diff --git a/.gitignore b/.gitignore
index 561b1b5..a061144 100644
--- a/.gitignore
+++ b/.gitignore
@@ -41,3 +41,7 @@ spatialdsl_deploy.key
 # Claude Code
 .claude/
 CLAUDE.md
+
+# Benchmark outputs and the local Python environment
+benchmarks/results/
+benchmarks/.venv/
diff --git a/benchmarks/README.md b/benchmarks/README.md
new file mode 100644
index 0000000..23f8052
--- /dev/null
+++ b/benchmarks/README.md
@@ -0,0 +1,55 @@
+# Evaluation scripts
+
+Two unattended scripts measure SpatialDSL Studio without a browser, an HTTP
+server, or a database. Both call the backend engines in-process and write their
+results to `benchmarks/results/` (git-ignored).
+
+## Prerequisites
+
+```bash
+cd backend && npm ci                       # the scripts reuse the backend's ts-node and engines
+cd ../benchmarks
+python3 -m venv .venv && .venv/bin/pip install usd-core   # fidelity only; provides pxr
+```
+
+## Scalability
+
+```bash
+cd benchmarks && npm run scalability
+```
+
+Generates seeded synthetic Smart Warehouse models with 100, 500, 1,000, 2,500,
+5,000, and 10,000 placed elements on a grid with random yaw, about 5 percent of
+them placed to violate one of the example spatial rules. For each size it
+reports the median of 5 runs (after one warm-up run) of spatial rule
+evaluation, the full backend model validation engine, and code generation of
+the Smart Warehouse OpenUSD project, plus the serialized model size. The script
+fails if the number of rule issues differs from the number of seeded
+violations.
+
+Outputs: `results/scalability.csv`, `results/scalability.md`,
+`results/scalability.json` (including CPU, RAM, OS, and Node.js version).
+Expected runtime: about 20 seconds on an Apple M2.
+
+## Generation fidelity
+
+```bash
+cd benchmarks && npm run fidelity          # same as: .venv/bin/python fidelity.py [K] [seed]
+```
+
+Applies K = 200 seeded pose edits (move, rotate, elevate) to the bundled Smart
+Warehouse model and regenerates after each edit. Every generated layered USD
+stage is opened with pxr; each element's `xformOp:translate`, composed world
+translation, `xformOp:rotateZ`, `xformOp:scale`, and `spatialDsl:*` attributes
+are compared with the model after the millimetre-to-metre conversion
+(tolerance 1e-6). The Visual Components location files and the Omniverse
+`warehouse_layout.json` are compared the same way; the layout JSON gives a yaw
+only for drones (the other groups are axis-aligned footprints for the
+simulator), so their yaw is compared in USD and Visual Components only. The
+first and last composed stages are checked with the `UsdValidation` framework,
+and the unedited model is generated twice to confirm byte-identical outputs.
+The script exits non-zero on any mismatch, nondeterminism, or USD validation
+error or warning.
+
+Outputs: `results/fidelity.json`, `results/fidelity.md`, and the generated
+bundles in `results/fidelity/`. Expected runtime: under 10 seconds.
diff --git a/benchmarks/fidelity-generate.ts b/benchmarks/fidelity-generate.ts
new file mode 100644
index 0000000..44dc6ef
--- /dev/null
+++ b/benchmarks/fidelity-generate.ts
@@ -0,0 +1,140 @@
+/**
+ * Generation half of the fidelity check (run by fidelity.py).
+ *
+ * Applies K seeded pose edits (move, rotate, elevate) to the bundled Smart
+ * Warehouse model one after another, regenerates the layered OpenUSD bundle
+ * and the Visual Components location files through the backend generation
+ * engine after each edit, and writes the outputs plus the expected poses.
+ * It also generates the unedited model twice and records whether the outputs
+ * are byte-identical.
+ *
+ *   npm run fidelity:generate -- <out-dir> [K] [seed]
+ */
+import './lib/offline-env';
+import fs from 'fs';
+import path from 'path';
+import { CodeGenerationTemplate, Metamodel, Model, ModelElement } from '../shared/types';
+import { codeGenerationEngine } from '../backend/src/services/pipeline/code-generation.engine';
+import { seededRandom } from './lib/synthetic-warehouse';
+
+const repoRoot = path.resolve(__dirname, '..');
+const outDir = path.resolve(process.argv[2] || path.join(__dirname, 'results', 'fidelity'));
+const editCount = Number(process.argv[3] || 200);
+const seed = Number(process.argv[4] || 20261011);
+
+const readJson = (relativePath: string): any => JSON.parse(fs.readFileSync(path.join(repoRoot, relativePath), 'utf8'));
+const metamodel = readJson('frontend/src/examples/data/smart-warehouse-metamodel.json') as Metamodel;
+const baseModel = readJson('frontend/src/examples/data/smart-warehouse-model.json') as Model;
+const omniverseTemplates = readJson('examples/codegen-projects/smart-warehouse-omniverse-project.json').templates as CodeGenerationTemplate[];
+const visualComponentsTemplates = readJson('examples/codegen-projects/smart-warehouse-visual-components-project.json').templates as CodeGenerationTemplate[];
+
+const USD_LAYERS = ['warehouse_layout.usda', 'warehouse_assets.usda', 'warehouse_physics.usda', 'warehouse_simulation.usda'];
+const OMNIVERSE_FILES = [...USD_LAYERS, 'warehouse_layout.json'];
+const VISUAL_COMPONENTS_FILES = [
+  'PathwayAreaLocation.json', 'RobotLocation.json', 'ConveyorLocation.json', 'OutputLocation.json', 'ChargingStationLocation.json',
+];
+
+const classNames = new Map(metamodel.classes.map(metaClass => [metaClass.id, metaClass.name]));
+const isPlaced = (element: ModelElement): boolean => Boolean(element.presentation?.position3D && element.presentation?.size3D);
+const round3 = (value: number): number => Math.round(value * 1000) / 1000;
+
+const generateAll = (model: Model) => ({
+  omniverse: codeGenerationEngine.generate(model, metamodel, omniverseTemplates),
+  visualComponents: codeGenerationEngine.generate(model, metamodel, visualComponentsTemplates),
+});
+
+const expectedPoses = (model: Model) => model.elements.filter(isPlaced).map(element => ({
+  id: element.id,
+  name: String(element.style?.name || element.name || element.id),
+  className: classNames.get(element.modelElementId) || element.modelElementId,
+  x: element.presentation!.position3D!.x,
+  y: element.presentation!.position3D!.y,
+  z: element.presentation!.position3D!.z,
+  rotationZ: element.presentation!.rotationZ ?? 0,
+  widthMm: element.presentation!.size3D!.widthMm,
+  heightMm: element.presentation!.size3D!.heightMm,
+  depthMm: element.presentation!.size3D!.depthMm,
+}));
+
+const writeOutputs = (directory: string, model: Model, outputs: ReturnType<typeof generateAll>): void => {
+  fs.mkdirSync(path.join(directory, 'visual-components'), { recursive: true });
+  const byName = (files: typeof outputs.omniverse) => new Map(files.map(file => [file.filename, file.content]));
+  const omniverse = byName(outputs.omniverse);
+  const visualComponents = byName(outputs.visualComponents);
+  OMNIVERSE_FILES.forEach(name => fs.writeFileSync(path.join(directory, name), omniverse.get(name)!));
+  VISUAL_COMPONENTS_FILES.forEach(name => fs.writeFileSync(path.join(directory, 'visual-components', name), visualComponents.get(name)!));
+  // Layers reference assets as @omniverse-assets/...@ relative to the bundle root.
+  const assetLink = path.join(directory, 'omniverse-assets');
+  if (!fs.existsSync(assetLink)) fs.symlinkSync(path.join(repoRoot, 'examples', 'omniverse-assets'), assetLink, 'dir');
+  fs.writeFileSync(path.join(directory, 'expected.json'), `${JSON.stringify(expectedPoses(model), null, 2)}\n`);
+};
+
+fs.rmSync(outDir, { recursive: true, force: true });
+fs.mkdirSync(outDir, { recursive: true });
+
+// Determinism: the unedited model generated twice must give byte-identical files.
+const first = generateAll(baseModel);
+const second = generateAll(JSON.parse(JSON.stringify(baseModel)));
+const allFiles = (outputs: ReturnType<typeof generateAll>) => [...outputs.omniverse, ...outputs.visualComponents];
+const differing = allFiles(first)
+  .filter((file, index) => {
+    const other = allFiles(second)[index];
+    return !other || other.filename !== file.filename || other.content !== file.content || other.contentHash !== file.contentHash;
+  })
+  .map(file => file.filename);
+const determinism = {
+  files: allFiles(first).length,
+  byteIdentical: differing.length === 0 && allFiles(first).length === allFiles(second).length,
+  differing,
+  contentHashes: Object.fromEntries(allFiles(first).map(file => [file.filename, file.contentHash])),
+};
+
+const random = seededRandom(seed);
+const model: Model = JSON.parse(JSON.stringify(baseModel));
+const placed = model.elements.filter(isPlaced);
+const edits: Array<Record<string, unknown>> = [];
+const started = Date.now();
+writeOutputs(path.join(outDir, 'edit-000'), model, first);
+
+for (let index = 1; index <= editCount; index += 1) {
+  const element = placed[Math.floor(random() * placed.length)];
+  const presentation = element.presentation!;
+  const before = { ...presentation.position3D!, rotationZ: presentation.rotationZ ?? 0 };
+  const roll = random();
+  let kind: string;
+  if (roll < 1 / 3) {
+    kind = 'move';
+    presentation.position3D = {
+      ...presentation.position3D!,
+      x: round3(presentation.position3D!.x + (random() * 6000 - 3000)),
+      y: round3(presentation.position3D!.y + (random() * 6000 - 3000)),
+    };
+  } else if (roll < 2 / 3) {
+    kind = 'rotate';
+    presentation.rotationZ = round3(random() * 360 - 180);
+  } else {
+    kind = 'elevate';
+    presentation.position3D = { ...presentation.position3D!, z: round3(random() * 3000) };
+  }
+  edits.push({
+    index,
+    kind,
+    element: element.style?.name,
+    className: classNames.get(element.modelElementId),
+    before,
+    after: { ...presentation.position3D!, rotationZ: presentation.rotationZ ?? 0 },
+  });
+  writeOutputs(path.join(outDir, `edit-${String(index).padStart(3, '0')}`), model, generateAll(model));
+}
+
+fs.writeFileSync(path.join(outDir, 'manifest.json'), `${JSON.stringify({
+  seed,
+  edits: editCount,
+  placedElements: placed.length,
+  omniverseFiles: OMNIVERSE_FILES,
+  visualComponentsFiles: VISUAL_COMPONENTS_FILES,
+  determinism,
+  generationSeconds: Math.round((Date.now() - started) / 100) / 10,
+  editLog: edits,
+}, null, 2)}\n`);
+process.stdout.write(`Generated ${editCount + 1} bundles in ${outDir}; determinism byte-identical: ${determinism.byteIdentical}\n`);
diff --git a/benchmarks/fidelity.py b/benchmarks/fidelity.py
new file mode 100644
index 0000000..2061072
--- /dev/null
+++ b/benchmarks/fidelity.py
@@ -0,0 +1,284 @@
+"""Generation fidelity check for the Smart Warehouse example.
+
+Runs the Node generator (fidelity-generate.ts), which applies K seeded pose
+edits to the bundled model and regenerates the layered OpenUSD bundle and the
+Visual Components location files after each edit. This script then opens every
+generated USD stage with pxr and parses the JSON outputs, compares each
+element's pose with the model (millimetres to metres for USD), validates the
+composed stage with UsdValidation, and reports the determinism result.
+
+    cd benchmarks && npm run fidelity        # or: .venv/bin/python fidelity.py [K] [seed]
+
+Writes results/fidelity.json and results/fidelity.md.
+"""
+
+import importlib.metadata
+import json
+import platform
+import struct
+import subprocess
+import sys
+import time
+from pathlib import Path
+
+from pxr import Usd, UsdGeom, UsdValidation
+
+HERE = Path(__file__).resolve().parent
+RESULTS = HERE / "results"
+OUT = RESULTS / "fidelity"
+TOLERANCE = 1e-6
+SCALED_CLASSES = {"Conveyor", "OutputLocation", "ChargingStation", "PathwayArea", "StorageRack", "Dock"}
+UNSCALED_CLASSES = {"MobileRobot", "InspectionDrone"}
+VC_FILES = {
+    "PathwayAreaLocation.json": "PathwayArea",
+    "RobotLocation.json": "MobileRobot",
+    "ConveyorLocation.json": "Conveyor",
+    "OutputLocation.json": "OutputLocation",
+    "ChargingStationLocation.json": "ChargingStation",
+}
+LAYOUT_JSON_GROUPS = {
+    "robots": {"MobileRobot"},
+    "obstacles": {"StorageRack", "Dock"},
+    "pickups": {"Conveyor"},
+    "dropoffs": {"OutputLocation"},
+    "chargers": {"ChargingStation"},
+    "drones": {"InspectionDrone"},
+}
+# warehouse_layout.json gives a yaw only for drones; the other groups are axis-aligned
+# footprints for the simulator. Every element's yaw is still compared in the USD stage
+# (xformOp:rotateZ) and the Visual Components files (Rz).
+LAYOUT_JSON_YAW_GROUPS = {"drones"}
+
+
+def float32(value):
+    """Round to single precision, the declared type of xformOp:rotateZ."""
+    return struct.unpack("f", struct.pack("f", float(value)))[0]
+
+
+class Tally:
+    def __init__(self):
+        self.checked = 0
+        self.mismatches = []
+
+    def compare(self, target, edit, element, field, actual, expected, tolerance=TOLERANCE):
+        self.checked += 1
+        if actual is None or abs(float(actual) - float(expected)) > tolerance:
+            self.mismatches.append({
+                "target": target, "edit": edit, "element": element, "field": field,
+                "actual": actual, "expected": expected,
+            })
+
+    def missing(self, target, edit, element):
+        self.checked += 1
+        self.mismatches.append({"target": target, "edit": edit, "element": element, "field": "missing"})
+
+
+def check_usd(edit_dir, edit, expected, tally):
+    stage = Usd.Stage.Open(str(edit_dir / "warehouse_simulation.usda"))
+    prims = {}
+    for prim in stage.Traverse():
+        attribute = prim.GetAttribute("spatialDsl:sourceName")
+        if attribute and attribute.HasAuthoredValue():
+            prims[attribute.Get()] = prim
+    xform_cache = UsdGeom.XformCache()
+    for element in expected:
+        name, class_name = element["name"], element["className"]
+        if class_name not in SCALED_CLASSES | UNSCALED_CLASSES:
+            continue
+        prim = prims.get(name)
+        if prim is None:
+            tally.missing("usd", edit, name)
+            continue
+        x_m, y_m = element["x"] / 1000, element["y"] / 1000
+        if class_name in SCALED_CLASSES:
+            z_m = (element["z"] + element["depthMm"] / 2) / 1000
+        else:
+            z_m = element["z"] / 1000
+        translate = prim.GetAttribute("xformOp:translate").Get()
+        for axis, value in zip("xyz", (x_m, y_m, z_m)):
+            tally.compare("usd", edit, name, f"translate.{axis}", translate["xyz".index(axis)] if translate else None, value)
+        # The composed world transform must agree with the layout opinion.
+        world = xform_cache.GetLocalToWorldTransform(prim).ExtractTranslation()
+        for axis, value in zip("xyz", (x_m, y_m, z_m)):
+            tally.compare("usd", edit, name, f"world.{axis}", world["xyz".index(axis)], value)
+        tally.compare("usd", edit, name, "rotateZ", prim.GetAttribute("xformOp:rotateZ").Get(), float32(element["rotationZ"]))
+        tally.compare("usd", edit, name, "spatialDsl:baseElevationMm", prim.GetAttribute("spatialDsl:baseElevationMm").Get(), element["z"])
+        class_attr = prim.GetAttribute("spatialDsl:className").Get()
+        tally.checked += 1
+        if class_attr != class_name:
+            tally.mismatches.append({"target": "usd", "edit": edit, "element": name, "field": "className", "actual": class_attr, "expected": class_name})
+        if class_name in SCALED_CLASSES:
+            scale = prim.GetAttribute("xformOp:scale").Get()
+            for axis, value in zip("xyz", (element["widthMm"], element["heightMm"], element["depthMm"])):
+                tally.compare("usd", edit, name, f"scale.{axis}", scale["xyz".index(axis)] if scale else None, value / 1000)
+    return stage
+
+
+def check_visual_components(edit_dir, edit, expected, tally):
+    for filename, class_name in VC_FILES.items():
+        rows = {row["Name"]: row for row in json.loads((edit_dir / "visual-components" / filename).read_text())}
+        for element in (e for e in expected if e["className"] == class_name):
+            row = rows.get(element["name"])
+            if row is None:
+                tally.missing("visual-components", edit, element["name"])
+                continue
+            tally.compare("visual-components", edit, element["name"], "X", row["X"], element["x"])
+            tally.compare("visual-components", edit, element["name"], "Y", row["Y"], element["y"])
+            tally.compare("visual-components", edit, element["name"], "Rz", row["Rz"], element["rotationZ"])
+            if class_name == "PathwayArea":
+                tally.compare("visual-components", edit, element["name"], "AreaLength", row["AreaLength"], element["widthMm"])
+                tally.compare("visual-components", edit, element["name"], "AreaWidth", row["AreaWidth"], element["heightMm"])
+
+
+def check_layout_json(edit_dir, edit, expected, tally):
+    layout = json.loads((edit_dir / "warehouse_layout.json").read_text())
+    for group, classes in LAYOUT_JSON_GROUPS.items():
+        rows = {row["name"]: row for row in layout[group]}
+        for element in (e for e in expected if e["className"] in classes):
+            row = rows.get(element["name"])
+            if row is None:
+                tally.missing("omniverse-layout-json", edit, element["name"])
+                continue
+            for field, key in (("x", "x"), ("y", "y"), ("z", "z")):
+                tally.compare("omniverse-layout-json", edit, element["name"], field, row[key], element[key])
+            if "length" in row:
+                tally.compare("omniverse-layout-json", edit, element["name"], "length", row["length"], element["widthMm"])
+                tally.compare("omniverse-layout-json", edit, element["name"], "width", row["width"], element["heightMm"])
+                tally.compare("omniverse-layout-json", edit, element["name"], "height", row["height"], element["depthMm"])
+            if group in LAYOUT_JSON_YAW_GROUPS:
+                tally.compare("omniverse-layout-json", edit, element["name"], "yaw", row.get("yaw"), element["rotationZ"])
+
+
+def compliance(path):
+    """Run the UsdValidation framework on the composed stage.
+
+    Every registered validator runs except the usdz package validators, which
+    only apply to .usdz archives.
+    """
+    registry = UsdValidation.ValidationRegistry()
+    names = [meta.name for meta in registry.GetAllValidatorMetadata()
+             if not meta.isSuite and "UsdzValidators" not in meta.GetKeywords()]
+    context = UsdValidation.ValidationContext(registry.GetOrLoadValidatorsByName(names))
+    findings = context.Validate(Usd.Stage.Open(str(path)))
+    def describe(finding):
+        return f"{finding.GetValidator().GetMetadata().name}: {finding.GetMessage()}"
+    by_type = lambda kind: [describe(f) for f in findings if f.GetType() == kind]
+    return {
+        "layer": path.name,
+        "validators": len(names),
+        "errors": by_type(UsdValidation.ValidationErrorType.Error),
+        "failedChecks": [],
+        "warnings": by_type(UsdValidation.ValidationErrorType.Warn),
+        "info": by_type(UsdValidation.ValidationErrorType.Info),
+    }
+
+
+def main():
+    edits = int(sys.argv[1]) if len(sys.argv) > 1 else 200
+    seed = int(sys.argv[2]) if len(sys.argv) > 2 else 20261011
+    started = time.time()
+    ts_node = HERE.parent / "backend" / "node_modules" / ".bin" / "ts-node"
+    subprocess.run([str(ts_node), "--transpile-only", "--project", str(HERE.parent / "backend" / "tsconfig.json"),
+                    str(HERE / "fidelity-generate.ts"), str(OUT), str(edits), str(seed)], check=True, cwd=HERE)
+    generated = time.time()
+    manifest = json.loads((OUT / "manifest.json").read_text())
+
+    tally = Tally()
+    edit_dirs = sorted(p for p in OUT.iterdir() if p.is_dir() and p.name.startswith("edit-"))
+    for edit_dir in edit_dirs:
+        edit = int(edit_dir.name.split("-")[1])
+        expected = json.loads((edit_dir / "expected.json").read_text())
+        check_usd(edit_dir, edit, expected, tally)
+        check_visual_components(edit_dir, edit, expected, tally)
+        check_layout_json(edit_dir, edit, expected, tally)
+
+    checks = [compliance(edit_dirs[0] / "warehouse_simulation.usda"), compliance(edit_dirs[-1] / "warehouse_simulation.usda")]
+    checks[0]["edit"] = edit_dirs[0].name
+    checks[1]["edit"] = edit_dirs[-1].name
+    by_target = {}
+    for item in tally.mismatches:
+        by_target[item["target"]] = by_target.get(item["target"], 0) + 1
+    kinds = {}
+    for item in manifest["editLog"]:
+        kinds[item["kind"]] = kinds.get(item["kind"], 0) + 1
+
+    result = {
+        "edits": edits,
+        "editKinds": kinds,
+        "seed": seed,
+        "bundles": len(edit_dirs),
+        "placedElements": manifest["placedElements"],
+        "valuesChecked": tally.checked,
+        "mismatches": len(tally.mismatches),
+        "mismatchesByTarget": by_target,
+        "mismatchSamples": tally.mismatches[:20],
+        "tolerance": TOLERANCE,
+        "determinism": manifest["determinism"],
+        "compliance": checks,
+        "usdVersion": importlib.metadata.version("usd-core"),
+        "python": platform.python_version(),
+        "platform": f"{platform.system()} {platform.release()} ({platform.machine()})",
+        "seconds": {"generation": round(generated - started, 1), "checks": round(time.time() - generated, 1)},
+    }
+    RESULTS.mkdir(exist_ok=True)
+    (RESULTS / "fidelity.json").write_text(json.dumps(result, indent=2) + "\n")
+
+    def compliance_passed(check):
+        return not check["errors"] and not check["failedChecks"] and not check["warnings"]
+
+    def compliance_line(check):
+        status = "passed" if compliance_passed(check) else "failed"
+        return (f"| {check['edit']}/{check['layer']} | {check['validators']} | {status} | {len(check['errors'])} | "
+                f"{len(check['warnings'])} |")
+
+    lines = [
+        "# Generation fidelity results",
+        "",
+        f"{edits} seeded pose edits (seed {seed}; {', '.join(f'{v} {k}' for k, v in sorted(kinds.items()))}) applied one after another to the bundled Smart Warehouse model "
+        f"({manifest['placedElements']} placed elements); outputs regenerated after each edit, {len(edit_dirs)} bundles in total.",
+        "",
+        "| Target | Values compared | Mismatches |",
+        "| --- | ---: | ---: |",
+        f"| All (tolerance {TOLERANCE}) | {tally.checked} | {len(tally.mismatches)} |",
+    ]
+    lines += [f"| {target} | | {count} |" for target, count in sorted(by_target.items())]
+    lines += [
+        "",
+        "USD values are read from the composed stage `warehouse_simulation.usda` (layout, asset, and physics layers): "
+        "`xformOp:translate` and the composed world translation in metres, `xformOp:rotateZ` (declared `float`, so the expected "
+        "yaw is rounded to single precision), `xformOp:scale`, `spatialDsl:baseElevationMm`, and `spatialDsl:className`. "
+        "Visual Components location files and the Omniverse `warehouse_layout.json` are compared in millimetres and degrees. "
+        "`warehouse_layout.json` gives a yaw only for drones (the other groups are axis-aligned footprints for the simulator), "
+        "so the yaw of the other elements is compared in USD and Visual Components only.",
+        "",
+        "## USD validation",
+        "",
+        "`UsdUtils.ComplianceChecker` is not available in usd-core 26, so the stages are checked with the `UsdValidation` "
+        "framework instead, running every registered validator except the usdz package ones.",
+        "",
+        "| Stage | Validators | Result | Errors | Warnings |",
+        "| --- | ---: | --- | ---: | ---: |",
+        *[compliance_line(check) for check in checks],
+        "",
+        "## Determinism",
+        "",
+        f"Generating the unedited model twice gives byte-identical outputs: **{manifest['determinism']['byteIdentical']}** "
+        f"({manifest['determinism']['files']} files compared).",
+        "",
+        f"Environment: usd-core {result['usdVersion']}, Python {result['python']}, {result['platform']}. "
+        f"Generation {result['seconds']['generation']} s, checks {result['seconds']['checks']} s.",
+        "",
+    ]
+    for check in checks:
+        details = check["errors"] + check["warnings"] + check["info"]
+        if details:
+            lines += [f"Checker messages for {check['edit']}:", "", *[f"- {message}" for message in details], ""]
+    (RESULTS / "fidelity.md").write_text("\n".join(lines))
+    print("\n".join(lines))
+    passed = (not tally.mismatches and manifest["determinism"]["byteIdentical"]
+              and all(compliance_passed(check) for check in checks))
+    return 0 if passed else 1
+
+
+if __name__ == "__main__":
+    sys.exit(main())
diff --git a/benchmarks/lib/offline-env.ts b/benchmarks/lib/offline-env.ts
new file mode 100644
index 0000000..8e4207f
--- /dev/null
+++ b/benchmarks/lib/offline-env.ts
@@ -0,0 +1,7 @@
+// The backend engines import the API middleware, whose config module exits
+// when DATABASE_URL is unset. The benchmarks never open a database
+// connection, so a placeholder is enough. Import this module first.
+process.env.DATABASE_URL = process.env.DATABASE_URL || 'postgresql://benchmarks:unused@localhost:5432/unused';
+process.env.NODE_ENV = process.env.NODE_ENV || 'benchmark';
+
+export {};
diff --git a/benchmarks/lib/synthetic-warehouse.ts b/benchmarks/lib/synthetic-warehouse.ts
new file mode 100644
index 0000000..d57a820
--- /dev/null
+++ b/benchmarks/lib/synthetic-warehouse.ts
@@ -0,0 +1,187 @@
+import { Metamodel, Model, ModelElement } from '../../shared/types';
+
+/** Deterministic 32-bit PRNG (mulberry32). Same seed, same sequence on every platform. */
+export const seededRandom = (seed: number): (() => number) => {
+  let state = seed >>> 0;
+  return () => {
+    state = (state + 0x6d2b79f5) >>> 0;
+    let t = state;
+    t = Math.imul(t ^ (t >>> 15), t | 1);
+    t ^= t + Math.imul(t ^ (t >>> 7), t | 61);
+    return ((t ^ (t >>> 14)) >>> 0) / 4294967296;
+  };
+};
+
+/** Grid pitch. Larger than the longest rotated footprint, so normal cells never conflict. */
+export const CELL_MM = 8000;
+
+/** Probability that a cell deliberately violates one rule; about 5 percent of elements end up involved. */
+export const VIOLATION_CELL_PROBABILITY = 0.035;
+
+type ViolationKind = 'overlap' | 'aisle' | 'stranded-charger' | 'drone-over-rack';
+
+export interface SyntheticModel {
+  model: Model;
+  violatingElementIds: Set<string>;
+  violationCells: Record<ViolationKind, number>;
+}
+
+interface ElementSpec {
+  className: string;
+  size: [number, number, number];
+  z?: number;
+  style?: Record<string, unknown>;
+}
+
+const SPECS: Record<string, ElementSpec> = {
+  Conveyor: { className: 'Conveyor', size: [6000, 2000, 3000], style: { InitialPositions: '', Produced: false } },
+  StorageRack: { className: 'StorageRack', size: [2000, 1000, 2500], style: { InitialPositions: '', Capacity: 100, Levels: 4 } },
+  Dock: { className: 'Dock', size: [5000, 3000, 500], style: { InitialPositions: '', GateNumber: 1 } },
+  ChargingStation: { className: 'ChargingStation', size: [2000, 2000, 6000], style: { InitialPositions: '' } },
+  PathwayArea: { className: 'PathwayArea', size: [6000, 4000, 200], style: { InitialPositions: '' } },
+  OutputLocation: { className: 'OutputLocation', size: [6000, 3000, 3000], style: { InitialPositions: '' } },
+  MobileRobot: {
+    className: 'MobileRobot',
+    size: [3000, 3000, 4000],
+    style: { InitialPositions: '', Priority: 1, LowBatteryThreshold: 20, ChargeRate: 10, BatteryLevel: 100, HasProduct: false },
+  },
+  InspectionDrone: {
+    className: 'InspectionDrone',
+    size: [1200, 1200, 400],
+    z: 4500,
+    style: { Status: 'Airborne', BatteryLevel: 90, MaxAltitudeMm: 10000 },
+  },
+};
+
+/** Normal cells, weighted. A charger cell holds a charging station on top of a pathway area. */
+const NORMAL_CELLS: Array<[string, number]> = [
+  ['Conveyor', 3],
+  ['StorageRack', 3],
+  ['Dock', 1],
+  ['charger', 1],
+  ['PathwayArea', 2],
+  ['OutputLocation', 1],
+  ['MobileRobot', 2],
+  ['InspectionDrone', 1],
+];
+
+const VIOLATIONS: Array<[ViolationKind, number]> = [
+  ['overlap', 2], // two conveyors 1000 mm apart: noOverlap among fixed equipment
+  ['aisle', 2], // two racks with a 200 mm aisle: minimum aisle width
+  ['stranded-charger', 1], // a charging station with no pathway: adjacency
+  ['drone-over-rack', 1], // a drone 500 mm above a rack: 3D clearance
+];
+
+const pickWeighted = <T>(random: () => number, entries: Array<[T, number]>): T => {
+  const total = entries.reduce((sum, [, weight]) => sum + weight, 0);
+  let roll = random() * total;
+  for (const [value, weight] of entries) {
+    roll -= weight;
+    if (roll < 0) return value;
+  }
+  return entries[entries.length - 1][0];
+};
+
+const yaw = (random: () => number): number => Math.round((random() * 360 - 180) * 1000) / 1000;
+
+/**
+ * Generate a Smart Warehouse model with exactly `count` placed elements on a
+ * square grid, each with a random yaw. About 5 percent of the elements sit in
+ * cells built to violate one of the example spatial rules.
+ */
+export function generateSyntheticWarehouse(metamodel: Metamodel, count: number, seed: number): SyntheticModel {
+  const random = seededRandom(seed);
+  const classIds = Object.fromEntries(metamodel.classes.map(metaClass => [metaClass.name, metaClass.id]));
+  const elements: ModelElement[] = [];
+  const violatingElementIds = new Set<string>();
+  const violationCells: Record<ViolationKind, number> = {
+    overlap: 0, aisle: 0, 'stranded-charger': 0, 'drone-over-rack': 0,
+  };
+  const chargingStationIds: string[] = [];
+  const columns = Math.ceil(Math.sqrt(count));
+  let cell = 0;
+
+  const add = (spec: ElementSpec, x: number, y: number, rotationZ: number, z = spec.z ?? 0): ModelElement => {
+    const index = elements.length;
+    const id = `synthetic-${seed}-${String(index).padStart(6, '0')}`;
+    const element: ModelElement = {
+      id,
+      modelElementId: classIds[spec.className],
+      style: { name: `${spec.className} ${index}`, ...(spec.style || {}) },
+      references: {},
+      presentation: {
+        position3D: { x, y, z },
+        size3D: { widthMm: spec.size[0], heightMm: spec.size[1], depthMm: spec.size[2] },
+        rotationZ,
+      },
+    };
+    if (spec.className === 'ChargingStation') chargingStationIds.push(id);
+    if (spec.className === 'MobileRobot') {
+      // assignedStation is mandatory (1..1); the first cell is always a charger cell.
+      element.references.assignedStation = chargingStationIds[chargingStationIds.length - 1];
+    }
+    elements.push(element);
+    return element;
+  };
+
+  while (elements.length < count) {
+    const cx = (cell % columns) * CELL_MM;
+    const cy = Math.floor(cell / columns) * CELL_MM;
+    const remaining = count - elements.length;
+    cell += 1;
+
+    if (cell === 1 && remaining >= 2) {
+      add(SPECS.PathwayArea, cx, cy, yaw(random));
+      add(SPECS.ChargingStation, cx, cy, yaw(random));
+      continue;
+    }
+
+    if (remaining >= 2 && random() < VIOLATION_CELL_PROBABILITY) {
+      const kind = pickWeighted(random, VIOLATIONS);
+      violationCells[kind] += 1;
+      const angle = yaw(random);
+      const radians = (angle * Math.PI) / 180;
+      const alongY = { x: -Math.sin(radians), y: Math.cos(radians) };
+      let created: ModelElement[];
+      if (kind === 'overlap') {
+        created = [
+          add(SPECS.Conveyor, cx, cy, angle),
+          add(SPECS.Conveyor, cx + Math.cos(radians) * 1000, cy + Math.sin(radians) * 1000, angle),
+        ];
+      } else if (kind === 'aisle') {
+        created = [
+          add(SPECS.StorageRack, cx - alongY.x * 600, cy - alongY.y * 600, angle),
+          add(SPECS.StorageRack, cx + alongY.x * 600, cy + alongY.y * 600, angle),
+        ];
+      } else if (kind === 'stranded-charger') {
+        created = [add(SPECS.ChargingStation, cx, cy, angle)];
+      } else {
+        created = [add(SPECS.StorageRack, cx, cy, angle), add(SPECS.InspectionDrone, cx, cy, yaw(random), 3000)];
+      }
+      created.forEach(element => violatingElementIds.add(element.id));
+      continue;
+    }
+
+    let kind = pickWeighted(random, NORMAL_CELLS);
+    if (kind === 'charger' && remaining < 2) kind = 'Conveyor';
+    if (kind === 'charger') {
+      add(SPECS.PathwayArea, cx, cy, yaw(random));
+      add(SPECS.ChargingStation, cx, cy, yaw(random));
+    } else {
+      add(SPECS[kind], cx, cy, yaw(random));
+    }
+  }
+
+  return {
+    model: {
+      id: `synthetic-warehouse-${count}`,
+      name: `Synthetic warehouse (${count} elements, seed ${seed})`,
+      metamodelId: metamodel.id,
+      conformsTo: metamodel.id,
+      elements,
+      connections: [],
+    },
+    violatingElementIds,
+    violationCells,
+  };
+}
diff --git a/benchmarks/package.json b/benchmarks/package.json
new file mode 100644
index 0000000..30ef112
--- /dev/null
+++ b/benchmarks/package.json
@@ -0,0 +1,10 @@
+{
+  "name": "spatialdsl-benchmarks",
+  "private": true,
+  "description": "Unattended evaluation scripts for SpatialDSL Studio (scalability and generation fidelity).",
+  "scripts": {
+    "scalability": "../backend/node_modules/.bin/ts-node --transpile-only --project ../backend/tsconfig.json scalability.ts",
+    "fidelity:generate": "../backend/node_modules/.bin/ts-node --transpile-only --project ../backend/tsconfig.json fidelity-generate.ts",
+    "fidelity": ".venv/bin/python fidelity.py"
+  }
+}
diff --git a/benchmarks/scalability.ts b/benchmarks/scalability.ts
new file mode 100644
index 0000000..7b59665
--- /dev/null
+++ b/benchmarks/scalability.ts
@@ -0,0 +1,161 @@
+/**
+ * Scalability benchmark: spatial rule evaluation, backend model validation,
+ * and OpenUSD code generation on seeded synthetic Smart Warehouse models.
+ *
+ * Runs in-process (no HTTP, no browser, no database):
+ *   cd benchmarks && npm run scalability
+ *
+ * Writes benchmarks/results/scalability.csv, scalability.md, and scalability.json.
+ */
+import './lib/offline-env';
+import fs from 'fs';
+import os from 'os';
+import path from 'path';
+import { CodeGenerationTemplate, Metamodel } from '../shared/types';
+import { evaluateSpatialRules } from '../shared/spatial-rules';
+import { modelValidationEngine } from '../backend/src/services/pipeline/model-validation.engine';
+import { codeGenerationEngine } from '../backend/src/services/pipeline/code-generation.engine';
+import { generateSyntheticWarehouse } from './lib/synthetic-warehouse';
+
+const SIZES = [100, 500, 1000, 2500, 5000, 10000];
+const RUNS = 5;
+const SEED = 20261011;
+
+const repoRoot = path.resolve(__dirname, '..');
+const resultsDir = path.join(__dirname, 'results');
+const readJson = (relativePath: string): any => JSON.parse(fs.readFileSync(path.join(repoRoot, relativePath), 'utf8'));
+
+const metamodel = readJson('frontend/src/examples/data/smart-warehouse-metamodel.json') as Metamodel;
+const omniverseProject = readJson('examples/codegen-projects/smart-warehouse-omniverse-project.json');
+const templates = omniverseProject.templates as CodeGenerationTemplate[];
+
+const median = (values: number[]): number => {
+  const sorted = [...values].sort((left, right) => left - right);
+  const middle = Math.floor(sorted.length / 2);
+  return sorted.length % 2 ? sorted[middle] : (sorted[middle - 1] + sorted[middle]) / 2;
+};
+
+const timeMs = <T>(operation: () => T): { result: T; ms: number } => {
+  const start = process.hrtime.bigint();
+  const result = operation();
+  return { result, ms: Number(process.hrtime.bigint() - start) / 1e6 };
+};
+
+const round = (value: number, digits = 2): number => Math.round(value * 10 ** digits) / 10 ** digits;
+
+const machine = {
+  cpu: os.cpus()[0]?.model || 'unknown',
+  logicalCores: os.cpus().length,
+  memoryGiB: round(os.totalmem() / 1024 ** 3, 1),
+  os: `${os.type()} ${os.release()} (${os.platform()}/${os.arch()})`,
+  node: process.version,
+  date: new Date().toISOString(),
+};
+
+interface Row {
+  elements: number;
+  violatingElements: number;
+  seededViolations: number;
+  spatialIssues: number;
+  ruleEvaluationMs: number;
+  validationMs: number;
+  codeGenerationMs: number;
+  modelJsonBytes: number;
+  generatedBytes: number;
+}
+
+const ruleIds = new Set((metamodel.spatialRules || []).map(rule => rule.id));
+const rows: Row[] = [];
+const started = Date.now();
+
+for (const size of SIZES) {
+  const { model, violatingElementIds, violationCells } = generateSyntheticWarehouse(metamodel, size, SEED);
+  // Every seeded violation cell breaks exactly one rule once; normal cells break none.
+  const seededViolations = Object.values(violationCells).reduce((sum, count) => sum + count, 0);
+  const ruleTimes: number[] = [];
+  const validationTimes: number[] = [];
+  const generationTimes: number[] = [];
+  let spatialIssues = 0;
+  let generatedBytes = 0;
+
+  // One warm-up pass (JIT, Handlebars template compilation caches) before the timed runs.
+  evaluateSpatialRules(metamodel, model);
+  modelValidationEngine.validate(model, metamodel);
+  codeGenerationEngine.generate(model, metamodel, templates);
+
+  for (let run = 0; run < RUNS; run += 1) {
+    const rules = timeMs(() => evaluateSpatialRules(metamodel, model));
+    ruleTimes.push(rules.ms);
+    spatialIssues = rules.result.length;
+
+    const validation = timeMs(() => modelValidationEngine.validate(model, metamodel));
+    validationTimes.push(validation.ms);
+    const ruleIssueCount = validation.result.issues.filter(issue => ruleIds.has(issue.constraintId || '')).length;
+    if (ruleIssueCount !== spatialIssues) {
+      throw new Error(`Validation engine reported ${ruleIssueCount} rule issues, evaluator ${spatialIssues}`);
+    }
+
+    const generation = timeMs(() => codeGenerationEngine.generate(model, metamodel, templates));
+    generationTimes.push(generation.ms);
+    generatedBytes = generation.result.reduce((sum, file) => sum + Buffer.byteLength(file.content), 0);
+  }
+
+  const row: Row = {
+    elements: model.elements.length,
+    violatingElements: violatingElementIds.size,
+    seededViolations,
+    spatialIssues,
+    ruleEvaluationMs: round(median(ruleTimes)),
+    validationMs: round(median(validationTimes)),
+    codeGenerationMs: round(median(generationTimes)),
+    modelJsonBytes: Buffer.byteLength(JSON.stringify(model)),
+    generatedBytes,
+  };
+  if (row.spatialIssues !== seededViolations) {
+    throw new Error(`N=${size}: ${row.spatialIssues} rule issues, but ${seededViolations} violations were seeded`);
+  }
+  rows.push(row);
+  process.stdout.write(`N=${row.elements}: rules ${row.ruleEvaluationMs} ms, validation ${row.validationMs} ms, `
+    + `codegen ${row.codeGenerationMs} ms, ${row.spatialIssues} rule issues\n`);
+}
+
+fs.mkdirSync(resultsDir, { recursive: true });
+const columns: Array<keyof Row> = [
+  'elements', 'violatingElements', 'seededViolations', 'spatialIssues', 'ruleEvaluationMs',
+  'validationMs', 'codeGenerationMs', 'modelJsonBytes', 'generatedBytes',
+];
+fs.writeFileSync(
+  path.join(resultsDir, 'scalability.csv'),
+  `${columns.join(',')}\n${rows.map(row => columns.map(column => row[column]).join(',')).join('\n')}\n`
+);
+fs.writeFileSync(path.join(resultsDir, 'scalability.json'), `${JSON.stringify({
+  machine, seed: SEED, runs: RUNS, sizes: SIZES, rules: metamodel.spatialRules, rows,
+}, null, 2)}\n`);
+
+const kib = (bytes: number): string => `${round(bytes / 1024, 1)}`;
+const markdown = [
+  '# Scalability results',
+  '',
+  `Median of ${RUNS} runs after one warm-up run; seed ${SEED}; ${(metamodel.spatialRules || []).length} spatial rules from the Smart Warehouse example.`,
+  '',
+  '| Elements | Violating elements | Seeded violations | Rule issues | Rule evaluation (ms) | Model validation (ms) | OpenUSD generation (ms) | Model JSON (KiB) | Generated (KiB) |',
+  '| ---: | ---: | ---: | ---: | ---: | ---: | ---: | ---: | ---: |',
+  ...rows.map(row => `| ${row.elements} | ${row.violatingElements} | ${row.seededViolations} | ${row.spatialIssues} | ${row.ruleEvaluationMs} | `
+    + `${row.validationMs} | ${row.codeGenerationMs} | ${kib(row.modelJsonBytes)} | ${kib(row.generatedBytes)} |`),
+  '',
+  'Every seeded violation cell (two overlapping conveyors, a 200 mm rack aisle, a charging station off any pathway, or a drone 500 mm above a rack) yields exactly one rule issue, and the script fails otherwise.',
+  'Model validation is the full backend engine (conformance, references, presentation, and spatial rules); its timings come from separate runs, so it can be slightly below the rule evaluation median.',
+  'OpenUSD generation renders all templates of `examples/codegen-projects/smart-warehouse-omniverse-project.json`.',
+  '',
+  '## Machine',
+  '',
+  `- CPU: ${machine.cpu} (${machine.logicalCores} logical cores)`,
+  `- RAM: ${machine.memoryGiB} GiB`,
+  `- OS: ${machine.os}`,
+  `- Node.js: ${machine.node}`,
+  `- Date: ${machine.date}`,
+  `- Total benchmark wall time: ${round((Date.now() - started) / 1000, 1)} s`,
+  '',
+].join('\n');
+fs.writeFileSync(path.join(resultsDir, 'scalability.md'), markdown);
+process.stdout.write(`\n${markdown}`);
diff --git a/examples/codegen-projects/smart-warehouse-omniverse-project.json b/examples/codegen-projects/smart-warehouse-omniverse-project.json
index 23964f6..4660d1e 100644
--- a/examples/codegen-projects/smart-warehouse-omniverse-project.json
+++ b/examples/codegen-projects/smart-warehouse-omniverse-project.json
@@ -22,7 +22,7 @@
       "id": "a2c1e7d0-0000-4000-8000-0000000000f2",
       "name": "Generate Layered USD Layout",
       "language": "plaintext",
-      "templateContent": "#usda 1.0\n(\n    defaultPrim = \"World\"\n    documentation = \"SpatialDSL model layout only; asset and physics opinions live in sibling layers.\"\n    metersPerUnit = 1\n    timeCodesPerSecond = 60\n    upAxis = \"Z\"\n)\n\ndef Xform \"World\"\n{\n    custom string spatialDsl:layerRole = \"layout\"\n\n    def Cube \"Floor\"\n    {\n        float size = 1\n        color3f[] primvars:displayColor = [(0.18, 0.20, 0.23)]\n        double3 xformOp:scale = (80, 60, 0.1)\n        double3 xformOp:translate = (5, 0, -0.05)\n        uniform token[] xformOpOrder = [\"xformOp:translate\", \"xformOp:scale\"]\n    }\n\n    def Xform \"MobileRobot\"\n    {\n{{#each elementsByClassName.MobileRobot}}\n        def Xform \"{{usdIdentifier name}}_{{@index}}\"\n        {\n            custom string spatialDsl:className = \"MobileRobot\"\n            custom string spatialDsl:sourceName = \"{{name}}\"\n            custom double spatialDsl:baseElevationMm = {{Z}}\n            double3 xformOp:translate = ({{meters X}}, {{meters Y}}, {{meters Z}})\n            float xformOp:rotateZ = {{#unless RZ}}0{{else}}{{RZ}}{{/unless}}\n            uniform token[] xformOpOrder = [\"xformOp:translate\", \"xformOp:rotateZ\"]\n        }\n{{/each}}\n    }\n\n    def Xform \"Conveyor\"\n    {\n{{#each elementsByClassName.Conveyor}}\n        def Xform \"{{usdIdentifier name}}_{{@index}}\"\n        {\n            custom string spatialDsl:className = \"Conveyor\"\n            custom string spatialDsl:sourceName = \"{{name}}\"\n            custom double spatialDsl:baseElevationMm = {{Z}}\n            double3 xformOp:translate = ({{meters X}}, {{meters Y}}, {{baseCenterMeters Z Height}})\n            float xformOp:rotateZ = {{#unless RZ}}0{{else}}{{RZ}}{{/unless}}\n            double3 xformOp:scale = ({{meters Length}}, {{meters Width}}, {{meters Height}})\n            uniform token[] xformOpOrder = [\"xformOp:translate\", \"xformOp:rotateZ\", \"xformOp:scale\"]\n        }\n{{/each}}\n    }\n\n    def Xform \"OutputLocation\"\n    {\n{{#each elementsByClassName.OutputLocation}}\n        def Xform \"{{usdIdentifier name}}_{{@index}}\"\n        {\n            custom string spatialDsl:className = \"OutputLocation\"\n            custom string spatialDsl:sourceName = \"{{name}}\"\n            custom double spatialDsl:baseElevationMm = {{Z}}\n            double3 xformOp:translate = ({{meters X}}, {{meters Y}}, {{baseCenterMeters Z Height}})\n            float xformOp:rotateZ = {{#unless RZ}}0{{else}}{{RZ}}{{/unless}}\n            double3 xformOp:scale = ({{meters Length}}, {{meters Width}}, {{meters Height}})\n            uniform token[] xformOpOrder = [\"xformOp:translate\", \"xformOp:rotateZ\", \"xformOp:scale\"]\n        }\n{{/each}}\n    }\n\n    def Xform \"ChargingStation\"\n    {\n{{#each elementsByClassName.ChargingStation}}\n        def Xform \"{{usdIdentifier name}}_{{@index}}\"\n        {\n            custom string spatialDsl:className = \"ChargingStation\"\n            custom string spatialDsl:sourceName = \"{{name}}\"\n            custom double spatialDsl:baseElevationMm = {{Z}}\n            double3 xformOp:translate = ({{meters X}}, {{meters Y}}, {{baseCenterMeters Z Height}})\n            float xformOp:rotateZ = {{#unless RZ}}0{{else}}{{RZ}}{{/unless}}\n            double3 xformOp:scale = ({{meters Length}}, {{meters Width}}, {{meters Height}})\n            uniform token[] xformOpOrder = [\"xformOp:translate\", \"xformOp:rotateZ\", \"xformOp:scale\"]\n        }\n{{/each}}\n    }\n\n    def Xform \"PathwayArea\"\n    {\n{{#each elementsByClassName.PathwayArea}}\n        def Xform \"{{usdIdentifier name}}_{{@index}}\"\n        {\n            custom string spatialDsl:className = \"PathwayArea\"\n            custom string spatialDsl:sourceName = \"{{name}}\"\n            custom double spatialDsl:baseElevationMm = {{Z}}\n            double3 xformOp:translate = ({{meters X}}, {{meters Y}}, {{baseCenterMeters Z Height}})\n            float xformOp:rotateZ = {{#unless RZ}}0{{else}}{{RZ}}{{/unless}}\n            double3 xformOp:scale = ({{meters Length}}, {{meters Width}}, {{meters Height}})\n            uniform token[] xformOpOrder = [\"xformOp:translate\", \"xformOp:rotateZ\", \"xformOp:scale\"]\n        }\n{{/each}}\n    }\n\n    def Xform \"StorageRack\"\n    {\n{{#each elementsByClassName.StorageRack}}\n        def Xform \"{{usdIdentifier name}}_{{@index}}\"\n        {\n            custom string spatialDsl:className = \"StorageRack\"\n            custom string spatialDsl:sourceName = \"{{name}}\"\n            custom double spatialDsl:baseElevationMm = {{Z}}\n            double3 xformOp:translate = ({{meters X}}, {{meters Y}}, {{baseCenterMeters Z Height}})\n            float xformOp:rotateZ = {{#unless RZ}}0{{else}}{{RZ}}{{/unless}}\n            double3 xformOp:scale = ({{meters Length}}, {{meters Width}}, {{meters Height}})\n            uniform token[] xformOpOrder = [\"xformOp:translate\", \"xformOp:rotateZ\", \"xformOp:scale\"]\n        }\n{{/each}}\n    }\n\n    def Xform \"Dock\"\n    {\n{{#each elementsByClassName.Dock}}\n        def Xform \"{{usdIdentifier name}}_{{@index}}\"\n        {\n            custom string spatialDsl:className = \"Dock\"\n            custom string spatialDsl:sourceName = \"{{name}}\"\n            custom double spatialDsl:baseElevationMm = {{Z}}\n            double3 xformOp:translate = ({{meters X}}, {{meters Y}}, {{baseCenterMeters Z Height}})\n            float xformOp:rotateZ = {{#unless RZ}}0{{else}}{{RZ}}{{/unless}}\n            double3 xformOp:scale = ({{meters Length}}, {{meters Width}}, {{meters Height}})\n            uniform token[] xformOpOrder = [\"xformOp:translate\", \"xformOp:rotateZ\", \"xformOp:scale\"]\n        }\n{{/each}}\n    }\n\n    def Xform \"InspectionDrone\"\n    {\n{{#each elementsByClassName.InspectionDrone}}\n        def Xform \"{{usdIdentifier name}}_{{@index}}\"\n        {\n            custom string spatialDsl:className = \"InspectionDrone\"\n            custom string spatialDsl:sourceName = \"{{name}}\"\n            custom double spatialDsl:baseElevationMm = {{Z}}\n            double3 xformOp:translate = ({{meters X}}, {{meters Y}}, {{meters Z}})\n            float xformOp:rotateZ = {{#unless RZ}}0{{else}}{{RZ}}{{/unless}}\n            uniform token[] xformOpOrder = [\"xformOp:translate\", \"xformOp:rotateZ\"]\n        }\n{{/each}}\n    }\n}\n",
+      "templateContent": "#usda 1.0\n(\n    defaultPrim = \"World\"\n    documentation = \"SpatialDSL model layout only; asset and physics opinions live in sibling layers.\"\n    metersPerUnit = 1\n    timeCodesPerSecond = 60\n    upAxis = \"Z\"\n)\n\ndef Xform \"World\"\n{\n    custom string spatialDsl:layerRole = \"layout\"\n\n    def Cube \"Floor\"\n    {\n        double size = 1\n        color3f[] primvars:displayColor = [(0.18, 0.20, 0.23)]\n        double3 xformOp:scale = (80, 60, 0.1)\n        double3 xformOp:translate = (5, 0, -0.05)\n        uniform token[] xformOpOrder = [\"xformOp:translate\", \"xformOp:scale\"]\n    }\n\n    def Xform \"MobileRobot\"\n    {\n{{#each elementsByClassName.MobileRobot}}\n        def Xform \"{{usdIdentifier name}}_{{@index}}\"\n        {\n            custom string spatialDsl:className = \"MobileRobot\"\n            custom string spatialDsl:sourceName = \"{{name}}\"\n            custom double spatialDsl:baseElevationMm = {{Z}}\n            double3 xformOp:translate = ({{meters X}}, {{meters Y}}, {{meters Z}})\n            float xformOp:rotateZ = {{#unless RZ}}0{{else}}{{RZ}}{{/unless}}\n            uniform token[] xformOpOrder = [\"xformOp:translate\", \"xformOp:rotateZ\"]\n        }\n{{/each}}\n    }\n\n    def Xform \"Conveyor\"\n    {\n{{#each elementsByClassName.Conveyor}}\n        def Xform \"{{usdIdentifier name}}_{{@index}}\"\n        {\n            custom string spatialDsl:className = \"Conveyor\"\n            custom string spatialDsl:sourceName = \"{{name}}\"\n            custom double spatialDsl:baseElevationMm = {{Z}}\n            double3 xformOp:translate = ({{meters X}}, {{meters Y}}, {{baseCenterMeters Z Height}})\n            float xformOp:rotateZ = {{#unless RZ}}0{{else}}{{RZ}}{{/unless}}\n            double3 xformOp:scale = ({{meters Length}}, {{meters Width}}, {{meters Height}})\n            uniform token[] xformOpOrder = [\"xformOp:translate\", \"xformOp:rotateZ\", \"xformOp:scale\"]\n        }\n{{/each}}\n    }\n\n    def Xform \"OutputLocation\"\n    {\n{{#each elementsByClassName.OutputLocation}}\n        def Xform \"{{usdIdentifier name}}_{{@index}}\"\n        {\n            custom string spatialDsl:className = \"OutputLocation\"\n            custom string spatialDsl:sourceName = \"{{name}}\"\n            custom double spatialDsl:baseElevationMm = {{Z}}\n            double3 xformOp:translate = ({{meters X}}, {{meters Y}}, {{baseCenterMeters Z Height}})\n            float xformOp:rotateZ = {{#unless RZ}}0{{else}}{{RZ}}{{/unless}}\n            double3 xformOp:scale = ({{meters Length}}, {{meters Width}}, {{meters Height}})\n            uniform token[] xformOpOrder = [\"xformOp:translate\", \"xformOp:rotateZ\", \"xformOp:scale\"]\n        }\n{{/each}}\n    }\n\n    def Xform \"ChargingStation\"\n    {\n{{#each elementsByClassName.ChargingStation}}\n        def Xform \"{{usdIdentifier name}}_{{@index}}\"\n        {\n            custom string spatialDsl:className = \"ChargingStation\"\n            custom string spatialDsl:sourceName = \"{{name}}\"\n            custom double spatialDsl:baseElevationMm = {{Z}}\n            double3 xformOp:translate = ({{meters X}}, {{meters Y}}, {{baseCenterMeters Z Height}})\n            float xformOp:rotateZ = {{#unless RZ}}0{{else}}{{RZ}}{{/unless}}\n            double3 xformOp:scale = ({{meters Length}}, {{meters Width}}, {{meters Height}})\n            uniform token[] xformOpOrder = [\"xformOp:translate\", \"xformOp:rotateZ\", \"xformOp:scale\"]\n        }\n{{/each}}\n    }\n\n    def Xform \"PathwayArea\"\n    {\n{{#each elementsByClassName.PathwayArea}}\n        def Xform \"{{usdIdentifier name}}_{{@index}}\"\n        {\n            custom string spatialDsl:className = \"PathwayArea\"\n            custom string spatialDsl:sourceName = \"{{name}}\"\n            custom double spatialDsl:baseElevationMm = {{Z}}\n            double3 xformOp:translate = ({{meters X}}, {{meters Y}}, {{baseCenterMeters Z Height}})\n            float xformOp:rotateZ = {{#unless RZ}}0{{else}}{{RZ}}{{/unless}}\n            double3 xformOp:scale = ({{meters Length}}, {{meters Width}}, {{meters Height}})\n            uniform token[] xformOpOrder = [\"xformOp:translate\", \"xformOp:rotateZ\", \"xformOp:scale\"]\n        }\n{{/each}}\n    }\n\n    def Xform \"StorageRack\"\n    {\n{{#each elementsByClassName.StorageRack}}\n        def Xform \"{{usdIdentifier name}}_{{@index}}\"\n        {\n            custom string spatialDsl:className = \"StorageRack\"\n            custom string spatialDsl:sourceName = \"{{name}}\"\n            custom double spatialDsl:baseElevationMm = {{Z}}\n            double3 xformOp:translate = ({{meters X}}, {{meters Y}}, {{baseCenterMeters Z Height}})\n            float xformOp:rotateZ = {{#unless RZ}}0{{else}}{{RZ}}{{/unless}}\n            double3 xformOp:scale = ({{meters Length}}, {{meters Width}}, {{meters Height}})\n            uniform token[] xformOpOrder = [\"xformOp:translate\", \"xformOp:rotateZ\", \"xformOp:scale\"]\n        }\n{{/each}}\n    }\n\n    def Xform \"Dock\"\n    {\n{{#each elementsByClassName.Dock}}\n        def Xform \"{{usdIdentifier name}}_{{@index}}\"\n        {\n            custom string spatialDsl:className = \"Dock\"\n            custom string spatialDsl:sourceName = \"{{name}}\"\n            custom double spatialDsl:baseElevationMm = {{Z}}\n            double3 xformOp:translate = ({{meters X}}, {{meters Y}}, {{baseCenterMeters Z Height}})\n            float xformOp:rotateZ = {{#unless RZ}}0{{else}}{{RZ}}{{/unless}}\n            double3 xformOp:scale = ({{meters Length}}, {{meters Width}}, {{meters Height}})\n            uniform token[] xformOpOrder = [\"xformOp:translate\", \"xformOp:rotateZ\", \"xformOp:scale\"]\n        }\n{{/each}}\n    }\n\n    def Xform \"InspectionDrone\"\n    {\n{{#each elementsByClassName.InspectionDrone}}\n        def Xform \"{{usdIdentifier name}}_{{@index}}\"\n        {\n            custom string spatialDsl:className = \"InspectionDrone\"\n            custom string spatialDsl:sourceName = \"{{name}}\"\n            custom double spatialDsl:baseElevationMm = {{Z}}\n            double3 xformOp:translate = ({{meters X}}, {{meters Y}}, {{meters Z}})\n            float xformOp:rotateZ = {{#unless RZ}}0{{else}}{{RZ}}{{/unless}}\n            uniform token[] xformOpOrder = [\"xformOp:translate\", \"xformOp:rotateZ\"]\n        }\n{{/each}}\n    }\n}\n",
       "outputPattern": "warehouse_layout.usda"
     },
     {
@@ -36,7 +36,7 @@
       "id": "a2c1e7d0-0000-4000-8000-0000000000f4",
       "name": "Generate Layered USD Physics",
       "language": "plaintext",
-      "templateContent": "#usda 1.0\n(\n    defaultPrim = \"World\"\n    documentation = \"PhysX scene, static proxy colliders, and kinematic robot/drone body defaults.\"\n    metersPerUnit = 1\n    timeCodesPerSecond = 60\n    upAxis = \"Z\"\n)\n\ndef Xform \"World\"\n{\n    custom string spatialDsl:layerRole = \"physics\"\n\n    def PhysicsScene \"PhysicsScene\"\n    {\n        vector3f physics:gravityDirection = (0, 0, -1)\n        float physics:gravityMagnitude = 9.81\n    }\n\n    def Scope \"PhysicsMaterials\"\n    {\n        def Material \"WarehouseDefault\" (\n            prepend apiSchemas = [\"PhysicsMaterialAPI\"]\n        )\n        {\n            float physics:staticFriction = 0.72\n            float physics:dynamicFriction = 0.58\n            float physics:restitution = 0.05\n        }\n    }\n\n    over \"Floor\" (\n        prepend apiSchemas = [\"PhysicsCollisionAPI\"]\n    )\n    {\n        rel physics:material:binding = </World/PhysicsMaterials/WarehouseDefault>\n    }\n\n    over \"MobileRobot\"\n    {\n{{#each elementsByClassName.MobileRobot}}\n        over \"{{usdIdentifier name}}_{{@index}}\" (\n            prepend apiSchemas = [\"PhysicsRigidBodyAPI\", \"PhysicsMassAPI\"]\n        )\n        {\n            bool physics:kinematicEnabled = true\n            bool physics:rigidBodyEnabled = true\n            float physics:mass = 3.1\n            custom string spatialDsl:bodyMode = \"kinematic\"\n            custom string spatialDsl:dynamicControl = \"velocity\"\n        }\n{{/each}}\n    }\n\n    over \"Conveyor\"\n    {\n{{#each elementsByClassName.Conveyor}}\n        over \"{{usdIdentifier name}}_{{@index}}\"\n        {\n            def Cube \"PhysicsProxy\" (\n                prepend apiSchemas = [\"PhysicsCollisionAPI\"]\n            )\n            {\n                float size = 1\n                uniform token purpose = \"guide\"\n                token visibility = \"invisible\"\n                rel physics:material:binding = </World/PhysicsMaterials/WarehouseDefault>\n            }\n        }\n{{/each}}\n    }\n\n    over \"OutputLocation\"\n    {\n{{#each elementsByClassName.OutputLocation}}\n        over \"{{usdIdentifier name}}_{{@index}}\"\n        {\n            def Cube \"PhysicsProxy\" (\n                prepend apiSchemas = [\"PhysicsCollisionAPI\"]\n            )\n            {\n                float size = 1\n                uniform token purpose = \"guide\"\n                token visibility = \"invisible\"\n                rel physics:material:binding = </World/PhysicsMaterials/WarehouseDefault>\n            }\n        }\n{{/each}}\n    }\n\n    over \"ChargingStation\"\n    {\n{{#each elementsByClassName.ChargingStation}}\n        over \"{{usdIdentifier name}}_{{@index}}\"\n        {\n            def Cube \"PhysicsProxy\" (\n                prepend apiSchemas = [\"PhysicsCollisionAPI\"]\n            )\n            {\n                float size = 1\n                uniform token purpose = \"guide\"\n                token visibility = \"invisible\"\n                rel physics:material:binding = </World/PhysicsMaterials/WarehouseDefault>\n            }\n        }\n{{/each}}\n    }\n\n    over \"StorageRack\"\n    {\n{{#each elementsByClassName.StorageRack}}\n        over \"{{usdIdentifier name}}_{{@index}}\"\n        {\n            def Cube \"PhysicsProxy\" (\n                prepend apiSchemas = [\"PhysicsCollisionAPI\"]\n            )\n            {\n                float size = 1\n                uniform token purpose = \"guide\"\n                token visibility = \"invisible\"\n                rel physics:material:binding = </World/PhysicsMaterials/WarehouseDefault>\n            }\n        }\n{{/each}}\n    }\n\n    over \"Dock\"\n    {\n{{#each elementsByClassName.Dock}}\n        over \"{{usdIdentifier name}}_{{@index}}\"\n        {\n            def Cube \"PhysicsProxy\" (\n                prepend apiSchemas = [\"PhysicsCollisionAPI\"]\n            )\n            {\n                float size = 1\n                uniform token purpose = \"guide\"\n                token visibility = \"invisible\"\n                rel physics:material:binding = </World/PhysicsMaterials/WarehouseDefault>\n            }\n        }\n{{/each}}\n    }\n\n    over \"InspectionDrone\"\n    {\n{{#each elementsByClassName.InspectionDrone}}\n        over \"{{usdIdentifier name}}_{{@index}}\" (\n            prepend apiSchemas = [\"PhysicsRigidBodyAPI\", \"PhysicsMassAPI\"]\n        )\n        {\n            bool physics:kinematicEnabled = true\n            bool physics:rigidBodyEnabled = true\n            float physics:mass = 1.5\n            custom string spatialDsl:bodyMode = \"kinematic-aerial-placement\"\n\n            def Cube \"PhysicsProxy\" (\n                prepend apiSchemas = [\"PhysicsCollisionAPI\"]\n            )\n            {\n                float size = 1\n                uniform token purpose = \"guide\"\n                token visibility = \"invisible\"\n                double3 xformOp:translate = (0, 0, {{halfMeters Height}})\n                double3 xformOp:scale = ({{meters Length}}, {{meters Width}}, {{meters Height}})\n                uniform token[] xformOpOrder = [\"xformOp:translate\", \"xformOp:scale\"]\n                rel physics:material:binding = </World/PhysicsMaterials/WarehouseDefault>\n            }\n        }\n{{/each}}\n    }\n}\n",
+      "templateContent": "#usda 1.0\n(\n    defaultPrim = \"World\"\n    documentation = \"PhysX scene, static proxy colliders, and kinematic robot/drone body defaults.\"\n    metersPerUnit = 1\n    timeCodesPerSecond = 60\n    upAxis = \"Z\"\n)\n\ndef Xform \"World\"\n{\n    custom string spatialDsl:layerRole = \"physics\"\n\n    def PhysicsScene \"PhysicsScene\"\n    {\n        vector3f physics:gravityDirection = (0, 0, -1)\n        float physics:gravityMagnitude = 9.81\n    }\n\n    def Scope \"PhysicsMaterials\"\n    {\n        def Material \"WarehouseDefault\" (\n            prepend apiSchemas = [\"PhysicsMaterialAPI\"]\n        )\n        {\n            float physics:staticFriction = 0.72\n            float physics:dynamicFriction = 0.58\n            float physics:restitution = 0.05\n        }\n    }\n\n    over \"Floor\" (\n        prepend apiSchemas = [\"PhysicsCollisionAPI\"]\n    )\n    {\n        rel physics:material:binding = </World/PhysicsMaterials/WarehouseDefault>\n    }\n\n    over \"MobileRobot\"\n    {\n{{#each elementsByClassName.MobileRobot}}\n        over \"{{usdIdentifier name}}_{{@index}}\" (\n            prepend apiSchemas = [\"PhysicsRigidBodyAPI\", \"PhysicsMassAPI\"]\n        )\n        {\n            bool physics:kinematicEnabled = true\n            bool physics:rigidBodyEnabled = true\n            float physics:mass = 3.1\n            custom string spatialDsl:bodyMode = \"kinematic\"\n            custom string spatialDsl:dynamicControl = \"velocity\"\n        }\n{{/each}}\n    }\n\n    over \"Conveyor\"\n    {\n{{#each elementsByClassName.Conveyor}}\n        over \"{{usdIdentifier name}}_{{@index}}\"\n        {\n            def Cube \"PhysicsProxy\" (\n                prepend apiSchemas = [\"PhysicsCollisionAPI\"]\n            )\n            {\n                double size = 1\n                uniform token purpose = \"guide\"\n                token visibility = \"invisible\"\n                rel physics:material:binding = </World/PhysicsMaterials/WarehouseDefault>\n            }\n        }\n{{/each}}\n    }\n\n    over \"OutputLocation\"\n    {\n{{#each elementsByClassName.OutputLocation}}\n        over \"{{usdIdentifier name}}_{{@index}}\"\n        {\n            def Cube \"PhysicsProxy\" (\n                prepend apiSchemas = [\"PhysicsCollisionAPI\"]\n            )\n            {\n                double size = 1\n                uniform token purpose = \"guide\"\n                token visibility = \"invisible\"\n                rel physics:material:binding = </World/PhysicsMaterials/WarehouseDefault>\n            }\n        }\n{{/each}}\n    }\n\n    over \"ChargingStation\"\n    {\n{{#each elementsByClassName.ChargingStation}}\n        over \"{{usdIdentifier name}}_{{@index}}\"\n        {\n            def Cube \"PhysicsProxy\" (\n                prepend apiSchemas = [\"PhysicsCollisionAPI\"]\n            )\n            {\n                double size = 1\n                uniform token purpose = \"guide\"\n                token visibility = \"invisible\"\n                rel physics:material:binding = </World/PhysicsMaterials/WarehouseDefault>\n            }\n        }\n{{/each}}\n    }\n\n    over \"StorageRack\"\n    {\n{{#each elementsByClassName.StorageRack}}\n        over \"{{usdIdentifier name}}_{{@index}}\"\n        {\n            def Cube \"PhysicsProxy\" (\n                prepend apiSchemas = [\"PhysicsCollisionAPI\"]\n            )\n            {\n                double size = 1\n                uniform token purpose = \"guide\"\n                token visibility = \"invisible\"\n                rel physics:material:binding = </World/PhysicsMaterials/WarehouseDefault>\n            }\n        }\n{{/each}}\n    }\n\n    over \"Dock\"\n    {\n{{#each elementsByClassName.Dock}}\n        over \"{{usdIdentifier name}}_{{@index}}\"\n        {\n            def Cube \"PhysicsProxy\" (\n                prepend apiSchemas = [\"PhysicsCollisionAPI\"]\n            )\n            {\n                double size = 1\n                uniform token purpose = \"guide\"\n                token visibility = \"invisible\"\n                rel physics:material:binding = </World/PhysicsMaterials/WarehouseDefault>\n            }\n        }\n{{/each}}\n    }\n\n    over \"InspectionDrone\"\n    {\n{{#each elementsByClassName.InspectionDrone}}\n        over \"{{usdIdentifier name}}_{{@index}}\" (\n            prepend apiSchemas = [\"PhysicsRigidBodyAPI\", \"PhysicsMassAPI\"]\n        )\n        {\n            bool physics:kinematicEnabled = true\n            bool physics:rigidBodyEnabled = true\n            float physics:mass = 1.5\n            custom string spatialDsl:bodyMode = \"kinematic-aerial-placement\"\n\n            def Cube \"PhysicsProxy\" (\n                prepend apiSchemas = [\"PhysicsCollisionAPI\"]\n            )\n            {\n                double size = 1\n                uniform token purpose = \"guide\"\n                token visibility = \"invisible\"\n                double3 xformOp:translate = (0, 0, {{halfMeters Height}})\n                double3 xformOp:scale = ({{meters Length}}, {{meters Width}}, {{meters Height}})\n                uniform token[] xformOpOrder = [\"xformOp:translate\", \"xformOp:scale\"]\n                rel physics:material:binding = </World/PhysicsMaterials/WarehouseDefault>\n            }\n        }\n{{/each}}\n    }\n}\n",
       "outputPattern": "warehouse_physics.usda"
     },
     {
diff --git a/examples/omniverse-assets/nvidia-f1tenth-amr/layers/articulation.usda b/examples/omniverse-assets/nvidia-f1tenth-amr/layers/articulation.usda
index 00e06ca..c59b543 100644
--- a/examples/omniverse-assets/nvidia-f1tenth-amr/layers/articulation.usda
+++ b/examples/omniverse-assets/nvidia-f1tenth-amr/layers/articulation.usda
@@ -26,8 +26,8 @@ over "F1TenthAMR" (
             uniform token axis = "Z"
             uniform token purpose = "guide"
             token visibility = "invisible"
-            float height = 0.052
-            float radius = 0.057
+            double height = 0.052
+            double radius = 0.057
             float physics:mass = 0.12
             float3 xformOp:rotateXYZ = (90, 0, 0)
             double3 xformOp:translate = (0, 0.162, 0.058)
@@ -41,8 +41,8 @@ over "F1TenthAMR" (
             uniform token axis = "Z"
             uniform token purpose = "guide"
             token visibility = "invisible"
-            float height = 0.052
-            float radius = 0.057
+            double height = 0.052
+            double radius = 0.057
             float physics:mass = 0.12
             float3 xformOp:rotateXYZ = (90, 0, 0)
             double3 xformOp:translate = (0, -0.162, 0.058)
diff --git a/examples/omniverse-assets/nvidia-f1tenth-amr/layers/collision.usda b/examples/omniverse-assets/nvidia-f1tenth-amr/layers/collision.usda
index aa31b9e..ffeefcd 100644
--- a/examples/omniverse-assets/nvidia-f1tenth-amr/layers/collision.usda
+++ b/examples/omniverse-assets/nvidia-f1tenth-amr/layers/collision.usda
@@ -15,7 +15,7 @@ over "F1TenthAMR"
         {
             uniform token purpose = "guide"
             token visibility = "invisible"
-            float size = 1
+            double size = 1
             custom string spatialDsl:colliderRole = "chassis"
             double3 xformOp:scale = (0.49, 0.25, 0.15)
             double3 xformOp:translate = (0, 0, 0.12)
@@ -28,7 +28,7 @@ over "F1TenthAMR"
         {
             uniform token purpose = "guide"
             token visibility = "invisible"
-            float size = 1
+            double size = 1
             custom string spatialDsl:colliderRole = "sensor-envelope"
             double3 xformOp:scale = (0.30, 0.18, 0.14)
             double3 xformOp:translate = (0.015, 0, 0.235)
@@ -42,8 +42,8 @@ over "F1TenthAMR"
             uniform token axis = "Z"
             uniform token purpose = "guide"
             token visibility = "invisible"
-            float height = 0.32
-            float radius = 0.057
+            double height = 0.32
+            double radius = 0.057
             custom string spatialDsl:colliderRole = "front-wheel-envelope"
             float3 xformOp:rotateXYZ = (90, 0, 0)
             double3 xformOp:translate = (0.174, 0, 0.058)
@@ -57,8 +57,8 @@ over "F1TenthAMR"
             uniform token axis = "Z"
             uniform token purpose = "guide"
             token visibility = "invisible"
-            float height = 0.32
-            float radius = 0.057
+            double height = 0.32
+            double radius = 0.057
             custom string spatialDsl:colliderRole = "rear-wheel-envelope"
             float3 xformOp:rotateXYZ = (90, 0, 0)
             double3 xformOp:translate = (-0.174, 0, 0.058)
diff --git a/examples/omniverse-assets/nvidia-f1tenth-amr/layers/visual.usda b/examples/omniverse-assets/nvidia-f1tenth-amr/layers/visual.usda
index 37763f1..f9111fe 100644
--- a/examples/omniverse-assets/nvidia-f1tenth-amr/layers/visual.usda
+++ b/examples/omniverse-assets/nvidia-f1tenth-amr/layers/visual.usda
@@ -22,7 +22,7 @@ def Xform "F1TenthAMR" (
             prepend apiSchemas = ["MaterialBindingAPI"]
         )
         {
-            float size = 1
+            double size = 1
             rel material:binding = </F1TenthAMR/Looks/Carbon>
             double3 xformOp:scale = (0.46, 0.245, 0.012)
             double3 xformOp:translate = (0, 0, 0.09)
@@ -33,7 +33,7 @@ def Xform "F1TenthAMR" (
             prepend apiSchemas = ["MaterialBindingAPI"]
         )
         {
-            float size = 1
+            double size = 1
             rel material:binding = </F1TenthAMR/Looks/Carbon>
             double3 xformOp:scale = (0.37, 0.225, 0.012)
             double3 xformOp:translate = (-0.015, 0, 0.178)
@@ -44,7 +44,7 @@ def Xform "F1TenthAMR" (
             prepend apiSchemas = ["MaterialBindingAPI"]
         )
         {
-            float size = 1
+            double size = 1
             rel material:binding = </F1TenthAMR/Looks/BodyRed>
             double3 xformOp:scale = (0.045, 0.315, 0.052)
             double3 xformOp:translate = (0.255, 0, 0.082)
@@ -55,7 +55,7 @@ def Xform "F1TenthAMR" (
             prepend apiSchemas = ["MaterialBindingAPI"]
         )
         {
-            float size = 1
+            double size = 1
             rel material:binding = </F1TenthAMR/Looks/BodyRed>
             double3 xformOp:scale = (0.04, 0.29, 0.045)
             double3 xformOp:translate = (-0.255, 0, 0.082)
@@ -66,7 +66,7 @@ def Xform "F1TenthAMR" (
             prepend apiSchemas = ["MaterialBindingAPI"]
         )
         {
-            float size = 1
+            double size = 1
             rel material:binding = </F1TenthAMR/Looks/BodyRed>
             double3 xformOp:scale = (0.19, 0.118, 0.07)
             double3 xformOp:translate = (-0.06, 0, 0.132)
@@ -77,7 +77,7 @@ def Xform "F1TenthAMR" (
             prepend apiSchemas = ["MaterialBindingAPI"]
         )
         {
-            float size = 1
+            double size = 1
             rel material:binding = </F1TenthAMR/Looks/Aluminium>
             double3 xformOp:scale = (0.14, 0.13, 0.055)
             double3 xformOp:translate = (0.075, 0, 0.218)
@@ -88,7 +88,7 @@ def Xform "F1TenthAMR" (
             prepend apiSchemas = ["MaterialBindingAPI"]
         )
         {
-            float size = 1
+            double size = 1
             rel material:binding = </F1TenthAMR/Looks/Aluminium>
             double3 xformOp:scale = (0.33, 0.012, 0.025)
             double3 xformOp:translate = (-0.01, 0.145, 0.135)
@@ -99,7 +99,7 @@ def Xform "F1TenthAMR" (
             prepend apiSchemas = ["MaterialBindingAPI"]
         )
         {
-            float size = 1
+            double size = 1
             rel material:binding = </F1TenthAMR/Looks/Aluminium>
             double3 xformOp:scale = (0.33, 0.012, 0.025)
             double3 xformOp:translate = (-0.01, -0.145, 0.135)
@@ -113,8 +113,8 @@ def Xform "F1TenthAMR" (
             )
             {
                 uniform token axis = "Z"
-                float height = 0.052
-                float radius = 0.057
+                double height = 0.052
+                double radius = 0.057
                 rel material:binding = </F1TenthAMR/Looks/Rubber>
                 float3 xformOp:rotateXYZ = (90, 0, 0)
                 double3 xformOp:translate = (0.174, 0.162, 0.058)
@@ -125,8 +125,8 @@ def Xform "F1TenthAMR" (
             )
             {
                 uniform token axis = "Z"
-                float height = 0.052
-                float radius = 0.057
+                double height = 0.052
+                double radius = 0.057
                 rel material:binding = </F1TenthAMR/Looks/Rubber>
                 float3 xformOp:rotateXYZ = (90, 0, 0)
                 double3 xformOp:translate = (0.174, -0.162, 0.058)
@@ -137,8 +137,8 @@ def Xform "F1TenthAMR" (
             )
             {
                 uniform token axis = "Z"
-                float height = 0.052
-                float radius = 0.057
+                double height = 0.052
+                double radius = 0.057
                 rel material:binding = </F1TenthAMR/Looks/Rubber>
                 float3 xformOp:rotateXYZ = (90, 0, 0)
                 double3 xformOp:translate = (-0.174, 0.162, 0.058)
@@ -149,8 +149,8 @@ def Xform "F1TenthAMR" (
             )
             {
                 uniform token axis = "Z"
-                float height = 0.052
-                float radius = 0.057
+                double height = 0.052
+                double radius = 0.057
                 rel material:binding = </F1TenthAMR/Looks/Rubber>
                 float3 xformOp:rotateXYZ = (90, 0, 0)
                 double3 xformOp:translate = (-0.174, -0.162, 0.058)
@@ -164,7 +164,7 @@ def Xform "F1TenthAMR" (
                 prepend apiSchemas = ["MaterialBindingAPI"]
             )
             {
-                float size = 1
+                double size = 1
                 rel material:binding = </F1TenthAMR/Looks/Aluminium>
                 double3 xformOp:scale = (0.035, 0.255, 0.018)
                 double3 xformOp:translate = (0.174, 0, 0.075)
@@ -174,7 +174,7 @@ def Xform "F1TenthAMR" (
                 prepend apiSchemas = ["MaterialBindingAPI"]
             )
             {
-                float size = 1
+                double size = 1
                 rel material:binding = </F1TenthAMR/Looks/Aluminium>
                 double3 xformOp:scale = (0.035, 0.255, 0.018)
                 double3 xformOp:translate = (-0.174, 0, 0.075)
@@ -189,8 +189,8 @@ def Xform "F1TenthAMR" (
             )
             {
                 uniform token axis = "Z"
-                float height = 0.075
-                float radius = 0.012
+                double height = 0.075
+                double radius = 0.012
                 rel material:binding = </F1TenthAMR/Looks/Aluminium>
                 double3 xformOp:translate = (-0.085, 0, 0.247)
                 uniform token[] xformOpOrder = ["xformOp:translate"]
@@ -200,8 +200,8 @@ def Xform "F1TenthAMR" (
             )
             {
                 uniform token axis = "Z"
-                float height = 0.038
-                float radius = 0.047
+                double height = 0.038
+                double radius = 0.047
                 rel material:binding = </F1TenthAMR/Looks/SensorBlack>
                 double3 xformOp:translate = (-0.085, 0, 0.3)
                 uniform token[] xformOpOrder = ["xformOp:translate"]
@@ -210,7 +210,7 @@ def Xform "F1TenthAMR" (
                 prepend apiSchemas = ["MaterialBindingAPI"]
             )
             {
-                float size = 1
+                double size = 1
                 rel material:binding = </F1TenthAMR/Looks/SensorBlack>
                 double3 xformOp:scale = (0.035, 0.105, 0.038)
                 double3 xformOp:translate = (0.172, 0, 0.242)
@@ -220,7 +220,7 @@ def Xform "F1TenthAMR" (
                 prepend apiSchemas = ["MaterialBindingAPI"]
             )
             {
-                float radius = 0.012
+                double radius = 0.012
                 rel material:binding = </F1TenthAMR/Looks/Lens>
                 double3 xformOp:translate = (0.192, 0.033, 0.244)
                 uniform token[] xformOpOrder = ["xformOp:translate"]
@@ -229,7 +229,7 @@ def Xform "F1TenthAMR" (
                 prepend apiSchemas = ["MaterialBindingAPI"]
             )
             {
-                float radius = 0.012
+                double radius = 0.012
                 rel material:binding = </F1TenthAMR/Looks/Lens>
                 double3 xformOp:translate = (0.192, -0.033, 0.244)
                 uniform token[] xformOpOrder = ["xformOp:translate"]
@@ -238,7 +238,7 @@ def Xform "F1TenthAMR" (
                 prepend apiSchemas = ["MaterialBindingAPI"]
             )
             {
-                float radius = 0.014
+                double radius = 0.014
                 rel material:binding = </F1TenthAMR/Looks/StatusBlue>
                 double3 xformOp:translate = (-0.165, 0, 0.225)
                 uniform token[] xformOpOrder = ["xformOp:translate"]
diff --git a/examples/omniverse-assets/warehouse-kit/inspection_drone.usda b/examples/omniverse-assets/warehouse-kit/inspection_drone.usda
index ffd6b9c..e2b5903 100644
--- a/examples/omniverse-assets/warehouse-kit/inspection_drone.usda
+++ b/examples/omniverse-assets/warehouse-kit/inspection_drone.usda
@@ -14,7 +14,7 @@ def Xform "InspectionDrone"
 
     def Cube "Body"
     {
-        float size = 1
+        double size = 1
         color3f[] primvars:displayColor = [(0.34, 0.16, 0.62)]
         double3 xformOp:scale = (0.55, 0.34, 0.20)
         double3 xformOp:translate = (0, 0, 0.20)
@@ -23,7 +23,7 @@ def Xform "InspectionDrone"
 
     def Cube "ArmX"
     {
-        float size = 1
+        double size = 1
         color3f[] primvars:displayColor = [(0.55, 0.38, 0.82)]
         double3 xformOp:scale = (1.0, 0.08, 0.08)
         double3 xformOp:translate = (0, 0, 0.23)
@@ -32,7 +32,7 @@ def Xform "InspectionDrone"
 
     def Cube "ArmY"
     {
-        float size = 1
+        double size = 1
         color3f[] primvars:displayColor = [(0.55, 0.38, 0.82)]
         double3 xformOp:scale = (0.08, 1.0, 0.08)
         double3 xformOp:translate = (0, 0, 0.23)
@@ -41,7 +41,7 @@ def Xform "InspectionDrone"
 
     def Cube "LandingSkidLeft"
     {
-        float size = 1
+        double size = 1
         color3f[] primvars:displayColor = [(0.16, 0.18, 0.24)]
         double3 xformOp:scale = (0.55, 0.05, 0.08)
         double3 xformOp:translate = (0, -0.27, 0.04)
@@ -50,7 +50,7 @@ def Xform "InspectionDrone"
 
     def Cube "LandingSkidRight"
     {
-        float size = 1
+        double size = 1
         color3f[] primvars:displayColor = [(0.16, 0.18, 0.24)]
         double3 xformOp:scale = (0.55, 0.05, 0.08)
         double3 xformOp:translate = (0, 0.27, 0.04)
@@ -60,8 +60,8 @@ def Xform "InspectionDrone"
     def Cylinder "RotorFront"
     {
         uniform token axis = "Z"
-        float height = 0.025
-        float radius = 0.20
+        double height = 0.025
+        double radius = 0.20
         color3f[] primvars:displayColor = [(0.10, 0.12, 0.18)]
         double3 xformOp:translate = (0.50, 0, 0.31)
         uniform token[] xformOpOrder = ["xformOp:translate"]
@@ -70,8 +70,8 @@ def Xform "InspectionDrone"
     def Cylinder "RotorBack"
     {
         uniform token axis = "Z"
-        float height = 0.025
-        float radius = 0.20
+        double height = 0.025
+        double radius = 0.20
         color3f[] primvars:displayColor = [(0.10, 0.12, 0.18)]
         double3 xformOp:translate = (-0.50, 0, 0.31)
         uniform token[] xformOpOrder = ["xformOp:translate"]
@@ -80,8 +80,8 @@ def Xform "InspectionDrone"
     def Cylinder "RotorLeft"
     {
         uniform token axis = "Z"
-        float height = 0.025
-        float radius = 0.20
+        double height = 0.025
+        double radius = 0.20
         color3f[] primvars:displayColor = [(0.10, 0.12, 0.18)]
         double3 xformOp:translate = (0, -0.50, 0.31)
         uniform token[] xformOpOrder = ["xformOp:translate"]
@@ -90,8 +90,8 @@ def Xform "InspectionDrone"
     def Cylinder "RotorRight"
     {
         uniform token axis = "Z"
-        float height = 0.025
-        float radius = 0.20
+        double height = 0.025
+        double radius = 0.20
         color3f[] primvars:displayColor = [(0.10, 0.12, 0.18)]
         double3 xformOp:translate = (0, 0.50, 0.31)
         uniform token[] xformOpOrder = ["xformOp:translate"]
diff --git a/frontend/src/examples/data/smart-warehouse-omniverse-project.json b/frontend/src/examples/data/smart-warehouse-omniverse-project.json
index 23964f6..4660d1e 100644
--- a/frontend/src/examples/data/smart-warehouse-omniverse-project.json
+++ b/frontend/src/examples/data/smart-warehouse-omniverse-project.json
@@ -22,7 +22,7 @@
       "id": "a2c1e7d0-0000-4000-8000-0000000000f2",
       "name": "Generate Layered USD Layout",
       "language": "plaintext",
-      "templateContent": "#usda 1.0\n(\n    defaultPrim = \"World\"\n    documentation = \"SpatialDSL model layout only; asset and physics opinions live in sibling layers.\"\n    metersPerUnit = 1\n    timeCodesPerSecond = 60\n    upAxis = \"Z\"\n)\n\ndef Xform \"World\"\n{\n    custom string spatialDsl:layerRole = \"layout\"\n\n    def Cube \"Floor\"\n    {\n        float size = 1\n        color3f[] primvars:displayColor = [(0.18, 0.20, 0.23)]\n        double3 xformOp:scale = (80, 60, 0.1)\n        double3 xformOp:translate = (5, 0, -0.05)\n        uniform token[] xformOpOrder = [\"xformOp:translate\", \"xformOp:scale\"]\n    }\n\n    def Xform \"MobileRobot\"\n    {\n{{#each elementsByClassName.MobileRobot}}\n        def Xform \"{{usdIdentifier name}}_{{@index}}\"\n        {\n            custom string spatialDsl:className = \"MobileRobot\"\n            custom string spatialDsl:sourceName = \"{{name}}\"\n            custom double spatialDsl:baseElevationMm = {{Z}}\n            double3 xformOp:translate = ({{meters X}}, {{meters Y}}, {{meters Z}})\n            float xformOp:rotateZ = {{#unless RZ}}0{{else}}{{RZ}}{{/unless}}\n            uniform token[] xformOpOrder = [\"xformOp:translate\", \"xformOp:rotateZ\"]\n        }\n{{/each}}\n    }\n\n    def Xform \"Conveyor\"\n    {\n{{#each elementsByClassName.Conveyor}}\n        def Xform \"{{usdIdentifier name}}_{{@index}}\"\n        {\n            custom string spatialDsl:className = \"Conveyor\"\n            custom string spatialDsl:sourceName = \"{{name}}\"\n            custom double spatialDsl:baseElevationMm = {{Z}}\n            double3 xformOp:translate = ({{meters X}}, {{meters Y}}, {{baseCenterMeters Z Height}})\n            float xformOp:rotateZ = {{#unless RZ}}0{{else}}{{RZ}}{{/unless}}\n            double3 xformOp:scale = ({{meters Length}}, {{meters Width}}, {{meters Height}})\n            uniform token[] xformOpOrder = [\"xformOp:translate\", \"xformOp:rotateZ\", \"xformOp:scale\"]\n        }\n{{/each}}\n    }\n\n    def Xform \"OutputLocation\"\n    {\n{{#each elementsByClassName.OutputLocation}}\n        def Xform \"{{usdIdentifier name}}_{{@index}}\"\n        {\n            custom string spatialDsl:className = \"OutputLocation\"\n            custom string spatialDsl:sourceName = \"{{name}}\"\n            custom double spatialDsl:baseElevationMm = {{Z}}\n            double3 xformOp:translate = ({{meters X}}, {{meters Y}}, {{baseCenterMeters Z Height}})\n            float xformOp:rotateZ = {{#unless RZ}}0{{else}}{{RZ}}{{/unless}}\n            double3 xformOp:scale = ({{meters Length}}, {{meters Width}}, {{meters Height}})\n            uniform token[] xformOpOrder = [\"xformOp:translate\", \"xformOp:rotateZ\", \"xformOp:scale\"]\n        }\n{{/each}}\n    }\n\n    def Xform \"ChargingStation\"\n    {\n{{#each elementsByClassName.ChargingStation}}\n        def Xform \"{{usdIdentifier name}}_{{@index}}\"\n        {\n            custom string spatialDsl:className = \"ChargingStation\"\n            custom string spatialDsl:sourceName = \"{{name}}\"\n            custom double spatialDsl:baseElevationMm = {{Z}}\n            double3 xformOp:translate = ({{meters X}}, {{meters Y}}, {{baseCenterMeters Z Height}})\n            float xformOp:rotateZ = {{#unless RZ}}0{{else}}{{RZ}}{{/unless}}\n            double3 xformOp:scale = ({{meters Length}}, {{meters Width}}, {{meters Height}})\n            uniform token[] xformOpOrder = [\"xformOp:translate\", \"xformOp:rotateZ\", \"xformOp:scale\"]\n        }\n{{/each}}\n    }\n\n    def Xform \"PathwayArea\"\n    {\n{{#each elementsByClassName.PathwayArea}}\n        def Xform \"{{usdIdentifier name}}_{{@index}}\"\n        {\n            custom string spatialDsl:className = \"PathwayArea\"\n            custom string spatialDsl:sourceName = \"{{name}}\"\n            custom double spatialDsl:baseElevationMm = {{Z}}\n            double3 xformOp:translate = ({{meters X}}, {{meters Y}}, {{baseCenterMeters Z Height}})\n            float xformOp:rotateZ = {{#unless RZ}}0{{else}}{{RZ}}{{/unless}}\n            double3 xformOp:scale = ({{meters Length}}, {{meters Width}}, {{meters Height}})\n            uniform token[] xformOpOrder = [\"xformOp:translate\", \"xformOp:rotateZ\", \"xformOp:scale\"]\n        }\n{{/each}}\n    }\n\n    def Xform \"StorageRack\"\n    {\n{{#each elementsByClassName.StorageRack}}\n        def Xform \"{{usdIdentifier name}}_{{@index}}\"\n        {\n            custom string spatialDsl:className = \"StorageRack\"\n            custom string spatialDsl:sourceName = \"{{name}}\"\n            custom double spatialDsl:baseElevationMm = {{Z}}\n            double3 xformOp:translate = ({{meters X}}, {{meters Y}}, {{baseCenterMeters Z Height}})\n            float xformOp:rotateZ = {{#unless RZ}}0{{else}}{{RZ}}{{/unless}}\n            double3 xformOp:scale = ({{meters Length}}, {{meters Width}}, {{meters Height}})\n            uniform token[] xformOpOrder = [\"xformOp:translate\", \"xformOp:rotateZ\", \"xformOp:scale\"]\n        }\n{{/each}}\n    }\n\n    def Xform \"Dock\"\n    {\n{{#each elementsByClassName.Dock}}\n        def Xform \"{{usdIdentifier name}}_{{@index}}\"\n        {\n            custom string spatialDsl:className = \"Dock\"\n            custom string spatialDsl:sourceName = \"{{name}}\"\n            custom double spatialDsl:baseElevationMm = {{Z}}\n            double3 xformOp:translate = ({{meters X}}, {{meters Y}}, {{baseCenterMeters Z Height}})\n            float xformOp:rotateZ = {{#unless RZ}}0{{else}}{{RZ}}{{/unless}}\n            double3 xformOp:scale = ({{meters Length}}, {{meters Width}}, {{meters Height}})\n            uniform token[] xformOpOrder = [\"xformOp:translate\", \"xformOp:rotateZ\", \"xformOp:scale\"]\n        }\n{{/each}}\n    }\n\n    def Xform \"InspectionDrone\"\n    {\n{{#each elementsByClassName.InspectionDrone}}\n        def Xform \"{{usdIdentifier name}}_{{@index}}\"\n        {\n            custom string spatialDsl:className = \"InspectionDrone\"\n            custom string spatialDsl:sourceName = \"{{name}}\"\n            custom double spatialDsl:baseElevationMm = {{Z}}\n            double3 xformOp:translate = ({{meters X}}, {{meters Y}}, {{meters Z}})\n            float xformOp:rotateZ = {{#unless RZ}}0{{else}}{{RZ}}{{/unless}}\n            uniform token[] xformOpOrder = [\"xformOp:translate\", \"xformOp:rotateZ\"]\n        }\n{{/each}}\n    }\n}\n",
+      "templateContent": "#usda 1.0\n(\n    defaultPrim = \"World\"\n    documentation = \"SpatialDSL model layout only; asset and physics opinions live in sibling layers.\"\n    metersPerUnit = 1\n    timeCodesPerSecond = 60\n    upAxis = \"Z\"\n)\n\ndef Xform \"World\"\n{\n    custom string spatialDsl:layerRole = \"layout\"\n\n    def Cube \"Floor\"\n    {\n        double size = 1\n        color3f[] primvars:displayColor = [(0.18, 0.20, 0.23)]\n        double3 xformOp:scale = (80, 60, 0.1)\n        double3 xformOp:translate = (5, 0, -0.05)\n        uniform token[] xformOpOrder = [\"xformOp:translate\", \"xformOp:scale\"]\n    }\n\n    def Xform \"MobileRobot\"\n    {\n{{#each elementsByClassName.MobileRobot}}\n        def Xform \"{{usdIdentifier name}}_{{@index}}\"\n        {\n            custom string spatialDsl:className = \"MobileRobot\"\n            custom string spatialDsl:sourceName = \"{{name}}\"\n            custom double spatialDsl:baseElevationMm = {{Z}}\n            double3 xformOp:translate = ({{meters X}}, {{meters Y}}, {{meters Z}})\n            float xformOp:rotateZ = {{#unless RZ}}0{{else}}{{RZ}}{{/unless}}\n            uniform token[] xformOpOrder = [\"xformOp:translate\", \"xformOp:rotateZ\"]\n        }\n{{/each}}\n    }\n\n    def Xform \"Conveyor\"\n    {\n{{#each elementsByClassName.Conveyor}}\n        def Xform \"{{usdIdentifier name}}_{{@index}}\"\n        {\n            custom string spatialDsl:className = \"Conveyor\"\n            custom string spatialDsl:sourceName = \"{{name}}\"\n            custom double spatialDsl:baseElevationMm = {{Z}}\n            double3 xformOp:translate = ({{meters X}}, {{meters Y}}, {{baseCenterMeters Z Height}})\n            float xformOp:rotateZ = {{#unless RZ}}0{{else}}{{RZ}}{{/unless}}\n            double3 xformOp:scale = ({{meters Length}}, {{meters Width}}, {{meters Height}})\n            uniform token[] xformOpOrder = [\"xformOp:translate\", \"xformOp:rotateZ\", \"xformOp:scale\"]\n        }\n{{/each}}\n    }\n\n    def Xform \"OutputLocation\"\n    {\n{{#each elementsByClassName.OutputLocation}}\n        def Xform \"{{usdIdentifier name}}_{{@index}}\"\n        {\n            custom string spatialDsl:className = \"OutputLocation\"\n            custom string spatialDsl:sourceName = \"{{name}}\"\n            custom double spatialDsl:baseElevationMm = {{Z}}\n            double3 xformOp:translate = ({{meters X}}, {{meters Y}}, {{baseCenterMeters Z Height}})\n            float xformOp:rotateZ = {{#unless RZ}}0{{else}}{{RZ}}{{/unless}}\n            double3 xformOp:scale = ({{meters Length}}, {{meters Width}}, {{meters Height}})\n            uniform token[] xformOpOrder = [\"xformOp:translate\", \"xformOp:rotateZ\", \"xformOp:scale\"]\n        }\n{{/each}}\n    }\n\n    def Xform \"ChargingStation\"\n    {\n{{#each elementsByClassName.ChargingStation}}\n        def Xform \"{{usdIdentifier name}}_{{@index}}\"\n        {\n            custom string spatialDsl:className = \"ChargingStation\"\n            custom string spatialDsl:sourceName = \"{{name}}\"\n            custom double spatialDsl:baseElevationMm = {{Z}}\n            double3 xformOp:translate = ({{meters X}}, {{meters Y}}, {{baseCenterMeters Z Height}})\n            float xformOp:rotateZ = {{#unless RZ}}0{{else}}{{RZ}}{{/unless}}\n            double3 xformOp:scale = ({{meters Length}}, {{meters Width}}, {{meters Height}})\n            uniform token[] xformOpOrder = [\"xformOp:translate\", \"xformOp:rotateZ\", \"xformOp:scale\"]\n        }\n{{/each}}\n    }\n\n    def Xform \"PathwayArea\"\n    {\n{{#each elementsByClassName.PathwayArea}}\n        def Xform \"{{usdIdentifier name}}_{{@index}}\"\n        {\n            custom string spatialDsl:className = \"PathwayArea\"\n            custom string spatialDsl:sourceName = \"{{name}}\"\n            custom double spatialDsl:baseElevationMm = {{Z}}\n            double3 xformOp:translate = ({{meters X}}, {{meters Y}}, {{baseCenterMeters Z Height}})\n            float xformOp:rotateZ = {{#unless RZ}}0{{else}}{{RZ}}{{/unless}}\n            double3 xformOp:scale = ({{meters Length}}, {{meters Width}}, {{meters Height}})\n            uniform token[] xformOpOrder = [\"xformOp:translate\", \"xformOp:rotateZ\", \"xformOp:scale\"]\n        }\n{{/each}}\n    }\n\n    def Xform \"StorageRack\"\n    {\n{{#each elementsByClassName.StorageRack}}\n        def Xform \"{{usdIdentifier name}}_{{@index}}\"\n        {\n            custom string spatialDsl:className = \"StorageRack\"\n            custom string spatialDsl:sourceName = \"{{name}}\"\n            custom double spatialDsl:baseElevationMm = {{Z}}\n            double3 xformOp:translate = ({{meters X}}, {{meters Y}}, {{baseCenterMeters Z Height}})\n            float xformOp:rotateZ = {{#unless RZ}}0{{else}}{{RZ}}{{/unless}}\n            double3 xformOp:scale = ({{meters Length}}, {{meters Width}}, {{meters Height}})\n            uniform token[] xformOpOrder = [\"xformOp:translate\", \"xformOp:rotateZ\", \"xformOp:scale\"]\n        }\n{{/each}}\n    }\n\n    def Xform \"Dock\"\n    {\n{{#each elementsByClassName.Dock}}\n        def Xform \"{{usdIdentifier name}}_{{@index}}\"\n        {\n            custom string spatialDsl:className = \"Dock\"\n            custom string spatialDsl:sourceName = \"{{name}}\"\n            custom double spatialDsl:baseElevationMm = {{Z}}\n            double3 xformOp:translate = ({{meters X}}, {{meters Y}}, {{baseCenterMeters Z Height}})\n            float xformOp:rotateZ = {{#unless RZ}}0{{else}}{{RZ}}{{/unless}}\n            double3 xformOp:scale = ({{meters Length}}, {{meters Width}}, {{meters Height}})\n            uniform token[] xformOpOrder = [\"xformOp:translate\", \"xformOp:rotateZ\", \"xformOp:scale\"]\n        }\n{{/each}}\n    }\n\n    def Xform \"InspectionDrone\"\n    {\n{{#each elementsByClassName.InspectionDrone}}\n        def Xform \"{{usdIdentifier name}}_{{@index}}\"\n        {\n            custom string spatialDsl:className = \"InspectionDrone\"\n            custom string spatialDsl:sourceName = \"{{name}}\"\n            custom double spatialDsl:baseElevationMm = {{Z}}\n            double3 xformOp:translate = ({{meters X}}, {{meters Y}}, {{meters Z}})\n            float xformOp:rotateZ = {{#unless RZ}}0{{else}}{{RZ}}{{/unless}}\n            uniform token[] xformOpOrder = [\"xformOp:translate\", \"xformOp:rotateZ\"]\n        }\n{{/each}}\n    }\n}\n",
       "outputPattern": "warehouse_layout.usda"
     },
     {
@@ -36,7 +36,7 @@
       "id": "a2c1e7d0-0000-4000-8000-0000000000f4",
       "name": "Generate Layered USD Physics",
       "language": "plaintext",
-      "templateContent": "#usda 1.0\n(\n    defaultPrim = \"World\"\n    documentation = \"PhysX scene, static proxy colliders, and kinematic robot/drone body defaults.\"\n    metersPerUnit = 1\n    timeCodesPerSecond = 60\n    upAxis = \"Z\"\n)\n\ndef Xform \"World\"\n{\n    custom string spatialDsl:layerRole = \"physics\"\n\n    def PhysicsScene \"PhysicsScene\"\n    {\n        vector3f physics:gravityDirection = (0, 0, -1)\n        float physics:gravityMagnitude = 9.81\n    }\n\n    def Scope \"PhysicsMaterials\"\n    {\n        def Material \"WarehouseDefault\" (\n            prepend apiSchemas = [\"PhysicsMaterialAPI\"]\n        )\n        {\n            float physics:staticFriction = 0.72\n            float physics:dynamicFriction = 0.58\n            float physics:restitution = 0.05\n        }\n    }\n\n    over \"Floor\" (\n        prepend apiSchemas = [\"PhysicsCollisionAPI\"]\n    )\n    {\n        rel physics:material:binding = </World/PhysicsMaterials/WarehouseDefault>\n    }\n\n    over \"MobileRobot\"\n    {\n{{#each elementsByClassName.MobileRobot}}\n        over \"{{usdIdentifier name}}_{{@index}}\" (\n            prepend apiSchemas = [\"PhysicsRigidBodyAPI\", \"PhysicsMassAPI\"]\n        )\n        {\n            bool physics:kinematicEnabled = true\n            bool physics:rigidBodyEnabled = true\n            float physics:mass = 3.1\n            custom string spatialDsl:bodyMode = \"kinematic\"\n            custom string spatialDsl:dynamicControl = \"velocity\"\n        }\n{{/each}}\n    }\n\n    over \"Conveyor\"\n    {\n{{#each elementsByClassName.Conveyor}}\n        over \"{{usdIdentifier name}}_{{@index}}\"\n        {\n            def Cube \"PhysicsProxy\" (\n                prepend apiSchemas = [\"PhysicsCollisionAPI\"]\n            )\n            {\n                float size = 1\n                uniform token purpose = \"guide\"\n                token visibility = \"invisible\"\n                rel physics:material:binding = </World/PhysicsMaterials/WarehouseDefault>\n            }\n        }\n{{/each}}\n    }\n\n    over \"OutputLocation\"\n    {\n{{#each elementsByClassName.OutputLocation}}\n        over \"{{usdIdentifier name}}_{{@index}}\"\n        {\n            def Cube \"PhysicsProxy\" (\n                prepend apiSchemas = [\"PhysicsCollisionAPI\"]\n            )\n            {\n                float size = 1\n                uniform token purpose = \"guide\"\n                token visibility = \"invisible\"\n                rel physics:material:binding = </World/PhysicsMaterials/WarehouseDefault>\n            }\n        }\n{{/each}}\n    }\n\n    over \"ChargingStation\"\n    {\n{{#each elementsByClassName.ChargingStation}}\n        over \"{{usdIdentifier name}}_{{@index}}\"\n        {\n            def Cube \"PhysicsProxy\" (\n                prepend apiSchemas = [\"PhysicsCollisionAPI\"]\n            )\n            {\n                float size = 1\n                uniform token purpose = \"guide\"\n                token visibility = \"invisible\"\n                rel physics:material:binding = </World/PhysicsMaterials/WarehouseDefault>\n            }\n        }\n{{/each}}\n    }\n\n    over \"StorageRack\"\n    {\n{{#each elementsByClassName.StorageRack}}\n        over \"{{usdIdentifier name}}_{{@index}}\"\n        {\n            def Cube \"PhysicsProxy\" (\n                prepend apiSchemas = [\"PhysicsCollisionAPI\"]\n            )\n            {\n                float size = 1\n                uniform token purpose = \"guide\"\n                token visibility = \"invisible\"\n                rel physics:material:binding = </World/PhysicsMaterials/WarehouseDefault>\n            }\n        }\n{{/each}}\n    }\n\n    over \"Dock\"\n    {\n{{#each elementsByClassName.Dock}}\n        over \"{{usdIdentifier name}}_{{@index}}\"\n        {\n            def Cube \"PhysicsProxy\" (\n                prepend apiSchemas = [\"PhysicsCollisionAPI\"]\n            )\n            {\n                float size = 1\n                uniform token purpose = \"guide\"\n                token visibility = \"invisible\"\n                rel physics:material:binding = </World/PhysicsMaterials/WarehouseDefault>\n            }\n        }\n{{/each}}\n    }\n\n    over \"InspectionDrone\"\n    {\n{{#each elementsByClassName.InspectionDrone}}\n        over \"{{usdIdentifier name}}_{{@index}}\" (\n            prepend apiSchemas = [\"PhysicsRigidBodyAPI\", \"PhysicsMassAPI\"]\n        )\n        {\n            bool physics:kinematicEnabled = true\n            bool physics:rigidBodyEnabled = true\n            float physics:mass = 1.5\n            custom string spatialDsl:bodyMode = \"kinematic-aerial-placement\"\n\n            def Cube \"PhysicsProxy\" (\n                prepend apiSchemas = [\"PhysicsCollisionAPI\"]\n            )\n            {\n                float size = 1\n                uniform token purpose = \"guide\"\n                token visibility = \"invisible\"\n                double3 xformOp:translate = (0, 0, {{halfMeters Height}})\n                double3 xformOp:scale = ({{meters Length}}, {{meters Width}}, {{meters Height}})\n                uniform token[] xformOpOrder = [\"xformOp:translate\", \"xformOp:scale\"]\n                rel physics:material:binding = </World/PhysicsMaterials/WarehouseDefault>\n            }\n        }\n{{/each}}\n    }\n}\n",
+      "templateContent": "#usda 1.0\n(\n    defaultPrim = \"World\"\n    documentation = \"PhysX scene, static proxy colliders, and kinematic robot/drone body defaults.\"\n    metersPerUnit = 1\n    timeCodesPerSecond = 60\n    upAxis = \"Z\"\n)\n\ndef Xform \"World\"\n{\n    custom string spatialDsl:layerRole = \"physics\"\n\n    def PhysicsScene \"PhysicsScene\"\n    {\n        vector3f physics:gravityDirection = (0, 0, -1)\n        float physics:gravityMagnitude = 9.81\n    }\n\n    def Scope \"PhysicsMaterials\"\n    {\n        def Material \"WarehouseDefault\" (\n            prepend apiSchemas = [\"PhysicsMaterialAPI\"]\n        )\n        {\n            float physics:staticFriction = 0.72\n            float physics:dynamicFriction = 0.58\n            float physics:restitution = 0.05\n        }\n    }\n\n    over \"Floor\" (\n        prepend apiSchemas = [\"PhysicsCollisionAPI\"]\n    )\n    {\n        rel physics:material:binding = </World/PhysicsMaterials/WarehouseDefault>\n    }\n\n    over \"MobileRobot\"\n    {\n{{#each elementsByClassName.MobileRobot}}\n        over \"{{usdIdentifier name}}_{{@index}}\" (\n            prepend apiSchemas = [\"PhysicsRigidBodyAPI\", \"PhysicsMassAPI\"]\n        )\n        {\n            bool physics:kinematicEnabled = true\n            bool physics:rigidBodyEnabled = true\n            float physics:mass = 3.1\n            custom string spatialDsl:bodyMode = \"kinematic\"\n            custom string spatialDsl:dynamicControl = \"velocity\"\n        }\n{{/each}}\n    }\n\n    over \"Conveyor\"\n    {\n{{#each elementsByClassName.Conveyor}}\n        over \"{{usdIdentifier name}}_{{@index}}\"\n        {\n            def Cube \"PhysicsProxy\" (\n                prepend apiSchemas = [\"PhysicsCollisionAPI\"]\n            )\n            {\n                double size = 1\n                uniform token purpose = \"guide\"\n                token visibility = \"invisible\"\n                rel physics:material:binding = </World/PhysicsMaterials/WarehouseDefault>\n            }\n        }\n{{/each}}\n    }\n\n    over \"OutputLocation\"\n    {\n{{#each elementsByClassName.OutputLocation}}\n        over \"{{usdIdentifier name}}_{{@index}}\"\n        {\n            def Cube \"PhysicsProxy\" (\n                prepend apiSchemas = [\"PhysicsCollisionAPI\"]\n            )\n            {\n                double size = 1\n                uniform token purpose = \"guide\"\n                token visibility = \"invisible\"\n                rel physics:material:binding = </World/PhysicsMaterials/WarehouseDefault>\n            }\n        }\n{{/each}}\n    }\n\n    over \"ChargingStation\"\n    {\n{{#each elementsByClassName.ChargingStation}}\n        over \"{{usdIdentifier name}}_{{@index}}\"\n        {\n            def Cube \"PhysicsProxy\" (\n                prepend apiSchemas = [\"PhysicsCollisionAPI\"]\n            )\n            {\n                double size = 1\n                uniform token purpose = \"guide\"\n                token visibility = \"invisible\"\n                rel physics:material:binding = </World/PhysicsMaterials/WarehouseDefault>\n            }\n        }\n{{/each}}\n    }\n\n    over \"StorageRack\"\n    {\n{{#each elementsByClassName.StorageRack}}\n        over \"{{usdIdentifier name}}_{{@index}}\"\n        {\n            def Cube \"PhysicsProxy\" (\n                prepend apiSchemas = [\"PhysicsCollisionAPI\"]\n            )\n            {\n                double size = 1\n                uniform token purpose = \"guide\"\n                token visibility = \"invisible\"\n                rel physics:material:binding = </World/PhysicsMaterials/WarehouseDefault>\n            }\n        }\n{{/each}}\n    }\n\n    over \"Dock\"\n    {\n{{#each elementsByClassName.Dock}}\n        over \"{{usdIdentifier name}}_{{@index}}\"\n        {\n            def Cube \"PhysicsProxy\" (\n                prepend apiSchemas = [\"PhysicsCollisionAPI\"]\n            )\n            {\n                double size = 1\n                uniform token purpose = \"guide\"\n                token visibility = \"invisible\"\n                rel physics:material:binding = </World/PhysicsMaterials/WarehouseDefault>\n            }\n        }\n{{/each}}\n    }\n\n    over \"InspectionDrone\"\n    {\n{{#each elementsByClassName.InspectionDrone}}\n        over \"{{usdIdentifier name}}_{{@index}}\" (\n            prepend apiSchemas = [\"PhysicsRigidBodyAPI\", \"PhysicsMassAPI\"]\n        )\n        {\n            bool physics:kinematicEnabled = true\n            bool physics:rigidBodyEnabled = true\n            float physics:mass = 1.5\n            custom string spatialDsl:bodyMode = \"kinematic-aerial-placement\"\n\n            def Cube \"PhysicsProxy\" (\n                prepend apiSchemas = [\"PhysicsCollisionAPI\"]\n            )\n            {\n                double size = 1\n                uniform token purpose = \"guide\"\n                token visibility = \"invisible\"\n                double3 xformOp:translate = (0, 0, {{halfMeters Height}})\n                double3 xformOp:scale = ({{meters Length}}, {{meters Width}}, {{meters Height}})\n                uniform token[] xformOpOrder = [\"xformOp:translate\", \"xformOp:scale\"]\n                rel physics:material:binding = </World/PhysicsMaterials/WarehouseDefault>\n            }\n        }\n{{/each}}\n    }\n}\n",
       "outputPattern": "warehouse_physics.usda"
     },
     {