolveConflicts = 1
+                int omni:rtx:pt:maxSamplesPerLaunch = 2073600
+                int omni:rtx:pt:mgpu:maxPixelsPerRegionExponent = 12
+                color3f omni:rtx:rt:ambientLight:color = (0.1, 0.1, 0.1)
+                bool omni:rtx:rt:demoire = 0
+                bool omni:rtx:rt:lightcache:spatialCache:dontResolveConflicts = 1
+                bool omni:rtx:scene:hydra:materialSyncLoads = 1
+                bool omni:rtx:scene:hydra:mdlMaterialWarmup = 1
+                uint omni:rtx:viewTile:limit = 4294967295
+                rel orderedVars = </Render/Vars/LdrColor>
+                custom bool overrideClipRange = 0
+                uniform int2 resolution = (1280, 720)
+            }
+        }
+    }
+
+    def RenderSettings "OmniverseGlobalRenderSettings" (
+        prepend apiSchemas = ["OmniRtxSettingsGlobalRtAdvancedAPI_1", "OmniRtxSettingsGlobalPtAdvancedAPI_1"]
+        no_delete = true
+    )
+    {
+        rel products = </Render/OmniverseKit/HydraTextures/omni_kit_widget_viewport_ViewportTexture_0>
+    }
+
+    def "Vars"
+    {
+        def RenderVar "LdrColor" (
+            hide_in_stage_window = true
+            no_delete = true
+        )
+        {
+            uniform string sourceName = "LdrColor"
+        }
+    }
+}
+
+def Cube "randomization"
+{
+    float3[] extent = [(-0.5, -0.5, -0.5), (0.5, 0.5, 0.5)]
+    double size = 1
+    token visibility = "invisible"
+    quatd xformOp:orient = (1, 0, 0, 0)
+    double3 xformOp:scale = (0.4, 0.6, 0.1)
+    double3 xformOp:translate = (0.44748980564118185, 0.043237698856200685, 0.0678177900688649)
+    uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+}
+