Datasets:

ForgeCAD
/

simready-assets

@@ -133,3 +133,4 @@ dishwasher_v05/simready_usd/forgecad/geometry.usda filter=lfs diff=lfs merge=lfs
 dishwasher_v06/simready_usd/forgecad/geometry.usda filter=lfs diff=lfs merge=lfs -text
 dishwasher_v07/simready_usd/forgecad/geometry.usda filter=lfs diff=lfs merge=lfs -text
 dishwasher_v08/simready_usd/forgecad/geometry.usda filter=lfs diff=lfs merge=lfs -text

 dishwasher_v06/simready_usd/forgecad/geometry.usda filter=lfs diff=lfs merge=lfs -text
 dishwasher_v07/simready_usd/forgecad/geometry.usda filter=lfs diff=lfs merge=lfs -text
 dishwasher_v08/simready_usd/forgecad/geometry.usda filter=lfs diff=lfs merge=lfs -text
+dishwasher_v09/simready_usd/forgecad/geometry.usda filter=lfs diff=lfs merge=lfs -text

dishwasher_v09/.metadata/com.nvidia.simready.conformance.Package@1.0.0.json ADDED Viewed

	@@ -0,0 +1,35 @@

+{
+  "format_version": "1.0",
+  "profile": "Package",
+  "profile_version": "1.0.0",
+  "timestamp": "2026-10-17T19:47:05",
+  "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"
+                }
+              }
+            ]
+          }
+        }
+      ]
+    }
+  ]
+}

dishwasher_v09/.metadata/com.nvidia.simready.packaging.bom.json ADDED Viewed

	@@ -0,0 +1,80 @@

+{
+  "format_version": "1.0",
+  "items": [
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+    {
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+      "size": 24881,
+      "hash": {
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+      }
+    },
+    {
+      "relative_path": "simready_usd/forgecad/geometry.usda",
+      "size": 12646045,
+      "hash": {
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+        "sha256-first1m": "5f778eaefe3693cce829cca313faf61cd32386fb88aa62b08caa3bada14aa8e9"
+      }
+    },
+    {
+      "relative_path": "simready_usd/forgecad/physics.usda",
+      "size": 257293,
+      "hash": {
+        "sha256-flat-1mb": "2de2bdf2b55293071a547497157a4485620ec0ae09b294c0bceec1dc742584bb",
+        "sha256": "4055b33e3f344dc9c9950da52ab1e88952d2d4e8af3e6a9ec82c69a95f44c80b"
+      }
+    }
+  ]
+}

dishwasher_v09/.metadata/dishwasher_v09_benchmark.json ADDED Viewed

	@@ -0,0 +1,2854 @@

+{
+  "schema_version": "1.0",
+  "asset": "dishwasher_v09",
+  "run_timestamp": "2026-10-17T19:47:03Z",
+  "passed": false,
+  "results": [
+    {
+      "test_name": "culling_xz",
+      "engine": "isaac_sim",
+      "engine_version": "6.1.0.0",
+      "status": "pass",
+      "passed": true,
+      "duration": 15.132,
+      "message": "",
+      "metrics": {
+        "_timing_capture_frame_total_s": {
+          "value": 4.012,
+          "unit": null
+        },
+        "_timing_capture_frame_count": {
+          "value": 16,
+          "unit": null
+        },
+        "_timing_capture_frame_avg_ms": {
+          "value": 250.76,
+          "unit": null
+        },
+        "_timing_encode_video_total_s": {
+          "value": 1.123,
+          "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": 0.000157,
+          "unit": null
+        },
+        "culling_xz_mean_diff": {
+          "value": 3.3e-05,
+          "unit": null
+        },
+        "culling_xz_worst_angle": {
+          "value": 270.0,
+          "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": "culling_xz",
+      "engine": "isaac_sim_newton",
+      "engine_version": "6.1.0.0",
+      "status": "pass",
+      "passed": true,
+      "duration": 15.711,
+      "message": "",
+      "metrics": {
+        "_timing_capture_frame_total_s": {
+          "value": 2.888,
+          "unit": null
+        },
+        "_timing_capture_frame_count": {
+          "value": 16,
+          "unit": null
+        },
+        "_timing_capture_frame_avg_ms": {
+          "value": 180.52,
+          "unit": null
+        },
+        "_timing_encode_video_total_s": {
+          "value": 1.262,
+          "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": 0.000127,
+          "unit": null
+        },
+        "culling_xz_mean_diff": {
+          "value": 3.7e-05,
+          "unit": null
+        },
+        "culling_xz_worst_angle": {
+          "value": 270.0,
+          "unit": null
+        },
+        "culling_xz_passed": {
+          "value": 1,
+          "unit": null
+        }
+      },
+      "kit_logs": []
+    },
+    {
+      "test_name": "display_color_response",
+      "engine": "isaac_sim",
+      "engine_version": "6.1.0.0",
+      "status": "fail",
+      "passed": false,
+      "duration": 0.079,
+      "message": "Kit's render-context list reads [universal] and does not contain mtlx, so the OpenPBR probe material DISP.001 nominates resolves to no surface at all and the geometry would render on a fallback material this test says nothing about.\n\nHow to fix:\n- Restore ./persistent/app/hydra/material/renderContexts to its shipped value [mdl, mtlx, \"\"]. Kit persists that key to user.config.json on shutdown, so a value narrowed by an earlier run survives into this one.",
+      "metrics": {
+        "display_color_asset_root": {
+          "value": "/World/AssetRoot/Asset",
+          "unit": null
+        },
+        "display_color_render_context_order": {
+          "value": "universal",
+          "unit": null
+        }
+      },
+      "kit_logs": []
+    },
+    {
+      "test_name": "display_color_response",
+      "engine": "isaac_sim_newton",
+      "engine_version": "6.1.0.0",
+      "status": "pass",
+      "passed": true,
+      "duration": 19.241,
+      "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": 29,
+          "unit": null
+        },
+        "display_color_gprims_without_displaycolor": {
+          "value": 0,
+          "unit": null
+        },
+        "display_color_gprims_without_displayopacity": {
+          "value": 29,
+          "unit": null
+        },
+        "display_color_probe_bound_gprims": {
+          "value": 29,
+          "unit": null
+        },
+        "_timing_capture_frame_total_s": {
+          "value": 1.391,
+          "unit": null
+        },
+        "_timing_capture_frame_count": {
+          "value": 5,
+          "unit": null
+        },
+        "_timing_capture_frame_avg_ms": {
+          "value": 278.14,
+          "unit": null
+        },
+        "_timing_encode_video_total_s": {
+          "value": 0.541,
+          "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": 378342,
+          "unit": null
+        },
+        "display_color_whole_frame_delta_pixels": {
+          "value": 378888,
+          "unit": null
+        },
+        "display_color_read_mean_rgb": {
+          "value": [
+            0.2364,
+            0.2391,
+            0.2409
+          ],
+          "unit": null
+        },
+        "display_color_control_ratio": {
+          "value": 3e-06,
+          "unit": null
+        },
+        "display_color_response_ratio": {
+          "value": 0.999997,
+          "unit": null
+        },
+        "display_color_opacity_ratio": {
+          "value": 0.999543,
+          "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": "grasp_and_lift",
+      "engine": "isaac_sim",
+      "engine_version": "6.1.0.0",
+      "status": "skipped",
+      "passed": false,
+      "duration": 0.093,
+      "message": "no grasp_identifier prims found on asset",
+      "metrics": {},
+      "kit_logs": []
+    },
+    {
+      "test_name": "grasp_and_lift",
+      "engine": "isaac_sim_newton",
+      "engine_version": "6.1.0.0",
+      "status": "skipped",
+      "passed": false,
+      "duration": 0.119,
+      "message": "no grasp_identifier prims found on asset",
+      "metrics": {},
+      "kit_logs": []
+    },
+    {
+      "test_name": "ground_drop",
+      "engine": "isaac_sim",
+      "engine_version": "6.1.0.0",
+      "status": "pass",
+      "passed": true,
+      "duration": 110.975,
+      "message": "",
+      "metrics": {
+        "ground_drop_initial_z_min": {
+          "value": 0.126,
+          "unit": null
+        },
+        "ground_drop_bbox_height": {
+          "value": 1.9865,
+          "unit": null
+        },
+        "ground_drop_effective_fall": {
+          "value": 0.026,
+          "unit": null
+        },
+        "_timing_capture_frame_total_s": {
+          "value": 26.829,
+          "unit": null
+        },
+        "_timing_capture_frame_count": {
+          "value": 73,
+          "unit": null
+        },
+        "_timing_capture_frame_avg_ms": {
+          "value": 367.52,
+          "unit": null
+        },
+        "_timing_encode_video_total_s": {
+          "value": 2.357,
+          "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": 0.479,
+          "unit": null
+        },
+        "ground_drop_rest_time": {
+          "value": 4.342,
+          "unit": null
+        }
+      },
+      "kit_logs": [
+        {
+          "level": "error",
+          "channel": "omni.physx.plugin",
+          "message": "Physics scenes stepping is not the same, step subscription will be send with later step, per scene step is not yet supported."
+        }
+      ]
+    },
+    {
+      "test_name": "ground_drop",
+      "engine": "isaac_sim_newton",
+      "engine_version": "6.1.0.0",
+      "status": "fail",
+      "passed": false,
+      "duration": 30.473,
+      "message": "Ground drop FAILED: Object penetrated the ground plane after contact.\n\nHow to fix:\n- Check collision mesh approximation (convexHull recommended).\n- Verify collision mesh normals point outward.\n- Check for very thin geometry (< 1cm) that may tunnel.\n- Review the video to see where penetration occurs.",
+      "metrics": {
+        "ground_drop_initial_z_min": {
+          "value": 0.1052,
+          "unit": null
+        },
+        "ground_drop_bbox_height": {
+          "value": 1.9873,
+          "unit": null
+        },
+        "ground_drop_effective_fall": {
+          "value": 0.0052,
+          "unit": null
+        },
+        "_timing_capture_frame_total_s": {
+          "value": 4.408,
+          "unit": null
+        },
+        "_timing_capture_frame_count": {
+          "value": 11,
+          "unit": null
+        },
+        "_timing_capture_frame_avg_ms": {
+          "value": 400.77,
+          "unit": null
+        },
+        "_timing_encode_video_total_s": {
+          "value": 0.647,
+          "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": 1,
+          "unit": null
+        },
+        "ground_drop_stable": {
+          "value": 0,
+          "unit": null
+        },
+        "ground_drop_passed": {
+          "value": 0,
+          "unit": null
+        },
+        "ground_drop_touch_time": {
+          "value": 0.067,
+          "unit": null
+        }
+      },
+      "kit_logs": [
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]: <home>/exts/isaacsim.pip.newton/pip_prebundle/newton/_src/solvers/mujoco/solver_mujoco.py:3759: UserWarning: [WARNING] Value for nconmax is changed from 200 to 4588 following an MjWarp requirement.\n  self._convert_to_mjc("
+        },
+        {
+          "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": "joint_movement",
+      "engine": "isaac_sim",
+      "engine_version": "6.1.0.0",
+      "status": "pass",
+      "passed": true,
+      "duration": 161.597,
+      "message": "",
+      "metrics": {
+        "_timing_capture_frame_total_s": {
+          "value": 59.656,
+          "unit": null
+        },
+        "_timing_capture_frame_count": {
+          "value": 45,
+          "unit": null
+        },
+        "_timing_capture_frame_avg_ms": {
+          "value": 1325.7,
+          "unit": null
+        },
+        "_timing_encode_video_total_s": {
+          "value": 1.81,
+          "unit": null
+        },
+        "_timing_encode_video_count": {
+          "value": 1,
+          "unit": null
+        },
+        "_render_blank_retry_count": {
+          "value": 15,
+          "unit": null
+        },
+        "_render_blank_retry_unrecovered": {
+          "value": 15,
+          "unit": null
+        },
+        "_render_blank_retry[joint_movement_001.png]": {
+          "value": "attempts=6 recovered=False",
+          "unit": null
+        },
+        "_render_blank_retry[joint_movement_002.png]": {
+          "value": "attempts=6 recovered=False",
+          "unit": null
+        },
+        "_render_blank_retry[joint_movement_003.png]": {
+          "value": "attempts=6 recovered=False",
+          "unit": null
+        },
+        "_render_blank_retry[joint_movement_004.png]": {
+          "value": "attempts=6 recovered=False",
+          "unit": null
+        },
+        "_render_blank_retry[joint_movement_005.png]": {
+          "value": "attempts=6 recovered=False",
+          "unit": null
+        },
+        "_render_blank_retry[joint_movement_006.png]": {
+          "value": "attempts=6 recovered=False",
+          "unit": null
+        },
+        "_render_blank_retry[joint_movement_007.png]": {
+          "value": "attempts=6 recovered=False",
+          "unit": null
+        },
+        "_render_blank_retry[joint_movement_038.png]": {
+          "value": "attempts=6 recovered=False",
+          "unit": null
+        },
+        "_render_blank_retry[joint_movement_039.png]": {
+          "value": "attempts=6 recovered=False",
+          "unit": null
+        },
+        "_render_blank_retry[joint_movement_040.png]": {
+          "value": "attempts=6 recovered=False",
+          "unit": null
+        },
+        "_render_blank_retry[joint_movement_041.png]": {
+          "value": "attempts=6 recovered=False",
+          "unit": null
+        },
+        "_render_blank_retry[joint_movement_042.png]": {
+          "value": "attempts=6 recovered=False",
+          "unit": null
+        },
+        "_render_blank_retry[joint_movement_043.png]": {
+          "value": "attempts=6 recovered=False",
+          "unit": null
+        },
+        "_render_blank_retry[joint_movement_044.png]": {
+          "value": "attempts=6 recovered=False",
+          "unit": null
+        },
+        "_render_blank_retry[joint_movement_045.png]": {
+          "value": "attempts=6 recovered=False",
+          "unit": null
+        },
+        "jm_joint_door_rot_deg": {
+          "value": 90.001,
+          "unit": null
+        },
+        "jm_joint_door_trans_pct": {
+          "value": 7505.34,
+          "unit": null
+        },
+        "jm_joint_door_bbox_m": {
+          "value": 0.9222,
+          "unit": null
+        },
+        "jm_joint_door_pct_of_travel": {
+          "value": 100.0,
+          "unit": null
+        },
+        "jm_joint_detergent_flap_rot_deg": {
+          "value": 110.0,
+          "unit": null
+        },
+        "jm_joint_detergent_flap_trans_pct": {
+          "value": 69630.22,
+          "unit": null
+        },
+        "jm_joint_detergent_flap_bbox_m": {
+          "value": 0.1148,
+          "unit": null
+        },
+        "jm_joint_detergent_flap_pct_of_travel": {
+          "value": 100.0,
+          "unit": null
+        },
+        "jm_joint_lower_rack_rot_deg": {
+          "value": 0.013,
+          "unit": null
+        },
+        "jm_joint_lower_rack_trans_pct": {
+          "value": 29.98,
+          "unit": null
+        },
+        "jm_joint_lower_rack_bbox_m": {
+          "value": 0.7186,
+          "unit": null
+        },
+        "jm_joint_lower_rack_pct_of_travel": {
+          "value": 47.9,
+          "unit": null
+        },
+        "jm_joint_upper_rack_rot_deg": {
+          "value": 0.052,
+          "unit": null
+        },
+        "jm_joint_upper_rack_trans_pct": {
+          "value": 97.32,
+          "unit": null
+        },
+        "jm_joint_upper_rack_bbox_m": {
+          "value": 0.7205,
+          "unit": null
+        },
+        "jm_joint_upper_rack_pct_of_travel": {
+          "value": 100.0,
+          "unit": null
+        },
+        "jm_joint_upper_rails_rot_deg": {
+          "value": 0.006,
+          "unit": null
+        },
+        "jm_joint_upper_rails_trans_pct": {
+          "value": 98.28,
+          "unit": null
+        },
+        "jm_joint_upper_rails_bbox_m": {
+          "value": 0.6954,
+          "unit": null
+        },
+        "jm_joint_upper_rails_pct_of_travel": {
+          "value": 100.0,
+          "unit": null
+        },
+        "jm_joint_upper_spray_rot_deg": {
+          "value": 30.006,
+          "unit": null
+        },
+        "jm_joint_upper_spray_trans_pct": {
+          "value": 5663.13,
+          "unit": null
+        },
+        "jm_joint_upper_spray_bbox_m": {
+          "value": 0.4024,
+          "unit": null
+        },
+        "jm_joint_upper_spray_pct_of_travel": {
+          "value": 100.0,
+          "unit": null
+        },
+        "jm_joint_lower_spray_rot_deg": {
+          "value": 30.0,
+          "unit": null
+        },
+        "jm_joint_lower_spray_trans_pct": {
+          "value": 5432.38,
+          "unit": null
+        },
+        "jm_joint_lower_spray_bbox_m": {
+          "value": 0.4233,
+          "unit": null
+        },
+        "jm_joint_lower_spray_pct_of_travel": {
+          "value": 100.0,
+          "unit": null
+        },
+        "jm_joints_total": {
+          "value": 7,
+          "unit": null
+        },
+        "jm_joints_passed": {
+          "value": 7,
+          "unit": null
+        },
+        "jm_joints_failed": {
+          "value": 0,
+          "unit": null
+        },
+        "jm_joint_door_status": {
+          "value": "passed",
+          "unit": null
+        },
+        "jm_joint_detergent_flap_status": {
+          "value": "passed",
+          "unit": null
+        },
+        "jm_joint_lower_rack_status": {
+          "value": "passed",
+          "unit": null
+        },
+        "jm_joint_upper_rack_status": {
+          "value": "passed",
+          "unit": null
+        },
+        "jm_joint_upper_rails_status": {
+          "value": "passed",
+          "unit": null
+        },
+        "jm_joint_upper_spray_status": {
+          "value": "passed",
+          "unit": null
+        },
+        "jm_joint_lower_spray_status": {
+          "value": "passed",
+          "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": "joint_movement",
+      "engine": "isaac_sim_newton",
+      "engine_version": "6.1.0.0",
+      "status": "pass",
+      "passed": true,
+      "duration": 87.464,
+      "message": "",
+      "metrics": {
+        "_timing_capture_frame_total_s": {
+          "value": 15.467,
+          "unit": null
+        },
+        "_timing_capture_frame_count": {
+          "value": 45,
+          "unit": null
+        },
+        "_timing_capture_frame_avg_ms": {
+          "value": 343.72,
+          "unit": null
+        },
+        "_timing_encode_video_total_s": {
+          "value": 1.794,
+          "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
+        },
+        "jm_joint_door_rot_deg": {
+          "value": 89.957,
+          "unit": null
+        },
+        "jm_joint_door_trans_pct": {
+          "value": 6913.69,
+          "unit": null
+        },
+        "jm_joint_door_bbox_m": {
+          "value": 0.9222,
+          "unit": null
+        },
+        "jm_joint_door_pct_of_travel": {
+          "value": 100.0,
+          "unit": null
+        },
+        "jm_joint_detergent_flap_rot_deg": {
+          "value": 108.111,
+          "unit": null
+        },
+        "jm_joint_detergent_flap_trans_pct": {
+          "value": 63395.54,
+          "unit": null
+        },
+        "jm_joint_detergent_flap_bbox_m": {
+          "value": 0.1148,
+          "unit": null
+        },
+        "jm_joint_detergent_flap_pct_of_travel": {
+          "value": 98.3,
+          "unit": null
+        },
+        "jm_joint_lower_rack_rot_deg": {
+          "value": 0.0,
+          "unit": null
+        },
+        "jm_joint_lower_rack_trans_pct": {
+          "value": 23.12,
+          "unit": null
+        },
+        "jm_joint_lower_rack_bbox_m": {
+          "value": 0.7186,
+          "unit": null
+        },
+        "jm_joint_lower_rack_pct_of_travel": {
+          "value": 36.9,
+          "unit": null
+        },
+        "jm_joint_upper_rack_rot_deg": {
+          "value": 0.0,
+          "unit": null
+        },
+        "jm_joint_upper_rack_trans_pct": {
+          "value": 26.62,
+          "unit": null
+        },
+        "jm_joint_upper_rack_bbox_m": {
+          "value": 0.7204,
+          "unit": null
+        },
+        "jm_joint_upper_rack_pct_of_travel": {
+          "value": 47.9,
+          "unit": null
+        },
+        "jm_joint_upper_rails_rot_deg": {
+          "value": 0.0,
+          "unit": null
+        },
+        "jm_joint_upper_rails_trans_pct": {
+          "value": 19.08,
+          "unit": null
+        },
+        "jm_joint_upper_rails_bbox_m": {
+          "value": 0.6954,
+          "unit": null
+        },
+        "jm_joint_upper_rails_pct_of_travel": {
+          "value": 66.3,
+          "unit": null
+        },
+        "jm_joint_upper_spray_rot_deg": {
+          "value": 29.505,
+          "unit": null
+        },
+        "jm_joint_upper_spray_trans_pct": {
+          "value": 2321.52,
+          "unit": null
+        },
+        "jm_joint_upper_spray_bbox_m": {
+          "value": 0.4024,
+          "unit": null
+        },
+        "jm_joint_upper_spray_pct_of_travel": {
+          "value": 98.3,
+          "unit": null
+        },
+        "jm_joint_lower_spray_rot_deg": {
+          "value": 29.505,
+          "unit": null
+        },
+        "jm_joint_lower_spray_trans_pct": {
+          "value": 2258.5,
+          "unit": null
+        },
+        "jm_joint_lower_spray_bbox_m": {
+          "value": 0.4233,
+          "unit": null
+        },
+        "jm_joint_lower_spray_pct_of_travel": {
+          "value": 98.3,
+          "unit": null
+        },
+        "jm_joints_total": {
+          "value": 7,
+          "unit": null
+        },
+        "jm_joints_passed": {
+          "value": 7,
+          "unit": null
+        },
+        "jm_joints_failed": {
+          "value": 0,
+          "unit": null
+        },
+        "jm_joint_door_status": {
+          "value": "passed",
+          "unit": null
+        },
+        "jm_joint_detergent_flap_status": {
+          "value": "passed",
+          "unit": null
+        },
+        "jm_joint_lower_rack_status": {
+          "value": "passed",
+          "unit": null
+        },
+        "jm_joint_upper_rack_status": {
+          "value": "passed",
+          "unit": null
+        },
+        "jm_joint_upper_rails_status": {
+          "value": "passed",
+          "unit": null
+        },
+        "jm_joint_upper_spray_status": {
+          "value": "passed",
+          "unit": null
+        },
+        "jm_joint_lower_spray_status": {
+          "value": "passed",
+          "unit": null
+        }
+      },
+      "kit_logs": [
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]: <home>/exts/isaacsim.pip.newton/pip_prebundle/newton/_src/solvers/mujoco/solver_mujoco.py:3759: UserWarning: [WARNING] Value for nconmax is changed from 1000 to 4588 following an MjWarp requirement.\n  self._convert_to_mjc("
+        },
+        {
+          "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",
+      "engine_version": "6.1.0.0",
+      "status": "pass",
+      "passed": true,
+      "duration": 19.141,
+      "message": "",
+      "metrics": {
+        "_timing_capture_frame_total_s": {
+          "value": 7.822,
+          "unit": null
+        },
+        "_timing_capture_frame_count": {
+          "value": 30,
+          "unit": null
+        },
+        "_timing_capture_frame_avg_ms": {
+          "value": 260.73,
+          "unit": null
+        },
+        "_timing_encode_video_total_s": {
+          "value": 1.091,
+          "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": 0.482759,
+          "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": 14,
+          "unit": null
+        },
+        "light_response_passed": {
+          "value": 1,
+          "unit": null
+        },
+        "light_response_max_pair_change": {
+          "value": 0.766095,
+          "unit": null
+        },
+        "light_response_min_pair_change": {
+          "value": 0.000318,
+          "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": 19.653,
+      "message": "",
+      "metrics": {
+        "_timing_capture_frame_total_s": {
+          "value": 8.922,
+          "unit": null
+        },
+        "_timing_capture_frame_count": {
+          "value": 30,
+          "unit": null
+        },
+        "_timing_capture_frame_avg_ms": {
+          "value": 297.39,
+          "unit": null
+        },
+        "_timing_encode_video_total_s": {
+          "value": 1.046,
+          "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": 0.482759,
+          "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": 14,
+          "unit": null
+        },
+        "light_response_passed": {
+          "value": 1,
+          "unit": null
+        },
+        "light_response_max_pair_change": {
+          "value": 0.766163,
+          "unit": null
+        },
+        "light_response_min_pair_change": {
+          "value": 0.000327,
+          "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": 7.317,
+      "message": "",
+      "metrics": {
+        "_timing_capture_frame_total_s": {
+          "value": 1.734,
+          "unit": null
+        },
+        "_timing_capture_frame_count": {
+          "value": 8,
+          "unit": null
+        },
+        "_timing_capture_frame_avg_ms": {
+          "value": 216.76,
+          "unit": null
+        },
+        "_timing_encode_video_total_s": {
+          "value": 0.504,
+          "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": 0.002534,
+          "unit": null
+        },
+        "normals_xz_max_dark": {
+          "value": 0.007948,
+          "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": 7.872,
+      "message": "",
+      "metrics": {
+        "_timing_capture_frame_total_s": {
+          "value": 1.338,
+          "unit": null
+        },
+        "_timing_capture_frame_count": {
+          "value": 8,
+          "unit": null
+        },
+        "_timing_capture_frame_avg_ms": {
+          "value": 167.21,
+          "unit": null
+        },
+        "_timing_encode_video_total_s": {
+          "value": 0.543,
+          "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": 0.002553,
+          "unit": null
+        },
+        "normals_xz_max_dark": {
+          "value": 0.007446,
+          "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": 19.577,
+      "message": "",
+      "metrics": {
+        "_timing_capture_frame_total_s": {
+          "value": 5.759,
+          "unit": null
+        },
+        "_timing_capture_frame_count": {
+          "value": 20,
+          "unit": null
+        },
+        "_timing_capture_frame_avg_ms": {
+          "value": 287.97,
+          "unit": null
+        },
+        "_timing_encode_video_total_s": {
+          "value": 1.149,
+          "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": []
+    },
+    {
+      "test_name": "pivot",
+      "engine": "isaac_sim_newton",
+      "engine_version": "6.1.0.0",
+      "status": "pass",
+      "passed": true,
+      "duration": 21.151,
+      "message": "",
+      "metrics": {
+        "_timing_capture_frame_total_s": {
+          "value": 6.403,
+          "unit": null
+        },
+        "_timing_capture_frame_count": {
+          "value": 20,
+          "unit": null
+        },
+        "_timing_capture_frame_avg_ms": {
+          "value": 320.14,
+          "unit": null
+        },
+        "_timing_encode_video_total_s": {
+          "value": 1.25,
+          "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": 4.103,
+      "message": "",
+      "metrics": {
+        "_timing_capture_frame_total_s": {
+          "value": 0.513,
+          "unit": null
+        },
+        "_timing_capture_frame_count": {
+          "value": 2,
+          "unit": null
+        },
+        "_timing_capture_frame_avg_ms": {
+          "value": 256.54,
+          "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": 0.360774,
+          "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": 3.584,
+      "message": "",
+      "metrics": {
+        "_timing_capture_frame_total_s": {
+          "value": 0.261,
+          "unit": null
+        },
+        "_timing_capture_frame_count": {
+          "value": 2,
+          "unit": null
+        },
+        "_timing_capture_frame_avg_ms": {
+          "value": 130.48,
+          "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": 0.360814,
+          "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": 8.947,
+      "message": "",
+      "metrics": {
+        "_timing_capture_frame_total_s": {
+          "value": 1.936,
+          "unit": null
+        },
+        "_timing_capture_frame_count": {
+          "value": 4,
+          "unit": null
+        },
+        "_timing_capture_frame_avg_ms": {
+          "value": 483.98,
+          "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": 12,
+          "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": 12,
+          "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": 377922,
+          "unit": null
+        },
+        "universal_surface_uncovered_pixels": {
+          "value": 0,
+          "unit": null
+        },
+        "universal_surface_coverage": {
+          "value": 1.0,
+          "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": 7.733,
+      "message": "",
+      "metrics": {
+        "_timing_capture_frame_total_s": {
+          "value": 1.865,
+          "unit": null
+        },
+        "_timing_capture_frame_count": {
+          "value": 4,
+          "unit": null
+        },
+        "_timing_capture_frame_avg_ms": {
+          "value": 466.35,
+          "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": 12,
+          "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": 12,
+          "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": 377939,
+          "unit": null
+        },
+        "universal_surface_uncovered_pixels": {
+          "value": 0,
+          "unit": null
+        },
+        "universal_surface_coverage": {
+          "value": 1.0,
+          "unit": null
+        }
+      },
+      "kit_logs": []
+    },
+    {
+      "test_name": "semantic_labels_seg_labelled",
+      "engine": "isaac_sim",
+      "engine_version": "6.1.0.0",
+      "status": "pass",
+      "passed": true,
+      "duration": 3.425,
+      "message": "",
+      "metrics": {
+        "_timing_capture_frame_total_s": {
+          "value": 0.623,
+          "unit": null
+        },
+        "_timing_capture_frame_count": {
+          "value": 1,
+          "unit": null
+        },
+        "_timing_capture_frame_avg_ms": {
+          "value": 622.58,
+          "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": 0.359896,
+          "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": 4.051,
+      "message": "",
+      "metrics": {
+        "_timing_capture_frame_total_s": {
+          "value": 0.598,
+          "unit": null
+        },
+        "_timing_capture_frame_count": {
+          "value": 1,
+          "unit": null
+        },
+        "_timing_capture_frame_avg_ms": {
+          "value": 597.92,
+          "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": 0.359896,
+          "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": 3.042,
+      "message": "",
+      "metrics": {
+        "semantic_labels_stripped_prims": {
+          "value": 13,
+          "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": 2.722,
+      "message": "",
+      "metrics": {
+        "semantic_labels_stripped_prims": {
+          "value": 13,
+          "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": "fail",
+      "passed": false,
+      "duration": 39.941,
+      "message": "Slope drop FAILED: The asset remained too far from the ramp after contact for 24 consecutive frame(s); peak clearance 0.2479m at frame 390. Review collision contact gaps, restitution, and the video for an upward launch.",
+      "metrics": {
+        "slope_drop_initial_cx": {
+          "value": 0.0,
+          "unit": null
+        },
+        "slope_drop_initial_cy": {
+          "value": -1.6835,
+          "unit": null
+        },
+        "slope_drop_initial_z_min": {
+          "value": 0.126,
+          "unit": null
+        },
+        "slope_drop_bbox_height": {
+          "value": 10.2864,
+          "unit": null
+        },
+        "_timing_capture_frame_total_s": {
+          "value": 10.217,
+          "unit": null
+        },
+        "_timing_capture_frame_count": {
+          "value": 25,
+          "unit": null
+        },
+        "_timing_capture_frame_avg_ms": {
+          "value": 408.68,
+          "unit": null
+        },
+        "_timing_encode_video_total_s": {
+          "value": 1.017,
+          "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": 1,
+          "unit": null
+        },
+        "slope_drop_uphill_motion": {
+          "value": 0,
+          "unit": null
+        },
+        "slope_drop_passed": {
+          "value": 0,
+          "unit": null
+        },
+        "slope_drop_max_clearance": {
+          "value": 0.2479,
+          "unit": "m"
+        },
+        "slope_drop_separation_frames": {
+          "value": 24,
+          "unit": null
+        },
+        "slope_drop_separation_frame": {
+          "value": 390,
+          "unit": null
+        },
+        "slope_drop_horiz_time": {
+          "value": 0.529,
+          "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": "slope_drop",
+      "engine": "isaac_sim_newton",
+      "engine_version": "6.1.0.0",
+      "status": "fail",
+      "passed": false,
+      "duration": 10.741,
+      "message": "Slope drop FAILED: Object penetrated the ground after sliding.\n\nHow to fix:\n- Check collision mesh approximation (convexHull recommended).\n- The slope-floor transition is a stress point -- check for thin geometry or gaps in collision mesh.\n- Review the video to see where penetration occurs.",
+      "metrics": {
+        "slope_drop_initial_cx": {
+          "value": 0.0003,
+          "unit": null
+        },
+        "slope_drop_initial_cy": {
+          "value": -1.6842,
+          "unit": null
+        },
+        "slope_drop_initial_z_min": {
+          "value": 0.0804,
+          "unit": null
+        },
+        "slope_drop_bbox_height": {
+          "value": 10.3172,
+          "unit": null
+        },
+        "_timing_capture_frame_total_s": {
+          "value": 1.603,
+          "unit": null
+        },
+        "_timing_capture_frame_count": {
+          "value": 3,
+          "unit": null
+        },
+        "_timing_capture_frame_avg_ms": {
+          "value": 534.25,
+          "unit": null
+        },
+        "_timing_encode_video_total_s": {
+          "value": 0.503,
+          "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": 1,
+          "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": 0,
+          "unit": null
+        },
+        "slope_drop_max_clearance": {
+          "value": 0.0,
+          "unit": "m"
+        },
+        "slope_drop_separation_frames": {
+          "value": 0,
+          "unit": null
+        },
+        "slope_drop_horiz_time": {
+          "value": 0.042,
+          "unit": null
+        }
+      },
+      "kit_logs": [
+        {
+          "level": "error",
+          "channel": "omni.kit.app._impl",
+          "message": "[py stderr]: <home>/exts/isaacsim.pip.newton/pip_prebundle/newton/_src/solvers/mujoco/solver_mujoco.py:3759: UserWarning: [WARNING] Value for nconmax is changed from 1000 to 2080 following an MjWarp requirement.\n  self._convert_to_mjc("
+        }
+      ]
+    }
+  ]
+}

dishwasher_v09/.metadata/dishwasher_v09_validation.json ADDED Viewed

	@@ -0,0 +1,173 @@

+{
+    "simready_usd/dishwasher_v09.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": "[]",
+                "passed": true,
+                "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']",
+                "passed": false,
+                "version": "0.1.0"
+            },
+            "FET_004_NEWTON": {
+                "blocking_failure": false,
+                "dependencies": "[{'FET_003_NEWTON': {'version': '0.1.0'}}]",
+                "passed": true,
+                "version": "0.1.0"
+            },
+            "FET_004_PHYSX": {
+                "blocking_failure": false,
+                "dependencies": "[{'FET_003_PHYSX': {'version': '0.4.0'}}]",
+                "passed": true,
+                "version": "0.4.0"
+            },
+            "FET_004_STANDARD": {
+                "blocking_failure": false,
+                "dependencies": "[{'FET_003_STANDARD': {'version': '0.2.0'}}]",
+                "passed": true,
+                "version": "0.2.0"
+            },
+            "FET_005_STANDARD": {
+                "blocking_failure": false,
+                "dependencies": "[]",
+                "passed": true,
+                "version": "0.1.0"
+            },
+            "FET_006_MDL": {
+                "blocking_failure": false,
+                "dependencies": "[]",
+                "optional requirements": "['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.PBR.001']",
+                "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"
+        }
+    }
+}

dishwasher_v09/com.nvidia.simready.packaging.json ADDED Viewed

	@@ -0,0 +1,31 @@

+{
+  "format_version": "1.0",
+  "package_id": "simready.hf.ForgeCAD.simready-assets.dishwasher_v09.2026.10.17_00",
+  "license": "cc-by-4.0",
+  "metadata": [
+    {
+      "name": "com.nvidia.simready.conformance.Package-Candidate@1.0.0.json",
+      "hash": {
+        "sha256": "d3b4daa5fde17e2c719b1d044fd224f401da31e38f0f46c9492553649be91979"
+      }
+    },
+    {
+      "name": "com.nvidia.simready.packaging.bom.json",
+      "hash": {
+        "sha256": "d28c1a87852b65d785db8e3153ebec3f21d22840696e5d372de37dd534f965f2"
+      }
+    },
+    {
+      "name": "com.nvidia.simready.root_usds.json",
+      "hash": {
+        "sha256": "4e7e9b7ee6a14e31ac653e73b8245dd374f1f40bb28349348614a41f0ac3216b"
+      }
+    }
+  ],
+  "content_hash": {
+    "sha256": "020916b79674ba22de317819cfacc26be4aaf30e6379842b2b8023fb429060be"
+  },
+  "package_hash": {
+    "sha256": "25b1b95b0811b1155127ab1fd5b10a7552f36ebc401d549c521771e4c75555ad"
+  }
+}

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dishwasher_v09/simready_usd/dishwasher_v09.usda ADDED Viewed

	@@ -0,0 +1,741 @@

+#usda 1.0
+(
+    customLayerData = {
+        dictionary SimReady_Metadata = {
+            float3 asset_extents = (0.6, 0.618, 0.845)
+            string asset_license = "CC-BY-4.0"
+            string asset_name = "dishwasher_v09"
+            string asset_type = "prop"
+            string author = "ForgeCAD"
+            string category = "kitchen appliance"
+            double mass = 44.00000053457916
+            string qcode = "Q186263"
+            int rigid_body_count = 9
+            string source = "ForgeCAD"
+            string source_file = "main.usda"
+            string usd_date_generated = "2026-10-17"
+        }
+        string asset_name = "dishwasher_v09"
+        string asset_type = "prop"
+        string source_file = "main.usda"
+        string usd_date_generated = "2026-10-17"
+    }
+    defaultPrim = "Model"
+    doc = "014 Dishwasher: ForgeCAD physical-AI asset library. Materials and the finish variant set live here; geometry lives in main.forge.js."
+    endTimeCode = 240
+    metersPerUnit = 1
+    startTimeCode = 0
+    subLayers = [
+        @./forgecad/animation.usda@
+    ]
+    upAxis = "Z"
+)
+def Xform "Model" (
+    prepend apiSchemas = ["SemanticsLabelsAPI:class", "SemanticsLabelsAPI:wikidata_qcode"]
+    prepend references = @./forgecad/geometry.usda@</Model>
+    variants = {
+        string finish = "stainless"
+        string physics = "physics"
+    }
+    prepend variantSets = ["physics", "finish"]
+)
+{
+    token[] semantics:labels:class = ["dishwasher"]
+    token[] semantics:labels:wikidata_qcode = ["Q186263"]
+    over "Geometry"
+    {
+        over "Tub" (
+            prepend apiSchemas = ["MaterialBindingAPI"]
+        )
+        {
+            rel material:binding = </Model/Materials/LightGreyPP>
+            over "Tub_liner" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </Model/Materials/TubStainless>
+            }
+            over "Gasket" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </Model/Materials/Rubber>
+            }
+            over "Base" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </Model/Materials/BlackPlastic>
+            }
+            over "Feet" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </Model/Materials/GreyPlastic>
+            }
+            over "Hinge_hardware" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </Model/Materials/PaintedSteel>
+            }
+            over "Rack_guides" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </Model/Materials/GreyPlastic>
+            }
+            over "Sump_filter" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </Model/Materials/GreyPlastic>
+            }
+            over "Door"
+            {
+                over "Control_strip" (
+                    prepend apiSchemas = ["MaterialBindingAPI"]
+                )
+                {
+                    rel material:binding = </Model/Materials/DarkGlass>
+                }
+                over "Control_panel" (
+                    prepend apiSchemas = ["MaterialBindingAPI"]
+                )
+                {
+                    rel material:binding = </Model/Materials/ControlPanel>
+                }
+                over "Buttons" (
+                    prepend apiSchemas = ["MaterialBindingAPI"]
+                )
+                {
+                    rel material:binding = </Model/Materials/PolishedSteel>
+                }
+                over "Door_frame" (
+                    prepend apiSchemas = ["MaterialBindingAPI"]
+                )
+                {
+                    rel material:binding = </Model/Materials/PaintedSteel>
+                }
+                over "Door_liner" (
+                    prepend apiSchemas = ["MaterialBindingAPI"]
+                )
+                {
+                    rel material:binding = </Model/Materials/TubStainless>
+                }
+                over "Dispenser" (
+                    prepend apiSchemas = ["MaterialBindingAPI"]
+                )
+                {
+                    rel material:binding = </Model/Materials/GreyPlastic>
+                }
+                over "Handle" (
+                    prepend apiSchemas = ["MaterialBindingAPI"]
+                )
+                {
+                    rel material:binding = </Model/Materials/PolishedSteel>
+                }
+                over "Hinge_arms" (
+                    prepend apiSchemas = ["MaterialBindingAPI"]
+                )
+                {
+                    rel material:binding = </Model/Materials/PaintedSteel>
+                }
+                over "Detergent_flap" (
+                    prepend apiSchemas = ["MaterialBindingAPI"]
+                )
+                {
+                    rel material:binding = </Model/Materials/GreyPlastic>
+                }
+            }
+            over "Lower_rack"
+            {
+                over "Wire_frame" (
+                    prepend apiSchemas = ["MaterialBindingAPI"]
+                )
+                {
+                    rel material:binding = </Model/Materials/RackCoating>
+                }
+                over "Wheels" (
+                    prepend apiSchemas = ["MaterialBindingAPI"]
+                )
+                {
+                    rel material:binding = </Model/Materials/BlackPlastic>
+                }
+                over "Handle" (
+                    prepend apiSchemas = ["MaterialBindingAPI"]
+                )
+                {
+                    rel material:binding = </Model/Materials/AccentPlastic>
+                }
+            }
+            over "Upper_rack_rails" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </Model/Materials/PolishedSteel>
+            }
+            over "Upper_rack"
+            {
+                over "Wire_frame" (
+                    prepend apiSchemas = ["MaterialBindingAPI"]
+                )
+                {
+                    rel material:binding = </Model/Materials/RackCoating>
+                }
+                over "Rollers" (
+                    prepend apiSchemas = ["MaterialBindingAPI"]
+                )
+                {
+                    rel material:binding = </Model/Materials/BlackPlastic>
+                }
+                over "Feed_tube" (
+                    prepend apiSchemas = ["MaterialBindingAPI"]
+                )
+                {
+                    rel material:binding = </Model/Materials/GreyPlastic>
+                }
+                over "Handle" (
+                    prepend apiSchemas = ["MaterialBindingAPI"]
+                )
+                {
+                    rel material:binding = </Model/Materials/AccentPlastic>
+                }
+                over "Upper_spray_arm" (
+                    prepend apiSchemas = ["MaterialBindingAPI"]
+                )
+                {
+                    rel material:binding = </Model/Materials/GreyPlastic>
+                }
+            }
+            over "Lower_spray_arm" (
+                prepend apiSchemas = ["MaterialBindingAPI"]
+            )
+            {
+                rel material:binding = </Model/Materials/GreyPlastic>
+            }
+        }
+        over "Cutlery_basket" (
+            prepend apiSchemas = ["MaterialBindingAPI"]
+        )
+        {
+            rel material:binding = </Model/Materials/LightGreyPP>
+        }
+    }
+    def Scope "Materials"
+    {
+        def Material "FinishStainless" (
+            prepend apiSchemas = ["SemanticsLabelsAPI:material"]
+        )
+        {
+            token outputs:surface.connect = </Model/Materials/FinishStainless/Surface.outputs:surface>
+            token[] semantics:labels:material = ["metal"]
+            def Shader "St"
+            {
+                uniform token info:id = "UsdPrimvarReader_float2"
+                string inputs:varname = "st"
+                float2 outputs:result
+            }
+            def Shader "Place"
+            {
+                uniform token info:id = "UsdTransform2d"
+                float2 inputs:in.connect = </Model/Materials/FinishStainless/St.outputs:result>
+                float inputs:rotation = 0
+                float2 inputs:scale = (3.3, 3.3)
+                float2 inputs:translation = (0, 0)
+                float2 outputs:result
+            }
+            def Shader "Albedo"
+            {
+                uniform token info:id = "UsdUVTexture"
+                asset inputs:file = @./assets/brushed-stainless.png@
+                token inputs:sourceColorSpace = "sRGB"
+                float2 inputs:st.connect = </Model/Materials/FinishStainless/Place.outputs:result>
+                token inputs:wrapS = "repeat"
+                token inputs:wrapT = "repeat"
+                float3 outputs:rgb
+            }
+            def Shader "Surface"
+            {
+                uniform token info:id = "UsdPreviewSurface"
+                color3f inputs:diffuseColor.connect = </Model/Materials/FinishStainless/Albedo.outputs:rgb>
+                float inputs:metallic = 0.7
+                float inputs:roughness = 0.45
+                token outputs:surface
+            }
+        }
+        def Material "FinishBlackStainless" (
+            prepend apiSchemas = ["SemanticsLabelsAPI:material"]
+        )
+        {
+            token outputs:surface.connect = </Model/Materials/FinishBlackStainless/Surface.outputs:surface>
+            token[] semantics:labels:material = ["metal"]
+            def Shader "St"
+            {
+                uniform token info:id = "UsdPrimvarReader_float2"
+                string inputs:varname = "st"
+                float2 outputs:result
+            }
+            def Shader "Place"
+            {
+                uniform token info:id = "UsdTransform2d"
+                float2 inputs:in.connect = </Model/Materials/FinishBlackStainless/St.outputs:result>
+                float inputs:rotation = 0
+                float2 inputs:scale = (3.3, 3.3)
+                float2 inputs:translation = (0, 0)
+                float2 outputs:result
+            }
+            def Shader "Albedo"
+            {
+                uniform token info:id = "UsdUVTexture"
+                asset inputs:file = @./assets/black-stainless.png@
+                token inputs:sourceColorSpace = "sRGB"
+                float2 inputs:st.connect = </Model/Materials/FinishBlackStainless/Place.outputs:result>
+                token inputs:wrapS = "repeat"
+                token inputs:wrapT = "repeat"
+                float3 outputs:rgb
+            }
+            def Shader "Surface"
+            {
+                uniform token info:id = "UsdPreviewSurface"
+                color3f inputs:diffuseColor.connect = </Model/Materials/FinishBlackStainless/Albedo.outputs:rgb>
+                float inputs:metallic = 0.6
+                float inputs:roughness = 0.4
+                token outputs:surface
+            }
+        }
+        def Material "FinishWhite" (
+            prepend apiSchemas = ["SemanticsLabelsAPI:material"]
+        )
+        {
+            token outputs:surface.connect = </Model/Materials/FinishWhite/Surface.outputs:surface>
+            token[] semantics:labels:material = ["metal"]
+            def Shader "Surface"
+            {
+                uniform token info:id = "UsdPreviewSurface"
+                float inputs:clearcoat = 0.6
+                float inputs:clearcoatRoughness = 0.05
+                color3f inputs:diffuseColor = (0.92, 0.92, 0.905)
+                float inputs:metallic = 0
+                float inputs:roughness = 0.3
+                token outputs:surface
+            }
+        }
+        def Material "FinishPanelReady" (
+            prepend apiSchemas = ["SemanticsLabelsAPI:material"]
+        )
+        {
+            token outputs:surface.connect = </Model/Materials/FinishPanelReady/Surface.outputs:surface>
+            token[] semantics:labels:material = ["metal"]
+            def Shader "Surface"
+            {
+                uniform token info:id = "UsdPreviewSurface"
+                color3f inputs:diffuseColor = (0.4, 0.4, 0.38)
+                float inputs:metallic = 0
+                float inputs:roughness = 0.85
+                token outputs:surface
+            }
+        }
+        def Material "TubStainless" (
+            prepend apiSchemas = ["SemanticsLabelsAPI:material"]
+        )
+        {
+            token outputs:surface.connect = </Model/Materials/TubStainless/Surface.outputs:surface>
+            token[] semantics:labels:material = ["metal"]
+            def Shader "St"
+            {
+                uniform token info:id = "UsdPrimvarReader_float2"
+                string inputs:varname = "st"
+                float2 outputs:result
+            }
+            def Shader "Place"
+            {
+                uniform token info:id = "UsdTransform2d"
+                float2 inputs:in.connect = </Model/Materials/TubStainless/St.outputs:result>
+                float inputs:rotation = 0
+                float2 inputs:scale = (4, 4)
+                float2 inputs:translation = (0, 0)
+                float2 outputs:result
+            }
+            def Shader "Albedo"
+            {
+                uniform token info:id = "UsdUVTexture"
+                asset inputs:file = @./assets/tub-stainless.png@
+                token inputs:sourceColorSpace = "sRGB"
+                float2 inputs:st.connect = </Model/Materials/TubStainless/Place.outputs:result>
+                token inputs:wrapS = "repeat"
+                token inputs:wrapT = "repeat"
+                float3 outputs:rgb
+            }
+            def Shader "Surface"
+            {
+                uniform token info:id = "UsdPreviewSurface"
+                color3f inputs:diffuseColor.connect = </Model/Materials/TubStainless/Albedo.outputs:rgb>
+                float inputs:metallic = 1
+                float inputs:roughness = 0.35
+                token outputs:surface
+            }
+        }
+        def Material "ControlPanel" (
+            prepend apiSchemas = ["SemanticsLabelsAPI:material"]
+        )
+        {
+            token outputs:surface.connect = </Model/Materials/ControlPanel/Surface.outputs:surface>
+            token[] semantics:labels:material = ["plastic"]
+            def Shader "St"
+            {
+                uniform token info:id = "UsdPrimvarReader_float2"
+                string inputs:varname = "st"
+                float2 outputs:result
+            }
+            def Shader "Place"
+            {
+                uniform token info:id = "UsdTransform2d"
+                float2 inputs:in.connect = </Model/Materials/ControlPanel/St.outputs:result>
+                float inputs:rotation = -90
+                float2 inputs:scale = (4.716981, 4.716981)
+                float2 inputs:translation = (0.5, -2.481132)
+                float2 outputs:result
+            }
+            def Shader "Albedo"
+            {
+                uniform token info:id = "UsdUVTexture"
+                asset inputs:file = @./assets/control-panel.png@
+                token inputs:sourceColorSpace = "sRGB"
+                float2 inputs:st.connect = </Model/Materials/ControlPanel/Place.outputs:result>
+                token inputs:wrapS = "clamp"
+                token inputs:wrapT = "clamp"
+                float3 outputs:rgb
+            }
+            def Shader "Surface"
+            {
+                uniform token info:id = "UsdPreviewSurface"
+                color3f inputs:diffuseColor.connect = </Model/Materials/ControlPanel/Albedo.outputs:rgb>
+                float inputs:metallic = 0
+                float inputs:roughness = 0.12
+                token outputs:surface
+            }
+        }
+        def Material "DarkGlass" (
+            prepend apiSchemas = ["SemanticsLabelsAPI:material"]
+        )
+        {
+            token outputs:surface.connect = </Model/Materials/DarkGlass/Surface.outputs:surface>
+            token[] semantics:labels:material = ["glass"]
+            def Shader "Surface"
+            {
+                uniform token info:id = "UsdPreviewSurface"
+                float inputs:clearcoat = 1
+                float inputs:clearcoatRoughness = 0.05
+                color3f inputs:diffuseColor = (0.02, 0.022, 0.025)
+                float inputs:metallic = 0
+                float inputs:roughness = 0.08
+                token outputs:surface
+            }
+        }
+        def Material "PolishedSteel" (
+            prepend apiSchemas = ["SemanticsLabelsAPI:material"]
+        )
+        {
+            token outputs:surface.connect = </Model/Materials/PolishedSteel/Surface.outputs:surface>
+            token[] semantics:labels:material = ["metal"]
+            def Shader "Surface"
+            {
+                uniform token info:id = "UsdPreviewSurface"
+                color3f inputs:diffuseColor = (0.78, 0.79, 0.8)
+                float inputs:metallic = 1
+                float inputs:roughness = 0.18
+                token outputs:surface
+            }
+        }
+        def Material "PaintedSteel" (
+            prepend apiSchemas = ["SemanticsLabelsAPI:material"]
+        )
+        {
+            token outputs:surface.connect = </Model/Materials/PaintedSteel/Surface.outputs:surface>
+            token[] semantics:labels:material = ["metal"]
+            def Shader "Surface"
+            {
+                uniform token info:id = "UsdPreviewSurface"
+                color3f inputs:diffuseColor = (0.33, 0.34, 0.35)
+                float inputs:metallic = 0.3
+                float inputs:roughness = 0.5
+                token outputs:surface
+            }
+        }
+        def Material "RackCoating" (
+            prepend apiSchemas = ["SemanticsLabelsAPI:material"]
+        )
+        {
+            token outputs:surface.connect = </Model/Materials/RackCoating/Surface.outputs:surface>
+            token[] semantics:labels:material = ["plastic"]
+            def Shader "Surface"
+            {
+                uniform token info:id = "UsdPreviewSurface"
+                color3f inputs:diffuseColor = (0.85, 0.86, 0.87)
+                float inputs:metallic = 0
+                float inputs:roughness = 0.4
+                token outputs:surface
+            }
+        }
+        def Material "GreyPlastic" (
+            prepend apiSchemas = ["SemanticsLabelsAPI:material"]
+        )
+        {
+            token outputs:surface.connect = </Model/Materials/GreyPlastic/Surface.outputs:surface>
+            token[] semantics:labels:material = ["plastic"]
+            def Shader "Surface"
+            {
+                uniform token info:id = "UsdPreviewSurface"
+                color3f inputs:diffuseColor = (0.58, 0.6, 0.62)
+                float inputs:metallic = 0
+                float inputs:roughness = 0.5
+                token outputs:surface
+            }
+        }
+        def Material "LightGreyPP" (
+            prepend apiSchemas = ["SemanticsLabelsAPI:material"]
+        )
+        {
+            token outputs:surface.connect = </Model/Materials/LightGreyPP/Surface.outputs:surface>
+            token[] semantics:labels:material = ["plastic"]
+            def Shader "Surface"
+            {
+                uniform token info:id = "UsdPreviewSurface"
+                color3f inputs:diffuseColor = (0.85, 0.86, 0.86)
+                float inputs:metallic = 0
+                float inputs:roughness = 0.55
+                token outputs:surface
+            }
+        }
+        def Material "BlackPlastic" (
+            prepend apiSchemas = ["SemanticsLabelsAPI:material"]
+        )
+        {
+            token outputs:surface.connect = </Model/Materials/BlackPlastic/Surface.outputs:surface>
+            token[] semantics:labels:material = ["plastic"]
+            def Shader "Surface"
+            {
+                uniform token info:id = "UsdPreviewSurface"
+                color3f inputs:diffuseColor = (0.045, 0.045, 0.05)
+                float inputs:metallic = 0
+                float inputs:roughness = 0.6
+                token outputs:surface
+            }
+        }
+        def Material "Rubber" (
+            prepend apiSchemas = ["SemanticsLabelsAPI:material"]
+        )
+        {
+            token outputs:surface.connect = </Model/Materials/Rubber/Surface.outputs:surface>
+            token[] semantics:labels:material = ["rubber"]
+            def Shader "Surface"
+            {
+                uniform token info:id = "UsdPreviewSurface"
+                color3f inputs:diffuseColor = (0.025, 0.025, 0.025)
+                float inputs:metallic = 0
+                float inputs:roughness = 0.9
+                token outputs:surface
+            }
+        }
+        def Material "AccentPlastic" (
+            prepend apiSchemas = ["SemanticsLabelsAPI:material"]
+        )
+        {
+            token outputs:surface.connect = </Model/Materials/AccentPlastic/Surface.outputs:surface>
+            token[] semantics:labels:material = ["plastic"]
+            def Shader "Surface"
+            {
+                uniform token info:id = "UsdPreviewSurface"
+                color3f inputs:diffuseColor = (0.33, 0.41, 0.49)
+                float inputs:metallic = 0
+                float inputs:roughness = 0.45
+                token outputs:surface
+            }
+        }
+    }
+    variantSet "finish" = {
+        "black_stainless" {
+            over "Geometry"
+            {
+                over "Tub"
+                {
+                    over "Cabinet" (
+                        prepend apiSchemas = ["MaterialBindingAPI"]
+                    )
+                    {
+                        rel material:binding = </Model/Materials/FinishBlackStainless>
+                    }
+                    over "Door"
+                    {
+                        over "Outer_panel" (
+                            prepend apiSchemas = ["MaterialBindingAPI"]
+                        )
+                        {
+                            rel material:binding = </Model/Materials/FinishBlackStainless>
+                        }
+                    }
+                }
+            }
+        }
+        "panel_ready" {
+            over "Geometry"
+            {
+                over "Tub"
+                {
+                    over "Cabinet" (
+                        prepend apiSchemas = ["MaterialBindingAPI"]
+                    )
+                    {
+                        rel material:binding = </Model/Materials/FinishPanelReady>
+                    }
+                    over "Door"
+                    {
+                        over "Outer_panel" (
+                            prepend apiSchemas = ["MaterialBindingAPI"]
+                        )
+                        {
+                            rel material:binding = </Model/Materials/FinishPanelReady>
+                        }
+                    }
+                }
+            }
+        }
+        "stainless" {
+            over "Geometry"
+            {
+                over "Tub"
+                {
+                    over "Cabinet" (
+                        prepend apiSchemas = ["MaterialBindingAPI"]
+                    )
+                    {
+                        rel material:binding = </Model/Materials/FinishStainless>
+                    }
+                    over "Door"
+                    {
+                        over "Outer_panel" (
+                            prepend apiSchemas = ["MaterialBindingAPI"]
+                        )
+                        {
+                            rel material:binding = </Model/Materials/FinishStainless>
+                        }
+                    }
+                }
+            }
+        }
+        "white" {
+            over "Geometry"
+            {
+                over "Tub"
+                {
+                    over "Cabinet" (
+                        prepend apiSchemas = ["MaterialBindingAPI"]
+                    )
+                    {
+                        rel material:binding = </Model/Materials/FinishWhite>
+                    }
+                    over "Door"
+                    {
+                        over "Outer_panel" (
+                            prepend apiSchemas = ["MaterialBindingAPI"]
+                        )
+                        {
+                            rel material:binding = </Model/Materials/FinishWhite>
+                        }
+                    }
+                }
+            }
+        }
+    }
+    variantSet "physics" = {
+        "none" {
+        }
+        "physics" (
+            prepend references = @./forgecad/physics.usda@</Model>
+        ) {
+        }
+    }
+}

dishwasher_v09/simready_usd/forgecad/animation.usda ADDED Viewed

	@@ -0,0 +1,95 @@

+#usda 1.0
+(
+    defaultPrim = "Model"
+    doc = "ForgeCAD animation clips for the root stage. Generated by forgecad export usd; do not edit."
+    endTimeCode = 240
+    startTimeCode = 0
+    timeCodesPerSecond = 24
+)
+over "Model" (
+    prepend variantSets = "animation"
+    variants = {
+        string animation = "static"
+    }
+)
+{
+    variantSet "animation" = {
+        "static" {
+        }
+        "Load_and_unload" {
+            over "Geometry"
+            {
+                over "Tub"
+                {
+                    over "Door"
+                    {
+                        float xformOp:rotateX:door.timeSamples = {
+                            0: 0,
+                            48: 90,
+                            96: 90,
+                            144: 90,
+                            192: 90,
+                            240: 0,
+                        }
+                    }
+                    over "Lower_rack"
+                    {
+                        double3 xformOp:translate:lower_rack.timeSamples = {
+                            0: (0, 0, 0),
+                            48: (0, 0, 0),
+                            96: (0.45, 0, 0),
+                            144: (0.45, 0, 0),
+                            192: (0, 0, 0),
+                            240: (0, 0, 0),
+                        }
+                    }
+                    over "Upper_rack_rails"
+                    {
+                        double3 xformOp:translate:upper_rails.timeSamples = {
+                            0: (0, 0, 0),
+                            48: (0, 0, 0),
+                            96: (0, 0, 0),
+                            144: (0.2, 0, 0),
+                            192: (0, 0, 0),
+                            240: (0, 0, 0),
+                        }
+                    }
+                    over "Upper_rack"
+                    {
+                        double3 xformOp:translate:upper_rack.timeSamples = {
+                            0: (0, 0, 0),
+                            48: (0, 0, 0),
+                            96: (0, 0, 0),
+                            144: (0.4, 0, 0),
+                            192: (0, 0, 0),
+                            240: (0, 0, 0),
+                        }
+                        over "Upper_spray_arm"
+                        {
+                            float xformOp:rotateX:upper_spray.timeSamples = {
+                                0: 0,
+                                48: 0,
+                                96: 0,
+                                144: 0,
+                                192: 0,
+                                240: -360,
+                            }
+                        }
+                    }
+                    over "Lower_spray_arm"
+                    {
+                        float xformOp:rotateX:lower_spray.timeSamples = {
+                            0: 0,
+                            48: 0,
+                            96: 0,
+                            144: 0,
+                            192: 0,
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