Add SimReady package: drinks_can

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

@@ -0,0 +1,35 @@
+{
+  "format_version": "1.0",
+  "profile": "Package",
+  "profile_version": "1.0.0",
+  "timestamp": "2026-10-20T10:00:02",
+  "assets": [
+    {
+      "asset": "com.nvidia.simready.packaging.json",
+      "features": [
+        {
+          "FET_030_STANDARD": {
+            "version": "0.1.0",
+            "passed": true,
+            "failing_requirements": [],
+            "dependencies": []
+          }
+        },
+        {
+          "FET_032_STANDARD": {
+            "version": "0.1.0",
+            "passed": true,
+            "failing_requirements": [],
+            "dependencies": [
+              {
+                "FET_030_STANDARD": {
+                  "version": "0.1.0"
+                }
+              }
+            ]
+          }
+        }
+      ]
+    }
+  ]
+}

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

@@ -0,0 +1,104 @@
+{
+  "format_version": "1.0",
+  "items": [
+    {
+      "relative_path": "simready_usd/.thumbs/256x256/drinks_can.usda.png",
+      "size": 30589,
+      "hash": {
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+        "sha256": "b5919b46b9a9db03f6cf32844063f3a63e7b19f6524930f42ee860090286163c"
+      }
+    },
+    {
+      "relative_path": "simready_usd/drinks_can.usda",
+      "size": 10397,
+      "hash": {
+        "sha256-flat-1mb": "7ff39d711a2b8b908d48d4b02c3582676cd80888200732897202182a3ea76f03",
+        "sha256": "24c68d1cddaa29ed307af6a0eceeb973aa762e68b0e9a41abe14197d2510a4e6"
+      }
+    },
+    {
+      "relative_path": "simready_usd/forgecad/geometry.usda",
+      "size": 4137774,
+      "hash": {
+        "sha256-flat-1mb": "c28379f37927b973e463b5371422de610f6e9079b649917df58e215734a42478",
+        "sha256": "e0d00da4eac6787063b9bdf65ea3a4cdb694e45eda1ac466dd0cec9286d92466",
+        "sha256-first1m": "474c58231eb9171d01111a60fa599b681658d6cfbb282e507c9b15a67542d0c1"
+      }
+    },
+    {
+      "relative_path": "simready_usd/forgecad/physics.usda",
+      "size": 9872,
+      "hash": {
+        "sha256-flat-1mb": "bf3bcf7bd9c9bfd09e4257f4c2671718c81f01bc295be2b16d1378ec10ec3678",
+        "sha256": "86facd624672341e7291b680f38efa712b4f55acec28ed492652256045d09462"
+      }
+    },
+    {
+      "relative_path": "simready_usd/guides/chart.png",
+      "size": 20063,
+      "hash": {
+        "sha256-flat-1mb": "8a3620656234880159b4ba9a04722f521c4e9bc4539d2bae4ca7cc3d80b55635",
+        "sha256": "021c687f57920f1048ea3322e878679ea03bc63c3d84e5ec283e32f43f21e618"
+      }
+    },
+    {
+      "relative_path": "simready_usd/guides/gradient.png",
+      "size": 105863,
+      "hash": {
+        "sha256-flat-1mb": "80a57f15b60b83349c5f9d2b9e234dcfde7a20912dd4236b16a69acb43267e47",
+        "sha256": "d60d37fb46e81db9a1ed3d778c0975c617321de71a13d862dc9aa61863756f52"
+      }
+    },
+    {
+      "relative_path": "simready_usd/guides/normal.png",
+      "size": 172625,
+      "hash": {
+        "sha256-flat-1mb": "f9aaa01edaf5c58f9c471de8cb69769426ddca8578533b9452316c69942790ed",
+        "sha256": "9dad9688decd3bd7b84170fdee3acf652f1f94bf785f8b0176b4d45bba2e71f4"
+      }
+    },
+    {
+      "relative_path": "simready_usd/guides/pattern.png",
+      "size": 1876806,
+      "hash": {
+        "sha256-flat-1mb": "4006df4b62b102054a082a5c8471508305686487d7086c8752f817eb40d9b2ad",
+        "sha256": "dd49cce7e25f65f10491b0160d89ca10343a4780510e6429ab6af1cb4d9041b2",
+        "sha256-first1m": "c49f47cf7fff6f5620bc0424c8ec262cfe3f540662479c59cf2bfc75c2553c3e"
+      }
+    },
+    {
+      "relative_path": "simready_usd/guides/position.png",
+      "size": 902380,
+      "hash": {
+        "sha256-flat-1mb": "9b29648113fb744b7a69046b8c04c84af6350df77ea278e568fc2d929b508d16",
+        "sha256": "a2491add2bbe135feec6219e4700b2a9091e7a40fca96269b94bee9bb009d679"
+      }
+    },
+    {
+      "relative_path": "simready_usd/guides/regions.png",
+      "size": 26623,
+      "hash": {
+        "sha256-flat-1mb": "848a42e16cb1941b60a59f9402ff5a9733a0d4b3c4a1a51f3c1f9dc5c626ac1d",
+        "sha256": "b96b9dc7c40d64a32e1fa574001c6a5fd4bb07dedba03c4dbb1e19bf23158832"
+      }
+    },
+    {
+      "relative_path": "simready_usd/layers/simready-labels.usda",
+      "size": 569,
+      "hash": {
+        "sha256-flat-1mb": "1130398b65f07a0a90e942b5cb6195db34c9b20c21797a98b08c9cbab92c092a",
+        "sha256": "368e8e95c0fb3580cc365ef953deddcd872c4e3479c342d72f00456d53dbcf22"
+      }
+    },
+    {
+      "relative_path": "simready_usd/textures/atlas.png",
+      "size": 1437118,
+      "hash": {
+        "sha256-flat-1mb": "608714613b24fee37783f3218ad64a82a149ceb9abec7df5a907ef0dafc1c97f",
+        "sha256": "659018e9491ae4a60d0a6f9cbe608e6d58ebc39e263a5451d7de6bbd7a5f1d81",
+        "sha256-first1m": "84c856770a509b7878a0bbce475191f0152461c5ba5bcac187a6152d6a208500"
+      }
+    }
+  ]
+}

drinks_can/.metadata/drinks_can_benchmark.json

@@ -0,0 +1,2204 @@
+{
+  "schema_version": "1.0",
+  "asset": "drinks_can",
+  "run_timestamp": "2026-10-20T09:59:59Z",
+  "passed": true,
+  "results": [
+    {
+      "test_name": "culling_xz",
+      "engine": "isaac_sim",
+      "engine_version": "6.1.0.0",
+      "status": "pass",
+      "passed": true,
+      "duration": 10.707,
+      "message": "",
+      "metrics": {
+        "_timing_capture_frame_total_s": {
+          "value": 2.305,
+          "unit": null
+        },
+        "_timing_capture_frame_count": {
+          "value": 16,
+          "unit": null
+        },
+        "_timing_capture_frame_avg_ms": {
+          "value": 144.08,
+          "unit": null
+        },
+        "_timing_encode_video_total_s": {
+          "value": 2.823,
+          "unit": null
+        },
+        "_timing_encode_video_count": {
+          "value": 2,
+          "unit": null
+        },
+        "_render_blank_retry_count": {
+          "value": 0,
+          "unit": null
+        },
+        "_render_blank_retry_unrecovered": {
+          "value": 0,
+          "unit": null
+        },
+        "culling_xz_max_diff": {
+          "value": 0.0,
+          "unit": null
+        },
+        "culling_xz_mean_diff": {
+          "value": 0.0,
+          "unit": null
+        },
+        "culling_xz_worst_angle": {
+          "value": 0.0,
+          "unit": null
+        },
+        "culling_xz_passed": {
+          "value": 1,
+          "unit": null
+        }
+      },
+      "kit_logs": []
+    },
+    {
+      "test_name": "culling_xz",
+      "engine": "isaac_sim_newton",
+      "engine_version": "6.1.0.0",
+      "status": "pass",
+      "passed": true,
+      "duration": 10.62,
+      "message": "",
+      "metrics": {
+        "_timing_capture_frame_total_s": {
+          "value": 2.54,
+          "unit": null
+        },
+        "_timing_capture_frame_count": {
+          "value": 16,
+          "unit": null
+        },
+        "_timing_capture_frame_avg_ms": {
+          "value": 158.75,
+          "unit": null
+        },
+        "_timing_encode_video_total_s": {
+          "value": 2.757,
+          "unit": null
+        },
+        "_timing_encode_video_count": {
+          "value": 2,
+          "unit": null
+        },
+        "_render_blank_retry_count": {
+          "value": 0,
+          "unit": null
+        },
+        "_render_blank_retry_unrecovered": {
+          "value": 0,
+          "unit": null
+        },
+        "culling_xz_max_diff": {
+          "value": 0.0,
+          "unit": null
+        },
+        "culling_xz_mean_diff": {
+          "value": 0.0,
+          "unit": null
+        },
+        "culling_xz_worst_angle": {
+          "value": 0.0,
+          "unit": null
+        },
+        "culling_xz_passed": {
+          "value": 1,
+          "unit": null
+        }
+      },
+      "kit_logs": [
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]: Traceback (most recent call last):"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:   File \"<home>/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/impl/texture.py\", line 377, in on_drawable_changed"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     self.__drawable_changed_fn(texture[\"rp_resource\"], presentation_key)"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:   File \"<home>/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/widget.py\", line 516, in __set_image_data"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     vp_api._sync_viewport_api(camera, canvas_size, vp_api.time, view, projection, force_update=True)  # noqa PLW0212"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:   File \"<home>/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 546, in _sync_viewport_api"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     self.__projection = self._conform_projection(policy, camera, image_aspect, canvas_aspect, projection)"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:                         ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:   File \"<home>/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     gf_camera = camera.GetCamera(self.__time)"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:                 ^^^^^^^^^^^^^^^^"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'"
+        }
+      ]
+    },
+    {
+      "test_name": "display_color_response",
+      "engine": "isaac_sim",
+      "engine_version": "6.1.0.0",
+      "status": "pass",
+      "passed": true,
+      "duration": 88.133,
+      "message": "",
+      "metrics": {
+        "display_color_asset_root": {
+          "value": "/World/AssetRoot/Asset",
+          "unit": null
+        },
+        "display_color_render_context_order": {
+          "value": "mdl, mtlx, universal",
+          "unit": null
+        },
+        "display_color_renderable_gprims": {
+          "value": 1,
+          "unit": null
+        },
+        "display_color_gprims_without_displaycolor": {
+          "value": 0,
+          "unit": null
+        },
+        "display_color_gprims_without_displayopacity": {
+          "value": 1,
+          "unit": null
+        },
+        "display_color_probe_bound_gprims": {
+          "value": 1,
+          "unit": null
+        },
+        "_timing_capture_frame_total_s": {
+          "value": 1.21,
+          "unit": null
+        },
+        "_timing_capture_frame_count": {
+          "value": 5,
+          "unit": null
+        },
+        "_timing_capture_frame_avg_ms": {
+          "value": 241.93,
+          "unit": null
+        },
+        "_timing_encode_video_total_s": {
+          "value": 1.235,
+          "unit": null
+        },
+        "_timing_encode_video_count": {
+          "value": 1,
+          "unit": null
+        },
+        "_render_blank_retry_count": {
+          "value": 0,
+          "unit": null
+        },
+        "_render_blank_retry_unrecovered": {
+          "value": 0,
+          "unit": null
+        },
+        "display_color_silhouette_pixels": {
+          "value": 176857,
+          "unit": null
+        },
+        "display_color_whole_frame_delta_pixels": {
+          "value": 177203,
+          "unit": null
+        },
+        "display_color_read_mean_rgb": {
+          "value": [
+            0.133,
+            0.1348,
+            0.1364
+          ],
+          "unit": null
+        },
+        "display_color_control_ratio": {
+          "value": 6e-06,
+          "unit": null
+        },
+        "display_color_response_ratio": {
+          "value": 1.0,
+          "unit": null
+        },
+        "display_color_opacity_ratio": {
+          "value": 0.999994,
+          "unit": null
+        }
+      },
+      "kit_logs": [
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]: Traceback (most recent call last):"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:   File \"<home>/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/impl/texture.py\", line 377, in on_drawable_changed"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     self.__drawable_changed_fn(texture[\"rp_resource\"], presentation_key)"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:   File \"<home>/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/widget.py\", line 516, in __set_image_data"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     vp_api._sync_viewport_api(camera, canvas_size, vp_api.time, view, projection, force_update=True)  # noqa PLW0212"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:   File \"<home>/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 546, in _sync_viewport_api"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     self.__projection = self._conform_projection(policy, camera, image_aspect, canvas_aspect, projection)"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:                         ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:   File \"<home>/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     gf_camera = camera.GetCamera(self.__time)"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:                 ^^^^^^^^^^^^^^^^"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'"
+        }
+      ]
+    },
+    {
+      "test_name": "display_color_response",
+      "engine": "isaac_sim_newton",
+      "engine_version": "6.1.0.0",
+      "status": "pass",
+      "passed": true,
+      "duration": 76.577,
+      "message": "",
+      "metrics": {
+        "display_color_asset_root": {
+          "value": "/World/AssetRoot/Asset",
+          "unit": null
+        },
+        "display_color_render_context_order": {
+          "value": "mdl, mtlx, universal",
+          "unit": null
+        },
+        "display_color_renderable_gprims": {
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+          "unit": null
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+        "display_color_gprims_without_displaycolor": {
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+          "unit": null
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+          "unit": null
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+          "unit": null
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+        "_timing_capture_frame_total_s": {
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+          "unit": null
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+        "_timing_capture_frame_count": {
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+          "unit": null
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+        "_timing_capture_frame_avg_ms": {
+          "value": 231.17,
+          "unit": null
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+        "_timing_encode_video_total_s": {
+          "value": 0.774,
+          "unit": null
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+        "_timing_encode_video_count": {
+          "value": 1,
+          "unit": null
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+        "_render_blank_retry_count": {
+          "value": 0,
+          "unit": null
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+        "_render_blank_retry_unrecovered": {
+          "value": 0,
+          "unit": null
+        },
+        "display_color_silhouette_pixels": {
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+          "unit": null
+        },
+        "display_color_whole_frame_delta_pixels": {
+          "value": 177195,
+          "unit": null
+        },
+        "display_color_read_mean_rgb": {
+          "value": [
+            0.133,
+            0.1348,
+            0.1364
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+          "unit": null
+        },
+        "display_color_control_ratio": {
+          "value": 0.0,
+          "unit": null
+        },
+        "display_color_response_ratio": {
+          "value": 1.0,
+          "unit": null
+        },
+        "display_color_opacity_ratio": {
+          "value": 0.999994,
+          "unit": null
+        }
+      },
+      "kit_logs": [
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]: Traceback (most recent call last):"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:   File \"<home>/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/impl/texture.py\", line 377, in on_drawable_changed"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     self.__drawable_changed_fn(texture[\"rp_resource\"], presentation_key)"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:   File \"<home>/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/widget.py\", line 516, in __set_image_data"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     vp_api._sync_viewport_api(camera, canvas_size, vp_api.time, view, projection, force_update=True)  # noqa PLW0212"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:   File \"<home>/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 546, in _sync_viewport_api"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     self.__projection = self._conform_projection(policy, camera, image_aspect, canvas_aspect, projection)"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:                         ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:   File \"<home>/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     gf_camera = camera.GetCamera(self.__time)"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:                 ^^^^^^^^^^^^^^^^"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'"
+        }
+      ]
+    },
+    {
+      "test_name": "ground_drop",
+      "engine": "isaac_sim",
+      "engine_version": "6.1.0.0",
+      "status": "pass",
+      "passed": true,
+      "duration": 28.191,
+      "message": "",
+      "metrics": {
+        "ground_drop_initial_z_min": {
+          "value": 0.2,
+          "unit": null
+        },
+        "ground_drop_bbox_height": {
+          "value": 0.122,
+          "unit": null
+        },
+        "ground_drop_effective_fall": {
+          "value": 0.1,
+          "unit": null
+        },
+        "_timing_capture_frame_total_s": {
+          "value": 10.084,
+          "unit": null
+        },
+        "_timing_capture_frame_count": {
+          "value": 41,
+          "unit": null
+        },
+        "_timing_capture_frame_avg_ms": {
+          "value": 245.94,
+          "unit": null
+        },
+        "_timing_encode_video_total_s": {
+          "value": 2.694,
+          "unit": null
+        },
+        "_timing_encode_video_count": {
+          "value": 1,
+          "unit": null
+        },
+        "_render_blank_retry_count": {
+          "value": 0,
+          "unit": null
+        },
+        "_render_blank_retry_unrecovered": {
+          "value": 0,
+          "unit": null
+        },
+        "ground_drop_touched": {
+          "value": 1,
+          "unit": null
+        },
+        "ground_drop_penetrated": {
+          "value": 0,
+          "unit": null
+        },
+        "ground_drop_stable": {
+          "value": 1,
+          "unit": null
+        },
+        "ground_drop_passed": {
+          "value": 1,
+          "unit": null
+        },
+        "ground_drop_touch_time": {
+          "value": 0.129,
+          "unit": null
+        },
+        "ground_drop_rest_time": {
+          "value": 2.175,
+          "unit": null
+        }
+      },
+      "kit_logs": []
+    },
+    {
+      "test_name": "light_response",
+      "engine": "isaac_sim",
+      "engine_version": "6.1.0.0",
+      "status": "pass",
+      "passed": true,
+      "duration": 12.424,
+      "message": "",
+      "metrics": {
+        "_timing_capture_frame_total_s": {
+          "value": 4.581,
+          "unit": null
+        },
+        "_timing_capture_frame_count": {
+          "value": 30,
+          "unit": null
+        },
+        "_timing_capture_frame_avg_ms": {
+          "value": 152.69,
+          "unit": null
+        },
+        "_timing_encode_video_total_s": {
+          "value": 2.183,
+          "unit": null
+        },
+        "_timing_encode_video_count": {
+          "value": 1,
+          "unit": null
+        },
+        "_render_blank_retry_count": {
+          "value": 0,
+          "unit": null
+        },
+        "_render_blank_retry_unrecovered": {
+          "value": 0,
+          "unit": null
+        },
+        "light_response_variation_ratio": {
+          "value": 0.758621,
+          "unit": null
+        },
+        "light_response_blank_ratio": {
+          "value": 0.0,
+          "unit": null
+        },
+        "light_response_blank_frames": {
+          "value": 0,
+          "unit": null
+        },
+        "light_response_total_frames": {
+          "value": 30,
+          "unit": null
+        },
+        "light_response_total_pairs": {
+          "value": 29,
+          "unit": null
+        },
+        "light_response_different_pairs": {
+          "value": 22,
+          "unit": null
+        },
+        "light_response_passed": {
+          "value": 1,
+          "unit": null
+        },
+        "light_response_max_pair_change": {
+          "value": 0.717244,
+          "unit": null
+        },
+        "light_response_min_pair_change": {
+          "value": 0.010759,
+          "unit": null
+        }
+      },
+      "kit_logs": [
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]: Traceback (most recent call last):"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:   File \"<home>/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/impl/texture.py\", line 377, in on_drawable_changed"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     self.__drawable_changed_fn(texture[\"rp_resource\"], presentation_key)"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:   File \"<home>/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/widget.py\", line 516, in __set_image_data"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     vp_api._sync_viewport_api(camera, canvas_size, vp_api.time, view, projection, force_update=True)  # noqa PLW0212"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:   File \"<home>/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 546, in _sync_viewport_api"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     self.__projection = self._conform_projection(policy, camera, image_aspect, canvas_aspect, projection)"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:                         ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:   File \"<home>/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     gf_camera = camera.GetCamera(self.__time)"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:                 ^^^^^^^^^^^^^^^^"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'"
+        }
+      ]
+    },
+    {
+      "test_name": "light_response",
+      "engine": "isaac_sim_newton",
+      "engine_version": "6.1.0.0",
+      "status": "pass",
+      "passed": true,
+      "duration": 12.39,
+      "message": "",
+      "metrics": {
+        "_timing_capture_frame_total_s": {
+          "value": 4.696,
+          "unit": null
+        },
+        "_timing_capture_frame_count": {
+          "value": 30,
+          "unit": null
+        },
+        "_timing_capture_frame_avg_ms": {
+          "value": 156.53,
+          "unit": null
+        },
+        "_timing_encode_video_total_s": {
+          "value": 2.138,
+          "unit": null
+        },
+        "_timing_encode_video_count": {
+          "value": 1,
+          "unit": null
+        },
+        "_render_blank_retry_count": {
+          "value": 0,
+          "unit": null
+        },
+        "_render_blank_retry_unrecovered": {
+          "value": 0,
+          "unit": null
+        },
+        "light_response_variation_ratio": {
+          "value": 0.793103,
+          "unit": null
+        },
+        "light_response_blank_ratio": {
+          "value": 0.0,
+          "unit": null
+        },
+        "light_response_blank_frames": {
+          "value": 0,
+          "unit": null
+        },
+        "light_response_total_frames": {
+          "value": 30,
+          "unit": null
+        },
+        "light_response_total_pairs": {
+          "value": 29,
+          "unit": null
+        },
+        "light_response_different_pairs": {
+          "value": 23,
+          "unit": null
+        },
+        "light_response_passed": {
+          "value": 1,
+          "unit": null
+        },
+        "light_response_max_pair_change": {
+          "value": 0.715579,
+          "unit": null
+        },
+        "light_response_min_pair_change": {
+          "value": 0.011141,
+          "unit": null
+        }
+      },
+      "kit_logs": [
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]: Traceback (most recent call last):"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:   File \"<home>/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/impl/texture.py\", line 377, in on_drawable_changed"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     self.__drawable_changed_fn(texture[\"rp_resource\"], presentation_key)"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:   File \"<home>/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/widget.py\", line 516, in __set_image_data"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     vp_api._sync_viewport_api(camera, canvas_size, vp_api.time, view, projection, force_update=True)  # noqa PLW0212"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:   File \"<home>/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 546, in _sync_viewport_api"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     self.__projection = self._conform_projection(policy, camera, image_aspect, canvas_aspect, projection)"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:                         ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:   File \"<home>/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     gf_camera = camera.GetCamera(self.__time)"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:                 ^^^^^^^^^^^^^^^^"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'"
+        }
+      ]
+    },
+    {
+      "test_name": "normals_xz",
+      "engine": "isaac_sim",
+      "engine_version": "6.1.0.0",
+      "status": "pass",
+      "passed": true,
+      "duration": 4.015,
+      "message": "",
+      "metrics": {
+        "_timing_capture_frame_total_s": {
+          "value": 1.282,
+          "unit": null
+        },
+        "_timing_capture_frame_count": {
+          "value": 8,
+          "unit": null
+        },
+        "_timing_capture_frame_avg_ms": {
+          "value": 160.3,
+          "unit": null
+        },
+        "_timing_encode_video_total_s": {
+          "value": 0.982,
+          "unit": null
+        },
+        "_timing_encode_video_count": {
+          "value": 1,
+          "unit": null
+        },
+        "_render_blank_retry_count": {
+          "value": 0,
+          "unit": null
+        },
+        "_render_blank_retry_unrecovered": {
+          "value": 0,
+          "unit": null
+        },
+        "normals_xz_avg_dark": {
+          "value": 0.0,
+          "unit": null
+        },
+        "normals_xz_max_dark": {
+          "value": 0.0,
+          "unit": null
+        },
+        "normals_xz_problem_frames": {
+          "value": 0,
+          "unit": null
+        },
+        "normals_xz_passed": {
+          "value": 1,
+          "unit": null
+        }
+      },
+      "kit_logs": []
+    },
+    {
+      "test_name": "normals_xz",
+      "engine": "isaac_sim_newton",
+      "engine_version": "6.1.0.0",
+      "status": "pass",
+      "passed": true,
+      "duration": 4.324,
+      "message": "",
+      "metrics": {
+        "_timing_capture_frame_total_s": {
+          "value": 1.11,
+          "unit": null
+        },
+        "_timing_capture_frame_count": {
+          "value": 8,
+          "unit": null
+        },
+        "_timing_capture_frame_avg_ms": {
+          "value": 138.73,
+          "unit": null
+        },
+        "_timing_encode_video_total_s": {
+          "value": 1.456,
+          "unit": null
+        },
+        "_timing_encode_video_count": {
+          "value": 1,
+          "unit": null
+        },
+        "_render_blank_retry_count": {
+          "value": 0,
+          "unit": null
+        },
+        "_render_blank_retry_unrecovered": {
+          "value": 0,
+          "unit": null
+        },
+        "normals_xz_avg_dark": {
+          "value": 0.0,
+          "unit": null
+        },
+        "normals_xz_max_dark": {
+          "value": 0.0,
+          "unit": null
+        },
+        "normals_xz_problem_frames": {
+          "value": 0,
+          "unit": null
+        },
+        "normals_xz_passed": {
+          "value": 1,
+          "unit": null
+        }
+      },
+      "kit_logs": [
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]: Traceback (most recent call last):"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:   File \"<home>/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/impl/texture.py\", line 377, in on_drawable_changed"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     self.__drawable_changed_fn(texture[\"rp_resource\"], presentation_key)"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:   File \"<home>/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/widget.py\", line 516, in __set_image_data"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     vp_api._sync_viewport_api(camera, canvas_size, vp_api.time, view, projection, force_update=True)  # noqa PLW0212"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:   File \"<home>/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 546, in _sync_viewport_api"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     self.__projection = self._conform_projection(policy, camera, image_aspect, canvas_aspect, projection)"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:                         ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:   File \"<home>/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     gf_camera = camera.GetCamera(self.__time)"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:                 ^^^^^^^^^^^^^^^^"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'"
+        }
+      ]
+    },
+    {
+      "test_name": "pivot",
+      "engine": "isaac_sim",
+      "engine_version": "6.1.0.0",
+      "status": "pass",
+      "passed": true,
+      "duration": 10.682,
+      "message": "",
+      "metrics": {
+        "_timing_capture_frame_total_s": {
+          "value": 3.58,
+          "unit": null
+        },
+        "_timing_capture_frame_count": {
+          "value": 20,
+          "unit": null
+        },
+        "_timing_capture_frame_avg_ms": {
+          "value": 178.99,
+          "unit": null
+        },
+        "_timing_encode_video_total_s": {
+          "value": 2.461,
+          "unit": null
+        },
+        "_timing_encode_video_count": {
+          "value": 2,
+          "unit": null
+        },
+        "_render_blank_retry_count": {
+          "value": 0,
+          "unit": null
+        },
+        "_render_blank_retry_unrecovered": {
+          "value": 0,
+          "unit": null
+        },
+        "pivot_score": {
+          "value": 0.9,
+          "unit": null
+        },
+        "pivot_pivot_height_pct": {
+          "value": 0.0,
+          "unit": null
+        },
+        "pivot_pivot_at_base": {
+          "value": 1,
+          "unit": null
+        },
+        "pivot_pivot_centered_xy": {
+          "value": 1,
+          "unit": null
+        },
+        "pivot_ground_penetration": {
+          "value": 1,
+          "unit": null
+        },
+        "pivot_orbital_motion": {
+          "value": 0,
+          "unit": null
+        },
+        "pivot_passed": {
+          "value": 1,
+          "unit": null
+        }
+      },
+      "kit_logs": [
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]: Traceback (most recent call last):"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:   File \"<home>/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/impl/texture.py\", line 377, in on_drawable_changed"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     self.__drawable_changed_fn(texture[\"rp_resource\"], presentation_key)"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:   File \"<home>/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/widget.py\", line 516, in __set_image_data"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     vp_api._sync_viewport_api(camera, canvas_size, vp_api.time, view, projection, force_update=True)  # noqa PLW0212"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:   File \"<home>/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 546, in _sync_viewport_api"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     self.__projection = self._conform_projection(policy, camera, image_aspect, canvas_aspect, projection)"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:                         ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:   File \"<home>/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     gf_camera = camera.GetCamera(self.__time)"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:                 ^^^^^^^^^^^^^^^^"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'"
+        }
+      ]
+    },
+    {
+      "test_name": "pivot",
+      "engine": "isaac_sim_newton",
+      "engine_version": "6.1.0.0",
+      "status": "pass",
+      "passed": true,
+      "duration": 9.868,
+      "message": "",
+      "metrics": {
+        "_timing_capture_frame_total_s": {
+          "value": 3.538,
+          "unit": null
+        },
+        "_timing_capture_frame_count": {
+          "value": 20,
+          "unit": null
+        },
+        "_timing_capture_frame_avg_ms": {
+          "value": 176.9,
+          "unit": null
+        },
+        "_timing_encode_video_total_s": {
+          "value": 2.516,
+          "unit": null
+        },
+        "_timing_encode_video_count": {
+          "value": 2,
+          "unit": null
+        },
+        "_render_blank_retry_count": {
+          "value": 0,
+          "unit": null
+        },
+        "_render_blank_retry_unrecovered": {
+          "value": 0,
+          "unit": null
+        },
+        "pivot_score": {
+          "value": 0.9,
+          "unit": null
+        },
+        "pivot_pivot_height_pct": {
+          "value": 0.0,
+          "unit": null
+        },
+        "pivot_pivot_at_base": {
+          "value": 1,
+          "unit": null
+        },
+        "pivot_pivot_centered_xy": {
+          "value": 1,
+          "unit": null
+        },
+        "pivot_ground_penetration": {
+          "value": 1,
+          "unit": null
+        },
+        "pivot_orbital_motion": {
+          "value": 0,
+          "unit": null
+        },
+        "pivot_passed": {
+          "value": 1,
+          "unit": null
+        }
+      },
+      "kit_logs": [
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]: Traceback (most recent call last):"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:   File \"<home>/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/impl/texture.py\", line 377, in on_drawable_changed"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     self.__drawable_changed_fn(texture[\"rp_resource\"], presentation_key)"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:   File \"<home>/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/widget.py\", line 516, in __set_image_data"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     vp_api._sync_viewport_api(camera, canvas_size, vp_api.time, view, projection, force_update=True)  # noqa PLW0212"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:   File \"<home>/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 546, in _sync_viewport_api"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     self.__projection = self._conform_projection(policy, camera, image_aspect, canvas_aspect, projection)"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:                         ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:   File \"<home>/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     gf_camera = camera.GetCamera(self.__time)"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:                 ^^^^^^^^^^^^^^^^"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'"
+        }
+      ]
+    },
+    {
+      "test_name": "presence",
+      "engine": "isaac_sim",
+      "engine_version": "6.1.0.0",
+      "status": "pass",
+      "passed": true,
+      "duration": 1.435,
+      "message": "",
+      "metrics": {
+        "_timing_capture_frame_total_s": {
+          "value": 0.277,
+          "unit": null
+        },
+        "_timing_capture_frame_count": {
+          "value": 2,
+          "unit": null
+        },
+        "_timing_capture_frame_avg_ms": {
+          "value": 138.29,
+          "unit": null
+        },
+        "_timing_encode_video_total_s": {
+          "value": 0.0,
+          "unit": null
+        },
+        "_timing_encode_video_count": {
+          "value": 0,
+          "unit": null
+        },
+        "_render_blank_retry_count": {
+          "value": 0,
+          "unit": null
+        },
+        "_render_blank_retry_unrecovered": {
+          "value": 0,
+          "unit": null
+        },
+        "presence_diff_ratio": {
+          "value": 0.168746,
+          "unit": null
+        },
+        "presence_passed": {
+          "value": 1,
+          "unit": null
+        }
+      },
+      "kit_logs": [
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]: Traceback (most recent call last):"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:   File \"<home>/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/impl/texture.py\", line 377, in on_drawable_changed"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     self.__drawable_changed_fn(texture[\"rp_resource\"], presentation_key)"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:   File \"<home>/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/widget.py\", line 516, in __set_image_data"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     vp_api._sync_viewport_api(camera, canvas_size, vp_api.time, view, projection, force_update=True)  # noqa PLW0212"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:   File \"<home>/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 546, in _sync_viewport_api"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     self.__projection = self._conform_projection(policy, camera, image_aspect, canvas_aspect, projection)"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:                         ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:   File \"<home>/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     gf_camera = camera.GetCamera(self.__time)"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:                 ^^^^^^^^^^^^^^^^"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'"
+        }
+      ]
+    },
+    {
+      "test_name": "presence",
+      "engine": "isaac_sim_newton",
+      "engine_version": "6.1.0.0",
+      "status": "pass",
+      "passed": true,
+      "duration": 1.077,
+      "message": "",
+      "metrics": {
+        "_timing_capture_frame_total_s": {
+          "value": 0.262,
+          "unit": null
+        },
+        "_timing_capture_frame_count": {
+          "value": 2,
+          "unit": null
+        },
+        "_timing_capture_frame_avg_ms": {
+          "value": 131.08,
+          "unit": null
+        },
+        "_timing_encode_video_total_s": {
+          "value": 0.0,
+          "unit": null
+        },
+        "_timing_encode_video_count": {
+          "value": 0,
+          "unit": null
+        },
+        "_render_blank_retry_count": {
+          "value": 0,
+          "unit": null
+        },
+        "_render_blank_retry_unrecovered": {
+          "value": 0,
+          "unit": null
+        },
+        "presence_diff_ratio": {
+          "value": 0.168754,
+          "unit": null
+        },
+        "presence_passed": {
+          "value": 1,
+          "unit": null
+        }
+      },
+      "kit_logs": [
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]: Traceback (most recent call last):"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:   File \"<home>/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/impl/texture.py\", line 377, in on_drawable_changed"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     self.__drawable_changed_fn(texture[\"rp_resource\"], presentation_key)"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:   File \"<home>/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/widget.py\", line 516, in __set_image_data"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     vp_api._sync_viewport_api(camera, canvas_size, vp_api.time, view, projection, force_update=True)  # noqa PLW0212"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:   File \"<home>/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 546, in _sync_viewport_api"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     self.__projection = self._conform_projection(policy, camera, image_aspect, canvas_aspect, projection)"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:                         ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:   File \"<home>/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     gf_camera = camera.GetCamera(self.__time)"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:                 ^^^^^^^^^^^^^^^^"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'"
+        }
+      ]
+    },
+    {
+      "test_name": "preview_surface_renders",
+      "engine": "isaac_sim",
+      "engine_version": "6.1.0.0",
+      "status": "pass",
+      "passed": true,
+      "duration": 3.557,
+      "message": "",
+      "metrics": {
+        "_timing_capture_frame_total_s": {
+          "value": 1.256,
+          "unit": null
+        },
+        "_timing_capture_frame_count": {
+          "value": 4,
+          "unit": null
+        },
+        "_timing_capture_frame_avg_ms": {
+          "value": 313.97,
+          "unit": null
+        },
+        "_timing_encode_video_total_s": {
+          "value": 0.0,
+          "unit": null
+        },
+        "_timing_encode_video_count": {
+          "value": 0,
+          "unit": null
+        },
+        "_render_blank_retry_count": {
+          "value": 0,
+          "unit": null
+        },
+        "_render_blank_retry_unrecovered": {
+          "value": 0,
+          "unit": null
+        },
+        "universal_surface_materials_with_universal": {
+          "value": 1,
+          "unit": null
+        },
+        "universal_surface_materials_with_mdl": {
+          "value": 0,
+          "unit": null
+        },
+        "universal_surface_materials_with_mtlx": {
+          "value": 0,
+          "unit": null
+        },
+        "universal_surface_materials_total": {
+          "value": 1,
+          "unit": null
+        },
+        "universal_surface_asset_root": {
+          "value": "/World/AssetRoot/Asset",
+          "unit": null
+        },
+        "universal_surface_contexts_present": {
+          "value": "universal",
+          "unit": null
+        },
+        "universal_surface_render_context_order": {
+          "value": "universal",
+          "unit": null
+        },
+        "universal_surface_silhouette_pixels": {
+          "value": 176614,
+          "unit": null
+        },
+        "universal_surface_uncovered_pixels": {
+          "value": 609,
+          "unit": null
+        },
+        "universal_surface_coverage": {
+          "value": 0.99655,
+          "unit": null
+        }
+      },
+      "kit_logs": [
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]: Traceback (most recent call last):"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:   File \"<home>/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/impl/texture.py\", line 377, in on_drawable_changed"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     self.__drawable_changed_fn(texture[\"rp_resource\"], presentation_key)"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:   File \"<home>/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/widget.py\", line 516, in __set_image_data"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     vp_api._sync_viewport_api(camera, canvas_size, vp_api.time, view, projection, force_update=True)  # noqa PLW0212"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:   File \"<home>/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 546, in _sync_viewport_api"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     self.__projection = self._conform_projection(policy, camera, image_aspect, canvas_aspect, projection)"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:                         ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:   File \"<home>/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     gf_camera = camera.GetCamera(self.__time)"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:                 ^^^^^^^^^^^^^^^^"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'"
+        }
+      ]
+    },
+    {
+      "test_name": "preview_surface_renders",
+      "engine": "isaac_sim_newton",
+      "engine_version": "6.1.0.0",
+      "status": "pass",
+      "passed": true,
+      "duration": 3.551,
+      "message": "",
+      "metrics": {
+        "_timing_capture_frame_total_s": {
+          "value": 1.183,
+          "unit": null
+        },
+        "_timing_capture_frame_count": {
+          "value": 4,
+          "unit": null
+        },
+        "_timing_capture_frame_avg_ms": {
+          "value": 295.83,
+          "unit": null
+        },
+        "_timing_encode_video_total_s": {
+          "value": 0.0,
+          "unit": null
+        },
+        "_timing_encode_video_count": {
+          "value": 0,
+          "unit": null
+        },
+        "_render_blank_retry_count": {
+          "value": 0,
+          "unit": null
+        },
+        "_render_blank_retry_unrecovered": {
+          "value": 0,
+          "unit": null
+        },
+        "universal_surface_materials_with_universal": {
+          "value": 1,
+          "unit": null
+        },
+        "universal_surface_materials_with_mdl": {
+          "value": 0,
+          "unit": null
+        },
+        "universal_surface_materials_with_mtlx": {
+          "value": 0,
+          "unit": null
+        },
+        "universal_surface_materials_total": {
+          "value": 1,
+          "unit": null
+        },
+        "universal_surface_asset_root": {
+          "value": "/World/AssetRoot/Asset",
+          "unit": null
+        },
+        "universal_surface_contexts_present": {
+          "value": "universal",
+          "unit": null
+        },
+        "universal_surface_render_context_order": {
+          "value": "universal",
+          "unit": null
+        },
+        "universal_surface_silhouette_pixels": {
+          "value": 176609,
+          "unit": null
+        },
+        "universal_surface_uncovered_pixels": {
+          "value": 582,
+          "unit": null
+        },
+        "universal_surface_coverage": {
+          "value": 0.9967,
+          "unit": null
+        }
+      },
+      "kit_logs": [
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]: Traceback (most recent call last):"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:   File \"<home>/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/impl/texture.py\", line 377, in on_drawable_changed"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     self.__drawable_changed_fn(texture[\"rp_resource\"], presentation_key)"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:   File \"<home>/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/widget.py\", line 516, in __set_image_data"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     vp_api._sync_viewport_api(camera, canvas_size, vp_api.time, view, projection, force_update=True)  # noqa PLW0212"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:   File \"<home>/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 546, in _sync_viewport_api"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     self.__projection = self._conform_projection(policy, camera, image_aspect, canvas_aspect, projection)"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:                         ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:   File \"<home>/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     gf_camera = camera.GetCamera(self.__time)"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:                 ^^^^^^^^^^^^^^^^"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'"
+        }
+      ]
+    },
+    {
+      "test_name": "semantic_labels_seg_labelled",
+      "engine": "isaac_sim",
+      "engine_version": "6.1.0.0",
+      "status": "pass",
+      "passed": true,
+      "duration": 5.268,
+      "message": "",
+      "metrics": {
+        "_timing_capture_frame_total_s": {
+          "value": 3.057,
+          "unit": null
+        },
+        "_timing_capture_frame_count": {
+          "value": 1,
+          "unit": null
+        },
+        "_timing_capture_frame_avg_ms": {
+          "value": 3056.84,
+          "unit": null
+        },
+        "_timing_encode_video_total_s": {
+          "value": 0.0,
+          "unit": null
+        },
+        "_timing_encode_video_count": {
+          "value": 0,
+          "unit": null
+        },
+        "_render_blank_retry_count": {
+          "value": 0,
+          "unit": null
+        },
+        "_render_blank_retry_unrecovered": {
+          "value": 0,
+          "unit": null
+        },
+        "semantic_labels_on_coverage": {
+          "value": 0.168142,
+          "unit": null
+        },
+        "semantic_labels_labelled_passed": {
+          "value": 1,
+          "unit": null
+        }
+      },
+      "kit_logs": [
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]: Traceback (most recent call last):"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:   File \"<home>/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/impl/texture.py\", line 377, in on_drawable_changed"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     self.__drawable_changed_fn(texture[\"rp_resource\"], presentation_key)"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:   File \"<home>/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/widget.py\", line 516, in __set_image_data"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     vp_api._sync_viewport_api(camera, canvas_size, vp_api.time, view, projection, force_update=True)  # noqa PLW0212"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:   File \"<home>/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 546, in _sync_viewport_api"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     self.__projection = self._conform_projection(policy, camera, image_aspect, canvas_aspect, projection)"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:                         ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:   File \"<home>/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     gf_camera = camera.GetCamera(self.__time)"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:                 ^^^^^^^^^^^^^^^^"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'"
+        }
+      ]
+    },
+    {
+      "test_name": "semantic_labels_seg_labelled",
+      "engine": "isaac_sim_newton",
+      "engine_version": "6.1.0.0",
+      "status": "pass",
+      "passed": true,
+      "duration": 2.626,
+      "message": "",
+      "metrics": {
+        "_timing_capture_frame_total_s": {
+          "value": 0.53,
+          "unit": null
+        },
+        "_timing_capture_frame_count": {
+          "value": 1,
+          "unit": null
+        },
+        "_timing_capture_frame_avg_ms": {
+          "value": 530.47,
+          "unit": null
+        },
+        "_timing_encode_video_total_s": {
+          "value": 0.0,
+          "unit": null
+        },
+        "_timing_encode_video_count": {
+          "value": 0,
+          "unit": null
+        },
+        "_render_blank_retry_count": {
+          "value": 0,
+          "unit": null
+        },
+        "_render_blank_retry_unrecovered": {
+          "value": 0,
+          "unit": null
+        },
+        "semantic_labels_on_coverage": {
+          "value": 0.168142,
+          "unit": null
+        },
+        "semantic_labels_labelled_passed": {
+          "value": 1,
+          "unit": null
+        }
+      },
+      "kit_logs": [
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]: Traceback (most recent call last):"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:   File \"<home>/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/impl/texture.py\", line 377, in on_drawable_changed"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     self.__drawable_changed_fn(texture[\"rp_resource\"], presentation_key)"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:   File \"<home>/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/widget.py\", line 516, in __set_image_data"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     vp_api._sync_viewport_api(camera, canvas_size, vp_api.time, view, projection, force_update=True)  # noqa PLW0212"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:   File \"<home>/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 546, in _sync_viewport_api"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     self.__projection = self._conform_projection(policy, camera, image_aspect, canvas_aspect, projection)"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:                         ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:   File \"<home>/extscache/omni.kit.widget.viewport-110.0.0+00c488ae/omni/kit/widget/viewport/api.py\", line 476, in _conform_projection"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:     gf_camera = camera.GetCamera(self.__time)"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]:                 ^^^^^^^^^^^^^^^^"
+        },
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]: AttributeError: 'NoneType' object has no attribute 'GetCamera'"
+        }
+      ]
+    },
+    {
+      "test_name": "semantic_labels_seg_stripped",
+      "engine": "isaac_sim",
+      "engine_version": "6.1.0.0",
+      "status": "pass",
+      "passed": true,
+      "duration": 2.149,
+      "message": "",
+      "metrics": {
+        "semantic_labels_stripped_prims": {
+          "value": 2,
+          "unit": null
+        },
+        "semantic_labels_off_coverage": {
+          "value": 0.0,
+          "unit": null
+        },
+        "semantic_labels_stripped_passed": {
+          "value": 1,
+          "unit": null
+        }
+      },
+      "kit_logs": []
+    },
+    {
+      "test_name": "semantic_labels_seg_stripped",
+      "engine": "isaac_sim_newton",
+      "engine_version": "6.1.0.0",
+      "status": "pass",
+      "passed": true,
+      "duration": 2.049,
+      "message": "",
+      "metrics": {
+        "semantic_labels_stripped_prims": {
+          "value": 2,
+          "unit": null
+        },
+        "semantic_labels_off_coverage": {
+          "value": 0.0,
+          "unit": null
+        },
+        "semantic_labels_stripped_passed": {
+          "value": 1,
+          "unit": null
+        }
+      },
+      "kit_logs": []
+    },
+    {
+      "test_name": "slope_drop",
+      "engine": "isaac_sim",
+      "engine_version": "6.1.0.0",
+      "status": "pass",
+      "passed": true,
+      "duration": 32.268,
+      "message": "",
+      "metrics": {
+        "slope_drop_initial_cx": {
+          "value": 0.0,
+          "unit": null
+        },
+        "slope_drop_initial_cy": {
+          "value": -0.4831,
+          "unit": null
+        },
+        "slope_drop_initial_z_min": {
+          "value": 1.3697,
+          "unit": null
+        },
+        "slope_drop_bbox_height": {
+          "value": 0.122,
+          "unit": null
+        },
+        "_timing_capture_frame_total_s": {
+          "value": 10.851,
+          "unit": null
+        },
+        "_timing_capture_frame_count": {
+          "value": 49,
+          "unit": null
+        },
+        "_timing_capture_frame_avg_ms": {
+          "value": 221.45,
+          "unit": null
+        },
+        "_timing_encode_video_total_s": {
+          "value": 2.883,
+          "unit": null
+        },
+        "_timing_encode_video_count": {
+          "value": 1,
+          "unit": null
+        },
+        "_render_blank_retry_count": {
+          "value": 0,
+          "unit": null
+        },
+        "_render_blank_retry_unrecovered": {
+          "value": 0,
+          "unit": null
+        },
+        "slope_drop_contact_detected": {
+          "value": 1,
+          "unit": null
+        },
+        "slope_drop_horiz_detected": {
+          "value": 1,
+          "unit": null
+        },
+        "slope_drop_penetrated": {
+          "value": 0,
+          "unit": null
+        },
+        "slope_drop_slope_penetrated": {
+          "value": 0,
+          "unit": null
+        },
+        "slope_drop_excessive_separation": {
+          "value": 0,
+          "unit": null
+        },
+        "slope_drop_uphill_motion": {
+          "value": 0,
+          "unit": null
+        },
+        "slope_drop_passed": {
+          "value": 1,
+          "unit": null
+        },
+        "slope_drop_max_clearance": {
+          "value": 0.0155,
+          "unit": "m"
+        },
+        "slope_drop_separation_frames": {
+          "value": 0,
+          "unit": null
+        },
+        "slope_drop_left_slope_frame": {
+          "value": 213,
+          "unit": null
+        },
+        "slope_drop_horiz_time": {
+          "value": 0.2,
+          "unit": null
+        }
+      },
+      "kit_logs": []
+    }
+  ]
+}

drinks_can/.metadata/drinks_can_validation.json

@@ -0,0 +1,178 @@
+{
+    "simready_usd/drinks_can.usda": {
+        "features_summary": {
+            "FET_000_MUJOCO": {
+                "blocking_failure": false,
+                "dependencies": "[{'FET_000_STANDARD': {'version': '0.1.0'}}]",
+                "optional requirements": "['com.nvidia.simready.RV.007']",
+                "passed": false,
+                "version": "0.1.0"
+            },
+            "FET_000_NEWTON": {
+                "blocking_failure": false,
+                "dependencies": "[{'FET_000_STANDARD': {'version': '0.1.0'}}]",
+                "optional requirements": "['com.nvidia.simready.RV.004']",
+                "passed": false,
+                "version": "0.1.0"
+            },
+            "FET_000_PHYSX": {
+                "blocking_failure": false,
+                "dependencies": "[{'FET_000_STANDARD': {'version': '0.1.0'}}]",
+                "optional requirements": "['com.nvidia.simready.RV.001']",
+                "passed": false,
+                "version": "0.1.0"
+            },
+            "FET_000_STANDARD": {
+                "blocking_failure": false,
+                "dependencies": "[]",
+                "passed": true,
+                "version": "0.2.0"
+            },
+            "FET_001_STANDARD": {
+                "blocking_failure": false,
+                "dependencies": "[]",
+                "passed": true,
+                "version": "1.0.1"
+            },
+            "FET_003_MUJOCO": {
+                "blocking_failure": false,
+                "dependencies": "[]",
+                "optional requirements": "['com.nvidia.simready.MUJOCO.COL.001']",
+                "passed": false,
+                "version": "0.1.0"
+            },
+            "FET_003_NEWTON": {
+                "blocking_failure": false,
+                "dependencies": "[]",
+                "optional requirements": "['com.nvidia.simready.NEWTON.COL.001']",
+                "passed": false,
+                "version": "0.1.0"
+            },
+            "FET_003_PHYSX": {
+                "blocking_failure": false,
+                "dependencies": "[]",
+                "passed": true,
+                "version": "0.4.0"
+            },
+            "FET_003_STANDARD": {
+                "blocking_failure": false,
+                "dependencies": "[]",
+                "passed": true,
+                "version": "0.2.0"
+            },
+            "FET_004_MUJOCO": {
+                "blocking_failure": false,
+                "dependencies": "[{'FET_003_MUJOCO': {'version': '0.1.0'}}]",
+                "optional requirements": "['com.nvidia.simready.MUJOCO.COL.001', 'com.nvidia.simready.RB.MB.001']",
+                "passed": false,
+                "version": "0.1.0"
+            },
+            "FET_004_NEWTON": {
+                "blocking_failure": false,
+                "dependencies": "[{'FET_003_NEWTON': {'version': '0.1.0'}}]",
+                "optional requirements": "['com.nvidia.simready.NEWTON.COL.001', 'com.nvidia.simready.RB.MB.001']",
+                "passed": false,
+                "version": "0.1.0"
+            },
+            "FET_004_PHYSX": {
+                "blocking_failure": false,
+                "dependencies": "[{'FET_003_PHYSX': {'version': '0.4.0'}}]",
+                "optional requirements": "['com.nvidia.simready.RB.MB.001']",
+                "passed": false,
+                "version": "0.4.0"
+            },
+            "FET_004_STANDARD": {
+                "blocking_failure": false,
+                "dependencies": "[{'FET_003_STANDARD': {'version': '0.2.0'}}]",
+                "optional requirements": "['com.nvidia.simready.RB.MB.001']",
+                "passed": false,
+                "version": "0.2.0"
+            },
+            "FET_005_STANDARD": {
+                "blocking_failure": false,
+                "dependencies": "[]",
+                "optional requirements": "['com.nvidia.simready.GSP.001']",
+                "passed": false,
+                "version": "0.1.0"
+            },
+            "FET_006_MDL": {
+                "blocking_failure": false,
+                "dependencies": "[]",
+                "optional requirements": "['com.nvidia.simready.VM.BIND.002', 'com.nvidia.simready.VM.MDL.003']",
+                "passed": false,
+                "version": "0.2.0"
+            },
+            "FET_006_OPENPBR": {
+                "blocking_failure": false,
+                "dependencies": "[]",
+                "optional requirements": "['com.nvidia.simready.VM.BIND.002', 'com.nvidia.simready.VM.PBR.001', 'com.nvidia.simready.VM.PBR.003']",
+                "passed": false,
+                "version": "0.1.0"
+            },
+            "FET_006_STANDARD": {
+                "blocking_failure": false,
+                "dependencies": "[]",
+                "passed": true,
+                "version": "0.2.0"
+            },
+            "FET_007_STANDARD": {
+                "blocking_failure": false,
+                "dependencies": "[]",
+                "optional requirements": "['com.nvidia.simready.NVM.001', 'com.nvidia.simready.NVM.002', 'com.nvidia.simready.NVM.003']",
+                "passed": false,
+                "version": "0.2.0"
+            },
+            "FET_010_STANDARD": {
+                "blocking_failure": false,
+                "dependencies": "[]",
+                "passed": true,
+                "version": "0.1.0"
+            },
+            "FET_011_RTX": {
+                "blocking_failure": false,
+                "dependencies": "[{'FET_011_STANDARD': {'version': '0.2.0'}}]",
+                "passed": true,
+                "version": "0.1.0"
+            },
+            "FET_011_STANDARD": {
+                "blocking_failure": false,
+                "dependencies": "[]",
+                "passed": true,
+                "version": "0.2.0"
+            },
+            "FET_031_STANDARD": {
+                "blocking_failure": false,
+                "dependencies": "[]",
+                "passed": true,
+                "version": "0.1.0"
+            },
+            "FET_033_STANDARD": {
+                "blocking_failure": false,
+                "dependencies": "[{'FET_031_STANDARD': {'version': '0.1.0'}}]",
+                "passed": true,
+                "version": "0.4.0"
+            },
+            "FET_046_STANDARD": {
+                "blocking_failure": false,
+                "dependencies": "[{'FET_011_STANDARD': {'version': '0.2.0'}}]",
+                "passed": true,
+                "version": "0.1.0"
+            },
+            "FET_100_ISAAC": {
+                "blocking_failure": false,
+                "dependencies": "[{'FET_003_PHYSX': {'version': '0.4.0'}}]",
+                "optional requirements": "['com.nvidia.simready.ISA.001']",
+                "passed": false,
+                "version": "0.4.0"
+            }
+        },
+        "profile_id": "Robotics-Prop",
+        "profile_version": "4.0.0",
+        "simready_validate_version": "2026.8.0",
+        "tier_versions": {
+            "sensors": "2026.8.0",
+            "tier_aif": "2026.8.0",
+            "tier_core": "2026.8.0"
+        }
+    }
+}

drinks_can/com.nvidia.simready.packaging.json

@@ -0,0 +1,31 @@
+{
+  "format_version": "1.0",
+  "package_id": "simready.hf.ForgeCAD.simready-assets.drinks_can.2026.10.20_00",
+  "license": "cc-by-4.0",
+  "metadata": [
+    {
+      "name": "com.nvidia.simready.conformance.Package-Candidate@1.0.0.json",
+      "hash": {
+        "sha256": "fcbb7ada29bc89aa0208832ee1503ea63c65afed853f2192d5e9709034f7ddd4"
+      }
+    },
+    {
+      "name": "com.nvidia.simready.packaging.bom.json",
+      "hash": {
+        "sha256": "080d74c839441e17bc9a278f4fbfb21bb7c00710cad67fcddd798ef3668381c2"
+      }
+    },
+    {
+      "name": "com.nvidia.simready.root_usds.json",
+      "hash": {
+        "sha256": "51129e10b19f4ac1cc92c304250315d33889f26ffa26c30ac738fb2b0aca4478"
+      }
+    }
+  ],
+  "content_hash": {
+    "sha256": "dad216d22e85c767f9b8e4dd24f976a1a558dd827c79d31e56610a14cf3db9bf"
+  },
+  "package_hash": {
+    "sha256": "7ab8228dd91b05c70835ac0f0baa41eca96f67fb52e908bded92dd5e2145ba5b"
+  }
+}

drinks_can/simready_usd/drinks_can.usda

@@ -0,0 +1,304 @@
+#usda 1.0
+(
+    customLayerData = {
+        dictionary SimReady_Metadata = {
+            float3 asset_extents = (0.065999985, 0.065999985, 0.122)
+            string asset_license = "CC-BY-4.0"
+            string asset_name = "drinks_can"
+            string asset_type = "prop"
+            string author = "ForgeCAD"
+            string category = "retail"
+            double mass = 0.4019719660282135
+            string qcode = "Q1121690"
+            int rigid_body_count = 1
+            string source = "ForgeCAD"
+            string source_file = "main.usda"
+            string usd_date_generated = "2026-10-20"
+        }
+        string asset_name = "drinks_can"
+        string asset_type = "prop"
+        string source_file = "main.usda"
+        string usd_date_generated = "2026-10-20"
+    }
+    defaultPrim = "Model"
+    metersPerUnit = 1
+    subLayers = [
+        @./layers/simready-labels.usda@
+    ]
+    upAxis = "Z"
+)
+
+def Xform "Model" (
+    prepend apiSchemas = ["MaterialBindingAPI", "CollectionAPI:forgecadAtlas_0"]
+    prepend references = @./forgecad/geometry.usda@</Model>
+    variants = {
+        string atlasGuide = "generated"
+        string physics = "physics"
+    }
+    prepend variantSets = ["physics", "atlasGuide"]
+)
+{
+    uniform token collection:forgecadAtlas_0:expansionRule = "expandPrims"
+    rel collection:forgecadAtlas_0:includes = </Model/Geometry/Can/Can_mesh>
+
+    over "Geometry"
+    {
+        over "Can"
+        {
+            over "Can_mesh" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </Model/__ForgeCAD_AtlasLooks/Material_0> (
+                    bindMaterialAs = "strongerThanDescendants"
+                )
+            }
+        }
+    }
+
+    def Scope "__ForgeCAD_AtlasLooks"
+    {
+        def Material "Material_0"
+        {
+            token outputs:surface.connect = </Model/__ForgeCAD_AtlasLooks/Material_0/Surface.outputs:surface>
+
+            def Shader "Reader"
+            {
+                uniform token info:id = "UsdPrimvarReader_float2"
+                token inputs:varname = "st"
+                float2 outputs:result
+            }
+
+            def Shader "Texture"
+            {
+                uniform token info:id = "UsdUVTexture"
+                float4 inputs:fallback = (0.58407843, 0.60382736, 0.63759685, 1)
+                float2 inputs:st.connect = </Model/__ForgeCAD_AtlasLooks/Material_0/Reader.outputs:result>
+                token inputs:wrapS = "clamp"
+                token inputs:wrapT = "clamp"
+                float3 outputs:rgb
+            }
+
+            def Shader "Surface"
+            {
+                uniform token info:id = "UsdPreviewSurface"
+                token outputs:surface
+            }
+        }
+    }
+    variantSet "atlasGuide" = {
+        "chart" {
+            over "__ForgeCAD_AtlasLooks"
+            {
+                over "Material_0"
+                {
+                    over "Texture"
+                    {
+                        asset inputs:file = @./guides/chart.png@
+                        token inputs:sourceColorSpace = "raw"
+                    }
+
+                    over "Surface"
+                    {
+                        color3f inputs:diffuseColor = (0, 0, 0)
+                        color3f inputs:emissiveColor.connect = </Model/__ForgeCAD_AtlasLooks/Material_0/Texture.outputs:rgb>
+                        float inputs:ior = 1
+                        float inputs:metallic = 0
+                        float inputs:opacity = 1
+                        float inputs:roughness = 1
+                        color3f inputs:specularColor = (0, 0, 0)
+                        int inputs:useSpecularWorkflow = 1
+                    }
+                }
+            }
+
+        }
+        "generated" {
+            over "__ForgeCAD_AtlasLooks"
+            {
+                over "Material_0"
+                {
+                    over "Texture"
+                    {
+                        asset inputs:file = @./textures/atlas.png@
+                        token inputs:sourceColorSpace = "sRGB"
+                    }
+
+                    over "Surface"
+                    {
+                        color3f inputs:diffuseColor.connect = </Model/__ForgeCAD_AtlasLooks/Material_0/Texture.outputs:rgb>
+                        color3f inputs:emissiveColor = (0, 0, 0)
+                        float inputs:metallic = 0.3
+                        float inputs:opacity = 1
+                        float inputs:roughness = 0.45
+                    }
+                }
+            }
+
+        }
+        "gradient" {
+            over "__ForgeCAD_AtlasLooks"
+            {
+                over "Material_0"
+                {
+                    over "Texture"
+                    {
+                        asset inputs:file = @./guides/gradient.png@
+                        token inputs:sourceColorSpace = "raw"
+                    }
+
+                    over "Surface"
+                    {
+                        color3f inputs:diffuseColor = (0, 0, 0)
+                        color3f inputs:emissiveColor.connect = </Model/__ForgeCAD_AtlasLooks/Material_0/Texture.outputs:rgb>
+                        float inputs:ior = 1
+                        float inputs:metallic = 0
+                        float inputs:opacity = 1
+                        float inputs:roughness = 1
+                        color3f inputs:specularColor = (0, 0, 0)
+                        int inputs:useSpecularWorkflow = 1
+                    }
+                }
+            }
+
+        }
+        "normal" {
+            over "__ForgeCAD_AtlasLooks"
+            {
+                over "Material_0"
+                {
+                    over "Texture"
+                    {
+                        asset inputs:file = @./guides/normal.png@
+                        token inputs:sourceColorSpace = "raw"
+                    }
+
+                    over "Surface"
+                    {
+                        color3f inputs:diffuseColor = (0, 0, 0)
+                        color3f inputs:emissiveColor.connect = </Model/__ForgeCAD_AtlasLooks/Material_0/Texture.outputs:rgb>
+                        float inputs:ior = 1
+                        float inputs:metallic = 0
+                        float inputs:opacity = 1
+                        float inputs:roughness = 1
+                        color3f inputs:specularColor = (0, 0, 0)
+                        int inputs:useSpecularWorkflow = 1
+                    }
+                }
+            }
+
+        }
+        "pattern" {
+            over "__ForgeCAD_AtlasLooks"
+            {
+                over "Material_0"
+                {
+                    over "Texture"
+                    {
+                        asset inputs:file = @./guides/pattern.png@
+                        token inputs:sourceColorSpace = "raw"
+                    }
+
+                    over "Surface"
+                    {
+                        color3f inputs:diffuseColor.connect = </Model/__ForgeCAD_AtlasLooks/Material_0/Texture.outputs:rgb>
+                        color3f inputs:emissiveColor = (0, 0, 0)
+                        float inputs:metallic = 0.3
+                        float inputs:opacity = 1
+                        float inputs:roughness = 0.45
+                    }
+                }
+            }
+
+        }
+        "patternProof" {
+            over "__ForgeCAD_AtlasLooks"
+            {
+                over "Material_0"
+                {
+                    over "Texture"
+                    {
+                        asset inputs:file = @./textures/atlas.png@
+                        token inputs:sourceColorSpace = "sRGB"
+                    }
+
+                    over "Surface"
+                    {
+                        color3f inputs:diffuseColor = (0, 0, 0)
+                        color3f inputs:emissiveColor.connect = </Model/__ForgeCAD_AtlasLooks/Material_0/Texture.outputs:rgb>
+                        float inputs:ior = 1
+                        float inputs:metallic = 0
+                        float inputs:opacity = 1
+                        float inputs:roughness = 1
+                        color3f inputs:specularColor = (0, 0, 0)
+                        int inputs:useSpecularWorkflow = 1
+                    }
+                }
+            }
+
+        }
+        "position" {
+            over "__ForgeCAD_AtlasLooks"
+            {
+                over "Material_0"
+                {
+                    over "Texture"
+                    {
+                        asset inputs:file = @./guides/position.png@
+                        token inputs:sourceColorSpace = "raw"
+                    }
+
+                    over "Surface"
+                    {
+                        color3f inputs:diffuseColor = (0, 0, 0)
+                        color3f inputs:emissiveColor.connect = </Model/__ForgeCAD_AtlasLooks/Material_0/Texture.outputs:rgb>
+                        float inputs:ior = 1
+                        float inputs:metallic = 0
+                        float inputs:opacity = 1
+                        float inputs:roughness = 1
+                        color3f inputs:specularColor = (0, 0, 0)
+                        int inputs:useSpecularWorkflow = 1
+                    }
+                }
+            }
+
+        }
+        "regions" {
+            over "__ForgeCAD_AtlasLooks"
+            {
+                over "Material_0"
+                {
+                    over "Texture"
+                    {
+                        asset inputs:file = @./guides/regions.png@
+                        token inputs:sourceColorSpace = "sRGB"
+                    }
+
+                    over "Surface"
+                    {
+                        color3f inputs:diffuseColor = (0, 0, 0)
+                        color3f inputs:emissiveColor.connect = </Model/__ForgeCAD_AtlasLooks/Material_0/Texture.outputs:rgb>
+                        float inputs:ior = 1
+                        float inputs:metallic = 0
+                        float inputs:opacity = 1
+                        float inputs:roughness = 1
+                        color3f inputs:specularColor = (0, 0, 0)
+                        int inputs:useSpecularWorkflow = 1
+                    }
+                }
+            }
+
+        }
+    }
+    variantSet "physics" = {
+        "none" {
+
+        }
+        "physics" (
+            prepend references = @./forgecad/physics.usda@</Model>
+        ) {
+
+        }
+    }
+}
+

drinks_can/simready_usd/forgecad/physics.usda

@@ -0,0 +1,58 @@
+#usda 1.0
+(
+    defaultPrim = "Model"
+    doc = "ForgeCAD physics for the root stage. Generated by forgecad export usd; do not edit."
+)
+
+over "Model"
+{
+    def Scope "Physics"
+    {
+        def Scope "Materials"
+        {
+            def Material "filled_aluminium_can" (
+                    prepend apiSchemas = ["PhysicsMaterialAPI", "SemanticsLabelsAPI:material"]
+                  )
+                  {
+                    token[] semantics:labels:material = ["Filled aluminium can"]
+                    float physics:density = 1040
+                    float physics:staticFriction = 0.45
+                    float physics:dynamicFriction = 0.35
+                    float physics:restitution = 0.1
+                  }
+        }
+    }
+
+    over "Geometry"
+    {
+        over "Can" (
+            prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"]
+        )
+        {
+            bool physics:rigidBodyEnabled = 1
+            bool physics:kinematicEnabled = 0
+            bool physics:startsAsleep = 0
+            float physics:mass = 0.4019719519696265
+            point3f physics:centerOfMass = (0.000000027, 0.000000001, 0.060823784)
+            float3 physics:diagonalInertia = (0.000540892598, 0.000540892238, 0.000218037444)
+            quatf physics:principalAxes = (0.00000003, 0.70641546, 0.70779743, -0.00000004)
+            def Xform "Colliders"
+            {
+                def Mesh "hull" (
+                    prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI", "MaterialBindingAPI"]
+                )
+                {
+                    uniform token purpose = "guide"
+                    uniform token physics:approximation = "convexHull"
+                    uniform token subdivisionScheme = "none"
+                    float3[] extent = [(-0.033, -0.033, 0), (0.033, 0.033, 0.122)]
+                    int[] faceVertexCounts = [3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3]
+                    int[] faceVertexIndices = [1, 0, 2, 0, 1, 4, 2, 0, 7, 2, 15, 3, 15, 17, 3, 1, 2, 3, 3, 17, 1, 2, 9, 15, 1, 6, 4, 4, 6, 5, 11, 0, 4, 13, 4, 5, 0, 11, 7, 7, 11, 12, 7, 12, 8, 9, 2, 7, 15, 9, 23, 9, 7, 10, 9, 10, 23, 24, 23, 10, 7, 8, 10, 8, 24, 10, 13, 11, 4, 11, 13, 12, 14, 12, 13, 39, 12, 14, 8, 12, 39, 15, 16, 17, 16, 18, 17, 15, 23, 16, 16, 19, 18, 18, 19, 20, 27, 19, 16, 19, 28, 21, 17, 22, 1, 22, 17, 18, 22, 18, 20, 19, 21, 20, 21, 22, 20, 47, 22, 21, 47, 21, 30, 23, 25, 16, 16, 25, 27, 25, 23, 24, 26, 25, 24, 25, 26, 27, 8, 26, 24, 19, 27, 28, 27, 26, 29, 27, 29, 28, 8, 58, 26, 21, 28, 30, 30, 32, 47, 26, 31, 29, 29, 30, 28, 31, 30, 29, 31, 26, 58, 30, 31, 32, 32, 31, 55, 5, 6, 33, 33, 6, 34, 6, 36, 34, 33, 38, 5, 1, 50, 6, 6, 50, 36, 35, 33, 34, 36, 35, 34, 33, 35, 40, 35, 37, 43, 35, 36, 37, 37, 36, 51, 51, 45, 37, 5, 38, 13, 38, 33, 40, 13, 38, 14, 38, 39, 14, 38, 40, 39, 40, 41, 39, 39, 59, 8, 35, 42, 40, 42, 35, 43, 40, 42, 41, 41, 44, 39, 42, 43, 41, 43, 37, 45, 45, 51, 60, 46, 39, 44, 43, 44, 41, 59, 39, 46, 43, 45, 44, 45, 46, 44, 45, 60, 46, 22, 50, 1, 47, 48, 22, 47, 49, 48, 50, 22, 48, 50, 48, 53, 48, 49, 53, 47, 57, 49, 51, 36, 50, 51, 50, 52, 50, 54, 52, 51, 52, 61, 49, 54, 53, 54, 50, 53, 54, 49, 62, 52, 54, 63, 8, 59, 58, 47, 32, 57, 49, 57, 62, 55, 31, 58, 57, 32, 55, 56, 55, 58, 57, 55, 56, 57, 56, 62, 51, 61, 60, 61, 52, 63, 60, 59, 46, 61, 59, 60, 61, 58, 59, 61, 63, 58, 54, 62, 63, 58, 62, 56, 58, 63, 62]
+                    normal3f[] normals = [(-0.441127, -0.322991, -0.837308), (-0.270056, -0.435283, -0.858835), (-0.806827, -0.590754, -0.006374), (-0.543856, -0.117868, -0.83086), (-0.49443, -0.017826, -0.869034), (-0.43425, -0.248135, -0.865942), (0, 0, -1), (-0.977287, -0.211804, -0.007058), (-0.209251, -0.420106, -0.88302), (-0.102626, -0.538029, -0.836656), (-0.52719, -0.849737, -0.00414), (-0.187363, -0.982277, -0.00528), (-0.631133, -0.775648, 0.006407), (-0.585542, -0.719618, 0.373217), (-0.585542, -0.719618, 0.373217), (-0.892336, -0.451317, 0.007073), (-0.996609, -0.082203, 0.00369), (-0.83062, -0.420103, 0.365491), (-0.921123, -0.075977, 0.381785), (-0.919222, -0.06567, 0.388224), (-0.822656, -0.428645, 0.373498), (0, 0, 1), (-0.301872, -0.95334, 0.00389), (-0.279799, -0.88363, 0.37538), (-0.23641, -0.885485, 0.400033), (0, 0, 1), (0, 0, 1), (-0.543706, 0.110737, -0.831938), (-0.448096, 0.213318, -0.868162), (-0.979873, 0.199571, -0.004514), (-0.453827, 0.306249, -0.836811), (-0.304928, 0.405007, -0.861967), (-0.828914, 0.559363, -0.003821), (-0.559357, 0.828906, -0.00589), (0, 0, -1), (0, 0, -1), (0, 0, -1), (-0.297103, 0.440274, -0.847283), (-0.111741, 0.519108, -0.847373), (-0.107073, 0.525715, -0.843895), (-0.19957, 0.979868, -0.005522), (-0.966796, 0.255547, 0.001255), (-0.843348, 0.537367, -0.001231), (-0.89987, 0.237857, 0.365593), (-0.860345, 0.308973, 0.405392), (-0.786008, 0.500831, 0.362437), (0, 0, 1), (-0.660153, 0.751127, 0.002583), (-0.652911, 0.636421, 0.410702), (-0.61149, 0.695757, 0.376832), (0, 0, 1), (-0.41586, 0.909422, 0.003517), (-0.138926, 0.990303, 0), (0, 0, 1), (-0.385271, 0.842529, 0.376445), (-0.351917, 0.849234, 0.393646), (0, 0, 1), (-0.12929, 0.92161, 0.365951), (-0.010821, 0.913291, 0.407163), (0.100082, -0.491393, -0.865168), (0.111666, -0.47047, -0.875322), (0, 0, -1), (0.199569, -0.979862, -0.006495), (0, 0, -1), (0, 0, -1), (0.308724, -0.457495, -0.833899), (0.381345, -0.288357, -0.878308), (0.559363, -0.828914, -0.003737), (0.828907, -0.559358, -0.005663), (0.419501, -0.283085, -0.862486), (0.537724, -0.109519, -0.835978), (0.979868, -0.19957, -0.005522), (0.035274, -0.999367, 0.004534), (0.335314, -0.942103, 0.002372), (0.032933, -0.933039, 0.358264), (0.140012, -0.903148, 0.405858), (0.312354, -0.877595, 0.363678), (0.482594, -0.776885, 0.404415), (0, 0, 1), (0.579696, -0.814832, -0.001284), (0.776082, -0.630631, 0.000968), (0.536953, -0.754751, 0.376871), (0, 0, 1), (0.718688, -0.583994, 0.377409), (0.914668, -0.404196, 0.00301), (0.992482, -0.122383, 0.001498), (0, 0, 1), (0.740397, -0.541684, 0.397983), (0, 0, 1), (0.851909, -0.376463, 0.364043), (0.881558, -0.244904, 0.403582), (0.926372, -0.114231, 0.358868), (0, 0, -1), (0.092737, 0.517319, -0.850753), (0.107179, 0.526238, -0.843556), (0, 0, -1), (0, 0, -1), (0.288265, 0.438856, -0.851063), (0.199571, 0.979872, -0.004816), (0.464851, 0.022972, -0.885091), (0.521137, 0.10614, -0.846847), (0.440274, 0.297103, -0.847283), (0.979879, 0.199573, -0.00281), (0.297103, 0.440274, -0.847283), (0.440274, 0.297103, -0.847283), (0.559357, 0.828906, -0.005904), (0.828909, 0.559359, -0.005293), (0, 0, 1), (0.150966, 0.988539, 0), (0.438456, 0.898747, 0.003229), (0, 0, 1), (0.14084, 0.92223, 0.360078), (0, 0, 1), (0.329735, 0.854653, 0.401052), (0.407871, 0.836055, 0.366952), (0.981473, 0.191593, -0.001889), (0.875575, 0.483079, 0.002034), (0.91188, 0.086328, 0.401275), (0.914664, 0.178552, 0.362641), (0.820476, 0.414141, 0.394089), (0.8112, 0.447561, 0.376355), (0.688675, 0.725061, 0.003767), (0.617148, 0.684014, 0.388913), (0.638087, 0.6718, 0.376204)] (interpolation = "uniform")
+                    point3f[] points = [(-0.022095892, -0.024510643, 0.00528), (-0.017708715, -0.016814808, 0), (-0.030039022, -0.013662253, 0.00528), (-0.023477362, -0.006719364, 0), (-0.012147125, -0.030683014, 0.00528), (0, -0.033, 0.00528), (-0.00275244, -0.024264387, 0), (-0.025619656, -0.020799839, 0.107400002), (-0.020961536, -0.017018049, 0.122), (-0.031936472, -0.008310339, 0.107400002), (-0.025957771, -0.007429272, 0.122), (-0.015156721, -0.029313372, 0.107400002), (-0.012400954, -0.023983667, 0.122), (-0.004477948, -0.032694771, 0.107400002), (-0.001203667, -0.026973156, 0.122), (-0.033, 0, 0.00528), (-0.030371248, 0.012906871, 0.00528), (-0.023900293, 0.005011222, 0), (-0.018958546, 0.01539188, 0), (-0.023334524, 0.023334524, 0.00528), (-0.009551085, 0.022474724, 0), (-0.012906871, 0.030371248, 0.00528), (-0.000542025, 0.024413984, 0), (-0.032866512, 0.002965196, 0.107400002), (-0.026750267, 0.003663776, 0.122), (-0.030039022, 0.013662253, 0.107400002), (-0.022969357, 0.014191851, 0.122), (-0.025073803, 0.021454706, 0.107400002), (-0.018057922, 0.027620852, 0.107400002), (-0.014774663, 0.022598879, 0.122), (-0.009080221, 0.031726166, 0.107400002), (-0.005540664, 0.026425386, 0.122), (0, 0.033, 0.107400002), (0.012906871, -0.030371248, 0.00528), (0.013362863, -0.02043943, 0), (0.023334524, -0.023334524, 0.00528), (0.023306894, -0.007288698, 0), (0.030371248, -0.012906871, 0.00528), (0.006771923, -0.032297695, 0.107400002), (0.009314026, -0.02534263, 0.122), (0.015156721, -0.029313372, 0.107400002), (0.018591312, -0.01957966, 0.122), (0.022722715, -0.023930696, 0.107400002), (0.028073658, -0.017345596, 0.107400002), (0.024288849, -0.011792023, 0.122), (0.031726166, -0.009080221, 0.107400002), (0.026890783, -0.00242607, 0.122), (0, 0.033, 0.00528), (0.008988873, 0.022705431, 0), (0.012906871, 0.030371248, 0.00528), (0.022474724, 0.009551085, 0), (0.033, 0, 0.00528), (0.030371248, 0.012906871, 0.00528), (0.017267548, 0.017267548, 0), (0.023334524, 0.023334524, 0.00528), (0.004913002, 0.026549246, 0.122), (0.014191851, 0.022969357, 0.122), (0.009849591, 0.031495802, 0.107400002), (0.021393585, 0.016471628, 0.122), (0.025957771, 0.007429272, 0.122), (0.032981625, 0.00110106, 0.107400002), (0.030974327, 0.011383809, 0.107400002), (0.018760279, 0.027148701, 0.107400002), (0.026147715, 0.02013199, 0.107400002)]
+                    rel material:binding:physics = </Model/Physics/Materials/filled_aluminium_can>
+                }
+            }
+        }
+    }
+}

drinks_can/simready_usd/layers/simready-labels.usda

@@ -0,0 +1,23 @@
+#usda 1.0
+(
+    "SimReady semantic labels: what the object is, and what each material is made of."
+)
+
+over "Model" (
+    prepend apiSchemas = ["SemanticsLabelsAPI:class", "SemanticsLabelsAPI:wikidata_qcode"]
+)
+{
+    token[] semantics:labels:class = ["beverage can", "drinks can"]
+    token[] semantics:labels:wikidata_qcode = ["Q1121690"]
+
+    over "__ForgeCAD_AtlasLooks"
+    {
+        over "Material_0" (
+            prepend apiSchemas = ["SemanticsLabelsAPI:material"]
+        )
+        {
+            token[] semantics:labels:material = ["metal"]
+        }
+    }
+}
+