#usda 1.0
(
    customLayerData = {
        dictionary SimReady_Metadata = {
            dictionary Variants = {
                dictionary Physics = {
                    dictionary MuJoCo = {
                        string activateOption = "Enabled"
                        string prim = "/r2000ic_100p"
                        string variantSetName = "MuJoCo"
                    }
                    dictionary Newton = {
                        string activateOption = "Enabled"
                        string prim = "/r2000ic_100p"
                        string variantSetName = "Newton"
                    }
                    dictionary PhysX = {
                        string activateOption = "Enabled"
                        string prim = "/r2000ic_100p"
                        string variantSetName = "PhysX"
                    }
                }
            }
            dictionary runtime_testing = {
                dictionary tested_features = {
                    dictionary "2026-10-31T20:07:08.573916+00:00" = {
                        dictionary "FET001_MinimalPlaceableVisual.OpenUSD.1-0-1" = {
                            string contract_id = "FET001_MinimalPlaceableVisual.OpenUSD.1-0-1"
                            string display_name = "Minimal Placeable Visual"
                            dictionary engines = {
                                dictionary isaac_sim = {
                                    bool passed = 1
                                    string status = "pass"
                                    dictionary tests = {
                                        dictionary culling_xz = {
                                            string name = "culling_xz"
                                            bool passed = 1
                                            string provider = "simready.foundation.tier_core.runtime_tests"
                                            string status = "pass"
                                            string test_file = "<home>/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/culling_xz.py"
                                            string version = "2.0.2"
                                        }
                                        dictionary light_response = {
                                            string name = "light_response"
                                            bool passed = 1
                                            string provider = "simready.foundation.tier_core.runtime_tests"
                                            string status = "pass"
                                            string test_file = "<home>/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/light_response.py"
                                            string version = "2.0.3"
                                        }
                                        dictionary normals_xz = {
                                            string name = "normals_xz"
                                            bool passed = 1
                                            string provider = "simready.foundation.tier_core.runtime_tests"
                                            string status = "pass"
                                            string test_file = "<home>/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/normals_xz.py"
                                            string version = "2.0.3"
                                        }
                                        dictionary pivot = {
                                            string name = "pivot"
                                            bool passed = 0
                                            string provider = "simready.foundation.tier_core.runtime_tests"
                                            string status = "skipped"
                                            string test_file = "<home>/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/pivot.py"
                                            string version = "2.0.3"
                                        }
                                        dictionary presence = {
                                            string name = "presence"
                                            bool passed = 1
                                            string provider = "simready.foundation.tier_core.runtime_tests"
                                            string status = "pass"
                                            string test_file = "<home>/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/presence.py"
                                            string version = "2.0.1"
                                        }
                                    }
                                }
                                dictionary isaac_sim_newton = {
                                    bool passed = 1
                                    string status = "pass"
                                    dictionary tests = {
                                        dictionary culling_xz = {
                                            string name = "culling_xz"
                                            bool passed = 1
                                            string provider = "simready.foundation.tier_core.runtime_tests"
                                            string status = "pass"
                                            string test_file = "<home>/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/culling_xz.py"
                                            string version = "2.0.2"
                                        }
                                        dictionary light_response = {
                                            string name = "light_response"
                                            bool passed = 1
                                            string provider = "simready.foundation.tier_core.runtime_tests"
                                            string status = "pass"
                                            string test_file = "<home>/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/light_response.py"
                                            string version = "2.0.3"
                                        }
                                        dictionary normals_xz = {
                                            string name = "normals_xz"
                                            bool passed = 1
                                            string provider = "simready.foundation.tier_core.runtime_tests"
                                            string status = "pass"
                                            string test_file = "<home>/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/normals_xz.py"
                                            string version = "2.0.3"
                                        }
                                        dictionary pivot = {
                                            string name = "pivot"
                                            bool passed = 0
                                            string provider = "simready.foundation.tier_core.runtime_tests"
                                            string status = "skipped"
                                            string test_file = "<home>/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/pivot.py"
                                            string version = "2.0.3"
                                        }
                                        dictionary presence = {
                                            string name = "presence"
                                            bool passed = 1
                                            string provider = "simready.foundation.tier_core.runtime_tests"
                                            string status = "pass"
                                            string test_file = "<home>/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet001_visual/presence.py"
                                            string version = "2.0.1"
                                        }
                                    }
                                }
                            }
                            string family = "FET001"
                            int foundations_contract = 2
                            bool passed = 1
                            dictionary profile = {
                                string id = "Robot-Body"
                                string version = "3.0.0"
                            }
                            dictionary profiles = {
                                dictionary profile_0 = {
                                    string id = "Robot-Body"
                                    string version = "3.0.0"
                                }
                            }
                            string runtime = "OpenUSD"
                            bool source = 1
                            string status = "pass"
                            string version = "1.0.1"
                        }
                        dictionary "FET003_RigidBody.Newton.0-1-0" = {
                            string contract_id = "FET003_RigidBody.Newton.0-1-0"
                            string display_name = "Rigid Body Physics (Newton)"
                            dictionary engines = {
                                dictionary isaac_sim_newton = {
                                    bool passed = 0
                                    string status = "skipped"
                                    dictionary tests = {
                                        dictionary ground_drop_newton = {
                                            string name = "ground_drop_newton"
                                            bool passed = 0
                                            string provider = "simready.foundation.tier_newton.runtime_tests"
                                            string status = "skipped"
                                            string test_file = "<home>/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet003_physics/ground_drop.py"
                                            string version = "4.0.1"
                                        }
                                        dictionary ground_stability_newton = {
                                            string name = "ground_stability_newton"
                                            bool passed = 0
                                            string provider = "simready.foundation.tier_newton.runtime_tests"
                                            string status = "skipped"
                                            string test_file = "<home>/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet003_physics/ground_stability.py"
                                            string version = "3.0.1"
                                        }
                                        dictionary slope_drop_newton = {
                                            string name = "slope_drop_newton"
                                            bool passed = 0
                                            string provider = "simready.foundation.tier_newton.runtime_tests"
                                            string status = "skipped"
                                            string test_file = "<home>/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet003_physics/slope_drop.py"
                                            string version = "3.3.5"
                                        }
                                    }
                                }
                            }
                            string family = "FET003"
                            int foundations_contract = 2
                            bool passed = 0
                            dictionary profile = {
                                string id = "Robot-Body"
                                string version = "3.0.0"
                            }
                            dictionary profiles = {
                                dictionary profile_0 = {
                                    string id = "Robot-Body"
                                    string version = "3.0.0"
                                }
                            }
                            string runtime = "Newton"
                            bool source = 0
                            string status = "skipped"
                            string version = "0.1.0"
                        }
                        dictionary "FET003_RigidBody.OpenUSD.0-2-0" = {
                            string contract_id = "FET003_RigidBody.OpenUSD.0-2-0"
                            string display_name = "Rigid Body Physics"
                            dictionary engines = {
                                dictionary isaac_sim = {
                                    bool passed = 0
                                    string status = "skipped"
                                    dictionary tests = {
                                        dictionary ground_drop = {
                                            string name = "ground_drop"
                                            bool passed = 0
                                            string provider = "simready.foundation.tier_core.runtime_tests"
                                            string status = "skipped"
                                            string test_file = "<home>/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet003_physics/ground_drop.py"
                                            string version = "4.0.1"
                                        }
                                        dictionary ground_stability = {
                                            string name = "ground_stability"
                                            bool passed = 0
                                            string provider = "simready.foundation.tier_core.runtime_tests"
                                            string status = "skipped"
                                            string test_file = "<home>/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet003_physics/ground_stability.py"
                                            string version = "3.0.1"
                                        }
                                        dictionary slope_drop = {
                                            string name = "slope_drop"
                                            bool passed = 0
                                            string provider = "simready.foundation.tier_core.runtime_tests"
                                            string status = "skipped"
                                            string test_file = "<home>/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet003_physics/slope_drop.py"
                                            string version = "3.3.5"
                                        }
                                    }
                                }
                            }
                            string family = "FET003"
                            int foundations_contract = 2
                            bool passed = 0
                            dictionary profile = {
                                string id = "Robot-Body"
                                string version = "3.0.0"
                            }
                            dictionary profiles = {
                                dictionary profile_0 = {
                                    string id = "Robot-Body"
                                    string version = "3.0.0"
                                }
                            }
                            string runtime = "OpenUSD"
                            bool source = 1
                            string status = "skipped"
                            string version = "0.2.0"
                        }
                        dictionary "FET003_RigidBody.PhysX.0-4-0" = {
                            string contract_id = "FET003_RigidBody.PhysX.0-4-0"
                            string display_name = "Rigid Body Physics (PhysX)"
                            dictionary engines = {
                                dictionary isaac_sim = {
                                    bool passed = 0
                                    string status = "skipped"
                                    dictionary tests = {
                                        dictionary ground_drop = {
                                            string name = "ground_drop"
                                            bool passed = 0
                                            string provider = "simready.foundation.tier_core.runtime_tests"
                                            string status = "skipped"
                                            string test_file = "<home>/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet003_physics/ground_drop.py"
                                            string version = "4.0.1"
                                        }
                                        dictionary ground_stability = {
                                            string name = "ground_stability"
                                            bool passed = 0
                                            string provider = "simready.foundation.tier_core.runtime_tests"
                                            string status = "skipped"
                                            string test_file = "<home>/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet003_physics/ground_stability.py"
                                            string version = "3.0.1"
                                        }
                                        dictionary slope_drop = {
                                            string name = "slope_drop"
                                            bool passed = 0
                                            string provider = "simready.foundation.tier_core.runtime_tests"
                                            string status = "skipped"
                                            string test_file = "<home>/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet003_physics/slope_drop.py"
                                            string version = "3.3.5"
                                        }
                                    }
                                }
                            }
                            string family = "FET003"
                            int foundations_contract = 2
                            bool passed = 0
                            dictionary profile = {
                                string id = "Robot-Body"
                                string version = "3.0.0"
                            }
                            dictionary profiles = {
                                dictionary profile_0 = {
                                    string id = "Robot-Body"
                                    string version = "3.0.0"
                                }
                            }
                            string runtime = "PhysX"
                            bool source = 0
                            string status = "skipped"
                            string version = "0.4.0"
                        }
                        dictionary "FET004_Multibody.Newton.0-1-0" = {
                            string contract_id = "FET004_Multibody.Newton.0-1-0"
                            string display_name = "Simulate Multi-Body Physics (Newton)"
                            dictionary engines = {
                                dictionary isaac_sim_newton = {
                                    bool passed = 1
                                    string status = "pass"
                                    dictionary tests = {
                                        dictionary joint_movement_newton = {
                                            string name = "joint_movement_newton"
                                            bool passed = 1
                                            string provider = "simready.foundation.tier_newton.runtime_tests"
                                            string status = "pass"
                                            string test_file = "<home>/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet004_multibody/joint_movement.py"
                                            string version = "2.2.5"
                                        }
                                    }
                                }
                            }
                            string family = "FET004"
                            int foundations_contract = 2
                            bool passed = 1
                            dictionary profile = {
                                string id = "Robot-Body"
                                string version = "3.0.0"
                            }
                            dictionary profiles = {
                                dictionary profile_0 = {
                                    string id = "Robot-Body"
                                    string version = "3.0.0"
                                }
                            }
                            string runtime = "Newton"
                            bool source = 0
                            string status = "pass"
                            string version = "0.1.0"
                        }
                        dictionary "FET004_Multibody.OpenUSD.0-2-0" = {
                            string contract_id = "FET004_Multibody.OpenUSD.0-2-0"
                            string display_name = "Simulate Multi-Body Physics"
                            dictionary engines = {
                                dictionary isaac_sim = {
                                    bool passed = 1
                                    string status = "pass"
                                    dictionary tests = {
                                        dictionary joint_movement = {
                                            string name = "joint_movement"
                                            bool passed = 1
                                            string provider = "simready.foundation.tier_core.runtime_tests"
                                            string status = "pass"
                                            string test_file = "<home>/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet004_multibody/joint_movement.py"
                                            string version = "2.2.4"
                                        }
                                    }
                                }
                            }
                            string family = "FET004"
                            int foundations_contract = 2
                            bool passed = 1
                            dictionary profile = {
                                string id = "Robot-Body"
                                string version = "3.0.0"
                            }
                            dictionary profiles = {
                                dictionary profile_0 = {
                                    string id = "Robot-Body"
                                    string version = "3.0.0"
                                }
                            }
                            string runtime = "OpenUSD"
                            bool source = 1
                            string status = "pass"
                            string version = "0.2.0"
                        }
                        dictionary "FET004_Multibody.PhysX.0-4-0" = {
                            string contract_id = "FET004_Multibody.PhysX.0-4-0"
                            string display_name = "Simulate Multi-Body Physics (PhysX)"
                            dictionary engines = {
                                dictionary isaac_sim = {
                                    bool passed = 1
                                    string status = "pass"
                                    dictionary tests = {
                                        dictionary joint_movement = {
                                            string name = "joint_movement"
                                            bool passed = 1
                                            string provider = "simready.foundation.tier_core.runtime_tests"
                                            string status = "pass"
                                            string test_file = "<home>/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet004_multibody/joint_movement.py"
                                            string version = "2.2.4"
                                        }
                                    }
                                }
                            }
                            string family = "FET004"
                            int foundations_contract = 2
                            bool passed = 1
                            dictionary profile = {
                                string id = "Robot-Body"
                                string version = "3.0.0"
                            }
                            dictionary profiles = {
                                dictionary profile_0 = {
                                    string id = "Robot-Body"
                                    string version = "3.0.0"
                                }
                            }
                            string runtime = "PhysX"
                            bool source = 0
                            string status = "pass"
                            string version = "0.4.0"
                        }
                        dictionary "FET004_Multibody.RobotNewton.0-1-0" = {
                            string contract_id = "FET004_Multibody.RobotNewton.0-1-0"
                            string display_name = "Simulate Multi-Body Physics (Robot Newton)"
                            dictionary engines = {
                                dictionary isaac_sim_newton = {
                                    bool passed = 1
                                    string status = "pass"
                                    dictionary tests = {
                                        dictionary joint_movement_newton = {
                                            string name = "joint_movement_newton"
                                            bool passed = 1
                                            string provider = "simready.foundation.tier_newton.runtime_tests"
                                            string status = "pass"
                                            string test_file = "<home>/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet004_multibody/joint_movement.py"
                                            string version = "2.2.5"
                                        }
                                    }
                                }
                            }
                            string family = "FET004"
                            int foundations_contract = 2
                            bool passed = 1
                            dictionary profile = {
                                string id = "Robot-Body"
                                string version = "3.0.0"
                            }
                            dictionary profiles = {
                                dictionary profile_0 = {
                                    string id = "Robot-Body"
                                    string version = "3.0.0"
                                }
                            }
                            string runtime = "RobotNewton"
                            bool source = 0
                            string status = "pass"
                            string version = "0.1.0"
                        }
                        dictionary "FET006_Materials.MDL.0-2-0" = {
                            string contract_id = "FET006_Materials.MDL.0-2-0"
                            string display_name = "Materials (MDL)"
                            dictionary engines = {
                                dictionary isaac_sim = {
                                    bool passed = 1
                                    string status = "pass"
                                    dictionary tests = {
                                        dictionary mdl_renders = {
                                            string name = "mdl_renders"
                                            bool passed = 1
                                            string provider = "simready.foundation.tier_core.runtime_tests"
                                            string status = "pass"
                                            string test_file = "<home>/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet006_materials/mdl_renders.py"
                                            string version = "0.4.0"
                                        }
                                    }
                                }
                                dictionary isaac_sim_newton = {
                                    bool passed = 1
                                    string status = "pass"
                                    dictionary tests = {
                                        dictionary mdl_renders = {
                                            string name = "mdl_renders"
                                            bool passed = 1
                                            string provider = "simready.foundation.tier_core.runtime_tests"
                                            string status = "pass"
                                            string test_file = "<home>/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet006_materials/mdl_renders.py"
                                            string version = "0.4.0"
                                        }
                                    }
                                }
                            }
                            string family = "FET006"
                            int foundations_contract = 2
                            bool passed = 1
                            dictionary profile = {
                                string id = "Robot-Body"
                                string version = "3.0.0"
                            }
                            dictionary profiles = {
                                dictionary profile_0 = {
                                    string id = "Robot-Body"
                                    string version = "3.0.0"
                                }
                            }
                            string runtime = "MDL"
                            bool source = 0
                            string status = "pass"
                            string version = "0.2.0"
                        }
                        dictionary "FET006_Materials.OpenUSD.0-2-0" = {
                            string contract_id = "FET006_Materials.OpenUSD.0-2-0"
                            string display_name = "Materials (USDPreviewSurface)"
                            dictionary engines = {
                                dictionary isaac_sim = {
                                    bool passed = 1
                                    string status = "pass"
                                    dictionary tests = {
                                        dictionary preview_surface_renders = {
                                            string name = "preview_surface_renders"
                                            bool passed = 1
                                            string provider = "simready.foundation.tier_core.runtime_tests"
                                            string status = "pass"
                                            string test_file = "<home>/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet006_materials/preview_surface_renders.py"
                                            string version = "0.5.0"
                                        }
                                    }
                                }
                                dictionary isaac_sim_newton = {
                                    bool passed = 1
                                    string status = "pass"
                                    dictionary tests = {
                                        dictionary preview_surface_renders = {
                                            string name = "preview_surface_renders"
                                            bool passed = 1
                                            string provider = "simready.foundation.tier_core.runtime_tests"
                                            string status = "pass"
                                            string test_file = "<home>/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet006_materials/preview_surface_renders.py"
                                            string version = "0.5.0"
                                        }
                                    }
                                }
                            }
                            string family = "FET006"
                            int foundations_contract = 2
                            bool passed = 1
                            dictionary profile = {
                                string id = "Robot-Body"
                                string version = "3.0.0"
                            }
                            dictionary profiles = {
                                dictionary profile_0 = {
                                    string id = "Robot-Body"
                                    string version = "3.0.0"
                                }
                            }
                            string runtime = "OpenUSD"
                            bool source = 1
                            string status = "pass"
                            string version = "0.2.0"
                        }
                        dictionary "FET006_Materials.Openpbr.0-1-0" = {
                            string contract_id = "FET006_Materials.Openpbr.0-1-0"
                            string display_name = "Materials (OpenPBR)"
                            dictionary engines = {
                                dictionary isaac_sim = {
                                    bool passed = 1
                                    string status = "pass"
                                    dictionary tests = {
                                        dictionary openpbr_renders = {
                                            string name = "openpbr_renders"
                                            bool passed = 1
                                            string provider = "simready.foundation.tier_core.runtime_tests"
                                            string status = "pass"
                                            string test_file = "<home>/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet006_materials/openpbr_renders.py"
                                            string version = "0.5.0"
                                        }
                                    }
                                }
                                dictionary isaac_sim_newton = {
                                    bool passed = 1
                                    string status = "pass"
                                    dictionary tests = {
                                        dictionary openpbr_renders = {
                                            string name = "openpbr_renders"
                                            bool passed = 1
                                            string provider = "simready.foundation.tier_core.runtime_tests"
                                            string status = "pass"
                                            string test_file = "<home>/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet006_materials/openpbr_renders.py"
                                            string version = "0.5.0"
                                        }
                                    }
                                }
                            }
                            string family = "FET006"
                            int foundations_contract = 2
                            bool passed = 1
                            dictionary profile = {
                                string id = "Robot-Body"
                                string version = "3.0.0"
                            }
                            dictionary profiles = {
                                dictionary profile_0 = {
                                    string id = "Robot-Body"
                                    string version = "3.0.0"
                                }
                            }
                            string runtime = "Openpbr"
                            bool source = 0
                            string status = "pass"
                            string version = "0.1.0"
                        }
                        dictionary "FET010_DisplayColor.OpenUSD.0-1-0" = {
                            string contract_id = "FET010_DisplayColor.OpenUSD.0-1-0"
                            string display_name = "Display Color"
                            dictionary engines = {
                                dictionary isaac_sim = {
                                    bool passed = 1
                                    string status = "pass"
                                    dictionary tests = {
                                        dictionary display_color_response = {
                                            string name = "display_color_response"
                                            bool passed = 1
                                            string provider = "simready.foundation.tier_core.runtime_tests"
                                            string status = "pass"
                                            string test_file = "<home>/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet010_standard/display_color_response.py"
                                            string version = "0.4.5"
                                        }
                                    }
                                }
                                dictionary isaac_sim_newton = {
                                    bool passed = 1
                                    string status = "pass"
                                    dictionary tests = {
                                        dictionary display_color_response = {
                                            string name = "display_color_response"
                                            bool passed = 1
                                            string provider = "simready.foundation.tier_core.runtime_tests"
                                            string status = "pass"
                                            string test_file = "<home>/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet010_standard/display_color_response.py"
                                            string version = "0.4.5"
                                        }
                                    }
                                }
                            }
                            string family = "FET010"
                            int foundations_contract = 2
                            bool passed = 1
                            dictionary profile = {
                                string id = "Robot-Body"
                                string version = "3.0.0"
                            }
                            dictionary profiles = {
                                dictionary profile_0 = {
                                    string id = "Robot-Body"
                                    string version = "3.0.0"
                                }
                            }
                            string runtime = "OpenUSD"
                            bool source = 1
                            string status = "pass"
                            string version = "0.1.0"
                        }
                        dictionary "FET022_DrivenJoints.Isaac.0-2-0" = {
                            string contract_id = "FET022_DrivenJoints.Isaac.0-2-0"
                            string display_name = "Driven Joints (Isaac)"
                            dictionary engines = {
                                dictionary isaac_sim = {
                                    bool passed = 0
                                    string status = "incomplete"
                                    dictionary tests = {
                                        dictionary drive_gain_validation = {
                                            string name = "drive_gain_validation"
                                            bool passed = 1
                                            string provider = "simready.foundation.tier_core.runtime_tests"
                                            string status = "pass"
                                            string test_file = "<home>/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/drive_gain_validation.py"
                                            string version = "1.1.9"
                                        }
                                        dictionary effort_limit = {
                                            string name = "effort_limit"
                                            bool passed = 1
                                            string provider = "simready.foundation.tier_core.runtime_tests"
                                            string status = "pass"
                                            string test_file = "<home>/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/effort_limit.py"
                                            string version = "1.2.0"
                                        }
                                        dictionary full_range_sweep = {
                                            string name = "full_range_sweep"
                                            bool passed = 1
                                            string provider = "simready.foundation.tier_core.runtime_tests"
                                            string status = "pass"
                                            string test_file = "<home>/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/full_range_sweep.py"
                                            string version = "1.5.6"
                                        }
                                        dictionary ik_target_reach = {
                                            string execution_status = "error"
                                            string failure_category = "test_or_runtime_error"
                                            string name = "ik_target_reach"
                                            bool passed = 0
                                            string provider = "simready.foundation.tier_core.runtime_tests"
                                            string status = "incomplete"
                                            string test_file = "<home>/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/ik_target_reach.py"
                                            string version = "1.2.8"
                                        }
                                        dictionary jacobian_ik = {
                                            string name = "jacobian_ik"
                                            bool passed = 1
                                            string provider = "simready.foundation.tier_core.runtime_tests"
                                            string status = "pass"
                                            string test_file = "<home>/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/jacobian_ik.py"
                                            string version = "1.4.12"
                                        }
                                        dictionary mimic_joint = {
                                            string name = "mimic_joint"
                                            bool passed = 0
                                            string provider = "simready.foundation.tier_core.runtime_tests"
                                            string status = "skipped"
                                            string test_file = "<home>/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/mimic_joint.py"
                                            string version = "1.1.11"
                                        }
                                        dictionary multi_joint_coordination = {
                                            string name = "multi_joint_coordination"
                                            bool passed = 1
                                            string provider = "simready.foundation.tier_core.runtime_tests"
                                            string status = "pass"
                                            string test_file = "<home>/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/multi_joint_coordination.py"
                                            string version = "1.2.6"
                                        }
                                        dictionary state_accuracy = {
                                            string name = "state_accuracy"
                                            bool passed = 1
                                            string provider = "simready.foundation.tier_core.runtime_tests"
                                            string status = "pass"
                                            string test_file = "<home>/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/state_accuracy.py"
                                            string version = "1.2.9"
                                        }
                                        dictionary velocity_limit = {
                                            string name = "velocity_limit"
                                            bool passed = 1
                                            string provider = "simready.foundation.tier_core.runtime_tests"
                                            string status = "pass"
                                            string test_file = "<home>/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/velocity_limit.py"
                                            string version = "1.1.11"
                                        }
                                    }
                                }
                            }
                            dictionary failure_categories = {
                                string "0" = "test_or_runtime_error"
                            }
                            string family = "FET022"
                            int foundations_contract = 2
                            bool passed = 0
                            dictionary profile = {
                                string id = "Robot-Body"
                                string version = "3.0.0"
                            }
                            dictionary profiles = {
                                dictionary profile_0 = {
                                    string id = "Robot-Body"
                                    string version = "3.0.0"
                                }
                            }
                            string runtime = "Isaac"
                            bool source = 0
                            string status = "incomplete"
                            string version = "0.2.0"
                        }
                        dictionary "FET022_DrivenJoints.Newton.0-1-0" = {
                            string contract_id = "FET022_DrivenJoints.Newton.0-1-0"
                            string display_name = "Driven Joints (Newton)"
                            dictionary engines = {
                                dictionary isaac_sim_newton = {
                                    bool passed = 0
                                    string status = "incomplete"
                                    dictionary tests = {
                                        dictionary drive_gain_validation_newton = {
                                            string name = "drive_gain_validation_newton"
                                            bool passed = 1
                                            string provider = "simready.foundation.tier_newton.runtime_tests"
                                            string status = "pass"
                                            string test_file = "<home>/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/drive_gain_validation.py"
                                            string version = "1.1.10"
                                        }
                                        dictionary effort_limit_newton = {
                                            string name = "effort_limit_newton"
                                            bool passed = 1
                                            string provider = "simready.foundation.tier_newton.runtime_tests"
                                            string status = "pass"
                                            string test_file = "<home>/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/effort_limit.py"
                                            string version = "1.1.10"
                                        }
                                        dictionary full_range_sweep_newton = {
                                            string name = "full_range_sweep_newton"
                                            bool passed = 1
                                            string provider = "simready.foundation.tier_newton.runtime_tests"
                                            string status = "pass"
                                            string test_file = "<home>/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/full_range_sweep.py"
                                            string version = "1.5.7"
                                        }
                                        dictionary ik_target_reach_newton = {
                                            string execution_status = "error"
                                            string failure_category = "test_or_runtime_error"
                                            string name = "ik_target_reach_newton"
                                            bool passed = 0
                                            string provider = "simready.foundation.tier_newton.runtime_tests"
                                            string status = "incomplete"
                                            string test_file = "<home>/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/ik_target_reach.py"
                                            string version = "1.2.9"
                                        }
                                        dictionary jacobian_ik_newton = {
                                            string name = "jacobian_ik_newton"
                                            bool passed = 1
                                            string provider = "simready.foundation.tier_newton.runtime_tests"
                                            string status = "pass"
                                            string test_file = "<home>/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/jacobian_ik.py"
                                            string version = "1.4.12"
                                        }
                                        dictionary mimic_joint_newton = {
                                            string name = "mimic_joint_newton"
                                            bool passed = 0
                                            string provider = "simready.foundation.tier_newton.runtime_tests"
                                            string status = "skipped"
                                            string test_file = "<home>/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/mimic_joint.py"
                                            string version = "1.1.12"
                                        }
                                        dictionary multi_joint_coordination_newton = {
                                            string name = "multi_joint_coordination_newton"
                                            bool passed = 1
                                            string provider = "simready.foundation.tier_newton.runtime_tests"
                                            string status = "pass"
                                            string test_file = "<home>/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/multi_joint_coordination.py"
                                            string version = "1.2.6"
                                        }
                                        dictionary state_accuracy_newton = {
                                            string name = "state_accuracy_newton"
                                            bool passed = 1
                                            string provider = "simready.foundation.tier_newton.runtime_tests"
                                            string status = "pass"
                                            string test_file = "<home>/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/state_accuracy.py"
                                            string version = "1.2.10"
                                        }
                                        dictionary velocity_limit_newton = {
                                            string name = "velocity_limit_newton"
                                            bool passed = 1
                                            string provider = "simready.foundation.tier_newton.runtime_tests"
                                            string status = "pass"
                                            string test_file = "<home>/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_newton/runtime_tests/fet022_driven_joints/velocity_limit.py"
                                            string version = "1.1.12"
                                        }
                                    }
                                }
                            }
                            dictionary failure_categories = {
                                string "0" = "test_or_runtime_error"
                            }
                            string family = "FET022"
                            int foundations_contract = 2
                            bool passed = 0
                            dictionary profile = {
                                string id = "Robot-Body"
                                string version = "3.0.0"
                            }
                            dictionary profiles = {
                                dictionary profile_0 = {
                                    string id = "Robot-Body"
                                    string version = "3.0.0"
                                }
                            }
                            string runtime = "Newton"
                            bool source = 0
                            string status = "incomplete"
                            string version = "0.1.0"
                        }
                        dictionary "FET022_DrivenJoints.PhysX.0-2-0" = {
                            string contract_id = "FET022_DrivenJoints.PhysX.0-2-0"
                            string display_name = "Driven Joints (PhysX)"
                            dictionary engines = {
                                dictionary isaac_sim = {
                                    bool passed = 0
                                    string status = "incomplete"
                                    dictionary tests = {
                                        dictionary drive_gain_validation = {
                                            string name = "drive_gain_validation"
                                            bool passed = 1
                                            string provider = "simready.foundation.tier_core.runtime_tests"
                                            string status = "pass"
                                            string test_file = "<home>/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/drive_gain_validation.py"
                                            string version = "1.1.9"
                                        }
                                        dictionary effort_limit = {
                                            string name = "effort_limit"
                                            bool passed = 1
                                            string provider = "simready.foundation.tier_core.runtime_tests"
                                            string status = "pass"
                                            string test_file = "<home>/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/effort_limit.py"
                                            string version = "1.2.0"
                                        }
                                        dictionary full_range_sweep = {
                                            string name = "full_range_sweep"
                                            bool passed = 1
                                            string provider = "simready.foundation.tier_core.runtime_tests"
                                            string status = "pass"
                                            string test_file = "<home>/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/full_range_sweep.py"
                                            string version = "1.5.6"
                                        }
                                        dictionary ik_target_reach = {
                                            string execution_status = "error"
                                            string failure_category = "test_or_runtime_error"
                                            string name = "ik_target_reach"
                                            bool passed = 0
                                            string provider = "simready.foundation.tier_core.runtime_tests"
                                            string status = "incomplete"
                                            string test_file = "<home>/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/ik_target_reach.py"
                                            string version = "1.2.8"
                                        }
                                        dictionary jacobian_ik = {
                                            string name = "jacobian_ik"
                                            bool passed = 1
                                            string provider = "simready.foundation.tier_core.runtime_tests"
                                            string status = "pass"
                                            string test_file = "<home>/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/jacobian_ik.py"
                                            string version = "1.4.12"
                                        }
                                        dictionary mimic_joint = {
                                            string name = "mimic_joint"
                                            bool passed = 0
                                            string provider = "simready.foundation.tier_core.runtime_tests"
                                            string status = "skipped"
                                            string test_file = "<home>/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/mimic_joint.py"
                                            string version = "1.1.11"
                                        }
                                        dictionary multi_joint_coordination = {
                                            string name = "multi_joint_coordination"
                                            bool passed = 1
                                            string provider = "simready.foundation.tier_core.runtime_tests"
                                            string status = "pass"
                                            string test_file = "<home>/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/multi_joint_coordination.py"
                                            string version = "1.2.6"
                                        }
                                        dictionary state_accuracy = {
                                            string name = "state_accuracy"
                                            bool passed = 1
                                            string provider = "simready.foundation.tier_core.runtime_tests"
                                            string status = "pass"
                                            string test_file = "<home>/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/state_accuracy.py"
                                            string version = "1.2.9"
                                        }
                                        dictionary velocity_limit = {
                                            string name = "velocity_limit"
                                            bool passed = 1
                                            string provider = "simready.foundation.tier_core.runtime_tests"
                                            string status = "pass"
                                            string test_file = "<home>/.conda/envs/simready-benchmark/Lib/site-packages/simready/foundation/tier_core/runtime_tests/fet022_driven_joints/velocity_limit.py"
                                            string version = "1.1.11"
                                        }
                                    }
                                }
                            }
                            dictionary failure_categories = {
                                string "0" = "test_or_runtime_error"
                            }
                            string family = "FET022"
                            int foundations_contract = 2
                            bool passed = 0
                            dictionary profile = {
                                string id = "Robot-Body"
                                string version = "3.0.0"
                            }
                            dictionary profiles = {
                                dictionary profile_0 = {
                                    string id = "Robot-Body"
                                    string version = "3.0.0"
                                }
                            }
                            string runtime = "PhysX"
                            bool source = 0
                            string status = "incomplete"
                            string version = "0.2.0"
                        }
                    }
                }
            }
            dictionary validation = {
                string profile = "Robot-Body"
                string profile_version = "3.0.0"
                dictionary validated_features = {
                    dictionary "2026-10-30" = {
                        dictionary "CAP000_Core.Isaac.0-1-0" = {
                            bool blocking_failure = 0
                            string dependencies = "['CAP000_Core.OpenUSD.0-1-0']"
                            bool passed = 1
                            string version = "0-1-0"
                        }
                        dictionary "CAP000_Core.MuJoCo.0-1-0" = {
                            bool blocking_failure = 0
                            string dependencies = "['CAP000_Core.OpenUSD.0-1-0']"
                            bool passed = 1
                            string version = "0-1-0"
                        }
                        dictionary "CAP000_Core.Newton.0-1-0" = {
                            bool blocking_failure = 0
                            string dependencies = "['CAP000_Core.OpenUSD.0-1-0']"
                            bool passed = 1
                            string version = "0-1-0"
                        }
                        dictionary "CAP000_Core.OpenUSD.0-1-0" = {
                            bool blocking_failure = 0
                            string dependencies = "[]"
                            bool passed = 1
                            string version = "0-1-0"
                        }
                        dictionary "CAP000_Core.PhysX.0-1-0" = {
                            bool blocking_failure = 0
                            string dependencies = "['CAP000_Core.OpenUSD.0-1-0']"
                            bool passed = 1
                            string version = "0-1-0"
                        }
                        dictionary "CAP003_RigidBody.MuJoCo.0-1-0" = {
                            bool blocking_failure = 0
                            string dependencies = "[]"
                            bool passed = 1
                            string version = "0-1-0"
                        }
                        dictionary "CAP004_Multibody.MuJoCo.0-1-0" = {
                            bool blocking_failure = 0
                            string dependencies = "['CAP003_RigidBody.MuJoCo.0-1-0']"
                            bool passed = 1
                            string version = "0-1-0"
                        }
                        dictionary "CAP004_Multibody.RobotMuJoCo.0-1-0" = {
                            bool blocking_failure = 0
                            string dependencies = "[]"
                            bool passed = 1
                            string version = "0-1-0"
                        }
                        dictionary "CAP021_RobotCore.Isaac.0-3-0" = {
                            bool blocking_failure = 0
                            string dependencies = "[]"
                            bool passed = 1
                            string version = "0-3-0"
                        }
                        dictionary "CAP022_DrivenJoints.MuJoCo.0-1-0" = {
                            bool blocking_failure = 0
                            string dependencies = "['CAP004_Multibody.RobotMuJoCo.0-1-0']"
                            bool passed = 1
                            string version = "0-1-0"
                        }
                        dictionary "CAP023_RobotMaterials.Isaac.0-1-0" = {
                            bool blocking_failure = 0
                            string dependencies = "[]"
                            bool passed = 1
                            string version = "0-1-0"
                        }
                        dictionary "CAP024_BaseArticulation.MuJoCo.0-1-0" = {
                            bool blocking_failure = 0
                            string dependencies = "['CAP024_BaseArticulation.OpenUSD.0-1-0']"
                            bool passed = 1
                            string version = "0-1-0"
                        }
                        dictionary "CAP024_BaseArticulation.Newton.0-1-0" = {
                            bool blocking_failure = 0
                            string dependencies = "['CAP024_BaseArticulation.OpenUSD.0-1-0']"
                            bool passed = 1
                            string version = "0-1-0"
                        }
                        dictionary "CAP024_BaseArticulation.OpenUSD.0-1-0" = {
                            bool blocking_failure = 0
                            string dependencies = "[]"
                            bool passed = 1
                            string version = "0-1-0"
                        }
                        dictionary "CAP024_BaseArticulation.PhysX.0-1-0" = {
                            bool blocking_failure = 0
                            string dependencies = "['CAP024_BaseArticulation.OpenUSD.0-1-0']"
                            bool passed = 1
                            string version = "0-1-0"
                        }
                        dictionary "CAP025_RosBridge.Ros.0-1-0" = {
                            bool blocking_failure = 0
                            string dependencies = "[]"
                            string "optional requirements" = "['com.nvidia.simready.ROS.001']"
                            bool passed = 0
                            string version = "0-1-0"
                        }
                        dictionary "CAP031_SelfContainedPackage.OpenUSD.0-1-0" = {
                            bool blocking_failure = 0
                            string dependencies = "[]"
                            bool passed = 1
                            string version = "0-1-0"
                        }
                        dictionary "CAP033_SimReadyPackage.OpenUSD.0-4-0" = {
                            bool blocking_failure = 0
                            string dependencies = "['CAP031_SelfContainedPackage.OpenUSD.0-1-0']"
                            bool passed = 1
                            string version = "0-4-0"
                        }
                        dictionary "CAP100_IsaacComposition.Isaac.0-3-0" = {
                            bool blocking_failure = 0
                            string dependencies = "[]"
                            bool passed = 1
                            string version = "0-3-0"
                        }
                        dictionary "FET001_MinimalPlaceableVisual.OpenUSD.1-0-1" = {
                            bool blocking_failure = 0
                            string dependencies = "[]"
                            bool passed = 1
                            string version = "1-0-1"
                        }
                        dictionary "FET003_RigidBody.Newton.0-1-0" = {
                            bool blocking_failure = 0
                            string dependencies = "[]"
                            bool passed = 1
                            string version = "0-1-0"
                        }
                        dictionary "FET003_RigidBody.OpenUSD.0-2-0" = {
                            bool blocking_failure = 0
                            string dependencies = "[]"
                            bool passed = 1
                            string version = "0-2-0"
                        }
                        dictionary "FET003_RigidBody.PhysX.0-4-0" = {
                            bool blocking_failure = 0
                            string dependencies = "[]"
                            bool passed = 1
                            string version = "0-4-0"
                        }
                        dictionary "FET004_Multibody.Newton.0-1-0" = {
                            bool blocking_failure = 0
                            string dependencies = "['FET003_RigidBody.Newton.0-1-0']"
                            bool passed = 1
                            string version = "0-1-0"
                        }
                        dictionary "FET004_Multibody.OpenUSD.0-2-0" = {
                            bool blocking_failure = 0
                            string dependencies = "['FET003_RigidBody.OpenUSD.0-2-0']"
                            bool passed = 1
                            string version = "0-2-0"
                        }
                        dictionary "FET004_Multibody.PhysX.0-4-0" = {
                            bool blocking_failure = 0
                            string dependencies = "['FET003_RigidBody.PhysX.0-4-0']"
                            bool passed = 1
                            string version = "0-4-0"
                        }
                        dictionary "FET004_Multibody.RobotNewton.0-1-0" = {
                            bool blocking_failure = 0
                            string dependencies = "[]"
                            bool passed = 1
                            string version = "0-1-0"
                        }
                        dictionary "FET006_Materials.MDL.0-2-0" = {
                            bool blocking_failure = 0
                            string dependencies = "[]"
                            bool passed = 1
                            string version = "0-2-0"
                        }
                        dictionary "FET006_Materials.OpenUSD.0-2-0" = {
                            bool blocking_failure = 0
                            string dependencies = "[]"
                            bool passed = 1
                            string version = "0-2-0"
                        }
                        dictionary "FET006_Materials.Openpbr.0-1-0" = {
                            bool blocking_failure = 0
                            string dependencies = "[]"
                            bool passed = 1
                            string version = "0-1-0"
                        }
                        dictionary "FET010_DisplayColor.OpenUSD.0-1-0" = {
                            bool blocking_failure = 0
                            string dependencies = "[]"
                            bool passed = 1
                            string version = "0-1-0"
                        }
                        dictionary "FET022_DrivenJoints.Isaac.0-2-0" = {
                            bool blocking_failure = 0
                            string dependencies = "['FET022_DrivenJoints.PhysX.0-2-0']"
                            bool passed = 1
                            string version = "0-2-0"
                        }
                        dictionary "FET022_DrivenJoints.Newton.0-1-0" = {
                            bool blocking_failure = 0
                            string dependencies = "['FET004_Multibody.RobotNewton.0-1-0']"
                            bool passed = 1
                            string version = "0-1-0"
                        }
                        dictionary "FET022_DrivenJoints.OpenUSD.0-2-0" = {
                            bool blocking_failure = 0
                            string dependencies = "['FET004_Multibody.OpenUSD.0-2-0']"
                            bool passed = 1
                            string version = "0-2-0"
                        }
                        dictionary "FET022_DrivenJoints.PhysX.0-2-0" = {
                            bool blocking_failure = 0
                            string dependencies = "['FET004_Multibody.PhysX.0-4-0']"
                            bool passed = 1
                            string version = "0-2-0"
                        }
                    }
                }
            }
        }
        float3 asset_extents = (2.8891, 0.9004061, 2.3166761)
        string asset_license = "CC-BY-4.0"
        string asset_name = "r2000ic_100p"
        string asset_type = "robot"
        string author = "Fanuc"
        string category = "robotic arm"
        double mass = 1470.6899992227554
        string qcode = "Q40687"
        int rigid_body_count = 7
        string source_file = "Fanuc/r2000ic_100p/r2000ic_100p.usda"
        string usd_date_generated = "2026-10-02"
    }
    defaultPrim = "r2000ic_100p"
    metersPerUnit = 1
    upAxis = "Z"
)

def Xform "r2000ic_100p" (
    kind = "component"
    prepend references = [
        @./payloads/Physics/physics.usda@,
        @./payloads/base.usda@
    ]
    variants = {
        string MuJoCo = "Disabled"
        string Newton = "Disabled"
        string PhysX = "Disabled"
        string Sensor = "none"
    }
    variantSets = ["Sensor", "PhysX", "Newton", "MuJoCo"]
)
{
    color3f[] primvars:displayColor = [(0.5, 0.5, 0.5)] (
        interpolation = "constant"
    )

    over "robot_base"
    {
        over "collisions"
        {
            token visibility = "invisible"
        }
    }

    over "J1_link"
    {
        over "collisions"
        {
            token visibility = "invisible"
        }
    }

    over "J2_link"
    {
        over "collisions"
        {
            token visibility = "invisible"
        }
    }

    over "J3_link"
    {
        over "collisions"
        {
            token visibility = "invisible"
        }
    }

    over "J4_link"
    {
        over "collisions"
        {
            token visibility = "invisible"
        }
    }

    over "J5_link"
    {
        over "collisions"
        {
            token visibility = "invisible"
        }
    }

    over "J6_link"
    {
        over "collisions"
        {
            token visibility = "invisible"
        }
    }
    variantSet "Sensor" = {
        "none" (
            prepend payload = @./payloads/Sensor/none.usda@
        ) {

        }
        "sensors" (
            prepend payload = @./payloads/Sensor/sensors.usda@
        ) {

        }
    }
    variantSet "PhysX" = {
        "Disabled" {

        }
        "Enabled" (
            prepend payload = @./runnables/physics/physx.usda@
        ) {

        }
    }
    variantSet "Newton" = {
        "Disabled" {

        }
        "Enabled" (
            prepend payload = @./runnables/physics/newton.usda@
        ) {

        }
    }
    variantSet "MuJoCo" = {
        "Disabled" {

        }
        "Enabled" (
            prepend payload = @./runnables/physics/mujoco.usda@
        ) {

        }
    }
}