From c8a3e0a66cc3586e3ccc77ab77d183630d48126a Mon Sep 17 00:00:00 2001
From: Giang Nguyen <hoanggia@uni-bremen.de>
Date: Sun, 24 Sep 2023 23:08:19 +0200
Subject: [PATCH] Clear output

---
 tutorials/MuJoCo-Tutorial.ipynb | 13907 +-----------------------------
 1 file changed, 52 insertions(+), 13855 deletions(-)

diff --git a/tutorials/MuJoCo-Tutorial.ipynb b/tutorials/MuJoCo-Tutorial.ipynb
index 5685d8308..5f2c4d988 100644
--- a/tutorials/MuJoCo-Tutorial.ipynb
+++ b/tutorials/MuJoCo-Tutorial.ipynb
@@ -16,19 +16,9 @@
   },
   {
    "cell_type": "code",
-   "execution_count": 1,
+   "execution_count": null,
    "metadata": {},
-   "outputs": [
-    {
-     "name": "stdout",
-     "output_type": "stream",
-     "text": [
-      "You are not in the 'Multiverse' directory, navigate to the 'Multiverse' directory.\n",
-      "/media/giang/Storage/Multiverse\n",
-      "You are now in the 'Multiverse' directory.\n"
-     ]
-    }
-   ],
+   "outputs": [],
    "source": [
     "if [ \"$(basename \"$PWD\")\" == \"Multiverse\" ]; then\n",
     "    echo \"You are in the 'Multiverse' directory.\"\n",
@@ -63,7 +53,7 @@
   },
   {
    "cell_type": "code",
-   "execution_count": 2,
+   "execution_count": null,
    "metadata": {},
    "outputs": [],
    "source": [
@@ -130,7 +120,7 @@
   },
   {
    "cell_type": "code",
-   "execution_count": 3,
+   "execution_count": null,
    "metadata": {
     "vscode": {
      "languageId": "shellscript"
@@ -151,60 +141,9 @@
   },
   {
    "cell_type": "code",
-   "execution_count": 4,
+   "execution_count": null,
    "metadata": {},
-   "outputs": [
-    {
-     "name": "stdout",
-     "output_type": "stream",
-     "text": [
-      "Created file my_robot_description/package.xml\n",
-      "Created file my_robot_description/CMakeLists.txt\n",
-      "Successfully created files in /media/giang/Storage/Multiverse/tutorial_ws/src/my_robot_description. Please adjust the values in package.xml.\n",
-      "\u001b[35m--------------------------------------------------------------------------------\u001b[0m\u001b[0m\n",
-      "\u001b[36mProfile:\u001b[0m                     \u001b[33mdefault\u001b[0m\u001b[0m\n",
-      "\u001b[36mExtending:\u001b[0m             \u001b[32m[env]\u001b[0m\u001b[0m \u001b[33m/media/giang/Storage/Multiverse/multiverse_ws/devel:/opt/ros/noetic\u001b[0m\u001b[0m\n",
-      "\u001b[36mWorkspace:\u001b[0m                   \u001b[33m/media/giang/Storage/Multiverse/tutorial_ws\u001b[0m\u001b[0m\n",
-      "\u001b[35m--------------------------------------------------------------------------------\u001b[0m\u001b[0m\n",
-      "\u001b[36mBuild Space:\u001b[0m        \u001b[32m[exists]\u001b[0m\u001b[0m \u001b[33m/media/giang/Storage/Multiverse/tutorial_ws/build\u001b[0m\u001b[0m\n",
-      "\u001b[36mDevel Space:\u001b[0m        \u001b[32m[exists]\u001b[0m\u001b[0m \u001b[33m/media/giang/Storage/Multiverse/tutorial_ws/devel\u001b[0m\u001b[0m\n",
-      "\u001b[36mInstall Space:\u001b[0m      \u001b[34m[unused]\u001b[0m\u001b[0m \u001b[33m/media/giang/Storage/Multiverse/tutorial_ws/install\u001b[0m\u001b[0m\n",
-      "\u001b[36mLog Space:\u001b[0m         \u001b[31m[missing]\u001b[0m\u001b[0m \u001b[33m/media/giang/Storage/Multiverse/tutorial_ws/logs\u001b[0m\u001b[0m\n",
-      "\u001b[36mSource Space:\u001b[0m       \u001b[32m[exists]\u001b[0m\u001b[0m \u001b[33m/media/giang/Storage/Multiverse/tutorial_ws/src\u001b[0m\u001b[0m\n",
-      "\u001b[36mDESTDIR:\u001b[0m            \u001b[34m[unused]\u001b[0m\u001b[0m \u001b[33mNone\u001b[0m\u001b[0m\n",
-      "\u001b[35m--------------------------------------------------------------------------------\u001b[0m\u001b[0m\n",
-      "\u001b[36mDevel Space Layout:\u001b[0m          \u001b[33mlinked\u001b[0m\u001b[0m\n",
-      "\u001b[36mInstall Space Layout:\u001b[0m        \u001b[33mNone\u001b[0m\u001b[0m\n",
-      "\u001b[35m--------------------------------------------------------------------------------\u001b[0m\u001b[0m\n",
-      "\u001b[36mAdditional CMake Args:\u001b[0m       \u001b[33mNone\u001b[0m\u001b[0m\n",
-      "\u001b[36mAdditional Make Args:\u001b[0m        \u001b[33mNone\u001b[0m\u001b[0m\n",
-      "\u001b[36mAdditional catkin Make Args:\u001b[0m \u001b[33mNone\u001b[0m\u001b[0m\n",
-      "\u001b[36mInternal Make Job Server:\u001b[0m    \u001b[33mTrue\u001b[0m\u001b[0m\n",
-      "\u001b[36mCache Job Environments:\u001b[0m      \u001b[33mFalse\u001b[0m\u001b[0m\n",
-      "\u001b[35m--------------------------------------------------------------------------------\u001b[0m\u001b[0m\n",
-      "\u001b[36mBuildlisted Packages:\u001b[0m        \u001b[33mNone\u001b[0m\u001b[0m\n",
-      "\u001b[36mSkiplisted Packages:\u001b[0m         \u001b[33mNone\u001b[0m\u001b[0m\n",
-      "\u001b[35m--------------------------------------------------------------------------------\u001b[0m\u001b[0m\n",
-      "\u001b[1m\u001b[36mWorkspace configuration appears valid.\u001b[0m\u001b[0m\n",
-      "\n",
-      "\u001b[1m\u001b[36mNOTE:\u001b[0m Forcing CMake to run for each package.\u001b[0m\n",
-      "\u001b[35m--------------------------------------------------------------------------------\u001b[0m\u001b[0m\n",
-      "[build] Found 1 packages in 0.0 seconds.                                       \n",
-      "[build] Updating package table.                                                \n",
-      "Starting  \u001b[1m\u001b[32m>>>\u001b[0m \u001b[1m\u001b[36mcatkin_tools_prebuild               \u001b[0m\u001b[0m                             \n",
-      "\u001b[1m\u001b[30mFinished\u001b[0m  \u001b[32m<<<\u001b[0m \u001b[36mcatkin_tools_prebuild               \u001b[0m [ \u001b[33m1.2 seconds\u001b[0m ]\u001b[0m             ed]\u001b[0m [\u001b[36mcatkin_tools_prebuild\u001b[0m:\u001b[34m\u001b[0m\u001b[0m... \n",
-      "Starting  \u001b[1m\u001b[32m>>>\u001b[0m \u001b[1m\u001b[36mmy_robot_description                \u001b[0m\u001b[0m                             \n",
-      "\u001b[1m\u001b[30mFinished\u001b[0m  \u001b[32m<<<\u001b[0m \u001b[36mmy_robot_description                \u001b[0m [ \u001b[33m1.2 seconds\u001b[0m ]\u001b[0m             ed]\u001b[0m [\u001b[36mmy_robot_description\u001b[0m:\u001b[34mm\u001b[0m\u001b[0m... \n",
-      "[build] \u001b[3m\u001b[1m\u001b[32mSummary:\u001b[0m \u001b[3mAll \u001b[1m2\u001b[0m \u001b[3mpackages succeeded!\u001b[0m\u001b[0m                                     \n",
-      "[build]   \u001b[3m\u001b[1m\u001b[30mIgnored:   None.\u001b[0m\u001b[0m                                                     \n",
-      "[build]   \u001b[3m\u001b[1m\u001b[30mWarnings:  None.\u001b[0m\u001b[0m                                                     \n",
-      "[build]   \u001b[3m\u001b[1m\u001b[30mAbandoned: None.\u001b[0m\u001b[0m                                                     \n",
-      "[build]   \u001b[3m\u001b[1m\u001b[30mFailed:    None.\u001b[0m\u001b[0m                                                     \n",
-      "[build] \u001b[3m\u001b[1mRuntime:\u001b[0m \u001b[3m2.4 seconds total.\u001b[0m\u001b[0m                                            \n",
-      "[build] \u001b[3m\u001b[1mNote:\u001b[0m \u001b[3mWorkspace packages have changed, please re-source setup files to use them.\u001b[0m\u001b[0m\n"
-     ]
-    }
-   ],
+   "outputs": [],
    "source": [
     "source $MULTIVERSE_DIR/multiverse_ws/devel/setup.bash\n",
     "\n",
@@ -224,38 +163,9 @@
   },
   {
    "cell_type": "code",
-   "execution_count": 5,
+   "execution_count": null,
    "metadata": {},
-   "outputs": [
-    {
-     "name": "stdout",
-     "output_type": "stream",
-     "text": [
-      "usage: multiverse_parser [-h] --input INPUT --output OUTPUT\n",
-      "                         [--physics | --no-physics] [--visual | --no-visual]\n",
-      "                         [--collision | --no-collision]\n",
-      "                         [--keepusd | --no-keepusd]\n",
-      "                         [--collisionrgba COLLISIONRGBA [COLLISIONRGBA ...]]\n",
-      "\n",
-      "Multiverse parser\n",
-      "\n",
-      "options:\n",
-      "  -h, --help            show this help message and exit\n",
-      "  --input INPUT         Import scene description as (URDF, MJCF, WORLD or USD)\n",
-      "  --output OUTPUT       Export scene description as (URDF, MJCF, WORLD or USD)\n",
-      "  --physics, --no-physics\n",
-      "                        Whether to include physics properties or not\n",
-      "  --visual, --no-visual\n",
-      "                        Whether to include visual meshes or not\n",
-      "  --collision, --no-collision\n",
-      "                        Whether to include collision meshes or not\n",
-      "  --keepusd, --no-keepusd\n",
-      "                        Whether to keep the USD file or not\n",
-      "  --collisionrgba COLLISIONRGBA [COLLISIONRGBA ...]\n",
-      "                        The color of the collision meshes, if they exist\n"
-     ]
-    }
-   ],
+   "outputs": [],
    "source": [
     "multiverse_parser --help"
    ]
@@ -277,502 +187,9 @@
   },
   {
    "cell_type": "code",
-   "execution_count": 6,
+   "execution_count": null,
    "metadata": {},
-   "outputs": [
-    {
-     "name": "stdout",
-     "output_type": "stream",
-     "text": [
-      "Create /tmp/cache/FXIIgNTYvU/tmp.usda\n",
-      "(  0.0000 sec |   0.0000 sec) Importing OBJ '/media/giang/Storage/Multiverse/multiverse_ws/src/multiverse_robots/pal_robotics/tiago_dual_description/urdf/tiago_dual/obj/base.obj'...\n",
-      "  (  0.0001 sec |   0.0000 sec) Parsing OBJ file...\n",
-      "    (  0.1619 sec |   0.1618 sec) Done, loading materials and images...\n",
-      "    (  0.1628 sec |   0.1627 sec) Done, building geometries (verts:10748 faces:21429 materials: 1 smoothgroups:0) ...\n",
-      "    (  0.2633 sec |   0.2632 sec) Done.\n",
-      "  (  0.2634 sec |   0.2633 sec) Finished importing: '/media/giang/Storage/Multiverse/multiverse_ws/src/multiverse_robots/pal_robotics/tiago_dual_description/urdf/tiago_dual/obj/base.obj'\n",
-      "Progress: 100.00%\n",
-      "\n",
-      "USD export of '/tmp/cache/FXIIgNTYvU/tmp/usd/visual/base.usda' took 45.7 ms\n",
-      "(  0.0000 sec |   0.0000 sec) Importing OBJ '/media/giang/Storage/Multiverse/multiverse_ws/src/multiverse_robots/pal_robotics/tiago_dual_description/urdf/tiago_dual/obj/sick_tim551.obj'...\n",
-      "  (  0.0001 sec |   0.0000 sec) Parsing OBJ file...\n",
-      "    (  0.0159 sec |   0.0158 sec) Done, loading materials and images...\n",
-      "    (  0.0163 sec |   0.0162 sec) Done, building geometries (verts:988 faces:1989 materials: 1 smoothgroups:0) ...\n",
-      "    (  0.0283 sec |   0.0283 sec) Done.\n",
-      "  (  0.0284 sec |   0.0284 sec) Finished importing: '/media/giang/Storage/Multiverse/multiverse_ws/src/multiverse_robots/pal_robotics/tiago_dual_description/urdf/tiago_dual/obj/sick_tim551.obj'\n",
-      "Progress: 100.00%\n",
-      "\n",
-      "USD export of '/tmp/cache/FXIIgNTYvU/tmp/usd/visual/sick_tim551.usda' took 6.7 ms\n",
-      "(  0.0000 sec |   0.0000 sec) Importing OBJ '/media/giang/Storage/Multiverse/multiverse_ws/src/multiverse_robots/pal_robotics/tiago_dual_description/urdf/tiago_dual/obj/srf05.obj'...\n",
-      "  (  0.0001 sec |   0.0000 sec) Parsing OBJ file...\n",
-      "    (  0.0004 sec |   0.0003 sec) Done, loading materials and images...\n",
-      "    (  0.0006 sec |   0.0005 sec) Done, building geometries (verts:35 faces:49 materials: 1 smoothgroups:0) ...\n",
-      "    (  0.0014 sec |   0.0013 sec) Done.\n",
-      "  (  0.0014 sec |   0.0014 sec) Finished importing: '/media/giang/Storage/Multiverse/multiverse_ws/src/multiverse_robots/pal_robotics/tiago_dual_description/urdf/tiago_dual/obj/srf05.obj'\n",
-      "Progress: 100.00%\n",
-      "\n",
-      "USD export of '/tmp/cache/FXIIgNTYvU/tmp/usd/visual/srf05.usda' took 1.8 ms\n",
-      "(  0.0000 sec |   0.0000 sec) Importing OBJ '/media/giang/Storage/Multiverse/multiverse_ws/src/multiverse_robots/pal_robotics/tiago_dual_description/urdf/tiago_dual/obj/antenna.obj'...\n",
-      "  (  0.0001 sec |   0.0001 sec) Parsing OBJ file...\n",
-      "    (  0.0422 sec |   0.0421 sec) Done, loading materials and images...\n",
-      "    (  0.0426 sec |   0.0425 sec) Done, building geometries (verts:1974 faces:3948 materials: 1 smoothgroups:0) ...\n",
-      "    (  0.0612 sec |   0.0611 sec) Done.\n",
-      "  (  0.0612 sec |   0.0612 sec) Finished importing: '/media/giang/Storage/Multiverse/multiverse_ws/src/multiverse_robots/pal_robotics/tiago_dual_description/urdf/tiago_dual/obj/antenna.obj'\n",
-      "Progress: 100.00%\n",
-      "\n",
-      "USD export of '/tmp/cache/FXIIgNTYvU/tmp/usd/visual/antenna.usda' took 10.2 ms\n",
-      "(  0.0000 sec |   0.0000 sec) Importing OBJ '/media/giang/Storage/Multiverse/multiverse_ws/src/multiverse_robots/pal_robotics/tiago_dual_description/urdf/tiago_dual/obj/wheel.obj'...\n",
-      "  (  0.0001 sec |   0.0000 sec) Parsing OBJ file...\n",
-      "    (  0.0356 sec |   0.0355 sec) Done, loading materials and images...\n",
-      "    (  0.0360 sec |   0.0359 sec) Done, building geometries (verts:3049 faces:5999 materials: 1 smoothgroups:0) ...\n",
-      "    (  0.0622 sec |   0.0621 sec) Done.\n",
-      "  (  0.0622 sec |   0.0622 sec) Finished importing: '/media/giang/Storage/Multiverse/multiverse_ws/src/multiverse_robots/pal_robotics/tiago_dual_description/urdf/tiago_dual/obj/wheel.obj'\n",
-      "Progress: 100.00%\n",
-      "\n",
-      "USD export of '/tmp/cache/FXIIgNTYvU/tmp/usd/visual/wheel.usda' took 14.6 ms\n",
-      "(  0.0000 sec |   0.0000 sec) Importing OBJ '/media/giang/Storage/Multiverse/multiverse_ws/src/multiverse_robots/pal_robotics/tiago_dual_description/urdf/tiago_dual/obj/caster_1.obj'...\n",
-      "  (  0.0001 sec |   0.0000 sec) Parsing OBJ file...\n",
-      "    (  0.0099 sec |   0.0098 sec) Done, loading materials and images...\n",
-      "    (  0.0104 sec |   0.0103 sec) Done, building geometries (verts:394 faces:799 materials: 1 smoothgroups:0) ...\n",
-      "    (  0.0167 sec |   0.0166 sec) Done.\n",
-      "  (  0.0167 sec |   0.0166 sec) Finished importing: '/media/giang/Storage/Multiverse/multiverse_ws/src/multiverse_robots/pal_robotics/tiago_dual_description/urdf/tiago_dual/obj/caster_1.obj'\n",
-      "Progress: 100.00%\n",
-      "\n",
-      "USD export of '/tmp/cache/FXIIgNTYvU/tmp/usd/visual/caster_1.usda' took 4.9 ms\n",
-      "(  0.0000 sec |   0.0000 sec) Importing OBJ '/media/giang/Storage/Multiverse/multiverse_ws/src/multiverse_robots/pal_robotics/tiago_dual_description/urdf/tiago_dual/obj/caster_2.obj'...\n",
-      "  (  0.0001 sec |   0.0000 sec) Parsing OBJ file...\n",
-      "    (  0.0039 sec |   0.0038 sec) Done, loading materials and images...\n",
-      "    (  0.0043 sec |   0.0042 sec) Done, building geometries (verts:250 faces:500 materials: 1 smoothgroups:0) ...\n",
-      "    (  0.0085 sec |   0.0084 sec) Done.\n",
-      "  (  0.0085 sec |   0.0085 sec) Finished importing: '/media/giang/Storage/Multiverse/multiverse_ws/src/multiverse_robots/pal_robotics/tiago_dual_description/urdf/tiago_dual/obj/caster_2.obj'\n",
-      "Progress: 100.00%\n",
-      "\n",
-      "USD export of '/tmp/cache/FXIIgNTYvU/tmp/usd/visual/caster_2.usda' took 2.8 ms\n",
-      "(  0.0000 sec |   0.0000 sec) Importing OBJ '/media/giang/Storage/Multiverse/multiverse_ws/src/multiverse_robots/pal_robotics/tiago_dual_description/urdf/tiago_dual/obj/torso_fix.obj'...\n",
-      "  (  0.0001 sec |   0.0000 sec) Parsing OBJ file...\n",
-      "    (  0.0070 sec |   0.0069 sec) Done, loading materials and images...\n",
-      "    (  0.0073 sec |   0.0072 sec) Done, building geometries (verts:572 faces:1140 materials: 1 smoothgroups:0) ...\n",
-      "    (  0.0144 sec |   0.0143 sec) Done.\n",
-      "  (  0.0145 sec |   0.0144 sec) Finished importing: '/media/giang/Storage/Multiverse/multiverse_ws/src/multiverse_robots/pal_robotics/tiago_dual_description/urdf/tiago_dual/obj/torso_fix.obj'\n",
-      "Progress: 100.00%\n",
-      "\n",
-      "USD export of '/tmp/cache/FXIIgNTYvU/tmp/usd/visual/torso_fix.usda' took 5.8 ms\n",
-      "(  0.0000 sec |   0.0000 sec) Importing OBJ '/media/giang/Storage/Multiverse/multiverse_ws/src/multiverse_robots/pal_robotics/tiago_dual_description/urdf/tiago_dual/obj/torso_lift_dual_arm.obj'...\n",
-      "  (  0.0001 sec |   0.0000 sec) Parsing OBJ file...\n",
-      "    (  0.1605 sec |   0.1604 sec) Done, loading materials and images...\n",
-      "    (  0.1610 sec |   0.1609 sec) Done, building geometries (verts:9615 faces:19234 materials: 1 smoothgroups:0) ...\n",
-      "    (  0.2479 sec |   0.2478 sec) Done.\n",
-      "  (  0.2479 sec |   0.2479 sec) Finished importing: '/media/giang/Storage/Multiverse/multiverse_ws/src/multiverse_robots/pal_robotics/tiago_dual_description/urdf/tiago_dual/obj/torso_lift_dual_arm.obj'\n",
-      "Progress: 100.00%\n",
-      "\n",
-      "USD export of '/tmp/cache/FXIIgNTYvU/tmp/usd/visual/torso_lift_dual_arm.usda' took 41.2 ms\n",
-      "(  0.0000 sec |   0.0000 sec) Importing OBJ '/media/giang/Storage/Multiverse/multiverse_ws/src/multiverse_robots/pal_robotics/tiago_dual_description/urdf/tiago_dual/obj/head_1.obj'...\n",
-      "  (  0.0001 sec |   0.0000 sec) Parsing OBJ file...\n",
-      "    (  0.0166 sec |   0.0165 sec) Done, loading materials and images...\n",
-      "    (  0.0171 sec |   0.0170 sec) Done, building geometries (verts:808 faces:1616 materials: 1 smoothgroups:0) ...\n",
-      "    (  0.0326 sec |   0.0325 sec) Done.\n",
-      "  (  0.0326 sec |   0.0326 sec) Finished importing: '/media/giang/Storage/Multiverse/multiverse_ws/src/multiverse_robots/pal_robotics/tiago_dual_description/urdf/tiago_dual/obj/head_1.obj'\n",
-      "Progress: 100.00%\n",
-      "\n",
-      "USD export of '/tmp/cache/FXIIgNTYvU/tmp/usd/visual/head_1.usda' took 5.2 ms\n",
-      "(  0.0000 sec |   0.0000 sec) Importing OBJ '/media/giang/Storage/Multiverse/multiverse_ws/src/multiverse_robots/pal_robotics/tiago_dual_description/urdf/tiago_dual/obj/head_2.obj'...\n",
-      "  (  0.0001 sec |   0.0000 sec) Parsing OBJ file...\n",
-      "    (  0.0131 sec |   0.0130 sec) Done, loading materials and images...\n",
-      "    (  0.0135 sec |   0.0134 sec) Done, building geometries (verts:1450 faces:2896 materials: 1 smoothgroups:0) ...\n",
-      "    (  0.0290 sec |   0.0289 sec) Done.\n",
-      "  (  0.0291 sec |   0.0291 sec) Finished importing: '/media/giang/Storage/Multiverse/multiverse_ws/src/multiverse_robots/pal_robotics/tiago_dual_description/urdf/tiago_dual/obj/head_2.obj'\n"
-     ]
-    },
-    {
-     "name": "stdout",
-     "output_type": "stream",
-     "text": [
-      "Progress: 100.00%\n",
-      "\n",
-      "USD export of '/tmp/cache/FXIIgNTYvU/tmp/usd/visual/head_2.usda' took 8.9 ms\n",
-      "(  0.0000 sec |   0.0000 sec) Importing OBJ '/media/giang/Storage/Multiverse/multiverse_ws/src/multiverse_robots/pal_robotics/tiago_dual_description/urdf/tiago_dual/obj/arm_1.obj'...\n",
-      "  (  0.0001 sec |   0.0001 sec) Parsing OBJ file...\n",
-      "    (  0.0510 sec |   0.0509 sec) Done, loading materials and images...\n",
-      "    (  0.0514 sec |   0.0513 sec) Done, building geometries (verts:2409 faces:4804 materials: 1 smoothgroups:0) ...\n",
-      "    (  0.0748 sec |   0.0747 sec) Done.\n",
-      "  (  0.0748 sec |   0.0748 sec) Finished importing: '/media/giang/Storage/Multiverse/multiverse_ws/src/multiverse_robots/pal_robotics/tiago_dual_description/urdf/tiago_dual/obj/arm_1.obj'\n",
-      "Progress: 100.00%\n",
-      "\n",
-      "USD export of '/tmp/cache/FXIIgNTYvU/tmp/usd/visual/arm_1.usda' took 12.6 ms\n",
-      "(  0.0000 sec |   0.0000 sec) Importing OBJ '/media/giang/Storage/Multiverse/multiverse_ws/src/multiverse_robots/pal_robotics/tiago_dual_description/urdf/tiago_dual/obj/arm_2.obj'...\n",
-      "  (  0.0001 sec |   0.0000 sec) Parsing OBJ file...\n",
-      "    (  0.1455 sec |   0.1454 sec) Done, loading materials and images...\n",
-      "    (  0.1459 sec |   0.1458 sec) Done, building geometries (verts:9883 faces:19766 materials: 1 smoothgroups:0) ...\n",
-      "    (  0.2780 sec |   0.2779 sec) Done.\n",
-      "  (  0.2781 sec |   0.2780 sec) Finished importing: '/media/giang/Storage/Multiverse/multiverse_ws/src/multiverse_robots/pal_robotics/tiago_dual_description/urdf/tiago_dual/obj/arm_2.obj'\n",
-      "Progress: 100.00%\n",
-      "\n",
-      "USD export of '/tmp/cache/FXIIgNTYvU/tmp/usd/visual/arm_2.usda' took 45.7 ms\n",
-      "(  0.0000 sec |   0.0000 sec) Importing OBJ '/media/giang/Storage/Multiverse/multiverse_ws/src/multiverse_robots/pal_robotics/tiago_dual_description/urdf/tiago_dual/obj/arm_3.obj'...\n",
-      "  (  0.0001 sec |   0.0001 sec) Parsing OBJ file...\n",
-      "    (  0.0900 sec |   0.0898 sec) Done, loading materials and images...\n",
-      "    (  0.0904 sec |   0.0903 sec) Done, building geometries (verts:4916 faces:9820 materials: 1 smoothgroups:0) ...\n",
-      "    (  0.1372 sec |   0.1371 sec) Done.\n",
-      "  (  0.1373 sec |   0.1372 sec) Finished importing: '/media/giang/Storage/Multiverse/multiverse_ws/src/multiverse_robots/pal_robotics/tiago_dual_description/urdf/tiago_dual/obj/arm_3.obj'\n",
-      "Progress: 100.00%\n",
-      "\n",
-      "USD export of '/tmp/cache/FXIIgNTYvU/tmp/usd/visual/arm_3.usda' took 24.1 ms\n",
-      "(  0.0000 sec |   0.0000 sec) Importing OBJ '/media/giang/Storage/Multiverse/multiverse_ws/src/multiverse_robots/pal_robotics/tiago_dual_description/urdf/tiago_dual/obj/arm_4.obj'...\n",
-      "  (  0.0001 sec |   0.0001 sec) Parsing OBJ file...\n",
-      "    (  0.0486 sec |   0.0485 sec) Done, loading materials and images...\n",
-      "    (  0.0490 sec |   0.0489 sec) Done, building geometries (verts:4156 faces:8149 materials: 1 smoothgroups:0) ...\n",
-      "    (  0.1165 sec |   0.1164 sec) Done.\n",
-      "  (  0.1166 sec |   0.1165 sec) Finished importing: '/media/giang/Storage/Multiverse/multiverse_ws/src/multiverse_robots/pal_robotics/tiago_dual_description/urdf/tiago_dual/obj/arm_4.obj'\n",
-      "Progress: 100.00%\n",
-      "\n",
-      "USD export of '/tmp/cache/FXIIgNTYvU/tmp/usd/visual/arm_4.usda' took 18.8 ms\n",
-      "(  0.0000 sec |   0.0000 sec) Importing OBJ '/media/giang/Storage/Multiverse/multiverse_ws/src/multiverse_robots/pal_robotics/tiago_dual_description/urdf/tiago_dual/obj/arm_5-wrist-2017.obj'...\n",
-      "  (  0.0001 sec |   0.0001 sec) Parsing OBJ file...\n",
-      "    (  0.0261 sec |   0.0260 sec) Done, loading materials and images...\n",
-      "    (  0.0265 sec |   0.0264 sec) Done, building geometries (verts:1885 faces:3758 materials: 1 smoothgroups:0) ...\n",
-      "    (  0.0449 sec |   0.0448 sec) Done.\n",
-      "  (  0.0449 sec |   0.0449 sec) Finished importing: '/media/giang/Storage/Multiverse/multiverse_ws/src/multiverse_robots/pal_robotics/tiago_dual_description/urdf/tiago_dual/obj/arm_5-wrist-2017.obj'\n",
-      "Progress: 100.00%\n",
-      "\n",
-      "USD export of '/tmp/cache/FXIIgNTYvU/tmp/usd/visual/arm_5_wrist_2017.usda' took 10.2 ms\n",
-      "(  0.0000 sec |   0.0000 sec) Importing OBJ '/media/giang/Storage/Multiverse/multiverse_ws/src/multiverse_robots/pal_robotics/tiago_dual_description/urdf/tiago_dual/obj/arm_6-wrist-2017.obj'...\n",
-      "  (  0.0001 sec |   0.0000 sec) Parsing OBJ file...\n",
-      "    (  0.0205 sec |   0.0204 sec) Done, loading materials and images...\n",
-      "    (  0.0209 sec |   0.0208 sec) Done, building geometries (verts:1406 faces:2802 materials: 1 smoothgroups:0) ...\n",
-      "    (  0.0352 sec |   0.0352 sec) Done.\n",
-      "  (  0.0353 sec |   0.0353 sec) Finished importing: '/media/giang/Storage/Multiverse/multiverse_ws/src/multiverse_robots/pal_robotics/tiago_dual_description/urdf/tiago_dual/obj/arm_6-wrist-2017.obj'\n",
-      "Progress: 100.00%\n",
-      "\n",
-      "USD export of '/tmp/cache/FXIIgNTYvU/tmp/usd/visual/arm_6_wrist_2017.usda' took 7.9 ms\n",
-      "(  0.0001 sec |   0.0001 sec) Importing OBJ '/media/giang/Storage/Multiverse/multiverse_ws/src/multiverse_robots/pal_robotics/tiago_dual_description/urdf/tiago_dual/obj/gripper_link.obj'...\n",
-      "  (  0.0001 sec |   0.0001 sec) Parsing OBJ file...\n",
-      "    (  0.0605 sec |   0.0604 sec) Done, loading materials and images...\n",
-      "    (  0.0609 sec |   0.0608 sec) Done, building geometries (verts:4829 faces:6991 materials: 1 smoothgroups:0) ...\n",
-      "    (  0.0928 sec |   0.0926 sec) Done.\n",
-      "  (  0.0928 sec |   0.0928 sec) Finished importing: '/media/giang/Storage/Multiverse/multiverse_ws/src/multiverse_robots/pal_robotics/tiago_dual_description/urdf/tiago_dual/obj/gripper_link.obj'\n",
-      "Progress: 100.00%\n",
-      "\n",
-      "USD export of '/tmp/cache/FXIIgNTYvU/tmp/usd/visual/gripper_link.usda' took 16.9 ms\n",
-      "(  0.0000 sec |   0.0000 sec) Importing OBJ '/media/giang/Storage/Multiverse/multiverse_ws/src/multiverse_robots/pal_robotics/tiago_dual_description/urdf/tiago_dual/obj/gripper_finger_link.obj'...\n",
-      "  (  0.0001 sec |   0.0000 sec) Parsing OBJ file...\n",
-      "    (  0.0135 sec |   0.0134 sec) Done, loading materials and images...\n",
-      "    (  0.0141 sec |   0.0140 sec) Done, building geometries (verts:677 faces:1404 materials: 1 smoothgroups:0) ...\n",
-      "    (  0.0221 sec |   0.0220 sec) Done.\n",
-      "  (  0.0221 sec |   0.0221 sec) Finished importing: '/media/giang/Storage/Multiverse/multiverse_ws/src/multiverse_robots/pal_robotics/tiago_dual_description/urdf/tiago_dual/obj/gripper_finger_link.obj'\n",
-      "Progress: 100.00%\n",
-      "\n",
-      "USD export of '/tmp/cache/FXIIgNTYvU/tmp/usd/visual/gripper_finger_link.usda' took 5.1 ms\n",
-      "(  0.0000 sec |   0.0000 sec) Importing OBJ '/media/giang/Storage/Multiverse/multiverse_ws/src/multiverse_robots/pal_robotics/tiago_dual_description/urdf/tiago_dual/obj/base_ring.obj'...\n",
-      "  (  0.0001 sec |   0.0000 sec) Parsing OBJ file...\n",
-      "    (  0.0092 sec |   0.0091 sec) Done, loading materials and images...\n",
-      "    (  0.0096 sec |   0.0095 sec) Done, building geometries (verts:871 faces:1728 materials: 1 smoothgroups:0) ...\n",
-      "    (  0.0185 sec |   0.0184 sec) Done.\n",
-      "  (  0.0186 sec |   0.0185 sec) Finished importing: '/media/giang/Storage/Multiverse/multiverse_ws/src/multiverse_robots/pal_robotics/tiago_dual_description/urdf/tiago_dual/obj/base_ring.obj'\n",
-      "Progress: 100.00%\n",
-      "\n",
-      "USD export of '/tmp/cache/FXIIgNTYvU/tmp/usd/visual/base_ring.usda' took 5.7 ms\n",
-      "USD import of '/tmp/cache/FXIIgNTYvU/tmp/usd/visual/base.usda' took 11.3 ms\n",
-      "    (  0.0001 sec |   0.0000 sec) OBJ Export path: '/media/giang/Storage/Multiverse/tutorial_ws/src/my_robot_description/urdf/tiago_dual/obj/base.obj'\n",
-      "          (  0.2865 sec |   0.2863 sec) Finished writing geometry of 'base'.\n",
-      "      (  0.2866 sec |   0.2864 sec) Finished exporting geometry, now exporting materials\n",
-      "      (  0.2869 sec |   0.2868 sec) OBJ Export Finished\n",
-      "Progress: 100.00%\n",
-      "\n",
-      "USD import of '/tmp/cache/FXIIgNTYvU/tmp/usd/visual/sick_tim551.usda' took 2.6 ms\n",
-      "    (  0.0001 sec |   0.0000 sec) OBJ Export path: '/media/giang/Storage/Multiverse/tutorial_ws/src/my_robot_description/urdf/tiago_dual/obj/sick_tim551.obj'\n",
-      "          (  0.0241 sec |   0.0239 sec) Finished writing geometry of 'sick_tim551'.\n",
-      "      (  0.0241 sec |   0.0241 sec) Finished exporting geometry, now exporting materials\n",
-      "      (  0.0244 sec |   0.0243 sec) OBJ Export Finished\n",
-      "Progress: 100.00%\n",
-      "\n",
-      "USD import of '/tmp/cache/FXIIgNTYvU/tmp/usd/visual/srf05.usda' took 0.7 ms\n",
-      "    (  0.0001 sec |   0.0000 sec) OBJ Export path: '/media/giang/Storage/Multiverse/tutorial_ws/src/my_robot_description/urdf/tiago_dual/obj/srf05.obj'\n",
-      "          (  0.0008 sec |   0.0007 sec) Finished writing geometry of 'srf05'.\n"
-     ]
-    },
-    {
-     "name": "stdout",
-     "output_type": "stream",
-     "text": [
-      "      (  0.0009 sec |   0.0008 sec) Finished exporting geometry, now exporting materials\n",
-      "      (  0.0010 sec |   0.0009 sec) OBJ Export Finished\n",
-      "Progress: 100.00%\n",
-      "\n",
-      "USD import of '/tmp/cache/FXIIgNTYvU/tmp/usd/visual/srf05.usda' took 0.4 ms\n",
-      "    (  0.0001 sec |   0.0000 sec) OBJ Export path: '/media/giang/Storage/Multiverse/tutorial_ws/src/my_robot_description/urdf/tiago_dual/obj/srf05.obj'\n",
-      "          (  0.0010 sec |   0.0009 sec) Finished writing geometry of 'srf05'.\n",
-      "      (  0.0011 sec |   0.0010 sec) Finished exporting geometry, now exporting materials\n",
-      "      (  0.0013 sec |   0.0012 sec) OBJ Export Finished\n",
-      "Progress: 100.00%\n",
-      "\n",
-      "USD import of '/tmp/cache/FXIIgNTYvU/tmp/usd/visual/srf05.usda' took 0.6 ms\n",
-      "    (  0.0001 sec |   0.0000 sec) OBJ Export path: '/media/giang/Storage/Multiverse/tutorial_ws/src/my_robot_description/urdf/tiago_dual/obj/srf05.obj'\n",
-      "          (  0.0011 sec |   0.0009 sec) Finished writing geometry of 'srf05'.\n",
-      "      (  0.0012 sec |   0.0011 sec) Finished exporting geometry, now exporting materials\n",
-      "      (  0.0014 sec |   0.0013 sec) OBJ Export Finished\n",
-      "Progress: 100.00%\n",
-      "\n",
-      "USD import of '/tmp/cache/FXIIgNTYvU/tmp/usd/visual/antenna.usda' took 6.3 ms\n",
-      "    (  0.0001 sec |   0.0000 sec) OBJ Export path: '/media/giang/Storage/Multiverse/tutorial_ws/src/my_robot_description/urdf/tiago_dual/obj/antenna.obj'\n",
-      "          (  0.0466 sec |   0.0464 sec) Finished writing geometry of 'antenna'.\n",
-      "      (  0.0466 sec |   0.0465 sec) Finished exporting geometry, now exporting materials\n",
-      "      (  0.0469 sec |   0.0468 sec) OBJ Export Finished\n",
-      "Progress: 100.00%\n",
-      "\n",
-      "USD import of '/tmp/cache/FXIIgNTYvU/tmp/usd/visual/antenna.usda' took 4.3 ms\n",
-      "    (  0.0001 sec |   0.0000 sec) OBJ Export path: '/media/giang/Storage/Multiverse/tutorial_ws/src/my_robot_description/urdf/tiago_dual/obj/antenna.obj'\n",
-      "          (  0.0467 sec |   0.0464 sec) Finished writing geometry of 'antenna'.\n",
-      "      (  0.0468 sec |   0.0467 sec) Finished exporting geometry, now exporting materials\n",
-      "      (  0.0471 sec |   0.0469 sec) OBJ Export Finished\n",
-      "Progress: 100.00%\n",
-      "\n",
-      "USD import of '/tmp/cache/FXIIgNTYvU/tmp/usd/visual/wheel.usda' took 4.7 ms\n",
-      "    (  0.0001 sec |   0.0000 sec) OBJ Export path: '/media/giang/Storage/Multiverse/tutorial_ws/src/my_robot_description/urdf/tiago_dual/obj/wheel.obj'\n",
-      "          (  0.0728 sec |   0.0726 sec) Finished writing geometry of 'wheel'.\n",
-      "      (  0.0728 sec |   0.0727 sec) Finished exporting geometry, now exporting materials\n",
-      "      (  0.0731 sec |   0.0730 sec) OBJ Export Finished\n",
-      "Progress: 100.00%\n",
-      "\n",
-      "USD import of '/tmp/cache/FXIIgNTYvU/tmp/usd/visual/wheel.usda' took 5.2 ms\n",
-      "    (  0.0001 sec |   0.0000 sec) OBJ Export path: '/media/giang/Storage/Multiverse/tutorial_ws/src/my_robot_description/urdf/tiago_dual/obj/wheel.obj'\n",
-      "          (  0.0725 sec |   0.0723 sec) Finished writing geometry of 'wheel'.\n",
-      "      (  0.0727 sec |   0.0726 sec) Finished exporting geometry, now exporting materials\n",
-      "      (  0.0729 sec |   0.0728 sec) OBJ Export Finished\n",
-      "Progress: 100.00%\n",
-      "\n",
-      "USD import of '/tmp/cache/FXIIgNTYvU/tmp/usd/visual/caster_1.usda' took 1.9 ms\n",
-      "    (  0.0001 sec |   0.0000 sec) OBJ Export path: '/media/giang/Storage/Multiverse/tutorial_ws/src/my_robot_description/urdf/tiago_dual/obj/caster_1.obj'\n",
-      "          (  0.0120 sec |   0.0118 sec) Finished writing geometry of 'caster_1'.\n",
-      "      (  0.0120 sec |   0.0119 sec) Finished exporting geometry, now exporting materials\n",
-      "      (  0.0122 sec |   0.0121 sec) OBJ Export Finished\n",
-      "Progress: 100.00%\n",
-      "\n",
-      "USD import of '/tmp/cache/FXIIgNTYvU/tmp/usd/visual/caster_2.usda' took 1.1 ms\n",
-      "    (  0.0001 sec |   0.0000 sec) OBJ Export path: '/media/giang/Storage/Multiverse/tutorial_ws/src/my_robot_description/urdf/tiago_dual/obj/caster_2.obj'\n",
-      "          (  0.0064 sec |   0.0062 sec) Finished writing geometry of 'caster_2'.\n",
-      "      (  0.0064 sec |   0.0063 sec) Finished exporting geometry, now exporting materials\n",
-      "      (  0.0066 sec |   0.0065 sec) OBJ Export Finished\n",
-      "Progress: 100.00%\n",
-      "\n",
-      "USD import of '/tmp/cache/FXIIgNTYvU/tmp/usd/visual/caster_1.usda' took 1.3 ms\n",
-      "    (  0.0001 sec |   0.0000 sec) OBJ Export path: '/media/giang/Storage/Multiverse/tutorial_ws/src/my_robot_description/urdf/tiago_dual/obj/caster_1.obj'\n",
-      "          (  0.0361 sec |   0.0360 sec) Finished writing geometry of 'caster_1'.\n",
-      "      (  0.0362 sec |   0.0361 sec) Finished exporting geometry, now exporting materials\n",
-      "      (  0.0364 sec |   0.0364 sec) OBJ Export Finished\n",
-      "Progress: 100.00%\n",
-      "\n",
-      "USD import of '/tmp/cache/FXIIgNTYvU/tmp/usd/visual/caster_2.usda' took 1.2 ms\n",
-      "    (  0.0001 sec |   0.0000 sec) OBJ Export path: '/media/giang/Storage/Multiverse/tutorial_ws/src/my_robot_description/urdf/tiago_dual/obj/caster_2.obj'\n",
-      "          (  0.0068 sec |   0.0066 sec) Finished writing geometry of 'caster_2'.\n",
-      "      (  0.0069 sec |   0.0068 sec) Finished exporting geometry, now exporting materials\n",
-      "      (  0.0071 sec |   0.0070 sec) OBJ Export Finished\n",
-      "Progress: 100.00%\n",
-      "\n",
-      "USD import of '/tmp/cache/FXIIgNTYvU/tmp/usd/visual/caster_1.usda' took 1.5 ms\n",
-      "    (  0.0001 sec |   0.0000 sec) OBJ Export path: '/media/giang/Storage/Multiverse/tutorial_ws/src/my_robot_description/urdf/tiago_dual/obj/caster_1.obj'\n",
-      "          (  0.0097 sec |   0.0096 sec) Finished writing geometry of 'caster_1'.\n",
-      "      (  0.0098 sec |   0.0097 sec) Finished exporting geometry, now exporting materials\n",
-      "      (  0.0099 sec |   0.0099 sec) OBJ Export Finished\n",
-      "Progress: 100.00%\n",
-      "\n",
-      "USD import of '/tmp/cache/FXIIgNTYvU/tmp/usd/visual/caster_2.usda' took 0.9 ms\n",
-      "    (  0.0000 sec |   0.0000 sec) OBJ Export path: '/media/giang/Storage/Multiverse/tutorial_ws/src/my_robot_description/urdf/tiago_dual/obj/caster_2.obj'\n",
-      "          (  0.0063 sec |   0.0062 sec) Finished writing geometry of 'caster_2'.\n",
-      "      (  0.0064 sec |   0.0063 sec) Finished exporting geometry, now exporting materials\n",
-      "      (  0.0066 sec |   0.0065 sec) OBJ Export Finished\n",
-      "Progress: 100.00%\n",
-      "\n",
-      "USD import of '/tmp/cache/FXIIgNTYvU/tmp/usd/visual/caster_1.usda' took 1.6 ms\n",
-      "    (  0.0001 sec |   0.0000 sec) OBJ Export path: '/media/giang/Storage/Multiverse/tutorial_ws/src/my_robot_description/urdf/tiago_dual/obj/caster_1.obj'\n",
-      "          (  0.0125 sec |   0.0123 sec) Finished writing geometry of 'caster_1'.\n",
-      "      (  0.0126 sec |   0.0125 sec) Finished exporting geometry, now exporting materials\n",
-      "      (  0.0128 sec |   0.0127 sec) OBJ Export Finished\n",
-      "Progress: 100.00%\n",
-      "\n",
-      "USD import of '/tmp/cache/FXIIgNTYvU/tmp/usd/visual/caster_2.usda' took 1.2 ms\n",
-      "    (  0.0001 sec |   0.0000 sec) OBJ Export path: '/media/giang/Storage/Multiverse/tutorial_ws/src/my_robot_description/urdf/tiago_dual/obj/caster_2.obj'\n",
-      "          (  0.0065 sec |   0.0063 sec) Finished writing geometry of 'caster_2'.\n",
-      "      (  0.0065 sec |   0.0065 sec) Finished exporting geometry, now exporting materials\n",
-      "      (  0.0067 sec |   0.0066 sec) OBJ Export Finished\n",
-      "Progress: 100.00%\n",
-      "\n",
-      "USD import of '/tmp/cache/FXIIgNTYvU/tmp/usd/visual/torso_fix.usda' took 1.7 ms\n",
-      "    (  0.0001 sec |   0.0000 sec) OBJ Export path: '/media/giang/Storage/Multiverse/tutorial_ws/src/my_robot_description/urdf/tiago_dual/obj/torso_fix.obj'\n",
-      "          (  0.0140 sec |   0.0139 sec) Finished writing geometry of 'torso_fix'.\n",
-      "      (  0.0140 sec |   0.0140 sec) Finished exporting geometry, now exporting materials\n",
-      "      (  0.0143 sec |   0.0142 sec) OBJ Export Finished\n",
-      "Progress: 100.00%\n",
-      "\n",
-      "USD import of '/tmp/cache/FXIIgNTYvU/tmp/usd/visual/torso_lift_dual_arm.usda' took 10.0 ms\n",
-      "    (  0.0001 sec |   0.0000 sec) OBJ Export path: '/media/giang/Storage/Multiverse/tutorial_ws/src/my_robot_description/urdf/tiago_dual/obj/torso_lift_dual_arm.obj'\n",
-      "          (  0.2347 sec |   0.2345 sec) Finished writing geometry of 'torso_lift_dual_arm'.\n",
-      "      (  0.2347 sec |   0.2346 sec) Finished exporting geometry, now exporting materials\n",
-      "      (  0.2350 sec |   0.2349 sec) OBJ Export Finished\n",
-      "Progress: 100.00%\n",
-      "\n",
-      "USD import of '/tmp/cache/FXIIgNTYvU/tmp/usd/visual/head_1.usda' took 2.3 ms\n",
-      "    (  0.0001 sec |   0.0000 sec) OBJ Export path: '/media/giang/Storage/Multiverse/tutorial_ws/src/my_robot_description/urdf/tiago_dual/obj/head_1.obj'\n",
-      "          (  0.0199 sec |   0.0198 sec) Finished writing geometry of 'head_1'.\n",
-      "      (  0.0200 sec |   0.0199 sec) Finished exporting geometry, now exporting materials\n"
-     ]
-    },
-    {
-     "name": "stdout",
-     "output_type": "stream",
-     "text": [
-      "      (  0.0202 sec |   0.0201 sec) OBJ Export Finished\n",
-      "Progress: 100.00%\n",
-      "\n",
-      "USD import of '/tmp/cache/FXIIgNTYvU/tmp/usd/visual/head_2.usda' took 3.7 ms\n",
-      "    (  0.0001 sec |   0.0000 sec) OBJ Export path: '/media/giang/Storage/Multiverse/tutorial_ws/src/my_robot_description/urdf/tiago_dual/obj/head_2.obj'\n",
-      "          (  0.0410 sec |   0.0409 sec) Finished writing geometry of 'head_2'.\n",
-      "      (  0.0410 sec |   0.0410 sec) Finished exporting geometry, now exporting materials\n",
-      "      (  0.0413 sec |   0.0412 sec) OBJ Export Finished\n",
-      "Progress: 100.00%\n",
-      "\n",
-      "USD import of '/tmp/cache/FXIIgNTYvU/tmp/usd/visual/arm_1.usda' took 4.3 ms\n",
-      "    (  0.0001 sec |   0.0000 sec) OBJ Export path: '/media/giang/Storage/Multiverse/tutorial_ws/src/my_robot_description/urdf/tiago_dual/obj/arm_1.obj'\n",
-      "          (  0.0858 sec |   0.0856 sec) Finished writing geometry of 'arm_1'.\n",
-      "      (  0.0858 sec |   0.0857 sec) Finished exporting geometry, now exporting materials\n",
-      "      (  0.0860 sec |   0.0860 sec) OBJ Export Finished\n",
-      "Progress: 100.00%\n",
-      "\n",
-      "USD import of '/tmp/cache/FXIIgNTYvU/tmp/usd/visual/arm_2.usda' took 11.0 ms\n",
-      "    (  0.0001 sec |   0.0000 sec) OBJ Export path: '/media/giang/Storage/Multiverse/tutorial_ws/src/my_robot_description/urdf/tiago_dual/obj/arm_2.obj'\n",
-      "          (  0.2423 sec |   0.2421 sec) Finished writing geometry of 'arm_2'.\n",
-      "      (  0.2423 sec |   0.2422 sec) Finished exporting geometry, now exporting materials\n",
-      "      (  0.2426 sec |   0.2425 sec) OBJ Export Finished\n",
-      "Progress: 100.00%\n",
-      "\n",
-      "USD import of '/tmp/cache/FXIIgNTYvU/tmp/usd/visual/arm_3.usda' took 6.1 ms\n",
-      "    (  0.0001 sec |   0.0000 sec) OBJ Export path: '/media/giang/Storage/Multiverse/tutorial_ws/src/my_robot_description/urdf/tiago_dual/obj/arm_3.obj'\n",
-      "          (  0.1474 sec |   0.1472 sec) Finished writing geometry of 'arm_3'.\n",
-      "      (  0.1474 sec |   0.1474 sec) Finished exporting geometry, now exporting materials\n",
-      "      (  0.1477 sec |   0.1476 sec) OBJ Export Finished\n",
-      "Progress: 100.00%\n",
-      "\n",
-      "USD import of '/tmp/cache/FXIIgNTYvU/tmp/usd/visual/arm_4.usda' took 5.5 ms\n",
-      "    (  0.0001 sec |   0.0000 sec) OBJ Export path: '/media/giang/Storage/Multiverse/tutorial_ws/src/my_robot_description/urdf/tiago_dual/obj/arm_4.obj'\n",
-      "          (  0.1036 sec |   0.1034 sec) Finished writing geometry of 'arm_4'.\n",
-      "      (  0.1036 sec |   0.1035 sec) Finished exporting geometry, now exporting materials\n",
-      "      (  0.1039 sec |   0.1038 sec) OBJ Export Finished\n",
-      "Progress: 100.00%\n",
-      "\n",
-      "USD import of '/tmp/cache/FXIIgNTYvU/tmp/usd/visual/arm_5_wrist_2017.usda' took 5.3 ms\n",
-      "    (  0.0001 sec |   0.0000 sec) OBJ Export path: '/media/giang/Storage/Multiverse/tutorial_ws/src/my_robot_description/urdf/tiago_dual/obj/arm_5_wrist_2017.obj'\n",
-      "          (  0.0465 sec |   0.0463 sec) Finished writing geometry of 'arm_5_wrist_2017'.\n",
-      "      (  0.0465 sec |   0.0465 sec) Finished exporting geometry, now exporting materials\n",
-      "      (  0.0468 sec |   0.0467 sec) OBJ Export Finished\n",
-      "Progress: 100.00%\n",
-      "\n",
-      "USD import of '/tmp/cache/FXIIgNTYvU/tmp/usd/visual/arm_6_wrist_2017.usda' took 3.2 ms\n",
-      "    (  0.0001 sec |   0.0000 sec) OBJ Export path: '/media/giang/Storage/Multiverse/tutorial_ws/src/my_robot_description/urdf/tiago_dual/obj/arm_6_wrist_2017.obj'\n",
-      "          (  0.0360 sec |   0.0358 sec) Finished writing geometry of 'arm_6_wrist_2017'.\n",
-      "      (  0.0360 sec |   0.0359 sec) Finished exporting geometry, now exporting materials\n",
-      "      (  0.0363 sec |   0.0362 sec) OBJ Export Finished\n",
-      "Progress: 100.00%\n",
-      "\n",
-      "USD import of '/tmp/cache/FXIIgNTYvU/tmp/usd/visual/gripper_link.usda' took 5.9 ms\n",
-      "    (  0.0001 sec |   0.0000 sec) OBJ Export path: '/media/giang/Storage/Multiverse/tutorial_ws/src/my_robot_description/urdf/tiago_dual/obj/gripper_link.obj'\n",
-      "          (  0.0854 sec |   0.0852 sec) Finished writing geometry of 'gripper_link'.\n",
-      "      (  0.0854 sec |   0.0853 sec) Finished exporting geometry, now exporting materials\n",
-      "      (  0.0856 sec |   0.0855 sec) OBJ Export Finished\n",
-      "Progress: 100.00%\n",
-      "\n",
-      "USD import of '/tmp/cache/FXIIgNTYvU/tmp/usd/visual/gripper_finger_link.usda' took 2.2 ms\n",
-      "    (  0.0001 sec |   0.0000 sec) OBJ Export path: '/media/giang/Storage/Multiverse/tutorial_ws/src/my_robot_description/urdf/tiago_dual/obj/gripper_finger_link.obj'\n",
-      "          (  0.0169 sec |   0.0168 sec) Finished writing geometry of 'gripper_finger_link'.\n",
-      "      (  0.0170 sec |   0.0169 sec) Finished exporting geometry, now exporting materials\n",
-      "      (  0.0171 sec |   0.0170 sec) OBJ Export Finished\n",
-      "Progress: 100.00%\n",
-      "\n",
-      "USD import of '/tmp/cache/FXIIgNTYvU/tmp/usd/visual/gripper_finger_link.usda' took 2.0 ms\n",
-      "    (  0.0001 sec |   0.0000 sec) OBJ Export path: '/media/giang/Storage/Multiverse/tutorial_ws/src/my_robot_description/urdf/tiago_dual/obj/gripper_finger_link.obj'\n",
-      "          (  0.0176 sec |   0.0174 sec) Finished writing geometry of 'gripper_finger_link'.\n",
-      "      (  0.0177 sec |   0.0176 sec) Finished exporting geometry, now exporting materials\n",
-      "      (  0.0179 sec |   0.0179 sec) OBJ Export Finished\n",
-      "Progress: 100.00%\n",
-      "\n",
-      "USD import of '/tmp/cache/FXIIgNTYvU/tmp/usd/visual/arm_1.usda' took 4.4 ms\n",
-      "    (  0.0001 sec |   0.0000 sec) OBJ Export path: '/media/giang/Storage/Multiverse/tutorial_ws/src/my_robot_description/urdf/tiago_dual/obj/arm_1.obj'\n",
-      "          (  0.0851 sec |   0.0849 sec) Finished writing geometry of 'arm_1'.\n",
-      "      (  0.0852 sec |   0.0852 sec) Finished exporting geometry, now exporting materials\n",
-      "      (  0.0855 sec |   0.0854 sec) OBJ Export Finished\n",
-      "Progress: 100.00%\n",
-      "\n",
-      "USD import of '/tmp/cache/FXIIgNTYvU/tmp/usd/visual/arm_2.usda' took 12.5 ms\n",
-      "    (  0.0001 sec |   0.0000 sec) OBJ Export path: '/media/giang/Storage/Multiverse/tutorial_ws/src/my_robot_description/urdf/tiago_dual/obj/arm_2.obj'\n",
-      "          (  0.2527 sec |   0.2524 sec) Finished writing geometry of 'arm_2'.\n",
-      "      (  0.2530 sec |   0.2529 sec) Finished exporting geometry, now exporting materials\n",
-      "      (  0.2534 sec |   0.2533 sec) OBJ Export Finished\n",
-      "Progress: 100.00%\n",
-      "\n",
-      "USD import of '/tmp/cache/FXIIgNTYvU/tmp/usd/visual/arm_3.usda' took 6.3 ms\n",
-      "    (  0.0001 sec |   0.0000 sec) OBJ Export path: '/media/giang/Storage/Multiverse/tutorial_ws/src/my_robot_description/urdf/tiago_dual/obj/arm_3.obj'\n",
-      "          (  0.1499 sec |   0.1496 sec) Finished writing geometry of 'arm_3'.\n",
-      "      (  0.1500 sec |   0.1499 sec) Finished exporting geometry, now exporting materials\n",
-      "      (  0.1503 sec |   0.1502 sec) OBJ Export Finished\n",
-      "Progress: 100.00%\n",
-      "\n",
-      "USD import of '/tmp/cache/FXIIgNTYvU/tmp/usd/visual/arm_4.usda' took 6.6 ms\n",
-      "    (  0.0001 sec |   0.0000 sec) OBJ Export path: '/media/giang/Storage/Multiverse/tutorial_ws/src/my_robot_description/urdf/tiago_dual/obj/arm_4.obj'\n",
-      "          (  0.0985 sec |   0.0983 sec) Finished writing geometry of 'arm_4'.\n",
-      "      (  0.0987 sec |   0.0986 sec) Finished exporting geometry, now exporting materials\n",
-      "      (  0.0989 sec |   0.0988 sec) OBJ Export Finished\n",
-      "Progress: 100.00%\n",
-      "\n",
-      "USD import of '/tmp/cache/FXIIgNTYvU/tmp/usd/visual/arm_5_wrist_2017.usda' took 5.1 ms\n",
-      "    (  0.0001 sec |   0.0000 sec) OBJ Export path: '/media/giang/Storage/Multiverse/tutorial_ws/src/my_robot_description/urdf/tiago_dual/obj/arm_5_wrist_2017.obj'\n",
-      "          (  0.0483 sec |   0.0481 sec) Finished writing geometry of 'arm_5_wrist_2017'.\n",
-      "      (  0.0485 sec |   0.0484 sec) Finished exporting geometry, now exporting materials\n",
-      "      (  0.0487 sec |   0.0486 sec) OBJ Export Finished\n",
-      "Progress: 100.00%\n",
-      "\n",
-      "USD import of '/tmp/cache/FXIIgNTYvU/tmp/usd/visual/arm_6_wrist_2017.usda' took 3.3 ms\n",
-      "    (  0.0001 sec |   0.0000 sec) OBJ Export path: '/media/giang/Storage/Multiverse/tutorial_ws/src/my_robot_description/urdf/tiago_dual/obj/arm_6_wrist_2017.obj'\n",
-      "          (  0.0349 sec |   0.0348 sec) Finished writing geometry of 'arm_6_wrist_2017'.\n",
-      "      (  0.0351 sec |   0.0350 sec) Finished exporting geometry, now exporting materials\n",
-      "      (  0.0353 sec |   0.0352 sec) OBJ Export Finished\n",
-      "Progress: 100.00%\n",
-      "\n",
-      "USD import of '/tmp/cache/FXIIgNTYvU/tmp/usd/visual/gripper_link.usda' took 6.1 ms\n",
-      "    (  0.0001 sec |   0.0000 sec) OBJ Export path: '/media/giang/Storage/Multiverse/tutorial_ws/src/my_robot_description/urdf/tiago_dual/obj/gripper_link.obj'\n",
-      "          (  0.1122 sec |   0.1119 sec) Finished writing geometry of 'gripper_link'.\n",
-      "      (  0.1124 sec |   0.1123 sec) Finished exporting geometry, now exporting materials\n"
-     ]
-    },
-    {
-     "name": "stdout",
-     "output_type": "stream",
-     "text": [
-      "      (  0.1126 sec |   0.1125 sec) OBJ Export Finished\n",
-      "Progress: 100.00%\n",
-      "\n",
-      "USD import of '/tmp/cache/FXIIgNTYvU/tmp/usd/visual/gripper_finger_link.usda' took 2.9 ms\n",
-      "    (  0.0001 sec |   0.0000 sec) OBJ Export path: '/media/giang/Storage/Multiverse/tutorial_ws/src/my_robot_description/urdf/tiago_dual/obj/gripper_finger_link.obj'\n",
-      "          (  0.0201 sec |   0.0199 sec) Finished writing geometry of 'gripper_finger_link'.\n",
-      "      (  0.0202 sec |   0.0201 sec) Finished exporting geometry, now exporting materials\n",
-      "      (  0.0204 sec |   0.0203 sec) OBJ Export Finished\n",
-      "Progress: 100.00%\n",
-      "\n",
-      "USD import of '/tmp/cache/FXIIgNTYvU/tmp/usd/visual/gripper_finger_link.usda' took 2.2 ms\n",
-      "    (  0.0001 sec |   0.0000 sec) OBJ Export path: '/media/giang/Storage/Multiverse/tutorial_ws/src/my_robot_description/urdf/tiago_dual/obj/gripper_finger_link.obj'\n",
-      "          (  0.0180 sec |   0.0178 sec) Finished writing geometry of 'gripper_finger_link'.\n",
-      "      (  0.0181 sec |   0.0180 sec) Finished exporting geometry, now exporting materials\n",
-      "      (  0.0183 sec |   0.0182 sec) OBJ Export Finished\n",
-      "Progress: 100.00%\n",
-      "\n",
-      "USD import of '/tmp/cache/FXIIgNTYvU/tmp/usd/visual/base_ring.usda' took 2.2 ms\n",
-      "    (  0.0001 sec |   0.0000 sec) OBJ Export path: '/media/giang/Storage/Multiverse/tutorial_ws/src/my_robot_description/urdf/tiago_dual/obj/base_ring.obj'\n",
-      "          (  0.0230 sec |   0.0229 sec) Finished writing geometry of 'base_ring'.\n",
-      "      (  0.0231 sec |   0.0230 sec) Finished exporting geometry, now exporting materials\n",
-      "      (  0.0233 sec |   0.0232 sec) OBJ Export Finished\n",
-      "Progress: 100.00%\n",
-      "\n",
-      "Remove /tmp/cache/FXIIgNTYvU\n"
-     ]
-    }
-   ],
+   "outputs": [],
    "source": [
     "source $MULTIVERSE_DIR/tutorial_ws/devel/setup.bash\n",
     "\n",
@@ -791,890 +208,9 @@
   },
   {
    "cell_type": "code",
-   "execution_count": 7,
+   "execution_count": null,
    "metadata": {},
-   "outputs": [
-    {
-     "name": "stdout",
-     "output_type": "stream",
-     "text": [
-      "\u001b[01;34m/media/giang/Storage/Multiverse/tutorial_ws/src/my_robot_description/urdf\u001b[00m\n",
-      "├── \u001b[01;34mtiago_dual\u001b[00m\n",
-      "│   └── \u001b[01;34mobj\u001b[00m\n",
-      "│       ├── antenna.mtl\n",
-      "│       ├── antenna.obj\n",
-      "│       ├── arm_1.mtl\n",
-      "│       ├── arm_1.obj\n",
-      "│       ├── arm_2.mtl\n",
-      "│       ├── arm_2.obj\n",
-      "│       ├── arm_3.mtl\n",
-      "│       ├── arm_3.obj\n",
-      "│       ├── arm_4.mtl\n",
-      "│       ├── arm_4.obj\n",
-      "│       ├── arm_5_wrist_2017.mtl\n",
-      "│       ├── arm_5_wrist_2017.obj\n",
-      "│       ├── arm_6_wrist_2017.mtl\n",
-      "│       ├── arm_6_wrist_2017.obj\n",
-      "│       ├── base.mtl\n",
-      "│       ├── base.obj\n",
-      "│       ├── base_ring.mtl\n",
-      "│       ├── base_ring.obj\n",
-      "│       ├── caster_1.mtl\n",
-      "│       ├── caster_1.obj\n",
-      "│       ├── caster_2.mtl\n",
-      "│       ├── caster_2.obj\n",
-      "│       ├── gripper_finger_link.mtl\n",
-      "│       ├── gripper_finger_link.obj\n",
-      "│       ├── gripper_link.mtl\n",
-      "│       ├── gripper_link.obj\n",
-      "│       ├── head_1.mtl\n",
-      "│       ├── head_1.obj\n",
-      "│       ├── head_2.mtl\n",
-      "│       ├── head_2.obj\n",
-      "│       ├── sick_tim551.mtl\n",
-      "│       ├── sick_tim551.obj\n",
-      "│       ├── srf05.mtl\n",
-      "│       ├── srf05.obj\n",
-      "│       ├── \u001b[01;34mtextures\u001b[00m\n",
-      "│       ├── torso_fix.mtl\n",
-      "│       ├── torso_fix.obj\n",
-      "│       ├── torso_lift_dual_arm.mtl\n",
-      "│       ├── torso_lift_dual_arm.obj\n",
-      "│       ├── wheel.mtl\n",
-      "│       └── wheel.obj\n",
-      "└── tiago_dual.urdf\n",
-      "\n",
-      "3 directories, 41 files\n",
-      "<?xml version=\"1.0\" ?>\n",
-      "<robot name=\"tiago_dual\" version=\"1.0\">\n",
-      "  <link name=\"tiago_dual\"/>\n",
-      "  <joint name=\"base_footprint_joint\" type=\"fixed\">\n",
-      "    <origin xyz=\"0.0 0.0 0.0\" rpy=\"0.0 -0.0 0.0\"/>\n",
-      "    <parent link=\"tiago_dual\"/>\n",
-      "    <child link=\"base_footprint\"/>\n",
-      "  </joint>\n",
-      "  <link name=\"base_footprint\"/>\n",
-      "  <joint name=\"base_link_joint\" type=\"fixed\">\n",
-      "    <origin xyz=\"0.0 0.0 0.0985\" rpy=\"0.0 -0.0 0.0\"/>\n",
-      "    <parent link=\"base_footprint\"/>\n",
-      "    <child link=\"base_link\"/>\n",
-      "  </joint>\n",
-      "  <link name=\"base_link\">\n",
-      "    <visual name=\"base\">\n",
-      "      <origin xyz=\"0.0 0.0 0.0\" rpy=\"0.0 -0.0 0.0\"/>\n",
-      "      <geometry>\n",
-      "        <mesh filename=\"package://my_robot_description/urdf/tiago_dual/obj/base.obj\" scale=\"1.0 1.0 1.0\"/>\n",
-      "      </geometry>\n",
-      "    </visual>\n",
-      "  </link>\n",
-      "  <joint name=\"base_laser_link_joint\" type=\"fixed\">\n",
-      "    <origin xyz=\"0.202 0.0 -0.004\" rpy=\"0.0 -0.0 0.0\"/>\n",
-      "    <parent link=\"base_link\"/>\n",
-      "    <child link=\"base_laser_link\"/>\n",
-      "  </joint>\n",
-      "  <link name=\"base_laser_link\">\n",
-      "    <visual name=\"sick_tim551\">\n",
-      "      <origin xyz=\"0.0 0.0 0.0\" rpy=\"0.0 -0.0 0.0\"/>\n",
-      "      <geometry>\n",
-      "        <mesh filename=\"package://my_robot_description/urdf/tiago_dual/obj/sick_tim551.obj\" scale=\"1.0 1.0 1.0\"/>\n",
-      "      </geometry>\n",
-      "    </visual>\n",
-      "  </link>\n",
-      "  <joint name=\"base_sonar_03_link_joint\" type=\"fixed\">\n",
-      "    <origin xyz=\"-0.183 0.183 0.173\" rpy=\"0.0 -0.0 2.356194490192345\"/>\n",
-      "    <parent link=\"base_link\"/>\n",
-      "    <child link=\"base_sonar_03_link\"/>\n",
-      "  </joint>\n",
-      "  <link name=\"base_sonar_03_link\">\n",
-      "    <visual name=\"srf05\">\n",
-      "      <origin xyz=\"0.0 0.0 0.0\" rpy=\"0.0 -0.0 0.0\"/>\n",
-      "      <geometry>\n",
-      "        <mesh filename=\"package://my_robot_description/urdf/tiago_dual/obj/srf05.obj\" scale=\"1.0 1.0 1.0\"/>\n",
-      "      </geometry>\n",
-      "    </visual>\n",
-      "  </link>\n",
-      "  <joint name=\"base_sonar_02_link_joint\" type=\"fixed\">\n",
-      "    <origin xyz=\"-0.259 0.0 0.173\" rpy=\"0.0 -0.0 3.141592653589793\"/>\n",
-      "    <parent link=\"base_link\"/>\n",
-      "    <child link=\"base_sonar_02_link\"/>\n",
-      "  </joint>\n",
-      "  <link name=\"base_sonar_02_link\">\n",
-      "    <visual name=\"srf05\">\n",
-      "      <origin xyz=\"0.0 0.0 0.0\" rpy=\"0.0 -0.0 0.0\"/>\n",
-      "      <geometry>\n",
-      "        <mesh filename=\"package://my_robot_description/urdf/tiago_dual/obj/srf05.obj\" scale=\"1.0 1.0 1.0\"/>\n",
-      "      </geometry>\n",
-      "    </visual>\n",
-      "  </link>\n",
-      "  <joint name=\"base_sonar_01_link_joint\" type=\"fixed\">\n",
-      "    <origin xyz=\"-0.183 -0.183 0.173\" rpy=\"0.0 -0.0 -2.356194490192345\"/>\n",
-      "    <parent link=\"base_link\"/>\n",
-      "    <child link=\"base_sonar_01_link\"/>\n",
-      "  </joint>\n",
-      "  <link name=\"base_sonar_01_link\">\n",
-      "    <visual name=\"srf05\">\n",
-      "      <origin xyz=\"0.0 0.0 0.0\" rpy=\"0.0 -0.0 0.0\"/>\n",
-      "      <geometry>\n",
-      "        <mesh filename=\"package://my_robot_description/urdf/tiago_dual/obj/srf05.obj\" scale=\"1.0 1.0 1.0\"/>\n",
-      "      </geometry>\n",
-      "    </visual>\n",
-      "  </link>\n",
-      "  <joint name=\"base_mic_front_left_link_joint\" type=\"fixed\">\n",
-      "    <origin xyz=\"0.23182 0.03902 0.195\" rpy=\"0.0 -0.0 0.0\"/>\n",
-      "    <parent link=\"base_link\"/>\n",
-      "    <child link=\"base_mic_front_left_link\"/>\n",
-      "  </joint>\n",
-      "  <link name=\"base_mic_front_left_link\"/>\n",
-      "  <joint name=\"base_mic_front_right_link_joint\" type=\"fixed\">\n",
-      "    <origin xyz=\"0.23182 -0.03902 0.195\" rpy=\"0.0 -0.0 0.0\"/>\n",
-      "    <parent link=\"base_link\"/>\n",
-      "    <child link=\"base_mic_front_right_link\"/>\n",
-      "  </joint>\n",
-      "  <link name=\"base_mic_front_right_link\"/>\n",
-      "  <joint name=\"base_mic_back_left_link_joint\" type=\"fixed\">\n",
-      "    <origin xyz=\"-0.1082 -0.0599 0.195\" rpy=\"0.0 -0.0 0.0\"/>\n",
-      "    <parent link=\"base_link\"/>\n",
-      "    <child link=\"base_mic_back_left_link\"/>\n",
-      "  </joint>\n",
-      "  <link name=\"base_mic_back_left_link\"/>\n",
-      "  <joint name=\"base_mic_back_right_link_joint\" type=\"fixed\">\n",
-      "    <origin xyz=\"-0.1082 -0.13789 0.195\" rpy=\"0.0 -0.0 0.0\"/>\n",
-      "    <parent link=\"base_link\"/>\n",
-      "    <child link=\"base_mic_back_right_link\"/>\n",
-      "  </joint>\n",
-      "  <link name=\"base_mic_back_right_link\"/>\n",
-      "  <joint name=\"base_antenna_left_link_joint\" type=\"fixed\">\n",
-      "    <origin xyz=\"-0.201 0.1062 0.195\" rpy=\"0.0 -0.0 0.0\"/>\n",
-      "    <parent link=\"base_link\"/>\n",
-      "    <child link=\"base_antenna_left_link\"/>\n",
-      "  </joint>\n",
-      "  <link name=\"base_antenna_left_link\">\n",
-      "    <visual name=\"antenna\">\n",
-      "      <origin xyz=\"0.0 0.0 0.0\" rpy=\"0.0 -0.0 0.0\"/>\n",
-      "      <geometry>\n",
-      "        <mesh filename=\"package://my_robot_description/urdf/tiago_dual/obj/antenna.obj\" scale=\"1.0 1.0 1.0\"/>\n",
-      "      </geometry>\n",
-      "    </visual>\n",
-      "  </link>\n",
-      "  <joint name=\"base_antenna_right_link_joint\" type=\"fixed\">\n",
-      "    <origin xyz=\"-0.201 -0.1062 0.195\" rpy=\"0.0 -0.0 0.0\"/>\n",
-      "    <parent link=\"base_link\"/>\n",
-      "    <child link=\"base_antenna_right_link\"/>\n",
-      "  </joint>\n",
-      "  <link name=\"base_antenna_right_link\">\n",
-      "    <visual name=\"antenna\">\n",
-      "      <origin xyz=\"0.0 0.0 0.0\" rpy=\"0.0 -0.0 0.0\"/>\n",
-      "      <geometry>\n",
-      "        <mesh filename=\"package://my_robot_description/urdf/tiago_dual/obj/antenna.obj\" scale=\"1.0 1.0 1.0\"/>\n",
-      "      </geometry>\n",
-      "    </visual>\n",
-      "  </link>\n",
-      "  <joint name=\"base_imu_link_joint\" type=\"fixed\">\n",
-      "    <origin xyz=\"0.10171 0.0 0.11282\" rpy=\"0.0 0.0 -1.5707963267948966\"/>\n",
-      "    <parent link=\"base_link\"/>\n",
-      "    <child link=\"base_imu_link\"/>\n",
-      "  </joint>\n",
-      "  <link name=\"base_imu_link\"/>\n",
-      "  <joint name=\"suspension_right_joint\" type=\"prismatic\">\n",
-      "    <origin xyz=\"0.0 0.0 0.0\" rpy=\"0.0 -0.0 0.0\"/>\n",
-      "    <axis xyz=\"0 0 1\"/>\n",
-      "    <parent link=\"base_link\"/>\n",
-      "    <child link=\"suspension_right_link\"/>\n",
-      "    <limit effort=\"1000\" lower=\"-0.004999999888241291\" upper=\"0.004999999888241291\" velocity=\"1000\"/>\n",
-      "  </joint>\n",
-      "  <link name=\"suspension_right_link\"/>\n",
-      "  <joint name=\"wheel_right_joint\" type=\"continuous\">\n",
-      "    <origin xyz=\"0.0 -0.2021999955177307 0.0\" rpy=\"-1.5707963267948966 0.0 0.0\"/>\n",
-      "    <axis xyz=\"0 0 1\"/>\n",
-      "    <parent link=\"suspension_right_link\"/>\n",
-      "    <child link=\"wheel_right_link\"/>\n",
-      "  </joint>\n",
-      "  <link name=\"wheel_right_link\">\n",
-      "    <visual name=\"wheel\">\n",
-      "      <origin xyz=\"0.0 0.0 0.0\" rpy=\"0.0 -0.0 0.0\"/>\n",
-      "      <geometry>\n",
-      "        <mesh filename=\"package://my_robot_description/urdf/tiago_dual/obj/wheel.obj\" scale=\"1.0 1.0 1.0\"/>\n",
-      "      </geometry>\n",
-      "    </visual>\n",
-      "  </link>\n",
-      "  <joint name=\"suspension_left_joint\" type=\"prismatic\">\n",
-      "    <origin xyz=\"0.0 0.0 0.0\" rpy=\"0.0 -0.0 0.0\"/>\n",
-      "    <axis xyz=\"0 0 1\"/>\n",
-      "    <parent link=\"base_link\"/>\n",
-      "    <child link=\"suspension_left_link\"/>\n",
-      "    <limit effort=\"1000\" lower=\"-0.004999999888241291\" upper=\"0.004999999888241291\" velocity=\"1000\"/>\n",
-      "  </joint>\n",
-      "  <link name=\"suspension_left_link\"/>\n",
-      "  <joint name=\"wheel_left_joint\" type=\"continuous\">\n",
-      "    <origin xyz=\"0.0 0.2021999955177307 0.0\" rpy=\"-1.5707963267948966 0.0 0.0\"/>\n",
-      "    <axis xyz=\"0 0 1\"/>\n",
-      "    <parent link=\"suspension_left_link\"/>\n",
-      "    <child link=\"wheel_left_link\"/>\n",
-      "  </joint>\n",
-      "  <link name=\"wheel_left_link\">\n",
-      "    <visual name=\"wheel\">\n",
-      "      <origin xyz=\"0.0 0.0 0.0\" rpy=\"-3.141592653589793 -0.0 0.0\"/>\n",
-      "      <geometry>\n",
-      "        <mesh filename=\"package://my_robot_description/urdf/tiago_dual/obj/wheel.obj\" scale=\"1.0 1.0000000000000002 1.0000000000000007\"/>\n",
-      "      </geometry>\n",
-      "    </visual>\n",
-      "  </link>\n",
-      "  <joint name=\"caster_front_right_1_joint\" type=\"continuous\">\n",
-      "    <origin xyz=\"0.16949999332427979 -0.10199999809265137 -0.03350000083446503\" rpy=\"0.0 -0.0 0.0\"/>\n",
-      "    <axis xyz=\"0 0 1\"/>\n",
-      "    <parent link=\"base_link\"/>\n"
-     ]
-    },
-    {
-     "name": "stdout",
-     "output_type": "stream",
-     "text": [
-      "    <child link=\"caster_front_right_1_link\"/>\n",
-      "  </joint>\n",
-      "  <link name=\"caster_front_right_1_link\">\n",
-      "    <visual name=\"caster_1\">\n",
-      "      <origin xyz=\"0.0 0.0 0.0\" rpy=\"0.0 -0.0 0.0\"/>\n",
-      "      <geometry>\n",
-      "        <mesh filename=\"package://my_robot_description/urdf/tiago_dual/obj/caster_1.obj\" scale=\"1.0 1.0 1.0\"/>\n",
-      "      </geometry>\n",
-      "    </visual>\n",
-      "  </link>\n",
-      "  <joint name=\"caster_front_right_2_joint\" type=\"continuous\">\n",
-      "    <origin xyz=\"-0.01600000075995922 0.0 -0.03999999910593033\" rpy=\"-1.5707963267948966 0.0 0.0\"/>\n",
-      "    <axis xyz=\"0 0 1\"/>\n",
-      "    <parent link=\"caster_front_right_1_link\"/>\n",
-      "    <child link=\"caster_front_right_2_link\"/>\n",
-      "  </joint>\n",
-      "  <link name=\"caster_front_right_2_link\">\n",
-      "    <visual name=\"caster_2\">\n",
-      "      <origin xyz=\"0.0 0.0 0.0\" rpy=\"0.0 -0.0 0.0\"/>\n",
-      "      <geometry>\n",
-      "        <mesh filename=\"package://my_robot_description/urdf/tiago_dual/obj/caster_2.obj\" scale=\"1.0 1.0 1.0\"/>\n",
-      "      </geometry>\n",
-      "    </visual>\n",
-      "  </link>\n",
-      "  <joint name=\"caster_front_left_1_joint\" type=\"continuous\">\n",
-      "    <origin xyz=\"0.16949999332427979 0.10199999809265137 -0.03350000083446503\" rpy=\"0.0 -0.0 0.0\"/>\n",
-      "    <axis xyz=\"0 0 1\"/>\n",
-      "    <parent link=\"base_link\"/>\n",
-      "    <child link=\"caster_front_left_1_link\"/>\n",
-      "  </joint>\n",
-      "  <link name=\"caster_front_left_1_link\">\n",
-      "    <visual name=\"caster_1\">\n",
-      "      <origin xyz=\"0.0 0.0 0.0\" rpy=\"0.0 -0.0 0.0\"/>\n",
-      "      <geometry>\n",
-      "        <mesh filename=\"package://my_robot_description/urdf/tiago_dual/obj/caster_1.obj\" scale=\"1.0 1.0 1.0\"/>\n",
-      "      </geometry>\n",
-      "    </visual>\n",
-      "  </link>\n",
-      "  <joint name=\"caster_front_left_2_joint\" type=\"continuous\">\n",
-      "    <origin xyz=\"-0.01600000075995922 0.0 -0.03999999910593033\" rpy=\"-1.5707963267948966 0.0 0.0\"/>\n",
-      "    <axis xyz=\"0 0 1\"/>\n",
-      "    <parent link=\"caster_front_left_1_link\"/>\n",
-      "    <child link=\"caster_front_left_2_link\"/>\n",
-      "  </joint>\n",
-      "  <link name=\"caster_front_left_2_link\">\n",
-      "    <visual name=\"caster_2\">\n",
-      "      <origin xyz=\"0.0 0.0 0.0\" rpy=\"0.0 -0.0 0.0\"/>\n",
-      "      <geometry>\n",
-      "        <mesh filename=\"package://my_robot_description/urdf/tiago_dual/obj/caster_2.obj\" scale=\"1.0 1.0 1.0\"/>\n",
-      "      </geometry>\n",
-      "    </visual>\n",
-      "  </link>\n",
-      "  <joint name=\"caster_back_right_1_joint\" type=\"continuous\">\n",
-      "    <origin xyz=\"-0.17350000143051147 -0.10199999809265137 -0.03350000083446503\" rpy=\"0.0 -0.0 0.0\"/>\n",
-      "    <axis xyz=\"0 0 1\"/>\n",
-      "    <parent link=\"base_link\"/>\n",
-      "    <child link=\"caster_back_right_1_link\"/>\n",
-      "  </joint>\n",
-      "  <link name=\"caster_back_right_1_link\">\n",
-      "    <visual name=\"caster_1\">\n",
-      "      <origin xyz=\"0.0 0.0 0.0\" rpy=\"0.0 -0.0 0.0\"/>\n",
-      "      <geometry>\n",
-      "        <mesh filename=\"package://my_robot_description/urdf/tiago_dual/obj/caster_1.obj\" scale=\"1.0 1.0 1.0\"/>\n",
-      "      </geometry>\n",
-      "    </visual>\n",
-      "  </link>\n",
-      "  <joint name=\"caster_back_right_2_joint\" type=\"continuous\">\n",
-      "    <origin xyz=\"-0.01600000075995922 0.0 -0.03999999910593033\" rpy=\"-1.5707963267948966 0.0 0.0\"/>\n",
-      "    <axis xyz=\"0 0 1\"/>\n",
-      "    <parent link=\"caster_back_right_1_link\"/>\n",
-      "    <child link=\"caster_back_right_2_link\"/>\n",
-      "  </joint>\n",
-      "  <link name=\"caster_back_right_2_link\">\n",
-      "    <visual name=\"caster_2\">\n",
-      "      <origin xyz=\"0.0 0.0 0.0\" rpy=\"0.0 -0.0 0.0\"/>\n",
-      "      <geometry>\n",
-      "        <mesh filename=\"package://my_robot_description/urdf/tiago_dual/obj/caster_2.obj\" scale=\"1.0 1.0 1.0\"/>\n",
-      "      </geometry>\n",
-      "    </visual>\n",
-      "  </link>\n",
-      "  <joint name=\"caster_back_left_1_joint\" type=\"continuous\">\n",
-      "    <origin xyz=\"-0.17350000143051147 0.10199999809265137 -0.03350000083446503\" rpy=\"0.0 -0.0 0.0\"/>\n",
-      "    <axis xyz=\"0 0 1\"/>\n",
-      "    <parent link=\"base_link\"/>\n",
-      "    <child link=\"caster_back_left_1_link\"/>\n",
-      "  </joint>\n",
-      "  <link name=\"caster_back_left_1_link\">\n",
-      "    <visual name=\"caster_1\">\n",
-      "      <origin xyz=\"0.0 0.0 0.0\" rpy=\"0.0 -0.0 0.0\"/>\n",
-      "      <geometry>\n",
-      "        <mesh filename=\"package://my_robot_description/urdf/tiago_dual/obj/caster_1.obj\" scale=\"1.0 1.0 1.0\"/>\n",
-      "      </geometry>\n",
-      "    </visual>\n",
-      "  </link>\n",
-      "  <joint name=\"caster_back_left_2_joint\" type=\"continuous\">\n",
-      "    <origin xyz=\"-0.01600000075995922 0.0 -0.03999999910593033\" rpy=\"-1.5707963267948966 0.0 0.0\"/>\n",
-      "    <axis xyz=\"0 0 1\"/>\n",
-      "    <parent link=\"caster_back_left_1_link\"/>\n",
-      "    <child link=\"caster_back_left_2_link\"/>\n",
-      "  </joint>\n",
-      "  <link name=\"caster_back_left_2_link\">\n",
-      "    <visual name=\"caster_2\">\n",
-      "      <origin xyz=\"0.0 0.0 0.0\" rpy=\"0.0 -0.0 0.0\"/>\n",
-      "      <geometry>\n",
-      "        <mesh filename=\"package://my_robot_description/urdf/tiago_dual/obj/caster_2.obj\" scale=\"1.0 1.0 1.0\"/>\n",
-      "      </geometry>\n",
-      "    </visual>\n",
-      "  </link>\n",
-      "  <joint name=\"torso_fixed_link_joint\" type=\"fixed\">\n",
-      "    <origin xyz=\"-0.062 0.0 0.193\" rpy=\"0.0 -0.0 0.0\"/>\n",
-      "    <parent link=\"base_link\"/>\n",
-      "    <child link=\"torso_fixed_link\"/>\n",
-      "  </joint>\n",
-      "  <link name=\"torso_fixed_link\">\n",
-      "    <visual name=\"torso_fix\">\n",
-      "      <origin xyz=\"0.0 0.0 0.0\" rpy=\"0.0 -0.0 0.0\"/>\n",
-      "      <geometry>\n",
-      "        <mesh filename=\"package://my_robot_description/urdf/tiago_dual/obj/torso_fix.obj\" scale=\"1.0 1.0 1.0\"/>\n",
-      "      </geometry>\n",
-      "    </visual>\n",
-      "  </link>\n",
-      "  <joint name=\"torso_lift_joint\" type=\"prismatic\">\n",
-      "    <origin xyz=\"0.0 0.0 0.597000002861023\" rpy=\"0.0 -0.0 0.0\"/>\n",
-      "    <axis xyz=\"0 0 1\"/>\n",
-      "    <parent link=\"torso_fixed_link\"/>\n",
-      "    <child link=\"torso_lift_link\"/>\n",
-      "    <limit effort=\"1000\" lower=\"0.0\" upper=\"0.800000011920929\" velocity=\"1000\"/>\n",
-      "  </joint>\n",
-      "  <link name=\"torso_lift_link\">\n",
-      "    <visual name=\"torso_lift_dual_arm\">\n",
-      "      <origin xyz=\"0.0 0.0 0.0\" rpy=\"0.0 -0.0 0.0\"/>\n",
-      "      <geometry>\n",
-      "        <mesh filename=\"package://my_robot_description/urdf/tiago_dual/obj/torso_lift_dual_arm.obj\" scale=\"1.0 1.0 1.0\"/>\n",
-      "      </geometry>\n",
-      "    </visual>\n",
-      "  </link>\n",
-      "  <joint name=\"head_1_joint\" type=\"revolute\">\n",
-      "    <origin xyz=\"0.18199999630451202 0.0 0.0\" rpy=\"0.0 -0.0 0.0\"/>\n",
-      "    <axis xyz=\"0 0 1\"/>\n",
-      "    <parent link=\"torso_lift_link\"/>\n",
-      "    <child link=\"head_1_link\"/>\n",
-      "    <limit effort=\"1000\" lower=\"-1.3089969389957472\" upper=\"1.3089969389957472\" velocity=\"1000\"/>\n",
-      "  </joint>\n",
-      "  <link name=\"head_1_link\">\n",
-      "    <visual name=\"head_1\">\n",
-      "      <origin xyz=\"0.0 0.0 0.0\" rpy=\"0.0 -0.0 0.0\"/>\n",
-      "      <geometry>\n",
-      "        <mesh filename=\"package://my_robot_description/urdf/tiago_dual/obj/head_1.obj\" scale=\"1.0 1.0 1.0\"/>\n",
-      "      </geometry>\n",
-      "    </visual>\n",
-      "  </link>\n",
-      "  <joint name=\"head_2_joint\" type=\"revolute\">\n",
-      "    <origin xyz=\"0.004999999888241291 0.0 0.09799999743700027\" rpy=\"1.5707963267948966 -0.0 0.0\"/>\n",
-      "    <axis xyz=\"0 0 1\"/>\n",
-      "    <parent link=\"head_1_link\"/>\n",
-      "    <child link=\"head_2_link\"/>\n",
-      "    <limit effort=\"1000\" lower=\"-1.0471975511965976\" upper=\"0.7853981633974483\" velocity=\"1000\"/>\n",
-      "  </joint>\n",
-      "  <link name=\"head_2_link\">\n",
-      "    <visual name=\"head_2\">\n",
-      "      <origin xyz=\"0.0 0.0 0.0\" rpy=\"0.0 -0.0 0.0\"/>\n",
-      "      <geometry>\n",
-      "        <mesh filename=\"package://my_robot_description/urdf/tiago_dual/obj/head_2.obj\" scale=\"1.0 1.0 1.0\"/>\n",
-      "      </geometry>\n",
-      "    </visual>\n",
-      "  </link>\n",
-      "  <joint name=\"xtion_link_joint\" type=\"fixed\">\n",
-      "    <origin xyz=\"0.0908 0.08 0.0\" rpy=\"-1.5707963267948966 0.0 0.0\"/>\n",
-      "    <parent link=\"head_2_link\"/>\n",
-      "    <child link=\"xtion_link\"/>\n",
-      "  </joint>\n",
-      "  <link name=\"xtion_link\"/>\n",
-      "  <joint name=\"xtion_optical_frame_joint\" type=\"fixed\">\n",
-      "    <origin xyz=\"0.0 0.0 0.0\" rpy=\"-1.5707963267948966 -0.0 -1.5707963267948966\"/>\n",
-      "    <parent link=\"xtion_link\"/>\n",
-      "    <child link=\"xtion_optical_frame\"/>\n",
-      "  </joint>\n",
-      "  <link name=\"xtion_optical_frame\"/>\n",
-      "  <joint name=\"xtion_orbbec_aux_joint_frame_joint\" type=\"fixed\">\n",
-      "    <origin xyz=\"0.0 0.0 0.0\" rpy=\"0.0 -0.0 0.0\"/>\n",
-      "    <parent link=\"xtion_link\"/>\n",
-      "    <child link=\"xtion_orbbec_aux_joint_frame\"/>\n",
-      "  </joint>\n",
-      "  <link name=\"xtion_orbbec_aux_joint_frame\"/>\n",
-      "  <joint name=\"xtion_rgb_frame_joint\" type=\"fixed\">\n",
-      "    <origin xyz=\"0.0 0.022 0.0\" rpy=\"0.0 -0.0 0.0\"/>\n",
-      "    <parent link=\"xtion_orbbec_aux_joint_frame\"/>\n",
-      "    <child link=\"xtion_rgb_frame\"/>\n",
-      "  </joint>\n",
-      "  <link name=\"xtion_rgb_frame\"/>\n",
-      "  <joint name=\"xtion_depth_frame_joint\" type=\"fixed\">\n",
-      "    <origin xyz=\"0.0 0.025 0.0\" rpy=\"0.0 -0.0 0.0\"/>\n",
-      "    <parent link=\"xtion_rgb_frame\"/>\n",
-      "    <child link=\"xtion_depth_frame\"/>\n",
-      "  </joint>\n",
-      "  <link name=\"xtion_depth_frame\"/>\n",
-      "  <joint name=\"xtion_depth_optical_frame_joint\" type=\"fixed\">\n",
-      "    <origin xyz=\"0.0 0.0 0.0\" rpy=\"-1.5707963267948966 -0.0 -1.5707963267948966\"/>\n",
-      "    <parent link=\"xtion_depth_frame\"/>\n",
-      "    <child link=\"xtion_depth_optical_frame\"/>\n",
-      "  </joint>\n",
-      "  <link name=\"xtion_depth_optical_frame\"/>\n",
-      "  <joint name=\"xtion_rgb_optical_frame_joint\" type=\"fixed\">\n"
-     ]
-    },
-    {
-     "name": "stdout",
-     "output_type": "stream",
-     "text": [
-      "    <origin xyz=\"0.0 0.0 0.0\" rpy=\"-1.5707963267948966 -0.0 -1.5707963267948966\"/>\n",
-      "    <parent link=\"xtion_rgb_frame\"/>\n",
-      "    <child link=\"xtion_rgb_optical_frame\"/>\n",
-      "  </joint>\n",
-      "  <link name=\"xtion_rgb_optical_frame\"/>\n",
-      "  <joint name=\"arm_left_1_joint\" type=\"revolute\">\n",
-      "    <origin xyz=\"0.02556000091135502 0.1899999976158142 -0.17100000381469727\" rpy=\"3.141592653589793 -0.0 1.5707963267948966\"/>\n",
-      "    <axis xyz=\"0 0 1\"/>\n",
-      "    <parent link=\"torso_lift_link\"/>\n",
-      "    <child link=\"arm_left_1_link\"/>\n",
-      "    <limit effort=\"1000\" lower=\"-1.1780972450961724\" upper=\"1.5707963267948966\" velocity=\"1000\"/>\n",
-      "  </joint>\n",
-      "  <link name=\"arm_left_1_link\">\n",
-      "    <visual name=\"arm_1\">\n",
-      "      <origin xyz=\"0.0 0.0 0.0\" rpy=\"3.141592653589793 -0.0 0.0\"/>\n",
-      "      <geometry>\n",
-      "        <mesh filename=\"package://my_robot_description/urdf/tiago_dual/obj/arm_1.obj\" scale=\"1.0 1.0000000000000004 1.0000000000000004\"/>\n",
-      "      </geometry>\n",
-      "    </visual>\n",
-      "  </link>\n",
-      "  <joint name=\"arm_left_2_joint\" type=\"revolute\">\n",
-      "    <origin xyz=\"0.125 -0.019500000402331352 0.03099999949336052\" rpy=\"1.5707963267948966 0.0 0.0\"/>\n",
-      "    <axis xyz=\"0 0 1\"/>\n",
-      "    <parent link=\"arm_left_1_link\"/>\n",
-      "    <child link=\"arm_left_2_link\"/>\n",
-      "    <limit effort=\"1000\" lower=\"-1.1780972450961724\" upper=\"1.5707963267948966\" velocity=\"1000\"/>\n",
-      "  </joint>\n",
-      "  <link name=\"arm_left_2_link\">\n",
-      "    <visual name=\"arm_2\">\n",
-      "      <origin xyz=\"0.0 0.0 0.0\" rpy=\"0.0 -0.0 3.141592653589793\"/>\n",
-      "      <geometry>\n",
-      "        <mesh filename=\"package://my_robot_description/urdf/tiago_dual/obj/arm_2.obj\" scale=\"-1.0000000000000004 -1.0000000000000004 -1.0\"/>\n",
-      "      </geometry>\n",
-      "    </visual>\n",
-      "  </link>\n",
-      "  <joint name=\"arm_left_3_joint\" type=\"revolute\">\n",
-      "    <origin xyz=\"0.08950000256299973 3.0814879110195774e-33 -0.001500000013038516\" rpy=\"1.5707963267948968 -0.0 1.5707963267948968\"/>\n",
-      "    <axis xyz=\"0 0 1\"/>\n",
-      "    <parent link=\"arm_left_2_link\"/>\n",
-      "    <child link=\"arm_left_3_link\"/>\n",
-      "    <limit effort=\"1000\" lower=\"-0.7853981633974483\" upper=\"3.9269908169872414\" velocity=\"1000\"/>\n",
-      "  </joint>\n",
-      "  <link name=\"arm_left_3_link\">\n",
-      "    <visual name=\"arm_3\">\n",
-      "      <origin xyz=\"0.0 0.0 0.0\" rpy=\"0.0 -0.0 3.141592653589793\"/>\n",
-      "      <geometry>\n",
-      "        <mesh filename=\"package://my_robot_description/urdf/tiago_dual/obj/arm_3.obj\" scale=\"-1.0000000000000004 -1.0000000000000004 -1.0\"/>\n",
-      "      </geometry>\n",
-      "    </visual>\n",
-      "  </link>\n",
-      "  <joint name=\"arm_left_4_joint\" type=\"revolute\">\n",
-      "    <origin xyz=\"-0.019999999552965164 -0.027000000700354576 0.22200000286102295\" rpy=\"1.5707963267948968 -1.5707963267948963 0.0\"/>\n",
-      "    <axis xyz=\"0 0 1\"/>\n",
-      "    <parent link=\"arm_left_3_link\"/>\n",
-      "    <child link=\"arm_left_4_link\"/>\n",
-      "    <limit effort=\"1000\" lower=\"-0.39269908169872414\" upper=\"2.356194490192345\" velocity=\"1000\"/>\n",
-      "  </joint>\n",
-      "  <link name=\"arm_left_4_link\">\n",
-      "    <visual name=\"arm_4\">\n",
-      "      <origin xyz=\"0.0 0.0 0.0\" rpy=\"0.0 -0.0 0.0\"/>\n",
-      "      <geometry>\n",
-      "        <mesh filename=\"package://my_robot_description/urdf/tiago_dual/obj/arm_4.obj\" scale=\"-1.0 -1.0 -1.0\"/>\n",
-      "      </geometry>\n",
-      "    </visual>\n",
-      "  </link>\n",
-      "  <joint name=\"arm_left_5_joint\" type=\"revolute\">\n",
-      "    <origin xyz=\"0.16200000047683716 -0.019999999552965164 -0.027000000700354576\" rpy=\"-0.0 -1.5707963267948966 0.0\"/>\n",
-      "    <axis xyz=\"0 0 1\"/>\n",
-      "    <parent link=\"arm_left_4_link\"/>\n",
-      "    <child link=\"arm_left_5_link\"/>\n",
-      "    <limit effort=\"1000\" lower=\"-2.0943951023931953\" upper=\"2.0943951023931953\" velocity=\"1000\"/>\n",
-      "  </joint>\n",
-      "  <link name=\"arm_left_5_link\">\n",
-      "    <visual name=\"arm_5_wrist_2017\">\n",
-      "      <origin xyz=\"0.0 0.0 0.0\" rpy=\"0.0 -0.0 0.0\"/>\n",
-      "      <geometry>\n",
-      "        <mesh filename=\"package://my_robot_description/urdf/tiago_dual/obj/arm_5_wrist_2017.obj\" scale=\"-1.0 -1.0 -1.0\"/>\n",
-      "      </geometry>\n",
-      "    </visual>\n",
-      "  </link>\n",
-      "  <joint name=\"arm_left_6_joint\" type=\"revolute\">\n",
-      "    <origin xyz=\"0.0 0.0 -0.15000000596046448\" rpy=\"-1.5707963267948968 -1.5707963267948963 0.0\"/>\n",
-      "    <axis xyz=\"0 0 1\"/>\n",
-      "    <parent link=\"arm_left_5_link\"/>\n",
-      "    <child link=\"arm_left_6_link\"/>\n",
-      "    <limit effort=\"1000\" lower=\"-1.413716694115407\" upper=\"1.413716694115407\" velocity=\"1000\"/>\n",
-      "  </joint>\n",
-      "  <link name=\"arm_left_6_link\">\n",
-      "    <visual name=\"arm_6_wrist_2017\">\n",
-      "      <origin xyz=\"0.0 0.0 0.0\" rpy=\"3.141592653589793 -0.0 0.0\"/>\n",
-      "      <geometry>\n",
-      "        <mesh filename=\"package://my_robot_description/urdf/tiago_dual/obj/arm_6_wrist_2017.obj\" scale=\"-1.0 -1.0000000000000004 -1.0000000000000004\"/>\n",
-      "      </geometry>\n",
-      "    </visual>\n",
-      "  </link>\n",
-      "  <joint name=\"arm_left_7_joint\" type=\"revolute\">\n",
-      "    <origin xyz=\"0.0 0.0 0.0\" rpy=\"1.5707963267948968 -0.0 1.5707963267948968\"/>\n",
-      "    <axis xyz=\"0 0 1\"/>\n",
-      "    <parent link=\"arm_left_6_link\"/>\n",
-      "    <child link=\"arm_left_7_link\"/>\n",
-      "    <limit effort=\"1000\" lower=\"-2.0943951023931953\" upper=\"2.0943951023931953\" velocity=\"1000\"/>\n",
-      "  </joint>\n",
-      "  <link name=\"arm_left_7_link\"/>\n",
-      "  <joint name=\"arm_left_tool_link_joint\" type=\"fixed\">\n",
-      "    <origin xyz=\"0.0 0.0 -0.046\" rpy=\"-1.5707963267948968 1.5707963267948963 0.0\"/>\n",
-      "    <parent link=\"arm_left_7_link\"/>\n",
-      "    <child link=\"arm_left_tool_link\"/>\n",
-      "  </joint>\n",
-      "  <link name=\"arm_left_tool_link\">\n",
-      "    <visual name=\"arm_left_tool_link_visual_0\">\n",
-      "      <origin xyz=\"0.001 0.0 0.0\" rpy=\"-0.0 1.5707963267948966 0.0\"/>\n",
-      "      <geometry>\n",
-      "        <cylinder radius=\"0.005\" length=\"0.005\"/>\n",
-      "      </geometry>\n",
-      "    </visual>\n",
-      "  </link>\n",
-      "  <joint name=\"wrist_left_ft_link_joint\" type=\"fixed\">\n",
-      "    <origin xyz=\"0.00785 0.0 0.0\" rpy=\"1.5707963267948966 -0.0 1.5707963267948966\"/>\n",
-      "    <parent link=\"arm_left_tool_link\"/>\n",
-      "    <child link=\"wrist_left_ft_link\"/>\n",
-      "  </joint>\n",
-      "  <link name=\"wrist_left_ft_link\">\n",
-      "    <visual name=\"wrist_left_ft_link_visual_0\">\n",
-      "      <origin xyz=\"0.0 0.0 0.0\" rpy=\"0.0 -0.0 0.0\"/>\n",
-      "      <geometry>\n",
-      "        <cylinder radius=\"0.0225\" length=\"0.0157\"/>\n",
-      "      </geometry>\n",
-      "    </visual>\n",
-      "  </link>\n",
-      "  <joint name=\"wrist_left_ft_tool_link_joint\" type=\"fixed\">\n",
-      "    <origin xyz=\"0.0 0.0 0.012725\" rpy=\"-1.5707963267948966 -1.5707963267948966 0.0\"/>\n",
-      "    <parent link=\"wrist_left_ft_link\"/>\n",
-      "    <child link=\"wrist_left_ft_tool_link\"/>\n",
-      "  </joint>\n",
-      "  <link name=\"wrist_left_ft_tool_link\">\n",
-      "    <visual name=\"wrist_left_ft_tool_link_visual_0\">\n",
-      "      <origin xyz=\"0.0 0.0 0.0\" rpy=\"-0.0 1.5707963267948966 0.0\"/>\n",
-      "      <geometry>\n",
-      "        <cylinder radius=\"0.025\" length=\"0.00975\"/>\n",
-      "      </geometry>\n",
-      "    </visual>\n",
-      "  </link>\n",
-      "  <joint name=\"gripper_left_tool_link_joint\" type=\"fixed\">\n",
-      "    <origin xyz=\"0.01 0.0 0.0\" rpy=\"3.141592653589793 1.5707963267948961 0.0\"/>\n",
-      "    <parent link=\"wrist_left_ft_tool_link\"/>\n",
-      "    <child link=\"gripper_left_tool_link\"/>\n",
-      "  </joint>\n",
-      "  <link name=\"gripper_left_tool_link\"/>\n",
-      "  <joint name=\"gripper_left_link_joint\" type=\"fixed\">\n",
-      "    <origin xyz=\"0.01 0.0 0.0\" rpy=\"3.141592653589793 1.5707963267948961 0.0\"/>\n",
-      "    <parent link=\"wrist_left_ft_tool_link\"/>\n",
-      "    <child link=\"gripper_left_link\"/>\n",
-      "  </joint>\n",
-      "  <link name=\"gripper_left_link\">\n",
-      "    <visual name=\"gripper_link\">\n",
-      "      <origin xyz=\"0.0 0.0 0.0\" rpy=\"0.0 -0.0 0.0\"/>\n",
-      "      <geometry>\n",
-      "        <mesh filename=\"package://my_robot_description/urdf/tiago_dual/obj/gripper_link.obj\" scale=\"1.0 1.0 1.0\"/>\n",
-      "      </geometry>\n",
-      "    </visual>\n",
-      "  </link>\n",
-      "  <joint name=\"gripper_left_right_finger_joint\" type=\"prismatic\">\n",
-      "    <origin xyz=\"0.0 -6.162975822039155e-33 0.0\" rpy=\"1.3454695115200456e-32 3.316838427515549e-64 -4.930380657631325e-32\"/>\n",
-      "    <axis xyz=\"1 0 0\"/>\n",
-      "    <parent link=\"gripper_left_link\"/>\n",
-      "    <child link=\"gripper_left_right_finger_link\"/>\n",
-      "    <limit effort=\"1000\" lower=\"0.0\" upper=\"0.04500000178813934\" velocity=\"1000\"/>\n",
-      "  </joint>\n",
-      "  <link name=\"gripper_left_right_finger_link\">\n",
-      "    <visual name=\"gripper_finger_link\">\n",
-      "      <origin xyz=\"0.0 0.0 0.0\" rpy=\"0.0 0.0 -9.265358979305727e-05\"/>\n",
-      "      <geometry>\n",
-      "        <mesh filename=\"package://my_robot_description/urdf/tiago_dual/obj/gripper_finger_link.obj\" scale=\"-1.0000926492973168 -0.9999073421179957 1.0\"/>\n",
-      "      </geometry>\n",
-      "    </visual>\n",
-      "  </link>\n",
-      "  <joint name=\"gripper_left_left_finger_joint\" type=\"prismatic\">\n",
-      "    <origin xyz=\"0.0 -6.162975822039155e-33 0.0\" rpy=\"1.3454695115200456e-32 3.316838427515549e-64 -4.930380657631325e-32\"/>\n",
-      "    <axis xyz=\"-1 0 0\"/>\n",
-      "    <parent link=\"gripper_left_link\"/>\n",
-      "    <child link=\"gripper_left_left_finger_link\"/>\n",
-      "    <limit effort=\"1000\" lower=\"0.0\" upper=\"0.04500000178813934\" velocity=\"1000\"/>\n",
-      "  </joint>\n",
-      "  <link name=\"gripper_left_left_finger_link\">\n"
-     ]
-    },
-    {
-     "name": "stdout",
-     "output_type": "stream",
-     "text": [
-      "    <visual name=\"gripper_finger_link\">\n",
-      "      <origin xyz=\"0.0 0.0 0.0\" rpy=\"0.0 -0.0 3.1415\"/>\n",
-      "      <geometry>\n",
-      "        <mesh filename=\"package://my_robot_description/urdf/tiago_dual/obj/gripper_finger_link.obj\" scale=\"1.000092649297317 0.9999073421179959 1.0\"/>\n",
-      "      </geometry>\n",
-      "    </visual>\n",
-      "  </link>\n",
-      "  <joint name=\"gripper_left_grasping_frame_joint\" type=\"fixed\">\n",
-      "    <origin xyz=\"0.0 0.0 -0.12\" rpy=\"1.5707926536217427 1.5707926535897934 3.141592653589793\"/>\n",
-      "    <parent link=\"gripper_left_link\"/>\n",
-      "    <child link=\"gripper_left_grasping_frame\"/>\n",
-      "  </joint>\n",
-      "  <link name=\"gripper_left_grasping_frame\"/>\n",
-      "  <joint name=\"arm_right_1_joint\" type=\"revolute\">\n",
-      "    <origin xyz=\"0.02556000091135502 -0.1899999976158142 -0.17100000381469727\" rpy=\"0.0 0.0 -1.5707963267948966\"/>\n",
-      "    <axis xyz=\"0 0 1\"/>\n",
-      "    <parent link=\"torso_lift_link\"/>\n",
-      "    <child link=\"arm_right_1_link\"/>\n",
-      "    <limit effort=\"1000\" lower=\"-1.1780972450961724\" upper=\"1.5707963267948966\" velocity=\"1000\"/>\n",
-      "  </joint>\n",
-      "  <link name=\"arm_right_1_link\">\n",
-      "    <visual name=\"arm_1\">\n",
-      "      <origin xyz=\"0.0 0.0 0.0\" rpy=\"3.141592653589793 -0.0 3.141592653589793\"/>\n",
-      "      <geometry>\n",
-      "        <mesh filename=\"package://my_robot_description/urdf/tiago_dual/obj/arm_1.obj\" scale=\"-1.0000000000000004 -1.0 -1.0000000000000004\"/>\n",
-      "      </geometry>\n",
-      "    </visual>\n",
-      "  </link>\n",
-      "  <joint name=\"arm_right_2_joint\" type=\"revolute\">\n",
-      "    <origin xyz=\"0.125 -0.019500000402331352 -0.03099999949336052\" rpy=\"-1.5707963267948966 0.0 0.0\"/>\n",
-      "    <axis xyz=\"0 0 1\"/>\n",
-      "    <parent link=\"arm_right_1_link\"/>\n",
-      "    <child link=\"arm_right_2_link\"/>\n",
-      "    <limit effort=\"1000\" lower=\"-1.1780972450961724\" upper=\"1.5707963267948966\" velocity=\"1000\"/>\n",
-      "  </joint>\n",
-      "  <link name=\"arm_right_2_link\">\n",
-      "    <visual name=\"arm_2\">\n",
-      "      <origin xyz=\"0.0 0.0 0.0\" rpy=\"0.0 -0.0 0.0\"/>\n",
-      "      <geometry>\n",
-      "        <mesh filename=\"package://my_robot_description/urdf/tiago_dual/obj/arm_2.obj\" scale=\"1.0 1.0 1.0\"/>\n",
-      "      </geometry>\n",
-      "    </visual>\n",
-      "  </link>\n",
-      "  <joint name=\"arm_right_3_joint\" type=\"revolute\">\n",
-      "    <origin xyz=\"0.08950000256299973 0.0 -0.001500000013038516\" rpy=\"-1.5707963267948968 -0.0 1.5707963267948968\"/>\n",
-      "    <axis xyz=\"0 0 1\"/>\n",
-      "    <parent link=\"arm_right_2_link\"/>\n",
-      "    <child link=\"arm_right_3_link\"/>\n",
-      "    <limit effort=\"1000\" lower=\"-0.7853981633974483\" upper=\"3.9269908169872414\" velocity=\"1000\"/>\n",
-      "  </joint>\n",
-      "  <link name=\"arm_right_3_link\">\n",
-      "    <visual name=\"arm_3\">\n",
-      "      <origin xyz=\"0.0 0.0 0.0\" rpy=\"0.0 -0.0 0.0\"/>\n",
-      "      <geometry>\n",
-      "        <mesh filename=\"package://my_robot_description/urdf/tiago_dual/obj/arm_3.obj\" scale=\"1.0 1.0 1.0\"/>\n",
-      "      </geometry>\n",
-      "    </visual>\n",
-      "  </link>\n",
-      "  <joint name=\"arm_right_4_joint\" type=\"revolute\">\n",
-      "    <origin xyz=\"-0.019999999552965164 -0.027000000700354576 -0.22200000286102295\" rpy=\"-1.5707963267948968 -1.5707963267948963 0.0\"/>\n",
-      "    <axis xyz=\"0 0 1\"/>\n",
-      "    <parent link=\"arm_right_3_link\"/>\n",
-      "    <child link=\"arm_right_4_link\"/>\n",
-      "    <limit effort=\"1000\" lower=\"-0.39269908169872414\" upper=\"2.356194490192345\" velocity=\"1000\"/>\n",
-      "  </joint>\n",
-      "  <link name=\"arm_right_4_link\">\n",
-      "    <visual name=\"arm_4\">\n",
-      "      <origin xyz=\"0.0 0.0 0.0\" rpy=\"0.0 -0.0 0.0\"/>\n",
-      "      <geometry>\n",
-      "        <mesh filename=\"package://my_robot_description/urdf/tiago_dual/obj/arm_4.obj\" scale=\"1.0 1.0 1.0\"/>\n",
-      "      </geometry>\n",
-      "    </visual>\n",
-      "  </link>\n",
-      "  <joint name=\"arm_right_5_joint\" type=\"revolute\">\n",
-      "    <origin xyz=\"-0.16200000047683716 0.019999999552965164 0.027000000700354576\" rpy=\"-0.0 -1.5707963267948966 0.0\"/>\n",
-      "    <axis xyz=\"0 0 1\"/>\n",
-      "    <parent link=\"arm_right_4_link\"/>\n",
-      "    <child link=\"arm_right_5_link\"/>\n",
-      "    <limit effort=\"1000\" lower=\"-2.0943951023931953\" upper=\"2.0943951023931953\" velocity=\"1000\"/>\n",
-      "  </joint>\n",
-      "  <link name=\"arm_right_5_link\">\n",
-      "    <visual name=\"arm_5_wrist_2017\">\n",
-      "      <origin xyz=\"0.0 0.0 0.0\" rpy=\"0.0 -0.0 0.0\"/>\n",
-      "      <geometry>\n",
-      "        <mesh filename=\"package://my_robot_description/urdf/tiago_dual/obj/arm_5_wrist_2017.obj\" scale=\"1.0 1.0 1.0\"/>\n",
-      "      </geometry>\n",
-      "    </visual>\n",
-      "  </link>\n",
-      "  <joint name=\"arm_right_6_joint\" type=\"revolute\">\n",
-      "    <origin xyz=\"-0.0 -0.0 0.15000000596046448\" rpy=\"-1.5707963267948968 -1.5707963267948963 0.0\"/>\n",
-      "    <axis xyz=\"0 0 1\"/>\n",
-      "    <parent link=\"arm_right_5_link\"/>\n",
-      "    <child link=\"arm_right_6_link\"/>\n",
-      "    <limit effort=\"1000\" lower=\"-1.413716694115407\" upper=\"1.413716694115407\" velocity=\"1000\"/>\n",
-      "  </joint>\n",
-      "  <link name=\"arm_right_6_link\">\n",
-      "    <visual name=\"arm_6_wrist_2017\">\n",
-      "      <origin xyz=\"0.0 0.0 0.0\" rpy=\"0.0 -0.0 0.0\"/>\n",
-      "      <geometry>\n",
-      "        <mesh filename=\"package://my_robot_description/urdf/tiago_dual/obj/arm_6_wrist_2017.obj\" scale=\"1.0 1.0 1.0\"/>\n",
-      "      </geometry>\n",
-      "    </visual>\n",
-      "  </link>\n",
-      "  <joint name=\"arm_right_7_joint\" type=\"revolute\">\n",
-      "    <origin xyz=\"0.0 0.0 0.0\" rpy=\"1.5707963267948968 -0.0 1.5707963267948968\"/>\n",
-      "    <axis xyz=\"0 0 1\"/>\n",
-      "    <parent link=\"arm_right_6_link\"/>\n",
-      "    <child link=\"arm_right_7_link\"/>\n",
-      "    <limit effort=\"1000\" lower=\"-2.0943951023931953\" upper=\"2.0943951023931953\" velocity=\"1000\"/>\n",
-      "  </joint>\n",
-      "  <link name=\"arm_right_7_link\"/>\n",
-      "  <joint name=\"arm_right_tool_link_joint\" type=\"fixed\">\n",
-      "    <origin xyz=\"0.0 0.0 0.046\" rpy=\"-1.570796326794897 -1.5707963267948966 0.0\"/>\n",
-      "    <parent link=\"arm_right_7_link\"/>\n",
-      "    <child link=\"arm_right_tool_link\"/>\n",
-      "  </joint>\n",
-      "  <link name=\"arm_right_tool_link\">\n",
-      "    <visual name=\"arm_right_tool_link_visual_0\">\n",
-      "      <origin xyz=\"0.001 0.0 0.0\" rpy=\"-0.0 1.5707963267948966 0.0\"/>\n",
-      "      <geometry>\n",
-      "        <cylinder radius=\"0.005\" length=\"0.005\"/>\n",
-      "      </geometry>\n",
-      "    </visual>\n",
-      "  </link>\n",
-      "  <joint name=\"wrist_right_ft_link_joint\" type=\"fixed\">\n",
-      "    <origin xyz=\"0.00785 0.0 0.0\" rpy=\"1.5707963267948966 -0.0 1.5707963267948966\"/>\n",
-      "    <parent link=\"arm_right_tool_link\"/>\n",
-      "    <child link=\"wrist_right_ft_link\"/>\n",
-      "  </joint>\n",
-      "  <link name=\"wrist_right_ft_link\">\n",
-      "    <visual name=\"wrist_right_ft_link_visual_0\">\n",
-      "      <origin xyz=\"0.0 0.0 0.0\" rpy=\"0.0 -0.0 0.0\"/>\n",
-      "      <geometry>\n",
-      "        <cylinder radius=\"0.0225\" length=\"0.0157\"/>\n",
-      "      </geometry>\n",
-      "    </visual>\n",
-      "  </link>\n",
-      "  <joint name=\"wrist_right_ft_tool_link_joint\" type=\"fixed\">\n",
-      "    <origin xyz=\"0.0 0.0 0.012725\" rpy=\"-1.5707963267948966 -1.5707963267948966 0.0\"/>\n",
-      "    <parent link=\"wrist_right_ft_link\"/>\n",
-      "    <child link=\"wrist_right_ft_tool_link\"/>\n",
-      "  </joint>\n",
-      "  <link name=\"wrist_right_ft_tool_link\">\n",
-      "    <visual name=\"wrist_right_ft_tool_link_visual_0\">\n",
-      "      <origin xyz=\"0.0 0.0 0.0\" rpy=\"-0.0 1.5707963267948966 0.0\"/>\n",
-      "      <geometry>\n",
-      "        <cylinder radius=\"0.025\" length=\"0.00975\"/>\n",
-      "      </geometry>\n",
-      "    </visual>\n",
-      "  </link>\n",
-      "  <joint name=\"gripper_right_tool_link_joint\" type=\"fixed\">\n",
-      "    <origin xyz=\"0.01 0.0 0.0\" rpy=\"3.141592653589793 1.5707963267948961 0.0\"/>\n",
-      "    <parent link=\"wrist_right_ft_tool_link\"/>\n",
-      "    <child link=\"gripper_right_tool_link\"/>\n",
-      "  </joint>\n",
-      "  <link name=\"gripper_right_tool_link\"/>\n",
-      "  <joint name=\"gripper_right_link_joint\" type=\"fixed\">\n",
-      "    <origin xyz=\"0.01 0.0 0.0\" rpy=\"3.141592653589793 1.5707963267948961 0.0\"/>\n",
-      "    <parent link=\"wrist_right_ft_tool_link\"/>\n",
-      "    <child link=\"gripper_right_link\"/>\n",
-      "  </joint>\n",
-      "  <link name=\"gripper_right_link\">\n",
-      "    <visual name=\"gripper_link\">\n",
-      "      <origin xyz=\"0.0 0.0 0.0\" rpy=\"0.0 -0.0 0.0\"/>\n",
-      "      <geometry>\n",
-      "        <mesh filename=\"package://my_robot_description/urdf/tiago_dual/obj/gripper_link.obj\" scale=\"1.0 1.0 1.0\"/>\n",
-      "      </geometry>\n",
-      "    </visual>\n",
-      "  </link>\n",
-      "  <joint name=\"gripper_right_right_finger_joint\" type=\"prismatic\">\n",
-      "    <origin xyz=\"0.0 0.0 0.0\" rpy=\"-2.9907775833605145e-33 1.8432089935347544e-65 1.2325951644078312e-32\"/>\n",
-      "    <axis xyz=\"1 0 0\"/>\n",
-      "    <parent link=\"gripper_right_link\"/>\n",
-      "    <child link=\"gripper_right_right_finger_link\"/>\n",
-      "    <limit effort=\"1000\" lower=\"0.0\" upper=\"0.04500000178813934\" velocity=\"1000\"/>\n",
-      "  </joint>\n",
-      "  <link name=\"gripper_right_right_finger_link\">\n",
-      "    <visual name=\"gripper_finger_link\">\n",
-      "      <origin xyz=\"0.0 0.0 0.0\" rpy=\"0.0 0.0 -9.265358979305727e-05\"/>\n",
-      "      <geometry>\n",
-      "        <mesh filename=\"package://my_robot_description/urdf/tiago_dual/obj/gripper_finger_link.obj\" scale=\"-1.0000926492973168 -0.9999073421179957 1.0\"/>\n",
-      "      </geometry>\n",
-      "    </visual>\n",
-      "  </link>\n",
-      "  <joint name=\"gripper_right_left_finger_joint\" type=\"prismatic\">\n",
-      "    <origin xyz=\"0.0 0.0 0.0\" rpy=\"-2.9907775833605145e-33 1.8432089935347544e-65 1.2325951644078312e-32\"/>\n"
-     ]
-    },
-    {
-     "name": "stdout",
-     "output_type": "stream",
-     "text": [
-      "    <axis xyz=\"-1 0 0\"/>\n",
-      "    <parent link=\"gripper_right_link\"/>\n",
-      "    <child link=\"gripper_right_left_finger_link\"/>\n",
-      "    <limit effort=\"1000\" lower=\"0.0\" upper=\"0.04500000178813934\" velocity=\"1000\"/>\n",
-      "  </joint>\n",
-      "  <link name=\"gripper_right_left_finger_link\">\n",
-      "    <visual name=\"gripper_finger_link\">\n",
-      "      <origin xyz=\"0.0 0.0 0.0\" rpy=\"0.0 -0.0 3.1415\"/>\n",
-      "      <geometry>\n",
-      "        <mesh filename=\"package://my_robot_description/urdf/tiago_dual/obj/gripper_finger_link.obj\" scale=\"1.000092649297317 0.9999073421179959 1.0\"/>\n",
-      "      </geometry>\n",
-      "    </visual>\n",
-      "  </link>\n",
-      "  <joint name=\"gripper_right_grasping_frame_joint\" type=\"fixed\">\n",
-      "    <origin xyz=\"0.0 0.0 -0.12\" rpy=\"1.5707926536217427 1.5707926535897934 3.141592653589793\"/>\n",
-      "    <parent link=\"gripper_right_link\"/>\n",
-      "    <child link=\"gripper_right_grasping_frame\"/>\n",
-      "  </joint>\n",
-      "  <link name=\"gripper_right_grasping_frame\"/>\n",
-      "  <joint name=\"torso_fixed_column_link_joint\" type=\"fixed\">\n",
-      "    <origin xyz=\"-0.062 0.0 0.195\" rpy=\"0.0 -0.0 0.0\"/>\n",
-      "    <parent link=\"base_link\"/>\n",
-      "    <child link=\"torso_fixed_column_link\"/>\n",
-      "  </joint>\n",
-      "  <link name=\"torso_fixed_column_link\">\n",
-      "    <visual name=\"torso_fixed_column_link_visual_0\">\n",
-      "      <origin xyz=\"0.0 0.0 0.275\" rpy=\"0.0 -0.0 0.0\"/>\n",
-      "      <geometry>\n",
-      "        <box size=\"0.18 0.2 0.55\"/>\n",
-      "      </geometry>\n",
-      "    </visual>\n",
-      "  </link>\n",
-      "  <joint name=\"base_cover_link_joint\" type=\"fixed\">\n",
-      "    <origin xyz=\"0.0 0.0 0.13\" rpy=\"0.0 -0.0 0.0\"/>\n",
-      "    <parent link=\"base_footprint\"/>\n",
-      "    <child link=\"base_cover_link\"/>\n",
-      "  </joint>\n",
-      "  <link name=\"base_cover_link\">\n",
-      "    <visual name=\"base_ring\">\n",
-      "      <origin xyz=\"0.0 0.0 0.0\" rpy=\"0.0 -0.0 0.0\"/>\n",
-      "      <geometry>\n",
-      "        <mesh filename=\"package://my_robot_description/urdf/tiago_dual/obj/base_ring.obj\" scale=\"1.0 1.0 1.0\"/>\n",
-      "      </geometry>\n",
-      "    </visual>\n",
-      "  </link>\n",
-      "  <joint name=\"rgbd_laser_link_joint\" type=\"fixed\">\n",
-      "    <origin xyz=\"-0.9 0.0 0.0\" rpy=\"0.0 -0.0 0.0\"/>\n",
-      "    <parent link=\"base_footprint\"/>\n",
-      "    <child link=\"rgbd_laser_link\"/>\n",
-      "  </joint>\n",
-      "  <link name=\"rgbd_laser_link\"/>\n",
-      "</robot>\n"
-     ]
-    }
-   ],
+   "outputs": [],
    "source": [
     "source $MULTIVERSE_DIR/tutorial_ws/devel/setup.bash\n",
     "\n",
@@ -1686,46 +222,9 @@
   },
   {
    "cell_type": "code",
-   "execution_count": 8,
+   "execution_count": null,
    "metadata": {},
-   "outputs": [
-    {
-     "name": "stdout",
-     "output_type": "stream",
-     "text": [
-      "[1] 359239\n",
-      "... logging to /home/giang/.ros/log/1ce5a1c6-5b1d-11ee-b596-d183e98fb698/roslaunch-giangnguyen-359239.log\n",
-      "Checking log directory for disk usage. This may take a while.\n",
-      "Press Ctrl-C to interrupt\n",
-      "Done checking log file disk usage. Usage is <1GB.\n",
-      "\u001b]2;/media/giang/Storage/Multiverse/multiverse_ws/src/multiverse_core/multiverse_parser/launch/view_urdf.launch\u0007\n",
-      "\u001b[1mstarted roslaunch server http://giangnguyen:34481/\u001b[0m\n",
-      "\n",
-      "SUMMARY\n",
-      "========\n",
-      "\n",
-      "PARAMETERS\n",
-      " * /robot_description: <?xml version=\"1....\n",
-      " * /rosdistro: noetic\n",
-      " * /rosversion: 1.16.0\n",
-      "\n",
-      "NODES\n",
-      "  /\n",
-      "    joint_state_publisher (joint_state_publisher/joint_state_publisher)\n",
-      "    robot_state_publisher (robot_state_publisher/robot_state_publisher)\n",
-      "\n",
-      "auto-starting new master\n",
-      "\u001b[1mprocess[master]: started with pid [359266]\u001b[0m\n",
-      "\u001b[1mROS_MASTER_URI=http://localhost:11311\u001b[0m\n",
-      "\u001b]2;/media/giang/Storage/Multiverse/multiverse_ws/src/multiverse_core/multiverse_parser/launch/view_urdf.launch http://localhost:11311\u0007\n",
-      "\u001b[1msetting /run_id to 1ce5a1c6-5b1d-11ee-b596-d183e98fb698\u001b[0m\n",
-      "\u001b[1mprocess[rosout-1]: started with pid [359291]\u001b[0m\n",
-      "started core service [/rosout]\n",
-      "\u001b[1mprocess[robot_state_publisher-2]: started with pid [359294]\u001b[0m\n",
-      "\u001b[1mprocess[joint_state_publisher-3]: started with pid [359296]\u001b[0m\n"
-     ]
-    }
-   ],
+   "outputs": [],
    "source": [
     "source $MULTIVERSE_DIR/tutorial_ws/devel/setup.bash\n",
     "\n",
@@ -1751,67 +250,11 @@
   },
   {
    "cell_type": "code",
-   "execution_count": 9,
+   "execution_count": null,
    "metadata": {
     "scrolled": true
    },
-   "outputs": [
-    {
-     "name": "stdout",
-     "output_type": "stream",
-     "text": [
-      "Create /tmp/cache/BeRory3Y3U/tmp.usda\n",
-      "Import finished in 0.0009 sec.\n",
-      "USD export of '/tmp/cache/BeRory3Y3U/tmp/usd/collision/base_collision.usda' took 2.3 ms\n",
-      "Import finished in 0.0003 sec.\n",
-      "USD export of '/tmp/cache/BeRory3Y3U/tmp/usd/collision/torso_lift_collision_core.usda' took 1.2 ms\n",
-      "Import finished in 0.0003 sec.\n",
-      "USD export of '/tmp/cache/BeRory3Y3U/tmp/usd/collision/torso_lift_collision_shoulder.usda' took 1.3 ms\n",
-      "Import finished in 0.0001 sec.\n",
-      "USD export of '/tmp/cache/BeRory3Y3U/tmp/usd/collision/torso_lift_collision_neck.usda' took 1.0 ms\n",
-      "Import finished in 0.0030 sec.\n",
-      "USD export of '/tmp/cache/BeRory3Y3U/tmp/usd/collision/head_1_collision.usda' took 5.4 ms\n",
-      "Import finished in 0.0005 sec.\n",
-      "USD export of '/tmp/cache/BeRory3Y3U/tmp/usd/collision/head_2_collision.usda' took 1.5 ms\n",
-      "Import finished in 0.0002 sec.\n",
-      "USD export of '/tmp/cache/BeRory3Y3U/tmp/usd/collision/arm_1_collision.usda' took 1.2 ms\n",
-      "Import finished in 0.0003 sec.\n",
-      "USD export of '/tmp/cache/BeRory3Y3U/tmp/usd/collision/arm_2_collision.usda' took 1.3 ms\n",
-      "Import finished in 0.0002 sec.\n",
-      "USD export of '/tmp/cache/BeRory3Y3U/tmp/usd/collision/arm_3_collision.usda' took 1.3 ms\n",
-      "Import finished in 0.0003 sec.\n",
-      "USD export of '/tmp/cache/BeRory3Y3U/tmp/usd/collision/arm_4_collision.usda' took 1.3 ms\n",
-      "Import finished in 0.0003 sec.\n",
-      "USD export of '/tmp/cache/BeRory3Y3U/tmp/usd/collision/arm_5_collision_wrist_2017.usda' took 1.2 ms\n",
-      "Import finished in 0.0002 sec.\n",
-      "USD export of '/tmp/cache/BeRory3Y3U/tmp/usd/collision/arm_6_collision_wrist_2017.usda' took 1.2 ms\n",
-      "Import finished in 0.0011 sec.\n",
-      "USD export of '/tmp/cache/BeRory3Y3U/tmp/usd/collision/gripper_link_collision.usda' took 2.4 ms\n",
-      "USD import of '/tmp/cache/BeRory3Y3U/tmp/usd/collision/base_collision.usda' took 1.8 ms\n",
-      "USD import of '/tmp/cache/BeRory3Y3U/tmp/usd/collision/torso_lift_collision_neck.usda' took 0.5 ms\n",
-      "USD import of '/tmp/cache/BeRory3Y3U/tmp/usd/collision/torso_lift_collision_core.usda' took 0.4 ms\n",
-      "USD import of '/tmp/cache/BeRory3Y3U/tmp/usd/collision/torso_lift_collision_shoulder.usda' took 0.3 ms\n",
-      "USD import of '/tmp/cache/BeRory3Y3U/tmp/usd/collision/torso_lift_collision_shoulder.usda' took 0.4 ms\n",
-      "USD import of '/tmp/cache/BeRory3Y3U/tmp/usd/collision/head_1_collision.usda' took 1.6 ms\n",
-      "USD import of '/tmp/cache/BeRory3Y3U/tmp/usd/collision/head_2_collision.usda' took 0.8 ms\n",
-      "USD import of '/tmp/cache/BeRory3Y3U/tmp/usd/collision/arm_1_collision.usda' took 0.4 ms\n",
-      "USD import of '/tmp/cache/BeRory3Y3U/tmp/usd/collision/arm_2_collision.usda' took 0.4 ms\n",
-      "USD import of '/tmp/cache/BeRory3Y3U/tmp/usd/collision/arm_3_collision.usda' took 0.4 ms\n",
-      "USD import of '/tmp/cache/BeRory3Y3U/tmp/usd/collision/arm_4_collision.usda' took 0.3 ms\n",
-      "USD import of '/tmp/cache/BeRory3Y3U/tmp/usd/collision/arm_5_collision_wrist_2017.usda' took 0.3 ms\n",
-      "USD import of '/tmp/cache/BeRory3Y3U/tmp/usd/collision/arm_6_collision_wrist_2017.usda' took 0.4 ms\n",
-      "USD import of '/tmp/cache/BeRory3Y3U/tmp/usd/collision/arm_1_collision.usda' took 0.5 ms\n",
-      "USD import of '/tmp/cache/BeRory3Y3U/tmp/usd/collision/arm_2_collision.usda' took 0.4 ms\n",
-      "USD import of '/tmp/cache/BeRory3Y3U/tmp/usd/collision/arm_3_collision.usda' took 0.3 ms\n",
-      "USD import of '/tmp/cache/BeRory3Y3U/tmp/usd/collision/arm_4_collision.usda' took 0.4 ms\n",
-      "USD import of '/tmp/cache/BeRory3Y3U/tmp/usd/collision/arm_5_collision_wrist_2017.usda' took 0.4 ms\n",
-      "USD import of '/tmp/cache/BeRory3Y3U/tmp/usd/collision/arm_6_collision_wrist_2017.usda' took 0.5 ms\n",
-      "USD import of '/tmp/cache/BeRory3Y3U/tmp/usd/collision/gripper_link_collision.usda' took 1.0 ms\n",
-      "USD import of '/tmp/cache/BeRory3Y3U/tmp/usd/collision/gripper_link_collision.usda' took 1.1 ms\n",
-      "Remove /tmp/cache/BeRory3Y3U\n"
-     ]
-    }
-   ],
+   "outputs": [],
    "source": [
     "source $MULTIVERSE_DIR/tutorial_ws/devel/setup.bash\n",
     "\n",
@@ -1830,260 +273,9 @@
   },
   {
    "cell_type": "code",
-   "execution_count": 10,
+   "execution_count": null,
    "metadata": {},
-   "outputs": [
-    {
-     "name": "stdout",
-     "output_type": "stream",
-     "text": [
-      "<?xml version=\"1.0\" ?>\n",
-      "<mujoco model=\"tiago_dual\">\n",
-      "\t<compiler meshdir=\"tiago_dual/\" texturedir=\"tiago_dual/obj/textures\" angle=\"radian\" autolimits=\"true\" balanceinertia=\"true\" boundmass=\"0.000001\" boundinertia=\"0.000001\"/>\n",
-      "\t<default>\n",
-      "\t\t<default class=\"visual\">\n",
-      "\t\t\t<geom contype=\"0\" conaffinity=\"0\"/>\n",
-      "\t\t</default>\n",
-      "\t\t<default class=\"collision\">\n",
-      "\t\t\t<geom rgba=\"1.0 0.0 0.0 0.5\"/>\n",
-      "\t\t</default>\n",
-      "\t</default>\n",
-      "\t<asset>\n",
-      "\t\t<mesh name=\"base_collision_collision1d01d01d0\" file=\"stl/base_collision1d01d01d0.stl\"/>\n",
-      "\t\t<mesh name=\"torso_lift_collision_neck_collision1d01d01d0\" file=\"stl/torso_lift_collision_neck1d01d01d0.stl\"/>\n",
-      "\t\t<mesh name=\"torso_lift_collision_core_collision1d01d01d0\" file=\"stl/torso_lift_collision_core1d01d01d0.stl\"/>\n",
-      "\t\t<mesh name=\"torso_lift_collision_shoulder_collision1d01d01d0\" file=\"stl/torso_lift_collision_shoulder1d01d01d0.stl\"/>\n",
-      "\t\t<mesh name=\"head_1_collision_collision1d01d01d0\" file=\"stl/head_1_collision1d01d01d0.stl\"/>\n",
-      "\t\t<mesh name=\"head_2_collision_collision1d01d01d0\" file=\"stl/head_2_collision1d01d01d0.stl\"/>\n",
-      "\t\t<mesh name=\"arm_1_collision_collision1d0_1d0_1d0\" file=\"stl/arm_1_collision1d0_1d0_1d0.stl\"/>\n",
-      "\t\t<mesh name=\"arm_2_collision_collision1d01d0_1d0\" file=\"stl/arm_2_collision1d01d0_1d0.stl\"/>\n",
-      "\t\t<mesh name=\"arm_3_collision_collision1d01d0_1d0\" file=\"stl/arm_3_collision1d01d0_1d0.stl\"/>\n",
-      "\t\t<mesh name=\"arm_4_collision_collision_1d0_1d0_1d0\" file=\"stl/arm_4_collision_1d0_1d0_1d0.stl\"/>\n",
-      "\t\t<mesh name=\"arm_5_collision_wrist_2017_collision_1d0_1d0_1d0\" file=\"stl/arm_5_collision_wrist_2017_1d0_1d0_1d0.stl\"/>\n",
-      "\t\t<mesh name=\"arm_6_collision_wrist_2017_collision_1d01d01d0\" file=\"stl/arm_6_collision_wrist_2017_1d01d01d0.stl\"/>\n",
-      "\t\t<mesh name=\"arm_1_collision_collision1d0_1d01d0\" file=\"stl/arm_1_collision1d0_1d01d0.stl\"/>\n",
-      "\t\t<mesh name=\"arm_2_collision_collision1d01d01d0\" file=\"stl/arm_2_collision1d01d01d0.stl\"/>\n",
-      "\t\t<mesh name=\"arm_3_collision_collision1d01d01d0\" file=\"stl/arm_3_collision1d01d01d0.stl\"/>\n",
-      "\t\t<mesh name=\"arm_4_collision_collision1d01d01d0\" file=\"stl/arm_4_collision1d01d01d0.stl\"/>\n",
-      "\t\t<mesh name=\"arm_5_collision_wrist_2017_collision1d01d01d0\" file=\"stl/arm_5_collision_wrist_20171d01d01d0.stl\"/>\n",
-      "\t\t<mesh name=\"arm_6_collision_wrist_2017_collision1d01d01d0\" file=\"stl/arm_6_collision_wrist_20171d01d01d0.stl\"/>\n",
-      "\t\t<mesh name=\"gripper_link_collision_collision1d01d01d0\" file=\"stl/gripper_link_collision1d01d01d0.stl\"/>\n",
-      "\t</asset>\n",
-      "\t<worldbody>\n",
-      "\t\t<body name=\"tiago_dual\" pos=\"0.0 0.0 0.0\" quat=\"1.0 0.0 0.0 0.0\">\n",
-      "\t\t\t<body name=\"base_footprint\" pos=\"0.0 0.0 0.0\" quat=\"1.0 0.0 0.0 0.0\">\n",
-      "\t\t\t\t<body name=\"base_cover_link\" pos=\"0.0 0.0 0.13\" quat=\"1.0 0.0 0.0 0.0\"/>\n",
-      "\t\t\t\t<body name=\"base_link\" pos=\"0.0 0.0 0.0985\" quat=\"1.0 0.0 0.0 0.0\">\n",
-      "\t\t\t\t\t<geom name=\"base_link_collision_0\" pos=\"0.0 0.0 0.0\" quat=\"1.0 0.0 0.0 0.0\" class=\"collision\" type=\"mesh\" mesh=\"base_collision_collision1d01d01d0\"/>\n",
-      "\t\t\t\t\t<body name=\"base_sonar_03_link\" pos=\"-0.183 0.183 0.17299999999999996\" quat=\"0.3826834323650899 0.0 0.0 0.9238795325112867\"/>\n",
-      "\t\t\t\t\t<body name=\"base_sonar_01_link\" pos=\"-0.183 -0.183 0.17299999999999996\" quat=\"-0.3826834323650898 0.0 0.0 0.9238795325112867\"/>\n",
-      "\t\t\t\t\t<body name=\"base_mic_front_right_link\" pos=\"0.23182 -0.03902 0.19499999999999998\" quat=\"1.0 0.0 0.0 0.0\"/>\n",
-      "\t\t\t\t\t<body name=\"base_mic_back_right_link\" pos=\"-0.1082 -0.13789 0.19499999999999998\" quat=\"1.0 0.0 0.0 0.0\"/>\n",
-      "\t\t\t\t\t<body name=\"base_antenna_right_link\" pos=\"-0.201 -0.1062 0.19499999999999998\" quat=\"1.0 0.0 0.0 0.0\">\n",
-      "\t\t\t\t\t\t<geom name=\"base_antenna_right_link_collision_0\" pos=\"0.0 0.0 0.085\" quat=\"1.0 0.0 0.0 0.0\" class=\"collision\" type=\"cylinder\" size=\"0.005 0.085\"/>\n",
-      "\t\t\t\t\t</body>\n",
-      "\t\t\t\t\t<body name=\"torso_fixed_link\" pos=\"-0.062 0.0 0.19299999999999998\" quat=\"1.0 0.0 0.0 0.0\">\n",
-      "\t\t\t\t\t\t<geom name=\"torso_fixed_link_collision_1\" pos=\"0.0 0.0 0.05\" quat=\"1.0 0.0 0.0 0.0\" class=\"collision\" type=\"box\" size=\"0.125 0.125 0.05\"/>\n",
-      "\t\t\t\t\t\t<geom name=\"torso_fixed_link_collision_0\" pos=\"0.085 0.0 0.02\" quat=\"1.0 0.0 0.0 0.0\" class=\"collision\" type=\"box\" size=\"0.2 0.125 0.02\"/>\n",
-      "\t\t\t\t\t\t<body name=\"torso_lift_link\" pos=\"0.0 0.0 0.597\" quat=\"1.0 0.0 0.0 0.0\">\n",
-      "\t\t\t\t\t\t\t<geom name=\"torso_lift_link_collision_3\" pos=\"0.0 0.0 0.0\" quat=\"1.0 0.0 0.0 0.0\" class=\"collision\" type=\"mesh\" mesh=\"torso_lift_collision_neck_collision1d01d01d0\"/>\n",
-      "\t\t\t\t\t\t\t<geom name=\"torso_lift_link_collision_0\" pos=\"0.0 0.0 0.0\" quat=\"1.0 0.0 0.0 0.0\" class=\"collision\" type=\"mesh\" mesh=\"torso_lift_collision_core_collision1d01d01d0\"/>\n",
-      "\t\t\t\t\t\t\t<geom name=\"torso_lift_link_collision_1\" pos=\"-0.131 0.17 -0.02556\" quat=\"1.0 0.0 0.0 0.0\" class=\"collision\" type=\"mesh\" mesh=\"torso_lift_collision_shoulder_collision1d01d01d0\"/>\n",
-      "\t\t\t\t\t\t\t<geom name=\"torso_lift_link_collision_2\" pos=\"-0.131 -0.19 -0.02556\" quat=\"1.0 0.0 0.0 0.0\" class=\"collision\" type=\"mesh\" mesh=\"torso_lift_collision_shoulder_collision1d01d01d0\"/>\n",
-      "\t\t\t\t\t\t\t<joint name=\"torso_lift_joint\" pos=\"0.0 0.0 0.0\" type=\"slide\" range=\"0.0 0.800000011920929\" axis=\"0.0 0.0 1.0\"/>\n",
-      "\t\t\t\t\t\t\t<body name=\"head_1_link\" pos=\"0.182 0.0 0.0\" quat=\"1.0 0.0 0.0 0.0\">\n",
-      "\t\t\t\t\t\t\t\t<geom name=\"head_1_link_collision_0\" pos=\"0.0 0.0 0.0\" quat=\"1.0 0.0 0.0 0.0\" class=\"collision\" type=\"mesh\" mesh=\"head_1_collision_collision1d01d01d0\"/>\n",
-      "\t\t\t\t\t\t\t\t<joint name=\"head_1_joint\" pos=\"0.0 0.0 0.0\" type=\"hinge\" range=\"-1.3089969389957472 1.3089969389957472\" axis=\"0.0 0.0 1.0\"/>\n",
-      "\t\t\t\t\t\t\t\t<body name=\"head_2_link\" pos=\"0.0050000000000000044 0.0 0.09799999999999998\" quat=\"0.7071067811865476 0.7071067811865475 0.0 0.0\">\n",
-      "\t\t\t\t\t\t\t\t\t<geom name=\"head_2_link_collision_0\" pos=\"0.0 0.0 0.0\" quat=\"1.0 0.0 0.0 0.0\" class=\"collision\" type=\"mesh\" mesh=\"head_2_collision_collision1d01d01d0\"/>\n",
-      "\t\t\t\t\t\t\t\t\t<joint name=\"head_2_joint\" pos=\"-4.336808689942018e-18 0.0 2.7755575615628914e-17\" type=\"hinge\" range=\"-1.0471975511965976 0.7853981633974483\" axis=\"0.0 0.0 1.0\"/>\n",
-      "\t\t\t\t\t\t\t\t\t<body name=\"xtion_link\" pos=\"0.09079999999999999 0.08000000000000007 2.465190328815662e-32\" quat=\"0.7071067811865476 -0.7071067811865475 0.0 0.0\">\n",
-      "\t\t\t\t\t\t\t\t\t\t<body name=\"xtion_orbbec_aux_joint_frame\" pos=\"0.0 0.0 0.0\" quat=\"1.0 0.0 0.0 0.0\">\n",
-      "\t\t\t\t\t\t\t\t\t\t\t<body name=\"xtion_rgb_frame\" pos=\"0.0 0.022 0.0\" quat=\"1.0 0.0 0.0 0.0\">\n",
-      "\t\t\t\t\t\t\t\t\t\t\t\t<body name=\"xtion_rgb_optical_frame\" pos=\"0.0 0.0 0.0\" quat=\"0.5000000000000001 -0.5 0.4999999999999999 -0.5\"/>\n",
-      "\t\t\t\t\t\t\t\t\t\t\t\t<body name=\"xtion_depth_frame\" pos=\"0.0 0.024999999999999998 0.0\" quat=\"1.0 0.0 0.0 0.0\">\n",
-      "\t\t\t\t\t\t\t\t\t\t\t\t\t<body name=\"xtion_depth_optical_frame\" pos=\"0.0 0.0 0.0\" quat=\"0.5000000000000001 -0.5 0.4999999999999999 -0.5\"/>\n",
-      "\t\t\t\t\t\t\t\t\t\t\t\t</body>\n",
-      "\t\t\t\t\t\t\t\t\t\t\t</body>\n",
-      "\t\t\t\t\t\t\t\t\t\t</body>\n",
-      "\t\t\t\t\t\t\t\t\t\t<body name=\"xtion_optical_frame\" pos=\"0.0 0.0 0.0\" quat=\"0.5000000000000001 -0.5 0.4999999999999999 -0.5\"/>\n",
-      "\t\t\t\t\t\t\t\t\t</body>\n",
-      "\t\t\t\t\t\t\t\t</body>\n",
-      "\t\t\t\t\t\t\t</body>\n",
-      "\t\t\t\t\t\t\t<body name=\"arm_left_1_link\" pos=\"0.02556 0.19 -0.17100000000000004\" quat=\"4.329780281177467e-17 0.7071067811865476 0.7071067811865475 4.3297802811774664e-17\">\n",
-      "\t\t\t\t\t\t\t\t<geom name=\"arm_left_1_link_collision_0\" pos=\"0.0 0.0 0.0\" quat=\"0.0 1.0 0.0 0.0\" class=\"collision\" type=\"mesh\" mesh=\"arm_1_collision_collision1d0_1d0_1d0\"/>\n",
-      "\t\t\t\t\t\t\t\t<joint name=\"arm_left_1_joint\" pos=\"0.0 0.0 2.7755575615628914e-17\" type=\"hinge\" range=\"-1.1780972450961724 1.5707963267948966\" axis=\"0.0 0.0 1.0\"/>\n",
-      "\t\t\t\t\t\t\t\t<body name=\"arm_left_2_link\" pos=\"0.125 -0.019500000000000003 0.031000000000000028\" quat=\"0.7071067811865476 0.7071067811865475 -3.189250306701418e-17 3.1892503067014186e-17\">\n",
-      "\t\t\t\t\t\t\t\t\t<geom name=\"arm_left_2_link_collision_0\" pos=\"0.0 0.0 0.0\" quat=\"0.0 0.0 0.0 1.0\" class=\"collision\" type=\"mesh\" mesh=\"arm_2_collision_collision1d01d0_1d0\"/>\n",
-      "\t\t\t\t\t\t\t\t\t<joint name=\"arm_left_2_joint\" pos=\"3.469446951953614e-18 -4.010654775073297e-33 2.7755575615628914e-17\" type=\"hinge\" range=\"-1.1780972450961724 1.5707963267948966\" axis=\"0.0 0.0 1.0\"/>\n",
-      "\t\t\t\t\t\t\t\t\t<body name=\"arm_left_3_link\" pos=\"0.08949999999999997 0.0 -0.0015000000000000013\" quat=\"0.5000000000000001 0.5 0.5 0.5\">\n",
-      "\t\t\t\t\t\t\t\t\t\t<geom name=\"arm_left_3_link_collision_0\" pos=\"0.0 0.0 0.0\" quat=\"0.0 0.0 0.0 1.0\" class=\"collision\" type=\"mesh\" mesh=\"arm_3_collision_collision1d01d0_1d0\"/>\n",
-      "\t\t\t\t\t\t\t\t\t\t<joint name=\"arm_left_3_joint\" pos=\"3.274080905458301e-33 -1.301042606982596e-18 -2.7755575615628914e-17\" type=\"hinge\" range=\"-0.7853981633974483 3.9269908169872414\" axis=\"0.0 0.0 1.0\"/>\n",
-      "\t\t\t\t\t\t\t\t\t\t<body name=\"arm_left_4_link\" pos=\"-0.020000000000000018 -0.026999999999999996 0.22200000000000003\" quat=\"0.5 0.5000000000000001 -0.5000000000000001 0.5\">\n"
-     ]
-    },
-    {
-     "name": "stdout",
-     "output_type": "stream",
-     "text": [
-      "\t\t\t\t\t\t\t\t\t\t\t<geom name=\"arm_left_4_link_collision_0\" pos=\"0.0 0.0 0.0\" quat=\"1.0 0.0 0.0 0.0\" class=\"collision\" type=\"mesh\" mesh=\"arm_4_collision_collision_1d0_1d0_1d0\"/>\n",
-      "\t\t\t\t\t\t\t\t\t\t\t<joint name=\"arm_left_4_joint\" pos=\"2.775557561562892e-17 -1.7347234759768056e-17 -3.469446951953608e-18\" type=\"hinge\" range=\"-0.39269908169872414 2.356194490192345\" axis=\"0.0 0.0 1.0\"/>\n",
-      "\t\t\t\t\t\t\t\t\t\t\t<body name=\"arm_left_5_link\" pos=\"0.16200000000000014 -0.020000000000000018 -0.027000000000000007\" quat=\"0.7071067811865476 5.551115123125785e-17 -0.7071067811865475 -5.551115123125789e-17\">\n",
-      "\t\t\t\t\t\t\t\t\t\t\t\t<geom name=\"arm_left_5_link_collision_0\" pos=\"0.0 0.0 0.0\" quat=\"1.0 0.0 0.0 0.0\" class=\"collision\" type=\"mesh\" mesh=\"arm_5_collision_wrist_2017_collision_1d0_1d0_1d0\"/>\n",
-      "\t\t\t\t\t\t\t\t\t\t\t\t<joint name=\"arm_left_5_joint\" pos=\"1.7347234759768022e-17 6.938893903907336e-18 -1.3877787807814454e-16\" type=\"hinge\" range=\"-2.0943951023931953 2.0943951023931953\" axis=\"0.0 0.0 1.0\"/>\n",
-      "\t\t\t\t\t\t\t\t\t\t\t\t<body name=\"arm_left_6_link\" pos=\"0.0 0.0 -0.15000000000000002\" quat=\"0.5000000000000001 -0.4999999999999999 -0.5 -0.5\">\n",
-      "\t\t\t\t\t\t\t\t\t\t\t\t\t<geom name=\"arm_left_6_link_collision_0\" pos=\"0.0 0.0 0.0\" quat=\"0.0 1.0 0.0 0.0\" class=\"collision\" type=\"mesh\" mesh=\"arm_6_collision_wrist_2017_collision_1d01d01d0\"/>\n",
-      "\t\t\t\t\t\t\t\t\t\t\t\t\t<joint name=\"arm_left_6_joint\" pos=\"1.4448635242662495e-32 2.775557561562892e-17 9.244463733058733e-33\" type=\"hinge\" range=\"-1.413716694115407 1.413716694115407\" axis=\"0.0 0.0 1.0\"/>\n",
-      "\t\t\t\t\t\t\t\t\t\t\t\t\t<body name=\"arm_left_7_link\" pos=\"0.0 0.0 0.0\" quat=\"0.5000000000000001 0.5 0.4999999999999999 0.5\">\n",
-      "\t\t\t\t\t\t\t\t\t\t\t\t\t\t<joint name=\"arm_left_7_joint\" pos=\"0.0 0.0 -0.0\" type=\"hinge\" range=\"-2.0943951023931953 2.0943951023931953\" axis=\"0.0 0.0 1.0\"/>\n",
-      "\t\t\t\t\t\t\t\t\t\t\t\t\t\t<body name=\"arm_left_tool_link\" pos=\"-6.938893903907228e-18 0.0 -0.04600000000000004\" quat=\"0.49999999999999994 -0.49999999999999994 0.5 0.5000000000000001\">\n",
-      "\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<geom name=\"arm_left_tool_link_collision_0\" pos=\"0.001 0.0 0.0\" quat=\"0.7071067811865476 0.0 0.7071067811865475 0.0\" class=\"collision\" type=\"cylinder\" size=\"0.005 0.0025\"/>\n",
-      "\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<body name=\"wrist_left_ft_link\" pos=\"0.007850000000000024 0.0 1.1102230246251565e-16\" quat=\"0.5000000000000001 0.5 0.4999999999999999 0.5\">\n",
-      "\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<geom name=\"wrist_left_ft_link_collision_0\" pos=\"0.0 0.0 0.0\" quat=\"1.0 0.0 0.0 0.0\" class=\"collision\" type=\"cylinder\" size=\"0.0225 0.00785\"/>\n",
-      "\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<body name=\"wrist_left_ft_tool_link\" pos=\"0.0 0.0 0.012724999999999875\" quat=\"0.5000000000000001 -0.5 -0.5 -0.4999999999999999\">\n",
-      "\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<geom name=\"wrist_left_ft_tool_link_collision_0\" pos=\"0.0 0.0 0.0\" quat=\"0.7071067811865476 0.0 0.7071067811865475 0.0\" class=\"collision\" type=\"cylinder\" size=\"0.025 0.004875\"/>\n",
-      "\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<body name=\"gripper_left_link\" pos=\"0.010000000000000231 0.0 0.0\" quat=\"-1.5265566588595907e-16 -0.7071067811865475 -9.813077866773593e-17 0.7071067811865476\">\n",
-      "\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<geom name=\"gripper_left_link_collision_0\" pos=\"0.0 0.0 0.0\" quat=\"1.0 0.0 0.0 0.0\" class=\"collision\" type=\"mesh\" mesh=\"gripper_link_collision_collision1d01d01d0\"/>\n",
-      "\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<body name=\"gripper_left_grasping_frame\" pos=\"0.0 0.0 -0.1200000000000001\" quat=\"0.49999816339744846 -0.49999999999662703 0.49999999999662703 0.5000018366025516\"/>\n",
-      "\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<body name=\"gripper_left_right_finger_link\" pos=\"0.0 6.938893903907228e-18 -2.220446049250313e-16\" quat=\"1.0 1.5407439555097887e-32 0.0 -2.465190328815662e-32\">\n",
-      "\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<geom name=\"gripper_left_right_finger_link_collision_0\" pos=\"0.005 0.0 -0.165\" quat=\"4.632679487995776e-05 0.0 0.0 0.999999998926914\" class=\"collision\" type=\"box\" size=\"0.005000000000000001 0.025 0.055\"/>\n",
-      "\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<joint name=\"gripper_left_right_finger_joint\" pos=\"-2.220446049250313e-16 2.4651903288156597e-31 6.93889390390718e-18\" type=\"slide\" range=\"0.0 0.04500000178813934\" axis=\"0.9999999999999998 0.0 2.220446049250313e-16\"/>\n",
-      "\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t</body>\n",
-      "\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<body name=\"gripper_left_left_finger_link\" pos=\"0.0 6.938893903907228e-18 -2.220446049250313e-16\" quat=\"1.0 1.5407439555097887e-32 0.0 -2.465190328815662e-32\">\n",
-      "\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<geom name=\"gripper_left_left_finger_link_collision_0\" pos=\"-0.005 0.0 -0.165\" quat=\"4.632679487995776e-05 0.0 0.0 0.999999998926914\" class=\"collision\" type=\"box\" size=\"0.005000000000000001 0.025 0.055\"/>\n",
-      "\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<joint name=\"gripper_left_left_finger_joint\" pos=\"-2.220446049250313e-16 2.4651903288156597e-31 6.93889390390718e-18\" type=\"slide\" range=\"0.0 0.04500000178813934\" axis=\"-0.9999999999999998 0.0 2.220446049250313e-16\"/>\n",
-      "\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t</body>\n",
-      "\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t</body>\n",
-      "\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<body name=\"gripper_left_tool_link\" pos=\"0.010000000000000231 0.0 0.0\" quat=\"-1.5265566588595907e-16 -0.7071067811865475 -9.813077866773593e-17 0.7071067811865476\"/>\n",
-      "\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t</body>\n",
-      "\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t</body>\n",
-      "\t\t\t\t\t\t\t\t\t\t\t\t\t\t</body>\n",
-      "\t\t\t\t\t\t\t\t\t\t\t\t\t</body>\n",
-      "\t\t\t\t\t\t\t\t\t\t\t\t</body>\n",
-      "\t\t\t\t\t\t\t\t\t\t\t</body>\n",
-      "\t\t\t\t\t\t\t\t\t\t</body>\n",
-      "\t\t\t\t\t\t\t\t\t</body>\n",
-      "\t\t\t\t\t\t\t\t</body>\n",
-      "\t\t\t\t\t\t\t</body>\n",
-      "\t\t\t\t\t\t\t<body name=\"arm_right_1_link\" pos=\"0.02556 -0.19 -0.17100000000000004\" quat=\"0.7071067811865476 0.0 0.0 -0.7071067811865475\">\n",
-      "\t\t\t\t\t\t\t\t<geom name=\"arm_right_1_link_collision_0\" pos=\"0.0 0.0 0.0\" quat=\"0.0 0.0 1.0 0.0\" class=\"collision\" type=\"mesh\" mesh=\"arm_1_collision_collision1d0_1d01d0\"/>\n",
-      "\t\t\t\t\t\t\t\t<joint name=\"arm_right_1_joint\" pos=\"0.0 0.0 2.7755575615628914e-17\" type=\"hinge\" range=\"-1.1780972450961724 1.5707963267948966\" axis=\"0.0 0.0 1.0\"/>\n",
-      "\t\t\t\t\t\t\t\t<body name=\"arm_right_2_link\" pos=\"0.125 -0.019500000000000003 -0.031000000000000028\" quat=\"0.7071067811865476 -0.7071067811865475 0.0 0.0\">\n",
-      "\t\t\t\t\t\t\t\t\t<geom name=\"arm_right_2_link_collision_0\" pos=\"0.0 0.0 0.0\" quat=\"1.0 0.0 0.0 0.0\" class=\"collision\" type=\"mesh\" mesh=\"arm_2_collision_collision1d01d01d0\"/>\n",
-      "\t\t\t\t\t\t\t\t\t<joint name=\"arm_right_2_joint\" pos=\"-3.469446951953614e-18 7.703719777548943e-34 2.7755575615628914e-17\" type=\"hinge\" range=\"-1.1780972450961724 1.5707963267948966\" axis=\"0.0 0.0 1.0\"/>\n",
-      "\t\t\t\t\t\t\t\t\t<body name=\"arm_right_3_link\" pos=\"0.08949999999999997 0.0 -0.0015000000000000013\" quat=\"0.5000000000000001 -0.5 -0.4999999999999999 0.5\">\n",
-      "\t\t\t\t\t\t\t\t\t\t<geom name=\"arm_right_3_link_collision_0\" pos=\"0.0 0.0 0.0\" quat=\"1.0 0.0 0.0 0.0\" class=\"collision\" type=\"mesh\" mesh=\"arm_3_collision_collision1d01d01d0\"/>\n",
-      "\t\t\t\t\t\t\t\t\t\t<joint name=\"arm_right_3_joint\" pos=\"6.259272319258517e-33 -1.3010426069825992e-18 2.7755575615628914e-17\" type=\"hinge\" range=\"-0.7853981633974483 3.9269908169872414\" axis=\"0.0 0.0 1.0\"/>\n",
-      "\t\t\t\t\t\t\t\t\t\t<body name=\"arm_right_4_link\" pos=\"-0.020000000000000018 -0.027 -0.22199999999999992\" quat=\"0.5000000000000001 -0.5 -0.5 -0.4999999999999999\">\n",
-      "\t\t\t\t\t\t\t\t\t\t\t<geom name=\"arm_right_4_link_collision_0\" pos=\"0.0 0.0 0.0\" quat=\"1.0 0.0 0.0 0.0\" class=\"collision\" type=\"mesh\" mesh=\"arm_4_collision_collision1d01d01d0\"/>\n",
-      "\t\t\t\t\t\t\t\t\t\t\t<joint name=\"arm_right_4_joint\" pos=\"8.326672684688674e-17 -1.7347234759768046e-17 2.465190328815662e-32\" type=\"hinge\" range=\"-0.39269908169872414 2.356194490192345\" axis=\"0.0 0.0 1.0\"/>\n",
-      "\t\t\t\t\t\t\t\t\t\t\t<body name=\"arm_right_5_link\" pos=\"-0.16200000000000003 0.019999999999999907 0.027000000000000003\" quat=\"0.7071067811865476 5.551115123125783e-17 -0.7071067811865475 -5.551115123125784e-17\">\n",
-      "\t\t\t\t\t\t\t\t\t\t\t\t<geom name=\"arm_right_5_link_collision_0\" pos=\"0.0 0.0 0.0\" quat=\"1.0 0.0 0.0 0.0\" class=\"collision\" type=\"mesh\" mesh=\"arm_5_collision_wrist_2017_collision1d01d01d0\"/>\n",
-      "\t\t\t\t\t\t\t\t\t\t\t\t<joint name=\"arm_right_5_joint\" pos=\"9.367506770274758e-17 3.469446951953571e-18 -2.7755575615628907e-17\" type=\"hinge\" range=\"-2.0943951023931953 2.0943951023931953\" axis=\"0.0 0.0 1.0\"/>\n",
-      "\t\t\t\t\t\t\t\t\t\t\t\t<body name=\"arm_right_6_link\" pos=\"0.0 0.0 0.15000000000000002\" quat=\"0.5000000000000001 -0.4999999999999999 -0.5 -0.5\">\n",
-      "\t\t\t\t\t\t\t\t\t\t\t\t\t<geom name=\"arm_right_6_link_collision_0\" pos=\"0.0 0.0 0.0\" quat=\"1.0 0.0 0.0 0.0\" class=\"collision\" type=\"mesh\" mesh=\"arm_6_collision_wrist_2017_collision1d01d01d0\"/>\n",
-      "\t\t\t\t\t\t\t\t\t\t\t\t\t<joint name=\"arm_right_6_joint\" pos=\"-4.357881996052619e-33 2.775557561562892e-17 -1.8488927466117464e-32\" type=\"hinge\" range=\"-1.413716694115407 1.413716694115407\" axis=\"0.0 0.0 1.0\"/>\n",
-      "\t\t\t\t\t\t\t\t\t\t\t\t\t<body name=\"arm_right_7_link\" pos=\"0.0 0.0 0.0\" quat=\"0.5000000000000001 0.5 0.4999999999999999 0.5\">\n"
-     ]
-    },
-    {
-     "name": "stdout",
-     "output_type": "stream",
-     "text": [
-      "\t\t\t\t\t\t\t\t\t\t\t\t\t\t<joint name=\"arm_right_7_joint\" pos=\"0.0 -0.0 0.0\" type=\"hinge\" range=\"-2.0943951023931953 2.0943951023931953\" axis=\"0.0 0.0 1.0\"/>\n",
-      "\t\t\t\t\t\t\t\t\t\t\t\t\t\t<body name=\"arm_right_tool_link\" pos=\"0.0 0.0 0.04600000000000004\" quat=\"-0.5 0.5 0.4999999999999999 0.5000000000000001\">\n",
-      "\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<geom name=\"arm_right_tool_link_collision_0\" pos=\"0.001 0.0 0.0\" quat=\"0.7071067811865476 0.0 0.7071067811865475 0.0\" class=\"collision\" type=\"cylinder\" size=\"0.005 0.0025\"/>\n",
-      "\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<body name=\"wrist_right_ft_link\" pos=\"0.007849999999999913 0.0 0.0\" quat=\"0.5000000000000001 0.5 0.4999999999999999 0.5\">\n",
-      "\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<geom name=\"wrist_right_ft_link_collision_0\" pos=\"0.0 0.0 0.0\" quat=\"1.0 0.0 0.0 0.0\" class=\"collision\" type=\"cylinder\" size=\"0.0225 0.00785\"/>\n",
-      "\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<body name=\"wrist_right_ft_tool_link\" pos=\"0.0 0.0 0.012724999999999875\" quat=\"0.5000000000000001 -0.5 -0.5 -0.4999999999999999\">\n",
-      "\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<geom name=\"wrist_right_ft_tool_link_collision_0\" pos=\"0.0 0.0 0.0\" quat=\"0.7071067811865476 0.0 0.7071067811865475 0.0\" class=\"collision\" type=\"cylinder\" size=\"0.025 0.004875\"/>\n",
-      "\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<body name=\"gripper_right_link\" pos=\"0.010000000000000009 0.0 0.0\" quat=\"1.6653345369377356e-16 0.7071067811865476 5.551115123125793e-17 -0.7071067811865475\">\n",
-      "\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<geom name=\"gripper_right_link_collision_0\" pos=\"0.0 0.0 0.0\" quat=\"1.0 0.0 0.0 0.0\" class=\"collision\" type=\"mesh\" mesh=\"gripper_link_collision_collision1d01d01d0\"/>\n",
-      "\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<body name=\"gripper_right_grasping_frame\" pos=\"-1.1102230246251565e-16 0.0 -0.11999999999999988\" quat=\"0.4999981633974485 -0.49999999999662703 0.4999999999966269 0.5000018366025516\"/>\n",
-      "\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<body name=\"gripper_right_right_finger_link\" pos=\"0.0 0.0 0.0\" quat=\"1.0 -1.495388688159114e-33 -2.465190328815662e-32 -6.162975822039152e-33\">\n",
-      "\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<geom name=\"gripper_right_right_finger_link_collision_0\" pos=\"0.005 0.0 -0.165\" quat=\"4.632679487995776e-05 0.0 0.0 0.999999998926914\" class=\"collision\" type=\"box\" size=\"0.005000000000000001 0.025 0.055\"/>\n",
-      "\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<joint name=\"gripper_right_right_finger_joint\" pos=\"0.0 0.0 0.0\" type=\"slide\" range=\"0.0 0.04500000178813934\" axis=\"0.9999999999999998 0.0 2.220446049250313e-16\"/>\n",
-      "\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t</body>\n",
-      "\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<body name=\"gripper_right_left_finger_link\" pos=\"0.0 0.0 0.0\" quat=\"1.0 -1.495388688159114e-33 -2.465190328815662e-32 -6.162975822039152e-33\">\n",
-      "\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<geom name=\"gripper_right_left_finger_link_collision_0\" pos=\"-0.005 0.0 -0.165\" quat=\"4.632679487995776e-05 0.0 0.0 0.999999998926914\" class=\"collision\" type=\"box\" size=\"0.005000000000000001 0.025 0.055\"/>\n",
-      "\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<joint name=\"gripper_right_left_finger_joint\" pos=\"0.0 0.0 0.0\" type=\"slide\" range=\"0.0 0.04500000178813934\" axis=\"-0.9999999999999998 0.0 2.220446049250313e-16\"/>\n",
-      "\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t</body>\n",
-      "\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t</body>\n",
-      "\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<body name=\"gripper_right_tool_link\" pos=\"0.010000000000000009 0.0 0.0\" quat=\"1.6653345369377356e-16 0.7071067811865476 5.551115123125793e-17 -0.7071067811865475\"/>\n",
-      "\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t</body>\n",
-      "\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t</body>\n",
-      "\t\t\t\t\t\t\t\t\t\t\t\t\t\t</body>\n",
-      "\t\t\t\t\t\t\t\t\t\t\t\t\t</body>\n",
-      "\t\t\t\t\t\t\t\t\t\t\t\t</body>\n",
-      "\t\t\t\t\t\t\t\t\t\t\t</body>\n",
-      "\t\t\t\t\t\t\t\t\t\t</body>\n",
-      "\t\t\t\t\t\t\t\t\t</body>\n",
-      "\t\t\t\t\t\t\t\t</body>\n",
-      "\t\t\t\t\t\t\t</body>\n",
-      "\t\t\t\t\t\t</body>\n",
-      "\t\t\t\t\t</body>\n",
-      "\t\t\t\t\t<body name=\"torso_fixed_column_link\" pos=\"-0.062 0.0 0.19499999999999998\" quat=\"1.0 0.0 0.0 0.0\">\n",
-      "\t\t\t\t\t\t<geom name=\"torso_fixed_column_link_collision_0\" pos=\"0.0 0.0 0.275\" quat=\"1.0 0.0 0.0 0.0\" class=\"collision\" type=\"box\" size=\"0.115 0.115 0.275\"/>\n",
-      "\t\t\t\t\t</body>\n",
-      "\t\t\t\t\t<body name=\"suspension_right_link\" pos=\"0.0 0.0 0.0\" quat=\"1.0 0.0 0.0 0.0\">\n",
-      "\t\t\t\t\t\t<joint name=\"suspension_right_joint\" pos=\"0.0 0.0 0.0\" type=\"slide\" range=\"-0.004999999888241291 0.004999999888241291\" axis=\"0.0 0.0 1.0\"/>\n",
-      "\t\t\t\t\t\t<body name=\"wheel_right_link\" pos=\"0.0 -0.2022 0.0\" quat=\"0.7071067811865476 -0.7071067811865475 0.0 0.0\">\n",
-      "\t\t\t\t\t\t\t<geom name=\"wheel_right_link_collision_0\" pos=\"0.0 0.0 0.0\" quat=\"1.0 0.0 0.0 0.0\" class=\"collision\" type=\"sphere\" size=\"0.0985\"/>\n",
-      "\t\t\t\t\t\t\t<joint name=\"wheel_right_joint\" pos=\"0.0 0.0 0.0\" axis=\"0.0 0.0 1.0\"/>\n",
-      "\t\t\t\t\t\t</body>\n",
-      "\t\t\t\t\t</body>\n",
-      "\t\t\t\t\t<body name=\"suspension_left_link\" pos=\"0.0 0.0 0.0\" quat=\"1.0 0.0 0.0 0.0\">\n",
-      "\t\t\t\t\t\t<joint name=\"suspension_left_joint\" pos=\"0.0 0.0 0.0\" type=\"slide\" range=\"-0.004999999888241291 0.004999999888241291\" axis=\"0.0 0.0 1.0\"/>\n",
-      "\t\t\t\t\t\t<body name=\"wheel_left_link\" pos=\"0.0 0.2022 0.0\" quat=\"0.7071067811865476 -0.7071067811865475 0.0 0.0\">\n",
-      "\t\t\t\t\t\t\t<geom name=\"wheel_left_link_collision_0\" pos=\"0.0 0.0 0.0\" quat=\"1.0 0.0 0.0 0.0\" class=\"collision\" type=\"sphere\" size=\"0.0985\"/>\n",
-      "\t\t\t\t\t\t\t<joint name=\"wheel_left_joint\" pos=\"0.0 0.0 0.0\" axis=\"0.0 0.0 1.0\"/>\n",
-      "\t\t\t\t\t\t</body>\n",
-      "\t\t\t\t\t</body>\n",
-      "\t\t\t\t\t<body name=\"caster_front_right_1_link\" pos=\"0.1695 -0.102 -0.0335\" quat=\"1.0 0.0 0.0 0.0\">\n",
-      "\t\t\t\t\t\t<joint name=\"caster_front_right_1_joint\" pos=\"0.0 0.0 0.0\" axis=\"0.0 0.0 1.0\"/>\n",
-      "\t\t\t\t\t\t<body name=\"caster_front_right_2_link\" pos=\"-0.015999999999999986 0.0 -0.04\" quat=\"0.7071067811865476 -0.7071067811865475 0.0 0.0\">\n",
-      "\t\t\t\t\t\t\t<geom name=\"caster_front_right_2_link_collision_0\" pos=\"0.0 0.0 0.0\" quat=\"1.0 0.0 0.0 0.0\" class=\"collision\" type=\"sphere\" size=\"0.025\"/>\n",
-      "\t\t\t\t\t\t\t<joint name=\"caster_front_right_2_joint\" pos=\"-1.3877787807814457e-17 0.0 0.0\" axis=\"0.0 0.0 1.0\"/>\n",
-      "\t\t\t\t\t\t</body>\n",
-      "\t\t\t\t\t</body>\n",
-      "\t\t\t\t\t<body name=\"caster_front_left_1_link\" pos=\"0.1695 0.102 -0.0335\" quat=\"1.0 0.0 0.0 0.0\">\n",
-      "\t\t\t\t\t\t<joint name=\"caster_front_left_1_joint\" pos=\"0.0 0.0 0.0\" axis=\"0.0 0.0 1.0\"/>\n",
-      "\t\t\t\t\t\t<body name=\"caster_front_left_2_link\" pos=\"-0.015999999999999986 0.0 -0.04\" quat=\"0.7071067811865476 -0.7071067811865475 0.0 0.0\">\n",
-      "\t\t\t\t\t\t\t<geom name=\"caster_front_left_2_link_collision_0\" pos=\"0.0 0.0 0.0\" quat=\"1.0 0.0 0.0 0.0\" class=\"collision\" type=\"sphere\" size=\"0.025\"/>\n",
-      "\t\t\t\t\t\t\t<joint name=\"caster_front_left_2_joint\" pos=\"-1.3877787807814457e-17 0.0 0.0\" axis=\"0.0 0.0 1.0\"/>\n",
-      "\t\t\t\t\t\t</body>\n",
-      "\t\t\t\t\t</body>\n",
-      "\t\t\t\t\t<body name=\"caster_back_right_1_link\" pos=\"-0.17350000000000002 -0.102 -0.0335\" quat=\"1.0 0.0 0.0 0.0\">\n",
-      "\t\t\t\t\t\t<joint name=\"caster_back_right_1_joint\" pos=\"0.0 0.0 0.0\" axis=\"0.0 0.0 1.0\"/>\n",
-      "\t\t\t\t\t\t<body name=\"caster_back_right_2_link\" pos=\"-0.015999999999999986 0.0 -0.04\" quat=\"0.7071067811865476 -0.7071067811865475 0.0 0.0\">\n",
-      "\t\t\t\t\t\t\t<geom name=\"caster_back_right_2_link_collision_0\" pos=\"0.0 0.0 0.0\" quat=\"1.0 0.0 0.0 0.0\" class=\"collision\" type=\"sphere\" size=\"0.025\"/>\n",
-      "\t\t\t\t\t\t\t<joint name=\"caster_back_right_2_joint\" pos=\"-1.3877787807814457e-17 0.0 0.0\" axis=\"0.0 0.0 1.0\"/>\n",
-      "\t\t\t\t\t\t</body>\n",
-      "\t\t\t\t\t</body>\n",
-      "\t\t\t\t\t<body name=\"caster_back_left_1_link\" pos=\"-0.17350000000000002 0.102 -0.0335\" quat=\"1.0 0.0 0.0 0.0\">\n",
-      "\t\t\t\t\t\t<joint name=\"caster_back_left_1_joint\" pos=\"0.0 0.0 0.0\" axis=\"0.0 0.0 1.0\"/>\n",
-      "\t\t\t\t\t\t<body name=\"caster_back_left_2_link\" pos=\"-0.015999999999999986 0.0 -0.04\" quat=\"0.7071067811865476 -0.7071067811865475 0.0 0.0\">\n",
-      "\t\t\t\t\t\t\t<geom name=\"caster_back_left_2_link_collision_0\" pos=\"0.0 0.0 0.0\" quat=\"1.0 0.0 0.0 0.0\" class=\"collision\" type=\"sphere\" size=\"0.025\"/>\n",
-      "\t\t\t\t\t\t\t<joint name=\"caster_back_left_2_joint\" pos=\"-1.3877787807814457e-17 0.0 0.0\" axis=\"0.0 0.0 1.0\"/>\n",
-      "\t\t\t\t\t\t</body>\n",
-      "\t\t\t\t\t</body>\n",
-      "\t\t\t\t\t<body name=\"base_laser_link\" pos=\"0.202 0.0 -0.0040000000000000036\" quat=\"1.0 0.0 0.0 0.0\"/>\n",
-      "\t\t\t\t\t<body name=\"base_mic_front_left_link\" pos=\"0.23182 0.03902 0.19499999999999998\" quat=\"1.0 0.0 0.0 0.0\"/>\n",
-      "\t\t\t\t\t<body name=\"base_antenna_left_link\" pos=\"-0.201 0.1062 0.19499999999999998\" quat=\"1.0 0.0 0.0 0.0\">\n",
-      "\t\t\t\t\t\t<geom name=\"base_antenna_left_link_collision_0\" pos=\"0.0 0.0 0.085\" quat=\"1.0 0.0 0.0 0.0\" class=\"collision\" type=\"cylinder\" size=\"0.005 0.085\"/>\n",
-      "\t\t\t\t\t</body>\n",
-      "\t\t\t\t\t<body name=\"base_sonar_02_link\" pos=\"-0.259 0.0 0.17299999999999996\" quat=\"6.123233995736766e-17 0.0 0.0 1.0\"/>\n",
-      "\t\t\t\t\t<body name=\"base_imu_link\" pos=\"0.10171 0.0 0.11282\" quat=\"0.7071067811865476 0.0 0.0 -0.7071067811865475\"/>\n",
-      "\t\t\t\t\t<body name=\"base_mic_back_left_link\" pos=\"-0.1082 -0.0599 0.19499999999999998\" quat=\"1.0 0.0 0.0 0.0\"/>\n",
-      "\t\t\t\t</body>\n",
-      "\t\t\t\t<body name=\"rgbd_laser_link\" pos=\"-0.9 0.0 0.0\" quat=\"1.0 0.0 0.0 0.0\"/>\n",
-      "\t\t\t</body>\n",
-      "\t\t</body>\n",
-      "\t</worldbody>\n",
-      "</mujoco>\n"
-     ]
-    }
-   ],
+   "outputs": [],
    "source": [
     "source $MULTIVERSE_DIR/tutorial_ws/devel/setup.bash\n",
     "\n",
@@ -2115,58 +307,9 @@
   },
   {
    "cell_type": "code",
-   "execution_count": 11,
+   "execution_count": null,
    "metadata": {},
-   "outputs": [
-    {
-     "name": "stdout",
-     "output_type": "stream",
-     "text": [
-      "Created file my_robot_mujoco/package.xml\n",
-      "Created file my_robot_mujoco/CMakeLists.txt\n",
-      "Successfully created files in /media/giang/Storage/Multiverse/tutorial_ws/src/my_robot_mujoco. Please adjust the values in package.xml.\n",
-      "\u001b[35m--------------------------------------------------------------------------------\u001b[0m\u001b[0m\n",
-      "\u001b[36mProfile:\u001b[0m                     \u001b[33mdefault\u001b[0m\u001b[0m\n",
-      "\u001b[36mExtending:\u001b[0m          \u001b[32m[cached]\u001b[0m\u001b[0m \u001b[33m/media/giang/Storage/Multiverse/multiverse_ws/devel:/opt/ros/noetic\u001b[0m\u001b[0m\n",
-      "\u001b[36mWorkspace:\u001b[0m                   \u001b[33m/media/giang/Storage/Multiverse/tutorial_ws\u001b[0m\u001b[0m\n",
-      "\u001b[35m--------------------------------------------------------------------------------\u001b[0m\u001b[0m\n",
-      "\u001b[36mBuild Space:\u001b[0m        \u001b[32m[exists]\u001b[0m\u001b[0m \u001b[33m/media/giang/Storage/Multiverse/tutorial_ws/build\u001b[0m\u001b[0m\n",
-      "\u001b[36mDevel Space:\u001b[0m        \u001b[32m[exists]\u001b[0m\u001b[0m \u001b[33m/media/giang/Storage/Multiverse/tutorial_ws/devel\u001b[0m\u001b[0m\n",
-      "\u001b[36mInstall Space:\u001b[0m      \u001b[34m[unused]\u001b[0m\u001b[0m \u001b[33m/media/giang/Storage/Multiverse/tutorial_ws/install\u001b[0m\u001b[0m\n",
-      "\u001b[36mLog Space:\u001b[0m          \u001b[32m[exists]\u001b[0m\u001b[0m \u001b[33m/media/giang/Storage/Multiverse/tutorial_ws/logs\u001b[0m\u001b[0m\n",
-      "\u001b[36mSource Space:\u001b[0m       \u001b[32m[exists]\u001b[0m\u001b[0m \u001b[33m/media/giang/Storage/Multiverse/tutorial_ws/src\u001b[0m\u001b[0m\n",
-      "\u001b[36mDESTDIR:\u001b[0m            \u001b[34m[unused]\u001b[0m\u001b[0m \u001b[33mNone\u001b[0m\u001b[0m\n",
-      "\u001b[35m--------------------------------------------------------------------------------\u001b[0m\u001b[0m\n",
-      "\u001b[36mDevel Space Layout:\u001b[0m          \u001b[33mlinked\u001b[0m\u001b[0m\n",
-      "\u001b[36mInstall Space Layout:\u001b[0m        \u001b[33mNone\u001b[0m\u001b[0m\n",
-      "\u001b[35m--------------------------------------------------------------------------------\u001b[0m\u001b[0m\n",
-      "\u001b[36mAdditional CMake Args:\u001b[0m       \u001b[33mNone\u001b[0m\u001b[0m\n",
-      "\u001b[36mAdditional Make Args:\u001b[0m        \u001b[33mNone\u001b[0m\u001b[0m\n",
-      "\u001b[36mAdditional catkin Make Args:\u001b[0m \u001b[33mNone\u001b[0m\u001b[0m\n",
-      "\u001b[36mInternal Make Job Server:\u001b[0m    \u001b[33mTrue\u001b[0m\u001b[0m\n",
-      "\u001b[36mCache Job Environments:\u001b[0m      \u001b[33mFalse\u001b[0m\u001b[0m\n",
-      "\u001b[35m--------------------------------------------------------------------------------\u001b[0m\u001b[0m\n",
-      "\u001b[36mBuildlisted Packages:\u001b[0m        \u001b[33mNone\u001b[0m\u001b[0m\n",
-      "\u001b[36mSkiplisted Packages:\u001b[0m         \u001b[33mNone\u001b[0m\u001b[0m\n",
-      "\u001b[35m--------------------------------------------------------------------------------\u001b[0m\u001b[0m\n",
-      "\u001b[1m\u001b[36mWorkspace configuration appears valid.\u001b[0m\u001b[0m\n",
-      "\u001b[35m--------------------------------------------------------------------------------\u001b[0m\u001b[0m\n",
-      "[build] Found 2 packages in 0.0 seconds.                                       \n",
-      "[build] Updating package table.                                                \n",
-      "Starting  \u001b[1m\u001b[32m>>>\u001b[0m \u001b[1m\u001b[36mmy_robot_description               \u001b[0m\u001b[0m                              \n",
-      "Starting  \u001b[1m\u001b[32m>>>\u001b[0m \u001b[1m\u001b[36mmy_robot_mujoco                    \u001b[0m\u001b[0m                              \n",
-      "\u001b[1m\u001b[30mFinished\u001b[0m  \u001b[32m<<<\u001b[0m \u001b[36mmy_robot_description               \u001b[0m [ \u001b[33m0.1 seconds\u001b[0m ]\u001b[0m              ed]\u001b[0m [\u001b[36mmy_robot_mujoco\u001b[0m:\u001b[34mloaden\u001b[0m\u001b[0m... \n",
-      "\u001b[1m\u001b[30mFinished\u001b[0m  \u001b[32m<<<\u001b[0m \u001b[36mmy_robot_mujoco                    \u001b[0m [ \u001b[33m1.2 seconds\u001b[0m ]\u001b[0m              ed]\u001b[0m [\u001b[36mmy_robot_mujoco\u001b[0m:\u001b[34mcmake\u001b[0m \u001b[0m\u001b[0m... \n",
-      "[build] \u001b[3m\u001b[1m\u001b[32mSummary:\u001b[0m \u001b[3mAll \u001b[1m2\u001b[0m \u001b[3mpackages succeeded!\u001b[0m\u001b[0m                                     \n",
-      "[build]   \u001b[3m\u001b[1m\u001b[30mIgnored:   None.\u001b[0m\u001b[0m                                                     \n",
-      "[build]   \u001b[3m\u001b[1m\u001b[30mWarnings:  None.\u001b[0m\u001b[0m                                                     \n",
-      "[build]   \u001b[3m\u001b[1m\u001b[30mAbandoned: None.\u001b[0m\u001b[0m                                                     \n",
-      "[build]   \u001b[3m\u001b[1m\u001b[30mFailed:    None.\u001b[0m\u001b[0m                                                     \n",
-      "[build] \u001b[3m\u001b[1mRuntime:\u001b[0m \u001b[3m1.4 seconds total.\u001b[0m\u001b[0m                                            \n",
-      "[build] \u001b[3m\u001b[1mNote:\u001b[0m \u001b[3mWorkspace packages have changed, please re-source setup files to use them.\u001b[0m\u001b[0m\n"
-     ]
-    }
-   ],
+   "outputs": [],
    "source": [
     "source $MULTIVERSE_DIR/tutorial_ws/devel/setup.bash\n",
     "\n",
@@ -2219,35 +362,9 @@
   },
   {
    "cell_type": "code",
-   "execution_count": 12,
+   "execution_count": null,
    "metadata": {},
-   "outputs": [
-    {
-     "name": "stdout",
-     "output_type": "stream",
-     "text": [
-      "mujoco:\n",
-      "  robots: [tiago_dual]\n",
-      "  pose_init: [1.5, 2.5, 0.0, 0.0, 0.0, 0.0]\n",
-      "  add_odom_joints: true\n",
-      "  root_frame_id: map\n",
-      "  \n",
-      "multiverse:  \n",
-      "  length_unit: m\n",
-      "  angle_unit: rad\n",
-      "  force_unit: N\n",
-      "  time_unit: s\n",
-      "  handedness: rhs\n",
-      "\n",
-      "  send:\n",
-      "    body: [position, quaternion]\n",
-      "    joint: [joint_rvalue, joint_tvalue]\n",
-      "\n",
-      "  receive:\n",
-      "    tiago_dual: [relative_velocity]\n"
-     ]
-    }
-   ],
+   "outputs": [],
    "source": [
     "MUJOCO_PARAMS_YAML=$MULTIVERSE_DIR/tutorial_ws/src/my_robot_mujoco/config/mujoco_params.yaml\n",
     "\n",
@@ -2311,38 +428,11 @@
   },
   {
    "cell_type": "code",
-   "execution_count": 13,
+   "execution_count": null,
    "metadata": {
     "scrolled": false
    },
-   "outputs": [
-    {
-     "name": "stdout",
-     "output_type": "stream",
-     "text": [
-      "multiverse:  \n",
-      "  length_unit: m\n",
-      "  angle_unit: rad\n",
-      "  force_unit: N\n",
-      "  time_unit: s\n",
-      "  handedness: rhs\n",
-      "  \n",
-      "  services:\n",
-      "    query_data:\n",
-      "      port: 7400\n",
-      "\n",
-      "  publishers:\n",
-      "    tf:\n",
-      "      port: 7300\n",
-      "      rate: 60\n",
-      "\n",
-      "  subscribers:\n",
-      "    cmd_vel:\n",
-      "      port: 7200\n",
-      "      body: tiago_dual\n"
-     ]
-    }
-   ],
+   "outputs": [],
    "source": [
     "MULTIVERSE_PARAMS_YAML=$MULTIVERSE_DIR/tutorial_ws/src/my_robot_mujoco/config/multiverse_params.yaml\n",
     "\n",
@@ -2457,86 +547,9 @@
   },
   {
    "cell_type": "code",
-   "execution_count": 14,
+   "execution_count": null,
    "metadata": {},
-   "outputs": [
-    {
-     "name": "stdout",
-     "output_type": "stream",
-     "text": [
-      "joint_state_controller:\n",
-      "  type: joint_state_controller/JointStateController\n",
-      "  publish_rate: 60\n",
-      "\n",
-      "torso_controller:\n",
-      "  type: \"effort_controllers/JointTrajectoryController\"\n",
-      "  joints:\n",
-      "    - torso_lift_joint\n",
-      "  gains:\n",
-      "    torso_lift_joint: &pid_gains {p: 2000, i: 100, d: 50}\n",
-      "\n",
-      "head_controller:\n",
-      "  type: \"effort_controllers/JointTrajectoryController\"\n",
-      "  joints:\n",
-      "    - head_1_joint\n",
-      "    - head_2_joint\n",
-      "  gains:\n",
-      "    head_1_joint: *pid_gains\n",
-      "    head_2_joint: *pid_gains\n",
-      "\n",
-      "arm_left_controller:\n",
-      "  type: \"effort_controllers/JointTrajectoryController\"\n",
-      "  joints:\n",
-      "    - arm_left_1_joint\n",
-      "    - arm_left_2_joint\n",
-      "    - arm_left_3_joint\n",
-      "    - arm_left_4_joint\n",
-      "    - arm_left_5_joint\n",
-      "    - arm_left_6_joint\n",
-      "    - arm_left_7_joint\n",
-      "  gains:\n",
-      "    arm_left_1_joint: *pid_gains\n",
-      "    arm_left_2_joint: *pid_gains\n",
-      "    arm_left_3_joint: *pid_gains\n",
-      "    arm_left_4_joint: *pid_gains\n",
-      "    arm_left_5_joint: *pid_gains\n",
-      "    arm_left_6_joint: *pid_gains\n",
-      "    arm_left_7_joint: *pid_gains\n",
-      "\n",
-      "arm_right_controller:\n",
-      "  type: \"effort_controllers/JointTrajectoryController\"\n",
-      "  joints:\n",
-      "    - arm_right_1_joint\n",
-      "    - arm_right_2_joint\n",
-      "    - arm_right_3_joint\n",
-      "    - arm_right_4_joint\n",
-      "    - arm_right_5_joint\n",
-      "    - arm_right_6_joint\n",
-      "    - arm_right_7_joint\n",
-      "  gains:\n",
-      "    arm_right_1_joint: *pid_gains\n",
-      "    arm_right_2_joint: *pid_gains\n",
-      "    arm_right_3_joint: *pid_gains\n",
-      "    arm_right_4_joint: *pid_gains\n",
-      "    arm_right_5_joint: *pid_gains\n",
-      "    arm_right_6_joint: *pid_gains\n",
-      "    arm_right_7_joint: *pid_gains\n",
-      "\n",
-      "gripper_left_left_finger_controller:\n",
-      "  type: effort_controllers/JointEffortController\n",
-      "  joint: gripper_left_left_finger_joint\n",
-      "gripper_left_right_finger_controller:\n",
-      "  type: effort_controllers/JointEffortController\n",
-      "  joint: gripper_left_right_finger_joint\n",
-      "gripper_right_left_finger_controller:\n",
-      "  type: effort_controllers/JointEffortController\n",
-      "  joint: gripper_right_left_finger_joint\n",
-      "gripper_right_right_finger_controller:\n",
-      "  type: effort_controllers/JointEffortController\n",
-      "  joint: gripper_right_right_finger_joint\n"
-     ]
-    }
-   ],
+   "outputs": [],
    "source": [
     "CONTROL_PARAMS_YAML=$MULTIVERSE_DIR/tutorial_ws/src/my_robot_mujoco/config/control_params.yaml\n",
     "\n",
@@ -2656,30 +669,9 @@
   },
   {
    "cell_type": "code",
-   "execution_count": 15,
+   "execution_count": null,
    "metadata": {},
-   "outputs": [
-    {
-     "name": "stdout",
-     "output_type": "stream",
-     "text": [
-      "<launch>\n",
-      "    <include file=\"$(find mujoco_sim)/launch/mujoco_sim_headless.launch\">\n",
-      "        <arg name=\"config\" value=\"$(find my_robot_mujoco)/config/mujoco_params.yaml\" />\n",
-      "        <arg name=\"robot\" value=\"$(find my_robot_description)/mjcf/tiago_dual.xml\" />\n",
-      "    </include>\n",
-      "    \n",
-      "    <param name=\"robot_description\" command=\"$(find xacro)/xacro '$(find my_robot_description)/urdf/tiago_dual.urdf'\" />\n",
-      "    <rosparam command=\"load\" file=\"$(find my_robot_mujoco)/config/control_params.yaml\" />\n",
-      "    <node name=\"controller_manager\" pkg=\"controller_manager\" type=\"controller_manager\" respawn=\"false\" output=\"screen\" args=\"spawn \n",
-      "        joint_state_controller\" />\n",
-      "    \n",
-      "    <rosparam command=\"load\" file=\"$(find my_robot_mujoco)/config/multiverse_params.yaml\" />\n",
-      "    <node pkg=\"multiverse_socket\" type=\"multiverse_socket_node.py\" name=\"multiverse_socket\" output=\"screen\" />\n",
-      "</launch>\n"
-     ]
-    }
-   ],
+   "outputs": [],
    "source": [
     "MY_ROBOT_LAUNCH=$MULTIVERSE_DIR/tutorial_ws/src/my_robot_mujoco/launch/my_robot_mujoco.launch\n",
     "\n",
@@ -2710,205 +702,11 @@
   },
   {
    "cell_type": "code",
-   "execution_count": 16,
+   "execution_count": null,
    "metadata": {
     "scrolled": true
    },
-   "outputs": [
-    {
-     "name": "stdout",
-     "output_type": "stream",
-     "text": [
-      "\u001b[31m================================================================================REQUIRED process [master] has died!\n",
-      "process has died [pid 359266, exit code -15, cmd rosmaster --core -p 11311 -w 3 __log:=/home/giang/.ros/log/1ce5a1c6-5b1d-11ee-b596-d183e98fb698/master.log].\n",
-      "log file: /home/giang/.ros/log/1ce5a1c6-5b1d-11ee-b596-d183e98fb698/master*.log\n",
-      "Initiating shutdown!\n",
-      "================================================================================\u001b[0m\n",
-      "[2] 359887\n",
-      "[3] 359888\n",
-      "Start Multiverse Server...\n",
-      "[Server] Create server socket tcp://*:7000, waiting for client...\n",
-      "[joint_state_publisher-3] killing on exit\n",
-      "[robot_state_publisher-2] killing on exit\n",
-      "... logging to /home/giang/.ros/log/279d9c5e-5b1d-11ee-b596-d183e98fb698/roslaunch-giangnguyen-359888.log\n",
-      "Checking log directory for disk usage. This may take a while.\n",
-      "Press Ctrl-C to interrupt\n",
-      "Done checking log file disk usage. Usage is <1GB.\n",
-      "\u001b]2;/media/giang/Storage/Multiverse/tutorial_ws/src/my_robot_mujoco/launch/my_robot_mujoco.launch\u0007\n",
-      "\u001b[1mstarted roslaunch server http://giangnguyen:45585/\u001b[0m\n",
-      "\n",
-      "SUMMARY\n",
-      "========\n",
-      "\n",
-      "PARAMETERS\n",
-      " * /arm_left_controller/gains/arm_left_1_joint/d: 50\n",
-      " * /arm_left_controller/gains/arm_left_1_joint/i: 100\n",
-      " * /arm_left_controller/gains/arm_left_1_joint/p: 2000\n",
-      " * /arm_left_controller/gains/arm_left_2_joint/d: 50\n",
-      " * /arm_left_controller/gains/arm_left_2_joint/i: 100\n",
-      " * /arm_left_controller/gains/arm_left_2_joint/p: 2000\n",
-      " * /arm_left_controller/gains/arm_left_3_joint/d: 50\n",
-      " * /arm_left_controller/gains/arm_left_3_joint/i: 100\n",
-      " * /arm_left_controller/gains/arm_left_3_joint/p: 2000\n",
-      " * /arm_left_controller/gains/arm_left_4_joint/d: 50\n",
-      " * /arm_left_controller/gains/arm_left_4_joint/i: 100\n",
-      " * /arm_left_controller/gains/arm_left_4_joint/p: 2000\n",
-      " * /arm_left_controller/gains/arm_left_5_joint/d: 50\n",
-      " * /arm_left_controller/gains/arm_left_5_joint/i: 100\n",
-      " * /arm_left_controller/gains/arm_left_5_joint/p: 2000\n",
-      " * /arm_left_controller/gains/arm_left_6_joint/d: 50\n",
-      " * /arm_left_controller/gains/arm_left_6_joint/i: 100\n",
-      " * /arm_left_controller/gains/arm_left_6_joint/p: 2000\n",
-      " * /arm_left_controller/gains/arm_left_7_joint/d: 50\n",
-      " * /arm_left_controller/gains/arm_left_7_joint/i: 100\n",
-      " * /arm_left_controller/gains/arm_left_7_joint/p: 2000\n",
-      " * /arm_left_controller/joints: ['arm_left_1_join...\n",
-      " * /arm_left_controller/type: effort_controller...\n",
-      " * /arm_right_controller/gains/arm_right_1_joint/d: 50\n",
-      " * /arm_right_controller/gains/arm_right_1_joint/i: 100\n",
-      " * /arm_right_controller/gains/arm_right_1_joint/p: 2000\n",
-      " * /arm_right_controller/gains/arm_right_2_joint/d: 50\n",
-      " * /arm_right_controller/gains/arm_right_2_joint/i: 100\n",
-      " * /arm_right_controller/gains/arm_right_2_joint/p: 2000\n",
-      " * /arm_right_controller/gains/arm_right_3_joint/d: 50\n",
-      " * /arm_right_controller/gains/arm_right_3_joint/i: 100\n",
-      " * /arm_right_controller/gains/arm_right_3_joint/p: 2000\n",
-      " * /arm_right_controller/gains/arm_right_4_joint/d: 50\n",
-      " * /arm_right_controller/gains/arm_right_4_joint/i: 100\n",
-      " * /arm_right_controller/gains/arm_right_4_joint/p: 2000\n",
-      " * /arm_right_controller/gains/arm_right_5_joint/d: 50\n",
-      " * /arm_right_controller/gains/arm_right_5_joint/i: 100\n",
-      " * /arm_right_controller/gains/arm_right_5_joint/p: 2000\n",
-      " * /arm_right_controller/gains/arm_right_6_joint/d: 50\n",
-      " * /arm_right_controller/gains/arm_right_6_joint/i: 100\n",
-      " * /arm_right_controller/gains/arm_right_6_joint/p: 2000\n",
-      " * /arm_right_controller/gains/arm_right_7_joint/d: 50\n",
-      " * /arm_right_controller/gains/arm_right_7_joint/i: 100\n",
-      " * /arm_right_controller/gains/arm_right_7_joint/p: 2000\n",
-      " * /arm_right_controller/joints: ['arm_right_1_joi...\n",
-      " * /arm_right_controller/type: effort_controller...\n",
-      " * /gripper_left_left_finger_controller/joint: gripper_left_left...\n",
-      " * /gripper_left_left_finger_controller/type: effort_controller...\n",
-      " * /gripper_left_right_finger_controller/joint: gripper_left_righ...\n",
-      " * /gripper_left_right_finger_controller/type: effort_controller...\n",
-      " * /gripper_right_left_finger_controller/joint: gripper_right_lef...\n",
-      " * /gripper_right_left_finger_controller/type: effort_controller...\n",
-      " * /gripper_right_right_finger_controller/joint: gripper_right_rig...\n",
-      " * /gripper_right_right_finger_controller/type: effort_controller...\n",
-      " * /head_controller/gains/head_1_joint/d: 50\n",
-      " * /head_controller/gains/head_1_joint/i: 100\n",
-      " * /head_controller/gains/head_1_joint/p: 2000\n",
-      " * /head_controller/gains/head_2_joint/d: 50\n",
-      " * /head_controller/gains/head_2_joint/i: 100\n",
-      " * /head_controller/gains/head_2_joint/p: 2000\n",
-      " * /head_controller/joints: ['head_1_joint', ...\n",
-      " * /head_controller/type: effort_controller...\n",
-      " * /joint_state_controller/publish_rate: 60\n",
-      " * /joint_state_controller/type: joint_state_contr...\n",
-      " * /mujoco/add_odom_joints: True\n",
-      " * /mujoco/pose_init: [1.5, 2.5, 0.0, 0...\n",
-      " * /mujoco/robots: ['tiago_dual']\n",
-      " * /mujoco/root_frame_id: map\n",
-      " * /mujoco_sim/robot: /media/giang/Stor...\n",
-      " * /mujoco_sim/world: /media/giang/Stor...\n",
-      " * /multiverse/angle_unit: rad\n",
-      " * /multiverse/force_unit: N\n",
-      " * /multiverse/handedness: rhs\n",
-      " * /multiverse/host: tcp://127.0.0.1\n",
-      " * /multiverse/length_unit: m\n",
-      " * /multiverse/port: 7000\n",
-      " * /multiverse/publishers/tf/port: 7300\n",
-      " * /multiverse/publishers/tf/rate: 60\n",
-      " * /multiverse/receive/tiago_dual: ['relative_veloci...\n",
-      " * /multiverse/send/body: ['position', 'qua...\n",
-      " * /multiverse/send/joint: ['joint_rvalue', ...\n",
-      " * /multiverse/services/query_data/port: 7400\n",
-      " * /multiverse/subscribers/cmd_vel/body: tiago_dual\n",
-      " * /multiverse/subscribers/cmd_vel/port: 7200\n",
-      " * /multiverse/time_unit: s\n",
-      " * /robot_description: <?xml version=\"1....\n",
-      " * /rosdistro: noetic\n",
-      " * /rosversion: 1.16.0\n",
-      " * /torso_controller/gains/torso_lift_joint/d: 50\n",
-      " * /torso_controller/gains/torso_lift_joint/i: 100\n",
-      " * /torso_controller/gains/torso_lift_joint/p: 2000\n",
-      " * /torso_controller/joints: ['torso_lift_joint']\n",
-      " * /torso_controller/type: effort_controller...\n",
-      "\n",
-      "NODES\n",
-      "  /\n",
-      "    controller_manager (controller_manager/controller_manager)\n",
-      "    mujoco_sim (mujoco_sim/mujoco_sim_headless_node)\n",
-      "    multiverse_socket (multiverse_socket/multiverse_socket_node.py)\n",
-      "\n",
-      "auto-starting new master\n",
-      "\u001b[1mprocess[master]: started with pid [359929]\u001b[0m\n",
-      "[rosout-1] killing on exit\n",
-      "\u001b[1mROS_MASTER_URI=http://localhost:11311\u001b[0m\n",
-      "\u001b]2;/media/giang/Storage/Multiverse/tutorial_ws/src/my_robot_mujoco/launch/my_robot_mujoco.launch http://localhost:11311\u0007\n",
-      "\u001b[1msetting /run_id to 279d9c5e-5b1d-11ee-b596-d183e98fb698\u001b[0m\n",
-      "\u001b[1mprocess[rosout-1]: started with pid [359955]\u001b[0m\n",
-      "started core service [/rosout]\n",
-      "\u001b[1mprocess[mujoco_sim-2]: started with pid [359963]\u001b[0m\n",
-      "\u001b[1mprocess[controller_manager-3]: started with pid [359965]\u001b[0m\n",
-      "[master] killing on exit\n",
-      "\u001b[1mprocess[multiverse_socket-4]: started with pid [359966]\u001b[0m\n",
-      "\u001b[0m[ INFO] [1695589127.951301573]: Get ROS parameters from the server...\u001b[0m\n",
-      "\u001b[0m[ INFO] [1695589127.952469245]: Set disable_gravity to true\u001b[0m\n",
-      "\u001b[0m[ INFO] [1695589127.953115975]: Set world from /media/giang/Storage/Multiverse/multiverse_ws/src/multiverse_connectors/multiverse_mujoco_connector/mujoco_sim/model/world/empty.xml\u001b[0m\n",
-      "\u001b[33m[ WARN] [1695589127.953762355]: Robot names not found in parameter server, searching for robot names from urdf...\u001b[0m\n",
-      "\u001b[0m[ INFO] [1695589127.959348410]: Found 1 robots: [tiago_dual]\u001b[0m\n",
-      "\u001b[0m[ INFO] [1695589127.961160382]: Initializing the MuJoCo simulator...\u001b[0m\n",
-      "\u001b[0m[ INFO] [1695589127.961205952]: Copying model into /media/giang/Storage/Multiverse/multiverse_ws/src/multiverse_connectors/multiverse_mujoco_connector/mujoco_sim/model/tmp\u001b[0m\n",
-      "\u001b[0m[ INFO] [1695589127.962768948]: Adding odom joints for model tiago_dual...\u001b[0m\n",
-      "\u001b[0m[ INFO] [1695589127.962848157]: Add 3 odom joints for model tiago_dual successfully\u001b[0m\n",
-      "\u001b[0m[ INFO] [1695589127.963397188]: Save models in /media/giang/Storage/Multiverse/multiverse_ws/src/multiverse_connectors/multiverse_mujoco_connector/mujoco_sim/model/tmp successfully\u001b[0m\n",
-      "\u001b[0m[ INFO] [1695589127.983788207]: Reload model in /media/giang/Storage/Multiverse/multiverse_ws/src/multiverse_connectors/multiverse_mujoco_connector/mujoco_sim/model/tmp/current_75527953457_tiago_dual.xml complete\u001b[0m\n",
-      "\u001b[0m[ INFO] [1695589127.984201261]: Getting joints of model tiago_dual...\u001b[0m\n",
-      "\u001b[0m[ INFO] [1695589127.985482501]: Initialize model tiago_dual with 33 joints successfully\u001b[0m\n",
-      "shutting down processing monitor...\n",
-      "... shutting down processing monitor complete\n"
-     ]
-    },
-    {
-     "name": "stdout",
-     "output_type": "stream",
-     "text": [
-      "\u001b[1mdone\u001b[0m\n",
-      "\u001b[0m[ INFO] [1695589128.008401101]: Initialized the MuJoCo simulator successfully.\u001b[0m\n",
-      "\u001b[0m[ INFO] [1695589128.008517279]: Initializing the ROS interface...\u001b[0m\n",
-      "\u001b[0m[ INFO] [1695589128.013669531]: Started [/mujoco/screenshot] service.\u001b[0m\n",
-      "\u001b[0m[ INFO] [1695589128.014047815]: Started [/mujoco/reset] service.\u001b[0m\n",
-      "\u001b[0m[ INFO] [1695589128.015011580]: Started [/mujoco/spawn_objects] service.\u001b[0m\n",
-      "\u001b[0m[ INFO] [1695589128.015419434]: Started [/mujoco/destroy_objects] service.\u001b[0m\n",
-      "\u001b[33m[ WARN] [1695589128.015917686]: joint_inits not found, will set to default value (0)\u001b[0m\n",
-      "\u001b[0m[ INFO] [1695589128.016494888]: Initialized the ROS interface successfully.\u001b[0m\n",
-      "\u001b[0m[ INFO] [1695589128.017871167]: Set receive_objects: tiago_dual \u001b[0m\n",
-      "\u001b[0m[ INFO] [1695589128.019068158]: Set send_objects: \u001b[0m\n",
-      "[Client 7500] Opened the socket tcp://127.0.0.1:7500.\n",
-      "[Server] Bind to socket tcp://*:7500.\n",
-      "Loaded 'joint_state_controller'\n",
-      "[INFO] [1695589128.301602]: Start publisher [tf] with {'port': 7300, 'rate': 60}\n",
-      "[Client 7200] Opened the socket tcp://127.0.0.1:7200.\n",
-      "[Client 7200] Start.\n",
-      "[Server] Bind to socket tcp://*:7200.\n",
-      "[Client 7200] Starting the communication (send: 7, receive: 1).\n",
-      "[Client 7500] Starting the communication (send: 527, receive: 7).\n",
-      "Started ['joint_state_controller'] successfully\n",
-      "[INFO] [1695589128.306954]: Start subscriber /cmd_vel\n",
-      "[Server] Bind to socket tcp://*:7300.\n",
-      "[Client 7300] Opened the socket tcp://127.0.0.1:7300.\n",
-      "[Client 7300] Start.\n",
-      "[Client 7400] Opened the socket tcp://127.0.0.1:7400.\n",
-      "[Client 7400] Start.\n",
-      "[Server] Bind to socket tcp://*:7400.\n",
-      "[INFO] [1695589128.355863]: Start service at /multiverse/query_data\n",
-      "\u001b[1m[controller_manager-3] process has finished cleanly\n",
-      "log file: /home/giang/.ros/log/279d9c5e-5b1d-11ee-b596-d183e98fb698/controller_manager-3*.log\u001b[0m\n",
-      "[1]   Done                    roslaunch multiverse_parser view_urdf.launch urdf:=$MY_ROBOT_URDF headless:=true\n"
-     ]
-    }
-   ],
+   "outputs": [],
    "source": [
     "source $MULTIVERSE_DIR/tutorial_ws/devel/setup.bash\n",
     "\n",
@@ -2942,275 +740,9 @@
   },
   {
    "cell_type": "code",
-   "execution_count": 17,
+   "execution_count": null,
    "metadata": {},
-   "outputs": [
-    {
-     "name": "stdout",
-     "output_type": "stream",
-     "text": [
-      "<?xml version=\"1.0\" ?>\n",
-      "<mujoco model=\"tiago_dual\">\n",
-      "\t<compiler meshdir=\"tiago_dual/\" texturedir=\"tiago_dual/obj/textures\" angle=\"radian\" autolimits=\"true\" balanceinertia=\"true\" boundmass=\"0.000001\" boundinertia=\"0.000001\"/>\n",
-      "\t<default>\n",
-      "\t\t<default class=\"visual\">\n",
-      "\t\t\t<geom contype=\"0\" conaffinity=\"0\"/>\n",
-      "\t\t</default>\n",
-      "\t\t<default class=\"collision\">\n",
-      "\t\t\t<geom rgba=\"1.0 0.0 0.0 0.5\"/>\n",
-      "\t\t</default>\n",
-      "\t</default>\n",
-      "\t<asset>\n",
-      "\t\t<mesh name=\"base_collision_collision1d01d01d0\" file=\"stl/base_collision1d01d01d0.stl\"/>\n",
-      "\t\t<mesh name=\"torso_lift_collision_neck_collision1d01d01d0\" file=\"stl/torso_lift_collision_neck1d01d01d0.stl\"/>\n",
-      "\t\t<mesh name=\"torso_lift_collision_core_collision1d01d01d0\" file=\"stl/torso_lift_collision_core1d01d01d0.stl\"/>\n",
-      "\t\t<mesh name=\"torso_lift_collision_shoulder_collision1d01d01d0\" file=\"stl/torso_lift_collision_shoulder1d01d01d0.stl\"/>\n",
-      "\t\t<mesh name=\"head_1_collision_collision1d01d01d0\" file=\"stl/head_1_collision1d01d01d0.stl\"/>\n",
-      "\t\t<mesh name=\"head_2_collision_collision1d01d01d0\" file=\"stl/head_2_collision1d01d01d0.stl\"/>\n",
-      "\t\t<mesh name=\"arm_1_collision_collision1d0_1d0_1d0\" file=\"stl/arm_1_collision1d0_1d0_1d0.stl\"/>\n",
-      "\t\t<mesh name=\"arm_2_collision_collision1d01d0_1d0\" file=\"stl/arm_2_collision1d01d0_1d0.stl\"/>\n",
-      "\t\t<mesh name=\"arm_3_collision_collision1d01d0_1d0\" file=\"stl/arm_3_collision1d01d0_1d0.stl\"/>\n",
-      "\t\t<mesh name=\"arm_4_collision_collision_1d0_1d0_1d0\" file=\"stl/arm_4_collision_1d0_1d0_1d0.stl\"/>\n",
-      "\t\t<mesh name=\"arm_5_collision_wrist_2017_collision_1d0_1d0_1d0\" file=\"stl/arm_5_collision_wrist_2017_1d0_1d0_1d0.stl\"/>\n",
-      "\t\t<mesh name=\"arm_6_collision_wrist_2017_collision_1d01d01d0\" file=\"stl/arm_6_collision_wrist_2017_1d01d01d0.stl\"/>\n",
-      "\t\t<mesh name=\"arm_1_collision_collision1d0_1d01d0\" file=\"stl/arm_1_collision1d0_1d01d0.stl\"/>\n",
-      "\t\t<mesh name=\"arm_2_collision_collision1d01d01d0\" file=\"stl/arm_2_collision1d01d01d0.stl\"/>\n",
-      "\t\t<mesh name=\"arm_3_collision_collision1d01d01d0\" file=\"stl/arm_3_collision1d01d01d0.stl\"/>\n",
-      "\t\t<mesh name=\"arm_4_collision_collision1d01d01d0\" file=\"stl/arm_4_collision1d01d01d0.stl\"/>\n",
-      "\t\t<mesh name=\"arm_5_collision_wrist_2017_collision1d01d01d0\" file=\"stl/arm_5_collision_wrist_20171d01d01d0.stl\"/>\n",
-      "\t\t<mesh name=\"arm_6_collision_wrist_2017_collision1d01d01d0\" file=\"stl/arm_6_collision_wrist_20171d01d01d0.stl\"/>\n",
-      "\t\t<mesh name=\"gripper_link_collision_collision1d01d01d0\" file=\"stl/gripper_link_collision1d01d01d0.stl\"/>\n",
-      "\t</asset>\n",
-      "\t<worldbody>\n",
-      "\t\t<body name=\"tiago_dual\" pos=\"0.0 0.0 0.0\" quat=\"1.0 0.0 0.0 0.0\">\n",
-      "\t\t\t<body name=\"base_footprint\" pos=\"0.0 0.0 0.0\" quat=\"1.0 0.0 0.0 0.0\">\n",
-      "\t\t\t\t<body name=\"base_cover_link\" pos=\"0.0 0.0 0.13\" quat=\"1.0 0.0 0.0 0.0\"/>\n",
-      "\t\t\t\t<body name=\"base_link\" pos=\"0.0 0.0 0.0985\" quat=\"1.0 0.0 0.0 0.0\">\n",
-      "\t\t\t\t\t<geom name=\"base_link_collision_0\" pos=\"0.0 0.0 0.0\" quat=\"1.0 0.0 0.0 0.0\" class=\"collision\" type=\"mesh\" mesh=\"base_collision_collision1d01d01d0\"/>\n",
-      "\t\t\t\t\t<body name=\"base_sonar_03_link\" pos=\"-0.183 0.183 0.17299999999999996\" quat=\"0.3826834323650899 0.0 0.0 0.9238795325112867\"/>\n",
-      "\t\t\t\t\t<body name=\"base_sonar_01_link\" pos=\"-0.183 -0.183 0.17299999999999996\" quat=\"-0.3826834323650898 0.0 0.0 0.9238795325112867\"/>\n",
-      "\t\t\t\t\t<body name=\"base_mic_front_right_link\" pos=\"0.23182 -0.03902 0.19499999999999998\" quat=\"1.0 0.0 0.0 0.0\"/>\n",
-      "\t\t\t\t\t<body name=\"base_mic_back_right_link\" pos=\"-0.1082 -0.13789 0.19499999999999998\" quat=\"1.0 0.0 0.0 0.0\"/>\n",
-      "\t\t\t\t\t<body name=\"base_antenna_right_link\" pos=\"-0.201 -0.1062 0.19499999999999998\" quat=\"1.0 0.0 0.0 0.0\">\n",
-      "\t\t\t\t\t\t<geom name=\"base_antenna_right_link_collision_0\" pos=\"0.0 0.0 0.085\" quat=\"1.0 0.0 0.0 0.0\" class=\"collision\" type=\"cylinder\" size=\"0.005 0.085\"/>\n",
-      "\t\t\t\t\t</body>\n",
-      "\t\t\t\t\t<body name=\"torso_fixed_link\" pos=\"-0.062 0.0 0.19299999999999998\" quat=\"1.0 0.0 0.0 0.0\">\n",
-      "\t\t\t\t\t\t<geom name=\"torso_fixed_link_collision_1\" pos=\"0.0 0.0 0.05\" quat=\"1.0 0.0 0.0 0.0\" class=\"collision\" type=\"box\" size=\"0.125 0.125 0.05\"/>\n",
-      "\t\t\t\t\t\t<geom name=\"torso_fixed_link_collision_0\" pos=\"0.085 0.0 0.02\" quat=\"1.0 0.0 0.0 0.0\" class=\"collision\" type=\"box\" size=\"0.2 0.125 0.02\"/>\n",
-      "\t\t\t\t\t\t<body name=\"torso_lift_link\" pos=\"0.0 0.0 0.597\" quat=\"1.0 0.0 0.0 0.0\">\n",
-      "\t\t\t\t\t\t\t<geom name=\"torso_lift_link_collision_3\" pos=\"0.0 0.0 0.0\" quat=\"1.0 0.0 0.0 0.0\" class=\"collision\" type=\"mesh\" mesh=\"torso_lift_collision_neck_collision1d01d01d0\"/>\n",
-      "\t\t\t\t\t\t\t<geom name=\"torso_lift_link_collision_0\" pos=\"0.0 0.0 0.0\" quat=\"1.0 0.0 0.0 0.0\" class=\"collision\" type=\"mesh\" mesh=\"torso_lift_collision_core_collision1d01d01d0\"/>\n",
-      "\t\t\t\t\t\t\t<geom name=\"torso_lift_link_collision_1\" pos=\"-0.131 0.17 -0.02556\" quat=\"1.0 0.0 0.0 0.0\" class=\"collision\" type=\"mesh\" mesh=\"torso_lift_collision_shoulder_collision1d01d01d0\"/>\n",
-      "\t\t\t\t\t\t\t<geom name=\"torso_lift_link_collision_2\" pos=\"-0.131 -0.19 -0.02556\" quat=\"1.0 0.0 0.0 0.0\" class=\"collision\" type=\"mesh\" mesh=\"torso_lift_collision_shoulder_collision1d01d01d0\"/>\n",
-      "\t\t\t\t\t\t\t<joint name=\"torso_lift_joint\" pos=\"0.0 0.0 0.0\" type=\"slide\" range=\"0.0 0.800000011920929\" axis=\"0.0 0.0 1.0\"/>\n",
-      "\t\t\t\t\t\t\t<body name=\"head_1_link\" pos=\"0.182 0.0 0.0\" quat=\"1.0 0.0 0.0 0.0\">\n",
-      "\t\t\t\t\t\t\t\t<geom name=\"head_1_link_collision_0\" pos=\"0.0 0.0 0.0\" quat=\"1.0 0.0 0.0 0.0\" class=\"collision\" type=\"mesh\" mesh=\"head_1_collision_collision1d01d01d0\"/>\n",
-      "\t\t\t\t\t\t\t\t<joint name=\"head_1_joint\" pos=\"0.0 0.0 0.0\" type=\"hinge\" range=\"-1.3089969389957472 1.3089969389957472\" axis=\"0.0 0.0 1.0\"/>\n",
-      "\t\t\t\t\t\t\t\t<body name=\"head_2_link\" pos=\"0.0050000000000000044 0.0 0.09799999999999998\" quat=\"0.7071067811865476 0.7071067811865475 0.0 0.0\">\n",
-      "\t\t\t\t\t\t\t\t\t<geom name=\"head_2_link_collision_0\" pos=\"0.0 0.0 0.0\" quat=\"1.0 0.0 0.0 0.0\" class=\"collision\" type=\"mesh\" mesh=\"head_2_collision_collision1d01d01d0\"/>\n",
-      "\t\t\t\t\t\t\t\t\t<joint name=\"head_2_joint\" pos=\"-4.336808689942018e-18 0.0 2.7755575615628914e-17\" type=\"hinge\" range=\"-1.0471975511965976 0.7853981633974483\" axis=\"0.0 0.0 1.0\"/>\n",
-      "\t\t\t\t\t\t\t\t\t<body name=\"xtion_link\" pos=\"0.09079999999999999 0.08000000000000007 2.465190328815662e-32\" quat=\"0.7071067811865476 -0.7071067811865475 0.0 0.0\">\n",
-      "\t\t\t\t\t\t\t\t\t\t<body name=\"xtion_orbbec_aux_joint_frame\" pos=\"0.0 0.0 0.0\" quat=\"1.0 0.0 0.0 0.0\">\n",
-      "\t\t\t\t\t\t\t\t\t\t\t<body name=\"xtion_rgb_frame\" pos=\"0.0 0.022 0.0\" quat=\"1.0 0.0 0.0 0.0\">\n",
-      "\t\t\t\t\t\t\t\t\t\t\t\t<body name=\"xtion_rgb_optical_frame\" pos=\"0.0 0.0 0.0\" quat=\"0.5000000000000001 -0.5 0.4999999999999999 -0.5\"/>\n",
-      "\t\t\t\t\t\t\t\t\t\t\t\t<body name=\"xtion_depth_frame\" pos=\"0.0 0.024999999999999998 0.0\" quat=\"1.0 0.0 0.0 0.0\">\n",
-      "\t\t\t\t\t\t\t\t\t\t\t\t\t<body name=\"xtion_depth_optical_frame\" pos=\"0.0 0.0 0.0\" quat=\"0.5000000000000001 -0.5 0.4999999999999999 -0.5\"/>\n",
-      "\t\t\t\t\t\t\t\t\t\t\t\t</body>\n",
-      "\t\t\t\t\t\t\t\t\t\t\t</body>\n",
-      "\t\t\t\t\t\t\t\t\t\t</body>\n",
-      "\t\t\t\t\t\t\t\t\t\t<body name=\"xtion_optical_frame\" pos=\"0.0 0.0 0.0\" quat=\"0.5000000000000001 -0.5 0.4999999999999999 -0.5\"/>\n",
-      "\t\t\t\t\t\t\t\t\t</body>\n",
-      "\t\t\t\t\t\t\t\t</body>\n",
-      "\t\t\t\t\t\t\t</body>\n",
-      "\t\t\t\t\t\t\t<body name=\"arm_left_1_link\" pos=\"0.02556 0.19 -0.17100000000000004\" quat=\"4.329780281177467e-17 0.7071067811865476 0.7071067811865475 4.3297802811774664e-17\">\n",
-      "\t\t\t\t\t\t\t\t<geom name=\"arm_left_1_link_collision_0\" pos=\"0.0 0.0 0.0\" quat=\"0.0 1.0 0.0 0.0\" class=\"collision\" type=\"mesh\" mesh=\"arm_1_collision_collision1d0_1d0_1d0\"/>\n",
-      "\t\t\t\t\t\t\t\t<joint name=\"arm_left_1_joint\" pos=\"0.0 0.0 2.7755575615628914e-17\" type=\"hinge\" range=\"-1.1780972450961724 1.5707963267948966\" axis=\"0.0 0.0 1.0\"/>\n",
-      "\t\t\t\t\t\t\t\t<body name=\"arm_left_2_link\" pos=\"0.125 -0.019500000000000003 0.031000000000000028\" quat=\"0.7071067811865476 0.7071067811865475 -3.189250306701418e-17 3.1892503067014186e-17\">\n",
-      "\t\t\t\t\t\t\t\t\t<geom name=\"arm_left_2_link_collision_0\" pos=\"0.0 0.0 0.0\" quat=\"0.0 0.0 0.0 1.0\" class=\"collision\" type=\"mesh\" mesh=\"arm_2_collision_collision1d01d0_1d0\"/>\n",
-      "\t\t\t\t\t\t\t\t\t<joint name=\"arm_left_2_joint\" pos=\"3.469446951953614e-18 -4.010654775073297e-33 2.7755575615628914e-17\" type=\"hinge\" range=\"-1.1780972450961724 1.5707963267948966\" axis=\"0.0 0.0 1.0\"/>\n",
-      "\t\t\t\t\t\t\t\t\t<body name=\"arm_left_3_link\" pos=\"0.08949999999999997 0.0 -0.0015000000000000013\" quat=\"0.5000000000000001 0.5 0.5 0.5\">\n",
-      "\t\t\t\t\t\t\t\t\t\t<geom name=\"arm_left_3_link_collision_0\" pos=\"0.0 0.0 0.0\" quat=\"0.0 0.0 0.0 1.0\" class=\"collision\" type=\"mesh\" mesh=\"arm_3_collision_collision1d01d0_1d0\"/>\n",
-      "\t\t\t\t\t\t\t\t\t\t<joint name=\"arm_left_3_joint\" pos=\"3.274080905458301e-33 -1.301042606982596e-18 -2.7755575615628914e-17\" type=\"hinge\" range=\"-0.7853981633974483 3.9269908169872414\" axis=\"0.0 0.0 1.0\"/>\n",
-      "\t\t\t\t\t\t\t\t\t\t<body name=\"arm_left_4_link\" pos=\"-0.020000000000000018 -0.026999999999999996 0.22200000000000003\" quat=\"0.5 0.5000000000000001 -0.5000000000000001 0.5\">\n"
-     ]
-    },
-    {
-     "name": "stdout",
-     "output_type": "stream",
-     "text": [
-      "\t\t\t\t\t\t\t\t\t\t\t<geom name=\"arm_left_4_link_collision_0\" pos=\"0.0 0.0 0.0\" quat=\"1.0 0.0 0.0 0.0\" class=\"collision\" type=\"mesh\" mesh=\"arm_4_collision_collision_1d0_1d0_1d0\"/>\n",
-      "\t\t\t\t\t\t\t\t\t\t\t<joint name=\"arm_left_4_joint\" pos=\"2.775557561562892e-17 -1.7347234759768056e-17 -3.469446951953608e-18\" type=\"hinge\" range=\"-0.39269908169872414 2.356194490192345\" axis=\"0.0 0.0 1.0\"/>\n",
-      "\t\t\t\t\t\t\t\t\t\t\t<body name=\"arm_left_5_link\" pos=\"0.16200000000000014 -0.020000000000000018 -0.027000000000000007\" quat=\"0.7071067811865476 5.551115123125785e-17 -0.7071067811865475 -5.551115123125789e-17\">\n",
-      "\t\t\t\t\t\t\t\t\t\t\t\t<geom name=\"arm_left_5_link_collision_0\" pos=\"0.0 0.0 0.0\" quat=\"1.0 0.0 0.0 0.0\" class=\"collision\" type=\"mesh\" mesh=\"arm_5_collision_wrist_2017_collision_1d0_1d0_1d0\"/>\n",
-      "\t\t\t\t\t\t\t\t\t\t\t\t<joint name=\"arm_left_5_joint\" pos=\"1.7347234759768022e-17 6.938893903907336e-18 -1.3877787807814454e-16\" type=\"hinge\" range=\"-2.0943951023931953 2.0943951023931953\" axis=\"0.0 0.0 1.0\"/>\n",
-      "\t\t\t\t\t\t\t\t\t\t\t\t<body name=\"arm_left_6_link\" pos=\"0.0 0.0 -0.15000000000000002\" quat=\"0.5000000000000001 -0.4999999999999999 -0.5 -0.5\">\n",
-      "\t\t\t\t\t\t\t\t\t\t\t\t\t<geom name=\"arm_left_6_link_collision_0\" pos=\"0.0 0.0 0.0\" quat=\"0.0 1.0 0.0 0.0\" class=\"collision\" type=\"mesh\" mesh=\"arm_6_collision_wrist_2017_collision_1d01d01d0\"/>\n",
-      "\t\t\t\t\t\t\t\t\t\t\t\t\t<joint name=\"arm_left_6_joint\" pos=\"1.4448635242662495e-32 2.775557561562892e-17 9.244463733058733e-33\" type=\"hinge\" range=\"-1.413716694115407 1.413716694115407\" axis=\"0.0 0.0 1.0\"/>\n",
-      "\t\t\t\t\t\t\t\t\t\t\t\t\t<body name=\"arm_left_7_link\" pos=\"0.0 0.0 0.0\" quat=\"0.5000000000000001 0.5 0.4999999999999999 0.5\">\n",
-      "\t\t\t\t\t\t\t\t\t\t\t\t\t\t<joint name=\"arm_left_7_joint\" pos=\"0.0 0.0 -0.0\" type=\"hinge\" range=\"-2.0943951023931953 2.0943951023931953\" axis=\"0.0 0.0 1.0\"/>\n",
-      "\t\t\t\t\t\t\t\t\t\t\t\t\t\t<body name=\"arm_left_tool_link\" pos=\"-6.938893903907228e-18 0.0 -0.04600000000000004\" quat=\"0.49999999999999994 -0.49999999999999994 0.5 0.5000000000000001\">\n",
-      "\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<geom name=\"arm_left_tool_link_collision_0\" pos=\"0.001 0.0 0.0\" quat=\"0.7071067811865476 0.0 0.7071067811865475 0.0\" class=\"collision\" type=\"cylinder\" size=\"0.005 0.0025\"/>\n",
-      "\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<body name=\"wrist_left_ft_link\" pos=\"0.007850000000000024 0.0 1.1102230246251565e-16\" quat=\"0.5000000000000001 0.5 0.4999999999999999 0.5\">\n",
-      "\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<geom name=\"wrist_left_ft_link_collision_0\" pos=\"0.0 0.0 0.0\" quat=\"1.0 0.0 0.0 0.0\" class=\"collision\" type=\"cylinder\" size=\"0.0225 0.00785\"/>\n",
-      "\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<body name=\"wrist_left_ft_tool_link\" pos=\"0.0 0.0 0.012724999999999875\" quat=\"0.5000000000000001 -0.5 -0.5 -0.4999999999999999\">\n",
-      "\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<geom name=\"wrist_left_ft_tool_link_collision_0\" pos=\"0.0 0.0 0.0\" quat=\"0.7071067811865476 0.0 0.7071067811865475 0.0\" class=\"collision\" type=\"cylinder\" size=\"0.025 0.004875\"/>\n",
-      "\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<body name=\"gripper_left_link\" pos=\"0.010000000000000231 0.0 0.0\" quat=\"-1.5265566588595907e-16 -0.7071067811865475 -9.813077866773593e-17 0.7071067811865476\">\n",
-      "\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<geom name=\"gripper_left_link_collision_0\" pos=\"0.0 0.0 0.0\" quat=\"1.0 0.0 0.0 0.0\" class=\"collision\" type=\"mesh\" mesh=\"gripper_link_collision_collision1d01d01d0\"/>\n",
-      "\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<body name=\"gripper_left_grasping_frame\" pos=\"0.0 0.0 -0.1200000000000001\" quat=\"0.49999816339744846 -0.49999999999662703 0.49999999999662703 0.5000018366025516\"/>\n",
-      "\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<body name=\"gripper_left_right_finger_link\" pos=\"0.0 6.938893903907228e-18 -2.220446049250313e-16\" quat=\"1.0 1.5407439555097887e-32 0.0 -2.465190328815662e-32\">\n",
-      "\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<geom name=\"gripper_left_right_finger_link_collision_0\" pos=\"0.005 0.0 -0.165\" quat=\"4.632679487995776e-05 0.0 0.0 0.999999998926914\" class=\"collision\" type=\"box\" size=\"0.005000000000000001 0.025 0.055\"/>\n",
-      "\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<joint name=\"gripper_left_right_finger_joint\" pos=\"-2.220446049250313e-16 2.4651903288156597e-31 6.93889390390718e-18\" type=\"slide\" range=\"0.0 0.04500000178813934\" axis=\"0.9999999999999998 0.0 2.220446049250313e-16\"/>\n",
-      "\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t</body>\n",
-      "\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<body name=\"gripper_left_left_finger_link\" pos=\"0.0 6.938893903907228e-18 -2.220446049250313e-16\" quat=\"1.0 1.5407439555097887e-32 0.0 -2.465190328815662e-32\">\n",
-      "\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<geom name=\"gripper_left_left_finger_link_collision_0\" pos=\"-0.005 0.0 -0.165\" quat=\"4.632679487995776e-05 0.0 0.0 0.999999998926914\" class=\"collision\" type=\"box\" size=\"0.005000000000000001 0.025 0.055\"/>\n",
-      "\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<joint name=\"gripper_left_left_finger_joint\" pos=\"-2.220446049250313e-16 2.4651903288156597e-31 6.93889390390718e-18\" type=\"slide\" range=\"0.0 0.04500000178813934\" axis=\"-0.9999999999999998 0.0 2.220446049250313e-16\"/>\n",
-      "\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t</body>\n",
-      "\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t</body>\n",
-      "\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<body name=\"gripper_left_tool_link\" pos=\"0.010000000000000231 0.0 0.0\" quat=\"-1.5265566588595907e-16 -0.7071067811865475 -9.813077866773593e-17 0.7071067811865476\"/>\n",
-      "\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t</body>\n",
-      "\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t</body>\n",
-      "\t\t\t\t\t\t\t\t\t\t\t\t\t\t</body>\n",
-      "\t\t\t\t\t\t\t\t\t\t\t\t\t</body>\n",
-      "\t\t\t\t\t\t\t\t\t\t\t\t</body>\n",
-      "\t\t\t\t\t\t\t\t\t\t\t</body>\n",
-      "\t\t\t\t\t\t\t\t\t\t</body>\n",
-      "\t\t\t\t\t\t\t\t\t</body>\n",
-      "\t\t\t\t\t\t\t\t</body>\n",
-      "\t\t\t\t\t\t\t</body>\n",
-      "\t\t\t\t\t\t\t<body name=\"arm_right_1_link\" pos=\"0.02556 -0.19 -0.17100000000000004\" quat=\"0.7071067811865476 0.0 0.0 -0.7071067811865475\">\n",
-      "\t\t\t\t\t\t\t\t<geom name=\"arm_right_1_link_collision_0\" pos=\"0.0 0.0 0.0\" quat=\"0.0 0.0 1.0 0.0\" class=\"collision\" type=\"mesh\" mesh=\"arm_1_collision_collision1d0_1d01d0\"/>\n",
-      "\t\t\t\t\t\t\t\t<joint name=\"arm_right_1_joint\" pos=\"0.0 0.0 2.7755575615628914e-17\" type=\"hinge\" range=\"-1.1780972450961724 1.5707963267948966\" axis=\"0.0 0.0 1.0\"/>\n",
-      "\t\t\t\t\t\t\t\t<body name=\"arm_right_2_link\" pos=\"0.125 -0.019500000000000003 -0.031000000000000028\" quat=\"0.7071067811865476 -0.7071067811865475 0.0 0.0\">\n",
-      "\t\t\t\t\t\t\t\t\t<geom name=\"arm_right_2_link_collision_0\" pos=\"0.0 0.0 0.0\" quat=\"1.0 0.0 0.0 0.0\" class=\"collision\" type=\"mesh\" mesh=\"arm_2_collision_collision1d01d01d0\"/>\n",
-      "\t\t\t\t\t\t\t\t\t<joint name=\"arm_right_2_joint\" pos=\"-3.469446951953614e-18 7.703719777548943e-34 2.7755575615628914e-17\" type=\"hinge\" range=\"-1.1780972450961724 1.5707963267948966\" axis=\"0.0 0.0 1.0\"/>\n",
-      "\t\t\t\t\t\t\t\t\t<body name=\"arm_right_3_link\" pos=\"0.08949999999999997 0.0 -0.0015000000000000013\" quat=\"0.5000000000000001 -0.5 -0.4999999999999999 0.5\">\n",
-      "\t\t\t\t\t\t\t\t\t\t<geom name=\"arm_right_3_link_collision_0\" pos=\"0.0 0.0 0.0\" quat=\"1.0 0.0 0.0 0.0\" class=\"collision\" type=\"mesh\" mesh=\"arm_3_collision_collision1d01d01d0\"/>\n",
-      "\t\t\t\t\t\t\t\t\t\t<joint name=\"arm_right_3_joint\" pos=\"6.259272319258517e-33 -1.3010426069825992e-18 2.7755575615628914e-17\" type=\"hinge\" range=\"-0.7853981633974483 3.9269908169872414\" axis=\"0.0 0.0 1.0\"/>\n",
-      "\t\t\t\t\t\t\t\t\t\t<body name=\"arm_right_4_link\" pos=\"-0.020000000000000018 -0.027 -0.22199999999999992\" quat=\"0.5000000000000001 -0.5 -0.5 -0.4999999999999999\">\n",
-      "\t\t\t\t\t\t\t\t\t\t\t<geom name=\"arm_right_4_link_collision_0\" pos=\"0.0 0.0 0.0\" quat=\"1.0 0.0 0.0 0.0\" class=\"collision\" type=\"mesh\" mesh=\"arm_4_collision_collision1d01d01d0\"/>\n",
-      "\t\t\t\t\t\t\t\t\t\t\t<joint name=\"arm_right_4_joint\" pos=\"8.326672684688674e-17 -1.7347234759768046e-17 2.465190328815662e-32\" type=\"hinge\" range=\"-0.39269908169872414 2.356194490192345\" axis=\"0.0 0.0 1.0\"/>\n",
-      "\t\t\t\t\t\t\t\t\t\t\t<body name=\"arm_right_5_link\" pos=\"-0.16200000000000003 0.019999999999999907 0.027000000000000003\" quat=\"0.7071067811865476 5.551115123125783e-17 -0.7071067811865475 -5.551115123125784e-17\">\n",
-      "\t\t\t\t\t\t\t\t\t\t\t\t<geom name=\"arm_right_5_link_collision_0\" pos=\"0.0 0.0 0.0\" quat=\"1.0 0.0 0.0 0.0\" class=\"collision\" type=\"mesh\" mesh=\"arm_5_collision_wrist_2017_collision1d01d01d0\"/>\n",
-      "\t\t\t\t\t\t\t\t\t\t\t\t<joint name=\"arm_right_5_joint\" pos=\"9.367506770274758e-17 3.469446951953571e-18 -2.7755575615628907e-17\" type=\"hinge\" range=\"-2.0943951023931953 2.0943951023931953\" axis=\"0.0 0.0 1.0\"/>\n",
-      "\t\t\t\t\t\t\t\t\t\t\t\t<body name=\"arm_right_6_link\" pos=\"0.0 0.0 0.15000000000000002\" quat=\"0.5000000000000001 -0.4999999999999999 -0.5 -0.5\">\n",
-      "\t\t\t\t\t\t\t\t\t\t\t\t\t<geom name=\"arm_right_6_link_collision_0\" pos=\"0.0 0.0 0.0\" quat=\"1.0 0.0 0.0 0.0\" class=\"collision\" type=\"mesh\" mesh=\"arm_6_collision_wrist_2017_collision1d01d01d0\"/>\n",
-      "\t\t\t\t\t\t\t\t\t\t\t\t\t<joint name=\"arm_right_6_joint\" pos=\"-4.357881996052619e-33 2.775557561562892e-17 -1.8488927466117464e-32\" type=\"hinge\" range=\"-1.413716694115407 1.413716694115407\" axis=\"0.0 0.0 1.0\"/>\n",
-      "\t\t\t\t\t\t\t\t\t\t\t\t\t<body name=\"arm_right_7_link\" pos=\"0.0 0.0 0.0\" quat=\"0.5000000000000001 0.5 0.4999999999999999 0.5\">\n"
-     ]
-    },
-    {
-     "name": "stdout",
-     "output_type": "stream",
-     "text": [
-      "\t\t\t\t\t\t\t\t\t\t\t\t\t\t<joint name=\"arm_right_7_joint\" pos=\"0.0 -0.0 0.0\" type=\"hinge\" range=\"-2.0943951023931953 2.0943951023931953\" axis=\"0.0 0.0 1.0\"/>\n",
-      "\t\t\t\t\t\t\t\t\t\t\t\t\t\t<body name=\"arm_right_tool_link\" pos=\"0.0 0.0 0.04600000000000004\" quat=\"-0.5 0.5 0.4999999999999999 0.5000000000000001\">\n",
-      "\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<geom name=\"arm_right_tool_link_collision_0\" pos=\"0.001 0.0 0.0\" quat=\"0.7071067811865476 0.0 0.7071067811865475 0.0\" class=\"collision\" type=\"cylinder\" size=\"0.005 0.0025\"/>\n",
-      "\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<body name=\"wrist_right_ft_link\" pos=\"0.007849999999999913 0.0 0.0\" quat=\"0.5000000000000001 0.5 0.4999999999999999 0.5\">\n",
-      "\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<geom name=\"wrist_right_ft_link_collision_0\" pos=\"0.0 0.0 0.0\" quat=\"1.0 0.0 0.0 0.0\" class=\"collision\" type=\"cylinder\" size=\"0.0225 0.00785\"/>\n",
-      "\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<body name=\"wrist_right_ft_tool_link\" pos=\"0.0 0.0 0.012724999999999875\" quat=\"0.5000000000000001 -0.5 -0.5 -0.4999999999999999\">\n",
-      "\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<geom name=\"wrist_right_ft_tool_link_collision_0\" pos=\"0.0 0.0 0.0\" quat=\"0.7071067811865476 0.0 0.7071067811865475 0.0\" class=\"collision\" type=\"cylinder\" size=\"0.025 0.004875\"/>\n",
-      "\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<body name=\"gripper_right_link\" pos=\"0.010000000000000009 0.0 0.0\" quat=\"1.6653345369377356e-16 0.7071067811865476 5.551115123125793e-17 -0.7071067811865475\">\n",
-      "\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<geom name=\"gripper_right_link_collision_0\" pos=\"0.0 0.0 0.0\" quat=\"1.0 0.0 0.0 0.0\" class=\"collision\" type=\"mesh\" mesh=\"gripper_link_collision_collision1d01d01d0\"/>\n",
-      "\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<body name=\"gripper_right_grasping_frame\" pos=\"-1.1102230246251565e-16 0.0 -0.11999999999999988\" quat=\"0.4999981633974485 -0.49999999999662703 0.4999999999966269 0.5000018366025516\"/>\n",
-      "\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<body name=\"gripper_right_right_finger_link\" pos=\"0.0 0.0 0.0\" quat=\"1.0 -1.495388688159114e-33 -2.465190328815662e-32 -6.162975822039152e-33\">\n",
-      "\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<geom name=\"gripper_right_right_finger_link_collision_0\" pos=\"0.005 0.0 -0.165\" quat=\"4.632679487995776e-05 0.0 0.0 0.999999998926914\" class=\"collision\" type=\"box\" size=\"0.005000000000000001 0.025 0.055\"/>\n",
-      "\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<joint name=\"gripper_right_right_finger_joint\" pos=\"0.0 0.0 0.0\" type=\"slide\" range=\"0.0 0.04500000178813934\" axis=\"0.9999999999999998 0.0 2.220446049250313e-16\"/>\n",
-      "\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t</body>\n",
-      "\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<body name=\"gripper_right_left_finger_link\" pos=\"0.0 0.0 0.0\" quat=\"1.0 -1.495388688159114e-33 -2.465190328815662e-32 -6.162975822039152e-33\">\n",
-      "\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<geom name=\"gripper_right_left_finger_link_collision_0\" pos=\"-0.005 0.0 -0.165\" quat=\"4.632679487995776e-05 0.0 0.0 0.999999998926914\" class=\"collision\" type=\"box\" size=\"0.005000000000000001 0.025 0.055\"/>\n",
-      "\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<joint name=\"gripper_right_left_finger_joint\" pos=\"0.0 0.0 0.0\" type=\"slide\" range=\"0.0 0.04500000178813934\" axis=\"-0.9999999999999998 0.0 2.220446049250313e-16\"/>\n",
-      "\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t</body>\n",
-      "\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t</body>\n",
-      "\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<body name=\"gripper_right_tool_link\" pos=\"0.010000000000000009 0.0 0.0\" quat=\"1.6653345369377356e-16 0.7071067811865476 5.551115123125793e-17 -0.7071067811865475\"/>\n",
-      "\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t</body>\n",
-      "\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t</body>\n",
-      "\t\t\t\t\t\t\t\t\t\t\t\t\t\t</body>\n",
-      "\t\t\t\t\t\t\t\t\t\t\t\t\t</body>\n",
-      "\t\t\t\t\t\t\t\t\t\t\t\t</body>\n",
-      "\t\t\t\t\t\t\t\t\t\t\t</body>\n",
-      "\t\t\t\t\t\t\t\t\t\t</body>\n",
-      "\t\t\t\t\t\t\t\t\t</body>\n",
-      "\t\t\t\t\t\t\t\t</body>\n",
-      "\t\t\t\t\t\t\t</body>\n",
-      "\t\t\t\t\t\t</body>\n",
-      "\t\t\t\t\t</body>\n",
-      "\t\t\t\t\t<body name=\"torso_fixed_column_link\" pos=\"-0.062 0.0 0.19499999999999998\" quat=\"1.0 0.0 0.0 0.0\">\n",
-      "\t\t\t\t\t\t<geom name=\"torso_fixed_column_link_collision_0\" pos=\"0.0 0.0 0.275\" quat=\"1.0 0.0 0.0 0.0\" class=\"collision\" type=\"box\" size=\"0.115 0.115 0.275\"/>\n",
-      "\t\t\t\t\t</body>\n",
-      "\t\t\t\t\t<body name=\"suspension_right_link\" pos=\"0.0 0.0 0.0\" quat=\"1.0 0.0 0.0 0.0\">\n",
-      "\t\t\t\t\t\t<joint name=\"suspension_right_joint\" pos=\"0.0 0.0 0.0\" type=\"slide\" range=\"-0.004999999888241291 0.004999999888241291\" axis=\"0.0 0.0 1.0\"/>\n",
-      "\t\t\t\t\t\t<body name=\"wheel_right_link\" pos=\"0.0 -0.2022 0.0\" quat=\"0.7071067811865476 -0.7071067811865475 0.0 0.0\">\n",
-      "\t\t\t\t\t\t\t<geom name=\"wheel_right_link_collision_0\" pos=\"0.0 0.0 0.0\" quat=\"1.0 0.0 0.0 0.0\" class=\"collision\" type=\"sphere\" size=\"0.0985\"/>\n",
-      "\t\t\t\t\t\t\t<joint name=\"wheel_right_joint\" pos=\"0.0 0.0 0.0\" axis=\"0.0 0.0 1.0\"/>\n",
-      "\t\t\t\t\t\t</body>\n",
-      "\t\t\t\t\t</body>\n",
-      "\t\t\t\t\t<body name=\"suspension_left_link\" pos=\"0.0 0.0 0.0\" quat=\"1.0 0.0 0.0 0.0\">\n",
-      "\t\t\t\t\t\t<joint name=\"suspension_left_joint\" pos=\"0.0 0.0 0.0\" type=\"slide\" range=\"-0.004999999888241291 0.004999999888241291\" axis=\"0.0 0.0 1.0\"/>\n",
-      "\t\t\t\t\t\t<body name=\"wheel_left_link\" pos=\"0.0 0.2022 0.0\" quat=\"0.7071067811865476 -0.7071067811865475 0.0 0.0\">\n",
-      "\t\t\t\t\t\t\t<geom name=\"wheel_left_link_collision_0\" pos=\"0.0 0.0 0.0\" quat=\"1.0 0.0 0.0 0.0\" class=\"collision\" type=\"sphere\" size=\"0.0985\"/>\n",
-      "\t\t\t\t\t\t\t<joint name=\"wheel_left_joint\" pos=\"0.0 0.0 0.0\" axis=\"0.0 0.0 1.0\"/>\n",
-      "\t\t\t\t\t\t</body>\n",
-      "\t\t\t\t\t</body>\n",
-      "\t\t\t\t\t<body name=\"caster_front_right_1_link\" pos=\"0.1695 -0.102 -0.0335\" quat=\"1.0 0.0 0.0 0.0\">\n",
-      "\t\t\t\t\t\t<joint name=\"caster_front_right_1_joint\" pos=\"0.0 0.0 0.0\" axis=\"0.0 0.0 1.0\"/>\n",
-      "\t\t\t\t\t\t<body name=\"caster_front_right_2_link\" pos=\"-0.015999999999999986 0.0 -0.04\" quat=\"0.7071067811865476 -0.7071067811865475 0.0 0.0\">\n",
-      "\t\t\t\t\t\t\t<geom name=\"caster_front_right_2_link_collision_0\" pos=\"0.0 0.0 0.0\" quat=\"1.0 0.0 0.0 0.0\" class=\"collision\" type=\"sphere\" size=\"0.025\"/>\n",
-      "\t\t\t\t\t\t\t<joint name=\"caster_front_right_2_joint\" pos=\"-1.3877787807814457e-17 0.0 0.0\" axis=\"0.0 0.0 1.0\"/>\n",
-      "\t\t\t\t\t\t</body>\n",
-      "\t\t\t\t\t</body>\n",
-      "\t\t\t\t\t<body name=\"caster_front_left_1_link\" pos=\"0.1695 0.102 -0.0335\" quat=\"1.0 0.0 0.0 0.0\">\n",
-      "\t\t\t\t\t\t<joint name=\"caster_front_left_1_joint\" pos=\"0.0 0.0 0.0\" axis=\"0.0 0.0 1.0\"/>\n",
-      "\t\t\t\t\t\t<body name=\"caster_front_left_2_link\" pos=\"-0.015999999999999986 0.0 -0.04\" quat=\"0.7071067811865476 -0.7071067811865475 0.0 0.0\">\n",
-      "\t\t\t\t\t\t\t<geom name=\"caster_front_left_2_link_collision_0\" pos=\"0.0 0.0 0.0\" quat=\"1.0 0.0 0.0 0.0\" class=\"collision\" type=\"sphere\" size=\"0.025\"/>\n",
-      "\t\t\t\t\t\t\t<joint name=\"caster_front_left_2_joint\" pos=\"-1.3877787807814457e-17 0.0 0.0\" axis=\"0.0 0.0 1.0\"/>\n",
-      "\t\t\t\t\t\t</body>\n",
-      "\t\t\t\t\t</body>\n",
-      "\t\t\t\t\t<body name=\"caster_back_right_1_link\" pos=\"-0.17350000000000002 -0.102 -0.0335\" quat=\"1.0 0.0 0.0 0.0\">\n",
-      "\t\t\t\t\t\t<joint name=\"caster_back_right_1_joint\" pos=\"0.0 0.0 0.0\" axis=\"0.0 0.0 1.0\"/>\n",
-      "\t\t\t\t\t\t<body name=\"caster_back_right_2_link\" pos=\"-0.015999999999999986 0.0 -0.04\" quat=\"0.7071067811865476 -0.7071067811865475 0.0 0.0\">\n",
-      "\t\t\t\t\t\t\t<geom name=\"caster_back_right_2_link_collision_0\" pos=\"0.0 0.0 0.0\" quat=\"1.0 0.0 0.0 0.0\" class=\"collision\" type=\"sphere\" size=\"0.025\"/>\n",
-      "\t\t\t\t\t\t\t<joint name=\"caster_back_right_2_joint\" pos=\"-1.3877787807814457e-17 0.0 0.0\" axis=\"0.0 0.0 1.0\"/>\n",
-      "\t\t\t\t\t\t</body>\n",
-      "\t\t\t\t\t</body>\n",
-      "\t\t\t\t\t<body name=\"caster_back_left_1_link\" pos=\"-0.17350000000000002 0.102 -0.0335\" quat=\"1.0 0.0 0.0 0.0\">\n",
-      "\t\t\t\t\t\t<joint name=\"caster_back_left_1_joint\" pos=\"0.0 0.0 0.0\" axis=\"0.0 0.0 1.0\"/>\n",
-      "\t\t\t\t\t\t<body name=\"caster_back_left_2_link\" pos=\"-0.015999999999999986 0.0 -0.04\" quat=\"0.7071067811865476 -0.7071067811865475 0.0 0.0\">\n",
-      "\t\t\t\t\t\t\t<geom name=\"caster_back_left_2_link_collision_0\" pos=\"0.0 0.0 0.0\" quat=\"1.0 0.0 0.0 0.0\" class=\"collision\" type=\"sphere\" size=\"0.025\"/>\n",
-      "\t\t\t\t\t\t\t<joint name=\"caster_back_left_2_joint\" pos=\"-1.3877787807814457e-17 0.0 0.0\" axis=\"0.0 0.0 1.0\"/>\n",
-      "\t\t\t\t\t\t</body>\n",
-      "\t\t\t\t\t</body>\n",
-      "\t\t\t\t\t<body name=\"base_laser_link\" pos=\"0.202 0.0 -0.0040000000000000036\" quat=\"1.0 0.0 0.0 0.0\"/>\n",
-      "\t\t\t\t\t<body name=\"base_mic_front_left_link\" pos=\"0.23182 0.03902 0.19499999999999998\" quat=\"1.0 0.0 0.0 0.0\"/>\n",
-      "\t\t\t\t\t<body name=\"base_antenna_left_link\" pos=\"-0.201 0.1062 0.19499999999999998\" quat=\"1.0 0.0 0.0 0.0\">\n",
-      "\t\t\t\t\t\t<geom name=\"base_antenna_left_link_collision_0\" pos=\"0.0 0.0 0.085\" quat=\"1.0 0.0 0.0 0.0\" class=\"collision\" type=\"cylinder\" size=\"0.005 0.085\"/>\n",
-      "\t\t\t\t\t</body>\n",
-      "\t\t\t\t\t<body name=\"base_sonar_02_link\" pos=\"-0.259 0.0 0.17299999999999996\" quat=\"6.123233995736766e-17 0.0 0.0 1.0\"/>\n",
-      "\t\t\t\t\t<body name=\"base_imu_link\" pos=\"0.10171 0.0 0.11282\" quat=\"0.7071067811865476 0.0 0.0 -0.7071067811865475\"/>\n",
-      "\t\t\t\t\t<body name=\"base_mic_back_left_link\" pos=\"-0.1082 -0.0599 0.19499999999999998\" quat=\"1.0 0.0 0.0 0.0\"/>\n",
-      "\t\t\t\t</body>\n",
-      "\t\t\t\t<body name=\"rgbd_laser_link\" pos=\"-0.9 0.0 0.0\" quat=\"1.0 0.0 0.0 0.0\"/>\n",
-      "\t\t\t</body>\n",
-      "\t\t</body>\n",
-      "\t</worldbody>\n",
-      "    <contact>\n",
-      "        <exclude body1=\"torso_lift_link\" body2=\"torso_fixed_column_link\"/>\n",
-      "        <exclude body1=\"base_link\" body2=\"wheel_right_link\"/>\n"
-     ]
-    },
-    {
-     "name": "stdout",
-     "output_type": "stream",
-     "text": [
-      "        <exclude body1=\"base_link\" body2=\"wheel_left_link\"/>\n",
-      "        <exclude body1=\"base_link\" body2=\"caster_back_left_2_link\"/>\n",
-      "        <exclude body1=\"base_link\" body2=\"caster_back_right_2_link\"/>\n",
-      "        <exclude body1=\"base_link\" body2=\"caster_front_left_2_link\"/>\n",
-      "        <exclude body1=\"base_link\" body2=\"caster_front_right_2_link\"/>\n",
-      "    </contact>\n",
-      "</mujoco>\n"
-     ]
-    }
-   ],
+   "outputs": [],
    "source": [
     "source $MULTIVERSE_DIR/tutorial_ws/devel/setup.bash\n",
     "\n",
@@ -3239,210 +771,9 @@
   },
   {
    "cell_type": "code",
-   "execution_count": 18,
+   "execution_count": null,
    "metadata": {},
-   "outputs": [
-    {
-     "name": "stdout",
-     "output_type": "stream",
-     "text": [
-      "[4] 360160\n",
-      "[5] 360161\n",
-      "Start Multiverse Server...\n",
-      "[Server] Create server socket tcp://*:7000, waiting for client...\n",
-      "\u001b[31m================================================================================REQUIRED process [master] has died!\n",
-      "process has died [pid 359929, exit code -15, cmd rosmaster --core -p 11311 -w 3 __log:=/home/giang/.ros/log/279d9c5e-5b1d-11ee-b596-d183e98fb698/master.log].\n",
-      "log file: /home/giang/.ros/log/279d9c5e-5b1d-11ee-b596-d183e98fb698/master*.log\n",
-      "Initiating shutdown!\n",
-      "================================================================================\u001b[0m\n",
-      "[multiverse_socket-4] killing on exit\n",
-      "[mujoco_sim-2] killing on exit\n",
-      "... logging to /home/giang/.ros/log/2b7025cc-5b1d-11ee-b596-d183e98fb698/roslaunch-giangnguyen-360161.log\n",
-      "Checking log directory for disk usage. This may take a while.\n",
-      "Press Ctrl-C to interrupt\n",
-      "Done checking log file disk usage. Usage is <1GB.\n",
-      "\u001b]2;/media/giang/Storage/Multiverse/tutorial_ws/src/my_robot_mujoco/launch/my_robot_mujoco.launch\u0007\n",
-      "[Client 7500] Closing the socket tcp://127.0.0.1:7500.\n",
-      "\u001b[1mstarted roslaunch server http://giangnguyen:39299/\u001b[0m\n",
-      "\n",
-      "SUMMARY\n",
-      "========\n",
-      "\n",
-      "PARAMETERS\n",
-      " * /arm_left_controller/gains/arm_left_1_joint/d: 50\n",
-      " * /arm_left_controller/gains/arm_left_1_joint/i: 100\n",
-      " * /arm_left_controller/gains/arm_left_1_joint/p: 2000\n",
-      " * /arm_left_controller/gains/arm_left_2_joint/d: 50\n",
-      " * /arm_left_controller/gains/arm_left_2_joint/i: 100\n",
-      " * /arm_left_controller/gains/arm_left_2_joint/p: 2000\n",
-      " * /arm_left_controller/gains/arm_left_3_joint/d: 50\n",
-      " * /arm_left_controller/gains/arm_left_3_joint/i: 100\n",
-      " * /arm_left_controller/gains/arm_left_3_joint/p: 2000\n",
-      " * /arm_left_controller/gains/arm_left_4_joint/d: 50\n",
-      " * /arm_left_controller/gains/arm_left_4_joint/i: 100\n",
-      " * /arm_left_controller/gains/arm_left_4_joint/p: 2000\n",
-      " * /arm_left_controller/gains/arm_left_5_joint/d: 50\n",
-      " * /arm_left_controller/gains/arm_left_5_joint/i: 100\n",
-      " * /arm_left_controller/gains/arm_left_5_joint/p: 2000\n",
-      " * /arm_left_controller/gains/arm_left_6_joint/d: 50\n",
-      " * /arm_left_controller/gains/arm_left_6_joint/i: 100\n",
-      " * /arm_left_controller/gains/arm_left_6_joint/p: 2000\n",
-      " * /arm_left_controller/gains/arm_left_7_joint/d: 50\n",
-      " * /arm_left_controller/gains/arm_left_7_joint/i: 100\n",
-      " * /arm_left_controller/gains/arm_left_7_joint/p: 2000\n",
-      " * /arm_left_controller/joints: ['arm_left_1_join...\n",
-      " * /arm_left_controller/type: effort_controller...\n",
-      " * /arm_right_controller/gains/arm_right_1_joint/d: 50\n",
-      " * /arm_right_controller/gains/arm_right_1_joint/i: 100\n",
-      " * /arm_right_controller/gains/arm_right_1_joint/p: 2000\n",
-      " * /arm_right_controller/gains/arm_right_2_joint/d: 50\n",
-      " * /arm_right_controller/gains/arm_right_2_joint/i: 100\n",
-      " * /arm_right_controller/gains/arm_right_2_joint/p: 2000\n",
-      " * /arm_right_controller/gains/arm_right_3_joint/d: 50\n",
-      " * /arm_right_controller/gains/arm_right_3_joint/i: 100\n",
-      " * /arm_right_controller/gains/arm_right_3_joint/p: 2000\n",
-      " * /arm_right_controller/gains/arm_right_4_joint/d: 50\n",
-      " * /arm_right_controller/gains/arm_right_4_joint/i: 100\n",
-      " * /arm_right_controller/gains/arm_right_4_joint/p: 2000\n",
-      " * /arm_right_controller/gains/arm_right_5_joint/d: 50\n",
-      " * /arm_right_controller/gains/arm_right_5_joint/i: 100\n",
-      " * /arm_right_controller/gains/arm_right_5_joint/p: 2000\n",
-      " * /arm_right_controller/gains/arm_right_6_joint/d: 50\n",
-      " * /arm_right_controller/gains/arm_right_6_joint/i: 100\n",
-      " * /arm_right_controller/gains/arm_right_6_joint/p: 2000\n",
-      " * /arm_right_controller/gains/arm_right_7_joint/d: 50\n",
-      " * /arm_right_controller/gains/arm_right_7_joint/i: 100\n",
-      " * /arm_right_controller/gains/arm_right_7_joint/p: 2000\n",
-      " * /arm_right_controller/joints: ['arm_right_1_joi...\n",
-      " * /arm_right_controller/type: effort_controller...\n",
-      " * /gripper_left_left_finger_controller/joint: gripper_left_left...\n",
-      " * /gripper_left_left_finger_controller/type: effort_controller...\n",
-      " * /gripper_left_right_finger_controller/joint: gripper_left_righ...\n",
-      " * /gripper_left_right_finger_controller/type: effort_controller...\n",
-      " * /gripper_right_left_finger_controller/joint: gripper_right_lef...\n",
-      " * /gripper_right_left_finger_controller/type: effort_controller...\n",
-      " * /gripper_right_right_finger_controller/joint: gripper_right_rig...\n",
-      " * /gripper_right_right_finger_controller/type: effort_controller...\n",
-      " * /head_controller/gains/head_1_joint/d: 50\n",
-      " * /head_controller/gains/head_1_joint/i: 100\n",
-      " * /head_controller/gains/head_1_joint/p: 2000\n",
-      " * /head_controller/gains/head_2_joint/d: 50\n",
-      " * /head_controller/gains/head_2_joint/i: 100\n",
-      " * /head_controller/gains/head_2_joint/p: 2000\n",
-      " * /head_controller/joints: ['head_1_joint', ...\n",
-      " * /head_controller/type: effort_controller...\n",
-      " * /joint_state_controller/publish_rate: 60\n",
-      " * /joint_state_controller/type: joint_state_contr...\n",
-      " * /mujoco/add_odom_joints: True\n",
-      " * /mujoco/pose_init: [1.5, 2.5, 0.0, 0...\n",
-      " * /mujoco/robots: ['tiago_dual']\n",
-      " * /mujoco/root_frame_id: map\n",
-      " * /mujoco_sim/robot: /media/giang/Stor...\n",
-      " * /mujoco_sim/world: /media/giang/Stor...\n",
-      " * /multiverse/angle_unit: rad\n",
-      " * /multiverse/force_unit: N\n",
-      " * /multiverse/handedness: rhs\n",
-      " * /multiverse/host: tcp://127.0.0.1\n",
-      " * /multiverse/length_unit: m\n",
-      " * /multiverse/port: 7000\n",
-      " * /multiverse/publishers/tf/port: 7300\n",
-      " * /multiverse/publishers/tf/rate: 60\n",
-      " * /multiverse/receive/tiago_dual: ['relative_veloci...\n",
-      " * /multiverse/send/body: ['position', 'qua...\n",
-      " * /multiverse/send/joint: ['joint_rvalue', ...\n",
-      " * /multiverse/services/query_data/port: 7400\n",
-      " * /multiverse/subscribers/cmd_vel/body: tiago_dual\n",
-      " * /multiverse/subscribers/cmd_vel/port: 7200\n",
-      " * /multiverse/time_unit: s\n",
-      " * /robot_description: <?xml version=\"1....\n",
-      " * /rosdistro: noetic\n",
-      " * /rosversion: 1.16.0\n",
-      " * /torso_controller/gains/torso_lift_joint/d: 50\n",
-      " * /torso_controller/gains/torso_lift_joint/i: 100\n",
-      " * /torso_controller/gains/torso_lift_joint/p: 2000\n",
-      " * /torso_controller/joints: ['torso_lift_joint']\n",
-      " * /torso_controller/type: effort_controller...\n",
-      "\n",
-      "NODES\n",
-      "  /\n",
-      "    controller_manager (controller_manager/controller_manager)\n",
-      "    mujoco_sim (mujoco_sim/mujoco_sim_headless_node)\n",
-      "    multiverse_socket (multiverse_socket/multiverse_socket_node.py)\n",
-      "\n",
-      "auto-starting new master\n",
-      "\u001b[1mprocess[master]: started with pid [360200]\u001b[0m\n",
-      "\u001b[1mROS_MASTER_URI=http://localhost:11311\u001b[0m\n",
-      "\u001b]2;/media/giang/Storage/Multiverse/tutorial_ws/src/my_robot_mujoco/launch/my_robot_mujoco.launch http://localhost:11311\u0007\n",
-      "\u001b[1msetting /run_id to 2b7025cc-5b1d-11ee-b596-d183e98fb698\u001b[0m\n",
-      "\u001b[1mprocess[rosout-1]: started with pid [360225]\u001b[0m\n",
-      "started core service [/rosout]\n",
-      "\u001b[1mprocess[mujoco_sim-2]: started with pid [360234]\u001b[0m\n",
-      "\u001b[1mprocess[controller_manager-3]: started with pid [360235]\u001b[0m\n",
-      "\u001b[1mprocess[multiverse_socket-4]: started with pid [360237]\u001b[0m\n",
-      "\u001b[0m[ INFO] [1695589134.354814834]: Get ROS parameters from the server...\u001b[0m\n",
-      "\u001b[0m[ INFO] [1695589134.355925977]: Set disable_gravity to true\u001b[0m\n",
-      "\u001b[0m[ INFO] [1695589134.356517028]: Set world from /media/giang/Storage/Multiverse/multiverse_ws/src/multiverse_connectors/multiverse_mujoco_connector/mujoco_sim/model/world/empty.xml\u001b[0m\n",
-      "\u001b[33m[ WARN] [1695589134.357147168]: Robot names not found in parameter server, searching for robot names from urdf...\u001b[0m\n",
-      "\u001b[0m[ INFO] [1695589134.361862916]: Found 1 robots: [tiago_dual]\u001b[0m\n",
-      "\u001b[0m[ INFO] [1695589134.362763772]: Initializing the MuJoCo simulator...\u001b[0m\n",
-      "\u001b[0m[ INFO] [1695589134.362803162]: Copying model into /media/giang/Storage/Multiverse/multiverse_ws/src/multiverse_connectors/multiverse_mujoco_connector/mujoco_sim/model/tmp\u001b[0m\n",
-      "\u001b[0m[ INFO] [1695589134.363822626]: Adding odom joints for model tiago_dual...\u001b[0m\n",
-      "\u001b[0m[ INFO] [1695589134.363853346]: Add 3 odom joints for model tiago_dual successfully\u001b[0m\n",
-      "\u001b[0m[ INFO] [1695589134.364208950]: Save models in /media/giang/Storage/Multiverse/multiverse_ws/src/multiverse_connectors/multiverse_mujoco_connector/mujoco_sim/model/tmp successfully\u001b[0m\n",
-      "\u001b[0m[ INFO] [1695589134.386312113]: Reload model in /media/giang/Storage/Multiverse/multiverse_ws/src/multiverse_connectors/multiverse_mujoco_connector/mujoco_sim/model/tmp/current_75534356801_tiago_dual.xml complete\u001b[0m\n",
-      "\u001b[0m[ INFO] [1695589134.386703367]: Getting joints of model tiago_dual...\u001b[0m\n",
-      "\u001b[0m[ INFO] [1695589134.388058436]: Initialize model tiago_dual with 33 joints successfully\u001b[0m\n",
-      "\u001b[0m[ INFO] [1695589134.412821648]: Initialized the MuJoCo simulator successfully.\u001b[0m\n"
-     ]
-    },
-    {
-     "name": "stdout",
-     "output_type": "stream",
-     "text": [
-      "\u001b[0m[ INFO] [1695589134.412878397]: Initializing the ROS interface...\u001b[0m\n",
-      "\u001b[0m[ INFO] [1695589134.420452972]: Started [/mujoco/screenshot] service.\u001b[0m\n",
-      "\u001b[0m[ INFO] [1695589134.420805396]: Started [/mujoco/reset] service.\u001b[0m\n",
-      "\u001b[0m[ INFO] [1695589134.421185051]: Started [/mujoco/spawn_objects] service.\u001b[0m\n",
-      "\u001b[0m[ INFO] [1695589134.424427491]: Started [/mujoco/destroy_objects] service.\u001b[0m\n",
-      "\u001b[33m[ WARN] [1695589134.424702857]: joint_inits not found, will set to default value (0)\u001b[0m\n",
-      "\u001b[0m[ INFO] [1695589134.424961243]: Initialized the ROS interface successfully.\u001b[0m\n",
-      "\u001b[0m[ INFO] [1695589134.428367271]: Set receive_objects: tiago_dual \u001b[0m\n",
-      "\u001b[0m[ INFO] [1695589134.429311816]: Set send_objects: \u001b[0m\n",
-      "[Client 7500] Opened the socket tcp://127.0.0.1:7500.\n",
-      "[Server] Bind to socket tcp://*:7500.\n",
-      "Loaded 'joint_state_controller'\n",
-      "[INFO] [1695589134.712916]: Start publisher [tf] with {'port': 7300, 'rate': 60}\n",
-      "[Client 7200] Opened the socket tcp://127.0.0.1:7200.\n",
-      "[Client 7200] Start.\n",
-      "[Server] Bind to socket tcp://*:7200.\n",
-      "[Client 7200] Starting the communication (send: 7, receive: 1).\n",
-      "[Client 7500] Starting the communication (send: 527, receive: 7).\n",
-      "Started ['joint_state_controller'] successfully\n",
-      "[INFO] [1695589134.717876]: Start subscriber /cmd_vel\n",
-      "[Client 7300] Opened the socket tcp://127.0.0.1:7300.\n",
-      "[Server] Bind to socket tcp://*:7300.\n",
-      "[Client 7300] Start.\n",
-      "[Client 7400] Opened the socket tcp://127.0.0.1:7400.\n",
-      "[Server] Bind to socket tcp://*:7400.\n",
-      "[Client 7400] Start.\n",
-      "[INFO] [1695589134.764022]: Start service at /multiverse/query_data\n",
-      "[Client 7300] Closing the socket tcp://127.0.0.1:7300.\n",
-      "[Server] Received close signal from socket tcp://*:7300.\n",
-      "[Client 7200] Closing the socket tcp://127.0.0.1:7200.\n",
-      "[Server] Received close signal from socket tcp://*:7200.\n",
-      "[Client 7400] Closing the socket tcp://127.0.0.1:7400.\n",
-      "\u001b[1m[controller_manager-3] process has finished cleanly\n",
-      "log file: /home/giang/.ros/log/2b7025cc-5b1d-11ee-b596-d183e98fb698/controller_manager-3*.log\u001b[0m\n",
-      "[rosout-1] killing on exit\n",
-      "[master] killing on exit\n",
-      "shutting down processing monitor...\n",
-      "... shutting down processing monitor complete\n",
-      "\u001b[1mdone\u001b[0m\n",
-      "[2]   Terminated              multiverse_server\n",
-      "[3]   Done                    roslaunch my_robot_mujoco my_robot_mujoco.launch\n"
-     ]
-    }
-   ],
+   "outputs": [],
    "source": [
     "source $MULTIVERSE_DIR/tutorial_ws/devel/setup.bash\n",
     "\n",
@@ -3483,38 +814,9 @@
   },
   {
    "cell_type": "code",
-   "execution_count": 19,
+   "execution_count": null,
    "metadata": {},
-   "outputs": [
-    {
-     "name": "stdout",
-     "output_type": "stream",
-     "text": [
-      "<launch>\n",
-      "    <include file=\"$(find mujoco_sim)/launch/mujoco_sim_headless.launch\">\n",
-      "        <arg name=\"config\" value=\"$(find my_robot_mujoco)/config/mujoco_params.yaml\" />\n",
-      "        <arg name=\"robot\" value=\"$(find my_robot_description)/mjcf/tiago_dual.xml\" />\n",
-      "    </include>\n",
-      "    \n",
-      "    <param name=\"robot_description\" command=\"$(find xacro)/xacro '$(find my_robot_description)/urdf/tiago_dual.urdf'\" />\n",
-      "    <rosparam command=\"load\" file=\"$(find my_robot_mujoco)/config/control_params.yaml\" />\n",
-      "    <node name=\"controller_manager\" pkg=\"controller_manager\" type=\"controller_manager\" respawn=\"false\" output=\"screen\" args=\"spawn \n",
-      "        joint_state_controller\n",
-      "        torso_controller\n",
-      "        head_controller\n",
-      "        arm_left_controller\n",
-      "        arm_right_controller\n",
-      "        gripper_left_left_finger_controller\n",
-      "        gripper_left_right_finger_controller\n",
-      "        gripper_right_right_finger_controller\n",
-      "        gripper_right_left_finger_controller\" />\n",
-      "    \n",
-      "    <rosparam command=\"load\" file=\"$(find my_robot_mujoco)/config/multiverse_params.yaml\" />\n",
-      "    <node pkg=\"multiverse_socket\" type=\"multiverse_socket_node.py\" name=\"multiverse_socket\" output=\"screen\" />\n",
-      "</launch>\n"
-     ]
-    }
-   ],
+   "outputs": [],
    "source": [
     "MY_ROBOT_LAUNCH=$MULTIVERSE_DIR/tutorial_ws/src/my_robot_mujoco/launch/my_robot_mujoco.launch\n",
     "\n",
@@ -3555,226 +857,9 @@
   },
   {
    "cell_type": "code",
-   "execution_count": 20,
+   "execution_count": null,
    "metadata": {},
-   "outputs": [
-    {
-     "name": "stdout",
-     "output_type": "stream",
-     "text": [
-      "\u001b[31m================================================================================REQUIRED process [master] has died!\n",
-      "process has died [pid 360200, exit code -15, cmd rosmaster --core -p 11311 -w 3 __log:=/home/giang/.ros/log/2b7025cc-5b1d-11ee-b596-d183e98fb698/master.log].\n",
-      "log file: /home/giang/.ros/log/2b7025cc-5b1d-11ee-b596-d183e98fb698/master*.log\n",
-      "Initiating shutdown!\n",
-      "================================================================================\u001b[0m\n",
-      "[6] 360400\n",
-      "[7] 360401\n",
-      "Start Multiverse Server...\n",
-      "[Server] Create server socket tcp://*:7000, waiting for client...\n",
-      "[multiverse_socket-4] killing on exit\n",
-      "[mujoco_sim-2] killing on exit\n",
-      "[Client 7500] Closing the socket tcp://127.0.0.1:7500.\n",
-      "... logging to /home/giang/.ros/log/2f8a3a30-5b1d-11ee-b596-d183e98fb698/roslaunch-giangnguyen-360401.log\n",
-      "Checking log directory for disk usage. This may take a while.\n",
-      "Press Ctrl-C to interrupt\n",
-      "Done checking log file disk usage. Usage is <1GB.\n",
-      "\u001b]2;/media/giang/Storage/Multiverse/tutorial_ws/src/my_robot_mujoco/launch/my_robot_mujoco.launch\u0007\n",
-      "\u001b[1mstarted roslaunch server http://giangnguyen:38491/\u001b[0m\n",
-      "\n",
-      "SUMMARY\n",
-      "========\n",
-      "\n",
-      "PARAMETERS\n",
-      " * /arm_left_controller/gains/arm_left_1_joint/d: 50\n",
-      " * /arm_left_controller/gains/arm_left_1_joint/i: 100\n",
-      " * /arm_left_controller/gains/arm_left_1_joint/p: 2000\n",
-      " * /arm_left_controller/gains/arm_left_2_joint/d: 50\n",
-      " * /arm_left_controller/gains/arm_left_2_joint/i: 100\n",
-      " * /arm_left_controller/gains/arm_left_2_joint/p: 2000\n",
-      " * /arm_left_controller/gains/arm_left_3_joint/d: 50\n",
-      " * /arm_left_controller/gains/arm_left_3_joint/i: 100\n",
-      " * /arm_left_controller/gains/arm_left_3_joint/p: 2000\n",
-      " * /arm_left_controller/gains/arm_left_4_joint/d: 50\n",
-      " * /arm_left_controller/gains/arm_left_4_joint/i: 100\n",
-      " * /arm_left_controller/gains/arm_left_4_joint/p: 2000\n",
-      " * /arm_left_controller/gains/arm_left_5_joint/d: 50\n",
-      " * /arm_left_controller/gains/arm_left_5_joint/i: 100\n",
-      " * /arm_left_controller/gains/arm_left_5_joint/p: 2000\n",
-      " * /arm_left_controller/gains/arm_left_6_joint/d: 50\n",
-      " * /arm_left_controller/gains/arm_left_6_joint/i: 100\n",
-      " * /arm_left_controller/gains/arm_left_6_joint/p: 2000\n",
-      " * /arm_left_controller/gains/arm_left_7_joint/d: 50\n",
-      " * /arm_left_controller/gains/arm_left_7_joint/i: 100\n",
-      " * /arm_left_controller/gains/arm_left_7_joint/p: 2000\n",
-      " * /arm_left_controller/joints: ['arm_left_1_join...\n",
-      " * /arm_left_controller/type: effort_controller...\n",
-      " * /arm_right_controller/gains/arm_right_1_joint/d: 50\n",
-      " * /arm_right_controller/gains/arm_right_1_joint/i: 100\n",
-      " * /arm_right_controller/gains/arm_right_1_joint/p: 2000\n",
-      " * /arm_right_controller/gains/arm_right_2_joint/d: 50\n",
-      " * /arm_right_controller/gains/arm_right_2_joint/i: 100\n",
-      " * /arm_right_controller/gains/arm_right_2_joint/p: 2000\n",
-      " * /arm_right_controller/gains/arm_right_3_joint/d: 50\n",
-      " * /arm_right_controller/gains/arm_right_3_joint/i: 100\n",
-      " * /arm_right_controller/gains/arm_right_3_joint/p: 2000\n",
-      " * /arm_right_controller/gains/arm_right_4_joint/d: 50\n",
-      " * /arm_right_controller/gains/arm_right_4_joint/i: 100\n",
-      " * /arm_right_controller/gains/arm_right_4_joint/p: 2000\n",
-      " * /arm_right_controller/gains/arm_right_5_joint/d: 50\n",
-      " * /arm_right_controller/gains/arm_right_5_joint/i: 100\n",
-      " * /arm_right_controller/gains/arm_right_5_joint/p: 2000\n",
-      " * /arm_right_controller/gains/arm_right_6_joint/d: 50\n",
-      " * /arm_right_controller/gains/arm_right_6_joint/i: 100\n",
-      " * /arm_right_controller/gains/arm_right_6_joint/p: 2000\n",
-      " * /arm_right_controller/gains/arm_right_7_joint/d: 50\n",
-      " * /arm_right_controller/gains/arm_right_7_joint/i: 100\n",
-      " * /arm_right_controller/gains/arm_right_7_joint/p: 2000\n",
-      " * /arm_right_controller/joints: ['arm_right_1_joi...\n",
-      " * /arm_right_controller/type: effort_controller...\n",
-      " * /gripper_left_left_finger_controller/joint: gripper_left_left...\n",
-      " * /gripper_left_left_finger_controller/type: effort_controller...\n",
-      " * /gripper_left_right_finger_controller/joint: gripper_left_righ...\n",
-      " * /gripper_left_right_finger_controller/type: effort_controller...\n",
-      " * /gripper_right_left_finger_controller/joint: gripper_right_lef...\n",
-      " * /gripper_right_left_finger_controller/type: effort_controller...\n",
-      " * /gripper_right_right_finger_controller/joint: gripper_right_rig...\n",
-      " * /gripper_right_right_finger_controller/type: effort_controller...\n",
-      " * /head_controller/gains/head_1_joint/d: 50\n",
-      " * /head_controller/gains/head_1_joint/i: 100\n",
-      " * /head_controller/gains/head_1_joint/p: 2000\n",
-      " * /head_controller/gains/head_2_joint/d: 50\n",
-      " * /head_controller/gains/head_2_joint/i: 100\n",
-      " * /head_controller/gains/head_2_joint/p: 2000\n",
-      " * /head_controller/joints: ['head_1_joint', ...\n",
-      " * /head_controller/type: effort_controller...\n",
-      " * /joint_state_controller/publish_rate: 60\n",
-      " * /joint_state_controller/type: joint_state_contr...\n",
-      " * /mujoco/add_odom_joints: True\n",
-      " * /mujoco/pose_init: [1.5, 2.5, 0.0, 0...\n",
-      " * /mujoco/robots: ['tiago_dual']\n",
-      " * /mujoco/root_frame_id: map\n",
-      " * /mujoco_sim/robot: /media/giang/Stor...\n",
-      " * /mujoco_sim/world: /media/giang/Stor...\n",
-      " * /multiverse/angle_unit: rad\n",
-      " * /multiverse/force_unit: N\n",
-      " * /multiverse/handedness: rhs\n",
-      " * /multiverse/host: tcp://127.0.0.1\n",
-      " * /multiverse/length_unit: m\n",
-      " * /multiverse/port: 7000\n",
-      " * /multiverse/publishers/tf/port: 7300\n",
-      " * /multiverse/publishers/tf/rate: 60\n",
-      " * /multiverse/receive/tiago_dual: ['relative_veloci...\n",
-      " * /multiverse/send/body: ['position', 'qua...\n",
-      " * /multiverse/send/joint: ['joint_rvalue', ...\n",
-      " * /multiverse/services/query_data/port: 7400\n",
-      " * /multiverse/subscribers/cmd_vel/body: tiago_dual\n",
-      " * /multiverse/subscribers/cmd_vel/port: 7200\n",
-      " * /multiverse/time_unit: s\n",
-      " * /robot_description: <?xml version=\"1....\n",
-      " * /rosdistro: noetic\n",
-      " * /rosversion: 1.16.0\n",
-      " * /torso_controller/gains/torso_lift_joint/d: 50\n",
-      " * /torso_controller/gains/torso_lift_joint/i: 100\n",
-      " * /torso_controller/gains/torso_lift_joint/p: 2000\n",
-      " * /torso_controller/joints: ['torso_lift_joint']\n",
-      " * /torso_controller/type: effort_controller...\n",
-      "\n",
-      "NODES\n",
-      "  /\n",
-      "    controller_manager (controller_manager/controller_manager)\n",
-      "    mujoco_sim (mujoco_sim/mujoco_sim_headless_node)\n",
-      "    multiverse_socket (multiverse_socket/multiverse_socket_node.py)\n",
-      "\n",
-      "auto-starting new master\n",
-      "\u001b[1mprocess[master]: started with pid [360441]\u001b[0m\n",
-      "\u001b[1mROS_MASTER_URI=http://localhost:11311\u001b[0m\n",
-      "\u001b]2;/media/giang/Storage/Multiverse/tutorial_ws/src/my_robot_mujoco/launch/my_robot_mujoco.launch http://localhost:11311\u0007\n",
-      "\u001b[1msetting /run_id to 2f8a3a30-5b1d-11ee-b596-d183e98fb698\u001b[0m\n",
-      "\u001b[1mprocess[rosout-1]: started with pid [360468]\u001b[0m\n",
-      "started core service [/rosout]\n",
-      "\u001b[1mprocess[mujoco_sim-2]: started with pid [360475]\u001b[0m\n",
-      "\u001b[1mprocess[controller_manager-3]: started with pid [360476]\u001b[0m\n",
-      "\u001b[1mprocess[multiverse_socket-4]: started with pid [360477]\u001b[0m\n",
-      "\u001b[0m[ INFO] [1695589141.239383608]: Get ROS parameters from the server...\u001b[0m\n",
-      "\u001b[0m[ INFO] [1695589141.240429012]: Set disable_gravity to true\u001b[0m\n",
-      "\u001b[0m[ INFO] [1695589141.241131451]: Set world from /media/giang/Storage/Multiverse/multiverse_ws/src/multiverse_connectors/multiverse_mujoco_connector/mujoco_sim/model/world/empty.xml\u001b[0m\n",
-      "\u001b[33m[ WARN] [1695589141.241904440]: Robot names not found in parameter server, searching for robot names from urdf...\u001b[0m\n",
-      "\u001b[0m[ INFO] [1695589141.246419200]: Found 1 robots: [tiago_dual]\u001b[0m\n",
-      "\u001b[0m[ INFO] [1695589141.247301187]: Initializing the MuJoCo simulator...\u001b[0m\n",
-      "\u001b[0m[ INFO] [1695589141.247335956]: Copying model into /media/giang/Storage/Multiverse/multiverse_ws/src/multiverse_connectors/multiverse_mujoco_connector/mujoco_sim/model/tmp\u001b[0m\n",
-      "\u001b[0m[ INFO] [1695589141.248645516]: Adding odom joints for model tiago_dual...\u001b[0m\n",
-      "\u001b[0m[ INFO] [1695589141.248689596]: Add 3 odom joints for model tiago_dual successfully\u001b[0m\n",
-      "\u001b[0m[ INFO] [1695589141.249188318]: Save models in /media/giang/Storage/Multiverse/multiverse_ws/src/multiverse_connectors/multiverse_mujoco_connector/mujoco_sim/model/tmp successfully\u001b[0m\n",
-      "\u001b[0m[ INFO] [1695589141.267478019]: Reload model in /media/giang/Storage/Multiverse/multiverse_ws/src/multiverse_connectors/multiverse_mujoco_connector/mujoco_sim/model/tmp/current_75541241505_tiago_dual.xml complete\u001b[0m\n",
-      "\u001b[0m[ INFO] [1695589141.267836883]: Getting joints of model tiago_dual...\u001b[0m\n",
-      "\u001b[0m[ INFO] [1695589141.268996326]: Initialize model tiago_dual with 33 joints successfully\u001b[0m\n",
-      "\u001b[0m[ INFO] [1695589141.290255771]: Initialized the MuJoCo simulator successfully.\u001b[0m\n"
-     ]
-    },
-    {
-     "name": "stdout",
-     "output_type": "stream",
-     "text": [
-      "\u001b[0m[ INFO] [1695589141.290358819]: Initializing the ROS interface...\u001b[0m\n",
-      "\u001b[0m[ INFO] [1695589141.295639159]: Started [/mujoco/screenshot] service.\u001b[0m\n",
-      "\u001b[0m[ INFO] [1695589141.296007694]: Started [/mujoco/reset] service.\u001b[0m\n",
-      "\u001b[0m[ INFO] [1695589141.298321058]: Started [/mujoco/spawn_objects] service.\u001b[0m\n",
-      "\u001b[0m[ INFO] [1695589141.298768602]: Started [/mujoco/destroy_objects] service.\u001b[0m\n",
-      "\u001b[33m[ WARN] [1695589141.300957898]: joint_inits not found, will set to default value (0)\u001b[0m\n",
-      "\u001b[0m[ INFO] [1695589141.301240504]: Initialized the ROS interface successfully.\u001b[0m\n",
-      "\u001b[0m[ INFO] [1695589141.304027971]: Set receive_objects: tiago_dual \u001b[0m\n",
-      "\u001b[0m[ INFO] [1695589141.305891953]: Set send_objects: \u001b[0m\n",
-      "[Client 7500] Opened the socket tcp://127.0.0.1:7500.\n",
-      "[Server] Bind to socket tcp://*:7500.\n",
-      "Loaded 'joint_state_controller'\n",
-      "[INFO] [1695589141.596155]: Start publisher [tf] with {'port': 7300, 'rate': 60}\n",
-      "[Client 7200] Opened the socket tcp://127.0.0.1:7200.\n",
-      "[Client 7200] Start.\n",
-      "[Server] Bind to socket tcp://*:7200.\n",
-      "[Client 7200] Starting the communication (send: 7, receive: 1).\n",
-      "[INFO] [1695589141.600578]: Start subscriber /cmd_vel\n",
-      "[Client 7500] Starting the communication (send: 527, receive: 7).\n",
-      "[Client 7300] Opened the socket tcp://127.0.0.1:7300.\n",
-      "[Client 7300] Start.\n",
-      "[Server] Bind to socket tcp://*:7300.\n",
-      "Loaded 'torso_controller'\n",
-      "[Client 7400] Opened the socket tcp://127.0.0.1:7400.\n",
-      "[Server] Bind to socket tcp://*:7400.\n",
-      "[Client 7400] Start.\n",
-      "[INFO] [1695589141.662616]: Start service at /multiverse/query_data\n",
-      "[Client 7300] Closing the socket tcp://127.0.0.1:7300.\n",
-      "[Server] Received close signal from socket tcp://*:7300.\n",
-      "Loaded 'head_controller'\n",
-      "Loaded 'arm_left_controller'\n",
-      "Loaded 'arm_right_controller'\n",
-      "Loaded 'gripper_left_left_finger_controller'\n",
-      "Loaded 'gripper_left_right_finger_controller'\n",
-      "Loaded 'gripper_right_right_finger_controller'\n",
-      "Loaded 'gripper_right_left_finger_controller'\n",
-      "Started ['joint_state_controller'] successfully\n",
-      "Started ['torso_controller'] successfully\n",
-      "Started ['head_controller'] successfully\n",
-      "Started ['arm_left_controller'] successfully\n",
-      "Started ['arm_right_controller'] successfully\n",
-      "Started ['gripper_left_left_finger_controller'] successfully\n",
-      "Started ['gripper_left_right_finger_controller'] successfully\n",
-      "Started ['gripper_right_right_finger_controller'] successfully\n",
-      "Started ['gripper_right_left_finger_controller'] successfully\n",
-      "[Client 7200] Closing the socket tcp://127.0.0.1:7200.\n",
-      "[Server] Received close signal from socket tcp://*:7200.\n",
-      "[Client 7400] Closing the socket tcp://127.0.0.1:7400.\n",
-      "[rosout-1] killing on exit\n",
-      "[master] killing on exit\n",
-      "shutting down processing monitor...\n",
-      "... shutting down processing monitor complete\n",
-      "\u001b[1mdone\u001b[0m\n",
-      "\u001b[1m[controller_manager-3] process has finished cleanly\n",
-      "log file: /home/giang/.ros/log/2f8a3a30-5b1d-11ee-b596-d183e98fb698/controller_manager-3*.log\u001b[0m\n",
-      "[4]   Terminated              multiverse_server\n",
-      "[5]   Done                    roslaunch my_robot_mujoco my_robot_mujoco.launch\n"
-     ]
-    }
-   ],
+   "outputs": [],
    "source": [
     "source $MULTIVERSE_DIR/tutorial_ws/devel/setup.bash\n",
     "\n",
@@ -3798,60 +883,9 @@
   },
   {
    "cell_type": "code",
-   "execution_count": 21,
+   "execution_count": null,
    "metadata": {},
-   "outputs": [
-    {
-     "name": "stdout",
-     "output_type": "stream",
-     "text": [
-      "Created file my_env_description/package.xml\n",
-      "Created file my_env_description/CMakeLists.txt\n",
-      "Successfully created files in /media/giang/Storage/Multiverse/tutorial_ws/src/my_env_description. Please adjust the values in package.xml.\n",
-      "\u001b[35m--------------------------------------------------------------------------------\u001b[0m\u001b[0m\n",
-      "\u001b[36mProfile:\u001b[0m                     \u001b[33mdefault\u001b[0m\u001b[0m\n",
-      "\u001b[36mExtending:\u001b[0m          \u001b[32m[cached]\u001b[0m\u001b[0m \u001b[33m/media/giang/Storage/Multiverse/multiverse_ws/devel:/opt/ros/noetic\u001b[0m\u001b[0m\n",
-      "\u001b[36mWorkspace:\u001b[0m                   \u001b[33m/media/giang/Storage/Multiverse/tutorial_ws\u001b[0m\u001b[0m\n",
-      "\u001b[35m--------------------------------------------------------------------------------\u001b[0m\u001b[0m\n",
-      "\u001b[36mBuild Space:\u001b[0m        \u001b[32m[exists]\u001b[0m\u001b[0m \u001b[33m/media/giang/Storage/Multiverse/tutorial_ws/build\u001b[0m\u001b[0m\n",
-      "\u001b[36mDevel Space:\u001b[0m        \u001b[32m[exists]\u001b[0m\u001b[0m \u001b[33m/media/giang/Storage/Multiverse/tutorial_ws/devel\u001b[0m\u001b[0m\n",
-      "\u001b[36mInstall Space:\u001b[0m      \u001b[34m[unused]\u001b[0m\u001b[0m \u001b[33m/media/giang/Storage/Multiverse/tutorial_ws/install\u001b[0m\u001b[0m\n",
-      "\u001b[36mLog Space:\u001b[0m          \u001b[32m[exists]\u001b[0m\u001b[0m \u001b[33m/media/giang/Storage/Multiverse/tutorial_ws/logs\u001b[0m\u001b[0m\n",
-      "\u001b[36mSource Space:\u001b[0m       \u001b[32m[exists]\u001b[0m\u001b[0m \u001b[33m/media/giang/Storage/Multiverse/tutorial_ws/src\u001b[0m\u001b[0m\n",
-      "\u001b[36mDESTDIR:\u001b[0m            \u001b[34m[unused]\u001b[0m\u001b[0m \u001b[33mNone\u001b[0m\u001b[0m\n",
-      "\u001b[35m--------------------------------------------------------------------------------\u001b[0m\u001b[0m\n",
-      "\u001b[36mDevel Space Layout:\u001b[0m          \u001b[33mlinked\u001b[0m\u001b[0m\n",
-      "\u001b[36mInstall Space Layout:\u001b[0m        \u001b[33mNone\u001b[0m\u001b[0m\n",
-      "\u001b[35m--------------------------------------------------------------------------------\u001b[0m\u001b[0m\n",
-      "\u001b[36mAdditional CMake Args:\u001b[0m       \u001b[33mNone\u001b[0m\u001b[0m\n",
-      "\u001b[36mAdditional Make Args:\u001b[0m        \u001b[33mNone\u001b[0m\u001b[0m\n",
-      "\u001b[36mAdditional catkin Make Args:\u001b[0m \u001b[33mNone\u001b[0m\u001b[0m\n",
-      "\u001b[36mInternal Make Job Server:\u001b[0m    \u001b[33mTrue\u001b[0m\u001b[0m\n",
-      "\u001b[36mCache Job Environments:\u001b[0m      \u001b[33mFalse\u001b[0m\u001b[0m\n",
-      "\u001b[35m--------------------------------------------------------------------------------\u001b[0m\u001b[0m\n",
-      "\u001b[36mBuildlisted Packages:\u001b[0m        \u001b[33mNone\u001b[0m\u001b[0m\n",
-      "\u001b[36mSkiplisted Packages:\u001b[0m         \u001b[33mNone\u001b[0m\u001b[0m\n",
-      "\u001b[35m--------------------------------------------------------------------------------\u001b[0m\u001b[0m\n",
-      "\u001b[1m\u001b[36mWorkspace configuration appears valid.\u001b[0m\u001b[0m\n",
-      "\u001b[35m--------------------------------------------------------------------------------\u001b[0m\u001b[0m\n",
-      "[build] Found 3 packages in 0.0 seconds.                                       \n",
-      "[build] Updating package table.                                                \n",
-      "Starting  \u001b[1m\u001b[32m>>>\u001b[0m \u001b[1m\u001b[36mmy_env_description                 \u001b[0m\u001b[0m                              \n",
-      "Starting  \u001b[1m\u001b[32m>>>\u001b[0m \u001b[1m\u001b[36mmy_robot_description               \u001b[0m\u001b[0m                              \n",
-      "Starting  \u001b[1m\u001b[32m>>>\u001b[0m \u001b[1m\u001b[36mmy_robot_mujoco                    \u001b[0m\u001b[0m                              \n",
-      "\u001b[1m\u001b[30mFinished\u001b[0m  \u001b[32m<<<\u001b[0m \u001b[36mmy_robot_mujoco                    \u001b[0m [ \u001b[33m0.1 seconds\u001b[0m ]\u001b[0m              ed]\u001b[0m [\u001b[36mmy_robot_description\u001b[0m:\u001b[34ml\u001b[0m\u001b[0m... \n",
-      "\u001b[1m\u001b[30mFinished\u001b[0m  \u001b[32m<<<\u001b[0m \u001b[36mmy_robot_description               \u001b[0m [ \u001b[33m0.1 seconds\u001b[0m ]\u001b[0m              ed]\u001b[0m [\u001b[36mmy_env_description\u001b[0m:\u001b[34mloa\u001b[0m\u001b[0m... \n",
-      "\u001b[1m\u001b[30mFinished\u001b[0m  \u001b[32m<<<\u001b[0m \u001b[36mmy_env_description                 \u001b[0m [ \u001b[33m1.2 seconds\u001b[0m ]\u001b[0m              ed]\u001b[0m [\u001b[36mmy_env_description\u001b[0m:\u001b[34mcma\u001b[0m\u001b[0m... \n",
-      "[build] \u001b[3m\u001b[1m\u001b[32mSummary:\u001b[0m \u001b[3mAll \u001b[1m3\u001b[0m \u001b[3mpackages succeeded!\u001b[0m\u001b[0m                                     \n",
-      "[build]   \u001b[3m\u001b[1m\u001b[30mIgnored:   None.\u001b[0m\u001b[0m                                                     \n",
-      "[build]   \u001b[3m\u001b[1m\u001b[30mWarnings:  None.\u001b[0m\u001b[0m                                                     \n",
-      "[build]   \u001b[3m\u001b[1m\u001b[30mAbandoned: None.\u001b[0m\u001b[0m                                                     \n",
-      "[build]   \u001b[3m\u001b[1m\u001b[30mFailed:    None.\u001b[0m\u001b[0m                                                     \n",
-      "[build] \u001b[3m\u001b[1mRuntime:\u001b[0m \u001b[3m1.5 seconds total.\u001b[0m\u001b[0m                                            \n",
-      "[build] \u001b[3m\u001b[1mNote:\u001b[0m \u001b[3mWorkspace packages have changed, please re-source setup files to use them.\u001b[0m\u001b[0m\n"
-     ]
-    }
-   ],
+   "outputs": [],
    "source": [
     "source $MULTIVERSE_DIR/multiverse_ws/devel/setup.bash\n",
     "\n",
@@ -3878,9300 +912,9 @@
   },
   {
    "cell_type": "code",
-   "execution_count": 22,
+   "execution_count": null,
    "metadata": {},
-   "outputs": [
-    {
-     "name": "stdout",
-     "output_type": "stream",
-     "text": [
-      "#usda 1.0\n",
-      "(\n",
-      "    defaultPrim = \"apartment_root\"\n",
-      "    metersPerUnit = 1\n",
-      "    upAxis = \"Z\"\n",
-      ")\n",
-      "\n",
-      "def Xform \"apartment_root\"\n",
-      "{\n",
-      "    def Xform \"envelope_root\"\n",
-      "    {\n",
-      "        matrix4d xformOp:transform = ( (1, 0, 0, 0), (0, 1, 0, 0), (0, 0, 1, 0), (8.85, 1.75, 0, 1) )\n",
-      "        uniform token[] xformOpOrder = [\"xformOp:transform\"]\n",
-      "\n",
-      "        def Xform \"wall1\"\n",
-      "        {\n",
-      "            matrix4d xformOp:transform = ( (1, 0, 0, 0), (0, 1, 0, 0), (0, 0, 1, 0), (0, 0, -0.2, 1) )\n",
-      "            uniform token[] xformOpOrder = [\"xformOp:transform\"]\n",
-      "\n",
-      "            def Xform \"wall1_visual_0\" (\n",
-      "                prepend references = @./../meshes/usd/visual/SM_Wall_01.usda@</SM_Wall_01>\n",
-      "            )\n",
-      "            {\n",
-      "                matrix4d xformOp:transform = ( (1, 0, 0, 0), (0, 1, 0, 0), (0, 0, 1, 0), (0, 0, 0, 1) )\n",
-      "                uniform token[] xformOpOrder = [\"xformOp:transform\"]\n",
-      "\n",
-      "                over \"SM_Wall_01\" (\n",
-      "                    prepend apiSchemas = [\"MaterialBindingAPI\"]\n",
-      "                )\n",
-      "                {\n",
-      "                    rel material:binding = </_materials/M_Metal_Dark_003>\n",
-      "\n",
-      "                    over \"M_Basic_Wall\" (\n",
-      "                        prepend apiSchemas = [\"MaterialBindingAPI\"]\n",
-      "                    )\n",
-      "                    {\n",
-      "                        rel material:binding = </_materials/M_Basic_Wall>\n",
-      "                    }\n",
-      "\n",
-      "                    over \"M_Plastic_White\" (\n",
-      "                        prepend apiSchemas = [\"MaterialBindingAPI\"]\n",
-      "                    )\n",
-      "                    {\n",
-      "                        rel material:binding = </_materials/M_Plastic_White>\n",
-      "                    }\n",
-      "\n",
-      "                    over \"M_Metal_Dark_003\" (\n",
-      "                        prepend apiSchemas = [\"MaterialBindingAPI\"]\n",
-      "                    )\n",
-      "                    {\n",
-      "                        rel material:binding = </_materials/M_Metal_Dark_003>\n",
-      "                    }\n",
-      "                }\n",
-      "            }\n",
-      "\n",
-      "            def Xform \"wall1_collision_0\" (\n",
-      "                prepend apiSchemas = [\"PhysicsMassAPI\"]\n",
-      "            )\n",
-      "            {\n",
-      "                point3f physics:centerOfMass = (0, 0, 0)\n",
-      "                float physics:density = 100\n",
-      "                float3 physics:diagonalInertia = (-72135.96, -41676.785, 203121.33)\n",
-      "                float physics:mass = 2558.1082\n",
-      "                quatf physics:principalAxes = (0.35040486, -0.1501339, 0.20298775, 0.90192693)\n",
-      "                matrix4d xformOp:transform = ( (9.38022, 0, 0, 0), (0, 0.06425, 0, 0), (0, 0, 1.52585, 0), (0.505224, -1.81425, 1.73439, 1) )\n",
-      "                uniform token[] xformOpOrder = [\"xformOp:transform\"]\n",
-      "\n",
-      "                def Cube \"Cube\" (\n",
-      "                    prepend apiSchemas = [\"PhysicsCollisionAPI\"]\n",
-      "                )\n",
-      "                {\n",
-      "                    float3[] extent = [(-1, -1, -1), (1, 1, 1)]\n",
-      "                    bool physics:collisionEnabled = 1\n",
-      "                    color3f[] primvars:displayColor = [(1, 0, 0)]\n",
-      "                    float[] primvars:displayOpacity = [0.5]\n",
-      "                }\n",
-      "            }\n",
-      "        }\n",
-      "\n",
-      "        def Xform \"wall2\"\n",
-      "        {\n",
-      "            matrix4d xformOp:transform = ( (1, 0, 0, 0), (0, 1, 0, 0), (0, 0, 1, 0), (0, 0, -0.2, 1) )\n",
-      "            uniform token[] xformOpOrder = [\"xformOp:transform\"]\n",
-      "\n",
-      "            def Xform \"wall2_visual_0\" (\n",
-      "                prepend references = @./../meshes/usd/visual/SM_Wall_02.usda@</SM_Wall_02>\n",
-      "            )\n",
-      "            {\n",
-      "                matrix4d xformOp:transform = ( (1, 0, 0, 0), (0, 1, 0, 0), (0, 0, 1, 0), (0, 0, 0, 1) )\n",
-      "                uniform token[] xformOpOrder = [\"xformOp:transform\"]\n",
-      "\n",
-      "                over \"SM_Wall_02\" (\n",
-      "                    prepend apiSchemas = [\"MaterialBindingAPI\"]\n",
-      "                )\n",
-      "                {\n",
-      "                    rel material:binding = </_materials/M_Plastic_White>\n",
-      "\n",
-      "                    over \"M_Basic_Wall\" (\n",
-      "                        prepend apiSchemas = [\"MaterialBindingAPI\"]\n",
-      "                    )\n",
-      "                    {\n",
-      "                        rel material:binding = </_materials/M_Basic_Wall>\n",
-      "                    }\n",
-      "\n",
-      "                    over \"M_Plastic_White\" (\n",
-      "                        prepend apiSchemas = [\"MaterialBindingAPI\"]\n",
-      "                    )\n",
-      "                    {\n",
-      "                        rel material:binding = </_materials/M_Plastic_White>\n",
-      "                    }\n",
-      "                }\n",
-      "            }\n",
-      "\n",
-      "            def Xform \"wall2_collision_0\" (\n",
-      "                prepend apiSchemas = [\"PhysicsMassAPI\"]\n",
-      "            )\n",
-      "            {\n",
-      "                point3f physics:centerOfMass = (0, 0, 0)\n",
-      "                float physics:density = 100\n",
-      "                float3 physics:diagonalInertia = (-88065.45, -42120.72, 212310.69)\n",
-      "                float physics:mass = 5132.0215\n",
-      "                quatf physics:principalAxes = (0.32270175, -0.13353294, 0.20288987, 0.91480505)\n",
-      "                matrix4d xformOp:transform = ( (0.094776, 0, 0, 0), (0, 2.48345, 0, 0), (0, 0, 1.52585, 0), (-8.875, 0.713447, 1.73439, 1) )\n",
-      "                uniform token[] xformOpOrder = [\"xformOp:transform\"]\n",
-      "\n",
-      "                def Cube \"Cube\" (\n",
-      "                    prepend apiSchemas = [\"PhysicsCollisionAPI\"]\n",
-      "                )\n",
-      "                {\n",
-      "                    float3[] extent = [(-1, -1, -1), (1, 1, 1)]\n",
-      "                    bool physics:collisionEnabled = 1\n",
-      "                    color3f[] primvars:displayColor = [(1, 0, 0)]\n",
-      "                    float[] primvars:displayOpacity = [0.5]\n",
-      "                }\n",
-      "            }\n",
-      "        }\n",
-      "\n",
-      "        def Xform \"wall3\"\n",
-      "        {\n",
-      "            matrix4d xformOp:transform = ( (1, 0, 0, 0), (0, 1, 0, 0), (0, 0, 1, 0), (0, 0, -0.2, 1) )\n",
-      "            uniform token[] xformOpOrder = [\"xformOp:transform\"]\n",
-      "\n",
-      "            def Xform \"wall3_visual_0\" (\n",
-      "                prepend references = @./../meshes/usd/visual/SM_Wall_03.usda@</SM_Wall_03>\n",
-      "            )\n",
-      "            {\n",
-      "                matrix4d xformOp:transform = ( (1, 0, 0, 0), (0, 1, 0, 0), (0, 0, 1, 0), (0, 0, 0, 1) )\n",
-      "                uniform token[] xformOpOrder = [\"xformOp:transform\"]\n",
-      "\n",
-      "                over \"SM_Wall_03\" (\n",
-      "                    prepend apiSchemas = [\"MaterialBindingAPI\"]\n",
-      "                )\n",
-      "                {\n",
-      "                    rel material:binding = </_materials/M_Plastic_White>\n",
-      "\n",
-      "                    over \"M_Basic_Wall\" (\n",
-      "                        prepend apiSchemas = [\"MaterialBindingAPI\"]\n",
-      "                    )\n",
-      "                    {\n",
-      "                        rel material:binding = </_materials/M_Basic_Wall>\n",
-      "                    }\n",
-      "\n",
-      "                    over \"M_Plastic_White\" (\n",
-      "                        prepend apiSchemas = [\"MaterialBindingAPI\"]\n",
-      "                    )\n",
-      "                    {\n",
-      "                        rel material:binding = </_materials/M_Plastic_White>\n",
-      "                    }\n",
-      "                }\n",
-      "            }\n",
-      "\n",
-      "            def Xform \"wall3_collision_0\" (\n",
-      "                prepend apiSchemas = [\"PhysicsMassAPI\"]\n",
-      "            )\n",
-      "            {\n",
-      "                point3f physics:centerOfMass = (0, 0, 0)\n",
-      "                float physics:density = 100\n",
-      "                float3 physics:diagonalInertia = (-26616.057, -16690.39, 86490.195)\n",
-      "                float physics:mass = 1585.5151\n",
-      "                quatf physics:principalAxes = (-0.06796537, 0.021040155, -0.042775206, 0.9965482)\n",
-      "                matrix4d xformOp:transform = ( (4.23677, 0, 0, 0), (0, 0.06425, 0, 0), (0, 0, 1.52585, 0), (-4.63823, 3.27776, 1.73439, 1) )\n",
-      "                uniform token[] xformOpOrder = [\"xformOp:transform\"]\n",
-      "\n",
-      "                def Cube \"Cube\" (\n",
-      "                    prepend apiSchemas = [\"PhysicsCollisionAPI\"]\n",
-      "                )\n",
-      "                {\n",
-      "                    float3[] extent = [(-1, -1, -1), (1, 1, 1)]\n",
-      "                    bool physics:collisionEnabled = 1\n",
-      "                    color3f[] primvars:displayColor = [(1, 0, 0)]\n",
-      "                    float[] primvars:displayOpacity = [0.5]\n",
-      "                }\n",
-      "            }\n",
-      "\n",
-      "            def Xform \"wall3_collision_1\" (\n",
-      "                prepend apiSchemas = [\"PhysicsMassAPI\"]\n",
-      "            )\n",
-      "            {\n",
-      "                point3f physics:centerOfMass = (0, 0, 0)\n",
-      "                float physics:density = 100\n",
-      "                float3 physics:diagonalInertia = (-26616.057, -16690.39, 86490.195)\n",
-      "                float physics:mass = 1585.5151\n",
-      "                quatf physics:principalAxes = (-0.06796537, 0.021040155, -0.042775206, 0.9965482)\n",
-      "                matrix4d xformOp:transform = ( (4.1443, 0, 0, 0), (0, 0.06425, 0, 0), (0, 0, 1.52585, 0), (5.87824, 3.27776, 1.73439, 1) )\n"
-     ]
-    },
-    {
-     "name": "stdout",
-     "output_type": "stream",
-     "text": [
-      "                uniform token[] xformOpOrder = [\"xformOp:transform\"]\n",
-      "\n",
-      "                def Cube \"Cube\" (\n",
-      "                    prepend apiSchemas = [\"PhysicsCollisionAPI\"]\n",
-      "                )\n",
-      "                {\n",
-      "                    float3[] extent = [(-1, -1, -1), (1, 1, 1)]\n",
-      "                    bool physics:collisionEnabled = 1\n",
-      "                    color3f[] primvars:displayColor = [(1, 0, 0)]\n",
-      "                    float[] primvars:displayOpacity = [0.5]\n",
-      "                }\n",
-      "            }\n",
-      "        }\n",
-      "\n",
-      "        def Xform \"wall4\"\n",
-      "        {\n",
-      "            matrix4d xformOp:transform = ( (1, 0, 0, 0), (0, 1, 0, 0), (0, 0, 1, 0), (0, 0, -0.2, 1) )\n",
-      "            uniform token[] xformOpOrder = [\"xformOp:transform\"]\n",
-      "\n",
-      "            def Xform \"wall4_visual_0\" (\n",
-      "                prepend references = @./../meshes/usd/visual/SM_Wall_04.usda@</SM_Wall_04>\n",
-      "            )\n",
-      "            {\n",
-      "                matrix4d xformOp:transform = ( (1, 0, 0, 0), (0, 1, 0, 0), (0, 0, 1, 0), (0, 0, 0, 1) )\n",
-      "                uniform token[] xformOpOrder = [\"xformOp:transform\"]\n",
-      "\n",
-      "                over \"SM_Wall_04\" (\n",
-      "                    prepend apiSchemas = [\"MaterialBindingAPI\"]\n",
-      "                )\n",
-      "                {\n",
-      "                    rel material:binding = </_materials/M_Plastic_White>\n",
-      "\n",
-      "                    over \"M_Basic_Wall\" (\n",
-      "                        prepend apiSchemas = [\"MaterialBindingAPI\"]\n",
-      "                    )\n",
-      "                    {\n",
-      "                        rel material:binding = </_materials/M_Basic_Wall>\n",
-      "                    }\n",
-      "\n",
-      "                    over \"M_Plastic_White\" (\n",
-      "                        prepend apiSchemas = [\"MaterialBindingAPI\"]\n",
-      "                    )\n",
-      "                    {\n",
-      "                        rel material:binding = </_materials/M_Plastic_White>\n",
-      "                    }\n",
-      "                }\n",
-      "            }\n",
-      "\n",
-      "            def Xform \"wall4_collision_0\" (\n",
-      "                prepend apiSchemas = [\"PhysicsMassAPI\"]\n",
-      "            )\n",
-      "            {\n",
-      "                point3f physics:centerOfMass = (0, 0, 0)\n",
-      "                float physics:density = 100\n",
-      "                float3 physics:diagonalInertia = (-64482.535, -31421.469, 158752.64)\n",
-      "                float physics:mass = 4465.291\n",
-      "                quatf physics:principalAxes = (0.3282458, -0.1366807, 0.20444353, 0.9120175)\n",
-      "                matrix4d xformOp:transform = ( (0.094776, 0, 0, 0), (0, 2.48345, 0, 0), (0, 0, 1.52585, 0), (9.98022, 0.713447, 1.73439, 1) )\n",
-      "                uniform token[] xformOpOrder = [\"xformOp:transform\"]\n",
-      "\n",
-      "                def Cube \"Cube\" (\n",
-      "                    prepend apiSchemas = [\"PhysicsCollisionAPI\"]\n",
-      "                )\n",
-      "                {\n",
-      "                    float3[] extent = [(-1, -1, -1), (1, 1, 1)]\n",
-      "                    bool physics:collisionEnabled = 1\n",
-      "                    color3f[] primvars:displayColor = [(1, 0, 0)]\n",
-      "                    float[] primvars:displayOpacity = [0.5]\n",
-      "                }\n",
-      "            }\n",
-      "        }\n",
-      "\n",
-      "        def Xform \"windows\"\n",
-      "        {\n",
-      "            matrix4d xformOp:transform = ( (1, 0, 0, 0), (0, 1, 0, 0), (0, 0, 1, 0), (0, 0, -0.2, 1) )\n",
-      "            uniform token[] xformOpOrder = [\"xformOp:transform\"]\n",
-      "\n",
-      "            def Xform \"windows_visual_0\" (\n",
-      "                prepend references = @./../meshes/usd/visual/windows_without_4.usda@</windows_without_4>\n",
-      "            )\n",
-      "            {\n",
-      "                matrix4d xformOp:transform = ( (1, 0, 0, 0), (0, 1, 0, 0), (0, 0, 1, 0), (0, 0, 0, 1) )\n",
-      "                uniform token[] xformOpOrder = [\"xformOp:transform\"]\n",
-      "\n",
-      "                over \"SM_Window_07\" (\n",
-      "                    prepend apiSchemas = [\"MaterialBindingAPI\"]\n",
-      "                )\n",
-      "                {\n",
-      "                    rel material:binding = </_materials/M_Metal_Chrome>\n",
-      "\n",
-      "                    over \"M_Glass\" (\n",
-      "                        prepend apiSchemas = [\"MaterialBindingAPI\"]\n",
-      "                    )\n",
-      "                    {\n",
-      "                        rel material:binding = </_materials/M_Glass>\n",
-      "                    }\n",
-      "\n",
-      "                    over \"M_Metal_Brushed\" (\n",
-      "                        prepend apiSchemas = [\"MaterialBindingAPI\"]\n",
-      "                    )\n",
-      "                    {\n",
-      "                        rel material:binding = </_materials/M_Metal_Brushed>\n",
-      "                    }\n",
-      "\n",
-      "                    over \"M_Metal_Dark\" (\n",
-      "                        prepend apiSchemas = [\"MaterialBindingAPI\"]\n",
-      "                    )\n",
-      "                    {\n",
-      "                        rel material:binding = </_materials/M_Metal_Dark>\n",
-      "                    }\n",
-      "\n",
-      "                    over \"M_Metal_Chrome\" (\n",
-      "                        prepend apiSchemas = [\"MaterialBindingAPI\"]\n",
-      "                    )\n",
-      "                    {\n",
-      "                        rel material:binding = </_materials/M_Metal_Chrome>\n",
-      "                    }\n",
-      "                }\n",
-      "            }\n",
-      "        }\n",
-      "\n",
-      "        def Xform \"window4_frame\"\n",
-      "        {\n",
-      "            matrix4d xformOp:transform = ( (2.220446049250313e-16, -1, 0, 0), (1, 2.220446049250313e-16, 0, 0), (0, 0, 1, 0), (0.671098, 3.37273, 1.52145, 1) )\n",
-      "            uniform token[] xformOpOrder = [\"xformOp:transform\"]\n",
-      "\n",
-      "            def Xform \"window4_frame_visual_0\" (\n",
-      "                prepend references = @./../meshes/usd/visual/SM_Window_Frame.usda@</SM_Window_Frame>\n",
-      "            )\n",
-      "            {\n",
-      "                matrix4d xformOp:transform = ( (1, 0, 0, 0), (0, 1, 0, 0), (0, 0, 1, 0), (0, 0, 0, 1) )\n",
-      "                uniform token[] xformOpOrder = [\"xformOp:transform\"]\n",
-      "\n",
-      "                over \"SM_Window\" (\n",
-      "                    prepend apiSchemas = [\"MaterialBindingAPI\"]\n",
-      "                )\n",
-      "                {\n",
-      "                    rel material:binding = </_materials/_Game_Materials_Laborraum_M_Metal_Brushed_Inst_M_Metal_Brushed_>\n",
-      "                }\n",
-      "            }\n",
-      "\n",
-      "            def Xform \"window4_frame_collision_0\" (\n",
-      "                prepend apiSchemas = [\"PhysicsMassAPI\"]\n",
-      "            )\n",
-      "            {\n",
-      "                point3f physics:centerOfMass = (0, 0, 0)\n",
-      "                float physics:density = 100\n",
-      "                float3 physics:diagonalInertia = (-339.10748, -158.49792, 820.45416)\n",
-      "                float physics:mass = 3.2243605\n",
-      "                quatf physics:principalAxes = (-0.014963592, 0.9954464, 0.09078338, -0.024919515)\n",
-      "                matrix4d xformOp:transform = ( (0.01, 0, 0, 0), (0, 1.0677, 0, 0), (0, 0, 0.092776, 0), (0, 0, 1.42883, 1) )\n",
-      "                uniform token[] xformOpOrder = [\"xformOp:transform\"]\n",
-      "\n",
-      "                def Cube \"Cube\" (\n",
-      "                    prepend apiSchemas = [\"PhysicsCollisionAPI\"]\n",
-      "                )\n",
-      "                {\n",
-      "                    float3[] extent = [(-1, -1, -1), (1, 1, 1)]\n",
-      "                    bool physics:collisionEnabled = 1\n",
-      "                    color3f[] primvars:displayColor = [(1, 0, 0)]\n",
-      "                    float[] primvars:displayOpacity = [0.5]\n",
-      "                }\n",
-      "            }\n",
-      "\n",
-      "            def Xform \"window4_frame_collision_1\" (\n",
-      "                prepend apiSchemas = [\"PhysicsMassAPI\"]\n",
-      "            )\n",
-      "            {\n",
-      "                point3f physics:centerOfMass = (0, 0, 0)\n",
-      "                float physics:density = 100\n",
-      "                float3 physics:diagonalInertia = (-339.10748, -158.49792, 820.45416)\n",
-      "                float physics:mass = 3.2243605\n",
-      "                quatf physics:principalAxes = (-0.014963592, 0.9954464, 0.09078338, -0.024919515)\n",
-      "                matrix4d xformOp:transform = ( (0.01, 0, 0, 0), (0, 1.0677, 0, 0), (0, 0, 0.18914, 0), (0, 0, 0.795222, 1) )\n",
-      "                uniform token[] xformOpOrder = [\"xformOp:transform\"]\n",
-      "\n",
-      "                def Cube \"Cube\" (\n",
-      "                    prepend apiSchemas = [\"PhysicsCollisionAPI\"]\n",
-      "                )\n",
-      "                {\n",
-      "                    float3[] extent = [(-1, -1, -1), (1, 1, 1)]\n",
-      "                    bool physics:collisionEnabled = 1\n",
-      "                    color3f[] primvars:displayColor = [(1, 0, 0)]\n",
-      "                    float[] primvars:displayOpacity = [0.5]\n",
-      "                }\n",
-      "            }\n",
-      "\n",
-      "            def Xform \"window4_frame_collision_2\" (\n",
-      "                prepend apiSchemas = [\"PhysicsMassAPI\"]\n",
-      "            )\n",
-      "            {\n",
-      "                point3f physics:centerOfMass = (0, 0, 0)\n",
-      "                float physics:density = 100\n",
-      "                float3 physics:diagonalInertia = (-339.10748, -158.49792, 820.45416)\n",
-      "                float physics:mass = 3.2243605\n",
-      "                quatf physics:principalAxes = (-0.014963592, 0.9954464, 0.09078338, -0.024919515)\n"
-     ]
-    },
-    {
-     "name": "stdout",
-     "output_type": "stream",
-     "text": [
-      "                matrix4d xformOp:transform = ( (0.01, 0, 0, 0), (0, 1.0677, 0, 0), (0, 0, 0.026796, 0), (0, 0, -1.49481, 1) )\n",
-      "                uniform token[] xformOpOrder = [\"xformOp:transform\"]\n",
-      "\n",
-      "                def Cube \"Cube\" (\n",
-      "                    prepend apiSchemas = [\"PhysicsCollisionAPI\"]\n",
-      "                )\n",
-      "                {\n",
-      "                    float3[] extent = [(-1, -1, -1), (1, 1, 1)]\n",
-      "                    bool physics:collisionEnabled = 1\n",
-      "                    color3f[] primvars:displayColor = [(1, 0, 0)]\n",
-      "                    float[] primvars:displayOpacity = [0.5]\n",
-      "                }\n",
-      "            }\n",
-      "\n",
-      "            def Xform \"window4_frame_collision_3\" (\n",
-      "                prepend apiSchemas = [\"PhysicsMassAPI\"]\n",
-      "            )\n",
-      "            {\n",
-      "                point3f physics:centerOfMass = (0, 0, 0)\n",
-      "                float physics:density = 100\n",
-      "                float3 physics:diagonalInertia = (-339.10748, -158.49792, 820.45416)\n",
-      "                float physics:mass = 3.2243605\n",
-      "                quatf physics:principalAxes = (-0.014963592, 0.9954464, 0.09078338, -0.024919515)\n",
-      "                matrix4d xformOp:transform = ( (0.01, 0, 0, 0), (0, 0.075574, 0, 0), (0, 0, 1.52161, 0), (0, 0.992126, 0, 1) )\n",
-      "                uniform token[] xformOpOrder = [\"xformOp:transform\"]\n",
-      "\n",
-      "                def Cube \"Cube\" (\n",
-      "                    prepend apiSchemas = [\"PhysicsCollisionAPI\"]\n",
-      "                )\n",
-      "                {\n",
-      "                    float3[] extent = [(-1, -1, -1), (1, 1, 1)]\n",
-      "                    bool physics:collisionEnabled = 1\n",
-      "                    color3f[] primvars:displayColor = [(1, 0, 0)]\n",
-      "                    float[] primvars:displayOpacity = [0.5]\n",
-      "                }\n",
-      "            }\n",
-      "\n",
-      "            def Xform \"window4_frame_collision_4\" (\n",
-      "                prepend apiSchemas = [\"PhysicsMassAPI\"]\n",
-      "            )\n",
-      "            {\n",
-      "                point3f physics:centerOfMass = (0, 0, 0)\n",
-      "                float physics:density = 100\n",
-      "                float3 physics:diagonalInertia = (-339.10748, -158.49792, 820.45416)\n",
-      "                float physics:mass = 3.2243605\n",
-      "                quatf physics:principalAxes = (-0.014963592, 0.9954464, 0.09078338, -0.024919515)\n",
-      "                matrix4d xformOp:transform = ( (0.01, 0, 0, 0), (0, 0.075574, 0, 0), (0, 0, 1.52161, 0), (0, -0.992126, 0, 1) )\n",
-      "                uniform token[] xformOpOrder = [\"xformOp:transform\"]\n",
-      "\n",
-      "                def Cube \"Cube\" (\n",
-      "                    prepend apiSchemas = [\"PhysicsCollisionAPI\"]\n",
-      "                )\n",
-      "                {\n",
-      "                    float3[] extent = [(-1, -1, -1), (1, 1, 1)]\n",
-      "                    bool physics:collisionEnabled = 1\n",
-      "                    color3f[] primvars:displayColor = [(1, 0, 0)]\n",
-      "                    float[] primvars:displayOpacity = [0.5]\n",
-      "                }\n",
-      "            }\n",
-      "\n",
-      "            def Xform \"window4_frame_collision_5\" (\n",
-      "                prepend apiSchemas = [\"PhysicsMassAPI\"]\n",
-      "            )\n",
-      "            {\n",
-      "                point3f physics:centerOfMass = (0, 0, 0)\n",
-      "                float physics:density = 100\n",
-      "                float3 physics:diagonalInertia = (-339.10748, -158.49792, 820.45416)\n",
-      "                float physics:mass = 3.2243605\n",
-      "                quatf physics:principalAxes = (-0.014963592, 0.9954464, 0.09078338, -0.024919515)\n",
-      "                matrix4d xformOp:transform = ( (0.01, 0, 0, 0), (0, 0.073126, 0, 0), (0, 0, 1.52161, 0), (0, 0, 0, 1) )\n",
-      "                uniform token[] xformOpOrder = [\"xformOp:transform\"]\n",
-      "\n",
-      "                def Cube \"Cube\" (\n",
-      "                    prepend apiSchemas = [\"PhysicsCollisionAPI\"]\n",
-      "                )\n",
-      "                {\n",
-      "                    float3[] extent = [(-1, -1, -1), (1, 1, 1)]\n",
-      "                    bool physics:collisionEnabled = 1\n",
-      "                    color3f[] primvars:displayColor = [(1, 0, 0)]\n",
-      "                    float[] primvars:displayOpacity = [0.5]\n",
-      "                }\n",
-      "            }\n",
-      "\n",
-      "            def PhysicsRevoluteJoint \"window4_right_joint\"\n",
-      "            {\n",
-      "                uniform token physics:axis = \"Z\"\n",
-      "                rel physics:body0 = </apartment_root/envelope_root/window4_frame>\n",
-      "                rel physics:body1 = </apartment_root/window4_right>\n",
-      "                bool physics:collisionEnabled = 0\n",
-      "                point3f physics:localPos0 = (0, -0.916552, -0.425471)\n",
-      "                point3f physics:localPos1 = (0, 0, 0)\n",
-      "                quatf physics:localRot0 = (0, 0, 1, 0)\n",
-      "                quatf physics:localRot1 = (0, 0, 1, 0)\n",
-      "                float physics:lowerLimit = 0\n",
-      "                float physics:upperLimit = 90.00021\n",
-      "            }\n",
-      "\n",
-      "            def PhysicsRevoluteJoint \"window4_left_joint\"\n",
-      "            {\n",
-      "                uniform token physics:axis = \"Z\"\n",
-      "                rel physics:body0 = </apartment_root/envelope_root/window4_frame>\n",
-      "                rel physics:body1 = </apartment_root/window4_left>\n",
-      "                bool physics:collisionEnabled = 0\n",
-      "                point3f physics:localPos0 = (0.00162, 0.929112, -0.425471)\n",
-      "                point3f physics:localPos1 = (0, 0, 0)\n",
-      "                quatf physics:localRot0 = (1, 0, 0, 0)\n",
-      "                quatf physics:localRot1 = (1, 0, 0, 0)\n",
-      "                float physics:lowerLimit = 0\n",
-      "                float physics:upperLimit = 90.00021\n",
-      "            }\n",
-      "        }\n",
-      "    }\n",
-      "\n",
-      "    def Xform \"window4_right\" (\n",
-      "        prepend apiSchemas = [\"PhysicsRigidBodyAPI\"]\n",
-      "    )\n",
-      "    {\n",
-      "        bool physics:rigidBodyEnabled = 1\n",
-      "        matrix4d xformOp:transform = ( (2.220446049250313e-16, -1, 0, 0), (1, 2.220446049250313e-16, 0, 0), (0, 0, 1, 0), (8.604546000000001, 5.12273, 1.095979, 1) )\n",
-      "        uniform token[] xformOpOrder = [\"xformOp:transform\"]\n",
-      "\n",
-      "        def Xform \"window4_right_visual_0\" (\n",
-      "            prepend references = @./../meshes/usd/visual/SM_Window_Right.usda@</SM_Window_Right>\n",
-      "        )\n",
-      "        {\n",
-      "            matrix4d xformOp:transform = ( (1, 0, 0, 0), (0, 1, 0, 0), (0, 0, 1, 0), (0, 0, 0, 1) )\n",
-      "            uniform token[] xformOpOrder = [\"xformOp:transform\"]\n",
-      "\n",
-      "            over \"SM_Window_002\" (\n",
-      "                prepend apiSchemas = [\"MaterialBindingAPI\"]\n",
-      "            )\n",
-      "            {\n",
-      "                rel material:binding = </_materials/_Game_Materials_Laborraum_M_Metal_Brushed_Inst_M_Metal_Brus_001>\n",
-      "            }\n",
-      "        }\n",
-      "\n",
-      "        def Xform \"window4_right_collision_0\" (\n",
-      "            prepend apiSchemas = [\"PhysicsMassAPI\"]\n",
-      "        )\n",
-      "        {\n",
-      "            point3f physics:centerOfMass = (0, 0, 0)\n",
-      "            float physics:density = 100\n",
-      "            float3 physics:diagonalInertia = (-49.6474, -25.617252, 92.535675)\n",
-      "            float physics:mass = 1.917995\n",
-      "            quatf physics:principalAxes = (0.0013417036, 0.9999505, -0.009495794, 0.0026349493)\n",
-      "            matrix4d xformOp:transform = ( (0.01, 0, 0, 0), (0, 0.421713, 0, 0), (0, 0, 1.03155, 0), (0, 0.421713, 0, 1) )\n",
-      "            uniform token[] xformOpOrder = [\"xformOp:transform\"]\n",
-      "\n",
-      "            def Cube \"Cube\" (\n",
-      "                prepend apiSchemas = [\"PhysicsCollisionAPI\"]\n",
-      "            )\n",
-      "            {\n",
-      "                float3[] extent = [(-1, -1, -1), (1, 1, 1)]\n",
-      "                bool physics:collisionEnabled = 1\n",
-      "                color3f[] primvars:displayColor = [(1, 0, 0)]\n",
-      "                float[] primvars:displayOpacity = [0.5]\n",
-      "            }\n",
-      "        }\n",
-      "\n",
-      "        def PhysicsRevoluteJoint \"window4_right_handle_rotation_joint\"\n",
-      "        {\n",
-      "            uniform token physics:axis = \"Z\"\n",
-      "            rel physics:body0 = </apartment_root/window4_right>\n",
-      "            rel physics:body1 = </apartment_root/window4_right_handle_rotation>\n",
-      "            bool physics:collisionEnabled = 0\n",
-      "            point3f physics:localPos0 = (0.01, 0.834107, 0)\n",
-      "            point3f physics:localPos1 = (0, 0, 0)\n",
-      "            quatf physics:localRot0 = (0.7071068, 0, -0.7071068, 0)\n",
-      "            quatf physics:localRot1 = (0.7071068, 0, -0.7071068, 0)\n",
-      "            float physics:lowerLimit = 0\n",
-      "            float physics:upperLimit = 90.00021\n",
-      "        }\n",
-      "    }\n",
-      "\n",
-      "    def Xform \"window4_right_handle_rotation\" (\n",
-      "        prepend apiSchemas = [\"PhysicsRigidBodyAPI\"]\n",
-      "    )\n",
-      "    {\n",
-      "        bool physics:rigidBodyEnabled = 1\n",
-      "        matrix4d xformOp:transform = ( (2.220446049250313e-16, -1, 0, 0), (1, 2.220446049250313e-16, 0, 0), (0, 0, 1, 0), (9.438653, 5.11273, 1.095979, 1) )\n",
-      "        uniform token[] xformOpOrder = [\"xformOp:transform\"]\n",
-      "\n",
-      "        def Xform \"window4_right_handle\"\n"
-     ]
-    },
-    {
-     "name": "stdout",
-     "output_type": "stream",
-     "text": [
-      "        {\n",
-      "            matrix4d xformOp:transform = ( (1, 0, 0, 0), (0, 1, 0, 0), (0, 0, 1, 0), (0.067235, 0, -0.057755, 1) )\n",
-      "            uniform token[] xformOpOrder = [\"xformOp:transform\"]\n",
-      "\n",
-      "            def Xform \"window4_right_handle_visual_0\" (\n",
-      "                prepend references = @./../meshes/usd/visual/SM_Window_Handle.usda@</SM_Window_Handle>\n",
-      "            )\n",
-      "            {\n",
-      "                matrix4d xformOp:transform = ( (1, 0, 0, 0), (0, 1, 0, 0), (0, 0, 1, 0), (0, 0, 0, 1) )\n",
-      "                uniform token[] xformOpOrder = [\"xformOp:transform\"]\n",
-      "\n",
-      "                over \"SM_Window_Handle_001\" (\n",
-      "                    prepend apiSchemas = [\"MaterialBindingAPI\"]\n",
-      "                )\n",
-      "                {\n",
-      "                    rel material:binding = </_materials/_Game_Materials_Laborraum_M_Metal_Chrome_M_Metal_Chrome_011>\n",
-      "                }\n",
-      "            }\n",
-      "\n",
-      "            def Xform \"window4_right_handle_collision_0\" (\n",
-      "                prepend apiSchemas = [\"PhysicsMassAPI\"]\n",
-      "            )\n",
-      "            {\n",
-      "                point3f physics:centerOfMass = (0, 0, 0)\n",
-      "                float physics:density = 100\n",
-      "                float3 physics:diagonalInertia = (-0.0010971199, -0.0005559762, 0.0029443572)\n",
-      "                float physics:mass = 0.0031507495\n",
-      "                quatf physics:principalAxes = (0.012164911, 0.025290087, -0.033693083, 0.99903816)\n",
-      "                matrix4d xformOp:transform = ( (2.220446049250313e-16, 0, -1, 0), (0, 1, 0, 0), (1, 0, 2.220446049250313e-16, 0), (-0.029618, 0, 0.057814, 1) )\n",
-      "                uniform token[] xformOpOrder = [\"xformOp:transform\"]\n",
-      "\n",
-      "                def Cylinder \"Cylinder\" (\n",
-      "                    prepend apiSchemas = [\"PhysicsCollisionAPI\"]\n",
-      "                )\n",
-      "                {\n",
-      "                    float3[] extent = [(-0.008, -0.008, -0.037618), (0.008, 0.008, 0.037618)]\n",
-      "                    double height = 0.075236\n",
-      "                    bool physics:collisionEnabled = 1\n",
-      "                    color3f[] primvars:displayColor = [(1, 0, 0)]\n",
-      "                    float[] primvars:displayOpacity = [0.5]\n",
-      "                    double radius = 0.008\n",
-      "                }\n",
-      "            }\n",
-      "\n",
-      "            def Xform \"window4_right_handle_collision_1\" (\n",
-      "                prepend apiSchemas = [\"PhysicsMassAPI\"]\n",
-      "            )\n",
-      "            {\n",
-      "                point3f physics:centerOfMass = (0, 0, 0)\n",
-      "                float physics:density = 100\n",
-      "                float3 physics:diagonalInertia = (-0.0010971199, -0.0005559762, 0.0029443572)\n",
-      "                float physics:mass = 0.0031507495\n",
-      "                quatf physics:principalAxes = (0.012164911, 0.025290087, -0.033693083, 0.99903816)\n",
-      "                matrix4d xformOp:transform = ( (1, 0, 0, 0), (0, 1, 0, 0), (0, 0, 1, 0), (0, 0, 0, 1) )\n",
-      "                uniform token[] xformOpOrder = [\"xformOp:transform\"]\n",
-      "\n",
-      "                def Cylinder \"Cylinder\" (\n",
-      "                    prepend apiSchemas = [\"PhysicsCollisionAPI\"]\n",
-      "                )\n",
-      "                {\n",
-      "                    float3[] extent = [(-0.008, -0.008, -0.065813), (0.008, 0.008, 0.065813)]\n",
-      "                    double height = 0.131626\n",
-      "                    bool physics:collisionEnabled = 1\n",
-      "                    color3f[] primvars:displayColor = [(1, 0, 0)]\n",
-      "                    float[] primvars:displayOpacity = [0.5]\n",
-      "                    double radius = 0.008\n",
-      "                }\n",
-      "            }\n",
-      "\n",
-      "            def Xform \"window4_right_handle_collision_2\" (\n",
-      "                prepend apiSchemas = [\"PhysicsMassAPI\"]\n",
-      "            )\n",
-      "            {\n",
-      "                point3f physics:centerOfMass = (0, 0, 0)\n",
-      "                float physics:density = 100\n",
-      "                float3 physics:diagonalInertia = (-0.0010971199, -0.0005559762, 0.0029443572)\n",
-      "                float physics:mass = 0.0031507495\n",
-      "                quatf physics:principalAxes = (0.012164911, 0.025290087, -0.033693083, 0.99903816)\n",
-      "                matrix4d xformOp:transform = ( (2.220446049250313e-16, 0, -1, 0), (0, 1, 0, 0), (1, 0, 2.220446049250313e-16, 0), (-0.018476, 0, -0.057813, 1) )\n",
-      "                uniform token[] xformOpOrder = [\"xformOp:transform\"]\n",
-      "\n",
-      "                def Cylinder \"Cylinder\" (\n",
-      "                    prepend apiSchemas = [\"PhysicsCollisionAPI\"]\n",
-      "                )\n",
-      "                {\n",
-      "                    float3[] extent = [(-0.008, -0.008, -0.026476), (0.008, 0.008, 0.026476)]\n",
-      "                    double height = 0.052952\n",
-      "                    bool physics:collisionEnabled = 1\n",
-      "                    color3f[] primvars:displayColor = [(1, 0, 0)]\n",
-      "                    float[] primvars:displayOpacity = [0.5]\n",
-      "                    double radius = 0.008\n",
-      "                }\n",
-      "            }\n",
-      "        }\n",
-      "    }\n",
-      "\n",
-      "    def Xform \"window4_left\" (\n",
-      "        prepend apiSchemas = [\"PhysicsRigidBodyAPI\"]\n",
-      "    )\n",
-      "    {\n",
-      "        bool physics:rigidBodyEnabled = 1\n",
-      "        matrix4d xformOp:transform = ( (2.220446049250313e-16, -1, 0, 0), (1, 2.220446049250313e-16, 0, 0), (0, 0, 1, 0), (10.45021, 5.12111, 1.095979, 1) )\n",
-      "        uniform token[] xformOpOrder = [\"xformOp:transform\"]\n",
-      "\n",
-      "        def Xform \"window4_left_visual_0\" (\n",
-      "            prepend references = @./../meshes/usd/visual/SM_Window_Left.usda@</SM_Window_Left>\n",
-      "        )\n",
-      "        {\n",
-      "            matrix4d xformOp:transform = ( (1, 0, 0, 0), (0, 1, 0, 0), (0, 0, 1, 0), (0, 0, 0, 1) )\n",
-      "            uniform token[] xformOpOrder = [\"xformOp:transform\"]\n",
-      "\n",
-      "            over \"SM_Window_001\" (\n",
-      "                prepend apiSchemas = [\"MaterialBindingAPI\"]\n",
-      "            )\n",
-      "            {\n",
-      "                rel material:binding = </_materials/_Game_Materials_Laborraum_M_Metal_Brushed_Inst_M_Metal_Brus>\n",
-      "            }\n",
-      "        }\n",
-      "\n",
-      "        def Xform \"window4_left_collision_0\" (\n",
-      "            prepend apiSchemas = [\"PhysicsMassAPI\"]\n",
-      "        )\n",
-      "        {\n",
-      "            point3f physics:centerOfMass = (0, 0, 0)\n",
-      "            float physics:density = 100\n",
-      "            float3 physics:diagonalInertia = (-51.959843, -25.92772, 96.734955)\n",
-      "            float physics:mass = 1.9810693\n",
-      "            quatf physics:principalAxes = (0.004201073, 0.99949497, -0.030256249, 0.008759642)\n",
-      "            matrix4d xformOp:transform = ( (0.01, 0, 0, 0), (0, 0.43203, 0, 0), (0, 0, 1.03155, 0), (0, -0.43203, 0, 1) )\n",
-      "            uniform token[] xformOpOrder = [\"xformOp:transform\"]\n",
-      "\n",
-      "            def Cube \"Cube\" (\n",
-      "                prepend apiSchemas = [\"PhysicsCollisionAPI\"]\n",
-      "            )\n",
-      "            {\n",
-      "                float3[] extent = [(-1, -1, -1), (1, 1, 1)]\n",
-      "                bool physics:collisionEnabled = 1\n",
-      "                color3f[] primvars:displayColor = [(1, 0, 0)]\n",
-      "                float[] primvars:displayOpacity = [0.5]\n",
-      "            }\n",
-      "        }\n",
-      "\n",
-      "        def PhysicsRevoluteJoint \"window4_left_handle_rotation_joint\"\n",
-      "        {\n",
-      "            uniform token physics:axis = \"Z\"\n",
-      "            rel physics:body0 = </apartment_root/window4_left>\n",
-      "            rel physics:body1 = </apartment_root/window4_left_handle_rotation>\n",
-      "            bool physics:collisionEnabled = 0\n",
-      "            point3f physics:localPos0 = (0.01, -0.834107, 0)\n",
-      "            point3f physics:localPos1 = (0, 0, 0)\n",
-      "            quatf physics:localRot0 = (0.7071068, 0, 0.7071068, 0)\n",
-      "            quatf physics:localRot1 = (0.7071068, 0, 0.7071068, 0)\n",
-      "            float physics:lowerLimit = 0\n",
-      "            float physics:upperLimit = 90.00021\n",
-      "        }\n",
-      "    }\n",
-      "\n",
-      "    def Xform \"window4_left_handle_rotation\" (\n",
-      "        prepend apiSchemas = [\"PhysicsRigidBodyAPI\"]\n",
-      "    )\n",
-      "    {\n",
-      "        bool physics:rigidBodyEnabled = 1\n",
-      "        matrix4d xformOp:transform = ( (2.220446049250313e-16, -1, 0, 0), (1, 2.220446049250313e-16, 0, 0), (0, 0, 1, 0), (9.616103, 5.11111, 1.095979, 1) )\n",
-      "        uniform token[] xformOpOrder = [\"xformOp:transform\"]\n",
-      "\n",
-      "        def Xform \"window4_left_handle\"\n",
-      "        {\n",
-      "            matrix4d xformOp:transform = ( (1, 0, 0, 0), (0, 1, 0, 0), (0, 0, 1, 0), (0.067235, 0, -0.057755, 1) )\n",
-      "            uniform token[] xformOpOrder = [\"xformOp:transform\"]\n",
-      "\n",
-      "            def Xform \"window4_left_handle_visual_0\" (\n",
-      "                prepend references = @./../meshes/usd/visual/SM_Window_Handle.usda@</SM_Window_Handle>\n",
-      "            )\n",
-      "            {\n",
-      "                matrix4d xformOp:transform = ( (1, 0, 0, 0), (0, 1, 0, 0), (0, 0, 1, 0), (0, 0, 0, 1) )\n",
-      "                uniform token[] xformOpOrder = [\"xformOp:transform\"]\n",
-      "\n",
-      "                over \"SM_Window_Handle_001\" (\n",
-      "                    prepend apiSchemas = [\"MaterialBindingAPI\"]\n"
-     ]
-    },
-    {
-     "name": "stdout",
-     "output_type": "stream",
-     "text": [
-      "                )\n",
-      "                {\n",
-      "                    rel material:binding = </_materials/_Game_Materials_Laborraum_M_Metal_Chrome_M_Metal_Chrome_011>\n",
-      "                }\n",
-      "            }\n",
-      "\n",
-      "            def Xform \"window4_left_handle_collision_0\" (\n",
-      "                prepend apiSchemas = [\"PhysicsMassAPI\"]\n",
-      "            )\n",
-      "            {\n",
-      "                point3f physics:centerOfMass = (0, 0, 0)\n",
-      "                float physics:density = 100\n",
-      "                float3 physics:diagonalInertia = (-51.959843, -25.92772, 96.734955)\n",
-      "                float physics:mass = 1.9810693\n",
-      "                quatf physics:principalAxes = (0.004201073, 0.99949497, -0.030256249, 0.008759642)\n",
-      "                matrix4d xformOp:transform = ( (2.220446049250313e-16, 0, -1, 0), (0, 1, 0, 0), (1, 0, 2.220446049250313e-16, 0), (-0.029618, 0, 0.057814, 1) )\n",
-      "                uniform token[] xformOpOrder = [\"xformOp:transform\"]\n",
-      "\n",
-      "                def Cylinder \"Cylinder\" (\n",
-      "                    prepend apiSchemas = [\"PhysicsCollisionAPI\"]\n",
-      "                )\n",
-      "                {\n",
-      "                    float3[] extent = [(-0.008, -0.008, -0.037618), (0.008, 0.008, 0.037618)]\n",
-      "                    double height = 0.075236\n",
-      "                    bool physics:collisionEnabled = 1\n",
-      "                    color3f[] primvars:displayColor = [(1, 0, 0)]\n",
-      "                    float[] primvars:displayOpacity = [0.5]\n",
-      "                    double radius = 0.008\n",
-      "                }\n",
-      "            }\n",
-      "\n",
-      "            def Xform \"window4_left_handle_collision_1\" (\n",
-      "                prepend apiSchemas = [\"PhysicsMassAPI\"]\n",
-      "            )\n",
-      "            {\n",
-      "                point3f physics:centerOfMass = (0, 0, 0)\n",
-      "                float physics:density = 100\n",
-      "                float3 physics:diagonalInertia = (-51.959843, -25.92772, 96.734955)\n",
-      "                float physics:mass = 1.9810693\n",
-      "                quatf physics:principalAxes = (0.004201073, 0.99949497, -0.030256249, 0.008759642)\n",
-      "                matrix4d xformOp:transform = ( (1, 0, 0, 0), (0, 1, 0, 0), (0, 0, 1, 0), (0, 0, 0, 1) )\n",
-      "                uniform token[] xformOpOrder = [\"xformOp:transform\"]\n",
-      "\n",
-      "                def Cylinder \"Cylinder\" (\n",
-      "                    prepend apiSchemas = [\"PhysicsCollisionAPI\"]\n",
-      "                )\n",
-      "                {\n",
-      "                    float3[] extent = [(-0.008, -0.008, -0.065813), (0.008, 0.008, 0.065813)]\n",
-      "                    double height = 0.131626\n",
-      "                    bool physics:collisionEnabled = 1\n",
-      "                    color3f[] primvars:displayColor = [(1, 0, 0)]\n",
-      "                    float[] primvars:displayOpacity = [0.5]\n",
-      "                    double radius = 0.008\n",
-      "                }\n",
-      "            }\n",
-      "\n",
-      "            def Xform \"window4_left_handle_collision_2\" (\n",
-      "                prepend apiSchemas = [\"PhysicsMassAPI\"]\n",
-      "            )\n",
-      "            {\n",
-      "                point3f physics:centerOfMass = (0, 0, 0)\n",
-      "                float physics:density = 100\n",
-      "                float3 physics:diagonalInertia = (-51.959843, -25.92772, 96.734955)\n",
-      "                float physics:mass = 1.9810693\n",
-      "                quatf physics:principalAxes = (0.004201073, 0.99949497, -0.030256249, 0.008759642)\n",
-      "                matrix4d xformOp:transform = ( (2.220446049250313e-16, 0, -1, 0), (0, 1, 0, 0), (1, 0, 2.220446049250313e-16, 0), (-0.018476, 0, -0.057813, 1) )\n",
-      "                uniform token[] xformOpOrder = [\"xformOp:transform\"]\n",
-      "\n",
-      "                def Cylinder \"Cylinder\" (\n",
-      "                    prepend apiSchemas = [\"PhysicsCollisionAPI\"]\n",
-      "                )\n",
-      "                {\n",
-      "                    float3[] extent = [(-0.008, -0.008, -0.026476), (0.008, 0.008, 0.026476)]\n",
-      "                    double height = 0.052952\n",
-      "                    bool physics:collisionEnabled = 1\n",
-      "                    color3f[] primvars:displayColor = [(1, 0, 0)]\n",
-      "                    float[] primvars:displayOpacity = [0.5]\n",
-      "                    double radius = 0.008\n",
-      "                }\n",
-      "            }\n",
-      "        }\n",
-      "    }\n",
-      "\n",
-      "    def Xform \"furnitures_root\"\n",
-      "    {\n",
-      "        matrix4d xformOp:transform = ( (1, 0, 0, 0), (0, 1, 0, 0), (0, 0, 1, 0), (8.85, 1.75, 0, 1) )\n",
-      "        uniform token[] xformOpOrder = [\"xformOp:transform\"]\n",
-      "\n",
-      "        def Xform \"wardrobe\"\n",
-      "        {\n",
-      "            matrix4d xformOp:transform = ( (1, 0, 0, 0), (0, 1, 0, 0), (0, 0, 1, 0), (9.7082, -0.6331, 0, 1) )\n",
-      "            uniform token[] xformOpOrder = [\"xformOp:transform\"]\n",
-      "\n",
-      "            def Xform \"wardrobe_visual_0\" (\n",
-      "                prepend references = @./../meshes/usd/visual/wardrobe.usda@</wardrobe>\n",
-      "            )\n",
-      "            {\n",
-      "                matrix4d xformOp:transform = ( (1, 0, 0, 0), (0, 1, 0, 0), (0, 0, 1, 0), (0, 0, 0, 1) )\n",
-      "                uniform token[] xformOpOrder = [\"xformOp:transform\"]\n",
-      "\n",
-      "                over \"SM_Kleiderschank_001\" (\n",
-      "                    prepend apiSchemas = [\"MaterialBindingAPI\"]\n",
-      "                )\n",
-      "                {\n",
-      "                    rel material:binding = </_materials/_Game_Materials_Laborraum_M_Wood_Furniture_M_Wood_Furniture>\n",
-      "\n",
-      "                    over \"_Game_Materials_Laborraum_M_Metal_Dark_M_Metal_Dark\" (\n",
-      "                        prepend apiSchemas = [\"MaterialBindingAPI\"]\n",
-      "                    )\n",
-      "                    {\n",
-      "                        rel material:binding = </_materials/_Game_Materials_Laborraum_M_Metal_Dark_M_Metal_Dark>\n",
-      "                    }\n",
-      "\n",
-      "                    over \"_Game_Materials_Laborraum_M_Wood_Furniture_M_Wood_Furniture\" (\n",
-      "                        prepend apiSchemas = [\"MaterialBindingAPI\"]\n",
-      "                    )\n",
-      "                    {\n",
-      "                        rel material:binding = </_materials/_Game_Materials_Laborraum_M_Wood_Furniture_M_Wood_Furniture>\n",
-      "                    }\n",
-      "                }\n",
-      "            }\n",
-      "\n",
-      "            def Xform \"wardrobe_collision_0\" (\n",
-      "                prepend apiSchemas = [\"PhysicsMassAPI\"]\n",
-      "            )\n",
-      "            {\n",
-      "                point3f physics:centerOfMass = (0, 0, 0)\n",
-      "                float physics:density = 100\n",
-      "                float3 physics:diagonalInertia = (-746.1319, -394.1608, 1800.9669)\n",
-      "                float physics:mass = 13.182874\n",
-      "                quatf physics:principalAxes = (0.111943655, 0.91889876, 0.32127473, -0.19969043)\n",
-      "                matrix4d xformOp:transform = ( (0.04, 0, 0, 0), (0, 0.04, 0, 0), (0, 0, 0.075, 0), (-0.2693, -0.4482, 0.075, 1) )\n",
-      "                uniform token[] xformOpOrder = [\"xformOp:transform\"]\n",
-      "\n",
-      "                def Cube \"Cube\" (\n",
-      "                    prepend apiSchemas = [\"PhysicsCollisionAPI\"]\n",
-      "                )\n",
-      "                {\n",
-      "                    float3[] extent = [(-1, -1, -1), (1, 1, 1)]\n",
-      "                    bool physics:collisionEnabled = 1\n",
-      "                    color3f[] primvars:displayColor = [(1, 0, 0)]\n",
-      "                    float[] primvars:displayOpacity = [0.5]\n",
-      "                }\n",
-      "            }\n",
-      "\n",
-      "            def Xform \"wardrobe_collision_1\" (\n",
-      "                prepend apiSchemas = [\"PhysicsMassAPI\"]\n",
-      "            )\n",
-      "            {\n",
-      "                point3f physics:centerOfMass = (0, 0, 0)\n",
-      "                float physics:density = 100\n",
-      "                float3 physics:diagonalInertia = (-746.1319, -394.1608, 1800.9669)\n",
-      "                float physics:mass = 13.182874\n",
-      "                quatf physics:principalAxes = (0.111943655, 0.91889876, 0.32127473, -0.19969043)\n",
-      "                matrix4d xformOp:transform = ( (0.04, 0, 0, 0), (0, 0.04, 0, 0), (0, 0, 0.075, 0), (0.10603, -0.4482, 0.075, 1) )\n",
-      "                uniform token[] xformOpOrder = [\"xformOp:transform\"]\n",
-      "\n",
-      "                def Cube \"Cube\" (\n",
-      "                    prepend apiSchemas = [\"PhysicsCollisionAPI\"]\n",
-      "                )\n",
-      "                {\n",
-      "                    float3[] extent = [(-1, -1, -1), (1, 1, 1)]\n",
-      "                    bool physics:collisionEnabled = 1\n",
-      "                    color3f[] primvars:displayColor = [(1, 0, 0)]\n",
-      "                    float[] primvars:displayOpacity = [0.5]\n",
-      "                }\n",
-      "            }\n",
-      "\n",
-      "            def Xform \"wardrobe_collision_2\" (\n",
-      "                prepend apiSchemas = [\"PhysicsMassAPI\"]\n",
-      "            )\n",
-      "            {\n",
-      "                point3f physics:centerOfMass = (0, 0, 0)\n",
-      "                float physics:density = 100\n",
-      "                float3 physics:diagonalInertia = (-746.1319, -394.1608, 1800.9669)\n",
-      "                float physics:mass = 13.182874\n",
-      "                quatf physics:principalAxes = (0.111943655, 0.91889876, 0.32127473, -0.19969043)\n",
-      "                matrix4d xformOp:transform = ( (0.04, 0, 0, 0), (0, 0.04, 0, 0), (0, 0, 0.075, 0), (-0.2693, 0.4482, 0.075, 1) )\n"
-     ]
-    },
-    {
-     "name": "stdout",
-     "output_type": "stream",
-     "text": [
-      "                uniform token[] xformOpOrder = [\"xformOp:transform\"]\n",
-      "\n",
-      "                def Cube \"Cube\" (\n",
-      "                    prepend apiSchemas = [\"PhysicsCollisionAPI\"]\n",
-      "                )\n",
-      "                {\n",
-      "                    float3[] extent = [(-1, -1, -1), (1, 1, 1)]\n",
-      "                    bool physics:collisionEnabled = 1\n",
-      "                    color3f[] primvars:displayColor = [(1, 0, 0)]\n",
-      "                    float[] primvars:displayOpacity = [0.5]\n",
-      "                }\n",
-      "            }\n",
-      "\n",
-      "            def Xform \"wardrobe_collision_3\" (\n",
-      "                prepend apiSchemas = [\"PhysicsMassAPI\"]\n",
-      "            )\n",
-      "            {\n",
-      "                point3f physics:centerOfMass = (0, 0, 0)\n",
-      "                float physics:density = 100\n",
-      "                float3 physics:diagonalInertia = (-746.1319, -394.1608, 1800.9669)\n",
-      "                float physics:mass = 13.182874\n",
-      "                quatf physics:principalAxes = (0.111943655, 0.91889876, 0.32127473, -0.19969043)\n",
-      "                matrix4d xformOp:transform = ( (0.04, 0, 0, 0), (0, 0.04, 0, 0), (0, 0, 0.075, 0), (0.10603, 0.4482, 0.075, 1) )\n",
-      "                uniform token[] xformOpOrder = [\"xformOp:transform\"]\n",
-      "\n",
-      "                def Cube \"Cube\" (\n",
-      "                    prepend apiSchemas = [\"PhysicsCollisionAPI\"]\n",
-      "                )\n",
-      "                {\n",
-      "                    float3[] extent = [(-1, -1, -1), (1, 1, 1)]\n",
-      "                    bool physics:collisionEnabled = 1\n",
-      "                    color3f[] primvars:displayColor = [(1, 0, 0)]\n",
-      "                    float[] primvars:displayOpacity = [0.5]\n",
-      "                }\n",
-      "            }\n",
-      "\n",
-      "            def Xform \"wardrobe_collision_4\" (\n",
-      "                prepend apiSchemas = [\"PhysicsMassAPI\"]\n",
-      "            )\n",
-      "            {\n",
-      "                point3f physics:centerOfMass = (0, 0, 0)\n",
-      "                float physics:density = 100\n",
-      "                float3 physics:diagonalInertia = (-746.1319, -394.1608, 1800.9669)\n",
-      "                float physics:mass = 13.182874\n",
-      "                quatf physics:principalAxes = (0.111943655, 0.91889876, 0.32127473, -0.19969043)\n",
-      "                matrix4d xformOp:transform = ( (0.2435, 0, 0, 0), (0, 0.5, 0, 0), (0, 0, 0.01345, 0), (-0.0805, 0, 0.16345, 1) )\n",
-      "                uniform token[] xformOpOrder = [\"xformOp:transform\"]\n",
-      "\n",
-      "                def Cube \"Cube\" (\n",
-      "                    prepend apiSchemas = [\"PhysicsCollisionAPI\"]\n",
-      "                )\n",
-      "                {\n",
-      "                    float3[] extent = [(-1, -1, -1), (1, 1, 1)]\n",
-      "                    bool physics:collisionEnabled = 1\n",
-      "                    color3f[] primvars:displayColor = [(1, 0, 0)]\n",
-      "                    float[] primvars:displayOpacity = [0.5]\n",
-      "                }\n",
-      "            }\n",
-      "\n",
-      "            def Xform \"wardrobe_collision_5\" (\n",
-      "                prepend apiSchemas = [\"PhysicsMassAPI\"]\n",
-      "            )\n",
-      "            {\n",
-      "                point3f physics:centerOfMass = (0, 0, 0)\n",
-      "                float physics:density = 100\n",
-      "                float3 physics:diagonalInertia = (-746.1319, -394.1608, 1800.9669)\n",
-      "                float physics:mass = 13.182874\n",
-      "                quatf physics:principalAxes = (0.111943655, 0.91889876, 0.32127473, -0.19969043)\n",
-      "                matrix4d xformOp:transform = ( (0.2435, 0, 0, 0), (0, 0.01035, 0, 0), (0, 0, 0.825, 0), (-0.0805, 0.48965, 0.975, 1) )\n",
-      "                uniform token[] xformOpOrder = [\"xformOp:transform\"]\n",
-      "\n",
-      "                def Cube \"Cube\" (\n",
-      "                    prepend apiSchemas = [\"PhysicsCollisionAPI\"]\n",
-      "                )\n",
-      "                {\n",
-      "                    float3[] extent = [(-1, -1, -1), (1, 1, 1)]\n",
-      "                    bool physics:collisionEnabled = 1\n",
-      "                    color3f[] primvars:displayColor = [(1, 0, 0)]\n",
-      "                    float[] primvars:displayOpacity = [0.5]\n",
-      "                }\n",
-      "            }\n",
-      "\n",
-      "            def Xform \"wardrobe_collision_6\" (\n",
-      "                prepend apiSchemas = [\"PhysicsMassAPI\"]\n",
-      "            )\n",
-      "            {\n",
-      "                point3f physics:centerOfMass = (0, 0, 0)\n",
-      "                float physics:density = 100\n",
-      "                float3 physics:diagonalInertia = (-746.1319, -394.1608, 1800.9669)\n",
-      "                float physics:mass = 13.182874\n",
-      "                quatf physics:principalAxes = (0.111943655, 0.91889876, 0.32127473, -0.19969043)\n",
-      "                matrix4d xformOp:transform = ( (0.2159, 0, 0, 0), (0, 0.009284, 0, 0), (0, 0, 0.825, 0), (-0.0896, 0, 0.975, 1) )\n",
-      "                uniform token[] xformOpOrder = [\"xformOp:transform\"]\n",
-      "\n",
-      "                def Cube \"Cube\" (\n",
-      "                    prepend apiSchemas = [\"PhysicsCollisionAPI\"]\n",
-      "                )\n",
-      "                {\n",
-      "                    float3[] extent = [(-1, -1, -1), (1, 1, 1)]\n",
-      "                    bool physics:collisionEnabled = 1\n",
-      "                    color3f[] primvars:displayColor = [(1, 0, 0)]\n",
-      "                    float[] primvars:displayOpacity = [0.5]\n",
-      "                }\n",
-      "            }\n",
-      "\n",
-      "            def Xform \"wardrobe_collision_7\" (\n",
-      "                prepend apiSchemas = [\"PhysicsMassAPI\"]\n",
-      "            )\n",
-      "            {\n",
-      "                point3f physics:centerOfMass = (0, 0, 0)\n",
-      "                float physics:density = 100\n",
-      "                float3 physics:diagonalInertia = (-746.1319, -394.1608, 1800.9669)\n",
-      "                float physics:mass = 13.182874\n",
-      "                quatf physics:principalAxes = (0.111943655, 0.91889876, 0.32127473, -0.19969043)\n",
-      "                matrix4d xformOp:transform = ( (0.2435, 0, 0, 0), (0, 0.01035, 0, 0), (0, 0, 0.825, 0), (-0.0805, -0.48965, 0.975, 1) )\n",
-      "                uniform token[] xformOpOrder = [\"xformOp:transform\"]\n",
-      "\n",
-      "                def Cube \"Cube\" (\n",
-      "                    prepend apiSchemas = [\"PhysicsCollisionAPI\"]\n",
-      "                )\n",
-      "                {\n",
-      "                    float3[] extent = [(-1, -1, -1), (1, 1, 1)]\n",
-      "                    bool physics:collisionEnabled = 1\n",
-      "                    color3f[] primvars:displayColor = [(1, 0, 0)]\n",
-      "                    float[] primvars:displayOpacity = [0.5]\n",
-      "                }\n",
-      "            }\n",
-      "\n",
-      "            def Xform \"wardrobe_collision_8\" (\n",
-      "                prepend apiSchemas = [\"PhysicsMassAPI\"]\n",
-      "            )\n",
-      "            {\n",
-      "                point3f physics:centerOfMass = (0, 0, 0)\n",
-      "                float physics:density = 100\n",
-      "                float3 physics:diagonalInertia = (-746.1319, -394.1608, 1800.9669)\n",
-      "                float physics:mass = 13.182874\n",
-      "                quatf physics:principalAxes = (0.111943655, 0.91889876, 0.32127473, -0.19969043)\n",
-      "                matrix4d xformOp:transform = ( (0.01835, 0, 0, 0), (0, 0.5, 0, 0), (0, 0, 0.825, 0), (0.14465, 0, 0.975, 1) )\n",
-      "                uniform token[] xformOpOrder = [\"xformOp:transform\"]\n",
-      "\n",
-      "                def Cube \"Cube\" (\n",
-      "                    prepend apiSchemas = [\"PhysicsCollisionAPI\"]\n",
-      "                )\n",
-      "                {\n",
-      "                    float3[] extent = [(-1, -1, -1), (1, 1, 1)]\n",
-      "                    bool physics:collisionEnabled = 1\n",
-      "                    color3f[] primvars:displayColor = [(1, 0, 0)]\n",
-      "                    float[] primvars:displayOpacity = [0.5]\n",
-      "                }\n",
-      "            }\n",
-      "\n",
-      "            def Xform \"wardrobe_collision_9\" (\n",
-      "                prepend apiSchemas = [\"PhysicsMassAPI\"]\n",
-      "            )\n",
-      "            {\n",
-      "                point3f physics:centerOfMass = (0, 0, 0)\n",
-      "                float physics:density = 100\n",
-      "                float3 physics:diagonalInertia = (-746.1319, -394.1608, 1800.9669)\n",
-      "                float physics:mass = 13.182874\n",
-      "                quatf physics:principalAxes = (0.111943655, 0.91889876, 0.32127473, -0.19969043)\n",
-      "                matrix4d xformOp:transform = ( (0.01835, 0, 0, 0), (0, 0.5, 0, 0), (0, 0, 0.825, 0), (0.14465, 0, 0.975, 1) )\n",
-      "                uniform token[] xformOpOrder = [\"xformOp:transform\"]\n",
-      "\n",
-      "                def Cube \"Cube\" (\n",
-      "                    prepend apiSchemas = [\"PhysicsCollisionAPI\"]\n",
-      "                )\n",
-      "                {\n",
-      "                    float3[] extent = [(-1, -1, -1), (1, 1, 1)]\n",
-      "                    bool physics:collisionEnabled = 1\n",
-      "                    color3f[] primvars:displayColor = [(1, 0, 0)]\n",
-      "                    float[] primvars:displayOpacity = [0.5]\n",
-      "                }\n",
-      "            }\n",
-      "\n",
-      "            def Xform \"wardrobe_collision_10\" (\n",
-      "                prepend apiSchemas = [\"PhysicsMassAPI\"]\n",
-      "            )\n",
-      "            {\n",
-      "                point3f physics:centerOfMass = (0, 0, 0)\n",
-      "                float physics:density = 100\n"
-     ]
-    },
-    {
-     "name": "stdout",
-     "output_type": "stream",
-     "text": [
-      "                float3 physics:diagonalInertia = (-746.1319, -394.1608, 1800.9669)\n",
-      "                float physics:mass = 13.182874\n",
-      "                quatf physics:principalAxes = (0.111943655, 0.91889876, 0.32127473, -0.19969043)\n",
-      "                matrix4d xformOp:transform = ( (0.2435, 0, 0, 0), (0, 0.5, 0, 0), (0, 0, 0.0135, 0), (-0.0805, 0, 1.7865, 1) )\n",
-      "                uniform token[] xformOpOrder = [\"xformOp:transform\"]\n",
-      "\n",
-      "                def Cube \"Cube\" (\n",
-      "                    prepend apiSchemas = [\"PhysicsCollisionAPI\"]\n",
-      "                )\n",
-      "                {\n",
-      "                    float3[] extent = [(-1, -1, -1), (1, 1, 1)]\n",
-      "                    bool physics:collisionEnabled = 1\n",
-      "                    color3f[] primvars:displayColor = [(1, 0, 0)]\n",
-      "                    float[] primvars:displayOpacity = [0.5]\n",
-      "                }\n",
-      "            }\n",
-      "\n",
-      "            def Xform \"wardrobe_collision_11\" (\n",
-      "                prepend apiSchemas = [\"PhysicsMassAPI\"]\n",
-      "            )\n",
-      "            {\n",
-      "                point3f physics:centerOfMass = (0, 0, 0)\n",
-      "                float physics:density = 100\n",
-      "                float3 physics:diagonalInertia = (-746.1319, -394.1608, 1800.9669)\n",
-      "                float physics:mass = 13.182874\n",
-      "                quatf physics:principalAxes = (0.111943655, 0.91889876, 0.32127473, -0.19969043)\n",
-      "                matrix4d xformOp:transform = ( (0.21495, 0, 0, 0), (0, 0.2349785, 0, 0), (0, 0, 0.0059, 0), (-0.08861, -0.244343, 0.5727, 1) )\n",
-      "                uniform token[] xformOpOrder = [\"xformOp:transform\"]\n",
-      "\n",
-      "                def Cube \"Cube\" (\n",
-      "                    prepend apiSchemas = [\"PhysicsCollisionAPI\"]\n",
-      "                )\n",
-      "                {\n",
-      "                    float3[] extent = [(-1, -1, -1), (1, 1, 1)]\n",
-      "                    bool physics:collisionEnabled = 1\n",
-      "                    color3f[] primvars:displayColor = [(1, 0, 0)]\n",
-      "                    float[] primvars:displayOpacity = [0.5]\n",
-      "                }\n",
-      "            }\n",
-      "\n",
-      "            def Xform \"wardrobe_collision_12\" (\n",
-      "                prepend apiSchemas = [\"PhysicsMassAPI\"]\n",
-      "            )\n",
-      "            {\n",
-      "                point3f physics:centerOfMass = (0, 0, 0)\n",
-      "                float physics:density = 100\n",
-      "                float3 physics:diagonalInertia = (-746.1319, -394.1608, 1800.9669)\n",
-      "                float physics:mass = 13.182874\n",
-      "                quatf physics:principalAxes = (0.111943655, 0.91889876, 0.32127473, -0.19969043)\n",
-      "                matrix4d xformOp:transform = ( (0.21495, 0, 0, 0), (0, 0.2349785, 0, 0), (0, 0, 0.0059, 0), (-0.08861, -0.244343, 0.974836, 1) )\n",
-      "                uniform token[] xformOpOrder = [\"xformOp:transform\"]\n",
-      "\n",
-      "                def Cube \"Cube\" (\n",
-      "                    prepend apiSchemas = [\"PhysicsCollisionAPI\"]\n",
-      "                )\n",
-      "                {\n",
-      "                    float3[] extent = [(-1, -1, -1), (1, 1, 1)]\n",
-      "                    bool physics:collisionEnabled = 1\n",
-      "                    color3f[] primvars:displayColor = [(1, 0, 0)]\n",
-      "                    float[] primvars:displayOpacity = [0.5]\n",
-      "                }\n",
-      "            }\n",
-      "\n",
-      "            def Xform \"wardrobe_collision_13\" (\n",
-      "                prepend apiSchemas = [\"PhysicsMassAPI\"]\n",
-      "            )\n",
-      "            {\n",
-      "                point3f physics:centerOfMass = (0, 0, 0)\n",
-      "                float physics:density = 100\n",
-      "                float3 physics:diagonalInertia = (-746.1319, -394.1608, 1800.9669)\n",
-      "                float physics:mass = 13.182874\n",
-      "                quatf physics:principalAxes = (0.111943655, 0.91889876, 0.32127473, -0.19969043)\n",
-      "                matrix4d xformOp:transform = ( (0.21495, 0, 0, 0), (0, 0.2349785, 0, 0), (0, 0, 0.0059, 0), (-0.08861, -0.244343, 1.37686, 1) )\n",
-      "                uniform token[] xformOpOrder = [\"xformOp:transform\"]\n",
-      "\n",
-      "                def Cube \"Cube\" (\n",
-      "                    prepend apiSchemas = [\"PhysicsCollisionAPI\"]\n",
-      "                )\n",
-      "                {\n",
-      "                    float3[] extent = [(-1, -1, -1), (1, 1, 1)]\n",
-      "                    bool physics:collisionEnabled = 1\n",
-      "                    color3f[] primvars:displayColor = [(1, 0, 0)]\n",
-      "                    float[] primvars:displayOpacity = [0.5]\n",
-      "                }\n",
-      "            }\n",
-      "\n",
-      "            def Xform \"wardrobe_collision_14\" (\n",
-      "                prepend apiSchemas = [\"PhysicsMassAPI\"]\n",
-      "            )\n",
-      "            {\n",
-      "                point3f physics:centerOfMass = (0, 0, 0)\n",
-      "                float physics:density = 100\n",
-      "                float3 physics:diagonalInertia = (-746.1319, -394.1608, 1800.9669)\n",
-      "                float physics:mass = 13.182874\n",
-      "                quatf physics:principalAxes = (0.111943655, 0.91889876, 0.32127473, -0.19969043)\n",
-      "                matrix4d xformOp:transform = ( (1, 0, 0, 0), (0, -0.0000036732051031940216, 0.9999999999932537, 0), (0, -0.9999999999932537, -0.0000036732051031940216, 0), (-0.086923, 0.244373, 1.66898, 1) )\n",
-      "                uniform token[] xformOpOrder = [\"xformOp:transform\"]\n",
-      "\n",
-      "                def Cylinder \"Cylinder\" (\n",
-      "                    prepend apiSchemas = [\"PhysicsCollisionAPI\"]\n",
-      "                )\n",
-      "                {\n",
-      "                    float3[] extent = [(-0.0075, -0.0075, -0.2349485), (0.0075, 0.0075, 0.2349485)]\n",
-      "                    double height = 0.469897\n",
-      "                    bool physics:collisionEnabled = 1\n",
-      "                    color3f[] primvars:displayColor = [(1, 0, 0)]\n",
-      "                    float[] primvars:displayOpacity = [0.5]\n",
-      "                    double radius = 0.0075\n",
-      "                }\n",
-      "            }\n",
-      "\n",
-      "            def PhysicsRevoluteJoint \"wardrobe_door_left_joint\"\n",
-      "            {\n",
-      "                uniform token physics:axis = \"Z\"\n",
-      "                rel physics:body0 = </apartment_root/furnitures_root/wardrobe>\n",
-      "                rel physics:body1 = </apartment_root/wardrobe_door_left>\n",
-      "                bool physics:collisionEnabled = 0\n",
-      "                point3f physics:localPos0 = (-0.3246, 0.5, 0)\n",
-      "                point3f physics:localPos1 = (0, 0, 0)\n",
-      "                quatf physics:localRot0 = (0, 0, 1, 0)\n",
-      "                quatf physics:localRot1 = (0, 0, 1, 0)\n",
-      "                float physics:lowerLimit = 0\n",
-      "                float physics:upperLimit = 90.00021\n",
-      "            }\n",
-      "\n",
-      "            def PhysicsRevoluteJoint \"wardrobe_door_right_joint\"\n",
-      "            {\n",
-      "                uniform token physics:axis = \"Z\"\n",
-      "                rel physics:body0 = </apartment_root/furnitures_root/wardrobe>\n",
-      "                rel physics:body1 = </apartment_root/wardrobe_door_right>\n",
-      "                bool physics:collisionEnabled = 0\n",
-      "                point3f physics:localPos0 = (-0.3246, -0.5, 0)\n",
-      "                point3f physics:localPos1 = (0, 0, 0)\n",
-      "                quatf physics:localRot0 = (1, 0, 0, 0)\n",
-      "                quatf physics:localRot1 = (1, 0, 0, 0)\n",
-      "                float physics:lowerLimit = 0\n",
-      "                float physics:upperLimit = 90.00021\n",
-      "            }\n",
-      "        }\n",
-      "\n",
-      "        def Xform \"armchair\"\n",
-      "        {\n",
-      "            matrix4d xformOp:transform = ( (-0.34205568489293814, 0.9396796839521557, 0, 0), (-0.9396796839521557, -0.34205568489293814, 0, 0), (0, 0, 1, 0), (7.9688, -0.3791, 0.3559428, 1) )\n",
-      "            uniform token[] xformOpOrder = [\"xformOp:transform\"]\n",
-      "\n",
-      "            def Xform \"armchair_visual_0\" (\n",
-      "                prepend references = @./../meshes/usd/visual/armchair.usda@</armchair>\n",
-      "            )\n",
-      "            {\n",
-      "                matrix4d xformOp:transform = ( (1, 0, 0, 0), (0, 1, 0, 0), (0, 0, 1, 0), (0, 0, 0, 1) )\n",
-      "                uniform token[] xformOpOrder = [\"xformOp:transform\"]\n",
-      "\n",
-      "                over \"SM_Sessel\" (\n",
-      "                    prepend apiSchemas = [\"MaterialBindingAPI\"]\n",
-      "                )\n",
-      "                {\n",
-      "                    rel material:binding = </_materials/_Game_Materials_Laborraum_M_Sessel_M_Sessel>\n",
-      "                }\n",
-      "            }\n",
-      "\n",
-      "            def Xform \"armchair_collision_0\" (\n",
-      "                prepend apiSchemas = [\"PhysicsMassAPI\"]\n",
-      "                prepend references = @./../meshes/usd/collision/armchair.usda@</armchair>\n",
-      "            )\n",
-      "            {\n",
-      "                point3f physics:centerOfMass = (0, 0, 0)\n",
-      "                float physics:density = 100\n",
-      "                float3 physics:diagonalInertia = (-16.055712, -13.44603, 47.38336)\n",
-      "                float physics:mass = 26.922188\n",
-      "                quatf physics:principalAxes = (-0.18476537, -0.15911406, 0.29576153, 0.92361766)\n",
-      "                matrix4d xformOp:transform = ( (1, 0, 0, 0), (0, 1, 0, 0), (0, 0, 1, 0), (0, 0, 0, 1) )\n"
-     ]
-    },
-    {
-     "name": "stdout",
-     "output_type": "stream",
-     "text": [
-      "                uniform token[] xformOpOrder = [\"xformOp:transform\"]\n",
-      "\n",
-      "                over \"armchair\" (\n",
-      "                    prepend apiSchemas = [\"PhysicsCollisionAPI\", \"PhysicsMeshCollisionAPI\"]\n",
-      "                )\n",
-      "                {\n",
-      "                    uniform token physics:approximation = \"convexHull\"\n",
-      "                    bool physics:collisionEnabled = 1\n",
-      "                    color3f[] primvars:displayColor = [(1, 0, 0)]\n",
-      "                    float[] primvars:displayOpacity = [0.5]\n",
-      "                }\n",
-      "            }\n",
-      "        }\n",
-      "\n",
-      "        def Xform \"sofa\"\n",
-      "        {\n",
-      "            matrix4d xformOp:transform = ( (2.220446049250313e-16, 1, 0, 0), (-1, 2.220446049250313e-16, 0, 0), (0, 0, 1, 0), (8.1986, 2.4096, 0.35732983, 1) )\n",
-      "            uniform token[] xformOpOrder = [\"xformOp:transform\"]\n",
-      "\n",
-      "            def Xform \"sofa_visual_0\" (\n",
-      "                prepend references = @./../meshes/usd/visual/sofa.usda@</sofa>\n",
-      "            )\n",
-      "            {\n",
-      "                matrix4d xformOp:transform = ( (1, 0, 0, 0), (0, 1, 0, 0), (0, 0, 1, 0), (0, 0, 0, 1) )\n",
-      "                uniform token[] xformOpOrder = [\"xformOp:transform\"]\n",
-      "\n",
-      "                over \"SM_Sofa\" (\n",
-      "                    prepend apiSchemas = [\"MaterialBindingAPI\"]\n",
-      "                )\n",
-      "                {\n",
-      "                    rel material:binding = </_materials/_Game_Materials_Laborraum_M_Basic_Black_M_Basic_Black>\n",
-      "\n",
-      "                    over \"_Game_Materials_Laborraum_M_Fabric_Sofa_Inst_M_Fabric_Sofa_Inst\" (\n",
-      "                        prepend apiSchemas = [\"MaterialBindingAPI\"]\n",
-      "                    )\n",
-      "                    {\n",
-      "                        rel material:binding = </_materials/_Game_Materials_Laborraum_M_Fabric_Sofa_Inst_M_Fabric_Sofa_Inst>\n",
-      "                    }\n",
-      "\n",
-      "                    over \"_Game_Materials_Laborraum_M_Basic_Black_M_Basic_Black\" (\n",
-      "                        prepend apiSchemas = [\"MaterialBindingAPI\"]\n",
-      "                    )\n",
-      "                    {\n",
-      "                        rel material:binding = </_materials/_Game_Materials_Laborraum_M_Basic_Black_M_Basic_Black>\n",
-      "                    }\n",
-      "                }\n",
-      "            }\n",
-      "\n",
-      "            def Xform \"sofa_collision_0\" (\n",
-      "                prepend apiSchemas = [\"PhysicsMassAPI\"]\n",
-      "                prepend references = @./../meshes/usd/collision/sofa.usda@</sofa>\n",
-      "            )\n",
-      "            {\n",
-      "                point3f physics:centerOfMass = (0, 0, 0)\n",
-      "                float physics:density = 100\n",
-      "                float3 physics:diagonalInertia = (-217.03027, -187.9567, 396.00897)\n",
-      "                float physics:mass = 101.21949\n",
-      "                quatf physics:principalAxes = (0.16485168, 0.9432439, 0.18919355, 0.21753317)\n",
-      "                matrix4d xformOp:transform = ( (1, 0, 0, 0), (0, 1, 0, 0), (0, 0, 1, 0), (0, 0, 0, 1) )\n",
-      "                uniform token[] xformOpOrder = [\"xformOp:transform\"]\n",
-      "\n",
-      "                over \"sofa\" (\n",
-      "                    prepend apiSchemas = [\"PhysicsCollisionAPI\", \"PhysicsMeshCollisionAPI\"]\n",
-      "                )\n",
-      "                {\n",
-      "                    uniform token physics:approximation = \"convexHull\"\n",
-      "                    bool physics:collisionEnabled = 1\n",
-      "                    color3f[] primvars:displayColor = [(1, 0, 0)]\n",
-      "                    float[] primvars:displayOpacity = [0.5]\n",
-      "                }\n",
-      "            }\n",
-      "        }\n",
-      "\n",
-      "        def Xform \"coffee_table\"\n",
-      "        {\n",
-      "            matrix4d xformOp:transform = ( (-0.0000036732051031940216, 0.9999999999932537, 0, 0), (-0.9999999999932537, -0.0000036732051031940216, 0, 0), (0, 0, 1, 0), (7.8034, 1.02957, 0, 1) )\n",
-      "            uniform token[] xformOpOrder = [\"xformOp:transform\"]\n",
-      "\n",
-      "            def Xform \"coffee_table_visual_0\" (\n",
-      "                prepend references = @./../meshes/usd/visual/coffee_table.usda@</coffee_table>\n",
-      "            )\n",
-      "            {\n",
-      "                matrix4d xformOp:transform = ( (1, 0, 0, 0), (0, 1, 0, 0), (0, 0, 1, 0), (0, 0, 0, 1) )\n",
-      "                uniform token[] xformOpOrder = [\"xformOp:transform\"]\n",
-      "\n",
-      "                over \"SM_Couchtisch_002\" (\n",
-      "                    prepend apiSchemas = [\"MaterialBindingAPI\"]\n",
-      "                )\n",
-      "                {\n",
-      "                    rel material:binding = </_materials/_Game_Materials_Laborraum_M_Wood_Furniture_M_Wood_Furniture>\n",
-      "                }\n",
-      "            }\n",
-      "\n",
-      "            def Xform \"coffee_table_collision_0\" (\n",
-      "                prepend apiSchemas = [\"PhysicsMassAPI\"]\n",
-      "            )\n",
-      "            {\n",
-      "                point3f physics:centerOfMass = (0, 0, 0)\n",
-      "                float physics:density = 100\n",
-      "                float3 physics:diagonalInertia = (-21.779734, -21.52601, 78.153206)\n",
-      "                float physics:mass = 24.32211\n",
-      "                quatf physics:principalAxes = (0.8364141, -0.47078913, 0.14386888, -0.24097893)\n",
-      "                matrix4d xformOp:transform = ( (0.29, 0, 0, 0), (0, 0.54, 0, 0), (0, 0, 0.02977, 0), (0, 0, 0.02977, 1) )\n",
-      "                uniform token[] xformOpOrder = [\"xformOp:transform\"]\n",
-      "\n",
-      "                def Cube \"Cube\" (\n",
-      "                    prepend apiSchemas = [\"PhysicsCollisionAPI\"]\n",
-      "                )\n",
-      "                {\n",
-      "                    float3[] extent = [(-1, -1, -1), (1, 1, 1)]\n",
-      "                    bool physics:collisionEnabled = 1\n",
-      "                    color3f[] primvars:displayColor = [(1, 0, 0)]\n",
-      "                    float[] primvars:displayOpacity = [0.5]\n",
-      "                }\n",
-      "            }\n",
-      "\n",
-      "            def Xform \"coffee_table_collision_1\" (\n",
-      "                prepend apiSchemas = [\"PhysicsMassAPI\"]\n",
-      "            )\n",
-      "            {\n",
-      "                point3f physics:centerOfMass = (0, 0, 0)\n",
-      "                float physics:density = 100\n",
-      "                float3 physics:diagonalInertia = (-21.779734, -21.52601, 78.153206)\n",
-      "                float physics:mass = 24.32211\n",
-      "                quatf physics:principalAxes = (0.8364141, -0.47078913, 0.14386888, -0.24097893)\n",
-      "                matrix4d xformOp:transform = ( (0.3053, 0, 0, 0), (0, 0.2, 0, 0), (0, 0, 0.00598, 0), (-0.022101, 0, 0.06552, 1) )\n",
-      "                uniform token[] xformOpOrder = [\"xformOp:transform\"]\n",
-      "\n",
-      "                def Cube \"Cube\" (\n",
-      "                    prepend apiSchemas = [\"PhysicsCollisionAPI\"]\n",
-      "                )\n",
-      "                {\n",
-      "                    float3[] extent = [(-1, -1, -1), (1, 1, 1)]\n",
-      "                    bool physics:collisionEnabled = 1\n",
-      "                    color3f[] primvars:displayColor = [(1, 0, 0)]\n",
-      "                    float[] primvars:displayOpacity = [0.5]\n",
-      "                }\n",
-      "            }\n",
-      "\n",
-      "            def Xform \"coffee_table_collision_2\" (\n",
-      "                prepend apiSchemas = [\"PhysicsMassAPI\"]\n",
-      "            )\n",
-      "            {\n",
-      "                point3f physics:centerOfMass = (0, 0, 0)\n",
-      "                float physics:density = 100\n",
-      "                float3 physics:diagonalInertia = (-21.779734, -21.52601, 78.153206)\n",
-      "                float physics:mass = 24.32211\n",
-      "                quatf physics:principalAxes = (0.8364141, -0.47078913, 0.14386888, -0.24097893)\n",
-      "                matrix4d xformOp:transform = ( (0.35, 0, 0, 0), (0, 0.2, 0, 0), (0, 0, 0.16, 0), (0, 0.39975, 0.220625, 1) )\n",
-      "                uniform token[] xformOpOrder = [\"xformOp:transform\"]\n",
-      "\n",
-      "                def Cube \"Cube\" (\n",
-      "                    prepend apiSchemas = [\"PhysicsCollisionAPI\"]\n",
-      "                )\n",
-      "                {\n",
-      "                    float3[] extent = [(-1, -1, -1), (1, 1, 1)]\n",
-      "                    bool physics:collisionEnabled = 1\n",
-      "                    color3f[] primvars:displayColor = [(1, 0, 0)]\n",
-      "                    float[] primvars:displayOpacity = [0.5]\n",
-      "                }\n",
-      "            }\n",
-      "\n",
-      "            def Xform \"coffee_table_collision_3\" (\n",
-      "                prepend apiSchemas = [\"PhysicsMassAPI\"]\n",
-      "            )\n",
-      "            {\n",
-      "                point3f physics:centerOfMass = (0, 0, 0)\n",
-      "                float physics:density = 100\n",
-      "                float3 physics:diagonalInertia = (-21.779734, -21.52601, 78.153206)\n",
-      "                float physics:mass = 24.32211\n",
-      "                quatf physics:principalAxes = (0.8364141, -0.47078913, 0.14386888, -0.24097893)\n",
-      "                matrix4d xformOp:transform = ( (0.35, 0, 0, 0), (0, 0.2, 0, 0), (0, 0, 0.16, 0), (0, -0.39975, 0.220625, 1) )\n",
-      "                uniform token[] xformOpOrder = [\"xformOp:transform\"]\n",
-      "\n",
-      "                def Cube \"Cube\" (\n",
-      "                    prepend apiSchemas = [\"PhysicsCollisionAPI\"]\n",
-      "                )\n",
-      "                {\n",
-      "                    float3[] extent = [(-1, -1, -1), (1, 1, 1)]\n"
-     ]
-    },
-    {
-     "name": "stdout",
-     "output_type": "stream",
-     "text": [
-      "                    bool physics:collisionEnabled = 1\n",
-      "                    color3f[] primvars:displayColor = [(1, 0, 0)]\n",
-      "                    float[] primvars:displayOpacity = [0.5]\n",
-      "                }\n",
-      "            }\n",
-      "\n",
-      "            def Xform \"coffee_table_collision_4\" (\n",
-      "                prepend apiSchemas = [\"PhysicsMassAPI\"]\n",
-      "            )\n",
-      "            {\n",
-      "                point3f physics:centerOfMass = (0, 0, 0)\n",
-      "                float physics:density = 100\n",
-      "                float3 physics:diagonalInertia = (-21.779734, -21.52601, 78.153206)\n",
-      "                float physics:mass = 24.32211\n",
-      "                quatf physics:principalAxes = (0.8364141, -0.47078913, 0.14386888, -0.24097893)\n",
-      "                matrix4d xformOp:transform = ( (0.03365, 0, 0, 0), (0, 0.2, 0, 0), (0, 0, 0.16, 0), (0.316343, 0, 0.22, 1) )\n",
-      "                uniform token[] xformOpOrder = [\"xformOp:transform\"]\n",
-      "\n",
-      "                def Cube \"Cube\" (\n",
-      "                    prepend apiSchemas = [\"PhysicsCollisionAPI\"]\n",
-      "                )\n",
-      "                {\n",
-      "                    float3[] extent = [(-1, -1, -1), (1, 1, 1)]\n",
-      "                    bool physics:collisionEnabled = 1\n",
-      "                    color3f[] primvars:displayColor = [(1, 0, 0)]\n",
-      "                    float[] primvars:displayOpacity = [0.5]\n",
-      "                }\n",
-      "            }\n",
-      "\n",
-      "            def Xform \"coffee_table_collision_5\" (\n",
-      "                prepend apiSchemas = [\"PhysicsMassAPI\"]\n",
-      "            )\n",
-      "            {\n",
-      "                point3f physics:centerOfMass = (0, 0, 0)\n",
-      "                float physics:density = 100\n",
-      "                float3 physics:diagonalInertia = (-21.779734, -21.52601, 78.153206)\n",
-      "                float physics:mass = 24.32211\n",
-      "                quatf physics:principalAxes = (0.8364141, -0.47078913, 0.14386888, -0.24097893)\n",
-      "                matrix4d xformOp:transform = ( (0.35, 0, 0, 0), (0, 0.6, 0, 0), (0, 0, 0.01, 0), (0, 0, 0.39, 1) )\n",
-      "                uniform token[] xformOpOrder = [\"xformOp:transform\"]\n",
-      "\n",
-      "                def Cube \"Cube\" (\n",
-      "                    prepend apiSchemas = [\"PhysicsCollisionAPI\"]\n",
-      "                )\n",
-      "                {\n",
-      "                    float3[] extent = [(-1, -1, -1), (1, 1, 1)]\n",
-      "                    bool physics:collisionEnabled = 1\n",
-      "                    color3f[] primvars:displayColor = [(1, 0, 0)]\n",
-      "                    float[] primvars:displayOpacity = [0.5]\n",
-      "                }\n",
-      "            }\n",
-      "\n",
-      "            def PhysicsPrismaticJoint \"coffee_table_drawer_joint\"\n",
-      "            {\n",
-      "                uniform token physics:axis = \"Z\"\n",
-      "                rel physics:body0 = </apartment_root/furnitures_root/coffee_table>\n",
-      "                rel physics:body1 = </apartment_root/coffee_table_drawer>\n",
-      "                bool physics:collisionEnabled = 0\n",
-      "                point3f physics:localPos0 = (0, 0, 0)\n",
-      "                point3f physics:localPos1 = (0, 0, 0)\n",
-      "                quatf physics:localRot0 = (0.7071068, 0, -0.7071068, 0)\n",
-      "                quatf physics:localRot1 = (0.7071068, 0, -0.7071068, 0)\n",
-      "                float physics:lowerLimit = 0\n",
-      "                float physics:upperLimit = 0.5\n",
-      "            }\n",
-      "        }\n",
-      "\n",
-      "        def Xform \"bedside_table\"\n",
-      "        {\n",
-      "            matrix4d xformOp:transform = ( (1, 0, 0, 0), (0, 1, 0, 0), (0, 0, 1, 0), (7.211, 0.1296, 0.22990467, 1) )\n",
-      "            uniform token[] xformOpOrder = [\"xformOp:transform\"]\n",
-      "\n",
-      "            def Xform \"bedside_table_visual_0\" (\n",
-      "                prepend references = @./../meshes/usd/visual/bedside_table.usda@</bedside_table>\n",
-      "            )\n",
-      "            {\n",
-      "                matrix4d xformOp:transform = ( (1, 0, 0, 0), (0, 1, 0, 0), (0, 0, 1, 0), (0, 0, 0, 1) )\n",
-      "                uniform token[] xformOpOrder = [\"xformOp:transform\"]\n",
-      "\n",
-      "                over \"SM_Nachttisch\" (\n",
-      "                    prepend apiSchemas = [\"MaterialBindingAPI\"]\n",
-      "                )\n",
-      "                {\n",
-      "                    rel material:binding = </_materials/_Game_Materials_Laborraum_M_Nachttisch_M_Nachttisch>\n",
-      "                }\n",
-      "            }\n",
-      "\n",
-      "            def Xform \"bedside_table_collision_0\" (\n",
-      "                prepend apiSchemas = [\"PhysicsMassAPI\"]\n",
-      "            )\n",
-      "            {\n",
-      "                point3f physics:centerOfMass = (0, 0, 0)\n",
-      "                float physics:density = 100\n",
-      "                float3 physics:diagonalInertia = (-1.2604765, -1.0485914, 2.5133364)\n",
-      "                float physics:mass = 3.7580113\n",
-      "                quatf physics:principalAxes = (0.8530958, -0.3546561, 0.14690343, -0.35336372)\n",
-      "                matrix4d xformOp:transform = ( (0.156, 0, 0, 0), (0, 0.156, 0, 0), (0, 0, 0.23, 0), (0, 0, 0, 1) )\n",
-      "                uniform token[] xformOpOrder = [\"xformOp:transform\"]\n",
-      "\n",
-      "                def Cube \"Cube\" (\n",
-      "                    prepend apiSchemas = [\"PhysicsCollisionAPI\"]\n",
-      "                )\n",
-      "                {\n",
-      "                    float3[] extent = [(-1, -1, -1), (1, 1, 1)]\n",
-      "                    bool physics:collisionEnabled = 1\n",
-      "                    color3f[] primvars:displayColor = [(1, 0, 0)]\n",
-      "                    float[] primvars:displayOpacity = [0.5]\n",
-      "                }\n",
-      "            }\n",
-      "        }\n",
-      "    }\n",
-      "\n",
-      "    def Xform \"wardrobe_door_left\" (\n",
-      "        prepend apiSchemas = [\"PhysicsRigidBodyAPI\"]\n",
-      "    )\n",
-      "    {\n",
-      "        bool physics:rigidBodyEnabled = 1\n",
-      "        matrix4d xformOp:transform = ( (1, 0, 0, 0), (0, 1, 0, 0), (0, 0, 1, 0), (18.2336, 1.6169, 0, 1) )\n",
-      "        uniform token[] xformOpOrder = [\"xformOp:transform\"]\n",
-      "\n",
-      "        def Xform \"wardrobe_door_left_visual_0\" (\n",
-      "            prepend references = @./../meshes/usd/visual/wardrobe_door_left.usda@</wardrobe_door_left>\n",
-      "        )\n",
-      "        {\n",
-      "            matrix4d xformOp:transform = ( (1, 0, 0, 0), (0, 1, 0, 0), (0, 0, 1, 0), (0, 0, 0, 1) )\n",
-      "            uniform token[] xformOpOrder = [\"xformOp:transform\"]\n",
-      "\n",
-      "            over \"SM_Kleiderschrank_TurLinks\" (\n",
-      "                prepend apiSchemas = [\"MaterialBindingAPI\"]\n",
-      "            )\n",
-      "            {\n",
-      "                rel material:binding = </_materials/_Game_Materials_Laborraum_M_Metal_Chrome_M_Metal_Chrome>\n",
-      "\n",
-      "                over \"_Game_Materials_Laborraum_M_Metal_Chrome_M_Metal_Chrome\" (\n",
-      "                    prepend apiSchemas = [\"MaterialBindingAPI\"]\n",
-      "                )\n",
-      "                {\n",
-      "                    rel material:binding = </_materials/_Game_Materials_Laborraum_M_Metal_Chrome_M_Metal_Chrome>\n",
-      "                }\n",
-      "\n",
-      "                over \"_Game_Materials_Laborraum_M_Wood_Furniture_M_Wood_Furniture\" (\n",
-      "                    prepend apiSchemas = [\"MaterialBindingAPI\"]\n",
-      "                )\n",
-      "                {\n",
-      "                    rel material:binding = </_materials/_Game_Materials_Laborraum_M_Wood_Furniture_M_Wood_Furniture>\n",
-      "                }\n",
-      "            }\n",
-      "        }\n",
-      "\n",
-      "        def Xform \"wardrobe_door_left_collision_0\" (\n",
-      "            prepend apiSchemas = [\"PhysicsMassAPI\"]\n",
-      "        )\n",
-      "        {\n",
-      "            point3f physics:centerOfMass = (0, 0, 0)\n",
-      "            float physics:density = 100\n",
-      "            float3 physics:diagonalInertia = (-115.332214, -57.57123, 268.8571)\n",
-      "            float physics:mass = 1.0603696\n",
-      "            quatf physics:principalAxes = (0.19835447, 0.9767679, 0.041557975, 0.06966248)\n",
-      "            matrix4d xformOp:transform = ( (0.0064835, 0, 0, 0), (0, 0.247719, 0, 0), (0, 0, 0.82422, 0), (-0.006435, -0.2485, 0.975, 1) )\n",
-      "            uniform token[] xformOpOrder = [\"xformOp:transform\"]\n",
-      "\n",
-      "            def Cube \"Cube\" (\n",
-      "                prepend apiSchemas = [\"PhysicsCollisionAPI\"]\n",
-      "            )\n",
-      "            {\n",
-      "                float3[] extent = [(-1, -1, -1), (1, 1, 1)]\n",
-      "                bool physics:collisionEnabled = 1\n",
-      "                color3f[] primvars:displayColor = [(1, 0, 0)]\n",
-      "                float[] primvars:displayOpacity = [0.5]\n",
-      "            }\n",
-      "        }\n",
-      "\n",
-      "        def Xform \"wardrobe_door_left_handle\"\n",
-      "        {\n",
-      "            matrix4d xformOp:transform = ( (1, 0, 0, 0), (0, 1, 0, 0), (0, 0, 1, 0), (-0.032089, -0.460513, 0.973703, 1) )\n",
-      "            uniform token[] xformOpOrder = [\"xformOp:transform\"]\n",
-      "\n",
-      "            def Xform \"wardrobe_door_left_handle_visual_0\" (\n",
-      "                prepend references = @./../meshes/usd/visual/wardrobe_door_handle.usda@</wardrobe_door_handle>\n",
-      "            )\n",
-      "            {\n",
-      "                matrix4d xformOp:transform = ( (1, 0, 0, 0), (0, 1, 0, 0), (0, 0, 1, 0), (0, 0, 0, 1) )\n",
-      "                uniform token[] xformOpOrder = [\"xformOp:transform\"]\n",
-      "\n",
-      "                over \"SM_Kleiderschrank_GriffLinks\" (\n"
-     ]
-    },
-    {
-     "name": "stdout",
-     "output_type": "stream",
-     "text": [
-      "                    prepend apiSchemas = [\"MaterialBindingAPI\"]\n",
-      "                )\n",
-      "                {\n",
-      "                    rel material:binding = </_materials/_Game_Materials_Laborraum_M_Metal_Dark_M_Metal_Dark>\n",
-      "                }\n",
-      "            }\n",
-      "\n",
-      "            def Xform \"wardrobe_door_left_handle_collision_0\" (\n",
-      "                prepend apiSchemas = [\"PhysicsMassAPI\"]\n",
-      "            )\n",
-      "            {\n",
-      "                point3f physics:centerOfMass = (0, 0, 0)\n",
-      "                float physics:density = 100\n",
-      "                float3 physics:diagonalInertia = (-0.0013681294, -0.00085313024, 0.0027672204)\n",
-      "                float physics:mass = 0.0035238957\n",
-      "                quatf physics:principalAxes = (0.10190162, 0.99325514, 0.024122523, 0.04978378)\n",
-      "                matrix4d xformOp:transform = ( (0.016778, 0, 0, 0), (0, 0.007541, 0, 0), (0, 0, 0.0072935, 0), (0.010421, 0, 0.059003, 1) )\n",
-      "                uniform token[] xformOpOrder = [\"xformOp:transform\"]\n",
-      "\n",
-      "                def Cube \"Cube\" (\n",
-      "                    prepend apiSchemas = [\"PhysicsCollisionAPI\"]\n",
-      "                )\n",
-      "                {\n",
-      "                    float3[] extent = [(-1, -1, -1), (1, 1, 1)]\n",
-      "                    bool physics:collisionEnabled = 1\n",
-      "                    color3f[] primvars:displayColor = [(1, 0, 0)]\n",
-      "                    float[] primvars:displayOpacity = [0.5]\n",
-      "                }\n",
-      "            }\n",
-      "\n",
-      "            def Xform \"wardrobe_door_left_handle_collision_1\" (\n",
-      "                prepend apiSchemas = [\"PhysicsMassAPI\"]\n",
-      "            )\n",
-      "            {\n",
-      "                point3f physics:centerOfMass = (0, 0, 0)\n",
-      "                float physics:density = 100\n",
-      "                float3 physics:diagonalInertia = (-0.0013681294, -0.00085313024, 0.0027672204)\n",
-      "                float physics:mass = 0.0035238957\n",
-      "                quatf physics:principalAxes = (0.10190162, 0.99325514, 0.024122523, 0.04978378)\n",
-      "                matrix4d xformOp:transform = ( (0.007243, 0, 0, 0), (0, 0.007541, 0, 0), (0, 0, 0.065, 0), (-0.0136, 0, 0, 1) )\n",
-      "                uniform token[] xformOpOrder = [\"xformOp:transform\"]\n",
-      "\n",
-      "                def Cube \"Cube\" (\n",
-      "                    prepend apiSchemas = [\"PhysicsCollisionAPI\"]\n",
-      "                )\n",
-      "                {\n",
-      "                    float3[] extent = [(-1, -1, -1), (1, 1, 1)]\n",
-      "                    bool physics:collisionEnabled = 1\n",
-      "                    color3f[] primvars:displayColor = [(1, 0, 0)]\n",
-      "                    float[] primvars:displayOpacity = [0.5]\n",
-      "                }\n",
-      "            }\n",
-      "\n",
-      "            def Xform \"wardrobe_door_left_handle_collision_2\" (\n",
-      "                prepend apiSchemas = [\"PhysicsMassAPI\"]\n",
-      "            )\n",
-      "            {\n",
-      "                point3f physics:centerOfMass = (0, 0, 0)\n",
-      "                float physics:density = 100\n",
-      "                float3 physics:diagonalInertia = (-0.0013681294, -0.00085313024, 0.0027672204)\n",
-      "                float physics:mass = 0.0035238957\n",
-      "                quatf physics:principalAxes = (0.10190162, 0.99325514, 0.024122523, 0.04978378)\n",
-      "                matrix4d xformOp:transform = ( (0.016778, 0, 0, 0), (0, 0.007541, 0, 0), (0, 0, 0.0072935, 0), (0.010421, 0, -0.059003, 1) )\n",
-      "                uniform token[] xformOpOrder = [\"xformOp:transform\"]\n",
-      "\n",
-      "                def Cube \"Cube\" (\n",
-      "                    prepend apiSchemas = [\"PhysicsCollisionAPI\"]\n",
-      "                )\n",
-      "                {\n",
-      "                    float3[] extent = [(-1, -1, -1), (1, 1, 1)]\n",
-      "                    bool physics:collisionEnabled = 1\n",
-      "                    color3f[] primvars:displayColor = [(1, 0, 0)]\n",
-      "                    float[] primvars:displayOpacity = [0.5]\n",
-      "                }\n",
-      "            }\n",
-      "        }\n",
-      "    }\n",
-      "\n",
-      "    def Xform \"wardrobe_door_right\" (\n",
-      "        prepend apiSchemas = [\"PhysicsRigidBodyAPI\"]\n",
-      "    )\n",
-      "    {\n",
-      "        bool physics:rigidBodyEnabled = 1\n",
-      "        matrix4d xformOp:transform = ( (1, 0, 0, 0), (0, 1, 0, 0), (0, 0, 1, 0), (18.2336, 0.6169, 0, 1) )\n",
-      "        uniform token[] xformOpOrder = [\"xformOp:transform\"]\n",
-      "\n",
-      "        def Xform \"wardrobe_door_right_visual_0\" (\n",
-      "            prepend references = @./../meshes/usd/visual/wardrobe_door_right.usda@</wardrobe_door_right>\n",
-      "        )\n",
-      "        {\n",
-      "            matrix4d xformOp:transform = ( (1, 0, 0, 0), (0, 1, 0, 0), (0, 0, 1, 0), (0, 0, 0, 1) )\n",
-      "            uniform token[] xformOpOrder = [\"xformOp:transform\"]\n",
-      "\n",
-      "            over \"SM_Kleiderschrank_TurRechts\" (\n",
-      "                prepend apiSchemas = [\"MaterialBindingAPI\"]\n",
-      "            )\n",
-      "            {\n",
-      "                rel material:binding = </_materials/_Game_Materials_Laborraum_M_Metal_Chrome_M_Metal_Chrome>\n",
-      "\n",
-      "                over \"_Game_Materials_Laborraum_M_Metal_Chrome_M_Metal_Chrome\" (\n",
-      "                    prepend apiSchemas = [\"MaterialBindingAPI\"]\n",
-      "                )\n",
-      "                {\n",
-      "                    rel material:binding = </_materials/_Game_Materials_Laborraum_M_Metal_Chrome_M_Metal_Chrome>\n",
-      "                }\n",
-      "\n",
-      "                over \"_Game_Materials_Laborraum_M_Wood_Furniture_M_Wood_Furniture\" (\n",
-      "                    prepend apiSchemas = [\"MaterialBindingAPI\"]\n",
-      "                )\n",
-      "                {\n",
-      "                    rel material:binding = </_materials/_Game_Materials_Laborraum_M_Wood_Furniture_M_Wood_Furniture>\n",
-      "                }\n",
-      "            }\n",
-      "        }\n",
-      "\n",
-      "        def Xform \"wardrobe_door_right_collision_0\" (\n",
-      "            prepend apiSchemas = [\"PhysicsMassAPI\"]\n",
-      "        )\n",
-      "        {\n",
-      "            point3f physics:centerOfMass = (0, 0, 0)\n",
-      "            float physics:density = 100\n",
-      "            float3 physics:diagonalInertia = (-115.32243, -57.57943, 268.78146)\n",
-      "            float physics:mass = 1.0602248\n",
-      "            quatf physics:principalAxes = (0.19837707, 0.9767634, 0.04155812, 0.06966126)\n",
-      "            matrix4d xformOp:transform = ( (0.0064835, 0, 0, 0), (0, 0.247719, 0, 0), (0, 0, 0.82422, 0), (-0.006435, 0.2485, 0.975, 1) )\n",
-      "            uniform token[] xformOpOrder = [\"xformOp:transform\"]\n",
-      "\n",
-      "            def Cube \"Cube\" (\n",
-      "                prepend apiSchemas = [\"PhysicsCollisionAPI\"]\n",
-      "            )\n",
-      "            {\n",
-      "                float3[] extent = [(-1, -1, -1), (1, 1, 1)]\n",
-      "                bool physics:collisionEnabled = 1\n",
-      "                color3f[] primvars:displayColor = [(1, 0, 0)]\n",
-      "                float[] primvars:displayOpacity = [0.5]\n",
-      "            }\n",
-      "        }\n",
-      "\n",
-      "        def Xform \"wardrobe_door_right_handle\"\n",
-      "        {\n",
-      "            matrix4d xformOp:transform = ( (1, 0, 0, 0), (0, 1, 0, 0), (0, 0, 1, 0), (-0.032089, 0.460513, 0.973703, 1) )\n",
-      "            uniform token[] xformOpOrder = [\"xformOp:transform\"]\n",
-      "\n",
-      "            def Xform \"wardrobe_door_right_handle_visual_0\" (\n",
-      "                prepend references = @./../meshes/usd/visual/wardrobe_door_handle.usda@</wardrobe_door_handle>\n",
-      "            )\n",
-      "            {\n",
-      "                matrix4d xformOp:transform = ( (1, 0, 0, 0), (0, 1, 0, 0), (0, 0, 1, 0), (0, 0, 0, 1) )\n",
-      "                uniform token[] xformOpOrder = [\"xformOp:transform\"]\n",
-      "\n",
-      "                over \"SM_Kleiderschrank_GriffLinks\" (\n",
-      "                    prepend apiSchemas = [\"MaterialBindingAPI\"]\n",
-      "                )\n",
-      "                {\n",
-      "                    rel material:binding = </_materials/_Game_Materials_Laborraum_M_Metal_Dark_M_Metal_Dark>\n",
-      "                }\n",
-      "            }\n",
-      "\n",
-      "            def Xform \"wardrobe_door_right_handle_collision_0\" (\n",
-      "                prepend apiSchemas = [\"PhysicsMassAPI\"]\n",
-      "            )\n",
-      "            {\n",
-      "                point3f physics:centerOfMass = (0, 0, 0)\n",
-      "                float physics:density = 100\n",
-      "                float3 physics:diagonalInertia = (-115.32243, -57.57943, 268.78146)\n",
-      "                float physics:mass = 1.0602248\n",
-      "                quatf physics:principalAxes = (0.19837707, 0.9767634, 0.04155812, 0.06966126)\n",
-      "                matrix4d xformOp:transform = ( (0.016778, 0, 0, 0), (0, 0.007541, 0, 0), (0, 0, 0.0072935, 0), (0.010421, 0, 0.059003, 1) )\n",
-      "                uniform token[] xformOpOrder = [\"xformOp:transform\"]\n",
-      "\n",
-      "                def Cube \"Cube\" (\n",
-      "                    prepend apiSchemas = [\"PhysicsCollisionAPI\"]\n",
-      "                )\n",
-      "                {\n",
-      "                    float3[] extent = [(-1, -1, -1), (1, 1, 1)]\n",
-      "                    bool physics:collisionEnabled = 1\n",
-      "                    color3f[] primvars:displayColor = [(1, 0, 0)]\n",
-      "                    float[] primvars:displayOpacity = [0.5]\n",
-      "                }\n",
-      "            }\n",
-      "\n",
-      "            def Xform \"wardrobe_door_right_handle_collision_1\" (\n"
-     ]
-    },
-    {
-     "name": "stdout",
-     "output_type": "stream",
-     "text": [
-      "                prepend apiSchemas = [\"PhysicsMassAPI\"]\n",
-      "            )\n",
-      "            {\n",
-      "                point3f physics:centerOfMass = (0, 0, 0)\n",
-      "                float physics:density = 100\n",
-      "                float3 physics:diagonalInertia = (-115.32243, -57.57943, 268.78146)\n",
-      "                float physics:mass = 1.0602248\n",
-      "                quatf physics:principalAxes = (0.19837707, 0.9767634, 0.04155812, 0.06966126)\n",
-      "                matrix4d xformOp:transform = ( (0.007243, 0, 0, 0), (0, 0.007541, 0, 0), (0, 0, 0.065, 0), (-0.0136, 0, 0, 1) )\n",
-      "                uniform token[] xformOpOrder = [\"xformOp:transform\"]\n",
-      "\n",
-      "                def Cube \"Cube\" (\n",
-      "                    prepend apiSchemas = [\"PhysicsCollisionAPI\"]\n",
-      "                )\n",
-      "                {\n",
-      "                    float3[] extent = [(-1, -1, -1), (1, 1, 1)]\n",
-      "                    bool physics:collisionEnabled = 1\n",
-      "                    color3f[] primvars:displayColor = [(1, 0, 0)]\n",
-      "                    float[] primvars:displayOpacity = [0.5]\n",
-      "                }\n",
-      "            }\n",
-      "\n",
-      "            def Xform \"wardrobe_door_right_handle_collision_2\" (\n",
-      "                prepend apiSchemas = [\"PhysicsMassAPI\"]\n",
-      "            )\n",
-      "            {\n",
-      "                point3f physics:centerOfMass = (0, 0, 0)\n",
-      "                float physics:density = 100\n",
-      "                float3 physics:diagonalInertia = (-115.32243, -57.57943, 268.78146)\n",
-      "                float physics:mass = 1.0602248\n",
-      "                quatf physics:principalAxes = (0.19837707, 0.9767634, 0.04155812, 0.06966126)\n",
-      "                matrix4d xformOp:transform = ( (0.016778, 0, 0, 0), (0, 0.007541, 0, 0), (0, 0, 0.0072935, 0), (0.010421, 0, -0.059003, 1) )\n",
-      "                uniform token[] xformOpOrder = [\"xformOp:transform\"]\n",
-      "\n",
-      "                def Cube \"Cube\" (\n",
-      "                    prepend apiSchemas = [\"PhysicsCollisionAPI\"]\n",
-      "                )\n",
-      "                {\n",
-      "                    float3[] extent = [(-1, -1, -1), (1, 1, 1)]\n",
-      "                    bool physics:collisionEnabled = 1\n",
-      "                    color3f[] primvars:displayColor = [(1, 0, 0)]\n",
-      "                    float[] primvars:displayOpacity = [0.5]\n",
-      "                }\n",
-      "            }\n",
-      "        }\n",
-      "    }\n",
-      "\n",
-      "    def Xform \"coffee_table_drawer\" (\n",
-      "        prepend apiSchemas = [\"PhysicsRigidBodyAPI\"]\n",
-      "    )\n",
-      "    {\n",
-      "        bool physics:rigidBodyEnabled = 1\n",
-      "        matrix4d xformOp:transform = ( (-0.0000036732051031940216, 0.9999999999932537, 0, 0), (-0.9999999999932537, -0.0000036732051031940216, 0, 0), (0, 0, 1, 0), (16.653399999999998, 2.77957, 0, 1) )\n",
-      "        uniform token[] xformOpOrder = [\"xformOp:transform\"]\n",
-      "\n",
-      "        def Xform \"coffee_table_drawer_visual_0\" (\n",
-      "            prepend references = @./../meshes/usd/visual/coffee_table_drawer.usda@</coffee_table_drawer>\n",
-      "        )\n",
-      "        {\n",
-      "            matrix4d xformOp:transform = ( (1, 0, 0, 0), (0, 1, 0, 0), (0, 0, 1, 0), (0, 0, 0, 1) )\n",
-      "            uniform token[] xformOpOrder = [\"xformOp:transform\"]\n",
-      "\n",
-      "            over \"SM_Couchtisch_Schublade\" (\n",
-      "                prepend apiSchemas = [\"MaterialBindingAPI\"]\n",
-      "            )\n",
-      "            {\n",
-      "                rel material:binding = </_materials/_Game_Materials_Laborraum_M_Wood_Furniture_M_Wood_Furniture>\n",
-      "            }\n",
-      "        }\n",
-      "\n",
-      "        def Xform \"coffee_table_drawer_collision_0\" (\n",
-      "            prepend apiSchemas = [\"PhysicsMassAPI\"]\n",
-      "        )\n",
-      "        {\n",
-      "            point3f physics:centerOfMass = (0, 0, 0)\n",
-      "            float physics:density = 100\n",
-      "            float3 physics:diagonalInertia = (-5.339381, -3.7494364, 14.008721)\n",
-      "            float physics:mass = 1.4823239\n",
-      "            quatf physics:principalAxes = (-0.13019295, 0.9778988, -0.089226015, -0.13712206)\n",
-      "            matrix4d xformOp:transform = ( (0.0107, 0, 0, 0), (0, 0.198, 0, 0), (0, 0, 0.157845, 0), (-0.338806, 0, 0.21892, 1) )\n",
-      "            uniform token[] xformOpOrder = [\"xformOp:transform\"]\n",
-      "\n",
-      "            def Cube \"Cube\" (\n",
-      "                prepend apiSchemas = [\"PhysicsCollisionAPI\"]\n",
-      "            )\n",
-      "            {\n",
-      "                float3[] extent = [(-1, -1, -1), (1, 1, 1)]\n",
-      "                bool physics:collisionEnabled = 1\n",
-      "                color3f[] primvars:displayColor = [(1, 0, 0)]\n",
-      "                float[] primvars:displayOpacity = [0.5]\n",
-      "            }\n",
-      "        }\n",
-      "\n",
-      "        def Xform \"coffee_table_drawer_collision_1\" (\n",
-      "            prepend apiSchemas = [\"PhysicsMassAPI\"]\n",
-      "        )\n",
-      "        {\n",
-      "            point3f physics:centerOfMass = (0, 0, 0)\n",
-      "            float physics:density = 100\n",
-      "            float3 physics:diagonalInertia = (-5.339381, -3.7494364, 14.008721)\n",
-      "            float physics:mass = 1.4823239\n",
-      "            quatf physics:principalAxes = (-0.13019295, 0.9778988, -0.089226015, -0.13712206)\n",
-      "            matrix4d xformOp:transform = ( (0.27605, 0, 0, 0), (0, 0.1727, 0, 0), (0, 0, 0.01072, 0), (-0.051066, 0, 0.107979, 1) )\n",
-      "            uniform token[] xformOpOrder = [\"xformOp:transform\"]\n",
-      "\n",
-      "            def Cube \"Cube\" (\n",
-      "                prepend apiSchemas = [\"PhysicsCollisionAPI\"]\n",
-      "            )\n",
-      "            {\n",
-      "                float3[] extent = [(-1, -1, -1), (1, 1, 1)]\n",
-      "                bool physics:collisionEnabled = 1\n",
-      "                color3f[] primvars:displayColor = [(1, 0, 0)]\n",
-      "                float[] primvars:displayOpacity = [0.5]\n",
-      "            }\n",
-      "        }\n",
-      "\n",
-      "        def Xform \"coffee_table_drawer_collision_2\" (\n",
-      "            prepend apiSchemas = [\"PhysicsMassAPI\"]\n",
-      "        )\n",
-      "        {\n",
-      "            point3f physics:centerOfMass = (0, 0, 0)\n",
-      "            float physics:density = 100\n",
-      "            float3 physics:diagonalInertia = (-5.339381, -3.7494364, 14.008721)\n",
-      "            float physics:mass = 1.4823239\n",
-      "            quatf physics:principalAxes = (-0.13019295, 0.9778988, -0.089226015, -0.13712206)\n",
-      "            matrix4d xformOp:transform = ( (0.0107, 0, 0, 0), (0, 0.1743, 0, 0), (0, 0, 0.1199, 0), (0.207974, 0, 0.238907, 1) )\n",
-      "            uniform token[] xformOpOrder = [\"xformOp:transform\"]\n",
-      "\n",
-      "            def Cube \"Cube\" (\n",
-      "                prepend apiSchemas = [\"PhysicsCollisionAPI\"]\n",
-      "            )\n",
-      "            {\n",
-      "                float3[] extent = [(-1, -1, -1), (1, 1, 1)]\n",
-      "                bool physics:collisionEnabled = 1\n",
-      "                color3f[] primvars:displayColor = [(1, 0, 0)]\n",
-      "                float[] primvars:displayOpacity = [0.5]\n",
-      "            }\n",
-      "        }\n",
-      "\n",
-      "        def Xform \"coffee_table_drawer_collision_3\" (\n",
-      "            prepend apiSchemas = [\"PhysicsMassAPI\"]\n",
-      "        )\n",
-      "        {\n",
-      "            point3f physics:centerOfMass = (0, 0, 0)\n",
-      "            float physics:density = 100\n",
-      "            float3 physics:diagonalInertia = (-5.339381, -3.7494364, 14.008721)\n",
-      "            float physics:mass = 1.4823239\n",
-      "            quatf physics:principalAxes = (-0.13019295, 0.9778988, -0.089226015, -0.13712206)\n",
-      "            matrix4d xformOp:transform = ( (0.27605, 0, 0, 0), (0, 0.0107, 0, 0), (0, 0, 0.132125, 0), (-0.051066, -0.186206, 0.226597, 1) )\n",
-      "            uniform token[] xformOpOrder = [\"xformOp:transform\"]\n",
-      "\n",
-      "            def Cube \"Cube\" (\n",
-      "                prepend apiSchemas = [\"PhysicsCollisionAPI\"]\n",
-      "            )\n",
-      "            {\n",
-      "                float3[] extent = [(-1, -1, -1), (1, 1, 1)]\n",
-      "                bool physics:collisionEnabled = 1\n",
-      "                color3f[] primvars:displayColor = [(1, 0, 0)]\n",
-      "                float[] primvars:displayOpacity = [0.5]\n",
-      "            }\n",
-      "        }\n",
-      "\n",
-      "        def Xform \"coffee_table_drawer_collision_4\" (\n",
-      "            prepend apiSchemas = [\"PhysicsMassAPI\"]\n",
-      "        )\n",
-      "        {\n",
-      "            point3f physics:centerOfMass = (0, 0, 0)\n",
-      "            float physics:density = 100\n",
-      "            float3 physics:diagonalInertia = (-5.339381, -3.7494364, 14.008721)\n",
-      "            float physics:mass = 1.4823239\n",
-      "            quatf physics:principalAxes = (-0.13019295, 0.9778988, -0.089226015, -0.13712206)\n",
-      "            matrix4d xformOp:transform = ( (0.27605, 0, 0, 0), (0, 0.0107, 0, 0), (0, 0, 0.132125, 0), (-0.051066, 0.186206, 0.226597, 1) )\n",
-      "            uniform token[] xformOpOrder = [\"xformOp:transform\"]\n",
-      "\n",
-      "            def Cube \"Cube\" (\n",
-      "                prepend apiSchemas = [\"PhysicsCollisionAPI\"]\n",
-      "            )\n",
-      "            {\n",
-      "                float3[] extent = [(-1, -1, -1), (1, 1, 1)]\n",
-      "                bool physics:collisionEnabled = 1\n",
-      "                color3f[] primvars:displayColor = [(1, 0, 0)]\n",
-      "                float[] primvars:displayOpacity = [0.5]\n",
-      "            }\n",
-      "        }\n"
-     ]
-    },
-    {
-     "name": "stdout",
-     "output_type": "stream",
-     "text": [
-      "    }\n",
-      "\n",
-      "    def Xform \"kitchen_root\"\n",
-      "    {\n",
-      "        matrix4d xformOp:transform = ( (1, 0, 0, 0), (0, 1, 0, 0), (0, 0, 1, 0), (0, 0, 0, 1) )\n",
-      "        uniform token[] xformOpOrder = [\"xformOp:transform\"]\n",
-      "\n",
-      "        def Xform \"kitchen1_root\"\n",
-      "        {\n",
-      "            matrix4d xformOp:transform = ( (1, 0, 0, 0), (0, 1, 0, 0), (0, 0, 1, 0), (0, 0, 0, 1) )\n",
-      "            uniform token[] xformOpOrder = [\"xformOp:transform\"]\n",
-      "\n",
-      "            def Xform \"cabinet1\"\n",
-      "            {\n",
-      "                matrix4d xformOp:transform = ( (-1, 1.2246467991473532e-16, 0, 0), (-1.2246467991473532e-16, -1, 0, 0), (0, 0, 1, 0), (0.28463219, 1.46675873, 1.11440605, 1) )\n",
-      "                uniform token[] xformOpOrder = [\"xformOp:transform\"]\n",
-      "\n",
-      "                def Xform \"cabinet1_visual_0\" (\n",
-      "                    prepend references = @./../meshes/usd/visual/SM_Kitchen_01_Base.usda@</SM_Kitchen_01_Base>\n",
-      "                )\n",
-      "                {\n",
-      "                    matrix4d xformOp:transform = ( (1, 0, 0, 0), (0, 1, 0, 0), (0, 0, 1, 0), (0, 0, 0, 1) )\n",
-      "                    uniform token[] xformOpOrder = [\"xformOp:transform\"]\n",
-      "\n",
-      "                    over \"SM_Kitchen_01_Base\" (\n",
-      "                        prepend apiSchemas = [\"MaterialBindingAPI\"]\n",
-      "                    )\n",
-      "                    {\n",
-      "                        rel material:binding = </_materials/_Game_Materials_Laborraum_M_Kitchen_Fronts_M_Kitchen_Fronts_002>\n",
-      "\n",
-      "                        over \"_Game_Materials_Laborraum_M_Rubber_Plastic_M_Rubber_Plastic\" (\n",
-      "                            prepend apiSchemas = [\"MaterialBindingAPI\"]\n",
-      "                        )\n",
-      "                        {\n",
-      "                            rel material:binding = </_materials/_Game_Materials_Laborraum_M_Rubber_Plastic_M_Rubber_Plastic>\n",
-      "                        }\n",
-      "\n",
-      "                        over \"_Game_Materials_Laborraum_M_Plastic_White_M_Plastic_White\" (\n",
-      "                            prepend apiSchemas = [\"MaterialBindingAPI\"]\n",
-      "                        )\n",
-      "                        {\n",
-      "                            rel material:binding = </_materials/_Game_Materials_Laborraum_M_Plastic_White_M_Plastic_White>\n",
-      "                        }\n",
-      "\n",
-      "                        over \"_Game_Materials_Laborraum_M_Kitchen_Fronts_M_Kitchen_Fronts_002\" (\n",
-      "                            prepend apiSchemas = [\"MaterialBindingAPI\"]\n",
-      "                        )\n",
-      "                        {\n",
-      "                            rel material:binding = </_materials/_Game_Materials_Laborraum_M_Kitchen_Fronts_M_Kitchen_Fronts_002>\n",
-      "                        }\n",
-      "                    }\n",
-      "                }\n",
-      "\n",
-      "                def Xform \"cabinet1_collision_0\" (\n",
-      "                    prepend apiSchemas = [\"PhysicsMassAPI\"]\n",
-      "                )\n",
-      "                {\n",
-      "                    point3f physics:centerOfMass = (0, 0, 0)\n",
-      "                    float physics:density = 100\n",
-      "                    float3 physics:diagonalInertia = (-407.91794, -322.38647, 687.5089)\n",
-      "                    float physics:mass = 1.938917\n",
-      "                    quatf physics:principalAxes = (0.108798645, 0.9280353, 0.3021072, -0.18879761)\n",
-      "                    matrix4d xformOp:transform = ( (0.27747, 0, 0, 0), (0, 0.0095, 0, 0), (0, 0, 1.06389, 0), (0.010499, -0.3, 0.05, 1) )\n",
-      "                    uniform token[] xformOpOrder = [\"xformOp:transform\"]\n",
-      "\n",
-      "                    def Cube \"Cube\" (\n",
-      "                        prepend apiSchemas = [\"PhysicsCollisionAPI\"]\n",
-      "                    )\n",
-      "                    {\n",
-      "                        float3[] extent = [(-1, -1, -1), (1, 1, 1)]\n",
-      "                        bool physics:collisionEnabled = 1\n",
-      "                        color3f[] primvars:displayColor = [(1, 0, 0)]\n",
-      "                        float[] primvars:displayOpacity = [0.5]\n",
-      "                    }\n",
-      "                }\n",
-      "\n",
-      "                def Xform \"cabinet1_collision_1\" (\n",
-      "                    prepend apiSchemas = [\"PhysicsMassAPI\"]\n",
-      "                )\n",
-      "                {\n",
-      "                    point3f physics:centerOfMass = (0, 0, 0)\n",
-      "                    float physics:density = 100\n",
-      "                    float3 physics:diagonalInertia = (-407.91794, -322.38647, 687.5089)\n",
-      "                    float physics:mass = 1.938917\n",
-      "                    quatf physics:principalAxes = (0.108798645, 0.9280353, 0.3021072, -0.18879761)\n",
-      "                    matrix4d xformOp:transform = ( (0.27747, 0, 0, 0), (0, 0.0095, 0, 0), (0, 0, 1.06389, 0), (0.010499, 0.280469, 0.05, 1) )\n",
-      "                    uniform token[] xformOpOrder = [\"xformOp:transform\"]\n",
-      "\n",
-      "                    def Cube \"Cube\" (\n",
-      "                        prepend apiSchemas = [\"PhysicsCollisionAPI\"]\n",
-      "                    )\n",
-      "                    {\n",
-      "                        float3[] extent = [(-1, -1, -1), (1, 1, 1)]\n",
-      "                        bool physics:collisionEnabled = 1\n",
-      "                        color3f[] primvars:displayColor = [(1, 0, 0)]\n",
-      "                        float[] primvars:displayOpacity = [0.5]\n",
-      "                    }\n",
-      "                }\n",
-      "\n",
-      "                def Xform \"cabinet1_collision_2\" (\n",
-      "                    prepend apiSchemas = [\"PhysicsMassAPI\"]\n",
-      "                )\n",
-      "                {\n",
-      "                    point3f physics:centerOfMass = (0, 0, 0)\n",
-      "                    float physics:density = 100\n",
-      "                    float3 physics:diagonalInertia = (-407.91794, -322.38647, 687.5089)\n",
-      "                    float physics:mass = 1.938917\n",
-      "                    quatf physics:principalAxes = (0.108798645, 0.9280353, 0.3021072, -0.18879761)\n",
-      "                    matrix4d xformOp:transform = ( (0.004, 0, 0, 0), (0, 0.280969, 0, 0), (0, 0, 1.05589, 0), (0.271973, -0.009901, 0.041995, 1) )\n",
-      "                    uniform token[] xformOpOrder = [\"xformOp:transform\"]\n",
-      "\n",
-      "                    def Cube \"Cube\" (\n",
-      "                        prepend apiSchemas = [\"PhysicsCollisionAPI\"]\n",
-      "                    )\n",
-      "                    {\n",
-      "                        float3[] extent = [(-1, -1, -1), (1, 1, 1)]\n",
-      "                        bool physics:collisionEnabled = 1\n",
-      "                        color3f[] primvars:displayColor = [(1, 0, 0)]\n",
-      "                        float[] primvars:displayOpacity = [0.5]\n",
-      "                    }\n",
-      "                }\n",
-      "\n",
-      "                def Xform \"cabinet1_collision_3\" (\n",
-      "                    prepend apiSchemas = [\"PhysicsMassAPI\"]\n",
-      "                )\n",
-      "                {\n",
-      "                    point3f physics:centerOfMass = (0, 0, 0)\n",
-      "                    float physics:density = 100\n",
-      "                    float3 physics:diagonalInertia = (-407.91794, -322.38647, 687.5089)\n",
-      "                    float physics:mass = 1.938917\n",
-      "                    quatf physics:principalAxes = (0.108798645, 0.9280353, 0.3021072, -0.18879761)\n",
-      "                    matrix4d xformOp:transform = ( (0.287969, 0, 0, 0), (0, 0.01046, 0, 0), (0, 0, 1.11388, 0), (0, 0.299967, 0, 1) )\n",
-      "                    uniform token[] xformOpOrder = [\"xformOp:transform\"]\n",
-      "\n",
-      "                    def Cube \"Cube\" (\n",
-      "                        prepend apiSchemas = [\"PhysicsCollisionAPI\"]\n",
-      "                    )\n",
-      "                    {\n",
-      "                        float3[] extent = [(-1, -1, -1), (1, 1, 1)]\n",
-      "                        bool physics:collisionEnabled = 1\n",
-      "                        color3f[] primvars:displayColor = [(1, 0, 0)]\n",
-      "                        float[] primvars:displayOpacity = [0.5]\n",
-      "                    }\n",
-      "                }\n",
-      "\n",
-      "                def Xform \"cabinet1_collision_4\" (\n",
-      "                    prepend apiSchemas = [\"PhysicsMassAPI\"]\n",
-      "                )\n",
-      "                {\n",
-      "                    point3f physics:centerOfMass = (0, 0, 0)\n",
-      "                    float physics:density = 100\n",
-      "                    float3 physics:diagonalInertia = (-407.91794, -322.38647, 687.5089)\n",
-      "                    float physics:mass = 1.938917\n",
-      "                    quatf physics:principalAxes = (0.108798645, 0.9280353, 0.3021072, -0.18879761)\n",
-      "                    matrix4d xformOp:transform = ( (0.008, 0, 0, 0), (0, 0.280969, 0, 0), (0, 0, 0.032, 0), (-0.254976, -0.009901, 1.06578, 1) )\n",
-      "                    uniform token[] xformOpOrder = [\"xformOp:transform\"]\n",
-      "\n",
-      "                    def Cube \"Cube\" (\n",
-      "                        prepend apiSchemas = [\"PhysicsCollisionAPI\"]\n",
-      "                    )\n",
-      "                    {\n",
-      "                        float3[] extent = [(-1, -1, -1), (1, 1, 1)]\n",
-      "                        bool physics:collisionEnabled = 1\n",
-      "                        color3f[] primvars:displayColor = [(1, 0, 0)]\n"
-     ]
-    },
-    {
-     "name": "stdout",
-     "output_type": "stream",
-     "text": [
-      "                        float[] primvars:displayOpacity = [0.5]\n",
-      "                    }\n",
-      "                }\n",
-      "\n",
-      "                def Xform \"cabinet1_collision_5\" (\n",
-      "                    prepend apiSchemas = [\"PhysicsMassAPI\"]\n",
-      "                )\n",
-      "                {\n",
-      "                    point3f physics:centerOfMass = (0, 0, 0)\n",
-      "                    float physics:density = 100\n",
-      "                    float3 physics:diagonalInertia = (-407.91794, -322.38647, 687.5089)\n",
-      "                    float physics:mass = 1.938917\n",
-      "                    quatf physics:principalAxes = (0.108798645, 0.9280353, 0.3021072, -0.18879761)\n",
-      "                    matrix4d xformOp:transform = ( (0.270471, 0, 0, 0), (0, 0.280969, 0, 0), (0, 0, 0.008, 0), (0.0055, -0.009901, 1.10578, 1) )\n",
-      "                    uniform token[] xformOpOrder = [\"xformOp:transform\"]\n",
-      "\n",
-      "                    def Cube \"Cube\" (\n",
-      "                        prepend apiSchemas = [\"PhysicsCollisionAPI\"]\n",
-      "                    )\n",
-      "                    {\n",
-      "                        float3[] extent = [(-1, -1, -1), (1, 1, 1)]\n",
-      "                        bool physics:collisionEnabled = 1\n",
-      "                        color3f[] primvars:displayColor = [(1, 0, 0)]\n",
-      "                        float[] primvars:displayOpacity = [0.5]\n",
-      "                    }\n",
-      "                }\n",
-      "\n",
-      "                def Xform \"cabinet1_collision_6\" (\n",
-      "                    prepend apiSchemas = [\"PhysicsMassAPI\"]\n",
-      "                )\n",
-      "                {\n",
-      "                    point3f physics:centerOfMass = (0, 0, 0)\n",
-      "                    float physics:density = 100\n",
-      "                    float3 physics:diagonalInertia = (-407.91794, -322.38647, 687.5089)\n",
-      "                    float physics:mass = 1.938917\n",
-      "                    quatf physics:principalAxes = (0.108798645, 0.9280353, 0.3021072, -0.18879761)\n",
-      "                    matrix4d xformOp:transform = ( (0.270471, 0, 0, 0), (0, 0.280969, 0, 0), (0, 0, 0.0075, 0), (0.0005, -0.009901, 0.249501, 1) )\n",
-      "                    uniform token[] xformOpOrder = [\"xformOp:transform\"]\n",
-      "\n",
-      "                    def Cube \"Cube\" (\n",
-      "                        prepend apiSchemas = [\"PhysicsCollisionAPI\"]\n",
-      "                    )\n",
-      "                    {\n",
-      "                        float3[] extent = [(-1, -1, -1), (1, 1, 1)]\n",
-      "                        bool physics:collisionEnabled = 1\n",
-      "                        color3f[] primvars:displayColor = [(1, 0, 0)]\n",
-      "                        float[] primvars:displayOpacity = [0.5]\n",
-      "                    }\n",
-      "                }\n",
-      "\n",
-      "                def Xform \"cabinet1_shelf1\"\n",
-      "                {\n",
-      "                    matrix4d xformOp:transform = ( (1, 0, 0, 0), (0, 1, 0, 0), (0, 0, 1, 0), (0.009901, 0.0005, 0.56, 1) )\n",
-      "                    uniform token[] xformOpOrder = [\"xformOp:transform\"]\n",
-      "\n",
-      "                    def Xform \"cabinet1_shelf1_visual_0\"\n",
-      "                    {\n",
-      "                        matrix4d xformOp:transform = ( (0.280969, 0, 0, 0), (0, 0.267471, 0, 0), (0, 0, 0.0075, 0), (0, 0, 0, 1) )\n",
-      "                        uniform token[] xformOpOrder = [\"xformOp:transform\"]\n",
-      "\n",
-      "                        def Cube \"Cube\"\n",
-      "                        {\n",
-      "                            float3[] extent = [(-1, -1, -1), (1, 1, 1)]\n",
-      "                        }\n",
-      "                    }\n",
-      "\n",
-      "                    def Xform \"cabinet1_shelf1_collision_0\" (\n",
-      "                        prepend apiSchemas = [\"PhysicsMassAPI\"]\n",
-      "                    )\n",
-      "                    {\n",
-      "                        point3f physics:centerOfMass = (0, 0, 0)\n",
-      "                        float physics:density = 100\n",
-      "                        float3 physics:diagonalInertia = (-407.91794, -322.38647, 687.5089)\n",
-      "                        float physics:mass = 1.938917\n",
-      "                        quatf physics:principalAxes = (0.108798645, 0.9280353, 0.3021072, -0.18879761)\n",
-      "                        matrix4d xformOp:transform = ( (0.280969, 0, 0, 0), (0, 0.267471, 0, 0), (0, 0, 0.0075, 0), (0, 0, 0, 1) )\n",
-      "                        uniform token[] xformOpOrder = [\"xformOp:transform\"]\n",
-      "\n",
-      "                        def Cube \"Cube\" (\n",
-      "                            prepend apiSchemas = [\"PhysicsCollisionAPI\"]\n",
-      "                        )\n",
-      "                        {\n",
-      "                            float3[] extent = [(-1, -1, -1), (1, 1, 1)]\n",
-      "                            bool physics:collisionEnabled = 1\n",
-      "                            color3f[] primvars:displayColor = [(1, 0, 0)]\n",
-      "                            float[] primvars:displayOpacity = [0.5]\n",
-      "                        }\n",
-      "                    }\n",
-      "                }\n",
-      "\n",
-      "                def Xform \"cabinet1_shelf2\"\n",
-      "                {\n",
-      "                    matrix4d xformOp:transform = ( (1, 0, 0, 0), (0, 1, 0, 0), (0, 0, 1, 0), (0.009901, 0.0005, 0.249501, 1) )\n",
-      "                    uniform token[] xformOpOrder = [\"xformOp:transform\"]\n",
-      "\n",
-      "                    def Xform \"cabinet1_shelf2_visual_0\"\n",
-      "                    {\n",
-      "                        matrix4d xformOp:transform = ( (0.280969, 0, 0, 0), (0, 0.267471, 0, 0), (0, 0, 0.0075, 0), (0, 0, 0, 1) )\n",
-      "                        uniform token[] xformOpOrder = [\"xformOp:transform\"]\n",
-      "\n",
-      "                        def Cube \"Cube\"\n",
-      "                        {\n",
-      "                            float3[] extent = [(-1, -1, -1), (1, 1, 1)]\n",
-      "                        }\n",
-      "                    }\n",
-      "\n",
-      "                    def Xform \"cabinet1_shelf2_collision_0\" (\n",
-      "                        prepend apiSchemas = [\"PhysicsMassAPI\"]\n",
-      "                    )\n",
-      "                    {\n",
-      "                        point3f physics:centerOfMass = (0, 0, 0)\n",
-      "                        float physics:density = 100\n",
-      "                        float3 physics:diagonalInertia = (-407.91794, -322.38647, 687.5089)\n",
-      "                        float physics:mass = 1.938917\n",
-      "                        quatf physics:principalAxes = (0.108798645, 0.9280353, 0.3021072, -0.18879761)\n",
-      "                        matrix4d xformOp:transform = ( (0.267471, 0, 0, 0), (0, 0.280969, 0, 0), (0, 0, 0.0075, 0), (0, 0, 0, 1) )\n",
-      "                        uniform token[] xformOpOrder = [\"xformOp:transform\"]\n",
-      "\n",
-      "                        def Cube \"Cube\" (\n",
-      "                            prepend apiSchemas = [\"PhysicsCollisionAPI\"]\n",
-      "                        )\n",
-      "                        {\n",
-      "                            float3[] extent = [(-1, -1, -1), (1, 1, 1)]\n",
-      "                            bool physics:collisionEnabled = 1\n",
-      "                            color3f[] primvars:displayColor = [(1, 0, 0)]\n",
-      "                            float[] primvars:displayOpacity = [0.5]\n",
-      "                        }\n",
-      "                    }\n",
-      "                }\n",
-      "\n",
-      "                def PhysicsRevoluteJoint \"cabinet1_door_joint\"\n",
-      "                {\n",
-      "                    uniform token physics:axis = \"Z\"\n",
-      "                    rel physics:body0 = </apartment_root/kitchen_root/kitchen1_root/cabinet1>\n",
-      "                    rel physics:body1 = </apartment_root/cabinet1_door>\n",
-      "                    bool physics:collisionEnabled = 0\n",
-      "                    point3f physics:localPos0 = (-0.28, 0.28, 0.677)\n",
-      "                    point3f physics:localPos1 = (0, 0, 0)\n",
-      "                    quatf physics:localRot0 = (0, 0, 1, 0)\n",
-      "                    quatf physics:localRot1 = (0, 0, 1, 0)\n",
-      "                    float physics:lowerLimit = 0\n",
-      "                    float physics:upperLimit = 90\n",
-      "                }\n",
-      "\n",
-      "                def PhysicsPrismaticJoint \"cabinet1_drawer1_joint\"\n",
-      "                {\n",
-      "                    uniform token physics:axis = \"Z\"\n",
-      "                    rel physics:body0 = </apartment_root/kitchen_root/kitchen1_root/cabinet1>\n",
-      "                    rel physics:body1 = </apartment_root/cabinet1_drawer1>\n",
-      "                    bool physics:collisionEnabled = 0\n",
-      "                    point3f physics:localPos0 = (-0.04679018, -0.01122015, -0.48658508)\n",
-      "                    point3f physics:localPos1 = (0, 0, 0)\n",
-      "                    quatf physics:localRot0 = (0.7071068, 0, -0.7071068, 0)\n",
-      "                    quatf physics:localRot1 = (0.7071068, 0, -0.7071068, 0)\n",
-      "                    float physics:lowerLimit = 0\n",
-      "                    float physics:upperLimit = 0.45\n",
-      "                }\n",
-      "\n",
-      "                def PhysicsPrismaticJoint \"cabinet1_drawer2_joint\"\n",
-      "                {\n",
-      "                    uniform token physics:axis = \"Z\"\n",
-      "                    rel physics:body0 = </apartment_root/kitchen_root/kitchen1_root/cabinet1>\n",
-      "                    rel physics:body1 = </apartment_root/cabinet1_drawer2>\n"
-     ]
-    },
-    {
-     "name": "stdout",
-     "output_type": "stream",
-     "text": [
-      "                    bool physics:collisionEnabled = 0\n",
-      "                    point3f physics:localPos0 = (-0.046, -0.011, -0.816)\n",
-      "                    point3f physics:localPos1 = (0, 0, 0)\n",
-      "                    quatf physics:localRot0 = (0.7071068, 0, -0.7071068, 0)\n",
-      "                    quatf physics:localRot1 = (0.7071068, 0, -0.7071068, 0)\n",
-      "                    float physics:lowerLimit = 0\n",
-      "                    float physics:upperLimit = 0.45\n",
-      "                }\n",
-      "\n",
-      "                def Xform \"oven\"\n",
-      "                {\n",
-      "                    matrix4d xformOp:transform = ( (1, 0, 0, 0), (0, 1, 0, 0), (0, 0, 1, 0), (-0.27395857, -0.0123597, -0.3426725, 1) )\n",
-      "                    uniform token[] xformOpOrder = [\"xformOp:transform\"]\n",
-      "\n",
-      "                    def Xform \"oven_visual_0\" (\n",
-      "                        prepend references = @./../meshes/usd/visual/SM_Oven.usda@</SM_Oven>\n",
-      "                    )\n",
-      "                    {\n",
-      "                        matrix4d xformOp:transform = ( (1, 0, 0, 0), (0, 1, 0, 0), (0, 0, 1, 0), (0, 0, 0, 1) )\n",
-      "                        uniform token[] xformOpOrder = [\"xformOp:transform\"]\n",
-      "\n",
-      "                        over \"SM_Oven\" (\n",
-      "                            prepend apiSchemas = [\"MaterialBindingAPI\"]\n",
-      "                        )\n",
-      "                        {\n",
-      "                            rel material:binding = </_materials/_Game_Materials_Laborraum_M_OvenBase_M_OvenBase>\n",
-      "\n",
-      "                            over \"_Game_Materials_Laborraum_M_Rubber_Plastic_M_Rubber_Plastic_001\" (\n",
-      "                                prepend apiSchemas = [\"MaterialBindingAPI\"]\n",
-      "                            )\n",
-      "                            {\n",
-      "                                rel material:binding = </_materials/_Game_Materials_Laborraum_M_Rubber_Plastic_M_Rubber_Plastic_001>\n",
-      "                            }\n",
-      "\n",
-      "                            over \"_Game_Materials_Laborraum_M_Metal_Chrome_M_Metal_Chrome_005\" (\n",
-      "                                prepend apiSchemas = [\"MaterialBindingAPI\"]\n",
-      "                            )\n",
-      "                            {\n",
-      "                                rel material:binding = </_materials/_Game_Materials_Laborraum_M_Metal_Chrome_M_Metal_Chrome_005>\n",
-      "                            }\n",
-      "\n",
-      "                            over \"_Game_Materials_Laborraum_M_Glass_Oven_Door_M_Glass_Oven_Door\" (\n",
-      "                                prepend apiSchemas = [\"MaterialBindingAPI\"]\n",
-      "                            )\n",
-      "                            {\n",
-      "                                rel material:binding = </_materials/_Game_Materials_Laborraum_M_Glass_Oven_Door_M_Glass_Oven_Door>\n",
-      "                            }\n",
-      "\n",
-      "                            over \"_Game_Materials_Laborraum_M_Basic_Black_M_Basic_Black\" (\n",
-      "                                prepend apiSchemas = [\"MaterialBindingAPI\"]\n",
-      "                            )\n",
-      "                            {\n",
-      "                                rel material:binding = </_materials/_Game_Materials_Laborraum_M_Basic_Black_M_Basic_Black>\n",
-      "                            }\n",
-      "\n",
-      "                            over \"_Game_Materials_Laborraum_M_Display_M_Display\" (\n",
-      "                                prepend apiSchemas = [\"MaterialBindingAPI\"]\n",
-      "                            )\n",
-      "                            {\n",
-      "                                rel material:binding = </_materials/_Game_Materials_Laborraum_M_Display_M_Display>\n",
-      "                            }\n",
-      "\n",
-      "                            over \"_Game_Materials_Laborraum_M_Icons_M_Icons\" (\n",
-      "                                prepend apiSchemas = [\"MaterialBindingAPI\"]\n",
-      "                            )\n",
-      "                            {\n",
-      "                                rel material:binding = </_materials/_Game_Materials_Laborraum_M_Icons_M_Icons>\n",
-      "                            }\n",
-      "\n",
-      "                            over \"_Game_Materials_Laborraum_M_Glass_Oven_M_Glass_Oven\" (\n",
-      "                                prepend apiSchemas = [\"MaterialBindingAPI\"]\n",
-      "                            )\n",
-      "                            {\n",
-      "                                rel material:binding = </_materials/_Game_Materials_Laborraum_M_Glass_Oven_M_Glass_Oven>\n",
-      "                            }\n",
-      "\n",
-      "                            over \"_Game_StarterContent_Materials_M_Metal_Burnished_Steel_M_Metal_\" (\n",
-      "                                prepend apiSchemas = [\"MaterialBindingAPI\"]\n",
-      "                            )\n",
-      "                            {\n",
-      "                                rel material:binding = </_materials/_Game_StarterContent_Materials_M_Metal_Burnished_Steel_M_Metal_>\n",
-      "                            }\n",
-      "\n",
-      "                            over \"_Game_Materials_Laborraum_M_OvenBase_M_OvenBase\" (\n",
-      "                                prepend apiSchemas = [\"MaterialBindingAPI\"]\n",
-      "                            )\n",
-      "                            {\n",
-      "                                rel material:binding = </_materials/_Game_Materials_Laborraum_M_OvenBase_M_OvenBase>\n",
-      "                            }\n",
-      "                        }\n",
-      "                    }\n",
-      "\n",
-      "                    def Xform \"oven_collision_0\" (\n",
-      "                        prepend apiSchemas = [\"PhysicsMassAPI\"]\n",
-      "                    )\n",
-      "                    {\n",
-      "                        point3f physics:centerOfMass = (0, 0, 0)\n",
-      "                        float physics:density = 100\n",
-      "                        float3 physics:diagonalInertia = (-32.309116, -22.207096, 111.0133)\n",
-      "                        float physics:mass = 8.50456\n",
-      "                        quatf physics:principalAxes = (-0.111539975, 0.98378974, -0.06734367, -0.123212725)\n",
-      "                        matrix4d xformOp:transform = ( (0.272833, 0, 0, 0), (0, 0.294945, 0, 0), (0, 0, 0.075421, 0), (0.264778, 0.003055, 0.50654, 1) )\n",
-      "                        uniform token[] xformOpOrder = [\"xformOp:transform\"]\n",
-      "\n",
-      "                        def Cube \"Cube\" (\n",
-      "                            prepend apiSchemas = [\"PhysicsCollisionAPI\"]\n",
-      "                        )\n",
-      "                        {\n",
-      "                            float3[] extent = [(-1, -1, -1), (1, 1, 1)]\n",
-      "                            bool physics:collisionEnabled = 1\n",
-      "                            color3f[] primvars:displayColor = [(1, 0, 0)]\n",
-      "                            float[] primvars:displayOpacity = [0.5]\n",
-      "                        }\n",
-      "                    }\n",
-      "\n",
-      "                    def Xform \"oven_collision_1\" (\n",
-      "                        prepend apiSchemas = [\"PhysicsMassAPI\"]\n",
-      "                    )\n",
-      "                    {\n",
-      "                        point3f physics:centerOfMass = (0, 0, 0)\n",
-      "                        float physics:density = 100\n",
-      "                        float3 physics:diagonalInertia = (-32.309116, -22.207096, 111.0133)\n",
-      "                        float physics:mass = 8.50456\n",
-      "                        quatf physics:principalAxes = (-0.111539975, 0.98378974, -0.06734367, -0.123212725)\n",
-      "                        matrix4d xformOp:transform = ( (0.272833, 0, 0, 0), (0, 0.294945, 0, 0), (0, 0, 0.022799, 0), (0.264778, 0.003055, 0.018039, 1) )\n",
-      "                        uniform token[] xformOpOrder = [\"xformOp:transform\"]\n",
-      "\n",
-      "                        def Cube \"Cube\" (\n",
-      "                            prepend apiSchemas = [\"PhysicsCollisionAPI\"]\n",
-      "                        )\n",
-      "                        {\n",
-      "                            float3[] extent = [(-1, -1, -1), (1, 1, 1)]\n",
-      "                            bool physics:collisionEnabled = 1\n",
-      "                            color3f[] primvars:displayColor = [(1, 0, 0)]\n",
-      "                            float[] primvars:displayOpacity = [0.5]\n",
-      "                        }\n",
-      "                    }\n",
-      "\n",
-      "                    def Xform \"oven_collision_2\" (\n",
-      "                        prepend apiSchemas = [\"PhysicsMassAPI\"]\n",
-      "                    )\n",
-      "                    {\n",
-      "                        point3f physics:centerOfMass = (0, 0, 0)\n",
-      "                        float physics:density = 100\n",
-      "                        float3 physics:diagonalInertia = (-32.309116, -22.207096, 111.0133)\n",
-      "                        float physics:mass = 8.50456\n",
-      "                        quatf physics:principalAxes = (-0.111539975, 0.98378974, -0.06734367, -0.123212725)\n",
-      "                        matrix4d xformOp:transform = ( (0.272833, 0, 0, 0), (0, 0.0295, 0, 0), (0, 0, 0.293011, 0), (0.264778, 0.2675, 0.288951, 1) )\n",
-      "                        uniform token[] xformOpOrder = [\"xformOp:transform\"]\n",
-      "\n",
-      "                        def Cube \"Cube\" (\n",
-      "                            prepend apiSchemas = [\"PhysicsCollisionAPI\"]\n"
-     ]
-    },
-    {
-     "name": "stdout",
-     "output_type": "stream",
-     "text": [
-      "                        )\n",
-      "                        {\n",
-      "                            float3[] extent = [(-1, -1, -1), (1, 1, 1)]\n",
-      "                            bool physics:collisionEnabled = 1\n",
-      "                            color3f[] primvars:displayColor = [(1, 0, 0)]\n",
-      "                            float[] primvars:displayOpacity = [0.5]\n",
-      "                        }\n",
-      "                    }\n",
-      "\n",
-      "                    def Xform \"oven_collision_3\" (\n",
-      "                        prepend apiSchemas = [\"PhysicsMassAPI\"]\n",
-      "                    )\n",
-      "                    {\n",
-      "                        point3f physics:centerOfMass = (0, 0, 0)\n",
-      "                        float physics:density = 100\n",
-      "                        float3 physics:diagonalInertia = (-32.309116, -22.207096, 111.0133)\n",
-      "                        float physics:mass = 8.50456\n",
-      "                        quatf physics:principalAxes = (-0.111539975, 0.98378974, -0.06734367, -0.123212725)\n",
-      "                        matrix4d xformOp:transform = ( (0.272833, 0, 0, 0), (0, 0.027451, 0, 0), (0, 0, 0.293011, 0), (0.264778, 0.264104, 0.288951, 1) )\n",
-      "                        uniform token[] xformOpOrder = [\"xformOp:transform\"]\n",
-      "\n",
-      "                        def Cube \"Cube\" (\n",
-      "                            prepend apiSchemas = [\"PhysicsCollisionAPI\"]\n",
-      "                        )\n",
-      "                        {\n",
-      "                            float3[] extent = [(-1, -1, -1), (1, 1, 1)]\n",
-      "                            bool physics:collisionEnabled = 1\n",
-      "                            color3f[] primvars:displayColor = [(1, 0, 0)]\n",
-      "                            float[] primvars:displayOpacity = [0.5]\n",
-      "                        }\n",
-      "                    }\n",
-      "\n",
-      "                    def Xform \"oven_collision_4\" (\n",
-      "                        prepend apiSchemas = [\"PhysicsMassAPI\"]\n",
-      "                    )\n",
-      "                    {\n",
-      "                        point3f physics:centerOfMass = (0, 0, 0)\n",
-      "                        float physics:density = 100\n",
-      "                        float3 physics:diagonalInertia = (-32.309116, -22.207096, 111.0133)\n",
-      "                        float physics:mass = 8.50456\n",
-      "                        quatf physics:principalAxes = (-0.111539975, 0.98378974, -0.06734367, -0.123212725)\n",
-      "                        matrix4d xformOp:transform = ( (0.037392, 0, 0, 0), (0, 0.294945, 0, 0), (0, 0, 0.293011, 0), (0.5, -0.003055, 0.288951, 1) )\n",
-      "                        uniform token[] xformOpOrder = [\"xformOp:transform\"]\n",
-      "\n",
-      "                        def Cube \"Cube\" (\n",
-      "                            prepend apiSchemas = [\"PhysicsCollisionAPI\"]\n",
-      "                        )\n",
-      "                        {\n",
-      "                            float3[] extent = [(-1, -1, -1), (1, 1, 1)]\n",
-      "                            bool physics:collisionEnabled = 1\n",
-      "                            color3f[] primvars:displayColor = [(1, 0, 0)]\n",
-      "                            float[] primvars:displayOpacity = [0.5]\n",
-      "                        }\n",
-      "                    }\n",
-      "\n",
-      "                    def PhysicsRevoluteJoint \"oven_door_joint\"\n",
-      "                    {\n",
-      "                        uniform token physics:axis = \"Z\"\n",
-      "                        rel physics:body0 = </apartment_root/kitchen_root/kitchen1_root/cabinet1/oven>\n",
-      "                        rel physics:body1 = </apartment_root/oven_door>\n",
-      "                        bool physics:collisionEnabled = 0\n",
-      "                        point3f physics:localPos0 = (0, 0, 0)\n",
-      "                        point3f physics:localPos1 = (0, 0, 0)\n",
-      "                        quatf physics:localRot0 = (0.5, 0.5, 0.5, -0.5)\n",
-      "                        quatf physics:localRot1 = (1, 0, 0, 0)\n",
-      "                        float physics:lowerLimit = 0\n",
-      "                        float physics:upperLimit = 90\n",
-      "                    }\n",
-      "                }\n",
-      "            }\n",
-      "\n",
-      "            def Xform \"cabinet2\"\n",
-      "            {\n",
-      "                matrix4d xformOp:transform = ( (-1, 1.2246467991473532e-16, 0, 0), (-1.2246467991473532e-16, -1, 0, 0), (0, 0, 1, 0), (0.27990936, 1.97705429, 1.16238914, 1) )\n",
-      "                uniform token[] xformOpOrder = [\"xformOp:transform\"]\n",
-      "\n",
-      "                def Xform \"cabinet2_visual_0\" (\n",
-      "                    prepend references = @./../meshes/usd/visual/SM_Kitchen_02_Base.usda@</SM_Kitchen_02_Base>\n",
-      "                )\n",
-      "                {\n",
-      "                    matrix4d xformOp:transform = ( (1, 0, 0, 0), (0, 1, 0, 0), (0, 0, 1, 0), (0, 0, 0, 1) )\n",
-      "                    uniform token[] xformOpOrder = [\"xformOp:transform\"]\n",
-      "\n",
-      "                    over \"SM_Kitchen_02_Base\" (\n",
-      "                        prepend apiSchemas = [\"MaterialBindingAPI\"]\n",
-      "                    )\n",
-      "                    {\n",
-      "                        rel material:binding = </_materials/_Game_Materials_Laborraum_M_Plastic_White_M_Plastic_White_004>\n",
-      "\n",
-      "                        over \"_Game_Materials_Laborraum_M_Metal_Chrome_M_Metal_Chrome_006\" (\n",
-      "                            prepend apiSchemas = [\"MaterialBindingAPI\"]\n",
-      "                        )\n",
-      "                        {\n",
-      "                            rel material:binding = </_materials/_Game_Materials_Laborraum_M_Metal_Chrome_M_Metal_Chrome_006>\n",
-      "                        }\n",
-      "\n",
-      "                        over \"_Game_Materials_Laborraum_M_Rubber_Plastic_M_Rubber_Plastic_003\" (\n",
-      "                            prepend apiSchemas = [\"MaterialBindingAPI\"]\n",
-      "                        )\n",
-      "                        {\n",
-      "                            rel material:binding = </_materials/_Game_Materials_Laborraum_M_Rubber_Plastic_M_Rubber_Plastic_003>\n",
-      "                        }\n",
-      "\n",
-      "                        over \"_Game_Materials_Laborraum_M_Plastic_White_M_Plastic_White_004\" (\n",
-      "                            prepend apiSchemas = [\"MaterialBindingAPI\"]\n",
-      "                        )\n",
-      "                        {\n",
-      "                            rel material:binding = </_materials/_Game_Materials_Laborraum_M_Plastic_White_M_Plastic_White_004>\n",
-      "                        }\n",
-      "                    }\n",
-      "                }\n",
-      "\n",
-      "                def Xform \"cabinet2_collision_0\" (\n",
-      "                    prepend apiSchemas = [\"PhysicsMassAPI\"]\n",
-      "                )\n",
-      "                {\n",
-      "                    point3f physics:centerOfMass = (0, 0, 0)\n",
-      "                    float physics:density = 100\n",
-      "                    float3 physics:diagonalInertia = (-281.47205, -206.83757, 467.24796)\n",
-      "                    float physics:mass = 8.85845\n",
-      "                    quatf physics:principalAxes = (0.07332986, 0.8954152, 0.39479414, -0.19233294)\n",
-      "                    matrix4d xformOp:transform = ( (0.277359, 0, 0, 0), (0, 0.008, 0, 0), (0, 0, 1.06384, 0), (0.005897, 0.191979, 0, 1) )\n",
-      "                    uniform token[] xformOpOrder = [\"xformOp:transform\"]\n",
-      "\n",
-      "                    def Cube \"Cube\" (\n",
-      "                        prepend apiSchemas = [\"PhysicsCollisionAPI\"]\n",
-      "                    )\n",
-      "                    {\n",
-      "                        float3[] extent = [(-1, -1, -1), (1, 1, 1)]\n",
-      "                        bool physics:collisionEnabled = 1\n",
-      "                        color3f[] primvars:displayColor = [(1, 0, 0)]\n",
-      "                        float[] primvars:displayOpacity = [0.5]\n",
-      "                    }\n",
-      "                }\n",
-      "\n",
-      "                def Xform \"cabinet2_collision_1\" (\n",
-      "                    prepend apiSchemas = [\"PhysicsMassAPI\"]\n",
-      "                )\n",
-      "                {\n",
-      "                    point3f physics:centerOfMass = (0, 0, 0)\n",
-      "                    float physics:density = 100\n",
-      "                    float3 physics:diagonalInertia = (-281.47205, -206.83757, 467.24796)\n",
-      "                    float physics:mass = 8.85845\n",
-      "                    quatf physics:principalAxes = (0.07332986, 0.8954152, 0.39479414, -0.19233294)\n",
-      "                    matrix4d xformOp:transform = ( (0.277359, 0, 0, 0), (0, 0.008, 0, 0), (0, 0, 1.06384, 0), (0.005897, -0.191979, 0, 1) )\n",
-      "                    uniform token[] xformOpOrder = [\"xformOp:transform\"]\n",
-      "\n",
-      "                    def Cube \"Cube\" (\n",
-      "                        prepend apiSchemas = [\"PhysicsCollisionAPI\"]\n",
-      "                    )\n",
-      "                    {\n",
-      "                        float3[] extent = [(-1, -1, -1), (1, 1, 1)]\n",
-      "                        bool physics:collisionEnabled = 1\n",
-      "                        color3f[] primvars:displayColor = [(1, 0, 0)]\n",
-      "                        float[] primvars:displayOpacity = [0.5]\n",
-      "                    }\n",
-      "                }\n",
-      "\n",
-      "                def Xform \"cabinet2_collision_2\" (\n",
-      "                    prepend apiSchemas = [\"PhysicsMassAPI\"]\n"
-     ]
-    },
-    {
-     "name": "stdout",
-     "output_type": "stream",
-     "text": [
-      "                )\n",
-      "                {\n",
-      "                    point3f physics:centerOfMass = (0, 0, 0)\n",
-      "                    float physics:density = 100\n",
-      "                    float3 physics:diagonalInertia = (-281.47205, -206.83757, 467.24796)\n",
-      "                    float physics:mass = 8.85845\n",
-      "                    quatf physics:principalAxes = (0.07332986, 0.8954152, 0.39479414, -0.19233294)\n",
-      "                    matrix4d xformOp:transform = ( (0.277359, 0, 0, 0), (0, 0.183882, 0, 0), (0, 0, 0.008, 0), (0.005897, 0, 1.05584, 1) )\n",
-      "                    uniform token[] xformOpOrder = [\"xformOp:transform\"]\n",
-      "\n",
-      "                    def Cube \"Cube\" (\n",
-      "                        prepend apiSchemas = [\"PhysicsCollisionAPI\"]\n",
-      "                    )\n",
-      "                    {\n",
-      "                        float3[] extent = [(-1, -1, -1), (1, 1, 1)]\n",
-      "                        bool physics:collisionEnabled = 1\n",
-      "                        color3f[] primvars:displayColor = [(1, 0, 0)]\n",
-      "                        float[] primvars:displayOpacity = [0.5]\n",
-      "                    }\n",
-      "                }\n",
-      "\n",
-      "                def Xform \"cabinet2_collision_3\" (\n",
-      "                    prepend apiSchemas = [\"PhysicsMassAPI\"]\n",
-      "                )\n",
-      "                {\n",
-      "                    point3f physics:centerOfMass = (0, 0, 0)\n",
-      "                    float physics:density = 100\n",
-      "                    float3 physics:diagonalInertia = (-281.47205, -206.83757, 467.24796)\n",
-      "                    float physics:mass = 8.85845\n",
-      "                    quatf physics:principalAxes = (0.07332986, 0.8954152, 0.39479414, -0.19233294)\n",
-      "                    matrix4d xformOp:transform = ( (0.277359, 0, 0, 0), (0, 0.183882, 0, 0), (0, 0, 0.008, 0), (0.005897, 0, 0.975845, 1) )\n",
-      "                    uniform token[] xformOpOrder = [\"xformOp:transform\"]\n",
-      "\n",
-      "                    def Cube \"Cube\" (\n",
-      "                        prepend apiSchemas = [\"PhysicsCollisionAPI\"]\n",
-      "                    )\n",
-      "                    {\n",
-      "                        float3[] extent = [(-1, -1, -1), (1, 1, 1)]\n",
-      "                        bool physics:collisionEnabled = 1\n",
-      "                        color3f[] primvars:displayColor = [(1, 0, 0)]\n",
-      "                        float[] primvars:displayOpacity = [0.5]\n",
-      "                    }\n",
-      "                }\n",
-      "\n",
-      "                def Xform \"cabinet2_collision_4\" (\n",
-      "                    prepend apiSchemas = [\"PhysicsMassAPI\"]\n",
-      "                )\n",
-      "                {\n",
-      "                    point3f physics:centerOfMass = (0, 0, 0)\n",
-      "                    float physics:density = 100\n",
-      "                    float3 physics:diagonalInertia = (-281.47205, -206.83757, 467.24796)\n",
-      "                    float physics:mass = 8.85845\n",
-      "                    quatf physics:principalAxes = (0.07332986, 0.8954152, 0.39479414, -0.19233294)\n",
-      "                    matrix4d xformOp:transform = ( (0.277359, 0, 0, 0), (0, 0.183882, 0, 0), (0, 0, 0.008, 0), (0.005897, 0, -1.05594, 1) )\n",
-      "                    uniform token[] xformOpOrder = [\"xformOp:transform\"]\n",
-      "\n",
-      "                    def Cube \"Cube\" (\n",
-      "                        prepend apiSchemas = [\"PhysicsCollisionAPI\"]\n",
-      "                    )\n",
-      "                    {\n",
-      "                        float3[] extent = [(-1, -1, -1), (1, 1, 1)]\n",
-      "                        bool physics:collisionEnabled = 1\n",
-      "                        color3f[] primvars:displayColor = [(1, 0, 0)]\n",
-      "                        float[] primvars:displayOpacity = [0.5]\n",
-      "                    }\n",
-      "                }\n",
-      "\n",
-      "                def Xform \"cabinet2_collision_5\" (\n",
-      "                    prepend apiSchemas = [\"PhysicsMassAPI\"]\n",
-      "                )\n",
-      "                {\n",
-      "                    point3f physics:centerOfMass = (0, 0, 0)\n",
-      "                    float physics:density = 100\n",
-      "                    float3 physics:diagonalInertia = (-281.47205, -206.83757, 467.24796)\n",
-      "                    float physics:mass = 8.85845\n",
-      "                    quatf physics:principalAxes = (0.07332986, 0.8954152, 0.39479414, -0.19233294)\n",
-      "                    matrix4d xformOp:transform = ( (0.007187, 0, 0, 0), (0, 0.183882, 0, 0), (0, 0, 0.031996, 0), (-0.26039, 0, 1.01584, 1) )\n",
-      "                    uniform token[] xformOpOrder = [\"xformOp:transform\"]\n",
-      "\n",
-      "                    def Cube \"Cube\" (\n",
-      "                        prepend apiSchemas = [\"PhysicsCollisionAPI\"]\n",
-      "                    )\n",
-      "                    {\n",
-      "                        float3[] extent = [(-1, -1, -1), (1, 1, 1)]\n",
-      "                        bool physics:collisionEnabled = 1\n",
-      "                        color3f[] primvars:displayColor = [(1, 0, 0)]\n",
-      "                        float[] primvars:displayOpacity = [0.5]\n",
-      "                    }\n",
-      "                }\n",
-      "\n",
-      "                def Xform \"cabinet2_collision_6\" (\n",
-      "                    prepend apiSchemas = [\"PhysicsMassAPI\"]\n",
-      "                )\n",
-      "                {\n",
-      "                    point3f physics:centerOfMass = (0, 0, 0)\n",
-      "                    float physics:density = 100\n",
-      "                    float3 physics:diagonalInertia = (-281.47205, -206.83757, 467.24796)\n",
-      "                    float physics:mass = 8.85845\n",
-      "                    quatf physics:principalAxes = (0.07332986, 0.8954152, 0.39479414, -0.19233294)\n",
-      "                    matrix4d xformOp:transform = ( (0.004, 0, 0, 0), (0, 0.183882, 0, 0), (0, 0, 1.04784, 0), (0.267372, 0, 0, 1) )\n",
-      "                    uniform token[] xformOpOrder = [\"xformOp:transform\"]\n",
-      "\n",
-      "                    def Cube \"Cube\" (\n",
-      "                        prepend apiSchemas = [\"PhysicsCollisionAPI\"]\n",
-      "                    )\n",
-      "                    {\n",
-      "                        float3[] extent = [(-1, -1, -1), (1, 1, 1)]\n",
-      "                        bool physics:collisionEnabled = 1\n",
-      "                        color3f[] primvars:displayColor = [(1, 0, 0)]\n",
-      "                        float[] primvars:displayOpacity = [0.5]\n",
-      "                    }\n",
-      "                }\n",
-      "\n",
-      "                def PhysicsRevoluteJoint \"cabinet2_door_joint\"\n",
-      "                {\n",
-      "                    uniform token physics:axis = \"Z\"\n",
-      "                    rel physics:body0 = </apartment_root/kitchen_root/kitchen1_root/cabinet2>\n",
-      "                    rel physics:body1 = </apartment_root/cabinet2_door>\n",
-      "                    bool physics:collisionEnabled = 0\n",
-      "                    point3f physics:localPos0 = (-0.28432143, 0.18657, 0.00105865)\n",
-      "                    point3f physics:localPos1 = (0, 0, 0)\n",
-      "                    quatf physics:localRot0 = (0, 0, 1, 0)\n",
-      "                    quatf physics:localRot1 = (0, 0, 1, 0)\n",
-      "                    float physics:lowerLimit = 0\n",
-      "                    float physics:upperLimit = 90\n",
-      "                }\n",
-      "\n",
-      "                def Xform \"cabinet2_shelf\"\n",
-      "                {\n",
-      "                    matrix4d xformOp:transform = ( (1, 0, 0, 0), (0, 1, 0, 0), (0, 0, 1, 0), (-0.00337784, 0.00043732, 0.79036064, 1) )\n",
-      "                    uniform token[] xformOpOrder = [\"xformOp:transform\"]\n",
-      "\n",
-      "                    def Xform \"cabinet2_shelf_visual_0\" (\n",
-      "                        prepend references = @./../meshes/usd/visual/SM_Kitchen_02_Shelf.usda@</SM_Kitchen_02_Shelf>\n",
-      "                    )\n",
-      "                    {\n",
-      "                        matrix4d xformOp:transform = ( (1, 0, 0, 0), (0, 1, 0, 0), (0, 0, 1, 0), (0, 0, 0, 1) )\n",
-      "                        uniform token[] xformOpOrder = [\"xformOp:transform\"]\n",
-      "\n",
-      "                        over \"SM_Kitchen_02_Shelf\" (\n",
-      "                            prepend apiSchemas = [\"MaterialBindingAPI\"]\n",
-      "                        )\n",
-      "                        {\n",
-      "                            rel material:binding = </_materials/_Game_Materials_Laborraum_M_Plastic_White_M_Plastic_White_005>\n",
-      "\n",
-      "                            over \"_Game_Materials_Laborraum_M_Metal_Chrome_M_Metal_Chrome_008\" (\n",
-      "                                prepend apiSchemas = [\"MaterialBindingAPI\"]\n",
-      "                            )\n",
-      "                            {\n",
-      "                                rel material:binding = </_materials/_Game_Materials_Laborraum_M_Metal_Chrome_M_Metal_Chrome_008>\n",
-      "                            }\n",
-      "\n",
-      "                            over \"_Game_Materials_Laborraum_M_Plastic_White_M_Plastic_White_005\" (\n",
-      "                                prepend apiSchemas = [\"MaterialBindingAPI\"]\n",
-      "                            )\n",
-      "                            {\n",
-      "                                rel material:binding = </_materials/_Game_Materials_Laborraum_M_Plastic_White_M_Plastic_White_005>\n",
-      "                            }\n",
-      "                        }\n"
-     ]
-    },
-    {
-     "name": "stdout",
-     "output_type": "stream",
-     "text": [
-      "                    }\n",
-      "\n",
-      "                    def Xform \"cabinet2_shelf_collision_0\" (\n",
-      "                        prepend apiSchemas = [\"PhysicsMassAPI\"]\n",
-      "                    )\n",
-      "                    {\n",
-      "                        point3f physics:centerOfMass = (0, 0, 0)\n",
-      "                        float physics:density = 100\n",
-      "                        float3 physics:diagonalInertia = (-0.97448826, -0.48966601, 0.98775023)\n",
-      "                        float physics:mass = 0.2665777\n",
-      "                        quatf physics:principalAxes = (0.93084633, -0.28240272, -0.077602424, 0.21852162)\n",
-      "                        matrix4d xformOp:transform = ( (0.241474, 0, 0, 0), (0, 0.183979, 0, 0), (0, 0, 0.0075, 0), (0, 0, 0.004951, 1) )\n",
-      "                        uniform token[] xformOpOrder = [\"xformOp:transform\"]\n",
-      "\n",
-      "                        def Cube \"Cube\" (\n",
-      "                            prepend apiSchemas = [\"PhysicsCollisionAPI\"]\n",
-      "                        )\n",
-      "                        {\n",
-      "                            float3[] extent = [(-1, -1, -1), (1, 1, 1)]\n",
-      "                            bool physics:collisionEnabled = 1\n",
-      "                            color3f[] primvars:displayColor = [(1, 0, 0)]\n",
-      "                            float[] primvars:displayOpacity = [0.5]\n",
-      "                        }\n",
-      "                    }\n",
-      "                }\n",
-      "\n",
-      "                def PhysicsPrismaticJoint \"cabinet2_drawer1_joint\"\n",
-      "                {\n",
-      "                    uniform token physics:axis = \"Z\"\n",
-      "                    rel physics:body0 = </apartment_root/kitchen_root/kitchen1_root/cabinet2>\n",
-      "                    rel physics:body1 = </apartment_root/cabinet2_drawer1>\n",
-      "                    bool physics:collisionEnabled = 0\n",
-      "                    point3f physics:localPos0 = (-0.00464775, 0.00134538, 0.5804621)\n",
-      "                    point3f physics:localPos1 = (0, 0, 0)\n",
-      "                    quatf physics:localRot0 = (0.7071068, 0, -0.7071068, 0)\n",
-      "                    quatf physics:localRot1 = (0.7071068, 0, -0.7071068, 0)\n",
-      "                    float physics:lowerLimit = 0\n",
-      "                    float physics:upperLimit = 0.45\n",
-      "                }\n",
-      "\n",
-      "                def PhysicsPrismaticJoint \"cabinet2_drawer2_joint\"\n",
-      "                {\n",
-      "                    uniform token physics:axis = \"Z\"\n",
-      "                    rel physics:body0 = </apartment_root/kitchen_root/kitchen1_root/cabinet2>\n",
-      "                    rel physics:body1 = </apartment_root/cabinet2_drawer2>\n",
-      "                    bool physics:collisionEnabled = 0\n",
-      "                    point3f physics:localPos0 = (-0.00464775, -0.00134538, 0.4227494)\n",
-      "                    point3f physics:localPos1 = (0, 0, 0)\n",
-      "                    quatf physics:localRot0 = (0.7071068, 0, -0.7071068, 0)\n",
-      "                    quatf physics:localRot1 = (0.7071068, 0, -0.7071068, 0)\n",
-      "                    float physics:lowerLimit = 0\n",
-      "                    float physics:upperLimit = 0.45\n",
-      "                }\n",
-      "\n",
-      "                def PhysicsPrismaticJoint \"cabinet2_drawer3_joint\"\n",
-      "                {\n",
-      "                    uniform token physics:axis = \"Z\"\n",
-      "                    rel physics:body0 = </apartment_root/kitchen_root/kitchen1_root/cabinet2>\n",
-      "                    rel physics:body1 = </apartment_root/cabinet2_drawer3>\n",
-      "                    bool physics:collisionEnabled = 0\n",
-      "                    point3f physics:localPos0 = (-0.00464775, -0.00134538, 0.1428965)\n",
-      "                    point3f physics:localPos1 = (0, 0, 0)\n",
-      "                    quatf physics:localRot0 = (0.7071068, 0, -0.7071068, 0)\n",
-      "                    quatf physics:localRot1 = (0.7071068, 0, -0.7071068, 0)\n",
-      "                    float physics:lowerLimit = 0\n",
-      "                    float physics:upperLimit = 0.45\n",
-      "                }\n",
-      "\n",
-      "                def PhysicsPrismaticJoint \"cabinet2_drawer4_joint\"\n",
-      "                {\n",
-      "                    uniform token physics:axis = \"Z\"\n",
-      "                    rel physics:body0 = </apartment_root/kitchen_root/kitchen1_root/cabinet2>\n",
-      "                    rel physics:body1 = </apartment_root/cabinet2_drawer4>\n",
-      "                    bool physics:collisionEnabled = 0\n",
-      "                    point3f physics:localPos0 = (-0.00464775, 0.00134538, -0.24243712)\n",
-      "                    point3f physics:localPos1 = (0, 0, 0)\n",
-      "                    quatf physics:localRot0 = (0.7071068, 0, -0.7071068, 0)\n",
-      "                    quatf physics:localRot1 = (0.7071068, 0, -0.7071068, 0)\n",
-      "                    float physics:lowerLimit = 0\n",
-      "                    float physics:upperLimit = 0.45\n",
-      "                }\n",
-      "\n",
-      "                def PhysicsPrismaticJoint \"cabinet2_drawer5_joint\"\n",
-      "                {\n",
-      "                    uniform token physics:axis = \"Z\"\n",
-      "                    rel physics:body0 = </apartment_root/kitchen_root/kitchen1_root/cabinet2>\n",
-      "                    rel physics:body1 = </apartment_root/cabinet2_drawer5>\n",
-      "                    bool physics:collisionEnabled = 0\n",
-      "                    point3f physics:localPos0 = (-0.00464775, 0.00134538, -0.5180959)\n",
-      "                    point3f physics:localPos1 = (0, 0, 0)\n",
-      "                    quatf physics:localRot0 = (0.7071068, 0, -0.7071068, 0)\n",
-      "                    quatf physics:localRot1 = (0.7071068, 0, -0.7071068, 0)\n",
-      "                    float physics:lowerLimit = 0\n",
-      "                    float physics:upperLimit = 0.45\n",
-      "                }\n",
-      "\n",
-      "                def PhysicsPrismaticJoint \"cabinet2_drawer6_joint\"\n",
-      "                {\n",
-      "                    uniform token physics:axis = \"Z\"\n",
-      "                    rel physics:body0 = </apartment_root/kitchen_root/kitchen1_root/cabinet2>\n",
-      "                    rel physics:body1 = </apartment_root/cabinet2_drawer6>\n",
-      "                    bool physics:collisionEnabled = 0\n",
-      "                    point3f physics:localPos0 = (-0.00464775, 0.00134538, -0.955192)\n",
-      "                    point3f physics:localPos1 = (0, 0, 0)\n",
-      "                    quatf physics:localRot0 = (0.7071068, 0, -0.7071068, 0)\n",
-      "                    quatf physics:localRot1 = (0.7071068, 0, -0.7071068, 0)\n",
-      "                    float physics:lowerLimit = 0\n",
-      "                    float physics:upperLimit = 0.45\n",
-      "                }\n",
-      "            }\n",
-      "\n",
-      "            def Xform \"cabinet3\"\n",
-      "            {\n",
-      "                matrix4d xformOp:transform = ( (-1, 1.2246467991473532e-16, 0, 0), (-1.2246467991473532e-16, -1, 0, 0), (0, 0, 1, 0), (0.27498539, 2.47989822, 1.16287888, 1) )\n",
-      "                uniform token[] xformOpOrder = [\"xformOp:transform\"]\n",
-      "\n",
-      "                def Xform \"cabinet3_visual_0\" (\n",
-      "                    prepend references = @./../meshes/usd/visual/SM_Kitchen_03_Fridge.usda@</SM_Kitchen_03_Fridge>\n",
-      "                )\n",
-      "                {\n",
-      "                    matrix4d xformOp:transform = ( (1, 0, 0, 0), (0, 1, 0, 0), (0, 0, 1, 0), (0, 0, 0, 1) )\n",
-      "                    uniform token[] xformOpOrder = [\"xformOp:transform\"]\n",
-      "\n",
-      "                    over \"SM_Kitchen_03_Fridge\" (\n",
-      "                        prepend apiSchemas = [\"MaterialBindingAPI\"]\n",
-      "                    )\n",
-      "                    {\n",
-      "                        rel material:binding = </_materials/_Game_Materials_Laborraum_M_Plastic_White_M_Plastic_White_008>\n",
-      "\n",
-      "                        over \"_Game_Materials_Laborraum_M_Kitchen_Fronts_M_Kitchen_Fronts_007\" (\n",
-      "                            prepend apiSchemas = [\"MaterialBindingAPI\"]\n",
-      "                        )\n",
-      "                        {\n",
-      "                            rel material:binding = </_materials/_Game_Materials_Laborraum_M_Kitchen_Fronts_M_Kitchen_Fronts_007>\n",
-      "                        }\n",
-      "\n",
-      "                        over \"_Game_Materials_Laborraum_M_Rubber_Plastic_M_Rubber_Plastic_004\" (\n",
-      "                            prepend apiSchemas = [\"MaterialBindingAPI\"]\n",
-      "                        )\n",
-      "                        {\n",
-      "                            rel material:binding = </_materials/_Game_Materials_Laborraum_M_Rubber_Plastic_M_Rubber_Plastic_004>\n",
-      "                        }\n",
-      "\n",
-      "                        over \"_Game_Materials_Laborraum_M_Plastic_White_M_Plastic_White_008\" (\n",
-      "                            prepend apiSchemas = [\"MaterialBindingAPI\"]\n",
-      "                        )\n",
-      "                        {\n",
-      "                            rel material:binding = </_materials/_Game_Materials_Laborraum_M_Plastic_White_M_Plastic_White_008>\n",
-      "                        }\n",
-      "                    }\n",
-      "                }\n",
-      "\n",
-      "                def Xform \"cabinet3_collision_0\" (\n",
-      "                    prepend apiSchemas = [\"PhysicsMassAPI\"]\n"
-     ]
-    },
-    {
-     "name": "stdout",
-     "output_type": "stream",
-     "text": [
-      "                )\n",
-      "                {\n",
-      "                    point3f physics:centerOfMass = (0, 0, 0)\n",
-      "                    float physics:density = 100\n",
-      "                    float3 physics:diagonalInertia = (-323.57834, -224.16788, 614.5425)\n",
-      "                    float physics:mass = 4.823167\n",
-      "                    quatf physics:principalAxes = (0.10148133, 0.9175677, 0.3318334, -0.19405608)\n",
-      "                    matrix4d xformOp:transform = ( (0.277193, 0, 0, 0), (0, 0.01, 0, 0), (0, 0, 1.06382, 0), (0.003155, -0.291968, 0, 1) )\n",
-      "                    uniform token[] xformOpOrder = [\"xformOp:transform\"]\n",
-      "\n",
-      "                    def Cube \"Cube\" (\n",
-      "                        prepend apiSchemas = [\"PhysicsCollisionAPI\"]\n",
-      "                    )\n",
-      "                    {\n",
-      "                        float3[] extent = [(-1, -1, -1), (1, 1, 1)]\n",
-      "                        bool physics:collisionEnabled = 1\n",
-      "                        color3f[] primvars:displayColor = [(1, 0, 0)]\n",
-      "                        float[] primvars:displayOpacity = [0.5]\n",
-      "                    }\n",
-      "                }\n",
-      "\n",
-      "                def Xform \"cabinet3_collision_1\" (\n",
-      "                    prepend apiSchemas = [\"PhysicsMassAPI\"]\n",
-      "                )\n",
-      "                {\n",
-      "                    point3f physics:centerOfMass = (0, 0, 0)\n"
-     ]
-    },
-    {
-     "name": "stderr",
-     "output_type": "stream",
-     "text": [
-      "IOPub message rate exceeded.\n",
-      "The notebook server will temporarily stop sending output\n",
-      "to the client in order to avoid crashing it.\n",
-      "To change this limit, set the config variable\n",
-      "`--NotebookApp.iopub_msg_rate_limit`.\n",
-      "\n",
-      "Current values:\n",
-      "NotebookApp.iopub_msg_rate_limit=1000.0 (msgs/sec)\n",
-      "NotebookApp.rate_limit_window=3.0 (secs)\n",
-      "\n"
-     ]
-    },
-    {
-     "name": "stdout",
-     "output_type": "stream",
-     "text": [
-      "            matrix4d xformOp:transform = ( (0.24585, 0, 0, 0), (0, 0.0079221, 0, 0), (0, 0, 0.041751, 0), (0.021336, -0.26865, -0.12854, 1) )\n",
-      "            uniform token[] xformOpOrder = [\"xformOp:transform\"]\n",
-      "\n",
-      "            def Cube \"Cube\" (\n",
-      "                prepend apiSchemas = [\"PhysicsCollisionAPI\"]\n",
-      "            )\n",
-      "            {\n",
-      "                float3[] extent = [(-1, -1, -1), (1, 1, 1)]\n",
-      "                bool physics:collisionEnabled = 1\n",
-      "                color3f[] primvars:displayColor = [(1, 0, 0)]\n",
-      "                float[] primvars:displayOpacity = [0.5]\n",
-      "            }\n",
-      "        }\n",
-      "\n",
-      "        def Xform \"cabinet1_drawer2_collision_4\" (\n",
-      "            prepend apiSchemas = [\"PhysicsMassAPI\"]\n",
-      "        )\n",
-      "        {\n",
-      "            point3f physics:centerOfMass = (0, 0, 0)\n",
-      "            float physics:density = 100\n",
-      "            float3 physics:diagonalInertia = (-5.449442, -3.814377, 12.130113)\n",
-      "            float physics:mass = 1.0737832\n",
-      "            quatf physics:principalAxes = (-0.22344175, -0.13998188, 0.3611832, 0.8944415)\n",
-      "            matrix4d xformOp:transform = ( (0.24585, 0, 0, 0), (0, 0.0079221, 0, 0), (0, 0, 0.041751, 0), (0.021336, 0.26865, -0.12854, 1) )\n",
-      "            uniform token[] xformOpOrder = [\"xformOp:transform\"]\n",
-      "\n",
-      "            def Cube \"Cube\" (\n",
-      "                prepend apiSchemas = [\"PhysicsCollisionAPI\"]\n",
-      "            )\n",
-      "            {\n",
-      "                float3[] extent = [(-1, -1, -1), (1, 1, 1)]\n",
-      "                bool physics:collisionEnabled = 1\n",
-      "                color3f[] primvars:displayColor = [(1, 0, 0)]\n",
-      "                float[] primvars:displayOpacity = [0.5]\n",
-      "            }\n",
-      "        }\n",
-      "\n",
-      "        def Xform \"cabinet1_drawer2_collision_5\" (\n",
-      "            prepend apiSchemas = [\"PhysicsMassAPI\"]\n",
-      "        )\n",
-      "        {\n",
-      "            point3f physics:centerOfMass = (0, 0, 0)\n",
-      "            float physics:density = 100\n",
-      "            float3 physics:diagonalInertia = (-5.449442, -3.814377, 12.130113)\n",
-      "            float physics:mass = 1.0737832\n",
-      "            quatf physics:principalAxes = (-0.22344175, -0.13998188, 0.3611832, 0.8944415)\n",
-      "            matrix4d xformOp:transform = ( (0.24578, 0, 0, 0), (0, 0.26182, 0, 0), (0, 0, 0.008, 0), (0.021399, 0, -0.16226, 1) )\n",
-      "            uniform token[] xformOpOrder = [\"xformOp:transform\"]\n",
-      "\n",
-      "            def Cube \"Cube\" (\n",
-      "                prepend apiSchemas = [\"PhysicsCollisionAPI\"]\n",
-      "            )\n",
-      "            {\n",
-      "                float3[] extent = [(-1, -1, -1), (1, 1, 1)]\n",
-      "                bool physics:collisionEnabled = 1\n",
-      "                color3f[] primvars:displayColor = [(1, 0, 0)]\n",
-      "                float[] primvars:displayOpacity = [0.5]\n",
-      "            }\n",
-      "        }\n",
-      "\n",
-      "        def Xform \"cabinet1_drawer2_collision_6\" (\n",
-      "            prepend apiSchemas = [\"PhysicsMassAPI\"]\n",
-      "        )\n",
-      "        {\n",
-      "            point3f physics:centerOfMass = (0, 0, 0)\n",
-      "            float physics:density = 100\n",
-      "            float3 physics:diagonalInertia = (-5.449442, -3.814377, 12.130113)\n",
-      "            float physics:mass = 1.0737832\n",
-      "            quatf physics:principalAxes = (-0.22344175, -0.13998188, 0.3611832, 0.8944415)\n",
-      "            matrix4d xformOp:transform = ( (0.00932692, 0, 0, 0), (0, 0.26182, 0, 0), (0, 0, 0.0758612, 0), (0.26, 0, -0.0797358, 1) )\n",
-      "            uniform token[] xformOpOrder = [\"xformOp:transform\"]\n",
-      "\n",
-      "            def Cube \"Cube\" (\n",
-      "                prepend apiSchemas = [\"PhysicsCollisionAPI\"]\n",
-      "            )\n",
-      "            {\n",
-      "                float3[] extent = [(-1, -1, -1), (1, 1, 1)]\n",
-      "                bool physics:collisionEnabled = 1\n",
-      "                color3f[] primvars:displayColor = [(1, 0, 0)]\n",
-      "                float[] primvars:displayOpacity = [0.5]\n",
-      "            }\n",
-      "        }\n",
-      "\n",
-      "        def Xform \"cabinet1_drawer2_handle\"\n",
-      "        {\n",
-      "            matrix4d xformOp:transform = ( (1, 0, 0, 0), (0, 2.220446049250313e-16, 1, 0), (0, -1, 2.220446049250313e-16, 0), (-0.26948316, -0.00145845, 0.150606, 1) )\n",
-      "            uniform token[] xformOpOrder = [\"xformOp:transform\"]\n",
-      "\n",
-      "            def Xform \"cabinet1_drawer2_handle_visual_0\" (\n",
-      "                prepend references = @./../meshes/usd/visual/SM_Kitchen_Handle.usda@</SM_Kitchen_Handle>\n",
-      "            )\n",
-      "            {\n",
-      "                matrix4d xformOp:transform = ( (1, 0, 0, 0), (0, 1, 0, 0), (0, 0, 1, 0), (0, 0, 0, 1) )\n",
-      "                uniform token[] xformOpOrder = [\"xformOp:transform\"]\n",
-      "\n",
-      "                over \"SM_Kitchen_Handle\" (\n",
-      "                    prepend apiSchemas = [\"MaterialBindingAPI\"]\n",
-      "                )\n",
-      "                {\n",
-      "                    rel material:binding = </_materials/_Game_Materials_Laborraum_M_Metal_Brushed_M_Metal_Brushed_003>\n",
-      "                }\n",
-      "            }\n",
-      "\n",
-      "            def Xform \"cabinet1_drawer2_handle_collision_0\" (\n",
-      "                prepend apiSchemas = [\"PhysicsMassAPI\"]\n",
-      "            )\n",
-      "            {\n",
-      "                point3f physics:centerOfMass = (0, 0, 0)\n",
-      "                float physics:density = 100\n",
-      "                float3 physics:diagonalInertia = (-5.449442, -3.814377, 12.130113)\n",
-      "                float physics:mass = 1.0737832\n",
-      "                quatf physics:principalAxes = (-0.22344175, -0.13998188, 0.3611832, 0.8944415)\n",
-      "                matrix4d xformOp:transform = ( (0.01, 0, 0, 0), (0, 0.0065, 0, 0), (0, 0, 0.0065, 0), (0.0164985, 0, 0.08, 1) )\n",
-      "                uniform token[] xformOpOrder = [\"xformOp:transform\"]\n",
-      "\n",
-      "                def Cube \"Cube\" (\n",
-      "                    prepend apiSchemas = [\"PhysicsCollisionAPI\"]\n",
-      "                )\n",
-      "                {\n",
-      "                    float3[] extent = [(-1, -1, -1), (1, 1, 1)]\n",
-      "                    bool physics:collisionEnabled = 1\n",
-      "                    color3f[] primvars:displayColor = [(1, 0, 0)]\n",
-      "                    float[] primvars:displayOpacity = [0.5]\n",
-      "                }\n",
-      "            }\n",
-      "\n",
-      "            def Xform \"cabinet1_drawer2_handle_collision_1\" (\n",
-      "                prepend apiSchemas = [\"PhysicsMassAPI\"]\n",
-      "            )\n",
-      "            {\n",
-      "                point3f physics:centerOfMass = (0, 0, 0)\n",
-      "                float physics:density = 100\n",
-      "                float3 physics:diagonalInertia = (-5.449442, -3.814377, 12.130113)\n",
-      "                float physics:mass = 1.0737832\n",
-      "                quatf physics:principalAxes = (-0.22344175, -0.13998188, 0.3611832, 0.8944415)\n",
-      "                matrix4d xformOp:transform = ( (0.01, 0, 0, 0), (0, 0.0065, 0, 0), (0, 0, 0.0065, 0), (0.0164985, 0, -0.08, 1) )\n",
-      "                uniform token[] xformOpOrder = [\"xformOp:transform\"]\n",
-      "\n",
-      "                def Cube \"Cube\" (\n",
-      "                    prepend apiSchemas = [\"PhysicsCollisionAPI\"]\n",
-      "                )\n",
-      "                {\n",
-      "                    float3[] extent = [(-1, -1, -1), (1, 1, 1)]\n",
-      "                    bool physics:collisionEnabled = 1\n",
-      "                    color3f[] primvars:displayColor = [(1, 0, 0)]\n",
-      "                    float[] primvars:displayOpacity = [0.5]\n",
-      "                }\n",
-      "            }\n",
-      "\n",
-      "            def Xform \"cabinet1_drawer2_handle_collision_2\" (\n",
-      "                prepend apiSchemas = [\"PhysicsMassAPI\"]\n",
-      "            )\n",
-      "            {\n",
-      "                point3f physics:centerOfMass = (0, 0, 0)\n",
-      "                float physics:density = 100\n",
-      "                float3 physics:diagonalInertia = (-5.449442, -3.814377, 12.130113)\n",
-      "                float physics:mass = 1.0737832\n",
-      "                quatf physics:principalAxes = (-0.22344175, -0.13998188, 0.3611832, 0.8944415)\n",
-      "                matrix4d xformOp:transform = ( (0.0065, 0, 0, 0), (0, 0.0065, 0, 0), (0, 0, 0.086516, 0), (0, 0, 0, 1) )\n",
-      "                uniform token[] xformOpOrder = [\"xformOp:transform\"]\n",
-      "\n",
-      "                def Cube \"Cube\" (\n",
-      "                    prepend apiSchemas = [\"PhysicsCollisionAPI\"]\n",
-      "                )\n",
-      "                {\n",
-      "                    float3[] extent = [(-1, -1, -1), (1, 1, 1)]\n",
-      "                    bool physics:collisionEnabled = 1\n",
-      "                    color3f[] primvars:displayColor = [(1, 0, 0)]\n",
-      "                    float[] primvars:displayOpacity = [0.5]\n",
-      "                }\n",
-      "            }\n",
-      "        }\n",
-      "    }\n",
-      "\n",
-      "    def Xform \"oven_door\" (\n",
-      "        prepend apiSchemas = [\"PhysicsRigidBodyAPI\"]\n",
-      "    )\n",
-      "    {\n",
-      "        bool physics:rigidBodyEnabled = 1\n",
-      "        matrix4d xformOp:transform = ( (2.719262146893782e-32, 2.220446049250313e-16, -1, 0), (-1, -9.957992501029599e-17, 0, 0), (-9.957992501029599e-17, 1, 2.220446049250313e-16, 0), (0.55859076, 1.47911843, 0.77173355, 1) )\n",
-      "        uniform token[] xformOpOrder = [\"xformOp:transform\"]\n"
-     ]
-    },
-    {
-     "name": "stdout",
-     "output_type": "stream",
-     "text": [
-      "\n",
-      "        def Xform \"oven_door_visual_0\" (\n",
-      "            prepend references = @./../meshes/usd/visual/SM_Oven_Door.usda@</SM_Oven_Door>\n",
-      "        )\n",
-      "        {\n",
-      "            matrix4d xformOp:transform = ( (1, 0, 0, 0), (0, 1, 0, 0), (0, 0, 1, 0), (0, 0, 0, 1) )\n",
-      "            uniform token[] xformOpOrder = [\"xformOp:transform\"]\n",
-      "\n",
-      "            over \"SM_Oven_Door\" (\n",
-      "                prepend apiSchemas = [\"MaterialBindingAPI\"]\n",
-      "            )\n",
-      "            {\n",
-      "                rel material:binding = </_materials/_Game_Materials_Laborraum_M_Glass_Oven_M_Glass_Oven_001>\n",
-      "\n",
-      "                over \"_Game_Materials_Laborraum_M_Glass_Oven_Door_M_Glass_Oven_Do\" (\n",
-      "                    prepend apiSchemas = [\"MaterialBindingAPI\"]\n",
-      "                )\n",
-      "                {\n",
-      "                    rel material:binding = </_materials/_Game_Materials_Laborraum_M_Glass_Oven_Door_M_Glass_Oven_Do>\n",
-      "                }\n",
-      "\n",
-      "                over \"_Game_Materials_Laborraum_M_Rubber_Plastic_M_Rubber_Plastic_002\" (\n",
-      "                    prepend apiSchemas = [\"MaterialBindingAPI\"]\n",
-      "                )\n",
-      "                {\n",
-      "                    rel material:binding = </_materials/_Game_Materials_Laborraum_M_Rubber_Plastic_M_Rubber_Plastic_002>\n",
-      "                }\n",
-      "\n",
-      "                over \"_Game_Materials_Laborraum_M_OvenBase_M_OvenBase_001\" (\n",
-      "                    prepend apiSchemas = [\"MaterialBindingAPI\"]\n",
-      "                )\n",
-      "                {\n",
-      "                    rel material:binding = </_materials/_Game_Materials_Laborraum_M_OvenBase_M_OvenBase_001>\n",
-      "                }\n",
-      "\n",
-      "                over \"_Game_Materials_Laborraum_M_Glass_Oven_M_Glass_Oven_001\" (\n",
-      "                    prepend apiSchemas = [\"MaterialBindingAPI\"]\n",
-      "                )\n",
-      "                {\n",
-      "                    rel material:binding = </_materials/_Game_Materials_Laborraum_M_Glass_Oven_M_Glass_Oven_001>\n",
-      "                }\n",
-      "            }\n",
-      "        }\n",
-      "\n",
-      "        def Xform \"oven_door_collision_0\" (\n",
-      "            prepend apiSchemas = [\"PhysicsMassAPI\"]\n",
-      "        )\n",
-      "        {\n",
-      "            point3f physics:centerOfMass = (0, 0, 0)\n",
-      "            float physics:density = 100\n",
-      "            float3 physics:diagonalInertia = (-4.4797125, -2.0985637, 10.561741)\n",
-      "            float physics:mass = 0.019226577\n",
-      "            quatf physics:principalAxes = (0.39592364, 0.721872, -0.4746533, -0.31120655)\n",
-      "            matrix4d xformOp:transform = ( (0.235848, 0, 0, 0), (0, 0.018499, 0, 0), (0, 0, 0.295294, 0), (-0.226757, 0.005395, -0.002993, 1) )\n",
-      "            uniform token[] xformOpOrder = [\"xformOp:transform\"]\n",
-      "\n",
-      "            def Cube \"Cube\" (\n",
-      "                prepend apiSchemas = [\"PhysicsCollisionAPI\"]\n",
-      "            )\n",
-      "            {\n",
-      "                float3[] extent = [(-1, -1, -1), (1, 1, 1)]\n",
-      "                bool physics:collisionEnabled = 1\n",
-      "                color3f[] primvars:displayColor = [(1, 0, 0)]\n",
-      "                float[] primvars:displayOpacity = [0.5]\n",
-      "            }\n",
-      "        }\n",
-      "    }\n",
-      "\n",
-      "    def Xform \"cabinet2_door\" (\n",
-      "        prepend apiSchemas = [\"PhysicsRigidBodyAPI\"]\n",
-      "    )\n",
-      "    {\n",
-      "        bool physics:rigidBodyEnabled = 1\n",
-      "        matrix4d xformOp:transform = ( (-1, 1.2246467991473532e-16, 0, 0), (-1.2246467991473532e-16, -1, 0, 0), (0, 0, 1, 0), (0.5642308, 1.79048429, 1.16344779, 1) )\n",
-      "        uniform token[] xformOpOrder = [\"xformOp:transform\"]\n",
-      "\n",
-      "        def Xform \"cabinet2_door_visual_0\" (\n",
-      "            prepend references = @./../meshes/usd/visual/SM_Kitchen_02_Door.usda@</SM_Kitchen_02_Door>\n",
-      "        )\n",
-      "        {\n",
-      "            matrix4d xformOp:transform = ( (1, 0, 0, 0), (0, 1, 0, 0), (0, 0, 1, 0), (0, 0, 0, 1) )\n",
-      "            uniform token[] xformOpOrder = [\"xformOp:transform\"]\n",
-      "\n",
-      "            over \"SM_Kitchen_02_Door_001\" (\n",
-      "                prepend apiSchemas = [\"MaterialBindingAPI\"]\n",
-      "            )\n",
-      "            {\n",
-      "                rel material:binding = </_materials/_Game_Materials_Laborraum_M_Kitchen_Fronts_M_Kitchen_Fronts_006>\n",
-      "\n",
-      "                over \"_Game_Materials_Laborraum_M_Metal_Chrome_M_Metal_Chrome_007\" (\n",
-      "                    prepend apiSchemas = [\"MaterialBindingAPI\"]\n",
-      "                )\n",
-      "                {\n",
-      "                    rel material:binding = </_materials/_Game_Materials_Laborraum_M_Metal_Chrome_M_Metal_Chrome_007>\n",
-      "                }\n",
-      "\n",
-      "                over \"_Game_Materials_Laborraum_M_Kitchen_Fronts_M_Kitchen_Fronts_006\" (\n",
-      "                    prepend apiSchemas = [\"MaterialBindingAPI\"]\n",
-      "                )\n",
-      "                {\n",
-      "                    rel material:binding = </_materials/_Game_Materials_Laborraum_M_Kitchen_Fronts_M_Kitchen_Fronts_006>\n",
-      "                }\n",
-      "            }\n",
-      "        }\n",
-      "\n",
-      "        def Xform \"cabinet2_door_collision_0\" (\n",
-      "            prepend apiSchemas = [\"PhysicsMassAPI\"]\n",
-      "        )\n",
-      "        {\n",
-      "            point3f physics:centerOfMass = (0, 0, 0)\n",
-      "            float physics:density = 100\n",
-      "            float3 physics:diagonalInertia = (-39.997124, -21.751907, 91.43974)\n",
-      "            float physics:mass = 1.6019\n",
-      "            quatf physics:principalAxes = (0.24109606, 0.9666183, 0.048708666, 0.0717581)\n",
-      "            matrix4d xformOp:transform = ( (0.0095, 0, 0, 0), (0, 0.198479, 0, 0), (0, 0, 1.06138, 0), (-0.000653, -0.185074, 0, 1) )\n",
-      "            uniform token[] xformOpOrder = [\"xformOp:transform\"]\n",
-      "\n",
-      "            def Cube \"Cube\" (\n",
-      "                prepend apiSchemas = [\"PhysicsCollisionAPI\"]\n",
-      "            )\n",
-      "            {\n",
-      "                float3[] extent = [(-1, -1, -1), (1, 1, 1)]\n",
-      "                bool physics:collisionEnabled = 1\n",
-      "                color3f[] primvars:displayColor = [(1, 0, 0)]\n",
-      "                float[] primvars:displayOpacity = [0.5]\n",
-      "            }\n",
-      "        }\n",
-      "\n",
-      "        def Xform \"cabinet2_door_handle\"\n",
-      "        {\n",
-      "            matrix4d xformOp:transform = ( (1, 0, 0, 0), (0, 2.220446049250313e-16, 1, 0), (0, -1, 2.220446049250313e-16, 0), (-0.02184994, -0.25886013, -0.10518866, 1) )\n",
-      "            uniform token[] xformOpOrder = [\"xformOp:transform\"]\n",
-      "\n",
-      "            def Xform \"cabinet2_door_handle_visual_0\" (\n",
-      "                prepend references = @./../meshes/usd/visual/SM_Kitchen_Handle.usda@</SM_Kitchen_Handle>\n",
-      "            )\n",
-      "            {\n",
-      "                matrix4d xformOp:transform = ( (1, 0, 0, 0), (0, 1, 0, 0), (0, 0, 1, 0), (0, 0, 0, 1) )\n",
-      "                uniform token[] xformOpOrder = [\"xformOp:transform\"]\n",
-      "\n",
-      "                over \"SM_Kitchen_Handle\" (\n",
-      "                    prepend apiSchemas = [\"MaterialBindingAPI\"]\n",
-      "                )\n",
-      "                {\n",
-      "                    rel material:binding = </_materials/_Game_Materials_Laborraum_M_Metal_Brushed_M_Metal_Brushed_003>\n",
-      "                }\n",
-      "            }\n",
-      "\n",
-      "            def Xform \"cabinet2_door_handle_collision_0\" (\n",
-      "                prepend apiSchemas = [\"PhysicsMassAPI\"]\n",
-      "            )\n",
-      "            {\n",
-      "                point3f physics:centerOfMass = (0, 0, 0)\n",
-      "                float physics:density = 100\n",
-      "                float3 physics:diagonalInertia = (-39.997124, -21.751907, 91.43974)\n",
-      "                float physics:mass = 1.6019\n",
-      "                quatf physics:principalAxes = (0.24109606, 0.9666183, 0.048708666, 0.0717581)\n",
-      "                matrix4d xformOp:transform = ( (0.01, 0, 0, 0), (0, 0.0065, 0, 0), (0, 0, 0.0065, 0), (0.0164985, 0, 0.08, 1) )\n",
-      "                uniform token[] xformOpOrder = [\"xformOp:transform\"]\n",
-      "\n",
-      "                def Cube \"Cube\" (\n",
-      "                    prepend apiSchemas = [\"PhysicsCollisionAPI\"]\n",
-      "                )\n",
-      "                {\n",
-      "                    float3[] extent = [(-1, -1, -1), (1, 1, 1)]\n",
-      "                    bool physics:collisionEnabled = 1\n",
-      "                    color3f[] primvars:displayColor = [(1, 0, 0)]\n",
-      "                    float[] primvars:displayOpacity = [0.5]\n",
-      "                }\n",
-      "            }\n",
-      "\n",
-      "            def Xform \"cabinet2_door_handle_collision_1\" (\n",
-      "                prepend apiSchemas = [\"PhysicsMassAPI\"]\n",
-      "            )\n",
-      "            {\n",
-      "                point3f physics:centerOfMass = (0, 0, 0)\n",
-      "                float physics:density = 100\n",
-      "                float3 physics:diagonalInertia = (-39.997124, -21.751907, 91.43974)\n",
-      "                float physics:mass = 1.6019\n",
-      "                quatf physics:principalAxes = (0.24109606, 0.9666183, 0.048708666, 0.0717581)\n",
-      "                matrix4d xformOp:transform = ( (0.01, 0, 0, 0), (0, 0.0065, 0, 0), (0, 0, 0.0065, 0), (0.0164985, 0, -0.08, 1) )\n",
-      "                uniform token[] xformOpOrder = [\"xformOp:transform\"]\n",
-      "\n",
-      "                def Cube \"Cube\" (\n"
-     ]
-    },
-    {
-     "name": "stdout",
-     "output_type": "stream",
-     "text": [
-      "                    prepend apiSchemas = [\"PhysicsCollisionAPI\"]\n",
-      "                )\n",
-      "                {\n",
-      "                    float3[] extent = [(-1, -1, -1), (1, 1, 1)]\n",
-      "                    bool physics:collisionEnabled = 1\n",
-      "                    color3f[] primvars:displayColor = [(1, 0, 0)]\n",
-      "                    float[] primvars:displayOpacity = [0.5]\n",
-      "                }\n",
-      "            }\n",
-      "\n",
-      "            def Xform \"cabinet2_door_handle_collision_2\" (\n",
-      "                prepend apiSchemas = [\"PhysicsMassAPI\"]\n",
-      "            )\n",
-      "            {\n",
-      "                point3f physics:centerOfMass = (0, 0, 0)\n",
-      "                float physics:density = 100\n",
-      "                float3 physics:diagonalInertia = (-39.997124, -21.751907, 91.43974)\n",
-      "                float physics:mass = 1.6019\n",
-      "                quatf physics:principalAxes = (0.24109606, 0.9666183, 0.048708666, 0.0717581)\n",
-      "                matrix4d xformOp:transform = ( (0.0065, 0, 0, 0), (0, 0.0065, 0, 0), (0, 0, 0.086516, 0), (0, 0, 0, 1) )\n",
-      "                uniform token[] xformOpOrder = [\"xformOp:transform\"]\n",
-      "\n",
-      "                def Cube \"Cube\" (\n",
-      "                    prepend apiSchemas = [\"PhysicsCollisionAPI\"]\n",
-      "                )\n",
-      "                {\n",
-      "                    float3[] extent = [(-1, -1, -1), (1, 1, 1)]\n",
-      "                    bool physics:collisionEnabled = 1\n",
-      "                    color3f[] primvars:displayColor = [(1, 0, 0)]\n",
-      "                    float[] primvars:displayOpacity = [0.5]\n",
-      "                }\n",
-      "            }\n",
-      "        }\n",
-      "    }\n",
-      "\n",
-      "    def Xform \"cabinet2_drawer1\" (\n",
-      "        prepend apiSchemas = [\"PhysicsRigidBodyAPI\"]\n",
-      "    )\n",
-      "    {\n",
-      "        bool physics:rigidBodyEnabled = 1\n",
-      "        matrix4d xformOp:transform = ( (-1, 1.2246467991473532e-16, 0, 0), (-1.2246467991473532e-16, -1, 0, 0), (0, 0, 1, 0), (0.28455711, 1.97570891, 1.74285125, 1) )\n",
-      "        uniform token[] xformOpOrder = [\"xformOp:transform\"]\n",
-      "\n",
-      "        def Xform \"cabinet2_drawer1_visual_0\" (\n",
-      "            prepend references = @./../meshes/usd/visual/SM_Kitchen_02_Drawer_01.usda@</SM_Kitchen_02_Drawer_01>\n",
-      "        )\n",
-      "        {\n",
-      "            matrix4d xformOp:transform = ( (1, 0, 0, 0), (0, 1, 0, 0), (0, 0, 1, 0), (0, 0, 0, 1) )\n",
-      "            uniform token[] xformOpOrder = [\"xformOp:transform\"]\n",
-      "\n",
-      "            over \"SM_Kitchen_02_Drawer_01\" (\n",
-      "                prepend apiSchemas = [\"MaterialBindingAPI\"]\n",
-      "            )\n",
-      "            {\n",
-      "                rel material:binding = </_materials/_Game_Materials_Laborraum_M_Drawer_Mat_M_Drawer_Mat_002>\n",
-      "\n",
-      "                over \"_Game_Materials_Laborraum_M_Metal_Chrome_M_Metal_Chrome_009\" (\n",
-      "                    prepend apiSchemas = [\"MaterialBindingAPI\"]\n",
-      "                )\n",
-      "                {\n",
-      "                    rel material:binding = </_materials/_Game_Materials_Laborraum_M_Metal_Chrome_M_Metal_Chrome_009>\n",
-      "                }\n",
-      "\n",
-      "                over \"_Game_Materials_Laborraum_M_Plastic_White_M_Plastic_White_006\" (\n",
-      "                    prepend apiSchemas = [\"MaterialBindingAPI\"]\n",
-      "                )\n",
-      "                {\n",
-      "                    rel material:binding = </_materials/_Game_Materials_Laborraum_M_Plastic_White_M_Plastic_White_006>\n",
-      "                }\n",
-      "\n",
-      "                over \"_Game_Materials_Laborraum_M_Drawer_Mat_M_Drawer_Mat_002\" (\n",
-      "                    prepend apiSchemas = [\"MaterialBindingAPI\"]\n",
-      "                )\n",
-      "                {\n",
-      "                    rel material:binding = </_materials/_Game_Materials_Laborraum_M_Drawer_Mat_M_Drawer_Mat_002>\n",
-      "                }\n",
-      "            }\n",
-      "        }\n",
-      "\n",
-      "        def Xform \"cabinet2_drawer1_collision_0\" (\n",
-      "            prepend apiSchemas = [\"PhysicsMassAPI\"]\n",
-      "        )\n",
-      "        {\n",
-      "            point3f physics:centerOfMass = (0, 0, 0)\n",
-      "            float physics:density = 100\n",
-      "            float3 physics:diagonalInertia = (-1.9416206, -0.9968829, 3.4259748)\n",
-      "            float physics:mass = 0.48342413\n",
-      "            quatf physics:principalAxes = (-0.5736558, -0.21801256, 0.76776356, -0.18419749)\n",
-      "            matrix4d xformOp:transform = ( (0.0085, 0, 0, 0), (0, 0.180981, 0, 0), (0, 0, 0.050495, 0), (-0.242975, 0, 0, 1) )\n",
-      "            uniform token[] xformOpOrder = [\"xformOp:transform\"]\n",
-      "\n",
-      "            def Cube \"Cube\" (\n",
-      "                prepend apiSchemas = [\"PhysicsCollisionAPI\"]\n",
-      "            )\n",
-      "            {\n",
-      "                float3[] extent = [(-1, -1, -1), (1, 1, 1)]\n",
-      "                bool physics:collisionEnabled = 1\n",
-      "                color3f[] primvars:displayColor = [(1, 0, 0)]\n",
-      "                float[] primvars:displayOpacity = [0.5]\n",
-      "            }\n",
-      "        }\n",
-      "\n",
-      "        def Xform \"cabinet2_drawer1_collision_1\" (\n",
-      "            prepend apiSchemas = [\"PhysicsMassAPI\"]\n",
-      "        )\n",
-      "        {\n",
-      "            point3f physics:centerOfMass = (0, 0, 0)\n",
-      "            float physics:density = 100\n",
-      "            float3 physics:diagonalInertia = (-1.9416206, -0.9968829, 3.4259748)\n",
-      "            float physics:mass = 0.48342413\n",
-      "            quatf physics:principalAxes = (-0.5736558, -0.21801256, 0.76776356, -0.18419749)\n",
-      "            matrix4d xformOp:transform = ( (0.008064, 0, 0, 0), (0, 0.180981, 0, 0), (0, 0, 0.050495, 0), (0.235441, 0, 0, 1) )\n",
-      "            uniform token[] xformOpOrder = [\"xformOp:transform\"]\n",
-      "\n",
-      "            def Cube \"Cube\" (\n",
-      "                prepend apiSchemas = [\"PhysicsCollisionAPI\"]\n",
-      "            )\n",
-      "            {\n",
-      "                float3[] extent = [(-1, -1, -1), (1, 1, 1)]\n",
-      "                bool physics:collisionEnabled = 1\n",
-      "                color3f[] primvars:displayColor = [(1, 0, 0)]\n",
-      "                float[] primvars:displayOpacity = [0.5]\n",
-      "            }\n",
-      "        }\n",
-      "\n",
-      "        def Xform \"cabinet2_drawer1_collision_2\" (\n",
-      "            prepend apiSchemas = [\"PhysicsMassAPI\"]\n",
-      "        )\n",
-      "        {\n",
-      "            point3f physics:centerOfMass = (0, 0, 0)\n",
-      "            float physics:density = 100\n",
-      "            float3 physics:diagonalInertia = (-1.9416206, -0.9968829, 3.4259748)\n",
-      "            float physics:mass = 0.48342413\n",
-      "            quatf physics:principalAxes = (-0.5736558, -0.21801256, 0.76776356, -0.18419749)\n",
-      "            matrix4d xformOp:transform = ( (0.247489, 0, 0, 0), (0, 0.008, 0, 0), (0, 0, 0.050495, 0), (-0.003984, 0.170578, 0, 1) )\n",
-      "            uniform token[] xformOpOrder = [\"xformOp:transform\"]\n",
-      "\n",
-      "            def Cube \"Cube\" (\n",
-      "                prepend apiSchemas = [\"PhysicsCollisionAPI\"]\n",
-      "            )\n",
-      "            {\n",
-      "                float3[] extent = [(-1, -1, -1), (1, 1, 1)]\n",
-      "                bool physics:collisionEnabled = 1\n",
-      "                color3f[] primvars:displayColor = [(1, 0, 0)]\n",
-      "                float[] primvars:displayOpacity = [0.5]\n",
-      "            }\n",
-      "        }\n",
-      "\n",
-      "        def Xform \"cabinet2_drawer1_collision_3\" (\n",
-      "            prepend apiSchemas = [\"PhysicsMassAPI\"]\n",
-      "        )\n",
-      "        {\n",
-      "            point3f physics:centerOfMass = (0, 0, 0)\n",
-      "            float physics:density = 100\n",
-      "            float3 physics:diagonalInertia = (-1.9416206, -0.9968829, 3.4259748)\n",
-      "            float physics:mass = 0.48342413\n",
-      "            quatf physics:principalAxes = (-0.5736558, -0.21801256, 0.76776356, -0.18419749)\n",
-      "            matrix4d xformOp:transform = ( (0.247489, 0, 0, 0), (0, 0.008, 0, 0), (0, 0, 0.050495, 0), (-0.003984, -0.170578, 0, 1) )\n",
-      "            uniform token[] xformOpOrder = [\"xformOp:transform\"]\n",
-      "\n",
-      "            def Cube \"Cube\" (\n",
-      "                prepend apiSchemas = [\"PhysicsCollisionAPI\"]\n",
-      "            )\n",
-      "            {\n",
-      "                float3[] extent = [(-1, -1, -1), (1, 1, 1)]\n",
-      "                bool physics:collisionEnabled = 1\n",
-      "                color3f[] primvars:displayColor = [(1, 0, 0)]\n",
-      "                float[] primvars:displayOpacity = [0.5]\n",
-      "            }\n",
-      "        }\n",
-      "\n",
-      "        def Xform \"cabinet2_drawer1_collision_4\" (\n",
-      "            prepend apiSchemas = [\"PhysicsMassAPI\"]\n",
-      "        )\n",
-      "        {\n",
-      "            point3f physics:centerOfMass = (0, 0, 0)\n",
-      "            float physics:density = 100\n",
-      "            float3 physics:diagonalInertia = (-1.9416206, -0.9968829, 3.4259748)\n",
-      "            float physics:mass = 0.48342413\n",
-      "            quatf physics:principalAxes = (-0.5736558, -0.21801256, 0.76776356, -0.18419749)\n",
-      "            matrix4d xformOp:transform = ( (0.247489, 0, 0, 0), (0, 0.180981, 0, 0), (0, 0, 0.010749, 0), (-0.003984, 0, -0.039746, 1) )\n",
-      "            uniform token[] xformOpOrder = [\"xformOp:transform\"]\n",
-      "\n",
-      "            def Cube \"Cube\" (\n",
-      "                prepend apiSchemas = [\"PhysicsCollisionAPI\"]\n",
-      "            )\n",
-      "            {\n",
-      "                float3[] extent = [(-1, -1, -1), (1, 1, 1)]\n"
-     ]
-    },
-    {
-     "name": "stdout",
-     "output_type": "stream",
-     "text": [
-      "                bool physics:collisionEnabled = 1\n",
-      "                color3f[] primvars:displayColor = [(1, 0, 0)]\n",
-      "                float[] primvars:displayOpacity = [0.5]\n",
-      "            }\n",
-      "        }\n",
-      "    }\n",
-      "\n",
-      "    def Xform \"cabinet2_drawer2\" (\n",
-      "        prepend apiSchemas = [\"PhysicsRigidBodyAPI\"]\n",
-      "    )\n",
-      "    {\n",
-      "        bool physics:rigidBodyEnabled = 1\n",
-      "        matrix4d xformOp:transform = ( (-1, 1.2246467991473532e-16, 0, 0), (-1.2246467991473532e-16, -1, 0, 0), (0, 0, 1, 0), (0.28455711, 1.9783996700000002, 1.58513854, 1) )\n",
-      "        uniform token[] xformOpOrder = [\"xformOp:transform\"]\n",
-      "\n",
-      "        def Xform \"cabinet2_drawer2_visual_0\" (\n",
-      "            prepend references = @./../meshes/usd/visual/SM_Kitchen_02_Drawer_02.usda@</SM_Kitchen_02_Drawer_02>\n",
-      "        )\n",
-      "        {\n",
-      "            matrix4d xformOp:transform = ( (1, 0, 0, 0), (0, 1, 0, 0), (0, 0, 1, 0), (0, 0, 0, 1) )\n",
-      "            uniform token[] xformOpOrder = [\"xformOp:transform\"]\n",
-      "\n",
-      "            over \"SM_Kitchen_02_Drawer_02\" (\n",
-      "                prepend apiSchemas = [\"MaterialBindingAPI\"]\n",
-      "            )\n",
-      "            {\n",
-      "                rel material:binding = </_materials/_Game_Materials_Laborraum_M_Drawer_Mat_M_Drawer_Mat_003>\n",
-      "\n",
-      "                over \"_Game_Materials_Laborraum_M_Metal_Chrome_M_Metal_Chrome_010\" (\n",
-      "                    prepend apiSchemas = [\"MaterialBindingAPI\"]\n",
-      "                )\n",
-      "                {\n",
-      "                    rel material:binding = </_materials/_Game_Materials_Laborraum_M_Metal_Chrome_M_Metal_Chrome_010>\n",
-      "                }\n",
-      "\n",
-      "                over \"_Game_Materials_Laborraum_M_Plastic_White_M_Plastic_White_007\" (\n",
-      "                    prepend apiSchemas = [\"MaterialBindingAPI\"]\n",
-      "                )\n",
-      "                {\n",
-      "                    rel material:binding = </_materials/_Game_Materials_Laborraum_M_Plastic_White_M_Plastic_White_007>\n",
-      "                }\n",
-      "\n",
-      "                over \"_Game_Materials_Laborraum_M_Drawer_Mat_M_Drawer_Mat_003\" (\n",
-      "                    prepend apiSchemas = [\"MaterialBindingAPI\"]\n",
-      "                )\n",
-      "                {\n",
-      "                    rel material:binding = </_materials/_Game_Materials_Laborraum_M_Drawer_Mat_M_Drawer_Mat_003>\n",
-      "                }\n",
-      "            }\n",
-      "        }\n",
-      "\n",
-      "        def Xform \"cabinet2_drawer2_collision_0\" (\n",
-      "            prepend apiSchemas = [\"PhysicsMassAPI\"]\n",
-      "        )\n",
-      "        {\n",
-      "            point3f physics:centerOfMass = (0, 0, 0)\n",
-      "            float physics:density = 100\n",
-      "            float3 physics:diagonalInertia = (-2.256894, -1.3536373, 4.6985965)\n",
-      "            float physics:mass = 0.5777372\n",
-      "            quatf physics:principalAxes = (-0.5554302, -0.21707855, 0.78277975, -0.17784847)\n",
-      "            matrix4d xformOp:transform = ( (0.006898, 0, 0, 0), (0, 0.180981, 0, 0), (0, 0, 0.049, 0), (-0.242374, 0, -0.042, 1) )\n",
-      "            uniform token[] xformOpOrder = [\"xformOp:transform\"]\n",
-      "\n",
-      "            def Cube \"Cube\" (\n",
-      "                prepend apiSchemas = [\"PhysicsCollisionAPI\"]\n",
-      "            )\n",
-      "            {\n",
-      "                float3[] extent = [(-1, -1, -1), (1, 1, 1)]\n",
-      "                bool physics:collisionEnabled = 1\n",
-      "                color3f[] primvars:displayColor = [(1, 0, 0)]\n",
-      "                float[] primvars:displayOpacity = [0.5]\n",
-      "            }\n",
-      "        }\n",
-      "\n",
-      "        def Xform \"cabinet2_drawer2_collision_1\" (\n",
-      "            prepend apiSchemas = [\"PhysicsMassAPI\"]\n",
-      "        )\n",
-      "        {\n",
-      "            point3f physics:centerOfMass = (0, 0, 0)\n",
-      "            float physics:density = 100\n",
-      "            float3 physics:diagonalInertia = (-2.256894, -1.3536373, 4.6985965)\n",
-      "            float physics:mass = 0.5777372\n",
-      "            quatf physics:principalAxes = (-0.5554302, -0.21707855, 0.78277975, -0.17784847)\n",
-      "            matrix4d xformOp:transform = ( (0.006898, 0, 0, 0), (0, 0.180981, 0, 0), (0, 0, 0.010149, 0), (-0.242374, 0, 0.060843, 1) )\n",
-      "            uniform token[] xformOpOrder = [\"xformOp:transform\"]\n",
-      "\n",
-      "            def Cube \"Cube\" (\n",
-      "                prepend apiSchemas = [\"PhysicsCollisionAPI\"]\n",
-      "            )\n",
-      "            {\n",
-      "                float3[] extent = [(-1, -1, -1), (1, 1, 1)]\n",
-      "                bool physics:collisionEnabled = 1\n",
-      "                color3f[] primvars:displayColor = [(1, 0, 0)]\n",
-      "                float[] primvars:displayOpacity = [0.5]\n",
-      "            }\n",
-      "        }\n",
-      "\n",
-      "        def Xform \"cabinet2_drawer2_collision_2\" (\n",
-      "            prepend apiSchemas = [\"PhysicsMassAPI\"]\n",
-      "        )\n",
-      "        {\n",
-      "            point3f physics:centerOfMass = (0, 0, 0)\n",
-      "            float physics:density = 100\n",
-      "            float3 physics:diagonalInertia = (-2.256894, -1.3536373, 4.6985965)\n",
-      "            float physics:mass = 0.5777372\n",
-      "            quatf physics:principalAxes = (-0.5554302, -0.21707855, 0.78277975, -0.17784847)\n",
-      "            matrix4d xformOp:transform = ( (0.008393, 0, 0, 0), (0, 0.032441, 0, 0), (0, 0, 0.09099, 0), (-0.242869, 0.148428, 0, 1) )\n",
-      "            uniform token[] xformOpOrder = [\"xformOp:transform\"]\n",
-      "\n",
-      "            def Cube \"Cube\" (\n",
-      "                prepend apiSchemas = [\"PhysicsCollisionAPI\"]\n",
-      "            )\n",
-      "            {\n",
-      "                float3[] extent = [(-1, -1, -1), (1, 1, 1)]\n",
-      "                bool physics:collisionEnabled = 1\n",
-      "                color3f[] primvars:displayColor = [(1, 0, 0)]\n",
-      "                float[] primvars:displayOpacity = [0.5]\n",
-      "            }\n",
-      "        }\n",
-      "\n",
-      "        def Xform \"cabinet2_drawer2_collision_3\" (\n",
-      "            prepend apiSchemas = [\"PhysicsMassAPI\"]\n",
-      "        )\n",
-      "        {\n",
-      "            point3f physics:centerOfMass = (0, 0, 0)\n",
-      "            float physics:density = 100\n",
-      "            float3 physics:diagonalInertia = (-2.256894, -1.3536373, 4.6985965)\n",
-      "            float physics:mass = 0.5777372\n",
-      "            quatf physics:principalAxes = (-0.5554302, -0.21707855, 0.78277975, -0.17784847)\n",
-      "            matrix4d xformOp:transform = ( (0.008393, 0, 0, 0), (0, 0.032441, 0, 0), (0, 0, 0.09099, 0), (-0.242869, -0.148428, 0, 1) )\n",
-      "            uniform token[] xformOpOrder = [\"xformOp:transform\"]\n",
-      "\n",
-      "            def Cube \"Cube\" (\n",
-      "                prepend apiSchemas = [\"PhysicsCollisionAPI\"]\n",
-      "            )\n",
-      "            {\n",
-      "                float3[] extent = [(-1, -1, -1), (1, 1, 1)]\n",
-      "                bool physics:collisionEnabled = 1\n",
-      "                color3f[] primvars:displayColor = [(1, 0, 0)]\n",
-      "                float[] primvars:displayOpacity = [0.5]\n",
-      "            }\n",
-      "        }\n",
-      "\n",
-      "        def Xform \"cabinet2_drawer2_collision_4\" (\n",
-      "            prepend apiSchemas = [\"PhysicsMassAPI\"]\n",
-      "        )\n",
-      "        {\n",
-      "            point3f physics:centerOfMass = (0, 0, 0)\n",
-      "            float physics:density = 100\n",
-      "            float3 physics:diagonalInertia = (-2.256894, -1.3536373, 4.6985965)\n",
-      "            float physics:mass = 0.5777372\n",
-      "            quatf physics:principalAxes = (-0.5554302, -0.21707855, 0.78277975, -0.17784847)\n",
-      "            matrix4d xformOp:transform = ( (0.008064, 0, 0, 0), (0, 0.180981, 0, 0), (0, 0, 0.090879, 0), (0.235441, 0, 0, 1) )\n",
-      "            uniform token[] xformOpOrder = [\"xformOp:transform\"]\n",
-      "\n",
-      "            def Cube \"Cube\" (\n",
-      "                prepend apiSchemas = [\"PhysicsCollisionAPI\"]\n",
-      "            )\n",
-      "            {\n",
-      "                float3[] extent = [(-1, -1, -1), (1, 1, 1)]\n",
-      "                bool physics:collisionEnabled = 1\n",
-      "                color3f[] primvars:displayColor = [(1, 0, 0)]\n",
-      "                float[] primvars:displayOpacity = [0.5]\n",
-      "            }\n",
-      "        }\n",
-      "\n",
-      "        def Xform \"cabinet2_drawer2_collision_5\" (\n",
-      "            prepend apiSchemas = [\"PhysicsMassAPI\"]\n",
-      "        )\n",
-      "        {\n",
-      "            point3f physics:centerOfMass = (0, 0, 0)\n",
-      "            float physics:density = 100\n",
-      "            float3 physics:diagonalInertia = (-2.256894, -1.3536373, 4.6985965)\n",
-      "            float physics:mass = 0.5777372\n",
-      "            quatf physics:principalAxes = (-0.5554302, -0.21707855, 0.78277975, -0.17784847)\n",
-      "            matrix4d xformOp:transform = ( (0.247489, 0, 0, 0), (0, 0.008, 0, 0), (0, 0, 0.011649, 0), (-0.003984, 0.170578, 0.075342, 1) )\n",
-      "            uniform token[] xformOpOrder = [\"xformOp:transform\"]\n",
-      "\n",
-      "            def Cube \"Cube\" (\n",
-      "                prepend apiSchemas = [\"PhysicsCollisionAPI\"]\n",
-      "            )\n",
-      "            {\n",
-      "                float3[] extent = [(-1, -1, -1), (1, 1, 1)]\n",
-      "                bool physics:collisionEnabled = 1\n",
-      "                color3f[] primvars:displayColor = [(1, 0, 0)]\n",
-      "                float[] primvars:displayOpacity = [0.5]\n",
-      "            }\n",
-      "        }\n",
-      "\n",
-      "        def Xform \"cabinet2_drawer2_collision_6\" (\n"
-     ]
-    },
-    {
-     "name": "stdout",
-     "output_type": "stream",
-     "text": [
-      "            prepend apiSchemas = [\"PhysicsMassAPI\"]\n",
-      "        )\n",
-      "        {\n",
-      "            point3f physics:centerOfMass = (0, 0, 0)\n",
-      "            float physics:density = 100\n",
-      "            float3 physics:diagonalInertia = (-2.256894, -1.3536373, 4.6985965)\n",
-      "            float physics:mass = 0.5777372\n",
-      "            quatf physics:principalAxes = (-0.5554302, -0.21707855, 0.78277975, -0.17784847)\n",
-      "            matrix4d xformOp:transform = ( (0.247489, 0, 0, 0), (0, 0.008, 0, 0), (0, 0, 0.011649, 0), (-0.003984, -0.170578, 0.075342, 1) )\n",
-      "            uniform token[] xformOpOrder = [\"xformOp:transform\"]\n",
-      "\n",
-      "            def Cube \"Cube\" (\n",
-      "                prepend apiSchemas = [\"PhysicsCollisionAPI\"]\n",
-      "            )\n",
-      "            {\n",
-      "                float3[] extent = [(-1, -1, -1), (1, 1, 1)]\n",
-      "                bool physics:collisionEnabled = 1\n",
-      "                color3f[] primvars:displayColor = [(1, 0, 0)]\n",
-      "                float[] primvars:displayOpacity = [0.5]\n",
-      "            }\n",
-      "        }\n",
-      "\n",
-      "        def Xform \"cabinet2_drawer2_collision_7\" (\n",
-      "            prepend apiSchemas = [\"PhysicsMassAPI\"]\n",
-      "        )\n",
-      "        {\n",
-      "            point3f physics:centerOfMass = (0, 0, 0)\n",
-      "            float physics:density = 100\n",
-      "            float3 physics:diagonalInertia = (-2.256894, -1.3536373, 4.6985965)\n",
-      "            float physics:mass = 0.5777372\n",
-      "            quatf physics:principalAxes = (-0.5554302, -0.21707855, 0.78277975, -0.17784847)\n",
-      "            matrix4d xformOp:transform = ( (0.247489, 0, 0, 0), (0, 0.008, 0, 0), (0, 0, 0.043553, 0), (-0.003984, 0.170578, -0.043743, 1) )\n",
-      "            uniform token[] xformOpOrder = [\"xformOp:transform\"]\n",
-      "\n",
-      "            def Cube \"Cube\" (\n",
-      "                prepend apiSchemas = [\"PhysicsCollisionAPI\"]\n",
-      "            )\n",
-      "            {\n",
-      "                float3[] extent = [(-1, -1, -1), (1, 1, 1)]\n",
-      "                bool physics:collisionEnabled = 1\n",
-      "                color3f[] primvars:displayColor = [(1, 0, 0)]\n",
-      "                float[] primvars:displayOpacity = [0.5]\n",
-      "            }\n",
-      "        }\n",
-      "\n",
-      "        def Xform \"cabinet2_drawer2_collision_8\" (\n",
-      "            prepend apiSchemas = [\"PhysicsMassAPI\"]\n",
-      "        )\n",
-      "        {\n",
-      "            point3f physics:centerOfMass = (0, 0, 0)\n",
-      "            float physics:density = 100\n",
-      "            float3 physics:diagonalInertia = (-2.256894, -1.3536373, 4.6985965)\n",
-      "            float physics:mass = 0.5777372\n",
-      "            quatf physics:principalAxes = (-0.5554302, -0.21707855, 0.78277975, -0.17784847)\n",
-      "            matrix4d xformOp:transform = ( (0.247489, 0, 0, 0), (0, 0.008, 0, 0), (0, 0, 0.043553, 0), (-0.003984, -0.170578, -0.043743, 1) )\n",
-      "            uniform token[] xformOpOrder = [\"xformOp:transform\"]\n",
-      "\n",
-      "            def Cube \"Cube\" (\n",
-      "                prepend apiSchemas = [\"PhysicsCollisionAPI\"]\n",
-      "            )\n",
-      "            {\n",
-      "                float3[] extent = [(-1, -1, -1), (1, 1, 1)]\n",
-      "                bool physics:collisionEnabled = 1\n",
-      "                color3f[] primvars:displayColor = [(1, 0, 0)]\n",
-      "                float[] primvars:displayOpacity = [0.5]\n",
-      "            }\n",
-      "        }\n",
-      "\n",
-      "        def Xform \"cabinet2_drawer2_collision_9\" (\n",
-      "            prepend apiSchemas = [\"PhysicsMassAPI\"]\n",
-      "        )\n",
-      "        {\n",
-      "            point3f physics:centerOfMass = (0, 0, 0)\n",
-      "            float physics:density = 100\n",
-      "            float3 physics:diagonalInertia = (-2.256894, -1.3536373, 4.6985965)\n",
-      "            float physics:mass = 0.5777372\n",
-      "            quatf physics:principalAxes = (-0.5554302, -0.21707855, 0.78277975, -0.17784847)\n",
-      "            matrix4d xformOp:transform = ( (0.247489, 0, 0, 0), (0, 0.180981, 0, 0), (0, 0, 0.010749, 0), (-0.003984, 0, -0.080242, 1) )\n",
-      "            uniform token[] xformOpOrder = [\"xformOp:transform\"]\n",
-      "\n",
-      "            def Cube \"Cube\" (\n",
-      "                prepend apiSchemas = [\"PhysicsCollisionAPI\"]\n",
-      "            )\n",
-      "            {\n",
-      "                float3[] extent = [(-1, -1, -1), (1, 1, 1)]\n",
-      "                bool physics:collisionEnabled = 1\n",
-      "                color3f[] primvars:displayColor = [(1, 0, 0)]\n",
-      "                float[] primvars:displayOpacity = [0.5]\n",
-      "            }\n",
-      "        }\n",
-      "    }\n",
-      "\n",
-      "    def Xform \"cabinet2_drawer3\" (\n",
-      "        prepend apiSchemas = [\"PhysicsRigidBodyAPI\"]\n",
-      "    )\n",
-      "    {\n",
-      "        bool physics:rigidBodyEnabled = 1\n",
-      "        matrix4d xformOp:transform = ( (-1, 1.2246467991473532e-16, 0, 0), (-1.2246467991473532e-16, -1, 0, 0), (0, 0, 1, 0), (0.28455711, 1.9783996700000002, 1.30528564, 1) )\n",
-      "        uniform token[] xformOpOrder = [\"xformOp:transform\"]\n",
-      "\n",
-      "        def Xform \"cabinet2_drawer3_visual_0\" (\n",
-      "            prepend references = @./../meshes/usd/visual/SM_Kitchen_02_Drawer_02.usda@</SM_Kitchen_02_Drawer_02>\n",
-      "        )\n",
-      "        {\n",
-      "            matrix4d xformOp:transform = ( (1, 0, 0, 0), (0, 1, 0, 0), (0, 0, 1, 0), (0, 0, 0, 1) )\n",
-      "            uniform token[] xformOpOrder = [\"xformOp:transform\"]\n",
-      "\n",
-      "            over \"SM_Kitchen_02_Drawer_02\" (\n",
-      "                prepend apiSchemas = [\"MaterialBindingAPI\"]\n",
-      "            )\n",
-      "            {\n",
-      "                rel material:binding = </_materials/_Game_Materials_Laborraum_M_Drawer_Mat_M_Drawer_Mat_003>\n",
-      "\n",
-      "                over \"_Game_Materials_Laborraum_M_Metal_Chrome_M_Metal_Chrome_010\" (\n",
-      "                    prepend apiSchemas = [\"MaterialBindingAPI\"]\n",
-      "                )\n",
-      "                {\n",
-      "                    rel material:binding = </_materials/_Game_Materials_Laborraum_M_Metal_Chrome_M_Metal_Chrome_010>\n",
-      "                }\n",
-      "\n",
-      "                over \"_Game_Materials_Laborraum_M_Plastic_White_M_Plastic_White_007\" (\n",
-      "                    prepend apiSchemas = [\"MaterialBindingAPI\"]\n",
-      "                )\n",
-      "                {\n",
-      "                    rel material:binding = </_materials/_Game_Materials_Laborraum_M_Plastic_White_M_Plastic_White_007>\n",
-      "                }\n",
-      "\n",
-      "                over \"_Game_Materials_Laborraum_M_Drawer_Mat_M_Drawer_Mat_003\" (\n",
-      "                    prepend apiSchemas = [\"MaterialBindingAPI\"]\n",
-      "                )\n",
-      "                {\n",
-      "                    rel material:binding = </_materials/_Game_Materials_Laborraum_M_Drawer_Mat_M_Drawer_Mat_003>\n",
-      "                }\n",
-      "            }\n",
-      "        }\n",
-      "\n",
-      "        def Xform \"cabinet2_drawer3_collision_0\" (\n",
-      "            prepend apiSchemas = [\"PhysicsMassAPI\"]\n",
-      "        )\n",
-      "        {\n",
-      "            point3f physics:centerOfMass = (0, 0, 0)\n",
-      "            float physics:density = 100\n",
-      "            float3 physics:diagonalInertia = (-2.256894, -1.3536373, 4.6985965)\n",
-      "            float physics:mass = 0.5777372\n",
-      "            quatf physics:principalAxes = (-0.5554302, -0.21707855, 0.78277975, -0.17784847)\n",
-      "            matrix4d xformOp:transform = ( (0.006898, 0, 0, 0), (0, 0.180981, 0, 0), (0, 0, 0.049, 0), (-0.242374, 0, -0.042, 1) )\n",
-      "            uniform token[] xformOpOrder = [\"xformOp:transform\"]\n",
-      "\n",
-      "            def Cube \"Cube\" (\n",
-      "                prepend apiSchemas = [\"PhysicsCollisionAPI\"]\n",
-      "            )\n",
-      "            {\n",
-      "                float3[] extent = [(-1, -1, -1), (1, 1, 1)]\n",
-      "                bool physics:collisionEnabled = 1\n",
-      "                color3f[] primvars:displayColor = [(1, 0, 0)]\n",
-      "                float[] primvars:displayOpacity = [0.5]\n",
-      "            }\n",
-      "        }\n",
-      "\n",
-      "        def Xform \"cabinet2_drawer3_collision_1\" (\n",
-      "            prepend apiSchemas = [\"PhysicsMassAPI\"]\n",
-      "        )\n",
-      "        {\n",
-      "            point3f physics:centerOfMass = (0, 0, 0)\n",
-      "            float physics:density = 100\n",
-      "            float3 physics:diagonalInertia = (-2.256894, -1.3536373, 4.6985965)\n",
-      "            float physics:mass = 0.5777372\n",
-      "            quatf physics:principalAxes = (-0.5554302, -0.21707855, 0.78277975, -0.17784847)\n",
-      "            matrix4d xformOp:transform = ( (0.006898, 0, 0, 0), (0, 0.180981, 0, 0), (0, 0, 0.010149, 0), (-0.242374, 0, 0.060843, 1) )\n",
-      "            uniform token[] xformOpOrder = [\"xformOp:transform\"]\n",
-      "\n",
-      "            def Cube \"Cube\" (\n",
-      "                prepend apiSchemas = [\"PhysicsCollisionAPI\"]\n",
-      "            )\n",
-      "            {\n",
-      "                float3[] extent = [(-1, -1, -1), (1, 1, 1)]\n",
-      "                bool physics:collisionEnabled = 1\n",
-      "                color3f[] primvars:displayColor = [(1, 0, 0)]\n",
-      "                float[] primvars:displayOpacity = [0.5]\n",
-      "            }\n",
-      "        }\n",
-      "\n",
-      "        def Xform \"cabinet2_drawer3_collision_2\" (\n",
-      "            prepend apiSchemas = [\"PhysicsMassAPI\"]\n",
-      "        )\n",
-      "        {\n",
-      "            point3f physics:centerOfMass = (0, 0, 0)\n",
-      "            float physics:density = 100\n",
-      "            float3 physics:diagonalInertia = (-2.256894, -1.3536373, 4.6985965)\n"
-     ]
-    },
-    {
-     "name": "stdout",
-     "output_type": "stream",
-     "text": [
-      "            float physics:mass = 0.5777372\n",
-      "            quatf physics:principalAxes = (-0.5554302, -0.21707855, 0.78277975, -0.17784847)\n",
-      "            matrix4d xformOp:transform = ( (0.008393, 0, 0, 0), (0, 0.032441, 0, 0), (0, 0, 0.09099, 0), (-0.242869, 0.148428, 0, 1) )\n",
-      "            uniform token[] xformOpOrder = [\"xformOp:transform\"]\n",
-      "\n",
-      "            def Cube \"Cube\" (\n",
-      "                prepend apiSchemas = [\"PhysicsCollisionAPI\"]\n",
-      "            )\n",
-      "            {\n",
-      "                float3[] extent = [(-1, -1, -1), (1, 1, 1)]\n",
-      "                bool physics:collisionEnabled = 1\n",
-      "                color3f[] primvars:displayColor = [(1, 0, 0)]\n",
-      "                float[] primvars:displayOpacity = [0.5]\n",
-      "            }\n",
-      "        }\n",
-      "\n",
-      "        def Xform \"cabinet2_drawer3_collision_3\" (\n",
-      "            prepend apiSchemas = [\"PhysicsMassAPI\"]\n",
-      "        )\n",
-      "        {\n",
-      "            point3f physics:centerOfMass = (0, 0, 0)\n",
-      "            float physics:density = 100\n",
-      "            float3 physics:diagonalInertia = (-2.256894, -1.3536373, 4.6985965)\n",
-      "            float physics:mass = 0.5777372\n",
-      "            quatf physics:principalAxes = (-0.5554302, -0.21707855, 0.78277975, -0.17784847)\n",
-      "            matrix4d xformOp:transform = ( (0.008393, 0, 0, 0), (0, 0.032441, 0, 0), (0, 0, 0.09099, 0), (-0.242869, -0.148428, 0, 1) )\n",
-      "            uniform token[] xformOpOrder = [\"xformOp:transform\"]\n",
-      "\n",
-      "            def Cube \"Cube\" (\n",
-      "                prepend apiSchemas = [\"PhysicsCollisionAPI\"]\n",
-      "            )\n",
-      "            {\n",
-      "                float3[] extent = [(-1, -1, -1), (1, 1, 1)]\n",
-      "                bool physics:collisionEnabled = 1\n",
-      "                color3f[] primvars:displayColor = [(1, 0, 0)]\n",
-      "                float[] primvars:displayOpacity = [0.5]\n",
-      "            }\n",
-      "        }\n",
-      "\n",
-      "        def Xform \"cabinet2_drawer3_collision_4\" (\n",
-      "            prepend apiSchemas = [\"PhysicsMassAPI\"]\n",
-      "        )\n",
-      "        {\n",
-      "            point3f physics:centerOfMass = (0, 0, 0)\n",
-      "            float physics:density = 100\n",
-      "            float3 physics:diagonalInertia = (-2.256894, -1.3536373, 4.6985965)\n",
-      "            float physics:mass = 0.5777372\n",
-      "            quatf physics:principalAxes = (-0.5554302, -0.21707855, 0.78277975, -0.17784847)\n",
-      "            matrix4d xformOp:transform = ( (0.008064, 0, 0, 0), (0, 0.180981, 0, 0), (0, 0, 0.090879, 0), (0.235441, 0, 0, 1) )\n",
-      "            uniform token[] xformOpOrder = [\"xformOp:transform\"]\n",
-      "\n",
-      "            def Cube \"Cube\" (\n",
-      "                prepend apiSchemas = [\"PhysicsCollisionAPI\"]\n",
-      "            )\n",
-      "            {\n",
-      "                float3[] extent = [(-1, -1, -1), (1, 1, 1)]\n",
-      "                bool physics:collisionEnabled = 1\n",
-      "                color3f[] primvars:displayColor = [(1, 0, 0)]\n",
-      "                float[] primvars:displayOpacity = [0.5]\n",
-      "            }\n",
-      "        }\n",
-      "\n",
-      "        def Xform \"cabinet2_drawer3_collision_5\" (\n",
-      "            prepend apiSchemas = [\"PhysicsMassAPI\"]\n",
-      "        )\n",
-      "        {\n",
-      "            point3f physics:centerOfMass = (0, 0, 0)\n",
-      "            float physics:density = 100\n",
-      "            float3 physics:diagonalInertia = (-2.256894, -1.3536373, 4.6985965)\n",
-      "            float physics:mass = 0.5777372\n",
-      "            quatf physics:principalAxes = (-0.5554302, -0.21707855, 0.78277975, -0.17784847)\n",
-      "            matrix4d xformOp:transform = ( (0.247489, 0, 0, 0), (0, 0.008, 0, 0), (0, 0, 0.011649, 0), (-0.003984, 0.170578, 0.075342, 1) )\n",
-      "            uniform token[] xformOpOrder = [\"xformOp:transform\"]\n",
-      "\n",
-      "            def Cube \"Cube\" (\n",
-      "                prepend apiSchemas = [\"PhysicsCollisionAPI\"]\n",
-      "            )\n",
-      "            {\n",
-      "                float3[] extent = [(-1, -1, -1), (1, 1, 1)]\n",
-      "                bool physics:collisionEnabled = 1\n",
-      "                color3f[] primvars:displayColor = [(1, 0, 0)]\n",
-      "                float[] primvars:displayOpacity = [0.5]\n",
-      "            }\n",
-      "        }\n",
-      "\n",
-      "        def Xform \"cabinet2_drawer3_collision_6\" (\n",
-      "            prepend apiSchemas = [\"PhysicsMassAPI\"]\n",
-      "        )\n",
-      "        {\n",
-      "            point3f physics:centerOfMass = (0, 0, 0)\n",
-      "            float physics:density = 100\n",
-      "            float3 physics:diagonalInertia = (-2.256894, -1.3536373, 4.6985965)\n",
-      "            float physics:mass = 0.5777372\n",
-      "            quatf physics:principalAxes = (-0.5554302, -0.21707855, 0.78277975, -0.17784847)\n",
-      "            matrix4d xformOp:transform = ( (0.247489, 0, 0, 0), (0, 0.008, 0, 0), (0, 0, 0.011649, 0), (-0.003984, -0.170578, 0.075342, 1) )\n",
-      "            uniform token[] xformOpOrder = [\"xformOp:transform\"]\n",
-      "\n",
-      "            def Cube \"Cube\" (\n",
-      "                prepend apiSchemas = [\"PhysicsCollisionAPI\"]\n",
-      "            )\n",
-      "            {\n",
-      "                float3[] extent = [(-1, -1, -1), (1, 1, 1)]\n",
-      "                bool physics:collisionEnabled = 1\n",
-      "                color3f[] primvars:displayColor = [(1, 0, 0)]\n",
-      "                float[] primvars:displayOpacity = [0.5]\n",
-      "            }\n",
-      "        }\n",
-      "\n",
-      "        def Xform \"cabinet2_drawer3_collision_7\" (\n",
-      "            prepend apiSchemas = [\"PhysicsMassAPI\"]\n",
-      "        )\n",
-      "        {\n",
-      "            point3f physics:centerOfMass = (0, 0, 0)\n",
-      "            float physics:density = 100\n",
-      "            float3 physics:diagonalInertia = (-2.256894, -1.3536373, 4.6985965)\n",
-      "            float physics:mass = 0.5777372\n",
-      "            quatf physics:principalAxes = (-0.5554302, -0.21707855, 0.78277975, -0.17784847)\n",
-      "            matrix4d xformOp:transform = ( (0.247489, 0, 0, 0), (0, 0.008, 0, 0), (0, 0, 0.043553, 0), (-0.003984, 0.170578, -0.043743, 1) )\n",
-      "            uniform token[] xformOpOrder = [\"xformOp:transform\"]\n",
-      "\n",
-      "            def Cube \"Cube\" (\n",
-      "                prepend apiSchemas = [\"PhysicsCollisionAPI\"]\n",
-      "            )\n",
-      "            {\n",
-      "                float3[] extent = [(-1, -1, -1), (1, 1, 1)]\n",
-      "                bool physics:collisionEnabled = 1\n",
-      "                color3f[] primvars:displayColor = [(1, 0, 0)]\n",
-      "                float[] primvars:displayOpacity = [0.5]\n",
-      "            }\n",
-      "        }\n",
-      "\n",
-      "        def Xform \"cabinet2_drawer3_collision_8\" (\n",
-      "            prepend apiSchemas = [\"PhysicsMassAPI\"]\n",
-      "        )\n",
-      "        {\n",
-      "            point3f physics:centerOfMass = (0, 0, 0)\n",
-      "            float physics:density = 100\n",
-      "            float3 physics:diagonalInertia = (-2.256894, -1.3536373, 4.6985965)\n",
-      "            float physics:mass = 0.5777372\n",
-      "            quatf physics:principalAxes = (-0.5554302, -0.21707855, 0.78277975, -0.17784847)\n",
-      "            matrix4d xformOp:transform = ( (0.247489, 0, 0, 0), (0, 0.008, 0, 0), (0, 0, 0.043553, 0), (-0.003984, -0.170578, -0.043743, 1) )\n",
-      "            uniform token[] xformOpOrder = [\"xformOp:transform\"]\n",
-      "\n",
-      "            def Cube \"Cube\" (\n",
-      "                prepend apiSchemas = [\"PhysicsCollisionAPI\"]\n",
-      "            )\n",
-      "            {\n",
-      "                float3[] extent = [(-1, -1, -1), (1, 1, 1)]\n",
-      "                bool physics:collisionEnabled = 1\n",
-      "                color3f[] primvars:displayColor = [(1, 0, 0)]\n",
-      "                float[] primvars:displayOpacity = [0.5]\n",
-      "            }\n",
-      "        }\n",
-      "\n",
-      "        def Xform \"cabinet2_drawer3_collision_9\" (\n",
-      "            prepend apiSchemas = [\"PhysicsMassAPI\"]\n",
-      "        )\n",
-      "        {\n",
-      "            point3f physics:centerOfMass = (0, 0, 0)\n",
-      "            float physics:density = 100\n",
-      "            float3 physics:diagonalInertia = (-2.256894, -1.3536373, 4.6985965)\n",
-      "            float physics:mass = 0.5777372\n",
-      "            quatf physics:principalAxes = (-0.5554302, -0.21707855, 0.78277975, -0.17784847)\n",
-      "            matrix4d xformOp:transform = ( (0.247489, 0, 0, 0), (0, 0.180981, 0, 0), (0, 0, 0.010749, 0), (-0.003984, 0, -0.080242, 1) )\n",
-      "            uniform token[] xformOpOrder = [\"xformOp:transform\"]\n",
-      "\n",
-      "            def Cube \"Cube\" (\n",
-      "                prepend apiSchemas = [\"PhysicsCollisionAPI\"]\n",
-      "            )\n",
-      "            {\n",
-      "                float3[] extent = [(-1, -1, -1), (1, 1, 1)]\n",
-      "                bool physics:collisionEnabled = 1\n",
-      "                color3f[] primvars:displayColor = [(1, 0, 0)]\n",
-      "                float[] primvars:displayOpacity = [0.5]\n",
-      "            }\n",
-      "        }\n",
-      "    }\n",
-      "\n",
-      "    def Xform \"cabinet2_drawer4\" (\n",
-      "        prepend apiSchemas = [\"PhysicsRigidBodyAPI\"]\n",
-      "    )\n",
-      "    {\n",
-      "        bool physics:rigidBodyEnabled = 1\n",
-      "        matrix4d xformOp:transform = ( (-1, 1.2246467991473532e-16, 0, 0), (-1.2246467991473532e-16, -1, 0, 0), (0, 0, 1, 0), (0.28455711, 1.97570891, 0.9199520099999999, 1) )\n",
-      "        uniform token[] xformOpOrder = [\"xformOp:transform\"]\n",
-      "\n",
-      "        def Xform \"cabinet2_drawer4_visual_0\" (\n"
-     ]
-    },
-    {
-     "name": "stdout",
-     "output_type": "stream",
-     "text": [
-      "            prepend references = @./../meshes/usd/visual/SM_Kitchen_02_Drawer_02.usda@</SM_Kitchen_02_Drawer_02>\n",
-      "        )\n",
-      "        {\n",
-      "            matrix4d xformOp:transform = ( (1, 0, 0, 0), (0, 1, 0, 0), (0, 0, 1, 0), (0, 0, 0, 1) )\n",
-      "            uniform token[] xformOpOrder = [\"xformOp:transform\"]\n",
-      "\n",
-      "            over \"SM_Kitchen_02_Drawer_02\" (\n",
-      "                prepend apiSchemas = [\"MaterialBindingAPI\"]\n",
-      "            )\n",
-      "            {\n",
-      "                rel material:binding = </_materials/_Game_Materials_Laborraum_M_Drawer_Mat_M_Drawer_Mat_003>\n",
-      "\n",
-      "                over \"_Game_Materials_Laborraum_M_Metal_Chrome_M_Metal_Chrome_010\" (\n",
-      "                    prepend apiSchemas = [\"MaterialBindingAPI\"]\n",
-      "                )\n",
-      "                {\n",
-      "                    rel material:binding = </_materials/_Game_Materials_Laborraum_M_Metal_Chrome_M_Metal_Chrome_010>\n",
-      "                }\n",
-      "\n",
-      "                over \"_Game_Materials_Laborraum_M_Plastic_White_M_Plastic_White_007\" (\n",
-      "                    prepend apiSchemas = [\"MaterialBindingAPI\"]\n",
-      "                )\n",
-      "                {\n",
-      "                    rel material:binding = </_materials/_Game_Materials_Laborraum_M_Plastic_White_M_Plastic_White_007>\n",
-      "                }\n",
-      "\n",
-      "                over \"_Game_Materials_Laborraum_M_Drawer_Mat_M_Drawer_Mat_003\" (\n",
-      "                    prepend apiSchemas = [\"MaterialBindingAPI\"]\n",
-      "                )\n",
-      "                {\n",
-      "                    rel material:binding = </_materials/_Game_Materials_Laborraum_M_Drawer_Mat_M_Drawer_Mat_003>\n",
-      "                }\n",
-      "            }\n",
-      "        }\n",
-      "\n",
-      "        def Xform \"cabinet2_drawer4_collision_0\" (\n",
-      "            prepend apiSchemas = [\"PhysicsMassAPI\"]\n",
-      "        )\n",
-      "        {\n",
-      "            point3f physics:centerOfMass = (0, 0, 0)\n",
-      "            float physics:density = 100\n",
-      "            float3 physics:diagonalInertia = (-2.256894, -1.3536373, 4.6985965)\n",
-      "            float physics:mass = 0.5777372\n",
-      "            quatf physics:principalAxes = (-0.5554302, -0.21707855, 0.78277975, -0.17784847)\n",
-      "            matrix4d xformOp:transform = ( (0.006898, 0, 0, 0), (0, 0.180981, 0, 0), (0, 0, 0.049, 0), (-0.242374, 0, -0.042, 1) )\n",
-      "            uniform token[] xformOpOrder = [\"xformOp:transform\"]\n",
-      "\n",
-      "            def Cube \"Cube\" (\n",
-      "                prepend apiSchemas = [\"PhysicsCollisionAPI\"]\n",
-      "            )\n",
-      "            {\n",
-      "                float3[] extent = [(-1, -1, -1), (1, 1, 1)]\n",
-      "                bool physics:collisionEnabled = 1\n",
-      "                color3f[] primvars:displayColor = [(1, 0, 0)]\n",
-      "                float[] primvars:displayOpacity = [0.5]\n",
-      "            }\n",
-      "        }\n",
-      "\n",
-      "        def Xform \"cabinet2_drawer4_collision_1\" (\n",
-      "            prepend apiSchemas = [\"PhysicsMassAPI\"]\n",
-      "        )\n",
-      "        {\n",
-      "            point3f physics:centerOfMass = (0, 0, 0)\n",
-      "            float physics:density = 100\n",
-      "            float3 physics:diagonalInertia = (-2.256894, -1.3536373, 4.6985965)\n",
-      "            float physics:mass = 0.5777372\n",
-      "            quatf physics:principalAxes = (-0.5554302, -0.21707855, 0.78277975, -0.17784847)\n",
-      "            matrix4d xformOp:transform = ( (0.006898, 0, 0, 0), (0, 0.180981, 0, 0), (0, 0, 0.010149, 0), (-0.242374, 0, 0.060843, 1) )\n",
-      "            uniform token[] xformOpOrder = [\"xformOp:transform\"]\n",
-      "\n",
-      "            def Cube \"Cube\" (\n",
-      "                prepend apiSchemas = [\"PhysicsCollisionAPI\"]\n",
-      "            )\n",
-      "            {\n",
-      "                float3[] extent = [(-1, -1, -1), (1, 1, 1)]\n",
-      "                bool physics:collisionEnabled = 1\n",
-      "                color3f[] primvars:displayColor = [(1, 0, 0)]\n",
-      "                float[] primvars:displayOpacity = [0.5]\n",
-      "            }\n",
-      "        }\n",
-      "\n",
-      "        def Xform \"cabinet2_drawer4_collision_2\" (\n",
-      "            prepend apiSchemas = [\"PhysicsMassAPI\"]\n",
-      "        )\n",
-      "        {\n",
-      "            point3f physics:centerOfMass = (0, 0, 0)\n",
-      "            float physics:density = 100\n",
-      "            float3 physics:diagonalInertia = (-2.256894, -1.3536373, 4.6985965)\n",
-      "            float physics:mass = 0.5777372\n",
-      "            quatf physics:principalAxes = (-0.5554302, -0.21707855, 0.78277975, -0.17784847)\n",
-      "            matrix4d xformOp:transform = ( (0.008393, 0, 0, 0), (0, 0.032441, 0, 0), (0, 0, 0.09099, 0), (-0.242869, 0.148428, 0, 1) )\n",
-      "            uniform token[] xformOpOrder = [\"xformOp:transform\"]\n",
-      "\n",
-      "            def Cube \"Cube\" (\n",
-      "                prepend apiSchemas = [\"PhysicsCollisionAPI\"]\n",
-      "            )\n",
-      "            {\n",
-      "                float3[] extent = [(-1, -1, -1), (1, 1, 1)]\n",
-      "                bool physics:collisionEnabled = 1\n",
-      "                color3f[] primvars:displayColor = [(1, 0, 0)]\n",
-      "                float[] primvars:displayOpacity = [0.5]\n",
-      "            }\n",
-      "        }\n",
-      "\n",
-      "        def Xform \"cabinet2_drawer4_collision_3\" (\n",
-      "            prepend apiSchemas = [\"PhysicsMassAPI\"]\n",
-      "        )\n",
-      "        {\n",
-      "            point3f physics:centerOfMass = (0, 0, 0)\n",
-      "            float physics:density = 100\n",
-      "            float3 physics:diagonalInertia = (-2.256894, -1.3536373, 4.6985965)\n",
-      "            float physics:mass = 0.5777372\n",
-      "            quatf physics:principalAxes = (-0.5554302, -0.21707855, 0.78277975, -0.17784847)\n",
-      "            matrix4d xformOp:transform = ( (0.008393, 0, 0, 0), (0, 0.032441, 0, 0), (0, 0, 0.09099, 0), (-0.242869, -0.148428, 0, 1) )\n",
-      "            uniform token[] xformOpOrder = [\"xformOp:transform\"]\n",
-      "\n",
-      "            def Cube \"Cube\" (\n",
-      "                prepend apiSchemas = [\"PhysicsCollisionAPI\"]\n",
-      "            )\n",
-      "            {\n",
-      "                float3[] extent = [(-1, -1, -1), (1, 1, 1)]\n",
-      "                bool physics:collisionEnabled = 1\n",
-      "                color3f[] primvars:displayColor = [(1, 0, 0)]\n",
-      "                float[] primvars:displayOpacity = [0.5]\n",
-      "            }\n",
-      "        }\n",
-      "\n",
-      "        def Xform \"cabinet2_drawer4_collision_4\" (\n",
-      "            prepend apiSchemas = [\"PhysicsMassAPI\"]\n",
-      "        )\n",
-      "        {\n",
-      "            point3f physics:centerOfMass = (0, 0, 0)\n",
-      "            float physics:density = 100\n",
-      "            float3 physics:diagonalInertia = (-2.256894, -1.3536373, 4.6985965)\n",
-      "            float physics:mass = 0.5777372\n",
-      "            quatf physics:principalAxes = (-0.5554302, -0.21707855, 0.78277975, -0.17784847)\n",
-      "            matrix4d xformOp:transform = ( (0.008064, 0, 0, 0), (0, 0.180981, 0, 0), (0, 0, 0.090879, 0), (0.235441, 0, 0, 1) )\n",
-      "            uniform token[] xformOpOrder = [\"xformOp:transform\"]\n",
-      "\n",
-      "            def Cube \"Cube\" (\n",
-      "                prepend apiSchemas = [\"PhysicsCollisionAPI\"]\n",
-      "            )\n",
-      "            {\n",
-      "                float3[] extent = [(-1, -1, -1), (1, 1, 1)]\n",
-      "                bool physics:collisionEnabled = 1\n",
-      "                color3f[] primvars:displayColor = [(1, 0, 0)]\n",
-      "                float[] primvars:displayOpacity = [0.5]\n",
-      "            }\n",
-      "        }\n",
-      "\n",
-      "        def Xform \"cabinet2_drawer4_collision_5\" (\n",
-      "            prepend apiSchemas = [\"PhysicsMassAPI\"]\n",
-      "        )\n",
-      "        {\n",
-      "            point3f physics:centerOfMass = (0, 0, 0)\n",
-      "            float physics:density = 100\n",
-      "            float3 physics:diagonalInertia = (-2.256894, -1.3536373, 4.6985965)\n",
-      "            float physics:mass = 0.5777372\n",
-      "            quatf physics:principalAxes = (-0.5554302, -0.21707855, 0.78277975, -0.17784847)\n",
-      "            matrix4d xformOp:transform = ( (0.247489, 0, 0, 0), (0, 0.008, 0, 0), (0, 0, 0.011649, 0), (-0.003984, 0.170578, 0.075342, 1) )\n",
-      "            uniform token[] xformOpOrder = [\"xformOp:transform\"]\n",
-      "\n",
-      "            def Cube \"Cube\" (\n",
-      "                prepend apiSchemas = [\"PhysicsCollisionAPI\"]\n",
-      "            )\n",
-      "            {\n",
-      "                float3[] extent = [(-1, -1, -1), (1, 1, 1)]\n",
-      "                bool physics:collisionEnabled = 1\n",
-      "                color3f[] primvars:displayColor = [(1, 0, 0)]\n",
-      "                float[] primvars:displayOpacity = [0.5]\n",
-      "            }\n",
-      "        }\n",
-      "\n",
-      "        def Xform \"cabinet2_drawer4_collision_6\" (\n",
-      "            prepend apiSchemas = [\"PhysicsMassAPI\"]\n",
-      "        )\n",
-      "        {\n",
-      "            point3f physics:centerOfMass = (0, 0, 0)\n",
-      "            float physics:density = 100\n",
-      "            float3 physics:diagonalInertia = (-2.256894, -1.3536373, 4.6985965)\n",
-      "            float physics:mass = 0.5777372\n",
-      "            quatf physics:principalAxes = (-0.5554302, -0.21707855, 0.78277975, -0.17784847)\n",
-      "            matrix4d xformOp:transform = ( (0.247489, 0, 0, 0), (0, 0.008, 0, 0), (0, 0, 0.011649, 0), (-0.003984, -0.170578, 0.075342, 1) )\n",
-      "            uniform token[] xformOpOrder = [\"xformOp:transform\"]\n",
-      "\n",
-      "            def Cube \"Cube\" (\n"
-     ]
-    },
-    {
-     "name": "stdout",
-     "output_type": "stream",
-     "text": [
-      "                prepend apiSchemas = [\"PhysicsCollisionAPI\"]\n",
-      "            )\n",
-      "            {\n",
-      "                float3[] extent = [(-1, -1, -1), (1, 1, 1)]\n",
-      "                bool physics:collisionEnabled = 1\n",
-      "                color3f[] primvars:displayColor = [(1, 0, 0)]\n",
-      "                float[] primvars:displayOpacity = [0.5]\n",
-      "            }\n",
-      "        }\n",
-      "\n",
-      "        def Xform \"cabinet2_drawer4_collision_7\" (\n",
-      "            prepend apiSchemas = [\"PhysicsMassAPI\"]\n",
-      "        )\n",
-      "        {\n",
-      "            point3f physics:centerOfMass = (0, 0, 0)\n",
-      "            float physics:density = 100\n",
-      "            float3 physics:diagonalInertia = (-2.256894, -1.3536373, 4.6985965)\n",
-      "            float physics:mass = 0.5777372\n",
-      "            quatf physics:principalAxes = (-0.5554302, -0.21707855, 0.78277975, -0.17784847)\n",
-      "            matrix4d xformOp:transform = ( (0.247489, 0, 0, 0), (0, 0.008, 0, 0), (0, 0, 0.043553, 0), (-0.003984, 0.170578, -0.043743, 1) )\n",
-      "            uniform token[] xformOpOrder = [\"xformOp:transform\"]\n",
-      "\n",
-      "            def Cube \"Cube\" (\n",
-      "                prepend apiSchemas = [\"PhysicsCollisionAPI\"]\n",
-      "            )\n",
-      "            {\n",
-      "                float3[] extent = [(-1, -1, -1), (1, 1, 1)]\n",
-      "                bool physics:collisionEnabled = 1\n",
-      "                color3f[] primvars:displayColor = [(1, 0, 0)]\n",
-      "                float[] primvars:displayOpacity = [0.5]\n",
-      "            }\n",
-      "        }\n",
-      "\n",
-      "        def Xform \"cabinet2_drawer4_collision_8\" (\n",
-      "            prepend apiSchemas = [\"PhysicsMassAPI\"]\n",
-      "        )\n",
-      "        {\n",
-      "            point3f physics:centerOfMass = (0, 0, 0)\n",
-      "            float physics:density = 100\n",
-      "            float3 physics:diagonalInertia = (-2.256894, -1.3536373, 4.6985965)\n",
-      "            float physics:mass = 0.5777372\n",
-      "            quatf physics:principalAxes = (-0.5554302, -0.21707855, 0.78277975, -0.17784847)\n",
-      "            matrix4d xformOp:transform = ( (0.247489, 0, 0, 0), (0, 0.008, 0, 0), (0, 0, 0.043553, 0), (-0.003984, -0.170578, -0.043743, 1) )\n",
-      "            uniform token[] xformOpOrder = [\"xformOp:transform\"]\n",
-      "\n",
-      "            def Cube \"Cube\" (\n",
-      "                prepend apiSchemas = [\"PhysicsCollisionAPI\"]\n",
-      "            )\n",
-      "            {\n",
-      "                float3[] extent = [(-1, -1, -1), (1, 1, 1)]\n",
-      "                bool physics:collisionEnabled = 1\n",
-      "                color3f[] primvars:displayColor = [(1, 0, 0)]\n",
-      "                float[] primvars:displayOpacity = [0.5]\n",
-      "            }\n",
-      "        }\n",
-      "\n",
-      "        def Xform \"cabinet2_drawer4_collision_9\" (\n",
-      "            prepend apiSchemas = [\"PhysicsMassAPI\"]\n",
-      "        )\n",
-      "        {\n",
-      "            point3f physics:centerOfMass = (0, 0, 0)\n",
-      "            float physics:density = 100\n",
-      "            float3 physics:diagonalInertia = (-2.256894, -1.3536373, 4.6985965)\n",
-      "            float physics:mass = 0.5777372\n",
-      "            quatf physics:principalAxes = (-0.5554302, -0.21707855, 0.78277975, -0.17784847)\n",
-      "            matrix4d xformOp:transform = ( (0.247489, 0, 0, 0), (0, 0.180981, 0, 0), (0, 0, 0.010749, 0), (-0.003984, 0, -0.080242, 1) )\n",
-      "            uniform token[] xformOpOrder = [\"xformOp:transform\"]\n",
-      "\n",
-      "            def Cube \"Cube\" (\n",
-      "                prepend apiSchemas = [\"PhysicsCollisionAPI\"]\n",
-      "            )\n",
-      "            {\n",
-      "                float3[] extent = [(-1, -1, -1), (1, 1, 1)]\n",
-      "                bool physics:collisionEnabled = 1\n",
-      "                color3f[] primvars:displayColor = [(1, 0, 0)]\n",
-      "                float[] primvars:displayOpacity = [0.5]\n",
-      "            }\n",
-      "        }\n",
-      "    }\n",
-      "\n",
-      "    def Xform \"cabinet2_drawer5\" (\n",
-      "        prepend apiSchemas = [\"PhysicsRigidBodyAPI\"]\n",
-      "    )\n",
-      "    {\n",
-      "        bool physics:rigidBodyEnabled = 1\n",
-      "        matrix4d xformOp:transform = ( (-1, 1.2246467991473532e-16, 0, 0), (-1.2246467991473532e-16, -1, 0, 0), (0, 0, 1, 0), (0.28455711, 1.97570891, 0.64429321, 1) )\n",
-      "        uniform token[] xformOpOrder = [\"xformOp:transform\"]\n",
-      "\n",
-      "        def Xform \"cabinet2_drawer5_visual_0\" (\n",
-      "            prepend references = @./../meshes/usd/visual/SM_Kitchen_02_Drawer_02.usda@</SM_Kitchen_02_Drawer_02>\n",
-      "        )\n",
-      "        {\n",
-      "            matrix4d xformOp:transform = ( (1, 0, 0, 0), (0, 1, 0, 0), (0, 0, 1, 0), (0, 0, 0, 1) )\n",
-      "            uniform token[] xformOpOrder = [\"xformOp:transform\"]\n",
-      "\n",
-      "            over \"SM_Kitchen_02_Drawer_02\" (\n",
-      "                prepend apiSchemas = [\"MaterialBindingAPI\"]\n",
-      "            )\n",
-      "            {\n",
-      "                rel material:binding = </_materials/_Game_Materials_Laborraum_M_Drawer_Mat_M_Drawer_Mat_003>\n",
-      "\n",
-      "                over \"_Game_Materials_Laborraum_M_Metal_Chrome_M_Metal_Chrome_010\" (\n",
-      "                    prepend apiSchemas = [\"MaterialBindingAPI\"]\n",
-      "                )\n",
-      "                {\n",
-      "                    rel material:binding = </_materials/_Game_Materials_Laborraum_M_Metal_Chrome_M_Metal_Chrome_010>\n",
-      "                }\n",
-      "\n",
-      "                over \"_Game_Materials_Laborraum_M_Plastic_White_M_Plastic_White_007\" (\n",
-      "                    prepend apiSchemas = [\"MaterialBindingAPI\"]\n",
-      "                )\n",
-      "                {\n",
-      "                    rel material:binding = </_materials/_Game_Materials_Laborraum_M_Plastic_White_M_Plastic_White_007>\n",
-      "                }\n",
-      "\n",
-      "                over \"_Game_Materials_Laborraum_M_Drawer_Mat_M_Drawer_Mat_003\" (\n",
-      "                    prepend apiSchemas = [\"MaterialBindingAPI\"]\n",
-      "                )\n",
-      "                {\n",
-      "                    rel material:binding = </_materials/_Game_Materials_Laborraum_M_Drawer_Mat_M_Drawer_Mat_003>\n",
-      "                }\n",
-      "            }\n",
-      "        }\n",
-      "\n",
-      "        def Xform \"cabinet2_drawer5_collision_0\" (\n",
-      "            prepend apiSchemas = [\"PhysicsMassAPI\"]\n",
-      "        )\n",
-      "        {\n",
-      "            point3f physics:centerOfMass = (0, 0, 0)\n",
-      "            float physics:density = 100\n",
-      "            float3 physics:diagonalInertia = (-2.256894, -1.3536373, 4.6985965)\n",
-      "            float physics:mass = 0.5777372\n",
-      "            quatf physics:principalAxes = (-0.5554302, -0.21707855, 0.78277975, -0.17784847)\n",
-      "            matrix4d xformOp:transform = ( (0.006898, 0, 0, 0), (0, 0.180981, 0, 0), (0, 0, 0.049, 0), (-0.242374, 0, -0.042, 1) )\n",
-      "            uniform token[] xformOpOrder = [\"xformOp:transform\"]\n",
-      "\n",
-      "            def Cube \"Cube\" (\n",
-      "                prepend apiSchemas = [\"PhysicsCollisionAPI\"]\n",
-      "            )\n",
-      "            {\n",
-      "                float3[] extent = [(-1, -1, -1), (1, 1, 1)]\n",
-      "                bool physics:collisionEnabled = 1\n",
-      "                color3f[] primvars:displayColor = [(1, 0, 0)]\n",
-      "                float[] primvars:displayOpacity = [0.5]\n",
-      "            }\n",
-      "        }\n",
-      "\n",
-      "        def Xform \"cabinet2_drawer5_collision_1\" (\n",
-      "            prepend apiSchemas = [\"PhysicsMassAPI\"]\n",
-      "        )\n",
-      "        {\n",
-      "            point3f physics:centerOfMass = (0, 0, 0)\n",
-      "            float physics:density = 100\n",
-      "            float3 physics:diagonalInertia = (-2.256894, -1.3536373, 4.6985965)\n",
-      "            float physics:mass = 0.5777372\n",
-      "            quatf physics:principalAxes = (-0.5554302, -0.21707855, 0.78277975, -0.17784847)\n",
-      "            matrix4d xformOp:transform = ( (0.006898, 0, 0, 0), (0, 0.180981, 0, 0), (0, 0, 0.010149, 0), (-0.242374, 0, 0.060843, 1) )\n",
-      "            uniform token[] xformOpOrder = [\"xformOp:transform\"]\n",
-      "\n",
-      "            def Cube \"Cube\" (\n",
-      "                prepend apiSchemas = [\"PhysicsCollisionAPI\"]\n",
-      "            )\n",
-      "            {\n",
-      "                float3[] extent = [(-1, -1, -1), (1, 1, 1)]\n",
-      "                bool physics:collisionEnabled = 1\n",
-      "                color3f[] primvars:displayColor = [(1, 0, 0)]\n",
-      "                float[] primvars:displayOpacity = [0.5]\n",
-      "            }\n",
-      "        }\n",
-      "\n",
-      "        def Xform \"cabinet2_drawer5_collision_2\" (\n",
-      "            prepend apiSchemas = [\"PhysicsMassAPI\"]\n",
-      "        )\n",
-      "        {\n",
-      "            point3f physics:centerOfMass = (0, 0, 0)\n",
-      "            float physics:density = 100\n",
-      "            float3 physics:diagonalInertia = (-2.256894, -1.3536373, 4.6985965)\n",
-      "            float physics:mass = 0.5777372\n",
-      "            quatf physics:principalAxes = (-0.5554302, -0.21707855, 0.78277975, -0.17784847)\n",
-      "            matrix4d xformOp:transform = ( (0.008393, 0, 0, 0), (0, 0.032441, 0, 0), (0, 0, 0.09099, 0), (-0.242869, 0.148428, 0, 1) )\n",
-      "            uniform token[] xformOpOrder = [\"xformOp:transform\"]\n",
-      "\n",
-      "            def Cube \"Cube\" (\n",
-      "                prepend apiSchemas = [\"PhysicsCollisionAPI\"]\n",
-      "            )\n",
-      "            {\n",
-      "                float3[] extent = [(-1, -1, -1), (1, 1, 1)]\n",
-      "                bool physics:collisionEnabled = 1\n",
-      "                color3f[] primvars:displayColor = [(1, 0, 0)]\n"
-     ]
-    },
-    {
-     "name": "stdout",
-     "output_type": "stream",
-     "text": [
-      "                float[] primvars:displayOpacity = [0.5]\n",
-      "            }\n",
-      "        }\n",
-      "\n",
-      "        def Xform \"cabinet2_drawer5_collision_3\" (\n",
-      "            prepend apiSchemas = [\"PhysicsMassAPI\"]\n",
-      "        )\n",
-      "        {\n",
-      "            point3f physics:centerOfMass = (0, 0, 0)\n",
-      "            float physics:density = 100\n",
-      "            float3 physics:diagonalInertia = (-2.256894, -1.3536373, 4.6985965)\n",
-      "            float physics:mass = 0.5777372\n",
-      "            quatf physics:principalAxes = (-0.5554302, -0.21707855, 0.78277975, -0.17784847)\n",
-      "            matrix4d xformOp:transform = ( (0.008393, 0, 0, 0), (0, 0.032441, 0, 0), (0, 0, 0.09099, 0), (-0.242869, -0.148428, 0, 1) )\n",
-      "            uniform token[] xformOpOrder = [\"xformOp:transform\"]\n",
-      "\n",
-      "            def Cube \"Cube\" (\n",
-      "                prepend apiSchemas = [\"PhysicsCollisionAPI\"]\n",
-      "            )\n",
-      "            {\n",
-      "                float3[] extent = [(-1, -1, -1), (1, 1, 1)]\n",
-      "                bool physics:collisionEnabled = 1\n",
-      "                color3f[] primvars:displayColor = [(1, 0, 0)]\n",
-      "                float[] primvars:displayOpacity = [0.5]\n",
-      "            }\n",
-      "        }\n",
-      "\n",
-      "        def Xform \"cabinet2_drawer5_collision_4\" (\n",
-      "            prepend apiSchemas = [\"PhysicsMassAPI\"]\n",
-      "        )\n",
-      "        {\n",
-      "            point3f physics:centerOfMass = (0, 0, 0)\n",
-      "            float physics:density = 100\n",
-      "            float3 physics:diagonalInertia = (-2.256894, -1.3536373, 4.6985965)\n",
-      "            float physics:mass = 0.5777372\n",
-      "            quatf physics:principalAxes = (-0.5554302, -0.21707855, 0.78277975, -0.17784847)\n",
-      "            matrix4d xformOp:transform = ( (0.008064, 0, 0, 0), (0, 0.180981, 0, 0), (0, 0, 0.090879, 0), (0.235441, 0, 0, 1) )\n",
-      "            uniform token[] xformOpOrder = [\"xformOp:transform\"]\n",
-      "\n",
-      "            def Cube \"Cube\" (\n",
-      "                prepend apiSchemas = [\"PhysicsCollisionAPI\"]\n",
-      "            )\n",
-      "            {\n",
-      "                float3[] extent = [(-1, -1, -1), (1, 1, 1)]\n",
-      "                bool physics:collisionEnabled = 1\n",
-      "                color3f[] primvars:displayColor = [(1, 0, 0)]\n",
-      "                float[] primvars:displayOpacity = [0.5]\n",
-      "            }\n",
-      "        }\n",
-      "\n",
-      "        def Xform \"cabinet2_drawer5_collision_5\" (\n",
-      "            prepend apiSchemas = [\"PhysicsMassAPI\"]\n",
-      "        )\n",
-      "        {\n",
-      "            point3f physics:centerOfMass = (0, 0, 0)\n",
-      "            float physics:density = 100\n",
-      "            float3 physics:diagonalInertia = (-2.256894, -1.3536373, 4.6985965)\n",
-      "            float physics:mass = 0.5777372\n",
-      "            quatf physics:principalAxes = (-0.5554302, -0.21707855, 0.78277975, -0.17784847)\n",
-      "            matrix4d xformOp:transform = ( (0.247489, 0, 0, 0), (0, 0.008, 0, 0), (0, 0, 0.011649, 0), (-0.003984, 0.170578, 0.075342, 1) )\n",
-      "            uniform token[] xformOpOrder = [\"xformOp:transform\"]\n",
-      "\n",
-      "            def Cube \"Cube\" (\n",
-      "                prepend apiSchemas = [\"PhysicsCollisionAPI\"]\n",
-      "            )\n",
-      "            {\n",
-      "                float3[] extent = [(-1, -1, -1), (1, 1, 1)]\n",
-      "                bool physics:collisionEnabled = 1\n",
-      "                color3f[] primvars:displayColor = [(1, 0, 0)]\n",
-      "                float[] primvars:displayOpacity = [0.5]\n",
-      "            }\n",
-      "        }\n",
-      "\n",
-      "        def Xform \"cabinet2_drawer5_collision_6\" (\n",
-      "            prepend apiSchemas = [\"PhysicsMassAPI\"]\n",
-      "        )\n",
-      "        {\n",
-      "            point3f physics:centerOfMass = (0, 0, 0)\n",
-      "            float physics:density = 100\n",
-      "            float3 physics:diagonalInertia = (-2.256894, -1.3536373, 4.6985965)\n",
-      "            float physics:mass = 0.5777372\n",
-      "            quatf physics:principalAxes = (-0.5554302, -0.21707855, 0.78277975, -0.17784847)\n",
-      "            matrix4d xformOp:transform = ( (0.247489, 0, 0, 0), (0, 0.008, 0, 0), (0, 0, 0.011649, 0), (-0.003984, -0.170578, 0.075342, 1) )\n",
-      "            uniform token[] xformOpOrder = [\"xformOp:transform\"]\n",
-      "\n",
-      "            def Cube \"Cube\" (\n",
-      "                prepend apiSchemas = [\"PhysicsCollisionAPI\"]\n",
-      "            )\n",
-      "            {\n",
-      "                float3[] extent = [(-1, -1, -1), (1, 1, 1)]\n",
-      "                bool physics:collisionEnabled = 1\n",
-      "                color3f[] primvars:displayColor = [(1, 0, 0)]\n",
-      "                float[] primvars:displayOpacity = [0.5]\n",
-      "            }\n",
-      "        }\n",
-      "\n",
-      "        def Xform \"cabinet2_drawer5_collision_7\" (\n",
-      "            prepend apiSchemas = [\"PhysicsMassAPI\"]\n",
-      "        )\n",
-      "        {\n",
-      "            point3f physics:centerOfMass = (0, 0, 0)\n",
-      "            float physics:density = 100\n",
-      "            float3 physics:diagonalInertia = (-2.256894, -1.3536373, 4.6985965)\n",
-      "            float physics:mass = 0.5777372\n",
-      "            quatf physics:principalAxes = (-0.5554302, -0.21707855, 0.78277975, -0.17784847)\n",
-      "            matrix4d xformOp:transform = ( (0.247489, 0, 0, 0), (0, 0.008, 0, 0), (0, 0, 0.043553, 0), (-0.003984, 0.170578, -0.043743, 1) )\n",
-      "            uniform token[] xformOpOrder = [\"xformOp:transform\"]\n",
-      "\n",
-      "            def Cube \"Cube\" (\n",
-      "                prepend apiSchemas = [\"PhysicsCollisionAPI\"]\n",
-      "            )\n",
-      "            {\n",
-      "                float3[] extent = [(-1, -1, -1), (1, 1, 1)]\n",
-      "                bool physics:collisionEnabled = 1\n",
-      "                color3f[] primvars:displayColor = [(1, 0, 0)]\n",
-      "                float[] primvars:displayOpacity = [0.5]\n",
-      "            }\n",
-      "        }\n",
-      "\n",
-      "        def Xform \"cabinet2_drawer5_collision_8\" (\n",
-      "            prepend apiSchemas = [\"PhysicsMassAPI\"]\n",
-      "        )\n",
-      "        {\n",
-      "            point3f physics:centerOfMass = (0, 0, 0)\n",
-      "            float physics:density = 100\n",
-      "            float3 physics:diagonalInertia = (-2.256894, -1.3536373, 4.6985965)\n",
-      "            float physics:mass = 0.5777372\n",
-      "            quatf physics:principalAxes = (-0.5554302, -0.21707855, 0.78277975, -0.17784847)\n",
-      "            matrix4d xformOp:transform = ( (0.247489, 0, 0, 0), (0, 0.008, 0, 0), (0, 0, 0.043553, 0), (-0.003984, -0.170578, -0.043743, 1) )\n",
-      "            uniform token[] xformOpOrder = [\"xformOp:transform\"]\n",
-      "\n",
-      "            def Cube \"Cube\" (\n",
-      "                prepend apiSchemas = [\"PhysicsCollisionAPI\"]\n",
-      "            )\n",
-      "            {\n",
-      "                float3[] extent = [(-1, -1, -1), (1, 1, 1)]\n",
-      "                bool physics:collisionEnabled = 1\n",
-      "                color3f[] primvars:displayColor = [(1, 0, 0)]\n",
-      "                float[] primvars:displayOpacity = [0.5]\n",
-      "            }\n",
-      "        }\n",
-      "\n",
-      "        def Xform \"cabinet2_drawer5_collision_9\" (\n",
-      "            prepend apiSchemas = [\"PhysicsMassAPI\"]\n",
-      "        )\n",
-      "        {\n",
-      "            point3f physics:centerOfMass = (0, 0, 0)\n",
-      "            float physics:density = 100\n",
-      "            float3 physics:diagonalInertia = (-2.256894, -1.3536373, 4.6985965)\n",
-      "            float physics:mass = 0.5777372\n",
-      "            quatf physics:principalAxes = (-0.5554302, -0.21707855, 0.78277975, -0.17784847)\n",
-      "            matrix4d xformOp:transform = ( (0.247489, 0, 0, 0), (0, 0.180981, 0, 0), (0, 0, 0.010749, 0), (-0.003984, 0, -0.080242, 1) )\n",
-      "            uniform token[] xformOpOrder = [\"xformOp:transform\"]\n",
-      "\n",
-      "            def Cube \"Cube\" (\n",
-      "                prepend apiSchemas = [\"PhysicsCollisionAPI\"]\n",
-      "            )\n",
-      "            {\n",
-      "                float3[] extent = [(-1, -1, -1), (1, 1, 1)]\n",
-      "                bool physics:collisionEnabled = 1\n",
-      "                color3f[] primvars:displayColor = [(1, 0, 0)]\n",
-      "                float[] primvars:displayOpacity = [0.5]\n",
-      "            }\n",
-      "        }\n",
-      "    }\n",
-      "\n",
-      "    def Xform \"cabinet2_drawer6\" (\n",
-      "        prepend apiSchemas = [\"PhysicsRigidBodyAPI\"]\n",
-      "    )\n",
-      "    {\n",
-      "        bool physics:rigidBodyEnabled = 1\n",
-      "        matrix4d xformOp:transform = ( (-1, 1.2246467991473532e-16, 0, 0), (-1.2246467991473532e-16, -1, 0, 0), (0, 0, 1, 0), (0.28455711, 1.97570891, 0.20719710999999996, 1) )\n",
-      "        uniform token[] xformOpOrder = [\"xformOp:transform\"]\n",
-      "\n",
-      "        def Xform \"cabinet2_drawer6_visual_0\" (\n",
-      "            prepend references = @./../meshes/usd/visual/SM_Kitchen_02_Drawer_02.usda@</SM_Kitchen_02_Drawer_02>\n",
-      "        )\n",
-      "        {\n",
-      "            matrix4d xformOp:transform = ( (1, 0, 0, 0), (0, 1, 0, 0), (0, 0, 1, 0), (0, 0, 0, 1) )\n",
-      "            uniform token[] xformOpOrder = [\"xformOp:transform\"]\n",
-      "\n",
-      "            over \"SM_Kitchen_02_Drawer_02\" (\n",
-      "                prepend apiSchemas = [\"MaterialBindingAPI\"]\n",
-      "            )\n",
-      "            {\n",
-      "                rel material:binding = </_materials/_Game_Materials_Laborraum_M_Drawer_Mat_M_Drawer_Mat_003>\n",
-      "\n",
-      "                over \"_Game_Materials_Laborraum_M_Metal_Chrome_M_Metal_Chrome_010\" (\n"
-     ]
-    },
-    {
-     "name": "stdout",
-     "output_type": "stream",
-     "text": [
-      "                    prepend apiSchemas = [\"MaterialBindingAPI\"]\n",
-      "                )\n",
-      "                {\n",
-      "                    rel material:binding = </_materials/_Game_Materials_Laborraum_M_Metal_Chrome_M_Metal_Chrome_010>\n",
-      "                }\n",
-      "\n",
-      "                over \"_Game_Materials_Laborraum_M_Plastic_White_M_Plastic_White_007\" (\n",
-      "                    prepend apiSchemas = [\"MaterialBindingAPI\"]\n",
-      "                )\n",
-      "                {\n",
-      "                    rel material:binding = </_materials/_Game_Materials_Laborraum_M_Plastic_White_M_Plastic_White_007>\n",
-      "                }\n",
-      "\n",
-      "                over \"_Game_Materials_Laborraum_M_Drawer_Mat_M_Drawer_Mat_003\" (\n",
-      "                    prepend apiSchemas = [\"MaterialBindingAPI\"]\n",
-      "                )\n",
-      "                {\n",
-      "                    rel material:binding = </_materials/_Game_Materials_Laborraum_M_Drawer_Mat_M_Drawer_Mat_003>\n",
-      "                }\n",
-      "            }\n",
-      "        }\n",
-      "\n",
-      "        def Xform \"cabinet2_drawer6_collision_0\" (\n",
-      "            prepend apiSchemas = [\"PhysicsMassAPI\"]\n",
-      "        )\n",
-      "        {\n",
-      "            point3f physics:centerOfMass = (0, 0, 0)\n",
-      "            float physics:density = 100\n",
-      "            float3 physics:diagonalInertia = (-2.256894, -1.3536373, 4.6985965)\n",
-      "            float physics:mass = 0.5777372\n",
-      "            quatf physics:principalAxes = (-0.5554302, -0.21707855, 0.78277975, -0.17784847)\n",
-      "            matrix4d xformOp:transform = ( (0.006898, 0, 0, 0), (0, 0.180981, 0, 0), (0, 0, 0.049, 0), (-0.242374, 0, -0.042, 1) )\n",
-      "            uniform token[] xformOpOrder = [\"xformOp:transform\"]\n",
-      "\n",
-      "            def Cube \"Cube\" (\n",
-      "                prepend apiSchemas = [\"PhysicsCollisionAPI\"]\n",
-      "            )\n",
-      "            {\n",
-      "                float3[] extent = [(-1, -1, -1), (1, 1, 1)]\n",
-      "                bool physics:collisionEnabled = 1\n",
-      "                color3f[] primvars:displayColor = [(1, 0, 0)]\n",
-      "                float[] primvars:displayOpacity = [0.5]\n",
-      "            }\n",
-      "        }\n",
-      "\n",
-      "        def Xform \"cabinet2_drawer6_collision_1\" (\n",
-      "            prepend apiSchemas = [\"PhysicsMassAPI\"]\n",
-      "        )\n",
-      "        {\n",
-      "            point3f physics:centerOfMass = (0, 0, 0)\n",
-      "            float physics:density = 100\n",
-      "            float3 physics:diagonalInertia = (-2.256894, -1.3536373, 4.6985965)\n",
-      "            float physics:mass = 0.5777372\n",
-      "            quatf physics:principalAxes = (-0.5554302, -0.21707855, 0.78277975, -0.17784847)\n",
-      "            matrix4d xformOp:transform = ( (0.006898, 0, 0, 0), (0, 0.180981, 0, 0), (0, 0, 0.010149, 0), (-0.242374, 0, 0.060843, 1) )\n",
-      "            uniform token[] xformOpOrder = [\"xformOp:transform\"]\n",
-      "\n",
-      "            def Cube \"Cube\" (\n",
-      "                prepend apiSchemas = [\"PhysicsCollisionAPI\"]\n",
-      "            )\n",
-      "            {\n",
-      "                float3[] extent = [(-1, -1, -1), (1, 1, 1)]\n",
-      "                bool physics:collisionEnabled = 1\n",
-      "                color3f[] primvars:displayColor = [(1, 0, 0)]\n",
-      "                float[] primvars:displayOpacity = [0.5]\n",
-      "            }\n",
-      "        }\n",
-      "\n",
-      "        def Xform \"cabinet2_drawer6_collision_2\" (\n",
-      "            prepend apiSchemas = [\"PhysicsMassAPI\"]\n",
-      "        )\n",
-      "        {\n",
-      "            point3f physics:centerOfMass = (0, 0, 0)\n",
-      "            float physics:density = 100\n",
-      "            float3 physics:diagonalInertia = (-2.256894, -1.3536373, 4.6985965)\n",
-      "            float physics:mass = 0.5777372\n",
-      "            quatf physics:principalAxes = (-0.5554302, -0.21707855, 0.78277975, -0.17784847)\n",
-      "            matrix4d xformOp:transform = ( (0.008393, 0, 0, 0), (0, 0.032441, 0, 0), (0, 0, 0.09099, 0), (-0.242869, 0.148428, 0, 1) )\n",
-      "            uniform token[] xformOpOrder = [\"xformOp:transform\"]\n",
-      "\n",
-      "            def Cube \"Cube\" (\n",
-      "                prepend apiSchemas = [\"PhysicsCollisionAPI\"]\n",
-      "            )\n",
-      "            {\n",
-      "                float3[] extent = [(-1, -1, -1), (1, 1, 1)]\n",
-      "                bool physics:collisionEnabled = 1\n",
-      "                color3f[] primvars:displayColor = [(1, 0, 0)]\n",
-      "                float[] primvars:displayOpacity = [0.5]\n",
-      "            }\n",
-      "        }\n",
-      "\n",
-      "        def Xform \"cabinet2_drawer6_collision_3\" (\n",
-      "            prepend apiSchemas = [\"PhysicsMassAPI\"]\n",
-      "        )\n",
-      "        {\n",
-      "            point3f physics:centerOfMass = (0, 0, 0)\n",
-      "            float physics:density = 100\n",
-      "            float3 physics:diagonalInertia = (-2.256894, -1.3536373, 4.6985965)\n",
-      "            float physics:mass = 0.5777372\n",
-      "            quatf physics:principalAxes = (-0.5554302, -0.21707855, 0.78277975, -0.17784847)\n",
-      "            matrix4d xformOp:transform = ( (0.008393, 0, 0, 0), (0, 0.032441, 0, 0), (0, 0, 0.09099, 0), (-0.242869, -0.148428, 0, 1) )\n",
-      "            uniform token[] xformOpOrder = [\"xformOp:transform\"]\n",
-      "\n",
-      "            def Cube \"Cube\" (\n",
-      "                prepend apiSchemas = [\"PhysicsCollisionAPI\"]\n",
-      "            )\n",
-      "            {\n",
-      "                float3[] extent = [(-1, -1, -1), (1, 1, 1)]\n",
-      "                bool physics:collisionEnabled = 1\n",
-      "                color3f[] primvars:displayColor = [(1, 0, 0)]\n",
-      "                float[] primvars:displayOpacity = [0.5]\n",
-      "            }\n",
-      "        }\n",
-      "\n",
-      "        def Xform \"cabinet2_drawer6_collision_4\" (\n",
-      "            prepend apiSchemas = [\"PhysicsMassAPI\"]\n",
-      "        )\n",
-      "        {\n",
-      "            point3f physics:centerOfMass = (0, 0, 0)\n",
-      "            float physics:density = 100\n",
-      "            float3 physics:diagonalInertia = (-2.256894, -1.3536373, 4.6985965)\n",
-      "            float physics:mass = 0.5777372\n",
-      "            quatf physics:principalAxes = (-0.5554302, -0.21707855, 0.78277975, -0.17784847)\n",
-      "            matrix4d xformOp:transform = ( (0.008064, 0, 0, 0), (0, 0.180981, 0, 0), (0, 0, 0.090879, 0), (0.235441, 0, 0, 1) )\n",
-      "            uniform token[] xformOpOrder = [\"xformOp:transform\"]\n",
-      "\n",
-      "            def Cube \"Cube\" (\n",
-      "                prepend apiSchemas = [\"PhysicsCollisionAPI\"]\n",
-      "            )\n",
-      "            {\n",
-      "                float3[] extent = [(-1, -1, -1), (1, 1, 1)]\n",
-      "                bool physics:collisionEnabled = 1\n",
-      "                color3f[] primvars:displayColor = [(1, 0, 0)]\n",
-      "                float[] primvars:displayOpacity = [0.5]\n",
-      "            }\n",
-      "        }\n",
-      "\n",
-      "        def Xform \"cabinet2_drawer6_collision_5\" (\n",
-      "            prepend apiSchemas = [\"PhysicsMassAPI\"]\n",
-      "        )\n",
-      "        {\n",
-      "            point3f physics:centerOfMass = (0, 0, 0)\n",
-      "            float physics:density = 100\n",
-      "            float3 physics:diagonalInertia = (-2.256894, -1.3536373, 4.6985965)\n",
-      "            float physics:mass = 0.5777372\n",
-      "            quatf physics:principalAxes = (-0.5554302, -0.21707855, 0.78277975, -0.17784847)\n",
-      "            matrix4d xformOp:transform = ( (0.247489, 0, 0, 0), (0, 0.008, 0, 0), (0, 0, 0.011649, 0), (-0.003984, 0.170578, 0.075342, 1) )\n",
-      "            uniform token[] xformOpOrder = [\"xformOp:transform\"]\n",
-      "\n",
-      "            def Cube \"Cube\" (\n",
-      "                prepend apiSchemas = [\"PhysicsCollisionAPI\"]\n",
-      "            )\n",
-      "            {\n",
-      "                float3[] extent = [(-1, -1, -1), (1, 1, 1)]\n",
-      "                bool physics:collisionEnabled = 1\n",
-      "                color3f[] primvars:displayColor = [(1, 0, 0)]\n",
-      "                float[] primvars:displayOpacity = [0.5]\n",
-      "            }\n",
-      "        }\n",
-      "\n",
-      "        def Xform \"cabinet2_drawer6_collision_6\" (\n",
-      "            prepend apiSchemas = [\"PhysicsMassAPI\"]\n",
-      "        )\n",
-      "        {\n",
-      "            point3f physics:centerOfMass = (0, 0, 0)\n",
-      "            float physics:density = 100\n",
-      "            float3 physics:diagonalInertia = (-2.256894, -1.3536373, 4.6985965)\n",
-      "            float physics:mass = 0.5777372\n",
-      "            quatf physics:principalAxes = (-0.5554302, -0.21707855, 0.78277975, -0.17784847)\n",
-      "            matrix4d xformOp:transform = ( (0.247489, 0, 0, 0), (0, 0.008, 0, 0), (0, 0, 0.011649, 0), (-0.003984, -0.170578, 0.075342, 1) )\n",
-      "            uniform token[] xformOpOrder = [\"xformOp:transform\"]\n",
-      "\n",
-      "            def Cube \"Cube\" (\n",
-      "                prepend apiSchemas = [\"PhysicsCollisionAPI\"]\n",
-      "            )\n",
-      "            {\n",
-      "                float3[] extent = [(-1, -1, -1), (1, 1, 1)]\n",
-      "                bool physics:collisionEnabled = 1\n",
-      "                color3f[] primvars:displayColor = [(1, 0, 0)]\n",
-      "                float[] primvars:displayOpacity = [0.5]\n",
-      "            }\n",
-      "        }\n",
-      "\n",
-      "        def Xform \"cabinet2_drawer6_collision_7\" (\n",
-      "            prepend apiSchemas = [\"PhysicsMassAPI\"]\n",
-      "        )\n",
-      "        {\n",
-      "            point3f physics:centerOfMass = (0, 0, 0)\n",
-      "            float physics:density = 100\n",
-      "            float3 physics:diagonalInertia = (-2.256894, -1.3536373, 4.6985965)\n"
-     ]
-    },
-    {
-     "name": "stdout",
-     "output_type": "stream",
-     "text": [
-      "            float physics:mass = 0.5777372\n",
-      "            quatf physics:principalAxes = (-0.5554302, -0.21707855, 0.78277975, -0.17784847)\n",
-      "            matrix4d xformOp:transform = ( (0.247489, 0, 0, 0), (0, 0.008, 0, 0), (0, 0, 0.043553, 0), (-0.003984, 0.170578, -0.043743, 1) )\n",
-      "            uniform token[] xformOpOrder = [\"xformOp:transform\"]\n",
-      "\n",
-      "            def Cube \"Cube\" (\n",
-      "                prepend apiSchemas = [\"PhysicsCollisionAPI\"]\n",
-      "            )\n",
-      "            {\n",
-      "                float3[] extent = [(-1, -1, -1), (1, 1, 1)]\n",
-      "                bool physics:collisionEnabled = 1\n",
-      "                color3f[] primvars:displayColor = [(1, 0, 0)]\n",
-      "                float[] primvars:displayOpacity = [0.5]\n",
-      "            }\n",
-      "        }\n",
-      "\n",
-      "        def Xform \"cabinet2_drawer6_collision_8\" (\n",
-      "            prepend apiSchemas = [\"PhysicsMassAPI\"]\n",
-      "        )\n",
-      "        {\n",
-      "            point3f physics:centerOfMass = (0, 0, 0)\n",
-      "            float physics:density = 100\n",
-      "            float3 physics:diagonalInertia = (-2.256894, -1.3536373, 4.6985965)\n",
-      "            float physics:mass = 0.5777372\n",
-      "            quatf physics:principalAxes = (-0.5554302, -0.21707855, 0.78277975, -0.17784847)\n",
-      "            matrix4d xformOp:transform = ( (0.247489, 0, 0, 0), (0, 0.008, 0, 0), (0, 0, 0.043553, 0), (-0.003984, -0.170578, -0.043743, 1) )\n",
-      "            uniform token[] xformOpOrder = [\"xformOp:transform\"]\n",
-      "\n",
-      "            def Cube \"Cube\" (\n",
-      "                prepend apiSchemas = [\"PhysicsCollisionAPI\"]\n",
-      "            )\n",
-      "            {\n",
-      "                float3[] extent = [(-1, -1, -1), (1, 1, 1)]\n",
-      "                bool physics:collisionEnabled = 1\n",
-      "                color3f[] primvars:displayColor = [(1, 0, 0)]\n",
-      "                float[] primvars:displayOpacity = [0.5]\n",
-      "            }\n",
-      "        }\n",
-      "\n",
-      "        def Xform \"cabinet2_drawer6_collision_9\" (\n",
-      "            prepend apiSchemas = [\"PhysicsMassAPI\"]\n",
-      "        )\n",
-      "        {\n",
-      "            point3f physics:centerOfMass = (0, 0, 0)\n",
-      "            float physics:density = 100\n",
-      "            float3 physics:diagonalInertia = (-2.256894, -1.3536373, 4.6985965)\n",
-      "            float physics:mass = 0.5777372\n",
-      "            quatf physics:principalAxes = (-0.5554302, -0.21707855, 0.78277975, -0.17784847)\n",
-      "            matrix4d xformOp:transform = ( (0.247489, 0, 0, 0), (0, 0.180981, 0, 0), (0, 0, 0.010749, 0), (-0.003984, 0, -0.080242, 1) )\n",
-      "            uniform token[] xformOpOrder = [\"xformOp:transform\"]\n",
-      "\n",
-      "            def Cube \"Cube\" (\n",
-      "                prepend apiSchemas = [\"PhysicsCollisionAPI\"]\n",
-      "            )\n",
-      "            {\n",
-      "                float3[] extent = [(-1, -1, -1), (1, 1, 1)]\n",
-      "                bool physics:collisionEnabled = 1\n",
-      "                color3f[] primvars:displayColor = [(1, 0, 0)]\n",
-      "                float[] primvars:displayOpacity = [0.5]\n",
-      "            }\n",
-      "        }\n",
-      "    }\n",
-      "\n",
-      "    def Xform \"fridge_door1\" (\n",
-      "        prepend apiSchemas = [\"PhysicsRigidBodyAPI\"]\n",
-      "    )\n",
-      "    {\n",
-      "        bool physics:rigidBodyEnabled = 1\n",
-      "        matrix4d xformOp:transform = ( (-1, 1.2246467991473532e-16, 0, 0), (-1.2246467991473532e-16, -1, 0, 0), (0, 0, 1, 0), (0.5722444, 2.18075296, 1.41961884, 1) )\n",
-      "        uniform token[] xformOpOrder = [\"xformOp:transform\"]\n",
-      "\n",
-      "        def Xform \"fridge_door1_visual_0\" (\n",
-      "            prepend references = @./../meshes/usd/visual/SM_Fridge_Door_01.usda@</SM_Fridge_Door_01>\n",
-      "        )\n",
-      "        {\n",
-      "            matrix4d xformOp:transform = ( (1, 0, 0, 0), (0, 1, 0, 0), (0, 0, 1, 0), (0, 0, 0, 1) )\n",
-      "            uniform token[] xformOpOrder = [\"xformOp:transform\"]\n",
-      "\n",
-      "            over \"SM_Fridge_Door_01\" (\n",
-      "                prepend apiSchemas = [\"MaterialBindingAPI\"]\n",
-      "            )\n",
-      "            {\n",
-      "                rel material:binding = </_materials/_Game_Materials_Laborraum_M_Kitchen_Fronts_M_Kitchen_Fronts_008>\n",
-      "\n",
-      "                over \"_Game_Materials_Laborraum_M_Rubber_Plastic_M_Rubber_Plastic_005\" (\n",
-      "                    prepend apiSchemas = [\"MaterialBindingAPI\"]\n",
-      "                )\n",
-      "                {\n",
-      "                    rel material:binding = </_materials/_Game_Materials_Laborraum_M_Rubber_Plastic_M_Rubber_Plastic_005>\n",
-      "                }\n",
-      "\n",
-      "                over \"_Game_Materials_Laborraum_M_Plastic_White_M_Plastic_White_009\" (\n",
-      "                    prepend apiSchemas = [\"MaterialBindingAPI\"]\n",
-      "                )\n",
-      "                {\n",
-      "                    rel material:binding = </_materials/_Game_Materials_Laborraum_M_Plastic_White_M_Plastic_White_009>\n",
-      "                }\n",
-      "\n",
-      "                over \"_Game_Materials_Laborraum_M_Metal_Chrome_M_Metal_Chrome_011\" (\n",
-      "                    prepend apiSchemas = [\"MaterialBindingAPI\"]\n",
-      "                )\n",
-      "                {\n",
-      "                    rel material:binding = </_materials/_Game_Materials_Laborraum_M_Metal_Chrome_M_Metal_Chrome_011>\n",
-      "                }\n",
-      "\n",
-      "                over \"_Game_Materials_Laborraum_M_Metal_Brushed_M_Metal_Brushed_004\" (\n",
-      "                    prepend apiSchemas = [\"MaterialBindingAPI\"]\n",
-      "                )\n",
-      "                {\n",
-      "                    rel material:binding = </_materials/_Game_Materials_Laborraum_M_Metal_Brushed_M_Metal_Brushed_004>\n",
-      "                }\n",
-      "\n",
-      "                over \"_Game_Materials_Laborraum_M_Kitchen_Fronts_M_Kitchen_Fronts_008\" (\n",
-      "                    prepend apiSchemas = [\"MaterialBindingAPI\"]\n",
-      "                )\n",
-      "                {\n",
-      "                    rel material:binding = </_materials/_Game_Materials_Laborraum_M_Kitchen_Fronts_M_Kitchen_Fronts_008>\n",
-      "                }\n",
-      "            }\n",
-      "        }\n",
-      "\n",
-      "        def Xform \"fridge_door1_collision_0\" (\n",
-      "            prepend apiSchemas = [\"PhysicsMassAPI\"]\n",
-      "        )\n",
-      "        {\n",
-      "            point3f physics:centerOfMass = (0, 0, 0)\n",
-      "            float physics:density = 100\n",
-      "            float3 physics:diagonalInertia = (-37.82068, -15.367005, 75.71652)\n",
-      "            float physics:mass = 2.7844727\n",
-      "            quatf physics:principalAxes = (0.0111727975, 0.99619466, -0.08092843, 0.030363806)\n",
-      "            matrix4d xformOp:transform = ( (0.009277, 0, 0, 0), (0, 0.298246, 0, 0), (0, 0, 0.668339, 0), (0.006948, -0.297325, 0.139709, 1) )\n",
-      "            uniform token[] xformOpOrder = [\"xformOp:transform\"]\n",
-      "\n",
-      "            def Cube \"Cube\" (\n",
-      "                prepend apiSchemas = [\"PhysicsCollisionAPI\"]\n",
-      "            )\n",
-      "            {\n",
-      "                float3[] extent = [(-1, -1, -1), (1, 1, 1)]\n",
-      "                bool physics:collisionEnabled = 1\n",
-      "                color3f[] primvars:displayColor = [(1, 0, 0)]\n",
-      "                float[] primvars:displayOpacity = [0.5]\n",
-      "            }\n",
-      "        }\n",
-      "\n",
-      "        def Xform \"fridge_door1_collision_1\" (\n",
-      "            prepend apiSchemas = [\"PhysicsMassAPI\"]\n",
-      "        )\n",
-      "        {\n",
-      "            point3f physics:centerOfMass = (0, 0, 0)\n",
-      "            float physics:density = 100\n",
-      "            float3 physics:diagonalInertia = (-37.82068, -15.367005, 75.71652)\n",
-      "            float physics:mass = 2.7844727\n",
-      "            quatf physics:principalAxes = (0.0111727975, 0.99619466, -0.08092843, 0.030363806)\n",
-      "            matrix4d xformOp:transform = ( (0.0125, 0, 0, 0), (0, 0.276867, 0, 0), (0, 0, 0.494447, 0), (0.03605, -0.295455, -0.001115, 1) )\n",
-      "            uniform token[] xformOpOrder = [\"xformOp:transform\"]\n",
-      "\n",
-      "            def Cube \"Cube\" (\n",
-      "                prepend apiSchemas = [\"PhysicsCollisionAPI\"]\n",
-      "            )\n",
-      "            {\n",
-      "                float3[] extent = [(-1, -1, -1), (1, 1, 1)]\n",
-      "                bool physics:collisionEnabled = 1\n",
-      "                color3f[] primvars:displayColor = [(1, 0, 0)]\n",
-      "                float[] primvars:displayOpacity = [0.5]\n",
-      "            }\n",
-      "        }\n",
-      "\n",
-      "        def Xform \"fridge_door1_handle\"\n",
-      "        {\n",
-      "            matrix4d xformOp:transform = ( (1, 0, 0, 0), (0, 2.220446049250313e-16, 1, 0), (0, -1, 2.220446049250313e-16, 0), (-0.02799103, -0.46534321, -0.3616, 1) )\n",
-      "            uniform token[] xformOpOrder = [\"xformOp:transform\"]\n",
-      "\n",
-      "            def Xform \"fridge_door1_handle_visual_0\" (\n",
-      "                prepend references = @./../meshes/usd/visual/SM_Kitchen_Handle.usda@</SM_Kitchen_Handle>\n",
-      "            )\n",
-      "            {\n",
-      "                matrix4d xformOp:transform = ( (1, 0, 0, 0), (0, 1, 0, 0), (0, 0, 1, 0), (0, 0, 0, 1) )\n",
-      "                uniform token[] xformOpOrder = [\"xformOp:transform\"]\n",
-      "\n",
-      "                over \"SM_Kitchen_Handle\" (\n",
-      "                    prepend apiSchemas = [\"MaterialBindingAPI\"]\n",
-      "                )\n",
-      "                {\n",
-      "                    rel material:binding = </_materials/_Game_Materials_Laborraum_M_Metal_Brushed_M_Metal_Brushed_003>\n"
-     ]
-    },
-    {
-     "name": "stdout",
-     "output_type": "stream",
-     "text": [
-      "                }\n",
-      "            }\n",
-      "\n",
-      "            def Xform \"fridge_door1_handle_collision_0\" (\n",
-      "                prepend apiSchemas = [\"PhysicsMassAPI\"]\n",
-      "            )\n",
-      "            {\n",
-      "                point3f physics:centerOfMass = (0, 0, 0)\n",
-      "                float physics:density = 100\n",
-      "                float3 physics:diagonalInertia = (-37.82068, -15.367005, 75.71652)\n",
-      "                float physics:mass = 2.7844727\n",
-      "                quatf physics:principalAxes = (0.0111727975, 0.99619466, -0.08092843, 0.030363806)\n",
-      "                matrix4d xformOp:transform = ( (0.01, 0, 0, 0), (0, 0.0065, 0, 0), (0, 0, 0.0065, 0), (0.0164985, 0, 0.08, 1) )\n",
-      "                uniform token[] xformOpOrder = [\"xformOp:transform\"]\n",
-      "\n",
-      "                def Cube \"Cube\" (\n",
-      "                    prepend apiSchemas = [\"PhysicsCollisionAPI\"]\n",
-      "                )\n",
-      "                {\n",
-      "                    float3[] extent = [(-1, -1, -1), (1, 1, 1)]\n",
-      "                    bool physics:collisionEnabled = 1\n",
-      "                    color3f[] primvars:displayColor = [(1, 0, 0)]\n",
-      "                    float[] primvars:displayOpacity = [0.5]\n",
-      "                }\n",
-      "            }\n",
-      "\n",
-      "            def Xform \"fridge_door1_handle_collision_1\" (\n",
-      "                prepend apiSchemas = [\"PhysicsMassAPI\"]\n",
-      "            )\n",
-      "            {\n",
-      "                point3f physics:centerOfMass = (0, 0, 0)\n",
-      "                float physics:density = 100\n",
-      "                float3 physics:diagonalInertia = (-37.82068, -15.367005, 75.71652)\n",
-      "                float physics:mass = 2.7844727\n",
-      "                quatf physics:principalAxes = (0.0111727975, 0.99619466, -0.08092843, 0.030363806)\n",
-      "                matrix4d xformOp:transform = ( (0.01, 0, 0, 0), (0, 0.0065, 0, 0), (0, 0, 0.0065, 0), (0.0164985, 0, -0.08, 1) )\n",
-      "                uniform token[] xformOpOrder = [\"xformOp:transform\"]\n",
-      "\n",
-      "                def Cube \"Cube\" (\n",
-      "                    prepend apiSchemas = [\"PhysicsCollisionAPI\"]\n",
-      "                )\n",
-      "                {\n",
-      "                    float3[] extent = [(-1, -1, -1), (1, 1, 1)]\n",
-      "                    bool physics:collisionEnabled = 1\n",
-      "                    color3f[] primvars:displayColor = [(1, 0, 0)]\n",
-      "                    float[] primvars:displayOpacity = [0.5]\n",
-      "                }\n",
-      "            }\n",
-      "\n",
-      "            def Xform \"fridge_door1_handle_collision_2\" (\n",
-      "                prepend apiSchemas = [\"PhysicsMassAPI\"]\n",
-      "            )\n",
-      "            {\n",
-      "                point3f physics:centerOfMass = (0, 0, 0)\n",
-      "                float physics:density = 100\n",
-      "                float3 physics:diagonalInertia = (-37.82068, -15.367005, 75.71652)\n",
-      "                float physics:mass = 2.7844727\n",
-      "                quatf physics:principalAxes = (0.0111727975, 0.99619466, -0.08092843, 0.030363806)\n",
-      "                matrix4d xformOp:transform = ( (0.0065, 0, 0, 0), (0, 0.0065, 0, 0), (0, 0, 0.086516, 0), (0, 0, 0, 1) )\n",
-      "                uniform token[] xformOpOrder = [\"xformOp:transform\"]\n",
-      "\n",
-      "                def Cube \"Cube\" (\n",
-      "                    prepend apiSchemas = [\"PhysicsCollisionAPI\"]\n",
-      "                )\n",
-      "                {\n",
-      "                    float3[] extent = [(-1, -1, -1), (1, 1, 1)]\n",
-      "                    bool physics:collisionEnabled = 1\n",
-      "                    color3f[] primvars:displayColor = [(1, 0, 0)]\n",
-      "                    float[] primvars:displayOpacity = [0.5]\n",
-      "                }\n",
-      "            }\n",
-      "        }\n",
-      "\n",
-      "        def Xform \"fridge_door_tray1\"\n",
-      "        {\n",
-      "            matrix4d xformOp:transform = ( (1, 0, 0, 0), (0, 1, 0, 0), (0, 0, 1, 0), (0.10379066, -0.29726078, -0.01565247, 1) )\n",
-      "            uniform token[] xformOpOrder = [\"xformOp:transform\"]\n",
-      "\n",
-      "            def Xform \"fridge_door_tray1_visual_0\" (\n",
-      "                prepend references = @./../meshes/usd/visual/SM_Fridge_Door_Tray_01.usda@</SM_Fridge_Door_Tray_01>\n",
-      "            )\n",
-      "            {\n",
-      "                matrix4d xformOp:transform = ( (1, 0, 0, 0), (0, 1, 0, 0), (0, 0, 1, 0), (0, 0, 0, 1) )\n",
-      "                uniform token[] xformOpOrder = [\"xformOp:transform\"]\n",
-      "\n",
-      "                over \"SM_Fridge_Door_Tray_01\" (\n",
-      "                    prepend apiSchemas = [\"MaterialBindingAPI\"]\n",
-      "                )\n",
-      "                {\n",
-      "                    rel material:binding = </_materials/_Game_Materials_Laborraum_M_Plastic_Fridge_M_Plastic_Fridge_001>\n",
-      "\n",
-      "                    over \"_Game_Materials_Laborraum_M_Metal_Dark_M_Metal_Dark\" (\n",
-      "                        prepend apiSchemas = [\"MaterialBindingAPI\"]\n",
-      "                    )\n",
-      "                    {\n",
-      "                        rel material:binding = </_materials/_Game_Materials_Laborraum_M_Metal_Dark_M_Metal_Dark>\n",
-      "                    }\n",
-      "\n",
-      "                    over \"_Game_Materials_Laborraum_M_Metal_Brushed_M_Metal_Brushed_005\" (\n",
-      "                        prepend apiSchemas = [\"MaterialBindingAPI\"]\n",
-      "                    )\n",
-      "                    {\n",
-      "                        rel material:binding = </_materials/_Game_Materials_Laborraum_M_Metal_Brushed_M_Metal_Brushed_005>\n",
-      "                    }\n",
-      "\n",
-      "                    over \"_Game_Materials_Laborraum_M_Plastic_Fridge_M_Plastic_Fridge_001\" (\n",
-      "                        prepend apiSchemas = [\"MaterialBindingAPI\"]\n",
-      "                    )\n",
-      "                    {\n",
-      "                        rel material:binding = </_materials/_Game_Materials_Laborraum_M_Plastic_Fridge_M_Plastic_Fridge_001>\n",
-      "                    }\n",
-      "                }\n",
-      "            }\n",
-      "\n",
-      "            def Xform \"fridge_door_tray1_collision_0\" (\n",
-      "                prepend apiSchemas = [\"PhysicsMassAPI\"]\n",
-      "            )\n",
-      "            {\n",
-      "                point3f physics:centerOfMass = (0, 0, 0)\n",
-      "                float physics:density = 100\n",
-      "                float3 physics:diagonalInertia = (-0.43244922, -0.33156142, 0.7535612)\n",
-      "                float physics:mass = 0.016634978\n",
-      "                quatf physics:principalAxes = (-0.1751669, -0.20340607, 0.13218878, 0.95418483)\n",
-      "                matrix4d xformOp:transform = ( (0.001, 0, 0, 0), (0, 0.210927, 0, 0), (0, 0, 0.047787, 0), (0.054273, 0, 0, 1) )\n",
-      "                uniform token[] xformOpOrder = [\"xformOp:transform\"]\n",
-      "\n",
-      "                def Cube \"Cube\" (\n",
-      "                    prepend apiSchemas = [\"PhysicsCollisionAPI\"]\n",
-      "                )\n",
-      "                {\n",
-      "                    float3[] extent = [(-1, -1, -1), (1, 1, 1)]\n",
-      "                    bool physics:collisionEnabled = 1\n",
-      "                    color3f[] primvars:displayColor = [(1, 0, 0)]\n",
-      "                    float[] primvars:displayOpacity = [0.5]\n",
-      "                }\n",
-      "            }\n",
-      "\n",
-      "            def Xform \"fridge_door_tray1_collision_1\" (\n",
-      "                prepend apiSchemas = [\"PhysicsMassAPI\"]\n",
-      "            )\n",
-      "            {\n",
-      "                point3f physics:centerOfMass = (0, 0, 0)\n",
-      "                float physics:density = 100\n",
-      "                float3 physics:diagonalInertia = (-0.43244922, -0.33156142, 0.7535612)\n",
-      "                float physics:mass = 0.016634978\n",
-      "                quatf physics:principalAxes = (-0.1751669, -0.20340607, 0.13218878, 0.95418483)\n",
-      "                matrix4d xformOp:transform = ( (0.001, 0, 0, 0), (0, 0.210927, 0, 0), (0, 0, 0.047787, 0), (-0.054273, 0, 0, 1) )\n",
-      "                uniform token[] xformOpOrder = [\"xformOp:transform\"]\n",
-      "\n",
-      "                def Cube \"Cube\" (\n",
-      "                    prepend apiSchemas = [\"PhysicsCollisionAPI\"]\n",
-      "                )\n",
-      "                {\n",
-      "                    float3[] extent = [(-1, -1, -1), (1, 1, 1)]\n",
-      "                    bool physics:collisionEnabled = 1\n",
-      "                    color3f[] primvars:displayColor = [(1, 0, 0)]\n",
-      "                    float[] primvars:displayOpacity = [0.5]\n",
-      "                }\n",
-      "            }\n",
-      "\n",
-      "            def Xform \"fridge_door_tray1_collision_2\" (\n",
-      "                prepend apiSchemas = [\"PhysicsMassAPI\"]\n",
-      "            )\n",
-      "            {\n",
-      "                point3f physics:centerOfMass = (0, 0, 0)\n",
-      "                float physics:density = 100\n",
-      "                float3 physics:diagonalInertia = (-0.43244922, -0.33156142, 0.7535612)\n",
-      "                float physics:mass = 0.016634978\n",
-      "                quatf physics:principalAxes = (-0.1751669, -0.20340607, 0.13218878, 0.95418483)\n",
-      "                matrix4d xformOp:transform = ( (0.05471, 0, 0, 0), (0, 0.001, 0, 0), (0, 0, 0.047787, 0), (0, 0.209978, 0, 1) )\n",
-      "                uniform token[] xformOpOrder = [\"xformOp:transform\"]\n",
-      "\n",
-      "                def Cube \"Cube\" (\n",
-      "                    prepend apiSchemas = [\"PhysicsCollisionAPI\"]\n",
-      "                )\n",
-      "                {\n"
-     ]
-    },
-    {
-     "name": "stdout",
-     "output_type": "stream",
-     "text": [
-      "                    float3[] extent = [(-1, -1, -1), (1, 1, 1)]\n",
-      "                    bool physics:collisionEnabled = 1\n",
-      "                    color3f[] primvars:displayColor = [(1, 0, 0)]\n",
-      "                    float[] primvars:displayOpacity = [0.5]\n",
-      "                }\n",
-      "            }\n",
-      "\n",
-      "            def Xform \"fridge_door_tray1_collision_3\" (\n",
-      "                prepend apiSchemas = [\"PhysicsMassAPI\"]\n",
-      "            )\n",
-      "            {\n",
-      "                point3f physics:centerOfMass = (0, 0, 0)\n",
-      "                float physics:density = 100\n",
-      "                float3 physics:diagonalInertia = (-0.43244922, -0.33156142, 0.7535612)\n",
-      "                float physics:mass = 0.016634978\n",
-      "                quatf physics:principalAxes = (-0.1751669, -0.20340607, 0.13218878, 0.95418483)\n",
-      "                matrix4d xformOp:transform = ( (0.05471, 0, 0, 0), (0, 0.001, 0, 0), (0, 0, 0.047787, 0), (0, -0.209978, 0, 1) )\n",
-      "                uniform token[] xformOpOrder = [\"xformOp:transform\"]\n",
-      "\n",
-      "                def Cube \"Cube\" (\n",
-      "                    prepend apiSchemas = [\"PhysicsCollisionAPI\"]\n",
-      "                )\n",
-      "                {\n",
-      "                    float3[] extent = [(-1, -1, -1), (1, 1, 1)]\n",
-      "                    bool physics:collisionEnabled = 1\n",
-      "                    color3f[] primvars:displayColor = [(1, 0, 0)]\n",
-      "                    float[] primvars:displayOpacity = [0.5]\n",
-      "                }\n",
-      "            }\n",
-      "\n",
-      "            def Xform \"fridge_door_tray1_collision_4\" (\n",
-      "                prepend apiSchemas = [\"PhysicsMassAPI\"]\n",
-      "            )\n",
-      "            {\n",
-      "                point3f physics:centerOfMass = (0, 0, 0)\n",
-      "                float physics:density = 100\n",
-      "                float3 physics:diagonalInertia = (-0.43244922, -0.33156142, 0.7535612)\n",
-      "                float physics:mass = 0.016634978\n",
-      "                quatf physics:principalAxes = (-0.1751669, -0.20340607, 0.13218878, 0.95418483)\n",
-      "                matrix4d xformOp:transform = ( (0.05471, 0, 0, 0), (0, 0.210927, 0, 0), (0, 0, 0.001, 0), (0, 0, -0.047166, 1) )\n",
-      "                uniform token[] xformOpOrder = [\"xformOp:transform\"]\n",
-      "\n",
-      "                def Cube \"Cube\" (\n",
-      "                    prepend apiSchemas = [\"PhysicsCollisionAPI\"]\n",
-      "                )\n",
-      "                {\n",
-      "                    float3[] extent = [(-1, -1, -1), (1, 1, 1)]\n",
-      "                    bool physics:collisionEnabled = 1\n",
-      "                    color3f[] primvars:displayColor = [(1, 0, 0)]\n",
-      "                    float[] primvars:displayOpacity = [0.5]\n",
-      "                }\n",
-      "            }\n",
-      "        }\n",
-      "\n",
-      "        def Xform \"fridge_door_tray2\"\n",
-      "        {\n",
-      "            matrix4d xformOp:transform = ( (1, 0, 0, 0), (0, 1, 0, 0), (0, 0, 1, 0), (0.10176933, -0.29847088, 0.22387222, 1) )\n",
-      "            uniform token[] xformOpOrder = [\"xformOp:transform\"]\n",
-      "\n",
-      "            def Xform \"fridge_door_tray2_visual_0\" (\n",
-      "                prepend references = @./../meshes/usd/visual/SM_Fridge_Door_Tray_02.usda@</SM_Fridge_Door_Tray_02>\n",
-      "            )\n",
-      "            {\n",
-      "                matrix4d xformOp:transform = ( (1, 0, 0, 0), (0, 1, 0, 0), (0, 0, 1, 0), (0, 0, 0, 1) )\n",
-      "                uniform token[] xformOpOrder = [\"xformOp:transform\"]\n",
-      "\n",
-      "                over \"SM_Fridge_Door_Tray_02\" (\n",
-      "                    prepend apiSchemas = [\"MaterialBindingAPI\"]\n",
-      "                )\n",
-      "                {\n",
-      "                    rel material:binding = </_materials/_Game_Materials_Laborraum_M_Plastic_Fridge_M_Plastic_Fridge_002>\n",
-      "\n",
-      "                    over \"_Game_Materials_Laborraum_M_Metal_Brushed_M_Metal_Brushed_007\" (\n",
-      "                        prepend apiSchemas = [\"MaterialBindingAPI\"]\n",
-      "                    )\n",
-      "                    {\n",
-      "                        rel material:binding = </_materials/_Game_Materials_Laborraum_M_Metal_Brushed_M_Metal_Brushed_007>\n",
-      "                    }\n",
-      "\n",
-      "                    over \"_Game_Materials_Laborraum_M_Plastic_Fridge_M_Plastic_Fridge_002\" (\n",
-      "                        prepend apiSchemas = [\"MaterialBindingAPI\"]\n",
-      "                    )\n",
-      "                    {\n",
-      "                        rel material:binding = </_materials/_Game_Materials_Laborraum_M_Plastic_Fridge_M_Plastic_Fridge_002>\n",
-      "                    }\n",
-      "                }\n",
-      "            }\n",
-      "\n",
-      "            def Xform \"fridge_door_tray2_collision_0\" (\n",
-      "                prepend apiSchemas = [\"PhysicsMassAPI\"]\n",
-      "            )\n",
-      "            {\n",
-      "                point3f physics:centerOfMass = (0, 0, 0)\n",
-      "                float physics:density = 100\n",
-      "                float3 physics:diagonalInertia = (-0.30474418, -0.22613789, 0.4876026)\n",
-      "                float physics:mass = 0.013283517\n",
-      "                quatf physics:principalAxes = (0.16298608, 0.9355804, 0.20845202, 0.23382181)\n",
-      "                matrix4d xformOp:transform = ( (0.001, 0, 0, 0), (0, 0.210977, 0, 0), (0, 0, 0.026901, 0), (0.054019, 0, 0, 1) )\n",
-      "                uniform token[] xformOpOrder = [\"xformOp:transform\"]\n",
-      "\n",
-      "                def Cube \"Cube\" (\n",
-      "                    prepend apiSchemas = [\"PhysicsCollisionAPI\"]\n",
-      "                )\n",
-      "                {\n",
-      "                    float3[] extent = [(-1, -1, -1), (1, 1, 1)]\n",
-      "                    bool physics:collisionEnabled = 1\n",
-      "                    color3f[] primvars:displayColor = [(1, 0, 0)]\n",
-      "                    float[] primvars:displayOpacity = [0.5]\n",
-      "                }\n",
-      "            }\n",
-      "\n",
-      "            def Xform \"fridge_door_tray2_collision_1\" (\n",
-      "                prepend apiSchemas = [\"PhysicsMassAPI\"]\n",
-      "            )\n",
-      "            {\n",
-      "                point3f physics:centerOfMass = (0, 0, 0)\n",
-      "                float physics:density = 100\n",
-      "                float3 physics:diagonalInertia = (-0.30474418, -0.22613789, 0.4876026)\n",
-      "                float physics:mass = 0.013283517\n",
-      "                quatf physics:principalAxes = (0.16298608, 0.9355804, 0.20845202, 0.23382181)\n",
-      "                matrix4d xformOp:transform = ( (0.001, 0, 0, 0), (0, 0.210977, 0, 0), (0, 0, 0.026901, 0), (-0.054019, 0, 0, 1) )\n",
-      "                uniform token[] xformOpOrder = [\"xformOp:transform\"]\n",
-      "\n",
-      "                def Cube \"Cube\" (\n",
-      "                    prepend apiSchemas = [\"PhysicsCollisionAPI\"]\n",
-      "                )\n",
-      "                {\n",
-      "                    float3[] extent = [(-1, -1, -1), (1, 1, 1)]\n",
-      "                    bool physics:collisionEnabled = 1\n",
-      "                    color3f[] primvars:displayColor = [(1, 0, 0)]\n",
-      "                    float[] primvars:displayOpacity = [0.5]\n",
-      "                }\n",
-      "            }\n",
-      "\n",
-      "            def Xform \"fridge_door_tray2_collision_2\" (\n",
-      "                prepend apiSchemas = [\"PhysicsMassAPI\"]\n",
-      "            )\n",
-      "            {\n",
-      "                point3f physics:centerOfMass = (0, 0, 0)\n",
-      "                float physics:density = 100\n",
-      "                float3 physics:diagonalInertia = (-0.30474418, -0.22613789, 0.4876026)\n",
-      "                float physics:mass = 0.013283517\n",
-      "                quatf physics:principalAxes = (0.16298608, 0.9355804, 0.20845202, 0.23382181)\n",
-      "                matrix4d xformOp:transform = ( (0.054994, 0, 0, 0), (0, 0.001, 0, 0), (0, 0, 0.026901, 0), (0, 0.209978, 0, 1) )\n",
-      "                uniform token[] xformOpOrder = [\"xformOp:transform\"]\n",
-      "\n",
-      "                def Cube \"Cube\" (\n",
-      "                    prepend apiSchemas = [\"PhysicsCollisionAPI\"]\n",
-      "                )\n",
-      "                {\n",
-      "                    float3[] extent = [(-1, -1, -1), (1, 1, 1)]\n",
-      "                    bool physics:collisionEnabled = 1\n",
-      "                    color3f[] primvars:displayColor = [(1, 0, 0)]\n",
-      "                    float[] primvars:displayOpacity = [0.5]\n",
-      "                }\n",
-      "            }\n",
-      "\n",
-      "            def Xform \"fridge_door_tray2_collision_3\" (\n",
-      "                prepend apiSchemas = [\"PhysicsMassAPI\"]\n",
-      "            )\n",
-      "            {\n",
-      "                point3f physics:centerOfMass = (0, 0, 0)\n",
-      "                float physics:density = 100\n",
-      "                float3 physics:diagonalInertia = (-0.30474418, -0.22613789, 0.4876026)\n",
-      "                float physics:mass = 0.013283517\n",
-      "                quatf physics:principalAxes = (0.16298608, 0.9355804, 0.20845202, 0.23382181)\n",
-      "                matrix4d xformOp:transform = ( (0.054994, 0, 0, 0), (0, 0.001, 0, 0), (0, 0, 0.026901, 0), (0, -0.209978, 0, 1) )\n",
-      "                uniform token[] xformOpOrder = [\"xformOp:transform\"]\n",
-      "\n",
-      "                def Cube \"Cube\" (\n",
-      "                    prepend apiSchemas = [\"PhysicsCollisionAPI\"]\n",
-      "                )\n",
-      "                {\n",
-      "                    float3[] extent = [(-1, -1, -1), (1, 1, 1)]\n",
-      "                    bool physics:collisionEnabled = 1\n"
-     ]
-    },
-    {
-     "name": "stdout",
-     "output_type": "stream",
-     "text": [
-      "                    color3f[] primvars:displayColor = [(1, 0, 0)]\n",
-      "                    float[] primvars:displayOpacity = [0.5]\n",
-      "                }\n",
-      "            }\n",
-      "\n",
-      "            def Xform \"fridge_door_tray2_collision_4\" (\n",
-      "                prepend apiSchemas = [\"PhysicsMassAPI\"]\n",
-      "            )\n",
-      "            {\n",
-      "                point3f physics:centerOfMass = (0, 0, 0)\n",
-      "                float physics:density = 100\n",
-      "                float3 physics:diagonalInertia = (-0.30474418, -0.22613789, 0.4876026)\n",
-      "                float physics:mass = 0.013283517\n",
-      "                quatf physics:principalAxes = (0.16298608, 0.9355804, 0.20845202, 0.23382181)\n",
-      "                matrix4d xformOp:transform = ( (0.054994, 0, 0, 0), (0, 0.210977, 0, 0), (0, 0, 0.001, 0), (0, 0, -0.025903, 1) )\n",
-      "                uniform token[] xformOpOrder = [\"xformOp:transform\"]\n",
-      "\n",
-      "                def Cube \"Cube\" (\n",
-      "                    prepend apiSchemas = [\"PhysicsCollisionAPI\"]\n",
-      "                )\n",
-      "                {\n",
-      "                    float3[] extent = [(-1, -1, -1), (1, 1, 1)]\n",
-      "                    bool physics:collisionEnabled = 1\n",
-      "                    color3f[] primvars:displayColor = [(1, 0, 0)]\n",
-      "                    float[] primvars:displayOpacity = [0.5]\n",
-      "                }\n",
-      "            }\n",
-      "\n",
-      "            def Xform \"fridge_egg_tray\"\n",
-      "            {\n",
-      "                matrix4d xformOp:transform = ( (1, 0, 0, 0), (0, 1, 0, 0), (0, 0, 1, 0), (-0.00226576, 0.0853089, 0.00069855, 1) )\n",
-      "                uniform token[] xformOpOrder = [\"xformOp:transform\"]\n",
-      "\n",
-      "                def Xform \"fridge_egg_tray_visual_0\" (\n",
-      "                    prepend references = @./../meshes/usd/visual/SM_Fridge_Egg_Tray.usda@</SM_Fridge_Egg_Tray>\n",
-      "                )\n",
-      "                {\n",
-      "                    matrix4d xformOp:transform = ( (1, 0, 0, 0), (0, 1, 0, 0), (0, 0, 1, 0), (0, 0, 0, 1) )\n",
-      "                    uniform token[] xformOpOrder = [\"xformOp:transform\"]\n",
-      "\n",
-      "                    over \"SM_Fridge_Egg_Tray\" (\n",
-      "                        prepend apiSchemas = [\"MaterialBindingAPI\"]\n",
-      "                    )\n",
-      "                    {\n",
-      "                        rel material:binding = </_materials/_Game_Materials_Laborraum_M_Rubber_Plastic_M_Rubber_Plastic_007>\n",
-      "                    }\n",
-      "                }\n",
-      "            }\n",
-      "        }\n",
-      "    }\n",
-      "\n",
-      "    def Xform \"fridge_door2\" (\n",
-      "        prepend apiSchemas = [\"PhysicsRigidBodyAPI\"]\n",
-      "    )\n",
-      "    {\n",
-      "        bool physics:rigidBodyEnabled = 1\n",
-      "        matrix4d xformOp:transform = ( (-1, 1.2246467991473532e-16, 0, 0), (-1.2246467991473532e-16, -1, 0, 0), (0, 0, 1, 0), (0.5722444, 2.18080852, 0.52487099, 1) )\n",
-      "        uniform token[] xformOpOrder = [\"xformOp:transform\"]\n",
-      "\n",
-      "        def Xform \"fridge_door2_visual_0\" (\n",
-      "            prepend references = @./../meshes/usd/visual/SM_Fridge_Door_02.usda@</SM_Fridge_Door_02>\n",
-      "        )\n",
-      "        {\n",
-      "            matrix4d xformOp:transform = ( (1, 0, 0, 0), (0, 1, 0, 0), (0, 0, 1, 0), (0, 0, 0, 1) )\n",
-      "            uniform token[] xformOpOrder = [\"xformOp:transform\"]\n",
-      "\n",
-      "            over \"SM_Fridge_Door_02\" (\n",
-      "                prepend apiSchemas = [\"MaterialBindingAPI\"]\n",
-      "            )\n",
-      "            {\n",
-      "                rel material:binding = </_materials/_Game_Materials_Laborraum_M_Kitchen_Fronts_M_Kitchen_Fronts_009>\n",
-      "\n",
-      "                over \"_Game_Materials_Laborraum_M_Rubber_Plastic_M_Rubber_Plastic_008\" (\n",
-      "                    prepend apiSchemas = [\"MaterialBindingAPI\"]\n",
-      "                )\n",
-      "                {\n",
-      "                    rel material:binding = </_materials/_Game_Materials_Laborraum_M_Rubber_Plastic_M_Rubber_Plastic_008>\n",
-      "                }\n",
-      "\n",
-      "                over \"_Game_Materials_Laborraum_M_Plastic_White_M_Plastic_White_011\" (\n",
-      "                    prepend apiSchemas = [\"MaterialBindingAPI\"]\n",
-      "                )\n",
-      "                {\n",
-      "                    rel material:binding = </_materials/_Game_Materials_Laborraum_M_Plastic_White_M_Plastic_White_011>\n",
-      "                }\n",
-      "\n",
-      "                over \"_Game_Materials_Laborraum_M_Metal_Chrome_M_Metal_Chrome_012\" (\n",
-      "                    prepend apiSchemas = [\"MaterialBindingAPI\"]\n",
-      "                )\n",
-      "                {\n",
-      "                    rel material:binding = </_materials/_Game_Materials_Laborraum_M_Metal_Chrome_M_Metal_Chrome_012>\n",
-      "                }\n",
-      "\n",
-      "                over \"_Game_Materials_Laborraum_M_Kitchen_Fronts_M_Kitchen_Fronts_009\" (\n",
-      "                    prepend apiSchemas = [\"MaterialBindingAPI\"]\n",
-      "                )\n",
-      "                {\n",
-      "                    rel material:binding = </_materials/_Game_Materials_Laborraum_M_Kitchen_Fronts_M_Kitchen_Fronts_009>\n",
-      "                }\n",
-      "            }\n",
-      "        }\n",
-      "\n",
-      "        def Xform \"fridge_door2_collision_0\" (\n",
-      "            prepend apiSchemas = [\"PhysicsMassAPI\"]\n",
-      "        )\n",
-      "        {\n",
-      "            point3f physics:centerOfMass = (0, 0, 0)\n",
-      "            float physics:density = 100\n",
-      "            float3 physics:diagonalInertia = (-15.162766, -7.570549, 33.79961)\n",
-      "            float physics:mass = 2.3547938\n",
-      "            quatf physics:principalAxes = (0.99211925, 0.021089012, 0.106029965, -0.06334243)\n",
-      "            matrix4d xformOp:transform = ( (0.009277, 0, 0, 0), (0, 0.298246, 0, 0), (0, 0, 0.39297, 0), (0.006948, -0.297325, -0.028308, 1) )\n",
-      "            uniform token[] xformOpOrder = [\"xformOp:transform\"]\n",
-      "\n",
-      "            def Cube \"Cube\" (\n",
-      "                prepend apiSchemas = [\"PhysicsCollisionAPI\"]\n",
-      "            )\n",
-      "            {\n",
-      "                float3[] extent = [(-1, -1, -1), (1, 1, 1)]\n",
-      "                bool physics:collisionEnabled = 1\n",
-      "                color3f[] primvars:displayColor = [(1, 0, 0)]\n",
-      "                float[] primvars:displayOpacity = [0.5]\n",
-      "            }\n",
-      "        }\n",
-      "\n",
-      "        def Xform \"fridge_door2_collision_1\" (\n",
-      "            prepend apiSchemas = [\"PhysicsMassAPI\"]\n",
-      "        )\n",
-      "        {\n",
-      "            point3f physics:centerOfMass = (0, 0, 0)\n",
-      "            float physics:density = 100\n",
-      "            float3 physics:diagonalInertia = (-15.162766, -7.570549, 33.79961)\n",
-      "            float physics:mass = 2.3547938\n",
-      "            quatf physics:principalAxes = (0.99211925, 0.021089012, 0.106029965, -0.06334243)\n",
-      "            matrix4d xformOp:transform = ( (0.0125, 0, 0, 0), (0, 0.276867, 0, 0), (0, 0, 0.311166, 0), (0.03605, -0.295455, 0.019366, 1) )\n",
-      "            uniform token[] xformOpOrder = [\"xformOp:transform\"]\n",
-      "\n",
-      "            def Cube \"Cube\" (\n",
-      "                prepend apiSchemas = [\"PhysicsCollisionAPI\"]\n",
-      "            )\n",
-      "            {\n",
-      "                float3[] extent = [(-1, -1, -1), (1, 1, 1)]\n",
-      "                bool physics:collisionEnabled = 1\n",
-      "                color3f[] primvars:displayColor = [(1, 0, 0)]\n",
-      "                float[] primvars:displayOpacity = [0.5]\n",
-      "            }\n",
-      "        }\n",
-      "\n",
-      "        def Xform \"fridge_door2_handle\"\n",
-      "        {\n",
-      "            matrix4d xformOp:transform = ( (1, 0, 0, 0), (0, 2.220446049250313e-16, 1, 0), (0, -1, 2.220446049250313e-16, 0), (0.02804657, -0.46538265, 0.31786839, 1) )\n",
-      "            uniform token[] xformOpOrder = [\"xformOp:transform\"]\n",
-      "\n",
-      "            def Xform \"fridge_door2_handle_visual_0\" (\n",
-      "                prepend references = @./../meshes/usd/visual/SM_Kitchen_Handle.usda@</SM_Kitchen_Handle>\n",
-      "            )\n",
-      "            {\n",
-      "                matrix4d xformOp:transform = ( (1, 0, 0, 0), (0, 1, 0, 0), (0, 0, 1, 0), (0, 0, 0, 1) )\n",
-      "                uniform token[] xformOpOrder = [\"xformOp:transform\"]\n",
-      "\n",
-      "                over \"SM_Kitchen_Handle\" (\n",
-      "                    prepend apiSchemas = [\"MaterialBindingAPI\"]\n",
-      "                )\n",
-      "                {\n",
-      "                    rel material:binding = </_materials/_Game_Materials_Laborraum_M_Metal_Brushed_M_Metal_Brushed_003>\n",
-      "                }\n",
-      "            }\n",
-      "\n",
-      "            def Xform \"fridge_door2_handle_collision_0\" (\n",
-      "                prepend apiSchemas = [\"PhysicsMassAPI\"]\n",
-      "            )\n",
-      "            {\n",
-      "                point3f physics:centerOfMass = (0, 0, 0)\n",
-      "                float physics:density = 100\n",
-      "                float3 physics:diagonalInertia = (-15.162766, -7.570549, 33.79961)\n",
-      "                float physics:mass = 2.3547938\n",
-      "                quatf physics:principalAxes = (0.99211925, 0.021089012, 0.106029965, -0.06334243)\n",
-      "                matrix4d xformOp:transform = ( (0.01, 0, 0, 0), (0, 0.0065, 0, 0), (0, 0, 0.0065, 0), (0.0164985, 0, 0.08, 1) )\n",
-      "                uniform token[] xformOpOrder = [\"xformOp:transform\"]\n",
-      "\n",
-      "                def Cube \"Cube\" (\n",
-      "                    prepend apiSchemas = [\"PhysicsCollisionAPI\"]\n"
-     ]
-    },
-    {
-     "name": "stdout",
-     "output_type": "stream",
-     "text": [
-      "                )\n",
-      "                {\n",
-      "                    float3[] extent = [(-1, -1, -1), (1, 1, 1)]\n",
-      "                    bool physics:collisionEnabled = 1\n",
-      "                    color3f[] primvars:displayColor = [(1, 0, 0)]\n",
-      "                    float[] primvars:displayOpacity = [0.5]\n",
-      "                }\n",
-      "            }\n",
-      "\n",
-      "            def Xform \"fridge_door2_handle_collision_1\" (\n",
-      "                prepend apiSchemas = [\"PhysicsMassAPI\"]\n",
-      "            )\n",
-      "            {\n",
-      "                point3f physics:centerOfMass = (0, 0, 0)\n",
-      "                float physics:density = 100\n",
-      "                float3 physics:diagonalInertia = (-15.162766, -7.570549, 33.79961)\n",
-      "                float physics:mass = 2.3547938\n",
-      "                quatf physics:principalAxes = (0.99211925, 0.021089012, 0.106029965, -0.06334243)\n",
-      "                matrix4d xformOp:transform = ( (0.01, 0, 0, 0), (0, 0.0065, 0, 0), (0, 0, 0.0065, 0), (0.0164985, 0, -0.08, 1) )\n",
-      "                uniform token[] xformOpOrder = [\"xformOp:transform\"]\n",
-      "\n",
-      "                def Cube \"Cube\" (\n",
-      "                    prepend apiSchemas = [\"PhysicsCollisionAPI\"]\n",
-      "                )\n",
-      "                {\n",
-      "                    float3[] extent = [(-1, -1, -1), (1, 1, 1)]\n",
-      "                    bool physics:collisionEnabled = 1\n",
-      "                    color3f[] primvars:displayColor = [(1, 0, 0)]\n",
-      "                    float[] primvars:displayOpacity = [0.5]\n",
-      "                }\n",
-      "            }\n",
-      "\n",
-      "            def Xform \"fridge_door2_handle_collision_2\" (\n",
-      "                prepend apiSchemas = [\"PhysicsMassAPI\"]\n",
-      "            )\n",
-      "            {\n",
-      "                point3f physics:centerOfMass = (0, 0, 0)\n",
-      "                float physics:density = 100\n",
-      "                float3 physics:diagonalInertia = (-15.162766, -7.570549, 33.79961)\n",
-      "                float physics:mass = 2.3547938\n",
-      "                quatf physics:principalAxes = (0.99211925, 0.021089012, 0.106029965, -0.06334243)\n",
-      "                matrix4d xformOp:transform = ( (0.0065, 0, 0, 0), (0, 0.0065, 0, 0), (0, 0, 0.086516, 0), (0, 0, 0, 1) )\n",
-      "                uniform token[] xformOpOrder = [\"xformOp:transform\"]\n",
-      "\n",
-      "                def Cube \"Cube\" (\n",
-      "                    prepend apiSchemas = [\"PhysicsCollisionAPI\"]\n",
-      "                )\n",
-      "                {\n",
-      "                    float3[] extent = [(-1, -1, -1), (1, 1, 1)]\n",
-      "                    bool physics:collisionEnabled = 1\n",
-      "                    color3f[] primvars:displayColor = [(1, 0, 0)]\n",
-      "                    float[] primvars:displayOpacity = [0.5]\n",
-      "                }\n",
-      "            }\n",
-      "        }\n",
-      "    }\n",
-      "\n",
-      "    def Xform \"fridge_drawer1\" (\n",
-      "        prepend apiSchemas = [\"PhysicsRigidBodyAPI\"]\n",
-      "    )\n",
-      "    {\n",
-      "        bool physics:rigidBodyEnabled = 1\n",
-      "        matrix4d xformOp:transform = ( (-1, 1.2246467991473532e-16, 0, 0), (-1.2246467991473532e-16, -1, 0, 0), (0, 0, 1, 0), (0.30625637, 2.48058723, 1.19144227, 1) )\n",
-      "        uniform token[] xformOpOrder = [\"xformOp:transform\"]\n",
-      "\n",
-      "        def Xform \"fridge_drawer1_visual_0\" (\n",
-      "            prepend references = @./../meshes/usd/visual/SM_Fridge_Drawer_01.usda@</SM_Fridge_Drawer_01>\n",
-      "        )\n",
-      "        {\n",
-      "            matrix4d xformOp:transform = ( (1, 0, 0, 0), (0, 1, 0, 0), (0, 0, 1, 0), (0, 0, 0, 1) )\n",
-      "            uniform token[] xformOpOrder = [\"xformOp:transform\"]\n",
-      "\n",
-      "            over \"SM_Fridge_Drawer_01_001\" (\n",
-      "                prepend apiSchemas = [\"MaterialBindingAPI\"]\n",
-      "            )\n",
-      "            {\n",
-      "                rel material:binding = </_materials/_Game_Materials_Laborraum_M_Metal_Fridge_M_Metal_Fridge_003>\n",
-      "\n",
-      "                over \"_Game_Materials_Laborraum_M_Plastic_White_M_Plastic_White_014\" (\n",
-      "                    prepend apiSchemas = [\"MaterialBindingAPI\"]\n",
-      "                )\n",
-      "                {\n",
-      "                    rel material:binding = </_materials/_Game_Materials_Laborraum_M_Plastic_White_M_Plastic_White_014>\n",
-      "                }\n",
-      "\n",
-      "                over \"_Game_Materials_Laborraum_M_Plastic_Fridge_M_Plastic_Fridge_004\" (\n",
-      "                    prepend apiSchemas = [\"MaterialBindingAPI\"]\n",
-      "                )\n",
-      "                {\n",
-      "                    rel material:binding = </_materials/_Game_Materials_Laborraum_M_Plastic_Fridge_M_Plastic_Fridge_004>\n",
-      "                }\n",
-      "\n",
-      "                over \"_Game_Materials_Laborraum_M_Metal_Fridge_M_Metal_Fridge_003\" (\n",
-      "                    prepend apiSchemas = [\"MaterialBindingAPI\"]\n",
-      "                )\n",
-      "                {\n",
-      "                    rel material:binding = </_materials/_Game_Materials_Laborraum_M_Metal_Fridge_M_Metal_Fridge_003>\n",
-      "                }\n",
-      "            }\n",
-      "        }\n",
-      "\n",
-      "        def Xform \"fridge_drawer1_collision_0\" (\n",
-      "            prepend apiSchemas = [\"PhysicsMassAPI\"]\n",
-      "        )\n",
-      "        {\n",
-      "            point3f physics:centerOfMass = (0, 0, 0)\n",
-      "            float physics:density = 100\n",
-      "            float3 physics:diagonalInertia = (-1.6437882, -0.90123814, 3.4299552)\n",
-      "            float physics:mass = 0.13590308\n",
-      "            quatf physics:principalAxes = (0.36402765, 0.87078905, 0.26684782, 0.19494247)\n",
-      "            matrix4d xformOp:transform = ( (0.0025, 0, 0, 0), (0, 0.227117, 0, 0), (0, 0, 0.011921, 0), (-0.169309, 0, 0.070506, 1) )\n",
-      "            uniform token[] xformOpOrder = [\"xformOp:transform\"]\n",
-      "\n",
-      "            def Cube \"Cube\" (\n",
-      "                prepend apiSchemas = [\"PhysicsCollisionAPI\"]\n",
-      "            )\n",
-      "            {\n",
-      "                float3[] extent = [(-1, -1, -1), (1, 1, 1)]\n",
-      "                bool physics:collisionEnabled = 1\n",
-      "                color3f[] primvars:displayColor = [(1, 0, 0)]\n",
-      "                float[] primvars:displayOpacity = [0.5]\n",
-      "            }\n",
-      "        }\n",
-      "\n",
-      "        def Xform \"fridge_drawer1_collision_1\" (\n",
-      "            prepend apiSchemas = [\"PhysicsMassAPI\"]\n",
-      "        )\n",
-      "        {\n",
-      "            point3f physics:centerOfMass = (0, 0, 0)\n",
-      "            float physics:density = 100\n",
-      "            float3 physics:diagonalInertia = (-1.6437882, -0.90123814, 3.4299552)\n",
-      "            float physics:mass = 0.13590308\n",
-      "            quatf physics:principalAxes = (0.36402765, 0.87078905, 0.26684782, 0.19494247)\n",
-      "            matrix4d xformOp:transform = ( (0.001448, 0, 0, 0), (0, 0.227117, 0, 0), (0, 0, 0.047864, 0), (-0.169309, 0, -0.034598, 1) )\n",
-      "            uniform token[] xformOpOrder = [\"xformOp:transform\"]\n",
-      "\n",
-      "            def Cube \"Cube\" (\n",
-      "                prepend apiSchemas = [\"PhysicsCollisionAPI\"]\n",
-      "            )\n",
-      "            {\n",
-      "                float3[] extent = [(-1, -1, -1), (1, 1, 1)]\n",
-      "                bool physics:collisionEnabled = 1\n",
-      "                color3f[] primvars:displayColor = [(1, 0, 0)]\n",
-      "                float[] primvars:displayOpacity = [0.5]\n",
-      "            }\n",
-      "        }\n",
-      "\n",
-      "        def Xform \"fridge_drawer1_collision_2\" (\n",
-      "            prepend apiSchemas = [\"PhysicsMassAPI\"]\n",
-      "        )\n",
-      "        {\n",
-      "            point3f physics:centerOfMass = (0, 0, 0)\n",
-      "            float physics:density = 100\n",
-      "            float3 physics:diagonalInertia = (-1.6437882, -0.90123814, 3.4299552)\n",
-      "            float physics:mass = 0.13590308\n",
-      "            quatf physics:principalAxes = (0.36402765, 0.87078905, 0.26684782, 0.19494247)\n",
-      "            matrix4d xformOp:transform = ( (0.002123, 0, 0, 0), (0, 0.227117, 0, 0), (0, 0, 0.082076, 0), (0.16468, 0, 0, 1) )\n",
-      "            uniform token[] xformOpOrder = [\"xformOp:transform\"]\n",
-      "\n",
-      "            def Cube \"Cube\" (\n",
-      "                prepend apiSchemas = [\"PhysicsCollisionAPI\"]\n",
-      "            )\n",
-      "            {\n",
-      "                float3[] extent = [(-1, -1, -1), (1, 1, 1)]\n",
-      "                bool physics:collisionEnabled = 1\n",
-      "                color3f[] primvars:displayColor = [(1, 0, 0)]\n",
-      "                float[] primvars:displayOpacity = [0.5]\n",
-      "            }\n",
-      "        }\n",
-      "\n",
-      "        def Xform \"fridge_drawer1_collision_3\" (\n",
-      "            prepend apiSchemas = [\"PhysicsMassAPI\"]\n",
-      "        )\n",
-      "        {\n",
-      "            point3f physics:centerOfMass = (0, 0, 0)\n",
-      "            float physics:density = 100\n",
-      "            float3 physics:diagonalInertia = (-1.6437882, -0.90123814, 3.4299552)\n",
-      "            float physics:mass = 0.13590308\n",
-      "            quatf physics:principalAxes = (0.36402765, 0.87078905, 0.26684782, 0.19494247)\n",
-      "            matrix4d xformOp:transform = ( (0.171761, 0, 0, 0), (0, 0.00983, 0, 0), (0, 0, 0.082076, 0), (0, 0.217307, 0, 1) )\n",
-      "            uniform token[] xformOpOrder = [\"xformOp:transform\"]\n",
-      "\n",
-      "            def Cube \"Cube\" (\n",
-      "                prepend apiSchemas = [\"PhysicsCollisionAPI\"]\n",
-      "            )\n",
-      "            {\n",
-      "                float3[] extent = [(-1, -1, -1), (1, 1, 1)]\n"
-     ]
-    },
-    {
-     "name": "stdout",
-     "output_type": "stream",
-     "text": [
-      "                bool physics:collisionEnabled = 1\n",
-      "                color3f[] primvars:displayColor = [(1, 0, 0)]\n",
-      "                float[] primvars:displayOpacity = [0.5]\n",
-      "            }\n",
-      "        }\n",
-      "\n",
-      "        def Xform \"fridge_drawer1_collision_4\" (\n",
-      "            prepend apiSchemas = [\"PhysicsMassAPI\"]\n",
-      "        )\n",
-      "        {\n",
-      "            point3f physics:centerOfMass = (0, 0, 0)\n",
-      "            float physics:density = 100\n",
-      "            float3 physics:diagonalInertia = (-1.6437882, -0.90123814, 3.4299552)\n",
-      "            float physics:mass = 0.13590308\n",
-      "            quatf physics:principalAxes = (0.36402765, 0.87078905, 0.26684782, 0.19494247)\n",
-      "            matrix4d xformOp:transform = ( (0.171761, 0, 0, 0), (0, 0.00983, 0, 0), (0, 0, 0.082076, 0), (0, -0.217307, 0, 1) )\n",
-      "            uniform token[] xformOpOrder = [\"xformOp:transform\"]\n",
-      "\n",
-      "            def Cube \"Cube\" (\n",
-      "                prepend apiSchemas = [\"PhysicsCollisionAPI\"]\n",
-      "            )\n",
-      "            {\n",
-      "                float3[] extent = [(-1, -1, -1), (1, 1, 1)]\n",
-      "                bool physics:collisionEnabled = 1\n",
-      "                color3f[] primvars:displayColor = [(1, 0, 0)]\n",
-      "                float[] primvars:displayOpacity = [0.5]\n",
-      "            }\n",
-      "        }\n",
-      "\n",
-      "        def Xform \"fridge_drawer1_collision_5\" (\n",
-      "            prepend apiSchemas = [\"PhysicsMassAPI\"]\n",
-      "        )\n",
-      "        {\n",
-      "            point3f physics:centerOfMass = (0, 0, 0)\n",
-      "            float physics:density = 100\n",
-      "            float3 physics:diagonalInertia = (-1.6437882, -0.90123814, 3.4299552)\n",
-      "            float physics:mass = 0.13590308\n",
-      "            quatf physics:principalAxes = (0.36402765, 0.87078905, 0.26684782, 0.19494247)\n",
-      "            matrix4d xformOp:transform = ( (0.171761, 0, 0, 0), (0, 0.227117, 0, 0), (0, 0, 0.001372, 0), (0, 0, -0.080999, 1) )\n",
-      "            uniform token[] xformOpOrder = [\"xformOp:transform\"]\n",
-      "\n",
-      "            def Cube \"Cube\" (\n",
-      "                prepend apiSchemas = [\"PhysicsCollisionAPI\"]\n",
-      "            )\n",
-      "            {\n",
-      "                float3[] extent = [(-1, -1, -1), (1, 1, 1)]\n",
-      "                bool physics:collisionEnabled = 1\n",
-      "                color3f[] primvars:displayColor = [(1, 0, 0)]\n",
-      "                float[] primvars:displayOpacity = [0.5]\n",
-      "            }\n",
-      "        }\n",
-      "    }\n",
-      "\n",
-      "    def Xform \"fridge_drawer2\" (\n",
-      "        prepend apiSchemas = [\"PhysicsRigidBodyAPI\"]\n",
-      "    )\n",
-      "    {\n",
-      "        bool physics:rigidBodyEnabled = 1\n",
-      "        matrix4d xformOp:transform = ( (-1, 1.2246467991473532e-16, 0, 0), (-1.2246467991473532e-16, -1, 0, 0), (0, 0, 1, 0), (0.30964971999999996, 2.48481129, 1.03157258, 1) )\n",
-      "        uniform token[] xformOpOrder = [\"xformOp:transform\"]\n",
-      "\n",
-      "        def Xform \"fridge_drawer2_visual_0\" (\n",
-      "            prepend references = @./../meshes/usd/visual/SM_Fridge_Drawer_02.usda@</SM_Fridge_Drawer_02>\n",
-      "        )\n",
-      "        {\n",
-      "            matrix4d xformOp:transform = ( (1, 0, 0, 0), (0, 1, 0, 0), (0, 0, 1, 0), (0, 0, 0, 1) )\n",
-      "            uniform token[] xformOpOrder = [\"xformOp:transform\"]\n",
-      "\n",
-      "            over \"SM_Fridge_Drawer_02\" (\n",
-      "                prepend apiSchemas = [\"MaterialBindingAPI\"]\n",
-      "            )\n",
-      "            {\n",
-      "                rel material:binding = </_materials/_Game_Materials_Laborraum_M_Metal_Fridge_M_Metal_Fridge_004>\n",
-      "\n",
-      "                over \"_Game_Materials_Laborraum_M_Plastic_White_M_Plastic_White_015\" (\n",
-      "                    prepend apiSchemas = [\"MaterialBindingAPI\"]\n",
-      "                )\n",
-      "                {\n",
-      "                    rel material:binding = </_materials/_Game_Materials_Laborraum_M_Plastic_White_M_Plastic_White_015>\n",
-      "                }\n",
-      "\n",
-      "                over \"_Game_Materials_Laborraum_M_Plastic_Fridge_M_Plastic_Fridge_005\" (\n",
-      "                    prepend apiSchemas = [\"MaterialBindingAPI\"]\n",
-      "                )\n",
-      "                {\n",
-      "                    rel material:binding = </_materials/_Game_Materials_Laborraum_M_Plastic_Fridge_M_Plastic_Fridge_005>\n",
-      "                }\n",
-      "\n",
-      "                over \"_Game_Materials_Laborraum_M_Metal_Fridge_M_Metal_Fridge_004\" (\n",
-      "                    prepend apiSchemas = [\"MaterialBindingAPI\"]\n",
-      "                )\n",
-      "                {\n",
-      "                    rel material:binding = </_materials/_Game_Materials_Laborraum_M_Metal_Fridge_M_Metal_Fridge_004>\n",
-      "                }\n",
-      "            }\n",
-      "        }\n",
-      "\n",
-      "        def Xform \"fridge_drawer2_collision_0\" (\n",
-      "            prepend apiSchemas = [\"PhysicsMassAPI\"]\n",
-      "        )\n",
-      "        {\n",
-      "            point3f physics:centerOfMass = (0, 0, 0)\n",
-      "            float physics:density = 100\n",
-      "            float3 physics:diagonalInertia = (-1.526978, -0.79620284, 3.0478044)\n",
-      "            float physics:mass = 0.12471427\n",
-      "            quatf physics:principalAxes = (0.36256433, 0.8689241, 0.27237603, 0.1983162)\n",
-      "            matrix4d xformOp:transform = ( (0.0025, 0, 0, 0), (0, 0.227117, 0, 0), (0, 0, 0.011801, 0), (-0.169309, 0, 0.057007, 1) )\n",
-      "            uniform token[] xformOpOrder = [\"xformOp:transform\"]\n",
-      "\n",
-      "            def Cube \"Cube\" (\n",
-      "                prepend apiSchemas = [\"PhysicsCollisionAPI\"]\n",
-      "            )\n",
-      "            {\n",
-      "                float3[] extent = [(-1, -1, -1), (1, 1, 1)]\n",
-      "                bool physics:collisionEnabled = 1\n",
-      "                color3f[] primvars:displayColor = [(1, 0, 0)]\n",
-      "                float[] primvars:displayOpacity = [0.5]\n",
-      "            }\n",
-      "        }\n",
-      "\n",
-      "        def Xform \"fridge_drawer2_collision_1\" (\n",
-      "            prepend apiSchemas = [\"PhysicsMassAPI\"]\n",
-      "        )\n",
-      "        {\n",
-      "            point3f physics:centerOfMass = (0, 0, 0)\n",
-      "            float physics:density = 100\n",
-      "            float3 physics:diagonalInertia = (-1.526978, -0.79620284, 3.0478044)\n",
-      "            float physics:mass = 0.12471427\n",
-      "            quatf physics:principalAxes = (0.36256433, 0.8689241, 0.27237603, 0.1983162)\n",
-      "            matrix4d xformOp:transform = ( (0.001448, 0, 0, 0), (0, 0.227117, 0, 0), (0, 0, 0.032111, 0), (-0.169309, 0, -0.036775, 1) )\n",
-      "            uniform token[] xformOpOrder = [\"xformOp:transform\"]\n",
-      "\n",
-      "            def Cube \"Cube\" (\n",
-      "                prepend apiSchemas = [\"PhysicsCollisionAPI\"]\n",
-      "            )\n",
-      "            {\n",
-      "                float3[] extent = [(-1, -1, -1), (1, 1, 1)]\n",
-      "                bool physics:collisionEnabled = 1\n",
-      "                color3f[] primvars:displayColor = [(1, 0, 0)]\n",
-      "                float[] primvars:displayOpacity = [0.5]\n",
-      "            }\n",
-      "        }\n",
-      "\n",
-      "        def Xform \"fridge_drawer2_collision_2\" (\n",
-      "            prepend apiSchemas = [\"PhysicsMassAPI\"]\n",
-      "        )\n",
-      "        {\n",
-      "            point3f physics:centerOfMass = (0, 0, 0)\n",
-      "            float physics:density = 100\n",
-      "            float3 physics:diagonalInertia = (-1.526978, -0.79620284, 3.0478044)\n",
-      "            float physics:mass = 0.12471427\n",
-      "            quatf physics:principalAxes = (0.36256433, 0.8689241, 0.27237603, 0.1983162)\n",
-      "            matrix4d xformOp:transform = ( (0.002123, 0, 0, 0), (0, 0.227117, 0, 0), (0, 0, 0.068941, 0), (0.16468, 0, 0, 1) )\n",
-      "            uniform token[] xformOpOrder = [\"xformOp:transform\"]\n",
-      "\n",
-      "            def Cube \"Cube\" (\n",
-      "                prepend apiSchemas = [\"PhysicsCollisionAPI\"]\n",
-      "            )\n",
-      "            {\n",
-      "                float3[] extent = [(-1, -1, -1), (1, 1, 1)]\n",
-      "                bool physics:collisionEnabled = 1\n",
-      "                color3f[] primvars:displayColor = [(1, 0, 0)]\n",
-      "                float[] primvars:displayOpacity = [0.5]\n",
-      "            }\n",
-      "        }\n",
-      "\n",
-      "        def Xform \"fridge_drawer2_collision_3\" (\n",
-      "            prepend apiSchemas = [\"PhysicsMassAPI\"]\n",
-      "        )\n",
-      "        {\n",
-      "            point3f physics:centerOfMass = (0, 0, 0)\n",
-      "            float physics:density = 100\n",
-      "            float3 physics:diagonalInertia = (-1.526978, -0.79620284, 3.0478044)\n",
-      "            float physics:mass = 0.12471427\n",
-      "            quatf physics:principalAxes = (0.36256433, 0.8689241, 0.27237603, 0.1983162)\n",
-      "            matrix4d xformOp:transform = ( (0.171761, 0, 0, 0), (0, 0.00983, 0, 0), (0, 0, 0.068941, 0), (0, 0.217307, 0, 1) )\n",
-      "            uniform token[] xformOpOrder = [\"xformOp:transform\"]\n",
-      "\n",
-      "            def Cube \"Cube\" (\n",
-      "                prepend apiSchemas = [\"PhysicsCollisionAPI\"]\n",
-      "            )\n",
-      "            {\n",
-      "                float3[] extent = [(-1, -1, -1), (1, 1, 1)]\n",
-      "                bool physics:collisionEnabled = 1\n",
-      "                color3f[] primvars:displayColor = [(1, 0, 0)]\n",
-      "                float[] primvars:displayOpacity = [0.5]\n",
-      "            }\n",
-      "        }\n",
-      "\n",
-      "        def Xform \"fridge_drawer2_collision_4\" (\n",
-      "            prepend apiSchemas = [\"PhysicsMassAPI\"]\n"
-     ]
-    },
-    {
-     "name": "stdout",
-     "output_type": "stream",
-     "text": [
-      "        )\n",
-      "        {\n",
-      "            point3f physics:centerOfMass = (0, 0, 0)\n",
-      "            float physics:density = 100\n",
-      "            float3 physics:diagonalInertia = (-1.526978, -0.79620284, 3.0478044)\n",
-      "            float physics:mass = 0.12471427\n",
-      "            quatf physics:principalAxes = (0.36256433, 0.8689241, 0.27237603, 0.1983162)\n",
-      "            matrix4d xformOp:transform = ( (0.171761, 0, 0, 0), (0, 0.00983, 0, 0), (0, 0, 0.068941, 0), (0, -0.217307, 0, 1) )\n",
-      "            uniform token[] xformOpOrder = [\"xformOp:transform\"]\n",
-      "\n",
-      "            def Cube \"Cube\" (\n",
-      "                prepend apiSchemas = [\"PhysicsCollisionAPI\"]\n",
-      "            )\n",
-      "            {\n",
-      "                float3[] extent = [(-1, -1, -1), (1, 1, 1)]\n",
-      "                bool physics:collisionEnabled = 1\n",
-      "                color3f[] primvars:displayColor = [(1, 0, 0)]\n",
-      "                float[] primvars:displayOpacity = [0.5]\n",
-      "            }\n",
-      "        }\n",
-      "\n",
-      "        def Xform \"fridge_drawer2_collision_5\" (\n",
-      "            prepend apiSchemas = [\"PhysicsMassAPI\"]\n",
-      "        )\n",
-      "        {\n",
-      "            point3f physics:centerOfMass = (0, 0, 0)\n",
-      "            float physics:density = 100\n"
-     ]
-    },
-    {
-     "name": "stderr",
-     "output_type": "stream",
-     "text": [
-      "IOPub message rate exceeded.\n",
-      "The notebook server will temporarily stop sending output\n",
-      "to the client in order to avoid crashing it.\n",
-      "To change this limit, set the config variable\n",
-      "`--NotebookApp.iopub_msg_rate_limit`.\n",
-      "\n",
-      "Current values:\n",
-      "NotebookApp.iopub_msg_rate_limit=1000.0 (msgs/sec)\n",
-      "NotebookApp.rate_limit_window=3.0 (secs)\n",
-      "\n"
-     ]
-    },
-    {
-     "name": "stdout",
-     "output_type": "stream",
-     "text": [
-      "                {\n",
-      "                    rel material:binding = </_materials/_Game_Materials_Laborraum_M_Metal_Brushed_M_Metal_Brushed_003>\n",
-      "                }\n",
-      "            }\n",
-      "\n",
-      "            def Xform \"sink_drawer1_handle_collision_0\" (\n",
-      "                prepend apiSchemas = [\"PhysicsMassAPI\"]\n",
-      "            )\n",
-      "            {\n",
-      "                point3f physics:centerOfMass = (0, 0, 0)\n",
-      "                float physics:density = 100\n",
-      "                float3 physics:diagonalInertia = (-22.30877, -18.260296, 48.61338)\n",
-      "                float physics:mass = 2.372125\n",
-      "                quatf physics:principalAxes = (0.9000472, -0.34886488, 0.1717452, -0.19675355)\n",
-      "                matrix4d xformOp:transform = ( (0.01, 0, 0, 0), (0, 0.0065, 0, 0), (0, 0, 0.0065, 0), (0.0164985, 0, 0.08, 1) )\n",
-      "                uniform token[] xformOpOrder = [\"xformOp:transform\"]\n",
-      "\n",
-      "                def Cube \"Cube\" (\n",
-      "                    prepend apiSchemas = [\"PhysicsCollisionAPI\"]\n",
-      "                )\n",
-      "                {\n",
-      "                    float3[] extent = [(-1, -1, -1), (1, 1, 1)]\n",
-      "                    bool physics:collisionEnabled = 1\n",
-      "                    color3f[] primvars:displayColor = [(1, 0, 0)]\n",
-      "                    float[] primvars:displayOpacity = [0.5]\n",
-      "                }\n",
-      "            }\n",
-      "\n",
-      "            def Xform \"sink_drawer1_handle_collision_1\" (\n",
-      "                prepend apiSchemas = [\"PhysicsMassAPI\"]\n",
-      "            )\n",
-      "            {\n",
-      "                point3f physics:centerOfMass = (0, 0, 0)\n",
-      "                float physics:density = 100\n",
-      "                float3 physics:diagonalInertia = (-22.30877, -18.260296, 48.61338)\n",
-      "                float physics:mass = 2.372125\n",
-      "                quatf physics:principalAxes = (0.9000472, -0.34886488, 0.1717452, -0.19675355)\n",
-      "                matrix4d xformOp:transform = ( (0.01, 0, 0, 0), (0, 0.0065, 0, 0), (0, 0, 0.0065, 0), (0.0164985, 0, -0.08, 1) )\n",
-      "                uniform token[] xformOpOrder = [\"xformOp:transform\"]\n",
-      "\n",
-      "                def Cube \"Cube\" (\n",
-      "                    prepend apiSchemas = [\"PhysicsCollisionAPI\"]\n",
-      "                )\n",
-      "                {\n",
-      "                    float3[] extent = [(-1, -1, -1), (1, 1, 1)]\n",
-      "                    bool physics:collisionEnabled = 1\n",
-      "                    color3f[] primvars:displayColor = [(1, 0, 0)]\n",
-      "                    float[] primvars:displayOpacity = [0.5]\n",
-      "                }\n",
-      "            }\n",
-      "\n",
-      "            def Xform \"sink_drawer1_handle_collision_2\" (\n",
-      "                prepend apiSchemas = [\"PhysicsMassAPI\"]\n",
-      "            )\n",
-      "            {\n",
-      "                point3f physics:centerOfMass = (0, 0, 0)\n",
-      "                float physics:density = 100\n",
-      "                float3 physics:diagonalInertia = (-22.30877, -18.260296, 48.61338)\n",
-      "                float physics:mass = 2.372125\n",
-      "                quatf physics:principalAxes = (0.9000472, -0.34886488, 0.1717452, -0.19675355)\n",
-      "                matrix4d xformOp:transform = ( (0.0065, 0, 0, 0), (0, 0.0065, 0, 0), (0, 0, 0.086516, 0), (0, 0, 0, 1) )\n",
-      "                uniform token[] xformOpOrder = [\"xformOp:transform\"]\n",
-      "\n",
-      "                def Cube \"Cube\" (\n",
-      "                    prepend apiSchemas = [\"PhysicsCollisionAPI\"]\n",
-      "                )\n",
-      "                {\n",
-      "                    float3[] extent = [(-1, -1, -1), (1, 1, 1)]\n",
-      "                    bool physics:collisionEnabled = 1\n",
-      "                    color3f[] primvars:displayColor = [(1, 0, 0)]\n",
-      "                    float[] primvars:displayOpacity = [0.5]\n",
-      "                }\n",
-      "            }\n",
-      "        }\n",
-      "    }\n",
-      "\n",
-      "    def Xform \"sink_drawer2\" (\n",
-      "        prepend apiSchemas = [\"PhysicsRigidBodyAPI\"]\n",
-      "    )\n",
-      "    {\n",
-      "        bool physics:rigidBodyEnabled = 1\n",
-      "        matrix4d xformOp:transform = ( (1, 0, 0, 0), (0, 1, 0, 0), (0, 0, 1, 0), (2.51968598, 3.37374461, 0.65885857, 1) )\n",
-      "        uniform token[] xformOpOrder = [\"xformOp:transform\"]\n",
-      "\n",
-      "        def Xform \"sink_drawer2_visual_0\" (\n",
-      "            prepend references = @./../meshes/usd/visual/SM_Kitchen_08_Sink_Drawer_02.usda@</SM_Kitchen_08_Sink_Drawer_02>\n",
-      "        )\n",
-      "        {\n",
-      "            matrix4d xformOp:transform = ( (1, 0, 0, 0), (0, 1, 0, 0), (0, 0, 1, 0), (0, 0, 0, 1) )\n",
-      "            uniform token[] xformOpOrder = [\"xformOp:transform\"]\n",
-      "\n",
-      "            over \"SM_Kitchen_08_Sink_Drawer_02\" (\n",
-      "                prepend apiSchemas = [\"MaterialBindingAPI\"]\n",
-      "            )\n",
-      "            {\n",
-      "                rel material:binding = </_materials/_Game_Materials_Laborraum_M_Plastic_White_M_Plastic_White_006>\n",
-      "\n",
-      "                over \"_Game_Materials_Laborraum_M_Plastic_White_M_Plastic_White_006\" (\n",
-      "                    prepend apiSchemas = [\"MaterialBindingAPI\"]\n",
-      "                )\n",
-      "                {\n",
-      "                    rel material:binding = </_materials/_Game_Materials_Laborraum_M_Plastic_White_M_Plastic_White_006>\n",
-      "                }\n",
-      "\n",
-      "                over \"_Game_Materials_Laborraum_M_Drawer_Mat_M_Drawer_Mat\" (\n",
-      "                    prepend apiSchemas = [\"MaterialBindingAPI\"]\n",
-      "                )\n",
-      "                {\n",
-      "                    rel material:binding = </_materials/_Game_Materials_Laborraum_M_Drawer_Mat_M_Drawer_Mat>\n",
-      "                }\n",
-      "            }\n",
-      "        }\n",
-      "\n",
-      "        def Xform \"sink_drawer2_collision_0\" (\n",
-      "            prepend apiSchemas = [\"PhysicsMassAPI\"]\n",
-      "        )\n",
-      "        {\n",
-      "            point3f physics:centerOfMass = (0, 0, 0)\n",
-      "            float physics:density = 100\n",
-      "            float3 physics:diagonalInertia = (-2.703322, -1.3733277, 4.9528193)\n",
-      "            float physics:mass = 0.56388235\n",
-      "            quatf physics:principalAxes = (-0.27559912, -0.22037552, 0.33710018, 0.8728363)\n",
-      "            matrix4d xformOp:transform = ( (0.188013, 0, 0, 0), (0, 0.008, 0, 0), (0, 0, 0.041105, 0), (0.002535, 0.270604, -0.000733, 1) )\n",
-      "            uniform token[] xformOpOrder = [\"xformOp:transform\"]\n",
-      "\n",
-      "            def Cube \"Cube\" (\n",
-      "                prepend apiSchemas = [\"PhysicsCollisionAPI\"]\n",
-      "            )\n",
-      "            {\n",
-      "                float3[] extent = [(-1, -1, -1), (1, 1, 1)]\n",
-      "                bool physics:collisionEnabled = 1\n",
-      "                color3f[] primvars:displayColor = [(1, 0, 0)]\n",
-      "                float[] primvars:displayOpacity = [0.5]\n",
-      "            }\n",
-      "        }\n",
-      "\n",
-      "        def Xform \"sink_drawer2_collision_1\" (\n",
-      "            prepend apiSchemas = [\"PhysicsMassAPI\"]\n",
-      "        )\n",
-      "        {\n",
-      "            point3f physics:centerOfMass = (0, 0, 0)\n",
-      "            float physics:density = 100\n",
-      "            float3 physics:diagonalInertia = (-2.703322, -1.3733277, 4.9528193)\n",
-      "            float physics:mass = 0.56388235\n",
-      "            quatf physics:principalAxes = (-0.27559912, -0.22037552, 0.33710018, 0.8728363)\n",
-      "            matrix4d xformOp:transform = ( (0.188013, 0, 0, 0), (0, 0.008, 0, 0), (0, 0, 0.041105, 0), (0.002535, -0.270604, -0.000733, 1) )\n",
-      "            uniform token[] xformOpOrder = [\"xformOp:transform\"]\n",
-      "\n",
-      "            def Cube \"Cube\" (\n",
-      "                prepend apiSchemas = [\"PhysicsCollisionAPI\"]\n",
-      "            )\n",
-      "            {\n",
-      "                float3[] extent = [(-1, -1, -1), (1, 1, 1)]\n",
-      "                bool physics:collisionEnabled = 1\n",
-      "                color3f[] primvars:displayColor = [(1, 0, 0)]\n",
-      "                float[] primvars:displayOpacity = [0.5]\n",
-      "            }\n",
-      "        }\n",
-      "\n",
-      "        def Xform \"sink_drawer2_collision_2\" (\n",
-      "            prepend apiSchemas = [\"PhysicsMassAPI\"]\n",
-      "        )\n",
-      "        {\n",
-      "            point3f physics:centerOfMass = (0, 0, 0)\n",
-      "            float physics:density = 100\n",
-      "            float3 physics:diagonalInertia = (-2.703322, -1.3733277, 4.9528193)\n",
-      "            float physics:mass = 0.56388235\n",
-      "            quatf physics:principalAxes = (-0.27559912, -0.22037552, 0.33710018, 0.8728363)\n",
-      "            matrix4d xformOp:transform = ( (0.0085, 0, 0, 0), (0, 0.032497, 0, 0), (0, 0, 0.049661, 0), (-0.191981, 0.248473, 0.000834, 1) )\n",
-      "            uniform token[] xformOpOrder = [\"xformOp:transform\"]\n",
-      "\n",
-      "            def Cube \"Cube\" (\n",
-      "                prepend apiSchemas = [\"PhysicsCollisionAPI\"]\n",
-      "            )\n",
-      "            {\n",
-      "                float3[] extent = [(-1, -1, -1), (1, 1, 1)]\n",
-      "                bool physics:collisionEnabled = 1\n",
-      "                color3f[] primvars:displayColor = [(1, 0, 0)]\n",
-      "                float[] primvars:displayOpacity = [0.5]\n",
-      "            }\n",
-      "        }\n",
-      "\n",
-      "        def Xform \"sink_drawer2_collision_3\" (\n",
-      "            prepend apiSchemas = [\"PhysicsMassAPI\"]\n",
-      "        )\n",
-      "        {\n",
-      "            point3f physics:centerOfMass = (0, 0, 0)\n",
-      "            float physics:density = 100\n"
-     ]
-    },
-    {
-     "name": "stdout",
-     "output_type": "stream",
-     "text": [
-      "            float3 physics:diagonalInertia = (-2.703322, -1.3733277, 4.9528193)\n",
-      "            float physics:mass = 0.56388235\n",
-      "            quatf physics:principalAxes = (-0.27559912, -0.22037552, 0.33710018, 0.8728363)\n",
-      "            matrix4d xformOp:transform = ( (0.0085, 0, 0, 0), (0, 0.032497, 0, 0), (0, 0, 0.049661, 0), (-0.191981, -0.248473, 0.000834, 1) )\n",
-      "            uniform token[] xformOpOrder = [\"xformOp:transform\"]\n",
-      "\n",
-      "            def Cube \"Cube\" (\n",
-      "                prepend apiSchemas = [\"PhysicsCollisionAPI\"]\n",
-      "            )\n",
-      "            {\n",
-      "                float3[] extent = [(-1, -1, -1), (1, 1, 1)]\n",
-      "                bool physics:collisionEnabled = 1\n",
-      "                color3f[] primvars:displayColor = [(1, 0, 0)]\n",
-      "                float[] primvars:displayOpacity = [0.5]\n",
-      "            }\n",
-      "        }\n",
-      "\n",
-      "        def Xform \"sink_drawer2_collision_4\" (\n",
-      "            prepend apiSchemas = [\"PhysicsMassAPI\"]\n",
-      "        )\n",
-      "        {\n",
-      "            point3f physics:centerOfMass = (0, 0, 0)\n",
-      "            float physics:density = 100\n",
-      "            float3 physics:diagonalInertia = (-2.703322, -1.3733277, 4.9528193)\n",
-      "            float physics:mass = 0.56388235\n",
-      "            quatf physics:principalAxes = (-0.27559912, -0.22037552, 0.33710018, 0.8728363)\n",
-      "            matrix4d xformOp:transform = ( (0.0085, 0, 0, 0), (0, 0.216977, 0, 0), (0, 0, 0.049, 0), (-0.191981, 0, -0.0015, 1) )\n",
-      "            uniform token[] xformOpOrder = [\"xformOp:transform\"]\n",
-      "\n",
-      "            def Cube \"Cube\" (\n",
-      "                prepend apiSchemas = [\"PhysicsCollisionAPI\"]\n",
-      "            )\n",
-      "            {\n",
-      "                float3[] extent = [(-1, -1, -1), (1, 1, 1)]\n",
-      "                bool physics:collisionEnabled = 1\n",
-      "                color3f[] primvars:displayColor = [(1, 0, 0)]\n",
-      "                float[] primvars:displayOpacity = [0.5]\n",
-      "            }\n",
-      "        }\n",
-      "\n",
-      "        def Xform \"sink_drawer2_collision_5\" (\n",
-      "            prepend apiSchemas = [\"PhysicsMassAPI\"]\n",
-      "        )\n",
-      "        {\n",
-      "            point3f physics:centerOfMass = (0, 0, 0)\n",
-      "            float physics:density = 100\n",
-      "            float3 physics:diagonalInertia = (-2.703322, -1.3733277, 4.9528193)\n",
-      "            float physics:mass = 0.56388235\n",
-      "            quatf physics:principalAxes = (-0.27559912, -0.22037552, 0.33710018, 0.8728363)\n",
-      "            matrix4d xformOp:transform = ( (0.008, 0, 0, 0), (0, 0.278678, 0, 0), (0, 0, 0.0415, 0), (0.184382, 0, -0.0024, 1) )\n",
-      "            uniform token[] xformOpOrder = [\"xformOp:transform\"]\n",
-      "\n",
-      "            def Cube \"Cube\" (\n",
-      "                prepend apiSchemas = [\"PhysicsCollisionAPI\"]\n",
-      "            )\n",
-      "            {\n",
-      "                float3[] extent = [(-1, -1, -1), (1, 1, 1)]\n",
-      "                bool physics:collisionEnabled = 1\n",
-      "                color3f[] primvars:displayColor = [(1, 0, 0)]\n",
-      "                float[] primvars:displayOpacity = [0.5]\n",
-      "            }\n",
-      "        }\n",
-      "\n",
-      "        def Xform \"sink_drawer2_collision_6\" (\n",
-      "            prepend apiSchemas = [\"PhysicsMassAPI\"]\n",
-      "        )\n",
-      "        {\n",
-      "            point3f physics:centerOfMass = (0, 0, 0)\n",
-      "            float physics:density = 100\n",
-      "            float3 physics:diagonalInertia = (-2.703322, -1.3733277, 4.9528193)\n",
-      "            float physics:mass = 0.56388235\n",
-      "            quatf physics:principalAxes = (-0.27559912, -0.22037552, 0.33710018, 0.8728363)\n",
-      "            matrix4d xformOp:transform = ( (0.188013, 0, 0, 0), (0, 0.278678, 0, 0), (0, 0, 0.008, 0), (0.002535, 0, -0.036496, 1) )\n",
-      "            uniform token[] xformOpOrder = [\"xformOp:transform\"]\n",
-      "\n",
-      "            def Cube \"Cube\" (\n",
-      "                prepend apiSchemas = [\"PhysicsCollisionAPI\"]\n",
-      "            )\n",
-      "            {\n",
-      "                float3[] extent = [(-1, -1, -1), (1, 1, 1)]\n",
-      "                bool physics:collisionEnabled = 1\n",
-      "                color3f[] primvars:displayColor = [(1, 0, 0)]\n",
-      "                float[] primvars:displayOpacity = [0.5]\n",
-      "            }\n",
-      "        }\n",
-      "    }\n",
-      "\n",
-      "    def Xform \"cabinet9_drawer1\" (\n",
-      "        prepend apiSchemas = [\"PhysicsRigidBodyAPI\"]\n",
-      "    )\n",
-      "    {\n",
-      "        bool physics:rigidBodyEnabled = 1\n",
-      "        matrix4d xformOp:transform = ( (1, 0, 0, 0), (0, 1, 0, 0), (0, 0, 1, 0), (2.5420865000000004, 2.77093435, 0.82615219, 1) )\n",
-      "        uniform token[] xformOpOrder = [\"xformOp:transform\"]\n",
-      "\n",
-      "        def Xform \"cabinet9_drawer1_visual_0\" (\n",
-      "            prepend references = @./../meshes/usd/visual/SM_Kitchen_09_Drawer_01.usda@</SM_Kitchen_09_Drawer_01>\n",
-      "        )\n",
-      "        {\n",
-      "            matrix4d xformOp:transform = ( (1, 0, 0, 0), (0, 1, 0, 0), (0, 0, 1, 0), (0, 0, 0, 1) )\n",
-      "            uniform token[] xformOpOrder = [\"xformOp:transform\"]\n",
-      "\n",
-      "            over \"SM_Kitchen_09_Base_Drawer_01\" (\n",
-      "                prepend apiSchemas = [\"MaterialBindingAPI\"]\n",
-      "            )\n",
-      "            {\n",
-      "                rel material:binding = </_materials/_Game_Materials_Laborraum_M_Drawer_Mat_M_Drawer_Mat_004>\n",
-      "\n",
-      "                over \"_Game_Materials_Laborraum_M_Metal_Chrome_M_Metal_Chrome_004\" (\n",
-      "                    prepend apiSchemas = [\"MaterialBindingAPI\"]\n",
-      "                )\n",
-      "                {\n",
-      "                    rel material:binding = </_materials/_Game_Materials_Laborraum_M_Metal_Chrome_M_Metal_Chrome_004>\n",
-      "                }\n",
-      "\n",
-      "                over \"_Game_Materials_Laborraum_M_Kitchen_Fronts_M_Kitchen_Fronts_005\" (\n",
-      "                    prepend apiSchemas = [\"MaterialBindingAPI\"]\n",
-      "                )\n",
-      "                {\n",
-      "                    rel material:binding = </_materials/_Game_Materials_Laborraum_M_Kitchen_Fronts_M_Kitchen_Fronts_005>\n",
-      "                }\n",
-      "\n",
-      "                over \"_Game_Materials_Laborraum_M_Plastic_White_M_Plastic_White_011\" (\n",
-      "                    prepend apiSchemas = [\"MaterialBindingAPI\"]\n",
-      "                )\n",
-      "                {\n",
-      "                    rel material:binding = </_materials/_Game_Materials_Laborraum_M_Plastic_White_M_Plastic_White_011>\n",
-      "                }\n",
-      "\n",
-      "                over \"_Game_Materials_Laborraum_M_Drawer_Mat_M_Drawer_Mat_004\" (\n",
-      "                    prepend apiSchemas = [\"MaterialBindingAPI\"]\n",
-      "                )\n",
-      "                {\n",
-      "                    rel material:binding = </_materials/_Game_Materials_Laborraum_M_Drawer_Mat_M_Drawer_Mat_004>\n",
-      "                }\n",
-      "            }\n",
-      "        }\n",
-      "\n",
-      "        def Xform \"cabinet9_drawer1_collision_0\" (\n",
-      "            prepend apiSchemas = [\"PhysicsMassAPI\"]\n",
-      "        )\n",
-      "        {\n",
-      "            point3f physics:centerOfMass = (0, 0, 0)\n",
-      "            float physics:density = 100\n",
-      "            float3 physics:diagonalInertia = (-4.25124, -1.90554, 6.9585476)\n",
-      "            float physics:mass = 0.6783783\n",
-      "            quatf physics:principalAxes = (0.34476227, 0.88530046, 0.26440972, 0.16573949)\n",
-      "            matrix4d xformOp:transform = ( (0.245507, 0, 0, 0), (0, 0.008, 0, 0), (0, 0, 0.042633, 0), (0.021031, 0.270267, -0.01336, 1) )\n",
-      "            uniform token[] xformOpOrder = [\"xformOp:transform\"]\n",
-      "\n",
-      "            def Cube \"Cube\" (\n",
-      "                prepend apiSchemas = [\"PhysicsCollisionAPI\"]\n",
-      "            )\n",
-      "            {\n",
-      "                float3[] extent = [(-1, -1, -1), (1, 1, 1)]\n",
-      "                bool physics:collisionEnabled = 1\n",
-      "                color3f[] primvars:displayColor = [(1, 0, 0)]\n",
-      "                float[] primvars:displayOpacity = [0.5]\n",
-      "            }\n",
-      "        }\n",
-      "\n",
-      "        def Xform \"cabinet9_drawer1_collision_1\" (\n",
-      "            prepend apiSchemas = [\"PhysicsMassAPI\"]\n",
-      "        )\n",
-      "        {\n",
-      "            point3f physics:centerOfMass = (0, 0, 0)\n",
-      "            float physics:density = 100\n",
-      "            float3 physics:diagonalInertia = (-4.25124, -1.90554, 6.9585476)\n",
-      "            float physics:mass = 0.6783783\n",
-      "            quatf physics:principalAxes = (0.34476227, 0.88530046, 0.26440972, 0.16573949)\n",
-      "            matrix4d xformOp:transform = ( (0.245507, 0, 0, 0), (0, 0.008, 0, 0), (0, 0, 0.042633, 0), (0.021031, -0.270267, -0.01336, 1) )\n",
-      "            uniform token[] xformOpOrder = [\"xformOp:transform\"]\n",
-      "\n",
-      "            def Cube \"Cube\" (\n",
-      "                prepend apiSchemas = [\"PhysicsCollisionAPI\"]\n",
-      "            )\n",
-      "            {\n",
-      "                float3[] extent = [(-1, -1, -1), (1, 1, 1)]\n",
-      "                bool physics:collisionEnabled = 1\n",
-      "                color3f[] primvars:displayColor = [(1, 0, 0)]\n",
-      "                float[] primvars:displayOpacity = [0.5]\n",
-      "            }\n",
-      "        }\n",
-      "\n",
-      "        def Xform \"cabinet9_drawer1_collision_2\" (\n",
-      "            prepend apiSchemas = [\"PhysicsMassAPI\"]\n",
-      "        )\n",
-      "        {\n",
-      "            point3f physics:centerOfMass = (0, 0, 0)\n"
-     ]
-    },
-    {
-     "name": "stdout",
-     "output_type": "stream",
-     "text": [
-      "            float physics:density = 100\n",
-      "            float3 physics:diagonalInertia = (-4.25124, -1.90554, 6.9585476)\n",
-      "            float physics:mass = 0.6783783\n",
-      "            quatf physics:principalAxes = (0.34476227, 0.88530046, 0.26440972, 0.16573949)\n",
-      "            matrix4d xformOp:transform = ( (0.0095, 0, 0, 0), (0, 0.298468, 0, 0), (0, 0, 0.064993, 0), (-0.233977, 0, 0, 1) )\n",
-      "            uniform token[] xformOpOrder = [\"xformOp:transform\"]\n",
-      "\n",
-      "            def Cube \"Cube\" (\n",
-      "                prepend apiSchemas = [\"PhysicsCollisionAPI\"]\n",
-      "            )\n",
-      "            {\n",
-      "                float3[] extent = [(-1, -1, -1), (1, 1, 1)]\n",
-      "                bool physics:collisionEnabled = 1\n",
-      "                color3f[] primvars:displayColor = [(1, 0, 0)]\n",
-      "                float[] primvars:displayOpacity = [0.5]\n",
-      "            }\n",
-      "        }\n",
-      "\n",
-      "        def Xform \"cabinet9_drawer1_collision_3\" (\n",
-      "            prepend apiSchemas = [\"PhysicsMassAPI\"]\n",
-      "        )\n",
-      "        {\n",
-      "            point3f physics:centerOfMass = (0, 0, 0)\n",
-      "            float physics:density = 100\n",
-      "            float3 physics:diagonalInertia = (-4.25124, -1.90554, 6.9585476)\n",
-      "            float physics:mass = 0.6783783\n",
-      "            quatf physics:principalAxes = (0.34476227, 0.88530046, 0.26440972, 0.16573949)\n",
-      "            matrix4d xformOp:transform = ( (0.008, 0, 0, 0), (0, 0.269804, 0, 0), (0, 0, 0.042633, 0), (0.260372, 0, -0.01336, 1) )\n",
-      "            uniform token[] xformOpOrder = [\"xformOp:transform\"]\n",
-      "\n",
-      "            def Cube \"Cube\" (\n",
-      "                prepend apiSchemas = [\"PhysicsCollisionAPI\"]\n",
-      "            )\n",
-      "            {\n",
-      "                float3[] extent = [(-1, -1, -1), (1, 1, 1)]\n",
-      "                bool physics:collisionEnabled = 1\n",
-      "                color3f[] primvars:displayColor = [(1, 0, 0)]\n",
-      "                float[] primvars:displayOpacity = [0.5]\n",
-      "            }\n",
-      "        }\n",
-      "\n",
-      "        def Xform \"cabinet9_drawer1_collision_4\" (\n",
-      "            prepend apiSchemas = [\"PhysicsMassAPI\"]\n",
-      "        )\n",
-      "        {\n",
-      "            point3f physics:centerOfMass = (0, 0, 0)\n",
-      "            float physics:density = 100\n",
-      "            float3 physics:diagonalInertia = (-4.25124, -1.90554, 6.9585476)\n",
-      "            float physics:mass = 0.6783783\n",
-      "            quatf physics:principalAxes = (0.34476227, 0.88530046, 0.26440972, 0.16573949)\n",
-      "            matrix4d xformOp:transform = ( (0.245507, 0, 0, 0), (0, 0.269804, 0, 0), (0, 0, 0.0075, 0), (0.021031, 0, -0.047595, 1) )\n",
-      "            uniform token[] xformOpOrder = [\"xformOp:transform\"]\n",
-      "\n",
-      "            def Cube \"Cube\" (\n",
-      "                prepend apiSchemas = [\"PhysicsCollisionAPI\"]\n",
-      "            )\n",
-      "            {\n",
-      "                float3[] extent = [(-1, -1, -1), (1, 1, 1)]\n",
-      "                bool physics:collisionEnabled = 1\n",
-      "                color3f[] primvars:displayColor = [(1, 0, 0)]\n",
-      "                float[] primvars:displayOpacity = [0.5]\n",
-      "            }\n",
-      "        }\n",
-      "\n",
-      "        def Xform \"cabinet9_drawer1_handle\"\n",
-      "        {\n",
-      "            matrix4d xformOp:transform = ( (1, 0, 0, 0), (0, 2.220446049250313e-16, 1, 0), (0, -1, 2.220446049250313e-16, 0), (-0.26980946, 0.00142363, 0.01676949, 1) )\n",
-      "            uniform token[] xformOpOrder = [\"xformOp:transform\"]\n",
-      "\n",
-      "            def Xform \"cabinet9_drawer1_handle_visual_0\" (\n",
-      "                prepend references = @./../meshes/usd/visual/SM_Kitchen_Handle.usda@</SM_Kitchen_Handle>\n",
-      "            )\n",
-      "            {\n",
-      "                matrix4d xformOp:transform = ( (1, 0, 0, 0), (0, 1, 0, 0), (0, 0, 1, 0), (0, 0, 0, 1) )\n",
-      "                uniform token[] xformOpOrder = [\"xformOp:transform\"]\n",
-      "\n",
-      "                over \"SM_Kitchen_Handle\" (\n",
-      "                    prepend apiSchemas = [\"MaterialBindingAPI\"]\n",
-      "                )\n",
-      "                {\n",
-      "                    rel material:binding = </_materials/_Game_Materials_Laborraum_M_Metal_Brushed_M_Metal_Brushed_003>\n",
-      "                }\n",
-      "            }\n",
-      "\n",
-      "            def Xform \"cabinet9_drawer1_handle_collision_0\" (\n",
-      "                prepend apiSchemas = [\"PhysicsMassAPI\"]\n",
-      "            )\n",
-      "            {\n",
-      "                point3f physics:centerOfMass = (0, 0, 0)\n",
-      "                float physics:density = 100\n",
-      "                float3 physics:diagonalInertia = (-4.25124, -1.90554, 6.9585476)\n",
-      "                float physics:mass = 0.6783783\n",
-      "                quatf physics:principalAxes = (0.34476227, 0.88530046, 0.26440972, 0.16573949)\n",
-      "                matrix4d xformOp:transform = ( (0.01, 0, 0, 0), (0, 0.0065, 0, 0), (0, 0, 0.0065, 0), (0.0164985, 0, 0.08, 1) )\n",
-      "                uniform token[] xformOpOrder = [\"xformOp:transform\"]\n",
-      "\n",
-      "                def Cube \"Cube\" (\n",
-      "                    prepend apiSchemas = [\"PhysicsCollisionAPI\"]\n",
-      "                )\n",
-      "                {\n",
-      "                    float3[] extent = [(-1, -1, -1), (1, 1, 1)]\n",
-      "                    bool physics:collisionEnabled = 1\n",
-      "                    color3f[] primvars:displayColor = [(1, 0, 0)]\n",
-      "                    float[] primvars:displayOpacity = [0.5]\n",
-      "                }\n",
-      "            }\n",
-      "\n",
-      "            def Xform \"cabinet9_drawer1_handle_collision_1\" (\n",
-      "                prepend apiSchemas = [\"PhysicsMassAPI\"]\n",
-      "            )\n",
-      "            {\n",
-      "                point3f physics:centerOfMass = (0, 0, 0)\n",
-      "                float physics:density = 100\n",
-      "                float3 physics:diagonalInertia = (-4.25124, -1.90554, 6.9585476)\n",
-      "                float physics:mass = 0.6783783\n",
-      "                quatf physics:principalAxes = (0.34476227, 0.88530046, 0.26440972, 0.16573949)\n",
-      "                matrix4d xformOp:transform = ( (0.01, 0, 0, 0), (0, 0.0065, 0, 0), (0, 0, 0.0065, 0), (0.0164985, 0, -0.08, 1) )\n",
-      "                uniform token[] xformOpOrder = [\"xformOp:transform\"]\n",
-      "\n",
-      "                def Cube \"Cube\" (\n",
-      "                    prepend apiSchemas = [\"PhysicsCollisionAPI\"]\n",
-      "                )\n",
-      "                {\n",
-      "                    float3[] extent = [(-1, -1, -1), (1, 1, 1)]\n",
-      "                    bool physics:collisionEnabled = 1\n",
-      "                    color3f[] primvars:displayColor = [(1, 0, 0)]\n",
-      "                    float[] primvars:displayOpacity = [0.5]\n",
-      "                }\n",
-      "            }\n",
-      "\n",
-      "            def Xform \"cabinet9_drawer1_handle_collision_2\" (\n",
-      "                prepend apiSchemas = [\"PhysicsMassAPI\"]\n",
-      "            )\n",
-      "            {\n",
-      "                point3f physics:centerOfMass = (0, 0, 0)\n",
-      "                float physics:density = 100\n",
-      "                float3 physics:diagonalInertia = (-4.25124, -1.90554, 6.9585476)\n",
-      "                float physics:mass = 0.6783783\n",
-      "                quatf physics:principalAxes = (0.34476227, 0.88530046, 0.26440972, 0.16573949)\n",
-      "                matrix4d xformOp:transform = ( (0.0065, 0, 0, 0), (0, 0.0065, 0, 0), (0, 0, 0.086516, 0), (0, 0, 0, 1) )\n",
-      "                uniform token[] xformOpOrder = [\"xformOp:transform\"]\n",
-      "\n",
-      "                def Cube \"Cube\" (\n",
-      "                    prepend apiSchemas = [\"PhysicsCollisionAPI\"]\n",
-      "                )\n",
-      "                {\n",
-      "                    float3[] extent = [(-1, -1, -1), (1, 1, 1)]\n",
-      "                    bool physics:collisionEnabled = 1\n",
-      "                    color3f[] primvars:displayColor = [(1, 0, 0)]\n",
-      "                    float[] primvars:displayOpacity = [0.5]\n",
-      "                }\n",
-      "            }\n",
-      "        }\n",
-      "    }\n",
-      "\n",
-      "    def Xform \"cabinet9_drawer2\" (\n",
-      "        prepend apiSchemas = [\"PhysicsRigidBodyAPI\"]\n",
-      "    )\n",
-      "    {\n",
-      "        bool physics:rigidBodyEnabled = 1\n",
-      "        matrix4d xformOp:transform = ( (1, 0, 0, 0), (0, 1, 0, 0), (0, 0, 1, 0), (2.54212937, 2.77203603, 0.6290124100000001, 1) )\n",
-      "        uniform token[] xformOpOrder = [\"xformOp:transform\"]\n",
-      "\n",
-      "        def Xform \"cabinet9_drawer2_visual_0\" (\n",
-      "            prepend references = @./../meshes/usd/visual/SM_Kitchen_09_Drawer_02.usda@</SM_Kitchen_09_Drawer_02>\n",
-      "        )\n",
-      "        {\n",
-      "            matrix4d xformOp:transform = ( (1, 0, 0, 0), (0, 1, 0, 0), (0, 0, 1, 0), (0, 0, 0, 1) )\n",
-      "            uniform token[] xformOpOrder = [\"xformOp:transform\"]\n",
-      "\n",
-      "            over \"SM_Kitchen_09_Base_Drawer_02\" (\n",
-      "                prepend apiSchemas = [\"MaterialBindingAPI\"]\n",
-      "            )\n",
-      "            {\n",
-      "                rel material:binding = </_materials/_Game_Materials_Laborraum_M_Plastic_White_M_Plastic_White_009>\n",
-      "\n",
-      "                over \"_Game_Materials_Laborraum_M_Metal_Chrome_M_Metal_Chrome_002\" (\n",
-      "                    prepend apiSchemas = [\"MaterialBindingAPI\"]\n",
-      "                )\n",
-      "                {\n",
-      "                    rel material:binding = </_materials/_Game_Materials_Laborraum_M_Metal_Chrome_M_Metal_Chrome_002>\n"
-     ]
-    },
-    {
-     "name": "stdout",
-     "output_type": "stream",
-     "text": [
-      "                }\n",
-      "\n",
-      "                over \"_Game_Materials_Laborraum_M_Kitchen_Fronts_M_Kitchen_Fronts_003\" (\n",
-      "                    prepend apiSchemas = [\"MaterialBindingAPI\"]\n",
-      "                )\n",
-      "                {\n",
-      "                    rel material:binding = </_materials/_Game_Materials_Laborraum_M_Kitchen_Fronts_M_Kitchen_Fronts_003>\n",
-      "                }\n",
-      "\n",
-      "                over \"_Game_Materials_Laborraum_M_Plastic_White_M_Plastic_White_009\" (\n",
-      "                    prepend apiSchemas = [\"MaterialBindingAPI\"]\n",
-      "                )\n",
-      "                {\n",
-      "                    rel material:binding = </_materials/_Game_Materials_Laborraum_M_Plastic_White_M_Plastic_White_009>\n",
-      "                }\n",
-      "\n",
-      "                over \"_Game_Materials_Laborraum_M_Drawer_Mat_M_Drawer_Mat_002\" (\n",
-      "                    prepend apiSchemas = [\"MaterialBindingAPI\"]\n",
-      "                )\n",
-      "                {\n",
-      "                    rel material:binding = </_materials/_Game_Materials_Laborraum_M_Drawer_Mat_M_Drawer_Mat_002>\n",
-      "                }\n",
-      "            }\n",
-      "        }\n",
-      "\n",
-      "        def Xform \"cabinet9_drawer2_collision_0\" (\n",
-      "            prepend apiSchemas = [\"PhysicsMassAPI\"]\n",
-      "        )\n",
-      "        {\n",
-      "            point3f physics:centerOfMass = (0, 0, 0)\n",
-      "            float physics:density = 100\n",
-      "            float3 physics:diagonalInertia = (-5.2892876, -2.8912802, 10.365362)\n",
-      "            float physics:mass = 0.92487997\n",
-      "            quatf physics:principalAxes = (-0.24516177, -0.15246214, 0.34992623, 0.89118046)\n",
-      "            matrix4d xformOp:transform = ( (0.245507, 0, 0, 0), (0, 0.008, 0, 0), (0, 0, 0.011649, 0), (0.021031, 0.270267, 0.041246, 1) )\n",
-      "            uniform token[] xformOpOrder = [\"xformOp:transform\"]\n",
-      "\n",
-      "            def Cube \"Cube\" (\n",
-      "                prepend apiSchemas = [\"PhysicsCollisionAPI\"]\n",
-      "            )\n",
-      "            {\n",
-      "                float3[] extent = [(-1, -1, -1), (1, 1, 1)]\n",
-      "                bool physics:collisionEnabled = 1\n",
-      "                color3f[] primvars:displayColor = [(1, 0, 0)]\n",
-      "                float[] primvars:displayOpacity = [0.5]\n",
-      "            }\n",
-      "        }\n",
-      "\n",
-      "        def Xform \"cabinet9_drawer2_collision_1\" (\n",
-      "            prepend apiSchemas = [\"PhysicsMassAPI\"]\n",
-      "        )\n",
-      "        {\n",
-      "            point3f physics:centerOfMass = (0, 0, 0)\n",
-      "            float physics:density = 100\n",
-      "            float3 physics:diagonalInertia = (-5.2892876, -2.8912802, 10.365362)\n",
-      "            float physics:mass = 0.92487997\n",
-      "            quatf physics:principalAxes = (-0.24516177, -0.15246214, 0.34992623, 0.89118046)\n",
-      "            matrix4d xformOp:transform = ( (0.245507, 0, 0, 0), (0, 0.008, 0, 0), (0, 0, 0.011649, 0), (0.021031, -0.270267, 0.041246, 1) )\n",
-      "            uniform token[] xformOpOrder = [\"xformOp:transform\"]\n",
-      "\n",
-      "            def Cube \"Cube\" (\n",
-      "                prepend apiSchemas = [\"PhysicsCollisionAPI\"]\n",
-      "            )\n",
-      "            {\n",
-      "                float3[] extent = [(-1, -1, -1), (1, 1, 1)]\n",
-      "                bool physics:collisionEnabled = 1\n",
-      "                color3f[] primvars:displayColor = [(1, 0, 0)]\n",
-      "                float[] primvars:displayOpacity = [0.5]\n",
-      "            }\n",
-      "        }\n",
-      "\n",
-      "        def Xform \"cabinet9_drawer2_collision_2\" (\n",
-      "            prepend apiSchemas = [\"PhysicsMassAPI\"]\n",
-      "        )\n",
-      "        {\n",
-      "            point3f physics:centerOfMass = (0, 0, 0)\n",
-      "            float physics:density = 100\n",
-      "            float3 physics:diagonalInertia = (-5.2892876, -2.8912802, 10.365362)\n",
-      "            float physics:mass = 0.92487997\n",
-      "            quatf physics:principalAxes = (-0.24516177, -0.15246214, 0.34992623, 0.89118046)\n",
-      "            matrix4d xformOp:transform = ( (0.245507, 0, 0, 0), (0, 0.008, 0, 0), (0, 0, 0.041748, 0), (0.021031, 0.270267, -0.078968, 1) )\n",
-      "            uniform token[] xformOpOrder = [\"xformOp:transform\"]\n",
-      "\n",
-      "            def Cube \"Cube\" (\n",
-      "                prepend apiSchemas = [\"PhysicsCollisionAPI\"]\n",
-      "            )\n",
-      "            {\n",
-      "                float3[] extent = [(-1, -1, -1), (1, 1, 1)]\n",
-      "                bool physics:collisionEnabled = 1\n",
-      "                color3f[] primvars:displayColor = [(1, 0, 0)]\n",
-      "                float[] primvars:displayOpacity = [0.5]\n",
-      "            }\n",
-      "        }\n",
-      "\n",
-      "        def Xform \"cabinet9_drawer2_collision_3\" (\n",
-      "            prepend apiSchemas = [\"PhysicsMassAPI\"]\n",
-      "        )\n",
-      "        {\n",
-      "            point3f physics:centerOfMass = (0, 0, 0)\n",
-      "            float physics:density = 100\n",
-      "            float3 physics:diagonalInertia = (-5.2892876, -2.8912802, 10.365362)\n",
-      "            float physics:mass = 0.92487997\n",
-      "            quatf physics:principalAxes = (-0.24516177, -0.15246214, 0.34992623, 0.89118046)\n",
-      "            matrix4d xformOp:transform = ( (0.245507, 0, 0, 0), (0, 0.008, 0, 0), (0, 0, 0.041748, 0), (0.021031, -0.270267, -0.078968, 1) )\n",
-      "            uniform token[] xformOpOrder = [\"xformOp:transform\"]\n",
-      "\n",
-      "            def Cube \"Cube\" (\n",
-      "                prepend apiSchemas = [\"PhysicsCollisionAPI\"]\n",
-      "            )\n",
-      "            {\n",
-      "                float3[] extent = [(-1, -1, -1), (1, 1, 1)]\n",
-      "                bool physics:collisionEnabled = 1\n",
-      "                color3f[] primvars:displayColor = [(1, 0, 0)]\n",
-      "                float[] primvars:displayOpacity = [0.5]\n",
-      "            }\n",
-      "        }\n",
-      "\n",
-      "        def Xform \"cabinet9_drawer2_collision_4\" (\n",
-      "            prepend apiSchemas = [\"PhysicsMassAPI\"]\n",
-      "        )\n",
-      "        {\n",
-      "            point3f physics:centerOfMass = (0, 0, 0)\n",
-      "            float physics:density = 100\n",
-      "            float3 physics:diagonalInertia = (-5.2892876, -2.8912802, 10.365362)\n",
-      "            float physics:mass = 0.92487997\n",
-      "            quatf physics:principalAxes = (-0.24516177, -0.15246214, 0.34992623, 0.89118046)\n",
-      "            matrix4d xformOp:transform = ( (0.0095, 0, 0, 0), (0, 0.298468, 0, 0), (0, 0, 0.131375, 0), (-0.233977, 0, 0, 1) )\n",
-      "            uniform token[] xformOpOrder = [\"xformOp:transform\"]\n",
-      "\n",
-      "            def Cube \"Cube\" (\n",
-      "                prepend apiSchemas = [\"PhysicsCollisionAPI\"]\n",
-      "            )\n",
-      "            {\n",
-      "                float3[] extent = [(-1, -1, -1), (1, 1, 1)]\n",
-      "                bool physics:collisionEnabled = 1\n",
-      "                color3f[] primvars:displayColor = [(1, 0, 0)]\n",
-      "                float[] primvars:displayOpacity = [0.5]\n",
-      "            }\n",
-      "        }\n",
-      "\n",
-      "        def Xform \"cabinet9_drawer2_collision_5\" (\n",
-      "            prepend apiSchemas = [\"PhysicsMassAPI\"]\n",
-      "        )\n",
-      "        {\n",
-      "            point3f physics:centerOfMass = (0, 0, 0)\n",
-      "            float physics:density = 100\n",
-      "            float3 physics:diagonalInertia = (-5.2892876, -2.8912802, 10.365362)\n",
-      "            float physics:mass = 0.92487997\n",
-      "            quatf physics:principalAxes = (-0.24516177, -0.15246214, 0.34992623, 0.89118046)\n",
-      "            matrix4d xformOp:transform = ( (0.008, 0, 0, 0), (0, 0.269804, 0, 0), (0, 0, 0.084491, 0), (0.260372, 0, -0.037996, 1) )\n",
-      "            uniform token[] xformOpOrder = [\"xformOp:transform\"]\n",
-      "\n",
-      "            def Cube \"Cube\" (\n",
-      "                prepend apiSchemas = [\"PhysicsCollisionAPI\"]\n",
-      "            )\n",
-      "            {\n",
-      "                float3[] extent = [(-1, -1, -1), (1, 1, 1)]\n",
-      "                bool physics:collisionEnabled = 1\n",
-      "                color3f[] primvars:displayColor = [(1, 0, 0)]\n",
-      "                float[] primvars:displayOpacity = [0.5]\n",
-      "            }\n",
-      "        }\n",
-      "\n",
-      "        def Xform \"cabinet9_drawer2_collision_6\" (\n",
-      "            prepend apiSchemas = [\"PhysicsMassAPI\"]\n",
-      "        )\n",
-      "        {\n",
-      "            point3f physics:centerOfMass = (0, 0, 0)\n",
-      "            float physics:density = 100\n",
-      "            float3 physics:diagonalInertia = (-5.2892876, -2.8912802, 10.365362)\n",
-      "            float physics:mass = 0.92487997\n",
-      "            quatf physics:principalAxes = (-0.24516177, -0.15246214, 0.34992623, 0.89118046)\n",
-      "            matrix4d xformOp:transform = ( (0.245507, 0, 0, 0), (0, 0.269804, 0, 0), (0, 0, 0.008, 0), (0.021031, 0, -0.113735, 1) )\n",
-      "            uniform token[] xformOpOrder = [\"xformOp:transform\"]\n",
-      "\n",
-      "            def Cube \"Cube\" (\n",
-      "                prepend apiSchemas = [\"PhysicsCollisionAPI\"]\n",
-      "            )\n",
-      "            {\n",
-      "                float3[] extent = [(-1, -1, -1), (1, 1, 1)]\n",
-      "                bool physics:collisionEnabled = 1\n",
-      "                color3f[] primvars:displayColor = [(1, 0, 0)]\n",
-      "                float[] primvars:displayOpacity = [0.5]\n",
-      "            }\n",
-      "        }\n",
-      "\n",
-      "        def Xform \"cabinet9_drawer2_handle\"\n",
-      "        {\n",
-      "            matrix4d xformOp:transform = ( (1, 0, 0, 0), (0, 2.220446049250313e-16, 1, 0), (0, -1, 2.220446049250313e-16, 0), (-0.2707106, 0.00106413, 0.08500843, 1) )\n"
-     ]
-    },
-    {
-     "name": "stdout",
-     "output_type": "stream",
-     "text": [
-      "            uniform token[] xformOpOrder = [\"xformOp:transform\"]\n",
-      "\n",
-      "            def Xform \"cabinet9_drawer2_handle_visual_0\" (\n",
-      "                prepend references = @./../meshes/usd/visual/SM_Kitchen_Handle.usda@</SM_Kitchen_Handle>\n",
-      "            )\n",
-      "            {\n",
-      "                matrix4d xformOp:transform = ( (1, 0, 0, 0), (0, 1, 0, 0), (0, 0, 1, 0), (0, 0, 0, 1) )\n",
-      "                uniform token[] xformOpOrder = [\"xformOp:transform\"]\n",
-      "\n",
-      "                over \"SM_Kitchen_Handle\" (\n",
-      "                    prepend apiSchemas = [\"MaterialBindingAPI\"]\n",
-      "                )\n",
-      "                {\n",
-      "                    rel material:binding = </_materials/_Game_Materials_Laborraum_M_Metal_Brushed_M_Metal_Brushed_003>\n",
-      "                }\n",
-      "            }\n",
-      "\n",
-      "            def Xform \"cabinet9_drawer2_handle_collision_0\" (\n",
-      "                prepend apiSchemas = [\"PhysicsMassAPI\"]\n",
-      "            )\n",
-      "            {\n",
-      "                point3f physics:centerOfMass = (0, 0, 0)\n",
-      "                float physics:density = 100\n",
-      "                float3 physics:diagonalInertia = (-5.2892876, -2.8912802, 10.365362)\n",
-      "                float physics:mass = 0.92487997\n",
-      "                quatf physics:principalAxes = (-0.24516177, -0.15246214, 0.34992623, 0.89118046)\n",
-      "                matrix4d xformOp:transform = ( (0.01, 0, 0, 0), (0, 0.0065, 0, 0), (0, 0, 0.0065, 0), (0.0164985, 0, 0.08, 1) )\n",
-      "                uniform token[] xformOpOrder = [\"xformOp:transform\"]\n",
-      "\n",
-      "                def Cube \"Cube\" (\n",
-      "                    prepend apiSchemas = [\"PhysicsCollisionAPI\"]\n",
-      "                )\n",
-      "                {\n",
-      "                    float3[] extent = [(-1, -1, -1), (1, 1, 1)]\n",
-      "                    bool physics:collisionEnabled = 1\n",
-      "                    color3f[] primvars:displayColor = [(1, 0, 0)]\n",
-      "                    float[] primvars:displayOpacity = [0.5]\n",
-      "                }\n",
-      "            }\n",
-      "\n",
-      "            def Xform \"cabinet9_drawer2_handle_collision_1\" (\n",
-      "                prepend apiSchemas = [\"PhysicsMassAPI\"]\n",
-      "            )\n",
-      "            {\n",
-      "                point3f physics:centerOfMass = (0, 0, 0)\n",
-      "                float physics:density = 100\n",
-      "                float3 physics:diagonalInertia = (-5.2892876, -2.8912802, 10.365362)\n",
-      "                float physics:mass = 0.92487997\n",
-      "                quatf physics:principalAxes = (-0.24516177, -0.15246214, 0.34992623, 0.89118046)\n",
-      "                matrix4d xformOp:transform = ( (0.01, 0, 0, 0), (0, 0.0065, 0, 0), (0, 0, 0.0065, 0), (0.0164985, 0, -0.08, 1) )\n",
-      "                uniform token[] xformOpOrder = [\"xformOp:transform\"]\n",
-      "\n",
-      "                def Cube \"Cube\" (\n",
-      "                    prepend apiSchemas = [\"PhysicsCollisionAPI\"]\n",
-      "                )\n",
-      "                {\n",
-      "                    float3[] extent = [(-1, -1, -1), (1, 1, 1)]\n",
-      "                    bool physics:collisionEnabled = 1\n",
-      "                    color3f[] primvars:displayColor = [(1, 0, 0)]\n",
-      "                    float[] primvars:displayOpacity = [0.5]\n",
-      "                }\n",
-      "            }\n",
-      "\n",
-      "            def Xform \"cabinet9_drawer2_handle_collision_2\" (\n",
-      "                prepend apiSchemas = [\"PhysicsMassAPI\"]\n",
-      "            )\n",
-      "            {\n",
-      "                point3f physics:centerOfMass = (0, 0, 0)\n",
-      "                float physics:density = 100\n",
-      "                float3 physics:diagonalInertia = (-5.2892876, -2.8912802, 10.365362)\n",
-      "                float physics:mass = 0.92487997\n",
-      "                quatf physics:principalAxes = (-0.24516177, -0.15246214, 0.34992623, 0.89118046)\n",
-      "                matrix4d xformOp:transform = ( (0.0065, 0, 0, 0), (0, 0.0065, 0, 0), (0, 0, 0.086516, 0), (0, 0, 0, 1) )\n",
-      "                uniform token[] xformOpOrder = [\"xformOp:transform\"]\n",
-      "\n",
-      "                def Cube \"Cube\" (\n",
-      "                    prepend apiSchemas = [\"PhysicsCollisionAPI\"]\n",
-      "                )\n",
-      "                {\n",
-      "                    float3[] extent = [(-1, -1, -1), (1, 1, 1)]\n",
-      "                    bool physics:collisionEnabled = 1\n",
-      "                    color3f[] primvars:displayColor = [(1, 0, 0)]\n",
-      "                    float[] primvars:displayOpacity = [0.5]\n",
-      "                }\n",
-      "            }\n",
-      "        }\n",
-      "    }\n",
-      "\n",
-      "    def Xform \"cabinet9_drawer3\" (\n",
-      "        prepend apiSchemas = [\"PhysicsRigidBodyAPI\"]\n",
-      "    )\n",
-      "    {\n",
-      "        bool physics:rigidBodyEnabled = 1\n",
-      "        matrix4d xformOp:transform = ( (1, 0, 0, 0), (0, 1, 0, 0), (0, 0, 1, 0), (2.54243013, 2.77101736, 0.29795444000000004, 1) )\n",
-      "        uniform token[] xformOpOrder = [\"xformOp:transform\"]\n",
-      "\n",
-      "        def Xform \"cabinet9_drawer3_visual_0\" (\n",
-      "            prepend references = @./../meshes/usd/visual/SM_Kitchen_09_Drawer_03.usda@</SM_Kitchen_09_Drawer_03>\n",
-      "        )\n",
-      "        {\n",
-      "            matrix4d xformOp:transform = ( (1, 0, 0, 0), (0, 1, 0, 0), (0, 0, 1, 0), (0, 0, 0, 1) )\n",
-      "            uniform token[] xformOpOrder = [\"xformOp:transform\"]\n",
-      "\n",
-      "            over \"SM_Kitchen_09_Base_Drawer_03\" (\n",
-      "                prepend apiSchemas = [\"MaterialBindingAPI\"]\n",
-      "            )\n",
-      "            {\n",
-      "                rel material:binding = </_materials/_Game_Materials_Laborraum_M_Plastic_White_M_Plastic_White_010>\n",
-      "\n",
-      "                over \"_Game_Materials_Laborraum_M_Metal_Chrome_M_Metal_Chrome_003\" (\n",
-      "                    prepend apiSchemas = [\"MaterialBindingAPI\"]\n",
-      "                )\n",
-      "                {\n",
-      "                    rel material:binding = </_materials/_Game_Materials_Laborraum_M_Metal_Chrome_M_Metal_Chrome_003>\n",
-      "                }\n",
-      "\n",
-      "                over \"_Game_Materials_Laborraum_M_Kitchen_Fronts_M_Kitchen_Fronts_004\" (\n",
-      "                    prepend apiSchemas = [\"MaterialBindingAPI\"]\n",
-      "                )\n",
-      "                {\n",
-      "                    rel material:binding = </_materials/_Game_Materials_Laborraum_M_Kitchen_Fronts_M_Kitchen_Fronts_004>\n",
-      "                }\n",
-      "\n",
-      "                over \"_Game_Materials_Laborraum_M_Plastic_White_M_Plastic_White_010\" (\n",
-      "                    prepend apiSchemas = [\"MaterialBindingAPI\"]\n",
-      "                )\n",
-      "                {\n",
-      "                    rel material:binding = </_materials/_Game_Materials_Laborraum_M_Plastic_White_M_Plastic_White_010>\n",
-      "                }\n",
-      "\n",
-      "                over \"_Game_Materials_Laborraum_M_Drawer_Mat_M_Drawer_Mat_003\" (\n",
-      "                    prepend apiSchemas = [\"MaterialBindingAPI\"]\n",
-      "                )\n",
-      "                {\n",
-      "                    rel material:binding = </_materials/_Game_Materials_Laborraum_M_Drawer_Mat_M_Drawer_Mat_003>\n",
-      "                }\n",
-      "            }\n",
-      "        }\n",
-      "\n",
-      "        def Xform \"cabinet9_drawer3_collision_0\" (\n",
-      "            prepend apiSchemas = [\"PhysicsMassAPI\"]\n",
-      "        )\n",
-      "        {\n",
-      "            point3f physics:centerOfMass = (0, 0, 0)\n",
-      "            float physics:density = 100\n",
-      "            float3 physics:diagonalInertia = (-5.4504128, -3.830229, 12.159611)\n",
-      "            float physics:mass = 1.0757052\n",
-      "            quatf physics:principalAxes = (-0.2230673, -0.13975434, 0.3614801, 0.8944506)\n",
-      "            matrix4d xformOp:transform = ( (0.245507, 0, 0, 0), (0, 0.008, 0, 0), (0, 0, 0.011638, 0), (0.021031, 0.270267, -0.00926, 1) )\n",
-      "            uniform token[] xformOpOrder = [\"xformOp:transform\"]\n",
-      "\n",
-      "            def Cube \"Cube\" (\n",
-      "                prepend apiSchemas = [\"PhysicsCollisionAPI\"]\n",
-      "            )\n",
-      "            {\n",
-      "                float3[] extent = [(-1, -1, -1), (1, 1, 1)]\n",
-      "                bool physics:collisionEnabled = 1\n",
-      "                color3f[] primvars:displayColor = [(1, 0, 0)]\n",
-      "                float[] primvars:displayOpacity = [0.5]\n",
-      "            }\n",
-      "        }\n",
-      "\n",
-      "        def Xform \"cabinet9_drawer3_collision_1\" (\n",
-      "            prepend apiSchemas = [\"PhysicsMassAPI\"]\n",
-      "        )\n",
-      "        {\n",
-      "            point3f physics:centerOfMass = (0, 0, 0)\n",
-      "            float physics:density = 100\n",
-      "            float3 physics:diagonalInertia = (-5.4504128, -3.830229, 12.159611)\n",
-      "            float physics:mass = 1.0757052\n",
-      "            quatf physics:principalAxes = (-0.2230673, -0.13975434, 0.3614801, 0.8944506)\n",
-      "            matrix4d xformOp:transform = ( (0.245507, 0, 0, 0), (0, 0.008, 0, 0), (0, 0, 0.011638, 0), (0.021031, -0.270267, -0.00926, 1) )\n",
-      "            uniform token[] xformOpOrder = [\"xformOp:transform\"]\n",
-      "\n",
-      "            def Cube \"Cube\" (\n",
-      "                prepend apiSchemas = [\"PhysicsCollisionAPI\"]\n",
-      "            )\n",
-      "            {\n",
-      "                float3[] extent = [(-1, -1, -1), (1, 1, 1)]\n",
-      "                bool physics:collisionEnabled = 1\n",
-      "                color3f[] primvars:displayColor = [(1, 0, 0)]\n",
-      "                float[] primvars:displayOpacity = [0.5]\n"
-     ]
-    },
-    {
-     "name": "stdout",
-     "output_type": "stream",
-     "text": [
-      "            }\n",
-      "        }\n",
-      "\n",
-      "        def Xform \"cabinet9_drawer3_collision_2\" (\n",
-      "            prepend apiSchemas = [\"PhysicsMassAPI\"]\n",
-      "        )\n",
-      "        {\n",
-      "            point3f physics:centerOfMass = (0, 0, 0)\n",
-      "            float physics:density = 100\n",
-      "            float3 physics:diagonalInertia = (-5.4504128, -3.830229, 12.159611)\n",
-      "            float physics:mass = 1.0757052\n",
-      "            quatf physics:principalAxes = (-0.2230673, -0.13975434, 0.3614801, 0.8944506)\n",
-      "            matrix4d xformOp:transform = ( (0.245507, 0, 0, 0), (0, 0.008, 0, 0), (0, 0, 0.041711, 0), (0.021031, 0.270267, -0.129424, 1) )\n",
-      "            uniform token[] xformOpOrder = [\"xformOp:transform\"]\n",
-      "\n",
-      "            def Cube \"Cube\" (\n",
-      "                prepend apiSchemas = [\"PhysicsCollisionAPI\"]\n",
-      "            )\n",
-      "            {\n",
-      "                float3[] extent = [(-1, -1, -1), (1, 1, 1)]\n",
-      "                bool physics:collisionEnabled = 1\n",
-      "                color3f[] primvars:displayColor = [(1, 0, 0)]\n",
-      "                float[] primvars:displayOpacity = [0.5]\n",
-      "            }\n",
-      "        }\n",
-      "\n",
-      "        def Xform \"cabinet9_drawer3_collision_3\" (\n",
-      "            prepend apiSchemas = [\"PhysicsMassAPI\"]\n",
-      "        )\n",
-      "        {\n",
-      "            point3f physics:centerOfMass = (0, 0, 0)\n",
-      "            float physics:density = 100\n",
-      "            float3 physics:diagonalInertia = (-5.4504128, -3.830229, 12.159611)\n",
-      "            float physics:mass = 1.0757052\n",
-      "            quatf physics:principalAxes = (-0.2230673, -0.13975434, 0.3614801, 0.8944506)\n",
-      "            matrix4d xformOp:transform = ( (0.245507, 0, 0, 0), (0, 0.008, 0, 0), (0, 0, 0.041711, 0), (0.021031, -0.270267, -0.129424, 1) )\n",
-      "            uniform token[] xformOpOrder = [\"xformOp:transform\"]\n",
-      "\n",
-      "            def Cube \"Cube\" (\n",
-      "                prepend apiSchemas = [\"PhysicsCollisionAPI\"]\n",
-      "            )\n",
-      "            {\n",
-      "                float3[] extent = [(-1, -1, -1), (1, 1, 1)]\n",
-      "                bool physics:collisionEnabled = 1\n",
-      "                color3f[] primvars:displayColor = [(1, 0, 0)]\n",
-      "                float[] primvars:displayOpacity = [0.5]\n",
-      "            }\n",
-      "        }\n",
-      "\n",
-      "        def Xform \"cabinet9_drawer3_collision_4\" (\n",
-      "            prepend apiSchemas = [\"PhysicsMassAPI\"]\n",
-      "        )\n",
-      "        {\n",
-      "            point3f physics:centerOfMass = (0, 0, 0)\n",
-      "            float physics:density = 100\n",
-      "            float3 physics:diagonalInertia = (-5.4504128, -3.830229, 12.159611)\n",
-      "            float physics:mass = 1.0757052\n",
-      "            quatf physics:principalAxes = (-0.2230673, -0.13975434, 0.3614801, 0.8944506)\n",
-      "            matrix4d xformOp:transform = ( (0.0095, 0, 0, 0), (0, 0.298468, 0, 0), (0, 0, 0.197867, 0), (-0.233977, 0, 0, 1) )\n",
-      "            uniform token[] xformOpOrder = [\"xformOp:transform\"]\n",
-      "\n",
-      "            def Cube \"Cube\" (\n",
-      "                prepend apiSchemas = [\"PhysicsCollisionAPI\"]\n",
-      "            )\n",
-      "            {\n",
-      "                float3[] extent = [(-1, -1, -1), (1, 1, 1)]\n",
-      "                bool physics:collisionEnabled = 1\n",
-      "                color3f[] primvars:displayColor = [(1, 0, 0)]\n",
-      "                float[] primvars:displayOpacity = [0.5]\n",
-      "            }\n",
-      "        }\n",
-      "\n",
-      "        def Xform \"cabinet9_drawer3_collision_5\" (\n",
-      "            prepend apiSchemas = [\"PhysicsMassAPI\"]\n",
-      "        )\n",
-      "        {\n",
-      "            point3f physics:centerOfMass = (0, 0, 0)\n",
-      "            float physics:density = 100\n",
-      "            float3 physics:diagonalInertia = (-5.4504128, -3.830229, 12.159611)\n",
-      "            float physics:mass = 1.0757052\n",
-      "            quatf physics:principalAxes = (-0.2230673, -0.13975434, 0.3614801, 0.8944506)\n",
-      "            matrix4d xformOp:transform = ( (0.008, 0, 0, 0), (0, 0.269804, 0, 0), (0, 0, 0.084105, 0), (0.260372, 0, -0.088821, 1) )\n",
-      "            uniform token[] xformOpOrder = [\"xformOp:transform\"]\n",
-      "\n",
-      "            def Cube \"Cube\" (\n",
-      "                prepend apiSchemas = [\"PhysicsCollisionAPI\"]\n",
-      "            )\n",
-      "            {\n",
-      "                float3[] extent = [(-1, -1, -1), (1, 1, 1)]\n",
-      "                bool physics:collisionEnabled = 1\n",
-      "                color3f[] primvars:displayColor = [(1, 0, 0)]\n",
-      "                float[] primvars:displayOpacity = [0.5]\n",
-      "            }\n",
-      "        }\n",
-      "\n",
-      "        def Xform \"cabinet9_drawer3_collision_6\" (\n",
-      "            prepend apiSchemas = [\"PhysicsMassAPI\"]\n",
-      "        )\n",
-      "        {\n",
-      "            point3f physics:centerOfMass = (0, 0, 0)\n",
-      "            float physics:density = 100\n",
-      "            float3 physics:diagonalInertia = (-5.4504128, -3.830229, 12.159611)\n",
-      "            float physics:mass = 1.0757052\n",
-      "            quatf physics:principalAxes = (-0.2230673, -0.13975434, 0.3614801, 0.8944506)\n",
-      "            matrix4d xformOp:transform = ( (0.245507, 0, 0, 0), (0, 0.269804, 0, 0), (0, 0, 0.008, 0), (0.021031, 0, -0.164582, 1) )\n",
-      "            uniform token[] xformOpOrder = [\"xformOp:transform\"]\n",
-      "\n",
-      "            def Cube \"Cube\" (\n",
-      "                prepend apiSchemas = [\"PhysicsCollisionAPI\"]\n",
-      "            )\n",
-      "            {\n",
-      "                float3[] extent = [(-1, -1, -1), (1, 1, 1)]\n",
-      "                bool physics:collisionEnabled = 1\n",
-      "                color3f[] primvars:displayColor = [(1, 0, 0)]\n",
-      "                float[] primvars:displayOpacity = [0.5]\n",
-      "            }\n",
-      "        }\n",
-      "\n",
-      "        def Xform \"cabinet9_drawer3_handle\"\n",
-      "        {\n",
-      "            matrix4d xformOp:transform = ( (1, 0, 0, 0), (0, 2.220446049250313e-16, 1, 0), (0, -1, 2.220446049250313e-16, 0), (-0.26888186, 0.00102875, 0.15027037, 1) )\n",
-      "            uniform token[] xformOpOrder = [\"xformOp:transform\"]\n",
-      "\n",
-      "            def Xform \"cabinet9_drawer3_handle_visual_0\" (\n",
-      "                prepend references = @./../meshes/usd/visual/SM_Kitchen_Handle.usda@</SM_Kitchen_Handle>\n",
-      "            )\n",
-      "            {\n",
-      "                matrix4d xformOp:transform = ( (1, 0, 0, 0), (0, 1, 0, 0), (0, 0, 1, 0), (0, 0, 0, 1) )\n",
-      "                uniform token[] xformOpOrder = [\"xformOp:transform\"]\n",
-      "\n",
-      "                over \"SM_Kitchen_Handle\" (\n",
-      "                    prepend apiSchemas = [\"MaterialBindingAPI\"]\n",
-      "                )\n",
-      "                {\n",
-      "                    rel material:binding = </_materials/_Game_Materials_Laborraum_M_Metal_Brushed_M_Metal_Brushed_003>\n",
-      "                }\n",
-      "            }\n",
-      "\n",
-      "            def Xform \"cabinet9_drawer3_handle_collision_0\" (\n",
-      "                prepend apiSchemas = [\"PhysicsMassAPI\"]\n",
-      "            )\n",
-      "            {\n",
-      "                point3f physics:centerOfMass = (0, 0, 0)\n",
-      "                float physics:density = 100\n",
-      "                float3 physics:diagonalInertia = (-5.4504128, -3.830229, 12.159611)\n",
-      "                float physics:mass = 1.0757052\n",
-      "                quatf physics:principalAxes = (-0.2230673, -0.13975434, 0.3614801, 0.8944506)\n",
-      "                matrix4d xformOp:transform = ( (0.01, 0, 0, 0), (0, 0.0065, 0, 0), (0, 0, 0.0065, 0), (0.0164985, 0, 0.08, 1) )\n",
-      "                uniform token[] xformOpOrder = [\"xformOp:transform\"]\n",
-      "\n",
-      "                def Cube \"Cube\" (\n",
-      "                    prepend apiSchemas = [\"PhysicsCollisionAPI\"]\n",
-      "                )\n",
-      "                {\n",
-      "                    float3[] extent = [(-1, -1, -1), (1, 1, 1)]\n",
-      "                    bool physics:collisionEnabled = 1\n",
-      "                    color3f[] primvars:displayColor = [(1, 0, 0)]\n",
-      "                    float[] primvars:displayOpacity = [0.5]\n",
-      "                }\n",
-      "            }\n",
-      "\n",
-      "            def Xform \"cabinet9_drawer3_handle_collision_1\" (\n",
-      "                prepend apiSchemas = [\"PhysicsMassAPI\"]\n",
-      "            )\n",
-      "            {\n",
-      "                point3f physics:centerOfMass = (0, 0, 0)\n",
-      "                float physics:density = 100\n",
-      "                float3 physics:diagonalInertia = (-5.4504128, -3.830229, 12.159611)\n",
-      "                float physics:mass = 1.0757052\n",
-      "                quatf physics:principalAxes = (-0.2230673, -0.13975434, 0.3614801, 0.8944506)\n",
-      "                matrix4d xformOp:transform = ( (0.01, 0, 0, 0), (0, 0.0065, 0, 0), (0, 0, 0.0065, 0), (0.0164985, 0, -0.08, 1) )\n",
-      "                uniform token[] xformOpOrder = [\"xformOp:transform\"]\n",
-      "\n",
-      "                def Cube \"Cube\" (\n",
-      "                    prepend apiSchemas = [\"PhysicsCollisionAPI\"]\n",
-      "                )\n",
-      "                {\n",
-      "                    float3[] extent = [(-1, -1, -1), (1, 1, 1)]\n",
-      "                    bool physics:collisionEnabled = 1\n",
-      "                    color3f[] primvars:displayColor = [(1, 0, 0)]\n",
-      "                    float[] primvars:displayOpacity = [0.5]\n",
-      "                }\n",
-      "            }\n",
-      "\n",
-      "            def Xform \"cabinet9_drawer3_handle_collision_2\" (\n"
-     ]
-    },
-    {
-     "name": "stdout",
-     "output_type": "stream",
-     "text": [
-      "                prepend apiSchemas = [\"PhysicsMassAPI\"]\n",
-      "            )\n",
-      "            {\n",
-      "                point3f physics:centerOfMass = (0, 0, 0)\n",
-      "                float physics:density = 100\n",
-      "                float3 physics:diagonalInertia = (-5.4504128, -3.830229, 12.159611)\n",
-      "                float physics:mass = 1.0757052\n",
-      "                quatf physics:principalAxes = (-0.2230673, -0.13975434, 0.3614801, 0.8944506)\n",
-      "                matrix4d xformOp:transform = ( (0.0065, 0, 0, 0), (0, 0.0065, 0, 0), (0, 0, 0.086516, 0), (0, 0, 0, 1) )\n",
-      "                uniform token[] xformOpOrder = [\"xformOp:transform\"]\n",
-      "\n",
-      "                def Cube \"Cube\" (\n",
-      "                    prepend apiSchemas = [\"PhysicsCollisionAPI\"]\n",
-      "                )\n",
-      "                {\n",
-      "                    float3[] extent = [(-1, -1, -1), (1, 1, 1)]\n",
-      "                    bool physics:collisionEnabled = 1\n",
-      "                    color3f[] primvars:displayColor = [(1, 0, 0)]\n",
-      "                    float[] primvars:displayOpacity = [0.5]\n",
-      "                }\n",
-      "            }\n",
-      "        }\n",
-      "    }\n",
-      "\n",
-      "    def Xform \"cabinet10_drawer1\" (\n",
-      "        prepend apiSchemas = [\"PhysicsRigidBodyAPI\"]\n",
-      "    )\n",
-      "    {\n",
-      "        bool physics:rigidBodyEnabled = 1\n",
-      "        matrix4d xformOp:transform = ( (1, 0, 0, 0), (0, 1, 0, 0), (0, 0, 1, 0), (2.54203385, 2.27254399, 0.82677193, 1) )\n",
-      "        uniform token[] xformOpOrder = [\"xformOp:transform\"]\n",
-      "\n",
-      "        def Xform \"cabinet10_drawer1_visual_0\" (\n",
-      "            prepend references = @./../meshes/usd/visual/SM_Kitchen_10_Drawer_01.usda@</SM_Kitchen_10_Drawer_01>\n",
-      "        )\n",
-      "        {\n",
-      "            matrix4d xformOp:transform = ( (1, 0, 0, 0), (0, 1, 0, 0), (0, 0, 1, 0), (0, 0, 0, 1) )\n",
-      "            uniform token[] xformOpOrder = [\"xformOp:transform\"]\n",
-      "\n",
-      "            over \"SM_Kitchen_10_Base_Drawer_01\" (\n",
-      "                prepend apiSchemas = [\"MaterialBindingAPI\"]\n",
-      "            )\n",
-      "            {\n",
-      "                rel material:binding = </_materials/_Game_Materials_Laborraum_M_Drawer_Mat_M_Drawer_Mat_005>\n",
-      "\n",
-      "                over \"_Game_Materials_Laborraum_M_Metal_Brushed_M_Metal_Brushed_004\" (\n",
-      "                    prepend apiSchemas = [\"MaterialBindingAPI\"]\n",
-      "                )\n",
-      "                {\n",
-      "                    rel material:binding = </_materials/_Game_Materials_Laborraum_M_Metal_Brushed_M_Metal_Brushed_004>\n",
-      "                }\n",
-      "\n",
-      "                over \"_Game_Materials_Laborraum_M_Kitchen_Fronts_M_Kitchen_Fronts_006\" (\n",
-      "                    prepend apiSchemas = [\"MaterialBindingAPI\"]\n",
-      "                )\n",
-      "                {\n",
-      "                    rel material:binding = </_materials/_Game_Materials_Laborraum_M_Kitchen_Fronts_M_Kitchen_Fronts_006>\n",
-      "                }\n",
-      "\n",
-      "                over \"_Game_Materials_Laborraum_M_Plastic_White_M_Plastic_White_013\" (\n",
-      "                    prepend apiSchemas = [\"MaterialBindingAPI\"]\n",
-      "                )\n",
-      "                {\n",
-      "                    rel material:binding = </_materials/_Game_Materials_Laborraum_M_Plastic_White_M_Plastic_White_013>\n",
-      "                }\n",
-      "\n",
-      "                over \"_Game_Materials_Laborraum_M_Drawer_Mat_M_Drawer_Mat_005\" (\n",
-      "                    prepend apiSchemas = [\"MaterialBindingAPI\"]\n",
-      "                )\n",
-      "                {\n",
-      "                    rel material:binding = </_materials/_Game_Materials_Laborraum_M_Drawer_Mat_M_Drawer_Mat_005>\n",
-      "                }\n",
-      "            }\n",
-      "        }\n",
-      "\n",
-      "        def Xform \"cabinet10_drawer1_collision_0\" (\n",
-      "            prepend apiSchemas = [\"PhysicsMassAPI\"]\n",
-      "        )\n",
-      "        {\n",
-      "            point3f physics:centerOfMass = (0, 0, 0)\n",
-      "            float physics:density = 100\n",
-      "            float3 physics:diagonalInertia = (-2.1781926, -1.1654099, 3.8509607)\n",
-      "            float physics:mass = 0.4815126\n",
-      "            quatf physics:principalAxes = (-0.5694668, -0.20332551, 0.77424425, -0.18684776)\n",
-      "            matrix4d xformOp:transform = ( (0.245507, 0, 0, 0), (0, 0.008, 0, 0), (0, 0, 0.042633, 0), (0.021031, 0.170562, -0.01336, 1) )\n",
-      "            uniform token[] xformOpOrder = [\"xformOp:transform\"]\n",
-      "\n",
-      "            def Cube \"Cube\" (\n",
-      "                prepend apiSchemas = [\"PhysicsCollisionAPI\"]\n",
-      "            )\n",
-      "            {\n",
-      "                float3[] extent = [(-1, -1, -1), (1, 1, 1)]\n",
-      "                bool physics:collisionEnabled = 1\n",
-      "                color3f[] primvars:displayColor = [(1, 0, 0)]\n",
-      "                float[] primvars:displayOpacity = [0.5]\n",
-      "            }\n",
-      "        }\n",
-      "\n",
-      "        def Xform \"cabinet10_drawer1_collision_1\" (\n",
-      "            prepend apiSchemas = [\"PhysicsMassAPI\"]\n",
-      "        )\n",
-      "        {\n",
-      "            point3f physics:centerOfMass = (0, 0, 0)\n",
-      "            float physics:density = 100\n",
-      "            float3 physics:diagonalInertia = (-2.1781926, -1.1654099, 3.8509607)\n",
-      "            float physics:mass = 0.4815126\n",
-      "            quatf physics:principalAxes = (-0.5694668, -0.20332551, 0.77424425, -0.18684776)\n",
-      "            matrix4d xformOp:transform = ( (0.245507, 0, 0, 0), (0, 0.008, 0, 0), (0, 0, 0.042633, 0), (0.021031, -0.170562, -0.01336, 1) )\n",
-      "            uniform token[] xformOpOrder = [\"xformOp:transform\"]\n",
-      "\n",
-      "            def Cube \"Cube\" (\n",
-      "                prepend apiSchemas = [\"PhysicsCollisionAPI\"]\n",
-      "            )\n",
-      "            {\n",
-      "                float3[] extent = [(-1, -1, -1), (1, 1, 1)]\n",
-      "                bool physics:collisionEnabled = 1\n",
-      "                color3f[] primvars:displayColor = [(1, 0, 0)]\n",
-      "                float[] primvars:displayOpacity = [0.5]\n",
-      "            }\n",
-      "        }\n",
-      "\n",
-      "        def Xform \"cabinet10_drawer1_collision_2\" (\n",
-      "            prepend apiSchemas = [\"PhysicsMassAPI\"]\n",
-      "        )\n",
-      "        {\n",
-      "            point3f physics:centerOfMass = (0, 0, 0)\n",
-      "            float physics:density = 100\n",
-      "            float3 physics:diagonalInertia = (-2.1781926, -1.1654099, 3.8509607)\n",
-      "            float physics:mass = 0.4815126\n",
-      "            quatf physics:principalAxes = (-0.5694668, -0.20332551, 0.77424425, -0.18684776)\n",
-      "            matrix4d xformOp:transform = ( (0.0095, 0, 0, 0), (0, 0.198867, 0, 0), (0, 0, 0.064993, 0), (-0.233977, 0, 0, 1) )\n",
-      "            uniform token[] xformOpOrder = [\"xformOp:transform\"]\n",
-      "\n",
-      "            def Cube \"Cube\" (\n",
-      "                prepend apiSchemas = [\"PhysicsCollisionAPI\"]\n",
-      "            )\n",
-      "            {\n",
-      "                float3[] extent = [(-1, -1, -1), (1, 1, 1)]\n",
-      "                bool physics:collisionEnabled = 1\n",
-      "                color3f[] primvars:displayColor = [(1, 0, 0)]\n",
-      "                float[] primvars:displayOpacity = [0.5]\n",
-      "            }\n",
-      "        }\n",
-      "\n",
-      "        def Xform \"cabinet10_drawer1_collision_3\" (\n",
-      "            prepend apiSchemas = [\"PhysicsMassAPI\"]\n",
-      "        )\n",
-      "        {\n",
-      "            point3f physics:centerOfMass = (0, 0, 0)\n",
-      "            float physics:density = 100\n",
-      "            float3 physics:diagonalInertia = (-2.1781926, -1.1654099, 3.8509607)\n",
-      "            float physics:mass = 0.4815126\n",
-      "            quatf physics:principalAxes = (-0.5694668, -0.20332551, 0.77424425, -0.18684776)\n",
-      "            matrix4d xformOp:transform = ( (0.008, 0, 0, 0), (0, 0.178822, 0, 0), (0, 0, 0.042633, 0), (0.260372, 0, -0.01336, 1) )\n",
-      "            uniform token[] xformOpOrder = [\"xformOp:transform\"]\n",
-      "\n",
-      "            def Cube \"Cube\" (\n",
-      "                prepend apiSchemas = [\"PhysicsCollisionAPI\"]\n",
-      "            )\n",
-      "            {\n",
-      "                float3[] extent = [(-1, -1, -1), (1, 1, 1)]\n",
-      "                bool physics:collisionEnabled = 1\n",
-      "                color3f[] primvars:displayColor = [(1, 0, 0)]\n",
-      "                float[] primvars:displayOpacity = [0.5]\n",
-      "            }\n",
-      "        }\n",
-      "\n",
-      "        def Xform \"cabinet10_drawer1_collision_4\" (\n",
-      "            prepend apiSchemas = [\"PhysicsMassAPI\"]\n",
-      "        )\n",
-      "        {\n",
-      "            point3f physics:centerOfMass = (0, 0, 0)\n",
-      "            float physics:density = 100\n",
-      "            float3 physics:diagonalInertia = (-2.1781926, -1.1654099, 3.8509607)\n",
-      "            float physics:mass = 0.4815126\n",
-      "            quatf physics:principalAxes = (-0.5694668, -0.20332551, 0.77424425, -0.18684776)\n",
-      "            matrix4d xformOp:transform = ( (0.245507, 0, 0, 0), (0, 0.178822, 0, 0), (0, 0, 0.0075, 0), (0.021031, 0, -0.047595, 1) )\n",
-      "            uniform token[] xformOpOrder = [\"xformOp:transform\"]\n",
-      "\n",
-      "            def Cube \"Cube\" (\n",
-      "                prepend apiSchemas = [\"PhysicsCollisionAPI\"]\n",
-      "            )\n",
-      "            {\n",
-      "                float3[] extent = [(-1, -1, -1), (1, 1, 1)]\n",
-      "                bool physics:collisionEnabled = 1\n",
-      "                color3f[] primvars:displayColor = [(1, 0, 0)]\n"
-     ]
-    },
-    {
-     "name": "stdout",
-     "output_type": "stream",
-     "text": [
-      "                float[] primvars:displayOpacity = [0.5]\n",
-      "            }\n",
-      "        }\n",
-      "\n",
-      "        def Xform \"cabinet10_drawer1_handle\"\n",
-      "        {\n",
-      "            matrix4d xformOp:transform = ( (1, 0, 0, 0), (0, 2.220446049250313e-16, 1, 0), (0, -1, 2.220446049250313e-16, 0), (-0.26662336, -0.00124599, 0.0172039, 1) )\n",
-      "            uniform token[] xformOpOrder = [\"xformOp:transform\"]\n",
-      "\n",
-      "            def Xform \"cabinet10_drawer1_handle_visual_0\" (\n",
-      "                prepend references = @./../meshes/usd/visual/SM_Kitchen_Handle.usda@</SM_Kitchen_Handle>\n",
-      "            )\n",
-      "            {\n",
-      "                matrix4d xformOp:transform = ( (1, 0, 0, 0), (0, 1, 0, 0), (0, 0, 1, 0), (0, 0, 0, 1) )\n",
-      "                uniform token[] xformOpOrder = [\"xformOp:transform\"]\n",
-      "\n",
-      "                over \"SM_Kitchen_Handle\" (\n",
-      "                    prepend apiSchemas = [\"MaterialBindingAPI\"]\n",
-      "                )\n",
-      "                {\n",
-      "                    rel material:binding = </_materials/_Game_Materials_Laborraum_M_Metal_Brushed_M_Metal_Brushed_003>\n",
-      "                }\n",
-      "            }\n",
-      "\n",
-      "            def Xform \"cabinet10_drawer1_handle_collision_0\" (\n",
-      "                prepend apiSchemas = [\"PhysicsMassAPI\"]\n",
-      "            )\n",
-      "            {\n",
-      "                point3f physics:centerOfMass = (0, 0, 0)\n",
-      "                float physics:density = 100\n",
-      "                float3 physics:diagonalInertia = (-2.1781926, -1.1654099, 3.8509607)\n",
-      "                float physics:mass = 0.4815126\n",
-      "                quatf physics:principalAxes = (-0.5694668, -0.20332551, 0.77424425, -0.18684776)\n",
-      "                matrix4d xformOp:transform = ( (0.01, 0, 0, 0), (0, 0.0065, 0, 0), (0, 0, 0.0065, 0), (0.0164985, 0, 0.08, 1) )\n",
-      "                uniform token[] xformOpOrder = [\"xformOp:transform\"]\n",
-      "\n",
-      "                def Cube \"Cube\" (\n",
-      "                    prepend apiSchemas = [\"PhysicsCollisionAPI\"]\n",
-      "                )\n",
-      "                {\n",
-      "                    float3[] extent = [(-1, -1, -1), (1, 1, 1)]\n",
-      "                    bool physics:collisionEnabled = 1\n",
-      "                    color3f[] primvars:displayColor = [(1, 0, 0)]\n",
-      "                    float[] primvars:displayOpacity = [0.5]\n",
-      "                }\n",
-      "            }\n",
-      "\n",
-      "            def Xform \"cabinet10_drawer1_handle_collision_1\" (\n",
-      "                prepend apiSchemas = [\"PhysicsMassAPI\"]\n",
-      "            )\n",
-      "            {\n",
-      "                point3f physics:centerOfMass = (0, 0, 0)\n",
-      "                float physics:density = 100\n",
-      "                float3 physics:diagonalInertia = (-2.1781926, -1.1654099, 3.8509607)\n",
-      "                float physics:mass = 0.4815126\n",
-      "                quatf physics:principalAxes = (-0.5694668, -0.20332551, 0.77424425, -0.18684776)\n",
-      "                matrix4d xformOp:transform = ( (0.01, 0, 0, 0), (0, 0.0065, 0, 0), (0, 0, 0.0065, 0), (0.0164985, 0, -0.08, 1) )\n",
-      "                uniform token[] xformOpOrder = [\"xformOp:transform\"]\n",
-      "\n",
-      "                def Cube \"Cube\" (\n",
-      "                    prepend apiSchemas = [\"PhysicsCollisionAPI\"]\n",
-      "                )\n",
-      "                {\n",
-      "                    float3[] extent = [(-1, -1, -1), (1, 1, 1)]\n",
-      "                    bool physics:collisionEnabled = 1\n",
-      "                    color3f[] primvars:displayColor = [(1, 0, 0)]\n",
-      "                    float[] primvars:displayOpacity = [0.5]\n",
-      "                }\n",
-      "            }\n",
-      "\n",
-      "            def Xform \"cabinet10_drawer1_handle_collision_2\" (\n",
-      "                prepend apiSchemas = [\"PhysicsMassAPI\"]\n",
-      "            )\n",
-      "            {\n",
-      "                point3f physics:centerOfMass = (0, 0, 0)\n",
-      "                float physics:density = 100\n",
-      "                float3 physics:diagonalInertia = (-2.1781926, -1.1654099, 3.8509607)\n",
-      "                float physics:mass = 0.4815126\n",
-      "                quatf physics:principalAxes = (-0.5694668, -0.20332551, 0.77424425, -0.18684776)\n",
-      "                matrix4d xformOp:transform = ( (0.0065, 0, 0, 0), (0, 0.0065, 0, 0), (0, 0, 0.086516, 0), (0, 0, 0, 1) )\n",
-      "                uniform token[] xformOpOrder = [\"xformOp:transform\"]\n",
-      "\n",
-      "                def Cube \"Cube\" (\n",
-      "                    prepend apiSchemas = [\"PhysicsCollisionAPI\"]\n",
-      "                )\n",
-      "                {\n",
-      "                    float3[] extent = [(-1, -1, -1), (1, 1, 1)]\n",
-      "                    bool physics:collisionEnabled = 1\n",
-      "                    color3f[] primvars:displayColor = [(1, 0, 0)]\n",
-      "                    float[] primvars:displayOpacity = [0.5]\n",
-      "                }\n",
-      "            }\n",
-      "        }\n",
-      "    }\n",
-      "\n",
-      "    def Xform \"cabinet10_drawer2\" (\n",
-      "        prepend apiSchemas = [\"PhysicsRigidBodyAPI\"]\n",
-      "    )\n",
-      "    {\n",
-      "        bool physics:rigidBodyEnabled = 1\n",
-      "        matrix4d xformOp:transform = ( (1, 0, 0, 0), (0, 1, 0, 0), (0, 0, 1, 0), (2.5422772300000003, 2.27185079, 0.6291715200000001, 1) )\n",
-      "        uniform token[] xformOpOrder = [\"xformOp:transform\"]\n",
-      "\n",
-      "        def Xform \"cabinet10_drawer2_visual_0\" (\n",
-      "            prepend references = @./../meshes/usd/visual/SM_Kitchen_10_Drawer_02.usda@</SM_Kitchen_10_Drawer_02>\n",
-      "        )\n",
-      "        {\n",
-      "            matrix4d xformOp:transform = ( (1, 0, 0, 0), (0, 1, 0, 0), (0, 0, 1, 0), (0, 0, 0, 1) )\n",
-      "            uniform token[] xformOpOrder = [\"xformOp:transform\"]\n",
-      "\n",
-      "            over \"SM_Kitchen_10_Base_Drawer_02\" (\n",
-      "                prepend apiSchemas = [\"MaterialBindingAPI\"]\n",
-      "            )\n",
-      "            {\n",
-      "                rel material:binding = </_materials/_Game_Materials_Laborraum_M_Drawer_Mat_M_Drawer_Mat_006>\n",
-      "\n",
-      "                over \"_Game_Materials_Laborraum_M_Metal_Brushed_M_Metal_Brushed_005\" (\n",
-      "                    prepend apiSchemas = [\"MaterialBindingAPI\"]\n",
-      "                )\n",
-      "                {\n",
-      "                    rel material:binding = </_materials/_Game_Materials_Laborraum_M_Metal_Brushed_M_Metal_Brushed_005>\n",
-      "                }\n",
-      "\n",
-      "                over \"_Game_Materials_Laborraum_M_Kitchen_Fronts_M_Kitchen_Fronts_007\" (\n",
-      "                    prepend apiSchemas = [\"MaterialBindingAPI\"]\n",
-      "                )\n",
-      "                {\n",
-      "                    rel material:binding = </_materials/_Game_Materials_Laborraum_M_Kitchen_Fronts_M_Kitchen_Fronts_007>\n",
-      "                }\n",
-      "\n",
-      "                over \"_Game_Materials_Laborraum_M_Plastic_White_M_Plastic_White_014\" (\n",
-      "                    prepend apiSchemas = [\"MaterialBindingAPI\"]\n",
-      "                )\n",
-      "                {\n",
-      "                    rel material:binding = </_materials/_Game_Materials_Laborraum_M_Plastic_White_M_Plastic_White_014>\n",
-      "                }\n",
-      "\n",
-      "                over \"_Game_Materials_Laborraum_M_Drawer_Mat_M_Drawer_Mat_006\" (\n",
-      "                    prepend apiSchemas = [\"MaterialBindingAPI\"]\n",
-      "                )\n",
-      "                {\n",
-      "                    rel material:binding = </_materials/_Game_Materials_Laborraum_M_Drawer_Mat_M_Drawer_Mat_006>\n",
-      "                }\n",
-      "            }\n",
-      "        }\n",
-      "\n",
-      "        def Xform \"cabinet10_drawer2_collision_0\" (\n",
-      "            prepend apiSchemas = [\"PhysicsMassAPI\"]\n",
-      "        )\n",
-      "        {\n",
-      "            point3f physics:centerOfMass = (0, 0, 0)\n",
-      "            float physics:density = 100\n",
-      "            float3 physics:diagonalInertia = (-2.5775924, -1.8522997, 5.835665)\n",
-      "            float physics:mass = 0.6502114\n",
-      "            quatf physics:principalAxes = (-0.53464806, -0.20126691, 0.8020559, -0.17421086)\n",
-      "            matrix4d xformOp:transform = ( (0.245507, 0, 0, 0), (0, 0.008, 0, 0), (0, 0, 0.011649, 0), (0.021031, 0.170562, 0.041246, 1) )\n",
-      "            uniform token[] xformOpOrder = [\"xformOp:transform\"]\n",
-      "\n",
-      "            def Cube \"Cube\" (\n",
-      "                prepend apiSchemas = [\"PhysicsCollisionAPI\"]\n",
-      "            )\n",
-      "            {\n",
-      "                float3[] extent = [(-1, -1, -1), (1, 1, 1)]\n",
-      "                bool physics:collisionEnabled = 1\n",
-      "                color3f[] primvars:displayColor = [(1, 0, 0)]\n",
-      "                float[] primvars:displayOpacity = [0.5]\n",
-      "            }\n",
-      "        }\n",
-      "\n",
-      "        def Xform \"cabinet10_drawer2_collision_1\" (\n",
-      "            prepend apiSchemas = [\"PhysicsMassAPI\"]\n",
-      "        )\n",
-      "        {\n",
-      "            point3f physics:centerOfMass = (0, 0, 0)\n",
-      "            float physics:density = 100\n",
-      "            float3 physics:diagonalInertia = (-2.5775924, -1.8522997, 5.835665)\n",
-      "            float physics:mass = 0.6502114\n",
-      "            quatf physics:principalAxes = (-0.53464806, -0.20126691, 0.8020559, -0.17421086)\n",
-      "            matrix4d xformOp:transform = ( (0.245507, 0, 0, 0), (0, 0.008, 0, 0), (0, 0, 0.011649, 0), (0.021031, -0.170562, 0.041246, 1) )\n",
-      "            uniform token[] xformOpOrder = [\"xformOp:transform\"]\n"
-     ]
-    },
-    {
-     "name": "stdout",
-     "output_type": "stream",
-     "text": [
-      "\n",
-      "            def Cube \"Cube\" (\n",
-      "                prepend apiSchemas = [\"PhysicsCollisionAPI\"]\n",
-      "            )\n",
-      "            {\n",
-      "                float3[] extent = [(-1, -1, -1), (1, 1, 1)]\n",
-      "                bool physics:collisionEnabled = 1\n",
-      "                color3f[] primvars:displayColor = [(1, 0, 0)]\n",
-      "                float[] primvars:displayOpacity = [0.5]\n",
-      "            }\n",
-      "        }\n",
-      "\n",
-      "        def Xform \"cabinet10_drawer2_collision_2\" (\n",
-      "            prepend apiSchemas = [\"PhysicsMassAPI\"]\n",
-      "        )\n",
-      "        {\n",
-      "            point3f physics:centerOfMass = (0, 0, 0)\n",
-      "            float physics:density = 100\n",
-      "            float3 physics:diagonalInertia = (-2.5775924, -1.8522997, 5.835665)\n",
-      "            float physics:mass = 0.6502114\n",
-      "            quatf physics:principalAxes = (-0.53464806, -0.20126691, 0.8020559, -0.17421086)\n",
-      "            matrix4d xformOp:transform = ( (0.245507, 0, 0, 0), (0, 0.008, 0, 0), (0, 0, 0.041748, 0), (0.021031, 0.170562, -0.078968, 1) )\n",
-      "            uniform token[] xformOpOrder = [\"xformOp:transform\"]\n",
-      "\n",
-      "            def Cube \"Cube\" (\n",
-      "                prepend apiSchemas = [\"PhysicsCollisionAPI\"]\n",
-      "            )\n",
-      "            {\n",
-      "                float3[] extent = [(-1, -1, -1), (1, 1, 1)]\n",
-      "                bool physics:collisionEnabled = 1\n",
-      "                color3f[] primvars:displayColor = [(1, 0, 0)]\n",
-      "                float[] primvars:displayOpacity = [0.5]\n",
-      "            }\n",
-      "        }\n",
-      "\n",
-      "        def Xform \"cabinet10_drawer2_collision_3\" (\n",
-      "            prepend apiSchemas = [\"PhysicsMassAPI\"]\n",
-      "        )\n",
-      "        {\n",
-      "            point3f physics:centerOfMass = (0, 0, 0)\n",
-      "            float physics:density = 100\n",
-      "            float3 physics:diagonalInertia = (-2.5775924, -1.8522997, 5.835665)\n",
-      "            float physics:mass = 0.6502114\n",
-      "            quatf physics:principalAxes = (-0.53464806, -0.20126691, 0.8020559, -0.17421086)\n",
-      "            matrix4d xformOp:transform = ( (0.245507, 0, 0, 0), (0, 0.008, 0, 0), (0, 0, 0.041748, 0), (0.021031, -0.170562, -0.078968, 1) )\n",
-      "            uniform token[] xformOpOrder = [\"xformOp:transform\"]\n",
-      "\n",
-      "            def Cube \"Cube\" (\n",
-      "                prepend apiSchemas = [\"PhysicsCollisionAPI\"]\n",
-      "            )\n",
-      "            {\n",
-      "                float3[] extent = [(-1, -1, -1), (1, 1, 1)]\n",
-      "                bool physics:collisionEnabled = 1\n",
-      "                color3f[] primvars:displayColor = [(1, 0, 0)]\n",
-      "                float[] primvars:displayOpacity = [0.5]\n",
-      "            }\n",
-      "        }\n",
-      "\n",
-      "        def Xform \"cabinet10_drawer2_collision_4\" (\n",
-      "            prepend apiSchemas = [\"PhysicsMassAPI\"]\n",
-      "        )\n",
-      "        {\n",
-      "            point3f physics:centerOfMass = (0, 0, 0)\n",
-      "            float physics:density = 100\n",
-      "            float3 physics:diagonalInertia = (-2.5775924, -1.8522997, 5.835665)\n",
-      "            float physics:mass = 0.6502114\n",
-      "            quatf physics:principalAxes = (-0.53464806, -0.20126691, 0.8020559, -0.17421086)\n",
-      "            matrix4d xformOp:transform = ( (0.0095, 0, 0, 0), (0, 0.198867, 0, 0), (0, 0, 0.131375, 0), (-0.233977, 0, 0, 1) )\n",
-      "            uniform token[] xformOpOrder = [\"xformOp:transform\"]\n",
-      "\n",
-      "            def Cube \"Cube\" (\n",
-      "                prepend apiSchemas = [\"PhysicsCollisionAPI\"]\n",
-      "            )\n",
-      "            {\n",
-      "                float3[] extent = [(-1, -1, -1), (1, 1, 1)]\n",
-      "                bool physics:collisionEnabled = 1\n",
-      "                color3f[] primvars:displayColor = [(1, 0, 0)]\n",
-      "                float[] primvars:displayOpacity = [0.5]\n",
-      "            }\n",
-      "        }\n",
-      "\n",
-      "        def Xform \"cabinet10_drawer2_collision_5\" (\n",
-      "            prepend apiSchemas = [\"PhysicsMassAPI\"]\n",
-      "        )\n",
-      "        {\n",
-      "            point3f physics:centerOfMass = (0, 0, 0)\n",
-      "            float physics:density = 100\n",
-      "            float3 physics:diagonalInertia = (-2.5775924, -1.8522997, 5.835665)\n",
-      "            float physics:mass = 0.6502114\n",
-      "            quatf physics:principalAxes = (-0.53464806, -0.20126691, 0.8020559, -0.17421086)\n",
-      "            matrix4d xformOp:transform = ( (0.008, 0, 0, 0), (0, 0.178822, 0, 0), (0, 0, 0.084491, 0), (0.260372, 0, -0.037996, 1) )\n",
-      "            uniform token[] xformOpOrder = [\"xformOp:transform\"]\n",
-      "\n",
-      "            def Cube \"Cube\" (\n",
-      "                prepend apiSchemas = [\"PhysicsCollisionAPI\"]\n",
-      "            )\n",
-      "            {\n",
-      "                float3[] extent = [(-1, -1, -1), (1, 1, 1)]\n",
-      "                bool physics:collisionEnabled = 1\n",
-      "                color3f[] primvars:displayColor = [(1, 0, 0)]\n",
-      "                float[] primvars:displayOpacity = [0.5]\n",
-      "            }\n",
-      "        }\n",
-      "\n",
-      "        def Xform \"cabinet10_drawer2_collision_6\" (\n",
-      "            prepend apiSchemas = [\"PhysicsMassAPI\"]\n",
-      "        )\n",
-      "        {\n",
-      "            point3f physics:centerOfMass = (0, 0, 0)\n",
-      "            float physics:density = 100\n",
-      "            float3 physics:diagonalInertia = (-2.5775924, -1.8522997, 5.835665)\n",
-      "            float physics:mass = 0.6502114\n",
-      "            quatf physics:principalAxes = (-0.53464806, -0.20126691, 0.8020559, -0.17421086)\n",
-      "            matrix4d xformOp:transform = ( (0.245507, 0, 0, 0), (0, 0.178822, 0, 0), (0, 0, 0.008, 0), (0.021031, 0, -0.113735, 1) )\n",
-      "            uniform token[] xformOpOrder = [\"xformOp:transform\"]\n",
-      "\n",
-      "            def Cube \"Cube\" (\n",
-      "                prepend apiSchemas = [\"PhysicsCollisionAPI\"]\n",
-      "            )\n",
-      "            {\n",
-      "                float3[] extent = [(-1, -1, -1), (1, 1, 1)]\n",
-      "                bool physics:collisionEnabled = 1\n",
-      "                color3f[] primvars:displayColor = [(1, 0, 0)]\n",
-      "                float[] primvars:displayOpacity = [0.5]\n",
-      "            }\n",
-      "        }\n",
-      "\n",
-      "        def Xform \"cabinet10_drawer2_handle\"\n",
-      "        {\n",
-      "            matrix4d xformOp:transform = ( (1, 0, 0, 0), (0, 2.220446049250313e-16, 1, 0), (0, -1, 2.220446049250313e-16, 0), (-0.26686237, -0.00397854, 0.08541794, 1) )\n",
-      "            uniform token[] xformOpOrder = [\"xformOp:transform\"]\n",
-      "\n",
-      "            def Xform \"cabinet10_drawer2_handle_visual_0\" (\n",
-      "                prepend references = @./../meshes/usd/visual/SM_Kitchen_Handle.usda@</SM_Kitchen_Handle>\n",
-      "            )\n",
-      "            {\n",
-      "                matrix4d xformOp:transform = ( (1, 0, 0, 0), (0, 1, 0, 0), (0, 0, 1, 0), (0, 0, 0, 1) )\n",
-      "                uniform token[] xformOpOrder = [\"xformOp:transform\"]\n",
-      "\n",
-      "                over \"SM_Kitchen_Handle\" (\n",
-      "                    prepend apiSchemas = [\"MaterialBindingAPI\"]\n",
-      "                )\n",
-      "                {\n",
-      "                    rel material:binding = </_materials/_Game_Materials_Laborraum_M_Metal_Brushed_M_Metal_Brushed_003>\n",
-      "                }\n",
-      "            }\n",
-      "\n",
-      "            def Xform \"cabinet10_drawer2_handle_collision_0\" (\n",
-      "                prepend apiSchemas = [\"PhysicsMassAPI\"]\n",
-      "            )\n",
-      "            {\n",
-      "                point3f physics:centerOfMass = (0, 0, 0)\n",
-      "                float physics:density = 100\n",
-      "                float3 physics:diagonalInertia = (-2.5775924, -1.8522997, 5.835665)\n",
-      "                float physics:mass = 0.6502114\n",
-      "                quatf physics:principalAxes = (-0.53464806, -0.20126691, 0.8020559, -0.17421086)\n",
-      "                matrix4d xformOp:transform = ( (0.01, 0, 0, 0), (0, 0.0065, 0, 0), (0, 0, 0.0065, 0), (0.0164985, 0, 0.08, 1) )\n",
-      "                uniform token[] xformOpOrder = [\"xformOp:transform\"]\n",
-      "\n",
-      "                def Cube \"Cube\" (\n",
-      "                    prepend apiSchemas = [\"PhysicsCollisionAPI\"]\n",
-      "                )\n",
-      "                {\n",
-      "                    float3[] extent = [(-1, -1, -1), (1, 1, 1)]\n",
-      "                    bool physics:collisionEnabled = 1\n",
-      "                    color3f[] primvars:displayColor = [(1, 0, 0)]\n",
-      "                    float[] primvars:displayOpacity = [0.5]\n",
-      "                }\n",
-      "            }\n",
-      "\n",
-      "            def Xform \"cabinet10_drawer2_handle_collision_1\" (\n",
-      "                prepend apiSchemas = [\"PhysicsMassAPI\"]\n",
-      "            )\n",
-      "            {\n",
-      "                point3f physics:centerOfMass = (0, 0, 0)\n",
-      "                float physics:density = 100\n",
-      "                float3 physics:diagonalInertia = (-2.5775924, -1.8522997, 5.835665)\n",
-      "                float physics:mass = 0.6502114\n",
-      "                quatf physics:principalAxes = (-0.53464806, -0.20126691, 0.8020559, -0.17421086)\n",
-      "                matrix4d xformOp:transform = ( (0.01, 0, 0, 0), (0, 0.0065, 0, 0), (0, 0, 0.0065, 0), (0.0164985, 0, -0.08, 1) )\n",
-      "                uniform token[] xformOpOrder = [\"xformOp:transform\"]\n",
-      "\n",
-      "                def Cube \"Cube\" (\n",
-      "                    prepend apiSchemas = [\"PhysicsCollisionAPI\"]\n"
-     ]
-    },
-    {
-     "name": "stdout",
-     "output_type": "stream",
-     "text": [
-      "                )\n",
-      "                {\n",
-      "                    float3[] extent = [(-1, -1, -1), (1, 1, 1)]\n",
-      "                    bool physics:collisionEnabled = 1\n",
-      "                    color3f[] primvars:displayColor = [(1, 0, 0)]\n",
-      "                    float[] primvars:displayOpacity = [0.5]\n",
-      "                }\n",
-      "            }\n",
-      "\n",
-      "            def Xform \"cabinet10_drawer2_handle_collision_2\" (\n",
-      "                prepend apiSchemas = [\"PhysicsMassAPI\"]\n",
-      "            )\n",
-      "            {\n",
-      "                point3f physics:centerOfMass = (0, 0, 0)\n",
-      "                float physics:density = 100\n",
-      "                float3 physics:diagonalInertia = (-2.5775924, -1.8522997, 5.835665)\n",
-      "                float physics:mass = 0.6502114\n",
-      "                quatf physics:principalAxes = (-0.53464806, -0.20126691, 0.8020559, -0.17421086)\n",
-      "                matrix4d xformOp:transform = ( (0.0065, 0, 0, 0), (0, 0.0065, 0, 0), (0, 0, 0.086516, 0), (0, 0, 0, 1) )\n",
-      "                uniform token[] xformOpOrder = [\"xformOp:transform\"]\n",
-      "\n",
-      "                def Cube \"Cube\" (\n",
-      "                    prepend apiSchemas = [\"PhysicsCollisionAPI\"]\n",
-      "                )\n",
-      "                {\n",
-      "                    float3[] extent = [(-1, -1, -1), (1, 1, 1)]\n",
-      "                    bool physics:collisionEnabled = 1\n",
-      "                    color3f[] primvars:displayColor = [(1, 0, 0)]\n",
-      "                    float[] primvars:displayOpacity = [0.5]\n",
-      "                }\n",
-      "            }\n",
-      "        }\n",
-      "    }\n",
-      "\n",
-      "    def Xform \"cabinet10_drawer3\" (\n",
-      "        prepend apiSchemas = [\"PhysicsRigidBodyAPI\"]\n",
-      "    )\n",
-      "    {\n",
-      "        bool physics:rigidBodyEnabled = 1\n",
-      "        matrix4d xformOp:transform = ( (1, 0, 0, 0), (0, 1, 0, 0), (0, 0, 1, 0), (2.5425879000000005, 2.2715501899999997, 0.29715225000000006, 1) )\n",
-      "        uniform token[] xformOpOrder = [\"xformOp:transform\"]\n",
-      "\n",
-      "        def Xform \"cabinet10_drawer3_visual_0\" (\n",
-      "            prepend references = @./../meshes/usd/visual/SM_Kitchen_10_Drawer_03.usda@</SM_Kitchen_10_Drawer_03>\n",
-      "        )\n",
-      "        {\n",
-      "            matrix4d xformOp:transform = ( (1, 0, 0, 0), (0, 1, 0, 0), (0, 0, 1, 0), (0, 0, 0, 1) )\n",
-      "            uniform token[] xformOpOrder = [\"xformOp:transform\"]\n",
-      "\n",
-      "            over \"SM_Kitchen_10_Base_Drawer_03\" (\n",
-      "                prepend apiSchemas = [\"MaterialBindingAPI\"]\n",
-      "            )\n",
-      "            {\n",
-      "                rel material:binding = </_materials/_Game_Materials_Laborraum_M_Drawer_Mat_M_Drawer_Mat_007>\n",
-      "\n",
-      "                over \"_Game_Materials_Laborraum_M_Metal_Chrome_M_Metal_Chrome_005\" (\n",
-      "                    prepend apiSchemas = [\"MaterialBindingAPI\"]\n",
-      "                )\n",
-      "                {\n",
-      "                    rel material:binding = </_materials/_Game_Materials_Laborraum_M_Metal_Chrome_M_Metal_Chrome_005>\n",
-      "                }\n",
-      "\n",
-      "                over \"_Game_Materials_Laborraum_M_Kitchen_Fronts_M_Kitchen_Fronts_008\" (\n",
-      "                    prepend apiSchemas = [\"MaterialBindingAPI\"]\n",
-      "                )\n",
-      "                {\n",
-      "                    rel material:binding = </_materials/_Game_Materials_Laborraum_M_Kitchen_Fronts_M_Kitchen_Fronts_008>\n",
-      "                }\n",
-      "\n",
-      "                over \"_Game_Materials_Laborraum_M_Plastic_White_M_Plastic_White_015\" (\n",
-      "                    prepend apiSchemas = [\"MaterialBindingAPI\"]\n",
-      "                )\n",
-      "                {\n",
-      "                    rel material:binding = </_materials/_Game_Materials_Laborraum_M_Plastic_White_M_Plastic_White_015>\n",
-      "                }\n",
-      "\n",
-      "                over \"_Game_Materials_Laborraum_M_Drawer_Mat_M_Drawer_Mat_007\" (\n",
-      "                    prepend apiSchemas = [\"MaterialBindingAPI\"]\n",
-      "                )\n",
-      "                {\n",
-      "                    rel material:binding = </_materials/_Game_Materials_Laborraum_M_Drawer_Mat_M_Drawer_Mat_007>\n",
-      "                }\n",
-      "            }\n",
-      "        }\n",
-      "\n",
-      "        def Xform \"cabinet10_drawer3_collision_0\" (\n",
-      "            prepend apiSchemas = [\"PhysicsMassAPI\"]\n",
-      "        )\n",
-      "        {\n",
-      "            point3f physics:centerOfMass = (0, 0, 0)\n",
-      "            float physics:density = 100\n",
-      "            float3 physics:diagonalInertia = (-2.645346, -2.4815633, 7.133539)\n",
-      "            float physics:mass = 0.750759\n",
-      "            quatf physics:principalAxes = (-0.5118642, -0.4610361, 0.72486675, 0.0029947215)\n",
-      "            matrix4d xformOp:transform = ( (0.245507, 0, 0, 0), (0, 0.008, 0, 0), (0, 0, 0.011638, 0), (0.021031, 0.170562, -0.00926, 1) )\n",
-      "            uniform token[] xformOpOrder = [\"xformOp:transform\"]\n",
-      "\n",
-      "            def Cube \"Cube\" (\n",
-      "                prepend apiSchemas = [\"PhysicsCollisionAPI\"]\n",
-      "            )\n",
-      "            {\n",
-      "                float3[] extent = [(-1, -1, -1), (1, 1, 1)]\n",
-      "                bool physics:collisionEnabled = 1\n",
-      "                color3f[] primvars:displayColor = [(1, 0, 0)]\n",
-      "                float[] primvars:displayOpacity = [0.5]\n",
-      "            }\n",
-      "        }\n",
-      "\n",
-      "        def Xform \"cabinet10_drawer3_collision_1\" (\n",
-      "            prepend apiSchemas = [\"PhysicsMassAPI\"]\n",
-      "        )\n",
-      "        {\n",
-      "            point3f physics:centerOfMass = (0, 0, 0)\n",
-      "            float physics:density = 100\n",
-      "            float3 physics:diagonalInertia = (-2.645346, -2.4815633, 7.133539)\n",
-      "            float physics:mass = 0.750759\n",
-      "            quatf physics:principalAxes = (-0.5118642, -0.4610361, 0.72486675, 0.0029947215)\n",
-      "            matrix4d xformOp:transform = ( (0.245507, 0, 0, 0), (0, 0.008, 0, 0), (0, 0, 0.011638, 0), (0.021031, -0.170562, -0.00926, 1) )\n",
-      "            uniform token[] xformOpOrder = [\"xformOp:transform\"]\n",
-      "\n",
-      "            def Cube \"Cube\" (\n",
-      "                prepend apiSchemas = [\"PhysicsCollisionAPI\"]\n",
-      "            )\n",
-      "            {\n",
-      "                float3[] extent = [(-1, -1, -1), (1, 1, 1)]\n",
-      "                bool physics:collisionEnabled = 1\n",
-      "                color3f[] primvars:displayColor = [(1, 0, 0)]\n",
-      "                float[] primvars:displayOpacity = [0.5]\n",
-      "            }\n",
-      "        }\n",
-      "\n",
-      "        def Xform \"cabinet10_drawer3_collision_2\" (\n",
-      "            prepend apiSchemas = [\"PhysicsMassAPI\"]\n",
-      "        )\n",
-      "        {\n",
-      "            point3f physics:centerOfMass = (0, 0, 0)\n",
-      "            float physics:density = 100\n",
-      "            float3 physics:diagonalInertia = (-2.645346, -2.4815633, 7.133539)\n",
-      "            float physics:mass = 0.750759\n",
-      "            quatf physics:principalAxes = (-0.5118642, -0.4610361, 0.72486675, 0.0029947215)\n",
-      "            matrix4d xformOp:transform = ( (0.245507, 0, 0, 0), (0, 0.008, 0, 0), (0, 0, 0.041711, 0), (0.021031, 0.170562, -0.129424, 1) )\n",
-      "            uniform token[] xformOpOrder = [\"xformOp:transform\"]\n",
-      "\n",
-      "            def Cube \"Cube\" (\n",
-      "                prepend apiSchemas = [\"PhysicsCollisionAPI\"]\n",
-      "            )\n",
-      "            {\n",
-      "                float3[] extent = [(-1, -1, -1), (1, 1, 1)]\n",
-      "                bool physics:collisionEnabled = 1\n",
-      "                color3f[] primvars:displayColor = [(1, 0, 0)]\n",
-      "                float[] primvars:displayOpacity = [0.5]\n",
-      "            }\n",
-      "        }\n",
-      "\n",
-      "        def Xform \"cabinet10_drawer3_collision_3\" (\n",
-      "            prepend apiSchemas = [\"PhysicsMassAPI\"]\n",
-      "        )\n",
-      "        {\n",
-      "            point3f physics:centerOfMass = (0, 0, 0)\n",
-      "            float physics:density = 100\n",
-      "            float3 physics:diagonalInertia = (-2.645346, -2.4815633, 7.133539)\n",
-      "            float physics:mass = 0.750759\n",
-      "            quatf physics:principalAxes = (-0.5118642, -0.4610361, 0.72486675, 0.0029947215)\n",
-      "            matrix4d xformOp:transform = ( (0.245507, 0, 0, 0), (0, 0.008, 0, 0), (0, 0, 0.041711, 0), (0.021031, -0.170562, -0.129424, 1) )\n",
-      "            uniform token[] xformOpOrder = [\"xformOp:transform\"]\n",
-      "\n",
-      "            def Cube \"Cube\" (\n",
-      "                prepend apiSchemas = [\"PhysicsCollisionAPI\"]\n",
-      "            )\n",
-      "            {\n",
-      "                float3[] extent = [(-1, -1, -1), (1, 1, 1)]\n",
-      "                bool physics:collisionEnabled = 1\n",
-      "                color3f[] primvars:displayColor = [(1, 0, 0)]\n",
-      "                float[] primvars:displayOpacity = [0.5]\n",
-      "            }\n",
-      "        }\n",
-      "\n",
-      "        def Xform \"cabinet10_drawer3_collision_4\" (\n",
-      "            prepend apiSchemas = [\"PhysicsMassAPI\"]\n",
-      "        )\n",
-      "        {\n",
-      "            point3f physics:centerOfMass = (0, 0, 0)\n",
-      "            float physics:density = 100\n",
-      "            float3 physics:diagonalInertia = (-2.645346, -2.4815633, 7.133539)\n",
-      "            float physics:mass = 0.750759\n",
-      "            quatf physics:principalAxes = (-0.5118642, -0.4610361, 0.72486675, 0.0029947215)\n",
-      "            matrix4d xformOp:transform = ( (0.0095, 0, 0, 0), (0, 0.198867, 0, 0), (0, 0, 0.197867, 0), (-0.233977, 0, 0, 1) )\n"
-     ]
-    },
-    {
-     "name": "stdout",
-     "output_type": "stream",
-     "text": [
-      "            uniform token[] xformOpOrder = [\"xformOp:transform\"]\n",
-      "\n",
-      "            def Cube \"Cube\" (\n",
-      "                prepend apiSchemas = [\"PhysicsCollisionAPI\"]\n",
-      "            )\n",
-      "            {\n",
-      "                float3[] extent = [(-1, -1, -1), (1, 1, 1)]\n",
-      "                bool physics:collisionEnabled = 1\n",
-      "                color3f[] primvars:displayColor = [(1, 0, 0)]\n",
-      "                float[] primvars:displayOpacity = [0.5]\n",
-      "            }\n",
-      "        }\n",
-      "\n",
-      "        def Xform \"cabinet10_drawer3_collision_5\" (\n",
-      "            prepend apiSchemas = [\"PhysicsMassAPI\"]\n",
-      "        )\n",
-      "        {\n",
-      "            point3f physics:centerOfMass = (0, 0, 0)\n",
-      "            float physics:density = 100\n",
-      "            float3 physics:diagonalInertia = (-2.645346, -2.4815633, 7.133539)\n",
-      "            float physics:mass = 0.750759\n",
-      "            quatf physics:principalAxes = (-0.5118642, -0.4610361, 0.72486675, 0.0029947215)\n",
-      "            matrix4d xformOp:transform = ( (0.008, 0, 0, 0), (0, 0.178822, 0, 0), (0, 0, 0.084105, 0), (0.260372, 0, -0.088821, 1) )\n",
-      "            uniform token[] xformOpOrder = [\"xformOp:transform\"]\n",
-      "\n",
-      "            def Cube \"Cube\" (\n",
-      "                prepend apiSchemas = [\"PhysicsCollisionAPI\"]\n",
-      "            )\n",
-      "            {\n",
-      "                float3[] extent = [(-1, -1, -1), (1, 1, 1)]\n",
-      "                bool physics:collisionEnabled = 1\n",
-      "                color3f[] primvars:displayColor = [(1, 0, 0)]\n",
-      "                float[] primvars:displayOpacity = [0.5]\n",
-      "            }\n",
-      "        }\n",
-      "\n",
-      "        def Xform \"cabinet10_drawer3_collision_6\" (\n",
-      "            prepend apiSchemas = [\"PhysicsMassAPI\"]\n",
-      "        )\n",
-      "        {\n",
-      "            point3f physics:centerOfMass = (0, 0, 0)\n",
-      "            float physics:density = 100\n",
-      "            float3 physics:diagonalInertia = (-2.645346, -2.4815633, 7.133539)\n",
-      "            float physics:mass = 0.750759\n",
-      "            quatf physics:principalAxes = (-0.5118642, -0.4610361, 0.72486675, 0.0029947215)\n",
-      "            matrix4d xformOp:transform = ( (0.245507, 0, 0, 0), (0, 0.178822, 0, 0), (0, 0, 0.008, 0), (0.021031, 0, -0.164582, 1) )\n",
-      "            uniform token[] xformOpOrder = [\"xformOp:transform\"]\n",
-      "\n",
-      "            def Cube \"Cube\" (\n",
-      "                prepend apiSchemas = [\"PhysicsCollisionAPI\"]\n",
-      "            )\n",
-      "            {\n",
-      "                float3[] extent = [(-1, -1, -1), (1, 1, 1)]\n",
-      "                bool physics:collisionEnabled = 1\n",
-      "                color3f[] primvars:displayColor = [(1, 0, 0)]\n",
-      "                float[] primvars:displayOpacity = [0.5]\n",
-      "            }\n",
-      "        }\n",
-      "\n",
-      "        def Xform \"cabinet10_drawer3_handle\"\n",
-      "        {\n",
-      "            matrix4d xformOp:transform = ( (1, 0, 0, 0), (0, 2.220446049250313e-16, 1, 0), (0, -1, 2.220446049250313e-16, 0), (-0.26712164, -0.00402777, 0.15116583, 1) )\n",
-      "            uniform token[] xformOpOrder = [\"xformOp:transform\"]\n",
-      "\n",
-      "            def Xform \"cabinet10_drawer3_handle_visual_0\" (\n",
-      "                prepend references = @./../meshes/usd/visual/SM_Kitchen_Handle.usda@</SM_Kitchen_Handle>\n",
-      "            )\n",
-      "            {\n",
-      "                matrix4d xformOp:transform = ( (1, 0, 0, 0), (0, 1, 0, 0), (0, 0, 1, 0), (0, 0, 0, 1) )\n",
-      "                uniform token[] xformOpOrder = [\"xformOp:transform\"]\n",
-      "\n",
-      "                over \"SM_Kitchen_Handle\" (\n",
-      "                    prepend apiSchemas = [\"MaterialBindingAPI\"]\n",
-      "                )\n",
-      "                {\n",
-      "                    rel material:binding = </_materials/_Game_Materials_Laborraum_M_Metal_Brushed_M_Metal_Brushed_003>\n",
-      "                }\n",
-      "            }\n",
-      "\n",
-      "            def Xform \"cabinet10_drawer3_handle_collision_0\" (\n",
-      "                prepend apiSchemas = [\"PhysicsMassAPI\"]\n",
-      "            )\n",
-      "            {\n",
-      "                point3f physics:centerOfMass = (0, 0, 0)\n",
-      "                float physics:density = 100\n",
-      "                float3 physics:diagonalInertia = (-2.645346, -2.4815633, 7.133539)\n",
-      "                float physics:mass = 0.750759\n",
-      "                quatf physics:principalAxes = (-0.5118642, -0.4610361, 0.72486675, 0.0029947215)\n",
-      "                matrix4d xformOp:transform = ( (0.01, 0, 0, 0), (0, 0.0065, 0, 0), (0, 0, 0.0065, 0), (0.0164985, 0, 0.08, 1) )\n",
-      "                uniform token[] xformOpOrder = [\"xformOp:transform\"]\n",
-      "\n",
-      "                def Cube \"Cube\" (\n",
-      "                    prepend apiSchemas = [\"PhysicsCollisionAPI\"]\n",
-      "                )\n",
-      "                {\n",
-      "                    float3[] extent = [(-1, -1, -1), (1, 1, 1)]\n",
-      "                    bool physics:collisionEnabled = 1\n",
-      "                    color3f[] primvars:displayColor = [(1, 0, 0)]\n",
-      "                    float[] primvars:displayOpacity = [0.5]\n",
-      "                }\n",
-      "            }\n",
-      "\n",
-      "            def Xform \"cabinet10_drawer3_handle_collision_1\" (\n",
-      "                prepend apiSchemas = [\"PhysicsMassAPI\"]\n",
-      "            )\n",
-      "            {\n",
-      "                point3f physics:centerOfMass = (0, 0, 0)\n",
-      "                float physics:density = 100\n",
-      "                float3 physics:diagonalInertia = (-2.645346, -2.4815633, 7.133539)\n",
-      "                float physics:mass = 0.750759\n",
-      "                quatf physics:principalAxes = (-0.5118642, -0.4610361, 0.72486675, 0.0029947215)\n",
-      "                matrix4d xformOp:transform = ( (0.01, 0, 0, 0), (0, 0.0065, 0, 0), (0, 0, 0.0065, 0), (0.0164985, 0, -0.08, 1) )\n",
-      "                uniform token[] xformOpOrder = [\"xformOp:transform\"]\n",
-      "\n",
-      "                def Cube \"Cube\" (\n",
-      "                    prepend apiSchemas = [\"PhysicsCollisionAPI\"]\n",
-      "                )\n",
-      "                {\n",
-      "                    float3[] extent = [(-1, -1, -1), (1, 1, 1)]\n",
-      "                    bool physics:collisionEnabled = 1\n",
-      "                    color3f[] primvars:displayColor = [(1, 0, 0)]\n",
-      "                    float[] primvars:displayOpacity = [0.5]\n",
-      "                }\n",
-      "            }\n",
-      "\n",
-      "            def Xform \"cabinet10_drawer3_handle_collision_2\" (\n",
-      "                prepend apiSchemas = [\"PhysicsMassAPI\"]\n",
-      "            )\n",
-      "            {\n",
-      "                point3f physics:centerOfMass = (0, 0, 0)\n",
-      "                float physics:density = 100\n",
-      "                float3 physics:diagonalInertia = (-2.645346, -2.4815633, 7.133539)\n",
-      "                float physics:mass = 0.750759\n",
-      "                quatf physics:principalAxes = (-0.5118642, -0.4610361, 0.72486675, 0.0029947215)\n",
-      "                matrix4d xformOp:transform = ( (0.0065, 0, 0, 0), (0, 0.0065, 0, 0), (0, 0, 0.086516, 0), (0, 0, 0, 1) )\n",
-      "                uniform token[] xformOpOrder = [\"xformOp:transform\"]\n",
-      "\n",
-      "                def Cube \"Cube\" (\n",
-      "                    prepend apiSchemas = [\"PhysicsCollisionAPI\"]\n",
-      "                )\n",
-      "                {\n",
-      "                    float3[] extent = [(-1, -1, -1), (1, 1, 1)]\n",
-      "                    bool physics:collisionEnabled = 1\n",
-      "                    color3f[] primvars:displayColor = [(1, 0, 0)]\n",
-      "                    float[] primvars:displayOpacity = [0.5]\n",
-      "                }\n",
-      "            }\n",
-      "        }\n",
-      "    }\n",
-      "\n",
-      "    def Xform \"cabinet11_drawer1\" (\n",
-      "        prepend apiSchemas = [\"PhysicsRigidBodyAPI\"]\n",
-      "    )\n",
-      "    {\n",
-      "        bool physics:rigidBodyEnabled = 1\n",
-      "        matrix4d xformOp:transform = ( (1, 0, 0, 0), (0, 1, 0, 0), (0, 0, 1, 0), (2.54211427, 1.62219746, 0.82801322, 1) )\n",
-      "        uniform token[] xformOpOrder = [\"xformOp:transform\"]\n",
-      "\n",
-      "        def Xform \"cabinet11_drawer1_visual_0\" (\n",
-      "            prepend references = @./../meshes/usd/visual/SM_Kitchen_11_Drawer_01.usda@</SM_Kitchen_11_Drawer_01>\n",
-      "        )\n",
-      "        {\n",
-      "            matrix4d xformOp:transform = ( (1, 0, 0, 0), (0, 1, 0, 0), (0, 0, 1, 0), (0, 0, 0, 1) )\n",
-      "            uniform token[] xformOpOrder = [\"xformOp:transform\"]\n",
-      "\n",
-      "            over \"SM_Kitchen_11_Drawer_01\" (\n",
-      "                prepend apiSchemas = [\"MaterialBindingAPI\"]\n",
-      "            )\n",
-      "            {\n",
-      "                rel material:binding = </_materials/_Game_Materials_Laborraum_M_Drawer_Mat_M_Drawer_Mat_008>\n",
-      "\n",
-      "                over \"_Game_Materials_Laborraum_M_Metal_Chrome_M_Metal_Chrome_007\" (\n",
-      "                    prepend apiSchemas = [\"MaterialBindingAPI\"]\n",
-      "                )\n",
-      "                {\n",
-      "                    rel material:binding = </_materials/_Game_Materials_Laborraum_M_Metal_Chrome_M_Metal_Chrome_007>\n",
-      "                }\n",
-      "\n",
-      "                over \"_Game_Materials_Laborraum_M_Kitchen_Fronts_M_Kitchen_Fronts_009\" (\n",
-      "                    prepend apiSchemas = [\"MaterialBindingAPI\"]\n",
-      "                )\n",
-      "                {\n",
-      "                    rel material:binding = </_materials/_Game_Materials_Laborraum_M_Kitchen_Fronts_M_Kitchen_Fronts_009>\n"
-     ]
-    },
-    {
-     "name": "stdout",
-     "output_type": "stream",
-     "text": [
-      "                }\n",
-      "\n",
-      "                over \"_Game_Materials_Laborraum_M_Plastic_White_M_Plastic_White_017\" (\n",
-      "                    prepend apiSchemas = [\"MaterialBindingAPI\"]\n",
-      "                )\n",
-      "                {\n",
-      "                    rel material:binding = </_materials/_Game_Materials_Laborraum_M_Plastic_White_M_Plastic_White_017>\n",
-      "                }\n",
-      "\n",
-      "                over \"_Game_Materials_Laborraum_M_Drawer_Mat_M_Drawer_Mat_008\" (\n",
-      "                    prepend apiSchemas = [\"MaterialBindingAPI\"]\n",
-      "                )\n",
-      "                {\n",
-      "                    rel material:binding = </_materials/_Game_Materials_Laborraum_M_Drawer_Mat_M_Drawer_Mat_008>\n",
-      "                }\n",
-      "            }\n",
-      "        }\n",
-      "\n",
-      "        def Xform \"cabinet11_drawer1_collision_0\" (\n",
-      "            prepend apiSchemas = [\"PhysicsMassAPI\"]\n",
-      "        )\n",
-      "        {\n",
-      "            point3f physics:centerOfMass = (0, 0, 0)\n",
-      "            float physics:density = 100\n",
-      "            float3 physics:diagonalInertia = (-10.994816, -6.510247, 18.374786)\n",
-      "            float physics:mass = 0.9771583\n",
-      "            quatf physics:principalAxes = (-0.2888746, -0.25373927, 0.33756083, 0.8591976)\n",
-      "            matrix4d xformOp:transform = ( (0.245507, 0, 0, 0), (0, 0.008, 0, 0), (0, 0, 0.042633, 0), (0.021031, 0.418233, -0.01336, 1) )\n",
-      "            uniform token[] xformOpOrder = [\"xformOp:transform\"]\n",
-      "\n",
-      "            def Cube \"Cube\" (\n",
-      "                prepend apiSchemas = [\"PhysicsCollisionAPI\"]\n",
-      "            )\n",
-      "            {\n",
-      "                float3[] extent = [(-1, -1, -1), (1, 1, 1)]\n",
-      "                bool physics:collisionEnabled = 1\n",
-      "                color3f[] primvars:displayColor = [(1, 0, 0)]\n",
-      "                float[] primvars:displayOpacity = [0.5]\n",
-      "            }\n",
-      "        }\n",
-      "\n",
-      "        def Xform \"cabinet11_drawer1_collision_1\" (\n",
-      "            prepend apiSchemas = [\"PhysicsMassAPI\"]\n",
-      "        )\n",
-      "        {\n",
-      "            point3f physics:centerOfMass = (0, 0, 0)\n",
-      "            float physics:density = 100\n",
-      "            float3 physics:diagonalInertia = (-10.994816, -6.510247, 18.374786)\n",
-      "            float physics:mass = 0.9771583\n",
-      "            quatf physics:principalAxes = (-0.2888746, -0.25373927, 0.33756083, 0.8591976)\n",
-      "            matrix4d xformOp:transform = ( (0.245507, 0, 0, 0), (0, 0.008, 0, 0), (0, 0, 0.042633, 0), (0.021031, -0.418233, -0.01336, 1) )\n",
-      "            uniform token[] xformOpOrder = [\"xformOp:transform\"]\n",
-      "\n",
-      "            def Cube \"Cube\" (\n",
-      "                prepend apiSchemas = [\"PhysicsCollisionAPI\"]\n",
-      "            )\n",
-      "            {\n",
-      "                float3[] extent = [(-1, -1, -1), (1, 1, 1)]\n",
-      "                bool physics:collisionEnabled = 1\n",
-      "                color3f[] primvars:displayColor = [(1, 0, 0)]\n",
-      "                float[] primvars:displayOpacity = [0.5]\n",
-      "            }\n",
-      "        }\n",
-      "\n",
-      "        def Xform \"cabinet11_drawer1_collision_2\" (\n",
-      "            prepend apiSchemas = [\"PhysicsMassAPI\"]\n",
-      "        )\n",
-      "        {\n",
-      "            point3f physics:centerOfMass = (0, 0, 0)\n",
-      "            float physics:density = 100\n",
-      "            float3 physics:diagonalInertia = (-10.994816, -6.510247, 18.374786)\n",
-      "            float physics:mass = 0.9771583\n",
-      "            quatf physics:principalAxes = (-0.2888746, -0.25373927, 0.33756083, 0.8591976)\n",
-      "            matrix4d xformOp:transform = ( (0.0095, 0, 0, 0), (0, 0.448341, 0, 0), (0, 0, 0.064993, 0), (-0.233977, 0, 0, 1) )\n",
-      "            uniform token[] xformOpOrder = [\"xformOp:transform\"]\n",
-      "\n",
-      "            def Cube \"Cube\" (\n",
-      "                prepend apiSchemas = [\"PhysicsCollisionAPI\"]\n",
-      "            )\n",
-      "            {\n",
-      "                float3[] extent = [(-1, -1, -1), (1, 1, 1)]\n",
-      "                bool physics:collisionEnabled = 1\n",
-      "                color3f[] primvars:displayColor = [(1, 0, 0)]\n",
-      "                float[] primvars:displayOpacity = [0.5]\n",
-      "            }\n",
-      "        }\n",
-      "\n",
-      "        def Xform \"cabinet11_drawer1_collision_3\" (\n",
-      "            prepend apiSchemas = [\"PhysicsMassAPI\"]\n",
-      "        )\n",
-      "        {\n",
-      "            point3f physics:centerOfMass = (0, 0, 0)\n",
-      "            float physics:density = 100\n",
-      "            float3 physics:diagonalInertia = (-10.994816, -6.510247, 18.374786)\n",
-      "            float physics:mass = 0.9771583\n",
-      "            quatf physics:principalAxes = (-0.2888746, -0.25373927, 0.33756083, 0.8591976)\n",
-      "            matrix4d xformOp:transform = ( (0.008, 0, 0, 0), (0, 0.419788, 0, 0), (0, 0, 0.042633, 0), (0.260372, 0, -0.01336, 1) )\n",
-      "            uniform token[] xformOpOrder = [\"xformOp:transform\"]\n",
-      "\n",
-      "            def Cube \"Cube\" (\n",
-      "                prepend apiSchemas = [\"PhysicsCollisionAPI\"]\n",
-      "            )\n",
-      "            {\n",
-      "                float3[] extent = [(-1, -1, -1), (1, 1, 1)]\n",
-      "                bool physics:collisionEnabled = 1\n",
-      "                color3f[] primvars:displayColor = [(1, 0, 0)]\n",
-      "                float[] primvars:displayOpacity = [0.5]\n",
-      "            }\n",
-      "        }\n",
-      "\n",
-      "        def Xform \"cabinet11_drawer1_collision_4\" (\n",
-      "            prepend apiSchemas = [\"PhysicsMassAPI\"]\n",
-      "        )\n",
-      "        {\n",
-      "            point3f physics:centerOfMass = (0, 0, 0)\n",
-      "            float physics:density = 100\n",
-      "            float3 physics:diagonalInertia = (-10.994816, -6.510247, 18.374786)\n",
-      "            float physics:mass = 0.9771583\n",
-      "            quatf physics:principalAxes = (-0.2888746, -0.25373927, 0.33756083, 0.8591976)\n",
-      "            matrix4d xformOp:transform = ( (0.245507, 0, 0, 0), (0, 0.419788, 0, 0), (0, 0, 0.0075, 0), (0.021031, 0, -0.047595, 1) )\n",
-      "            uniform token[] xformOpOrder = [\"xformOp:transform\"]\n",
-      "\n",
-      "            def Cube \"Cube\" (\n",
-      "                prepend apiSchemas = [\"PhysicsCollisionAPI\"]\n",
-      "            )\n",
-      "            {\n",
-      "                float3[] extent = [(-1, -1, -1), (1, 1, 1)]\n",
-      "                bool physics:collisionEnabled = 1\n",
-      "                color3f[] primvars:displayColor = [(1, 0, 0)]\n",
-      "                float[] primvars:displayOpacity = [0.5]\n",
-      "            }\n",
-      "        }\n",
-      "\n",
-      "        def Xform \"cabinet11_drawer1_handle\"\n",
-      "        {\n",
-      "            matrix4d xformOp:transform = ( (1, 0, 0, 0), (0, 2.220446049250313e-16, 1, 0), (0, -1, 2.220446049250313e-16, 0), (-0.26662336, -0.00124599, 0.0172039, 1) )\n",
-      "            uniform token[] xformOpOrder = [\"xformOp:transform\"]\n",
-      "\n",
-      "            def Xform \"cabinet11_drawer1_handle_visual_0\" (\n",
-      "                prepend references = @./../meshes/usd/visual/SM_Kitchen_Handle.usda@</SM_Kitchen_Handle>\n",
-      "            )\n",
-      "            {\n",
-      "                matrix4d xformOp:transform = ( (1, 0, 0, 0), (0, 1, 0, 0), (0, 0, 1, 0), (0, 0, 0, 1) )\n",
-      "                uniform token[] xformOpOrder = [\"xformOp:transform\"]\n",
-      "\n",
-      "                over \"SM_Kitchen_Handle\" (\n",
-      "                    prepend apiSchemas = [\"MaterialBindingAPI\"]\n",
-      "                )\n",
-      "                {\n",
-      "                    rel material:binding = </_materials/_Game_Materials_Laborraum_M_Metal_Brushed_M_Metal_Brushed_003>\n",
-      "                }\n",
-      "            }\n",
-      "\n",
-      "            def Xform \"cabinet11_drawer1_handle_collision_0\" (\n",
-      "                prepend apiSchemas = [\"PhysicsMassAPI\"]\n",
-      "            )\n",
-      "            {\n",
-      "                point3f physics:centerOfMass = (0, 0, 0)\n",
-      "                float physics:density = 100\n",
-      "                float3 physics:diagonalInertia = (-10.994816, -6.510247, 18.374786)\n",
-      "                float physics:mass = 0.9771583\n",
-      "                quatf physics:principalAxes = (-0.2888746, -0.25373927, 0.33756083, 0.8591976)\n",
-      "                matrix4d xformOp:transform = ( (0.01, 0, 0, 0), (0, 0.0065, 0, 0), (0, 0, 0.0065, 0), (0.0164985, 0, 0.08, 1) )\n",
-      "                uniform token[] xformOpOrder = [\"xformOp:transform\"]\n",
-      "\n",
-      "                def Cube \"Cube\" (\n",
-      "                    prepend apiSchemas = [\"PhysicsCollisionAPI\"]\n",
-      "                )\n",
-      "                {\n",
-      "                    float3[] extent = [(-1, -1, -1), (1, 1, 1)]\n",
-      "                    bool physics:collisionEnabled = 1\n",
-      "                    color3f[] primvars:displayColor = [(1, 0, 0)]\n",
-      "                    float[] primvars:displayOpacity = [0.5]\n",
-      "                }\n",
-      "            }\n",
-      "\n",
-      "            def Xform \"cabinet11_drawer1_handle_collision_1\" (\n",
-      "                prepend apiSchemas = [\"PhysicsMassAPI\"]\n",
-      "            )\n",
-      "            {\n",
-      "                point3f physics:centerOfMass = (0, 0, 0)\n",
-      "                float physics:density = 100\n",
-      "                float3 physics:diagonalInertia = (-10.994816, -6.510247, 18.374786)\n",
-      "                float physics:mass = 0.9771583\n",
-      "                quatf physics:principalAxes = (-0.2888746, -0.25373927, 0.33756083, 0.8591976)\n"
-     ]
-    },
-    {
-     "name": "stdout",
-     "output_type": "stream",
-     "text": [
-      "                matrix4d xformOp:transform = ( (0.01, 0, 0, 0), (0, 0.0065, 0, 0), (0, 0, 0.0065, 0), (0.0164985, 0, -0.08, 1) )\n",
-      "                uniform token[] xformOpOrder = [\"xformOp:transform\"]\n",
-      "\n",
-      "                def Cube \"Cube\" (\n",
-      "                    prepend apiSchemas = [\"PhysicsCollisionAPI\"]\n",
-      "                )\n",
-      "                {\n",
-      "                    float3[] extent = [(-1, -1, -1), (1, 1, 1)]\n",
-      "                    bool physics:collisionEnabled = 1\n",
-      "                    color3f[] primvars:displayColor = [(1, 0, 0)]\n",
-      "                    float[] primvars:displayOpacity = [0.5]\n",
-      "                }\n",
-      "            }\n",
-      "\n",
-      "            def Xform \"cabinet11_drawer1_handle_collision_2\" (\n",
-      "                prepend apiSchemas = [\"PhysicsMassAPI\"]\n",
-      "            )\n",
-      "            {\n",
-      "                point3f physics:centerOfMass = (0, 0, 0)\n",
-      "                float physics:density = 100\n",
-      "                float3 physics:diagonalInertia = (-10.994816, -6.510247, 18.374786)\n",
-      "                float physics:mass = 0.9771583\n",
-      "                quatf physics:principalAxes = (-0.2888746, -0.25373927, 0.33756083, 0.8591976)\n",
-      "                matrix4d xformOp:transform = ( (0.0065, 0, 0, 0), (0, 0.0065, 0, 0), (0, 0, 0.086516, 0), (0, 0, 0, 1) )\n",
-      "                uniform token[] xformOpOrder = [\"xformOp:transform\"]\n",
-      "\n",
-      "                def Cube \"Cube\" (\n",
-      "                    prepend apiSchemas = [\"PhysicsCollisionAPI\"]\n",
-      "                )\n",
-      "                {\n",
-      "                    float3[] extent = [(-1, -1, -1), (1, 1, 1)]\n",
-      "                    bool physics:collisionEnabled = 1\n",
-      "                    color3f[] primvars:displayColor = [(1, 0, 0)]\n",
-      "                    float[] primvars:displayOpacity = [0.5]\n",
-      "                }\n",
-      "            }\n",
-      "        }\n",
-      "    }\n",
-      "\n",
-      "    def Xform \"cabinet11_drawer2\" (\n",
-      "        prepend apiSchemas = [\"PhysicsRigidBodyAPI\"]\n",
-      "    )\n",
-      "    {\n",
-      "        bool physics:rigidBodyEnabled = 1\n",
-      "        matrix4d xformOp:transform = ( (1, 0, 0, 0), (0, 1, 0, 0), (0, 0, 1, 0), (2.54262788, 1.62201787, 0.6290229, 1) )\n",
-      "        uniform token[] xformOpOrder = [\"xformOp:transform\"]\n",
-      "\n",
-      "        def Xform \"cabinet11_drawer2_visual_0\" (\n",
-      "            prepend references = @./../meshes/usd/visual/SM_Kitchen_11_Drawer_02.usda@</SM_Kitchen_11_Drawer_02>\n",
-      "        )\n",
-      "        {\n",
-      "            matrix4d xformOp:transform = ( (1, 0, 0, 0), (0, 1, 0, 0), (0, 0, 1, 0), (0, 0, 0, 1) )\n",
-      "            uniform token[] xformOpOrder = [\"xformOp:transform\"]\n",
-      "\n",
-      "            over \"SM_Kitchen_11_Drawer_02\" (\n",
-      "                prepend apiSchemas = [\"MaterialBindingAPI\"]\n",
-      "            )\n",
-      "            {\n",
-      "                rel material:binding = </_materials/_Game_Materials_Laborraum_M_Drawer_Mat_M_Drawer_Mat_009>\n",
-      "\n",
-      "                over \"_Game_Materials_Laborraum_M_Metal_Chrome_M_Metal_Chrome_008\" (\n",
-      "                    prepend apiSchemas = [\"MaterialBindingAPI\"]\n",
-      "                )\n",
-      "                {\n",
-      "                    rel material:binding = </_materials/_Game_Materials_Laborraum_M_Metal_Chrome_M_Metal_Chrome_008>\n",
-      "                }\n",
-      "\n",
-      "                over \"_Game_Materials_Laborraum_M_Kitchen_Fronts_M_Kitchen_Fronts_010\" (\n",
-      "                    prepend apiSchemas = [\"MaterialBindingAPI\"]\n",
-      "                )\n",
-      "                {\n",
-      "                    rel material:binding = </_materials/_Game_Materials_Laborraum_M_Kitchen_Fronts_M_Kitchen_Fronts_010>\n",
-      "                }\n",
-      "\n",
-      "                over \"_Game_Materials_Laborraum_M_Plastic_White_M_Plastic_White_018\" (\n",
-      "                    prepend apiSchemas = [\"MaterialBindingAPI\"]\n",
-      "                )\n",
-      "                {\n",
-      "                    rel material:binding = </_materials/_Game_Materials_Laborraum_M_Plastic_White_M_Plastic_White_018>\n",
-      "                }\n",
-      "\n",
-      "                over \"_Game_Materials_Laborraum_M_Drawer_Mat_M_Drawer_Mat_009\" (\n",
-      "                    prepend apiSchemas = [\"MaterialBindingAPI\"]\n",
-      "                )\n",
-      "                {\n",
-      "                    rel material:binding = </_materials/_Game_Materials_Laborraum_M_Drawer_Mat_M_Drawer_Mat_009>\n",
-      "                }\n",
-      "            }\n",
-      "        }\n",
-      "\n",
-      "        def Xform \"cabinet11_drawer2_collision_0\" (\n",
-      "            prepend apiSchemas = [\"PhysicsMassAPI\"]\n",
-      "        )\n",
-      "        {\n",
-      "            point3f physics:centerOfMass = (0, 0, 0)\n",
-      "            float physics:density = 100\n",
-      "            float3 physics:diagonalInertia = (-13.585582, -8.863193, 24.854698)\n",
-      "            float physics:mass = 1.3389739\n",
-      "            quatf physics:principalAxes = (0.36004195, 0.8541277, 0.28411108, 0.24518679)\n",
-      "            matrix4d xformOp:transform = ( (0.245507, 0, 0, 0), (0, 0.008, 0, 0), (0, 0, 0.011649, 0), (0.021031, 0.418233, 0.041246, 1) )\n",
-      "            uniform token[] xformOpOrder = [\"xformOp:transform\"]\n",
-      "\n",
-      "            def Cube \"Cube\" (\n",
-      "                prepend apiSchemas = [\"PhysicsCollisionAPI\"]\n",
-      "            )\n",
-      "            {\n",
-      "                float3[] extent = [(-1, -1, -1), (1, 1, 1)]\n",
-      "                bool physics:collisionEnabled = 1\n",
-      "                color3f[] primvars:displayColor = [(1, 0, 0)]\n",
-      "                float[] primvars:displayOpacity = [0.5]\n",
-      "            }\n",
-      "        }\n",
-      "\n",
-      "        def Xform \"cabinet11_drawer2_collision_1\" (\n",
-      "            prepend apiSchemas = [\"PhysicsMassAPI\"]\n",
-      "        )\n",
-      "        {\n",
-      "            point3f physics:centerOfMass = (0, 0, 0)\n",
-      "            float physics:density = 100\n",
-      "            float3 physics:diagonalInertia = (-13.585582, -8.863193, 24.854698)\n",
-      "            float physics:mass = 1.3389739\n",
-      "            quatf physics:principalAxes = (0.36004195, 0.8541277, 0.28411108, 0.24518679)\n",
-      "            matrix4d xformOp:transform = ( (0.245507, 0, 0, 0), (0, 0.008, 0, 0), (0, 0, 0.011649, 0), (0.021031, -0.418233, 0.041246, 1) )\n",
-      "            uniform token[] xformOpOrder = [\"xformOp:transform\"]\n",
-      "\n",
-      "            def Cube \"Cube\" (\n",
-      "                prepend apiSchemas = [\"PhysicsCollisionAPI\"]\n",
-      "            )\n",
-      "            {\n",
-      "                float3[] extent = [(-1, -1, -1), (1, 1, 1)]\n",
-      "                bool physics:collisionEnabled = 1\n",
-      "                color3f[] primvars:displayColor = [(1, 0, 0)]\n",
-      "                float[] primvars:displayOpacity = [0.5]\n",
-      "            }\n",
-      "        }\n",
-      "\n",
-      "        def Xform \"cabinet11_drawer2_collision_2\" (\n",
-      "            prepend apiSchemas = [\"PhysicsMassAPI\"]\n",
-      "        )\n",
-      "        {\n",
-      "            point3f physics:centerOfMass = (0, 0, 0)\n",
-      "            float physics:density = 100\n",
-      "            float3 physics:diagonalInertia = (-13.585582, -8.863193, 24.854698)\n",
-      "            float physics:mass = 1.3389739\n",
-      "            quatf physics:principalAxes = (0.36004195, 0.8541277, 0.28411108, 0.24518679)\n",
-      "            matrix4d xformOp:transform = ( (0.245507, 0, 0, 0), (0, 0.008, 0, 0), (0, 0, 0.041748, 0), (0.021031, 0.418233, -0.078968, 1) )\n",
-      "            uniform token[] xformOpOrder = [\"xformOp:transform\"]\n",
-      "\n",
-      "            def Cube \"Cube\" (\n",
-      "                prepend apiSchemas = [\"PhysicsCollisionAPI\"]\n",
-      "            )\n",
-      "            {\n",
-      "                float3[] extent = [(-1, -1, -1), (1, 1, 1)]\n",
-      "                bool physics:collisionEnabled = 1\n",
-      "                color3f[] primvars:displayColor = [(1, 0, 0)]\n",
-      "                float[] primvars:displayOpacity = [0.5]\n",
-      "            }\n",
-      "        }\n",
-      "\n",
-      "        def Xform \"cabinet11_drawer2_collision_3\" (\n",
-      "            prepend apiSchemas = [\"PhysicsMassAPI\"]\n",
-      "        )\n",
-      "        {\n",
-      "            point3f physics:centerOfMass = (0, 0, 0)\n",
-      "            float physics:density = 100\n",
-      "            float3 physics:diagonalInertia = (-13.585582, -8.863193, 24.854698)\n",
-      "            float physics:mass = 1.3389739\n",
-      "            quatf physics:principalAxes = (0.36004195, 0.8541277, 0.28411108, 0.24518679)\n",
-      "            matrix4d xformOp:transform = ( (0.245507, 0, 0, 0), (0, 0.008, 0, 0), (0, 0, 0.041748, 0), (0.021031, -0.418233, -0.078968, 1) )\n",
-      "            uniform token[] xformOpOrder = [\"xformOp:transform\"]\n",
-      "\n",
-      "            def Cube \"Cube\" (\n",
-      "                prepend apiSchemas = [\"PhysicsCollisionAPI\"]\n",
-      "            )\n",
-      "            {\n",
-      "                float3[] extent = [(-1, -1, -1), (1, 1, 1)]\n",
-      "                bool physics:collisionEnabled = 1\n",
-      "                color3f[] primvars:displayColor = [(1, 0, 0)]\n",
-      "                float[] primvars:displayOpacity = [0.5]\n",
-      "            }\n",
-      "        }\n",
-      "\n",
-      "        def Xform \"cabinet11_drawer2_collision_4\" (\n",
-      "            prepend apiSchemas = [\"PhysicsMassAPI\"]\n",
-      "        )\n",
-      "        {\n",
-      "            point3f physics:centerOfMass = (0, 0, 0)\n",
-      "            float physics:density = 100\n",
-      "            float3 physics:diagonalInertia = (-13.585582, -8.863193, 24.854698)\n"
-     ]
-    },
-    {
-     "name": "stdout",
-     "output_type": "stream",
-     "text": [
-      "            float physics:mass = 1.3389739\n",
-      "            quatf physics:principalAxes = (0.36004195, 0.8541277, 0.28411108, 0.24518679)\n",
-      "            matrix4d xformOp:transform = ( (0.0095, 0, 0, 0), (0, 0.448341, 0, 0), (0, 0, 0.131375, 0), (-0.233977, 0, 0, 1) )\n",
-      "            uniform token[] xformOpOrder = [\"xformOp:transform\"]\n",
-      "\n",
-      "            def Cube \"Cube\" (\n",
-      "                prepend apiSchemas = [\"PhysicsCollisionAPI\"]\n",
-      "            )\n",
-      "            {\n",
-      "                float3[] extent = [(-1, -1, -1), (1, 1, 1)]\n",
-      "                bool physics:collisionEnabled = 1\n",
-      "                color3f[] primvars:displayColor = [(1, 0, 0)]\n",
-      "                float[] primvars:displayOpacity = [0.5]\n",
-      "            }\n",
-      "        }\n",
-      "\n",
-      "        def Xform \"cabinet11_drawer2_collision_5\" (\n",
-      "            prepend apiSchemas = [\"PhysicsMassAPI\"]\n",
-      "        )\n",
-      "        {\n",
-      "            point3f physics:centerOfMass = (0, 0, 0)\n",
-      "            float physics:density = 100\n",
-      "            float3 physics:diagonalInertia = (-13.585582, -8.863193, 24.854698)\n",
-      "            float physics:mass = 1.3389739\n",
-      "            quatf physics:principalAxes = (0.36004195, 0.8541277, 0.28411108, 0.24518679)\n",
-      "            matrix4d xformOp:transform = ( (0.008, 0, 0, 0), (0, 0.419788, 0, 0), (0, 0, 0.084491, 0), (0.260372, 0, -0.037996, 1) )\n",
-      "            uniform token[] xformOpOrder = [\"xformOp:transform\"]\n",
-      "\n",
-      "            def Cube \"Cube\" (\n",
-      "                prepend apiSchemas = [\"PhysicsCollisionAPI\"]\n",
-      "            )\n",
-      "            {\n",
-      "                float3[] extent = [(-1, -1, -1), (1, 1, 1)]\n",
-      "                bool physics:collisionEnabled = 1\n",
-      "                color3f[] primvars:displayColor = [(1, 0, 0)]\n",
-      "                float[] primvars:displayOpacity = [0.5]\n",
-      "            }\n",
-      "        }\n",
-      "\n",
-      "        def Xform \"cabinet11_drawer2_collision_6\" (\n",
-      "            prepend apiSchemas = [\"PhysicsMassAPI\"]\n",
-      "        )\n",
-      "        {\n",
-      "            point3f physics:centerOfMass = (0, 0, 0)\n",
-      "            float physics:density = 100\n",
-      "            float3 physics:diagonalInertia = (-13.585582, -8.863193, 24.854698)\n",
-      "            float physics:mass = 1.3389739\n",
-      "            quatf physics:principalAxes = (0.36004195, 0.8541277, 0.28411108, 0.24518679)\n",
-      "            matrix4d xformOp:transform = ( (0.245507, 0, 0, 0), (0, 0.419788, 0, 0), (0, 0, 0.008, 0), (0.021031, 0, -0.113735, 1) )\n",
-      "            uniform token[] xformOpOrder = [\"xformOp:transform\"]\n",
-      "\n",
-      "            def Cube \"Cube\" (\n",
-      "                prepend apiSchemas = [\"PhysicsCollisionAPI\"]\n",
-      "            )\n",
-      "            {\n",
-      "                float3[] extent = [(-1, -1, -1), (1, 1, 1)]\n",
-      "                bool physics:collisionEnabled = 1\n",
-      "                color3f[] primvars:displayColor = [(1, 0, 0)]\n",
-      "                float[] primvars:displayOpacity = [0.5]\n",
-      "            }\n",
-      "        }\n",
-      "\n",
-      "        def Xform \"cabinet11_drawer2_handle\"\n",
-      "        {\n",
-      "            matrix4d xformOp:transform = ( (1, 0, 0, 0), (0, 2.220446049250313e-16, 1, 0), (0, -1, 2.220446049250313e-16, 0), (-0.26686237, -0.00397854, 0.08541794, 1) )\n",
-      "            uniform token[] xformOpOrder = [\"xformOp:transform\"]\n",
-      "\n",
-      "            def Xform \"cabinet11_drawer2_handle_visual_0\" (\n",
-      "                prepend references = @./../meshes/usd/visual/SM_Kitchen_Handle.usda@</SM_Kitchen_Handle>\n",
-      "            )\n",
-      "            {\n",
-      "                matrix4d xformOp:transform = ( (1, 0, 0, 0), (0, 1, 0, 0), (0, 0, 1, 0), (0, 0, 0, 1) )\n",
-      "                uniform token[] xformOpOrder = [\"xformOp:transform\"]\n",
-      "\n",
-      "                over \"SM_Kitchen_Handle\" (\n",
-      "                    prepend apiSchemas = [\"MaterialBindingAPI\"]\n",
-      "                )\n",
-      "                {\n",
-      "                    rel material:binding = </_materials/_Game_Materials_Laborraum_M_Metal_Brushed_M_Metal_Brushed_003>\n",
-      "                }\n",
-      "            }\n",
-      "\n",
-      "            def Xform \"cabinet11_drawer2_handle_collision_0\" (\n",
-      "                prepend apiSchemas = [\"PhysicsMassAPI\"]\n",
-      "            )\n",
-      "            {\n",
-      "                point3f physics:centerOfMass = (0, 0, 0)\n",
-      "                float physics:density = 100\n",
-      "                float3 physics:diagonalInertia = (-13.585582, -8.863193, 24.854698)\n",
-      "                float physics:mass = 1.3389739\n",
-      "                quatf physics:principalAxes = (0.36004195, 0.8541277, 0.28411108, 0.24518679)\n",
-      "                matrix4d xformOp:transform = ( (0.01, 0, 0, 0), (0, 0.0065, 0, 0), (0, 0, 0.0065, 0), (0.0164985, 0, 0.08, 1) )\n",
-      "                uniform token[] xformOpOrder = [\"xformOp:transform\"]\n",
-      "\n",
-      "                def Cube \"Cube\" (\n",
-      "                    prepend apiSchemas = [\"PhysicsCollisionAPI\"]\n",
-      "                )\n",
-      "                {\n",
-      "                    float3[] extent = [(-1, -1, -1), (1, 1, 1)]\n",
-      "                    bool physics:collisionEnabled = 1\n",
-      "                    color3f[] primvars:displayColor = [(1, 0, 0)]\n",
-      "                    float[] primvars:displayOpacity = [0.5]\n",
-      "                }\n",
-      "            }\n",
-      "\n",
-      "            def Xform \"cabinet11_drawer2_handle_collision_1\" (\n",
-      "                prepend apiSchemas = [\"PhysicsMassAPI\"]\n",
-      "            )\n",
-      "            {\n",
-      "                point3f physics:centerOfMass = (0, 0, 0)\n",
-      "                float physics:density = 100\n",
-      "                float3 physics:diagonalInertia = (-13.585582, -8.863193, 24.854698)\n",
-      "                float physics:mass = 1.3389739\n",
-      "                quatf physics:principalAxes = (0.36004195, 0.8541277, 0.28411108, 0.24518679)\n",
-      "                matrix4d xformOp:transform = ( (0.01, 0, 0, 0), (0, 0.0065, 0, 0), (0, 0, 0.0065, 0), (0.0164985, 0, -0.08, 1) )\n",
-      "                uniform token[] xformOpOrder = [\"xformOp:transform\"]\n",
-      "\n",
-      "                def Cube \"Cube\" (\n",
-      "                    prepend apiSchemas = [\"PhysicsCollisionAPI\"]\n",
-      "                )\n",
-      "                {\n",
-      "                    float3[] extent = [(-1, -1, -1), (1, 1, 1)]\n",
-      "                    bool physics:collisionEnabled = 1\n",
-      "                    color3f[] primvars:displayColor = [(1, 0, 0)]\n",
-      "                    float[] primvars:displayOpacity = [0.5]\n",
-      "                }\n",
-      "            }\n",
-      "\n",
-      "            def Xform \"cabinet11_drawer2_handle_collision_2\" (\n",
-      "                prepend apiSchemas = [\"PhysicsMassAPI\"]\n",
-      "            )\n",
-      "            {\n",
-      "                point3f physics:centerOfMass = (0, 0, 0)\n",
-      "                float physics:density = 100\n",
-      "                float3 physics:diagonalInertia = (-13.585582, -8.863193, 24.854698)\n",
-      "                float physics:mass = 1.3389739\n",
-      "                quatf physics:principalAxes = (0.36004195, 0.8541277, 0.28411108, 0.24518679)\n",
-      "                matrix4d xformOp:transform = ( (0.0065, 0, 0, 0), (0, 0.0065, 0, 0), (0, 0, 0.086516, 0), (0, 0, 0, 1) )\n",
-      "                uniform token[] xformOpOrder = [\"xformOp:transform\"]\n",
-      "\n",
-      "                def Cube \"Cube\" (\n",
-      "                    prepend apiSchemas = [\"PhysicsCollisionAPI\"]\n",
-      "                )\n",
-      "                {\n",
-      "                    float3[] extent = [(-1, -1, -1), (1, 1, 1)]\n",
-      "                    bool physics:collisionEnabled = 1\n",
-      "                    color3f[] primvars:displayColor = [(1, 0, 0)]\n",
-      "                    float[] primvars:displayOpacity = [0.5]\n",
-      "                }\n",
-      "            }\n",
-      "        }\n",
-      "    }\n",
-      "\n",
-      "    def Xform \"cabinet11_drawer3\" (\n",
-      "        prepend apiSchemas = [\"PhysicsRigidBodyAPI\"]\n",
-      "    )\n",
-      "    {\n",
-      "        bool physics:rigidBodyEnabled = 1\n",
-      "        matrix4d xformOp:transform = ( (1, 0, 0, 0), (0, 1, 0, 0), (0, 0, 1, 0), (2.54216156, 1.62302159, 0.29653661, 1) )\n",
-      "        uniform token[] xformOpOrder = [\"xformOp:transform\"]\n",
-      "\n",
-      "        def Xform \"cabinet11_drawer3_visual_0\" (\n",
-      "            prepend references = @./../meshes/usd/visual/SM_Kitchen_11_Drawer_03.usda@</SM_Kitchen_11_Drawer_03>\n",
-      "        )\n",
-      "        {\n",
-      "            matrix4d xformOp:transform = ( (1, 0, 0, 0), (0, 1, 0, 0), (0, 0, 1, 0), (0, 0, 0, 1) )\n",
-      "            uniform token[] xformOpOrder = [\"xformOp:transform\"]\n",
-      "\n",
-      "            over \"SM_Kitchen_11_Drawer_03\" (\n",
-      "                prepend apiSchemas = [\"MaterialBindingAPI\"]\n",
-      "            )\n",
-      "            {\n",
-      "                rel material:binding = </_materials/_Game_Materials_Laborraum_M_Drawer_Mat_M_Drawer_Mat_010>\n",
-      "\n",
-      "                over \"_Game_Materials_Laborraum_M_Metal_Chrome_M_Metal_Chrome_009\" (\n",
-      "                    prepend apiSchemas = [\"MaterialBindingAPI\"]\n",
-      "                )\n",
-      "                {\n",
-      "                    rel material:binding = </_materials/_Game_Materials_Laborraum_M_Metal_Chrome_M_Metal_Chrome_009>\n",
-      "                }\n",
-      "\n",
-      "                over \"_Game_Materials_Laborraum_M_Kitchen_Fronts_M_Kitchen_Fronts_011\" (\n"
-     ]
-    },
-    {
-     "name": "stdout",
-     "output_type": "stream",
-     "text": [
-      "                    prepend apiSchemas = [\"MaterialBindingAPI\"]\n",
-      "                )\n",
-      "                {\n",
-      "                    rel material:binding = </_materials/_Game_Materials_Laborraum_M_Kitchen_Fronts_M_Kitchen_Fronts_011>\n",
-      "                }\n",
-      "\n",
-      "                over \"_Game_Materials_Laborraum_M_Plastic_White_M_Plastic_White_019\" (\n",
-      "                    prepend apiSchemas = [\"MaterialBindingAPI\"]\n",
-      "                )\n",
-      "                {\n",
-      "                    rel material:binding = </_materials/_Game_Materials_Laborraum_M_Plastic_White_M_Plastic_White_019>\n",
-      "                }\n",
-      "\n",
-      "                over \"_Game_Materials_Laborraum_M_Drawer_Mat_M_Drawer_Mat_010\" (\n",
-      "                    prepend apiSchemas = [\"MaterialBindingAPI\"]\n",
-      "                )\n",
-      "                {\n",
-      "                    rel material:binding = </_materials/_Game_Materials_Laborraum_M_Drawer_Mat_M_Drawer_Mat_010>\n",
-      "                }\n",
-      "            }\n",
-      "        }\n",
-      "\n",
-      "        def Xform \"cabinet11_drawer3_collision_0\" (\n",
-      "            prepend apiSchemas = [\"PhysicsMassAPI\"]\n",
-      "        )\n",
-      "        {\n",
-      "            point3f physics:centerOfMass = (0, 0, 0)\n",
-      "            float physics:density = 100\n",
-      "            float3 physics:diagonalInertia = (-14.209945, -10.76337, 27.913052)\n",
-      "            float physics:mass = 1.5655425\n",
-      "            quatf physics:principalAxes = (-0.28104055, -0.23889418, 0.40046486, 0.838793)\n",
-      "            matrix4d xformOp:transform = ( (0.245507, 0, 0, 0), (0, 0.008, 0, 0), (0, 0, 0.011638, 0), (0.021031, 0.418233, -0.00926, 1) )\n",
-      "            uniform token[] xformOpOrder = [\"xformOp:transform\"]\n",
-      "\n",
-      "            def Cube \"Cube\" (\n",
-      "                prepend apiSchemas = [\"PhysicsCollisionAPI\"]\n",
-      "            )\n",
-      "            {\n",
-      "                float3[] extent = [(-1, -1, -1), (1, 1, 1)]\n",
-      "                bool physics:collisionEnabled = 1\n",
-      "                color3f[] primvars:displayColor = [(1, 0, 0)]\n",
-      "                float[] primvars:displayOpacity = [0.5]\n",
-      "            }\n",
-      "        }\n",
-      "\n",
-      "        def Xform \"cabinet11_drawer3_collision_1\" (\n",
-      "            prepend apiSchemas = [\"PhysicsMassAPI\"]\n",
-      "        )\n",
-      "        {\n",
-      "            point3f physics:centerOfMass = (0, 0, 0)\n",
-      "            float physics:density = 100\n",
-      "            float3 physics:diagonalInertia = (-14.209945, -10.76337, 27.913052)\n",
-      "            float physics:mass = 1.5655425\n",
-      "            quatf physics:principalAxes = (-0.28104055, -0.23889418, 0.40046486, 0.838793)\n",
-      "            matrix4d xformOp:transform = ( (0.245507, 0, 0, 0), (0, 0.008, 0, 0), (0, 0, 0.011638, 0), (0.021031, -0.418233, -0.00926, 1) )\n",
-      "            uniform token[] xformOpOrder = [\"xformOp:transform\"]\n",
-      "\n",
-      "            def Cube \"Cube\" (\n",
-      "                prepend apiSchemas = [\"PhysicsCollisionAPI\"]\n",
-      "            )\n",
-      "            {\n",
-      "                float3[] extent = [(-1, -1, -1), (1, 1, 1)]\n",
-      "                bool physics:collisionEnabled = 1\n",
-      "                color3f[] primvars:displayColor = [(1, 0, 0)]\n",
-      "                float[] primvars:displayOpacity = [0.5]\n",
-      "            }\n",
-      "        }\n",
-      "\n",
-      "        def Xform \"cabinet11_drawer3_collision_2\" (\n",
-      "            prepend apiSchemas = [\"PhysicsMassAPI\"]\n",
-      "        )\n",
-      "        {\n",
-      "            point3f physics:centerOfMass = (0, 0, 0)\n",
-      "            float physics:density = 100\n",
-      "            float3 physics:diagonalInertia = (-14.209945, -10.76337, 27.913052)\n",
-      "            float physics:mass = 1.5655425\n",
-      "            quatf physics:principalAxes = (-0.28104055, -0.23889418, 0.40046486, 0.838793)\n",
-      "            matrix4d xformOp:transform = ( (0.245507, 0, 0, 0), (0, 0.008, 0, 0), (0, 0, 0.041711, 0), (0.021031, 0.418233, -0.129424, 1) )\n",
-      "            uniform token[] xformOpOrder = [\"xformOp:transform\"]\n",
-      "\n",
-      "            def Cube \"Cube\" (\n",
-      "                prepend apiSchemas = [\"PhysicsCollisionAPI\"]\n",
-      "            )\n",
-      "            {\n",
-      "                float3[] extent = [(-1, -1, -1), (1, 1, 1)]\n",
-      "                bool physics:collisionEnabled = 1\n",
-      "                color3f[] primvars:displayColor = [(1, 0, 0)]\n",
-      "                float[] primvars:displayOpacity = [0.5]\n",
-      "            }\n",
-      "        }\n",
-      "\n",
-      "        def Xform \"cabinet11_drawer3_collision_3\" (\n",
-      "            prepend apiSchemas = [\"PhysicsMassAPI\"]\n",
-      "        )\n",
-      "        {\n",
-      "            point3f physics:centerOfMass = (0, 0, 0)\n",
-      "            float physics:density = 100\n",
-      "            float3 physics:diagonalInertia = (-14.209945, -10.76337, 27.913052)\n",
-      "            float physics:mass = 1.5655425\n",
-      "            quatf physics:principalAxes = (-0.28104055, -0.23889418, 0.40046486, 0.838793)\n",
-      "            matrix4d xformOp:transform = ( (0.245507, 0, 0, 0), (0, 0.008, 0, 0), (0, 0, 0.041711, 0), (0.021031, -0.418233, -0.129424, 1) )\n",
-      "            uniform token[] xformOpOrder = [\"xformOp:transform\"]\n",
-      "\n",
-      "            def Cube \"Cube\" (\n",
-      "                prepend apiSchemas = [\"PhysicsCollisionAPI\"]\n",
-      "            )\n",
-      "            {\n",
-      "                float3[] extent = [(-1, -1, -1), (1, 1, 1)]\n",
-      "                bool physics:collisionEnabled = 1\n",
-      "                color3f[] primvars:displayColor = [(1, 0, 0)]\n",
-      "                float[] primvars:displayOpacity = [0.5]\n",
-      "            }\n",
-      "        }\n",
-      "\n",
-      "        def Xform \"cabinet11_drawer3_collision_4\" (\n",
-      "            prepend apiSchemas = [\"PhysicsMassAPI\"]\n",
-      "        )\n",
-      "        {\n",
-      "            point3f physics:centerOfMass = (0, 0, 0)\n",
-      "            float physics:density = 100\n",
-      "            float3 physics:diagonalInertia = (-14.209945, -10.76337, 27.913052)\n",
-      "            float physics:mass = 1.5655425\n",
-      "            quatf physics:principalAxes = (-0.28104055, -0.23889418, 0.40046486, 0.838793)\n",
-      "            matrix4d xformOp:transform = ( (0.0095, 0, 0, 0), (0, 0.448341, 0, 0), (0, 0, 0.197867, 0), (-0.233977, 0, 0, 1) )\n",
-      "            uniform token[] xformOpOrder = [\"xformOp:transform\"]\n",
-      "\n",
-      "            def Cube \"Cube\" (\n",
-      "                prepend apiSchemas = [\"PhysicsCollisionAPI\"]\n",
-      "            )\n",
-      "            {\n",
-      "                float3[] extent = [(-1, -1, -1), (1, 1, 1)]\n",
-      "                bool physics:collisionEnabled = 1\n",
-      "                color3f[] primvars:displayColor = [(1, 0, 0)]\n",
-      "                float[] primvars:displayOpacity = [0.5]\n",
-      "            }\n",
-      "        }\n",
-      "\n",
-      "        def Xform \"cabinet11_drawer3_collision_5\" (\n",
-      "            prepend apiSchemas = [\"PhysicsMassAPI\"]\n",
-      "        )\n",
-      "        {\n",
-      "            point3f physics:centerOfMass = (0, 0, 0)\n",
-      "            float physics:density = 100\n",
-      "            float3 physics:diagonalInertia = (-14.209945, -10.76337, 27.913052)\n",
-      "            float physics:mass = 1.5655425\n",
-      "            quatf physics:principalAxes = (-0.28104055, -0.23889418, 0.40046486, 0.838793)\n",
-      "            matrix4d xformOp:transform = ( (0.008, 0, 0, 0), (0, 0.419788, 0, 0), (0, 0, 0.084105, 0), (0.260372, 0, -0.088821, 1) )\n",
-      "            uniform token[] xformOpOrder = [\"xformOp:transform\"]\n",
-      "\n",
-      "            def Cube \"Cube\" (\n",
-      "                prepend apiSchemas = [\"PhysicsCollisionAPI\"]\n",
-      "            )\n",
-      "            {\n",
-      "                float3[] extent = [(-1, -1, -1), (1, 1, 1)]\n",
-      "                bool physics:collisionEnabled = 1\n",
-      "                color3f[] primvars:displayColor = [(1, 0, 0)]\n",
-      "                float[] primvars:displayOpacity = [0.5]\n",
-      "            }\n",
-      "        }\n",
-      "\n",
-      "        def Xform \"cabinet11_drawer3_collision_6\" (\n",
-      "            prepend apiSchemas = [\"PhysicsMassAPI\"]\n",
-      "        )\n",
-      "        {\n",
-      "            point3f physics:centerOfMass = (0, 0, 0)\n",
-      "            float physics:density = 100\n",
-      "            float3 physics:diagonalInertia = (-14.209945, -10.76337, 27.913052)\n",
-      "            float physics:mass = 1.5655425\n",
-      "            quatf physics:principalAxes = (-0.28104055, -0.23889418, 0.40046486, 0.838793)\n",
-      "            matrix4d xformOp:transform = ( (0.245507, 0, 0, 0), (0, 0.419788, 0, 0), (0, 0, 0.008, 0), (0.021031, 0, -0.164582, 1) )\n",
-      "            uniform token[] xformOpOrder = [\"xformOp:transform\"]\n",
-      "\n",
-      "            def Cube \"Cube\" (\n",
-      "                prepend apiSchemas = [\"PhysicsCollisionAPI\"]\n",
-      "            )\n",
-      "            {\n",
-      "                float3[] extent = [(-1, -1, -1), (1, 1, 1)]\n",
-      "                bool physics:collisionEnabled = 1\n",
-      "                color3f[] primvars:displayColor = [(1, 0, 0)]\n",
-      "                float[] primvars:displayOpacity = [0.5]\n",
-      "            }\n",
-      "        }\n",
-      "\n",
-      "        def Xform \"cabinet11_drawer3_handle\"\n",
-      "        {\n",
-      "            matrix4d xformOp:transform = ( (1, 0, 0, 0), (0, 2.220446049250313e-16, 1, 0), (0, -1, 2.220446049250313e-16, 0), (-0.26712164, -0.00402777, 0.15116583, 1) )\n",
-      "            uniform token[] xformOpOrder = [\"xformOp:transform\"]\n"
-     ]
-    },
-    {
-     "name": "stdout",
-     "output_type": "stream",
-     "text": [
-      "\n",
-      "            def Xform \"cabinet11_drawer3_handle_visual_0\" (\n",
-      "                prepend references = @./../meshes/usd/visual/SM_Kitchen_Handle.usda@</SM_Kitchen_Handle>\n",
-      "            )\n",
-      "            {\n",
-      "                matrix4d xformOp:transform = ( (1, 0, 0, 0), (0, 1, 0, 0), (0, 0, 1, 0), (0, 0, 0, 1) )\n",
-      "                uniform token[] xformOpOrder = [\"xformOp:transform\"]\n",
-      "\n",
-      "                over \"SM_Kitchen_Handle\" (\n",
-      "                    prepend apiSchemas = [\"MaterialBindingAPI\"]\n",
-      "                )\n",
-      "                {\n",
-      "                    rel material:binding = </_materials/_Game_Materials_Laborraum_M_Metal_Brushed_M_Metal_Brushed_003>\n",
-      "                }\n",
-      "            }\n",
-      "\n",
-      "            def Xform \"cabinet11_drawer3_handle_collision_0\" (\n",
-      "                prepend apiSchemas = [\"PhysicsMassAPI\"]\n",
-      "            )\n",
-      "            {\n",
-      "                point3f physics:centerOfMass = (0, 0, 0)\n",
-      "                float physics:density = 100\n",
-      "                float3 physics:diagonalInertia = (-14.209945, -10.76337, 27.913052)\n",
-      "                float physics:mass = 1.5655425\n",
-      "                quatf physics:principalAxes = (-0.28104055, -0.23889418, 0.40046486, 0.838793)\n",
-      "                matrix4d xformOp:transform = ( (0.01, 0, 0, 0), (0, 0.0065, 0, 0), (0, 0, 0.0065, 0), (0.0164985, 0, 0.08, 1) )\n",
-      "                uniform token[] xformOpOrder = [\"xformOp:transform\"]\n",
-      "\n",
-      "                def Cube \"Cube\" (\n",
-      "                    prepend apiSchemas = [\"PhysicsCollisionAPI\"]\n",
-      "                )\n",
-      "                {\n",
-      "                    float3[] extent = [(-1, -1, -1), (1, 1, 1)]\n",
-      "                    bool physics:collisionEnabled = 1\n",
-      "                    color3f[] primvars:displayColor = [(1, 0, 0)]\n",
-      "                    float[] primvars:displayOpacity = [0.5]\n",
-      "                }\n",
-      "            }\n",
-      "\n",
-      "            def Xform \"cabinet11_drawer3_handle_collision_1\" (\n",
-      "                prepend apiSchemas = [\"PhysicsMassAPI\"]\n",
-      "            )\n",
-      "            {\n",
-      "                point3f physics:centerOfMass = (0, 0, 0)\n",
-      "                float physics:density = 100\n",
-      "                float3 physics:diagonalInertia = (-14.209945, -10.76337, 27.913052)\n",
-      "                float physics:mass = 1.5655425\n",
-      "                quatf physics:principalAxes = (-0.28104055, -0.23889418, 0.40046486, 0.838793)\n",
-      "                matrix4d xformOp:transform = ( (0.01, 0, 0, 0), (0, 0.0065, 0, 0), (0, 0, 0.0065, 0), (0.0164985, 0, -0.08, 1) )\n",
-      "                uniform token[] xformOpOrder = [\"xformOp:transform\"]\n",
-      "\n",
-      "                def Cube \"Cube\" (\n",
-      "                    prepend apiSchemas = [\"PhysicsCollisionAPI\"]\n",
-      "                )\n",
-      "                {\n",
-      "                    float3[] extent = [(-1, -1, -1), (1, 1, 1)]\n",
-      "                    bool physics:collisionEnabled = 1\n",
-      "                    color3f[] primvars:displayColor = [(1, 0, 0)]\n",
-      "                    float[] primvars:displayOpacity = [0.5]\n",
-      "                }\n",
-      "            }\n",
-      "\n",
-      "            def Xform \"cabinet11_drawer3_handle_collision_2\" (\n",
-      "                prepend apiSchemas = [\"PhysicsMassAPI\"]\n",
-      "            )\n",
-      "            {\n",
-      "                point3f physics:centerOfMass = (0, 0, 0)\n",
-      "                float physics:density = 100\n",
-      "                float3 physics:diagonalInertia = (-14.209945, -10.76337, 27.913052)\n",
-      "                float physics:mass = 1.5655425\n",
-      "                quatf physics:principalAxes = (-0.28104055, -0.23889418, 0.40046486, 0.838793)\n",
-      "                matrix4d xformOp:transform = ( (0.0065, 0, 0, 0), (0, 0.0065, 0, 0), (0, 0, 0.086516, 0), (0, 0, 0, 1) )\n",
-      "                uniform token[] xformOpOrder = [\"xformOp:transform\"]\n",
-      "\n",
-      "                def Cube \"Cube\" (\n",
-      "                    prepend apiSchemas = [\"PhysicsCollisionAPI\"]\n",
-      "                )\n",
-      "                {\n",
-      "                    float3[] extent = [(-1, -1, -1), (1, 1, 1)]\n",
-      "                    bool physics:collisionEnabled = 1\n",
-      "                    color3f[] primvars:displayColor = [(1, 0, 0)]\n",
-      "                    float[] primvars:displayOpacity = [0.5]\n",
-      "                }\n",
-      "            }\n",
-      "        }\n",
-      "    }\n",
-      "}\n",
-      "\n",
-      "def \"_materials\" (\n",
-      "    prepend references = [\n",
-      "        @./../meshes/usd/visual/SM_Wall_01.usda@</_materials>,\n",
-      "        @./../meshes/usd/visual/SM_Wall_02.usda@</_materials>,\n",
-      "        @./../meshes/usd/visual/SM_Wall_03.usda@</_materials>,\n",
-      "        @./../meshes/usd/visual/SM_Wall_04.usda@</_materials>,\n",
-      "        @./../meshes/usd/visual/windows_without_4.usda@</_materials>,\n",
-      "        @./../meshes/usd/visual/SM_Window_Frame.usda@</_materials>,\n",
-      "        @./../meshes/usd/visual/SM_Window_Right.usda@</_materials>,\n",
-      "        @./../meshes/usd/visual/SM_Window_Left.usda@</_materials>,\n",
-      "        @./../meshes/usd/visual/SM_Window_Handle.usda@</_materials>,\n",
-      "        @./../meshes/usd/visual/wardrobe.usda@</_materials>,\n",
-      "        @./../meshes/usd/visual/wardrobe_door_left.usda@</_materials>,\n",
-      "        @./../meshes/usd/visual/wardrobe_door_right.usda@</_materials>,\n",
-      "        @./../meshes/usd/visual/wardrobe_door_handle.usda@</_materials>,\n",
-      "        @./../meshes/usd/visual/armchair.usda@</_materials>,\n",
-      "        @./../meshes/usd/visual/sofa.usda@</_materials>,\n",
-      "        @./../meshes/usd/visual/coffee_table.usda@</_materials>,\n",
-      "        @./../meshes/usd/visual/coffee_table_drawer.usda@</_materials>,\n",
-      "        @./../meshes/usd/visual/bedside_table.usda@</_materials>,\n",
-      "        @./../meshes/usd/visual/SM_Kitchen_01_Base.usda@</_materials>,\n",
-      "        @./../meshes/usd/visual/SM_Kitchen_01_Door_01.usda@</_materials>,\n",
-      "        @./../meshes/usd/visual/SM_Kitchen_01_Drawer_01.usda@</_materials>,\n",
-      "        @./../meshes/usd/visual/SM_Kitchen_01_Drawer_02.usda@</_materials>,\n",
-      "        @./../meshes/usd/visual/SM_Oven.usda@</_materials>,\n",
-      "        @./../meshes/usd/visual/SM_Oven_Door.usda@</_materials>,\n",
-      "        @./../meshes/usd/visual/SM_Kitchen_02_Base.usda@</_materials>,\n",
-      "        @./../meshes/usd/visual/SM_Kitchen_02_Door.usda@</_materials>,\n",
-      "        @./../meshes/usd/visual/SM_Kitchen_02_Shelf.usda@</_materials>,\n",
-      "        @./../meshes/usd/visual/SM_Kitchen_02_Drawer_01.usda@</_materials>,\n",
-      "        @./../meshes/usd/visual/SM_Kitchen_02_Drawer_02.usda@</_materials>,\n",
-      "        @./../meshes/usd/visual/SM_Kitchen_03_Fridge.usda@</_materials>,\n",
-      "        @./../meshes/usd/visual/SM_Fridge_Door_01.usda@</_materials>,\n",
-      "        @./../meshes/usd/visual/SM_Fridge_Door_Tray_01.usda@</_materials>,\n",
-      "        @./../meshes/usd/visual/SM_Fridge_Door_Tray_02.usda@</_materials>,\n",
-      "        @./../meshes/usd/visual/SM_Fridge_Egg_Tray.usda@</_materials>,\n",
-      "        @./../meshes/usd/visual/SM_Fridge_Door_02.usda@</_materials>,\n",
-      "        @./../meshes/usd/visual/SM_Fridge_Shelf.usda@</_materials>,\n",
-      "        @./../meshes/usd/visual/SM_Fridge_Drawer_01.usda@</_materials>,\n",
-      "        @./../meshes/usd/visual/SM_Fridge_Drawer_02.usda@</_materials>,\n",
-      "        @./../meshes/usd/visual/SM_Fridge_Drawer_03.usda@</_materials>,\n",
-      "        @./../meshes/usd/visual/SM_Fridge_Drawer_04.usda@</_materials>,\n",
-      "        @./../meshes/usd/visual/SM_Fridge_Drawer_05.usda@</_materials>,\n",
-      "        @./../meshes/usd/visual/SM_Kitchen_04_Base.usda@</_materials>,\n",
-      "        @./../meshes/usd/visual/SM_Kitchen_04_Door_01.usda@</_materials>,\n",
-      "        @./../meshes/usd/visual/SM_Kitchen_04_Door_02.usda@</_materials>,\n",
-      "        @./../meshes/usd/visual/SM_Kitchen_04_Shelf.usda@</_materials>,\n",
-      "        @./../meshes/usd/visual/SM_Counter_Wall.usda@</_materials>,\n",
-      "        @./../meshes/usd/visual/SM_Kitchen_05_Base.usda@</_materials>,\n",
-      "        @./../meshes/usd/visual/SM_Kitchen_05_Drawer_01.usda@</_materials>,\n",
-      "        @./../meshes/usd/visual/SM_Kitchen_05_Drawer_02.usda@</_materials>,\n",
-      "        @./../meshes/usd/visual/SM_Kitchen_05_Drawer_03.usda@</_materials>,\n",
-      "        @./../meshes/usd/visual/SM_Kitchen_06_Base.usda@</_materials>,\n",
-      "        @./../meshes/usd/visual/SM_Kitchen_06_Drawer_01.usda@</_materials>,\n",
-      "        @./../meshes/usd/visual/SM_Kitchen_06_Drawer_02.usda@</_materials>,\n",
-      "        @./../meshes/usd/visual/SM_Kitchen_06_Drawer_03.usda@</_materials>,\n",
-      "        @./../meshes/usd/visual/SM_Kitchen_Island_Cover_04.usda@</_materials>,\n",
-      "        @./../meshes/usd/visual/SM_Kitchen_Base_Board_01.usda@</_materials>,\n",
-      "        @./../meshes/usd/visual/SM_Counter_Sink_Stove.usda@</_materials>,\n",
-      "        @./../meshes/usd/visual/SM_Stove.usda@</_materials>,\n",
-      "        @./../meshes/usd/visual/SM_Counter_Sink.usda@</_materials>,\n",
-      "        @./../meshes/usd/visual/SM_Counter_Watertab.usda@</_materials>,\n"
-     ]
-    },
-    {
-     "name": "stdout",
-     "output_type": "stream",
-     "text": [
-      "        @./../meshes/usd/visual/SM_Counter_Sink_Tap.usda@</_materials>,\n",
-      "        @./../meshes/usd/visual/SM_Dishwasher_Base.usda@</_materials>,\n",
-      "        @./../meshes/usd/visual/SM_Dishwasher_Front.usda@</_materials>,\n",
-      "        @./../meshes/usd/visual/SM_Kitchen_08_Sink_Base.usda@</_materials>,\n",
-      "        @./../meshes/usd/visual/SM_Kitchen_08_Sink_Drawer_02.usda@</_materials>,\n",
-      "        @./../meshes/usd/visual/SM_Kitchen_09_Base.usda@</_materials>,\n",
-      "        @./../meshes/usd/visual/SM_Kitchen_09_Drawer_01.usda@</_materials>,\n",
-      "        @./../meshes/usd/visual/SM_Kitchen_09_Drawer_02.usda@</_materials>,\n",
-      "        @./../meshes/usd/visual/SM_Kitchen_09_Drawer_03.usda@</_materials>,\n",
-      "        @./../meshes/usd/visual/SM_Kitchen_10_Base.usda@</_materials>,\n",
-      "        @./../meshes/usd/visual/SM_Kitchen_10_Drawer_01.usda@</_materials>,\n",
-      "        @./../meshes/usd/visual/SM_Kitchen_10_Drawer_02.usda@</_materials>,\n",
-      "        @./../meshes/usd/visual/SM_Kitchen_10_Drawer_03.usda@</_materials>,\n",
-      "        @./../meshes/usd/visual/SM_Kitchen_11_Base.usda@</_materials>,\n",
-      "        @./../meshes/usd/visual/SM_Kitchen_11_Drawer_01.usda@</_materials>,\n",
-      "        @./../meshes/usd/visual/SM_Kitchen_11_Drawer_02.usda@</_materials>,\n",
-      "        @./../meshes/usd/visual/SM_Kitchen_11_Drawer_03.usda@</_materials>,\n",
-      "        @./../meshes/usd/visual/SM_Kitchen_Handle.usda@</_materials>,\n",
-      "        @./../meshes/usd/visual/SM_Kitchen_Base_Board_02.usda@</_materials>,\n",
-      "        @./../meshes/usd/visual/SM_Kitchen_Island_Cover_01.usda@</_materials>,\n",
-      "        @./../meshes/usd/visual/SM_Kitchen_Island_Cover_03.usda@</_materials>\n",
-      "    ]\n",
-      ")\n",
-      "{\n",
-      "}\n",
-      "\n"
-     ]
-    }
-   ],
+   "outputs": [],
    "source": [
     "source $MULTIVERSE_DIR/tutorial_ws/devel/setup.bash\n",
     "\n",
@@ -13188,1248 +931,9 @@
   },
   {
    "cell_type": "code",
-   "execution_count": 23,
+   "execution_count": null,
    "metadata": {},
-   "outputs": [
-    {
-     "name": "stdout",
-     "output_type": "stream",
-     "text": [
-      "Create /tmp/cache/D5n60DFJOW/tmp.usda\n",
-      "USD import of '/media/giang/Storage/Multiverse/multiverse_ws/src/multiverse_world/iai_apartment/meshes/usd/visual/SM_Wall_01.usda' took 1.5 ms\n",
-      "USD export of '/tmp/cache/D5n60DFJOW/tmp/usd/visual/SM_Wall_01.usda' took 5.4 ms\n",
-      "USD import of '/media/giang/Storage/Multiverse/multiverse_ws/src/multiverse_world/iai_apartment/meshes/usd/visual/SM_Wall_02.usda' took 0.7 ms\n",
-      "USD export of '/tmp/cache/D5n60DFJOW/tmp/usd/visual/SM_Wall_02.usda' took 2.2 ms\n",
-      "USD import of '/media/giang/Storage/Multiverse/multiverse_ws/src/multiverse_world/iai_apartment/meshes/usd/visual/SM_Wall_03.usda' took 1.1 ms\n",
-      "USD export of '/tmp/cache/D5n60DFJOW/tmp/usd/visual/SM_Wall_03.usda' took 4.0 ms\n",
-      "USD import of '/media/giang/Storage/Multiverse/multiverse_ws/src/multiverse_world/iai_apartment/meshes/usd/visual/SM_Wall_04.usda' took 0.8 ms\n",
-      "USD export of '/tmp/cache/D5n60DFJOW/tmp/usd/visual/SM_Wall_04.usda' took 2.8 ms\n",
-      "USD import of '/media/giang/Storage/Multiverse/multiverse_ws/src/multiverse_world/iai_apartment/meshes/usd/visual/windows_without_4.usda' took 25.6 ms\n",
-      "Copying texture from /media/giang/Storage/Multiverse/multiverse_ws/src/multiverse_world/iai_apartment/meshes/usd/visual/textures/EnvSamplerTex.jpg to /tmp/cache/D5n60DFJOW/tmp/usd/visual/textures/EnvSamplerTex.jpg\n",
-      "USD export of '/tmp/cache/D5n60DFJOW/tmp/usd/visual/SM_Window_07.usda' took 210.8 ms\n",
-      "USD import of '/media/giang/Storage/Multiverse/multiverse_ws/src/multiverse_world/iai_apartment/meshes/usd/visual/SM_Window_Frame.usda' took 1.7 ms\n",
-      "USD export of '/tmp/cache/D5n60DFJOW/tmp/usd/visual/SM_Window.usda' took 5.4 ms\n",
-      "USD import of '/media/giang/Storage/Multiverse/multiverse_ws/src/multiverse_world/iai_apartment/meshes/usd/visual/SM_Window_Right.usda' took 0.5 ms\n",
-      "USD export of '/tmp/cache/D5n60DFJOW/tmp/usd/visual/SM_Window_002.usda' took 2.1 ms\n",
-      "USD import of '/media/giang/Storage/Multiverse/multiverse_ws/src/multiverse_world/iai_apartment/meshes/usd/visual/SM_Window_Handle.usda' took 1.0 ms\n",
-      "Copying texture from /media/giang/Storage/Multiverse/multiverse_ws/src/multiverse_world/iai_apartment/meshes/usd/visual/textures/M_Metal_Chrome_M_Metal_Chrome_D.jpg to /tmp/cache/D5n60DFJOW/tmp/usd/visual/textures/M_Metal_Chrome_M_Metal_Chrome_D.jpg\n",
-      "USD export of '/tmp/cache/D5n60DFJOW/tmp/usd/visual/SM_Window_Handle_001.usda' took 3.5 ms\n",
-      "USD import of '/media/giang/Storage/Multiverse/multiverse_ws/src/multiverse_world/iai_apartment/meshes/usd/visual/SM_Window_Left.usda' took 0.5 ms\n",
-      "USD export of '/tmp/cache/D5n60DFJOW/tmp/usd/visual/SM_Window_001.usda' took 2.1 ms\n",
-      "USD import of '/media/giang/Storage/Multiverse/multiverse_ws/src/multiverse_world/iai_apartment/meshes/usd/visual/wardrobe.usda' took 8.1 ms\n",
-      "Copying texture from /media/giang/Storage/Multiverse/multiverse_ws/src/multiverse_world/iai_apartment/meshes/usd/visual/textures/M_Metal_Dark_M_Metal_Dark_D.jpg to /tmp/cache/D5n60DFJOW/tmp/usd/visual/textures/M_Metal_Dark_M_Metal_Dark_D.jpg\n",
-      "Copying texture from /media/giang/Storage/Multiverse/multiverse_ws/src/multiverse_world/iai_apartment/meshes/usd/visual/textures/M_Wood_Furniture_M_Wood_Furniture_D.jpg to /tmp/cache/D5n60DFJOW/tmp/usd/visual/textures/M_Wood_Furniture_M_Wood_Furniture_D.jpg\n",
-      "USD export of '/tmp/cache/D5n60DFJOW/tmp/usd/visual/SM_Kleiderschank_001.usda' took 67.9 ms\n",
-      "USD import of '/media/giang/Storage/Multiverse/multiverse_ws/src/multiverse_world/iai_apartment/meshes/usd/visual/armchair.usda' took 6.0 ms\n",
-      "Copying texture from /media/giang/Storage/Multiverse/multiverse_ws/src/multiverse_world/iai_apartment/meshes/usd/visual/textures/M_Sessel_M_Sessel_D.jpg to /tmp/cache/D5n60DFJOW/tmp/usd/visual/textures/M_Sessel_M_Sessel_D.jpg\n",
-      "USD export of '/tmp/cache/D5n60DFJOW/tmp/usd/visual/SM_Sessel.usda' took 31.6 ms\n",
-      "USD import of '/media/giang/Storage/Multiverse/multiverse_ws/src/multiverse_world/iai_apartment/meshes/usd/visual/sofa.usda' took 5.3 ms\n",
-      "Copying texture from /media/giang/Storage/Multiverse/multiverse_ws/src/multiverse_world/iai_apartment/meshes/usd/visual/textures/M_Fabric_Sofa_Inst_M_Fabric_Sofa_Inst_D.jpg to /tmp/cache/D5n60DFJOW/tmp/usd/visual/textures/M_Fabric_Sofa_Inst_M_Fabric_Sofa_Inst_D.jpg\n",
-      "Copying texture from /media/giang/Storage/Multiverse/multiverse_ws/src/multiverse_world/iai_apartment/meshes/usd/visual/textures/M_Basic_Black_M_Basic_Black_D.jpg to /tmp/cache/D5n60DFJOW/tmp/usd/visual/textures/M_Basic_Black_M_Basic_Black_D.jpg\n",
-      "USD export of '/tmp/cache/D5n60DFJOW/tmp/usd/visual/SM_Sofa.usda' took 27.0 ms\n",
-      "USD import of '/media/giang/Storage/Multiverse/multiverse_ws/src/multiverse_world/iai_apartment/meshes/usd/visual/coffee_table.usda' took 2.6 ms\n",
-      "Copying texture from /media/giang/Storage/Multiverse/multiverse_ws/src/multiverse_world/iai_apartment/meshes/usd/visual/textures/M_Wood_Furniture_M_Wood_Furniture_D.jpg to /tmp/cache/D5n60DFJOW/tmp/usd/visual/textures/M_Wood_Furniture_M_Wood_Furniture_D.jpg\n",
-      "USD export of '/tmp/cache/D5n60DFJOW/tmp/usd/visual/SM_Couchtisch_002.usda' took 8.5 ms\n",
-      "USD import of '/media/giang/Storage/Multiverse/multiverse_ws/src/multiverse_world/iai_apartment/meshes/usd/visual/bedside_table.usda' took 0.7 ms\n",
-      "Copying texture from /media/giang/Storage/Multiverse/multiverse_ws/src/multiverse_world/iai_apartment/meshes/usd/visual/textures/M_Nachttisch_M_Nachttisch_D.jpg to /tmp/cache/D5n60DFJOW/tmp/usd/visual/textures/M_Nachttisch_M_Nachttisch_D.jpg\n",
-      "USD export of '/tmp/cache/D5n60DFJOW/tmp/usd/visual/SM_Nachttisch.usda' took 3.0 ms\n",
-      "USD import of '/media/giang/Storage/Multiverse/multiverse_ws/src/multiverse_world/iai_apartment/meshes/usd/visual/wardrobe_door_left.usda' took 10.8 ms\n",
-      "Copying texture from /media/giang/Storage/Multiverse/multiverse_ws/src/multiverse_world/iai_apartment/meshes/usd/visual/textures/M_Metal_Chrome_M_Metal_Chrome_D.jpg to /tmp/cache/D5n60DFJOW/tmp/usd/visual/textures/M_Metal_Chrome_M_Metal_Chrome_D.jpg\n",
-      "Copying texture from /media/giang/Storage/Multiverse/multiverse_ws/src/multiverse_world/iai_apartment/meshes/usd/visual/textures/M_Wood_Furniture_M_Wood_Furniture_D.jpg to /tmp/cache/D5n60DFJOW/tmp/usd/visual/textures/M_Wood_Furniture_M_Wood_Furniture_D.jpg\n",
-      "USD export of '/tmp/cache/D5n60DFJOW/tmp/usd/visual/SM_Kleiderschrank_TurLinks.usda' took 72.0 ms\n",
-      "USD import of '/media/giang/Storage/Multiverse/multiverse_ws/src/multiverse_world/iai_apartment/meshes/usd/visual/wardrobe_door_handle.usda' took 0.9 ms\n",
-      "Copying texture from /media/giang/Storage/Multiverse/multiverse_ws/src/multiverse_world/iai_apartment/meshes/usd/visual/textures/M_Metal_Dark_M_Metal_Dark_D.jpg to /tmp/cache/D5n60DFJOW/tmp/usd/visual/textures/M_Metal_Dark_M_Metal_Dark_D.jpg\n",
-      "USD export of '/tmp/cache/D5n60DFJOW/tmp/usd/visual/SM_Kleiderschrank_GriffLinks.usda' took 3.8 ms\n",
-      "USD import of '/media/giang/Storage/Multiverse/multiverse_ws/src/multiverse_world/iai_apartment/meshes/usd/visual/wardrobe_door_right.usda' took 14.6 ms\n",
-      "Copying texture from /media/giang/Storage/Multiverse/multiverse_ws/src/multiverse_world/iai_apartment/meshes/usd/visual/textures/M_Metal_Chrome_M_Metal_Chrome_D.jpg to /tmp/cache/D5n60DFJOW/tmp/usd/visual/textures/M_Metal_Chrome_M_Metal_Chrome_D.jpg\n",
-      "Copying texture from /media/giang/Storage/Multiverse/multiverse_ws/src/multiverse_world/iai_apartment/meshes/usd/visual/textures/M_Wood_Furniture_M_Wood_Furniture_D.jpg to /tmp/cache/D5n60DFJOW/tmp/usd/visual/textures/M_Wood_Furniture_M_Wood_Furniture_D.jpg\n",
-      "USD export of '/tmp/cache/D5n60DFJOW/tmp/usd/visual/SM_Kleiderschrank_TurRechts.usda' took 83.2 ms\n",
-      "USD import of '/media/giang/Storage/Multiverse/multiverse_ws/src/multiverse_world/iai_apartment/meshes/usd/visual/coffee_table_drawer.usda' took 3.3 ms\n",
-      "Copying texture from /media/giang/Storage/Multiverse/multiverse_ws/src/multiverse_world/iai_apartment/meshes/usd/visual/textures/M_Wood_Furniture_M_Wood_Furniture_D.jpg to /tmp/cache/D5n60DFJOW/tmp/usd/visual/textures/M_Wood_Furniture_M_Wood_Furniture_D.jpg\n",
-      "USD export of '/tmp/cache/D5n60DFJOW/tmp/usd/visual/SM_Couchtisch_Schublade.usda' took 14.0 ms\n",
-      "USD import of '/media/giang/Storage/Multiverse/multiverse_ws/src/multiverse_world/iai_apartment/meshes/usd/visual/SM_Kitchen_01_Base.usda' took 10.7 ms\n",
-      "Copying texture from /media/giang/Storage/Multiverse/multiverse_ws/src/multiverse_world/iai_apartment/meshes/usd/visual/textures/M_Rubber_Plastic_M_Rubber_Plastic_D.jpg to /tmp/cache/D5n60DFJOW/tmp/usd/visual/textures/M_Rubber_Plastic_M_Rubber_Plastic_D.jpg\n"
-     ]
-    },
-    {
-     "name": "stdout",
-     "output_type": "stream",
-     "text": [
-      "Copying texture from /media/giang/Storage/Multiverse/multiverse_ws/src/multiverse_world/iai_apartment/meshes/usd/visual/textures/M_Plastic_White_M_Plastic_White_D.jpg to /tmp/cache/D5n60DFJOW/tmp/usd/visual/textures/M_Plastic_White_M_Plastic_White_D.jpg\n",
-      "Copying texture from /media/giang/Storage/Multiverse/multiverse_ws/src/multiverse_world/iai_apartment/meshes/usd/visual/textures/M_Kitchen_Fronts_M_Kitchen_Fronts_D.jpg to /tmp/cache/D5n60DFJOW/tmp/usd/visual/textures/M_Kitchen_Fronts_M_Kitchen_Fronts_D.jpg\n",
-      "USD export of '/tmp/cache/D5n60DFJOW/tmp/usd/visual/SM_Kitchen_01_Base.usda' took 67.0 ms\n",
-      "USD import of '/media/giang/Storage/Multiverse/multiverse_ws/src/multiverse_world/iai_apartment/meshes/usd/visual/SM_Oven.usda' took 29.4 ms\n",
-      "Copying texture from /media/giang/Storage/Multiverse/multiverse_ws/src/multiverse_world/iai_apartment/meshes/usd/visual/textures/M_Rubber_Plastic_M_Rubber_Plastic_D.jpg to /tmp/cache/D5n60DFJOW/tmp/usd/visual/textures/M_Rubber_Plastic_M_Rubber_Plastic_D.jpg\n",
-      "Copying texture from /media/giang/Storage/Multiverse/multiverse_ws/src/multiverse_world/iai_apartment/meshes/usd/visual/textures/M_Metal_Chrome_M_Metal_Chrome_D.jpg to /tmp/cache/D5n60DFJOW/tmp/usd/visual/textures/M_Metal_Chrome_M_Metal_Chrome_D.jpg\n",
-      "Copying texture from /media/giang/Storage/Multiverse/multiverse_ws/src/multiverse_world/iai_apartment/meshes/usd/visual/textures/M_Basic_Black_M_Basic_Black_D.jpg to /tmp/cache/D5n60DFJOW/tmp/usd/visual/textures/M_Basic_Black_M_Basic_Black_D.jpg\n",
-      "Copying texture from /media/giang/Storage/Multiverse/multiverse_ws/src/multiverse_world/iai_apartment/meshes/usd/visual/textures/M_Display_M_Display_D.jpg to /tmp/cache/D5n60DFJOW/tmp/usd/visual/textures/M_Display_M_Display_D.jpg\n",
-      "Copying texture from /media/giang/Storage/Multiverse/multiverse_ws/src/multiverse_world/iai_apartment/meshes/usd/visual/textures/M_Icons_M_Icons_D.jpg to /tmp/cache/D5n60DFJOW/tmp/usd/visual/textures/M_Icons_M_Icons_D.jpg\n",
-      "Copying texture from /media/giang/Storage/Multiverse/multiverse_ws/src/multiverse_world/iai_apartment/meshes/usd/visual/textures/M_Metal_Burnished_Steel_M_Metal_Burnished_Steel_D.jpg to /tmp/cache/D5n60DFJOW/tmp/usd/visual/textures/M_Metal_Burnished_Steel_M_Metal_Burnished_Steel_D.jpg\n",
-      "Copying texture from /media/giang/Storage/Multiverse/multiverse_ws/src/multiverse_world/iai_apartment/meshes/usd/visual/textures/M_OvenBase_M_OvenBase_D.jpg to /tmp/cache/D5n60DFJOW/tmp/usd/visual/textures/M_OvenBase_M_OvenBase_D.jpg\n",
-      "USD export of '/tmp/cache/D5n60DFJOW/tmp/usd/visual/SM_Oven.usda' took 181.8 ms\n",
-      "USD import of '/media/giang/Storage/Multiverse/multiverse_ws/src/multiverse_world/iai_apartment/meshes/usd/visual/SM_Kitchen_02_Base.usda' took 17.9 ms\n",
-      "Copying texture from /media/giang/Storage/Multiverse/multiverse_ws/src/multiverse_world/iai_apartment/meshes/usd/visual/textures/M_Metal_Chrome_M_Metal_Chrome_D.jpg to /tmp/cache/D5n60DFJOW/tmp/usd/visual/textures/M_Metal_Chrome_M_Metal_Chrome_D.jpg\n",
-      "Copying texture from /media/giang/Storage/Multiverse/multiverse_ws/src/multiverse_world/iai_apartment/meshes/usd/visual/textures/M_Rubber_Plastic_M_Rubber_Plastic_D.jpg to /tmp/cache/D5n60DFJOW/tmp/usd/visual/textures/M_Rubber_Plastic_M_Rubber_Plastic_D.jpg\n",
-      "Copying texture from /media/giang/Storage/Multiverse/multiverse_ws/src/multiverse_world/iai_apartment/meshes/usd/visual/textures/M_Plastic_White_M_Plastic_White_D.jpg to /tmp/cache/D5n60DFJOW/tmp/usd/visual/textures/M_Plastic_White_M_Plastic_White_D.jpg\n",
-      "USD export of '/tmp/cache/D5n60DFJOW/tmp/usd/visual/SM_Kitchen_02_Base.usda' took 104.2 ms\n",
-      "USD import of '/media/giang/Storage/Multiverse/multiverse_ws/src/multiverse_world/iai_apartment/meshes/usd/visual/SM_Kitchen_02_Shelf.usda' took 3.3 ms\n",
-      "Copying texture from /media/giang/Storage/Multiverse/multiverse_ws/src/multiverse_world/iai_apartment/meshes/usd/visual/textures/M_Metal_Chrome_M_Metal_Chrome_D.jpg to /tmp/cache/D5n60DFJOW/tmp/usd/visual/textures/M_Metal_Chrome_M_Metal_Chrome_D.jpg\n",
-      "Copying texture from /media/giang/Storage/Multiverse/multiverse_ws/src/multiverse_world/iai_apartment/meshes/usd/visual/textures/M_Plastic_White_M_Plastic_White_D.jpg to /tmp/cache/D5n60DFJOW/tmp/usd/visual/textures/M_Plastic_White_M_Plastic_White_D.jpg\n",
-      "USD export of '/tmp/cache/D5n60DFJOW/tmp/usd/visual/SM_Kitchen_02_Shelf.usda' took 12.4 ms\n",
-      "USD import of '/media/giang/Storage/Multiverse/multiverse_ws/src/multiverse_world/iai_apartment/meshes/usd/visual/SM_Kitchen_03_Fridge.usda' took 7.7 ms\n",
-      "Copying texture from /media/giang/Storage/Multiverse/multiverse_ws/src/multiverse_world/iai_apartment/meshes/usd/visual/textures/M_Kitchen_Fronts_M_Kitchen_Fronts_D.jpg to /tmp/cache/D5n60DFJOW/tmp/usd/visual/textures/M_Kitchen_Fronts_M_Kitchen_Fronts_D.jpg\n",
-      "Copying texture from /media/giang/Storage/Multiverse/multiverse_ws/src/multiverse_world/iai_apartment/meshes/usd/visual/textures/M_Rubber_Plastic_M_Rubber_Plastic_D.jpg to /tmp/cache/D5n60DFJOW/tmp/usd/visual/textures/M_Rubber_Plastic_M_Rubber_Plastic_D.jpg\n",
-      "Copying texture from /media/giang/Storage/Multiverse/multiverse_ws/src/multiverse_world/iai_apartment/meshes/usd/visual/textures/M_Plastic_White_M_Plastic_White_D.jpg to /tmp/cache/D5n60DFJOW/tmp/usd/visual/textures/M_Plastic_White_M_Plastic_White_D.jpg\n",
-      "USD export of '/tmp/cache/D5n60DFJOW/tmp/usd/visual/SM_Kitchen_03_Fridge.usda' took 28.4 ms\n",
-      "USD import of '/media/giang/Storage/Multiverse/multiverse_ws/src/multiverse_world/iai_apartment/meshes/usd/visual/SM_Fridge_Shelf.usda' took 3.3 ms\n",
-      "Copying texture from /media/giang/Storage/Multiverse/multiverse_ws/src/multiverse_world/iai_apartment/meshes/usd/visual/textures/M_Plastic_White_M_Plastic_White_D.jpg to /tmp/cache/D5n60DFJOW/tmp/usd/visual/textures/M_Plastic_White_M_Plastic_White_D.jpg\n",
-      "Copying texture from /media/giang/Storage/Multiverse/multiverse_ws/src/multiverse_world/iai_apartment/meshes/usd/visual/textures/M_Metal_Fridge_M_Metal_Fridge_D.jpg to /tmp/cache/D5n60DFJOW/tmp/usd/visual/textures/M_Metal_Fridge_M_Metal_Fridge_D.jpg\n",
-      "USD export of '/tmp/cache/D5n60DFJOW/tmp/usd/visual/SM_Fridge_Shelf.usda' took 12.8 ms\n",
-      "USD import of '/media/giang/Storage/Multiverse/multiverse_ws/src/multiverse_world/iai_apartment/meshes/usd/visual/SM_Kitchen_04_Base.usda' took 13.8 ms\n",
-      "Copying texture from /media/giang/Storage/Multiverse/multiverse_ws/src/multiverse_world/iai_apartment/meshes/usd/visual/textures/M_Plastic_White_M_Plastic_White_D.jpg to /tmp/cache/D5n60DFJOW/tmp/usd/visual/textures/M_Plastic_White_M_Plastic_White_D.jpg\n",
-      "Copying texture from /media/giang/Storage/Multiverse/multiverse_ws/src/multiverse_world/iai_apartment/meshes/usd/visual/textures/M_Metal_White_M_Metal_White_D.jpg to /tmp/cache/D5n60DFJOW/tmp/usd/visual/textures/M_Metal_White_M_Metal_White_D.jpg\n",
-      "Copying texture from /media/giang/Storage/Multiverse/multiverse_ws/src/multiverse_world/iai_apartment/meshes/usd/visual/textures/M_Metal_Brushed_M_Metal_Brushed_D.jpg to /tmp/cache/D5n60DFJOW/tmp/usd/visual/textures/M_Metal_Brushed_M_Metal_Brushed_D.jpg\n",
-      "Copying texture from /media/giang/Storage/Multiverse/multiverse_ws/src/multiverse_world/iai_apartment/meshes/usd/visual/textures/M_Kitchen_Fronts_M_Kitchen_Fronts_D.jpg to /tmp/cache/D5n60DFJOW/tmp/usd/visual/textures/M_Kitchen_Fronts_M_Kitchen_Fronts_D.jpg\n",
-      "USD export of '/tmp/cache/D5n60DFJOW/tmp/usd/visual/SM_Kitchen_04_Base.usda' took 82.1 ms\n",
-      "USD import of '/media/giang/Storage/Multiverse/multiverse_ws/src/multiverse_world/iai_apartment/meshes/usd/visual/SM_Kitchen_04_Door_01.usda' took 5.4 ms\n",
-      "Copying texture from /media/giang/Storage/Multiverse/multiverse_ws/src/multiverse_world/iai_apartment/meshes/usd/visual/textures/M_Metal_Chrome_M_Metal_Chrome_D.jpg to /tmp/cache/D5n60DFJOW/tmp/usd/visual/textures/M_Metal_Chrome_M_Metal_Chrome_D.jpg\n",
-      "Copying texture from /media/giang/Storage/Multiverse/multiverse_ws/src/multiverse_world/iai_apartment/meshes/usd/visual/textures/M_Kitchen_Fronts_M_Kitchen_Fronts_D.jpg to /tmp/cache/D5n60DFJOW/tmp/usd/visual/textures/M_Kitchen_Fronts_M_Kitchen_Fronts_D.jpg\n",
-      "USD export of '/tmp/cache/D5n60DFJOW/tmp/usd/visual/SM_Kitchen_04_Door_01.usda' took 27.6 ms\n",
-      "USD import of '/media/giang/Storage/Multiverse/multiverse_ws/src/multiverse_world/iai_apartment/meshes/usd/visual/SM_Kitchen_04_Door_02.usda' took 6.3 ms\n"
-     ]
-    },
-    {
-     "name": "stdout",
-     "output_type": "stream",
-     "text": [
-      "Copying texture from /media/giang/Storage/Multiverse/multiverse_ws/src/multiverse_world/iai_apartment/meshes/usd/visual/textures/M_Metal_Chrome_M_Metal_Chrome_D.jpg to /tmp/cache/D5n60DFJOW/tmp/usd/visual/textures/M_Metal_Chrome_M_Metal_Chrome_D.jpg\n",
-      "Copying texture from /media/giang/Storage/Multiverse/multiverse_ws/src/multiverse_world/iai_apartment/meshes/usd/visual/textures/M_Kitchen_Fronts_M_Kitchen_Fronts_D.jpg to /tmp/cache/D5n60DFJOW/tmp/usd/visual/textures/M_Kitchen_Fronts_M_Kitchen_Fronts_D.jpg\n",
-      "USD export of '/tmp/cache/D5n60DFJOW/tmp/usd/visual/SM_Kitchen_04_Door_02.usda' took 39.8 ms\n",
-      "USD import of '/media/giang/Storage/Multiverse/multiverse_ws/src/multiverse_world/iai_apartment/meshes/usd/visual/SM_Kitchen_Handle.usda' took 3.2 ms\n",
-      "Copying texture from /media/giang/Storage/Multiverse/multiverse_ws/src/multiverse_world/iai_apartment/meshes/usd/visual/textures/M_Metal_Brushed_M_Metal_Brushed_D.jpg to /tmp/cache/D5n60DFJOW/tmp/usd/visual/textures/M_Metal_Brushed_M_Metal_Brushed_D.jpg\n",
-      "USD export of '/tmp/cache/D5n60DFJOW/tmp/usd/visual/SM_Kitchen_Handle.usda' took 15.8 ms\n",
-      "USD import of '/media/giang/Storage/Multiverse/multiverse_ws/src/multiverse_world/iai_apartment/meshes/usd/visual/SM_Kitchen_04_Shelf.usda' took 1.3 ms\n",
-      "USD export of '/tmp/cache/D5n60DFJOW/tmp/usd/visual/SM_Kitchen_04_Shelf.usda' took 6.8 ms\n",
-      "USD import of '/media/giang/Storage/Multiverse/multiverse_ws/src/multiverse_world/iai_apartment/meshes/usd/visual/SM_Counter_Wall.usda' took 1.6 ms\n",
-      "Copying texture from /media/giang/Storage/Multiverse/multiverse_ws/src/multiverse_world/iai_apartment/meshes/usd/visual/textures/M_Wood_Counter_M_Wood_Counter_D.jpg to /tmp/cache/D5n60DFJOW/tmp/usd/visual/textures/M_Wood_Counter_M_Wood_Counter_D.jpg\n",
-      "USD export of '/tmp/cache/D5n60DFJOW/tmp/usd/visual/SM_Counter_Wall.usda' took 7.5 ms\n",
-      "USD import of '/media/giang/Storage/Multiverse/multiverse_ws/src/multiverse_world/iai_apartment/meshes/usd/visual/SM_Kitchen_05_Base.usda' took 6.6 ms\n",
-      "Copying texture from /media/giang/Storage/Multiverse/multiverse_ws/src/multiverse_world/iai_apartment/meshes/usd/visual/textures/M_Metal_Chrome_M_Metal_Chrome_D.jpg to /tmp/cache/D5n60DFJOW/tmp/usd/visual/textures/M_Metal_Chrome_M_Metal_Chrome_D.jpg\n",
-      "Copying texture from /media/giang/Storage/Multiverse/multiverse_ws/src/multiverse_world/iai_apartment/meshes/usd/visual/textures/M_Plastic_White_M_Plastic_White_D.jpg to /tmp/cache/D5n60DFJOW/tmp/usd/visual/textures/M_Plastic_White_M_Plastic_White_D.jpg\n",
-      "USD export of '/tmp/cache/D5n60DFJOW/tmp/usd/visual/SM_Kitchen_05_Base.usda' took 42.2 ms\n",
-      "USD import of '/media/giang/Storage/Multiverse/multiverse_ws/src/multiverse_world/iai_apartment/meshes/usd/visual/SM_Kitchen_06_Base.usda' took 8.1 ms\n",
-      "Copying texture from /media/giang/Storage/Multiverse/multiverse_ws/src/multiverse_world/iai_apartment/meshes/usd/visual/textures/M_Metal_Brushed_M_Metal_Brushed_D.jpg to /tmp/cache/D5n60DFJOW/tmp/usd/visual/textures/M_Metal_Brushed_M_Metal_Brushed_D.jpg\n",
-      "Copying texture from /media/giang/Storage/Multiverse/multiverse_ws/src/multiverse_world/iai_apartment/meshes/usd/visual/textures/M_Plastic_White_M_Plastic_White_D.jpg to /tmp/cache/D5n60DFJOW/tmp/usd/visual/textures/M_Plastic_White_M_Plastic_White_D.jpg\n",
-      "USD export of '/tmp/cache/D5n60DFJOW/tmp/usd/visual/SM_Kitchen_06_Base.usda' took 35.2 ms\n",
-      "USD import of '/media/giang/Storage/Multiverse/multiverse_ws/src/multiverse_world/iai_apartment/meshes/usd/visual/SM_Kitchen_Island_Cover_04.usda' took 1.1 ms\n",
-      "Copying texture from /media/giang/Storage/Multiverse/multiverse_ws/src/multiverse_world/iai_apartment/meshes/usd/visual/textures/M_Kitchen_Fronts_M_Kitchen_Fronts_D.jpg to /tmp/cache/D5n60DFJOW/tmp/usd/visual/textures/M_Kitchen_Fronts_M_Kitchen_Fronts_D.jpg\n",
-      "USD export of '/tmp/cache/D5n60DFJOW/tmp/usd/visual/SM_Kitchen_Island_Cover_03.usda' took 6.0 ms\n",
-      "USD import of '/media/giang/Storage/Multiverse/multiverse_ws/src/multiverse_world/iai_apartment/meshes/usd/visual/SM_Kitchen_Base_Board_01.usda' took 1.1 ms\n",
-      "Copying texture from /media/giang/Storage/Multiverse/multiverse_ws/src/multiverse_world/iai_apartment/meshes/usd/visual/textures/M_Kitchen_Fronts_M_Kitchen_Fronts_D.jpg to /tmp/cache/D5n60DFJOW/tmp/usd/visual/textures/M_Kitchen_Fronts_M_Kitchen_Fronts_D.jpg\n",
-      "USD export of '/tmp/cache/D5n60DFJOW/tmp/usd/visual/SM_Kitchen_Base_Board_01.usda' took 7.9 ms\n",
-      "USD import of '/media/giang/Storage/Multiverse/multiverse_ws/src/multiverse_world/iai_apartment/meshes/usd/visual/SM_Counter_Sink_Stove.usda' took 1.0 ms\n",
-      "Copying texture from /media/giang/Storage/Multiverse/multiverse_ws/src/multiverse_world/iai_apartment/meshes/usd/visual/textures/M_Wood_Counter_M_Wood_Counter_D.jpg to /tmp/cache/D5n60DFJOW/tmp/usd/visual/textures/M_Wood_Counter_M_Wood_Counter_D.jpg\n",
-      "USD export of '/tmp/cache/D5n60DFJOW/tmp/usd/visual/SM_Counter_Sink_Stove.usda' took 6.8 ms\n",
-      "USD import of '/media/giang/Storage/Multiverse/multiverse_ws/src/multiverse_world/iai_apartment/meshes/usd/visual/SM_Stove.usda' took 1.2 ms\n",
-      "Copying texture from /media/giang/Storage/Multiverse/multiverse_ws/src/multiverse_world/iai_apartment/meshes/usd/visual/textures/M_Basic_Black_02_M_Basic_Black_02_D.jpg to /tmp/cache/D5n60DFJOW/tmp/usd/visual/textures/M_Basic_Black_02_M_Basic_Black_02_D.jpg\n",
-      "USD export of '/tmp/cache/D5n60DFJOW/tmp/usd/visual/SM_Stove.usda' took 7.2 ms\n",
-      "USD import of '/media/giang/Storage/Multiverse/multiverse_ws/src/multiverse_world/iai_apartment/meshes/usd/visual/SM_Counter_Sink.usda' took 4.9 ms\n",
-      "Copying texture from /media/giang/Storage/Multiverse/multiverse_ws/src/multiverse_world/iai_apartment/meshes/usd/visual/textures/M_Metal_Chrome_Matte_M_Metal_Chrome_Matte_D.jpg to /tmp/cache/D5n60DFJOW/tmp/usd/visual/textures/M_Metal_Chrome_Matte_M_Metal_Chrome_Matte_D.jpg\n",
-      "USD export of '/tmp/cache/D5n60DFJOW/tmp/usd/visual/SM_Counter_Sink_001.usda' took 29.0 ms\n",
-      "USD import of '/media/giang/Storage/Multiverse/multiverse_ws/src/multiverse_world/iai_apartment/meshes/usd/visual/SM_Counter_Watertab.usda' took 3.7 ms\n",
-      "Copying texture from /media/giang/Storage/Multiverse/multiverse_ws/src/multiverse_world/iai_apartment/meshes/usd/visual/textures/M_Metal_Chrome_Matte_M_Metal_Chrome_Matte_D.jpg to /tmp/cache/D5n60DFJOW/tmp/usd/visual/textures/M_Metal_Chrome_Matte_M_Metal_Chrome_Matte_D.jpg\n",
-      "USD export of '/tmp/cache/D5n60DFJOW/tmp/usd/visual/SM_Counter_Watertab.usda' took 18.5 ms\n",
-      "USD import of '/media/giang/Storage/Multiverse/multiverse_ws/src/multiverse_world/iai_apartment/meshes/usd/visual/SM_Dishwasher_Base.usda' took 8.6 ms\n",
-      "Copying texture from /media/giang/Storage/Multiverse/multiverse_ws/src/multiverse_world/iai_apartment/meshes/usd/visual/textures/M_Metal_Dishwasher_M_Metal_Dishwasher_D.jpg to /tmp/cache/D5n60DFJOW/tmp/usd/visual/textures/M_Metal_Dishwasher_M_Metal_Dishwasher_D.jpg\n",
-      "Copying texture from /media/giang/Storage/Multiverse/multiverse_ws/src/multiverse_world/iai_apartment/meshes/usd/visual/textures/M_Rubber_Plastic_M_Rubber_Plastic_D.jpg to /tmp/cache/D5n60DFJOW/tmp/usd/visual/textures/M_Rubber_Plastic_M_Rubber_Plastic_D.jpg\n",
-      "USD export of '/tmp/cache/D5n60DFJOW/tmp/usd/visual/SM_Dishwasher_Base.usda' took 49.9 ms\n",
-      "USD import of '/media/giang/Storage/Multiverse/multiverse_ws/src/multiverse_world/iai_apartment/meshes/usd/visual/SM_Kitchen_08_Sink_Base.usda' took 4.7 ms\n",
-      "Copying texture from /media/giang/Storage/Multiverse/multiverse_ws/src/multiverse_world/iai_apartment/meshes/usd/visual/textures/M_Plastic_White_M_Plastic_White_D.jpg to /tmp/cache/D5n60DFJOW/tmp/usd/visual/textures/M_Plastic_White_M_Plastic_White_D.jpg\n",
-      "USD export of '/tmp/cache/D5n60DFJOW/tmp/usd/visual/SM_Kitchen_08_Sink_Base.usda' took 28.5 ms\n",
-      "USD import of '/media/giang/Storage/Multiverse/multiverse_ws/src/multiverse_world/iai_apartment/meshes/usd/visual/SM_Kitchen_09_Base.usda' took 7.2 ms\n",
-      "Copying texture from /media/giang/Storage/Multiverse/multiverse_ws/src/multiverse_world/iai_apartment/meshes/usd/visual/textures/M_Metal_Chrome_M_Metal_Chrome_D.jpg to /tmp/cache/D5n60DFJOW/tmp/usd/visual/textures/M_Metal_Chrome_M_Metal_Chrome_D.jpg\n",
-      "Copying texture from /media/giang/Storage/Multiverse/multiverse_ws/src/multiverse_world/iai_apartment/meshes/usd/visual/textures/M_Plastic_White_M_Plastic_White_D.jpg to /tmp/cache/D5n60DFJOW/tmp/usd/visual/textures/M_Plastic_White_M_Plastic_White_D.jpg\n"
-     ]
-    },
-    {
-     "name": "stdout",
-     "output_type": "stream",
-     "text": [
-      "USD export of '/tmp/cache/D5n60DFJOW/tmp/usd/visual/SM_Kitchen_09_Base.usda' took 38.4 ms\n",
-      "USD import of '/media/giang/Storage/Multiverse/multiverse_ws/src/multiverse_world/iai_apartment/meshes/usd/visual/SM_Kitchen_10_Base.usda' took 6.4 ms\n",
-      "Copying texture from /media/giang/Storage/Multiverse/multiverse_ws/src/multiverse_world/iai_apartment/meshes/usd/visual/textures/M_Metal_Brushed_M_Metal_Brushed_D.jpg to /tmp/cache/D5n60DFJOW/tmp/usd/visual/textures/M_Metal_Brushed_M_Metal_Brushed_D.jpg\n",
-      "Copying texture from /media/giang/Storage/Multiverse/multiverse_ws/src/multiverse_world/iai_apartment/meshes/usd/visual/textures/M_Plastic_White_M_Plastic_White_D.jpg to /tmp/cache/D5n60DFJOW/tmp/usd/visual/textures/M_Plastic_White_M_Plastic_White_D.jpg\n",
-      "USD export of '/tmp/cache/D5n60DFJOW/tmp/usd/visual/SM_Kitchen_10_Base.usda' took 35.3 ms\n",
-      "USD import of '/media/giang/Storage/Multiverse/multiverse_ws/src/multiverse_world/iai_apartment/meshes/usd/visual/SM_Kitchen_11_Base.usda' took 6.3 ms\n",
-      "Copying texture from /media/giang/Storage/Multiverse/multiverse_ws/src/multiverse_world/iai_apartment/meshes/usd/visual/textures/M_Metal_Chrome_M_Metal_Chrome_D.jpg to /tmp/cache/D5n60DFJOW/tmp/usd/visual/textures/M_Metal_Chrome_M_Metal_Chrome_D.jpg\n",
-      "Copying texture from /media/giang/Storage/Multiverse/multiverse_ws/src/multiverse_world/iai_apartment/meshes/usd/visual/textures/M_Plastic_White_M_Plastic_White_D.jpg to /tmp/cache/D5n60DFJOW/tmp/usd/visual/textures/M_Plastic_White_M_Plastic_White_D.jpg\n",
-      "USD export of '/tmp/cache/D5n60DFJOW/tmp/usd/visual/SM_Kitchen_11_Base.usda' took 34.9 ms\n",
-      "USD import of '/media/giang/Storage/Multiverse/multiverse_ws/src/multiverse_world/iai_apartment/meshes/usd/visual/SM_Kitchen_Base_Board_02.usda' took 1.1 ms\n",
-      "Copying texture from /media/giang/Storage/Multiverse/multiverse_ws/src/multiverse_world/iai_apartment/meshes/usd/visual/textures/M_Kitchen_Fronts_M_Kitchen_Fronts_D.jpg to /tmp/cache/D5n60DFJOW/tmp/usd/visual/textures/M_Kitchen_Fronts_M_Kitchen_Fronts_D.jpg\n",
-      "USD export of '/tmp/cache/D5n60DFJOW/tmp/usd/visual/SM_Kitchen_Base_Board_02.usda' took 11.1 ms\n",
-      "USD import of '/media/giang/Storage/Multiverse/multiverse_ws/src/multiverse_world/iai_apartment/meshes/usd/visual/SM_Kitchen_Island_Cover_01.usda' took 1.2 ms\n",
-      "Copying texture from /media/giang/Storage/Multiverse/multiverse_ws/src/multiverse_world/iai_apartment/meshes/usd/visual/textures/M_Kitchen_Fronts_M_Kitchen_Fronts_D.jpg to /tmp/cache/D5n60DFJOW/tmp/usd/visual/textures/M_Kitchen_Fronts_M_Kitchen_Fronts_D.jpg\n",
-      "USD export of '/tmp/cache/D5n60DFJOW/tmp/usd/visual/SM_Kitchen_Island_Cover_01.usda' took 9.3 ms\n",
-      "USD import of '/media/giang/Storage/Multiverse/multiverse_ws/src/multiverse_world/iai_apartment/meshes/usd/visual/SM_Kitchen_01_Door_01.usda' took 6.1 ms\n",
-      "Copying texture from /media/giang/Storage/Multiverse/multiverse_ws/src/multiverse_world/iai_apartment/meshes/usd/visual/textures/M_Metal_Chrome_M_Metal_Chrome_D.jpg to /tmp/cache/D5n60DFJOW/tmp/usd/visual/textures/M_Metal_Chrome_M_Metal_Chrome_D.jpg\n",
-      "Copying texture from /media/giang/Storage/Multiverse/multiverse_ws/src/multiverse_world/iai_apartment/meshes/usd/visual/textures/M_Metal_Brushed_M_Metal_Brushed_D.jpg to /tmp/cache/D5n60DFJOW/tmp/usd/visual/textures/M_Metal_Brushed_M_Metal_Brushed_D.jpg\n",
-      "Copying texture from /media/giang/Storage/Multiverse/multiverse_ws/src/multiverse_world/iai_apartment/meshes/usd/visual/textures/M_Kitchen_Fronts_M_Kitchen_Fronts_D.jpg to /tmp/cache/D5n60DFJOW/tmp/usd/visual/textures/M_Kitchen_Fronts_M_Kitchen_Fronts_D.jpg\n",
-      "USD export of '/tmp/cache/D5n60DFJOW/tmp/usd/visual/SM_Kitchen_01_Door_01_002.usda' took 36.9 ms\n",
-      "USD import of '/media/giang/Storage/Multiverse/multiverse_ws/src/multiverse_world/iai_apartment/meshes/usd/visual/SM_Kitchen_01_Drawer_01.usda' took 7.6 ms\n",
-      "Copying texture from /media/giang/Storage/Multiverse/multiverse_ws/src/multiverse_world/iai_apartment/meshes/usd/visual/textures/M_Plastic_White_M_Plastic_White_D.jpg to /tmp/cache/D5n60DFJOW/tmp/usd/visual/textures/M_Plastic_White_M_Plastic_White_D.jpg\n",
-      "Copying texture from /media/giang/Storage/Multiverse/multiverse_ws/src/multiverse_world/iai_apartment/meshes/usd/visual/textures/M_Metal_Chrome_M_Metal_Chrome_D.jpg to /tmp/cache/D5n60DFJOW/tmp/usd/visual/textures/M_Metal_Chrome_M_Metal_Chrome_D.jpg\n",
-      "Copying texture from /media/giang/Storage/Multiverse/multiverse_ws/src/multiverse_world/iai_apartment/meshes/usd/visual/textures/M_Kitchen_Fronts_M_Kitchen_Fronts_D.jpg to /tmp/cache/D5n60DFJOW/tmp/usd/visual/textures/M_Kitchen_Fronts_M_Kitchen_Fronts_D.jpg\n",
-      "Copying texture from /media/giang/Storage/Multiverse/multiverse_ws/src/multiverse_world/iai_apartment/meshes/usd/visual/textures/M_Drawer_Mat_M_Drawer_Mat_D.jpg to /tmp/cache/D5n60DFJOW/tmp/usd/visual/textures/M_Drawer_Mat_M_Drawer_Mat_D.jpg\n",
-      "USD export of '/tmp/cache/D5n60DFJOW/tmp/usd/visual/SM_Kitchen_01_Drawer_01.usda' took 49.6 ms\n",
-      "USD import of '/media/giang/Storage/Multiverse/multiverse_ws/src/multiverse_world/iai_apartment/meshes/usd/visual/SM_Kitchen_01_Drawer_02.usda' took 7.7 ms\n",
-      "Copying texture from /media/giang/Storage/Multiverse/multiverse_ws/src/multiverse_world/iai_apartment/meshes/usd/visual/textures/M_Plastic_White_M_Plastic_White_D.jpg to /tmp/cache/D5n60DFJOW/tmp/usd/visual/textures/M_Plastic_White_M_Plastic_White_D.jpg\n",
-      "Copying texture from /media/giang/Storage/Multiverse/multiverse_ws/src/multiverse_world/iai_apartment/meshes/usd/visual/textures/M_Metal_Chrome_M_Metal_Chrome_D.jpg to /tmp/cache/D5n60DFJOW/tmp/usd/visual/textures/M_Metal_Chrome_M_Metal_Chrome_D.jpg\n",
-      "Copying texture from /media/giang/Storage/Multiverse/multiverse_ws/src/multiverse_world/iai_apartment/meshes/usd/visual/textures/M_Kitchen_Fronts_M_Kitchen_Fronts_D.jpg to /tmp/cache/D5n60DFJOW/tmp/usd/visual/textures/M_Kitchen_Fronts_M_Kitchen_Fronts_D.jpg\n",
-      "Copying texture from /media/giang/Storage/Multiverse/multiverse_ws/src/multiverse_world/iai_apartment/meshes/usd/visual/textures/M_Drawer_Mat_M_Drawer_Mat_D.jpg to /tmp/cache/D5n60DFJOW/tmp/usd/visual/textures/M_Drawer_Mat_M_Drawer_Mat_D.jpg\n",
-      "USD export of '/tmp/cache/D5n60DFJOW/tmp/usd/visual/SM_Kitchen_01_Drawer_02.usda' took 48.6 ms\n",
-      "USD import of '/media/giang/Storage/Multiverse/multiverse_ws/src/multiverse_world/iai_apartment/meshes/usd/visual/SM_Oven_Door.usda' took 10.4 ms\n",
-      "Copying texture from /media/giang/Storage/Multiverse/multiverse_ws/src/multiverse_world/iai_apartment/meshes/usd/visual/textures/M_Rubber_Plastic_M_Rubber_Plastic_D.jpg to /tmp/cache/D5n60DFJOW/tmp/usd/visual/textures/M_Rubber_Plastic_M_Rubber_Plastic_D.jpg\n",
-      "Copying texture from /media/giang/Storage/Multiverse/multiverse_ws/src/multiverse_world/iai_apartment/meshes/usd/visual/textures/M_OvenBase_M_OvenBase_D.jpg to /tmp/cache/D5n60DFJOW/tmp/usd/visual/textures/M_OvenBase_M_OvenBase_D.jpg\n",
-      "USD export of '/tmp/cache/D5n60DFJOW/tmp/usd/visual/SM_Oven_Door.usda' took 54.8 ms\n",
-      "USD import of '/media/giang/Storage/Multiverse/multiverse_ws/src/multiverse_world/iai_apartment/meshes/usd/visual/SM_Kitchen_02_Door.usda' took 7.5 ms\n",
-      "Copying texture from /media/giang/Storage/Multiverse/multiverse_ws/src/multiverse_world/iai_apartment/meshes/usd/visual/textures/M_Metal_Chrome_M_Metal_Chrome_D.jpg to /tmp/cache/D5n60DFJOW/tmp/usd/visual/textures/M_Metal_Chrome_M_Metal_Chrome_D.jpg\n",
-      "Copying texture from /media/giang/Storage/Multiverse/multiverse_ws/src/multiverse_world/iai_apartment/meshes/usd/visual/textures/M_Kitchen_Fronts_M_Kitchen_Fronts_D.jpg to /tmp/cache/D5n60DFJOW/tmp/usd/visual/textures/M_Kitchen_Fronts_M_Kitchen_Fronts_D.jpg\n",
-      "USD export of '/tmp/cache/D5n60DFJOW/tmp/usd/visual/SM_Kitchen_02_Door_001.usda' took 48.9 ms\n",
-      "USD import of '/media/giang/Storage/Multiverse/multiverse_ws/src/multiverse_world/iai_apartment/meshes/usd/visual/SM_Kitchen_02_Drawer_01.usda' took 6.7 ms\n",
-      "Copying texture from /media/giang/Storage/Multiverse/multiverse_ws/src/multiverse_world/iai_apartment/meshes/usd/visual/textures/M_Metal_Chrome_M_Metal_Chrome_D.jpg to /tmp/cache/D5n60DFJOW/tmp/usd/visual/textures/M_Metal_Chrome_M_Metal_Chrome_D.jpg\n",
-      "Copying texture from /media/giang/Storage/Multiverse/multiverse_ws/src/multiverse_world/iai_apartment/meshes/usd/visual/textures/M_Plastic_White_M_Plastic_White_D.jpg to /tmp/cache/D5n60DFJOW/tmp/usd/visual/textures/M_Plastic_White_M_Plastic_White_D.jpg\n"
-     ]
-    },
-    {
-     "name": "stdout",
-     "output_type": "stream",
-     "text": [
-      "Copying texture from /media/giang/Storage/Multiverse/multiverse_ws/src/multiverse_world/iai_apartment/meshes/usd/visual/textures/M_Drawer_Mat_M_Drawer_Mat_D.jpg to /tmp/cache/D5n60DFJOW/tmp/usd/visual/textures/M_Drawer_Mat_M_Drawer_Mat_D.jpg\n",
-      "USD export of '/tmp/cache/D5n60DFJOW/tmp/usd/visual/SM_Kitchen_02_Drawer_01.usda' took 40.1 ms\n",
-      "USD import of '/media/giang/Storage/Multiverse/multiverse_ws/src/multiverse_world/iai_apartment/meshes/usd/visual/SM_Kitchen_02_Drawer_02.usda' took 8.3 ms\n",
-      "Copying texture from /media/giang/Storage/Multiverse/multiverse_ws/src/multiverse_world/iai_apartment/meshes/usd/visual/textures/M_Metal_Chrome_M_Metal_Chrome_D.jpg to /tmp/cache/D5n60DFJOW/tmp/usd/visual/textures/M_Metal_Chrome_M_Metal_Chrome_D.jpg\n",
-      "Copying texture from /media/giang/Storage/Multiverse/multiverse_ws/src/multiverse_world/iai_apartment/meshes/usd/visual/textures/M_Plastic_White_M_Plastic_White_D.jpg to /tmp/cache/D5n60DFJOW/tmp/usd/visual/textures/M_Plastic_White_M_Plastic_White_D.jpg\n",
-      "Copying texture from /media/giang/Storage/Multiverse/multiverse_ws/src/multiverse_world/iai_apartment/meshes/usd/visual/textures/M_Drawer_Mat_M_Drawer_Mat_D.jpg to /tmp/cache/D5n60DFJOW/tmp/usd/visual/textures/M_Drawer_Mat_M_Drawer_Mat_D.jpg\n",
-      "USD export of '/tmp/cache/D5n60DFJOW/tmp/usd/visual/SM_Kitchen_02_Drawer_02.usda' took 52.4 ms\n",
-      "USD import of '/media/giang/Storage/Multiverse/multiverse_ws/src/multiverse_world/iai_apartment/meshes/usd/visual/SM_Fridge_Door_01.usda' took 13.8 ms\n",
-      "Copying texture from /media/giang/Storage/Multiverse/multiverse_ws/src/multiverse_world/iai_apartment/meshes/usd/visual/textures/M_Rubber_Plastic_M_Rubber_Plastic_D.jpg to /tmp/cache/D5n60DFJOW/tmp/usd/visual/textures/M_Rubber_Plastic_M_Rubber_Plastic_D.jpg\n",
-      "Copying texture from /media/giang/Storage/Multiverse/multiverse_ws/src/multiverse_world/iai_apartment/meshes/usd/visual/textures/M_Plastic_White_M_Plastic_White_D.jpg to /tmp/cache/D5n60DFJOW/tmp/usd/visual/textures/M_Plastic_White_M_Plastic_White_D.jpg\n",
-      "Copying texture from /media/giang/Storage/Multiverse/multiverse_ws/src/multiverse_world/iai_apartment/meshes/usd/visual/textures/M_Metal_Chrome_M_Metal_Chrome_D.jpg to /tmp/cache/D5n60DFJOW/tmp/usd/visual/textures/M_Metal_Chrome_M_Metal_Chrome_D.jpg\n",
-      "Copying texture from /media/giang/Storage/Multiverse/multiverse_ws/src/multiverse_world/iai_apartment/meshes/usd/visual/textures/M_Metal_Brushed_M_Metal_Brushed_D.jpg to /tmp/cache/D5n60DFJOW/tmp/usd/visual/textures/M_Metal_Brushed_M_Metal_Brushed_D.jpg\n",
-      "Copying texture from /media/giang/Storage/Multiverse/multiverse_ws/src/multiverse_world/iai_apartment/meshes/usd/visual/textures/M_Kitchen_Fronts_M_Kitchen_Fronts_D.jpg to /tmp/cache/D5n60DFJOW/tmp/usd/visual/textures/M_Kitchen_Fronts_M_Kitchen_Fronts_D.jpg\n",
-      "USD export of '/tmp/cache/D5n60DFJOW/tmp/usd/visual/SM_Fridge_Door_01.usda' took 74.2 ms\n",
-      "USD import of '/media/giang/Storage/Multiverse/multiverse_ws/src/multiverse_world/iai_apartment/meshes/usd/visual/SM_Fridge_Door_Tray_01.usda' took 6.0 ms\n",
-      "Copying texture from /media/giang/Storage/Multiverse/multiverse_ws/src/multiverse_world/iai_apartment/meshes/usd/visual/textures/M_Metal_Dark_M_Metal_Dark_D.jpg to /tmp/cache/D5n60DFJOW/tmp/usd/visual/textures/M_Metal_Dark_M_Metal_Dark_D.jpg\n",
-      "Copying texture from /media/giang/Storage/Multiverse/multiverse_ws/src/multiverse_world/iai_apartment/meshes/usd/visual/textures/M_Metal_Brushed_M_Metal_Brushed_D.jpg to /tmp/cache/D5n60DFJOW/tmp/usd/visual/textures/M_Metal_Brushed_M_Metal_Brushed_D.jpg\n",
-      "USD export of '/tmp/cache/D5n60DFJOW/tmp/usd/visual/SM_Fridge_Door_Tray_01.usda' took 37.4 ms\n",
-      "USD import of '/media/giang/Storage/Multiverse/multiverse_ws/src/multiverse_world/iai_apartment/meshes/usd/visual/SM_Fridge_Door_Tray_02.usda' took 4.0 ms\n",
-      "Copying texture from /media/giang/Storage/Multiverse/multiverse_ws/src/multiverse_world/iai_apartment/meshes/usd/visual/textures/M_Metal_Brushed_M_Metal_Brushed_D.jpg to /tmp/cache/D5n60DFJOW/tmp/usd/visual/textures/M_Metal_Brushed_M_Metal_Brushed_D.jpg\n",
-      "USD export of '/tmp/cache/D5n60DFJOW/tmp/usd/visual/SM_Fridge_Door_Tray_02.usda' took 21.5 ms\n",
-      "USD import of '/media/giang/Storage/Multiverse/multiverse_ws/src/multiverse_world/iai_apartment/meshes/usd/visual/SM_Fridge_Egg_Tray.usda' took 4.6 ms\n",
-      "Copying texture from /media/giang/Storage/Multiverse/multiverse_ws/src/multiverse_world/iai_apartment/meshes/usd/visual/textures/M_Rubber_Plastic_M_Rubber_Plastic_D.jpg to /tmp/cache/D5n60DFJOW/tmp/usd/visual/textures/M_Rubber_Plastic_M_Rubber_Plastic_D.jpg\n",
-      "USD export of '/tmp/cache/D5n60DFJOW/tmp/usd/visual/SM_Fridge_Egg_Tray.usda' took 26.8 ms\n",
-      "USD import of '/media/giang/Storage/Multiverse/multiverse_ws/src/multiverse_world/iai_apartment/meshes/usd/visual/SM_Fridge_Door_02.usda' took 10.1 ms\n",
-      "Copying texture from /media/giang/Storage/Multiverse/multiverse_ws/src/multiverse_world/iai_apartment/meshes/usd/visual/textures/M_Rubber_Plastic_M_Rubber_Plastic_D.jpg to /tmp/cache/D5n60DFJOW/tmp/usd/visual/textures/M_Rubber_Plastic_M_Rubber_Plastic_D.jpg\n",
-      "Copying texture from /media/giang/Storage/Multiverse/multiverse_ws/src/multiverse_world/iai_apartment/meshes/usd/visual/textures/M_Plastic_White_M_Plastic_White_D.jpg to /tmp/cache/D5n60DFJOW/tmp/usd/visual/textures/M_Plastic_White_M_Plastic_White_D.jpg\n",
-      "Copying texture from /media/giang/Storage/Multiverse/multiverse_ws/src/multiverse_world/iai_apartment/meshes/usd/visual/textures/M_Metal_Chrome_M_Metal_Chrome_D.jpg to /tmp/cache/D5n60DFJOW/tmp/usd/visual/textures/M_Metal_Chrome_M_Metal_Chrome_D.jpg\n",
-      "Copying texture from /media/giang/Storage/Multiverse/multiverse_ws/src/multiverse_world/iai_apartment/meshes/usd/visual/textures/M_Kitchen_Fronts_M_Kitchen_Fronts_D.jpg to /tmp/cache/D5n60DFJOW/tmp/usd/visual/textures/M_Kitchen_Fronts_M_Kitchen_Fronts_D.jpg\n",
-      "USD export of '/tmp/cache/D5n60DFJOW/tmp/usd/visual/SM_Fridge_Door_02.usda' took 61.7 ms\n",
-      "USD import of '/media/giang/Storage/Multiverse/multiverse_ws/src/multiverse_world/iai_apartment/meshes/usd/visual/SM_Fridge_Drawer_01.usda' took 7.9 ms\n",
-      "Copying texture from /media/giang/Storage/Multiverse/multiverse_ws/src/multiverse_world/iai_apartment/meshes/usd/visual/textures/M_Plastic_White_M_Plastic_White_D.jpg to /tmp/cache/D5n60DFJOW/tmp/usd/visual/textures/M_Plastic_White_M_Plastic_White_D.jpg\n",
-      "Copying texture from /media/giang/Storage/Multiverse/multiverse_ws/src/multiverse_world/iai_apartment/meshes/usd/visual/textures/M_Metal_Fridge_M_Metal_Fridge_D.jpg to /tmp/cache/D5n60DFJOW/tmp/usd/visual/textures/M_Metal_Fridge_M_Metal_Fridge_D.jpg\n",
-      "USD export of '/tmp/cache/D5n60DFJOW/tmp/usd/visual/SM_Fridge_Drawer_01_001.usda' took 45.8 ms\n",
-      "USD import of '/media/giang/Storage/Multiverse/multiverse_ws/src/multiverse_world/iai_apartment/meshes/usd/visual/SM_Fridge_Drawer_02.usda' took 8.1 ms\n",
-      "Copying texture from /media/giang/Storage/Multiverse/multiverse_ws/src/multiverse_world/iai_apartment/meshes/usd/visual/textures/M_Plastic_White_M_Plastic_White_D.jpg to /tmp/cache/D5n60DFJOW/tmp/usd/visual/textures/M_Plastic_White_M_Plastic_White_D.jpg\n",
-      "Copying texture from /media/giang/Storage/Multiverse/multiverse_ws/src/multiverse_world/iai_apartment/meshes/usd/visual/textures/M_Metal_Fridge_M_Metal_Fridge_D.jpg to /tmp/cache/D5n60DFJOW/tmp/usd/visual/textures/M_Metal_Fridge_M_Metal_Fridge_D.jpg\n",
-      "USD export of '/tmp/cache/D5n60DFJOW/tmp/usd/visual/SM_Fridge_Drawer_02.usda' took 57.1 ms\n",
-      "USD import of '/media/giang/Storage/Multiverse/multiverse_ws/src/multiverse_world/iai_apartment/meshes/usd/visual/SM_Fridge_Drawer_03.usda' took 7.5 ms\n",
-      "Copying texture from /media/giang/Storage/Multiverse/multiverse_ws/src/multiverse_world/iai_apartment/meshes/usd/visual/textures/M_Plastic_White_M_Plastic_White_D.jpg to /tmp/cache/D5n60DFJOW/tmp/usd/visual/textures/M_Plastic_White_M_Plastic_White_D.jpg\n",
-      "Copying texture from /media/giang/Storage/Multiverse/multiverse_ws/src/multiverse_world/iai_apartment/meshes/usd/visual/textures/M_Metal_Fridge_M_Metal_Fridge_D.jpg to /tmp/cache/D5n60DFJOW/tmp/usd/visual/textures/M_Metal_Fridge_M_Metal_Fridge_D.jpg\n",
-      "USD export of '/tmp/cache/D5n60DFJOW/tmp/usd/visual/SM_Fridge_Drawer_03.usda' took 53.6 ms\n",
-      "USD import of '/media/giang/Storage/Multiverse/multiverse_ws/src/multiverse_world/iai_apartment/meshes/usd/visual/SM_Fridge_Drawer_04.usda' took 7.9 ms\n"
-     ]
-    },
-    {
-     "name": "stdout",
-     "output_type": "stream",
-     "text": [
-      "Copying texture from /media/giang/Storage/Multiverse/multiverse_ws/src/multiverse_world/iai_apartment/meshes/usd/visual/textures/M_Plastic_White_M_Plastic_White_D.jpg to /tmp/cache/D5n60DFJOW/tmp/usd/visual/textures/M_Plastic_White_M_Plastic_White_D.jpg\n",
-      "Copying texture from /media/giang/Storage/Multiverse/multiverse_ws/src/multiverse_world/iai_apartment/meshes/usd/visual/textures/M_Metal_Fridge_M_Metal_Fridge_D.jpg to /tmp/cache/D5n60DFJOW/tmp/usd/visual/textures/M_Metal_Fridge_M_Metal_Fridge_D.jpg\n",
-      "USD export of '/tmp/cache/D5n60DFJOW/tmp/usd/visual/SM_Fridge_Drawer_04.usda' took 52.5 ms\n",
-      "USD import of '/media/giang/Storage/Multiverse/multiverse_ws/src/multiverse_world/iai_apartment/meshes/usd/visual/SM_Fridge_Drawer_05.usda' took 7.2 ms\n",
-      "Copying texture from /media/giang/Storage/Multiverse/multiverse_ws/src/multiverse_world/iai_apartment/meshes/usd/visual/textures/M_Plastic_White_M_Plastic_White_D.jpg to /tmp/cache/D5n60DFJOW/tmp/usd/visual/textures/M_Plastic_White_M_Plastic_White_D.jpg\n",
-      "Copying texture from /media/giang/Storage/Multiverse/multiverse_ws/src/multiverse_world/iai_apartment/meshes/usd/visual/textures/M_Metal_Fridge_M_Metal_Fridge_D.jpg to /tmp/cache/D5n60DFJOW/tmp/usd/visual/textures/M_Metal_Fridge_M_Metal_Fridge_D.jpg\n",
-      "USD export of '/tmp/cache/D5n60DFJOW/tmp/usd/visual/SM_Fridge_Drawer_05.usda' took 43.1 ms\n",
-      "USD import of '/media/giang/Storage/Multiverse/multiverse_ws/src/multiverse_world/iai_apartment/meshes/usd/visual/SM_Kitchen_05_Drawer_01.usda' took 6.1 ms\n",
-      "Copying texture from /media/giang/Storage/Multiverse/multiverse_ws/src/multiverse_world/iai_apartment/meshes/usd/visual/textures/M_Metal_Chrome_M_Metal_Chrome_D.jpg to /tmp/cache/D5n60DFJOW/tmp/usd/visual/textures/M_Metal_Chrome_M_Metal_Chrome_D.jpg\n",
-      "Copying texture from /media/giang/Storage/Multiverse/multiverse_ws/src/multiverse_world/iai_apartment/meshes/usd/visual/textures/M_Kitchen_Fronts_M_Kitchen_Fronts_D.jpg to /tmp/cache/D5n60DFJOW/tmp/usd/visual/textures/M_Kitchen_Fronts_M_Kitchen_Fronts_D.jpg\n",
-      "Copying texture from /media/giang/Storage/Multiverse/multiverse_ws/src/multiverse_world/iai_apartment/meshes/usd/visual/textures/M_Plastic_White_M_Plastic_White_D.jpg to /tmp/cache/D5n60DFJOW/tmp/usd/visual/textures/M_Plastic_White_M_Plastic_White_D.jpg\n",
-      "Copying texture from /media/giang/Storage/Multiverse/multiverse_ws/src/multiverse_world/iai_apartment/meshes/usd/visual/textures/M_Drawer_Mat_M_Drawer_Mat_D.jpg to /tmp/cache/D5n60DFJOW/tmp/usd/visual/textures/M_Drawer_Mat_M_Drawer_Mat_D.jpg\n",
-      "USD export of '/tmp/cache/D5n60DFJOW/tmp/usd/visual/SM_Kitchen_05_Base_Drawer_01.usda' took 39.2 ms\n",
-      "USD import of '/media/giang/Storage/Multiverse/multiverse_ws/src/multiverse_world/iai_apartment/meshes/usd/visual/SM_Kitchen_05_Drawer_02.usda' took 8.0 ms\n",
-      "Copying texture from /media/giang/Storage/Multiverse/multiverse_ws/src/multiverse_world/iai_apartment/meshes/usd/visual/textures/M_Metal_Chrome_M_Metal_Chrome_D.jpg to /tmp/cache/D5n60DFJOW/tmp/usd/visual/textures/M_Metal_Chrome_M_Metal_Chrome_D.jpg\n",
-      "Copying texture from /media/giang/Storage/Multiverse/multiverse_ws/src/multiverse_world/iai_apartment/meshes/usd/visual/textures/M_Kitchen_Fronts_M_Kitchen_Fronts_D.jpg to /tmp/cache/D5n60DFJOW/tmp/usd/visual/textures/M_Kitchen_Fronts_M_Kitchen_Fronts_D.jpg\n",
-      "Copying texture from /media/giang/Storage/Multiverse/multiverse_ws/src/multiverse_world/iai_apartment/meshes/usd/visual/textures/M_Plastic_White_M_Plastic_White_D.jpg to /tmp/cache/D5n60DFJOW/tmp/usd/visual/textures/M_Plastic_White_M_Plastic_White_D.jpg\n",
-      "Copying texture from /media/giang/Storage/Multiverse/multiverse_ws/src/multiverse_world/iai_apartment/meshes/usd/visual/textures/M_Drawer_Mat_M_Drawer_Mat_D.jpg to /tmp/cache/D5n60DFJOW/tmp/usd/visual/textures/M_Drawer_Mat_M_Drawer_Mat_D.jpg\n",
-      "USD export of '/tmp/cache/D5n60DFJOW/tmp/usd/visual/SM_Kitchen_05_Base_Drawer_02.usda' took 51.9 ms\n",
-      "USD import of '/media/giang/Storage/Multiverse/multiverse_ws/src/multiverse_world/iai_apartment/meshes/usd/visual/SM_Kitchen_05_Drawer_03.usda' took 8.3 ms\n",
-      "Copying texture from /media/giang/Storage/Multiverse/multiverse_ws/src/multiverse_world/iai_apartment/meshes/usd/visual/textures/M_Metal_Chrome_M_Metal_Chrome_D.jpg to /tmp/cache/D5n60DFJOW/tmp/usd/visual/textures/M_Metal_Chrome_M_Metal_Chrome_D.jpg\n",
-      "Copying texture from /media/giang/Storage/Multiverse/multiverse_ws/src/multiverse_world/iai_apartment/meshes/usd/visual/textures/M_Kitchen_Fronts_M_Kitchen_Fronts_D.jpg to /tmp/cache/D5n60DFJOW/tmp/usd/visual/textures/M_Kitchen_Fronts_M_Kitchen_Fronts_D.jpg\n",
-      "Copying texture from /media/giang/Storage/Multiverse/multiverse_ws/src/multiverse_world/iai_apartment/meshes/usd/visual/textures/M_Plastic_White_M_Plastic_White_D.jpg to /tmp/cache/D5n60DFJOW/tmp/usd/visual/textures/M_Plastic_White_M_Plastic_White_D.jpg\n",
-      "Copying texture from /media/giang/Storage/Multiverse/multiverse_ws/src/multiverse_world/iai_apartment/meshes/usd/visual/textures/M_Drawer_Mat_M_Drawer_Mat_D.jpg to /tmp/cache/D5n60DFJOW/tmp/usd/visual/textures/M_Drawer_Mat_M_Drawer_Mat_D.jpg\n",
-      "USD export of '/tmp/cache/D5n60DFJOW/tmp/usd/visual/SM_Kitchen_05_Base_Drawer_03.usda' took 56.7 ms\n",
-      "USD import of '/media/giang/Storage/Multiverse/multiverse_ws/src/multiverse_world/iai_apartment/meshes/usd/visual/SM_Kitchen_06_Drawer_01.usda' took 7.6 ms\n",
-      "Copying texture from /media/giang/Storage/Multiverse/multiverse_ws/src/multiverse_world/iai_apartment/meshes/usd/visual/textures/M_Metal_Brushed_M_Metal_Brushed_D.jpg to /tmp/cache/D5n60DFJOW/tmp/usd/visual/textures/M_Metal_Brushed_M_Metal_Brushed_D.jpg\n",
-      "Copying texture from /media/giang/Storage/Multiverse/multiverse_ws/src/multiverse_world/iai_apartment/meshes/usd/visual/textures/M_Kitchen_Fronts_M_Kitchen_Fronts_D.jpg to /tmp/cache/D5n60DFJOW/tmp/usd/visual/textures/M_Kitchen_Fronts_M_Kitchen_Fronts_D.jpg\n",
-      "Copying texture from /media/giang/Storage/Multiverse/multiverse_ws/src/multiverse_world/iai_apartment/meshes/usd/visual/textures/M_Plastic_White_M_Plastic_White_D.jpg to /tmp/cache/D5n60DFJOW/tmp/usd/visual/textures/M_Plastic_White_M_Plastic_White_D.jpg\n",
-      "Copying texture from /media/giang/Storage/Multiverse/multiverse_ws/src/multiverse_world/iai_apartment/meshes/usd/visual/textures/M_Drawer_Mat_M_Drawer_Mat_D.jpg to /tmp/cache/D5n60DFJOW/tmp/usd/visual/textures/M_Drawer_Mat_M_Drawer_Mat_D.jpg\n",
-      "USD export of '/tmp/cache/D5n60DFJOW/tmp/usd/visual/SM_Kitchen_06_Base_Drawer_01.usda' took 43.7 ms\n",
-      "USD import of '/media/giang/Storage/Multiverse/multiverse_ws/src/multiverse_world/iai_apartment/meshes/usd/visual/SM_Kitchen_06_Drawer_02.usda' took 7.9 ms\n",
-      "Copying texture from /media/giang/Storage/Multiverse/multiverse_ws/src/multiverse_world/iai_apartment/meshes/usd/visual/textures/M_Metal_Brushed_M_Metal_Brushed_D.jpg to /tmp/cache/D5n60DFJOW/tmp/usd/visual/textures/M_Metal_Brushed_M_Metal_Brushed_D.jpg\n",
-      "Copying texture from /media/giang/Storage/Multiverse/multiverse_ws/src/multiverse_world/iai_apartment/meshes/usd/visual/textures/M_Kitchen_Fronts_M_Kitchen_Fronts_D.jpg to /tmp/cache/D5n60DFJOW/tmp/usd/visual/textures/M_Kitchen_Fronts_M_Kitchen_Fronts_D.jpg\n",
-      "Copying texture from /media/giang/Storage/Multiverse/multiverse_ws/src/multiverse_world/iai_apartment/meshes/usd/visual/textures/M_Plastic_White_M_Plastic_White_D.jpg to /tmp/cache/D5n60DFJOW/tmp/usd/visual/textures/M_Plastic_White_M_Plastic_White_D.jpg\n",
-      "Copying texture from /media/giang/Storage/Multiverse/multiverse_ws/src/multiverse_world/iai_apartment/meshes/usd/visual/textures/M_Drawer_Mat_M_Drawer_Mat_D.jpg to /tmp/cache/D5n60DFJOW/tmp/usd/visual/textures/M_Drawer_Mat_M_Drawer_Mat_D.jpg\n",
-      "USD export of '/tmp/cache/D5n60DFJOW/tmp/usd/visual/SM_Kitchen_06_Base_Drawer_02.usda' took 49.6 ms\n",
-      "USD import of '/media/giang/Storage/Multiverse/multiverse_ws/src/multiverse_world/iai_apartment/meshes/usd/visual/SM_Kitchen_06_Drawer_03.usda' took 8.2 ms\n",
-      "Copying texture from /media/giang/Storage/Multiverse/multiverse_ws/src/multiverse_world/iai_apartment/meshes/usd/visual/textures/M_Metal_Chrome_M_Metal_Chrome_D.jpg to /tmp/cache/D5n60DFJOW/tmp/usd/visual/textures/M_Metal_Chrome_M_Metal_Chrome_D.jpg\n",
-      "Copying texture from /media/giang/Storage/Multiverse/multiverse_ws/src/multiverse_world/iai_apartment/meshes/usd/visual/textures/M_Kitchen_Fronts_M_Kitchen_Fronts_D.jpg to /tmp/cache/D5n60DFJOW/tmp/usd/visual/textures/M_Kitchen_Fronts_M_Kitchen_Fronts_D.jpg\n"
-     ]
-    },
-    {
-     "name": "stdout",
-     "output_type": "stream",
-     "text": [
-      "Copying texture from /media/giang/Storage/Multiverse/multiverse_ws/src/multiverse_world/iai_apartment/meshes/usd/visual/textures/M_Plastic_White_M_Plastic_White_D.jpg to /tmp/cache/D5n60DFJOW/tmp/usd/visual/textures/M_Plastic_White_M_Plastic_White_D.jpg\n",
-      "Copying texture from /media/giang/Storage/Multiverse/multiverse_ws/src/multiverse_world/iai_apartment/meshes/usd/visual/textures/M_Drawer_Mat_M_Drawer_Mat_D.jpg to /tmp/cache/D5n60DFJOW/tmp/usd/visual/textures/M_Drawer_Mat_M_Drawer_Mat_D.jpg\n",
-      "USD export of '/tmp/cache/D5n60DFJOW/tmp/usd/visual/SM_Kitchen_06_Base_Drawer_03.usda' took 52.0 ms\n",
-      "USD import of '/media/giang/Storage/Multiverse/multiverse_ws/src/multiverse_world/iai_apartment/meshes/usd/visual/SM_Counter_Sink_Tap.usda' took 2.4 ms\n",
-      "Copying texture from /media/giang/Storage/Multiverse/multiverse_ws/src/multiverse_world/iai_apartment/meshes/usd/visual/textures/M_Metal_Fridge_M_Metal_Fridge_D.jpg to /tmp/cache/D5n60DFJOW/tmp/usd/visual/textures/M_Metal_Fridge_M_Metal_Fridge_D.jpg\n",
-      "Copying texture from /media/giang/Storage/Multiverse/multiverse_ws/src/multiverse_world/iai_apartment/meshes/usd/visual/textures/M_Red_M_Red_D.jpg to /tmp/cache/D5n60DFJOW/tmp/usd/visual/textures/M_Red_M_Red_D.jpg\n",
-      "Copying texture from /media/giang/Storage/Multiverse/multiverse_ws/src/multiverse_world/iai_apartment/meshes/usd/visual/textures/M_Blue_M_Blue_D.jpg to /tmp/cache/D5n60DFJOW/tmp/usd/visual/textures/M_Blue_M_Blue_D.jpg\n",
-      "Copying texture from /media/giang/Storage/Multiverse/multiverse_ws/src/multiverse_world/iai_apartment/meshes/usd/visual/textures/M_Metal_Chrome_Matte_M_Metal_Chrome_Matte_D.jpg to /tmp/cache/D5n60DFJOW/tmp/usd/visual/textures/M_Metal_Chrome_Matte_M_Metal_Chrome_Matte_D.jpg\n",
-      "USD export of '/tmp/cache/D5n60DFJOW/tmp/usd/visual/SM_Counter_Sink_Tap_001.usda' took 15.2 ms\n",
-      "USD import of '/media/giang/Storage/Multiverse/multiverse_ws/src/multiverse_world/iai_apartment/meshes/usd/visual/SM_Dishwasher_Front.usda' took 18.1 ms\n",
-      "Copying texture from /media/giang/Storage/Multiverse/multiverse_ws/src/multiverse_world/iai_apartment/meshes/usd/visual/textures/M_Plastic_Orange_M_Plastic_Orange_D.jpg to /tmp/cache/D5n60DFJOW/tmp/usd/visual/textures/M_Plastic_Orange_M_Plastic_Orange_D.jpg\n",
-      "Copying texture from /media/giang/Storage/Multiverse/multiverse_ws/src/multiverse_world/iai_apartment/meshes/usd/visual/textures/M_Metal_Dishwasher_M_Metal_Dishwasher_D.jpg to /tmp/cache/D5n60DFJOW/tmp/usd/visual/textures/M_Metal_Dishwasher_M_Metal_Dishwasher_D.jpg\n",
-      "Copying texture from /media/giang/Storage/Multiverse/multiverse_ws/src/multiverse_world/iai_apartment/meshes/usd/visual/textures/M_Kitchen_Fronts_M_Kitchen_Fronts_D.jpg to /tmp/cache/D5n60DFJOW/tmp/usd/visual/textures/M_Kitchen_Fronts_M_Kitchen_Fronts_D.jpg\n",
-      "Copying texture from /media/giang/Storage/Multiverse/multiverse_ws/src/multiverse_world/iai_apartment/meshes/usd/visual/textures/M_Rubber_Plastic_M_Rubber_Plastic_D.jpg to /tmp/cache/D5n60DFJOW/tmp/usd/visual/textures/M_Rubber_Plastic_M_Rubber_Plastic_D.jpg\n",
-      "Copying texture from /media/giang/Storage/Multiverse/multiverse_ws/src/multiverse_world/iai_apartment/meshes/usd/visual/textures/M_Plastic_White_M_Plastic_White_D.jpg to /tmp/cache/D5n60DFJOW/tmp/usd/visual/textures/M_Plastic_White_M_Plastic_White_D.jpg\n",
-      "USD export of '/tmp/cache/D5n60DFJOW/tmp/usd/visual/SM_Dishwasher_Front.usda' took 98.9 ms\n",
-      "USD import of '/media/giang/Storage/Multiverse/multiverse_ws/src/multiverse_world/iai_apartment/meshes/usd/visual/SM_Kitchen_08_Sink_Drawer_02.usda' took 6.3 ms\n",
-      "Copying texture from /media/giang/Storage/Multiverse/multiverse_ws/src/multiverse_world/iai_apartment/meshes/usd/visual/textures/M_Plastic_White_M_Plastic_White_D.jpg to /tmp/cache/D5n60DFJOW/tmp/usd/visual/textures/M_Plastic_White_M_Plastic_White_D.jpg\n",
-      "Copying texture from /media/giang/Storage/Multiverse/multiverse_ws/src/multiverse_world/iai_apartment/meshes/usd/visual/textures/M_Drawer_Mat_M_Drawer_Mat_D.jpg to /tmp/cache/D5n60DFJOW/tmp/usd/visual/textures/M_Drawer_Mat_M_Drawer_Mat_D.jpg\n",
-      "USD export of '/tmp/cache/D5n60DFJOW/tmp/usd/visual/SM_Kitchen_08_Sink_Drawer_02.usda' took 55.5 ms\n",
-      "USD import of '/media/giang/Storage/Multiverse/multiverse_ws/src/multiverse_world/iai_apartment/meshes/usd/visual/SM_Kitchen_09_Drawer_01.usda' took 5.9 ms\n",
-      "Copying texture from /media/giang/Storage/Multiverse/multiverse_ws/src/multiverse_world/iai_apartment/meshes/usd/visual/textures/M_Metal_Chrome_M_Metal_Chrome_D.jpg to /tmp/cache/D5n60DFJOW/tmp/usd/visual/textures/M_Metal_Chrome_M_Metal_Chrome_D.jpg\n",
-      "Copying texture from /media/giang/Storage/Multiverse/multiverse_ws/src/multiverse_world/iai_apartment/meshes/usd/visual/textures/M_Kitchen_Fronts_M_Kitchen_Fronts_D.jpg to /tmp/cache/D5n60DFJOW/tmp/usd/visual/textures/M_Kitchen_Fronts_M_Kitchen_Fronts_D.jpg\n",
-      "Copying texture from /media/giang/Storage/Multiverse/multiverse_ws/src/multiverse_world/iai_apartment/meshes/usd/visual/textures/M_Plastic_White_M_Plastic_White_D.jpg to /tmp/cache/D5n60DFJOW/tmp/usd/visual/textures/M_Plastic_White_M_Plastic_White_D.jpg\n",
-      "Copying texture from /media/giang/Storage/Multiverse/multiverse_ws/src/multiverse_world/iai_apartment/meshes/usd/visual/textures/M_Drawer_Mat_M_Drawer_Mat_D.jpg to /tmp/cache/D5n60DFJOW/tmp/usd/visual/textures/M_Drawer_Mat_M_Drawer_Mat_D.jpg\n",
-      "USD export of '/tmp/cache/D5n60DFJOW/tmp/usd/visual/SM_Kitchen_09_Base_Drawer_01.usda' took 35.0 ms\n",
-      "USD import of '/media/giang/Storage/Multiverse/multiverse_ws/src/multiverse_world/iai_apartment/meshes/usd/visual/SM_Kitchen_09_Drawer_02.usda' took 9.5 ms\n",
-      "Copying texture from /media/giang/Storage/Multiverse/multiverse_ws/src/multiverse_world/iai_apartment/meshes/usd/visual/textures/M_Metal_Chrome_M_Metal_Chrome_D.jpg to /tmp/cache/D5n60DFJOW/tmp/usd/visual/textures/M_Metal_Chrome_M_Metal_Chrome_D.jpg\n",
-      "Copying texture from /media/giang/Storage/Multiverse/multiverse_ws/src/multiverse_world/iai_apartment/meshes/usd/visual/textures/M_Kitchen_Fronts_M_Kitchen_Fronts_D.jpg to /tmp/cache/D5n60DFJOW/tmp/usd/visual/textures/M_Kitchen_Fronts_M_Kitchen_Fronts_D.jpg\n",
-      "Copying texture from /media/giang/Storage/Multiverse/multiverse_ws/src/multiverse_world/iai_apartment/meshes/usd/visual/textures/M_Plastic_White_M_Plastic_White_D.jpg to /tmp/cache/D5n60DFJOW/tmp/usd/visual/textures/M_Plastic_White_M_Plastic_White_D.jpg\n",
-      "Copying texture from /media/giang/Storage/Multiverse/multiverse_ws/src/multiverse_world/iai_apartment/meshes/usd/visual/textures/M_Drawer_Mat_M_Drawer_Mat_D.jpg to /tmp/cache/D5n60DFJOW/tmp/usd/visual/textures/M_Drawer_Mat_M_Drawer_Mat_D.jpg\n",
-      "USD export of '/tmp/cache/D5n60DFJOW/tmp/usd/visual/SM_Kitchen_09_Base_Drawer_02.usda' took 50.8 ms\n",
-      "USD import of '/media/giang/Storage/Multiverse/multiverse_ws/src/multiverse_world/iai_apartment/meshes/usd/visual/SM_Kitchen_09_Drawer_03.usda' took 8.2 ms\n",
-      "Copying texture from /media/giang/Storage/Multiverse/multiverse_ws/src/multiverse_world/iai_apartment/meshes/usd/visual/textures/M_Metal_Chrome_M_Metal_Chrome_D.jpg to /tmp/cache/D5n60DFJOW/tmp/usd/visual/textures/M_Metal_Chrome_M_Metal_Chrome_D.jpg\n",
-      "Copying texture from /media/giang/Storage/Multiverse/multiverse_ws/src/multiverse_world/iai_apartment/meshes/usd/visual/textures/M_Kitchen_Fronts_M_Kitchen_Fronts_D.jpg to /tmp/cache/D5n60DFJOW/tmp/usd/visual/textures/M_Kitchen_Fronts_M_Kitchen_Fronts_D.jpg\n",
-      "Copying texture from /media/giang/Storage/Multiverse/multiverse_ws/src/multiverse_world/iai_apartment/meshes/usd/visual/textures/M_Plastic_White_M_Plastic_White_D.jpg to /tmp/cache/D5n60DFJOW/tmp/usd/visual/textures/M_Plastic_White_M_Plastic_White_D.jpg\n",
-      "Copying texture from /media/giang/Storage/Multiverse/multiverse_ws/src/multiverse_world/iai_apartment/meshes/usd/visual/textures/M_Drawer_Mat_M_Drawer_Mat_D.jpg to /tmp/cache/D5n60DFJOW/tmp/usd/visual/textures/M_Drawer_Mat_M_Drawer_Mat_D.jpg\n",
-      "USD export of '/tmp/cache/D5n60DFJOW/tmp/usd/visual/SM_Kitchen_09_Base_Drawer_03.usda' took 62.6 ms\n",
-      "USD import of '/media/giang/Storage/Multiverse/multiverse_ws/src/multiverse_world/iai_apartment/meshes/usd/visual/SM_Kitchen_10_Drawer_01.usda' took 7.5 ms\n",
-      "Copying texture from /media/giang/Storage/Multiverse/multiverse_ws/src/multiverse_world/iai_apartment/meshes/usd/visual/textures/M_Metal_Brushed_M_Metal_Brushed_D.jpg to /tmp/cache/D5n60DFJOW/tmp/usd/visual/textures/M_Metal_Brushed_M_Metal_Brushed_D.jpg\n"
-     ]
-    },
-    {
-     "name": "stdout",
-     "output_type": "stream",
-     "text": [
-      "Copying texture from /media/giang/Storage/Multiverse/multiverse_ws/src/multiverse_world/iai_apartment/meshes/usd/visual/textures/M_Kitchen_Fronts_M_Kitchen_Fronts_D.jpg to /tmp/cache/D5n60DFJOW/tmp/usd/visual/textures/M_Kitchen_Fronts_M_Kitchen_Fronts_D.jpg\n",
-      "Copying texture from /media/giang/Storage/Multiverse/multiverse_ws/src/multiverse_world/iai_apartment/meshes/usd/visual/textures/M_Plastic_White_M_Plastic_White_D.jpg to /tmp/cache/D5n60DFJOW/tmp/usd/visual/textures/M_Plastic_White_M_Plastic_White_D.jpg\n",
-      "Copying texture from /media/giang/Storage/Multiverse/multiverse_ws/src/multiverse_world/iai_apartment/meshes/usd/visual/textures/M_Drawer_Mat_M_Drawer_Mat_D.jpg to /tmp/cache/D5n60DFJOW/tmp/usd/visual/textures/M_Drawer_Mat_M_Drawer_Mat_D.jpg\n",
-      "USD export of '/tmp/cache/D5n60DFJOW/tmp/usd/visual/SM_Kitchen_10_Base_Drawer_01.usda' took 47.9 ms\n",
-      "USD import of '/media/giang/Storage/Multiverse/multiverse_ws/src/multiverse_world/iai_apartment/meshes/usd/visual/SM_Kitchen_10_Drawer_02.usda' took 7.9 ms\n",
-      "Copying texture from /media/giang/Storage/Multiverse/multiverse_ws/src/multiverse_world/iai_apartment/meshes/usd/visual/textures/M_Metal_Brushed_M_Metal_Brushed_D.jpg to /tmp/cache/D5n60DFJOW/tmp/usd/visual/textures/M_Metal_Brushed_M_Metal_Brushed_D.jpg\n",
-      "Copying texture from /media/giang/Storage/Multiverse/multiverse_ws/src/multiverse_world/iai_apartment/meshes/usd/visual/textures/M_Kitchen_Fronts_M_Kitchen_Fronts_D.jpg to /tmp/cache/D5n60DFJOW/tmp/usd/visual/textures/M_Kitchen_Fronts_M_Kitchen_Fronts_D.jpg\n",
-      "Copying texture from /media/giang/Storage/Multiverse/multiverse_ws/src/multiverse_world/iai_apartment/meshes/usd/visual/textures/M_Plastic_White_M_Plastic_White_D.jpg to /tmp/cache/D5n60DFJOW/tmp/usd/visual/textures/M_Plastic_White_M_Plastic_White_D.jpg\n",
-      "Copying texture from /media/giang/Storage/Multiverse/multiverse_ws/src/multiverse_world/iai_apartment/meshes/usd/visual/textures/M_Drawer_Mat_M_Drawer_Mat_D.jpg to /tmp/cache/D5n60DFJOW/tmp/usd/visual/textures/M_Drawer_Mat_M_Drawer_Mat_D.jpg\n",
-      "USD export of '/tmp/cache/D5n60DFJOW/tmp/usd/visual/SM_Kitchen_10_Base_Drawer_02.usda' took 54.0 ms\n",
-      "USD import of '/media/giang/Storage/Multiverse/multiverse_ws/src/multiverse_world/iai_apartment/meshes/usd/visual/SM_Kitchen_10_Drawer_03.usda' took 8.2 ms\n",
-      "Copying texture from /media/giang/Storage/Multiverse/multiverse_ws/src/multiverse_world/iai_apartment/meshes/usd/visual/textures/M_Metal_Chrome_M_Metal_Chrome_D.jpg to /tmp/cache/D5n60DFJOW/tmp/usd/visual/textures/M_Metal_Chrome_M_Metal_Chrome_D.jpg\n",
-      "Copying texture from /media/giang/Storage/Multiverse/multiverse_ws/src/multiverse_world/iai_apartment/meshes/usd/visual/textures/M_Kitchen_Fronts_M_Kitchen_Fronts_D.jpg to /tmp/cache/D5n60DFJOW/tmp/usd/visual/textures/M_Kitchen_Fronts_M_Kitchen_Fronts_D.jpg\n",
-      "Copying texture from /media/giang/Storage/Multiverse/multiverse_ws/src/multiverse_world/iai_apartment/meshes/usd/visual/textures/M_Plastic_White_M_Plastic_White_D.jpg to /tmp/cache/D5n60DFJOW/tmp/usd/visual/textures/M_Plastic_White_M_Plastic_White_D.jpg\n",
-      "Copying texture from /media/giang/Storage/Multiverse/multiverse_ws/src/multiverse_world/iai_apartment/meshes/usd/visual/textures/M_Drawer_Mat_M_Drawer_Mat_D.jpg to /tmp/cache/D5n60DFJOW/tmp/usd/visual/textures/M_Drawer_Mat_M_Drawer_Mat_D.jpg\n",
-      "USD export of '/tmp/cache/D5n60DFJOW/tmp/usd/visual/SM_Kitchen_10_Base_Drawer_03.usda' took 51.1 ms\n",
-      "USD import of '/media/giang/Storage/Multiverse/multiverse_ws/src/multiverse_world/iai_apartment/meshes/usd/visual/SM_Kitchen_11_Drawer_01.usda' took 7.3 ms\n",
-      "Copying texture from /media/giang/Storage/Multiverse/multiverse_ws/src/multiverse_world/iai_apartment/meshes/usd/visual/textures/M_Metal_Chrome_M_Metal_Chrome_D.jpg to /tmp/cache/D5n60DFJOW/tmp/usd/visual/textures/M_Metal_Chrome_M_Metal_Chrome_D.jpg\n",
-      "Copying texture from /media/giang/Storage/Multiverse/multiverse_ws/src/multiverse_world/iai_apartment/meshes/usd/visual/textures/M_Kitchen_Fronts_M_Kitchen_Fronts_D.jpg to /tmp/cache/D5n60DFJOW/tmp/usd/visual/textures/M_Kitchen_Fronts_M_Kitchen_Fronts_D.jpg\n",
-      "Copying texture from /media/giang/Storage/Multiverse/multiverse_ws/src/multiverse_world/iai_apartment/meshes/usd/visual/textures/M_Plastic_White_M_Plastic_White_D.jpg to /tmp/cache/D5n60DFJOW/tmp/usd/visual/textures/M_Plastic_White_M_Plastic_White_D.jpg\n",
-      "Copying texture from /media/giang/Storage/Multiverse/multiverse_ws/src/multiverse_world/iai_apartment/meshes/usd/visual/textures/M_Drawer_Mat_M_Drawer_Mat_D.jpg to /tmp/cache/D5n60DFJOW/tmp/usd/visual/textures/M_Drawer_Mat_M_Drawer_Mat_D.jpg\n",
-      "USD export of '/tmp/cache/D5n60DFJOW/tmp/usd/visual/SM_Kitchen_11_Drawer_01.usda' took 44.8 ms\n",
-      "USD import of '/media/giang/Storage/Multiverse/multiverse_ws/src/multiverse_world/iai_apartment/meshes/usd/visual/SM_Kitchen_11_Drawer_02.usda' took 8.3 ms\n",
-      "Copying texture from /media/giang/Storage/Multiverse/multiverse_ws/src/multiverse_world/iai_apartment/meshes/usd/visual/textures/M_Metal_Chrome_M_Metal_Chrome_D.jpg to /tmp/cache/D5n60DFJOW/tmp/usd/visual/textures/M_Metal_Chrome_M_Metal_Chrome_D.jpg\n",
-      "Copying texture from /media/giang/Storage/Multiverse/multiverse_ws/src/multiverse_world/iai_apartment/meshes/usd/visual/textures/M_Kitchen_Fronts_M_Kitchen_Fronts_D.jpg to /tmp/cache/D5n60DFJOW/tmp/usd/visual/textures/M_Kitchen_Fronts_M_Kitchen_Fronts_D.jpg\n",
-      "Copying texture from /media/giang/Storage/Multiverse/multiverse_ws/src/multiverse_world/iai_apartment/meshes/usd/visual/textures/M_Plastic_White_M_Plastic_White_D.jpg to /tmp/cache/D5n60DFJOW/tmp/usd/visual/textures/M_Plastic_White_M_Plastic_White_D.jpg\n",
-      "Copying texture from /media/giang/Storage/Multiverse/multiverse_ws/src/multiverse_world/iai_apartment/meshes/usd/visual/textures/M_Drawer_Mat_M_Drawer_Mat_D.jpg to /tmp/cache/D5n60DFJOW/tmp/usd/visual/textures/M_Drawer_Mat_M_Drawer_Mat_D.jpg\n",
-      "USD export of '/tmp/cache/D5n60DFJOW/tmp/usd/visual/SM_Kitchen_11_Drawer_02.usda' took 54.1 ms\n",
-      "USD import of '/media/giang/Storage/Multiverse/multiverse_ws/src/multiverse_world/iai_apartment/meshes/usd/visual/SM_Kitchen_11_Drawer_03.usda' took 7.9 ms\n",
-      "Copying texture from /media/giang/Storage/Multiverse/multiverse_ws/src/multiverse_world/iai_apartment/meshes/usd/visual/textures/M_Metal_Chrome_M_Metal_Chrome_D.jpg to /tmp/cache/D5n60DFJOW/tmp/usd/visual/textures/M_Metal_Chrome_M_Metal_Chrome_D.jpg\n",
-      "Copying texture from /media/giang/Storage/Multiverse/multiverse_ws/src/multiverse_world/iai_apartment/meshes/usd/visual/textures/M_Kitchen_Fronts_M_Kitchen_Fronts_D.jpg to /tmp/cache/D5n60DFJOW/tmp/usd/visual/textures/M_Kitchen_Fronts_M_Kitchen_Fronts_D.jpg\n",
-      "Copying texture from /media/giang/Storage/Multiverse/multiverse_ws/src/multiverse_world/iai_apartment/meshes/usd/visual/textures/M_Plastic_White_M_Plastic_White_D.jpg to /tmp/cache/D5n60DFJOW/tmp/usd/visual/textures/M_Plastic_White_M_Plastic_White_D.jpg\n",
-      "Copying texture from /media/giang/Storage/Multiverse/multiverse_ws/src/multiverse_world/iai_apartment/meshes/usd/visual/textures/M_Drawer_Mat_M_Drawer_Mat_D.jpg to /tmp/cache/D5n60DFJOW/tmp/usd/visual/textures/M_Drawer_Mat_M_Drawer_Mat_D.jpg\n",
-      "USD export of '/tmp/cache/D5n60DFJOW/tmp/usd/visual/SM_Kitchen_11_Drawer_03.usda' took 55.1 ms\n",
-      "USD import of '/tmp/cache/D5n60DFJOW/tmp/usd/visual/SM_Wall_01.usda' took 1.5 ms\n",
-      "    (  0.0001 sec |   0.0000 sec) OBJ Export path: '/media/giang/Storage/Multiverse/tutorial_ws/src/my_env_description/urdf/my_environment/obj/SM_Wall_01.obj'\n",
-      "          (  0.0120 sec |   0.0118 sec) Finished writing geometry of 'SM_Wall_01'.\n",
-      "      (  0.0121 sec |   0.0120 sec) Finished exporting geometry, now exporting materials\n",
-      "      (  0.0127 sec |   0.0125 sec) OBJ Export Finished\n",
-      "Progress: 100.00%\n",
-      "\n",
-      "USD import of '/tmp/cache/D5n60DFJOW/tmp/usd/visual/SM_Wall_02.usda' took 0.9 ms\n",
-      "    (  0.0001 sec |   0.0000 sec) OBJ Export path: '/media/giang/Storage/Multiverse/tutorial_ws/src/my_env_description/urdf/my_environment/obj/SM_Wall_02.obj'\n",
-      "          (  0.0011 sec |   0.0009 sec) Finished writing geometry of 'SM_Wall_02'.\n",
-      "      (  0.0011 sec |   0.0010 sec) Finished exporting geometry, now exporting materials\n",
-      "      (  0.0013 sec |   0.0012 sec) OBJ Export Finished\n",
-      "Progress: 100.00%\n",
-      "\n",
-      "USD import of '/tmp/cache/D5n60DFJOW/tmp/usd/visual/SM_Wall_03.usda' took 1.2 ms\n"
-     ]
-    },
-    {
-     "name": "stdout",
-     "output_type": "stream",
-     "text": [
-      "    (  0.0001 sec |   0.0000 sec) OBJ Export path: '/media/giang/Storage/Multiverse/tutorial_ws/src/my_env_description/urdf/my_environment/obj/SM_Wall_03.obj'\n",
-      "          (  0.0088 sec |   0.0086 sec) Finished writing geometry of 'SM_Wall_03'.\n",
-      "      (  0.0088 sec |   0.0087 sec) Finished exporting geometry, now exporting materials\n",
-      "      (  0.0091 sec |   0.0090 sec) OBJ Export Finished\n",
-      "Progress: 100.00%\n",
-      "\n",
-      "USD import of '/tmp/cache/D5n60DFJOW/tmp/usd/visual/SM_Wall_04.usda' took 1.0 ms\n",
-      "    (  0.0001 sec |   0.0000 sec) OBJ Export path: '/media/giang/Storage/Multiverse/tutorial_ws/src/my_env_description/urdf/my_environment/obj/SM_Wall_04.obj'\n",
-      "          (  0.0037 sec |   0.0035 sec) Finished writing geometry of 'SM_Wall_04'.\n",
-      "      (  0.0037 sec |   0.0036 sec) Finished exporting geometry, now exporting materials\n",
-      "      (  0.0040 sec |   0.0039 sec) OBJ Export Finished\n",
-      "Progress: 100.00%\n",
-      "\n",
-      "USD import of '/tmp/cache/D5n60DFJOW/tmp/usd/visual/SM_Window_07.usda' took 21.5 ms\n",
-      "    (  0.0001 sec |   0.0000 sec) OBJ Export path: '/media/giang/Storage/Multiverse/tutorial_ws/src/my_env_description/urdf/my_environment/obj/SM_Window_07.obj'\n",
-      "          (  0.4356 sec |   0.4354 sec) Finished writing geometry of 'SM_Window_07'.\n",
-      "      (  0.4356 sec |   0.4355 sec) Finished exporting geometry, now exporting materials\n",
-      "      (  0.4361 sec |   0.4360 sec) OBJ Export Finished\n",
-      "Progress: 100.00%\n",
-      "\n",
-      "USD import of '/tmp/cache/D5n60DFJOW/tmp/usd/visual/SM_Window.usda' took 2.0 ms\n",
-      "    (  0.0001 sec |   0.0000 sec) OBJ Export path: '/media/giang/Storage/Multiverse/tutorial_ws/src/my_env_description/urdf/my_environment/obj/SM_Window.obj'\n",
-      "          (  0.0242 sec |   0.0240 sec) Finished writing geometry of 'SM_Window'.\n",
-      "      (  0.0242 sec |   0.0242 sec) Finished exporting geometry, now exporting materials\n",
-      "      (  0.0244 sec |   0.0243 sec) OBJ Export Finished\n",
-      "Progress: 100.00%\n",
-      "\n",
-      "USD import of '/tmp/cache/D5n60DFJOW/tmp/usd/visual/SM_Window_002.usda' took 0.8 ms\n",
-      "    (  0.0001 sec |   0.0000 sec) OBJ Export path: '/media/giang/Storage/Multiverse/tutorial_ws/src/my_env_description/urdf/my_environment/obj/SM_Window_002.obj'\n",
-      "          (  0.0018 sec |   0.0017 sec) Finished writing geometry of 'SM_Window_002'.\n",
-      "      (  0.0019 sec |   0.0018 sec) Finished exporting geometry, now exporting materials\n",
-      "      (  0.0020 sec |   0.0019 sec) OBJ Export Finished\n",
-      "Progress: 100.00%\n",
-      "\n",
-      "USD import of '/tmp/cache/D5n60DFJOW/tmp/usd/visual/SM_Window_Handle_001.usda' took 1.2 ms\n",
-      "    (  0.0001 sec |   0.0000 sec) OBJ Export path: '/media/giang/Storage/Multiverse/tutorial_ws/src/my_env_description/urdf/my_environment/obj/SM_Window_Handle_001.obj'\n",
-      "          (  0.0084 sec |   0.0083 sec) Finished writing geometry of 'SM_Window_Handle_001'.\n",
-      "      (  0.0085 sec |   0.0084 sec) Finished exporting geometry, now exporting materials\n",
-      "      (  0.0087 sec |   0.0087 sec) OBJ Export Finished\n",
-      "Progress: 100.00%\n",
-      "\n",
-      "USD import of '/tmp/cache/D5n60DFJOW/tmp/usd/visual/SM_Window_001.usda' took 0.8 ms\n",
-      "    (  0.0001 sec |   0.0000 sec) OBJ Export path: '/media/giang/Storage/Multiverse/tutorial_ws/src/my_env_description/urdf/my_environment/obj/SM_Window_001.obj'\n",
-      "          (  0.0021 sec |   0.0019 sec) Finished writing geometry of 'SM_Window_001'.\n",
-      "      (  0.0021 sec |   0.0020 sec) Finished exporting geometry, now exporting materials\n",
-      "      (  0.0023 sec |   0.0022 sec) OBJ Export Finished\n",
-      "Progress: 100.00%\n",
-      "\n",
-      "USD import of '/tmp/cache/D5n60DFJOW/tmp/usd/visual/SM_Window_Handle_001.usda' took 1.2 ms\n",
-      "    (  0.0001 sec |   0.0000 sec) OBJ Export path: '/media/giang/Storage/Multiverse/tutorial_ws/src/my_env_description/urdf/my_environment/obj/SM_Window_Handle_001.obj'\n",
-      "          (  0.0082 sec |   0.0081 sec) Finished writing geometry of 'SM_Window_Handle_001'.\n",
-      "      (  0.0083 sec |   0.0082 sec) Finished exporting geometry, now exporting materials\n",
-      "      (  0.0086 sec |   0.0085 sec) OBJ Export Finished\n",
-      "Progress: 100.00%\n",
-      "\n",
-      "USD import of '/tmp/cache/D5n60DFJOW/tmp/usd/visual/SM_Kleiderschank_001.usda' took 8.2 ms\n",
-      "    (  0.0001 sec |   0.0000 sec) OBJ Export path: '/media/giang/Storage/Multiverse/tutorial_ws/src/my_env_description/urdf/my_environment/obj/SM_Kleiderschank_001.obj'\n",
-      "          (  0.4170 sec |   0.4168 sec) Finished writing geometry of 'SM_Kleiderschank_001'.\n",
-      "      (  0.4171 sec |   0.4170 sec) Finished exporting geometry, now exporting materials\n",
-      "      (  0.4175 sec |   0.4174 sec) OBJ Export Finished\n",
-      "Progress: 100.00%\n",
-      "\n",
-      "USD import of '/tmp/cache/D5n60DFJOW/tmp/usd/visual/SM_Sessel.usda' took 5.4 ms\n",
-      "    (  0.0001 sec |   0.0000 sec) OBJ Export path: '/media/giang/Storage/Multiverse/tutorial_ws/src/my_env_description/urdf/my_environment/obj/SM_Sessel.obj'\n",
-      "          (  0.1609 sec |   0.1607 sec) Finished writing geometry of 'SM_Sessel'.\n",
-      "      (  0.1609 sec |   0.1608 sec) Finished exporting geometry, now exporting materials\n",
-      "      (  0.1612 sec |   0.1611 sec) OBJ Export Finished\n",
-      "Progress: 100.00%\n",
-      "\n",
-      "USD import of '/tmp/cache/D5n60DFJOW/tmp/usd/visual/SM_Sofa.usda' took 5.5 ms\n",
-      "    (  0.0001 sec |   0.0000 sec) OBJ Export path: '/media/giang/Storage/Multiverse/tutorial_ws/src/my_env_description/urdf/my_environment/obj/SM_Sofa.obj'\n",
-      "          (  0.1697 sec |   0.1695 sec) Finished writing geometry of 'SM_Sofa'.\n",
-      "      (  0.1697 sec |   0.1696 sec) Finished exporting geometry, now exporting materials\n",
-      "      (  0.1701 sec |   0.1700 sec) OBJ Export Finished\n",
-      "Progress: 100.00%\n",
-      "\n",
-      "USD import of '/tmp/cache/D5n60DFJOW/tmp/usd/visual/SM_Couchtisch_002.usda' took 2.8 ms\n",
-      "    (  0.0001 sec |   0.0000 sec) OBJ Export path: '/media/giang/Storage/Multiverse/tutorial_ws/src/my_env_description/urdf/my_environment/obj/SM_Couchtisch_002.obj'\n",
-      "          (  0.0349 sec |   0.0347 sec) Finished writing geometry of 'SM_Couchtisch_002'.\n",
-      "      (  0.0349 sec |   0.0348 sec) Finished exporting geometry, now exporting materials\n",
-      "      (  0.0352 sec |   0.0351 sec) OBJ Export Finished\n",
-      "Progress: 100.00%\n",
-      "\n",
-      "USD import of '/tmp/cache/D5n60DFJOW/tmp/usd/visual/SM_Nachttisch.usda' took 0.9 ms\n",
-      "    (  0.0001 sec |   0.0000 sec) OBJ Export path: '/media/giang/Storage/Multiverse/tutorial_ws/src/my_env_description/urdf/my_environment/obj/SM_Nachttisch.obj'\n",
-      "          (  0.0015 sec |   0.0013 sec) Finished writing geometry of 'SM_Nachttisch'.\n",
-      "      (  0.0015 sec |   0.0015 sec) Finished exporting geometry, now exporting materials\n",
-      "      (  0.0018 sec |   0.0017 sec) OBJ Export Finished\n",
-      "Progress: 100.00%\n",
-      "\n",
-      "USD import of '/tmp/cache/D5n60DFJOW/tmp/usd/visual/SM_Kleiderschrank_TurLinks.usda' took 11.0 ms\n",
-      "    (  0.0001 sec |   0.0000 sec) OBJ Export path: '/media/giang/Storage/Multiverse/tutorial_ws/src/my_env_description/urdf/my_environment/obj/SM_Kleiderschrank_TurLinks.obj'\n",
-      "          (  0.4540 sec |   0.4538 sec) Finished writing geometry of 'SM_Kleiderschrank_TurLinks'.\n",
-      "      (  0.4540 sec |   0.4539 sec) Finished exporting geometry, now exporting materials\n",
-      "      (  0.4545 sec |   0.4544 sec) OBJ Export Finished\n",
-      "Progress: 100.00%\n",
-      "\n",
-      "USD import of '/tmp/cache/D5n60DFJOW/tmp/usd/visual/SM_Kleiderschrank_GriffLinks.usda' took 0.9 ms\n",
-      "    (  0.0001 sec |   0.0000 sec) OBJ Export path: '/media/giang/Storage/Multiverse/tutorial_ws/src/my_env_description/urdf/my_environment/obj/SM_Kleiderschrank_GriffLinks.obj'\n",
-      "          (  0.0013 sec |   0.0012 sec) Finished writing geometry of 'SM_Kleiderschrank_GriffLinks'.\n",
-      "      (  0.0014 sec |   0.0013 sec) Finished exporting geometry, now exporting materials\n",
-      "      (  0.0017 sec |   0.0017 sec) OBJ Export Finished\n",
-      "Progress: 100.00%\n",
-      "\n",
-      "USD import of '/tmp/cache/D5n60DFJOW/tmp/usd/visual/SM_Kleiderschrank_TurRechts.usda' took 13.2 ms\n",
-      "    (  0.0001 sec |   0.0000 sec) OBJ Export path: '/media/giang/Storage/Multiverse/tutorial_ws/src/my_env_description/urdf/my_environment/obj/SM_Kleiderschrank_TurRechts.obj'\n",
-      "          (  0.4637 sec |   0.4636 sec) Finished writing geometry of 'SM_Kleiderschrank_TurRechts'.\n",
-      "      (  0.4638 sec |   0.4637 sec) Finished exporting geometry, now exporting materials\n",
-      "      (  0.4642 sec |   0.4641 sec) OBJ Export Finished\n",
-      "Progress: 100.00%\n",
-      "\n",
-      "USD import of '/tmp/cache/D5n60DFJOW/tmp/usd/visual/SM_Kleiderschrank_GriffLinks.usda' took 0.8 ms\n",
-      "    (  0.0001 sec |   0.0000 sec) OBJ Export path: '/media/giang/Storage/Multiverse/tutorial_ws/src/my_env_description/urdf/my_environment/obj/SM_Kleiderschrank_GriffLinks.obj'\n"
-     ]
-    },
-    {
-     "name": "stdout",
-     "output_type": "stream",
-     "text": [
-      "          (  0.0012 sec |   0.0010 sec) Finished writing geometry of 'SM_Kleiderschrank_GriffLinks'.\n",
-      "      (  0.0013 sec |   0.0012 sec) Finished exporting geometry, now exporting materials\n",
-      "      (  0.0015 sec |   0.0014 sec) OBJ Export Finished\n",
-      "Progress: 100.00%\n",
-      "\n",
-      "USD import of '/tmp/cache/D5n60DFJOW/tmp/usd/visual/SM_Couchtisch_Schublade.usda' took 3.4 ms\n",
-      "    (  0.0001 sec |   0.0000 sec) OBJ Export path: '/media/giang/Storage/Multiverse/tutorial_ws/src/my_env_description/urdf/my_environment/obj/SM_Couchtisch_Schublade.obj'\n",
-      "          (  0.0575 sec |   0.0573 sec) Finished writing geometry of 'SM_Couchtisch_Schublade'.\n",
-      "      (  0.0576 sec |   0.0575 sec) Finished exporting geometry, now exporting materials\n",
-      "      (  0.0579 sec |   0.0578 sec) OBJ Export Finished\n",
-      "Progress: 100.00%\n",
-      "\n",
-      "USD import of '/tmp/cache/D5n60DFJOW/tmp/usd/visual/SM_Kitchen_01_Base.usda' took 10.5 ms\n",
-      "    (  0.0001 sec |   0.0000 sec) OBJ Export path: '/media/giang/Storage/Multiverse/tutorial_ws/src/my_env_description/urdf/my_environment/obj/SM_Kitchen_01_Base.obj'\n",
-      "          (  0.4071 sec |   0.4069 sec) Finished writing geometry of 'SM_Kitchen_01_Base'.\n",
-      "      (  0.4071 sec |   0.4071 sec) Finished exporting geometry, now exporting materials\n",
-      "      (  0.4078 sec |   0.4077 sec) OBJ Export Finished\n",
-      "Progress: 100.00%\n",
-      "\n",
-      "USD import of '/tmp/cache/D5n60DFJOW/tmp/usd/visual/SM_Oven.usda' took 26.7 ms\n",
-      "    (  0.0001 sec |   0.0000 sec) OBJ Export path: '/media/giang/Storage/Multiverse/tutorial_ws/src/my_env_description/urdf/my_environment/obj/SM_Oven.obj'\n",
-      "          (  1.0936 sec |   1.0934 sec) Finished writing geometry of 'SM_Oven'.\n",
-      "      (  1.0937 sec |   1.0936 sec) Finished exporting geometry, now exporting materials\n",
-      "      (  1.0947 sec |   1.0946 sec) OBJ Export Finished\n",
-      "Progress: 100.00%\n",
-      "\n",
-      "USD import of '/tmp/cache/D5n60DFJOW/tmp/usd/visual/SM_Kitchen_02_Base.usda' took 15.7 ms\n",
-      "    (  0.0001 sec |   0.0000 sec) OBJ Export path: '/media/giang/Storage/Multiverse/tutorial_ws/src/my_env_description/urdf/my_environment/obj/SM_Kitchen_02_Base.obj'\n",
-      "          (  0.6406 sec |   0.6404 sec) Finished writing geometry of 'SM_Kitchen_02_Base'.\n",
-      "      (  0.6407 sec |   0.6405 sec) Finished exporting geometry, now exporting materials\n",
-      "      (  0.6412 sec |   0.6411 sec) OBJ Export Finished\n",
-      "Progress: 100.00%\n",
-      "\n",
-      "USD import of '/tmp/cache/D5n60DFJOW/tmp/usd/visual/SM_Kitchen_02_Shelf.usda' took 3.1 ms\n",
-      "    (  0.0001 sec |   0.0000 sec) OBJ Export path: '/media/giang/Storage/Multiverse/tutorial_ws/src/my_env_description/urdf/my_environment/obj/SM_Kitchen_02_Shelf.obj'\n",
-      "          (  0.0461 sec |   0.0460 sec) Finished writing geometry of 'SM_Kitchen_02_Shelf'.\n",
-      "      (  0.0462 sec |   0.0461 sec) Finished exporting geometry, now exporting materials\n",
-      "      (  0.0467 sec |   0.0466 sec) OBJ Export Finished\n",
-      "Progress: 100.00%\n",
-      "\n",
-      "USD import of '/tmp/cache/D5n60DFJOW/tmp/usd/visual/SM_Kitchen_03_Fridge.usda' took 5.6 ms\n",
-      "    (  0.0001 sec |   0.0000 sec) OBJ Export path: '/media/giang/Storage/Multiverse/tutorial_ws/src/my_env_description/urdf/my_environment/obj/SM_Kitchen_03_Fridge.obj'\n",
-      "          (  0.1565 sec |   0.1563 sec) Finished writing geometry of 'SM_Kitchen_03_Fridge'.\n",
-      "      (  0.1566 sec |   0.1565 sec) Finished exporting geometry, now exporting materials\n",
-      "      (  0.1570 sec |   0.1569 sec) OBJ Export Finished\n",
-      "Progress: 100.00%\n",
-      "\n",
-      "USD import of '/tmp/cache/D5n60DFJOW/tmp/usd/visual/SM_Fridge_Shelf.usda' took 4.4 ms\n",
-      "    (  0.0001 sec |   0.0000 sec) OBJ Export path: '/media/giang/Storage/Multiverse/tutorial_ws/src/my_env_description/urdf/my_environment/obj/SM_Fridge_Shelf.obj'\n",
-      "          (  0.0419 sec |   0.0417 sec) Finished writing geometry of 'SM_Fridge_Shelf'.\n",
-      "      (  0.0419 sec |   0.0418 sec) Finished exporting geometry, now exporting materials\n",
-      "      (  0.0423 sec |   0.0422 sec) OBJ Export Finished\n",
-      "Progress: 100.00%\n",
-      "\n",
-      "USD import of '/tmp/cache/D5n60DFJOW/tmp/usd/visual/SM_Fridge_Shelf.usda' took 3.3 ms\n",
-      "    (  0.0001 sec |   0.0000 sec) OBJ Export path: '/media/giang/Storage/Multiverse/tutorial_ws/src/my_env_description/urdf/my_environment/obj/SM_Fridge_Shelf.obj'\n",
-      "          (  0.0419 sec |   0.0417 sec) Finished writing geometry of 'SM_Fridge_Shelf'.\n",
-      "      (  0.0420 sec |   0.0419 sec) Finished exporting geometry, now exporting materials\n",
-      "      (  0.0424 sec |   0.0423 sec) OBJ Export Finished\n",
-      "Progress: 100.00%\n",
-      "\n",
-      "USD import of '/tmp/cache/D5n60DFJOW/tmp/usd/visual/SM_Kitchen_04_Base.usda' took 13.0 ms\n",
-      "    (  0.0001 sec |   0.0000 sec) OBJ Export path: '/media/giang/Storage/Multiverse/tutorial_ws/src/my_env_description/urdf/my_environment/obj/SM_Kitchen_04_Base.obj'\n",
-      "          (  0.4446 sec |   0.4444 sec) Finished writing geometry of 'SM_Kitchen_04_Base'.\n",
-      "      (  0.4446 sec |   0.4445 sec) Finished exporting geometry, now exporting materials\n",
-      "      (  0.4452 sec |   0.4451 sec) OBJ Export Finished\n",
-      "Progress: 100.00%\n",
-      "\n",
-      "USD import of '/tmp/cache/D5n60DFJOW/tmp/usd/visual/SM_Kitchen_04_Door_01.usda' took 5.6 ms\n",
-      "    (  0.0001 sec |   0.0000 sec) OBJ Export path: '/media/giang/Storage/Multiverse/tutorial_ws/src/my_env_description/urdf/my_environment/obj/SM_Kitchen_04_Door_01.obj'\n",
-      "          (  0.1714 sec |   0.1713 sec) Finished writing geometry of 'SM_Kitchen_04_Door_01'.\n",
-      "      (  0.1715 sec |   0.1714 sec) Finished exporting geometry, now exporting materials\n",
-      "      (  0.1719 sec |   0.1718 sec) OBJ Export Finished\n",
-      "Progress: 100.00%\n",
-      "\n",
-      "USD import of '/tmp/cache/D5n60DFJOW/tmp/usd/visual/SM_Kitchen_04_Door_02.usda' took 6.1 ms\n",
-      "    (  0.0001 sec |   0.0000 sec) OBJ Export path: '/media/giang/Storage/Multiverse/tutorial_ws/src/my_env_description/urdf/my_environment/obj/SM_Kitchen_04_Door_02.obj'\n",
-      "          (  0.1881 sec |   0.1878 sec) Finished writing geometry of 'SM_Kitchen_04_Door_02'.\n",
-      "      (  0.1881 sec |   0.1880 sec) Finished exporting geometry, now exporting materials\n",
-      "      (  0.1885 sec |   0.1885 sec) OBJ Export Finished\n",
-      "Progress: 100.00%\n",
-      "\n",
-      "USD import of '/tmp/cache/D5n60DFJOW/tmp/usd/visual/SM_Kitchen_Handle.usda' took 3.5 ms\n",
-      "    (  0.0001 sec |   0.0000 sec) OBJ Export path: '/media/giang/Storage/Multiverse/tutorial_ws/src/my_env_description/urdf/my_environment/obj/SM_Kitchen_Handle.obj'\n",
-      "          (  0.0623 sec |   0.0622 sec) Finished writing geometry of 'SM_Kitchen_Handle'.\n",
-      "      (  0.0624 sec |   0.0623 sec) Finished exporting geometry, now exporting materials\n",
-      "      (  0.0627 sec |   0.0626 sec) OBJ Export Finished\n",
-      "Progress: 100.00%\n",
-      "\n",
-      "USD import of '/tmp/cache/D5n60DFJOW/tmp/usd/visual/SM_Kitchen_04_Shelf.usda' took 1.4 ms\n",
-      "    (  0.0001 sec |   0.0000 sec) OBJ Export path: '/media/giang/Storage/Multiverse/tutorial_ws/src/my_env_description/urdf/my_environment/obj/SM_Kitchen_04_Shelf.obj'\n",
-      "          (  0.0090 sec |   0.0089 sec) Finished writing geometry of 'SM_Kitchen_04_Shelf'.\n",
-      "      (  0.0090 sec |   0.0090 sec) Finished exporting geometry, now exporting materials\n",
-      "      (  0.0093 sec |   0.0093 sec) OBJ Export Finished\n",
-      "Progress: 100.00%\n",
-      "\n",
-      "USD import of '/tmp/cache/D5n60DFJOW/tmp/usd/visual/SM_Kitchen_04_Shelf.usda' took 1.3 ms\n",
-      "    (  0.0001 sec |   0.0000 sec) OBJ Export path: '/media/giang/Storage/Multiverse/tutorial_ws/src/my_env_description/urdf/my_environment/obj/SM_Kitchen_04_Shelf.obj'\n",
-      "          (  0.0089 sec |   0.0087 sec) Finished writing geometry of 'SM_Kitchen_04_Shelf'.\n",
-      "      (  0.0090 sec |   0.0089 sec) Finished exporting geometry, now exporting materials\n",
-      "      (  0.0093 sec |   0.0092 sec) OBJ Export Finished\n",
-      "Progress: 100.00%\n",
-      "\n",
-      "USD import of '/tmp/cache/D5n60DFJOW/tmp/usd/visual/SM_Counter_Wall.usda' took 1.6 ms\n",
-      "    (  0.0001 sec |   0.0000 sec) OBJ Export path: '/media/giang/Storage/Multiverse/tutorial_ws/src/my_env_description/urdf/my_environment/obj/SM_Counter_Wall.obj'\n",
-      "          (  0.0111 sec |   0.0109 sec) Finished writing geometry of 'SM_Counter_Wall'.\n",
-      "      (  0.0111 sec |   0.0110 sec) Finished exporting geometry, now exporting materials\n",
-      "      (  0.0114 sec |   0.0113 sec) OBJ Export Finished\n",
-      "Progress: 100.00%\n",
-      "\n",
-      "USD import of '/tmp/cache/D5n60DFJOW/tmp/usd/visual/SM_Kitchen_05_Base.usda' took 6.9 ms\n",
-      "    (  0.0001 sec |   0.0000 sec) OBJ Export path: '/media/giang/Storage/Multiverse/tutorial_ws/src/my_env_description/urdf/my_environment/obj/SM_Kitchen_05_Base.obj'\n"
-     ]
-    },
-    {
-     "name": "stdout",
-     "output_type": "stream",
-     "text": [
-      "          (  0.2047 sec |   0.2045 sec) Finished writing geometry of 'SM_Kitchen_05_Base'.\n",
-      "      (  0.2047 sec |   0.2047 sec) Finished exporting geometry, now exporting materials\n",
-      "      (  0.2051 sec |   0.2050 sec) OBJ Export Finished\n",
-      "Progress: 100.00%\n",
-      "\n",
-      "USD import of '/tmp/cache/D5n60DFJOW/tmp/usd/visual/SM_Kitchen_06_Base.usda' took 6.4 ms\n",
-      "    (  0.0001 sec |   0.0000 sec) OBJ Export path: '/media/giang/Storage/Multiverse/tutorial_ws/src/my_env_description/urdf/my_environment/obj/SM_Kitchen_06_Base.obj'\n",
-      "          (  0.2013 sec |   0.2011 sec) Finished writing geometry of 'SM_Kitchen_06_Base'.\n",
-      "      (  0.2013 sec |   0.2012 sec) Finished exporting geometry, now exporting materials\n",
-      "      (  0.2018 sec |   0.2017 sec) OBJ Export Finished\n",
-      "Progress: 100.00%\n",
-      "\n",
-      "USD import of '/tmp/cache/D5n60DFJOW/tmp/usd/visual/SM_Kitchen_Island_Cover_03.usda' took 1.4 ms\n",
-      "    (  0.0001 sec |   0.0000 sec) OBJ Export path: '/media/giang/Storage/Multiverse/tutorial_ws/src/my_env_description/urdf/my_environment/obj/SM_Kitchen_Island_Cover_03.obj'\n",
-      "          (  0.0086 sec |   0.0085 sec) Finished writing geometry of 'SM_Kitchen_Island_Cover_03'.\n",
-      "      (  0.0087 sec |   0.0086 sec) Finished exporting geometry, now exporting materials\n",
-      "      (  0.0089 sec |   0.0088 sec) OBJ Export Finished\n",
-      "Progress: 100.00%\n",
-      "\n",
-      "USD import of '/tmp/cache/D5n60DFJOW/tmp/usd/visual/SM_Kitchen_Base_Board_01.usda' took 1.3 ms\n",
-      "    (  0.0001 sec |   0.0000 sec) OBJ Export path: '/media/giang/Storage/Multiverse/tutorial_ws/src/my_env_description/urdf/my_environment/obj/SM_Kitchen_Base_Board_01.obj'\n",
-      "          (  0.0086 sec |   0.0085 sec) Finished writing geometry of 'SM_Kitchen_Base_Board_01'.\n",
-      "      (  0.0087 sec |   0.0086 sec) Finished exporting geometry, now exporting materials\n",
-      "      (  0.0089 sec |   0.0088 sec) OBJ Export Finished\n",
-      "Progress: 100.00%\n",
-      "\n",
-      "USD import of '/tmp/cache/D5n60DFJOW/tmp/usd/visual/SM_Counter_Sink_Stove.usda' took 1.1 ms\n",
-      "    (  0.0001 sec |   0.0000 sec) OBJ Export path: '/media/giang/Storage/Multiverse/tutorial_ws/src/my_env_description/urdf/my_environment/obj/SM_Counter_Sink_Stove.obj'\n",
-      "          (  0.0073 sec |   0.0072 sec) Finished writing geometry of 'SM_Counter_Sink_Stove'.\n",
-      "      (  0.0074 sec |   0.0073 sec) Finished exporting geometry, now exporting materials\n",
-      "      (  0.0077 sec |   0.0076 sec) OBJ Export Finished\n",
-      "Progress: 100.00%\n",
-      "\n",
-      "USD import of '/tmp/cache/D5n60DFJOW/tmp/usd/visual/SM_Stove.usda' took 1.3 ms\n",
-      "    (  0.0001 sec |   0.0000 sec) OBJ Export path: '/media/giang/Storage/Multiverse/tutorial_ws/src/my_env_description/urdf/my_environment/obj/SM_Stove.obj'\n",
-      "          (  0.0045 sec |   0.0043 sec) Finished writing geometry of 'SM_Stove'.\n",
-      "      (  0.0045 sec |   0.0044 sec) Finished exporting geometry, now exporting materials\n",
-      "      (  0.0048 sec |   0.0048 sec) OBJ Export Finished\n",
-      "Progress: 100.00%\n",
-      "\n",
-      "USD import of '/tmp/cache/D5n60DFJOW/tmp/usd/visual/SM_Counter_Sink_001.usda' took 5.3 ms\n",
-      "    (  0.0001 sec |   0.0000 sec) OBJ Export path: '/media/giang/Storage/Multiverse/tutorial_ws/src/my_env_description/urdf/my_environment/obj/SM_Counter_Sink_001.obj'\n",
-      "          (  0.1753 sec |   0.1751 sec) Finished writing geometry of 'SM_Counter_Sink_001'.\n",
-      "      (  0.1753 sec |   0.1752 sec) Finished exporting geometry, now exporting materials\n",
-      "      (  0.1756 sec |   0.1755 sec) OBJ Export Finished\n",
-      "Progress: 100.00%\n",
-      "\n",
-      "USD import of '/tmp/cache/D5n60DFJOW/tmp/usd/visual/SM_Counter_Watertab.usda' took 3.8 ms\n",
-      "    (  0.0001 sec |   0.0000 sec) OBJ Export path: '/media/giang/Storage/Multiverse/tutorial_ws/src/my_env_description/urdf/my_environment/obj/SM_Counter_Watertab.obj'\n",
-      "          (  0.0774 sec |   0.0772 sec) Finished writing geometry of 'SM_Counter_Watertab'.\n",
-      "      (  0.0774 sec |   0.0773 sec) Finished exporting geometry, now exporting materials\n",
-      "      (  0.0777 sec |   0.0776 sec) OBJ Export Finished\n",
-      "Progress: 100.00%\n",
-      "\n",
-      "USD import of '/tmp/cache/D5n60DFJOW/tmp/usd/visual/SM_Dishwasher_Base.usda' took 8.0 ms\n",
-      "    (  0.0001 sec |   0.0000 sec) OBJ Export path: '/media/giang/Storage/Multiverse/tutorial_ws/src/my_env_description/urdf/my_environment/obj/SM_Dishwasher_Base.obj'\n",
-      "          (  0.2895 sec |   0.2893 sec) Finished writing geometry of 'SM_Dishwasher_Base'.\n",
-      "      (  0.2896 sec |   0.2895 sec) Finished exporting geometry, now exporting materials\n",
-      "      (  0.2900 sec |   0.2899 sec) OBJ Export Finished\n",
-      "Progress: 100.00%\n",
-      "\n",
-      "USD import of '/tmp/cache/D5n60DFJOW/tmp/usd/visual/SM_Kitchen_08_Sink_Base.usda' took 4.9 ms\n",
-      "    (  0.0001 sec |   0.0000 sec) OBJ Export path: '/media/giang/Storage/Multiverse/tutorial_ws/src/my_env_description/urdf/my_environment/obj/SM_Kitchen_08_Sink_Base.obj'\n",
-      "          (  0.1540 sec |   0.1539 sec) Finished writing geometry of 'SM_Kitchen_08_Sink_Base'.\n",
-      "      (  0.1541 sec |   0.1540 sec) Finished exporting geometry, now exporting materials\n",
-      "      (  0.1544 sec |   0.1543 sec) OBJ Export Finished\n",
-      "Progress: 100.00%\n",
-      "\n",
-      "USD import of '/tmp/cache/D5n60DFJOW/tmp/usd/visual/SM_Kitchen_09_Base.usda' took 6.6 ms\n",
-      "    (  0.0001 sec |   0.0000 sec) OBJ Export path: '/media/giang/Storage/Multiverse/tutorial_ws/src/my_env_description/urdf/my_environment/obj/SM_Kitchen_09_Base.obj'\n",
-      "          (  0.2002 sec |   0.2000 sec) Finished writing geometry of 'SM_Kitchen_09_Base'.\n",
-      "      (  0.2002 sec |   0.2001 sec) Finished exporting geometry, now exporting materials\n",
-      "      (  0.2006 sec |   0.2005 sec) OBJ Export Finished\n",
-      "Progress: 100.00%\n",
-      "\n",
-      "USD import of '/tmp/cache/D5n60DFJOW/tmp/usd/visual/SM_Kitchen_10_Base.usda' took 6.8 ms\n",
-      "    (  0.0001 sec |   0.0000 sec) OBJ Export path: '/media/giang/Storage/Multiverse/tutorial_ws/src/my_env_description/urdf/my_environment/obj/SM_Kitchen_10_Base.obj'\n",
-      "          (  0.2013 sec |   0.2011 sec) Finished writing geometry of 'SM_Kitchen_10_Base'.\n",
-      "      (  0.2013 sec |   0.2012 sec) Finished exporting geometry, now exporting materials\n",
-      "      (  0.2017 sec |   0.2016 sec) OBJ Export Finished\n",
-      "Progress: 100.00%\n",
-      "\n",
-      "USD import of '/tmp/cache/D5n60DFJOW/tmp/usd/visual/SM_Kitchen_11_Base.usda' took 6.9 ms\n",
-      "    (  0.0001 sec |   0.0000 sec) OBJ Export path: '/media/giang/Storage/Multiverse/tutorial_ws/src/my_env_description/urdf/my_environment/obj/SM_Kitchen_11_Base.obj'\n",
-      "          (  0.2081 sec |   0.2079 sec) Finished writing geometry of 'SM_Kitchen_11_Base'.\n",
-      "      (  0.2081 sec |   0.2080 sec) Finished exporting geometry, now exporting materials\n",
-      "      (  0.2085 sec |   0.2084 sec) OBJ Export Finished\n",
-      "Progress: 100.00%\n",
-      "\n",
-      "USD import of '/tmp/cache/D5n60DFJOW/tmp/usd/visual/SM_Kitchen_Base_Board_02.usda' took 1.4 ms\n",
-      "    (  0.0001 sec |   0.0000 sec) OBJ Export path: '/media/giang/Storage/Multiverse/tutorial_ws/src/my_env_description/urdf/my_environment/obj/SM_Kitchen_Base_Board_02.obj'\n",
-      "          (  0.0088 sec |   0.0086 sec) Finished writing geometry of 'SM_Kitchen_Base_Board_02'.\n",
-      "      (  0.0088 sec |   0.0087 sec) Finished exporting geometry, now exporting materials\n",
-      "      (  0.0091 sec |   0.0090 sec) OBJ Export Finished\n",
-      "Progress: 100.00%\n",
-      "\n",
-      "USD import of '/tmp/cache/D5n60DFJOW/tmp/usd/visual/SM_Kitchen_Island_Cover_01.usda' took 1.6 ms\n",
-      "    (  0.0001 sec |   0.0000 sec) OBJ Export path: '/media/giang/Storage/Multiverse/tutorial_ws/src/my_env_description/urdf/my_environment/obj/SM_Kitchen_Island_Cover_01.obj'\n",
-      "          (  0.0114 sec |   0.0113 sec) Finished writing geometry of 'SM_Kitchen_Island_Cover_01'.\n",
-      "      (  0.0115 sec |   0.0114 sec) Finished exporting geometry, now exporting materials\n",
-      "      (  0.0117 sec |   0.0116 sec) OBJ Export Finished\n",
-      "Progress: 100.00%\n",
-      "\n",
-      "USD import of '/tmp/cache/D5n60DFJOW/tmp/usd/visual/SM_Kitchen_Island_Cover_03.usda' took 1.4 ms\n",
-      "    (  0.0001 sec |   0.0000 sec) OBJ Export path: '/media/giang/Storage/Multiverse/tutorial_ws/src/my_env_description/urdf/my_environment/obj/SM_Kitchen_Island_Cover_03.obj'\n",
-      "          (  0.0089 sec |   0.0087 sec) Finished writing geometry of 'SM_Kitchen_Island_Cover_03'.\n",
-      "      (  0.0089 sec |   0.0088 sec) Finished exporting geometry, now exporting materials\n",
-      "      (  0.0092 sec |   0.0091 sec) OBJ Export Finished\n",
-      "Progress: 100.00%\n",
-      "\n",
-      "USD import of '/tmp/cache/D5n60DFJOW/tmp/usd/visual/SM_Kitchen_Island_Cover_03.usda' took 5.5 ms\n",
-      "    (  0.0001 sec |   0.0000 sec) OBJ Export path: '/media/giang/Storage/Multiverse/tutorial_ws/src/my_env_description/urdf/my_environment/obj/SM_Kitchen_Island_Cover_03.obj'\n"
-     ]
-    },
-    {
-     "name": "stdout",
-     "output_type": "stream",
-     "text": [
-      "          (  0.0089 sec |   0.0088 sec) Finished writing geometry of 'SM_Kitchen_Island_Cover_03'.\n",
-      "      (  0.0090 sec |   0.0089 sec) Finished exporting geometry, now exporting materials\n",
-      "      (  0.0093 sec |   0.0092 sec) OBJ Export Finished\n",
-      "Progress: 100.00%\n",
-      "\n",
-      "USD import of '/tmp/cache/D5n60DFJOW/tmp/usd/visual/SM_Kitchen_01_Door_01_002.usda' took 8.0 ms\n",
-      "    (  0.0001 sec |   0.0000 sec) OBJ Export path: '/media/giang/Storage/Multiverse/tutorial_ws/src/my_env_description/urdf/my_environment/obj/SM_Kitchen_01_Door_01_002.obj'\n",
-      "          (  0.1916 sec |   0.1915 sec) Finished writing geometry of 'SM_Kitchen_01_Door_01_002'.\n",
-      "      (  0.1917 sec |   0.1916 sec) Finished exporting geometry, now exporting materials\n",
-      "      (  0.1922 sec |   0.1921 sec) OBJ Export Finished\n",
-      "Progress: 100.00%\n",
-      "\n",
-      "USD import of '/tmp/cache/D5n60DFJOW/tmp/usd/visual/SM_Kitchen_Handle.usda' took 3.6 ms\n",
-      "    (  0.0001 sec |   0.0000 sec) OBJ Export path: '/media/giang/Storage/Multiverse/tutorial_ws/src/my_env_description/urdf/my_environment/obj/SM_Kitchen_Handle.obj'\n",
-      "          (  0.0628 sec |   0.0627 sec) Finished writing geometry of 'SM_Kitchen_Handle'.\n",
-      "      (  0.0630 sec |   0.0629 sec) Finished exporting geometry, now exporting materials\n",
-      "      (  0.0633 sec |   0.0632 sec) OBJ Export Finished\n",
-      "Progress: 100.00%\n",
-      "\n",
-      "USD import of '/tmp/cache/D5n60DFJOW/tmp/usd/visual/SM_Kitchen_01_Drawer_01.usda' took 7.9 ms\n",
-      "    (  0.0001 sec |   0.0000 sec) OBJ Export path: '/media/giang/Storage/Multiverse/tutorial_ws/src/my_env_description/urdf/my_environment/obj/SM_Kitchen_01_Drawer_01.obj'\n",
-      "          (  0.2756 sec |   0.2754 sec) Finished writing geometry of 'SM_Kitchen_01_Drawer_01'.\n",
-      "      (  0.2756 sec |   0.2756 sec) Finished exporting geometry, now exporting materials\n",
-      "      (  0.2762 sec |   0.2761 sec) OBJ Export Finished\n",
-      "Progress: 100.00%\n",
-      "\n",
-      "USD import of '/tmp/cache/D5n60DFJOW/tmp/usd/visual/SM_Kitchen_Handle.usda' took 3.4 ms\n",
-      "    (  0.0001 sec |   0.0000 sec) OBJ Export path: '/media/giang/Storage/Multiverse/tutorial_ws/src/my_env_description/urdf/my_environment/obj/SM_Kitchen_Handle.obj'\n",
-      "          (  0.0869 sec |   0.0867 sec) Finished writing geometry of 'SM_Kitchen_Handle'.\n",
-      "      (  0.0870 sec |   0.0869 sec) Finished exporting geometry, now exporting materials\n",
-      "      (  0.0873 sec |   0.0872 sec) OBJ Export Finished\n",
-      "Progress: 100.00%\n",
-      "\n",
-      "USD import of '/tmp/cache/D5n60DFJOW/tmp/usd/visual/SM_Kitchen_01_Drawer_02.usda' took 7.8 ms\n",
-      "    (  0.0001 sec |   0.0000 sec) OBJ Export path: '/media/giang/Storage/Multiverse/tutorial_ws/src/my_env_description/urdf/my_environment/obj/SM_Kitchen_01_Drawer_02.obj'\n",
-      "          (  0.2824 sec |   0.2823 sec) Finished writing geometry of 'SM_Kitchen_01_Drawer_02'.\n",
-      "      (  0.2825 sec |   0.2824 sec) Finished exporting geometry, now exporting materials\n",
-      "      (  0.2833 sec |   0.2832 sec) OBJ Export Finished\n",
-      "Progress: 100.00%\n",
-      "\n",
-      "USD import of '/tmp/cache/D5n60DFJOW/tmp/usd/visual/SM_Kitchen_Handle.usda' took 3.7 ms\n",
-      "    (  0.0001 sec |   0.0000 sec) OBJ Export path: '/media/giang/Storage/Multiverse/tutorial_ws/src/my_env_description/urdf/my_environment/obj/SM_Kitchen_Handle.obj'\n",
-      "          (  0.0616 sec |   0.0614 sec) Finished writing geometry of 'SM_Kitchen_Handle'.\n",
-      "      (  0.0617 sec |   0.0616 sec) Finished exporting geometry, now exporting materials\n",
-      "      (  0.0620 sec |   0.0619 sec) OBJ Export Finished\n",
-      "Progress: 100.00%\n",
-      "\n",
-      "USD import of '/tmp/cache/D5n60DFJOW/tmp/usd/visual/SM_Oven_Door.usda' took 11.0 ms\n",
-      "    (  0.0001 sec |   0.0000 sec) OBJ Export path: '/media/giang/Storage/Multiverse/tutorial_ws/src/my_env_description/urdf/my_environment/obj/SM_Oven_Door.obj'\n",
-      "          (  0.3479 sec |   0.3477 sec) Finished writing geometry of 'SM_Oven_Door'.\n",
-      "      (  0.3480 sec |   0.3479 sec) Finished exporting geometry, now exporting materials\n",
-      "      (  0.3485 sec |   0.3484 sec) OBJ Export Finished\n",
-      "Progress: 100.00%\n",
-      "\n",
-      "USD import of '/tmp/cache/D5n60DFJOW/tmp/usd/visual/SM_Kitchen_02_Door_001.usda' took 7.9 ms\n",
-      "    (  0.0001 sec |   0.0000 sec) OBJ Export path: '/media/giang/Storage/Multiverse/tutorial_ws/src/my_env_description/urdf/my_environment/obj/SM_Kitchen_02_Door_001.obj'\n",
-      "          (  0.2621 sec |   0.2619 sec) Finished writing geometry of 'SM_Kitchen_02_Door_001'.\n",
-      "      (  0.2621 sec |   0.2620 sec) Finished exporting geometry, now exporting materials\n",
-      "      (  0.2626 sec |   0.2625 sec) OBJ Export Finished\n",
-      "Progress: 100.00%\n",
-      "\n",
-      "USD import of '/tmp/cache/D5n60DFJOW/tmp/usd/visual/SM_Kitchen_Handle.usda' took 3.6 ms\n",
-      "    (  0.0001 sec |   0.0000 sec) OBJ Export path: '/media/giang/Storage/Multiverse/tutorial_ws/src/my_env_description/urdf/my_environment/obj/SM_Kitchen_Handle.obj'\n",
-      "          (  0.0609 sec |   0.0607 sec) Finished writing geometry of 'SM_Kitchen_Handle'.\n",
-      "      (  0.0611 sec |   0.0610 sec) Finished exporting geometry, now exporting materials\n",
-      "      (  0.0614 sec |   0.0613 sec) OBJ Export Finished\n",
-      "Progress: 100.00%\n",
-      "\n",
-      "USD import of '/tmp/cache/D5n60DFJOW/tmp/usd/visual/SM_Kitchen_02_Drawer_01.usda' took 7.1 ms\n",
-      "    (  0.0001 sec |   0.0000 sec) OBJ Export path: '/media/giang/Storage/Multiverse/tutorial_ws/src/my_env_description/urdf/my_environment/obj/SM_Kitchen_02_Drawer_01.obj'\n",
-      "          (  0.2140 sec |   0.2138 sec) Finished writing geometry of 'SM_Kitchen_02_Drawer_01'.\n",
-      "      (  0.2141 sec |   0.2140 sec) Finished exporting geometry, now exporting materials\n",
-      "      (  0.2147 sec |   0.2146 sec) OBJ Export Finished\n",
-      "Progress: 100.00%\n",
-      "\n",
-      "USD import of '/tmp/cache/D5n60DFJOW/tmp/usd/visual/SM_Kitchen_02_Drawer_02.usda' took 8.0 ms\n",
-      "    (  0.0001 sec |   0.0000 sec) OBJ Export path: '/media/giang/Storage/Multiverse/tutorial_ws/src/my_env_description/urdf/my_environment/obj/SM_Kitchen_02_Drawer_02.obj'\n",
-      "          (  0.2778 sec |   0.2777 sec) Finished writing geometry of 'SM_Kitchen_02_Drawer_02'.\n",
-      "      (  0.2779 sec |   0.2778 sec) Finished exporting geometry, now exporting materials\n",
-      "      (  0.2784 sec |   0.2783 sec) OBJ Export Finished\n",
-      "Progress: 100.00%\n",
-      "\n",
-      "USD import of '/tmp/cache/D5n60DFJOW/tmp/usd/visual/SM_Kitchen_02_Drawer_02.usda' took 8.5 ms\n",
-      "    (  0.0001 sec |   0.0000 sec) OBJ Export path: '/media/giang/Storage/Multiverse/tutorial_ws/src/my_env_description/urdf/my_environment/obj/SM_Kitchen_02_Drawer_02.obj'\n",
-      "          (  0.3068 sec |   0.3065 sec) Finished writing geometry of 'SM_Kitchen_02_Drawer_02'.\n",
-      "      (  0.3070 sec |   0.3069 sec) Finished exporting geometry, now exporting materials\n",
-      "      (  0.3075 sec |   0.3074 sec) OBJ Export Finished\n",
-      "Progress: 100.00%\n",
-      "\n",
-      "USD import of '/tmp/cache/D5n60DFJOW/tmp/usd/visual/SM_Kitchen_02_Drawer_02.usda' took 8.3 ms\n",
-      "    (  0.0001 sec |   0.0000 sec) OBJ Export path: '/media/giang/Storage/Multiverse/tutorial_ws/src/my_env_description/urdf/my_environment/obj/SM_Kitchen_02_Drawer_02.obj'\n",
-      "          (  0.2973 sec |   0.2970 sec) Finished writing geometry of 'SM_Kitchen_02_Drawer_02'.\n",
-      "      (  0.2976 sec |   0.2975 sec) Finished exporting geometry, now exporting materials\n",
-      "      (  0.2981 sec |   0.2980 sec) OBJ Export Finished\n",
-      "Progress: 100.00%\n",
-      "\n",
-      "USD import of '/tmp/cache/D5n60DFJOW/tmp/usd/visual/SM_Kitchen_02_Drawer_02.usda' took 8.3 ms\n",
-      "    (  0.0001 sec |   0.0000 sec) OBJ Export path: '/media/giang/Storage/Multiverse/tutorial_ws/src/my_env_description/urdf/my_environment/obj/SM_Kitchen_02_Drawer_02.obj'\n",
-      "          (  0.2839 sec |   0.2836 sec) Finished writing geometry of 'SM_Kitchen_02_Drawer_02'.\n",
-      "      (  0.2841 sec |   0.2840 sec) Finished exporting geometry, now exporting materials\n",
-      "      (  0.2846 sec |   0.2845 sec) OBJ Export Finished\n",
-      "Progress: 100.00%\n",
-      "\n",
-      "USD import of '/tmp/cache/D5n60DFJOW/tmp/usd/visual/SM_Kitchen_02_Drawer_02.usda' took 9.0 ms\n",
-      "    (  0.0001 sec |   0.0000 sec) OBJ Export path: '/media/giang/Storage/Multiverse/tutorial_ws/src/my_env_description/urdf/my_environment/obj/SM_Kitchen_02_Drawer_02.obj'\n",
-      "          (  0.3166 sec |   0.3163 sec) Finished writing geometry of 'SM_Kitchen_02_Drawer_02'.\n",
-      "      (  0.3168 sec |   0.3167 sec) Finished exporting geometry, now exporting materials\n",
-      "      (  0.3173 sec |   0.3172 sec) OBJ Export Finished\n",
-      "Progress: 100.00%\n",
-      "\n",
-      "USD import of '/tmp/cache/D5n60DFJOW/tmp/usd/visual/SM_Fridge_Door_01.usda' took 12.8 ms\n",
-      "    (  0.0001 sec |   0.0000 sec) OBJ Export path: '/media/giang/Storage/Multiverse/tutorial_ws/src/my_env_description/urdf/my_environment/obj/SM_Fridge_Door_01.obj'\n"
-     ]
-    },
-    {
-     "name": "stdout",
-     "output_type": "stream",
-     "text": [
-      "          (  0.4568 sec |   0.4566 sec) Finished writing geometry of 'SM_Fridge_Door_01'.\n",
-      "      (  0.4568 sec |   0.4567 sec) Finished exporting geometry, now exporting materials\n",
-      "      (  0.4575 sec |   0.4574 sec) OBJ Export Finished\n",
-      "Progress: 100.00%\n",
-      "\n",
-      "USD import of '/tmp/cache/D5n60DFJOW/tmp/usd/visual/SM_Kitchen_Handle.usda' took 3.5 ms\n",
-      "    (  0.0001 sec |   0.0000 sec) OBJ Export path: '/media/giang/Storage/Multiverse/tutorial_ws/src/my_env_description/urdf/my_environment/obj/SM_Kitchen_Handle.obj'\n",
-      "          (  0.0626 sec |   0.0624 sec) Finished writing geometry of 'SM_Kitchen_Handle'.\n",
-      "      (  0.0627 sec |   0.0626 sec) Finished exporting geometry, now exporting materials\n",
-      "      (  0.0631 sec |   0.0630 sec) OBJ Export Finished\n",
-      "Progress: 100.00%\n",
-      "\n",
-      "USD import of '/tmp/cache/D5n60DFJOW/tmp/usd/visual/SM_Fridge_Door_Tray_01.usda' took 6.7 ms\n",
-      "    (  0.0001 sec |   0.0000 sec) OBJ Export path: '/media/giang/Storage/Multiverse/tutorial_ws/src/my_env_description/urdf/my_environment/obj/SM_Fridge_Door_Tray_01.obj'\n",
-      "          (  0.1881 sec |   0.1879 sec) Finished writing geometry of 'SM_Fridge_Door_Tray_01'.\n",
-      "      (  0.1881 sec |   0.1880 sec) Finished exporting geometry, now exporting materials\n",
-      "      (  0.1887 sec |   0.1886 sec) OBJ Export Finished\n",
-      "Progress: 100.00%\n",
-      "\n",
-      "USD import of '/tmp/cache/D5n60DFJOW/tmp/usd/visual/SM_Fridge_Door_Tray_02.usda' took 4.4 ms\n",
-      "    (  0.0001 sec |   0.0000 sec) OBJ Export path: '/media/giang/Storage/Multiverse/tutorial_ws/src/my_env_description/urdf/my_environment/obj/SM_Fridge_Door_Tray_02.obj'\n",
-      "          (  0.0796 sec |   0.0794 sec) Finished writing geometry of 'SM_Fridge_Door_Tray_02'.\n",
-      "      (  0.0796 sec |   0.0796 sec) Finished exporting geometry, now exporting materials\n",
-      "      (  0.0800 sec |   0.0799 sec) OBJ Export Finished\n",
-      "Progress: 100.00%\n",
-      "\n",
-      "USD import of '/tmp/cache/D5n60DFJOW/tmp/usd/visual/SM_Fridge_Egg_Tray.usda' took 5.2 ms\n",
-      "    (  0.0001 sec |   0.0000 sec) OBJ Export path: '/media/giang/Storage/Multiverse/tutorial_ws/src/my_env_description/urdf/my_environment/obj/SM_Fridge_Egg_Tray.obj'\n",
-      "          (  0.1500 sec |   0.1498 sec) Finished writing geometry of 'SM_Fridge_Egg_Tray'.\n",
-      "      (  0.1501 sec |   0.1500 sec) Finished exporting geometry, now exporting materials\n",
-      "      (  0.1504 sec |   0.1503 sec) OBJ Export Finished\n",
-      "Progress: 100.00%\n",
-      "\n",
-      "USD import of '/tmp/cache/D5n60DFJOW/tmp/usd/visual/SM_Fridge_Door_02.usda' took 9.9 ms\n",
-      "    (  0.0001 sec |   0.0000 sec) OBJ Export path: '/media/giang/Storage/Multiverse/tutorial_ws/src/my_env_description/urdf/my_environment/obj/SM_Fridge_Door_02.obj'\n",
-      "          (  0.3372 sec |   0.3371 sec) Finished writing geometry of 'SM_Fridge_Door_02'.\n",
-      "      (  0.3373 sec |   0.3372 sec) Finished exporting geometry, now exporting materials\n",
-      "      (  0.3379 sec |   0.3378 sec) OBJ Export Finished\n",
-      "Progress: 100.00%\n",
-      "\n",
-      "USD import of '/tmp/cache/D5n60DFJOW/tmp/usd/visual/SM_Kitchen_Handle.usda' took 3.7 ms\n",
-      "    (  0.0001 sec |   0.0000 sec) OBJ Export path: '/media/giang/Storage/Multiverse/tutorial_ws/src/my_env_description/urdf/my_environment/obj/SM_Kitchen_Handle.obj'\n",
-      "          (  0.0875 sec |   0.0872 sec) Finished writing geometry of 'SM_Kitchen_Handle'.\n",
-      "      (  0.0876 sec |   0.0875 sec) Finished exporting geometry, now exporting materials\n",
-      "      (  0.0879 sec |   0.0878 sec) OBJ Export Finished\n",
-      "Progress: 100.00%\n",
-      "\n",
-      "USD import of '/tmp/cache/D5n60DFJOW/tmp/usd/visual/SM_Fridge_Drawer_01_001.usda' took 9.4 ms\n",
-      "    (  0.0001 sec |   0.0000 sec) OBJ Export path: '/media/giang/Storage/Multiverse/tutorial_ws/src/my_env_description/urdf/my_environment/obj/SM_Fridge_Drawer_01_001.obj'\n",
-      "          (  0.2692 sec |   0.2690 sec) Finished writing geometry of 'SM_Fridge_Drawer_01_001'.\n",
-      "      (  0.2693 sec |   0.2692 sec) Finished exporting geometry, now exporting materials\n",
-      "      (  0.2697 sec |   0.2696 sec) OBJ Export Finished\n",
-      "Progress: 100.00%\n",
-      "\n",
-      "USD import of '/tmp/cache/D5n60DFJOW/tmp/usd/visual/SM_Fridge_Drawer_02.usda' took 8.3 ms\n",
-      "    (  0.0001 sec |   0.0000 sec) OBJ Export path: '/media/giang/Storage/Multiverse/tutorial_ws/src/my_env_description/urdf/my_environment/obj/SM_Fridge_Drawer_02.obj'\n",
-      "          (  0.2717 sec |   0.2715 sec) Finished writing geometry of 'SM_Fridge_Drawer_02'.\n",
-      "      (  0.2717 sec |   0.2716 sec) Finished exporting geometry, now exporting materials\n",
-      "      (  0.2722 sec |   0.2721 sec) OBJ Export Finished\n",
-      "Progress: 100.00%\n",
-      "\n",
-      "USD import of '/tmp/cache/D5n60DFJOW/tmp/usd/visual/SM_Fridge_Drawer_03.usda' took 7.8 ms\n",
-      "    (  0.0001 sec |   0.0000 sec) OBJ Export path: '/media/giang/Storage/Multiverse/tutorial_ws/src/my_env_description/urdf/my_environment/obj/SM_Fridge_Drawer_03.obj'\n",
-      "          (  0.2897 sec |   0.2895 sec) Finished writing geometry of 'SM_Fridge_Drawer_03'.\n",
-      "      (  0.2897 sec |   0.2896 sec) Finished exporting geometry, now exporting materials\n",
-      "      (  0.2902 sec |   0.2901 sec) OBJ Export Finished\n",
-      "Progress: 100.00%\n",
-      "\n",
-      "USD import of '/tmp/cache/D5n60DFJOW/tmp/usd/visual/SM_Fridge_Drawer_04.usda' took 8.1 ms\n",
-      "    (  0.0001 sec |   0.0000 sec) OBJ Export path: '/media/giang/Storage/Multiverse/tutorial_ws/src/my_env_description/urdf/my_environment/obj/SM_Fridge_Drawer_04.obj'\n",
-      "          (  0.3119 sec |   0.3117 sec) Finished writing geometry of 'SM_Fridge_Drawer_04'.\n",
-      "      (  0.3120 sec |   0.3119 sec) Finished exporting geometry, now exporting materials\n",
-      "      (  0.3125 sec |   0.3124 sec) OBJ Export Finished\n",
-      "Progress: 100.00%\n",
-      "\n",
-      "USD import of '/tmp/cache/D5n60DFJOW/tmp/usd/visual/SM_Fridge_Drawer_05.usda' took 7.3 ms\n",
-      "    (  0.0001 sec |   0.0000 sec) OBJ Export path: '/media/giang/Storage/Multiverse/tutorial_ws/src/my_env_description/urdf/my_environment/obj/SM_Fridge_Drawer_05.obj'\n",
-      "          (  0.2398 sec |   0.2396 sec) Finished writing geometry of 'SM_Fridge_Drawer_05'.\n",
-      "      (  0.2399 sec |   0.2398 sec) Finished exporting geometry, now exporting materials\n",
-      "      (  0.2403 sec |   0.2402 sec) OBJ Export Finished\n",
-      "Progress: 100.00%\n",
-      "\n",
-      "USD import of '/tmp/cache/D5n60DFJOW/tmp/usd/visual/SM_Kitchen_05_Base_Drawer_01.usda' took 7.1 ms\n",
-      "    (  0.0001 sec |   0.0000 sec) OBJ Export path: '/media/giang/Storage/Multiverse/tutorial_ws/src/my_env_description/urdf/my_environment/obj/SM_Kitchen_05_Base_Drawer_01.obj'\n",
-      "          (  0.1521 sec |   0.1519 sec) Finished writing geometry of 'SM_Kitchen_05_Base_Drawer_01'.\n",
-      "      (  0.1522 sec |   0.1521 sec) Finished exporting geometry, now exporting materials\n",
-      "      (  0.1527 sec |   0.1526 sec) OBJ Export Finished\n",
-      "Progress: 100.00%\n",
-      "\n",
-      "USD import of '/tmp/cache/D5n60DFJOW/tmp/usd/visual/SM_Kitchen_Handle.usda' took 3.5 ms\n",
-      "    (  0.0001 sec |   0.0000 sec) OBJ Export path: '/media/giang/Storage/Multiverse/tutorial_ws/src/my_env_description/urdf/my_environment/obj/SM_Kitchen_Handle.obj'\n",
-      "          (  0.0946 sec |   0.0944 sec) Finished writing geometry of 'SM_Kitchen_Handle'.\n",
-      "      (  0.0948 sec |   0.0947 sec) Finished exporting geometry, now exporting materials\n",
-      "      (  0.0952 sec |   0.0951 sec) OBJ Export Finished\n",
-      "Progress: 100.00%\n",
-      "\n",
-      "USD import of '/tmp/cache/D5n60DFJOW/tmp/usd/visual/SM_Kitchen_05_Base_Drawer_02.usda' took 15.1 ms\n",
-      "    (  0.0001 sec |   0.0000 sec) OBJ Export path: '/media/giang/Storage/Multiverse/tutorial_ws/src/my_env_description/urdf/my_environment/obj/SM_Kitchen_05_Base_Drawer_02.obj'\n",
-      "          (  0.2798 sec |   0.2795 sec) Finished writing geometry of 'SM_Kitchen_05_Base_Drawer_02'.\n",
-      "      (  0.2798 sec |   0.2797 sec) Finished exporting geometry, now exporting materials\n",
-      "      (  0.2806 sec |   0.2805 sec) OBJ Export Finished\n",
-      "Progress: 100.00%\n",
-      "\n",
-      "USD import of '/tmp/cache/D5n60DFJOW/tmp/usd/visual/SM_Kitchen_Handle.usda' took 3.5 ms\n",
-      "    (  0.0001 sec |   0.0000 sec) OBJ Export path: '/media/giang/Storage/Multiverse/tutorial_ws/src/my_env_description/urdf/my_environment/obj/SM_Kitchen_Handle.obj'\n",
-      "          (  0.0594 sec |   0.0592 sec) Finished writing geometry of 'SM_Kitchen_Handle'.\n",
-      "      (  0.0595 sec |   0.0594 sec) Finished exporting geometry, now exporting materials\n",
-      "      (  0.0598 sec |   0.0597 sec) OBJ Export Finished\n",
-      "Progress: 100.00%\n",
-      "\n",
-      "USD import of '/tmp/cache/D5n60DFJOW/tmp/usd/visual/SM_Kitchen_05_Base_Drawer_03.usda' took 8.4 ms\n",
-      "    (  0.0001 sec |   0.0000 sec) OBJ Export path: '/media/giang/Storage/Multiverse/tutorial_ws/src/my_env_description/urdf/my_environment/obj/SM_Kitchen_05_Base_Drawer_03.obj'\n"
-     ]
-    },
-    {
-     "name": "stdout",
-     "output_type": "stream",
-     "text": [
-      "          (  0.2999 sec |   0.2998 sec) Finished writing geometry of 'SM_Kitchen_05_Base_Drawer_03'.\n",
-      "      (  0.3000 sec |   0.2999 sec) Finished exporting geometry, now exporting materials\n",
-      "      (  0.3005 sec |   0.3005 sec) OBJ Export Finished\n",
-      "Progress: 100.00%\n",
-      "\n",
-      "USD import of '/tmp/cache/D5n60DFJOW/tmp/usd/visual/SM_Kitchen_Handle.usda' took 3.4 ms\n",
-      "    (  0.0001 sec |   0.0000 sec) OBJ Export path: '/media/giang/Storage/Multiverse/tutorial_ws/src/my_env_description/urdf/my_environment/obj/SM_Kitchen_Handle.obj'\n",
-      "          (  0.0625 sec |   0.0623 sec) Finished writing geometry of 'SM_Kitchen_Handle'.\n",
-      "      (  0.0626 sec |   0.0625 sec) Finished exporting geometry, now exporting materials\n",
-      "      (  0.0629 sec |   0.0628 sec) OBJ Export Finished\n",
-      "Progress: 100.00%\n",
-      "\n",
-      "USD import of '/tmp/cache/D5n60DFJOW/tmp/usd/visual/SM_Kitchen_06_Base_Drawer_01.usda' took 8.3 ms\n",
-      "    (  0.0001 sec |   0.0000 sec) OBJ Export path: '/media/giang/Storage/Multiverse/tutorial_ws/src/my_env_description/urdf/my_environment/obj/SM_Kitchen_06_Base_Drawer_01.obj'\n",
-      "          (  0.2342 sec |   0.2340 sec) Finished writing geometry of 'SM_Kitchen_06_Base_Drawer_01'.\n",
-      "      (  0.2342 sec |   0.2341 sec) Finished exporting geometry, now exporting materials\n",
-      "      (  0.2348 sec |   0.2347 sec) OBJ Export Finished\n",
-      "Progress: 100.00%\n",
-      "\n",
-      "USD import of '/tmp/cache/D5n60DFJOW/tmp/usd/visual/SM_Kitchen_Handle.usda' took 3.6 ms\n",
-      "    (  0.0001 sec |   0.0000 sec) OBJ Export path: '/media/giang/Storage/Multiverse/tutorial_ws/src/my_env_description/urdf/my_environment/obj/SM_Kitchen_Handle.obj'\n",
-      "          (  0.0618 sec |   0.0616 sec) Finished writing geometry of 'SM_Kitchen_Handle'.\n",
-      "      (  0.0620 sec |   0.0619 sec) Finished exporting geometry, now exporting materials\n",
-      "      (  0.0623 sec |   0.0622 sec) OBJ Export Finished\n",
-      "Progress: 100.00%\n",
-      "\n",
-      "USD import of '/tmp/cache/D5n60DFJOW/tmp/usd/visual/SM_Kitchen_06_Base_Drawer_02.usda' took 8.4 ms\n",
-      "    (  0.0001 sec |   0.0000 sec) OBJ Export path: '/media/giang/Storage/Multiverse/tutorial_ws/src/my_env_description/urdf/my_environment/obj/SM_Kitchen_06_Base_Drawer_02.obj'\n",
-      "          (  0.2711 sec |   0.2709 sec) Finished writing geometry of 'SM_Kitchen_06_Base_Drawer_02'.\n",
-      "      (  0.2711 sec |   0.2710 sec) Finished exporting geometry, now exporting materials\n",
-      "      (  0.2719 sec |   0.2718 sec) OBJ Export Finished\n",
-      "Progress: 100.00%\n",
-      "\n",
-      "USD import of '/tmp/cache/D5n60DFJOW/tmp/usd/visual/SM_Kitchen_Handle.usda' took 3.4 ms\n",
-      "    (  0.0001 sec |   0.0000 sec) OBJ Export path: '/media/giang/Storage/Multiverse/tutorial_ws/src/my_env_description/urdf/my_environment/obj/SM_Kitchen_Handle.obj'\n",
-      "          (  0.0864 sec |   0.0862 sec) Finished writing geometry of 'SM_Kitchen_Handle'.\n",
-      "      (  0.0865 sec |   0.0864 sec) Finished exporting geometry, now exporting materials\n",
-      "      (  0.0868 sec |   0.0867 sec) OBJ Export Finished\n",
-      "Progress: 100.00%\n",
-      "\n",
-      "USD import of '/tmp/cache/D5n60DFJOW/tmp/usd/visual/SM_Kitchen_06_Base_Drawer_03.usda' took 8.2 ms\n",
-      "    (  0.0001 sec |   0.0000 sec) OBJ Export path: '/media/giang/Storage/Multiverse/tutorial_ws/src/my_env_description/urdf/my_environment/obj/SM_Kitchen_06_Base_Drawer_03.obj'\n",
-      "          (  0.2784 sec |   0.2782 sec) Finished writing geometry of 'SM_Kitchen_06_Base_Drawer_03'.\n",
-      "      (  0.2784 sec |   0.2783 sec) Finished exporting geometry, now exporting materials\n",
-      "      (  0.2790 sec |   0.2789 sec) OBJ Export Finished\n",
-      "Progress: 100.00%\n",
-      "\n",
-      "USD import of '/tmp/cache/D5n60DFJOW/tmp/usd/visual/SM_Kitchen_Handle.usda' took 3.6 ms\n",
-      "    (  0.0001 sec |   0.0000 sec) OBJ Export path: '/media/giang/Storage/Multiverse/tutorial_ws/src/my_env_description/urdf/my_environment/obj/SM_Kitchen_Handle.obj'\n",
-      "          (  0.0607 sec |   0.0605 sec) Finished writing geometry of 'SM_Kitchen_Handle'.\n",
-      "      (  0.0609 sec |   0.0608 sec) Finished exporting geometry, now exporting materials\n",
-      "      (  0.0611 sec |   0.0611 sec) OBJ Export Finished\n",
-      "Progress: 100.00%\n",
-      "\n",
-      "USD import of '/tmp/cache/D5n60DFJOW/tmp/usd/visual/SM_Counter_Sink_Tap_001.usda' took 2.6 ms\n",
-      "    (  0.0001 sec |   0.0000 sec) OBJ Export path: '/media/giang/Storage/Multiverse/tutorial_ws/src/my_env_description/urdf/my_environment/obj/SM_Counter_Sink_Tap_001.obj'\n",
-      "          (  0.0243 sec |   0.0242 sec) Finished writing geometry of 'SM_Counter_Sink_Tap_001'.\n",
-      "      (  0.0244 sec |   0.0243 sec) Finished exporting geometry, now exporting materials\n",
-      "      (  0.0249 sec |   0.0248 sec) OBJ Export Finished\n",
-      "Progress: 100.00%\n",
-      "\n",
-      "USD import of '/tmp/cache/D5n60DFJOW/tmp/usd/visual/SM_Dishwasher_Front.usda' took 15.9 ms\n",
-      "    (  0.0001 sec |   0.0000 sec) OBJ Export path: '/media/giang/Storage/Multiverse/tutorial_ws/src/my_env_description/urdf/my_environment/obj/SM_Dishwasher_Front.obj'\n",
-      "          (  0.6341 sec |   0.6340 sec) Finished writing geometry of 'SM_Dishwasher_Front'.\n",
-      "      (  0.6342 sec |   0.6341 sec) Finished exporting geometry, now exporting materials\n",
-      "      (  0.6349 sec |   0.6348 sec) OBJ Export Finished\n",
-      "Progress: 100.00%\n",
-      "\n",
-      "USD import of '/tmp/cache/D5n60DFJOW/tmp/usd/visual/SM_Kitchen_Handle.usda' took 3.7 ms\n",
-      "    (  0.0001 sec |   0.0000 sec) OBJ Export path: '/media/giang/Storage/Multiverse/tutorial_ws/src/my_env_description/urdf/my_environment/obj/SM_Kitchen_Handle.obj'\n",
-      "          (  0.0608 sec |   0.0606 sec) Finished writing geometry of 'SM_Kitchen_Handle'.\n",
-      "      (  0.0609 sec |   0.0609 sec) Finished exporting geometry, now exporting materials\n",
-      "      (  0.0612 sec |   0.0612 sec) OBJ Export Finished\n",
-      "Progress: 100.00%\n",
-      "\n",
-      "USD import of '/tmp/cache/D5n60DFJOW/tmp/usd/visual/SM_Kitchen_Handle.usda' took 3.5 ms\n",
-      "    (  0.0001 sec |   0.0000 sec) OBJ Export path: '/media/giang/Storage/Multiverse/tutorial_ws/src/my_env_description/urdf/my_environment/obj/SM_Kitchen_Handle.obj'\n",
-      "          (  0.0626 sec |   0.0624 sec) Finished writing geometry of 'SM_Kitchen_Handle'.\n",
-      "      (  0.0628 sec |   0.0627 sec) Finished exporting geometry, now exporting materials\n",
-      "      (  0.0632 sec |   0.0631 sec) OBJ Export Finished\n",
-      "Progress: 100.00%\n",
-      "\n",
-      "USD import of '/tmp/cache/D5n60DFJOW/tmp/usd/visual/SM_Kitchen_08_Sink_Drawer_02.usda' took 6.8 ms\n",
-      "    (  0.0001 sec |   0.0000 sec) OBJ Export path: '/media/giang/Storage/Multiverse/tutorial_ws/src/my_env_description/urdf/my_environment/obj/SM_Kitchen_08_Sink_Drawer_02.obj'\n",
-      "          (  0.2107 sec |   0.2105 sec) Finished writing geometry of 'SM_Kitchen_08_Sink_Drawer_02'.\n",
-      "      (  0.2108 sec |   0.2107 sec) Finished exporting geometry, now exporting materials\n",
-      "      (  0.2112 sec |   0.2111 sec) OBJ Export Finished\n",
-      "Progress: 100.00%\n",
-      "\n",
-      "USD import of '/tmp/cache/D5n60DFJOW/tmp/usd/visual/SM_Kitchen_09_Base_Drawer_01.usda' took 7.1 ms\n",
-      "    (  0.0001 sec |   0.0000 sec) OBJ Export path: '/media/giang/Storage/Multiverse/tutorial_ws/src/my_env_description/urdf/my_environment/obj/SM_Kitchen_09_Base_Drawer_01.obj'\n",
-      "          (  0.1730 sec |   0.1728 sec) Finished writing geometry of 'SM_Kitchen_09_Base_Drawer_01'.\n",
-      "      (  0.1730 sec |   0.1729 sec) Finished exporting geometry, now exporting materials\n",
-      "      (  0.1737 sec |   0.1736 sec) OBJ Export Finished\n",
-      "Progress: 100.00%\n",
-      "\n",
-      "USD import of '/tmp/cache/D5n60DFJOW/tmp/usd/visual/SM_Kitchen_Handle.usda' took 3.3 ms\n",
-      "    (  0.0001 sec |   0.0000 sec) OBJ Export path: '/media/giang/Storage/Multiverse/tutorial_ws/src/my_env_description/urdf/my_environment/obj/SM_Kitchen_Handle.obj'\n",
-      "          (  0.1089 sec |   0.1087 sec) Finished writing geometry of 'SM_Kitchen_Handle'.\n",
-      "      (  0.1092 sec |   0.1091 sec) Finished exporting geometry, now exporting materials\n",
-      "      (  0.1103 sec |   0.1102 sec) OBJ Export Finished\n",
-      "Progress: 100.00%\n",
-      "\n",
-      "USD import of '/tmp/cache/D5n60DFJOW/tmp/usd/visual/SM_Kitchen_09_Base_Drawer_02.usda' took 8.4 ms\n",
-      "    (  0.0001 sec |   0.0000 sec) OBJ Export path: '/media/giang/Storage/Multiverse/tutorial_ws/src/my_env_description/urdf/my_environment/obj/SM_Kitchen_09_Base_Drawer_02.obj'\n",
-      "          (  0.2820 sec |   0.2818 sec) Finished writing geometry of 'SM_Kitchen_09_Base_Drawer_02'.\n",
-      "      (  0.2820 sec |   0.2819 sec) Finished exporting geometry, now exporting materials\n",
-      "      (  0.2826 sec |   0.2825 sec) OBJ Export Finished\n",
-      "Progress: 100.00%\n",
-      "\n",
-      "USD import of '/tmp/cache/D5n60DFJOW/tmp/usd/visual/SM_Kitchen_Handle.usda' took 5.0 ms\n"
-     ]
-    },
-    {
-     "name": "stdout",
-     "output_type": "stream",
-     "text": [
-      "    (  0.0001 sec |   0.0000 sec) OBJ Export path: '/media/giang/Storage/Multiverse/tutorial_ws/src/my_env_description/urdf/my_environment/obj/SM_Kitchen_Handle.obj'\n",
-      "          (  0.0608 sec |   0.0606 sec) Finished writing geometry of 'SM_Kitchen_Handle'.\n",
-      "      (  0.0609 sec |   0.0608 sec) Finished exporting geometry, now exporting materials\n",
-      "      (  0.0612 sec |   0.0611 sec) OBJ Export Finished\n",
-      "Progress: 100.00%\n",
-      "\n",
-      "USD import of '/tmp/cache/D5n60DFJOW/tmp/usd/visual/SM_Kitchen_09_Base_Drawer_03.usda' took 8.6 ms\n",
-      "    (  0.0001 sec |   0.0000 sec) OBJ Export path: '/media/giang/Storage/Multiverse/tutorial_ws/src/my_env_description/urdf/my_environment/obj/SM_Kitchen_09_Base_Drawer_03.obj'\n",
-      "          (  0.2745 sec |   0.2743 sec) Finished writing geometry of 'SM_Kitchen_09_Base_Drawer_03'.\n",
-      "      (  0.2745 sec |   0.2744 sec) Finished exporting geometry, now exporting materials\n",
-      "      (  0.2751 sec |   0.2750 sec) OBJ Export Finished\n",
-      "Progress: 100.00%\n",
-      "\n",
-      "USD import of '/tmp/cache/D5n60DFJOW/tmp/usd/visual/SM_Kitchen_Handle.usda' took 3.5 ms\n",
-      "    (  0.0001 sec |   0.0000 sec) OBJ Export path: '/media/giang/Storage/Multiverse/tutorial_ws/src/my_env_description/urdf/my_environment/obj/SM_Kitchen_Handle.obj'\n",
-      "          (  0.0906 sec |   0.0904 sec) Finished writing geometry of 'SM_Kitchen_Handle'.\n",
-      "      (  0.0908 sec |   0.0907 sec) Finished exporting geometry, now exporting materials\n",
-      "      (  0.0912 sec |   0.0911 sec) OBJ Export Finished\n",
-      "Progress: 100.00%\n",
-      "\n",
-      "USD import of '/tmp/cache/D5n60DFJOW/tmp/usd/visual/SM_Kitchen_10_Base_Drawer_01.usda' took 8.3 ms\n",
-      "    (  0.0001 sec |   0.0000 sec) OBJ Export path: '/media/giang/Storage/Multiverse/tutorial_ws/src/my_env_description/urdf/my_environment/obj/SM_Kitchen_10_Base_Drawer_01.obj'\n",
-      "          (  0.2343 sec |   0.2341 sec) Finished writing geometry of 'SM_Kitchen_10_Base_Drawer_01'.\n",
-      "      (  0.2344 sec |   0.2342 sec) Finished exporting geometry, now exporting materials\n",
-      "      (  0.2349 sec |   0.2348 sec) OBJ Export Finished\n",
-      "Progress: 100.00%\n",
-      "\n",
-      "USD import of '/tmp/cache/D5n60DFJOW/tmp/usd/visual/SM_Kitchen_Handle.usda' took 3.8 ms\n",
-      "    (  0.0001 sec |   0.0000 sec) OBJ Export path: '/media/giang/Storage/Multiverse/tutorial_ws/src/my_env_description/urdf/my_environment/obj/SM_Kitchen_Handle.obj'\n",
-      "          (  0.0676 sec |   0.0674 sec) Finished writing geometry of 'SM_Kitchen_Handle'.\n",
-      "      (  0.0677 sec |   0.0676 sec) Finished exporting geometry, now exporting materials\n",
-      "      (  0.0680 sec |   0.0679 sec) OBJ Export Finished\n",
-      "Progress: 100.00%\n",
-      "\n",
-      "USD import of '/tmp/cache/D5n60DFJOW/tmp/usd/visual/SM_Kitchen_10_Base_Drawer_02.usda' took 8.2 ms\n",
-      "    (  0.0001 sec |   0.0000 sec) OBJ Export path: '/media/giang/Storage/Multiverse/tutorial_ws/src/my_env_description/urdf/my_environment/obj/SM_Kitchen_10_Base_Drawer_02.obj'\n",
-      "          (  0.2756 sec |   0.2754 sec) Finished writing geometry of 'SM_Kitchen_10_Base_Drawer_02'.\n",
-      "      (  0.2757 sec |   0.2756 sec) Finished exporting geometry, now exporting materials\n",
-      "      (  0.2765 sec |   0.2764 sec) OBJ Export Finished\n",
-      "Progress: 100.00%\n",
-      "\n",
-      "USD import of '/tmp/cache/D5n60DFJOW/tmp/usd/visual/SM_Kitchen_Handle.usda' took 3.8 ms\n",
-      "    (  0.0001 sec |   0.0000 sec) OBJ Export path: '/media/giang/Storage/Multiverse/tutorial_ws/src/my_env_description/urdf/my_environment/obj/SM_Kitchen_Handle.obj'\n",
-      "          (  0.0933 sec |   0.0931 sec) Finished writing geometry of 'SM_Kitchen_Handle'.\n",
-      "      (  0.0934 sec |   0.0934 sec) Finished exporting geometry, now exporting materials\n",
-      "      (  0.0938 sec |   0.0937 sec) OBJ Export Finished\n",
-      "Progress: 100.00%\n",
-      "\n",
-      "USD import of '/tmp/cache/D5n60DFJOW/tmp/usd/visual/SM_Kitchen_10_Base_Drawer_03.usda' took 9.5 ms\n",
-      "    (  0.0001 sec |   0.0000 sec) OBJ Export path: '/media/giang/Storage/Multiverse/tutorial_ws/src/my_env_description/urdf/my_environment/obj/SM_Kitchen_10_Base_Drawer_03.obj'\n",
-      "          (  0.2789 sec |   0.2787 sec) Finished writing geometry of 'SM_Kitchen_10_Base_Drawer_03'.\n",
-      "      (  0.2789 sec |   0.2788 sec) Finished exporting geometry, now exporting materials\n",
-      "      (  0.2795 sec |   0.2794 sec) OBJ Export Finished\n",
-      "Progress: 100.00%\n",
-      "\n",
-      "USD import of '/tmp/cache/D5n60DFJOW/tmp/usd/visual/SM_Kitchen_Handle.usda' took 3.5 ms\n",
-      "    (  0.0001 sec |   0.0000 sec) OBJ Export path: '/media/giang/Storage/Multiverse/tutorial_ws/src/my_env_description/urdf/my_environment/obj/SM_Kitchen_Handle.obj'\n",
-      "          (  0.0630 sec |   0.0628 sec) Finished writing geometry of 'SM_Kitchen_Handle'.\n",
-      "      (  0.0631 sec |   0.0630 sec) Finished exporting geometry, now exporting materials\n",
-      "      (  0.0635 sec |   0.0635 sec) OBJ Export Finished\n",
-      "Progress: 100.00%\n",
-      "\n",
-      "USD import of '/tmp/cache/D5n60DFJOW/tmp/usd/visual/SM_Kitchen_11_Drawer_01.usda' took 8.0 ms\n",
-      "    (  0.0001 sec |   0.0000 sec) OBJ Export path: '/media/giang/Storage/Multiverse/tutorial_ws/src/my_env_description/urdf/my_environment/obj/SM_Kitchen_11_Drawer_01.obj'\n",
-      "          (  0.2411 sec |   0.2408 sec) Finished writing geometry of 'SM_Kitchen_11_Drawer_01'.\n",
-      "      (  0.2411 sec |   0.2410 sec) Finished exporting geometry, now exporting materials\n",
-      "      (  0.2417 sec |   0.2416 sec) OBJ Export Finished\n",
-      "Progress: 100.00%\n",
-      "\n",
-      "USD import of '/tmp/cache/D5n60DFJOW/tmp/usd/visual/SM_Kitchen_Handle.usda' took 4.1 ms\n",
-      "    (  0.0001 sec |   0.0000 sec) OBJ Export path: '/media/giang/Storage/Multiverse/tutorial_ws/src/my_env_description/urdf/my_environment/obj/SM_Kitchen_Handle.obj'\n",
-      "          (  0.0975 sec |   0.0973 sec) Finished writing geometry of 'SM_Kitchen_Handle'.\n",
-      "      (  0.0977 sec |   0.0976 sec) Finished exporting geometry, now exporting materials\n",
-      "      (  0.0981 sec |   0.0980 sec) OBJ Export Finished\n",
-      "Progress: 100.00%\n",
-      "\n",
-      "USD import of '/tmp/cache/D5n60DFJOW/tmp/usd/visual/SM_Kitchen_11_Drawer_02.usda' took 8.8 ms\n",
-      "    (  0.0001 sec |   0.0000 sec) OBJ Export path: '/media/giang/Storage/Multiverse/tutorial_ws/src/my_env_description/urdf/my_environment/obj/SM_Kitchen_11_Drawer_02.obj'\n",
-      "          (  0.2825 sec |   0.2823 sec) Finished writing geometry of 'SM_Kitchen_11_Drawer_02'.\n",
-      "      (  0.2825 sec |   0.2824 sec) Finished exporting geometry, now exporting materials\n",
-      "      (  0.2831 sec |   0.2830 sec) OBJ Export Finished\n",
-      "Progress: 100.00%\n",
-      "\n",
-      "USD import of '/tmp/cache/D5n60DFJOW/tmp/usd/visual/SM_Kitchen_Handle.usda' took 3.7 ms\n",
-      "    (  0.0001 sec |   0.0000 sec) OBJ Export path: '/media/giang/Storage/Multiverse/tutorial_ws/src/my_env_description/urdf/my_environment/obj/SM_Kitchen_Handle.obj'\n",
-      "          (  0.0616 sec |   0.0614 sec) Finished writing geometry of 'SM_Kitchen_Handle'.\n",
-      "      (  0.0618 sec |   0.0617 sec) Finished exporting geometry, now exporting materials\n",
-      "      (  0.0621 sec |   0.0620 sec) OBJ Export Finished\n",
-      "Progress: 100.00%\n",
-      "\n",
-      "USD import of '/tmp/cache/D5n60DFJOW/tmp/usd/visual/SM_Kitchen_11_Drawer_03.usda' took 8.4 ms\n",
-      "    (  0.0001 sec |   0.0000 sec) OBJ Export path: '/media/giang/Storage/Multiverse/tutorial_ws/src/my_env_description/urdf/my_environment/obj/SM_Kitchen_11_Drawer_03.obj'\n",
-      "          (  0.2832 sec |   0.2830 sec) Finished writing geometry of 'SM_Kitchen_11_Drawer_03'.\n",
-      "      (  0.2833 sec |   0.2832 sec) Finished exporting geometry, now exporting materials\n",
-      "      (  0.2839 sec |   0.2838 sec) OBJ Export Finished\n",
-      "Progress: 100.00%\n",
-      "\n",
-      "USD import of '/tmp/cache/D5n60DFJOW/tmp/usd/visual/SM_Kitchen_Handle.usda' took 4.0 ms\n",
-      "    (  0.0001 sec |   0.0000 sec) OBJ Export path: '/media/giang/Storage/Multiverse/tutorial_ws/src/my_env_description/urdf/my_environment/obj/SM_Kitchen_Handle.obj'\n",
-      "          (  0.0889 sec |   0.0887 sec) Finished writing geometry of 'SM_Kitchen_Handle'.\n",
-      "      (  0.0891 sec |   0.0890 sec) Finished exporting geometry, now exporting materials\n",
-      "      (  0.0895 sec |   0.0894 sec) OBJ Export Finished\n",
-      "Progress: 100.00%\n",
-      "\n",
-      "Remove /tmp/cache/D5n60DFJOW\n",
-      "Create /tmp/cache/BLChV8lumV/tmp.usda\n",
-      "USD import of '/media/giang/Storage/Multiverse/multiverse_ws/src/multiverse_world/iai_apartment/meshes/usd/collision/armchair.usda' took 0.4 ms\n",
-      "USD export of '/tmp/cache/BLChV8lumV/tmp/usd/collision/armchair.usda' took 1.1 ms\n",
-      "USD import of '/media/giang/Storage/Multiverse/multiverse_ws/src/multiverse_world/iai_apartment/meshes/usd/collision/sofa.usda' took 0.3 ms\n",
-      "USD export of '/tmp/cache/BLChV8lumV/tmp/usd/collision/sofa.usda' took 1.1 ms\n"
-     ]
-    },
-    {
-     "name": "stdout",
-     "output_type": "stream",
-     "text": [
-      "USD import of '/tmp/cache/BLChV8lumV/tmp/usd/collision/armchair.usda' took 0.4 ms\n",
-      "USD import of '/tmp/cache/BLChV8lumV/tmp/usd/collision/sofa.usda' took 0.4 ms\n",
-      "Remove /tmp/cache/BLChV8lumV\n"
-     ]
-    }
-   ],
+   "outputs": [],
    "source": [
     "source $MULTIVERSE_DIR/tutorial_ws/devel/setup.bash\n",
     "\n",
@@ -14450,66 +954,9 @@
   },
   {
    "cell_type": "code",
-   "execution_count": 24,
+   "execution_count": null,
    "metadata": {},
-   "outputs": [
-    {
-     "name": "stdout",
-     "output_type": "stream",
-     "text": [
-      "\u001b[31m================================================================================REQUIRED process [master] has died!\n",
-      "process has died [pid 360441, exit code -15, cmd rosmaster --core -p 11311 -w 3 __log:=/home/giang/.ros/log/2f8a3a30-5b1d-11ee-b596-d183e98fb698/master.log].\n",
-      "log file: /home/giang/.ros/log/2f8a3a30-5b1d-11ee-b596-d183e98fb698/master*.log\n",
-      "Initiating shutdown!\n",
-      "================================================================================\u001b[0m\n",
-      "[8] 361717\n",
-      "[multiverse_socket-4] killing on exit\n",
-      "[mujoco_sim-2] killing on exit\n",
-      "[Client 7300] Closing the socket tcp://127.0.0.1:7300.\n",
-      "[Server] Received close signal from socket tcp://*:7300.\n",
-      "[Client 7500] Closing the socket tcp://127.0.0.1:7500.\n",
-      "[Server] Received close signal from socket tcp://*:7500.\n",
-      "... logging to /home/giang/.ros/log/4d0744fe-5b1d-11ee-b596-d183e98fb698/roslaunch-giangnguyen-361717.log\n",
-      "Checking log directory for disk usage. This may take a while.\n",
-      "Press Ctrl-C to interrupt\n",
-      "Done checking log file disk usage. Usage is <1GB.\n",
-      "\u001b]2;/media/giang/Storage/Multiverse/multiverse_ws/src/multiverse_core/multiverse_parser/launch/view_urdf.launch\u0007\n",
-      "[Client 7200] Closing the socket tcp://127.0.0.1:7200.\n",
-      "[Client 7400] Closing the socket tcp://127.0.0.1:7400.\n",
-      "[Server] Received close signal from socket tcp://*:7400.\n",
-      "\u001b[1mstarted roslaunch server http://giangnguyen:38377/\u001b[0m\n",
-      "\n",
-      "SUMMARY\n",
-      "========\n",
-      "\n",
-      "PARAMETERS\n",
-      " * /robot_description: <?xml version=\"1....\n",
-      " * /rosdistro: noetic\n",
-      " * /rosversion: 1.16.0\n",
-      "\n",
-      "NODES\n",
-      "  /\n",
-      "    joint_state_publisher (joint_state_publisher/joint_state_publisher)\n",
-      "    robot_state_publisher (robot_state_publisher/robot_state_publisher)\n",
-      "\n",
-      "auto-starting new master\n",
-      "\u001b[1mprocess[master]: started with pid [361753]\u001b[0m\n",
-      "[rosout-1] killing on exit\n",
-      "\u001b[1mROS_MASTER_URI=http://localhost:11311\u001b[0m\n",
-      "\u001b]2;/media/giang/Storage/Multiverse/multiverse_ws/src/multiverse_core/multiverse_parser/launch/view_urdf.launch http://localhost:11311\u0007\n",
-      "\u001b[1msetting /run_id to 4d0744fe-5b1d-11ee-b596-d183e98fb698\u001b[0m\n",
-      "\u001b[1mprocess[rosout-1]: started with pid [361780]\u001b[0m\n",
-      "started core service [/rosout]\n",
-      "\u001b[1mprocess[robot_state_publisher-2]: started with pid [361783]\u001b[0m\n",
-      "\u001b[1mprocess[joint_state_publisher-3]: started with pid [361788]\u001b[0m\n",
-      "[master] killing on exit\n",
-      "shutting down processing monitor...\n",
-      "... shutting down processing monitor complete\n",
-      "\u001b[1mdone\u001b[0m\n",
-      "[7]-  Done                    roslaunch my_robot_mujoco my_robot_mujoco.launch\n"
-     ]
-    }
-   ],
+   "outputs": [],
    "source": [
     "source $MULTIVERSE_DIR/tutorial_ws/devel/setup.bash\n",
     "\n",
@@ -14549,40 +996,9 @@
   },
   {
    "cell_type": "code",
-   "execution_count": 25,
+   "execution_count": null,
    "metadata": {},
-   "outputs": [
-    {
-     "name": "stdout",
-     "output_type": "stream",
-     "text": [
-      "<launch>\n",
-      "    <param name=\"env_description\" command=\"$(find xacro)/xacro '$(find my_env_description)/urdf/my_environment.urdf'\" />\n",
-      "    <include file=\"$(find mujoco_sim)/launch/mujoco_sim_headless.launch\">\n",
-      "        <arg name=\"config\" value=\"$(find my_robot_mujoco)/config/mujoco_params.yaml\" />\n",
-      "        <arg name=\"robot\" value=\"$(find my_robot_description)/mjcf/tiago_dual.xml\" />\n",
-      "        <arg name=\"world\" value=\"$(find my_env_description)/mjcf/my_environment.xml\" />\n",
-      "    </include>\n",
-      "    \n",
-      "    <param name=\"robot_description\" command=\"$(find xacro)/xacro '$(find my_robot_description)/urdf/tiago_dual.urdf'\" />\n",
-      "    <rosparam command=\"load\" file=\"$(find my_robot_mujoco)/config/control_params.yaml\" />\n",
-      "    <node name=\"controller_manager\" pkg=\"controller_manager\" type=\"controller_manager\" respawn=\"false\" output=\"screen\" args=\"spawn \n",
-      "        joint_state_controller\n",
-      "        torso_controller\n",
-      "        head_controller\n",
-      "        arm_left_controller\n",
-      "        arm_right_controller\n",
-      "        gripper_left_left_finger_controller\n",
-      "        gripper_left_right_finger_controller\n",
-      "        gripper_right_right_finger_controller\n",
-      "        gripper_right_left_finger_controller\" />\n",
-      "    \n",
-      "    <rosparam command=\"load\" file=\"$(find my_robot_mujoco)/config/multiverse_params.yaml\" />\n",
-      "    <node pkg=\"multiverse_socket\" type=\"multiverse_socket_node.py\" name=\"multiverse_socket\" output=\"screen\" />\n",
-      "</launch>\n"
-     ]
-    }
-   ],
+   "outputs": [],
    "source": [
     "MY_ROBOT_LAUNCH=$MULTIVERSE_DIR/tutorial_ws/src/my_robot_mujoco/launch/my_robot_mujoco.launch\n",
     "\n",
@@ -14625,221 +1041,9 @@
   },
   {
    "cell_type": "code",
-   "execution_count": 26,
+   "execution_count": null,
    "metadata": {},
-   "outputs": [
-    {
-     "name": "stdout",
-     "output_type": "stream",
-     "text": [
-      "\u001b[31m================================================================================REQUIRED process [master] has died!\n",
-      "process has died [pid 361753, exit code -15, cmd rosmaster --core -p 11311 -w 3 __log:=/home/giang/.ros/log/4d0744fe-5b1d-11ee-b596-d183e98fb698/master.log].\n",
-      "log file: /home/giang/.ros/log/4d0744fe-5b1d-11ee-b596-d183e98fb698/master*.log\n",
-      "Initiating shutdown!\n",
-      "================================================================================\u001b[0m\n",
-      "[9] 361921\n",
-      "[10] 361922\n",
-      "Start Multiverse Server...\n",
-      "[Server] Create server socket tcp://*:7000, waiting for client...\n",
-      "[joint_state_publisher-3] killing on exit\n",
-      "[robot_state_publisher-2] killing on exit\n",
-      "... logging to /home/giang/.ros/log/512ca952-5b1d-11ee-b596-d183e98fb698/roslaunch-giangnguyen-361922.log\n",
-      "Checking log directory for disk usage. This may take a while.\n",
-      "Press Ctrl-C to interrupt\n",
-      "Done checking log file disk usage. Usage is <1GB.\n",
-      "\u001b]2;/media/giang/Storage/Multiverse/tutorial_ws/src/my_robot_mujoco/launch/my_robot_mujoco.launch\u0007\n",
-      "\u001b[1mstarted roslaunch server http://giangnguyen:38123/\u001b[0m\n",
-      "\n",
-      "SUMMARY\n",
-      "========\n",
-      "\n",
-      "PARAMETERS\n",
-      " * /arm_left_controller/gains/arm_left_1_joint/d: 50\n",
-      " * /arm_left_controller/gains/arm_left_1_joint/i: 100\n",
-      " * /arm_left_controller/gains/arm_left_1_joint/p: 2000\n",
-      " * /arm_left_controller/gains/arm_left_2_joint/d: 50\n",
-      " * /arm_left_controller/gains/arm_left_2_joint/i: 100\n",
-      " * /arm_left_controller/gains/arm_left_2_joint/p: 2000\n",
-      " * /arm_left_controller/gains/arm_left_3_joint/d: 50\n",
-      " * /arm_left_controller/gains/arm_left_3_joint/i: 100\n",
-      " * /arm_left_controller/gains/arm_left_3_joint/p: 2000\n",
-      " * /arm_left_controller/gains/arm_left_4_joint/d: 50\n",
-      " * /arm_left_controller/gains/arm_left_4_joint/i: 100\n",
-      " * /arm_left_controller/gains/arm_left_4_joint/p: 2000\n",
-      " * /arm_left_controller/gains/arm_left_5_joint/d: 50\n",
-      " * /arm_left_controller/gains/arm_left_5_joint/i: 100\n",
-      " * /arm_left_controller/gains/arm_left_5_joint/p: 2000\n",
-      " * /arm_left_controller/gains/arm_left_6_joint/d: 50\n",
-      " * /arm_left_controller/gains/arm_left_6_joint/i: 100\n",
-      " * /arm_left_controller/gains/arm_left_6_joint/p: 2000\n",
-      " * /arm_left_controller/gains/arm_left_7_joint/d: 50\n",
-      " * /arm_left_controller/gains/arm_left_7_joint/i: 100\n",
-      " * /arm_left_controller/gains/arm_left_7_joint/p: 2000\n",
-      " * /arm_left_controller/joints: ['arm_left_1_join...\n",
-      " * /arm_left_controller/type: effort_controller...\n",
-      " * /arm_right_controller/gains/arm_right_1_joint/d: 50\n",
-      " * /arm_right_controller/gains/arm_right_1_joint/i: 100\n",
-      " * /arm_right_controller/gains/arm_right_1_joint/p: 2000\n",
-      " * /arm_right_controller/gains/arm_right_2_joint/d: 50\n",
-      " * /arm_right_controller/gains/arm_right_2_joint/i: 100\n",
-      " * /arm_right_controller/gains/arm_right_2_joint/p: 2000\n",
-      " * /arm_right_controller/gains/arm_right_3_joint/d: 50\n",
-      " * /arm_right_controller/gains/arm_right_3_joint/i: 100\n",
-      " * /arm_right_controller/gains/arm_right_3_joint/p: 2000\n",
-      " * /arm_right_controller/gains/arm_right_4_joint/d: 50\n",
-      " * /arm_right_controller/gains/arm_right_4_joint/i: 100\n",
-      " * /arm_right_controller/gains/arm_right_4_joint/p: 2000\n",
-      " * /arm_right_controller/gains/arm_right_5_joint/d: 50\n",
-      " * /arm_right_controller/gains/arm_right_5_joint/i: 100\n",
-      " * /arm_right_controller/gains/arm_right_5_joint/p: 2000\n",
-      " * /arm_right_controller/gains/arm_right_6_joint/d: 50\n",
-      " * /arm_right_controller/gains/arm_right_6_joint/i: 100\n",
-      " * /arm_right_controller/gains/arm_right_6_joint/p: 2000\n",
-      " * /arm_right_controller/gains/arm_right_7_joint/d: 50\n",
-      " * /arm_right_controller/gains/arm_right_7_joint/i: 100\n",
-      " * /arm_right_controller/gains/arm_right_7_joint/p: 2000\n",
-      " * /arm_right_controller/joints: ['arm_right_1_joi...\n",
-      " * /arm_right_controller/type: effort_controller...\n",
-      " * /env_description: <?xml version=\"1....\n",
-      " * /gripper_left_left_finger_controller/joint: gripper_left_left...\n",
-      " * /gripper_left_left_finger_controller/type: effort_controller...\n",
-      " * /gripper_left_right_finger_controller/joint: gripper_left_righ...\n",
-      " * /gripper_left_right_finger_controller/type: effort_controller...\n",
-      " * /gripper_right_left_finger_controller/joint: gripper_right_lef...\n",
-      " * /gripper_right_left_finger_controller/type: effort_controller...\n",
-      " * /gripper_right_right_finger_controller/joint: gripper_right_rig...\n",
-      " * /gripper_right_right_finger_controller/type: effort_controller...\n",
-      " * /head_controller/gains/head_1_joint/d: 50\n",
-      " * /head_controller/gains/head_1_joint/i: 100\n",
-      " * /head_controller/gains/head_1_joint/p: 2000\n",
-      " * /head_controller/gains/head_2_joint/d: 50\n",
-      " * /head_controller/gains/head_2_joint/i: 100\n",
-      " * /head_controller/gains/head_2_joint/p: 2000\n",
-      " * /head_controller/joints: ['head_1_joint', ...\n",
-      " * /head_controller/type: effort_controller...\n",
-      " * /joint_state_controller/publish_rate: 60\n",
-      " * /joint_state_controller/type: joint_state_contr...\n",
-      " * /mujoco/add_odom_joints: True\n",
-      " * /mujoco/pose_init: [1.5, 2.5, 0.0, 0...\n",
-      " * /mujoco/robots: ['tiago_dual']\n",
-      " * /mujoco/root_frame_id: map\n",
-      " * /mujoco_sim/robot: /media/giang/Stor...\n",
-      " * /mujoco_sim/world: /media/giang/Stor...\n",
-      " * /multiverse/angle_unit: rad\n",
-      " * /multiverse/force_unit: N\n",
-      " * /multiverse/handedness: rhs\n",
-      " * /multiverse/host: tcp://127.0.0.1\n",
-      " * /multiverse/length_unit: m\n",
-      " * /multiverse/port: 7000\n",
-      " * /multiverse/publishers/tf/port: 7300\n",
-      " * /multiverse/publishers/tf/rate: 60\n",
-      " * /multiverse/receive/tiago_dual: ['relative_veloci...\n",
-      " * /multiverse/send/body: ['position', 'qua...\n",
-      " * /multiverse/send/joint: ['joint_rvalue', ...\n",
-      " * /multiverse/services/query_data/port: 7400\n",
-      " * /multiverse/subscribers/cmd_vel/body: tiago_dual\n",
-      " * /multiverse/subscribers/cmd_vel/port: 7200\n",
-      " * /multiverse/time_unit: s\n",
-      " * /robot_description: <?xml version=\"1....\n",
-      " * /rosdistro: noetic\n",
-      " * /rosversion: 1.16.0\n",
-      " * /torso_controller/gains/torso_lift_joint/d: 50\n",
-      " * /torso_controller/gains/torso_lift_joint/i: 100\n",
-      " * /torso_controller/gains/torso_lift_joint/p: 2000\n",
-      " * /torso_controller/joints: ['torso_lift_joint']\n",
-      " * /torso_controller/type: effort_controller...\n",
-      "\n",
-      "NODES\n",
-      "  /\n",
-      "    controller_manager (controller_manager/controller_manager)\n",
-      "    mujoco_sim (mujoco_sim/mujoco_sim_headless_node)\n",
-      "    multiverse_socket (multiverse_socket/multiverse_socket_node.py)\n",
-      "\n",
-      "auto-starting new master\n",
-      "\u001b[1mprocess[master]: started with pid [361965]\u001b[0m\n",
-      "[rosout-1] killing on exit\n",
-      "\u001b[1mROS_MASTER_URI=http://localhost:11311\u001b[0m\n",
-      "\u001b]2;/media/giang/Storage/Multiverse/tutorial_ws/src/my_robot_mujoco/launch/my_robot_mujoco.launch http://localhost:11311\u0007\n",
-      "\u001b[1msetting /run_id to 512ca952-5b1d-11ee-b596-d183e98fb698\u001b[0m\n",
-      "[master] killing on exit\n",
-      "\u001b[1mprocess[rosout-1]: started with pid [361993]\u001b[0m\n",
-      "started core service [/rosout]\n",
-      "\u001b[1mprocess[mujoco_sim-2]: started with pid [362000]\u001b[0m\n",
-      "\u001b[1mprocess[controller_manager-3]: started with pid [362001]\u001b[0m\n",
-      "shutting down processing monitor...\n",
-      "... shutting down processing monitor complete\n",
-      "\u001b[1mdone\u001b[0m\n",
-      "\u001b[1mprocess[multiverse_socket-4]: started with pid [362002]\u001b[0m\n",
-      "\u001b[0m[ INFO] [1695589197.765228944]: Get ROS parameters from the server...\u001b[0m\n",
-      "\u001b[0m[ INFO] [1695589197.766302067]: Set disable_gravity to true\u001b[0m\n",
-      "\u001b[0m[ INFO] [1695589197.766967587]: Set world from /media/giang/Storage/Multiverse/tutorial_ws/src/my_env_description/mjcf/my_environment.xml\u001b[0m\n",
-      "\u001b[33m[ WARN] [1695589197.767748235]: Robot names not found in parameter server, searching for robot names from urdf...\u001b[0m\n",
-      "\u001b[0m[ INFO] [1695589197.772480693]: Found 1 robots: [tiago_dual]\u001b[0m\n",
-      "\u001b[0m[ INFO] [1695589197.773251122]: Initializing the MuJoCo simulator...\u001b[0m\n",
-      "\u001b[0m[ INFO] [1695589197.773284411]: Copying model into /media/giang/Storage/Multiverse/multiverse_ws/src/multiverse_connectors/multiverse_mujoco_connector/mujoco_sim/model/tmp\u001b[0m\n",
-      "\u001b[0m[ INFO] [1695589197.777801612]: Adding odom joints for model tiago_dual...\u001b[0m\n",
-      "\u001b[0m[ INFO] [1695589197.777884151]: Add 3 odom joints for model tiago_dual successfully\u001b[0m\n",
-      "\u001b[0m[ INFO] [1695589197.785250689]: Save models in /media/giang/Storage/Multiverse/multiverse_ws/src/multiverse_connectors/multiverse_mujoco_connector/mujoco_sim/model/tmp successfully\u001b[0m\n",
-      "\u001b[0m[ INFO] [1695589197.820528031]: Reload model in /media/giang/Storage/Multiverse/multiverse_ws/src/multiverse_connectors/multiverse_mujoco_connector/mujoco_sim/model/tmp/current_75597767372_tiago_dual.xml complete\u001b[0m\n",
-      "\u001b[0m[ INFO] [1695589197.820778647]: Getting joints of model tiago_dual...\u001b[0m\n",
-      "\u001b[0m[ INFO] [1695589197.821217831]: Initialize model tiago_dual with 33 joints successfully\u001b[0m\n"
-     ]
-    },
-    {
-     "name": "stdout",
-     "output_type": "stream",
-     "text": [
-      "\u001b[0m[ INFO] [1695589197.890927568]: Initialized the MuJoCo simulator successfully.\u001b[0m\n",
-      "\u001b[0m[ INFO] [1695589197.890960027]: Initializing the ROS interface...\u001b[0m\n",
-      "\u001b[0m[ INFO] [1695589197.894958586]: Started [/mujoco/screenshot] service.\u001b[0m\n",
-      "\u001b[0m[ INFO] [1695589197.895177063]: Started [/mujoco/reset] service.\u001b[0m\n",
-      "\u001b[0m[ INFO] [1695589197.895422049]: Started [/mujoco/spawn_objects] service.\u001b[0m\n",
-      "\u001b[0m[ INFO] [1695589197.895720215]: Started [/mujoco/destroy_objects] service.\u001b[0m\n",
-      "\u001b[33m[ WARN] [1695589197.896013350]: joint_inits not found, will set to default value (0)\u001b[0m\n",
-      "\u001b[0m[ INFO] [1695589197.897950151]: Initialized the ROS interface successfully.\u001b[0m\n",
-      "\u001b[0m[ INFO] [1695589197.899367769]: Set receive_objects: tiago_dual \u001b[0m\n",
-      "\u001b[0m[ INFO] [1695589197.900812867]: Set send_objects: \u001b[0m\n",
-      "[Client 7500] Opened the socket tcp://127.0.0.1:7500.\n",
-      "[Server] Bind to socket tcp://*:7500.\n",
-      "Loaded 'joint_state_controller'\n",
-      "[INFO] [1695589198.116465]: Start publisher [tf] with {'port': 7300, 'rate': 60}\n",
-      "[Client 7200] Opened the socket tcp://127.0.0.1:7200.\n",
-      "[Server] Bind to socket tcp://*:7200.\n",
-      "[Client 7200] Start.\n",
-      "[Client 7200] Starting the communication (send: 7, receive: 1).\n",
-      "[INFO] [1695589198.122640]: Start subscriber /cmd_vel\n",
-      "[Client 7500] Starting the communication (send: 1454, receive: 7).\n",
-      "Loaded 'torso_controller'\n",
-      "[Client 7300] Opened the socket tcp://127.0.0.1:7300.\n",
-      "[Client 7300] Start.\n",
-      "[Server] Bind to socket tcp://*:7300.\n",
-      "Loaded 'head_controller'\n",
-      "[Server] Bind to socket tcp://*:7400.\n",
-      "[Client 7400] Opened the socket tcp://127.0.0.1:7400.\n",
-      "[Client 7400] Start.\n",
-      "[INFO] [1695589198.251740]: Start service at /multiverse/query_data\n",
-      "Loaded 'arm_left_controller'\n",
-      "Loaded 'arm_right_controller'\n",
-      "Loaded 'gripper_left_left_finger_controller'\n",
-      "Loaded 'gripper_left_right_finger_controller'\n",
-      "Loaded 'gripper_right_right_finger_controller'\n",
-      "Loaded 'gripper_right_left_finger_controller'\n",
-      "Started ['joint_state_controller'] successfully\n",
-      "Started ['torso_controller'] successfully\n",
-      "Started ['head_controller'] successfully\n",
-      "Started ['arm_left_controller'] successfully\n",
-      "Started ['arm_right_controller'] successfully\n",
-      "Started ['gripper_left_left_finger_controller'] successfully\n",
-      "Started ['gripper_left_right_finger_controller'] successfully\n",
-      "Started ['gripper_right_right_finger_controller'] successfully\n",
-      "Started ['gripper_right_left_finger_controller'] successfully\n",
-      "\u001b[1m[controller_manager-3] process has finished cleanly\n",
-      "log file: /home/giang/.ros/log/512ca952-5b1d-11ee-b596-d183e98fb698/controller_manager-3*.log\u001b[0m\n",
-      "[6]   Terminated              multiverse_server\n",
-      "[8]   Done                    roslaunch multiverse_parser view_urdf.launch urdf:=$MY_ENV_IN_URDF headless:=true\n"
-     ]
-    }
-   ],
+   "outputs": [],
    "source": [
     "source $MULTIVERSE_DIR/tutorial_ws/devel/setup.bash\n",
     "\n",
@@ -14849,16 +1053,9 @@
   },
   {
    "cell_type": "code",
-   "execution_count": 27,
+   "execution_count": null,
    "metadata": {},
-   "outputs": [
-    {
-     "ename": "",
-     "evalue": "1",
-     "output_type": "error",
-     "traceback": []
-    }
-   ],
+   "outputs": [],
    "source": [
     "pkill rosmaster && pkill multiverse_serv # Kill rosmaster and multiverse_server"
    ]